Cat. No. I571-E1-06
USER’S MANUAL
OMNUC G5 SERIES
R88M-K@
(AC Servomotors)
R88D-KT@
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
Trademarks and Copyrights
•
System names and product names that appear in this manual are the trademarks or registered
trademarks of the relevant companies.
© OMRON, 2009
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change
without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Introduction
Thank you for purchasing an OMNUC G5-series Servo Drive. This manual explains how to
install and wire the Servo Drive, set parameters needed to operate the Servo Drive, and
remedies to be taken and inspection methods to be used should problems occur.
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent
knowledge) and also being qualified for one of the following:
Introducing FA equipment
Designing FA systems
Managing FA sites
Notice
This manual contains information you need to know to correctly use the Servo Drive and
peripheral equipment.
Before using the Servo Drive, read this manual and gain a full understanding of the information
provided herein.
After you finished reading the manual, keep it in a convenient place so that it can be referenced
at any time.
Make sure this manual is delivered to the end user.
Introduction
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and
workmanship for a period of twelve months from the date of sale by Omron (or such other
period expressed in writing by Omron). Omron disclaims all other warranties, express or
implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED,
ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS
DETERMINED THA T THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF
THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses
based on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form
originally shipped with Buyer responsible for labor charges for removal or replacement
thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or
credit Buyer an amount equal to the purchase price of the non-complying Product; provided
that in no event shall Omron be responsible for warranty, repair , indemnity or any other claims
or expenses regarding the Products unless Omron’s analysis confirms that the Products were
properly handled, stored, installed and maintained and no t sub je ct to co ntaminatio n, abu se ,
misuse or inappropriate modification. Return of any Products by Buyer must be approved in
writing by Omron before shipment. Omron Companies shall not be liable for the suitability or
unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be
construed as an amendment or addition to the ab ove warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL
LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS
BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product
on which liability is asserted.
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OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer's application or use of the Product. At Buyer's request, Omron will provide applicable third party certification documents
identifying ratings and limitations of use which apply to the Product. This information by itself is
not sufficient for a complete determination of the suitability of the Product in combination with the
end product, machine, system, or other application or use. Buyer shall be solely responsible fo r
determining appropriateness of the particular Product with respect to Buyer's a pplication, product
or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT 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 PRODUCT(S) IS PROPERL Y
RA TED AND INST ALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
Programmable Products
Terms and Conditions Agreement
Omron Companies shall not be responsible for the userÅfs programming of a programmable
Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a
guide for the user in determining suitability and does not constitute a warranty. It may represent
the result of OmronÅfs test conditions, and the user must correlate it to actual application
requirements. Actual performance is subject to the OmronÅfs Warranty and Limitations of Liability.
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 part numbers when published ratings or features
are changed, or when significant construction changes are made . However, some specifications
of the Product may be changed without any notice. When in doubt, special part numbers may be
assigned to fix or establish key specifications for your application. Please consult with your
OmronÅfs representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Items Requiring Acknowledgment
Items Requiring Acknowledgment
1. Terms of Warranty
(1) Warranty period
The warranty period of this product is 1 ye ar after its purchase or delivery to the
specified location.
(2) Scope of warranty
If the product fails during the above warranty period due to design, material or
workmanship, we will provide a replacement unit or repair the faulty product free of
charge at the location where you purchased the pr oduct.
Take note, however, that the following failures are excluded from the scope of
warranty.
a) Failure due to use or handling of the product in any condition or environment not
specified in the catalog, operation manual, etc.
b) Failure not caused by this product
c) Failure caused by any modification or repair not carried out by OMRON
d) Failure caused by any use not intended for this product
e) Failure that could not be predicted with the level of science and technology
available when the product was shipped from OMRON
f) Failure caused by a natural disaster or any other reason for which OMRON is not
held responsible
Take note that this warranty applies to the product itself, and losses induced by a
failure of the product are excluded from the scope of warranty.
2. Limited Liability
(1) OMRON shall not assume any responsibility whatsoever for any special damage,
indirect damage or passive damage arising from this product.
(2) OMRON shall not assume any responsibility for programming done by individuals not
belonging to OMRON, if the product is programmable, or outcomes of such
programming.
