Omron Omnus FND-X, Omnus FND-X*-SRT User Manual

Thank you for choosing this OMNUC FND-X-series product. This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC

FND-X-series

products along with parameter settings for the operation of the products.

S Make

S Retain this manual for future reference. S This

S Specifications and functions may change without notice to improve product performance. S Forward

sure that actual users of this product will read this manual thoroughly and handle and operate the prod

uct with care.

manual describes the specifications

sume that nothing described in this manual is possible.

and reverse rotation of AC Servomotors described

the

output shaft of the motor as follows: counterclockwise rotation is forward and clockwise rotation is reverse.

and functions of the product and relations with other products. As

in this manual are defined as looking at the end of

General Instructions

1. Refer to Precautions first and carefully read and be sure to understand the information provided.

2. Familiarize motor and Servo Driver for proper use.

3. The

Servomotor

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. Do

not perform withstand voltage

internal components.

6. Servomotors hand and to consider the operating environment and other conditions affecting the service life.

7. Do not set any parameter not described in this manual, otherwise the Servomotor or Servo Driver may malfunction. Contact your OMRON representatives if you have any inquiry.

yourself with this manual

and Servo Driver must be wired and operated by experts in electrical engineering.

and Servo Drivers have a finite service life. Be sure to keep replacement products on

and understand the functions and performance of the Servo

or other megameter tests on the product. Doing so may damage

NOTICE

Before using the product under the following conditions, consult your OMRON representatives, make sure

that the ratings and performance characteristics of the product are good enough for the systems, machines, mechanisms.

1. Conditions not described in the manual.

2. The application of the product to nuclear control systems, railroad systems, aviation systems, ve-

3. The

or equipment, and be sure to provide the systems, machines, or equipment with double safety

hicles, combustion systems, medical equipment, amusement machines, or safety equipment.

application of the product to systems,

on human life and property if they are used improperly.

machines, or equipment that may have a serious influence

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 specifications)? S Has the product been damaged in shipping?

The product is provided with Safety Precautions Sheets. No connectors or mounting screws are provided.

USER’S MANUAL

OMNUC FND-X SERIES

MODELS FND-Xj (DIO Type)

FND-Xj-SRT (CompoBus/S Type)

POSITION DRIVERS

No. 6182

OMRON Corporation

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR 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.

No. 6182

Application Considerations

SUITABILITY FOR USE

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

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

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

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

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

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

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

No. 6182

Disclaimers

CHANGE IN SPECIFICATIONS

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

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

DIMENSIONS AND WEIGHTS

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

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It 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.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

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

or serious injury.

WARNING Indicates

or serious injury.

Caution Indicates

or moderate injury, or property damage.

an imminently hazardous situation which, if not avoided, will

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

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

OMRON Product References

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

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

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

result in death

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, 1998

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 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 dam ages resulting from the use of the information contained in this publication.

, because

General Precautions

Observe the following precautions when using the OMNUC Position Drivers and 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 Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

WARNING Always

to in electric shock.

WARNING Do

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

WARNING Operation,

Not doing so may result in operation stoppage, burning of the product, electric shock, or injury.

WARNING Wiring

supply. Doing so may result in electric shock.

WARNING Do

Doing so may result in electric shock.

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

result in injury.

WARNING Do

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

a class-3 ground (to 100 Ω or less). Not connecting to

not remove the front cover

maintenance, or inspection must be performed by authorized personnel.

or inspection must be performed

not damage, pull on, apply stress to, place heavy objects on, or pinch the cables.

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

, terminal covers, cables, Parameter Units, or optional

at least 1 minute after turning of

a class-3 ground may result

f the power

product.

Caution Use the Servomotors and Servo Drivers in a specified combination. Not doing so

may result in fire or damage to the products.

Caution Do

Caution Do not touch the Servo Driver radiator, regenerative resistor, or Servomotor while

not store or install the product in the following places. Doing so may result in elec

tric shock, fire 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 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.

the

power is being supplied or soon after the power is turned of

in a skin burn due to the hot surface.

subject to condensation as the result of severe changes in

f. Doing

temperature.

so may result

Storage and Transportation Precautions

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

may result in injury or malfunction.

Caution Do

Caution Use

not place any load exceeding the figure indicated on the product.

result in injury or malfunction.

the motor eye-bolts

porting the machinery may result in injury or malfunction.

only for transporting the Servomotor

Installation and Wiring Precautions

Caution Do

Caution Be

Caution Provide

not step on or place a heavy object on the

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

the product. Doing so may result in fire.

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

function.

the specified clearances between the Servo Driver and the

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

Doing so may

. Using them for trans

product. Doing so may result in injury

control panel or

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

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

Caution Use

Caution Take

Caution Install

sure to firmly tighten the screws fixing the product,

Not doing so may result in malfunction.

terminal block. Doing so may result in fire.

the power supply voltages specified in this manual. Not doing so may result in

burning.

appropriate

supplied. Be particularly careful in places where the power supply is unstable. Not

doing so may result in damage to the product.

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

external wiring. Not doing so may result in fire.

measures to ensure that the specified power with the rated voltage

the terminal block, and cables.

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

holding injury.

brake is not a stopping device

for securing safety

.) Not doing so may result in

Caution Provide

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

Caution Take

lowing locations. Not doing so may result in equipment damage.

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.

an external emergency stopping device that allows an instantaneous stop

appropriate and suf

ficient

countermeasures when installing systems in the fol

Operation and Adjustment Precautions

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

operation. Not doing so may result in equipment damage.

Caution Check

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.

the newly

set parameters for proper execution before actually running them.

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

not use the built-in brake result in malfunction.

of the Servomotor for ordinary braking. Doing so may

momentary power in

Maintenance and Inspection Precautions

WARNING Do not attempt to take the Unit apart or repair. Doing either of these may result in

electrical shock or injury.

Caution Resume

quired for operation. Not doing so may result in equipment damage.

operation only after transferring to the new Unit the

contents of the data re

Warning Labels

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

Warning

labels

Warning Labels

Warning

label 1

arning label 2

May cause electric shock.

Connect to a ground of 100

Ω or less.

VISUAL INDEX

For users who wish to begin operations quickly.

- The

OMNUC FND-X-series Position Driver allows motor test operation

and motor without connecting the controller. Read

play

properly set the motor model code, and then operate the

Check Mode

Do not connect any load (machines) when performing test operation. Perform test operation only after confirming that no adverse effects will be caused by test operation.

3-2 Turning ON Power and Checking Dis-

motor according to

SYSMAC C/CV Programmable Controller

I/O signals

SYSMAC C200H-HX/HG/HE or CQM1 Programmable Controller

SRM1-C01/-C02 Master Controller

Section 6 CompoBus/S Specifications

CompoBus/S signals

only by wiring the driver

3-8-2System

5-3-1 General Control Cable Specifications

Initial Operation (Starting)

- 3-1 Operation Procedure

- 3-2Turning ON Power and Checking Displays

Function Settings (Parameter Settings)

- 3-4 Setting Functions: User Parameters (H Parameters)

- 3-5 Position Control Settings (PTP Parameters)

- 3-6 Setting Positioning Data (PTP Data, Direct Input)

Trial Operation and Adjustments

- 3-8-1 Trial Operation Procedure

- 3-8-2 System Check Mode

- 3-9-1 Auto-tuning

- 3-9-2 Manually Adjusting Gain

Troubleshooting

- 4-4 Protection and Diagnosis

- 4-5 Troubleshooting

OMNUC FND-X Series

Teaching Box

CVM1-PRO01 Teaching Box ROM Cassette:

CVM1-MP702 (Common for MC Units and Position Drivers)

CVM1-MP703

For details refer to Cat. No. W354-E1.

RS-422 Teaching Box connections cable

OMNUC FND-X-series Position Drivers

2-2-2 Control Circuitry Terminal Wiring

DIO Type 200 V: FND-XjjH 100 V: FND-XjjL

5-1 Position Driver Specifications 2-2-3 Wiring Terminal Blocks 3-3-3 Mode Details

6-3 Connecting a CompoBus/S System

CompoBus/S Type 200 V: FND-XjjH-SRT 100 V: FND-XjjL-SRT

OMNUC M-series AC Servomotors

1200

r/min: 200 to 1.8 kW with Resolver 2000 r/min: 200 to 2.2 kW with Resolver 4000 r/min: 60 to 2 kW with Resolver

OMNUC U-series AC Servomotors

3000 r/min: 30 to 2 kW with Incremental Encoder 3000 r/min: 30 to 2 kW with Absolute Encoder

5-3 Cable Specifications

Encoder/Resolver signalsPower signals

OMNUC U-UE-series AC Servomotors

3000

r/min: 100 to 750 W with

Incremental Encoder

OMNUC H-series AC Servomotors

3000 r/min: 50 to 1 Incremental Encoder

100 W with

Table of Contents

Chapter 1. Introduction .

1-1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 Nomenclature and Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Supported Standards and Supporting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-1 Standards Supported by Position Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3-2 Standards Supported by AC Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter

2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter

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

3-2 Turning ON Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 Using the Display Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 Setting Functions: User Parameters (H Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5 Position Control Settings (PTP Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6 Setting Positioning Data (PTP Data, Direct Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7 Operational Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2. Design and Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-2 Control Circuitry Terminal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-3 Wiring Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

2-2-5 Wiring Products Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-6 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . .

3. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-1 Items to Check Before Turning ON the Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-2 Turning ON the Power and Checking the Display . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-1 Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-2 Modes and Mode Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-3 Mode Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-4 CompoBus/S Communications Display and Setting Panel . . . . . . . . . . . . . . . . . . . . .

3-4-1 Setting User Parameters and H Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4-2 User Parameter and H Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4-3 User Parameter and H Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-1 Setting PTP Parameters (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-2 PTP Parameters (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-3 PTP Parameter Details (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-1 Setting PTP Data (When UP-01 is 11 or 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-2 Setting Direct Input (When UP-01 is 13 or 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-3 PTP Data (Pd01jj to Pd64j) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-4 PTP Data Details (Pdjjj) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-1 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-2 Origin Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-3 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-4 Point Positioning (UP-01: 11 or 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-5 Direct Positioning (UP-01: 13 or 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8-1 Trial Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8-2 System Check Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

3-9 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-9-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-9-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-9-3 Adjustment Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-10 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-10-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-10-2 Position Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-10-3 Regenerative Energy Absorption by Regeneration Resistor . . . . . . . . . . . . . . . . . . . .

Chapter

4-1 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 Check Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Protection and Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-6 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter

5-1 Position Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2-1 I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-1 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-2 Countermeasures to Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-3 CompoBus/S-type Position Driver Protective and Diagnostic Functions . . . . . . . . . .

4-4-4 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-5 Alarm Output and Clearing Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-1 Preliminary Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-3 Replacing the Position Driver and the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-1 General Specifications (Common to DIO, CompoBus/S) . . . . . . . . . . . . . . . . . . . . . .

5-1-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-1 U-series 30-W to 750-W Servomotors (INC/ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-2 U-UE-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-3 U-series 1-kW to 2-kW Servomotors (INC/ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-4 H-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-5 M-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-1 General Control Cables (DIO Position Drivers Only) . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-2 Connector Terminal Board Conversion Unit Cables (DIO Position Drivers Only) . . . 5-3-3 External Control Signal Connecting Cables (CompoBus/S Position Drivers Only) . .

5-3-4 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-5 Resolver Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-6 Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter

6-1 CompoBus/S Configuration Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 CompoBus/S Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Connecting a CompoBus/S System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6. CompoBus/S Specifications. . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

Chapter 7. Appendices .

7-1 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Parameter Settings Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1

Introduction

1-1 Functions 1-2 Nomenclature and Key Operations 1-3 Supported Standards and Supporting Models

Introduction Chapter 1 1-1 Functions

OMRON’s FND-X Position Drivers are servo drivers with built-in positioner functions that control AC servomotors according to positioning data.

H FND-X-Series Models

There are two types of FND-X Position Drivers, according to the type of control signals used.

Control signals Model

DIO FND-XjjH/FND-XjjL CompoBus/S FND-XjjH-SRT/FND-XjjL-SRT

Up to eight CompoBus/S Position output points. Two-wire communications are used, reducing system wiring. High-speed communications are also achieved, with a communications cycle time of 0.5 or 0.8 ms.

Note Only the high-speed communications mode is available with the FND-X.

Drivers can be connected to one Master Unit for 128 input and 128

H International Standards: EC Directives and UL/cUL Standards

Position UL/cUL forming to directives/standards, use U-series Servomotors that also conform to the require directives/standards.

Drivers manufactured beginning April 1999 are available that conform to EC directives

standards, making it easier to conform

to these standards in the overall system. When con

and

H Applicable Servomotor Models

The following AC Servomotors can be connected to FND-X-series Position Drivers.

• OMNUC U Series (30 to 750 W) Servomotors Conforming to UL/cUL Standards

With incremental encoders: R88M-UjjjjjHA-j With absolute encoders: R88M-UjjjjjTA-j

Servomotors Conforming to EC Directives

With incremental encoders: R88M-UjjjjjVA-j With absolute encoder: R88M-UjjjjjXA-j

• OMNUC U Series (1 to 2 kW) Servomotors Not Conforming to Standards

With incremental encoder: R88M-UjjjjjH-j With absolute encoder: R88M-UjjjjjT-j

Servomotors Conforming to EC Directives

With incremental encoder: R88M-UjjjjjV-j With absolute encoder: R88M-UjjjjjX-j

• OMNUC U-UE Series (100 to 750 W) Servomotors Not Conforming to Standards

With incremental encoder: R88M-UEjjjjjH-j

Servomotors Conforming to EC Directives

With incremental encoder: R88M-UEjjjjjV-j

1-2

50/60 Hz

Introduction Chapter 1

• OMNUC H (50 to 1,100 W) Series (with incremental encoder): R88M-Hjjjjj-j

• OMNUC M (60 to 2,200 W) Series (with resolver): R88M-Mjjjjj-j

Note H-series and M-series models do not conform to the EC Directives and UL/cUL standards.

