Omron R88M-W, OMNUC W, R88D-WT User Manual

USER’S MANUAL

MODELS R88M-Wj

(AC Servomotors)

MODELS R88D-WTj

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

OMNUC W SERIES

Cat. No. I531-E1-09

Thank you for choosing this OMNUC W-series product. Proper use and handling of the product will ensure proper product performance, will length product life, and may prevent possible accidents. Please read this manual thoroughly and handle and operate the product with care.

NOTICE

1. This manual describes the functions of the product and relations with other products. You should assume that anything not described in this manual is not possible.

2. Although care has been given in documenting the product, please contact your OMRON representative if you have any suggestions on improving this manual.

3. The product contains dangerous high voltages inside. Turn OFF the power and wait for at least five minutes to allow power to discharge before handling or working with the product. Never attempt to disassemble the product.

4. We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed.

S Precautions on the dangers of high-voltage equipment.

S Precautions on touching the terminals of the product even after power has been turned

OFF. (These terminals are live even with the power turned OFF.)

5. Specifications and functions may be changed without notice in order to improve product performance.

6. Positive and negative rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows: counterclockwise rotation is positive and clockwise rotation is negative.

7. Do not perform withstand-voltage or other megameter tests on the product. Doing so may damage internal components.

8. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life.

9. The OMNUC W Series can control both incremental and absolute encoders. Differences in functions or specifications according to the encoder type are indicated in this manual. Be sure to check the model that is being used, and follow the relevant specifications.

S Servomotors with incremental encoders: R88M-WjH-j/-WjL-j

S Servomotors with absolute encoders: R88M-WjT-j/-WjS-j

Items to Check After Unpacking

Check the following items after removing the product from the package:

S Has the correct product been delivered (i.e., the correct model number and specifica-

tions)?

S Has the product been damaged in shipping?

S Are any screws or bolts loose?

1. To ensure safe and proper use of your OMRON Servomotors and Servo Drivers, please read this manual (Cat. No. I531-E1) to gain sufficient knowledge of the products, safety information, and precautions before actual use.

2. The products are illustrated without covers and shieldings to enable showing better detail in this manual. For actual use of the products, make sure to use the covers and shieldings as specified.

3. Copies of this manual and other related manuals must be delivered to the actual end users of the products.

4. Please keep a copy of this manual close at hand for future reference.

5. If a product has been left unused for a long time, please consult with your OMRON sales representative.

USER’S MANUAL

MODELS R88M-Wj

(AC Servomotors)

MODELS R88D-WTj

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

OMNUC W SERIES

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death

or serious injury. Additionally, there may be severe property damage.

WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death

or serious injury. Additionally, there may be severe property damage.

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor

or moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller and is not used as an abbreviation for anything else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient operation of the product.

 OMRON, 2000

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.

General Warnings

Observe the following warnings when using the OMNUC Servomotor and Servo Driver and all connected or peripheral devices.

This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail. Make sure that these protective covers are on the product before use.

Consult your OMRON representative when using the product after a long period of storage.

WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor

to a class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground may result in electric shock.

WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or optional

items while the power is being supplied. Doing so may result in electric shock.

WARNING Installation, operation, maintenance, or inspection must be performed by authorized

personnel. Not doing so may result in electric shock or injury.

WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF

the power supply. Doing so may result in electric shock.

WARNING Do not damage, press, or put excessive stress or heavy objects on the cables. Doing

so may result in electric shock.

WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may result in

injury.

WARNING Do not modify the product. Doing so may result in injury or damage to the product.

Caution Use the Servomotors and Servo Drivers in a specified combination. Using them in-

correctly may result in fire or damage to the products.

Caution Do not store or install the product in the following places. Doing so may result in fire,

electric shock, or damage to the product.

S Locations subject to direct sunlight. S Locations subject to temperatures or humidity outside the range specified in the

specifications.

