OMRON OMNUC G5 R88M-K AC Servomotor, OMNUC G5 R88D-KN-ML2 AC Servo Drive USER'S MANUAL
The OMNUC G5 R88M-K AC Servomotor and R88D-KN-ML2 AC Servo Drive are part of OMRON's high-performance servo system designed for demanding industrial automation applications. These devices offer precise control, high speed, and robust performance, making them suitable for various tasks such as positioning, speed control, and torque control. This user's manual will guide you through installing, wiring, setting parameters, and troubleshooting these components, providing comprehensive instructions to ensure optimal operation and performance.
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Cat. No. I572-E1-02
USER’S MANUAL
ML2
A/B
ML2
A/B
OMNUC G5
SERIES
R88M-K @
(AC Servomotors)
R88D-KN @-ML2
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
NOTE
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.
Trademarks
• MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.
Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Introduction
Introduction
Thank you for purchasing the OMNUC G5 Series. This user's manual explains how to install and wire the OMNUC G5 Series, set parameters needed to operate the G5 Series, and remedies to be taken and inspection methods to be used should problems occur.
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent or more knowledge) and also being qualified for one of the following:
Those in charge of introducing FA equipment
Those designing FA systems
Those managing FA sites
Notes
This manual contains the information you need to know to correctly use the OMNUC G5 Series and peripheral equipment.
Before using the OMNUC G5 Series, read through this manual and gain a full understanding of the information provided herein.
After you finished reading the manual, keep it in a convenient place so that the manual can be referenced at any time.
Make sure this manual will also be delivered to the end-user.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
z
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
z
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.
z
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the noncomplying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron
Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS
IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Terms and Conditions Agreement
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system.
Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED
TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the
Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Safety Precautions Document
Safety Precautions Document
So that the OMNUC G5-Series Servomotor and Servo Drive and peripheral equipment are used safely and correctly, be sure to peruse this Safety Precautions document section and the main text before using the product in order to learn all items you should know regarding the equipment as well as all safety information and precautions.
Make an arrangement so that this manual also gets to the end-user of this product.
After reading this manual, keep it with you at all times.
Explanation of Display
The precautions explained in this section describe important information regarding safety and must be followed without fail.
The display of precautions used in this manual and their meanings are explained below.
Danger
When an incorrect handling can lead to a dangerous situation, which may result in death or serious injury
Or, when a serious property damage may occur
Caution
When an incorrect handling can lead to a dangerous situation, which may result in a minor or moderate injury, and when only a property damage may occur
Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation. Accordingly, be sure to observe all safety precautions.
Precautions for Safe Use
This symbol indicates an item you should perform or avoid in order to use the product safely.
Precautions for Correct Use
This symbol indicates an item you should perform or avoid in order to prevent inoperative, malfunction or any negative effect on performance or function.
Reference
This symbol indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
Example of symbols
This symbol indicates danger and caution.
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "beware of electric shock".
This symbol indicates a prohibited item (item you must not do).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "disassembly prohibited".
This symbol indicates a compulsory item (item that must be done).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "grounding required".
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Safety Precautions Document
For Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details. When using this product, be sure to install the covers and shields as specified and use the product according to this manual.
If the product has been stored for an extended period of time, contact your OMRON sales representative.
Danger
Always connect the frame ground terminals of a 100 V or 200 V type drive and motor to a type-D or higher ground. Always connect the ground terminals of a 400 V type to a type-C or higher ground. Improper grounding may result in electrical shock.
Never touch the parts inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables and options.
Electric shock may result.
Installation, operation and maintenance or inspection by unauthorized personnel is prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15 minutes.
Electric shock may result.
Do not damage, pull, stress strongly or pinch the cables or place heavy articles on them.
Electric shock, stopping of product operation or burn damage may result.
Never touch the rotating part of the motor during operation.
Injury may result.
Never modify the product.
Injury or equipment damage may result.
Install a stopping device on the machine side to ensure safety.
* The holding brake is not a stopping device to ensure safety.
Injury may result.
Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately.
Injury may result.
When the power is restored after a momentary power interruption, the machine may restart suddenly. Never come close to the machine.
* Implement remedies to ensure safety of people nearby even when the machine is restarted.
Injury may result.
After an earthquake, be sure to conduct safety checks.
Electric shock, injury or fire may result.
Never drive the motor using an external drive source.
Fire may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5
6
Safety Precautions Document
Danger
Do not place flammable materials near the motor, Servo Drive or Regeneration Resistor.
Fire may result.
Install the motor, Servo Drive and Regeneration Resistor to non-flammable materials such as metals.
Fire may result.
When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the descriptions in the operation manual, and apply them to the system design.
Injury or damage may result.
Do not use the cable when it is laying in oil or water.
Electric shock, injury or fire may result.
Never connect a commercial power supply directly to the motor.
Fire or failure may result.
Do not perform wiring or any operation with wet hands.
Electric shock, injury or fire may result.
Do not touch the key grooves with bare hands if a motor with shaft-end key grooves is being used.
Injury may result.
Caution
Use the motor and Servo Drive in the specified combination.
Fire or equipment damage may result.
Do not store or install the product in the following environment:
Location subject to direct sunlight
Location where the ambient temperature exceeds the specified level
Location where the relative humidity exceeds the specified level
Location subject to condensation due to the rapid temperature change
Location subject to corrosive or flammable gases
Location subject to higher levels of dust, salt content or iron dust
Location subject to splashes of water, oil, chemicals, etc.
Location where the product may receive vibration or impact directly
Installing or storing the product in these locations may result in fire, electric shock or equipment damage.
The Servo Drive radiator, Regeneration Resistor, motor, etc. may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components.
A burn injury may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Safety Precautions Document
Storage and Transportation
Caution
When transporting the product, do not hold it by the cables or motor shaft.
Injury or failure may result.
Do not overload the products. (Follow the instruction on the product label.)
Injury or failure may result.
Use the motor eye-bolts only when transporting the motor.
Do not use them to transport the machine.
Injury or failure may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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8
Safety Precautions Document
Installation and Wiring
Caution
Do not step on the product or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings. Do not allow foreign objects to enter the product.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment.
Fire or failure may result.
Do not apply strong impact on the motor shaft or Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway motor, injury or failure may result.
Securely tighten the unit mounting screws, terminal block screws and cable screws.
Failure may result.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire may result.
Only use the power supply voltage specified in this manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied.
Equipment damage may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external wiring.
Fire may result.
If the product is used in the following locations, provide sufficient shielding measures.
Location where noise generates due to static electricity, etc.
Location where a strong electric or magnetic field generates
Location where exposure to radioactivity may occur
Location where power supply lines are running nearby
Using the product in these locations may result in equipment damage.
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the correct polarity is connected.
Battery damage or explosion may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Safety Precautions Document
Operation and Adjustment
Caution
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the product in an actual environment, check if it operates correctly based on the parameters you have set.
Equipment damage may result.
Never adjust or set parameters to extreme values, as it will make the operation unstable.
Injury may result.
Separate the motor from the mechanical system and check its operation before installing the motor to the machine.
Injury may result.
If an alarm generated, remove the cause of the alarm and ensure safety, and then reset the alarm and restart the operation.
Injury may result.
Do not use the built-in brake of the motor for normal braking operation.
Failure may result.
Do not operate the Servomotor when an excessive load inertia is installed.
Failure may result.
Install safety devices to prevent idle running or lock of the electromagnetic brake or the gear head, or leakage of grease from the gear head.
Injury, damage or taint damage may result.
If the Servo Drive fails, cut off the power supply to the Servo Drive on the power supply side.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
Maintenance and Inspection
Caution
After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation.
Equipment damage may result.
Never repair the product by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the unit is not going to be used for a prolonged period of time.
Injury may result.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Safety Precautions Document
Location of Warning Label
This product bears a warning label at the following location to provide handling warnings.
When handling the product, be sure to observe the instructions provided on this label.
Warning label display location
R88D-
KN0
VOLTAGE
INPUT
PHASE
F L C
FREQ
200~240V
1Ø/3Ø
POWER
SER
2.4/1.3
A
50/60H z
IAL No
OMRON Corp
A09070001
OUTPUT
1.6A
0~500.0Hz
200W
2H-ML2
200-240V orat ion
MADE IN JAPAN
Instructions on Warning Label
(R88D-KN02H-ML2)
Disposal
When disposing of the battery, insulate it using tape, etc. and dispose of it by following the applicable ordinance of your local government.
Dispose of the product as an industrial waste.
10
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Items to Check after Unpacking
Items to Check after Unpacking
After unpacking, check the following items.
Is this the model you ordered?
Is there any damage sustained during shipment?
Accessories of This Product
Safety Precautions document x 1 copy
Connectors, mounting screws, mounting brackets, and other accessories other than those in the table below are not supplied. They must be prepared by the customer.
The safety bypass connector is required when the safety function is not used. To use the safety function, provide a Safety I/O Signal Connector separately.
If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or sales office where you purchased your product.
Specifications
Connector for Main circuit power supply terminals and Control circuit power supply terminals
Connector for External
Regeneration Resistor connection terminals and
Motor connection terminals
Safety bypass connector
Singlephase 100
VAC
Singlephase/3phase 200
VAC
3-phase
200 VAC
3-phase
400 VAC
750 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
600 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
50 W
100 W
200 W
400 W
100 W
200 W
400 W
−
−
Included
Included
Included
Included
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Manual Revision History
Manual Revision History
The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left-hand corner of the front or back cover.
Example
I572-E1-02
Revision symbol
Revision symbol
01
02
Revision date Description of revision and revised page
November 2009 First print
March 2016 Added information and made corrections.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Structure of This Document
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring to below.
Outline
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Chapter 11
Features and
System
Configuration
Standard Models and External
Dimensions
Specifications
System Design
BASIC
CONTROL Mode
Applied
Functions
Safety Function
Parameters
Details
Operation
Adjustment
Functions
Error and
Maintenance
Appendix
This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards.
This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions.
This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drive, general specifications, characteristics, encoder specifications of the
Servomotor, and all other specifications including those of peripheral equipment.
This chapter explains the installation conditions, wiring methods including wiring conforming to EMC directives and regenerative energy calculation methods regarding the Servo Drive, Servomotor and
Decelerator, as well as the performance of External Regeneration
Resistors, and so on.
This chapter explains an outline of operations available in various
CONTROL modes and explains the contents of setting.
This chapter gives outline of applied functions such as electronic gears, gain switching and soft start, and explains the setting contents.
This function stops the motor based on a signal from a Safety
Controller or safety sensor.
An outline of the function is explained together with operation and connection examples.
This chapter explains the set value and contents of setting of each parameter.
This chapter explains the operating procedures and how to operate in each mode.
This chapter explains the functions, setting methods and items to note regarding various gain adjustments.
This chapter explains the items to check when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.
The appendix lists the parameters.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Table Of Contents
Terms and Conditions Agreement .........................................................2
Safety Precautions Document ...............................................................4
Items to Check after Unpacking...........................................................11
Manual Revision History ......................................................................12
Structure of This Document .................................................................13
Chapter1 Features and System Configuration
Chapter2 Standard Models and External Dimensions
2-4 External and Mounting Dimensions ..................................................... 2-18
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Table Of Contents
Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) .......................... 2-52
3-2 Overload Characteristics (Electronic Thermal Function) ......................3-32
3-4 Cable and Connector Specifications ....................................................3-58
MECHATROLINK-II Communications Cable Specifications ..................................... 3-72
3-5 External Regeneration Resistor Specifications ....................................3-79
3-7 MECHATROLINK-II Repeater Unit Specifications ...............................3-82
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Table Of Contents
4-3 Wiring Conforming to EMC Directives ................................................. 4-21
4-4 Regenerative Energy Absorption......................................................... 4-45
Regenerative Energy Absorption with an External Regeneration Resistor ............... 4-49
4-5 Large Load Inertia Adjustment and Dynamic Brake ............................ 4-52
Parameter Block Diagram for POSITION CONTROL mode ....................................... 5-3
Parameter Block Diagram for SPEED CONTROL mode ............................................ 5-5
Parameter Block Diagram for TORQUE CONTROL mode ......................................... 5-8
Parameter Block Diagram for FULL CLOSING CONTROL mode............................. 5-16
Sequence I/O Signal.............................................................................. 6-1
Forward and Reverse Drive Prohibition Functions ................................ 6-6
Overrun Protection............................................................................... 6-10
Backlash Compensation ...................................................................... 6-12
Brake Interlock..................................................................................... 6-14
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Table Of Contents
7-1 Safe Torque OFF (STO) Function ..........................................................7-1
8-3 Vibration Suppression Parameters.......................................................8-19
8-4 Analog Control Parameters ..................................................................8-24
8-5 Interface Monitor Setting Parameters...................................................8-30
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Table Of Contents
Chapter10 Adjustment Functions
10-8 Disturbance Observer Function ......................................................... 10-31
10-9 Friction Torque Compensation Function............................................ 10-33
10-10 Hybrid Vibration Suppression Function ............................................ 10-35
10-12 Instantaneous Speed Observer Function ......................................... 10-39
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Table Of Contents
Chapter11 Error and Maintenance
Index
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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Features and System Configuration
1
This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards.
1-1 Outline ...........................................................................1-1
1-2 System Configuration ..................................................1-3
1-3 Names and Functions ..................................................1-4
1-4 System Block Diagrams...............................................1-6
1-5 Applicable Standards .................................................1-11
1-6 Unit Versions...............................................................1-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-1 Outline
1-1 Outline
1
Outline of the OMNUC G5 Series
The OMNUC G5-Series AC Servo Drives (Built-in MECHATROLINK-II communications support type) are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network.
When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-
NCF71), you can create a sophisticated positioning control system. Also, you need only one communications cable to connect the Servo Drive and the Controller. Therefore, you can realize a position control system easily with reduced wiring effort.
With real time autotuning, adaptive filter, notch filter, and damping control, you can set up a system that provides stable operation by suppressing vibration in low-rigidity machines.
Features of the OMNUC G5 Series
The OMNUC G5 Series has the following features.
Data Transmission Using MECHATROLINK-II Communications
When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-
NCF71), you can exchange all control data between the Servo Drive and the Controller through data communications.
Since the various control commands are transmitted via data communications, Servomotor's operational performance is maximized without being limited by interface specifications such as the response frequency of the encoder feedback pulses.
Therefore, you can use the Servo Drive's various control parameters and monitor data on a host controller, and unify the system data for management.
Achievement of Accurate Positioning by Full Closing Control
Feedbacks from the external encoder connected to the motor are used to accurately control positions. Accordingly, position control is not affected by deviation caused by ball screws or temperature.
Wide Range of Power Supplies to Match Any Necessity
The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at overseas facilities and in wide-ranging applications and environment. Since the utilization ratio of facility equipment also increases, the TCO (Total Cost of Ownership) will come down.
Safe Torque OFF (STO) Function to Ensure Safety
You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment. This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor. Even during the torque
OFF status, the present position of the motor is monitored by the control circuits to eliminate the need to perform an origin search when restarting.
1-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-1 Outline
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal. In addition, the settings can be made easily merely by just setting the damping frequency and filter values.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-2
1
1-2 System Configuration
1-2 System Configuration
Controller
(MECHATROLINK Type)
Programmable
Controller
SYSMAC CJ1
Position Control Unit
CJ1W-NC x
71
MECHATRO
LINK-II
OMNUC G5 Series
AC Servo Drive
R88D-KNx-ML2
MECHATRO
LINK-II
Controller
(MECHATROLINK
Programmable Controller
SYSMAC CS1
Position Control Unit
CS1W-NC x
71
INC ABS
OMNUC G5 Series
AC Servomotor
R88M-Kx
1-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-3 Names and Functions
1-3 Names and Functions
This section describes the name and functions of the Servo Drive.
Servo Drive Part Names
The Servo Drive Part Names are defined as shown below.
MECHATROLINK-II status LED indicator
Display area
Analog monitor connector (CN5)
Rotary switches for node address setting
MECHATROLINK-II communications connector
Main circuit power supply terminals
(L1, L2, and L3)
Control circuit power supply terminals
(L1C and L2C)
Charge lamp
External Regeneration
Resistor connection terminals (B1, B2 and B3)
Motor connection terminals (U, V and W)
USB connector (CN7)
Safety connector (CN8)
Control I/O connector (CN1)
External encoder connector (CN4)
Encoder connector (CN2)
Protective ground terminals
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-4
1-3 Names and Functions
1
Servo Drive Functions
The functions of each part are the followings:
Display Area
A 2-digit 7-segment LED indicator shows the node address, alarm codes, and other Servo
Drive status.
Charge Lamp
Lits when the main circuit power supply is turned ON.
MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
For details, refer to "MECHATROLINK-II Communications Status LED Indicator"(P.9-4).
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
External Encoder Connector (CN4)
Connector for an encoder signal used during full closing control.
Analog Monitor Connector (CN5)
2 analog outputs to monitor values like motor rotation speed, torque command value, etc.
MECHATROLINK-II Communications Connectors (ML2A and ML2B)
Connectors for MECHATROLINK-II communications
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for the safety devices.
If no safety device is used, keep the factory-set safety bypass connector installed.
1-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-4 System Block Diagrams
1-4 System Block Diagrams
L1
CN A
FUSE
L2
L3
FUSE
This is the block diagram of the OMNUC G5-Series AC Servo Drive (Built-in MECHATROLINK-II communications support type).
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2
R88D-KN01H-ML2/-KN02H-ML2/-KN04H-ML2
+
CN B
B1
B2
B3
−
Voltage detection
U
V
W
L1C
L2C
FUSE +
−
FG
1
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU&ASIC
Overcurrent detection
Gate drive
Position, speed and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-6
1
1-4 System Block Diagrams
R88D-KN04L-ML2
R88D-KN08H-ML2/-KN10H-ML2/-KN15H-ML2
L1
CN A
FUSE
L2
L3
FUSE
+
−
Voltage detection
L1C
L2C
FUSE
+
−
CN B
Internal Regeneration
Resistor
B1
B2
B3
U
V
W
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU&ASIC
Overcurrent detection
Gate drive
Position, speed and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
FG
Axial-flow fan
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
1-7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-4 System Block Diagrams
R88D-KN20H-ML2/-KN30H-ML2/-KN50H-ML2
L1
CN A
FUSE
L2
L3
FUSE
+
−
Voltage detection
L1C
L2C
FUSE
+
−
CN C
B1
B2
B3
Internal Regeneration
Resistor
NC
U
V
W
1
FG
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU&ASIC
Overcurrent detection
Gate drive
Position, speed and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
Axial-flow fan
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-8
1
1-4 System Block Diagrams
L1
CN A
FUSE
L2
L3
FUSE
24V
CN C
FUSE
0V
R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2
+
+
−
+
−
Voltage detection
CN D
B1
B2
B3
Internal Regeneration
Resistor
NC
CN B
U
V
W
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU&ASIC
Overcurrent detection
Gate drive
Position, speed and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
FG
Axial-flow fan
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
1-9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-4 System Block Diagrams
R88D-KN30F-ML2/-KN50F-ML2
L1
CN A
FUSE
L2
L3
FUSE
+
−
24V
CN C
FUSE
0V
+
+
−
Voltage detection
CN D
B1
B2
B3
Internal Regeneration
Resistor
NC
CN B
U
V
W
1
FG
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU&ASIC
Overcurrent detection
Gate drive
Position, speed and torque calculation control area
• PWM control
Current detection setting circuit area
Axial-flow fan
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-10
1-5 Applicable Standards
1-5 Applicable Standards
This section describes applicable EMC Directives.
1
EC Directives
EC directive
Low voltage command
EMC directives
Machinery
Directive
Product
AC Servo Drive
AC Servomotor
AC Servo Drive
AC Servo Drive
Applicable standards
EN 61800-5-1
EN60034-1/-5
EN 55011 class A group 1
IEC61800-3
EN61000-6-2
EN954-1 (Category 3)
EN ISO13849-1: 2008 (Category 3) (PLc,d)
ISO13849-1: 2006 (Category 3) (PLc,d)
EN61508 (SIL2)
EN62061 (SIL2)
EV61800-5-2 (STO)
IEC61326-3-1 (SIL2)
Note. To conform to EMC directives, the Servomotor and Servo Drive must be installed under the conditions described
in "4-3 Wiring Conforming to EMC Directives" (P.4-21).
UL and cUL Standards
Standard
UL standards
CSA standards
Product
AC Servo Drive
AC Servomotor
AC Servo Drive
AC Servomotor
Applicable standards
UL508C
UL1004-1
*2
UL1004
CSA22.2 No. 14
CSA22.2 No. 100
*2
CSA22.2 No. 100
File number
E179149
E331224
E179189
E179149
E331224
E179189
*1
*1 The R88D-KN20x-ML2 and lower capacity Servo Drives are UL-listed.
The R88D-KN30x-ML2 and higher capacity Servo Drives are UL-recognized.
*2 Motor capacity is 50 to 750 W when the power supply voltage is 100 V or 200 V and the rated number of motor rotation speed is 3,000 r/min.
1-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-5 Applicable Standards
The Servo Drives and Servomotors comply with UL 508C (file No. E179149) as long as the following installation conditions 1 and 2 are met.
(1) Use the Servo Drive in a pollution degree 1 or 2 environment as defined in IEC 60664-
1 (example: installation in an IP54 control panel).
(2) Be sure to connect a circuit breaker or fuse, which is a UL-listed product with LISTED and mark, between the power supply and noise filter.
Refer to the following table for the rated current of the circuit breaker or fuse.
Use copper wiring with a temperature rating of 75 °C or higher.
Drive model
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
50
15
15
15
15
20
30
50
20
30
30
10
10
10
15
Circuit breaker (rated current) (A)
10
10
10
1
Korean Radio Regulations (KC)
The G5-series Servo Drives comply with the Korean Radio Regulations (KC).
The G5-series Servomotors and Linear Motors are exempt from the Korean Radio Regulations
(KC).
SEMI F47
Some Servo Drives conform to the SEMI F47 standard for momentary power interruptions
(voltage sag immunity) for no-load or light-load operation.
This standard applies to semiconductor manufacturing equipment.
Note 1.It does not apply to Servo Drivers with single-phase 100-V specifications or with
24-VDC specifications for the control power input.
Note 2.Always perform evaluation testing for SEMI F47 compliance in the actual system.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-12
1-6 Unit Versions
1-6 Unit Versions
The G5-series Servo Drive uses unit versions.
Unit versions are used to manage differences in supported functions when product upgrades are made.
1
Confirmation Method
The unit version of a G5-series Servo Drive is given on the product's nameplate as shown below.
Nameplate location
R88D-KNA5L
VOLTA
PHASE
GE
F L C
FREQ
POW
SER
ER
IAL N o.
INPU
100~120V
1Ø
1.7A
50/60
Hz
OM
RON
P090300
Co rpora tion
01Z
OUT
PUT
0-120V
3Ø
1.2A
0~5
50W
00.0
Hz
-ML2
MAD
E IN
Ver.1
.0
CH
INA
Product Nameplate
(R88D-KNA5L-ML2)
Unit Versions
Unit version
Not indicated
Ver.1.0
Upgraded content
New release
Unit version introduced.
No changes in functions.
Unit Version
Here, the unit version is 1.0.
Supported
CX-Drive versions
Ver. 1.91 or higher
Ver. 1.91 or higher
1-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-6 Unit Versions
1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
1-14
Standard Models and External Dimensions
This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions.
2-1 Servo System Configuration .......................................2-1
2-2 How to Read Model.......................................................2-3
2-3 Standard Model List .....................................................2-5
2-4 External and Mounting Dimensions..........................2-18
2-5 EMC Filter Dimensions...............................................2-50
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-1 Servo System Configuration
2-1 Servo System Configuration
Controller
SYSMAC + Position Control Unit
(Built-in MECHATROLINK-II Communications type)
Support Software
● CX-One FA Integrated
Tool Package
CX-Programmer
and CX-Position
and CX-Motion
Support Software
● CX-One FA Integrated
Tool Package
(Including CX-Drive)
● CX-Drive
WS02-DRVC1
2
Programmable
Controller
SYSMAC CJ/CS
Position Control Unit (NC)
CJ1W-NC x 71
CS1W-NC x 71
MECHATROLINK-II Communications Cable
FNY-W6003x
MECHATROLINK-II Terminating Resistor
FNY-W6022
2-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-1 Servo System Configuration
USB communications
MECHATROLINK-II
Communications
AC Servo Drive
Motor power signals
Power Cables
● Standard Cables
• Without Brake
R88A-CAxxxxxS
• With Brake
R88A-CAxxxxxB
● Robot Cable
• Without Brake
R88A-CAxxxxxSR
• With Brake
R88A-CAxxxxxBR
ML2
A/B
ML2
A/B
● OMNUC G5 Series Servo Drive
R88D-KN x
-ML2
AC100V
AC200V
AC400V
Brake Cables (50 to 750 W max.)
● Standard Cables
R88A-CAKAxxxB
● Robot Cable
R88A-CAKAxxxBR
Feedback Signals
Encoder Cables
● Standard Cables
• 750W or less:
R88A-CRKxxxxC
• 1.0kW or more:
R88A-CRKCxxxN
● Robot cables
• 750W or less:
R88A-CRKxxxxCR
• 1.0kW or more:
R88A-CRKCxxxNR
AC Servomotors
● OMNUC G5 Series Servomotor
R88M-K
3000r/min
2000r/min
1000r/min
Decelerators
External encoder
Peripheral Devices
●
Reactors
3G3AX-DL
3G3AX-AL
●
External
Regeneration
Resistors
R88A-RR
Absolute Encoder Battery Cable
R88A-CRGD0R3C (-BS)
(One Battery is included with Absolute
Encoder Battery Cable with mode numbers ending in
“BS.”)
* Not required if a battery is connected to
the control connector (CN1).
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-2
2-2 How to Read Model
2-2 How to Read Model
This section describes how to read and understand the model numbers for Servo Drives and
Servomotors.
2
Servo Drive
The Servo Drive model can be identified by the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.
R88D-KN01H-ML2
OMNUC G5 Series
Servo Drive
Drive Type
N : Network type
Maximum Applicable Servomotor Capacity
08
10
15
20
A5
01
02
04
: 50 W
: 100 W
: 200 W
: 400 W
: 750 W
: 1 kW
: 1.5 kW
: 2 kW
30
50
: 3 kW
: 5 kW
Power Supply Voltage
L : 100 VAC
H
F
: 200 VAC
: 400 VAC
Network type
ML2: MECHATROLINK-II Communications
2-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-2 How to Read Model
Servomotor
The model number provides information such as the Servomotor type, applicable motor capacity, rated rotation speed, and power supply voltage.
R88M-KP10030H-BOS2
OMNUC G5 Series Servomotor
Motor Type
Blank : Cylinder type
2
Servomotor Capacity
050 : 50 W
100
200
400
600
: 100 W
: 200 W
: 400 W
: 600 W
750 : 750 W
900 : 900 W
1K0 : 1 kW
1K5 : 1.5 kW
2K0 : 2 kW
3K0 : 3 kW
4K0 : 4 kW
5K0 : 5 kW
Rated Rotation Speed
10 : 1,000 r/min
20
30
: 2,000 r/min
: 3,000 r/min
Applied Voltage
F
H
L
C
T
S
: 400 VAC (incremental encoder specifications)
: 200 VAC (incremental encoder specifications)
: 100 VAC (incremental encoder specifications)
: 400 VAC (absolute encoder specifications)
: 200 VAC (absolute encoder specifications)
: 100 VAC (absolute encoder specifications)
Options
No
B
O
S2
: Straight shaft
: With brake
: With oil seal
: With key and tap
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4
2-3 Standard Model List
2-3 Standard Model List
This section lists the standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment.
2
Servo Drive Model List
The table below lists the Servo Drive models.
Specifications
Single-phase 100 VAC
Single-phase/3-phase 200 VAC
3-phase 200 VAC
3-phase 400 VAC
1 kW
1.5 kW
2 kW
3 kW
5 kW
600 W
1 kW
1.5 kW
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
2 kW
3 kW
5 kW
Model
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
2-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-3 Standard Model List
Servomotor Model List
The table below lists the Servomotor models by rated number of motor rotations.
3,000-r/min Servomotors
Specifications
With incremental encoder
Straight shaft without key
50 W R88M-K05030H
Straight shaft with key and tap
R88M-K05030H-S2
Model
With absolute encoder
Straight shaft without key
R88M-K05030T
Straight shaft with key and tap
R88M-K05030T-S2
100 V
100 W R88M-K10030L
200 W R88M-K20030L
400 W R88M-K40030L
50 W R88M-K05030H
100 W R88M-K10030H
200 W R88M-K20030H
400 W R88M-K40030H
750 W R88M-K75030H
R88M-K10030L-S2
R88M-K20030L-S2
R88M-K40030L-S2
R88M-K05030H-S2
R88M-K10030H-S2
R88M-K20030H-S2
R88M-K40030H-S2
R88M-K75030H-S2
R88M-K10030S
R88M-K20030S
R88M-K40030S
R88M-K05030T
R88M-K10030T
R88M-K20030T
R88M-K40030T
R88M-K75030T
R88M-K10030S-S2
R88M-K20030S-S2
R88M-K40030S-S2
R88M-K05030T-S2
R88M-K10030T-S2
R88M-K20030T-S2
R88M-K40030T-S2
R88M-K75030T-S2
200 V 1 kW R88M-K1K030H
1.5 kW R88M-K1K530H
2 kW R88M-K2K030H
3 kW R88M-K3K030H
4 kW R88M-K4K030H
5 kW R88M-K5K030H
750 W R88M-K75030F
1 kW R88M-K1K030F
400 V
1.5 kW R88M-K1K530F
2 kW R88M-K2K030F
3 kW R88M-K3K030F
4 kW R88M-K4K030F
5 kW R88M-K5K030F
R88M-K1K030H-S2
R88M-K1K530H-S2
R88M-K2K030H-S2
R88M-K3K030H-S2
R88M-K4K030H-S2
R88M-K5K030H-S2
R88M-K75030F-S2
R88M-K1K030F-S2
R88M-K1K530F-S2
R88M-K2K030F-S2
R88M-K3K030F-S2
R88M-K4K030F-S2
R88M-K5K030F-S2
R88M-K1K030T
R88M-K1K530T
R88M-K2K030T
R88M-K3K030T
R88M-K4K030T
R88M-K5K030T
R88M-K75030C
R88M-K1K030C
R88M-K1K530C
R88M-K2K030C
R88M-K3K030C
R88M-K4K030C
R88M-K5K030C
R88M-K1K030T-S2
R88M-K1K530T-S2
R88M-K2K030T-S2
R88M-K3K030T-S2
R88M-K4K030T-S2
R88M-K5K030T-S2
R88M-K75030C-S2
R88M-K1K030C-S2
R88M-K1K530C-S2
R88M-K2K030C-S2
R88M-K3K030C-S2
R88M-K4K030C-S2
R88M-K5K030C-S2
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-6
2
2-3 Standard Model List
Model
Specifications
With incremental encoder
Straight shaft without key
50 W R88M-K05030H-B
Straight shaft with key and tap
R88M-K05030H-BS2
With absolute encoder
Straight shaft without key
R88M-K05030T-B
Straight shaft with key and tap
R88M-K05030T-BS2
100 V
100 W R88M-K10030L-B
200 W R88M-K20030L-B
400 W R88M-K40030L-B
50 W R88M-K05030H-B
100 W R88M-K10030H-B
200 W R88M-K20030H-B
R88M-K10030L-BS2
R88M-K20030L-BS2
R88M-K40030L-BS2
R88M-K05030H-BS2
R88M-K10030H-BS2
R88M-K20030H-BS2
R88M-K10030S-B
R88M-K20030S-B
R88M-K40030S-B
R88M-K05030T-B
R88M-K10030T-B
R88M-K20030T-B
R88M-K40030H-BS2 R88M-K40030T-B
R88M-K75030H-BS2 R88M-K75030T-B
R88M-K10030S-BS2
R88M-K20030S-BS2
R88M-K40030S-BS2
R88M-K05030T-BS2
R88M-K10030T-BS2
R88M-K20030T-BS2
R88M-K40030T-BS2
R88M-K75030T-BS2
400 W R88M-K40030H-B
750 W R88M-K75030H-B
200 V 1 kW R88M-K1K030H-B
1.5 kW R88M-K1K530H-B
2 kW R88M-K2K030H-B
3 kW R88M-K3K030H-B
4 kW R88M-K4K030H-B
5 kW R88M-K5K030H-B
R88M-K1K030H-BS2
R88M-K1K530H-BS2
R88M-K2K030H-BS2
R88M-K3K030H-BS2
R88M-K4K030H-BS2
R88M-K5K030H-BS2
R88M-K1K030T-B
R88M-K1K530T-B
R88M-K2K030T-B
R88M-K3K030T-B
R88M-K4K030T-B
R88M-K5K030T-B
R88M-K75030F-BS2 R88M-K75030C-B
R88M-K1K030F-BS2 R88M-K1K030C-B
R88M-K1K030T-BS2
R88M-K1K530T-BS2
R88M-K2K030T-BS2
R88M-K3K030T-BS2
R88M-K4K030T-BS2
R88M-K5K030T-BS2
R88M-K75030C-BS2
R88M-K1K030C-BS2
750 W R88M-K75030F-B
1 kW R88M-K1K030F-B
400 V
1.5 kW R88M-K1K530F-B
2 kW R88M-K2K030F-B
3 kW R88M-K3K030F-B
4 kW R88M-K4K030F-B
5 kW R88M-K5K030F-B
R88M-K1K530F-BS2
R88M-K2K030F-BS2
R88M-K3K030F-BS2
R88M-K4K030F-BS2
R88M-K5K030F-BS2
R88M-K1K530C-B
R88M-K2K030C-B
R88M-K3K030C-B
R88M-K4K030C-B
R88M-K5K030C-B
R88M-K1K530C-BS2
R88M-K2K030C-BS2
R88M-K3K030C-BS2
R88M-K4K030C-BS2
R88M-K5K030C-BS2
Note. Models with oil seals are also available.
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2-3 Standard Model List
2,000-r/min Servomotors
Specifications
With incremental encoder
Straight shaft without key
1 kW R88M-K1K020H
Straight shaft with key and tap
R88M-K1K020H-S2
Model
With absolute encoder
Straight shaft without key
R88M-K1K020T
Straight shaft with key and tap
R88M-K1K020T-S2
200 V
1.5 kW R88M-K1K520H
2 kW R88M-K2K020H
3 kW R88M-K3K020H
4 kW R88M-K4K020H
5 kW R88M-K5K020H
400 W R88M-K40020F
600 W R88M-K60020F
1 kW R88M-K1K020F
400 V
1.5 kW R88M-K1K520F
2 kW R88M-K2K020F
R88M-K1K520H-S2
R88M-K2K020H-S2
R88M-K3K020H-S2
R88M-K4K020H-S2
R88M-K5K020H-S2
R88M-K40020F-S2
R88M-K60020F-S2
R88M-K1K020F-S2
R88M-K1K520F-S2
R88M-K1K520T
R88M-K2K020T
R88M-K3K020T
R88M-K4K020T
R88M-K5K020T
R88M-K40020C
R88M-K60020C
R88M-K1K020C
R88M-K1K520C
R88M-K1K520T-S2
R88M-K2K020T-S2
R88M-K3K020T-S2
R88M-K4K020T-S2
R88M-K5K020T-S2
R88M-K40020C-BS2
R88M-K60020C-BS2
R88M-K1K020C-S2
R88M-K1K520C-S2
200 V
3 kW R88M-K3K020F
4 kW R88M-K4K020F
5 kW R88M-K5K020F
1 kW R88M-K1K020H-B
1.5 kW R88M-K1K520H-B
2 kW R88M-K2K020H-B
3 kW R88M-K3K020H-B
4 kW R88M-K4K020H-B
R88M-K2K020F-S2
R88M-K3K020F-S2
R88M-K4K020F-S2
R88M-K2K020C
R88M-K3K020C
R88M-K4K020C
R88M-K5K020F-S2 R88M-K5K020C
R88M-K1K020H-BS2 R88M-K1K020T-B
R88M-K1K520H-BS2 R88M-K1K520T-B
R88M-K2K020H-BS2 R88M-K2K020T-B
R88M-K2K020C-S2
R88M-K3K020C-S2
R88M-K4K020C-S2
R88M-K5K020C-S2
R88M-K1K020T-BS2
R88M-K1K520T-BS2
R88M-K2K020T-BS2
400 V
5 kW R88M-K5K020H-B
400 W R88M-K40020F-B
600 W R88M-K60020F-B
1 kW R88M-K1K020F-B
1.5 kW R88M-K1K520F-B
2 kW R88M-K2K020F-B
3 kW R88M-K3K020F-B
4 kW R88M-K4K020F-B
5 kW R88M-K5K020F-B
R88M-K3K020H-BS2 R88M-K3K020T-B
R88M-K4K020H-BS2 R88M-K4K020T-B
R88M-K5K020H-BS2 R88M-K5K020T-B
R88M-K40020F-BS2 R88M-K40020C-B
R88M-K60020F-BS2 R88M-K60020C-B
R88M-K1K020F-BS2 R88M-K1K020C-B
R88M-K1K520F-BS2 R88M-K1K520C-B
R88M-K2K020F-BS2 R88M-K2K020C-B
R88M-K3K020F-BS2
R88M-K4K020F-BS2
R88M-K5K020F-BS2
R88M-K3K020C-B
R88M-K4K020C-B
R88M-K5K020C-B
R88M-K3K020T-BS2
R88M-K4K020T-BS2
R88M-K5K020T-BS2
R88M-K40020C-BS2
R88M-K60020C-BS2
R88M-K1K020C-BS2
R88M-K1K520C-BS2
R88M-K2K020C-BS2
R88M-K3K020C-BS2
R88M-K4K020C-BS2
R88M-K5K020C-BS2
Note. Models with oil seals are also available.
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2-3 Standard Model List
2
1,000-r/min Servomotors
Specifications
With incremental encoder
Straight shaft without key
Straight shaft with key and tap
200 V
900 kW R88M-K90010H
2 kW R88M-K2K010H
3 kW R88M-K3K010H
R88M-K90010H-S2
R88M-K2K010H-S2
R88M-K3K010H-S2
Model
With absolute encoder
Straight shaft without key
Straight shaft with key and tap
R88M-K90010T
R88M-K2K010T
R88M-K3K010T
R88M-K90010T-S2
R88M-K2K010T-S2
R88M-K3K010T-S2
400 V
900 kW R88M-K90010F
2 kW R88M-K2K010F
3 kW R88M-K3K010F
200 V
900 kW R88M-K90010H-B
2 kW R88M-K2K010H-B
3 kW R88M-K3K010H-B
900 kW R88M-K90010F-B
400 V 2 kW R88M-K2K010F-B
3 kW R88M-K3K010F-B
R88M-K90010F-S2
R88M-K2K010F-S2
R88M-K3K010F-S2
R88M-K90010C
R88M-K2K010C
R88M-K3K010C
R88M-K90010H-BS2 R88M-K90010T-B
R88M-K2K010H-BS2 R88M-K2K010T-B
R88M-K3K010H-BS2 R88M-K3K010T-B
R88M-K90010F-BS2 R88M-K90010C-B
R88M-K2K010F-BS2 R88M-K2K010C-B
R88M-K3K010F-BS2 R88M-K3K010C-B
R88M-K90010C-S2
R88M-K2K010C-S2
R88M-K3K010C-S2
R88M-K90010T-BS2
R88M-K2K010T-BS2
R88M-K3K010T-BS2
R88M-K90010C-BS2
R88M-K2K010C-BS2
R88M-K3K010C-BS2
Note. Models with oil seals are also available.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-3 Standard Model List
Servo Drive and Servomotor Combination List
The tables in this section show the possible combinations of OMNUC G5 Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.
-x at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.
3,000-r/min Servomotors and Servo Drives
Voltage
Single-phase
100 V
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
Rated output
Servomotor
With incremental encoder
50 W R88M-K05030H-x
100 W R88M-K10030L-x
With absolute encoder
R88M-K05030T-x
R88M-K10030S-x
200 W R88M-K20030L-x
400 W R88M-K40030L-x
50 W R88M-K05030H-x
100 W R88M-K10030H-x
200 W R88M-K20030H-x
400 W R88M-K40030H-x
750 W R88M-K75030H-x
1 kW R88M-K1K030H-x
1.5 kW R88M-K1K530H-x
2 kW R88M-K2K030H-x
3 kW R88M-K3K030H-x
4 kW R88M-K4K030H-x
5 kW R88M-K5K030H-x
750 W R88M-K75030F-x
1 kW R88M-K1K030F-x
1.5 kW R88M-K1K530F-x
2 kW R88M-K2K030F-x
3 kW R88M-K3K030F-x
4 kW R88M-K4K030F-x
5 kW R88M-K5K030F-x
R88M-K20030S-x
R88M-K40030S-x
R88M-K05030T-x
R88M-K10030T-x
R88M-K20030T-x
R88M-K40030T-x
R88M-K75030T-x
R88M-K1K030T-x
R88M-K1K530T-x
R88M-K2K030T-x
R88M-K3K030T-x
R88M-K4K030T-x
R88M-K5K030T-x
R88M-K75030C-x
R88M-K1K030C-x
R88M-K1K530C-x
R88M-K2K030C-x
R88M-K3K030C-x
R88M-K4K030C-x
R88M-K5K030C-x
Servo Drive
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
*1
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN15H-ML2
*1
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
*1
R88D-KN50H-ML2
R88D-KN10F-ML2
*1
R88D-KN15F-ML2
*1
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
*1
R88D-KN50F-ML2
*1 Use these combinations with caution because the Servo Drive and Servomotor have different capacities.
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2-3 Standard Model List
2,000-r/min Servomotors and Servo Drives
Voltage
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
Rated output
Servomotor
With incremental encoder
1 kW R88M-K1K020H-x
1.5 kW R88M-K1K520H-x
With absolute encoder
R88M-K1K020T-x
R88M-K1K520T-x
2 kW R88M-K2K020H-x
3 kW R88M-K3K020H-x
4 kW R88M-K4K020H-x
5 kW R88M-K5K020H-x
400 W R88M-K40020F-x
600 W R88M-K60020F-x
1 kW R88M-K1K020F-x
1.5 kW R88M-K1K520F-x
2 kW R88M-K2K020F-x
3 kW R88M-K3K020F-x
4 kW R88M-K4K020F-x
5 kW R88M-K5K020F-x
R88M-K2K020T-x
R88M-K3K020T-x
R88M-K4K020T-x
R88M-K5K020T-x
R88M-K40020C-x
R88M-K60020C-x
R88M-K1K020C-x
R88M-K1K520C-x
R88M-K2K020C-x
R88M-K3K020C-x
R88M-K4K020C-x
R88M-K5K020C-x
Servo Drive
R88D-KN10H-ML2
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
*1
R88D-KN50H-ML2
R88D-KN06F-ML2
*1
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
*1
R88D-KN50F-ML2
*1 Use these combinations with caution because the Servo Drive and Servomotor have different capacities.
1,000-r/min Servomotors and Servo Drives
Voltage
Rated output
Servomotor
With incremental encoder
With absolute encoder
Servo Drive
Singlephase/3phase 200 V
900 W R88M-K90010H-x R88M-K90010T-x R88D-KN15H-ML2
*1
3-phase
200 V
2 kW R88M-K2K010H-x
3 kW R88M-K3K010H-x
R88M-K2K010T-x
R88M-K3K010T-x
R88D-KN30H-ML2
*1
R88D-KN50H-ML2
*1
Singlephase/3phase 400 V
900 W R88M-K90010F-x R88M-K90010C-x R88D-KN10F-ML2
*1
3-phase
400 V
2 kW
3 kW
R88M-K2K010F-x
R88M-K3K010F-x
R88M-K2K010C-x
R88M-K3K010C-x
R88D-KN30F-ML2
*1
R88D-KN50F-ML2
*1
*1 Use these combinations with caution because the Servo Drive and Servomotor have different capacities.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-3 Standard Model List
Cables and Peripheral Devices Model List
The table below lists the models of cables and peripheral devices. The cable include encoder cables, motor power cables, MECHATROLINK-II communications cables, and absolute encoder battery cables. The peripheral devices include External Regeneration Resistors, and reactors.
Encoder Cables (Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min motors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min motors of 1.0 kW or more
For 2,000-r/min motors
For 1,000-r/min motors
[400 V]
For 3,000-r/min motors
For 2,000-r/min motors
For 1,000-r/min motors
Model
1.5 m R88A-CRKA001-5CR-E
3 m R88A-CRKA003CR-E
5 m R88A-CRKA005CR-E
10 m R88A-CRKA010CR-E
15 m R88A-CRKA015CR-E
20 m R88A-CRKA020CR-E
1.5 m R88-CRKC001-5NR-E
3 m R88A-CRKC003NR-E
5 m R88A-CRKC005NR-E
10 m R88A-CRKC010NR-E
15 m R88A-CRKC015NR-E
20 m R88A-CRKC020NR-E
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2-3 Standard Model List
Motor Power Cables (Flexible Cables)
[100 V and 200 V]
[200 V]
[400 V]
Specifications
For 3,000-r/min motors of 50 to 750 W
For 3,000-r/min motors of 1 to 2 kW
For 2,000-r/min motors of 1 to 2 kW
For 1,000-r/min motors of 900 W
For 3,000-r/min motors of 750 W to 2 kW
For 2,000-r/min motors of 400 W to 2 kW
For 1,000-r/min motors of 900 W
For 3,000-r/min motors of 3 to 5 kW
For 2,000-r/min motors of 3 to 5 kW
For 1,000-r/min motors of 2 to 3 kW
For motor without brake
Model
For motor with brake
1.5 m
3 m
5 m
10 m
15 m
20 m
R88A-CAKA001-5SR-E
R88A-CAKA003SR-E
R88A-CAKA005SR-E
R88A-CAKA010SR-E
R88A-CAKA015SR-E
R88A-CAKA020SR-E
−
−
−
−
−
−
1.5 m R88A-CAGB001-5SR-E R88A-CAGB001-5BR-E
3 m R88A-CAGB003SR-E R88A-CAGB003BR-E
5 m R88A-CAGB005SR-E R88A-CAGB005BR-E
10 m R88A-CAGB010SR-E R88A-CAGB010BR-E
15 m R88A-CAGB015SR-E R88A-CAGB015BR-E
20 m R88A-CAGB020SR-E R88A-CAGB020BR-E
1.5 m R88A-CAGB001-5SR-E R88A-CAKF001-5BR-E
3 m R88A-CAGB003SR-E R88A-CAKF003BR-E
5 m R88A-CAGB005SR-E R88A-CAKF005BR-E
10 m R88A-CAGB010SR-E R88A-CAKF010BR-E
15 m R88A-CAGB015SR-E R88A-CAKF015BR-E
20 m R88A-CAGB020SR-E R88A-CAKF020BR-E
1.5 m R88A-CAGD001-5SR-E R88A-CAGD001-5BR-E
3 m R88A-CAGD003SR-E R88A-CAGD003BR-E
5 m R88A-CAGD005SR-E R88A-CAGD005BR-E
10 m R88A-CAGD010SR-E R88A-CAGD010BR-E
15 m R88A-CAGD015SR-E R88A-CAGD015BR-E
20 m R88A-CAGD020SR-E R88A-CAGD020BR-E
Note.There are separate connectors for power and brakes for 100 V and 200 V 3,000-r/min motors of 50 to 750 W. Therefore, when a motor with a brake is used, it requires both a power cable for a motor without a brake and a brake cable.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-3 Standard Model List
MECHATROLINK-II Communications Cables
Specifications
MECHATROLINK-II Communications Cable 0.5 m
1 m
3 m
5 m
10 m
20 m
30 m
Model
FNY-W6003-A5
FNY-W6003-01
FNY-W6003-03
FNY-W6003-05
FNY-W6003-10
FNY-W6003-20
FNY-W6003-30
FNY-W6022
2
MECHATROLINK-II Terminating Resistor
MECHATROLINK-II Repeater Units
Specifications
MECHATROLINK-II Repeater Unit
Model
FNY-REP2000
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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2-3 Standard Model List
Absolute Encoder Battery Cables
Specifications
ABS battery cable (battery not supplied)
ABS battery cable (R88A-BAT01G battery
× 1 supplied)
Absolute Encoder Backup Battery
Specifications
2,000 mA•h 3.6 V
0.3 m
Model
R88A-CRGD0R3C
0.3 m R88A-CRGD0R3C-BS
Model
R88A-BAT01G
Analog Monitor Cable
Analog monitor cable
Specifications
1 m
Model
R88A-CMK001S
Connectors
Specifications
Motor connector for encoder cable [100 V and 200 V]
For 3,000-r/min of 50 to 750 W
[100 V and 200 V]
For 3,000-r/min of 1 to 5 kW
For 2,000 r/min, 1,000 r/min
[400 V]
For 3,000 r/min, 2,000 r/min and
1,000 r/min
Control I/O connector (CN1)
Encoder connector (CN2)
External encoder connector (CN4)
Safety connector (CN8)
Power cable connector (for 750 W max.)
Brake cable connector (for 750 W max.)
Model
R88A-CNK02R
R88A-CNK04R
R88A-CNW01C
R88A-CNW01R
R88A-CNK41L
R88A-CNK81S
R88A-CNK11A
R88A-CNK11B
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2-3 Standard Model List
Control Cables
Specifications
Connector-terminal block cables
Connector-terminal block
Model
1 m XW2Z-100J-B34
2 m XW2Z-200J-B34
M3 screw type XW2B-20G4
M3.5 screw type XW2B-20G5
M3 screw type XW2D-20G6
External Regeneration Resistors
Specifications
Regeneration process capacity: 20 W, 50
Ω (with 150°C thermal sensor)
Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor)
Regeneration process capacity: 70 W, 47
Ω (with 150°C thermal sensor)
Regeneration process capacity: 180 W, 20 Ω (with 200°C thermal sensor)
Model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S1
R88A-RR50020S
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2-3 Standard Model List
Reactors
Servo Drive
Model
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
Number of power phases
Single-phase
Single-phase
3-phase
Single-phase
3-phase
Single-phase
3-phase
Single-phase
3-phase
Single-phase
3-phase
Single-phase
3-phase
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
3-phase
Mounting Brackets (L-Brackets for Rack Mounting)
Specifications
R88D-KNA5L-ML2/-KN01L-ML2/-KN01H-ML2/-KN02H-ML2
R88D-KN02L-ML2/-KN04H-ML2
R88D-KN04L-ML2/-KN08H-ML2
R88D-KN10H-ML2/-KN15H-ML2/-KN06F-ML2/-KN10F-ML2/-KN15F-ML2
Model
R88A-TK01K
R88A-TK02K
R88A-TK03K
R88A-TK04K
Reactor
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-DL2015
3G3AX-DL2002
3G3AX-AL2025
3G3AX-DL2004
3G3AX-AL2025
3G3AX-DL2007
3G3AX-AL2025
3G3AX-DL2015
3G3AX-AL2025
3G3AX-DL2015
3G3AX-AL2025
3G3AX-DL2022
3G3AX-AL2025
3G3AX-AL2055
3G3AX-AL2110
3G3AX-AL4025
3G3AX-AL4055
3G3AX-AL4110
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
2-4 External and Mounting Dimensions
This section describes the external dimensions and the mounting dimensions of Servo Drives,
Servomotors, and peripheral devices.
Servo Drive Dimensions
The dimensional description starts with a Servo Drive of the smallest motor capacity, which is followed by the next smallest, and so on.
Single-phase 100 VAC: R88D-KNA5L-ML2/-KN01L-ML2 (50 to 100 W)
Single-phase/3-phase 200 VAC: R88D-KN01H-ML2/-KN02H-ML2 (100 to 200 W)
2
Wall Mounting
External dimensions
40
70 132
Mounting dimensions
φ5.2
6 28
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-18
2
2-4 External and Mounting Dimensions
φ5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
132
40
70
19.5
7
2.5
Mounting dimensions
7
φ5.2
Square hole
R26
7
5.2
2.5
40
2-19
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
Single-phase/3-phase 100 VAC: R88D-KN02L-ML2 (200 W)
Single-phase/3-phase 200 VAC: R88D-KN04H-ML2 (400 W)
Wall Mounting
External dimensions
55
70
132
Mounting dimensions
φ5.2
2
φ5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
55
47
70
19.5
132
7
2.5
6
43
55
Mounting dimensions
7 φ5.2
R2.6
7
5.2
2.5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Square hole
2-20
2
2-4 External and Mounting Dimensions
Single-phase/3-phase 100 VAC: R88D-KN04L-ML2 (400 W)
Single-phase/3-phase 200 VAC: R88D-KN08H-ML2 (750 W)
Wall Mounting
65
External dimensions
70
172
4
Mounting dimensions
φ5.2
Front Mounting (Using Front Mounting Brackets)
φ5.2
20
40
65
External dimensions
70
19.5
2.5
172
7.5
50
65
Mounting dimensions
4
20
φ5.2
Square hole
R2.6
20
40
5.2
2-21
2.5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
Single-phase/3-phase 200 VAC: R88D-KN10H-ML2/-KN15H-ML2 (900 W to 1.5 kW)
Wall Mounting
External dimensions
70
86
172
4
Mounting dimensions
φ5.2
2
8.5
70
85
Front Mounting (Using Front Mounting Brackets)
External dimensions
φ5.2
10
86
60
85
40
φ5.2
70
19.5
2.5
172
4
Mounting dimensions
φ5.2
Square hole
R2.6
10
5.2
40
5.2
R2.6
2.5
10
40
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-22
2-4 External and Mounting Dimensions
2
3-phase 200 VAC: R88D-KN20H-ML2 (2 kW)
R2.6
17.5
Wall Mounting
External dimensions
86
85
50
42.5
5.2
5.2
φ5.2
R2.6
70
195
Mounting dimensions
1.8
25
φ5.2
R2.6
17.5
5.2
42.5
50
5.2
φ5.2
R2.6
R2.6
17.5
Front Mounting (Using Front Mounting Brackets)
External dimensions
86
85
50
42.5
5.2
5.2
φ5.2
R2.6
70
30.7
2.5
195
17.5
50
86
Mounting dimensions
25
φ5.2
Square hole
R2.6
17.5
5.2
42.5
50
5.2
φ5.2
R2.6
2-23
2.5
17.5
50
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KN30H-ML2/-KN50H-ML2 (3 to 5 kW)
Wall Mounting
External dimensions
R2.6
15
65
5.2
130
100
φ5.2
5.2
R2.6
70 213
3.5
2
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
Mounting dimensions
50
φ5.2
15
100
130
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-24
2
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
R2.6
15
65
5.2
130
100
φ5.2
5.2
R2.6
40.7
2.5
213
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
Mounting dimensions
50
φ5.2
Square hole
15
100
130
2.5
2-25
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KN06F-ML2/-KN10F-ML2 (600 W to 1.0 kW)
3-phase 400 VAC: R88D-KN15F-ML2 (1.5 kW)
Wall Mounting
External dimensions
70
92
172
4
Mounting dimensions
φ5.2
2
14.5
70
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
172
φ5.2
10
60
40
92
φ5.2
19.5
2.5
4
Mounting dimensions
φ5.2
R2.6
5.2
10
40
5.2
2.5
Square hole
6
18 40
94
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-26
2-4 External and Mounting Dimensions
2
3-phase 400 VAC: R88D-KN20F-ML2 (2 kW)
17.5
42.5
5.2
Wall Mounting
94
85
50
External dimensions
φ5.2
5.2
70
195 1.8
Mounting dimensions
25
φ5.2
R2.6
5.2
17.5
5.2
R2.6
φ5.2
50
17.5
42.5
5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
94
85
50
70
195
φ5.2
5.2
30.7
2.5
94
50
Mounting dimensions
25
φ5.2
Square hole
R2.6
5.2
17.5
50
5.2
R2.6
φ5.2
2.5
50
2-27
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KN30F-ML2/-KN50F-ML2 (3 to 5 kW)
15
Wall Mounting
External dimensions
65
5.2
130
100
φ5.2
5.2
70
213 3.5
Mounting dimensions
φ5.2
50
2
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
Front Mounting (Using Front Mounting Brackets)
15
External dimensions
65
5.2
130
100
φ5.2
5.2
70
40.7
2.5
213
15
100
130
Mounting dimensions
φ5.2
50
Square hole
R2.6
15
5.2
65
100
5.2
φ5.2
R2.6
2.5
15
100
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-28
2-4 External and Mounting Dimensions
2
Servomotor Dimensions
In this description, the Servomotors are grouped by rated rotation speed. The description starts with a Servomotor of the smallest capacity, which is followed by the next smallest, and so on.
3,000-r/min Motors (100 V and 200 V)
50 W/100 W (without Brake)
R88M-K05030H (-S2)/-K10030L (-S2)
R88M-K05030T (-S2)/-K10030S (-S2)
Encoder connector
LL
Motor connector
25
LM
INC
ABS
40
×40
6 3
R3.7
2
LN
(Shaft end specifications with key and tap)
25
14
12.5
3h9
M3 (depth 6)
1.5 min.
Boss insertion position
(only for the ones with oil seal)
φ46
±0.2
R4.2
2
−φ4.3
Model
R88M-K05030x
R88M-K10030x
LL
Dimensions (mm)
LM LN
72
92
48
68
23
43
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-29
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
50 W/100 W (with Brake)
R88M-K05030H-B (S2)/-K10030L-B (S2)
R88M-K05030T-B (S2)/-K10030S-B (S2)
INC
ABS
Encoder connector
Brake connector
Motor connector
LL 25
LM
40
×40
6 3
R3.7
LN
2
(Shaft end specifications with key and tap)
25
14
12.5
3h9
M3 (depth 6)
1.5 min.
Boss insertion position
(only for the ones with oil seal)
φ46
±0.2
R4.2
2
−φ4.3
Model
R88M-K05030x-Bx
R88M-K10030x-Bx
LL
102
122
Dimensions (mm)
LM
78
98
LN
23
43
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-30
2
2-4 External and Mounting Dimensions
200 W/400 W (without Brake)
R88M-K20030x (-S2)/-K40030x (-S2)
R88M-K20030x (-S2)/-K40030x (-S2)
INC
ABS
Encoder connector
Motor connector
LL
LM
6.5
3
30
60
×60
φ70±
0.2
4
−φ4.5
(Shaft end specifications with key and tap)
30
20 (200 W)
25 (400 W)
18 (200 W)
22.5 (400 W)
4h9 (200 W)
5h9 (400 W)
M4, depth 8 (200 W)
M5, depth 10 (400 W)
8.5 11
1.5 min.
Boss insertion position
(only for the ones with oil seal)
Model
R88M-K20030x
R88M-K40030x
LL
Dimensions (mm)
LM S
79.5
99
56.5
76
11
14
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-31
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
200 W/400 W (with Brake)
R88M-K20030x-B (S2)/-K40030x-B (S2)
R88M-K20030x-B (S2)/-K40030x-B (S2)
INC
ABS
Encoder connector
Brake connector
Motor connector
LL
LM
6.5
3
30
4
−ø4.5
60
×60
φ70±
0.2
(Shaft end specifications with key and tap)
30
20 (200 W)
25 (400 W)
18 (200 W)
22.5 (400 W)
4h9 (200 W)
5h9 (400 W)
M4, depth 8 (200 W)
M5, depth 10 (400 W)
8.5 11
2
1.5 min.
Boss insertion position
(only for the ones with oil seal)
Model
R88M-K20030x-Bx
R88M-K40030x-Bx
LL
Dimensions (mm)
LM S
116
135.5
93
112.5
11
14
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-32
2
2-4 External and Mounting Dimensions
750 W (without Brake)
R88M-K75030H (-S2)
R88M-K75030T (-S2)
INC
ABS
Encoder connector
Motor connector
112.2
86.2
8 3
35
80
×80
(Shaft end specifications with key and tap)
4
−φ6
φ90
±0.2
35
25
22
6h9
M5 (depth 10)
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
750 W (with Brake)
R88M-K75030H-B (S2)
R88M-K75030T-B (S2)
INC
ABS
Encoder connector
Brake connector
Motor connector
148.2
122.2
35
8 3
80
×80
(Shaft end specifications with key and tap)
4
−φ6
φ90
±0.2
35
25
22
6h9
M5 (depth 10)
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-33
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
1 kW/1.5 kW/2 kW (without Brake)
R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2)
R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2)
INC
ABS
1 kW/1.5 kW/2 kW (with Brake)
R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2)
R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
55
100
×100
(Shaft end specifications with key and tap)
10 3
4
−φ9
φ135
55
45
42 M3, through
6h9
φ115
M5 (depth 12)
2
Model
R88M-K1K030x
R88M-K1K530x
R88M-K2K030x
R88M-K1K030x-Bx
R88M-K1K530x-Bx
R88M-K2K030x-Bx
LL
141
159.5
178.5
168
186.5
205.5
Dimensions (mm)
LM KB1
97
115.5
134.5
124
142.5
161.5
66
84.5
103.5
66
84.5
103.5
KB2
119
137.5
156.5
146
164.5
183.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-34
2-4 External and Mounting Dimensions
2
3 kW (without Brake)
R88M-K3K030H (-S2)
R88M-K3K030T (-S2)
INC
ABS
3 kW (with Brake)
R88M-K3K030H-B (S2)
R88M-K3K030T-B (S2)
Motor and brake connector
Encoder connector
LL
KB2
LM
112
INC
ABS
55
12 3
120
×120
(Shaft end specifications with key and tap)
4
−φ9
φ162
55
45
41
M3, through
8h9
φ145
M5 (depth 12)
Model
R88M-K3K030x
R88M-K3K030x-Bx
LL
Dimensions (mm)
LM KB2
190
215
146
171
168
193
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-35
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K030H (-S2)/-K5K030H (-S2)
R88M-K4K030T (-S2)/-K5K030T (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K030H-B (S2)/-K5K030H-B (S2)
R88M-K4K030T-B (S2)/-K5K030T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
65
130
×130
12 6
(Shaft end specifications with key and tap)
4
−φ9
φ145
65
55
51
M3, through
8h9
φ165
M8 (depth 20)
2
Model
R88M-K4K030x
R88M-K5K030x
R88M-K4K030x-Bx
R88M-K5K030x-Bx
LL
208
243
236
271
Dimensions (mm)
LM
164
199
192
227
KB1
127
162
127
162
KB2
186
221
214
249
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-36
2-4 External and Mounting Dimensions
2
3,000-r/min Motors (400 V)
750 W/1 kW/1.5 kW/2 kW (without Brake)
R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2)
R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2)
INC
ABS
750 W/1 kW/1.5 kW/2 kW (with Brake)
R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (S2)
R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
10 3
55
100
×100
(Shaft end specifications with key and tap)
4
−φ9
φ135
55
45
42 M3, through
6h9
φ115
M5 (depth 12)
Model
R88M-K75030x
R88M-K1K030x
R88M-K1K530x
R88M-K2K030x
R88M-K75030x-Bx
R88M-K1K030x-Bx
R88M-K1K530x-Bx
R88M-K2K030x-Bx
LL
131.5
141
159.5
178.5
158.5
168
186.5
205.5
Dimensions (mm)
LM KB1
87.5
97
115.5
134.5
114.5
124
142.5
161.5
56.5
66
84.5
103.5
53.5
63
81.5
100.5
KB2
109.5
119
137.5
156.5
136.5
146
164.5
183.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-37
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
3 kW (without Brake)
R88M-K3K030F (-S2)
R88M-K3K030C (-S2)
INC
ABS
3 kW (with Brake)
R88M-K3K030F-B (S2)
R88M-K3K030C-B (S2)
Motor and brake connector
Encoder connector
LL
LM
KB2
112
55
INC
ABS
12 3
120
×120
(Shaft end specifications with key and tap)
4-
φ9
φ162
55
45
41
M3, through
8h9
2
φ145
M5 (depth 12)
Model
R88M-K3K030x
R88M-K3K030x-Bx
LL
190
215
Dimensions (mm)
LM
146
171
KB2
168
193
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-38
2-4 External and Mounting Dimensions
2
4 kW/5 kW (without Brake)
R88M-K4K030F (-S2)/-K5K030F (-S2)
R88M-K4K030C (-S2)/-K5K030C (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K030F-B (S2)/-K5K030F-B (S2)
R88M-K4K030C-B (S2)/-K5K030C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
65
130
×130
12 6
(Shaft end specifications with key and tap)
4
−φ9
φ145
65
55
51
M3, through
8h9
φ165
M8 (depth 20)
Model
R88M-K4K030x
R88M-K5K030x
R88M-K4K030x-Bx
R88M-K5K030x-Bx
LL
208
243
233
268
Dimensions (mm)
LM
164
199
189
224
KB1
127
162
127
162
KB2
186
221
211
246
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-39
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
2,000-r/min Motors (200 V)
1 kW/1.5 kW/2 kW/3 kW (without Brake)
R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2)
R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)
INC
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2)
R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12
LR
6
130
×130
4
−φ9
φ145
(Shaft end specifications with key and tap)
LR
45 (1.0 to 2.0 kW)
55 (3.0 kW)
41 (1.0 to 2.0 kW)
51 (3.0 kW)
M3, through
8h9
φ165
M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
2
Model
R88M-K1K020x
R88M-K1K520x
R88M-K2K020x
R88M-K3K020x
R88M-K1K020x-Bx
R88M-K1K520x-Bx
R88M-K2K020x-Bx
R88M-K3K020x-Bx
LL
138
155.5
173
208
166
183.5
201
236
LR
55
55
55
65
55
55
55
65
Dimensions (mm)
LM S
94
111.5
129
164
122
139.5
157
192
22
22
22
24
22
22
22
24
KB1
60
77.5
95
127
60
77.5
95
127
KB2
116
133.5
151
186
144
161.5
179
214
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-40
2-4 External and Mounting Dimensions
2
4 kW/5 kW (without Brake)
R88M-K4K020H (-S2)/-K5K020H (-S2)
R88M-K4K020T (-S2)/-K5K020T (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K020H-B (S2)/-K5K020H-B (S2)
R88M-K4K020T-B (S2)/-K5K020T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
70
3.2
176
×176
4
−φ13.5
φ233
(Shaft end specifications with key and tap)
70
55
50
M3, through
10h9
M12 (depth 25)
φ20
0
Model
R88M-K4K020x
R88M-K5K020x
R88M-K4K020x-Bx
R88M-K5K020x-Bx
LL
177
196
206
225
Dimensions (mm)
LM
133
152
162
181
KB1
96
115
96
115
KB2
155
174
184
203
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-41
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
2,000-r/min Motors (400 V)
400 W/600 W (without Brake)
R88M-K40020F (-S2)/-K60020F (-S2)
R88M-K40020C (-S2)/-K60020C (-S2)
INC
ABS
400 W/600 W (with Brake)
R88M-K40020F-B (S2)/-K60020F-B (S2)
R88M-K40020C-B (S2)/-K60020C-B (S2)
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
55
INC
ABS
100
×100
10 3
(Shaft end specifications with key and tap)
4
−φ9
φ135
55
45
42
M3, through
6h9
φ11
5
M5 (depth 12)
2
Model
R88M-K40020x
R88M-K60020x
R88M-K40020x-Bx
R88M-K60020x-Bx
LL
131.5
141
158.5
168
Dimensions (mm)
LM
87.5
97
114.5
124
KB1
56.5
66
53.5
63
KB2
109.5
119
136.5
146
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-42
2-4 External and Mounting Dimensions
2
1 kW/1.5 kW/2 kW/3 kW (without Brake)
R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2)
R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)
INC
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2)
R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12
LR
6
130
×130
(Shaft end specifications with key and tap)
LR
4-
φ9
45 (1 to 2 kW)
55 (3 kW)
41 (1 to 2 kW)
51 (3 kW)
M3, through
8h9
φ145
φ165
M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
Model
R88M-K1K020x
R88M-K1K520x
R88M-K2K020x
R88M-K3K020x
R88M-K1K020x-Bx
R88M-K1K520x-Bx
R88M-K2K020x-Bx
R88M-K3K020x-Bx
LL
138
155.5
173
208
166
183.5
201
236
LR
55
55
55
65
55
55
55
65
Dimensions (mm)
LM
94
111.5
129
164
122
139.5
157
192
S
22
22
22
24
22
22
22
24
KB1
60
77.5
95
127
57
74.5
92
127
KB2
116
133.5
151
186
144
161.5
179
214
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-43
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K020F (-S2)/-K5K020F (-S2)
R88M-K4K020C (-S2)/-K5K020C (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K020F-B (S2)/-K5K020F-B (S2)
R88M-K4K020C-B (S2)/-K5K020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
70
176
×176
18 3.2
(Shaft end specifications with key and tap)
4-
φ13.5
70
55
50
M3, through
φ233
10h9
2
φ20
0
M12
(depth 25)
Model
R88M-K4K020x
R88M-K5K020x
R88M-K4K020x-Bx
R88M-K5K020x-Bx
LL
177
196
202
221
Dimensions (mm)
LM
133
152
158
177
KB1
96
115
96
115
KB2
155
174
180
199
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-44
2-4 External and Mounting Dimensions
2
1,000-r/min Motors (200 V)
900 W (without Brake)
R88M-K90010H (-S2)
R88M-K90010T (-S2)
INC
ABS
900 W (with Brake)
R88M-K90010H-B (S2)
R88M-K90010T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
77.5
12 6
70
130
×130
(Shaft end specifications with key and tap)
70
45
4-ø9 41 M3, through
8h9
φ145
φ165
M5 (depth 12)
Model
R88M-K90010x
R88M-K90010x-Bx
LL
Dimensions (mm)
155.5
183.5
LM
111.5
139.5
KB2
133.5
161.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-45
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
2 kW/3 kW (without Brake)
R88M-K2K010H (-S2)/-K3K010H (-S2)
R88M-K2K010T (-S2)/-K3K010T (-S2)
INC
ABS
2 kW/3 kW (with Brake)
R88M-K2K010H-B (S2)/-K3K010H-B (S2)
R88M/-K2K010T-B (S2)/-K3K010T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
80
3.2
176
×176
(Shaft end specifications with key and tap)
4
−φ13.5
80
55
50
M3, through
φ233
10h9
2
M12 (depth 25)
φ20
0
Model
R88M-K2K010x
R88M-K3K010x
R88M-K2K010x-Bx
R88M-K3K010x-Bx
LL
163.5
209.5
192.5
238.5
Dimensions (mm)
LM
119.5
165.5
148.5
194.5
KB1
82.5
128.5
82.5
128.5
KB2
141.5
187.5
170.5
216.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-46
2-4 External and Mounting Dimensions
2
1,000-r/min Motors (400 V)
900 W (without Brake)
R88M-K90010F (-S2)
R88M-K90010C (-S2)
INC
ABS
900 W (with Brake)
R88M-K90010F-B (S2)
R88M-K90010C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12 6
70
130
×130
(Shaft end specifications with key and tap)
4-ø9
70
45
41
M3, through
8h9
φ145
φ165
M5 (depth 12)
Model
R88M-K90010x
R88M-K90010x-Bx
LL
155.5
183.5
Dimensions (mm)
LM
111.5
139.5
KB1
77.5
74.5
KB2
133.5
161.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-47
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-4 External and Mounting Dimensions
2 kW/3 kW (without Brake)
R88M-K2K010F (-S2)/-K3K010F (-S2)
R88M-K2K010C (-S2)/-K3K010C (-S2)
INC
ABS
2 kW/3 kW (with Brake)
R88M-K2K010F-B (S2)/-K3K010F-B (S2)
R88M-K2K010C-B (S2)/-K3K010C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
80
3.2
176
×176
(Shaft end specifications with key and tap)
80
55
50
4
−φ13.5
φ233
M3, through
10h9
2
M12 (depth 25)
φ20
0
Model
R88M-K2K010x
R88M-K3K010x
R88M-K2K010x-Bx
R88M-K3K010x-Bx
LL
163.5
209.5
192.5
238.5
Dimensions (mm)
LM
119.5
165.5
148.5
194.5
KB1
82.5
128.5
82.5
128.5
KB2
141.5
187.5
170.5
216.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-48
2-4 External and Mounting Dimensions
2
External Regeneration Resistor Dimensions
External Regeneration Resistor
R88A-RR08050S/-RR080100S
Thermal switch output
20 t1.2
6
500
R88A-RR22047S1
Thermal switch output
104
122
130
20 t1.2
6
500
R88A-RR50020S
25 43
78
10
200
220
230
360
386
402
2-49
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-5 EMC Filter Dimensions
2-5 EMC Filter Dimensions
M2
W drive mounts
D
H M1
2
output flexes
Filter model
R88A-FIK102-RE
R88A-FIK104-RE
R88A-FIK107-RE
R88A-FIK114-RE
R88A-FIK304-RE
R88A-FIK306-RE
R88A-FIK312-RE
190
190
190
245
290
H
190
190
External dimensions
W
42
57
64
86
86
94
130
35
35
40
40
45
D
44
30
Mount dimensions
M1 M2
180
180
20
30
180
180
180
235
280
40
60
60
60
100
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-50
2-5 EMC Filter Dimensions
2
MECHATROLINK-II Repeater Units
FNY-REP2000
1
12
77
50
(97)
15
(20)
φ4.8
(4)
6
(34)
30
14 10
1
φ4.8
12
4.8
50
4.8
15
Bottom Mounting
50
M4 tap
Back Mounting
M4 tap
14
4.8
2-51
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-5 EMC Filter Dimensions
Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
R88A-TK01K
Top Dimensions
2-C
5
Two, M4 countersunk holes
Bottom Dimensions
Two, M4 countersunk holes
2-C
5
24
R2
5.2 dia.
11± 0.2
R2
2.5
R1 max.
7
40
R2
5 11± 0.2
2-R
1
5.2
R2
2.5
R1 ma x.
33
40
R88A-TK02K
Top Dimensions
2-C
5
Two, M4 countersunk holes
Bottom Dimensions
2-C
5
Two, M4 countersunk holes
24
R2
5.2 dia.
18±0.2
R2
2.5
R1 max.
7
47
R88A-TK03K
Top Dimensions
2-C
5
R2
5 18±0.2
2-R
1
5.2
R2
2.5
R1 max.
40
47
Two, M4 countersunk holes
Bottom Dimensions
2-C
5
Two, M4 countersunk holes
R2
30± 0.2
5.2 dia.
R2
2.5
R1 max.
20
40
R2
2-R1
30± 0.2
5.2
R2
2.5
R1 max.
20
40
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
2-52
2
2-5 EMC Filter Dimensions
R88A-TK04K
Top Dimensions
2-C
5
R2
5 36± 0.2
10 40±0.2
60
Two, M4 countersunk holes
2.5
R1 max.
Bottom Dimensions
2-C5
Two, M4 countersunk holes
R2
5.2
19
4-R
1
36± 0.2
5.2
R2
2.5
R1 max.