3. Conditions for Intended Application
(1) If this product is combined with other product, the customer must check the standards
and regulations applicable to such combination. The customer must also check the
compatibility of this product with any system, machinery or device used by the
customer. If the above actions are not taken, OMRON shall not assume any
responsibility regarding the compatibility of this product.
(2) If the product is used in the following applications, consult your OMRON sales
representative to check the necessary items according to the specification sheet, etc.
Also make sure the product is used within the specified ratings and performance
ranges with an ample margin and implement safety measures, such as designing a
safety circuit, to minimize danger should the prod u ct fail.
a) Used in any outdoor application, application subject to potential chemical
contamination or electrical interference, or in any condition or environment not
specified in the catalog, operation manual, etc.
b) Nuclear power control equipment, incineration equipment, railway, aircraft and
vehicle equipment, medical machinery, entertainment machinery, safety system
or any other device controlled by an administrative agency or industry regulation
c) System, machinery or device that may threaten human life or property
d) Gas, water or electricity supply system, system operated continuously for 24
hours or any other equipment requiring high reliability
e) Any other application where a high level of safety corresponding to a) to d) above
is required
(3) If the customer wishes to use this p roduct in any application that may threaten human
life or property, be sure to confirm beforehand that the entire system is designed in
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OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Items Requiring Acknowledgment
such a way to notify dangers or ensure the necessary level of safety via design
redundancy, and that the product is wired and installed appropriately in the system
according to the intended application.
(4) Sample applications explained in the catalog, etc. are provided for reference purposes
only. When adopting any of these samples, check the function and safety of each
equipment or device.
(5) Understand all prohibited items and notes on use provided herein, so that this product
will be used correctly and that customers or third parties will not suffer unexpected
losses.
4. Specification Change
The product specifications and accessories explained in the catalog, operation manual,
etc. are subject to change, if necessary, for the reasons of improvement, etc. Contact
your OMRON sales representative to check the actual specifications of this product.
5. Scope of Service
The price of this product excludes costs of service such as dispatching engineers.
If you have any request regarding service, consult your OMRON sales representative.
6. Scope of Application
The above paragraphs are based on the assumption that this product is traded and used
in Japan.
If you wish to trade or use this product outside Japan, consult your OMRON sales
representative.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
Safety Precautions
Precautions for Safe Use
Precautions for Correct Use
Reference
DANGER
Caution
Indicates an imminently hazardous situation which, if not
avoided, will result in death or serious injury. Additionally,
there may be severe property damage.
Indicates a potentially hazardous situation which, if not
avoided, may result in minor or moderate injury, or
property damage.
Safety Precautions
To ensure that the OMNUC G5-series Servomotor and Servo Drive as well as peripheral equipment are used
safely and correctly, be sure to read this Safety Precautions section and the main text before using the product
in order to learn items you should know regarding the equipment as well as required safety information and
precautions.
Make an arrangement so that this manual also gets to the end user of this product.
After reading this manual, keep it in a convenient place so that it can be referenced at any time.
Explanation of Display
The precautions explained in this section describe important information regarding safety and must be followed
without fail.
The display of precautions in this manual and their meanings are explained below.
Even those items denoted by the caution symb ol may lead to a serious outcome depending on
the situation. Accordingly, be sure to observe all safety precautions.
Indicates precautions on what to do and what not to do to ensure using the product safely.
Indicates precautions on what to do and what not to do to ensure proper operation and
performance.
Indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
Example of symbols
This symbol indicates danger and caution.
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "beware of electric shock".
This symbol indicates a prohibited item (item you must not do).
6
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "disassembly prohibited".
This symbol indicates a compulsory item (item that must be done).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "grounding required".
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
Danger
For Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the
purpose of showing the details. When using this product, be sure to install the covers and shields as specified
and use the product according to this manual.
If the product has been stored for an extended period of time, contact your OMRON sales representative.
Always connect the frame ground terminals of a 100 V or 200 V type drive and motor to a
type-D or higher ground. Always connect the ground terminals of a 400 V type to a type-C
or higher ground. Improper grounding may result in electrical shock.
Never touch the parts inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables and
options.
Electric shock may result.
Installation, operation and maintenance or inspection by unauthorized personnel is
prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15
minutes.
Electric shock may result.
Do not damage, pull, stress strongly, or pinch the cables or place heavy articles on them.
Electric shock, stopping of Servo Drive operation, or burn damage may result.
Never touch the rotating part of the Servomotor during operation.
Injury may result.
Never modify the Servo Drive.
Injury or equipment damage may result.
Install a stopping device on the machine to ensure safety.
* The holding brake is not a stopping device to ensure safety.
Injury may result.
Install an immediate stop device externally to the machine so that the operation can be
stopped and the power supply cut off immediately.
Injury may result.
When the power is restored after a momentary power interruption, the machine may restart
suddenly. Never come close to the machine when restarting power.
* Implement measures to ensure safety of people nearby even when the machine is
restarted.
Injury may result.
After an earthquake, be sure to conduct safety checks.
Electric shock, injury or fire may result.
Never drive the Servomotor using an external drive source.
Fire may result.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7
Safety Precautions
Caution
Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Fire may result.
Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials
such as metals.
Fire may result.
When you perform a system configuration using the safety function, be sure to fully
understand the relevant safety standards and the information in the operation manual, and
apply them to the system design.
Injury or damage may result.
Do not use the cable when it is laying in oil or water.
Electric shock, injury, or fire may result.
Never connect a commercial power supply directly to the Servomotor.
Fire or failure may result.
Danger
Do not perform wiring or any operation with wet hands.
Electric shock, injury, or fire may result.
Do not touch the key grooves with bare hands if a motor with shaft-end key grooves is being
used.
Injury may result.
Use the Servomotor and Servo Drive in a specified combination.
Fire or equipment damage may result.
Do not store or install the Servo Drive in the following locations:
Location subject to direct sunlight
Location where the ambient temperature exceeds the specified level
Location where the relative humidity exceeds the specified level
Location subject to condensation due to rapid temperature changes
Location subject to corrosive or flammable gases
Location subject to higher levels of dust, salt content, or iron dust
Location subject to splashes of water, oil, chemicals, etc.
Location where the Servo Drive may receive vibration or impact directly
Installing or storing the Servo Drive in these locations may result in fire, electric shock, or
equipment damage.
The Servo Drive radiator, Regeneration Resistor, Servomotor, etc. may become hot while
the power is supplied or remain hot for a while even after the power supply is cut off. Never
touch these components.
A burn injury may result.
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OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Storage and Transportation
Caution
When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft.
Injury or failure may result.
Do not overload the Servo Drive or Servomotor. (Follow the instruction on the product label.)
Injury or failure may result.
Use the motor eye-bolts only when transporting the Servomotor.
Do not use them to transport the machine.
Injury or failure may result.
When lifting a 15 kW or higher Servo Drive du ring moving or installation, always have two
people lift the product by grasping a metal part. Do not grasp a plastic part.
Risk of injury or product damage.
Safety Precautions
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9
Safety Precautions
Caution
Installation and Wiring
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings. Do not allow foreign objects to enter the
product.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control
panel or other equipment.
Fire or failure may result.
Do not apply strong impact on the Servomotor shaft or Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway motor, injury, or failure may result.
Securely tighten the mounting screws, terminal block screws, and cable screws.
Failure may result.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire may
result.
Only use the power supply voltage specified in this manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can
be supplied.
Equipment damage may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external
wiring.
Fire may result.
If the Servo Drive is used in the following locations, provide sufficient shielding measures.
Location subject to noise generates due to static electricity, etc.
Location subject to a strong electric or magnetic field
Location where exposure to radioactivity may occur
Location near power supply lines
Using the Servo Drive in these locations may result in equipment damage.
10
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the polarity is correct.
Battery damage or explosion may result.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Operation and Adjustment
Caution
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the Servo Drive in an actual environment, check if it operates correctly
based on the parameters you have set.
Equipment damage may result.
Never adjust or set parameters to extreme values, as it will make the operation unstable.
Injury may result.
Separate the motor from the mechanical system and check its operation before installing the
motor to the machine.
Injury may result.
Safety Precautions
If an alarm generated, remove the cause of the alarm and ensure safety, and then reset the
alarm and restart the operation.
Injury may result.
Do not use the built-in brake of the motor for normal braking operation.
Failure may result.
Do not operate the Servomotor connected to an excessive load inertia.
Failure may result.
Install safety devices to preven t idle running or lock of the electromagnetic brake or the gear
head, or leakage of grease from the gear head.
Injury, damage, or taint damage may result.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11
Safety Precautions
Caution
Maintenance and Inspection
After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume
operation, before restarting the operation.
Equipment damage may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a
prolonged period of time.
Injury may result.
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OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
Location of Warning Label
The Servo Drive bears a warning label at the following location to provide handling warnings.
When handling the Servo Drive, be sure to observe the instructions provided on this label.
Warning label display location
(R88D-KTA5L)
Instructions on Warning Label
Disposal
When disposing of the battery, insulate it using tape and dispose of it by following the
applicable ordinance of your local government.
Dispose of the Servo Drive as an industrial waste.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
13
Items to Check after Unpacking
Items to Check after Unpacking
After unpacking, check the following items.
Is this the model you ordered?
Was there any damage sustained during shipment?
Accessories of This Product
Safety Precautions document × 1 copy
Connectors, mounting screws, mounting brackets, and other accessories other than those in
the table below are not supplied. They must be prepared by the customer.
The safety bypass connector is required when the safety function is not used. To use the
safety function, provide a Safety I/O Signal Connector separately.
If any item is missing or a problem is found such as Servo Drive damage, contact the
OMRON dealer or sales office where you purcha se d yo ur produ ct.
Specifications
Singlephase
100 VAC
Singlephase/3phase
200 VAC
3-phase
200 VAC
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
7.5 kW
Connector for main
circuit power supply
terminals and control
circuit power supply
terminals
Included
−
Connector for External
Regeneration Resistor
connection terminals and
motor connection
terminals
Safety
bypass
connector
Included
Mounting
Brackets
−
Included
3-phase
400 VAC
14
15 kW
600 W
−
1 kW
Included
1.5 kW
2 kW
3 kW
Included
5 kW
−
7.5 kW
15 kW −
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Revision History
I571-E1-06
Revision code
The manual revision symbol is an alphabet appended at the end of the manual number found
in the bottom left-hand corner of the front or back cover.
Example
Revision code Revision date Revised content
01 September 2009 Original production
02 June 2010 Made corrections and added explanations.
03 January 2011 Added models and made corrections.
Revision History
04 September 2011
05 September 2015 Made corrections and added explanations.
06 January 2018 Made corrections and added explanations.
Added DC input ratings for the R88D-KT75H/-KT150H and made
corrections.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
15
Structure of This Document
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring to the following table.
Outline
Features and
Chapter 1
Chapter 2
Chapter 3 Specifications
Chapter 4 System Design
System
Configuration
Standard Models
and External
Dimensions
This chapter explains the features of the Servo Drive, name of each
part, and applicable EC Directives and UL standards.
This chapter explains the models of Servo Drives, Servomotors, and
peripheral equipment, and provides the external dimensions and
mounting dimensions.
This chapter provides the general specifications, characteristics,
connector specifications, and I/O circuits of the Servo Drives as well as
the general specifications, characteristics, encoder specifications of
the Servomotors and other peripheral devices.
This chapter explains the installation conditions for the Servo Drive and
Servomotor, wiring methods including wiring conforming to EMC
Directives and regenerative energy calculation methods as well as the
performance of External Regeneration Resistors.
Chapter 5
Chapter 6
Chapter 7 Safety Function
Chapter 8
Chapter 9 Operation
Chapter 10
Chapter 11
Chapter 12 Appendix
Basic Control
Modes
Applied
Functions
Parameters
Details
Adjustment
Functions
Error and
Maintenance
This chapter explains an outline of operations available in various
control modes and explains the contents of setting.
This chapter gives outline of applied functions such as damping
control, electronic gears, gain switching and disturbance observer, and
explains the contents of setting.
This function stops the Servomotor based on a signal from a safety
controller or safety sensor.
An outline of the function is given together with operation and
connection examples.
This chapter explains the set value and contents of setting of each
parameter.
This chapter gives the operating procedures and explains how to
operate in each mode.
This chapter explains the functions, setting methods, and items to note
regarding various gain adjustments.
This chapter explains the items to check when problems occur, error
diagnosis using the alarm LED display and measures, error diagnosis
based on the operating condition and measures, and periodic
maintenance.
This chapter provides connection examples using OMRON's PLC and
Position Controller, as well as a list of parameters.
16
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
17
Table Of Contents
Introduction......................................................................................1
Terms and Conditions Agreement...................................................2
Items Requiring Acknowledgment...................................................4
Safety Precautions...........................................................................6
Items to Check after Unpacking.......................................................14
Revision History...............................................................................15
Structure of This Document.............................................................16
Chapter1 Features and System Configuration
1-1 Outline ................................................................................................1-1
1-2 System Configuration .........................................................................1-2
1-3 Names and Functions.........................................................................1-3
1-4 System Block Diagrams......................................................................1-5
1-5 Applicable Standards..........................................................................1-15
1-6 Unit Versions ......................................................................................1-18
Chapter2 Standard Models and External Dimensions
2-1 Servo System Configuration...............................................................2-1
2-2 How to Read Model Numbers.............................................................2-3
2-3 Standard Model Tables.......................................................................2-5
2-4 External and Mounting Dimensions....................................................2-25
2-5 EMC Filter Dimensions.......................................................................2-71
2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) ...2-72
Chapter3 Specifications
3-1 Servo Drive Specifications..................................................................3-1
3-2 Overload Characteristics (Electronic Thermal Function) ....................3-58
3-3 Servomotor Specifications..................................................................3-59
3-4 Cable and Connector Specifications...................................................3-97
3-5 Servo Relay Units and Cable Specifications ......................................3-127
3-6 External Regeneration Resistor Specifications...................................3-146
3-7 EMC Filter Specifications....................................................................3-148
Chapter4 System Design
4-1 Installation Conditions.........................................................................4-1
4-2 Wiring..................................................................................................4-7
4-3 Wiring Conforming to EMC Directives................................................4-33
4-4 Regenerative Energy Absorption........................................................4-53
4-5 Large Load Inertia Adjustment and Dynamic Brake...........................4-61
4-6 Using DC Power.................................................................................4-62
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OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Table Of Contents
Chapter5 Basic Control Mode
5-1 Position Control..................................................................................5-1
5-2 Speed Control.....................................................................................5-7
5-3 Torque Control....................................................................................5-14
5-4 Internally Set Speed Control...............................................................5-19
5-5 Switching Control................................................................................5-23
5-6 Fully-closed Control............................................................................ 5-26
Chapter6 Applied Functions
6-1 Damping Control.................................................................................6-1
6-2 Adaptive Filter.....................................................................................6-5
6-3 Notch Filter.........................................................................................6-7
6-4 Electronic Gear Function....................................................................6-10
6-5 Encoder Dividing Function.................................................................. 6-14
6-6 Brake Interlock....................................................................................6-19
6-7 Gain Switching Function.....................................................................6-24
6-8 Torque Limit........................................................................................6-32
6-9 Sequence I/O Signal...........................................................................6-35
6-10 Forward and Reverse Drive Prohibition Functions............................. 6-41
6-11 Disturbance Observer Function.......................................................... 6-44
6-12 Gain Switching 3 Function..................................................................6-46
6-13 Friction Torque Compensation Function ............................................6-47
6-14 Inertia Ratio Switching Function......................................................... 6-49
6-15 Hybrid Vibration Suppression Function.............................................. 6-50
6-16 Feed-forward Function .......................................................................6-51
6-17 Instantaneous Speed Observer Function........................................... 6-55
Chapter7 Safety Function
7-1 Safe Torque OFF (STO) Function...................................................... 7-1
7-2 Operation Example.............................................................................7-4
7-3 Connection Example ..........................................................................7-6
Chapter8 Parameter Details
8-1 Basic Parameters...............................................................................8-1
8-2 Gain Parameters ................................................................................ 8-9
8-3 Vibration Suppression Parameters..................................................... 8-20
8-4 Analog Control Parameters................................................................ 8-25
8-5 Interface Monitor Setting Parameters.................................................8-37
8-6 Extended Parameters.........................................................................8-47
8-7 Special Parameters............................................................................ 8-60
19OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Table Of Contents
Chapter9 Operation
9-1 Operational Procedure .......................................................................9-1
9-2 Preparing for Operation......................................................................9-2
9-3 Using the Front Display......................................................................9-6
9-4 Setting the Mode ................................................................................9-7
9-5 Trial Operation....................................................................................9-33
Chapter10 Adjustment Functions
10-1 Gain Adjustment.................................................................................10-1
10-2 Realtime Autotuning...........................................................................10-3
10-3 Manual Tuning....................................................................................10-10
Chapter11 Troubleshooting and Maintenance
11-1 Troubleshooting..................................................................................11-1
11-2 Warning List........................................................................................11-4
11-3 Alarm List............................................................................................11-5
11-4 Troubleshooting..................................................................................11-10
11-5 Periodic Maintenance.........................................................................11-27
Chapter12 Appendix
12-1 Connection Examples.........................................................................12-1
12-2 Parameter List.................................................................................... 12-11
Index
20
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Features and System Configuration
This chapter explains the features of the Servo Drive, name of each part, and
applicable EC Directives and UL standards.
1
1-1 Outline ...........................................................................1-1
Outline of the OMNUC G5 Series...................................................1-1
Features of OMNUC G5-series Servo Drives.................................1-1
1-2 System Configuration . .................................................1-2
1-3 Names and Functions ..................................................1-3
Servo Drive Part Names.................................................................1-3
Servo Drive Functions..................................................................... 1-4
1-4 System Block Diagrams...............................................1-5
1-5 Applicable Standards.................................................1-15
EC Directives................................................................................1-15
UL and cUL Standards..................................................................1-15
Korean Radio Regulations (KC)....................................................1-16
SEMI F47......................................................................................1-17
1-6 Unit Versions...............................................................1-18
Confirmation Method.....................................................................1-18
Unit Versions.................................................................................1-18
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1
1-1 Outline
1-1 Outline
Outline of the OMNUC G5 Series
With the OMNUC G5 Series, you can perform fully-closed control in addition to position control,
speed control and torque control.
Various models are available supporting wide-ranging motor capacities from 50 W to 15 kW and
input power supplies from 100 to 400 V. You will surely find a model that best suits your application.
Motors with high-resolution 20-bit incremental encoders and 17-bit absolute/incremental
encoders are available as standard models.
The OMNUC G5 Series features realtime autotuning function and adaptive filter function that
automatically perform complicated gain adjus tments. A notch filter can also be aut omatically
set to suppress machine vibration by reducing machine resonance during operation.
The damping control function of the Servomotor and Servo Drive realizes stable stopping
performance in a mechanism which vibrates because of the low rigidity of the load.
Features of OMNUC G5-series Servo Drives
OMNUC G5-series Servo Drives have the following features.
Switching between Seven Control Modes
You can switch between seven control modes: 1) Position Control Mode, 2) Speed Control
Mode, 3) Torque Control Mode, 4) Position and Speed Control Mode, 5) Position and Torque
Control Mode, 6) Speed and Torque Control Mode, and 7) Fully-closed Contro l Mode. Desired
modes can be selected with the flexible drive according to your need. A single drive supports
various applications.
Features and System Configuration
Achievement of Accurate Positioning by Fully-closed Control
Feedbacks from the external encoder connected to the motor is used to accurately control positions.
Accordingly, position control is not affected by deviation caused by ball screws or temperature.
Wide Range of Power Supplies to Meet Any Need
The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at
overseas facilities and in wide-ranging applications and environment. Since the utilization ratio
of facility equipment also increases, the TCO (total cost of ownership) will come down.
Safe Torque OFF (STO) Function to Ensure Safety
1-1
You can cut off the motor current to stop the motor based on a signal from an emergen cy stop
button or other safety equipment. This can be used for an emergency stop circuit that is
compliant with safety standards without using an exte rn al co nta ctor.
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices
whose tips tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically
according to the rotation direction and also via an external signal. In addition, the settings can
be made easily by setting the damping frequency and filter values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-2 System Configuration
OMNUC G5 Series
AC Servomotor
R88D-KT@
OMNUC G5 Series
AC Servomotor
R88M-K@
INC ABS
Pulse train
Analog
voltage
SYSMAC + Position Control Unit (Pulse Train Output Type)
Programmable
Controller
SYSMAC CJ/CS
Position Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CJ1W-NC214/414
CJ1W-NC234/434
CS1W-NC113/213/413
CS1W-NC133/233/433
C200HW-NC113/213/413
Controller (Voltage Output Type)
Programmable
Controller
SYSMAC CS
Motion Control Unit
CS1W-MC221/421 (-V1)
PA202
POWE
R
INPUT
AC100
-240V
L2/N
L1
NC
NC
PERIP
HERA
L
ER
R/AL
M
RUN
IN
H
CO
M
M
P
RPH
L
CONTROLLER
CJ1
G-C
PU44
SYSM
AC
PROGRAMMABLE
PORT
OPEN
BUS
Y
M
CP
WR
MACH
x10
1
x10
0
No.
NC41
4
CN1
CN2
R
UN
A1
1
2
B1
A
2
B2
A3
3 4
B
3
A
4
B4
A
S
B
S
SY
NC
ERC
ER
H
AXIS1
AXIS2
CN3
CN4
AXIS2 AXIS1
1-2 System Configuration
1
Features and System Configuration
The following units support a motor with absolute encoder:
CJ1W-NC214/414
CJ1W-NC234/434
CS1W-MC221/421 (-V1)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-2
1
Display
Operation area
USB connector (CN7)
Expansion connector (CN3)
Analog monitor connector (CN5)
Motor connection
terminals (U, V and W)
Control circuit
power supply terminals
(L1C and L2C)
Main circuit
power supply terminals
(L1, L2, and L3)
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
Protective ground terminals
Control I/O connector (CN1)
Safety connector (CN8)
External encoder connector (CN4
Encoder connector (CN2)
Charge lamp
1-3 Names and Functions
1-3 Names and Functions
Servo Drive Part Names
Features and System Configuration
1-3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Servo Drive Functions
Display
A 6-digit 7-segment LED display shows the drive status, alarm codes, parameters, and other
information.
1-3 Names and Functions
Operation Area
Monitors the parameter setting and drive condition.
Charge Lamp
Lights when the main circuit power supply is turned ON.
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
Expansion Connector (CN3)
A spare connector for expansion. Do not connect anything.
1
Features and System Configuration
External Encoder Connector (CN4)
Connector for an encoder signal used during fully-closed control.
Analog monitor Connector (CN5)
You can use a special cable to monitor values, such as the motor rotation speed, torque
command value, etc.
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector installed.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4
1
CN2 CN4 CN5 CN7 CN8CN1
Display and
setting circuit
area
Gate drive
SW power
supply main
circuit control
Internal
control power
supply
FG
L2C
L1C
L3
L2
L1
FUSE
FUSE
FUSE
CN A
+
-
+
-
15 V
G1
5 V
2.5 V
1.5 V
±12 V
E5 V
G2
3.3 V
Overcurrent
detection
Current detection
Voltage
detection
Regeneration
control
Relay
drive
FG
Control
interface
B1
B2
B3
CN B
U
V
W
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Encoder
External
encoder
Analog
monitor
USB
Safety
1-4 System Block Diagrams
1-4 System Block Diagrams
R88D-KTA5L/-KT01L/-KT02L/-KT01H/-KT02H/-KT04H
Features and System Configuration
1-5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
R88D-KT04L/-KT08H/-KT10H/-KT15H
FG
L2C
L1C
L3
L2
L1
FUSE
FUSE
FUSE
CN A
15 V
G1
5 V
2.5 V
1.5 V
E5 V
G2
3.3 V
FG
CN2 CN4 CN5 CN7
B1
B2
B3
CN B
U
V
W
CN8 CN1
Display and
setting circuit
area
Gate drive
SW power
supply main
circuit control
Internal
control power
supply
+
−
+
−
±12 V
Overcurrent
detection
Current detection
Voltage
detection
Regeneration
control
Relay
drive
Control
interface
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Encoder
External
encoder
Analog
monitor
USB
Safety
Internal Regeneration
Resistor
Axial-flow fan
(except for the
R88D-KT04L/-KT08H)
1-4 System Block Diagrams
1
Features and System Configuration
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-6
1
FG
L2C
L1C
L3
L2
L1
FUSE
FUSE
FUSE
CN A
15V
G1
5V
2.5V
1.5V
±12V
E5V
G2
3.3V
FG
CN2 CN4 CN5 CN7
B1
B2
B3
NC
CN C
CN B
CN8
USB
CN1
U
V
W
Display and
setting circuit
area
Gate drive
SW power
supply main
circuit control
Internal
control power
supply
Overcurrent
detection
Current detection
Voltage
detection
Regeneration
control
Relay
drive
Control
interface
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Encoder
External
encoder
Analog
monitor
Safety
Internal Regeneration
Resistor
Axial-flow fan
1-4 System Block Diagrams
R88D-KT20H
Features and System Configuration
1-7
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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