Omron R88M-U03030LA, R88M-U03030HA-B, R88M-U10030LA, R88M-U05030HA, R88M-U05030HA-B User Manual
...
Thank you for choosing this OMNUC UP-series product.
This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC
UP-series products along with parameter settings for the operation of the products.
S Make
sure that actual users of this product will read this manual thoroughly and handle and operate the product with care.
S Retain this manual for future reference.
S This
manual describes the specifications and functions of the product and relations with other products. Assume that noth
ing described in this manual is possible.
S Specifications and functions may change without notice to improve product performance.
S Forward
shaft of the motor as follows: counterclockwise rotation (CCW) is forward and clockwise rotation (CW) is reverse.
and reverse rotation of AC Servomotors described in this
manual are defined as looking at the end of the output
General Instructions
1. Refer to Precautions first and carefully read and be sure to understand the information provided.
2. Familiarize
vo Driver for proper use.
3. The
cal
engineering.
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
are live even with the power turned off.)
not perform withstand voltage or other megameter tests on the product. Doing so may damage internal com
5. Do
ponents.
6. Servomotors
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 malfunc
tion. Contact your OMRON representatives if you have any inquiry.
8. The
are being used before proceeding.
S HA/LA/V/W AC Servo Drivers: R88D-UPjjHA, R88D-UPjjLA, R88D-UPjjV, and R88D-UPjjW
S H/L AC Servo Drivers: R88D-UPjjH and R88D-UPjjL
yourself with this manual and understand the functions and performance of the Servomotor and
Servomotor and Servo Driver must be wired and the Parameter Unit must be operated by experts in electri
on touching the terminals of the product even after power has
and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to
functions and specifications dif
fer
for the various models, as shown below
been turned of
. Be sure to check which models
f. (These terminals
Ser
-
-
-
-
-
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,
or equipment, and be sure to provide the systems, machines, or equipment with double safety
mechanisms.
1. Conditions not described in the manual.
application of the product to nuclear control systems, railroad systems, aviation systems, vehicles, com
2. The
bustion systems, medical equipment, amusement machines, or safety equipment.
3. The
application of
life and property if they are used improperly.
the product to systems, machines, or equipment that may have a serious influence on human
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 this manual. No connectors or mounting screws are provided.
-
USER’S MANUAL
OMNUC U SERIES
MODELS R88M-Uj
(AC Servomotors)
MODELS R88D-UPj
(AC Servo Drivers)
AC SERVOMOTORS/DRIVERS (30 to 750-W Pulse-train Inputs)
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.
1
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.
2
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.
3
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, 1994
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying,
recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein.
Moreover, because OMRON is constantly striving to improve its high-quality products, the
information contained in this manual is subject to change without notice. Every precaution
has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting
from the use of the information contained in this publication.
General Warnings
Observe the following warnings when using the OMNUC Servomotor and Servo Driver.
This manual may include illustrations of the product with protective covers removed in order
to describe the components of the product in detail. Make sure that these protective covers
are on the product before use.
Consult your OMRON representative when using the product after a long period of storage.
WARNING Always
!
to
in electric shock.
WARNING Do not touch the inside of the Servo Driver. Doing so may result 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 electric shock or injury.
WARNING Wiring
!
supply. Doing so may result in electric shock.
WARNING Do
!
so may result in electric shock.
WARNING Do not touch the rotating parts of the Servomotor under operation. Doing so may
!
result in injury.
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 at least
not damage, press, or put excessive stress or heavy
, terminal covers, cables, Parameter Units, or optional
5 minutes after turning of
a class-3 ground may result
f the power
objects on the cables. Doing
WARNING Do
!
Caution Use the Servomotors and Servo Drivers in a specified combination.
!
Caution Do
!
not modify the product. Doing so may result in injury or damage to the
result in fire or damage to the products.
not store or install in the following places. Doing so may result in 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.
subject to condensation as the result of severe changes in
product.
Doing so may
temperature.
Caution Do
!
not touch the Servo Driver radiator or Servomotor while the power is being sup
plied or soon after the power is turned of
the hot surface.
f. Doing so may
result in a skin burn due to
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 only for transporting the
the machinery may result in injury or malfunction.