10 40±0.2
60
2-53
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Specifications
This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drives, as well as the general specifications, characteristics, encoder specifications of the Servomotors.
3
3-1 Servo Drive Specifications ..........................................3-1
3-2 Overload Characteristics (Electronic Thermal Function) ... 3-32
3-3 Servomotor Specifications ........................................3-33
3-4 Cable and Connector Specifications ........................3-58
3-5 External Regeneration Resistor Specifications.......3-79
3-6 Reactor Filter Specifications .....................................3-81
3-7 MECHATROLINK-II Repeater Unit Specifications....3-82
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
3-1 Servo Drive Specifications
Select the Servo Drive matching the Servomotor to be used. Refer to "Servo Drive and
Servomotor Combination List"(P.2-10).
3
General Specifications
Item
Ambient operating temperature and operating humidity
Storage ambient temperature and humidity
Operating and storage atmosphere
Vibration resistance
Specifications
0 to
+55C, 90% RH max. (with no condensation)
-20 to +65C, 90% RH max. (with no condensation)
No corrosive gases
Impact resistance
Insulation resistance
Dielectric strength
Protective structure
EC directive
EMC directive
Low voltage command
Machinery
Directive
10 to 60 Hz and at an acceleration of 5.88 m/s
2
or less (Not to be run continuously at the resonance point)
Acceleration of 19.6 m/s
2
max. 2 times each in X, Y, and Z directions
Between power supply terminal/power terminal and FG terminal: 0.5 M
Ω min. (at 500
VDC Megger)
Between power supply/power line terminals and FG terminal: 1,500 VAC for 1 min at
50/60 Hz
Built into panel
EN 55011, EN 61000-6-2, IEC 61800-3
EN 61800-5-1
UL standards
CSA standards
Korean Radio
Regulations (KC)
EN954-1 (Category 3), EN ISO 13849-1: 2008 (Category 3) (PLc,d), ISO 13849-1:
2006 (Category 3) (PLc,d), EN61508 (SIL2), EN62061 (SIL2), EN61800-5-2 (STO),
IEC61326-3-1 (SIL2)
UL 508C
CSA22.2 No. 14
Compliant
Note 1.The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note 2.Disconnect all connections to the Servo Drive before attempting a megameter test (insulation resistance measurement) on a Servo Drive. Failure to follow this guideline may result in damaging the Servo Drive. Never perform a dielectric strength test on the Servo Drive. Failure to follow this guideline may result in damaging the internal elements.
Note 3.Depending on the operating conditions, some Servo Drive parts will require maintenance. For details, refer to
"11-5 Periodic Maintenance" (P.11-36).
3-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Characteristics
100-VAC Input Type
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Control circuit
Power supply voltage
Rated current
Heat value *
1
Power supply voltage
Heat value *
1
Control method
Inverter method
PWM frequency
Weight
Maximum applicable motor capacity
Applicable motor
3,000 r/ min type
INC
ABS
R88D-
KNA5L-ML2
1.2 A
0.4 KVA
1.7 A
11W
4W
R88D-
KN01L-ML2
1.7 A
R88D-
KN02L-ML2
2.5 A
0.5 KVA
4.3 A
21W
R88D-
KN04L-ML2
4.6 A
0.9 KVA
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
12.0 kHz
Approx. 0.8 kg Approx. 0.8 kg
50 W
All-digital servo
IGBT-driven PWM method
100 W 200 W
6.0 kHz
Approx. 1.0 kg Approx. 1.6 kg
400 W
K05030H
K05030T
2,000-r/ min type
1,000-r/ min type
ABS
ABS
*1. The heat value is given for rated operation.
−
−
0.4 KVA
2.6 A
16.6W
4W
K10030L
K10030S
−
−
4W
K20030L
K20030S
−
−
7.6 A
25W
4W
K40030L
K40030S
−
−
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-2
3-1 Servo Drive Specifications
3
200-VAC Input Type
Item
R88D-
KN01H-
ML2
1.2 A
R88D-
KN02H-
ML2
1.6 A
R88D-
KN04H-
ML2
2.6 A
R88D-
KN08H-
ML2
4.1 A
R88D-
KN10H-
ML2
5.9 A
R88D-
KN15H-
ML2
9.4 A Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Control circuit
Power supply voltage
Rated current
Heat value *
2
Power supply voltage
Heat value *
2
PWM frequency
Weight
0.5 KVA
14.3/
13.7 *
1
W
0.5 KVA 0.9 KVA 1.3 KVA
1.6/0.9 *
1
A 2.4/1.3 *
1
A 4.1/2.4 *
1
A 6.6/3.6 *
1
A 9.1/5.2 *
1
A 14.2/8.1 *
1
A
4W
30/
35.5 *
1
W
1.8 KVA
Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
23/19 *
1
W 33/24 *
1
W 57/49 *
1
W 104/93 *
1
W
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
4W 4W 4W 7W
2.3KVA
7W
Maximum applicable motor capacity
Applicable motor
3,000-r/ min type
INC
ABS
12.0 kHz
Approx.
0.8 kg
Approx.
0.8 kg
100 W
K05030H
K10030H
K05030T
K10030T
200 W
K20030H
K20030T
Approx.
1.0 kg
400 W
K40030H
K40030T
Approx.
1.6 kg
750 W
6.0 kHz
K75030H
K75030T
Approx.
1.8 kg
1 kW
−
−
Approx.
1.8 kg
1.5 kW
K1K030H
K1K530H
K1K030T
K1K530T
2,000-r/ min type
INC
− − − −
K1K020H K1K520H
ABS
− − − − K1K020T K1K520T
1,000-r/ min type
INC
− − − − −
ABS
− − − −
Control method
Inverter method
All-digital servo
IGBT-driven PWM method
*1. The left value is for single-phase input power and the right value is for 3-phase input power.
*2. The heat value is given for rated operation.
−
K90010H
K90010T
3-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Control circuit
Power supply voltage
Rated current
Heat value *
1
Power supply voltage
Heat value *
1
PWM frequency
Weight
Maximum applicable motor capacity
Applicable motor
3,000-r/ min type
INC
R88D-
KN20H-ML2
13.4 A
3.3 KVA
R88D-
KN30H-ML2
18.7 A
4.5 KVA
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
11.8 A
139W
10W
Approx. 2.7 kg
2 kW
K2K030H
ABS
K2K030T
2,000-r/ min type
INC
K2K020H
ABS
K2K020T
1,000-r/ min type
INC
−
ABS
Control method
Inverter method
*1. The heat value is given for rated operation.
−
15.1 A
108W
6.0 kHz
Approx. 4.8 kg
3 kW
K3K030H
K3K030T
K3K020H
K3K020T
K2K010H
7.5 KVA
21.6 A
328W
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
13W
K2K010T
All-digital servo
IGBT-driven PWM method
R88D-
KN50H-ML2
33.0 A
13W
Approx. 4.8 kg
5 kW
K4K030H
K5K030H
K4K030T
K5K030T
K4K020H
K5K020H
K4K020T
K5K020T
K3K010H
K3K010T
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4
3-1 Servo Drive Specifications
3
400-VAC Input Type
Item
R88D-
KN06F-
ML2
1.5A
Continuous output current (rms)
Main circuit
Power supply voltage
Input power supply
Control circuit
Rated current
Heat value *
1
Power supply voltage
Heat value *
1
PWM frequency
Weight
2.1A
32.2W
7W
Maximum applicable motor capacity
Applicable motor
3,000-r/ min type
INC
Approx.
1.9 kg
600 W
−
ABS
−
2,000-r/ min type
INC
ABS
K40020F
K60020F
K40020C
K60020C
1,000-r/ min type
INC
−
ABS
−
Control method
Inverter method
*1. The heat value is given for rated operation.
R88D-
KN10F-
ML2
2.9 A
2.8 A
48W
R88D-
KN15F-
ML2
4.7 A
3.9A
49W
R88D-
KN20F-
ML2
6.7 A
5.9 A
65W
24 VDC (20.4 to 27.6 V)
R88D-
KN30F-
ML2
9.4 A
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
7.6 A
108W
R88D-
KN50F-
ML2
16.5 A
12.1 A
200W
7W 7W 10W 13W 13W
Approx.
1.9 kg
1 kW
K75030F
K75030C
K1K020F
K1K020C
−
6.0 kHz
Approx.
1.9 kg
Approx.
2.7 kg
2 kW 1.5 kW
K1K030F
K1K530F
K1K030C
K1K530C
K1K520F
K1K520C
K90010F
K2K030F
K2K030C
K2K020F
K2K020C
−
Approx.
4.7 kg
3 kW
K3K030F
K3K030C
K3K020F
K3K020C
Approx.
4.7 kg
5 kW
K4K030F
K5K030F
K4K030C
K5K030C
K4K020F
K5K020F
K4K020C
K5K020C
K2K010F K3K010F
− K90010C −
All-digital servo
IGBT-driven PWM method
K2K010C K3K010C
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Protective Functions
Error detection
Control power supply undervoltage
Overvoltage
Main power supply undervoltage
Description
The DC voltage of the main circuit fell below the specified value.
The DC voltage in the main circuit is abnormally high.
The DC voltage of the main circuit is low.
Overcurrent
Drive overheat
Overload
Regeneration overload
Encoder communications error
Encoder communications data error
Error counter overflow
Excessive hybrid error
Overspeed
Electronic gear setting error
Error counter overflow
Safety input error
Interface I/O setting error
Overrun limit error
Parameter error
Parameters destruction
Drive prohibition input error
Absolute encoder initialization error
ABS
Absolute encoder 1-rotation counter error
ABS
Overcurrent flowed to the IGBT. Motor power line ground fault or short circuit.
The temperature of the drive radiator exceeded the specified value.
Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds.
The regenerative energy exceeds the processing capacity of the
Regeneration Resistor.
The encoder wiring is disconnected.
Communications cannot be performed between the encoder and the drive.
The number of accumulated pulses in the error counter exceeded the set value for the Error Counter Overflow Level (Pn014).
During full closing control, difference between position of load from external encoder and position of motor due to encoder was larger than the number of pulses set by Internal/External Feedback Pulse Error Counter Overflow
Level (Pn328).
The motor rotation speed exceeded the maximum number of rotations.
The set value for the Electronic Gear Ratio (Pn009 to Pn010) is not appropriate.
Error counter value based on the encoder pulse reference exceeded 2
27
(134217728).
Either the Safety input 1 or 2 is off, or both of them are off.
An error was detected in the interface I/O signal.
The motor exceeded the allowable operating range set in the Overrun Limit
Setting (Pn514) with respect to the position command input.
Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the EEPROM.
The checksum for the data read from the EEPROM when the power supply was turned ON does not match.
The forward drive prohibition and reverse drive prohibition inputs are both turned OFF.
The voltage supplied to the absolute encoder is lower than the specified value.
Absolute encoder system down error
ABS
Absolute encoder counter overflow error The multi-rotation counter of the absolute encoder exceeds the specified
ABS
value.
Absolute encoder overspeed error
ABS
The motor rotation speed exceeds the specified value when only the battery power supply of the absolute encoder is used.
An error was detected during the absolute encoder initialization.
A 1-turn counter error was detected.
Absolute encoder multi-rotation counter error
ABS
A multi-rotation counter error or phase-AB signal error was detected.
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-1 Servo Drive Specifications
Error detection
Absolute encoder status error
Encoder phase-Z error
Encoder CS signal error
ABS
External encoder communications error
External encoder status error
Phases-A, B and Z connection error
Node address setting error
Communications error
Transmission cycle error
Watchdog data error
Emergency stop input error
Transmission cycle setting error
SYNC command error
Parameter setting error
Motor non-conformity
Description
The rotation of the absolute encoder is higher than the specified value.
A phase Z pulse was not detected regularly.
A logic error was detected in the CS signal.
An error was detected in external encoder connection and communications data.
An external encoder error code was detected.
An error occurred in connection of phases A, B, and Z of external encoder.
At power-on, the rotary switches for node address setting were set in any value outside the specified range.
The errors not to receive the expected data from the MECHATROLINK-II communications cycles occurred continuously, and exceeded the number of times set in the Communications Control (Pn800).
During the MECHATROLINK-II communications, synchronization frames
(SYNC) were not received in conformity with the transmission cycles.
An error occurred in the synchronization data that was exchanged between the master and slave nodes during each MECHATROLINK-II communications cycle.
The emergency stop input circuit opened.
The transmission cycle setting was incorrect when the MECHATROLINK-II
CONNECT command was received.
A SYNC-related command was issued while MECHATROLINK-II was in asynchronous communications mode.
The electronic gear ratio is outside the allowable parameter setting range; either it is smaller than 1/100 x or larger than 100 x.
The combination of the Servomotor and Servo Drive is not appropriate.
The encoder was not connected when the power supply was turned ON.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Main Circuit and Motor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2/-KN01H-ML2/
-KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2
Main Circuit Connector Specifications (CNA)
Symbol Name
L1 Main circuit power
L2 supply input
L3
L1C Control circuit power supply input
L2C
Function
R88D-KNxL-ML2
(50 to 400 W) : Single-phase 100 to 115 VAC (85 to 132 V) 50/60 Hz
R88D-KNxH-ML2
(100 W to 1.5 kW) : Single-phase: 200 to 240 VAC (170 to 264 V) 50/
60 Hz
(100 W to 1.5 kW) : 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz
Note. Single-phase should connect to L1 and L3.
R88D-KNxL-ML2 : Single-phase 100 to 115 VAC (85 to 132 V) 50/60
Hz
R88D-KNxH-ML2 : Single-phase 200 to 240 VAC (170 to 264 V) 50/
60 Hz
3
Motor Connector Specifications (CNB)
Symbol
B2
B3
U
V
W
Name
Regeneration R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN01H-ML2
Resistor connection /-KN02H-ML2/-KN04H-ML2: terminals Normally, do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, connect an External
Regeneration Resistor between B1 and B2.
R88D-KN04L-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2:
Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External
Regeneration Resistor between B1 and B2.
Motor connection terminals
Phase U
Phase V
Phase W
Function
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-1 Servo Drive Specifications
R88D-KN20H-ML2
Main Circuit Connector Specifications (CNA)
Symbol Name
L1 Main circuit power supply
L2 input
L3
L1C Control circuit power
L2C supply input
Function
R88D-KNxH-ML2 (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
Note. Single-phase should connect to L1 and L3.
R88D-KNx-ML2 : Single-phase 200 to 230 VAC (170 to 253 V) 50/
60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Function
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
External Regeneration Resistor Connector Specifications (CNC)
Symbol Name
B2
B3
NC
Resistor connection terminals
Function
Normally B2 and B3 are short-circuited.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
Precautions for Correct Use
Tighten the ground screws with the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
R88D-KN30H-ML2/R88D-KN50H-ML2
Main Circuit Terminal Block Specifications
B2
B3
NC
U
V
W
Symbol Name
L1 Main circuit power supply
L2 input
L3
L1C Control circuit power
L2C supply input
Function
R88D-KNxH-ML2 (3 to 5 kW):
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KNxH-ML2 : Single-phase 200 to 230 VAC (170 to 253 V)
50/60 Hz
Resistor connection terminals
Motor connection terminals
Normally B2 and B3 are short-circuited.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
3
Precautions for Correct Use
Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).
If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-1 Servo Drive Specifications
R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2
Main Circuit Connector Specifications (CNA)
Symbol Name
L1 Main circuit power supply
L2 input
L3
Function
R88D-KNxF-ML2
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V)
50/60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Function
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
Control Circuit Connector Specifications (CNC)
Symbol Name
24 V Control circuit power
0 V supply input
24 VDC ± 15%
Function
External Regeneration Resistor Connector Specifications (CND)
Symbol Name
B2
B3
NC
Resistor connection terminals
Function
Normally B2 and B3 are short-circuited.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
R88D-KN30F-ML2/R88D-KN50F-ML2
Main Circuit Terminal Block Specifications (TB1)
Symbol Name
24 V Control circuit power
0 V supply input
24 VDC ± 15%
Function
Main Circuit Terminal Block Specifications (TB2)
U
V
W
B2
B3
NC
Symbol Name
L1 Main circuit power supply
L2 input
L3
Function
R88D-KNxH-ML2 (3 to 5 kW):
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Resistor connection terminals
Motor connection terminals
Normally B2 and B3 are short-circuited.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-1 Servo Drive Specifications
3
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
12 to 24 VDC
+24 VIN
6
4.7 k
Ω
General-purpose input 1
IN1
5
1 k
Ω
General-purpose input 2
IN2
7
4.7 k
Ω
1 k
Ω
4.7 k
Ω
General-purpose input 3 IN3
8
1 k
Ω
4.7 k
Ω
General-purpose input 4
IN4
9
1 k
Ω
4.7 k
Ω
General-purpose input 5
IN5
10
1 k
Ω
4.7 k
Ω
General-purpose input 6
IN6
11
1 k
Ω
4.7 k
Ω
General-purpose input 7
IN7
12
1 k
Ω
4.7 k
Ω
General-purpose input 8 IN8
13
1 k
Ω
Backup battery
*1
BAT
14
BATGND
15
10
Ω
10
Ω
3
4
/ALM
Alarm output
ALMCOM
1
2
OUTM1
General-purpose output 1
OUTM1COM
Maximum service voltage
: 30 VDC
Maximum output current
: 50 mADC
10
Ω
25
26
OUTM2
General-purpose output 2
OUTM2COM
Shell
FG
Frame ground
*1. Inputs type for pins 5, and 7 to 13 can be determined by parameter setting.
*2. Outputs type for pins 1, 2, 25 and 26 can be determined by parameter setting.
*3. A cable equipped with a battery is not required, when a backup battery is connected.
*4. It is not necessary to wire input pins that are not being used.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Control I/O Signal List
CN1 Control Inputs
13
14
15
Pin number
6
5
7
8
9
10
11
12
Symbol
+24 VIN
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
BAT
BATGND
Signal
Name Default
Power supply input 12 to
24 VDC.
Generalpurpose input 1
Generalpurpose input 2
Generalpurpose input 3
Generalpurpose input 4
Generalpurpose input 5
Generalpurpose input 6
Emergency
Stop Input
Forward Drive prohibition Input
Reverse Drive prohibition Input
Origin
Proximity Input
External
Latch Signal 3
External
Latch Signal 2
Generalpurpose input 7
Generalpurpose input 8
External
Latch Signal 1
Monitor Input 0
Backup battery input
ABS
CONTROL mode
The input terminal
+ of the external power supply (12 to 24 VDC) for sequence inputs
These are the general-purpose inputs. The input functions are selective by parameters. The External
Latch Signals 1 to 3 can be allocated only to IN5 to 7
(or pins 10 to 12) respectively. Refer to "Sequence I/O
Signal"(P.6-1) for the allocation.
Backup battery connection terminals when the absolute encoder power is interrupted. (Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup.)
3
CN1 Control Outputs
Pin number
Symbol
Name
Signal
Default
Alarm Output 3
4
1
/ALM
ALMCOM
OUTM1
2 OUTM1COM
25 OUTM2
26 OUTM2COM
General-purpose
Output 1
General-purpose
Output 2
Brake interlock
Output
Servo Ready
Output
CONTROL mode
The output is OFF when an alarm is generated for the
Servo Drive.
These are the general-purpose outputs. The output functions are selective by parameters. Refer to
"Sequence I/O Signal"(P.6-1) for the allocations.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-1 Servo Drive Specifications
3
CN1 Pin Arrangement
2 OUTM1COM
General-purpose
Output 1 Common
1
OUTM1
(BKIR)
General-purpose
Output 1 (Brake
Interlock Output)
15 BATGND
14
Absolute
Encoder Backup
Battery Input
16
BAT
Absolute
Encoder Backup
Battery Input
3 /ALM Alarm Output
*
*
*
*
General-purpose
Output 2 (Servo
24
Ready Output)
26 OUTM2COM
*
4
6
8
10
12
ALMCOM
+24 VIN
IN3
(NOT)
IN5
(EXT3)
IN7
(EXT1)
Alarm Output
Common
5
12 to 24-VDC
Power
Supply Input
7
General-purpose
Input 3 (Reverse Drive
Prohibition Input)
9
General-purpose
Input 5 (External
Latch Input 3)
11
General-purpose
Input 7 (External
Latch Input 1)
13
IN1
(STOP)
IN2
(POT)
IN4
(DEC)
IN6
(EXT2)
IN8
(MON0)
17
General-purpose
Input 1 (Emergency
Stop Input)
General-purpose
Input 2 (Forward Drive
Prohibition Input)
19
21
General-purpose
Input 4 (Origin
Proximity Input)
23
General-purpose
Input 6 (External
Latch Input 2)
25
General-purpose
Input 8 (Monitor
Input 0)
OUTM2
(READY)
18
20
22
*
*
*
*
General-purpose
Output 2 Common
Note Do not connect anything to unused pins (those marked with *).
The input functions for general-purpose inputs 1 to 8 (or IN1 to IN8) and the output functions for general-purpose outputs (OUTM1 and OUTM2) are selective and determined by the user parameters Pn400 to Pn407 (Input Signal
Selection 1 to 8) and Pn410 and Pn411 (Output Signal Selection 1 and 2) respectively. The functions that are
To use an absolute encoder, connect a battery to either Pin 14 which is the backup battery input, or 15 which is the battery holder for absolute encoder cable. (Never connect to both.)
Connectors for CN1 (Pin 26)
Name
Plug
Cable Case
Model
10126-3000PE
10326-52A0-008
Manufacturer
Sumitomo 3M
OMRON model number
R88A-CNW01C
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Control Input Circuits
External power supply
12 VDC
± 5% to
24 VDC
± 5%
Input current specification
10 mA max. (per point)
Signal level
ON level: 10 V or more
OFF level: 3 V or less
+24VIN
6
4.7 k
Ω
IN1
IN2
5
7
1.0 k
Ω
4.7 k
Ω
1.0 k
Ω
To another input circuit GND common To other input circuit
Photocoupler input
Photocoupler input
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-1 Servo Drive Specifications
3
Control Input Details
This is the detailed information about the CN1 Connector input pins.
General-purpose Inputs (IN1 to IN8)
Pin 5 : General-purpose Input 1 (IN1) [Emergency Input (STOP)]
Pin 7 : General-purpose Input 2 (IN2) [Forward Drive Prohibition Input (POT)]
Pin 8 : General-purpose Input 3 (IN3) [Reverse Drive Prohibition Input (NOT)]
Pin 9 : General-purpose Input 4 (IN4) [Origin Proximity Input (DEC)]
Pin 10 : General-purpose Input 5 (IN5) [External Latch Input 3 (EXT3)]
Pin 11 : General-purpose Input 6 (IN6) [External Latch Input 2 (EXT2)]
Pin 12 : General-purpose Input 7 (IN7) [External Latch Input 1 (EXT1)]
Pin 13 : General-purpose Input 8 (IN8) [Monitor Input 0 (MON0)]
Note:The functions that are allocated by default are given in brackets.
Refer to "Sequence I/O Signal"(P.6-1) for the allocation procedures.
Emergency Stop Input (STOP)
STOP is used when an external sequence such as the host forcibly turns OFF the servo.
If the Immediate Stop Input (STOP) turns ON during the Servomotor rotation, the dynamic brake makes a deceleration stop. After the motor stops, it remains in servo-free state.
If the Immediate Stop Input (STOP) turns ON when the motor is energized, a Forced alarm input error (Alarm No. 87.0) will occur.
This input is allocated to the pin 5 with the NC contact in the default setting.
Precautions for Safe Use
Turn ON the Immediate Stop Input (STOP) at the same time when you turn OFF the main power. When the main power turns OFF due to an external immediate stop, the motor will continue to rotate due to residual voltage. This may cause human injuries or damages to the machine and devices.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
]
Forward Drive Prohibition Input (POT) and Reverse Drive Prohibition Input (NOT)
The two signals are the inputs to prohibit forward and reverse rotation (over-travel inputs).
When one input is ON, the Servo Drive can rotate in the specified direction.
In the Drive Prohibition state, Servomotor switches to servo lock state after deceleration stop.
The maximum torque at deceleration stop is the same as the maximum servomotor torque.
In the Drive Prohibition state, the Servo Drive does not switch to an alarming state.
When the Drive Prohibition Input Selection (Pn504) is set to 1, the operation at a drive prohibit input can be selected on the Stop Selection for Drive Prohibition Input (Pn505).
When the Drive Prohibition Input Selection (Pn504) is set to 2, the Drive Prohibition Input
Protection (E380) works at a drive prohibition input.
In factory setting, the Forward Drive Prohibition Input (POT) is allocated to Pin 7, while the
Reverse Drive Prohibition Input (NOT) is to Pin 8.
Precautions for Correct Use
Both signals are disabled (in a state in which drive prohibition will not operation) in the default settings. If prohibiting the drive input is required, set the Drive Prohibit Input Selection (Pn504) to either 0 or 2. The setting on the Input Signal Selection 1 to 8 (Pn400 to 407) can change the logic and allocation for general-purpose inputs 1 to 8.
3
Origin Proximity Input (DEC)
This is the deceleration signal at origin searches.
When the Origin Proximity Input is ON while the Servomotor travels at the origin search feed speed, it decelerates to the origin search approach speed.
When the first origin input is entered after the Origin Proximity Input turns OFF, the Servomotor decelerates to the origin search creep speed, and controls positions for the origin search final travel distance.
After positioning completes, the position is the origin.
In factory setting, the Origin Proximity Input is assigned to Pin 9.
Precautions for Correct Use
The Origin Proximity Input (DEC) signals can be entered in the speed control mode and the torque control mode. However, the inputs do not relate the operation.
External Latch Input Signals (EX1, EX2 and EX3)
These are the external input signals to latch the present value on the feedback pulse counter.
The Encoder position data is obtained at the moment when the External Latch Input is turned on.
In factory setting, the External Latch Input 1 is allocated to Pin 12, the External Latch Input 2 to
Pin 11, and the External Latch Input 3 to Pin 10.
Precautions for Correct Use
The external latch inputs are detected by signal raises. The minimal signal width must be 1 ms.
The external latch inputs can only be set to NO (normally open) contact.
The external latch inputs can be allocated to pins 10 to 12 only.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-1 Servo Drive Specifications
Monitor Inputs (MON0, MON1 and MON2)
They are the monitor inputs.
They do not give any influences to the operation. Only the host controller can monitor them.
In factory setting, the MON0 is allocated to Pin 13.
Forward External Torque Limit Input (PCL) and Reverse External Torque Limit Input
(NCL)
One of them turns ON when the torque is limited to the value set by the Forward External Torque
Limit (Pn525) or the Reverse External Torque Limit (Pn526).
While the input is on, the operation continues within the torque limit.
In factory setting, the inputs are not allocated.
Backup Battery Inputs (BAT)
Pin 42 : Backup Battery
+ Input (BAT)
Pin 43 : Backup Battery − Input (BATGND)
Function:
They are the backup battery connection terminals used when the absolute encoder power is interrupted.
Normally, the battery is connected to the battery holder for the absolute encoder battery cable. Do not connect anything to these terminals.
Precautions for Correct Use
Be sure not to connect to both of the absolute encoder battery cable and the backup battery inputs at the same time. Such connection may result in malfunction.
Control Output Circuits
Sequence Output
Servo Drive
10
Ω OUTM1, OUTM2, /ALM
X
External power supply 12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50mA max.
Di
OUTM1, OUTM2, /ALM
Di: Surge voltage prevention diode
(Use a high-speed diode.)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Control Output Details
The chart below illustrates the timings of the command inputs after the control power-on. Enter the Servo ON, and the position, speed or torque command in the correct timing as shown in the chart.
Control Output Sequence
Control power supply
(L1C and L2C)
ON
OFF
Internal control power supply
ON
OFF
MPU initialization completed
ON
OFF
Main circuit power supply
(L1, L2 and L3)
ON
OFF
Servo ready completed output
(READY)
ON
OFF
Approx. 100 to 300 ms
Approx. 1.5 s
Iinitialization
*1
Approx. 2 s
0 s or more
Approx. 10 ms after initialization and main circuit ON
*2
ON
Alarm output
(/ALM)
OFF
0 ms or more
ON
Servo ON input
OFF
Approx. 2 ms
ON
Dynamic brake
OFF
Approx. 60 ms
ON
Motor power supply
OFF
Approx. 4 ms
ON
Brake interlock output (BKIR)
*3
OFF
100 ms or more
*4
ON
Position, speed or torque command
OFF
*1. Once the internal control power is established, the protective function starts working about 1.5 s after the MPU starts initializing itself. Be sure that all I/O signals that are connected to the Servo Drive, especially the Forward/Reverse
Drive Prohibition Input (POT/NOT), the Origin Proximity Input (DEC), the external encoder input, are settled before the protective function starts working. The period can be extended by the Power Supply ON Initialization Time
(Pn618).
*2. The Servo ready completed output (READY) turns ON only when all of these conditions are met: The MPU initialization is completed. The Main power is established. No alarm exists. MECHATROLINK-II communications are established. The servo is synchronized (Phase alignment).
*3. The Brake Interlock Output (BKIR) turns ON when the OR condition is met: a release request by the servo control and by the MECHATROLINK-II communications.
*4. During this period, the Servo ON signal is input on the hardware, but it is not processed.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-20
3
3
3-1 Servo Drive Specifications
Alarm Output (/ALM)
Pin 3: Alarm Output (/ALM)
Pin 4: Alarm output common (ALMCOM)
Function
The output is turned OFF when the drive detects an error.
This output is OFF at power supply ON, but turns ON when the drive's initial processing has been completed.
General-purpose Output (OUTM1 and OUTM2)
Pin 1
Pin 2
Pin 25
Pin 26
: General-purpose Output 1 (OUTM1)
−
[Brake Interlock Output (BKIR)]
: General-purpose Output 1 Common (OUTM1COM)
: General-purpose Output 2 (OUTM2) − [Servo Ready Output (READY)]
: General-purpose Output 2 Common (OUTM2COM)
Note:The functions that are allocated by default are given in brackets
.
Refer to the description in Output Signals in Section "Sequence I/O Signal"(P.6-1) for the
allocation.
Servo Ready Completed Output (READY)
The output signal indicates the Drive is ready to be energized.
It turns ON when no error is detected after main circuit power-ON.
In factory setting, the Outputs are allocated to Pin 25 and 26.
Brake Interlock Output (BKIR)
It outputs the external brake timing signal as set by the Brake Timing when Stopped (Pn437), the
Brake Timing During Operation (Pn438), and the Brake Release Speed Setting (Pn439).
In factory setting, the Outputs are allocated to Pin 1 and 2.
Positioning Completion Output 1 (INP1) and Positioning Completion Output 2 (INP2)
The INP1 turns ON when the error counter accumulated pulse is less than or equal to the
Positioning Completion Range 1 (Pn431) set value.
The INP2 turns ON when the error counter accumulated pulse is less than or equal to the
Positioning Completion Range 2 (Pn442) set value.
The output turns ON according to Positioning Completion Condition Selection (Pn432).
The output is always OFF except in the POSITION CONTROL mode (including the FULL
CLOSING CONTROL mode).
In factory setting, the output is not allocated.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Motor Rotation Speed Detection Output (TGON)
It turns on when the motor rotation speed exceeds the value set by the Rotation Speed for Motor
Rotation Detection (Pn436).
The output is effective both in forward and reverse directions regardless the actual direction that the motor rotates.
The detection contains a hysteresis of 10 r/min.
In factory setting, the output is not allocated.
Motor rotation speed
[r/min]
Pn436
+ 10
Pn436
− 10
Motor rotation speed
Time
− (Pn436 − 10)
− (Pn436 + 10)
Motor rotation speed detection output
OFF ON OFF ON
3
Torque Limiting Output (TLIMT)
The output turns ON when the output torque reaches the limit as set by the No.1 Torque Limit
(Pn013) or the No.2 Torque Limit (Pn522).
The output is always OFF except in the POSITION CONTROL mode (including the FULL
CLOSING CONTROL mode) and the Speed Control mode.
In factory setting, the output is not allocated.
Zero Speed Detection Output (ZSP)
It turns ON when the motor rotation speed goes below the value set by the Zero Speed Detection
(Pn434).
The output is effective both in forward and reverse directions regardless the actual direction that the motor rotates.
The detection contains a hysteresis of 10 r/min.
In factory setting, the output is not allocated.
Forward direction
Speed
(Pn434
+ 10) r/min
Zero Speed
Detection (ZSP)
Reverse direction
ON
(Pn434
− 10) r/min
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-22
3-1 Servo Drive Specifications
3
Speed Conformity Output (VCMP)
The output turns ON when the motor rotation speed fills into the range set by the Speed
Conformity Detection Range (Pn435).
It is determined to be conforming when the difference between the commanded speed before acceleration or deceleration process inside the Drive and the motor rotation speed is within the set range of Speed Conformity Detection Range (Pn435).
A hysteresis of 10 r/min is set for the detection.
The output is always OFF except in the POSITION CONTROL mode (including the FULL
CLOSING CONTROL mode).
In factory setting, the output is not allocated.
Speed command
Speed command after acceleration or deceleration process
Rotation speed [r/min]
Speed Conformity
Detection Range (Pn435)
Motor rotation speed
Speed Conformity
Detection Range
(Pn435)
Time
Speed Conformity
Detection Range (Pn435)
Speed Conformity
Output (VCMP)
ON OFF ON OFF
Warning Output (WARN1 and WARN2)
The Warning Output 1 (WARN1) turns ON when the warning set by the Warning Output Selection 1 (Pn440) is detected.
The Warning Output 2 (WARN2) turns ON when the warning set by the Warning Output Selection 2 (Pn441) is detected.
In factory setting, the output is not allocated.
Position Command Status Output (PCMD)
The output turns ON when a position command is entered during the POSITION CONTROL mode.
The output is always OFF except in the POSITION CONTROL mode (including the FULL CLOSING CONTROL mode).
In factory setting, the output is not allocated.
Speed Limiting Output (VLIMT)
The output turns ON when the motor rotation speed reaches the limit set by the Speed Limit Value Setting (Pn321).
The output is always OFF except in the TORQUE CONTROL mode.
In factory setting, the output is not allocated.
Alarm Clear Attribute Output (ALM-ATB)
The output turns ON when an alarm which can be reset occurs.
In factory setting, the output is not allocated.
Speed Command Status Output (VCMD)
The output turns ON when a speed command is entered during the SPEED CONTROL mode.
The output is always OFF except in the SPEED CONTROL mode.
In factory setting, the output is not allocated.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Encoder Connector Specifications (CN2)
Pin number
1
2
3
4
5
6
Shell
Symbol
E5V
E0V
BAT +
BAT
−
PS
+
PS
−
FG
Name Function and interface
Encoder power supply +5 V Power supply output for the encoder
Encoder power supply GND
Backup power supply output for the absolute encoder Battery +
Battery
−
Encoder + phase S input
Encoder signal I/O (serial signal)
Encoder − phase S input
Frame ground Frame ground
Connectors for CN2 (6 Pins)
Name
Drive connector
Cable connector
Model
53460-0629
55100-0670
Manufacturer
Molex Japan
OMRON model number
−
R88A-CNW01R
3
External Encoder Connector Specifications (CN4)
These are the specifications of the connector that connect with the external encoder.
Pin number
1
2
9
10
7
8
Shell
5
6
3
4
Symbol
E5V
E0V
+EXS
-EXS
+EXA
-EXA
+EXB
-EXB
+EXZ
-EXZ
FG
Name Function and interface
External encoder power supply output
External encoder signal I/O
(Serial signal)
Use at 5.2 V ± 5% and at or below 250 mA.
This is connected to the control circuit ground connected to connector CN1.
Performs the serial signal input and output.
Performs the input and output of phase A, B, and Z signals.
External encoder signal input
(Phase A, B, and Z signals)
Frame ground Frame ground
Connectors for CN4 (10 Pins)
Name
MUF Connector
Model
MUF-PK10K-X
Manufacturer
JST Mfg. Co., Ltd.
OMRON model number
R88A-CNK41L
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-24
3
3-1 Servo Drive Specifications
External Encoder Input Signals List
External encoder I/O (CN4)
Pin number
1
2
3
4
5
6
Symbol
E5V
E0V
Name
External encoder power supply output
+EXS
External encoder signal
Serial interface
−EXS
+EXA
−EXA
External encoder signal
90
° phase difference input
(Phases A, B and Z)
Function and interface
External encoder power supply 5.2 VDC
± 5%, 250 mA max.
If the above capacity is to be exceeded, provide a separate power supply.
This is an external encoder serial bi-directional signal.
*1
(Conforming to EIA485)
Maximum response frequency 400 Mpps
This is an external encoder 90 phase input signal.
*1
Maximum response frequency 4 Mpps (quadruple multiplier)
7
+EXB
EXA t1
8
−EXB t1
9
10
+EXZ
−EXZ
EXB t1 t2 t1 t1
>0.25 μs t2
>1.0 μs
*1 Connect external encoder signals to the serial interface (
+EXS/−EXS) or 90° phase difference input according to the encoder type.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Example of Connection with External Encoder
90
° Phase Difference Output Type (Pn323 = 0)
External encoder side
Power supply area
+5V
0V
E5V
Servo Drive side (CN4)
1
5V
5.2V±5% 250mAmax
E0V
2
GND
20 kΩ
Phase A
PA
/PA
+EXA
5
-EXA
6
2 kΩ
120Ω
2 kΩ
20 kΩ
20 kΩ
Phase B
PB
/PB
+EXB 7
-EXB
8
2 kΩ
120Ω
2 kΩ
20 kΩ
Phase Z
PC
/PC
FG
+EXZ
-EXZ
FG
9
10
Shell
2 kΩ
120Ω
2 kΩ
20 kΩ
20 kΩ
FG
PULS
PULS
PULS
Serial Communications Type, Incremental Encoder Specifications (Pn323 = 1)
Magnescale by Magnescale Co., Ltd
Scale Unit SR75/SR85
Serial signal
+5V
0V
SD/RQ
-SD/-RQ
Servo Drive side (CN4)
E5V
1
5V
E0V 2
+EXS
3
GND
680Ω
120Ω
-EXS
4
680Ω
FG
FG
Shell
FG
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-26
3
3-1 Servo Drive Specifications
Serial Communications Type, Absolute Encoder Specifications (Pn323 = 2)
Absolute Linear Scale by Mitutoyo Corporation
AT573A/ST770A/ST770AL
Magnescale by Magnescale Co., Ltd
Scale Unit SR77/SR87
Servo Drive side (CN4)
Serial signal
+5V
GND
+REQ/+SD
-REQ/+SD
E5V
1
5V
E0V 2
+EXS
3
GND
680Ω
120Ω
-EXS
4
680Ω
Shell FG
FG
Shell
FG
3-27
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Monitor Connector Specifications (CN5)
Monitor Output Signals List
Monitor output (CN5)
Pin
Number
Symbol Name
Analog monitor output 1
1 AM1
2 AM2
Analog monitor output 2
5
6
3
4
GND Analog monitor ground
−
−
−
Not used
Not used
Not used
Connectors for CN5 (6 pins)
Name
Connector housing
Connector terminal
Model
51004-0600
50011-8000
Function and interface
Outputs the analog signal for the monitor.
Default setting: Motor rotation speed 1 V/(500 r/min)
You can use Pn416 and Pn417 to change the item and unit.
You can use Pn421 to change the output method.
Outputs the analog signal for the monitor.
Default setting: Torque command 1 V/(33%)
You can use Pn418 and Pn419 to change the item and unit.
You can use Pn421 to change the output method.
Ground for analog monitors 1, 2
Do not connect.
Do not connect.
Do not connect.
Manufacturer
Molex Japan
Molex Japan
3
Monitor output circuit
Servo Drive
−
+
1 k
Ω
1/2 AM1/AM2
Monitor equipment
3 GND
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-28
3-1 Servo Drive Specifications
3
USB Connector Specifications (CN7)
Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking error status and error history, and parameter saving and loading can be performed.
Pin number
1
4
5
2
3
Symbol
VBUS
D
−
D +
−
GND
Name
USB signal terminal
Function and interface
Use this function for computer communication.
Reserved for manufacturer use Do not connect.
Signal ground Signal ground
Precautions for Correct Use
Use a commercially available USB cable that is shield, equipped with a ferrite core for noise immunity, and supporting for USB2.0.
The Mini B type USB cable can be used.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-1 Servo Drive Specifications
Safety Connector Specifications (CN8)
Connection of Safety I/O Signals and Processing of External Signals
12 to 24 VDC
SF1
+
4
4.7 k
Ω
SF1
−
3
1 k
Ω
12 to 24 VDC
SF2
+
6
4.7 k
Ω
SF2
−
5
1 k
Ω
10
8
7
EDM
+
EDM
−
Maximum servicevoltage
: 30 VDC or less.
Maximum output current
: 50 mADC.
Leakage current
: 0.1 mA max.
Residual voltage
: 1.7 V max.
3
Shell
FG
Safety I/O Signals List
Safety I/O (CN8)
5
6
3
4
Pin
Number
1
2
7
8
Shell
Symbol Name
−
Reserved
−
SF1
−
Safety input 1
SF1 +
SF2
−
Safety input 2
SF2 +
EDM
− EDM output
EDM +
FG Frame ground
Connector for CN8 (8 pins)
Name Model
Industrial Mini I/O
Connector (D-SHAPE1)
2013595-1
Do not connect.
Function and interface
Inputs 1 and 2 for operating the STO function, which are
2 independent circuits. This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor.
A monitor signal is output to detect a safety function failure.
Connected to the ground terminal inside the Servo Drive.
Manufacturer
Tyco Electronics AMP
KK
OMRON model number
R88A-CNK81S
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-30
3-1 Servo Drive Specifications
3
Safety Input Circuit
External power supply
12 VDC
± 5% to
24 VDC
± 5%
Signal level
ON level: 10 V or more
OFF level: 3 V max.
SF1
+ 4
SF1
− 3
SF2
+ 6
SF2
− 5
Servo Drive
4.7 k
Ω
1.0 k
Ω
4.7 k
Ω
1.0 k
Ω
Photocoupler input
Photocoupler input
EDM Output Circuit
Servo Drive
10
Ω
8
7
+EDM
−EDM
X
Di
External power supply
12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50 mA max.
Leakage current: 0.1 mA max.
Residual voltage: 1.7 V max.
Di: Surge voltage prevention diode
(Use a high-speed diode.)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-2 Overload Characteristics (Electronic Thermal Function)
3-2 Overload Characteristics (Electronic Thermal Function)
An overload protection function (electronic thermal) is built into the Servo Drive to protect the drive and motor from overloading.
If an overload does occur, first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again.
If the alarm reset is repeated at short intervals, the motor windings may burn out.
Overload Characteristics Graphs
The following graphs show the characteristics of the load ratio and electronic thermal function's operation time.
Time [sec]
100
10
[100 V, 200 V]
3,000-r/min motors
50 W
100 W (100 V)
100 W (200 V)
200 W
400 W
750 W
1
3
0.1
115
100 150
Time [sec]
100
200 250 300 Torque [%]
10
[200 V]
3,000-r/min motors 1.0 kW to 5.0 kW
2,000-r/min motors
1,000-r/min motors
[400 V]
3,000-r/min motors
2,000-r/min motors
1,000-r/min motors
1
0.1
115
100 150 200 250 300 Torque [%]
When the torque command = 0, and a constant torque command is continuously applied after
3 or more times the overload time constant has elapsed, the overload time t [s] is: t [s] = −Overload time constant [s] × log e
(1 − Overload level [%] / Torque command [%])
2
(The overload time constant [s] depends on the motor. The standard overload level is 115%.)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-32
3-3 Servomotor Specifications
3-3 Servomotor Specifications
The following OMNUC G5-Series AC Servomotors are available.
3,000-r/min motors
2,000-r/min motors
1,000-r/min motors
There are various options available, such as models with brakes, or different shaft types.
Select a Servomotor based on the mechanical system's load conditions and the installation environment.
3
General Specifications
Item
3,000-r/min motors
1,000-r/min motors
2,000-r/min motors
900 W to 5 kW
Ambient operating temperature and operating humidity
Storage ambient temperature and humidity
Operating and storage atmosphere
Vibration resistance *
1
50 to 750 W 1 to 5 kW
0 to
+40°C, 20% to 85% RH (with no condensation)
−20 to +65°C, 20% to 85% RH (with no condensation)
Maximum allowable temperature: 80
°C for 72 hours maximum (standard humidity)
No corrosive gases
Impact resistance
Insulation resistance
Dielectric strength
Insulation class
Protective structure
EC directive
Low voltage directive
UL standards
CSA standards
Acceleration of 49 m/s
2
24.5 m/s
2
max. in X, Y, and Z directions when the motor is stopped
Acceleration of 98 m/s
2
max. 3 times each in X, Y, and Z directions
Between power terminal and FG terminal: 20 M
Ω min. (at 500 VDC Megger)
1,500 VAC between power terminal and FG terminal (sensed current 10 mA) for 1 min
(voltage 100 V, 200 V)
1,800 VAC between power terminal and FG terminal (sensed current 10 mA) for 1 min
(voltage 400 V)
1,000 VAC between brake terminal and FG terminal (sensed current 10 mA) for 1 min
Type B Type F
IP67 (except for through-shaft parts and motor and encoder connector pins)
EN60034
-
1/
-
5
UL1004-1
CSA22.2 No. 100
UL1004
*1. The amplitude may be amplified by machine resonance. Do not exceed 80% of the specified value for extended periods of time.
Note 1. Do not use the cable when it is laying in oil or water.
Note 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
Note 3. Disconnect all connections to the Servomotor before attempting a megameter test (insulation resistance measurement) on a Servomotor. Failure to follow this guideline may result in damaging the Servomotor. Never perform a dielectric strength test on the Servomotor. Failure to follow this guideline may result in damaging the internal elements.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Characteristics
3,000-r/min Motors
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
−
N • m/A
Power rate
*
1
Mechanical time constant
Without brake
With brake
Without brake
With brake kW/s kW/s ms ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms
N
Weight Without brake
With brake
N kg kg
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
V
2
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
W
A
N • m ms ms
J
J
K05030H
K05030T
50
0.16
K10030L
100 VAC
K20030L
K10030S
100
0.32
K20030S
200
0.64
3,000
6,000
K40030L
K40030S
400
1.3
0.48
1.1
0.95
1.6
1.91
2.5
3.8
4.6
4.7
6.9
10.6
19.5
0.025
×10
0.027
×10
0.11
-4
-4
±10%
10.1
9.4
1.43
1.54
0.82
68
58
0.051
×10
-4
0.054
×10
-4
0.14
×10
-4
0.16
×10
-4
30 times the rotor inertia max. *
2
0.14
±10%
19.8
0.20
±10%
28.9
18.7
1.03
1.09
0.91
68
58
25.3
0.61
0.70
3.0
245
98
0.26
0.28
×10
0.21
×10
±10%
62.3
57.8
0.48
0.52
3.4
245
98
-4
-4
Approx. 0.31
Approx. 0.51
Approx. 0.45
Approx. 0.65
Approx. 0.78
Approx. 1.2
Approx. 1.2
Approx. 1.6
100 × 80 × t10 (AI)
KNA5L-ML2 KN01L-ML2
2 ×10
-7
2 ×10
-7
KN02L-ML2
1.8
24 VDC ± 5%
130
×10
-6
× 120 × t12 (AI)
KN04L-ML2
1.8
×10
-6
7 7 9 9
0.3
0.29 min.
35 max.
20 max.
0.3
0.29 min.
35 max.
20 max.
0.36
1.27 min.
50 max.
15 max.
0.36
1.27 min.
50 max.
15 max.
±1°
39.2
4.9
×10
3
39.2
4.9
×10
3
137
44.1
×10
3
137
44.1
×10
3
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-34
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Allowable angular acceleration
Brake limit
Rating
Insulation class
Unit
rad/s
2
−
−
−
K05030H
K05030T
K10030L
K10030S
100 VAC
K20030L
K20030S
K40030L
K40030S
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
10 million times min.
Continuous
Type F
3-35
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
With brake
A (0-p)
Without brake kg • m
2 kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms
N
Weight Without brake
With brake
N kg kg
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
V
2
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
W
A
N • m ms ms
J
J rad/s
−
−
−
2
K05030H
K05030T
50
0.16
K10030H
K10030T
100
0.32
200 VAC
K20030H
K20030T
200
0.64
3,000
6,000
K40030H
K40030T
400
1.3
0.48
0.95
1.91
3.8
1.1
1.1
1.5
2.4
4.7
0.025
×10
-4
0.027
×10
-4
0.11
±10%
10.1
9.4
1.43
4.7
6.5
0.051
×10
-4
0.054
×10
-4
0.14
×10
0.16
×10
-4
-4
30 times the rotor inertia max.*
2
0.21
±10%
19.8
18.7
1.07
0.32
±10%
28.9
25.3
0.58
10.2
0.26
×10
-4
0.28
×10
-4
0.40
±10%
62.3
57.8
0.43
1.54
1.13
0.66
0.46
0.82
68
58
Approx. 0.31
0.90
68
58
Approx. 0.46
3.2
245
98
Approx. 0.79
3.4
245
98
Approx. 1.2
Approx. 0.51
Approx. 0.66
Approx. 1.2
Approx. 1.6
100 × 80 × t10 (AI)
KN01H-ML2 KN01H-ML2
2 ×10
-7
2 ×10
-7
KN02H-ML2
1.8
24 VDC ± 5%
130
×10
-6
× 120 × t12 (AI)
KN04H-ML2
1.8
×10
-6
7 7 9 9
0.3
0.3
0.36
0.36
0.29 min.
35 max.
20 max.
0.29 min.
35 max.
20 max.
1.27 min.
50 max.
15 max.
1.27 min.
50 max.
15 max.
±1°
39.2
39.2
137 137
4.9
×10
3
4.9
×10
3
44.1
×10
3
44.1
×10
3
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
10 million times min.
Continuous
Type F
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-36
3
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms
N
Weight Without brake
With brake
N kg kg
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
V
2
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
W
A
N • m ms ms
J
J rad/s
−
−
−
2
K75030H
K75030T
750
2.4
6,000
7.1
4.1
17.4
0.87
×10
-4
0.97
×10
-4
20 times the rotor inertia max.
0.45
±10%
65.4
58.7
0.37
0.42
5.3
392
147
Approx. 2.3
Approx. 3.1
170 × 160 × t12 (AI)
KN08H-ML2
0.75
×10
-5
24 VDC ± 5%
10
0.42
2.45 min.
70 max.
20 max.
196
1.47
×10
30,000
5
200 VAC
K1K030H
K1K030T
1000
3.18
3,000
5,000
0.81
±10%
7.8 min.
50 max.
15 max. *
6
±1°
392
4.9
×10
5
10,000
10 million times min.
Continuous
Type F
K1K530H
K1K530T
1500
4.77
9.55
14.3
6.6
8.2
28 35
2.03
×10
-4
2.35
×10
-4
2.84
3.17
×10
×10
15 times the rotor inertia max. *
2
-4
-4
0.37
49.8
0.45
80.1
43.0
0.61
71.8
0.49
0.71
0.55
5.8
490
196
Approx. 3.5
6.3
490
196
Approx. 4.4
Approx. 4.5
Approx. 5.4
320 × 300 × t20 (AI)
KN15H-ML2 KN15H-ML2
0.33
×10
-4
0.33
×10
-4
24 VDC ± 10%
19 19
0.81
±10%
7.8 min.
50 max.
15 max. *
6
392
4.9
×10
5
3-37
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant
*1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms
N
Weight Without brake
With brake
N kg kg
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
V
2
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
W
A
N • m ms ms
J
J rad/s
−
−
−
2
0.44
110
101
0.44
0.48
6.7
490
196
Approx. 5.3
Approx. 6.3
K2K030H
K2K030T
2000
6.37
5000
K3K030H
K3K030T
3000
9.55
AC200V
K4K030H
K4K030T
4000
12.7
3000
4500
19.1
11.3
48
3.68
×10
-4
4.01
×10
-4
KN20H-ML2
0.33
×10
-4
28.6
18.1
38.2
19.6
77 83
6.50
×10
6.85
×10
-4
-4
12.9
×10
-4
14.2
×10
-4
30 times the rotor inertia max.
*2
0.41
140
0.49
126
116
0.41
114
0.51
0.49
0.56
11
490
196
Approx. 8.3
12
784
343
Approx. 11.0
Approx. 9.4
Approx. 12.6
380 ×350×t30 (A)
KN30H-ML2 KN50H-ML2
0.33
×10
-4
1.35
×10
-4
24 VDC ±10%
19 22 19
0.81
±10%
7.8 min.
50 max.
15 max
*6
392
4.9
×10
5
0.81
±10%
11.8 min.
80 max.
15 max.
*6
0.90
±10%
16.1 min.
110 max.
50 max.
*7
±1°
392
4.9
×10
5
1470
2.2
×10
6
10,000
10 million times min.
Continuous
Type F
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
K5K030H
K5K030T
5000
15.9
4500
47.7
24.0
102
17.4
×10
-4
18.6
×10
-4
0.49
146
136
0.50
0.54
13
784
343
Approx. 14.0
Approx. 16.0
KN50H-ML2
1.35
×10
-4
22
0.90
±10%
16.1 min.
110 max.
50 max.
*7
1470
2.2
×10
6
3-38
3
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms
N
Weight Without brake
With brake
N kg kg
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
V
2
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
W
A
N • m ms ms
J
J rad/s
−
−
−
2
K75030F
K75030C
750
2.39
7.16
2.4
10
1.61
×10
-4
1.93
×10
-4
0.78
35.5
29.6
0.67
0.8
5.9
490
196
Approx. 3.1
Approx. 4.1
KN10F-ML2
0.33
×10
-4
17
0.70
±10%
2.5 min.
50 max.
15 max. *
6
392
4.9
×10
5
3-39
K1K030F
K1K030C
1000
3.18
400 VAC
K1K530F
K1K530C
1500
4.77
3,000
5,000
9.55
14.3
3.3
4.2
14 18
2.03
×10
-4
2.35
×10
-4
2.84
×10
3.17
×10
-4
-4
30 times the rotor inertia max. *
2
0.75
49.8
0.89
80.1
43
0.60
71.8
0.49
0.70
0.55
5.8
490
196
Approx. 3.5
6.5
490
196
Approx. 4.4
Approx. 4.5
Approx. 5.4
320 × 300 × t20 (AI)
KN15F-ML2 KN15F-ML2
0.33
×10
-4
0.33
24 VDC ± 10%
×10
-4
19 19
0.81
±10%
7.8 min.
50 max.
15 max. *
6
0.81
±10%
7.8 min.
50 max.
15 max. *
6
±1°
392
4.9
×10
5
392
4.9
×10
5
10,000
10 million times min.
Continuous
Type F
K2K030F
K2K030C
2000
6.37
19.1
5.7
24
3.68
×10
-4
4.01
×10
-4
0.87
110
101
0.45
0.49
6.6
490
196
Approx. 5.3
Approx. 6.3
KN20F-ML2
0.33
×10
-4
19
0.81
±10%
7.8 min.
50 max.
15 max. *
6
392
4.9
×10
5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
With brake
A (0-p)
Without brake kg • m
2 kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms
N
Weight Without brake
With brake
N kg kg
Radiator plate dimensions (material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
V
2
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
W
A
N • m ms ms
J
J rad/s
−
−
−
2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
K3K030F
K3K030C
3000
9.55
400 VAC
K4K030F
K4K030C
4000
12.7
3,000
K5K030F
K5K030C
5000
15.9
5,000
28.6
9.2
39
6.50
×10
-4
7.85
×10
-4
0.81
140
116
0.40
0.49
12
490
196
Approx. 8.3
Approx. 9.4
KN30F-ML2
0.33
×10
-4
19
38.2
9.9
42
12.9
×10
-4
14.2
×10
-4
30 times the rotor inertia max. *
2
0.98
126
114
0.51
0.56
13
784
343
Approx. 11.0
Approx. 12.6
380 × 350 × t30 (AI)
KN50F-ML2
1.35
×10
-4
24 VDC ± 10%
22
47.7
12.0
51
17.4
×10
-4
18.6
×10
-4
0.98
146
136
0.50
0.54
13
784
343
Approx. 14.0
Approx. 16.0
KN50F-ML2
1.35
×10
22
-4
0.81
±10%
11.8 min.
80 max.
15 max. *
6
392
4.9
×10
5
0.90
±10%
16.1 min.
110 max.
50 max. *
7
±1°
1470
2.2
×10
6
10,000
10 million times min.
Continuous
Type F
4,500
0.90
±10%
16.1 min.
110 max.
50 max. *
7
1470
2.2
×10
6
3-40
3
3
3-3 Servomotor Specifications
*1. These are the values when the motor is combined with a drive at normal temperature (20
°C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
*7. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
Torque-Rotation Speed Characteristics for 3,000-r/min Motors
3,000-r/min motor (100 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
• R88M-K05030H/T (50 W) • R88M-K10030L/S (100 W) • R88M-K20030L/S (200 W)
(N • m)
Power supply voltage dropped by 10%
0.48 (4000)
0.5 0.48
0.25
Momentary operation range
0.16 0.16
Continuous operation range
0
0.3
0.08
1000 2000 3000 4000 5000 6000
(r/min)
(N • m)
Power supply voltage dropped by 10%
0.95 (3700)
1.0 0.95
0.5
0
Momentary operation range
0.32
0.32
0.56
0.4
Continuous operation range
4300
0.16
1000 2000 3000 4000 5000 6000
(r/min)
(N • m)
2.0 1.91
1.0
0
1.91 (2600)
Power supply voltage dropped by 10%
Momentary operation range
0.64 0.64
Continuous operation range
3100
0.8
0.64
0.32
5000 6000
(r/min)
• R88M-K40030L/S (400 W)
(N • m)
4.0 3.8
3.8 (2600)
Power supply voltage dropped by 10%
2.0
Momentary operation range
1.3 1.3
Continuous operation range
3100
1.7
1.3
0.32
0 5000 6000
(r/min)
Note:The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
3-41
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
3,000-r/min motor (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K05030H/T (50 W)
(N • m)
Power supply voltage dropped by 10%
0.48 (4000)
0.5 0.48
0.25
Momentary operation range
0.16 0.16
0
0.3
Continuous operation range
0.08
1000 2000 3000 4000 5000
6000
(r/min)
• R88M-K10030H/T (100 W)
(N • m)
1.0 0.95
Power supply voltage dropped by 10%
0.95 (5000)
0.9
0.5
Momentary operation range
0.32
0.32
Continuous operation range
0.16
0 1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K20030H/T (200 W)
(N • m)
2.0 1.91
Power supply voltage dropped by 10%
(4000)
1.91 (4600)
Momentary operation range
1.0
0.64
0.64
Continuous operation range
0
1.3
1.1
0.32
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K40030H/T (400 W)
(N • m)
4.0 3.8
Power supply voltage dropped by 10%
(3100) 3.8 (3600)
2.0
0
Momentary operation range
1.3 1.3
2.0
1.7
0.64
Continuous operation range
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K75030H/T (750 W)
(N • m)
8.0 7.1
Power supply voltage dropped by 10%
(3200)
7.1 (3600)
4.0
0
Momentary operation range
2.4
2.4
Continuous operation range
3.4
3.0
0.60
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K1K030H/T (1 kW)
(N • m)
10 9.55
Power supply voltage dropped by 10%
(3800)
9.55 (4200)
5
Momentary operation range
3.18
3.18
Continuous operation range
0 1000 2000 3000 4000 5000
(r/min)
6.0
4.0
1.9
• R88M-K1K530H/T (1.5 kW) • R88M-K2K030H/T (2 kW) • R88M-K3K030H/T (3 kW)
(N • m)
Power supply voltage dropped by 10%
7.5
Momentary operation range
4.77
4.77
Continuous operation range
0
4.0
1000 2000 3000 4000 5000
(r/min)
(N • m)
Power supply voltage dropped by 10%
10
Momentary operation range
0
Continuous operation range
1000 2000 3000 4000 5000
(r/min)
(N • m)
Power supply voltage dropped by 10%
(3100) 28.7 (3400)
15
Momentary operation range
9.55
9.55
Continuous operation range
0
12.0
8.0
5.7
1000 2000 3000 4000 5000
(r/min)
• R88M-K4K030H/T (4 kW) • R88M-K5K030H/T (5 kW)
(N • m)
40 38.2
Power supply voltage dropped by 10%
(2800) 38.2 (3100)
(N • m)
50 47.7
Power supply voltage dropped by 10%
(2800) 47.8 (3200)
20
Momentary operation range
12.7
12.7
Continuous operation range
10.0
25
Momentary operation range
15.9
15.9
Continuous operation range
15.0
0 1000 2000 3000 4000 5000
(r/min)
0 1000 2000 3000 4000 5000
(r/min)
Note:The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-3 Servomotor Specifications
3
3,000-r/min motor (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input.
• R88M-K75030F/C (750 W)
(N • m)
Power supply voltage dropped by 10%
4
Momentary operation range
0
Continuous operation range
1.6
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K030F/C (1 kW)
(N • m)
Power supply voltage dropped by 10%
(3800)
9.55 (4200)
5
Momentary operation range
3.18
3.18
Continuous operation range
0
6.0
4.0
1.9
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K530F/C (1.5 kW)
(N • m)
15 14.3
Power supply voltage dropped by 10%
(3200)
14.3 (3600)
7.5
Momentary operation range
4.77
4.77
Continuous operation range
0
4.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K2K030F/C (2 kW)
(N • m)
Power supply voltage dropped by 10%
(3300)
19.1 (3700)
20 19.1
10
Momentary operation range
6.37
6.37
Continuous operation range
0
7.0
2.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K3K030F/C (3 kW)
(N • m)
30 28.6
Power supply voltage dropped by 10%
(3100)
28.7 (3400)
15
0
Momentary operation range
9.55
9.55
Continuous operation range
12.0
8.0
5.7
1000 2000 3000 4000 5000
(r/min)
• R88M-K4K030F/C (4 kW)
(N • m)
40 38.2
Power supply voltage dropped by 10%
(2800)
38.2 (3100)
20
Momentary operation range
12.7 12.7
Continuous operation range
0
10
1000 2000 3000 4000 5000
(r/min)
• R88M-K5K030F/C (5 kW)
(N • m)
Power supply voltage dropped by 10%
25
Momentary operation range
Continuous operation range
0 1000 2000 3000 4000 5000
(r/min)
Note:The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction.
• R88M-K05030L/S/H/T
(50 W: With oil seal)
Rated torque ratio [%]
100%
• R88M-K10030L/S/H/T
(100 W: With oil seal)
Without brake
With brake
Rated torque ratio [%]
100%
70%
60%
Without brake
With brake
75%
70%
• R88M-K20030L/SH/T
(200 W: With oil seal)
Rated torque ratio [%]
100%
Without brake
With brake
80%
70%
0 10 20 30 40
Ambient temperature
[
°C]
0 10
Ambient
20 30 40 temperature
[
°C]
0 10
Ambient
20 30 40 temperature
[
°C]
• R88M-K40030L/S/H/T
(400 W: Without oil seal)
Rated torque ratio [%]
100%
With brake
90%
• R88M-K40030L/S/H/T
(400 W: With oil seal)
Rated torque ratio [%]
100%
With brake
75%
• R88M-K1K530H/T/F/C
(1.5 kW)
Rated torque ratio [%]
100%
Without brake
With brake
85%
3
0 10 20 30 40
Ambient temperature
[
°C]
0 10 20 30 40
Ambient temperature
[
°C]
0 10 20 30 40
Ambient temperature
[
°C]
• R88M-K2K030H/T/F/C
(2 kW)
Rated torque ratio [%]
100%
Without brake
With brake
85%
70%
• R88M-K3K030H/T/F/C
(3 kW)
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
• R88M-K4K030H/T/F/C
(4 kW)
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
0 10 20 30 40
Ambient temperature
[
°C]
0 10 20 30 40
Ambient temperature
[
°C]
0 10 20 30 40
Ambient temperature
[
°C]
• R88M-K5K030H/T/F/C
(5 kW)
Rated torque ratio [%]
100%
With brake
70%
0 10 20 30 40
Ambient temperature
[
°C]
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-3 Servomotor Specifications
3
2,000-r/min Motors
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
A (0-p)
Without brake kg • m
2
With brake kg • m
2
Applicable load inertia
Torque constant *
1
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms ms Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
With brake
N
N kg kg
Radiator plate dimensions
(material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4
Power consumption
(at 20
°C)
Current consumption
(at 20 °C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking kg • m
V
W
A
N • m ms ms
J
2
K1K020H
K1K020T
1,000
4.77
200 VAC
K1K520H
K1K520T
1,500
7.16
2,000
3,000
K2K020H
K2K020T
2,000
9.55
14.3
5.7
24
4.60
×10
-4
5.90
×10
-4
0.63
49.5
38.6
0.80
1.02
9.4
490
196
Approx. 5.2
Approx. 6.7
KN10H-ML2
1.35
×10
-4
14
0.59
±10%
4.9 min.
80 max.
70 max. *
6
588
21.5
9.4
40
6.70
×10
-4
7.99
×10
-4
10 times the rotor inertia max. *
2
0.58
76.5
64.2
0.66
0.80
10
490
196
Approx. 6.7
Approx. 8.2
275
× 260 × t15 (AI)
KN15H-ML2
1.35
×10
-4
24 VDC ± 10%
19
0.79
±10%
13.7 min.
100 max.
50 max. *
6
±1°
1,176
28.6
11.5
49
8.72
×10
-4
10.0
×10
-4
0.64
105
91.2
0.66
0.76
10
490
196
Approx. 8.0
Approx. 9.5
KN20H-ML2
1.35
×10
-4
19
0.79
±10%
13.7 min.
100 max.
50 max. *
6
1,176
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Model (R88M-)
Item
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
Unit
J rad/s
2
−
−
−
K1K020H
K1K020T
7.8
×10
5
200 VAC
K1K520H
K1K520T
1.5
×10
6
10,000
10 million times min.
Continuous
Type F
K2K020H
K2K020T
1.5
×10
6
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake ms ms
Electrical time constant
Allowable radial load *
Allowable thrust load *
Weight Without brake
With brake
3
3
Radiator plate dimensions
(material)
Applicable drives (R88D-) ms
N
N kg kg
K3K020H
K3K020T
3,000
14.3
200 VAC
K4K020H
K4K020T
4,000
19.1
2,000
3,000
K5K020H
K5K020T
5,000
23.9
43.0
57.3
71.6
17.4
74
12.9
×10
-4
14.2
×10
-4
0.59
159
144
0.57
0.63
12
784
343
Approx. 11.0
Approx. 12.6
380 × 350 × t30 (AI)
KN30H-ML2
21.0
89
37.6
×10
-4
38.6
×10
-4
10 times the rotor inertia max. *
2
0.70
97.1
94.5
0.65
0.66
20
784
343
Approx. 15.5
Approx. 18.7
470
KN50H-ML2
25.9
110
48.0
×10
-4
48.8
×10
-4
0.70
119
117
0.63
0.64
19
784
343
Approx. 18.6
Approx. 21.8
× 440 × t30 (AI)
KN50H-ML2
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-3 Servomotor Specifications
3
Model (R88M-)
Item
Brake inertia
Excitation voltage *
4
Power consumption
(at 20
°C)
Current consumption
(at 20
°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
Unit
kg • m
2
V
W
A
N • m ms ms
J
J rad/s
2
−
−
−
K3K020H
K3K020T
1.35
×10
-4
22
0.90
±10%
16.2 min.
110 max.
50 max. *
6
1470
2.2
×10
6
200 VAC
K4K020H
K4K020T
4.7
×10
-4
24 VDC
± 10%
31
1.3
±10%
24.5 min.
80 max.
25 max. *
7
±1°
1372
2.9
×10
6
10,000
10 million times min.
Continuous
Type F
K5K020H
K5K020T
4.7
×10
-4
31
1.3
±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
×10
6
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Unit
W
N • m r/min
Momentary maximum rotation speed
Momentary maximum torque *
1
Rated current *
1 r/min
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
Applicable load inertia
Torque constant *
1
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3 ms ms ms
N
N
Weight Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
2
V
Power consumption
(at 20 °C)
Current consumption
(at 20
°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
W
A
N • m ms ms
J
J rad/s
−
−
−
2
K40020F
K40020C
400
1.91
K60020F
400 VAC
K1K020F
K60020C
600
2.86
K1K020C
1,000
4.77
2,000
3,000
K1K520F
K1K520C
1,500
7.16
5.73
1.2
8.59
1.5
14.3
2.8
21.5
4.7
4.9
1.61
×10
-4
1.90
×10
-4
1.27
22.7
19.2
0.70
0.83
5.7
490
196
Approx. 3.1
Approx. 4.1
6.5
12
2.03
×10
2.35
×10
-4
-4
4.60
×10
-4
5.90
×10
-4
10 times the rotor inertia max. *
2
1.38
40.3
34.8
1.27
49.5
38.6
0.62
0.79
0.72
1.01
5.9
490
196
Approx. 3.5
Approx. 4.5
10
490
196
Approx. 5.2
Approx. 6.7
20
6.70
×10
-4
7.99
×10
-4
1.16
76.5
64.2
0.66
0.79
10
490
196
Approx. 6.7
Approx. 8.2
320 × 300 × t20 (AI)
KN06F-ML2
1.35
×10
17
-4
KN06F-ML2
1.35
×10
-4
KN10F-ML2
1.35
×10
-4
24 VDC ± 10%
17
275 × 260 × t15 (AI)
14
KN15F-ML2
1.35
×10
19
-4
0.70
±10%
2.5 min.
50 max.
15 max. *
7
392
4.9
×10
5
0.70
±10%
2.5 min.
50 max.
15 max. *
7
0.59
±10%
4.9 min.
80 max.
70 max. *
6
±1°
392
4.9
×10
5
588
7.8
×10
5
10,000
10 million times min.
Continuous
Type F
0.79
±10%
13.7 min.
100 max.
50 max. *
6
1176
1.5
×10
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-48
3
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
Applicable load inertia
Torque constant *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s ms Mechanical time constant
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
With brake ms ms
N
N kg kg
Radiator plate dimensions
(material)
Applicable drives (R88D-)
K2K020F
K2K020C
2,000
9.55
K3K020F
K3K020C
3,000
14.3
400 VAC
2,000
3,000
K4K020F
K4K020C
4,000
19.1
K5K020F
K5K020C
5,000
23.9
28.7
5.9
25
8.72
×10
-4
10.0
×10
-4
1.27
105
91.2
0.68
0.78
10
490
196
Approx. 8.0
Approx. 9.5
275 × 260 × t15
(AI)
KN20F-ML2
43.0
57.3
71.6
8.7
10.6
13.0
37 45
12.9
×10
-4
14.2
×10
-4
37.6
×10
38.6
×10
-4
-4
10 times the rotor inertia max. *
2
1.18
159
1.40
97.1
144
0.56
94.5
0.60
0.61
12
784
343
Approx. 11.0
Approx. 12.6
380 × 350 × t30
(AI)
KN30F-ML2
0.61
21
784
343
Approx. 15.5
Approx. 18.7
470
55
48.0
×10
-4
48.8
×10
-4
1.46
119
117
0.60
0.61
19
784
343
Approx. 18.6
Approx. 21.8
× 440 × t30 (AI)
KN50F-ML2 KN50F-ML2
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Model (R88M-)
Item
Brake inertia
Excitation voltage *
4
Power consumption
(at 20 °C)
Current consumption
(at 20
°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
Unit
kg • m
2
V
W
A
N • m ms ms
J
J rad/s
2
−
−
−
K2K020F
K2K020C
1.35
×10
-4
19
0.79
±10%
13.7 min.
100 max.
50 max. *
6
1176
1.5
×10
6
3-3 Servomotor Specifications
400 VAC
K3K020F K4K020F
K3K020C K4K020C
1.35
×10
-4
4.7
24 VDC
± 10%
×10
-4
22 31
0.90
±10%
16.2 min.
110 max.
50 max. *
6
1.3
±10%
24.5 min.
80 max.
25 max. *
7
±1°
1470
2.2
×10
6
1372
2.9
×10
6
10,000
10 million times min.
Continuous
Type F
K5K020F
K5K020C
4.7
×10
-4
31
1.3
±10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
×10
6
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-50
3
3-3 Servomotor Specifications
*1. These are the values when the motor is combined with a drive at normal temperature (20 °C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
*7. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
Torque-Rotation Speed Characteristics for 2,000-r/min Motors
2,000-r/min motor (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K1K020H/T (1 kW) • R88M-K1K520H/T (1.5 kW) • R88M-K2K020H/T (2 kW)
(N • m)
15 14.3
Power supply voltage dropped by 10%
(2000) 14.3 (2200)
10
Momentary operation range
5
4.77
4.77
Continuous operation range
0 1000 2000
6.0
4.0
3.2
3000 (r/min)
(N • m)
21.5
Power supply voltage dropped by 10%
(2000) 21.5 (2300)
20
Momentary operation range
10
7.16
7.16
Continuous operation range
10.0
6.0
4.8
0 1000 2000 3000
(r/min)
(N • m)
Power supply voltage dropped by 10%
(2000) 28.6 (2200)
30 28.6
15
Momentary operation range
9.55
9.55
Continuous operation range
15.0
11.0
6.4
0 1000 2000 3000 (r/min)
• R88M-K3K020H/T (3 kW) • R88M-K4K020H/T (4 kW) • R88M-K5K020H/T (5 kW)
(N • m)
Power supply voltage dropped by 10%
(N • m)
57.3
Power supply voltage dropped by 10%
(1900)
57.3 (2100)
(N • m)
Power supply voltage dropped by 10%
71.6
(1900)
71.6 (2100)
50 43.0
(2200)
43.0 (2400)
50
70
Momentary operation range
Momentary operation range
25
Momentary operation range
14.3
14.3
28.0
20.0
9.5
25
19.1
19.1
25.0
Continuous operation range
13.0
35
23.9
23.9
20.0
0
Continuous operation range
1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min) 0
Continuous operation range
1000 2000
3.0
3000 (r/min)
Note:The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
2,000-r/min motor (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input.
