Omron G5, G5 R88D-KE, G5 R88M-KP User Manual
AC SERVOMOTORS/SERVO DRIVES
G5-series
Pulse-train Input Type
User’s Manual
R88D-KE(AC Servomotors)
R88M-KP(AC Servo Drives)
I584-E1-02
15171
To: All Customers
Corrections Insert
OMRON Corporation Cat. No. I584-E1-02
Thank you for supporting OMRON and OMRON products.
Some mistakes were discovered in the manual listed below. We sincerely apologize for these mistakes.
Please mark your manual so that the corrections are noted on the pages concerned, and then securely add
any required pages from this Notification to the rear of the manual.
Applicable Manuals
This Notification applies to the following manuals: AC SERVOMOTORS/SERVO DRIVES G5-series Pulse-tr1in
Input Type USER'S MANUAL (Cat.I584-E1-02).
Relevant Location: Decelerator Dimensions
1 Page 2-52
For 1,000-r/min Servomotors (900 W to 3 kW)
The frames show
the locations of
the additions and
changes.
Current Contents
Corrected Contents
2 Page 2-53
For 1,000-r/min Servomotors (900 W to 3 kW)
Current Contents
Corrected Contents
OMRON, 2012
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission 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.
Introduction
Thank you for purchasing an OMNUC G5-series Servo Drive (Pulse-train Input Type). This User’s
Manual describes the installation and wiring methods of the OMNUC G5-series Servo Drives (Pulsetrain Input Type) and parameter setting method which is required for the operation, as well as
troubleshooting and inspection methods.
Intended Audience
This User’s Man ua l is in te nded for the following personnel, who must also have knowledge of electrical
systems (an electrical engineer or the equivalent).
• Personnel in charge of introducing the FA equipment
• Personnel in charge of designing the FA systems
• Personnel in charge of managing the FA systems and facilities
Introduction
Notice
This User’ s Manual contains information you need to know to correctly use the OMNUC G5-series
Servo Drives (Pulse-train Inpu t Type) and peripheral equipment.
Before using the Servo Drive, read this User’s Manual and gain a full understanding of the information
provided herein.
After you finished reading this User’s Manual, keep it in a convenient place so that it can be referenced
at any time.
Make sure this User’s Manual is delivered to the end user.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
1
Read and Understand this Manual
Read and Understand this Manual
Warranty and Limitations of Liability
WARRANTY
OMRON’s exclusive warranty is that the products are free from defects in materials and workmanship for a period of
one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WA RRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.
ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL
OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF
PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH
CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability
is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR O THER CLAIMS REGA RDING
THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY
HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE,
MISUSE, OR INAPPROPRIATE MODIFICATION OR REP A IR.
2
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Read and Understand this Manual
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer’s application or use of the products.
At the customer’s request, OMRON will provide applicable third party certification documents identifying ratings and
limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of
the suitability of the products in combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to
be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be
suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not
described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment,
amusement machines, vehicles, safety equipment, and installations subject to separate indu stry or government
regulations.
• Systems, machines, and equipment that could present a risk to life or property. Please know and observe all
prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY
WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS,
AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE
WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user’s programming of a programmable product, or any consequence
thereof.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
3
Read and Understand this Manual
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is
our practice to change model numbers when published ratings or features are changed, or when significant
construction changes are made. However, some specifications of the products may be changed without any notice.
When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on
your request. Please consult with your OMRON representative at any time to confirm actual specifications of
purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are
shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does not
constitute a warranty . It ma y represent the result of OMR ON’ s test conditions , and the users m ust correlate it to actual
application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility
is assumed for clerical, typographical, or proofreading errors, or omissions.
4
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Safety Precautions
To ensure that the OMNUC G5-series (Pulse-train Input Type) Servomotor/Servo Drive as well as
peripheral equipment are used safely an d correctly, be sure to read this Safe ty Precaution s section and
the main text before using the product. Learn all items you should know before use, regarding the
equipment as well as the required safety information and precautions.
Make an arrangement so that this User’s Manual also gets to the end user of this product.
After reading this User’s Manual, keep it in a convenient place so that it can be referenced at any time.
Explanation of Displays
The precautions explained in this section describe important information regarding safety and must
be followed without fail.
The displays of precautions in this User’s Manual and their meanings are explained belo w.
Safety Precautions
DANGER
Caution
Even those items denoted by the caution symbol may lead to a serious outcome depending on the
situation. Accordingly, be sure to observe all safety precautions.
