Omron OMNUC G5 R88M-K, OMNUC G5 R88D-KN User Manual
Cat. No. I572-E1-01
USER’S MANUAL
ML2
A/B
ML2
A/B
OMNUC G5 SERIES
R88M-K@
(AC Servomotors)
R88D-KN@-ML2
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
Tr ademarks and Copyrights
•
© OMRON, 2009
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.
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.
•
Introduction
Thank you for purchasing the OMNUC G5 Series. This user's manual explains how to install and
wire the OMNUC G5 Series, set parameters needed to operate the G5 Series, and remedies to be
taken and inspection methods to be used should problems occur.
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent or more
knowledge) and also being qualified for one of the following:
Those in charge of introducing FA equipment
Those designing FA systems
Those managing FA sites
Notes
This manual contains the information you need to know to correctly use the OMNUC G5 Series and
peripheral equipment.
Before using the OMNUC G5 Series, read through this manual and gain a full understanding of the
information provided herein.
After you finished reading the manual, keep it in a convenient place so that the manual can be
referenced at any time.
Make sure this manual will also be delivered to the end-user.
Introduction
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1
Items Requiring Acknowledgment
Items Requiring Acknowledgment
1. Terms of Warranty
(1) Warranty period
The warranty period of this product is 1 year after its purchase or delivery to the specified
location.
(2) Scope of warranty
If the product fails during the above warranty period due to design, material or
workmanship, we will provide a replacement unit or repair the faulty product free of
charge at the location where you purchased the product.
Take note, however, that the following failures are excluded from the scope of warranty.
a) Failure due to use or handling of the product in any condition or environment not
specified in the catalog, operation manual, etc.
b) Failure not caused by this product
c) Failure caused by any modification or repair not carried out by OMRON
d) Failure caused by any use not intended for this product
e) Failure that could not be predicted with the level of science and technology available
when the product was shipped from OMRON
f) Failure caused by a natural disaster or any other reason for which OMRON is not held
responsible
Take note that this warranty applies to the product itself, and losses induced by a failure
of the product are excluded from the scope of warranty.
2. Limited Liability
(1) OMRON shall not assume any responsibility whatsoever for any special damage, indirect
damage or passive damage arising from this product.
(2) OMRON shall not assume any responsibility for programming done by individuals not
belonging to OMRON, if the product is programmable, or outcomes of such programming.
3. Conditions for Intended Application
(1) If this product is combined with other product, the customer must check the standards and
regulations applicable to such combination. The customer must also check the compatibility
of this product with any system, machinery or device used by the customer. If the above
actions are not taken, OMRON shall not assume any responsibility regarding the
compatibility of this product.
(2) If the product is used in the following applications, consult your OMRON sales representative
to check the necessary items according to the specification sheet, etc. Also make sure the
product is used within the specified ratings and performance ranges with an ample margin
and implement safety measures, such as designing a safety circuit, to minimize danger
should the product fail.
a) Used in any outdoor application, application subject to potential chemical
contamination or electrical interference, or in any condition or environment not
specified in the catalog, operation manual, etc.
b) Nuclear power control equipment, incineration equipment, railway, aircraft and vehicle
equipment, medical machinery, entertainment machinery, safety system or any other
device controlled by an administrative agency or industry regulation
c) System, machinery or device that may threaten human life or property
d) Gas, water or electricity supply system, system operated continuously for 24 hours or
any other equipment requiring high reliability
e) Any other application where a high level of safety corresponding to a) to d) above is
required
(3) If the customer wishes to use this product in any application that may threaten human life or
property, be sure to confirm beforehand that the entire system is designed in such a way to
notify dangers or ensure the necessary level of safety via design redundancy, and that the
product is wired and installed appropriately in the system according to the intended
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Items Requiring Acknowledgment
application.
(4) Sample applications explained in the catalog, etc. are provided for reference purposes only.
When adopting any of these samples, check the function and safety of each equipment or
device.
(5) Understand all prohibited items and notes on use provided herein, so that this product will be
used correctly and that customers or third parties will not suffer unexpected losses.