• R88M-K40020F/C (400 W) • R88M-K60020F/C (600 W) • R88M-K1K020F/C (1 kW)
(N • m)
Power supply voltage dropped by 10%
(2400) 5.73 (2700)
6 5.73
3
Momentary operation range
3.5
1.91
1.91
Continuous operation range
2.0
1.3
0 1000 2000 3000 (r/min)
(N • m)
10 8.59
Power supply voltage dropped by 10%
(2100)
8.59 (2400)
5
Momentary operation range
2.86
2.86
Continuous operation range
4.5
1.9
0 1000 2000 3000 (r/min)
(N • m)
15 14.3
10
5
0
Power supply voltage dropped by 10%
(2000)
Momentary operation range
14.3 (2200)
4.77
4.77
Continuous operation range
6.0
4.0
3.2
1000 2000 3000 (r/min)
• R88M-K1K520F/C (1.5 kW) • R88M-K2K020F/C (2 kW) • R88M-K3K020F/C (3 kW)
(N • m)
20
0
21.5
Momentary operation range
1000
Power supply voltage dropped by 10%
(2000)
2000
21.5 (2300)
10
7.16
7.16
Continuous operation range
10.0
6.0
4.8
3000 (r/min)
(N • m)
Power supply voltage dropped by 10%
(2000) 28.6 (2200)
30 28.6
15
Momentary operation range
9.55
9.55
Continuous operation range
15.0
11.0
6.4
0 1000 2000 3000 (r/min)
(N • m)
50 43.0
25
0
14.3
Power supply voltage dropped by 10%
(2200)
Momentary operation range
43.0 (2400)
Continuous operation range
1000
14.3
2000
28.0
20.0
9.5
3000 (r/min)
• R88M-K4K020F/C (4 kW) • R88M-K5K020F/C (5 kW)
(N • m)
57.3
50
Power supply voltage dropped by 10%
(1900) 57.3 (2100)
(N • m)
Power supply voltage dropped by 10%
(1900) 71.6 (2100)
70
71.6
25
Momentary operation range
19.1
19.1
25.0
Continuous operation range
13.0
35
Momentary operation range
23.9
23.9
Continuous operation range
20.0
3.0
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
Note:The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction.
• R88M-K5K020H/T/F/C (5 kW)
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
3
0 10 20 30 40
Ambient temperature
[
°C]
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-3 Servomotor Specifications
3
1,000-r/min Motors
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
A (0-p)
Without brake kg • m
2
With brake kg • m
2
Applicable load inertia
Torque constant *
1
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s ms Mechanical time constant
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
With brake ms ms
N
N kg kg
Radiator plate dimensions
(material)
Applicable drives (R88D-)
Brake inertia
Excitation voltage *
4 kg • m
2
V
Power consumption
(at 20
°C)
Current consumption
(at 20
°C)
Static friction torque
Attraction time *
5
Release time *
5
Backlash
W
A
N • m ms ms
K90010H
K90010T
900
8.59
200 VAC
K2K010H
K2K010T
2,000
19.1
1,000
2,000
K3K010H
K3K010T
3,000
28.7
19.3
7.6
24
6.70
×10
-4
7.99
×10
-4
0.86
110
92.4
0.66
0.78
11
686
196
Approx. 6.7
Approx. 8.2
KN15H-ML2
1.35
×10
-4
19
47.7
17.0
60
30.3
×10
-4
31.4
×10
-4
10 times the rotor inertia max. *
2
0.88
120
116
0.75
0.78
18
1176
490
Approx. 14.0
Approx. 17.5
270
× 260 × t15 (AI)
KN30H-ML2
4.7
×10
-4
24 VDC ± 10%
31
71.7
22.6
80
48.4
×10
-4
49.2
×10
-4
0.96
170
167
0.63
0.64
21
1470
490
Approx. 20.0
Approx. 23.5
KN50H-ML2
4.7
×10
34
-4
0.79
±10%
13.7 min.
100 max.
50 max. *
6
1.3
±10%
24.5 min.
80 max.
25 max. *
7
±1°
1.4
±10%
58.8 min.
150 max.
50 max. *
7
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Model (R88M-)
Item
Allowable work per braking
Allowable total work
Allowable angular acceleration
Brake limit
Rating
Insulation class
Unit
J
J rad/s
2
−
−
−
K90010H
K90010T
1176
1.5
×10
6
3-3 Servomotor Specifications
200 VAC
K2K010H
K2K010T
1372
2.9
×10
6
10,000
10 million times min.
Continuous
Type F
K3K010H
K3K010T
1372
2.9
×10
6
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
Rated rotation speed
Momentary maximum rotation speed
Unit
W
N • m r/min r/min
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
With brake
A (0-p)
Without brake kg • m
2 kg • m
2
Applicable load inertia
Torque constant *
1
−
N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s ms Mechanical time constant
Without brake
With brake
Electrical time constant
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
With brake ms ms
N
N kg kg
Radiator plate dimensions
(material)
Applicable drives (R88D-)
K90010F
K90010C
900
8.59
400 VAC
K2K010F
K2K010C
2,000
19.1
1,000
2,000
K3K010F
K3K010C
3,000
28.7
19.3
3.8
47.7
8.5
71.7
11.3
12
6.70
×10
-4
7.99
×10
-4
1.72
110
92.4
0.66
0.79
11
686
196
Approx. 6.7
Approx. 8.2
270
× 260 × t15 (AI)
KN15F-ML2
30
30.3
×10
-4
31.4
×10
-4
10 times the rotor inertia max. *
2
1.76
120
116
0.76
0.78
18
1176
490
Approx. 14.0
Approx. 17.5
470
KN30F-ML2
40
48.4
×10
-4
49.2
×10
-4
1.92
170
167
0.61
0.62
22
1470
490
Approx. 20.0
Approx. 23.5
× 440 × t30 (AI)
KN50F-ML2
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-3 Servomotor Specifications
Model (R88M-)
K90010F
400 VAC
K2K010F K3K010F
Item
Brake inertia
Excitation voltage *
4
Unit
kg • m
2
V
K90010C
1.35
×10
-4
K2K010C
4.7
×10
-4
24 VDC ± 10%
K3K010C
4.7
×10
-4
Power consumption
(at 20 °C)
Current consumption
(at 20
°C)
Static friction torque
Attraction time *
5
Release time *
5
W
A
N • m ms ms
0.79
19
±10%
13.7 min.
100 max.
50 max. *
6
1.3
31
±10%
24.5 min.
80 max.
25 max. *
7
±1°
1.4
34
±10%
58.8 min.
150 max.
50 max. *
7
Backlash
Allowable work per braking
Allowable total work
J 1176 1372 1372
J 1.5
×10
6
2.9
×10
6
2.9
×10
6
Allowable angular acceleration rad/s
2
10,000
Brake limit
Rating
Insulation class
−
−
−
10 million times min.
Continuous
Type F
*1. These are the values when the motor is combined with a drive at normal temperature (20
°C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (LR/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
*7. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-3 Servomotor Specifications
Torque-Rotation Speed Characteristics for 1,000-r/min Motors
1,000-r/min motor (200/400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K90010H/T/F/C
(900 W)
(N • m)
20
19.3
Power supply voltage dropped by 10%
(1600)
19.3 (1800)
10
Momentary operation range
8.59
8.59
14.0
Continuous operation range
8.0
4.3
(2 kW)
(N • m)
50
47.7
Power supply voltage dropped by 10%
(1400)
47.7 (1600)
25
Momentary operation range
28.0
19.1
19.1
Continuous operation range
18.0
9.6
(3 kW)
(N • m)
71.7
70
Power supply voltage dropped by 10%
(1400) 71.7 (1600)
Momentary operation range
35
28.7
28.7
40.0
Continuous operation range
20.0
14.0
0 1000 2000 (r/min) 0 1000 2000 (r/min)
0 1000 2000 (r/min)
Note:The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
3
Temperature Characteristics of the Motor and Mechanical System
OMNUC G5-Series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approx. -0.13%/ ° C.
As the temperature drops, the motor's momentary maximum torque increases, and as the temperature rises, the motor's momentary maximum torque decreases.
The momentary maximum torque rises by 4% at a normal temperature of 20 ° C compared to a temperature of -10 ° C. Conversely, the momentary maximum torque decreases about 8% when the magnet warms up to 80 ° C from the normal temperature.
Generally, when the temperature drops in a mechanical system, the friction torque and the load torque increase. For that reason, overloading may occur at low temperatures.
In particular, in systems that use a Decelerator, the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures.
Check whether overloading may occur during starting at low temperature.
Also check to see whether abnormal motor overheating or alarms occur at high temperatures.
An increase in load friction torque seemingly increases load inertia.
Therefore, even if the drive gains are adjusted at a normal temperature, the motor may not operate properly at low temperatures. Check to see whether there is optimal operation even at low temperatures.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-3 Servomotor Specifications
3
Encoder Specifications
Incremental Encoder Specifications
Item
Encoder system Optical encoder
Specifications
Number of output pulses
Output signals
Output interface
20 bits
Phases A and B: 262,144 pulses/rotation
Phase Z:
Power supply voltage 5 VDC ± 5%
Power supply current 180 mA (max.)
+S, −S
1 pulse/rotation
RS485 compliance
Absolute Encoder Specifications
Item
Encoder system Optical encoder
17 bits
Specifications
Number of output pulses
Phases A and B: 32,768 pulses/rotation
Phase Z: 1 pulse/rotation
Maximum rotations
−32,768 to +32,767 rotations
Power supply voltage
5 VDC ± 5%
Power supply current 110 mA (max.)
3.6 VDC Applicable battery voltage
Current consumption of battery
Output signals
Output interface
265
100
μA (for a maximum of 5 s right after power interruption)
μA (for operation during power interruption)
3.6
μA (when power is supplied to the drive)
+S, −S
RS485 compliance
Note: Multi-rotation Data Backup
The multi-rotation data will be lost if the battery cable connector is disconnected at the motor when connecting the battery cable for the absolute encoder and battery.
If you do not use an absolute encoder battery cable and connect the battery to CN1, the multi-rotation data will be lost if CN2 is disconnected.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
3-4 Cable and Connector Specifications
This section specifies the cables and connectors that are used to connect the Servo Drive and the Servomotor. Select ones in accordance with the Servomotor specifications.
Encoder Cable Specifications
These cables are used to connect the encoder between a drive and a motor. Select the cable matching the motor. All cables and motors listed are flexible, shielded and have IP67 protection.
Encoder Cables (Flexible Cables)
R88A-CRKAxCR-E
Cable types
(For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min motors of 50 to 750 W)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CRKA001-5CR-E
R88A-CRKA003CR-E
R88A-CRKA005CR-E
R88A-CRKA010CR-E
R88A-CRKA015CR-E
R88A-CRKA020CR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
Connection configuration and external dimensions
6.9 dia.
Approx. 0.1 kg
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.6 kg
Approx. 0.8 kg
L
Drive side
R88D-Kx
Motor side
R88M-Kx
3
Wiring
Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
[Drive side connector]
Connector model
55100-0670 (Molex Japan)
Cable
0.34 mm
2
× 2C + 0.22 mm
2
× 2P or
AWG22
× 2C + AWG24 × 2P
Motor side
Number
6
3
Symbol
E5V
5
2
7
4
1
E0V
BAT
+
BAT
−
S
+
S
−
FG
[Motor side connector]
Angle clamp model
JN6FR07SM1 (Japan Aviation Electronics)
Connector pin model
LY10-C1-A1-1000 (Japan Aviation Electronics)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-4 Cable and Connector Specifications
R88A-CRKCxNR
Cable types
(For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min motors of 1 kW or more, [400 V] 3,000-r/min motors, 2,000-r/min motors and 1,000-r/min motors)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CRKC001-5NR-E
R88A-CRKC003NR-E
R88A-CRKC005NR-E
R88A-CRKC010NR-E
R88A-CRKC015NR-E
R88A-CRKC020NR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
Connection configuration and external dimensions
L
7.6 dia.
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.7 kg
Approx. 1.1 kg
Approx. 1.5 kg
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
[Drive side connector]
Connector model
55100-0670 (Molex Japan)
Cable
1 mm
2 × 2C + 0.22 mm 2 × 2P or
AWG17
× 2C + AWG24 × 2P
Motor side
Number
4
1
6
5
3
7
9
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
[Motor side connector]
Straight plug model
JN2DS10SL2-R (Japan Aviation Electronics)
Contact model
JN1-22-22S-10000 (Japan Aviation Electronics)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
Absolute Encoder Battery Cable Specifications
Use the following Cable when using an absolute encoder.
Cable Model
Model
R88A-CRGD0R3C
R88A-CRGD0R3C-BS
Length (L)
0.3 m
0.3 m
Battery
Not included
R88A-BAT01G 1 included
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Connection Configuration and External Dimensions
43.5
90 ±5
300
110
43.5
Servo Drive side
R88D-K
@
-ML2 t=12 t=27.2
Battery holder t=12
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
Connector plug:
55100-0670 (Molex Japan)
Battery holder
Symbol
BAT
+
BAT
−
Number
1
2
Servomotor side
R88M-K
@
Servomotor side
Number
1
2
3
4
5
6
Shell
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Connector socket:
54280-0609 (Molex Japan)
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3-4 Cable and Connector Specifications
3
Motor Power Cable Specifications
These cables connect the drive and motor. Select the cable matching the motor.
All cables and connectors listed are flexible, shielded and have IP67 protection.
Power Cables without Brakes (Flexible Cables)
R88A-CAKAxSR-E
Cable types
[100 V and 200 V] (For 3,000-r/min motors of 50 to 750 W)
Model Length (L)
Outer diameter of sheath
R88A-CAKA001-5SR-E
R88A-CAKA003SR-E
R88A-CAKA005SR-E
R88A-CAKA010SR-E
R88A-CAKA015SR-E
R88A-CAKA020SR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
6.7 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.5 kg
Approx. 0.7 kg
Approx. 1.0 kg
Connection configuration and external dimensions
(50)
L
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
M4 crimp terminal
Red
White
Blue
Green/Yellow
Cable
0.5 mm
2
× 4C or AWG20 × 4C
Motor side
Number Symbol
1
2
Phase U
Phase V
3
4
Phase W
FG
[Motor side connector]
Angle plug model
JN8FT04SJ1 (Japan Aviation Electronics)
Connector pin model
ST-TMH-S-C1B-3500-A534G (Japan Aviation Electronics)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
R88A-CAGBxSR-E
Cable types
200 V:
(For 3,000-r/min motors of 1 to 2 kW, 2,000-r/min motors of 1 to 2 kW, 1,000-r/min motors of 900 W)
400 V:
(For 3,000-r/min motors of 750W to 2 kW, 2,000-r/min motors of 400 W to 2 kW, 1,000-r/min motors of 900 W)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CAGB001-5SR-E
R88A-CAGB003SR-E
R88A-CAGB005SR-E
R88A-CAGB010SR-E
R88A-CAGB015SR-E
R88A-CAGB020SR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
12.7 dia.
Approx. 0.5 kg
Approx. 0.8 kg
Approx. 1.3 kg
Approx. 2.4 kg
Approx. 3.5 kg
Approx. 4.6 kg
3
Connection configuration and external dimensions
(70)
L
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
Cable
2.5 mm
2
× 4C or AWG14 × 4C
Motor side
Number Symbol
C
D
A
B
Phase U
Phase V
Phase W
FG
[Motor side connector]
Right angle plug model
N/MS3108B20-4S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
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3
3-4 Cable and Connector Specifications
R88A-CAGDxSR-E
Cable types
(For 3,000-r/min motors of 3 to 5 kW, 2,000-r/min motors of 3 to 5 kW, 1,000-r/min motors of
2 to 3 kW)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CAGD001-5SR-E
R88A-CAGD003SR-E
R88A-CAGD005SR-E
R88A-CAGD010SR-E
R88A-CAGD015SR-E
R88A-CAGD020SR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
13.2 dia.
Approx. 0.8 kg
Approx. 1.4 kg
Approx. 2.2 kg
Approx. 4.2 kg
Approx. 6.3 kg
Approx. 8.3 kg
Connection configuration and external dimensions
(70)
L
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
Black-1
Black-2
Black-3
Green/Yellow
M5 crimp terminal
Cable
4 mm
2 × 4C or AWG11 × 4C
Motor side
Number Symbol
A
B
C
Phase U
Phase V
Phase W
D FG
[Motor side connector]
Right angle plug model
N/MS3108B22-22S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
Power Cables with Brakes (Flexible Cables)
R88A-CAGBxBR-E
Cable types
200 V:
(For 3,000-r/min motors of 1 to 2 kW, 2,000-r/min motors of 1 to 2 kW, 1,000-r/min motors of
900 W)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CAGB001-5BR-E
R88A-CAGB003BR-E
R88A-CAGB005BR-E
R88A-CAGB010BR-E
R88A-CAGB015BR-E
R88A-CAGB020BR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
12.5 dia.
Approx. 0.5 kg
Approx. 0.9 kg
Approx. 1.5 kg
Approx. 2.8 kg
Approx. 4.2 kg
Approx. 5.5 kg
3
Connection configuration and external dimensions
(150)
L
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
2.5
2.5
2.5
2.5
Cable
2.5 mm
2 × 4C + 0.5 mm 2 × 2C
or
AWG14
× 4C + AWG20 × 2C
Motor side
Number Symbol
G Brake
B
E
D
F
I
H
A
C
Brake
NC
Phase U
Phase V
Phase W
FG
FG
NC
[Motor side connector]
Right angle plug model
N/MS3108B20-18S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
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3
3-4 Cable and Connector Specifications
R88A-CAKFxBR-E
Cable types
400 V:
(For 3,000-r/min motors of 750W to 2 kW, 2,000-r/min motors of 400 W to 2 kW, 1,000-r/min motors of 900 W)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CAKF001-5BR-E
R88A-CAKF003BR-E
R88A-CAKF005BR-E
R88A-CAKF010BR-E
R88A-CAKF015BR-E
R88A-CAKF020BR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
12.5 dia.
Approx. 0.6 kg
Approx. 1.0 kg
Approx. 1.5 kg
Approx. 2.7 kg
Approx. 4.0 kg
Approx. 5.3 kg
Connection configuration and external dimensions
(150)
L
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
2.5
2.5
2.5
2.5
Cable
2.5 mm
2 × 4C + 0.5 mm 2 × 2C
or
AWG14
× 4C + AWG20 × 2C
E
F
G
A
B
I
D
Motor side
Number Symbol
H
C
Brake
Brake
NC
Phase U
Phase V
Phase W
FG
FG
NC
[Motor side connector]
Right angle plug model
N/MS3108B24-11S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-16A (Japan Aviation Electronics)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
R88A-CAGDxBR-E
Cable types
(For 3,000-r/min motors of 3 to 5 kW, 2,000-r/min motors of 3 to 5 kW, 1,000-r/min motors of
2 to 3 kW)
Model Length (L)
Outer diameter of sheath
Weight
R88A-CAGD001-5BR-E
R88A-CAGD003BR-E
R88A-CAGD005BR-E
R88A-CAGD010BR-E
R88A-CAGD015BR-E
R88A-CAGD020BR-E
1.5 m
3 m
5 m
10 m
15 m
20 m
13.5 dia.
Approx. 0.9 kg
Approx. 1.6 kg
Approx. 2.5 kg
Approx. 4.7 kg
Approx. 7.0 kg
Approx. 9.2 kg
3
Connection configuration and external dimensions
(150)
L
Drive side
R88D-Kx
Motor side
R88M-Kx
Wiring
Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
4
4
4
4
Cable
4 mm
2 × 4C + 0.5 mm 2 × 2C
or
AWG11
× 4C + AWG20 × 2C
Motor side
Number Symbol
A
B
Brake
Brake
E
F
I
D
NC
Phase U
Phase V
Phase W
G
H
C
FG
FG
NC
[Motor side connector]
Right angle plug model
N/MS3108B24-11S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-16A (Japan Aviation Electronics)
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3-4 Cable and Connector Specifications
3
Connector Specifications
Control I/O Connector (R88A-CNW01C)
This is the connector to be connected to the drive's control I/O connector (CN1).
Use this connector when preparing a control cable by yourself.
Dimensions
39
Connector plug model
10150-3000PE (Sumitomo 3M)
Connector case model
10350-52A0-008 (Sumitomo 3M) t = 18
Encoder Connectors
These connectors are used for encoder cables.
Use them when preparing an encoder cable by yourself.
Dimensions
R88A-CNW01R (Drive's CN2 side)
This connector is a soldering type.
Use the following cable.
Applicable wire: AWG16 max.
Insulating cover outer diameter: 2.1 mm dia. max.
Outer diameter of sheath: 6.7
± 0.5 mm dia.
43.5
Connector plug model
55100-0670 (Molex Japan) t = 12
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
R88A-CNK02R (motor side)
Use the following cable.
ABS
Applicable wire: AWG22 max.
Insulating cover outer diameter: 1.3 mm dia. max.
Outer diameter of sheath: 5
± 0.5 mm dia.
Adaptive motors
100-V, 3,000-r/min motors of 50 to 400 W
200-V, 3,000-r/min motors of 50 to 750 W
12.5
8
11
21.5
Angle clamp model JN6FR07SM1
(Japan Aviation Electronics)
Connector pin model LY10-C1-A1-10000
(Japan Aviation Electronics)
R88A-CNK04R (motor side)
Use the following cable.
ABS
Applicable wire: AWG20 max.
Outer diameter of sheath: 6.5 to 8.0 dia.
The cable direction from the angle plug can be reversed.
3
Adaptive motors
200-V, 3,000-r/min motors of 1.0 to 5.0 kW
200-V, 2,000-r/min motors of all capacities
200-V, 1,000-r/min motors of all capacities
400-V, 3,000-r/min motors of all capacities
400-V, 2,000-r/min motors of all capacities
400-V, 1,000-r/min motors of all capacities
7
3 1
4
10
J A E
8
Straight plug model JN2DS10SL2-R
(Japan Aviation Electronics)
Contact model JN1-22-22S-PKG100
(Japan Aviation Electronics)
MAX
52
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3-68
3-4 Cable and Connector Specifications
Power Cable Connector (R88A-CNK11A)
This connector is used for power cables.
Use it when preparing a power cable by yourself.
R5.5
17.6
12
14.7
11
3
28.8
Angle plug model JN8FT04SJ1
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
The cable direction from the angle plug can be reversed.
Note. If you reverse the direction, you cannot attach the Connector to
Servomotors of 50 W and 100 W.
Brake Cable Connector (R88A-CNK11B)
This connector is used for brake cables.
Use it when preparing a brake cable by yourself.
29.6
17
12.3
12.7
R6
R4
Angle plug model JN4FT02SJ1-R
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
The cable direction from the angle plug can be reversed.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
Analog Monitor Cable Specifications
Analog Monitor Cable (R88A-CMK001S)
Connection configuration and external dimensions
Symbol
AM1
AM2
GND
No.
1
2
3
4
5
6
Red
White
Black
Cable: AWG24
× 3C UL1007
Connector housing: 51004-0600 (Molex Japan)
Connector terminal: 50011-8000 (Molex Japan)
1 m
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-4 Cable and Connector Specifications
External Encoder Connector (R88A-CNK41L)
Use this connector to connect to an external encoder in full closing control.
(42.5)
13.6
10.4
(10.5)
7.2
Connector plug model
MUF-PK10K-X (J.S.T. Mfg. Co., Ltd.)
Safety I/O Signal Connector (R88A-CNK81S)
Use this connector to connect to safety devices.
11
33
2
1
4
3
6
5
8
7
Note:For information on wiring, refer to "Safety Connector Specifications (CN8)"(P.3-30).
φ6.7
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
MECHATROLINK-II Communications Cable Specifications
The MECHATROLINK-II Communications Cable is equipped with a connector on each end and a core.
Cable Types
MECHATROLINK-II Communications
Cable
Name Model
FNY-W6003-A5
FNY-W6003-01
FNY-W6003-03
FNY-W6003-05
FNY-W6003-10
FNY-W6003-20
FNY-W6003-30
MECHATROLINK-II Terminating Resistor FNY-W6022
Length (L)
0.5 m
1 m
3 m
5 m
10 m
20 m
30 m
−
3
Connection Configuration and Dimensions
MECHATROLINK-II Communications Cable
L
Core
MECHATROLINK-II Terminating Resistor
(8)
46
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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3
3-4 Cable and Connector Specifications
Wiring
This is an example to connect a host controller and the Servo Drive by the MECHATROLINK-
II Communications Cable.
NC Unit
AB
CDE
L1 L2 Ln
Terminating
Resistor
Note 1.The cable between the two nodes (L1, L2 ... or Ln) must be 0.5 m or longer.
Note 2.The total length of the cable (L1
+ L2 + ... Ln) must be equal to or shorter than 50 m.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
Control Cable Specifications
Cables for Servo Drives (XW2Z-xJ-B34)
These are the cables to connect to the connector terminal blocks for the G5-series Servo
Drives (Built-in MECHATROLINK-II Communications type).
Cable Types
Model
XW2Z-100J-B34
XW2Z-200J-B34
Length (L)
1 m
2 m
Outer diameter of sheath
8.8 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
3
Connection Configuration and Dimensions
6 L
Connector-
Terminal Block
Conversion Unit
XW2B-20G4
XW2B-20G5
XW2D-20G6
39
Servo Drive
R88D- KNx t = 14
Wiring
Terminal block connector
Signal
+24 V
0 V
+24 V
0 V
+24 V
0 V
STOP
DEC
POT
NOT
EXT3
EXT2
EXT1
BATGND
BAT
BKIRCOM
BKIR
ALMCOM
ALM
FG
11
12
13
14
7
8
9
10
5
6
3
4
No.
1
2
15
16
17
18
19
20
* Before you use, confirm that the signals of Servo
Drive connector are set as shown above.
Servo Drive connector (CN1)
No.
6
Signal
+24 VIN
15
14
2
1
4
3
Shell
8
10
11
12
5
9
7
STOP
DEC
POT
NOT
EXT3
EXT2
EXT1
BATGND
BAT
BKIRCOM
BKIR
ALMCOM
ALM
FG
[Servo Drive Connector]
Connector plug:
10126-3000PE (Sumitomo 3M)
Connector case:
10326-52A0-008 (Sumitomo 3M)
[Terminal Block Connector]
Connector socket:
XG4M-2030 (OMRON)
Strain relief:
XG4T-2004 (OMRON)
[Cable]
AWG28
× 3P + AWG28 × 8C UL2464
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3
3-4 Cable and Connector Specifications
Connector-Terminal Block Conversion Unit (XW2B-20Gx)
The Unit is used with a Connector Terminal Block Cable (XW2Z-xJ-B34). They convert the control input signal (CN1) of the G5-series Servo Drive into a terminal block.
Terminal Block Models
Model
XW2B-20G4
XW2B-20G5
XW2D-20G6
XW2B-20G4
Description
M3 screw terminal block
M3.5 screw terminal block
M3 screw terminal block
Dimensions
3.5
Flat cable connector (MIL type plug)
67.5
3.5
2
1
1
2
20
19
19
20
2-
φ
3.5
Terminal block
5.08
Precautions for Correct Use
Use 0.3 to 1.25 mm
2
wire (AWG22 to 16).
The wire inlet is 1.8 mm (height)
× 2.5 mm (width).
Strip the insulation from the end of the wire for 6 mm as shown below.
6 mm
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
XW2B-20G5
3-4 Cable and Connector Specifications
2-
φ
3.5
Dimensions
3.5
7
1
2
2
1
112.5
20
19
Flat cable connector
(MIL type plug)
3.5
7
19
20
8.5
7.3
Terminal block
3
Note The pitch of terminals is 8.5 mm.
Precautions for Correct Use
When using crimp terminals, use crimp terminals with the following dimensions.
Fork terminal
Round terminal
φ3.7 mm
6.8mm max.
3.7 mm 6.8mm max.
Applicable crimp terminals
Round terminals
Fork terminals
1.25
−3
2 −3.5
1.25Y
−3
2 −3.5
Applicable wires
AWG22
−16 (0.30 to 1.25 mm
2
)
AWG16 −14 (1.25 to 2.0 mm
2
)
AWG22
−16 (0.30 to 1.25 mm
2
)
AWG16 −14 (1.25 to 2.0 mm
2
)
When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.59 N•m.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-76
3-4 Cable and Connector Specifications
XW2D-20G6
3
Dimensions
79
57
2-
φ4.5
(39.1)
17.6
39
Precautions for Correct Use
When using crimp terminals, use crimp terminals with the following dimensions.
Fork terminal Round terminal
φ3.2mm
5.8 mm max.
3.2 mm 5.8 mm max.
Applicable crimp terminals
Round terminals
Fork terminals
1.25
−3
1.25Y
−3
Applicable wires
AWG22 −16 (0.30 to 1.25 mm
2
)
AWG22
−16 (0.30 to 1.25mm
2
)
When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N•m.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-4 Cable and Connector Specifications
Terminal Block Wiring Example
The example is common for XW2B-20G4, -20G5, and XW2D-20G6.
+24 V
0 V
+24 V +24 V
0 V 0 V
STOP
DEC
POT
NOT
EXT3 EXT1 BAT
*1
BKIR ALM
EXT2 BATGND BKIRCOM ALMCOM FG
*2
XB
*3
X1
24 VDC 24 VDC
*1. Assign the brake interlock output (BKIR) to CN1-1 pin.
*2. This is the absolute encoder backup battery of 2.8 to 4.5 V. Secure the battery in place by cable clips with double-sided adhesive tape. Connect the battery to either the connector terminal block or the absolute encoder backup battery cable (with a battery). The absolute encoder backup battery is not required when the Servomotor is equipped with an incremental encoder.
*3. The XB contact is used to turn ON/OFF the electromagnetic brake.
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-78
3-5 External Regeneration Resistor Specifications
3-5 External Regeneration Resistor
Specifications
3
External Regeneration Resistor Specifications
R88A-RR08050S
Model
R88A-
RR08050S
Resistance value
50 Ω
Nominal capacity
Regeneration absorption for 120
°C
temperature rise
Heat radiation condition
80 W 20 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature
150 °C ± 5% NC contact
Rated output (resistive load):
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
R88A-RR080100S
Model
R88A-
RR080100S
Resistance value
100 Ω
Nominal capacity
Regeneration absorption for 120
°C
temperature rise
Heat radiation condition
80 W 20 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature
150 °C ± 5% NC contact
Rated output (resistive load):
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
R88A-RR22047S1
Model
R88A-
RR22047S1
Resistance value
47 Ω
Nominal capacity
Regeneration absorption for 120
°C
temperature rise
Heat radiation condition
220 W 70 W
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150 °C ± 5°C
NC contact
Rated output
(resistiveload): 250 VAC,
0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-5 External Regeneration Resistor Specifications
R88A-RR50020S
Model
R88A-
RR50020S
Resistance value
20
Ω
Nominal capacity
Regeneration absorption for 120
°C
temperature rise
Heat radiation condition
500 W 180 W
Thermal switch output specifications
Aluminum
600
× 600,
Thickness: 3.0
Operating temperature
200
°C ± 7°C
NC contact
Rated output (resistive load):
250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3-80
3-6 Reactor Filter Specifications
3-6 Reactor Filter Specifications
Use reactors to suppress harmonic currents. Connect it to a Servo Drive. Select the proper reactor model according to the Servo Drive to be used.
3
Specifications
Servo Drive
Model
Number of power phases
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
Singlephase
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
3-phase
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-DL2015
3G3AX-DL2002
3G3AX-AL2025
3G3AX-DL2004
3G3AX-AL2025
3G3AX-DL2007
3G3AX-AL2025
3G3AX-DL2015
3G3AX-AL2025
3G3AX-DL2015
3G3AX-AL2025
3G3AX-DL2022
3G3AX-AL2025
3G3AX-AL2055
3G3AX-AL2110
3G3AX-AL4025
3G3AX-AL4055
3G3AX-AL4110
9.3 A
10.0 A
9.3 A
10.0 A
13.8 A
10.0 A
Reactor
Rated current
1.6 A
3.2 A
6.1 A
9.3 A
1.6 A
10.0 A
Inductance
21.4 mH
10.7 mH
6.75 mH
3.51 mH
21.4 mH
2.8 mH
3.2 A
10.0 A
6.1 A
10.0 A
10.7 mH
2.8 mH
6.75 mH
2.8 mH
3.51 mH
2.8 mH
3.51 mH
2.8 mH
2.51 mH
2.8 mH
Weight
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.3 kg
Approx. 1.6 kg
Approx. 0.8 kg
Approx. 2.8 kg
Approx. 1.0 kg
Approx. 2.8 kg
Approx. 1.3 kg
Approx. 2.8 kg
Approx. 1.6 kg
Approx. 2.8 kg
Approx. 1.6 kg
Approx. 2.8 kg
Approx. 2.1 kg
Approx. 2.8 kg
20.0 A 0.88 mH Approx. 4.0 kg
37.0 A
6.0 A
10.0 A
20.0 A
0.35 mH
7.7 mH
3.5 mH
1.3 mH
Approx. 5.0 kg
Approx. 2.7 kg
Approx. 4.0 kg
Approx. 6.0 kg
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3-7 MECHATROLINK-II Repeater Unit Specifications
3-7 MECHATROLINK-II Repeater Unit Specifications
The MECHATROLINK-II Repeater Units are necessary to extend the MECHATROLINK-II connection distance.
Specifications
FNY-REP2000
Item
Cable length
Maximum number of connectable node
Description
Between a Controller and a Repeater Unit: 50 m max
Between a Repeater Unit and a Terminating Resistor: 50 m max
Between a Controller and a Repeater Unit: 14 nodes in every 50 m, or 15 nodes in every 30 m,
Between a Repeater Unit and a Terminating Resistor: 15 nodes in every 50 m, or
16 nodes in every 30 m
The total number of Servo Drives in upstream and downstream of a Repeater Unit must not exceed the maximum number of nodes connectable to a
MECHATROLINK-II Communication Unit.
When the CS1W- or CJ1W-NCF71 Controller is used, the maximum number of connectable nodes is 16.
3 indicators (Power, CN1: transmitting, and CN2: communicating) LED Indicator
Power supply current
External power supply
Weight
180 mA max
24 VDC (
0.5 kg
± 4.8 V), 100 mA
3
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3-7 MECHATROLINK-II Repeater Unit Specifications
3
Repeater Unit Part Names
Power-on LED (POWER)
CN1: transmitting (TX1)
CN2: communicating (TX2)
DIP switches (SW)
* Keep all pins off while use.
MECHATROLINK-II communications connector
(CN1 and CN2)
Control power terminal (24-VDC and 0-VDC)
Protective ground terminal
Connection Method
This is an example to connect a Host Controller, a Repeater Unit and plural Servo Drives.
NCF71
MLK
9A
BC
RUN
ERC
ERH
ERM
UNIT
No.
MLK
ML2
A/B
ML2
A/B
MECHATROLINK-II
ML2
A/B
ML2
A/B
ML2
A/B
ML2
A/B
MECHATROLINK-II
ML2
A/B
ML2
A/B
3-83
15 nodes max for less than 30-m distance
14 nodes max for a 30- to 50-m distance
16 nodes max for less than 30-m distance
15 nodes max for a 30- to 50-m distance
100 m max, equal to the maximum number of nodes connectable to a Controller
(16 max for CJ1W- or CS1W-NCF71)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
System Design
This chapter explains the installation conditions, wiring methods including wiring conforming to EMC directives and regenerative energy calculation methods regarding the Servo Drive, Servomotor, as well as the performance of External
Regeneration Resistors, and so on.
4
4-1 Installation Conditions .................................................4-1
4-2 Wiring.............................................................................4-7
4-3 Wiring Conforming to EMC Directives......................4-21
4-4 Regenerative Energy Absorption..............................4-45
4-5 Large Load Inertia Adjustment and Dynamic
Brake............................................................................4-52
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-1 Installation Conditions
4-1 Installation Conditions
4
Servo Drive Installation Conditions
Dimension Conditions around Equipment
Install drives according to the dimensions shown in the following illustration to ensure proper heat dispersion inside the drive and convection inside the panel. If the drives are installed side by side, install a fan for air circulation to prevent uneven temperatures inside the panel.
100 mm or more
Air
Fan Fan
Drive
A
40 mm or more
Drive
B
W W
W = 10 mm or more
Drive
C
100 mm or more Air
Side
Servo Drives of 100 V or 200 V with a capacity of 750 W max. can be installed side by side with a 1-mm clearance (W in above illustration). For ambient temperature requirements, refer to
Environment Operating Conditions below.
If the mounting surface of the Servo Drive is coated, remove the coating to allow electrical conduction. If you make your own mounting bracket, we recommend that you apply electrically conductive plating.
Mounting Direction
Mount the drives in a direction (perpendicular) so that the model number can be seen properly.
Environment Operating Conditions
The environment in which drives are operated must meet the following conditions. Drives may malfunction if operated under any other conditions.
Operating ambient temperature: 0 to
+55°C (Take into account temperature rises in the following individual drives themselves.)
Operating humidity: 90% RH max. (with no condensation)
Operating atmosphere: No corrosive gases.
Altitude: 1,000 m max.
For Servo Drives of 100 V or 200 V with a capacity of 750 W max., the specifications for operating ambient temperature depend on the Servo Drive (A, B, and C) when the clearance between Servo
Drives is 1 mm.
Drive A
Drive B
Drive C
: 0 to 50
°C
: 0 to 40 °C
: 0 to 45
°C
4-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-1 Installation Conditions
Ambient Temperature Control
To operate in environments in which there is minimal temperature rise is recommended to maintain a high level of reliability.
When the drive is installed in a closed space, such as a box, ambient temperature may rise due to temperature rise in each unit. Use a fan or air conditioner to prevent the drive's ambient temperature from exceeding 55
°C.
Drive surface temperatures may rise to as much as 30
°C above the ambient temperature. Use heat-resistant materials for wiring, and keep its distance from any devices or wiring that are sensitive to heat.
The service life of a Servo Drive is largely determined by the ambient temperature around the internal electrolytic capacitors. When an electrolytic capacitor reaches its limit, electrostatic capacity drops and internal resistance increases. This leads to overvoltage alarms, malfunctioning due to noise, and damage to individual elements.
If a drive is always operated at the ambient temperature of 55
°C and with 100% output of the rated torque and rated rotation speed, its limit is expected to be approx. 28,000 hours (excluding the axial-flow fan). A drop of 10
°C in the ambient temperature will double the expected limit for drive.
4
Keeping Foreign Objects Out of Units
Place a cover over the drive or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the drive during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, drive's heat dissipation is blocked, which may result in malfunction.
Take measures during installation and operation to prevent foreign objects such as metal particles, oil, machining oil, dust, or water from getting inside of drives.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2
4-1 Installation Conditions
4
Servomotor Installation Conditions
4-3
Environment Operating Conditions
The environment in which the motor is operated must meet the following conditions. Operating the motor out of the following ranges may result in malfunction of the motor.
Operating ambient temperature: 0 to +40°C
*1
Operating humidity: 85% RH max. (with no condensation)
Operating atmosphere: No corrosive gases.
*1. The operating ambient temperature is the temperature at a point 5 cm from the motor.
Impact and Load
The motor is resistant to impacts of up to 98 m/s
2
.
Do not apply heavy impacts or loads during transport, installation, or removal of the motor.
When transporting, hold the motor body itself. And do not hold the encoder, cable, or connector areas. Failure to follow this guideline may result in damaging the motor.
Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft.
After assembly, secure cables so that there is no impact or load placed on the cable outlet.
Connecting to Mechanical Systems
For the allowable axial loads for motors,
refer to "Characteristics" (P.3-2). If an axial
load greater than that specified is applied to a motor, it may reduce the limit of the motor bearings and may break the motor shaft.
When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and declination.
For spur gears, an extremely large radial load may be applied depending on the gear precision.
Use spur gears with a high degree of precision
(for example, JIS class 2: normal line pitch error of 6
μm max. for a pitch circle diameter of 50 mm).
If the gear precision is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft.
When using bevel gears, a load is 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 a thrust load larger than the specified level is not applied.
Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may crack under the tightening force.
Motor center line
Backlash
Set a movable structure.
Ball screw center line
Set a structure in which the distance between axes can be adjusted.
Bevel gear
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-1 Installation Conditions
When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.
A radial load twice as large as the belt tension can be placed on the motor shaft. Do not allow the allowable radial load or more to be placed on the motor shaft. If an excessive radial load is applied, the motor shaft and bearings may be damaged.
Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted.
Pulley
Tension adjustment (Set a movable structure.)
Belt
Tension
Water and Drip Resistance
The protective structure for the motors is as follows.
Equivalent to IP67 (except for through-shaft parts and motor connector pins and encoder connector pins)
4
Oil-water Measures
Use the Servomotor with oil seal if you are using it in an environment where oil drops can attach to the through-shaft part. The operating conditions of the Servomotor with oil seal are as follows.
Place the oil level below the lip of the oil seal.
Prepare a good lubricated condition under which oil droplets splash on the oil seal.
If you are using the Servomotor with the axis in upward direction, make sure that no oil accumulates on the lip of the oil seal.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-4
4-1 Installation Conditions
Radiator Plate Installation Conditions
When you mount a Servomotor onto a small device, be sure to provide enough radiation space on the mounting area. Otherwise the Servomotor temperature rises too high to break. One of the preventive measures is to install a radiator plate between the motor attachment area and the
motor flange. (See below) Refer to the "Servomotor Specifications" (P.3-33) for the radiator plate
specifications.
Radiator plate
4
The temperature rise differs by the mounting part materials and the installation environment.
Check the actual rise by using a real Servomotor.
Depending on the environment, such as when the Servomotor is installed near a heating element, the Servomotor temperature may rise significantly. In this case, take any of the following measures.
• Lower the load ratio.
• Review the heat radiation conditions of the Servomotor.
• Install a cooling fan and apply forced air cooling to the Servomotor.
Other Precautions
Take measures to protect the motor shaft from corrosion. The motor shafts are coated with anticorrosion oil when shipped, but anti-corrosion oil or grease should also be applied when connecting the components which apply load to the shaft.
Caution
Do not apply the commercial power supply
directly to the motor. Failure to follow this guideline may result in fire occurring.
Never repair the product by disassembling it. Failure to follow this guideline may result in electric shock or injury.
4-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-1 Installation Conditions
Decelerator Installation Conditions
Using Another Company's Decelerator (Reference)
If the system configuration requires another company's decelerator to be used in combination with an OMNUC G5-Series motor, select the decelerator so that the load on the motor shaft
(i.e., both the radial and thrust loads) is within the allowable range. (Refer to "Characteristics"
(P.3-2) for details on the allowable loads for the motors.)
Also, select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-6
4
4-2 Wiring
4-2 Wiring
Peripheral Equipment Connection Examples
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2
R88D-KN01H-ML2/-KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2 (Single-phase Input)
R T
Single-phase 100 to 120 VAC, 50/60Hz: R88D-KNxxL-ML2
Single-phase 200 to 240 VAC, 50/60Hz: R88D-KNxxH-ML2
NFB
Main circuit power supply
OFF ON
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
OMNUC G5-Series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
1
E NF
3
2
4
Ground to 100
Ω or less
Regeneration
Resistor
(*5)
(*4)
CNA
L1
L3
CNB
B1
B3
X
B2
CN1
3 /ALM
24 VDC
X
V
W
CN2
4 ALMCOM
CN1
OUTM1
(BKIR)
1
CN1
OUTM1
COM
2
User-side control device
CNB
U
DC24V
Control cables
Ground to 100 or less
Ω
Encoder cables
M
E
XB
(*2)
*1. A recommended product is listed in 4-3, Wiring
Confirming to EMC Directives.
*2. Recommended relay: MY relay by OMRON (24-V type)
24 VDC
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type (KN04L-ML2,
KN08H-ML2, KN10H-ML2 and KN15H-ML2) shorts B2 and B3. When the amount of regeneration is large, remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2.
*5. There is no Internal Regeneration Resistor for
KNA5L-ML2 to KN02L-ML2, and KN01H-ML2 to
KN04H-ML2. When the amount of regeneration is large, connect the necessary Regeneration Resistor between
B1 and B2.
4-7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2 Wiring
R88D-KN01H-ML2/-KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2 (3-phase Input)
R S T
3-phase 100 to 120 VAC, 50/60 Hz: R88D-KNxxL-ML2
3-phase 200 to 240 VAC, 50/60 Hz: R88D-KNxxH-ML2
NFB
Main circuit power supply
OFF ON
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
OMNUC G5-Series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
CNA
L1
L2
(*4)
L3
CNB
B1
B3
24 VDC
User-side control device
X
X
CNB
U
V
W
CN2
B2
CN1
3 /ALM
4
CN1
ALMCOM
OUTM1
(BKIR)
CN1
1
OUTM1
COM
2
24 VDC
Control cables
Ground to 100
Ω or less
Encoder cables
M
E
XB
(*2)
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V type) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its
24 VDC rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type
(KN08H-ML2 to KN15H-ML2) shorts B2 and B3. When the amount of regeneration is large, remove the connection between
B2 and B3 and connect the Regeneration
Resistor between B1 and B2.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-8
4
4-2 Wiring
R88D-KN20H-ML2
R S T
3-phase 200 to 240 VAC 50/60Hz
NFB
Main circuit power supply
OFF ON
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
OMNUC G5-Series
AC Servo Drive
CNA
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
1 2 3
E
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
24 VDC
User-side control device
X
CNB
U
V
CNA
L1
L2
W
X
L3
CNC
B1
(*4)
B3
B2
CN1
3 /ALM
CN2
4
CN1
ALMCOM
OUTM1
(BKIR)
CN1
1
OUTM1
COM
2
24 VDC
Control cables
Ground to 100
Ω or less
Encoder cables
M
E
XB
(*2)
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V type) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its
24 VDC rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type
(KN20H-ML2) shorts B2 and B3. When the amount of regeneration is large, remove the connection between B2 and
B3 and connect the Regeneration
Resistor between B1 and B2.
4-9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2 Wiring
R88D-KN30H/-KN50H-ML2
R S T
3-phase 200 to 230VAC 50/60Hz
NFB
Main circuit power supply
OFF ON
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
OMNUC G5-Series
AC Servo Drive
TB1
L1C
L2C
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
1MC
TB1
U
2MC
Noise filter (*1)
E
1 2 3
NF
4 5 6
Ground to 100
Ω or less
Regeneration
Resistor
24 VDC
User-side control device
X
TB1
L1
V
W
L2
X
L3
B1
CN2
(*4)
B3
B2
CN1
3 /ALM
4
CN1
ALMCOM
OUTM1
(BKIR)
CN1
1
OUTM1
COM
2
24 VDC
Control cables
Ground to 100
Ω or less
Encoder cables
M
E
XB
(*2)
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V type) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its
24 VDC rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor built-in type
(KN30H-ML2, KN50H-ML2) connects B2 and B3. When the amount of regeneration is large, remove the connection between
B2 and B3 and connect the Regeneration
Resistor between B1 and B2.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-10
4-2 Wiring
4
R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2
R S T
3-phase 380 to 480 VAC 50/60Hz
NFB
Main circuit power supply
OFF ON
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
24 VDC
OMNUC G5-Series
AC Servo Drive
CNC
24 V
0 V
XB
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
B
2MC
Noise filter (*1)
1 2 3
E NF
4 5 6
Ground to 10
Ω or less
Regeneration
Resistor
CNA
L1
L2
(*4)
L3
CND
B1
B3
24 VDC
User-side control device
X
X
CNB
U
V
W
CN2
B2
CN1
3 /ALM
4
CN1
ALMCOM
OUTM1
(BKIR)
CN1
1
OUTM1
COM
2
24 VDC
Control cables
Ground to 10
Ω or less
Encoder cables
M
E
XB
(*2)
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V type) For example, MY2 relay by OMRON can be used with all
G5-series motors with brakes because its
24 VDC rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Regeneration Resistor buit-in type
(KN06F-ML2 to KN15F-ML2) connects
B2 and B3. When the amount of regeneration is large, connect the necessary Regeneration Resistor between B1 and B2.
4-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2 Wiring
R88D-KN30F-ML2/-KN50F-ML2
R S T
3-phase 380 to 480 VAC 50/60Hz
NFB
Main circuit power supply
OFF
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
2MC
Noise filter (*1)
E
1 2
NF
3
4 5 6
Ground to 10
Ω or less
OMNUC G5-Series
AC Servo Drive
TB2
24 V
24 VDC
0 V
TB1
U
V
W
24 VDC
XB
Regeneration
Resistor
(*4)
TB1
L1
L2
L3
B1
B2
CN2
24 VDC
User-side contro device
X
X
Control cables
CN1
3 /ALM
4
CN1
ALMCOM
OUTM1
(BKIR)
CN1
1
OUTM1
COM
2
Power cables
(*3)
OMNUC G5-Series
AC Servomotor
Ground to 10
Ω or less
Encoder cables
B
M
E
XB
(*2)
24 VDC
*1. A recommended product is listed in 4-3,
Wiring Confirming to EMC Directives.
*2. Recommended relay: MY relay by
OMRON (24-V type)
For example, MY2 relay by OMRON can be used with all G5-Series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. There is no Internal Regeneration
Resistor with KN30F-ML2 and
KN50F-ML2. When the amount of regeneration is large, connect the necessary Regeneration Resistor between B1 and B2.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-12
4-2 Wiring
4
Main Circuit and Motor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2/-KN01H-ML2/
-KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KNxL-ML2
(50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KNxH-ML2
(100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V) 50/
60 Hz
(100 W to 1.5 kW): 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
R88D-KNxL-ML2 :
Single-phase 100 to 120 VAC (85 to 132 V) 50/60Hz
R88D-KNxH-ML2 :
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Motor Connector Specifications (CNB)
Symbol
B1
B2
Name
B3
External Regeneration
Resistor connection terminals
U
V
W
Motor connection terminals
Frame ground
Function
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN01H-ML2
/-KN02H-ML2/-KN04H-ML2:
Normally, do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, connect an External Regeneration
Resistor between B1 and B2.
R88D-KN04L-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2:
Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the shortcircuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Red These are the output terminals to the Servomotor.
White
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
4-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2 Wiring
R88D-KN20H-ML2
Main Circuit Connector Specifications (CNA)
Symbol Name
L1 Main circuit power supply
L2 input
L3
L1C Control circuit power
L2C supply input
Function
R88D-KN20H-ML2 (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN20H-ML2 :
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Function
Red These are the output terminals to the Servomotor.
White
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100
Ω or less.
External Regeneration Resistor Connector Specifications (CNC)
Symbol Name
B1 External Regeneration
B2
Resistor connection terminals
B3
N
Function
Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-14
4
4-2 Wiring
R88D-KN30H-ML2/-KN50H-ML2
Terminal Block Specifications
Symbol
L1
L2
L3
L1C
L2C
B1
B2
B3
U
V
W
Name
Control circuit power supply input
External Regeneration
Resistor connection terminals
Motor connection terminals
Frame ground
Function
Main circuit power supply input
R88D-KNxH-ML2 (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253
V) 50/60 Hz
R88D-KNxH-ML2: Single-phase 200 to 230 VAC (170 to 253 V) 50/
60 Hz
Normally B2 and B3 are connected. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an
External Regeneration Resistor between B1 and B2.
Red These are the output terminals to the Servomotor.
White
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100
Ω or less.
R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2
Main Circuit Connector Specifications (CNA)
Symbol Name
L1 Main circuit power supply
L2 input
L3
Function
R88D-KNxF-ML2
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60
Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Function
Red These are the output terminals to the Servomotor.
White
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 10
Ω or less.
4-15
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2 Wiring
Control Circuit Connector Specifications (CNC)
Symbol Name
24 V Control circuit power
0 V supply input
24 VDC (21.6 to 26.4 V)
Function
External Regeneration Resistor Connector Specifications (CND)
Symbol Name
B1 External Regeneration
B2
Resistor connection terminals
B3
N
Function
Normally B2 and B3 are connected. Do not short B1 and B2.
Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
R88D-KN30F/-KN50F-ML2
Terminal Block Specifications (TB1)
Symbol Name
L1
L2
Main circuit power supply input
L3
B1 External Regeneration
B2
Resistor connection terminals
U
V
W
Motor connection terminals
NC
24 V
0 V
Frame ground
−
Control circuit power supply input
Function
R88D-KNxF-ML2 (3 to 5 kW): 3-phase 380 to 480 VAC (323 to 528
V) 50/60 Hz
A Regeneration Resistor is not built in.
Connect an External Regeneration Resistor between B1 and B2, if necessary.
Red These are the output terminals to the Servomotor.
White
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100
Ω or less.
Do not connect.
R88D-KNxF-ML2: 24 VDC (21.6 to 26.4 V)
NC
Frame ground
−
This is the ground terminal. Ground to 10
Ω or less.
Do not connect.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-16
4
4-2 Wiring
Terminal Block Wire Sizes
100-VAC Input Type Wire Sizes: R88D-KNxxL-ML2
Item
Model (R88D-)
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Control circuit power supply input
(L1C and L2C)
Motor connection terminals (U, V, W, and FG)
*1*2
Wire size
Rated current
Wire size
Frame ground (FG) Wire size
Screw size
Tightening torque
Unit
kVA
A
−
−
A
−
−
−
N•m
KNA5L-
ML2
0.4
1.7
1.2
KN01L-
ML2
0.4
2.6
AWG14 to 18
1.7
KN02L-
ML2
AWG18
0.5
4.3
2.5
AWG14 to 18
AWG14
M4
1.2
*1. Connect OMRON Power Cables to the motor connection terminals.
*2. Use the same wire sizes for B1 and B2.
KN04L-
ML2
0.9
7.6
4.6
4-17
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-2 Wiring
200 VAC Input Type Wire Sizes: R88D-KNxxH-ML2
Model (R88D-)
Item
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Screw size
Tightening torque
Control circuit power supply input
(L1C and L2C)
Motor connection terminals (U, V, W, and FG)
*2*3
Wire size
Screw size
Tightening torque
Rated current
Frame ground
(FG)
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Unit
kVA
A
−
−
N•m
−
−
N•m
−
−
N•m
−
−
N•m
A
KN01H-
ML2
KN02H-
ML2
KN04H-
ML2
KN08H-
ML2
KN10H-
ML2
0.5
1.6/0.9
*1
−
−
−
−
1.2
−
−
0.5
2.4/1.3
*1
−
−
1.6
0.9
4.1/2.4
*1
AWG14 to 18
−
−
−
−
AWG18
−
−
2.6
AWG14 to 18
−
−
−
−
AWG14
M4
1.2
1.3
6.6/3.6
*1
−
−
−
−
4.1
−
−
1.8
9.1/5.2
*1
AWG14
−
−
−
−
5.9
AWG14
−
−
Item
Model (R88D-)
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Screw size
Control circuit power supply input
(L1C and L2C)
Tightening torque
Wire size
Screw size
Tightening torque
Motor connection terminals (U, V, W, and FG)
*2*3
Rated current
Wire size
Screw size
Tightening torque
Frame ground (FG) Wire size
Screw size
Tightening torque
Unit
kVA
A
−
−
N•m
−
−
N•m
A
−
−
N•m
−
−
N•m
KN15H-
ML2
2.3
14.2/8.1
*1
1.2
KN20H
-ML2
3.3
11.8
KN30H
-ML2
4.5
15.1
*1. The left value is for single-phase input and the right value is for 3-phase input.
*2. Connect an OMRON power cable to the motor connection terminals.
*3. Use the same wire sizes for B1 and B2.
2.0
KN50H
-ML2
7.5
21.6
AWG14
−
−
−
−
−
−
9.4
AWG14
−
−
13.4
−
−
−
−
AWG18
AWG12
M5
2.0
M5
2.0
18.7
33.0
AWG12
M5
2.0
AWG14
M4
AWG12
M5
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-18
4
4-2 Wiring
400 VAC Input Type Wire Sizes: R88D-KNxxF-ML2
and L3)
(FG)
Item
(L1C and L2C)
Frame ground
Model (R88D-)
Main circuit power supply input (L1 and L3, or L1, L2
Control circuit power supply input
Motor connection terminals (U, V, W, and FG)
*1*2
Rated current
Wire size
Screw size
Unit
A
−
−
Tightening torque N•m
Wire size
Screw size
−
−
Tightening torque N•m
Rated current
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
A
−
−
N•m
−
−
N•m
KN06F
-ML2
2.1
−
−
−
−
1.5
−
−
KN10F
-ML2
KN15F
-ML2
2.8
3.9
AWG14
−
−
−
−
AWG20 to 24
−
−
2.9
−
−
4.7
AWG14
−
−
AWG14
−
−
M4
1.2
*1. Connect OMRON Power Cables to the motor connection terminals.
*2. Use the same wire sizes for B1 and B2.
KN20F
-ML2
KN30F
-ML2
5.9
−
−
−
−
6.7
−
−
KN50F
-ML2
7.6
12.1
AWG12
M5
2.0
AWG18
M5
2.0
9.4
16.5
AWG12
M5
2.0
AWG12
M5
2.0
Wire Sizes and Allowable Current (Reference)
The following table shows the allowable current when there are 3 power supply wires. Use a current below these specified values.
600-V Heat-resistant Vinyl Wire (HIV)
AWG size
16
14
12
10
8
6
20
−
18
Nominal crosssectional area
(mm
2
)
Configuration
(wires/mm
2
)
0.5
0.75
0.9
1.25
2.0
3.5
5.5
8.0
14.0
19/0.18
30/0.18
37/0.18
50/0.18
7/0.6
7/0.8
7/1.0
7/1.2
7/1.6
Conductive resistance
(
Ω/km)
39.5
26.0
24.4
15.6
9.53
5.41
3.47
2.41
1.35
Allowable current (A) for ambient temperature
30
°C
6.6
40
°C
5.6
50
°C
4.5
8.8
9.0
12.0
23
7.0
7.7
11.0
20
5.5
6.0
8.5
16
33
43
55
79
29
38
49
70
24
31
40
57
4-19
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Terminal Block Wiring Procedure
On a Servo Drive with 2.0 kW or less, a connector-type terminal block is used.
The procedure for wiring these terminal blocks is explained below.
4-2 Wiring
Connector-type terminal block
(Example of R88D-KN02H-ML2)
1. Remove the terminal block from the Servo Drive before wiring.
The Servo Drive may be damaged if the wiring is done with the terminal block in place.
2. Strip off 8 to 9 mm of the covering from the end of each wire.
Refer to "Terminal Block Wire Sizes" (P.4-17) for applicable wire sizes.
8 to 9 mm
3. Open the wire insertion slots in the terminal block using a tool.
There are 2 ways to open the wire insertion slots, as follows.
Pry the slot open using the lever that comes with the Servo Drive. (Figure A)
Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the driver of the terminal block, and press down firmly to open the slot. (Figure B)
4
Figure A
Figure B
4. With the wire insertion slot held open, insert the end of the wire.
After inserting the wire, let the slot close by releasing the pressure from the lever or the screwdriver.
5. Mount the terminal block to the Servo Drive.
After all of the terminals have been wired, return the terminal block to its original position on the Servo Drive.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-20
4
4-3 Wiring Conforming to EMC Directives
4-3 Wiring Conforming to EMC Directives
Conformance to the EMC directives (EN55011 Class A Group 1 (EMI) and EN61000-6-2
(EMS)) can be ensured by wiring under the conditions described in this section.
These conditions are for conformance of OMNUC G5-Series products to the EMC directives.
EMC-related performance of these products, however, may be influenced by the configuration, wiring, and other conditions of the equipment in which the products are installed. The EMC conformance of the system as a whole must be confirmed by the customer.
The following are the requirements for EMC directive conformance.
The Servo Drive must be installed in a metal case (control panel). (The motor does not, however, have to be covered with a metal plate.)
Noise filters and lightening surge absorptive elements (surge absorbers) must be installed on power supply lines.
Braided shielded cables must be used for all encoder cables. (Use tin-plated, mild steel wires for the shielding.)
All cables, I/O wiring, and power lines connected to the Servo Drive may have clamp cores installed to improve the noise immunity.
The shields of all cables must be directly connected to a ground plate.
Wiring Method
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2/-KN01H-ML2/-KN02H-ML2/
-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2/-KN20H-ML2/-KN30H-ML2/-KN50H-ML2
Single-phase: 100 VAC
3-phase: 200 VAC
(1)
SG
NF
(6)
(2)
FC2
FC1
L1
L2
L3
L1C
CNA
SD
CNB
L2C
CN2
U
V
W
(5)
CN1
FC3
FC1
(3)
(4)
(7)
SM
Single-phase:
100 VAC
4-21
(8)
TB
Controller
*1. For models with a single-phase power supply input (R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-
KN04L-ML2/-KN01H-ML2/-KN02H-ML2/-KN04H-ML2/-KN08H-ML2), the main circuit power supply input terminals are L1 and L3.
Ground the motor's frame to the machine ground when the motor is on a movable shaft.
Use a ground plate for the frame ground for each unit, as shown in the above diagrams, and ground to a single point.
Use ground lines with a minimum thickness of 3.5 mm
2
, and arrange the wiring so that the ground lines are as short as possible.
No-fuse breaker, surge absorber, and noise filter should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Unit Details
Symbol Name Manufacturer Model
R•A•V-781BWZ-4
R•A•V-781BXZ-4
SUP-EK5-ER-6
Comment
Single-phase 100/200 VAC
SG Surge absorber
Okaya Electric
Industries Co., Ltd.
TDK
TDK
3-phase 200 VAC
Single-phase 100/200 VAC
(5 A)
3-phase 200 VAC (10 A)
NF
SD
SM
FC1
FC2
FC2
TB
Noise filter
Servo Drive
Servomotor
Clamp core
Clamp core
Clamp core
FC3 Clamp core
Controller
Okaya Electric
Industries Co., Ltd.
OMRON
OMRON
TDK
Konno Industry
−
3SUP-HU10-ER-6
3SUP-HU30-ER-6 3-phase 200 VAC (30 A)
3SUP-HL50-ER-6B 3-phase 200 VAC (50 A)
−
−
ZCAT3035-1330
RJ8035
*1
*1
−
For R88D-KN20H-ML2/
-KN30H-ML2/-KN50H-ML2
ZCAT3035-1330
ZCAT3035-1330
−
*1. A specified combination of Servo Drive and Servomotor must be used.
For other models
−
Switch box
R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2/-KN30F-ML2/-KN50F-ML2
3-phase:
400 VAC
(1)
SG
(2)
FC2
L1
SD
NF
(6)
(5)
24 VDC
FC1
L2
L3
CNA
U
CNB
V
W
L1C
L2C
FC1
CN1
CN2
FC3
FC1
(4)
(3)
(7)
4
Single-phase:
100 VAC
(8)
TB
Controller
SM
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-22
4
4-3 Wiring Conforming to EMC Directives
Unit Details
Symbol
SG
Name
Surge absorber
NF
SD
SM
FC1
FC2
FC2
Noise filter
Servo Drive
Servomotor
Clamp core
Clamp core
Clamp core
Manufacturer
Okaya Electric
Industries Co., Ltd.
Model
R•A•V-801BXZ-4
Schaffner EMC Inc.
OMRON
OMRON
TDK
TDK
FN258L-16-07
FN258L-30-07
−
−
ZCAT3035-1330
ZCAT3035-1330
Konno Industry RJ8035
FC3
TB
Clamp core
Controller
TDK
−
ZCAT3035-1330
−
*1. A specified combination of Servo Drive and Servomotor must be used.
Cable Details
Comment
3-phase 400 VAC (16 A)
3-phase 400 VAC (30 A)
*1
*1
−
For R88D-KN06F-ML2/
-KN10F-ML2/-KN15F-ML2
For R88D-KN20F-ML2/
-KN30F-ML2/-KN50F-
ML2
−
Switch Box
Symbol
(1)
Supplies from Connects to Cable name Length
AC power supply Noise filter
Power supply line
2 m
(2)
(3)
(4)
(5)
Noise filter
Servo Drive
Servo Drive
Switch box
Servo Drive
Servomotor
Servomotor
Servo Drive
Power supply line
2 m
Power cable 20 m
Encoder cazble
I/O cable
20 m
2 m
(6)
(7)
(8)
Frame ground
Frame ground
Noise filter
Noise filter
AC power supply Controller
FG line
FG line
Power supply line
1.5 m
1.5 m
1.5 m
Comment
−
−
−
−
−
−
−
−
Shielded Ferrite
No No
No
No
Yes
No
No
No
No
Optional
Optional
Optional
Optional
No
No
No
4-23
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Noise Filter for Power Supply Input
We recommend you to use the noise filter for the Servo Drive.
Phase
Drive
Model Model
Noise filter for power supply input
Rated current
Leakage current
(60 Hz) max
Manufactur er
Singlephase
R88D-K A5L
R88D-K 01L
R88D-K 02L
SUP-EK5-ER-6 5A
1.0mA
(at 250 VAC)
Singlephase
Singlephase
3-phase
Singlephase
3-phase
R88D-K 04L
R88D-K 01H
R88D-K 02H
3SUP-HU10-ER-6
SUP-EK5-ER-6
3SUP-HU10-ER-6
SUP-EK5-ER-6
3SUP-HU10-ER-6
10A
5A
10A
5A
10A
3.5mA
(at 500 VAC)
1.0mA
(at 250 VAC)
3.5mA
(at 500 VAC)
1.0mA
(at 250 VAC)
3.5mA
(at 500 VAC)
1.0mA
(at 250 VAC)
Okaya
Electric
Industries
Co., Ltd.
Singlephase
3-phase
Single or
3-phase
R88D-K 04H
R88D-K 08H
R88D-K 10H
R88D-K 15H
SUP-EK5-ER-6
3SUP-HU10-ER-6
3SUP-HU30-ER-6
5A
10A
30A
3.5mA
(at 500 VAC)
3.5mA
(at 500 VAC)
3-phase
R88D-K 20H 3SUP-HU50-ER-6 50A
3.5mA
(at 500 VAC)
R88D-K 30H
R88D-K 50H
R88D-K 06F
R88D-K 10F
R88D-K 15F
R88D-K 20F
R88D-K 30F
3SUP-HL50-ER-6B
FN258L-16-07
50A
16A
8.0mA
(at 500 VAC)
0.8mA
(at 440 VAC/50
Hz)
Schaffner
EMC Inc.
R88D-K 50F
FN258L-30-07 30A
0.8mA
(at 440 VAC/50
Hz)
For operations, if no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
The noise filter must be installed as close as possible to the entrance of the control panel. Wire as shown at the left in the following illustration.
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-24
4-3 Wiring Conforming to EMC Directives
Separate the input and output.
AC input
1
2
3
NF
E
4
5
6
AC output
Ground
The effect of the noise filter is small.
AC input
1
2
3
NF
E
4
5
6
Ground
AC output
4
Use twisted-pair cables for the power supply cables, or bind the cables.
Twisted-pair cables Bound cables
Servo Drive
L1C
L2C
Binding
Separate power supply lines and signal lines when wiring.
7.0
External Dimensions
SUP-EK5-ER-6
100±2.0
88.0
75.0
5.0
2.0
53.1±1.0
3SUP-HU10-ER-6
115
105
95
2-φ4.5×6.75
2-φ4.5 6-M4
11.6
13.0
M4
Servo Drive
L1
L2
L3
5.5
Ground terminal
M4
Attachment screw for cover M3
Cover
Noise filter unit
4-25
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
M5
M4
3SUP-HU30-ER-6
145
135
125
4-3 Wiring Conforming to EMC Directives
5.5
Ground terminal
M4
Attachment screw for cover M3
3SUP-HL50-ER-6B
150
2-φ 5.5×7
M6
M6
286
±3.0
270
255
±1.0
240
2-φ5.5
3SUP-HU50-ER-6
165
136
Cover
Noise filter unit
5.5
Ground terminal
M4
4
Attachment screw for cover M3
Cover
Noise filter unit
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-26
4
4-3 Wiring Conforming to EMC Directives
Circuit Diagram
SUP-EK5-ER-6
R Cx
L
Cy
Cy
L
Cx
3SUP-HU10-ER-6/3SUP-HU30-ER-6
3SUP-HU50-ER-6
IN
L1
OUT
R Cx1 Cx1
Cy1
LINE
3SUP-HL50-ER-6B
LOAD
4-27
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Control Panel Structure
Openings in the control panel, such as holes for cables, panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this, observe the recommendations described below when designing or selecting a control panel.
Case Structure
Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces are electrically conductive.
If assembly is required, strip the paint off the joint areas (or mask them during painting), to make them electrically conductive.
The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws.
Do not leave any conductive part unconnected.
Ground all units within the case to the case itself.
Door Structure
Use a metal door.
Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams.)
Use a conductive gasket between the door and the case. (Refer to the diagrams.)
Strip the paint off the sections of the door and case that will be in contact with the conductive gasket (or mask them during painting), so that they are electrically conductive.
The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws.
Case
4
A
B
Door
[Control panel]
Door
Oil-resistant gasket Conductive gasket
[A-B cross-section diagram]
Oil-resistant gasket
Conductive gasket
[Door (interior side)]
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-28
4-3 Wiring Conforming to EMC Directives
4
Selecting Connection Component
This section explains the criteria for selecting the connection components required to improve noise resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components.
For more details, contact the manufacturers directly.
No-fuse Breaker (NFB)
When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
Maximum Input Current
The momentary maximum output of Servo Drive is approx. 3 times the rated output, and can be output for up to 3 seconds.
Therefore, select no-fuse breakers with an operation time of at least 5 seconds at 300% of the rated current ratio. General and low-speed no-fuse breakers are generally suitable.
Select a no-fuse breaker with a rated current greater than the total effective load current of all the motors (when multiple Servo Drives are used). (The rated current of the power supply input for
each motor is provided in "Main Circuit and Motor Connections" (P.4-13).)
Add the current consumption of other controllers, and any other components when selecting.
Inrush Current
The following table lists the Servo Drive inrush currents.
With low-speed no-fuse breakers, an inrush current 10 times the rated current can flow for 0.02
second.
When the power of multiple Servo Drives are turned ON simultaneously, select a no-fuse breaker with a 20-ms allowable current that is greater than the total inrush current, shown in the following table.
Drive model
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
Inrush current (A0-p)
Main circuit power supply
Control circuit power supply
7
15
7
7
14
14
14
14
29
29
29
22
22
14
14
14
29
28
28
14
14
14
28
28
28
28
4-29
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Drive model
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
Inrush current (A0-p)
Main circuit power supply
Control circuit power supply
28
28
28
32
32
32
48
48
48
48
48
48
Leakage Breaker
Select leakage breakers designed for protection against ground faults.
When selecting leakage breakers, remember to add the leakage current from devices other than the motor, such as devices using a switching power supply, noise filters, inverters, and so on.
To prevent malfunction due to inrush current, we recommend using a leakage breaker of 10 times the total of all leakage current values.
The leakage breaker is activated at 50% of the rated current. Select a leakage breaker with enough capacity.
For details on leakage breakers selection method, refer to the manufacturer's catalog.
Because switching takes place inside the Servo Drives, high-frequency current leaks from the SW elements of the Servo Drive, the armature of the motor, and the cables.
High-frequency, surge-resistant leakage breakers, because they do not detect high-frequency current, can prevent operation with high-frequency leakage current.
When using a general leakage breaker, use 3 times the total of the leakage current given in the following table as a reference value.
Servo Drive model
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
Input power supply
Single-phase 100 V
Single-phase 100 V
Single-phase 100 V
Single-phase 100 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Leakage current
(Cable: 3 m)
0.38 mA
0.39 mA
0.41 mA
0.46 mA
0.83 mA
1.03 mA
0.84 mA
1.02 mA
0.96 mA
1.27 mA
1.01 mA
1.39 mA
0.88 mA
1.14 mA
0.96 mA
1.18 mA
Increase per 10 m of cable
0.1 mA
0.12 mA
0.23 mA
0.3 mA
1.1 mA
0.93 mA
4
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4-3 Wiring Conforming to EMC Directives
Servo Drive model
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
Input power supply
3-phase 200 V
3-phase 200 V
3-phase 200 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
Leakage current
(Cable: 3 m)
1.53 mA
1.52 mA
1.39 mA
2.28 mA
2.20 mA
2.55 mA
2.92 mA
3.92 mA
3.54 mA
Increase per 10 m of cable
1.23 mA
1.8 mA
2.03 mA
2.4 mA
3.23 mA
2.9 mA
Note: These values vary greatly depending on the installation conditions of the motor power cable and the measurement conditions. Use them for reference only.
Surge Absorber
Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines.
When selecting surge absorbers, take into account the varistor voltage, the surge immunity and the energy tolerated dose.
For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.
The surge absorbers shown in the following table are recommended.
Manufacturer
Okaya Electric
Industries Co.,
Ltd.
Okaya Electric
Industries Co.,
Ltd.
Okaya Electric
Industries Co.,
Ltd.
Model
R•A•V-781BWZ-4
R•A•V-781BXZ-4
R•A•V-801BXZ-4
Surge immunity
700 V
± 20%
2500 A
700 V
± 20%
2500 A
800 V
± 20%
2500 A
Type
Block
Comment
Single-phase 100/
200 VAC
3-phase 200 VAC
3-phase 400 VAC
Note 1. Refer to the manufacturers' catalog 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.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
External Dimensions
For single-phase (BWZ series)
φ4.2
4-3 Wiring Conforming to EMC Directives
φ4.2
For 3-phase (BXZ series)
1 2 1 2 3
41
Equalizing Circuits
For single-phase (BWZ series)
For 3-phase (BXZ series)
(1) (2)
(1) (2) (3)
41
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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4
4-3 Wiring Conforming to EMC Directives
Noise Filter for Power Supply Input
We recommend you to use the noise filter for the Servo Drive.
Phase
Singlephase
Singlephase
Singlephase
3-phase
Singlephase
3-phase
Drive
Model
R88D-K A5L
R88D-K 01L
R88D-K 02L
R88D-K 04L
R88D-K 01H
R88D-K 02H
Singlephase
3-phase
Single or
3-phase
3-phase
R88D-K 04H
R88D-K 08H
R88D-K 10H
R88D-K 15H
R88D-K 20H
R88D-K 30H
R88D-K 50H
R88D-K 06F
R88D-K 10F
R88D-K 15F
R88D-K 20F
R88D-K 30F
R88D-K 50F
Model
Noise filter for power supply input
Rated current
Leakage current
(60 Hz) max
Manufacturer
SUP-EK5-ER-6
3SUP-HU10-ER-6
SUP-EK5-ER-6
3SUP-HU10-ER-6
SUP-EK5-ER-6
3SUP-HU10-ER-6
SUP-EK5-ER-6
3SUP-HU10-ER-6
3SUP-HU30-ER-6
3SUP-HU50-ER-6
3SUP-HL50-ER-6B
FN258L-16-07
FN258L-30-07
5 A
10 A
5 A
10 A
5 A
10 A
5 A
10 A
30 A
50 A
50 A
16 A
30 A
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
1.0 mA
(at 250 VAC)
3.5 mA
(at 500 VAC)
3.5 mA
(at 500 VAC)
3.5 mA
(at 500 VAC)
8.0 mA
(at 500 VAC)
Okaya
Electric
Industries
Co., Ltd.
0.8 mA
(at 440 VAC/50 Hz)
Schaffner
EMC Inc.