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct UsePrecautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
This information is provided to increase understanding or make operation easier.
Explanation of Symbols
Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury. Additionally, there may be severe property damage.
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or property damage.
∆ This symbol indicates danger and caution.
The specific instruction is indicated using an illustration or text inside or near ∆.
The symbol shown to the left indicates “beware of electric shock.”
This symbol indicates a prohibited item (an item you must not do).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “disassembly prohibited.”
This symbol indicates a compulsory item (an item that must be done).
The specific instruction is indicated using an illustration or text inside or near .
The symbol shown to the left indicates “grounding required.”
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
5
Safety Precautions
Precautions for Safe Use of This Product
Illustrations contained in this User’s Manual sometimes depict conditions without covers and safety
shields for the purpose of showing th e details. When using this product, be sure to install the covers
and shields as specified and use the product according to this User’s Manual.
If the product has been stored for an extended period of time, contact your OMRON sales
representative.
DANGER
Be sure to ground the frame ground terminals for the Servo Drive and Servomotor with 100 VAC or
200 VAC to 100 Ω or less, and for the Servo Drive and Servomotor with 400 VAC to 10 Ω or less.
Electric shock may result.
Never put you hand inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables, and options.
Electric shock may result.
Operation, maintenance or inspection by unauthorized personnel is prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the main circuit power and wait for at least 15 minutes.
Electric shock may result.
Do not damage, pull, stress strongly, pinch the cables or place heavy articles on them.
Electric shock, malfunction, or burn damage may result.
Never enter the operating area during operation.
Injury may result.
Never modify the Servo Drive.
Injury or equipment damage may result.
Install a stopping device on the machine to ensure safety.
* The holding brake is not a stopping device to ensure safety.
Injury may result.
Install an immediate stop device externally to the machine so that the operation can be stopped and the
power supply cut off immediately.
Injury may result.
When the power is restored after a momentary power interruption, the machine may restart suddenly.
Never come close to the machine when restoring power.
* Implement measures to ensure safety of people nearby even when the machine is restarted.
Injury may result.
After an earthquake, be sure to conduct safety checks.
Electric shock, injury, or fire may result.
Never drive the Servomotor using an external drive source.
Fire may result.
6
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Safety Precautions
DANGER
Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor.
Fire may result.
Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as
metals.
Fire may result.
Do not use the Servomotor with cables submerged in oil or water.
Electric shock, injury, or fire may result.
Never connect a power supply directly to the Servomotor.
Fire or failure may result.
Do not perform wiring or any operation with wet hands.
Electric shock, injury, or fire may result.
Do not touch the key grooves with bare hands if a Servomotor with shaft-end key grooves is being used.
Injury may result.
Install the Servomotor and Servo Drive before wiring them.
Electric shock may result.
The Servo Drive radiator, Regeneration Resistor, Servomotor, etc., may become hot
while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch
these components.
Burn injury may result.
Use the Servomotor and Servo Drive in a specified combination.
Fire or equipment damage may result.
Caution
Do not store or install the Servo Drive in the following locations:
• Location subject to direct sunlight
• Location where the ambient temperature exceeds the specified level
• Location where the relative humidity exceeds the specified level
• Location subject to condensation due to rapid temperature changes
• Location subject to corrosive or flammable gases
• Location subject to high levels of dust, salt content, or iron dust
• Location subject to splashes of water, oil, chemicals, etc.
• Location where the Servo Drive may receive vibration or impact directly
Electric shock, fire, or equipment damage may result.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
7
Safety Precautions
Storage and Transportation
When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft.
Injury or failure may result.
Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product label.)
Injury or failure may result.
Use the Servomotor eye-bolts only when transporting the Servomotor.
Do not use them to transport the machine.
Injury or failure may result.
Caution
8
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Installation and Wiring
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings.
Do not allow foreign objects to enter the Servo Drive.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other
equipment.
Fire or failure may result.
Safety Precautions
Caution
Do not apply strong impact on the Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway Servomotor, injury, or failure may result.
Tighten the Servo Drive mounting screws, terminal block screws , and cable screws to the specified torque.
Failure may result.
Use crimp terminals to wire screw type terminal blocks. Do not connect bare stranded wires directly to
terminals blocks.
Fire may result.
Only use the power supply voltage specified in this User’s Manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied.
Failure may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external wiring.