S Locations subject to condensation as the result of severe changes in temperature. S Locations subject to corrosive or flammable gases. S Locations subject to dust (especially iron dust) or salts. S Locations subject to shock or vibration. S Locations subject to exposure to water, oil, or chemicals.

Caution Do not touch the Servo Driver radiator, regeneration resistors or Servomotor while

the power is being supplied or soon after the power is turned OFF. Doing so may result in a burn injury due to the hot surface.

Storage and Transportation Precautions

Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so

may result in injury or malfunction.

Caution Do not place any load exceeding the figure indicated on the product. Doing so may

result in injury or malfunction.

Caution Use the motor eye-bolts only for transporting the Motor. Using them for transporting

the machinery may result in injury or malfunction.

Installation and Wiring Precautions

Caution Do not step on or place a heavy object on the product. Doing so may result in injury.

Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering

the product. Doing so may result in fire.

Caution Be sure to install the product in the correct direction. Not doing so may result in mal-

function.

Caution Provide the specified clearances between the Servo Driver and the control panel or

with other devices. Not doing so may result in fire or malfunction.

Caution Do not apply any strong impact. Doing so may result in malfunction.

Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,

injury, or malfunction.

Caution Be sure that all the mounting screws, terminal screws, and cable connector screws

are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to termi-

nals. Connection of bare stranded wires may result in burning.

Caution Always use the power supply voltage specified in the User’s Manual. An incorrect

voltage may result in malfunction or burning.

Caution Take appropriate measures to ensure that the specified power with the rated voltage

and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

Caution Install external breakers and take other safety measures against short-circuiting in

external wiring. Insufficient safety measures against short-circuiting may result in burning.

Caution Provide an appropriate stopping device on the machine side to secure safety. (A

holding brake is not a stopping device for securing safety.) Not doing so may result in injury.

Caution Provide an external emergency stopping device that allows an instantaneous stop of

operation and power interruption. Not doing so may result in injury.

Caution Take appropriate and sufficient countermeasures when installing systems in the fol-

lowing locations:

S Locations subject to static electricity or other forms of noise. S Locations subject to strong electromagnetic fields and magnetic fields. S Locations subject to possible exposure to radioactivity. S Locations close to power supplies.

Caution Do not reverse the polarity of the battery when connecting it. Reversing the polarity

may damage the battery or cause it to explode.

Operation and Adjustment Precautions

Caution Confirm that no adverse effects will occur in the system before performing the test

operation. Not doing so may result in equipment damage.

Caution Confirm that no adverse effects will occur in the system before performing the test

operation. Not doing so may result in equipment damage.

Caution Check the newly set parameters for proper execution before actually running them.

Not doing so may result in equipment damage.

Caution Do not make any extreme adjustments or setting changes. Doing so may result in

unstable operation and injury.

Caution Separate the Servomotor from the machine, check for proper operation, and then

connect to the machine. Not doing so may cause injury.

Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,

and then resume operation. Not doing so may result in injury.

Caution Do not come close to the machine immediately after resetting momentary power in-

terruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury.

Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may

result in malfunction.

Maintenance and Inspection Precautions

WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may

result in malfunction, fire, or electric shock.

Caution Resume operation only after transferring to the new Unit the contents of the data re-

quired for operation. Not doing so may result in an unexpected operation.

Warning Labels

Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there.

Warning label

Example from R88D-WTA3HL

Precautions for Safe Use

Dispose of the product and batteries according to local ordinances as they apply. Have qualified specialists properly dispose of used batteries as industrial waste.

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

БББББББББББББББББББББББББББББББ

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.

БББББББББББББББББББББББББББББББ

LIMITATIONS OF LIABILITY

БББББББББББББББББББББББББББББББ

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.

Application Considerations

SUITABILITY FOR USE

БББББББББББББББББББББББББББББББ

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer’s application or use of the products.

At the customer’s request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate 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.

БББББББББББББББББББББББББББББББ

PROGRAMMABLE PRODUCTS

БББББББББББББББББББББББББББББББ

OMRON shall not be responsible for the user’s programming of a programmable product, or any consequence thereof.

Disclaimers

БББББББББББББББББББББББББББББББ

CHANGE IN SPECIFICATIONS

БББББББББББББББББББББББББББББББ

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

БББББББББББББББББББББББББББББББ

DIMENSIONS AND WEIGHTS

БББББББББББББББББББББББББББББББ

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

БББББББББББББББББББББББББББББББ

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 requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

БББББББББББББББББББББББББББББББ

ERRORS AND OMISSIONS

БББББББББББББББББББББББББББББББ

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.

Table of Contents

Chapter 1. Introduction 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1 Features 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 System Configuration 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Servo Driver Nomenclature 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 Applicable Standards and Models 1-10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 System Block Diagrams 1-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2. Standard Models and Specifications 2-1. . . . . . . . . . . . . . . . .

2-1 Standard Models 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Servo Driver and Servomotor Combinations 2-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 External and Mounted Dimensions 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-1 AC Servo Drivers 2-24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-2 Parameter Units 2-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-3 AC Servomotors 2-33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-4 AC Servomotors with Gears 2-49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 Servo Driver Specifications 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-1 General Specifications 2-62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-2 Performance Specifications 2-63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-3 Terminal Block Specifications 2-67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-4 Control I/O Specifications (CN1) 2-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-5 Encoder Input Specifications (CN2) 2-89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-6 Parameter Unit Input Specifications (CN3) 2-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-7 Monitor Output Connector Specifications (CN5) 2-90. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-8 Battery Connector Specifications (CN8) 2-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 Servomotor Specifications 2-92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-1 General Specifications 2-93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-2 Performance Specifications 2-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-3 Specifications for Servomotors with Reduction Gears 2-114. . . . . . . . . . . . . . . . . . . . . . . .

2-5-4 Encoder Specifications 2-119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 Cable and Connector Specifications 2-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-1 Control Cables 2-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-2 Motor Cable Specifications 2-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-3 Peripheral Cables and Connector Specifications 2-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7 Servo Relay Units and Cable Specifications 2-156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7-1 Servo Relay Units 2-156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7-2 Cable for Servo Relay Units 2-159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8 Parameter Unit and Cable Specifications 2-177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8-1 Parameter Unit 2-177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8-2 Parameter Unit Cable (R88A-CCW002C) 2-178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-9 External Regeneration Resistors/Resistance Units 2-180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-10 Absolute Encoder Backup Battery Specifications 2-182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-11 DC Reactors 2-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3. System Design and Installation 3-1. . . . . . . . . . . . . . . . . . . . . .

3-1 Installation Conditions 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1-1 Servo Drivers 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1-2 Servomotors 3-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Wiring 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-1 Connecting Cable 3-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-2 Peripheral Device Connection Examples 3-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

3-2-3 Terminal Block Wiring 3-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-4 Wiring for Noise Resistance 3-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-5 Wiring for Conformity to EMC Directives 3-28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Regenerative Energy Absorption 3-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-1 Regenerative Energy Calculation 3-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-2 Servo Driver Regenerative Energy Absorption Capacity 3-40. . . . . . . . . . . . . . . . . . . . . .

3-3-3 Regenerative Energy Absorption by External Regeneration Resistance 3-41. . . . . . . . . . .

3-4 Adjustments and Dynamic Braking When Load Inertia Is Large 3-46. . . . . . . . . . . . . . . . . . . . . . .

3-4-1 Adjustments When Load Inertia Is Large 3-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4-2 Dynamic Braking When Load Inertia Is Large 3-46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4. Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1 Operational Procedure 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Preparing for Operation 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2-1 Turning Power ON and Checking Indicators 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2-2 Absolute Encoder Setup and Battery Changes 4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Trial Operation 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-1 Operation Details 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-2 Jog Operation 4-12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 User Parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-1 Setting and Checking Parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-2 Parameter Tables 4-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-3 Important Parameters 4-32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-4 Parameter Details 4-43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Operation Functions 4-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-1 Position Control (Position) 4-73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-2 Speed Control (Speed) 4-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-3 Torque Control (Torque) 4-76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-4 Internally-set Speed Control 4-77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-5 Switching the Control Mode (Switching Control) 4-82. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-6 Forward and Reverse Drive Prohibit (All Operating Modes) 4-85. . . . . . . . . . . . . . . . . . .