Installation and Wiring Precautions
Caution Do
!
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
Motor
. Using them for transporting
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
!
Caution Always use the power supply voltage specified in the User’s Manual. An incorrect
!
sure that all
are tightened to the torque specified in the relevant manuals. Incorrect tightening
torque may result in malfunction.
crimp terminals for wiring. Do not connect bare stranded wires directly to termi
nals. Connection of bare stranded wires may result in burning.
voltage may result in malfunction or burning.
the mounting screws, terminal screws, and cable connector screws
-
Caution Take
!
appropriate
and
frequency is supplied.
measures to ensure that the specified power with the rated voltage
Be particularly careful in places where the power supply
is unstable. An incorrect power supply may result in malfunction.
Caution Install
!
external breakers and take other safety measures against short-circuiting in
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
Caution Provide an appropriate stopping device on the machine side to secure safety. (A
!
holding
brake is not a stopping device
for securing safety
.) Not doing so may result in
injury.
Caution Provide
!
an external emergency stopping device that allows an instantaneous stop
operation and power interruption. Not doing so may result in injury.
Caution Take
!
appropriate and suf
ficient
countermeasures when installing systems in the fol
lowing locations:
S Locations subject to static electricity or other forms of noise.
S Locations subject to strong electromagnetic fields and magnetic fields.
S Locations subject to possible exposure to radioactivity.
S Locations close to power supplies.
of
-
Operation and Adjustment Precautions
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.
Caution Separate the Servomotor from the machine, check for proper operation, and then
!
connect to the machine. Not doing so may cause injury.
Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,
!
and then resume operation. Not doing so may result in injury.
Caution Do not come close to the machine immediately after resetting momentary power
!
interruption
safety against an unexpected restart.) Doing so may result in injury.
Caution Do
!
result in malfunction.
the newly
set parameters for proper execution before actually running them.
to avoid an unexpected restart. (T
not use the built-in brake
ake appropriate measures to secure
of the Servomotor for ordinary braking. Doing so may
Maintenance and Inspection Precautions
WARNING Do
!
not attempt to disassemble, repair
, or modify any Units. Any attempt to do so may
result in malfunction, fire, or electric shock.
Caution Resume operation only after transferring to the new Unit the contents of the data
!
required for operation. Not doing so may result in an unexpected operation.
Warning Labels
Warning labels are pasted on the product as shown in the following illustration. Be sure to
follow the instructions given there.
Warning
labels
Warning Labels for Non-conforming Models
Warning
label 1
W
arning label 2
Warning Labels for Models Conforming to EC Directives
W
arning label 2
Warning
label 1
VISUAL INDEX
For users who wish to operate soon.
- The
following portions of
Be
sure you fully understand at least the
tion.
Chapter
ter 3 Operation.
Instructions for jog operation using a Parameter Unit are provided in 3-6.
2 System Design and Installation, and sections
this manual provide the minimum information required for operation.
information in these portions before attempting opera
3-1,
3-2,
3-3,
SYSMAC CS1/C/CV
Programmable Controller
3-4,
3-5, and
3-6 of Chap
Position Control Unit
C200HW-NC113
C200HW-NC213
C200HW-NC413
C200H-NC112
C200H-NC211
C500-NC113
C500-NC211
-
-
OMNUC U is a series of fully
software-controlled AC servo
drivers
built on advanced
OM
RON software servo technology. It provides high performance, a sensitive man-machine
interface, and economy
Controller Connecting Cable
Chapter 5: 5-3-1
Setting Functions
- Setting User Parameters: Section 3-5-1
- Internally Set Speed Control: Section 3-5-3
- Electronic Gears: Section 3-5-4
- Encoder Dividing: Section 3-5-5
- Bias: Section 3-5-6
- Torque Control: Section 3-5-7
- Brake Interlock: Section 3-5-8
Adjustments and Troubleshooting
- Adjustments: Section 3-7
-
- Displays: Section 4-1
- Monitor Outputs: Section 4-2
- Protections and Diagnostics: Section 4-3
- Troubleshooting: Section 4-4
.