Fire may result.
If the Servo Drive is used in the following locations, provide sufficient shielding measures.
• Location subject to static electricity or other forms of noise
• Location subject to a strong electric or magnetic field
• Location where exposure to radioactivity may occur
• Location near power supply lines
Failure may result.
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the polarity is correct.
Battery damage or explosion may result.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
9
Safety Precautions
Operation and Adjustment
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the Servo Drive in an actual environment, check if it operates correctly based on the
parameters you have set.
Equipment damage may result.
Never adjust or set parameters to extreme values, because it will make the operation unstable.
Injury may result.
Separate the Servomotor from the mechanical system and check its operation before installing the
Servomotor to the machine.
Injury may result.
Caution
If an error (alarm) occurs, remove the cause and ensure safety, and then reset the error (alarm) and restart
the operation.
Injury may result.
Do not use the built-in brake of the Servomotor for normal braking operation.
Failure may result.
Do not operate the Servomotor connected to an excessive load inertia.
Failure may result.
Install protective and safety devices to prevent idling or locking of the electromagnetic brake or the gear
head, or leakage of grease from the gear head.
Injury, damage, or taint damage result.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
Do not apply strong impact on the Servomotor shaft or Servo Drive.
Failure may result.
10
The Servomotor may not be able to keep a stopped state without control.
Install an appropriate stopping device to ensure safety.
Equipment damage or injury may result.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Maintenance and Inspection
After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation,
before restarting operation.
Equipment damage may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period
of time.
Injury or malfunction may result.
Safety Precautions
Caution
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
11
Safety Precautions
Location of W arning Label
The Servo Drive bears a warning label at the following location to provide handling warnings.
When handling the Servo Drive, be sure to observe the instructions provided on this label.
VOLTAGE
PHASE
F L C
FREQ
POWER
SERIAL No.
OMRON Corporation
INPUT OUTPUT
100~115V
1Ø 3Ø
2.2A
50/60Hz
T09020002
45 1V
1.7A
0~500Hz
100W
Location of Warning
Label
(R88D-KP01H)
Instructions on Warning Label
MADE IN JAPAN
Disposal
12
• When disposing of the battery, insulate it using tape, and dispose of it by following the applicable
ordinances of your local government.
• Dispose of the Servo Drive as industrial waste.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Items to Check After Unpacking
Items to Check After Unpacking
After unpacking, check the following items.
• Is this the model you ordered?
• Was there any dama ge sustained during shipment?
Accessories
Safety Precautions document × 1 copy
• Connectors, mounting screws, mounting brackets, and other accessories other than those in the
table below are not supplied. They must be prepared by the customer.
• If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer
or sales office where you purchased your product.
Connector for
Connector for External
Regeneration Resistor
connection terminals
and Motor connection
terminals
Included
–
Specifications
Single-phase/
3-phase 200 VAC
3-phase 200 VAC 2 kW
100 W
200 W
400 W
750 W
1 kW
1.5 kW
5 kW
main circuit
power supply
terminals and
control circuit
power supply
terminals
Safety
connector
Included
Mounting
brackets
–
Included3 kW
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
13
Revision History
Revision History
The manual revision code is a number appended to the end of the catalog number found in the bottom
right-hand corner of the front and back covers.
Example
Cat.No.
Revision
Code
01 April 2012 Original production
02 August 2012 Front cover: Corrected model n u mb e r s.
Revision Date Revised Content
I584-E1-02
Pages 2-16 and 2-17: Corrected specifications and deleted rows in
middle table.
Page 3-63: Deleted rows from middle two tables.
Pages 3-69, 3-73, 3-76, and 3-79: Corrected specifications in
parentheses before table.
Pages 3-70, 3-74, 3-77, and 3-80: Deleted page.
Page 4-6: Corrected bolt sizes and removed columns from middle
table.
Revision code
14
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Manual Configuration
This User’s Manual consists of the following sections.
Read the necessary section or sections referring the following table.
Section 1 Features and
System
Configuration
Section 2 Models and
External
Dimensions
Section 3 Specifications This section provides the general specifications, characteristics,
Section 4 System Design This section explains the installation conditions, wiring methods which
Section 5 Basic Control
Mode
Section 6 Applied
Functions
Section 7 Parameter
Details
Section 8 Operation This section gives the operational procedure and explains how to
Section 9 Adjustment
Functions
Section 10
Appendices
Troubleshooting
and
Maintenance
This section explains the features of the Servo Drive, name of each
part, and applicable EC Directives and UL standards.