0.8 mA
(at 440 VAC/50 Hz)
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
7.0
External Dimensions
SUP-EK5-ER-63SUP-HQ10-ER-6
53.1±2.0
100±2.0
88.0
75.0
5.0
2.0
2-φ4.5×6.75 2-φ4.5 6-M4
11.6
13.0
M4
115
105
95
5.5
Ground terminal
M4
Attachment screw for cover M3
Cover
Noise filter unit
4
M4
3SUP-HU30-ER-63SUP-HL50-ER-6B
115
105
95
5.5
Ground terminal
M4
Attachment screw for cover M3
Cover
Noise filter unit
150
2-φ5.5×7
M6
M6
286
±3.0
270
255
±1.0
240
2-φ5.5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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4
4-3 Wiring Conforming to EMC Directives
Circuit Diagram
SUP-EK5-ER-6
L
Cy
R Cx
Cy
L
Cx
IN
3SUP-HQ10-ER-6
L1
IN
3SUP-HU30-ER-6
L1
OUT
OUT
R Cx1 Cx1
Cy1
LINE
3SUP-HL50-ER-6B
LOAD
R Cx1 Cx1
Cy1
Noise Filter for the Brake Power Supply
Use the following noise filter for the brake power supply.
Model
Rated current
Rated voltage
Leakage current Manufacturer
SUP-EK5-ER-6 5 A 250 V 1.0 mA (at 250 Vrms, 60 Hz)
Okaya Electric
Industries Co., Ltd.
Note. Noise can also be reduced by 1.5 turns with the ZCAT3035-1330 (TDK) Radio Noise Filter.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Radio Noise Filter and Emission Noise Prevention Clamp Core
Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit.
Model
3G3AX-ZCL1
*1
3G3AX-ZCL2
*2
ESD-R-47B
*3
ZCAT3035-1330
*4
RJ8035
Manufacturer
OMRON
OMRON
NEC TOKIN
TDK
Konno Industry
For Drive output and power cable
For Drive output and power cable
For Drive output and power cable
For Encoder cable and I/O cable
For power lines
Application
*1. Generally used for 1.5 kW or higher.
*2. Generally used for 1.5 kW or lower. The maximum number of windings is 3 turns.
*3. Generally used for 50/100 W. The maximum number of windings is 2 turns.
*4. Also used on the Drive output power lines to comply with the EMC directives. Only a clamp is used.
This clamp can also be used to reduce noise current on a FG line.
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4-3 Wiring Conforming to EMC Directives
External Dimensions
3G3AX-ZCL1
130
85
3G3AX-ZCL2
3-M4
180±2
160±2
7×14 Long hole
ESD-R-47B
3.0
φ7
17.5
φ5.1
ZCAT3035-1330
39
34
50
95
80
2-M5
26
30
13
RJ8035
A
B
4-37
E
Model
RJ8035
Current
35 A 170
A
F
B
150
C
23
Dimensions (unit: mm)
D1
80 53
D2
Core thickness
24
E
R3.5 7
F
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Impedance Characteristics
3G3AX-ZCL1
20
40
60
80
100
0.1
4T
15T
3G3AX-ZCL2
1000
100
10
1 10
Frequency (kHz)
100
RJ8035
10000
1000
100
10
1
0.1
0.01
1
ESD-R-47B
10000
1000
100
10
1
1 10 100
Frequency (MHz)
1000
10
3T
1T
100
Frequency (kHz)
1000
1
0.1
1
ZCAT3035-1330
1000
10 100
Frequency (kHz)
1000 10000
4
100
10
10 100
Frequency (MHz)
1000
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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4
4-3 Wiring Conforming to EMC Directives
Surge Suppressor
Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows the types of surge suppressors and recommended products.
Type
Diodes
Thyristors and varistors
Capacitor
+ resistor
Feature
Diodes are used for relatively small loads such as relays when the reset time is not a critical issue.
At power shutoff the surge voltage is the lowest, but the rest time takes longer.
Used for 24/48-VDC systems.
Recommended product
Use a fast-recovery diode with a short reverse recovery time
(e.g. RU2 of Sanken Electric Co., Ltd.).
Thyristors and varistors are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is critical.
The surge voltage at power shutoff is approx. 1.5 times the varistor voltage.
The capacitor plus resistor combination is used to absorb vibration in the surge at power supply shutoff.
The reset time can be shortened by selecting the appropriate capacitance and resistance.
Select the varistor voltage as follows.
24-VDC systems: varistor voltage 39 V
100-VDC systems: varistor voltage 200 V
100-VAC systems: varistor voltage 270 V
200-VAC systems: varistor voltage 470 V
Okaya Electric Industries Co., Ltd.
XEB12002 0.2
μF-120 Ω
XEB12003 0.3
μF-120 Ω
Thyristors and varistors are made by the following manufacturers. Refer to manufacturer's documentation for details on these components.
Thyristors: Ishizuka Electronics Co.
Varistor: Ishizuka Electronics Co., Panasonic Corporation
Contactor
Select contactors based on the circuit's inrush current and the maximum momentary phase current.
The drive inrush current is covered in the preceding explanation of no-fuse breaker selection.
And the maximum momentary phase current is approx. twice the rated current.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Improving Encoder Cable Noise Resistance
Take the following steps during wiring and installation to improve the encoder's noise resistance.
Always use the specified encoder cables.
Do not roll cables. If cables are long and are rolled, mutual induction and inductance will increase and cause malfunctions. Always use cables fully extended.
When installing noise filters for encoder cables, use Clamp cores.
The following table shows the recommended Clamp cores.
Manufacturer
NEC TOKIN
TDK
Product name
Clamp core
Clamp core
Model
ESD-SR-250
ZCAT3035-1330
Specifications
For cable dia. up to 13 mm
For cable dia. up to 13 mm
Do not place the encoder cable with the following cables in the same duct.
Control cables for brakes, solenoids, clutches, and valves.
External Dimensions
ESD-SR-250
4
to
φ13
31.5
Impedance Characteristics
ESD-SR-250
10000
1000
100
10
38.0
1
1 10
Frequency (MHz)
100 1000
Refer to the following sections for the dimensions and impedance characteristics of the
ZCAT3035-1330: "External Dimensions" (P.4-32) and "Impedance Characteristics" (P.4-38).
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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4
4-3 Wiring Conforming to EMC Directives
Improving Control I/O Signal Noise Resistance
Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.
Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, do not connect the 2 power supply ground wires.
Install a noise filter on the primary side of the control power supply.
If motors with brakes are being used, do not use the same 24-VDC power supply for both the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the ground wires may cause I/O signal errors.
Keep the power supply for pulse commands and error counter reset input lines separated from the control power supply as far as possible. In particular, do not connect the 2 power supply ground wires.
We recommend using line drivers for the pulse command and error counter reset outputs.
Always use twisted-pair shielded cable for the pulse command and error counter reset signal lines, and connect both ends of the shield cable to frame grounds.
If the control power supply wiring is long, noise resistance can be improved by adding 1μ F laminated ceramic capacitors between the control power supply and ground at the drive input section or the controller output section.
For open collector inputs/outputs, keep the length of wires to within 2 m.
4-41
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-3 Wiring Conforming to EMC Directives
Reactor to Reduce Harmonic Current
Harmonic Current Measures
Use a Reactor to suppress harmonic currents. The Reactor functions to suppress sudden and quick changes in electric currents.
The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose
Components require that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines.
Select the proper Reactor model according to the Servo Drive to be used.
Servo Drive
Model
Number of power phases
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
Singlephase
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
Singlephase
3-phase
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
3-phase
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-DL2015
3G3AX-DL2002
3G3AX-AL2025
3G3AX-DL2004
3G3AX-AL2025
3G3AX-DL2007
3G3AX-AL2025
3G3AX-DL2015
3G3AX-AL2025
3G3AX-DL2015
3G3AX-AL2025
3G3AX-DL2022
3G3AX-AL2025
3G3AX-AL2055
3G3AX-AL2110
3G3AX-AL4025
3G3AX-AL4055
3G3AX-AL4110
10.0 A
9.3 A
10.0 A
13.8 A
10.0 A
Reactor
Rated current
Inductance
1.6 A
3.2 A
6.1 A
9.3 A
21.4 mH
10.7 mH
6.75 mH
3.51 mH
1.6 A
10.0 A
3.2 A
21.4 mH
2.8 mH
10.7 mH
10.0 A
6.1 A
10.0 A
9.3 A
2.8 mH
6.75 mH
2.8 mH
3.51 mH
2.8 mH
3.51 mH
2.8 mH
2.51 mH
2.8 mH
Weight
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.3 kg
Approx. 1.6 kg
Approx. 0.8 kg
Approx. 2.8 kg
Approx. 1.0 kg
Approx. 2.8 kg
Approx. 1.3 kg
Approx. 2.8 kg
Approx. 1.6 kg
Approx. 2.8 kg
Approx. 1.6 kg
Approx. 2.8 kg
Approx. 2.1 kg
Approx. 2.8 kg
20.0 A
37.0 A
6.0 A
10.0 A
20.0 A
0.88 mH
0.35 mH
7.7 mH
3.5 mH
1.3 mH
Approx. 4.0 kg
Approx. 5.0 kg
Approx. 2.7 kg
Approx. 4.0 kg
Approx. 6.0 kg
4
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4-3 Wiring Conforming to EMC Directives
Selecting Other Parts for Noise Resistance
This section explains the criteria for selecting the connection components required to improve noise resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components.
For more details, contact the manufacturers directly.
Noise Filters for Motor Output
Use noise filters without built-in capacitors on the motor output lines.
Select a noise filter with a rated current at least twice the Servo Drive's continuous output current.
The following table shows the noise filters that are recommended for motor output lines.
Manufacturer
OMRON
Model
3G3AX-NFO01
3G3AX-NFO02
3G3AX-NFO03
3G3AX-NFO04
3G3AX-NFO05
3G3AX-NFO06
Rated current
6 A
12 A
25 A
50 A
75 A
100 A
Comment
For inverter output
Note 1. Motor output lines cannot use the same noise filters for power supplies.
Note 2. General noise filters are made for power supply frequencies of 50/60 Hz. If these noise filters are connected to the PWM output of the Servo Drive, a very large (about 100 times larger) leakage current may flow through the noise filter's capacitor and the Servo Drive could be damaged.
External Dimensions
3G3AX-NFO01/-NFO02
4
−M
4-43
C
B
A
P
M4
H
J
Model
3G3AX-NFO01
3G3AX-NFO02
A B C
140 125 110 70
E
Dimensions (mm)
F G H
95 22 50
160 145 130 80 110 30 70
J
20
25
M
4.5 dia.
5.5 dia.
P
156
176
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
3G3AX-NFO03/-NFO04/-NFO05/-NFO06
6
−O
2
−N
4-3 Wiring Conforming to EMC Directives
4
−φ6.5
C
B
A
4
Model
3G3AX-NFO03
3G3AX-NFO04
3G3AX-NFO05
3G3AX-NFO06
50
Dimensions (mm)
A B C E F H J N O P
160 145 130 80 112 120 − − M4 154
200 180 160 100 162 150 120 M5 M5 210
220 200 180 100 182 170 140 M6 M6 230
220 200 180 100 182 170 140 M8 M8 237
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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4-4 Regenerative Energy Absorption
4-4 Regenerative Energy Absorption
A Servo Drive uses its built-in capacitors to absorb the regenerative energy produced during motor deceleration. If the amount of regenerative energy is too much for the built-in capacitors to absorb, it also uses an Internal Regeneration Resistor. An overvoltage error occurs, however, if the amount of regenerative energy from the Servomotor is too large. If this occurs, reduce the regenerative energy by changing operating patterns or increase the regeneration process capacity by connecting External Regeneration Units.
Precautions for Correct Use
Some Servo Drive models do not have any built-in Internal Regeneration Resistor.
The regeneration absorption capacity of a Servo Drive varies depending on the Servo Drive model.
For information on whether or not your Servo Drive has an Internal Regeneration Resistor and its
regeneration absorption capacity, refer to Servo Drive Regeneration Absorption Capacity (P.4-
Regenerative Energy Calculation
The method for calculating regenerative energy on the horizontal axis is indicated below.
+N
1
Motor operation
−N
2
T
D2
E g2
Motor output torque
T
D1
E g1 t
1 t
2
T
In the output torque graph, acceleration in the forward direction is shown as positive, and acceleration in the reverse direction is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
4-45
N
1
, N
2
: Rotation speed at start of deceleration [r/min]
T
D1
, T
D2
: Deceleration torque [N·m] t
1
, t
2
: Deceleration time [s]
Note. Due to the loss of motor winding resistance and PWM, the actual regenerative energy will be approx. 90% of the values derived from these equations.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-4 Regenerative Energy Absorption
For
Servo Drive
models with internal capacitors used for absorbing regenerative energy (i.e.,
Servo Drive models of 400 W or less), the values for both Eg
1
or Eg
2
(unit: J) must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model.For details, refer to the next section.)
For
Servo Drive
models with an Internal Regeneration Resistor used for absorbing regenerative energy (i.e., Servo Drive models of 500 W or more), the average amount of regeneration Pr (unit:
W) must be calculated, and this value must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model.For details, refer to the next section.)
The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
P r
=
( E g 1
+ E g 2
) / T[W]
T: Operation cycle [s]
The method for calculating regenerative energy on the vertical axis is indicated below.
+N
1
Downward movement
Motor operation
Upward movement
4
−N
2
T
D2
E g21
T
L2
Motor output torque
E g1
T
D1 t
1 t
2 t
3
T
In the output torque graph, acceleration in the forward direction (rising) is shown as positive, and acceleration in the reverse direction (falling) is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
E g21
E g22
E g2
E g21
+ E g22
N
1
, N
2
: Rotation speed at start of deceleration [r/min]
T
D1
, T
D2
: Deceleration torque
T
L2
[N·m]
: Torque during downward movement [N·m] t t
1
, t
3
2
: Deceleration time [s]
: Constant-speed driving time during downward movement [s]
Note. Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the values derived from these equations.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
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4-4 Regenerative Energy Absorption
Determining the Capacity of Regenerative Energy Absorption by Built-in Capacitors
If both the values E g1
and E g2
[J] mentioned above are equal to or less than the value of the
Servo Drive’s regenerative energy that can be absorbed by built-in capacitors Ec [J], the Servo
Drive can process regenerative energy only by its built-in capacitors.
If either the value E g1
or E g2
[J] exceeds the value of the Servo Drive’s regenerative energy that can be absorbed by built-in capacitors Ec [J], however, use the following equations to determine the average regeneration power Pr [W].
E
P r g
=
=
( E g 1
−
E c
)
+
( E g 2
−
E c
) [J]
[W]
P r
: Average regeneration power that must be absorbed in 1 cycle of operation [W]
E g
: Regenerative energy that must be absorbed in 1 cycle of operation [J]
E c
: Regenerative energy that can be absorbed by built-in capacitors [J]
T
: Operation cycle [s]
Note. If the expression (Eg1 - Ec) result is zero or less, regard it as 0. The expression (Eg2 - Ec) must also be handled in the same way.
The above expressions calculate the average regeneration power Pr [W], which cannot be absorbed by the built-in capacitors. If this average regeneration power Pr [W] is equal to or less than the average amount of regeneration that can be absorbed by the Servo Drive’s Internal
Regeneration Resistor, the Servo Drive can independently process the regenerative energy.
If this average regeneration power Pr [W] cannot be processed only by the Servo Drive, take the following processes.
Connect an External Regeneration Resistor. (Regeneration process capacity improves.)
Reduce the rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.)
Lengthen the deceleration time. (Regenerative energy per unit time decreases.)
Lengthen the operation cycle, i.e., the cycle time. (Average regenerative power decreases.)
4-47
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-4 Regenerative Energy Absorption
Servo Drive Regeneration Absorption Capacity
The following table shows the regenerative energy (and amount of regeneration) that each
Servo Drive can absorb. If these values are exceeded, take the processes above.
R88D-KNA5L-ML2
R88D-KN01L-ML2
R88D-KN02L-ML2
R88D-KN04L-ML2
R88D-KN01H-ML2
R88D-KN02H-ML2
R88D-KN04H-ML2
R88D-KN08H-ML2
R88D-KN10H-ML2
R88D-KN15H-ML2
R88D-KN20H-ML2
R88D-KN30H-ML2
R88D-KN50H-ML2
R88D-KN06F-ML2
R88D-KN10F-ML2
R88D-KN15F-ML2
R88D-KN20F-ML2
R88D-KN30F-ML2
R88D-KN50F-ML2
Servo Drive model
150
128
128
128
99
99
99
150
128
285
285
25
25
36
62
16
16
22
32
Regenerative energy absorbable by built-in capacitor (J)
Internal regeneration resistor
Average amount of regenerative energy absorbable (W)
−
−
−
12
−
−
−
17
18
18
72
60
29
60
60
60
21
21
21
Allowable minimum regeneration resistance (
Ω)
5
100
100
100
25
25
10
7
40
40
29
34
34
34
25
17
17
17
13
Regenerative energy to be absorbed by built-in capacitor varies depending on the input voltage to the main circuit power supply for the Servo Drive. The above value for each Servo Drive model is calculated when the input voltage is as follows.
Main circuit power supply input voltage Model
R88D-KN L-ML2
R88D-KN H-ML2
R88D-KN F-ML2
100 VAC
200 VAC
400 VAC
4
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-48
4-4 Regenerative Energy Absorption
4
Regenerative Energy Absorption with an External Regeneration Resistor
If the regenerative energy exceeds the regeneration absorption capacity of the drive, connect an External Regeneration Resistor.
Connect the External Regeneration Resistor between B1 and B2 terminals on the drive.
Double-check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals.
The External Regeneration Resistor will heat up to approx. 120
°C. Do not place it near equipment and wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions.
External Regeneration Resistor
Characteristics
Model
R88A-
RR08050S
R88A-
RR080100S
R88A-
RR22047S1
R88A-
RR50020S
Resistance value
Nominal capacity
The amount of regeneration absorption for 120
°C
temperature rise
50
100
47
20
Ω
Ω
Ω
Ω
80 W
80 W
220 W
500 W
20 W
20 W
70 W
180 W
Heat radiation condition
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
350
× 350,
Thickness: 3.0
Aluminum
350
× 350,
Thickness: 3.0
Aluminum
600
× 600,
Thickness: 3.0
Operating temperature
150 °C ± 5% NC contact
Rated output (resistive load):
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
Operating temperature
150
°C ± 5% NC contact
Rated output (resistive load):
125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
Operating temperature:
150 ± 5°C
NC contact
Rated output
(resistiveload):
250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
Operating temperature
200 ± 7°C
NC contact
Rated output (resistive load):
250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
4-49
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-4 Regenerative Energy Absorption
Connecting an External Regeneration Resistor
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN01H-ML2/-KN02H-ML2/-KN04H-ML2
Normally B2 and B3 are open.
If an External Regeneration Resistor is necessary, connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
θ >
Thermal switch output
B1
B3
B2
External Regeneration Resistor
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
4
R88D-KN04L-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2/-KN20H-ML2/-KN30H-ML2/
-KN50H-ML2/-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2/-KN30F-ML2/-KN50F-ML2
Normally B2 and B3 are short-circuited.
If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3, and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
θ >
Thermal switch output
B1
B3
B2
External Regeneration Resistor
Remove the short-circuit bar between B2 and B3.
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-50
4
4-4 Regenerative Energy Absorption
Combining External Regeneration Resistors
Regeneration absorption capacity
*
1
Model
Resistance value
*
2
R88A-RR08050S
R88A-RR080100S
50
20 W
Ω/100 Ω
Connection method
R
40 W
R88A-RR08050S
R88A-RR080100S
25 Ω/50 Ω
70 W
R88A-RR22047S1
140 W
R88A-RR22047S1
47 Ω 94 Ω
R
R R
Regeneration absorption capacity
*
1
Model
Resistance value
*
2
140 W
R88A-RR22047S1
23.5
Ω
Connection method
280 W
R88A-RR22047S1
47
Ω
R
R
R
R
560 W
R88A-RR22047S1
23.5
Ω
Regeneration absorption capacity
*
1
Model
Resistance value
*
2
180 W
R88A-RR50020S
20 Ω
R
Connection method
360 W
R88A-RR50020S
10 Ω
1440 W
R88A-RR50020S
10 Ω
4-51
*1. Select a combination that has an absorption capacity greater than the average regeneration power (Pr).
*2. Do not use a combination with resistance values lower than the allowable minimum regeneration resistance of each drive. For information on the allowable minimum regeneration resistance, refer to
"Servo Drive Regeneration Absorption Capacity" (P.4-48).
Precautions for Safe Use
Surface temperatures on regeneration resistance can reach 200 °C.
Do not place objects that tend to catch fire nearby. To prevent people from touching them, install a cover that enables heat dissipation.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-5 Large Load Inertia Adjustment and Dynamic Brake
4-5 Large Load Inertia Adjustment and
Dynamic Brake
The applicable load inertia of the Servomotor is the value of the load inertia at which the Servo
Drive circuit is not destroyed in normal usage conditions. Use the Servomotor at or below the applicable load inertia, and note the cautions below regarding adjustment and dynamic braking.
Adjustment When the Load Inertia Is Large
In the instances below, realtime autotuning may not function properly. In this event, improve the load conditions, or perform manual tuning to set the gain and the inertia ratio.
When the load inertia is less than 3 times or over 20 times the rotor inertia, or is over the applicable load inertia ratio.
When the load inertia varies.
When the load has low mechanical rigidity.
When backlash or non-linear conditions occur in the load.
When the acceleration/deceleration torque is less than the unbalanced load or viscous friction torque.
When a speed of 100 r/min or higher or an acceleration/deceleration of 2000 r/min per second or higher continues for no more than 50 ms.
4
Dynamic Brake When the Load Inertia Is Large
Because the dynamic brake is used for emergency stopping, the rating is for short time intervals.
To prevent wire breakage, smoke, and fire during dynamic braking, pay attention to the following points.
Do not intentionally start and stop the motor by Servo ON/OFF.
Do not drive the motor using an externally applied power. Do not turn ON the power while the motor is rotating.
If motor rotation stops due to dynamic braking, establish a stop time of at least 3 minutes until the
Servo is turned ON again.
The dynamic brake converts the rotational energy of the motor into heat by the dynamic brake resistance.
The rotational energy of the motor is calculated using the equation below.
Rotational energy of motor
=
1
2
J ω
2
1
2
J (2 )
2
(
N
)
60
2
J : Load inertia + rotor inertia of motor [W]
N [r/min]
When the load inertia is large or the rotation speed is high, the load on the dynamic brake circuit increases. Set the maximum operating rotation speed appropriately for the load inertia.
You can specify in the parameters whether or not the dynamic brake operates in the conditions below.
A 5 kW or less Servo Drive enters the dynamic braking state when the control power turns
OFF, regardless of the settings.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
4-52
4
4-5 Large Load Inertia Adjustment and Dynamic Brake
Main circuit power supply OFF (Pn507 Stop Selection with Main Power Supply OFF)
When the Servo is OFF (Pn506 Stop Selection with Servo OFF)
When an error occurs (Pn510 Stop Selection for Alarm Detection)
When drive prohibition is input (Pn505 Stop Selection for Drive Prohibition Input)
4-53
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
BASIC CONTROL Mode
This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting.
5-1 Position Control............................................................5-1
5-2 Speed Control ...............................................................5-4
5-3 Torque Control..............................................................5-6
5-4 Full Closing Control .....................................................5-9
5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-1 Position Control
5-1 Position Control
The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the position control commands. The Servo Drive uses the commands and rotates the motor in the values obtained by multiplying the command by the Electronic Gear Ratio (determined by the settings in Pn009 or Pn010)
Host Controller
(MECHATROLINK-II communications support type)
Servo Drive
R88D-KN
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
Issue a position command
POSITION CONTROL mode
Electronic Gear
Pn009, Pn010
Servomotor
OMNUC G5
(Absolute Movement
Command / Relative
Movement Command)
Feedback the position or speed
Numerator
Denominator
5
Parameters Requiring Settings
Parameter number
Pn009
Pn010
Parameter name
Electronic Gear Ratio
Numerator
Electronic Gear Ratio
Denominator
Explanation
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
Reference
Electronic Gear Function (Pn009, Pn010)
This function sets the position command for the position control part a value calculated by multiplying the pulse command input from the Host Controller with the set electronic gear ratio.
Parameter number
Parameter name Explanation
Setting range
Unit
Pn009
Pn010
Electronic Gear
Ratio Numerator
Electronic Gear
Ratio
Denominator
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
0 to 2
30
0 to 2
30
−
−
For details on the electronic gear function, refer to "6-6 Electronic Gear Function" (P.6-19).
5-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-1 Position Control
Related Functions
Parameter number
Pn222
Pn431
Pn432
Pn433
Parameter name Explanation
Position Command Filter
Time Constant
Positioning Completion
Range 1
Positioning Completion
Condition Selection
Positioning Completion
Hold Time
Set the time constant of the first-order lag filter for the position command.
Set the threshold of position error for output of the positioning completion signal.
Select the condition under which the positioning completion signal is output.
Set the INP signal output time.
Reference
5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-2
5
5-1 Position Control
Parameter Block Diagram for POSITION CONTROL mode
5-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-2 Speed Control
5-2 Speed Control
The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the speed control commands. The Servo Drive uses the commands and rotates the motor in the commanded speed output. The present value to be fed back from the Servo Drive to the
Controller is the values obtained by dividing the command by the Electronic Gear Ratio
(determined by the settings in Pn009 or Pn010).
Host Controller
(MECHATROLINK-II communications support type)
Issue a target speed command
Servo Drive
R88D-KN
Speed Control
Servomotor
OMNUC G5
Position Control Unit
CJ1W-NCF71
CS1W-NCF71 Issue a torque feed-forward command
Electronic Gear
Pn009, Pn010
(Speed Control
Command)
Feedback the position or speed
Numerator
Denominator
5
Parameters Requiring Settings
Parameter number
Pn312
Pn313
Pn314
Parameter name Explanation
Soft Start Acceleration
Time
Soft Start Deceleration
Time
S-curve Acceleration/
Deceleration Time Setting
Set the acceleration time for internally set speed control. Set the time until 1,000 r/min is reached.
Set the deceleration time for internally set speed control. Set the time until 1,000 r/min is reached.
Set the S-curve time in the time width centered on the inflection points for acceleration and deceleration.
Reference
Related Functions
Parameter number
Pn435
Pn436
Parameter name Explanation
Speed Conformity
Detection Range
Rotation Speed for Motor
Rotation Detection
Set the detection threshold for speed conformity output. If the difference between the speed command and motor speed is within the set threshold, a speed conformity output is output.
This setting has a hysteresis of 10 r/min for detection.
Set the detection threshold for Motor rotation speed detection output. A Motor rotation speed detection output is output when the motor speed exceeds the set value.
This setting has a hysteresis of 10 r/min for detection.
Reference
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-4
5
5-2 Speed Control
Parameter Block Diagram for SPEED CONTROL mode
Acceleration and Deceleration Control
5-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-3 Torque Control
5-3 Torque Control
The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the torque control commands. The Servo Drive uses the commands and rotates the motor in the commanded torque output. The present value to be fed back from the Drive to the Controller is the values obtained by dividing the command by the Electronic Gear Ratio (determined by the settings in Pn009 or Pn010).
Servo Drive
R88D-KN
Host Controller
(MECHATROLINK-II communications support type)
Issue a torque command
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
Issue a speed limit value command
(Torque Control
Command)
Feedback the position or speed
TORQUE CONTROL mode
Electronic Gear
Pn009, Pn010
Numerator
Denominator
Servomotor
OMNUC G5
Precautions for Correct Use
While the motor speed is restricted by the Speed Limit Command, the Torque Command to the motor differs from the Torque Command issued by the Host Controller. The Torque Command to the motor is the resulting value that controls the motor speed within the Speed Limit.
5
Parameters Requiring Settings
Parameter number
Pn317
Parameter name
Speed Limit Selection
Explanation
Select the input location for the speed limit.
Reference
Speed Limit Selection (Pn317)
Restricts the speed as the protection during torque control.
Controls that the speed does not exceed the Speed Limit during torque control.
Setting range
Parameter number
Parameter name
Pn317
Speed Limit
Selection
Explanation
Selects the input type of the Speed
Limit during torque control.
0: Control the speed by the Speed
Limit Setting (Pn321).
1: Control the speed by either one of the smaller value: the Speed Limit value (VLIMT) by
MECHATROLINK-II communications, or the Speed
Limit Setting (Pn321)
0 to 1
Unit
−
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-6
5
5-3 Torque Control
Related Functions
Parameter number
Parameter name
Pn321
Explanation
Speed Limit Value
Setting
Set the speed limit value applicable during torque control.
During torque control, the speed is controlled so as not to exceed the level set by the speed limit value.
Reference
5-7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-3 Torque Control
Parameter Block Diagram for TORQUE CONTROL mode
5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-8
5-4 Full Closing Control
5-4 Full Closing Control
An externally provided scale is used to directly detect the position of the control target and feedback the detected machine position to perform position control. This way, controls become possible that is not affected by ball screw error, temperature change, etc. You can achieve highly accurate positioning by configuring a full closing control system.
5
Outline of Operation
Host Controller
(MECHATROLINK-II communications support type)
Servo Drive
R88D-KN
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
(Absolute Movement
Command /
Relative Movement
Command)
Issue a positioning command
FULL CLOSING CONTROL mode
Electronic gear
Pn009, Pn010
Numerator
Denominator
Feedback the position or speed
External encoder Dividing Ratio
Pn324, Pn325
Numerator
Denominator
Servomotor
OMNUC G5
Position detection
External encoder
Precautions for Correct Use
If the electronic gear ratio is 1 : 1, 1 command pulse from the encoder constitutes 1 external encoder pulse. Since the electronic gear ratio is set differently than in the POSITION CONTROL mode, set the external encoder dividing ratio correctly.
To prevent machine damage due to an external encoder setting error, set the following parameters to appropriate values.
• Internal/External Feedback Pulse Error Counter Overflow Level (Pn328)
• Internal/External Feedback Pulse Error Counter Reset (Pn329)
For the setting of external encoder ratio, it is recommended that 1/40 ≤ External encoder ratio ≤
160 be satisfied.
If the external encoder ratio is set excessively small, control to the unit of 1 external encoder pulse may be disabled.
If the external encoder ratio is increased, on the other hand, operating noise may increase.
5-9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-4 Full Closing Control
Parameters Requiring Settings
Parameter number
Parameter name
Pn000
Pn001
Pn009
Pn010
Pn323
Pn324
Pn325
Pn326
Pn327
Pn328
Pn329
Explanation
Rotation Direction
Switching
CONTROL mode
Selection
Electronic Gear
Ratio Numerator
Electronic Gear
Ratio Denominator
External Feedback
Pulse Type Selection
External Feedback
Pulse Dividing
Numerator
External Feedback
Pulse Dividing
Denominator
External Feedback
Pulse Direction
Switching
External Feedback
Pulse Phase-Z
Setting
Internal/External
Feedback Pulse Error
Counter Overflow Level
Internal/External
Feedback Pulse
Error Counter Reset
Set the relation between the command direction and the motor rotation direction.
Select the CONTROL mode.
Set the numerator of the electronic gear ratio for the command pulse input.
Use this parameter to set the denominator of the electronic gear ratio for the command pulse input.
Select the external encoder type.
Set the numerator of the external encoder divider setting.
Set the denominator of the external encoder divider setting.
Set the polarity of the external encoder feedback pulse.
Set whether to enable or disable the disconnection detection function of phase Z when a 90 ° phase difference output type external encoder is used.
Set the threshold of A250 "internal/external feedback pulse error counter overflow" in the command unit.
The hybrid error becomes 0 every time the motor rotates by the set value.
Reference
5
Rotation Direction Switching (Pn000)
Set the relation between the command direction and the motor rotation direction.
0: A forward direction command sets the direction to CW as viewed from the shaft end.
1: A forward direction command sets the direction to CCW as viewed from the shaft end.
Take note that if Pn000 = 1, the scale count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses, etc.
CONTROL mode Selection (Pn001)
Select the full closing control (set value: 6).
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-10
5
5-4 Full Closing Control
Electronic Gear Function (Pn009, Pn010)
This function sets the position command for the position control part a value calculated by multiplying the pulse command input from the Host Controller with the set electronic gear ratio.
Parameter number
Parameter name Explanation
Setting range
Unit
Pn009
Pn010
Electronic Gear
Ratio Numerator
Electronic Gear
Ratio
Denominator
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
0 to
1073741824
0 to
1073741824
−
−
For details on the electronic gear function, refer to "6-6 Electronic Gear Function" (P.6-19).
External Feedback Pulse Type Selection (Pn323, Pn326)
Set the external encoder output type and direction.
Parameter number
Parameter name
External
Feedback Pulse
Type Selection
Pn323
Pn326
External
Feedback Pulse
Direction
Switching
Explanation
Select the type of the external encoder to be used.
0: 90
° phase difference output type
1: Serial communications
(Incremental encoder specifications)
2: Serial communications (Absolute encoder specifications)
If the count directions of the external encoder feedback pulse and the encoder total feedback pulses do not match, set the reversal of the external encoder feedback pulse direction.
0: Not reversed, 1: Reversed
Setting range
0 to 2
0 to 1
Unit
−
−
5-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-4 Full Closing Control
Supportive Scales
The corresponding scale for each output type is as follows.
Pn323 set value
External encoder type Corresponding scale examples
Maximum input frequency *
1
0
90
° phase difference output type
*2*3
External encoder of 90 output type
°
phase difference 0 to 4 Mpps
(After quadruple multiplier)
1
2
Serial communication type
(Incremental encoder specifications)
*3
Serial communication type
(Absolute encoder specifications)
*3
Sony Manufacturing Systems Corporation
SR75, SR85
Mitutoyo Corporation
AT573, ST771A, ST773A
Sony Manufacturing Systems Corporation
SR77, SR87
0 to 400 Mpps
0 to 400 Mpps
*1. These are the feedback speeds from the external encoder at which Servo Drive can respond.
Check the external encoder operation manual for its maximum output frequency.
*2. These are the directions that the Drive counts the pulse of external encoder of 90
° phase difference output type.
Count-down direction t1
Count-up direction t1
5
EXA
EXA
EXB t2
EXB is 90
° ahead of EXA.
t1
>0.25 μs t2
>1.0 μs
EXB t2
EXB is 90
° behind EXA.
t1
>0.25 μs t2
>1.0 μs
*3. For the external encoder connection direction, set the rotation direction so that count-up occurs when the motor shaft is rotating in the CCW direction, and count-down occurs when the motor shaft is rotating in the CW direction. If the connection direction cannot be selected due to installation conditions, etc., the count direction can be reversed using External Feedback Pulse Direction
Switching (Pn326).
Precautions for Correct Use
Take note that if Pn000 = 1, the encoder count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses, etc.
If Pn000 = 0, the count direction matches the count direction for monitoring.
Even when the drive speed is within the specified range, an acceleration error occurs if the motor shaft rotation speed exceeds the maximum speed.
To check the installation direction, use the front panel monitor or the monitoring function of CX-
Drive and check the count directions of the external encoder total feedback pulses and the encoder total feedback pulses. If they match, the connection is set up correctly.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-12
5
5-4 Full Closing Control
Reference
Maximum Input Frequency
For example, the maximum speed when an external encoder with a resolution of 0.01
μm is used for the serial communication type is 0.01
μm × (400 × 10
6
) pps = 4.00 m/s.
An overspeed error protection is generated, however, if the motor shaft rotation speed exceeds the maximum speed.
External Feedback Pulse Dividing Ratio Setting (Pn324, Pn325)
Set the dividing ratio for the encoder resolution and external encoder resolution.
Parameter number
Parameter name
Setting range
Pn324
Pn325
External Feedback
Pulse Dividing
Numerator
External Feedback
Pulse Dividing
Denominator
Explanation
Set the numerator of the external encoder divider setting. Normally, set the number of encoder output pulses per motor rotation. If the set value is 0, the encoder resolution is set automatically.
Set the denominator of the external encoder divider setting. Normally, set the number of external encoder output pulses per motor rotation.
0 to
1048576
1 to
1048576
Unit
−
−
Check the number of encoder feedback pulses and the number of external encoder output pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (Pn324) and
External Feedback Pulse Dividing Denominator (Pn325) so that the following formula works out.
Pn324 Encoder resolution per motor rotation [pulse]
=
Pn325 External encoder resolution per motor rotation [pulse]
Precautions for Correct Use
If this divider setting is wrong, there will be deviations between the position calculated from encoder pulses and the position calculated from external encoder. If the movement distance is long, these deviations accumulate and cause an internal/external feedback pulse error counter overflow level error.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-4 Full Closing Control
Setting Examples
Ball screw pitch 10 mm
External encoder resolution 0.1
μm
Encoder resolution 20 bits
Servomotor encoder resolution: 20 bits/rotation
10 mm
Ball screw
Ball screw pitch 10 mm
1 Rotation
Encoder Output Pulses per Motor Rotation (Pn324)
20 bits
= 1,048,576
External encoder resolution: 0.1
μm
External encoder Output Pulse Per Motor Rotation (Pn325)
10 [mm] / 0.1 [
μm/pulse] = 100,000 [pulse]
Pn324 Encoder resolution per motor rotation [pulse] 1,048,576
= =
Pn325 External encoder resolution per motor rotation [pulse] 100,000
5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-14
5
5-4 Full Closing Control
External Feedback Pulse Error Setting (Pn328, Pn329)
The difference between the encoder position and external encoder position is detected, and if the difference exceeds the value of Internal/External Feedback Pulse Error Counter Overflow
Level (Pn328), an error occurs.
Setting range
Unit
Parameter number
Parameter name
Pn328
Pn329
Internal/External
Feedback Pulse
Error Counter
Overflow Level
Internal/External
Feedback Pulse
Error Counter
Reset
Explanation
Set the allowable difference (hybrid error) between the encoder-detected position and external encoder-detected position in the command unit.
The hybrid error becomes 0 every time the motor rotates by the set value. If the set value is 0, the hybrid error is not cleared.
1 to 2
27
0 to 100
Command unit
Rotation
Pn329: Internal/External Feedback Pulse Error Counter Reset
Every time the motor rotates for the amount set by Pn329, the internal/external feedback pulse error is cleared.
This function can be used when there is deviation between the position calculated from encoder pulses and the position calculated from external encoder due to slipping, etc, and internal/external feedback pulse errors accumulate.
Amount of internal/external feedback pulse error
[command unit]
Error detection
Pn328 Internal/External Feedback Pulse Error Counter Overflow Level
0 clear
0 clear
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Number of motor rotations [rotation]
Precautions for Correct Use
An internal/external feedback pulse error counter overflow level error occurs when the external encoder is abnormal, connection is wrong, or connection point between the motor and load is loose, among others. Accordingly, check these items when an error occurs.
Be sure to set an appropriate value for Internal/External Feedback Pulse Error Counter Reset
(Pn329). If an extremely small value is set, this function may not operate.
Use with extra caution on safety by installing limit sensors, etc.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-4 Full Closing Control
Parameter Block Diagram for FULL CLOSING CONTROL mode
5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
5-16
Applied Functions
This chapter gives outline of applied functions such as electronic gears, gain switching and soft start, and explains the setting contents.
6-1 Sequence I/O Signal .....................................................6-1
6-2 Forward and Reverse Drive Prohibition Functions ...6-6
6-3 Overrun Protection .....................................................6-10
6-4 Backlash Compensation ............................................6-12
6-5 Brake Interlock............................................................6-14
6-6 Electronic Gear Function ...........................................6-19
6-7 Torque Limit Switching ..............................................6-22
6-8 Soft Start......................................................................6-24
6-9 Gain Switching Function............................................6-26
6-10 Gain Switching 3 Function.........................................6-37
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-1 Sequence I/O Signal
6-1 Sequence I/O Signal
You can set a sequence in various operating conditions.
For the connection of I/O signals and processing of external signals, refer to "Control I/O
Connector Specifications (CN1)" (P.3-13).
6
Input Signals
You can allocate any function of input signals to the input pins for the control I/O connector
(CN1). In addition, you can change logics. However, refer to "Input Signal Allocation Method"
(P.6-2) for more information because some signals have an allocation limit.
If the G Series is being replaced, set the unit to the default setting before using it.
Input Signal Default Setting
The allocation of the default input signals is as follows. Refer to "Input Signal Allocation
Method" (P.6-2) when you change the allocation to use.
Applicable parameters
Pn400
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
Input signals
IN5
IN6
IN7
IN8
IN1
IN2
IN3
IN4
Factory default setting (hex)
00949494h
00818181h
00828282h
00222222h
002B2B2Bh
00212121h
00202020h
002E2E2Eh
Position control or full closing control
Signal name
Logic
*1
STOP
POT
NOT
DEC
NC
NC
NC
NO
EXT3
EXT2
EXT1
MON0
NO
NO
NO
NO
Default setting state
Speed control
Signal name
STOP
POT
NOT
DEC
EXT3
EXT2
EXT1
MON0
Logic
*1
NO
NO
NO
NO
NC
NC
NC
NO
Torque control
Signal name
STOP
POT
NOT
DEC
EXT3
EXT2
EXT1
MON0
Logic
*1
NO
NO
NO
NO
NC
NC
NC
NO
*1. NO (normally open) contact and NC (normally close) contact in the table above refer to the following states.
NO: Disabled (OFF) when signal input is open with COM
−
Enabled (ON) when signal input is shorted with COM
−
NC: Disabled (OFF) when signal input is shorted with COM
−
Enabled (ON) when signal input is open with COM
−
"
−" indicates the status where no function is allocated.
6-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-1 Sequence I/O Signal
Parameters that Can Be Allocated
Use the following parameters when changing the input signal allocation to use.
For the setting method, refer to "Input Signal Allocation Method" (P.6-2).
Parameter number
Parameter name Explanation
Pn400 Input Signal Selection 1
Set the IN1 input function allocation. This parameter is based on the hex display standard.(Take note that the display on the front panel is based on the decimal display.)
Pn401 Input Signal Selection 2 Set the IN2 input function allocation.
Pn402 Input Signal Selection 3 Set the IN3 input function allocation.
Pn403 Input Signal Selection 4 Set the IN4 input function allocation.
Pn404 Input Signal Selection 5 Set the IN5 input function allocation.
Pn405 Input Signal Selection 6 Set the IN6 input function allocation.
Pn406 Input Signal Selection 7 Set the IN7 input function allocation.
Pn407 Input Signal Selection 8 Set the IN8 input function allocation.
Reference
Input Signal Allocation Method
Input the setting for each CONTROL mode in any of the parameters of Pn400 to Pn407 to allocate signals.
Set the parameters based on the hex display standard.
Set the set value of the function for each CONTROL mode in "**" below.
Refer to the function number table provided later for the set value of each function. Logic setting is included in the function numbers.
00******h
Position control/full closing control
Speed control
Torque control
Example:
Position control or full closing control: Monitor Input 0 is NO (normally open) contact (2Eh)
Speed control:
Torque control:
Disabled (00h)
Forward External Torque Limit Input is NO (normally open) contact (2Ch)
002C002Eh
Position control/full closing control
Speed control
Torque control
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-2
6
6-1 Sequence I/O Signal
Function Number Table
The set values to be used for allocations are as follows.
Signal name
Disabled
Forward drive prohibition input
Reverse drive prohibition input
Emergency Stop Input
External Latch Input 1
External Latch Input 2
Origin Proximity Input
External Latch Input 3
Forward External Torque Limit
Input
Reverse External Torque Limit
Input
Monitor Input 0
Monitor Input 1
Monitor Input 2
Symbol
−
POT
NOT
STOP
EXT1
EXT2
DEC
EXT3
PCL
NCL
MON0
MON1
MON2
NO
00h
01h
02h
14h
20h
21h
22h
2Bh
2Ch
2Dh
2Eh
2Fh
30h
Set value
NC
Setting not available
81h
82h
94h
Setting not available
Setting not available
A2h
Setting not available
ACh
ADh
AEh
AFh
B0h
Precautions for Correct Use
Do not use any values other than the settings listed.
Do not allocate the same function to plural input signals. If you allocate the same function to multiple input signals, interface input duplicate allocation error 1 (Alarm No.33.0) or interface input duplicate allocation error 2 (Alarm No.33.1) occurs.
The External Latch Input 1, 2, and 3 (EXT1, EXT2 and EXT3) can be allocated only to IN5 to IN7.
If you allocate them to any inputs other than above, an external latch input allocation error (Alarm
No.33.8) occurs.
If you use the External Latch Input 1, 2, or 3 (EXT1, EXT2 or EXT3), you must set it for all Control modes. Otherwise, an external latch input allocation error (Alarm No.33.8) occurs.
The External Latch Input 1, 2, and 3 (EXT1, EXT2 and EXT3) can be set only to NO (normally open) contact.
The control input pins that are set to disable do not affect the operation.
The functions that are used by plural Control modes, such as Emergency Stop Input, and Origin
Proximity Input, must be allocated to the same pin, in the same logic. If they are allocated to different pins, an interface input duplicate allocation error 1 (Alarm No.33.0) or an interface input duplicate allocation error 2 (Alarm No.33.1) occurs.
If the logic is inconsistent, an interface input function number error 1 (Alarm No.33.2) or an interface input function number error 2 (Alarm No.33.3) occurs.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-1 Sequence I/O Signal
Output Signals
You can allocate any function of output signals to the output pins for the control I/O connector
(CN1).
If the G Series is being replaced, set the unit to the default setting before using it.
Output Signal Default Setting
The allocation of the default input signals is as follows. Refer to "Output Signal Allocation
Method" (P.6-4) when you change the allocation to use.
Default setting state
Applicable parameters
Pn410
Pn411
Output
Signals
OUTM1
OUTM2
Factory default setting (hex)
00030303h
Position control or full closing control
Signal name
BKIR
00020202h READY
Logic
NO
NO
*1
Speed control
Signal name
BKIR
READY
Logic
NO
NO
Torque control
Signal name
BKIR
READY
Logic
NO
NO
*1.*NO (normally open) contact and NC (normally close) contact refer to the following states.
NO: When the function is disabled (OFF state), output transistor is OFF.
When the function is enabled (ON state), output transistor is ON.
NC: When the function is disabled, output transistor is ON.
When the function is enabled, output transistor is OFF.
6
Parameters that Can Be Allocated
Use the following parameters when changing the output signal allocation to use.
For the setting method, refer to "Output Signal Allocation Method".
Parameter number
Parameter name Explanation
Pn410 Output Signal Selection 1
Set the OUTM1 input function allocation. This parameter is based on the hex display standard. Refer to the output signal function number table for details.
Pn411 Output Signal Selection 2 Set the OUTM2 input function allocation.
Reference
Output Signal Allocation Method
Input the setting for each CONTROL mode in any of the parameters of Pn410 to Pn411 to allocate signals.
Set up the parameters based on the hex display standard in the same manner as the input signal allocation method.
Set the set value of the function for each CONTROL mode in "**" below.
Refer to the function number table provided below for the set value of each function. Logic setting is included in the function numbers.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-4
6
6-1 Sequence I/O Signal
00******h
Position control/full closing control
Speed control
Torque control
Example:
Position control or full closing control: Speed conformity output (08h)
Speed control:
Torque control:
Motor rotation speed detection output (05h)
Zero speed detection signal (07h)
00070508h
Position control/full closing control
Speed control
Torque control
Function Number Table
The set values to be used for allocations are as follows.
Signal name
Disabled
Servo ready completed output
Brake interlock output
Positioning completion output
Motor rotation speed detection output
Torque limiting output
Zero speed detection output
Speed conformity output
Warning output 1
Warning output 2
Position command status output
Positioning completion output 2
Speed limiting output
Alarm clear attribute output
Speed command status output
Symbol
−
READY
BKIR
INP1
TGON
TLIMT
ZSP
VCMP
WARN1
WARN2
PCMD
INP2
VLIMT
ALM-ATB
VCMD
NO (or normally open) contact
00h
Set value
NC (or normally close) contact
00h
02h
03h
04h
05h
82h
Setting not available
84h
85h
0Ah
0Bh
0Ch
0Dh
06h
07h
08h
09h
0Eh
0Fh
86h
87h
88h
89h
8Ah
8Bh
8Ch
8Dh
8Eh
8Fh
Precautions for Correct Use
Do not use any values other than the settings listed.
You can allocate the same function to multiple output signals.
When you set the control output pin to disable, the output transistor stays always off.
If you use the Brake Interlock Output (BKIR), you must set the function in all control mode.
Otherwise, an interface output function number error 1 (Alarm No.33.4) or an interface output function number error 2 (Alarm No.33.5) occurs.
The Brake Interlock Output (BKIR) can be set only to NO (normally open) contact.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-2 Forward and Reverse Drive Prohibition Functions
6-2 Forward and Reverse Drive Prohibition Functions
When the forward drive prohibition input (POT) and the reverse drive prohibition input (NOT) are turned OFF, the motor stops rotating.
You can stop the motor from rotating beyond the device's operating range by connecting limit inputs.
Parameters Requiring Settings
Parameter number
Pn400 to
Pn407
Pn504
Pn505
Pn511
Pn710
Parameter name Explanation
Input Signal Selection 1 to 8
Drive Prohibition Input
Selection
Set the input signal allocation and logic.
Set the operation to be performed upon forward and reverse drive prohibition input.
Stop Selection for Drive
Prohibition Input
Set the deceleration and stop methods upon forward and reverse drive prohibition input.
Emergency Stop Torque Set the torque limit for an emergency stop.
MECHATROLINK-II
Communications I/O
Monitor Setting
Select whether to reflect the input to the
MECHATROLINK-II communications I/O monitor, when either the Forward Drive
Prohibition Input or the Reverse Drive
Prohibition Input is allocated to the input signal, and the Drive Prohibition Input Selection is set to disabled (Pn504=1).
Reference
6
Input Signal Selection Function (Default setting: Pn401, Pn402)
In the default setting, the allocations are as follows.
Parameter number
Parameter name
Set value
Default setting
Position Control or full closing control
Speed control
Torque control
Pn401
Pn402
Input Signal
Selection 2
Input Signal
Selection 3
00818181h
00828282h
POT (NC)
NOT (NC)
POT (NC)
NOT (NC)
POT (NC)
NOT (NC)
Refer to "6-1 Sequence I/O Signal" (P.6-1) for details on input signal selections 1 to 8.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-6
6
6-2 Forward and Reverse Drive Prohibition Functions
Drive Prohibition Input Selection (Pn504)
Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition Input
(NOT). Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch. This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine. Set the operation to be performed upon forward and reverse drive prohibition input.
Drive
Prohibition
Input Selection
(Pn504)
Explanation
0
1
2
Forward drive prohibition input and reverse drive prohibition input enabled.
The operation when a signal is input is as follows.
Forward drive prohibition input shorted: Forward limit switch not operating and status normal.
Forward drive prohibition input open: Forward direction prohibited and reverse direction permitted.
Reverse drive prohibition input shorted: Reverse limit switch not operating and status normal.
Reverse drive prohibition input open: Reverse direction prohibited and forward direction permitted.
The Servomotor decelerates and stops according to the sequence set in Stop Selection for Drive Prohibition Input (Pn505).
*1
If the forward and the reverse prohibition inputs are both open, a drive prohibition input error 1 (Alarm No.38.0) occurs because it is taken that Servo Drive is in error condition.
Forward and reverse drive prohibition input disabled.
Forward and reverse drive prohibition input enabled.
If either the forward or the reverse prohibition input is open, a drive prohibition input error
1 (Alarm No.38.0) occurs.
*1.For details, refer to explanation for Stop Selection for Drive Prohibition Input (Pn505).
Precautions for Correct Use
Both signals are disabled (in a state in which drive prohibition will not operation) in the default settings. If prohibiting the drive input is required, set the Drive Prohibit Input Selection (Pn504) to either 0 or 2.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-2 Forward and Reverse Drive Prohibition Functions
Stop Selection for Drive Prohibition Input (Pn505)
Set the deceleration and stop methods upon a forward or reverse drive prohibition is input.
Decelerating
*2
After stopping
Pn504 set value
*1
Pn505 set value
Deceleration method
Error counter
Operation after stop
Error counter
0
1
Dynamic brake
Free-run
Clear
Clear
Torque command = 0 for drive prohibition direction
Torque command = 0 for drive prohibition direction
Held
Held
0
2 Emergency stop
*3
Held
Torque command and
Torque limit are as specified.
Cleared after deceleration completes, then held.
*1.While the Drive Prohibition Input Selection (Pn504) is set to 2, a Drive prohibit input error (Alarm
No.38.0) occurs as soon as either the Forward or Reverse Drive Prohibition Input is on. The subsequent operation conforms not to the set value but to the setting on the Stop Selection for Alarm
Detection (Pn510). It is the same when any other errors occur. The operation by the Stop Selection for
Alarm Detection (Pn510) has the priority.
*2.The term "During deceleration" means the distance till the motor decreases its speed to 30 r/min or less from the normal operation. Once it decelerates to 30 r/min or lower speed, the operation conforms to the description for “post-stopping”, regardless of the actual motor speed.
*3.The "Emergency Stop" means that the Servomotor stops immediately by control while the Servo-ON state is kept. The torque limit at this time is controlled by the Emergency Stop Torque (Pn511) set value.
6
POT (NOT) is turned OFF.
Stop Selection for Drive
Prohibition Input (Pn505)
0
1
2
Deceleration method
Decelerate with dynamic brake
Decelerate in the free-run status
Decelerate with
Emergency Stop Torque (Pn511)
Stop status
Servo free
Servo locked
Precautions for Correct Use
At an emergency stop, an Error counter overflow (Alarm No.24.0) or an Overrun limit error (Alarm
No.34.0) may occur. This is because the emergency stop forces the motor to decelerate quickly, and the position control produces a large positional deviation momentary. If the error occurs, set the Error Counter Overflow Level (Pn014) and the Overrun Limit Setting (Pn514) in appropriate values.
A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state. To prevent the load from falling, set emergency stop torque for deceleration and servo lock for stop (set value: 2) in Stop Selection for Drive Prohibition Input (Pn505), or limit the operation using the Host Controller rather than using this function.
A command warning (Warning No. 95) occurs, if a command is given to the drive prohibition direction while the Servomotor stops (when decelerated to 30 r/min or lower) and the Drive
Prohibition Input is ON.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-8
6
6-2 Forward and Reverse Drive Prohibition Functions
Reference
While the Forward Drive Prohibition Input (POT) is OFF, the Servomotor cannot be driven in the forward direction, but it can be driven in the reverse direction. Conversely, while the reverse drive prohibition input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction.
Emergency Stop Torque (Pn511)
This is the torque limit when the Stop Selection for Drive Prohibition Input (Pn505) is set to 2, and the Servomotor decelerates due to a drive prohibition input.
The settable range is 0 to 500%. When it is set to 0%, the normal torque limit is used.
MECHATROLINK-II Communications I/O Monitor Setting (Pn710)
Select whether to reflect the input to the MECHATROLINK-II communications I/O monitor, when either the Forward Drive Prohibition Input or the Reverse Drive Prohibition Input is allocated to the input signal, and the Drive Prohibition Input Selection (Pn504) is set to 1 (i.e., disabled).
Ph710 set value
0
1
Description
Disable the MECHATROLINK-II communications I/O monitor also.
Enable the MECHATROLINK-II communications I/O monitor.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-3 Overrun Protection
6-3 Overrun Protection
The function detects an overrun limit error (Alarm No.34.0) and stops the Servomotor if the motor exceeds the allowable operating range set by the Overrun Limit Setting (Pn514) with respect to the position command input.
The function can also prevent the Servomotor clash into the machine edge due to its vibration.
Operating Conditions
The overrun limit works under the following conditions.
Conditions
Operating Mode POSITION CONTROL mode, FULL CLOSING CONTROL mode
Others
• Servo-ON state
• The functions other than control parameters are set correctly. (i.e., torque limit, etc.) This includes the torque limit. The motor operates normally without any failures.
Conditions for Clearing the Position Command Input Range
The position command input range will be cleared to zero under any of the following conditions.
When the power supply is turned ON,
While the position error is cleared. This includes the case of Servo-OFF, and when the error counter is cleared due to deceleration stop by the drive prohibit input.
When a trial operation via USB communication starts up and when it ends.
During speed control or torque control,
When the position data is initialized. This includes the cases of a component setup request, an origin return, a coordinate system setup, and an adjustment command.
6
Precautions for Correct Use
Note this function is not intended to protect against abnormal position commands.
When this function works, the Servomotor decelerates according to the Stop Selection for Alarm
Detection (Pn510) and stops. Take this deceleration operation into account when you set the overrun limit (Pn514). Otherwise, the loads during deceleration may hit and cause damage to the machine edges.
The function is disabled when the communications frequency characteristic function is enabled.
Parameters Requiring Settings
Parameter number
Pn514
Parameter name Description
Overrun Limit Setting Sets the Servomotor's allowable operating range for the position command input range.
Reference page
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-10
6-3 Overrun Protection
6
Operation Example
No Position Command Input (Servo-ON)
No position command is entered. The Servomotor's allowable operating range is the range set by Pn514 in both right and left. An overrun limit error occurs (Alarm No.34.0) if the load enters the alarming range, or the shaded area in the drawing below, due to the oscillation.
Servomotor Load
Pn514Pn514
Alarming range
(Alarm No.34.0)
Servomotor's allowable operating range
Alarming range (Alarm No.34.0)
Right Side Operation (Servo-ON)
When a rightward position command is entered, the Servomotor's allowable operating range increases for the commanded amount. The range will be the result where the rotation set by
Pn514 is added in both sides by the position command.
Servomotor Load
Alarming range
(Alarm No.34.0)
Pn514
Entered position command range
Servomotor's allowable operating range
Pn514
Alarming range
(Alarm No.34.0)
Left Side Operation (Servo-ON)
When a leftward position command is entered, the Servomotor's allowable operating range further increases.
Servomotor Load
Alarming range
(Alarm No.34.0)
Pn514
Entered position command range
Pn514
Servomotor's allowable operating range
Alarming range
(Alarm No.34.0)
6-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-4 Backlash Compensation
6-4 Backlash Compensation
The function compensates backlashes at position controls and full closing controls.
Parameters Requiring Settings
Parameter number
Pn704
Pn705
Pn706
Parameter name Description
Backlash
Compensation
Selection
Backlash
Compensation Time
Constant
Select whether to enable or disable the backlash compensation during position control.
Set the compensation direction.
Backlash
Compensation Amount
Set the compensation amount during position control.
Set the backlash compensation time constant during position control.
Reference page
Backlash Compensation Selection (Pn704)
It is used to select whether to enable or disable the backlash compensation during position control, and to set the compensation direction.
Set value
0
1
2
Description
Disable the backlash compensation.
Compensate the backlash at the first forward operation after a Servo-ON.
Compensate the backlash at the first reverse operation after a Servo-ON.
6
Setting Method
The backlash compensation works in different directions depending on the setting in the
Backlash Compensation Selection (Pn704) and on whether the set value for the Backlash
Compensation Amount (Pn705) is a positive or negative figure.
Pn704
1
2
Pn705 is a positive value
Compensate in positive direction when it is in forward operation.
Compensate in positive direction when it is in reverse operation.
Pn705 is a negative value
Compensate in negative direction when it is in forward operation.
Compensate in negative directions when it is in reverse operation.
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6-12
6
6-4 Backlash Compensation
Precautions for Correct Use
The backlash compensation status is retained when you switch from position control to speed control or to torque control. When you switch back to position control, the backlash compensation resumes the status retained during the previous position control.
To determine the actual position of the Servomotor, offset the Servomotor position data acquired via MECHATROLINK-II communications for the backlash compensation amount.
A backlash compensation is performed on the first position command in the set directional operation after the Servo-ON. Any prior operations in reverse direction are not compensated. But the first reverse operation after the initial backlash compensation is compensated. A backlash compensation is not performed twice or more as long as the operation continues in the same direction.
When the Servo-OFF status occurs while backlash compensation is performed, the backlash compensation amount is cleared. This is done by presetting the position command data of the
Servo Drive to the Servomotor position data that includes the backlash compensation amount.
When the Servo-ON occurs again, backlash compensation is performed as described above.
Reference
Conditions for Clearing the Backlash Compensation
The backlash compensation is cleared to zero under any of the following conditions:
When the position error is reset. This includes the cases of Serve OFF, and when the error counter is reset by the drive prohibition input.
When the position data is initialized. This excludes the commands of an origin return and a coordinate system setup, but includes the commends of an equipment setup request and an adjustment.
6-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-5 Brake Interlock
6-5 Brake Interlock
This function lets you set the output timing for the brake interlock output (BKIR) that activates the holding brake when the servo is turned ON, an alarm generates, or the servo is turned OFF.
Parameters Requiring Settings
Parameter number
Parameter name
Pn437
Pn438
Explanation
Brake Timing when
Stopped
Brake Timing during Operation
Set the time after a servo OFF command is issued upon servo lock stop, until the brake interlock output (BKIR) turns OFF and power supply stops.
Set the time after a servo OFF command is issued while the motor is rotating, until the brake interlock output (BKIR) turns OFF and power supply stops. If the speed drops to 30 r/min or below before the time set here, BKIR turns OFF.
Reference
Precautions for Correct Use
The brake on a Servomotor with brake is a non-excitation brake designed only to hold when the operation is stopped.
Accordingly, set an appropriate time so that the brake actuates after the motor stops.
If the brake is applied while the Servomotor is rotating, the brake disc will wear abnormally or sustain damage, resulting in a bearing or encoder failure in the Servomotor.
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-14
6-5 Brake Interlock
6
Operating Example
Servo ON/OFF Operation Timings
<when Motor Is Stopped>
ON
Operation command (RUN)
OFF
Servo OFF
Dynamic brake relay
Motor power supply
Brake interlock output (BKIR)
*3
Servo ON
*1
ON
OFF
ON
OFF
DB engaged
*1
Approx. 2 ms
DB released
Approx. 60 ms
No power supply Power supply
Approx. 4 ms
ON
OFF
Release request
Holding brake operation
Released
Held
Attraction time
Brake released
Servo OFF
DB engaged
Pn437
No power supply
1 to 6 ms
*2
Release time
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF (Pn506).
*3. The Brake Interlock output (BKIR) is output when the OR condition is met by a release request command from the
Servo control and from the MECHATROLINK-II. In the above example, the MECHATROLINK-II makes no release request. The BKIR is assigned to the general-purpose output (CN1).
6-15
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-5 Brake Interlock
Servo ON/OFF Operation Timings
<When Motor Is Rotating>
Based on these operation timings, regenerative energy is produced if the motor rotation stops abnormally.
Accordingly, repeated operations cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.
Operation command (RUN)
ON
OFF
Servo OFF
Dynamic brake relay
Motor power supply
ON
OFF
DB engaged
ON
OFF
No power supply
*1
Brake release request from servo control
*3
ON
OFF
Servo ON
*1
DB released
Approx. 60 ms
Power supply
Brake held
Approx. 4 ms
Release request
When the Pn438 setting is early
Value set on Pn439
Motor rotation speed
Approx.
+30 r/min
Servo ON enabled
Approx.
−30 r/min
Servo OFF
1 to 5 ms
DB engaged
*2
No power supply
*2 t1
*4
Pn438
Brake held
When the Pn439 setting is early
BKIR t1
*4
Pn439
Release request Brake held
Value set on Pn439
6
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below. If a Servo-ON is commanded during motor rotation, the Command warning (Warning No. 95) occurs. The Servo-ON command is ignored.
*2. The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF (Pn506).
*3. The Brake Interlock output (BKIR) signal is output when the OR condition is met by a release request command from the Servo control and from the MECHATROLINK-II. In the above example, the MECHATROLINK-II makes no release request. The BKIR signal is assigned to the general-purpose output (CN1).
*4. The mark t1 refers to the period until the value becomes lower than the set value on the Brake Timing during
Operation (Pn438) or the Brake Release Speed Setting (Pn439), whichever is shorter.
Note:Even when the servo ON input is turned ON again while the motor is decelerating, the system does not enter the servo ON state until the motor stops.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-16
6-5 Brake Interlock
6
Operation Timings when Alarm Generates (Servo ON)
Alarm generation
Motor power supply
Alarm output (ALM)
OFF
ON
Normal
ON
OFF
Power supply
Dynamic brake relay
ON
OFF
DB Released
Servo ready output (READY)
ON
OFF
READY
ON
OFF
When the Pn438 setting is early Motor rotation speed A
Alarm output
0.5 to 5 ms
No power supply
DB engaged
Alarm
*1
Value set on Pn439 t1
*3
Brake interlock output (BKIR)
*2
ON
Release request
OFF
If the timing when the values goes below the Pn439 setting comes earlier
Motor rotation speed B
Value set on Pn439 t1
*3
BKIR
Brake interlock output (BKIR)
*2
Release request
Pn438
Brake held
Pn439
Brake held
*1. Dynamic brake operation at an alarm depends on the Stop Selection for Alarm Detection (Pn510) setting.
*2. The Brake Interlock output (BKIR) signal is output when the OR condition is met by a release request command from the Servo control and from the MECHATROLINK-II. In the above example, the MECHATROLINK-II makes no release request. The BKIR signal is assigned to the general-purpose output (CN1).
*3. The mark t1 refers to the period until the value becomes lower than the set value on the Brake Timing during
Operation (Pn438) or the Brake Release Speed Setting (Pn439), whichever is shorter.
Note 1.Even when the servo ON input is turned ON again while the motor is decelerating, the system does not enter the servo ON state until the motor stops.
Note 2.If the main circuit power supply turns OFF while the motor is operating, a phase loss alarm or main circuit voltage low alarm occurs, in which case this operation timing is applied.
6-17
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-5 Brake Interlock
Operation Timings at Alarm Reset
Alarm reset command
ON
OFF
Servo ready output (READY)
ON
OFF
Reset
16 ms or more
READY
Alarm output (ALM)
ON
OFF
Alarm Alarm Released
Operation command (RUN)
Dynamic brake relay
Motor power supply
ON
OFF
Servo OFF
ON
Brake Engaged
OFF
ON
OFF
No power supply
0 ms or more
Servo ON
*1
2 ms or more
Brake Released
Approx. 60 ms
Brake interlock output (BKIR)
*2
Operation command input
ON
OFF
ON
OFF
Brake held
Input prohibited
Power supply
4 ms
Release request
100 ms or more
Input allowed
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The Brake Interlock output (BKIR) signal is output when the OR condition is met by a release request command from the Servo control and from the MECHATROLINK-II. In the above example, the MECHATROLINK-II makes no release request. The BKIR signal is assigned to the general-purpose output (CN1).
Note:After the alarm has been reset, the system enters the servo OFF state (motor not excited). To turn the servo ON, issue a servo ON command again after resetting the alarm, according to the above timings.
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-18
6-6 Electronic Gear Function
6-6 Electronic Gear Function
This function controls the position by using the value multiplied the position command entered on the Host Controller by the preset electronic gear ratio. The functions is used in the
POSITION CONTROL and FULL CLOSING CONTROL modes.
In speed or torque control, the number of encoder pulses from the motor is divided by the electronic gear and converted to the command unit for feedback.
6
Parameters Requiring Settings
Parameter number
Parameter name Explanation Reference
Pn009
Electronic Gear Ratio
Numerator
*1
Set the numerator of the electronic gear ratio.
If the set value is 0, the encoder resolution is automatically set as the numerator.
*2
• 131072 for a 17-bit absolute encoder
• 1048576 for a 20-bit incremental encoder
Set the denominator of the electronic gear ratio.
Pn010
Electronic Gear Ratio
Denominator
*1
*1. The electronic gear ratio must be set between 1/1000 x and 1000 x. If it is set outside the range, the Parameter setting error (Alarm No.93.0) occurs.
*2. If the Pn009 is set to 0, the encoder resolution is set to the numerator during full closing controls also.
6-19
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-6 Electronic Gear Function
Electronic Gear Ratio Setting (Pn009, Pn010)
Electronic gear ratio numerator
(Pn006)
Electronic
Gear Ratio
Denominator
(Pn010)
Description
0
When the Electronic Gear Ratio Numerator (Pn009) is 0,
The processing changes with the set value of Electronic Gear Ratio
Denominator (Pn010).
Position command
Encoder resolution*1
Electronic Gear Ratio Denominator (Pn010)
Position command
1 to
1073741824
1 to
1073741824
Position command = Encoder resolution / Electronic Gear Ratio
Denominator (Pn010)
When the Electronic Gear Ratio Numerator (Pn009) is other than 0,
The processing changes with the set values of Electronic Gear Ratio
Numerator 1 (Pn009) and Electronic Gear Ratio Denominator (Pn010).
Position command
Electronic Gear Ratio Numerator 1 (Pn009)
Electronic Gear Ratio Denominator (Pn010)
Position command
Position command
= Electronic Gear Ratio Numerator (Pn009) /
Electronic Gear Ratio Denominator (Pn010)
*1 The encoder resolution is set as the numerator for full closing control.
6
Precautions for Correct Use
The electronic gear ratio must be set between 1/1000 x and 1000 x. If it is set outside the range, the Parameter setting error (Alarm No.93.0) occurs.
To make the position command milder after the electronic gear setting, adjust it by the Position
Command Filter Time Constant (Pn222) or by the Position Command FIR Filter Time Constant
(Pn818)."
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-20
6-6 Electronic Gear Function
6
Operation Example
The example uses a motor with a 20- bit encoder (1048576 pulses per rotation)
When the Electronic Gear Ratio Numerator (Pn009) is set to 0
If you set Pn010 = 2,000, the operation is the same as the 2,000 (pulses/rotation) Servomotor.
Servo Drive
Servomotor encoder resolution: 20 bits
2,000 pulses
1,048,576 pulses
Encoder resolution
Electronic gear ratio denominator (Pn010)
=
1,048,576
2000
1-rotation (1,048,576 pulses)
When the Electronic Gear Ratio Numerator (Pn009) is set to a value other than 0
If you set Pn009 and Pn010 = 1,048,576 and 2,048, respectively, the operation is the same as the 2,048 (pulses/rotation) Servomotor.
Servo Drive
Servomotor encoder resolution: 20 bits
2,048 pulses
1,048,576 pulses
Electronic gear ratio numerator (Pn009)
Electronic gear ratio denominator (Pn010)
=
1,048,576
2000
=
512
1
1-rotation (1,048,576 pulses)
6-21
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-7 Torque Limit Switching
6-7 Torque Limit Switching
The function switches the torque limit by the operation directions, and depending on the
Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the
Forward/Reverse Torque Limit Input Commands from the MECHATROLINK-II communications.
This function is used in the following conditions.
• When push-motion operation, such as pressing, is performed.
• When the torque at startup and during deceleration should be suppressed to protect the mechanical system, etc.
The Torque Limit Selection (Pn521) is used to select a method to switch the torque limit.
Operating Conditions
The torque limit switching function works under the following conditions.
Operating
Mode
*1
Others
Conditions
POSITION CONTROL mode, SPEED CONTROL mode, FULL CLOSING
CONTROL mode
• Servo-ON state
• The factors other than control parameters are set correctly.
This includes the torque limit. The motor operates normally without any failures.
*1.This switching function is disabled in the TORQUE CONTROL mode. Only the No.1 Torque Limit
(Pn013) is effective.
6
Parameters Requiring Settings
Parameter number
Pn521
Pn013
Pn522
Pn525
Pn526
Parameter name
Torque Limit Selection
No. 1 Torque Limit
Explanation
Select the torque limit based on the various parameters and input signals.
Set the No. 1 motor output torque limit value.
No. 2 Torque Limit
Forward External Torque
Limit
Reverse External Torque
Limit
Set the No. 2 motor output torque limit value.
Set the forward torque limit using a network signal.
Set the reverse torque limit using a network signal.
Reference
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-22
6
6-7 Torque Limit Switching
Torque Limits in POSITION, SPEED, TORQUE, and FULL CLOSING CONTROL Modes
Set value
0,1
2
3
4
5
6
The term Torque FF refers to torque feed forward function.
Position Control / Full Closing Control
Forward
Torque Limit
PCL
ON
*1
PCL
OFF
*2
Reverse
Torque Limit
NCL
ON
*1
NCL
OFF
*2
Torque
FF
Pn013
Pn013 Pn522
Pn522 Pn013 Pn522 Pn013
Pn013 Pn522
Pn525 Pn013 Pn526 Pn522
Disabled
Speed Control
Forward Torque
Limit
Reverse Torque
Limit
PCL
ON
*1
PCL
OFF
*2
NCL
ON
*1
NCL
OFF
*2
Torque
FF
Pn013
Pn013 Pn522
Pn522 Pn013 Pn522 Pn013
Enabled
Pn013 or
P_TLIM
*3
Pn013 or
P_TLIM
*3
Pn013
Pn522 or
N_TLIM
Pn522 or
N_TLIM
*4
*4
Pn522
Disabled
Pn525 Pn013 Pn526 Pn522 Enabled
Set value
Torque Control
Forward
Torque
Limit
Reverse
Torque
Limit
Torque
FF
4
5
6
0,1
2
3
Pn013 Disabled
*1.PCL ON refers to the case when either the external input signals (PCL and NCL) or the
MECHATROLINK-II communications option fields (P-CL and N-CL) is on.
*2.PCL OFF refers to the case when both of the external input signals (PCL and NCL) and the
MECHATROLINK-II communications option fields (P-CL and N-CL) are off.
*3.Whichever the smaller: the Pn013 or the MECHATROLINK-II Command Option value 1 (P_TLIM)
*4.Whichever the smaller: the Pn522 or the MECHATROLINK-II Command Option value 2 (N_TLIM)
Torque Limit Settings by Servomotors
The torque limit setting range is between 0% and 300%. The standard factory setting is 300%.
This is not the case when a Servo Drive and a Servomotor are used in the following combinations.
Servo Drive
R88D-KN15x-ML2
R88D-KN30x-ML2
R88D-KN50x-ML2
Applicable
Servomotor
R88M-K90010x
R88M-K2K010x
R88M-K3K010x
Maximum torque limit
[%]
225
250
250
6-23
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-8 Soft Start
6-8 Soft Start
This function is used to control the rotation speed. It sets the acceleration and deceleration against the rotation speed command in the Servo Drive.
The function can be used for step rotation speed commands, and allows soft starts. The Scurve Acceleration and Deceleration function is used to reduce any impacts by acceleration changes.
Parameters Requiring Settings
Parameter number
Pn312
Pn313
Pn314
Parameter name Explanation
Soft Start Acceleration
Time
Soft Start Deceleration
Time
S-curve Acceleration/
Deceleration Time
Setting
Sets the acceleration time for the rotation speed command input.
ets the deceleration time for the rotation speed command input.
Sets the acceleration or deceleration processing
S-curve time for the rotation speed command input.
Reference
6
Soft Start Acceleration or Deceleration Time
Set the time required for a step speed command to reach the maximum motor rotation speed into the Soft Start Acceleration Time (Pn312). In the same manner, set the time required for the command to decrease the speed from the maximum motor rotation speed to 0 r/min into the Soft Start Deceleration Time (Pn313).
The time taken for acceleration or deceleration is calculated by the following formula, where
Vc [r/min] is the target rotation speed of the speed command.
Acceleration Time [ms] = Vc / Maximum motor rotation speed
× Pn312 × 1 ms
Deceleration Time [ms] = Vc / Maximum motor rotation speed
× Pn313 × 1 ms
Rotation speed [r/min]
Maximum motor rotation speed Step input of a rotation speed command
Rotation speed command after acceleration or deceleration processing
Pn312
× 1ms
Pn313
× 1ms
Precautions for Correct Use
Do not set the Soft Start Acceleration Time and the Soft Start Deceleration Time when the position loop structure with a Host Controller is used.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-24
6
6-8 Soft Start
S-curve Acceleration or Deceleration Time
The function sets the S-curve time for the acceleration and deceleration time set by the Soft
Start Acceleration Time (Pn312) and the Soft Start Deceleration Time (Pn313). The S-curve time is a duration around an inflection point during acceleration and deceleration.
Rotation speed
[r/min]
Target speed
(Vc) ts ts ts ta td ts ta = Vc / Maximum motor rotation speed
× Pn312 × 1 ms td = Vc / Maximum motor rotation speed
× Pn313 × 1 ms ts = Pn314
× 1 ms
Note Be sure that ts is smaller than the values
obtained by the divisions of ta td
6-25
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-9 Gain Switching Function
6-9 Gain Switching Function
This function switches the position loop and speed loop gain.
Select enable or disable using GAIN SWITCHING INPUT OPERATING mode Selection
(Pn114). Set the switching condition using gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping and operating, you can perform an optimal control by gain switching.
The function is used when the realtime autotuning does not work effectively, such as:
• When the load inertia fluctuates in 200 ms or less.
• When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
• When external force is constantly applied, as with a vertical axis.
Precautions for Correct Use
When the gain 2 has been selected, realtime autotuning does not operate normally. If using the gain switching, set the Realtime Autotuning to "Disabled" (Pn002 = 0).
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-26
6-9 Gain Switching Function
6
Parameters Requiring Settings
Parameter number
Pn114
Parameter name Explanation
GAIN SWITCHING INPUT
OPERATING mode
Selection
Set whether to enable or disable gain switching function.
POSITION CONTROL mode and FULL CLOSING CONTROL mode
Pn115
Pn116
Pn117
Pn118
Pn119
SWITCHING mode in
Position Control
Gain Switching Delay
Time in Position Control
Gain Switching Level in
Position Control
Gain Switching Hysteresis in Position Control
Position Gain Switching
Time
Set the condition for switching between gain 1 and gain 2.
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between the gain 1 and gain 2.
Set the hysteresis width to be provided in the judgment level set in Gain Switching Level (Pn117).
Set the number of phased switches from low to high gain.
(Unit: 0.1 ms)
SPEED CONTROL mode
Pn120
Pn121
Pn122
Pn123
SWITCHING mode in
Speed Control
Gain Switching Delay
Time in Speed Control
Gain Switching Level in
Speed Control
Gain Switching Hysteresis in Speed Control
Set the condition for switching between gain 1 and gain 2.
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between the gain 1 and gain 2.
Set the hysteresis width to be provided in the judgment level set in Gain Switching Level (Pn122).
TORQUE CONTROL mode
Pn124
Pn125
Pn126
Pn127
SWITCHING mode in
Torque Control
Gain Switching Delay
Time in Torque Control
Gain Switching Level in
Torque Control
Gain Switching Hysteresis in Torque Control
Set the condition for switching between gain 1 and gain 2.
Set the time to return from the gain 2 to gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between the gain 1 and gain 2.
Set the hysteresis width to be provided in the judgment level set in Gain Switching Level (Pn126).
Reference
6-27
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-9 Gain Switching Function
Gain Switching Setting for Each CONTROL mode
The settable switching conditions vary depending on the CONTROL mode used. Set the parameters for each CONTROL mode.
Refer to “Chapter 8 Parameters Details” for explanation of each gain.
Position Control Mode and Full Closing Control Mode
In the POSITION CONTROL mode and FULL CLOSING CONTROL MODE, it varies as follows according to SWITCHING mode in Position Control (Pn115).
Pn115 set value
0
1
2
3
4
5
6
7
8
9
10
Gain switching conditions
Always Gain 1 (Pn100 to Pn104).
Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
MECHATROLINK-II communications
*3
Torque command change amount
(Refer to Figure A)
Always Gain 1 (Pn100 to 104).
Command speed (Refer to Figure
B)
Amount of position error (Refer to
Figure C).
When the position command is entered (Refer to Figure D).
When the positioning complete signal (INP) is OFF (Refer to Figure
E).
Actual motor speed (Refer to
Figure B).
Combination of position command input and rotation speed (Refer to
Figure F).
Description
Gain switching delay time in position control
(Pn116)
*1
Disabled
Disabled
Disabled
Enabled
Disabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
Gain switching level in position control (Pn117)
Disabled
Disabled
Disabled
Enabled
(
× 0.05%)
Disabled
Enabled
(r/min)
Enabled
(pulse)
Disabled
Disabled
Enabled
(r/min)
Enabled
(r/min)
*4
*5
*6
Gain switching hysteresis in position control
(Pn118)
*2
Disabled
Disabled
Disabled
Enabled
* 4
(
× 0.05%)
Disabled
Enabled
(r/min)
Enabled
(pulse)
Disabled
Disabled
Enabled
(r/min)
Enabled
(r/min)
*
5
*
6
*1.The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is switched from 2 to 1.
*2.The Gain Switching Hysteresis in Position Control (Pn118) is defined in the drawing below.
6
Pn117
Pn118
0
Gain 1 Gain 2 Gain 1
Pn116
*3.When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain switches to Gain 1. When the command is 1, the gain switches to Gain 2.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-28
6
6-9 Gain Switching Function
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*5.The unit (pulse) of hysteresis is the resolution of the encoder in position control. It is the resolution of the external encoder in full closing control.
*6. When the set value is 10, meanings of the Gain switching delay time in position control, the Gain switching level in position control, and the Gain switching hysteresis in position control differ from the normal case. (Refer to Figure F).
Figure A Figure C
Rotation speed (V)
Rotation speed (V)
Accumulated pulse
Level
Torque (T)
H
L
Gain 1
Time
Gain 2 Gain 1
ΔT
Level
H
L
L
H
Commanded rotation speed (S)
Figure D
Time
1 2
1
2 Gain 1 2 2
1
1
Gain 1 Gain 2
Time
Gain 1
Rotation speed (V)
Level
Figure B
H
L
Actual rotation speed (N)
Figure E
Gain 2
Time
Gain 1
INP
Gain 1 Gain 2
Time
Gain 1
Commanded rotation speed (S)
Figure F
Gain 1
Actual rotation speed (N)
H
L
Level
Time
Gain 2 Gain 1
Gain 2 only for the Speed loop integral time constant,
Gain 1 for other cases
6-29
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-9 Gain Switching Function
SPEED CONTROL mode
In the SPEED CONTROL mode, it varies as follows according to SWITCHING mode in Speed
Control (Pn120).
Pn120 set value
0
1
2
Gain switching conditions
Always the Gain 1 (Pn100 to Pn104).
Always the Gain 2 (Pn105 to Pn109).
Gain switching command input via
MECHATROLINK-II communications
*3
Description
Gain
Switching
Delay Time in
Speed Control
(Pn121)
*1
Disabled
Disabled
Disabled
Gain
Switching
Level in Speed
Control
(Pn122)
Disabled
Disabled
Disabled
Gain Switching
Hysteresis in
Speed Control
(Pn123)
*2
Disabled
Disabled
Disabled
3
4
5
Torque command variation (Refer to
Figure A)
Speed command change amount
(Refer to Figure B)
Speed command (Refer to Figure C)
Enabled
Enabled
Enabled
Enabled
*4
( × 0.05%)
Enabled
*5
(10r/min/s)
Enabled
(r/min)
Enabled
*4
( × 0.05%)
Enabled
*5
(10r/min/s)
Enabled
(r/min)
*1.The Gain Switching Delay Time in Speed Control (Pn121) becomes effective when the gain is switched from 2 to 1.
*2.The Gain Switching Hysteresis in Speed Control (Pn123) is defined in the drawing below.
6
Pn122
Pn123
0
Gain 1 Gain 2 Gain 1
Pn121
*3. When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain switches to Gain 1. When the command is 1, the gain switches to Gain 2.
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-30
6
6-9 Gain Switching Function
*5.When the set value is 10, meanings of the Gain switching delay time in speed control, the Gain switching level in speed control, and the Gain switching hysteresis in speed control differ from the normal case. (Refer to Figure D).
Rotation speed (V)
Figure A
Rotation speed (V)
Level
Figure B
H
L
Gain 1 Gain 2
Time
Gain 1
Torque (T)
Rotation speed (V)
Figure C
ΔT
Level
Time
1 2
1
2 Gain 1 2 2
1
1
H
L
L
H
Accumulated pulse
Level
Gain 1
Time
Gain 2
H
L
Gain 1
Commanded rotation speed (S)
Figure D
Gain 1
Actual rotation speed (N)
H
L
Level
Time
Gain 2 Gain 1
Gain 2 only for the Speed loop integral time constant,
Gain 1 for other cases
6-31
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-9 Gain Switching Function
TORQUE CONTROL mode
In the TORQUE CONTROL mode, it varies as follows according to SWITCHING mode in
Torque Control (Pn124).
Pn124 set value
0
1
2
Gain switching conditions
Always Gain 1 (Pn100 to Pn104).
Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
MECHATROLINK-II communications
*3
Description
Gain
Switching
Delay Time in
Torque Control
(Pn125)
*1
Disabled
Disabled
Disabled
Gain
Switching
Level in
Torque Control
(Pn126)
Disabled
Disabled
Disabled
3
Torque command change amount
(Refer to Figure A)
Enabled
Enabled
*4
(0.05%)
Gain Switching
Hysteresis in
Torque Control
(Pn127)
*2
Disabled
Disabled
Disabled
Enabled
*4
(0.05%)
*1.The Gain Switching Delay Time in Torque Control (Pn125) becomes effective when the gain is switched from 2 to 1.
*2.The Gain Switching Hysteresis in Torque Control (Pn127) is defined in the drawing below.
6
Pn126
Pn127
0
Gain 1
Gain 2 Gain 1
Pn125
*3.When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain switches to Gain 1. When the command is 1, the gain switches to Gain 2.
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
Figure A
Rotation speed (V)
Torque (T)
ΔT
Level
H
L
L
H
Time
1 2
1
2 Gain 1 2 2
1
1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-32
6-9 Gain Switching Function
6
Timing by Gain Switching Setting
Switching between Gain 1 (Pn100 to Pn104) and Gain 2 (Pn105 to Pn109) occurs at the following timings. Take note that, in the case of position loop gains, switching occurs based on the setting of Pn119.
The details of gain switching setting vary depending on the CONTROL mode used. For the
GAIN SWITCHING mode = 2: Gain Switching (GSEL)
Instant switching occurs when a gain switching command is issued from the network.
Position command
GSEL
Gain 1
Gain switching instruction
Gain 2
Gain 1
6-33
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-9 Gain Switching Function
GAIN SWITCHING mode = 3: Switching by Torque Command Change Amount
Torque command change amount (angular acceleration and deceleration speed command) is set in units of 0.05%/166 μs.
If the amount of change fluctuates and the switching time is not met, the switching is cancelled.
In the case of switching due to a change amount of 4% over 2 ms, a value of approx. 6 will apply. (Change of 0.33% per 166 μs.)
Speed command
Torque command
Pn127
Pn126
6
Torque change amount
Pn127
Pn127
Pn126
Pn125 Pn125
Pn127
Pn125 Pn125
2 1 2
Gain 1
Gain 1 2 1 2 Gain 1
GAIN SWITCHING mode = 5, 9: Switching by Speed Command or Actual Motor Speed
Speed command or actual motor speed
Pn118, Pn123
Pn117, Pn122
Pn118, Pn123
Pn116, Pn121
Gain 1 Gain 1
Gain 2
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6-34
6
6-9 Gain Switching Function
GAIN SWITCHING mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated count in the error counter.
Amount of position error
Pn118
Pn118
Pn117
Gain 1
Pn116
Gain 1
Gain 2
GAIN SWITCHING mode = 7: Switching by Position Command Received
Gain switching is performed when a position command corresponding to 1 command unit or more is received.
Position command
Gain 1
Pn116
Gain 1
Gain 2
GAIN SWITCHING mode = 8: Switching by Positioning Completion Signal OFF
Switching to the gain 2 is performed when the error counter accumulated pulse exceeds the
Positioning Completion Range 1 (Pn431).
Amount of error counter accumulated pulse
INP1 ON
Gain 1
INP1 OFF
Cancelled because the time conditions are not met
Gain 2
INP1 ON
Pn116
Gain 1
6-35
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-9 Gain Switching Function
GAIN SWITCHING mode = 10: Switching by Combination of Position Command Received and Speed
Switching to the gain 2 occurs when a position command is received.
If no position command is issued for the period of Gain Switching Delay Time in Speed Control
(Pn121) and the speed also becomes the same as or less than the result of Gain Switching
Level (Pn122) - Gain Switching Hysteresis (Pn123) [r/min], switching to the Gain 1 occurs.
Position command
Pn123
Pn122
Actual motor speed
Gain 1
Gain 2
Pn116 Pn121
Gain 1
Position Gain Switching Time (Pn119)
At the time of gain switching, the speed loop gain, speed loop integral time constant, torque command filter time constant and speed detection filter switch simultaneously as the switching command. Under this function, however, switching occurs at the set timings so as to reduce mechanical vibration and resonance resulting from switching from low to high gain.
The switching time is set in units of 166
μs according to the internal cycle. Set 20 in Pn035. If the position loop gain is to be raised from 30 to 50 [1/s], increment the gain by 166
μs at a time.
(3.32 ms) If the position loop gain is to be lowered from 50 to 30 [1/s], lower the gain instantly.
N
Every 166
μs
High gain
6
1
2
Low gain Low gain
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-36
6-10 Gain Switching 3 Function
6-10 Gain Switching 3 Function
The function adds a new setting to the gain switching function of the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114). It switches the gain right before a stop.
The positioning time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time.
6
Operating Conditions
You can use the gain 3 switching function in the following situations for position control or full closing control.
Conditions
Operating mode POSITION CONTROL mode, SPEED CONTROL mode
Others
• Servo-ON state.
• The factors other than control parameters are set correctly.
• This includes the torque limit. The motor operates normally without any failures.
Parameters Requiring Settings
Parameter number
Pn605
Pn606
Parameter name Explanation
Gain 3 Effective Time Set effective time of gain 3.
Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1.
Reference
6-37
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-10 Gain Switching 3 Function
Operation Example
When the conventional gain switching function works correctly, set a time to use the Gain 3 into the Gain 3 Effective Time (Pn605), and the magnification of Gain 3 against Gain 1 into the
Gain 3 Ratio Setting (Pn606).
Operation Timings of Gain 1, 2 and 3
When the SWITCHING mode in Position Control (Pn115) is set to 7, i.e., when the command pulses are received as the switching condition, the operation will be as shown below:
Position command speed [r/min]
Pn605
×0.1ms
Gain 2 Gain 3 Gain 1
Pn105 to Pn109 Pn100 to Pn104
Gain 3 region
Position loop gain
=Pn100×Pn606/100
Speed loop gain
=Pn101×Pn606/100
Continue to use gain 1 value for the speed loop integral time constant, speed feedback filter time constant, and torque command filter time constant.
Precautions for Correct Use
If gain 3 is not used, set the Gain 3 Effective Time (Pn605) to 0 and Gain 3 Ratio Setting (Pn606) to 100.
In the gain 3 region, only the position loop gain and the speed loop gain are treated as gain 3, and the gain 1 setting is applied to all other gains.
If the gain 2 switching condition is established in the gain 3 region, this switches to gain 2.
If gain 2 is switching to gain 3, Position Gain Switching Time (Pn119) is enabled.
Take note that there is a gain 3 region even when gain 2 is switched to gain 1 due to a parameter change and so forth.
6
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
6-38
y
Safety Function
This function stops the motor based on a signal from a Safety Controller or safety sensor.
An outline of the function is explained together with operation and connection examples.
7-1 Safe Torque OFF (STO) Function................................7-1
7-2 Operation Example .......................................................7-4
7-3 Connection Examples ..................................................7-6
7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7
7-1 Safe Torque OFF (STO) Function
7-1 Safe Torque OFF (STO) Function
The safe torque OFF (hereinafter referred to as STO) function is used to cut off the motor current and stop the motor through the input signals from a safety equipment, such as a Safety
Controller or safety sensor, that is connected to the safety connector (CN8).
When the STO function is operating, the
Servo Drive
turns OFF the servo ready completed output (READY) to go into the safety status.
Precautions for Safe Use
When using the STO function, be sure to execute a risk assessment of the equipment to confirm that the system safety requirements are met.
There are following risks even when the STO function is operating. Be sure to take safety into account as part of the risk assessment.
• The motor runs if external force is present (e.g., force of gravity on the vertical axis, etc.). If holding is required, implement appropriate measures, such as providing external brakes. Take note that the brakes for the
Servo Drive
with brakes are used for the holding purpose only, and cannot be used for control.
• Even if there is no external force, when Stop Selection for Alarm Detection (Pn510) is set to free-run (with the dynamic brake disabled), the motor operates as free-run and the stop distance is long.
• In case of internal failure of components, the motor may operate in the range of up to 180 degrees of electrical angle.
• The power supply to the motor is cut off by the STO function, but the power supply to the
Servo
Drive
will not be cut off nor electrically insulated. For
Servo Drive
maintenance, cut off the power supply to the
Servo Drive
through another means.
Do not use EDM output for other than the failure monitoring function. The EDM output signal is not a safety output.
Be sure to check the wiring when installing. Especially check the following:
• The wiring is not short-circuited or disconnected.
• The polarity of EDM circuit is not reversed.
• SF1, SF2 and EDM operate properly.
The system with incorrect wiring may damage the safety function.
The dynamic brake and external brake release signal output are not safety-related parts. Make sure to design the equipment not to be dangerous even if the external brake release fails during the STO status.
When using the STO function, connect an equipment that meets the safety standards.
The PFH value is 2.30 × 10
−8
.
The STO function meets the following safety standards.
7-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7-1 Safe Torque OFF (STO) Function
I/O Signal Specifications
Safety Input Signal
There are 2 types of safety input circuits to operate the STO function.
Signal name
Safety input 1
CONTROL mode
Symbol
Pin number
Description
SF
+
CN8-4 • The upper arm drive signal of the power transistor inside the Servo
SF
−
CN8-3
Drive is cut off.
Position Speed Torque
Full closing
√ √ √ √
√ √ √ √
Safety input 2
SF2
+
CN8-6 • The lower arm drive signal of the power transistor inside the Servo
SF2
−
CN8-5
Drive is cut off.
√
√
√
√
√
√
√
√
When the safety input is either 1 or 2, the STO function starts operating within 5 ms of the input, and the motor output torque will be reduced to 0.
Connect the equipment so that the safety input circuit is turned OFF when you operate the STO function.
Use Stop Selection for Alarm Detection (Pn510) to set the operation when the safety input is turned OFF.
7
Precautions for Correct Use
L-pulse for self-diagnosis of safety equipment
When you are connecting a safety equipment, such as a Safety Controller or a safety sensor, the safety output signal of the equipment may include L pulse for self-diagnosis. To avoid malfunction due to this L-pulse for self-diagnosis, a filter that can remove the L pulse for self-diagnosis is built in with the safety input circuit. If the OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as OFF. To make sure that OFF is recognized, maintain the OFF status of safety input signal for at least 5 ms.
For self-diagnosis L pulse
5 ms or more
Safety input signal
Within 1 ms
Servo amplifier operation
Normal operation
Within 5 ms
STO status
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7-2
7
7-1 Safe Torque OFF (STO) Function
External Device Monitor (EDM) Output Signal
This is a monitor output signal that is used to monitor the status of safety input signals using an external device.
Connect a safety equipment, such as a safety controller or a safety sensor, to the external device monitoring terminal.
Signal name
EDM output
Symbol
Pin number
Description
EDM
+ CN8-8
EDM
− CN8-7
• Monitor signal is output to detect malfunctioning of the safety function.
* This output signal is not a safety output.
CONTROL mode
Position Speed Torque
Full closing
√ √ √ √
√ √ √ √
Relationship Between Safety Input Signal and EDM Output Signal
Normally when both of the Safety inputs 1 and 2 are off, i.e., when the STO function works for both safety input circuits, the EDM output is on.
You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal statuses using an external device.
These are the two cases of errors:
Both of the Safety inputs 1 and 2 are off. But the EDM output circuit signal does not become on.
Either or both the Safety inputs 1 or/and 2 are on. But the EDM output circuit signal is on.
Signal name Symbol Signal status
Safety input 1
Safety input 2
EDM output
SF1
SF2
EDM
ON
ON
OFF
ON
OFF
OFF
OFF
ON
OFF
OFF
OFF
ON
The maximum delay time is 6 ms after the safety input signal is input and until the EDM output signal is output.
7-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7-2 Operation Example
7-2 Operation Example
Operation Timings to a Safety Status
Operation command (RUN) Servo ON
Servo OFF
Safety input 1
Safety input 2
*1
Motor power is supplied.
EDM output
Dynamic brake relay
*2
Normal status
STO status
Power supply
OFF max 5 ms max 6 ms
No power supply
ON
0.5 to 5 ms
DB released DB engaged
Servo ready completed output (READY)
READY
Alarm output (ALM)
Normal
Alarm
Pn438 set value
Brake interlock output (BKIR)
Brake released
Brake held t1
*3
Pn439 set value
When the Pn438 set value is early
Pn438 set value
Brake released
Brake held t1
*3
Pn439 set value
When the timing of reaching the
Pn439 set value or lower is early
*1. Safety inputs 1 and 2 transition to the STO status when either one of them is turned OFF.
*2. The dynamic brake is based on the Stop Selection for Alarm Detection (Pn510) setting.
*3. t1 is the set value of the Brake Timing during Operation (Pn438), or the time needed for the motor rotation speed to drop to or below the Brake Release Speed Setting (Pn439), whichever occurs first.
7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7-4
7
7-2 Operation Example
Timings of Return from the Safety Status
Operation command
(RUN)
*1
Servo OFF command
Safety input 1
Safety input 2
Motor power is supplied.
EDM output
STO status
ON
Normal status
No power supply max 6 ms
OFF
Servo ON
Follow the normal servo ON/OFF operation timing diagram upon input of the operation command (RUN).
For details, refer to
"6-5 Brake
Interlock."
Dynamic brake relay
DB released/engaged
Alarm occurrence status
*2
DB released/engaged
*3
Servo OFF
READY
Servo ready completed output (READY)
Alarm reset input (RESET)
*1
Reset
Alarm output
(ALM)
Alarm
Normal
Brake interlock output (BKIR)
Brake held
*1. Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and
2 to ON. Alarm clear must be performed because alarms occurs. Be sure to execute the alarm clear when both safety inputs 1 and 2 are returned to the ON status. An alarm occurs immediately if the alarm reset is executed when even one of these is still in the OFF status. Depending on the timing, another error (Alarm No. 99.0) may occur. If another error occurs, you must turn OFF the power supply, then turn it ON again.
*2. Since this is a status where alarms occurs, the dynamic brake is based on the Stop Selection for
Alarm Detection (Pn510).
*3. Since this is a normal servo OFF status, the dynamic brake is based on the Stop Selection with Servo
OFF (Pn506) setting.
7-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7-3 Connection Examples
7-3 Connection Examples
Connection Example 1: Connection with a Safety Switch
24 V
Safety switch
Drive
Contact output
SF1
+
Safety input
SF1
−
Safety input
SF2
+
SF2
−
0 V
EDM output
EDM
+
EDM
−
M
Connection Example 2: Connection with a Safety Sensor
Safety sensor
Safety output
(source)
Control output 1
SF1
+
Safety input
SF1
−
Control output 2
SF2
+
0 V
SF2
−
24 V
EDM input
EDM
+
EDM
−
EDM output
Drive
Connection Example 3: Connection with a Safety Controller
EDM input
Safety
Controller
T31 T33
G9SX-AD
PWR
T1
FB
T2
EI
ED
ERR
S1 S24
Safety output
(source)
A2
SF1
+
Safety input
SF1
−
SF2
+
SF2
−
EDM
+
EDM
−
EDM output
0 V
Drive
M
M
7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
7-6
Parameters Details
This chapter explains the set value and contents of setting of each parameter.
8-1 Basic Parameters..........................................................8-1
8-2 Gain Parameters ...........................................................8-7
8-3 Vibration Suppression Parameters...........................8-19
8-4 Analog Control Parameters .......................................8-24
8-5 Interface Monitor Setting Parameters.......................8-30
8-6 Extended Parameters .................................................8-41
8-7 Special Parameters.....................................................8-52
8
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8
8-1 Basic Parameters
8-1 Basic Parameters
Some parameters are enabled when the power is turned ON after it is turned OFF. They are indicated in the table below. Ensure you turn off the power, confirm that the power indicator goes off, and turn on the power again, after you change the settings of these parameters.
Do not change the parameters that are indicated as Reserved for manufacturer use, or Reserved for the system. Also, do not change the set values that are indicted as Unused or Reserved for the system.
See below for the data attributes.
A : Always enabled
B : Prohibited to change during motor rotation or commanding.
If it is changed during motor rotation or commanding, the reflection timing is unknown.
C : Enabled after a power reset, or after the CONFIG command is executed via
MECHATROLINK-II communications.
R : Enabled after a power reset.
It is not enabled by the CONFIG command via MECHATROLINK-II communications.
Pn000
Setting range
Rotation Direction Switching
0 to 1 Unit
−
Default setting
1
It switches the motor rotation direction for a position, speed or torque command.
Data attribute
All
C
Explanation of Set Values
Set value
0
1
Description
A forward direction command sets the motor rotation direction to CW.
A forward direction command sets the motor rotation direction to CCW.
Regarding the motor rotation direction, when seen from load-side axis, clockwise is referred to as
CW and counterclockwise as CCW.
8-1
CW
CCW
Pn001
Setting range
CONTROL mode Selection
0 to 6 Unit
Set the CONTROL mode to be used.
Explanation of Set Values
Set value
0 to 5
6
Switch control
Full closing control
−
Default setting
Description
0
Data attribute
All
R
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-1 Basic Parameters
Pn002
Setting range
REALTIME AUTOTUNING mode Selection
0 to 6 Unit
−
Set the OPERATING mode for realtime autotuning.
Refer to "10-3 Realtime Autotuning (P.10-6)".
Explanation of Set Values
Default setting
1
Data attribute
All
B
Set value
0
1
2
3
4
5
6
Description
Disabled
This mode focuses on stability.
This mode focuses on positioning.
It is used for a horizontal axis, for example, which has only a small friction without any load unbalance, such as for a ball screw drive.
In the speed control or the torque control, it is same as the set value 1 which focuses on stability.
This mode focuses on positioning.
It is used for a vertical axis which has unbalanced load.
In the torque control, it is same as the set value 1 which focuses on stability.
Used when friction is large.
It shortens the positioning stabilization time when the friction is large, such as for a belt drive.
In the speed control, it is same as the set value 3. In the torque control, it is same as the set value 1.
It is used for a vertical axis which has a large friction and unbalanced load.
It is used for customizing the realtime autotuning function by the REALTIME AUTOTUNING
CUSTOMIZATION mode Setting (Pn632).
8
Pn003
Setting range
Realtime Autotuning Machine Rigidity Setting
0 to 31 Unit −
Default setting
13
*1
Data attribute
All
B
*1.It is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
The higher the machine rigidity set value is, the higher the responsiveness is. However, the more vibration occurs.
Pn003
Low
←Machine rigidity→
High
Low
←Servo gain→
High
0.1 - - - - - - - - - - - - - - - 31
Low
←Responsiveness→
Refer to "10-3 Realtime Autotuning (P.10-6)".
High
Precautions for Correct Use
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting the machine to shock. Always start with the small setting, and gradually increase the setting while monitoring machine operation.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2
8
8-1 Basic Parameters
Pn004
Setting range
Inertia Ratio
All
0 to 10,000 Unit %
Default setting
250
Data attribute
B
Set the load inertia as a percentage of the motor rotor inertia.
Pn004 = (Load inertia / Rotor inertia)
× 100%
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain 1 (Pn101) and Speed
Loop Gain 2 (Pn106) is Hz.
If the Inertia Ratio (Pn004) is set larger than the actual value, the setting for speed loop gain increases. If the Inertia Ratio (Pn004) is set smaller than the actual value, the setting for speed loop gain decreases.
Pn005
Setting range
Unused
−
Unit
−
Default setting
Data attribute
All
−
Pn006
Setting range
Unused
−
Pn007
Setting range
Unused
−
Pn008
Setting range
Unused
−
Unit
Unit
Unit
−
−
−
Default setting
Default setting
Default setting
Data attribute
Data attribute
Data attribute
All
All
All
−
−
−
8-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-1 Basic Parameters
Pn009
Setting range
Electronic Gear Ratio Numerator
0 to 1073741824 Unit
−
Default setting
1
Position Full closing
Data attribute
C
Pn010
Setting range
Electronic Gear Ratio Denominator
1 to 1073741824 Unit −
Default setting
1
Position Full closing
Data attribute
C
Set the electronic gear function.
The electronic gear can be used for the following:
• To set any value for the motor rotation and travel distance per input command.
Refer to "6-6 Electronic Gear Function (P.6-19)".
Electronic Gear Block Diagram:
Command input f
Numerator (Pn009)
Denominator (Pn010)
Internal command
+
F −
To error counter
Feedback pulse
(resolution)
The electronic gear ratio is set using the following equations.
If the Numerator = 0, the Numerator is automatically set to the encoder resolution. The number of command input per rotation can be set by the Pn010.
Electronic gear ratio
=
Encoder resolution
Electronic Gear Ratio Denominator (Pn010)
If Numerator ≠ 0:
Electronic gear ratio
=
Electronic Gear Ratio Numerator (Pn009)
Electronic Gear Ratio Denominator (Pn010)
8
Pn011
Setting range
Unused
−
Pn012
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
Data attribute
All
−
Data attribute
All
−
Pn013
Setting range
No. 1 Torque Limit
All
0 to 500 Unit %
Default setting
500
Data attribute
B
Set the limit values for the motor output torques (Pn013: No.1, Pn522: No.2).
Refer to the Torque Limit Selection (Pn521) for the torque limit selection.
During torque control, it limits the maximum torque in forward and reverse directions. The settings on the Torque Limit Selection (Pn521) and the No.2 Torque Limit (Pn522) are ignored.
Set the value in units of 1% of the rated torque (100%).
E.g. When the maximum torque is limited to 150%.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-4
8
8-1 Basic Parameters
Torque [%]
300 (max)
Forward direction
If Pn013 and Pn522 = 150.
200
100 (rating)
Speed
100
200
(rating) (max)
300
Reversed direction
Pn014
Setting range
Error Counter Overflow Level
0 to 134217728 Unit Command unit
Default setting
Position
Full closing
100000
Data attribute
A
Set the range of the error counter overflow level.
When the set value is 0, the detective function by the Error counter overflow (Alarm No.24) is disabled.
The unit used must conform to the setting by the Position Setting Unit Selection (Pn520).
Pn015
Setting range
Operation Switch when Using Absolute Encoder
0 to 2 Unit −
Set the operating method for the 17-bit absolute encoder.
Default setting
1
Position Full closing
Data attribute
C
Explanation of Set Values
Set value
0
1
2
Description
Use as absolute encoder.
Use as incremental encoder.
Use as absolute encoder but ignore multi-rotation counter overflow.
8-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-1 Basic Parameters
Pn016
Setting range
Regeneration Resistor Selection
0 to 3 Unit
−
Default setting
3
*1
Data attribute
All
C
*1 It is 0 for a Drive with 100 V and 400 W, with 200 V and 750 W or greater, or with 400 V.
The setting is different whether the Regeneration Resistor built in the Drive is directly used, or it is removed and replaced by an external regeneration resistor. In the latter case, the Resistor is connected to the external regeneration resistor connection terminal.
Explanation of Set Values
Set value
0
1
2
3
Description
Regeneration Resistor used: Built-in Resistor
The regeneration processing circuit operates and the regeneration overload (Alarm No.18) is enabled according to the Built-in Resistor (with approx. 1% duty).
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, and regeneration overload (Alarm No.18) causes a trip when the operating rate of the Regeneration Resistor exceeds 10%.
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, but regeneration overload (Alarm No.18) does not occur.
Regeneration Resistor used: None
The regeneration processing circuit and regeneration overload (Alarm No.18) do not operate, and all regenerative energy is processed by the built-in capacitor.
Precautions for Correct Use
Do not touch the External Regeneration Resistor. A burn injury may result.
Always provide a temperature fuse or other protective measure when using an External
Regeneration Resistor. Regardless of whether the regeneration overload is enabled or disabled, the Regeneration Resistor can generate heat and may cause burning.
To use the Built-in Regeneration Resistor, always set this parameter to 0.
8
Pn017
Setting range
External Regeneration Resistor Setting
0 to 4 Unit
−
Default setting
0
Data attribute
All
C
Select the method to calculate the regeneration resistance load ratio, when the External Resistor is selected on the Regeneration Resistor Selection (Pn016
= 1 or 2).
Explanation of Set Values
Set value
0
3
4
1
2
Description
Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor is 10%.
Reserved
Reserved
Reserved
Reserved
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-6
8
8-2 Gain Parameters
8-2 Gain Parameters
Refer to "10-2 Gain Adjustment (P.10-4)" for the settings for gain adjustment.
Pn100
Setting range
Position Loop Gain 1
0 to 30000 Unit 0.1/s
Default setting
Position Full closing
480
*1
Data attribute
B
*1.It is 320 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Set the position loop response in accordance with the machine rigidity.
The responsiveness of the servo system is determined by the position loop gain.
Servo systems with a high position loop gain have a high responsiveness and fast positioning.
To increase the position loop gain, you must improve machine rigidity and increase the specific damping frequency. This should be 500 to 700 (0.1/s) for ordinary machine tools, 300 to 500 (0.1/ s) for general-use and assembly machines, and 100 to 300 (0.1/s) for industrial robots. The default position loop gain is 480 (0.1/s), so be sure to lower the set value for machines with low machine rigidity.
Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance, resulting in an overload alarm.
If the position loop gain is low, you can shorten the positioning time using feed forward.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the REALTIME AUTOTUNING mode Selection (Pn002) to 0.
Position loop gain is generally expressed as follows:
Command pulse frequency (pulse/s)
Position loop gain (Kp)
=
Error counter accumulated pulse (pulse)
(0.1/s)
Response when the position loop gain is operated
Position loop gain is high.
Motor speed
Position loop gain is low.
8-7
Time
If the speed loop gain and position loop gain are optimally set, the motor operation for the command delays 2/Kp at acceleration and delays 3/Kp at deceleration.
Motor speed
Position command
2
Kp
Motor operation
3
Kp
Time
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2 Gain Parameters
Pn101
Setting range
Speed Loop Gain 1
1 to 32767 Unit 0.1 Hz
Default setting
270
*1
Data attribute
All
B
*1.It is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Determine speed loop responsiveness.
The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
The setting unit for Pn101 is Hz if the Inertia Ratio (Pn004) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Motor speed
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
Time
Pn102
Setting range
Speed Loop Integral Time Constant 1
1 to 10000 Unit 0.1 ms
Default setting
210
*1
Data attribute
All
B
*1.It is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Set the speed loop integration time constant.
The smaller the set value, the faster the error comes close to 0 when stopping. Set to 9,999 to maintain integration. Set to 10,000 to invalidate the effect of integration.
When the speed loop integral time constant is changed, the response is as shown in the following diagram.
Motor speed
Overshooting occurs if the speed loop integral time constant is small.
8
Speed loop integral time constant is large.
Time
Pn103
Setting range
Speed Feedback Filter Time Constant 1
All
0 to 5 Unit −
Default setting
0
Data attribute
B
Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
Increasing the set value increases the time constant and decreases the noise generated by the motor. Responsiveness, however, also decreases.
Normally, use the default set value.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-8
8-2 Gain Parameters
8
Pn104
Setting range
Torque Command Filter Time Constant 1
0 to 2500 Unit 0.01 ms
*1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Default setting
84
*1
Data attribute
Set the time constant for the first-order lag filter inserted into the torque command.
This parameter may be effective in suppressing vibration due to torsion resonance.
All
B
Pn105
Setting range
Position Loop Gain 2
0 to 30000 Unit 0.1/s
*1.It is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Default setting
Position Full closing
570
*1
Data attribute
Set the responsiveness of the position control system for the second position loop.
B
Pn106
Setting range
Speed Loop Gain 2
1 to 32767 Unit 0.1 Hz
*1.It is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Set the responsiveness of the second speed loop.
Pn107
Setting range
Speed Loop Integration Time Constant 2
1 to 10000 Unit 0.1 ms
Set the second speed loop integration time constant.
Pn108
Setting range
Speed Feedback Filter Time Constant 2
0 to 5 Unit
Set the second speed feedback filter.
−
Default setting
Default setting
Default setting
270
*1
10000
0
Data attribute
Data attribute
Data attribute
All
All
All
B
B
B
Pn109
Setting range
Torque Command Filter Time Constant 2
0 to 2500 Unit 0.01 ms
Default setting
84
*1
Data attribute
All
B
*1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
Set the second torque filter time constant.
The parameters from Pn105 to Pn109 are the gain and time constants to be selected when the
GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is enabled.
The gain switching condition is switched according to the condition set in the SWITCHING mode
(Pn115, Pn120 and Pn124).
If the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the motor is rotating or being stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions, and switching them according to the condition.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the REALTIME AUTOTUNING mode Selection (Pn002) to 0.
8-9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2 Gain Parameters
Pn110
Setting range
Speed Feed-forward Amount
0 to 1000 Unit 0.1%
Default setting
300
Position
Full closing
Data attribute
B
Set the feed-forward amount.
Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn111
Setting range
Speed Feed-forward Command Filter
0 to 6400 Unit 0.01 ms
Default setting
50
Position
Full closing
Data attribute
B
Set the time constant for the first-order lag filter inserted into the feed forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn112
Setting range
Torque Feed-forward Amount
0 to 1000 Unit 0.1%
Default setting
Position Speed Full closing
0
Data attribute
B
Set the feed-forward amount in torque control. Increasing the set value decreases the position error and increases the responsiveness. Overshooting, however, will occur more easily.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn113
Setting range
Torque Feed-forward Command Filter
0 to 6400 Unit 0.01 ms
Default setting
Position Speed Full closing
0
Data attribute
B
Set the time constant for the first-order lag filter inserted into the feed forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high.
Refer to "10-11 Feed-forward Function (P.10-36)".
Pn114
Setting range
GAIN SWITCHING INPUT OPERATING mode Selection
All
0 to 1 Unit −
Default setting
1
Data attribute
B
Select either PI/P operation switching or gain 1/gain 2 switching.
The PI/P operation switching is the switching made by the speed loop PI/P control command in
MECHATROLINK-II communications.
Refer to "6-9 Gain Switching Function (P.6-26)" for the Gain 1/Gain 2 switching.
Explanation of Set Values
Set value
0
1
Gain 1 (PI/P switching enabled)
Gain 1/gain 2 switching available
Description
8
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-10
8
8-2 Gain Parameters
Pn115
Setting range
SWITCHING mode in Position Control
0 to 10 Unit −
Default setting
0
Position Full closing
Data attribute
B
Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Position Control
(Pn115) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn115 set value
0
1
2
3
4
5
6
7
8
9
10
Gain switching conditions
Always Gain 1 (Pn100 to Pn104).
Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
MECHATROLINK-II communications
*3
Torque command variation (Refer to
Figure A)
Always Gain 1 (Pn100 to 104).
Description
Gain switching delay time in position control
(Pn116)
*1
Disabled
Disabled
Disabled
Enabled
Disabled
Enabled Command speed (Refer to Figure B)
Amount of position error (Refer to
Figure C).
When the position command is entered
(Refer to Figure D).
When the positioning complete signal
(INP) is OFF (Refer to Figure E).
Actual motor speed (Refer to Figure B).
Enabled
Enabled
Enabled
Enabled
Combination of position command input and rotation speed (Refer to Figure F).
Enabled
Gain switching level in position control (Pn117)
Disabled
Disabled
Disabled
Gain switching hysteresis in position control
(Pn118)
*2
Disabled
Disabled
Disabled
Enabled
*4
(
× 0.05%)
Disabled
Enabled
(
*4
× 0.05%)
Disabled
Enabled (r/min) Enabled(r/min)
Enabled
*5
(pulse)
Enabled
(pulse)
*5
Disabled
Disabled
Disabled
Disabled
Enabled (r/min) Enabled (r/min)
Enabled
*6
(r/min)
Enabled
(r/min)
*6
*1. The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is switched from 2 to 1.
*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined in the drawing below.
Pn117
Pn118
0
Gain 1 Gain 2 Gain 1
Pn116
*3. When the Gain switching command of MECHATROLINK-II communications is 0, the gain switches to
1. When the command is 1, the gain switches to 2.
*4. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*5. The unit (pulse) of hysteresis is the resolution of the encoder in position control. It is the resolution of the external encoder in full closing control.
8-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2 Gain Parameters
*6. When the set value is 10, meanings of the Gain switching delay time in position control, the Gain switching level in position control, and the Gain switching hysteresis in position control differ from the normal case. (Refer to Figure F).
Figure A Figure C
Speed V
Speed V
Torque T
ΔT
Level
H
L
L
H
Time
1 2
1
2
Gain 1
2
1
2 1
Accumulated pulse
Level
Gain 1
Time
Gain 2
Command speed S
H
L
1
Figure D
Gain 1 Gain 2
Time
1
Actual speed N
Figure E
Speed V
Level
Gain 1 Gain 2
Time
Figure B
H
L
Gain 1
INP
8
Gain 2
Time
Gain 1 1
Figure F
Command speed S
Gain 1
Actual speed N
H
L
Level
Time
Gain 2 Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn116
Setting range
Gain Switching Delay Time in Position Control
0 to 10000 Unit 0.1 ms
Default setting
50
Position Full closing
Data attribute
B
Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Position Control
(Pn115) is set to 3 or 5 to 10.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-12
8
8-2 Gain Parameters
Pn117
Setting range
Gain Switching Level in Position Control
0 to 20000 Unit −
Default setting
50
Position Full closing
Data attribute
B
This is enabled when the SWITCHING mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets the judgment level for switching between gain 1 and gain 2.
The unit depends on the SWITCHING mode in Position Control (Pn115).
Pn118
Setting range
Gain Switching Hysteresis in Position Control
0 to 20000 Unit −
Default setting
33
Position Full closing
Data attribute
B
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (Pn117).
The unit depends on the setting of the SWITCHING mode in Position Control (Pn115).
The following shows the definitions for the Gain Switching Delay Time in Position Control (Pn116),
Gain Switching Level in Position Control (Pn117), and Gain Switching Hysteresis in Position
Control (Pn118).
Pn117
Pn118
0
Gain 1 Gain 2 Gain 1
Pn116
The settings for the Gain Switching Level in Position Control (Pn117) and the Gain Switching
Hysteresis in Position Control (Pn118) are enabled as absolute values (positive/negative).
Pn119
Setting range
Position Gain Switching Time
0 to 10000 Unit 0.1 ms
Default setting
33
Position Full closing
Data attribute
B
When the position loop gain increases, the gain changes in the set time.
When switching between gain 1 and gain 2 is enabled, set the gradual switching time only for position loop gain at gain switching.
It inhibits the sudden increase of position loop gain, if the Position Loop Gain 1 (Pn100) and the
Position Loop Gain 2 (Pn105) differs greatly during position control.
(Example)
Kp1 (Pn100)
Pn119
=
0
0.1 ms
0.1
0.1
0.1
1
3
2
Kp1 (Pn100)
>Kp2 (Pn105)
0
1
2
3
Thick solid line
Thin solid line
Kp2 (Pn105)
Gain 1 Gain 2 Gain 1
8-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2 Gain Parameters
Pn120
Setting range
SWITCHING mode in Speed Control
0 to 5 Unit −
Default setting
0
Speed
Data attribute
B
Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Speed Control
(Pn120) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn120 set value
0
1
2
Gain switching conditions
Always the Gain 1 (Pn100 to Pn104).
Always the Gain 2 (Pn105 to Pn109).
Gain switching command input via
MECHATROLINK-II communications
*3
Description
Gain switching delay time in speed control
(Pn121)
*1
Disabled
Disabled
Disabled
Gain switching level in speed control
(Pn122)
Disabled
Disabled
Disabled
3
4
5
Torque command variation (Refer to
Figure A)
Speed command variation (Refer to
Figure B)
Speed command (Refer to Figure C)
Enabled
Enabled
Enabled
Gain switching hysteresis in speed control
(Pn123)
Disabled
Disabled
Disabled
*2
Enabled
*3
(0.05%)
Enabled
*4
(10 r/min/s)
Enabled
*3
(0.05%)
Enabled
*4
(10 r/min/s)
Enabled (r/min) Enabled (r/min)
*1. The Gain switching delay time in speed control (Pn121) becomes effective when the gain is switched from 2 to 1.
*2. The Gain switching hysteresis in speed control (Pn123) is defined in the drawing below.
8
Pn122
Pn123
0
Gain 1 Gain 2 Gain 1
Pn121
*3. When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain switches to Gain 1. When the command is 1, the gain switches to Gain 2.
*4. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-14
8
8-2 Gain Parameters
*5. When the set value is 10, meanings of the Gain switching delay time in speed control (Pn121), the
Gain switching level in speed control (Pn122), and the Gain switching hysteresis in speed control
(Pn123) differ from the normal case. (Refer to Figure D).
Speed V
Figure A
Speed V
Level
Gain 1
Figure B
H
L
Gain 2
Time
Gain 1
Torque T
Figure C
Speed V
ΔT
Level
Time
1 2
1
2 Gain 1 2 2
1
1
H
L
L
H
Command speed S
Accumulated pulse
Level
Gain 1
Time
Gain 2
Figure D
H
L
1
Gain 1
Actual speed N
H
L
Level
Time
Gain 2 Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn121
Setting range
Gain Switching Delay Time in Speed Control
0 to 10000 Unit 0.1 ms
Default setting
0
Speed
Data attribute
B
Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Speed Control
(Pn120) is set to 3 to 5.
Pn122
Setting range
Gain Switching Level in Speed Control
0 to 20000 Unit
−
Default setting
0
Speed
Data attribute
B
In SPEED CONTROL mode, this is enabled when the SWITCHING mode in Speed Control
(Pn120) is set to 3 to 5. Set the judgment level for switching between gain 1 and gain 2.
The unit depends on the SWITCHING mode in Speed Control (Pn120).
8-15
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2 Gain Parameters
Pn123
Setting range
Gain Switching Hysteresis in Speed Control
0 to 20000 Unit −
Default setting
0
Speed
Data attribute
B
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (Pn122).
The unit depends on the setting of the SWITCHING mode in Speed Control (Pn120).
The following shows the definitions for the Gain Switching Delay Time in Speed Control (Pn121),
Gain Switching Level in Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control
(Pn123).
Pn122
Pn123
0
Gain 1 Gain 2 Gain 1
Pn121
The settings for the Gain Switching Level in Speed Control (Pn122) and the Gain Switching
Hysteresis in Speed Control (Pn123) are enabled absolute values (positive/negative).
Pn124
Setting range
SWITCHING mode in Torque Control
0 to 3 Unit
−
Default setting
0
Data attribute
Torque
B
Select the switching condition between gain 1 and gain 2 when the GAIN SWITCHING INPUT
OPERATING mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Torque Control
(Pn124) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
Explanation of Settings
Pn124 set value
0
1
2
Gain switching conditions
Always Gain 1 (Pn100 to Pn104).
Always Gain 2 (Pn105 to Pn109).
Gain switching command input via
MECHATROLINK-II communications
*3
Description
Gain switching delay time in torque control
(Pn125)
*1
Disabled
Disabled
Disabled
Gain switching level in torque control
(Pn126)
Disabled
Disabled
Disabled
Gain switching hysteresis in torque control
(Pn127)
*2
Disabled
Disabled
Disabled
3
Torque command variation (Refer to
Figure A)
Enabled
Enabled
*4
(0.05%)
Enabled
(0.05%)
*4
*1. The Gain Switching Delay Time in Toque Control (Pn125) becomes effective when the gain is switched from 2 to 1.
8
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-16
8
8-2 Gain Parameters
*2. The Gain Switching Hysteresis in Torque Control (Pn127) is defined in the drawing below..
Pn126
Pn127
0
Gain 1 Gain 2 Gain 1
Pn125
*3. When the Gain switching command of MECHATROLINK-II communications is 0, the gain switches to
Gain 1. When the command is 1, the gain switches to Gain 2.
*4. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
Figure A
Speed V
Torque T
ΔT
Level
Time
1 2
1
2 Gain 1 2 2
1
1
H
L
L
H
8-17
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-2 Gain Parameters
Pn125
Setting range
Gain Switching Delay Time in Torque Control
0 to 10000 Unit 0.1 ms
Default setting
0
Data attribute
Torque
B
Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Torque Control
(Pn124) is set to 3.
Pn126
Setting range
Gain Switching Level in Torque Control
0 to 20000 Unit
−
Default setting
0
Data attribute
Torque
B
This is enabled when the SWITCHING mode in Torque Control (Pn124) is set to 3. It sets the judgment level for switching between gain 1 and gain 2.
The unit depends on the setting of SWITCHING mode in Torque Control (Pn124).
Pn127
Setting range
Gain Switching Hysteresis in Torque Control
0 to 20000 Unit
−
Default setting
0
Data attribute
Torque
B
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Torque Control (Pn126).
The unit depends on the setting of SWITCHING mode in Torque Control (Pn124).
The following shows the definitions for the Gain Switching Delay Time in Torque Control (Pn125),
Gain Switching Level in Torque Control (Pn126), and Gain Switching Hysteresis in Torque Control
(Pn127).
Pn126
Pn127
0
Gain 1 Gain 2 Gain 1
Pn125
The settings for the Gain Switching Level in Torque Control (Pn126) and the Gain Switching
Hysteresis in Torque Control (Pn127) are enabled as absolute values (positive/negative).
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8-3 Vibration Suppression Parameters
8-3 Vibration Suppression Parameters
Pn200
Setting range
Adaptive Filter Selection
0 to 4 Unit −
Default setting
Position Speed Full closing
0
Data attribute
B
Set the operation of the adaptive filter.
The adaptive filter is normally disabled in the TORQUE CONTROL mode.
Refer to "10-6 Adaptive Filter (P.10-25)".
Explanation of Set Values
Set value
0
1
2
3
4
Description
Disabled. The current values are held for the parameters related to notch filters 3 and 4.
One adaptive filter is enabled. The parameter related to notch filter 3 is updated based on the applicable result.
Two adaptive filters are enabled. The parameters related to notch filters 3 and 4 are updated based on the applicable result.
The resonance frequency is measured.The measurement result can be checked using CX-
Drive.The current values are held for the parameters related to notch filters 3 and 4.
Adaptive result is cleared.Parameters related to notch filters 3 and 4 are disabled and the adaptive result is cleared.
Pn201
Setting range
Notch 1 Frequency Setting
50 to 5000 Unit Hz
Default setting
Set the frequency of resonance suppression notch filter 1.
The notch filter function is disabled if this parameter is set to 5000.
Refer to "10-7 Notch Filter (P.10-28)".
5000
Data attribute
All
B
Pn202
Setting range
Notch 1 Width Setting
0 to 20 Unit −
Default setting
2
Data attribute
Set the width of resonance suppression notch filter 1 to one of 20 levels.
Increasing the setting value widens the notch width. Normally, use the default set value.
Refer to "10-7 Notch Filter (P.10-28)".
All
B
Pn203
Setting range
Notch 1 Depth Setting
0 to 99 Unit
−
Default setting
Set the notch depth of resonance suppression notch filter 1.
Increasing the setting value shortens the notch depth and the phase lag.
Refer to "10-7 Notch Filter (P.10-28)".
0
Pn204
Setting range
Notch 2 Frequency Setting
50 to 5000 Unit Hz
Default setting
Set the notch frequency of resonance suppression notch filter 2.
The notch filter function is disabled if this parameter is set to 5000.
Refer to "10-7 Notch Filter (P.10-28)".
5000
Data attribute
Data attribute
All
All
B
B
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8-3 Vibration Suppression Parameters
Pn205
Setting range
Notch 2 Width Setting
0 to 20 Unit
−
Default setting
2
Data attribute
Select the notch width of resonance suppression notch filter 2.
Increasing the setting value widens the notch width. Normally, use the default set value.
Refer to "10-7 Notch Filter (P.10-28)".
All
B
Pn206
Setting range
Notch 2 Depth Setting
0 to 99 Unit −
Default setting
Set the notch depth of resonance suppression notch filter 2.
Increasing the setting value shortens the notch depth and the phase lag.
Refer to "10-7 Notch Filter (P.10-28)".
0
Data attribute
All
B
Pn207
Setting range
Notch 3 Frequency Setting
All
50 to 5000 Unit Hz
Default setting
5000
Data attribute
B
Set the notch frequency of resonance suppression notch filter 3.
The notch filter function is disabled if this parameter is set to 5000.
While the adaptive filter is enabled, the resonance frequency 1 that is assumed by the adaptive filter is automatically set. If no resonance point is found, the value 5000 is set.
Refer to "10-6 Adaptive Filter (P.10-25)" and "10-7 Notch Filter (P.10-28)".
Pn208
Setting range
Notch 3 Width Setting
0 to 20 Unit −
Default setting
2
Data attribute
Select the notch width of resonance suppression notch filter 3.
Increasing the setting value widens the notch width. Normally, use the default set value.
While the adaptive filter is enabled, it is set automatically.
Refer to "10-6 Adaptive Filter (P.10-25)" and "10-7 Notch Filter (P.10-28)".
All
B
Pn209
Setting range
Pn210
Setting range
Notch 3 Depth Setting
0 to 99 Unit
−
Default setting
0
Set the notch depth of resonance suppression notch filter 3.
Increasing the setting value shortens the notch depth and the phase lag.
While the adaptive filter is enabled, it is set automatically.
Refer to "10-6 Adaptive Filter (P.10-25)" and "10-7 Notch Filter (P.10-28)".
Data attribute
All
B
Notch 4 Frequency Setting
All
50 to 5000 Unit Hz
Default setting
5000
Data attribute
B
Set the notch frequency of resonance suppression notch filter 4.
The notch filter function is disabled if this parameter is set to 5000.
While the adaptive filter is enabled, the resonance frequency 2 that is assumed by the adaptive filter is automatically set. If no resonance point is found, the value 5000 is set.
Refer to "10-6 Adaptive Filter (P.10-25)" and "10-7 Notch Filter (P.10-28)".
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8-3 Vibration Suppression Parameters
8
Pn211
Setting range
Notch 4 Width Setting
0 to 20 Unit −
Default setting
2
Data attribute
Select the notch width of resonance suppression notch filter 4.
Increasing the setting value widens the notch width. Normally, use the default set value.
While the adaptive filter is enabled, it is set automatically.
Refer to "10-6 Adaptive Filter (P.10-25)" and "10-7 Notch Filter (P.10-28)".
All
B
Pn212
Setting range
Pn213
Setting range
Notch 4 Depth Setting
0 to 99 Unit
−
Default setting
0
Set the notch depth of resonance suppression notch filter 4.
Increasing the setting value shortens the notch depth and the phase lag.
While the adaptive filter is enabled, it is set automatically.
Refer to "10-6 Adaptive Filter (P.10-25)" and "10-7 Notch Filter (P.10-28)".
Damping Filter Selection
0 to 3 Unit −
Default setting
Set the method to switch among four damping control filters.
Data attribute
All
B
0
Position Full closing
Data attribute
B
Explanation of Set Values
Set value
0
1
2
3
Explanation
Damping filter 1 or 2 enabled
Reserved for manufacturer use
*1
Reserved for manufacturer use
*1
It is switched with position command direction.
• Forward direction: Damping filters 1 / 3 enabled
• Reverse direction: Damping filters 2 / 4 enabled
*1 The set value 1 and 2 are for manufacturer's use only. Users are not allowed to set 1 and 2 for this parameter.
Pn214
Setting range
Damping Frequency 1
0 to 2000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
Set damping frequency 1 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
The range of setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9
Hz.
Refer to "10-5 Damping Control (P.10-21)".
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8-3 Vibration Suppression Parameters
Pn215
Setting range
Damping Filter 1 Setting
0 to 1000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
First set the
Damping
Frequency 1 (Pn214). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to the
Damping
Frequency 1
Lower limit:
Damping
frequency + damping
filter setting
≥ 100
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn216
Setting range
Damping Frequency 2
0 to 2000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
Set the Damping Frequency 2 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn217
Setting range
Damping Filter 2 Setting
0 to 1000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
First set the
Damping
Frequency 2 (Pn216). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to the
Damping
Frequency 2
Lower limit:
Damping
frequency + damping
filter setting
≥ 100
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn218
Setting range
Damping Frequency 3
0 to 2000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
Set the Damping Frequency
3 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn219
Setting range
Damping Filter 3 Setting
0 to 1000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
First set the
Damping
Frequency 3 (Pn218). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to the
Damping
Frequency 3
Lower limit:
Damping
frequency + damping
filter setting
≥ 100
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
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8-3 Vibration Suppression Parameters
Pn220
Setting range
Damping Frequency 4
0 to 2000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
Set the Damping Frequency
4 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn221
Setting range
Damping Filter 4 Setting
0 to 1000 Unit 0.1 Hz
Default setting
0
Position Full closing
Data attribute
B
First set the
Damping
Frequency 4 (Pn220). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Up to the
Damping
Frequency 4
Lower limit:
Damping
frequency + damping
filter setting
≥ 100
Refer to "10-5 Damping Control (P.10-21)" for more information on settings.
Pn222
Setting range
Position Command Filter Time Constant
0 to 10000 Unit 0.1 ms
Default setting
0
Position Full closing
Data attribute
B
The Position Command Filter Time Constant is the first-order lag filter that is inserted after the electronic gear ratio for the command input.
The Constant is used to reduce the stepping movement of the motor and achieve a smooth operation when the electronic gear ratio is set in 10 times or greater.
It sets the first-order lag filter time constant, as shown below, for the square-wave command of target speed Vc.
Input position command
Position command after the smoothing filter process
Speed
Target speed Vc
Vc
×0.632
*1
Vc
×0.368
*1 t f t f t f
= (Pn222×0.1 ms)
Filter switching dwell time
*2
*1 The actual process involves calculation error.
*2 If accumulated pulses remain within the filter after the filter set value has been changed, etc., the motor may operate at a speed higher than the command speed immediately after switching the filter.
Time
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8-4 Analog Control Parameters
8-4 Analog Control Parameters
Pn300
Setting range
Unused
−
Pn301
Setting range
Unused
−
Pn302
Setting range
Unused
−
Pn303
Setting range
Unused
−
Pn304
Setting range
Unused
−
Pn305
Setting range
Unused
−
Pn306
Setting range
Unused
−
Pn307
Setting range
Unused
−
Pn308
Setting range
Unused
−
Pn309
Setting range
Unused
−
Pn310
Setting range
Unused
−
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
−
−
−
−
−
−
−
−
−
−
−
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
8-24
8
8-4 Analog Control Parameters
8
Pn311
Setting range
Unused
−
Unit
−
Default setting
Pn312
Setting range
Soft Start Acceleration Time
0 to 10000 Unit ms/maximum motor speed
Default setting
0
Data attribute
All
−
Speed
Data attribute
B
Pn313
Setting range
Soft Start Deceleration Time
0 to 10000 Unit ms/maximum motor speed
Default setting
0
Speed
Data attribute
B
Control the speed by setting acceleration/deceleration to the speed command inside the
Servo
Drive
.
A soft start can be set when inputting speed commands of stepping movement or when using internal speed setting.
Do not set acceleration/deceleration time settings when using the
Servo Drive
in combination with an external position loop. (Set both Pn312 and Pn313 to 0.)
Refer to "6-8 Soft Start (P.6-24)".
Rotation speed [r/min]
Maximum motor rotation speed Step input of a rotation speed command
Rotation speed command after acceleration or deceleration processing
Pn312
× 1 ms
Pn313
× 1 ms
Precautions for Correct Use
Do not set the Soft Start Acceleration Time and the Soft Start Deceleration Time when the position loop structure with a Host Controller is used.
Pn314
Setting range
S-curve Acceleration/Deceleration Time Setting
0 to 1000 Unit ms
Default setting
0
Speed
Data attribute
B
Set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable smooth operation. This is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration.
Refer to "6-8 Soft Start (P.6-24)".
Rotation speed [r/min] ts ts
Target speed
(Vc) ts ts ta = Vc / Maximum motor rotation speed
× Pn312 × 1 ms td = Vc / Maximum motor rotation speed
× Pn313 × 1 ms ts = Pn314
× 1 ms ta td
Be sure that ts is smaller than the values obtained by the divisions of ta td
and .
2
2
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8-4 Analog Control Parameters
Pn315
Setting range
Unused
−
Pn316
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
Data attribute
All
−
Data attribute
All
−
Pn317
Setting range
Speed Limit Selection
0 to 1 Unit −
Default setting
Select the speed limit.
The speed limit is used as a protection during torque control.
Refer to "5-3 Torque Control (P.5-6)".
Explanation of Set Values
Set value
0
1
0
Torque
Data attribute
B
Description
Select the value set on the Speed Limit Value Setting (Pn321).
Select either the speed limit value (VLIM) via MECHATROLINK-II communications or the value set by the Speed Limit Value Setting (Pn321), whichever is smaller.
Pn318
Setting range
Unused
−
Pn319
Setting range
Unused
−
Pn320
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
Data attribute
Data attribute
All
All
−
−
Unit
−
Default setting
Data attribute
All
−
Pn321
Setting range
Speed Limit Value Setting
0 to 20000 Unit r/min
Default setting
50
Set the speed limit value for torque control.
It controls that the speed during torque control does not exceed the set value.
Refer to "5-3 Torque Control (P.5-6)".
Pn322
Setting range
Unused
− Unit −
Default setting
Torque
Data attribute
B
Data attribute
All
−
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8-4 Analog Control Parameters
Pn323
Setting range
External Feedback Pulse Type Selection
0 to 2 Unit −
Default setting
0
Full closing
Data attribute
R
Select the external encoder type. Ensure that the setting conforms to the external encoder type which is actually used.
Refer to "5-4 Full Closing Control (P.5-9)".
Explanation of Set Values
Set value
0
1
2
Description
90
° phase difference output type
*2*3
Serial communications type
(Incremental encoder specifications)
Serial communications type
(Absolute encoder specifications)
Maximum input frequency
0-4 Mpps (Multiplication
× 4)
0-400 Mpps
0-400 Mpps
*1
*1. The maximum input frequency means the feedback speed [pps] of the external encoder, which can be processed by the Drive. Confirm the instruction manual of the external encoder for the maximum output frequency on the external encoder.
*2. These are the directions that the Drive counts the Scale of 90 ° phase difference output type.
Count-down direction t1
Count-up direction t1
EXA
EXA
EXB t2
EXB is 90
° ahead of EXA. t1
> 0.25 μs t2
> 1.0 μs
EXB t2
EXB is 90
° behind EXA. t1
> 0.25 μs t2
> 1.0 μs
*3 For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating in the CCW direction, and count-down occurs when the motor shaft is rotating in the CW direction If the connection direction cannot be selected due to installation conditions, etc., the count direction can be reversed using External Feedback Pulse Direction Switching (Pn326).
Precautions for Correct Use
Take note that if Pn000 = 1, the encoder count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses, etc.
If Pn000 = 0, the count direction matches the count direction for monitoring.
Even when the speed command is within the Drive’s speed command range, an acceleration alarm occurs if the speed command exceeds the maximum speed of motor shaft rotation.
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8-4 Analog Control Parameters
Pn324
Setting range
External Feedback Pulse Dividing Numerator
0 to 1048576 Unit −
Default setting
0
Full closing
Data attribute
R
Pn325
Setting range
External Feedback Pulse Dividing Denominator
1 to 1048576 Unit
−
Default setting
10000
Full closing
Data attribute
R
Check the number of encoder pulses per motor rotation and number of external encoder pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (Pn324) and External
Feedback Pulse Dividing Denominator (Pn325).
Pn324 Encoder resolution per motor rotation [pulse]
=
Pn325 External encoder resolution per motor rotation [pulse]
Set Pn324 to 0 to have encoder resolution automatically set as numerator.
Refer to "5-4 Full Closing Control (P.5-9)".
Precautions for Correct Use
If this ratio is incorrect, the deviation between the position calculated from encoder pulses and position calculated from external encoder pulses increases. Particularly when the moving distance is long, an excessive deviation error occurs.
Reference
In the example below: ball screw pitch in 10 mm, encoder in 0.1
μm/pulse, and encoder resolution in 20 bits (or 1048576 pulses)
Pn324
Pn325
=
Encoder resolution per motor rotation [pulse]
External encoder resolution per motor rotation [pulse]
=
1048576
100000
8
Pn326
Setting range
External Feedback Pulse Direction Switching
0 to 1 Unit
−
Default setting
The direction of external encoder feed back count can be reversed.
Refer to "5-4 Full Closing Control (P.5-9)".
Explanation of Set Values
Set value
0
1
Description
External encoder feedback pulse count direction non-reverse
External encoder feedback pulse count direction reverse
0
Full closing
Data attribute
R
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8-4 Analog Control Parameters
Pn327
Setting range
External Feedback Pulse Phase-Z Setting
0 to 1 Unit −
Default setting
0
Full closing
Data attribute
R
Set to enable or disable the Phase-Z disconnection detection when an external encoder of 90
° phase difference output type is used.
Explanation of Set Values
Set value
0
1
Explanation
Phase-Z disconnection detection enabled
Phase-Z disconnection detection disabled
Pn328
Setting range
Internal/External Feedback Pulse Error Counter Overflow Level
1 to 134217728 Unit Command unit
Default setting
16000
Full closing
Data attribute
C
Set the allowable difference (feedback pulse error) between the motor (encoder) position and load
(external encoder) position in command units.
Refer to "5-4 Full Closing Control (P.5-9)".
Pn329
Setting range
Internal/External Feedback Pulse Error Counter Reset
0 to 100 Unit Rotation
Default setting
0
Full closing
Data attribute
C
The feedback pulse error is reset every time the motor rotates for the amount set by the Internal/
External Feedback Pulse Error Counter Reset (Pn329). This can be used for purposes where feedback pulse error accumulates due to slippage.
Refer to "5-4 Full Closing Control (P.5-9)".
Feedback pulse error value [command unit]
(absolute value)
Occurrence of excessive feedback pulse deviation error
Excessive feedback pulse error setting
Feedback pulse error reset setting
Motor rotation speed [rotation]
Ensure that an appropriate value is set to the Internal/External Feedback Pulse Error Counter
Reset (Pn329), before you use the feedback pulse error counter reset. When the set value is extremely small, the protective function may not work to prevent any erroneous operation due to improper connection of the external encoder.
Precautions for Correct Use
Provide enough safety measures. This includes to mount limit sensors.
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8-5 Interface Monitor Setting Parameters
8-5 Interface Monitor Setting Parameters
Pn400
Setting range
Input Signal Selection 1
0 to 00FFFFFFh Unit
−
All
Default setting 00949494h Data attribute C
Set the function and logic for the general-purpose input 1 (IN1).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn401
Setting range
Input Signal Selection 2
0 to 00FFFFFFh Unit
−
All
Default setting 00818181h Data attribute C
Set the function and logic for the general-purpose input 2 (IN2).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn402
Setting range
Input Signal Selection 3
0 to 00FFFFFFh Unit
−
All
Default setting 00828282h Data attribute C
Set the function and logic for the general-purpose input 3 (IN3).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn403
Setting range
Input Signal Selection 4
0 to 00FFFFFFh Unit
−
All
Default setting 00222222h Data attribute C
Set the function and logic for the general-purpose input 4 (IN4).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn404
Setting range
Input Signal Selection 5
0 to 00FFFFFFh Unit
−
All
Default setting 002B2B2Bh Data attribute C
Set the function and logic for the general-purpose input 5 (IN5).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn405
Setting range
Input Signal Selection 6
0 to 00FFFFFFh Unit
−
All
Default setting 00212121h Data attribute C
Set the function and logic for the general-purpose input 6 (IN6).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn406
Setting range
Input Signal Selection 7
0 to 00FFFFFFh Unit
−
All
Default setting 00202020h Data attribute C
Set the function and logic for the general-purpose input 7 (IN7).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
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8-5 Interface Monitor Setting Parameters
8
Pn407
Setting range
Input Signal Selection 8
0 to 00FFFFFFh Unit
−
All
Default setting 002E2E2Eh Data attribute C
Set the function and logic for the general-purpose input 8 (IN8).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn408
Setting range
Unused
−
Unit
−
Default setting
All
Data attribute
−
Pn409
Setting range
Unused
−
Unit
−
Default setting
All
Data attribute
−
Pn410
Setting range
Output Signal Selection 1
0 to 00FFFFFFh Unit
−
All
Default setting 00030303h Data attribute C
Set the function assignment for the general-purpose output 1 (OUTM1).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn411
Setting range
Output Signal Selection 2
0 to 00FFFFFFh Unit
−
All
Default setting 00020202h Data attribute C
Set the function assignment for the general-purpose output 2 (OUTM2).
Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1
Pn412
Setting range
Unused
− Unit − Default setting −
All
Data attribute −
Pn413
Setting range
Unused
−
Pn414
Setting range
Unused
−
Pn415
Setting range
Unused
−
Unit
Unit
Unit
−
−
−
Default setting
Default setting
Default setting
−
−
−
All
Data attribute −
All
Data attribute −
All
Data attribute −
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8-5 Interface Monitor Setting Parameters
Pn416
Setting range
Analog Monitor 1 Selection
0 to 21 Unit
−
Default setting 0
All
Data attribute A
Analog signals of various monitors can be output from the analog monitor connector on the front panel.
The monitor type to output and the scaling (or output gain) are selective. They can be set by parameters.
Refer to "10-1 Analog Monitor (P.10-1)".
Explanation of Set Values
Set value
Monitor type
12
13
14
15
10
11
8
9
6
7
4
5
2
3
0
1
Motor speed
Position command speed
Internal position command speed
Speed control command
Torque command
Command position error
Encoder position error
Full closing error
Hybrid Error
P-N voltage
Regeneration load ratio
Motor load ratio
Forward direction torque limit
Reverse direction torque limit
Speed limit value
Inertia ratio
16 to 18 Reserved
19 Encoder temperature
20
21
Drive temperature
Encoder 1-rotation data
Explanation
Unit
r/min r/min r/min r/min
% (rated torque ratio) pulse (command unit) pulse (encoder unit) pulse (external encoder unit)
%
% pulse (command unit)
V
% (rated torque ratio)
% (rated torque ratio) r/min
%
−
°C
°C pulse (encoder unit)
Output gain when
Pn417 = 0
500
500
500
500
33
3000
33
33
33
33
3000
3000
3000
80
500
500
−
10
10
110000
8
Pn417
Setting range
Analog Monitor 1 Scale Setting
0 to 214748364 Unit −
Default setting
0
Data attribute
All
A
Set output gain for analog monitor 1.
Refer to "10-1 Analog Monitor (P.10-1)".
Pn418
Setting range
Analog Monitor 2 Selection
All
0 to 21 Unit −
Default setting
4
Data attribute
A
Same as the Analog Monitor 1, analog signals of various monitors can be output from the analog monitor connector on the front panel.
Refer to the Analog Monitor 1 Selection (Pn416) for the method to set this parameter.
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8-5 Interface Monitor Setting Parameters
Pn419
Setting range
Analog Monitor 2 Scale Setting
0 to 214748364 Unit
−
Default setting
0
Data attribute
Set output gain for analog monitor 2.
Refer to the Analog Monitor 1 Scale Setting (Pn417) for the method to set this parameter.
All
A
Pn420
Setting range
Unused
− Unit −
Default setting
−
Data attribute
All
−
Pn421
Setting range
Analog Monitor Output Selection
0 to 2 Unit
−
Select the analog monitor output voltage direction.
Set value
Output range
0
−10 to 10 V
Default setting
0
Data output
Output voltage [V]
10 V
0 V
−5,000
Motor speed
5,000 [r/min]
Data attribute
All
A
1 0 to 10 V
−10 V
Output voltage [V]
10 V
−5,000
0 V
Motor speed
5,000 [r/min]
−10 V
Output voltage [V]
10 V
2
0 to 10 V
(5 V as a center)
5 V
Motor speed
0 V 0
−2,500
2,500 [r/min]
−10 V
This is the case when the Motor Speed is selected by the Analog Monitor 1 Selection or the Analog
Monitor 2 Selection, and the value 0 is set on the Analog Monitor 1 Scale Setting or the Analog
Monitor 2 Scale Setting (where 1 V = 500 r/min).
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Pn422
Setting range
Unused
−
Pn423
Setting range
Unused
−
Pn424
Setting range
Unused
−
Pn425
Setting range
Unused
−
Pn426
Setting range
Unused
−
Pn427
Setting range
Unused
−
Pn428
Setting range
Unused
−
Pn429
Setting range
Unused
−
Pn430
Setting range
Unused
−
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
8-5 Interface Monitor Setting Parameters
−
−
−
−
−
−
−
−
−
Default setting
−
Default setting
−
Default setting
−
Default setting
−
Default setting
−
Default setting
−
Default setting
−
Default setting
−
Default setting
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
8
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8-5 Interface Monitor Setting Parameters
Pn431
Setting range
Positioning Completion Range 1
0 to 262144 Unit Command unit
Default setting
10
Position
Full closing
Data attribute
A
Use this parameter in combination with the Positioning Completion Condition Selection (Pn432) to set the timing to output the positioning completion output (INP1).
The positioning completion output (INP1) turns ON when the absolute value of position error counter during position control goes below the positioning completion range set by this parameter.
Unit for setting is command unit, but it can be changed to encoder unit with Position Setting Unit
Selection (Pn520). However, note that unit for error counter overflow level changes as well.
If an extremely small value is set to this parameter, it may take time to output the INP signal, or chattering may occur at outputs.
The setting on the Positioning Completion Range does not give any influence to the final positioning accuracy.
Accumulated pulse
Pn431
8
INP
ON
Pn431
Pn432
Setting range
Positioning Completion Condition Selection
0 to 3 Unit −
Default setting
0
Position
Full closing
Data attribute
A
Use this in combination with the Positioning Completion Range 1 (Pn431) to set the operation for positioning completion output (INP1).
Explanation of Set Values
Set value
0
1
2
3
Description
Positioning completion output (INP1) turns ON when the position error is within the
Positioning Completion Range 1 (Pn431).
Positioning completion output (INP1) turns ON when the position error is within the
Positioning Completion Range 1 (Pn431) and there is no position command.
Positioning completion output (INP1) turns ON when the zero speed detection output (ZSP) is ON, the position error is within the Positioning Completion Range 1 (Pn431), and there is no position command.
Positioning completion output turns ON when the position error is within the Positioning
Completion Range 1 (Pn431) and there is no position command. The ON status is then held until the Positioning Completion Hold Time (Pn433) elapses. After that, it turns ON or OFF based on the position error at the time.
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8-5 Interface Monitor Setting Parameters
Pn433
Setting range
Positioning Completion Hold Time
0 to 30000 Unit 1 ms
Default setting
0
Position
Full closing
Data attribute
A
Set the hold time for the case when the Positioning Completion Condition Selection (Pn432) is set to 3.
When Positioning Completion Hold Time (Pn433) is set to 0, hold time becomes infinite and ON status is held until the next position command comes in.
When a position command is entered during holding, the status changes to OFF.
Pn434
Setting range
Zero Speed Detection
All
10 to 20000 Unit r/min
Default setting
50
Data attribute
A
Set the output timing of the Zero speed detection output (ZSP) in rotation speed [r/min].
The Zero speed detection output (ZSP) becomes ON when the motor speed is lower than the set value on this parameter.
The set value in this parameter is valid in both forward and reverse directions, regardless of the actual motor rotation direction. The setting has a hysteresis of 10 r/min.
Refer to the Control Output Details in "3-1 Servo Drive Specifications (P.3-1)" for the Zero speed
detection output (ZSP).
Forward operation
Speed
(Pn434
+10)r/min
OUTM1
Reverse operation
(Pn434
−10)r/min
ON
8
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8-5 Interface Monitor Setting Parameters
Pn435
Setting range
Speed Conformity Detection Range
10 to 20000 Unit r/min
Default setting
50
Speed
Data attribute
A
It outputs the Speed conformity output (VCMP) when the speed command conforms to the motor speed.
It is regarded as conformed when the difference between the speed command before the acceleration or deceleration process inside the Drive and the motor speed is smaller than the set value on the Speed Conformity Detection Range (Pn435).
The setting has a hysteresis of 10 r/min.
Refer to the Control Output Details in "3-1 Servo Drive Specifications (P.3-1)" for the Speed
conformity output (VCMP).
Speed [r/min]
Speed command
A speed command after the acceleration
/deceleration processing
Pn435
Speed Conformity Detection Range
Pn435
Speed Conformity
Detection Range
Motor speed
Time
Motor rotation speed detection output
ON OFF
Pn435
Speed Conformity Detection Range
ON OFF
Pn436
Setting range
Rotation Speed for Motor Rotation Detection
10 to 20000 Unit r/min
Default setting
1000
Speed
Data attribute
A
It outputs the Motor rotation speed detection output (TGON) when the motor speed reaches the set arrival speed.
The setting has a hysteresis of 10 r/min.
speed detection output (TGON).
Speed [r/min]
Pn436
+10
Pn436
−10
Motor speed
Time
− (Pn436−10)
− (Pn436+10)
Motor rotation speed detection output
OFF ON OFF ON
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8-5 Interface Monitor Setting Parameters
Pn437
Setting range
Brake Timing when Stopped
All
0 to 10000 Unit 1 ms
Default setting
0
Data attribute
B
Set the time required for the Servomotor to be de-energized (servo free) after the brake interlock output (BKIR) turns ON (i.e., brake held), when servo OFF status is entered while the Servomotor is stopped.
When the Servomotor is stopped and the operation command (RUN) is turned OFF, the brake interlock output (BKIR) turns ON, and the servo turns OFF after waiting for the setting time (set value
× ms).
Operation command (RUN)
Brake interlock
(BKIR)
Actual brake
Released tb
Held
Released
Held
Motor power is supplied.
Power supply
No power supply
Pn437
Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the delay time in the brake operation (tb).
Brake timing when stopped (set value × 1 ms) ≥ tb
For details, refer to "6-5 Brake Interlock (P.6-14)".
Pn438
Setting range
Brake Timing during Operation
All
0 to 10000 Unit 1 ms
Default setting
0
Data attribute
B
Set the required time for the brake interlock output (BKIR) to turn OFF after the operation command (RUN) is detected to be OFF, when servo OFF status is entered while the Servomotor is operating. While the motor is operating and the operation command (RUN) is turned OFF, the motor decelerates to reduce rotation speed, and the brake interlock output (BKIR) turns ON after the setting time (set value
× 1 ms) has elapsed.
Operation command
(RUN)
Brake interlock
(BKIR)
Released Held
T
B
Motor power is supplied.
Power supply
No power supply
8
Motor speed
Max. Pn438 or
Pn439 set value
The Time ta in above drawing is either the Brake timing during operation (i.e., the set value × 1 ms) or the time taken until it goes below the value set on the Brake Release Speed Setting (Pn439), whichever is shorter.
For details, refer to "6-5 Brake Interlock (P.6-14)".
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8-5 Interface Monitor Setting Parameters
Pn439
Setting range
Brake Release Speed Setting
All
30 to 3000 Unit r/min
Default setting
30
Data attribute
B
Set the number of motor rotations from when the OFF of Run command (RUN) is detected to when the Brake interlock output (BKIR) becomes off, in case when the servo off occurs during the motor rotation.
Refer to "6-5 Brake Interlock (P.6-14)".
When the Pn438 set value is reached earlier
Motor rotation speed
Pn439 set value
Brake Release
(ON)
Pn438 set value
Brake Engage (OFF)
When the timing to reach the
Pn439 set value comes earlier
Motor rotation speed
Pn439 set value
Pn438 set value
Brake Release
(ON)
Pn439 set value
Brake Engage (OFF)
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8-5 Interface Monitor Setting Parameters
Pn440
Setting range
Warning Output Selection 1
0 to 13 Unit −
Default setting
Select the warning type to be output by the Warning Output 1.
Refer to "11-2 Warning (P.11-4)".
Explanation of Set Values
10
11
12
13
8
9
6
7
4
5
2
3
Set value
0
1
Description
Output by all types of warnings
Overload warning
Excessive regeneration warning
Battery warning
Fan warning
Encoder communications warning
Encoder communications warning
Vibration warning
Service life warning
External encoder error warning
External encoder communications error warning
Data setting warning
Command warning
MECHATROLINK-II communications warning
0
Data attribute
All
A
Pn441
Setting range
Warning Output Selection 2
0 to 13 Unit −
Default setting
Select the warning type to be output by the Warning Output 2.
Refer to the Warning Output 1 (Pn440) for the parameter setting method.
Refer to "11-2 Warning (P.11-4)".
0
Data attribute
All
A
Pn442
Setting range
Positioning Completion Range 2
0 to 262144 Unit Command unit
Default setting
10
Position
Full closing
Data attribute
A
Set the positioning completion range to output the Positioning completion output 2 (INP2).
The positioning completion output 2 (INP2) is always ON when the position error is below the set value, regardless of the setting on the Positioning Completion Condition Selection (Pn432).
The positioning completion output 2 (INP2) does not involve determination by the position commands. It is ON as long as the position error is below the set value.
The setting unit is command. It can be changed to encoder unit by the Position Setting Unit
Selection (Pn520). However, note that unit for error counter overflow level change as well.
Refer to the Positioning Completion Range 1 (Pn431) for the parameter setting method.
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8-6 Extended Parameters
8-6 Extended Parameters
Pn500
Setting range
Unused
−
Pn501
Setting range
Unused
−
Pn502
Setting range
Unused
−
Pn503
Setting range
Unused
−
Unit
Unit
Unit
−
−
−
Default setting
Default setting
Default setting
−
−
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Unit
−
Default setting
−
Pn504
Setting range
Drive Prohibition Input Selection
All
0 to 2 Unit −
Default setting
1
Data attribute
C
Set the operation of the Forward drive prohibition input (POT) and the Reverse drive prohibition input (NOT).
Refer to "6-2 Forward and Reverse Drive Prohibition Functions (P.6-6)".
Explanation of Set Values
Set value
0
1
2
Explanation
Forward drive prohibition input and reverse drive prohibition input enabled.
Forward drive prohibition input and reverse drive prohibition input disabled.
Forward drive prohibition input and reverse drive prohibition input enabled.
Install limit switches at both ends of the axis to prohibit the motor from traveling in the direction specified by the switch. This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine.
When the parameter is set to 0, the operation is as follows:
• Forward drive prohibition input (POT) shorted: Forward limit switch not operating and status normal.
• Forward drive prohibition input (POT) open: Forward direction prohibited and reverse direction permitted.
• Reverse drive prohibition input (NOT) shorted: Reverse limit switch not operating and status normal.
• Reverse drive prohibition input (NOT) open: Reverse direction prohibited and forward direction permitted.
If this is set to 0, the Servomotor decelerates and stops according to the sequence set in the Stop
Selection for Drive Prohibition Input (Pn505) For details, refer to explanation for Stop Selection for
Drive Prohibition Input (Pn505).
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8-6 Extended Parameters
Reference
If this parameter is set to 0 and the forward and reverse prohibition inputs are both open, a drive prohibition input error (Alarm No.38) occurs because it is taken that Servo Drive is in error condition.
If this parameter is set to 2, a drive prohibition input error (Alarm No.38) occurs when the connection between either the forward or reverse prohibition input and COM is open.
If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward torque decreases, and there may be repeated vertical movement of the workpiece. If this occurs, set the
Stop Selection for Drive Prohibition Input (Pn505) to 2 or perform limit processing using the Host
Controller rather than using this function.
Pn505
Setting range
Stop Selection for Drive Prohibition Input
All
0 to 2 Unit −
Default setting
0
Data attribute
C
Set the drive conditions during deceleration and after stopping, when the Forward or Reverse drive prohibition input is enabled.
Refer to "6-2 Forward and Reverse Drive Prohibition Functions (P.6-6)".
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
Explanation of Set Values
Set value
0
1
2
Explanation
During deceleration
*1
: Dynamic brake operation, Clear the error counter.
After stopping: Torque command is 0 for the drive prohibition direction. Hold the error counter.
During deceleration: Free-run, Clear the error counter.
After stopping: Torque command is 0 for the drive prohibition direction. Hold the error counter.
During deceleration: Emergency stop
*2
, Hold the error counter.
After stopping: Both torque command and torque limit are as specified. Clear the error counter after deceleration completes, then hold it.
*1. The term "During deceleration" means the distance till the motor decreases its speed to 30 r/min or less from the normal operation. Once it decelerates to 30 r/min or lower speed, the operation conforms to the description for "after stopping", regardless of the actual speed.
*2. The "Emergency Stop" means that the Servomotor stops immediately by control while the Servo-ON state is kept. The torque limit at this time is controlled by the Emergency Stop Torque (Pn511) set value.
8
Precautions for Correct Use
At an emergency stop, an Error counter overflow (Alarm No.24.0) or an Overrun limit error (Alarm
No.34.0) may occur. This is because the emergency stop forces the motor to decelerate quickly, and the position control creates a large positional deviation momentary. If the error occurs, set the
Error Counter Overflow Level (Pn014) and the Overrun Limit Setting (Pn514) in appropriate values.
A command warning (Warning No. 95) occurs, if a command is given to the drive prohibition direction while the Servomotor stops (or decreases the speed to 30 r/min or lower) and the Drive
Prohibition Input is on.
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8-6 Extended Parameters
Pn506
Setting range
Stop Selection with Servo OFF
All
0 to 9 Unit −
Default setting
0
Data attribute
B
Set the states during deceleration and after stopping, which follow the Servo-OFF.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
Explanation of Set Values
Set value
0, 4
1, 5
2, 6
3, 7
8
9
Stopping method during deceleration
*1
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Emergency stop
*3
Emergency stop
*3
Operation after stopping
(approx. 30 r/min or lower)
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Servo free
Error counter
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
*1. Decelerating refers to a period between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches a speed of 30 r/min or less and moves to the after stop status, follow the subsequent operation based on the after stop status regardless of the motor speed.
*2. The motor may make a sudden motion.
*3. Emergency stop refers to immediate stop operation applying control with servo is still kept ON. At that time, the torque command value is restricted by the Emergency Stop Torque (Pn511).
Precautions for Correct Use
If an error occurs when servo is in Servo OFF state, the operation conforms to the settings of Stop
Selection for Alarm Detection (Pn510). Additionally, if the main power supply is turned OFF when servo motor is in Servo OFF state, it conforms to the settings of Stop Selection with Main Power
Supply OFF (Pn507).
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8-6 Extended Parameters
Pn507
Setting range
Stop Selection with Main Power Supply OFF
All
0 to 9 Unit −
Default setting
0
Data attribute
B
Set the states during deceleration and after stopping, which follow the main power off.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
Explanation of Set Values
Set value
0, 4
1, 5
2, 6
3, 7
8
9
Stopping method during
Free-run
Free-run
deceleration
*1
Dynamic brake operation
Dynamic brake operation
Emergency stop
*3
Emergency stop
*3
Operation after stopping
(approx. 30 r/min or lower)
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Servo free
Error counter
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
*1. Decelerating refers to a period between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches a speed of 30 r/min or less and moves to the after stop status, follow the subsequent operation based on the after stop status regardless of the motor speed.
*2. The motor may make a sudden motion.
*3. Emergency stop refers to immediate stop operation applying control with Servo is still kept ON. At that time, the torque command value is restricted by the Emergency Stop Torque (Pn511).
8
Precautions for Correct Use
If an error occurs when the main power supply is turned OFF, the operation conforms to the settings of Stop Selection for Alarm Detection (Pn510).
If the main power supply is turned OFF in Servo ON state, and if the Undervoltage Alarm Selection
(Pn508) is set to 1, Main power supply undervoltage (AC cut-off detection) (Alarm No.13.1),"occurs.
Follow the Stop Selection for Alarm Detection (Pn510).
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8-6 Extended Parameters
Pn508
Setting range
Undervoltage Alarm Selection
0 to 1 Unit −
Default setting
1
Select either to let the servo off or to stop the alarm when a main power alarm occurs.
Data attribute
All
B
Explanation of Set Values
Set value
0
1
Explanation
Servo is turned OFF based on the setting of the Stop Selection with Main Power Supply OFF
(Pn507) and turn it back to Servo ON state by turning ON the main power supply.
The Main power supply undervoltage (Alarm No.13.1) occurs. Stops the operation by the alarm.
Pn509
Setting range
Momentary Hold Time
70 to 2000 Unit 1 ms
Default setting
Set main power supply alarm detection time.
The main power supply OFF detection is disabled if this is set to 2000.
70
Data attribute
All
C
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8-6 Extended Parameters
Pn510
Setting range
Stop Selection for Alarm Detection
All
0 to 7 Unit
−
Default setting
0
Data attribute
B
Select the stopping method at an alarm.
Refer to the Emergency Stop Operation at Alarms in "11-3 Alarms (P.11-6)".
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
Explanation of Set Values
Set value
0
1
2
3
4
5
6
7
Stopping method during deceleration
*1
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Operation A:
Emergency
stop*3
Operation B: Dynamic brake operation
Operation A:
Emergency
stop*3
Operation B: Free-run
Operation A:
Emergency
stop*3
Operation B: Dynamic brake operation
Operation A:
Emergency
stop*3
Operation B: Free-run
After stopping
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Error counter
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
Clear
*2
*1. Decelerating refers to a period between when the motor is running and when the motor speed reaches
30 r/min or less. Once the motor reaches a speed of 30 r/min or less and moves to the after stop status, follow the subsequent operation based on the after stop status regardless of the motor speed.
*2. The motor may make a sudden motion.
*3. The Operation A and Operation B indicate whether to have an emergency
stop at an error. An emergency
stop takes place by the Operation A, when an emergency
stop alarm occurs. It is the normal stop by Operation B, when the alarm occurred does not support the emergency stop.
Pn511
Setting range
Emergency Stop Torque
All
0 to 500 Unit %
Default setting
0
Data attribute
B
Set the torque limit for emergency stops.
Set the torque limit for the following cases.
• Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input (Pn505) set to 2.
• Deceleration with the Stop Selection with Main Power Supply OFF (Pn507) set to 8 or 9.
• Deceleration with the Stop Selection with Servo OFF (Pn506) set to 8 or 9.
The normal torque limit is applied if this parameter is set to 0.
Set the value in units of 1% of the rated torque (100%).
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8-6 Extended Parameters
Pn512
Setting range
Overload Detection Level Setting
0 to 500 Unit %
Default setting
Set the overload detection level.
When the parameter is set to 0, the setting is 115%.
Internally there is a limit of 115%, so higher values are limited to 115%.
This object is set as a percentage of the rated torque.
0
Data attribute
All
A
Pn513
Setting range
Overspeed Detection Level Setting
All
0 to 20000 Unit r/min
Default setting
0
Data attribute
A
Set the overspeed detection level.
The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this parameter is set to 0.
This parameter should normally be set to 0. The setting should be changed only when it is necessary to lower the overspeed detection level.
The set value of this parameter is limited to 1.2 times the maximum motor rotation speed.
The detection margin of error for the set value is
±3 r/min for a 7-core absolute encoder and
±36 r/min for a 5-core incremental encoder.
Pn514
Setting range
Overrun Limit Setting
0 to 1000 Unit 0.1 rotation
Default setting
10
Position
Full closing
Data attribute
A
Set the allowable operating range for the position command input range.
If the set value is exceeded, motor operation range setting protection is activated.
Refer to "6-3 Overrun Protection (P.6-10)".
Pn515
Setting range
Control Input Signal Read Setting
All
0 to 3 Unit
−
Default setting
0
Data attribute
C
Select the cycle to read the control input signals.
The External Latch Input 1, 2 and 3 (EXT1, 2, and 3) are excluded.
The Servo Drive reads an input signal multiple times at the specified cycle. If the Servo Drive reads the same signal for multiple consecutive cycles, then the input signal is valid.
Explanation of Set Values
Set value
0
1
2
3
0.166 ms
0.333 ms
1 ms
1.666 ms
Description
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8-6 Extended Parameters
Pn516
Setting range
Unused
−
Pn517
Setting range
Unused
−
Pn518
Setting range
Unused
−
Pn519
Setting range
Unused
−
Unit
Unit
Unit
−
−
−
Default setting
Default setting
Default setting
−
−
−
Data attribute
All
−
Data attribute
All
−
Data attribute
All
−
Unit
−
Default setting
−
Data attribute
All
−
Pn520
Setting range
Position Setting Unit Selection
0 to 1 Unit −
Default setting
0
Position
Full closing
Data attribute
C
Select the setting unit of Positioning Completion Range 1 and 2 (Pn431 and Pn442), and Error
Counter Overflow Level (Pn014).
Explanation of Set Values
Set value
0
1
Command unit
Encoder unit (External encoder unit)
Description
8
Precautions for Correct Use
The positioning completion of MECHATROLINK-II communication status is always detected in command unit, regardless of the setting on this parameter.
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8
8-6 Extended Parameters
Pn521
Setting range
Torque Limit Selection
0 to 6 Unit −
Default setting
Position Speed Full closing
1
Data attribute
B
Select the method to set the forward and reverse torque limits, and the torque feed forward function during speed control.
Refer to "6-7 Torque Limit Switching (P.6-22)".
Explanation of Set Values
Set value
0,1
2
3
4
5
6
Torque FF: Torque feed forward function
Position Control / Full Closing Control
Forward
Torque Limit
PCL
ON
*1
PCL
OFF
*2
Reverse
Torque Limit
NCL
ON
Pn013
*1
NCL
OFF
*2
Torque
FF
Pn013 Pn522
Pn522 Pn013 Pn522 Pn013
Pn013 Pn522
Pn525 Pn013 Pn526 Pn522
Disabled
Speed Control
Forward Torque
Limit
PCL
ON
*1
PCL
OFF
*2
Reverse Torque
Pn013
NCL
ON
*1
Limit
NCL
OFF
*2
Torque
FF
Pn013 Pn522
Pn522 Pn013 Pn522 Pn013
Enabled
Pn013 or
P_TLIM
*3
Pn522 or
N_TLIM
*4
Pn013 or
P_TLIM
*3
Pn013
Pn522 or
N_TLIM
*4
Pn522
Disabled
Pn525 Pn013 Pn526 Pn522 Enabled
Set value
Forward
Torque
Limit
Torque Control
Reverse
Torque
Limit
Torque FF
0,1
2
3
4
5
6
Pn013 Disabled
*1.PCL ON refers to the case when either the external input signals (PCL and NCL) or the
MECHATROLINK-II communications option fields (P-CL and N-CL) is on.
*2.PCL OFF refers to the case when both of the external input signals (PCL and NCL) and the
MECHATROLINK-II communications option fields (P-CL and N-CL) are off.
*3.Whichever the smaller: the Pn013 or the MECHATROLINK-II Command Option value 1 (P_TLIM)
*4.Whichever the smaller: the Pn522 or the MECHATROLINK-II Command Option value 2 (N_TLIM)
When the parameter is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted by the No.1 Torque Limit (Pn013).
During torque control, the value set on the No.1 Torque Limit (Pn013) becomes the forward and reverse limits, regardless of the set value on this parameter. The Torque feed forward function is also disabled.
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8-6 Extended Parameters
Pn522
Setting range
No. 2 Torque Limit
0 to 500 Unit %
Default setting
Position Speed Full closing
500
Data attribute
B
Set the limit value for the output torque (Pn013: No. 1 Torque Limit, Pn522: No. 2 Torque Limit) of the motor.
Refer to information on the Torque Limit Selection (Pn521) to select the torque limits.
During torque control, maximum torques for both forward and reverse directions are limited.
Settings in Torque Limit Selection (Pn521) and No. 2 Torque Limit (Pn522) is ignored.
Set the value in units of 1% of the rated torque (100%).
[Example] Maximum torque is limited to 150%
Torque [%]
300 (maximum)
Forward
When Pn013 or Pn522
= 150 200
100 (rated)
100
200
Speed
(rated) (maximum)
300
Reverse
Pn523
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
8
Pn524
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn525
Setting range
Forward External Torque Limit
0 to 500 Unit %
Default setting
Position Speed Full closing
500
Data attribute
B
Set the forward external torque limit upon torque limit switching input.
Set the value in units of 1% of the rated torque (100%).
Pn526
Setting range
Reverse External Torque Limit
0 to 500 Unit %
Default setting
Position Speed Full closing
500
Data attribute
B
Set the reverse external torque limit upon torque limit switching input.
Set the value in units of 1% of the rated torque (100%).
Pn527
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
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8
8-6 Extended Parameters
Pn528
Setting range
Unused
−
Pn529
Setting range
Unused
−
Pn530
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
−
−
Data attribute
Data attribute
All
All
−
−
Unit
Pn534
Setting range
Reserved for manufacturer use.
−
Unit
Do not change the set value.
−
Pn531
Setting range
Axis Number
0 to 127 Unit −
Default setting
1
Data attribute
Set the axis number for USB communications. Normally, do not change the set value.
All
C
Pn532
Setting range
Unused
−
Unit
Set the maximum command pulse input.
−
Pn533
Setting range
Unused
− Unit −
Default setting
Default setting
−
−
Data attribute
Data attribute
All
All
−
−
−
Default setting
Default setting
−
4
Data attribute
All
−
Data attribute
All
−
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8-7 Special Parameters
8-7 Special Parameters
Pn600
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn601
Setting range
Unused
− Unit − Default setting −
Data attribute
All
−
Pn602
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn603
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn604
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn605
Setting range
Gain 3 Effective Time
0 to 10000 Unit 0.1 ms
Set effective time of gain 3 of 3-step gain switching.
Refer to "6-10 Gain Switching 3 Function (P.6-37)".
Pn606
Setting range
Gain 3 Ratio Setting
50 to 1000 Unit %
Set gain 3 as a multiple of gain 1.
Refer to "6-10 Gain Switching 3 Function (P.6-37)".
Default setting
Default setting
Pn607
Setting range
Torque Command Value Offset
−100 to 100 Unit % Default setting
Set offset torque to add to torque command
Refer to "10-9 Friction Torque Compensation Function (P.10-33)".
Set the value in units of 1% of the rated torque (100%).
0
100
0
Position
Full closing
Data attribute
B
Position
Full closing
Data attribute
Data attribute
All
B
B
Pn608
Setting range
Forward Direction Torque Offset
−100 to 100
Unit % Default setting 0
Set the value to add to the torque command in the forward direction operation.
Refer to "10-9 Friction Torque Compensation Function (P.10-33)".
Set the value in units of 1% of the rated torque (100%).
Data attribute
All
B
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8-7 Special Parameters
8
Pn609
Setting range
Reverse Direction Torque Offset
−100 to 100
Unit % Default setting 0
Set offset torque to add to torque command for reverse direction operation.
Refer to "10-9 Friction Torque Compensation Function (P.10-33)".
Set the value in units of 1% of the rated torque (100%).
Data attribute
All
B
Pn610
Setting range
Function Expansion Setting
0 to 63 Unit − Default setting 0
Position
Data attribute
B
Set each function per bit.
Set the decimal value that has been converted from bit.
Refer to "10-8 Disturbance Observer Function (P.10-31)" and "10-12 Instantaneous Speed
Bit
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5
Function
Instantaneous speed observer function
Disturbance observer function
Disturbance observer operation setting
Reserved for manufacturer use
Electric current response improvement function
Reserved for manufacturer use
Set value
0
Disabled
Disabled
Enabled at all time
Fixed to 0.
1
Enabled
Enabled
Only when gain 1 is selected
Disabled Enabled
Fixed to 0.
Reference
[Example]
Instantaneous speed observer function: enabled
Disturbance observer function: enabled
Disturbance observer operation setting: enabled at all time
Inertia ratio switching function: disabled
Electric current response improvement function: enabled
If the settings are as described above, the bit will be 10011, and the decimal value 19. Therefore, the set value will be 19.
Pn611
Setting range
Electric Current Response Setting
50 to 100 Unit %
Default setting
100
Make fine adjustment on electric current response with default setting as 100%.
Data attribute
All
B
Pn612
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn613
Setting range
Unused
−
8-53
Unit
−
Default setting
−
Data attribute
All
−
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-7 Special Parameters
Pn614
Setting range
Alarm Detection Allowable Time Setting
All
0 to 1000 Unit ms
Default setting
200
Data attribute
Set the allowable time required until the motor stops by an emergency stop due to an alarm.
When he time exceeds the set value, the operation forcibly turns to an alarming state.
When the parameter is set to 0, the protection by allowable time does not function.
Refer to the Emergency Stop Operation at Alarms in "11-3 Alarms (P.11-6)".
B
Pn615
Setting range
Overspeed Detection Level Setting at Emergency Stop
All
0 to 20000 Unit r/min
Default setting
0
Data attribute
A
If the motor speed exceeds the set value during an emergency stop due to an alarm, the
Overspeed 2 (Alarm No.26.1) occurs.
The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this parameter is set to 0.
This parameter should normally be set to 0. The setting should be changed only when it is necessary to lower the overspeed detection level.
Refer to "Emergency Stop Operation at Alarms" (P.11-12) in "11-3 Alarms (P.11-6)".
Pn616
Setting range
Unused
− Unit −
Default setting
−
Data attribute
All
−
Pn617
Setting range
Unused
−
Unit
−
Default setting
−
Data attribute
All
−
Pn618
Setting range
Power Supply ON Initialization Time
All
0 to 100 Unit 0.1 s
Default setting
0
Data attribute
R
Set initialization time after power supply ON to the standard 1.5 seconds plus some.
Refer to the Control Output Sequence in "3-1 Servo Drive Specifications (P.3-1)" for the details at
power on.
Pn619
Setting range
Unused
− Unit −
Default setting
−
Data attribute
All
−
8
Pn620
Setting range
Unused
−
Pn621
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
−
−
Data attribute
All
−
Data attribute
All
−
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8
8-7 Special Parameters
Pn622
Setting range
Unused
−
Unit
−
Default setting
Pn623
Setting range
Disturbance Torque Compensation Gain
−100 to 100 Unit %
Set compensation gain for disturbance torque.
Refer to "10-8 Disturbance Observer Function (P.10-31)".
Default setting
Pn624
Setting range
Disturbance Observer Filter Setting
10 to 2500 Unit 0.01 ms
Default setting
Set filter time constant for disturbance torque compensation.
Refer to "10-8 Disturbance Observer Function (P.10-31)".
Pn625
Setting range
Unused
− Unit −
Default setting
Pn626
Setting range
Unused
−
Pn627
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
Pn628
Setting range
Unused
−
Pn629
Setting range
Unused
−
Pn630
Setting range
Unused
−
Unit
Unit
Unit
−
−
−
Default setting
Default setting
Default setting
−
−
−
−
−
−
−
Data attribute
All
−
0
Position
Speed
Data attribute
B
53
Position
Speed
Data attribute
B
Data attribute
All
Data attribute
All
Data attribute
Data attribute
All
All
Data attribute
All
Data attribute
All
−
−
−
−
−
−
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8-7 Special Parameters
Pn631
Setting range
Realtime Autotuning Estimated Speed Selection
All
0 to 3 Unit
−
Default setting
1
Data attribute
B
Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
The higher the set value is, the earlier the load characteristic change is followed. But the estimated variation against the disturbance becomes greater.
Estimated results is updated in every 30 minutes, and saved in EEPEOM.
Refer to "10-3 Realtime Autotuning (P.10-6)".
Explanation of Set Values
Set value
0
1
2
3
Mode
No change
Little change
Gradual change
Sharp change
Description
Stops the load estimation.
Estimates in every minute from the load characteristic changes.
Estimates in every second from the load characteristic changes.
Estimates the optimum from the load characteristic changes.
Pn632
Setting range
REALTIME AUTOTUNING CUSTOMIZATION mode Setting
All
−32768 to 32767
Unit
−
Default setting
0
Data attribute
B
Set the details of autotuning function, when the Realtime Autotuning Mode Selection (Pn002) is set to 6.
Refer to "10-3 Realtime Autotuning (P.10-6)".
Explanation of Set Values
Bit
0 to 1
2 to 3
4 to 6
Name
Load characteristic estimation
*1
Inertia ratio updating
Torque compensation
Description
Select to enable or disable the load characteristic estimation.
0: Disable
1: Enable
Select whether to update the present set value on the Inertial
Ratio (Pn004) by the load characteristic estimation result.
0: Use the present set value.
1: Update by the estimation result.
Select whether to update three parameters, Torque Command
Value Offset (Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset (Pn609), by the load characteristic estimation result.
0: Use the present set value.
1: Disable the torque compensation. Clear the above three parameters to zero.
2: Vertical mode, Update Pn607. Clear Pn608 and Pn609 to zero.
3: Friction compensation (small), Update Pn607. Set a small compensation to Pn608 and Pn609.
4: Friction compensation (intermediate), Update Pn607. Set an intermediate compensation to Pn608 and Pn609.
5: Friction compensation (large), Update Pn607. Set a large compensation to Pn608 and Pn609.
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8-7 Special Parameters
Bit
7
8
9 to 10
Name
Rigidity setting
Fixed parameter setting
Gain switch setting
Description
Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (Pn003).
0: Disable
1: Enable
Select whether to allow changes on the parameters which normally are fixed.
0: Use the present setting.
1: Set it to a fixed value.
Select the method to set the parameters that relate to gain switching while the Realtime Autotuning is enabled.
0: Use the present setting.
1: Disable the gain switching.
2: Enable the gain switching.
*1. When the load characteristic estimation is set to disabled, the inertial ratio updating is also disabled, regardless the latter is set to update by the estimation result. When the torque compensation are updated by the estimation result, the load characteristic estimation is disabled.
Precautions for Safe Use
This parameter must be set in units of bits. Users must be fully aware that proper operation of your system is not guaranteed, if you have incorrect 1parameter setting. Pay a particular attention when you set them.
Reference
Procedure to set the parameter bit by bit
Follow these steps and calculate the set values, when you make any setting other than 0.
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of Torque compensation function: 4
(2) Multiply the set value by the (LSB) power of 2.
E.g. To set the torque compensation to Friction compensation (small): The set value is 3.
The exponent is 4.
2
4
× 3 = 48
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to Pn632.
E.g. When all of the Load characteristic estimation, the Inertia ratio updating, the Rigidity setting, and the Gain switch setting are enabled, the Torque compensation is set to
Friction compensation (small), and the Fixed parameter setting is set to a Fixed value:
2
0
× 1 + 2
2
× 1 + 2
4
× 3 + 2
7
× 1 + 2
8
× 1 + 2
9
× 2 = 1461
Pn633
Setting range
Unused
− Unit −
Default setting
−
Data attribute
All
−
Pn634
Setting range
Hybrid Vibration Suppression Gain
0 to 30000 Unit 0.1/s
Default setting
0
Full closing
Data attribute
B
Set the hybrid vibration suppression gain during full closing control.
In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
Refer to "10-10 Hybrid Vibration Suppression Function (P.10-35)".
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8-7 Special Parameters
Pn635
Setting range
Hybrid Vibration Suppression Filter
0 to 6400 Unit 0.01 ms
Default setting
Set the hybrid vibration suppression filter.
Refer to "10-10 Hybrid Vibration Suppression Function (P.10-35)".
Pn636
Setting range
Unused
− Unit −
Default setting
10
−
Full closing
Data attribute
B
Data attribute
All
−
Pn637
Setting range
Vibration Detection Threshold
All
0 to 1000 Unit 0.1%
Default setting
0
Data attribute
Set the vibration detection threshold.
If torque vibration that exceeds this setting is detected, the vibration detection warning occurs.
Refer to "11-2 Warning (P.11-4)".
Set the value in units of 0.1% of the rated torque (100%).
B
Pn638
Setting range
Warning Mask Setting
−32768 to 32767
Unit
−
Default setting
4
Data attribute
Set the warning detection mask setting.
If you set the corresponding bit to 1, the corresponding warning detection is disabled.
Refer to the General Alarms in "11-2 Warning (P.11-4)".
All
C
Warning number
A0
A1
Warning name
Overload warning
Excessive regeneration warning
A2 Battery warning
A3 Fan warning
A4
Encoder communications warning
Warning occurrence condition
The load ratio is 85% or more of the protection level.
Warning Mask
Setting
(Pn638)
*1
bit7
The regeneration load ratio is 85% or more of the protection level.
Battery voltage is 3.2 V or less.
The fan stop status continues for 1 second.
The encoder communications errors occurred in series more frequently than the specified value.
bit5 bit0 bit6 bit4 bit3 bit9
A5 Encoder overheating warning The encoder detects the overheat warning.
A6 Vibration detection warning Vibration is detected.
A7
Life expectancy warning The life expectancy of the capacitor or the fan is shorter than the specified value.
A8 External encoder error warning The external encoder detects a warning.
A9
External encoder communications warning
The external encoder has communications errors in series more than the specified value.
bit2 bit8 bit10
*1.Each warning detection can be masked by the Warning Mask Setting (Pn638). The table above shows the corresponding bit. When the bit is set to 1, the warning detection is masked.
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8-7 Special Parameters
8
Pn700
Setting range
Default Display
0 to 32767 Unit
−
Default setting
0
Select a data type to display on the 7-segment LED indicator on the front panel.
Data attribute
All
A
Explanation of Set Value
Set value
0
1
2
3
4
5
6
7
8 or over
Indicated item
Normal state
Mechanical angle
Electric angle
Cumulative count of
MECHATROLINK-II communications errors
*1
Rotary switch setting
(node address)
Cumulative count of encoder communications errors
*1
Cumulative count of external encoder communications errors
*1
Z-phase counter
*2
Unused
Description
Indicates "
−−" during Servo-OFF, and "00" during Servo-ON.
Indicates a value between 0 and FF hex.
The value 0 indicates the zero position of encoder.
The value increments when the motor rotates in counter clockwise (CCW) direction.
The value returns to 0 when it exceeds FF, but the count continues.
When an incremental encoder is used, it indicates "nF" (i.e., not fixed) until the zero position of the encoder is detected after the control power is on.
Indicates a value between 0 and FF hex.
The value 0 indicates the position when the U-phase electromotive force shows the positive peak.
The value increments when the motor rotates in counter clockwise (CCW) direction.
The value returns to 0 when it exceeds FF, but the count continues.
Indicates a value between 0 and FF hex.
The cumulative count is saturated when it reaches the maximum value (FFFF hex).
In this case, only the lowest order byte is shown.
The value returns to 00 when it exceeds FF, but the count continues.
Indicates the rotary switch setting (i.e. node address) read at power-on. The indication is in decimal.
The value is not altered by any changes on the rotary switch setting after the power-on.
Indicates a value between 0 and FF hex.
The cumulative count is saturated when it reaches the maximum value (FFFF hex).
In this case, only the lowest order byte is shown.
The value returns to 00 when it exceeds FF, but the count continues.
Indicates the Z-phase count value read from the external encoder when an incremental external encoder is used during full closing control. The value between 0 an FF hex is indicated.
Do not set anything.
*1. The cumulative count of communication errors is cleared when the control power is cut off.
*2.The value read from the encoder is indicated directly, regardless of the External Feedback Pulse
Direction Switching on the Pn326.
Pn701
Setting range
Power ON Address Display Duration Setting
0 to 1000 Unit 100 ms Default setting 0
Set the duration to display the node address when the control power is turned ON.
All
Data Attribute R
Pn702
Setting range
Unused
− Unit − Default setting −
All
Data Attribute −
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8-7 Special Parameters
Pn703
Setting range
Torque Limit Flag Output Setting
0 to 1 Unit
−
Default setting
Set the condition for torque limit output during torque control.
Explanation of Set Value
0
Set value
0
1
Description
On by the torque limit value including the torque command value.
On by the torque limit value excluding the torque command value.
Torque
Data Attribute A
Pn704
Setting range
Backlash Compensation Selection
0 to 2 Unit − Default setting 0
Position Full closing
Data Attribute C
Select to enable or disable the backlash compensation during position control. Set the compensation direction when the compensation is enabled.
Refer to "6-4 Backlash Compensation (P.6-12)".
Explanation of Set Value
Set value
0
1
2
Description
Disable the backlash compensation.
Compensate the backlash at the first forward operation after a Servo-ON.
Compensate the backlash at the first reverse operation after a Servo-ON.
Pn705
Setting range
Backlash Compensation Amount
−32768 to 32767 Unit Command unit Default setting
Set the backlash compensation amount during position control.
Refer to "6-4 Backlash Compensation (P.6-12)".
Pn706
Setting range
Backlash Compensation Time Constant
0 to 6400 Unit 0.01 ms Default setting
Set the backlash compensation time constant for position control.
Refer to "6-4 Backlash Compensation (P.6-12)".
0
Pn707
Setting range
Unused
− Unit − Default setting
0
−
Pn708
Setting range
Unused
−
Pn709
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
−
−
Position Full closing
Data Attribute B
Position Full closing
Data Attribute B
All
Data Attribute −
All
Data Attribute −
All
Data Attribute −
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8-7 Special Parameters
8
Pn710
Setting range
MECHATROLINK-II Communication I/O Monitor Setting
0 to 1 Unit
−
Default setting 0
All
Data Attribute A
Select whether to reflect the inputs to the I/O monitor of MECHATROLINK-II communications, when either the forward or reverse drive prohibition input is assigned to the input signal, and the
Drive Prohibition Input Selection (Pn504) is set to 1 (Disabled).
Explanation of Set Value
Set value
0
1
Description
Disable the one on the I/O monitor of MECHATROLINK-II communications as well.
Enable the one on the I/O monitor of MECHATROLINK-II communications.
Pn800
Setting range
Communications Control
−32768 to 32767
Unit
−
Default setting 0
All
Data Attribute C
Controls the alarms and warnings over the MECHATROLINK-II communications.
Alarm setting
A communications error (Alarm No.83.0) is detected if the data to be received in
MECHATROLINK-II communications cycles is not received correctly, and the failures continues in series more often than the detection times set on the Communications Control (Pn800).
Warning setting
To mask the warning, set the corresponding bit to 1. Then the warning detection is disabled.
Refer to " Warnings related to MECHATROLINK-II Communications (P.11-5)".
Warning number
Warning name Warning occurrence condition
Communications control setting
(Pn800)
*1
94
95
Data setting warning
Command warning
• The set value on the command argument is out of the specified range.
• Parameter writing fails.
• The command set value is incorrect.
• The command transmission conditions are not met.
• The sub-command transmission conditions are not met.
• A rotation command is given in the prohibited direction after the motor made an emergency stop due to a drive prohibition input.
One or more MECHATROLINK-II communications error occur.
bit4 bit5
96
MECHATROLINK-II communications warning bit6
*1.The MECHATROLINK-II communications warning detections can be masked by the setting on the Communications Control (Pn800). The table above shows the corresponding bits.
The warning detection is masked when you set the corresponding bit to 1.
8-61
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-7 Special Parameters
Pn801
Setting range
Soft Limit
0 to 3 Unit
−
Default setting 0
All
Data Attribute A
Select whether to enable or disable the Soft Limit.
When it is enabled, set the soft limit values on the Forward Software Limit (Pn804) and the Reverse
Software Limit (Pn806).
Explanation of Set Value
Set value
0
1
2
3
Description
Enable the soft limits on both directions.
Disable the forward soft limit, but enable the reverse soft limit.
Enable the forward soft limit, but disable the reverse soft limit.
Disable the soft limits on both directions.
Precautions for Correct Use
The disabled limit signals turn to enable (or in the state of set value 0), during the
MECHATROLINK-II communications status or if the origin return is not completed.
Pn802
Setting range
Unused
− Unit − Default setting −
All
Data Attribute −
Pn803
Origin Range
Setting range 0 to 250 Unit
Command unit
Default setting
Set the threshold for detecting the origin in absolute values.
Pn804
Setting range
Forward Software Limit
−1073741823 to
1073741823
Unit
Set the forward software limit.
Pn805
Setting range
Unused
− Unit
Command unit
Default setting
− Default setting
10
All
Data Attribute A
500000
All
Data Attribute A
−
All
Data Attribute −
Pn806
Setting range
Reverse Software Limit
−1073741823 to
1073741823
Unit
Set the reverse software limit.
Pn807
Setting range
Unused
−
Unit
Command unit
All
Default setting −500000 Data Attribute A
−
Default setting
−
All
Data Attribute
−
8
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-62
8-7 Special Parameters
8
Pn808
Setting range
Absolute Encoder Origin Offset
−1073741823 to
1073741823
Unit
Command units
Default setting 0
All
Data Attribute C
Set the offset volume between the encoder or external encoder position and the mechanical coordinate position, when an absolute encoder or an absolute external encoder is used.
Pn809
Setting range
Unused
− Unit − Default setting −
All
Data Attribute −
Pn810
Setting range
Unused
−
Unit
−
Default setting
−
All
Data Attribute
−
Pn811
Linear Acceleration Constant
Setting range
-32768 to 32767
(0 to 65535)
Unit
10000 command units/s
2
Default setting
Set the acceleration for positioning.
The set value is converted to unsigned 16-bit data (0 to 65535).
Example: -32768
→ 8000h = 32768, -1 → FFFFh = 65535
If 0 is set, the internal value is handled as 1.
100
Pn812
Setting range
Unused
−
Unit
−
Default setting
−
Position Full closing
Data Attribute B
All
Data Attribute
−
Pn813
Setting range
Unused
−
Unit
−
Default setting
Pn814
Linear Deceleration Constant
Setting range
-32768 to 32767
(0 to 65535)
Unit
10000 command units/s
2
Default setting
Set the deceleration for positioning.
The set value is converted to the same type as Pn811.
Pn815
Setting range
Unused
− Unit − Default setting
Pn816
Setting range
Unused
−
Pn817
Setting range
Unused
−
Unit
Unit
−
−
Default setting
Default setting
−
100
−
−
−
All
Data Attribute
−
Position Full closing
Data Attribute B
All
Data Attribute −
All
Data Attribute −
All
Data Attribute −
8-63
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-7 Special Parameters
Pn818
Setting range
Position Command FIR Filter Time Constant
0 to 10000 Unit 0.1 ms Default setting 0
Position Full closing
Data Attribute B
Set the time constant of FIR filter for the position command.
The Position command FIR filter can be selected to enable or disable, by the position command filer switch input via MECHATROLINK-II communications.
It sets the time to arrive at the target speed Vc, as shown below, for the square-wave command of Vc.
Speed [r/min]
Pre-filter position command
Post-filter position command
Vc
Position Command FIR Filter
Time Constant [ms]
Pn818
× 0.1 ms
Filter switching dwell time
*1
*1. Change the setting on Pn818 only after you stop the command pulse and the filter switching dwell time elapses. The dwell time is calculated by the following formulas depending on the value set on
Pn818.
If Pn818 set value ≤ 10 ms, the set value × 0.1 ms + 0.25 ms.
If Pn818 set value > 10 ms, the set value × 0.1 ms × 1.05.
8
Precautions for Correct Use
If the set value on Pn818 is changed during the position command is entered, the change is not reflected immediately. It is updated only after the subsequent state of no position command persists for the filter switching dwell time.
There is some time lag from when the Pn818 is change and to when the change is applied. If the filter switching dwell time elapses during the lag, the change may be suspended.
Pn819
Setting range
Unused
−
Unit
−
Default setting
−
All
Data Attribute
−
Pn820
Setting range
Final Distance for External Input Positioning
−1073741823 to
1073741823
Unit
Command units
Default setting 100
Position Full closing
Data Attribute B
Sets the distance to travel after the latch signal input position is detected during the external input positioning.
Pn821
Setting range
Unused
− Unit − Default setting −
All
Data Attribute −
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-64
8-7 Special Parameters
8
Pn822
Setting range
Origin Return Mode Setting
0 to 1 Unit
Set the direction for origin return.
Explanation of Set Values
Set value
0
1
Positive direction
Negative direction
−
Default setting
Description
0
Position Full closing
Data Attribute B
Pn823
Origin Return Approach Speed 1
Position Full closing
Setting range 1 to 32767 Unit
100 command units/s
Default setting 50 Data Attribute B
Set the operating speed for origin returns, from when the origin proximity signal turns ON to when it turns OFF and the latch signal is detected.
Reference
The maximum approach speed is limited by the maximum motor rotation speed.
Pn824
Origin Return Approach Speed 2
Position Full closing
Setting range 1 to 32767 Unit
100 command units/s
Default setting 5 Data Attribute B
Set the operating speed for origin returns, from when the latch signal is detected to when the motor reaches the Final Distance for Origin Return (Pn825).
Reference
The maximum approach speed is limited by the maximum motor rotation speed.
Pn825
Setting range
Final Distance for Origin Return
−1073741823 to
1073741823
Unit
Command units
Default setting 100
Position Full closing
Data Attribute B
Set the distance from the position where the latch signal is entered to the origin during origin returns.
Pn826
Setting range
Unused
−
Unit
−
Default setting
−
All
Data Attribute
−
Pn827
Setting range
Unused
−
Unit
−
Default setting
−
All
Data Attribute
−
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-7 Special Parameters
Pn828
Setting range
Unused
−
Pn829
Setting range
Unused
−
Pn830
Setting range
Unused
−
Pn831
Setting range
Unused
−
Pn832
Setting range
Unused
−
Pn833
Setting range
Unused
−
Pn834
Setting range
Unused
−
Pn835
Setting range
Unused
−
Unit
Unit
Unit
Unit
Unit
Unit
Unit
Unit
−
−
−
−
−
−
−
−
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
−
−
−
−
−
−
−
−
Pn836
Setting range
Option Monitor Selection 1
−32768 to 32767
Unit
−
Default setting 0
All
Data Attribute A
The Monitor Selection Field of MECHATROLINK-II communications displays the monitoring data that is set on this parameter.
Pn837
Setting range
Option Monitor Selection 2
−32768 to 32767
Unit
−
Default setting 0
All
Data Attribute A
The Monitor Selection Field of MECHATROLINK-II communications displays the monitoring data that is set on this parameter.
All
Data Attribute
−
All
Data Attribute
−
All
Data Attribute
−
All
Data Attribute
−
All
Data Attribute
−
All
Data Attribute
−
All
Data Attribute
−
All
Data Attribute
−
8
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
8-66
Operation
This chapter explains the operating procedures and how to operate in each mode.
9-1 Operational Procedure .................................................9-1
9-2 Preparing for Operation ...............................................9-2
9-3 Trial Operation ..............................................................9-7
9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9
9-1 Operational Procedure
9-1 Operational Procedure
Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive.
Then make the function settings as required according to the use of the motor and drive.
If the user parameters are set incorrectly, there is a risk of an unpredictable motor operation, which is dangerous. Set the parameters securely according to the setting methods in this manual.
Item
Mounting and installation
Contents
Install the motor and drive according to the installation conditions.(Do not connect the motor to the mechanical system before checking the no-load operation.)
Reference
Wiring and connections
Connect the motor and drive to the power supply and peripheral equipment.
Specified installation and wiring conditions must be satisfied, particularly for models conforming to the EC directives.
Preparing for operation
Check the necessary items and then turn ON the power supply.
Check on the display to see whether there are any internal errors in the drive.
If using a motor with an absolute encoder, first set up the absolute encoder.
Function settings
By means of the user parameters, set the functions according to the operating conditions.
Trial operation
First, check the motor operation with no-load condition. Then turn the power supply OFF and connect the motor to the mechanical system.
If using a motor with an absolute encoder, set up the absolute encoder and set the Motion Control Unit's initial parameters.
Turn ON the power supply again, and check to see whether protective functions, such as the emergency stop and operational limits, work properly.
Check operation at both low speed and high speed using the system without a workpiece, or with dummy workpieces.
Adjustment
Manually adjust the gain if necessary.
Further adjust the various functions to improve the control performance.
Operation
Operation can now be started.
If any problems should occur, refer to "Chapter 11, Error and
9-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9-2 Preparing for Operation
9-2 Preparing for Operation
This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive. It explains items to check both before and after turning ON the power supply.
It also explains the setup procedure required if using a motor with an absolute encoder.
Items to Check Before Turning ON the Power Supply
Checking Power Supply Voltage
Check to be sure that the power supply voltage is within the ranges shown below.
R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2 (Single-phase 100-VAC input)
Main circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
Control circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
R88D-KN01H-ML2/-KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2
Main circuit power supply: Single-phase or single-phase/3-phase 200 to 240 V (170 to 264 V)
50/60 Hz Control circuit power supply: Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
R88D-KN20H-ML2/-KN30H-ML2/-KN50H-ML2 (3-phase 200-VAC input)
Main circuit power supply: 3-phase 200 to 230 VAC (170 to 253 V)
50/60 Hz Control circuit power supply: Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2/-KN30F-ML2/-KN50F-ML2
Main circuit power supply: 3-phase 380 to 480 VAC (323 to 528 V)
50/60 Hz Control circuit power supply: 24 VDC ± 15%
Checking Terminal Block Wiring
The main circuit power supply inputs (L1/L3 or L1/L2/L3) must be properly connected to the terminal block.
The control circuit power supply inputs (L1C/L2C) must be properly connected to the terminal block.
The motor's red (U), white (V), and blue (W) power lines and the green/yellow ( ) must be properly connected to the terminal block.
Checking the Motor
There should be no load on the motor. (Do not connect the mechanical system.)
The motor side power lines and the power cables must be securely connected.
Checking the Encoder Wiring
The encoder cable must be securely connected to the encoder connector (CN2) at the drive side.
The encoder cable must be securely connected to the encoder connector at the motor side.
Checking the MECHATROLINK-II Communications Connectors
The MECHATROLINK-II Communications Cables must be connected securely to the
MECHATROLINK-II Communications Connectors (ML2A and ML2B).
9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9-2
9
9-2 Preparing for Operation
Display Area and Setting on Drives
This is the display area of R88D-KNx Servo Drive.
There are the rotary switches to set the MECHATROLINK-II communication node address, the
Drive alarm indicator, and the MECHATROLINK-II communications status LED indicator.
MECHATROLINK-II communications status LED indicator (COMM)
Rotary switches for node address setting
7-segment LED indicator (2-digit)
COMM
ADR
Connector for
Analog Monitor
Note 1. The node address set by the rotary switch is read only once when the control power is turned on.
Any changes made by the rotary switches after the power-on are not reflected to the Controller.
Such changes become effective only after the subsequent power-on following to a power-off.
Do not change the rotary switch setting after the power-on.
Note 2. The settable range for a node address is between 1 and 31. The node address used over the network is the value obtained by adding the offset 40h to the rotary switch set value.
If any value over or under the range is set, the Node address setting error (Alarm No.82.0) occurs.
Rotary switch setting
1 to 31
Others
Description
Node address = Set value +
40h (41h ≤ Node address ≤
5Fh)
Node address setting error
(Alarm No.82.0) occurs.
9-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9-2 Preparing for Operation
MECHATROLINK-II Communications Status LED Indicator
The table below shows the LED indication status and the corresponding conditions of the communications.
LED status
Unlit
Communications status
No communication is established.
Green Flash Asynchronous communications is established.
Green Light Synchronous communications is established.
Red Flash
Red Light
A clearable error occurred in MECHATROLINK-II communications.
• Communications error (Alarm No.83.0)
• Transmission cycle error (Alarm No.84.0)
• SSYNC_SET error (Alarm No.84.4)
• Watchdog data error (Alarm No.86.0)
• Transmission cycle setting error (Alarm No.90.0)
• CONNECT error (Alarm No.90.1)
• SYNC command error (Alarm No.91.0)
A non-clearable error occurred in MECHATROLINK-II communications.
• Node address setting error (Alarm No.82.0)
• SYNC process error (Alarm No.84.3)
Note. If any of communication related error occurs while an error that is not related to MECHATROLINK-
II communications happens, the MECHATROLINK-II Communications Status LED Indicator follows the corresponding communications status as shown above.
Turning on the Power Supply
Turn on the control circuit power after you conduct the pre-power-on checking.
You may turn on the main circuit power, but it is not a requisite.
It takes approx 2 seconds for the alarm output (/ALM) to turn on since the power-on. Do not attempt to detect an alarm, during this period, by the Host Controller. This precaution relates to the case when the power is turned on while the Host Controller is connected.
9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9-4
9-2 Preparing for Operation
9
Checking the Displays
7-Segment LED Indicator
The 7-segment LED indicator is on the front panel.
When the power is turned on, it shows the node address that is set by the rotary switches. Then the indication changes in accordance with the setting on the Default Display (Pn700).
If any alarming error occurs, it indicates the error number (Alarm No.xx) as the alarm code. If any warning situation occurs, it indicates the warning number as the warning code.
Control power on
Fully unlit
Fully lit (for approx. 0.6 s)
<Node address display> [nA] (Node Address) (for approx. 0.6 s)
Rotary switch setting (This example is the case when the MSD is set to 0 and the LSD is to 3.)
(Power ON Address Display Duration Setting at power ON (Pn701).)
<Normal display (When the Default Display (Pn700) is set to 0.)>
Main power is ON and the network communication is established.
Servo ON
[
− −]
Main power is OFF and the network communication is not established.
[
− −]+Right dot lights
Servo OFF
[00]
+Right dot lights
Alarm occurs Alarm cleared
<Alarm display>
*1
The alarm code in a decimal number flashes.
(E.g. overload)
Warning occurs Warning resolved
<Warning display>
The warning code hex and the normal indication show alternatively. (E.g. overload)
9-5
Warning code
(for 2 s)
Normal indication
(for approx 4 s)
*1. When the Safety input error (Alarm No.33.0) occurs, the alarm code is not shown. Instead, "St" flashes.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9-2 Preparing for Operation
Absolute Encoder Setup
ABS
You must set up the absolute encoder if using a motor with an absolute encoder. The setup is required when you turn ON the power supply for the first time, when an absolute encoder system down error (Alarm No.40) occurs, or when the encoder cable is disconnected and then connected again.
To use an absolute encoder, set the Operation Switch when Using Absolute Encoder (Pn015) to 0 or 2.
The absolute encoder is set up via communications. Refer to the operation manual of the host controller of CX-Drive (Cat. No. W453).
After the setup, turn off the control power and turn it on again.
9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
9-6
9-3 Trial Operation
9-3 Trial Operation
When you have finished installation, wiring, and switch settings and have confirmed that status is normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system is electrically correct.
If an error occurs during the trial operation, refer to "Chapter 11, Error and Maintenance" to
eliminate the cause. Then check for safety, and then retry the trial operation.
9
Preparation for Trial Operation
Inspections before Trial Operation
Check the following items.
Wiring
Make sure that there is no error (especially the power supply input and motor output).
Make sure that there are no short-circuits. (Check the ground for short circuits as well.)
Make sure that there are no loose connections.
Power Supply Voltage
Make sure that the voltage corresponds to the rated voltage.
Motor Installation
Make sure that it is securely installed.
Disconnection from Mechanical System
If necessary, make sure that the motor has been disconnected from the mechanical system.
Brake Released
Make sure that the brake has been released.
Trial Operation by Using the CX-Drive
1. Use the Connector CN1 for connection.
2. Supply the power of 12 to 24 VDC to the control signal connector pins +24 VIN and COM.
3. Turn on the Servo Drive power.
4. Confirm the parameters are set to standard values.
5. Connect the USB cable to the CN7 Connector. Write the parameters from the CX-Drive.
6. Write the parameters to EEPROM. Turn OFF the power and then turn ON the power again.
7. Operate the CX-Drive in jog operation to make the Servo ON state. Keep the motor in servo lock state.
8. Operate the CX-Drive in low jog speed.
9. Confirm the motor rotation speed.
9-7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Adjustment Functions
This chapter explains the functions, setting methods and items to note regarding various gain adjustments.
10-1 Analog Monitor ...........................................................10-1
10-2 Gain Adjustment .........................................................10-4
10-3 Realtime Autotuning...................................................10-6
10-4 Manual Tuning ..........................................................10-13
10-5 Damping Control.......................................................10-21
10-6 Adaptive Filter...........................................................10-25
10-7 Notch Filter................................................................10-28
10-8 Disturbance Observer Function ..............................10-31
10-9 Friction Torque Compensation Function ...............10-33
10-10Hybrid Vibration Suppression Function ................10-35
10-11Feed-forward Function ............................................10-36
10-12Instantaneous Speed Observer Function..............10-39
10
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-1 Analog Monitor
10-1 Analog Monitor
Two types of analog signals can be output from the Analog Monitor Connector on the front panel.
They are used when the monitoring is required for adjustment.
A monitor type and a scale (output gain) can be set by the following parameters.
The refresh period of the analog monitor is 1 ms.
Parameters Requiring Settings
Parameter number
Pn416
Parameter name Explanation
Analog Monitor 1 Selection Set the monitoring item for the analog monitor 1.
Pn417
Pn418
Pn419
Pn421
Analog Monitor 1 Scale
Setting
Set the output gain for the analog monitor 1.
Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2.
Analog Monitor 2 Scale
Setting
Analog Monitor Output
Setting
Set the output gain for the analog monitor 2.
Select the analog monitor output method.
Reference
10
10-1
Analog Monitor Parameters (Pn416, Pn417, Pn418 and Pn419)
The analog monitor scales (Pn417 and Pn419) are set in units for 1 V. When the parameters are set to 0, the values shown in the table below are automatically set.
10
11
8
9
12
Pn416 and
Pn418 set value
0
1
2
3
4
5
6
7
Monitoring item
Description
Unit
Motor speed
Position command speed
*1
Internal position command speed
*1
Speed control command
Torque command
Command position error
*2
Encoder position error
*2
Full closing error
*2 r/min r/min r/min r/min
% (rated torque ratio) pulse (command unit) pulse (encoder unit) pulse (external encoder unit)
Hybrid Error
P-N voltage
Regeneration load ratio
Overload load ratio pulse (command unit)
V
%
% (rated torque ratio)
Forward direction torque limit % (rated torque ratio)
Output gain when Pn417 and Pn419 are set to 0
500
500
500
500
33
3000
3000
3000
3000
80
33
33
33
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-1 Analog Monitor
Pn416 and
Pn418 set value
13
Monitoring item
Description
Unit
14
15
Reverse direction torque limit %
Speed limit value
Inertia ratio
16 to 18 Reserved
19
20
21
Encoder temperature
*3
Servo Drive temperature
Encoder 1-rotation data
*4 r/min
%
−
°C
°C
pulse (encoder unit)
Output gain when Pn417 and Pn419 are set to 0
33
500
500
−
10
10
110000
*1.The Position command speed is the speed before the command input passes through the command filter (the position command filter time constant and the smoothing filter time constant). The internal command speed is the speed after the command input passes through the command filter.
Position command speed [r/min]
Internal command speed [r/min]
Command input
Electronic gear
Position command filter
+
−
Position
Control
Encoder feedback/external encoder
*2.The position command error is an error on the command input. The encoder position error and the full closing position error are the error of the input section of the position control.
Each of position error and feedback pulse error is expressed in 2 types of units: Encoder unit and command unit for position errors, and external encoder unit and command unit for feed back pulse errors. The encoder unit and the external encoder unit are for the errors of the position control input sections, while the command unit is for the error of command pulse inputs.
Position command error (command unit) or
Command feedback pulse error (command unit)
Encoder position error (encoder unit) or
Full closing error (external encoder unit)
Electronic gear reverse conversion
10
Command input
Electronic gear
Position command filter
+
Position control
−
Encoder feedback/external encoder feedback
*3.The encoder temperature is indicated only for the 20-bit incremental encoder. The value is not settled for other types of encoders.
*4.Directions of monitor data, either forward or reverse, is the direction set in the Rotation Direction
Switching (Pn000). However, CCW is the forward direction for the absolute encoder 1-rotation data. A normal value is output from the incremental encoder after the first phase Z.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-2
10
10-1 Analog Monitor
Analog Monitor Output Setting (Pn421)
Select the direction for analog monitor output voltage.
These are the output voltage range and the output direction when the Analog Monitor 1
Selection (Pn416) or the Analog Monitor 2 Selection (Pn418) is set to 0 (i.e., motor speed), and the Analog Monitor 1 Scale Setting (Pn417) or the Analog Monitor 2 Scale Setting (Pn419) is set to 0 (i.e., 1V = 500 r/min).
Set value Output range Data output
Output voltage [V]
10 V
0
−10 to 10 V
0 V
−5000
Motor speed
5000 [r/min]
−10 V
Output voltage [V]
10 V
1 0 to 10 V
2
0 to 10 V
(5 V as the center)
−5000
0 V
Motor speed
5000 [r/min]
−10 V
Output voltage [V]
10 V
5 V
Motor speed
0 V 0
−2500
2500 [r/min]
−10 V
10-3
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-2 Gain Adjustment
10-2 Gain Adjustment
OMNUC G5-Series Servo Drives provide the realtime autotuning function.
With this function, gain adjustments can be made easily even by those who use a servo system for the first time. If you cannot obtain desired responsiveness with autotuning, use manual tuning.
Purpose of the Gain Adjustment
The Servo Drive must operate the motor in response to commands from the host system with minimal time delay and maximum reliability. The gain is adjusted to bring the actual operation of the motor as close as possible to the operations specified by the commands, and to maximize the performance of the machine.
[r/min]
+2000
Example: Ball screw
Gain setting: Low Gain setting: High Gain setting: High
+ feed-forward setting
0
Actual motor speed
Command speed
−2000
0.0
125 250 375
Position loop gain
Speed loop gain :
: 3.0
2.5
Speed loop integral time constant : 190.0
Speed feed-forward :
Inertia ratio :
30
300
0.0
125 250 375
Position loop gain
Speed loop gain
:
:
Speed loop integral time constant :
251.0
140.0
Speed feed-forward
Inertia ratio :
:
6.0
30
300
0.0
125 250 375
Position loop gain
Speed loop gain
:
:
Speed loop integral time constant :
251.0
180.0
Speed feed-forward
Inertia ratio :
:
6.0
100
300
Gain Adjustment Methods
Function Description
Reference page
Automatic adjustment
Realtime autotuning Realtime autotuning estimates the load inertia of the machine in realtime and automatically sets the optimal gain according to the estimated load inertia.
Manual adjustment
Manual tuning Manual adjustment is performed if autotuning cannot be executed due to restrictions on the CONTROL mode or load conditions or if ensuring the maximum responsiveness to match each load is required.
Basic procedure POSITION CONTROL/FULL CLOSING CONTROL mode adjustment
SPEED CONTROL mode adjustment
TORQUE CONTROL mode adjustment
10
Precautions for Safe Use
Take sufficient care for safety.
If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or let the servo OFF status occur.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-4
10-2 Gain Adjustment
Gain Adjustment Procedure
Start adjustment.
Automatic adjustment?
Yes
No
Realtime autotuning setting
Realtime autotuning
10
Operation OK?
Yes
No
(Default setting)
Manual tuning
Operation OK?
Yes
No
Write to EEPROM.
Consult OMRON.
Adjustment completed.
Gain Adjustment and Machine Rigidity
To improve machine rigidity:
Install the machine on a secure base so that it does not cause any play.
Use couplings that have a high rigidity, and that are designed for servo systems.
Use a wide timing belt. And use a tension within the range of allowable axial load for the motor or
Decelerator output.
Use gears with small backlash.
The specific vibration (resonance frequency) of the mechanical system has a large impact on the gain adjustment of the servo. The servo system responsiveness cannot be set high for machines with a low resonance frequency (low machine rigidity).
10-5
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-3 Realtime Autotuning
10-3 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime and operates the machine by automatically setting the gain according to the estimated load inertia. At the same time, it can lower the resonance and vibration if operated with the adaptive filter enabled.
Refer to "10-6 Adaptive Filter" (P.10-25) for details about adaptive filters.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Position / Speed command
Position / Speed control
Friction torque compensation
Torque command
Current control
SM
Load
Estimate load inertia.
Speed feedback
RE
Position feedback
Precautions for Correct Use
Realtime autotuning may not function properly under the conditions described in the following table.In such cases, use manual tuning.
Load inertia
Load
Operation pattern
Conditions under which realtime autotuning does not operate properly
• If the load inertia is small or large compared with the rotor inertia.
(less than 3 times, more than 20 times, or more than the applicable load inertia ratio)
• If the load inertia changes quickly. (in less than 10 s)
• If the machine rigidity is extremely low.
• If there is backlash or play in the system.
• If the speed is continuously run at a low speed below 100 r/min.
• If the acceleration/deceleration gradually changes at less than 2,000 r/min in 1 s.
• If the acceleration/deceleration torque is too small compared with the unbalanced load and the viscous friction torque.
• If a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not continue for at least 50 ms.
10
With realtime autotuning, each parameter is fixed to the value in the machine rigidity table at the time the machine rigidity is set. By estimating the load inertia from the operation pattern, the operation coefficient for the speed loop gain and the integration time constant are altered. Doing this for each pattern can cause vibration, so the estimation value is set conservatively.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-6
10-3 Realtime Autotuning
Parameters Requiring Settings
Parameter number
Pn002
Pn003
Pn631
Pn632
Parameter name
REALTIME AUTOTUNING mode Selection
Realtime Autotuning
Machine Rigidity Setting
Realtime Autotuning
Estimated Speed Selection
REALTIME AUTOTUNING
CUSTOMIZATION mode
Setting
Explanation
Set the operation mode for the realtime autotuning.
Set the responsiveness when the realtime autotuning is enabled.
Set the load characteristic estimated speed, when the realtime autotuning is enabled.
Make the detailed setting for the autotuning function, when the customized mode (6) is selected on the
REALTIME AUTOTUNING mode Selection (Pn002).
Reference
10
Setting Realtime Autotuning
1. When setting realtime autotuning, turn the servo OFF.
2. Set REALTIME AUTOTUNING mode Selection (Pn002) depending on the load.
Normally, set the parameter to 1 or 2. When using a vertical axis, set the parameter to 3 or 4.
A setting of 5 is used in combination with a software tool. Do not set the parameter to 5 for normal operation.
The gain switching function is enabled for set values 2 to 4. If Pn002 is set to 2 to 4, the
Switching Mode in Position Control (Pn115) must be set to 10 (Combination of position command input and rotation speed). The gain is switched according to this switching condition
setting. Refer to page " Gain Switching Setting for Each CONTROL mode" (P.6-28) for details
on setting the Switching Mode in Position Control (Pn115).
Set value
0
1
2
3
4
5
6
Realtime autotuning
Disabled
Focus on stability (default setting)
Focus on positioning
Vertical axis
*2
*1
Friction compensation
*3
Friction compensation and
Vertical axis
Customization
*4
Description
Realtime autotuning is disabled.
No unbalanced load or friction compensation, nor gain switching.
Used for a horizontal axis or others which has no unbalanced load, or for a ball screw drive with little friction.
Used when unbalanced load is present to vertical axis, etc.
Used when friction is large.
Used for a belt driving shaft with large friction. Variations in finalizing the positioning are narrowed.
Used when unbalanced load is present on the vertical axis or the like and when friction is large.
Detailed customization can be set on the REALTIME
AUTOTUNING CUSTOMIZATION mode Setting (Pn632).
*1.In speed controls or torque controls, this will be 1: Focus on stability.
*2. In torque controls, this will be 1: Focus on stability.
*3.In speed controls, this will be 3: Vertical axis. In torque controls, this will be 1: Focus on stability.
*4.In some control modes, some functions are not available. Refer to the Realtime Autotuning
Customization Mode Selection (Pn632) in “8-7 Special Parameters”.
10-7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-3 Realtime Autotuning
Setting Machine Rigidity
1. Set the Realtime Autotuning Machine Rigidity Selection (Pn003) according to the table below.
Start from the lower machine rigidity number and check the operation.
Machine configuration and drive method
Ball screw direct coupling
Ball screw and timing belt
Timing belt
Gears, rack and pinion drives
Machines with low rigidity, etc.
Stacker crane
Realtime Autotuning
Machine Rigidity Selection (Pn003)
12 to 24
8 to 20
4 to 16
4 to 16
1 to 8
Perform manual tuning.
2. Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response.
If vibration occurs, enable the adaptive filter and operate. If already enabled, adjust by lowering the machine rigidity number.
3. If there are no issues with the operation, turn the servo OFF and set REALTIME
AUTOTUNING mode Selection (Pn002) to 0 (disabled).
In this case, the adaptive filter can remain enabled. To disable the adaptive filter, read the frequency from the adaptive filter table number display, and set to notch filter 1 frequency.
Precautions for Correct Use
Unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning
Machine Rigidity Selection (Pn003) is increased. This is not an error if it disappears right away. If the unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the following measures in any order you can.
• Write the parameters used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
• Manually set the notch filter.
Once unusual noise or vibration occurs, Inertia Ratio (Pn004), Torque Command Value Offset
(Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset (Pn609) may have changed to an extreme value. In this case, also take the measures described above.
Out of the results of realtime autotuning, the Inertia Ratio (Pn004), Torque Command Value Offset
(Pn607), Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609) are automatically saved to the EEPROM every 30 minutes. Realtime autotuning uses this saved data as the default setting when the power supply is turned OFF and turned ON again.
The parameter is automatically set based on the Realtime Autotuning Machine Rigidity Setting
(Pn003) if realtime autotuning is enabled.
10
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-8
10
10-3 Realtime Autotuning
Realtime Autotuning (RTAT) Parameter Table
Parameter number
Parameter name
AT Machine Rigidity Setting (Pn003)
Pn004 Inertia Ratio
Pn100 Position Loop Gain 1
Pn101 Speed Loop Gain 1
Pn102 Speed Loop Integral Time Constant 1
Pn103 Speed Feedback Filter Time Constant 1
Pn104 Torque Command Filter Time Constant 1
*1
Pn105 Position Loop Gain 2
Pn106 Speed Loop Gain 2
Pn107 Speed Loop Integral Time Constant 2
*2
Pn108 Speed Feedback Filter Time Constant 2
Pn109 Torque Command Filter Time Constant 2
*1
Pn110 Speed Feed-forward Amount
Pn111 Speed Feed-forward Command Filter
Pn112 Torque Feed-forward Amount
Pn113 Torque Feed-forward Command Filter
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
0
20
15
1
25
20
2 3 4 5
Estimated load inertia ratio
30
25
40
30
45
35
55
45
6
75
60
7
95
75
3700 2800 2200 1900 1600 1200 900 700
0 0 0 0 0 0 0 0
1500 1100 900
25 30 40
800 600
45 55
500 400 300
70 95 120
15 20 25 30 35 45 60 75
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0
1500 1100 900
300 300 300
50 50 50
0
0
0
0
0
0
0
800 600
300 300 300
50
0
0
0
50
0
0
0
500 400 300
50
0
0
0
300
50
0
0
0
300
50
0
0
1 1 1 1 1 1 1 1
Pn115 SWITCHING mode in Position Control
GAIN SWITCHING ENABLE mode: 10
GAIN SWITCHING DISABLE mode: 0
Pn116 Gain Switching Delay Time in Position Control 30
Pn117 Gain Switching Level in Position Control 50
Pn118
Gain Switching Hysteresis in Position
Control
33
Pn119 Position Gain Switching Time
Pn120 SWITCHING mode in Speed Control
Pn121 Gain Switching Delay Time in Speed Control
Pn122 Gain Switching Level in Speed Control
0
0
33
0
Pn123 Gain Switching Hysteresis in Speed Control 0
Pn124 SWITCHING mode in Torque Control 0
Pn125
Gain Switching Delay Time in Torque
Control
Pn126 Gain Switching Level in Torque Control
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
0
Pn609 Reverse Direction Torque Offset
Pn610.0,
Pn610.1
Function Expansion Setting
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
0
0
0
30
50
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
Estimated torque command additional value
Estimated forward direction torque compensation
Estimated reverse direction torque compensation
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
33
0
0
33
0
0
0
0
0
0
0
0
0
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
*2. If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value offset, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load characteristic estimation is completed.
10-9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-3 Realtime Autotuning
Parameter number
Parameter name
Pn004 Inertia Ratio
Pn100 Position Loop Gain 1
Pn101 Speed Loop Gain 1
Pn102 Speed Loop Integral Time Constant 1
Pn103 Speed Feedback Filter Time Constant 1
Pn104 Torque Command Filter Time Constant 1
*1
Pn105 Position Loop Gain 2
8 9
115 140
90 110
600 500
0 0
300 200
140 175
10 11 12 13
Estimated load inertia ratio
175 320 390
140 180 220
400 310 250
0 0 0
200 126 103
220 380 460
480
14
630
270 350
210 160
15
720
400
140
0 0 0
84 65 57
570 730 840
90 110 140 180 220 270 350 400
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
Pn106 Speed Loop Gain 2
Pn107 Speed Loop Integral Time Constant 2
*2
Pn108 Speed Feedback Filter Time Constant 2
Pn109 Torque Command Filter Time Constant 2
*1
Pn110 Speed Feed-forward Amount
Pn111 Speed Feed-forward Command Filter
Pn112 Torque Feed-forward Amount
Pn113 Torque Feed-forward Command Filter
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
300
AT Machine Rigidity Setting (Pn003)
200
300 300
50
0
0
1
50
0
0
1
200
300 300 300
50
0
0
1
126
50
0
0
1
103
50
0
0
1
84
0
0
1
65
300 300
50 50
0
0
1 1
57
300
50
0
0
Pn115 SWITCHING mode in Position Control
GAIN SWITCHING ENABLE mode: 10
GAIN SWITCHING DISABLE mode: 0
Pn116 Gain Switching Delay Time in Position Control 30
Pn117 Gain Switching Level in Position Control 50
Pn118
Gain Switching Hysteresis in Position
Control
33
Pn119
Pn120
Pn121
Pn122
Position Gain Switching Time
SWITCHING mode in Speed Control
Gain Switching Delay Time in Speed Control
Gain Switching Level in Speed Control
33
0
0
0
30
50
33
30
50
33
30
50
33
30
50
33
30
50
33
30
50
33
Pn123 Gain Switching Hysteresis in Speed Control 0
Pn124 SWITCHING mode in Torque Control 0
Pn125
Gain Switching Delay Time in Torque
Control
Pn126 Gain Switching Level in Torque Control
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Estimated torque command additional value
Estimated forward direction torque compensation
Estimated reverse direction torque compensation Pn609 Reverse Direction Torque Offset
Pn610.0,
Pn610.1
Function Expansion Setting
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
0
0
0
33
0
0
0
0
0
0
0
0
0
0
33
0
0
0
0
0
0
33
0
0
0
0
0
0
0
0
0
0
33
0
0
0
0
0
0
33
0
0
0
0
0
0
0
0
0
0
33
0
0
0
0
0
0
30
50
33
0
0
33
0
0
0
0
0
0
0
0
0
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
*2. If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value offset, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load characteristic estimation is completed.
10
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-10
10
10-3 Realtime Autotuning
Parameter number
Parameter name
Pn004 Inertia Ratio
Pn100 Position Loop Gain 1
Pn101 Speed Loop Gain 1
Pn102 Speed Loop Integral Time Constant 1
Pn103 Speed Feedback Filter Time Constant 1
Pn104 Torque Command Filter Time Constant 1
*1
Pn105 Position Loop Gain 2
16 17 18 19 20 21
Estimated load inertia ratio
22 23
900 1080 1350 1620 2060 2510 3050 3770
500 600 750
120 110 90
900
80
1150
70
1400
60
1700
50
2100
40
0 0 0 0 0 0 0 0
45 38 30 25 20 16 13 11
1050 1260 1570 1880 2410 2930 3560 4400
500 600 750 900 1150 1400 1700 2100
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
Pn106 Speed Loop Gain 2
Pn107 Speed Loop Integral Time Constant 2
*2
Pn108 Speed Feedback Filter Time Constant 2
Pn109 Torque Command Filter Time Constant 2
*1
Pn110 Speed Feed-forward Amount
Pn111 Speed Feed-forward Command Filter
Pn112 Torque Feed-forward Amount
Pn113 Torque Feed-forward Command Filter
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
45
AT Machine Rigidity Setting (Pn003)
38 30
300 300 300
50
0
0
1
50
0
0
1
50
0
0
1
25
300 300 300
50
0
0
1
20
50
0
0
1
16
50
0
0
1
13
0
0
1
11
300 300
50 50
0
0
1
Pn115 SWITCHING mode in Position Control
GAIN SWITCHING ENABLE mode: 10
GAIN SWITCHING DISABLE mode: 0
Pn116 Gain Switching Delay Time in Position Control 30
Pn117 Gain Switching Level in Position Control 50
Pn118
Gain Switching Hysteresis in Position
Control
33
Pn119 Position Gain Switching Time
Pn120 SWITCHING mode in Speed Control
Pn121 Gain Switching Delay Time in Speed Control
Pn122 Gain Switching Level in Speed Control
0
0
33
0
Pn123 Gain Switching Hysteresis in Speed Control 0
Pn124 SWITCHING mode in Torque Control 0
Pn125
Gain Switching Delay Time in Torque
Control
Pn126 Gain Switching Level in Torque Control
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
0
Pn609 Reverse Direction Torque Offset
Pn610.0,
Pn610.1
Function Expansion Setting
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
0
0
0
30
50
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
33
33
0
0
0
0
0
0
0
0
Estimated torque command additional value
Estimated forward direction torque compensation
Estimated reverse direction torque compensation
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
0
0
0
30
50
33
0
0
33
0
0
0
0
0
0
0
0
0
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
*2. If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value offset, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load characteristic estimation is completed.
10-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-3 Realtime Autotuning
Parameter number
Parameter name
Pn004 Inertia Ratio
Pn100 Position Loop Gain 1
Pn101 Speed Loop Gain 1
Pn102 Speed Loop Integral Time Constant 1
Pn103 Speed Feedback Filter Time Constant 1
Pn104 Torque Command Filter Time Constant 1
*1
Pn105 Position Loop Gain 2
24 25 26 27 28 29
Estimated load inertia ratio
30 31
4490 5000 5600 6100 6600 7200 8100 9000
2500 2800 3100 3400 3700 4000 4500 5000
40 35 30 30 25 25 20 20
0 0 0 0 0 0 0 0
9 8 7 7 6 6 5 5
5240 5900 6500 7100 7700 8400 9400 10500
2500 2800 3100 3400 3700 4000 4500 5000
10000 10000 10000 10000 10000 10000 10000 10000
0 0 0 0 0 0 0 0
Pn106 Speed Loop Gain 2
Pn107 Speed Loop Integral Time Constant 2
*2
Pn108 Speed Feedback Filter Time Constant 2
Pn109 Torque Command Filter Time Constant 2
*1
Pn110 Speed Feed-forward Amount
Pn111 Speed Feed-forward Command Filter
Pn112 Torque Feed-forward Amount
Pn113 Torque Feed-forward Command Filter
Pn114
GAIN SWITCHING INPUT OPERATING mode Selection
9
AT Machine Rigidity Setting (Pn003)
8
300 300
50
0
0
1
50
0
0
1
7
300 300 300
50
0
0
1
7
50
0
0
1
6
50
0
0
1
6
0
0
1
5
300 300
50 50
0
0
1 1
5
300
50
0
0
Pn115 SWITCHING mode in Position Control
GAIN SWITCHING ENABLE mode: 10
GAIN SWITCHING DISABLE mode: 0
Pn116 Gain Switching Delay Time in Position Control 30
Pn117 Gain Switching Level in Position Control 50
Pn118
Gain Switching Hysteresis in Position
Control
33
Pn119
Pn120
Pn121
Pn122
Position Gain Switching Time
SWITCHING mode in Speed Control
Gain Switching Delay Time in Speed Control
Gain Switching Level in Speed Control
33
0
0
0
30
50
33
30
50
33
30
50
33
30
50
33
30
50
33
30
50
33
Pn123 Gain Switching Hysteresis in Speed Control 0
Pn124 SWITCHING mode in Torque Control 0
Pn125
Gain Switching Delay Time in Torque
Control
Pn126 Gain Switching Level in Torque Control
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
Pn607 Torque Command Value Offset
Pn608 Forward Direction Torque Offset
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Estimated torque command additional value
Estimated forward direction torque compensation
Estimated reverse direction torque compensation Pn609 Reverse Direction Torque Offset
Pn610.0,
Pn610.1
Function Expansion Setting
Pn623 Disturbance Torque Compensation Gain
Pn624 Disturbance Observer Filter Setting
0
0
0
33
0
0
0
0
0
0
0
0
0
0
33
0
0
0
0
0
0
33
0
0
0
0
0
0
0
0
0
0
33
0
0
0
0
0
0
33
0
0
0
0
0
0
0
0
0
0
33
0
0
0
0
0
0
30
50
33
0
0
33
0
0
0
0
0
0
0
0
0
*1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used.
*2. If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value offset, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load characteristic estimation is completed.
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10-12
10
10-4 Manual Tuning
10-4 Manual Tuning
As described before, the OMNUC G5 Series have a realtime autotuning function. However, when the gain cannot be properly adjusted due to restrictions such as load conditions even if realtime autotuning is performed, or when the optimum responsiveness or stability is required to match each load, readjustment maybe required.
This section describes how to perform manual tuning for each CONTROL mode and function.
Basic Settings
Before Manual Setting
More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX-Drive or by measuring the analog voltage waveform with the monitor function.
Analog Monitor Output
The actual motor speed, command speed, torque, and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device. The type of signal to output and the output voltage level are set with Analog Monitor 1 Selection (Pn416) and
Analog Monitor 2 Selection (Pn418) settings. For details, refer to "A-1 Parameter List" (P.A-1).
CX-Drive Data Tracing Function
Commands to the motor and motor operation (speed, torque command, and position error) can be displayed on a computer as waveforms. Refer to the CX-Drive Operation Manual
(Cat.No.W453).
USB communications cable
Connect to CN7.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-4 Manual Tuning
POSITION CONTROL/FULL CLOSING CONTROL Mode Adjustment
Use the following procedure to perform the adjustment in position control for the OMNUC G5
Series.
Start adjustment.
Set the realtime autotuning to disabled (Pn002
= 0)
Set each parameter according to the parameter settings for different applications.
Never adjust or set parameters to extreme values, as it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the gain while checking the motor operation.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
No
Yes
Adjustment completed.
Increase Speed Loop Gain 1 (Pn101) to the extent that hunching does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant 1 (Pn102) to the extent that hunching does not occur upon servo lock.
Does hunching (vibration) occur when the motor rotates?
No
Increase position loop gain to the extent that overshooting does not occur.
Yes
Decrease Speed Loop Gain 1 (Pn101).
Increase Speed Loop Integral Time Constant 1 (Pn102).
Write to the EEPROM in the PARAMETER WRITE mode.
Adjustment completed.
If vibration persists after repeated adjustments or the positioning is slow:
Increase Torque Command Filter Time Constant 1 (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207) or
Notch 4 Frequency Setting (Pn210).
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10-14
10-4 Manual Tuning
10
SPEED CONTROL Mode Adjustment
Adjustments in speed control for the OMNUC G5 Series are very similar to POSITION
CONTROL mode adjustment.
Use the following procedure to perform the adjustment.
Start adjustment.
Set the realtime autotuning to disabled (Pn002
= 0)
Set each parameter according to the parameter settings for different applications.
Never adjust or set parameters to extreme values, as it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the gain while checking the motor operation.
Operate based on the normal operation pattern and load.
Are the speed responsiveness and other performances satisfied?
No
Yes
Adjustment completed.
Increase Speed Loop Gain 1 (Pn101) to the extent that hunching does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant 1 (Pn102) to the extent that hunching does not occur upon servo lock.
Does hunching (vibration) occur when the motor rotates?
No
Write to the EEPROM in the PARAMETER WRITE mode.
Yes
Decrease Speed Loop Gain 1 (Pn101).
Increase Speed Loop Integral Time Constant 1 (Pn102).
Adjustment completed.
If vibration persists after repeated adjustments or the positioning is slow:
Increase Torque Command Filter Time Constant 1 (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207) or
Notch 4 Frequency Setting (Pn210).
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-4 Manual Tuning
Servo Manual Tuning Method
The following 4 parameters are the basic servo adjustment parameters.
If desired operation characteristics are obtained by adjusting the following 4 parameters, the adjustments of other parameters are not necessary.
Parameter number
Pn100
Pn101
Pn102
Pn104
Parameter name
Position Loop Gain 1
Speed Loop Gain 1
Speed Loop Integral Time
Constant 1
Torque Command Filter Time
Constant 1
Default setting Parameter number 2
40.0 [1/s]
50.0 Hz
20.0 ms
Pn105
Pn106
Pn107
0.80 ms Pn109
Adjustment of Each Parameter
The control loop for the servo consists of, from the outside, a position loop, speed loop and current loop.
The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop.
What determines the default setting includes the structure and the rigidity of the machine, and the inertia ratio.
Guide of each parameter for different applications is as follows.
Parameter Settings for Different Applications
Application name Inertia Rigidity
Ball screw horizontal
Ball screw horizontal
Ball screw horizontal
Large Low
Medium Medium
Small High
Ball screw vertical
Ball screw vertical
Large Low
Medium Medium
Ball screw vertical Small High
Ball screw nut rotation horizontal Large Low
Ball screw nut rotation horizontal Medium Medium
Ball screw nut rotation vertical Large Low
Ball screw nut rotation vertical Medium Medium
Timing belt Large Low
Timing belt
Rack and pinion drives
Rack and pinion drives
Rack and pinion drives
Medium Medium
Large
Large
Low
Medium
Medium Medium
Index table
Index table
Robot arm cylinder
Robot arm cylinder
Other general-purpose
Large Medium
Small High
Large Low
Medium Medium
Medium Medium
Inertia Ratio (Pn004) is when fixed at 300%.
40
20
30
20
60
20
40
20
Position loop gain
[1/s]
20
40
80
20
40
15
25
30
30
40
40
80
120
160
120
160
60
140
100
160
Speed loop gain
[Hz]
140
80
60
160
80
120
100
120
120
160
120
100
25
60
40
60
20
40
30
45
Speed loop integration time constant
35
20
15
45
30
60
40
30
40
20
25
20
Torque command filter time constant
[x 0.01 ms]
160
100
80
160
120
120
160
120
160
100
160
120
160
120
100
120
100
160
120
150
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10-16
10
10
10-4 Manual Tuning
Inertia guide
The inertia is small.
The inertia is medium.
The inertia is large.
5 times the rotor inertia max.
5 to 10 times the rotor inertia max.
10 to 20 times the rotor inertia max.
Pn100, Pn105 Position Loop Gain
This loop controls the number of pulses from encoder to be the designated number of pulses.
This is called an error counter, and when the pulse is equal to or lower than the specified value, positioning is completed and the signal is output.
The ratio of maximum speed used and error counter is called a position loop gain.
Position loop gain [1/s]
=
Command maximum speed [pps]
Error counter accumulated pulse (P)
For the position loop gain, use the inverse of Speed Loop Integral Time Constant 1 (Pn102) as a guide for setting. Setting Pn102 to 100 ms results in 10 [1/s].
There will be no overshooting under this condition. To quicken positioning, increase the value of position loop gain. If the value is too large, overshooting or vibration will occur. In such cases, set the value smaller.
If the speed loop or the current loop is vibrating, adjusting the position loop does not eliminate the vibration.
Response to the position loop gain adjustment is illustrated below.
If the position loop gain is high, an overshooting occurs.
Command operation pattern
Actual operation
Speed
(r/min)
Time t
If the position loop gain is low, positioning completion speed becomes slow.
Command operation pattern
Actual operation
Speed
(r/min)
Time t
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-4 Manual Tuning
Pn101, Pn106 Speed Loop Gain
The speed loop gain determines the responsiveness of the servo.
This value becomes the response frequency if the Inertia Ratio (Pn004) is set correctly.
Increasing the value of the speed loop gain improves the responsiveness and quickens positioning, but vibration is more likely to occur. Adjustment must be made so vibration will not occur.
This is related to Speed Loop Integral Time Constant 1 (Pn102), and by increasing the integration time constant, the speed loop gain value can be increased.
If the speed loop gain is low, the speed response becomes slow and a large overshooting occurs.
In such case, increase the speed loop gain.
Command operation pattern
Actual operation
Speed
(r/min)
Time t
If the speed loop gain is high, vibrations are more likely to occur. Vibration or resonance may not disappear.
In such case, decrease the speed loop gain.
Command operation pattern
Speed
(r/min)
Actual operation
10
Time t
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10-4 Manual Tuning
Pn102, Pn107 Speed Loop Integral Time Constant
The speed loop integral time constant also determines the responsiveness of the servo.
If the speed loop integral time constant is low, vibration or resonance occur.
In such case, increase the speed loop integral time constant.
Command operation pattern
Speed
(r/min)
Actual operation
Time t
If the speed loop integral time constant is high, the response is delayed. The servo rigidity becomes weak.
In such case, decrease the speed loop integral time constant.
Command operation pattern
Speed
(r/min) Actual operation
10
Time t
Pn104, Pn109 Torque Command Filter Time Constant (Current Loop Input Adjustment)
The torque command filter applies a filter so the current command from the speed loop becomes smooth. The result is a smooth current flow which suppresses vibration.
The default setting of the filter time constant is 80 (0.8 ms).
Increase the value to reduce vibration. Increasing the value slows the response.
As a guide, aim for about 1/25 of the Speed Loop Integral Time Constant 1 (Pn102).
Also, the torque command filter reduces vibration due to the machine rigidity.
This is related to Speed Loop Gain 1 (Pn101), and if Pn101 is too large, increasing the torque command filter time constant does not reduce vibration.
If there is machine resonance such as with the ball screw, vibration is reduced by using notch filters such as Pn201, Pn204, Pn207 and Pn210. Or, enable the adaptive filter.
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10-4 Manual Tuning
Other Adjustments
If the torque loop is saturated because the acceleration time is short or the load torque is large, an overshooting occurs for the speed response. In such case, increase the acceleration time to prevent the torque from saturating.
Command operation pattern
Acceleration torque required to accelerate according to the command pattern
Overshooting occurs by the delay from the command.
Momentary maximum torque at which motor output is possible
TORQUE CONTROL Mode Adjustment
This is a torque control based on the speed control loop where the speed limit is the speed limit value from Speed Limit (Pn304, Pn305, Pn306 or Pn307). This section describes the settings for these speed limit values.
Setting Speed Limit Values
If Speed Limit Selection (Pn317) is 0, speed limit is the value set by Speed Limit Value Setting
(Pn321). If Speed Limit Selection (Pn317) is 1, the speed limit is the value obtained by converting the voltage applied to analog input 1 with Torque Command Scale (Pn319).
When the motor speed approaches the speed limit value, the speed control switches to that using
Speed Limit Value Setting (Pn321) as commands.
To have a stable operation while the speed is limited, the parameter should be set according to
"SPEED CONTROL Mode Adjustment".
The torque may not be produced as specified by the torque command because the input to the torque limit section is small, when the speed limit value in Speed Limit Value Setting (Pn321) is too low, when the speed loop gain is too low, or when the speed loop integral time constant is
10,000 (disabled).
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10
10-5 Damping Control
10-5 Damping Control
Outline of Operation
If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration.
This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are from 1 to 200 Hz.
You can set four frequencies, and use two of them at the same time.
Since damping control is performed using position commands, it cannot be used with speed or torque control.
Position Controller Servo Drive
The front end vibrates.
The damping frequency changes based on the position.
Movement
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10-5 Damping Control
Parameters Requiring Settings
Parameter number
Parameter name
Pn001
Pn213
Pn214
Pn215
Pn216
CONTROL mode
Selection
Damping Filter
Selection
Damping
Frequency 1
Damping Filter 1
Setting
Description
Set to the POSITION or FULL CLOSING CONTROL mode.
0 to 5: Switch control
6: Full closing control
Select the DAMPING FILTER SWITCHING mode according to the condition of the unit.
0: Damping filter 1 or 2 enabled
3: Switching with command direction
Set damping frequency 1 to suppress vibration at the end of the load in damping control.
If the damping control function is not used, set 0.
When the Damping Frequency 1 (Pn214) is set, reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally 0 is set.
If the damping filter 1 is disabled, this parameter is also disabled.
The function is the same with Pn214.
Pn217
Pn218
Pn219
Pn220
Pn221
Damping
Frequency 2
Damping Filter 2
Setting
Damping
Frequency 3
Damping Filter 3
Setting
Damping
Frequency 4
Damping Filter 4
Setting
The function is the same with Pn215.
The function is the same with Pn214.
The function is the same with Pn215.
The function is the same with Pn214.
The function is the same with Pn215.
Reference
Precautions for Correct Use
Stop operation before changing the parameters or switching with DFSEL.
It may not function properly or the effect may not be apparent under the following conditions.
Item
CONTROL mode
Conditions under which the effect of damping control is inhibited
• SPEED or TORQUE CONTROL mode
Load condition
• If forces other than position commands, such as external forces, cause vibration.
• If the damping frequency is outside the range of 1.0 to 200 Hz.
• If the ratio of the resonance frequency to anti-resonance frequency is large.
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10-22
10-5 Damping Control
10
Operating Procedure
1. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain 1 (Pn100), Speed Loop Gain 1 (Pn101), Speed Loop Integral Time
Constant 1 (Pn102) and Torque Command Filter Time Constant 1 (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
2. Measure the damping frequency at the tip of the mechanical unit.
Measure the damping frequency using a laser displacement sensor, servo acceleration meter, acceleration pick-up, etc.
Set the damping frequency in one of Damping Frequency 1 to Damping Frequency 4 (1:
Pn214, 2: Pn216, 3: Pn218, 4: Pn220) according to the operation.
Also set the SWITCHING mode using Damping Filter Selection (Pn213).
If the measurement device cannot be used, use CX-Drive tracing function, and read the residual damping frequency (Hz) from the position error waveform as shown in the following figure.
Command speed
Position error
Calculate the damping frequency.
The following gives the damping frequency in the figure.
f (Hz)
=
1
T (s) damping cycle T
Since the parameter unit is 0.1 Hz:
(Pn214, Pn216, Pn218, Pn220) = 10
× f
Application example
If the damping cycle is 100 ms or 20 ms, set 100 or
500 in the parameter so that the damping frequency becomes 10 Hz or 50 Hz.
If vibration persists after setting the frequency, increase or decrease the resonance frequency to find the frequency at which vibration decreases.
3. Set damping filter setting.
Set damping filter setting (1: Pn215, 2: Pn217, 3: Pn219, 4: Pn221).
First, set to 0.
The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure. Set a range that will not cause torque saturation under actual operation conditions. The effects of vibration suppression will be lost if torque saturation occurs.
Damping
filter setting is appropriate.
Damping
filter setting is too large.
Torque saturation
10-23
Torque command
When the Damping Frequency 1 (Pn214) is set, reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally 0 is set.
If the damping filter 1 is enabled, use the following setting range.
Setting range: 100 ≤ Pn214 + Pn215 ≤ Pn214 × 2 or 2,000
Precautions for Correct Use
Note: If the damping filter 1 is disabled under
Damping Filter Selection (Pn213), Damping Filter
1 Setting (Pn215) is also disabled.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-5 Damping Control
4. Set the Damping Filter Selection (Pn213).
Damping filters 1 to 4 can be switched according to the conditions of the machine vibration.
Set value
0
1
2
3
SWITCHING mode
Damping
filter 1 or 2 enabled
Switching by external input (DFSEL1)
Open:
Damping
filter 1 or 3 enabled
Shorted:
Damping
filter 2 or 4 enabled
Switching by external input (DFSEL1, DFSEL2)
When DFSEL1 and DFSEL2 are both open:
Damping
filter 1 enabled
When DFSEL1 is shorted and DFSEL2 is open:
Damping
filter 2 enabled
When DFSEL1 is open and DFSEL2 is shorted:
Damping
filter 3 enabled
When DFSEL1 and DFSEL2 are both shorted:
Damping
filter 4 enabled
Switching with command direction
Forward direction:
Damping
filter 1 or 3 enabled
Reverse direction:
Damping
filter 2 or 4 enabled
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10-24
10-6 Adaptive Filter
10-6 Adaptive Filter
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the torque command.
The automatically set notch filter frequency is set in Notch 3 (Pn207 to Pn209) or Notch 4
(Pn210 to Pn212).
Refer to "10-7 Notch Filter" (P.10-28) for information on notch filter.
After vibration suppression
Motor speed
10
Adaptive filter disabled
Adaptive filter effect
Filter frequency setting completed
Position and speed command
Position and speed control
Adaptive filter
Torque command
Current loop control
Resonance frequency estimation
Load inertia estimation
Realtime autotuning
Speed feedback
SM
RE
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-6 Adaptive Filter
Parameters Requiring Settings
Parameter number
Parameter name
Pn200
Adaptive Filter
Selection
Description
Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation.
0: Adaptive filter disabled
1: One adaptive filter enabled
2: Two adaptive filters enabled
3: RESONANCE FREQUENCY MEASUREMENT mode
If the motor speed is affected by a resonance point, the
Notch Filter 3 or Notch Filter 4 parameter is automatically set according to the number of adaptive filters.
4: Adaptive result clear
The notch filter 3 and notch filter 4 parameters are disabled, and adaptive result is cleared.
Reference
Precautions for Correct Use
Adaptive filter may not operate correctly under the following conditions.
Item Conditions under which the adaptive filter operates
CONTROL mode • TORQUE CONTROL mode
Resonance points
• If the resonance frequency is 300 Hz or lower.
• If the resonance peak or control gain is low, and the motor speed is not affected by it.
• If there are three or more resonance points.
Load
• If the motor speed with high-frequency components changes due to backlash or other non-linear elements.
Command pattern • The acceleration/deceleration is sudden, i.e., 3,000 r/min in 1 s.
If the adaptive filter does not operate properly, use Notch 1 (Pn201 to Pn203) or Notch 2 (Pn204 to Pn206) to implement resonance measures according to the manual adjustment procedure.
Refer to "10-7 Notch Filter" (P.10-28) for information on notch filter.
The adaptive filter is disabled when torque control is performed, but the adaptive filter frequency used in the CONTROL mode before switching is held if torque control has been selected by setting the CONTROL mode Selection (Pn001) to 5 or 6.
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10-26
10-6 Adaptive Filter
10
Operating Procedure
1. Set the Adaptive Filter Selection (Pn200).
Select an adaptive filter from 1 to 4 on the Adaptive Filter Selection (Pn200).
2. Start an actual operation.
Enter an operation command and start the actual operation.
3. The Notch Filters 3 and 4 are automatically set.
When the influence of resonance point appears in the motor speed, the parameters for the
Notch Filters 3 and 4 are set automatically in accordance with the number of adaptive filters.
Precautions for Correct Use
An unusual noise or vibration may occur until the adaptive filter stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning Machine Rigidity Selection
(Pn003) is increased, but this is not a problem if it disappears right away. If the vibration or unusual noise, however, continues for three or more reciprocating operations, take the following measures in the possible order.
• Write the parameters used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
• Disable the adaptive filter by setting the Adaptive Filter Selection (Pn200) to 0.
(Resetting of inertial estimation and adaptive operation)
• Manually set the notch filter.
If unusual noise or vibration occurred, the setting of Notch 3 (Pn207 to Pn209) or Notch 4 (Pn210 to Pn212) may have changed to an extreme value. In this case, set Adaptive Filter Selection
(Pn200) to 0 to disable the parameter and then set Notch 3 Frequency Setting (Pn207) and Notch
4 Frequency Setting (Pn210) to 5,000 (disabled). Next, enable Adaptive Filter Selection again.
Notch 3 Frequency Setting (Pn207) and Notch 4 Frequency Setting (Pn210) are written to the
EEPROM every 30 minutes. When the power supply is turned OFF and then turned ON again, this data is used as the default settings to perform adaptive operation.
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10-7 Notch Filter
10-7 Notch Filter
When the machine rigidity is low, axis torsion may produce resonance which results in vibration and noise. Thus you may not be able to set a high gain.
The notch filter can restrict the resonance peak, and allows a high gain setting and vibration reduction.
The OMNUG G5-series Servo Drives provide four notch filters that can be used for adjusting frequency, width and depth.
If the ball screw, etc. cause resonation at the specific location, you can set the resonance frequency using a notch filter to eliminate resonance.
A notch filter is used to eliminate a specified frequency component.
fw
Width fw
0db
−3db
Depth
=Fc/fw
Frequency Hz
Cut-off frequency Fc
If machine resonance occurs, use this notch filter to eliminate resonance.
Machine resonance
10
Notch filter
Notch filter 1
Characteristics after filtering
Notch filter 2
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10-28
10-7 Notch Filter
10
Parameters Requiring Settings
Parameter number
Pn201
Pn202
Pn203
Pn204
Pn205
Pn206
Pn207
Pn208
Pn209
Pn210
Pn211
Pn212
Parameter name Description
Notch 1 Frequency
Setting
Notch 1 Width
Setting
Notch 1 Depth
Setting
Notch 2 Frequency
Setting
Notch 2 Width
Setting
Notch 2 Depth
Setting
Notch 3 Frequency
Setting
*1
Notch 3 Width
Setting
*1
Notch 3 Depth
Setting
*1
Notch 4 Frequency
Setting
*1
Notch 4 Width
Setting
*1
Notch 4 Depth
Setting
*1
Set the center frequency of the notch filter 1.
The notch filter is enabled at 50 to 4,999 Hz, and disabled at 5,000 Hz.
Select the width of the notch filter 1 frequency.
Increasing the value widens the notch width.
(Setting range: 0 to 20)
Select the depth of the notch filter 1 center frequency.
Increasing the value decreases the notch depth and thereby reduce the phase delay. The notch filter is disabled if 100 is set.
(Setting range: 0 to 99)
Set the center frequency of the notch filter 2.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 2 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 2 center frequency.
The details are the same with the notch filter 1 depth.
Set the center frequency of the notch filter 3.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 3 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 3 center frequency.
The details are the same with the notch filter 1 depth.
Set the center frequency of the notch filter 4.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 4 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 4 center frequency.
The details are the same with the notch filter 1 depth.
*1 If an adaptive filter is used, these are set automatically.
Reference
Precautions for Correct Use
Identify the resonance frequency using the frequency characteristics measurement function, resonance frequency monitor or operation waveform of the waveform graphics function of CX-
Drive and set the identified frequency as the notch filter frequency.
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10-7 Notch Filter
Notch Filter Width and Depth
Width Setting
Ratio of the frequency bandwidth at a damping factor of -3 [dB] relative to the center frequency when the depth is 0. This value should conform to the left column in the table below.
Depth Setting
I/O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100. If the indication unit is [dB], this value should conform to the right column in the table below.
10
11
12
13
8
9
6
7
Set value
0
1
4
5
2
3
18
19
20
14
15
16
17
Width
Bandwidth/center frequency
0.50
0.59
0.71
0.84
1.00
1.19
1.41
1.68
2.00
2.38
2.83
3.36
4.00
4.76
5.66
6.73
8.00
9.51
11.31
13.45
16.00
30
35
40
45
10
15
20
25
Set value
0
1
4
5
2
3
50
60
70
80
90
100
Depth
I/O ratio (%) Damping factor (dB)
0 (Cut off)
1
2
3
4
5
10
15
20
25
30
35
40
45
50
60
70
80
90
100 (Passed)
−14.0
−12.0
−10.5
−9.1
−8.0
−6.9
−6.0
−4.4
−3.1
−1.9
−0.9
0.0
−∞
−40.0
−34.0
−30.5
−28.0
−26.0
−20.0
−16.5
10
Notch filter frequency characteristics
10
5
0
−5
−10
−15
−20
−25
−30
1 0
−3[dB]
1 0 0
Frequency [Hz]
1 0
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
0 0
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
10-30
10-8 Disturbance Observer Function
10-8 Disturbance Observer Function
You can lower the effect of the disturbance torque and reduce the vibration using the estimated disturbance torque value.
Disturbance torque
Torque command
Add to the direction that negates the disturbance
+
+
Gain
Setting with
Pn623
+
−
Torque command
Motor
+load
+ −
Load model
Filter
Setting with Pn624
Motor speed
Disturbance observer
Disturbance torque
Estimation value
10
Operating Conditions
You can use the disturbance observer in the following situations.
Conditions
Operating mode POSITION CONTROL mode, SPEED CONTROL mode
Others
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the torque limit. The motor operates normally without any failures.
• The REALTIME AUTOTUNING mode Selection (Pn002) is set to 0 or disable.
• The Instantaneous Speed Observer function is disabled (Pn610, bit0=0).
Precautions for Correct Use
If there is a resonance point below the cut-off frequency estimated by the disturbance observer, or if a large amount of high-frequency elements are found in the disturbance torque, the disturbance observer may not be enabled.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-8 Disturbance Observer Function
Parameters Requiring Settings
Parameter number
Pn610
Pn623
Pn624
Parameter name
Function Expansion Setting
Disturbance Torque
Compensation Gain
Disturbance Observer Filter
Setting
Description
Set the bits related to the disturbance observer.
Set the compensation gain for disturbance torque.
Set the filter time constant for disturbance torque compensation.
Reference
Operating Procedure
1. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions to be enabled in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2. Set the Disturbance Observer Filter Setting (Pn624).
Set a small value to the Disturbance Torque Compensation Gain (Pn623).
Change the value on the Disturbance Observer Filter Setting (Pn624) from a large value gradually to a smaller one.
The smaller the value set on the Disturbance Observer Filter Setting (Pn624) is, the lesser disturbance torque lag can be estimated, and the more effective the disturbance influence can be controlled. But the smaller the value is, the larger the operation noise can be. You must consider the balance of these advantage and disadvantage to set a value.
3. Set the Disturbance Torque Compensation Gain (Pn623).
After you set the Disturbance Observer Filter Setting (Pn624), return the value on the
Disturbance Torque Compensation Gain (Pn623) from the small value to a large value. The larger the value set on the Disturbance Torque Compensation Gain (Pn623) is, the more effective the disturbance influence can be controlled. But the larger the value is, the larger the operation noise can be. You must consider the balance of these advantage and disadvantage to set a value.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-32
10-9 Friction Torque Compensation Function
10-9 Friction Torque Compensation Function
Two types of friction torque compensations can be set to reduce influence of mechanical frictions. One is the unbalanced load compensation that offsets the constantly applied unbalance torque. The other is the dynamic friction compensation that changes the offset direction in accordance with the operating direction.
Operating Conditions
You can use the function under the following conditions:
Conditions
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the torque limit. The motor operates normally without any failures.
10
Parameters Requiring Settings
The torque compensation function needs the combined settings of following three parameters.
Parameter number
Pn607
Pn608
Pn609
Parameter name
Torque Command Value
Offset
Forward Direction Torque
Offset
Reverse Direction Torque
Offset
Description
Set the unbalanced load compensation value that is always added to the torque command in the
CONTROL mode other than torque control.
Set the dynamic friction compensation value that is added to the torque command when a forward direction position command is input for position control or full closing control.
Set the dynamic friction compensation value that is added to the torque command when a reverse direction position command is input for position control or full closing control.
Reference
10-33
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-9 Friction Torque Compensation Function
Operation Example
The friction torque compensation is applied to the input direction of the position command as shown in the drawing below.
Pn607
(Torque command value offset)
Command speed
Forward direction
Pn608
(Forward direction torque offset)
Pn609
(Reverse direction torque offset)
Time
Reverse direction
Motor de-energized Motor power supply
Motor de-energized
The Torque Command Value Offset (Pn607) reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis by setting the torque command.
The Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609) are loads that require a large amount of dynamic friction torque due to the radial load, such as the belt drive axis. By setting the friction torque for each rotation direction for all parameters, you can reduce the deterioration and inconsistencies of positioning stabilization time due to dynamic friction.
Precautions for Correct Use
You can use the unbalanced load compensation and the dynamic friction compensation together or separately. Take note that the following use limit is applied upon CONTROL mode switching or servo ON.
During torque control
The unbalanced load compensation and the dynamic friction compensation will be 0 regardless of the parameter setting.
During speed control with Servo-OFF state
The load compensation is enabled based on Pn607 when the servo is turned OFF.The dynamic friction compensation will be 0 regardless of the parameter setting.
When the servo is turned ON during position control or full closing control
The unbalanced load compensation and the dynamic friction compensation values is held until the first position command is input.When the position command is input, the unbalanced load compensation is updated based on Pn607. Also, based on the command direction, the dynamic friction compensation value is updated according to parameters Pn608 or Pn609.
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10-34
10-10 Hybrid Vibration Suppression Function
10-10 Hybrid Vibration Suppression Function
This function suppresses the vibrations that are caused by the amount of the torsion between the motor and the load in the FULL CLOSING CONTROL mode.You can use this function to raise the gain setting.
Operating Conditions
The hybrid vibration suppression function can be used in the following situations.
Conditions
Operating mode FULL CLOSING CONTROL mode
Others
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the torque limit. The motor operates normally without any failures.
10
Parameters Requiring Settings
Parameter number
Pn634
Parameter name
Hybrid Vibration
Suppression Gain
Pn635
Hybrid Vibration
Suppression Filter
Description
Set the hybrid vibration suppression gain.
In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
Set the hybrid vibration suppression filter.
Reference
Operating Procedure
1. Set the Hybrid Vibration Suppression Gain (Pn634) to the same value as the position loop gain.
2. Gradually increase the set value of the Hybrid Vibration Suppression Filter (Pn635) while driving with full closing control and check the changes in the response.
If the response improves, find the combination of Pn634 and Pn635 that result in the optimal response by adjusting them.
Precautions for Correct Use
This function is effective when the amount of torsion between the motor shaft and the load is large.This may be less effective when the amount of torsion is small.
10-35
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-11 Feed-forward Function
10-11 Feed-forward Function
The feed-forward function come in 2 types: speed feed forward and torque feed forward.
The speed feed forward can minimize the position error and increase the responsiveness by calculating the speed control command that is required for the operation based on the internal positioning command during position or full closing control, and adding it to the speed command that is calculated based on the comparison with the position feedback.
The torque feed forward can increase the responsiveness during speed control by calculating the torque command that is required for the operation based on the speed control command, and adding it to the torque command that is calculated based on the comparison with the speed feedback.
Parameters Requiring Settings
Parameter number
Pn110
Pn111
Pn112
Pn113
Pn610
Parameter name Description
Speed Feed-forward
Amount
Speed Feed-forward
Command Filter
Torque Feed-forward
Amount
Torque Feed-forward
Command Filter
Use this parameter to add the speed control command calculated from the internal positioning command that is multiplied by this parameter's ratio to the speed command from the position control process.
Set the time constant for the first-order lag filter that is applied to speed feed-forward inputs.
Use this parameter to add the torque command calculated from the speed control command that is multiplied by this parameter's ratio to the torque command from the speed control process.
Set the time constant for the first-order lag filter that is applied to torque feed-forward inputs.
Function Expansion Setting Set the bits related to inertia ratio switching.
Reference
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-36
10-11 Feed-forward Function
10
Operating Procedure
Speed Feed-forward Operating Method
1. Set the Speed Feed-forward Command Filter (Pn111).
Set it to 50 (0.5 ms) or so.
2. Adjust the Speed Feed-forward Amount (Pn110).
Gradually increase the value of Speed Feed-forward Amount (Pn110) and finely adjust it to avoid overshooting during acceleration/deceleration.
If the speed feed-forward amount is set to 100%, the position error is 0 in calculation. However, a large overshooting will occur during acceleration/deceleration.
The position error during an operation at a certain speed can be smaller based on the following formula according to the speed feed-forward gain value.
Position error [command unit] = command speed [command unit/s] / position loop gain [1/s]
×
(100 - speed feed-forward amount [%]) / 100
Motor speed
Position error
Command speed
Speed FF gain
0 [%]
50 [%]
80 [%]
Time
The position error in the range of constant speed becomes smaller as the speed feed-forward gain increases.
Precautions for Correct Use
If the updating cycle of the position command inputs is longer than the Servo Drive control cycle, or if the input command frequency is not uniform, the operating noise while the speed feed-forward is enabled may increase. Apply the position command filter (first-order lag or FIR smoothing) or raise the speed feed-forward filter setting.
10-37
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-11 Feed-forward Function
Torque Feed-forward Operating Method
1. Set the Inertia Ratio (Pn004).
Set the inertia ratio as correctly as possible.
If the inertia ratio is calculated for the selected motor, input the calculated value.
If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Set the Torque Feed-forward Command Filter (Pn113).
Set it to 50 (0.5 ms) or so.
3. Adjust the Torque Feed-forward Amount (Pn112).
Gradually increase the value of Torque Feed-forward Amount (Pn112).
Since the position error during acceleration/deceleration at a certain speed can be brought close to 0, it can be controlled almost to 0 throughout the entire operation range during a trapezoidal speed pattern drive under ideal conditions where no disturbance torque is working.
In reality, disturbance torque is always applied and, therefore, the position error cannot be completely 0.
Motor speed
Position error
Command speed
Speed feed-forward amount
Torque feed-forward amount
0 [%]
50 [%]
= fixed to 100 [%]
Time
100 [%]
Torque feed forward can reduce the position error in a range of acceleration/deceleration specified.
Precautions for Correct Use
If you raise the torque feed-forward filter time constant, the operation noise will become smaller.
However, the position error at the point of change in acceleration will become larger.
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10-38
10-12 Instantaneous Speed Observer Function
10-12 Instantaneous Speed Observer Function
Estimating the motor speed using a load inertia increases responsiveness and reduces vibration at stopping and improves the speed detection accuracy.
Speed command
Speed control
Torque command
Current control
Motor current
Speed estimation value
Instantaneous speed observer
Load model
To position control
Servo amplifier
(Total inertia)
Motor position
Motor
Encoder
Load
10
Operating Conditions
The instantaneous speed observer function can be used in the following situations.
Conditions
Operating mode POSITION CONTROL mode
*1
, SPEED CONTROL mode
Others
• Servo-ON state.
• The factors other than control parameters are set correctly. This includes the torque limit. The motor operates normally without any failures.
• Realtime autotuning is disabled (Pn002=0).
*1.This function cannot be used in FULL CLOSING CONTROL mode.
Parameters Requiring Settings
Parameter number
Pn610
Pn004
Pn100
Pn101
Parameter name Description
Function
Expansion Setting
Inertia Ratio
Set whether to enable or disable the instantaneous observer function.
Set the inertia ratio 1.
Position Loop Gain 1 Set the position loop gain.
Speed Loop Gain 1 Set the speed loop gain.
Reference
10-39
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
10-12 Instantaneous Speed Observer Function
Operating Procedure
1. Set the Inertia Ratio (Pn004).
Set the inertia ratio as correctly as possible.
If the Inertia Ratio (Pn004) is obtained in a realtime auto gain tuning, use the set value.
If the inertia ratio is calculated for the selected motor, input the calculated value.
If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain 1 (Pn100), Speed Loop Gain 1 (Pn101), Speed Loop Integral Time
Constant 1 (Pn102) and Torque Command Filter Time Constant 1 (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
3. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable the instantaneous speed observer function in bit 0.
If you set this to 1 (enabled), the speed detection method switches to instantaneous speed observer.
If the machine operation noise or vibration, or a change in the torque monitor waveform is significant enough to cause any problem, return the setting to 0 and make sure that the inertia ratio or the adjustment parameters are correct.
If the machine operation noise or vibration, or a change in the torque monitor waveform is small, make small adjustments to the Inertia Ratio (Pn004) to find the setting that makes the smallest change while monitoring the position error waveform and the actual speed waveform.
If Position Loop Gain 1 (Pn100), Speed Loop Gain 1 (Pn101) or Speed Loop Integral Time
Constant 1 (Pn102) is changed, the optimal value for the Inertia Ratio (Pn004) may change, so make small adjustments on the value for the Inertia Ratio (Pn004) again to set a value that makes the smallest change.
Precautions for Correct Use
It may not function properly or the effect may not be apparent under the following conditions.
• If the margin of error with the actual device is large for the inertia load.
• If there are multiple resonance points.
• If there is a large resonance point at the frequency of 300 Hz or lower.
• If there is a non-linear element (play), such as a large backlash.
• If the load inertia changes.
• If a large disturbance torque with high-frequency elements is applied.
• If the setting range for positioning is small.
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10-40
Error and Maintenance
This chapter explains the items to check when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.
11-1 Error Processing.........................................................11-1
11-2 Warning .......................................................................11-4
11-3 Alarms..........................................................................11-6
11-4 Troubleshooting .......................................................11-14
11-5 Periodic Maintenance...............................................11-36
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-1 Error Processing
11-1 Error Processing
11
Preliminary Checks When a Problem Occurs
This section explains the preliminary checks required to determine the cause of a problem if one occurs.
Checking the Power Supply Voltage
Check the voltage at the power supply input terminals.
Main circuit power supply input terminal (L1, L2, L3)
R88D-KNxL-ML2 (50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KNxH-ML2 (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
(750 W to 1.5 kW) : 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
(2 to 5 kW) : 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KNxF-ML2 (750 W to 5 kW) : 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
Control circuit power supply input terminal (L1C, L2C)
R88D-KNxL-ML2 (50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KNxH-ML2 (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
(2 to 5 kW) : Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KNxF-ML2 (750 W to 5 kW) : 24 VDC (21.6 to 26.4 V)
If the voltage is out of this range, there is a risk of operation failure, so be sure that the power supply is correct.
Check the voltage of the sequence input power supply. (+24 VIN terminal (CN1 pin 7))
Within the range of 11 to 25 VDC.
If the voltage is out of this range, there is a risk of operation failure. Be sure that the power supply is correct.
Checking Whether an Alarm Has Occurred
Make an analysis using the 7-segment LED display area in the front of the Servo Drive and using the Operation keys.
When an alarm has occurred
… Check the alarm display that displays (xx) and make an analysis based on the alarm that is indicated.
When an alarm has not occurred
… Make an analysis according to the error conditions.
In either case, refer to "11-4 Troubleshooting (P.11-14)" for details.
11-1
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11-1 Error Processing
Precautions When a Problem Occurs
When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop, so always take the following precautions.
You should assure that anything not described in this manual is not possible with this product.
Precautions
Disconnect the wire before checking for cable breakage. Even if you test conduction with the cable connected, test results may not be accurate due to conduction via bypassing circuit.
If the encoder signal is lost, the motor may run away, or an error may occur. Be sure to disconnect the motor from the mechanical system before checking the encoder signal.
When performing tests, first check that there are no persons in the vicinity of the equipment, and that the equipment will not be damaged even if the motor runs away.
Before performing the tests, verify that you can immediately stop the machine using an emergency stop even if it runs away.
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-2
11-1 Error Processing
11
Replacing the Servomotor and Servo Drive
Use the following procedure to replace the Servomotor or Servo Drive.
Replacing the Servomotor
1. Replace the motor.
2. Perform origin adjustment (for position control).
When the motor is replaced, the motor's origin position (phase Z) may deviate, so origin adjustment must be performed.
Refer to the Position Controller's manual for details on performing origin adjustment.
3. Set up the absolute encoder.
If a motor with an absolute encoder is used, the absolute value data in the absolute encoder is cleared when the motor is replaced, so setup is again required.
The multi-rotation data will be different from before it was replaced, so reset the initial Motion
Control Unit parameters.
For details, refer to "Absolute Encoder Setup" (P.9-6).
Replacing the Servo Drive
1. Copy the parameters.
Use a software tool such as the CX-Drive to read and save all parameter settings from the
Servo Drive.
2. Replace the Servo Drive.
3. Reset the parameters.
Use a software tool such as the CX-Drive to set and transfer all parameter settings to the Servo
Drive.
4. Set up the absolute encoder.
If a motor with an absolute encoder is used, the absolute value data in the absolute encoder is cleared when the Servo Drive is replaced, so setup is again required.
The multi-rotation data will be different from before it was replaced, so initialize the Motion Control
Unit settings.
For details, refer to "Absolute Encoder Setup" (P.9-6).
11-3
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11-2 Warning
11-2 Warning
This function outputs a warning signal and notifies the erroneous state such as overload before an alarm starts to operate.
Set the warning output type to Warning Output Selection 1 (Pn440) and Waning Output Selection 2 (Pn441).
Refer to the description about the Warning Output Selection 1 (Pn440) and the Warning Output
Selection 2 (Pn441) in Section 8-5 Interface Monitor Setting Parameter, and those about the
Warning Mask Setting (Pn638) and the Communications Control (Pn800) in “8-7 Special
Parameters”.
Precautions for Correct Use
All warnings are retained. To reset the retained warnings, take the same procedures as resetting the usual alarms.
Warning List
General Warnings
Warning number
Warning name Warning occurrence condition
Warning Output
Selection
(Pn440, Pn441)
*1
Warning Mask
Setting
(Pn638)
*2
A0
A1
A2
A3
A4
A5
A6
A7
A8
A9
Overload warning
Excessive regeneration warning
Battery warning
Fan warning
Encoder communications warning
Encoder overheating warning
Vibration detection warning
Life expectancy warning
External encoder error warning
External encoder communications warning
The load ratio is 85% or more of the protection level.
The regeneration load ratio is 85% or more of the protection level.
Battery voltage is 3.2 V or less.
The fan stop status continues for 1 second.
The encoder communications errors occurred in series more frequently than the specified value.
The encoder detects the overheat warning.
Vibrating is detected.
The life expectancy of the capacitor or the fan is shorter than the specified value.
The external encoder detects a warning.
The external encoder has communications errors in series more than the specified value.
1
2
3
4
5
6
7
8
9
10 bit7 bit5 bit0 bit6 bit4 bit3 bit9 bit2 bit8 bit10
*1. Set the Warning Output Selection 1 (Pn440) by the warning type to output to the Warning Output 1
(WARN1), and the Warning Output Selection 2 (Pn441) by the type to output to the Warning Output
2 (WARN2). If you set this to 0, all warning types are output.
*2. Each warning detection can be masked using the Warning Mask Setting (Pn638). The table shows the corresponding bits.
When the bit is set to 1, the warning detection is masked.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-4
11
11-2 Warning
Warnings related to MECHATROLINK-II Communications
Warning number
Warning name Warning occurrence condition
Warning Output
Selection
(Pn440, Pn441)
*1
Communications
Control
(Pn800)
*2
94
95
96
Data setting warning • The set value on the command argument is out of the specified range.
• Parameter writing fails.
• The command set value is incorrect.
Command warning • The command transmission conditions are not met.
• The sub-command transmission conditions are not met.
• A rotation command is given in the prohibited direction after the motor made an emergency stop due to a drive prohibition input.
MECHATROLINK-II communications warning
One or more MECHATROLINK-II communications error occur.
11
12
13 bit4 bit5 bit6
*1. Set the Warning Output Selection (Pn440) by the warning type to output to the Warning Output 1
(WARN1), and the Warning Output Selection 2 (Pn441) by the type to output to the Warning Output 2
(WARN2).
*2. The MECHATROLINK-II communications warning detections can be masked by the setting on the
Communications Control (Pn800). The table above shows the corresponding bits. The warning detection is masked when you set the corresponding bit to 1.
11-5
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11-3 Alarms
11-3 Alarms
If the Servo Drive detects an error, it outputs an alarm (ALM), turns off the power drive circuit, and displays the error number on the front panel.
Precautions for Correct Use
Refer to "Error Diagnosis Using the Alarm Displays" (P.11-14) for appropriate alarm measures.
Reset the alarm using one of the following methods. Remove the cause of the alarm first.
• Turn OFF the power supply, then turn it ON again.
• Reset the alarm via MECHATROLINK-II communications or on CX-Drive.
However, some alarms can only be reset by turning the power supply OFF then ON again. Refer
If you reset an alarm while the operation command (RUN) is turned ON, the Servo Drive starts operation as soon as the alarm is released, which is dangerous. Be sure to turn OFF the RUN before clearing the alarm.
If the RUN is always ON, first check safety sufficiently before clearing the alarm.
The Overload (Alarm No.16) cannot be reset for 10 seconds once it occurs.
Any displays such as hh,
FF
, and HH on the error number mean internal malfunction on the MPU.
Cut off the power immediately when you encounter such a case.
Alarm List
Alarm number
Main Sub
Error detection function
11
12
0
0
Control power supply undervoltage
Overvoltage
Attribute
Detection details and probable cause
The DC voltage of the control circuit is below the specified value.
The DC voltage in the main circuit is abnormally high.
The DC voltage of the main circuit is low.
History
Can be reset
Emergency stop *1
− √ −
√
−
√
√
−
−
13
14
15
16
0
1
Main power supply undervoltage
(Insufficient voltage between P and N)
Main power supply undervoltage
(AC cut-off detection)
0 Overcurrent
1
IPM error
0
0
Servo Drive overheat
Overload
A location was detected where the main circuit AC power supply is cut off.
Overcurrent flowed to the IGBT.
Motor power line ground fault or short circuit.
The temperature of the Servo Drive radiator exceeded the specified value.
Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds.
−
√
√
√
√ √
√
−
−
−
*2
−
−
−
√
−
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11-6
11
11-3 Alarms
Alarm number
Main Sub
Error detection function
18
21
23
24
25
26
27
0
1
0
1
0
0
0
0
1
1
4
5
6
Detection details and probable cause
Regeneration overload
Regeneration Tr error
Encoder communications disconnection error
Encoder communications error
Encoder communications data error
Error counter overflow
Excessive hybrid error
Overspeed
Overspeed 2
Absolute value cleared
Command error
Command generation error
Operation command duplicated
The regenerative energy exceeds the processing capacity of the
Regeneration Resistor.
An error was detected in a Servo Drive regeneration drive Tr.
The encoder wiring is disconnected.
An encoder communications error was detected.
Communications cannot be performed between the encoder and the Servo
Drive.
The error counter accumulated pulse exceeds the set value for the Error
Counter Overflow Level (Pn014).
During full closing control, difference between the load position from external encoder and the motor position from to encoder was larger than the pulse set by the Internal/
External Feedback Pulse Error
Counter Overflow Level (Pn328).
The motor rotation speed exceeded the value set on the Overspeed
Detection Level Setting (Pn513).
The motor rotation speed exceeded the value set on the Overspeed
Detection Level Setting at Emergency
Stop (Pn615).
The multi-turn counter for the absolute encoder was cleared by the CX-Drive.
The position command variation after the electronic gear is higher than the specified value.
During the position command processing, an error such as the "over the calculation range" occurred.
During a trial operation of CX-Drive,
MECHATROLINK-II communication was established.
Attribute
History
Can be reset
Emergency stop *1
√
√
√
√
√
√
√
√
√
√
√
√
√
−
−
−
−
−
√
−
√
√
−
−
−
√
√
−
−
−
−
√
√
√
−
−
−
−
−
11-7
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-3 Alarms
Alarm number
Main Sub
Error detection function
29
30
(st)
33
34
36
37
Detection details and probable cause
1
2
3
Internal error counter overflow 1
Internal error counter overflow 2
Internal error counter overflow 3
During the initialization of position data, after the control power is turned on in absolute value mode or after CONFIG operation, the value that is obtained by dividing the Absolute encoder position
(pulse unit) by the Electronic gear ratio exceeded ±2
31
or 2147483648.
The position error in units of pulse exceeded
±2
29
or 536870912.
Alternatively, the position command in command units exceeded ±2
30
or
1073741824.
The value that is obtained by multiplying the Final Distance for
Origin Return (Pn825) by the
Electronic gear ratio exceeded
±2
31
2147483648.
or
Safety input signal turned OFF.
0
Safety input error
0
1
2
3
4
5
8
0
0 to
2
0 to
2
Interface input duplicate allocation error 1
Interface input duplicate allocation error 2
Interface input function number error 1
Interface input function number error 2
Detected a duplicated setting among the interface input signals (IN1, IN2,
IN3 and IN4).
Detected a duplicated setting among the interface input signals (IN5, IN6,
IN7 and IN8).
Detected that a non-defined number was assigned to the interface input signals
(IN1, IN2, IN3 or IN4). Alternatively, a setting error was detected.
Detected that a non-defined number was assigned to the interface input signals
(IN5, IN6, IN7 or IN8). Alternatively, a setting error was detected.
Interface output function number error 1
Interface output function number error 2
Latch input allocation error Detected an error on the latch input allocation.
Overrun limit error The motor exceeded the allowable operating range set in the Overrun
Limit Setting (Pn514) with respect to the position command input.
Parameter error
Detected that a non-defined number was assigned to the interface output signal (OUTM1).
Detected that a non-defined number was assigned to the interface output signal (OUTM2).
Parameters destruction
Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the
EEPROM.
The checksum for the data read from the EEPROM when the power supply was turned ON does not match.
Attribute
History
Can be reset
Emergency stop *1
√
√
√
−
√
√
√
√
√
√
√
√
−
−
−
−
−
√
−
−
−
−
−
−
−
√
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-8
11
11-3 Alarms
11-9
Alarm number
Main Sub
Error detection function
38
40
41
42
43
44
45
47
48
49
0
1
0
0
0
0
0
0
0
0
0
Detection details and probable cause
Drive prohibition input error 1
Drive prohibition input error 2
Absolute encoder system down error
ABS
Both the Forward Drive Prohibition
Input (POT) and the Reverse Drive
Prohibition Input (NOT) were turned on while the Drive Prohibition Input
Selection (Pn504) was set to 0.
Alternatively, either the Forward Drive
Prohibition Input (POT) or the Reverse
Drive Prohibition Input (NOT) was turned on while the Drive Prohibition
Input Selection (Pn504) was set to 2.
An operation command such as jog was made by CX-Drive, while the
Drive Prohibition Input Selection
(Pn504) was set to 0, the
MECHATROLINK-II communications was cut off, and either the Forward
Drive Prohibition Input (POT) or the
Reverse Drive Prohibition Input (NOT) was turned on.
Both the Forward Drive Prohibition
Input (POT) and the Reverse Drive
Prohibition Input (NOT) were turned on.
Alternatively, either the Forward Drive
Prohibition Input (POT) or the Reverse
Drive Prohibition Input (NOT) was turned on while an operation command is given by CX-Drive.
The voltage supplied to the absolute encoder is lower than the specified value.
Absolute encoder counter overflow error
ABS
Absolute encoder overspeed error
ABS
The multi-rotation counter of the absolute encoder exceeds the specified value.
The motor rotation speed exceeds the specified value when only the battery power supply of the absolute encoder is used.
Encoder initialization error An encoder initialization error was detected.
A 1-turn counter error was detected.
Absolute encoder 1rotation counter error
ABS
Absolute encoder multirotation counter error
ABS
Absolute encoder status error
ABS
A multi-rotation counter error or phase-AB signal error was detected.
The rotation of the absolute encoder is higher than the specified value.
Encoder phase-Z error
Encoder CS signal error
A serial incremental encoder phase Z pulse irregularity was detected.
A logic error was detected in the CS signal for serial incremental encoder.
Attribute
History
Can be reset
Emergency stop *1
−
−
√
√
√
√
√
√
√
√
√
√
√
√
*3
−
√
*3
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-3 Alarms
Alarm number
Main Sub
Error detection function
50
51
55
82
83
84
86
87
0
1
0
1
2
3
4
5
0
1
2
0
0
0
3
4
0
0
Attribute
Detection details and probable cause
External encoder connection error
External encoder communications data error
External encoder status error 0
External encoder status error 1
External encoder status error 2
External encoder status error 3
External encoder status error 4
External encoder status error 5
An error was detected in external encoder connection.
An error was detected in external encoder communications data.
An external encoder error code was detected.
Phase-A connection error An error was detected in the external encoder phase A connection.
Phase-B connection error An error was detected in the external encoder phase B connection.
Phase-Z connection error An error was detected in the external encoder phase Z connection.
Node address setting error The node address set by the rotary switches on the Drive exceeded the setting range, when the control power was turned on.
Communications error Failures to correctly receive the data to receive during the
MECHATROLINK-II communication cycles continued in series more often than the value set on the
Communications Control (Pn800).
Transmission cycle error Failed to receive synchronization frames (SYNC) according to transmission cycle while the
MECHATROLINK-II communication connection is being established.
Synchronization error
SYNC_SET error
An error occurred while synchronization is established.
In the asynchronous MECHATROLINK-
II communications state, a communication error occurs while
SYNC_SET command is executed.
Watchdog data error
Forced alarm input error
An error occurred in the synchronization data that is exchanged between Master and Slave nodes for every MECHATROLINK-II communications cycle.
The forced alarm input signal was input.
History
Can be reset
Emergency stop *1
√ − −
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
−
−
−
−
−
−
−
−
−
−
−
−
√
√
−
√
√
√
−
−
−
−
−
−
−
−
−
−
−
√
√
−
−
√
−
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-10
11
11
11-3 Alarms
Alarm number
Main Sub
Error detection function
Detection details and probable cause
90
91
92
93
95
99
0 to
4
Other
0
1
0
0
1
0
2
3
0 numbers
Transmission cycle setting error
CONNECT error
SYNC command error
Encoder data restoration error
External encoder data restoration error
In the standby state for a
MECHATROLINK-II communications
CONNECT command, a communications error occurred when the CONNECT command is received.
During asynchronous
MECHATROLINK-II communications, a synchronous type of command is issued.
In semi-closing control mode and absolute value mode as well, initialization of internal position data is not processed correctly.
In FULL CLOSING CONTROL mode and absolute value mode as well, initialization of internal position data is not processed correctly.
Parameter setting error 1 Electronic gear ratio exceeded the allowable range.
Parameter setting error 2 External encoder ratio exceeded the allowable range.
External encoder connection error
The value set on the External
Feedback Pulse Type Selection
(Pn323) differs from the external encoder type that is connected for serial communications.
Motor non-conformity
Transmission cycle has a setting error when the MECHATROLINK-II
CONNECT command is received.
Other errors
The combination of the Servomotor and Servo Drive is not appropriate.
The control circuit malfunctioned due to excess noise or some other problem.
An alarm clear operation was performed when safety input 1 or safety input 2 was not in the normal status (i.e., when the input photocoupler was not ON).
Attribute
History
Can be reset
Emergency stop *1
√
√
√
√
√
√
√
√
−
√
√
√
√
−
−
−
−
−
−
−
−
−
√
−
−
−
−
−
−
−
*1. An emergency stop means that there is an error causing an immediate stop when the Stop Selection for Alarm Detection (Pn510) is set to a value between 4 and 7. Refer to the description about the Stop
Selection for Alarm Detection (Pn510) in “8-6 Extended parameters”.
*2. The alarm is not reset for 10 seconds once it occurs.
*3. The alarm cannot be reset unless the absolute value is cleared.
Note 1. If an unresettable alarm occurs, remove the error factor, cut off the control power to reset the alarm.
2. If a resettable alarm occurs, reset the alarm via MECHATROLINK-II communications or on the
CX-Drive.
3. Any displays such as hh,
FF
, and HH on the error number mean internal malfunction on the MPU.
Cut off the power immediately when you encounter such a case.
11-11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-3 Alarms
Emergency Stop Operation at Alarms
The emergency stop function controls the motor and stop it immediately, if an alarm that supports for emergency stop occurs.
Related Parameters
Parameter number
Pn510
Pn511
Pn513
Pn614
Pn615
Parameter name Explanation
Stop Selection for
Alarm Detection
Emergency Stop
Torque
Overspeed Detection
Level Setting
Alarm Detection
Allowable Time Setting
Overspeed Detection
Level Setting at
Emergency Stop
Set the states during deceleration and after stop, when an alarm occurs.
Set the torque limit for emergency stops.
If the motor rotation speed exceeds the set value, the
Overspeed (Alarm No.26.0) occurs.
Set the allowable time required until the motor stops by an emergency stop due to an alarm.
If the motor speed exceeds the set value during an emergency stop due to an alarm, the Overspeed 2
(Alarm No.26.1) occurs.
Reference
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-12
11
11-3 Alarms
Emergency Stop Operation
Speed
[r/min]
Motor speed
Speed command
Speed deemed as stop
[30 r/min]
Alarm
Torque limit
Overspeed protection threshold
Alarm not occurred
Normal torque limit
Normal operation
Normal operation
(Command from the Host)
Time
An alarm that needs an emergency stop occurred
Normal torque limit
Emergency Stop Torque (Pn511)
(a measure to absorb the shock due to the emergency stop)
Normal operation
Overspeed Detection Level Setting at Emergency Stop (Pn615)
(overrun prevention at an emergency stop)
Emergency stop operation
Alarming state (Operation after the stop:
Dynamic brake or Free-run)
Emergency stop time
Precautions for Correct Use
As the prevention of overrun at an emergency stop, set the allowable overspeed level on the
Overspeed Detection Level Setting at Emergency Stop (Pn615). The Overspeed 2 (Alarm
No.26.1) is the alarm that does not support emergency stop. If it occurs, error trip occurs immediately.
Set a higher value on the Overspeed Detection Level Setting at Emergency Stop (Pn615) than one on the Overspeed Detection Level Setting (Pn513). Otherwise, the Overspeed 2 (Alarm
No.26.1) occurs earlier than the Overspeed (Alarm No.26.0). Thus an emergency stop does not happen. If the Overspeed (Alarm No.26.0) and the Overspeed 2 (Alarm No.26.1) occur at the same time, the emergency stop does not happen, either.
If the actual rotation speed is not lower than 30 r/min after the time set on the Alarm Detection
Allowable Time Setting (Pn614) elapses since an alarm that support an emergency stop occurs, it will be an alarming state immediately.
If an alarm which is not supported by emergency stop operation occurs while in emergency stop,
Alarming state occurs immediately.
11-13
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-4 Troubleshooting
11-4 Troubleshooting
If an error occurs in the machine, determine the error conditions from the alarm displays and operation status, identify the cause of the error, and take appropriate measures.
Error Diagnosis Using the Alarm Displays
Alarm number
Main Sub
11
12
Name Cause Measures
0
0
Control power supply undervoltage
Overvoltage
The voltage between the positive and negative terminals in the control power supply converter dropped below the specified value.
100-V products: Approx. 70 VDC
(Approx. 50 VAC)
200-V products: Approx. 145 VDC
(Approx. 100 VAC)
400-V products: Approx. 15 VDC
• The power supply voltage is low. A momentary power interruption occurred.
• Insufficient power supply capacity: the power supply voltage dropped because there was inrush current when the main power supply was turned ON.
• The Servo Drive is faulty (circuit fault).
Measure the voltage between the L1C and L2C lines on the connectors and the terminal block.
• Increase the power supply voltage.
Change the power supply.
• Increase the power supply capacity.
• Replace the Servo Drive.
The power supply voltage exceeded the allowable input voltage range, causing the voltage between the positive and negative terminals in the converter to exceed the specified value. The power supply voltage is high. The voltage was suddenly increased by the phase advance capacitor or the uninterruptible power supply (UPS).
100-V products: Approx. 200 VDC
(Approx. 140 VAC)
200-V products: Approx. 400 VDC
(Approx. 280 VAC)
400-V products: Approx. 800 VDC
(Approx. 560 VAC)
• The Regeneration Resistor wiring is broken.
Measure the voltage between the connector (L1, L2, and L3) lines. Input the correct voltage. Remove the phase advance capacitor.
• The External Regeneration Resistor is inappropriate and cannot absorb all of the regenerative energy. The load inertia is too large, gravitational torque on the vertical axis is too large, or there is some other problem to absorb the regenerative energy.
• The Servo Drive is faulty (circuit fault).
• Use a tester to measure the resistance of the external resistor between the B1 and B2 terminals on the Servo Drive. If the resistance is infinite, the wiring is broken. Replace the external resistor.
• Change the regeneration resistance and wattage to the specified values. (Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity. Reduce the descent speed.)
• Replace the Servo Drive.
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-14
11-4 Troubleshooting
11
Alarm number
Main Sub
13
Name Cause Measures
0
Main power supply undervoltage
(Insufficient voltage between P and N)
1
Main power supply undervoltage
(AC cut-off detection)
If the Undervoltage Alarm Selection
(Pn508) is set to 1, a momentary power interruption occurred between
L1 and L3 for longer than the value specified for the Momentary Hold
Time (Pn509). Alternatively, the voltage between the positive and negative terminals in the main power supply converter dropped below the specified value while the servo was
ON.
100-V products: Approx. 80 VDC
(Approx. 55 VAC)
200-V products: Approx. 110 VDC
(Approx. 75 VAC)
400-V products: Approx. 180 VDC
(Approx. 125 VAC)
• The power supply voltage is low.
Measure the voltage between the connector (L1, L2, and L3) lines.
• A momentary power interruption occurred.
• Insufficient power supply capacity: the power supply voltage dropped because there was inrush current when the main power supply was turned ON.
• Phase-failure: a Servo Drive with
3-phase input specifications was operated with single-phase power supply.
• The Servo Drive is faulty (circuit fault).
• Increase the power supply voltage.
Change the power supply.
Eliminate the cause of the failure of the electromagnetic contactor on the main circuit power supply, and then turn ON the power again.
• Check the setting of the
Momentary Hold Time (Pn509).
Set each phase of the power supply correctly.
• Increase the power supply capacity. Refer to 2-3-1 Servo
Drive Model List on page 2-5 for information on the power supply capacity.
• Connect each phase (L1, L2, and
L3) of the power supply correctly.
Use L1 and L3 for single-phase
100 V and single-phase 200 V.
• Replace the Servo Drive.
11-15
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-4 Troubleshooting
Alarm number
Main Sub
14
15
Name Cause Measures
0
1
Overcurrent
IPM error
0 Servo Drive overheat
The current flowing through the converter exceeded the specified value.
• The Servo Drive is faulty (faulty circuit, faulty IGBT part, etc.).
• The Servomotor cable is shortcircuited between phases U, V, and W.
• The Servomotor cable is groundfaulted.
• Motor windings are burned out.
• The Servomotor wiring contacts are faulty.
• The relay for the dynamic brake has been welded due to frequent servo ON/OFF operations.
• The Servomotor is not suitable for the Servo Drive.
• Disconnect the Servomotor cable, and turn ON the servo. If the problem immediately occurs, replace the Servo Drive with a new one.
• Check to see if the Servomotor cable is short-circuited between phases U, V and W by checking for loose wire strands on the connector lead. Connect the
Servomotor cable correctly.
• Check the insulation resistance between phases U, V, and W of the
Servomotor cable and the grounding wire of the Servomotor.
If the insulation is faulty, replace the Servomotor.
• Check the balance between the resistance of each wire of the
Servomotor. If resistance is unbalanced, replace the
Servomotor.
• Check for missing connector pins in Servomotor connections U, V, and W. If any loose or missing connector pins are found, secure them firmly.
• Replace the Servo Drive. Do not turn the servo ON for 3 minutes after using the dynamic brake.
• Check model (capacity) of the
Servomotor and the Servo Drive on the nameplates. Replace the
Servomotor with a Servomotor that matches the Servo Drive.
• The command input timing is the same as or earlier than the Servo
ON timing.
• The resistance of the connected
External Regeneration Resistor is less than the minimum allowable value.
• Wait at least 100 ms after the servo has been turned ON, then input commands.
• Connect an External Regeneration
Resistor whose resistance is more than the minimum allowable value.
The temperature of the Servo Drive radiator or power elements exceeded the specified value.
• The ambient temperature of the
Servo Drive exceeded the specified value.
• Overload
• Improve the ambient temperature and the cooling conditions of the
Servo Drive.
• Increase the capacities of the
Servo Drive and the Servomotor.
Set longer acceleration and deceleration times. Reduce the load.
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-16
11
11-4 Troubleshooting
Alarm number
Main Sub
Name
16 0 Overload
Cause Measures
When the feedback value for torque command exceeds the overload level specified in the Overload Detection
Level Setting (Pn512), overload protection is performed according to the overload characteristics.
• The load was heavy, the effective torque exceeded the rated torque, and operation continued too long.
Check if torque (current) waveforms oscillate or excessively oscillates vertically during analog output or communications. Check the overload warning display and the load rate through communications.
• Increase the capacities of the
Servo Drive and the Servomotor.
Set longer acceleration and deceleration times. Reduce the load.
• Readjust the gain.
• Vibration or hunting occurred due to faulty gain adjustment. The
Servomotor vibrates or makes unusual noise. The Inertia Ratio
(Pn004) setting is faulty.
• The Servomotor wiring is incorrect or broken.
• Connect the Servomotor cable as shown in the wiring diagram.
Replace the cable.
• Remove the distortion from the machine. Reduce the load.
• The machine was hit by an object, or the machine load suddenly became heavy. The machine was distorted.
• The electromagnetic brake remains ON.
• When multiple machines were wired, the wiring was incorrect and the Servomotor cable was connected to a Servomotor for another axis.
• Measure the voltage at the brake terminals. Turn OFF the brake.
• Wire the Servomotor and the encoder correctly so that the wiring matches the axes.
Refer to 3-2 Overload Characteristics (Electronic Thermal Function) on page
3-32 for information on overload characteristics.
11-17
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-4 Troubleshooting
Alarm number
Main Sub
18
21
23
Name Cause Measures
0 Regeneration overload
1 Regeneration Tr error
0
1
0
Encoder communications disconnection error
Encoder communications error
Encoder communications data error
The regenerative energy exceeds the processing capacity of the
Regeneration Resistor.
• The regenerative energy during deceleration caused by a large load inertia increased the converter voltage, and then insufficient energy absorption by the
Regeneration Resistor further increased the voltage.
• The Servomotor rotation speed is too high to absorb the regenerative energy within the specified deceleration time.
• The operating limit of the external resistor is limited to a 10% duty.
Check the load rate of the
Regeneration Resistor through communications. This Regeneration
Resistor cannot be used for continuous regenerative braking.
• Check the operation pattern
(speed monitor). Check the load rate of the Regeneration Resistor and check for the excessive regeneration warning display.
Increase the capacities of the
Servo Drive and the Servomotor, and lengthen the deceleration time.
Use an External Regeneration
Resistor.
• Check the operation pattern
(speed monitor). Check the load rate of the Regeneration Resistor and the excessive regeneration warning display. Increase the capacities of the Servo Drive and the Servomotor, and lengthen the deceleration time. Reduce the
Servomotor rotation speed. Use an
External Regeneration Resistor.
• Set the Regeneration Resistor
Selection (Pn016) to 2.
Precautions for Correct Use
Always provide a temperature fuse or other protective measure when setting the Regeneration Resistor Selection (Pn016) to 2. Otherwise, the
Regeneration Resistor will not be protected, generate excessive heat, and be burnt.
The Servo Drive regeneration drive Tr is faulty.
Replace the Servo Drive.
A disconnection was detected because communications between the encoder and the Servo Drive were stopped more frequently than the specified value.
Wire the encoder correctly as shown in the wiring diagram. Correct the connector pin connections.
There was a communications error in data from the encoder. There was a data error mainly due to noise. The encode cable is connected, but a communications data error occurred.
• Provide the required encoder power supply voltage 5 VDC
±5%
(4.75 to 5.25 V). Be careful especially when the encode cable is long.
• If the Servomotor cable and the encoder cable are bundled together, separate them.
• Connect the shield to FG.
No communications error occurred with the data from the encoder, but there is an error in the contents of the data. There was a data error mainly due to noise. The encode cable is connected, but a communications data error occurred.
• Provide the required encoder power supply voltage 5 VDC ±5%
(4.75 to 5.25 V). Be careful especially when the encode cable is long.
• If the Servomotor cable and the encoder cable are bundled together, separate them.
• Connect the shield to FG.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-18
11
11-4 Troubleshooting
11
Alarm number
Main Sub
24
25
26
Name Cause Measures
0 Error counter overflow
0 Excessive hybrid error
0
1
Overspeed
Overspeed 2
Position error pulses exceeded the setting of the Error Counter Overflow
Level (Pn014).
• Motor operation does not follow the command.
• The value of the Error Counter
Overflow Level (Pn014) is small.
During fully-closed control, the difference between the load position from the external encoder and the
Servomotor position from the encoder was larger than the number of pulses set for the Internal/External Feedback
Pulse Error Counter Overflow Level
(Pn328).
• Check to see if the Servomotor rotates according to the position command pulse. Check on the torque monitor to see if the output torque is saturated. Adjust the gain. Maximize the set values on the No.1 Torque Limit (Pn013) and the No.2 Torque Limit (Pn522).
Wire the encoder as shown in the wiring diagram. Lengthen the acceleration and deceleration times. Reduce the load and the speed.
• Increase the set value of object
Pn014.
• Check the Servomotor and load connection.
• Check the external encoder and
Servo Drive connection.
• When moving the load, check to see if the change in the
Servomotor position (encoder feedback value) has the same sign as the change in the load position
(external encoder feedback value).
Check to see if the External
Feedback Pulse Dividing
Numerator and Denominator
(Pn324 and Pn325), and External
Feedback Pulse Direction
Switching (Pn326) are set correctly.
The Servomotor rotation speed exceeded the value set on the
Overspeed Detection Level Setting
(Pn513).
The Servomotor rotation speed exceeded the value set for the
Overspeed Detection Level Setting at
Emergency Stop (Pn615).
• Do not give excessive speed commands.
• Check the input frequency, dividing ratio, and multiplication ratio of the command pulse.
• If overshooting occurred due to faulty gain adjustment, adjust the gain.
• Wire the encoder as shown in the wiring diagram.
11-19
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-4 Troubleshooting
Alarm number
Main Sub
27
Name Cause Measures
1
Absolute value cleared
The multi-rotation counter for the absolute encoder was cleared during
USB communications by the CX-
Drive.
ABS
4 Command error
• Check to see if the multi-rotation counter for the absolute encoder was cleared during USB communications by the CXDrive.
Note This operation is performed for safety and is not an error.
The position command variation after the electronic gear is higher than the specified value.
• Check to see if the position command variation is large.
• Check the electronic gear ratio.
• Check to see if the backlash compensation amount is too large.
29
30
(st)
5
6
1
2
3
Command generation error
Operation command duplicated
Internal error Counter
Overflow 1
ABS
Internal error Counter
Overflow 2
Internal error Counter
Overflow 3
0 Safety input error
During position command processing, an error such as an “over the calculation range” error occurred.
Check to see if the electronic gear ratio, and the acceleration and deceleration rates meet the restrictions.
MECHATROLINK-II communications were established during execution of
FFT that operates with the Servo Drive alone or a trial run.
Check to see if MECHATROLINK-II communications are established during execution of FFT or a trial run.
The value that is obtained by dividing the absolute encoder position (in pulses) by the electronic gear ratio exceeded
±2
31
(2,147,483,648) during the initialization of position data, after the control power was turned ON in absolute value mode, after a Config operation, after FFT was executed, or after a trial run was executed.
Review the operation range of the absolute external encoder position and the electronic gear ratio.
The position error in pulses exceeded
±2
29
(536,870,912). Alternatively, the position error in command units exceeded
±2
30
(1,073,741,824).
• Check to see if the Servomotor rotates according to the position command.
• Check on the torque monitor to see if the output torque is saturated.
• Adjust the gain.
• Set the No. 1 Torque Limit (Pn013) and No. 2 Torque Limit (Pn522) to the maximum value.
• Wire the encoder as shown in the wiring diagram.
The value that is obtained by multiplying the Final Distance for
Origin Return (Pn825) by the electronic gear ratio exceeded
±2
31
(2,147,483,648).
Review the Final Distance for Origin
Return (Pn825) and electronic gear ratio.
At least one of the input photocouplers for safety inputs 1 and 2 turned OFF.
Check the input wiring of safety inputs
1 and 2.
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11-4 Troubleshooting
11
Alarm number
Main Sub
33
34
36
Name Cause Measures
0
1
0
1
2
3
4
5
8
0
2
Interface input duplicate allocation error 1
There is a duplicate setting in the input signal (IN1, IN2, IN3, and IN4) function allocations.
Interface input duplicate allocation error 2
There is a duplicate setting in the input signal (IN5, IN6, IN7, and IN8) function allocations.
Interface input function number error 1
There is an undefined number specification in the input signal (IN1,
IN2, IN3, and IN4) function allocations. Alternatively, a logic setting error was detected.
Interface input function number error 2
There is an undefined number specification in the input signal (IN5,
IN6, IN7, and IN8) function allocations. Alternatively, a logic setting error was detected.
Interface output function number error 1
There is an undefined number specification in the output signal
(OUTM1) function allocation.
Interface output function number error 2
There is an undefined number specification in the output signal
(OUTM2) function allocation.
Allocate the functions to the connector pins correctly.
Latch input allocation error
Overrun limit error
Parameter error
There is an error in the latch input function allocation.
• The function was allocated to input signals other than IN5, IN6, or IN7.
• The function was allocated to NC.
• The function was not allocated for all control modes.
The Servomotor exceeded the allowable operating range set in the
Overrun Limit Setting (Pn514) with respect to the position command input range.
• The gain is not suitable.
• The set value of Pn514 is too small.
Check the gain (the balance between position loop gain and speed loop gain) and the inertia ratio.
• Increase the set value of Pn514.
Alternatively, set Pn514 to 0 to disable the protection function.
Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the
EEPROM.
• Reset all parameters.
• If this error occurs repeatedly, the
Servo Drive may be faulty. In this case, replace the Servo Drive.
Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
37
0
1
2
Parameters destruction
EEPROM write verification data was corrupted when the power supply was turned ON and data was read from the
EEPROM.
The Servo Drive is faulty. Replace the
Servo Drive. Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
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11-4 Troubleshooting
Alarm number
Main Sub
38
40
41
42
43
44
45
47
48
49
Name Cause Measures
0
1
0
0
0
Drive prohibition input error 1
Drive prohibition input error 2
Absolute encoder system down error
ABS
Absolute encoder counter overflow error
ABS
Absolute encoder overspeed error
ABS
When the Drive Prohibition Input
Selection (Pn504) was set to 0, both the Forward Drive Prohibition Input
(POT) and the Reverse Drive
Prohibition Input (NOT) turned ON.
When object Pn504 was set to 2, either the Forward Drive Prohibition input or the Reverse Drive Prohibition input turned ON.
When object Pn504 was set to 0,
MECHATROLINK-II communications were interrupted and either POT or
NOT was ON, an operation command
(such as a trial run or FFT) was received from the CX-Drive.
Conversely, POT or NOT turned ON while operation was being performed for a CX-Drive operation command.
Check for any problems with the switches, wires, and power supplies that are connected to the Forward
Drive Prohibition input or the Reverse
Drive Prohibition input. In particular, check to see if the control signal power supply (12 to 24 VDC) turned ON too slowly.
The voltage of the built-in capacitor dropped below the specified value because the power supply to the encoder or the battery power supply was down.
The multi-rotation counter of the encoder exceeded the specified value.
Connect the battery power supply, and then set up the absolute encoder.
Unless the absolute encoder is set up, the alarm cannot be cleared.
• Set the Operation Switch when
Using Absolute Encoder (Pn015) to an appropriate value.
• Make sure that the traveling distance from the origin of the machine is no more than 32,767 revolutions.
The Servomotor rotation speed exceeded the specified value when only the battery power supply was used during a power interruption.
• Check the power supply voltage
(5 VDC ± 5%) at the encoder.
• Check the connections to connector CN2. Unless the absolute encoder is set up, the alarm cannot be cleared.
0
Encoder initialization error
An encoder initialization error was detected.
Replace the Servomotor.
0
Absolute encoder 1rotation counter error
The encoder detected a 1-rotation counter error.
Replace the Servomotor.
0
0
ABS
Absolute encoder multirotation counter error
The encoder detected a multi-rotation counter error.
Replace the Servomotor.
ABS
Absolute encoder status error
ABS
The rotation of the encoder was higher than the specified value when the power supply was turned ON.
Do not let the Servomotor move when the power supply is turned ON.
0 Encoder phase-Z error
A missing incremental encoder phase-
Z pulse was detected. The encoder is faulty.
Replace the Servomotor.
0 Encoder CS signal error
A logic error was detected in the CS signal for incremental encoder.
The encoder is faulty.
Replace the Servomotor.
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11
Alarm number
Main Sub
50
51
55
82
Name Cause Measures
0
1
0
1
2
3
4
5
0
1
2
0
External encoder connection error
External encoder communications data error
External encoder status error 0
External encoder status error 1
External encoder status error 2
External encoder status error 3
External encoder status error 4
External encoder status error 5
Phase-A connection error
Phase-B connection error
Phase-Z connection error
Node address setting error
A disconnection was detected because communications between the external encoder and the Servo
Drive were interrupted more than the specified number of times.
Wire the external encoder correctly as shown in the connection diagram.
Correct the connector pin connections.
There was a communications error in data from external encoder. There was a data error mainly due to noise.
The external encoder connection cable is connected, but a communications data error occurred.
• Provide the required external encoder power supply voltage
5 VDC is long.
±5% (4.75 to 5.25 V). Be careful especially when the external encoder connection cable
• If the Servomotor cable and the external encoder connection cable are bundled together, separate them.
• Connect the shield to FG. Refer to the external encoder connection diagram.
Bit 0 of the external encoder error code (ALMC) was set to 1. Refer to the external encoder specifications.
Bit 1 of the external encoder error code (ALMC) was set to 1. Refer to the external encoder specifications.
Bit 2 of the external encoder error code (ALMC) was set to 1. Refer to the external encoder specifications.
Bit 3 of the external encoder error code (ALMC) was set to 1. Refer to the external encoder specifications.
Eliminate the cause of the error and then clear the external encoder error.
Then, temporarily turn OFF the control power supply to reset.
Bit 4 of the external encoder error code (ALMC) was set to 1. Refer to the external encoder specifications.
Bit 5 of the external encoder error code (ALMC) was set to 1. Refer to the external encoder specifications.
An error such as broken wiring was detected in the external encoder phase-A connection.
An error such as broken wiring was detected in the external encoder phase-B connection.
Check the external encoder phase A connection.
Check the external encoder phase-B connection.
An error such as broken wiring was detected in the external encoder phase-Z connection.
The node address set by the rotary switches on the Servo Drive exceeded the setting range, when the control power was turned ON.
Check the external encoder phase-Z connection.
• Check the value of the rotary switches for node address setting.
• Set the rotary switch correctly (set to 1 to 31), and then turn OFF the control power supply for the Servo
Drive and turn it ON again.
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11-4 Troubleshooting
Alarm number
Main Sub
Name Cause Measures
83 0
84
0
4
3
Communications error
Transmission cycle error
SYNC_SET error
Synchronization error
Failures to correctly receive the data to be received in the
MECHATROLINK-II communications cycle continued in series more often than the value set on the
Communications Control (Pn800).
• Check if there is a broken
MECHATROLINK-II communications cable or a wiring problem.
• Check if the Terminating Resistor is connected correctly.
• Check if there is excessive noise on the MECHATROLINK-II communications cable. Review the routing of the MECHATROLINK-II communications cable and the FG wiring. Attach a ferrite core to the
MECHATROLINK-II communications cable.
• Set a larger value for the continuous communications error detection times in Communications
Control (Pn800).
Failed to receive synchronization frames (SYNC) according to the transmission cycle while the
MECHATROLINK-II communications connection was established.
• An error occurred in the synchronization frames.
• The transmission cycle of the synchronization frames does not accord with the setting (including missing frames).
In the asynchronous
MECHATROLINK-II communications state (PHASE2), a communications error occurred while the SYNC_SET command was executed.
• Check if the transmission cycle of the synchronization frames sent from the host controller is normal, not changed, and accords with the setting.
•
Check if there is a broken communications cable or a wiring problem.
• Check if there is excessive noise on the communications cable.
• Check if the Terminating Resistor is connected correctly.
• Review the routing of the communications cable and the FG wiring.
•
Attach a ferrite core to the communications cable.
An error occurred while synchronization was established.
• Turn OFF the power once, and turn it ON again.
• If the alarm is displayed even after the power is turned ON again, the system may be faulty. Stop using the system, and replace the Servomotor and/or the
Servo Drive.
• Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
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11-4 Troubleshooting
11
Alarm number
Main Sub
86
87
90
91
92
Name Cause Measures
0 Watchdog data error
0
0
0
1
Forced alarm input error
Transmission cycle setting error
1 CONNECT error
0 SYNC command error
Encoder data restoration error
ABS
External encoder data restoration error
ABS
An error occurred in the synchronization data that was exchanged between the host controller and Servo Drive every
MECHATROLINK-II communications cycle.
• Check if there is excessive noise on the MECHATROLINK-II communications cable. Review the routing of the MECHATROLINK-II communications cable and the FG wiring. Attach a ferrite core to the
MECHATROLINK-II communications cable.
• Transfer the communications settings and axis settings to the host controller again.
•
Replace the host controller and
Servo Drive.
An emergency stop input (STOP) was input.
Check the emergency stop input
(STOP) wiring.
The transmission cycle has a setting error when the MECHATROLINK-II
CONNECT command is received.
In the standby state for a
MECHATROLINK-II CONNECT command (PHASE1), a communications error occurred when the CONNECT command was received.
•
Check if there is a broken
MECHATROLINK-II communications cable or a wiring problem.
•
Check if the Terminating Resistor is connected correctly.
•
Check if there is excessive noise on the MECHATROLINK-II communications cable. Review the routing of the MECHATROLINK-II communications cable and the FG wiring. Attach a ferrite core to the
MECHATROLINK-II communications cable.
During asynchronous
MECHATROLINK-II communications, a synchronous type of command was issued.
Check the command that is sent from the host controller.
Initialization of internal position data was not processed correctly in semiclosed control mode and absolute value mode.
• Provide the required encoder power supply voltage 5 VDC
±5%
(4.75 to 5.25 V). Be careful especially when the encode cable is long.
• If the Servomotor cable and the encoder cable are bundled together, separate them.
• Connect the shield to FG.
Initialization of internal position data was not processed correctly in fullyclosed control mode and absolute value mode.
• Provide the required external encoder power supply voltage
5 VDC ±5% (4.75 to 5.25 V). Be careful especially when the external encoder connection cable is long.
• If the Servomotor cable and the external encoder connection cable are bundled together, separate them.
• Connect the shield to FG. Refer to the external encoder connection diagram.
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11-4 Troubleshooting
Alarm number
Main Sub
Name Cause Measures
93
95
0
2
3
Parameter setting error
1
Parameter setting error
2
External encoder connection error
0 to 4 Motor non-conformity
Electronic gear ratio exceeded the allowable range.
External encoder ratio exceeded the allowable range.
Check the Parameter settings. The electronic gear ratio must be set between 1/1000 and 1000.
Check the Parameter settings. The external encoder ratio must be set between 1/40 and 160.
The set value of the External
Feedback Pulse Type Selection
(Pn323) differs from the external encoder type that is actually connected for serial communications.
Electronic gear ratio exceeded the allowable range.
Set object Pn323 to conform with the external encoder type that is actually connected.
The Servomotor does not match the
Servo Drive.
Replace the Servomotor with a
Servomotor that matches the Servo
Drive.
99 0
Other errors
• An error signal was detected due to excess noise or some other problem.
• An alarm was cleared when safety input 1 or 2 was not in a normal state (one of the input photocouplers is not ON).
• Turn OFF the power once, and turn it ON again.
• If the alarm is displayed even after the power is turned ON again, the system may be faulty. Stop using the system, and replace the
Servomotor and/or the Servo
Drive.
• Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
• Clear the alarm when both safety input 1 and 2 are in a normal state
(the both input photocouplers are
ON).
Other numbers
• The control circuit malfunctioned due to excess noise or some other problem.
• The self-diagnosis function of the
Servo Drive was activated, and an error occurred in the Servo Drive.
• Turn OFF the power once, and turn it ON again.
• If the alarm is displayed even after the power is turned ON again, the system may be faulty. Stop using the system, and replace the
Servomotor and/or the Servo
Drive.
• Return the Servo Drive to the dealer that it was purchased from and ask for investigation and repair.
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11-4 Troubleshooting
Alarm No. 99.0
Alarm No. 99.0 may occur due to the timing between safety input 1/2 and alarm clear input.
This alarm will occur if both of the following conditions are met:
An alarm was cleared when at least one of the input photocouplers for safety inputs 1 and 2 was
OFF (which means that a Safety Input Error (Alarm No. 30.0) had occurred).
At least one of the input photocouplers for safety inputs 1 and 2 was turned from OFF to ON in a specific period during the alarm clear process (See below).
*1
Specified period
Approx. 1 ms
Safety input 1
Safety input 2
Approx. 120 ms
Alarm reset input (RESET)
Alarm
Alarm No. 30.0 Alarm No. 99.0 occurred occurred
*1. Alarm No. 99.0 will occur if at least one of the input photocouplers for safety inputs 1 and 2 is turned from OFF to ON.
Precautions for Correct Use
Be sure to clear the alarm after turning ON the photocouplers for safety inputs 1 and 2 again.
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11-4 Troubleshooting
Error Diagnosis Using the Operation Status
green.
in red.
red.
Symptom
The 7-segment LED indicator does not light.
The LED (COM) is unlit.
The LED (COM) flashes in green.
The LED (COM) lights in
The LED (COM) flashes
The LED (COM) lights in
An alarm occurs.
Probable cause
The control power is not supplied.
The MECHATROLINK-II communications is not established.
Items to check
Check whether the power supply input is within the allowed power supply voltage range.
Check whether the power supply input is wired correctly.
Check that the communications cable is connected correctly.
Check that the Terminating
Resistor is connected correctly.
Controllable by the host controller. (normal state)
Measures
Supply the correct power supply voltage.
Wire correctly.
Check that the host controller has started up.
Check the connector and its connection.
Normal state Asynchronous
MECHATROLINK-II communications is established.
Synchronous
MECHATROLINK-II communications is established.
A recoverable alarm occurs in MECHATROLINK-II communications.
Controllable (normal state) Normal state
An unresettable alarm occurs in MECHATROLINK-
II communications.
Read the Error No. and the alarm log.
• Reset the network by the host controller, and establish the communications again.
• Check that the communications cable has no error.
Check that no node address duplication occurs on the network, and that the number of connected nodes is not over the specification.
Check the cause listed in Error
Diagnosis Using the Alarm
Display in previous pages.
Check the wiring and noise condition.
Correct the network address.
Take appropriate measures against the cause of the alarm that are listed in Error
Diagnosis Using the
Alarm Display in previous pages.
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11-4 Troubleshooting
Symptom
Servo Lock state does not occur.
Probable cause
The power cable is not connected correctly.
Items to check
Check that the motor power cable is connected properly.
Measures
Wire the cable correctly.
The motor power is not on.
Check the main circuit wiring and power voltage.
The Forward or Reverse
Drive Prohibition (POT or
NOT) signal is OFF.
• Check that the input for
Forward or Reverse Drive
Prohibition (POT or NOT) is not OFF.
• Check the input of +24 VIN to CN1.
The torque limit is set to 0.
Check that the torque limits on
No.1 Torque Limit (Pn013) and the No.2 Torque Limit
(Pn522) are not set to 0.
The torque command value is set to 0 while the host controller commands the torque control.
The Servo Drive breaks down.
Check the control mode set by the host controller and the given torque command.
−
Input the correct power and voltage for the main circuit.
• Turn on the POT and
NOT.
• Input +24 VIN to CN1.
Set the maximum torque to be used for each of these parameters.
Change the setting of control mode by the host controller to position.
Check for the servo lock.
Replace the Servo Drive with a new one.
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OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-4 Troubleshooting
Symptom
The Servomotor does not rotate in the Servo lock state.
Probable cause
The host controller does not give a command.
The torque command value is too small, while the host controller commands the torque control.
Hard to determine that the motor rotates.
The holding brake works.
Items to check
If it is the position command, check that the speed and position are not set to 0.
Check the control mode set by the host controller and the given torque command.
Check that the speed command given by the host controller is not too small.
Check the brake interlock output (BKIR) signal and the
+24 VDC power supply.
Check that the torque limits on
Pn013 and Pn522 are not set to a value close to 0.
Measures
Enter a position and speed data.
Start up the Servomotor.
Change the setting of control mode by the host controller to position.
Check for the servo lock.
Check the speed command from the host controller.
Check that the holding brake on a Servomotor with brake is released by
Servo lock.
Set the maximum torque to be used for each of these parameters.
The torque limits on No.1
Torque Limit (Pn013) and the No.2 Torque Limit
(Pn522) are too small.
In torque control mode, the
Speed Limit Value Setting
(Pn321) is set to 0.
The Servo Drive breaks down.
The Forward or Reverse
Drive Prohibition (POT or
NOT) signal is OFF.
The control mode does not conform with the command.
Check the value set on the
Pn321.
−
Check the ON-OFF status of
POT and NOT signals in the monitor mode.
Set a larger value on the
Pn321.
Replace the Servo Drive with a new one.
• Turn on the POT and
NOT signals.
• Set to disable, when the POT and NOT signals are not used.
Set the Pn001 in accordance with the command.
Wire correctly.
The motor power cable is wired incorrectly.
The encoder cable is wired incorrectly.
The power is not supplied.
Check the value set on the
Control Mode Selection
(Pn001).
Check the wiring.
The motor operates momentarily, but then it does not operate after that.
The Servo Drive breaks down.
The position commands given are too little.
The motor power cable is wired incorrectly.
The encoder cable is wired incorrectly.
Check the power supply and the 7-segment LED state.
Check the voltage between the power terminals.
−
Check the position data and the electronic gear ratio on the host controller.
Check the wiring of the motor power cable's phases U, V, and W.
Check the encoder cable's wiring.
Turn on the power.
Wire the power-on circuits correctly.
Replace the Servo Drive with a new one.
Set the correct data.
Wire correctly.
Wire correctly.
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11-4 Troubleshooting
11
Symptom
The motor rotates without a command.
Probable cause
There are inputs of small values in speed control mode.
The motor rotates in the reverse direction from the command.
There are inputs of small values in torque control mode.
The Servo Drive breaks down.
The value set on the
Rotation Direction Switching
(Pn000) is incorrect.
The command given by the host controller is incorrect.
Items to check
Check if there is any inputs in speed control mode.
Check if there is any inputs in torque control mode.
−
Check the value set on the
Pn000.
Measures
Set the speed command to 0.
Alternatively, change the mode to position control.
Change the mode from torque control to position control.
Replace the Servo Drive with a new one.
Chang the setting on the
Pn000.
The holding brake does not work.
Power is supplied to the holding brake.
Motor rotation is unstable. The motor power cable or encoder cable is wired incorrectly.
Low rigidity. It causes vibration.
The load's moment of inertia exceeds the Servo Drive's allowable value.
Loose joint and/or large clearance with the machine
The pulse signal line's connections are loose.
The load and gain do not conform.
• The absolute command is set improperly in size.
• The incremental command is set improperly in polarity.
Check whether power is supplied to the holding brake.
• Check the present and target values.
• Check the rotation direction.
• Check the brake interlock output (BKIR) signal and the relay circuit.
• Check that the holding brake is not worn down.
Wire correctly.
Check the wiring of the motor power cable's phases U, V, and W and check the encoder cable's wiring.
Measure the vibration frequency of the load.
Calculate the load inertia.
Check the joint with the machine.
Enable the damping control. Set the damping filter frequency.
• Check if the manual tuning can make a proper adjustment.
• Increase the
Servomotor capacity.
Remove the joint looseness with the machine.
Wire correctly.
Check the pulse signal line's wiring at the controller and
Servo Drive.
Check the controller's command pulse type and the
Servo Drive's commands pulse type.
Check the response waveforms for speed and torque.
Set the Servo Drive's pulse type to match the controller's command pulse type.
Adjust the speed loop gain to stabilize the rotation.
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11-4 Troubleshooting
Symptom
The motor is overheating. The ambient temperature is
The machine position is misaligned.
The motor does not stop or is hard to stop even if the operation command
(RUN) is turned OFF while the motor is rotating.
Probable cause
too high.
The heat radiation condition for the motor is inappropriate.
The motor is overloaded.
The motor vibrates during rotation.
The coupling of the servomotor axis and the machine is abnormal.
The host controller gives a deceleration stop command.
The dynamic brake is disabled.
Items to check
Check the ambient temperature around the motor is not over 40
°C.
• Check that the specified radiation condition is observed.
• Check the load ratio for the servomotor with brake.
Measure the torque on the analog monitor on the front panel or by the CX-Drive.
Measures
• Lower the ambient temperature around the motor to 40
°C or less. (Use a fan or air conditioner.)
• Lower the load rate.
• Improve the radiation condition.
• Reduce the load.
• Improve ventilation.
Check that the coupling of the servomotor and the machine is not misaligned.
Check the control ladder on the host controller.
The load inertia is too large. • Check the load inertia.
• Check the motor rotation speed.
• The dynamic brake resistance is disconnected.
Check if the dynamic brake is not disabled or broken.
• Decrease the acceleration and deceleration speed.
• Lower the speed and check the load.
• Tighten the coupling again.
• Replace with a coupling which has no looseness.
Review the control on the host controller.
• Review the load inertia.
• Replace the motor and drive with appropriate ones.
• Enable, if it is disabled.
• Replace the brake with a new one, if it is broken or resistor disconnection is detected.
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11-4 Troubleshooting
11
Symptom
The Servomotor or the load generates abnormal noise or vibration.
Probable cause
Vibration occurs due to improper mechanical installation.
Items to check
Check whether the
Servomotor's mounting screws are loose.
Check the load for eccentricity.
Retighten the mounting screws.
Measures
The Speed Feedback Filter
Time Constant 1 (Pn103) is wrong.
Check the value set on the
Pn103.
Normally set 0 to Pn103.
Eliminate the eccentricity, which results in torque fluctuation and noise.
Balance the rotation.
Vibration occurs due to low mechanical rigidity.
Vibration occurs due to machine resonance.
There is a problem with the bearings.
The gain is wrong.
Check that the coupling with the load is not unbalanced.
Check that the decelerator does not generate any abnormal noise.
Check that the vibration frequency is not 100 Hz or lower.
Check if the resonance frequency is high or low.
Check for noise or vibration around the bearings.
−
The Torque Command Filter
Time Constant 1 (Pn104) does not match the load.
The Position Loop Gain 1
(Pn100) is too large.
The Speed Loop Gain 1
(Pn101) and the Speed Loop
Integration Time Constant 1
(Pn102) are balanced incorrectly.
Noise is applied to the control I/O signal cable because the cable does not meet specifications.
Review the setting on the
Pn104.
Review the setting on the
Pn100.
Review the settings on the
Pn101 and Pn102.
Check that it is a twisted-pair wire or twisted-pair shielded cable with core wires that are at least 0.08 mm
2
.
Check the decelerator specification. Investigate the decelerator for breakage.
If the frequency is 100 Hz or lower, set the correct damping frequency on the damping filter to eliminate the vibration.
If the frequency is high, set the adaptive filter in a manner that stops the resonance. Alternatively, measure the resonance frequency and set the
Notch Filter 1 and 2.
Contact your OMRON dealer or sales office.
Check if the manual tuning can make a proper adjustment.
Return the setting to the initial 0.
Alternatively, set a large value and operate the motor.
Set a larger value on the
Pn104 and eliminate the vibration.
By the CX-Drive or the analog monitor, measure the response and adjust the gain.
Use control I/O signal cable that meets specifications.
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11-4 Troubleshooting
Symptom Probable cause
Noise is applied to the control I/O signal cable because the cable is longer than the specified length.
Noise is applied to the cable because the encoder cable does not meet specifications.
Noise is applied to the encoder cable because the cable is longer than the specified length.
Noise is applied to the signal lines because the encoder cable is stuck or the sheath is damaged.
Too much noise is applied to the encoder cable.
Items to check
Check the length of the control
I/O signal cable.
Check that it is a twisted-pair shielded cable with core wires that are at least 0.12 mm
Check the length of the encoder cable.
Check the encoder cable for damage.
2
.
Measures
Shorten the control I/O signal cable to 3 m or less.
Use encoder cable that meets specifications.
Shorten the encoder cable to less than 50 m.
Correct the encoder cable's pathway.
Overshooting at a startup or stop
The Position Loop Gain 1
(Pn100) is too large.
Vibration is occurring at the same frequency as the power supply.
The FG's potential is fluctuating due to devices near the Servomotor, such as welding machines.
Errors are being caused by excessive vibration or shock on the encoder.
Check whether the encoder cable is bound together with or too close to high-current lines.
Check for ground problems
(loss of ground or incomplete ground) at equipment such as welding machines near the
Servomotor.
There are problems with mechanical vibration or motor installation (such as the precision of the mounting surface, attachment, or axial offset).
Review the Pn100.
Install the encoder cable where it won't be subjected to surges.
Ground the equipment properly and prevent currents from flowing to the encoder FG.
Reduce the mechanical vibration or correct the
Servomotor's installation.
The Speed Loop Gain 1
(Pn101) and the Speed Loop
Integral Time Constant 1
(Pn102) are balanced incorrectly.
Review the settings on the
Pn101 and Pn102.
The machine rigidity set by the realtime autotuning is incorrect.
The set inertia ratio differs from the load.
Review the setting of machine rigidity.
Review the Inertial Ratio
(Pn004).
Inductive noise is occurring. Check whether the drive control signal lines are too long.
Check whether the control signal lines and power supply lines are not bound together.
Adjust the gain in a manner that prevents overshoots.
By the CX-Drive or the analog monitor, measure the response and adjust the gain.
Match the machine rigidity setting to the load rigidity.
Align the setting on the
Pn004 with the load.
Shorten the control signal lines.
• Separate control signal lines from power supply lines.
• Use a low-impedance power supply for control signals.
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-34
11-4 Troubleshooting
Symptom
The position is misaligned. (Position misalignment occurs without an alarm being output.)
Probable cause
There is an error in the coupling of the mechanical system and the Servomotor.
The gain is wrong.
The load inertia is too large.
Items to check
Check whether the coupling of the mechanical system and the Servomotor is misaligned.
−
• Check the load inertia.
• Check the motor rotation speed.
• The dynamic brake resistance is disconnected.
Measures
Correct the coupling between the mechanical system and the
Servomotor.
Check if the manual tuning can make a proper adjustment.
• Review the load inertia.
• Replace the motor and drive with proper ones.
11
11-35
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-5 Periodic Maintenance
11-5 Periodic Maintenance
Caution
After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation.
Equipment damage may result.
Never repair the product by disassembling it.
Electric shock or injury may result.
Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly.
Some of the electrical and mechanical components require maintenance depending on application conditions. Periodic inspection and replacement are necessary to ensure proper long-term operation of Servomotors and Servo Drives. (Quotes from The Recommendation for
Periodic Maintenance of a General-purpose Inverter published by JEMA.)
The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotors and Servo Drives.
Recommended maintenance times are listed below for Servomotors and Servo Drives. Use these for reference in periodic maintenance.
Servomotor Life Expectancy
The life expectancy for units is listed below.
Bearings: 20,000 hours
Oil seal: 5,000 hours
Encoder: 30,000 hours
These values presume an ambient motor operating temperature of 40
°C, within the allowable axial load, rated operation (rated torque and rated rotation speed), and proper installation as described in this manual.
The bearings, oil seal, and encoder can be replaced for repair work.
The radial load during operation (rotation) on timing pulleys and other components contacting belts is twice or more the still load. Consult with the belt and pulley manufacturers and adjust designs and system settings so that the motor allowable axial load is not exceeded even during operation. If a motor is used under a shaft load exceeding the allowable limit, the motor shaft can break, and the bearings can burn out.
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-36
11-5 Periodic Maintenance
11
Servo Drive Life Expectancy
The life expectancy for units is listed below.
Aluminum electrolytic capacitors: 28,000 hours
(at an ambient drive operating temperature of 55 °C, constant output of rated torque, constant output of rated rotation speed, and installation as described in this manual)
Axial-flow fan: 10,000 to 30,000 hours (The limit depends on the operating conditions.)
Inrush current prevention relay: Approx. 20,000 operations (The limit depends on the operation conditions.)
When using the Servo Drive in continuous operation, use fans or air conditioners to maintain an ambient temperature below 40 °C.
We recommend that ambient temperature and the power supply ON time be reduced as much as possible to lengthen the service life of the drive.
The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature. Generally, an increase of 10 °C in the operating ambient temperature will reduce capacitor service life by 50%.
For example, when the ambient operating temperature is 25 °C, the life expectancy will be as follows:
Life Expectacy (at 25
°C) = Life Expectacy (at 55°C) × 2
= 224,000 hours
55 - 25
10
The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied. If the Servo Drive is not used for a long time, we recommend a periodic inspection and replacement schedule of 5 years.
If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of 5 years is recommended.
Upon request, OMRON will examine the Servo Drive and Servomotor and determine if a replacement is required.
11-37
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-5 Periodic Maintenance
Replacing the Absolute Encoder Battery
ABS
Replace the absolute encoder backup battery if it has been used for more than 3 years or if an absolute encoder system down error (Alarm No.40) has occurred.
Replacement Battery Model and Specifications
Item
Name
Model
Battery model
Battery voltage
Current capacity
Specifications
Absolute Encoder Backup Battery Unit
R88A-BAT01G
ER6V (Toshiba)
3.6 V
2,000 mA • h
Mounting the Backup Battery
Mounting the Battery Unit for the First Time
Connect the Absolute Encoder Backup Battery Unit to the motor, then set up the absolute
encoder. Refer to "Absolute Encoder Setup" (P.9-6).
After the Absolute Encoder Battery Unit is attached, it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery.
If you neglect to refresh the battery, battery warning will occur due to voltage delays in the battery.
Replacing the Battery Unit
If a battery warning occurs, the Absolute Encoder Backup Battery Unit must be replaced.
Replace the Battery Unit with the control power supply of the Servo Drive turned ON. If the
Battery Unit is replaced with the control power supply of the Servo Drive turned OFF, data held in the encoder will be lost.
The Battery Warning will occur after you replace the Absolute Encoder Backup Battery Unit.
Use one of the following methods to clear it.
Use the alarm reset input signal of CN1 control inputs.
Use the absolute encoder setting in the CX-Drive.
Note: If the absolute encoder is cleared using communications, all alarms and multi-rotation
data will be lost and the absolute encoder must be set up again. Refer to "Absolute
.
11
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
11-38
11-5 Periodic Maintenance
Battery Mounting Method
1. Prepare the replacement battery (R88A-BAT01G).
R88A-BAT01G
2. Remove the battery box cover.
Raise the tabs and remove the cover.
3. Put the battery into the battery box.
11
Insert the battery.
Plug in the connector.
4. Close the cover to the battery box.
Close the battery box cover by making sure the connector wires are not pinched.
11-39
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Appendix
This chapter provides connection examples using OMRON's PLC and Position
Controller, as well as a list of parameters.
A-1 Parameter List.............................................................. A-1
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A
A-1 Parameter List
A-1 Parameter List
Some parameters are enabled by turning the power supply OFF and then ON again. After changing these parameters, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again.
Do not change the parameters marked "Reserved".
See below for the data attributes.
A : Always enabled
B : Prohibited to change during motor rotation or commanding.
If it is changed during motor rotation or commanding, the reflection timing is unknown.
C : Enabled after a power reset, or after the CONFIG command is executed via
MECHATROLINK-II communications.
R : Enabled after a power reset.
It is not enabled by the CONFIG command via MECHATROLINK-II communications.
Basic Parameters
Parameter name
Explanation
000
Rotation
Direction
Switching
003
Realtime
Autotuning
Machine
Rigidity Setting
Set the relation between the command direction and the motor rotation direction.
0: A forward direction command sets the direction to CW as viewed from the shaft end.
1: A forward direction command sets the direction to CCW as viewed from the shaft end.
001
CONTROL mode Selection
Select the Servo Drive CONTROL mode.
0 to 5: Switch function
6: Full closing control
002
REALTIME
AUTOTUNING mode selection
Set the OPERATION mode for realtime autotuning.
0: Disabled
1: Emphasizes stability
2: Emphasizes positioning
3: If there is an unbalanced load on the vertical axis or the like.
4: When friction is large.
5: If there is an unbalanced load on the vertical axis or the like and friction is too large.
6: When the realtime autotuning is customized.
Set the machine rigidity for executing realtime autotuning.
004 Inertia Ratio
Set the load inertia as a percentage of the motor rotor inertia.
Default setting
Unit
1
0
1
11 /
13
*1
250
−
−
−
−
%
Setting range
Data attribute
0 to 1
0 to 6
0 to 6
0 to 31
0 to
10000
C
R
B
B
B
A-1
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Explanation
Default setting
Unit
Setting range
Data attribute
009
Electronic Gear
Ratio
Numerator
Set the electronic gear ratio.
If Pn009 = 0, the encoder resolution is set as the numerator.
010
Electronic Gear
Ratio
Denominator
Electronic gear ratio numerator (Pn009)
Electronic gear ratio denominator (Pn010)
1
1
−
−
0 to 2
1 to 2
30
30
C
C
013
014
No. 1 Torque
Limit
Error Counter
Overflow Level
Set the No. 1 limit value for the output torque of the motor.
500 %
Set the range of the error counter overflow level. Detection of error counter overflow level error is disabled if the set value is 0.
100000
Command unit
0 to 500
0 to 2
27
015
Operation
Switch when
Using Absolute
Encoder
Select the absolute encoder usage method.
0: Used as absolute encoder.
1: Used as an incremental encoder.
2: Used as absolute encoder.
(Multi-rotation counter overflows are ignored.)
016
Regeneration
Resistor
Selection
Select the Regeneration Resistor used.
0: Use the Built-in Resistor.
Triggering of regeneration overload protection (Alarm No.18) depends on the
Built-in Resistor (with approx. 1% duty).
1: Use an External Resistor.
The regeneration processing circuit operates and regeneration overload protection (Alarm No.18) is triggered when the operating rate of the
Regeneration Resistor exceeds 10%.
2: Use an External Resistor.
Regeneration overload protection (Alarm
No.18) does not operate.
3: No Regeneration Resistor
All regeneration power is processed with built-in capacitors.
017
External
Regeneration
Resistor Setting
Select the type of load ratio calculation for the External Regeneration Resistor.
0: Regeneration load ratio is 100% when operating rate of the External
Regeneration Resistor is 10%.
1 to 4: Reserved
1
0 /
3
*2
0
−
−
−
0 to 2
0 to 3
0 to 4
B
A
C
C
C
*1. It is set to 11 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 13 for other types of Servo Drives.
*2. It is set to 0 when the Servo Drive capacity is 100 V and 400 W or over, 200 V and 750 W or over, or 400 V.
It is set to 3 for other types of Servo Drives.
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-2
A-1 Parameter List
A
A-3
Gain Parameters
Parameter name Function and description
Default setting
Unit
Setting range
Data attribute
100
Position Loop
Gain 1
Set the position loop gain 1.
101
Speed Loop Gain
1
Set the speed loop gain 1.
102
Speed Loop Integral
Time Constant 1
Set the speed loop integration time constant
1.
103
Speed Feedback
Filter Time Constant 1
The speed feedback filter 1 can be set to one of 6 values.
104
Torque Command
Filter Time Constant 1
Set the time constant for the torque filter
1.
320/
480
0
*1
180/
270
*2
210/
310
*3
0.1/s
0.1 Hz 1 to 32767
0.1 ms
−
0 to 30000
1 to
10000
0 to 5
B
B
B
B
105
Position Loop
Gain 2
Set the position loop gain 2.
106
Speed Loop Gain
2
Set the speed loop gain 2.
107
Speed Loop Integration
Time Constant 2
Set the speed loop integration time constant
2.
84/
126
*4
380/
570
180/
270
*5
*6
0.01 ms
0.1/s
10000 0.1 ms
0 to 2500
0 to 30000
0.1 Hz 1 to 32767
1 to
10000
B
B
B
B
108
Speed Feedback
Filter Time Constant 2
The speed feedback filter 2 can be set to one of 6 values.
109
Torque Command
Filter Time Constant 2
110
Speed Feedforward Amount
Set the time constant for the torque filter
2.
Set the speed feed-forward amount.
111
Speed Feed-forward
Command Filter
Set the speed feed-forward filter time constant.
112
Torque Feedforward Amount
Set the torque feed-forward amount.
113
Torque Feed-forward
Command Filter
Set the torque feed-forward filter.
114
GAIN SWITCHING
INPUT
OPERATING mode Selection
Execute optimum tuning using the gain switching function.
0: Gain 1 (PI/P switching enabled)
1: Gain 1 and gain 2 switching available
0
84/
126
*7
300
50
0
0
1
−
0.01 ms
0.01 ms
0.01 ms
0 to 5
0 to 2500
0.1% 0 to 1000
0 to 6400
0.1% 0 to 1000
−
0 to 6400
0 to 1
B
B
B
B
B
B
B
*1. It is set to 320 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 480 for other types of Serve Drives.
*2. It is set to 180 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 270 for other types of Serve Drives
*3. It is set to 310 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 210 for other types of Serve Drive
*4. It is set to 126 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 84 for other types of Serve Drives
*5. It is set to 380 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 570 for other types of Serve Drives.
*6. It is set to 180 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 270 for other types of Serve Drives.
*7. It is set to 126 when the Servo Drive capacity is 200 V and 1 kW or over, or 400 V.
It is set to 84 for other types of Serve Drives.
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Function and description
115
SWITCHING mode in
Position Control
Select the gain switching condition for position control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via
MECHATROLINK-II communications
3: Torque command change amount
4: Always gain 1
5: Command speed
6: Amount of position error
7: When the position command is received.
8: Positioning completion signal (INP) OFF
9: Actual motor speed
10: Combination of position command input and rotation speed
116
Gain Switching
Delay Time in
Position Control
Set the delay time for switching from gain 2 to gain 1.
117
Gain Switching
Level in
Position Control
Set the gain switching level.
118
Gain Switching
Hysteresis in
Position Control
Set the hysteresis for gain switching.
119
Position Gain
Switching Time
Set the position gain switching time for gain switching.
120
SWITCHING mode in Speed
Control
Select the gain switching condition for speed control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via
MECHATROLINK-II communications
3: Torque command change amount
4: Speed command change amount
5: Command speed
121
Gain Switching
Delay Time in
Speed Control
Set the delay time for switching from gain 2 to gain 1.
122
Gain Switching
Level in Speed
Control
Set the gain switching level.
123
Gain Switching
Hysteresis in
Speed Control
Set the hysteresis for gain switching.
124
SWITCHING mode in Torque
Control
Select the gain switching condition for torque control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via
MECHATROLINK-II communications
3: Torque command change amount
Default setting
Unit
0
50
50
33
33
0
0
0
0
0
−
0.1 ms
−
−
0.1 ms
−
0.1 ms
−
−
−
Setting range
Data attribute
0 to 10
0 to
10000
0 to
20000
0 to
20000
0 to
10000
0 to 5
0 to
10000
0 to
20000
0 to
20000
0 to 3
B
B
B
B
B
B
B
B
B
B
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-4
A-1 Parameter List
Parameter name
Function and description
125
Gain Switching
Delay Time in
Torque Control
Set the delay time for switching from gain 2 to gain 1.
126
Gain Switching
Level in Torque
Control
Set the gain switching level.
127
Gain Switching
Hysteresis in
Torque Control
Set the hysteresis for gain switching.
Default setting
Unit
0
0
0
0.1 ms
−
−
Setting range
Data attribute
0 to
10000
0 to
20000
0 to
20000
B
B
B
A
A-5
Damping Control Parameters
Parameter name
Function and description
200
Adaptive Filter
Selection
Set the operation of the adaptive filter.
0: Disabled
1: One enabled. Frequency limited after adaptation.
2: Two enabled. Frequency limited after adaptation.
3: One enabled. Adaptation performed at all times.
4: Two enabled. Adaptation performed with
1 filter at all times.
201
Notch 1
Frequency
Setting
202
Notch 1 Width
Setting
203
Notch 1 Depth
Setting
204
Notch 2
Frequency
Setting
205
Notch 2 Width
Setting
206
Notch 2 Depth
Setting
Set the notch frequency of resonance suppression notch filter 1.
Set the notch width of the resonance suppression notch filter 1.
Set the notch depth of resonance suppression notch filter 1.
Set the notch frequency of resonance suppression notch filter 2.
207
208
209
Notch 3
Frequency
Setting
Notch 3 Width
Setting
Notch 3 Depth
Setting
Set the notch width of the resonance suppression notch filter 2.
Set the notch depth of resonance suppression notch filter 2.
Set the notch frequency of resonance suppression notch filter 3.
This is set automatically when an adaptive notch is enabled.
Set the notch width of the resonance suppression notch filter 3.
This is set automatically when an adaptive notch is enabled.
Set the notch depth of resonance suppression notch filter 3.
This is set automatically when an adaptive notch is enabled.
Default setting
0
5000
2
0
5000
2
0
5000
2
0
Unit
−
Hz
−
−
Hz
−
−
Hz
−
−
Setting range
Data attribute
0 to 4
50 to
5000
0 to 20
0 to 99
50 to
5,000
0 to 20
0 to 99
50 to
5000
0 to 20
0 to 99
B
B
B
B
B
B
B
B
B
B
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Function and description
210
211
Notch 4
Frequency
Setting
Notch 4 Width
Setting
Set the notch frequency of resonance suppression notch filter 4.
This is set automatically when an adaptive notch is enabled.
Set the notch width of the resonance suppression notch filter 4.
This is set automatically when an adaptive notch is enabled.
212
213
Damping Filter
Selection
214
Notch 4 Depth
Setting
Damping
Frequency 1
Set the notch depth of resonance suppression notch filter 4.
This is set automatically when an adaptive notch is enabled.
Select the damping filter switching method.
0:Damping filter 1 or 2 is enabled.
1: Reserved for manufacturer use
2: Reserved for manufacturer use
3: Switch by the position command direction.
• Forward direction: Damping filter 1 or 3 is enabled.
• Reserve direction: Damping filter 2 or 4 is enabled.
Set the damping frequency 1. The function is enabled if the set value is 10 (= 1 Hz) or greater.
215
Damping Filter
1 Setting
Finely adjust damping control function 1. If torque saturation occurs, lower this setting; to increase responsiveness, raise this setting.
216
217
Damping Filter
2 Setting
218
Damping
Frequency 2
Damping
Frequency 3
Set the damping frequency 2. The function is enabled if the set value is 10 (= 1 Hz) or greater.
Finely adjust damping control function 2. If torque saturation occurs, lower this setting; to increase responsiveness, raise this setting.
Set the damping frequency 3. The function is enabled if the set value is 10 (= 1 Hz) or greater.
219
Damping Filter
3 Setting
Finely adjust damping control function 3. If torque saturation occurs, lower this setting; to increase responsiveness, raise this setting.
220
221
Damping
Frequency 4
Damping Filter
4 Setting
Set the damping frequency 4. The function is enabled if the set value is 10 (= 1 Hz) or greater.
Finely adjust damping control function 4. If torque saturation occurs, lower this setting; to increase responsiveness, raise this setting.
222
Position
Command Filter
Time Constant
Set the time constant of the first-order lag filter for the position command.
Default setting
Unit
5000
2
0
0
0
0
0
0
0
0
0
0
0
Hz
−
−
−
0.1 Hz 0 to 2000
0.1 Hz 0 to 1000
0.1 Hz 0 to 2000
0.1 Hz 0 to 1000
0.1 Hz 0 to 2000
0.1 Hz 0 to 1000
0.1 Hz 0 to 2000
0.1 Hz 0 to 1000
0.1 ms
Setting range
50 to
5000
0 to 20
0 to 99
0 to 3
0 to
10000
Data attribute
B
B
B
B
B
B
B
B
B
B
B
B
B
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-6
A-1 Parameter List
A
A-7
Analog Control Parameters
Parameter name
Function and description
Default setting
Unit
Setting range
Data attribute
312
313
Soft Start
Acceleration
Time
Soft Start
Deceleration
Time
Set the acceleration processing acceleration time for speed commands.
Set the deceleration processing deceleration time for speed commands.
0
0 ms/Motor
Max. rotation speed ms/Motor
Max. rotation speed
0 to
10000
0 to
10000
B
B
314
S-curve
Acceleration/
Deceleration
Time Setting
Set the acceleration/deceleration processing S-curve time for speed commands.
317
Speed Limit
Selection
Select the torque command and speed limit value.
0: Limit the speed by the value set on the
Speed Limit Value Setting (Pn321).
1: Limit the speed by the speed limit value
(VLIM) via MECHATROLINK-II communications or by the value set by the
Speed Limit Value Setting (Pn321), whichever is smaller.
321
Speed Limit
Value Setting
Set the speed limit value.
323
External
Feedback Pulse
Type Selection
Select the external feedback pulse type.
0: 90
° phase difference output type
1: Serial communications type (incremental encoder specifications)
2: Serial communications type (absolute encoder specifications)
324
External
Feedback Pulse
Dividing
Numerator
Set the external feedback pulse dividing numerator.
325
External
Feedback Pulse
Dividing
Denominator
Set the external feedback pulse dividing denominator.
326
External
Feedback Pulse
Direction
Switching
Reverse the direction to count the external encoder feed back.
0: Count direction not reversed
1: Count direction reversed
327
External
Feedback Pulse
Phase-Z Setting
Set to enable or disable the Phase-Z disconnection detection when an external encoder of 90
° phase difference output type is used.
0: Phase-Z disconnection detection enabled
1: Phase-Z disconnection detection disabled
328
Internal/External
Feedback Pulse
Error Counter
Overflow Level
Set the threshold for feedback pulse deviation errors.
0
0
50
0
0
10000
0
0
16000 ms
− r/min
−
−
−
−
−
0 to 1000
0 to 1
0 to
20000
0 to 2
0 to 2
1 to 2
20
20
0 to 1
0 to 1
Command unit
1 to 2
27
B
B
B
R
R
R
R
R
C
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Function and description
329
Internal/External
Feedback Pulse
Error Counter
Reset
Clear to 0 the feedback pulse error value for each set rotation speed.
Default setting
Unit
0
Setting range
Rotation 0 to 100
Data attribute
C
Interface Monitor Setting Parameters
Parameter name
Function and description
400
Input Signal
Selection 1
401
Input Signal
Selection 2
402
Input Signal
Selection 3
403
Input Signal
Selection 4
404
Input Signal
Selection 5
405
Input Signal
Selection 6
406
Input Signal
Selection 7
407
Input Signal
Selection 8
Set the function and logic for the general-purpose input 1 (IN1).
Set the function and logic for the general-purpose input 2 (IN2).
Set the function and logic for the general-purpose input 3 (IN3).
Set the function and logic for the general-purpose input 4 (IN4).
Set the function and logic for the general-purpose input 5 (IN5).
Set the function and logic for the general-purpose input 6 (IN6).
Set the function and logic for the general-purpose input 7 (IN7).
Set the function and logic for the general-purpose input 8 (IN8).
410
411
Output Signal
Selection 1
Output Signal
Selection 2
Set the function assignment for the general-purpose output 1 (OUTM1).
Set the function assignment for the general-purpose output 2 (OUTM2).
416
Analog Monitor
1 Selection
Select the type for analog monitor 1.
0: Motor speed
1: Position command speed
2: Internal position command speed
3: Speed Control Command
4: Torque command
5: Command position error
6: Encoder Position Error
7: Full closing Error
8: Hybrid Error
9: P-N voltage
10: Regeneration load ratio
11: Motor load ratio
12: Forward direction torque limit
13: Reverse direction torque limit
14: Speed limit value
15: Inertia Ratio
16 to 18: Reserved
19: Encoder temperature
20: Servo Drive temperature
21: Encoder 1-rotation data
Default setting
00949494h
00818181h
00828282h
00222222h
002B2B2Bh
00212121h
00202020h
002E2E2Eh
00030303h
00020202h
0
Unit
−
−
−
−
−
−
−
−
−
−
Setting range
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
0 to
00FFFFFFh
Data attribute
C
C
C
C
C
C
C
C
C
C
*1
0 to 21 A
A
A-8
A
A-1 Parameter List
Parameter name
Function and description
Default setting
Unit
Setting range
Data attribute
417
Analog Monitor
1 Scale Setting
Set the output gain for analog monitor
1.
418
Analog Monitor
2 Selection
Select the type for analog monitor 2.
The set values for this parameter are the same as Analog Monitor 1 Type
(Pn416).
419
Analog Monitor
2 Scale Setting
Select the output gain for analog monitor 2.
421
Analog Monitor
Output Setting
Select the analog monitor output voltage method.
0: Output range from
−10 to 10 V
1: Output range from 0 to 10 V
2: Output range from 0 to 10 V (5 V as the center)
431
Positioning
Completion
Range 1
Set the allowed number of pulses for the positioning completion range.
432
Positioning
Completion
Condition
Selection
Set the judgment conditions for positioning completion output.
0: The Positioning completion output 1 becomes on when the positional error is lower than the value set on the
Pn431.
1: The Positioning completion output 1 becomes on when there is no position command, and the positional error is lower than the value set on the Pn431.
2: The Positioning completion output 1 becomes on when there is no position command, the zero-speed detection signal is on, and the positional error is lower than the value set on the Pn431.
3. The Positioning completion output 1 becomes on when there is no position command, and the positional error is lower than the value set on the Pn431. The ONstate is retained until the
Positioning Completion Hold Time
(Pn433) elapses. After that, it is turned off or kept to be on, depending on the positional error then.
433
Positioning
Completion
Hold Time
Set the positioning completion hold time.
434
Zero Speed
Detection
Set the output timing of the Zero speed detection output (ZSP) in rotation speed [r/min].
0
4
0
0
10
0
0
50
−
−
−
−
Command unit
−
1 ms
0 to
214748364
0 to 21
0 to
214748364
0 to 2
0 to 262144
0 to 3
0 to 30000 r/min 10 to 20000
*1. Refer to the description about the Pn416 in "8-5 Interface Monitor Setting Parameters" (P.8-30).
A
A
A
A
A
A
A
A
A-9
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Function and description
435
Speed
Conformity
Detection
Range
Set the detection range for the speed conformity output (VCMP). Set the difference between the speed command and the actual speed.
436
Rotation Speed for Motor
Rotation
Detection
Set the number of motor rotation for the
Motor rotation speed detection output
(TGON).
437
Brake Timing when Stopped
Set the operation time for the mechanical brake at stop.
438
Brake Timing during
Operation
Set the operation time for the mechanical brake during operation.
439
Brake Release
Speed Setting
Set the number of motor rotation to determine a mechanical brake output during rotation.
440
Warning Output
Selection 1
Select the warning type for warning output 1.
0: Output by all types of warnings.
1: Overload warning
2: Excessive regeneration warning
3: Battery warning
4: Fan warning
5: Encoder communications warning
6: Encoder overheating warning
7: Vibration warning
8: Life expectancy warning
9: External encoder error warning
10: External encoder communications error warning
11: Data setting warning
12: Command warning
13: MECHATROLINK-II communications warning
441
Warning Output
Selection 2
Select the warning type for warning output 2.
The relationships among the set values for this parameter are the same as for Warning
Output Selection 1 (Pn440).
442
Positioning
Completion
Range 2
Set the allowable number of pulses for the second positioning completion range.
Default setting
50
0
0
30
0
0
10
Unit
r/min
1000 r/min
1 ms
1 ms r/min
−
−
Command unit
Setting range
10 to
20000
10 to
20000
0 to
10000
0 to
10000
30 to
3000
0 to 13
0 to 13
0 to
262144
Data attribute
A
A
B
B
B
A
A
A
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-10
A-1 Parameter List
A
A-11
Expansion Parameters
Parameter name
Function and description
504
Drive
Prohibition
Input Selection
505
Stop Selection for Drive
Prohibition
Input
Set the operation to be performed upon forward/reverse direction drive prohibition input.
0: Enable the Forward and Reverse drive prohibition inputs.
1: Disable the Forward and Reverse drive prohibition inputs.
2: Enable the Forward and Reverse drive prohibition inputs.
Set the drive conditions during deceleration and after stopping, when the Forward or
Reverse Drive Prohibition Inputs are enabled.
0: The torque in the drive prohibit direction is disabled, and the dynamic brake is activated.
1: The torque in the drive prohibit direction is disabled, and free-run deceleration is performed.
2: The torque in the drive prohibit direction is disabled, and an emergency stop is performed.
506
Stop Selection with Servo OFF
Set the stop operation when the servo is turned OFF.
0, 4: During deceleration: Dynamic brake
After stopping: Dynamic brake
Error counter: Clear
1, 5: During deceleration: Free-run
After stopping: Dynamic brake
Error counter: Clear
2, 6: During deceleration: Dynamic brake
After stopping: Servo free
Error counter: Clear
3, 7: During deceleration: Free-run
After stopping: Servo free
Error counter: Clear
8: During deceleration: Emergency stop
After stopping: Dynamic brake
Error counter: Clear
9: During deceleration: Emergency stop
After stopping: Servo free
Error counter: Clear
507
Stop Selection with Main
Power Supply
OFF
Set the stop operation when the main power supply is turned OFF.
The settable values are the same as those on the Pn506.
508
Undervoltage
Alarm Selection
Select either to let the servo off or to stop the alarm when a main power alarm occurs.
0: Bring the Servo-OFF state in accordance with the Pn507 setting. Return to Servo on state by turning on the main power.
1: Main power supply undervoltage (Alarm
No.13.1) occurs. Stop the alarm.
509
Momentary
Hold Time
Set the main power supply alarm detection time.
Default setting
Unit
1
0
0
0
1
70
−
−
−
−
−
1 ms
Setting range
0 to 2
0 to 2
0 to 9
0 to 9
0 to 1
70 to 2000
Data attribute
C
C
B
B
B
C
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Function and description
Default setting
510
Stop Selection for Alarm
Detection
Select the stopping method at an alarm.
0: During deceleration: Dynamic brake
After stopping: Dynamic brake
1: During deceleration: Free-run
After stopping: Dynamic brake
2: During deceleration: Dynamic brake
After stopping: Servo free
3: During deceleration: Free-run
After stopping: Servo free
4: During deceleration due to emergency stop alarm: Emergency stop
During deceleration: Dynamic brake
After stopping: Dynamic brake
5: During Emergency stop alarm deceleration: Emergency stop
During deceleration: Free-run
After stopping: Dynamic brake
6: During Emergency stop alarm deceleration: Emergency stop
During deceleration: Dynamic brake
After stopping: Servo free
7: During Emergency stop alarm deceleration: Emergency stop
During deceleration: Free-run
After stopping: Servo free
511
Emergency
Stop Torque
Set the torque limit for emergency stops.
512
Overload
Detection Level
Setting
Set the overload detection level.
513
Overspeed
Detection Level
Setting
Set the overspeed error detection level.
514
Overrun Limit
Setting
515
Control Input
Signal Read
Setting
Set the motor over-travel distance for position commands.
Select the cycle to read the control input signals from the four levels.
0: 0.166 ms
1: 0.333 ms
2: 1 ms
3: 1.666 ms
520
Position Setting
Unit Selection
Select the setting units of Positioning
Completion Range 1 and 2 (Pn431 and
Pn442) and of the Error Counter Overflow
Level (Pn014).
0: Command unit
1: Encoder unit
521
Torque Limit
Selection
Select the method to set the forward and reverse torque limits, and the torque feed forward function during speed control.
522
No. 2 Torque
Limit
Set the No. 2 limit value for the motor output torque.
525
Forward
External Torque
Limit
Set the forward external toque limit when the torque limit switch input is given.
* For example, if you set 115 or higher, the resolution will be 115%.
0
0
0
0
10
0
0
1
500
500
Unit
−
%
% r/min
0.1
Rotation
−
−
−
%
%
Setting range
0 to 7
0 to 500
0 to 500
0 to
20000
*
Data attribute
0 to 1000 A
0 to 3
0 to 1
0 to 6
0 to 500
0 to 500
B
B
A
A
C
C
B
B
B
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-12
A
A-1 Parameter List
A
A-13
Parameter name
Function and description
526
Reverse
External Torque
Limit
Set the reverse external toque limit when the torque limit switch input is given.
531 Axis Number
Set the axis number for USB communications. Normally, do not change the set value.
Default setting
Unit
500
1
%
−
Setting range
0 to 500
0 to 127
Data attribute
B
C
Special Setting Parameters 1
Parameter name
Function and description
605
Gain 3 Effective
Time
Set effective time of gain 3 of three-step gain switching.
606
Gain 3 Ratio
Setting
607
Torque
Command
Value Offset
608
Forward
Direction
Torque Offset
609
Reverse
Direction
Torque Offset
Set gain 3 as a multiple of gain 1.
Set offset torque to add to torque command.
Set the value to add to a torque command for forward direction operation.
Set the value to add to a torque command for reverse direction operation.
610
Function
Expansion
Setting
Set the function expansion. The setting contents vary depending on the function.
611
Electric Current
Response
Setting
Make fine adjustment on electric current response with default setting as 100%.
614
Alarm Detection
Allowable Time
Setting
Set the allowable time until stopping when an emergency stop is actuated upon alarm detection.
615
Overspeed
Detection Level
Setting at
Emergency
Stop
During an emergency stop upon alarm detection, if the motor speed excess this set value, this is an overspeed 2 error.
618
Power Supply
ON Initialization
Time
Set initialization time after power supply ON to the standard 1.5 s plus some.
623
Disturbance
Torque
Compensation
Gain
Set the compensation gain for disturbance torque.
624
Disturbance
Observer Filter
Setting
Set the filter time constant for disturbance torque compensation.
Default setting
Unit
0
100
0
0
0
0
100
200
0
0
0
53
0.1 ms
%
%
%
%
−
% ms r/min
0.1 s
%
0.01 ms
Setting range
0 to
10000
50 to
1000
−100 to
100
−100 to
100
−100 to
100
0 to 63
50 to 100
0 to 1000
0 to
20000
0 to 100
−100 to
100
10 to
2500
Data attribute
B
B
B
B
B
B
B
B
A
R
B
B
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
Function and description
631
Realtime
Autotuning
Estimated
Speed
Selection
Set the load characteristics estimated speed when realtime autotuning is enabled.
0: Fixes estimated results at the time load estimation becomes stable.
1: Estimates in every minute from the load characteristic changes.
2: Estimates in every second from the load characteristic changes.
3: Estimates the optimum from the load characteristic changes.
632
REALTIME
AUTOTUNING
CUSTOMIZATI
ON mode
Setting
Set the CUSTOMIZATION mode detail for realtime autotuning.
634
Hybrid Vibration
Suppression
Gain
Set the hybrid vibration suppression gain during full closing control.
635
Hybrid Vibration
Suppression
Filter
Set the hybrid vibration suppression filter time constant during full closing control.
637
638
Vibration
Detection
Threshold
Warning Mask
Setting
Set the vibration detection threshold.
If torque vibration that exceeds this setting is detected, the vibration detection warning occurs.
Set the warning detection mask setting.If you set the corresponding bit to 1, the corresponding warning detection is disabled.
Default setting
Unit
1
0
0
10
0
4
−
−
0.1/s
0.01 ms
−
Setting range
0 to 3
−32,768 to 32767
0 to
30000
0 to 6400
0.1% 0 to 1000
−32768 to 32767
Data attribute
B
B
B
B
B
C
Special Setting Parameters 2
Parameter name
Function and description
700 Default Display
Select a data type to display on the 7segment LED indicator on the front panel.
0: Normal state
1: Mechanical angle
2: Electric angle
3: Cumulative count of MECHATROLINK-II communications errors
4 Rotary switch setting value
5: Cumulative count of encoder communications errors
6: Cumulative count of external encoder communications errors
7: Z-phase counter
8 or over: Unused
701
Power-ON
Address
Display
Duration Setting
Set the time to indicate the node address when the control power is turned on.
Default setting
Unit
0
0
−
Setting range
0 to
32767
100 ms 0 to 1000
Data attribute
A
R
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-14
A-1 Parameter List
Parameter name
Function and description
703
Torque Limit
Flag Output
Setting
704
Backlash
Compensation
Selection
705
Backlash
Compensation
Amount
Set the condition for torque limit output during torque control.
0: On by the torque limit value including the torque command value.
1: On by the torque limit value excluding the torque command value.
Select to enable or disable the backlash compensation during position control.
Set the compensation direction when the compensation is enabled.
0: Disable the backlash compensation.
1: Compensate the backlash at the first forward operation after a Servo ON.
2: Compensate the backlash at the first reverse operation after a Servo ON.
Set the backlash compensation amount during position control.
706
Backlash
Compensation
Time Constant
Set the time constant to apply a backlash compensation during position control.
710
MECHATROLI
NK-II
Communication
I/O Monitor
Setting
Select whether to reflect the inputs to the I/O monitor of MECHATROLINK-II communications, when either the forward or reverse drive prohibition input is assigned to the input signal and the Drive Prohibition
Input Selection (Pn504) is set to 1 (i.e.
Disable).
0: Disable the one on the I/O monitor of
MECHATROLINK-II communications as well.
1: Enable the one on the I/O monitor of
MECHATROLINK-II communications.
Default setting
Unit
0
0
0
0
0
−
−
Command unit
0.01 ms
−
Setting range
0 to 1
0 to 2
−32768 to 32767
0 to 6400
0 to 1
Data attribute
A
C
B
B
A
A
A-15
Special Setting Parameters 3
Parameter name
Function and description
Default setting
Unit
Setting range
Data attribute
800
Communications
Control
Controls the alarms and warnings over the
MECHATROLINK-II communications.
801 Soft Limit
Select whether to enable or disable the Soft
Limit Function.
0: Enable the soft limits on both directions.
1: Disable the forward soft limit, but enable the reverse soft limit.
2: Enable the forward soft limit, but disable the reverse soft limit.
3: Disable the soft limits on both directions.
803 Origin Range
Set the threshold for detecting the origin in absolute values.
Set the forward soft limit.
804
Forward
Software Limit
0
0
−
−
−32768 to 32767
0 to 3
10
Command unit
0 to 250
500000
Command unit
−1073741823 to
1073741823
C
A
A
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-1 Parameter List
Parameter name
806
Reverse
Software Limit
Function and description
Set the reverse soft limit.
Default setting
Unit
Setting range
Data attribute
−500000
Command unit
−1073741823 to
1073741823
A
808
Absolute
Encoder Origin
Offset
Set the offset volume between the encoder or external encoder position and the mechanical coordinate position, when an absolute encoder or an absolute external encoder is used.
Set the acceleration for positioning.
811
814
Linear
Acceleration
Constant
Linear
Deceleration
Constant
Set the deceleration for positioning.
0
100
100
Command unit
*1
*1
−1073741823 to
1073741823
-32768 to
32767
(0 to
65535)
-32768 to
32767
(0 to
65535)
818
Position
Command FIR
Filter Time
Constant
Set the time constant of FIR filter for the position command.
820
Final Distance for External
Input
Positioning
Sets the distance to travel after the latch signal input position is detected during the external input positioning.
822
823
824
Origin Return
Mode Settings
Origin Return
Approach
Speed 1
Origin Return
Approach
Speed 2
Set the direction for origin return.
0: Positive direction
1: Negative direction
Set the operating speed for origin returns, from when the origin proximity signal turns on to when it turns off and the latch signal is detected.
Set the operating speed for origin returns, from when the latch signal is detected to when the motor stops at the position after travelling the distance set by Final Distance for Origin Return (Pn825).
825
836
Final Distance for Origin
Return
Option Monitor
Selection 1
Set the distance from the position where the latch signal is entered to the origin during origin returns.
The Monitor Selection Field of
MECHATROLINK-II communications displays the monitoring data that is set on this parameter.
837
Option Monitor
Selection 2
The Monitor Selection Field of
MECHATROLINK-II communications displays the monitoring data that is set on this parameter.
*1. 10000 command units / s
2
*2. 100 command units / s
0
100
0
50
5
0.1ms
Command unit
−
*2
*2
0 to
10000
−1073741823 to
1073741823
0 to 1
1 to
32767
1 to
32767
100
Command unit
−1073741823 to
1073741823
0
0
−
−
−32768 to 32767
−32768 to 32767
C
B
B
B
B
B
B
B
B
A
A
A
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
A-16
Index
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
I
I
1
Index
Numerics
1,000-r/min motor
Model list.................................................................
Rotation Speed Characteristics ...........................
Servo Drives ........................................................
2,000-r/min motor
Model list.................................................................
Rotation Speed Characteristics ...........................
Servo Drives ........................................................
3,000-r/min motor
Model list.................................................................
Rotation Speed Characteristics ...........................
Servo Drives ........................................................
7-Segment LED Indicator ............................................
A
Absolute encoder
Backup Battery ....................................................
Battery Cables Model List....................................
Battery replacement...........................................
Operation Switch (Pn015).......................................
Origin Offset (Pn808)...........................................
Setup ......................................................................
Specifications.......................................................
Accessories ..................................................................
Adaptive Filter.........................................................
Adaptive Filter Selection (Pn200) .............................
Alarm Clear Attribute Output (ALM-ATB) .................
Alarm Detection Allowable Time Setting (Pn614).....
Alarm List..................................................................
Alarm Output (/ALM).................................................
Analog Monitor .........................................................
Analog Monitor 1 Scale Setting (Pn417) ..................
Analog Monitor 1 Selection (Pn416).........................
Analog Monitor 2 Scale Setting (Pn419) ..................
Analog Monitor 2 Selection (Pn418).........................
Analog Monitor Cable .....................................
Analog Monitor Output Selection (Pn421) ................
Applicable Standards................................................
Axis Number (Pn531) ...............................................
B
Backlash Compensation...........................................
Backlash Compensation Amount (Pn705)................
Backlash Compensation Selection (Pn704) .............
Backlash Compensation Time Constant (Pn706).....
Backup Battery Inputs (BAT) ....................................
Brake cable
Connector Specifications .....................................
Brake Interlock..........................................................
Brake Interlock Output (BKIR) ..................................
Brake Power Supply .................................................
Brake Release Speed Setting (Pn439).....................
Brake Timing during Operation (Pn438)...................
Brake Timing when Stopped (Pn437).......................
C
Clamp Core ..............................................................
Communications Control (Pn800) ............................
Connector Model list.................................................
Connector-terminal block
Cables..................................................................
Model list..............................................................
Connector-Terminal Block Conversion Unit .............
Contactor ..................................................................
Control Cables..........................................................
Control Circuit Connector Specifications (CNC).......
Control I/O Connector Specifications .......................
Control I/O signal
Connections and External Signal Processing......
Connectors ..........................................................
Control input list ...................................................
Control output list.................................................
Pin Arrangement..................................................
Control Input Circuits ................................................
Control Input Signal Read Setting (Pn515) ..............
CONTROL mode Selection (Pn001) ...........................
Control Output Circuits .............................................
Control Output Sequence .........................................
Control Panel Structure ............................................
D
Damping Control.....................................................
Damping Filter 1 Setting (Pn215) .............................
Damping Filter 2 Setting (Pn217) .............................
Damping Filter 3 Setting (Pn219) .............................
Damping Filter 4 Setting (Pn221) .............................
Damping Filter Selection (Pn213).............................
Damping Frequency 1 (Pn214) ................................
Damping Frequency 2 (Pn216) ................................
Damping Frequency 3 (Pn218) ................................
Damping Frequency 4 (Pn220) ................................
Decelerator
Installation Conditions.............................................
Default Display (Pn700)............................................
Dimensions of Mounting Brackets
(L-Brackets for Rack Mounting)................................
Disturbance Observer Filter Setting (Pn624)............
Disturbance Observer Function..............................
Disturbance Torque Compensation Gain (Pn623) ...
Drive Prohibition Input Selection (Pn504).................
E
EC Directives............................................................
EDM Output Circuit...................................................
Electric Current Response Setting (Pn611)..............
Electronic Gear Function ..........................................
Electronic Gear Ratio Denominator (Pn010) ...............
Electronic Gear Ratio Numerator (Pn009)...................
Emergency Stop Input (STOP).................................
Emergency Stop Operation at Alarms ....................
Emergency Stop Torque (Pn511).............................
Encoder
Connector Specifications (CN2) ..........................
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Index
Specifications.......................................................
Encoder cable
Connector specifications......................................
Flexible cable
Model list.........................................................
Specifications..................................................
Noise Resistance.................................................
Error Counter Overflow Level (Pn014) ........................
Error Diagnosis Using the Alarm Displays..............
Error Diagnosis Using the Operation Status...........
Error Processing.......................................................
Example of Connection ............................................
External Encoder
Connector ............................................................
Connector Specifications (CN4) ..........................
Example of Connection........................................
Input Signals List .................................................
External Feedback Pulse
Direction Switching (Pn326) ................................
Dividing Denominator (Pn325).............................
Dividing Numerator (Pn324) ................................
Phase-Z Setting (Pn327) .....................................
Type Selection (Pn323) .......................................
External Latch Input Signals (EX1, EX2 and EX3).......
External Regeneration Resistor................................
Combining............................................................
Connecting...........................................................
Dimensions ..........................................................
Model list..............................................................
Specifications.......................................................
External Regeneration Resistor Connector
Specifications (CNC) ................................................
External Regeneration Resistor Connector
Specifications (CND) ................................................
External Regeneration Resistor Setting (Pn017).........
External Torque Limit Input (NCL)............................
F
Feed-forward Function ...........................................
Final Distance for External Input Positioning (Pn820)........
Final Distance for Origin Return (Pn825) .................
Forward Direction Torque Offset (Pn608) ................
Forward Drive Prohibition Function .............................
Forward Drive Prohibition Input (POT) .....................
Forward External Torque Limit (Pn525) ...................
Forward External Torque Limit Input (PCL)..............
Forward Software Limit (Pn804)...............................
Friction Torque Compensation Function ................
Full Closing Control .....................................................
FULL CLOSING CONTROL Mode Adjustment ......
Function Expansion Setting (Pn610) ........................
G
Gain 3 Effective Time (Pn605) .................................
Gain 3 Ratio Setting (Pn606)....................................
Gain Adjustment .......................................................
Gain Switching 3 Function........................................
Gain Switching Function...........................................
Gain Switching in Position Control
Delay Time (Pn116).............................................
Hysteresis (Pn118) ..............................................
Level (Pn117) ......................................................
GAIN SWITCHING INPUT OPERATING mode Selection
(Pn114).....................................................................
General input ............................................................
General-purpose Output (OUTM1 and OUTM2) ......
H
Harmonic Current Measures ....................................
Hybrid Vibration Suppression Filter (Pn635) ............
Hybrid Vibration Suppression Function ..................
Hybrid Vibration Suppression Gain (Pn634).............
I
Improving Control I/O Signal Noise Resistance .......
Incremental Encoder Specifications .........................
Inertia Ratio (Pn004) ...................................................
Input Signal Selection 1 (Pn400) ..............................
Input Signal Selection 2 (Pn401) ..............................
Input Signal Selection 3 (Pn402) ..............................
Input Signal Selection 4 (Pn403) ..............................
Input Signal Selection 5 (Pn404) ..............................
Input Signal Selection 6 (Pn405) ..............................
Input Signal Selection 7 (Pn406) ..............................