• The

following

models are available with dif

ferent output capacities, and are arranged according to in

put power supply.

D Position Driver and AC Servomotor Combinations

Position

Input power

supply

Single-phase 200/240 (170 to

264) V

AC at

Driver

Model Series Model Output

FND-X06H-j U

U-UE R88M-UE10030j-S1 100 W 3,000 r/min H

FND-X12H-j U

U-UE

FND-X25H-j U

U-UE R88M-UE75030j-S1 750 W 3,000 r/min H

R88M-U03030jA 30 W R88M-U05030jA 50 W R88M-U10030jA 100 W

R88M-H05030 50 W R88M-H10030 100 W R88M-U20030jA 200 W R88M-U40030jA 400 W R88M-UE20030j-S1 200 W R88M-UE40030j-S1 400 W R88M-H20030 200 W R88M-H30030 300 W R88M-M06040 60 W R88M-M12040 120 W R88M-M20040 200 W R88M-M40040 400 W R88M-M20020 200 W R88M-M40020 400 W R88M-M20012 200 W R88M-M40012 400 W R88M-U75030jA 750 W R88M-U1K030j 1000 W

R88M-H50030 500 W R88M-H75030 750 W R88M-H1K130 1100 W R88M-M70040 700 W R88M-M1K140 1100 W R88M-M70020 700 W R88M-M1K120 1100 W R88M-M70012 700 W 1,200 r/min

Applicable AC Servomotor

Rated r/min

capacity

3,000 r/min

4,000 r/min

2,000 r/min

1,200 r/min

3,000 r/min

4,000 r/min

2,000 r/min

1-3

50/60 Hz

Introduction Chapter 1

Position

Input power

supply

Three-phase 200/240 (170 to

264) V

AC at

Single-phase 100/115 (85 to

127) V

AC at

Driver

FND-X50H-j U

FND-X06L-j U

FND-X12L-j

Applicable AC Servomotor

ModelSeriesModel

capacity

R88M-U1K530j 1500 W R88M-U2K030j 2000 W

U-UE R88M-UE10030j-S1 100 W 3,000 r/min H

U R88M-U20030jA 200 W 3,000 r/min U-UE R88M-UE20030j-S1 200 W 3,000 r/min H R88M-H20030 200 W 3,000 r/min M

R88M-M2K040 2000 W 4000 r/min R88M-M1K820 1800 W R88M-M2K220 2200 W R88M-M1K112 1100 W R88M-M1K412 1400 W R88M-M1K812 1800 W R88M-U03030jA 30 W R88M-U05030jA 50 W R88M-U10030jA 100 W

R88M-H05030 50 W R88M-H10030 100 W

R88M-M06040 60 W R88M-M12040 120 W R88M-M20040 200 W R88M-M20020 200 W 2,000 r/min R88M-M20012 200 W 1,200 r/min

Rated r/minOutput

3000 r/min

2000 r/min

1200 r/min

3,000 r/min

4,000 r/min

Note 1. Even

when a U-series or U-UE-series

Position Driver

put

, a 200-V

Servomotor is used in combination with a100-V

AC Servomotor must be used. A 100-V

AC-in-

AC Servomotor cannot be

connected.

Note 2. Straight-axis servomotors are available either with or without a key or brake. In the above

table, the Servomotors have the following features. U-series Straight axis without brake, without key U-series UE models Straight axis without brake, with key (not available without key) H-series Straight axis without brake, with key M-series Straight axis without brake, with key (“A” cut for small-capacity)

Note 3. Motor control is enabled by setting the user parameter UP-02 of the Position Driver. Note 4. U-series

UE-type and H-series Servomotors can

be used only with Position Driver software version 4.01 (September 1997) or later. U-series 1-kW to 2-kW Servomotors and M-series 1.1-kW to 2.2-kW Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later.

1-4

Introduction Chapter 1

H Servomotor Features and Selection Standards

Any

FND-X-series Position Driver can be

selection, take the following points into consideration.

D Servomotor Features U/UE Series

S Compact size, high-speed response S High resolution (except for UE type) S Absolute encoder system can be configured (except for UE type).

H Series

S High resolution S High application load inertia (less than 10 times the rotary inertia) S Usable in systems with comparatively low mechanical rigidity.

M Series

S High application load inertia (less than 10 times the rotary inertia)

freely selected according to the application. When making the

S Usable in systems with comparatively low mechanical rigidity. S High output torque in a low-rotation motor S Up to a maximum of 50 meters between Servomotor and Servo Driver.

D Motor Selection Standards (Reference)

Drive system type Low inertia High inertia

Ball screw direct connection U, U-UE, H, M U, U-UE, H, M Turntable direct connection U, U-UE, H, M U, U-UE, H, M Feeder (direct connection) U, U-UE, H, M U, U-UE, H, M Harmonic drive U, U-UE, H, M H, M Chain drive U, U-UE, H, M H, M Belt drive U, U-UE, H, M H, M Rack & pinion U, U-UE, H, M H, M

Note “Low

inertia” means that the motor axis conversion inertia is approximately 0 to 5 times the inertia for U-series and U-series UE-type Servomotors. “High inertia” means that the motor axis conversion inertia is approximately 5 to 10 times the rotary inertia for U-series and U-series UE-type Servomotors.

for H-series and M-series Servomotors, and approximately 0 to

inertia for H-series and M-series Servomotors, and approximately 15 to 30 times the rotary

15 times the rotary inertia

rotary

H Position Control Functions

D Pulse Rate Setting Function

Pulse

rate setting makes it possible to set positioning data (i.e., positions and speeds) according to the

mechanical axis.

1-5

Introduction Chapter 1

D Control Mode

The

following four types of control modes are available to the Position Driver: PTP control rect I/O signal input.

modes with the internal point data preset in the Position Driver and these same modes with di

D Internal Point Data

• A maximum of 64 points of data (Pd01j to Pd64j) can be set internally in the Position Driver.

• Positions can be set within a range between –39,999,999 to 39,999,999 with the absolute or incre-

mental value specified.

D Positioning Data Instruction by Direct Input

Eight-point lowing ranges into the Position Driver.

Position Setting Range: –39,999,999 to 39,999,999 (with incremental or absolute setting) Speed Setting Range: 1% to 100% (override setting with respect to reference speed)

input and input timing signals are used to

input position data and speed data within the fol

D Position Compensation Function

This

function executes

feeder control is used.

backlash compensation when PTP control is used, and slip compensation when

control and feeder

D Acceleration/Deceleration Function

•

Either linear (trapezoidal) acceleration or deceleration time or celeration and deceleration.

• The

ors smoothly or achieve feeder control with minimal feeder slippage.

or deceleration time can be selected. In addition,

S-shaped acceleration/deceleration function makes it possible, for example, to start up convey

S-shaped (primary low-pass filter) ac

dif

ferent times can be set for acceleration

D Stop Methods

• The stop method for when the STOP signal is turned OFF can be selected with PP-24.

Free-running stop: Motor power supply turned OFF. Deceleration stop: Servo-lock Error counter reset stop: Servo-lock

counter reset.

• The

stop method of the Position Driver in the case of overrun or software limit signal detection can be

selected with PP-25.

Overrun: Servo free-running stop with the alarm AL38 turned ON or servo-

lock stop.

Software limit detection: Servo-lock

after the operation decelerates to a stop in preset time. after an immediate deceleration to a stop with the error

stop with or without alarms AL34 and AL35 turned ON.

H Teaching Functions

D Position Teaching

The

Position Driver has a teaching function that enables the Position Driver stop the mechanical axis with

an external force data automatically as part of PTP data.

1-6

by going into servo-free status or JOG operation and to take up the stop position

Introduction Chapter 1

D Mechanical Origin Teaching

optional position can be specified as the mechanical origin by moving the position to the mechanical

origin and teaching after the completion of origin search.

H Motor Control Functions

D Motor Type and Capacity Selection by Motor Code

A motor type and capacity can be selected by setting UP-02 to the corresponding motor code.

D Auto-tuning Function

• The

Position Driver, turning ity and characteristics of the machine load.

• The auto-tuning function makes it possible to save system startup time.

H Programming Devices

Driver has an auto-tuning function. If a machine and motor are connected to the Position

this function makes it possible

the motor and enables the automatic gain control of

to check the capacity and characteristics of the machine load by

the Position Driver according to the capac

D Teaching Box: CVM1-PRO01 + ROM Cassette

The Teaching Box provides for easy operation, including the following:

Position Driver status monitoring Parameter editing and transfer Teaching Jogging Positioning to specified points Autotuning

Note Refer to the

CVM1-PRO01 Teaching Box Operation Manual (W354)

D OMNUC FND-X Series Monitoring Software

TheOMNUC vides for easy operation, including the following:

Position Driver status monitoring Parameter editing and transfer Speed and current waveform displays Autotuning

FND-X Series Monitoring Software runs on an IBM PC/A

T or compatible computer and

H Monitor Functions

for more information.

pro-

D Monitor Mode

The

motor speed, present value, reference value,

rent,

fective load factor, electronic thermal value, electrical angle, and regenerative absorption rate

can be monitored on the front panel of the Position Driver in this mode.

position deviation value, machine speed, motor cur

D Check Mode

The

I/O

signal status, alarm details, alarm history

of the Position Driver in this mode.

, and software version are displayed on the front panel

1-7

Introduction Chapter 1

H Protection and Self-diagnostic Functions

D Hardware Protection

The

Position Driver is protected from overcurrent,

ure, overcurrent (soft), speed amplifier saturation, and overload damage.

D Mechanical System Protection

The

mechanical system is protected from damage resulting

soft limit overflows, coordinate counter overflows, or overrun.

D Parameter Setting-related Errors

The Position Driver detects parameter setting errors.

D Detector-related Errors

Resolver absolute absolute encoder absolute failure, absolute encoder overspeed failure, encoder data failure, and encoder initialization failure.

wire burnout, resolver failure, encoder wire disconnection, encoder communications

encoder backup

failure, absolute encoder checksum failure, absolute encoder battery failure,

overvoltage, low voltage, abnormal power

from overspeed, error counter overflows,

, clock fail

failure,

D Position-related Errors

BCD data, indefinite PV, and PTP data non-setting errors.

H Test Functions

D Motor Test Function

The

Position Driver has a motor test function that makes it possible to easily check whether a motor is connected trolled with the operation keys and the motor speed can be set in UP-29. The motor speed is set to 50 r/min before shipping.

D Sequential Output Test Function

The

Position Driver has a sequential output test function that makes it possible host controller is connected to the Position Driver. This function makes it possible to turn any output terminal ON or OFF with the operation keys.

to the Position Driver

. When this function is enabled, the motor rotation direction can be con

to easily check whether a

1-8

Introduction Chapter 1 1-2 Nomenclature and Key Operations

D DIO Position Drivers Front View

Display (5-digit, 7-segment LEDs)

Operation Keys (5 keys)

Monitor Output Terminal CN5 (RS-232C)

Communications Connector

CN1 (CONT) Control Signal

Terminal Block

Connector

Bottom View

Radiation fin

H Key Operations

CN2 (M.SEN) Motor Sensor Connector

CN6 BAT Connector

Key Name Main function

Mode Key Changes the Position Driver’s mode. Shift Key

Shifts the operation column to the left.

DATA

Data Key Saves the set data. Increment Key Increments the parameter address or

data value.

Decrement Key Decrements the parameter address or

data value.

1-9

Introduction Chapter 1

D CompoBus/S Position Drivers

Front View

Display (5-digit, 7-segment LEDs)

Operation Keys (5 keys)

Monitor Output Terminal CN5 (RS-232C)

Communications Connector

Node Address Setting Switch

CN4 (LIMIT) External control signal connector

Bottom View

Terminal Block

Radiation

CN1 (CONT) Control Signal Connector

CN2 (M.SEN) Motor Sensor Connector

fin

CN6 BAT Connector

H Key Operations

1-10

Key Name Main function

Mode Key Changes the Position Driver’s mode.

DATA

Shift Key Data Key Saves the set data.

Shifts the operation column to the left.

Increment Key Increments the parameter address or

data value.

Decrement Key Decrements the parameter address or

data value.

Introduction Chapter 1 1-3 Supported Standards and Supporting Models

1-3-1 Standards Supported by Position Drivers

Standard Supported standard File No. Remarks

UL/cUL UL508C E179149 Electrical power conversion devices EC

Low-voltage Directive EN50178 --- Industrial product specifications EMC Directive

EN55011 class A group 1

EN61000-4 --- Electromagnetic compatibility and immunity

--- Radio interference limits and measurement methods for radio frequency devices for industrial, scientific, and medical applications

Note All Position Drivers in the FND-X Series conform to UL/cUL standards and EC directives.

1-3-2 Standards Supported by AC Servomotors

Standard Supported standard File No. Remarks

UL/cUL

Low-voltage Directive IEC34-1, -5, -8, -9 --- Rotating electric devices EMC Directive

UL1004 E179189 Electric motors cUL C22.2 No. 100 E179189 Motors and generators

EN55011 class A group 1

EN61000-4 --- Electromagnetic compatibility and immunity

--- Radio interference limits and measurement methods for radio frequency devices for industrial, scientific, and medical applications

H Servomotors Conforming to UL/cUL Standards

Power supply AC Servomotors Encoder

200 VAC R88M-Ujjj30HA-j (30 to 750 W) Incremental encoder 200 VAC R88M-Ujjj30TA-j (30 to 750 W) Absolute encoder

Note Servomotors manufactured beginning in May 1998 conform to UL/cUL standards.

H Servomotors Conforming EC Directives

Power supply AC Servomotors Encoder

200 VAC R88M-Ujjj30VA-j (30 to 750 W) Incremental encoder 200 VAC R88M-Ujjj30XA-j (30 to 750 W) Absolute encoder 200 VAC R88M-UEjjj30V-j (100 to 750 W) Incremental encoder 200 VAC R88M-Ujjj30V-j (1 to 2 kW) Incremental encoder 200 VAC R88M-Ujjj30X-j (1 to 2 kW) Absolute encoder

Note The Servomotors must be wired as described in

2-2 Wiring

to conform to the EMC Directive.