4. Specification Change
The product specifications and accessories explained in the catalog, operation manual, etc.
are subject to change, if necessary, for the reasons of improvement, etc. Contact your
OMRON sales representative to check the actual specifications of this product.
5. Scope of Service
The price of this product excludes costs of service such as dispatching engineers.
If you have any request regarding service, consult your OMRON sales representative.
6. Scope of Application
The above paragraphs are based on the assumption that this product is traded and used in
Japan.
If you wish to trade or use this product outside Japan, consult your OMRON sales
representative.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3
Safety Precautions Document
Precautions for Safe Use
Precautions for Correct Use
Reference
Danger
Caution
When an incorrect handling can lead to a dangerous
situation, which may result in a minor or moderate
injury, and when only a property damage may occur
When an incorrect handling can lead to a dangerous
situation, which may result in death or serious injury
Or, when a serious property damage may occur
Safety Precautions Document
So that the OMNUC G5-Series Servomotor and Servo Drive and peripheral equipment are used safely and correctly,
be sure to peruse this Safety Precautions document section and the main text before using the product in order to
learn all items you should know regarding the equipment as well as all safety information and precautions.
Make an arrangement so that this manual also gets to the end-user of this product.
After reading this manual, keep it with you at all times.
Explanation of Display
The precautions explained in this section describe important information regarding safety and must be followed without fail.
The display of precautions used in this manual and their meanings are explained below.
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.
This symbol indicates an item you should perform or avoid in order to use the product safely.
This symbol indicates an item you should perform or avoid in order to prevent inoperative,
malfunction or any negative effect on performance or function.
This symbol indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
Example of symbols
This symbol indicates danger and caution.
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "beware of electric shock".
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
This symbol indicates a prohibited item (item you must not do).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "disassembly prohibited".
This symbol indicates a compulsory item (item that must be done).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "grounding required".
Safety Precautions Document
Danger
For Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the
purpose of showing the details. When using this product, be sure to install the covers and shields as specified
and use the product according to this manual.
If the product has been stored for an extended period of time, contact your OMRON sales representative.
Be sure to ground the frame ground terminals of the Servo Drive and motor to 100 or less.
Electric shock may result.
Never touch the parts inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables and
options.
Electric shock may result.
Installation, operation and maintenance or inspection by unauthorized personnel is
prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15
minutes.
Electric shock may result.
Do not damage, pull, stress strongly or pinch the cables or place heavy articles on them.
Electric shock, stopping of product operation or burn damage may result.
Never touch the rotating part of the motor during operation.
Injury may result.
Never modify the product.
Injury or equipment damage may result.
Install a stopping device on the machine side 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.
* Implement remedies 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 motor using an external drive source.
Fire may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
Safety Precautions Document
Danger
Caution
Do not place flammable materials near the motor, Servo Drive or Regeneration Resistor.
Fire may result.
Install the motor, Servo Drive and Regeneration Resistor to non-flammable materials such
as metals.
Fire may result.
When you perform a system configuration using the safety function, be sure to fully
understand the relevant safety standards and the descriptions in the operation manual, and
apply them to the system design.
Injury or damage may result.
Do not use the cable when it is laying in oil or water.
Electric shock, injury or fire may result.
Never connect a commercial power supply directly to the motor.
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 motor with shaft-end key grooves is being
used.
Injury may result.
Use the motor and Servo Drive in the specified combination.
Fire or equipment damage may result.
Do not store or install the product in the following environment:
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 the rapid temperature change
Location subject to corrosive or flammable gases
Location subject to higher levels of dust, salt content or iron dust
Location subject to splashes of water, oil, chemicals, etc.
Location where the product may receive vibration or impact directly
Installing or storing the product in these locations may result in fire, electric shock or
equipment damage.
The Servo Drive radiator, Regeneration Resistor, motor, etc. may become hot while the
power is supplied or remain hot for a while even after the power supply is cut off. Never touch
these components.
A burn injury may result.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Storage and Transportation
Caution
When transporting the product, do not hold it by the cables or motor shaft.
Injury or failure may result.
Do not overload the products. (Follow the instruction on the product label.)
Injury or failure may result.