This section explains the models of Servo Drives, Servomotors,
Decelerators, and peripheral devices, and provides the external
dimensions and mounting dimensions.
connector specifications, and I/O circuits of the Servo Drives as well as
the general specifications, characteristics, encoder specifications of the
Servomotors and other peripheral devices.
include wiring conforming to EMC directives, and regenerative energy
calculation methods for the Servo Drives, Servomotors, and
Decelerators. It also explains the perf ormance of External Regeneration
Resistors.
This section provides the outline of functions and settings for each
control mode.
This section provides the outline and settings of the applied functions
such as damping control, electronic gear, gain switching, and
disturbance observer.
This section explains the set value and setting details of each
parameter.
operate in each mode.
This section explains the functions, setting methods, and items to note
regarding various gain adjustments.
This section explains the items that must be checked when problems
occur, error diagnosis using the alarm display and measures, error
diagnosis based on the operating condition and measures, and periodic
maintenance.
The appendices provide connection examples with OMRON’s PLC and
Position Controller, as well as lists of parameters.
Manual Configuration
Outline
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
15
Manual Structure
Manual Structure
Page Structure and Symbol Icons
The following page structure and symbol icons are used in this User’s Manual.
Level 1 heading
Level 2 heading
Level 3 heading
Note, Supplementary
Information,
Reference Target
A note, supplementary
information, reference
target, etc. are provided
with difference icons.
6 Applied Functions
6-11 Disturbance Observer Function
6-11-1 Outline of the Function
The disturbance observer function enables you to lower the effect of the disturbance torque and reduce
vibration by using the estimated disturbance torque value.
You can use the disturbance observer for position control or speed control in the following situations.
• The servo is ON.
• The Servomotor can rotate normally without any failures.
• The realtime autotuning function is disabled.
• The instantaneous speed observer function is disabled.
Torque command
Add to the direction
that negates
the disturbance
Disturbance torque estimation value
Precautions for Correct UsePrecautions for Correct Use
If there is a resonance point below the cut-off frequency estimated by the disturbance observer,
or if the disturbance torque contains a large amount of high-frequency content, the disturbance
observer may not produce the expected results.
6 - 41
Setting with
Pn623
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Gain
Disturbance torque
Setting with Pn624
Filter
Motor+load
Load model
Disturbance observer
Motor SpeedTorque command
Manual Name
Operation Steps
Describes the
operation steps.
6 Applied Functions
6-11-2 Parameters Requiring Settings
Parameter
Pn610 Function Expansion Setting Set the bits related to the disturbance observer. P.7-56
Pn623 Disturbance Torque
Pn624 Disturbance Observer Filter
6-11-3 Operating Procedure
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Name Description Reference
No.
Compensation Gain
Setting
1
Set Function Expansion Setting (Pn610).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions for enabling the function in bit 2.
0: Enabled at all time
1: Enabled only when Gain 1 is selected
2
Set Disturbance Observer Filter Setting (Pn624).
Set a small value in Disturbance Torque Compensation Gain (Pn623). Change t he value in
Disturbance Observer Filter Setting (Pn624) from a large value to a smaller one to
determine a setting that provides a balance between the effect of suppressing the
influence of disturbance and the operating noise level.
3
Set Disturbance Torque Compensation Gain (Pn623).
Change the value of Disturbance Torque Compensation Gain (Pn623) from a small value
to a larger value to determine a setting that provides a balance between the effect of
suppressing the influence of disturbance and the operating noise level.
Set the compensation gain for the disturbance torque. P.7-58
Set the filter time constant for disturbance torque
compensation.
P.7 - 5 8
6 - 42
Level 2 heading
Shows which sub-section
the content of the current
noitcnuF revresbO ecnabrutsiD 11-6
6
1-6
1
Outline of the Function 1-
page belongs to.
Section Number of
Level 1 heading
Shows which section the
content of the current
page belongs to.
Level 3 heading
Shows which paragraph
the content of the current
page belongs to.
16
Note The above page is only a sample f or illustrative purposes. It is not the actual content of this User’s Manual.
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct UsePrecautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Manual Structure
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
17
Manual Structure
18
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Sections in this Manual
Sections in this Manual
Features and System
1
2A
3
4A
5
Configuration
Models and External
Dimensions
Specifications
System Design
Basic Control Mode
10
Troubleshooting
and Maintenance
Appendices
1
2A
10
3
4
5
6
7
6
7
8
9
8
Applied Functions
9
Parameter Details
Operation
Adjustment Functions
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
19
CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Read and Understand this Manual ..........................................................................2
Safety Precautions....................................................................................................5
Items to Check After Unpacking............................................................................13
Revision History......................................................................................................14
Manual Configuration .............................................................................................15
Manual Structure.....................................................................................................16
Sections in this Manual ..........................................................................................19
CONTENTS ..............................................................................................................20
Section 1 Features and System Configuration
1-1 Outline...................................................................................................................................... 1-2
1-1-1 Outline of OMNUC G5-series Servo Drives (Pulse-train Input Type)..........................................1-2
1-1-2 Features of OMNUC G5-series Servo Drives (Pulse-train Input Type).......................................1-2
1-2 System Configuration................. ... ... ... ... ....................................... ... .... ... ............................... 1-3
1-3 Names and Functions............................................................................................................. 1-4
1-3-1 Servo Drive Part Names.............................................................................................................1-4
1-3-2 Servo Drive Functions.................................................................................................................1-5
1-4 System Block Diagram...................... ... ... .... ...................................... .... ... ... ............................ 1-6
1-5 Applicable Standards............................................................................................................1-10
1-5-1 EC Directives............................................................................................................................1-10
1-5-2 UL and cUL Standards..............................................................................................................1-10
1-5-3 SEMI F47............................................................................................. ... ..................................1-10
Section 2 Models and External Dimensions
2-1 Servo System Configuration ............................................ .... ... ... ....................................... ... .. 2-2
2-2 How to Read Model Numbers................................................................................................. 2-4
2-2-1 Servo Drive.................................................................................................................................2-4
2-2-2 Servomotor .................................................................................................................................2-5
2-2-3 Decelerator (Backlash: 3 Arcminutes max.).......................................................... ... ...................2-6
2-2-4 Decelerator (Backlash: 15 Arcminutes max.)..............................................................................2-7
2-3 Model Tables ............................................................................................................................ 2-8
2-3-1 Servo Drive Model Table.............................................................................................................2-8
2-3-2 Servomotor Model Tables ...........................................................................................................2-8
2-3-3 Servo Drive and Servomotor Combination Tables ....................................................................2-11
2-3-4 Decelerator Model Tables .........................................................................................................2-12
2-3-5 Cable and P e riphera l Device Model Tables..................................... ..........................................2-16
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OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
2-4 External and Mounting Dimensions .................................................................................... 2-22
2-4-1 Servo Drive Dimensions........................................................................................................... 2-22
2-4-2 Servomotor Dimensions ........................................................................................................... 2-31
2-4-3 Combinations of Servomotors and Decelerators........................................................ .............. 2-40
2-4-4 Decelerator Dimensions.............................................................. .. ... ... ..................................... 2-42
2-4-5 External Regeneration Resistor Dimensions............................................................................ 2-56
2-4-6 Reactor Dimensions................................................................................................................. 2-57
2-4-7 Mounting Bracket (L-brackets for Rack Mounting) Dimensions................................................ 2-61
Section 3 Specifications
3-1 Servo Drive Specifications ..................................................................................................... 3-2
3-1-1 General Specifications................................................................................................................3-2
3-1-2 Characteristics............................................................................................................................ 3-3
3-1-3 Main Circuit and Motor Connections.............................. .. ... ........................................................3-6
3-1-4 Control I/O Connector Specifications (CN1)............................................................................... 3-9
3-1-5 Control Input Circuits..................................................................... ........................................... 3-15
3-1-6 Control Input Details..................................... ............................................................................ 3-17
3-1-7 Control Output Circuits ............................................................................................................. 3-27
3-1-8 Control Output Details ................................................................. .. ... ... ..................................... 3-28
3-1-9 Encoder Connector Specifications (CN2).................................................................................3-32
3-1-10 Analog Monitor Connector Specifications (CN5)....................................... ............................... 3-33
3-1-11 USB Connector Specifications (CN7)....................................................................................... 3-34
3-2 Overload Characteristics
(Electronic Thermal Function)3-35
3-2-1 Overload Characteristics Graphs.............................................................................................. 3-35
3-3 Servomotor Specifications ................................................................................................... 3-36
3-3-1 General Specifications..............................................................................................................3-36
3-3-2 Characteristics.......................................................................................................................... 3-37
3-3-3 Encoder Specifications......................................... ... ................................................................. 3-53
3-4 Decelerator Specifications ...................................................................................................3-54
3-4-1 Models and Specifications.................................................. ... ... ................................................ 3-54
3-5 Cable and Connector Specifications................................................................................... 3-62
3-5-1 Resistance to Bending of Global Flexible Cable....................................................................... 3-62
3-5-2 Encoder Cable Specifications........................................................ ... ... ..................................... 3-64
3-5-3 Motor Powe r Cable Specifications.......................................................... .................................. 3-68
3-5-4 Connector Specifications..........................................................................................................3-80
3-5-5 Analog Monitor Cable Specifications........................................................................................3-83
3-5-6 Control Cable Specifications............................ ......................................................................... 3-84
3-6 Servo Relay Unit and Cable Specifications......................................................................... 3-96
3-6-1 Servo Relay Unit Specifications................................................................................................ 3-96
3-6-2 Servo Drive Relay Unit Cable Specifications.......................................................................... 3-108
3-6-3 Position Control Unit Relay Unit Cable Specifications............................................................ 3-111
3-7 External Regeneration Resistor Specifications................................................................3-122
3-7-1 External Regeneration Resistor Specifications ...................................................................... 3-122
3-8 Reactor Specifications........................................................................................................ 3-124
CONTENTS
Section 4 System Design
4-1 Installation Conditions............................................................................................................ 4-2
4-1-1 Servo Drive Installation Conditions............................................................................................. 4-2
4-1-2 Servomotor Installation Conditions.............................................................................................4-3
4-1-3 Decelerator Installation Conditions.............................................................................................4-6
4-2 Wiring ..................................................................................................................................... 4-10
4-2-1 Peripheral Equipment Connection Examples ........................................................................... 4-10
4-2-2 Main Circuit and Motor Connections.............................. .. ... ......................................................4-14
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
21
CONTENTS
4-3 Wiring Conforming to EMC Directives................................................................................. 4-20
4-3-1 Wiring Method...........................................................................................................................4-20
4-3-2 Selecting Connection Components...........................................................................................4-26
4-4 Regenerative Energy Absorption.........................................................................................4-39
4-4-1 Calculating the Regenerative Energy........................................................................................4-39
4-4-2 Servo Drive Regeneration Absorption Capacity ....................................................................... 4-41
4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor...............................4-42
4-4-4 Connecting an External Regeneration Resistor........................................................................ 4-43
Section 5 Basic Control Mode
5-1 Position Control....................... ....................................... ... .... ... ............................................... 5-2
5-1-1 Outline of the Function................................................................................................................5-2
5-1-2 Parameters Requiring Settings...................................................................................................5-3
5-1-3 Related Functions.......................................................................................................................5-5
5-1-4 Parameter Block Diagram for Position Control Mode..................................................................5-6
5-2 Internally Set Speed Control...................................................................................................5-7
5-2-1 Outline of the Function................................................................................................................5-7
5-2-2 Parameters Requiring Settings...................................................................................................5-7
5-2-3 Related Functions.....................................................................................................................5-11
5-2-4 Parameter Block Diagram for Speed Control Mode ..................................................................5-12
5-3 Switching Control..................................................................................................................5-13
5-3-1 Outline of the Function..............................................................................................................5-13
5-3-2 Parameters Requiring Settings.................................................................................................5-13
5-3-3 Related Functions.....................................................................................................................5-14
Section 6 Applied Functions
6-1 Damping Control................... ... .... ... ... ....................................... ... ... ... ......................................6-3
6-1-1 Outline of the Function................................................................................................................6-3
6-1-2 Parameters Requiring Settings...................................................................................................6-3
6-2 Adaptive Filter....................... ... .... ... ... ....................................... ... ... .........................................6-6
6-2-1 Outline of the Function................................................................................................................6-6
6-2-2 Parameters Requiring Settings...................................................................................................6-7
6-3 Notch Filters............................................................................................................................. 6-8
6-3-1 Outline of the Function................................................................................................................6-8
6-3-2 Parameters Requiring Settings...................................................................................................6-9
6-4 Electronic Gear Function......................................................................................................6-11
6-4-1 Outline of the Function..............................................................................................................6-11
6-4-2 Parameters Requiring Settings.................................................................................................6-11
6-4-3 Operation Example ...................................................................................................................6-13
6-5 Encoder Dividing Function.................................. .... ...................................... .... ... ... ............. 6-15
6-5-1 Outline of the Function..............................................................................................................6-15
6-5-2 Parameters Requiring Settings.................................................................................................6-15
6-6 Brake Interlock....................................................................................................................... 6-18
6-6-1 Outline of the Function..............................................................................................................6-18
6-6-2 Parameters Requiring Settings.................................................................................................6-18
6-6-3 Precautions for Correct Use of Holding Brake..........................................................................6-18
6-6-4 Operation ..................................................................................................................................6-19
6-7 Gain Switching Function....................................................................................................... 6-23
6-7-1 Outline of the Function..............................................................................................................6-23
6-7-2 Parameters Requiring Settings.................................................................................................6-24
6-8 Torque Limit ...........................................................................................................................6-31
6-8-1 Outline of the Function..............................................................................................................6-31
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OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
CONTENTS
6-9 Sequence I/O Signals............................................................................................................ 6-33
6-9-1 Outline of the Function..............................................................................................................6-33
6-9-2 Input Signals............................................................................................................................. 6-33
6-9-3 Output Signals..........................................................................................................................6-36
6-10 Forward and Reverse Drive Prohibition Functions............................... ... .... ... ... ... ... .... ... ... 6-38
6-10-1 Outline of the Function.............................................................................................................. 6-38
6-10-2 Parameters Requiring Settings.................................................................... ............................. 6-38
6-11 Disturbance Observer Function........................... ... ... ... ....................................... ... ... .... ...... 6-41
6-11-1 Outline of the Function.............................................................................................................. 6-41
6-11-2 Parameters Requiring Settings.................................................................... ............................. 6-42
6-11-3 Operating Procedure................................................................................................................ 6-42
6-12 Gain 3 Switching Function ...................................................................................................6-43
6-12-1 Outline of the Function.............................................................................................................. 6-43
6-12-2 Parameters Requiring Settings.................................................................... ............................. 6-43
6-12-3 Operation.................................................................................................................................. 6-43
6-13 Friction Torque Compensation Function ............................................................................ 6-44
6-13-1 Outline of the Function.............................................................................................................. 6-44
6-13-2 Parameters Requiring Settings.................................................................... ............................. 6-44
6-13-3 Operation Example...................................................................................................................6-45
6-14 Inertia Ratio Switching Function.......................................................................................... 6-46
6-14-1 Outline of the Function.............................................................................................................. 6-46
6-14-2 Parameters Requiring Settings.................................................................... ............................. 6-46
6-14-3 Operating Procedure................................................................................................................ 6-46
6-15 Feed-forward Function.......................................................................................................... 6-47
6-15-1 Outline of the Function.............................................................................................................. 6-47
6-15-2 Parameters Requiring Settings.................................................................... ............................. 6-47
6-15-3 Operating Procedure................................................................................................................ 6-48
6-16 Instantaneous Speed Observer Function ........................................................................... 6-50
6-16-1 Outline of the Function.............................................................................................................. 6-50
6-16-2 Parameters Requiring Settings.................................................................... ............................. 6-50
6-16-3 Operating Procedure................................................................................................................ 6-51
Section 7 Parameter Details
7-1 Basic Parameters..................................................................................................................... 7-2
7-2 Gain Parameters.................................................................................................................... 7-10
7-3 Vibration Suppression Parameters...................................................................................... 7-20
7-4 Analog Control Parameters .................................................................................................. 7-26
7-5 Interface Monitor Setting Parameters.................................................................................. 7-32
7-6 Extended Parameters.................................. ... ... .... ... ... ....................................... ... ... ... ..........7-42
7-7 Special Parameters................................................................................................................ 7-55
Section 8 Operation
8-1 Operational Procedure...................................... ....................................... ... .... ... ..................... 8-2
8-2 Preparing for Operation .......................................................................................................... 8-3
8-2-1 Items to Check Before Turning ON the Power Supply................................................................ 8-3
8-2-2 Turning ON the Power Supply.......................... ........................................................................... 8-4
8-2-3 Checking the Display.................................................................................................................. 8-4
8-3 Using the Front Panel Display................................................................................................8-5
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
23
CONTENTS
8-4 Mode Setting ............................................................................................................................ 8-6
8-4-1 Changing the Mode.....................................................................................................................8-6
8-4-2 Monitor Mode............................... ... .............................................................. .. ............................8-7
8-4-3 Parameter Setting Mode...........................................................................................................8-19
8-4-4 Parameter Write Mode..............................................................................................................8-21
8-4-5 Auxiliary Function Mode............................................................................................................8-22
8-5 Trial Operation...... ... ....................................... ... ... .... ...................................... .... ... ... ............. 8-28
8-5-1 Preparations for Trial Operation................................................................................................8-28
8-5-2 Trial Operation in Position Control Mode...................................................................................8-29
Section 9 Adjustment Functions
9-1 Gain Adjustment......................................................................................................................9-2
9-1-1 Purpose of the Gain Adjustment.................................................................................................9-2
9-1-2 Gain Adjustment Methods...........................................................................................................9-2
9-1-3 Gain Adjustment Procedure................................................ ........................................................9-3
9-2 Realtime Autotuning................................................................................................................ 9-4
9-2-1 Setting Realtime Autotuning........................................................................................................9-5
9-2-2 Setting Machine Rigidity..............................................................................................................9-5
9-3 Manual Tuning........................................................................................................................ 9-11
9-3-1 Basic Settings ................................................................... .. ......................................................9-11
Section 10 Troubleshooting and Maintenance
10-1 Actions for Problems ............................................................................................................10-2
10-1-1 Preliminary Checks When a Prob lem Occurs................................................................ .. ... ......10-2
10-1-2 Precautions When a Problem Occurs.......................................................................................10-3
10-1-3 Replaci ng the Servomotor or Servo Drive.................................................................................10-4
10-2 Warning List....................................... ....................................... ... ... ... .................................... 10-5
10-3 Alarm List............................................................................................................................... 10-6
10-4 Troubleshooting................................................................................................................... 10-10
10-4-1 Error Diagnosis with Alarm Displays....................................................................................... 10-10
10-4-2 Error Diagnosis Using the Operation State.............................................................................10-17
10-5 Periodic Maintenance.......................................................................................................... 10-21
10-5-1 Servomotor Life Expectancy ...................................................................................................10-21
10-5-2 Servo Drive Life Expectancy...................................................................................................10-22
Appendices
A-1 Connection Examples.............................................................................................................A-2
A-2 Parameter List........................................................................................................................A-11
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OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
Features and System Configuration
This section explains the features of the Servo Drive, name of each part, and
applicable EC Directives an d UL standards.
1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-1 Outline of OMNUC G5-series Servo Drives (Pulse-train Input Type) . . . . . . . . 1-2
1-1-2 Features of OMNUC G5-series Servo Drives (Pulse-train Input Type). . . . . . . 1-2
1-2 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-3 Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-3-1 Servo Drive Part Names. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-3-2 Servo Drive Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-4 System Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-5 Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1-5-1 EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1-5-2 UL and cUL Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1-5-3 SEMI F47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
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OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
1 - 1
1 Features and System Configuration
1-1 Outline
1-1-1 Outline of OMNUC G5-series Servo Drives
(Pulse-train Input Type)
The OMNUC G5-series Servo Drives (Pulse-train Input Type) are AC Servo Drives with the position
control and speed control capabilities.
The OMNUC G5-series provides a wide portfolio of products, which supports the motor capacity from
50 W to 5 kW and 200 V input power supply, to suit various applications of customers.
The Servomotors with high-resolution 20-bit incremental encoder are available.
As for gain adjustment, the OMNUC G5-series Servo Drives support the realtime autotuning and
adaptive filter functions that automatically perform complicated gain adjustment. A notch filter can also
be automatically set to suppress machine vibration by reducing machine resonance during operation.
The damping control function of the Servomotor and Servo Drive realizes stable stopping performance
in a mechanism which vibrates because of the low rigidity of the load.
1-1-2 Features of OMNUC G5-series Servo Drives
(Pulse-train Input Type)
The OMNUC G5-series Servo Drives (Pulse-train Input Type) have the following features.
Switchable between Two Control Modes
You can switch between two control modes: 1) Position Control Mode and 2) Speed Control Mode. A
single Servo Drive enables you to select the suitable mode to support various applications.
Suppressing Vibration of Low-rigidity Mechanisms During
Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips
tend to vibrate.
Two damping filters are provided to enable to switch the damping frequency automatically according to
the operation direction and via an external signal. In addition, the settings can be configured easily by
setting the damping frequency and filter values. You are assured of stable operation even if the set
values are inappropriate .
1 - 2
OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual
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