1-11

Chapter 2

Design and Installation

2-1 Installation 2-2 Wiring

Design and Installation Chapter 2 2-1 Installation

2-1-1 External Dimensions (Unit: mm)

H DIO and CompoBus/S Position Drivers

D 200-VAC FND-X06H-j/-X12H-j

100-VAC FND-X06L-j/-X12L-j

Mounting Dimensions

Three,

6 dia.

D 200-VAC FND-X25H-j

Three,

6 dia.

Three, M5

Mounting Dimensions

Three, M5

2-2

Design and Installation Chapter 2

D 200-VAC FND-X50H-j

Mounting Dimensions

Four

, M5

Four,

6 dia.

2-3

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders

(U-INC 30 to 750 W) Conforming to UL/cUL

D 30-W/50-W/100-W Standard Models (Without Brakes):

R88M-U03030HA, R88M-U05030HA, R88M-U10030HA

300±30

6.5 6

300±30

9.5

2.5

Encoder adapter

Motor plug

6h6 dia.

30h7 dia.

Two,

4.3 dia.

dia.

Four, R3.7

LL 25

D 30-W/50-W/100-W Models with Brakes:

R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B

300±30

6.5

300±30

9.5

2.55

33 LB

25LL

Encoder adapter

Motor plug

Two,

4.3 dia.

6h6 dia.

30h7 dia.

dia.

Four, R3.7

Standard Models (Without Brakes)

Model L LL S

R88M-U03030HA 94.5 69.5 6 R88M-U05030HA 102.0 77.0 6 R88M-U10030HA 119.5 94.5 8

2-4

Models with Brakes

Model L LL LB S

R88M-U03030HA-B 126 101 31.5 6 R88M-U05030HA-B 133.5 108.5 31.5 6 R88M-U10030HA-B 160 135 40.5 8

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders

(U-INC 30 to 750 W) Conforming to UL/cUL (Contd.)

D 200-W/400-W Standard Models (Without Brakes):

R88M-U20030HA, R88M-U40030HA

300±30

5.2 7

300±30

Encoder adapter

Motor plug

Four,

5.5 dia.

14h6 dia.

dia.

50h7 dia.

dia.

Four, R5.3

LL 30

D 200-W/400-W Models with Brakes:

R88M-U20030HA-B, R88M-U40030HA-B

5.2 5.5 7

300±30

Encoder adapter

Motor plug

Four,

5.5

dia.

14h6 dia.

70 dia.

50h7 dia.

dia.

Four, R5.3

34 39.5

LL 30

Standard Models (Without Brakes)

Model L LL

R88M-U20030HA 126.5 96.5 R88M-U40030HA 154.5 124.5

Models with Brakes

Model L LL

R88M-U20030HA-B 166 136 R88M-U40030HA-B 194 164

2-5

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders

(U-INC 30 to 750 W) Conforming to UL/cUL (Contd.)

D 750-W Standard Models (Without Brakes): R88M-U75030HA

300±30

85.2

300±30

Encoder adapter

Motor plug

Four,

7 dia.

14 dia.

Four, R8.2

16h6 dia.

145 40 185

D 750-W Models with Brakes: R88M-U75030HA-B

300±30

85.2

300±30

90 dia.

70h7 dia.

Encoder adapter

Motor plug

Four,

7 dia.

14 dia.

Four, R8.2

2-6

34 44.5

189.5 40

229.5

16h6 dia.

90 dia.

70h7 dia.

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders

(U-INC 30 to 750 W) Conforming to EC Directives

D 30-W/50-W/100-W Standard Models (Without Brakes):

R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1

14 dia.

Two,

4.3 dia.

Sh6 dia.

46 dia.

30h7 dia.

D 30-W/50-W/100-W Models with Brakes:

R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1

14 dia.

Two,

4.3 dia.

Sh6 dia.

Four, R3.7

Standard Models (Without Brakes)

Model L LL S

R88M-U03030VA-S1 94.5 69.5 6 R88M-U05030VA-S1 102.0 77.0 6 R88M-U10030VA-S1 119.5 94.5 8

46 dia.

30h7 dia.

Models with Brakes

Model L LL LB S

R88M-U03030VA-BS1 126 101 31.5 6 R88M-U05030VA-BS1 133.5 108.5 31.5 6 R88M-U10030VA-BS1 160 135 40.5 8

2-7

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders

(U-INC 30 to 750 W) Conforming to EC Directives (Contd.)

D 200-W/400-W Standard Models (Without Brakes):

R88M-U20030VA-S1, R88M-U40030VA-S1

14 dia.

D 200-W/400-W Models with Brakes:

R88M-U20030VA-BS1, R88M-U40030VA-BS1

14h6 dia.

50h7 dia.

Four,

5.5 dia.

70 dia.

Four, R5.3

14 dia.

Standard Models (Without Brakes)

Model L LL

R88M-U20030VA-S1 126.5 96.5 R88M-U40030VA-S1 154.5 124.5

2-8

Four,

14h6 dia.

50h7 dia.

5.5 dia.

70 dia.

Four, R5.3

Models with Brakes

Model L LL

R88M-U20030VA-BS1 166 136 R88M-U40030VA-BS1 194 164

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders

(U-INC 30 to 750 W) Conforming to EC Directives (Contd.)

D 750-W Standard Models (Without Brakes): R88M-U75030VA-S1

14 dia.

Four,

16h6 dia.

70h7 dia.

D 750-W Models with Brakes: R88M-U75030VA-BS1

7 dia.

90 dia.

Four, R8.2

Four,

16h6 dia.

70h7 dia.

14 dia.

Four, R8.2

7 dia.

90 dia.

2-9

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders

(U-ABS 30 to 750 W) Conforming to UL/cUL

D 30-W/50-W/100-W Standard Models (Without Brakes):

R88M-U03030TA, R88M-U05030TA, R88M-U10030TA

Encoder adapter

Motor plug

14 dia.

Four

, R3.7

dia.

Sh6 dia.

30h7 dia.

Two,

4.3 dia.

46 dia.

D 30-W/50-W/100-W Models with Brakes:

R88M-U03030TA-B, R88M-U05030TA-B, R88M-U10030TA-B

Encoder adapter

Motor plug

dia.

Standard Models (Without Brakes)

Model L LL S

R88M-U03030TA 117.5 92.5 6 R88M-U05030TA 125 100 6 R88M-U10030TA 142.5 117.5 8

Sh6 dia.

30h7 dia.

R88M-U03030TA-B 149 124 31.5 6 R88M-U05030TA-B 156.5 131.5 31.5 6 R88M-U10030TA-B 183 158 40.5 8

Two,

Model L LL LB S

dia.

4.3 dia.

46 dia.

Models with Brakes

Four

, R3.7

2-10

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders

(U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.)

D 200-W/400-W Standard Models (Without Brakes):

R88M-U20030TA, R88M-U40030TA

Encoder adapter

Motor plug

dia.

D 200-W/400-W Models with Brakes:

R88M-U20030TA-B, R88M-U40030TA-B

14h6 dia.

Four

, 5.5.dia.

70 dia.

50h7 dia.

Encoder adapter

Motor plug

Four

, 5.5.dia.

Four,

R5.3

dia.

Four,

R5.3

Standard Models (Without Brakes)

Model L LL

R88M-U20030TA 147.5 117.5 R88M-U40030TA 175.5 145.5

70 dia.

50h7 dia.

Models with Brakes

Model L LL

R88M-U20030TA-B 187 157 R88M-U40030TA-B 215 185

2-11

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders

(U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.)

D 750-W Standard Models (Without Brakes): R88M-U75030TA

Encoder adapter

Motor plug

dia.

Four,

Four

, 7 dia.

R8.2

16h6 dia.

D 750-W Models with Brakes: R88M-U75030TA-B

90 dia.

70h7 dia.

Encoder adapter

Motor plug

Four

, 7 dia.

dia.

Four,

R8.2

2-12

16h6 dia.

90 dia.

70h7 dia.

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders

(U-ABS 30 to 750 W) Conforming to EC Directives

D 30-W/50-W/100-W Standard Models (Without Brakes):

R88M-U03030XA-S1, R88M-U05030XA-S1, R88M-U10030XA-S1

14 dia.

Two,

4.3 dia.

53 dia.

Sh6 dia.

30h7 dia.

46 dia.

D 30-W/50-W/100-W Models with Brakes:

R88M-U03030XA-BS1, R88M-U05030XA-BS1, R88M-U10030XA-BS1

Two,

4.3 dia.

Sh6 dia.

46 dia.

dia.

30h7 dia.

Four, R3.7

14 dia.

Four, R3.7

Standard Models (Without Brakes)

Model L LL S

R88M-U03030XA-S1 117.5 92.5 6 R88M-U05030XA-S1 125 100 6 R88M-U10030XA-S1 142.5 117.5 8

Models with Brakes

Model L LL LB S

R88M-U03030XA-BS1 149 124 31.5 6 R88M-U05030XA-BS1 156.5 131.5 31.5 6 R88M-U10030XA-BS1 183 158 40.5 8

2-13

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders

(U-ABS 30 to 750 W) Conforming to EC Directives (Contd.)

D 200-W/400-W Standard Models (Without Brakes):

R88M-U20030XA-S1, R88M-U40030XA-S1

14 dia.

Four,

5.5 dia.

14h6 dia.

70 dia.

50h7 dia.

Four, R5.3

D 200-W/400-W Models with Brakes:

R88M-U20030XA-BS1, R88M-U40030XA-BS1

14h6 dia.

50h7 dia.

Four,

70 dia.

5.5 dia.

14 dia.

Four, R5.3

Standard Models (Without Brakes)

Model L LL

R88M-U20030XA-S1 147.5 117.5 R88M-U40030XA-S1 175.5 145.5

2-14

Models with Brakes

Model L LL

R88M-U20030XA-BS1 187 157 R88M-U40030XA-BS1 215 185

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders

(U-ABS, 30 to 750 W) Conforming to EC Directives (Contd.)

D 750-W Standard Models (Without Brakes): R88M-U75030XA-S1

14 dia.

16h6 dia.

D 750-W Models with Brakes: R88M-U75030XA-BS1

Four,

90 dia.

70h7 dia.

7 dia.

Four, R8.2

Four,

16h6 dia.

14 dia.

Four, R8.2

7 dia.

90 dia.

70h7 dia.

2-15

Design and Installation Chapter 2

H U-Series AC Servomotor Shaft Dimensions with Keys

(U-INC, U-ABS, 30 to 750 W)

Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors

keys are shown below

with ber. Key slots are based on JIS B1301-1976.

D 30-W/50-W Models

Standard: R88M-U03030j-S1, R88M-U05030j-S1 With Brakes: R88M-U03030j-BS1, R88M-U05030j-BS1

D 100-W Models

Standard: R88M-U10030j-S1 With Brakes: R88M-U10030j-BS1

. Motors with keys are indicated by adding “-S1” to the end of

Dia.:

6h6

8h6

1.2

1.8

the model num

D 200-W/400-W Models

Standard: R88M-U20030j-S1, R88M-U40030j-S1 With Brakes: R88M-U20030j-BS1, R88M-U40030j-BS1

Dia.:

14h6

D 750-W Models

Standard: R88M-U75030j-S1 With Brakes: R88M-U75030j-BS1

Dia.:

16h6

2-16

Design and Installation Chapter 2

H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)

Not Conforming to Any Standards

D 100-W Standard Models (Without Brakes): R88M-UE10030H-S1

Encoder adapter

Motor plug

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

Two, 4.3 dia.

8h6 dia.

46 dia.

30h7 dia.

Four, R3.7

8h6 dia.

D 100-W Models with Brakes: R88M-UE10030H-BS1

Encoder adapter

Motor plug

Two, 4.3 dia.

8h6 dia.

46 dia.

30h7 dia.

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

Four, R3.7

8h6 dia.

2-17

Design and Installation Chapter 2

H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)

(Contd.)

D 200-W/400-W Standard Models (Without Brakes):

R88M-UE20030H-S1, R88M-UE40030H-S1

Encoder adapter

Motor plug

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

Four, 5.5 dia.

14h6 dia.

70 dia.

50h7 dia.

Four, R5.3

14h6 dia.

D 200-W/400-W Models with Brakes:

R88M-UE20030H-BS1, R88M-UE40030H-BS1

Standard Models (Without Brakes)

Model L LL

R88M-UE20030H-S1 126.5 96.5 R88M-UE40030H-S1 154.5 124.5

Encoder adapter

Motor plug

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

Four, 5.5 dia. Four, R5.3

14h6 dia.

70 dia.

50h7 dia.

Models with Brakes

Model L LL

R88M-UE20030H-BS1 166 136 R88M-UE40030H-BS1 194 164

14h6 dia.

2-18

Design and Installation Chapter 2

H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)

Not Conforming to Any Standards (Contd.)

D 750-W Standard Models (Without Brakes): R88M-UE75030H-S1

Encoder adapter

Motor plug

Four, 7 dia.

90 dia.

16h6 dia.

70h7 dia.

D 750-W Models with Brakes: R88M-UE75030H-BS1

Encoder adapter

Motor plug

Four, 7 dia.

Four, R8.2

16h6 dia.

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

Four, R8.2

90 dia.

16h6 dia.

70h7 dia.

16h6 dia.

Shaft end dimensions Key slot dimensions, conform to

JIS B1301-1976.

2-19

Design and Installation Chapter 2

H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)

Conforming to EC Directives

D 100-W Standard Models (Without Brakes): R88M-UE10030V-S1

14 dia.

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

8h6 dia.

30h7 dia.

Two, 4.3 dia.

46 dia.

Four, R3.7

D 100-W Models with Brakes: R88M-UE10030V-BS1

Two, 4.3 dia.

8h6 dia.

46 dia.

30h7 dia.

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

8h6 dia.

14 dia.

Four, R3.7

2-20

Design and Installation Chapter 2

H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)

Conforming to EC Directives (Contd.)

D 200-W/400-W Standard Models (Without Brakes):

R88M-UE20030V-S1, R88M-UE40030V-S1

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

14h6 dia.

14 dia.

14h6 dia.

50h7 dia.

D 200-W/400-W Models with Brakes:

R88M-UE20030V-BS1, R88M-UE40030V-BS1

Four, 5.5 dia.

70 dia.

14 dia.

Four, R5.3

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

14h6 dia.

Standard Models (Without Brakes)

Model L LL

R88M-UE20030V-S1 126.5 96.5 R88M-UE40030V-S1 154.5 124.5

Four, 5.5 dia.

14h6 dia.

70 dia.

50h7 dia.

Four, R5.3

Models with Brakes

Model L LL

R88M-UE20030V-BS1 166 136 R88M-UE40030V-BS1 194 164

2-21

Design and Installation Chapter 2

H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)

Conforming to EC Directives (Contd.)

D 750-W Standard Models (Without Brakes): R88M-UE75030V-S1

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

14 dia.

Four, 7 dia.

16h6 dia.

90 dia.

70h7 dia.

16h6 dia.

Four, R8.2

D 750-W Models with Brakes: R88M-UE75030V-BS1

16h6 dia.

Four, 7 dia.

70h7 dia.

Shaft end dimensions

Key slot dimensions, conform to JIS B1301-1976.

16h6 dia.

14 dia.

Four, R8.2

90 dia.

2-22

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC

1 to 2 kW)

D 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes)

Not Conforming to Any Standards: R88M-U1K030H/-U1K530H/-U2K030H Conforming to EC Directives: R88M-U1K030V-S1/-U1K530V-S1/-U2K030V-S1

24h6 dia.

95h7 dia.

130 dia.

115 dia.

Four, 7 dia.

D 1.0-kW/1.5-kW/2.0-kW Models With Brakes

Not Conforming to Any Standards: R88M-U1K030H-B/-U1K530H-B/-U2K030H-B Conforming to EC Directives: R88M-U1K030V-BS1/-U1K530V-BS1/-U2K030V-BS1

24h6 dia.

95h7 dia.

130 dia.

115 dia.

Four, 7 dia.

Standard Models (Without Brakes)

Model L LL

R88M-U1K030j 194 149 R88M-U1K530j 220 175 R88M-U2K030j 243 198

R88M-U1K030j-Bj 238 193 R88M-U1K530j-Bj 264 219 R88M-U2K030j-Bj 287 242

Models with Brakes

Model L LL

Note Servomotors with model numbers ending in “S1” have straight shafts with keys. Refer to

2-25 U-Series AC Servomotor Shaft Dimensions with Keys

for key dimensions.

page

2-23

Design and Installation Chapter 2

H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS

1 to 2 kW)

D 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes)

Not Conforming to Any Standards: R88M-U1K030T/-U1K530T/-U2K030T Conforming to EC Directives: R88M-U1K030X-S1/-U1K530X-S1/-U2K030X-S1

24h6 dia.

95h7 dia.

130 dia.

115 dia.

Four, 7 dia.

D 1.0-kW/1.5-kW/2.0-kW Models With Brakes

Not Conforming to Any Standards: R88M-U1K030T-B/-U1K530T-B/-U2K030T-B Conforming to EC Directives: R88M-U1K030X-BS1/-U1K530X-BS1/-U2K030X-BS1

24h6 dia.

95h7 dia.

130 dia.

115 dia.

Four, 7 dia.

Standard Models (Without Brakes)

Model L LL

R88M-U1K030j 208 163 R88M-U1K530j 234 189 R88M-U2K030j 257 212

R88M-U1K030j-Bj 252 207 R88M-U1K530j-Bj 278 233 R88M-U2K030j-Bj 301 256

Models with Brakes

Model L LL

Note Servomotors with model numbers ending in “S1” have straight shafts with keys. Refer to

2-25 U-Series AC Servomotor Shaft Dimensions with Keys

for key dimensions.

2-24

page

Design and Installation Chapter 2

H U-Series AC Servomotor Shaft Dimensions with Keys

(U-INC, U-ABS, 1 to 2 kW)

Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors

keys are shown below

with ber. Key slots are based on JIS B1301-1976.

D 1.0-kW/1.5-kW/2.0-kW Models

Standard: R88M-U1K030j-S1, R88M-U1K530j-S1, R88M-U2K030j-S1 With Brakes: R88M-U1K030j-BS1, R88M-U1K530j-BS1, R88M-U2K030j-BS1

. Motors with keys are indicated by adding “-S1” to the end of

24h6 dia.

M8 with effective depth of 16

the model num

2-25

Design and Installation Chapter 2

H OMNUC H-Series AC Servomotor with Incremental Encoder (H)

D 50-W/100-W Standard Models (Without Brakes): R88M-H05030, R88M-H10030 D 50-W/100-W Models with Brakes: R88M-H05030-B, R88M-H10030-B

Four, R4

93 dia. max.

63 dia.

ć0.025

Ădia.

80±0.2 dia.

Four, 5 dia.

Standard Models (Without Brakes)

Model L1 L2 L3

R88M-H05030 (50 W) 53.5 99 45.5 R88M-H10030 (100 W) 63.5 109 45.5

66 66±0.4

Models With Brakes

Model L1 L2 L3

R88M-H05030-B (50 W) 84.5 130 45.5 R88M-H10030-B (100 W) 94.5 140 45.5

ć0.009

Ădia.

D 200-W/300-W Standard Models (Without Brakes): R88M-H20030, R88M-H30030 D 200-W/300-W Models with Brakes: R88M-H20030-B, R88M-H30030-B

Four, R10

Ădia.

ć0.011

77 dia.

107 dia. max.

Ădia.

ć0.03

90±0.2 dia.

Four, 6 dia.

Standard Models (Without Brakes)

Model L1 L2 L3

R88M-H20030 (200 W) 77 123.5 46.5 R88M-H30030 (300 W) 89 135.5 46.5

2-26

80 80±0.4

Models With Brakes

Model L1 L2 L3

R88M-H20030-B (200 W) 107.5 154 46.5 R88M-H30030-B (300 W) 119.5 166 46.5

Design and Installation Chapter 2

H OMNUC H-Series AC Servomotors with Incremental Encoders (H)

(Contd.)

D 500-W/750-W/1100-W Standard Models (Without Brakes):

R88M-H50030, R88M-H75030, R88M-H1K130

D 500-W/750-W/1100-W Models with Brakes:

R88M-H50030-B, R88M-H75030-B, R88M-H1K130-B

Four, R15

162 dia. max.

77 dia.

Shaft

Dimensions R88M-H50030/-H50030-B R88M-H75030/-H75030-B

Ădia.

ć0.011

Shaft Dimensions R88M-H1K130/-H1K130-B

Ădia.

ć0.013

110

ć0.035

Ădia.

130±0.2 dia.

Four, 9 dia.

Standard Models (Without Brakes)

Model L1 L2 L3

R88M-H50030 (500 W) 107.5 154.0 46.5 R88M-H75030 (750 W) 126.0 172.5 46.5 R88M-H1K130 (1100 W) 144.5 191.0 46.5

Models With Brakes

Model L1 L2 L3

R88M-H50030-B (500 W) 148.5 195.0 46.5 R88M-H75030-B (750 W) 167.0 213.5 46.5 R88M-H1K130-B (1100 W) 185.5 232.0 46.5

2-27

Design and Installation Chapter 2

H OMNUC M-Series AC Servomotors with Resolvers (M)

D 60-W/120-W (4,000 r/min) Standard Models (Without Brakes): R88M-M06040,

R88M-M12040

7.4 dia.

8h6 dia.

50h7 dia.

…

Four,

5 dia.

D 60-W/120-W (4,000 r/min) Models with Brakes: R88M-M06040-B, R88M-M12040-B

7.4 dia.

8h6 dia.

50h7 dia.

Four,

5 dia.

Standard Models (Without Brakes)

Model L LL LM

R88M-M06040 150 120 85 R88M-M12040 175 145 110

D Shaft End Dimensions

2-28

Models with Brakes

Model LX LY LM

R88M-M06040-B 184 154 85 R88M-M12040-B 209 179 110

Design and Installation Chapter 2

H OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.)

D 200-W (2,000 r/min) Standard Models (Without Brakes): R88M-M20020 D 200-W/400-W (4,000 r/min) Standard Models: R88M-M20040, R88M-40040

7.4 dia.

14h6 dia.

100±0.2 dia

80h7 dia.

Four, 7dia.

D 200-W (2,000 r/min) Models with Brakes: R88M-M20020-B D 200-W/400-W (4,000 r/min) Models with Brakes: R88M-M20040-B, R88M-M40040-B

7.4 dia.

14h6 dia.

80h7 dia.

100±0.2 dia

Four, 7dia.

Standard Models (Without Brakes)

Model L LL LM

R88M-M20040 166 131 92 R88M-M20020

196 161 122

R88M-M40040

Model LX LY LM

R88M-M20040-B 196 161 92 R88M-M20020-B R88M-M40040-B

Models with Brakes

226 191 122

D Shaft End Dimensions

2-29

Design and Installation Chapter 2

H OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.)

D 200-W/400-W/700-W (1,200 r/min)

Standard Models (Without Brakes): R88M-M20012, R88M-M40012, R88M-M70012

D 400-W/700-W/1,100-W (2,000 r/min) Standard Models (Without Brakes):

R88M-M40020, R88M-M70020, R88M-M1K120

D 700-W/1,100-W/2,000-W (4,000 r/min) Standard Models (Without Brakes):

R88M-70040, R88M-M1K140, R88M-M2K040

19h6 dia.

145±0.2 dia.

10h7 dia.

Four, 9 dia.

D 200-W/400-W/700-W (1,200 r/min)

Models with Brakes: R88M-M20012-B, R88M-M40012-B, R88M-M70012-B

D 400-W/700-W/1,100-W (2,000 r/min) Models with Brakes: R88M-M40020-B,

R88M-M70020-B, R88M-M1K120B

D 700-W/1,100-W/2,000-W (4,000 r/min) Models with Brakes: R88M-M70040-B,

R88M-M1K140-B, R88M-M2K040-B

2-30

19h6 dia.

145±0.2 dia.

10h7 dia.

165

dia.

Four, 9 dia.

Design and Installation Chapter 2

Standard Models

Model L LL LM

R88M-M20012

240 195 156 R88M-M40020 R88M-M70040 R88M-M40012

275 230 191 R88M-M70020 R88M-M1K140 R88M-M70012

345 300 261 R88M-M1K120 R88M-M2K040

D Shaft End Directions

Models with Brakes

Model LX LY LM

R88M-M20012-B

282 237 156 R88M-M40020-B R88M-M70040-B R88M-M40012-B

317 272 191 R88M-M70020-B R88M-M1K140-B R88M-M70012-B

387 342 261 R88M-M1K120-B R88M-M2K040-B

H OMNUC M-Series AC Servomotors with Resolvers (Contd.)

D 1,100-W/1,400-W/1,800-W (1,200 r/min) Standard Models:

R88M-M1K112/-M1K412/-M1K812

D 1,800-W/2,200-W (2,000 r/min) Standard Models:

R88M-M1K820/-M2K220

+0.01

35 dia.

114.3h7

200±0.3 dia.

180 x 180

230

Four, 14 dia.

dia.

2-31

Design and Installation Chapter 2

D 1,100-W/1,400-W/1,800-W (1,200 r/min) Models with Brakes:

R88M-M1K112-B/-M1K412-B/-M1K812-B

D 1,800-W/2,200-W (2,000 r/min) Models with Brakes:

R88M-M1K820-B/-M2K220-B

+0.01

35 dia.

114.3h7

200±0.3 dia.

180 x 180

Standard Models

Model L LL LM LX LY LZ

R88M-M1K112

370 291 252 439 360 256 R88M-M1K820 R88M-M1K412

400 321 282 469 390 286 R88M-M2K220 R88M-M1K812 460 381 342 529 450 346

D Shaft End Directions

230

dia.

Four, 14 dia.

Models with Brakes

Model L LL LM LX LY LZ

R88M-M1K112-B R88M-M1K820-B

R88M-M1K412-B R88M-M2K220-B

R88M-M1K812-B 460 381 342 529 450 346

4.5

370 291 252 439 360 256

400 321 282 469 390 286

2-32

Design and Installation Chapter 2 2-1-2 Installation Conditions

H Position Driver

D Space Around Drivers

• Install

• Mount the Position Drivers vertically (so that the model number and writing can be read).

Position Drivers according to the dimensions shown in the following illustration

heat dispersion and convection inside the panel. Also install a fan

for circulation if Position Drivers

to ensure prop

are installed side by side to prevent uneven temperatures from developing inside the panel.

ЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙ

30 mm min.

ЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙ

Fan Fan

Position Driver

W = 10 mm min.

Position Driver

mm min.

Side of Driver

50 mm min.

D Operating Environment

Be sure that the environment in which Position Drivers are operated meets the following conditions.

• Ambient operating temperature: 0°C to +55°C

• Ambient operating humidity: 35% to 90% (RH, with no condensation)

• Atmosphere: No corrosive gases.

D Ambient Temperature

• Position maintain a high level of reliability.

• Temperature the vent the ambient temperature of the Position Driver from exceeding 55°C.

• Position Use heat.

• The trolytic ume due mum ambient temperature of 35°C, then a service life of approximately 50,000 hours can be expected. life.