Use the motor eye-bolts only when transporting the motor.
Do not use them to transport the machine.
Injury or failure may result.
Safety Precautions Document
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7
Safety Precautions Document
Caution
Installation and Wiring
Do not step on the product 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
product.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control
panel or other equipment.
Fire or failure may result.
Do not apply strong impact on the motor shaft or Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway motor, injury or failure may result.
Securely tighten the unit mounting screws, terminal block screws and cable screws.
Failure may result.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire may
result.
Only use the power supply voltage specified in this manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can
be supplied.
Equipment damage may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external
wiring.
Fire may result.
If the product is used in the following locations, provide sufficient shielding measures.
Location where noise generates due to static electricity, etc.
Location where a strong electric or magnetic field generates
Location where exposure to radioactivity may occur
Location where power supply lines are running nearby
Using the product in these locations may result in equipment damage.
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the correct polarity is connected.
Battery damage or explosion may result.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Operation and Adjustment
Caution
Caution
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the product 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, as it will make the operation unstable.
Injury may result.
Separate the motor from the mechanical system and check its operation before installing the
motor to the machine.
Injury may result.
If an alarm generated, remove the cause of the alarm and ensure safety, and then reset the
alarm and restart the operation.
Injury may result.
Do not use the built-in brake of the motor for normal braking operation.
Failure may result.
Safety Precautions Document
Do not operate the Servomotor when an excessive load inertia is installed.
Failure may result.
Install safety devices to prevent idle running or lock of the electromagnetic brake or the gear
head, or leakage of grease from the gear head.
Injury, damage or taint damage may result.
If the Servo Drive fails, cut off the power supply to the Servo Drive on the power supply side.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
Maintenance and Inspection
After replacing the unit, transfer to the new unit all data needed to resume operation, before
restarting the operation.
Equipment damage may result.
Never repair the product by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the unit is not going to be used for a prolonged
period of time.
Injury may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9
Safety Precautions Document
Warning label display location
(R88D-KN02H-ML2)
Location of Warning Label
This product bears a warning label at the following location to provide handling warnings.
When handling the product, be sure to observe the instructions provided on this label.
Instructions on Warning Label
Disposal
When disposing of the battery, insulate it using tape, etc. and dispose of it by following the
applicable ordinance of your local government.
Dispose of the product as an industrial waste.
10
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Items to Check after Unpacking
Items to Check after Unpacking
After unpacking, check the following items.
Is this the model you ordered?
Is there any damage sustained during shipment?
Accessories of This Product
Safety Precautions document x 1 copy
Connectors, mounting screws, etc. 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.
Specifications
Single-
phase 100
VAC
Single-
phase/3-
phase 200
VAC
3-phase
200 VAC
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
1 kW
1.5
kW
2 kW
3 kW
5 kW
600 W
Connector for Main circuit power
supply terminals and Control
circuit power supply terminals
Connector for External
Regeneration Resistor
connection terminals and
Motor connection terminals
Included
Included
Safety connector
1 kW
3-phase
400 VAC
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1.5
kW
2 kW
3 kW
Included
5 kW
Included
11
Manual Revision History
I572-E1-01
Revision symbol
Manual Revision History
The manual revision symbol is an alphabet appended at the end of the manual number found in the
bottom left-hand corner of the front or back cover.
Example
Revision
symbol
01 November 2009 First print
Revision date Description of revision and revised page
12
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring to below.
Structure of This Document
Outline
Features and
Chapter 1
Chapter 2
Chapter 3 Specifications
Chapter 4 System Design
Chapter 5
Chapter 6
Chapter 7 Safety Function
Chapter 8
System
Configuration
Standard Models
and External
Dimensions
BASIC
CONTROL Mode
Applied
Functions
Parameters
Details
This chapter explains the features of this product, name of each part,
and applicable EC directives and UL standards.
This chapter explains the models of Servo Drive, Servomotor, and
peripheral equipment, as well as the external dimensions and
mounting dimensions.
This chapter explains the general specifications, characteristics,
connector specifications and I/O circuits of the Servo Drive, general
specifications, characteristics, encoder specifications of the
Servomotor, and all other specifications including those of peripheral
equipment.
This chapter explains the installation conditions, wiring methods
including wiring conforming to EMC directives and regenerative energy
calculation methods regarding the Servo Drive, Servomotor and
Decelerator, as well as the performance of External Regeneration
Resistors, and so on.
This chapter explains an outline of operations available in various
CONTROL modes and explains the contents of setting.
This chapter gives outline of applied functions such as electronic
gears, gain switching and soft start, and explains the setting contents.
This function stops the motor based on a signal from a Safety
Controller or safety sensor.
An outline of the function is explained together with operation and
connection examples.
This chapter explains the set value and contents of setting of each
parameter.
Chapter 9 Operation
Chapter 10
Chapter 11
Adjustment
Functions
Error and
Maintenance
Appendix The appendix lists the parameters.
This chapter explains the operating procedures and how to operate in
each mode.
This chapter explains the functions, setting methods and items to note
regarding various gain adjustments.
This chapter explains the items to check when problems occur, error
diagnosis using the alarm LED display and measures, error diagnosis
based on the operating condition and measures, and periodic
maintenance.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
13
Table Of Contents
Introduction ............................................................................................1
Items Requiring Acknowledgment .........................................................2
Safety Precautions Document ...............................................................4
Items to Check after Unpacking...........................................................11
Manual Revision History ......................................................................12
Structure of This Document .................................................................13
Chapter1 Features and System Configuration
1-1 Outline ................................................................................................... 1-1
Outline of the OMNUC G5 Series................................................................................ 1-1
Features of the OMNUC G5 Series............................................................................. 1-1
1-2 System Configuration ............................................................................ 1-3
1-3 Names and Functions ............................................................................ 1-4
Servo Drive Part Names..............................................................................................1-4
Servo Drive Functions ................................................................................................. 1-5
1-4 System Block Diagrams......................................................................... 1-6
1-5 Applicable Standards ............................................................................. 1-7
EC Directives............................................................................................................... 1-7
UL and cUL Standards ................................................................................................ 1-7
Functional Safety......................................................................................................... 1-7
Chapter2 Standard Models and External Dimensions
2-1 Servo System Configuration .................................................................. 2-1
2-2 How to Read Model ............................................................................... 2-3
Servo Drive.................................................................................................................. 2-3
Servomotor ..................................................................................................................2-4
2-3 Standard Model List ............................................................................... 2-5
Servo Drive Model List ................................................................................................2-5
Servomotor Model List................................................................................................. 2-6
Servo Drive and Servomotor Combination List ........................................................2-10
Cables and Peripheral Devices Model List................................................................ 2-12
2-4 External and Mounting Dimensions ..................................................... 2-17
Servo Drive Dimensions ............................................................................................ 2-17
Servomotor Dimensions ............................................................................................ 2-28
External Regeneration Resistor Dimensions ............................................................. 2-47
2-5 EMC Filter Dimensions ........................................................................ 2-48
MECHATROLINK-II Repeater Units ..........................................................................2-49
Chapter3 Specifications
3-1 Servo Drive Specifications ..................................................................... 3-1
General Specifications................................................................................................. 3-1
Characteristics............................................................................................................. 3-2
Main Circuit and Motor Connections ........................................................................... 3-8
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Table Of Contents
Control I/O Connector Specifications (CN1).............................................................. 3-13
Control Input Circuits ................................................................................................. 3-15
Control Input Details .................................................................................................. 3-16
Control Output Circuits .............................................................................................. 3-18
Control Output Details ............................................................................................... 3-19
Encoder Connector Specifications (CN2).................................................................. 3-23
External Encoder Connector Specifications (CN4).................................................... 3-23
Monitor Connector Specifications (CN5) ................................................................... 3-27
USB Connector Specifications (CN7)........................................................................ 3-28
Safety Connector Specifications (CN8) ..................................................................... 3-29
3-2 Overload Characteristics (Electronic Thermal Function) ......................3-31
Overload Characteristics Graphs .............................................................................. 3-31
3-3 Servomotor Specifications....................................................................3-32
General Specifications............................................................................................... 3-32
Characteristics........................................................................................................... 3-33
Encoder Specifications .............................................................................................. 3-56
3-4 Cable and Connector Specifications ....................................................3-57
Encoder Cable Specifications.................................................................................... 3-57
Motor Power Cable Specifications............................................................................. 3-59
Connector Specifications........................................................................................... 3-65
Analog Monitor Cable Specifications......................................................................... 3-68
MECHATROLINK-II Communications Cable Specifications ..................................... 3-70
Control Cable Specifications ..................................................................................... 3-72
3-5 External Regeneration Resistor Specifications ....................................3-77
External Regeneration Resistor Specifications ......................................................... 3-77
3-6 Reactor Filter Specifications.................................................................3-79
Specifications ............................................................................................................ 3-79
3-7 MECHATROLINK-II Repeater Unit Specifications ...............................3-80
Specifications ............................................................................................................ 3-80
Repeater Unit Part Names ........................................................................................ 3-81
Connection Method ................................................................................................... 3-82
Chapter4 System Design
4-1 Installation Conditions ............................................................................4-1
Servo Drive Installation Conditions.............................................................................. 4-1
Servomotor Installation Conditions.............................................................................. 4-3
Decelerator Installation Conditions.............................................................................. 4-6
4-2 Wiring .....................................................................................................4-7
Peripheral Equipment Connection Examples .............................................................. 4-7
Main Circuit and Motor Connections ......................................................................... 4-13
4-3 Wiring Conforming to EMC Directives ..................................................4-21
Wiring Method ........................................................................................................... 4-21
Selecting Connection Component ............................................................................. 4-26
4-4 Regenerative Energy Absorption..........................................................4-40
Calculating the Regenerative Energy ........................................................................ 4-40
Servo Drive Regeneration Absorption Capacity ........................................................ 4-42
Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-43
Connecting an External Regeneration Resistor ........................................................ 4-44
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
15
Table Of Contents
Chapter5 BASIC CONTROL Mode
5-1 Position Control ..................................................................................... 5-1
Parameters Requiring Settings.................................................................................... 5-1
Related Functions........................................................................................................ 5-2
Parameter Block Diagram for POSITION CONTROL mode ....................................... 5-3
5-2 Speed Control ........................................................................................ 5-4
Parameters Requiring Settings.................................................................................... 5-4
Related Functions........................................................................................................ 5-4
Parameter Block Diagram for SPEED CONTROL mode ............................................ 5-5
5-3 Torque Control ....................................................................................... 5-6
Parameters Requiring Settings.................................................................................... 5-6
Related Functions........................................................................................................ 5-7
Parameter Block Diagram for TORQUE CONTROL mode ......................................... 5-8
5-4 Full Closing Control ............................................................................... 5-9
Outline of Operation .................................................................................................... 5-9
Parameters Requiring Settings..................................................................................5-10
Parameter Block Diagram for FULL CLOSING CONTROL mode............................. 5-16
Chapter6 Applied Functions
6-1 Sequence I/O Signal .............................................................................. 6-1
Input Signals................................................................................................................ 6-1
Output Signals .............................................................................................................6-4
6-2 Forward and Reverse Drive Prohibition Functions ................................ 6-6
Parameters Requiring Settings.................................................................................... 6-6
6-3 Overrun Protection................................................................................. 6-9
Operating Conditions................................................................................................... 6-9
Parameters Requiring Settings.................................................................................... 6-9
Operation Example.................................................................................................... 6-10
6-4 Backlash Compensation ...................................................................... 6-11
Parameters Requiring Settings..................................................................................6-11
6-5 Brake Interlock ..................................................................................... 6-13
Parameters Requiring Settings..................................................................................6-13
Operating Example.................................................................................................... 6-14
6-6 Electronic Gear Function ..................................................................... 6-18
Parameters Requiring Settings..................................................................................6-18
Operation Example.................................................................................................... 6-20
6-7 Torque Limit Switching ........................................................................ 6-21
Operating Conditions................................................................................................. 6-21
Parameters Requiring Settings..................................................................................6-21
6-8 Soft Start .............................................................................................. 6-23
Parameters Requiring Settings..................................................................................6-23
Soft Start Acceleration or Deceleration Time ............................................................ 6-23
S-curve Acceleration or Deceleration Time ............................................................... 6-24
6-9 Gain Switching Function ...................................................................... 6-25
Parameters Requiring Settings..................................................................................6-26
Gain Switching Setting for Each CONTROL mode ................................................... 6-27
Timing by Gain Switching Setting.............................................................................. 6-32
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Table Of Contents
6-10 Gain Switching 3 Function....................................................................6-36
Operating Conditions................................................................................................. 6-36
Parameters Requiring Settings.................................................................................. 6-36
Operation Example.................................................................................................... 6-37
Chapter7 Safety Function
7-1 Safe Torque OFF (STO) Function ..........................................................7-1
Functional Safety......................................................................................................... 7-1
I/O Signal Specifications.............................................................................................. 7-2
7-2 Operation Example.................................................................................7-4
7-3 Connection Examples.............................................................................7-6
Chapter8 Parameters Details
8-1 Basic Parameters ...................................................................................8-1
8-2 Gain Parameters ....................................................................................8-8
8-3 Vibration Suppression Parameters.......................................................8-20
8-4 Analog Control Parameters ..................................................................8-25
8-5 Interface Monitor Setting Parameters...................................................8-31
8-6 Extended Parameters...........................................................................8-42
8-7 Special Parameters ..............................................................................8-52
Chapter9 Operation
9-1 Operational Procedure ...........................................................................9-1
9-2 Preparing for Operation ..........................................................................9-2
Items to Check Before Turning ON the Power Supply ................................................ 9-2
Turning on the Power Supply ...................................................................................... 9-4
Checking the Displays ................................................................................................. 9-5
Absolute Encoder Setup.............................................................................................. 9-6
9-3 Trial Operation ........................................................................................9-7
Preparation for Trial Operation .................................................................................... 9-7
Trial Operation by Using the CX-Drive ........................................................................ 9-7
Chapter10 Adjustment Functions
10-1 Analog Monitor .....................................................................................10-1
Parameters Requiring Settings.................................................................................. 10-1
10-2 Gain Adjustment...................................................................................10-4
Purpose of the Gain Adjustment................................................................................ 10-4
Gain Adjustment Methods ......................................................................................... 10-4
Gain Adjustment Procedure ...................................................................................... 10-5
10-3 Realtime Autotuning .............................................................................10-6
Parameters Requiring Settings.................................................................................. 10-7
Setting Realtime Autotuning...................................................................................... 10-7
Setting Machine Rigidity ............................................................................................ 10-8
10-4 Manual Tuning....................................................................................10-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
17
Table Of Contents
Basic Settings.......................................................................................................... 10-13
10-5 Damping Control................................................................................ 10-21
Outline of Operation ................................................................................................ 10-21
Parameters Requiring Settings................................................................................10-22
10-6 Adaptive Filter.................................................................................... 10-25
Parameters Requiring Settings................................................................................10-26
Operating Procedure ............................................................................................... 10-27
10-7 Notch Filter ........................................................................................ 10-28
Parameters Requiring Settings................................................................................10-29
10-8 Disturbance Observer Function ......................................................... 10-31
Operating Conditions...............................................................................................10-31
Parameters Requiring Settings................................................................................10-32
Operating Procedure ............................................................................................... 10-32
10-9 Friction Torque Compensation Function............................................ 10-33
Operating Conditions...............................................................................................10-33
Parameters Requiring Settings................................................................................10-33
Operation Example..................................................................................................10-34
10-10 Hybrid Vibration Suppression Function ............................................ 10-35
Operating Conditions...............................................................................................10-35
Parameters Requiring Settings................................................................................10-35
Operating Procedure ............................................................................................... 10-35
10-11 Feed-forward Function...................................................................... 10-36
Parameters Requiring Settings................................................................................10-36
Operating Procedure ............................................................................................... 10-37
10-12 Instantaneous Speed Observer Function ......................................... 10-39
Operating Conditions...............................................................................................10-39
Parameters Requiring Settings................................................................................10-39
Operating Procedure ............................................................................................... 10-40
Chapter11 Error and Maintenance
11-1 Error Processing .................................................................................. 11-1
Preliminary Checks When a Problem Occurs ........................................................... 11-1
Precautions When a Problem Occurs ....................................................................... 11-2
Replacing the Servomotor and Servo Drive .............................................................. 11-3
11-2 Warning ............................................................................................... 11-4
Warning List............................................................................................................... 11-4
11-3 Alarms.................................................................................................. 11-6
Emergency Stop Operation at Alarms ..................................................................... 11-13
11-4 Troubleshooting ................................................................................. 11-15
Error Diagnosis Using the Alarm Displays............................................................... 11-15
Error Diagnosis Using the Operation Status............................................................ 11-27
11-5 Periodic Maintenance ........................................................................ 11-35
Servomotor Life Expectancy.................................................................................... 11-35
Servo Drive Life Expectancy ................................................................................... 11-36
Replacing the Absolute Encoder Battery ................................................................ 11-37
18
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Table Of Contents
Appendix
A-1 Parameter List ....................................................................................... A-1
Index
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
19
Features and System Configuration
This chapter explains the features of this product, name of each part, and
applicable EC directives and UL standards.
1-1 Outline ...........................................................................1-1
1-2 System Configuration ..................................................1-3
1-3 Names and Functions ..................................................1-4
1-4 System Block Diagrams...............................................1-6
1-5 Applicable Standards...................................................1-7
1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1
1-1 Outline
1-1 Outline
Outline of the OMNUC G5 Series
The OMNUC G5-Series AC Servo Drives (Built-in MECHATROLINK-II communications
support type) are a series of Servo Drives supporting the MECHATROLINK-II high-speed
motion field network.
When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1WNCF71), you can create a sophisticated positioning control system. Also, you need only one
communications cable to connect the Servo Drive and the Controller. Therefore, you can
realize a position control system easily with reduced wiring effort.
With real time autotuning, adaptive filter, notch filter, and damping control, you can set up a
system that provides stable operation by suppressing vibration in low-rigidity machines.
Features of the OMNUC G5 Series
The OMNUC G5 Series has the following features.
Data Transmission Using MECHATROLINK-II Communications
When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1WNCF71), you can exchange all control data between the Servo Drive and the Controller 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.
Therefore, you can use the Servo Drive's various control parameters and monitor data on a
Features and System Configuration
host controller, and unify the system data for management.
Achievement of Accurate Positioning by Full Closing Control
Feedbacks from the external encoder connected to the motor are used to accurately control
positions. Accordingly, position control is not affected by deviation caused by ball screws or
temperature.
Wide Range of Power Supplies to Match Any Necessity
The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at
overseas facilities and in wide-ranging applications and environment. Since the utilization ratio
of facility equipment also increases, the TCO (Total Cost of Ownership) will come down.
1-1
Safe Torque OFF (STO) Function to Ensure Safety
You can cut off the motor current to stop the motor based on a signal from an emergency stop
button or other safety equipment. In addition to the conventional stop method based on a
control signal, the STO function that permits direct stopping without a need to involve the
control circuit provides the emergency stop from 2 systems, thereby enhancing safety.
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.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-1 Outline
Two damping filters are provided to enable switching the damping frequency automatically
according to the rotation direction and also via an external signal. In addition, the settings can
be made easily merely by just setting the damping frequency and filter values, and you are
assured of stable operation even if the set values are inappropriate.
1
Features and System Configuration
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-2
1
OMNUC G5 Series
AC Servo Drive
R88D-KNx-ML2
OMNUC G5 Series
AC Servomotor
R88M-Kx
INC ABS
MECHATRO
LINK-II
Controller
(MECHATROLINK(MECHATROLINK-II Type) Type)
Programmable Controller
SYSMAC CS1
Position Control Unit
CS1W-NC
x
71
Controller
(MECHATROLINK(MECHATROLINK-II-II Type) Type)
Programmable
Controller
SYSMAC CJ1
Position Control Unit
CJ1W-NC
x
71
MECHATRO
LINK-II
1-2 System Configuration
1-2 System Configuration
Features and System Configuration
1-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-3 Names and Functions
Display area
Rotary switches for node
address setting
MECHATROLINK-II status LED indicator
MECHATROLINK-II
communications connector
USB connector (CN7)
Analog monitor connector (CN5)
Motor connection
terminals (U, V and W)
Control circuit
power supply terminals
(L1C and L2C)
Main circuit
power supply terminals
(L1, L2, and L3)
External Regeneration
Resistor connection
terminals (B1, B2 and B3)
Protective ground terminals
Control I/O connector (CN1)
Safety connector (CN8)
External encoder
connector (CN4)
Encoder connector (CN2)
Charge lamp
This section describes the name and functions of the Servo Drive.
Servo Drive Part Names
The Servo Drive Part Names are defined as shown below.
1-3 Names and Functions
1
Features and System Configuration
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-4
1
1-3 Names and Functions
Servo Drive Functions
The functions of each part are the followings:
Display Area
A 2-digit 7-segment LED indicator shows the node address, alarm codes, and other Servo
Drive status.
Charge Lamp
Lits when the main circuit power supply is turned ON.
MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
For details, refer to "MECHATROLINK-II Communications Status LED Indicator"(P.9-4).
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
External Encoder Connector (CN4)
Features and System Configuration
Connector for an encoder signal used during full closing control.
Analog Monitor Connector (CN5)
2 analog outputs to monitor values like motor rotation speed, torque command value, etc.
MECHATROLINK-II Communications Connectors (ML2A and ML2B)
Connectors for MECHATROLINK-II communications
1-5
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for the safety devices.
If no safety device is used, keep the factory-set safety bypass connector installed.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-4 System Block Diagrams
1-4 System Block Diagrams
This is the block diagram of the OMNUC G5-Series AC Servo Drive (Built-in MECHATROLINK-II
communications support type).
L1
L2
L3
L1C
L2C
CN A
FUSE
FUSE
GR
GR
FUSE
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
+
−
+
−
SW power
supply main
circuit control
Internal
control power
supply
Voltage
detection
Relay
drive
Regeneration
control
MPU&ASIC
Position, speed and torque calculation control area
• PWM control
Overcurrent
detection
Gate drive
CN B
Internal Regeneration
Resistor R88D-KN10H-ML2
or more only
Current detection
Display and
setting circuit
area
B1
B2
B3
W
1
U
V
GR
Features and System Configuration
Cooling fan
R88D-KT10H or more only
CN1
Control
interface
CN2 CN4 CN5 CN7
Encoder
External
encoder
Analog
monitor
CN8
USB Safety
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-6
1-5 Applicable Standards
1-5 Applicable Standards
This section describes applicable EMC Directives.
EC Directives
1
EC
directive
Low voltage
command
EMC
directives
Note. To conform to EMC directives, the Servo Motor and Servo Drive must be installed under the conditions described
in "4-3 Wiring Conforming to EMC Directives" (P.4-21).
Product Applicable standards
AC Servo Drive EN 61800-5-1
AC Servomotor EN60034-1/-5
AC Servo Drive
AC Servomotor
UL and cUL Standards
Standard Product Applicable standards File number
UL
standards
AC Servo Drive UL508C E179149
AC Servomotor UL1004-1
Features and System Configuration
CSA
standards
AC Servo Drive CSA22.2 No. 14 E179149
AC Servomotor CSA22.2 No. 100
EN 55011 class A group 1
IEC61800-3
EN61000-6-2
*1
UL1004 E179189
*1
CSA22.2 No. 100 E179189
E331224
E331224
*1 Motor capacity is 50 to 750 W when the power supply voltage is 100 V or 200 V and the rated number
of motor rotation speed is 3,000 r/min.
Functional Safety
Standard Product Applicable standards
Functional
safety
1-7
AC Servo Drive EN954-1 (Cat.3)
ISO13849-1 (PLd)
EN61508 (SIL 2)
EN62061 (SIL 2)
EN61800-5-2 (STO)
IEC61326-3-1 (SIL 2)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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