Pulse input
I/O Operations
Chapter 5: 5-1-3
OMNUC U Series
OMNUC U-series AC Servo Driver
Encoder
signals
Cable Specifications
Chapter 5: 5-3-2, 5-3-3
Power
signals
Parameter Units
OMNUC U-series
AC Servomotor
Motor Specifications
Chapter 5: 5-2
Operation Method
Chapter 3: 3-3, 3-4, 3-5
Table of Contents
Chapter 1. Introduction .
1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-1 UL/cUL Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-2 EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter
2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Wiring Products Conforming to UL/cUL
2-3 Wiring Products Conforming to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. System Design and Installation. . . . . . . . . . . . . . . . . . . . . .
2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
and Wiring Products Not Conforming to Any Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-1 Connecting OMRON Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-2 Connector-Terminal Conversion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-3 Wiring Servo Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-4 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-5 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-1 Connecting Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-2 Wiring Servo Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-3 Wiring Products Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-4 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter
3-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 Turning On Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3 Using Parameter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4 Initial Settings: Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5 Setting Functions: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-1 Items to Check Before Turning On Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-2 Turning On Power and Confirming the Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-1 Parameter Unit Keys and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-2 Modes and Changing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-3 Mode Changes and Display Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-1 Setting and Checking Setup Parameters (Cn-01, 02) . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-2 Setup Parameter Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-3 Important Setup Parameters (Cn-01 and Cn-02) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-1 Setting and Checking User Parameters (Cn-04 to 29) . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-2 User Parameter Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-3 Internal Speed Control Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-4 Electronic Gear Function: Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-5 Encoder Dividing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-6 Bias Function: Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-7 Torque Limit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-8 Brake Interlock (For Motors with Brakes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-1 Preparations for Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-2 Jog Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents
3-7 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-2 Servo Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-3 Absorption of Regenerative Energy with the External Regeneration Resistor
(Models Conforming to UL/cUL Standards
and Models Not Conforming to Any Standards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-4 Processing Regenerative Energy with Multiple Axes
(Models Conforming to EC Directives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter
4-1 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2 Using the Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 Protective and Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter
5-1 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-4 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-5 Regeneration Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6 Front-surface Mounting Bracket Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-1 Display Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-2 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-3 Monitor Mode (Un-) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-4 Checking Servomotor Parameters (Cn-00 Set to 04) . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-1 Alarm Displays and Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-2 Alarm Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-3 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . .
4-3-4 Alarm History Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5. Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-4 Explanation of User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-3 Torque and Rotational Speed Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-4 Allowable Loads on Servomotor Shafts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-5 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-1 Controller Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-2 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-3 Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter
6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 Servo Connector Terminal Connection Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-3 OMNUC U-series Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4 Parameter Setting Forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6. Supplementary Materials. . . . . . . . . . . . . . . . . . . . . . . . . .
1
Chapter 1
Introduction
1-1 Features
1-2 System Configuration
1-3 Servo Driver Nomenclature
1-4 Applicable Standards and Models
Introduction Chapter 1
1-1 Features
OMNUC
and perform precision position control. There are 7 types of AC Servomotors: 30-W, 50-W, 100-W,
200-W, 300-W, 400-W, and 750-W.
AC Servo Drivers control the power supplied to AC Servomotors with pulse-train input signals
H Motor Output Capacity
AC Servomotors with the following output capacities are available.
S For 200/230-VAC (170 to 253 V) single-phase, 50/60-Hz Input
30 W, 50 W, 100 W, 200 W, 400 W, and 750 W
S For 100/115-VAC (85 to 127 V) single-phase, 50/60-Hz Input
30 W, 50 W, 100 W, 200 W, and 300 W
The Servomotors also come with and without brakes, and with and without keys on the straight
shaft. Servomotors that conform to EC Directives, however, are available only with keys on the
shaft.
H Models Conforming to UL/cUL Standards Available (UL/cUL Markings)
AC
Servomotors and Servo Drivers that conform to UL/cUL Standards are now available. Their
formance,
els. They are useful for obtaining approvals required for specific applications.
Models
(HA/LA)
functionality
conforming to UL/cUL Standards have the same
models. As shown in the following table, they are distinguished by
, and appearance are the same as the conventional U-series (HA/LA) mod
product names as conventional U-series
the manufacturing date.
per
-
-
Model Manufacturing date Type Remarks
Models not conforming to
any standards
Models conforming to
UL/cUL Standards
Before April 1998
After May 1998 HA/LA UL/cUL markings are
H/L, HA/LA
Production of H/L models
discontinued.
attached to products.
H EC Directives (CE Markings)
AC Servomotors and Servo Drivers that conform to EC low-voltage and EMC directives are now
available.
and will aid in obtaining specifications.
These provide the same performance and functions as the rest of the
U Series (HA/LA),
H Control Functions
Any one of the following 4 control modes can be selected in the parameter settings.
S Position Control (Factory Setting)
Controls
Any one of the following 3 pulse trains can be selected: forward/reverse pulses, feed pulses/
directional signals, or 90_ differential phase (A/B phases) signals.
S Position Control with Pulse Stop Input Enabled (HA/LA/V/W Models)
Turning
during position control.
the position and speed of the Servomotor very precisely with pulse-train input signals.
ON the Pulse Stop Input (IPG) prevents the control signals from being read by the
Unit
1-2
Introduction Chapter 1
S Internal Speed Control Settings
The
speed of the motor is controlled with the three speeds (No. 1, No. 2, and No. 3 internal speed
settings) set in the parameters. This mode is effective for simple position control or speedswitching operation.
S Internal Speed Control Setting + Position Control (HA/LA/V/W Models)
Speed
formed with pulse-train inputs.
control can be performed with the internal speed settings and position control can be per
H Auto-tuning
The
gain can be adjusted automatically when the responsiveness has been selected to match the
rigidity of the mechanical system. The auto-tuning feature automatically finds the optimum adjust
ment to match the load, with no need for difficult operations.
H Monitor
Displays the driver’s operating status on the Parameter Unit.
The following items can be monitored: speed feedback, speed commands, torque commands,
number of pulses from the U-phase edge, electrical angle, internal status (bit display), command
pulse’s speed, position deviation, and the input pulse counter.
H Jog Operation
Forward/Reverse
be set in the parameters.
motor operation can be controlled from the Parameter Unit. Rotational speed can
H Electronic Gear Function (Position Control)
The
number of pulses used to rotate the motor is calculated by multiplying the number of command
pulses by the electronic gear ratio. This function is useful in the following kinds of cases.
-
-
S When
S When
S When you want to set the movement/pulse to a certain amount, such as 0.01 mm/pulse
The
The
0.01 to 100, i.e., 0.01 ≤ G1/G2 ≤ 100.
you want to finely adjust the position and speed of two lines that need to be synchronized
you want to increase the control pulse frequency of a controller with a low pulse frequency
electronic gear ratio is set with parameters G1 and G2 (G1=numerator and G2=denominator).
setting range for parameters G1 and G2 is 1 to 65,535. The setting range for the gear ratio is
H Encoder Resolution Function
This
function allows the encoder
pulses/revolution.
signal output from the driver to be set anywhere from 16 to 2,048
H Software Start Function (Internal Speed Control Settings)
This
function causes the motor to be started/stopped in the preset acceleration/deceleration times,
allowing a simple position control system to be constructed without a Positioner or Host Controller
The acceleration and deceleration times are set separately, and the setting range is 0 to 10 s for
each.
.
1-3
Introduction Chapter 1
H Pulse Smoothing Function (Position Control)
Even
high-frequency commands
in the command pulses. The same setting is used for
and the setting range is 0 to 64 ms.
H Reverse Mode
Forward/Reverse
motor or encoder.
commands can be switched
H Brake Interlock Output
Outputs
ing brake of a motor with a brake can be operated reliably.
a timing signal interlocked with the motor’s ON/OFF status and rotational speed. The hold
H Overtravel Sequence
An
overtravel sequence compatible with the system can be selected. There are three deceleration
methods
deceleration (parameter setting).
available: dynamic brake deceleration, free-run deceleration, and emergency-stop torque
can be executed smoothly by including acceleration/deceleration
both
the acceleration and deceleration times,
in the parameters, without changing the wiring to the
-
H Feed-forward and Bias Functions (Position Control)
These functions reduce the position control time.
S Feed-forward Function
Reduces
counter.
S Bias Function
Reduces
deviation counter value exceeds the position completion range.
the position control time by reducing the number of pulses accumulated in the
the position control time by adding the bias revolutions to
the speed control when the
deviation
H Computer Monitor Software (HA/LA/V/W Models)
The special Servo Driver Communications Software allows parameter setting, speed and current
monitoring,
puter.
tor the operation of several drivers. Refer to the
(I513)
I/O monitoring, auto-tuning, and jog operations to be performed from
It is also possible to perform multiple-axis communications that set the parameters and moni
Computer Monitor Software Instruction Manual
for OMNUC U-series Servo Drivers for more details.
a personal com
-
-
1-4
Introduction Chapter 1
1-2 System Configuration
Parameter Units
SYSMAC CS1/C/CV
Programmable Controller
C200HW-NC113
C200HW-NC213
C200HW-NC413
C200H-NC112
C200H-NC211
C500-NC113
C500-NC211
Position Control Unit
OMNUC U-series
AC Servo Driver
OMNUC U-series
AC Servomotor
1-5
Introduction Chapter 1
1-3 Servo Driver Nomenclature
H Front View
CN4: Connector for monitor output
Power supply indicator
Alarm indicator
CN3: Parameter Unit connector
Terminal block
CN1: Control I/O connector
CN2: Encoder connector
1-6
pp y
Introduction Chapter 1
1-4 Applicable Standards and Models
1-4-1 UL/cUL Standards
H Applicable Standards
Standard Product Applicable Standard File No. Remarks
UL
cUL
H Applicable Models
AC Servo Driver UL508C E179149 Power conversion equipment
AC Servomotor UL1004 E179189 Electric motors
AC Servo Driver cUL C22.2 No. 14 E179149 Industrial control equipment
AC Servomotor cUL C22.2 No.100 E179189 Motor and generators
Power supply
200 VAC R88D-UPjjHA
100 VAC R88D-UPjjLA
AC Servo Drivers
(See note 1.)
(See note 1.)
R88M-Ujjj30HA-j
R88M-Ujjj30LA-j
AC Servomotors
With incremental encoder
(See note 2.) (See note 3.)
(See notes 2.) (See note 3.)
Note 1. Maximum output current: for example, “04” means approx. 4 A.
Note 2. Motor capacity: for example, “100” means 100 W.
Note 3. Optional specifications
None: Straight shaft without keys and without brake
B: Straight shaft without keys and with brake
S1: Straight shaft with keys and without brake
BS1: Straight shaft with keys and with brake
Note 4. UL/cUL Standards apply to models manufactured after May 1998.
1-4-2 EC Directives
H Applicable Standards
EC Directive Product Directive Remarks
Low voltage
EMC AC Servo Driver
Note Installation under the conditions specified in
tives
AC Servo Driver EN61010-1 Safety requirements for electrical equipment for
measurement, control, and laboratory use.
AC Servomotor IEC34-1, -5, -8, -9 Rotating electrical machines.
AC Servomotor
EN55011 class A
group 1
EN50082-2 Electromagnetic compatibility generic immunity
Limits and methods of measurement of radio
disturbance characteristics of industrial,
scientific, and medical (ISM) radio-frequency
equipment.
standard, Part 2 Industrial environment.
2-3-3 Wiring Products Conforming to EMC Direc-
is required to conform to EMC Directives.
1-7
pp y
Introduction Chapter 1
H Applicable Models
Power supply
200 VAC R88D-UPjjV R88M-Ujjj30VA-j
100 VAC R88D-UPjjW R88M-Ujjj30WA-j
Note Optional specifications (shaft profile: straight shaft with keys)
S1: Straight shaft with keys and without brake
BS1: Straight shaft with keys and with brake
AC Servo Drivers
AC Servomotors
With incremental encoder
(See note.)
(See note.)
1-8
2
Chapter 2
System Design and Installation
2-1 Installation
2-2 Wiring Products Conforming to UL/cUL
and Wiring Products Not Conforming to Any
Standards
2-3 Wiring Products Conforming to EC Directives
System Design and Installation
Installation and Wiring Precautions
!
Caution Do
not step on or place a
heavy object on the product. Doing so may result in injury
Chapter 2
.
!
Caution Do
!
Caution Be
!
Caution Provide
!
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,
!
Caution Be
!
Caution Use
!
Caution Always use the power supply voltage specified in the User’s Manual. An incorrect
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
with other devices. Not doing so may result in fire or malfunction.
injury, or malfunction.
sure that all the mounting screws, terminal screws, and cable connector screws
are tightened to the torque specified in the relevant manuals. Incorrect tightening
torque may result in malfunction.
crimp terminals for wiring. Do not connect bare stranded wires directly to termi
nals. Connection of bare stranded wires may result in burning.
voltage may result in malfunction or burning.
Servo Driver and the control panel or
-
-
!
Caution Take
!
Caution Install
!
Caution Provide an appropriate stopping device on the machine side to secure safety. (A
!
Caution Provide
!
Caution Take
appropriate measures to ensure that the specified power with the rated voltage
and
frequency is supplied. Be particularly careful in places where the power supply
is unstable. An incorrect power supply may result in malfunction.
external breakers and take other safety measures
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
holding
injury.
operation and power interruption. Not doing so may result in injury.
lowing locations:
S Locations subject to static electricity or other forms of noise.
S Locations subject to strong electromagnetic fields and magnetic fields.
S Locations subject to possible exposure to radioactivity.
S Locations close to power supplies.
brake is
an external emergency stopping device that
appropriate and suf
not a stopping device for securing safety
ficient countermeasures when installing systems in the fol
against short-circuiting in
.) Not doing so may result in
allows an instantaneous stop of
-
2-2
System Design and Installation
2-1 Installation
2-1-1 External Dimensions (Unit: mm)
H AC Servo Drivers Conforming to UL/cUL Standards and AC
Servomotors Not Conforming to Any Standards
D R88D-UP02H(A)/UP03H(A)/UP04H(A)/UP08H(A) (200 VAC, 30 to 200 W)
R88D-UP03L(A)/UP04L(A)/UP10L(A) (100 VAC, 30 to 100 W)
5
Chapter 2
160
55 130
(165)
4
5
(6)
149
5
45 (5) 45
Two,
6 dia.
R3
6
Installation dimensions
149
D R88D-UP12H(A) (200 VAC, 400 W) and R88D-UP12L(A) (100 VAC, 200 W)
5
Three, M4
160
4
75 130 60 (5)
(165)
(6)
149
5
5
Two,
6 dia.
R3
6
Installation dimensions
60
Three, M4
149
2-3
System Design and Installation
H AC Servo Drivers Conforming to UL/cUL Standards and AC
Servomotors Not Conforming to Any Standards (Contd.)
D R88D-UP20H(A) (200 VAC, 750 W) and R88D-UP15LA (100 VAC, 300 W)
3.5
7
105 130 90
6
(8)
Two, 6 dia.
Chapter 2
160
(165)
Installation
dimensions
149
Two, R3
5
66
90
Four, M4
149
2-4
System Design and Installation
H AC Servo Drivers Conforming to EC Directives
D R88D-UP02V/UP03V/UP04V/UP08V (200 VAC, 30 to 200 W)
R88D-UP03W/UP04W/UP10W (100 VAC, 30 to 100 W)
Two,
Chapter 2
Installation
dimensions
6 dia.
D R88D-UP12V (200 VAC, 400 W)
R88D-UP12W (100 VAC, 200 W)
R3
Two,
Three, M4
Installation
dimensions
6 dia.
R3
Three, M4
2-5
System Design and Installation
H AC Servo Drivers Conforming to EC Directives (Contd.)
D R88D-UP20V (200 VAC, 750 W)
R88D-UP15W (100 VAC, 300 W)
Chapter 2
Two,
6 dia.
Installation
dimensions
Two, R3
Four, M4
2-6
System Design and Installation
H Regeneration Unit
D R88A-RG08UA
160
(15)
130 149
15
(6)
25
5
25
H Parameter Units
50
6
Dia.:
R3
(18.5) 130
6
Chapter 2
Installation dimensions
Two, M4
149
D R88A-PR02U
Two,
4.5 dia.
63
50
(8)
125
18.5
7
135
1000
2-7
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