4-5-7 Encoder Dividing Function (All Operating Modes) 4-87. . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-8 Brake Interlock (All Operating Modes) 4-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-9 Gain Reduction (Position, Speed, Internally-set speed Control) 4-90. . . . . . . . . . . . . . . . .

4-5-10 Torque Limit Function (All Operating Modes) 4-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-11 Soft Start Function (Speed, Internally-set Speed Control) 4-93. . . . . . . . . . . . . . . . . . . . . .

4-5-12 Electronic Gear Function (Position) 4-94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-13 Position Command Filter Function (Position) 4-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-14 Position Lock Function (Speed, Internally-set Speed Control) 4-97. . . . . . . . . . . . . . . . . .

4-5-15 Speed Limit Function (Torque) 4-98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6 Trial Operation Procedure 4-99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7 Making Adjustments 4-101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7-1 Online Auto-tuning 4-101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7-2 Manual Tuning 4-104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8 Advanced Adjustment Functions 4-109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-1 Bias Function (Position) 4-109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-2 Feed-forward Function (Position) 4-110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-3 Torque Feed-forward Function (Speed) 4-110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-4 Speed Feed-forward Function (Position) 4-112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-5 Gain Switching (Position, Speed, Internally-set Speed Control) 4-113. . . . . . . . . . . . . . . . .

4-8-6 Automatic Gain Switching (Position Control) 4-114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-7 Notch Filter (Position, Speed, Internally-set Speed Control) 4-115. . . . . . . . . . . . . . . . . . .

Table of Contents

4-8-8 Speed Feedback Compensation (Position, Speed, Internally-set Time Control) 4-117. . . . .

4-8-9 Speed Feedback Filter (Position, Speed, Internally-set Speed Control) 4-118. . . . . . . . . . .

4-8-10 P Control Switching (Position, Speed, Internally-set Speed Control) 4-118. . . . . . . . . . . . .

4-9 Using Displays 4-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9-1 Power Supply Indicator and Charge Indicator 4-121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9-2 Status Display Mode 4-121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-9-3 Monitor Mode (Unjjj) 4-123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-10 Using Monitor Output 4-127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11 System Check Mode 4-130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-1 Alarm History 4-131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-2 Online Auto-tuning Functions 4-133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-3 Servomotor Origin Search 4-135. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-4 User Parameter Initialization 4-137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-5 Command Offset Adjustment 4-138. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-6 Analog Monitor Output Adjustment 4-142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-7 Servomotor Current Detection Offset Adjustment 4-145. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-8 Password Setting 4-149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-9 Checking Servomotor Parameters 4-150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-10 Checking the Version 4-152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-11 Changing Absolute Encoder Rotation Setting (ABS) 4-153. . . . . . . . . . . . . . . . . . . . . . . .

4-11-12 Clearing Option Unit Detection Results 4-154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5. Troubleshooting 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 Measures when Trouble Occurs 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-1 Preventive Checks Before Trouble Occurs 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-2 Precautions 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-3 Replacing the Servomotor and Servo Driver 5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 Alarms 5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 Troubleshooting 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-1 Error Diagnosis Using Alarm Display 5-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-2 Troubleshooting by Means of Operating Status 5-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Overload Characteristics (Electron Thermal Characteristics) 5-20. . . . . . . . . . . . . . . . . . . . . . . . .

5-5 Periodic Maintenance 5-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-6 Replacing the Absolute Encoder Battery (ABS) 5-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 6. Appendix 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Connection Examples 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Encoder Dividing Rate for Servo Controllers 6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Single-phase Power for 3,000-r/min (750-W) Servomotors 6-14. . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Parameter Setting Tables 6-15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Alarms and Warnings when a JUSP-NS115 MECHATROLINK-II Option Unit is Mounted 6-28.

Revision History R-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

1-5 System Block Diagrams

1-2

1-1 Features

With their superior performance and fast response, plus a wider selection of models, the OMNUC W-series AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Series.

H Faster Response and Rotation Speed

The W-series AC Servomotors and Servo Drivers provide faster response than the previous U-series models, with high-frequency responses of 400 Hz (compared to 250 Hz for the U Series). Moreover, the 3,000-r/min Servomotors provide rotation speeds of up to 5,000 r/min, as compared to 4,500 r/min for the U Series, for even faster positioning.

H Wider Selection

In addition to 3,000-r/min (30-W to 5-kW) Servomotors, the W-series product line offers 1,000-r/min (300-W to 5.5-kW) models and 1,500-r/min (450-W to 15-kW) models to choose from. They are ideal for applications requiring high torque. Included among the 3,000-r/min models are Flat-style (100-W to 1.5-kW) Servomotors that are ideal for applications requiring installation in tight spaces.

H IP67 (Waterproof) Servomotors

The 3,000-r/min (1- to 5-kW), 1,000 r/min (300 W to 5.5 kW), and 1,500 r/min (450 W to 15 kW) Servomotors have an enclosure rating of IP67 (waterproof, except for through-shaft parts). The 3,000-r/min (100 W to 1.5-kW) Flat-style Servomotors are also available with IP67 enclosure ratings that include waterproofing for through-shaft parts. Therefore, the W-series Servomotors can be used even in places where they may be exposed to water. (The standard cables, however, cannot be used with IP67 models, and the appropriate cables must be provided by the user.)

H Conformity to Standards

The W Series conforms to EC Directives (both low-voltage and EMC) as well as to UL and cUL, thereby assisting the user in meeting required standards.

H Built-in Regenerative Power Processing

In addition to the built-in regenerative power processing function using regeneration resistance, external regeneration resistance can also be connected, allowing the W Series to be used for applications with high regenerative energy on vertical axis.

H Harmonic Current Control Measures

Terminals for DC Reactor connections are provided to assist with harmonic current control.

H Online Autotuning

Autotuning is possible during normal operation with no need to switch to a special autotuning mode, making it easy to set the gain correctly.

Introduction Chapter 1

1-3

H Gain Changes

There are two types of gain settings, and the gain can be changed when the load changes during operation.

H Control Functions

Any one of the following 12 control modes can be selected in the parameter settings, thereby allowing various applications with a single Servo Driver.

Control mode

Speed control (analog commands) Position control (pulse train commands) [Default setting] Torque control (analog commands) Internal speed control settings Internal speed control settings ←→ Speed control (analog commands) Internal speed control settings ←→ Position control (pulse train commands) Internal speed control settings ←→ Torque control (analog commands) Position control (pulse train commands) ←→ Speed control (analog commands) Position control (pulse train commands) ←→ Torque control (analog commands) Speed control (analog commands) ←→ Torque control (analog commands) Speed control (analog commands) with position-lock stop Position control (pulse train commands) with pulse prohibit

H Password

A password can be required in order to make parameter changes.

H Parameter Initialization

Parameters can be returned to their default settings.

H Monitoring

The Servo Driver’s operating status is displayed. The following items can be monitored: Speed feedback, speed commands, torque commands, number of pulses from the origin, electrical angle, I/O signals, command pulse speed, position deviation, motor load rate, regenerative load rate, dynamic resistance load rate, input pulse counter, and feedback pulse counter.

H Jogging

The Servomotor can be set for either forward or reverse rotation, and the rotation speed can be set in the parameters.

H Servomotor Origin Search

The origin search function can be used to find the Servomotor’s origin (Z phase).

H Automatic Adjustment of Command Offsets (Speed and Torque

Control)

The offsets of the speed command input and torque command input can be adjusted automatically.

Introduction Chapter 1

1-4

H Monitor Output

The offset and scaling of the analog monitor outputs can be adjusted.

H Multi-turn Limit Changes

The multi-turn limits for absolute encoders can be changed.

H Electronic Gear (Position Control)

This function turns the Servomotor by the number of pulses obtained by applying the gear ratio to the number of command pulses. It can be effectively used in the following situations.

S When fine tuning positions and speeds while synchronizing two lines.

S When using a controller with a short command pulse frequency.

S When setting the mechanical movement per pulse to amounts such as 0.01 mm.

The electronic gear ratio is set in parameters (numerator: G1; denominator: G2). The setting range for G1 and G2 is 1 to 65,535, with 0.01  (G1/G2)  100.

H Encoder Dividing Function

The encoder signal output from the Servo Driver can be set to the desired number of pulses.

H Soft Start Function (Speed Control, Internally Set Speed Control

Settings)

This function causes the Servomotor to be started and stopped at the preset acceleration/deceleration times, allowing a simple position control system to be constructed without a Positioner or Host Controller.

The acceleration and deceleration times are set separately, and the setting range is 0 to 10 s for each.

H Position Acceleration/Deceleration Function

Applying acceleration and deceleration to command pulses enables smooth tracking of commands for rapid startups. Either primary delay or linear acceleration/decelerations can be selected for positioning.

H Warning Output

Overload and regeneration overload warnings are output. When a warning is output, taking measures, such as shortening the operation cycle, can prevent an alarm from being generated.

H Positioning Completed Output

The positioning completed range can be set in two stages, allowing peripheral device operations to begin sooner.

H Reverse Mode

Forward and reverse commands can be switched in the parameters, without changing the wiring to the Servomotor or encoder.

Introduction Chapter 1

1-5

H Brake Interlock Output

Timing signals interlocked with the Servomotor’s ON/OFF status and rotational speed are output, so the holding brakes of Servomotors with brakes can be operated reliably.

H Output Signal Selection

Any three output signals can be selected for output from among the following: Positioning completed 1/2, speed conformity, Servomotor rotation detection, servo preparation completed, current limit detection, speed limit detection, brake interlock, overload warning, and warning output signals. It is also possible to allocate multiple outputs to the same pin number. For example, the positioning completed 1 signal and the speed conformity signal could both be allocated to pin number 1.

H Overtravel Sequence

An overtravel sequence suitable for the system can be selected. There are three deceleration methods available: Dynamic brake deceleration, free-run deceleration, and emergency-stop torque deceleration (parameter setting).

H Feed-forward Function and Bias (Position Control)

These functions reduce the position control time.

S Feed-forward Function

Reduces the position control time by reducing the number of pulses accumulated in the deviation counter.

S Bias

Reduces the positioning time by adding the bias revolutions to the speed command when the deviation counter value exceeds the bias addition range.

H Computer Monitoring

The special Servo Driver Communications Software enables performing parameter setting, speed and current monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging, and other operations from a computer. It is also possible to perform multiple-axis communications that set the parameters and monitor operations for multiple Servo Drivers. For details, refer to user documentation on the Servo Driver Communications Software.

H DeviceNet Option Unit

A Servo Driver can function as a slave on a DeviceNet network if a DeviceNet Option Unit (R88A-NCW152-DRT) is mounted to it, enabling application of the Servo Driver as a network driver. Commands can be sent via DeviceNet communications to the DeviceNet Option Unit to produce outputs to the driver. Outputting positioning commands to the driver through the option unit connector enables positioning operations without a controller. Refer to the OMNUC W-series DeviceNet Option Unit User’s Manual (Cat. No. I538) for details.

Note The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of

r.0014 or later. Refer to 4-11-10 Checking the Version for methods of confirming the Servo Driver software version.

H MECHATROLINK-II Compatibility

The Servo Driver can be incorporated as a Slave in a MECHATROLINK network by installing the Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number: FNY-NS115) on the Servo Driver. This enables the Servo Driver to be used as a network Servo Driver.

Introduction Chapter 1

1-6

A wide range of motion control can be achieved in a MECHATROLINK-II network from the Motion Control Unit.

For details, refer to the SYSMAC CS-series CS1W-MCH71 Motion Control Unit Operation Manual (Cat. No. W426) and the JUSP-NS115 MECHATROLINK-II Application Module Operation Manual (This manual can be obtained from a Yaskawa Electric sales representative or downloaded from the OMRON website).

Note The MECHATROLINK-II Option Unit is compatible with a W-series Servo Driver with software

version r.0039 or later and MECHATROLINK-II Option Unit with software version VER.***03 (on the nameplate on the side of the Unit). Refer to 4-11-10 Checking the Version for methods of con- firming the Servo Driver software version.

Introduction Chapter 1

1-7

1-2 System Configuration

Position Control Unit CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 C500-NC113/211

Motion Control Unit CS1W-MC221/421(-V1) CV500-MC221/421 C200H-MC221

C500-NC222-E Position Control Unit

Controller with Voltage Output

Controller with Pulse Train Output

R88A-PR02W Parameter Unit (Hand-held)

OMNUC W-series AC Servo Driver R88D-WTj

OMNUC W-series AC Servomotor R88M-Wj

SYSMAC CS-, C-, or CV-series Programmable Controller

[Incremental] [Absolute]

Analog voltage

Pulse train

SYSMAC CJ, CS-, C-, or CV-series Programmable Controller

Single-axis Positioner with Pulse String Output

DeviceNet Single-axis Positioner 3F88M-DRT141

DeviceNet Option Unit R88A-NCW152-DRT

Controller (MECHATROLINK-II Compatible)

Programmable Controller SYSMAC CS Series

Motion Control Unit CS1W-MCH71

MECHATROLINK-II Option Unit JUSP-NS115 (OMRON model number: FNY-NS115)

MECHATROLINK-II

Note 1. Servomotors with absolute encoders can be used in combination with CS1W-

MC221/421(-V1), CV500-MC221/421, C200H-MC221, or CS1W-MCH71 Motion Control Units, with the 3F88M-DRT141 DeviceNet Single-axis Positioner, or with the R88A-NCW152-DRT DeviceNet Option Unit.

Introduction Chapter 1

1-8

Note 2. The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of

r.0014 or later.

Note 3. The MECHATROLINK-II Option Unit is supported when using MECHATROLINK-II Option

Unit software version VER.***03 (indicated on the nameplate on the side of the Unit) in combination with a W-series Servo Driver with software version r.0039 or later. Refer to 4-11-10 Checking the Version for methods of confirming the Servo Driver software version.

Introduction Chapter 1

1-9

1-3 Servo Driver Nomenclature

Control I/O Connector (CN1)

Encoder Connector (CN2)

Charge indicator

Parameter Unit Connector (CN3)

Battery holder

Holds the backup battery for when a Servomotor with an absolute encoder is used.

Top cover (See note.)

Lit when the main-circuit is powered. Even after the power is turned OFF, it remains lit as long as an electric charge remains in the main-circuit capacitor, so do not touch the Servo Driver’s terminals during this period.

Main-circuit power terminals

These are the input terminals for the main-circuit power supply.

Control-circuit power terminals

These are the connection terminals for the control-circuit power supply and the external regenerative energy resistance.

Servomotor connection terminals

These are the connection terminals for the Servomotor power lines.

Protective ground terminals

These are the ground terminals for preventing electric shock. Ground to 100 Ω or less.

Battery Connector (CN8)

Connects the backup battery for the absolute encoder.

Analog Monitor Output Connector (CN5)

Rotation speed, torque command values, etc., are output in analog voltage. A special cable is used.

Display Area

Displays Servo Driver status, alarm signals, parameters, etc., in five digits, 7-segment LED.

Settings Area

Used for setting parameters and monitoring Servo Driver status.

Power indicator

Lit when the control power is being supplied.

Used for connecting the Parameter Unit or for communicating with a computer.

Note: On the R88D-WT60H (6 kW), this connector is located to the left of the Display and Settings Areas.

Used for control I/O signals.

Connects the encoder provided with the Servomotor.

(With top cover opened)

Used for connecting a DeviceNet Option Unit.

Option Unit Connector (CN10)

Note The R88D-WT60H to R88D-WT150H models do not have a top cover. The Analog Monitor Out-

put Connector (CN5), the Battery Connector (CN8), and the battery holder are all located to the right of the display and operation areas. Also, the Terminal Block (for the control circuit, main circuit, and Servomotor) is mounted to the bottom of the Servo Driver.

Introduction Chapter 1

1-10

1-4 Applicable Standards and Models

H EC Directives

Directive

Product Applicable standard Remarks

Low voltage

AC Servo Drivers EN50178 Safety requirements for electrical

equipment for measurement, control, and laboratory use.

AC Servomotors IEC60034-8

EN60034-1, -5, -9

Rotating electrical machines.

EMC AC Servo Drivers

and AC Servomotors

EN55011 class A group 1

Limits and methods for measuring radio disturbance characteristics of industrial, scientific, and medical (ISM) radio-frequency equipment.

EN61000-6-2 Electromagnetic compatibility generic

immunity standard in industrial environments

Note Installation under the conditions specified in 3-2-5 Wiring Conditions Satisfying EMC Directives is

required to conform to EMC Directives.

H UL/cUL Standards

Standards Product Applicable standard File No. Remarks

AC Servo Drivers UL508C E179149 Power conversion equipment AC Servomotors UL1004 E179189 Electric motors

cUL

AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control equipment AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators

Introduction Chapter 1

1-11

1-5 System Block Diagrams

H 200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H

100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL

AC Servo Driver

Thermistor

AC Servomotor

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

Current detection

Interface

Gate drive overcurrent protection

Gate drive

Voltage detection

Relay drive

Fuse

DC/DC conversion

Analog voltage conversion

Display/Settings Areas

CN5 Analog monitor output

CN3 Parameter Unit/computer

Voltage detection

Introduction Chapter 1

1-12

H 200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H

AC Servo Driver

Thermistor

AC Servomotor

Fuse

0.5 to 1 kW

Interface

Gate drive overcurrent protection

Gate drive

Voltage detection

Relay drive

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

CN5 Analog monitor output

CN3 Parameter Unit/computer

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

DC/DC conversion

Analog voltage conversion

Display/Settings Area

Voltage detection

Current detection

H 200 V AC: R88D-WT20H/-WT30H/-WT50H

AC Servo Driver

AC Servomotor

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

CN5 Analog monitor output

CN3 Parameter Unit/computer

Display/Settings Area

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

Fuse

Gate drive

Voltage detection

Relay drive

DC/DC conversion

Voltage detection

Interface

Gate drive overcurrent protection

Current detection

Gate drive

Analog voltage conversion

Introduction Chapter 1

1-13

H 200 V AC: R88D-WT60H/-WT75H/-WT150H

AC Servo Driver

AC Servomotor

Current detection

Relay driver

Regeneration resistance (optional)

Voltage detection isolator

Fuse

DC/DC conversion

Thermistor

Voltage detection isolator

Serial port

Speed control

Current command processing

Position control

Command pulse processing

Divider

Encoder signal processing

Digital current amp

PWM generation

Battery Connector (CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

CN5 Analog monitor output

CN3 Parameter Unit/computer

Display/Settings Area

Analog voltage conversion

Gate drive overcurrent protection isolator

Gate drive isolator

Introduction Chapter 1

Chapter 2

Standard Models and Specifications

2-1 Standard Models

2-2 Servo Driver and Servomotor Combinations

2-3 External and Mounted Dimensions

2-4 Servo Driver Specifications

2-5 Servomotor Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit and Cable Specifications

2-9 External Regeneration Resistors/Resistance

Units

2-10 Absolute Encoder Backup Battery Specifica-

tions

2-11 DC Reactors

+ 447 hidden pages

Omron R88M-W, OMNUC W, R88D-WT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual