Home

U Series User's Manual

1. 123 Noise filter 20 NE Main circuit MEM 4 5 6 power supply ON Main circuit connector OFF alls PN Class 3 ground ele o0 1MC IMC X Sud Thermal Surge killer switch contact 4 Ld R88A RR220478 Regenerative Resistor OMNUC U series Regenerative Resistor can be connected externally only AC Servo Driver for models with a suffix of RG and R88D UT110V and R88D UT160V E imc Lt dic 4 7 R88A CAUB S CAUC S We esie 3 T EM CAUB B CAUC B Qu LBO B Oe t Power Cable QMNUC U series XB rM AC Servomotor Q L1 o0 pee x i B L2 24VDC car L3 oO UO Class 3 ground i N vO ee ak pr CN1 i i 1d M X J O 31 ALM w duh s 24VDO bt i yb 82 ALMCOM X CN2 R88A CRUB C ee Encoder Cable o XU eo Pa N E L CN1 Acryl g T Q o CN1 D L VEN BKIR 27 XB V T 24VDC OGND 28 5 Note Set by user parameter Cn 2d 2 52 p Chapter 3 Operation 3 1 Beginning Operation 3 2 System Check Mode Cn 00 3 3 Function Settings 3 4 Trial Operation 3 5 Making Adjustments 3 6 Regenerative Energy Absorption Operation Chapter 3 Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution Check the newly set parameters for proper execution before actually running them Not doing so may result
2. Radial load Note 2 Theallowable radial and thrust loads are values determined with a service life of 20 000 hours taken as a criteria Note 3 Absolutely do not impact the Servomotor or the output shaft by striking them with an imple ment such as a hammer Doing so will damage the Servomotor and encoder bearings Note 4 The service life of bearing grease is 20 000 hours at a Servomotor ambient temperature of 40 C and under the rated operating conditions Note 5 Make sure thatthe radial load is within the allowable range when there is a radial load applied Ifthe Servomotor is operated at more than the allowable radial load the shaft may suffer dam age due to fatigue Note 6 Applying an excessive load even once can damage the bearings and eventually cause a breakdown 5 46 Specifications Chapter 5 5 2 5 Encoder Specifications 1 500 r min 3 000 r min 3 000 r min Incremental models Absolute models Encoder method Optical encoder Number of output pulses A B phase 8 192 pulses revolution A B phase 4 096 pulses revolution Z phase 1 pulse revolution Z phase 1 pulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of DC 350 mA for load resistance of 220 Q 220 Q Phase characteristics 90 36 Phase relationship For rotation in the CW direction A phase is advan
3. CN1 5V g9 uA EaD vem A 2 16 J I NN J 2 Is s gt X x gt A A phase EL 34 A NU A R 11 A phase O 36 B B 6 L T NN ines 5 p Y X gt B phase ae 35 B JA B R 7 B phase C LE hd 1 2 19 4Z oZ 10 Z phase gt x X R 11 Z phase Output line driver 20 Z E QUO NEL NE 8 SN75ALS i OV TIAN orequivalent L jM GND Applicable line receiver OVAS o E AR OV TI SN75175 MC3486 AM26LS32 50 FG R 220 Q to 470 Q FG 7 FG Note Pin No 50 is open for models conforming to the EC Directives Connect the cable shield to the connector case and ground it directly using a clamp 5 23 Specifications Chapter 5 m Control I O Signal Connections and External Signal Processing for Positioning Control CW IU 2200 ene poem 25 INP Reverse pulse cw x i INP CCW 41 1220 NT pese 27 TGON Forward D gt Maximum operating pulse cow x TGON voltage 30 VDC ieee ian Maximum output current 50mA ECRST 15 y 29 eREADY Error v Y Servo ready counter ECRST D READY reset S o rM B pm 31 JALM T 4 Y Alarm output JALMCOM O5 Q9 37 ALO1 Q 13 O Do not connect 18 odi ce these pins 21 a 6 gt 22 JAL 2 Maximum operating voltage 30 VDC O23 Maximum output O24 JALOS current 20mA Q 48 O 49 9 Current monitor AMI16 47Q 2 V rated torque Q aA V O Encoder A B and Speed monitor NM 1
4. J AC reactor 123 Noise filter Ee ME Main circuit HUS 4 5 6 power supply ON Main circuit connector OFF zi f UN Class 3 ground ele OO IMC 1MC X Md Thermal Surge killer switch contact 4 Ld Regenerative Resistor R88A RR22047S OMNUC U series Regenerative Resistor can only be externally AC Servo Driver attached for the R88D UT160H E a Power Cable 1MC Q r R88A CAUBLTILILIS CAUCLILICIS Y P1 O 34 CAUB B CAUC B Q t I OMNUC U series B XB 09 AC Servomotor Q R so pex Q S T24VDC Su T i Q UO Class 3 ground ES P1 VO l oe Regenerative Y 7 M resistance O 2 j S B w 2 gt lt Note For Servo we Drivers with 5 5 L O kW min only CN1 MEETS e tend O 31 ALM 24VDC ooo F 32 ALMCOM CN2 R88A CRUB C X Encoder Cable E A j CN1 d g 5 o CN1 o pP I SN BKIR 27 5 4 XB 2 gt 24VDC OGND 28 gt Note Set by user parameter Cn 2d 2 37 System Design and Installation Chapter 2 2 3 Wiring and Connections Models Conforming to EC Directives 2 3 1 Connecting OMRON Servo Controllers Use general purpose control cable purchased separately to connect U series AC Servomotors and Servo Drivers to OMRON Servo Controllers m Connecting SYSMAC C Series Position Control Units Programmable Controller 2 38 Encoder Cable R88A CRUB N The cable is of IP30 constructi
5. 1 Press the MODE SET Key to go to the alarm history display mode 2 Use the Up and Down Keys to go up and down through the error occurrence numbers and display the corresponding alarm history data The larger the error occurrence number the less recent the alarm is 3 Press the MODE SET Key to move from alarm history display mode to status display mode Clearing Alarm History Data Alarm history data initialization is executed in the system check mode The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 1 2 3 cin JEUNE REI Q2 js 5 5 Indicates settings mode System check mode ul Data CO To data display Alarm history data cleared 1 Using the Up and Down and Right and Left Keys set parameter number 00 System check mode Press the DATA Key to display the Cn 00 data Using the Up and Down and Right and Left Keys set data 02 Clear alarm history data Press the MODE SET Key to clear the alarm history data Press the DATA Key to return to the parameter number display Press the MODE SET Key to move from settings mode to monitor mode oa 2 W IN 4 18 Application Chapter 4 4 4 2 Troubleshooting When an error occurs check the error contents by means of the operating status and
6. User parameters C N 0 3 Speed command scale page 3 14 c Nn 2 d Unit number setting y A Monitor Siju n 0 0 Speed feedback page 4 9 mode un 9 Internal pulse counter Alarm history display mode 9 d he ees 3 8 Error one time before pate 4 18 Error ten time before lt Operation Chapter 3 3 2 System Check Mode Cn 00 The various kinds of system checks can be carried out by setting data for parameter Cn 00 In system check mode the following six kinds of checks can be carried out according to the data set for Cn 00 This chapter explains these checks only in a general way For details see the references noted in the table below Contents of check Explanation Jog operation The motor can be operated by the Parameter Unit Section 3 4 The rotation speed is set by user parameter Cn 10 jog speed Command offset auto Automatically adjusts speed command and torque Section 3 5 3 matic adjustment command input offset Treat speed command and torque command inputs as 0 V ENS history data clear Clears history data for alarms that were previously pmo 4 4 1 generated EE Su offset Speed command input offset is adjusted manually md 3 5 3 manual adjustment 04 Motor parameter check Checks whether the Servo Driver and Servomotor
7. 90 phase difference signals 5 18 Specifications Chapter 5 Command Pulse Timing Although the following wave forms are for positive logic conditions are the same for negative logic Feed pulse and direction signal Maximum input frequency 200 kpps Reverse pulse and forward pulse Maximum input frequency 200 kpps Feed pulse Forward rotation command Reverse pulse Forward pulse Reverse rotation command t1 0 14s T Z2 54s t2 gt 3 0us T25 0uUs Reverse rotation command tl1SO0 lus t Z2 5us t2 gt 3 0u4s T25 0us 90 phase difference signals A B phase pulse Maximum input frequency 200 kpps Forward rotation command A phase pulse t1 t1 B phase pulse a T T Reverse rotation command t1 0 14s T Z2 5us TZ5 04s 5 19 Specifications Chapter 5 Control Output Interface The output circuit for the control I O connector CN1 is as shown in the following diagram To other output circuits Servodriver side g rre o x Y K External power supply F T 24 VDC 1V 0771 n Di Maximum operating voltage 30 VDC VW P Maximum output current 50 mA Alarm code output 20 mA max Di Diode for preventing surge voltage Use speed diodes e Control Output Sequence
8. Note 1 Theoutputterminal function of CN1 pins 25 through 30 are set in user parameter Cn 2d out put signal selection The output signals shown above are the factory settings Positioning completion INP position control speed conformity VCMP speed control Motor rotation detection TGON e Current limit detection CLIMT Overload warning OLWRN Servo ready READY Break interlock BKIR Overload alarm OLARM 5 13 Specifications Chapter 5 Ofthese positioning completion INP position control speed conformity VCMP speed con trol can be set for CN1 pints 25 and 26 only Note 2 The content of the monitor output for the AM and NM terminals can be changed via setup parameter Cn 02 bits 6 and 7 Note 3 Pin No 50 is open for models conforming to the EC Directives Connect the cable shield to the connector case and ground it directly using a clamp m Control Input Interface The input circuit for the control I O connector CN1 is as shown in the following diagram 424 VIN 47 47k External power supply bir au 24 VDC 1V 7 EE YXL 50 mA min RUN 40 i b OO genu ee To other input circuit GNDs To other input circuits y e Run Command 40 RUN This isthe inputthatturns on the power drive circuit for the main circuit ofthe Servo Driver If this signal is not input i e servo off status the Servomotor cannot operate Depending on the setting of
9. Operation in Monitor Mode In order to conduct monitoring first go into monitor mode and then set the monitor number and press the DATA Key The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 3 DATA DATA Monitor mode Monitor no 4 Monitor data 1 Press the MODE SET Key to go into monitor mode 2 Using the Up and Down and Right and Left Keys set the monitor number 3 Press the DATA Key to display the monitor data 4 Press the DATA Key to return to the monitor number display 5 Press the MODE SET Key to move from monitor mode to alarm history display mode 4 9 Application Chapter 4 m internal Status Bit Display Un 05 Un 06 Internal status is displayed by 7 segment bit lighting The bit number allocation is shown in the following diagram Hos ELE E HA CN E A 8 29 E I B EM EY E 16 17 18 19 20 ALM Lit when alarm is generated IR DBON Lit during dynamic brake operation D Lit when in reverse rotation mode when Cn 02 bit no 0 1 TGON Lit when the motor rotation speed is equal to or greater than the rotation speed for motor rotation detection Cn 0b INP Lit when residual pulses in the error counter are no more than the setting of Cn 1b positioning completion range Lit when the motor rotation spee
10. R88D UT160V E R88M U5K515V e Control Mode Selection Cn 2b Position Speed Torque This sets the control mode to speed control position control torque control etc The motor may operate unexpectedly if the wrong mode is set Be sure to check the setting 5 35 Specifications Chapter 5 The setting range is between 0 to 11 and the factory setting is 1 Position control Pulse train com mands Speed contol Analog commands 9 Position control Pulse train commands Factory setingh m HomwcooAmlgcommads 3 2 Imemalysetspedcmud 3 Interally set speed control Speed control Analog commands 4 oe set speed control lt Position ro Pulse train m intemal set speed contol Torque E 8 Position control Pulse train commands lt gt Speed control Analog commands Postion contol Pus ain commands Torque contol Analog commands 8 Sed contol og commands erg cont nog comands 3 Position a Pulse train m Pulse prohibit e Encoder Power Supply Voltage Cn 2C Position Speed Torque This sets the encoder power supply voltage The Cn 2C encoder power supply voltage setting depends on the encoder cable length The encoder may be damaged if the setting is wrong Refer to the following table when making the setting Encoder 3m 5m 10m 15m 20m Incremental
11. Power supply input ON R S Lr t OFF r 7 Approx 2 s 300 ms Alarm output M ON OFF 1 _ 200 ms 6ms 60ms Servo ready output ON READY OFF i Positioning completion output ON INP OFF Brake interlock output ON BKIR OFF 0to35 ms 6ms 1 1 1 1 1 1 1 1 as e ae i jet jat Pg 1 1 1 T 1 1 1 1 1 1 Run command input ON RUN OFF Alarm reset input ON RESET OFF Alarm code outputs ON i ALO1 ALO2 ALO3 OFF 5 20 Specifications Chapter 5 e Speed Conformity 25 27 29 VCMP Positioning completion 25 27 29 INP Motor Rotation Detection 25 27 29 TGON Current Limit Detection 25 27 29 CLIMT Brake Interlock 25 27 29 BKIR Overload Warning 25 27 29 OLWRN Overload Alarm 25 27 29 OLARM Speed Conformity 26 28 30 VCMP Positioning completion 26 28 30 INP Motor Rotation Detection 26 28 30 TGON Current Limit Detection 26 28 30 CLIMT Brake Interlock 26 28 30 BKIR Overload Warning 26 28 30 OLWRN Overload Alarm 26 28 30 OLARM The function of the above three pairs of output terminals is determined by the setting of user parameter Cn 2d Any of the available functions can be set to any of the terminal pairs Each digit in the setting corresponds to one of the output terminal pairs A setting of 0 is allowed only for the first digit CN1 pins 25 and 26
12. ROT 9 T T 3 3 9 Bias Function Position Control m Function The bias function shortens positioning time by adding bias revolutions to speed commands e f the residual pulses in the error counter exceed the positioning completion range Cn 1b the bias rotational speed Cn 1C is added to the speed command until the pulses are within the positioning completion range Set the parameters as shown in the following table Ed NE EN Factory setting Setting range Explanation Cn 1b Positioning completion range 3 command units 1 to 250 com Sets range for positioning mand units completion signal output Bias rotational speed Oto 450 r min Sets position control bias 3 32 Operation Chapter 3 Note 1 When not using the bias function set the bias rotational speed to O r min Note 2 If the bias rotational speed is set too high it will cause motor operation to be unstable The optimum setting depends on the load the gain and the positioning completion range so adjust the setting while observing the motor response Begin with a bias setting of 0 and gradually increase it Operation Example n this example the bias rotational speed Cn 1C is added to the error counter output speed com mand when the residual pulses in the error counter exceed the positioning completion range Cn 1b This continues until the residual pulses in the error counter are within the positioning completion
13. means indefinite m Alarm Output This section explains the timing of alarm outputs when the power is turned on and when alarms occur and it explains how to clear the alarms e Timing Chart Power supply ON input R S Trt OFF Run command ON RUN OFF E Error occurs ror l 6ms min Alarm reset ON J RESET OFF S Approx i 25 l i 6 ms max Alarm output ON ee a E S S ALM OFF Approx Oto 35 ms max 350ms_ Power on ips y Power to i I motor Power off e Alarm Output Circuit quce nem Output specifications 30 V 50 mA max m 31 ALM When normal Output transistor ON Photocoupler x i Guipat circu vs a Alarm output For alarm Output transistor OFF i 32 ALMCOM e Clearing Alarms Any of the following three methods can be used to clear an alarm Turn ON the alarm reset signal RESET Power up again An overcurrent error A 10 can t be cleared just by powering up again Use the Parameter Unit reset operation 4 16 Application Chapter 4 N Caution If an alarm is cleared while the run command RUN is ON operation will begin immediately after the alarm is cleared which could be dangerous Turn the run com mand off before clearing alarms When the run command is ON and bit 0 of setup parameter Cn 01 is set to 1 Servo always ON be sure that it is safe to resume operation before clearing an alarm Overload Characteristics
14. omnon USER S MANUAL OMNUC U MODELS R88M U 15 30 AC pi Motors MODELS R88D UT AC Servo Drivers AC SERVO MOTORS DRIVERS Thank you for choosing this OMNUC U series product Proper use and handling ofthe product will ensure proper product performance will length product life and may prevent possible accidents Please read this manual thoroughly and handle and operate the product with care NOTICE This manual describes the functions of the product and relations with other prod ucts You should assume that anything not described in this manual is not possible Although care has been given in documenting the product please contact your OMRON representative if you have any suggestions on improving this manual The product contains dangerous high voltages inside Turn off the power and wait for at least five minutes to allow power to discharge before handling or working with the product Never attempt to disassemble the product We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed Precautions on the dangers of high voltage equipment Precautions on touching the terminals of the product even after power has been turned off These terminals are live even with the power turned off Specifications and functions may be changed without notice in
15. lass Main Circuit Power Supply Glasa ground Three phase 200 230 VAC 50 60 Hz 2 40 System Design and Installation Chapter 2 R88D UT110V UT160V E Control Circuit Power Supply Single phase 200 230 VAC 50 60 Hz Main Circuit Power Supply Three phase 200 230 VAC 50 60 Hz Power Cable R88A CAUC S for motor without brake R88A CAUC B for motor with brake The cable is of IP30 construc tion If more protection is required or to conform to the EC Directives use the recom f mended connectors Refer to i 2 1 2 Installation Conditions Brown Sis 24 VDC 10 No polarity Yell Signal line for brake Pd 2 41 System Desien and Installation Terminal label ponen This is the ground terminal Ground to a class 3 ground to 100 Q or less or better L1 Main circuit Three phase 200 230 VAC 170 to 253 V 50 60 Hz E supply input Chapter 2 Control circuit power supply Single phase 200 230 VAC 170 to 253 V 50 60 Hz Main circuit DC output positive Be sure to connect a regenerative resistor corresponding to the amount of regenerative energy between the and B terminals for the R88D UT V RG and between the 1 and B terminals for the R88D UT110V Refer to 3 6 3 Absorption of Regenerative Energy with External Regenerative Resistors Connected to Models
16. for pulse Position loop gain 1 to 1 000 1 5 train Electronic gear ratio inputs Setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 Positioning range 0 to 250 command unit Feed forward com pensation 096 to 10096 of speed command amount pulse frequency Bias setting 0 to 450 r min Position acceleration constant setting 5 4 0 to 64 ms same setting for acceleration and deceleration Specifications Chapter 5 e Connection to 1 500 r min Models Models Conforming to EC Directives Continuous output current 0 P R88D R88D UT110V UT160V E Momentary maximum output current 0 P Main circuits Control circuits Three phase 200 230 VAC 170 to 253 V 50 60 Hz Single phase 200 230 VAC 170 to 253 V 50 60 Hz Control method Speed feedback Applicable load inertia Inverter method PWM frequency Applica ble Ser vomotor Applicable Servomotor wattage Cable length between the motor and driver Weight Incremental Absolute Heating value Control circuits Speed control range Load fluctuation rate Voltage fluctuation rate Capacity for analog inputs All digital servo Optical incremental encoder 8 192 pulses revolution Optical absolute encoder 8 192 pulses revolution Maximum of 5 times motor s rotor inertia PWM method based on IGBT 3 3 kHz R88M Incremental U1K315V U1K815V
17. 4500 e SeS Ste Set ee Se eee 3 000 r min i 6V l Setting at time i of shipping ago EE E m 3 000 r min l 10V i Ej s l ls t Io p 1500 I i E i B i 10 9 8 7 6 5 4 3 2 1 4 D 3 9 10 1 2 3 4 5 6 7 8 Speed command input voltage V 1500 When a position control loop is formed for a speed command type this speed command scale becomes the position loop gain 5 29 Specifications Chapter 5 e Speed Loop Gain Cn 04 Position Speed This is the proportional gain for the speed controller The adjustable range is 1 to 2 000 Hz the response frequency when equivalent inertia is used As the number is increased the gain is increased The factory setting is for 80 Hz Using the factory setting for the Servomotor alone or with a small load inertia will cause vibration to occur so set the value to a maximum of 20 Hz for operation e Speed Loop Integration Time Constant Cn 05 Position Speed This isthe integration time for the speed controller The adjustable range is 200 to 51 200 0 01 ms and it is factory set to 2 000 As the number is increased the gain is increased e Emergency Stop Torque Cn 06 Position Speed When setup parameter Cn 01 bit no 8 1 this sets the braking torque for over travel stopping forward reverse drive prohibit input operation The setting range is 0 to 350 of maximum torque a percent age ofthe brakingtorque as 10096 ofthe Servomotor rated to
18. 7 n Base block ax D D EN Main circuit power supply ON Control circuit Torque commands being input torque control power supply ON Error counter reset signal being input position control Bit data display Symbol display Bit Data Display Contents Control circuit 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 motor dimmed when servo is ON Positioning completion Lit when the residual pulses in the error counter fall below the position ing completion range set for Cn 1b Speed conformity Lit when the motor rotation speed is within the range of speed com mand value Cn 22 set value Rotation detection Lit when the motor rotation speed is equal to or greater than the rotation speed for motor rotation detection Cn 0b Inputting command pulses Lit when command pulses are being input Inputting speed command Lit when a speed command input meets the rotation speed for motor rotation detection Cn Ob Inputting torque command Lit when a torque command at least 10 of the rated torque is input Inputting error counter reset sig Lit when the error counter reset signal is being input nal Symbol Display Contents Symbol display bb Base block no power to motor Forward rotati
19. Not used Not used Battery see note 1 Battery see note 1 Encoder S Z phase input see note 2 Encoder S Z phase input see note 2 Line driver input conforming to EIA RS422A Input impedance 220 9 Line driver input conforming to EIA RS422A Input impedance 220 9 Note 1 These terminals are for an absolute encoder Note 2 Incremental encoders use the S phase absolute encoders the Z phase Note 3 Pin No 20 isopen for models conforming to the EC Directives Connect the cable shield to the connector case and ground it directly using a clamp e Connectors Used 20P Receptacle at Servo Driver Soldered plug at cable side Case at cable side 10220 52A2JL 10120 3000VE 10320 52A0 008 Sumitomo 3M Sumitomo 3M Sumitomo 3M e Pin Arrangement 5 26 See note 2 Encoder 1 EOV D 11 NC Encoder ply 2 EOV power sup 12 BAT Battery ply GND Encoder see note Battery 3 EOV power sup 13 BAT see note Encoder ply GND Encoder 4 E5V power sup 14 S S Z ply 5 V Encoder Z phase input Encoder 5 E5V power sup 15 S S Z Encoder ply 5 V Encoder Z phase input 6 E5V power sup 16 A A phase ply 5 V Rotation input Encoder 7 DIR direction 17 A A phase switch input Encoder input 8 NC 18 B B phase input Encoder
20. 04 Servomotor parameters are the Servomotor specifications that can be controlled by that Servo Driver They are not the specifications of the Servomotor that is connected Use this to check whether the Servo Driver and Servomotor combination is suitable Servomotor Parameter Checking Operation The items in parentheses in the following explanation indicate operations using the Handy type Param eter Unit 1 2 3 E 01 oleoa WETE niea settings P Bm check mdg z Co Data 4 is Co tilolololalelviiol olo 1 Using the Up and Down and Right and Left Keys set parameter number 00 System check mode Press the DATA Key to display the Cn 00 data Using the Up and Down and Right and Left Keys set data 04 Servomotor parameter check Press the MODE SET Key to check the Servomotor parameters in order Press the DATA Key to return to the parameter number display O a A OOD Press the MODE SET Key to move from settings mode to monitor mode 4 11 Application Chapter 4 m Parameter Display Contents e Servomotor Parameters f 0 0 Oj a OF 1 3 kW Motor type 00 200 V type 14 1 8 kW 1E 2 9kW 2C 4 4 kW 3C 5 5 kW e Particular Specifi
21. Cable AWG20 x 2C For Cable Connector plug model MS3106A10SL 3S DDK Cable clamp model MS3057 4A DDK Specifications for normal environment For Motor Receptacle model MS3102A10SL 3P DDK 5 62 Specifications Chapter 5 5 4 Parameter Unit Specifications General Specifications Wem Stdads 3596 to 8596 RH with no condensation Storage ambient humidity 35 to 85 RH with no condensation Storage and operating No corrosive gasses atmosphere Vibration resistance 4 9 m s 0 5 G max Impact resistance Acceleration 19 6 m s 2 G max m Performance Specifications R88A PRO2U R88A PROSU Handy type Mounted type Accessory cable 1 000 mm Connected by connectors Connectors 7910 7500SC 10 pins D sub connector 9 pins Display 7 segment LED 5 digits External dimensions 63 x 135 x 18 5 W x H x D 54 x 57 5 x 15 W x H x D Commu Standard RS 232C RS 422A nications Communications Asynchronous ASYNC specifica method Bons Baud rate 2 400 bps Start bits 1 bit Data 8 bits Parity None Stop bits 1 bit Errors detected by Parameter Display CPFOO Cannot transmit even after 5 seconds have Unit elapses since power supply was turned on CPFO1 A BCC error or faulty reception data has occurred for five consecutive times or a time overrun 1 s has occurred for three consecutive times 5 63 lll jth hin Chapter 6 Appendi
22. DATA 5 4 m Setting User Parameters Use the following procedures to set user parameters e Making Settings with Handy type R88A PRO2U 1 Use the Direction Keys to display the number of the parameter that is to be set Using the Right and Left Keys selectthe digitthat is to be set The digit for which the number can be changed will blink With the Up and Down Keys increment or decrement the number for that digit 2 Press the DATA Key The contents data of the pertinent parameter will be displayed 3 14 Operation Chapter 3 3 Using the Direction Keys set the data The method is the same as for step 1 above 4 Save the data in memory by pressing the MODE SET Key or the DATA Key 5 Pressing the DATA Key again will bring back the parameter number display 6 Repeat steps 1 through 5 above as required e Making Settings with Mounted type R88A PROS3U 1 Use the Up and Down keys to display the number of the parameter that is to be set 2 Press the DATA Key The contents data of the pertinent parameter will be displayed 3 Using the Up and Down Keys set the data If the keys are held down the numbers will change 10 at atime If the keys are held down even longer the numbers will change 100 and then 1 000 ata time 4 Save the data in memory by pressing the MODE SET Key or the DATA Key 5 Pressing the DATA Key
23. Set Value 210 Setting of function for CN1 25 26 Setting of function for CN1 27 28 Setting of function for CN1 29 30 Output signal function Positioning completion INP Speed conformity VCMP Motor rotation detection TGON Servo ready READY Current Limit Detection CLIMT Brake Interlock BKIR Overload Warning OLWRN 5 Overload Alarm OLARM Speed Conformity Speed Control Mode This is output when the speed difference between the speed command and the rotation speed is equal to or less than the value set for the speed conformity signal output range user parameter Cn 22 For example if the speed command is for 1 000 r min and the set value is for 50 r min it is output in the range from 950 to 1 050 r min Positioning Completion Position Control Mode This is output when the pulse count in the error counter is equal to or less than the positioning comple tion range Cn 1b Ifthe command speed is low speed and the positioning completion range is large the positioning completion output will remain ON Motor Rotation Detection Outputs when the motor rotation speed equals or exceeds the value set for user parameter Cn Ob rotation speed for motor rotation detection Servo Ready This signal is output if no errors are detected after powering up the main circuits Current Limit Detection The CLIMT signal will turned ON in any of the following 3 cases The output torque reaches the limit value set in user para
24. 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 Check the Servomotor power line U V and W phases and the encoder line wiring Check the speed command input wiring Check the machinery Try operating the Servo motor without a load Correct the wiring Common Common Adjust the bias rotational speed and the positioning completion range Correct the wiring Adjust the machinery Use auto tuning Adjust the gain manually Servomotor is overheating There are unusual noises The ambient temperature is too high Check to be sure that the ambient temperature around the Servomotor is no higher than 40 C Lower the ambient tempera Common ture to 40 C or lower Use a cooler or fan Ventilation is obstructed Check to see whether any thing is blocking ventilation Ensure adequate ventila Common tion There is an overload The correspondence between the Servo Driver and the Servomotor is incor rect The machinery is vibrating The speed loop gain adjust ment is insufficient Check the torque command value by means of monitor mode 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 def
25. a Dell Coates Speed command input offset adjustment display 7 I D 01105 Torque command input offset adjustment display Using the Up and Down and Right and Left Keys set parameter number 00 System check mode Press the DATA Key to display the Cn 00 data Using the Up and Down and Right and Left Keys set data 03 Instruction offset manual adjust ment Change to the speed command input offset adjustment display Input the voltage required to set the speed command input REF to zero rotation speed Normally 0 V Press the Up and Down Keys to adjust the offset data While the Up Key is being pressed an offset is added in the forward direction While the Down Key is being pressed an offset is added in the reverse direction Change to the torque command input offset adjustment display Inputthe voltage required to set the torque command input TREF to zero output torque Normally 0 V Press the Up and Down Keys to adjust the offset data While the Up Key is being pressed an offset is added in the forward torque direction While the Down Key is being pressed an offset is added in the reverse torque direction Press the MODE SET Key to save the offset data to memory and return to the data display Press the DATA Key to return to the parameter number display Press the MODE SET
26. and Cn 2b control mode selection have been made they become effective when the power is turned on again after having been cut off Check to see that the LED display has gone off 3 Set all values within the specified ranges 4 Be sure to set both Cn 07 and Cn 23 when the soft start function is used 5 The setting for Cn 11 number of encoder pulses is determined by the motor that is used If any settings other than the following are used the motor may not operate properly 1 500 r min models Cn 11 set value 8 192 3 000 r min Incremental models Cn 11 set value 4 096 3 000 r min Absolute models Cn 11 set value 8 192 The upper limit for Cn OA encoder divider rate is as follows 1 500 r min models Cn 0A upper limit 2 8 192 3 000 r min Incremental models Cn 0A upper limit 4 096 3 000 r min Absolute models Cn 0A upper limit 2 8 192 3 17 Operation Chapter 3 N Caution The Cn 2C encoder power supply voltage setting depends on the encoder cable length The encoder may be damaged if the setting is wrong Refer to the following table when making the setting Incremental 52 500 54 000 55 500 Absolute 52 500 55 000 57 000 Note 7 The parameters Cn Ob Cn Od Cn 10 Cn 14 Cn 15 Cn 1F Cn 20 Cn 21 and Cn 29 can be set to a maximum value of 3 000 for the 1 500 r min models and a maximum value of 4 500 for the 3 000 r min models e Table 1 Cn 2A Motor Selection N Caution Check to
27. tor flange mounting area This is for horizontal mounting with nothing around the Servomo tor and no interference from heat convection currents 5 40 Specifications Chapter 5 Caution Do not use 2 kW 4 kW or 5 kW servomotors within the shaded portions of the following dia grams Ifthe servomotor is used inthese regions the motor may heat causing the encoder to malfunction RM88M U2K030 1 2 kW RM88M U4K030 7 2 4 kW RM88M U5K0300 0O 5 kW 6 36 12 6 15 8 Sp eeeceeveene cte 11 9 14 2 Effective Effective Effective torque torque torque N m N m N m 0 30 40 0 35 40 0 30 40 Ambient temperature C Ambient temperature C Ambient temperature C 5 41 Specifications Chapter 5 m Specifications for Servomotors with Magnetic Brakes The magnetic brakes installed in Servomotors with brakes are status holding brakes with non magnetized operation The magnetic brake is released when a magnetic cur rent 24 VDO is applied The magnetic brake is not meantto be used for braking Using it for braking will damage it During Servomotor operation be sure to release the magnetic brake by applying a magnetic voltage The specifications for Servomotors with brakes are similarto those for Servomotors without brakes so except for inertia and weight the various constants are all the same Note The inertia for magnetic brakes is the load inertia e Spe
28. 33 A A phase out A phase Trais cod put Encoder 9 TREF mand input 84 A A phase out Torque com Encoder put 10 AGND mana mpu di 35 B B phase out groun forward re ut 11 SIGN verse signal p NS Encoder CCW B forward pulse t B phase out SIGN forward re B phase put 12 CCW verse signal 37 ALO1 Alarm code B forward pulse 0 isai output 1 7 B phase pen collector P 13 PCOM command 38 ALO2 ae error PONSI Al d E arm code 14 ECRST counter reset 39 ALO3 output 3 error counter Run command 15 ECRST reset 40 RUN input Current moni MING Gain deceleration 16 AM tor see note 41 PLOCK position lock control 2 TVSEL mode pulse disable F lation directi orward rota 17 NM Coe HEPGUHDIE Ieee 42 POT tion drive pro Open collector Reverse rota hibit input 18 PCOM command 43 NOT tion drive pro power Encoder hibit input 19 Z Z phase out 44 RESET cam rosok Eei put Forward cur Inpu 20 z sb er 45 PCL rent limit speed nese uy SPD1 selection com Reverse cur put Backup battery mand 1 a 21 BAT input abso 46 NCL S io 1 lute SPD2 Backup bat Control DC mand 1 22 BATGND tery input 47 24VIN 24 V input absolute Built in com PEU 23 P12 mand power 48 Built in com supply 24 N12 mand power 49 supply Positioning FG 25 INP completion out 50 See Frame ground put see note 1 note 3
29. 54 000 55 500 The setting range is from 52 000 to 58 000 in mV units and the factory setting is 52 500 e Output Signal Selection Cn 2d Position Speed Torque This selects control output functions for CN1 pins 25 to 30 Each digit in the setting corresponds to one output terminal pair A setting of 0 is allowed only for the first digit CN1 pins 25 and 26 Example Setting Output signal function Set value 210 In position INP speed conformity VCMP RS Function for CN1 25 26 pins Motor rotation detection TGON Servo ready oT Function for CN1 29 30 pins Brake interlock KT Overload warning OLWRN Overload alarm OLALM 5 36 Specifications Chapter 5 5 2 Servomotor Specifications 5 2 1 General Specifications Hem Specifications O S 2096 to 8096 RH with no condensation Storage ambient humidity 2096 to 8096 RH with no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 150 Hz in X Y and Z directions with 0 2 mm double amplitude acceleration 24 5 m s 2 5 G max time coefficient 8 min 4 sweeps see note 1 mpact resistance Acceleration 98 m s 10 G max in X Y and Z directions three times nsulation resistance Between power line terminals and case 10 MQ min 500 VDC megger Dielectric strength Between power line terminals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Run posit
30. Monitor Output Connector Specifications Funetion V0 interface Speed monitor Voltage output with a ratio of 2 V 1 000 r min for the 1 500 r min Speed command monitor models and 1 V 1 000 r min for the 3 000 r min models centered at OV voltage is forward voltage is reverse and output accuracy is about 10 Command pulse speed monitor Current monitor Voltage output with a ratio of 2 V rated torque centered at 0 V voltage is output during forward acceleration and positive voltage during reverse acceleration Output accuracy is about 10926 Error counter monitor Voltage output with a ratio of 0 05 V command unit Cn o2 bit E centered at 0 V voltage is a positive count voltage is a negative count and output accuracy is about 1096 e Connectors Used 4P Pin header at Servo Driver DF11 4DP 2DS Hirose Electric Socket at cable side DF11 4DS 2C Hirose Electric Socket crimp type terminal at cable side DF 11 2428 SC Hirose Electric 5 28 Specifications Chapter 5 5 1 4 Parameters Refer to 3 3 2 Setting and Checking User Parameters Cn 03 to 2d for a table of user parameters e Speed Command Scale Cn 03 Speed Torque This is a constant for adjusting the motor rotation speed for the speed command input The adjustable range is 10 to 2 000 r min V The factory setting is for 300 r min V with an input voltage of 5 V at 1 500 r min Rotation speed r min
31. Y GND 28 Yea a o D e ea a d EN Ej R5 Je Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M lt n am 3 g YAGND la Note 1 The Controller s symbols are the DRVX Y connector s symbols In a DRVZ U connector X gt Z and Y U Note 2 The terminals and wires marked with asterisks are used with Absolute Encoders Note 3 Supply 24 VDC to the two wires black and red that are taken out from the Controller s con nector Red is and black is 5 49 Specifications Chapter 5 e Connection Configuration For 2 Axes R88D UT CV500 MC221 421 C200H MC221 R88D UT 5 50 OMNUC U series AC Servo Driver OMNUC U series AC Servo Driver Specifications Chapter 5 e Wiring For 2 Axes AWG20 Red OMNUC U series CV500 MC221 MC421 AC Servo Driver Insulation color Marking color Marking INo AW G20 Black YANG i avy I LIE 20 Re Ck eh oro on 2 BATGND f ALM weed 3 s ALM 7 XRUN ems 4 RUN XSGND oema en SENGND XSOUT Toere 3 HH asen X GND comment i7 i een X A wema Ty 4 5 3 1144 xA meme d Li X B YelowRed 13 FEL SERRE ST eee eee E 1 GN X 2 rnme 18 FR 3 ucc meu ue ie XOUT CETERE IS d GQUNENEE GN p 47 FDC GND Gray Black 32 ALMCOM pM p
32. doesn t repeat the ON OFF cycle and speed overshooting doesn t occur Differential counter overflow level P The residual pulses in the error counter are equivalent to the command pulse fre quency divided by the position loop gain Divide this value by 256 to set a further allowance Position command acceleration decel eration constant P O to 640 Sets the pulse smoothing time constant The motor accelerates and decelerates according to this setting even when posi tion command pulses are input in steps This is the position command soft start function The acceleration time is the same as the deceleration time Set this parame ter to 0 ms when using a positioner with an acceleration deceleration function 3 47 Operation Parameter name Factory setting Cn 27 Feed forward com mand filter P Setting range 0 to 640 Chapter 3 Explanation Sets the filter so that the feed forward amount is not added suddenly when posi tion command pulses are input in steps Compensating gain 0 P S e Adjusting Speed Loop Gain Cn 04 0 to 100 Decreases the speed loop gain by the set value when a large torque is output due to acceleration deceleration etc Increasing the set value reduces motor oscillation and positioning time can be shortened If the set value is too large a follow up delay will occur for acceleration and deceleration A compensation gain adjustmen
33. e 5 5 kW Standard Models R88M U5K515H S1 R88M U5K515V S1 R88M U5K515V OS1 stem Design and Installation 42h6 dia Chapter 2 114 3h7 dia os LR AS 180 ts co Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 5 5 kW Models with Brake R88M U5K515H BS1 R88M U5K515V BS1 R88M U5K515V BOS1 424 imi 311 113 imd H 3 2 180 42h6 dia GS e G3 88 123 10 102 174 114 3h7 dia 180 231 290 Four 13 5 dia 4 230 KES dia TI Ne Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 2 7 System Design and Installation Chapter 2 m AC Servomotors 1 500 r min Models Absolute e 1 3 kW Standard Models R88M U1K315X S1 R88M U1K315X OS1 257 130 110h7dia 130 Four 9 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 1 3 kW Models with
34. external power inertia 3 3 6 Soft Start Function m Function This function starts and stops the Servomotor according to the acceleration and deceleration times that have been set The acceleration curve is trapezoidal Acceleration and deceleration can be set independently Use soft start processing for speed command inputs or internal speed settings to minimize impact at the time of acceleration and deceleration This function is effective for simple positioning and when changing speeds Set the parameters as shown in the following table Parameter name Factory Setting Explanation sae range Soft start acceleration time 0 to 10 000 Sets the time for the motor to accelerate from 0 r min to 4 500 r min Soft start deceleration time 0 to 10 000 Sets the time for the motor to decelerate from 4 500 r min to 0 r min Position lock rotation speed i 0 to 4 500 Setting for the rotation speed Note 2 to cause position lock Position loop gain 1 to 500 Adjusts position loop response Note 1 The soft start acceleration and deceleration times are effective on the internal speed settings and the speed command input REF This has no effect on the pulse command 3 28 Operation Chapter 3 Note 2 The position lock rotation speed setting is valid only for speed control The upper limit value of the setting is 3 000 for the 1 500 r min models and 4 500 for the 3 000 r min models Note 3 The position lo
35. 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 N Caution N Caution Do not hold by the cables or motor shaft while transporting the product 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 N Caution N Caution N Caution N Caution N Caution N Caution N Caution N Caution Do not step on or place a heavy object on the product Doing so may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Doing so may result in fire Be sure to install the product in the correct direction Not doing so may result in mal function Provide the specified clearances between the Servo Driver and the control panel or with other devices Not doing so may result in fire or malfunction Do not apply any strong impact Doing so may result in malfunction Be sure to wire correctly and securely Not doing so may result in motor runaway injury
36. 0 Delay time setting from brake command until servo turns off Cn 15 Brake command speed 0 to 4 500 Sets rotation speed for output ting brake commands Cn 16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo off to brake command output Note The upper limit value of the parameter Cn 15 is 3 000 for the 1 500 r min models and 4 500 for the 3 000 r min models 3 37 Operation Chapter 3 e Timing for Run Command RUN When Servomotor is Stopped Power supply on OFF Run command ON RUN OFF Lo 0 to 35 ms Approx 6 ms Brake interlock ON ER signal BKIR OFF Brake power ON supply VEM SS a a 200 ms max a 100 ms max Brake Cancelled Le ER E H c operation Maintained See note 1 Speed command ON or pulse command OFF Cn 12 See note 2 Power to Power on L motor Power off Note 1 Ittakesupto 200 ms for the brake to be cleared after the brake power supply has been turned on Taking this delay into account have the speed command or pulse command be given after the brake has been cleared Note 2 Ittakes upto 100 ms for the brake to be held after the brake power supply has been turned off When using itfor the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that the Servomotor will not receive power until after the brake is held e Timing for Power Supply When Servomotor is Stopped ON Power sup
37. 2 e Keeping Foreign Objects Out of Units 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 m AC Servomotors e Operating Environment Be sure that the environment in which the Servomotor is operated meets the following conditions Ambient operating temperature 0 C to 40 C Ambient operating humidity 2096 to 8096 RH with no condensation Atmosphere No corrosive gases e Impact and Load The Servomotor is resistant to impacts of up to 98 m s 10 G Do not subject it to heavy impacts or loads during transport installation or positioning In addition do not hold onto the encoder cable or con nector areas when transporting it 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 e Connecting to Mechanical Systems The axial loads for Servomotors are specified in sec tion 5 2 4 If an axial load greater than that specified i is applied to a Servomotor it
38. 250 Sets the positioning completion range with input command pulses The settings are ordinarily based on the precision required by the machine positioning completion outputs smaller than required are slower Caution If this setting is too high when there are few residual pulses the position ing completion output may turn ON while the motor is still rotating at low speed Cn 1C Bias rotational Feed forward amount P Oto 450 Used to shorten positioning time The higher this parameter is set the more the positioning time is shortened If it is set too high however operation will be unstable Gradually increase the setting from 0 r min while observing the response Oto 100 Effective when position loop gain is small i e less then 25 1 s but ineffective when it is large Setting this parameter too high will increase overshooting The feed for ward amount is added directly to the speed loop bypassing the error counter and thereby speeding up the response when load system is not slowed by command Before adjusting the feed forward amount check to be sure that the position loop has been completely adjusted and that the speed loop is operating with stability Start from 096 and increase the setting gradually If the feed forward amount is set too high speed commands become like sawtooth waves and abnormal noises occur Be careful when setting this parame ter so that the positioning completion signal
39. 3 Appendix Chapter 6 Connection Example 3 Connecting to SYSMAC C200H NC211 and C500 NC211 Position Control Units Main circuit power supply R88M U NFB OFF ON 7 RO SD ee Oo xi MC Main circuit contact i 8 pom TTT SUP 4 Surge killer 200 230 VAC 50 60Hz S 3 6 6 2 TO 6d C200H NC211 Class 3 ground E C500 NC211 R88D UTO CN 1 TB Contents No r 24 VDC input for output 1 A t 24 i VDCL R 0 VDC power for output 23 T S 1 CCW T 8 CW with a resistor 2 12 CCW P a CW without a resistor 3 e 1 7 CW B X B CCW with a resistor 13 8 cw N R88A CAUB x 8 CCW without a resistor 14 i 1 U neg R88A CAUC 16k 15 4ECRST v bleed X axis dev cntr reset output 4 AAA 14 ECRST Ww s X axis origin line driver input 9 T 19 Z 2d X axis origin common 11 L 20 Z X axis positioning completion input 8 25 INP z X Y axis input common 24 VIN X axis external interrupt input RUN NE R88A CRUB X axis origin proximity input RESET X axis CCW limit input INP X axis CW limit input ALMCOM X Y axi
40. 3 3 3 1 2 Turning On Power and Checking Displays 0 0 ce eee eee eee ee 3 4 3 1 3 Using Parameter Units 5 o ea ua REGE E ERREUR EE REA 3 6 3 2 System Check Mode Cn 00 ret Ue e eet Hee erbe eed etes 3 9 3 3 Function Sel ngs c vcn ay elton oh GN PER be beaters Wu Aah a ER CDD MEER 3 10 3 3 1 Setting and Checking Setup Parameters Cn 01 02 0 0 0 eee eee 3 10 3 3 2 Setting and Checking User Parameters Cn 03 to 2d 0 000 3 14 3 3 3 Important User Parameters 0 0c eee en 3 20 3 3 4 Setting Internal Speed Control leere 3 21 3 3 5 Switching Control Mode 0 eee eee eee een e eens 3 26 3 3 6 Soft Start Function 2 26 0 cc ee dm Debs tha epe es 3 28 3 3 7 Electronic Gear Function Position Control 0 00 eee eee eee 3 30 3 3 8 Encoder Dividing Function 0 00 ce ee eee 3 31 3 3 9 Bias Function Position Control 0 ce eee eee 3 32 3 3 10 Torque Limit Function Position Control Speed Control Torque Control 3 33 3 3 11 Speed Limit Function Torque Control 0 00 3 35 3 3 12 Torque Feed forward Function Speed Control 0 0 000000008 3 36 3 3 13 Brake Interlock for Motors With Brakes 0 00 00 e eee eee eee eee 3 37 3 4 Trial Operation sie ud uS ee ERR rS Aa a EE LER ELE 3 40 3 5 Making Adjustments ovo cod et eyo Aes ee ey ee ee ea Se eS 3 42 3 5 1 AMMO MUNIN Bey ise tt r
41. 3 9 24 x 10 3 11 9 x 10 3 14 7 x 10 3 kgem 1 96 x 10 4 2 69 x 1074 3 41 x 1074 9 10 x 1074 11 7 x 1074 14 4 x 1074 GD2 4 Weight Incre Approx 6 0 Approx 7 5 Approx 8 5 Approx 14 Approx 17 Approx 20 mental Weight Absolute Approx 6 5 Approx 8 0 Approx 9 0 Approx 14 5 Approx 17 5 Approx 20 5 24 VDC 1056 No polarity Power consump W at 20 C 7 9 8 tion poe pe 0 29 0 41 tion Static friction 80 min 200 min torque Nem 7 8 min 20 min Absorption time moa 80 max 180 max see note 1 Release time see ms 100 max note 1 Backlash Rating Continuous Insulation grade Type F brake only Note 1 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed Note 2 The items in parentheses are reference values 5 43 Specifications Chapter 5 5 2 3 Torque and Rotation Speed Characteristics Thefollowing graphs show characteristics for various combinations of drivers with an armature winding temperature of 100 C with 3 m standard cable and 200 VAC input e 1 500 r min Models R88M U1K315H S1 R88M U1K315V 1 U1K315X S1 N m kgf cm 404 400 5 304 300 4 20 gt 200 4 Frequent usage 102 1004 Oooo Constant usage 0 0 T T T 1000 2000 3000 r min R88M U2K915H S1 R
42. AWG 12 Use 2 0 mm external ground wires Use the same wire as used for the motor LN Note 1 For the sizes of electrical wires to be connected to the regenerative resistor refer to 3 6 2 Servo Driver Absorbable Regenerative Energy 2 42 System Design and Installation Chapter 2 Note 2 Prepare a 5 5 kw cable for the 1 500 r min models if required This cable is not sold by OMRON e Connection to 3 000 r min Models Servo Driver R88D UT24V R88D UT40V R88D UT60V Re8D UT8OV R88D UT110V Watts 1 0 kW 1 5 kW 2 0 kW 3 0 kW o 60 kW kW Main circuit power Effective current 6 6A 9 2A supply input L1 L2 L3 Wire size 3 5 mm or AWG 12 min 5 5 mm or AWG 10 min Control circuit power Effective current 0 25A 0 25A 0 25A 0 25A 0 25A supply input L1C L3C Wire size 1 25 mm2 or AWG 16 min Motor connection ter Effective current 6 1A 9 9A 12 0A 19 4 A 25 3 A minal U V W Wire size 3 5 mm or AWG 12 5 5 mm or AWG 10 min Use OMRON standard cables Motor connector s AWG 14 to AWG 12 AWG 10 to AWG 8 applicable cable size Frame ground Wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output Terminal block screw size M4 Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values e 600 V Heat resista
43. Aviation Electron JA08A 20 295 J1 EB eter of 6 5 to 9 5 dia ics Industry Ltd JAE JAO6A 20 295 J1 EB For sheath external diam eter of 9 5 to 13 dia JL04 2022CKE 09 For sheath external diam eter of 12 9 to 16 dia JL04 2022CKE 14 e Ifthe Servomotor is used in an environment in which condensation occurs water may enter inside of the encoder from the end surfaces of cables due to motor temperature changes Either take mea sures to ensure that water cannot penetrate in this way or use water proof connectors Even when machinery is not in use water penetration can be avoided by taking measures such as keeping the motor in servo lock status to minimize temperature changes If machining oil with surfactants e g coolant fluids or their spray penetrate inside of the motor insulation defects or short circuiting may occur Take measures to prevent machining oil penetration e Oil Seal If the motor shaft is exposed to oil or grease use a Servomotor with an oil seal with model number suffix of JOL Servomotors with an oil seal conform to EC Directives e Other Precautions Do not apply commercial power directly to the Servomotor The Servomotors run on synchronous AC and use permanent magnets Applying three phase power 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 als
44. Be particularly careful not to connect the two power supply ground lines 2 35 System Design and Installation Chapter 2 It is recommended that a line driver be used for pulse command and error counter reset outputs Be sure to use twisted pair shielded wire for pulse command and error counter reset signal lines and connect both ends of the wires to frame grounds For speed and torque command input lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground e 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 and the controller output section For encoder output A B and Z phase lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground For open collector specifications keep the length of wires to within one meter 2 36 System Design and Installation Chapter 2 2 2 4 Peripheral Device Connection Examples Three phase 200 230 VAC 50 60 Hz
45. J Ego 1 2 No Tpa t 1 027 x 107 J N4 No Rotation speed at beginning of deceleration r min Toi Tpz Deceleration torque kgf cm ty to Deceleration time s Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the figure derived by the formula 3 53 Operation Chapter 3 To find the regenerative processing capacity it is necessary to calculate the average regenerative power 1 Energy Eg consumed by regenerative resistance The regenerative energy that cannot be absorbed by the Servo Driver s internal capacitors is con sumed by regenerative resistance This energy can be found by means of the following formula Eg Eg Ec Ego Eg W E is the regenerative energy absorbed by the capacitors This value varies according to the model If either Eg Ec or Ego Ec is less than zero calculate as if it were zero 2 Average regeneration amount P Power consumed by regenerative resistance in one cycle of operation unit W P Eg T W T Operation cycle s This average regeneration amount must be no more than the average regenerative amount for the Servo Driver m Vertical Axle ES Falling Motor operation Rising N2 Motor output torque Note Inthe output torque graph acceleration in the positive direction rising is shown as positive and acceleration in the negative
46. MC221 421 and C200H MC211 Control Units Main circuit power supply X axis external forced stop contact emergency stop etc NFB OFF ON LN A TA T a J Main circuit contact RO O ee B X M MO 8 AG 9 O SUP 4 Surge killer 200 230 VAC 50 60Hz S G 5 p i g 1 o z TO 60 a CV500 MC221 421 Class 3 ground i C200H MC211 x R88D UTLJ DC supply Battery CN 1 TB DRV Connector 424V OV 28 to i VI r EM 24 V input il 21 BAT t SEN input ground 2 22 BATGND R aa alarm input 3 31 ALM S UA oper cmnd output 4 40 RUN T X axis alarm reset output 5 44 RESET P R88M uU0D00000 X axis SEN signal ground 8 i B x 2 PERONI N R88A CAUB S X axis SEN signal output 9 4 SEN Red R88A CAUC S X axis feedback ground 10 1 GND u White As X axis A phase input 11 33 A y Black d i P Ap a W Green mo X axis A phase input 12 34 A Md NV X axis B phase input 13 36 B X axis B phase input 14 35 B X axis Z phase input 15 i 19 4Z x X axis Z phase input 16
47. Motor output torque Without the torque A PA feed forward function Note 1 If torque feed forward is input when the motor s rotational speed is fixed the rotational speed won t match the speed command Design the Controller s circuit so that torque feed forward is applied only when the motor is accelerating or decelerating Number of motor revolutions Note 2 A torque will be generated that accelerates the motor 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 motor rotation or oscillation will occur ifthe feed forward is applied with a polarity opposing the acceleration direction 3 3 13 Brake Interlock for Motors With Brakes U series AC Servo Drivers have a brake interlock signal BKIR to control the magnetic brake In addition they have a built in dynamic brake circuit Magnetic Brakes The magnetic brakes for Servomotors with brakes are specialized holding brakes with non magnetized operation Therefore set the parameters so that the brake power supply is turned off after the Servomo tor stops Ifthe brake is applied while the Servomotor is operating the brake will suffer abnormal wear or even damage and will quickly become defective For wiring methods refer to 2 2 4 Peripheral Device Connection Examples e Parameters to be Set Parameter name Factory Unit Setting Explanation setting range Cn 12 Brake timing 1
48. Note 5 Use the RUN signal to set whether the Servo can be turned ON OFF 6 5 Appendix Chapter 6 m Connection Example 5 Connecting to SYSMAC C200H NC222 E Position Control Units Main circuit power supply NFB OFF ON _ A ET 6060 MC Main circuit contact R O 6 d oe ie oxi che 5 e cO o SUP 4 Surge killer 200 230 VAC 50 60Hz S G 6 6 F if 2 1 9 z TO 60 br Class 3 ground C500 NC222 E R88D UTL MD Connector CN 14 TB Name Signal No R88A CPUBLILILIS r X axis A phase input X A 7 ee Si 7 133 A t T X axis A phase input X A 6 34 A R O X axis B phase input X B 5 36 B S X axis B phase input xB 4 35 B T X axis Z phase input xz 6 T 19 Z P R88M U X axis Z phase input xz 15 7v 1120 Z B X axis speed command XOUT 9 r 5 REF N R88A CAUB S i X axis speed cmnd OV XAG 8 T 46 AGND U nes R88A CAUC S MN DCGND 1 PE Ms ov 2 i M Black DCGND 17 24 VDC 1 Ww l Gr en reen 24V 11 H ke E e EE 24 V for OUT output 24V 12 Xt 47 24 VIN X
49. OFF Rotation direction ON command RDIR OFF Pulse command ON OFF Positioning com ON VCMP l j j rt a Motor operation r min Note 1 There is a maximum delay of 6 ms in reading the input signal Note 2 The shaded areas in the time chart for the positioning completion signal indicate the places where the signal is turned ON as the speed compare VCMP signal The meaning of the signal differs according to the control mode e Internal Speed Control Settings Torque Control Cn 2b 6 Speed selection ON command 1 Speed selection command 2 SPD2 Rotation direction command RDIR Torque command input TREF Motor operation Torque control mode r min Speed 1 Note 1 When the control mode is internal speed control settings torque control operation follows the torque command input TREF immediately after SPD1 and SPD2 are both OFF although there is a delay of up to 6 ms in reading the input signal 3 25 Operation Chapter 3 Note 2 Motor operation with torque control varies according to the motor load conditions e g fric tion external power inertia Note 3 When motor servo lock is required set any of the internal speed settings to O r min and select that speed with speed selection commands 1 and 2 3 3 5 Switching Control Mode m Function This function controls the motor by switching between two control modes by means of external inputs The control mo
50. R88M U5K515X OS1 387 42h6 dia S o N x T mr Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 5 5 kW Models with Brake R88M U5K515X BS1 R88M U5K515X BOS1 438 42h6 dia 123 Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 2 10 System Design and Installation Chapter 2 m AC Servomotors 3 000 r min Models Incremental e 1 0 kW 1 5 kW 2 0 kW Standard Models R88M U1K030H U1K530H U2K030H R88M U1K030V S1 U1K530V S1 U2K030V S1 R88M U1K030V OS1 U1K530V OS1 U2K030V OS1 24h6 dia 95h7 dia 87 Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 1 0 kW 1 5 kW 2 0 kW Models with Brake R88M U1K030H B U1K530H B U2K030H B R88M U1K030V BS1 U1K530V BS1 U2K030V BS1 R88M U1K030V BOS1 U1K530V BOS1 U2K030V BOS1 L gt 95h7 dia 87 Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 Standard Models Models wi
51. Servomotor of 1 000 pulses revolution Servo Driver Servomotor 1 000 pulses Elccronie 32 768 pulses 1 revolution 32 768 pulses 3 30 Operation Chapter 3 3 3 8 Encoder Dividing Function 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 8 192 see note 1 Use this function for the following applications When connecting to a positioner with a low response frequency When it is desirable to set a pulse rate that is easily understandable For example in a mechanical system in which a single Servomotor revolution corresponds to a movement of 10 mm if the resolution is 5 um pulse set the encoder dividing rate to 2 000 pulses revolution Set the parameters as shown in the following table Parameter name Factory Setting range Explanation setting Encoder divider rate 1 000 16 to 8 192 Setting for number of output pulses pulses revolution pulses from Servo Driver revolu Note 1 tion Number of encoder pulses 8 192 1 500 r min Do not change the setting pulses 8 192 pulses rev revolu olution tion 3 000 r min INC 4 096 pulses revolution ABS 8 192 pulses revolution Note 1 Theupper limit value ofthe parameter Cn OA is 8 192 for the 1 500 r min models 3 000 r min Absolute models and 4 096 for the 3 000 r min Inc
52. Three phase 200 230 VAC 170 to 253 V 50 60 Hz Single phase 200 230 VAC 170 to 253 V 50 60 Hz Control method Speed Incremental Absolute Applicable load inertia Inverter method PWM frequency Applica All digital servo Optical incremental encoder 4 096 pulses revolution Optical absolute encoder 8 192 pulses revolution Maximum of 10 times motor s rotor inertia PWM method based on IGBT 3 3 kHz R88M Incremental U1KO30V U1K530V U2KO030V U3KO30V U4KO30V U5KO30V ble Ser vomotor Applicable Servomotor wattage Weight Control circuits Speed control range Load fluctuation rate Voltage fluctuation rate Temperature fluctuation rate Frequency characteris tics Acceleration time setting Maximum frequency Capacity for analog inputs Capacity Absolute U1K030X U1K530X U2K030X US3KO30X U4K030X U5K030X 1 0 kW 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW Approx 4 0 kg Approx 5 0 kg Approx 15 0 kg Main circuits 55 W 120 W 250 W 260 W value 20 W 1 5 000 0 01 at 0 to 100 at rated rotation speed 0 at input voltage of 170 to 253 VAC 0 1 max at 0 to 50 C 250 Hz at the same load as the rotor inertia 0 to 10 s acceleration and deceleration set separately 200 kpps for pulse Position loop gain T to 1 000 1 5 train Electronic gear ratio inputs Setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 Positioning range 0 to 250 com
53. Vomero mas karem orz fre mmo fim fo ua Momentary maxi mum rated current ratio iia i mn Cz z2 Momentary maxi 17 mum current EE n 1 78 x 1073 2 52x 10 3 3 26x 10 9 7 14x 1079 9 80x 10 3 12 6 x 1073 m 1 74 x 1074 2 47x107 3 19x 107 7 00x 107 9 60x107 12 3x 10 4 GD 4 Torque constant kgecm A 63 55 NmA os os foss Joss fost los Induced voltage mV 22 2 20 0 19 5 20 0 19 3 21 2 constant r min ws ss e2 os e 56 Mechanical time se e 9 0 7 constant nang resistence fa foer os oa fom ase oer o mc am zag ur har ogo oe Electrical time con 7 1 7 7 8 3 14 0 14 1 14 7 stant Weight Incremental Approx 4 6 Approx 5 8 Approx 7 0 Approx 11 Approx 14 Approx 17 Weight Absolute Approx 5 0 Approx 6 2 Approx 7 4 Approx Approx Approx 11 5 14 5 17 5 Corresponding Servo Driver UT24V UT40H E UT60H E UT80H E UT110h E R88D UT40V UT60V UT80V UT110V 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 a standard value Note 2 When an AC Servomotor is continuously operated at the rated conditions a heat radiation plate equivalent to an rectangular aluminum plate of t20 x 400 mm is required at the Servomo
54. again will bring back the parameter number display 6 Repeat steps 1 through 5 above as required m User Parameter Chart Parameter name System check mode Factory setting Unit Setting range Explanation Refer to system check mode explanation Setup parameter no 1 Setup parameter no 2 Refer to setup parameter no 1 explanation Refer to setup parameter no 2 explanation Speed command scale 10 to 2 000 Rotation speed setting per 1 V of speed command voltage Speed loop gain See note 1 1 to 2 000 Adjusts speed loop response Speed loop integration constant 200 to 51 200 Speed loop integration con stant Emergency stop torque 0 to 350 Deceleration torque when abnormality occurs compared to rated torque Soft start acceleration time Note 4 Oto 10 000 Acceleration time setting for soft start Forward torque limit Reverse torque limit Encoder divider rate See note 2 Rotation speed for motor rotation detection P control switching torque commands 350 1 000 Pulses revolution 200 926 0 to 350 Output torque for rotation in forward direction compared to rated torque Output torque for rotation in reverse direction compared to rated torque Setting for number of output pulses from Servo Driver Setting for rotation speed for motor rotor detection output If a torque command exceeds this value
55. alarm display investigate the cause and apply the appropriate countermeasures m Error Diagnosis by Means of Operating Status mode The power sup ply indicator POWER does not light even when the power supply is turned on The motor does not operate even when a command is given No alarm is out put The motor operates momentarily but then it does not operate Power supply lines are incorrectly wired The RUN signal is OFF when Cn 01 bit no 0 is 0 The correspondence between the Servo Driver and the Servomotor is incor rect The POT and NOT signals are OFF when Cn 01 bit nos 2 and 3 are 0 Check the power supply voltage Check the power supply lines Check the RUN signal s ON and OFF by means of the monitor mode Check the models Check whether POT and NOT are displayed in status display mode Correct the power supply Common Correct the wiring Input the RUN signal Common Correct the wiring Combine models that corre spond correctly Turn ON the POT and NOT signals If POT and NOT are not being used set Cn 01 bit nos 2 and 3 to 1 The control mode is not right Check the control mode selection Cn 2b Set the control mode to Common match the command type The error counter reset input ECRST is ON With monitor mode check the ON OFF status of the error counter reset signal Turn OFF the ECRST sig na
56. are used Follow the wiring methods outlined below to improve encoder noise resistance Be sure to use dedicated encoder cables e If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire e Donot coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use clamp cables The following table shows the rec ommended ee filter models alae ESS Clamp filter ZCAT2032 0930 ZCAT3035 1330 1330 P ZCAT2035 0930A Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves m Improving Control I O Signal Noise Resistance Position 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 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply As much as possible keep the power supply for pulse command and error counter reset input lines separate from the control power supply
57. average regenerative amount for the Servo Driver 3 6 2 Servo Driver Absorbable Regenerative Energy m Regenerative Energy Absorbed Internally The Servo Driver absorbs regenerative energy by means of an internal capacitor If there is more regen erative energy than can be absorbed by the capacitor an overvoltage error will be generated and opera tion cannot continue The amounts of regenerative energy that can be absorbed by the various Servo Drivers alone are shown in the tables below If regenerative energy exceeding these values is pro duced take the following measures Lower the operating rotation speed The regenerative energy is proportional to the square of the rotation speed Lengthen the deceleration time Reduce the amount of regenerative energy per unit time Lengthen the operating cycle i e the cycle time Reduce the average regenerative power Absorptive regeneration energy Average absorbable regenerative energy Ec J W R88D UT24V 24 3 R88D UT40V H E 24 3 R88D UT60V H E 64 3 R88D UT80V H E 64 3 R88D UT110H E 107 3 55 Operation Chapter 3 Servo Drivers requir Absorptive regeneration energy ing external regenera Ec J tive resistors R88D UT24V RG 24 3 R88D UT40V RG 24 3 R88D UT60V RG 64 3 R88D UT80V RG 64 3 Note 1 The Servo Drivers requiring external regenerative resistors do no have built in regenerative resistors Be sure to install Regenerative Resistors that
58. be sure that these settings are made correctly If they are set incorrectly the motor may malfunction or suffer damage Factory set Applicable motor model value R88D UT40H E 144 R88M U1K315H LI81 R88M U1K530H R88D UT60H E R88M U1K815H R88M U2K030H R88D UT80H E R88M U2K915H R88M U3K030H R88D UT110H E R88M U4K415H R88M U4K030H R88M U5K030H R88D UT160H E R88M U5K515H R88D UT24V R88M U1K030V S1 X R88D UT40V R88M U1K315V S1 X R88M U1K530V S1 X R88D UT60V R88M U1K815V R88D UT80V R88M U2K915V R88D UT110V R88M U4K415V R88M U4K030V R88M U5KO030V R88D UT160V E 148 R88M U5K515V 3 18 Operation Chapter 3 e Table 2 Cn 2b Control Mode Selection N Caution Check to be sure that these settings are made correctly If they are set incorrectly the motor may malfunction Speed control Analog commands oS 9 Position dr Pulse train n Factory setting Homuecomol mdogcommani O O 2 jinternaly setspeed contol O 3 eae set speed control lt gt Speed control Analog commands Internally set speed control Position control Pulse train commands Lx Internally set speed control Torque control Analog commands 006 Position control Pulse train
59. command inputs internal set speed is selected this is the rotation ting direction command for internal speed settings 1 to ntrol 3 OFF Forward rotation ON Reverse rotation SPSE CONNO Forward rotation overtravel input OFF when pro hibited When setup parameter Cn 01 bit no 2 1 this signal is not used Reverse rotation overtravel input OFF when pro hibited When setup parameter Cn 01 bit no 3 1 this signal is not used Alarm reset input ON Servo alarm status is reset Forward rotation Forward reverse rotation current limit PCL NCL current limit input when user parameter Cn 2b 0 1 2 7 8 9 10 Speed selection or 11 ON Current limit command 1 input Internal setting speed Cn 1F 20 21 selector Reverse rotation Switch when user parameter Cn 2b 3 4 5 or 6 current limit input Speed selection command 2 input 24 V power sup Power supply for pin nos 40 41 42 43 44 45 ply input for control and 46 24 V input DC S Sensor ON input ON 5 V power supplies to absolute encoder abso lute EN SENGND pole ON input The signal is not used when setup parameter g Cn 01 bit no 1 1 21 BAT Backup battery Backup battery connector terminals for power inter input ruption for absolute encoder absolute 22 BATGND Backup battery input 4 2 5 10 Specifications Chapter 5 e CN1 Control Outputs Signal Contents Command name mode 1 GND Ground co
60. commands Speed control Analog commands aa Position control Pulse train commands lt Torque control Analog commands 8 Speed control Analog commands lt Torque control Analog commands 9 Speed control Analog commands lt Position lock prohibit Position control Pulse train commands lt Pulse prohibit ot e Table 3 Cn 2d Output Signal Selection Any of the functions can be allocated to the three output terminals The three digits of the set value correspond respectively to the output terminals The setting O can be made only for the first digit CN1 25 26 pins E l tti sampleserng In position INP Speed compare VCMP 2 1 E Motor rotation detection TGON Function for CN1 25 26 pins Servo ready READY Function for CN1 27 28 pins Current limit detection CLIMT Function for CN1 29 30 pins Brake interlock c OLA Overload warning OLWRN Lube nj Overload alarm OLALM 6 3 19 Operation Chapter 3 3 3 3 Important User Parameters This section explains the checks and settings that are required before using the Servomotor and Servo Driver These parameters must be set correctly If they are set incorrectly the motor may fail to operate or may malfunction Make the appropriate settings for the system that is being used Control Mode Settings The control mode is set by user parameter Cn 2b Cn 2b set va
61. correspond to the amount of regen erative energy Note 2 The input voltage is the value at 200 VAC As the input voltage is increased the amount of regenerative energy that can be absorbed is decreased 3 6 3 Absorption of Regenerative Energy by Servo Drivers with External Regenerative Resistors If there is excessive regenerative energy that cannot be absorbed by the Servo Driver use a Servo Driver model to which external regenerative resistors can be connected An appropriate number of external regenerative resistors must be connected between the 1 and B terminals of the Servo Driver Do not connect external regenerative resistors to any other terminals of the Servo Driver otherwise the Servo Driver may be damaged The temperature of the external regenerative resistors rises by approxi mately 120 C Be sure to keep them away from any device or wiring that may be affected by heat Be sure to attach proper heat sinks to the external regenerative resistors before use External Regenerative Resistor e Model Resistance Nominal Absorption of Heat radiating Thermal switch capacity regenerative condition output energy at 120 C specification temperature rise R88A RR220478 47Q 5 220W 70W t1 0x LJ350 Operating SPCC temperature 170 C e Combinations of External Regenerative Resistors Regenerative absorption capacity 280 W SS Combination R H pex LS r H r Note Make sure to com
62. deviation counter reset input lines separate from the control power supply Be particularly careful not to 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 Be sure to use twisted pair shielded wire for pulse command and deviation counter reset signal lines and connect both ends of the wires to frame grounds For speed and torque command input lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground 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 and the controller output section For encoder output A B and Z phase lines be sure to use twisted pair shielded cable and connect both ends of the shield wire to ground For open collector specifications keep the length of wires to within one meter 2 51 System Design and Installation Chapter 2 2 3 4 Peripheral Device Connection Examples L1 L2 L3 Three phase 200 230 VAC 50 60 Hz
63. direction falling is shown as negative The regenerative energy for each section can be found by means of the following formulas Eg 1 2 N4 e Tp4 e t4 1 027 x 10 2 J Ego No s Ti toe 1 027 x 107 J Eg3 1 2 N2 Tp2 t3 1 027 x 107 J Ny No Rotation speed at beginning of deceleration r min Tio Torque when declining kgf cm 3 54 Operation Chapter 3 Tp1 Tpo Deceleration torque kgf cm ty tg Deceleration time s to Travel time equivalent to torque when declining s Note There is some loss due to winding resistance so the actual regenerative energy will be approxi mately 90 of the figure derived by the formula To find the regenerative processing capacity it is necessary to calculate the average regenerative power 1 Energy Eg consumed by regenerative resistance The regenerative energy that cannot be absorbed by the Servo Driver s internal capacitors is con sumed by regenerative resistance This energy can be found by means of the following formula Eg Eg Ec Egot Egg Eg JI Ec is the regenerative energy absorbed by the capacitors This value varies according to the model If either Eg Ec or Eg2 Eg3 Ec is less than zero calculate as if it were zero 2 Average regeneration amount P Power consumed by regenerative resistance in one cycle of operation unit W P Eg T W T Operation cycle s This average regeneration amount must be no more than the
64. following conditions Ambient operating temperature 0 C to 55 C Ambient operating humidity 2096 to 85 RH with no condensation Atmosphere No corrosive gases e 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 preventthe 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 The service life of a Servo Driver is largely determined by the temperature around the internal elec trolytic capacitors The service life of an electrolytic capacitor is affected by a drop in electrolytic vol ume and an increase in internal resistance which can result in overvoltage alarms malfunctioning due to noise and damage to individual elements If a Servo Driver is always operated at the maxi mum ambient temperature of 40 C and at 80 of the rated torque then a service life of approxi mately 50 000 hours can be expected A drop of 10 C in the ambient temperature will double the expected service life 2 17 System Design and Installation Chapter
65. for 5 5 kW use for the 1 500 r min models if required This cable is not sold by OMRON For cable specifications refer to 5 3 4 1 500 r min Models 5 5 kW Cable Specifications The cable is of IP30 construction If more protection is required or EC Directives must be satisfied use the recommended connectors Refer to 2 1 2 Instal 1 1 with incremental encoder 2 39 System Design and Installation Chapter 2 2 3 2 Wiring Servo Drivers Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks Wiring Terminal Blocks R88D UT24V UTA40OV j UT60V UT8OV L1C L3C Power Cable 1 500 r min models 1 3 kW 3 000 r min models 1 5 to 2 0 kW R88A CAUB S for motor without brake R88A CAUB B for motor with brake 1 500 r min models 1 8 to 4 4 kW 3 000 r min models 3 0 to 5 0 kW Control Circuit Power Supply R88A CAUC S for motor without brake Single phase 200 230 VAC R88A CAUC B for motor with brake 50 60 Hz 1 500 r min models 5 5 kW Prepare a cable for 5 5 kW use for the 1 500 r min models if required This cable is not sold by OMRON The cable is of IP30 construction If more protec tion is required or EC Directives must be satis fied use the recommended connectors Refer to 2 1 2 Installation Conditions Signal line for brake H Yellow io el E Ee bbs
66. killer 200 230 VAC 50 60Hz Ss G 6 5 LL e z TO 6d Class 3 ground I C200H NC112 R88D UTO ON 1 TB Contents No r 24 VDC input for output A t porro Aree TROC TAE al 1 3 B R a rr 2 A S 5 VDC input for output B CCW T 3 CCW with a resistor A CCW P R88M U E cew without a resistor ian Bl CW B 8 CW with a resistor aA CW N R88A CAUB S al CW without a resistor o Is Bl U hed R88A CAUC S White A V ov 5r 4 Black B ECRST Wa enl Dev counter reset output AM ECRST ME Sy E ipa ei en eai ee Ee eh 6 We neta De ov B RES y A Z Origin line driver input e 8 g Z Positioning completion Al input 9 B INP 24 VIN Origin proximity input 10 A RUN CN2 R88A CRUBLILILIN B A RESET RE W limit input r J COW limit inpu 12 B INP ar CWilrtinpdt 13 A ALMCOM imit inpu B ALM Ext l int t i t 19 A xternal interrupt inpu r pein B FG F A Emergency stop input 20r Bl Shell R88A CPUB S Note Note Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver 2 3 Note 4 Use the 24 VDC power supply for command pulse signals as a dedicated power supply 5 6 Leave unused signal lines open and do not wire them Use mode 2 for origin search Note Note The diode recommended for surge absorption is the ERB44 02 Fuji Electric Use the RUN signal to set whether the Servo can be turned ON OFF 6
67. limit range a torque in proportion to the difference with the speed limit value is generated to slow down the motor rotation speed In such cases the number of motor rotations does not necessarily match the speed limit value The number of motor rotations varies depending the load There are two methods that can be used for limiting the speed 1 Apply a constant fixed speed limit for torque control by means of user parameter Cn 14 speed limit 2 Limitthe speed by means of analog voltage Use REF speed command input as an analog speed limit input m Parameter Settings e Applying a Constant Fixed Speed Limit for Torque Control User Parameter Settings Parameter Factory Setting range Explanation name setting Cn 14 Speed limit 1 500 r min 0to4 500 This parameter sets the speed limit value for Note torque control Note The upper limit value of the parameter Cn 14 is 3 000 for the 1 500 r min models and 4 500 for the 3 000 r min models e Limiting the Speed with Analog Voltage Set bit no 2 of setup parameter Cn 02 to 1 When bit no 2 is 1 terminals CN1 5 and CN1 6 REF and AGND become analog speed limit input terminals The speed limit value can be calculated from the following equation Speed limit value absolute value of voltage applied to REF x speed command scale If the voltage is positive this becomes the speed limit value for both the forward and reverse direc tions If the voltag
68. 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 Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning Provide an appropriate stopping device on the machine side to secure safety A holding brake is not a stopping device for securing safety Not doing so may result in injury Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption Not doing so may result in injury Take appropriate and sufficient countermeasures when installing systems in the fol lowing locations Locations subject to static electricity or other form
69. order to improve product performance Positive and negative rotation of AC Servo Motors described in this manual are defined as looking at the end of the output shaft of the motor as follows counter clockwise rotation is positive and clockwise rotation is negative Do not perform withstand voltage or other megameter tests on the product Doing so may damage internal components Servo Motors and Servo Drivers have a finite service life Be sure to keep replace ment products on hand and to consider the operating environment and other condi tions affecting the service life The OMNUC UTL can control two groups of Servomotor models i e 1 500 r min and 3 000 r min Refer to the following for the descriptions of the 1 500 r min and 3 000 r min models e 1 500 r min models R88M U 15L1 LIS1 the rated number of revolutions of which is 1 500 per minute e 3 000 r min models R88M U 30L 1 L J the rated number of revolutions of which is 3 000 per minute Be sure to check the model that will be used before reading this manual Items to Check After Unpacking Check the following items after removing the product from the package Hasthe correct product been delivered i e the correct model number and speci fications Has the product been damaged in shipping Are any screws or bolts loose Notice OMRON products are manufactured for use according to proper proc
70. procedures for position control are shown in the following flowchart Make sure that the user parameter Cn 28 for gain compensation is set to zero i e the factory set value of this parameter before executing auto tuning Perform auto tuning to match the rigid ity of the mechanical system y The motor hunts when servo locked YES Accompanied by a hunting noise y NO Raise the rigidity selection to the value Decrease the rigidity selection so just before hunting occurs and perform hunting doesn t occur and perform auto tuning auto tuning Do characteristics such as positioning YES J End adjustment time meet system specifications Increase Cn 04 speed loop gain to a value where hunting doesn t occur in l servo lock Decrease Cn 05 speed loop integra tion time constant to a value where hunting doesn t occur in servo lock lt Does hunting vibration occur x YES when the motor is operated y NO l Run the motor and monitor its opera Decrease Cn 04 speed loop gain i tion l Increase Cn 1A position loop gain to Increase Cn 05 speed loop integra a level where overshooting does not tion time constant occur Y x When vibration can t be eliminated despite several adjustments or when positioning is too slow End adjustment Increase Cn 17 torque c
71. pulse commands Note 4 The speed limit setting is effective only in torque control mode Note 5 The parameters Cn 14 Cn IF Cn 20 and Cn 21 can be setto a maximum value of 3 000 for the 1 500 r min models and a maximum value of 4 500 for the 3 000 r min models 3 23 Operation Chapter 3 Operation Examples e Internal Speed Control Settings Only Cn 2b 3 Speed selection ON command 1 Speed selection ON command 2 SPD2 OFF Rotation direction O N command OFF RDIR r min Motor operation r min Note There is a maximum delay of 6 ms in reading the input signal e Internal Speed Control Settings Speed Control Cn 2b 4 Speed selection ON command 1 OFF SPD1 Speed selection ON command 2 SPD2 OFF Rotation direction O N command OFF RDIR Speed command V input REF V tr min Speed 3 y Motor operation REF Speed i Speed control mode r min Speed control mode Speed 1 Note When the control mode is internal speed control settings speed control operation follows the speed command input REF immediately after SPD1 and SPD2 are both OFF although there is a delay of up to 6 ms in reading the input signal There is no need to wait until the servo lock operates 3 24 Operation Chapter 3 e Internal Speed Control Settings Position Control Cn 2b 5 Speed selection ON command 1 SPD1 OFF tl scu Speed selection ON 6 ms min command 2 SPD2
72. pulse mode for position control according to the pulse command configuration Command pulse mode Selected command pulse mode Cn 02 bit nos 5 4 3 0 0 0 Feed pulses PULS Forward reverse signal SIGN 0 0 1 Forward pulses CCW Reverse pulses CW Factory setting 90 phase difference A B phase signal x1 0 1 1 90 phase difference A B phase signal x2 90 phase difference A B phase signal x4 Note 1 When a 90 phase difference signal is input any of three types of multipliers can be selected X1 x2 or x4 If x4 is selected the input pulses will be multiplied by four so the number of motor revolutions speed angle will be four times that of x1 Note 2 The control mode such as the speed control position control or torque control mode is set with the user parameter Cn 2D Refer to 3 3 3 Important User Parameters for details Error Stop Processes Bits 6 7 8 and 9 of Cn 01 specify how the motor will be stopped when the servo goes OFF the run command is OFF an alarm is generated or overtravel occurs The following diagrams show the func tion of these four bits Stop Process for Servo OFF Alarm Deceleration method Bit 7 Stop condition 0 J Bit 6 4 Decelerate by dynamic brake Servo free dynamic brake OFF Servo OFF _ 1 l Servo free dynamic brake ON or Alarm i Decelerate by free run I Servo free
73. r min to maxi mum instantaneous revolutions Cn 23 Soft start deceleration time Oto 10 000 Sets the time for the motor to decelerate from maximum instantaneous revolutions to 0 r min Cn 26 Position command accelera 0 to 640 Sets the constant for pulse tion deceleration constant smoothing Cn 14 Speed control 0 to 4 500 Sets the speed limit for the Note 5 torque control mode Cn 1F No 1 internal speed setting 100 r min 0 to 4 500 Sets the speed for when SPD1 Note 5 is OFF and SPD2 is ON Cn 20 No 2 internal speed setting 200 r min 0 to 4 500 Sets the speed for when SPD1 Note 5 is ON and SPD2 is ON Cn 21 No 3 internal speed setting 300 r min 0to4 500 Sets the speed for when SPD1 Note 5 is ON and SPD2 is OFF Note 1 The soft start acceleration and deceleration times are effective on the internal speed settings and the speed command input REF Note 2 Acceleration and deceleration times are set up to the number of maximum instantaneous rev olutions The actual acceleration and deceleration times are found by means of the following formula Internally set speed r min Soft start acceleration i T x x 7 Maximum instantaneous deceleration time revolutions r min Actual acceleration deceleration time Motor speed Maximum instanta neous revolutions r min 0 Speed Cn 07 C n 23 Note 3 The position command acceleration deceleration constant is effective on
74. range and then it stops Forthe internal processing block configuration refer to the position loop block diagram in 3 5 2 Manu ally Adjusting Gain Position Control tr min Speed command command pulse frequency a A X Motor speed without X bias function wx Motor speed with Motor speed Xy bias function XA Shortened time Positioning com ON pletion signal OFF INP 3 3 10 Torque Limit Function Position Control Speed Control Torque Control m Function The torque limit function limits the Servomotor s output torque it can be used with position control speed control and torque control This function can be used to protect the Servomotor and machine system by preventing excessive force or torque on the machine system when the machine moving part pushes against the workpiece with a steady force such as in a bending machine There are three methods that can be used to limit the torque 1 Limitthe steady force applied during normal operation with user parameters Cn 08 forward torque limit and Cn 09 reverse torque limit 3 33 Operation Chapter 3 2 Limit operation with external signals connected to pins CN1 45 PCL forward current limit input and CN1 46 NCL reverse current limit input Set user parameters Cn 18 forward rotation external current limit and Cn 19 reverse rotation external current limit 3 Limit operation with analog voltage by using TREF torque command i
75. return to the parameter number display 7 Press the MODE SET Key to move from settings mode to monitor mode 3 42 Operation Chapter 3 e Selecting Mechanical Rigidity Select the set value to match the rigidity of the mechanical system Response Set Position loop gain Representative applications value 1 s oot 16 Articulated robots harmonic drives chain drives belt drives rack and pinion drives etc Medium XY tables Cartesian coordinate robots general purpose machinery etc High Ball screws direct coupling feeders etc Note The response will rise according to a rise in the rigidity of the mechanical system e Auto tuning Procedure 1 With the DATA SERVO Key turn the servo ON and OFF 2 While pressing the Up Key operate the Servomotor three times in the forward direction and adjust the gain The auto tuning will not be complete until the Servomotor has been operated at least three times If the auto tuning is not complete after three times then repeat the operation while holding down the Up Key The Servomotor rotation speed should be approximately 1 2 that of the jog speed Cn 10 1 2jog speed Approx 1 1 s Approx 0 7 s aie gt 3 While pressing the Down Key adjust the gain in the same way for the reverse direction 4 By executing step 2 or step 3 the user parameter position loop gain Cn 1A speed loop gain Cn 04 and speed loop integration time const
76. s position loop gain to a level where overshooting doesn t t occur gt x When vibration can t be eliminated despite several When using speed control adjustments or when positioning is too slow Set Cn 03 speed command scale to match the desired number of revolu Increase Cn 17 torque command filter tions time constant Y 1 Increase Cn 28 compensating gain End adjustment 3 45 Operation Chapter 3 m Adjustment Parameters The user parameters for making adjustments are shown in the following table The symbols following each parameter name indicate which control modes that particular parameter can be used for P Posi tion control S Speed control T Torque control Parameter name Factory Setting Explanation setting range Cn 04 Speed loop gain Adjusts the speed loop response As this is made higher the servo rigidity is strength ened The greater the inertia rate the higher this is set If it is set too high oscilla tion will occur See the illustration following this table Cn 05 Speed loop integra 200 to Speed loop integration time constant As tion time constant 51 200 this is made longer the response is short P S ened and the resiliency toward external force is weakened If it is set too short oscillation will occur See the illustration following this table Torque command O to 250 Sets torque command filter time constant filter tim
77. supply has missing phase or dis connected line Correct the wiring Check the main circuit power supply wiring Parameter Unit transmission error 1 Parameter Unit transmission error 2 Occurred when power was turned on Occurred while the Param eter Unit was being used Servo Driver defective Internal element is malfunc tioning Internal element is dam aged Replace Servo Driver Reset and then run again Replace Servo Driver 4 23 Application Chapter 4 4 5 Periodic Maintenance NWARNING Do notattemptto 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 components require maintenance depending on application condi tions In order to ensure proper long term operation of Servomotors and Drivers peri odic 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 Serv
78. the mode switches from PI to P control 0 to 350 16 to 8 192 Note 6 1 to 4 500 Note 8 0 to 350 3 15 Operation Parameter name P control switching speed commands P control switching accel eration commands P control switching devi ation pulses Factory setting Unit r min 10 r min s Chapter 3 Explanation If a speed command exceeds this value the mode switches from PI to P control If an acceleration command exceeds this value the mode switches from PI to P control If the deviation pulses exceed this value the mode switches from PI to P control Setting range 0 to 4 500 Note 8 0 to 3 000 0 to 10 000 Jog speed Number of encoder pulses Notes 2 and 5 Brake timing 1 8 192 Pulses revolution Setting for manual rotation speed Setting for number of pulses for encoder used 0 to 4 500 Note 8 1 500 r min 8 192 3 000 r min INC 4 096 ABS 8 192 0 to 50 Delay time setting from brake command until servo turns off Torque command scale Brake command speed Cn 14 Speed limit 1 500 r min 10 to 100 Sets gain for torque command input Sets speed limit value for torque control mode Sets rotation speed for output ting brake commands 0 to 4 500 Note 8 0 to 4 500 Note 8 Brake timing 2 Torque command filter time constant Forward rotation external current limit 10 to 100 Waiting time from s
79. the time chart for the positioning completion signal indicate the places where the signal is turned ON as the speed compare VCMP signal The meaning of the signal differs according to the control mode e Position and Torque Control Switching Example Cn 2b 8 Control mode ON Switching TVSEL OFF Ooo n a 6 ms min V Torque command input TREF 6 ms min ON Forward operation Reverse operation OFF Positioning com ON pletion signal OFF em INP Pulse commands ry tr min Motor operation r min Note 1 This time chart shows an example of torque thrust Note 2 There is a maximum delay of 6 ms in reading the input signal Note 3 When switching from torque control to position control input the pulse command after the control mode switching TVSEL has turned OFF the positioning completion INP signal has turned ON and 6 ms has elapsed The pulses will be ignored until the positioning completion INP signal has turned ON 3 27 Operation Chapter 3 e Speed and Torque Control Switching Example Cn 2b 9 Control mode ON Switching TVSEL OFF uus Speed command y input REF V TV Torque command input TREF V tr min Motor operation Torque control mode r min Note 1 There is a maximum delay of 6 ms in reading the input signal Note 2 Motor operation with torque control varies according to the motor load conditions e g fric tion
80. use Legend Symbol Description number sees Maximum output current Approx 24 A Approx 40A Applicable standard Models not conforming to standards Models conforming to EC Directives Special specifications No indication RG Models requiring external regenerative resistors see note 1 Special specifications for Europe Note Although the R88D UT110V and R88D UT160H E have no indication for the regenerative resis tor specifications these models require external regenerative resistors 1 2 Introduction Chapter 1 e Servomotors R88M U 1 23456 4 5 and 6 Option Specifications mE m Amm oo mm number example Motor capacity Ce Se a 2 Rated revolution 3 Applicable H Models not conforming to standards standard encoder type Incremental encoder Incremental encoder Absolute encoder Brake specifications B o Whbae 5 Oil seal specifications Without oil seal Shaft shape Straight shaft without key Po Sets ensem Straight shaft with key see note 2 Note 1 Servomotors with absolute encoders and those with oil seals are available as models con forming to EC Directives Note 2 Models conforming to EC Directives and models for 1 500 r min are available only for straight shafts with keys Note 3 For details about model numbers refer to 6 8 OMNUC U series Models For details a
81. 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 1 Belt Tension Motor shaft Pulley Pulley for tension adjustment Make adjustable 2 19 System Design and Installation Chapter 2 e Water and Drip Resistance The Servomotor is not of waterproof construction The Servomotor is provided with either of the following protection Models not complying with EC Directives IP65 excluding the shaft penetration areas Models complying with EC Directives IP55 including the shaft penetration areas The standard cable conforms to IP30 If the Power Cable or Encoder Cable is used in places wet with sprayed water connect waterproof connectors to the Cable If the equipment incorporating the Servomotor must comply with EC Directives connect the follow ing connectors to the Power Cable and Encoder Cable Recommended Connectors for Power Cables e 1 500 r min Models mE Motor model Connector model Cable clamp model Without R88M U1K315 Angled type For sheath external diam DDK Ltd brake CE05 8A18 10SD B BAS eter of 10 5 to 14 1 dia
82. will reduce the service ue E W life of the motor bearings and may damage the motor shaft When connecting to a load use couplings that can sufficiently absorb mechanical eccentricity and variation Motor shaft center line Ball screw center line Shaft core displacement Recommended Coupling Oldham coupling Myghty Co Ltd 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 tooth precision ple JIS class 2 normal line pitch error of 6 um max i j Adjust backlash for a pitch circle diameter of 50 mm If the gear preci by adjusting the sion is not adequate allow backlash to ensure that crm donee between shnatts no radial load is placed on the motor shaft iue 2 18 System Design and Installation Chapter 2 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 Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may separate due to the tightening strength When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension
83. 0 to 10 s for each Pulse Smoothing Function Position Control Applying acceleration and deceleration to command pulses enables tracking of high frequency commands The setting is the same for acceleration and deceleration times and the range is 0 to 64 ms Reverse Mode Forward Reverse commands can be switched in the parameters without changing the wiring to the motor or encoder Brake Interlock Output Outputs atiming signal interlocked with the motor s ON OFF status and rotational speed The hold ing brake of a motor with a brake can be operated reliably Output Signal Selection Function Any three output signals can be selected for output from among the following seven Positioning completed motor rotation detection servo preparation completed electrical current limit detection brake interlock overload warning and overload alarm Overtravel Sequence An overtravel sequence compatible with the system can be selected There are three deceleration methods available dynamic brake deceleration free run deceleration and emergency stop torque deceleration parameter setting Feed forward Function Bias Function 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 error counter Bias Function Reduces the position control time by adding the bias revolutions to the speed control when the error counte
84. 00 r min R88M U4K030H R88M U2K030H S1 R88M U2K030V N m kgf cm 1 U2K030X S1 Frequent usage Constant usage R88M U5K030H T T T T 1000 2000 3000 4000 r min R88M U4K030V S1 U4K030X S1 R88M U5K030V S1 U5K030X S1 N m kgf cm Frequent usage Constant usage 1000 2000 3000 4000 r min N m kgf cm onstant usage 1000 2000 3000 4000 r min m Servomotor and Mechanical System Temperature Characteristics U 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 496 Conversely when the magnet warms up to 80 C from the normal temperature of 20 C the momentary maximum torque decreases by approximately 896 Generally in a mechanical system when the temperature drops the friction torque increases and the load torque becomes larger For that reason overloading may occur at low temperatures In particu lar in systems which use deceleration devices the load torque at low temperatures may be nearly twi
85. 1 0 to 65 535 1 1 denominator Note 2 Position command accel eration deceleration con stant Feed forward command 0 1 ms 0 to 640 Sets the pulse smoothing con stant 0 1 ms 0 to 640 Feed forward command filter filter setting Compensation gain E E 0 to 100 Positioning time adjustment gain No 3 internal speed set 300 0 to 4 500 Rotation speed no 3 internal ting Note 8 setting Speed conformity signal 0 0 to 100 Sets the allowable fluctuation output width width for the speed conformity signal Soft start deceleration Oto 10 000 Sets the deceleration time for Position lock rotation 0 speed r min 0 to 4 500 Sets the position lock rotation Note 8 speed Table 1 0 to 255 Sets the applicable motor Control mode selection O to 11 Sets the control mode Note 2 Table 2 Encoder power supply 52 500 0 1 mV 52 000 to Changes the encoder power voltage Note 7 58 000 supply voltage Output signal selection 21 110 to 666 Selects control output func tions Table 3 Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore if the load Note Note Note Note Note inertia is extremely small some oscillation may occur If it does then lower Cn 04 to 20 or less After the settings for Cn 0A encoder divider rate Cn 11 number of encoder pulses Cn 24 electronic gear ratio G1 Cn 25 electronic gear ratio G2 Cn 2A motor selection
86. 3 Specifications Chapter 5 If the speed command is for 1 000 r min and the speed conformity signal output range is 100 r min then the speed conformity output VCMP turns ON when the Servomotor rotation speed is between 900 r min and 1 100 r min The setting range is O to 100 r min and the factory setting is for 10 r min e Electronic Gear Ratio G1 Numerator Cn 24 Position Electronic Gear Ratio G2 Denominator Cn 25 Position The motor will rotate via the pulse obtained by multiplying the command pulses by the electronic gear ratio G1 G2 The setting ranges for G1 and G2 are 1 to 65 535 but 1 100 G1 G2 100 The factory setting is 4 1 meaning that the motor will rotate once for each 8 192 1 500 r min models or 4 096 3 000 r min models pulses e Position Command Acceleration Deceleration Constant Cn 26 Position This parameter can be used to perform smoothing processing on the command pulses to rotate the motor This can be effective in the following cases There is no acceleration or deceleration in the command pulses The frequency of the command pulses varies rapidly The electronic gear ratio is large G1 G2 10 The setting range is 0 to 640 in 0 1 ms units and the factory setting is O e Feed forward Command Filter Cn 27 Position This setting is for a low pass filter to prevent feed forward amounts from being rapidly added Over shooting can be prevented by using this setting when
87. 60V R88D UT60V RG R88D UT80V R88D UT80V RG R88D UT110V 1 9 I all Chapter 2 System Design and Installations 2 1 Installation 2 2 Wiring and Connections Models Not Conforming to Standards 2 3 Wiring and Connections Models Conforming to EC Directives External Dimensions Unit mm rivers 2 1 Installation System Design and Installation Chapter 2 e R88D UT110H E e R88D UT160H E R88D UT110V UT160V E 230 e el el el al el el el ell A ry goes esa gj Mlsjejeiejeie eereje 2 b REEL System Design and Installation Chapter 2 m Parameter Units e R88A PRO2U Two 4 5 mm dia holes amp a 8 aa e R88A PRO3U 2 4 System Design and Installation Chapter 2 AC Servomotor 1 500 r min Models Incremental e 1 3 kW Standard Models R88M U1K315H S1 R88M U1K315V S1 R88M U1K315V OS1 185 58 46 12 110h7 dia 88 Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 1 3 kW Models with Brake R88M U1K315H BS1 R88M U1K315V BS1 R88M U1K315V BO
88. 7 470 Z phase outputs 1 V 1 000 r min e 33 4A O Line driver output 24 VDC 24 VINTA7 Pesala FIA RS422A conforming E Load resistance Run command RUN i3 x E 361 4B 200 Q max O O Q NR I oo Gain Paik q q A B deceleration w O MINGI E tt 19 2 Forward rotation i drive prohibit POT x i d Z O i o Reverse rotation drive prohibit NOT EN i E rA e 1 GND A x Ground common arm rese RESET EN O O p euius opp hcic coepi Forward rotation Pair C i v current limit x d i H 50 FG Frame ground OA EE O H Note PinNo 50isopenformodels Reverse rotation i Pd i conforming to the EC Direc current limit 4 i tives Connect the cable o O M shield to the connector case 5 24 and ground it directly using a clamp Specifications Chapter 5 m Control I O Signal Connections and External Signal Processing for Speed Control Speed command REFI5 Q LPF AGNDI A D edd TREF converter Q AGND 1 0 V4 Power for speed and 23 torque commands P120 12V Max 30 mA DC N120 ier Sensor ON 4 1002 5V D gt 0v V BAT 4 7k 14F BATGND O 22 Backup battery 3 2 8 to 4 5 V 57 O 8 Q11 Do not connect O 15 i O these pins 514 O15 O18 O 48 Q 49 e Current monitor 6 Speed monitor NM 17 470 1 V 1 000 r min 24V IN 47 AM 1 470 2 V rated torque Y eel 24 VDC i E Gain deceleration MING RN X T Forward rotation drive prohibit Revers
89. 7 T 20 Z X axis speed command 17 5 REF X axis speed cmnd ground 1g 7 6 AGND CN2 SC xe F R88A CRUBLILILIN Shell G To DC supply 24 V output 19 47 424 VIN RE OV 24v 24 V output ground 20 32 ALMCOM n I O Connector Special purpose cable 24 V input 1 R88A CPUB M1 for one axis oo X axis CW limit input 2 R88A CPUB M2 for two axes e X axis CCW limit input 4 o ee X axis emerg stop input 6 oo X axis origin prox input 10 24 V input ground 14 Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Connect the terminals and wiring marked by asterisks when using an absolute encoder Note 4 This wiring diagram is for the X axis only If the other axis is to be used connect to the Servo Driver in the same way Note 5 Be sure to short in the connector any unused NC input terminals in the CV500 221 421 E s I O connector Note 6 Use the RUN signal to set whether the Servo can be turned ON OFF Appendix Chapter 6 6 2 Encoder Divider Rate for Servo Controllers Encoder output pulses for OMNUC U Series AC Servo Drivers can be set within a range of 16 to 4 096 pulses revolution by setting the encoder divider rate Depending on the Controller s encoder input max imum response frequency limits however the maximum numbers of revolutions are limited as shown in the follow
90. 88M U2K915V 1 U2K915X S1 N m kgf cm 60 600 5 45 ES 4504 Se 30 aod Frequent usage 15 150 Constant usage 0 0 T T T 1000 2000 3000 r min R88M U5K515H S1 R88M U5K515V 1 U5K515X S1 N m kgf cm 100 gt 1000 5 754 ee 7504 N N F t requent usage N 504 500 4 255 5504 Constant usage 0 0 T T T 1000 2000 3000 r min 5 44 R88M U1K815H S1 R88M U1K815V 81 U1K815X 81 N m kgf cm 40 4 4004 30 7 3002 00 00 207 200 Frequent usage 104 1004 Constant usage 0 0 T T T 1000 2000 3000 r min R88M U4K415H S1 R88M U4K415V 81 UAK415X 181 N m kgf cm 60 4 ou 600 N 457 450 4 Frequent usage 302 399 154 1504 Constant usage 0 0 T T T 1000 2000 3000 r min Specifications Chapte r5 e 3 000 r min Models S1 S1 R88M U1K030V R88M U1K030X N m kgf cm Frequent usage Constant usage T DAI D 1000 2000 3000 4000 r min R88M U3K030H R88M U3KO030V N m kgi cm 1 U3K030X 1000 2000 3000 4000 r min S1 R88M U1K530H L R88M U1K530V S1 U1K530X N m kgf cm Frequent usage Constant usage T T T T 1000 2000 3000 40
91. 9 NC 19 B B phase input 10 NC 20 FG Frame ground Specifications Chapter 5 Note 1 The battery pins are for an absolute encoder Note 2 Pin No 20 is open for models conforming to the EC Directives Connect the cable shield to the connector case and ground it directly using a clamp e Rotation Direction Change 7 DIR To set up the mechanical configuration so that a voltage input causes reverse rotation instead of for ward rotation this terminal can be connected to the GND terminal for any of pins 1 through 3 This func tion carries out the same operation by means of setting setup parameter Cn 02 bit no 0 to 1 Use this to prevent runaway when replacing the Servo Driver When the rotation direction is changed the encoder A phase and B phase output phases are also changed The following example is for speed control When not set factory setting voltage is for forward CCW rotation and A phase advance when set voltage if for reverse CW rotation and A phase advance and voltage is for forward rotation and B phase advance Therefore wiring chan ges are unnecessary for encoder signals to the positioner e Encoder Pulse Input Signals A B S phase Incremental Z phase Absolute Inputs signals output from the Servomotor encoder In S phase servo sensor U V W and Z phase are transmitted according to A and B phase logic e Encoder Power Supply 5 V Output and Ground 1 2 3 EOV 4 5 6 E5V Ou
92. Brake R88M U1K315X BS1 R88M U1K315X BOS1 22h6 dia S o N Ee o T Four 9 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 2 8 System Design and Installation Chapter 2 e 1 8 kW 2 9 kW 4 4 kW Standard Models R88M U1K815X S1 U2K915X S1 UAK415X S1 R88M U1K815X OS1 U2K915X OS1 UA4K415X OS1 L S o o ges i e EN io 114h7 dia a Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 B e 1 8 kW 2 9 kW 4 4 kW Models with Brake R88M U1K815X BS1 U2K915X BS1 U4K415X BS1 R88M U1K815X BOS1 U2K915X BOS1 U4K415X BOS1 35h6 dia 114h7 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 Standard Models Models with Brake Model L Model L LL R88M U1K815X L 1S1 259 180 89 159 R88M U1K815X BL S1 310 231 R88M U2K915X 1S1 285 206 115 184 R88M U2K915X BL S1 336 257 149 R88M U4K415xX L1S1 218 R88M U4K415X BL S1 370 291 2 9 System Design and Installation Chapter 2 e 5 5 kW Standard Models R88M U5K515X S1
93. C is taken as the condi tion 0 1 0 1 The speed command value Cn 0d is taken as the condition P control switch selec tion P control switch condi d C tions Note 4 The acceleration command value Cn OE is taken as the condition The deviation pulse Cn OF is taken as the condition Incremental encoder Absolute encoder Encoder selection E Absolute ives Set cee Note 1 If set bit 6 to 1 and bit 8 to O the dynamic brake relay will turn OFF after the Servomotor stops regardless of the setting of bit no 7 Note 2 Inthe torque control mode the method of stopping for errors depends on the setting of bit no 6 The setting of bit no 8 has no effect Note 3 The factory settings i e the default settings for Cn 01 bit no 7 are as follows 1 R88D UT40H E 0 R88D UT60H E UT80H E UT110H E UT160H E The Cn 01 bit no 7 setting is valid only for R88D UT40H E 3 11 Operation Chapter 3 Note 4 With P control switch conditions a change from PI control to P control is selected This func tion is not valid for torque control Note 5 Do not change the settings of bit nos 1 4 5 E and F of setup parameter no 1 Cn 01 Note 6 These parameters become effective only after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off e Setup Parameter No 2 Cn 02 BELA e NN LNNNN setting Reverse rotation mo
94. C ae ae 6 2 Encoder Divider Rate for Servo Controllers llle 6 8 OMNUC U series Models 0 0 0 ccc ccc eee eee eee eee nee e hr 6 9 Combinations of Servo Drivers and Servomotors 0 0 0 cc ccc cece cece eens 6 18 il Mh Chapter 1 Introduction 1 1 Features 1 2 Servo Driver Nomenclature 1 3 Applicable Standards and Models Introduction Chapter 1 1 1 Features With their superior performance and fast response times and an output capacity of upto 5 kW these AC Servomotors and Servo Drivers have improved features of previous models Models Bearing the CE Marking and Complying with EC Directives Servo Driver and Servomotor models satisfying the LVD Low voltage Directives and EMC electro magnetic compatibility requirements of EC Directives are available These models are the same as the U series models in performance and function and help a customer s products equipped with these mod els satisfy EC Directives with ease Servo Driver Requiring External Regenerative Resistors Servomotor models connecting to external regenerative resistors and complying with EC Directives are available These Servomotor models are available to vertical shaft applications and other applications that gener ate high regenerative energy For detailed information of external regenerative resistors refer to 3 6 Regenerative Energy Absorp tion Model Number Legend e Servo Driver R88D
95. Complying with EC Directives for details Do not connect anything to these terminals of any other models Red These are the output terminals to the Servomotor Be careful to wire them correctly Main circuit DC output negative Ed Motor connection terminals Frame ground m Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Servo Driver the sizes of the electri cal wires and terminal block screw size e Connection to 1 500 r min Models Servo Driver R88D UT40V R88D UT60V Watts 1 3 kW 1 8 kW Main circuit power supply input L1 L2 L3 3 5 mm or AWG 12 min Soren demers a Control circuit power supply input L1C L3C 1 25 mm2 or AWG 16 min Screw diameter diameter R88D UT80V 2 9 kW R88D UT110V R88D UT160V E 4 4 kW 5 5 kW TTA TBA 263A ES 5 5 mm or AWG 10 min 8 mm or AWG 8 min 0 25 A 0 25 A 0 25 A 0 25 A 0 25 A Motor connection 10 7A 16 7A 23 8A 32 8 A 42 1 A ona U V Wire size 3 5 mm or 5 5 mm or AWG 10 min 14 0 mm or AWG 12 AWG 6 min Use OMRON standard cables Motor connec tor s applicable cable size Screw diameter Wire size Screw diameter Wa Frame ground Regenerative resistor connec tion terminals P1 B Screw diameter Wire size External regenerative resistors cannot be connected Seenote2 Seenote2 2 AWG 14 to AWG 10 to AWG 8 AWG 6
96. Electron Thermal Characteristics An overload protection function electron thermal 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 again too soon the Servomotor coil may be damaged Overload characteristics are shown in the following table If for example a current of three times the Servomotor s rated current flows continuously it will be detected after approximately three seconds 10000 Operation time s c c 10 100 150 200 250 300 Load ratio 96 Note The load ratio is calculated in relation to the Servomotor s rated current Servomotor current Load ratio 96 x 100 Servomotor rated current 4 17 Application Chapter 4 m Alarm History Display Mode The Servo Driver stores the history of the 10 most recent alarms that have been gener ated The alarm history can be displayed by going into the alarm history display mode and using the Up and Down Keys e Alarm History Display Contents A maximum of 10 items of alarm history data can be saved The alarm history data item A 99 is saved when an alarm is reset or when power is reset e Using the Alarm History Display Hi 4t Error number Alarm history data nee
97. G2A5 NC111 EV1 C500 NC211 Position Control Units C200H NC112 C200H NC211 C200HW NC113 C200HW NC213 C200HW NC413 SYSMAC C200HX HG HE Setting Functions Programmable Controller Using Parameter Unit Chapter 3 section 3 1 3 _ Setting checking setup parameters Chapter 3 section 3 3 1 H _ Important setup parameters Chapter 3 section 3 3 1 Setting checking user parameters Chapter 3 section 3 3 2 _ Important user parameters Chapter 3 section 3 3 3 OMNUC U is a series of fully digital AC servo drivers built Adjustments and Troubleshooting on advanced OMRON soft ware servo technology It pro vides high performance a Using displays Chapter 4 section 4 2 sensitive man machine inter _ Using monitor outputs Chapter 4 section 4 3 face and economy _ Protections and diagnostic functions Chapter 4 section 4 4 Making adjustments Chapter 3 section 3 5 OMNUC U Series Parameter Units Operation Method Chapter 3 3 1 3 2 3 3 OMNUC U Series AC Servo Driver pes Cable Specifications I O Operations lt Chapter 5 5 3 2 5 3 3 Chapter 5 5 1 3 Motor Specifications Chapter 5 5 2 OMNUC U series AC Servomotor Table of Contents Chapter 1 Introduction 4 uvese yer Oe eo etai eec l 1 1 1 Features ene e te ete ret pea tee dee t bete e tele Pe Det Jon Sig eite ote Jad 1 2 1 2
98. It can be checked whether the bit information is O not lit or 1 lit according to the 7 segment LED vertical bar To change the set value first set the bit number in the rightmost digit and then set the appropriate bit to 0 or 1 e Making Settings with Handy type R88A PRO2U 1 Use the Right and Left Keys to display in the rightmost digit the bit number that is to be set 2 Using the Up or Down Key reverse the lit not lit status of the appropriate bit number For lit set the bit number to 1 For not lit set it to 0 3 Repeat steps 1 and 2 above as required 4 Save the data in memory by pressing the MODE SET Key or the DATA Key 5 With this the parameter setting operation is complete Pressing the DATA Key atthis point will bring back the parameter number display 6 To go from the settings mode to the monitor mode press the MODE SET Key e Making Settings with Mounted type R88A PRO3U 1 Use the Up and Down Keys to display in the rightmost digit the bit number that is to be set 2 Using the MODE SET Key reverse the lit not lit status of the appropriate bit number For lit set the bit number to 1 For not lit set it to 0 3 Repeat steps 1 and 2 above as required 4 Save the data in memory by pressing the DATA Key 5 With this the parameter setting operation is complete Pressing the DATA Key atthis point will bring back the parameter number display 6 To go fro
99. K415X R88M U4K030X R88M U5K030X 1 500 r min 3 000 imi R88D UT160V E R88M U5K515V R88M U5K515X 3 000 r min 5 0 kW 1 500 r min 5 5 kW Note It is necessary to set Cn 2A Motor Selection according to the motor capacities For setting val ues refer to 3 3 2 Setting and Checking User Parameters 6 18
100. Key to move from settings mode to monitor mode Note When the offset data display indicates zero it is not necessarily the optimal adjustment For speed control make the offset adjustment determination based on Servomotor movement for position control make the determination based on the amount of accumulated pulses in the error counter 3 52 Operation Chapter 3 3 6 Regenerative Energy Absorption 3 6 1 Calculating Regenerative Energy Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Servo Driver s internal capacitors thereby preventing an increase in DC voltage If the regenerative energy from the Servomotor becomes too large however an over voltage error will occur In such cases it is necessary to reduce the regenerative energy by taking an action such as changing operation patterns Regenerative energy is produced when the direction of Servomotor rotation or output torque is reversed The methods for calculating regenerative energy for the horizontal and vertical shafts are explained below m Horizontal Axle N4 Motor operation N2 Motor output torque Note In the output torque graph acceleration in the positive side rising is shown as positive and acceleration in the negative side falling is shown as negative The regenerative energy for each section can be found by means of the following formulas Eg1 1 2 Ny Tpi t4 1 027 x 107
101. P DDK 5 60 Specifications Chapter 5 5 3 4 1 500 r min Models 5 5 kW Cable Specifications Power cables and brake cables for 1 500 r min models 5 5 kW should be prepared by the user according to the following specifications m Power Cables 5 5 kW e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series R88M U5K515L1 L AC Servomotor Driver R88D UT1600 E Note The distance L between the Servomotor and the Servomotor Driver should be 20 m max e Wiring Symbol No U phase A Crimp terminal 14 6 V phase B Crimp terminal 14 6 W phase C Crimp terminal 14 6 GR D Crimp terminal 14 8 Cable AWG6 x 4C For Cable Connector plug model MS3106B32 17S DDK Cable clamp model MS3057 20A DDK Specifications for normal environment For Motor Receptacle model MS3102A32 17P DDK 5 61 Specifications Chapter 5 m Brake Cables 5 5 kW e Connection Configuration OMNUC U Series AC OMNUC U Series l Servomotor AC Servomotor Driver R88M U5K515L BL R88D UT160L E Note 1 The distance L between the Servomotor and the Servomotor Driver should be 20 m max Note 2 Refer to 2 2 4 Peripheral Device Connection Examples for wiring the Servomotor Driver side e Wiring Symbol No Brake A Brake B C
102. R ALARM g CN4 Alarm indicator e Sw CN1 Control I O connector CN CN2 Charge indicator VU 7 Tn m TERA p iy 5 FEIN l e Nala ad t ww A Af e 1 8 CN3 Parameter Unit connector CN4 Connector for monitor output SW1 Unit No setting switch when personal computer monitor is used CN2 Encoder connector Terminal block Introduction Chapter 1 1 4 Applicable Standards and Models E Standards EC Directives Low voltage Applicable standard MELLE Servo Driver EN61010 1 FEE LEE requirements for electrical equipment for measurement control and laboratory use AC Servo Motor IEC34 1 5 8 9 Rotating electrical machines AC Servo Driver EN55011 class A Limits and methods of measurement of and AC Servomotor group 1 radio disturbance characteristics of industrial scientific and medical ISM radio frequency equipment Electromagnetic compatibility generic immunity standard Part 2 Industrial environment EN50082 2 Note Installation under the conditions specified in 2 3 3 Wiring Conditions Satisfying EMC Directives is required to conform to EMC Directives m Applicable Models Supply voltage AC Servo Driver AC Servomotor Incremental Absolute Encoder E M ao aul R88D UT24V R88M U1K030V S1 R88M U1KO30X S1 R88D UT24V RG RBSD UTAOV R88D UT40V RG 200 VAC 55 KW RESD UTIGOV E R88D UT
103. RST ar Ly X axis origin common A14 X axis positioning complete input A12 2 24 VDC e t X axis input common A24 INP 24 VIN CN2 X axis external interrupt input A19 O C RUN R88A CRUB N X axis origin proximity input A21 Le RESET poems X axis CCW limit input A23 e es INP 3a X axis CW limit input A22 ALMCOM X axis emerg stop input A20 o Oe ALM r C FG ee Shell i R88A CPUB S Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note Note 1 2 Leave unused signal lines open and do not wire them 3 Note 4 Use the 24 VDC power supply for command pulse signals as a dedicated power supply 5 6 Use mode 2 for origin search Note Note The diode recommended for surge absorption is the ERB44 02 Fuji Electric Use the RUN signal to set whether the Servo can be turned ON OFF 6 2 Appendix Chapter 6 Connection Example 2 Connecting to SYSMAC C200H NC112 Position Control Units Main circuit power supply NFB OFF ON AN R eue ee fe Xi n MC Main circuit contact 5 ae Oo SUP Surge
104. RZC20EK471 W 775 V 5 000 A 150 J Block Parts ERZC25EK471 W 775 V 10 000 A 225 J ERZC32EK471 W 775 V 20 000 A Ishizuka Electronics Co Z25M471S 470 V 810 V 10 000A 235J Block Z33M471S 470 V 810 V 20 000A 385J Note 1 The W for the Matsushita models indicates that they are UL and CSA certified 2 31 System Design and Installation Chapter 2 Note 2 Refer to manufacturers documentation for operating details Note 3 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 Note 4 The energy resistance is the value for 2 ms It may not be possible to retard high energy pulses at less than 700 V In that case absorb surges with an insulated transformer or reactor e Noise Filters for Power Supply Input Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver 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 Type Mode Ratedcurent Make Single phase GT 2050 ZAC2006 1 LF 315K Tokin LF 325K 25A LF 335K 35A ER LF 380K Boa ER 3 TDK Three phase ZCW2210 01 jMOA oA ZCW2220 01 ZCW2230 01 ZCW2240 01 ZACT2280 ME To attenuate noise at frequencies of 200 kHz or less use an insulated transformer and a noise
105. S phase signals is 1 23 Mbps Follow the wiring methods outlined below to improve encoder noise resistance Be sure to use dedicated encoder cables 2 50 System Design and Installation Chapter 2 e If lines are interrupted in the middle be sure to connect them with connectors making sure that the cable insulation is not peeled off for more than 50 mm In addition be sure to use shielded wire e Donot coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Be sure to use cables fully extended When installing noise filters for encoder cables use clamp cables The following table shows the rec ommended clamp filter models EMI core ESD QR 25 1 Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves Improving Control I O Signal Noise Resistance Position can be affected if control I O signals are influenced by noise Follow the methods outlined below for the power supply and wiring Use completely separate power supplies for the control power supply especially 24 VDC and the external operation power supply In particular be careful not to connect two power supply ground wires Install a noise filter on the primary side of the control power supply As much as possible keep the power supply for pulse command and
106. S1 130 22h6 dia I 110h7 dia 130 120 Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 2 5 System Design and Installation Chapter 2 e 1 8 kW 2 9 kW 4 4 kW Standard Models R88M U1K815H S1 U2K915H S1 U4K415H S1 R88M U1K815V S1 U2K915V S1 U4K415V S1 R88M U1K815V OS1 U2K915V OS1 U4K415V OS1 L LL 79 114 3h 7 dia 88 Four 13 5 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 1 8 kW 2 9 kW 4 4 kW Models with Brake R88M U1K815H BS1 U2K915H BS1 U4K415H BS1 R88M U1K815V BS1 U2K915V BS1 U4K415V BS1 R88M U1K815V BOS1 U2K915V BOS1 U4K415V BOS1 L LL 79 35h6 dia 114 3h7 dia 88 32 Four 13 5 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 Sandara Models Models with Brake Femur 245 166 89 148 Fmemrue sr ar p ier ie rrr pemoc azz axa Tos 202 2 6 S
107. Section 4 2 4 are correctly aligned 05 Auto tuning Operates the motor and automatically adjusts the Section 3 5 1 position loop gain speed loop gain and speed loop integration constant The rotation speed is 1 2 of that set by the user parameter Cn 10 jog speed 3 9 Operation Chapter 3 3 3 Function Settings 3 3 1 Setting and Checking Setup Parameters Cn 01 02 Setup parameters are parameters that are essential for starting up the system They include I O signal function changes selection of processing for momentary stops and errors control mode changes and so on Set them to match the user system Once the parameters have been set they become effective when the power supply is turned on again after having been turned off Check to see that the LED display has gone off Displaying Setup Parameters To display the contents of setup parameters execute the following key operations To go into settings mode cn 00 press the MODE SET Key To display the setup parameter number cn 01 orcn 02 press the Up and Down keys To display the contents of the setup parameter press the DATA key m Setting Setup Parameters The contents of the setup parameters are displayed as follows Tr EC A 8 6 4 2 0 T Nn Mf N lI l1 Nt e ple ud b 9 ie IBS cs Bit no to be set In the leftmost four digits 16 bits of information are displayed In the rightmost digit the bit number that can be set is displayed
108. Straight type CE3057 10A 1 D265 CE05 6A18 10SD B BSS For sheath external diam eter of 8 5 to 11 dia CE3057 10A 2 D265 For sheath external diam eter of 6 5 to 8 7 dia CE3057 10A 3 D265 R88M U1K815 Angled type For sheath external diam Japan Aviation R88M U2K915 JLO4V 8A22 22SE EB eter of 6 5 to 9 5 dia Electronics R88M U4K415 Straight type JL04 2022C K 09 Industry Ltd JLO4V 6A22 22SE EB JAE For sheath external diam eter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diam eter of 12 9 to 16 dia JL04 2022CK 14 R88M U5K515 Straight type Japan Aviation JLO4V 6A32 17SE Electronics Industry Ltd JAE Cable clamp Nippon Flex Co Ltd 2 20 System Design and Installation Chapter 2 e Motor model ___ __Connector model _ _Cable clamp model_ _Maker__ R88M U1K315 Angled type For sheath external diam Japan Aviation JLO4V 8A20 15SE EB eter of 6 5 to 9 5 dia Electronics Straight type JL04 2022C K 09 Industry Ltd JLO4V 6A20 15SE EB For sheath external diam UAE eter of 9 5 to 13 dia JL04 2022C K 12 For sheath external diam eter of 12 5 to 15 9 dia JL04 2022C K 14 R88M U1K815 R88M U2K915 R88M U4K415 Angled type JLO4V 8A24 10SE EB Straight type JLO4V 6A24 10SE EB For sheath external diam Japan Aviation eter of 9 to 12 dia Electronics JLO4 2428C K 11 In
109. System Configuration eee ssa E erci RETI er eg DS TEN ED quw aen Pe ue e e 1 7 1 3 Servo Driver Nomenclature 0 0 cee ec eee been ene n eee 1 8 1 4 Applicable Standards and Models 0 0 ec cece eens 1 9 Chapter 2 System Design and Installation 2 1 231 Installation rosie eh ested acs ite A PD USD a aE aS i er Ere cs 2 2 2 1 1 External Dimensions Unit mm tirti Ure r eee eee 2 2 2 1 2 Installation Conditions 0 0 ee ccc eect eens 2 17 2 2 Wiring and Connections Models Not Conforming to Standards 2 24 2 2 1 Connecting OMRON Servo Controllers 0 0 eee eee eee 2 24 2 2 2 Wiring Servo Drivers i tas esos die ees LU PEG Pw E EOD UR EA E 2 26 2 2 3 Wiring for Noise Resistance 0 0 0 0 cece eee eee eee ee 2 30 2 2 4 Peripheral Device Connection Examples 0 0 eee eee eee eee 2 37 2 3 Wiring and Connections Models Conforming to EC Directives 04 2 38 2 3 1 Connecting OMRON Servo Controllers 0 0 eee eee eee eee 2 38 2 3 2 Wiring Servo Drivers 0 0 eee ence teen mm 2 40 2 3 3 Wiring Conditions Satisfying EMC Directives 0 0 0 0 002s 2 43 2 3 4 Peripheral Device Connection Examples lees 2 52 Chapter 3 Operation lt a sso vare ean rr hr erre JL 3 1 Beginning Operation 2 oec Ge ee Eas EARS E LEPIDE E CE 3 3 3 1 1 Operational Procedure no riei eee hm
110. T40H E R88D UT60V R88D UT80H E R88D UT110H E Watts 1 5 kW 2 0 kW 3 0 kW 4 0 KW 6 0 KW Main circuit power 13 0A 18 4 A 24 0A 28 0A supply input R MET S T 3 5 mm or AWG 12 min 5 5 mm or AWG 10 min Control circuit 0 25 A 0 25 A 0 25 A 0 25 A 0 25 A power supply E 7 input r t 1 25 mm or AWG 16 min Motor connection Effective current 9 9A 12 0A 19 4A 25 3A terminal U V W Wire size 3 5 mm or AWG 12 5 5 mm or AWG 10 min Use OMRON standard cables Motor connector s AWG 14 to AWG 12 AWG 10 to AWG 8 applicable cable size Wire size Use 2 0 mm external ground wires Use the same wire as used for the motor output Terminal block screw size M4 Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires Use values equal to or lower than the specified values e 600 V Heat resistant Vinyl Wiring HIV Reference Values Nominal cross Configuration Conductive Allowable current A for sectional area wires mm resistance ambient temperature qu OAN 16 11 23 16 33 24 43 31 55 79 2 41 49 1 35 70 2 29 System Design and Installation Chapter 2 2 2 3 Wiring for Noise Resistance m Wiring Method Noise resistance will vary greatly depending on the wiring method used Resistance to noise can be increased by paying attention to the items described below ueteris ot cM Pep le Met og ue i lue pA e qose edo Um Ro m
111. U white V and black W power lines and the green ground wire must be properly connected to the terminal block e Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechanical system The power line connectors at the Servomotor must be securely connected e Checking the Encoder Connectors The encoder connectors CN2 at the Servo Driver must be securely connected The encoder connectors at the Servomotor must be securely connected e Checking the Control Connectors The control connectors must be securely connected The operation command RUN must be OFF e Checking Parameter Unit Connections The Parameter Unit R88A PRO2U or R88A PROJ3U must be securely connected to the CN3 con nector m Turning On Power 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 3 4 Operation Chapter 3 Checking Displays When the power is turned on one of the codes shown below will be displayed Normal Base Block Error Alarm Display E 40412 Note 1 Baseblock means that the Servomotor is not receiving power Note 2 The alarm code the number shown in the alarm display changes depending on the contents of the error e If the display is normal i e no errors use it as a monitor m
112. U2K915V U4K415V U5K515V Absolute U1K315X U1K815X U2K915X U4K415X U5K515X 1 8 kW 2 9 kW 4 4 kW 5 5 kW 1 3 kW 20 m max Approx 4 0 kg Approx 5 0 kg Approx 15 0 kg Main circuits 80W 120W 170W 250W 290W 20W zw faw 1 5 000 0 0196 at 096 to 10096 at rated rotation speed 0 at input voltage of 170 to 253 VAC Temperature fluctuation rate Frequency characteristics Acceleration time setting 20 196 max at 0 to 50 C 250 Hz at the same load as the rotor inertia 0 to 10 s acceleration and deceleration set separately Capacity Maximum frequency 200 kpps for pulse Position loop gain 1 to 1 000 1 5 train Electronic gear ratio inputs Setting range 0 01 G1 G2 100 G1 G2 1 to 65 535 Positioning range 0 to 250 command unit Feed forward compensa tion 0 to 100 of speed command amount pulse frequency Bias setting Position acceleration con stant setting 0 to 450 r min 0 to 64 ms Same setting for acceleration and deceleration 5 5 Specifications Chapter 5 e Connection to 3 000 r min Models Models Conforming to EC Directives Continuous output current 0 P R88D UT24V uf umen uf R88D UT110V uf umen uf Momentary maximum output current 0 P Main circuits Control circuits 14 0A 17 0A 27 4 A 37 0A 40A 59A 79A 108 A 119A
113. able 2 47 System Design and Installation Chapter 2 Dimensions FN351 1 65 17X0 5 0 75 Dimensions F258 75 34 80 Ta 329 J Apply the following noise filter product of Okaya Electric Ind to the power supply for the brake Applica Rated Test voltage Insulation Leakage Attenuation tion current resistance current Normal Commo mode n mode MHz MHz SUP P5H EPR 4 5A 1 250 Vrms 6 000 MO 0 6 mA 0 5 to 30 0 2 to 30 50 60 for min at 250 V 60 seconds at500 VDC rms between between 60 Hz terminals terminal and 2 000 V rms C859 50 60 for 60 seconds between terminal and case 2 48 System Design and Installation Chapter 2 The following illustration shows dimensions of the noise filter Its terminals are screw terminals Dimensions 100 2 8441 74 7405 63 5 1 50 8 1 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 Diodes are relatively small devices such as relays used for loads when reset time is not an issue The reset time is increased because the surge voltage is the lowest when power is cut off Used for 24 48 VDC systems Thyristor and varistor are used for loads when induction coils are large as in electromagnetic brak
114. able for 5 5 kW use for the 1 500 r min models if required This cable is not sold by OMRON For cable specifications refer to 5 3 4 1 500 r min Models 5 5 kW Cable Specifications B for motor with brake 5 5 kW AC Servo Motor R88M U 15H 30H S1 R88M U 2 24 with incremental encoder System Desien and Installation Chapter 2 m Connecting to SYSMAC C CV Series Motion Control Units Programmable Controller SYSMAC CV CVM1 Motion Control Unit CV500 MC221 Analog output CV500 MC421 Analog output C200H MC221 Analog output General purpose Control Cable R88A CPUB R88A CPUB M1 for single axis M2 for double axis AC Servo Driver R88D UT H E Power Cable 1 500 r min models 1 3 kW Encoder Cable 3 000 r min models 1 5 to 2 0 kW R88A CRUB R88A CAUB R88A CAUB 1 500 r min models 3 000 r min models R88A CAUC R88A CAUC 1 500 r min models Prepare a cable for 5 5 kW use for the 1 500 r min models if required This cable is not sold by OMRON S for motor without brake B for motor with brake 1 8 to 4 4 kW 3 0 to 5 0 kW S for motor without brake B for motor with brake 5 5 kW For cable specifications refer to 5 3 4 1 500 r min Models 5 5 kW Cable Sp
115. age or Main circuit DC voltage outside of the insufficient voltage allowable range 150 to 420 VDC Over speed The number of motor revolutions has exceeded the upper limit value i e 3 300 r min for the 1 500 r min models and 4 950 r min for the 3 000 r min models Overload Detected at reverse limit characteris tics when 135 of the rated torque was exceeded Overload Detected at reverse limit characteris tics for 12096 to 135 of the rated torque Encoder error Error detected in the number of feed Absolute back pulses during one revolution Radiation shield over Abnormal temperature rise detected in heating radiation shield Command input read The A D end signal was not output ing error from the A D converter within a fixed time EnGodar not properly wired wire SISGORRISCTOR disconnected or ee ese we SISPORPSCHOnE CONNECTER or x cuted detected hase or disconnection detected 4 15 Application Chapter 4 Dis Alarm code Alarm Error detection func Detection contents cause of error play aie nies dor ALM tion Alarm reset power This is history data only and is not an supply turned on alarm Parameter Unit trans Data could not be transmitted after the mission error 1 power supply was turned on It no longer exists in the alarm history Parameter Unit trans Transmission timeout error It no mission error 2 longer exists in the alarm history Note
116. ake Uo Brown m Signal line for brake K Yellow e f er d 24 VDC 10 No polarity Connector Pin No Prepare the power cables Ly N UD T Uy Main Circuit Power Supply re Meses Three phase 200 230 VAC 50 60 Hz D D Class 3 ground min R R Regenerative Resistance 2 27 System Design and Installation Chapter 2 Terminal label o ques This is the ground terminal Ground to a class 3 ground to 100 Q or less or better R Main circuit Three phase 200 230 VAC 170 to 253 V 50 60 Hz REEM supply input Control circuit Single phase 200 230 VAC 170 to 253 V 50 60 Hz power supply input Regenerative Regenerative resistor connection terminal for a Servo Driver of 5 5 kW min resistor R88D UT160H E only connection terminals Main circuit DC Do not connect anything to these terminals output Motor connection Red These are the output terminals to the Servomotor Be careful to wire terminals f them correctly Frame ground Note Servo Drivers of 5 0 kW or less are not provided with the P1 terminal m Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Servo Driver the sizes o
117. am eter of 8 5 to 11 dia CE3057 10A 2 D265 For sheath external diam eter of 10 5 to 14 1 dia CE3057 10A 1 D265 For sheath external diam eter of 6 5 to 9 5 dia JL04 2022CK 09 For sheath external diam eter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diam eter of 12 9 to 15 9 dia JL04 2022CK 14 DDK Ltd Japan Aviation Electronics Indus try Ltd JAE 2 22 R88M U1K030 R88M U1K530 R88M U2K030 Angled type JLO4V 8A20 15SE EB Straight type JLO4V 6A20 15SE EB For sheath external diam eter of 6 5 to 9 5 dia JL04 2022CK 09 For sheath external diam eter of 9 5 to 13 dia JL04 2022CK 12 For sheath external diam eter of 12 9 to 15 9 dia JL04 2022C K 14 Japan Aviation Electronics Indus try Ltd JAE R88M U3K030 R88M U4K030 R88M U5K030 Angled type JLO4V 8A24 10SE EB Straight type JLO4V 6A24 10SE EB For sheath external diam eter of 9 to 12 dia JL04 2428CK 11 For sheath external diam eter of 12 to 15 dia JL04 2428CK 14 For sheath external diam eter of 15 to 18 dia JL04 2428CK 17 For sheath external diam eter of 18 to 20 dia JL04 2428CK 20 Japan Aviation Electronics Indus try Ltd JAE System Design and Installation Chapter 2 Recommended Connector for Encoder Cables Cable clamp model Maker All models Angled type For sheath external diam Japan
118. an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Application Chapter 4 4 1 Absolute Encoder Setup and Battery Changes This section explains how to carry outthe setup procedure and change the battery for an absolute encoder 4 1 1 Absolute Encoder Setup The setup procedure is required when the mechanical rotation data is set to 0 at the time of Servomo tor trial operation or when the absolute encoder is left for more than two days without a battery con nected If it is left for more than two days without a battery connected the internal capacitor voltage drops and internal components may not operate properly m Setup Procedure Absolute Be sure to follow this procedure carefully Any mistakes in carrying out this procedure could result in faulty operation 1 Resetting Data Connect short circuit the encoder connector terminals R and S at the Servomotor for at least two minutes Refer to the illustration on the right Then remove the connecting line and check to be sure that there is a maximum vol
119. ant Cn 05 will be adjusted automatically These val ues will not be changed however until the auto tuning operation has been completed 5 When the auto tuning operation is complete end will be displayed atthe Parameter Unit while the Up and Down Keys are being pressed When the Up and Down Keys are released 00 05 will again be displayed 6 Ifthe auto tuning operationis still not complete even after being executed many times or if you wish to abort the operation press the MODE SET Key After the MODE SET Key is pressed 00 05 will again be displayed Note 1 Ifthe auto tuning operation is not completed or if there is an inadequate response for the gain that is adjusted by auto tuning refer to 3 5 2 Manually Adjusting Gain and adjust the gain manually Note 2 The auto tuning will not be complete until the Servomotor has been operated at least three times so pay sufficient attention to the operating range of the machinery If auto tuning cannot be executed within the operating range of the machinery then adjust the gain manually 3 43 Operation Chapter 3 3 5 2 Manually Adjusting Gain There are eleven kinds of parameters for adjusting Servomotor response For situations in which the factory settings or the settings derived from auto tuning alone do not pro vide adequate characteristics the settings can be adjusted manually m Gain Adjustment Flowchart e For Position Control Pulse Train Input Adjustment
120. ase detection Parameter Unit transmission error 5 7 Specifications Chapter 5 5 1 3 I O Specifications m Terminal Block Specifications Models Not Conforming to Standards Signal Function Frame ground This is the ground terminal Ground to a maximum of 100 class 3 Main circuits power supply input Three phase 200 230 VAC 170 to 253 VAC 50 60 Hz Control circuits power supply input Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz Regenerative resistor connec tion terminals Regenerative resistor connection terminal for a Servo Driver of 5 5 kW min R88D UT160H E only P N U V W Main circuit DC output Servomotor U phase output Servomotor V phase output Servomotor W phase output Do not connect anything to these terminals These are the terminals for outputs to the Servomotor Be sure to wire these terminals correctly Note Servo Drivers of 5 0 kW or less are not provided with the P1 terminal Terminal Block Specifications Models Conforming to EC Directives Frame ground This is the ground terminal Ground to a maximum of 100 Q class 3 V Main circuits power supply input Control circuits power supply input Main circuit DC output Forward Main circuit DC output Reverse U Servomotor These are the terminals for outputs to the Servomotor Be sure to U phase output wire these terminals correctly Servomotor V phase ou
121. ated on condition that each of the respective models is connected to a Servo Driver and that the motor coil temperature is 100 C Note 2 The AC Servomotor can be operated continuously under the rated conditions provided that an aluminum heat sink as large as or larger than t20 x 400 mm is vertically attached to the motor flange mounting position and that the AC Servomotor is properly ventilated 5 38 Specifications Chapter 5 Caution Do not use Servomotors with the capacity of 1 3 kW 2 9 kW 4 4 kW and 5 5 kW in the shaded portions of the following diagrams If the servomotor is used in these regions the motor may heat causing the encoder to malfunction R88M U1K315I 1 3 kW 8 34 7 50 Effective torque Nem 0 35 40 Ambient temperature C R88M U4K4150 0 4 4 kW 28 4 25 5 Effective torque Nem 0 30 Ambient temperature C R88M U2K915 _1 2 9 kW 18 6 17 2 Effective torque N e m 0 35 40 Ambient temperature C R88M U5K5150 0 5 5 kW 35 0 31 2 Effective torque Nem 0 30 40 Ambient temperature C 5 39 Specifications Chapter 5 R88M R88M R88M U2K030 U3K030 U4K030 e 3 000 r min Models Rated output Rated torque Rated rotation speed Momentary maxi mum rotation speed
122. ation External Current Limit Cn 19 Position Speed Torque These set the Servomotor output torque limits for the forward and reverse directions The are valid when when the forward reverse current limits PCL NCL are input This function can t be used when the control mode is internal speed control settings The setting range is 096 to 350 of the maximum torque and the factory setting is for the 100 96 e Position Loop Gain Cn 1A Position Speed It is valid for position control and position lock status The setting range is 1 to 1 000 1 s and the factory setting is 40 1 s Set to between 50 and 70 for general NC machine tools to between 30 and 50 for general purpose machine assembly machines and to between 10 and 30 for industrial robots If the position loop gain is set too high for systems with low machine hardness or for systems with low inherit vibrations machine resonance can result causing an overload alarm e Positioning Completion Range Cn 1b Position This sets the error counter value for outputting the positioning completion signal INP The positioning completion output will be ON when the error counter is at or below this value The setting range is 0 to 250 in command units and the factory setting is 3 e Bias Rotational Speed Cn 1C Position This is the position control bias setting It can be used according to the load conditions to reduce the positioning time The setting range is O to 450 in r min and
123. axis OUT 2 output OUT2X 2 OO L 1140 RUN RESET EXT IN Connector 32 ALMCOM Name Signal No S ALM ov DCGND 1 ia CN2 E X axis CCW limitinput CCWLX 2 ya FG R88A CRUBLILILIN X axis extrnl stop input STPX 3 RES X axis origin input ORG X 4 d d X axis external servo free input SERVOX 5 Shell X axis CW limit input CWLX 6 Frame ground FG 7 24V 8 24 VDC 24 V for input 24V 9 He ov DCGND 11 Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric Note 4 This wiring diagram is an example of X axis wiring only For two axis control the external input and Driver wiring must be connected for the Y axis in the same way Note 5 External output 2 OUT 2X can be turned ON and OFF with external servo free 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 6 When the C500 NC222 E is used in NC221 mode external servo free input works as emer gency stop input Therefore external output 2 cannot be used as a RUN signal Input a RUN signal from other I O terminals Note 7 Use the RUN signal to set whether the Servo can be turned ON OFF 6 6 Appendix Chapter 6 Connection Example 6 Connecting to SYSMAC C500
124. bine external regenerative resistors so that their regeneration absorbing capac ity exceeds the average regenerative power Pr 3 56 Operation Chapter 3 e Dimensions o e a Thermal switch output Wiring of External Regenerative Resistor The external regenerative resistor must be connected between and B terminals or between 1 and B terminals for the R88D UT110V With the R88D UT160H E connect the resistor between P1 and B terminals External regenerative resistor Note Like the ALM output of the Regeneration Unit the power source of thermal switch output should turn power off when the contact is open Refer to 2 3 4 Peripheral Device Connection Examples 3 57 Il Chapter 4 Application 4 1 4 2 4 3 4 4 4 5 Absolute Encoder Setup and Battery Changes Using Displays Using Monitor Output Protective and Diagnostic Functions Periodic Maintenance Application Chapter 4 Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution 4 2 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
125. blication 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 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 NWARNING NWARNING NWARNING NWARNING NWARNING NWARNING N Caution zs Caution Always connect the frame ground terminals of the Servo Driver and the Servomotor to aclass 3 ground to 100 Q or less Not connecting to a class 3 ground may result in electric shock Do not touch the ins
126. bout combination of Servo Drivers and Servomotors refer to 6 4 Combinations of Servo Drivers and Servomotors 1 3 Introduction Chapter 1 m Control Functions Any one of the following 12 control modes can be selected in the parameter settings thereby allowing various applications with a single Servo Driver Speed control Analog command Position control Pulse train command Factory setting Torque control Analog command Internal speed control settings Internal speed control settings lt gt Speed control Analog command Internal speed control settings lt Position control Pulse train command Position control Pulse train command Pulse prohibit m Auto tuning The gain can be adjusted automatically when the responsiveness has been selected to match the rigid ity of the mechanical system The auto tuning feature automatically finds the optimum adjustment to match the load with no need for difficult operations Monitor Displays the driver s operating status on the Parameter Unit The following items can be monitored speed feedback speed commands torque commands number of pulses from the U phase edge electrical angle the internal status bit display com mand pulse speed position deviation and input pulse counter m Jog Operation Forward Reverse motor operation can be controlled from the Parameter Unit Rotational speed can be set in the parameters m Automatic Adjustment of Con
127. bsorbers and noise filters NF should be positioned nearthe inputterminal block ground plate and 1 O lines should be isolated and wired using the shortest means possible e Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Good Separate input and output NO Noise not filtered effectively AC input 1 NE 4 AC output a 1 NF 2 5 LL AC input 4 2 3 E 8 6 Ground Ground AC output 2 30 System Design and Installation Chapter 2 Use twisted pair cables for the power supply cables whenever possible or bind the cables Driver or e seid S Driver Binding Separate power supply cables and signal cables when wiring m Measures for the EMC Directives This product does not conform to the EMC directives Wire as shown in the previous Wiring Method section diagram to satisfy the EMC directives The noise filters and transformer are effective for reduc ing conducted emission and the control box and metal duct are effective for reducing radiated emission Shielding the motor while paying attention to the ambient temperature around the motor is also effec tive for reducing radiation from the motor After providing these measures be sure that the equipment satisfies the requir
128. cations y 04 04 04 0 Motor capacity 1 500 r min models 3 000 r min models 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW User specifications number hexadecimal display 4 3 Using Monitor Output The Servo Driver outputs in analog according to parameter settings a voltage propor tionalto the Servomotor rotation speed motor current speed command value and error counter amount The monitor voltage is output from the monitor output connector CN4 and from pin nos 16 and 17 of the control I O connector CN1 This function can be used in situations such as making fine gain adjustments or when a meter is attached to the control panel m Analog Monitor Output Terminals Front of the Servo Driver 4 12 POWER E ALARM zz LES CN4 pin allocation al A Application Chapter 4 m Monitor Output Circuit o CN4 2 AM terminal mon Current monitor or speed command monitor os NW CN1 16 command pulse speed monitor o CN4 1 NM terminal 47 Q Speed monitor or error counter monitor s M gt CN1 17 o CN4 3 4 r Ground 9 CN1 1 _ V m Setup Parameter Settings Analog monitor output contents can be selected by means of bit nos 6 and 7 of setup parameter no 2 Cn 02 The settings are shown in the following table Item Bit no Factory Explanation setting Monitor switch 1 Takes AM CN1 16 and CN4 2 analog mon
129. ce the load torque at normal temperatures 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 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 5 45 Specifications Chapter 5 5 2 4 Allowable Loads on Servomotor Shafts The allowable loads on Servomotor shafts are shown in the following table Operate the Servomotor at no more than the allowable radial and thrust loads At the time of assembly assemble the Servomotor at no more than the momentary maximum radial and thrust loads static pressure e 1 500 r min Models R88M U1K315 70 R88M U1K2815 120 1 170 REN UZKOTS 3 R88M UAK415 150 TE R88M U5K515 71 180 1 760 60 590 e 3 000 r min Models Servomotor Momentary allowable Momentary allowable Allowable radial Allowable thrust radial load static thrust load static load load pressure pressure R88M U1K530 1 570 R88M U2K030 R88M U3K030 R88M U4K030 R88M U5K030 120 Note 1 The allowable radial load is the value at a point 5 mm from the end of the shaft
130. ced by 90 compared to B phase Maximum rotation speed 3 000 r min 4 500 r min Maximum response frequency 409 6 kHz 307 2 kHz Output signals A A B B S S A A B B S S Output impedance Conforming to EIA RS 422A Output based on MC3487 or equivalent Serial communications data Z phase poll sensor U V W phase Serial communications method Combination communications method based on A B and S phases 5 47 Specifications Chapter 5 5 3 Cable Specifications 5 3 1 Controller Connecting Cable Connecting Cables for CV500 MC221 421 C200H MC221 e Types of Cable Numberetaxes Mode Length 2 Outer diameter of sheath R88A CPUBOO1M1 1m 8 3 dia R88A CPUBOO2M1 2m R88A CPUB001M2 8 3 dia R88A CPUBO02M2 e Connection Configuration For 1 Axis OMNUC U series AC Servo Driver R88D UTL CV500 MC221 421 C200H MC221 5 48 Specifications Chapter 5 e Wiring For 1 Axis AWG20 Red AWG20 Red OMNUC U series AWG20 Black AWG20 Blue BATGND CV500 MC221 MC421 Insulation color Marking color Marking 24V IDCGND 2 IXALM JjwnieBack 9 XRUN Pink Black Gray Black E R 6 AGND as eee ME FDC GND 32 ALMCOM YALM eee 014 YRUN o E Connector plug 10150 3000VE Sumitomo 3M IYALMRS 23 Connector case IYSGND 128 10350 52A0 008 Sumitomo 3M YsouT 2
131. cifications for AC Servomotors With Brakes 1 500 r min Models R88M Tiaria mm e ee U1K815_ B Tiaria B mm B e ee Rotor inertia kgfecmes 2 09 x 107 3 23 x 107 4 69 x 107 6 89 x 10 2 9 08 x 10 2 kgem 2 05 x 1073 3 17 x 1073 4 60 x 1073 6 75 x 10 3 8 90 x 10 3 Gi Brake inertia kgfecmes kgem GD2 4 UT mE 2 30 x 10 2 4 10 x 10 2 5 56 x 10 2 7 76 x 10 2 9 95 x 10 2 NM nac 4 02 x 10 3 5 45 x 10 3 7 60 x 10 3 9 75 x 10 9 GD2 4 Approx 12 Approx 19 5 Approx 23 5 Approx 29 Approx 36 Weight Absolute 24 VDC 10 No polarity Power consumption W at 20 C 18 5 23 5 Static friction torque 130 440 Insulation grade Em x F brake only Note 1 The operation time measurement is the measured value with a surge killer CR50500 by Okaya Electric Industrial Co installed Weight Incremental E eL Approx 12 Approx 19 Approx 23 5 Approx 28 5 Approx 35 Note 2 The items in parentheses are reference values 5 42 Specifications Chapter 5 a Models R88M R88M R88M R88M R88M Reem U1K030L B U1K530L B U2K030 U3K030L B U4K030L B U5K030 uA 2 52 x 10 3 T 714x103 9 80 x 10 3 E kgem 1 74 x 1074 2 47 x 1074 3 19 x 1074 7 00 x 1074 9 60 x 10 4 12 3 x 1074 GD2 4 Brake inertia kgfecmes 0 22 x 1073 2 1 x 1073 EM 0 22 x 1074 2 1 x 1074 GD2 4 Total inertia 2 00 x 10 3 2 74 x 10 3 3 48 x 10
132. com mand 1 2 forward reverse drive prohibit alarm reset Signals within parentheses can be set via parameters Position feedback output A B Z phase line driver output EIA RS 422A A phase and B phase dividing rate setting 16 to 4 096 pulses revolution A phase and B phase dividing rate setting 16 to 8 192 pulses revolution Z phase 1 pulse revolution Speed monitor output 2 V 1 000 r min 1 500 r min models 1 V 1 000 r min 3 000 r min models Current monitor output 2 V rated torque Sequence output Open collector output 30 VDC 50 mA Alarm output speed conformity positioning completion motor rotation detection servo ready current limit detection brake interlock overload warning overload alarm Open collector output 30 VDC 20 mA Alarm code output Signals within parentheses can be set via parameters m Protective Functions Common to Models Not Conforming to Standards and those Conforming to EC Directives Signals Specifications Dynamic brake stopping Operates when the power supply turns off a servo alarm is generated an over run occurs or the servo turns off Other protective functions Parameter destruction parameter setting error overcurrent regenerative error error counter overflow overvoltage undervoltage overspeeding overload heat ing plate overheating command input read error overrun prevention position misdetection encoder A B phase break encode S phase break out of ph
133. ct plug model 10120 3000VE Sumitomo 3M Cable clamp model MS3057 12A DDK Contact case model 10320 52A0 008 Sumitomo 3M For Motor Receptacle model MS3102A20 29P DDK 5 3 3 Power Cables For conforming to EC Directives refer to recommended connectors in 2 1 2 Installation Conditions m Power Cables for Servomotors Without Brakes e Applicable Motors 1 500 r min Models 1 3 kW 3 000 r min Models 1 0 to 2 0 kW e Types of Cable Model Length L Outer diameter of sheath R88A CAUB003S 14 dia R88A CAUBOO5S R88A CAUBO10S R88A CAUBO15S R88A CAUBO20S Up to a maximum of 20 m between the Servomotor and the Servo Driver 5 56 Specifications Chapter 5 e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series R88M U 15L1 L181 AC Servomotor Driver R88M U 30L L 1 R88D UTL e Wiring Symbol No U phase V phase W phase GR olo w gt Cable AWG12 x 4C Crimp style terminal V5 5 4 lt For Cable gt Connector plug model MS3106B18 10S DDK Cable clamp model MS3057 10A DDK Specifications for normal environment lt For Motor gt Receptacle model MS3102A18 10P DDK m Power Cables for Servomotors Without Brakes e Applicable Motors 1 500 r min Models 1 8 to 4 4 kW 3 000 r min Models 3 0 to 5 0 kW e Types of Cable Model Length L Outer diameter
134. d speed monitor 3 49 Operation Chapter 3 m Position Loop Block Diagram Reference Cn 1d Cn 24 25 Cn 27 Cn 1C Feed Electronic Feed for Bias rota r forward 4 gear ratio ward com tional amount G1 G2 mand filter speed Cn 1b 4 Cn 02 Bits Positioning 5 4 and 3 completion Conimand HOD Cn 24 25 range CA Cn 04 05 TE pulses Command mand Electronic Position D Speed Current T pulse 7 Acceleration gear ratio loop gain x loop loop moda Rape G1 G2 Emo P9 4 counter Cn 1E Ced At Comp at gain x4 Speed detection Cn 0A Encoder ric der x4 output ase P divider rate Pom fo DW Ej i M eA QS Encoder Motor 3 50 Operation Chapter 3 3 5 3 Adjusting Command Offset Use the following procedure to adjust the analog voltage offsets for the speed command and torque command Command offset can be adjusted either automatically or manually m Adjusting Instruction Offset Automatically Automatic adjustment of command offset is made possible when the system check mode Cn 00 is set to 01 The items in parentheses in the following explanation indicate operations using the Handy type Param
135. d lines cut plus and minus lines separately If they are cut simulta neously they may short circuit and cause sparks Note 4 Dispose batteries according to the specified methods Never throw the battery into a fire otherwise it may explode Application Chapter 4 4 2 Using Displays OMRON U 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 2 1 Display Functions Servo Driver Displays There are three LED indicators on the Servo Driver itself One is for the power supply one is for alarms and the other is a charge indicator Symbo Name Color FumWon POWER Power supply Green Lit when control power supply is normal indicator ALARM Alarm indicator Red Lit when error occurs CHARGE Charge indicator Red Lit when main circuit power supply is charging Power supply indicator Power Et E ALARM Ex Mj CNA Alarm indicator Charge indicator e Charge Indicator CHARGE Function The charge indicator lights when the voltage is added to the main circuit power supply capacitors in the Servo Driver N Caution Even after the AC power supply has been interrupted the charge lamp remains lit to indicate that voltage is remaining Wait until this indicator turns off before touching the terminal block for inspec
136. d reaches the speed command value the Cn 22 set value Lit when the speed control loop is in P control PCL SPD1 Lit when forward rotation current limit speed selection command 1 CN1 45 is ON NCL SPD2 Lit when reverse rotation current limit speed selection command 2 CN1 46 is ON SVON Lit when motor is receiving power Encoder A phase Lit when there is a signal Encoder B phase Lit when there is a signal Encoder Z phase Lit when there is a signal Poll sensor U phase Incremental Poll sensor V phase Incremental Poll sensor W phase Incremental Lit when run command is ON MING PLOCK Lit when CN1 41 is ON Input signal functions change according TVSEL RDIR to parameter settings IPG POT Lit when forward drive prohibit input is ON NOT Lit when reverse drive prohibit input is ON SEN Lit when the sensor on signal is ON Absolute 4 10 Application Chapter 4 CLIMT Lit when commands to the current loop are limited by the torque limit Cn 08 09 Cn 18 19 or TREF BKIR Lit when external brake interlock output is ON OLWRN Turns off when at least 20 of overload detection level is reached PON Lit while Servo Driver s main circuit power supply is on READY Lit if an error occurs after main circuit power supply is turned on Not used 4 2 4 Checking Servomotor Parameters Servomotor parameters can be checked when system check mode Cn 00 is set to
137. de CCW direction is taken upon command See note 5 edd MEUM CW direction is taken upon command Origin error mask 1 Origin errors are detected Pacer eee ce Origin errors are not detected Speed limit by analog SA E Disabled input for torque control Enabled Command pulse mode Feed pulses Forward reverse signal Forward pulses Reverse pulses 90 phase difference A B phase signal x1 90 phase difference A B phase signal x2 90 phase difference A B phase signal x4 Monitor switch 1 AM terminal is taken as current monitor output terminal AM terminal is taken as speed command command pulse speed monitor output terminal See note 3 Monitor switch 2 NM terminal is taken as speed monitor output terminal NM terminal is taken as error counter monitor output termi nal See note 4 TREF switch for speed Current limit is disabled by TREF control Current limit is enabled by TREF Torque feed forward No torque feed forward function function selection for speed control Torque feed forward function enabled Error counter cleared by status high level Error counter cleared by differentiation rising edge Not used Primary filter Secondary filter Command pulse logic Positive logic reversal for position control Negative logic Parameter Unit monitor Deviation monitor taken as x1 command units output level change for f position control D
138. de switching is executed at control input terminal CN1 41 control mode switching User Parameter Settings Set 7 8 or 9 for user parameter Cn 2b control mode selection This setting causes control input terminal CN1 41 to become a control mode switching terminal TVSEL The following tables show the control modes Control mode Position control Pulse train command Speed control Analog command Position control Pulse train command lt gt Torque control Analog command 4 Speed control Analog command Speed control Analog command Set value Selected Control Mode CN1 41 OFF CN1 41 ON Position control Speed control 8 Position control Torque control 9 Torque control Speed control Operation e Position and Speed Control Switching Example Cn 2b 7 Control mode ON switching TVSEL OFF V Speed command input REF ON Pulse commands OFF Positioning com ON VCMP l MM j IEEE r min Motor operation r min 3 26 Operation Chapter 3 Note 1 There is a maximum delay of 6 ms in reading the input signal Note 2 When switching from speed control to position control input the pulse command after the control mode switching TVSEL has turned OFF the positioning completion INP signal has turned ON and 6 ms has elapsed The pulses will be ignored until the positioning completion INP signal has turned ON Note 3 The shaded areas in
139. 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 Warning labels ERO b BRERUEE 785 48 ATEA T May cause electric shock Disconnect all power and wait 5 min before servicing USP ARE iie d Use proper grounding techniques Warning label 2 Warning label 1 Warning Labels for Models Conforming to EC Directives fe W WARNING Rh Ht REDENE DFP ARE kee k Use proper BSTRUSRI765 SMA ATRAS May cause electric shock Disconnect all power and wait 5 min before servicing grounding techniques Warning label 2 Warning label 1 VISUAL INDEX For users who wish to operate as quickly as possible _ The following portions of this manual provide the minimum information required for operation Be sure you fully understand at least the information in these portions before attempting opera tion Chapter 2 System Design and Installation and sections 3 1 3 2 3 3 and 3 4 of Chapter 3 Operation Instructions for jog operation using a Parameter Unit are provided in 3 4 SYSMAC C CV Programmable Controller Position Control Unit C500 NC222 E Motion Control Units CV500 MC221 421 C200H MC221 Analog input Pulse train input Controller Connecting Cable Position Control Units Chapter 5 5 3 1 3
140. dustry Ltd JAE For sheath external diam eter of 12 to 15 dia JL04 2428C K 14 For sheath external diam eter of 15 to 18 dia JL04 2428C K 17 For sheath external diam eter of 18 to 20 dia JL04 2428C K 20 R88M Straight type See note Japan Aviation U5K515 iv JLO4V 6A32 17SE Electronics Industry Ltd JAE Cable clamp Nippon Flex Co Ltd Angled type For sheath external diam DDK Ltd CE05 8A10SL 3SC B eter of 3 6 to 5 6 dia BAS CE3057 4A 1 D265 Straight type CE 05 6A10SL 3SC B BSS Note Angle Straight Applicable cable diameter ACA 16RL MS32F ACA 20RL MS32F ACA 24RL MS32F ACA 28RL MS32F ACA 32RL MS32F ACA 36RL MS32F ACS 16RL MS32F ACS 20RL MS32F ACS 24RL MS32F ACS 28RL MS32F ACS 32RL MS32F ACS 36RL MS32F 12 to 16 dia 16 to 20 dia 20 to 24 dia 24 to 28 dia 28 to 32 dia 32 to 36 dia 2 21 Sys tem Design and Installation Chapter 2 e 3 000 r min Model 2 4 Motor model Connector model Cable clamp model Maker R88M U1K030 R88M U1K530 R88M U2K030 R88M US3K030 R88M U4K030 R88M U5K030 Angled type CE05 8A18 10SD B BAS Straight type CE05 6A18 10SD B BSS Angled type JLO4V 8A22 22SE EB Straight type JLO4V 6A22 22SE EB For sheath external diam eter of 6 5 to 8 7 dia CE3057 10A 3 D265 For sheath external di
141. dynamic brake OFF 3 13 Operation Chapter 3 Note Bit no 7 is not valid for the R88 UT60H E Servo Driver or higher grade Servo Drivers At the time of stopping the dynamic brake turns OFF Stop Process for Overtravel Deceleration method Stop condition Bit 6 Big 0 Decelerate by dynamic brake Servo free dynamic brake OFF Overtravel 0 ie l occurs a Decelerate by free run Tes Bit 9 _ Servo free dynamic brake OFF N Decelerate by emergency stop y DRE torque Cn 06 4 o end Servo lock 3 3 2 Setting and Checking User Parameters Cn 03 to 2d Execute the user parameter settings in order as follows Go into settings mode Luusus MODE SET Key Display the pertinent parameter number Direction Keys Handy type Up and Down Keys Mounted type Display the contents data of the parameter DATA Key Change the data cece eee eens Direction Keys Handy type Up and Down Keys Mounted type Save the data in memory 2 00 MODE SET and DATA Keys Checking User Parameters The contents of a given user parameter can be checked by pressing the DATA Key while that parameter number is being displayed Pressing the DATA Key again will bring back the parameter number display See the illustration below Parameter Number Display 1 2 Data Display DATA cn 013 101 0131 010
142. e as in electromagnetic brakes solenoids 24 VDC system varistor 39 V etc and when reset time is an issue The surge voltage 100 VDC system varistor 200 V when power is cut off is approximately 1 5 times that of 100 VAC system varistor 270 V the varistor 200 VAC system varistor 470 V Use capacitors and resistors for vibration absorption of Okaya Electric Ind resistor surge when power is cut off The reset time can be CR 50500 0 5 uF 50 Q shortened by proper selection of the capacitor or resis 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 Parts e Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately twice the rated current The following table shows the recommended contactors Waker Modei Ratedcurem Coil voitage LC1D25106 200 VAC OMRON LC1D80116 LP1D25106 LP1D40116 LP1D50116 LP1D80116 e Leakage Breakers The Servomotor is driven by a PWM frequency of 3 3 kHz so high frequency current leaks from the armature Select leakage breakers designed for inverters With inverter leakage breakers high fre qu
143. e Between power line terminals and case 1 MQ min at 500 VDC Dielectric strength Between power line terminals and case 1 500 VAC for 1 min 20 mA max at 50 60 Hz Protective structure Built into panel Note 1 The above items reflect individual evaluation testing The results may differ under com pounded 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 Theservice life ofthe Servo driver is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque Note 4 Depending on the operating conditions some Servo Driver parts will require maintenance Refer to 4 5 Periodic Maintenance for details 5 2 Specifications Chapter 5 5 1 2 Performance Specifications m Performance Specifications e Connection to 1 500 r min Models Models Not Conforming to Standards Item Continuous output current 0 P Momentary maximum output current 0 P Input power supply Control method Speed feedback Applicable load inertia Inverter method PWM frequency Applica R8 ble Ser vomotor Main circuits Control circuits R88D UT40H E 15 1A 40A R88D R88D R88D R88D UT60H E UT80H E UT110H E UT160V E 23 6 A 33 7 A 59 5 A 59 A 79A Three phase 200 230 VAC 170 to 253 V 50 60 Hz Single phase 200 230 VAC 170 to 253 V 50 60 Hz All digital servo Optica
144. e constant Make this large in order to reduce oscilla P S T tion due to machinery resonance fre quency The filter characteristics are switched by the torque command filter degree bit no C of Cn 02 Position loop gain For speed control this function is valid only P S when position lock function is used For position lock use it for servo lock adjust ment Servo system responsiveness is deter mined by position loop gain When position loop gain is high responsiveness increases and positioning can be speeded up In order to increase position loop gain it is necessary to increase mechanical rigidity and thereby increase the natural frequency oscillation In general the setting range is 50 to 70 l s for construction machinery 30 to 50 l s for general purpose and assem bly equipment and 10 to 30 l s for indus trial robots The factory setting is 40 I s so it should be reduced for systems with low mechanical rigidity If position loop gain is increased for a sys tem with low mechanical rigidity or with low natural frequency resonance will occur and an overload alarm will be generated If position loop gain is low positioning time can be shortened by using feed forward or the bias function For more detail see the illustration follow ing this table 3 46 Operation Ba Parameter name Cn 1b Positioning comple Factory setting Chapter 3 Setting Explanation range O to
145. e is negative this is regarded as a limit value of O r min 3 35 Operation Chapter 3 User Parameter Settings Parameter name Factory Setting range Explanation setting scale rotations per speed command volt 3 3 12 Torque Feed forward Function Speed Control m Function Thetorque feed forward function reduces the acceleration time by adding the value of the torque com mand input TREF to the current loop it can be used with speed control Normally a derivative 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 user parameter Cn 13 the torque command scale as required The following figure shows a block diagram when the torque feed forward function is used Host Controller AC Servo Driver m Parameter Settings Setup Parameter Settings Bit 9 of Cn 02 1 Set bit 9 of Cn 02 the torque feed forward switch to 1 When bit 9 is 1 terminals CN 9 and CN 10 TREF and AGND become the torque feed forward input terminals User Parameter Settings Parameter Factory Setting range Explanation name setting Cn 13 Torque com 30 0 1 V rated 10 to 100 This parameter sets the gain for the mand scale torque torque command input 3 36 Operation Chapter 3 Operation Speed command 2 Torque feed forward Without the torque feed forward function
146. e output 3 Ground terminal for shield wire of cable and FG line Note 1 Do not connect pins no 2 4 21 22 48 and 49 Note 2 Pin No 50 is open for models conforming to the EC Directives Connect the cable shield to the connector case and ground it directly using a clamp 7 ALO1 Alarm code output When an alarm is generated for the Servo Driver All 1 the contents of the alarm are output in 3 bit code Open collector output 30 VDC 20 mA max 8 5 12 Specifications Chapter 5 e CN1 Connectors Used 50P Sumitomo 3M Receptacle at Servo Driver Soldered plug at cable side Case at cable side 10250 52A2JL 10150 3000VE 10350 52A0 008 e Pin Arrangement Encoder out Positioning 1 GND put alarm 26 INP SUDO COUP d Sensor ON code ground Motor rotation see note 1 2 SENGND input ground 27 TGON detection outpu absolute Open collector see note 1 Motor rotation 3 PCOM command 28 TGON A Sensor ON power Servo ready Ses note 1 4 SEN input abso 29 READY output see lut ii 5 Speed com DO 30 READY SPA around REF mand input 7 eee poder Speed com 6 AGND mand input 31 ALM Alarm output ground 4PULS feed pulse 7 CW A4A reverse pulse 32 ALMCOM fd quM pulg feed pulse A phase Encoder 8 I CWI A reverse pulse
147. e position deviation will occur Position Lock Command 41 PLOCK User Parameter Cn 2b 10 position lock speed con trol 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 In such a case if this signal is input when the Servomotor rotation speed is less than the rotation speed set for the position lock rotation speed user parameter Cn 29 the mode changes from speed control mode to position control mode The Servomotor goes into position lock status and completely stops This function can be used even for the vertical shaft where a gravity load is applied 5 14 Specifications Chapter 5 Control Mode Switch 41 TVSEL User Parameter Cn 2b 7 8 or 9 change control mode If user parameter Cn 2b is 7 position control speed control the mode is switched between posi tion control and speed control ON speed control If user parameter Cn 2b is 8 position control torque control the mode is switched between posi tion control and torque control ON torque control If user parameter Cn 2b is 9 speed control torque control the mode is switched between speed control and torque control ON speed control Rotation Direction Command 41 RDIR User Parameter Cn 2b 3 4 5 or 6 and either SPD1 or SPD2 is ON for internally set speed This signal becomes the rotation direction change command for when
148. e rotation drive prohibit Alarm reset O O Forward rotation current limit O O Reverse rotation current limit CT sd UCM oe 25 VCMP 27 4 TGON Maximum operating ES J Motor NA detection voltage 30 VDC Maximum output Y Servo ready RE D x O Alarm output Es EU Alarm code outputs T E O Encoder A phase outputs o 34 A O current 50mA 29 A READY 31 JALM 37 ALO1 Maximum operating voltage 30 VDC Maximum output current 20 mA 33 A Line driver output 36 B EIA RS422A Y Encoder B phase outputs conforming B Load resistance 6 200 Q max Pare 19 2 Encoder Z phase outputs 1 GND Ground common SOLFG Frame ground Note 1 Pins 2 4 21 and 22 are for use with an absolute encoder Note 2 Pin No 50 is open for models con forming to the EC Directives Con nect the cable shield to the connector case and ground it directly using a clamp 5 25 Specifications Chapter 5 CN2 Encoder Input Specifications PinNo Signal name Function EOV Encoder power supply GND Encoder power supply 5 V Rotation direction switch input Power supply outlet for encoder 5 V 400 mA E5V Connects to GND when reverse rotation is executed by input Do not connect Do not connect Backup power output for encoder 10 uA 3 6 V backup rotation stopped Line driver input conforming to EIA RS422A Input impedance 220 Q
149. e speed loop integration time constant When adjustments cannot be made by auto tuning refer to 3 5 2 Manually Adjusting Gain Executing Auto tuning Auto tuning is made possible when the system check mode Cn 00 is set to 05 The items in paren theses in the following explanation indicate operations using the Handy type Parameter Unit Make sure that the user parameter Cn 28 for gain compensation is set to zero i e the factory set value of this parameter before executing auto tuning otherwise normal gain adjustments may not be pos sible 1 2 3 ciin 0 0 0 0 5p Indicates settings mode Som check ance E Co o Data 5 oel u n Mechanical rigidity selection display Auto tuning display C je nid Auto tuning end display 1 Using the Up and Down and Right and Left Keys set parameter number 00 System check mode 2 Press the DATA Key to display the Cn 00 data 3 Using the Up and Down and Right and Left Keys set data 05 Auto tuning 4 Pressthe MODE SET Key to display the mechanical rigidity selection Refer to Selecting Mechani cal Rigidity below 5 Pressthe MODE SET Key to change to the auto tuning display Refer to the following Auto tuning Procedure 6 Press the DATA Key to
150. ec Et c EOS NIE ALM ALM A mt fmt fmt fect fect et Jeet nt nt Jet i De gt lt gt lt wn cn m zd j gt Nilo i iO la Ir ct mio cii xz lt Z HO ia kJ eese esee felefele OT Oj q0 iO1 Oo l0 2J nNm oO IN E O11ojdgj o ro 4 PiWBeck 22 S YelowBack 99 m Seay Nd OO 1 eai A i Y GND Orange Black White Red L8 1 Je 3 A seul E CEME n R DNENENEN YellowRed 31 5 CS eas UN 4 enee a OC Ha l YOUT Orngeei 5 Hx H E wi FG Done 96 3000VE Sumitomo 3M MEM CONS R 5200 008 Summo am MUROS i Connector plug 10150 3000VE Sumitomo 3M Connector case 10350 52A0 008 Sumitomo 3M tA Un Em Specifications Chapter 5 Note 1 The Controller s symbols are the DRVX Y connector s symbols In a DRVZ U connector X gt Z and Y U Note 2 The terminals and wires marked with asterisks are used with Absolute Encoders Note 3 Supply 24 VDC to the two wires black and red that are taken out from the Controller s connector Red is and black is m General purpose Control Cable e Types of Cable Model Length L Outer diameter of sheath R88A CPUBOO1S 9 9 dia R88A CPUBOO2S e Connection Configuration T j t 18 52 4 SYSMAC CV C series Position Control Unit OMNUC U Series AC Servomotor Driver R88D UTL 5 52 Specifications Chapter 5 e Wiring Connecto
151. ecifications AC Servo Motor R88M U R88M U with incremental encoder 15H LJS1 30H Note Refer to Chapter 5 Specifications for connector and cable specifications 2 25 System Design and Installation Chapter 2 2 2 2 Wiring Servo Drivers Provide proper wire diameters ground systems and noise resistance when wiring terminal blocks Wiring Terminal Blocks R88D UT40H E UT60H E UT80H E Control Circuit Power Supply Single phase 200 230 VAC 50 60 Hz Power Cable 1 500 r min models 1 3 kW 3 000 r min models 1 5 to 2 0 kW R88A CAUB S for motor without brake R88A CAUB B for motor with brake 1 500 r min models 1 8 to 4 4 kW 3 000 r min models 3 0 to 5 0 kW R88A CAUC S for motor without brake R88A CAUC B for motor with brake Signal line for brake i Yellow 1 T EA Vu Hf P y R S T P B Class 3 Ground Ore Circuit Power Supply Three phase 200 230 VAC 50 60 Hz 2 26 System Desien and Installation Chapter 2 R88D UT110H E Main Circuit Power Control Circuit Power Supply Supply Single phase 200 230 VAC Three phase 50 60 Hz 200 230 VAC 50 60 Hz Class 3 ground min R88D UT160H E Control Circuit Power Supply Single phase 200 230 VAC 50 60 Hz ii Power Cable R88A CAUC R88A CAUC for motor without brake for motor with br
152. ection terminals for a backup battery for power interruption to the absolute encoder The battery voltage is 2 8 to 4 5 V A backup battery is not supplied with the motor or driver Purchase a battery separately Connect the battery as shown in the following diagram BAT 21 Backup battery d 28t045V T rans X222 Command Pulse and Error Counter Reset Interface The input circuits for the control connector s CN1 command pulses and error counter reset are shown in the following diagrams Line Driver Inputs Controller side Servo Driver side 2200 Applicable driver AM26L S31A or equivalent Open Collector Inputs Controller side Servo Driver side 3 13 18 T PCOM 2200 ae md dilige uF e Error Counter Reset 15 ECRST Error Counter Reset 14 ECRST The content of the error counter will be reset when the error counter reset signal turns ON and the posi tion loop will stop operating Input the reset signal for 20 us minimum The counter will not be reset if the signal is too short Cn 02 bit no A can be used to set either a status signal high or a differential signal rising edge 5 17 Specifications Chapter 5 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 Forward Reverse Signal Forward Pulse 90 Phase Difference Pulse B Pha
153. edures 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 N Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage OMRON Product References All OMRON products are capitalized in this manual The word Unit is also capitalized when it refers to an OMRON product regardless of whether or not it appears in the proper name of the product The abbreviation Ch which appears in some displays and on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product OMRON 1996 All rights reserved No part of this pu
154. ely 10 With O V as center voltage output at 2 V rated torque ratio Forward acceleration voltage reverse acceleration voltage Output accuracy approximately 10 4 14 Error counter monitor With O V as center voltage output at 0 05 V command unit Cn 02 bit no E ratio When the error counter value is positive a negative voltage is output while a positive voltage is output when the value is negative Output accuracy approximately 10 Application Chapter 4 4 4 Protective and Diagnostic Functions 4 4 1 Alarm Displays and Alarm Code Outputs The Servo Driver has the error detection functions shown below When an error is detected the alarm output ALM and the alarm code output ALO1 3 are output the Servo Driver s internal power drive circuit is turned off and the alarm is displayed m Alarm Table Dis Alarm code gun Error detection func Detection contents cause of error wr oF aroz Alps tion RN ee ne data error Absolute data error at time of SEN sig E nal input detected Es uH OFF Parameter corruption The checksum for the parameters read from the EEP ROM does not match OFF Parameter pop Incorrect parameter setting pop d mu OFF Overcurrent detected 3j ON OFF Or Regeneration error Regeneration circuit damaged due to large amount of regenerative energy OFF OFF Error counter over Error counter residual pulses exceeded level set for Cn 1E OFF OFF ON OFF Overvolt
155. ements of the EMC directives m Selecting Components e No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximum input current and the inrush current The momentary maximum output for a servo system is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 30096 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table in 2 2 2 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting surge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance The surge absorbers shown in the following table are recommended Varistor Max limit Surge Energy Type voltage voltage immunity resistance Matsushita Electric E
156. ency current is not detected preventing the breaker from operating due to leakage current Another way to prevent leakage current from being detected is to install an insulating transformer 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 2 34 System Design and Installation Chapter 2 Shown below is the leakage current for each servomotor Servo Driver Current leakage including Current leakage within the commercial high frequency current leakage frequency range checked using checked directly resistor and capacitor RBGD UTAOH E R88D UT60H E 70 mA 7 mA R88D UT80H E RESD UTHIOH E RGSD UTIGOF E 100 mA Note 1 Each of the current leakage values is rated on condition that the length of the motor power cable is 10 m or less The current leakage value varies with the length of the motor power cable and the insulator of the motor power cable Note 2 The current leakage values are rated at room temperature and humidity Improving Encoder Cable Noise Resistance Signals from the encoder are either A B or S phase The frequency for A or B phase signals is either 307 2 kHz if 3 000 r min models are used or 409 6 kHz if 1 500 r min models are used while the transmission speed for S phase signals is 1 23 Mbps if 300 r min models are used or 1 64 Mbps if 1 500 r min models
157. er Cable For conforming to EC Directives refer to recommended connectors in 2 1 2 Installation Conditions e Types of Cable Model Length L Outer diameter of sheath R88A CRUBOOSN 10 3 dia R88A CRUBOOSN R88A CRUBO10N R88A CRUBO15N R88A CRUBO20N Up to a maximum of 20 m between the Servomotor and the Servo Driver e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series R88M U 15 R88M U 300 0 R88D UT S1 AC Servomotor Driver 5 55 Specifications Chapter 5 e Wiring Symbol No ns No Symbol Ki A AWG24 blue ids A B AWG2A white blue XX 17 A B c AWG2A yellow 18 Bs B p AWG24 white yellow X 4 Tu S Z E AWG24 green v 14 S Z S Z F AWG24 white green 15 S Z EOV G AWG22 black 1 EO V E5V H AWG2 red 4 E5V Not used K AWG24 purple o ZG Y 8 Not used Not used L AWG24 white purple XX 9 Not used NC P Reset R _AWG24 white gray 10 Reset AWG24 white orange BAT S C 13 a BAT T AWQG24 orange A X DN 12 zal AWG22 green yellow BAL FG JL 20 FG 3 Sete an stad s Shell FG Cable AWG22 x 3C AWG24 x 6P For Cable Connector plug model MS3106B20 29S DDK Conta
158. er signals are output as divided phase difference pulses according to the user parameter encoder divider rate setting Cn 0A The output form is line driver output and conforms to EIA RS 422A Receive with a line driver or high speed photocoupler Output Phase When Encoder Divider Rate Setting is 4 096 3 000 r min Incremental Mod els Forward Rotation Side Reverse Rotation Side A phase B phase Z phase A phase B phase Z phase Output Phase When Encoder Divider Rate Setting is 8 192 1 500 r min 3 000 r min Absolute Models Forward Rotation Side LITV VI d 5L A phase Z phase Reverse Rotation Side oe TESI SEE B phase Z phase 5 22 Specifications Chapter 5 Note 1 TheZ and A phases are synced but the pulse width can be shorter than phase A Note 2 Absolute data is first output from phase A as serial data when the SEN signal goes ON low to high and then it is output as the initial incremental pulses A and B 90 phase difference pulse Finally the same output operation as for a normal incremental corder 90 phase dif ference pulse is carried out Note 3 The normal incremental encoder signals phases A and B are output approximately 400 ms after the SEN signal is input Output Circuit and Receiving Circuit Incremental Servo Driver Controller on User s Side
159. er with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 1 0 kW 1 5 kW 2 0 kW Models with Brake R88M U1K030X BS1 U1K530X BS1 U2K030X BS1 R88M U1K030X BOS1 U1K530X BOS1 U2K030X BOS1 95h7 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 Standard Models c f ua C moa t u moa L 207 278 233 301 256 System Design and Installation Chapter 2 e 3 0 kW 4 0 kW 5 0 kW Standard Models R88M U3K030X S1 U4K030X S1 U5K030X S1 R88M U3K030X OS1 UAK030X OS1 U5K030X OS1 gt 63 l LA CK S T d B 7 2 7 cis QN so Graney or L LI b e st C Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 3 0 kW 4 0 kW 5 0 kW Models with Brake R88M U3K030X BS1 U4K030X BS1 U5K030X BS1 R88M U3K030X BOS1 U4K030X BOS1 U5K030X BOS1 28h6 dia 110h7 dia 130 87 Note The model number with the suffix S1 indicates a straight sha
160. ervo off to brake command output Setting for torque command filter time constant 6 4 to 398 Hz Output torque for when for ward rotation current limit is input compared to rated torque 0 to 250 0 to 350 Reverse rotation external current limit Cn 1A_ Position loop gain Cn 1b Positioning completion range Cn 1C Bias rotational speed Cn 1d Feed forward amount Differential counter over flow level 1 024 0 to 350 Output torque for when reverse rotation current limit is input compared to rated torque 1 to 1 000 Adjusts the position loop response Com mands 0 to 250 Positioning completion signal output range setting r min 0 to 450 Position control bias setting 96 0 to 100 Position control feed forward compensation value 1 to 32 767 Setting for detection of error counter overrun No 1 internal speed set ting No 2 internal speed set ting 3 16 100 r min 0 to 4 500 Note 8 0 to 4 500 Note 8 Rotation speed no 1 internal setting Rotation speed no 2 internal setting Operation Chapter 3 Parameter name Factory Unit Setting Explanation setting range Cn 24 Cn 25 Cn 26 Cn 27 Cn 28 Cn 29 Cn 2A Motor selection Note 2 Cn 2b Cn 2C Cn 2d time Note 4 soft start 1 0 Electronic gear ratio G1 4 0 to 65 535 Setting range numerator Note 2 0 01 G1 G2 100 Electronic gear ratio G2
161. es solenoids etc and when reset time is an issue The surge voltage when power is cut off is approximately 1 5 times that of the varistor Recommended products Use a fast recovery diode with a short reverse recovery time Fuji Electric Co ERB44 06 or equiv alent Select varistor voltage as follows 39V 200 V 270V 470V 24 VDC system varistor 100 VDC system varistor 100 VAC system varistor 200 VAC system varistor 1 resistor Use capacitors and resistors for vibration absorption of surge when power is cut off The reset time can be shortened by proper selection of the capacitor or resis tor Okaya Electric Ind CR 50500 0 5 uF 50 Q CRE 50500 0 5 uF 50 Q S2 A 0 0 2 uF 500 Q Note Thyristors and varistors are made by the following companies Refer to manufacturers documentation for operating details Thyristors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts 2 49 System Design and Installation Chapter 2 e Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A and the momentary maximum current is approxi mately twice the rated current The following table shows the recommended contactors Waker Mode Hatedcurem Coil voltage e Leakage Breakers Select leakage breakers designed for inverters Since switching takes place in
162. eter Unit 1 2 3 C n 0 00 0 0 1 Indicates settings mode BT check mode e i Data CO 5 M Instruction offset automatic adjustment executed 1 Using the Up and Down and Right and Left Keys set parameter number 00 System check mode 2 Press the DATA Key to display the Cn 00 data 3 Using the Up and Down and Right and Left Keys set data 01 Instruction offset automatic adjustment 4 Input the voltage required to set the speed command input REF and the torque command input TREF to zero rotation speed and zero output torque respectively Normally O V 5 Press the MODE SET Key to automatically adjust the command offset 6 Press the DATA Key to return to the parameter number display 7 Press the MODE SET Key to move from settings mode to monitor mode 3 51 Operation Chapter 3 m Adjusting Instruction Offset Manually Manual adjustment of command offset is made possible when the system check mode Cn 00 is set to 03 The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 1 2 3 ciin 0 09 010 0 3 em Indicates settings mode System check mode 10 11 12 m 10 C2 o Data
163. eviation monitor taken as x100 command units Not used Note 1 Do not change the settings of bit nos 1 b and F of setup parameter no 2 Cn 02 Note 2 Parameters other than bit nos 6 and 7 of setup parameter no 2 Cn 02 become effective only after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off 3 12 Operation Chapter 3 Note 3 The function will vary depending on the control mode that is selected Position control Command pulse speed monitor 1 V 1 000 r min Speed control Speed command monitor 2 V 1 000 r min 1 500 r min models 1 V 1 000 r min 3 000 r min models Torque control Disabled 0 V Note 4 The function will vary depending on the control mode that is selected Position control Error counter monitor when 0 05 V command unit Cn 02 bit no E 0 Speed control Disabled 0 V Torque control Disabled 0 V Note 5 CCW direction refers to counterclockwise rotation and CW direction refers to clockwise rota tion when viewed from the motor output side e Important Setup Parameters Cn 01 and Cn 02 This section explains the particularly important setup parameters If these parameters aren t set prop erly the motor might not operate or might operate unpredictably Set these parameters appropriately for the system being used Command Pulse Types for Position Control Cn 02 Bit Nos 5 4 and 3 Set the command
164. f the electri cal wires and terminal block screw size e Connection to 1 500 r min Models Servo Driver R88D UT40H E R88D UT60H E R88D UT80H E R88D UT110H E R88D UT160H E Watts 1 3 kW 1 8 kW 2 9 kW 4 4 kW 5 5 kW Main circuit Effective current 33 9 A power supply Wire size 3 5 mm or AWG 12 min 5 5 mm or AWG 10 min 8 mm or AWG 8 input R S T min er M M8 Control circuit 0 25A 0 25A 0 25A 0 25A 0 25A power supply Wire size 1 25 mm or AWG 16 min input r t Screw diameter diameter Motor connection 10 7 A 16 7A 23 8 A 32 8 A 42 1 A TA U V Wire size 3 5 mm or 5 5 mm or AWG 10 min 14 0 mm or AWG 12 AWG 6 min Use OMRON standard cables Seenote2 Seenote2 2 Motor connec AWG 14 to AWG 10 to AWG 8 AWG 6 tor s applicable AWG 12 cable size Screw diameter Frame ground Use 2 0 mm external ground wires Use the same wire as used for the NC output Ma Regenerative Wire size External regenerative resistors cannot be connected See note 1 resistor connec tion terminals Screw diameter P1 B 2 28 System Design and Installation Chapter 2 Note 1 For the sizes of electrical wires to be connected to the regenerative resistor refer to 3 6 2 Servo Driver Absorbable Regenerative Energy Note 2 Prepare a 5 5 kw cable for the 1 500 r min models if required This cable is not sold by OMRON e Connection to 3 000 r min Models Servo Driver R88D U
165. fications Chapter 5 e Connection to 3 000 r min Models Models Not Conforming to Standards R88D UT40H E R88D UT60H E R88D UT80H E R88D UT110H E Continuous output current 0 P Momentary maximum output current 0 P Input power supply Control method Speed feedback Applicable load inertia Main circuits Three phase 200 230 VAC 170 to 253 V 50 60 Hz Single phase 200 230 VAC 170 to 253 V 50 60 Hz Control circuits All digital servo Optical incremental encoder 4 096 pulses revolution Maximum of 10 times motor s rotor inertia Inverter method PWM method based on IGBT PWM frequency 3 3 kHz Applica R88M U1K530H U2K030H U3K030H U4K030H U5K030H ble Ser Applicable Servomotor wattage 1 5 kW 2 0 kW 3 0 kW 4 0 kW 5 0 kW vomotor Cable length between the motor and 20 m max cable Weight Approx 4 0 kg Approx 5 0 kg Approx 8 0 kg Main circuits 80W 120W 170W 250W 260W value 20W 22W 24 W 1 5 000 0 0196 at 096 to 10096 at rated rotation speed Control circuits Speed control range Load fluctuation rate Capacity for analog inputs Voltage fluctuation rate Temperature fluctuation rate 096 at input voltage of 170 to 253 VAC 0 1 max at 0 to 50 C Frequency characteris tics Acceleration time setting 250 Hz at the same load as the rotor inertia 0 to 10 s acceleration and deceleration set separately Capacity Maximum frequency 200 kpps
166. filter For high frequencies of 30 MHz or more use aferrite core and a high frequency noise filter with a through type capacitor e Noise Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines Output lines cannot use the same noise filters as the power supply The following table shows the noise filters that are recom mended for motor output Rated current LF 310KA Three phase block noise filter LF S20KA LE GS0KA Note 1 The Servomotor output lines cannot use the same noise filters used for power supplies Note 2 Typical noise filters are used with power supply frequencies of 50 60 Hz If these noise filters are connected to outputs of 3 3 kHz the Servo Driver s PWM frequency a very large about 100 times larger leakage current will flow through the noise filter s condenser and the Servo Driver could be damaged 2 32 System Design and Installation Chapter 2 e AC Reactor The AC Reactor is used for suppressing harmonic currents The AC Reactor 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 In compliance with the guidelines appropriate measures are required to suppress the influence of harmonic waves on power supply lines Select a proper AC Reactor model according to the Ser
167. ft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 Standard Models Models with Brake L w J Moe L w mo L 251 288 391 o2 2 14 System Design and Installation Chapter 2 m Shaft Dimensions of Motors With Keys Standard U series AC Servomotors do not have keys on the shafts The dimensions of motors with keys are shown below Motors with keys are indicated by adding S1 to the end of the model number Key slots are based on JIS B1301 1976 e 1 500 r min Models 1 3 kW Models Without Brake R88M U1K315 S1 With Brake R88M U1K315 B S1 40 ES MB effective depth 12 e 1 8 kW 2 9 kW 4 4 kW Models Without Brake R88M U1K815 S1 R88M U2K915 S1 R88M U4K415 S1 With Brake R88M U1K815 B S1 R88M U2K915 B S1 R88M U4K415 _ B_ S1 76 60 N M12 effective depth 25 System Design and Installation Chapter 2 5 5 kW Models Without Brake R88M U5K515 S1 With Brake R88M U5K515 B S1 110 Ne M16 effective depth 32 R1 e 3 000 r min Models 1 0 kW 1 5 kW 2 0 kW M
168. ght and Left Keys set parameter number 00 System check mode 2 Press the DATA Key to display the Cn 00 data 3 Using the Up and Down and Right and Left Keys set data 00 Jog operation 4 Usingthe MODE SET Key turn ON and OFF the jog operation from the Parameter Unit With the jog operation ON operation by the Parameter Unit is enabled For the run operation referto Operation Method below 5 Press the DATA Key to return to the parameter number display 6 Press the MODE SET Key to move from settings mode to monitor mode e Operation Method 1 With the DATA SERVO Key turn the servo ON and OFF 2 With the servo ON press the Up Key to rotate the Servomotor forward 3 With the servo ON press the Down Key to rotate the Servomotor in reverse e Parameters to be Set User Parameter Cn 10 The rotational speed during jog operation can be set with user parameter Cn 10 as shownin the follow ing table Parameter name Factory Setting range Explanation setting Jog speed 0 to 4 500 Note Speed setting for jog operation Note The upper limit value of the parameter Cn 10 is 3 000 for the 1 500 r min models and 4 500 for the 3 000 r min models 3 41 Operation Chapter 3 3 5 Making Adjustments 3 5 1 Auto tuning Auto tuning rotates the Servomotor with a load connected mechanical system and automatically adjusts the position loop gain the speed loop gain and th
169. ications Mode Straight shaft Without brake R88M U1K315H S1 with key R88M U1K815H S1 R88M U2K915H S1 R88M U4K415H S1 R88M U5K515H S1 With brake E88M U1K315H BS1 3 000 r min Models Specifications Mode Straight shaft Without brake without key With brake Straight shaft Without brake wit key With brake 6 9 Appendix Chapter 6 e Servo Drivers Specifications Model Common to analog and 1 3 kW 1 5 kW R88D UT40H E palss ten puis 1 8 kW 2 0 kW R88D UT60H E eee 2 9 kW 3 0 kW R88D UT80H E incremental an absolute encoders 4 0 kW to 5 0 KW R88D UT110H E 5 5 kW R88D UT160H E Note Regenerative Resistors must be externally connected to the R88D UT160H E e External Regenerative Resistor e Parameter Units e Encoder Cable RGGA RROZO4TS Specifications Model Handy type R88A PRO2U Mounted type R88A PROS3U Specifications Model Connectors at both 3m R88A CRUBOOSN ends for incremental 5m R88A CRUBOO5N models 10m R88A CRUBO10N 15m R88A CRUBO15N 20m R88A CRUBO20N e Power Cables For 1 0 1 3 1 5 and 2 0 kW 6 10 Specifications Model Connector at one end R88A CAUBOO3S for models without R88A CAUB005S RIGG R88A CAUBO10S R88A CAUBO15S R88A CAUBO20S Connector at one end R88A CAUBOOSB for models with brake R88A CAUB005B R88A CAUB010B R88A CAUB015B R88A CAUBO20B Appendix Chapter 6 e Power Cables Fo
170. ide 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 be performed at least 5 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 not touch the rotating parts of the Servomotor under 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 Doing so may result in fire or damage to the products Do not store or install in the following places Doing so may result in fire or damage to the Product Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications 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
171. in equipment damage Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Operation Chapter 3 3 1 Beginning Operation 3 1 1 Operational Procedure Before beginning operation be sure to make the initial settings for the Servo Driver Make function settings as required according to the use of the Servomotor Startup Procedure 1 Mounting and installation Installthe Servomotor and Servo Driver according to the installation conditions Chapter 2 section 2 1 Wiring and connections Connect to power supply and peripheral devices Chapter 2 section 2 2 Turning on power supply Before turning on the power supply check the necessary items In order to make the initial settings turn on an application power supply Chapter 3 section 3 1 2 Checki
172. ing table In this table the divider rates are shown in the top line above the multipliers MC indicates CV 500 MC221 421 Motion Control Units and NC indicates C500 NC222 E Position Con trol Units m Encoder Divider Rates Cn 0A and Maximum Numbers of Rotations e 1 500 r min Models 192 to 4 097 4 to 2 731 2 730 to 2 04 8 192 to 4 09 096 to 2 73 730 to 2 049 J Cn 0A gt 2 192 4 2 1 4 2 1 4 1 098 1 098 1 198 2 196 1 797 3 000 599 xn 1 098 x n MC421 C200H MC221 Note 1 n represents a number from 1 to 256 Note 2 The numbers in this table indicate the maximum number of revolutions r min that can be used in combination with Servo Controllers Note 3 The upper limit for the maximum number of revolutions is 3 000 r min e 3 000 r min Models 4 096 to 2 049 2 048 to 1 366 1 365 to 1 025 4096 n Cn 0A gt 4096 n 1 C500 NC222 E 1 098 2 197 2 197 2 196 4 394 4 500 1 098 x n 2 197 xn CV500 MC221 2 490xn MC421 C200H MC221 Note 1 n represents a number from 1 to 256 Note 2 The numbers in this table indicate the maximum number of revolutions r min that can be used in combination with Servo Controllers Note 3 The upper limit for the maximum number of revolutions is 4 500 r min Appendix Chapter 6 6 3 OMNUC U series Models Models Not Conforming to Standards e Servomotors with Incremental Encoders 1 500 r min Models Specif
173. iodic Maintenance i i sso a ee A aR es E RR RR E ERE RE RR ED 4 24 Chapter 5 Specifications eeeeeee rr SL 5 1 5 2 5 3 5 4 Servo Driver Specifications lieeseeeeeeeeeee e nent nen eee 5 2 5 1 1 General Specifications 2 1 2 0 cece n 5 2 5 1 2 Performance Specifications 0 cece ccc eee eene 5 3 5 1 3 I O Specifications i cee a s dag eer RR eR ERE RE REED 5 8 5 1 4 Parameters iso erp RI eae oper ee ais 5 29 Servomotor Specifications os ssec ever te hr eR e pea cer b ehe he 5 37 5 2 1 General Specifications 1 1 0 eee cee eee a eens 5 37 5 2 2 Performance Specifications cece eee eee eee nen eens 5 38 5 2 3 Torque and Rotation Speed Characteristics 00 cece eee eee eee 5 44 5 2 4 Allowable Loads on Servomotor Shafts 0 0 0 0 eee eee ee 5 46 5 2 5 Encoder Specifications lees 5 47 Cable Specifications iiid e RUE UR EUER NEU E RENE EROR EUR ERU 5 48 5 3 1 Controller Connecting Cable seeeeeeleeeee ee 5 48 5 3 2 Encod et Cable 4 ev tah ee a a UU pP MERAq RW ODIe FC PERS 5 55 5 3 3 Power Cables i2 ca ae ab ED RE Sedge SoS ee EG ass 5 56 5 3 4 1 500 r min Models 5 5 kW Cable Specifications 0 000008 5 61 Parameter Unit Specifications 0 a N EEDE EES e 5 63 Chapter 6 Appendix 4 6 6 65 66 ee a Ree rx estre ess Ol 6 1 6 2 6 3 6 4 Connection Examples 2 wide e e he a weeded O
174. ion All directions nsulation grade Type F JIS C4004 Structure Totally enclosed self cooling Protective structure Models not conforming to standards IP 65 IEC 34 5 Excluding through shaft portion The connector used on the standard cable is IP 30 see note 2 Models conforming to EC Directives IP 55 IEC 34 5 Excluding through shaft portion The connector used on the standard cable is IP 30 Oil seal specifications IP 67 IEC 34 5 Including through shaft portion The connector used on the standard cable is IP 30 Cannot be used in environment with water soluble cutting fluids see note 2 Vibration grade V 15 JEC2121 Mounting method Flange mounting Note 1 Vibration may be amplified due to sympathetic resonance of machinery so use the Servomo tor Driver under conditions which will not exceed 19 6 m s 2 G over a long period of time Note 2 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 2 1 2 Installation Conditions for the recommended connectors Note 3 The Servomotors cannot be used in misty environments Note 4 The above items reflect individual evaluation testing The results may differ under com pounded conditions 5 37 Specifications Chapter 5 5 2 2 Performance Specifications e 1 500 r min Models R88M U1K315 Rated output Rated torque Rated rotation speed Momentary maxi
175. is effective in the following types of situations Fine adjustments of positions and speeds when synchronizing two lines e When using a positioner with a low command pulse frequency When setting a value such as 0 01 mm for the amount of mechanical movement per pulse User Parameter Settings Incremental The gear ratio utilizes G1 and G2 for user parameters Cn 24 and Cn 25 and is defined by G1 G2 Target number of pulses Number of command pulses x E 2 PRM No Parametername Factory setting Unit Setting range Explanation Electronic gear ratio G1 1 to 65 535 Setting range numerator Electronic gear ratio G2 1 to 65 535 denominator 0 01 0 G1 G2 100 Note The electronic gear setting becomes effective when the power is turned on again after having been cut off Check to see that the LED display has gone off e When G1 G2 1 the motor makes one revolution with a 32 768 pulse 1 500 r min models or 16 384 pulse 3 000 r min models command The driver operates with an internal multiplication fac tor of 4 With the factory setting the motor makes one revolution when 8 192 pulses 1 500 r min models or 4 096 pulses 3 000 r min models are input Asingle pulse for position deviation error counter display or positioning completion range becomes a single input pulse Operation Example Incremental In this example G1 G2 is set to 32 768 1 000 and operation is the same as for a
176. itor output as current monitor output Takes AM CN1 16 and CN4 2 analog monitor output as speed command monitor output for speed control or command pulse speed monitor output for position control Not valid for torque control i e set to 0 V Monitor switch 2 Takes NM CN1 17 and CN4 1 analog monitor output as speed monitor output EN NM CN1 17 and CN4 1 analog monitor output as error counter monitor output Not valid for EM or torque control i e set to O V Parameter Unit o Takes deviation monitor as x1 command units monitor switch level Takes deviation monitor as x100 command units Note 1 When the Parameter Unit s monitor switch level bit no E of Cn 02 is set to 1 x100 com mand units the error counter monitor output becomes 0 05 V x100 command units Note 2 When the Parameter Unit s monitor switch level bit no E of Cn 02 setting is changed the change does not go into effect until the power has been turned off and then on again Check to be sure that the LED indicator has turned off 4 13 Application Chapter 4 m Monitor Output Specifications Speed monitor Speed command monitor Command pulse speed monitor Current monitor With 0 V as center voltage output at 2 V 1 000 r min ratio for the 1 500 r min models and 1 V 1 000 r min ratio for the 3 000 r min models Forward rotation voltage reverse rotation voltage Output accuracy approximat
177. l Correct the wiring Position An error occurred with the RESET signal ON The command pulse mode bit nos 3 4 5 of Cn 02 is setting is incorrect The speed command REF voltage is O V The PLOCK signal is ON The setting for the number of encoder pulses is incor rect The Servomotor power lines or encoder lines are wired incorrectly Check the RESET signal s ON and OFF by means of the monitor mode Check the Controller s com mand pulse type and the Servo Driver s command pulse mode Check the speed com mand by means of the monitor mode Check the speed com mand voltage Check the PLOCK signal by means of the monitor mode internal status bit Check the value of Cn 11 Check the Servomotor power line U V and W phases and the encoder line wiring Turn the RESET signal OFF and take measures according to the alarm display Set the mode to match the Controller s command pulse type Common Common 4 19 Correct the wiring Turn the PLOCK signal OFF Check the Cn 29 value 1 500 r min 3 000 r min models ABS Set Cn 11 to 8192 3 000 r min INC models Set Cn 11 to 4096 Correct the wiring Application Chapter 4 mode Servomotor operation is unstable The Servomotor power lines or encoder lines are wired incorrectly The bias function setting is incorrect The polarity of the speed command REF input is wrong
178. l incremental encoder 8 192 pulses revolution Maximum of 5 times motor s rotor inertia PWM method based on IGBT 3 3 kHz U1K315H U1K815H U2K915H U4K415H U5K515H Applicable Servomotor wattage 1 3 kW 1 8 kW 2 9 kW 4 4 kW 5 5 kW Cable length between the motor and driver 20 m max Weight Approx 4 0 kg Approx 5 0 kg Approx 8 0 kg Approx 15 0 kg Heating Main circuits 80W 120W 250W 290W value Control circuits Capacity for analog Toad fluctuation rate 20W 24 W 27W Speed control range 1 5 000 0 0196 at 096 to 10096 at rated rotation speed inputs Voltage fluctuation rate 096 at input voltage of 170 to 253 VAC Temperature fluctuation rate Frequency characteris tics Acceleration time setting Capacity for pulse train inputs Position loop gain Positioning range Feed forward com pensation 0 1 max at 0 to 50 C 250 Hz at the same load as the rotor inertia 0 to 10 s acceleration and deceleration set separately Maximum frequency 200 kpps 1 to 1 000 1 5 Electronic gear ratio Setting range 0 01 0 G1 G2 100 G1 G2 1 to 65 535 0 to 250 command unit 0 to 100 of speed command amount pulse frequency Bias setting 0 to 450 r min Position acceleration constant setting 0 to 64 ms same setting for acceleration and deceleration Speci
179. l using pulse train inputs are possible in this control mode When both SPD1 and SPD2 are OFF the motor will decelerate to a stop When the positioning com pletion signal is output the position lock is in effect and the system is ready to receive the pulse com mand input Pulse commands can be input after the positioning completion INP signal turns ON Pulses input up until that point will be ignored Likewise when switching from position control to internally set speeds wait until the positioning completion INP signal turns ON before turning ON the speed selection command If the speed selection command is turned ON during command pulse input command pulse transmission and positioning will be ended before switching to internally set speeds e Internal Speed Control Settings Torque Control Control Mode Selection Cn 2b 6 Setting user parameter Cn 2b control mode selection to 6 specifies the internal speed control settings torque control mode Speed control using internal speed settings and torque control using torque command inputs TREF are possible in this control mode Torque command inputs TREF can be received from the point at which both SPD1 and SPD2 turn OFF 3 22 Operation Chapter 3 Other User Parameter Settings Parameter name Factory Unit Setting Explanation setting range Cn 07 Soft start acceleration time Oto 10 000 Sets the time for the motor to accelerate from 0
180. lay mode Bit display Control circuit power supply ON display main circuit power supply ON display baseblock in position speed conformity rotation detec tion command pulses being input speed command being input torque command being input error counter reset signal being input Symbol display Baseblock operating forward rotation prohibited reverse rotation prohibited alarm display Settings mode System check Jog operations command offset automatic adjustment alarm his tory data clear command offset manual adjustment motor parame ters check auto tuning Setting and checking setup parameters Setting and checking user parameters Monitor mode Speed feedback speed commands torque commands number of pulses from U phase electrical angle internal status bit display command pulse speed display position displacement input pulse counter Alarm history display Displays contents of alarms that have been previously generated up to a maximum mode of 10 3 6 Operation Changing Modes To change modes press the MODE SET Key Chapter 3 Power ON li Display example CO Co CO Status displa Alarm histor mode pay Settings mode gt Monitor mode display d bb cn 00 un 00 0 a02 3 7 Operation Chapter 3 Mode Changes and Display Contents Power ON Bit Displays Contr
181. ld be positioned nearthe inputterminal block ground plate and I O lines should be isolated and wired using the shortest means possible 2 44 System Design and Installation Chapter 2 Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control panel whenever possible Good Separate input and output NO Noise not filtered effectively AC input 1 NE 4 AC output am 1 NF 4 2 5 LL AC input 2 5 3 E 5 3 z 6 Ground Ground AC output Nec Use twisted pair cables for the power supply cables whenever possible or bind the cables L1C anana Bik Driver or L f L2 Driver vi L3 L3C Binding Separate power supply cables and signal cables when wiring m Construction of Control Panel The control panel will leak electromagnetic energy or permit the interior of the control panel to be affected by external electromagnetic fields if there is a space around any cable inlet or outlet mounting hole or door of the control panel To prevent electromagnetic energy leakage from the control panel or external electromagnetic influence on the interior of the control panel follow the instructions below before designing or selecting the control panel e Casing Construction The control panel must be made of metal plates each of which must be con
182. lue A Speed control 0 4 Independent control modes Position control 1 Torque control 2 Internally set speed 3 JI control Internally set speed 4 p control speed control Internally set ntrol Sirielly soe Spagd CONO Internally set speed 5 lt modes Bx E control position a N control N y Control modes S N NJ Internally set speed 6 control torque control E Position control 4 7 _ speed control Position control 8 N Switching control modes torque control Si _ Speed control torque 9 control Speed control with 10 position lock function Control modes with added lt i functions Position control Pulse 11 prohibit enable y 3 20 Operation Chapter 3 m Number of Encoder Pulses Cn 11 The number of pulses varies depending on the type of motor that is connected Match the settings to the motor type The factory settings are for 1 500 r min models and 3 000 r min Absolute models Change the settings for these parameters if 3 000 r min Incremental models are to be used If the settings are not made correctly the motor may malfunction name Cn 11 Number of 8 192 Pulses revolution 8 192 1 500 r min encoder pulses 3 000 r min Absolute 4 096 3 000 r min Incremental 3 3 4 Setting Internal Speed Control m Function This function con
183. m the settings mode to the monitor mode press the MODE SET Key Bit no 3 10 Operation Chapter 3 m Setup Parameter Contents e Setup Parameter No 1 Cn 01 Factory Explanation setting Sequence input signal 0 Servo turned ON or OFF by Run command externally input switching Servo always ON 1 oOo Enables sensor ON input externally input Absolute 1 Automatically regards as high level internally regardless of sensor ON input signal 2 1 o Enables forward drive prohibit input POT Edi Permits always forward drive 3 1 Enables reverse drive prohibit input NOT Permits always reverse drive Not used Not used Abnormal stop selec Motor stopped by dynamic brake tion Motor stopped with free run Dynamic brake ON after motor stopped Method for stopping when over travel occurs depends on bit no 6 setting When over travel occurs motor is stopped at the torque set by user parameter Cn 06 emergency stop torque When over travel occurs motor comes to deceleration stop and servo turns OFF When over travel occurs motor comes to deceleration stop and position is locked Error counter for servo OFF Error counter cleared when servo is OFF and alarm is gener ated Error counter not cleared when servo is OFF and alarm is generated Switch function enabled follows bit nos C d No switch function The torque command value Cn 0
184. mand unit Feed forward com pensation 096 to 10096 of speed command amount pulse frequency Bias setting 0 to 450 r min Position acceleration constant setting 5 6 0 to 64 ms same setting for acceleration and deceleration Specifications Chapter 5 I O Signals Common to Models Not Conforming to Standards and those Conforming to EC Directives Signals Specifications Input sig Speed command voltage 2 to 10 VDC rated rotation speed set via parameter nals motor forward rotation by voltage Input impedance Approx 30 KQ circuit time constant Approx 47 us Torque command volt x1 to 10 VDC rated torque set via parameter age motor forward torque by voltage Input impedance Approx 30 KQ circuit time constant Approx 47 us Position command pulse TTL line driver input photoisolation input current 6 mA at 3 V One of the following set via parameter Ti Ta gt 22 nare Feed pulse forward reverse signal Forward pulse reverse pulse Ti Tis or 90 phase difference A B phase signal Input pulse width must be as shown in diagram Error counter reset input TTL line driver input photoisolation input current 6 mA at 3 V Sequence input 24 VDC 5 mA photocoupler input external power supply 24 1 VDC 50 mA min Run command gain deceleration position lock command control mode switch direction command pulse prohibit forward reverse current limit speed
185. meter Cn 08 or Cn 09 the forward and reverse rotation torque limits The forward reverse rotation current limit PCL NCL is ON and the output torque reaches the limit value set in user parameter Cn 18 or Cn 19 5 21 Specifications Chapter 5 e The output torque is limited by the analog voltage input through TREF when Cn 02 bit no 8 1 speed control mode only Brake Interlock This signal outputs an external brake timing signal according to the setting of Cn 12 15 and 16 Refer to 3 3 13 Brake Interlock for details Overload Warning This signal goes OFF when the effective torque exceeds 20 of the overload detection level Overload Alarm This signal goes OFF when an overload is detected The signal will go ON when the alarm reset is input e Alarm Output 31 ALM Alarm Output Ground 32 ALMCOM Whenthe Servo Driver detects an error outputs are turned OFF Atthattime an alarm code see below is output according to the contents of the error This output is OFF atthe time of powering up and turns ON when the power up processing is completed e Alarm Code Outputs 1 to 3 37 38 39 ALO1 to ALO3 When a Servo Driver error is generated the contents of the error are output in 3 bit code The alarm code output ground common is CN1 pin 1 or 2 For details refer to 4 4 1 Alarm Displays and Alarm Code Outputs e Encoder A B and Z phase Outputs 33 34 A A 36 35 B B 19 20 Z Z Servomotor encod
186. mmon Ground for the encoder output alarm code and All monitor output M Al Current monitor Voltage is output centered on 0 V according to the All following ratio 2 V rated torque Forward acceleration is negative reverse accelera tion is positive Output accuracy is approximately 10 Speed monitor Voltage is output centered on 0 V according to the following ratio 1 V 1 000 r min Forward is negative reverse is positive Output accuracy is approximately 10 Encoder Z phase Encoder Z phase output 1 pulse revolution Line output driver output conforming to RS 4224 Encoder Z phase output Built in command Power supply for speed commands and torque com power supply mands Can be used for speed and torque commands by connecting an external variable resistor The function of the following pairs of signals is set in user parameter CN 2d output signal selection 25 and 26 27 and 28 29 and 30 Speed conformity Output ON when the Servomotor speed error is output within the speed conformity signal output range Cn 22 Positioning com Output ON when the position error is within the Position pletion output positioning completion range Cn 1b Servomotor rota Output ON if the Servomotor rotation speed All tion detection out exceeds the value set for the Servomotor rotation put detection speed Cn 0b READY Servo ready output Output ON if no errors are disc
187. mum rota tion speed Momentary maximum torque Momentary maximum rated current ratio Rated current Momentary maximum cur rent W kgfecm Nem r min r min kgfecm 1 300 1 500 3 000 R88M U1K815 R88M U2K915 R88M R88M U4K415 U5K515 1 800 2 900 5 500 117 11 5 1 500 3 000 293 190 18 6 1 500 3 000 460 1 500 1 500 3 000 3 000 Nem A rms A rms 28 7 2 5 238 23 3 62 8 16 7 45 1 235 23 8 56 725 894 71 1 87 6 6 0 2 pm 84 Rotor inertia kgfecmes 2 09 x 10 2 4 69 x 10 2 6 89 x 10 2 kgem2 GD2 4 2 05 x 10 3 4 60 x 1073 6 75 x 1073 Torque constant kgfecm A 8 6 8 5 9 2 Nem A 0 83 Induced voltage constant mV r min 29 0 Power rate kW s 75 3 Mechanical time constant ms 1 9 Winding resistance Q 0 0957 Winding impedance mH 1 2 Electrical time constant ms 12 5 6 3 Approx 9 6 Approx 14 Approx 18 Approx 23 Approx 30 Weight Incremental Weight Absolute Approx 10 Approx 14 Approx 18 5 Approx 24 Approx 30 Corresponding Servo Driver R88D UT40H E UT40V UT60H E UT60V UT110H E UT110V UT160H E UT160V E Note 1 The values corresponding to the above asterisked items are r
188. nal Regenerative Resistor REGA RR220478 e Parameter Units Specification Med Handy type R88A PRO2U Mounted type R88A PROS3U e Encoder Cables Connectors at both R88A CRUBOO3N ends for incremental R88A CRUBOO5N megs R88A CRUBO10N R88A CRUBO15N R88A CRUBO20N e Power Cables For 1 0 1 3 1 5 and 2 0 kW rid Model Connector at one end R88A CAUBOO3S for models without R88A CAUB005S brake R88A CAUBO10S R88A CAUBO15S R88A CAUBO20S Connector at one end R88A CAUB003B for models with brake R88A CAUB005B R88A CAUBO10B R88A CAUBO15B R88A CAUBO20B e Power Cables For 1 8 2 9 3 0 4 4 and 5 0 kW Connector at one end R88A CAUCOOSS for models without R88A CAUC005S RIGG R88A CAUCO10S R88A CAUCO15S R88A CAUCO20S Connector at one end R88A CAUCOOSB for models with brake R88A CAUC005B R88A CAUC010B R88A CAUC015B R88A CAUC020B 6 16 Appendix Chapter 6 e Special Control Cables Specifications Connectors at For 1 axis 1m R88A CPUBOO1M 1 both ends for CV500 MC221 2m R88A CPUBOO2M1 421 For 2 axes 1m R88A CPUB001M2 C200H MC221 R88A CPUB002M2 e General purpose Control Cables Connector at one end 1m R88A CPUBOO1S for general purpose aia pu 2m R88A CPUBOO2S e Control Cable Connector Specifications Model Half pitch 50P Sumitomo 3M R88A CNU11C 6 17 Appendix Chapter 6 6 4 Combinations of Servo Drivers and Se
189. ncoder line malfunction Mechanical lock is in effect Servomotor power line or encoder line malfunction Gain adjustment is insuffi cient Acceleration is too sudden Load is too large Correct the wiring If the Servomotor shaft is locked unlock it Correct the wiring Adjust the gain Lengthen the acceleration time Lighten the load Select another Servomo tor 4 21 Application Alarm dis play Overvoltage Insufficient volt age Condition when error occurred Occurred when power was turned on Chapter 4 Probable cause Countermeasures The main circuit power supply voltage is outside of the allowable range The main circuit power supply voltage must be 170 to 253 VAC Occurred during Servomo tor deceleration Occurred while lowering vertical shaft al Overspeeding High speed rotation occurred when command was input a ll Overload Occurred during operation The load inertia is too large The main circuit power supply voltage has exceeded the allowable range Gravity torque is too large The rotation speed exceeded the upper limit value i e 3 300 r min for the 1 500 r min models and 4 950 for the 3 000 r min models due to overshoot ing Encoder is wired incor rectly Operating at more than 135 of the rated torque Effective torque Lengthen the decelera tion time Select another Servomo tor Lower the voltage
190. nd l C500 NC111 EV1 R88D UT CN 1 TB Content No r A 47 24 VIN t 12 to 24 VDC dd Ll NE GN Ij 0X 4 R OWN IES zc saca 2L O O O C 40 RUN S CCW limit B 5 6 L L44 RESET T Emergency stop A 32 ALMCOM P R88M U Exemalimempt T B5 1H Ie Jai AM B P cec es od 4 Aem 24 voc 14 J N Rog R88A CAUBOOOS Origin interrupt Bem C U Bus R88A CAUC S poa Local x V White LESE Ready 7777 5 Bloc w Bee LAM ee 5 VDC lA ram s ti ple 5 VDC 8 B T l 7 4CW M 3 ow A 8 cw R88A CRUBOOCON 3 Sew a oF 11 CCW D g cow Al 12 CCW pu a COW DK r 15 ECRST OO lt VU ECRST Li FG Shell 7 R88A CPUBLILILIS Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 The diode recommended for surge absorption is the ERB44 02 Fuji Electric Note 4 When an NC111 EV1 Position Control Unit is used the origin search is executed by means of the origin and origin proximity Establish the origin and origin proximity with respect to the mechanical system Pulses remain accumulated in the Servo Driver s error counter even after the Position Control Unit has completed the origin search and stopped pulses This causes the Servomotor to move for the amount of residual pulses before stopping thereby causing origin displacement In order to minimize this set the origin search low speed as low as possible
191. nected by welding so that the plates will be all in contact together electrically f the control panel is an assembly type consisting of metal plates connected to one another with Screws be sure to remove the surface paint coating of each joint portion so that the plates will be all in contact together electrically Be sure to tighten the screws properly so that the metal plates will not be warped Make sure that control panel has no part that is electrically isolated All units mounted inside the control panel must be grounded to the control panel 2 45 System Design and Installation Chapter 2 e Door Construction The door must be made of metal The space between the door and casing must be of watertight construction as shown below Apply conductive packing to the space between the casing and door as shown below Be sureto remove the surface paint coating of the portion of the casing and that of the door coming into contact with the conductive packing so that the door conductive packing and casing will be all in con tact electrically Be sure to tighten the screws properly so that the metal plates of the control panel will not be warped UE Door Casing Casing side Fd FA Door side Oil proof packing Conductive packing A B Cross section Control panel Oil proof packing Conductive packing Door inner side m Selecting Components This section describes standards to be co
192. ng display status Check by means of the displays to see whether there are any internal errors in the Servo Driver Chapter 3 section 3 1 2 Initial settings Make the settings for the operation setup parameters initial settings Chapter 3 section 3 3 1 Function settings By means of the user parameters set the functions according to the operating conditions Chapter 3 section 3 3 2 Trial operation Checkto see whether protective functions such as emergency stop and operational limits are work ing reliably Check operation at both low speed and high speed Chapter 3 section 3 4 Adjustments Execute auto tuning Manually adjust the gain as required Chapter 3 section 3 5 Operation Operation can now begin If any trouble should occur refer to Chapter 4 Application Chapter 4 3 3 Operation Chapter 3 3 1 2 Turning On Power and Checking Displays m Items to Check Before Turning On Power e Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below Main circuit power supply Three phase 200 230 VAC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 VAC 170 to 253 V 50 60 Hz e Checking Terminal Block Wiring The main circuit power supply inputs R S and T or L1 L2 and L3 and the control circuit power supply inputs r and t or L1C and L2C must be properly connected to the terminal block The Servomotor s red
193. not operate for position control when stopping in this mode Note 2 When torque control is being used the stop method is determined by the status of bit 6 The status of bit 8 is irrelevant e Forward Reverse Rotation Current Limit 45 46 PCL SPD1 NCL SPD2 These input signals switch between the forward reverse current limit and the speed selection command signal for the internally set speed depending on the setting of user parameter Cn 2b e Forward Reverse Rotation Current Limit 45 46 PCL NCL user parameter Cn 2b 0 1 2 7 8 9 10 or 11 These input signals are the forward rotation current limit and the reverse rotation current limit and they limit the current to the Servomotor The current limit values can be set for the respective direc tions by means of user parameters Cn 18 and 19 The set values can be set for up to the maximum output current as 10096 of the rated output current 5 15 Specifications Chapter 5 Speed Selection Command 45 46 SPD1 SPD2 user parameter Cn 2b 3 4 5 or 6 These input signals are the speed selection command 1 and the speed selection command 2 Depending on the combination of signals the Servomotor speed can be controlled according to the internally set speeds nos 1 through 3 which are set in user parameter Cn 1F 20 21 At that time the CN1 41 pin becomes the rotation direction command RDIR e Alarm Reset 44 RESET This is the external reset signal input for the
194. nput as the analog current limit input m Parameter Settings e Method 1 Limiting the Force Applied During Operation User Parameter Settings Parameter Factory Setting range Explanation name setting Cn 08 Forward Maximum of rated 0 to maximum This parameter sets the output torque torque limit torque torque torque limit for the forward direction as a per centage of the rated torque Cn 09 Reverse Maximum of rated 0to maximum This parameter sets the output torque torque limit torque torque torque limit for the reverse direction as a per centage of the rated torque Note 1 This method is effective with speed control internal speed control settings and torque control Note 2 Setthese parameters to the maximum torque the factory setting when the torque limit function isn t being used e Method 2 Limiting Operation with External Signals Control Mode Selection Cn 02 0 to 2 7 to 11 Setthe control mode selection Cn 2b to a control mode other than internally set speed control 3 to 6 With this setting control input terminal CN1 45 will be PCL forward current limit input CN1 46 will be NCL reverse current limit input and it will be possible to use the external current limit function User Parameter Settings Parameter name Factory Unit Setting range Explanation setting Cn 18 Forward rotation 100 of rated 0 to maximum This parameter sets the limit external current limit t
195. nsidered when selecting components to be connected to reduce noise Select components after reviewing characteristics such as capacities performance and application ranges Recommended components are listed below for reference For further details con sult the respective manufacturer 2 46 System Design and Installation Chapter 2 e No fuse Breakers MCCB When selecting no fuse breakers take into consideration the maximum input current and the inrush current The momentary maximum output for a servo system is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 30096 of the rated maximum output General purpose and low speed no fuse breakers are generally suitable Refer to the table in 2 2 2 Terminal Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration the entire inrush current for the system e Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning abnormal volt ages etc When selecting s
196. nt Vinyl Wiring HIV Reference Values Nominal cross Configuration Conductive Allowable current A for sectional area wires mm resistance ambient temperature mm 2 3 3 Wiring Conditions Satisfying EMC Directives Models complying with EC Directives must abide by the following wiring conditions to satisfy EMC Directive EN55011 EMI Class A group and EN50082 2 requirements EMS If the models cannot abide by the conditions because the models are built into equipment the equip ment must be completely examined to make sure that the equipment satisfies EC Directives The Servo Driver must be mounted to a metal panel i e a control panel The power supply line must be connected to a noise filter and a surge absorber to protect the power supply lines from lightning or any other surge The I O signal and encoder signal lines must be constructed of cables with braided shield wire made of tin coated annealed copper 2 43 System Design and Installation Chapter 2 Any cable from the control panel must be protected with a metal conduit or braided conduit All cables with braided shield wire must be attached with ferrite cores and the shield wire must be grounded directly to the ground plate from the clamps The power supply must be equipped with a transformer if the Servo Driver is a 4 or 5 5 kW model m Wiring Method Control panel EC aE RN CE KM MCN MM MOL NM UD NINE Device with built in mo
197. o 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 Servomotor If they become misaligned the motor will not operate 2 23 System Design and Installation Chapter 2 2 2 Wiring and Connections Models Not Conforming to Standards 2 2 1 Connecting OMRON Servo Controllers Use general purpose control cable purchased separately to connect U series AC Servomotors and Servo Drivers to OMRON Servo Controllers m Connecting SYSMAC C Series Position Control Units Programmable Controller SYSMAC C CV Position Control Unit C500 NC222 E Analog output 3G2A5 NC111 EV1 Pulse train output C500 NC211 Pulse train output C200H NC112 Pulse train output C200H NC211 Pulse train output C200HW NC113 Pulse train output C200HW NC213 Pulse train output C200HW NC413 Pulse train output General purpose Control Cable R88A CPUB S R88D UT 1 500 r min Encoder Cable 3 000 r min models AC Servo Driver H E Power Cable models 1 3 kW 1 5 to 2 0 kW R88A CRUB R88A CAUB R88A CAUB 1 500 r min R88A CAUC 3 000 r min models S for motor without brake B for motor with brake 1 8 to 4 4 kW 3 0 to 5 0 kW S for motor without brake models R88A CAUC 1 500 r min models Prepare a c
198. oO he sea CAP DR Sheet eos Denes eS 3 42 3 5 2 Manually Adjusting Gain 1 0 cece eee nee 3 44 3 5 3 Adjusting Command Offset 00 eee cece eens 3 51 3 6 Regenerative Energy Absorption 0 0 0 cece cece eee eee e eens 3 53 3 6 1 Calculating Regenerative Energy 0 eee cece eee eae 3 53 3 6 2 Servo Driver Absorbable Regenerative Energy eese 3 55 3 6 3 Absorption of Regenerative Energy by Servo Drivers with External Regenerative Resistors leeeeeeeeeee 3 56 Table of Contents Chapter 4 Application eeeeeeee rrr Gel 4 1 Absolute Encoder Setup and Battery Changes 0 0 0 cece eee eee 4 3 4 I T Absolute Encoder Setup vere ERE es ew en ee ay Ae ee 4 3 4 1 2 Replacing Batteries Absolute 000 eee eee ee ee eee eee 4 4 4 2 Using Displays nu e Hagar eines ERI Mte nde eae ssh eerie pr mede 4 5 4 2 1 Display Functions isise sgg dg Rex uos e RR PR REFERRE PR ERE 4 5 4 2 2 Status Display Mod i ses ees eka ERR ee eee ee ee Rs 4 8 4 2 3 Monitor Mode i sis eee m Sea ee es 4 9 4 2 4 Checking Servomotor Parameters 0 00 e eee eee eee 4 11 4 3 Using Monitor Output eerd cence teen ence eens 4 12 4 4 Protective and Diagnostic Functions 0 cece ec eee eee nee 4 15 4 4 1 Alarm Displays and Alarm Code Outputs 0 0 0 0 000 e eee eee 4 15 4 4 2 Troubleshooting seseeee I ene n eens 4 19 4 5 Per
199. ode Straight Without Without oil R88M U1K315X shaft with brake seal R88M U1K815X ay R88M U2K915X R88M U4K415X R88M U5K515X R88M U1K315X O R88M U1K815X O R88M U2K915X O With brake Without oil seal with oi seal 6 14 Appendix Chapter 6 3 000 r min Models Specifications Mode Straight Without Without oil shaft with brake seal m With oi seal With brake Without oil seal R88M U1K530X BS1 R88M U2K030X BS1 R88M U3K030X BS1 R88M U4K030X BS1 R88M U5K030X BS1 R88M U1K030X BOS1 R88M U1K530X BOS1 R88M U2K030X BOS1 3 0kW R88M U3K030X BOS1 R88M U4K030X BOS1 5 0 kW R88M U5K030X BOS1 e Servo Drivers Specifications Model Common to analog and 1 0 kW R88D UT24V pulse train inputs 1 3 kW 1 5 kW R88D UT40V Common to 1 8 kW 2 0 kW R88D UT60V Hab didt 2 9 KW 3 0 kW R88D UT80V 4 0 kW to 5 0 KW R88D UT110V 5 5 kW R88D UT160V E e Servo Drivers Requiring External Regenerative Resistors Specifications Model Common to analog and 1 0 kW R88D UT24V RG pisei pus 1 5 kW R88D UT40V RG Common to incremental and 2 0 kW R88D UT60V RG absolute encoders 3 0 kW R88D UT80V RG Note For the R88D UTI V RG R88D UT110V and R88D UT160V E be sure to install External Re generative Resistors that correspond to the amount of regenerative energy 6 15 Appendix Chapter 6 e Exter
200. ode speed display Manually turn the Servomotor shaft clockwise and counterclockwise and check to be sure that it agrees with the posi tive and negative on the speed display If it does not agree then the encoder signal line may be wired incorrectly Reverse rotation 0 0 3 8 Forward rotation Display example Forward rotation 0025 Reverse rotation Note To monitor the speed feedback value press the MODE SET Key and go into monitor mode un 0 0 Then press the DATA Key If there is an error refer to Chapter 4 Application and take the necessary countermeasures Operation Chapter 3 3 1 3 Using Parameter Units The key operations for the Handy type R88A PRO2U and the Mounted type R88A PROSU vary depending on the functions used The same settings and operations are possible with either Parameter Unit m Parameter Unit Keys and Functions ERE Roo PROU PRo2U PRosU Function R88A PRO2U R88A PRO3U ERUSU PROU Mode switching Data memory Servo ON OFF during jog operations Switching between parameter display and data display data memory Increments parameter num bers and data values Decrements parameter num bers and data values Left shift for operation digits Right shift for operation digits m Modes Status disp
201. odels Without Brake R88M U1KO030 S1 R88M U1K530 S1 R88M U2KO030 S1 With Brake R88M U1K030 B S1 R88M U1K530 B S1 R88M U2KO030 B 1S1 32 4 24h6 dia M8 effective depth 16 3 0 kW 4 0 kW 5 0 kW Models Without Brake R88M U3K030 S1 R88M UA4KO030 S1 R88M U5K030 S1 With Brake R88M U3K030 _ B_ S1 R88M U4K030 B S1 R88M U5K030 _ B_ S1 50 4 28h6 dia M8 effective depth 16 2 16 System Design and Installation Chapter 2 2 1 2 Installation Conditions m AC Servo Drivers e 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 Mount the Servo Drivers vertically so that the model number and writing can be read zx ND Fan Fan 50 mm min Side of Unit Servo Driver Servo Driver Servo Driver Ww Ww 30 mm min W 10 mm min VWs e Operating Environment Be sure that the environment in which Servo Drivers are operated meets the
202. of sheath R88A CAUC003S 16 5 dia R88A CAUC005S R88A CAUC010S R88A CAUCO15S R88A CAUC020S Up to a maximum of 20 m between the Servomotor and the Servo Driver 5 57 Specifications Chapter 5 e Connection Configuration OMNUC U Series OMNUC U Series AC Servomotor J AC Servomotor Driver R88M U 15 S1 R88M U 300 0 R88D UTL e Wiring Symbol No Red U phase A vm V phase B EE W phase C Black TO GR D Green cO Cable AWG10 x 4C Crimp style terminal V5 5 4 lt For Cable gt Connector plug model MS3106B22 22S DDK Cable clamp model MS3057 12A DDK Specifications for normal environment For Motor Receptacle model MS3102A22 22P DDK 5 58 Specifications Chapter 5 m Power Cables for Servomotors With Brakes e Applicable Motors 1 500 r min Models 1 3 kW 3 000 r min Models 1 0 to 2 0 kW e Types of Cable Model Length L Outer diameter of sheath R88A CAUB003B 16 5 dia R88A CAUBOO5B R88A CAUBO10B R88A CAUBO15B R88A CAUBO20B Up to a maximum of 20 m between the Servomotor and the Servo Driver e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series R88M U 150 BOS1 AC Servom
203. ohibited reverse rotation prohibited alarm display Settings mode System check Jog operations command offset automatic adjustment alarm his tory data clear command offset manual adjustment motor parame ters check auto tuning Setting and checking setup parameters Setting and checking user parameters Monitor mode Speed feedback speed commands torque commands number of pulses from U phase electrical angle internal status bit display command pulse speed display position deviation input pulse counter Alarm history display Displays contents of alarms that have been previously generated up to a maximum mode of 10 Changing the Mode Use the MODE SET Key to change from one mode to another CO CO CO CO Power ON i H AERO e Settings mode gt Monitor mode 4 A J Display example b b cn 00 un 00 0 a02 Application Chapter 4 4 2 2 Status Display Mode The status display mode is entered when powering up or by means of the MODE SET Key In the status display mode Servo Driver status is displayed in two ways bit data and symbols These displays are shown in the following illustration Rotation detected Command pulses being input position control Speed commands being input speed control Positioning completion position control Speed conformity speed control
204. ol circuit power ON page 4 8 Main circuit power ON Base block motor not receiving power In position Speed conformity i Torque commands being input Display example b b Error counter reset signal being input CO Command pulses being input Speed commands being input Motor rotation detected Symbol Displays b Base block Status display mode r U N in operation running p Forward rotation prohibited n t Reverse rotation prohibited DATA d Alarm display Y Settings mode c n 0 0 System check mode Jog operation page 3 40 Command offset automatic adjustment page 3 51 CO Clear alarm history data page 4 18 Command offset manual adjustment page 3 51 Motor parameters check page 4 11 Auto tuning page 3 42 A DATA Sequence input signal switch page 3 11 Setup Abnormal stop selection 0 1 parameter Error counter for servo OFF xv no 1 P control switch selection P control switch conditions Reverse mode page 3 12 DATA Speed limit by analog input Setup Command pulse mode C n 0 2 parameter _ Monitor switch 1 no 2 Monitor switch 2 TREF switch Torque feed forward function selection Error counter clear Torque command filter constant Command pulse logic reversal Parameter Unit monitor level switch
205. ommand filter time constant Y Increase Cn 28 compensating gain 3 44 Operation Chapter 3 e For Speed Control Analog Input Adjustment procedures for speed control are shown in the following flowchart Make sure that the user parameter Cn 28 for gain compensation is setto zero i e the factory set value of this parameter before executing auto tuning Perform auto tuning to match the rigid ity of the mechanical system y The motor hunts when servo locked YES Accompanied by a hunting noise y NO Raise the rigidity selection to the value Decrease the rigidity selection so just before hunting occurs and perform hunting doesn t occur and perform auto tuning auto tuning Do characteristics such as positioning YES time meet system specifications End adjustment Increase Cn 04 speed loop gain to a value where hunting doesn t occur in servo lock Decrease Cn 05 speed loop integra tion time constant to a value where hunting doesn t occur in servo lock i Does hunting vibration occur x YES when the motor is operated j NO Run the motor and monitor its opera Decrease Cn 04 speed loop gain tion Y 1 When using position control Increase Cn 05 speed loop integra Reduce Cn 03 speed command scale tion time constant or the Controller
206. omotors and Drivers Use these are reference in determining actual maintenance schedules m Servomotors e Recommended Periodic Maintenance Bearings 20 000 hours Application Conditions Ambient motor operating temperature of 40 C within allowable shaft load rated operation rated torque and r m installed as described in operation manual Theradial 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 thatthe allowable shaft load is not exceeded even during operation If a motor is used under a shaft load exceeding the allowable limit the motor shaft can break the bearings can burn out and other problems can occur m Servo Drivers Recommended Periodic Maintenance Aluminum analytical capacitors 50 000 hours at an ambient Servo Driver operating temperature of 40 C rated operation rated torque at 80 output 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 RH 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 increa
207. on If more protection is required or EC Directives must be satisfied use the recommended connec tors Refer to 2 1 2 Installation Condi tions SYSMAC C CV Position Control Unit C500 NC211 Pulse train output C200HW NC113 Pulse train output C200HW NC213 Pulse train output C200HW NC413 Pulse train output General purpose Control Cable R88A CPUB S I AC Servo Driver R88D UTLILIV Power Cable 1 500 r min models 1 3 kW 3 000 r min models 1 0 to 2 0 kW R88A CAUB S for motor without brake R88A CAUB B for motor with brake 1 500 r min models 1 8 to 4 4 kW 3 000 r min models 3 0 to 5 0 kW R88A CAUC S for motor without brake R88A CAUC B for motor with brake 1 500 r min models 5 5 kW Prepare a cable for 5 5 kW use for the 1 500 r min models if required This cable is not sold by OMRON For cable specifications refer to 5 3 4 1 500 r min Models 5 5 kW Cable Specifications The cable is of IP30 construction If more protection is required or EC Directives must be satisfied use the recommended con nectors Refer to 2 1 2 Installation Conditions AC Servomotor R88M U 15V L 181 R88M U 30V L 1S1 with incremental encoder System Desien and Installation Chapter 2 m Connec
208. on prohibited Reverse rotation prohibited ano Alarm display Refer to alarm table 4 8 Application Chapter 4 4 2 3 Monitor Mode Types of Monitoring In monitor mode ten types of monitoring can be carried out Monitor no Monitor contents Unit Explanation 00 Speed feedback r min Displays actual rotation speed of motor 01 Speed command r min Displays command to speed loop The display is O for position control by pulse train input 2 Torque command The command to the current loop is displayed as 100 of the rated torque 3 0 0 Number of pulses from Pulses The number of pulses from the U phase edge U phase edge is displayed in units of encoder resolution There is an uncertainty of about 5 pulses 3 000 r min Incremental models Displays pulse number with 1 4 turn being 4 096 pulses 1 500 r min 3 000 r min Absolute models Displays pulse number with 1 4 turn being 8 192 pulses Electrical angle Degrees Displays the electrical angle of the motor Internal status bit display 1 Displays Servo Driver internal information as Internal status bit display 2 either lit or not lit Command pulse speed dis r min Calculates and displays command pulse fre play quency in r min Position deviation error Command _ Displays residual pulses in error counter by counter command units input pulse standard Input pulse counter Command Counts and displays input pulses
209. onere chef ide en e a So ui See qoe olli n iie irae er e pad m Noise Tan S 2 filter Contactor R88D U R88M U urge reactor AC power supply NFB former absorbef NF X TB T6 _ 4 Metaliduct A OA e e e 1 4 e OOR U UER 2 5 o0 1S V MJ e A e 3 E 6 te O 4 T Ww md iii J S e l t CN2 i ele es See n m ES Gy i RE 2 mm min cee he Ni Thick power TU xd eM line 3 5 mm Class 3 ground t Jj O T er i A RIS Controller power supply o Ground control panel Machine ground Slee M reato deu ats S E ee Bee cos AM Isa gu de DL pr KON A Nee ee e DTI elu ange PAS ee Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for the frame ground for each Unit as shown in the illustration and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so that the ground lines are as short as possible f no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease No fuse breakers surge a
210. op gain adjusts the servo lock force during position lock Note 4 Acceleration and deceleration times are set at up to the number of maximum instantaneous revolutions The actual acceleration and deceleration times are found by means of the follow ing formula Internally set speed r min Soft start acceleration i A x gt A Maximum instantaneous deceleration time revolutions r min Actual acceleration deceleration time Maximum rotation _ speed maximum instantaneous rev olutions r min Cn 07 Cn 23 m Timing Chart V Speed command input REF V Position lock ON command signal OFF PLOCK F r min Motor Cn 29 operation Cn 29 Servo lock condition r min Note 1 Select speed control with position lock as the control mode i e set 10 for Cn 2b when controlling the position lock with an external signal Refer to 3 3 3 Important User Parame ters for details Note 2 The Unit will go into servo lock if the position lock signal PLOCK is ON and the number of motor rotations falls below the position lock rotations set in Cn 29 The motor will revolve when the internal speed command exceeds the position lock rotations 3 29 Operation Chapter 3 3 3 7 Electronic Gear Function Position Control m Function With this function the motor will revolve for the number of pulses derived by applying the electronic gear ratio to command pulses The function
211. operation is carried out at the internally set speed no 1 through no 3 internally set speeds When this signal is not input the rota tion direction is forward when it is input the direction is reverse Pulse Disable 41 IPG User Parameter Cn 2b 11 position control pulse disabled Command pulse inputs are disabled The motor will stop when this signal goes ON and the position will be locked e Forward Reverse Drive Prohibit 42 POT forward drive prohibit Cn 01 bit 2 0 43 NOT reverse drive prohibit Cn 01 bit 3 O 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 bits nos 6 8 and 9 of setup parameter no 1 Cn 01 Alarm status will not be generated at the Driver When drive prohibit is not used clear the function by connecting the respective signal to the external power supply 24 V GND or setting setup parameter Cn 01 bit nos 2 3 1 1 Stopping Methods when Forward Reverse Drive Prohibit is OFF aS Bit Deceleration Method Stopped Status No 6 i Bit es Dynamic brake Servo free No 8 POT NOT is OFF L 4 Free run Bit 1 Nee No 9 Servo free S w 0 d Emergency stop torque Cn 06 lt Servo locked See note 1 Note 1 The position loop will
212. orma tion or looseness Lighten the load Common Change to a larger capac ity Servomotor Combine models that corre spond correctly Common Fix any problems causing vibration Use auto tuning Position Adjust the gain manually speed loop gain Speed Vibration is occurring at the same frequency as the applica ble power sup ply The Servomo tor operates even when speed com mand is for 0 V 4 20 Inductive noise is occurring The speed command volt age and the speed com mand input section are off set Check to see whether the Servo Driver control signal lines are too long Check to see whether control signal lines and power supply lines are too close to each other Check the speed command voltage Shorten the control signal Common lines Separate control signal lines from power supply lines Use a low impedance power supply for control signals Adjust the speed com mand offset Use speed control mode with position lock function Control mode selection Cn 2b 10 Application Chapter 4 m Error Diagnosis by Means of Alarm Display Parameter Unit Alarm dis Condition when error Probable cause Countermeasures D occurred Absolute data error Absolute Occurred when SEN signal turned ON Absolute encoder malfunc tion Faulty wiring of absolute encoder Turn ON SEN signal again Execute setup for abso l
213. orque torque when PCL is ON Cn 19 Reverse rotation This parameter sets the limit external current limit when NCL is ON e Method 3 Limiting Operation with Analog Voltage Setup Parameter Settings Bit 8 of Cn 02 1 Set bit 8 of Cn 02 the TREF switch to 1 When bit 8 is 1 terminals CN1 9 and CN1 10 TREF and AGND become analog current limit input terminals The current limit value can be calculated from the following equation Current limit value absolute value of voltage applied to TREF x torque command scale The polarity of the analog voltage is irrelevant and the same current limit value is used for forward and reverse 3 34 Operation Chapter 3 User Parameter Settings Parameter Factory Setting range Explanation name setting Cn 13 Torque com 30 0 1 V rated 10 to 100 This parameter sets the gain for the mand scale torque torque command input Note 1 This method is useful when controlling torque in multiple stages Note 2 This method is effective with speed control and torque control Note 3 This method can t be used when the torque feed forward function is being used i e when bit 9 of Cn 02 is set to 1 3 3 11 Speed Limit Function Torque Control m Function This function limits motor rotation speed when torque control is used It sets a limit so that the motor rotation speed does not exceed the maximum speed of the mechanical system Outside of the speed
214. otor Driver R88M U 300 B0 R88D UTL e Wiring Symbol No Bed U phase A m V phase B is W phase C Black GR D Green O Brown __ Brake E V Brake F SOME Cable AWG12 x 6C Crimp style terminal V5 5 4 For Cable Connector plug model MS3106B20 15S DDK Cable clamp model MS3057 12A DDK Specifications for normal environment lt For Motor gt Receptacle model MS3102A20 15P DDK 5 59 Specifications Chapter 5 m Power Cables for Servomotors With Brakes e Applicable Motors 1 500 r min Models 1 8 to 4 4 kW 3 000 r min Models 3 0 to 5 0 kW e Types of Cable Model Length L Outer diameter of sheath R88A CAUCOOSB 3m 20 dia R88A CAUCOOBB 5m R88A CAUCO10B 10m Up to a maximum of 20 m between the Servomotor and the Servo Driver e Connection Configuration OMNUC U Series AC Servomotor OMNUC U Series R88M U 150 BOS1 AC Servomotor Driver R88M U 30L I BL 1 R88D UTI e Wiring Symbol No oa U phase A em TO V phase B He W phase C Black GR D Green Brown Brake E vel Brake F ae CO Cable AWG10 x 6C Crimp style terminal V5 5 4 lt For Cable gt Connector plug model MS3106B24 10S DDK Cable clamp model MS3057 16A DDK Specifications for normal environment For Motor Receptacle model MS3102A24 10
215. overed after power All ing the main circuits CLIMT Current limit detec The CLIMT signal will turned ON in any of the fol All tion output lowing 3 cases The output torque reaches the value set for the torque limit Cn 08 09 The forward reverse rotation current limit PCL NCL is ON and the output torque reaches the exter nal current limit set in Cn 18 or Cn 19 The output torque reaches the analog current limit Speed input TREF When Cn 02 bit no 8 1 BKIR Brake interlock Outputs external brake interlock signal according to All output setting in Cn 12 15 and 16 output of the overload detection level O Overload alarm Goes OFF when an overload is detected All output Goes ON when the alarm reset is input Overload warning Goes OFF when the effective torque exceeds 20 All LALM 5 11 Specifications Chapter 5 Signal Contents Command name mode 31 ALM Alarm output When an alarm is generated for the Servo Driver ALMCOM Alarm output the output is OFF Open collector output 50 mA loa so 30 VOC max Encoder A phase Outputs encoder pulses divided according to user output parameter Cn 0A Line driver output conforming to RS 4224 Encoder A phase output a Encoder B phase Outputs encoder pulses divided according to user output parameter Cn 0A Line driver output conforming to RS 4224 36 B Encoder B phase output ALO2 Alarm code output 2 ALO3 Alarm cod
216. pl s OFF 25 to 35 ms Rie interlock ON o oo signal BEEN OFF BINH See note Cn 12 i Powerto Power on l motor SUD EE Power off Note It takes up to 100 ms for the brake to be held after the brake power supply has been turned off When using it for the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that the Servomotor will not receive power until after the brake is held 3 38 Operation Chapter 3 e Timing for Run Command RUN Errors Power Supply When Servomotor is Stopped Power supply ON OFF Run command ON RUN OFF EE Alarm output ON oe OCS ALW OFF See note 2 Brake interlock ON l iae UU E o signa OFF BKIR Powerto Power on motor Power off Approx 10ms See note 1 Motor rotation i speed Braking by dynamic brake Brake command speed Cn 15 n QM mem CE OTIBILITD 6 5 Note 1 Forthe approximately 10 ms it takes from when the power to the Servomotor turns off until the dynamic brake operates the Servomotor rotates by momentum Note 2 If the Servomotor rotation speed falls below the speed set for the brake command speed Cn 15 or ifthe time set for brake timing 2 Cn 16 elapses after the Servomotor stops receiv ing power the brake interlock signal BKIR will turn OFF 3 39 Operation Chapter 3 3 4 Trial Operation After the wiring is complete and the parameter settings have been made conduct a
217. quences correct Are there any abnormal sounds or vibration Is anything abnormal occurring e If anything abnormal occurs refer to Chapter 4 Application and apply the appropriate countermea sures b Operation Under Actual Load Conditions After adjusting the gain refer to Section 3 5 operate the Servomotor in a regular pattern and check the following items Is the speed correct Use the speed display Is the load torque roughly equivalent to the measured value Use the torque command display Are the positioning points correct When an operation is repeated is there any discrepancy in positioning Are there any abnormal sounds or vibration Is either the Servomotor or the Servo Driver abnormally overheating Is anything abnormal occurring e If anything abnormal occurs refer to Chapter 4 Application and apply the appropriate countermea sures 3 40 Operation Chapter 3 m Jog Operations Jog operations rotate the Servomotor in a forward or reverse direction using the Parameter Unit Jog operations are made possible when system check mode Cn 00 is set to 00 The items in parentheses in the following explanation indicate operations using the Handy type Parameter Unit 1 2 cin 07 Ol 04 0 00 j Indicates settings mode an check fede 5 e Data 4 ON co OFF 4 Pe AM ese 20 1 Using the Up and Down and Ri
218. r 1 8 2 9 3 0 4 0 4 4 and 5 0 kW Connector at one end R88A CAUCOOSS for models without R88A CAUCOO05S brake R88A CAUCO10S R88A CAUCO15S R88A CAUCO20S Connector at one end R88A CAUCOOSB for models with brake R88A CAUCOOSB R88A CAUCO10B R88A CAUCO15B R88A CAUCO20B e Special Control Cables Connectors at For 1 axis R88A CPUBOO1M1 both endis for R88A CPUBO02M1 CV500 MC221 421 For 2 axes R88A CPUB001M2 C200H MC221 R88A CPUB002M2 e General purpose Control Cables Specifications O Medi Connector at one end R88A CPUB001S ie controllers R88A CPUB002S e Control Cable Connector Specifications Model Half pitch 50P Sumitomo 3M R88A CNU11C 6 11 Appendix Chapter 6 Models Conforming to EC Directives e Servomotors with Incremental Encoders 1 500 r min Models Specifications Model Straight Without Without oil R88M U1K315V S1 shaft with brake seal R88M U1K815V S1 key R88M U2K915V S1 R88M U4K415V S1 R88M U5K515V S1 With brake Without oil seal 6 12 Appendix Chapter 6 3 000 r min Models Straight Without Without oil 1 0 kW R88M U1K030V S1 shaft with brake seal 15kW R88M U1K530V S1 key 20kW R88M U2K030V S1 R88M U3KO030V S1 R88M U4K030V S1 With oi seal With brake Without oil seal With ol seal 6 13 Appendix Chapter 6 e Servomotors with Absolute Encoders 1 500 r min Models Specifications M
219. r Pin No Insulation Dot mark Signal name color color Analog Pulse H faw eer Econo EGND GND GND mi Light gray Light gray White AM AM NM NM PCOM 19 Light gray I Red Z Z Light gray Z Z BAT BAT BATGND BATGND p p2 Pi2 Nia Ni2 Ds Orange Pea VCMP nP 2s Orange Black VCMP NP a7 Wie Red TGON TGON 28 Whte Black TGON _ TGON es er f rete mem Yellow READY READY Pink ALM ALM 32 Pink ee ALMCOM ALMCOM TT Mt ee ee Jer sns cou td Orange Light gray light gray White Yellow Pink a fen tack wine in Hz omm Rea POT POT Arrangement 26 27 3 28 29 5 30 7 9 31 32 33 34 10 35 11 36 12 37 18 38 14 39 15 40 16 41 17 42 18 43 19 44 20 45 21 46 22 47 23 48 24 49 25 50 Connector plug model 10150 3000VE Sumitomo 3M Connector case model 10350 52A0 008 Sumitomo 3M 2 4 6 8 5 53 Specifications Insulation color Orange Dot mark color Chapter 5 Signal name Analog NOT Pulse NOT Light gray RESET RESET White PCL PCL White NCL NCL Light gray 24VIN 24VIN Cable AWG24X18P 5 54 Specifications Chapter 5 5 3 2 Encod
220. r limit of the setting range is 3 000 for 1 500 r min models and 4 500 for 3 000 r min models The factory setting is O P Control Switching Acceleration Command is set between 0 and 3 000 in units of 10 r min s The factory setting is O P Control Switching error pulse is set between 0 and 10 000 in command units The factory setting is 10 e Jog Speed Cn 10 Position Speed Torque This sets the speed for manual operation The setting range is 0 to 4 500 r min The upper limit of the setting range is 3 000 for 1 500 r min models and 4 500 for 3 000 r min models During manual opera tion operating commands are given from the Parameter Unit The factory setting is for 500 r min e Number of Encoder Pulses Cn 11 Position Speed Torque This sets the number of pulses per revolution of a connected encoder The setting is either 8 192 for 1 500 r min models or 4 096 for 3 000 r min models The Servomotor might not operate correctly if any other values are used The factory setting is for 8 192 pulses revolution e Brake Timing 1 Cn 12 Position Speed Torque Brake Command Speed Cn 15 Position Speed Torque Brake Timing 2 Cn 16 Position Speed Torque These parameters set the output timing for the brake interlock signal BKIR which turns the electro magnetic brake ON and OFF The settings are enabled when the brake interlock is set in the output signal selection Cn 2d 4 Brake timing 1 is a parameter for Servomotor
221. r value exceeds the position completion range 1 5 1 6 Introduction Chapter 1 m Personal Computer Monitor The special Servo Driver Communications Software allows parameter setting speed and current monitoring I O monitoring auto tuning and jog operations to be performed from a personal com puter It is also possible to perform multiple axis communications that set the parameters and moni tor operation of several drivers Introduction Chapter 1 1 2 System Configuration Controller Voltage Output Models SYSMAC C CV Motion Control Unit Programmable Controller CV500 MC221 421 C200H MC221 Position Control Unit C500 NC222 E Parameter Units Controller Pulse Train Output Models OMNUC U series AC Servo Driver Position Control Units C500 NC111 EV1 C500 NC211 C200H NC112 C200H NC211 C200H NC113 C200H NC213 C200H NC413 SYSMAC C CV Programmable Controller D Incremental Absolute OMNUC U series AC Servomotor Note Motors with absolute encoders can be used in combination with CV500 MC221 421 or C200H MC221 Motion Control Units 1 7 Introduction Chapter 1 1 3 Servo Driver Nomenclature m Front View omaon R88D UT40H AC SERVO DRIVER CN3 Ls O Power supply indicator POWE
222. ration Some movement occurred at the beginning of opera tion Some movement occurred at the beginning of opera tion Some movement occurred at the beginning of opera tion The ambient temperature for the Servo Driver is higher than 55 C The load torque is too high Malfunctioning of the com mand input reading area Damage at the command input reading area Encoder lines wired incorrectly Servomotor power lines wired incorrectly Encoder lines wired incorrectly Connector contact faulty Encoder lines discon nected Connector contact faulty Encoder lines wired incor rectly Chapter 4 Bring the ambient tempera ture for the Servo Driver down to 55 C or lower Lighten the load Lengthen the accelera tion time Select another Servomo tor Reset and then run again Replace Servo Driver Correct the wiring Correct the wiring Insert connectors cor rectly Correct any disconnected lines Insert connectors cor rectly Correct the wiring Encoder S phase lines dis connected Missing phase Some movement occurred at the beginning of opera tion Occurred when Servo was turned ON Encoder lines discon nected Connector contact faulty Correct any disconnected lines Insert connectors cor rectly Encoder lines wired incor rectly Main circuit power supply is not on Main circuit power
223. remental models Note 2 Theses parameters become effective when the power is turned on again after having been cut off Check to see that the LED display has gone off Operation Incremental pulses are output from the Servo Driver through a frequency divider Servo Driver Encoder AE i posu A phase Y B Frequency divider N EES S 3 31 Operation Chapter 3 The output phases of the encoder signal output from the Servo Driver are as shown below When divider rate Cn 0A 4 096 Forward Rotation Side Reverse Rotation Side A phase A phase B phase B phase Z phase Z phase When divider rate Cn 0A 8 192 Forward Rotation Side Reverse Rotation Side A phase A phase B phase B phase Z phase Z phase Note When the encoder divider rate is set to other than 8 192 4 096 2 048 the phase difference for phases A and B is not 90 but scatters for time T See the diagram below A phase B phase i tud e e 4 cere 3 es 3 us dA t1 nT t2 n 1 T I a a a a In this diagram T represents the time between phase A and phase B and n is an integer that satisfies the following formula with digits below the decimal point discarded n 8 192 encoder divider rate Inputto frequency divider A phase de E encoder output i B phase i
224. rical capacity Remarks Toshiba a ay 3 6V 2 000 mA h One Servo Driver Service life Approx 10 years Hitachi Maxell Ltd 2 050 mA h One Servo Driver Service life Approx 10 years OMRON made by C500 BATO8 3 6V 1 650 mA eh One Servo Driver Hitachi Maxell Ltd ER17 33 Service life Approx 7 years Note Ifthe Servo Driver s internal power supply is turned OFF the battery voltage will not be monitored Be careful to ensure that the voltage does not fall below 2 8 V If required install a battery voltage drop detection circuit or monitor in the system m Battery Replacement Method The following procedure can be used to replace the battery without losing the encoder s rotation data 1 Turn on the power to the Servo Driver and turn ON the SEN signal and leave them for at least 30 minutes to charge the encoder s internal capacitors 2 Replace the battery Connect the battery between the Servo Driver s control I O connector CN1 pin nos 21 and 22 21 BAT Backup battery input Connect a 2 8 to 4 5 VDC battery 22 BATGND Backup battery input ground for backup battery The battery can be replaced with the power either turned on or off Note 1 After step number 1 above has been implemented the encoder will operate properly for two days even with the battery removed Note 2 Whenreplacing the battery be careful not to short circuit across the battery s plus and minus terminals Note 3 When cutting battery lea
225. rque The factory setting is for 35096 ofthe maximum torque e Soft Start Acceleration Time Cn 07 Speed Soft Start Deceleration Time Cn 23 Speed The Servomotor rotation acceleration time from O r min to maximum instantaneous revolution is set in Cn 07 and the deceleration time from maximum instantaneous revolution to 0 r min is set in Cn 23 The factory setting is for O ms Set to 0 ms when positioning is controlled by connecting a positioner with an acceleration function or when the speed control mode is not being used Set both the acceleration and deceleration times when using these functions e Forward Rotation Torque Control Cn 08 Position Speed Torque Reverse Rotation Torque Control Cn 09 Position Speed Torque The Servomotor output torque control value for forward rotation is sen in Cn 08 and the value for reverse rotation is set in Cn 09 The setting range is 0 to 350 of the maximum torque and the factory setting is for 35096 of the maximum torque e Encoder Dividing Rate Setting Cn 0A Position Speed Torque The number of pulses detected A and B pulses per encoder revolution is converted to the number of pulses set for this parameter and output from the Servo Driver The setting range is 16 to 8 192 pulses revolution and the factory setting is for 1 000 pulses revolution The upper limit of the setting range is 8 192 for 1 500 r min models and 4 096 for 3 000 r min models e Rotation Speed for Se
226. rvomotor Rotation Detection Cn 0b Position Speed Torque This sets the rotation speed for detecting whether or notthe Servomotor is rotating The setting range is 1 to 4 500 r min When motor rotation detection has been set for the output signal switch Cn 2d 1 the Servomotor rotation detection output TGON is turned ON if the Servomotor rotational speed meets or exceeds this set value The factory setting is for 20 r min The upper limit of the setting range is 3 000 for 1 500 r min models and 4 500 for 3 000 r min models 5 30 Specifications Chapter 5 e P Control Switching Torque Command Cn 0C Position Speed P Control Switching Speed Command Cn 0d Position Speed P Control Switching Acceleration Command Cn 0E Position Speed P Control Switching Error Pulse Cn OF Position These set the various points for switching the speed controller from PI control to P control in order to moderate excessive characteristics when an operation such as acceleration or deceleration is executed accompanied by output saturation of the controller These parameters are enabled by setting the P control switching selection Cn 01 bit b to 1 The selections are made by setting the setup param eter Cn 01 bit nos d and C P Control Switching Torque Command is set between 096 and 35096 as a percentage of the rated torque The factory setting is 20096 P Control Switching Speed Command is set between 0 and 4 500 r min The uppe
227. rvomotors Models Not Conforming to Standards Servo Drivers Servomotors with Rated motor revolution Motor capacity incremental encoders R88D UT40H E R88M U1K315H L S1 1 500 r min R88M U1K530H 3 000 r min R88M U1K815H L S1 1 500 r min 1 8 kW R88M U2K030H 3 000 r min 2 0 kW R88D UT60H E R88D UT80H E ReeM UaKiSH IS 1 500r min 29 W eeM UsKosoH Bo0rmin 30k ReeM U4KosoH So00rmin amp 0RW ReeM UAKaISH OS 1 500r min 44kRW ReeM UsKosoH BoXrmin 50RW ReSD UTGOH E Reew UskstsH S 1 500 rmn ssw R88D UT110H E Models Conforming to EC Directives Servo Drivers Servomotors With incremental With absolute Rated motor revolution Motor capacity R88D UT24V encoders R88M U1KO030V encoders R88M U1K030X 3 000 r min R88D UT40V R88M U1K315V R88M U1K315X 1 500 r min R88M U1K530V R88M U1K530X 3 000 r min R88D UT60V R88M U1K815V R88M U1K815X 1 500 r min R88M U2K030V R88M U2K030X 3 000 r min R88D UT80V R88M U2K915V R88M U2K915X 1 500 r min R88M U3K030V R88M U3K030X 3 000 r min R88D UT110V R88M U4K415V R88M U4K030V R88M U5K030V R88M U4
228. s emerg stop input ALM FG FG R88A CPUB S Shell Note 1 Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 Use mode 2 for origin search Note 4 Use the 24 VDC power supply for command pulse signals as a dedicated power supply Note 5 The diode recommended for surge absorption is the ERB44 02 Fuji Electric Note 6 This wiring diagram is for the X axis only If the other axis is to be used connect to the Servo Driver in the same way Note 7 Use the RUN signal to set whether the Servo can be turned ON OFF 6 4 Appendix Chapter 6 Connection Example 4 Connecting to SYSMAC C200H NC111 EV1 Position Control Units Main circuit power supply NFB OFF ON lan EUER RO oe eS c xi MC ain circuit contac 5 Laas NiE SUP e Surge killer 200 230 VAC 50 60Hz s Gd F 2 TO 60 e Class 3 grou
229. s of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Operation and Adjustment Precautions N Caution N Caution N Caution N Caution N Caution N Caution 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 occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may result in injury Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart Take appropriate measures to secure safety against an unexpected restart Doing so may result in injury Do not use the built in brake of the Servomotor for ordinary braking Doing so may result in malfunction Maintenance and Inspection Precautions N WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock N Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not
230. s with brakes and it sets the delay time from the time of brake interlock output BKIR until the servo turns off The setting range is 0 to 50 x 10 ms and the factory setting is for O x 10 ms When setting the brake timing the time when the servo turns off until the brake interlock is set to off is set as the holding time If the run command turns off a servo error occurs or the main circuit power supply turns off during operation of a Servomotor with a brake the dynamic brake comes on setup parameter Cn 01 bitno 6 0 and Servomotor rotation speed is decreased When the speed drops to the level of the value set for the brake command speed Cn 15 the brake interlock output BKIR turns OFF Even if the speed does not drop to the level of the value set for the brake command speed Cn 15 the brake interlock output BKIR turns OFF after the time set for brake timing 2 has elapsed This time setting is made for the purpose of preventing damage to machinery or the Servomotor holding brake The setting range is 10 to 100 x 10 ms and the factory setting is for 50 x 10 ms 5 31 Specifications Chapter 5 e Torque Command Scale Cn 13 Speed Torque This sets the input voltage per rated torque for the torque command scale TREF CN1 1 The setting range is 10 to 100 x 0 1 V rated torque and the factory setting is 30 x 0 1 V rated torque for a setting of 3 V rated torque Motor output torque At time of shipping x ra
231. se 11 SIGN CCW B Forward Reverse Signal Forward Pulse 90 Phase Difference Pulse B Phase 12 SIGN CCW B The function of these signals depends on the command pulse mode and the command pulse logic Command Pulse Mode Cn 02 bits 5 4 3 Cn 02 bits 5 4 32 0 0 0 Feed pulse and direction signal factory setting Cn 02 bits 5 4 32 0 0 1 Forward pulse and reverse pulse Cn 02 bits 5 4 32 0 1 0 90 Phase Difference phases A B 1 multiplier 0 1 1 1 0 0 Cn 02 bits 5 4 3 90 Phase Difference phases A B 2 multiplier Cn 02 bits 5 4 3 90 Phase Difference phases A B 4 multiplier Command Pulse Logic Cn 02 bit d Cn 02 bit d 0 Positive logic Bit d 1 Negative logic Log Cn 02 bit Input Command Input pins Motor forward com Motor reverse com ic multi pulse mand mand 5 4 3 plier mode 0 jO JO Feed pulse and direction signal Reverse pulse and forward pulse 90 phase difference signals Feed pulse and direction signal Negative Reverse pulse and forward pulse
232. se of 10 C in the ambient operating temperature will reduce capacitor life by 5096 We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Servo Drivers 4 24 Application Chapter 4 Ifthe Servomotor or Servo Driver is not to be used for a longtime 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 4 25 Tl in Im Chapter 5 Specifications 5 1 Servo Driver Specifications 5 2 Servomotor Specifications 5 3 Cable Specifications 5 4 Parameter Unit Specifications Specifications Chapter 5 5 1 Servo Driver Specifications 5 1 1 General Specifications item Specifications Operating ambient temperature 0 C to 55 C Operating ambient humidity 20 to 85 RH with no condensation Storage ambient temperature 20 C to 85 C Storage ambient humidity 20 to 85 RH with no condensation Storage and operating atmo No corrosive gasses sphere Vibration resistance 10 to 55 Hz in X Y and Z directions with 0 10 mm double amplitude acceleration 4 9 m s 0 5 G max time coefficient 8 min 4 sweeps Impact resistance Acceleration 19 6 m s 2 G max in X Y and Z directions three times Insulation resistanc
233. servo alarm Remove the cause of the alarm and then restart operation In order to prevent danger either set the speed command to 0 V or turn OFF the run command before inputting the reset signal e Sensor ON Input 4 SEN Absolute Sensor ON Input Ground 2 SENGND Absolute The SEN signal input circuit is shown below SEN 4 1002 5 V High Approx 1 mA SENGND 7406 or equivalent 0v Ov A PNP transistor is recommend Signallevels High 4 V min Low 0 7V max When the SEN signal turns ON low to high 5 V is supplied to the absolute encoder When power is not supplied to the motor Run command input OFF and the SEN signal is turned OFF high to low the 5 V to the absolute encoder is cut off The SEN signal is ignored while power is supplied to the motor even if it is turned OFF Power cannot be supplied to the motor even if the Run command is received unless the SEN signal is ON Power will also not be supplied to the motor between the time that the SEN signal turns ON and the encoder achieves normal operation even if the Run command is received Do not turn ON the SEN sig nal for at least 3 s after turning on the power supply Refer to the chart below to turn the SEN signal ON OFF and ON again SEN signal 1 3 s min x m 15 ms min 5 16 Specifications Chapter 5 e Backup Battery Input 21 BAT Absolute Backup Battery Input 22 BATGND Absolute These are the conn
234. setting reverse N ON No 2 internal speed setting reverse ON OFF OFF No 3 internal speed setting forward ON No 3 internal speed setting reverse ON OFF No 2 internal speed setting forward 3 21 Operation Chapter 3 e Internal Speed Control Settings Only Control Mode Selection Cn 2b 3 Setting user parameter Cn 2b control mode selection to 3 specifies the internal speed control settings only mode When both SPD1 and SPD2 are OFF the motor will decelerate to a stop and then go into servo lock status with an internal speed command status of 0 r min Position lock will not be in effect Speed command inputs pulse train inputs and torque command inputs cannot be received e Internal Speed Control Settings Speed Control Control Mode Selection Cn 2b 4 Setting user parameter Cn 2b control mode selection to 4 specifies the internal speed control settings speed control mode Speed control using internal speed settings and speed command inputs REF is possible in this control mode e Speed command inputs REF can be received from the point at which both SPD1 and SPD turn OFF e Internal Speed Control Settings Position Control Control Mode Selection Cn 2b B Setting user parameter Cn 2b control mode selection to 5 specifies the internal speed control settings position control mode Speed control using internal speed settings and position contro
235. setup parameter Cn 01 bit no 0 this signal can be bypassed In that case the servo will be turned on after the power is turned on e Gain Reduction Position Lock Command Control Mode Switch Rotation Direction Command Pulse Disable 41 MING PLOCK TVSEL RDIR IPG This input signal switches among the following five kinds of signals according to the settings of user parameter Cn 2b Gain Reduction 41 MING User Parameter Cn 2b 0 speed control or 1 position control or user parameter Cn 2b 3 4 or 5 and SPD1 and SPD2 speed selection commands 1 and 2 are both OFF Input this signal to lower the loop gain for the control loop and 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 In such a case if a gain reduction is input 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 5 or more of the rated torque the Servomotor will completely stop In addition 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 the vertical shaft where a gravity load is applied becaus
236. side the Servo Drivers high frequency current leaks from the armature of the motor With inverter leakage breakers high frequency 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 When selecting leakage breakers refer to the manufacturer s catalog The following table shows leakage current of each Servomotor 200 VAC OMRON Driver Leakage current direct measurement including high frequency current Leakage current resistor capacitor measurement commercial power supply frequency range R88D UT24V R88D UT40V R88D UT60V R88D UT80V R88D UT110V R88D UT160V E 100 mA Note 1 The above leakage current is for cases where motor power line length is less than 10 m It varies depending on the power line length and insulation Note 2 The above leakage current is for normal temperature and humidity It varies depending on the temperature and humidity Improving Encoder Cable Noise Resistance Signals from the encoder are either A B or S phase Z phase The frequency for A or B phase signals is either 307 2 kHz if an incremental encoder is used or 614 4 kHz if an absolute encoder is used while the transmission speed for
237. system will be changed from speed control to position control and the motor will servo lock The position lock force is adjusted via the position loop gain Cn 1A 5 34 Specifications Chapter 5 The setting range is 0 to 4 500 r min and the factory setting is 10 The upper limit of the setting range is 3 000 for 1 500 r min models and 4 500 for 3 000 r min models e Motor Selection Cn 2A Position Speed Torque This sets the applicable motor The setting is determined for each servomotor model Confirm that the setting is appropriate for the servomotor being used If the wrong value is used operation will be unsta ble and the motor may be damaged The setting range is between 0 and 255 Applicable motor model R88D UT40H E R88D UT110H E R88D UT24V Factory set value 144 R88M U1K315H R88M U1K530H R88D UT60H E 145 R88M U1K815H M R88D UT80H E 146 R88M U2K915H pees S researc R88M U4K415H 147 R88M U4K030H 167 R88M U5K030H L R88D UT160H E 148 R88M U5K515H R88M U1K030V 168 R88D UT40V R88M U1K315V R88M U1K530V R88D UT60V R88M U1K815V R88M U2K030V R88D UT80V R88D UT110V R88M U2K915V R88M U3K030V R88M U4K415V R88M U4K030V R88M U5KO030V
238. t is pos sible only after adjusting the speed loop gain with Cn 04 and the speed loop integral time constant with Cn 05 The upper limit value of the compensation gain may be 100 or less according to the speed loop gain set with Cn 04 and the speed loop integral time constant set with Cn 05 in which case an error will result if the compensation gain is set to a value exceeding the upper limit value Make sure that Cn 28 is set to zero before executing auto tuning otherwise normal gain adjustments may not be possible When the speed loop gain is manipulated the response is as shown in the diagram below Motor speed speed monitor Overshoots when speed loop gain is high Oscillates when gain is too high 3 48 Operation Chapter 3 e Adjusting the Speed Loop Integration Time Constant Cn 05 When the speed loop integration time constant is manipulated the response is as shown in the diagram below Overshoots when speed loop integral time constant is short Motor speed speed monitor N When speed loop integral time constant is long Time e Position Loop Gain Cn 1A Position loop gain is generally expressed as follows Command pulse frequency pulses s Position loop gain Kp 1 s Error counter residual pulses pulses When the position loop gain is manipulated the response is as shown in the diagram below m d Overshoots when position loop gain is high Motor spee
239. tage of 0 4 V between R and S with the S terminal as the ground If the voltage between the terminals is more than 0 4 V reconnect the line between them 2 Turning On Power to the Servo Driver Be sure to wire the Servo Driver and the Servomotor properly Connect the battery to supply battery power to the encoder and wait for several seconds Then turn on the power to the Servo Driver 3 Inputting the SEN Signal CN1 4 Turn ON the SEN signal When the SEN signal is turned ON a 5 V power supply will be provided to the encoder As long as there is no error the setup procedure is complete at this point If alarm A 00 is generated repeat the procedure beginning with step 1 Note When removing encoder connectors leave the power on for at least 30 minutes with the SEN signal ON If there is to be no battery connected the data for the amount of rotation will be retained for two days e Setup Precautions Note 1 When connecting to the CV500 MC221 421 or C200H MC221 carry out the setup close to the mechanical origin Note 2 An error will be generated if the absolute data exceeds 432 767 pulses when making the initial settings for the CV500 MC221 421 or C200H MC221 4 3 Application Chapter 4 4 1 2 Replacing Batteries Absolute m Lithium Batteries Be sure to use a battery so that position data will be retained even in case of a power interruption for the absolute encoder The oia batteries are recommended Voltage Elect
240. ted torque CE SSa erates SSeS ease 3 V Rated torque US recat aed Ga rM dC 10 V Rated torque l I 10 9 8 7 6 5 4 3 2 1 4 5 6 7 8 Torque command voltage V 10 e Speed Limit Cn 14 Torque This limits the Servomotor rotation speed for the torque control mode andis valid in torque control mode only The setting range is O to 4 500 r min and the factory setting is for 1 500 r min The upper limit of the setting range is 3 000 for 1 500 r min models and 4 500 for 3 000 r min models e Torque Command Filter Time Constant Cn 17 Position Speed Torque This sets the low pass filter time constant for the torque command The setting range is 0 to 250 x 100 us and the factory setting is 4 x 100 us The relationship between the filter time constant and the cut off frequency can be found by means of the following formula fc Hz 1 2qT T Filter time constant If T 400 us fc will be approximately 400 Hz When the characteristic vibration of the machinery is within the response frequency of the servo loop Servomotor vibration will occur In order to prevent this sympathetic vibration based on the characteris tic vibration of the machinery setthe torque filter time constantto a value that will eliminate the vibration i e set it to a high value 5 32 Specifications Chapter 5 e Forward Rotation External Current Limit Cn 18 Position Speed Torque Reverse Rot
241. th Brake moa t u Wo t 238 System Design and Installation Chapter 2 e 3 0 kW 4 0 kW 5 0 kW Standard Models R88M U3K030H U4K030H U5K030H R88M U3K030V S1 U4K030V S1 U5K030V S1 88M U3K030V OS1 U4K030V OS1 U5K030V OS1 28h6 dia 110h7 dia 130 Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 e 3 0 kW 4 0 kW 5 0 kW Models with Brake R88M U3K030H B U4K030H B U5K030H B R88M U3K030V BS1 U4K030V BS1 U5K030V BS1 110h7 dia Note The model number with the suffix S1 indicates a straight shaft motor with key For dimensions of the key sections refer to Shaft Dimensions of Motors with Keys on page 2 15 Standard Models Models with Brake R88M U3K030L L181 262 R88M U3KO030 BLIS1 R88M U4K030L 7 181 299 R88M U4K030L1 R88M U5K030L L1S1 339 R88M U5K030L1 BLIS1 2 12 System Design and Installation Chapter 2 m AC Servomotors 3 000 r min Models Absolute e 1 0 kW 1 5 kW 2 0 kW Standard Models R88M U1K030X S1 U1K530X S1 U2K030X S1 R88M U1K030X OS1 U1K530X OS1 U2K030X OS1 60 95h7 dia 87 LIU Lal Note The model numb
242. the command pulse frequency varies rapidly The setting range is 0 to 640 in 0 1 ms units and the factory setting is O e Compensating Gain Cn 28 Position Speed When outputting a large torque during acceleration deceleration etc the speed loop gain is decreased based on this setting Motor vibration can be reduced by increasing this setting also the positioning time can be reduced because the speed loop gain can be set to a higher value A compensation gain adjustment is possible only after adjusting the speed loop gain with Cn 04 and the speed loop integral time constant with Cn 05 The upper limit value of the compensation gain may be 100 or less according to the speed loop gain set with Cn 04 and the speed loop integral time constant set with Cn 05 in which case an error will result if the compensation gain is set to a value exceeding the upper limit value Make sure that Cn 28 is set to zero before executing auto tuning otherwise normal gain adjustments may not be possible If this setting is too high follow up delays can occur during acceleration and deceleration The setting range is O to 100 and the factory setting is O e Rotation Speed for Position Lock Cn 29 Speed This sets the rotation speed for position locks and is enabled when the control mode selection Cn 2b is set to 10 position lock speed control If the motor reaches or falls below the set speed when the position lock command input PLOCK is ON the
243. the factory setting is O e Feed forward Amount Cn 1d Position This is the compensation value for position control feed forward Positioning time is reduced by adding the differential of the command pulse to the speed command The setting range is 096 to 100 and the factory setting is 0 e Error Counter Over Level Cn 1E Position This is the setting for detection level for error counter overrun A servo alarm will be generated if the error counter exceeds this value The setting range is 1 to 32 767 in x256 command units and the factory setting is 1 024 e No 1 Internal Speed Setting Cn 1F Factory Setting 100 r min Speed No 2 Internal Speed Setting Cn 20 Factory Setting 200 r min Speed No 3 Internal Speed Setting Cn 21 Factory Setting 300 r min Speed Make these settings to control speeds by means of internal settings The setting range is 0 to 4 500 r min The upper limit of the setting range is 3 000 for 1 500 r min models and 4 500 for 3 000 r min models For details refer to 3 3 4 Setting Internal Speed Control e Speed Conformity Signal Output Range Cn 22 Speed When the absolute value of the difference between the speed command and the Servomotor rotation speed the speed deviation is equal to or less than the set value the speed conformity output VCMP turns ON This parameter is valid in the speed control mode when the speed conformity output is set for the output signal selection Cn 2d 0 5 3
244. ting to SYSMAC C CV series Motion Control Units Back up Battery To be connected when using a motor with an absolute encoder Encoder Cable R88A CRUBLILILIN for both incremental and absolute encoders The cable is of IP30 construction If more protection is required or EC Directives must be satisfied use the recommended connec tors Refer to 2 1 2 Installation Conditions AC Servomotor R88M U R88M U with absolute encoder Note Refer to Chapter 5 Specifications for connector and cable specifications 15X 30X Programmable Controller Motion Control Unit CV500 MC221 Analog output CV500 MC421 EV1 Analog output C200H MC221 Analog output General purpose Control Cable R88A CPUB R88A CPUB AC Servo Driver R88D UT V Power Cable 1 500 r min models 1 3 kW 3 000 r min models 1 0 to 2 0 kW R88A CAUB R88A CAUB 1 500 r min R88A CAUC mod R88A CAUC lation Conditions AC Servomotor R88M U R88M U 15V 30V M1 for single axis M2 for double axis S for motor without brake B for motor with brake els 1 8 to 4 4 kW 3 000 r min models 3 0 to 5 0 kW S for motor without brake B for motor with brake 1 500 r min models 5 5 kW Prepare a cable
245. tion or any other purpose Touching the terminal block while this indicator is lit can result in electrical shock Application Chapter 4 m Parameter Unit Displays When a Parameter Unit is connected monitoring can be conducted by means of a 5 digit 7 segment LED R88A PRO2U Handy Type R88A PROSU Mounted Type omngon R88A PRO3U MODE SET Parameter Unit Key Functions The contents displayed by the Parameter Unit can be changed by key operations Alarm reset Mode switching data memory Servo ON OFF during jog operations Switching between parameter display and data display data memory Increments parameter numbers and data values Decrements parameter numbers and data values Left shift for operation digits hd Right shift for operation digits 4 6 Application Chapter 4 m Types of Modes There are four types of modes for Parameter Unit displays The functions in each mode are shown inthe following table Status display mode Bit display Control circuit power supply ON display main circuit power supply ON display base block positioning completion speed conformity rotation detection inputting command pulses inputting speed com mand inputting torque command inputting error counter reset sig nal Symbol display Base block operating forward rotation pr
246. to within the allowable range Add a counterbalance to the machine and reduce the gravity torque Reduce the lowering speed Adjust the gain Lower the maximum speed of the command Correct the wiring e f the Servomotor shaft is locked unlock it f Servomotor power lines are incorrectly wired cor rect them Lighten the load Lengthen the accelera tion time Adjust the gain Power supply voltage has dropped Check the power supply voltage and raise it to within the allowable range Overload Occurred during operation Encoder error Absolute Occurred during operation 4 22 Operating at 12096 to 13596 of the rated torque Effec tive torque Power supply voltage has dropped Absolute encoder faulty wiring or poor contact Pulse counter malfunction Lighten the load Lengthen the accelera tion time Adjust the gain Check the power supply voltage and raise it to within the allowable range Correct the wiring Turn OFF the SEN signal and input the alarm reset Then turn ON the SEN sig nal again Application Alarm dis Condition when error Probable cause Countermeasures play occurred a b1 Command input reading error Runaway detected Phase error detected Encoder A B phase lines dis connected Occurred during operation If reset is executed after waiting for a time operation resumes Occurred during ope
247. tor Power supply Metal or for Drake uso Metal or braided braided conduit conduit AC power supply Noise filter L Ferrite core Class 3 ground to 100 Q or less Controller Ferrite core il 1 m max Cp Clamp Ground plate Ferrite core Controller m ORR Note 1 The cables must be coiled around each ferrite core by 1 5 turns Note 2 Atthe clamp positions the shield wire of the cables must be stripped and grounded directly to the ground plate Note 3 For the R88D UT110V 4 kW 4 4 kW and 5 kW and R88D UT160V E 5 5 kW the power supply must be equipped with a transformer Ground the motor s frame to the machine ground when the motor is on a movable shaft Use a grounding plate for grounding the protective earth PE terminal of each Unit as shown in the illustration and ground to a single point Use ground lines with a minimum thickness of 3 5 mm and arrange the wiring so thatthe ground lines are as short as possible e f no fuse breakers are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring If input and output lines are wired together noise resistance will decrease No fuse breakers surge absorbers and noise filters NF shou
248. tput Servomotor W phase output Three phase 200 230 VAC 170 to 253 VAC 50 60 Hz Single phase 200 230 VAC 170 to 253 VAC 50 60 Hz Be sure to connect a regenerative resistor corresponding to the amount of regenerative energy between the and B terminals for the R88D UT V RG and between the 1 and B terminals for the R88D UT110V Refer to 3 6 3 Absorption of Regenerative Energy with External Regenerative Resistors Connected to Models Complying with EC Directives for details 5 8 Frame ground Black Green Specifications Chapter 5 CN1 Control I O Specifications e CN1 Control Inputs Signal Contents Command name mode Speed command input 5 REF 6 AGND 9 TREF Speed command input ground Torque command input AGND Torque command input ground 2 to 10 V rated revolution Changeable by means of user parameter Cn 03 speed command scale 1 to 10 V rated torque Changeable by means of user parameter Cn 13 torque command scale Speed Torque PCOM PULS CW A PULS CW A SIGN CCW B WEN WEN ECRST Error counter reset ECRST Open collector command power supply Feed pulse reverse pulse or 90 phase differ ence pulse A phase Forward reverse signal forward pulse or 90 phase difference pulse B phase Run command input Position Line driver input 6 mAat3 V Position Open collector input 15 mAat5V Error co
249. tputs 5 2 0 1 V as the power supply for the Servomotor encoder The encoder power supply can not be used for other purposes CN3 Parameter Unit Input Specifications Pino Snamame Funsion Voinietacs This is data transmitted to a Parameter Unit or a personal computen This is data received from a Parameter Unit or a personal computen Unit switching This is the switching terminal for a Parameter Unit or personal computer If the pin is open it is for a personal computer If connected to 5V it is for a Parameter Unit Termination resistance This is the termination resistance terminal for enabled disabled the line receiver For 1 to 1 communications or for the final Servo Driver short circuit RT1 RT2 5 V output This is the 5 V output to the Parameter Unit Ground 5 27 Specifications Chapter 5 e Pin Arrangement 1 TXD Transmission data 6 RT1 m Termination 2 TXD Transmission resistance data on off 7 RT2 3 RxD Reception data 8 5V 5 V output Reception 4 RXD data 9 GND Ground Unit 5 PRMU switching e Connectors Used D SUB connector 9P Socket at Servo Driver 17LE 13090 27 D2BC DDK Soldered plug at cable side 17JE 2309 02 D1 DDK Cover at cable side 17JE 09H 15 DDK Soldered plug at cable side XM2A 0901 OMRON Cover at cable side XM2S 0912 OMRON CN4
250. trial operation Follow he procedure outlined below to be prepared for unlikely events such as motor runaway Preparation for Trial Operation Do not connect a load i e the mechanical system to the Servomotor Cut off the run command RUN so that the Servomotor can be stopped at any time m Actual Trial Operation 1 Powering Up With the run command RUN OFF apply an AC voltage After internal initialization the mode will be the status display mode Set the speed loop gain Cn 04 to 20 or less Match the gain with no load 2 Turning ON the Run command Input Turn ON the run command input The Servomotor will go into servo ON status 8 Low Speed Operation by the Servomotor Alone Give a speed command or carry out the following check with a jogging operation Is the direction of Servomotor rotation correct Are there any abnormal sounds or vibration Is anything abnormal occurring e If anything abnormal occurs refer to Chapter 4 Application and apply the appropriate countermea sures 4 Low Speed Operation With a Load Connected After the low speed operation by the Servomotor alone is completed connect a load i e connect to the mechanical system Make the connections securely with no loose screws Operate at low speed and 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 se
251. trol Offset Speed Control and Torque Control The offsets of the speed command input and torque command input can be adjusted automatically m Electronic Gear Function Position Control This function turns the motor by the number of pulses obtained by applying the gear ratio to the num ber 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 by parameters numerator G1 denominator G2 The setting range for G1 and G2 is 1 to 65 535 with 0 01 O G1 G2 100 Introduction Chapter 1 Encoder Resolution Function This function allows the encoder signal output from the driver to be set anywhere within the ranges shown below for incremental 1 500 r min models 16 to 8 192 pulses revolution e 3 000 r min Incremental models 16 to 4 096 pulses revolution 3 000 r min Absolute models 16 to 8 192 pulses revolution Soft Start Function Speed Control Internal Speed Control Settings This function causes the motor to be started stopped in the preset acceleration deceleration 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
252. trols Servomotor speed using the speeds set in the parameters No 1 No 2 and No 3 internal speed settings This function can be used in the speed control modes It can t be used with torque control Select the internal speed using the control inputs CN1 45 and 46 speed selection commands 1 and 2 and specify the rotational direction using the CN1 41 rotation direction command When both speed selection commands 1 and 2 are OFF the motor will decelerate to a stop in the soft start deceleration time and then go into servo lock status Depending on the parameter settings it is possible to use pulse train inputs for position control speed command inputs for speed control and torque command inputs for torque control in this status User Parameter Settings e Set user parameter Cn 02 control mode selection to any number from 3 to 6 When this bit is set to 1 the internal speed control settings function can be used and CN1 45 46 and 41 have the following functions Control inputs CN1 45 and 46 Speed selection commands 1 and 2 SPD1 and SPD2 Control input CN1 41 Rotation direction command RDIR The following table shows the combinations of speeds and directions that can be selected with these three control inputs CN1 45 CN1 46 CN1 41 Internal speed setting rotational direction SPD1i SPD2 RDIR OFF ON OFF No 1 internal speed setting forward ON No 1 internal speed
253. unter cleared on ON signal Switch between status signal high level and differ ential signal rising edge via bit A of setup param eter Cn 02 ON Servo ON when setup parameter Cn 01 bit Used to use an open collector output for CW CCW and ECRST signals Connect inputs to the terminals and connect inputs to open collector output terminals Line driver input 6 mAat3 V 15mAat5V Switch via bits 3 4 and 5 of setup parameter Cn 02 Maximum response frequency 200 kpps Open collector input no 0 0 When setup parameter Cn 01 bit no O 1 this signal is not used Automatically set to Servo ON 5 9 Specifications Chapter 5 Signal Contents Command name mode 41 MING Gain deceleration When user parameter CN 2b 0 or 1 and SPD1 Position input and SPD2 are both OFF and parameter Cn 2b 3 Speed 4 or 5 then ON Decrease speed loop gain TVSEL Control mode When user parameter Cn 2b 7 8 or 9 then Switch control Switch input ON Change control mode mode PLOCK Position lock com When user parameter Cn 2b 10 then Position lock mand input ON position lock goes in effect if the motor rotation Speed speed is no more than the position lock rotation speed Cn 29 Pulse disable input When user parameter Cn 2b 11 then Position ON Command pulse inputs are ignored and the pulse dis motor stops abled Rotation direction When user parameter Cn 2b 3 4 5 or Gand an Internal set
254. urge absorbers take into account the varistor voltage the amount of surge immunity and the amount of energy resistance For the 200 VAC series use one with varistor voltage of 470 V The surge absorbers shown in the following table are recommended Max limit Surge immunity Type Remarks voltage Okaya Electric R A V 781BYZ 2 783 V 1 000 A Between power Ind lines R A V 781BXZ 4 783 V 1 000 A Between the power line and grounding Note 1 Refer to 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 e Noise Filters Apply the following Schaffner noise filter to the power supply for the Servo Driver Application Rated Rated Test voltage Leakage current at voltage current at 40 C 400V 50 Hz max See note 1 8 to 2 0 KW FN351 25 29 Eu y RM Oto 1 5 kW FN351 16 29 2 250 VDC for 2 seconds 2 910 3 0 KW FN351 36 83 1 100 VDC for 2 seconds 1 4 0 to 5 0 kW FN351 50 33 between terminals 5 5 kW FN258 75 34 75A 2 250 VDC for 2 seconds between terminal and case 1 700 VDC for 2 seconds between terminals Note The leakage current values shown in the table indicate those for star connection Y connection three phase power supply For the delta connection A connection power supply the values may become larger than those shown in the t
255. ute encoder Correct the wiring Parameter cor ruption Parameter set ting error Occurred when power was turned on Occurred when power was turned on Internal memory error A user parameter was set to a value outside of the setting range previously Control board defective Replace Servo Driver Change the user parameter setting so it is within the setting range Replace Servo Driver Overcurrent Occurred when power was Control board defective Replace Servo Driver turned on Regeneration error Occurred when Servo was turned on Occurred during operation Current feedback circuit error Main circuit transistor module error Servomotor power line is short circuited or grounded Replace Servo Driver Correct the power line short circuiting or ground ing Measure the insulation resistance at the Servo motor itself If there is short circuiting replace the Servomotor There is faulty wiring at the U V or W phase or the GR Correct the wiring Servomotor coil are dam aged Regeneration circuit com ponent error Measure the winding resis tance If the coil are dam aged replace the Servo motor Replace Servo Driver Error counter over Occurred when Servomotor did not operate even when command pulse train was input Occurred during high speed rotation Occurred during long com mand pulse input Servomotor power line or e
256. vo Driver Specifications of Applicable Models Servo Driver AC Reactor mode Rated Inductance current R88D UT40H E 3G3IV PUZBAB10A1 1MH 1 1 mH R88D UT60H E 3G3IV PUZBAB15A0 71MH 0 71 mH R88D UT80H E 3G3IV PUZBAB20A0 53MH 0 53 mH R88D UT110H E 3G3IV PUZBAB30A0 35MH 0 35 mH R88D UT160H E 3G3IV PUZBAB40A0 265MH 0 265 mH Dimensions 3G3IV PUZBAB Drawing Dimension mm number of external dimensions 10A1 1MH 15A0 71MH 20A0 53MH 30A0 35MH 40A0 265MH External Dimensions Drawing 1 External Dimensions Drawing 2 M Terminal 4 J Mounting bolt Enlarged drawing of mounting hole Enlarged drawing of mounting hole 2 33 System Design and Installation Chapter 2 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 Featues 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 VDC systems ao i q Thyristor and varistor are used for loads when induction Select varistor voltage as follows coils are larg
257. x 6 1 6 2 6 3 6 4 Connection Examples Encoder Divider Rate for Servo Controllers OMNUC U series Models Combinations of Servo Drivers and Servomo tors Appendix Chapter 6 6 1 Connection Examples Connection Example 1 Connecting to SYSMAC C200HW NC113 Main circuit power supply NFB OFF ON E RO TA TO MO Main circuit contact o s Ee qu 5 Me SUP Surge killer 200 230 VAC 50 60Hz s G S S F h if g z TO 60 e Class 3 ground l C200H NC113 R88D UTOOH CN 1 TB Contents No r 24 VDC input for output A1 e rM A i t EE R O C 0 V input for output A2 VDC S CCW T El CCW with a resistor A6 CCW P R88M U 8 CCW without a resistor A5 e CW B d 8 CW with a resistor A8 CW N R88A CAUBI S L CW without a resistor AT U Red R88A CAUC S White o V I X axis dev cntr reset output A11 Black a lt gt 1 6k ECRST Ww Green X axis origin line driver input A16 AAN EC

U Series User's Manual

Contents

Download Pdf Manuals

Related Search

Related Contents