Drivers should be

operated in environments in which there is minimal temperature rise to

rise in any Position Driver installed in a closed space, such as a control box, will cause

ambient temperature to rise inside the entire closed space. Use a fan or a air conditioner to pre

Driver surface temperatures may rise to as much as 40°C above the ambient temperature.

heat-resistant materials for wiring,

service life of

a Position Driver is largely determined by the temperature around the internal elec

capacitors. The service life of an electrolytic capacitor is af

and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning

to noise, and damage to individual elements. If a Position Driver is always operated at the maxi

A drop of 10°C in the ambient temperature will approximately double the expected service

and keep separate any devices or wiring that are sensitive to

fected by a drop in electrolytic vol

2-33

Design and Installation Chapter 2

D Keeping Foreign Objects Out of Units

• Place

• Take

H AC Servomotors

D Operating Environment

Be sure that the environment in which the Servomotor is operated meets the following conditions.

• Ambient operating temperature: 0°C to +40°C

• Ambient operating humidity: OMNUC U Series: 20% to 80% (RH, with no condensation)

• Atmosphere: No corrosive gases.

D Impact and Load

• The Servomotor is resistant to impacts of up to

• Always use a pulley remover to remove pulleys,

• Secure cables so that there is no impact or load placed on the cable connector areas.

a cover over the Units or take other preventative measures to prevent foreign objects, such as

drill

filings, from getting into the Position Driver during installation.

installation is complete. If the

measures during installation and operation to

cover

is left on during operation, heat buildup may damage the Driver

prevent foreign objects such as metal particles,

Be sure to remove the cover after

oil, machining oil, dust, or water from getting inside of the Position Driver.

OMNUC U-UE Series: 20% to 80% (RH, with no condensation) OMNUC H Series: 35% to 85% (RH, with no condensation) OMNUC M Series: 35% to 85% (RH, with no condensation)

98 m/s loads

{10 G}. Do not subject it to

during transport, installation,

heavy impacts or

or positioning. In addition, do not hold onto the encoder/resolver area,

cable, or connector areas when transporting it.

couplings, or other objects from the shaft.

D Connecting to Mechanical Systems

• The

axial loads for Servomotors are specified in sec

tion

5-2 Servomotor Specifications

. If an axial load greater than that specified is applied to a Servomotor,

it will reduce the service life of the motor bearings

and

may damage the motor shaft. When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and variation.

Recommended Coupling

Name Maker

Oldham coupling Myghty Co., Ltd

• For spur gears, an extremely large radial load may be applied depending on the gear precision. Use spur

gears with a high

JIS class 2: normal line pitch error of 6 µm max.

ple, for

a pitch circle diameter of 50 mm). If the gear

degree of accuracy (for exam

preci sion is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft.

2-34

Motor shaft center line

Backlash

Ball screw center line

Shaft core displacement

Adjust backlash by adjusting the distance between shafts.

Design and Installation Chapter 2

• Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure that no thrust load is applied which exceeds specifications.

• Do not put rubber packing on the flange surface. If the

flange is mounted with rubber packing, the motor

flange may separate due to the tightening strength.

Make moveable.

Bevel gear

• When

connecting to a V

-belt or timing belt, consult the maker for belt selection and

tension. A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications plied,

the motor shaft may be damaged. Set up

large

radial load may also be applied as a result of belt vibration. Attach a brace and adjust

to be placed on the motor shaft due to belt tension. If an excessive radial load is ap

the structure so that the radial load can be adjusted. A

Position

Driver gain so that belt vibration is minimized.

Belt

Pulley

Tension

Motor shaft

Make adjustable.

Load shaft

D Water and Drip Resistance

• The

Servomotor does not have a

tive

structure meets the following JEM (The Japan Electrical Manufacturers’ Association) standards:

Series, 30 to 750 W Conforming to

Series, 30 to 750 W Conforming to EC Directives and UE T (except shaft penetration point) U Series, 1 to 2 kW Not Conforming to Any Standards: IP-65 (except shaft penetration point) U Series, 1 to 2 kW Conforming to EC Directives: IP-55 (including shaft penetration point) H Series: IP-52 M Series: IP-42

water-proof structure. Except for the connector areas, the protec

UL/cUL and UE T

ype Not Conforming to Any Standards: IP-42

ype Conforming to EC Directives: IP-44

Note Protective

Structure: Indicated as IP-

(IP:

Protection rating symbol,

jj: rating class) ac-

cording to the IEC standard (IEC529: 1989-11).

• If

the Servomotor is used in an environment in which condensation occurs, water may enter inside of

the

encoder/resolver from the end surfaces

of cables due to motor temperature changes. Either take measures to ensure that water cannot penetrate in this way, or use water-proof connectors. Even when

machinery is not in use, water penetration can be avoided by taking measures, such as keep

ing the motor in servo-lock status, to minimize temperature changes.

machining oil with surfactants (e.g., coolant fluids) or their spray penetrate inside of the motor

• If sulation defects or short-circuiting may occur

• The

water

and drip resistance of the standard cables for U-Series Servomotors of 1 to 2 kW is equiv

. T

ake measures to prevent machining oil

penetration.

alent to IP-30. Use water-resistance connectors for the power cables and encoder cables in locations subject to contact with water. Use the following recommended products for power cable and encoder cable connectors when the device is to meet EC directives.

, in

2-35

Design and Installation Chapter 2

Power Cable Connectors

Servomotor Servomotor

model R88M-

Standard U1K030j-j

U1K530j-j U2K030j-j

With Brakes U1K030j-Bj

U1K530j-Bj U2K030j-Bj

Connector model Cable clamp model Manufacturer

Elbow connectors: CE05-8A18-10SD-BBAS

Straight connectors: CE05-6A18-10SD-BBSS

Elbow connectors: JL04V-8A20-15SE-EB

Straight connectors: JL04V-6A20-15SE-EB

Sheath exterior diameter of 6.5 to 8.7 mm: CE3057-10A-3 (D265)

Sheath exterior diameter of 8.5 to 11 mm: CE3057-10A-2 (D265)

Sheath exterior diameter of 10.5 to

14.1 mm: CE3057-10A-1 (D265)

Sheath exterior diameter of 6.5 to 9.5: JL04-2022CK (09)

Sheath exterior diameter of 9.5 to 13: JL04-2022CK (12)

Sheath exterior diameter of 12.9 to 15.9: JL04-2022CK (14)

Daiichi Electronic Industries Co., Ltd.

Japan Aviation Electronics Industry, Ltd.

Encoder Cable Connectors

Servomotor Connector model Cable clamp model Manufacturer

All models Elbow connectors:

JA08A-20-29S-J1-EB Straight connectors:

JA06A-20-29S-J1-EB

Sheath exterior diameter of 6.5 to 9.5 mm: JL04-2022CKE (09)

Sheath exterior diameter of 9.5 to 13 mm: JL04-2022CKE (12)

Sheath exterior diameter of 12.9 to 16 mm: JL04-2022CKE (14)

Japan Aviation Electronics Industry, Ltd.

D Other Precautions

• Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous AC and use permanent magnets. Applying 3-phase power will burn out the motor coils.

• Do

not carry the Servomotor by

clamp may become damaged.

• The

shafts are coated with anti-rust oil when shipped. Apply anti-rust oil or grease to the shaft if nec essary. slip

When anti-rust oil or grease is applied, connections such as couplings to the load shaft may

causing dislocations. Therefore, pay careful attention to the connections after applying anti-rust

oil or grease.

its cable, otherwise the cable may become disconnected or the cable

• Absolutely encoder/resolver ate.

2-36

do not remove the encoder/resolver cover or take the motor apart. The magnet and

are aligned in the Servomotor

. If they become misaligned, the motor will not oper

the

Design and Installation Chapter 2

• The

Servomotor may not produce suf

where

power is turned ON (a distance equivalent to about ±6 pulses). If only a very small distance is to be moved, move the motor at least ±6 pulses after turning ON the power before starting actual operation.

ficient torque when moved only a small distance from the point

2-37

Design and Installation Chapter 2 2-2 Wiring

2-2-1 Overview

Use

a general-purpose control cable (purchased separately) to connect the Position Driver to the Pro grammable er/Resolver prepared by the user.)

Controller

Cable and a Power Cable. (For the M Series there is no dedicated power cable. It must be

. For connecting the Position Driver to an AC Servomotor

, use a dedicated Encod

Note Refer to

Chapter 5 Specifications

for details on connectors and cables.

2-38

Design and Installation Chapter 2

H Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to

UL/cUL or UE Type Not Conforming to Any Standards

SYSMAC CV/C-series Programmable Controller

C200HX/HG/HE or CQM1 Programmable Controller

General-purpose Control Cable

FND-CCXjjjS

FND-X-series Position Driver (DIO Type)

SRM1-C01/-C02 Master Control Unit

CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable)

FND-X-series Position Driver (CompoBus/S Type)

Encoder Cable

R88A-CRUjjjC (for incremental encoder) R88A-CSUjjjC (for absolute encoder)

Note Refer to

Chapter 5 Specifications

Power Cable

R88A-CAUjjjS R88A-CAUjjjB

OMNUC U-Series AC Servomotor Conforming to UL/cUL or U-UE-Series AC Servomotor Not Conforming to Any Standards

for connector and cable specifications.

Backup Battery

Connect when using a Servomotor with an absolute encoder.

2-39

Design and Installation Chapter 2

H Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to

EC Directives or UE Type Conforming to EC Directives

SYSMAC CV/C-series Programmable Controller

FND-X-series Position Driver (DIO Type)

C200HX/HG/HE or CQM1 Programmable Controller

General-purpose Control Cable

FND-CCXjjjS

SRM1-C01/-C02 Master Control Unit

CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable)

FND-X-series Position Driver (CompoBus/S Type)

Encoder Cable

R88A-CRUDjjjC (for incremental encoder) R88A-CSUDjjjC (for absolute encoder)

Note Refer to

Chapter 5 Specifications

2-40

Power Cable

R88A-CAU001 R88A-CAU01B

OMNUC U-Series AC Servomotor Conforming to EC Directives or U-UE-Series AC Servomotor Conforming to EC Directives

Backup Battery

for connector and cable specifications.

Connect when using a Servomotor with an absolute encoder.

Design and Installation Chapter 2

H Using OMNUC U-series AC Servomotors: 1 to 2 kW

SYSMAC CV/C-series Programmable Controller

General-purpose Control Cable

FND-CCXjjjS

FND-X-series Position Driver (DIO Type)

C200HX/HG/HE or CQM1 Programmable Controller

SRM1-C01/-C02 Master Control Unit

CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable)

FND-X-series Position Driver (CompoBus/S Type)

Power Cable

Encoder Cable

R88A-CRUBjjjN

(for incremental encoder/

absolute encoder)

Note 1. Refer to

R88A-CAUBjjjN R88A-CAUBjjjB

Chapter 5 Specifications

OMNUC U-series AC Servomotor: 1 to 2 kW

for connector and cable specifications.

Backup Battery

Connect when using a Servomotor with an absolute encoder.

Note 2. To perform mounting in accordance with EC Directives, use a Servomotor that conforms to

Directives. In addition, replace the connectors for the power

at the Servomotor with the recommended Connectors listed under

ance

2-1-2 Installation Conditions.

cable and the encoder cable

Water and Drip Resist-

Note 3. The protective structure of cables is IP30. If higher protection rating is required, use those

listed under

Water and Drip Resistance in 2-1-2 Installation Conditions.

2-41

Design and Installation Chapter 2

H Using an OMNUC H-series AC Servomotor

SYSMAC CV/C-series Programmable Controller

SYSMAC HX/HG/HE or CQM1 Programmable Controller

General-purpose Control Cable

FND-CCXjjjS

FND-X-series Position Driver (DIO Type)

SRM1-C01/-C02 Master Control Unit

CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable)

FND-X-series Position Driver (CompoBus/S Type)

Conversion Cable

R88A-CRH0R5T

Note Refer to

2-42

Encoder Cable

R88A-CRHjjjC

Chapter 5 Specifications

Power Cable

R88A-CAHjjjS R88A-CAHjjjB

OMNUC H-series AC Servomotor

for connector and cable specifications.

Design and Installation Chapter 2

H Using an OMNUC M-series AC Servomotor

SYSMAC CV/C-series Programmable Controller

General-purpose Control Cable

FND-CCXjjjS

FND-X-series Position Driver (DIO Type)

C200HX/HG/HE or CQM1 Programmable Controller

SRM1-C01/-C02 Master Control Unit

CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable)

FND-X-series Position Driver (CompoBus/S Type)

Conversion Cable

R88A-CRM0R5T

Note Refer to

Resolver Cable

R88A-CRMjjjN

Chapter 5 Specifications

Power Cable

(Prepared by user.)

OMNUC M-series AC Servomotor

for connector and cable specifications.

2-43

Design and Installation Chapter 2

D Wiring Power Cables

Red White Blue Green

D Power Cable Wire Sizes

Wire size

AWG

Model R88M-

M20012 1.25 AWG16 M40012 1.25 AWG16 M70012 1.25 AWG16 M1K112 2 AWG14 M1K412 2 AWG14 M1K812 2 AWG14 M20020 0.9 AWG18 M40020 1.25 AWG16 M70020 1.25 AWG16 M1K120 1.25 AWG16

Model

R88M-

M1K820 3.5 AWG12 M2K220 3.5 AWG12 M06040 0.9 AWG18 M12040 0.9 AWG18 M20040 0.9 AWG18 M40040 0.9 AWG18 M70040 1.25 AWG16 M1K140 1.25 AWG16 M2K040 3.5 AWG12

Wire size

AWG

2-44

Design and Installation Chapter 2 2-2-2 Control Circuitry Terminal Wiring

DIO Position Drivers

H Control Signal Connector (CN1: CONT) Pin Arrangement

2 CWL

4 RUN

6 RESET

+JOG

10 TEACH

12 P.IN1

14 P.IN3

16 P.IN5

P.IN7 Position 7

limit in

put

RUN command

reset

Alarm

+JOG operation

Teach

Point selection /Position 1

Point selection 3 /Position 3

Point selection 5 /Position 5

1 CCWL

3 ORG

5START

7 SEARCH

–JOG

11 P.IN0

13 P.IN2

15 P.IN4

17 P.IN6

CCW limit input

Origin proximity

Start

Origin

–JOG operation

Point selection 0 /Position 0

Point selection 2 /Position 2

Point selection 4 /Position 4

Point selection 6 /Position 6

STOP

22 READY

24 ORGSTP

26 RUNON

28 ALM

P.OUT1

32 P.OUT3

34 P.OUT5

36 +24V

Deceleration stop

Ready

Origin stop

Motor running

Alarm

output

Point 1/ Position selection

Point 3/ Position selection

Point output 5

+24-VDC power supply input for control

output

19 OGND

23 S.COM

25 T.COM

27 INP

29 P.OUT0

P.OUT2

33 P.OUT4

35 P.OUT6

Output ground

Brake output

Origin search completed

Teaching completed

Positioning completed

Point

output 0/ Position selection

Point 2/ Position selection

Point 4/ Speed selection

Point output 6

output

D Connectors Used

Sumitomo 3M Receptacle at Position Driver 10236-6202JL

Soldered plug at cable side 10136-3000VE Case at cable side 10336-52A0-008

CompoBus/S Position Drivers

H CompoBus/S Communications Terminal Block (CN1: CONT) Pin

Arrangement

Signal Name Functions

BD H CompoBus/S serial line (+) BD L

CompoBus/S serial line (–)

D I/O Allocation

The FND-X has 16 input points and 16 output points.

These are the terminals for connecting

ompoBus/S communications cables.Be

careful to connect the polarities correctly.

2-45

Design and Installation Chapter 2

IN (16 Input Points)

I/O allocation Signal Name

OUT0 RUN RUN command OUT1 START START OUT2 RESET Alarm reset OUT3 SEARCH Origin search OUT4 +JOG +JOG operation OUT5 –JOG –JOG operation OUT6 TEACH Teach OUT7 STOP (see note 2) Deceleration stop OUT8 P. IN0 Point selection 0/Position 0 OUT9 P. IN1 Point selection 1/Position 1 OUT10 P. IN2 Point selection 2/Position 2 OUT11 P. IN3 Point selection 3/Position 3 OUT12 P. IN4 Point selection 4/Position 4 OUT13 P. IN5 Point selection 5/Position 5 OUT14 P. IN6 Point selection 6/Position 6 OUT15 P. IN7 Position 7

OUT (16 Output Points)

I/O allocation Signal Name

IN0 BO Brake output IN1 READY READY IN2 S.COM Origin search completed IN3 ORGSTP Origin stop IN4 T.COM Teaching completed IN5 RUNON Motor running IN6 INP Positioning completed IN7 ALM Alarm IN8 P. OUT0 Point output 0/Position selection 1 IN9 P. OUT1 Point output 1/Position selection 2 IN10 P. OUT2 Point output 2/Position selection 3 IN11 P. OUT3 Point output 3/Position selection 4 IN12 P. OUT4 Point output 4/Speed selection IN13 P. OUT5 Point output 5 IN14 P. OUT6 Point output 6 IN15 --- Not used

Note 1. The I/O allocation indicates the word allocation for the Master Unit. Note 2. The

Servomotor cannot be driven if the deceleration stop signal is OFF for the external control

input (CN4-4) or the CompoBus/S input (OUT7).

2-46

Design and Installation Chapter 2

H External Control Signal Connectors (CN4: LIMIT) Pin Arrangement

Brake output

Output ground

2 CWL

4STOP

CW limit

Deceleration stop (see note)

1 CCWL

3 ORG

7 +24 V

CCW limit

Origin proximity

+24-VDC power supply input for control

8BO

14 OGND

D Connectors Used

Sumitomo 3M Receptacle at Position Driver 10214-6202JL

Soldered plug at cable side 10114-3000VE Case at cable side 10314-52A0-008

Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control

input (CN4-4) or the CompoBus/S input (OUT7).

2-47

Design and Installation Chapter 2

H Control I/O Specifications

DIO

CN1-1 CN4-1 CCWL CCW limit input Inputs the + direction limit signal (sta-

CN1-2 CN4-2 CWL CW limit input Inputs the – direction limit signal (sta-

CN1-3 CN4-3 ORG Origin proximity Signal for mechanical origin setting IN17 CN1-4 OUT0 RUN RUN command Command for beginning power on to

CN1-5 OUT1 START START Begins positioning operation (rising

CN1-6 OUT2 RESET Alarm reset Alarm reset signal (rising edge en-

CN1-7 OUT3 SEARCH Origin search When RUN is ON (rising edge en-

CN1-8 OUT4 +JOG +JOG operation +JOG operation (status enabled) ON:

CN1-9 OUT5 –JOG –JOG operation –JOG operation (status enabled) ON:

CN1-10 OUT6 TEACH Teach When ORIGIN SEARCH is OFF (sta-

Compo

Bus/S

Signal Name Function and interface Internal

allocation

IN15 tus enabled) ON: Drive possible

OFF: Motor stopped by limit detection when driving in the + direction.

IN16 tus enabled) ON: Drive possible OFF: Motor stopped by limit detection when driving in – direction.

IN0 motor (status enabled) When OFF, error counter is cleared. ON: Power ON to motor OFF: Power OFF to motor

IN1 edge enabled) ON: START

IN2 abled)

IN3 abled): ON: Origin search begins

When RUN is OFF (status enabled): ON: Origin teaching awaited

IN4 Rotate

IN5 Rotate

IN6 tus enabled): When UP-01 = 11 or 12, motor’s present position is taken for PTP data when this bit turns ON. When UP-01 = 13 or 14, P.IN0 to P.IN7 is taken as positioning data when this bit turns ON.

When RUN is OFF and ORIGIN SEARCH is ON (status enabled): Motor’s present position is taken for origin compensation amount.

2-48

ab ed)

Design and Installation Chapter 2

DIO Internal

CN1-11 OUT8 P.IN0 Point selection 0/

CN1-12 OUT9 P.IN1 Point selection 1/

CN1-13 OUT10 P.IN2 Point selection 2/

CN1-14 OUT11 P.IN3 Point selection 3/

CN1-15 OUT12 P.IN4 Point selection 4/

CN1-16 OUT13 P.IN5 Point selection 5/

CN1-17 OUT14 P.IN6 Point selection 6/

CN1-18 OUT15 P.IN7 Position 7 IN14 CN1-20 CN4-4

CN1-36 CN4-7 +24V +24-VDC power

CN1-19 CN4-14 OGND Output ground

CN1-21 CN4-8

CN1-22 IN1 READY Ready Outputs ready status for receiving

CN1-23 IN2 S.COM Origin search

CN1-24 IN3 ORGSTP Origin stop Output turns ON when positioning is

CN1-25 IN4 T.COM Teaching com-

CN1-26 IN5 RUNON Motor running Output turns ON when power is turned

CN1-27 IN6 INP Positioning com-

CN1-28 IN7 ALM Alarm Output indicates error occurrence at

Compo

Bus/S

OUT7

IN0

Function and interfaceNameSignal

Positioning data inputs (status en-

Position 0

Position 1

Position 2

Position 3

Position 4

Position 5

Position 6

STOP Deceleration stop Stops according to deceleration stop

supply input for control

common

BO Brake output External brake timing signal output.

completed

pleted

abled) When UP-01 = 11 or 12, PTP data No. is input as positioning data. Range: 1 to 64, BCD input.

When UP-01 = 13 or 14, positioning data is input. Range: 1 to 99, BCD input.

Taken in order, two digits at a time, from the rightmost digits.

mode (falling edge enabled) ON: Motor driven OFF: Motor stopped

Power supply input terminal for control input.

Output ground common for control input.

Output OFF when brake is operating.

ORIGIN SEARCH, ST point selection signal input. Output turns ON when positioning data is received or when motor rotation is completed.

Output turns ON when motor’s present position is established.

stopped at mechanical origin position. Output turns ON when teaching input

processing is completed.

ON to the motor. Output turns ON when error counter

residual pulses are within the UP-07 (positioning completed range) setting.

the driver or motor. Output OFF when an alarm occurs.

ART, TEACH, or

allocation

IN7

IN8

IN9

IN10

IN11

IN12

IN13

IN18

---

OUT14

OUT0

OUT1

OUT2

OUT3

OUT4

OUT5

OUT6

2-49

ositioning data ( osition and s eed).

Design and Installation Chapter 2

DIO Internal

CN1-29 IN8 P.OUT0 Point output 0/

CN1-30 IN9 P.OUT1 Point output 1/

CN1-31 IN10 P.OUT2 Point output 2/

CN1-32 IN11 P.OUT3 Point output 3/

CN1-33 IN12 P.OUT4 Point output 4/

CN1-34 IN13 P.OUT5 Point output 5 OUT12 CN1-35 IN14 P.OUT6 Point output 6 OUT13

Compo

Bus/S

Position selection 1

Position selection 2

Position selection 3

Position selection 4

Speed selection

Function and interfaceNameSignal

When UP-01 = 11 or 12: Outputs (BCD) point No. during waiting or execution.

When UP-01 = 13 or 14: Outputs request signal for receiving positioning data (position and speed).

The output ON time is set for PP-26 (selection signal output time).

allocation

OUT7

OUT8

OUT9

OUT10

OUT11

Note The “internal allocations” are the numbers allocated in the CPU Unit.

2-50

Design and Installation Chapter 2

H Control Input Details

DIO CN1-1 CompoBus/S CN4-1 CCWL CCW limit N.C. condition

• Pin

No. 1 is the plus (+) direction limit input signal. When this signal is not being input (ON), the motor

cannot be rotated in the plus (+) direction.

• If

this signal turns OFF during motor rotation in the plus (+)

ing to the PP-25 (alarm selection) setting.

DIO CN1-2 CompoBus/S CN4-2 CWL CW limit N.C. condition

• Pin

No. 2 is the minus (–) direction limit input signal. When this signal is not being input (ON), the motor

cannot be rotated in the minus (–) direction.

• If

this signal turns OFF during motor rotation in the minus (–) direction, the motor will be stopped ac

cording to the PP-25 (alarm selection) setting.

DIO CN1-3 CompoBus/S CN4-3 ORG Origin proximity N.O. condition

• Pin No. 3 is the input for determining the mechanical origin.

direction, the motor will be stopped accord

• When

an origin search is executed, operation stops

determined

after the origin proximity signal turns from

at the motor’s Z-phase position and the origin is

ON to OFF during motor rotation in the direction

set by PP-19 (origin search direction).

• When PP-06 and PP-07 (leftmost and rightmost digits for the origin compensation amount) are set, positioning

will be executed from this position by the amount set for origin compensation, and then that

compensated position will be taken as the mechanical origin.

DIO CN1-4 CompoBus/S OUT0 RUN RUN command N.O. condition

The pin No. 4 signal input turns ON the power to drive the motor and begins motor operation. If this signal is not input (turned ON), the motor cannot be driven.

DIO CN1-5 CompoBus/S OUT1 START START N.O. condition

• The pin No. 5 signal input executes the specified positioning (point No. input or direct input).

• When

this signal is input (turned ON), the motor is operated

and positioning is executed based on the

positioning data.

DIO CN1-6 CompoBus/S OUT2 RESET Alarm reset N.O. condition

• This is the alarm’s external reset signal.

• When this signal is input (turned ON), the alarm is cleared and the alarm output is turned ON. (The

alarm will not be cleared, however, if the alarm condition remains in effect.)

• If

this signal is input under normal conditions (i.e., when no alarm is generated), the motor is deceler

ated to a stop according to the deceleration time.

• When positioning is being executed according to PTP data, the point number is taken again.

• When an alarm is generated, remove the cause of the alarm before beginning operation again. For

safety’s sake, turn OFF the RUN command before inputting the alarm reset signal.

2-51

Design and Installation Chapter 2

DIO CN1-7 CompoBus/S OUT3 SEARCH Origin search N.O. condition

• The pin No. 7 signal input begins an origin search or origin teaching operation.

• When

DIO CN1-8 CompoBus/S OUT4 +JOG +JOG operation N.O. condition

• The pin No. 8 signal input rotates the motor in the + JOG direction at the JOG speed.

• While this signal is being input (i.e., while it is ON), the motor rotates in the forward direction at the

DIO CN1-9 CompoBus/S OUT5 –JOG –JOG operation N.O. condition

• The pin No. 9 signal input rotates the motor in the – JOG direction at the JOG speed.

• While this signal is being input (i.e., while it is ON), the motor rotates in the reverse direction at the

DIO CN1-10 CompoBus/S OUT6 TEACH Teach N.O. condition

this signal is input (turned ON) while RUN is ON, an origin search operation is executed. (The

motor rotates in the direction set in PP-19 (origin search direction).

this signal is input (turned ON) while RUN is OFF teaching be amount.

speed set in PP-16 (JOG speed).

(TEACH) signal is turned ON while the origin search signal is ON, the position at that time will

automatically taken into PP-06/PP-07 (origin compensation

, an origin teaching operation is executed. If the

amount) as the origin compensation

D Teaching [Origin established, UP-01 (Control Mode) = 11 or 12, Origin search

signal OFF]

• This is the signal input for automatically taking the PTP data’s position data.

• When

this signal is position data for the PTP data (Pd-jj) selected by the point selection signal.

input (turned ON), the motor’s present value is taken as an absolute value to the

D Taking Direct Positioning Data [Origin established, UP-01 (Control Mode) = 13 or

14, RUN command OFF, origin search signal OFF]

• This is the signal input for taking the positioning data (position, speed) from the control input.

• When this signal is input (turned ON), the position and speed data are taken sequentially from the

positioning data inputs (P.IN 0 to 7), two digits at a time, beginning from the rightmost digits.

• The position and speed selection signals (P.OUT 0 to 4) are output as data request signals.

D Origin Teaching [Origin established, RUN command OFF, origin search signal ON]

• This is the input signal for automatically taking the origin compensation amount.

• When this signal is input (turned ON), the motor’s present value is taken into PP-06/PP-07 (origin

compensation version.

amount) as the origin compensation amount, at the encoder/resolver resolution con

2-52

Design and Installation Chapter 2

DIO CN1-11 to 18 CompoBus/S OUT8 to 15 P.IN0 to 7 Point selection / Position data N.O. condition

D Point Selection 0 to 6 [UP-01 (Control Mode) = 11 or 12]

• This is the signal input for selecting positioning data from PTP data.

• The range of data is 1 to 64, in BCD.

• Point

selections 0 to 3 become the data input for digit 100, and point selections 4 to 6 become the data

input for digit 101.

Example: When point No. 12 is set.

Point selection

6543210 0 0 1 0 0 1 0

0: OFF, 1: ON

D Positions 0 to 7 [UP-01 (Control Mode) = 13 or 14]

• This is the positioning data signal input. range of data is 0 to 99, in

• The

32 bits for the position data and the 8 bits for the speed data are taken eight bits at a time. At

time

the position and speed selection signals (P

fresh the input data according to the data request signals.

• If the speed is set to “0,” it will be taken as 100%.

DIO CN1-20 CompoBus/S CN4-4 / OUT7 STOP Deceleration stop N.C. condition

• This is the signal input for forcibly stopping motor rotation.

• While this signal is not being input (ON), the motor cannot be driven.

BCD (up to a maximum of “F9,” for the position’

.OUT 0 to 4) are output as data request signals. Re

s leftmost digits only).

this

the

• With

CompoBus/S Position Drivers, the motor cannot be driven unless the external control signal

input (CN4-4) and the CompoBus/S input (OUT7) are both input.

• The method for stopping the motor depends on the set value for PP-24 (deceleration stop mode).

H Control Output Details

DIO CN1-21 CompoBus/S CN4-8 / IN0 BO Brake output

• Outputs a timing signal for applying the brake.

• Set UP-16 to select either a dynamic brake (= 0) or an electromagnetic brake (= 1, 2, or 3).

these terminals as a timing signal for the dynamic brake when using both a dynamic brake and an

• Use

electromagnetic in the example on the following page.

• When

UP-16 (brake mode) is set to 1, 2, or 3 (brake retention), the timing signal for applying the elec tromagnetic value

under the following circumstances, the output will be turned OFF and the electromagnetic brake

will be operated.

brake, and control the electromagnetic

brake using an external sequence as shown

brake is output. If the motor’s rotation speed falls below the UP-28 (brake-ON r/min) set

2-53

Design and Installation Chapter 2

S When the RUN signal has been turned OFF. S When an error shutting OFF the power to the motor has occurred. S When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run

stop).

• When

UP-16 is set to 0 (dynamic brake), the timing signal for applying the dynamic brake is output. Under the following circumstances the output is turned OFF and the dynamic brake is operated.

stop).

Electromagnetic Brake Wiring and Operational Sequence

• Wiring

AC Servomotor

Brake

Protectively separated

(See note)

24 VDC 24 VDC

Note With

2-54

the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and

OGND (CN4 to 14) are provided. For controlling brake drive bits, use the CN4 to CN8 pin out

puts.

Design and Installation Chapter 2

• Operational Sequence

RUN

Alarm reset (RESET)

Alarm (ALM)

Power to motor

Brake output (BO)

Motor operation (speed)

UP-28 (brake-ON r/min)

Power ON

Note

Power ON

Note 2

Note 1. When the motor is stopped, the brake output turns OFF in approximately 2.4 ms. Note 2. When the motor is stopped, the brake output turns OFF in approximately 0.8 ms.

Dynamic Brake Wiring and Operational Sequence

• Wiring

AC Servomotor

(See note)

Protectively separated

24 VDC

Note With

the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and

OGND

(CN4

to 14) are provided. For controlling dynamic brake drive bits, use the CN4 to CN8

pin outputs.

Select an XB relay that meets the following conditions.

1. The relay switching current must be greater than the maximum instantaneous current.

2. The relay coil input voltage must be 24 V.

3. The

contacts must open (releasing the brake) within 100 ms after the 24-V coil input starts to flow

2-55

Design and Installation Chapter 2

4. If

there is no relay that satisfies these conditions (e.g., when connecting a motor or 1

connect resistance R using the following equation.

Set the resistance R so that the following equation is met.

1[V]

Ne f

1000[mV]

IXB = Relay switchable current [A] Ne = Motor inductive voltage [mV/(r/min)] f = Motor speed (r/min)

The stopping time t when using the above resistance can be calculated as follows:

J (2R 2r *) 1000

kW or more),

Note The table in J = Motor rotor inertia [kgm

= Motor torque constant [ Nm/A]

Chapter 5

give the internal resistance for the M Series as (2R + r).

]

Ne = Motor inductive voltage [mV/(r/min)] r = Motor coil resistance [Ω] R = Resistance [Ω]

When

using an OMRON L

Y2-D Relay for XB, use the following table for reference to keep the switching

capacity to 10 A or less.

Motor model number (R88M-) Resistance R Stopping time t:

Instantaneous maximum speed to 0 r/min

U1K030H, U1K030V, U1K030T, U1K030X, U1K530H, U1K530V, U1K530T, U1K530X, U2K030H, U2K030V, U2K030T, U2K030X

H1K130 15 Ω, 20 W 5 s at an inertia ratio of x10 H75030 12 Ω, 20 W 4.5 s at an inertia ratio of x10 H50030 9 Ω, 20 W 3 s at an inertia ratio of x10 M2K040, M1K140, M2K220, M1K820,

M1K120, M1K812, M1K412, M1K112

5 Ω, 20 W 2 to 3 s at an inertia ratio of x10

7 Ω, 20 W 2 to 5 s at an inertia ratio of x3

2-56

Design and Installation Chapter 2

• Operational Sequence

RUN

Alarm reset (RESET)

Alarm (ALM

Power to motor

Brake output (BO)

Motor operation (speed)

DIO CN1-22 CompoBus/S IN1 READY READY

• This

)

Power ON Power ON

output turns ON when the input signal processing is completed and the origin search, start, teach,

and point selection signal inputs are ready.

• The

output turns

OFF when position data is taken and positioning begins, and turns ON when the pro

cessing is completed. The time set for HP-46 (positioning completed timer) must be OFF.

• While this signal is OFF, any START signal that is input will be invalid.

Using Both Electromagnetic and Dynamic Brakes

• Wiring

To PC

(See note.)

24 VDC

Note CN4

(LIMIT) is used for models supporting CompoBus/S (B0 = CN4-8, OGND = CN4-14). Control

the dynamic brake drive relay using the output on pin CN4-8.

24 VDC

AC Servomotor

Brake

2-57

Design and Installation Chapter 2

• Operational Sequence

RUN

Alarm reset (RESET)

Alarm (ALM

Power to motor

Brake output (BO)

RUN-ON

Electromagnetic brake (XB2, See note.)

Motor operation (speed)

Note The motor’s holding brake

DIO CN1-23 CompoBus/S IN2 S.COM Origin search completed

)

Power ON Power ON

may be damaged if it is applied during high-speed operation. Adjust

TB1 and TB2 so that the speed has been suf

ficiently

reduced before the holding brake is applied.

• This output turns ON when the mechanical origin is established.

• The output conditions are as follows:

When

a motor with an absolute-value encoder is connected, the signal turns ON when the power

supply is input. When a motor with an incremental encoder or resolver is connected:

When

UP-01 (control mode) is 1

When

UP-01 (control mode) is 12 or 14, the signal turns ON when the power supply is

DIO CN1-24 CompoBus/S IN3 ORGSTP Origin stop

1 or 13, the signal turns ON after origin search is completed.

The output turns ON when the motor is stopped at the mechanical origin.

DIO CN1-25 CompoBus/S IN4 T.COM Teaching completed

• This output turns ON when the teaching input processing is completed.

• The output turns OFF when the teaching input turns OFF.

2-58

input.

Design and Installation Chapter 2

DIO CN1-26 CompoBus/S IN5 RUNON Motor running

This output turns ON when the RUN command is input to the motor and power begins to flow to the motor.

DIO CN1-27 CompoBus/S IN6 INP Positioning completed

• This

output turns ON

range) setting.

• The output turns OFF when positioning begins.

when error counter residual pulses are within the UP-07 (positioning completed

• After positioning is completed, the

output remains ON until the time set for HP-46 (positioning com

pleted timer) elapses.

DIO CN1-28 CompoBus/S IN7 ALM Alarm

• This output turns OFF when the driver detects an error.

• The

output is OFF when the power supply is turned ON, and the output turns ON when the initial pro

cessing is completed.

DIO CN1-29 to 35 CompoBus/S IN8 to 14 P.OUT0 to 6

Point output / Position selection, speed selection

D Point Outputs 0 to 6 [UP-01 (Control Mode) = 11 or 12]

• The PTP data number that is waiting or being executed is output.

• The range of output data is 0 to 64, in BCD. (0: When point selection not input.)

• Point outputs 0 to 3 become the data output for digit 10

output for digit 10

Example: When point No. 12 is selected.

, and point outputs 4 to 6 become the data

Point output

6543210 0 0 1 0 0 1 0

0: OFF, 1: ON

D Position Selection 1 to 4 [UP-01 (Control Mode) = 13 or 14]

• This is the request signal output for obtaining positioning data.

• Refresh the data for positions 0 to 7 (P.IN 0 to 7) according to the data request signals.

• The

output ON time can be set by PP-26 (selection

inputting data from a source such as a Programmable Controller.

signal output time). Adjust this parameter when

2-59

Design and Installation Chapter 2

H Control I/O Connections and External Signal Processing (DIO Position

Drivers)

+24

24 VDC

CCW

limit input

CW limit input

Origin proximity

RUN

Brake output

Maximum voltage: 24 VDC

Output current: 40 mA

Origin search completed

START

Alarm reset

Origin search

+JOG operation

–JOG operation

Teach

Point selection 0/ Position 0

Position 7

STOP

Origin stop

Teaching completed

Motor running

Positioning completed

Alarm

Point output 0 / Position selection 1

Note 1. The Note 2. The

P.OUT 0.

2-60

24 VDC 8 mA

wiring for control inputs P wiring for control inputs P

Point output 6

Output ground

.IN 1 to 6 is omitted. The input circuitry is the same as for P

.IN0.

.OUT 1 to 5 is omitted. The output circuitry is the same as for

Design and Installation Chapter 2

H Control I/O Connections and External Signal Processing (CompoBus/S

Position Drivers)

+24

24 VDC

CCW

limit input

CW limit input

Origin proximity

Deceleration stop

24 VDC 8 mA

Brake output

Output ground

Maximum voltage: 24 VDC

Output current: 40 mA

Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control

input (CN4-4) or the CompoBus/S input (OUT7).

2-61

Design and Installation Chapter 2

H Example: Connecting DIO Position Drivers to a Programmable

Controller

FND-X Position Driver

24 VDC +24 V

Programmable Controller Output Unit

Programmable Controller Input Unit

Brake

2-62

Design and Installation Chapter 2

H Example: Connecting DIO Position Drivers to Thumbwheel Switch

(Positioning Data Designation by Direct Input)

Note 1. The

digits but other digits.

Note 2. The

pins 21 to 28 is omitted.

Note 3. Do

current prevention diodes even when outputting the position and speed data from PLC Output Units.

Position

Position data

data

100 digit

digit

wiring for position data

102 to 105 is omitted,

it is the same as for

wiring for control

not remove the reverse-

the

output

24 VDC

+24 V

FND-X Position Driver

Position data

digit

Position data

digit

Sign +/–

INC/ABS

Speed data

digit

Speed data

101 digit

2-63

Design and Installation Chapter 2 2-2-3 W

Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks.

iring T

erminal Blocks

H Wiring FND-X06j to X25j Terminal Blocks

Power supply inputs

Regeneration Resistor connection terminals

Power cable

Red White

Blue or Black

Green

2-64

jjH-j

FND-XjjH-j: Single- hase 200/240 VAC (170 Regenerative Resistor connection terminals

R88A RR40030 Regenerative Resistor, which will

)

motors)

Design and Installation Chapter 2

Terminal

label

P J N Main circuit DC output Main circuit DC output terminal.

A Phases A and U motor output Red

B Phases B and V motor output White

C Phases C and W motor output Blue

Power supply input The commercial power supply input terminals for

Main circuit DC output Regenerative Resistor connection terminals

Frame ground Green Ground (to 100 Ω or less). This terminal is

Name Function

the main circuit and the control circuits. FND-X

to 264 V) 50/60 Hz FND-XjjL-j: Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

Connector terminals for the R88A-RR20030 or R88A-RR40030 Regenerative Resistor, which will be required if there is excessive regenerative energy. (see note)

These are the output terminals to the Servomotor. Be careful to wire them correctly.

OMNUC Servomotors can be connected to these terminals with R88A-CAUj Cable (for U-series Servomotors) or R88A-CAHj Cable (for H-series Servomotors

or black

OMRON does not provide a cable to connect these terminals to OMNUC M-series Servomotors, so the user must provide an appropriate cable if an M-series Servomotor is used.

used for both motor output and power supply input.

: Single-phase 200/240 VAC (170

Note Refer

3-10 Regenerative Energy Absorption

for the methods to calculate regenerative energy

2-65

Design and Installation Chapter 2

H Wiring FND-X50j Terminal Blocks

Control circuit power supply inputs

Protectively separated

Power cable

Red

White

Blue or Black

Green

Main power supply inputs

Regeneration Resistor

Ground (100 Ω or less)

2-66

the control circuits

R88A-RR40030 R

ill

OMNUC S

Design and Installation Chapter 2

Terminal

label

R0 S0 R

S T P

J1 J2 N Main circuit DC output Main circuit DC output terminal.

MC COM BO BI1 BI2 A Phases A and U motor output Red

B Phases B and V motor output White

C Phases C and W motor output Blue

Control circuit power supply input The commercial power supply input terminals for

Main power supply input The commercial power supply input terminals for

Main circuit DC output

egenerativeResistor connectionterminals

Not used. Do not connect anything to these terminals and do

Frame ground Green Ground (to 100 Ω or less). This terminal is

Name Function

Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz

the main circuits. Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz

Connector terminals for the R88A-RR20030 or

be required if there is excessive regenerative energy. In this case, remove the short bar between JP1 and JP2. (see note)

not remove the short bar between BI1 and BI2.

These are the output terminals to the Servomotor. Be careful to wire them correctly.

these terminals with R88A-CAUBj Cable (for U-series Servomotors).

OMRON does not provide a cable to con-

or black

nect these terminals to OMNUC M-series Servomotors, so the user must provide an appropriate cable if an M-series Servomotor is used.

used for both motor output and power supply input.

egenerativeResistor, which w

ervomotors can be connected to

Note Refer

3-10 Regenerative Energy Absorption

for the methods to calculate regenerative energy

2-67

)

ut terminals

)

PE)

()

Design and Installation Chapter 2

H Terminal Block Current and Wire Sizes

The

following table shows the rated ef

also the sizes of the electrical wires.

D Position Drivers with 200-VAC Input (FND-XjjH-j)

Driver FND-X06H-j FND-X12H-j FND-X25H-j FND-X50H-j

Main power supply input terminals(R,S, T

Control circuit power supply in-

rmin

p (R0, S0)

Motor output terminals (A, B, C, PE

Frame ground terminal (PE)

Effective current 2.1 A 4.9 A 10.1 A 16 A Wire size 0.75 mm Tightening torque 1.3 N⋅m Effective current --- 0.35 A

Wire size --- 0.75 mm Tightening torque --- 1.3 N⋅m Effective current 1.4 A 3.4 A 5.7 A 14.1 A Wire size 0.75 mm Tightening torque 1.3 N⋅m Wire size 0.75 mm

Tightening torque 1.3 N⋅m

fective currents flowing to the Position Driver’s terminal block, and

1.25 mm

2.0 mm

D Position Drivers with 100-VAC Input (FND-XjjL-j)

Driver FND-X06L-j FND-X12L-j

Main power supply input terminals (R, S)

Motor output terminals (A, B, C, PE)

Frame ground terminal (PE)

Effective current 2.9 A 3.3 A Wire size 0.75 mm Tightening torque 1.3 N⋅m Effective current 1.4 A 2.1 A Wire size 0.75 mm Tightening torque 1.3 N⋅m Wire size 0.75 mm Tightening torque 1.3 N⋅m

H Wire Sizes and Allowable Current

The

following table shows allowable currents when there are three electrical wires. Use values equal to

or lower than the specified values.

D Heat-resistant Vinyl Wiring, UL1007, Rated Temperature 80°C (Reference Value)

AWG size Nominal cross-

sectional area

(mm2)

20 0.5 19/0.18 39.5 6.6 5.6 4.5

--- 0.75 30/0.18 26.0 8.8 7.0 5.5 18 0.9 37/0.18 24.4 9.0 7.7 6.0 16 1.25 50/0.18 15.6 12.0 11.0 8.5 14 2.0 7/0.6 9.53 23 20 16 12 3.5 7/0.8 5.41 33 29 24 10 5.5 7/1.0 3.47 43 38 31

Configuration

(wires/mm

Conductive

)

resistance

(Ω/km)

Allowable current (A) for

ambient temperature

40°C 50°C 60°C

2-68

Design and Installation Chapter 2 2-2-4 Wiring for Noise Resistance

H Wiring Method for FND-X06j to -X25j

Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below.

(Faulty

grounding, short-

circuit protection)

AC power supply

(Lightning surge protection)

No-fuse

breaker

NFB

Surge absorber

(Noise protection)

Contactor

Noise

123

filter

(Noise

FND-X

protection)

A B

Metal

R88M-U/H/M

duct

Fuse

CN2

(Electric protection)

3.5mm

shock noise

Ground (to 100 or less)

Ground

Ω

plate

mm2min.

Control ground

board

Controller power supply

Thick power line (3.5 mm

Machine ground

)

(Electrical shock, noise protection)

• Ground the motor’s frame to the machine ground when the motor is on a movable shaft.

• Use

a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a

single point.

• Use

ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines

are as short as possible.

• If

no-fuse breakers are installed at the top and the power supply line

metal

tubes for wiring and make sure that there is adequate distance between the input

is wired from the lower duct, use

lines and the

internal wiring. If input and output lines are wired together, noise resistance will decrease.

• No-fuse

breakers,

surge absorbers, and noise filters (NF) should be positioned near the input terminal

block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.

• Wire

the noise filter as shown at the left in the following illustration. The noise filter should be installed

at the entrance to the control panel whenever possible.

AC input

Ground

Right: Separate input and output

3 E 4

AC output

AC input

Ground

AC output

Wrong: Noise not filtered effectively

3 E 4

2-69

Design and Installation Chapter 2

• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.

Twisted Wires Binding

Position Driver

Binding

• Separate power supply cables and signal cables when wiring.

H Wiring Method for FND-X50H-j

Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below.

(Lightning

surge

filter

(Noise protection)

Contactor

grounding,

(Faulty short-circuit protection)

AC power supply

No-fuse

breaker

Surge absorber

protection)

Noise

Position Driver

Metal

(Noise protection)

duct

CN2 (M.SEN)

Thick power line (3.5 mm

Machine ground

)

(Electrical shock, noise protection)

Ground (to 100 Ω or less)

(Electric shock

noise

protection)

Ground plate

Fuse

Control ground

Protectively separated

Controller power supply

board

• Ground the motor’s frame to the machine ground when the motor is on a movable shaft. a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a

• Use

single point.

• Use

ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines

are as short as possible.

• If

no-fuse breakers are installed at the top and the power supply line

metal

tubes for wiring and make sure that there is adequate distance between the input

is wired from the lower duct, use

lines and the

internal wiring. If input and output lines are wired together, noise resistance will decrease.

• No-fuse

breakers,

surge absorbers, and noise filters (NF) should be positioned near the input terminal

block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.

2-70

Design and Installation Chapter 2

• Wire

the noise filter as shown at the left in the following illustration. The noise filter should be installed

at the entrance to the control panel whenever possible.

Right: Separate input and output

AC inputs

Ground

AC outputs

Wrong: Noise not filtered effectively

AC inputs

Ground

AC outputs

• Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.

Twisted Wires Binding

Position Driver

Binding

Position Driver

• Separate power supply cables and signal cables when wiring.

H Selecting Components

This section explains the standards for selecting the required components for improving noise resistance.

When selecting performance, applicable range, and so on. For details regarding any of the recommended products listed in the tables below, contact their respective makers.

D No-fuse Breakers

When

selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. The momentary maximum output for a servo system is approximately three times that of the rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse breakers purpose

minal

for the number of shafts, other controllers, etc., to make the selection. The

speed ing the selection, take into consideration the entire inrush current for the system.

with an operating time of at least five seconds at 300% of the rated maximum output. General-

and low-speed no-fuse breakers are generally suitable. Refer to the table in

Blocks

for the power supply input currents for each motor

Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is

no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1

components, it is necessary to understand characteristics such as the capacity

2-2-3 W

iring T

er-

, and then add the current consumption

input. With low-

second. When mak

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Ind

Design and Installation Chapter 2

D Surge Absorbers

Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal voltages,

etc. When selecting surge absorbers, take into account the varistor

immunity,

and the amount of energy resistance. For 200-V

AC systems, use a varistor voltage of 470 V.

The surge absorbers shown in the following table are recommended.

voltage, the amount of surge

Maker Model Varistor

Matsushita Electric

ustria

Ishizuka Electric

Okaya Electric

ustria

Note 1. The

ERZV10D471 (W) 470 V 775 V 1,250 A 45J 3 to 5 A ERZV14D471 (W) 470 V 775 V 2,500 A 80J 3 to 10 A ERZV20D471 (W) 470 V 775 V 4,000 A 150J 5 to 15 A ERZV20E471 (W) 470 V 775 V 5,000 A 150J --- Block Z10L471 470 V 773 V 1,000 A 15WSs 3 to 5 A Z15L471 470 V 738 V 1,250 A 20WSs 3 to 5 A Z21L471 470 V 733 V 3,000A 30WSs 5 to 10 A Z25M471S 470 V 810 V 10,000 A 235J --- Block RSASV-781 BWZ-2A --- 783 V 1,000 A --- --RSASV-781 BXZ-2A --- 783 V 1,000 A --- --R-A-V-401-621BYR-2 --- 620 V 1,000 A --- ---

“(W)” for the Matsushita Electric Industrial products

voltage

Max. limit

voltage

Surge

immunity

resistance

indicates that they are UL- and CSA-

approved products.

Note 2. Refer to manufacturers documentation for operating details. Note 3. The

surge immunity is for

a standard impulse current of 8/20 µs. If pulses are wide, either de

crease the current or change to a larger-capacity surge absorber.

Note 4. The

energy resistance is the value at 2 ms. At 700 V or less, high-energy pulses may not be

avoidable. In that case, use an insulated transformer or reactor for surge absorption.

Energy

Fuse

capacity

Type

Tester

Block

D Noise Filters for Power Supply Input

• Use

a noise filter for external noise attenuation and for the reduction of radiation noise

tion Driver.

• Select a noise filter with a rated current of at least double that of the Driver’s input current.

• The noise filters shown in the following table can be used for 40-dB attenuation of noise between

200 kHz and 30 MHz.

Maker Model Rated current Remarks

Tokin

Note 1.

LF-210N 10 A LF-215N 15 A LF-220N 20 A LF-315K 15 A LF-325K 25 A

For attenuating noise in a low-frequency band of less than 200

For single phase

For three phase

kHz, use an insulated trans

former and a noise filter.

Note 2. For

attenuating noise in a high-frequency band of more than 30

MHz, use a ferrite core and a

high-frequency noise filter employing a through-type capacitor.

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from the Posi

Design and Installation Chapter 2

D Noise Filters for Servomotor Output

• For Servomotor output lines, use a filter type without a built-in capacitor.

• The following table shows recommended noise filters for Servomotor output lines.

Maker Model Rated current Remarks

Tokin

Fuji Electrochemical RN80UD --- 10 turns for radiation

LF-310KA 10 A LF-320KA 20 A ESD-R-47B --- EMI core for radiation

Note The same noise filter cannot be used for Servomotor output lines as for the power supply.

3-phase block noise filter

noise

Caution Ordinary

necting extremely

noise filters are created for a power supply frequency

an output of 10 kHz (the Position Driver’s PWM frequency)

of 50/60 Hz, so con

can generate an

high (approximately 100 time the normal) leakage current flow to the ca

pacitor in the noise filter and cause damage to the Position Driver.

D Surge Killers

Install

surge killers for loads The following table shows types of surge killers and recommended products.

Type Features Recommended products

Diode Diodes are relatively small devices such as relays used

for loads when reset time is not an issue. The reset time is increased because the surge voltage is the lowest when power is cut OFF. Used for 24/48-VDC systems.

Thyristor or Varistor

Capacitor + resistor

Thyristor and varistor are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage when power is cut OFF is approximately 1.5 times that of the varistor.

Use capacitors and resistors for vibration absorption of surge when power is cut OFF. The reset time can be shortened by proper selection of the capacitor or resistor.

that have induction coils, such as relays, solenoids, brakes, clutches, etc.

Use a fast-recovery diode with a short reverse recovery time.

Fuji Electric Co., ERB44-06 or equivalent

Select varistor voltage as follows: 24-VDC system varistor: 39 V

100-VDC system varistor: 200 V 100-VAC system varistor: 270 V 200-VAC system varistor: 470 V

Okaya Electric Industrial Co. CR-50500 0.5 µF-50 Ω

CRE-50500 0.5 µF-50 Ω S2-A-0 0.2 µF-500 Ω

Note Thyristors

and varistors are made by the following companies. Refer to manufacturers documen tation for operating details. Thyristors: Ishizuka Electronics Co. Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co.

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Design and Installation Chapter 2

D Contactors

When

selecting contactors, take into consideration the circuit’

mum current. The Position Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors.

s inrush current and the momentary

maxi

Maker Model Rated

OMRON

G6C-2BND 10 A --- 24 VDC LY2-D 10 A --- 24 VDC G7L-2A-BUBJ 25 A --- 24 VDC, 200 to 240 VAC J7AN-E3 15 A 120 A 24 VDC LC1D25106 26 A --- 200 VAC LP1D25106 26 A --- 24 VDC

current

Momentary maxi-

mum current

Coil voltage

D Leakage Breakers

• Select leakage breakers designed for inverters.

• Since switching operations take place inside the Position Driver, high-frequency current leaks from

the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from operating due to leakage current.

• When

• For detailed information on how to select leakage breakers, refer to the catalogs provided by the

• The following table shows the Servomotor leakage currents for each Driver model.

selecting leakage breakers, also remember to add the leakage current from devices other than

the

Servomotor

, such as machines using a switching power supply

, noise filters, inverters, and so on.

manufacturers.

Driver model Leakage current (direct)

(including high-frequency current)

FND-X06j/X12j 35 mA FND-X25j 40 mA FND-X50H 120 mA

Note 1. Leakage

current values shown above are for

0-P 0-P

0-P

motor power lines of 10 m or less. The values will

Leakage current (resistor-capacitor,

in commercial power supply fre-

quency range)

2 mA

rms

2 mA

rms

3 mA

rms

change depending on the length of power cables and the insulation.

Note 2. Leakage

current values shown above are for normal temperatures and humidity

will change depending on the temperature and humidity.

D Dynamic Brake Relay and Resistance

• Refer

Dynamic Brake Wiring and Operational Sequence

relay and resistance.

page

2-55 to select a dynamic brake

H Improving Encoder and Resolver Cable Noise Resistance

Signals 154 kHz, and the S-phase baud rate is 616K bits/s.

Signals from the resolver are analog voltage signals.

from the encoder are A-phase,

B-phase, or S-phase. The A-phase and B-phase frequency is

. The values

Follow the wiring methods outlined below to improve encoder/resolver noise resistance.

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Omron Omnus FND-X, Omnus FND-X*-SRT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual