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.

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, 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 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.

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

arning label 2

Warning Labels for Models Conforming to EC Directives

arning label 2

Warning

label 1

VISUAL INDEX

For users who wish to operate soon.

- The

following portions of

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

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)

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

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

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.)

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.)

1-8

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:

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)

Chapter 2

160

55 130

(165)

(6)

149

45 (5) 45

Two, 6 dia.

Installation dimensions

149

D R88D-UP12H(A) (200 VAC, 400 W) and R88D-UP12L(A) (100 VAC, 200 W)

Three, M4

160

75 130 60 (5)

(165)

(6)

149

Two, 6 dia.

Installation dimensions

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

(8)

Two, 6 dia.

Chapter 2

160

(165)

Installation dimensions

149

Two, R3

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)

Two,

Three, M4

Installation dimensions

6 dia.

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

(6)

H Parameter Units

Dia.:

(18.5) 130

Chapter 2

Installation dimensions

Two, M4

149

D R88A-PR02U

Two,

4.5 dia.

(8)

125

18.5

135

1000

2-7

System Design and Installation

D R88A-PR03U

57.5

Chapter 2

6.9

2-8

System Design and Installation

H AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards

D 30-W/50-W/100-W Standard Models:

R88M-U03030HA, R88M-U05030HA, R88M-U10030HA R88M-U03030LA, R88M-U05030LA, R88M-U10030LA

300±30

6.5 4

300±30

9.5

2.5

Encoder adapter

Motor plug

6h6 dia.

30h7 dia.

Two,

4.3 dia.

dia.

Four, R3.7

Chapter 2

LL 25

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

R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B R88M-U03030LA-B, R88M-U05030LA-B, R88M-U10030LA-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

Model L LL S

R88M-U03030HA

94.5 69.5 6

R88M-U03030LA R88M-U05030HA

102.0 77.0 6

R88M-U05030LA R88M-U10030HA

119.5 94.5 8

R88M-U10030LA

Models with Brake

Model L LL LB S

R88M-U03030HA-B R88M-U03030LA-B

R88M-U05030HA-B R88M-U05030LA-B

R88M-U10030HA-B R88M-U10030LA-B

126 101 31.5 6

133.5 108.5 31.5 6

160 135 40.5 8

2-9

System Design and Installation

H AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards (Contd.)

D 200-W/300-W/400-W Standard Models:

R88M-U20030HA, R88M-U40030HA R88M-U20030LA, R88M-U30030LA

300±30

5.2 7

300±30

Encoder adapter

Motor plug

Four,

5.5 dia.

14h6 dia.

dia.

50h7 dia.

dia.

Four, R5.3

Chapter 2

LL 30

D 200-W/300-W/400-W Models with Brake:

R88M-U20030HA-B, R88M-U40030HA-B R88M-U20030LA-B, R88M-U30030LA-B

300±30

5.2 5.5 7

34 39.5

LL 30

300±30

Encoder adapter

Motor plug

Four,

5.5

dia.

14h6 dia.

70 dia.

50h7 dia.

21 dia.

Four, R5.3

Model L LL

R88M-U20030HA R88M-U20030LA

R88M-U40030HA R88M-U30030LA

2-10

Standard Models

126.5 96.5

154.5 124.5

Models with Brake

Model L LL

R88M-U20030HA-B R88M-U20030LA-B

R88M-U40030HA-B R88M-U30030LA-B

166 136

194 164

System Design and Installation

H AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards (Contd.)

D 750-W Standard Models: R88M-U75030HA

300±30

85.2

300±30

Encoder adapter

Motor plug

Four,

7 dia.

14 dia.

Chapter 2

Four, R8.2

16h6 dia.

145 40 185

D 750-W Models with Brake: 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

34 44.5

189.5 40

229.5

16h6 dia.

90 dia.

70h7 dia.

2-11

System Design and Installation

H AC Servomotors Conforming to EC Directives

D 30-W/50-W/100-W Standard Models:

R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1 R88M-U03030WA-S1, R88M-U05030WA-S1, R88M-U10030WA-S1

dia.

Chapter 2

Sh6 dia.

Two, 4.3 dia.

46 dia.

30h7 dia.

Four, R3.7

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

R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1 R88M-U03030WA-BS1, R88M-U05030WA-BS1, R88M-U10030WA-BS1

dia.

Sh6 dia.

Two, 4.3 dia.

46 dia.

30h7 dia.

Four, R3.7

Model L LL S

R88M-U03030VA-S1 R88M-U03030WA-S1

R88M-U05030VA-S1 R88M-U05030WA-S1

R88M-U10030VA-S1 R88M-U10030WA-S1

2-12

Standard Models

94.5 69.5 6

102.0 77.0 6

119.5 94.5 8

Models with Brake

Model L LL LB S

R88M-U03030VA-BS1 R88M-U03030WA-BS1

R88M-U05030VA-BS1 R88M-U05030WA-BS1

R88M-U10030VA-BS1 R88M-U10030WA-BS1

126 101 31.5 6

133.5 108.5 31.5 6

160 135 40.5 8

System Design and Installation

Chapter 2

H AC Servomotors Conforming to EC Directives (Contd.)

D 200-W/300-W/400-W Standard Models: R88M-U20030VA-S1, R88M-U40030VA-S1

R88M-U20030WA-S1, R88M-U30030WA-S1

dia.

Four,

14h6 dia.

50h7 dia.

5.5 dia.

70 dia.

Four, R5.3

D 200-W/300-W/400-W Models with Brake: R88M-U20030VA-BS1,

R88M-U40030VA-BS1, R88M-U20030WA-BS1, R88M-U30030WA-BS1

dia.

Four,

14h6 dia.

50h7 dia.

5.5 dia.

70 dia.

Four, R5.3

Standard Models Standard Models

Model L LL

R88M-U20030VA-S1 R88M-U20030WA-S1

R88M-U40030VA-S1 R88M-U30030-WA-S1

126.5 96.5

154.5 124.5

Models with Brake

Model L LL

R88M-U20030VA-BS1 R88M-U20030WA-BS1

R88M-U40030VA-BS1 R88M-U30030WA-BS1

166 136

194 164

2-13

System Design and Installation

H AC Servomotors Conforming to EC Directives (Contd.)

D 750-W Standard Models: R88M-U75030VA-S1

dia.

Chapter 2

16h6 dia.

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

70h7

Four

90 dia.

dia.

, 7 dia.

Four, R8.2

2-14

16h6 dia.

70h7

90 dia.

dia.

Four

, 7 dia.

dia.

Four, R8.2

System Design and Installation

H Shaft Dimensions of Motors With Keys

Standard (produced model number. Key slots are based on JIS B1301-1976.

D 30-W/50-W Models

Without Brake: R88M-U03030jj-S1, R88M-U05030jj-S1 With Brake: R88M-U03030jj-BS1, R88M-U05030jj-BS1

D 100-W Models

Without Brake: R88M-U10030jj-S1 With Brake: R88M-U10030jj-BS1

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

on order) are shown below

. Motors with keys are

Dia.:

6h6

8h6

indicated by adding “-S1” to the end of the

1.2

1.8

Chapter 2

D 200-W/300-W/400-W Models

Without Brake: R88M-U20030jj-S1, R88M-U40030jj-S1, R88M-U30030jj-S1 With Brake: R88M-U20030jj-BS1, R88M-U40030jj-BS1, R88M-U30030jj-BS1,

Dia.:

14h6

D 750-W Models

Without Brake: R88M-U75030jj-S1, With Brake: R88M-U75030jj-BS1

Dia.:

16h6

2-15

System Design and Installation

Chapter 2

2-1-2 Installation Conditions

H AC Servo Drivers

D Space Around Drivers

• Install

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

Servo Drivers according to the dimensions shown in the following illustration to ensure proper

heat

dispersion

and convection inside the panel. Also install a fan for circulation if Servo Drivers are

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

ЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙ

30 mm min.

ЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙЙ

Fan Fan

Servo Driver

W = 10 mm min.

Servo Driver

mm min.

50 mm min.

Side

Unit

D Operating Environment

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

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

• Ambient operating humidity: 35% to 85% (RH, with no condensation)

• Atmosphere: No corrosive gases.

D Ambient Temperature

• Servo Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability.

• Temperature temperature ent temperature of the Servo Driver from exceeding 55°C.

• Unit

surface temperatures

resistant materials for wiring, and keep separate any devices or wiring that are sensitive to heat.

service life of a Servo Driver is largely determined by the temperature around the internal elec

• The trolytic ume due

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 Servo Driver is mum ambient temperature of 55°C, then a service life of approximately 50,000 hours can be expected. A drop of 10°C in the ambient temperature will double the expected service life.

2-16

rise in any Unit installed in a closed space, such as a control box, will cause the ambient

to rise inside the entire closed space. Use a fan or a air conditioner to prevent the ambi

may rise to as much as 30°C above the ambient temperature. Use heat-

fected by a drop in electrolytic vol

always operated at the maxi

System Design and Installation

Chapter 2

D Keeping Foreign Objects Out of Units

• Place

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

drill

filings, from getting into the Units during installation. Be sure to

tion is complete. If the cover is left on during operation, heat buildup may damage the Units.

remove the cover after installa

• Take

measures during installation and operation to

oil, machining oil, dust, or water from getting inside of Servo Drivers.

prevent foreign objects such as metal particles,

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: 20% to 80% (RH, with no condensation)

• Atmosphere: No corrosive gases.

D Impact and Load

• The

Servomotor is resistant to impacts of up

{98

m/s2}. during tion, tor areas when transporting it.

• Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft.

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

Do not subject it to heavy impacts or loads

transport, installation, or positioning. In addi

do not hold onto the encoder

, cable, or connec

to 10 G

D Connecting to Mechanical Systems

• The

axial loads for Servomotors are specified in sec

tion

5-2-4. If an axial load greater than that

applied to a Servomotor

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

gears with a high

spur ple,

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

for

a pitch circle diameter of 50 mm). If the gear sion is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft.

, it will reduce the service

degree of accuracy (for exam

specified

preci

Motor shaft center line

Backlash

Ball screw center line

Shaft core displacement

Adjust backlash by adjusting the distance between shafts.

2-17

System Design and Installation

• 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.

Chapter 2

Bevel gear

Make moveable.

• 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 Servo

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

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 is covered by the following JEM (The Japan Electrical Manufacturers’ Association) standards.

Models

Conforming to UL/cUL Standards and Models Not Conforming to Any Standards: IP-42

EC Directive Models: IP-44 (except shaft penetration point)

• If

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

to ensure that water cannot penetrate

machinery

is not in use, water penetration can be avoided by taking measures, such as keeping the

the end surfaces of cables due to motor temperature changes. Either take mea

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

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

in this way

, or use water-proof connectors. Even when

• If

machining oil with surfactants (e.g., coolant fluids) or their spray penetrate inside of the motor sulation defects or short-circuiting may occur

. T

ake measures to prevent machining oil

penetration.

D Oil Seals

the motor shaft is exposed to oil or grease, use a Servomotor with oil seals (available as special specification). (Inquire for details.)

2-18

, in

System Design and Installation

Chapter 2

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 or otherwise handle the Servomotor by its cable, otherwise the cable may become dis

connected or the cable clamp may become damaged.

• Take measures to prevent the shaft from rusting. The shafts are coated with anti-rust oil when shipped, but anti-rust oil or grease should also be applied when connecting the shaft to a load.

• Absolutely are aligned in the Servomotor. If they become misaligned, the motor will not operate.

do not remove the encoder

cover or take the motor apart. The magnet and the encoder

2-19

System Design and Installation

Chapter 2

2-2 Wiring Products Conforming to UL/cUL and Wiring

Products Not Conforming to Any Standards

2-2-1 Connecting OMRON Servo Controllers

Use

general-purpose control cables (purchased separately) or Servo Relay Units for the C200H trollers.

H Connecting SYSMAC C-series Position Control Units

to connect U-series AC Servomotors and Servo Drivers to OMRON Servo Con

SYSMAC C-series Programmable Controller

Position Control Units for SYSMAC C-series Programmable Controllers 3G2A5-NC111-EV1 C500-NC113 C500-NC211 C200H-NC112 C200H-NC211 C200HW-NC113 C200HW-NC213 C200HW-NC413

General-purpose Control Cable

R88A-CPUjjjS

OMNUC U-series AC Servo Driver

Encoder Cable

R88A-CRUjjjC

Note Refer to

2-20

Chapter5 Specifications

Power Cable

R88A-CAUjjjS R88A-CAUjjjB

OMNUC U-series AC Servomotor

for connector and cable specifications.

System Design and Installation

Chapter 2

H Connecting SYSMAC C200H and C500Position Control Units (Using

Servo Relay Units)

C200H Position Control Unit (1 axis)

C200H-NC112

Position Control Unit Connecting Cable (for C200H-NC112)

XW2Z-050J-A1 (0.5 m) XW2Z-100J-A1 (1 m)

Terminal Connection Unit (for C200H-NC112)

XW2B-20J6-1B

Note 1. Refer

ple for Relay Unit terminal blocks.

Note 2. A Relay Unit is also available for the

CQM1-CPU43-V1, CQM1H-PLB21 (with pulse I/O capability).

Section

for a connection exam

C200H Position Control Unit (2 axes)

C200H-NC211

C500 Position Control Unit

C500-NC113 (1 axis) C500-NC211 (2 axes)

Position Control Unit Connecting Cable (for C200H-NC211 and C500-NC113/211)

XW2Z-050J-A2 (0.5 m) XW2Z-100J-A2 (1 m)

Terminal Connection Unit (for C200H-NC211)

XW2B-40J6-2B

Servo Driver Connecting Cable

XW2Z-100J-B1 (1 m) XW2Z-200J-B1 (2 m)

Note Two cables are required when using the

C200H-NC211, C500-NC211 (two axes).

OMNUC U-series AC Servo Driver

Power Cable

R88A-CAUjjjS R88A-CAUjjjB

Encoder Cable

R88A-CRUjjjC

Note Refer to documentation on the XW2B Servo Relay Unit for details.

OMNUC U-series AC Servomotor

2-21

System Design and Installation

Chapter 2

H Connecting SYSMAC C200HX/HG/HE Position Control Units (Using

Servo Relay Units)

SYSMAC C200HX/HG/HE Position Control Units

C200HW-NC113 (1 axis)

Position Control Unit Connecting Cable (for C200HW-NC113)

XW2Z-050J-A6 (0.5 m) XW2Z-100J-A6 (1 m)

Terminal Connection Unit (for C200H-NC112)

XW2B-20J6-1B

Note 1. Refer

ple for Relay Unit terminal blocks.

Note 2. A Relay Unit is also available for the

CQM1-CPU43-V1, CQM1H-PLB21 (with pulse I/O capability).

Section

for a connection exam

SYSMAC C200HX/HG/HE Position Control Unit

C200HW-NC213 (2 axes) C200HW-NC413 (4 axes)

Position Control Unit Connecting Cable (for C200HW-NC213/413)

XW2Z-050J-A7 (0.5 m) XW2Z-100J-A7 (1 m)

Note Two sets of Relay Units and

Position ing Cables are required when using the C200HW-NC413.

Terminal Connection Unit (for C200H-NC211)

XW2B-40J6-2B

Servo Driver Connecting Cable

XW2Z-100J-B1 (1 m) XW2Z-200J-B1 (2 m)

Note Two cables are required when using the

C200HW-NC213 are required when using the C200HWNC413 (4 axes).

(2 axes) and four cables

Control Unit

Connect

OMNUC U-series AC Servo Driver

Power Cable

R88A-CAUjjjS R88A-CAUjjjB

Encoder Cable

R88A-CRUjjjC

Note Refer to documentation on the XW2B Servo Relay Unit for details.

2-22

OMNUC U-series AC Servomotor

System Design and Installation

Chapter 2

2-2-2 Connector-Terminal Conversion Unit

The AC Servo Driver can be easily connected to the Connector-Terminal Conversion Unit through a special cable without soldering.

Controller

XW2B-40F5-P Connector-Terminal Conversion Unit

R88A-CTUjjjN

Connector Cable for Connector-Terminal Conversion Unit

Encoder Cable

R88A-CRUjjjC

Note Refer to

Chapter5 Specifications

OMNUC U-series AC Servo Driver

Power Cable

R88A-CAUjjjS R88A-CAUjjjB

OMNUC U-series AC Servomotor

for connector and cable specifications.

2-23

gg ( )

System Design and Installation

Chapter 2

2-2-3 Wiring Servo Drivers

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

H Wiring Terminal Blocks

Power supply input terminals

Main-circuit DC output terminals

To Motor

Power Cable R88A-CAUjjjS R88A-CAUjjjB (with brake) (The broken lines indicate signal lines for the brake. There is no polarity on these lines.)

Terminal

label

P N U V W Blue

Name Function

Power supply input

Main circuit DC The terminals for connecting Regeneration Units (R88A-RG08UA). Connect output

Motor connection terminals

Frame ground Green The ground terminal for both the motor output and power supply in-

The commercial power supply input terminals for the main circuit and the control circuitry.

R88D-UPjjH(A): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz R88D-UPjjL(A): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz1

these terminals when there is a high level of regenerative energy. (See note.) Red

White

Red

White

Blue Green

Black Black

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

put. Ground to a class-3 ground (to 100 Ω or less) or better.

24 VDC

Note Refer

2-24

3-8 Regenerative Energy Absorption

for the methods to calculate regenerative energy

()

System Design and Installation

H Terminal Block Current and Wire Sizes

The

following table shows the rated ef

electrical wires.

D Servo Drivers with 200-VAC Input (R88D-UPjjH(A))

Driver

(Watts)

Power supply input current (R, T)

Motor output current (U, V, W)

Power supply input terminal wire size

Motor output terminal wire size

Ground terminal wire size

Note If

the cable length

tion speeds of 2,500 r/min or higher may drop by approximately 7%.

R88D-UP02H(A)

(30

1.3 A 1.5 A 2.5 A 4.0 A 6.0 A 11.0 A

0.42 A 0.6 A 0.87 A 2.0 A 2.6 A 4.4 A

0.75 mm2 or AWG 18 min. 1.25 mm

0.5 mm2 or AWG 20 AWG 20 (see note) to AWG 18 Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18. Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.

is 15 meters or longer for a 750-W Servomotor

fective currents flowing to the Servo Driver and the sizes of the

R88D-UP03H(A)

(50 W)

R88D-UP04H(A)

(100 W)

R88D-UP08H(A)

Chapter 2

(200 W)

R88D-UP12H(A)

(400 W)

, the momentary maximum torque at rota

R88D-UP20H(A)

(750 W)

2.0 mm

D Servo Drivers with 100-VAC Input (R88D-UPjjL(A))

Driver model

(Watts)

Power supply input current (R, T)

Motor output current (U, V, W)

Power supply input terminal wire size

Motor output terminal wire size

Ground terminal wire size

R88D-UP03L(A)

(30 W)

2.0 A 2.6 A 4.5 A 8.0 A 10.0 A

0.63 A 0.7 A 2.2 A 2.7 A 3.7 A

0.75 mm2 or AWG 18 min. 1.25 mm

0.5 mm2 or AWG 20 AWG 20 to AWG 18 Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to

AWG18. Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.

R88D-UP04L(A)

(50 W)

R88D-UP10L(A)

(100 W)

R88D-UP12L(A)

(200 W)

R88D-UP15LA

(300 W)

2 mm

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-

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

sectional area

(mm2)

Configuration

(wires/mm

Conductive

)

resistance

(Ω/km)

Allowable current (A) for

ambient temperature

40°C 50°C 60°C

2-25

System Design and Installation

Chapter 2

2-2-4 Wiring for Noise Resistance

H Wiring Method

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.

AC power supply

3.5mm

Class-3 ground (to 100 Ω or less)

Ground

MCCB

Fuse

plate

Surge absorber

2 mm2min.

Control ground

board

Noise filter

Controller power supply

123

Contactor

Servo Driver R88DUjjjj

TB R

CN2

Metal

U V

Machine ground

Servomotor R88MUjjjjjj

duct

Thick power line (3.5 mm

)

• 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.

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

• Use

are as short as possible.

no-fuse breakers (MCCB) are installed at the top and the power supply line is wired from the

• If

duct,

use metal tubes for wiring and

make sure that there is adequate distance between the input lines

lower

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

• No-fuse

breakers (MCCB), 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

Good: Separate input and output

3 E 4

AC output

AC input

Ground

AC output

NO: Noise not filtered effectively

3 E 4

2-26

System Design and Installation

Chapter 2

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

Driver

Binding

Driver

• Separate power supply cables and signal cables when wiring.

H Selecting Components

This

section describes the standards used to select components required to

Select these components based on their capacities, performances, and applicable ranges.

increase noise resistance.

Recommended

components have been listed; refer to

the manufacturer of each component for details.

D No-fuse Breakers (MCCB)

When selecting no-fuse breakers, take into consideration the maximum input 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 and low-speed no-fuse breakers are generally suitable. Refer to the table in

Block

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

2-2-3 Terminal

iring

for the power supply input currents for each motor

, and

then add the current consumption

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

Servo Driver inrush current flows at

The speed

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

a maximum of 50 A for 20 ms when 200 V is input. With low-

second. When mak

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

D Surge Absorbers

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

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

ages, 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.

Maker Model Varistor

voltage

Matsushita Electric

arts

Ishizuka Electronics

Okaya Electric Ind.

Note 1. The (W) Matsushita models are UL and CSA certified.

ERZV10D471(W) 470 V 775 V 1,250 A 45 J 3 to 5 A ERZV14D471(W) 470 V 775 V 2,500 A 80 J 3 to 10 A ERZV20D471(W) 470 V 775 V 4,000 A 150 J 5 to 15 A ERZC20EK471(W) 470 V 775 V 5,000A 150 J --- Block Z10L471 470 V 773 V 1,000A 15 WSs 3 to 5 A Z15L471 470 V 738 V 1,250 A 20 WSs 3 to 5 A Z21L471 470 V 733 V 3,000 A 30 WSs 5 to 10 A Z25M471S 470 V 810 V 10,000 A 235 J --- Block R⋅A⋅V

-781BWZ-2A R⋅A⋅V

-781BXZ-2A R⋅A⋅V

-401.621BYR-2

--- 783 V 1,000 A --- ---

--- 620 V 1,000 A --- ---

Max. limit

voltage

Surge

immunity

voltage, the amount of surge

Energy

resistance

Fuse

capacity

Type

Disk

Block

2-27

System Design and Installation

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

Note 4. The

surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either decrease the

current or change to a larger-capacity surge absorber.

energy resistance is the value for

than 700 V. In that case, absorb surges with an insulated transformer or reactor.

2 ms. It may not be possible to retard high-energy pulses at less

Chapter 2

D Noise Filters for Power Supply Input

Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver Select

a noise

filter with a load current of at least twice the rated current. The following table shows noise

filters that reduce by 40 dB noise between 200 kHz and 30 MHz.

Maker Model Rated current Remarks

Tokin

attenuate noise at frequencies of 200 kH or less, use an insulated transformer and a noise filter. For

LF-210N 10 A LF-215N 15 A LF-220N 20 A

For single-phase

high frequencies of 30 MHz or more, use a ferrite core and a high-frequency noise filter with a throughtype capacitor.

D Noise Filters for Motor Output

Use

noise filters without built-in capacitors on the Servomotor output lines. Output lines cannot use

same

noise filters as quency cy),

of 50/60 Hz; if they are connected to an output of 7.8 to 1

an extremely large leakage current (approx. 100 times normal) will

the power supply

. General-purpose noise filters are made for a power supply fre

1 kHz (the Servo Driver PWM frequen

flow to the capacitor in the noise

filter. The following table shows the noise filters that are recommended for motor output.

the

Maker Model Rated

current

Tokin

Fuji Electrochemical Co. RN80UD --- 10-turn for radiation noise

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

Three-phase block noise filter

Remarks

Note 1. The Servomotor output lines cannot use the same noise filters used for power supplies. Note 2. Typical

are (about

noise filters are used with power supply frequencies

connected to outputs of 7.8 to 1

1 KHz (the Servo Driver’s PWM frequency), a very large

of 50/60 Hz. If these noise filters

100 times larger) leakage current will flow through the noise filter’s condenser and the

Servo Driver could be damaged.

2-28

System Design and Installation

Chapter 2

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

Note Thyristors

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. Used for 100/200-VAC circuit contactors.

and varistors are made by the following companies. Refer to manufacturers documentation for

operating details. Thyristors: Ishizuka Electronics Co.

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 Ind. CR-50500 0.5 µF-50 Ω

CRE-50500 0.5 µF-50 Ω S2-A-0 0.2 µF-500 Ω

Varistors: Ishizuka Electronics Co., Matsushita Electric Parts

D Contactors

When

selecting contactors, take into consideration the circuit’

mum

current. The Servo Driver inrush current is 50 A, and the momentary maximum current is approxi

s inrush current and the momentary

maxi

mately twice the rated current. The following table shows the recommended contactors.

Maker Model Rated current Momentary maxi-

mum current

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 LC1-D093A60 1

1 A

200 A 24 VDC, 200/220 VAC,

Coil voltage

200 to 240 VAC

D Leakage Breakers

Select leakage breakers designed for inverters. Since switching operations take place inside the Servo 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

selecting leakage breakers, remember to also add the leakage current from devices other than

the

Servomotor

, such as machines using a switching power supply

, noise

filters, inverters, and so on.

For

detailed information about the selection methods of leakage breakers, refer to

catalogs provided by

manufacturers. The following table shows the Servomotor leakage currents for each Servo Driver.

2-29

System Design and Installation

Chapter 2

Driver Leakage current (direct)

(including high-frequency cur-

rent)

R88D-UP02H(A) to -UP08H(A) 80 mA 3 mA R88D-UP12H(A) 60 mA 4 mA R88D-UP20H(A) 110 mA 5 mA

Note 1. Leakage

depending on the length of power cables and the insulation.

Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will

change depending on the temperature and humidity.

Note 3. Leakage

current values shown above are for motor power lines of 10 m or less. The

current for

100-V

AC-input Servomotors is approximately half that of the values shown above.

Leakage current (resistor-capaci-

tor, in commercial power supply

frequency range)

values will change

H Improving Encoder Cable Noise Resistance

Signals max., below to improve encoder noise resistance.

• Be sure to use dedicated encoder cables.

• If

• Do

from the encoder are either A, B, or S phase. The frequency for A- or B-phase signals is 154 kHz

while the transmission speed for S-phase signals is 616 kbps. Follow the wiring methods

outlined

lines are interrupted in the middle, be sure to connect them with connectors, making sure that the

cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.

not coil cables. If cables are long and are coiled,

mutual induction and inductance will increase and

will cause malfunctions. Be sure to use cables fully extended.

• When

installing noise filters for encoder cables, use ferrite cores. The following table shows the rec

ommended ferrite core models.

Maker Name Model

Tokin EMI core ESD-QR-25-1 TDK Clamp filter

• Do

not wire the encoder cable in the same duct as power cables and control cables for brakes,

ZCAT2032-0930 ZCAT3035-1330 ZCAT2035-0930A

sole

noids, clutches, and valves.

H Improving Control I/O Signal Noise Resistance

Position low for the power supply and wiring.

• Use completely separate power supplies for the control power supply (especially 24 VDC) and the

external operation power supply. In particular, be careful not to connect two power supply ground wires. Install a noise filter on the primary side of the control power supply.

• Use

counter ground.

can be af

fected if control I/O signals

are influenced by noise. Follow the methods outlined be

separate power supplies for control power and for power for the pulse command and deviation

reset input lines. Do not connect the ground wires for these two power supplies to the same

• We recommend line drivers for the pulse command and deviation counter reset outputs.

• For

the pulse command and

deviation counter reset input lines, be sure to use twisted-pair shielded

cable, and connect both ends of the shield wire to ground.

2-30

System Design and Installation

• If

the control power supply wiring ceramic capacitors between the control power supply and ground at the Servo Driver input section and the controller output section.

encoder output (A, B, and Z phase) lines, be sure to use twisted-pair shielded cable, and connect

• For both ends of the shield wire to ground.

• Wiring must be 1 m or less when using open-collector outputs.

is long, noise resistance can be improved by adding 1-µF laminated

Chapter 2

2-31

System Design and Installation

2-2-5 Peripheral Device Connection Examples

H Connecting to Peripheral Devices

Chapter 2

Class-3 ground (to 100 Ω or less)

1MC

Single-phase, 200/230 VAC, 50/60 Hz (R88D-UPjjjH (A))

100/1

Single-phase,

MCCB

15 VAC, 50/60 Hz (R88D-UPjjjL(A))

Noise filter

Main-circuit power supply

OFF

1MC X

Main-circuit connector

1MC

Surge killer

R88D-CAUjjjS

24VDC

(-CAUjjjB) Power Cable

OMNUC

U-series

AC Servo Driver

Servo error display

OMNUC U-series AC Servomotor

24 VDC

User’s control device

R88A-CPUjjjS General-purpose Control Cable

CN1

34 ALM

35 ALMCOM

Class-3 ground (to 100 Ω or less)

CN1

CN2

R88A-CRUjjjC Encoder Cable

CN1

BKIR 7

OGND 10

24 VDC

2-32

System Design and Installation

H Connecting a Regeneration Unit

Single-phase, 200/230 VAC, 50/60 Hz (R88D-UPjjH(A)) Single-phase, 100/115 VAC, 50/60 Hz (R88D-UPjjL(A))

Chapter 2

OMNUC U-series Servo Driver

Note 1. When

terminals. The internal circuit may be damaged if the external regeneration resistor is con

nected with the shortbar still connected between the RG and JP terminals.

1MC

R T

CN1

12 24 VDC

OFF

X1MC

1MC

3435ALM

ALMCOM

ALM

R88A-RG08UA Regeneration

using the external regeneration resistor

Unit

, disconnect

CN2

RG JP

External

regeneration resistor

Short bar

the short bar between the RG and

Note 2. Connect the external regeneration resistor between the P and RG terminals. Note 3. The Regeneration Unit does not conform to EC Directives. Note 4. When connecting the ALM output, form a sequence so that the power supply is shut OFF

when

the contacts open. The Unit may be

damaged if the ALM output is used without forming

a power shut-off sequence.

2-33

System Design and Installation

2-3 Wiring Products Conforming to EC Directives

2-3-1 Connecting Servo Controllers

Use general-purpose control cables (purchased separately) to connect U-series AC Servomotors and Servo Drivers to OMRON Servo Controllers.

H Connecting to a Servo Controller

Servo Controller

Chapter 2

Encoder Cable

R88A-CRUDjjjC (Incremental

)

General-purpose Control Cable

R88A-CPUjjjS

OMNUC U-series AC Servo Driver (Model conforming to EC Directives)

Power Cable

R88A-CAU001 R88A-CAU01B

OMNUC U-series AC Servomotor (Model conforming to EC Directives) (Incremental

)

Note Refer to

2-34

Chapter5 Specifications

for connector and cable specifications.

System Design and Installation

Chapter 2

2-3-2 Wiring Servo Drivers

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

H Wiring Terminal Blocks

Power supply input terminals

Main-circuit DC output terminals

To Motor

Power Cable R88A-CAU001 R88A-CAU01B (with brake) (The broken lines indicate signal lines for the brake. There is no polarity on these lines.)

Terminal

label

+ – U

V W Blue

Name Function

Power supply input

Main circuit DCpWhen there is a high level of regenerative energy in a multi-axis system, the output + terminals can be connected together and the – terminals can be connecte

Motor connection terminals

Frame ground Green Ground to a class-3 ground (to 100 Ω or less) or better.

The commercial power supply input terminals for the main circuit and the control circuitry.

R88D-UPjjV: Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz R88D-UPjjW: Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

together to increase the ability to absorb regenerative energy Red White

Red

White

Blue

Green

Black

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

24 VDC

Note Refer

3-8

Regenerative Energy Absorption

for the methods to calculate regenerative energy

2-35

()

System Design and Installation

H Terminal Block Current and Wire Sizes

The

following table shows the rated ef

electrical wires.

D Servo Drivers with 200-VAC Input (R88D-UPjjV)

Driver

(Watts)

Power supply input current (L1, L2)

Motor output current (U, V, W)

Power supply input terminal wire size

Motor output terminal wire size

Protective earth terminal wire size

Note If

the cable length

tion speeds of 2,500 r/min or higher may drop by approximately 7%.

R88D-UP02V

(30 W)

1.3 A 1.5 A 2.5 A 4.0 A 6.0 A 11.0 A

0.42 A 0.6 A 0.87 A 2.0 A 2.6 A 4.4 A

0.75 mm2 or AWG 18 min. 1.25 mm

is 15 meters or longer for a 750-W Servomotor

fective currents flowing to the Servo Driver and the sizes of the

R88D-UP03V

(50 W)

R88D-UP04V

(100 W)

Chapter 2

R88D-UP08V

(200 W)

, the momentary maximum torque at rota

R88D-UP12V

(400 W)

R88D-UP20V

(750 W)

2.0 mm

D Servo Drivers with 100-VAC Input (R88D-UPjjW)

Driver model

(Watts)

Power supply input current (L1, L2)

Motor output current (U, V, W)

Power supply input terminal wire size

Motor output terminal wire size

Protective earth terminal wire size

R88D-UP03L(A)

(30 W)

2.0 A 2.6 A 4.5 A 8.0 A 10.0 A

0.63 A 0.7 A 2.2 A 2.7 A 3.7 A

0.75 mm2 or AWG 18 min. 1.25 mm

0.5 mm2 or AWG 20 AWG 20 to AWG 18 Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to

AWG18. Use 2.0-mm2 external ground wires. Use the same wire as used for the motor output.

R88D-UP04L(A)

(50 W)

R88D-UP10L(A)

(100 W)

R88D-UP12L(A)

(200 W)

R88D-UP15LA

(300 W)

2 mm

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-

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

2-36

sectional area

(mm2)

Configuration

(wires/mm

Conductive

)

resistance

(Ω/km)

Allowable current (A) for

ambient temperature

40°C 50°C 60°C

System Design and Installation

2-3-3 Wiring Products Conforming to EMC Directives

Chapter 2

Models Group the conditions

conforming to EC Directive will meet the requirements of the EMC Directives EN5501

1 Class A

1 (EMI) and EN50082-2 (EMS) if they are wired under the conditions described in this section. If

connected devices, wiring, and other conditions cannot be made to

when the product is incorporated into a machine, the compliance of the overall machine

fulfill the installation and wiring

must

be confirmed. The following conditions must be met to conform to EMC Directives.

• The Servo Driver must be installed in a metal case (control panel).

• Noise filters and surge absorbers must be installed on all power supply lines.

• Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, soft copper

wires for the shield weaving.)

• All cables leaving the control panel must be wired in metal ducts or conduits with blades.

• Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the

ground plate to ground it.

H Wiring Methods

Control panel

AC power supply

Metal duct or conduit

Metal plate

2 m max.

Surge absorber

Noise filter

Brake power supply

Contactor

0.5

max.

Metal duct or conduit

Ground (100 Ω

max.)

Grounding plate

Controller power supply

Controller

m max.

Controller

Ferrite core

Clamp

Ferrite core

Clamp

Note 1. The cable winding for the ferrite core must be 1.5 turns. Note 2. Remove

the sheath from the cable and ground it directly to the metal plate at the clamps.

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

the grounding plate for the protective earth for

• Use

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 (MCCB) are installed at the top and the power supply line is wired from the

duct,

use metal tubes for wiring and

make sure that there is adequate distance between the input lines

lower

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

2-37

System Design and Installation

Chapter 2

• No-fuse

breakers (MCCB), 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.

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

• Wire at the entrance to the control panel whenever possible.

AC input

Ground

Good: Separate input and output

3 E 4

AC output

AC input

Ground

AC output

NO: Noise not filtered effectively

3 E 4

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

Driver

Binding

• Separate power supply cables and signal cables when wiring.

H Control Panel Structure

Any gaps in the cable entrances, mounting screws, cover, or other parts of a control panel can allow electric by in panel design and selection to ensure that electric waves cannot leak or enter the control panel.

D Case Structure

• Use

• When

• Be

• Be sure there are not any electrically conductive parts that are not in electrical contact.

• Ground all Units mounted in the control panel to the panel case.

D Cover Structure

• Use a metal cover.

waves to leak from or enter the control panel. The items described in this section must be abided

a metal control panel with welded

joints on the top, bottom, and all sides. The case must be electri

cally conductive.

assembling the control panel, remove the coating from all joints (or mask the joints when coat

ing) to ensure electrical conductivity.

sure that no

gaps are created when installing the control panel, as gaps can be caused by distortion

when tightening screws.

• Use a water-proof structure, as shown in the following diagram, and be sure there are no gaps.

• Use electrically conductive packing between the cover and the case, as shown in the following dia-

gram.

(Remove the coating the contact points of the packing (or mask the contact points when coat

ing) to ensure electrical conductivity.)

2-38

System Design and Installation

• Be

sure that no gaps are created when installing the cover

tightening screws.

Case

Chapter 2

, as

gaps can be caused by distortion when

Case

Cover

Control

Case (inside)

panel

Oil-proof packing

Conductive packing

Oil-proof packing

Conductive packing

H Selecting Components

D No-fuse Breakers (MCCB)

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

Block

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

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

2-2-3 Terminal

iring

for the power supply input currents for each motor

, and

then add the current consumption

The

Servo Driver inrush current flows at

speed

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

a maximum of 50 A for 20 ms when 200 V is input. With low-

second. When mak

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

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.

voltage, the amount of surge

The surge absorbers shown in the following table are recommended.

2-39

50/60 Hz,60 s

6,000 MΩmin

System Design and Installation

Chapter 2

Maker Model Max. limit

Okaya Electric Ind.

R.A.V-781BYZ-2 783 V 1,000 A R.A.V-781BXZ-4 783 V 1,000 A For power supply line

voltage

Surge

immunity

Note 1. Refer to manufacturers documentation for operating details. Note 2. The

surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either decrease the

current or change to a larger-capacity surge absorber.

D Noise Filters

Use

the following noise filters on the power supplies

manufactured by Okaya Electric Ind.

Application Model Rated

200 V, 30 to 100 W 100 V, 30 or 50 W Brake power supply

200 V, 200 or 400 W 100 V, 100 W

200 V, 750 W 100 V, 200 or 300W

SUP-P5HEPR-4

SUP-P8HEPR-4

SUP-P10HEPR-4

current

5 A

8 A

10 A

Test voltage Insulation

Between terminals: 1,250 V rms,

Between terminals and case: 2,000 V rms, 50/60 Hz, 60 s

for the Servo Driver and brake. These filters are

resistance

Between terminals and case:

(at 500 VDC)

Type Remarks

Block

For power supply line

ground

Leakage

current

(max.)

0.6 mA (at 250 V rms 60 Hz)

characteristic

Normal

(MHz)

0.5 to 30 0.2 to 30

0.6 to 30 0.3 to 30

0.7 to 30 0.4 to 30

Attenuation

Common

(MHz)

The appearance of the noise filters is shown below. Screw terminals are used.

Two,

4.8 dia.

Five, M4

2-40

System Design and Installation

Chapter 2

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

Note Thyristors

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.

and varistors are made by the following companies. Refer to manufacturers documentation for

operating details. Thyristors: Ishizuka Electronics Co.

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 Ind. CR-50500 0.5 µF-50 Ω

CRE-50500 0.5 µF-50 Ω S2-A-0 0.2 µF-500 Ω

Varistors: Ishizuka Electronics Co., Matsushita Electric Parts

D Contactors

When

selecting contactors, take into consideration the circuit’ mum

current. The Servo Driver inrush current is 50 A, and the momentary maximum current is approxi

s inrush current and the momentary

maxi

mately twice the rated current. The following table shows the recommended contactors.

Maker Model Rated current Momentary maxi-

mum current

OMRON J7AN-E3 15 A 120 A 24 VDC

Coil voltage

D Leakage Breakers

• Select leakage breakers designed for inverters.

• Since

switching operations take place

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

selecting leakage breakers, also remember to add the leakage current from devices other than

the

Servomotor

detailed information

, such as machines using a switching power supply

about the selection methods of leakage breakers, refer to catalogs provided

by manufacturers.

• The following table shows the Servomotor leakage currents for each Servo Driver.

Driver Leakage current (direct)

(including high-frequency current)

R88D-UA02V to -UA08V 80 mA 3 mA R88D-UA12V 60 mA 4 mA R88D-UA20V 110 mA 5 mA

Note 1. Leakage

depending on the length of power cables and the insulation.

Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will

change depending on the temperature and humidity.

current values shown above are for motor power lines of 10 m or less. The

inside the Servo Driver

, high-frequency current leaks from the

, noise filters, inverters, and so on.

Leakage current (resistor-capacitor,

in commercial power supply fre-

quency range)

values will change

2-41

System Design and Installation

Chapter 2

Note 3. Leakage

current for

100-V

AC-input Servomotors is approximately half that of the values shown above.

H Improving Encoder Cable Noise Resistance

The

following encoder signals are used: A, B, and S phase. The frequency for A- or

154 kHz max.; the transmission speed for S-phase signals is 616 kbps. Follow the wiring methods outlined below to improve encoder noise resistance.

• Be sure to use dedicated encoder cables.

• If

lines are interrupted in the middle, be sure to connect them with connectors, making sure that the

cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.

• Do

not coil cables. If cables are long and are coiled,

will cause malfunctions. Be sure to use cables fully extended.

• When

Tokin EMI core ESD-QR-25-1 TDK Clamp filter

installing noise filters for encoder cables, use ferrite cores. The following table shows the rec

ommended ferrite core models.

Maker Name Model

ZCAT2032-0930 ZCAT3035-1330 ZCAT2035-0930A

mutual induction and inductance will increase and

B-phase signals is

• Do

not wire the encoder cable in the same duct as power cables and control cables for brakes,

noids, clutches, and valves.

sole

H Improving Control I/O Signal Noise Resistance

Position low for the power supply and wiring.

• Use completely separate power supplies for the control power supply (especially 24 VDC) and the

external operation power supply. In particular, be careful not to connect two power supply ground wires. Install a noise filter on the primary side of the control power supply.

• For

both ends of the shield wire to ground.

• If

ceramic capacitors between the control power supply and ground at the Servo Driver input section and the controller output section.

• For

pair shielded cable, and connect both ends of the shield wire to ground.

can be af

speed and torque command input lines, be sure to use twisted-pair shielded

the control power supply wiring

encoder output (A, B, and Z phase, plus the absolute encoder signal) lines, be sure to use twisted-

fected if control I/O signals

is long, noise resistance can be improved by adding 1-µF laminated

are influenced by noise. Follow the methods outlined be

cable, and connect

2-42

System Design and Installation

2-3-4 Peripheral Device Connection Examples

H Connecting to Peripheral Devices

Chapter 2

Class-3 ground (to 100 Ω or less)

1MC

Single-phase, 200/230 VAC, 50/60 Hz (R88D-UPjjV) Single-phase, 100/115 VAC, 50/60 Hz (R88D-UPjjW)

MCCB

Noise filter

Main-circuit power supply

OFF

1MC X

Main-circuit connector

1MC

Surge killer

R88D-CAU001

24VDC

(-CAU001B) Power Cable

OMNUC

U-series

AC Servo Driver

Servo error display

OMNUC U-series AC Servomotor

24 VDC

User’s control device

R88A-CPUjjjS General-purpose Control Cable

CN2

Class-3 ground (to 100 Ω or less)

R88A-CRUDjjjC

CN1

34 ALM

35 ALMCOM

CN1

Encoder Cable

CN1

BKIR 7

OGND 10

24 VDC

2-43

Chapter 3

Operation

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 3-7 Making Adjustments 3-8 Regenerative Energy Absorption

Operation Chapter 3

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 of the Servomotor for ordinary braking. Doing so may

ake appropriate

measures to secure

3-2

Operation Chapter 3 3-1 Operational Procedure

After

confirming that the system has been correctly installed settings Servomotor. Any incorrect settings in the parameters could cause unexpected motor operation, creating to carefully set all parameters.

for the Servo Driver

an extremely dangerous situation. Use the procedures provided

. Then, set the functions as required

H Startup Procedure

1. Mounting and Installation Install the Servomotor and Servo Driver according to the installation conditions: Chapter 2, sec-

tion 2-1.

2. Wiring and Connections

and wired, make the initial

for the application of the

in this section

Connect to power supply and peripheral devices: Chapter 2, section 2-2, 2-3. The

specified installation and wiring conditions are particularly important to ensure that models con

forming to EC Directives actually conform to the EC Directive in the final system.

3. Turning on Power Supply Before

turn on an application power supply: Chapter 3, section 3-2.

4. Checking Display Status Check by means of the displays to see whether there are any internal errors in the Servo Driver:

Chapter 3, section 3-2

5. Initial Settings Make the settings for the operation setup parameters (initial settings): Chapter 3, section 3-4.

6. Function Settings By means of the user parameters, set the functions according to the operating conditions: Chap-

ter 3, section 3-5.

7. Trial Operation Before

that have been set will be valid. Check ing reliably. Check operation at both low speed and high speed: Chapter 3, section 3-6.

turning on the power supply

performing trial operation, turn the power supply of

to see whether protective functions such as emergency stop and operational limits are work

, check the necessary items. In order to make the initial

f and then back on so that any parameters

settings,

8. Adjustments Execute auto-tuning. Manually adjust the gain as required: Chapter 3, section 3-7.

9. Operation Operation

can now begin. If

any trouble should occur

, refer to

Chapter 4 Applications

Chapter 4.

3-3

Operation Chapter 3 3-2 Turning On Power and Checking Displays

3-2-1 Items to Check Before Turning On Power

H Checking Power Supply Voltage

• Check to be sure that the power supply voltage is within the ranges shown below. R88D-UPjjH(A) (200 VAC specifications): Single-phase R88D-UPjjL(A) (100 VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz R88D-UPjjV (200 VAC specifications): Single-phase R88D-UPjjW (100 VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

200/230 V

AC (170 to 253 V) 50/60 Hz

H Checking Terminal Block Wiring

• The

power supply inputs R and T, or L1 and L2, must be properly

• The

Servomotor’s red (U), white (V), and blue (W) power lines and the green ground

be properly connected to the terminal block.

connected to the terminal block.

wire (

H Checking the Servomotor

• There should be no load on the Servomotor. (Do not connect to the mechanical system.)

• The power lines and power cables must be securely connected at the Servomotor.

H Checking the Encoder Connectors

• The encoder connectors (CN2) at the Servo Driver must be securely connected.

• The encoder connectors at the Servomotor must be securely connected.

) must

H Checking the Control Connectors

• The control connectors must be securely connected.

• The Run command must be OFF.

H Checking the Parameter Unit Connection

• The Parameter Unit (R88A-PR02U or R88A-PR03U) must be securely connected to connector CN3.

3-2-2 Turning On Power and Confirming the Display

H Turning On Power

• Confirm that it is safe to turn on the power supply and then turn on the power supply.

3-4

Operation Chapter 3

H Checking Displays

• When the power is turned on, one of the codes shown below will be displayed.

Normal (Base block) Error (Alarm Display)

b b 0 2

Note 1. “Base block” means that the Servomotor is not receiving power. Note 2. The alarm code (the number shown in the alarm display) changes depending on the contents of the

error.

• If the display is normal (i.e., no errors), use it as a monitor mode speed display. Manually turn the Servomotor tive

and negative on the speed display

incorrectly. Check the conductivity of the cable by itself.

shaft clockwise and counterclockwise, and check to be sure that it agrees with the posi

. If it does not agree, then the encoder signal line may be wired

Reverse

Forward rotation

Note To monitor the speed feedback value, press the MODE/SET Key and go into monitor mode

rotation

Display example

0038

-0025

Forward

Reverse rotation

rotation

un-00. Then press the DATA Key.

• If there is an error, refer to

Chapter 4 Application

and take the necessary countermeasures.

3-5

Operation Chapter 3 3-3 Using Parameter Units

The key operations for the Hand-held R88A-PR02U Parameter Unit and the Mounted R88A-PR03U Parameter Unit vary depending on the functions used.

3-3-1 Parameter Unit Keys and Functions

Hand-held Parameter Unit R88A-PR02U

Mounted Parameter Unit R88A-PR03U

PR02U PR03U Function

RESET

SERVO DATA

DATA DATA

3-3-2 Modes and Changing Modes

--- Left shift for operation digits

--- Right shift for operation digits

Alarm reset

Mode switching Data memory

Servo ON/OFF during jog operations

Switching between parameter display and data display; data memory

Increments parameter numbers and data values.

Decrements parameter numbers and data values.

H Modes

OMNUC example, the Settings Mode is used to set parameters.

Status display mode Bit display (indicating internal status via indicators):

Settings mode System check: Jog operations, alarm history data clear, motor parameters check,

Monitor mode Speed feedback, speed commands, torque commands, number of pulses from U-

Alarm history display mode

3-6

U-series AC Servo Drivers have four

Mode Function

Power supply ON display, base block, positioning completion, rotation detection and current limit detection, command pulse input Symbol display (indicating internal status via 3-digit 7-segment display): Base block, operating, forward rotation prohibited, reverse rotation prohibited, alarm display

auto-tuning Setting and checking setup parameters Setting and checking user parameters

phase, electrical angle, internal status bit display, command pulse speed display, position deviation, input pulse counter (HA/LA/V/W Models)

Displays contents of alarms that have been previously generated (up to a maximum of 10).

operating modes, as described in the following table. For

Operation Chapter 3

H Changing Modes

To change modes, press the MODE/SET Key.

Status

Power ON

mode

display

Settings

mode

Monitor mode

Alarm history display

mode

(Display

example)

b cn-00 un-00 0 - a.0 2

3-3-3 Mode Changes and Display Contents

The following diagram shows the functions and references for each mode.

3-7

Operation Chapter 3

Power ON

Status display mode

Settings mode

(Display example)

n - 0 0

n - 0 1

System check mode

Setup parameter no. 1

DATA

Bit Displays (page 4-4)

Power ON Base block (motor not receiving power) Positioning completion Command pulse input Motor rotation detected / Current limit detected

Symbol Displays

b b r

U n

% t

Base block

In operation (running) Forward Reverse

rotation prohibited

a. jj Alarm display

Jog operation (page 3-31) Clear alarm history data (page 4-14) Motor parameters check (page 4-8) Auto-tuning (page 3-32)

Sequence input signal switch (page 3-9) Sequence output signal switch Interrupt return processing switch Abnormal stop selection Deviation counter with Servo OFF P control switch selection P control switch conditions Pulse Stop Switch (HA/LA/V/W Models)

Monitor mode

Alarm history display mode

Reverse mode (page 3-9)

DATA

Input command mode Command pulse mode Deviation counter clear Speed integration constant’s units (HA/LA/V/W Models) Torque command filter time constant (HA/LA/V/W Models) Command pulse logic Monitor output level switch

Speed

loop gain (page

Unit number setting (HA/LA/V/W Models)

3-14)

n - 0 2

User parameters c

Setup parameter no. 2

n - 0 4

n - 2 9

u n - 0 0 Speed feedback (page 4-5) u n - 0 1 Speed command (When using internally set speed control) u n - 0 2 Torque command u n - 0 3 Number of pulses from U-phase edge u n - 0 4 Electrical

angle

u n - 0 5 Internal status bit display 1 u n - 0 6 Internal status bit display 2 u n - 0 7 Command pulse speed display u n - 0 8 Position deviation (deviation counter) u n - 0 9 Input pulse counter (HA/LA/V/W Models)

- a.

jj Error

one time before (page

4-14)

3-8

- a.

jj Error

ten time before

Operation Chapter 3 3-4 Initial Settings: Setup Parameters

Setup

parameters are parameters that are essential for starting up the system. They in

clude

I/O signal function changes, selection of processing for momentary rors, command pulse modes, and so on. Set them to match the user system. Once the parameters have been set, they become effective when the power supply is turned on again after having been turned off. (Check to see that the LED display has gone off.)

stops and er

3-4-1 Setting and Checking Setup Parameters (Cn-01, 02)

H Displaying Setup Parameters

There are two setup parameters: No. 1 (Cn-01) and No. 2 (Cn-02). To display the contents of setup parameters, execute the following key operations.

1. To go into settings mode (cn-00), press the MODE/SET Key.

2. To display the setup parameter number (cn-01 or cn-02), press the Up and Down keys.

3. To display the contents of the setup parameter, press the DATA key.

display the

DATA Key.

setting of setup parameter No. 2, press the Up Key twice at step 2. before pressing the

The contents of the setup parameters are displayed as follows:

EC A8 64 20

Bit

no.

Fd b9 75 31

the leftmost four digits, 16 bits of information are displayed. In the rightmost digit, the bit number that can be set is to

the 7-segment display vertical bar digit, and then set the appropriate bit to “0” or “1.”

displayed. It can be checked whether the bit information is “0” (not lit) or “1” (lit), according

. T

o change the set value, first set the bit number in the rightmost

Bit no. to be set.

H Setting Setup Parameters

First,

display the setting of the setup parameter (No. 1 or No. 2) using the procedure given above. T

change a setting, specify the bit to be changed and then set it to “1” or “0.”

D Making Settings with Hand-held Parameter Unit (R88A-PR02U)

1. Use the Right and Left Keys to display in the rightmost digit the bit number that is to be set.

2. Using

3. Repeat steps 1 and 2 above as required.

4. Save the data in memory by pressing the MODE/SET Key (or the DATA Key).

the Up (or Down) Key

the bit number to “1.” For “not lit,” set it to “0.”

, reverse the lit/not lit status of the appropriate bit number

. For “lit,” set

5. With

this, the parameter setting operation is complete. Pressing the DATA Key at this point will

back the parameter number display.

D Making Settings with Mounted Parameter Unit (R88A-PR03U)

1. Use the Up and Down Keys to display in the rightmost digit the bit number that is to be set.

2. Using

the MODE/SET Key

bit number to “1.” For “not lit,” set it to “0.”

, reverse the lit/not lit status of the appropriate bit number

. For “lit,” set the

bring

3-9

( (

Operation Chapter 3

3. Repeat steps 1 and 2 above as required.

4. Save the data in memory by pressing the DATA Key.

5. With

this, the parameter setting operation is complete. Pressing the DATA Key at this point will

bring

back the parameter number display.

3-4-2 Setup Parameter Contents

H Setup Parameter No. 1 (Cn-01)

Item Bit no. Factory

Sequence input signal switching

Sequence output signal switching

Processing at time of recovery from momentary stop

Abnormal stop 6 1

Deviation counter with Servo OFF

P control switch selection

P control switch conditions

0 0

1 0 --- Not used. 2 1

3 1

4 0

5 (see note 1)

7 (see note 2)

8 0

9 0

A 0

b 1

d, C (see note

E 0 --- Not used.

setting

0, 0

Setting Explanation

0 Servo turned ON or OFF by Run command (externally input). 1 Servo always ON.

0 Enables forward drive prohibit input (POT). 1 Permits always-forward drive. 0 Enables reverse drive prohibit input (NOT). 1 Permits always -reverse drive. 0 Takes TGON/CLIMT signal as motor rotation detection output. 1 Takes TGON/CLIMT signal as current limit detection output. 0 Servo alarm set at time of recovery from momentary stop. 1 Servo alarm automatically cleared at time of recovery from mo-

mentary stop. 0 Motor stopped by dynamic brake. 1 Motor stopped with free run. 0 Dynamic brake OFF after motor stopped. 1 Dynamic brake ON after motor stopped. 0 Method for stopping when over-travel occurs depends on bit

no. 6 setting. 1 When over-travel occurs, motor is stopped at the torque set by

user parameter Cn-06 (emergency stop torque). 0 When over-travel occurs, motor comes to deceleration stop and

servo turns OFF. 1 When over-travel occurs, motor comes to deceleration stop and

position is locked. (see note 6) 0 Clear counter for alarms occurring while Servo is OFF 1 Do not clear counter for alarms occurring while Servo is OFF 0 Switch control according to bits C and d. 1 Do not switch 0, 0 0, 1 1, 0

1, 1

The torque command value (Cn-0C) is taken as the condition.

The speed command value (Cn-0d) is taken as the condition.

The acceleration command value (Cn-0E) is taken as the

condition.

The deviation pulse (Cn-0F) is taken as the condition.

3-10

Operation Chapter 3

Item ExplanationSettingFactory

Pulse stop switching (HA/LA/V/W Models)

Note 1.

If power is immediately turned back on after

Bit no.

F 0

setting

0 Position Control (when bit 2 of Cn-02 is 0)

Disables the pulse stop input. (CN1-15 is the gain reduction (MING).)

Internal speed control settings (when bit 2 of Cn-02 is 1)

Command pulses aren’t received when PCL and NCL are OFF.

1 Position Control (when bit 2 of Cn-02 is 0)

Enables the pulse stop input. (CN1-15 is the pulse stop input (IPG).)

Internal speed control settings (when bit 2 of Cn-02 is 1)

Command pulses aren’t received when PCL and NCL are OFF. (Position control is performed with the internal speed control settings and the pulse-train input.)

having been cut of

f, a momentary stop alarm may be gen erated. If bit no. 5 is set to “1,” the alarm will be cleared automatically even if it is generated, and opera tion will resume.

Note 2. If

set bit 6 to “1”

and bit 8 to “0,” the dynamic brake relay will turn OFF after the Servomotor stops, re

gardless of the setting of bit no. 7.

Note 3. With P control switch conditions, a change from PI control to P control is selected. Note 4. Do not set bit nos. 1 and E of setup parameter no. 1 (Cn-01). Note 5. These

parameters become ef

fective only after power is reset. Confirm that the indicators go out before

turning power back on. (Check to see that the LED display has gone off)

Note 6. The position loop will not be effective when stopping in this mode.

3-11

Operation Chapter 3

H Setup Parameter No. 2 (Cn-02)

Item Bit

Reverse

Input command mode 2 0

Command pulse mode

Deviation counter clear A 1

Speed integration constant’s units (HA/LA/V/W Models)

Torque command filter (HA/LA/V/W Models)

Command pulse logic reversal

Parameter Unit monitor output lever change

rotation mode

’

me constan

0 0

1 0 --- Not used.

5, 4, 3 0, 0, 1

6 0 --- Not used. 7 0 --- Not used. 8 0 --- Not used. 9 0 --- Not used.

b 0

c 0

d 0

E 0

F 0 --- Not used.

Note 1. Do not set bits number 1, 6 to 9, and F of setup parameter no. 2 (Cn-02). Note 2. These

parameters become ef

turning power back on. (Check to see that the LED display has gone off)

Note 3. Counterclockwise

CW.

no.

Factory

setting

Setting Explanation

0 Rotates in the CCW direction with a + command. (See note

3.)

1 Rotates in the CW direction with a + command.

0 Position control with pulse-train input:

CN1-11 and 12 are used as forward and reverse current limit inputs (PCL, NCL).

In the H/L Models, CN1-15 will be the gain reduction (MING). In the HA/LA/V/W Models, CN1-15 will be the gain reduction (MING) if Cn-01 bit F is set to “0” or the pulse stop input (IPG) if Cn-01 bit F is set to “1.”

1 Internal speed control settings:

CN1-11 and 12 are used as speed selection commands 1 and 2 inputs (SPD1, SPD2).

CN1-15 will be the rotation direction command (RDIR). 0, 0, 0 0, 0, 1 0, 1, 0 0, 1, 1 1, 0, 0

0 Clears the deviation counter when the signal is high level 1 Clears the deviation counter on the rising edge of the signal 0 1 ms

1 0.01 ms 0 Primary filter 1 Secondary filter 0 Positive logic

1 Negative logic 0 Position deviation monitor set for 1 command. 1 Position deviation monitor set for 100 commands.

Feed pulse and Forward/reverse signal

Forward rotation pulse and Reverse rotation pulse

90° phase difference (A/B phase) signal (1X)

90° phase difference (A/B phase) signal (2X)

90° phase difference (A/B phase) signal (4X)

fective only after power is reset. Confirm that the indicators go out before

direction when viewed from the motor output shaft is CCW and clockwise direction is

3-12

Operation Chapter 3 3-4-3 Important Setup Parameters (Cn-01 and Cn-02)

This

section explains the particularly important setup

the

motor might not operate or might operate unpredictably

ly, the system being used.

H Control Mode Settings

The control mode is determined by the following setup parameters:

• Input command mode: Cn-02 bit 2 (position control by pulse-train input/internal speed control settings)

• Pulse stop switch: Cn-01 bit F (The function of this bit depends on the setting of Cn-02 bit 2.)

The following diagram shows the function of these two bits:

parameters. If these parameters aren’t set proper

. Set these parameters appropriately for

Cn-01 bit F

0 Cn-02 bit 2

Control

mode

Cn-02 bit 2 Cn-01 bit F Control mode

Note Cn-01

0 Position control by pulse-train inputs (Factory setting) 1 Position control by pulse-train inputs (pulse stop input (IPG) enabled) 0 1

bit F is ef

Internal speed control settings only. (Servo lock when stopped.) Internal speed control settings + position control by pulse-train input

fective in the HA/LA/V/W Models only

Cn-01 bit F

Position control by pulse-train input

Position control by pulse-train input (The pulse stop input (IPG is enabled.)

Internal speed control settings only. (servo lock when stopped)

Internal speed control settings and position control by pulse-train input

. With H/L Models, use Cn-02 bit 2 to

HA/LA/V/W Models

either “position control by pulse-train inputs” or “internal speed control settings.”

H Command Pulses in Position Control

Bits

3, 4, and 5 of Cn-02 specify the kind of command pulse mode used for position control, as shown

the following table.

select

Cn-02 bit 3 Cn-02 bit 4 Cn-02 bit 5 Selected command pulse mode

0 0 0 Feed pulse (PULS)/Direction signal (SIGN) 1 0 0 Forward pulse (CCW)/Reverse pulse (CW) (Factory setting) 0 1 0 90_ differential phase (A/B phase) signal (1×) 1 1 0 90_ differential phase (A/B phase) signal (2×) 0 0 1 90_ differential phase (A/B phase) signal (4×)

Note

One of three multiples can be 4×).

If the 4× multiple is selected, the input pulses are multiplied by a factor of 4, so the number of

selected when inputting a 90_ dif

ferential phase signal (1×, 2×, or

motor revolutions (speed and angle) are 4 times the number when the 1× multiple is selected.

3-13

Operation Chapter 3

H Error Stop Processes

Bits

6, 7, 8, and 9 of

command

is OFF), an alarm is generated, or overtravel occurs. The following diagrams show the func

tion of these four bits:

Stop Process for Servo OFF/Alarm

Cn-01 specify how the motor will be stopped when the servo goes OFF (the run

Servo OFF or Alarm

Bit 6

0 1

Decelerate by dynamic brake.

Stop Process for Overtravel

Bit 6

Decelerate by dynamic brake.

Decelerate by emergency stop torque (Cn-06).

Overtravel occurs.

Bit 0

Deceleration method

Decelerate by free run.

Deceleration method

Decelerate by free run.

Bit 7

0 1

Bit 9

0 1

Servo free (dynamic brake OFF)

Servo free (dynamic brake ON)

Servo free (dynamic brake OFF)

Stop condition

Servo lock

3-5 Setting Functions: User Parameters

Execute the user parameter settings in order as follows:

Go into settings mode. MODE/SET Key. Display the pertinent parameter number. Direction Keys (Handy-type).

Display the contents (data) of the parameter. DATA Key. Change the data. Direction Keys (Handy-type).

Save the data in memory. MODE/SET and DATA Keys.

3-14

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

. . . .

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

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

and

Down Keys (Mounted-type)

Operation Chapter 3 3-5-1 Setting and Checking User Parameters (Cn-04 to 29)

H Displaying User Parameters

Perform the following procedures on the Parameter Unit to display the user parameters.

D Displaying with Handy-type (R88A-PR02U)

1. Press the MODE/SET Key to go into settings mode (cn-jj).

2. Press the Direction Keys to display the desired user parameter number. Press

the Right and Left

Press the Up and Down Keys to increment or decrement the digit.

3. Press the DATA Key to display the setting of the specified parameter.

4. Press the DATA Key again to return to the parameter number display.

Keys to select the digit to be set. The digit whose value can be set will blink.

Note If

only the Up or Down Key is pressed at step 2., the parameter number can be set directly

case,

the rightmost digit will blink. The number cannot be set if the second digit (the 10s digit) is

blinking (i.e., blinking indicates the digit that can be changed).

D Displaying with Mounted-type (R88A-PR03U)

1. Press the MODE/SET Key to go into settings mode (cn-jj).

2. Press the Up and Down Keys to display the desired user parameter number. The number will be incremented or decremented each time the Up or Down Key is pressed.

3. Press the DATA Key to display the setting of the specified parameter.

4. Press the DATA Key again to return to the parameter number display.

D Parameter Display Example

Parameter Number Display Data Display

[1] [2]

DATA

c n - 0 4 0 0 0 8 0

DATA

[5] [4]

. In this

H Setting User Parameters

First,

use the previous procedure to display the settings of the user parameter

procedures to set user parameters.

D Making Settings with Handy-type (R88A-PR02U)

1. Use

2. Press the Up and Down Keys to change the value of the digit.

3. Repeat the previous two steps as required to set the parameter.

4. Press the MODE/SET or DATA Key. The parameter will be set and the display will blink.

5. Press the DATA Key again to return to the parameter number display.

the Right and Left Keys to select the digit

changed will blink.

that is to be set. The digit for which the value can be

. Then use the following

3-15

Operation Chapter 3

6. Repeat steps 1 through 5 above as required to set other parameters.

Note 1. Settings

and

can also be made by pressing only the Up and Down Keys in

2. This will enable setting digits higher than the one that is blinking. Use whichever meth

od is faster for the number of digits that need to be set.

Note 2. The

Down Key can be pressed when all digits higher than the blinking one are zeros to set the

minimum value in the setting range.

Note 3. The

fifth digit (i.e., the leftmost digit) cannot be made to blink by pressing the Left Key

digit

can be set from the fourth digit. For example, to set “10000,” press the Left Key to make

the

fourth digit blink and then press

the Up Key again once the fourth digit reaches “9.” The

fifth digit will change to “1” and the fourth digit will change to “0.”

D Making Settings with Mounted-type (R88A-PR03U)

1. Using

2. Press

3. Pressing the DATA Key again will bring back the parameter number display.

4. Repeat steps 1 through 4 above as required to set other parameters.

the Up and Down Keys, set the data. If the keys are held down, the numbers will change 10 at

time. If the keys are held down even longer

the MODE/SET Key (or

the DATA Key). The parameter will be set and the display will blink.

, the numbers will change 100 and then 1,000 at a time.

3-5-2 User Parameter Chart

stead of using steps

. The fifth

PRM

No.

Cn-00 System check mode --- --- --- Refer to system check mode

Cn-01 Setup parameter no. 1 --- --- --- Refer to setup parameter no. 1

Cn-02 Setup parameter no. 2 --- --- --- Refer to setup parameter no. 2

Cn-04 Speed loop gain

Cn-05 Speed loop integration

Cn-06 Emergency stop torque Maximum

Cn-07 Software start acceleration

Cn-08 Forward torque limit Maximum

Cn-09 Reverse torque limit Maximum

Cn-0A Encoder divider rate (See

Parameter name Factory

(See note 1.)

constant

time

note 2.)

Unit Setting

setting

80 Hz 1 to 2,000 Adjusts speed loop response.

20 ms 2 to 10,000 Speed loop integration const.

% 0 to maxi-

torque

0 ms 0 to 10,000 Acceleration time setting for

% 0 to maxi-

torque

% 0 to maxi-

torque

1,000 Pulses/

revolution

range

explanation.

With the HA/LA/V/W Models, the units can be set with bit b of Cn-02. Bit b=0: 1-ms units Bit b=1: 0.01-ms units

Deceleration torque when ab-

mum torque

16 to 2,048 Setting for number of output

normality occurs (compared to rated torque).

software start. Output torque for rotation in

forward direction (compared to rated torque).

Output torque for rotation in reverse direction (compared to rated torque).

pulses from Servo Driver.

Explanation

3-16

Operation Chapter 3

PRM

No.

Cn-0b Rotational speed for motor

Cn-0C P control switching (torque

Cn-0d P control switching (speed

Cn-0E P control switching (accel-

Cn-0F P control switching (devi-

Cn-10 Jog speed 500 r/min 0 to 4,500 Setting for manual rotational

Cn-11 Number of encoder pulses

Cn-12 Brake timing 1 0 10 ms 0 to 50 Delay time setting from brake

Cn-15 Brake command speed 100 r/min 0 to 4,500 Sets rotational speed for out-

Cn-16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo-off to

Cn-17 Torque command filter

Cn-18 Forward rotation external

Cn-19 Reverse rotation external

Cn-1A Position loop gain 40 1/s 1 to 500 For position loop response ad-

Cn-1b Positioning completion

Cn-1C Bias rotational speed 0 r/min 0 to 450 Sets the bias for position con-

Cn-1d Feed-forward amount 0 % 0 to 100 Position control feed-forward

Cn-1E Deviation counter overflow

Cn-1F No. 1 internal speed set-

Cn-20 No. 2 internal speed set-

Cn-21 No. 3 internal speed set-

Parameter name

setting

20 r/min 1 to 4,500 Setting for rotational speed for

rotation detection

200 % 0 to maxi-

commands)

0 r/min 0 to 4,500 If a speed command exceeds

commands)

0 10

eration commands)

10 Command

ation pulse)

2,048 Pulses/

(See notes 2 and 3.)

4 100 µs 0 to 250 Setting for torque command fil-

time constant

100 % 0 to maxi-

current limit

100 % 0 to maxi-

current limit

3 Command

range

1,024 × 256

level

100 r/min 0 to 4,500 Rotational speed, no. 1 inter-

ting

200 r/min 0 to 4,500 Rotational speed, no. 2 inter-

ting

300 r/min 0 to 4,500 Rotational speed, no. 3 inter-

ting

UnitFactory

(r/min)/s

units

revolution

units

commands

range

motor rotor detection output. If a torque command exceeds

mum torque

0 to 3,000 If an acceleration command

0 to 1,000 If the deviation pulse exceeds

2,048 Setting for number of pulses

mum torque

0 to 250 Sets the range for the position-

1 to 32,767 Sets the level for detection of

this value, the mode switches from PI to P control.

exceeds this value, the mode switches from PI to P control.

this value, the mode switches from PI to P control.

speed

for encoder used.

command until servo turns off.

putting brake commands.

brake command output.

ter time constant (6.4 to 398 Hz).

Output torque for when forward rotation current limit is input (compared to rated torque).

Output torque for when reverse rotation current limit is input (compared to rated torque).

justment.

ing completion signal output.

trol.

compensation.

deviation counter overflow.

nal setting

ExplanationSetting

3-17

/00 G/G 00

Operation Chapter 3

PRM

No.

Cn-23 Software start deceleration

Cn-24 Electronic gear ratio G1

Cn-25 Electronic gear ratio G2

Cn-26 Position command accel-

Cn-27 Feed-forward command

Cn-28 Compensating gain

Cn-29 Unit number setting

Note 1. Cn-04 (speed loop gain) is factory set for three times the load inertia. Therefore, if the load inertia is

Note 2. After

Note 3. Do

Parameter name

setting

0 ms 0 to 10,000 Sets the deceleration time for

time

4 --- 1 to 65,535

(numerator) (see note 2)

1 --- 1 to 65,535

(denominator) (see note 2)

0 × 0.1 ms 0 to 640 Sets the time constant for eration/deceleration time constant

0 × 0.1 ms 0 to 640 Sets the feed-forward comfilter

0 --- 0 to 100 Adjustment gain during posi(HA/LA/V/W Models)

0 --- 0 to 14 Unit number setting used dur(HA/LA/V/W Models)

extremely small, some oscillation may occur. If it does, then lower Cn-04 to 20 or less.

the settings for Cn-1 and Cn-25 (Electronic gear power

is turned on again after having been cut of

not change the setting of Cn-1

the setting is changed.

1 (number of encoder pulses), Cn-24 (Electronic gear ratio G1 (numerator)),

ratio G2 (denominator)) have been made, they become ef

1 (number of encoder pulses). The motor might not operate correctly if

UnitFactory

range

software starts. Setting range

1/100 ≤ G1/G2 ≤ 100

smoothing.

mand filter.

tion control

ing multi-axis communications

f. (Check to see that the LED display has gone of

ExplanationSetting

fective when the

f.)

Note 4. Refer to the

Servo Drivers for more details on Cn-29 (unit number setting).

Computer Monitor Software Instruction Manual (I513)

for OMNUC U-series

3-18

Operation Chapter 3 3-5-3 Internal Speed Control Settings

H Function

• This

function controls Servomotor speed using the speeds set in the parameters (No. 1, No. 2, and

No. 3 internal speed settings).

• The internal speed is selected with control input terminals CN1-11 and CN1-12 (speed selection commands mand).

1 and 2). The direction of rotation is specified with CN1-15 (the rotation direction

com

• When both speed selection commands 1 and 2 are OFF software start deceleration time (specified in Cn-23) and then go into servo lock status. Depending using pulse-train inputs. (HA/LA/V/W Models)

on the parameter settings, it might be possible to perform

, the motor will decelerate to a stop in the

position control in this status

H Setup Parameter Settings

• Set

bit 2 of

control settings function can be used and CN1-11, 12, and 15 have the following functions:

Control inputs CN1-11 and 12: Speed selection commands 1 and 2 (SPD1 and SPD2). Control input CN1-15: Rotation direction command (RDIR).

• The

following table shows the combinations of speeds and directions that

three control inputs.

CN1-11

SPD1

OFF ON

ON ON

ON OFF

setup parameter number 2 (Cn-02) to “1.” When this bit is set to “1,” the internal speed

. . .

. . . . . . . . . .

can be selected with these

CN1-12

SPD2

CN1-15

RDIR

OFF No. 1 internal speed setting, forward ON No. 1 internal speed setting, reverse OFF No. 2 internal speed setting, forward ON No. 2 internal speed setting, reverse OFF No. 3 internal speed setting, forward ON No. 3 internal speed setting, reverse

Internal speed setting, Rotational direction

D Internal Speed Control Settings and Position Control (HA/LA/V/W Models)

• When

• In

• When

Note Input

bit F of setup parameter number 1 (Cn-01) is set to “1,” the control mode will be “internal speed

control settings and position control.”

this control mode, it is possible to perform speed control using the internal speed control settings

as well as position control using the pulse-train inputs.

both SPD1 and SPD2 are OFF

put

will be output, and the servo

command inputs in servo lock status.

pulse commands after the positioning completion output (INP) is turned ON. The Unit will

ignore any pulses input before the positioning completion output goes ON.

, the motor will be decelerated, the positioning completion out

will enter servo lock status. It will still be possible to receive pulse

3-19

Operation Chapter 3

H User Parameter Settings

PRM

No.

Cn-07 Software start acceleration

Cn-23 Software start deceleration

Cn-26 Position command accelera-

Cn-1F No. 1 internal speed setting 100 r/min 0 to 4,500 Sets the speed for when

Cn-20 No. 2 internal speed setting 200 r/min 0 to 4,500 Sets the speed for when

Cn-21 No. 3 internal speed setting 300 r/min 0 to 4,500 Sets the speed for when

Note 1. The software start acceleration and deceleration times are effective on the internal speed settings. Note 2. The actual acceleration and deceleration times are found by means of the following formula:

Actual acceleration (deceleration) time =

Parameter name Factory

time

tion/deceleration time constant

Unit Setting

setting

0 ms 0 to 10,000 Sets the time for the motor to

0 0.1 ms 0 to 640 Sets the time constant for

Internal speed setting (r/min)

4,500 (r/min)

range

accelerate from 0 r/min to 4,500 r/min.

decelerate from 4,500 r/min to 0 r/min.

pulse smoothing.

SPD1 is OFF and SPD2 is ON.

SPD1 is ON and SPD2 is ON.

SPD1 is ON and SPD2 is OFF.

Software start acceleration

(deceleration) time

Explanation

Note 3. The position command acceleration/deceleration time constant is effective on the pulse command.

Motor speed

4500 r/min

Time

3-20

Operation Chapter 3

H Operation Example

D Internal Speed Control Settings + Position Control (HA/LA/V/W Models)

Speed

selection command SPD1

Speed command SPD2

Switch rotation direction RDIR

Pulse command

Positioning completed (INP)

Motor

selection

operation

Speed 1

Speed

6 ms min.

Speed 3

Speed 1

3-5-4 Electronic Gear Function: Position Control

H Function

• The motor will be driven with a pulse determined by multiplying the command pulse count by the electronic gear ratio.

• The electronic gear is useful for the following applications:

S To fine-tune the position and speed of two lines that must be synchronized. S When using a positioner with a low command pulse frequency. S To set the machine movement per pulse to a specific value, such as 0.01 mm.

H Setting User Parameters

• The

electronic gear is set as G1 divided by G2

in Cn-25. The target pulse count is computed as follows:

Target pulse count = Command pulse count x G1/G2

(G1/G2). G1 is set in user parameter Cn-24; G2 is set

• If

G1/G2 = 1, the motor will turn once for every 8,192 command pulses (driver running at a factor of

4X).

• One

pulse for the position deviation (deviation counter) display and positioning completion range will

be equivalent to one input pulse (here the unit is said to be the command).

3-21

/00 G/G 00

Operation Chapter 3

PRM

No.

Cn-24 Electronic gear ratio G1

Cn-25 Electronic gear ratio G2

Parameter name Factory

(numerator)

(denominator)

Unit Setting

setting

4 --- 1 to 65,535

1 --- 1 to 65,535

range

Explanation

Setting range 1/100 ≤ G1/G2 ≤ 100

Note The factory settings will produce turn the motor once for every 2,048 input pulses.

H Example

G1 is set to 8,192 and G2 is

set to 1,000, the motor will turn once for every 1,000 input pulses (output as

8,192 pulses). The motor speed will also be 8,192/1,000 times faster.

Driver

1,000 pulses 8,192 pulses

Electronic gear G1/G2 = 8,192/1,000

Motor

One revolution (8,192 pulses)

3-5-5 Encoder Dividing Function

H Function

• With

• The number of pulses per Servomotor revolution can be set within a range of 16 to 2,048.

• Use this function for the following applications:

• Set the parameters as shown in the following table.

Cn-0A Encoder divider rate 1,000

Note The

this function, any number of pulses can be set for encoder signals output from the Servo Driver

When connecting to a positioner with a low response frequency. When it is desirable to set a pulse rate that is easily understandable. (For example, in a mechanical system in which a single Servomotor revolution corresponds to a movement

of 10 mm, if the resolution is 5 µm/pulse, set the encoder dividing rate to 2,000 (pulses/

revolution).

PRM

No.

power must be toggled to enable this parameter (be sure that

Parameter name Factory

setting

pulses/ revolution

Setting range Explanation

16 to 2,048 pulses/revolution

Setting for number of output pulses from Servo Driver.

the indicators go out complete

ly).

3-22

Operation Chapter 3

H Operation

• Incremental pulses are output from the Servo Driver through a frequency divider.

Servo Driver

Encoder

• The output phases of the encoder signal output from the Servo Driver are as shown below (when divider rate Cn-0A = 2,048).

A B

Frequency divider

Processing circuitry

A-phase B-phase

Z-phase

Note The

Note When

width of the Z-phase output pulse is not

Forward Rotation Side Reverse

A-phase B-phase

Z-phase

fected by the divider rate and will remain constant.

Rotation

A-phase B-phase

Z-phase

Side

the encoder divider rate is set to other than 2,048, 1024, 512,..., the phase dif

ference for

phases A and B is not 90°, but scatters for time T. (See the diagram below.)

A-phase B-phase

t1 t2 t1 t1 t1 t1 t2 t1 = nT, t2 = (n+1)T

In this diagram, T represents the time between phase A and phase B, and n is an integer that satisfies the following formula (with digits below the decimal point discarded).

n = 2,048/encoder divider rate

to frequency

Input (encoder output)

divider

A-phase B-phase

3-23

Operation Chapter 3 3-5-6 Bias Function: Position Control

The bias function shortens positioning time by adding the bias rotational speed to the speed

command when the residual pulses in the deviation counter exceed the position

ing completion range.

H Function

• When

the residual pulses in the deviation counter exceed the positioning completion range (Cn-1b), this function adds the bias rotational speed (Cn-1C) to the speed command. When the pulses are within the positioning completion range, it stops adding the bias rotational speed.

H Parameters to be Set

PRM No.

Cn-1b Positioning completion

Cn-1C Bias rotational speed 0 r/min 0 to 450 Sets position control bias.

Note 1. When not using the bias function, set the bias rotational speed to “0.” Note 2. As

Parameter name Factory

setting

3 Com-

range

the bias rotational speed increases, Servomotor rotation becomes more unstable. The optimal val

changes depending on the load, gain, and positioning completion range, so observe the response

while making the adjustment. Start with the bias rotational speed set to 0 and slowly increase it.

Unit

mand units

Setting

range

1 to 250 Sets the range for positioning

completion signal output.

Explanation

H Operation

• When

• For

the residual pulses in the deviation counter exceed the positioning completion range (Cn-1b), the bias rotational speed (Cn-1C) is added to the deviation counter output (speed command).

the pulses

are within the positioning completion range, the bias rotational speed is no longer

added to the speed command.

internal processing block configuration, refer to the position loop block diagram in

ly Adjusting Gain

Motor speed

+r/min.

Speed command (Frequency of command pulse train)

Servomotor speed without bias function

Servomotor speed when bias function is used

3-7-2 Manual

TimeTime reduced

3-24

Positioning completion

INP

ON OFF

Operation Chapter 3 3-5-7 Torque Limit Function

H Function

• This function limits the Servomotor’s output torque.

• This

function can be used to protect the Servomotor and machine system by preventing

force

or torque on the

machine system when the machine (moving part) pushes against the work

piece with a steady force, such as in a bending machine.

• There are two methods for limiting the torque:

excessive

1. Limit

the steady force applied during normal operation with

user parameters Cn-08 (forward torque

limit) and Cn-09 (reverse torque limit).

2. Limit operation with external signals connected to pins CN1-11 (PCL: forward current limit input) and

CN1-12 (NCL: reverse current limit input). Set user parameters Cn-18 (

current limit) and Cn-19 (reverse rotation external current limit).

forward

rotation

external

H Parameter Settings

D Method 1: Limiting the Force Applied During Operation

• User Parameter Settings

PRM

No.

Cn-08 Forward torque limit Maximum

Cn-09 Reverse torque limit Maximum

Note Set

Parameter name Factory

these parameters to the maximum torque (the factory setting) when the

isn’t being used.

setting

torque

Unit

Setting range Explanation

% 0 to maximum

torque

% 0 to maximum

torque

This parameter sets the output torque limit for the forward direction (as a percentage of the rated torque).

This parameter sets the output torque limit for the reverse direction (as a percentage of the rated torque).

torque limit function

D Method 2: Limiting Operation with External Signals

• Setup Parameter Settings (Bit 2 of Cn-02 = 0) Set

bit 2 of Cn-02 (the input command mode) to “0.” When bit 2 is “0,” control input terminal CN1-1

be PCL

will be possible to use the external current limit function.

• User Parameter Settings

PRM

No.

Cn-18 Forward rotation

Cn-19 Reverse rotation

(forward current limit input), CN1-12 will be NCL (reverse current limit input), and it will

Parameter name Factory

setting

100 % 0 to maximum

external current limit

100 % 0 to maximum

external current limit

Unit

Setting range Explanation

torque

This parameter sets the output torque limit (as a percentage of the rated torque) when the forward rotation current limit is input.

This parameter sets the output torque limit (as a percentage of the rated torque) when the reverse rotation current limit is input.

3-25

Operation Chapter 3 3-5-8 Brake Interlock (For Motors with Brakes)

H Magnetic Brakes

The

magnetic brakes for Servomotors with brakes are specialized holding brakes with non-magnetized operation. Therefore set the parameters so that the brake power supply is turned off after the Servomo tor

stops. If the

even damage, and will quickly become defective.

brake is applied while the Servomotor is operating, the brake will suf

fer abnormal wear or

For wiring methods, refer to

2-2-5 Peripheral Device Connection Examples

H Function

The

output OFF can be set.

timing of the brake interlock signal (BKIR) that control turning the magnetic brake ON and

H Parameters to be Set

PRM

No.

Cn-12 Brake timing 1 0 10 ms 0 to 50 Delay time setting from brake

Cn-15 Brake command speed 100 r/min 0 to 4,500 Sets rotational speed for out-

Cn-16 Brake timing 2 50 10 ms 10 to 100 Waiting time from servo-off to

Parameter name Factory

setting

Unit Setting

range

Explanation

command until servo turns off.

putting brake commands.

brake command output.

3-26

Operation Chapter 3

H Operation

D Timing for Run Command (RUN) (When Servomotor is Stopped)

Run instruction RUN

Brake interlock signal BKIR

power

Brake supply

25 to 35 ms

Approx. 6 ms

200 max.

Brake operation

Pulse train command CW/CCW

Power to motor

Note 1. It

Cancelled

Maintained

(See note 1)

Power

takes up to 200 ms for the brake to be cleared after the brake power supply has been turned on. Taking this delay into account, have the speed command be given after the brake has been cleared.

Note 2. It

takes

up to 100 ms for the brake to be held after the brake power supply has been turned of

using it for the vertical shaft, take this delay into account and set brake timing 1 (Cn-12)

When so that the Servomotor will not receive power until after the brake is held.

D Timing for Power Supply (When Servomotor is Stopped)

100 max.

Cn-12 (see note 2)

Power supply

55 to 75 ms Brake interlock signal BKIR

Cn-12 (see note)

Power

Power motor

Note It

takes up to 100 ms for the brake to be held after the brake power supply has been turned of

When

Power off

using it for the vertical shaft, take this delay into account and set brake timing 1 (Cn-12) so

that the Servomotor will not receive power until after the brake is held.

3-27

Operation Chapter 3

D Timing for Run Command (RUN), Errors, Power Supply: Servomotor Stopped

Power supply

Run command RUN

Alarm output ALM

(See note 2)

Brake interlock signal BKIR

Power

Power motor

Power off

Approx. (See note 1.)

Motor rotational speed

Note 1. For

the approximately 10 ms it takes from when the power to the Servomotor turns of

Brake command speed (Cn-15)

Braking by dynamic brake

Cn-01 bit no. 6 =

(When

f until the

dynamic brake operates, the Servomotor rotates by momentum.

Note 2. If the Servomotor rotational speed falls below the speed set for the brake command speed

(Cn-15),

or if the time set for brake timing 2 (Cn-16) elapses

after the Servomotor stops receiv

ing power, the brake interlock signal (BKIR) will turn OFF.

3-28

Operation Chapter 3 3-6 Trial Operation

After

the wiring is complete and the parameter settings have been made, conduct a trial operation. connecting the system, and confirm that the correct operation pattern is performed.

First, check with rotation of the motor without connecting a

the mechanical system). Then, connect the mechanical system, auto-tune

load (i.e., without

3-6-1 Preparations for Trial Operation

H Preparations

D Power Off

The

power supply must be toggled to apply some of the parameter settings. Always turn of

supply before starting.

f the power

D No Motor Load

not connect a load to the motor shaft during trial operation, just in case the motor runs

out of control.

D Stopping the Motor

Make

sure that the power switch can be turned of

ately in case of trouble.

f or the Run command used to stop the motor immedi

D Connecting a Parameter Unit

Connect a Parameter Unit to the CN3 connector on the front of the Servo Driver if one is not already connected.

H Actual Trial Operation

(1) Powering Up

• With the run command (RUN) OFF, apply an AC voltage.

• After internal initialization, the mode will be the status display mode.

Display example:

• Set the speed loop gain (Cn-04) to 20 or less. (Match the gain with no load.)

b b

1. Confirm the initial display shown above.

2. Press the MODE/SET Key to enter the settings mode.

3. Press the Up Key to specify user parameter Cn-04.

4. Press the DATA Key to display the setting of Cn-04.

5. Press the Down Key to change the setting to 20.

6. Press the DATA Key to record the new setting in memory.

3-29

Operation Chapter 3

7. Press the DATA Key again to return to the parameter number display.

(2) Jog Operations (See

• Perform jog operations using the Parameter Unit and confirm the following: Does the motor turn in the correct direction? Is there any unusual sound or vibration? Do any error occur?

• If an error occurs, refer to

(3) Connect a load and auto-tune (See

• Connect they will not become loose.

• Perform auto-tuning with the Parameter Unit.

(4) Turning ON the Run command Input

• Turn ON the run command input. The Servomotor will go into servo-ON status.

• Give a speed command, or carry out the following check with a jogging operation.

(5) Low Speed Operation

• Operate at low speed.

Apply a low-frequency pulse command. The mately 10% to 20% of the actual operating speed.

the motor shaft to the load (mechanical system) securely

meaning of

3-6-2 Jog Operations

Chapter 4 Application

3-7 Making Adjustments

“low speed” can vary with the mechanical system. Here, “low speed” means approxi

for troubleshooting.

, being sure to tighten screws so that

• Check the following items.

Is the emergency stop operating correctly? Are the limit switches operating correctly? Is the operating direction of the machinery correct? Are the operating sequences correct? Are there any abnormal sounds or vibration? Is anything abnormal occurring?

• If

anything abnormal occurs, refer to

sures.

(6) Operation Under Actual Load Conditions

• Operate the Servomotor in a regular pattern and check the following items.

Is the speed correct? (Use the speed display.) Is

the load torque roughly equivalent to the measured value? (Use the torque command Are the positioning points correct? When an operation is repeated, is there any discrepancy in positioning? Are there any abnormal sounds or vibration? Is either the Servomotor or the Servo Driver abnormally overheating? Is anything abnormal occurring?

• If

anything abnormal occurs, refer to

sures.

Chapter 4 Application

and apply the appropriate countermea

display

(7) Readjust the gain.

• If

the gain

Adjustments

could not be adjusted completely using auto-tuning, perform the procedure in

to adjust the gain.

3-30

3-7 Making

Operation Chapter 3 3-6-2 Jog Operations

Jog

operations rotate the Servomotor in a forward or reverse direction using the Parameter Unit. Jog operations in the following explanation indicate operations using the Handy-type Parameter Unit.

are made possible when system check mode Cn-00 is set to “00.” The items in parentheses

[1] [2]

c n - 0 0 0 0 - 0 0

DATA

Indicates

settings

mode.

System

check mode

[5]

[4] ON

Data

OFF [4]

0 g

H Operating Procedure (Key in Parentheses are for Mounted-type

Parameter Units)

1. Confirm that the initial display is shown (–. bb).

2. Press the MODE/SET Key to enter the settings mode.

3. Using the Up and Down Keys, set parameter number “00.” (System check mode)

4. Press the DATA Key to display the setting of Cn-00.

5. Using the Up and Down Keys, set the parameter to “00.” (Jog operation)

6. Press the MODE/SET Key to shift to the jog display.

7. Press the SERVO (DATA) Key to turn on the servo.

8. Press

9. Press the Down Key to jog in reverse. Reverse operation will continue as long as the key is held

10. Press the SERVO (DATA) Key to turn off the servo.

11. Press the MODE/SET Key to return to the data display.

12. Press the DATA Key to return to the settings mode.

the Up Key to jog forward. Forward operation will continue as long as the key is held down.

down.

H User Parameter Settings

The

rotational speed during jog operation can be set with user parameter Cn-10,

ing table.

PRM No. Parameter name Factory

setting

Cn-10 Jog speed 500 r/min 0 to 4,500 Speed setting for jog operation

Unit Setting range Explanation

as shown in the follow

3-31

Operation Chapter 3 3-7 Making Adjustments

3-7-1 Auto-tuning

Auto-tuning tomatically adjusts the position loop gain, the speed loop gain, and the speed loop integration time constant. When adjustments cannot be made by auto-tuning, refer to

3-7-2 Manually Adjusting Gain

rotates the Servomotor with a load connected (mechanical system), and au

H Executing Auto-tuning

Make

sure that Cn-28 for compensation gain adjustment is set to 0 before performing auto-tuning. Prop

gain adjustment may not be possible with auto-tuning if the parameter is not set to 0. This parameter

er is factory-set to 0.

[1] [2]

DATA

[3]

c n - 0 0 0 0 - 0 5

[6]

Indicates

settings mode.

System check mode

[4]

[5]

- 0 0 1 t U n

Data

Auto-tuning display

e n d

Auto-tuning end display

1. Confirm that the initial display is shown (–. bb).

2. Press the MODE/SET Key to enter the settings mode.

3. Using the Up and Down Keys, set parameter number “00.” (System check mode)

4. Press the DATA Key to display the setting of Cn-00.

5. Using the Up and Down Keys, set the parameter to “05.” (Auto-tuning)

6. Press the MODE/SET Key to switch to the mechanical rigidity selection display.

7. Using

8. Press the MODE/SET Key to switch to the auto-tuning display.

3-32

the Up and Down Keys, adjust the rigidity

chanical Rigidity

below.)

to the mechanical system.(Refer to

Selecting Me

,,,,

( g), ,

Operation Chapter 3

9. Press

the SER

VO (DATA) Key to turn on the servo. (This step is not required if the Run Command

Input is ON.)

10. Perform

tion.

auto-tuning, using the Up Key for forward operation and the Down Key for reverse opera

Continue pressing the key until “End” is displayed, indicating

that auto-tuning has been com

pleted.

11. Release the key. The data display will return.

12. Press the DATA Key to return to the settings mode.

D Selecting Mechanical Rigidity

Select the set value to match the rigidity of the mechanical system.

HA/LA/V/W Models

Response Set

value

Low

Medium 003 40 XY tables, Cartesian-coordinate robots, general-purpose ma-

High

001 16 002 28

004 56 005 78 006 108 007 130

Position loop gain

(1/s)

Representative applications

Articulated robots, harmonic drives, chain drives, belt drives, rack and pinion drives, etc.

chinery, etc. Ball screws (direct coupling), feeders, etc.

H/L Models

Response Set

value

Low 001 20 Articulated robots, harmonic drives, chain drives, belt drives,

Medium 002 40 XY tables, Cartesian-coordinate robots, general-purpose ma-

High 003 60 Ball screws (direct coupling), feeders, etc.

Note The higher the rigidity of the mechanical system is, the higher the response becomes.

Position loop gain

(1/s)

Representative applications

rack and pinion drives, etc.

chinery, etc.

D Auto-tuning

• Auto-tuning

plenty of room for the machine to operate.

• If

the auto-tuning is not complete after three operation, operations will be repeat as long as

held down.

• The Servomotor rotation speed will be approximately 1/2 that of the jog speed (Cn-10).

• Auto-tuning will automatically change the setting of the user parameter position loop gain (Cn-1A),

speed changed, however, until the auto-tuning operation has been completed.

will not be

complete until at least three operations have been completed. Be sure there is

the key is

loop gain (Cn-04), and speed loop integration time constant (Cn-05). These values will not be

3-33

Operation Chapter 3

• If

auto-tuning does not complete or if the

ally using the procedure in

jog speed

1/2

3-7-2 Manually Adjusting Gain

gain set via auto-tuning is not suf

Approx.

1.1 s

Approx. 0.7 s

ficient, adjust the gain manu

3-34

Omron R88M-U03030LA, R88M-U03030HA-B, R88M-U10030LA, R88M-U05030HA, R88M-U05030HA-B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual