Omron OMNUC G User Manual
Cat. No. I566-E1-01
USER’S MANUAL
OMNUC G SERIES
R88M-G@
(AC Servomotors)
R88D-GN@-ML2
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
Trademarks and Copyrights
•
Product names and system names in this manual are trademarks or registered trademarks of their
respective companies.
•
MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.
© OMRON, 2008
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 choosing the OMNUC G Series. This User’s Manual describes installation/wiring
methods and parameter setting procedures required for the operation of the OMNUC G Series as
well as troubleshooting and inspection methods.
Intended Readers
This manual is intended for the following personnel.
Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as
follows:
Personnel in charge of introducing FA equipment
Personnel in charge of designing FA systems
Personnel in charge of managing FA systems and facilities
NOTICE
Introduction
This manual contains information necessary to ensure safe and proper use of the OMNUC G Series
and its peripheral devices. Please read this manual thoroughly and understand its contents before
using the products.
Please keep this manual handy for future reference.
Make sure this User’s Manual is delivered to the actual end user of the products.
1
Read and Understand This Manual
Read and Understand This Manual
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments .
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship
for a period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL
DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY 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 OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
2
Read and Understand This Manual
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that app ly to
the combination of products in the customer's applicatio n 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 e xamples of applicat ions f or which particular attention mu st be giv en. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the
uses listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions
or uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.
3
Read and Understand This Manual
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any tim e based on improvements and other
reasons.
It is our practice to change model numbe rs 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 n umber s may be assigned to fix or establish
key specifications f o r y our application on y our r equest. Please consult wit h y our OMR ON representativ e
at any time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and
does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users
must correlate it to actual application require ments. 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
Precautions for Safe Use
WARNING
Caution
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.
WARNING
Precautions for Safe Use
To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the “Precautions for
Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety
information, and precautions before using the products.
Make sure this User’s Manual is delivered to the actual end users of the products.
Please keep this manual close at hand for future reference.
Explanation of Signal Words
The precautions indicated here provide important information for safety. Be sure to heed the information
provided with the precautions.
The following signal words are used to indicate and classify precautions in this manual.
Failure to heed the precautions classified as “Caution” may also lead to serious results. Always
heed these precautions.
Safety Precautions
This manual may include illustrations of the product with protective covers or shields removed in order to show
the components of the product in detail. Make sure that these protective covers and shields are put in place as
specified before using the product.
Consult your OMRON representative when using the product after a long period of storage.
Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω
or less.
Incorrect grounding may result in electric shock.
Do not touch the inside of the Servo Drive.
Doing so may result in electric shock.
When turning OFF the main circuit power supply, turn OFF the RUN command (RUN) at the
same time. Residual voltage may cause the Servomotor to continue rotating and result in
injury or equipment damage even if the main circuit power supply is turned OFF externally,
e.g., with an emergency stop.
Do not remove the front cover, terminal covers, cables, or optional items while the power is
being supplied.
Doing so may result in electric shock.
5
Precautions for Safe Use
Installation, operation, maintenance, or inspection must be performed by authorized
personnel.
Not doing so may result in electric shock or injury.
Wiring or inspection must not be performed for at least 15 minutes after turning OFF the
power supply.
Doing so may result in electric shock.
Do not damage or pull on the cables, place heavy objects on them, or subject them to
excessive stress.
Doing so may result in electric shock, stopping product operation, or burning.
Do not touch the rotating parts of the Servomotor during operation.
Doing so may result in injury.
Do not modify the product.
Doing so may result in injury or damage to the product.
Provide a stopping mechanism on the machine to ensure safety.
*The holding brake is not designed as a stopping mechanism for safety purposes.
Not doing so may result in injury.
Provide an external emergency stopping mechanism that can stop operation and shut off the
power supply immediately.
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.
Doing so may result in injury.
Take appropriate measures to secure safety against an unexpected restart.
Confirm safety after an earthquake has occurred.
Failure to do so may result in electric shock, injury, or fire.
Do not use external force to drive the Servomotor.
Doing so may result in fire.
6
Precautions for Safe Use
WARNING
Caution
Caution
Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Doing so may result in fire.
Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other nonflammable materials.
Failure to do so may result in fire.
Do not frequently and repeatedly turn the main power supply ON and OFF.
Doing so may result in product failure.
Use the Servomotors and Servo Drives in a specified combination.
Using them incorrectly may result in fire or damage to the products.
Do not store or install the product in the following places. Doing so may result in fire, electric
shock, or damage to the product.
Locations subject to direct sunlight.
Locations subject to temperatures outside the specified range .
Locations subject to humidity outside the specified range.
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 exposure to water, oil, or chemicals.
Locations subject to shock or vibration.
Do not touch the Servo Drive radiator, Servo Drive regeneration resistor, or Servomotor
while the power is being supplied or soon after the power is turned OFF.
Doing so may result in burn injuries.
Storage and Transportation Precautions
Do not hold the product by the cables or motor shaft while transporting it.
Doing so may result in injury or malfunction.
Do not place any load exceeding the figure indicated on the product.
Doing so may result in injury or malfunction.
Use the motor eye-bolts only for transporting the Servomotor.
Using them for transporting the machinery may result in injury or malfunction.
7
Precautions for Safe Use
Caution
Installation and Wiring Precautions
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.
Covering them or not preventing entry of foreign objects may result in fire.
Be sure to install the product in the correct direction.
Not doing so may result in malfunction.
Provide the specified clearances between the Servo Drive and the control panel or with other
devices.
Not doing so may result in fire or malfunction.
Do not subject Servomotor shaft or Servo Drive to strong impacts.
Doing so may result in malfunction.
Be sure to wire correctly and securely.
Not doing so may result in motor runaway, injury, or malfunction.
Be sure that all the mounting screws, terminal screws, and cable connector screws are
tightened properly.
Incorrect tightening torque may result in malfunction.
Use crimp terminals for wiring.
Do not connect bare stranded wires directly to the protective ground terminal.
Doing so may result in burning.
Always use the power supply voltage specified in the User’s Manual.
An incorrect voltage may result in malfunction or burning.
Take appropriate measures to ensure that the specified power with the rated voltage and
frequency is supplied. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in equipment damage.
Install external breakers and take other safety measures against short-circuiting in external
wiring.
Insufficient safety measures against short-circuiting may result in burning.
Take appropriate and sufficient shielding measures when installing systems in the following
locations. Failure to do so may result in damage to the product.
Locations subject to static electricity or other forms of noise.
Locations subject to strong electromagnetic fields and magnetic fields.
Locations subject to possible exposure to radioactivity.
Locations close to power supplies.
Connect an emergency stop cutoff relay in series with the brake control relay.
Failure to do so may result in injury or product failure.
Do not reverse the polarity of the battery when connecting it.
Reversing the polarity may damage the battery or cause it to explode.
8
Operation and Adjustment Precautions
Caution
Caution
Confirm that no adverse effects will occur in the system before performing the test operation.
Not doing so may result in equipment damage.
Check the newly set parameters for proper operation 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.
Precautions for Safe Use
Do not use the built-in brake of the Servomotor for ordinary braking.
Doing so may result in malfunction.
Do not operate the Servomotor connected to a load that exceeds the applicable load
moment of inertia.
Doing so may result in malfunction.
Maintenance and Inspection Precautions
Resume operation only after transferring to the new Unit the contents of the data required
for operation.
Not doing so may result in equipment damage.
Do not attempt to disassemble or repair any of the products.
Any attempt to do so may result in electric shock or injury.
9
Precautions for Safe Use
(R88D-GN01H-ML2)
Location of warning label
Warning Label Position
Warning labels are located on the product as shown in the following illustration.
Be sure to follow the instructions given there.
Warning Label Contents
Disposing of the Product
• Dispose of the batteries according to local ordinances and regulations. Wrap the batteries in tape
or other insulative material before disposing of them.
• Dispose of the product as industrial waste.
10
Items to Check When Unpacking
R88D-GN01H-ML2
Power Supply V oltage
L : 100 VAC
H : 200 VAC
A5
:
50 W
01 : 100 W
02 : 200 W
04 : 400 W
08 : 750 W
10 : 1 kW
15 : 1.5 kW
20 : 2 kW
30 : 3 kW
50 : 5 kW
75 : 7.5 kW
Network Type
ML2 : MECHATROLINK-II Communications
OMNUC G-Series
Servo Drive
Drive Type
N
:
Network type
Applicable Servomotor Capacity
Items to Check When Unpacking
Check the following items after removing the product from the package.
• Has the correct product been delivered?
• Has the product been damaged in shipping?
Accessories Provided with Product
Safety Precautions document × 1
• No connectors or mounting screws are provided. They have to be prepared by the user.
• Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact
your local sales representative or OMRON sales office.
Understanding Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor
capacity, and the power supply voltage.
11
Items to Check When Unpacking
R88M-GP10030H-BOS2
G-Series
Servomotor
Servomotor Capacity
Rated Rotation Speed
Motor Type
Blank: Cylinder type
P: Flat type
050:
100:
200:
400:
750:
900:
1K0:
1K5:
2K0:
3K0:
4K0:
4K5:
5K0:
6K0:
7K5:
10:
15:
20:
30:
50 W
100 W
200 W
400 W
750 W
900 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
4.5 kW
5 kW
6 kW
7.5 kW
1,000 r/min
1,500 r/min
2,000 r/min
3,000 r/min
Applied V oltage
H:
L:
T:
S:
200 VAC with incremental encoder specifications
100 VAC with incremental encoder specifications
200 V AC with absolute encoder specifications
100 V AC with absolute encoder specifications
Option
Blank: Straight shaft
B:
O:
S2:
With brake
With oil seal
With key and tap
Understanding Servomotor Model Numbers
12
Understanding Decelerator Model Numbers (Backlash = 3' Max.)
R88G-HPG14A05100PBJ
Decelerator for
G-Series Ser vomotors
Applicable Servomotor Capacity
050
100
200
400
750
900
1K0
1K5
2K0
3K0
4K0
4K5
5K0
6K0
7K5
: 50 W
:100 W
:200 W
:400 W
:750 W
:900 W
:1 kW
:1.5 kW
:2 kW
:3 kW
:4 kW
:4.5 kW
:5 kW
:6 kW
:7 kW
Backlash = 3’ Max.
Gear Ratio
05
09
11
12
20
21
25
33
45
:1/5
:1/9 (only frame number 11A)
:1/11 (except frame number 65A)
:1/12 (only frame number 65A)
:1/20 (only frame number 65A)
:1/21 (except frame number 65A)
:1/25 (only frame number 65A)
:1/33
:1/45
Flange Size Number
11A
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Motor Type
Blank
P
S
T
:3,000-r/min cylindrical Servomotors
:flat Servomotors
:2,000-r/min Servomotors
:1,000-r/min Servomotors
Backlash
B :3’ max.
Option
BlankJ:Straight shaft
:With key and tap
Items to Check When Unpacking
13
Items to Check When Unpacking
R88G-VRSF09B100PCJ
Applicable Servomotor Capacity
050
100
200
400
750
: 50 W
:100 W
:200 W
:400 W
:750 W
Option
J :With key and tap
Backlash
C :15’ max.
Motor Type
BlankP:3,000-r/min cylindrical Servomotors
:flat Servomotors
Decelerator for
G-Series Ser vomotors
Backlash = 15’ Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number
B
C
D
:@52
:@78
:@98
Understanding Decelerator Model Numbers (Backlash = 15' Max.)
14
About This Manual
This manual consists of the following chapters. Refer to this table and chose the required chapters
of the manual.
About This Manual
Overview
Chapter 1
Chapter 2
Chapter 3 Specifications
Chapter 4 System Design
Chapter 5 Operating Functions Describes the control functions, parameter settings, and operation.
Chapter 6 Operation
Chapter 7 Adjustment Functions
Chapter 8 Troubleshooting
Chapter 9 Appendix Provides the parameter tables.
Features and System
Configuration
Standard Models and
Dimensions
Describes the features and names of parts of the product as well
as the EC Directives and the UL standards.
Provides the model numbers, external and mounting hole dimensions for Servo Drives, Servomotors, Decelerators, and peripheral
devices.
Provides the general specifications, characteristics, connector
specifications, and I/O circuit specifications for Servo Drives, and
the general specifications and characteristics for Servomotors, as
well as specifications for accessories such as encoders.
Describes the installation conditions for Servo Drives, Servomotors, and Decelerators, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the
External Regeneration Resistor.
Describes operating procedures and operating methods for each
mode.
Describes gain adjustment function s, setting methods, and precautions.
Describes items to check for troubleshooting, error diagnoses using alarm LED displays and the countermeasures, error diagnoses
based on the operation status and the countermeasures, and periodic maintenance.
15
Table of Contents
Introduction......................................................................................1
Read and Understand This Manual.................................................2
Precautions for Safe Use.................................................................5
Items to Check When Unpacking ....................................................11
About This Manual...........................................................................15
Chapter 1 Features and System Configuration
1-1 Overview...........................................................................................1-1
1-2 System Configuration.......................................................................1-2
1-3 Names of Parts and Functions.........................................................1-3
1-4 System Block Diagrams ...................................................................1-5
1-5 Applicable Standards........................................................................1-10
Chapter 2 Standard Models and Dimensions
2-1 Standard Models ..............................................................................2-1
2-2 External and Mounting Hole Dimensions .........................................2-23
Chapter 3 Specifications
3-1 Servo Drive Specifications................................................................3-1
3-2 Servomotor Specifications................................................................3-17
3-3 Decelerator Specifications................................................................3-32
3-4 Cable and Connector Specifications ................................................3-42
3-5 Parameter Unit Specifications..........................................................3-78
3-6 External Regeneration Resistor Specifications ................................ 3-79
3-7 Reactor Specifications......................................................................3-80
Chapter 4 System Design
4-1 Installation Conditions ......................................................................4-1
4-2 Wiring ...............................................................................................4-11
4-3 Wiring Conforming to EMC Directives.............................................. 4-26
4-4 Regenerative Energy Absorption......................................................4-44
16
Table of Contents
Chapter 5 Operating Functions
5-1 Position Control................................................................................ 5-1
5-2 Speed Control .................................................................................. 5-4
5-3 Torque Control................................................................................. 5-7
5-4 Forward and Reverse Drive Prohibit................................................ 5-10
5-5 Brake Interlock ................................................................................. 5-11
5-6 Torque Limit ..................................................................................... 5-16
5-7 Soft Start .......................................................................................... 5-18
5-8 Acceleration/Deceleration Time Settings ......................................... 5-19
5-9 Moving Average Time ...................................................................... 5-20
5-10 Electronic Gear ................................................................................ 5-21
5-11 Speed Limit ...................................................................................... 5-22
5-12 Sequence Input Signals ................................................................... 5-23
5-13 Sequence Output Signals ................................................................ 5-25
5-14 Backlash Compensation .................................................................. 5-27
5-15 Overrun Protection........................................................................... 5-29
5-16 Gain Switching ................................................................................. 5-31
5-17 Speed Feed-forward ........................................................................ 5-38
5-18 Torque Feed-forward ....................................................................... 5-39
5-19 Speed Feedback Filter Selection ..................................................... 5-40
5-20 P Control Switching.......................................................................... 5-41
5-21 Torque Command Filter Time Constant........................................... 5-42
5-22 Notch Filter....................................................................................... 5-43
5-23 Adaptive Filter .................................................................................. 5-45
5-24 Instantaneous Speed Observer ....................................................... 5-48
5-25 Damping Control .............................................................................. 5-50
5-26 User Parameters.............................................................................. 5-55
5-27 Details on Important Parameters ..................................................... 5-86
Chapter 6 Operation
6-1 Operational Procedure..................................................................... 6-1
6-2 Preparing for Operation.................................................................... 6-2
6-3 Using the Parameter Unit................................................................. 6-8
6-4 Setting the Mode.............................................................................. 6-9
6-5 Trial Operation ................................................................................. 6-31
Chapter 7 Adjustment Functions
7-1 Gain Adjustment............................................................................... 7-1
7-2 Realtime Autotuning......................................................................... 7-3
7-3 Normal Mode Autotuning ................................................................. 7-9
7-4 Manual Tuning ................................................................................. 7-14
17
Table of Contents
Chapter 8 Troubleshooting
8-1 Error Processing...............................................................................8-1
8-2 Alarm Table......................................................................................8-3
8-3 Troubleshooting................................................................................8-7
8-4 Overload Characteristics (Electronic Thermal Function).................. 8-20
8-5 Periodic Maintenance.......................................................................8-21
Chapter 9 Appendix
9-1 Parameter Tables.............................................................................9-1
18
Chapter 1
Features and System Configuration
1-1 Overview............................................................ 1-1
Overview...............................................................................1-1
Features................................................................................1-1
1-2 System Configuration......................................... 1-2
1-3 Names of Parts and Functions........................... 1-3
Servo Drive Part Names .......................................................1-3
Servo Drive Functions...........................................................1-4
1-4 System Block Diagrams.....................................1-5
1-5 Applicable Standards......................................... 1-10
EC Directives........................................................................1-10
UL and CSA Standards.........................................................1-10
1-1 Overview
1
Features and System Configuration
1-1 Overview
Overview
The OMNUC G Series AC Servo Drives (with built-in MECHATROLINK-II communications support)
are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network.
When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71),
a sophisticated positioning control system can be made easily with one communications cable
connecting the Servo Drive and Controller.
With realtime autotuning, adaptive filter, notch filter, and damping control, you can set up a system
that provides stable operation by suppressing vibration in low-rigidity machines.
Features
Data Transmission Using MECHATROLINK-II Communications
When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71), all
control data between the Servo Drive and Controller can be exchanged through data
communications.
Since the various control commands are transmitted via data communications, Servomotor‘s
operational performance is maximized without being limited by interface specifications such as the
response frequency of the encoder feedback pulses.
This makes it possible to use the Servo Drive’s various control parameters and monitor data via a
host controller, allowing you to unify the system data control.
Suppressing Vibration of Low-rigidity Mechanisms during
Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose
ends tend to vibrate.
Two vibration filters are provided to enable switching the vibration frequency automatically
according to the direction of the rotation. Furthermore, the settings can be made easily by just
setting the vibration frequency and filter values, and you are assured of stable operation even if the
settings are inappropriate.
High-speed Positioning via Resonance Suppression Control
The realtime autotuning function automatically estimates the load inertia of the machine in realtime
and sets the optimal gain.
The adaptive filter automatically suppresses vibration caused by resonance.
Two independent notch filters make it possible to reduce the vibration of a mechanism with multiple
resonance frequencies.
Command Control Mode Switching
Operations can be performed by switching between two of the following control modes: Position
control, speed control, and torque control. Therefore, a variety of applications can be supported by
one Servo Drive.
1-1
1-2 System Configuration
INCINC ABSABS
MECHATRO
LINK-II
Programmable Controller
SYSMAC CS1
Controller (MECHATROLINK-ll type)
Programmable Controller
SYSMAC CJ1
Position Control Unit
MECHATRO
LINK-II
Controller (MECHATROLINK-ll type)
OMNUC G-Series
AC Servo Drive
R88D-GN@-ML2
OMNUC G-Series
AC Servomotor
R88M-G@
CJ1W-NCF71
Position Control Unit
CS1W-NCF71
1-2 System Configuration
1
Features and System Configuration
1-2
1-3 Names of Parts and Functions
1
Features and System Configuration
1-3 Names of Parts and Functions
Servo Drive Part Names
Display area
Rotary switches
AC SERVO DRIVE
ADR
0
0
1
1
9
2
Analog monitor check pins
(
SP, IM, G
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
2
8
3
3
7
4
6
5
X10
COM
SP
)
IM
G
X1
MECHATROLINK-II
communications
status LED indicator
RS-232
communications connector
CN3
)
(
MECHATROLINK-II
communications connector
(
CN6A, CN6B
)
External Regeneration Resistor
connection terminals
(B1, B2, B3)
Servomotor connection terminals
(U, V, W)
Protective ground terminals
Control I/O connector (CN1)
Encoder connector (CN2)
1-3
Servo Drive Functions
Display Area
A 2-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other
information.
Analog Monitor Check Pins (SP, IM, and G)
The actual motor speed, command speed, torque, and number of accumulated pulses can be
measured based on the analog voltage level by using an oscilloscope.
Set the type of signal to be output and the output voltage level by setting the Speed Monitor (SP)
Selection (Pn007) and Torque Monitor (IM) Selection (Pn008).
For details, refer to User Parameters on page 5-55.
MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
For details, refer to MECHATROLINK-II Status LED Indicator on page 6-4.
1-3 Names of Parts and Functions
1
Rotary Switches
Sets the node address.
For details, refer to Servo Drive Display and Settings on page 6-3.
Features and System Configuration
1-4
1-4 System Block Diagrams
GR
Control I/O interface
MECHATROLINK-II
interface
MECHATROLINK-II
communications line
RS-232
computer
Display/
setting circuits
Gate drive
SW power
supply
Main circuit
control
Internal
control
power
supply
RS-232
interface
CN6B
connector
CN6A
connector
CN3
connector
CN2 encoder signal connector
GR
L2C
L1C
L2
L3
L1
FUSE
CN A
+
−
~
+
−
~
~
~
15V
G1
VCC1
±VCC
G2
E5V
Overcurrent
detection
Current
detection
Voltage
detection
Regenerative
control
Relay
drive
TH
GR
CN1 control I/O connector
RS
485
±S
+
E5V
+
BAT
EG
G
B1
B2
CN B
OH
U
V
W
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
1
Features and System Configuration
1-4 System Block Diagrams
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/
-GN02H-ML2/-GN04H-ML2
1-5
1-4 System Block Diagrams
Gate drive
SW power
supply
Main circuit
control
Internal
control
power
supply
GR
L2C
L1C
L2
L3
L1
FUSE
CN A
+
−
~
~
+
−
~
~
~
15V
G1
VCC1
±VCC
G2
E5V
Overcurrent
detection
Current
detection
Voltage
detection
Regenerative
control
Relay
drive
TH
GR
CN B
U
V
W
B1
B3
B2
Internal regeneration resistor
Cooling fan
Control I/O interface
MECHATROLINK-II
interface
Display/
setting circuits
RS-232
interface
CN6B
connector
CN6A
connector
CN3
connector
CN2 encoder signal connector
CN1 control I/O connector
RS
485
±S
+
E5V
+
BAT
EG
G
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
MECHATROLINK-II
communications line
RS-232
computer
R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
1
Features and System Configuration
1-6
1-4 System Block Diagrams
GR
Gate drive
SW power
supply
Main circuit
control
Internal
control
power
supply
L2C
L1C
L2
L3
L1
FUSE
+
−
~
+
−
~
~
~
15V
G1
VCC1
±VCC
G2
E5V
Voltage
detection
Current
detection
Regenerative
control
Relay
drive
TH
GR
TerminalsTerminals
U
V
W
Cooling fan
B1
B3
B2
Internal regeneration resistor
Control I/O interface
MECHATROLINK-II
interface
RS-232
interface
CN6B
connector
CN6A
connector
CN3
connector
CN2 encoder signal connector
CN1 control I/O connector
RS
485
±S
+
E5V
+
BAT
EG
G
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
Display/
setting circuits
~
MECHATROLINK-II
communications line
RS-232
computer
1
R88D-GN20H-ML2
Features and System Configuration
1-7
R88D-GN30H-ML2/GN50H-ML2
GR
Gate drive
SW power
supply
Main circuit
control
Internal
control
power
supply
L2C
L1C
L2
L3
L1
FUSE
+
−
~
~
+
−
~
~
~
15V
G1
VCC1
±VCC
G2
E5V
Voltage
detection
Current
detection
Regenerative
control
Relay,Gate
drive
TH
GR
TerminalsTerminals
U
V
W
Cooling fan
B1
B3
B2
Internal regeneration resistor
Control I/O interface
MECHATROLINK-II
interface
Display/
setting circuits
RS-232
interface
CN6B
connector
CN6A
connector
CN3
connector
CN2 encoder signal connector
CN1 control I/O connector
RS
485
±S
+
E5V
+
BAT
EG
G
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
MECHATROLINK-II
communications line
RS-232
computer
1-4 System Block Diagrams
1
Features and System Configuration
1-8
1-4 System Block Diagrams
GR
TH
Gate drive
SW power
supply
Main circuit
control
Internal
control
power
supply
L2C
L1C
L2
L3
L1
FUSE
+
−
~
~
+
+
−
−
~
~
~
15V
G1
VCC1
±VCC
G2
E5V
Voltage
detection
Current
detection
Regenerative
control
Relay,Gate
drive
B1
B2
TerminalsTerminals
U
V
W
Cooling fan
~~~
Control I/O interface
MECHATROLINK-II
interface
Display/
setting circuits
RS-232
interface
CN6B
connector
CN6A
connector
CN3
connector
CN2 encoder signal connector
CN1 control I/O connector
RS
485
±S
+
E5V
+
BAT
EG
G
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
MECHATROLINK-II
communications line
RS-232
computer
1
R88D-GN75H-ML2
Features and System Configuration
1-9
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