Omron SmartStep 2 R7D-BP, R88D-GP08H servo system, SmartStep 2 R88M-G servo motor USER’S MANUAL
The SmartStep 2 R7D-BP, SmartStep 2 R88D-GP08H and SmartStep 2 R88M-G are compact AC servo drives and motors for use in low-capacity positioning systems. The SmartStep 2 series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments. A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation. The vibration control function of the SmartStep 2 series realizes stable stopping performance in a mechanism that vibrates because of the low rigidity of the load.
advertisement
Cat. No. I561-E2-01
SmartStep 2 servo system
Model:
R7D-BP_ servo drive
R88D-GP08H_ servo drive (750 W)
R88M-G_ servo motor
USER’S MANUAL
Introduction
Introduction
Thank you for choosing the SMARTSTEP 2 Series. This User’s Manual describes installation/wiring methods and parameter setting procedures required for the operation of the SMARTSTEP 2 Series as well as troubleshooting and inspection methods.
Intended Readers
This manual is intended for the following personnel.
Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as follows:
Personnel in charge of introducing FA equipment
Personnel in charge of designing FA systems
Personnel in charge of managing FA systems and facilities
NOTICE
This manual contains information necessary to ensure safe and proper use of the SMARTSTEP 2
Series and its peripheral devices. Please read this manual thoroughly and understand its contents before using the products.
Please keep this manual handy for future reference.
Make sure this User’s Manual is delivered to the actual end user of the products.
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Read and Understand this Manual
Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL
DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE
PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR
STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other reasons.
It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.
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PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON
Warranty and Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
Precautions for Safe Use
Precautions for Safe Use
To ensure safe and proper use of the SMARTSTEP 2 Series and its peripheral devices, read the “Precautions for Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety information, and precautions before using the products.
Make sure this User’s Manual is delivered to the actual end users of the products.
Please keep this manual close at hand for future reference.
Explanation of Signal Words
The precautions indicated here provide important information for safety. Be sure to heed the information provided with the precautions.
The following signal words are used to indicate and classify precautions in this manual.
WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
Additionally, there may be severe property damage.
Caution
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.
Failure to heed the precautions classified as “Caution” may also lead to serious results. Strictly heed these precautions.
Safety Precautions
This manual may include illustrations of the product with protective covers or shields removed in order to show the components of the product in detail. Make sure that these protective covers and shields are put in place as specified before using the product.
Consult your OMRON representative when using the product after a long period of storage.
WARNING
Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100
or less.
Not doing so may result in electric shock.
Do not touch the inside of the Servo Drive.
Doing so may result in electric shock.
When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) at the same time. Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment damage even if the main circuit power supply is turned OFF externally, e.g., with an emergency stop.
Do not remove the front cover, terminal covers, cables, or optional items while the power is being supplied.
Doing so may result in electric shock.
5
Precautions for Safe Use
Installation, operation, maintenance, or inspection must be performed by authorized personnel only.
Not doing so may result in electric shock or injury.
Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply.
Doing so may result in electric shock.
Do not damage, pull on, put excessive stress on, or put heavy objects on the cables.
Doing so may result in electric shock, stopping product operation, or burning.
Do not touch the rotating parts of the Servomotor during operation.
Doing so may result in injury.
Do not modify the product.
Doing so may result in injury or damage to the product.
Provide a stopping mechanism on the machine side to ensure safety.
*The holding brake is not designed as a stopping mechanism for safety purposes.
Not doing so may result in injury.
Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately.
Not doing so may result in injury.
Do not come close to the machine immediately after resetting momentary power interruption to avoid danger due to an unexpected restart.
Doing so may result in injury.
Take precautions to secure safety in case of an unexpected restart.
Confirm safety after an earthquake has occurred.
Not doing so may result in electric shock, injury, or fire.
Do not use external force to drive the Servomotor.
Doing so may result in fire.
6
Precautions for Safe Use
WARNING
Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Doing so may result in fire.
Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other nonflammable materials.
Not doing so may result in fire.
Do not turn ON/OFF the main power supply of the Servo Drive repeatedly at frequent intervals.
Doing so may result in product failure.
Caution
Use the Servomotors and Servo Drives in a combination as specified in the manual.
Not doing so may result in fire or damage to the products.
Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product.
Locations subject to direct sunlight.
Locations subject to ambient temperature exceeding the specified level.
Locations subject to relative humidity exceeding the specified level.
Locations subject to condensation due to temperature fluctuations.
Locations subject to corrosive or flammable gases.
Locations subject to dust (especially iron dust) or salt.
Locations subject to exposure to water, oil, or chemicals.
Locations subject to shock or vibration.
Do not touch the Servo Drive radiator, Regeneration Resistor, or Servomotor while the power is being supplied or for some time after the power is turned OFF.
Doing so may result in burn injuries.
Storage and Transportation Precautions
Caution
Do not hold the product by the cables or motor shaft while transporting it.
Doing so may result in injury or malfunction.
Do not overly pile the products. (Follow the instructions on the product package.)
Doing so may result in injury or malfunction.
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Precautions for Safe Use
Installation and Wiring Precautions
Caution
Do not step on or place a heavy object on the product.
Doing so may result in injury.
Do not cover the inlet/outlet ports and do not let any foreign objects enter the product.
Doing so may result in fire.
Be sure to install the product in the correct direction.
Not doing so may result in malfunction.
Keep the specified distance between the Servo Drive and the control panel or with other devices.
Not doing so may result in fire or malfunction.
Do not apply a strong impact on the Servomotor shaft or Servo Drive.
Doing so may result in malfunction.
Be sure to wire correctly and securely.
Not doing so may result in motor runaway, injury, or malfunction.
Be sure that all the mounting screws, terminal block screws, and cable connector screws are tightened securely.
Not doing so may result in malfunction.
Use crimp terminals for wiring.
Do not connect bare stranded wires directly to the protective ground terminal.
Doing so may result in fire.
Always use the power supply voltage specified in the User’s Manual.
Not doing so may result in malfunction or burning.
Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Use particular caution if the product is used in a place where a stable power supply cannot be provided.
Not doing so may result in equipment damage.
Install breakers and take other safety measures against short-circuiting of external wiring.
Not doing so may result in fire.
Take sufficient shielding measures when using the product in the following locations.
Not doing so may result in damage to the product.
Locations subject to static electricity or other forms of noise.
Locations subject to strong electromagnetic fields and magnetic fields.
Locations subject to possible exposure to radioactivity.
Locations close to power lines.
Connect an emergency stop shutoff relay in series with the brake control relay.
Not doing so may result in injury or product failure.
Precautions for Safe Use
Operation and Adjustment Precautions
Caution
Confirm that no adverse effects will occur in the system before performing the test operation.
Not doing so may result in equipment damage.
Check that the newly set parameters function properly before the actual operation.
Not doing so may result in equipment damage.
Do not make any extreme adjustments or setting changes.
Doing so may result in injury.
Check for the proper operation of the Servomotor separately from the mechanical system before connecting it to the machine.
Not doing so may cause injury.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.
Not doing so may result in injury.
Do not use the built-in brake of the Servomotor for ordinary braking.
Doing so may result in malfunction.
Do not operate the Servomotor connected to a load that exceeds the applicable load inertia.
Doing so may result in malfunction.
Maintenance and Inspection Precautions
Caution
Resume operation only after transferring to the new Unit the contents of the data required for operation restart.
Not doing so may result in equipment damage.
Do not dismantle or repair the product.
Doing so may result in electric shock or injury.
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Precautions for Safe Use
Warning Label Position
Warning labels are located on the product as shown in the following illustration.
Be sure to follow the instructions given there.
PWR ALM
C
N
3
C
N
1
C
N
B
C
N
2
C
N
A
(Example of R7D-BP01H)
Warning Label Contents
Warning label
Disposing of the Product
Dispose of the product as industrial waste.
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Items to Check When Unpacking
Items to Check When Unpacking
Check the following items after removing the product from the package.
Has the correct product been delivered?
Has the product been damaged in shipping?
Accessories Provided with Product
Safety Precautions document
1
No connectors or mounting screws are provided. They have to be prepared by the user.
Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact your local sales representative or OMRON sales office.
Understanding Model Numbers
Servo Drive Models
The model number provides information such as the Servo Drive type, the applicable
Servomotor capacity, and the power supply voltage.
R 7D-BP 01 H
SMARTSTEP 2
Servo Drive 50 - 400 W
Drive Type
P: Pulse-string input type
Applicable Servomotor
Capacity
A5: 50 W
01: 100 W
02: 200 W
04: 400 W
Power Supply Voltage
L: 100 VAC
H: Single/Three-phase 200 VAC
HH: Single-phase 200 VAC
R 88D-GP08H
SMARTSTEP 2
Servo Drive 750 W
*1
Drive Type
P: Pulse-string input type
Applicable Servomotor
Capacity
08: 750 W
Power Supply Voltage
H: 230 VAC
*1: For the SmartStep 2 750W servo drive specifications, dimensions and operation please refer to the Appendix-2 at the end of this manual.
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Items to Check When Unpacking
Servomotor Models
The model number provides information such as the Servomotor type, Servomotor capacity, rated rotation speed, and options.
R 88 M-GP 10030 H-BOS2
G-Series Servomotor
Motor Type
None: Cylinder type
P: Flat type
Servomotor Capacity
050: 50 W
100: 100 W
200: 200 W
400: 400 W
750: 750 W
*1
Rated Rotation Speed
30: 3000 r/min
Power Supply Voltage
H: 200 VAC
L: 100 VAC
Options
None: Straight shaft
B: With brake
O: With oil seal
S2: With key and tap
*1: For the SmartStep 2 750W servo motor specifications and dimensions please refer to the
Appendix-2 at the end of this manual.
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About this Manual
About this Manual
This manual consists of the following chapters. Refer to this table and choose the required chapters of the manual.
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Features and
System
Configuration
Standard Models and Dimensions
Specifications
System Design
Operating
Functions
Operation
Adjustment
Functions
Troubleshooting
Appendix-1
Connection
Examples
Appendix-2
SMARTSTEP 2
750 W Model
Overview
Describes the features and names of parts of the product as well as the EC Directives and the UL standards.
Provides the model numbers, external and mounted dimensions for Servo Drives, Servomotors and peripheral devices.
Provides the general specifications, performance specifications, connector specifications, and I/O circuit specifications for Servo
Drives and the general specifications and performance specifications for Servomotors, as well as specifications for accessories such as encoders.
Describes the installation conditions for Servo Drives, Servomotors, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the External Regeneration Resistor.
Describes the electronic gear function and other operating functions as well as the parameter setting procedure.
Describes operating procedures and how to use the Parameter
Unit.
Describes realtime autotuning function, manual tuning and other procedures for gain adjustment.
Describes items to check for troubleshooting, error diagnoses using alarm displays and the countermeasures, error diagnoses based on the operation status and the countermeasures, and periodic maintenance.
Provides examples of connection with OMRON PLCs and Position
Controllers.
Provides the specifications and operation of SMARTSTEP 2
750 W Model.
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CONTENTS
Introduction ..................................................................................
Precautions for Safe Use .............................................................
Items to Check When Unpacking ................................................
About this Manual ........................................................................
Chapter 1 Features and System Configuration
Chapter 2 Standard Models and Dimensions
2-2 External and Mounted Dimensions ......................................................... 2-10
3-3 Cable and Connector Specifications ....................................................... 3-26
3-4 Servo Relay Units and Cable Specifications ........................................... 3-51
3-6 External Regeneration Resistors Specifications ..................................... 3-77
4-3 Wiring Conforming to EMC Directives..................................................... 4-13
4-4 Regenerative Energy Absorption ............................................................ 4-28
5-3 Forward and Reverse Drive Prohibit ....................................................... 5-7
14
CONTENTS
Chapter 7 Adjustment Functions
7-4 Disabling the Automatic Gain Adjustment Function.................................7-13
8-4 Overload Characteristics (Electronic Thermal Function) .........................8-16
10-1 Features and System Configuration ........................................................10-1
10-2 Standard Models and Dimensions...........................................................10-6
15
Chapter 1
Features and System
Configuration
1-1 Overview ............................................................. 1-1
Overview of the SMARTSTEP 2 Series ................................... 1-1
Features of the SMARTSTEP 2 Series.................................... 1-1
1-2 System Configuration ........................................ 1-2
1-3 Names of Parts and Functions ......................... 1-3
Servo Drive Part Names .......................................................... 1-3
Servo Drive Functions.............................................................. 1-4
1-4 System Block Diagrams .................................... 1-5
1-5 Applicable Standards ........................................ 1-6
EC Directives ........................................................................... 1-6
UL Standards ........................................................................... 1-6
1
1-1 Overview
1Features and System Configuration
1-1 Overview
Overview of the SMARTSTEP 2 Series
The SMARTSTEP 2 Series is a series of pulse-string input type Servo Drives for position controlling and it has been designed to function for low-capacity positioning systems. In spite of the compact size, the SMARTSTEP 2 Series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments. A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation. The vibration control function of the SMARTSTEP 2 Series realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load.
Features of the SMARTSTEP 2 Series
The SMARTSTEP 2 Series has the following features.
Compact AC Servo Drives
Compared to the SMARTSTEP A Series, the SMARTSTEP 2 Series can reduce the installation space by 48% and the installation size by 39% in terms of volume. The AC Servo Drives of the
SMARTSTEP 2 Series are equipped with newly developed functions for applications requiring more precise positioning.
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/
Deceleration
The vibration control function can suppress vibration of low-rigidity mechanisms or devices whose ends tend to vibrate.
High-speed Positioning via Resonance Suppression Control
The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance.
Compatible with Command Pulse of 90
Phase Difference Inputs
In addition to conventional CW/CCW inputs (2 pulse inputs) and SIGN/PULS inputs (1 pulse input), the SMARTSTEP 2 supports 90
phase difference inputs. This makes it possible to input encoder output signals directly into the Servo Drive for simplified synchronization control.
A Wide Range of Pulse Setting Functions
A wide range of pulse setting functions, such as the command pulse multiplying, electronic gear, and encoder dividing, enable you to perform pulse settings suitable for your device or system.
Simplified Speed Control with Internal Speed Settings
Four internal speed settings allow the speed to be easily switched by using external signals.
Encoder Dividing Output Function
The number of motor encoder pulses output by the Servo Drive can be freely set in the range of 1 to 2,500 pulses per rotation. A parameter can also be set to change the phase.
1-1
1-2 System Configuration
SYSMAC PLC + Position Control
Unit with pulse-string output
1-2 System Configuration
1
SYSMAC
CJ1/CS1/C-Series
Programmable Controller
Position Control Unit
CJ1 W-NC113/213/413
CJ1 W-NC133/233/433
CS1 W-NC113/213/413
CS1 W-NC133/233/433
C200H W-NC113/213/413
Pulse string
SYSMAC PLC with pulse output functions
SYSMAC CJ1M
SMARTSTEP 2 Servo Drive
R7D-BP
@
SYSMAC CP1H/CP1L
G-Series Servomotor
R88M-G
@/-GP@
1-2
1-3 Names of Parts and Functions
1
1-3 Names of Parts and Functions
Servo Drive Part Names
Power supply LED indicator
FG terminals for power supply and
Servomotor power
PWR ALM
Alarm LED indicator (ALM)
C
N
3
Communications connector (CN3)
C
N
1
Control I/O connector (CN1)
Encoder input connector (CN2)
C
N
B
C
N
2
Motor connector (CNB)
C
N
A
Main circuit connector (CNA)
1-3
1-3 Names of Parts and Functions
Servo Drive Functions
Power Supply LED Indicator (PWR)
LED Indicator
Lit green
Flashing orange at
1-second intervals
Lit red
Status
Main power is ON.
A warning has occurred (i.e., an overload, excessive regenerative energy, or fan speed error).
An alarm has occurred.
Alarm LED Indicator (ALM)
This indicator is lit when an alarm has occurred. The number of orange and red flashes indicate the
alarm code. For details on the alarm code, refer to Alarm List on page 8-4.
Example:
When an overload alarm (alarm code 16) has occurred and the Unit has stopped the indicator will flash 1 time in orange and 6 times in red.
Orange: 10s digit, Red: 1s digit
1 s 0.5 s 0.5 s 0.5 s 0.5 s 0.5 s
Orange
1 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
2 s later
1
1-4
1-4 System Block Diagrams
1
1-4 System Block Diagrams
P
B1
L1
L2
L3
Voltage detection
P
VCC1
OH
G1
U
V
W
GR
FAN
15 V
VCC1
VCC2
G1
+VCC
G2
5 V
Fan alarm
G
N
P
SW power supply
Main circuit control
Relay drive
Overcurrent detection
Regenerative control
Gate drive
MPU & ASIC
Position, speed, and torque processor
Current detection
Display circuit
Control power supply
E
Control I/O photo isolation
Input signals
1.CW/CCW
2.ECRST
3.RUN 4.RESET
5.POT 6.NOT
7.GSEL/GESEL
Output signals
1
.
Phases A, B, Z
2.INP
3.BKIR
4.ALM
5.WARN
CN1 control I/O connector
Photo isolation
RS-232C
I/F
RS-
485
I/F
+VCC
G
+S
−S
CN3 connector
1-5
1-5 Applicable Standards
1-5 Applicable Standards
EC Directives
EC Directive
Low Voltage
Directive
EMC
Directive
Product
AC Servo Drive
AC Servomotor
AC Servo Drive and
AC Servomotor
Applicable standards
EN 50178
IEC 60034-1
EN 55011 class A group1
EN 61000-6-2
Comments
Safety requirements for electronic equipment for measurement, control, or laboratory use
Rotating electric machines
Radio disturbance limits and measurement methods of industrial, scientific, and medical radio-frequency equipment
Electromagnetic compatibility
(EMC): Immunity standard for industrial environments
Note To conform to the EMC Directives, the Servomotor and Servo Drive must be installed under
the conditions described in 4-3 Wiring Conforming to EMC Directives.
UL Standards
Standard
UL Standard
Product
AC Servo Drive
Applicable standards File number
UL 508C E179149
Comments
Power conversion equipment
1
1-6
Chapter 2
Standard Models and
Dimensions
2-1 Standard Models ................................................ 2-1
Servo Drives ............................................................................ 2-1
Servomotors............................................................................. 2-1
Parameter Unit ......................................................................... 2-2
Servo Drive-Servomotor Combinations ................................... 2-2
Accessories and Cables .......................................................... 2-4
2-2 External and Mounted Dimensions ................ 2-10
Servo Drives .......................................................................... 2-10
Servomotors........................................................................... 2-12
Parameter Unit Dimensions ................................................... 2-15
External Regeneration Resistor Dimensions ......................... 2-16
Reactor Dimensions............................................................... 2-17
DIN Rail Mounting Unit Dimensions....................................... 2-18
2-1 Standard Models
2Standard Models and Dimensions
2-1 Standard Models
2
Servo Drives
Specifications
Single-phase 100 VAC
Single-phase/three-phase
200 VAC
Single-phase 200 VAC
Three-phase 200 VAC
50 W
100 W
200 W
50 W
100 W
400 W
200 W
200 W
Model
R7D-BPA5L
R7D-BP01L
R7D-BP02L
R7D-BP01H
R7D-BP04H
R7D-BP02HH
R7D-BP02H
Servomotors
3,000-r/min Servomotors
Specifications
100/200 V
100 V
200 V
100/200 V
100 V
200 V
50 W
100 W
200 W
100 W
200 W
400 W
50 W
100 W
200 W
100 W
200 W
400 W
Note Models with oil seals are also available.
Straight shaft
R88M-G05030H
R88M-G10030L
R88M-G20030L
R88M-G10030H
R88M-G20030H
R88M-G40030H
R88M-G05030H-B
R88M-G10030L-B
R88M-G20030L-B
R88M-G10030H-B
R88M-G20030H-B
R88M-G40030H-B
Model
Straight shaft with key and tap
R88M-G05030H-S2
R88M-G10030L-S2
R88M-G20030L-S2
R88M-G10030H-S2
R88M-G20030H-S2
R88M-G40030H-S2
R88M-G05030H-BS2
R88M-G10030L-BS2
R88M-G20030L-BS2
R88M-G10030H-BS2
R88M-G20030H-BS2
R88M-G40030H-BS2
2-1
2-1 Standard Models
3,000-r/min Flat Servomotors
Specifications
100 V
200 V
100 V
200 V
100W
200W
100W
200W
400W
100W
200W
100W
200W
400W
Straight shaft
R88M-GP10030L
R88M-GP20030L
R88M-GP10030H
R88M-GP20030H
R88M-GP40030H
R88M-GP10030L-B
R88M-GP20030L-B
R88M-GP10030H-B
R88M-GP20030H-B
R88M-GP40030H-B
Note Models with oil seals are also available.
Model
Straight shaft with key and tap
R88M-GP10030L-S2
R88M-GP20030L-S2
R88M-GP10030H-S2
R88M-GP20030H-S2
R88M-GP40030H-S2
R88M-GP10030L-BS2
R88M-GP20030L-BS2
R88M-GP10030H-BS2
R88M-GP20030H-BS2
R88M-GP40030H-BS2
Parameter Unit
Parameter Unit
Specifications Model
R88A-PR02G
2
Servo Drive-Servomotor Combinations
Only the Servomotor and Servo Drive combinations listed here can be used. Do not use other combinations.
Single-phase 100-VAC Combinations
3,000-r/min Servomotors
Rated output
50 W
100 W
200 W
Servo Drive
Pulse-string input
R7D-BPA5L
R7D-BP01L
R7D-BP02L
Without brake
R88M-G05030H@
R88M-G10030L-
@
R88M-G20030L@
Servomotor
With brake
R88M-G05030H-B @
R88M-G10030L-B
@
R88M-G20030L-B @
3,000-r/min Flat Servomotors
Rated output
100 W
200 W
Servo Drive
Pulse-string input
R7D-BP01L
R7D-BP02L
Without brake
R88M-GP10030L-
@
R88M-GP20030L@
Servomotor
With brake
R88M-GP10030L-B
@
R88M-GP20030L-B @
2-2
2
2-1 Standard Models
Single-phase 200-VAC Combinations
3,000-r/min Servomotors
Rated output
Servo Drive
Pulse-string input
50 W
100 W
200 W
400 W
R7D-BP01H
R7D-BP02HH
R7D-BP04H
Without brake
R88M-G05030H@
R88M-G10030H@
R88M-G20030H@
R88M-G40030H@
Servomotor
With brake
R88M-G05030H-B @
R88M-G10030H-B @
R88M-G20030H-B @
R88M-G40030H-B @
3,000-r/min Flat Servomotors
Rated output
100 W
200 W
400 W
Servo Drive
Pulse-string input
R7D-BP01H
R7D-BP02HH
R7D-BP04H
Without brake
R88M-GP10030H@
R88M-GP20030H@
R88M-GP40030H@
Servomotor
With brake
R88M-GP10030H-B @
R88M-GP20030H-B @
R88M-GP40030H-B @
Three-phase 200-VAC Combinations
3,000-r/min Servomotors
Rated output
Servo Drive
Pulse-string input
50 W
100 W
200 W
400 W
R7D-BP01H
R7D-BP02H
R7D-BP04H
Without brake
R88M-G05030H@
R88M-G10030H@
R88M-G20030H@
R88M-G40030H@
Servomotor
With brake
R88M-G05030H-B @
R88M-G10030H-B @
R88M-G20030H-B @
R88M-G40030H-B @
3,000-r/min Flat Servomotors
Rated output
100 W
200 W
400 W
Servo Drive
Pulse-string input
R7D-BP01H
R7D-BP02H
R7D-BP04H
Without brake
R88M-GP10030H@
R88M-GP20030H@
R88M-GP40030H@
Servomotor
With brake
R88M-GP10030H-B @
R88M-GP20030H-B @
R88M-GP40030H-B @
Note 1. The standard models have a straight shaft.
Note 2. A model with a key and tap is indicated by adding “J” to the end of the model number (the suffix shown in the box).
Example: R88G-HPG11A05100BJ
2-3
2-1 Standard Models
Accessories and Cables
Encoder Cables (for CN2)
Specifications
Global Cables (Non-Flexible Cables)
Global Cables (Flexible Cables)
European Cables (Flexible and Shielded Cables)
Servomotor Power Cables (for CNB)
Specifications
Global Cables (Non-Flexible Cables)
Global Cables (Flexible Cables)
European Cables (Flexible and Shielded Cables)
Model
3 m R88A-CRGB003C
5 m R88A-CRGB005C
10 m R88A-CRGB010C
15 m R88A-CRGB015C
20 m R88A-CRGB020C
3 m R88A-CRGB003CR
5 m R88A-CRGB005CR
10 m R88A-CRGB010CR
15 m R88A-CRGB015CR
20 m R88A-CRGB020CR
1.5 m R88A-CRGB001-5CR-E
3 m R88A-CRGB003CR-E
5 m R88A-CRGB005CR-E
10 m R88A-CRGB010CR-E
15 m R88A-CRGB015CR-E
20 m R88A-CRGB020CR-E
Model
3 m R7A-CAB003S
5 m R7A-CAB005S
10 m R7A-CAB010S
15 m R7A-CAB015S
20 m R7A-CAB020S
3 m R7A-CAB003SR
5 m R7A-CAB005SR
10 m R7A-CAB010SR
15 m R7A-CAB015SR
20 m R7A-CAB020SR
1.5 m R7A-CAB001-5SR-E
3 m R7A-CAB003SR-E
5 m R7A-CAB005SR-E
10 m R7A-CAB010SR-E
15 m R7A-CAB015SR-E
20 m R7A-CAB020SR-E
2
2-4
2
2-1 Standard Models
Brake Cables
Specifications
Global Cables (Non-Flexible Cables)
Global Cables (Flexible Cables)
European Cables (Flexible Cables)
Model
3 m R88A-CAGA003B
5 m R88A-CAGA005B
10 m R88A-CAGA010B
15 m R88A-CAGA015B
20 m R88A-CAGA020B
3 m R88A-CAGA003BR
5 m R88A-CAGA005BR
10 m R88A-CAGA010BR
15 m R88A-CAGA015BR
20 m R88A-CAGA020BR
1.5 m R88A-CAGA001-5BR-E
3 m R88A-CAGA003BR-E
5 m R88A-CAGA005BR-E
10 m R88A-CAGA010BR-E
15 m R88A-CAGA015BR-E
20 m R88A-CAGA020BR-E
2-5
2-1 Standard Models
Power Supply Cables
Specifications
Power Supply Input Cable for Single-Phase Power (connectors attached)
Power Supply Input Cable for Three-Phase Power (connectors attached)
External Regeneration Resistor Connection Cable
Model
2 m R7A-CLB002S2
2 m R7A-CLB002S3
2 m R7A-CLB002RG
Personal Computer Monitor Cable
Specifications
Personal Computer Monitor Cable
Connectors
Main Circuit Connector (CNA)
Specifications
Servomotor Connector (CNB)
Control I/O Connector (CN1)
Encoder Input Connector (CN2)
Servomotor Connector for Encoder Cable
Servomotor Connector for Servomotor Power Cable
Brake Cable Connector
Model
2 m R88A-CCG002P2
Model
R7A-CNB01P
R7A-CNB01A
R88A-CNW01C
R88A-CNW01R
R88A-CNG02R
R88A-CNG01A
R88A-CNG01B
2
2-6
2
2-1 Standard Models
Servo Relay Units (for CN1)
Servo Relay Units
Specifications
For CJ1W-NC133/-NC113
For CS1W-NC133/-NC113
For C200HW-NC113
For CJ1W-NC233/-NC433/-NC213/-NC413
For CS1W-NC233/-NC433/-NC213/-NC413
For C200HW-NC213/-NC413
For CJ1M-CPU21
For CJ1M-CPU22
For CJ1M-CPU23
For FQM1-MMP22
For CQM1H-PLB21
For CQM1-CPU43-V1
Servo Relay Unit Cables for Servo Drives
Servo Drive
Cables
Specifications
For Position Control Unit/CQM1
(XW2B@J6-@B)
For CJ1M
(XW2B-20J6-8A/XW2B-40J6-9A)
For FQM1-MMP22
(XW2B-80J7-12A)
Model
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-8A
XW2B-40J6-9A
(for 2 axes)
XW2B-80J7-12A
XW2B-20J6-3B
Model
1 m XW2Z-100J-B29
2 m XW2Z-200J-B29
1 m XW2Z-100J-B32
2 m XW2Z-200J-B32
1 m XW2Z-100J-B30
2 m XW2Z-200J-B30
2-7
2-1 Standard Models
Servo Relay Unit Cables for Position Control Units
Specifications
Position Control
Unit Cables
For CJ1W-NC133
For CJ1W-NC233/-NC433
For CS1W-NC133
For CS1W-NC233/-NC433
For CJ1W-NC113
For CJ1W-NC213/-NC413
For CS1W-NC113
For C200HW-NC113
For CS1W-NC213/-NC413
For C200HW-NC213/-NC413
For CJ1M-CPU21
For CJ1M-CPU22
For CJ1M-CPU23
For FQM1-MMP22
For CQM1H-PLB21
For CQM1-CPU43-V1
General-purpose
I/O Cables
Special I/O Cables
Model
0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
0.5 m XW2Z-050J-A19
1 m XW2Z-100J-A19
0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
0.5 m XW2Z-050J-A11
1 m XW2Z-100J-A11
0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
0.5 m XW2Z-050J-A15
1 m XW2Z-100J-A15
0.5 m XW2Z-050J-A6
1 m XW2Z-100J-A6
0.5 m XW2Z-050J-A7
1 m XW2Z-100J-A7
0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
0.5 m XW2Z-050J-A28
1 m XW2Z-100J-A28
2 m XW2Z-200J-A28
0.5 m XW2Z-050J-A30
1 m XW2Z-100J-A30
2 m XW2Z-200J-A30
0.5 m XW2Z-050J-A3
1 m XW2Z-100J-A3
Control Cables (for CN1)
Specifications
Connector-Terminal Block Cables
General-purpose Control Cables
Model
1 m XW2Z-100J-B28
2 m XW2Z-200J-B28
1 m R7A-CPB001S
2 m R7A-CPB002S
2
2-8
2
2-1 Standard Models
Connector-Terminal Block Conversion Units
Specifications
M3 screws type
M3.5 screws type
M3 screws type
External Regeneration Resistors
Specifications
Regeneration capacity: 70 W, 47
Regeneration capacity: 20 W, 100
Regeneration capacity: 20 W, 50
Reactors
Specifications
Single-phase 100 V
Single-phase 200 V
Three-phase 200 V
Applicable Servo Drive
R7D-BPA5L
R7D-BP01L
R7D-BP02L
R7D-BP01H
R7D-BP02HH
R7D-BP04H
R7D-BP01H
R7D-BP02H
R7D-BP04H
DIN Rail Mounting Unit
Specifications
DIN Rail Mounting Unit
Model
XW2B-34G4
XW2B-34G5
XW2D-34G6
Model
R88A-RR22047S
R88A-RR080100S
R88A-RR08050S
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-DL2004
3G3AX-DL2004
3G3AX-DL2007
3G3AX-AL2025
3G3AX-AL2025
3G3AX-AL2025
Model
R7A-DIN01B
2-9
2-2 External and Mounted Dimensions
2-2 External and Mounted Dimensions
Servo Drives
R7D-BPA5L/-BP01L/-BP01H/-BP02H (50 W/100 W/200 W)
35
5
15
20 a.
5.2 di
PWR ALM
C
N
3
C
N
1
C
N
B
C
N
2
C
N
A
5.1
5.2
70 105
Mounting Hole
Dimensions
Two, M4
15 20
2
2-10
2
2-2 External and Mounted Dimensions
R7D-BP02L/-BP02HH/-BP04H (200 W/400 W)
40
5
15
20
5.2 di a.
PWR ALM
C
N
3
C
N
1
C
N
B
C
N
2
C
N
A
5.1
5.2
70 105
Mounting Hole
Dimensions
Two, M4
15 25
2-11
2-2 External and Mounted Dimensions
Servomotors
3,000-r/min 50-/100-W Servomotors
R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)
/-G05030H-B(S2)/-G10030L-B(S2)/-G10030H-B(S2)
Encoder
Connector
LL
Brake Connector
Motor Connector
6
25
3
40
× 40
(Dimensions of shaft end with key and tap)
12.5
3, height: 9
LN
Two, 4.3 dia.
46 di a.
M3
(depth: 6)
Model
R88M-G05030H
R88M-G05030H-B
*1
R88M-G10030 @
*2
R88M-G10030
@-B
*1, *2
LL LN
(mm) (mm)
72 26.5
102
92
122
26.5
46.5
46.5
*1. This is the model number for the Servomotor with a brake.
*2. Put “L” or “H” in the place indicated by the box.
Note The standard models have a straight shaft. A model with a key and tap is indicated by adding “S2” to the end of the model number.
2
2-12
2
2-2 External and Mounted Dimensions
3,000-r/min 200-/400-W Servomotors
R88M-G20030L(-S2)/-G20030H(-S2)/-G40030H(-S2)
/-G20030L-B(S2)/-G20030H-B(S2)/-G40030H-B(S2)
Encoder connector
LL
Brake connector
Servomotor connector
(Dimensions of shaft end with key and tap)
QK b
6.5
30
3
M (depth: L)
Four,
4.5 dia.
60
×
60
70 dia.
Model
R88M-G20030 @
*1
R88M-G20030
@-B
*1,*2
R88M-G40030H
R88M-G40030H-B
*2
LL
(mm)
79.5
116
99
135.5
S
QK
Dimensions for models with key and tap
*3 b h t1 M L
(mm) (mm)
11 18
11
14
14
18
22.5
22.5
4h9
4h9
5h9
5h9
(mm) (mm)
4
4
5
5
2.5
2.5
3
3
M4
M4
M5
M5
(mm)
8
8
10
10
*1. Put “L” or “H” in the place indicated by the box.
*2 .This is the model number for the Servomotor with a brake.
*3. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Note The standard models have a straight shaft.
2-13
2-2 External and Mounted Dimensions
3,000-r/min 100-/200-/400-W Flat Servomotors
R88M-GP10030L(-S2)/-GP10030H(-S2)/-GP20030L(-S2)/-GP20030H(-S2)
/-GP40030H(-S2)
R88M-GP10030L-B(S2)/-GP10030H-B(S2)/-GP20030L-B(S2)/-GP20030H-B(S2)
/-GP40030H-B(S2)
Encoder connector
Servomotor connector
LL LR
Break connector
2
(7)
(7)
G F
C
× C
Four,
Z-dia.
(Dimensions of shaft end with key and tap)
QK b
D1 di a.
M (depth: L)
Model
R88M-GP10030 @
*1
R88M-GP10030 @-B
*1, *2
R88M-GP20030 @
*1
R88M-GP20030 @-B
*1, *2
R88M-GP40030H
R88M-GP40030H-B
*2
LL
(mm)
60.5
84.5
67.5
100
82.5
115
LR
(mm)
25
25
30
30
30
30
S D1 D2 C
(mm) (mm) (mm) (mm)
8 70 50 60
8
11
11
14
14
70
90
90
90
90
50
70
70
70
70
60
80
80
80
80
F G
(mm) (mm)
3 7
3
5
5
5
5
7
8
8
8
8
Model
R88M-GP10030 @
*1
R88M-GP10030
@-B
*1,*2
R88M-GP20030 @
*1
R88M-GP20030 @-B
*1,*2
R88M-GP40030H
R88M-GP40030H-B
*2
KL1
(mm)
43
43
53
53
53
53
Z
(mm)
4.5
4.5
5.5
5.5
5.5
5.5
QK
(mm)
Dimensions for models with key and tap
*3 b h t1
(mm) (mm)
M L
(mm)
12.5
12.5
18
18
22.5
22.5
3h9
3h9
4h9
4h9
5h9
5h9
3
3
4
4
5
5
1.8
1.8
2.5
2.5
3.0
3.0
M3
M3
M4
M4
M5
M5
6
10
10
6
8
8
*1. Put “L” or “H” in the place indicated by the box.
*2. This is the model number for the Servomotor with a brake.
*3. A model with a key and tap is indicated by adding “S2” to the end of the model number.
Note The standard models have a straight shaft.
2-14
2
2-2 External and Mounted Dimensions
Parameter Unit Dimensions
R88A-PR02G
(62)
(24)
M3, depth: 5
(15)
(1500)
Mini DIN 8-pin
MD connector
Note The standard models have a straight shaft. A model with a key and tap is indicated by adding “J” to the end of the model number (the suffix shown in the box).
2-15
2-2 External and Mounted Dimensions
External Regeneration Resistor Dimensions
External Regeneration Resistor
R88A-RR08050S/R88A-RR080100S
Thermal switch output
2
20 t1.2
6
500
R88A-RR22047S
Thermal switch output
104
122
130
20 t1.2
6
500 200
220
230
2-16
2
2-2 External and Mounted Dimensions
Reactor Dimensions
3G3AX-DL2002/-DL2004
Ground terminal
(M4)
56
66
Two, M4
Four,
5.2
×
8
L
3G3AX-DL2007
Model
3G3AX-DL2002
3G3AX-DL2004
Dimension
(mm)
L
85
95
Ground terminal
(M4)
56
66
Two, M4
Four, 5.2
×
8
105
2-17
2-2 External and Mounted Dimensions
3G3AX-AL2025
Ground terminal (M5)
Six, M4 terminal screws
Ro R So S To T
60 40
Connections
Ro R So S To T
50
±
1
130
Four,
6 dia.
67
±
1
82
2
DIN Rail Mounting Unit Dimensions
R7A-DIN01B
20
35
Two, M4 mounting screws*1
(6)
Mounting panel
Rail stopper
*2
(6)
*1. Two mounting screws (M4, length: 8) are included.
*2. When the rail stopper is extended, this dimension becomes 10 mm.
2-18
Chapter 3
Specifications
3-1 Servo Drive Specifications ................................ 3-1
General Specifications ............................................................. 3-1
Characteristics ......................................................................... 3-2
Main Circuit and Servomotor Connector Specifications
(CNA and CNB) ....................................................................... 3-3
Control I/O Connector Specifications (CN1) ............................ 3-4
Control Input Circuits ............................................................... 3-8
Control Input Details ................................................................ 3-9
Control Output Circuits........................................................... 3-12
Control Output Details............................................................ 3-13
Encoder Connector Specifications (CN2) .............................. 3-15
3-2 Servomotor Specifications.............................. 3-16
General Specifications ........................................................... 3-16
Characteristics ....................................................................... 3-17
Encoder Specifications .......................................................... 3-25
3-3 Cable and Connector Specifications.............. 3-26
Encoder Cable Specifications ................................................ 3-26
Servomotor Power Cable Specifications................................ 3-29
Power Cable Specifications ................................................... 3-35
Communications Cable Specifications................................... 3-38
Connector Specifications ....................................................... 3-39
Control Cable Specifications .................................................. 3-43
3-4 Servo Relay Units and Cable
Specifications ................................................... 3-51
Servo Relay Units Specifications ........................................... 3-51
Servo Drive-Servo Relay Unit Cable Specifications .............. 3-61
Position Control Unit-Servo Relay Unit Cable
Specifications ......................................................................... 3-64
3-5 Parameter Unit Specifications ........................ 3-76
3-6 External Regeneration Resistors
Specifications ................................................... 3-77
3-7 Reactor Specifications .................................... 3-78
3-8 EMC Filter Specifications ................................ 3-79
3-1 Servo Drive Specifications
3Specifications
3-1 Servo Drive Specifications
Select the Servo Drive matching the Servomotor to be used.
3
General Specifications
Item
Ambient operating temperature
Ambient operating humidity
Ambient storage temperature
Ambient storage humidity
Storage and operating atmosphere
Vibration resistance
Impact resistance
Insulation resistance
Dielectric strength
Altitude
Protective structure
International standards
EMC
Directive
EC
Directives
Low
Voltage
Directive
UL standards cUL standards
0 to 55
Specifications
C, 90% RH max. (with no condensation)
20 to 65C, 90% RH max. (with no condensation)
No corrosive gasses, no dust, no iron dust, no exposure to moisture or cutting oil
10 to 60 Hz; acceleration: 5.9 m/s
2
(0.6 G) max.
Acceleration of 19.6 m/s
2
max. 3 times each in X, Y, and Z directions.
Between power supply/power line terminals and frame ground:
0.5 M
. min. (at 500 VDC)
Between power supply/power line terminals and frame ground:
1,500 VAC for 1 min at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
1,000 m above sea level max. (860 hp min.)
Built into panel (IP10).
EN 55011 class A group 1
EN 61000-6-2
EN 50178
UL 508C cUL C22.2 No.14
Note 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note 2. Depending on the operating conditions, some Servo Drive parts will require maintenance.
Refer to Servo Drive Service Life on page 8-18 in the User’s Manual for details.
Note 3. The service life of the Servo Drive is 50,000 hours at an average ambient temperature of
40
C at 80% of the rated torque (excluding axial-flow fan).
WARNING
Never perform withstand-voltage or other megameter tests on the Servo
Drive.
3-1
3-1 Servo Drive Specifications
Characteristics
Control Specifications
Item
Continuous output current
(rms)
Momentary maximum output current (rms)
Power supply capacity
Input power supply voltage
(main circuit)
Input power supply current
(rms) (main circuit)
Heat generated (main circuit)
Control method
Inverter method
PWM frequency
Maximum response frequency (command pulses)
Weight
Applicable motor capacity
R7D-
BPA5L
1.0 A
Servo Drive model
R7D-
BP01L
1.6 A
R7D-
BP02L
2.5 A
3.3 A
0.16 KVA
5.1 A
0.25 KVA
7.5 A
0.42 KVA
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
1.4 A
12 W
2.2 A
16 W
All-digital servo
IGBT-driven PWM method
12 kHz
3.7 A
22 W
6 kHz
Line driver: 500 kpps, Open collector: 200 kpps
50 W
0.35 kg
100 W
0.42 kg
200 W
Item
R7D-
BP01H
Servo Drive model
R7D-
BP02HH
R7D-
BP02H
R7D-
BP04H
Continuous output current
(rms)
Momentary maximum output current (rms)
1.0 A
3.3 A
1.6 A
4.9 A
1.6 A
4.9 A
2.5 A
7.8 A
Power supply capacity
Input power supply voltage
(main circuit)
Input power supply current
(rms) (main circuit)
Heat generated (main circuit)
Control method
Inverter method
PWM frequency
Maximum response frequency (command pulses)
Weight
Applicable motor capacity
0.27 KVA
(0.30 KVA)
*1
0.7 A
(1.5 A)
*1
14 W
0.35 KVA 0.42 KVA
Both single-phase and three-phase
200 to 240 VAC (170 to 264 V), 50/60 Hz
0.69 KVA
(0.77 KVA)
*1
Line driver: 500 kpps, Open collector: 200 kpps
0.35 kg
1.6 A
16 W
All-digital servo
IGBT-driven PWM method
12 kHz
100 W 200 W
*1. Values inside parentheses ( ) are for single-phase 200-V use.
1.1 A
20 W
200 W
0.42 kg
1.8 A
(3.5 A)
*1
26W
6 kHz
400 W
3-2
3
3
3-1 Servo Drive Specifications
Main Circuit and Servomotor Connector Specifications (CNA and CNB)
R7A-CNB01P Main Circuit Connector (CNA) Specifications
5 10
1 6
CNA Connector
PWR ALM
C
N
3
C
N
B
C
N
2
C
N
A
C
N
1
Main Circuit Connector (CNA) Pin Arrangement
Name Symbol Pin No.
L1
L2
10
8
L3
P
6
5
Main circuit power supply input terminals
Function
For three-phase 200 V, connect to L1 (pin 10), L2
(pin 8), and L3 (pin 6).
For single-phase 100/200 V, connect to L1 (pin 10) and L3 (pin 6).
B1
FG
3
1
External Regeneration
Resistor connection terminals
Frame ground
If regenerative energy is high, connect an External
Regeneration Resistor.
This is the ground terminal. Ground to 100
or less.
R7A-CNB01A Servomotor Connector (CNB) Specifications
PWR ALM
C
N
3
C
N
B
C
N
2
C
N
A
C
N
1
3
1
6
4
CNB Connector
Servomotor Connector (CNB) Pin Arrangement
Name Symbol
U
V
W
Pin No.
1
4
6
3
Servomotor connection terminals
Frame ground
Color
Red
White
Blue
Green/
Yellow
Function
These are the output terminals to the Servomotor. Be careful to wire them correctly.
Connect the Servomotor FG terminals.
3-3
3-1 Servo Drive Specifications
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing
Reverse pulse
Forward pulse
+CW
22
−CW 23
220
Ω
+CCW
24
−CCW 25
220
Ω
12 to 24 VDC
24VIN 1
RUN Command
Input
RUN
2
Alarm Reset
Input
RESET 3
4.7 k
Ω
4.7 k
Ω
9 /ALM
Alarm Output
10
11
INP
Positioning
Completed
Output
BKIR
Brake Interlock
12 WARN
Warning Output
13
OGND
21
14
Z
Z-phase Output
(open collector output)
GND
Maximum operating voltage: 30 VDC
Maximum Output
Current: 50 mA DC
4.7 k
Ω
Deviation Counter
Reset Input
ECRST 4
4.7 k
Ω
Gain Switch
Input
GSEL 5
Electronic Gear
Switch Input
GESEL 6
Reverse Drive
Prohibit Input
NOT 7
4.7 k
Ω
4.7 k
Ω
15
16
+A
−A
Encoder A-phase
Output
18
17
+B
−B
Encoder B-phase
Output
19
20
+Z
−Z
Encoder Z-phase
Output
Line driver output
Conforms to
EIA RS-422A
(Load resistance:
220
Ω min.)
4.7 k
Ω
Forward Drive
Prohibit Input
POT 8
Shell, 26 FG
Frame ground
3
3-4
3
3-1 Servo Drive Specifications
Control I/O Signals
Control Inputs (CN1)
Pin
No.
Signal name
Name Function/Interface
1
2
3
4
5
6
7
8
+24VIN
RUN
RESET
ECRST/
VSEL2
GSEL/
VZERO/
TLSEL
GESEL/
VSEL1
NOT
POT
DC power supply input for control
RUN Command
Input
Power supply input terminal (12 to 24 VDC) for sequence input (pin 1).
ON: Servo ON (Starts power to Servomotor.)
Alarm Reset Input
Deviation Counter
Reset Input or
Internally Set Speed
Selection 2 Input
Gain Switch Input,
Zero Speed
Designation Input, or Torque Limit
Switch Input
Electronic Gear
Switch Input or
Internally Set Speed
Selection 1 Input
Reverse Drive
Prohibit Input
Forward Drive
Prohibit Input
ON: Servo alarm status is reset.
*1
Must be ON for 120 ms min.
Deviation Counter Reset Input in Position Control Mode
(when Pn02 is set to 0 or 2).
ON: Pulse commands prohibited and deviation counter cleared. Must be ON for at least 2 ms.
Internally set speed selection 2 in Internal Speed Control
Mode (when Pn02 is set to 1).
ON: Internally Set Speed Selection 2 Input.
Gain Switch Input in Position Control Mode (when Pn02 is set to 0 or 2) when Zero Speed Designation/Torque Limit
Switch (Pn06) is set to 0 or 1.
Zero speed designation input in Internal Speed Control
Mode (when Pn02 is set to 1).
OFF: Speed command is zero.
Input can also be disabled by the Zero Speed Designation/
Torque Limit Switch (Pn06) setting: Enabled: Pn06 = 1,
Disabled: Pn06 = 0
Torque limit selection in both Position Control Mode and
Internal Speed Control Mode when Zero Speed Designation/Torque Limit Switch (Pn06) is set to 2.
OFF: Torque limit 1 enabled. (Pn70, 5E, 63)
ON: Torque limit 2 enabled. (Pn71, 72, 73)
Electronic Gear Switch Input in Position Control Mode
(when Pn02 is set to 0 or 2).
*2
OFF: Electronic Gear Ratio Numerator 1 (Pn46)
ON: Electronic Gear Ratio Numerator 2 (Pn47)
Internally set speed selection 1 in Internal Speed Control
Mode (when Pn02 is set to 1).
ON: Internally set speed selection 1 is input.
Reverse rotation overtravel input.
OFF: Prohibited, ON: Permitted
Forward rotation overtravel input.
OFF: Prohibited, ON: Permitted
*1. Some alarms cannot be cleared using this input. For details, refer to 8-2 Alarm Table.
*2. Do not input command pulses for 10 ms before or after switching the electronic gear.
3-5
3-1 Servo Drive Specifications
Pin
No.
22
23
24
25
Signal name
+CW/
PULS/FA
CW/
PULS/FA
+CCW/
SIGN/FB
CCW/
SIGN/FB
Name Function/Interface
Reverse Pulses
Input, Feed Pulses
Input, or 90
Phase
Difference Pulses
(Phase A)
Input terminals for position command pulses.
Line-driver input:
Maximum response frequency: 500 kpps
Open-collector input:
Maximum response frequency: 200 kpps
Forward Pulses,
Direction Signal, or
90
Phase
Difference Pulses
(Phase B)
Any of the following can be selected by using the Pn42 setting: forward and reverse pulses (CW/CCW); feed pulse and direction signal (PULS/SIGN); 90
phase difference (phase A/B) signals (FA/FB).
Control Outputs (CN1)
Pin
No.
Signal name Name Function/Interface
9
10
11
12
13
14
15
16
17
18
19
20
/ALM
INP/TGON
BKIR
WARN
OGND
GND
+A
A
B
+B
+Z
Z
Alarm Output
Positioning
Completed
Output or
Servomotor
Rotation Speed
Detection
Output
Brake Interlock
Output
Warning Output
Output Ground
Common
Ground
Common
When the Servo Drive generates an alarm, the output turns
OFF.
*1
Positioning completed output in Position Control Mode
(when Pn02 is set to 0 or 2).
ON: The residual pulses for the deviation counter are within the setting for Positioning Completion Range (Pn60).
Motor rotation detection output in Internal Speed Control
Mode (when Pn02 is set to 1).
ON: The number of Servomotor rotations exceeds the value set for Servomotor Rotation Detection Speed (Pn62).
Outputs the holding brake timing signals. Release the holding brake when this signal is ON.
The signal selected in the Warning Output Selection (Pn09) is output.
Ground common for sequence outputs (pins 9, 10, 11, and
12).
Common for Encoder output and phase-Z output (pin 21).
Encoder
Phase-A Output
These signals output encoder pulses according to the
Encoder Dividing Ratio Setting (Pn44).
Encoder
Phase-B Output
Encoder
Phase-Z Output
This is the line-driver output (equivalent to RS-422).
21 Z Phase-Z Output
Outputs the phase Z for the Encoder (1 pulse/rotation).
This is the open-collector output.
*1. This is OFF for approximately 2 seconds after turning ON the power.
Note An open-collector output interface is used for sequence outputs (maximum operating voltage: 30 VDC; maximum output current: 50 mA).
3
3-6
3
3-1 Servo Drive Specifications
Control I/O Signal (CN1) Pin Arrangement
2
4
6
8
10
12
RUN
ECRST/
VSEL2
GESEL/
VSEL1
POT
INP/
TGON
WARN
RUN
Command
Input
Deviation
Counter Reset/
Internally Set
Speed
Selection 2
Electronic
Gear Switch/
Internally Set
Speed
Selection 1
Forward Drive
Prohibit Input
Positioning
Completed/
Servomotor
Rotation Speed
Detection
Warning
Output
1
3
+24VIN
RESET
5
GSEL/
VZERO/
TLSEL
7
9
11
13
NOT
/ALM
BKIR
OGND
12 to 24 VDC power supply input for control
15
Alarm Reset
Input
17
Gain Switch/
Zero Speed
Designation/
Torque Limit
Switch
Reverse
Drive Prohibit
19
21
+A
−B
+Z
Z
Alarm Output
23
−CW/
−PULS/
−FA
Brake
Interlock
Output
25
−CCW/
−SIGN/
−FB
Output
Ground
Common
14 GND
Encoder
Phase-A +
Output
16
−A
Encoder
Phase-B
−
Output
18 +B
Encoder
Phase-Z +
Output
20
−Z
Phase-Z
Output
−
−
−
Reverse Pulses/
Feed Pulses/
Phase-A
22
−
Forward Pulses/
− Forward Pulse/
Reverse Pulse/
−
Phase-B
24
26
+CW/
+PULS/
+FA
+CCW/
+SIGN/
+FB
FG
Ground
Common
Encoder
Phase-A
−
Output
Encoder
Phase-B +
Output
Encoder
Phase-Z
−
Output
+ Reverse Pulses/
+ Feed Pulses/
+ Phase-A
+ Forward Pulses/
+ Forward Pulse/
Reverse Pulse/
+ Phase-B
Frame ground
CN1 Connectors (26 Pins)
Soldered Connectors
Name
Servo Drive Connector
Cable plug
Cable case (shell kit)
Model
5178238-4
10126-3000PE
10326-52A0-008
Manufacturer
Tyco Electronics AMP
Sumitomo 3M
3-7
3-1 Servo Drive Specifications
Control Input Circuits
Position Command Pulse Inputs
Line Driver Input
Controller
Servo Drive
2.2 k
Ω
220
Ω
Applicable line driver:
AM26LS31A or equivalent
Input current: 6.8 mA, 3 V
Precautions for Correct Use
The twisted-pair cable should not exceed 10 m in length.
Open-collector Input
Controller
Vcc
R
Servo Drive
2.2 k
Ω
220
Ω
Input current: 7 to 15 mA
3
Note Select a value for resistance R so that the input current will be from 7 to 15 mA. Refer to the following table.
Vcc
24 V
12 V
R
2 k
1 k
Precautions for Correct Use
The twisted-pair cable should not exceed 2 m in length.
Control Inputs
+24 VIN
1
External power supply:
12 VDC
±5% to
24 VDC
±5%
Power supply capacity:
50 mA min. (per Unit)
To other input circuit ground commons
RUN 2
Signal Levels
ON level: 10 V min.
OFF level: 3 V max.
4.7 k
1.2 k
Ω
Ω
To other input circuits
Photocoupler input
3-8
3
3-1 Servo Drive Specifications
Control Input Details
Details on the input pins for the CN1 connector are described here.
RUN Command Input (RUN)
Pin 2: RUN Command Input (RUN)
Function
This input turns ON the power drive circuit for the main circuit of the Servo Drive. The Servomotor cannot operate without the input of this signal (i.e., servo-OFF status).
The RUN Command Input is enabled approximately 2 seconds after the power supply is turned
ON.
After turning ON the RUN Command Input, wait for a minimum of 100 ms to lapse before inputting pulses or a speed command.
Alarm Reset Input
Pin 3: Alarm Reset Input (RESET)
Function
Pin 3 is the external reset signal input for Servo Drive alarms. (The alarms are reset when this signal is input.)
Eliminate the cause of the alarm before resuming operation. To prevent danger, turn OFF the RUN
Command Input first, then input the alarm reset signal.
Resetting is performed after the Alarm Reset Input is kept ON for 120 ms or longer.
Some alarms cannot be cleared using the Alarm Reset Input. For details, refer to 8-2 Alarm Table.
Deviation Counter Reset/Internally Set Speed Selection 2 Input
Pin 4: Deviation Counter Reset/Internally Set Speed Selection 2 Input (ECRST/VSEL2)
Function: Deviation Counter Reset
Pin 4 is the Deviation Counter Reset Input (ECRST) in Position Control Mode (when Pn02 is set to 0 or 2).
When the deviation counter reset signal turns ON, the value of the deviation counter will be reset and the position loop will be disabled.
Input the reset signal for 2 ms minimum. The counter may not be reset if the signal is too short.
Function: Internally Set Speed Selection 2
Pin 4 is the Internally Set Speed Selection 2 Input (VSEL2) in Internal Speed Control Mode (when
Pn02 is set to 1).
Four speeds can be selected by using pin 4 in combination with the Internally Set Speed Selection
1 Input (VSEL1).
3-9
3-1 Servo Drive Specifications
Gain Switch/Zero Speed Designation/Torque Limit Switch Input
Pin 5: Gain Switch/Zero Speed Designation/Torque Limit Switch Input (GSEL/VZERO/TLSEL)
Function: Gain Switch
Pin 5 is the Gain Switch Input (GSEL) when Pn02 is set to 0 or 2 (Position Control Mode) and the
Zero Speed Designation/Torque Limit Switch (Pn06) is set to anything other than 2.
The Gain Switch Input (GSEL) switches between PI and P operation, or between gain 1 and gain
2.
When the Gain Switch Input Operating Mode Selection (Pn30) is set to 0, this input switches between PI and P operation. When Pn30 is set to 1 and the Gain Switch Setting (Pn31) is set to
2, this input switches between gain 1 and gain 2.
Gain 1 includes the Position Loop Gain (Pn10), Speed Loop Gain (Pn11), Speed Loop Integration
Time Constant (Pn12), Speed Feedback Filter Time Constant (Pn13), and Torque Command Filter
Time Constant (Pn14).
Gain 2 includes the Position Loop Gain 2 (Pn18), Speed Loop Gain 2 (Pn19), Speed Loop
Integration Time Constant 2 (Pn1A), Speed Feedback Filter Time Constant 2 (Pn1B), and Torque
Command Filter Time Constant 2 (Pn1C).
Function: Zero Speed Designation
Pin 5 is the Zero Speed Designation Input (VZERO) when Pn02 is set to 1 (Internal Speed Control
Mode) and the Zero Speed Designation/Torque Limit Switch (Pn06) is set to anything other than 2.
When Zero Speed Designation Input (VZERO) is OFF, the speed command is zero. Turn ON the
Zero Speed Designation Input (VZERO) for normal operation.
Zero Speed Designation Input (VZERO) is enabled when the Zero Speed Designation/Torque
Limit Switch (Pn06) is set to 1, and disabled when Pn06 is set to 0.
Function: Torque Limit Switch
Pin 5 is the Torque Limit Switch Input (TLSEL) in both Position Control Mode and Internal Speed
Control Mode when the Zero Speed Designation/Torque Limit Switch (Pn06) is set to 2.
This input switches the Overspeed Detection Level, Torque Limit, and Deviation Counter Overflow
Level parameters.
When the input is OFF, torque limit 1 (Pn70, Pn5E, Pn63) is enabled, and when the input is ON, torque limit 2 (Pn71, Pn72, Pn73) is enabled.
Electronic Gear Switch/Internally Set Speed Selection 1 Input
Pin 6: Electronic Gear Switch/Internally Set Speed Selection 1 Input (GESEL/VSEL1)
Function: Electronic Gear Switch
Pin 6 is the Electronic Gear Switch Input (GESEL) in Position Control Mode (when Pn02 is set to
0 or 2).
The numerator setting for the electronic gear can be switched between Electronic Gear Ratio
Numerator 1 and Electronic Gear Ratio Numerator 2.
When the input is turned OFF, Electronic Gear Ratio Numerator 1 (Pn46) is enabled, and when the input is turned ON, Electronic Gear Ratio Numerator 2 (Pn47) is enabled.
It takes 1 to 5 ms to switch the electronic gear after the Gear Switch input changes. Therefore, do not input a command pulse for 10-ms before and after switching.
3
3-10
3
3-1 Servo Drive Specifications
Function: Internally Set Speed Selection 1
Pin 6 is the Internally Set Speed Selection 1 Input (VSEL1) in Internal Speed Control Mode (when
Pn02 is set to 1).
Four speeds can be selected by using pin 6 in combination with the Internally Set Speed Selection
2 Input (VSEL2).
Reverse Drive Prohibit/Forward Drive Prohibit Input
Pin 7: Reverse Drive Prohibit Input (NOT)
Pin 8: Forward Drive Prohibit Input (POT)
Functions
These inputs prohibit forward and reverse operation (overtravel).
When an input is ON, operation is possible in that direction.
These inputs can be disabled using the setting of Drive Prohibit Input Selection (Pn04).
The motor will stop according to the setting of the Stop Selection for Drive Prohibition Input (Pn66).
Reverse Pulse/Forward Pulse, Feed Pulse/Direction Signal, 90
Phase Difference
Signal (Phase A/Phase B)
Pin 22: +Reverse Pulse (+CW), +Feed Pulse (+PULS), or +Phase A (+FA)
Pin 23:
Reverse Pulse (CW), Feed Pulse (PULS), or Phase A (FA)
Pin 24: +Forward Pulse (+CCW), +Direction Signal (+SIGN), or +Phase B (+FB)
Pin 25:
Forward Pulse (CCW), Direction Signal (SIGN), or Phase B (FB)
Functions
The functions of these signals depend on the setting of the Command Pulse Mode (Pn42).
Setting Command pulse mode Input pins Servomotor forward command Servomotor reverse command
0 or 2
90
phase difference signals
22: +FA
23:
FA
24: +FB
25:
FB
1
Reverse pulse/forward pulse
22: +CW
23:
CW
24: +CCW
25:
CCW
Phase A t1 t1 t1 t1
Phase B t1 t1 t1 t1
Line driver: t1
2 s
Open collector: t1
5 s t2
Low t2 t2
Low t2 t2
Line driver: t2
1 s
Open collector: t2
2.5 s
3
Feed pulse/direction signal
22: +PULS
23: PULS
24: SIGN
25:
SIGN t2 t2 t2
High t2 t2 t2 t2
Low
Line driver: t2
1 s
Open collector: t2
2.5 s
If the photocoupler LED is turned ON, each signal will go high as shown above.
t2
3-11
3-1 Servo Drive Specifications
Control Output Circuits
Position Feedback Output
Servo Drive
Phase A
Output line driver
AM26C31 or Phase B equivalent
Phase Z
0 V
FG
15 +A
16
−A
18 +B
17
−B
19 +Z
20
−Z
14 GND
Shell FG
+Z
−Z
GND
+A
Controller
R = 120 to 220
Ω
−A
R
+B
−B
R
R
+5 V
Phase A
Phase B
Phase Z
0 V
0 V Applicable line receiver
AM26C32 or equivalent
FG
Control/Alarm Outputs
Servo Drive
To other output circuits
X
Di
External power supply
24 VDC
±1 V
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
Phase-Z Output (Open-collector Output)
Servo Drive
Controller
21 Z
14
GND
FG
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
3
3-12
3
3-1 Servo Drive Specifications
Control Output Details
The details of the output pins for the CN1 connector are described as follows.
Control Output Sequence
Power supply input
(L1 and L2)
ON
OFF
Approx. 2 s
Alarm Output (/ALM)
ON
OFF
30 s max.
Positioning Completed
Output (INP)
ON
OFF
Brake Interlock Output
(BKIR)
ON
OFF
0 to 35 ms
RUN Command Input
(RUN)
ON
OFF
2 ms 0 to 35 ms 2 ms
Alarm Output
Pin 9: Alarm Output (/ALM)
Function
The alarm output is turned OFF when the Servo Drive detects an error.
This output is OFF at startup, but turns ON when the initial processing of the Servo Drive has been completed.
Positioning Completed Output/Servomotor Rotation Speed Detection Output
Pin 10: Positioning Completed Output/Servomotor Rotation Speed Detection Output (INP/TGON)
Function: Positioning Completed Output
Pin 10 is the Positioning Completed Output (INP) in Position Control Mode (when Pn02 is set to 0 or 2).
The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than the Positioning Completion Range (Pn60).
Function: Servomotor Rotation Speed Detection Output
Pin 10 is the Servomotor Rotation Speed Detection Output (TGON) in Internal Speed Control
Mode (when Pn02 is set to 1).
The TGON signal turns ON when the motor rotation speed exceeds the Rotation Speed for
Servomotor Rotation Detection (Pn62).
3-13
3-1 Servo Drive Specifications
Brake Interlock Output
Pin 11: Brake Interlock Output (BKIR)
Function
The external brake timing signal is output.
This output is turned ON to release the external brake.
Warning Output
Pin 12: Warning Output (WARN)
Function
Pin 12 outputs the warning signal selected in the Warning Output Selection (Pn09).
Feedback Output
Pin 15: Encoder Phase A+ Output (+A)
Pin 16: Encoder Phase A
Output (A)
Pin 17: Encoder Phase B
Output (B)
Pin 18: Encoder Phase B+ Output (+B)
Pin 19: Encoder Phase Z+ Output (+Z)
Pin 20: Encoder Phase Z
Output (Z)
Function
This signal outputs encoder pulses according to the Encoder Divider Setting (Pn44).
Line-driver output (equivalent to RS-422).
The output logic can be reversed with Encoder Output Direction Switch (Pn45).
Phase-Z Output
Pin 21: Phase-Z Output (Z)
Pin 14: Ground Common (GND)
Function
Pin 21 is the open-collector output for the phase-Z signal.
The encoder phase Z is output.
One pulse is output for each rotation.
3
3-14
3
3-1 Servo Drive Specifications
Encoder Connector Specifications (CN2)
Pin No.
Signal name
1
2
E5V
E0V
5
6
3
4
Shell
NC
NC
S+
S
FG
Name
Encoder power supply +5 V
Encoder power supply GND
Encoder + phase S I/O
Encoder
phase S I/O
Shield ground
Function/Interface
Power supply output for the encoder
5 V, 70 mA
Do not connect anything to these pins.
RS-485 line-driver I/O
Cable shield ground
Connectors for CN2 (6 Pins)
Name
Servo Drive Connector
Cable Connector
Model
53460-0629
55100-0670
Maker
Molex Japan Co.
3-15
3-2 Servomotor Specifications
3-2 Servomotor Specifications
Select a Servomotor based on the mechanical system’s load conditions and the installation environment. There are various options available on the Servomotors, such as models with brakes.
General Specifications
Item
Ambient operating temperature
Ambient operating humidity
0 to 40
Specifications
C, 85% RH max. (with no condensation)
Ambient storage temperature
Ambient storage humidity
Dielectric strength
20 to 65C, 85% RH max. (with no condensation)
Storage and operating atmosphere No corrosive gases
Vibration resistance 49 m/s
2
max. in the X, Y, and Z directions
Impact resistance
Insulation resistance
Acceleration of 98 m/s
2
max. 3 times each in the X, Y, and Z directions
Between the power line terminals and FG: 20 M
min. (at
500 VDC)
Between the power line terminals and FG: 1,500 VAC for 1 min at
50/60 Hz
Operating position
Insulation grade
Structure
Protective structure
Vibration grade
Mounting method
EC Directives
UL standards cUL standards
EMC
Directive
Low Voltage
Directive
All directions
Type B
Totally-enclosed self-cooling
IP65 (excluding through-shaft parts and lead wire ends)
V-15
Flange-mounting
EN 60034-1:2004
IEC 60034-5:2001
UL 1004 File No. E179189 cUL 22.2, No.100
Motor Rotation Directions
In this manual, the Servomotors rotation directions are defined as forward and reverse.
Viewed from the end of the motor’s output shaft, counterclockwise (CCW) rotation is forward and clockwise (CW) rotation is reverse.
3
Reverse
Forward
3-16
3
3-2 Servomotor Specifications
Characteristics
3,000-r/min Cylindrical Servomotors
Item
Rated output
*1
Rated torque
*1
Rated rotation speed
Max. rotation speed
Max. momentary torque
*1
Rated current
*1
Max. momentary current
*1
Rotor inertia
Applicable load inertia
Power rate
*1
Allowable radial load
*3
Allowable thrust load
*3
Without brake
With brake
Radiation shield dimensions
(material)
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 operation
Allowable total work
Allowable angular acceleration
Brake life
Rating
--kg·m
2
V
W
J
J rad/s
2
---
---
Unit
W
N·m r/min r/min
N·m
A(rms)
A(rms) kg·m
2
--kW/s
N
N kg kg
A
N·m ms ms
R88M-
G05030H
50
0.16
0.48
1.1
3.4
2.5
10
6
10.4
68
58
0.3
0.5
R88M-
G10030L
100
0.32
3000
5000
0.95
1.7
5.1
5.1
10
6
30 times the rotor inertia max.
*2
20.1
68
58
0.5
0.7
100
80 t10 (Al)
2.0
10
7
2.0
10
7
24 VDC
10%
R88M-
G20030L
200
0.64
1.78
2.5
7.6
1.4
10
5
30.3
245
98
0.8
1.3
130
120 t12 (Al)
1.8
10
6
7 7 9
0.30
0.29 min.
35 max.
20 max.
0.30
0.29 min.
35 max.
20 max.
1 max.
0.36
1.27 min.
50 max.
15 max.
39.2
39.2
137
4.9
10 3
4.9
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)
10,000,000 operations
Continuous
3-17
3-2 Servomotor Specifications
Item
Rated output
*1
Rated torque
*1
Rated rotation speed
Max. rotation speed
Max. momentary torque
*1
Rated current
*1
Max. momentary current
*1
Rotor inertia
Applicable load inertia
Power rate
*1
Allowable radial load
*3
Allowable thrust load
*3
Without brake
With brake
Radiation shield dimensions
(material)
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 operation
Allowable total work
Allowable angular acceleration
Brake life
Rating
Unit
W
N·m r/min r/min
N·m
A(rms)
A(rms) kg·m
2
--kW/s
N
N kg kg
--kg·m
2
V
W
A
N·m ms ms
J
J rad/s
2
R88M-
G05030H
50
0.16
0.48
1.1
3.4
2.5
10
6
10.4
68
58
0.3
0.5
R88M-
G10030H
100
0.32
R88M-
G20030H
200
0.64
3000
5000
0.95
1.1
1.78
1.6
3.4
5.1
10
6
4.9
1.4
10
5
30 times the rotor inertia max.
*2
20.1
68
58
0.5
30.3
245
98
0.8
0.7
1.3
0.29 min.
35 max.
20 max.
1 max.
1.27 min.
50 max.
15 max.
R88M-
G40030H
400
1.3
3.60
2.6
7.9
2.6
10
5
62.5
245
98
1.2
1.7
100
80 t10 (Al)
2.0
10
7
2.0
10
7
1.8
24 VDC
10%
130
10
6
120 t12 (Al)
7.5
10
6
7
0.30
0.29 min.
35 max.
20 max.
7
0.30
9
0.36
9
0.36
1.27 min.
50 max.
15 max.
39.2
39.2
137 196
4.9
10 3
4.9
10 3
44.1
10 3
147
10 3
30,000 max.
(Speed of 2,800 r/min or more must not be stopped in less than 10 ms)
10,000,000 operations
Continuous
---
---
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature. The maximum momentary torque shown above indicates the standard value.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The values are also for the locations shown in the following diagram.
*4. The brakes are non-excitation operation type. They are released when excitation voltage is applied.
*5. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
3-18
3
3
3-2 Servomotor Specifications
3,000-r/min Flat Servomotors
Item
Rated output
*1
Rated torque
*1
Rated rotation speed
Max. rotation speed
Max. momentary torque
*1
Rated current
*1
Max. momentary current
*1
Rotor inertia
Applicable load inertia
Power rate
*1
Allowable radial load
*3
Allowable thrust load
*3
Without brake
With brake
Radiation shield dimensions
(material)
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 operation
Allowable total work
Allowable angular acceleration
Brake life
Rating
A
N·m ms ms
---
---
Unit
W
N·m r/min r/min
N·m
A(rms)
A(0-p) kg·m
2
--kW/s
N
N kg kg
--kg·m
2
V
W
J
J rad/s
2
R88M-
GP10030L
100
0.32
R88M-
GP20030L
200
0.64
3,000
5,000
0.85
1.6
1.86
2.5
6.9
9.0
10
6
10.5
3.4
10
20 times the rotor inertia max.
*2
5
11.4
68
58
0.65
12.0
245
98
1.3
0.90
2.0
130
120 t10 (Al)
170
160 t12 (Al)
3.0
10
6
24 VDC
10%
9.0
10
6
7 10
0.29
0.29 min.
50 max.
15 max.
0.41
1.27 min.
60 max.
15 max.
1 max.
137 196
44.1
10 3
147
10 3
10,000 max.
(Speed of 950 r/min or more must not be stopped in less than 10 ms)
10,000,000 operations
Continuous
3-19
3-2 Servomotor Specifications
Item
Rated output
*1
Rated torque
*1
Rated rotation speed
Max. rotation speed
Max. momentary torque
*1
Rated current
*1
Max. momentary current
*1
Rotor inertia
Applicable load inertia
Power rate
*1
Allowable radial load
*3
Allowable thrust load
*3
Without brake
With brake
Radiation shield dimensions
(material)
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 operation
Allowable total work
Allowable angular acceleration
Brake life
Rating
Unit
W
N·m r/min r/min
N·m
A(rms)
A(0-p) kg·m
2
--kW/s
N
N kg kg
--kg·m
2
V
W
A
N·m ms ms
J
J rad/s
2
R88M-
GP10030H
100
0.32
0.90
1.0
4.3
9.0
10
6
11.4
68
58
0.7
0.9
130
120 t10 (Al)
3.0
10
6
7
0.29
0.29 min.
50 max.
15 max.
R88M-
GP20030H
200
0.64
3000
5000
1.82
1.6
6.8
3.4
10
5
20 times the rotor inertia max.
*2
11.8
245
98
1.3
2.0
R88M-
GP40030H
400
1.3
3.60
4.4
18.6
6.4
10
5
25.5
245
98
1.8
2.5
9.0
10
170
160 t12 (Al)
6
24 VDC
10%
9.0
10
6
10
0.41
1.27 min.
60 max.
15 max.
1 max.
10
0.41
1.27 min.
60 max.
15 max.
137 196 196
44.1
10 3
147
10 3
147
10 3
10,000 max.
(Speed of 950 r/min or more must not be stopped in less than 10 ms)
10,000,000 operations
Continuous
---
---
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature. The maximum momentary torque shown above indicates the standard value.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The values are also for the locations shown in the following diagram.
*4. The brakes are non-excitation operation type. They are released when excitation voltage is applied.
*5. The operation time is the measured value (reference value) with a varistor installed as a surge suppressor.
Radial load
Thrust load
Center of shaft (LR/2)
3-20
3
3
3-2 Servomotor Specifications
Torque and Rotation Speed Characteristics
3,000-r/min Cylindrical Servomotors
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-G05030H
(N·m)
0.5
0.48
R88M-G10030L
(N·m)
1.0
0.95
0.95
(3000)
0.4
0.8
0.77
Repetitive usage
Repetitive usage
0.3
0.6
0.2
0.16
0.1
0.16
0.09
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
0.4
0.32
0.2
0.32
Continuous usage
0.20
0
1000 2000 3000 4000 5000
(r/min)
R88M-G20030L
(N·m)
2.0
1.78
1.5
1.78
Repetitive usage
(3300)
1.0
0.90
0.64
0.64
0.5
Continuous usage
0.36
0
1000 2000 3000 4000 5000
(r/min)
3-21
3-2 Servomotor Specifications
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G10030H
(N·m)
1.0
0.95
R88M-G20030H
(N·m)
2.0
1.82
1.82 (4300)
1.65
0.8
1.5
Repetitive usage
0.6
Repetitive usage
1.0
0.4
0.32
0.2
0.32
0.19
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
0.5
0.64
0.64
Continuous usage
0.36
0
1000 2000 3000 4000 5000
(r/min)
R88M-G40030H
(N·m)
4.0
3.60
3.0
3.60
Repetitive usage
(3200)
2.0
2.1
1.3
1.3
1.0
0.88
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
3,000-r/min Flat Servomotors
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
R88M-GP10030L
(N·m)
1.0
0.8
0.6
0.85
0.85 (4100)
0.75
Repetitive usage
0.4
0.32
0.2
0.32
0.22
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
R88M-GP20030L
(N·m)
2.0
1.86
1.86
(3400)
1.5
Repetitive usage
1.0
0.64
0.64
0.7
0.5
0
Continuous usage
0.32
1000 2000 3000 4000 5000
(r/min)
3
3-22
3
3-2 Servomotor Specifications
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-GP10030H
(N·m)
1.0
0.90
0.8
Repetitive usage
0.6
0.90
0.4
0.32
0.2
0.32
Continuous usage
0.16
0
1000 2000 3000 4000 5000
(r/min)
R88M-GP20030H
(N·m)
2.0
1.82
1.82 (4700)
1.75
1.5
Repetitive usage
1.0
0.64
0.64
0.5
Continuous usage
0.28
0
1000 2000 3000 4000 5000
(r/min)
R88M-GP40030H
(N·m)
4.0
3.60
3.60
(3600)
3.0
Repetitive usage
2.0
2.0
1.3
1.3
1.0
0
Continuous usage
0.64
1000 2000 3000 4000 5000
(r/min)
Temperature Characteristics of the Servomotor and Mechanical System
G-Series Servomotors use rare earth magnets (neodymium-iron magnets).
The temperature coefficient for these magnets is approximately
0.13%/C. As the temperature drops, the Servomotor's maximum momentary torque increases, and as the temperature rises, the
Servomotor's maximum momentary torque decreases.
The maximum momentary torque rises by 4% at a normal temperature of 20
C compared to a temperature of
10C. Conversely, the maximum momentary torque decreases about 8% when the magnet warms up to 80
C from the normal temperature of 20C.
An increase in load friction torque seemingly increases load inertia. Therefore, even if the Servo
Drive gains are adjusted at a normal temperature, the Servomotor may not operate properly at low temperatures. Check to see whether there is optimal operation even at low temperatures.
3-23
3-2 Servomotor Specifications
Precautions for Correct Use
Use Cylindrical Servomotors in the ranges shown in the following graphs.
Using outside of these ranges may cause the Servomotor to generate heat, which could result in encoder malfunction.
50 W (Without Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
0
10 20 30
With brake
95%
40
Ambient temperature
50 W (With Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
0
10 20 30
Without brake
With brake
70%
60%
40
Ambient temperature
100 W (Without Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
0
10 20 30
With brake
95%
40
Ambient temperature
100 W (With Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
Without brake
With brake
75%
70%
0
10 20 30 40
Ambient temperature
3
3-24
3-2 Servomotor Specifications
3
200 W (With Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
0
10 20 30
Without brake
With brake
80%
70%
40
Ambient temperature
400 W (Without Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
0
10 20 30
With brake
90%
40
Ambient temperature
400 W (With Oil Seal)
Rated Torque Ratio (%)
100
80
60
40
20
0
10 20 30
With brake
40
75%
Ambient temperature
Applicable Load Inertia
The drivable load inertia ratio (load inertia/rotor inertia) depends on the configuration and rigidity of the machine being driven. Machines with high rigidity can be operated with a large load inertia.
Select the appropriate Servomotor and confirm the applicable load inertia.
Frequently operating a dynamic brake with a large load inertia may burn the dynamic brake resistor. Do not turn ON/OFF the Servomotor frequently with the dynamic brake enabled.
Encoder Specifications
Item
Encoder system
Specifications
Optical encoder (incremental encoder)
No. of output pulses Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation
Power supply voltage 5 V
5%
Power supply current 180 mA (max.)
Output signals +S,
S
EIA-RS-485 compliance
Output interface
Bidirectional serial communications data
3-25
3-3 Cable and Connector Specifications
3-3 Cable and Connector Specifications
Encoder Cable Specifications
These cables are used to connect the encoder between the Servo Drive and Servomotor. Encoder
Cables with connectors for CN2 are available.
Precautions for Correct Use
Use flexible cables for applications with moving parts.
Global Cables for Encoders (Non-Flexible Cables)
Cable Models
Model
R88A-CRGB003C
R88A-CRGB005C
R88A-CRGB010C
R88A-CRGB015C
R88A-CRGB020C
Length (L)
*1
3 m
5 m
10 m
15 m
20 m
Outer diameter of sheath
6.5 dia.
*1. The maximum distance between the Servo Drive and Servomotor is 20 m.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.2 kg
Connection Configuration and External Dimensions
L
Servo Drive end
R7D-BP
@
4 14
No.
1
2
5
6
3
4
Shell
Wiring
Servo Drive
Signal
E5V
E0V
S+
S
−
NC
NC
FG
Red
Black
Orange
Orange
/White
AWG22
AWG22
AWG24
AWG24
4
3
1
6
No.
4
5
2
Servomotor
Signal
E5V
E0V
S+
S
−
NC
FG
Servomotor end
R88M-G
@
Servo Drive Connector
Connector pins:
50639-8028 (Molex Japan)
Connector case:
Crimp-type I/O Connector (Molex Japan)
Servomotor Connector
Connector pins:
170365-1 (Tyco Electronics AMP KK)
Connector case:
172160-1 (Tyco Electronics AMP KK)
3-26
3
3
3-3 Cable and Connector Specifications
Global Cables for Encoders (Flexible Cables)
Cable Models
Model
R88A-CRGB003CR
R88A-CRGB005CR
R88A-CRGB010CR
R88A-CRGB015CR
R88A-CRGB020CR
Length (L)
*1
3 m
5 m
10 m
15 m
20 m
Outer diameter of sheath
7.5 dia.
*1. The maximum distance between the Servo Drive and Servomotor is 20 m.
Weight
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
Connection Configuration and External Dimensions
L
Servo Drive end
R7D-BP
@
4 14 4
Servomotor end
R88M-G
@
Wiring
Servo Drive
No.
1
3
4
Shell
2
5
6
Signal
E5V
E0V
S+
S
−
NC
NC
FG
Blue
/Red
Blue
/Black
Pink
/Red
Pink
/Black
Orange
/Red
Orange
/Black
Servo Drive Connector
Connector pins:
50639-8028 (Molex Japan)
Connector case:
Crimp-type I/O Connector (Molex Japan)
AWG24
AWG24
AWG24
AWG24
AWG24
AWG24
No.
4
Servomotor
Signal
E5V
3
1
5
2
6
E0V
S+
S
−
NC
FG
Servomotor Connector
Connector pins:
170365-1 (Tyco Electronics AMP KK)
Connector case:
172160-1 (Tyco Electronics AMP KK)
3-27
3-3 Cable and Connector Specifications
European Cables for Encoders (Flexible and Shielded Cables)
Cable Models
Model
R88A-CRGB001-5CR-E
R88A-CRGB003CR-E
R88A-CRGB005CR-E
R88A-CRGB010CR-E
R88A-CRGB015CR-E
R88A-CRGB020CR-E
Length (L)
1.5 m
3 m
5 m
10 m
15 m
20 m
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
3
Connection Configuration and External Dimensions
L
Servo Drive end
R7D-BP
@
Servomotor end
R88M-G
@
Wiring
Servo Drive
Signal
E5V
No.
1
Red
E0V
S +
S−
2
5
Black
Blue
White/Blue
6
FG Shell
Servo Drive Connector
Cable:
AWG24
×2P
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
Servomotor
No.
Signal
4 E5V
3
6
5
2
E0V
S +
S−
FG
Servomotor Connector
Connector:
172160-1(Tyco Electronics AMP KK)
Connector pins:
170365-1(Tyco Electronics AMP KK)
3-28
3
3-3 Cable and Connector Specifications
Servomotor Power Cable Specifications
These are the cables connecting between the Servo Drive and Servomotor.
Servomotor Power Cables with connectors for the CNB are available.
When using Cables for a Servomotor with a brake, a Brake Cable is also required. Brake cables are also available as standard cables and robot cables.
Precautions for Correct Use
Use flexible cables for applications with moving parts.
Global Cables for Servomotor Power (Non-Flexible Cables)
Cable Models
Model
R7A-CAB003S
R7A-CAB005S
R7A-CAB010S
R7A-CAB015S
R7A-CAB020S
Length (L)
*1
3 m
5 m
10 m
15 m
20 m
Outer diameter of sheath
6.2
dia.
*1. The maximum distance between the Servo Drive and Servomotor is 20 m.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.2 kg
Connection Configuration and External Dimensions
50 L 50
Servo Drive end
R7D-BP
@
Servomotor end
R88M-G
@
4 10.0
4
6
3
2
5
No.
1
4
Wiring
Servo Drive
Signal
Phase-U
Phase-V
Phase-W
FG
Servo Drive Connector
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-06R-210 (Molex Japan)
Red
White
Blue
Green/Yellow
Cable: AWG20
× 4C UL2464
No.
1
2
3
4
Servomotor
Signal
Phase-U
Phase-V
Phase-W
FG
Servomotor Connector
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172159-1 (Tyco Electronics AMP KK)
3-29
3-3 Cable and Connector Specifications
Global Cables for Servomotor Power (Flexible Cables)
Cable Models
Model
R7A-CAB003SR
R7A-CAB005SR
R7A-CAB010SR
R7A-CAB015SR
R7A-CAB020SR
Length (L)
*1
3 m
5 m
10 m
15 m
20 m
Outer diameter of sheath
6.9
dia.
*1. The maximum distance between the Servo Drive and Servomotor is 20 m.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.7 kg
Approx. 1.0 kg
Approx. 1.3 kg
Connection Configuration and External Dimensions
50 L 50
Servo Drive end
R7D-BP
@
4 10.0
4
Servomotor end
R88M-G
@
Wiring
2
5
6
3
No.
1
4
Servo Drive
Signal
Phase-U
Phase-V
Phase-W
FG
Servo Drive Connector
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-06R-210 (Molex Japan)
Red
White
Black
Green/Yellow
Cable: AWG20
× 4C UL2464
No.
1
2
3
4
Servomotor
Signal
Phase-U
Phase-V
Phase-W
FG
Servomotor Connector
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172159-1 (Tyco Electronics AMP KK)
3
3-30
3
3-3 Cable and Connector Specifications
European Cables for Servomotor Power (Flexible and Shielded Cables)
Cable Models
Model
R7A-CAB001-5SR-E
R7A-CAB003SR-E
R7A-CAB005SR-E
R7A-CAB010SR-E
R7A-CAB015SR-E
R7A-CAB020SR-E
Length (L)
1.5 m
3 m
5 m
10 m
15 m
20 m
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.7 kg
Approx. 1.0 kg
Approx. 1.3 kg
Connection Configuration and External Dimensions
L
Servo Drive end
R7D-BP
@
Servomotor end
R88M-G
@
2
5
6
3
No.
1
4
Wiring
Servo Drive
Signal
Phase-U
Phase-V
Phase-W
FG
Servo Drive Connector
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-06R-210 (Molex Japan)
Red
White
Blue
Green/
Yellow
Cable: AWG20
× 4C
UL2464
No.
1
2
3
4
Servomotor
Signal
Phase-U
Phase-V
Phase-W
FG
Servomotor Connector
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172159-1 (Tyco Electronics AMP KK)
3-31
3-3 Cable and Connector Specifications
Global Cables for Brakes (Non-Flexible Cables)
Cable Models
Model
R88A-CAGA003B
R88A-CAGA005B
R88A-CAGA010B
R88A-CAGA015B
R88A-CAGA020B
Length (L)
*1
3 m
5 m
10 m
15 m
20 m
Outer diameter of sheath
5.4
dia.
*1. The maximum distance between the Servo Drive and Servomotor is 20 m.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.6 kg
Approx. 0.8 kg
3
Connection Configuration and External Dimensions
50
L
50
Serv Drive end
R7D-BP
@
5.6
Wiring
Servo Drive
M4 crimp terminal
Black
Brown
Cable: AWG20
× 2C UL2464
No.
A
B
Servomotor
Signal
Brake
Brake
Servomotor Connector
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172157-1
(Tyco Electronics AMP KK)
Servomotor end
R88M-G
@
3-32
3
3-3 Cable and Connector Specifications
Global Cables for Brakes (Flexible Cables)
Cable Models
Model
R88A-CAGA003BR
R88A-CAGA005BR
R88A-CAGA010BR
R88A-CAGA015BR
R88A-CAGA020BR
Length (L)
*1
3 m
5 m
10 m
15 m
20 m
Outer diameter of sheath
6.1
dia.
*1. The maximum distance between the Servo Drive and Servomotor is 20 m.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.7 kg
Approx. 0.9 kg
Connection Configuration and External Dimensions
50 L 50
Serv Drive end
R7D-BP
@
Servomotor end
R88M-G
@
5.6
Wiring
Servo Drive
M4 crimp terminal
Black
White
Cable: AWG20
× 2C UL2464
No.
A
B
Servomotor
Signal
Brake
Brake
Servomotor Connector
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172157-1
(Tyco Electronics AMP KK)
3-33
3-3 Cable and Connector Specifications
European Cables for Brakes (Flexible Cables)
Cable Models
Model
R88A-CAGA001-5BR-E
R88A-CAGA003BR-E
R88A-CAGA005BR-E
R88A-CAGA010BR-E
R88A-CAGA015BR-E
R88A-CAGA020BR-E
Length (L)
1.5 m
3 m
5 m
10 m
15 m
20 m
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.7 kg
Approx. 0.9 kg
3
Connection Configuration and External Dimensions
L
Serv Drive end
R7D-BP
@
Servomotor end
R88M-G
@
Wiring
Servo Drive
M4 crimp terminal
Black-1
Black-2
Cable: AWG20
× 2C
No.
A
B
Servomotor
Signal
Brake
Brake
Servomotor Connector
Connector pins:
170366-1 or 170362-1
(Tyco Electronics AMP KK)
Connector case:
172157-1
(Tyco Electronics AMP KK)
3-34
3
3-3 Cable and Connector Specifications
Power Cable Specifications
This is the Cable that supplies power to the Servo Drive.
Power Cables are available in two forms: single-phase and three-phase. Select the Cable matching the Servo Drive to be used.
When connecting an External Regeneration Resistor, use an External Regeneration Resistor
Cable.
Single-phase Power Cable (with CNA Connector)
Cable Models
Model
R7A-CLB002S2
Length (L)
2 m
Outer diameter of sheath
6.1 dia.
Weight
Approx. 0.1 kg
Connection Configuration and External Dimensions
50 2000 50
Power supply end
Single-phase
100/200 VAC
Servo Drive end
R7D-BP
@
Wiring
Power supply end
Blue
M4 crimp terminal
Red
Cable: AWG18
× 2C UL2464
7
8
9
10
4
5
6
No.
1
Servo Drive
Signal
FG
2
3 B1
P
L3
L2
L1
Servo Drive Connector
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-10R-210 (Molex Japan)
3-35
3-3 Cable and Connector Specifications
Three-phase Power Cable (with CNA Connector)
Cable Models
Model
R7A-CLB002S3
Length (L)
2 m
Outer diameter of sheath
6.4 dia.
Weight
Approx. 0.1 kg
Connection Configuration and External Dimensions
50 2000 50
Power supply end
Three-phase
200 VAC
Servo Drive end
R7D-BP
@
Wiring
Power supply end
Blue
White
M4 crimp terminal
Red
Cable: AWG18
×
3C UL2464
7
8
9
10
4
5
6
No.
1
Servo Drive
Signal
FG
2
3 B1
P
L3
L2
L1
Servo Drive Connector
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-10R-210 (Molex Japan)
3
3-36
3
3-3 Cable and Connector Specifications
External Regeneration Resistor Connection Cable (with Crimp Pins)
Cable Models
Model
R7A-CLB002RG
Length (L)
2 m
Outer diameter of sheath
6.1 dia.
Weight
Approx. 0.1 kg
Connection Configuration and External Dimensions
50 2000
External Regeneration Resistor end
R88A-RR22047S
R88A-RR080100S
R88A-RR08050S
50
Servo Drive end
R7D-BP
@
Wiring
Insert into the P (pin 5) and B1 (pin 3) slots of the Main Circuit Connector (CNA).
10
L1
5
P
9
(NC)
4
(NC)
8
L2
3
B1
7
(NC)
2
(NC)
6
L3
1
FG
3-37
3-3 Cable and Connector Specifications
Communications Cable Specifications
Personal Computer Monitor Cable
Cable Models
Model
R88A-CCG002P2
Length (L)
2 m
Outer diameter of sheath
4.2 dia.
Connection Configuration and External Dimensions
Weight
Approx. 0.1 kg
Personal computer end
Servo Drive end
R7D-BP
@
Wiring
Personal computer
Signal
Servo Drive
Signal
3
Shell
Cable: AWG28 x 3C UL20276
PC Connector
17JE-13090-02 (D8A) (DDK Ltd.)
Precautions for Correct Use
Shell
Communications with the Host Device
After confirming the startup of the Servo Drive, initiate communications with the host device.
Note that irregular signals may be received from the host interface during startup. For this reason, take appropriate initialization measures such as clearing the receive buffer.
3-38
3
3-3 Cable and Connector Specifications
Connector Specifications
Main Circuit Connector (R7A-CNB01P)
The Main Circuit Connector connects to the Servo Drive’s Main Circuit Connector (CNA).
Dimensions
5.4
11.6
3
2.7
4.2
16.8
22.2
2.7
3.5
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-10R-210 (Molex Japan)
3-39
3-3 Cable and Connector Specifications
Servomotor Connector (R7A-CNB01A)
The Servomotor Connector connects to the Servo Drive’s Servomotor Connector (CNB).
Dimensions
5.4
11.6
3
3.5
3
Connector pins:
5556PBTL (Molex Japan)
Connector case:
5557-06R-210 (Molex Japan)
2.7
4.2
8.4
13.8
2.7
Control I/O Connector (R88A-CNW01C)
This Connector connects to the Control I/O Connector (CN1) of the Servo Drive.
Use this Connector when preparing a control cable yourself.
Dimensions
39
Connector plug:
10126-3000PE (Sumitomo 3M)
Connector case:
10326-52A0-008 (Sumitomo 3M) t = 14
3-40
3
3-3 Cable and Connector Specifications
Encoder Connectors
These Connectors are used for Encoder Cables.
Use them when preparing an encoder cable yourself.
R88A-CNW01R (CN2 Servo Drive Connector)
This connector is soldering type.
Use the following cable.
Applicable wire: AWG16 max.
Insulating cover outer diameter: 2.1 mm max.
Sheath outer diameter: 6.7
0.5 mm
Dimensions
Connector plug:
55100-0670 (Molex Japan Co.)
R88A-CNG02R (Servomotor Connector)
Use the following cable.
Applicable wire: AWG22 max.
Insulating cover outer diameter: 1.75 mm max.
11.8
±0.4
23.7
±0.4
(4
(2.2
4.2
9.8
±0.15
2.8
*1
(8.8)
Connector housing: 172160-1 (Tyco Electronics AMP KK)
Contact socket: 170365-1 (Tyco Electronics AMP KK)
Applicable panel thickness: 0.8 to 2.0 mm
2.5
1.6
10.35
5.35
3-41
3-3 Cable and Connector Specifications
Power Cable Connector (R88A-CNG01A)
This Connector is used for Power Cables.
Use it when preparing a power cable yourself.
11.8
±0.4
23.7
±0.4
(4
(2.2
3
4.2
9.8
±0.15
2.8
(8.8)
Connector housing: 172159-1 (Tyco Electronics AMP KK)
Contact socket: 170366-1 (Tyco Electronics AMP KK)
Applicable panel thickness: 0.8 to 2.0 mm
Brake Cable Connector (R88A-CNG01B)
This Connector is used for brake cables.
Use it when preparing a brake cable yourself.
23.7
±0.4
(4
(2.2
2.5
1.6
10.35
5.35
4.2
9.8
±0.15
2.8
(8.8)
Connector housing:172157-1 (Tyco Electronics AMP KK)
Contact socket:170366-1 (Tyco Electronics AMP KK)
Applicable panel thickness: 0.8 to 2.0 mm
2.5
1.6
10.35
5.35
3-42
3
3-3 Cable and Connector Specifications
Control Cable Specifications
General-purpose Control Cables
A General-purpose Control Cable connects to the Servo Drive's Control I/O Connector
(CN1). Do not wire the pins that have no signals allocated.
Cable Models
Model
R7A-CPB001S
R7A-CPB002S
Length (L)
1 m
2 m
Outer diameter of sheath
9.5
dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Connection Configuration and External Dimensions
L 39
Controller end Servo Drive end
R7D-BP
@ t = 14
3-43
3-3 Cable and Connector Specifications
Wiring
19
20
21
22
15
16
17
18
23
24
25
26
11
12
13
14
9
10
7
8
5
6
3
4
No.
1
2
Wire color (mark color)
Orange (Red 1)
Orange (Black 1)
Gray (Red 1)
Gray (Black 1)
White (Red 1)
White (Black 1)
Yellow (Red 1)
Yellow (Black 1)
Pink (Red 1)
Pink (Black 1)
Orange (Red 2)
Orange (Black 2)
Gray (Red 2)
Gray (Black 2)
White (Red 2)
White (Black 2)
Yellow (Black 2)
Yellow (Red 2)
Pink (Red 2)
Pink (Black 2)
Orange (Red 3)
Gray (Red 3)
Gray (Black 3)
White (Red 3)
White (Black 3)
Orange (Black 3)
Signal
+24VIN
RUN
RESET
ECRST/VSEL2
GSEL/VZERO/TLSEL
GESEL/VSEL1
NOT
POT
/ALM
INP/TGON
BKIR
WARN
OGND
GND
+A
A
B
+B
+Z
Z
Z
+CW/+PULS/+FA
CW/PULS/FA
+CCW/+SIGN/+FB
CCW/SIGN/FB
FG
Connector plug: 10126-3000PE (Sumitomo 3M)
Connector case: 10326-52A0-008 (Sumitomo 3M)
Cable: AWG24
13P UL20276
Wires with the same wire color and number of marks form a twisted pair.
Pin Arrangement
2
4
6
8
10
12
7
9
11
1
3
5
13
15
17
19
21
23
25
14
16
18
20
22
24
26
3
3-44
3
3-3 Cable and Connector Specifications
Connector Terminal Block Cables (XW2Z-@@@J-B28)
This Cable is for the Connector Terminal Block of the Servo Drive's Control I/O Connector (CN1).
Cable Models
Model
XW2Z-100J-B28
XW2Z-200J-B28
Length (L)
1 m
2 m
Outer diameter of sheath
9.1 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
6 L 39
Connector Terminal Block
XW2B-34G4
XW2B-34G5
XW2D-34G6 t = 14
Wiring
+24VIN
RUN
RESET
ECRST/VSEL2
GSEL/VZERO/TLSEL
SESEL/VSEL1
NOT
POT
/ALM
INP/TGON
BKIR
WARN
OGND
GND
+A
−A
−B
+B
+Z
−Z
+CW/+PULS/+FA
−CW/−PULS/−FA
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
Z
FG
Terminal Block
Signal
11
12
13
14
15
16
17
18
19
20
22
23
7
8
9
10
No.
1
2
5
6
3
4
29
30
31
32
33
34
24
25
21
26
27
28
Connector
11
12
13
14
15
16
17
18
19
20
22
23
7
8
9
10
No.
1
2
5
6
3
4
29
30
31
32
33
34
24
25
21
26
27
28
Terminal Block Connector
Connector socket: XG4M-3430
Strain relief: XG4T-3404
Cable
AWG28
13P UL2464
Servo Drive Connector
Connector plug: 10126-3000PE (Sumitomo 3M)
Connector case: 10326-52A0-008 (Sumitomo 3M)
Servo Drive
R7D-BP
@
11
12
13
14
15
16
7
8
9
10
No.
1
2
3
4
5
6
24
25
21
26
17
18
19
20
22
23
Servo Drive
Wire/mark color
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Red (1)
Orange/Black (1)
Gray/Red (1)
Signal
+24VIN
RUN
RESET
ECRST/VSEL2
GSEL/VZERO/TLSEL
SESEL/VSEL1
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
Pink/Red (2)
Pink/Black (2)
Green/Red (2)
Green/Black (2)
Orange/Red (2)
Orange/Black (2)
Gray/Red (2)
Gray/Black (2)
Blue/Red (3)
Blue/Black (3)
Pink/Red (3)
Pink/Black (3)
Green/Red (3)
Green/Black (3)
NOT
POT
/ALM
INP/TGON
BKIR
WARN
OGND
GND
+A
−A
−B
+B
+Z
−Z
+CW/+PULS/+FA
−CW/−PULS/−FA
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
Z
FG
3-45
3-3 Cable and Connector Specifications
Connector-Terminal Block Conversion Unit
By using the Connector-Terminal Block Conversion Unit in combination with a Connector Terminal
Block Cable (XW2Z@J-B28), the Servo Drive's Control I/O Connector (CN1) can be converted to a terminal block.
XW2B-34G4 (M3 screw terminal block)
3
Dimensions
3.5
5.08
112.5
Flat cable connector (MIL plug)
3.5
Two,
3.5 dia.
Terminal block
Precautions for Correct Use
Use 0.30 to 1.25 mm
2
wire (AWG22 to AWG16).
The wire slot 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
3-46
3-3 Cable and Connector Specifications
XW2B-34G5 (M3.5 screw terminal block)
3
Dimensions
3.5
7 8.5
180
Flat cable connector (MIL plug)
3.5
7.3
Terminal block
7
Two,
3.5 dia.
Precautions for Correct Use
When using crimp terminals, use crimp terminals with the following dimensions.
When connecting wires and crimp terminals to a Terminal Block, tighten them with a tightening torque of 0.59 N·m.
Round Crimp Terminals
3.7-mm dia.
6.8 mm max.
Fork Terminals
3.7 mm
6.8 mm max.
Applicable Crimp Terminals
1.25 to 3
Round Crimp
Terminals
Fork Terminals
2 to 3.5
1.25Y to 3
2 to 3.5
Applicable Wires
AWG22 to AWG16
(0.3 to 1.25 mm
2
)
AWG16 to AWG14
(1.25 to 2.0 mm
2
)
AWG22 to AWG16
(0.3 to 1.25 mm
2
)
AWG16 to AWG14
(1.25 to 2.0 mm
2
)
3-47
XW2D-34G6 (M3 screw terminal block)
3-3 Cable and Connector Specifications
A1 A2 A3
A4 A5
B1 B2 B3
A6 A7
B4 B5
A8 A9 A10
B 6 B7
B8 B9
B10
Dimensions
128
100
Flat cable connector (MIL plug)
Two,
4.5 dia.
(39.1)
17.6
DIN Track lock
7
(4.5)
1.2
7
5.8
M3
39
Precautions for Correct Use
7
When using crimp terminals, use crimp terminals with the following dimensions.
When connecting wires and crimp terminals to a Terminal Block, tighten them with a tightening torque of 0.7 N·m.
Round Crimp Terminals
3.2-mm dia.
5.8 mm max.
Fork Terminals
3.2 mm
5.8 mm max.
Applicable Crimp Terminals
Round Crimp
Terminals
Fork Terminals
1.25 to 3
1.25Y to 3
Applicable Wires
AWG22 to 16
(0.3 to 1.25 mm
2
)
AWG22 to 16
(0.3 to 1.25 mm
2
)
3
3-48
3
3-3 Cable and Connector Specifications
Terminal Block Wiring Example (for XW2B-34G4, XW2B-34G5, and XW2D-34G6)
Line-driver Connections
1
+24 V
2
RESET
GSEL
VZERO
TLSEL
RUN
NOT
ECRST
VSEL2
GESEL
VSEL1
/ALM
POT
BKIR
INP
TGON
OGND
WARN GND
+A
−A
−B
+B
+Z
−Z
Z
-CW
-PULS
-FA
+CW
+PULS
+FA
-CCW
-SIGN
-FB
+CCW
+SIGN
+FB
FG
X1
X X
X1 XB
(*1)
33
34
24 VDC
*1.The XB contacts are used to turn the electromagnetic brake ON and OFF.
Open-collector Connections
1
+24 V
2
GSEL
RESET VZERO
TLSEL
NOT
RUN
ECRST
VSEL2
GESEL
VSEL1
POT
/ALM BKIR OGND
INP
TGON
WARN GND
+A
−A
−B
+B
+Z
−Z
Z
-CW
-PULS
-FA
+CW
+PULS
+FA
-CCW
-SIGN
-FB
+CCW
+SIGN
+FB
FG
33
34
X X
X1
X1 XB
(*1)
R R
*2 *2
Vcc
24 VDC
*1. The XB contacts are used to turn the electromagnetic brake ON and OFF.
*2. Select a value for resistance R so that the input current will be from 7 to 15 mA. (Refer to the following table.)
Vcc
24 V
12 V
R
2 k
1 k
3-49
Terminal Block Signal Names
Signal
+24VIN
RUN
RESET
ECRST/VSEL2
GSEL/VZERO/TLSEL
SESEL/VSEL1
NOT
POT
/ALM
INP/TGON
BKIR
WARN
OGND
GND
+A
A
B
+B
+Z
Z
Z
+CW/+PULS/+FA
CW/PULS/FA
+CCW/+SIGN/+FB
CCW/SIGN/FB
FG
27
28
29
30
23
24
25
26
31
32
33
34
19
20
21
22
15
16
17
18
11
12
13
14
9
10
7
8
5
6
3
4
No.
1
2
3-3 Cable and Connector Specifications
3
3-50
3-4 Servo Relay Units and Cable Specifications
3
3-4 Servo Relay Units and Cable
Specifications
This section provides the specifications for the Servo Relay Units and Cables used for connecting to Position Control Units for OMRON Programmable Controllers (SYSMAC). Select the models that
Servo Relay Units Specifications
XW2B-20J6-1B
This Servo Relay Unit connects to the following OMRON Position Control Units.
0
10
1
11
2
12
3
13
4
14
5
15
6
16
17
7
8
18
9
19
CJ1W-NC113/-NC133
CS1W-NC113/-NC133
C200HW-NC113
Dimensions
Position Control Unit connector
3.5
7
135
19
9
Servo Drive connector
3.5
7
Two,
3.5 dia.
10
0
Terminal Block pitch: 7.62 mm
3-51
3-4 Servo Relay Units and Cable Specifications
Wiring
10 +24 V
Emergency stop
CW limit
0
CCW limit
Origin proximity
RUN ALM BKIR 19
0 V Common Common Common
External interrupt
Common Common RESET ALMCOM FG
9
X1
X1
24 VDC
XB
(*1)
3
24 VDC
*1. The XB contacts are used to turn ON/OFF the electromagnetic brake.
*2. Do not connect unused terminals.
*3. The 0 V terminal is internally connected to the common terminals.
*4. Applicable crimp terminal: R1.25-3 (round with open end).
XW2B-40J6-2B
This Servo Relay Unit connects to the following OMRON Position Control Units.
CJ1W-NC213/-NC233/-NC413/-NC433
CS1W-NC213/-NC233/-NC413/-NC433
C200HW-NC213/-NC413
0
20
1
21
2
22
3
23
4
24
5
25
6
26
7
27
8
28
9
29
30
10
11
31
12
32
13
33
34
14
35
15
36
16
37
17
38
18
39
19
Dimensions
Position Control Unit connector
3.5
7
X-axis Servo
Drive connector
180
Y-axis Servo
Drive connector
3.5
7
20
0
39
19
Two,
3.5 dia.
Terminal Block pitch: 7.62 mm
3-52
3
3-4 Servo Relay Units and Cable Specifications
Wiring
20 +24 V
0
X/Y-axis emergency stop
0 V
X-axis
CW limit
X-axis
CCW limit
X-axis origin proximity
Common Common Common
X-axis
RUN
X-axis external interrupt
Common Common
X-axis
ALM
X-axis
BKIR
X-axis X-axis
RESET ALMCOM
X1
X1
24 VDC
XB
(*1)
Y-axis
CW limit
Y-axis
CCW limit
Y-axis origin proximity
Common Common
Y-axis
RUN
Y-axis external interrupt
Common Common
Y-axis
ALM
Y-axis
RESET
Y-axis
BKIR
Y-axis
ALMCOM
39
FG
19
Y1
Y1
24 VDC
YB
(*1)
24 VDC
*1. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake.
*2. Do not connect unused terminals.
*3. The 0 V terminal is internally connected to the common terminals.
*4. Applicable crimp terminal: R1.25-3 (round with open end).
XW2B-20J6-3B
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
0
10
1
11
2
12
3
13
14
4
5
15
6
16
7
17
8
18
9
19
CQM1H-PLB21
(Pulse I/O Board for CQM1H-CPU51/CPU61)
CQM1-CPU43-V1
Dimensions
CQM1 connector
3.5
7
135
10
0
Two,
3.5 dia.
19
9
Servo Drive connector
3.5
7
3-53
Terminal Block pitch: 7.62 mm
3-4 Servo Relay Units and Cable Specifications
Wiring
10
+24 V CW CCW RUN
ECRST
INP
0
0V CW CCW
Common Common
ALM BKIR
19
Z RESET ALMCOM FG
9
(*1) (*1)
X1
(*2)
X1
24 VDC
XB
(*3)
24 VDC
*1. If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter.
*2. Input this output signal to a CQM1 Input Unit.
*3. The XB contacts are used to turn ON/OFF the electromagnetic brake.
*4. The phase Z is an open collector.
*5. Do not connect unused terminals.
*6. The 0 V terminal is internally connected to the common terminals.
*7. Applicable crimp terminal: R1.25-3 (round with open end).
XW2B-20J6-8A
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis)
0
10
11
1
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
3
3-54
3
3-4 Servo Relay Units and Cable Specifications
Dimensions
CJ1M-CPU21/22/23 connector
3.5
7
135
Servo Drive connector
3.5
7
10
0
19
9
Two,
3.5 dia.
3-55
Terminal Block pitch: 7.62 mm
Wiring
The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block.
10 +24 V IN6 IN7 IN8
Origin proximity
RUN
(*3)
MING ALM BKIR 19
0 0 V
Common Common Common
IN9
Common Common
RESET ALMCOM FG
9
CW limit (*1)
(CIO 2960.06)
CCW limit (*1)
(CIO 2960.07)
X1
X1 XB
(*2)
24 VDC
24 VDC
*1. CW and CCW limit input signals can also be input through Input Units.
The bits for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0, and CW: A541.08, CCW: A541.09 for pulse output 1.
For example, the flag for the CW limit input (A540.08) can be controlled with an output from the ladder diagram using a bit allocated to the actual input (CIO 2960.06) on the Input Unit, as shown below.
Example:
2960.06
A540.08
*2. The XB contacts are used to turn ON/OFF the electromagnetic brake.
*3. Connection to the MING input terminal is invalid.
*4. Do not connect unused terminals.
*5. The 0 V terminal is internally connected to the common terminals.
*6. Applicable crimp terminal: R1.25-3 (round with open end).
3-4 Servo Relay Units and Cable Specifications
XW2B-40J6-9A
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
CJ1M-CPU21/-CPU22/-CPU23 (for 2 axes)
0
20
1
21
2
22
3
23
4
24
5
25
6
26
7
27
8
28
9
29
30
10
11
31
12
32
13
33
34
14
35
15
36
16
37
17
38
18
39
19
3
Dimensions
CJ1M-CPU21/22/23 connector
3.5
7
180
X-axis Servo
Drive connector
Y-axis Servo
Drive connector
3.5
7
20
0
39
19
Two,
3.5 dia.
Terminal Block pitch: 7.62 mm
Wiring
The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block.
20
+24 V
0
0 V
(*3)
IN6 IN7
X-axis origin proximity
X-axis
RUN
X-axis
MING
X-axis
ALM
X-axis
BKIR
Common Common Common Common Common Common
X-axis X-axis
RESET ALMCOM
(*3)
IN8 IN9
Y-axis origin proximity
Y-axis
RUN
Y-axis
MING
Y-axis
ALM
Y-axis
BKIR
Common Common Common Common Common
Y-axis
RESET
Y-axis
ALMCOM
39
FG
19
X-axis
CW limit
(CIO
2960.06)
(*1)
X-axis
CCW limit
(CIO
2960.07)
(*1)
X1
X1
24 VDC
XB
(*2)
Y-axis
CW limit
(CIO
2960.08)
(*1)
Y-axis
CCW limit
(CIO
2960.09)
(*1)
Y1
Y1
24 VDC
YB
(*2)
24 VDC
*1. CW and CCW limit input signals can also be input through Input Units.
The bits for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0, and CW: A541.08, CCW: A541.09 for pulse output 1.
For example, the flag for the CW limit input (A540.08) can be controlled with an output from the ladder diagram using a bit allocated to the actual input (CIO 2960.06) on the Input Unit, as shown below.
3-56
3
3-4 Servo Relay Units and Cable Specifications
Example:
2960.06
A540.08
*2. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake.
*3. Connection to the MING input terminal is invalid.
*4. Do not connect unused terminals.
*5. The 0 V terminal is internally connected to the common terminals.
*6. Applicable crimp terminal: R1.25-3 (round with open end).
XW2B-80J7-12A
This Servo Relay Unit connects to the following OMRON Programmable
Controller.
FQM1-MMP22
Dimensions
Signal selection switch
160
4.5 dia.
Servo Drive phase B selection switch
100 90
Controller general-purpose I/O
Controller special I/O
Y-axis Servo Drive
X-axis Servo Drive
41.7
15.9
30.7
3-57
3-4 Servo Relay Units and Cable Specifications
System Configuration Example
Flexible Motion Controller
FQM1
PA202
POWER
FLEXIBLE
MOTION
CONTROLLER
RD Y
RUN
ERR
PRPH L
COMM1
COMM2
ON
CM002
OFF
PERIPHERA L
1 2
L1
AC100
-240V
INPU T
L2/N
NC
NC
PO RT
IN
6
7
4
5
2
3
0
1
8
9
10
11
RD Y
RUN
ERR
OU T
6
7
4
5
2
3
0
1
1
MMP22
A1
B1
A2
B2
2
26 25
CN1
39
RS422
40
2 1
CN1
39
Motion Control Module
FQM1-MMP22
CN2
26
40
2
IN
6
7
4
5
2
3
0
1
8
9
10
11
RD Y
RUN
ERR
OU T
6
7
4
5
2
3
0
1
1
MMA22
A1
B1
A2
B2
2
25
CN1
1
39
CN2
40
General-purpose I/O Connecting Cable
XW2Z-
@J-A28
Special I/O Connecting Cable
XW2Z-
@ J-A30
Servo Relay Unit
XW2B-80J7-12A
3
SMARTSTEP 2 Servo Drives
R7D-BP
@
POWER ALM
CN3
CN1
CN2
CNB
CN A
POWER ALM
CN3
CN1
CN2
CNB
CN A
Servo Relay Unit Cables
XW2Z-
@J-B30
G-Series Servomotors
R88M-G
@
Terminal Block Connection
The terminal block signal names are different depending on the Controller to be connected.
A total of 80 terminals are provided (terminal numbers 0 to 79).
Signal names and standard connections are listed in the following table.
60
0 1 2 3 4 5 6 7 8 9
79
0 1 2 3 4 5 6 7 8 9
0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
Upper terminal block
0
0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9
Lower terminal block
19
3-58
3-4 Servo Relay Units and Cable Specifications
FQM1-MMP22 Signal Names
No.
60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
3
No.
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
No.
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
No.
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
*1: Use as a power supply for FQM1-MMP22 pulse outputs, or for the SEN output for an Absolute Encoder Servo
Drive.
*2: Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals.
*3: Use as a power supply for IN0 to IN3 (interrupt inputs) or latch inputs.
3-59
3-4 Servo Relay Units and Cable Specifications
Wiring Example
Servo Drive signals
RUN
ECRST
INP
/ALM
BKIR
#1 #2
74 34
76
47
36
7
67
68
27
28
Terminal block No. 20
+24 V
FQM1 signals
For Servo Drive #1 For Servo Drive #2
54 OUT0 14 OUT4
56
69
70
71
OUT2
IN4
IN5
IN6
16
29
30
31
OUT6
IN8
IN9
IN10
XB
60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
3
40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
3-60
3
3-4 Servo Relay Units and Cable Specifications
Servo Drive-Servo Relay Unit Cable Specifications
Servo Drive Cable (XW2Z-@J-B29)
This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-1B/-3B, XW2B-40J6-2B).
Cable Models
Model
XW2Z-100J-B29
XW2Z-200J-B29
Length (L)
1 m
2 m
Outer diameter of sheath
8.1 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
L
Servo Relay Unit
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-3B
6 39 t = 14
Servo Drive
R7D-BP
@
Wiring
Servo Relay Unit
Symbol
+24VIN
0GND
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
+CW/+PULS/+FA
−CW/−PULS/−FA
ECRST/VSEL2
+Z
−Z
INP/TGON
RUN
GSEL/VZERO/TLSEL
RESET
BKIR
/ALM
Shield
Wire/mark color
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Black (1)
Gray/Red (1)
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
Pink/Red (2)
Pink/Black (2)
Green/Red (2)
Green/Black (2)
Shield
11
12
13
14
15
16
17
6
7
8
9
10
18
19
20
No.
1
2
3
4
5
Connector
11
12
13
14
15
16
17
6
7
8
9
10
18
19
20
No.
1
2
3
4
5
4
19
20
10
2
5
3
11
9
No.
1
13
24
25
22
23
Servo Drive
Symbol
+24VIN
OGND
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
+CW/+PULS/+FA
−CW/−PULS/−FA
ECRST/VSEL2
+Z
−Z
INP/TGON
RUN
GSEL/VZERO/TLSEL
RESET
BKIR
/ALM
26 FG
Servo Relay Unit Connector
Connector socket: XG4M-2030
Strain relief: XG4T-2004
Cable
AWG28
4P + AWG28 9C UL2464
Servo Drive Connector
Connector plug: 10126-3000PE (Sumitomo 3M)
Connector case: 10326-52A0-008 (Sumitomo 3M)
3-61
3-4 Servo Relay Units and Cable Specifications
Servo Drive Cable (XW2Z-@J-B30)
This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-80J7-12A). Use this Cable for the FQM1-MMP22.
Cable Models
Model
XW2Z-100J-B30
XW2Z-200J-B30
Length (L)
1 m
2 m
Outer diameter of sheath
9.1 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
L
Servo Relay Unit
XW2B-80J7-12A
6 39
Servo Drive
R7D-BP
@ t = 14
Wiring
Servo Relay Unit
Symbol
+24VIN
0GND
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
+CW/+PULS/+FA
−CW/−PULS/−FA
ECRST/VSEL2
+Z
−Z
INP/TGON
RUN
RESET
BKIR
/ALM
+A
−A
+B
−B
GSEL/VZERO/TLSEL
Shield
Wire/mark color
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Red (1)
Orange/Black (1)
Gray/Red (1)
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
Pink/Red (2)
Pink/Black (2)
Green/Red (2)
Orange/Red (2)
Orange/Black (2)
Gray/Red (2)
Gray/Black (2)
Blue/Red (3)
Shield
16
17
21
22
23
24
25
30
10
11
12
15
No.
1
2
3
4
5
6
7
8
9
Connector
10
11
12
15
7
8
9
No.
1
2
3
4
5
6
16
17
21
22
23
24
25
30
Servo Relay Unit Connector
Connector socket: XG4M-3030
Strain relief: XG4T-3004
Cable
AWG28
7P + AWG28 6C UL2464
Servo Drive Connector
Connector plug: 10126-3000PE (Sumitomo 3M)
Connector case: 10326-52A0-008 (Sumitomo 3M)
No.
1
13
24
25
22
23
Servo Drive
Symbol
+24VIN
OGND
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
+CW/+PULS/+FA
−CW/−PULS/−FA
4
19
20
10
2
3
11
9
15
16
18
17
5
26
ECRST/VSEL2
+Z
−Z
INP/TGON
RUN
RESET
BKIR
/ALM
+A
−A
+B
−B
GSEL/VZERO/TLSEL
FG
3
3-62
3
3-4 Servo Relay Units and Cable Specifications
Servo Drive Cable (XW2Z-@J-B32)
This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A).
Cable Models
Model
XW2Z-100J-B32
XW2Z-200J-B32
Length (L)
1 m
2 m
Outer diameter of sheath
8.1 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
L 39
Servo Relay Unit
XW2B-20J6-8A
XW2B-40J6-9A
6 t = 14
Servo Drive
R7D-BP
@
Wiring
Servo Relay Unit
Symbol
+24VIN
0GND
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
+CW/+PULS/+FA
−CW/−PULS/−FA
Wire/mark color
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
+Z
−Z
INP/TGON
RUN
ECRST/VSEL2
GSEL/VZERO/TLSEL
RESET
BKIR
/ALM
Gray/Red (1)
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
Orange/Black (1)
Pink/Red (2)
Pink/Black (2)
Green/Red (2)
Green/Black (2)
Shield
Shield
10
11
12
7
8
9
No.
1
2
3
4
5
6
17
18
19
20
13
14
15
16
Connector
10
11
12
7
8
9
No.
1
2
3
4
5
6
17
18
19
20
13
14
15
16
No.
1
13
24
25
22
23
4
19
20
10
2
Servo Drive
Symbol
+24VIN
OGND
+CCW/+SIGN/+FB
−CCW/−SIGN/−FB
+CW/+PULS/+FA
−CW/−PULS/−FA
ECRST/VSEL2
+Z
−Z
INP/TGON
RUN
5
3
11
9
GSEL/VZERO/TLSEL
RESET
BKIR
/ALM
26 FG
Servo Relay Unit Connector
Connector socket: XG4M-2030
Strain relief: XG4T-2004
Cable
AWG28
4P + AWG28 9C UL2464
Servo Drive Connector
Connector plug: 10126-3000PE (Sumitomo 3M)
Connector case: 10326-52A0-008 (Sumitomo 3M)
3-63
3-4 Servo Relay Units and Cable Specifications
Position Control Unit-Servo Relay Unit Cable Specifications
Position Control Unit Cable (XW2Z-@J-A3)
This Cable connects a Programmable Controller (CQM1H-PLB21, CQM1-CPU43-V1) to a Servo
Relay Unit (XW2B-20J6-3B).
Cable Models
Model
XW2Z-050J-A3
XW2Z-100J-A3
Length (L)
50 cm
1 m
Outer diameter of sheath
7.5 dia.
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Connection Configuration and External Dimensions
39 L 6
CQM1H-PLB21
CQM1-CPU43-V1
CQM1
Servo Relay Unit
XW2B-20J6-3B t = 15
Wiring
CQM1
No.
15
12
13
14
1
3
4
5
6
Hood cover
Cable: AWG28
× 4P + AWG28 × 4C
Servo Relay Unit
12
13
14
15
16
8
9
10
11
6
7
4
5
No.
1
2
3
3
3-64
3
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A6)
This Cable connects a Position Control Unit (CS1W-NC113, C200HW-NC113) to a Servo Relay
Unit (XW2B-20J6-1B).
Cable Models
Model
XW2Z-050J-A6
XW2Z-100J-A6
Length (L)
50 cm
1 m
Outer diameter of sheath
8.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Connection Configuration and External Dimensions
47 L 6
Position Control Unit
CS1W-NC113
C200HW-NC113
Servo Relay Unit
XW2B-20J6-1B t = 11
Wiring
Position Control Unit
No.
A1
A2
A8
A21
A23
A22
A19
A6
A10
A16
A14
A24
A12
A20
Crimp terminal
Cable: AWG28
× 4P + AWG28 × 10C
Servo Relay Unit
17
18
19
20
21
13
14
15
16
9
10
11
12
7
8
5
6
No.
1
2
3
4
22
23
24
25
26
3-65
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A7)
This Cable connects a Position Control Unit (CS1W-NC213/413, C200HW-NC213/413) to a Servo
Relay Unit (XW2B-40J6-2B).
Cable Models
Model
XW2Z-050J-A7
XW2Z-100J-A7
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
47 L 6
Position Control Unit
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413
Servo Relay Unit
XW2B-40J6-2B t = 11
Wiring
Position Control Unit
No.
A1/B1
A2/B2
A8
A6
A10
A16
A14
A24/B24
A19
A21
A12
A23
A22
A20/B20
B8
B6
B10
B16
B14
B23
B22
B21
B19
B12
Crimp terminal
Cable: AWG28
× 8P + AWG28 × 16C
Servo Relay Unit
No.
1
7
8
5
6
2
3
4
15
16
17
18
19
20
21
9
10
11
12
13
14
28
29
30
31
32
33
34
22
23
24
25
26
27
3
3-66
3
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A10)
This Cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B-20J6-
1B).
Cable Models
Model
XW2Z-050J-A10
XW2Z-100J-A10
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
47 L 6
Position Control Unit
CS1W-NC133
Servo Relay Unit
XW2B-20J6-1B t = 11
1000
Wiring
Position Control Unit
No.
A3
A4
A1
A2
A7
A8
A5
A6
A10
A16
A14
A24
A12
A21
A23
A22
A19
A20
Crimp terminal
AWG20, black
AWG20, red
Cable: AWG28
× 4P + AWG28 × 10C
Servo Relay Unit
No.
13
14
15
16
9
10
11
12
7
8
5
6
3
4
1
2
21
22
23
24
17
18
19
20
25
26
3-67
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A11)
This Cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B-
40J6-2B).
Cable Models
Model
XW2Z-050J-A11
XW2Z-100J-A11
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
47 L 6
Position Control Unit
CS1W-NC233
CS1W-NC433
Servo Relay Unit
XW2B-40J6-2B t = 11
1000
Wiring
Position Control Unit
No.
A3/B3
A4/B4
A1/B1
A2/B2
A7
A8
A5
A6
A10
A16
A14
A24/B24
A19
A21
A12
A23
A22
A20/B20
B7
B8
B5
B6
B10
B16
B14
B23
B22
B21
B19
B12
Crimp terminal
AWG20, black
AWG20, red
Cable: AWG28
× 8P + AWG28 × 16C
Servo Relay Unit
No.
31
32
33
34
27
28
29
30
23
24
25
26
17
18
19
20
21
22
13
14
15
16
9
10
11
12
5
6
7
8
3
4
1
2
3-68
3
3
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A14)
This Cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B-20J6-
1B).
Cable Models
Model
XW2Z-050J-A14
XW2Z-100J-A14
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
500
Position Control Unit
CJ1W-NC113
Servo Relay Unit
XW2B-20J6-1B
-NC113
CJ1W t = 11
L 6
Wiring
Position Control Unit
No.
A1
A2
A8
A6
A9
A14
A12
A20
A11
A17
A19
A18
A15
A16
Crimp terminal
Cable: AWG28
× 4P + AWG28 × 10C
Servo Relay Unit
20
21
22
23
16
17
18
19
24
25
26
12
13
14
15
8
9
10
11
6
7
4
5
No.
1
2
3
3-69
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A15)
This Cable connects a Position Control Unit (CJ1W-NC213/413) to a Servo Relay Unit (XW2B-
40J6-2B).
Cable Models
Model
XW2Z-050J-A15
XW2Z-100J-A15
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
500
Position Control Unit
CJ1W-NC213
CJ1W-NC413
Servo Relay Unit
XW2B-40J6-2B
-NC213/NC413
CJ1W t = 11
L 6
Wiring
Position Control Unit
No.
A1/B1
A2/B2
A8
A6
A9
A14
A12
A20/B20
A15
A17
A11
A19
A18
A16/B16
B8
B6
B9
B14
B12
B19
B18
B17
B15
B11
Crimp terminal
Cable: AWG28
× 8P + AWG28 × 16C
23
24
25
26
19
20
21
22
15
16
17
18
11
12
13
14
Servo Relay Unit
No.
1
4
5
2
3
6
7
8
9
10
31
32
33
34
27
28
29
30
3-70
3
3
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A18)
This Cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B-20J6-
1B).
Cable Models
Model
XW2Z-050J-A18
XW2Z-100J-A18
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
500
Position Control Unit
CJ1W-NC133
Servo Relay Unit
XW2B-20J6-1B
-NC133
CJ1W t = 11
1000
L 6
Wiring
Position Control Unit
No.
A3
A4
A1
A2
A7
A8
A5
A6
A9
A14
A12
A20
A11
A17
A19
A18
A15
A16
Crimp terminal
AWG20, black
AWG20, red
Cable: AWG28
× 4P + AWG28 × 10C
Servo Relay Unit
No.
17
18
19
20
13
14
15
16
9
10
11
12
7
8
5
6
21
22
23
24
25
26
3
4
1
2
3-71
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A19)
This Cable connects a Position Control Unit (CJ1W-NC233/433) to a Servo Relay Unit (XW2B-
40J6-2B).
Cable Models
Model
XW2Z-050J-A19
XW2Z-100J-A19
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
500
Position Control Unit
CJ1W-NC233
CJ1W-NC433
-NC233/NC433
CJ1W t = 11
1000
L
Wiring
Position Control Unit
No.
A3/B3
A4/B4
A1/B1
A2/B2
A7
A8
A5
A6
A9
A14
A12
A20/B20
A15
A17
A11
A19
A18
A16/B16
B7
B8
B5
B6
B9
B14
B12
B19
B18
B17
B15
B11
Crimp terminal
AWG20, black
AWG20, red
Cable: AWG28
× 8P + AWG28 ×16C
6
Servo Relay Unit
No.
26
27
28
29
30
21
22
23
24
25
31
32
33
34
16
17
18
19
20
11
12
13
14
15
8
9
6
7
10
3
4
1
2
5
Servo Relay Unit
XW2B-40J6-2B
3-72
3
3
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A33)
This Cable connects a Programmable Controller (CJ1M-CPU21/CPU22/CPU23) to a Servo Relay
Unit (XW2B-20J6-8A, XW2B-40J6-9A).
Cable Models
Model
XW2Z-050J-A33
XW2Z-100J-A33
Length (L)
50 cm
1 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection Configuration and External Dimensions
500
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
CJ1M
Servo Relay Unit
XW2B-20J6-8A
XW2B-40J6-9A
6
Wiring
CJ1M
No.
37
39
40
32
31
35
3
5
17
6
23
24
34
33
29
30
2
8
13
14
19
20
25
26
Crimp terminal
36
9
11
18
12
L
Cable: AWG28
× 6P + AWG28 × 16C
6
Servo Relay Unit
No.
1
2
5
6
3
4
7
8
16
17
18
19
20
21
22
23
10
11
12
13
14
15
24
25
26
27
28
29
30
3-73
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A28)
This Cable connects the general-purpose I/O connector of a Flexible Motion Controller (FQM1-
MMP22) to a Servo Relay Unit (XW2B-80J7-12A).
Cable Models
Model
XW2Z-050J-A28
XW2Z-100J-A28
XW2Z-200J-A28
Length (L)
50 cm
1 m
2 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.3 kg
Connection Configuration and External Dimensions
500
FQM1-MMP22
FQM1
Servo Relay Unit
XW2B-80J7-12A
17
Wiring
FQM1
No.
7
8
5
6
3
4
1
2
9
10
19
20
21
22
23
24
25
26
15
16
17
18
11
12
13
14
Crimp terminal
L
Cable: AWG28
× 24C
17
15
16
17
18
11
12
13
14
19
20
21
22
23
24
Servo Relay Unit
No.
1
4
5
2
3
8
9
6
7
10
33
34
3
3-74
3
3-4 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A30)
This Cable connects the special I/O connector of a Flexible Motion Controller (FQM1-MMP22) to a
Servo Relay Unit (XW2B-80J7-12A).
Cable Models
Model
XW2Z-050J-A30
XW2Z-100J-A30
XW2Z-200J-A30
Length (L)
50 cm
1 m
2 m
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.3 kg
Connection Configuration and External Dimensions
500
FQM1-MMP22
FQM1
Servo Relay Unit
XW2B-80J7-12A
17
Wiring
FQM1
15
17
19
21
No.
3
5
9
11
23
13
25
27
29
31
33
35
20
22
24
14
26
28
4
6
10
12
16
18
30
32
34
36
Crimp terminal
L 17
Cable: AWG28
× 14P + AWG28 × 4C
34
35
36
40
28
29
30
31
32
33
21
22
23
24
25
26
27
Servo Relay Unit
No.
7
8
5
6
9
10
3
4
1
2
11
12
13
14
15
16
3-75
3-5 Parameter Unit Specifications
3-5 Parameter Unit Specifications
The Parameter Unit is required for parameter setting and monitoring for the Servo Drive.
R88A-PR02G Hand-held Parameter Unit
General Specifications
Item
Operating ambient temperature
Operating ambient humidity
Storage ambient temperature
Storage ambient humidity
Operating and storage atmosphere
Vibration resistance
Specifications
0 to 55
C
90% RH max. (with no condensation)
20 to 80C
90% RH max. (with no condensation)
No corrosive gases
5.9 m/s
2
max.
Performance Specifications
Item Specifications
Type
Cable length
Connectors
Display
External dimensions
Weight
Hand-held
1.5 m
Mini DIN 8P MD connector
7-segment LED
62 (W)
114 (H) 15 (D) mm
Approx. 0.1 kg (including cable)
Standard RS-232
Communications method Asynchronous (ASYNC)
Baud rate
Start bits
Data
Parity
Stop bits
9,600 bps
1 bit
8 bits
None
1 bit
3
3-76
3-6 External Regeneration Resistors Specifications
3
3-6 External Regeneration Resistors
Specifications
Refer to 4-4 Regenerative Energy Absorption to ensure correct use of External Regeneration
Resistors.
R88A-RR08050S/-RR080100S/-RR22047
Model
Resistance
Nominal capacity
Regeneration absorption for
120
C temperature rise
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
50
100
47
80 W
80 W
220 W
20 W
20 W
70 W
Heat radiation condition
Thermal switch output specifications
Aluminum
250
250,
Thickness:
3.0
Aluminum
250
250,
Thickness:
3.0
Aluminum
350
350,
Thickness:
3.0
Operating temperature:
150
C5%, NC contact, Rated output: 30 VDC, 50 mA max.
Operating temperature:
150
C5%, NC contact, Rated output: 30 VDC, 50 mA max.
Operating temperature:
170
C5%, NC contact, Rated output: 250 VAC, 0.2 A max.
3-77
3-7 Reactor Specifications
3-7 Reactor Specifications
A Reactor is connected to the Servo Drive as a harmonic current control measure. Select a model matching the Servo Drive to be used.
Specifications
Reactor type
Single-phase
Reactors
Three-phase
Reactor
Model
3G3AX-DL2002
3G3AX-DL2004
3G3AX-DL2007
3G3AX-AL2025
Specifications
Rated current (A) Inductance (mH)
1.6 A 21.4 mH
3.2 A
6.1 A
10 A
10.7 mH
6.75 mH
2.8 mH
Weight (kg)
0.8 kg
1.0 kg
1.3 kg
2.8 kg
3
3-78
3-8 EMC Filter Specifications
3
3-8 EMC Filter Specifications
Specifications
Applicable
Servo Drive
R7D-BP01H
R7D-BP02HH
R7D-BP04H
Filter Model
R7A-FIB104-RE
Rated current
4 A
Leakage Current
3.5 mA
Rated Voltage
230 VAC
3-79
Chapter 4
System Design
4-1 Installation Conditions ...................................... 4-1
Servo Drives ............................................................................ 4-1
Servomotors............................................................................. 4-3
4-2 Wiring .................................................................. 4-5
Connecting Cables................................................................... 4-5
Selecting Connecting Cables ................................................... 4-6
Peripheral Device Connection Examples................................. 4-9
Main Circuit Wiring ................................................................. 4-11
4-3 Wiring Conforming to EMC Directives ........... 4-13
Wiring Method ........................................................................ 4-13
Control Panel Structure.......................................................... 4-15
Selecting Connection Components........................................ 4-17
4-4 Regenerative Energy Absorption ................... 4-28
Calculating the Regenerative Energy .................................... 4-28
Servo Drive Regenerative Energy Absorption Capacity ........ 4-30
Absorbing Regenerative Energy with an External
Regeneration Resistor ........................................................... 4-30
4-1 Installation Conditions
4System Design
4-1 Installation Conditions
4
Servo Drives
Space around Drives
Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also if the Servo Drives are installed side by side, install a fan for air circulation to prevent uneven temperatures from developing inside the panel.
Fan Fan
100 mm min.
Air
40 mm min.
Servo
Drive
Servo
Drive
W W
W = 10 mm min.
Servo
Drive
Side panel
100 mm min.
Air
Mounting Direction
Mount the Servo Drives in a direction (perpendicular) so that the model number can be seen properly.
Operating Environment
The environment in which Servo Drives are operated must meet the following conditions. Servo
Drives may malfunction if operated under any other conditions.
Ambient operating temperature: 0 to 55
C (Take into account temperature rises in the individual
Servo Drives themselves.)
Ambient operating humidity: 90% RH max. (with no condensation)
Atmosphere: No corrosive gases.
4-1
4-1 Installation Conditions
Ambient Temperature Control
Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability.
Temperature rise in any Unit installed in a closed space, such as a control box, will cause the
Servo Drive’s ambient temperature to rise. Use a fan or air conditioner to prevent the Servo Drive’s ambient temperature from exceeding 55
C.
Servo 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 determined by the temperature around the internal electrolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrostatic capacity and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements.
If a Servo Drive is operated at the ambient temperature of 55
C with the rated torque output and rated rotation speed, its service life is expected to be approximately 28,000 hours (excluding axialflow fan). A drop of 10
C in the ambient temperature will double the expected service life.
Keeping Foreign Objects Out of Units
Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Units during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, Servo 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 Servo Drives.
4
4-2
4
4-1 Installation Conditions
Servomotors
Operating Environment
The environment in which the Servomotor is operated must meet the following conditions.
Operating the Servomotor outside of the following ranges may result in malfunction of the
Servomotor.
Ambient operating temperature: 0 to 40
C
Ambient operating humidity: 85% RH max. (with no condensation)
Atmosphere: No corrosive gases.
Impact and Load
The Servomotor is resistant to impacts of up to 98 m/s
2
. Do not apply heavy impacts or loads during transportation, installation, or removal.
When transporting, hold the Servomotor body itself, and do not hold the Encoder,
Cable, or connector areas. Doing so may damage the Servomotor.
Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft.
Secure cables so that there is no impact or load placed on the cable connector areas.
Connecting to Mechanical Systems
The axial loads for Servomotors are
specified in Characteristics on page 3-17. If
an axial load greater than that specified is applied to a Servomotor, it will reduce the service life of the motor bearings and may 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
m 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.
Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure that 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.
Servomotor shaft center line
Backlash
Make moveable.
Ball screw center line
Structure in which the distance between shafts adjustable.
Bevel gear
4-3
4-1 Installation Conditions
When connecting to a V-belt or timing belt, consult the maker for belt selection and tension.
A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications 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 structure so that the belt tension can be adjusted.
Pulley
Tension adjustment
(Make adjustable.)
Belt
Tension
Water and Drip Resistance
The protective structure for the Servomotors is as follows:
IP65 (except for through-shaft parts and cable outlets)
Oil Seal Part Number
With G-Series Servomotors, an oil seal can be installed afterwards.
Refer to the installation instructions from NOK Corporation for information on installing the oil seal.
The following oil seals are not standard NOK products. Check with the manufacturer.
The expected service life of the oil seals is approximately 5,000 hours, but the actual life depends on the application conditions and environment.
Motor model
R88M-G05030H
R88M-G10030L/H
R88M-G20030L/H
R88M-G40030H
R88M-GP10030L/H
R88M-GP20030L/H
R88M-GP40030H
Shaft diameter (mm)
8.9
8.9
14
14
8.9
14
14
Outer diameter
(mm)
17
17
28
28
22
28
28
4
4
4
4
4
Width
(mm)
4
4
Material
(rubber)
A435
A435
A435
A435
A435
A435
A435
NOK part number
(SC type)
BC6646-E0
BC6646-E0
BC5102-E1
BC5102-E1
BC5101-E1
BC5102-E1
BC5102-E1
Other Precautions
Take measures to protect the shaft from corrosion.
The shafts are coated with anti-corrosion oil when shipped, but anti-corrosion oil or grease should also be applied when connecting the shaft to a load.
WARNING
Do not apply commercial power directly to the Servomotor.
Doing so may result in fire.
Do not dismantle or repair the product.
Doing so may result in electric shock or injury.
4
4-4
4-2 Wiring
4-2 Wiring
4
Connecting Cables
This section shows the types of connecting cables used in a SMARTSTEP 2 system.
A wide selection of cables are available when using Position Control Units for OMRON SYSMAC
PLCs, making it easy to wire a servo system.
System Configuration
1
General-purpose Control Cable and Control I/O Connector
SYSMAC
CP1H
BATTERY
IN
AC100-240V 0CH
L1 L2/N COM 01
POWER
ERR/ALM
BKUP
RUN
INH
00 02 04 06
1CH
08 10 00
02 04 06
08 10
PRPHL
EXP
DC24V 0.3A
OUTPUT
OUT
00 01 02 03
COM COM CO
100CH
04 06 00 01 03 04
M COM 05 07 CO
M 07 COM 05 06
07
101CH
SYSMAC PLC with pulse-string output
CP1H-X40D
@-@
CP1H-XA40D
@-@
CP1H-Y20DT-D
CP1L-
@@@DT-@
CQM1H-PLB21
CS1W-HCP22
CJ1M-CPU21/
-CPU22/-CPU23
Flexible Motion
Controller
FQM1-MMP21/22
Position Control Unit
Servo Relay Unit Cable
Position Control
Unit Cable
Servo Drive
Cable
Servo Relay Unit
NC413
RUN
ERROR
SENS
DATA
X
Y
Z
U
CN1
MACHINE
No.
CN2
B24
A24
B1
A1
Position Control Unit with a pulse-string output
CJ1W-NC113/133
CJ1W-NC213/233
CJ1W-NC413/433
CS1W-NC113/133
CS1W-NC213/233
CS1W-NC413/433
C200HW-NC113
C200HW-NC213
C200HW-NC413
3 Connector Terminal Block and Cable
Connector
Terminal Block
Cable for Connector
Terminal Block
R7D-BP
@
CN1 (Control I/O Connector)
POWER ALM
C
N
3
C
N
1
C
N
A
CN2
C
N
B
CN2
(Encoder Input Connector)
Power Supply
Cable
Servomotor Power
Cable
Encoder
Cable
R88M-G
@
4-5
4-2 Wiring
Selecting Connecting Cables
Encoder Cables (CN2)
Name
Global Cables for Encoders
(Non-Flexible Cables)
Global Cables for Encoders
(Flexible Cables)
European Cables for
Encoders
(Flexible and
Shielded Cables)
Model
R88A-CRGB @@@C
R88A-CRGB @@@CR
R88A-CRGB
@@@CR-E
Comments
The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
The
@@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
Servomotor Power Cables (CNB)
Name
Global Cables for
Servomotor Power
(Non-Flexible Cables)
Global Cables for
Servomotor Power
(Flexible Cables)
European Cables for
Servomotor Power
(Flexible and
Shielded Cables)
Model
R7A-CAB @@@S
R7A-CAB @@@SR
R88A-CAGA @@@SR-E
Comments
The
@@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
Brake Cables
Name
Global Cables for Brakes
(Non-Flexible Cables)
Global Cables for Brakes
(Flexible Cables)
European Cables for
Brakes
(Flexible Cables)
Model
R88A-CAGA @@@B
R88A-CAGA @@@BR
R88A-CAGA @@@BR-E
Comments
The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
The
@@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, or 20 m).
4
4-6
4
4-2 Wiring
Power Supply Cables (CNA)
Model Name
Cable for Singlephase Power
Supply Input
Cable for Threephase Power
Supply Input
Cable for
Connecting to
External
Regeneration
Resistor
R7A-CLB002S2
R7A-CLB002S3
R7A-CLB002RG
Comments
Cable length: 2 m
Cable length: 2 m
Cable length: 2 m
Servo Relay Units and Cables
Select the Servo Relay Unit and Cable according to the model of the Position Control Unit to be used.
Position Control
Unit
CJ1W-NC133
CJ1W-NC233
CJ1W-NC433
CS1W-NC133
CS1W-NC233
CS1W-NC433
CJ1W-NC113
CJ1W-NC213
CJ1W-NC413
CS1W-NC113
C200HW-NC113
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
Position Control Unit Cable
XW2Z@@@J-A18
XW2Z@@@J-A19
XW2Z-
@@@J-A10
XW2Z@@@J-A11
XW2Z@@@J-A14
XW2Z@@@J-A15
XW2Z@@@J-A6
XW2Z@@@J-A7
XW2Z@@@J-A33
Servo Relay Unit
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-8A
XW2B-40J6-9A
(for 2 axes)
Servo Drive Cable
XW2Z-
@@@J-B29
XW2Z@@@J-B32
FQM1-MMP22
General-purpose
I/O Cable
Special I/O
Cable
XW2Z@@@J-A28
XW2Z@@@J-A30
XW2B-80J7-12A XW2Z@@@J-B30
CQM1H-PLB21
CQM1-CPU43-V1
XW2Z@@@J-A3 XW2B-20J6-3B XW2Z@@@J-B29
Note 1. The cable length is indicated in the boxes of the model number ( @@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (some 2-m cables are also available). Servo Drive Cables also come in two
lengths: 1 m and 2 m. For information on cable lengths, refer to Accessories and Cables on page 2-4.
Note 2. Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit.
4-7
4-2 Wiring
Connector-Terminal Block Conversion Units and Cables
These Conversion Units and Cables are used for connecting to Controllers for which no specific cable is available. The Cables and Connector-Terminal Block Unit convert the Servo Drive's control
I/O Connector (CN1) signals to a terminal block.
Name
Connector-Terminal
Block Conversion
Unit
Model
XW2B-34G4
XW2B-34G5
XW2D-34G6
Connector-Terminal
Block Cable
XW2Z@@@J-B28
Comments
Terminal block with M3 screws
Terminal block with M3.5 screws
Terminal block with M3 screws
This cable is used to connect a Connector-Terminal Block Conversion Unit. The cable length is indicated in the boxes of the model number ( @@@).
There are two cable lengths: 1 m and 2 m. Model number example for 1-m cable:
XW2Z-100J-B28
General-purpose Control Cables (CN1)
A General-purpose Control Cable is used to prepare a cable by yourself to connect to the Servo
Drive’s Control I/O Connector (CN1).
Name Model
General-purpose
Control Cable
R7A-CPB
@@@S
Comments
One end of the cable has loose wires.
The @@@ digits in the model number indicate the cable length (1 m or 2 m).
Example model number for 1-m cable:
R7A-CPB001S
4
4-8
4
4-2 Wiring
Peripheral Device Connection Examples
R7D-BPA5L/-BP01L/-BP02L/-BP01H/-BP02HH/-BP04H
(Ground to
100
Ω or less.)
R T
Single-phase 100 to 115 VAC, 50/60 Hz: R7D-BP
@@L
Single-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02HH/-BP04H
NFB
1
E NF
3
2
4
Noise filter
(*1)
Main-circuit power supply
OFF ON 1MC 2MC
Main-circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge killer (*1)
PL
Servo error display
1MC
2MC
External regeneration resistor
(*3)
Reactor
SMARTSTEP 2-Series
Servo Drive
CNA
L1
L2
L3
P
B1
CNB
U
V
W
XB
Brake Cable
24 VDC
Servomotor Power Cable
G-Series
Servomotor
B
M
24 VDC
CN1
1 +24VIN
2 RUN
CN2
(Ground to
100
Ω or less.)
1MC 2MC
E
Encoder cable
DC24V
X
XB
(*2)
CN1
9 /ALM
CN1
11 BKIR
13 0GND
X
User control device
CN1
Control cable
*1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives.
*2. Recommended Relay: OMRON G7T Relay (24-VDC model)
*3. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the
Servo Drive. (Refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-30.).
Note 1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF.
Note 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.
4-9
4-2 Wiring
R7D-BP01H/-BP02H/-BP04H
R S T
Three-phase 200 to 240 VAC, 50/60 Hz: R7D-BP01H/-BP02H/-BP04H
(Ground to
100
Ω or less.)
NFB
1 2 3
E NF
4 5 6
Noise filter
(*1)
Main-circuit power supply
OFF ON 1MC 2MC
Main-circuit contactor (*1)
2MC
1MC
X
1MC 2MC X
Surge killer (*1)
PL Servo error display
1MC
2MC
(*3)
Reactor
External regeneration resistor
SMARTSTEP 2-Series
Servo Drive
CNA
L1
L2
L3
P
B1
CNB
U
V
W
XB
Brake Cable
24 VDC
Servomotor Power Cable
G-Series
Servomotor
B
M
(Ground to
100
Ω or less.)
24 VDC
CN1
1 +24VIN
2 RUN
CN2
1MC 2MC
E
Encoder cable
24 VDC
X
XB
(*2)
CN1
9 /ALM
CN1
11 BKIR
13 0GND
X
User control device
CN1
Control cable
*1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives.
*2. Recommended Relay: OMRON G7T Relay (24-VDC model)
*3. An External Regeneration Resistor can be connected.
Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the
Servo Drive. (Refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-30.)
Note 1. The dynamic brake operates when the main circuit power supply or the control circuit power supply is turned OFF.
Note 2. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) signal at the same time.
4
4-10
4
4-2 Wiring
Main Circuit Wiring
When wiring a Terminal Block, use proper wire sizes, grounding systems, and take into account anti-noise characteristics.
Terminal Names and Functions
Name Signal
L1
L2
L3
P
Main circuit power supply input
B1
External regeneration resistor connection terminals
Frame ground
Function
Single-phase 100 to 115 VAC (85 to 126 VAC), 50/60 Hz
Single-phase/three-phase 200 to 230 VAC (170 to 264 VAC),
50/60 Hz
If regenerative energy is high, connect an External Regeneration Resistor.
This is the ground terminal. Ground to 100
or less.
Terminal Wire Sizes
Item
Power supply capacity
Main circuit power supply input (L1,
L2)
Rated current
Wire size
External
Regeneration
Resistor connection (+,
)
Wire size
Servomotor connection terminal (U, V,
W, )
*1
Rated current
Maximum momentary current
Frame ground
Wire size
Wire size
Screw size
Torque
No-fuse breaker or fuse capacity
*2
Unit kVA
A(rms)
A(rms)
A(rms)
---
N·m
A(rms)
R7D-BPA5L
0.16
1.4
1.0
3.3
3
R7D-BP01L
0.25
2.2
AWG18
AWG18
1.6
5.1
AWG18
AWG14 min.
M4
1.2 to 1.4
5
*1. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals.
*2. Use a no fuse breaker or a surge withstand fuse. The maximum inrush current is 20 A.
R7D-BP02L
0.42
3.7
2.5
7.5
7
4-11
4-2 Wiring
Item
Power supply capacity
Main circuit power supply input (L1,
L2)
Rated current
Wire size
External
Regeneration
Resistor connection (+,
)
Wire size
Servomotor connection terminal (U, V,
W, )
*2
Rated current
Maximum momentary current
Frame ground
Wire size
Wire size
Screw size
Torque
No-fuse breaker or fuse capacity
*3
Unit kVA
A(rms)
A(rms)
A(rms)
---
N·m
A(rms)
R7D-BP01H
0.27
(0.3)
*1
0.7
(1.5)
1.0
3.3
*1
3
R7D-BP02HH
0.35
1.6
1.6
4.9
R7D-BP02H
AWG18
AWG18
AWG18
AWG14 min.
M4
1.2 to 1.4
0.42
1.1
1.6
4.9
2
*1. Values in parentheses ( ) are for using single-phase 200 V.
*2. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals.
*3. Use a no fuse breaker or a surge withstand fuse. The maximum inrush current is 20 A.
R7D-BP04H
0.69
(0.77)
*1
1.8
(3.5)
*1
2.5
7.8
5
(7)
*1
Wire Size and Allowable Current (Reference)
The following table shows the allowable current when there are three power supply wires.
Use a current below these specified values.
600-V Heat-resistant Vinyl Wire (HIV)
AWG size
20
---
18
16
14
Nominal crosssectional area (mm
2
)
0.5
0.75
Configuration
(wires/mm
2
)
19/0.18
30/0.18
0.9
1.25
37/0.18
50/0.18
2.0 7/0.6
Conductive resistance
(
/km)
Allowable current (A) for ambient temperature
30
C
40
C
50
C
39.5
6.6 5.6 4.5
26.0 8.8 7.0 5.5
24.4
15.6
9.53
9.0 7.7 6.0
12.0 11.0 8.5
23 20 16
4
4-12
4-3 Wiring Conforming to EMC Directives
4
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 below. These conditions are for conformance of the SMARTSTEP-2 products to the EMC Directives.
EMC-related performance of these products, however, will vary depending on 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 Servomotor does not, however, have to be covered with a metal plate.)
Noise filters and surge absorbers must be installed on power supply lines.
Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, mild steel wires for the shielding.)
All cables, I/O wiring, and power lines connected to the Servo Drive must have clamp filters installed.
The shields of all cables must be directly connected to a ground plate.
Wiring Method
AC power supply
(a)
NF
(b)
FC
SD
CNA CNB
L1
L2
L3
U
V
W
FC
SG
Singlephase
100 VAC
(Ground to 100
Ω or less.)
(h)
(f)
FC
CN1 CN2
FC
(e)
(g)
TB: Switch box
Servomotor ON rotation command
(c)
(d)
SM
Note For models with a single-phase power supply input (R7D-BP @@L/-BP01H/BP02HH/-
BP04H), the main input power supply 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 breakers, surge absorbers, and noise filters should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance.
4-13
4-3 Wiring Conforming to EMC Directives
Unit Details
Symbol
SG
Name
Surge absorber
NF Noise filter
SD Servo Drive
SM
FC
TB
Servomotor
Clamp core
Switch box
Manufacturer
Okaya Electric
Industries Co., Ltd.
Okaya Electric
Industries Co., Ltd.
OMRON Corp.
OMRON Corp.
TDK
Model
RAV781BWZ-4
Remarks
Single-phase 100 VAC
RAV781BXZ-4 Three-phase 200 VAC
3SUP-HQ10-ER-6 Single-phase
100/200 VAC
R7D-BP02L Single-phase 100 VAC
R7D-BP04H
R88M-G20030L
R88M-G40030H
ZACT305-1330
Three-phase 200 VAC
100 VAC
200 VAC
Cable Details
(f)
(g)
(h)
(b)
(c)
(d)
(e)
Symbol
(a)
Supplies from
AC power supply
Connects to
Noise filter
Cable name
Power supply line
Length Remarks Shielded Ferrite
2 m
3 m
Singlephase
100 VAC
Threephase
200 VAC
No
No
No
No
Noise filter
Servo Drive
Servo Drive
Switch box
Servo Drive Power supply line
Servomotor Power cable
Servomotor Encoder cable
Servo Drive I/O cable
Frame ground
Frame ground
Noise filter
Noise filter
AC power supply Switch box
Frame ground line
Frame ground line
Power supply line
2 m
20 m
20 m
1 m
1.5 m
1.5 m
1.5 m
---
---
---
---
---
---
---
No
Yes
No
No
No
No
No
Yes
Yes
Yes
Yes
No
No
No
4
4-14
4
4-3 Wiring Conforming to EMC Directives
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.
Wire the noise filter as shown at the left in the following illustration. The noise filter must be installed as close as possible to the entrance of the control box.
Correct: Separate input and output
AC input
1
2
3
NF
E
4
5
6
AC output
Ground
Wrong: Noise not filtered effectively
AC input
Ground
AC output
1
2
3
NF
E
4
5
6
Use twisted-pair cables for the power supply cables, or bind the cables.
Correct: Properly twisted
Servo Drive
Correct: Cables are bound.
Servo Drive
L1
L3
L1
L2
L3
Binding
Separate power supply cables and signal cables when wiring.
Control Panel Structure
Openings in the control panel, such as holes for cables, operating panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this from occurring, observe the items 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 will be electrically conductive.
If assembly is required, strip the paint off the joint areas (or mask them during painting), to make them electrically conductive.
If gaps appear in the control box case when screws are tightened, make adjustments to prevent this from occurring.
Do not leave any conductive part unconnected.
Ground all Units within the case to the case itself.
4-15
4-3 Wiring Conforming to EMC Directives
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 below.)
Use a conductive gasket between the door and the case, as shown in the diagrams below. (Refer to the diagrams below.)
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 will be electrically conductive.
The door may warp and gaps may appear between the door and case when screws are tightened.
Be sure that no gaps appear when tightening screws.
Case
4
A
B
Door
Control panel
Oil-resistant gasket Conductive gasket
Cross-sectional view of A–B
Door
Oil-resistant gasket
Conductive gasket
Door (interior view)
4-16
4
4-3 Wiring Conforming to EMC Directives
Selecting Connection Components
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 conditions when selecting the components. For more details, contact the manufacturers directly.
No-fuse Breakers (NFB)
When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
Maximum Input Current:
The Servo Drive’s maximum momentary output is approximately three times the rated output, and can be output for up to three seconds. Therefore, select a no-fuse breaker with an operating time of at least five seconds at 300% of the rated current. General-purpose 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
Servomotors. The rated current of the power supply input for each Servomotor is provided in Main
Add the current consumption of other controllers, and any other components, when selecting the
NFB.
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 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.
Servo Drive model
R7D-BP Series
Inrush current (A0-p)
Main circuit power supply
20
4-17
4-3 Wiring Conforming to EMC Directives
Leakage Breakers
The leakage current for the Servomotor and Servo Drive combinations are given in the following table.
R7D-BPA5L
R7D-BP01L
R7D-BP02L
R7D-BP01H
R7D-BP02HH
R7D-BP02H
R7D-BP04H
R7D-BP Series
Servo Drive model Specifications
Single-phase 100 V, 50 W
Single-phase 100 V,
100 W
Single-phase 100 V,
200 W
Single/three-phase 200 V,
50 W
Single/three-phase 200 V,
100 W
Single-phase 200 V,
200 W
Three-phase 200 V,
200 W
Single/three-phase 200 V,
400 W
Resistor + capacitor measurement
5-m power cable
Leakage current
(mA)
0.48
0.59
0.50
0.91
1.18
0.95
1.17
1.25
Clamp leak tester (measurement filter
ON with HIOKI 3283)
5-m power cable 20-m power cable
Leakage current
(mA)
0.08
0.09
Leakage current
(mA)
0.13
0.13
0.10
0.25
0.18
0.30
0.26
0.55
0.15
0.37
0.29
0.40
0.37
0.72
Note 1. The resistor plus capacitor measurement provides a guide to the leakage current level that may flow through people if the Servomotor and Servo Drive are not properly grounded. The actual value changes depending on the ambient temperature and humidity.
Note 2. The clamp leak tester measurement is the leakage current actually detected at the inverter and surge-resistant leakage breaker. Triple this value when using a general leakage breaker.
Actual Selection
The leakage breaker starts to detect leakage current from 50% of the rated leakage current, so provide a margin of two times.
Also, a large amount of leakage current will flow from the noise filter. Leakage current form other
Controllers should also be added to the total leakage current.
To prevent incorrect operation due to inrush current, it is necessary to select a current value of ten times the total leakage current for uses other than surge resistance.
Refer to the specifications from the relevant manufacturer for information on leakage breakers.
4
4-18
4
4-3 Wiring Conforming to EMC Directives
Surge Absorbers
Use surge absorbers to absorb lightning surge voltage or abnormal voltage from power supply input lines.
When selecting surge absorbers, take into account the varistor voltage, the allowable surge current, and the energy.
For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.
The surge absorbers shown in the following table are recommended.
Maker
Okaya
Electric
Industries
Co., Ltd.
Model
R·A·V-781BWZ-4
R·A·V-781BXZ-4
Max. limit voltage
700 V
20%
700 V
20%
Surge immunity
2500 A
2500 A
Type
Block
Remarks
Single-phase
100/200 VAC
Three-phase
200 VAC
Note 1. Refer to the manufacturers’ documentation for operating details.
Note 2. The surge immunity is for a standard impulse current of 8/20
s. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber.
Dimensions
Single-phase BWZ Series
4.2 dia.
Three-phase BXZ Series
4.2 dia.
4-19
41
Equalizing Circuits
Single-phase BWZ Series
41
Three-phase BXZ Series
4-3 Wiring Conforming to EMC Directives
Noise Filter for the Power Supply Input
Use the following noise filter for the Servo Drive’s power supply.
Noise filter
Servo Drive model
Model
Rated current
Rated voltage
Max. leakage current
(60 Hz)
R7D-BP Series 3SUP-HU10-ER-6 10 A
Maker
230 VAC 0.4 mA/phase
Okaya Electric
Industries Co.,
Ltd.
Dimensions
115
105
95
5.5
Ground terminal
M4
Label
Cover mounting screw
M3
M4
Cover
Noise Filter
4
4-20
4
4-3 Wiring Conforming to EMC Directives
Radio Noise Filters and Emission Noise Prevention Clamp Cores
Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal oscillation circuit.
Model
3G3AX-ZCL2
*1
ESD-R-47B
*2
ZCAT3035-1330
*3
Maker
OMRON
NEC TOKIN
TDK
Application
Servo Drive output and power cable
Servo Drive output and power cable
Encoder cable and I/O cable
*1. Mainly used for 200/400 W. The maximum number of windings is three turns.
*2. Mainly used for 50/100 W. The maximum number of windings is two turns.
*3. Also used on the Servo 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 frame ground line.
Dimensions
3G3AX-ZCL2 ESD-R-47B
Three, M4
3.0
17.5
5.1 dia.
50
95
80
26
Two, M5
ZCAT 3035-1330
39
34
30
13
4-21
4-3 Wiring Conforming to EMC Directives
Impedance Characteristics
3G3AX-ZCL2
1000
100
10
1
0.1
1
ZCAT 3035-1330
1000
ESD-R-47B
10000
10 100
Frequency (kHz)
1000 10000
1000
100
10
1
1 10 100
Frequency (MHz)
1000
4
100
10
10 100
Frequency (MHz)
1000
4-22
4
4-3 Wiring Conforming to EMC Directives
Surge Suppressors
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
Diode
Thyristor or varistor
Capacitor
+ resistor
Features
Diodes are used for relatively small loads when the reset time is not an issue, such as relays.
At power shutoff, the surge voltage is the lowest, but the reset time becomes longer.
Used for 24/48-VDC systems.
Thyristors and varistors are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage at power shutoff is approximately 1.5 times the varistor voltage.
The capacitor and resistor dissipate and absorb the surge at power shutoff. The reset time can be shortened by selecting the appropriate capacitor and resistance values.
Recommended products
Use a fast-recovery diode with a short reverse recovery time
(e.g., RU2 of Sanken Electric Co., Ltd.).
Select the varistor voltage as follows:
24 VDC system: Varistor V0 39 V
100 VDC system: Varistor V0 200 V
100 VAC system: Varistor V0 270 V
200 VAC system: Varistor V0 470 V
Okaya Electric Industries Co., Ltd.
XEB12002 0.2
F - 120
XEB12003 0.3
F - 120
Note Thyristors and varistors are made by the following companies. Refer to manufacturers’ documentation for details on these components.
Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co.
Contactors
Select contactors based on the circuit's inrush current and the maximum momentary phase current.
The Servo Drive inrush current is covered in the preceding explanation of no-fuse breaker selection, and the maximum momentary phase current is approximately twice of the rated current.
The following table shows the recommended contactors.
Maker
OMRON
Model
J7L-09-22200
J7L-12-22200
J7L-18-22200
J7L-32-22200
Rated current
11 A
13 A
18 A
26 A
Coil voltage
200 VAC
200 VAC
200 VAC
200 VAC
4-23
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.
If cables are joined midway, be sure to use connectors and do not remove more than 50 mm of the cable insulation. In addition, always use shielded cables.
Do not coil cables. If cables are long and coiled, mutual induction and inductance will increase and cause malfunctions. Always use cables fully extended.
When installing noise filters for Encoder Cables, use clamp filters.
The following table shows the recommended clamp filters.
Maker
NEC TOKIN
TDK
Product name
Clamp filter
Clamp filter
Model
ESD-SR-250
ZCAT3035-1330
Specifications
For cable diameter up to 13 mm
For cable diameter 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.
Dimensions
ESD-SR-250
4
~13 dia.
31.5
Impedance Characteristics
ESD-SR-250
10000
1000
100
38.0
10
1
1 10
Frequency(MHz)
100 1000
For information on the TDK clamp filter (ZCAT3035-1330), refer to Radio Noise Filters and Emission
Noise Prevention Clamp Cores on page 4-21.
4-24
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 for the external operation power supply. In particular, do not connect the two power supply ground wires.
Install a noise filter on the primary side of the control power supply.
If Servomotors with brakes are 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 deviation counter reset input lines separated from the control power supply as far apart as possible. In particular, do not connect the two power supply ground lines.
We recommend using line drivers for the pulse command output.
Always use twisted-pair shielded cable for the pulse command and deviation counter reset signal lines, and connect both ends of the shield to frame grounds.
If the control power supply wiring is long, noise resistance can be improved by adding 1-
F laminated ceramic capacitors between the control power supply and ground at the Servo Drive input section or the controller output section.
For open-collector specifications, keep the length of wires to within two meters.
Selecting Other Parts for Noise Resistance
This section explains the criteria for selecting other connection components required to improve noise resistance.
Understand each component’s characteristics, such as its capacity, performance, and applicable conditions when selecting the components.
For more details, contact the manufacturers directly.
4-25
4-3 Wiring Conforming to EMC Directives
Noise Filters for the Power Supply Input
Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive.
Select a noise filter with a rated current that is at least two times greater than the effective load
Maker
NEC TOKIN
Okaya Electric
Industries Co., ltd.
TDK
Model
GT-2050
GT-2100
GT-2150
GT-2200
HFP-2153
HFP-2303
SUP-EW5-ER-6
SUP-EW10-ER-6
SUP-EW15-ER-6
SUP-EW20-ER-6
SUP-EW30-ER-6
3SUP-HU10-ER-6
3SUP-HU20-ER-6
ZRCS2006-00S
ZRCS2010-00S
ZRCS2020-00S
ZRCS2030-00S
15 A
20 A
30 A
10 A
20 A
6 A
10 A
20 A
30 A
Rated current Applicable standards
5 A
10 A
UL, CSA, VDE, TUV
15 A
20 A
15 A
30 A
5 A
10 A
UL, CSA, TUV
UL, cUL, SEMKO
UL, CSA, NEMKO
Remarks
Single-phase
Three-phase
Single-phase
Three-phase
Single-phase
Note 1. To attenuate noise at low frequencies below 200 kHz, use an isolation transformer and a noise filter.
Note 2. To attenuate noise at high frequencies over 30 MHz, use a ferrite core and a high-frequency noise filter with a feed through capacitor.
Note 3. If multiple Servo Drives are connected to a single noise filter, select a noise filter with a rated current at least two times the total rated current of all the Servo Drives.
Noise Filters for Servomotor Output
Use noise filters without built-in capacitors on the Servomotor output lines.
Select a noise filter with a rated current at least two times the Servo Drive’s continuous output current.
The following table shows the recommended noise filters for Servomotor output.
Maker Remarks
OMRON
Model
3G3AX-NF001
3G3AX-NF002
Rated current
6 A
12 A
For inverter output
Note 1. Servomotor output lines cannot use the same noise filters for power supplies.
Note 2. Typical 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, an extremely large (about 100 times larger) leakage current will flow through the noise filter’s condenser and the Servo Drive could be damaged.
4
4-26
4
4-3 Wiring Conforming to EMC Directives
Dimensions
Four, M
Model
3G3AX-NF001
3G3AX-NF002
Nameplate
C
B
A
P
M4
H
J
A
140
160
B C
125 110
145 130
E
Dimensions (mm)
F G H
70
80
95
110
22
30
50
70
J
20
25
M P
4.5
156
5.5
176
Measures against Brake Line Noise
To reduce the noise from the brake line of the Servomotor, use a clamp filter of the same type used for the Encoder Cable.
4-27
4-4 Regenerative Energy Absorption
4-4 Regenerative Energy Absorption
The Servo Drives have internal regenerative energy absorption circuitry, which absorbs the regenerative energy produced during Servomotor deceleration and prevents the DC voltage from increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the
Servomotor is too large. In this case, measures must be taken to reduce the regenerative energy by changing operating patterns, or to increase the regenerative energy absorption capacity by connecting an External Regeneration Resistor.
Calculating the Regenerative Energy
Horizontal Axis
+N
1
Servomotor operation
−N
2
T
D2
E g2
Servomotor output torque
T
D1
E g1 t
1 t
2
T
Note In the output torque graph, acceleration in the positive direction is shown as positive, and acceleration in the negative direction is shown as negative.
The regenerative energy values for each region can be derived from the following equations.
E g 1
=
1
2
*
2
60
*
N
1
*
T
D 1
* t
1
E g 2
=
1
2
*
2
60
*
N
2
*
T
D 2
* t
2
*
*
1
2
*
*
D1
D2
*
*
1
2
[J]
[J]
N
1
, N
2
: Rotation speed at beginning 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 winding resistance and PWM, the actual regenerative energy will be approximately 90% of the values derived from these equations.
Average regeneration power (Pr): Regeneration power produced in one cycle of operation.
P r
=
(E g1
+ E g2
) / T [W]
T: Operation cycle [s]
4-28
4
4
4-4 Regenerative Energy Absorption
Since an internal capacitor absorbs regenerative energy, the value for E g1
a E g2
(unit: J) must be
lower than the Servo Drive’s regenerative energy absorption capacity. (For details, refer to Servo
Drive Regenerative Energy Absorption Capacity on page 4-30.) If an External Regeneration
Resistor is connected, be sure that the average regeneration power (Pr) does not exceed the
External Regeneration Resistor’s regenerative energy absorption capacity (12 W).
Vertical Axis
+N
1
Falling
Servomotor operation
Rising
−N
2
E g2
T
L2
T
D2
E g3
Servomotor output torque
E g1
T
D1 t
1 t
2 t
3
T
Note In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and acceleration in the negative direction (falling) is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
E g 1
=
1
2
2
*
2
60
*
N
1 *
T
D 1 * t
1
E g 2
=
60
*
N
2 *
T
L 2 * t
2
E g 3
=
1
2
*
2
60
*
N
2 *
T
D 2 * t
3
*
*
*
2
*
1
2
*
*
D2
D1
*
D2
3
*
*
1
[J]
3
[J]
[J]
N
1
, N
2
: Rotation speed at beginning of deceleration [r/min]
T
D1
, T
D2
: Deceleration torque [N·m]
T
L2
: Torque when falling [N·m] t
1
, t
3
: Deceleration time [s] t
2
: Constant-velocity running time when falling [s]
Note Due to the loss of winding resistance and PWM, the actual regenerative energy will be approximately 90% of the values derived from these equations.
The average regeneration power (Pr): Regeneration power produced in one cycle of operation
[W].
P r
= ( E g 1
+ E g 2
+ E g 2
) / T [W] T: Operation cycle [s]
Since an internal capacitor absorbs regenerative energy, the value for E g1
and (E g2
+ E g3
)(unit: J) must be lower than the Servo Drive’s regenerative energy absorption capacity. (For details, refer to Servo Drive Regenerative Energy Absorption Capacity.)
4-29
4-4 Regenerative Energy Absorption
Servo Drive Regenerative Energy Absorption Capacity
The SMARTSTEP 2 Servo Drives absorb regenerative energy internally with built-in capacitors.
If the regenerative energy is too large to be processed internally, an overvoltage error (AL12) occurs and operation cannot continue. The following table shows the regenerative energy (and amount of regeneration) that each Servo Drive can absorb.
If these values are exceeded, take the following measures.
Add an External Regeneration Resistor.
Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.)
Lengthen the deceleration time (to decrease the regenerative energy produced per time unit).
Lengthen the operation cycle, i.e., the cycle time (to decrease the average regeneration power).
Servo Drive
Regenerative energy that can be absorbed by the internal capacitor
J
Minimum external regenerative resistance
R7D-BPA5L
R7D-BP01L
R7D-BP02L
R7D-BP01H
R7D-BP02H
R7D-BP02HH
R7D-BP04H
6
12
8
16
16
20
20
50
35
35
4
Absorbing Regenerative Energy with an External Regeneration
Resistor
If the regenerative energy exceeds the absorption capacity of the Servo Drive, connect an External
Regeneration Resistor. Connect the External Regeneration Resistor to CNA pins 5 and 3 (between terminals P and B1) of the Servo Drive. Double-check the pin numbers when connecting the resistor because the Regeneration Resistor may be damaged by burning if connected to the wrong terminals. The External Regeneration Resistor will heat up to approximately 120
C. Do not place it near equipment or wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions.
External Regeneration Resistor
Performance Specifications
Model
R88A-
RR08050S
R88A-
RR080100S
R88A-
RR22047S
Resistance
Nominal capacity
50
100
47
80 W
80 W
220 W
Regeneration absorption at
120
C
20 W
20 W
70 W
Heat radiation condition
Aluminum
250
250,
Thickness: 3.0
Aluminum
250
250,
Thickness: 3.0
Aluminum
350
350,
Thickness: 3.0
Thermal switch output specifications
Operating temperature: 150
C 5%
NC contact
Rated output: 30 VDC, 50 mA max.
Operating temperature: 150
C 5%
NC contact
Rated output: 30 VDC, 50 mA max.
Operating temperature: 170
C 5%
NC contact
Rated output: 250 VAC, 0.2 A max.
4-30
4
4-4 Regenerative Energy Absorption
Wiring Method
Connect the External Regeneration Resistor between terminals P and B1.
Servo Drive
CNA
P
B1
5
3
θ>
External
Regeneration
Resistor
Thermal Switch Output
Precautions for Correct Use
Connect the thermal switch output so that the power supply is shut OFF when the contacts open. Configure a sequence to shut OFF the power via the thermal output. Not doing so may cause the resistor to overheat, resulting in a fire or damage to the equipment.
Combining External Regeneration Resistors
Regeneration absorption capacity
*1
20 W 40 W
Model
Resistance
*2
R88A-RR08050S
R88A-RR080100S
50
/100
R88A-RR08050S
R88A-RR080100S
25
/50
70 W 140 W
R88A-RR22047S R88A-RR22047S
47
94
Connection method
R
R
R
R R
R
*1. Select a combination that has an absorption capacity greater than the average regeneration power (Pr).
*2. Do not use a combination of resistors with a resistance lower than the minimum external regenerative resistance of each Servo Drive. For information on the minimum external regenerative resistance, refer to
Servo Drive Regenerative Energy Absorption Capacity on page 4-30.
4-31
Chapter 5
Operating Functions
5-1 Position Control ................................................. 5-1
High-Response Position Control vs. Advanced Position
Control ..................................................................................... 5-1
Parameters Requiring Settings ................................................ 5-1
Related Parameters ................................................................. 5-2
Parameter Block Diagram for Position Control Mode .............. 5-3
5-2 Internally Set Speed Control ............................. 5-4
Parameters Requiring Settings ................................................ 5-4
Related Parameters ................................................................. 5-4
Selecting the Internally Set Speeds ......................................... 5-5
Operation ................................................................................. 5-5
Parameter Block Diagram for Internally Set Speed Control
Mode ........................................................................................ 5-6
5-3 Forward and Reverse Drive Prohibit ................ 5-7
Parameters Requiring Settings ................................................ 5-7
Operation ................................................................................. 5-7
5-4 Encoder Dividing................................................ 5-8
Parameters Requiring Setting .................................................. 5-8
Operation ................................................................................. 5-8
5-5 Electronic Gear................................................... 5-9
Parameters Requiring Settings ................................................ 5-9
Operation ................................................................................. 5-9
Related Parameter ................................................................. 5-10
5-6 bBrake Interlock ............................................... 5-11
Parameters Requiring Setting ................................................ 5-11
Operation ............................................................................... 5-11
5-7 Gain Switching ................................................. 5-13
Parameters Requiring Setting ................................................ 5-13
Related Parameters ............................................................... 5-14
5-8 Torque Limit ..................................................... 5-15
Parameters Requiring Setting ................................................ 5-15
Related Parameters ............................................................... 5-15
5-9 Overrun Limit.................................................... 5-16
Parameters Requiring Settings .............................................. 5-16
Operation ............................................................................... 5-16
5-10 User Parameters............................................... 5-17
Setting and Checking Parameters ......................................... 5-17
Parameter List........................................................................ 5-20
Parameter Details .................................................................. 5-32
5-1 Position Control
5Operating Functions
5-1 Position Control
Positioning can be performed according to the pulses input into the pulse-string inputs (CN1-22 to
25).
The Servomotor rotates using the value of the pulse-string inputs multiplied by the value of the electronic gear (Pn46, Pn47, Pn4A, and Pn4B).
SMARTSTEP2 Series Servo Drives have two position control modes: high-response position control and advanced position control. Select the mode better suited for your operational conditions.
5
High-Response Position Control vs. Advanced Position Control
The two position control modes have the following differences.
Notch Filter 1
Frequency (Pn1D)
Vibration
Frequency (Pn2B)
Realtime Autotuning Mode Selection (Pn21)
Adaptive Filter
Table Number
Display (Pn2F)
High-Response
Position Control
Advanced
Position Control
Conditional
Enabled
Conditional
Enabled
Conditional
Enabled
Disabled
Enabled
The Notch Filter 1 Frequency, Vibration Frequency, and Realtime Autotuning Mode Selection cannot be used at the same time in high-response position control mode. The parameter entered first will be given priority.
Example: When the Realtime Autotuning Mode Selection is set, the Servo Drive will be forcibly set to 1500 (disabled), even if the Notch Filter 1 Frequency is input.
The adaptive filter will be disabled under high-response position control. To use the adaptive filter, select the advanced position control mode.
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn02
Pn42
Pn46
Pn4A
Pn4B
Pn60
Explanation Reference
Control Mode
Selection
Command Pulse
Mode
Electronic Gear Ratio
Numerator 1
Electronic Gear Ratio
Numerator Exponent
Electronic Gear Ratio
Denominator
Positioning
Completion Range
Select a control mode for position control (setting: 0 or 2).
Set to match the command pulse form of the controller.
Set the pulse rate for command pulses and Servomotor travel amount.
Electronic Gear Ratio Numerator 1 (Pn46) x 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
The maximum value of the calculated numerator is 2,621,440.
The Positioning Completed Output (INP) turns ON when the number of pulses in the deviation counter is equal to or less than the setting of this parameter.
5-1
5-1 Position Control
Reference
The Control Mode Selection (Pn02) is set as follows.
Setting
0
1
2
Control mode
High-Response Position Control
Internally Set Speed Control
Advanced Position Control
To perform position control, select 0 (high-response position control) or 2
(advanced position control) for the control mode.
Related Parameters
The main functions provided by the parameters related to position control are described in the following table.
Reference Function
Gain Switching
Torque Limit Switch
Vibration Control
Realtime
Autotuning
Explanation
The Gain Switching Input (GSEL) is used when the Zero Speed Designation/
Torque Limit Switch (Pn06) is set to a value other than 2. The Gain Switching
Input is used to switch between PI and P operation or to switch between gain
1 and gain 2.
The Torque Limit Switch Input (TLSEL) is used when the Zero Speed Designation/Torque Limit Switch (Pn06) is set to 2. The following parameters are switched: Overspeed Detection Level, Torque Limit, and Deviation Counter
Overflow Level.
Vibration control can be used to reduce vibration when using a low-rigidity mechanism or equipment whose ends tend to vibrate.
Autotuning automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance.
5
5-2
5-1 Position Control
Parameter Block Diagram for Position Control Mode
5
CW
CCW
Command Pulse Input
Conditions Setting
Pn40: Command Pulse
Multiplying Setting
Pn41: Command Pulse
Rotation Direction
Switch
Pn42: Command Pulse
Mode
Pn4E:
Smoothing
Filter
Setting
Electronic Gear Setiing
Pn46: Electronic Gear
Ratio Numerator 1
Pn47: Electronic Gear
Ratio Numerator 2
Pn4A: Electronic Gear
Ratio Numerator Exponent
Pn4B: Electronic Gear
Ratio Denominator
Pn4C:
Position Command
Filter Time Constant
Setting
Pn15: Feed-forward
Amount
Vibration Filter
Pn2B: Vibration Frequency
Pn2C: Vibration Filter
Setting
+
−
Speed Command
Monitor
Pn16: Feed-forward
Command Filter
Deviation Counter
Pn10: Position Loop Gain
Pn18: Position Loop Gain 2
Position
Deviation
Monitor
Speed Monitor
+
+
+
−
Speed PI Processor
Pn11: Speed Loop Gain
Pn12: Speed Loop
Integration
Pn19: Speed Loop Gain 2
Pn1A: Speed Loop
Integration
Pn20: Inertia Ratio
Speed Detection
Pn13: Speed Feedback
Filter Time Constant
Pn1B: Speed Feedback
Filter Time Constant 2
Phase
A, B, Z
Dividing Rate Setting
Pn44: Encoder Dividing
Rate Setting
Pn45: Encoder Output
Receive
Encorder
Signal
RE
Torque Command
Monitor
*1
Notch Filter
Pn1D: Notch Filter 1
Frequency
Pn1E: Notch Filter 1
Width
(Pn2F: Adaptive Filter
Table Number
Display)
Torque Command Filter
Pn14: Torque Command
Filter Constant
Pn1C: Torque Command
Filter Time Constant 2
Pn5E: Torque Limit
Pn71: No.2 Torque Limit
+
−
Torque PI
Processor
Current Feedback
SM
*1
5-3
5-2 Internally Set Speed Control
5-2 Internally Set Speed Control
The speed of the Servomotor can be controlled using the speeds set in the No. 1 to 4 Internal
Speed Setting parameters.
After the RUN Command Input (RUN) is turned ON and then the Zero Speed Designation Input
(VZERO) is turned ON, the Servomotor will accelerate according to the Soft Start Acceleration
Time (Pn58). When the Zero Speed Designation Input (VZERO) is turned OFF, the Servomotor will decelerate to a stop according to the Soft Start Deceleration Time (Pn59).
Switching between the internally set speeds is controlled by the Internally Set Speed Selection 1 and 2 Inputs (VSEL1: CN1-6, VSEL2: CN1-4).
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn02
Pn06
Pn53
Pn54
Pn55
Pn56
Pn58
Pn59
Control Mode
Selection
Zero-speed
Designation/
Torque Limit
Switch
No. 1 Internal
Speed Setting
No. 2 Internal
Speed Setting
No. 3 Internal
Speed Setting
No. 4 Internal
Speed Setting
Soft Start
Acceleration Time
Soft Start
Deceleration Time
Explanation
Select the control mode for internally set speeds (setting: 1).
Always enable the zero-speed designation when internally set speeds are used (setting: 1).
Set the internally set speeds (r/min). The settings can be made from
20,000 to 20,000 r/min. Be sure to set the speeds within the allowable range of rotation speed of the Servomotor.
Set the acceleration time for Internally Set Speed Control. Set the time (setting
2 ms) until 1,000 r/min is reached.
Set the deceleration time for Internally Set Speed Control. Set the time (setting
2 ms) until operation stops from 1,000 r/min.
Reference
Page 5-34
5
Related Parameters
The main functions provided by the parameters related to Internally Set Speed Control are described in the following table.
Function Reference
Torque Limit Switch
Zero Speed
Detection
Motor Rotation
Detection
Explanation
The Torque Limit Switch Input (TLSEL) is used when the Zero Speed Designation/Torque Limit Switch (Pn06) is set to 2. The following parameters are switched: Overspeed Detection Level, Torque Limit, and Deviation Counter
Overflow Level.
The Zero Speed Detection Signal will be output if the speed of the Servomotor falls below the setting of this parameter. The Warning Output Selection
(Pn09) must be set to 1 to use this function.
The Servomotor Rotation Speed Detection Output (TGON) will be output if the speed of the Servomotor exceeds the setting of this parameter.
5-4
5-2 Internally Set Speed Control
Selecting the Internally Set Speeds
The four internally set speeds are switched by using the
Internally Set Speed Selection 1 Input
(VSEL1) and Internally Set Speed Selection 2 Input (VSEL2).
Internally set speed
No. 1 Internally Set Speed (Pn53)
No. 2 Internally Set Speed (Pn54)
No. 3 Internally Set Speed (Pn55)
No. 4 Internally Set Speed (Pn56)
Internally Set Speed Selection 1
Input (VSEL1) (CN1-6)
OFF
ON
OFF
ON
Internally Set Speed Selection 2
Input (VSEL2) (CN1-4)
OFF
OFF
ON
ON
5
Operation
RUN Command (RUN)
Servo ON
Zero Speed Designation (VZERO)
Internally Set Speed Selection1 (VSEL1)
Internally Set Speed Selection 2 (VSEL2)
Stop
Drive
Speed
OFF
OFF
Speed 1
ON
OFF
Speed 2
OFF
ON
Speed 3
ON
ON
Speed 4
The Servomotor decelerates according to the Soft Start
Deceleration
Time (Pn59).
Time
The Servomotor accelerates according to the Soft Start Acceleration Time (Pn58).
5-5
5-2 Internally Set Speed Control
Parameter Block Diagram for Internally Set Speed Control Mode
*1
Phase
A, B, Z
Internally Set Speed Setting
Pn53: No.1 Internally
Set Speed
Pn54: No.2 Internally
Set Speed
Pn55: No.3 Internally
Set Speed
Pn56: No.4 Internally
Set Speed
Dividing Rate Setting
Pn44: Encoder Dividing
Rate Setting
Pn45: Encoder Output
Notch Filter
Pn1D: Notch Filter 1
Frequency
Pn1E: Notch Filter 1
Width
(Pn2F: Adaptive Filter Table
Number Display)
Acceleration/Deceleration
Time Setting
Pn58: Soft Start
Acceleration Time
Pn59: Soft Start
Deceleration Time
+
−
Speed PI Processor
Pn11: Speed Loop Gain
Pn12: Speed Loop Integration
Pn19: Speed Loop Gain 2
Pn1A: Speed Loop Integration
Pn20: Inertia Ratio
Speed Monitor
Speed Detection
Pn13: Speed Feedback
Filter Time Constant
Pn1B: Speed Feedback
Filter Time Constant 2
Torque Command Filter
Pn14: Torque Command
Constant
Pn1C: Torque Command
+
−
Torque Command
Monitor
Torque PI
Processor
Current Feedback
Constant 2
Pn5E: Torque Limit
Receive
Encorder
Signal
RE
SM
*1
5
5-6
5-3 Forward and Reverse Drive Prohibit
5-3 Forward and Reverse Drive Prohibit
When the Forward Drive Prohibit Input (POT: CN1-8) and Reverse Drive Prohibit Input (NOT:
CN1-7) are turned OFF, the Servomotor will stop rotating.
You can prevent the Servomotor from rotating beyond the device's travel range by connecting limit inputs.
5
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn04
Drive Prohibit Input
Selection
Explanation
Enable or disable the Forward/Reverse Drive Prohibit Inputs.
Pn66
Stop Selection for
Drive Prohibit Input
Set the operation for decelerating to a stop after the Forward/
Reverse Drive Prohibit Input turns OFF. This parameter can be used to set whether to stop with the dynamic brake or free-running.
Reference
Operation
Stopping Methods When Forward/Reverse Drive Prohibit Is OFF.
Stop Selection for Drive
Prohibit Input (Pn66)
Deceleration Method
Dynamic brake
0
POT (NOT) turns OFF.
1
2
Free run
Stopped status
Servo unlocked
Servo locked or zero-speed designation
Servo locked
While the Forward Drive Prohibit 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
Prohibit Input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction.
5-7
5-4 Encoder Dividing
5-4 Encoder Dividing
The number of pulses can be set for the encoder signals output from the Servo Drive.
The number of pulses per Servomotor rotation can be set within a range of 1 to 2,500 pulses/ rotation.
Use this function for the following applications:
When using a controller with a low response frequency.
When it is desirable to set a pulse rate that is easily divisible.
Example:
To use a resolution of 5
m/pulse in a mechanical system in which one Servomotor rotation corresponds to a travel of 10 mm, set the encoder dividing rate to 2,000 pulses/rotation.
Parameters Requiring Setting
Parameter
No.
Parameter name
Pn44
Pn45
Encoder Dividing
Rate Setting
Encoder Output
Direction Switch
Explanation
Set the number of encoder pulses to be output from the Servo
Drive for each rotation. The default setting is 2,500 pulses/rotation.
The setting can be made from 1 to 16,384 pulses/rotation, but the setting will not be valid if it exceeds 2,500 pulses/rotation.
Even if the dividing rate is changed, there will always be 1 pulse per rotation for phase Z.
This parameter can be used to reverse the output phase of the encoder signal output from the Servo Drive.
Reference
Operation
The output phases of the encoder signal output from the Servo Drive are as shown below.
Forward Rotation Reverse Rotation
Phase A
Phase A
Phase B
Phase Z
Phase B
Phase Z
5
5-8
5-5 Electronic Gear
5-5 Electronic Gear
The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio.
This function is effective in the following cases:
When fine-tuning the position and speed of two lines that are to be synchronous.
When using a position controller with a low command pulse frequency.
When you want to set the machine travel distance per pulse, to 0.01 mm for example.
5
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn46
Pn47
Pn4A
Pn4B
Explanation Reference
Electronic Gear
Ratio Numerator 1
*1
Set the pulse rate for command pulses and Servomotor travel distance.
Electronic Gear
Ratio Numerator 2
*1
Electronic Gear
Ratio Numerator
Exponent
Electronic Gear
Ratio
Denominator
Electronic Gear Ratio Numerator 1 (Pn46) or
Electronic Gear Ratio Numerator 2 (Pn47) x 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
The maximum value of the calculated numerator is 2,621,440.
Any higher setting than this will be invalid, and the numerator will be 2,621,440.
Page 5-51
*1. The Electronic Gear Switch Input (GESEL) is used to switch between Electronic Gear Ratio
Numerator 1 (Pn46) and Electronic Gear Ratio Numerator 2 (Pn47).
Operation
Calculation Method
The following equation shows the relation between the number of internal command pulses (F) after the electronic gear ratio multiplication and the number of command pulses (f) per Servomotor rotation.
F = f
×
Pn46
× 2
Pn4A
Pn4B
The Servomotor has a 2,500 pulses/rotation encoder. Therefore, the number of internal command pulses (F) in the Servo Drive is 10,000 pulses/rotation (2,500 pulses/rotation
4).
Given the conditions above, the relation between the number of command pulses per Servomotor rotation (f) and the electronic gear ratio is as follows:
F f
=
10000 f
=
Pn46
× 2
Pn4A
Pn4B
(
=
Encoder resolution (by a factor of 4)
Number of command pulses for Servomotor rotation
)
5-9
5-5 Electronic Gear
Calculation Examples
To operate with 2,000 pulses/rotation:
10000 (Pn46)
× 2
0 (Pn4A)
2000 (Pn48)
To operate with 1,000 pulses/rotation:
10000 (Pn46)
× 2
0 (Pn4A)
1000 (Pn48)
Conversely, to increase the resolution per rotation and operate with 40,000 pulses/rotation:
10000 (Pn46)
× 2
0 (Pn4A)
40000 (Pn48)
The setting ranges for Pn46, Pn47, and Pn4B, however, will be 1 to 10,000, so reduction to one of the following is required.
2500 (Pn46)
× 2
0 (Pn4A)
10000 (Pn48) or
1 (Pn46)
× 2
0 (Pn4A)
4 (Pn48)
Make reductions so that the values fit into the setting ranges, as shown above.
Related Parameter
The main function provided by the parameter related to electronic gears is given in the following table.
Parameter
No.
Parameter name Explanation Reference
Pn40
Command Pulse
Multiplying Setting
The command pulses are multiplied by a factor of 2 or 4 when using 90
phase difference signal inputs is selected as the input format for the command pulses in the Command Pulse
Mode (Pn42).
Page 5-48
5
5-10
5-6 bBrake Interlock
5-6 bBrake Interlock
You can set the Brake Interlock Signal (BKIR) timing to turn ON and OFF the electromagnetic brake.
Precautions for Correct Use
The electromagnetic brake of a Servomotor with a brake is a nonexcitation brake designed for holding. Set the parameter to first stop the
Servomotor, and then turn OFF the power supply to the brake.
If the brake is applied while the Servomotor is rotating, the brake disk may become damaged due to friction, leading to the Servomotor malfunction.
5
Parameters Requiring Setting
Parameter
No.
Parameter name
Pn6A
Pn6B
Brake Timing when
Stopped
Brake Timing during
Operation
Explanation Reference
Use this parameter to set the output timing of the Brake Interlock
Signal (BKIR) when the Servomotor is stopped.
Use this parameter to set the output timing of the Brake Interlock
Signal (BKIR) when the Servomotor is rotating.
Page 5-58
Page 5-59
Operation
RUN Command Timing (When Servomotor Is Stopped)
RUN command
ON
OFF
Approx. 10 ms Approx. 1 to 5 ms
ON
Brake Interlock (BKIR)
OFF
Brake power supply
ON
OFF
200 ms max.
100 ms max.
Brake operation
Released
Held
*1
Pulse command
Supplied
Servomotor power supply
Not supplied
Approx. 40 to 45 ms
Pn6A
*2
*1. The time from turning ON the brake power supply to releasing the brake is 200 ms max. Provide a pulse command after the brake has been released, taking into account this delay.
*2. The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If using the Servomotor on a vertical axis, take this delay into account and set the B rake Timing when
Stopped (Pn6A) longer so that the Servomotor power is turned OFF after the brake has been held.
5-11
5-6 bBrake Interlock
RUN Command, Errors, and Power Supply Timing (When Servomotor Is
Rotating)
Power supply
ON
OFF
RUN command
ON
OFF
Alarm output (/ALM)
ON
OFF
*1
ON
Bbrake interlock (BKIR)
OFF
Servomotor power supply
Supplied
Not supplied
Approx. 1 to 5 ms
*1. This time is the shorter value of either the setting for the Brake Timing during Operation (Pn6B) or the time it takes until the Servomotor rotation speed drops to 30 r/min or lower. Depending on the holding time of the power supply, this time may be shorter than the value set in Pn6B.
5
5-12
5-7 Gain Switching
5
5-7 Gain Switching
In Position Control Mode, you can switch between PI (proportional and integral) operation and P
(proportional) operation, or between gain 1 and gain 2.
With PI/P operation switching, the repulsion to external forces applied to the load can be weakened by eliminating the integral of the speed deviation (i.e., the difference between the speed command and speed feedback).
Gain 1/gain 2 switching is effective in the following cases:
Reducing the gain to suppress vibration caused by changes in load inertia during operation.
Reducing the gain to suppress vibration due to an increase in speed.
Increasing responsiveness by increasing the gain during operation.
Increasing servo lock rigidity by increasing the gain when stopping.
Reducing the gain to suppress vibration when stopping.
Parameters Requiring Setting
Parameter
No.
Parameter name
Pn30
Pn31
Gain Switching Input
Operating Mode
Selection
Gain Switch Setting
Explanation
Select whether to use PI/P operation switching or gain 1/gain 2 switching in Position Control Mode.
Pn32
Pn33
Pn34
Pn35
Gain Switch Time
*1
Gain Switch Level
Setting
*1
Gain Switch
Hysteresis Setting
Position Loop Gain
Switching Time
Reference
Page 5-44
Select the condition for switching between gain 1 and gain 2.
Set the delay time from the moment the condition set in the Gain
Switch Setting (Pn31) is not met until returning to gain 1.
Set the judgment level for switching between gain 1 and gain 2.
The unit for the setting depends on the condition set in the Gain
Switch Setting (Pn31).
Set the hysteresis width above and below the judgment level set in the Gain Switch Level Setting (Pn33).
When switching between gain 1 and gain 2 is enabled, set the phased switching time only for the position loop gain at gain switching.
*1. These settings are disabled when the Gain Switch Setting (Pn31) is set to always use gain1 or gain 2 or set to the
Gain Switching Input (CN1-5).
5-13
5-7 Gain Switching
Related Parameters
Parameter
No.
Parameter name
Pn10
Pn11
Pn12
Pn13
Pn14
Pn18
Pn19
Pn1A
Pn1B
Pn1C
Explanation
Position Loop Gain
Speed Loop Gain
Speed Loop
Integration Time
Constant
Speed Feedback
Filter Time
Constant
Torque Command
Filter Time
Constant
Position Loop Gain
2
Speed Loop Gain 2
Speed Loop
Integration Time
Constant 2
Speed Feedback
Filter Time
Constant 2
Torque Command
Filter Time
Constant 2
Set the position control system responsiveness. The higher the setting, the shorter the positioning time.
Set the speed loop responsiveness.
The integration constant is included in the speed loop. This parameter functions to quickly eliminate minor speed deviations after stopping. The lower the setting, the faster the action.
The encoder signal is converted to the speed signal via the low pass filter. Noise from the Servomotor can be reduced by increasing the setting. Normally set it to 4 or less.
Set to adjust the primary lag filter time constant for the torque command section.
These settings are for gain 2.
These parameters function in the same way as the parameters described above.
Reference
Page 5-36
Page 5-37
Page 5-37
5
5-14
5-8 Torque Limit
5
5-8 Torque Limit
This function limits the output torque of the Servomotor.
This function is effective in the following cases:
Pressing a moving part of a machine (such as a bending machine) against a workpiece with a constant force.
Protecting the Servomotor and mechanical system from excessive force or torque.
The Warning Output Selection (Pn09) can be set to output an alarm to the Warning Output
(WARN) when the torque limit function is enabled.
Two torque limits can be set and you can switch between them. To switch the torque limit setting, enable the Torque Limit Switch Input (TLSEL) in the Zero Speed Designation/Torque Limit Switch
(Pn06).
Parameters Requiring Setting
Parameter
No.
Parameter name
Pn5E
Pn63
Torque Limit
*1
Explanation Reference
Set the torque limit as a percentage of the maximum torque of the
Servomotor.
Set the alarm detection level for deviation counter overflow.
Pn70
Deviation Counter
Overflow Level
Overspeed
Detection Level
Setting
*2
An overspeed alarm will occur if the Servomotor rotation speed exceeds the setting of this parameter.
*1. Values exceeding the default setting cannot be set. The default setting depends on the combination of the
Servomotor and Servo Drive.
*2. The Overspeed Detection Level Setting (Pn70) will function only when torque limit switching function is enabled.
Related Parameters
The following parameters must be set to use torque limit switching function.
Parameter
No.
Pn71
Pn72
Pn73
Parameter name
No. 2 Torque Limit
*1
No. 2 Deviation
Counter Overflow
Level
No. 2 Overspeed
Detection Level
Setting
*2
Explanation
These parameters are set when using the No. 2 torque limit.
These parameters function in the same way as the parameters described above.
Reference
*1. Values exceeding the default setting cannot be set. The default setting depends on the combination of Servomotor and Servo Drive.
*2. The No. 2 Overspeed Detection Level Setting (Pn73) will function only when torque limit switching function is enabled.
5-15
5-9 Overrun Limit
5-9 Overrun Limit
The overrun limit function is enabled only in Position Control Mode.
The overrun limit is used to stop operation via an alarm if the Servomotor's allowable operating range set in Overrun Limit Setting (Pn26) is exceeded.
The overrun limit is effective in the following case:
Preventing impact on the edges of the machine because of Servomotor oscillation.
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn26
Overrun Limit
Setting
Explanation
Set the operating range for the Servomotor. The overrun limit is disabled if the setting is 0.
Reference
Operation
Servomotor Stopped (Servo Locked)
Since the Servomotor is stopped, the Servomotor’s allowable operating range is within the travel distance set in the Overrun Limit Setting (Pn26) for both sides of the Servomotor stop position. If the load of the Servomotor enters the shaded area due to oscillation, an alarm will occur.
Servo- motor
Range of Err43
Pn26 Pn26
Servomotor's allowable operating range
Range of Err43
In Operation (Traveling)
When a position command is input, the Servomotor’s allowable operating range will increase according to the position command. In the following figure, an alarm will occur if the load enters the setting range on the left side before travel and the setting range on the right side after travel due to oscillation or for other reason.
Servo- motor
Load
Range of Err43
Pn26
Servomotor's allowable operating range
Pn26
Range of Err43
5
5-16
5-10 User Parameters
5-10 User Parameters
A Parameter Unit (R88A-PR02G) is required to set and change parameters. For information on
operating procedures, refer to 6-3 Using the Parameter Unit.
Set and check the user parameters in Parameter Setting Mode. Fully understand the parameter meanings and setting procedures before setting user parameters according to your system.
Some parameters are enabled by turning the power OFF and then ON again. When changing these parameters, turn OFF the power, check that the power LED indicator has gone OFF, and then turn
ON the power again.
5
Setting and Checking Parameters
Overview
Use the following procedure to set and check parameters.
1. Display Parameter Setting Mode.
When the power supply is turned ON, the item set for the Default Display (Pn01) will be displayed.
Press the Data key to go to Monitor Mode. Then press the Mode key to go to Parameter Setting
Mode.
2. Set the parameter number.
Press the Shift, Increment, and Decrement keys to set the parameter number.
3. Display the parameter setting.
Press the Data key to display the setting.
4. Change the parameter setting.
Press the Shift, Increment, and Decrement keys to change the displayed setting, and then press the
Data key to enter the setting of the parameter.
5. Save the changed setting to memory.
Press the Mode key to go to the display of Parameter Write Mode and then press the Data key to move on to Parameter Write Mode. By pressing the Increment key for at least 5 s, the set data will be written in EEPROM.
6. Exit Parameter Write Mode.
Press the Data key to return to the display of Parameter Write Mode.
5-17
5-10 User Parameters
Operating Procedures
1. Displaying Parameter Setting Mode
Key operation
Display example Explanation
The item set for the Default Display (Pn01) is displayed.
rk k k k k0k
Press the Data key to display Monitor Mode.
Uknk_kskpkd.
Press the Mode key to display Parameter Setting Mode.
pknk_krk0k0.
2. Setting the Parameter Number
Key operation Display example pknk_k k1k0.
Explanation
Use the Shift, Increment, and Decrement keys to set the parameter number.
If the parameter number is too high, you can change the parameter number faster by using the Shift key to change the digit. The decimal point will flash for the digit that can be set.
3. Displaying the Parameter Setting
Key operation Display example Explanation
Press the Data key to display the setting of the parameter.
k k k k4k0.
4. Changing the Parameter Setting
Key operation Display example Explanation
Use the Shift, Increment, and Decrement keys to change the setting.
k k k1k0k0.
Press the Data key to save the new setting.
k k k1k0k0.
5
5-18
5
5-10 User Parameters
5. Saving the New Setting to Memory
Key operation Display example Explanation
Press the Mode key to display Parameter Write Mode.
ekek_kskektk
Press the Data key to move on to Parameter Write Mode.
ekekpk k k-.
Press the Increment key for at least 5 s.
ekekpk k-k-.
The bar indicator will appear.
-k-k-k-k-k-.
Writing will start. (This display will appear only momentarily.) sktkakrktk k f i n i s h .
This display indicates a normal completion. In addition to “Finish,” either r e s e t .
If
or r e s e t .
e r r o r .
may be displayed.
is displayed, writing has been completed normally, but some of the changed parameters will be enabled only after the power is turned ON again. Turn OFF the Servo Drive power supply and then turn it ON again.
If e r r o r .
is displayed, there is a writing error. Write the data again.
6. Returning to the Display of Parameter Write Mode
Key operation Display example Explanation
Press the Data key to return to the display of Parameter Write Mode.
ekek_kskektk
5-19
5-10 User Parameters
Parameter List
Some parameters are enabled by turning the power OFF and then ON again. When changing these parameters, turn OFF the power, check that the power LED indicator has gone OFF, and then turn ON the power again.
Do not make any settings for parameters marked “Not used.”
Function Selection Parameters
Pn
No.
Parameter name
Setting Explanation
00 Unit No. Setting Set the unit number.
01 Default Display Select the data to display on the Parameter Unit when the power supply is turned ON.
0 Position deviation
3
4
1
2
Servomotor rotation speed
Torque output
Control mode
I/O signal status
02
03
05
Control Mode
Selection
Not used.
04 Drive Prohibit
Input Selection
Not used.
9
10
11
12
7
8
5
6
13
14
Alarm display and history
Not used.
Warning display
Regeneration load ratio
Overload load ratio
Inertia ratio
Total feedback pulses
Total command pulses
15
Not used.
Not used.
Automatic Servomotor recognition enabled/disabled display
Set the control mode to be used.
0 High-response position control
1
2
Internally set speed control
Advanced position control
(Do not change setting.)
You can prevent the Servomotor from rotating beyond its operating range by connecting limit inputs.
0 Enabled
1 Disabled
(Do not change setting.)
Default setting
1
Unit Setting range
--1 to 15
Power
OFF
ON
Yes
1
2
0
1
0
---
%
%
%
Pulses
Pulses
---
---
Pulses r/min
%
---
---
---
---
---
---
---
---
---
0 to 15
0 to 2
---
0 or 1
---
Yes
Yes
---
Yes
---
5
5-20
5
5-10 User Parameters
Pn
No.
Parameter name
06 Zero Speed
Designation/
Torque Limit
Switch
07 Not used.
08 Not used.
09 Warning
Output
Selection
0A Not used.
0B Not used.
0C Not used.
0D Not used.
0E Not used.
0F Not used.
Setting Explanation
Select the function of the Zero Speed Designation
Input (VZERO) and Torque Limit Switch Input
(TLSEL).
0
1
Both inputs disabled.
Zero-speed designation enabled.
2 Torque limit switching enabled.
(Do not change setting.)
(Do not change setting.)
Allocate the function of the Warning Output
(WARN).
0 Output while torque is being limited.
1
2
3
Output for zero speed detection.
Output for over regeneration, overload, or fan rotation speed error.
Output for over regeneration overload warning.
Output for overload warning.
4
5
6
Not used.
Output for fan rotation speed error alarm.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Default setting
Unit Setting range
Power
OFF
ON
1
0
0
2
2
0
0
0
0
0
---
---
---
---
---
---
---
---
---
---
0 to 2 Yes
---
---
0 to 6
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
5-21
5-10 User Parameters
Servo Gain Parameters
Pn
No.
Parameter name
Explanation
10 Position Loop
Gain
*1
11 Speed Loop
Gain
*1
12 Speed Loop
Integration
Time Constant
*1
Set to adjust the position control system responsiveness.
Set to adjust the speed loop responsiveness.
Set to adjust the speed loop integral time constant.
13 Speed Feedback Filter Time
Constant
*1
14 Torque
Command Filter
Time Constant
*1
The encoder signal is converted to the speed signal via the low pass filter.
Set to adjust the primary lag filter time constant for the torque command section.
15 Feed-forward
Amount
*1
Set the position control feed-forward compensation value.
Default setting
40
60
20
0
100
300
Unit
1/s
Hz ms
---
0.01 ms
0.1%
Setting range
Power
OFF
ON
0 to
32767
1 to
3500
---
---
1 to
1000
0 to 5
0 to
2500
2000 to
2000
---
---
---
---
16 Feed-forward
Command Filter
*1
Set the position control feed-forward command filter.
17 Not used.
18 Position Loop
Gain 2
*1
19 Speed Loop
Gain 2
*1
1A Speed Loop
Integration
Time Constant
2
*1
1B Speed Feedback Filter Time
Constant 2
*1
1C Torque
Command Filter
Time Constant
2
*1
1D Notch Filter 1
Frequency
1E Notch Filter 1
Width
1F Not used.
20 Inertia Ratio
*1
(Do not change setting.)
Set to adjust the position control system responsiveness.
Set to adjust the speed loop responsiveness.
Set to adjust the speed loop integral time constant.
The encoder signal is converted to the speed signal via the low pass filter.
Set to adjust the primary lag filter time constant for the torque command section.
Set the notch frequency of the resonance suppression notch filter.
Set the width to one of five levels for the resonance suppression notch filter. Normally, use the default setting.
(Do not change setting.)
Set the ratio between the mechanical system inertia and the Servomotor rotor inertia.
100
0
20
80
50
0
100
1500
2
0
300
0.01 ms
---
1/s
Hz ms
---
0.01 ms
Hz
---
---
%
0 to
6400
---
0 to
32767
1 to
3500
1 to
1000
0 to 5
0 to
2500
100 to
1500
0 to 4
---
0 to
10000
---
---
---
---
---
---
---
---
---
---
---
5
5-22
5
5-10 User Parameters
Pn
No.
Parameter name
Explanation
21 Realtime
Autotuning
Mode Selection
22 Realtime
Autotuning
23
24
Machine
Rigidity
Selection
Not used.
Not used.
Set the operating mode for realtime autotuning.
0 Realtime autotuning is not used.
The adaptive filter is disabled.
1
2
3
4
5
6
7
Realtime autotuning is used. Use this setting if there are almost no changes in load inertia during operation.
The adaptive filter is enabled if Pn02 is set to 2.
Realtime autotuning is used. Use this setting if there are gradual changes in load inertia during operation.
The adaptive filter is enabled if Pn02 is set to 2.
Realtime autotuning is used. Use this setting if there are sudden changes in load inertia during operation.
The adaptive filter is enabled if Pn02 is set to 2.
Realtime autotuning is used. Use this setting if there are almost no changes in load inertia during operation.
The adaptive filter is disabled.
Realtime autotuning is used. Use this setting if there are gradual changes in load inertia during operation.
The adaptive filter is disabled.
Realtime autotuning is used. Use this setting if there are sudden changes in load inertia during operation.
The adaptive filter is disabled.
Realtime autotuning is not used.
The adaptive filter is enabled if Pn02 is set to 2.
Set the machine rigidity during realtime autotuning to one of 16 levels.
The higher the machine rigidity, the greater the setting needs to be. The higher the setting, the higher the responsiveness.
(Do not change setting.)
(Do not change setting.)
Default setting
0
2
0
0
Unit
---
---
---
---
Setting range
Power
OFF
ON
0 to 7
0 to 15
---
---
---
---
---
---
5-23
5-10 User Parameters
Pn
No.
Parameter name
Explanation
25
26
Autotuning
Operation
Setting
Overrun Limit
Setting
27 Not used.
28 Not used.
29 Not used.
2A Not used.
2B Vibration
Frequency
2C Vibration Filter
Setting
Set the operating pattern for autotuning.
0 Rotation direction: CCW
CW, two rotations
1
2
Rotation direction: CW
CCW, two rotations
Rotation direction: CCW
CCW, two rotations
3
4
5
6
7
Rotation direction: CW
CW, two rotations
Rotation direction: CCW
CW, one rotation
Rotation direction: CW
CCW, one rotation
Rotation direction: CCW
CCW, one rotation
Rotation direction: CW
CW, one rotation
Set the allowable operating range for the Servomotor. The overrun limit function is disabled if this parameter is set to 0.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Set the vibration frequency to suppress vibration at the end of the load.
Set the vibration filter to suppress vibration at the end of the load.
Default setting
0
10
0
0
0
0
0
0
Unit
---
0.1 rotation
---
---
---
---
0.1Hz
0.1Hz
0
0
---
---
Setting range
Power
OFF
ON
0 to 7
0 to
1000
---
---
---
---
0 to
5000
200 to
2500
---
---
---
---
---
---
---
---
---
---
---
---
2D
2E
2F
Not used.
Not used.
Adaptive Filter
Table Number
Display
*1
(Do not change setting.)
(Do not change setting.)
Displays the table entry number corresponding to the frequency of the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled (i.e., if the Realtime Autotuning Mode Selection (Pn21) is set to 1 to 3 or
7).
30 Gain Switching
Input Operating
Mode Selection
Enable or disable gain switching.
If gain switching is enabled, the setting of the Gain
Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2.
0 Disabled. The gain set in Pn10 to Pn14 is used, and the Gain Switch Input
(GSEL) will be used to switch between
PI operation and P operation.
1 Enabled. The gain will be switched between gain 1 (Pn10 to Pn14) and gain 2
(Pn18 to Pn1C).
0
1
---
---
0 to 64
0 or 1
---
---
5-24
5
5
5-10 User Parameters
Pn
No.
Parameter name
Explanation
Default setting
Unit
Setting range
Power
OFF
ON
31
32
33
Gain Switch
Setting
Gain Switch
Time
*1
Gain Switch
Level Setting
*1
34 Gain Switch
Hysteresis
Setting
*1
35 Position Loop
Gain Switching
Time
*1
36 Not used.
37 Not used.
38 Not used.
39 Not used.
3A Not used.
3B Not used.
3C Not used.
3D Not used.
3E Not used.
3F Not used.
8
9
6
7
10
Select the condition for switching between gain 1 and gain 2 in one of the position control modes.
The Gain Switching Input Operating Mode Selection(Pn30) must be set to 1 (enabled).
0 Always gain 1
1
2
Always gain 2
Switching using Gain Switch Input
(GSEL)
Amount of change in torque command 3
4
5
Always gain 1
Command speed
Amount of position deviation
Command pulses received
Positioning Completed Signal (INP) OFF
Actual Servomotor speed
Combination of command pulse input and speed
This parameter is enabled when the Gain Switch
Setting (Pn31) is set to 3, or 5 to 10. Set the delay time from the moment the condition set in the Gain
Switch Setting (Pn31) is not met until returning to gain 1.
This parameter is enabled when the Gain Switch
Setting (Pn31) is set to 3, 5, 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2. The unit for the setting depends on the condition set in the Gain Switch Setting (Pn31).
Set the hysteresis width above and below the judgment level set in the Gain Switch Level Setting
(Pn33).
When switching between gain 1 and gain 2 is enabled, set the phased switching time only for the position loop gain at gain switching.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
0
30
600
50
20
0
0
0
0
0
0
0
0
0
0
---
166
s
---
---
166
s
---
---
---
---
---
---
---
---
---
---
0 to 10
0 to
10000
0 to
20000
0 to
20000
0 to
10000
---
---
---
---
---
---
---
---
---
---
*1. These parameters are automatically changed by executing realtime autotuning function. To set them manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
5-25
5-10 User Parameters
Position Control Parameters
Pn
No.
Parameter name
Explanation
Default setting
Unit
Setting range
Power
OFF
ON
40 Command
Pulse
Multiplying
Setting
41 Command
Pulse Rotation
Direction
Switch
The command pulses are multiplied by a factor of 2 or 4 when using 90
phase difference signal inputs is selected as the input format for the command pulses in the Command Pulse Mode (Pn42).
1
Multiply by 2.
2
3
Multiply by 4.
4
Set the Servomotor rotation direction for the command pulse input.
0
1
2
The Servomotor rotates in the direction specified by the command pulse.
The Servomotor rotates in the opposite direction from the direction specified by the command pulse.
42
43
Command
Pulse Mode
Not used.
44 Encoder
Dividing Rate
Setting
3
The Servomotor rotates in the direction specified by the command pulse.
Set the input format of the pulse sent as input commands to the Servo Drive from the position controller.
0
90
phase difference (phases A and B) signal inputs
1
2
Forward pulse and reverse pulse inputs
90
phase difference (phases A and B) signal inputs
3
Feed pulse input and forward/reverse signal
(Do not change setting.)
Set the number of encoder pulses to be output from the Servo Drive for each rotation.
The setting can be made from 1 to 16,384 pulses/ rotation, but the setting will not be valid if it exceeds
2,500 pulses/rotation.
45 Encoder
Output
Direction
Switch
Set to reverse the logic of encoder pulses output from the Servo Drive.
0
1
Positive logic
Negative logic
Set the pulse rate for command pulses and Servomotor travel distance.
46 Electronic Gear
Ratio
Numerator 1
47 Electronic Gear
Ratio
Numerator 2
Electronic Gear Ratio Numerator 1 (Pn46) or
Electronic Gear Ratio Numerator 2 (Pn47) x 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
48 Not used.
49 Not used.
(Do not change setting.)
(Do not change setting.)
4
0
1
0
0
10000
10000
0
0
---
---
---
---
1 to 4
0 to 3
0 to 3
---
2500 Pulses
1 to
16384
---
---
---
---
---
0 or 1
1 to
10000
1 to
10000
---
---
Yes
Yes
Yes
---
Yes
Yes
---
---
---
---
5-26
5
5
5-10 User Parameters
Pn
No.
Parameter name
Explanation
4A Electronic Gear
Ratio
Numerator
Exponent
4B Electronic Gear
Ratio
Denominator
4C Position
Command Filter
Time Constant
Setting
4D Not used.
4E Smoothing
Filter Setting
4F Not used.
Set the pulse rate for command pulses and Servomotor travel distance.
Electronic Gear Ratio Numerator 1 (Pn46) or
Electronic Gear Ratio Numerator 2 (Pn47) x 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
Set the time constant for the primary lag filter for the command pulse input.
If the parameter is set to 0, the filter will not function.
The larger the setting, the larger the time constant.
(Do not change setting.)
Select the FIR filter time constant used for the command pulse input.
The larger the setting, the smoother the command pulses.
(Do not change setting.)
Default setting
0
2500
0
0
0
0
Unit
Setting range
Power
OFF
ON
---
---
---
---
---
---
0 to 17
1 to
10000
0 to 7
---
0 to 31
---
---
---
---
---
Yes
---
5-27
5-10 User Parameters
Internally Set Speed Control Parameters
Pn
No.
Parameter name
Explanation
50 Not used.
51 Not used.
52 Not used.
53
54
55
56
No. 1 Internally
Set Speed
No. 2 Internally
Set Speed
No. 3 Internally
Set Speed
No. 4 Internally
Set Speed
57 Jog Speed
58
Soft Start
Acceleration
Time
59
Soft Start
Deceleration
Time
5A Not used.
5B Not used.
5C Not used.
5D Not used.
5E Torque Limit
5F Not used.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Set the No. 1 internally set rotation speed.
Set the No. 2 internally set rotation speed.
Set the No. 3 internally set rotation speed.
Set the No. 4 internally set rotation speed.
Set the rotation speed for jogging.
Set the acceleration time for internally set speed control
. Set the time (setting
2 ms) required until 1,000 r/min is reached.
Set the deceleration time for internally set speed control
.
Set the time (setting
2 ms) required until operation stops from 1000 r/min.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Set the limit to the Servomotor’s maximum torque.
(Do not change setting.)
Default setting
0
0
0
100
200
300
400
200
Unit
Setting range
---
---
--r/min r/min r/min r/min
---
---
---
20000 to 20000
20000 to 20000
20000 to 20000
20000 to 20000 r/min 0 to 500
Power
OFF
ON
---
---
---
---
---
---
---
---
0
0
0
300
0
0
0
0
2 ms
2 ms
---
%
---
---
---
---
0 to
5000
0 to
5000
---
---
---
---
0 to 500
---
---
---
---
---
---
---
---
---
5
5-28
5-10 User Parameters
5
Sequence Parameters
Pn
No.
Parameter name
Setting Explanation
60
61
62
63
64
65
66
67
68
Positioning
Completion
Range
Zero Speed
Detection
Rotation Speed for Servomotor
Rotation
Detection
Deviation
Counter
Overflow Level
Set the range for the Positioning Completed Output
(INP).
Set the rotation speed for the Warning Output for zero speed detection.
Set the rotation speed for the Servomotor Rotation
Speed Detection Output (TGON) for Internally Set
Speed Control.
Deviation
Counter
Overflow Alarm
Disabled
Not used.
Stop Selection for Drive
Prohibit Input
Not used.
Stop Selection at Alarm
Set the detection level for the Deviation Counter
Overflow Alarm. The alarm level is the setting value multiplied by 256 pulses.
Enable or disable the Deviation Counter Overflow
Alarm.
0
Deviation Counter Overflow Alarm enabled.
1
Deviation Counter Overflow Alarm disabled.
(Do not change setting.)
Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse
Drive Prohibit Input (NOT) is turned ON.
0
1
The torque in the drive prohibit direction is disabled, and the dynamic brake is activated.
The torque in the drive prohibit direction is disabled, and free-run deceleration is performed to stop.
2
A servo lock stop is used in position control, and a zero-speed designation stop is used in Internally Set Speed Control.
(Do not change setting.)
Set the operation to use during deceleration and after stopping when an alarm occurs. The deviation counter will be cleared when an alarm occurs.
0
1
During deceleration: Dynamic brake
After stopping: Dynamic brake
During deceleration: Free run
After stopping: Dynamic brake
2
3
During deceleration: Dynamic brake
After stopping: Servo free
During deceleration: Free run
After stopping: Servo free
Default setting
25
20
50
100
0
0
0
0
0
Unit
Pulses
0 to
32767 r/min
0 to
20000 r/min
256 pulses
---
---
---
---
---
Setting range
0 to
20000
0 to
32767
0 or 1
---
0 to 2
---
0 to 3
Power
OFF
ON
---
---
---
---
---
---
Yes
---
---
5-29
5-10 User Parameters
Pn
No.
Parameter name
Setting Explanation
69
6A
6B
Stop Selection with Servo OFF
Brake Timing
When Stopped
Brake Timing during
Operation
Set the operation to use during deceleration and after stopping and set the deviation counter status when the RUN Command Input (RUN) is turned
OFF.
0
During deceleration: Dynamic brake
After stopping: Dynamic brake
Deviation counter: Cleared
1
2
During deceleration: Free run
After stopping: Dynamic brake
Deviation counter: Cleared
During deceleration: Dynamic brake
After stopping: Servo free
Deviation counter: Cleared
3
4
5
6
During deceleration: Free run
After stopping: Servo free
Deviation counter: Cleared
During deceleration: Dynamic brake
After stopping: Dynamic brake
Deviation counter: Hold
During deceleration: Free run
After stopping: Dynamic brake
Deviation counter: Hold
During deceleration: Dynamic brake
After stopping: Servo free
Deviation counter: Hold
7
During deceleration: Free run
After stopping: Servo free
Deviation counter: Hold
When the Servomotor is stopped and the RUN
Command Input (RUN) is turned OFF, the Brake Interlock Signal (BKIR) will turn OFF, and the Servomotor will turn OFF after the time set for this parameter elapses (i.e., setting
2 ms).
When the Servomotor is operating and the RUN
Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce speed, and the
Brake Interlock Signal (BKIR) will turn OFF after a set time (i.e., setting
2 ms) has elapsed.
BKIR will also turn OFF if the speed drops to
30 r/min or lower before the set time elapses.
Default setting
Unit
0
10
50
---
2 ms
2 ms
Setting range
Power
OFF
ON
0 to 7
0 to
100
0 to
100
---
---
---
5
5-30
5
5-10 User Parameters
Pn
No.
Parameter name
Setting Explanation
6C
6D Not used.
6E Not used.
6F Not used.
70
Overspeed
Detection Level
Setting
71
Regeneration
Resistor
Selection
No. 2 Torque
Limit
Set this parameter to 1 or 2 if an external generation resistor is mounted.
0
The external regeneration processing circuit will not operate. Regenerative energy will be processed with the built-in capacitor.
1
An External Regeneration Resistor is used, and an External Regeneration Resistor overload alarm (alarm code 18) will occur when the resistance exceeds 10% of the operating limit.
2
3
An External Regeneration Resistor is used, but an External Regeneration Resistor overload alarm will not occur.
The external regeneration processing circuit will not operate. Regenerative energy will be processed with the built-in capacitor.
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Set the No. 1 overspeed detection level when torque limit switching is enabled in the Zero-speed
Designation/Torque Limit Switch (Pn06).
Set the No. 2 torque limit when torque limit switching is enabled in the Zero-speed Designation/
Torque Limit Switch (Pn06).
Set the No. 2 deviation counter overflow level when torque limit switching is enabled in the Zero-speed
Designation/Torque Limit Switch (Pn06).
72
73
No. 2 Deviation
Counter
Overflow Level
No. 2
Overspeed
Detection Level
Setting
74 Not used.
75 Not used.
76 Not used.
77 Not used.
78 Not used.
79 Not used.
7A Not used.
7B Not used.
7C Not used.
7D Not used.
7E Not used.
7F Not used.
Set the No. 2 overspeed detection level when torque limit switching is enabled in the Zero-speed
Designation/Torque Limit Switch (Pn06).
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
(Do not change setting.)
Default setting
0
0
0
0
0
100
100
0
0
0
0
0
0
0
0
0
0
0
0
0
Unit
---
---
---
--r/min
%
256 pulses
1 to
32767 r/min
---
---
---
---
---
---
---
---
---
---
---
---
Setting range
Power
OFF
ON
0 to 3
---
---
---
0 to
6000
0 to
500
0 to
6000
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
---
5-31
5-10 User Parameters
Parameter Details
This section describes the user parameters in detail. Be sure to fully understand the meanings of the parameters and change them properly.
Do not change settings of the parameters marked “Not used.”
Function Selection Parameters
Pn00
Unit No. Setting
Setting range 1 to 15 Unit ---
Use this parameter to set the unit number.
All modes
Default setting 1
Power OFF
ON
Yes
Pn01
Default Display
All modes
Setting range 0 to 15 Unit
Refer to the following table.
Default setting 1
Power OFF
ON
Yes
Use this parameter to set the item to be displayed on the Parameter Unit when the power supply is turned ON.
Explanation of Settings
Setting
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Position deviation
Not used.
Not used.
Automatic Servomotor recognition display
Explanation
Displays the number of accumulated pulses in the deviation counter.
Servomotor rotation speed Displays the Servomotor rotation speed.
Torque output Displays the Servomotor output torque as a percentage of the rated torque output.
Control mode
I/O signal status
Displays the control mode, i.e., position control or Internally Set Speed Control.
Displays the status of control input and output signals connected to CN1.
Alarm display and history Displays the 14 most recent alarms, including current alarms.
Not used.
Warning display
Regeneration load ratio
Overload load ratio
Inertia ratio
Total feedback pulses
Total command pulses
Displays overload and over regeneration warnings.
Displays the load ratio as a percentage of the regeneration overload alarm operation level.
Displays the load ratio as a percentage of the rated load.
Displays the inertia ratio.
Displays the total number of pulses since the power supply was turned ON.
Press the Data key for 5 s or longer to reset the value.
Automatic Servomotor recognition is always enabled.
Unit
Pulse r/min
%
---
---
---
---
---
%
%
%
Pulse
Pulse
---
---
---
5
5-32
5-10 User Parameters
5
Pn02
Control Mode Selection
Setting range 0 to 2 Unit
Set the control mode to be used.
Explanation of Settings
Setting
0
1
2
High-response Position Control
Internally Set Speed Control
Advanced Position Control
---
All modes
Default setting 2
Power OFF
ON
Yes
Explanation
Differences between High-response Position Control and Advanced Position Control
Notch Filter 1
Frequency (Pn1D)
Vibration
Frequency (Pn2B)
Realtime Autotuning Mode Selection
(Pn21)
Adaptive Filter
Table Number
Display(Pn2F)
High-response
Position
Control
Advanced
Position
Control
Conditional
Enabled
Conditional
Enabled
Conditional
Enabled
Disabled
Enabled
The Notch Filter 1 Frequency, Vibration Frequency, and Realtime Autotuning Mode Selection cannot be used at the same time in High-response Position Control Mode. The parameter entered first will be given priority.
Example:
When the Realtime Autotuning Mode Selection is set, the Servo Drive will be forcibly set to 1500
(disabled), even if the Notch Filter 1 Frequency is input.
The adaptive filter is disabled in High-response Position Control Mode. To use the adaptive filter, use the Advanced Position Control Mode.
Pn03 Not used. (Do not change setting.)
Pn04
Drive Prohibit Input Selection
All modes
Setting range 0 or 1 Unit --Default setting 1
Power OFF
ON
Yes
Set whether to use the drive prohibit inputs.
You can prevent the Servomotor from rotating beyond the device’s operating range by connecting limit inputs.
When only the Forward Drive Prohibit Input (POT) is turned ON, the Servomotor can operate in the forward direction, but cannot operate in the reverse direction.
Explanation of Settings
Setting
0
1
Explanation
Drive prohibit inputs enabled.
When the Forward Drive Prohibit Input (POT) and the Reverse Drive Prohibit Input (NOT) are ON, the Servomotor can operate in the forward and reverse directions.
Drive prohibit inputs disabled.
Operation is possible regardless of the POT and NOT inputs.
5-33
5-10 User Parameters
Pn05 Not used. (Do not change setting.)
Pn06
Setting range
Zero Speed Designation/Torque Limit Switch
0 to 2 Unit -- Default setting 1
All modes
Power OFF
ON
Yes
Use this parameter to select whether to use the Zero Speed Designation Input (VZERO) or Torque
Limit Switch Input (TLSEL) as the function of pin CN1-5.
For Position Control Mode, 0 or 2 can be selected. For Internally Set Speed Control Mode, 1 or 2 can be selected.
If 0 is selected in Position Control Mode, pin CN1-5 will be used as the Gain Switch Input (GSEL).
If the Torque Limit Switch Input (TLSEL) is used, always set the following parameters: Overspeed
Detection Level Setting (Pn70), No. 2 Torque Limit (Pn71), and No. 2 Overspeed Detection Level
Setting (Pn73). If the Torque Limit Switch Input is used with the default settings, an overspeed alarm (alarm code 26) will occur.
Explanation of Settings
Setting
0
1
2
Explanation
Zero Speed Designation Input (VZERO) Torque Limit Switch Input (TLSEL)
Disabled
Enabled
Disabled
Disabled
Disabled
Enabled
Pn07
Pn08
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Pn09
Setting range
Warning Output Selection
0 to 6 Unit ---
Set the function of the Warning Output (WARN).
All modes
Default setting 2
Power OFF
ON
---
Explanation of Settings
Setting
0
1
2
3
4
5
6
Explanation
Output while torque is being limited.
Output for zero speed detection.
Output for regeneration, overload, or fan rotation speed alarm warning.
Output for regeneration warning.
Output for overload warning.
Not Used.
Output for fan rotation speed alarm warning.
5
5-34
5
5-10 User Parameters
Pn0A
Pn0B
Pn0C
Pn0D
Pn0E
Pn0F
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5-35
5-10 User Parameters
Gain Parameters
Pn10
Position Loop Gain
Position
Setting range
Servomotor speed
0 to 32767 Unit 1/s Default setting 40
Power OFF
ON
---
Set this parameter to adjust the position loop response according to the mechanical rigidity.
The responsiveness of the servo system is determined by the position loop gain. Servo systems with a high loop gain have a high response and can make positioning faster. To increase the position loop gain, you must improve mechanical rigidity and increase the specific oscillation frequency. The value should be 50 to 70 (1/s) for ordinary machine tools, 30 to 50 (1/s) for generaluse and assembly machines, and 10 to 30 (1/s) for industrial robots. Since the default position loop gain is 40 (1/s), be sure to lower the setting for machines with low rigidity.
Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation frequencies may cause machine resonance, resulting in an overload alarm.
If the position loop gain is low, you can shorten the positioning time by using feed forward.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Position loop gain is generally calculated as follows:
Command pulse frequency (pulses/s)
Position loop gain (Kp) =
Deviation counter accumulated pulses (pulses)
(1/s)
When the position loop gain is changed, the response is as shown in the following diagram.
When the position loop gain is high
5
When the speed loop gain is low.
Time
If the speed loop gain and position loop gain are optimally set, the Servomotor operation for the command will be delayed 2/Kp at acceleration and delayed 3/Kp at deceleration.
Servomotor speed
Position command
2
Kp
Servomotor operation
3
Kp
Time
5-36
5-10 User Parameters
5
Pn11
Speed Loop Gain
All modes
Setting range 1 to 3500 Unit Hz Default setting 60
Power OFF
ON
---
This gain adjusts the speed loop response.
Increase the gain to increase servo rigidity. Generally, the greater the inertia ratio, the higher the setting. If the gain is too high, it causes oscillation.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Servomotor speed
When the speed loop gain is changed, the response is as shown in the following diagram.
Overshoots when the speed loop gain is high. (Oscillates when the gain is too high.)
When the speed loop gain is low.
Time
Pn12
Speed Loop Integration Time Constant
All modes
Setting range 1 to 1000 Unit ms Default setting 20
Power OFF
ON
---
Set the speed loop integration time constant.
The higher the setting, the lower the responsiveness and the lower the resiliency to external force.
If the setting is too low, it causes oscillation.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Servomotor speed
When the speed loop integration time constant is changed, the response is as shown in the following diagram.
Overshoots when the speed loop integration time constant is small.
When the speed loop integration time constant is large.
Time
Pn13
Speed Feedback Filter Time Constant
All modes
Setting range 1 to 5 Unit --Default setting 0
Power OFF
ON
---
The encoder signal is converted to the speed signal via the low pass filter.
The higher the setting, the higher the time constant and the lower the noise level generated by the
Servomotor. Normally, use a setting of 4 or less.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
5-37
5-10 User Parameters
Pn14
Torque Command Filter Time Constant
All modes
Setting range 0 to 2500 Unit
0.01 ms
Default setting 100
Power OFF
ON
Set this parameter to adjust the primary lag filter time constant for the torque command.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
---
Pn15
Feed-forward Amount
Position
Setting range
2000 to 2000
Unit
0.1%
Default setting 300
Power OFF
ON ---
Set the feed-forward compensation value during position control.
When performing feed-forward compensation, the effective servo gain increases, improving responsiveness. There is almost no effect, however, on systems whose position loop gain is sufficiently high.
Use this parameter to shorten positioning time.
Setting a high value may result in machine vibration. Set the feed-forward amount for general machinery to 80% maximum. (Make adjustments while checking machine response.)
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Pn16
Setting range
Feed-forward Command Filter
0 to 6400 Unit
0.01 ms
Default setting 100
Position
Power OFF
ON
---
Set the feed-forward (primary lag) command filter to use during position control.
If the Positioning Completed Signal (INP) is interrupted (i.e., repeatedly turns ON and OFF) because of feed-forward compensation, and speed overshooting occurs, the problem may be solved by setting the primary lag filter.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Pn17 Not used. (Do not change setting.)
5
5-38
5
5-10 User Parameters
Pn18
Setting range
Position Loop Gain 2
0 to 32767
Pn19
Setting range
Speed Loop Gain 2
1 to 3500
Unit
Unit
1/s
Hz
Default setting
Default setting
20
80
Position
Power OFF
ON
---
All modes
Power OFF
ON
---
Pn1A
Setting range
Speed Loop Integration Time Constant 2
1 to 1000 Unit ms
Pn1B
Setting range
Speed Feedback Filter Time Constant 2
0 to 5 Unit ---
Default setting 50
All modes
Power OFF
ON
---
All modes
Power OFF
ON
--Default setting 0
Pn1C
Torque Command Filter Time Constant 2
All modes
Setting range 0 to 2500 Unit
0.01 ms
Default setting 100
Power OFF
ON
---
These parameters are for the gain and time constants selected when gain switching is enabled in the Gain Switching Input Operating Mode Selection (Pn30).
The gain is switched according to the condition set in the Gain Switch Setting (Pn31).
If the mechanical system inertia changes greatly or if you want to change the responsiveness while the Servomotor is rotating and stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each condition, and switch between them according to the condition.
These parameters are automatically changed by executing realtime autotuning function. To set them manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Gain switching function is enabled only for position control. For Internally Set Speed Control, operation will be performed using gain 1 (Pn11, Pn12, Pn13, and Pn14).
Pn1D
Setting range
Notch Filter 1 Frequency
100 to 1500 Unit Hz
All modes
Default setting 1500
Power OFF
ON
---
Set the notch frequency of the resonance suppression notch filter.
Set this parameter to approximately 10% lower than the resonance frequency of the mechanical system.
The notch filter function will be disabled if this parameter is set to 1500.
Pn1E
Notch Filter 1 Width
All modes
Setting range 0 to 4 Unit --Default setting 2
Set the width to one of five levels for the resonance suppression notch filter.
Increasing the setting increases the width.
Normally, use the default setting.
Power OFF
ON
---
Pn1F Not used. (Do not change setting.)
5-39
5-10 User Parameters
Pn20
Inertia Ratio
All modes
Setting range 0 to 10000 Unit % Default setting 300
Power OFF
ON
---
Set the mechanical system inertia (load inertia at the Servomotor shaft) as a percentage of the
Servomotor rotor inertia.
This parameter is automatically changed by executing autotuning.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
When realtime autotuning is performed, the estimated inertia ratio is saved in EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for Speed Loop Gain (Pn11) and Speed Loop
Gain 2 (Pn19) will be Hz. If the Inertia Ratio (Pn20) is set larger than the actual value, the setting for speed loop gain will increase. If the inertia ratio is set smaller than the actual value, the setting for speed loop gain will decrease.
Pn21
Realtime Autotuning Mode Selection
All modes
Setting range 0 to 7 Unit --Default setting 0
Power OFF
ON
---
Set the operating mode for realtime autotuning.
The higher the setting value is (e.g., 3 or 6), the faster the response is to a change in inertia during operation. Operation, however, may become unstable depending on the operating pattern.
Normally, set the parameter to 1 or 4.
To enable the adaptive filter, the Control Mode Selection (Pn02) must be set to 2 (advanced position control).
The adaptive filter table entry number display will be reset to 0 if the adaptive filter is disabled.
Changes to this parameter are enabled when the Servo status shifts from OFF to ON.
The Notch Filter 1 Frequency (Pn1D) and Vibration Frequency (Pn2B) must be disabled if realtime autotuning function is used with the Control Mode Selection (Pn02) set to 0 (high-response position control).
Explanation of Settings
Setting
0
1
2
3
4
5
6
7
Realtime autotuning Degree of change in load inertia during operation Adaptive filter
Not used.
--Disabled
There is almost no change.
There are gradual change.
There are sudden changes.
Enabled
(Pn02 = 2)
Used.
There is almost no change.
There are gradual changes.
There are sudden changes.
Disabled
Not used.
---
Enabled
(Pn02 = 2)
5
5-40
5
5-10 User Parameters
Pn22
Realtime Autotuning Machine Rigidity Selection
All modes
Setting range 0 to 15 Unit --Default setting 2
Power OFF
ON
---
Set the machine rigidity to one of 16 levels for executing realtime autotuning.
The greater the machine rigidity, the higher the setting. The higher the setting, the higher the responsiveness.
If the setting is changed suddenly by a large amount, the gain will change rapidly, subjecting the machine to shock. Always start with a small value in the setting, and gradually increase the setting while monitoring machine operation.
Pn23
Pn24
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Pn25
Autotuning Operation Setting
Setting range 0 to 7 Unit
Set the operating pattern for autotuning.
---
Explanation of Settings
Setting
0
1
2
3
4
5
6
7
Rotation direction
CCW
CW
CW
CCW
CCW
CCW
CW
CW
CCW
CW
CW
CCW
CCW
CCW
CW
CW
Default setting
Number of rotations
Two rotations
One rotation
0
All modes
Power OFF
ON
---
Pn26
Overrun Limit Setting
Setting range 0 to 1000 Unit
0.1 rotation
Default setting
Set the allowable operating range for the Servomotor.
The overrun limit function is disabled if the setting is 0.
For details, refer to Overrun Limit on page 5-16.
10
Position
Power OFF
ON
---
Pn27
Pn28
Pn29
Pn2A
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5-41
5-10 User Parameters
Pn2B
Vibration Frequency
Position
Setting range 0 to 5000 Unit
0.1 Hz
Default setting 0
Power OFF
ON
---
Set vibration frequency for vibration control to suppress vibration at the end of the load.
The minimum frequency that can be set is 100 (10.0 Hz). The parameter will be disabled if it is set to 0 to 99.
The Notch Filter 1 Frequency (Pn1D) and Realtime Autotuning Mode Selection (Pn21) must be disabled if vibration control function is used with the Control Mode Selection (Pn02) set to 0 (highresponse position control).
For details, refer to Vibration Control on page 7-23.
Pn2C
Vibration Filter Setting
Position
Setting range
200 to 2500
Unit
0.1 Hz
Default setting 0
Power OFF
ON
---
Set the vibration filter for vibration control to suppress vibration at the end of the load.
When the Vibration Frequency (Pn2B) is set, set a small value if torque saturation occurs and set a large value to achieve faster positioning.
Normally, set the parameter to 0.
For details, refer to Vibration Control on page 7-23.
Pn2D
Pn2E
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5
5-42
5
5-10 User Parameters
Pn2F
Adaptive Filter Table Number Display
Advanced position
Setting range 0 to 64 Unit --Default setting 0
Power OFF
ON
---
This parameter displays the table entry number corresponding to the frequency of the adaptive filter.
This parameter is set automatically and cannot be changed if the adaptive filter is enabled in the
Realtime Autotuning Mode Selection (Pn21).
When the adaptive filter is enabled, data will be saved in EEPROM every 30 minutes. If the adaptive filter is enabled the next time the power supply is turned ON, adaptive operation will start with the data saved in the EEPROM as the default value.
To reset the adaptive filter when operation is not normal, set the Realtime Autotuning Mode
Selection (Pn21) to 0 or to between 4 and 6 and disable the filter, and enable it again.
If the display for this parameter is 49 or higher, the adaptive filter may be automatically disabled depending on the Realtime Autotuning Machine Rigidity Selection (Pn22).
Explanation of Settings
10
11
12
13
8
9
6
7
4
5
2
3
Displayed value
0
1
18
19
20
21
14
15
16
17
Notch Filter 1
Frequency (Hz)
1319
1269
1221
1174
1130
1087
1045
1005
Disabled
Disabled
Disabled
Disabled
Disabled
1482
1426
1372
967
930
895
861
828
796
32
33
34
35
28
29
30
31
Displayed value
22
23
24
25
26
27
40
41
42
43
36
37
38
39
Notch Filter 1
Frequency (Hz)
481
462
445
428
562
540
520
500
656
631
607
584
766
737
709
682
412
396
381
366
352
339
54
55
56
57
50
51
52
53
Displayed value
44
45
46
47
48
49
62
63
64
58
59
60
61
Notch Filter 1 Frequency (Hz)
326
314
302
290
279
269 (Disabled when Pn22
F)
258 (Disabled when Pn22
F)
248 (Disabled when Pn22
F)
239 (Disabled when Pn22
F)
230 (Disabled when Pn22
F)
221 (Disabled when Pn22
E)
213 (Disabled when Pn22
E)
205 (Disabled when Pn22
E)
197 (Disabled when Pn22
E)
189 (Disabled when Pn22
E)
182 (Disabled when Pn22
D)
Disabled
Disabled
Disabled
Disabled
Disabled
5-43
5-10 User Parameters
Pn30
Gain Switching Input Operating Mode Selection
Position
Setting range 0 or 1 Unit --Default setting 1
Power OFF
ON
---
Set this parameter to enable or disable gain switching.
If gain switching is disabled, the gain switching input can be used to switch between PI operation and P operation.
If gain switching is enabled, the setting of the Gain Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2.
Explanation of Settings
Setting
0
1
Explanation
Gain switching is disabled.
Gain 1 (Pn10 to Pn14) is used, and the Gain Switch Input (GSEL) will be used to switch between PI operation and P operation.
Gain switching is enabled.
The gain will be switched between gain 1 in (Pn10 to Pn14) and gain 2 (Pn18 to Pn1C).
Pn31
Gain Switch Setting
Position
Setting range 0 to 10 Unit --Default setting 0
Power OFF
ON
Select the condition for switching between gain 1 and gain 2.
The Gain Switch Input Operating Mode Selection (Pn30) must be set to 1 to enable gain switching.
---
Explanation of Settings
(
: Enabled,
: Disabled)
Setting
0
1
2
3
4
5
Gain switching conditions
Always gain 1 (Pn10 to Pn14)
Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
(GSEL) for pin CN1-5.
Amount of change in torque command
(Figure A)
Always gain 1 (Pn10 to Pn14)
Command speed (Figure B)
Explanation
Gain Switch
Time
(Pn32)
*1
6
7
8
9
10
Amount of position deviation (Figure C)
Command pulses received (Figure D)
Positioning Completed Output (INP)
OFF (Figure E)
Actual Servomotor speed (Figure B)
Combination of command pulse input and speed (Figure F)
Gain Switch
Level Setting
Gain Switch
Hysteresis Setting
(Pn34)
*2
*3
(
0.05%)
(r/min)
*4
(Pulse)
*3)
(
0.05%)
(r/min)
*4
(Pulse)
(r/min)
*5
(r/min)
(r/min)
*5
(r/min)
5
5-44
5
5-10 User Parameters
*1. The Gain Switch Time (Pn32) is used when returning from gain 2 to gain 1.
*2. The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure.
Pn33
Pn34
0
Gain 1
Gain 2
Gain 1
Pn32
*3. The amount of change is the value within 166
s.
Example: When the condition is a 10% change in torque in 166
s, the set value is 200.
*4. This is the encoder resolution.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
Figure A
Figure C
Speed V
Speed V
Torque T
Differential pulses
Level
Gain 1
ΔT
Level
H
L
L
H
Time
1 2
1
2 Gain 1 2 2
1
1
Command
speed S
Gain 1
H
L
Time
Gain 2 Gain 1
Figure D
Gain 2
Time
Gain 1
Speed V
Level
Figure B
H
L
Actual
speed N
Figure E
Gain 1
Time
Gain 2 Gain 1
INP
Gain 1
Time
Gain 2 Gain 1
Command speed S
Figure F
Actual speed N
H
L
Level
Gain 1
Time
Gain 2 Gain 1
Gain 2 is used only during the Speed Loop Integration Time Constant.
Gain 1 is used at other times.
5-45
5-10 User Parameters
Pn32
Gain Switch Time
Position
Setting range 0 to 10000 Unit
166 s
Default setting 30
Power OFF
ON
---
This parameter is enabled when the Gain Switch Setting (Pn31) is set to 3, or 5 to 10. Set the delay time from the moment the condition set in the Gain Switch Setting (Pn31) is not met until returning to gain 1.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Pn33
Gain Switch Level Setting
Position
Power OFF
ON
--Setting range 0 to 20000 Unit --Default setting 600
This parameter is enabled when the Gain Switch Setting (Pn31) is set to 3, 5, 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2.
The unit for the setting depends on the condition set in the Gain Switch Setting (Pn31).
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Pn34
Setting range
Gain Switch Hysteresis Setting
0 to 20000 Unit --Default setting 50
Position
Power OFF
ON
---
Set the hysteresis width above and below the judgment level set in the Gain Switch Level Setting
(Pn33).
The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure.
Pn33
0
Gain 1
Gain 2
Pn34
Gain 1
Pn32
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
5
5-46
5-10 User Parameters
5
Pn36
Pn37
Pn38
Pn39
Pn3A
Pn3B
Pn3C
Pn3D
Pn3E
Pn3F
Pn35
Position Loop Gain Switching Time
Position
Setting range 0 to 10000 Unit
(Setting + 1)
(
166 s)
Default setting 20
Power OFF
ON
---
If the Gain Switching Input Operating Mode Selection (Pn30) is set to 1 (gain switching enabled), set the phased switching time only for position loop gain at gain switching.
Example:
166
166
166
μs
166
Kp1 (Pn10) < Kp2 (Pn18)
Kp2 (Pn10)
0
Bold solid line
Pr35 = 0
3
1
2
2
1
3 Thin solid line
Kp1 (Pn18)
Gain 1
Gain 2 Gain 1
The switching time is set only when switching from a small position loop gain to a large position loop gain (Kp1 to Kp2). This is to reduce the shock to the machine due to sudden changes in the gain.
Set a value smaller than the difference between Kp2 and Kp1.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5-47
5-10 User Parameters
Position Control Parameters
Pn40
Command Pulse Multiplying Setting
Position
Setting range 1 to 4 Unit --Default setting 4
Power OFF
ON
Yes
The command pulses are multiplied by a factor of 2 or 4 when 90
phase difference signal inputs are selected as the input format for the command pulses in the Command Pulse Mode (Pn42).
Explanation of Settings
Setting
1
2
3
4
Explanation
Multiply the input pulses by 2.
Multiply the input pulses by 4.
Pn41
Command Pulse Rotation Direction Switch
Setting range 0 to 3 Unit --Default setting 0
Set the Servomotor rotation direction used for the command pulse input.
Position
Power OFF
ON
Yes
Explanation of Setting
Setting
0
Explanation
The Servomotor rotates in the direction specified by the command pulse.
1
2
The Servomotor rotates in the opposite direction of the direction specified by the command pulse.
3
The Servomotor rotates in the direction specified by the command pulse.
5
5-48
5
5-10 User Parameters
Pn42
Command Pulse Mode
Position
Setting range 0 to 3 Unit --Default setting 1
Power OFF
ON
Yes
Set the input format of the pulse inputs sent as commands to the Servo Drive from the position controller.
Explanation of Setting
Setting Command pulse mode Servomotor forward command Servomotor reverse command
90
phase difference
(phases A and B) signal inputs
Phase A t1 t1 t1 t1
0 or 2
Phase B t1 t1
Line driver: t1
2 s
Open collector: t1
5 s t1 t1
Forward pulse and reverse pulse inputs t2
Low
1 t2 t2
Low t2 t2
Line driver: t2
1 s
Open collector: t2
2.5 s
Feed pulse input and forward/reverse signal
3 t2 t2 t2
High
Line driver: t2
1 s
Open collector: t2
2.5 s t2 t2 t2 t2
Low t2
Pn43 Not used. (Do not change setting.)
Pn44
Encoder Dividing Rate Setting
All modes
Setting range 1 to 16384 Unit Pulse Default setting 2500
Power OFF
ON
Yes
Set the number of encoder pulses to be output from the Servo Drive for each rotation.
The setting can be made from 1 to 16,384 pulses, but the setting will not be valid if it exceeds 2,500 pulses. (Any setting that exceeds the encoder resolution will be invalid.)
Even if the dividing rate is changed, there will always be 1 pulse per rotation for phase Z.
5-49
5-10 User Parameters
Pn45
Encoder Output Direction Switch
All modes
Setting range 0 or 1 Unit --Default setting 0
Power OFF
ON
Yes
This parameter can be used to reverse the logic of the encoder pulses output from the Servo Drive.
Phase Z is synchronized with phase A. The logic of phase Z cannot be reversed.
Explanation of Settings
Setting Explanation
Positive logic
Forward Rotation
Reverse Rotation
0
Phase A
Phase B
Phase Z
Phase A
Phase B
Phase Z
Negative logic
Forward Rotation
Reverse Rotation
1
Phase A
Phase B
Phase Z
Phase A
Phase B
Phase Z
5
Pn46
Setting range
Electronic Gear Ratio Numerator 1
1 to 10000 Unit ---
Position
Default setting 10000
Power OFF
ON
---
Pn47
Electronic Gear Ratio Numerator 2
Position
Setting range 1 to 10000 Unit --Default setting 10000
Power OFF
ON
---
Set the pulse rate for command pulses and Servomotor travel distance along with Pn4A and Pn4B.
Electronic Gear Ratio Numerator 1 (Pn46) or
Electronic Gear Ratio Numerator 2 (Pn47) x 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
For details, refer to Electronic Gear on page 5-9.
Pn48
Pn49
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5-50
5
5-10 User Parameters
Pn4A
Setting range
Electronic Gear Ratio Numerator Exponent
0 to 17 Unit --Default setting 0
Position
Power OFF
ON
---
Pn4B
Electronic Gear Ratio Denominator
Position
Setting range 1 to 10000 Unit --Default setting 2500
Power OFF
ON
---
Set the pulse rate for command pulses and Servomotor travel distance along with Pn46 and Pn47
Electronic Gear Ratio Numerator 1 (Pn46) or
Electronic Gear Ratio Numerator 2 (Pn47) x 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
For details, refer to Electronic Gear on page 5-9.
Pn4C
Position Command Filter Time Constant Setting
Position
Setting range 0 to 7 Unit --Default setting 0
Power OFF
ON
Set the time constant for the primary lag filter for command pulse inputs.
If the command pulses are erratic, the normal countermeasure is to reduce the stepping movement of the Servomotor.
---
Explanation of Settings
Setting
0
1
2
3
4
5
6
7
Explanation
No filter
Time constant: 0.2 ms
Time constant: 0.6 ms
Time constant: 1.3 ms
Time constant: 2.6 ms
Time constant: 5.3 ms
Time constant: 10.6 ms
Time constant: 21.2 ms
Pn4D Not used. (Do not change setting.)
5-51
5-10 User Parameters
Pn4E
Smoothing Filter Setting
Position
Setting range 0 to 31 Unit --Default setting 0
Power OFF
ON
Yes
Select the FIR filter time constant used for the command pulses (FIR: Finite impulse response).
The higher the setting, the smoother the command pulses.
Input position command
Position command after smoothing filter processing
Position command after FIR filter processing t f t f t f
= (Pn4E + 1)
× Control cycle
Control Cycles with High-response Position Control (Pn02 = 0):
Setting: 0, Cycle: (0 + 1)
166 = 166 s
Setting: 1, Cycle: (1 + 1)
166 = 332 s
Setting: 31, Cycle: (31 + 1)
166 = 5312 s
Control Cycles with Advanced Position Control (Pn02 = 2):
Setting: 0, Cycle: (0 + 1)
333 = 333 s
Setting: 1, Cycle: (1 + 1)
333 = 666 s
Setting: 31, Cycle: (31 + 1)
333 = 10656 s
Response with position loop gain
Time
Response with position loop gain t f
Pn4F Not used. (Do not change setting.) t f
5
5-52
5
5-10 User Parameters
Internally Set Speed Control Parameters
Pn50 Not used. (Do not change setting.)
Pn51 Not used. (Do not change setting.)
Pn52 Not used. (Do not change setting.)
Pn53
Setting range
No. 1 Internally Set Speed
20000 to 20000
Unit
Pn54
Setting range
No. 2 Internally Set Speed
20000 to 20000
Unit
Pn55
Setting range
No. 3 Internally Set Speed
20000 to 20000
Unit r/min r/min r/min
Default setting
Default setting
100
200
Default setting 300
Internally set speed
Power OFF
ON
---
Internally set speed
Power OFF
ON
---
Internally set speed
Power OFF
ON
---
Pn56
No. 4 Internally Set Speed
Internally set speed
Setting range
20000 to 20000
Unit r/min Default setting 400
Power OFF
ON
---
These speed settings are used for Internally Set Speed Control.
Use internally set speeds No. 1 to No. 4 when Internally Set Speed Control is selected in the
Control Mode Selection (Pn02).
The sign of the setting indicates the direction of rotation. Settings with a plus sign (normally not indicated) are for the forward direction, and settings with minus sign are for the reverse direction.
For details, refer to Internally Set Speed Control on page 5-4.
Pn57
Jog Speed
Setting range 0 to 500 Unit r/min Default setting 200
Use this parameter to set the speed for jog operation.
For details, refer to Auxiliary Function Mode on page 6-18.
All modes
Power OFF
ON
---
Pn58
Setting range
Soft Start Acceleration Time
0 to 5000 Unit
2 ms
Default setting 0
Internally set speed
Power OFF
ON
---
Pn59
Soft Start Deceleration Time
Internally set speed
Setting range 0 to 5000 Unit
2 ms
Default setting 0
Power OFF
ON
---
Set the acceleration or deceleration time for Internally Set Speed Control.
Set the time (setting
2 ms) required until the Servomotor rotation speed reaches 1,000 r/min or until operation stops from 1,000 r/min.
Internally Set Speed
1000 r/min
Speed ta td
5-53
5-10 User Parameters
Pn5A
Pn5B
Pn5C
Pn5D
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Not used. (Do not change setting.)
Pn5E
Torque Limit
All modes
Setting range 0 to 500 Unit % Default setting 300
Power OFF
ON
---
Set the limit for the maximum torque of the Servomotor.
Normally, the Servomotor generates an instantaneous torque three times the rated value. Limit the maximum torque, however, if a torque of three times the rated value may cause problems with the strength of the mechanical system.
Make the setting as a percentage of the rated torque.
Example: Maximum torque limited to 150%
Torque (%)
Forward
300 (max.)
Pn5E = 150
200
100 (rated)
100
200
(rated)
Speed
(maximum)
300
Reverse
Both the forward and the reverse torque are limited at the same time.
This parameter will be used for No.1 torque control if the Zero Speed Designation/Torque Limit
Switch (Pn06) is set to 2.
The default setting depends on the combination of Servomotor and Servo Drive.
Values exceeding the default setting cannot be set.
Refer to Torque Limit on page 5-15.
Pn5F Not used. (Do not change setting.)
5
5-54
5
5-10 User Parameters
Sequence Parameters
Pn60
Positioning Completion Range
Position
Setting range 0 to 32767 Unit Pulse Default setting 25
Power OFF
ON
---
Set the deviation counter value for the Positioning Completed Output (INP).
The Positioning Completed Output (INP) turns ON when the accumulated pulses in the deviation counter fall below the setting of this parameter.
Accumulated pulses
Pn60
INP
Pn60
The encoder resolution is 2,500 pulses/rotation, but in the Servo Drive it is regarded as 10,000 pulses/rotation (i.e., 2,500 pulses/rotation
4).
Pn61
Zero Speed Detection
All modes
Setting range 0 to 20000 Unit r/min Default setting 20
Power OFF
ON
---
Set the number of rotations for the warning output (zero speed detection output).
The Warning Output Selection (Pn09) must be set to 1 to output zero speed detection.
Zero speed detection will be output if the Servomotor speed falls below the set speed regardless of the direction of rotation.
Speed
Forward
Pn61
Pn61
Reverse
WARN
There is an hysteresis of 10 r/min, so set a value higher than 10.
5-55
5-10 User Parameters
Pn62
Rotation Speed for Servomotor Rotation Detection
Internally set speed
Setting range 0 to 20000 Unit r/min Default setting 50
Power OFF
ON
---
Set the number of rotations for the Servomotor Rotation Speed Detection Output (TGON) during
Internally Set Speed Control.
The Servomotor Rotation Speed Detection Output (TGON) will turn ON if the Servomotor speed exceeds the set speed regardless of the direction of rotation.
Speed
Pn62
Forward
Reverse
Pn62
TGON
There is a hysteresis of 10 r/min, so set a value higher than 10.
Pn63
Deviation Counter Overflow Level
Setting range 0 to 32767 Unit
256 pulses
Default setting
Set the detection level for the deviation counter overflow alarm.
The alarm level is the setting value multiplied by 256 pulses.
100
Position
Power OFF
ON
---
Pn64
Deviation Counter Overflow Alarm Disabled
Position
Setting range 0 or 1 Unit --Default setting 0
Power OFF
ON
The deviation counter overflow alarm can be disabled so that it does not occur.
---
Explanation of Settings
Setting
0
1
Explanation
Enabled
Disabled
Pn65 Not used. (Do not change setting.)
5
5-56
5
5-10 User Parameters
Pn66
Stop Selection for Drive Prohibit Input
All modes
Setting range 0 to 2 Unit --Default setting 0
Power OFF
ON
Yes
Set the operation to be used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is turned ON.
Explanation of Settings
Setting
0
1
2
Explanation
The torque in the drive prohibit direction is disabled, and the dynamic brake is activated.
The torque in the drive prohibit direction is disabled, and free-run deceleration is performed to stop.
The servo lock stop is used in a Position Control Mode, and the zero speed designation stop is used in Internally Set Speed Control Mode.
Pn67 Not used. (Do not change setting.)
Pn68
Stop Selection at Alarm
All modes
Setting range 0 to 3 Unit --Default setting 0
Power OFF
ON
Set the operating condition during deceleration and after stopping when an alarm occurs.
The deviation counter will be cleared when an alarm occurs.
---
Explanation of Settings
Setting
0
1
2
3
During deceleration
Dynamic brake
Free run
Dynamic brake
Free run
Explanation
After stopping
Dynamic brake
Dynamic brake
Servo free
Servo free
Deviation counter content
Clear
Clear
Clear
Clear
5-57
5-10 User Parameters
Pn69
Stop Selection with Servo OFF
All modes
Setting range 0 to 7 Unit --Default setting 0
Power OFF
ON
---
Set the operation during deceleration and after stopping as well as the deviation counter status when the RUN Command Input (RUN) turns OFF.
Explanation of Settings
Setting
6
7
4
5
2
3
0
1
During deceleration
Dynamic brake
Free run
Dynamic brake
Free run
Dynamic brake
Free run
Dynamic brake
Free run
Explanation
After stopping
Dynamic brake
Dynamic brake
Servo free
Servo free
Dynamic brake
Dynamic brake
Servo free
Servo free
Deviation counter content
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Reference
Dynamic Brake at Power OFF
By default, the dynamic brake of the Servo Drive will be engaged when the main circuit power is turned OFF. For this reason, it feels slightly heavier to rotate the
Servomotor shaft manually than in servo free status. To release the dynamic brake, disconnect the wirings (U, V, W) from the Servomotor. Be sure to reconnect these wirings before restoring the power.
5
Pn6A
Brake Timing When Stopped
All modes
Setting range 0 to 100 Unit
2 ms
Default setting 10
Power OFF
ON
---
When the RUN Command Input is turned OFF while the Servomotor is stopped, the Brake Interlock
Signal (BKIR) will turn OFF, and the Servo will turn OFF after the time set for this parameter (setting
2 ms) elapses.
RUN command (RUN)
Brake interlock
(BKIR)
Actual braking
Released
Released tb
Hold
Hold
Servomotor ON/OFF status
ON
OFF
Pn6A
Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the delay in the brake operation (tb).
Brake timing when stopped (setting
2 ms) tb
5-58
5-10 User Parameters
5
Pn6B
Brake Timing during Operation
All modes
Setting range 0 to 100 Unit
2 ms
Default setting 50
Power OFF
ON
---
When the RUN Command Input is turned OFF while the Servomotor is operating, the Servomotor will decelerate, the number of rotations will drop, and the Brake Interlock Signal (BKIR) will turn OFF after the time set for this parameter has elapsed (setting
2 ms).
RUN command (RUN)
Brake interlock
(BKIR)
Servomotor ON/OFF status
Released
T
B
ON
Servomotor speed
Hold
OFF
30 r/min
“TB” in the above figure is the brake timing during operation (setting
2 ms) or the time required until the Servomotor rotation speed falls to 30 r/min or lower, whichever is shorter.
Pn6C
Regeneration Resistor Selection
Setting range 0 to 3 Unit --Default setting
Set whether to mount an External Regeneration Resistor.
0
All modes
Power OFF
ON
---
Explanation of Settings
Setting
0
1
2
3
Regeneration resistor used
Servo Drive built-in capacitor
External Regeneration
Resistor
External Regeneration
Resistor
Explanation
Regeneration resistor overload alarm
The external regeneration processing circuit does not operate. Regenerative energy is processed with the built-in capacitor.
An External Regeneration Resistor alarm (alarm code 18) will occur when the resistance exceeds 10% of the operating limit.
The regeneration resistor overload alarm does not operate.
Servo Drive built-in capacitor
The external regeneration processing circuit does not operate. Regenerative energy is processed with the built-in capacitor.
Precautions for Safe Use
Always install a thermal fuse or other external protection when Pn6C is set to 2. Without protection for the External Regeneration Resistor, it may generate abnormal heat and result in burning.
Pn6D
Pn6E
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5-59
5-10 User Parameters
Pn6F Not used. (Do not change setting.)
Pn70
Overspeed Detection Level Setting
All modes
Setting range 0 to 6000 Unit r/min Default setting 0
Power OFF
ON
---
Set the No. 1 overspeed detection level when torque limit switching is enabled in the setting of the Zero
Speed Designation/Torque Limit Switch (Pn06).
When the No. 1 torque limit is selected, an overspeed error will occur if the rotation speed of the
Servomotor exceeds the setting.
This parameter is disabled when torque limit switching is disabled.
Pn71
Setting range
No. 2 Torque Limit
0 to 500
All modes
Power OFF
ON
--Unit % Default setting 100
Set the No. 2 torque limit when torque limit switching is enabled in the setting of the Zero Speed
Designation/Torque Limit Switch (Pn06).
This parameter is disabled when torque limit switching is disabled.
Refer to Torque Limit on page 5-54 for information on setting details.
Pn72
Setting range
No. 2 Deviation Counter Overflow Level
1 to 32767 Unit
256 pulse
Default setting 100
All modes
Power OFF
ON
---
Set the No. 2 deviation counter overflow level when torque limit switching is enabled in the setting of the
Zero Speed Designation/Torque Limit Switch (Pn06).
This parameter is disabled when torque limit switching
is disabled.
Refer to Deviation Counter Overflow Level on page 5-56 for information on setting details
Pn73
Setting range
No. 2 Overspeed Detection Level
0 to 6000 Unit
All modes
Power OFF
ON
--r/min Default setting 0
Set the No. 2 overspeed detection level when torque limit switching is enabled in the setting of the Zero
Speed Designation/Torque Limit Switch (Pn06).
When No. 2 torque limit is selected, an overspeed error will occur if the rotation speed of the
Servomotor exceeds the setting.
This parameter is disabled when torque limit switching
is disabled.
Pn74
Pn7F to
Not used. (Do not change setting.)
Not used. (Do not change setting.)
5
5-60
Chapter 6
Operation
6-1 Operational Procedure ...................................... 6-1
6-2 Preparing for Operation..................................... 6-2
Items to Check Before Turning ON the Power......................... 6-2
Turning ON Power ................................................................... 6-2
Checking Displays ................................................................... 6-3
6-3 Using the Parameter Unit .................................. 6-4
Names of Parts and Functions................................................. 6-4
Display When Power Is Turned ON ......................................... 6-5
Changing the Mode.................................................................. 6-6
Monitor Mode ........................................................................... 6-7
Parameter Setting Mode ........................................................ 6-15
Parameter Write Mode ........................................................... 6-16
Autotuning Mode .................................................................... 6-17
Auxiliary Function Mode......................................................... 6-18
Copy Mode............................................................................. 6-20
6-4 Trial Operation.................................................. 6-23
Preparation for Trial Operation .............................................. 6-23
Trial Operation ....................................................................... 6-23
6
6-1 Operational Procedure
6Operation
6-1 Operational Procedure
After installation and wiring, turn ON the power and check the operation of the Servomotor and
Servo Drive. Then make the function settings as required according to the use of the Servomotor and Servo Drive. If the parameters are set incorrectly, there is a danger of the Servomotor operating in an unpredictable manner. Set the parameters according to the instructions in this manual.
Item
Mounting and installation
Contents
Install the Servomotor and Servo Drive according to the installation conditions. (Do not connect the Servomotor to the mechanical system before checking the no-load operation.)
Reference
Chapter 4
Wiring and connections
Connect the Servomotor and Servo Drive to the power supply and peripheral devices.
* Specified installation and wiring requirements must be satisfied, particularly for models conforming to the EC Directives.
Chapter 4
Preparing for operation
Check the necessary items and then turn ON the power supply.
Check with the display indications to see whether there are any internal errors in the Servo Drive.
Chapter 6
Checking operation
Setting functions
Check the operation of the Servomotor and Servo Drive by performing jogging operations without a load.
Set the functions according to the operating conditions with the user parameters.
Chapter 6
Chapter 5
Trial operation
To enable the parameter settings, turn OFF the power first.
Connect the Servomotor to the mechanical system.
Turn ON the power, and check to see whether protective functions, such as the emergency stop and operational limits, work properly.
Check operation without a workpiece, or with dummy workpieces at low and high speed. (Operate using commands from a position controller.)
Chapter 6
Adjustments
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
6-1
6-2 Preparing for Operation
6-2 Preparing for Operation
This section explains the procedure to prepare the mechanical system for trial operation after the installation and wiring of the Servomotor and Servo Drive are completed. It also explains the items that need to be checked before and after turning ON the power.
Items to Check Before Turning ON the Power
Checking Power Supply Voltage
Check to be sure that the power supply voltage is within the ranges shown below.
R7D-BP @@L (Single-phase 100 VAC input)
Main-circuit power supply: Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
R7D-BP @@H (Single-phase/three-phase 200 VAC input)
Main-circuit power supply: Single-phase/three-phase 200/240 VAC (170 to 264 V) 50/60 Hz
R7D-BP @@HH (Single-phase 200 VAC input)
Main-circuit power supply: Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz
Checking Terminal Block Wiring
The main-circuit power supply input lines (L1/L3 or L1/L2/L3) must be properly connected to the terminal block.
The Servomotor's red (U), white (V), and blue (W) power lines and the green/yellow ground wire
( ) must be properly connected to the terminal block.
Checking the Servomotor
There should be no load on the Servomotor. (Do not connect the mechanical system.)
The Servomotor’s power lines and the power cables are securely connected.
The Encoder Cable must be securely connected to the Encoder Connector (CN2) at the Servo
Drive.
The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor.
Checking the I/O Control Connectors
The Control Cable must be securely connected to the I/O Control Connector (CN1).
The RUN Command Input (RUN) must be OFF.
Checking Parameter Unit Connections
The Parameter Unit (R88A-PR02G) must be securely connected to the CN3 connector.
Turning ON Power
After checking the above items, turn ON the main circuit power supply.
The alarm output (ALM) will take approximately 2 seconds to turn ON after the power has been turned ON. Do not attempt to detect an alarm using the Host Controller during this time (when power is being supplied with the Host Controller connected).
6
6-2
6
6-2 Preparing for Operation
Checking Displays
After turning ON the power, confirm that the Servo Drive's power supply LED indicator (PWR) is lit green.
When the power is turned ON, one of the following will appear on the Parameter Unit display.
Normal Error (alarm display) rk k k k k0k ekrkr. k1k4k
If Servo Drive is normal, the item set for Default Display (Pn01) will appear on the display.
If there is an error, an alarm code will appear. The number shown (an alarm code) depends on the cause of the error.
6-3
6-3 Using the Parameter Unit
6-3 Using the Parameter Unit
This section describes the basic operation of the Parameter Unit, the jog operation with just the
Servomotor and Servo Drive, and the Parameter Unit's copy function.
Names of Parts and Functions
Parameter Unit Names
Mode key
Data key
LED Display (6 Digits)
Unit No. Display (2 Digits)
Increment key
Shift key
Decrement key
6
Parameter Unit Functions
Name
LED Display
Unit No. Display
Mode key
Data key
Increment key
Decrement key
Shift key
Function
Displays the parameters and data settings.
Displays the Unit No. set in Unit No. Setting (Pn00).
Displays the parameter number in Parameter Setting Mode.
Switches among the six modes.
Switches between the parameter and setting displays, saves data settings.
Increases the parameter number or set value.
Decreases the parameter number or set value.
Shifts the digit to the left.
6-4
6
6-3 Using the Parameter Unit
Display When Power Is Turned ON
Turn ON the power with the Parameter Unit connected to the Servo Drive, or connect the Parameter
Unit to the Servo Drive with Servo Drive power already turned ON. Then the following indications appear on the display.
8.8.8.8.8.8.
8.8.
0.6 s
. . . . . .
. .
0.6 s
8k8k8k8k8k8
8k8
0.6 s
Ukekrk2.0k0
k1
1 s rk k k k k0
k1
The Parameter Unit is initialized.
The display flashes every 0.6 second.
Parameter Unit version display
Displays the Unit No.
Default Display
Display depends on the setting of the Default Display (Pn01).
6-5
Changing the Mode
rk k k k k0
k1
Parameters Unit default display
Uknk_kskpkd.
Uknk_kikdkc.
pknk_krk0k0.
pknk_k k7kf.
ekek_kskekt aktk_knkok1.
aktk_knkokf.
fknk_kakckl.
fknk_keknkc.
fknk_kjkokg.
ckfk_kak2kc.
ckfk_kck2ka.
6-3 Using the Parameter Unit
rk k k k k0 rksk-k2k3k2
k k k k k1.
k k k k k0.
ekekpk k k-.
6
aktkuk k k-.
akcklk k k-.
eknkck k k-.
jkokgk k k-.
ak2kck k k-.
ck2kak k k-.
6-6
6
6-3 Using the Parameter Unit
Monitor Mode
Position deviation Uknk_kekpks.k
Servomotor rotation speed
Uknk_kskpkd.k
Torque output
Uknk_ktkrkq.k
Control mode Uknk_kcknkt.k
I/O signal status
Uknk_k kiko.k
Alarm history
Uknk_kekrkr.k
Software version
Uknk_k knko.k
Warning display Uknk_k krkn.k
Regeneration load ratio
Uknk_k krkg.k
Overload load ratio
Uknk_k kokl.k
Inertia ratio Uknk_kjkrkt.k
Total feedback pulses
Uknk_knkpks.k
Total command pulses
Uknk_kckpks.k
Not used.
Uknk_kfkekr.k
Not used.
Uknk_kfkpks.k
Automatic Servomotor recognition enabled/ disabled display
Communications method display
Uknk_kakukd.k
Uknk_kikdkc.k
pk k k k k8k
Position deviation: 8 pulses rk k1k0k0k0k
1000 r/min tk k1k0k0.0k
Torque output: 100% pkokskcknktk
Position control display iknk0k0. kak
Input signal No. 0 enabled ekrkr. k-k-k
No current errors a.-k1k .0k7k
Software version 1.07
rknk-k-k-k-k
No current warnings rkgk k3k0.0k
30% of allowable regeneration energy oklk k2k8.0k
Overload load ratio: 30% jk k k3k0k0k
Inertia ratio: 300%
k k k k5k0k
Total feedback pulses: 50
k k k k1k0k
Total command pulses: 10 fkek k k k0k
k k k k k0k akukdk koknk
Automatic Servomotor recognition enabled rksk-k2k3k2k
RS-232 communications
The Servomotor rotation speed will be displayed the first time the power is turned ON after purchase. To change the initial display when the power is turned ON, change the setting of the
Default Display (Pn01). For details, refer to the description of the Default Display (Pn01) on
6-7
6-3 Using the Parameter Unit
Position Deviation pk k k k k8k
Displays the number of accumulated pulses in the deviation counter (unit: pulse).
Accumulated pulses during reverse rotation are displayed with “-”.
Servomotor Rotation Speed rk k1k0k0k0k
Displays the Servomotor rotation speed (unit: r/min).
Rotation speeds during reverse rotation are displayed with “-”.
Torque Output tk k1k0k0.0k
Displays the percentage of Servomotor torque output.
When the rated toque output for the Servomotor is used, “100%” is displayed.
Torque outputs during reverse rotation are displayed with “-”.
Control Mode pkokskcknkt
Position Control Mode skpkdkcknktk
Internally Set Speed Control Mode
Displays whether the position control or internally set speed control is being used.
The High-response Position Control Mode and Advanced Position Control Mode are displayed as
Position Control Modes.
6
6-8
6
6-3 Using the Parameter Unit
I/O Signal Status iknk0k0. ka
Input signal No. 00 ON oktk0k9. k-k
Output signal No. 09 OFF or disabled a
: ON
-
: OFF or disabled
Signal No. display (0 to 1F hex) in ot
: Input
: Output
Displays the status of the control input and output signals connected to CN1.
6-9
6-3 Using the Parameter Unit
Input Signals
CN1
Signal
No.
Symbol
00 RUN
Name
RUN Command
01
02
03
RESET
NOT
POT
Alarm Reset
Reverse Drive Prohibit
Forward Drive Prohibit
Pin
No.
2
Function
If the RUN signal turns ON, a Servo lock oc-
If the RESET signal turns ON, the alarm is re-
3
7
8
If the Drive Prohibit Input Selection (Pn04) is set to disable the prohibit inputs (setting 1),
“
-
” is displayed.
If Pn04 is set to enable the prohibit inputs (setdisplayed when the POT signal turns OFF.
04 Not used.
05 VZERO
Zero Speed
Designation
06 GESEL
Electronic Gear
Switch
07 to
08
Not used.
5
6 this signal turns OFF when the Zero Speed
Designation/Torque Limit Switch (Pn06) is set to 1.
If the GESEL signal turns ON, the Electronic displayed.
09 GSEL Gain Switch
0A ECRST
Deviation Counter
Reset
0B
0C
0D
Not used.
VSEL1
VSEL2
Internally Set Speed
Selection 1
Internally Set Speed
Selection 2
0E to
1F
Not used.
5
4
When the Gain Switching Input Operating
Mode Selection (Pn30) is set to 0 and the
GSEL signal turns OFF, PI operation is enabled and “
-
” is displayed.
Used to reset the deviation counter.
displayed.
6 displayed.
4
6
6-10
6
6-3 Using the Parameter Unit
Output Signals
CN1
Signal
No.
00
Symbol
Not used.
01 /ALM Alarm
Name
02
03
04
INP
BKIR
---
Pin
No.
Function
If an alarm occurs, the /ALM signal turns
9
10
When a workpiece is positioned within the setting range, the Positioning Completion Range
Positioning
Completed
Brake Interlock
Zero Speed Detection
11
The output transistor for the electromagnetic
12
When the Warning Output Selection (Pn09) is set to 1, and Zero Speed Detection output
12
When the Warning Output Selection (Pn09) is set to 0, and Torque Limiting output turns ON,
is displayed.
05 ---
06 to
08
Not used.
Torque Limiting
09 TGON
Servomotor Rotation
Speed Detection
0A to
1F
Not used.
10
When the actual motor speed exceeds the Rotation Speed for Servomotor Rotation Detecdisplayed.
Switching between Input Signals and Output Signals
iknk0k0. ka
If the decimal point is at the right of the signal number, the signal number can be changed.
Move the flashing decimal point with the Shift key.
ikn.0k0k kak
If the decimal point is at the right of the input/output indication, you can switch between inputs and outputs.
Switch between inputs and outputs with the Increment/Decrement keys.
okt.0k0k k-k
The following procedure can also be used to switch between input and output.
6-11
6-3 Using the Parameter Unit
Press the Increment or Decrement key to select the signal number to be monitored.
iknk0k0. k (Lowest input signal number) iknk1kf. kk oktk0k0. k
(Highest input signal number)
(Lowest output signal number)
Alarm History oktk1kf. k
(Highest output signal number) ekrkr. k-k-
Alarm code
("- -" is displayed if no alarms have occurred.) ekrkr.
ek-k0.
: Current alarm
: Alarm 0 (newest alarm) ek1k3.
: Alarm 13 (oldest alarm)
Up to 14 alarms, including the current one, can be viewed in the alarm history.
The display will flash when an alarm occurs.
If an alarm that is recorded in the history occurs, the alarm code for the current alarm and for alarm
0 will be the same.
6
6-12
6-3 Using the Parameter Unit
6
Alarm Codes and Meanings
18
21
23
24
26
27
Alarm codes
11
12
14
15
16
Meaning
Power supply undervoltage
Overvoltage
Overcurrent
Built-in resistor overheat
Overload
Regeneration overload
Encoder disconnection detection
Encoder data error
Deviation counter overflow
Overspeed
Electronic gear setting error
Note The following alarms are not recorded in the history.
11: Power supply undervoltage
36: Parameter error
37: Parameter corruption
38: Drive prohibit input error
95: Servomotor non-conformity
96:
LSI setting error
Alarm codes
29
Meaning
34
36
37
38
48
49
95
96
Deviation counter overflow
Overrun limit error
Parameter error
Parameter corruption
Drive prohibit input error
Encoder phase Z error
Encoder CS signal error
Servomotor non-conformity
LSI setting error
Others Other errors
Software Version a.-k1k .0k7k
Displays the software version of the Servo Drive.
Warning Display rknk-k-k-k- -
: No warning, a
: Warning
Overload: 85% or more of the alarm level for overload.
Over-regeneration: 85% or more of the alarm level for regeneration overload.
The alarm level will be 10% of the operating ratio of the regeneration resistance if the Regeneration Resistance
Selection (Pn6C) is set to 1.
Not used.
Regeneration Load Ratio rkgk k8k0.0
Displays the load ratio as a percentage of the detection level for the regeneration load.
6-13
6-3 Using the Parameter Unit
Overload Load Ratio oklk k2k8.0
Displays the percentage of the load ratio as a percentage of the rated load.
Inertia Ratio jk k k1k0k0
Displays the inertia ratio as a percentage.
Total Feedback Pulses/Total Command Pulses
k k k1k0k0
Displays the total number of pulses after the power supply is turned ON.
The display will overflow as shown in the following figure.
2,147,483,647 pulses
0
−2,147,483,647 pulses
Reverse
Power ON
−2,147,483,647 pulses
Forward
Use the Shift key to switch the display between the upper and lower digits of the total number of pulses.
Upper digits Lower digits
Hk-k2k1kk4k7
4k8k3k6k4k7
When the Data key is pressed for 5 s or longer, the total number of pulses will be reset, and the display will return to 0.
Automatic Servomotor Recognition akukdk kokn
Automatic recognition enabled (Always this indication is displayed)
6
6-14
6
6-3 Using the Parameter Unit
Parameter Setting Mode
1. Displaying Parameter Setting Mode
Key operation Display example Explanation
The item set for the Default Display (Pn01) is displayed.
rk k k k k0k
Press the Data key to display Monitor Mode.
Uknk_kskpkd.
Press the Mode key to display Parameter Setting Mode.
pknk_krk0k0.
2. Setting the Parameter Number
Key operation Display example pknk_k k1k0.
Explanation
Use the Shift, Increment, and Decrement keys to set the parameter number.
If the parameter number is large, the setting can be made more quickly by using the Shift key to change the digit that is being set.
The decimal point will flash for the digit that can be set.
3. Displaying the Parameter Setting
Key operation Display example Explanation
Press the Data key to display the setting.
k k k k4k0.
4. Changing the Parameter Setting
Key operation Display example
k k k1k0k0.
Explanation
Use the Shift, Increment, and Decrement keys to change the setting.
The decimal point will flash for the digit that can be changed.
Press the Data key to save the new setting.
k k k1k0k0.
5. Returning to the Display of Parameter Setting Mode
Key operation Display example Explanation
Press the Data key to return to the Parameter Setting Mode Display.
pknk_k k1k0.
Precautions for Correct Use
Some parameters will be displayed with an “r” before the number when the
Parameter Setting Mode is displayed. To enable the settings that have been changed for these parameters, you must turn the power supply OFF and ON after saving the parameters in EEPROM.
Once the setting for a parameter is saved, the new setting will be used for control. Make changes little by little, not widely when setting the parameters (in particular, the speed loop gain, position loop gain, etc.) which can affect the motor operation greatly.
For details on parameters, refer to Parameter Details on page 5-32.
6-15
6-3 Using the Parameter Unit
Parameter Write Mode
Settings changed in the Parameter Setting Mode must be saved in EEPROM. To do so, the following procedure must be performed.
1. Saving Changed Settings
Key operation Display example Explanation
Press the Mode key to display Parameter Write Mode.
ekek_kskektk
Press the Data key to enter Parameter Write Mode.
ekekpk k k-.
Press and hold the Increment key for at least 5 s.
ekekpk k-k-.
The bar indicator will increase.
-k-k-k-k-k-.
Writing will start. (This display will appear only momentarily.) sktkakrktk k f i n i s h .
This display indicates a normal completion. In addition to “Finish,” either r e s e t .
If
or e r r o r .
may be displayed.
is displayed, writing has been completed normally, but some r e s e t .
of the changed parameters will be enabled only after the power is turned
ON again. Turn OFF the Servo Drive power supply and then turn it ON again.
If e r r o r .
is displayed, there is a writing error. Write the data again.
2. Returning to the Display of Parameter Write Mode
Key operation Display example Explanation
Press the Data key to return to the Parameter Write Mode Display.
ekek_kskektk
Precautions for Correct Use
If a writing error occurs, write the data again. If a writing error continues to occur, there may be a fault in the Servo Drive.
Do not turn OFF the power supply while writing in EEPROM. Incorrect data may be written if the power supply is turned OFF. If the power supply is turned OFF, perform the settings again for all parameters, and write the data again.
Do not disconnect the Parameter Unit from the Servo Drive during the time from writing start (“Start”) to writing completion (“Finish” or “Reset”). If the
Parameter Unit is disconnected, repeat the procedure from the beginning.
6
6-16
6
6-3 Using the Parameter Unit
Autotuning Mode
For details on autotuning, refer to 7-3 Autotuning. This section describes only the operating
procedure.
1. Displaying Autotuning Mode
Key operation Display example Explanation
The item set for the Default Display (Pn01) is displayed.
rk k k k k0k
Press the Data key to display Monitor Mode.
Uknk_kskpkd.
Press the Mode key three times to display Autotuning Mode.
aktk_knkok1.
2. Executing Autotuning
Key operation Display example Explanation
Press the Data key to enter Autotuning Mode.
aktkuk k k-.
aktkuk k-k-.
Press and hold the Increment key until “Start” is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
-k-k-k-k-k-.
The Servomotor will start, and autotuning will begin.
sktkakrktk k f i n i s h .
This display indicates a normal completion.
If e r r o r .
is displayed, a tuning error has occurred.
3. Returning to the Display of Autotuning Mode
Key operation Display example Explanation
Press the Data key to return to the Autotuning Mode Display.
aktk_knkok1.
Precautions for Correct Use
Do not remove the Parameter Unit from the Servo Drive during the time from Start to Finish. If the Parameter Unit is removed during autotuning, repeat the procedure from the beginning.
Always save each gain value changed with autotuning in EEPROM so that the data is not lost when the power is turned OFF.
If an autotuning error occurs, the values for each gain will return to the value before executing autotuning.
6-17
6-3 Using the Parameter Unit
Auxiliary Function Mode
The Auxiliary Function Mode includes the alarm reset and jog operation.
Displaying Auxiliary Function Mode
Key operation Display example Explanation
The items set for the Default Display (Pn01) is displayed.
rk k k k k0k
Press the Data key to display Monitor Mode.
Uknk_kskpkd.
Press the Mode key four times to display Auxiliary Function Mode.
fknk_kakckl.
Alarm Reset
1. Executing Alarm Reset
Key operation Display example Explanation
Press the Data key to enter Alarm Reset Mode.
akcklk k k-.
akcklk k-k-.
Press and hold the Increment key until “Start” is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
-k-k-k-k-k-.
Alarm reset will start.
sktkakrktk k
This display indicates a normal completion.
If f i n i s h .
e r r o r .
is displayed, an alarm has not been reset. Reset the power supply to clear the error.
2. Returning to the Display of Auxiliary Function Mode
Key operation Display example Explanation
Press the Data key to return to the Auxiliary Function Mode Display.
fknk_kakckl.
6
6-18
6
6-3 Using the Parameter Unit
Jog Operation
1. Executing Jog Operation
Key operation Display example fknk_kjkokg.
Explanation
Press the Increment key to display the Jog Operation Mode on the alarm reset display in Auxiliary Function Mode.
Press the Data key to enter Jog Operation Mode.
jkokgk k k-.
jkokgk k-k-.
Press and hold the Increment key until “Ready” is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
-k-k-k-k-k-.
This completes preparations for jog operation.
rkekakdkyk .
rkekakdky. k
Press and hold the Shift key until “Sev_on” is displayed.
The decimal point will move to the left when the key is pressed for 3 s or longer.
r.ekakdkyk k skrkUk_koknk
The Servo will turn ON.
skrkUk_koknk
Forward operation will be performed while the Increment key is pressed, and reverse operation will be performed while the Decrement key is pressed.
The Servomotor will stop when the key is released. The rotation speed set for Jog Speed (Pn57) will be used for jogging.
2. Returning to the Display of Auxiliary Function Mode
Key operation Display example fknk_kjkokg.
Explanation
Press the Data key to return to the Auxiliary Function Mode Display.
The servo lock is released. The system is now in servo free status.
6-19
6-3 Using the Parameter Unit
Copy Mode
In Copy Mode, user parameters set in the Servo Drive can be copied to the Parameter Unit, and user parameters stored in the Parameter Unit can be copied to the Servo Drive.
This function can be used to easily set the same user parameters for more than one Servo Drive.
Copying from the Servo Drive to the Parameter Unit
1. Displaying Copy Mode
Key operation Display example Explanation
The item set for the Default Display (Pn01) is displayed.
rk k k k k0k
Press the Data key to display Monitor Mode.
Uknk_kskpkd.
Press the Mode key five times to display Copy Mode.
ckfk_kak2kc.
2. Executing Copying
Key operation Display example ak2kck k k-.
ak2kck k-k-.
-k-k-k-k-k-.
ekekpkcklkr
-k-
Explanation
Press the Data key to enter Copy Mode.
Press and hold the Increment key until “EEPCLR” is displayed.
The bar indicator will increase when the key is pressed for 3 s or longer.
The bar indicator will increase.
Initialization of the EEPROM in the Parameter Unit will start.
f i n i s h .
This display indicates a normal completion.
3. Returning to the Display of Copy Mode
Key operation Display example Explanation
Press the Data key to return to the Copy Mode Display.
ckfk_kak2kc.
Precautions for Correct Use
If “Error” is displayed before completion, repeat the procedure from the beginning. Press the Data key to clear the error.
Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed. If the Parameter Unit is disconnected, reconnect it and repeat the procedure from the beginning.
If an error is repeatedly displayed, the following are the possible causes: cable disconnection, connector contact failure, incorrect operation due to noise, or EEPROM fault in the Parameter Unit.
6
6-20
6
6-3 Using the Parameter Unit
Copying from the Parameter Unit to the Servo Drive
1. Displaying Copy Mode
Key operation Display example Explanation
The item set for the Default Display (Pn01) is displayed.
rk k k k k0k
Uknk_kskpkd.
ckfk_kak2kc.
ckfk_kck2ka.
Press the Data key to display Monitor Mode.
Press the Mode key five times to display Copy Mode.
Press the Increment key to switch to the copy display for copying from the
Parameter Unit to the Servo Drive.
2. Checking the Servo Drive Model Code
Key operation Display example Explanation
Press the Data key to enter Copy Mode.
ck2kak k k-.
ck2kak k-k-.
-k-k-k-k-k-.
Press and hold the Increment key until “EEP_CH” is displayed.
“DIFFER” will be displayed if a different model code is entered.
The bar indicator will increase when the key is pressed for 3 s or longer.
The bar indicator will increase.
The Servo Drive model code is being checked. If a different model code
has been entered, refer to 3. Different Model Codes below to perform the
procedure.
If the model codes match, the display will proceed to the display in 4. Ex-
3. Different Model Codes
Key operation Display example Explanation
The decimal point will move to the left when the Shift key is pressed for 3 s or longer.
dkikfkfkekr.
The model codes are being matched.
Press the Data key to cancel copying before completion.
dkikfkfke.r
dkikfkfkekr
4. Executing Copying
Key operation Display example ekekpk_kckh
-kf i n i s h .
Explanation
Writing user parameters in EEPROM of the Servo Drive will start.
This display indicates a normal completion.
6-21
6-3 Using the Parameter Unit
5. Returning to the Display of Copy Mode
Key operation Display example Explanation
Press the Data key to return to the Copy Mode Display.
ckfk_kck2ka.
Precautions for Correct Use
If “Error” is displayed before completion, repeat the procedure from the beginning.
Press the Data key to clear the error.
If an error is repeatedly displayed, the following are the possible causes: cable disconnection, connector contact failure, incorrect operation due to noise, or EEPROM fault in the Parameter Unit.
Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed.
If the Parameter Unit is disconnected, incorrect data may be written and the data may be corrupted. Copy the user parameters again from the source Servo Drive to the Parameter Unit, and then copy the user parameters from the Parameter Unit to the other Servo Drive.
6
6-22
6-4 Trial Operation
6-4 Trial Operation
When you have finished installation, wiring, Servomotor/Servo Drive jog operation, and user parameter setting, perform trial operation.
The main purpose of trial operation is to confirm that the servo system operates electrically correctly. Make sure that the host position controller and all peripheral devices are connected, and turn ON the power. Then perform trial operation at low speed to confirm the operation. Next, perform actual run patterns to confirm that the system works properly.
Precautions for Correct Use
If an error occurs during the trial operation, refer to Chapter 8
Troubleshooting to eliminate the cause. Then ensure safety and resume
operation.
If the machine vibrates when starting or stopping, refer to Chapter 7
Adjustment Functions and perform the gain adjustment first.
6
Preparation for Trial Operation
Turning OFF the Power
Some parameters are enabled by turning OFF the power and turning it ON again. First turn OFF the main circuit power.
Preparing for Turning OFF the Servomotor
In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machine, set up the system so that the power and the RUN Command Input can be turned OFF.
Trial Operation
1. Operating without a Load
Turn ON the power to the main circuit and peripheral devices, and then turn ON the RUN
Command Input.
Check that the Servomotor is in Servo ON status.
Send the command to start the Servomotor from the host position controller, and check that the
Servomotor operates properly according to the command. (Check that the Servomotor is rotating in the correct direction and the rotation speed and amount of rotation are as specified by the command.)
2. Mechanical System Connection
Turn OFF the power.
Firmly connect the Servomotor shaft to the load (i.e., the mechanical system). Tighten screws and make sure they are not loose.
Turn ON the power.
3. Low-speed Operation with Actual Load Connected
Send a low speed command from the host position controller to start the Servomotor. (The definition of “low speed” depends on the mechanical system, but a rough estimate is 1/10 to 1/5 of normal operating speed.)
Check the following items.
a) Are the emergency stop and over load switch operating correctly?
b) Is the operating direction of the machine correct?
6-23
6-4 Trial Operation
c) Are the operating sequences correct?
d) Are there any abnormal sounds or vibration?
If vibration occurs when starting or stopping the machine, refer to Chapter 7 Adjustment
Functions, and adjust the gain.
e) Is any error (or alarm) generated?
If anything abnormal occurs, refer to Chapter 8 Troubleshooting and take the appropriate
countermeasures.
4. Regular Pattern Operation
Operate the Servomotor in a regular pattern and check the following items.
a) Is the operating speed correct?
b) Is the load torque almost equivalent to the measured value?
c) Are the positioning points correct?
d) When an operation is repeated, is there any discrepancy in positioning?
e) Are there any abnormal sounds or vibration?
If vibration occurs when starting or stopping the machine, refer to Chapter 7 Adjustment
Functions, and adjust the gain.
f) Is the Servomotor or the Servo Drive abnormally overheating?
g) Is any error (or alarm) generated?
If anything abnormal occurs, refer to Chapter 8 Troubleshooting and take the appropriate
countermeasures.
5. Trial Operation Completed
Performing the above completes the trial operation. Next, adjust the gain to improve control performance.
6
6-24
Chapter 7
Adjustment Functions
7-1 Gain Adjustment ................................................ 7-1
Purpose of the Gain Adjustment .............................................. 7-1
Gain Adjustment Methods........................................................ 7-1
Gain Adjustment Procedure ..................................................... 7-2
7-2 Realtime Autotuning .......................................... 7-3
Realtime Autotuning Setting Method ....................................... 7-3
Operating Procedures .............................................................. 7-4
Adaptive Filter .......................................................................... 7-5
Automatically Set Parameters.................................................. 7-6
7-3 Autotuning .......................................................... 7-8
Autotuning Setting Method....................................................... 7-8
Automatically Set Parameters................................................ 7-11
7-4 Disabling the Automatic Gain Adjustment
Function ............................................................ 7-13
Disabling Realtime Autotuning ............................................... 7-13
Disabling the Adaptive Filter .................................................. 7-14
7-5 Manual Tuning .................................................. 7-15
Function Differences in Control Modes .................................. 7-15
Basic Adjustment Procedures ................................................ 7-16
Gain Switching Function ........................................................ 7-19
Machine Resonance Control.................................................. 7-21
Vibration Control .................................................................... 7-23
7-1 Gain Adjustment
7Adjustment Functions
7-1 Gain Adjustment
SMARTSTEP 2-Series Servo Drive has realtime autotuning and autotuning functions.
With these functions, gain adjustments can be made easily even by those who use a servo system for the first time. If autotuning cannot be used, use manual tuning.
Purpose of the Gain Adjustment
The Servomotor must operate in response to commands from the Servo Drive with minimal time delay and maximum reliability. The gain is adjusted to make the Servomotor operation follow the commands as strictly as possible to the operations specified by the commands, and to maximize the performance of the mechanical system.
7
Actual Servomotor speed
Command speed
Gain Adjustment Methods
The SMARTSTEP 2-Series Servo Drive has three gain adjustment methods: realtime autotuning, autotuning, and manual tuning.
Realtime Autotuning
Realtime autotuning estimates the load inertia of the mechanical system in realtime, and automatically sets the optimal gain according to the estimated result.
Realtime autotuning includes the adaptive filter function that estimates the resonance frequency from the vibrating component in the motor speed, and automatically sets the notch filter coefficient to suppress the resonance point vibration.
Autotuning
Autotuning operates the Servomotor according to the operating pattern set in the Autotuning
Operation Setting (Pn25), estimates the load inertia through the torque required, and automatically sets the optimal gain.
Manual Tuning
Use manual tuning when autotuning cannot be performed due to the restrictions of the operating pattern or load conditions, or when maximum responsiveness needs to be obtained for individual loads.
The default setting is for manual tuning.
7-1
7-1 Gain Adjustment
Gain Adjustment Procedure
Begin adjustment
Use automatic adjustment?
Yes
Command input possible?
Yes
No
No
Set realtime autotuning
Autotuning
Operation OK?
Yes
No
Realtime autotuning
Adaptive filter
Turn OFF automatic adjustment
Operation OK?
Yes
Turn OFF automatic adjustment
No
(Default settings)
Manual tuning
Basic adjustment
Gain switch
Machine resonance suppression
Vibration control
Operation OK?
Yes
No
Contact OMRON
Write in EEPROM
Adjustment completed
Reference Gain Adjustment and Machine Rigidity
The specific vibration (resonance frequency) of the mechanical system has a large impact on the gain adjustment. The servo system responsiveness cannot be set high for machines with a low resonance frequency (low machine rigidity).
Check the following items to increase mechanical system rigidity.
Lay the foundation firmly and set up a machine so that it does not wobble.
Use a Decelerator with minimal backlash.
Use couplings of a type with high rigidity and designed for servo systems.
Use a wide timing belt, and use a tension within the allowable axial load for the
Servomotor.
7
7-2
7-2 Realtime Autotuning
7
7-2 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. The adaptive filter automatically suppresses vibration caused by resonance. In the default settings realtime autotuning is disabled. Refer to the following procedures to enable realtime autotuning.
Precautions for Correct Use
Realtime autotuning may not function properly under the conditions described in the following table. If realtime autotuning does not function properly, use autotuning or manual tuning.
Load inertia
Load
Operating pattern
Conditions under which realtime autotuning does not function properly
If the load inertia is less than 3 times the rotor inertia.
If the load inertia is more than 20 times the rotor inertia.
If the load inertia changes quickly, i.e., in less than 10 seconds.
If the machine rigidity is extremely low.
If there is backlash or play in the system.
If the static friction torque is greater than the dynamic friction torque.
If the Servomotor is continuously run at a low speed below 100 r/min.
If the acceleration/deceleration is gradual at less than 2000 r/min in 1 s.
For abrupt operations, e.g., if the speed or acceleration condition is met in less than 40 ms.
If the acceleration/deceleration torque is unbalanced and smaller compared to the viscous friction torque.
Realtime Autotuning Setting Method
1. Stopping the Servomotor
Turn OFF the RUN Command Input (RUN) to the Servomotor. The Servomotor will stop.
2. Realtime Autotuning Mode Selection (Pn21)
Pn21 Setting
Setting
5
6
3
4
7
0
1
2
Realtime Autotuning Degree of change in load inertia during operation
Not used ---
Used
Almost no change in load inertia
Gradual changes in load inertia
Sudden changes in load inertia
Almost no change in load inertia
Not used
Gradual changes in load inertia
Sudden changes in load inertia
---
Adaptive filter
Disabled
Enabled
(Pn02 = 2)
Disabled
Enabled
(Pn02 = 2)
When the degree of load inertia change is high, set the value to 3 or 6.
Enable the adaptive filter if the load inertia change is affected by resonance.
3. Normal Operation
Turn ON the RUN Command Input (RUN) and run the machine as usual.
7-3
7-2 Realtime Autotuning
4. Machine Rigidity Selection
To increase responsiveness, gradually increase the setting of the Realtime Autotuning Machine
Rigidity Selection (Pn22).
If the machine produces an unusual noise or resonates, lower the setting.
5. Saving Gain Adjustment Values
To save the gain setting, change to Parameter Write Mode and save the parameters in EEPROM.
(For operation details, refer to Parameter Write Mode on page 6-16.)
Precautions for Correct Use
The setting of the Realtime Autotuning Mode Selection is changed when the Unit power is turned ON, or when the RUN Command Input (RUN) is turned ON.
To disable realtime autotuning, set Pn21 to 0, and then turn OFF the RUN
Command Input (RUN) and turn if ON again.
Operating Procedures
Insert the connector of the Parameter Unit into CN2 of the Servo Drive, and then turn ON the power to the Servo Drive.
rk k k k k0k
Setting Parameter Pn21
Press the Data key.
Press the Mode key.
Press the Increment or Decrement key to select the parameter to be set.
(In this case, select Pn21.)
Press the Data key.
Press the Increment or Decrement key to change the setting.
Press the Data key.
Uknk_kskpkdk pknk_k k0k0.
pknk_k k2k1.
1.
pknk_k k2k1.
Setting Parameter Pn22
Press the Increment key to set the parameter number to Pn22.
Press the Data key.
pknk_k k2k2.
Press the Increment key to increase the setting.
4
(Default setting)
Press the Decrement key to decrease the setting.
Press the Data key.
7
7-4
7-2 Realtime Autotuning
Writing in EEPROM
Press the Mode key.
Press the Data key.
ekek_kskekt.
ekekpk k k-.
Press the Increment key for at least 5 s.
The bars will increase as shown in the diagram on the right.
ekekpk k-k-.
-k-k-k-k-k-.
Writing will start.
("Start" will be displayed momentarily.) sktkakrktk
Writing completed.
fkiknkikskh.
rkekskektk .
Writing completed ekrkrkokrkkkk.
Writing error occurred
After writing has been completed, return to the display for Parameter Write Mode.
7
Adaptive Filter
The adaptive filter will be enabled if the Control Mode Selection (Pn02) is set to advanced position control (setting of 2) and the Realtime Autotuning Mode Selection (Pn21) is set to 1 to 3 or 7.
The adaptive filter estimates the resonance frequency from the vibration component in the motor speed during operation, eliminates the resonance component from the torque command by automatically setting the notch filter coefficient, and suppresses the resonance point vibration.
Precautions for Correct Use
The adaptive filter may not function properly under the conditions described in the following table. In that case, use manual tuning with Notch
Filter 1 Frequency (Pn1D) and Notch Filter 1 Width (Pn1E) as a countermeasure for resonance. (For details on the notch filter, refer to
Machine Resonance Control on page 7-21.)
Resonance points
Load
Operating pattern
Conditions under which the adaptive filter does not function properly
If the resonance frequency is 300 Hz or less.
If the resonance peak or control gain is low, and the Servomotor speed is not affected by it.
If there are multiple resonance points.
If the Servomotor speed with high frequency components varies due to backlash or other non-linear elements.
If the acceleration/deceleration suddenly changes i.e., 3000 r/min or more in 0.1 s.
7-5
7-2 Realtime Autotuning
Automatically Set Parameters
When realtime autotuning is enabled, the following parameters will be set automatically.
Parameters that are set automatically cannot be changed manually.
Parameter name Parameter No.
(Pn No.)
10
11
12
13
14
18
19
1A
1B
1C
20
2F
Position Loop Gain
Speed Loop Gain
Speed Loop Integration Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Inertia Ratio
Adaptive Filter Table Number Display
The following parameters are set automatically. (The settings will not change even if realtime autotuning is executed.)
(Pn No.)
15
16
30
31
32
33
34
35
Parameter name
Feed-forward Amount
Feed-forward Command Filter
Gain Switching Input Operating Mode Selection
Gain Switch Setting
Gain Switch Time
Gain Switch Level Setting
Gain Switch Hysteresis Setting
Position Loop Gain Switching Time
Set value
300
50
1
10
30
50
33
20
7
7-6
7
7-2 Realtime Autotuning
Precautions for Correct Use
An unusual noise or resonance may occur right after turning ON the first
RUN Command Input (RUN) after the power ON, or when the setting of the
Realtime Autotuning Machine Rigidity Selection (Pn22) is increased.
Usually, the noise or resonance may continue until the load inertia is estimated, or the adaptive filter stabilizes. If the unusual noise or resonance stops immediately, there is no problem. However, if the unusual noise or resonance occurs for more than three reciprocating operations, perform the following measures in any order you can.
(1) Save the parameter settings when the machine operated normally to
EEPROM.
(2) Decrease the setting of the Realtime Autotuning Machine Rigidity
Selection (Pn22).
(3) Set the Realtime Autotuning Mode Selection (Pn21) to 0 to disable the adaptive filter. Then, enable realtime autotuning again. (Refer to
Disabling Realtime Autotuning on page 7-13 for information on inertia
estimation, resetting adaptive operations, and disabling realtime autotuning.)
(4) Set Notch Filter 1 Frequency (Pn1D) and Notch Filter 1 Width (Pn1E)
manually. (For information on notch filters, refer to Machine Resonance
After an unusual noise or resonance occurred, the setting of the Inertia
Ratio (Pn20) or Adaptive Filter Table Number Display (Pn2F) may have been changed to an extreme value. Perform the above measures as well.
Among the realtime autotuning results, the Inertia Ratio (Pn20) and
Adaptive Filter Table Number Display (Pn2F) parameters are automatically saved to EEPROM every 30 minutes. Realtime autotuning will use this data as the default settings when the power is turned ON.
7-7
7-3 Autotuning
7-3 Autotuning
Autotuning operates the Servomotor according to command patterns created automatically in the
Servo Drive, estimates the load inertia from the required torque and automatically sets the optimal gain.
Precautions for Correct Use
Autotuning may not function properly under the conditions described in the following table. If autotuning does not function properly, use manual tuning.
Load inertia
Load
Conditions under which autotuning does not function properly
If the load inertia is less than 3 times the rotor inertia.
If the load inertia is more than 20 times the rotor inertia.
If the load inertia changes.
If the machine rigidity is extremely low.
If there is backlash or play in the system.
If the static friction torque is greater than the dynamic friction torque.
A tuning error will occur if the servo turns OFF (e.g., the RUN Command Input (RUN) turns OFF), or a deviation counter reset occurs (e.g., the Deviation Counter Reset (ECRST)) during the autotuning.
If the load inertia cannot be estimated during autotuning, the setting of each gain cannot be changed and remains the same as before autotuning.
When autotuning is being executed, the Servomotor output torque will reach the maximum output torque set in the Torque Limit (Pn5E).
When autotuning is being executed, the Forward Drive Prohibit Input and Reverse Drive Prohibit
Input will be ignored.
Precautions for Safe Use
If the Servomotor oscillates, immediately cut off the power, or turn OFF the
RUN Command Input (RUN). Then, return each gain to the default setting.
7
Autotuning Setting Method
1. Setting the Operating Pattern
Set the operating pattern using the Autotuning Operation Setting (Pn25).
The operating pattern set in Pn25 will repeat in a maximum of five cycles. Starting with the third cycle, the acceleration level will double every cycle.
Depending on the load, the operating pattern does not repeat in five cycles when operation is completed, or the acceleration does not change. In either case, this is not an error.
2. Moving the Load
Move the load to the position where there’s no problem if the Servomotor operates according to the setting in Pn25. The Servomotor will rotate once or twice in both forward and reverse depending on the settings.
3. Moving to the Autotuning Mode Display
For information on moving to the Autotuning Mode Display, refer to Autotuning Mode on page 6-
7-8
7
7-3 Autotuning
aktk_knkok1.
Autotuning Mode Display
Machine rigidity No.
4. Selecting Machine Rigidity
Press the Increment or Decrement key to select the machine rigidity number.
aktk_knkok0.
Lowest machine rigidity aktk_knkok1. kk aktk_knkokf.
Highest machine rigidity
The machine rigidity number sets the machine rigidity, and can be set to a value from 0 to F hex.
The greater the machine rigidity, the higher the machine rigidity number is. The higher the machine rigidity is set, the higher the gain can be set.
Under normal conditions, set the machine rigidity gradually from a low level in autotuning. Set the value in a range where an unusual noise, oscillation, and vibration do not occur.
Reference Machine Rigidity Number Setting by Machine Drive System
Drive system
Ball screw direct coupling
Ball screw + timing belt
Timing belt
Gear, rack and pinion drive
Machine rigidity No.
6 to C
4 to A
2 to 8
2 to 8
Machine with low rigidity, etc.
0 to 4
Machine rigidity numbers D to F can be used for machines with no resonance, high rigidity, and a low inertia ratio.
5. Moving to Autotuning Mode
After setting the machine rigidity, press the Data key to move to Autotuning Mode. (For details,
refer to Autotuning Mode on page 6-17.)
aktkuk k k-.
Autotuning Mode
6. Turning ON the Servo
Turn ON the RUN Command Input (RUN). The Servo will turn ON.
7. Executing Autotuning
Press and hold the Increment key until
sktkakrktk k
is displayed. (For details, refer to Autotuning
The Servomotor will rotate and autotuning will begin. The operating pattern depends on the
Autotuning Operation Setting (Pn25). If Pn25 is set to 0, the Servomotor will rotate two times in
7-9
7-3 Autotuning
both forward and reverse for approximately 15 seconds. This will be repeated up to 5 cycles. It is not an error if the Servomotor stops before cycling 5 times.
Repeat step 4 (Selecting Machine Rigidity) to step 7 (Executing Autotuning) until satisfactory responsiveness can be obtained.
8. Saving the Gain Settings
When system responsiveness is satisfactory, move to Parameter Write Mode and save the
settings in EEPROM so they will not be lost. (For details on operations, refer to Parameter Write
To save the new settings, move to Parameter Write Mode and save the parameters in EEPROM.
Precautions for Correct Use
Execute autotuning when a load is connected. If autotuning is executed without a load (i.e., Servomotor/Servo Drive only) the Inertia Ratio (Pn20) will be 0.
A tuning error will occur if any of the following conditions occur while autotuning is being executed.
(1) If an error occurs. If the Servo is turned OFF, e.g., the RUN Command
Input (RUN) is turned OFF. If the deviation counter is reset, e.g., using the Deviation Counter Reset Input (ECRST). If auto tuning is executed near a limit sensor.
(2) If the inertia or load is too large and the output torque becomes saturated.
(3) If oscillation occurs and tuning cannot be performed correctly.
If a tuning error occurs, the setting of each gain parameter will return to the value before tuning was executed. Except for times when an error occurs, the Servomotor will not stop.
Depending on the load, the oscillation may occur.
7
Autotuning Operation Waveform
The following figure illustrates how the operation waveform will appear when autotuning is executed. The waveform will be distorted immediately after the execution, but will gradually smooth out.
7-10
7
7-3 Autotuning
Automatically Set Parameters
The following parameters will be set automatically according to the autotuning machine rigidity number selected.
Pn
No.
Parameter name
10 Position Loop Gain
11 Speed Loop Gain
12 Speed Loop Integration Time Constant
13 Speed Feedback Filter Time Constant
14 Torque Command Filter Time Constant
18 Position Loop Gain 2
19 Speed Loop Gain 2
1A Speed Loop Integration Time Constant 2
1B Speed Feedback Filter Time Constant 2
1C Torque Command Filter Time Constant 2
20 Inertia Ratio
0
27
15
37
0
152
31
1
32
18
31
0
25
0
126 103
38 46
2
Machine Rigidity No.
3 4 5
39
22
48
27
63
35
72
40
21
0
84
57
16
0
65
73
14
0
57
84
6
90
50
12
0
45
105
15 18 22 27 35 40 50 60
1000 1000 1000 1000 1000 1000 1000 1000
0
152
0
126
0
103
0
84
0
65
0
57
0
45
0
38
Estimated load inertia ratio
7
108
60
11
0
38
126
Pn
No.
Parameter name
10 Position Loop Gain
11 Speed Loop Gain
12 Speed Loop Integration Time Constant
13 Speed Feedback Filter Time Constant
14 Torque Command Filter Time Constant
18 Position Loop Gain 2
19 Speed Loop Gain 2
1A Speed Loop Integration Time Constant 2
1B Speed Feedback Filter Time Constant 2
1C Torque Command Filter Time Constant 2
20 Inertia Ratio
8
135
75
9
0
30
157
75
30
9
90
8
0
25
A
Machine Rigidity No.
162 206
115
7
0
25
188 241
90 115
B
251
140
6
0
25
C
305
170
5
0
25
D
377
210
4
0
25
E
449
250
4
0
25
524
250
F
557
310
3
1000 1000 1000 1000 1000 1000 1000 1000
0 0 0 0 0 0 0 0
25 20
293
140
16
356
170
13
440
210
11
Estimated load inertia ratio
10 10
0
25
649
310
Reference
The parameter default values are set according to the machine rigidity number.
The parameter settings are automatically changed when autotuning is executed.
7-11
7-3 Autotuning
The following parameters are set automatically. (The settings will not be changed even if realtime autotuning is executed.)
Pn
No.
Parameter name
15 Feed-forward Amount
16 Feed-forward Command Filter
30 Gain Switching Input Operating Mode Selection
31 Gain Switch Setting
32 Gain Switch Time
33 Gain Switch Level Setting
34 Gain Switch Hysteresis Setting
35 Position Loop Gain Switching Time
Machine Rigidity No.
0 to F
300
50
1
10
30
50
33
20
Regardless of the machine rigidity number, the settings cannot be changed.
7
7-12
7-4 Disabling the Automatic Gain Adjustment Function
7-4 Disabling the Automatic Gain
Adjustment Function
This section explains how to disable realtime autotuning and the adaptive filter. These functions are enabled by default.
Precautions for Correct Use
When disabling the automatic adjustment function, the RUN Command
Input (RUN) must be turned OFF.
7
Disabling Realtime Autotuning
By setting the Realtime Autotuning Mode Selection (Pn21) to 0 or 7, the automatic estimation of the
Inertia Ratio (Pn20) will stop and realtime autotuning will be disabled.
However, the estimated results of the Inertia Ratio (Pn20) will remain. If the Pn20 value is obviously incorrect, perform autotuning or set the calculated value manually after disabling realtime autotuning.
Precautions for Correct Use
To enable the Realtime Autotuning Mode Selection (Pn21), turn OFF the
RUN Command Input (RUN), and then turn it back ON.
7-13
7-4 Disabling the Automatic Gain Adjustment Function
Disabling the Adaptive Filter
Setting the Realtime Autotuning Mode Selection (Pn21) to 0 or 4 to 6 will disable the adaptive filter which automatically adjusts for load resonance. If the properly functioning adaptive filter is disabled, the effect of the suppressed resonance may appear, and noise and vibration may occur. Disable the adaptive filter only after manually setting the Notch Filter 1 Frequency (Pn1D) based on the displayed value of the Adaptive Filter Table Number Display (Pn2F).
Notch Filter 1
Frequency (Hz)
Disabled
Disabled
Disabled
Disabled
Disabled
1482
1426
1372
1319
1269
1221
1174
1130
1087
895
861
828
796
1045
1005
967
930
10
11
12
13
8
9
6
7
Displayed value
0
1
4
5
2
3
18
19
20
21
14
15
16
17
Notch Filter 1
Frequency (Hz)
766
737
709
682
656
631
520
500
481
462
607
584
562
540
381
366
352
339
445
428
412
396
32
33
34
35
28
29
30
31
Displayed value
22
23
24
25
26
27
40
41
42
43
36
37
38
39
54
55
56
57
50
51
52
53
Displayed value
44
45
46
47
48
49
62
63
64
58
59
60
61
Notch Filter 1
Frequency (Hz)
326
314
302
290
279
269 (Disabled when Pn22
F)
258 (Disabled when Pn22
F)
248 (Disabled when Pn22
F)
239 (Disabled when Pn22
F)
230 (Disabled when Pn22
F)
221 (Disabled when Pn22
E)
213 (Disabled when Pn22
E)
205 (Disabled when Pn22
E)
197 (Disabled when Pn22
E)
189 (Disabled when Pn22
E)
182 (Disabled when Pn22
D)
Disabled
Disabled
Disabled
Disabled
Disabled
When the Adaptive Filter Table Number Display (Pn2F) is greater than 49, the Realtime
Autotuning Machine Rigidity Selection (Pn22) may have automatically disabled the adaptive filter. In this case, the Notch Filter 1 Frequency (Pn1D) does not need to be set.
7
7-14
7-5 Manual Tuning
7-5 Manual Tuning
Use manual tuning to adjust the gain when adjustments cannot be made properly with autotuning
(described in the previous section) due to load conditions or other restrictions, or when loads that have been adjusted with autotuning need to be readjusted individually to achieve optimal response and stability.
This section explains manual tuning, which is used to manually adjust the gain.
7
Function Differences in Control Modes
The following table shows the adjustment ranges of manual tuning for each control mode.
Pn02 setting
0
1
2
Control Mode
High-response
Position Control
Internally Set speed
Control
Advanced Position
Control
Basic adjustment
Gain switch
Torque filter
Notch filter
Supported.
Supported.
Supported.
Supported
(See note.)
*1
Supported.
Supported.
Supported.
Supported.
Supported.
Supported.
Supported.
Supported.
Vibration control switch
Supported
(See note.)
*1
Not supported.
Supported.
*1. The notch filter and vibration control cannot be used at the same time in High-response
Position Control. The parameter entered first will be given priority.
Example:
When vibration control is set, the Servo Drive will be forcibly set to 1500 (disabled), even if the Notch
Filter 1 Frequency (Pn1D) is input.
7-15
7-5 Manual Tuning
Basic Adjustment Procedures
Adjustment in Position Control Mode
Start adjustment
Disable realtime autotuning. (Pn21 = 0 or 7)
Set the parameters to the values shown in table 1.
Do not perform extreme adjustment and setting changes.
They may destabilize operation, possibly resulting in injury.
Adjust the gain a little at a time while checking the Servomotor operation.
Set the Inertia Ratio (Pn20). (Calculated value at Servomotor selection.)
Run under actual operating pattern and load.
Positioning time and other operational performance satisfactory?
Yes
No
Adjustment completed
Increase the Speed Loop Gain (Pn11), but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12), but not so much that it causes hunting when the servo is locked.
Any hunting (vibration) when the Servomotor rotates?
No
Increase the Position Loop Gain (Pn10), but not so much that it causes overshooting.
Yes
Reduce the Speed Loop Gain (Pn11)
Increase the Speed Loop Integration
Time Constant (Pn12)
Change to Parameter Write Mode, and write to EEPROM.
Adjustment completed
If vibration does not stop no matter how many times you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn14).
7
7-16
7
7-5 Manual Tuning
Adjustment in Internally Set Speed Control Mode
The following parameters are adjustable: Speed Loop Gain (Pn11 and Pn19), Speed Loop
Integration Time Constant (Pn12 and Pn1A), and Torque Command Filter Time Constant (Pn14 and
Pn1C).
Start adjustment
Disable realtime autotuning. (Pn21 = 0 or 7)
Set parameters Pn11, Pn12 and Pn14 to the values in table 1.
Set the Inertia Ratio (Pn20). (Calculated value at Servomotor selection.)
Do not perform extreme adjustment and setting changes. They may destabilize operation, possibly resulting in injury.
Adjust the gain a little at a time while checking the Servomotor operation.
Run under actual operating pattern and load.
Speed responsiveness and other operational performance satisfactory?
Yes
No
Adjustment completed
Increase the Speed Loop Gain (Pn11), but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12), but not so much that it causes hunting when the servo is locked.
Any hunting (vibration) when the Servomotor rotates?
No
Change to Parameter Write Mode, and write to EEPROM.
Yes
Reduce the Speed Loop Gain (Pn11)
Increase the Speed Loop Integration
Time Constant (Pn12)
Adjustment complete
If vibration does not stop no matter how many times you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn14).
7-17
7-5 Manual Tuning
Table 1 :Parameter Adjustment Guidelines
Pn No.
10
Parameter name
Position Loop Gain
1A
1B
1C
1D
1E
20
15
16
18
19
11
12
13
14
Speed Loop Gain
Speed Loop Integration Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Feed-forward Amount
Feed-forward Command Filter
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Notch Filter 1 Frequency
Notch Filter 1 Width
Inertia Ratio
152
1500
2
*1
27
15
37
0
Guideline
27
15
37
0
152
0
0
*1. Input the Inertia Ratio (Pn20). The inertia ratio can be measured with autotuning or set to a calculated value. When the inertia ratio is unknown, set 300 in Pn20.
7
7-18
7
7-5 Manual Tuning
Gain Switching Function
With manual tuning, gain 1 and gain 2 can be set manually. For example, the gain can be switched according to the following conditions.
To increase responsiveness by increasing the gain during operation.
To increase servo lock rigidity by increasing the gain when operation is stopped.
To switch to an optimal gain according to the Operating Mode.
To reduce the gain to suppress vibration when operation is stopped.
The function of switching from gain 1 to gain 2 can be used in a variety of applications.
Explanation of Settings
To use the gain switching function, the Gain Switching Input Operating Mode Selection (Pn30) and
Gain Switch Setting (Pn31) parameters must be set. For details on parameter settings, refer to
Parameter Details on page 5-32.
Gain Switching Input Operating Mode Selection (Pn30)
Set Pn30 to 1 to enable the gain switching function.
Gain Switch Setting (Pn31)
Gain switching can be used by first enabling the gain switching function and then setting the switching conditions for gain 1 and gain 2 with Gain Switch Setting (Pn31).
Pn31 setting
0
1
2
3
4
5
6
7
8
9
10
(Figure E)
Gain switch condition
Always gain 1 (Pn10 to Pn14)
Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input (GSEL) at pin CN1-5
Amount of change in torque command
(Figure A)
Always gain 1 (Pn10 to Pn14)
Command speed (Figure B)
Amount of position deviation (Figure C)
Command pulses received (Figure D)
Explanation
Gain Switch
Time (Pn32)
*1
Disabled
Disabled
Disabled
Gain Switch
Level Setting
(Pn33)
Disabled
Disabled
Disabled
Positioning Completed Signal (INP) OFF
Actual Servomotor speed (Figure B)
Enabled
Disabled
Enabled
Enabled
Enabled
Enabled
Enabled
Enabled
(
*3
0.05%)
Disabled
Enabled
(r/min)
Enabled
*4
(pulse)
Disabled
Disabled
Combination of command pulse input and speed (Figure F)
Enabled
Enabled
(r/min)
Enabled
*5
(r/min)
Gain Switch
Hysteresis
Setting (Pn34)
*2
Disabled
Disabled
Disabled
Enabled
*3
(
0.05%)
Disabled
Enabled
(r/min)
Enabled
*4
(pulse)
Disabled
Disabled
Enabled
(r/min)
Enabled
(r/min)
*5
*1. The Gain Switch Time (Pn32) is used when switching from gain 2 to gain 1.
7-19
7-5 Manual Tuning
*2. The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure.
Pn33
Pn34
0
Gain 1
Gain 2
Gain 1
Pn32
*3. The amount of change is the value within 166
s.
Example: When the condition is a 10% change in torque in 166
s, the set value is 200.
*4. This is the encoder resolution value.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
Figure A
Figure C
Speed V
Speed V
Torque T
Differential pulses
Level
H
L
Time
Gain 2 Gain 1 Gain 1
ΔT
Level
Time
1 2
1
2 Gain 1 2 2
1
1
H
L
L
H
Speed V
Level
Figure B
H
L
Command
speed S
Gain 1
Actual
speed N
Gain 1
Time
Gain 2 Gain 1
INP
Gain 2
Time
Figure D
Gain 1
Figure E
Gain 1
Time
Gain 2 Gain 1
Command speed S Figure F
7
Actual speed N
H
L
Level
Gain 1
Time
Gain 2 Gain 1
Gain 2 is used only during the Speed Loop Integration Time Constant.
Gain 1 is used at other times.
7-20
7
7-5 Manual Tuning
Machine Resonance Control
When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus not allowing the gain to be set high. In this case, the resonance can be suppressed by using the two filter types.
Torque Command Filter Time Constant (Pn14, Pn1C)
The filter time constant is set to attenuate the resonance frequency. The cut-off frequency can be calculated using the following equation.
Cut-off frequency (Hz) fc =
1
2
πT
=
1
2
π × Parameter setting × 10
-5
Notch Filter
Adaptive Filter (Pn21, Pn2F)
By using the adaptive filter, the Servo Drive can suppress vibration of loads with various resonance points for each machinery, which conventional notch filters or torque command filters were unable to cope with. Enable the adaptive filter by selecting advanced position control (2) for the Control Mode
Selection (Pn02) and setting the Realtime Autotuning Mode Selection (Pn21) to 1 to 3 or 7.
Pn No.
21
2F
Parameter name
Realtime Autotuning Mode
Selection
Adaptive Filter Table
Number Display
Explanation
The adaptive filter is enabled when this parameter is set to 1 to 3, or 7.
Displays the table entry number corresponding to the frequency of the adaptive filter.
*1
The setting of this parameter cannot be changed.
Notch Filter 1 (Pn1D, Pn1E)
Adjust the notch frequency of the notch filter according to the machine resonance frequency.
7-21
7-5 Manual Tuning
Notch Filter Function
Machine Characteristics at Resonance
Resonance
Gain
Anti-resonance
Notch Filter Characteristics
Frequency
Gain
Notch f
Adjust approximately
0.9 f lower
Frequency
Resonance peak disappears
Anti-resonance
Frequency
Torque Command Filter Function
Machine Characteristics at Resonance
Torque Command Filter Characteristics
Frequency
−3 dB f
Cut-off frequency
Frequency
Anti-resonance
Resonance peak is lowered
Frequency
Example of an Adaptive Machine
Gain
Frequency
A machine with a resonance point that changes due to individual differences and age deterioration.
Gain
Frequency
A machine with a resonance point whose frequency does not change.
Gain
Frequency
Response speed
A machine with a resonance peak in a frequency range separated from the response speed.
Torque command
Adjusts to a resonance point and suppresses it immediately.
Suppresses a large resonance point whose frequency does not change.
Width
Reduces all resonance peaks in the high frequency range.
3 dB
Torque command after filtering
7
Frequency auto-adjustment
Adaptive filter
Frequency
Notch filter
Cut-off frequency
Torque filter
7-22
7
7-5 Manual Tuning
Vibration Control
When the machine end vibrates, vibration control removes the vibration frequency component from the command and suppresses vibration.
Position
Command
Vibration filter
Sets end vibration frequency
Driver
Motor
Position controller
Vibrating end
Position change sensor monitors vibration
Movement
Ball screw
Machine stand
Position/
Speed control
Torque command
Current command
M Load
Feedback pulses
Servo Drive
E
Precautions for Correct Use
The following conditions must be met to use vibration control.
Conditions under which vibration control operates
Control Mode
The Position Control Mode must be used.
If the Control Mode Selection (Pn02) is set to 0, realtime autotuning and notch filter 1 must be disabled in High-Response Position Control.
If the Control Mode Selection (Pn02) is set to 2, Advanced Position
Control Mode is used.
Stop operation before changing parameters.
Under the following conditions, vibration control may not operate properly or may have no effect.
Load
Conditions under which the effect of vibration control is inhibited
When forces other than commands, such as external forces, cause vibration.
When the difference between the resonance frequency and anti-resonance frequency is large.
When the vibration frequency is large (more than 100 Hz).
7-23
7-5 Manual Tuning
Operating Procedure
1. Setting the Vibration Frequency (Pn2B)
Measure the vibration frequency at the end of the machine. If the end vibration can be measured directly using a laser displacement sensor, read the vibration frequency (Hz) from the measured waveform and set it in the Vibration Frequency (Pn2B). If no measurement device is available, use the CX-Drive waveform graphic function, and read the residual vibration frequency (Hz) from the position deviation waveform as shown in the following figure. The set values from 0 to 99 are invalid.
Command speed
Position deviation
Vibration frequency calculation t
Measure the distance between the residual peaks (t), and calculate the vibration frequency (Hz) using the following formula.
f (Hz) =
1 t (s)
2. Setting the Vibration Filter (Pn2C)
First, set the Vibration Filter Setting (Pn2C) to 0. The settling 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 in a range that will not cause torque saturation under actual operation conditions. The effects of vibration suppression will be lost if torque saturation occurs.
Pn2C is set appropriately Pn2C is large
Torque saturation
7
Torque command
7-24
Chapter 8
Troubleshooting
8-1 Error Processing ................................................ 8-1
Preliminary Checks When a Problem Occurs .......................... 8-1
Precautions When Troubleshooting ......................................... 8-2
Replacing the Servomotor and Servo Drive............................. 8-2
8-2 Alarm Table......................................................... 8-3
Alarm Indicator on the Servo Drive .......................................... 8-3
Alarm List ................................................................................. 8-4
8-3 Troubleshooting ................................................. 8-5
Points to Check ........................................................................ 8-5
Error Diagnosis Using the Displayed Alarm Codes ................. 8-6
Error Diagnosis Using the Operating Status .......................... 8-12
8-4 Overload Characteristics
(Electronic Thermal Function) ........................ 8-16
Overload Characteristics Graphs ........................................... 8-16
8-5 Periodic Maintenance ...................................... 8-17
Servomotor Service Life......................................................... 8-17
Servo Drive Service Life ........................................................ 8-18
8-1 Error Processing
8Troubleshooting
8-1 Error Processing
This section explains preliminary checks required to determine the cause of problems that might occur and cautions for the problems.
8
Preliminary Checks When a Problem Occurs
This section explains the preliminary checks and analytical tools required to determine the cause of problems that might occur.
Checking the Power Supply Voltage
Check the voltage at the power supply input terminals.
Main-circuit Power Supply Input Terminals (L1, (L2), L3)
R7D-BP @@L: Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
R7D-BP02HH: Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
R7D-BP @@H: Single-phase/three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
R7D-BP02H: Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
If the voltage is outside of this range, there is a risk of operation failure. Be sure to supply the power correctly.
Check the voltage for the sequence input power supply:
Within the range of 11 to 25 VDC (+24 VIN terminal (pin CN1-1)).
If the voltage is outside of this range, there is a risk of operation failure. Be sure to supply the power correctly.
Checking Whether an Alarm Has Occurred
Check the alarm LED indicator on the front of the Servo Drive to see whether an alarm has occurred, or check the alarm code on the Parameter Unit.
When an alarm has occurred:
Check the status of the alarm LED indicator (ALM) and evaluate the problem based on the alarm indicated.
Check the alarm code and perform analysis based on the alarm code information.
When an alarm has not occurred:
Make an analysis according to the problem.
Note In either case, refer to 8-3 Troubleshooting for details.
8-1
8-1 Error Processing
Precautions When Troubleshooting
When checking and verifying I/O after a problem has occurred, the Servomotor/Servo Drive may suddenly start to operate or stop, so always use the following precautions.
You should assume that anything not described in this manual is not possible with this product.
Precautions
Disconnect the cable before checking for wire 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 Servomotor may run away, or an error may occur. Be sure to disconnect the Servomotor from the mechanical system before checking the encoder signal.
When performing tests, first check that there are no persons in the vicinity or inside the equipment, and that the equipment will not be damaged even if the Servomotor runs away. Before performing the tests, verify that you can immediately stop the machine using an emergency stop even if the
Servomotor runs away.
Replacing the Servomotor and Servo Drive
Use the following procedure to replace the Servomotor or Servo Drive.
Replacing the Servomotor
1. Replace the Servomotor.
2. Perform machine origin position alignment (for position control).
When the Servomotor is replaced, the Servomotor’s origin position (phase Z) may deviate, so origin alignment must be performed.
Refer to the Position Controller’s operation manual for details on performing origin alignment.
Replacing the Servo Drive
1. Copy the parameters.
Use the copy function of the Parameter Unit to copy all the parameter settings to the Parameter
Unit. Alternatively, use the Parameter Unit to display all the parameter settings and write them down.
2. Replace the Servo Drive.
3. Set the parameters.
Use the copy function of the Parameter Unit to transfer all the saved parameters to the Servo
Drive. Alternatively, use the Parameter Unit to set all the parameters.
8
8-2
8-2 Alarm Table
8
8-2 Alarm Table
If the Servo Drive detects an error, the Alarm Output (ALM) will turn ON, the power drive circuit will turn OFF, and the alarm code will be displayed. If a warning is detected (torque limit imposed, zero speed detection, over regeneration, overload, or fan rotation speed error), the Warning Output
(WARN) will turn ON, and the warning will be displayed. (Operation will continue.)
Precautions for Correct Use
The Warning Output is output only for warnings set in the Warning Output
Selection (Pn09).
Refer to Error Diagnosis Using the Displayed Alarm Codes on page 8-6 for
alarm countermeasures.
Reset the alarm using one of the following methods. Be sure to remove the cause of the alarm before resetting.
Turn ON the Alarm Reset Input (RESET).
Turn OFF the power supply, then turn it ON again.
Perform the Alarm Reset operation on the Parameter Unit.
The following alarms can only be reset by turning OFF the power supply, then turning it ON again: 14, 15, 18, 21, 23, 36, 37, 48, 49, 95, and 96.
If you reset an alarm while the RUN Command (RUN) is turned ON, the
Servo Drive will start operation as soon as the alarm is reset, which is dangerous. Be sure to turn OFF the RUN Command (RUN) before resetting the alarm.
If the RUN Command (RUN) is always ON, ensure safety thoroughly before resetting the alarm.
Alarm Indicator on the Servo Drive
The alarm LED indicator on the front of the Servo Drive lights up if an error is detected. The indicator shows the alarm code by the number of orange and red flashes.
Example:
When an overload alarm (alarm code 16) has occurred and the Unit has stopped, the indicator will flash 1 time in orange and 6 times in red.
Orange: 10s digit, Red: 1s digit
1 s 0.5 s 0.5 s 0.5 s 0.5 s 0.5 s
Orange
1 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
Red
0.5 s
2 s later
8-3
8-2 Alarm Table
Alarm List
Alarm code
Error detection function Detection details and cause of error
11
12
14
15
Power supply undervoltage
The DC voltage of the main circuit fell below the specified value while the RUN Command Input was ON.
Overvoltage
Overcurrent
The DC voltage of the main circuit is abnormally high.
Overcurrent flowed to the IGBT. Servomotor power line ground fault or short circuit.
Built-in resistor overheat The resistor in the Servo Drive is abnormally overheating.
16
18
Overload
Regeneration overload
Operation was performed with torque significantly exceeding the rated level for several seconds to several tens of seconds.
The regeneration energy exceeded the processing capacity of the regeneration resistor.
The encoder wiring is disconnected.
21
23
24
26
27
29
34
36
37
38
Encoder disconnection detected
Encoder data error
Deviation counter overflow
Overspeed
Electronic gear setting error
Deviation counter overflow
Overrun limit error
Parameter error
Parameter corruption
Drive prohibit input error
Data from the encoder is abnormal.
The number of accumulated pulses in the deviation counter exceeded the setting in the Deviation Counter Overflow Level (Pn63).
The Servomotor exceeded the maximum number of rotations.
If the torque limit function was used, the Servomotor’s rotation speed exceeded the settings in the Overspeed Detection Level Setting
(Pn70 and Pn73).
The setting in Electronic Gear Ratio Numerator 1 (Pn46) or Electronic Gear Ratio Numerator 2 (Pn47) is not appropriate.
The number of accumulated pulses for the deviation counter exceeded 134,217,728.
The Servomotor exceeded the allowable operating range set in the
Overrun Limit Setting (Pn26).
Data in the parameter saving area was corrupted when data was read from the EEPROM at power ON.
The checksum didn’t match when data was read from the EEPROM at power on.
The forward drive prohibit and reverse drive prohibit inputs are both turned OFF.
A phase-Z pulse was not detected regularly.
48 Encoder phase Z error
49
95
96
Others
Encoder CS signal error A logic error of the CS signal was detected.
Servomotor non-conformity
The combination of the Servomotor and Servo Drive is not appropriate.
The encoder was not connected when the power supply was turned
ON.
LSI setting error
Other errors
Excessive noise caused the LSI setting not to be completed properly.
The Servo Drive’s self-diagnosis function detected an error in the
Servo Drive.
Alarm reset possible
Yes
Yes
No
No
Yes
No
No
No
Yes
Yes
Yes
Yes
Yes
No
No
Yes
No
No
No
No
No
8
8-4
8-3 Troubleshooting
8-3 Troubleshooting
If an error occurs in the machine, determine the error conditions from the alarm indicator and operating status, identify the cause of the error, and take appropriate countermeasures.
Points to Check
8
Is the connector disconnected?
Has the power supply voltage changed?
Is the correct voltage being input?
Are the connecting parts loose?
Is there any unusual noise coming from the Servomotor?
Is the electromagnetic brake operating?
Machine
Servomotor
Is the coupling loose?
PWR ALM
C
N
3
C
N
2
C
N
B
C
N
A
C
N
1
Is the power supply
LED indicator (PWR) lit red or orange?
Is the LED indicator flashing?
Host position controller
Is the wiring to
CN1 correct? Is it disconnected?
Is the wiring to
CN2 correct? Is it disconnected?
Is the connecting section disconnected
(wire breaking or faulty connection)?
Is the wiring correct?
8-5
8-3 Troubleshooting
Error Diagnosis Using the Displayed Alarm Codes
Alarm code
11
12
Error
Power supply undervoltage
Overvoltage
Status when error occurs
Occurs when the Servo
Drive is turned ON.
Occurs when power supply is turned ON.
Occurs when the Servomotor is decelerating.
Occurs during descent
(vertical axis).
Cause Countermeasure
The power supply voltage is low.
Momentary power interruption occurred.
Power supply capacity is insufficient.
The power supply voltage drops because the main power supply is
OFF.
The main power supply is not input.
Power supply capacity is insufficient.
Increase the power supply capacity.
Change the power supply.
Turn ON the power supply.
Phase loss.
Increase the power supply capacity.
Connect the phases (L1,
L2, L3) of the power supply voltage correctly.
For single-phase, connect to L1 and L3 correctly.
Replace the Servo Drive.
The main circuit power supply part is damaged.
Control PCB error.
Main circuit power supply voltage is outside the allowable range.
Load inertia is too large.
Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity.
Extend the deceleration time.
Main circuit power supply voltage is outside the allowable range.
Change the main circuit power supply voltage to within the allowable range.
Change main circuit power supply voltage to within the allowable range.
Gravitational torque is too large.
Add a counterbalance to the machine to lower gravitational torque.
Slow the descent speed.
Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity.
8
8-6
8
8-3 Troubleshooting
Alarm code
14
Error
Overcurrent
16 Overload
Status when error occurs
Occurs when the Servo
Drive is turned ON.
Occurs when the Servo
Drive is turned ON.
Occurs during operation.
Cause Countermeasure
Control PCB error
Servomotor power line is short-circuited or groundfaulted between phases.
Replace the Servo Drive.
Repair the short-circuited or ground-faulted wire.
Measure the insulation resistance at the Servomotor and, if there is a short-circuit, replace the
Servomotor.
Correct the wiring.
Miswiring between phase U, V, or W and ground.
Servomotor winding is burned out.
The relay for the dynamic brake has been consequently welded.
Servomotor non-conformity
The pulse input timing is too fast.
Measure the wire wound resistance, and if the winding is burned out, replace the Servomotor.
Do not frequently input the RUN Command Input.
Do not operate the system by turning the Servo
Drive ON and OFF.
Use a Servomotor that is appropriate for use with the Servo Drive.
Wait 100 ms min. before inputting pulses after turning ON the RUN
Command Input (RUN).
The resistor in the Servo
Drive is abnormally overheating.
Reduce the ambient temperature of the Servo
Drive to 55
C or lower.
If the relay does not click when the power supply is turned ON, replace the
Servo Drive.
Wire the Servomotor
Power Cable correctly.
There is an error in the
Servomotor wiring (e.g., the wiring or the contacts are faulty).
The electromagnetic brake is ON.
Reset the brake.
The Servo Drive is faulty. Replace the Servo Drive.
The actual torque exceeds the rated torque.
The starting torque exceeds the maximum torque.
Review the load conditions and operating conditions.
Review the Servomotor capacity.
An unusual noise oscillation or vibration is caused by faulty gain adjustment.
Adjust the gain correctly.
The Servo Drive is faulty. Replace the Servo Drive.
8-7
Alarm code
18
Error
Regeneration overload
21 Encoder disconnection detected
8-3 Troubleshooting
Status when error occurs
Occurs when the Servomotor is decelerating.
Occurs during descent
(vertical axis).
Occurs during operation.
Cause Countermeasure
Load inertia is too large.
Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity.
Extend the deceleration time.
The deceleration time is too short.
The Servomotor rotation speed is too high.
Reduce the Servomotor rotation speed.
Extend the deceleration time.
Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity.
The operating limit of the
External Regeneration
Resistor is limited to
10%.
Gravitational torque is too large.
Set Pn6C to 2.
The operating limit of the
External Regeneration
Resistor is limited to
10%.
The encoder is disconnected.
Connector contacts are faulty.
Add a counterbalance to the machine to lower gravitational torque.
Slow the descent speed.
Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity.
Set Pn6C to 2.
Fix the locations that are disconnected.
Correct the wiring.
The encoder wiring is incorrect.
The encoder is damaged.
Correct the wiring.
Replace the Servomotor.
The Servo Drive is faulty. Replace the Servo Drive.
The Servomotor is mechanically being held.
If the Servomotor shaft is being held by external force, release it.
8
8-8
8
8-3 Troubleshooting
Alarm code
23
Error
Encoder data error
24
26
Deviation counter overflow
Overspeed
Status when error occurs
Occurs when the power supply is turned ON or during operation.
Occurs when the Servomotor does not rotate even when command pulses are input.
Cause Countermeasure
Occurs during highspeed rotation.
Occurs when long command pulses are given.
Control PCB error.
The Servomotor power wiring or the encoder wiring is incorrect.
Gain adjustment is insufficient.
The acceleration and deceleration are too rapid.
The load is too large.
If the Servomotor shaft is held by external force, release it.
Release the electromagnetic brake.
Replace the Servo Drive.
Correct the wiring.
Adjust the gain.
Occurs during operation.
Occurs during highspeed rotation.
Occurs when torque limit switching is used.
The encoder signal wiring is incorrect.
Noise on the encoder wiring causes incorrect operation.
The power supply voltage for the encoder has dropped (especially when the cable is long.)
The Servomotor power wiring or the encoder wiring is incorrect.
The Servomotor is mechanically being held.
The setting for the Deviation Counter Overflow
Level (Pn63) was exceeded.
The speed command input is too large.
The setting for the Electronic Gear Ratio Numerator (Pn46 or Pn47) is not appropriate.
The maximum number of rotations is exceeded due to overshooting.
The encoder wiring is incorrect.
The Overspeed Detection Level Setting (Pn70) or No. 2 Overspeed Detection Level Setting
(Pn73) has been exceeded.
Correct the wiring.
Take measures against noise on the encoder wiring.
Provide the required encoder power supply voltage (5 VDC±5%).
Correct the wiring.
Extend the acceleration and deceleration times.
Reduce the load.
Select a suitable Servomotor.
Increase the setting of
Pn63.
Slow the rotation speed.
Reduce the load.
Extend the acceleration and deceleration times.
Set the command pulse frequency to 500 kpps max.
Set Pn46 and Pn47 so that the command pulse frequency is 500 kpps max.
Adjust the gain.
Reduce the maximum command speed.
Correct the wiring.
If torque limit switching is used, correctly set the allowable operating speed for Pn70 and Pn73.
8-9
8-3 Troubleshooting
Alarm code
27
29
34
36
37
38
48
49
Electronic gear setting error
Deviation counter overflow
Error
Overrun limit error
Parameter error
Status when error occurs
Occurs when command pulses are given.
Occurs when the Servomotor does not rotate even if command pulses are input.
Occurs during highspeed rotation.
Occurs when long command pulses are given.
Occurs during operation.
Occurs when the power supply is turned ON.
Parameter corruption Occurs when the power
Drive prohibit input error
Encoder phase Z error
Encoder CS signal error supply is turned ON.
Occurs when the Servo is turned ON or during operation.
Occurs during operation.
Occurs during operation.
Cause Countermeasure
The setting for the Electronic Gear Ratio Numerator (Pn46 or Pn47) is not appropriate.
The Servomotor power wiring or the encoder wiring is incorrect.
The Servomotor is mechanically being held.
Set Pn46 and Pn47 so that the command pulse frequency is 500 kpps max.
Correct the wiring.
Control PCB error
The Servomotor power wiring or the encoder wiring is incorrect.
Gain adjustment is insufficient.
The acceleration and deceleration are too rapid.
The load is too large.
If the Servomotor shaft is held by external force, release it.
Release the electromagnetic brake.
Replace the Servo Drive.
Correct the wiring.
Adjust the gain.
Extend the acceleration and deceleration times.
Reduce the load.
Select a suitable Servomotor.
The Overrun Limit Setting (Pn26) is exceeded during operation.
There are errors in the parameters that were read.
The Forward Drive Prohibit Input (POT) and Reverse Drive Prohibit Input
(NOT) were both OFF at the same time.
Adjust the gain.
Increase the setting for
Pn26.
Set Pn26 to 0 to disable the function.
Reset all parameters.
The Servo Drive is faulty. Replace the Servo Drive.
The parameters that were read are corrupt.
Replace the Servo Drive.
Correct the wiring.
Replace the limit sensor.
Check whether the power supply for control is input correctly.
Check whether the setting for Drive Prohibit Input Selection (Pn04) is correct.
Replace the Servomotor.
A phase-Z pulse from the encoder was not detected regularly.
A logic error of the CS signal from the encoder was detected.
Replace the Servomotor.
8
8-10
8
8-3 Troubleshooting
Alarm code
95
Error
Servomotor non-conformity
96 LSI setting error
Others Other errors
Status when error occurs
Occurs when the power supply is turned ON.
---
Cause Countermeasure
The Servomotor and
Servo Drive combination is incorrect.
The encoder wiring is disconnected.
Incorrect operation due to noise.
The Servo Drive’s self-diagnosis function detected an error in the Servo
Drive.
Use a correct combination.
Wire the encoder.
Fix the locations that are disconnected.
Take measures against noise.
Turn OFF the power supply and turn it ON again.
Replace the Servomotor or Servo Drive.
8-11
8-3 Troubleshooting
Error Diagnosis Using the Operating Status
Symptom
The power LED indicator (PWR) does not light when the power supply is turned
ON.
The Servomotor does not rotate even if commands are input from the
Controller.
Probable cause
The power supply cable is wired incorrectly.
Items to check
Check whether the power supply input is within the allowed voltage range.
Check whether the power supply input is wired correctly.
The RUN Command Input is OFF.
The Forward Drive Prohibit
Input (POT) and Reverse
Drive Prohibit Input (NOT) are OFF.
The control mode is not correct.
The Deviation Counter
Reset Input (ECRST) is
ON.
The Command Pulse
Mode (Pn42) setting is incorrect.
The Zero Speed Designation Input (VZERO) is OFF.
The internally set speeds are not set.
The Torque Limit (Pn5E) is set to 0.
The Servomotor Power
Cable is wired incorrectly.
The Encoder Cable is wired incorrectly.
The control I/O connector
(CN1) is wired incorrectly.
The power supply is not
ON.
The CW Input and CCW
Input are ON at the same time.
Servo Drive is faulty.
Check whether the RUN signal is
ON or OFF in monitor mode.
Check whether the POT input and
NOT input are ON or OFF in monitor mode.
Check the Control Mode Selection
(Pn02).
Check whether the ECRST Input is
ON or OFF in monitor mode.
Check the Controller’s command pulse type and the Servo Drive’s command pulse type.
Check whether the VZERO Input is
ON or OFF in monitor mode.
Check the settings for Pn53 to
Pn56.
Check the setting for Pn5E.
Check the wiring.
Countermeasures
Supply the correct voltage.
Correct the wiring.
Turn ON the RUN Command Input.
Correct the wiring.
Turn ON the POT and
NOT inputs.
If the POT and NOT inputs are not used, disabled them.
Set the control mode to match the command type.
Turn the ECRST Input
OFF.
Correct the wiring.
Set the Servo Drive’s pulse type to match the Controller’s command pulse type.
Turn ON the VZERO Input.
Correct the wiring.
Set the desired speeds.
Return the setting to the default.
Wire correctly.
Check the command pulse’s wiring.
Wire correctly.
Check the command pulse type.
Set the Servo Drive’s pulse type to match the Controller’s command pulse type.
Check the command pulse’s voltage.
Connect a resistor that matches the voltage.
Turn ON the power supply.
Check whether the power supply is
ON and check the PWR LED indicator.
Check the voltage across the power supply terminals.
Check the command pulse’s wiring.
---
Wire the power supply’s ON circuit correctly.
Input the pulse signal either to the CW Input or
CCW Input.
Always turn OFF the terminal that is not input to.
Replace the Servo Drive.
8
8-12
8
8-3 Troubleshooting
Symptom
The Servomotor operates momentarily, but it does not operate after that.
The Servomotor rotates without a command.
Probable cause
The Servomotor Power
Cable is wired incorrectly.
The Encoder Cable is wired incorrectly.
The Servomotor rotates in the opposite direction from the command.
Servomotor rotation is unstable.
The command pulse input is incorrect.
Check the command pulse type.
Check the command pulse’s voltage.
The Servo Drive is faulty.
---
The CW input and CCW input are connected reversely.
Check the Controller’s command pulse type and the Servo Drive’s command pulse type.
The Servomotor Power
Cable or Encoder Cable is wired incorrectly.
Items to check
Check the wiring of the Servomotor
Power Cable’s phases U, V, and W.
Countermeasures
Wire correctly.
Check the Encoder Cable’s wiring.
Wire correctly.
Set the command pulse input appropriately.
Connect a resistor that matches the voltage.
Replace the Servo Drive.
Connect the CW pulse signal to the CW Input and the
CCW pulse signal to the
CCW Input.
The coupling system between the Servomotor shaft and the mechanical system has eccentricity and declination, loose screws, or the torque is fluctuating due to engagement between pulleys or gears.
The load’s moment of inertia exceeds the Servo
Drive’s allowable value.
Check the wiring of the Servomotor
Power Cable’s phases U, V, and W and check the Encoder Cable’s wiring.
Check the mechanical system’s coupling section.
Wire correctly.
Review and adjust the machine.
Try rotating the Servomotor without a load. (Disconnect it from the mechanical system.)
The Servomotor is overheating.
The pulse signal line’s connections failure.
The gain doesn’t match.
The CN1 input signal is chattering.
The ambient temperature is too high.
Ventilation is obstructed.
The Servomotor is overloaded.
The Servomotor is rotating with vibration.
Try rotating the Servomotor without a load. (Disconnect it from the mechanical system.)
Reduce the load.
Replace it with the Servomotor and Servo Drive with higher capacity.
Wire correctly.
Check the pulse signal wiring at the
Controller and Servo Drive.
Check the Controller’s command pulse type and the Servo Drive’s command pulse type.
---
Check the RUN Command Input
(RUN), Deviation Counter Reset Input (ECRST), Zero Speed Designation Input (VZERO), Internally set Speed Selection 1, 2 (VSEL1,
VSEL2).
Set the Servo Drive’s pulse type to match the Controller’s command pulse type.
Use autotuning.
Perform manual tuning.
Correct the wiring so that there is no chattering.
Check that the ambient temperature around the Servomotor is below 40
C.
Check to see whether anything is blocking ventilation.
Try rotating the Servomotor without a load. (Disconnect it from the mechanical system.)
Lower the ambient temperature to 40
C or less. (Use a cooler or fan.)
Improve ventilation.
Reduce the load.
Replace the Servomotor and Servo Drive with a Servomotor and Servo Drive with higher capacities.
8-13
8-3 Troubleshooting
Symptom
The holding brake is ineffective.
The Servomotor doesn’t stop or is hard to stop even if the RUN
Command Input
(RUN) is turned
OFF while the
Servomotor is rotating.
The Servomotor is producing unusual noises or the machine is vibrating.
(Continued on next page.)
Probable cause
Power is supplied to the holding brake.
The load inertia is too large.
The stop circuit failed.
There are problems with the machine’s installation.
There is a problem with the bearings.
The Speed Feedback Filter Time Constant (Pn13) is wrong.
Noise is entering the Control I/O Cable because the cable does not meet specifications.
Noise is entering the Control I/O Cable because the cable is longer than the specified length.
Noise is entering the cable because the Encoder Cable does not meet specifications.
Noise is entering the Encoder Cable because the cable is longer than the specified length.
Noise is entering the signal wires because the Encoder Cable is stuck or the sheath is damaged.
Too much noise is entering the Encoder Cable.
Items to check
Check whether power is supplied to the holding brake.
Check the following:
Is the load too large?
Is the Servomotor speed too high?
---
The gain is doesn’t match.
---
Countermeasures
Configure a circuit that cuts power to the holding brake when the motor stops and the load is held by the holding brake.
Re-evaluate the load conditions and replace the Servomotor/Servo Drive with an appropriate model if necessary.
Replace the Servo Drive.
Check whether the Servomotor’s mounting screws are loose.
Check whether the axes are misaligned in the mechanical coupling system.
Check whether the coupling is unbalanced.
Tighten the mounting screws.
Align the mechanical couplings.
Check for noise or vibration around the bearings.
Check the setting of Pn13.
Check that the cable wire is a twisted-pair wire or shielded twistedpair cable with wires of at least
0.08 mm
2
.
Check the length of the Control I/O
Cable.
Check that the cable wires are twisted-pair wires or shielded twisted-pair wires that are at least
0.12 mm
2
.
Check the length of the Encoder
Cable.
Check whether the Encoder Cable is damaged.
Check whether the Encoder Cable is tied up in a bundle with or too close to high current lines.
Adjust the coupling’s balance.
Contact your OMRON representative.
Use autotuning.
Perform manual tuning.
Return the setting to 4 (default) or increase the setting.
Use the Control I/O Cable that meets specifications.
Shorten the Control I/O Cable to 3 m or less.
Use the Encoder Cable that meets specifications.
Shorten the Encoder Cable to 20 m or less.
Correct the Encoder Cable’s pathway to prevent damage.
Lay the Encoder Cable in a way surges are not applied.
8
8-14
8
8-3 Troubleshooting
Symptom
The Servomotor is producing unusual noises or the machine is vibrating.
(Continued from previous page.)
Vibration is occurring at the same frequency as the power supply.
Probable cause
The FG’s potential is fluctuating due to devices near the Servomotor, such as a welding machine.
Errors are being caused by excessive vibration or shock on the encoder.
The machine and the Servomotor are resonating.
Inductive noise is occurring.
The position is misaligned.
(Position misalignment occurs without an alarm being output.)
There is an error in the coupling of the mechanical system and the Servomotor.
Noise is entering the Deviation Counter Reset Input
(ECRST).
The gain is does not match.
The load inertia is too large.
Items to check
Check for grounding problems (failure to ground or incomplete grounding) at devices such as a welding machine near the Servomotor.
There are problems with mechanical vibration or motor installation
(such as the mounting surface precision, attachment, or axial misalignment).
Check whether the machine is resonating.
Countermeasures
Ground the equipment properly and prevent currents from flowing to the encoder
FG.
Reduce the mechanical vibration or correct the Servomotor’s installation.
Check whether the Servo Drive control signal lines are too long.
Check whether control signal lines and power supply lines are bundled together.
Check whether the coupling of the mechanical system and the Servomotor is misaligned.
Readjust the Torque Command Filter Time Constant.
If there is resonance, set the Notch Filter 1 Frequency (Pn1D) and Notch Filter
1 Width (Pn1E).
Shorten the control signal lines.
Separate control signal lines from power supply lines.
Use a low-impedance power supply for control signals.
Couple the mechanical system and the Servomotor correctly.
Check whether the control signal lines and power supply lines are bundled together.
---
Check the following:
Check whether the load is too large.
Check whether the rotation speed of the Servomotor is too high.
Take measures against noise, such as separating the control signal lines and power lines.
Use autotuning.
Perform manual tuning.
Adjust the gain.
Review the load conditions, and replace the Servomotor and Servo Drive with appropriate models.
8-15
8-4 Overload Characteristics (Electronic Thermal Function)
8-4 Overload Characteristics
(Electronic Thermal Function)
An overload protection (electronic thermal) function is built into the Servo Drive to protect the Servo
Drive and Servomotor from overloading.
If an overload does occur, eliminate the cause of the error and then wait at least one minute for the
Servomotor temperature to drop before turning on the power again.
If the power is turned ON again repeatedly at short intervals, the Servomotor windings may burn out.
Overload Characteristics Graphs
The following graphs show the characteristics of the load rate and electronic thermal operating time.
R88M-G (Cylindrical Servomotor)
Time (s)
100
10
50 W
100 W (100 V)
100 W (200 V)
200 W
400 W
8
1
0.1
100
115
150 200 250 300 Torque (%)
R88M-GP (Flat Servomotor)
Time (s)
100
100 W to 400 W
10
1
0.1
100
115
150 200 250 300 Torque (%)
8-16
8
8-5 Periodic Maintenance
8-5 Periodic Maintenance
The Servomotor and Servo Drive contain many components and will function fully only when each of the individual components operates properly.
Some of the electrical and mechanical components require maintenance depending on application conditions. Periodic inspection and part replacement are necessary to ensure the proper long-term operation of the Servomotor and Servo Drive. (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 Servomotor and Servo Drive.
Recommended maintenance times are listed below for reference in determining actual maintenance schedules.
Caution
Resume operation only after transferring all data required for operation to the new Unit.
Not doing so may result in damage to the product.
Do not dismantle or repair the product.
Doing so may result in electric shock or injury.
Servomotor Service Life
The service life for components is listed below.
Bearings: 20,000 hours
Oil seal: 5,000 hours
Encoder: 30,000 hours
These values presume an ambient Servomotor operating temperature of 40
C, shaft loads within the allowable range, rated operation (rated torque and rated r/min), and install as described in this manual.
The oil seal can be replaced.
If timing pulleys are belt driven, the radial loads during operation (rotation) are as twice as the static loads. Consult with the belt and pulley manufacturers and adjust designs and system settings so that the Servomotor’s allowable shaft load is not exceeded even during operation. If a Servomotor is used under a shaft load exceeding the allowable limit, the Servomotor shaft may break and the bearings may burn out.
8-17
8-5 Periodic Maintenance
Servo Drive Service Life
The service life of the Servo Drive is provided below.
Consult with your OMRON representative to determine whether or not components need to be replaced.
Aluminum electrolytic capacitors: 50,000 hours, at an ambient Servo Drive operating temperature of 40
C, 80% of the rated operation output (rated torque), installed as described in this manual.
Axial fan: 30,000 hours, at an ambient Servo Drive operating temperature of 40
C and an ambient humidity of 65% RH.
When using the Servo Drive in continuous operation, use a fan or air conditioner to maintain an ambient operating temperature of 40
C or lower.
We recommend that the ambient operating temperature be lowered and the power ON time be reduced as much as possible to lengthen the service life of the Servo Drive.
The service life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature. Generally, an increase of 10
C in the ambient operating temperature will reduce the capacitor life by 50%.
Aluminum electrolytic capacitors deteriorate even if 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 part replacement in five years.
If the Servomotor or Servo Drive is not used for a long time, or if they are used under conditions worse than those described above, a periodic inspection of five years is recommended.
8
8-18
Chapter 9
Appendix-1
Connection Examples
9-1 Connection Examples .......................................... 9-1
9-1 Connection Examples
9Appendix-1
9-1 Connection Examples
9
Connection Example 1: Connecting to SYSMAC CJ1W-NC133/233/433 Position
Control Units
NFB
R
3-phase 200/240 VAC 50/60 Hz
S
CJ1W-NC133/233/433
Contents
5-VDC power supply (for pulse output)
5-V GND (for pulse output)
CW (output (+))
CW (output (
−
))
CCW (output (+))
CCW (output (
−
))
(Ground to
100
Ω or less.)
T
R7A-CPB
@S
No.
A4
5 VDC
A3
A5
A6
A7
A8
Main circuit power supply
OFF ON MC1 MC2
R7D-BP
@
CN1
X1
MC1 MC2 X1
22
23
24
25
+
CW
−CW
+
CCW
−CCW
CNA
L1
L2
L3
P
B1
Reactor
MC2
MC1
SUP
PL
MC1 MC2
Main circuit contact
Surge killer
Servo error display
Connect External Regeneration
Resistor when required.
X-axis dev. cntr. reset output
X-axis origin input (24 V)
X-axis origin common
X-axis positioning complete input
24-V power supply for outputs
0-V power supply for output
X-axis input common
A9
A13
A12
A11
A1
A2
A20
24 VDC
X-axis external interrupt input
X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis emerg. stop input
A15
A17
A19
A18
A16
24 VDC
X1
X1
XB
4
14
21
10
ECRST
GND
Z
INP
13
9
1 +
24VIN
2
RUN
11
0GND
/ALM
BKIR
26 FG
CNB
U
V
W
Servomotor Power
Red
White
Blue
Cable
R7A-CAB
@
S
Green/
Yellow
R88M-G
@
M
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use mode 2 for origin search.
Use the 5-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9-1
9-1 Connection Examples
Connection Example 2: Connecting to SYSMAC CJ1W-NC113/213/413 Position
Control Units
NFB
Main circuit power supply
OFF ON
MC1 MC2
R
3-phase 200/240 VAC 50/60 Hz S
X1
MC1 MC2 X1
MC2
MC1
SUP
PL
Main circuit contact
Surge killer
Servo error display
CJ1W-NC113/213/413
Contents
24-V power supply for outputs
No.
A1
(Ground to
100
Ω or less.)
R7A-CPB
@S
24 VDC
T
0-V input (for output)
A2
CW (with a resistor)
CW (without a resistor)
CCW (with a resistor)
CCW (without a resistor)
A6
A5
A8
A7
X-axis dev. cntr. reset output
X-axis origin input (24 V)
X-axis origin common
X-axis positioning complete input
A9
A13
A12
A11
R7D-BP
@
CN1
22
23
24
25
+CW
−CW
+CCW
−CCW
4
14
21
10
ECRST
GND
Z
INP
CNA
L1
L2
L3
P
B1
Reactor
MC1 MC2
Connect External Regeneration
Resistor when required.
CNB
U
V
W
Red
White
Blue
Green/
Yellow
Servomotor Power
Cable
R7A-CAB
@
S
R88M-G
@
M
X-axis input common
X-axis external interrupt input
X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis emerg. stop input
A20
A15
A17
A19
A18
A16
24 VDC
24 VDC
X1
X1
XB
1
2
+24VIN
RUN
13
9
0GND
11
26
/ALM
BKIR
FG
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use mode 2 for origin search.
Use the 24-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9
9-2
9-1 Connection Examples
9
Connection Example 3: Connecting to SYSMAC CS1W-NC133/233/433 Position
Control Units
Main circuit power supply
OFF ON MC1 MC2
Main circuit contact
NFB
R
3-phase 200/240 VAC 50/60 Hz
S
CS1W-NC133/233/433
Contents
5-VDC power supply (for pulse output)
5-V GND (for pulse output)
CW (output (+))
CW (output (
−))
CCW (output (+))
CCW (output (
−))
A3
A5
A6
A7
A8
No.
A4
T
(Ground to
100
Ω or less.)
R7A-CPB
@S
5 VDC
R7D-BP
@
CN1
X1
22
23
24
25
+CW
−CW
+CCW
−CCW
MC1 MC2 X1
CNA
L1
L2
L3
P
B1
PL
Reactor
MC2
MC1
SUP
Surge killer
Servo error display
MC1 MC2
Connect External Regeneration
Resistor when required.
X-axis dev. cntr. reset output
X-axis origin input (24 V)
X-axis origin common
X-axis positioning complete input
24-V power supply for outputs
0-V power supply for output
X-axis input common
A10
A15
A14
A12
A1
A2
A24
24 VDC
X-axis external interrupt input
X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis emerg. stop input
A19
A21
A23
A22
A20
24 VDC
X1
X1
XB
4
14
21
10
ECRST
GND
Z
INP
1
2
+24VIN
RUN
13
9
0GND
11
/ALM
BKIR
26 FG
CNB
U
V
W
Servomotor Power
Red
White
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use mode 2 for origin search.
Use the 5-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9-3
9-1 Connection Examples
Connection Example 4: Connecting to SYSMAC CS1W-NC113/213/413, C200HW-
NC113/213/413 Position Control Units
NFB
Main circuit power supply
OFF ON MC1 MC2
Main circuit contact
R
MC2
MC1
SUP
X1
MC1 MC2 X1
PL
Surge killer
Servo error display
3-phase 200/240 VAC 50/60 Hz
S
CS1W-NC113/213/413
C200HW-NC113/213/413
T
(Ground to
100
Ω or less.)
R7A-CPB
@S
Contents
24-V power supply for outputs
No.
A1
24 VDC
0-V power supply for output
A2
CW (with a resistor)
CW (without a resistor)
CCW (with a resistor)
CCW (without a resistor)
A6
A5
A8
A7
X-axis dev. cntr. reset output
X-axis origin input (24 V)
X-axis origin common
X-axis positioning complete input
A10
A15
A14
A12
R7D-BP
@
CN1
22
23
24
25
+CW
−CW
+CCW
−CCW
4
14
21
10
ECRST
GND
Z
INP
CNA
L1
L2
L3
P
B1
Reactor
MC1 MC2
Connect External Regeneration
Resistor when required.
CNB
U
V
W
Servomotor Power
Red
White
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
X-axis input common
X-axis external interrupt input
X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis emerg. stop input
A24
24 VDC
A19
A21
A23
A22
A20
24 VDC
X1
X1
XB
9
11
26
1
2
+24VIN
RUN
13 0GND
/ALM
BKIR
FG
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use mode 2 for origin search.
Use the 24-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9
9-4
9-1 Connection Examples
9
Connection Example 5: Connecting to SYSMAC CP1H-Y20DT-D
Main circuit power supply
OFF ON MC1 MC2
NFB
CP1H-Y20DT-D
R
3-phase 200/240 VAC 50/60 Hz
S
T
(Ground to
100
Ω or less.)
R7A-CPB
@S
R7D-BP
@
CN1
X1
MC1 MC2 X1
PL
Reactor
Output terminal block
CW0+
CW0
−
CCW0+
CCW0
−
22
23
24
25
+CW
−
CW
+CCW
−
CCW
CNA
L1
L2
L3
P
B1
MC2
MC1
SUP
Main circuit contact
Surge killer
Servo error display
MC1 MC2
Connect External Regeneration
Resistor when required.
Origin search 0 (CIO 0101.02)
24-VDC input terminal (+)
24-VDC input terminal (
−
)
COM (CIO 0101.00 to 0101.03)
Input terminal block
Pulse 0 origin input signal (CIO 0001.03)
COM (CIO 0000)
Pulse 0 origin proximity input signal (CIO 0001.05)
24 VDC
X1
24 VDC
X1
XB
4 ECRST
10
14
21
1
INP
GND
Z
+24VIN
2
13
RUN
0GND
/ALM
9
11 BKIR
26 FG
CNB
U
V
W
Servomotor Power
Red
White
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9-5
9-1 Connection Examples
Connection Example 6: Connecting to SYSMAC CP1H-X40DT-D/CP1L-@@@DT-@
Main circuit power supply
OFF ON MC1 MC2
Main circuit contact
CP1H-X40DT-D
NFB
R
3-phase 200/240 VAC 50/60 Hz
S
T
(Ground to
100
Ω or less.)
R7A-CPB
@S
R7D-BP
@
CN1
X1
MC1 MC2 X1
PL
Reactor
MC2
MC1
SUP
Surge killer
Servo error display
Output terminal block
CW0 (CIO 0100.00)
COM (for CIO 0100.00)
CCW0 (CIO 0100.01)
COM (for CIO 0100.01)
2 k
Ω
2 k
Ω
22
23
24
25
+CW
−
CW
+CCW
−
CCW
CNA
L1
L2
L3
P
B1
MC1 MC2
Connect External Regeneration
Resistor when required.
Origin search 0 (CIO 0101.02)
24-VDC input terminal (+)
24-VDC input terminal (
−)
COM (CIO 0101.00 to 0101.03)
Input terminal block
Pulse 0 origin input signal (CIO 0001.03)
COM (CIO 0000)
Pulse 0 origin proximity input signal (CIO 0000.01)
24 VDC
X1
24 VDC
X1
XB
4 ECRST
10
14
21
1
2
INP
GND
Z
+24VIN
RUN
13
9
0GND
/ALM
11
26
BKIR
FG
CNB
U
V
W
Red
White
Servomotor Power
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9
9-6
9-1 Connection Examples
9
Connection Example 7: Connecting to SYSMAC CJ1M
NFB
R
3-phase 200/240 VAC 50/60 Hz
S
CJ1M
Contents
Input for the output power supply
Output COM
CW output
CCW output
(Ground to
100
Ω or less.)
T
R7A-CPB
@S
No.
37
24 VDC
39
2 k
Ω
31
2 k
Ω
32
R7D-BP
@
CN1
22
23
24
25
+CW
−
CW
+CCW
−
CCW
Main circuit power supply
OFF ON MC1 MC2
X1
MC1 MC2 X1
PL
MC2
MC1
SUP
CNA
L1
L2
L3
P
B1
Reactor
MC1 MC2
Main circuit contact
Surge killer
Servo error display
Connect External Regeneration
Resistor when required.
Deviation counter reset output
Origin input signal
0 V
Positioning completed output
0 V
35
1
5
13
17
Origin proximity input signal
0 V
2
6
24 VDC
X1
24 VDC
X1
XB
4
14
21
ECRST
GND
Z
1
2
10 INP
+24VIN
RUN
13
9
0GND
11
26
/ALM
BKIR
FG
CNB
U
V
W
Servomotor Power
Red
White
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use mode 2 for origin search.
Use the 24-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9-7
9-1 Connection Examples
Connection Example 8: Connecting to FQM1-MMP21 Flexible Motion Controller
FQM1-MMP21
Contents
5-VDC power supply (for pulse output)
No.
28
5-V GND
CW+
CW
−
CCW+
CCW
−
26
29
31
33
35
5 VDC
NFB
R
3-phase 200/240 VAC 50/60 Hz
S
(Ground to
100
Ω or less.)
T
R7A-CPB
@S
R7D-BP
@
CN1
22
23
24
25
+CW
−
CW
+CCW
−
CCW
Main circuit power supply
OFF ON MC1 MC2
X1
MC1 MC2 X1
PL
MC2
MC1
SUP
CNA
L1
L2
L3
P
B1
Reactor
MC1 MC2
Main circuit contact
Surge killer
Servo error display
Connect External Regeneration
Resistor when required.
4
14
21
10
ECRST
GND
Z
INP
CNB
U
V
W
Servomotor Power
Red
White
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
24 VDC
X1
24 VDC
X1
XB
9
11
26
1
2
13
+24VIN
RUN
0GND
/ALM
BKIR
FG
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use the 24-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9
9-8
9-1 Connection Examples
9
Connection Example 9: Connecting to SYSMAC CPM2C
CPU Unit with 10 inputs and outputs
An example of a transistor output (sink model).
NFB
Main circuit power supply
OFF ON MC1 MC2
R
3-phase 200/240 VAC 50/60 Hz
S
X1
MC1 MC2 X1
PL
CPM2C-10C
24 V
COM (
−
Contents
)
@DTC-D
OUT 00 CW pulse output
OUT 01 CCW pulse output
(Ground to
100
Ω or less.)
T
R7A-CPB
@S
No.
A10
24 VDC
A9
2 k
Ω
A1
2 k
Ω
A2
R7D-BP
@
CN1
22
23
24
25
+CW
−
CW
+CCW
−
CCW
CNA
L1
L2
L3
P
B1
Reactor
MC2
MC1
SUP
Main circuit contact
Surge killer
Servo error display
MC1 MC2
Connect External Regeneration
Resistor when required.
4
14
21
10
ECRST
GND
Z
INP
CNB
U
V
W
Servomotor Power
Red
White
Cable
R7A-CAB
@
S
Blue
Green/
Yellow
R88M-G
@
M
24 VDC
X1
24 VDC
X1
XB
1
2
13
+24VIN
RUN
0GND
/ALM 9
11
26
BKIR
FG
CN2
Encoder Cable
R88A-CRGB
@C
Brake Cable
R88A-CAGA
@B
XB
24 VDC
E
B
Precautions for Correct Use
Incorrect signal wiring can cause damage to Units and the Servo Drive.
Leave unused signal lines open and do not wire them.
Use the 24-VDC power supply for the command pulse inputs as a dedicated power supply.
Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
Recommended surge absorption diode: RU2 (Sanken Electric) or the equivalent
9-9
Chapter 10
Appendix-2
SMARTSTEP 2 750 W Model
Features and System Configuration ....................... 10-1
Overview ................................................................................ 10-1
Names of Parts and Functions............................................... 10-2
System Block Diagrams ......................................................... 10-4
Applicable Standards ............................................................. 10-5
Standard Models and Dimensions .......................... 10-6
Standard Models .................................................................... 10-6
External and Mounting Hole Dimensions ............................. 10-10
Specifications ......................................................... 10-16
Servo Drive Specifications ................................................... 10-16
Servomotor Specifications ................................................... 10-26
Cable and Connector Specifications .................................... 10-28
System Design ........................................................ 10-42
Servo Drive Specifications ................................................... 10-42
Wiring ................................................................................... 10-42
Wiring Conforming to EMC Directives ................................. 10-44
Operating Functions............................................... 10-47
Position Control.................................................................... 10-47
Internally Set Speed Control ................................................ 10-49
Forward and Reverse Drive Prohibit .................................... 10-52
Encoder Dividing .................................................................. 10-53
Electronic Gear .................................................................... 10-54
Overrun Limit ....................................................................... 10-56
Brake Interlock ..................................................................... 10-58
Gain Switching ..................................................................... 10-61
Torque Limit ......................................................................... 10-62
Soft Start .............................................................................. 10-63
Position Command Filter...................................................... 10-64
User Parameters .................................................................. 10-65
Trial Operation ...................................................... 10-105
Adjustment Functions.......................................... 10-106
Gain Adjustment ................................................................ 10-106
Realtime Autotuning........................................................... 10-109
Normal Mode Autotuning ................................................... 10-118
Disabling the Automatic Gain Adjustment Function ........... 10-123
Manual Tuning ................................................................... 10-124
Troubleshooting ................................................... 10-135
Alarm Table........................................................................ 10-135
Troubleshooting ................................................................. 10-136
Overload Characteristics (Electronic Thermal Function) ... 10-138
10-1 Features and System Configuration
10Appendix-2
10-1 Features and System Configuration
10-1-1 Overview
Overview of the SMARTSTEP 2 750 W Model
The SMARTSTEP 2 750 W Model is a pulse input Servo Drive for Position Control. Servomotors with 2,500-pulse incremental encoders are available as standard models.
The SMARTSTEP 2 750 W Model features realtime autotuning and adaptative filter functions that automatically perform complicated gain adjustments. A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation. The vibration control function of the SMARTSTEP 2 750 W Model realizes stable stopping performance in a mechanism which vibrates beacuse of the low rigidity of the load.
10
Features of the SMARTSTEP 2 750 W Model
The SMARTSTEP 2 750 W Model has the following features.
High-speed Response
The SMARTSTEP 2 750 W Model AC Servomotors and Servo Drives have achieved high-speed response capabilities exceeding OMRON’s W-Series models, with a high response frequency of
1 KHz (compared to 400 Hz for the W Series).
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/
Deceleration
The vibration control function suppresses vibration of low-rigidity mechanisms or devices whose ends tend to vibrate. Two vibration filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal. In addition, the settings can be made easily merely by just setting the vibration frequency and filter values, and you are assured of stable operation even if the settings are inappropiate.
High-speed Positioning via Resonance Suppression Control
The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance. Also, two independent notch filters make it possible to reduce vibration of a mechanism with multiple resonance frequencies.
Simplified Speed Control with Internal Speed Settings
Eight internal speed settings allow you to change the speed easily by using external signals.
10-1
10-1 Features and System Configuration
10-1-2 Names of Parts and Functions
Servo Drive Part Names
Display area
Unit No. switch
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
Settings area
Check pin (G: GND)
RS-485
Communications connector
(CN3A)
RS-232
Communications connector
Parameter Unit connector
(CN3B)
Control I/O connector (CN1
10
connection terminals
(B1, B2, B3)
Servomotor connection terminals
(U, V, W)
Encoder connector (CN2)
Not used
Protective ground terminals
10-2
10
10-1 Features and System Configuration
Servo Drive Functions
Display Area
A 6-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other information.
Check Pins (IM, SP, and G)
The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope. The type of signal to output and the output voltage level are set in the SP Selection (Pn07) and IM Selection (Pn08) parameters.
Unit No. Switch
The Servo Drive number in serial communications is set to a value from 0 to F. This number is used to identify which Servo Drive the computer is accessing in RS-232/485 communications between multiple Servo Drives and a computer.
Forward and Reverse Motor Rotation
Reverse (CW)
Forward (CCW)
When the motor output shaft is viewed from the end, counterclockwise (CCW) rotation is forward and clockwise
(CW) rotation is reverse.
10-3
10-1 Features and System Configuration
10-1-3 System Block Diagrams
R88D-GP08H
Internal regeneration resistor
Voltage detection
E5V
SW power supply
Main circuit control
Internal control power supply
Relay drive
Regenerative control
MPU & ASIC
PWM control
Overcurrent detection
Gate drive
Control I/O interface
CN1 control I/O connector
Current detection
Display/ setting circuits
Encoder communications interface
RS-
485
+E5V
RS-232 interface
RS-485 interface
CN3A connector
CN3B connector
10
10-4
10-1 Features and System Configuration
10-1-4 Applicable Standards
EC Directives
EC Directive
Low Voltage
Directive
Product
AC Servo Drive
AC Servomotor
EMC Directive
AC Servo Drive and
AC Servomotor
Applicable standards Comments
EN 50178
Safety requirements for electrical equipment for measurement, control, or laboratory use
Rotating electrical machines IEC 60034-1/-5
EN 55011 Class A Group1
Limits of radio disturbance and measurement methods for industrial, scientific, and medical radio-frequency equipment
EN 61000-6-2
Electromagnetic compatibility (EMC) Immunity standard for industrial environments
IEC 61000-4-2
IEC 61000-4-3
Electrostatic discharge immunity testing
Radio frequency radiation field immunity testing
IEC 61000-4-4
IEC 61000-4-5
IEC 61000-4-6
IEC 61000-4-11
Electrical fast transient burst immunity testing
Lightning surge immunity testing
High-frequency conduction immunity testing
Momentary power interruption immunity testing
10
UL and CSA Standards
Standard
UL standard
CSA standard
Product
AC Servo Drive
AC Servomotor
AC Servomotors
Applicable standards
UL 508C
UL1004
File number
E179149
E179189
CSA22.2 No.100
E179189
Comments
Power conversion equipment
Electric motor
Motor and generator
10-5
10-2 Standard Models and Dimensions
10-2 Standard Models and Dimensions
10-2-1 Standard Models
Servo Drive-Servomotor Combination
The table in this section show the possible combination of SMARTSTEP 2 750 W Model Servo Drive and Servomotor. The Servomotor and Servo Drive can only be used in the listed combinations. The box (@) at the end of the model number is for options.
3,000-r/min Servomotor and Servo Drive
Voltage
Rated output
Servo Drive
Pulse-string input
Single-phase/threephase 200 VAC
750 W R88D-GP08H
Without brake
R88M-G75030H@
Servomotor
With brake
R88M-G75030H-B @
Accessories and Cables
Encoder Cables
Specifications
Encoder cable
R88M-G75030H@
Servomotor Power Cables
Specifications
For 750 W servomotors without brake
R88M-G75030H@-S2
For servomotors with brake, a separate cable
(R88A-CAGA @BR-E) is needed
Model
1.5 m R88A-CRGB001-5CR-E
3 m R88A-CRGB003CR-E
5 m
R88A-CRGB005CR-E
10 m R88A-CRGB010CR-E
15 m R88A-CRGB015CR-E
20 m R88A-CRGB020CR-E
Model
1.5 m R88A-CAGA001-5SR-E
3 m
R88A-CAGA003SR-E
5 m
R88A-CAGA005SR-E
10 m R88A-CAGA010SR-E
15 m R88A-CAGA015SR-E
20 m R88A-CAGA020SR-E
10
10-6
10-2 Standard Models and Dimensions
Brake Cables
Specifications
Brake cable only
For R88M-G75030H-BS2 servomotors
Model
1.5 m R88A-CAGA001-5BR-E
3 m
R88A-CAGA003BR-E
5 m
R88A-CAGA005BR-E
10 m R88A-CAGA010BR-E
15 m R88A-CAGA015BR-E
20 m R88A-CAGA020BR-E
Computer Cable
Specifications
Computer cable RS232
10
Connectors
Specifications
I/O connector kit -50 pins- (for CN1)
Power cable connector (motor side)
Encoder connector (Servo drive side CN2)
Incremental encoder cable connector (motor side)
Reactor
Specifications
R88D-GP08H
External Regeneration Resistors
Regenerative resistor unit model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
R88A-RR50020S
Control Cables (for CN1)
Description
Control cable
(line-driver output for 1 axis)
Control cable
(open-collector output for 1 axis)
Control cable
(line-driver output for 2 axis)
Control cable
(open-collector output for 2 axis)
2 m
R88A-CCG002P2
Model
R88A-CNU11C
R88A-CNG01A
R88A-CNW01R
R88A-CNG02R
3G3AX-AL2025
50
, 80 W
100
, 80 W
47
, 220 W
20
, 500 W
Specifications
Connecto to
Position control units (high speed type)
CJ1W-NC234
CJ1W-NC434
Position control units (high speed type)
CJ1W-NC214
CJ1W-NC414
Position control units (high speed type)
CJ1W-NC234
CJ1W-NC434
Position control units (high speed type)
CJ1W-NC214
CJ1W-NC414
Model
Model
Model
1 m
XW2Z-100J-G9
5 m XW2Z-500J-G9
10 m
XW2Z-10MJ-G9
1 m
XW2Z-100J-G13
3 m
XW2Z-300J-G13
1 m
XW2Z-100J-G1
5 m XW2Z-500J-G1
10 m
XW2Z-10MJ-G1
1 m
XW2Z-100J-G5
3 m
XW2Z-300J-G5
10-7
10-2 Standard Models and Dimensions
Description Connecto to
Terminal block cable for external signals
(for input common, forward/reverse run prohibited inputs, emergency stop input, origin
CJ1W-NC234
CJ1W-NC434 proximity input and interrupt input)
Position control units (high speed type)
CJ1W-NC214
CJ1W-NC414
Terminal block for external signals (M3 screw, pin terminals)
Model
0.5 m XW2Z-C50X
1 m
XW2Z-100X
2 m
XW2Z-200X
Terminal block ext. signals (M3.5 screw, fork/round terminals)
3 m
XW2Z-300X
5 m
XW2Z-500X
10 m
XW2Z-010X
XW2B-20G4
Terminal block ext. signals (M3 screw, fork/ round terminals)
Cable from servo relay unit to servo drive
Servo relay unit
-
XW2B-20G5
-
XW2B-20G6
1 m
XW2Z-100J-B25
CS1W-NC1 @3, CJ1W-NC1@3,
C200HW-NC113/213/413,
CS1W-NC2 @3/4@3, CJ1W-NC2@3/4@3 or
CQM1H-PLB21
CJ1M-CPU21/22/23
2 m
XW2Z-200J-B25
CS1W-NC1
@3, CJ1W-NC1@3 or
C200HW-NC113 position control unit
CS1W-NC2 @3/4@3, CJ1W-NC2@3/4@3 or
C200HW-NC213/413 position control unit
CQM1H-PLB21
CJ1M-CPU21/22/23
CQM1H-PLB21
CS1W-NC113 or C200HW-NC113
1 m
XW2Z-100J-B31
2 m
XW2Z-200J-B31
-
XW2B-20J6-1B
(1 axis)
-
-
-
XW2B-40J6-2B
(2 axes)
XW2B-20J6-3B
(1 axis)
XW2B-20J6-8A
(1 axis)
XW2B-40J6-9A
(2 axes)
0.5 m XW2Z-050J-A3
1 m
XW2Z-100J-A3
0.5 m XW2Z-050J-A6
Position control unit connecting cable
1 m XW2Z-100J-A6
CS1W-NC213/413 or C200HW-NC213/413 0.5 m XW2Z-050J-A7
1 m
XW2Z-100J-A7
CS1W-NC133 0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
CS1W-NC233/433
CJ1W-NC113
0.5 m XW2Z-050J-A11
1 m
XW2Z-100J-A11
0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
CJ1W-NC213/413
CJ1W-NC133
CJ1W-NC233/433
CJ1M-CPU21/22/23
0.5 m XW2Z-050J-A15
1 m
XW2Z-100J-A15
0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
0.5 m XW2Z-050J-A19
1 m
XW2Z-100J-A19
0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
10
10-8
10
10-2 Standard Models and Dimensions
Description
General purpose cable
Connecto to
For general purpose controllers
Terminal block cable
Terminal block (M3 screw and for pin terminals)
Terminal block (M3.5 screw and for fork/ round terminals)
Terminal block (M3 screw and for fork/ round terminals)
For general purpose controllers
Model
1 m
R88A-CPG001S
2 m
R88A-CPG002S
1 m XW2Z-100J-B24
2 m
XW2Z-200J-B24
-
XW2B-50G4
-
XW2B-50G5
-
XW2D-50G6
10-9
10-2 Standard Models and Dimensions
10-2-2 External and Mounting Hole
Dimensions
Servo Drive
Single-phase/Three-phase 200 VAC: R88D-GP08H (750 W)
Wall Mounting
External Dimensions
65
70 170
Mounting Hole Dimensions
4
Two, M4
AC SERVO DRIVER
UNIT No.
IM
DATA
SP G
7.5
50
65
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
5.2 dia.
20
40
65 70
22
2.6
170
Mounting Hole Dimensions (Reference)
4
21
Two, M4
10
Square hole
R2.6
2.6
5.2
20
40
Dimensions for front panel mounting are references values that provide leeway.
(67)*
* The dimensions of the square hole are reference values.
10-10
10-2 Standard Models and Dimensions
Servomotor
3,000-r/min Servomotor
750W
R88M-G75030H(-S2)/-G75030H-B(S2)
INC
Encoder connector
LL
Brake connector
Motor connector
G
LR
3
Four, Z dia.
C
× C
D1 dia.
(Dimensions of shaft end
with key and tap)
QK b
M(effective depth: L)
10
Model
R88M-G75030
@
R88M-G75030 @-B@
Dimensions (mm)
LL LR S D1 D2 C G KL1 Z QK b h M t1 L
112.2 35 19 90 70 80 8 53 6 22 6h9 6 M5 3.5 10
149.2 35 19 90 70 80 8 53 6 22 6h9 6
M5 3.5 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.
External Regeneration Resistor Dimensions
External Regeneration Resistor
R88A-RR08050S/-RR080100S
Thermal switch output
20 t1.2
6
500 104
122
130
10-11
R88A-RR22047S
Thermal switch output
10-2 Standard Models and Dimensions
20 t1.2
6
500
R88A-RR50020S
200
220
230
25 43
78
10
360
386
402
10
10-12
10-2 Standard Models and Dimensions
Reactor Dimensions
3G3AX-DL2002
Ground terminal
(M4)
56
66
Two, M4
Four, 5.2
× 8
85
10
3G3AX-DL2004
Ground terminal
(M4)
56
66
Two, M4
Four, 5.2
× 8
95
10-13
10-2 Standard Models and Dimensions
3G3AX-DL2007
Ground terminal
(M4)
56
66
Two, M4
Four, 5.2
× 8
105
3G3AX-DL2015
Ground terminal
(M4)
56
66
Two, M4
Four, 5.2
× 8
115
10
10-14
10-2 Standard Models and Dimensions
3G3AX-DL2022
Ground terminal
(M4)
71
86
Two, M4
Four, 6
× 9
105
10
3G3AX-AL2025/-AL2055
Ground terminal (M5)
Six, M4 terminal screws
Terminal block
Ro R So S To T
60 40
50
±1
A
Four, 6 dia.
(Notch)
Y
±1
C
9.5
Ro R So S To T
Connection Diagram
Model
3G3AX-AL2025
3G3AX-AL2055
Dimensions (mm)
A C Y
130 82 67
140 98 75
10-15
10-3 Specifications
10-3 Specifications
10-3-1 Servo Drive Specifications
Characteristics
Item
Continuous output current (rms)
Momentary maximum output current (rms)
Input power supply
Main circuit
Control circuit
Heat generated
PWM frequency
Weight
Main circuit
Control circuit
Maximum applicable motor capacity
Applicable
Servomotors
Control method
3,000-r/min Servomotors
Inverter method
Power supply capacity
Power supply voltage
Rated current
Power supply voltage
Rated current
R88D-GP08H
4.0 A
14.1 A
1.3 KVA
Single-phase or three-phase 200 to 240
VAC (170 to 264 V) 50/60 Hz
5.0
Single-phase 200 to 240 VAC (170 to
264 V), 50/60 Hz
0.05 A
38.7 W
4.3 W
6.0 KHz
Approx. 1.5 kg
750 W
INC
G75030H
All-digital servo
IGBT-driven PWM method
10
10-16
10-3 Specifications
Main Circuit and Servomotor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.
R88D-GP08H
Symbol
L1
Main Circuit Connector Specifications (CNA)
Name
L2
L3
Main circuit power supply input
Function
R88D-GP08H (750W): Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
R88D-GP08H (750W): Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
L1C
L2C
Control circuit power supply input
R88D-GP08H: Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
10
Servomotor Connector Specifications (CNB)
Symbol
B1
B2
B3
Name Function
External
Regeneration
Resistor connection terminals
750 W: Normally B2 and B3 are connected. 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.
U
V
W
Red
Servomotor connection terminals
Frame ground
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to a 100
or less.
10-17
10-3 Specifications
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections
Reverse pulse
500 kpps max.
Forward pulse
Reverse pulse
2 Mpps max.
Forward pulse
12 to 24 VDC
RUN Command
Input
Vibration Filter
Switch
Gain Switch
Input
Electronic Gear
Switch Input
Deviation Counter
Reset Input
Alarm Reset
Input
Pulse Prohibit
Input
Reverse Drive
Prohibit Input
Forward Drive
Prohibit Input
Brake Interlock
Servo Ready Output
Maximum operating voltage:
30 VDC
Maximum output current:
50 mA DC
Alarm Output
Positioning
Completed Output
General-purpose Output 1
General-purpose Output 2
Phase-Z Output
(open collector output)
Encoder Phase-A
Output
Encoder Phase-B
Output
Line driver output
Conforms to
EIA RS-422A
(Load resistance:
120
Ω
min.)
Encoder Phase-Z
Output
1
μF
100
Ω
20 SEN
4.7 k
Ω
13
SENGND
Sensor ON
42
BAT
43
BATGND
Backup Battery
Input *1
(3.6 V)
10
Frame ground
*1. Use only when an absolute encoder. If a backup battery is connected, an encoder cable with a battery is not required.
10-18
10-3 Specifications
10
Control I/O Signals
CN1 Control Inputs
Pin
No.
Symbol Name Function/Interface
Control mode
1
2
3
4
5
6
+24VCW
+24VCC
W
+CW/
PULS/FA
CW/
PULS/FA
+CCW/
SIGN/FB
CCW/
SIGN/FB
24-V Open-collector Input for Command Pulse
24-V Open-collector Input for Command Pulse
Reverse Pulses Input/
Feed Pulses Input, or 90
Phase Difference
Pulse Input (Phase A)
Forward Pulse Input/
Direction Signal, or 90
Phase Difference
Pulse Input (Phase B)
Input terminals for position command pulses.
These are selected by setting the Command Pulse Input
Selection (Pn40) to 0.
Line-Driver input:
Maximum response frequency: 500 kpps
Open-collector input:
Maximum response frequency: 200 kpps
Any of the following can be selected by using the Pn42 setting: reverse and forward pulses (CW/CCW), feed pulse and direction signal (PULS/SIGN), 90
phase difference
(phase A/B) signals (FA/FB).
Position
7
8
9
+24VIN
NOT
POT
12 to 24-VDC Power
Supply Input
Reverse Drive Prohibit
Input
Forward Drive Prohibit
Input
20 SEN
13 SENGND
Sensor ON Input
Power supply input terminal (+12 to 24 VDC) for sequence inputs.
All
Reverse rotation overtravel input.
OFF: Prohibited, ON: Permitted
Forward rotation overtravel input.
OFF: Prohibited, ON: Permitted
ON: Initial incremental pulses are sent.
All
All
All
26
27
VZERO
DFSEL
GSEL
TLSEL
Zero Speed Designation
Input
Vibration Filter Switch
Gain Switch
Torque Limit Switch
When the Zero Speed Designation/Speed Command Direction Switch (Pn06) is set to 0, Zero Speed Designation
Input is disabled.
When the Zero Speed Designation/Speed Command Direction Switch (Pn06) is set to 1, Zero Speed Designation
Input is enabled.
OFF: Speed Command is regarded as 0.
ON: Normal operation.
Internally
Speed
Vibration filter switch input when the Vibration Filter Selection (Pn24) is set to 1.
OFF: Vibration filter 1 (Pn2B, Pn2C) enabled.
ON: Vibration filter 2 (Pn2D, Pn2E) enabled.
Position
Gain switch input when the Torque Limit Selection (Pn03) is set to 0 to 2.
If the Gain Switching Input Operating Mode Selection
(Pn30) is set to 0:
OFF: PI (Proportional/Integral) operation
ON: P (Proportional) operation
When the Gain Switching Input Operating Mode Selection
(Pn30) is set to 1, switches between Gain 1 and Gain 2.
The selected Gain will differ depending on the settings for
Pn31 and Pn36.
All
Torque limit switch input when the Torque Limit Selection
(Pn03) is set to 3.
OFF: No. 1 Torque Limit (Pn5E) enabled.
ON: No. 2 Torque Limit (Pn5F) enabled.
All
10-19
10-3 Specifications
Pin
No.
28
29
30
31
33
44
45
46
Symbol
GESEL
VSEL3
RUN
ECRST
VSEL2
RESET
IPG
VSEL1
+CWLD
CWLD
+CCWLD
47
CCWLD
Internally Set Speed
Selection 3
RUN Command
Deviation Counter Reset
Input
Internally Set Speed
Selection 2
Selection 1
Name
Electronic Gear Switch
Alarm Reset Input
Pulse Prohibit Input
Internally Set Speed
Reverse Pulse
(input for line driver only)
Forward Pulse
(input for line driver only)
Function/Interface
Control mode
Electronic gear switch input.
*1
OFF: Electronic Gear Ratio Numerator 1 (Pn48)
ON: Electronic Gear Ratio Numerator 2 (Pn49)
Internally set speed selection 3.
ON: Internally set speed selection 3 is input.
ON: Servo ON (Starts power to Servomotor.)
*2
Deviation counter reset input.
*3
ON: The deviation counter is reset (i.e., cleared).
Internally set speed selection 2.
ON: Internally set speed selection 2 is input.
ON: Servo alarm status is reset.
*4
Must be ON for 120 ms min.
Pulse prohibit input (IPG) when the Command Pulse Prohibited Input (Pn43) is set to 0.
OFF: The command pulse is ignored.
Internally set speed selection 1.
ON: Internally set speed selection 1 is input.
Position
Internally
Speed
All
Position
Internally
Speed
All
Position
Internally
Speed
Position command pulse input when the Command Pulse
Input Selection (Pn40) is set to 1.
Line-driver input:
Maximum response frequency: 2 Mpps
Any of the following can be selected by using the Pn42 setting: reverse and forward pulses (CW/CCW), feed pulse and direction signal (PULS/SIGN), 90
phase difference
(phase A/B) signals (FA/FB).
Position
*1. Do not input a command pulse within 10 ms before and after switching.
*2. Dynamic brake operation and deviation counter clear can be selected using the Stop Selection with Servo OFF
(Pn69).
*3. Must be ON for 2 ms min.
*4. The deviation counter is cleared when the alarm is reset. Some alarms cannot be reset with this input.
10
10-20
10-3 Specifications
10
CN1 Control Outputs
Pin
No.
10
11
Symbol
BKIRCOM
BKIR
Name
Brake Interlock Output
Function/Interface
Outputs holding brake timing signals.
Releases the holding brake when ON.
Control mode
All
12 OUTM1 General-purpose Output 1
Used according to the setting of the Generalpurpose Output 1 Selection (Pn0A).
All
19
25
Z
ZCOM
Phase-Z Output (open collector)
Phase-Z Output (open collector) common
21
22
48
49
+A
A
B
+B
Encoder Phase-A + Output
Encoder Phase-A
Output
Encoder Phase-B
Output
Encoder Phase-B + Output
23
24
35
+Z
Z
READY
Encoder Phase-Z + Output
Encoder Phase-Z
Output
34 READYCOM
Servo Ready Output
Outputs the encoder phase-Z signal (1 pulse/ revolution). Open-collector output.
Outputs encoder pulses according to the Encoder
Dividing Rate Setting (Pn44 and Pn45).
This is the line-driver output (equivalent to
RS-422).
All
All
Output signal to indicate that power can be supplied to the Servo Drive. ON if no errors are found after the power is supplied to the main circuit.
All
37
36
39
/ALM
ALMCOM
INP
Alarm Output
The output is OFF when an alarm is generated for the Servo Drive.
All
38
39
38 TGONCOM
40
41
Shell
INPCOM
TGON
OUTM2
COM
FG
Positioning Completed Output
Servomotor Rotation Speed
Detection Output
General-purpose Output 2
The accumulated pulses in the deviation counter are within the setting for Positioning Completion
Range (Pn60).
The number of Servomotor rotations exceeds the value set for Rotation Speed for Motor Rotation
Detection (Pn62).
Used according to the setting of the General-purpose Output 2 Selection (Pn09).
Position
Internally
Speed
All
General-purpose Output
Common
Ground common for sequence outputs.
All
Frame Ground
Connected to the ground terminal inside the Servo Drive.
All
10-21
10-3 Specifications
CN1 Pin Arrangement
2
4
+24VCCW
−CW/
-PULS/-FA
6
−CCW/
−SIGN/−FB
8
10
12
14
16
18
20
22
24
NOT
BKIRCOM
OUTM1
Reserved
Reserved
Reserved
SEN
−A
−Z
24-V Opencollector Input for Command
Pulse
Re verse Pulses Input/
Feed Pulses Input, or
90
° Phase Difference
Pulse Input (Phase A)
Forward Pulses/
Direction Signal, or
90
° Phase Difference
Pulse Input (Phase B)
1
3
5
7
Reverse Drive
Prohibit Input
9
Br ake
Interlock
Output
11
Generalpurpose
Output 1
13
+24VCW
+CW/
+PULS/+FA
+CCW/
+SIGN/+FB
+24VIN
POT
BKIR
SENGND
*
15
Reserved
*
17 Reserved
*
19 Z
Sensor ON
Input
21 +A
Encoder
Phase-A
Output
Encoder
Phase-Z
Output
23
+Z
25 ZCOM
24-V Opencollector Input for Command
Pulse
Re verse Pulses Input/
Feed Pulses Input, or
90
° Phase Difference
Pulse Input (Phase A)
Forward Pulses/
Direction Signal, or
90
° Phase Difference
Pulse Input (Phase B)
27
29
31
12 to 24-VDC
Power Supply
Input
33
F orward Drive
Prohibit Input
35
Br ake
Interlock
Output
37
Ground
Common
39
GSEL/TLSEL
R U N
RESET
IPG/VSEL1
READY
/ALM
INP/TGON
*
*
Phase-Z
Output (open collector)
43
45
Encoder
Phase-A
+ Output
47
Encoder
Phase-Z
+ Output
49
Phase-Z Output
(open collector)
Common
41 COM
BATGND
−CWLD
−CCWLD
+B
26
Gain Switch/
Torque Limit
Switch
28
R UN
Command
30
Alarm Reset
Input
Pulse Prohibit
Input/Internally
Set Speed
Selection 1
32
34
Servo Ready
Output
36
VZERO/
DFSEL
GESEL/
VSEL3
ECRST/VSEL2
Reserved
READYCOM
ALMCOM
Alarm Output
38
Positioning Completed
Output/Ser vomotor
Rotation Speed
Detection Output
Gener alpurpose Output
Common
40
42
Absolute
Encoder
Backup Battery
Input
44
Reverse Pulse
(input for line driver only)
46
F orward Pulse
(input for line driver only)
48
Encoder
Phase-B
+ Output
50
INPCOM/
TGONCOM
OUTM2
BAT
+CWLD
+CCWLD
−B
Reserved
Zero Speed Designation
Input/Vibration Filter
Switch
Electronic Gear
Switch/
Internally Set
Speed Selection 3
Deviation Counter
Reset/Internally
Set Speed
Selection 2
*
Servo Ready
Output
Alarm Output
Positioning Completed
Output/Ser vomotor
Rotation Speed Detection
Output Common
Generalpurpose
Output 2
Absolute
Encoder
Backup Battery
Input
Reverse Pulse
(input for line driver only)
F orward Pulse
(input for line driver only)
Encoder
Phase-B
− Output
*
Note Do not connect anything to unused pins (*).
10
CN1 Connectors (50 Pins)
Name
Servo Drive Connector
Cable Plug
Cable Case (Shell Kit)
Model
52986-3679
10150-3000PE
10350-52A0-008
Manufacturer
Molex Japan
Sumitomo 3M
10-22
10-3 Specifications
10
Control Input Functions
- Reverse Drive Prohibit Input (NOT) and Forward Drive Prohibit Input (POT)
Pin 8: Reverse Drive Prohibit Input (NOT)
Pin 9: Forward Drive Prohibit Input (POT)
Functions
• These inputs are used to prohibit driving in the forward and reverse directions.
• If the Drive Prohibit Input Selection (Pn04) is set to 1, both inputs will be disabled.
• The Stop Selection for Drive Prohibition Input (Pn66) changes the operation when these inputs are enabled.
- RUN Command Input (RUN)
Pin 29: RUN Command Input (RUN)
Functions
• This input turns ON the power drive circuit for the main circuit of the Servo Drive. If this signal is not input (i.e., servo-OFF status), the Servomotor cannot operate.
- Deviation Counter Reset Input (ECRST)
Pin 30: Deviation Counter Reset Input (ECRST)
Functions
• Position Control Mode
The value of the deviation counter will be reset when the deviation counter reset input turns ON.
The condition for resetting is selected in the Deviation Counter Reset Condition Setting (Pn4E).
The pulse width of the Deviation Counter Reset Signal must be at least 1 ms.
- Alarm Reset Input (RESET)
Pin 31: Alarm Reset Input (RESET)
Functions
• Pin 31 is the external reset signal for Servo Drive alarms. (The alarms are reset when this signal is input.)
• The alarm status is reset when RESET is connected to the 24-V power supply ground for +24VIN for 120 ms or longer.
• The deviation counter is also reset when alarms are reset.
• Eliminate the cause of the alarm before resuming operation. To prevent danger, turn OFF the RUN
Command Input first, then input the alarm reset signal.
- Pulse Prohibit Input (IPG) and Internally Set Speed Selection 1 (VSEL1)
Pin 33: Pulse Prohibit Input (IPG) / Internally Set Speed Selection 1 (VSEL1)
Functions
• Position Control Mode
Pin 33 is the Pulse Prohibit Input.
When the input is OFF, inputting command pulses will be disabled.
The Pulse Prohibit Input can be disabled by setting the Command Pulse Prohibited Input (Pn43).
10-23
10-3 Specifications
Control Output Functions
- Encoder Outputs (Phases A, B, and Z)
Pin 21: +A, 22:
A, 48: B, 49: +B, 23: +Z, 24: Z
Functions
• Pin 21 outputs the phase-A, phase-B, and phase-Z encoder signals for the Servomotor.
• The encoder outputs conform to the RS-422 communication method.
• The dividing ratio is set in the Encoder Divider Numerator Setting (Pn44) and the Encoder Divider
Denominator Setting (Pn45).
• The logical relation of phase B to the phase-A pulse is set in the Encoder Output Direction Switch
(Pn46).
• The ground for the output circuit line driver is connected to the signal ground (GND). It is not isolated.
• The maximum output frequency is 4 Mpps (after multiplying by 4). The output frequency equals the Servomotor encoder resolution
(Pn44/Pn45) 4 Servomotor rotation speed (r/min) 60
• The output phases are shown below. (They are the same for both incremental and absolute encoders.)
Phase A
Phase A
Phase B
Phase B
Phase Z
Phase Z
Synched
Not synched
• If the Servomotor encoder resolution
(Pn44/
Pn45) is a multiple of 4, phases Z and A are synchronized.
• In cases except for the one on the left, phases
A and Z are not synchronized.
- Brake Interlock Output (BKIR)
Pin 11: Brake Interlock Output (BKIR)
Functions
Pin 11 outputs an external brake timing signal according to the settings of the Brake Timing When
Stopped (Pn6A) and Brake Timing During Operation (Pn6B).
10
- Servo Ready Output (READY)
Pin 35: Servo Ready Output (READY)
Functions
• This output signal indicates that the Servo Drive is turned ON and ready to start operation.
This output will turn ON if no errors occur after the main circuit power supply is turned ON.
10-24
10-3 Specifications
- Alarm Output (/ALM)
Pin 37: Alarm Output (/ALM)
Functions
• The alarm output is turned OFF when the Servo Drive detects an error.
• This output is OFF at power-ON, but turns ON when the Servo Drive’s initial processing has been completed.
- Positioning Completed Output (INP) or Servomotor Rotation Speed Detection
Output (TGON)
Pin 39: Positioning Completed Output (INP) or Servomotor Rotation Speed Detection Output
(TGON)
Functions
• Position Control Mode
The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than the Positioning Completion Range (Pn60). The output condition is set in the Positioning
Completion Condition Setting (Pn63).
• Internal Speed Mode
The TGON signal turns ON when the speed of the Servomotor exceeds the setting of the Rotation
Speed for Motor Rotation Detection (Pn62).
10
Encoder Connector Specifications (CN2)
Pin
No.
Symbol Name Function/Interface
1
2
3
4
5
6
Shell
E5V
E0V
BAT+
BAT
PS+
PS
FG
Encoder power supply
+5 V
Encoder power supply
GND
Power supply output for the encoder 5.2 V, 180 mA
Battery +
Battery
Encoder +phase S input
Encoder
phaseS input
Shield ground
Backup power supply output for the absolute encoder.
3.6 V, 100
A for operation during power interruption, 265 A for power interruption timer, and 3.6
A when power is supplied to
Servo Drive
Line-driver input (corresponding with the EIA RS-485 communications method)
Cable shield ground
Connectors for CN2 (6 Pins)
Name Model
Servo Drive Connector 53460-0629
Cable Connector 55100-0670
Manufacturer
Molex Japan Co.
10-25
10-3 Specifications
10-3-2 Servomotor Specifications
3,000-r/min Servomotor
Item
Rated output t
*1
Rated torque
*1
Rated rotation speed
Unit
Max. momentary rotation speed
Max. momentary torque
*1
Rated current
*1
Max. momentary current
*1
Rotor inertia
Applicable load inertia
Torque constant
*1
Power rate
*1
Mechanical time constant
Electrical time constant
Allowable radial load
*3
Allowable thrust load
*3
Without brake
Weight
With brake
Radiation shield dimensions (material)
Applicable Servo 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
Allowable total work
Allowable angular acceleration
Brake life
Rating
Insulation grade
W
N·m r/min r/min
N·m
A (rms)
A (rms) kg·m
2
(GD
2
/4)
---
N·m/A kW/s ms ms
N
N kg kg
Model (R88M-) kg·m
2
(GD
2
/4)
V
W
A
N·m ms ms
---
J
J rad/s
2
---
---
---
200 VAC
G75030H
750
2.4
3000
4500
7.05
4
12.1
8.7
10
5
20 times the rotor inertia max.
*2
0.64
66
0.45
4.6
392
147
Approx. 2.3
Approx. 3.1
170
160 t12 (AI)
GP08H
7.5
10
6
24VDC
5%
10
0.42
2.45 min.
70 max.
20 max.
1º (reference value)
196
147
10 3
30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10ms)
10,000,000 operations
Continuous
Type B
10
10-26
10-3 Specifications
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20
C, 65%).
The maximum momentary 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.
• If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
10
Torque-Rotational Speed Characteristics for 3,000-r/min Servomotor
• 3,000-r/min Servomotor with 200-VAC Power Input
The following graph show the characteristics with a 3-m standard cable and a 200-VAC input.
R88M-G75030H (750 W)
(N·m)
8.0 7.05
7.05 (3600)
4.0
2.4
Repetitive usage
2.4
0
4.0
Continuous usage
1.0
1000 2000 3000 4000
5000
(r/min)
Temperature Characteristics of the Servomotor and Mechanical System
• SMARTSTEP 2 750 W Model AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approximately
0.13%/C. As the temperature drops, the Servomotor's maximum momentary torque increases, and as the temperature rises, the Servomotor's maximum momentary torque decreases.
• The maximum momentary torque rises by 4% at a normal temperature of
20C compared to a temperature of
10C. Conversely, the maximum momentary 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.
• An increase in load friction torque seemingly increases load inertia. Therefore, even if the Servo
Drive gains are adjusted at a normal temperature, the Servomotor may not operate properly at low temperatures. Check to see whether there is optimal operation even at low temperatures.
10-27
10-3 Specifications
10-3-3 Cable and Connector
Specifications
European Cables
European Encoder Cable Specifications (Flexible and Shielded Cables)
R88A-CRGB @CR-E
Cable Models
For incremental encoders: 3,000-r/min Servomotors of 750 W.
Model
R88A-GRGB001-5CR-E
R88A-CRGB003CR-E
R88A-CRGB005CR-E
R88A-CRGB010CR-E
R88A-CRGB015CR-E
R88A-CRGB020CR-E
Length (L)
1.5 m
3 m
5 m
10 m
15 m
20 m
Connection Configuration and Dimensions
L
Servo Drive
R88D-G
@
Wiring
Servo Drive
Signal
E5V
No.
1
Red
E0V
S +
S−
2
5
Black
Blue
White/Blue
6
FG Shell
Servo Drive Connector
Cable:
AWG24
×2P
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
Servomotor
R88M-G
@
Servomotor
No.
Signal
4 E5V
3
6
5
2
E0V
S +
S−
FG
Servomotor Connector
Connector:
172160-1(Tyco Electronics AMP KK)
Connector pins:
170365-1(Tyco Electronics AMP KK)
10
10-28
10-3 Specifications
10
European Power Cable for Servomotors without Brakes (Flexible and Shielded
Cables)
R88A-CAGA @SR-E
Cable Models
For 3,000-r/min Servomotors of 750 W.
Model
R88A-CAGA001-5SR-E
R88A-CAGA003SR-E
R88A-CAGA005SR-E
R88A-CAGA010SR-E
R88A-CAGA015SR-E
R88A-CAGA020SR-E
Length (L)
1.5 m
3 m
5 m
10 m
15 m
20 m
Connection Configuration and Dimensions
(50) L
Servo Drive
R88D-G
@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG20
×4C
M4 crimp terminals
(50)
Servomotor
No.
Signal
1
2
Phase U
Phase V
3
4
Phase W
FG
Servomotor Connector
Connector:
172159-1(Tyco Electronics AMP KK)
Connector pins:
170362-1(Tyco Electronics AMP KK)
170366-1(Tyco Electronics AMP KK)
Servomotor
R88M-G
@
10-29
10-3 Specifications
European Brake Cable (Flexible Cables)
R88A-CAGA @BR-E
Cable Models
For 3,000-r/min Servomotors of 750 W.
Model
R88-CAGA001-5BR-E
R88A-CAGA003BR-E
R88A-CAGA005BR-E
R88A-CAGA010BR-E
R88A-CAGA015BR-E
R88A-CAGA020BR-E
Length (L)
1.5 m
3 m
5 m
10 m
15 m
20 m
Connection Configuration and Dimensions
L
Servo Drive
R88D-G
@
Wiring
Servo Drive
Black-1
Black-2
M4 crimp terminals
Cable: AWG20
× 2C
Servomotor
R88M-G
@
Servomotor
No.
Signal
A
B
Brake
Brake
Servomotor Connector
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
10
10-30
10-3 Specifications
Global Cables
Encoder Cables (Non-Flexible Cables)
Model
R88A-CRGB003C
R88A-CRGB005C
R88A-CRGB010C
R88A-CRGB015C
R88A-CRGB020C
R88A-CRGB030C
R88A-CRGB040C
R88A-CRGB050C
Length (L)
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
Outer diameter of sheath
6.5 dia.
6.8 dia.
10
Encoder Cables (Flexible Cables)
Model
R88A-CRGB003CR
R88A-CRGB005CR
R88A-CRGB010CR
R88A-CRGB015CR
R88A-CRGB020CR
R88A-CRGB030CR
R88A-CRGB040CR
R88A-CRGB050CR
Length (L)
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
Outer diameter of sheath
7.5 dia.
8.2 dia.
Power Cables for Servomotors (Non-Flexible Cables)
Outer diameter of sheath Model
R88A-CAGA003S
R88A-CAGA005S
R88A-CAGA010S
R88A-CAGA015S
R88A-CAGA020S
R88A-CAGA030S
R88A-CAGA040S
R88A-CAGA050S
Length (L)
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
6.2 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.2 kg
Approx. 2.4 kg
Approx. 3.2 kg
Approx. 4.0 kg
Weight
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
Approx. 2.8 kg
Approx. 3.7 kg
Approx. 4.6 kg
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.6 kg
Approx. 0.9 kg
Approx. 1.2 kg
Approx. 1.8 kg
Approx. 2.4 kg
Approx. 3.0 kg
10-31
10-3 Specifications
Power Cables for Servomotors (Flexible Cables)
Outer diameter of sheath Model
R88A-CAGA003SR
R88A-CAGA005SR
R88A-CAGA010SR
R88A-CAGA015SR
R88A-CAGA020SR
R88A-CAGA030SR
R88A-CAGA040SR
R88A-CAGA050SR
Length (L)
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
6.9 dia.
Brake Cables (Non-Flexible Cables)
Model
R88A-CAGA003B
R88A-CAGA005B
R88A-CAGA010B
R88A-CAGA015B
R88A-CAGA020B
R88A-CAGA030B
R88A-CAGA040B
R88A-CAGA050B
Length (L)
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
Brake Cables (Flexible Cables)
Model
R88A-CAGA003BR
R88A-CAGA005BR
R88A-CAGA010BR
R88A-CAGA015BR
R88A-CAGA020BR
R88A-CAGA030BR
R88A-CAGA040BR
R88A-CAGA050BR
Length (L)
3 m
5 m
10 m
15 m
20 m
30 m
40 m
50 m
Outer diameter of sheath
5.4 dia.
Outer diameter of sheath
6.1 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.7 kg
Approx. 1.0 kg
Approx. 1.3 kg
Approx. 1.9 kg
Approx. 2.6 kg
Approx. 3.2 kg
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.6 kg
Approx. 0.8 kg
Approx. 1.2 kg
Approx. 1.6 kg
Approx. 2.1 kg
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Approx. 0.4 kg
Approx. 0.7 kg
Approx. 0.9 kg
Approx. 1.3 kg
Approx. 1.8 kg
Approx. 2.2 kg
10
10-32
10-3 Specifications
Control I/O Connector (R88A-CNU11C)
This connector connects to the control I/O connector (CN1) on the Servo Drive.
Use this connector when preparing a control cable yourself.
Dimensions
39
Connector plug:
10150-3000PE (Sumitomo 3M)
Connector case:
10350-52A0-008 (Sumitomo 3M) t = 18
10
Motion Control Unit Cables (R88A-CPG@M@)
Use this cable to connect to the Motion Control Units in OMRON SYSMAC Programmable
Controllers. Cables are available for either one axis or two axes.
The following Motion Control Units can be used.
CS1W-MC221/421(-V1)
Cable Models
• Cables for One Axis
Model
R88A-CPG001M1
R88A-CPG002M1
R88A-CPG003M1
R88A-CPG005M1
Length (L)
1 m
2 m
3 m
5 m
Outer diameter of sheath
8.3 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.4 kg
Approx. 0.6 kg
• Cables for Two Axes
Model
R88A-CPG001M2
R88A-CPG002M2
R88A-CPG003M2
R88A-CPG005M2
Length (L)
1 m
2 m
3 m
5 m
Outer diameter of sheath
8.3 dia.
Weight
Approx. 0.3 kg
Approx. 0.5 kg
Approx. 0.7 kg
Approx. 1.0 kg
Connection Configuration and Dimensions
• Cables for One Axis
39
Motion Control Unit
L t = 18
39 t = 18
Servo Drive
R88D- G
@
10-33
10-3 Specifications
• Cables for Two Axes
39 L 39
Motion Control Unit t = 18
Servo Drive
R88D- G
@
Servo Drive
R88D- G
@ t = 18 t = 18
Wiring
• Cables for One Axis
Motion Control Unit
Signal
+24V
No.
1
AWG20 Red
AWG20 Black
DCGND
XALM
XRUN
XALMRS
XSGND
XSOUT
2
3
4
5
8
9
10
11
White/Black (1)
Pink/Black (1)
Yellow/Black (1)
Gray/Black (1)
Gray/Red (1)
XOUT
XAGND
12
13
14
15
16
17
18
Orange/Black (2)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Yellow/Black (1)
Pink/Red (1)
Pink/Black (1)
Orange/Red (1)
Orange/Black (1)
Orange/Black (1)
Gray/Black (1)
Cable: AWG26
× 5P + AWG26 × 6C
+F24V 19
FDC GND 20
YALM
YRUN
21
22
YALMRS
YSGND
YSOUT
23
26
27
28
YOUT
YAGND
33
34
35
36
29
30
31
32
Connector plug:
10136-3000PE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)
Servo Drive
No.
Signal
37
29
31
13
20
25
21
/ALM
RUN
RESET
SENGND
SEN
ZCOM
+A
22
49
48
23
+B
+Z
24
14 REF/TREF1/VLIM
15
Shell
7
36
AGND
FG
+24VIN
ALMCOM
*
*
Connector plug:
10150-3000PE
(Sumitomo 3M)
Connector case:
10350-52A0-008
(Sumitomo 3M)
• The Motion Control Unit signals are the DRVX and DRVY connector signals. For the DRVZ and
DRVU connectors, X and Y are indicated as Z and U, respectively.
• Pins marked with asterisks are for absolute encoders.
• Connect 24 VDC to the two lines (red and black) extending from the Motion Control Unit connector
(red: +24 V, black:
).
10
10-34
10
10-3 Specifications
• Cables for Two Axes
Motion Control Unit
Signal
+24V
DCGND
XALM
XRUN
XALMRS
XSGND
XSOUT
XOUT
XAGND
+F24V
14
15
16
17
18
10
11
12
13
8
9
4
5
No.
1
2
3
19
FDC GND 20
AWG20 Red
AWG20 Black
White/Black (1)
Pink/Black (1)
Yellow/Black (1)
Gray/Black (1)
Gray/Red (1)
Orange/Black (2)
White/Red (1)
White/Black (1)
Servo Drive
No.
37
29
31
13
20
25
21
Signal
/ALM
RUN
RESET
SENGND
SEN
ZCOM
+A
Yellow/Red (1)
Yellow/Black (1)
Pink/Red (1)
22
49
48
23
24
14
15
+B
+Z
Pink/Black (1)
Orange/Red (1)
Orange/Black (1)
Orange/Black (1)
Gray/Black (1)
Shell
7
36
Cable: AWG26
× 5P + AWG26 × 6C
REF/TREF1/VLIM
AGND
FG
+24VIN
ALMCOM
*
*
Connector plug:
10150-3000PE
(Sumitomo 3M)
Connector case:
10350-52A0-008
(Sumitomo 3M)
YALM
YRUN
YALMRS
YSGND
YSOUT
21
22
23
26
27
28
29
30
31
32
33
White/Black (1)
Pink/Black (1)
Yellow/Black (1)
Gray/Black (1)
Gray/Red (1)
Orange/Black (2)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Yellow/Black (1)
YOUT
YAGND
34
35
36
Pink/Red (1)
Pink/Black (1)
Orange/Red (1)
Orange/Black (1)
Connector plug:
Cable: AWG26
× 5P + AWG26 × 6C
10136-3000PE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)
25
21
22
49
29
31
13
20
No.
7
36
37
Signal
+24VIN
ALMCOM
/ALM
RUN
RESET
SENGND
SEN
ZCOM
+A
+B
48
23
24
+Z
14
15
Shell
REF/TREF1/VLIM
AGND
FG
*
*
Connector plug:
10150-3000PE
(Sumitomo 3M)
Connector case:
10350-52A0-008
(Sumitomo 3M)
• The Motion Control Unit signals are the DRVX and DRVY connector signals. For the DRVZ and
DRVU connectors, X and Y are indicated as Z and U, respectively.
• Pins marked with asterisks are for absolute encoders.
Connect 24 VDC to the two lines (red and black) extending from the Motion Control Unit connector
(red: +24 V, black:
).
10-35
10-3 Specifications
General-purpose Control Cables (R88A-CPG@S)
A General-purpose Control Cable connects to the Servo Drive's control I/O connector (CN1). The connector for the controller is not provided. When connecting to a Position Control Unit which doesn’t have a specified cable or connecting to another company’s controller, prepare wiring suited for the controller to be connected.
• When connecting to a controller which doesn’t have a specified cable, either use a Generalpurpose Control Cable or a Connector Terminal Block Cable and a Connector Terminal Block.
Cable Models
Model
R88A-CPG001S
R88A-CPG002S
Length (L)
1 m
2 m
Outer diameter of sheath
12.8 dia.
Weight
Approx. 0.3 kg
Approx. 0.6 kg
Connection Configuration and Dimensions
L
Controller
39
Servo Drive
R88D-G
@ t = 18
10
10-36
10-3 Specifications
10
17
21
22
23
24
25
18
19
20
12
13
14
15
16
10
11
8
9
6
7
4
5
No.
1
2
3
26
Wiring
Wire/mark color
Orange/Red (1)
Orange/Black (1)
Gray/Red (1)
Gray/Black (1)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Pink/Red (1)
Pink/Black (1)
Orange/Red (2)
Orange/Black (2)
Yellow/Black (1)
Gray/Black (2)
White/Red (2)
White/Black (2)
Yellow/Red (2)
Yellow/Black (2),
Pink/Black (2)
Pink/Red (2)
Orange/Red (5)
Gray/Red (2)
Orange/Red (3)
Orange/Black (3)
Gray/Red (3)
Gray/Black (3)
Orange/Black (5)
White /Red (3)
Signal
+24VCW
+24VCCW
+CW/+PULS/+FA
CW/PULS/FA
+CCW/+SIGN/+FB
CCW/SIGN/FB
+24VIN
NOT
POT
BKIRCOM
BKIR
OUTM1
GND
REF/TREF1/VLIM
AGND
PCL/TREF2
AGND
NCL
Z
SEN
+A
A
+Z
Z
ZCOM
VZERO/DFSEL/
PNSEL
Connector plug: 10150-3000PE (Sumitomo 3M)
Connector case: 10350-52A0-008 (Sumitomo 3M)
Cable: AWG24
25P UL20276
• Wires with the same wire color and the same number of marks form a twisted pair.
Example: An orange/red (1) wire and orange/black (1) wire form are a twisted pair.
43
44
45
46
47
48
49
50
Shell
38
39
40
41
42
34
35
36
37
30
31
32
33
No.
27
28
29
Wire/mark color
Pink/Black (3)
White/Black (3)
Yellow/Red (3)
Pink/Red (3)
Yellow/Black (3)
Gray/Black (4)
Orange/Red (4)
White/Red (4)
White/Black (4)
Yellow/Red (4)
Yellow/Black (4)
Pink/Red (4)
Pink/Black (4)
Gray/Red (4)
Orange/Black (4)
Gray/Red (5)
Signal
GSEL/TLSEL
GESEL/VSEL3
RUN
ECRST/VSEL2
RESET
TVSEL
IPG/VSEL1
READYCOM
READY
ALMCOM
/ALM
INPCOM/TGONCOM
INP/TGON
OUTM2
COM
BAT
Gray/Black (5)
White/Red (5)
White/Black (5)
Yellow/Red (5)
Yellow/Black (5)
Pink/Black (5)
Pink/Red (5)
---
---
BATGND
+CWLD
CWLD
+CCWLD
CCWLD
B
+B
---
FG
10-37
10-3 Specifications
Connector Terminal Block Cables (XW2Z-@J-B24)
This Cable is for the connector terminal block of the Servo Drive's control I/O connector (CN1). All of the pins in the control I/O connector (CN1) can be converted to terminals on the terminal block.
Cable Models
Model
XW2Z-100J-B24
XW2Z-200J-B24
Length (L)
1 m
2 m
Outer diameter of sheath
11.2 dia.
Weight
Approx. 0.2 kg
Approx. 0.4 kg
Terminal block
Connector
No.
15
16
17
18
12
19
9
10
11
13
20
14
7
8
5
6
1
2
3
4
43
44
45
46
47
48
49
50
37
38
39
40
41
42
27
28
29
30
31
32
33
34
35
36
25
21
22
23
24
26
No.
15
16
17
18
12
19
9
10
11
13
20
14
7
8
5
6
1
2
3
4
43
44
45
46
47
48
49
50
37
38
39
40
41
42
27
28
29
30
31
32
33
34
35
36
25
21
22
23
24
26
Connection Configuration and Dimensions
16.1
L
Connector terminal block
39
Servo Drive
R88D-G
@ t = 6.1
t = 18
Servo Drive
No.
15
16
17
18
12
19
9
10
11
13
20
14
7
8
5
6
1
2
3
4
43
44
45
46
47
48
49
50
Shell
37
38
39
40
41
42
27
28
29
30
31
32
33
34
35
36
25
21
22
23
24
26
Wire/mark color Signal
Green/Red (3)
Green/Black (3)
Orange/Red (3)
Orange/Black (3)
Gray/Red (3)
Gray/Black (3)
Blue/Red (4)
Blue/Black (4)
Pink/Red (4)
Pink/Black (4)
Green/Red (4)
Green/Black (4)
Orange/Red (4)
Orange/Black (4)
Gray/Red (4)
Gray/Black (4)
Blue/Red (5)
Blue/Black (5)
Pink/Red (5)
Pink/Black (5)
Green/Red (5)
Green/Black (5)
Orange/Red (5)
Orange/Black (5)
Gray/Red (5)
Gray/Black (5)
Orange/Black (1)
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Red (1)
Gray/Red (1)
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
Pink/Red (2)
Pink/Black (2)
Green/Red (2)
Green/Black (2)
Orange/Red (2)
Orange/Black (2)
Gray/Red (2)
Gray/Black (2)
Blue/Red (3)
Blue/Black (3)
Pink/Red (3)
Pink/Black (3)
+24VCW
+24VCCW
+CW/+PULS/+FA
CW/ PULS/
−FA
+CCW/+SIGN/+FB
CCW/ SIGN/
−FB
+24VIN
NOT
POT
BKIRCOM
BKIR
SENGND
SEN
REF/TREF1/VLIM
AGND
PCL/ // TRE
AGND
NCL
OUTM1
Z
ZCOM
+A
A
+Z
Z
VZERO/DFSEL/PNSEL
GSEL/TLSEL
GESEL/VSEL3
RUN
ECRST/VSEL2
RESET
TVSEL
IPG/VSEL1
READYCOM
READY
ALMCOM
/ALM
INPCOM/TGONCOM
INP/TGON
OUTM2
COM
BAT
BATGND
+CWLD
CWLD
+CCWLD
CCWLD
B
+B
FG
Wires with the same wire color and the same number of marks form a twisted pair.
Example:
A yellow/black (1) wire and pink/black (1) wire form a twisted pair.
Servo Drive Connector
Connector plug:
10150-3000PE (Sumitomo 3M)
Connector case:
10350-52A0-008 (Sumitomo 3M)
Terminal Block Connector
Connector socket: XG4M-5030
(OMRON)
Strain relief: XG4T-5004
(OMRON)
Cable
AWG28
×
25P UL2464
10-38
10
10-3 Specifications
Connector-Terminal Block Conversion Unit
The Connector-Terminal Block Conversion Unit can be used along with a Connector Terminal Block
Cable (XW2Z@J-B24) to convert the Servo Drive's control I/O connector (CN1) to a terminal block.
XW2B-50G4 (M3 screw terminal block)
10
• Dimensions
3.5
29.5
5.08
Flat cable connector (MIL plug)
157.5
3.5
Terminal block
15.5
Two,
3.5 dia.
45
20.5
38.1
(45.3)
Precautions for Correct Use
• Use 0.30 to 1.25 mm
2
wire (AWG22 to AWG16).
• 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
10-39
10-3 Specifications
XW2B-50G5 (M3.5 Screw Terminal Block)
• Dimensions
3.5
29.5
7
8.5
Flat cable connector (MIL plug)
247.5
7.3
Terminal block
7
3.5
15.5
Two,
3.5 dia.
45
20.5
43.5
(45.3)
Precautions for Correct Use
• When using crimp terminals, use crimp terminals with the following dimensions.
• When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.59 N·m.
Round Crimp Terminals
3.7-mm dia.
6.8 mm max.
Fork Terminals
3.7 mm
6.8 mm max.
Applicable Crimp Terminals
Round Crimp Terminals
Fork Terminals
1.25-3
2-3.5
1.25Y-3
2-3.5
Applicable Wires
AWG22-16
(0.3 to 1.25 mm
2
)
AWG16-14
(1.25 to 2.0 mm
2
)
AWG22-16
(0.3 to 1.25 mm
2
)
AWG16-14
(1.25 to 2.0 mm
2
)
10
10-40
10
10-3 Specifications
XW2D-50G6 (M3 Screw Terminal Block)
A1 A2 A3 A4 A5 A6 A7 A
B1 B2 B3 B4 B5 B 6 B7
8 A9 A1
0
B8 B
9 B10
• Dimensions
184
144
DIN Track lock
7
(4.5)
XG4A MIL Connector
Two, 4.5 dia.
(39.1)
17.6
6 40
39
1.2
7
5.8
M3
7
Precautions for Correct Use
• When using crimp terminals, use crimp terminals with the following dimensions.
• When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N·m.
Round Crimp Terminals
3.2-mm dia.
5.8 mm max.
Fork Terminals
3.2 mm
5.8 mm max.
Applicable Crimp Terminals
Round Crimp Terminals
Fork Terminals
1.25-3
1.25Y-3
Applicable Wires
AWG22-16
(0.3 to 1.25 mm
2
)
AWG22-16
(0.3 to 1.25 mm
2
)
10-41
10-4 System Design
10-4 System Design
10-4-1 Servo Drive Specifications
Oil Seal
Motor model
R88M-G75030 @
Shaft diameter (mm)
19.8
Outer diameter (mm)
30
Width (mm)
4
10-4-2 Wiring
Connecting Cables
This section shows the types of connecting cables used in an SMARTSTEP 2 750 W Model servo system. A wide selection of cables are available when configuring a servo system with an OMRON SYSMAC Motion
Control Unit or Position Unit, which makes wiring easy.
System Configuration
10
Motion Control Unit 1
Motion Control Unit Cable
For 1 axis
For 2 axes
CN1
(Control I/O Connector)
Position Control Unit
Position Control Unit with a pulse-string output
2
Servo Relay Unit Cable
Position Control
Unit Cable
Servo Drive
Cable
Terminal block
CPU Units with Pulse-string
Outputs
Other Controllers
CPU Units with Pulse-string
Outputs
Flexible Motion Controllers
Servo Relay Unit
3 Connector Terminal Block and Cable
Cable for Connector
Terminal Block
Connector
Terminal
Block
4
General-purpose Control Cable and Control I/O
Connector
5
7
Power Cable
Power Cable
(Robot Cables)
1
6
7
Encoder Cable
Encoder Cable
(Robot Cables)
1
Use a robot cable when the cable must be flexible.
1
R88M-G75030H
10-42
10-4 System Design
10
Peripheral Device Connection Examples
R88D-GP08H
R T
Single/three-phase 200 to 240 VAC, 50/60 Hz: R88D-GP08H
NFB
(Ground to
100
Ω or less.)
E
1
NF
3
2
4
Noise filter
(*1)
Main-circuit power supply
OFF ON 1MC 2MC
Main-circuit contactor (*1)
2MC
1MC
Surge killer (*1)
X
1MC 2MC X
PL
Servo error display
G-Series
AC Servo Drive
CNA
L1C
XB
Power Cable
(*3)
G-Series
AC Servomotor
B
L2C
1MC
CNB
U
24 VDC
V
2MC
Regeneration resistor
24 VDC
X
CNA
L1
Reactor
L3
CNB
B1
(*4)
B3
B2
CN1
37 /ALM
36 ALMCOM
X
W
CN2
CN1
BKIR 11
(Ground to
100
Ω or less.)
Encoder Cable
M
E
User control device
Control Cable
CN1
BKIRCOM 10
XB
(*2)
24 VDC
*1.
To ensure safety (i.e., to ensure that the power supply can be shut OFF) for contactor welding, we recommend using two magnetic contactors
(MC).
*2.
*3.
Recommended relay: MY Relay (24 V), by
OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors with brakes.
The brake is not affected by the polarity of the power supply.
*4.
Connect B2-B3 for the models with a built-in regeneration resistor. If the amount of regeneration is large,disconnect B2-B3 and connect an External Regeneration Resistor to
B1-B2.
10-43
10-4 System Design
10-4-3 Wiring Conforming to EMC
Directives
Wiring Method
R88D-GP08H
Single-phase: 200 VAC
A
SG
Single-phase:
100 VAC
H
NF
F
B
FC
E
FC
L1
L2
L3
L1C
L2C
CNA
SV
CNB
CN2
U
V
W
CN1
FC
FC
G
D
C
SM
TB Controller
*1. 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 breakers, surge absorbers, and noise filters should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance.
Noise Filter for Power Supply Input
Servo Drive model
Model
R88D-GP08H 3SUP-HQ10-ER-6
Rated current
Noise Filter
Phases
Maximum leakage current (60 Hz)
10 A
Manufacturer
Three 3.5 mA (at 500 VAC)
Okaya Electric
Industries Co.,
Ltd.
10
10-44
10-4 System Design
No-fuse Breakers (NFB)
Servo Drive model
R88D-GP08H
Inrush current (Ao-p)
Main circuit power supply Control circuit power supply
60 28
Noise Filter for the Power Supply Input
Servo Drive model
R88D-GP08H
Model
3SUP-HQ10-ER-6
Rated current
Noise Filter
Maximum leakage current (60 Hz)
10 A
Manufacturer
3.5 mA (at 500 VAC)
Okaya Electric
Industries Co.,
Ltd.
10
115
105
95
5.5
Ground terminal
M4
Cover mounting screw
M3
M4
Cover
Noise Filter
Noise Filter for the Brake Power Supply
Model
SUP-EK5-ER-6
Rated current Rated voltage
5 A 250 V
Leakage current Manufacturer
1.0 mA
(at 250 Vrms, 60 Hz)
Okaya Electric Industries Co., Ltd.
10-45
Contactors
Manufacturer Model
J7L-09-22200
J7L-12-22200
OMRON
J7L-18-22200
J7L-32-22200
J7L-40-22200
J7L-50-22200
J7L-65-22200
J7L-75-22200
Rated current
11 A
13 A
18 A
26 A
35 A
50 A
65 A
75 A
Reactors to Reduce Harmonic Current
Servo Drive
R88D-GP08H
R88D-GP08H
Model number
3G3AX-DL2015
3G3AX-AL2025
Reactor Specifications
Rated current
9.3 A
10.0 A
10-4 System Design
Coil voltage
200 VAC
200 VAC
200 VAC
200 VAC
200 VAC
200 VAC
200 VAC
200 VAC
Inductance
3.51 mH
2.8 mH
Connecting an External Regeneration Resistor
R88D-GP08H
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.
10
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.
10-46
10-5 Operating Functions
10-5 Operating Functions
10-5-1 Position Control
10
Function
• Perform control using the pulse-string input from CN1 pins 3 to 6.
• The Servomotor rotates using the value of the pulse-string input multiplied by the Electronic Gear
Ratio (Pn48 to Pn4B).
Controller with pulse-string output
Position Control Unit
CJ1W-NC113/133
CJ1W-NC213/233
CJ1W-NC413/433
CS1W-NC113/133
CS1W-NC213/233
CS1W-NC413/433
CPU Units with built-in pulse I/O
CJ1M-CPU21/22/23
CP1H-X/XA/Y
CP1L-M/L
Fle xible Motion
Controller
FQM1-MMP22
Pulse string
44
45
46
47
5
6
3
4
G-Series Servo Drive
+CWLD
−CWLD
+CCWLD
−CCWLD
+CW
−CW
+CCW
−CCW
Position Control
Mode
Electronic Gear Ratio
(Pn48 to Pn4B)
Numerator
× Ratio
Denominator
SMARTSTEP 2 750 W
Model Servomotor
Parameters Requiring Settings
Parameter No.
Pn02
Pn40
Pn41
Pn42
Parameter name
Control Mode Selection
Command Pulse Input
Selection
Command Pulse Rotation
Direction Switch
Command Pulse Mode
Pn48 to Pn4B Electronic Gear Ratio
Explanation
Select the control mode for position control (setting: 0 to 6).
Select using a photocoupler input or a line-driver input as the command pulse input.
Set to match the command pulse form of the controller.
Set the pulse rate for command pulses and Servomotor travel amount.
10-47
10-5 Operating Functions
Related Functions
• The main functions related to position control are as follows:
Function Explanation
Position command filter function Sets the soft start for the command pulse.
Feed-forward function
Torque limit function
Adds the command pulse differential to the speed loop to reduce the positioning time.
Limits the Servomotor’s torque output.
Parameter Block Diagram for Position Control Mode
CW
CCW
Input Condition
Setting
Pn40: Input
Selection
Pn41: Rotation
Direction
Pn42: Mode
Pn4D:
Smoothing Filter
Setting
Electronic Gear
Pn48: Numerator G1
Pn49: Numerator G2
Pn4A: Numerator
Exponent
Pn4B: Denominator
Pn4C:
Position
Command
Filter
Vibration Filter
Pn2B: Frequency 1
Pn2C: Filter 1
Pn2D: Frequency 2
Pn2E: Filter 2
Speed Command
Monitor
+
−
Phase A, B, Z
Divider Setting
Pn44: Numerator
Pn45: Denominator
Pn46: Direction
Switch
Notch Filter
*1
Torque Limit
PCL
Pn1D: Filter 1 Frequency
Pn1E: Filter 1 Width
Pn28: Filter 2 Frequency
Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Pn2F: Adaptive Filter
Torque Limit Input
3 V/100 %
Torque Limit
NCL
Speed FF
Pn15: FF Amount
Pn16: FF Command Filter
Deviation Counter
Pn10: Loop Gain 1
Pn18: Loop Gain 2
Position Deviation
Monitor
Actual Speed
Monitor
+
+
+
−
Speed Detection Filter
Pn13: Filter 1
Pn1B: Filter 2
Speed PI Processor
Pn11: Speed Gain 1
Pn12: Integration Time
Pn19: Speed Gain 2
Pn1A: Integration Time
Pn20: Inertia Ratio
*1
Receive
Encoder
Signal
RE
Torque Command/Limit
Pn14: Filter
Pn1C: Filter 2
Pn5E: No.1 Torque Limit
Pn5F: No.2 Torque Limit
+
−
Torque
PI
Processor
Current Feedback
Torque Command
Monitor
SM
10
10-48
10-5 Operating Functions
10-5-2 Internally Set Speed Control
Function
• Performs Servomotor speed control using the speeds set in the No. 1 to 8 Internally Set Speeds.
• Select the internally set speed using the Internally Set Speed Selection 1 to 3 of the control input terminals (VSEL1: CN1 pin 33, VSEL2: CN1 pin 30, VSEL3: CN1 pin 28).
Controller G-Series Servo Drive
Internally set speed control
*Internally set speed control can be per formed using only digital
I/O signals.
Speed selection command 28
30
33
VSEL3
VSEL2
VSEL1
No. 1 to 8
Internally Set
Speeds
(Pn53 to Pn56,
Pn74 to Pn77)
SMARTSTEP 2 750 W
Model Servomotor
Parameters Requiring Settings
10
Parameter No.
Pn02
Pn05
Pn53
Pn54
Pn55
Pn56
Pn74
Pn75
Pn76
Pn77
Pn58
Pn59
Pn5A
Parameter name
Control Mode Selection
Command Speed Selection
Set the internally set speeds (r/min).
The settings can be made from
20,000 to 20,000 r/min.
Be sure to set the speeds within the allowable range of rotation speed of the Servomotor.
Explanation
Select the control mode for internally set speeds
(setting: 1).
Make a setting to use the internally set speeds
(setting: 1, 2, or 3).
No. 1 Internally Set Speed
No. 2 Internally Set Speed
No. 3 Internally Set Speed
No. 4 Internally Set Speed
No. 5 Internally Set Speed
No. 6 Internally Set Speed
No. 7 Internally Set Speed
No. 8 Internally Set Speed
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
(setting
2 ms) until 1,000 r/min is reached.
Set the deceleration time for internally set speed control. Set the time
(setting
2 ms) until 1,000 r/min is reached.
Set the S-curve time width (setting
2 ms) centered on the inflection points for acceleration and deceleration.
Selecting the Internally Set Speeds
The following tables show the internally set speeds that are set with VSEL1, VSEL2, and VSEL3
(Internally Set Speed Selection 1, 2, and 3 Inputs).
10-49
10-5 Operating Functions
Pn05 = 1
4
5
2
3
No.
0
1
6
7
VSEL1
OFF
ON
OFF
ON
OFF
ON
OFF
ON
VSEL2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
VSEL3
OFF
OFF
OFF
OFF
ON
ON
ON
ON
Pn05 = 2
Reserved.
Pn05 = 3
5
6
3
4
7
No.
0
1
2
VSEL1
OFF
ON
OFF
ON
OFF
ON
OFF
ON
VSEL2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
VSEL3
OFF
OFF
OFF
OFF
ON
ON
ON
ON
Operation Example
• Internally Set Speed Control with Four Speed Changes When Pn05 = 1
Set speed
Pn53
Pn54
Pn55
Pn56
Pn74
Pn75
Pn76
Pn77
Set speed
Pn53
Pn54
Pn55
Pn56
Pn53
Pn54
Pn55
Pn56
10
10-50
10-5 Operating Functions
RUN Command (RUN)
Zero Speed Designation (VZERO)
Internally Set Speed Selection1 (VSEL1)
Internally Set Speed Selection 2 (VSEL2)
Speed
Stop
Servo ON
Drive
Closed
Open
Open Open
Speed 2
Open
Closed
Closed
Closed
Speed 3
Speed 1
Speed 4
Time
(*1)
*1.The acceleration time, deceleration time, and S-curve acceleration/deceleration time can be set using parameters (Pn58, Pn59, and Pn5A).
10
Parameter Block Diagram for Internal Set Speed Control Mode
Internally Set Speed Setting
Pn53: No.1 Speed
Pn55: No.3 Speed
Pn74: No.5 Speed
Pn76: No.7 Speed
Pn54: No.2 Speed
Pn56: No.4 Speed
Pn75: No.6 Speed
Pn77: No.8 Speed
Speed Command
Monitor
Soft Start Setting
Speed PI Processor
Pn11: Speed Gain 1
Pn05:
Command
Speed
Selection
Pn5A: S-curve
Acceleration/
Deceleration
+
−
Pn19: Speed Gain 2
Pn1A: Integration Time
*1
Phase A, B, Z
*1
Torque Limit
PCL
Divider Setting
Pn44: Numerator
Pn45: Denominator
Pn46: Direction
Switch
Notch Filter
Pn1D: Filter 1 Frequency
Pn1E: Filter 1 Width
Pn28: Filter 2 Frequency
Pn29: Filter 2 Width
Pn2A: Notch Filter 2 Depth
Torque Limit Input
3 V/100 %
Torque Limit
NCL
Actual Speed
Monitor
Speed Detection Filter
Pn1B: Filter 2
Receive
Encoder
Signal
Torque Command/Limit
Pn14: Filter
Pn1C: Filter 2
Pn5E: No.1 Torque Limit
Pn5F: No.2 Torque Limit
+
−
Torque
PI
Processor
Current Feedback
Torque Command
Monitor
10-51
RE
SM
10-5 Operating Functions
10-5-3 Forward and Reverse Drive
Prohibit
Function
• When the Forward Drive Prohibit Input (POT: CN1 pin 9) and Reverse Drive Prohibit Input (NOT:
CN1 pin 8) are turned OFF, the Servomotor will stop rotating.
• You can stop the Servomotor from rotating beyond the device's operating range by connecting limit inputs.
Parameters Requiring Settings
Parameter
No.
Pn04
Pn66
Parameter name Explanation
Drive Prohibit Input Selection Enable or disable the Forward/Reverse Drive Prohibit Inputs.
Stop Selection for Drive
Prohibition Input
Set the operation for decelerating to a stop after the Forward/Reverse
Drive Prohibit Input turns OFF. Set whether to use the dynamic brake to stop or free-running.
Operation
Stopping Methods When Forward/Reverse Drive Prohibit Is OFF
POT (NOT) turns OFF.
Stop Selection for Drive
Prohibition Input (Pn66)
0
1
2
Deceleration Method
Dynamic brake
Free run
Emergency Stop
Torque (Pn6E)
Stopped Status
Disables torque in drive prohibited direction
Servo locked
While the Forward Drive Prohibit 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
Prohibit Input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction.
With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive prohibit input. To prevent this, it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066), and that stopping in the servo-lock state be set (set value: 2).
10
10-52
10-5 Operating Functions
10-5-4 Encoder Dividing
Function
• The number of pulses can be set for the encoder signals output from the Servo Drive.
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn44
Pn45
Pn46
Explanation
Encoder Divider
Numerator Setting
Encoder Divider
Denominator
Setting
Encoder Output
Direction Switch
Set the number of pulses to be output in combination with the Encoder Divider
Denominator Setting (Pn45).
Set the number of pulses to be output in combination with the Encoder Divider
Numerator Setting (Pn44).
Set the phase-B logic and output source for the pulse output (CN1
CN1 +B: pin 49)
B: pin 48,
10
Operation
• Incremental pulses are output from the Servo Drive through a frequency divider.
Encoder Servo Drive
S
E
Processing circuit
Frequency divider
Phase A
Phase B
Phase Z
• The output phases of the encoder signal output from the Servo Drive are as shown below.
Forward Rotation Reverse Rotation
Phase A
Phase B
Phase Z
Phase A
Phase B
Phase Z
10-53
10-5 Operating Functions
10-5-5 Electronic Gear
Function
• The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio.
• This function is effective under the following conditions:
• When fine-tuning the position and speed of two lines that are to be synchronous.
• When using a position controller with a low command pulse frequency.
• When you want to set the machine travel distance per pulse, to 0.01 mm for example.
Parameters Requiring Settings
Parameter
No.
Parameter name Explanation
Pn48
Pn49
Pn4A
Pn4B
Electronic Gear Ratio
Numerator 1
*1
Electronic Gear Ratio
Numerator 2
*1
Electronic Gear Ratio
Numerator Exponent
Electronic Gear Ratio
Denominator
Set the pulse rate for command pulses and Servomotor travel distance.
Electronic Gear Ratio Numerator 1 (Pn48) or
Electronic Gear Ratio Numerator 2 (Pn49)
× 2
Electronic Gear Ratio Numerator Exponent (Pn4A)
Electronic Gear Ratio Denominator (Pn4B)
The upper limit of the gear ratio numerator is determined by the following formulas.
Electronic Gear Ratio Numerator 1
Pn48
2 Pn4A 4,194,304/(Pn4D+1)
Electronic Gear Ratio Numerator 2
Pn49
2
Pn4A
4,194,304/(Pn4D+1)
Pn48: Electronic Gear Ratio Numerator 1
Pn49: Electronic Gear Ratio Numerator 2
Pn4A: Electronic Gear Ratio Numerator Exponent
Pn4D: Smoothing Filter Setting
Any higher setting will be invalid, and the numerator will be 4,194,304/
(Pn4D+1). If the numerator is 0, the encoder resolution will be automatically set to the value of the numerator and the number of command pulses per rotation can be set in Pn4B.
*
1. The Electronic Gear Switch Input (GESEL) is used to switch between Electronic Gear Ratio Numerator 1 (Pn48) and
Electronic Gear Ratio Numerator 2 (Pn49).
10
Operation
Calculation Method
The following equation shows the relation between the number of internal command pulses (F) multiplied by the electronic gear ratio and the number of command pulses (f) per Servomotor rotation.
10-54
10-5 Operating Functions
10
F = f
×
Pn46
× 2
Pn4A
Pn4B
• When an encoder with a resolution of 2,500 pulses/rotation is used, the number of internal command pulses (F) in the Servo Drive will be 10,000 pulses/rotation (2,500 pulses/rotation
4).
• Given the conditions above, the relation between the number of command pulses per Servomotor rotation (f) and the electronic gear ratio is as follows:
F f
=
10000 f
=
Pn48
× 2
Pn4A
Pn4B
Calculation Examples (For a 2,500 pulses/rotation encoder)
• Make the following settings to operate with 2,000 pulses/rotation.
10000 (Pn48)
× 2
0 (Pn4A)
2000 (Pn4B)
• Similarly, make the following settings to operate with 1,000 pulses/rotation.
10000 (Pn48)
× 2
0 (Pn4A)
1000 (Pn4B)
• Conversely, make the following settings to increase the resolution per rotation and operate with
40,000 pulses/rotation.
10000
40000
=
2500 (Pn48)
× 2
0 (Pn4A)
10000 (Pn4B)
The setting ranges for Pn48, Pn49, and Pn4B are from 1 to 10,000, so reduction is required in the settings.
Calculation Example (For a 17-bit encoder)
• Use the following setting to operate at 5,000 pulses/rotation:
1 (Pn48) ×2
17 (Pn4A)
5000 (Pn4B)
Related Parameter
The main function provided by the parameter related to the electronic gear is given in the following table.
Parameter
No.
Pn40
Parameter name
Command Pulse Input
Selection
Explanation
The command pulses are multiplied by a factor of 2 or 4 when using 90
phase difference signal inputs is selected as the input format for the command pulse in the Command Pulse Mode (Pn42).
10-55
10-5 Operating Functions
10-5-6 Overrun Limit
Function
• The Servomotor can be stopped with an alarm for an overrun limit error (alarm code 34) if the
Servomotor exceeds the allowable operating range set in the Overrun Limit Setting (Pn26) with respect to the position command input.
• This can be used to prevent impact on the edges of the machine because of Servomotor oscillation.
Parameters Requiring Settings
Parameter No.
Parameter name
Pn26 Overrun Limit Setting
Explanation
Set the Servomotor’s allowable operating range for the position command input range.
An overrun limit error (alarm code 34) will occur if the set value is exceeded.
Operating Conditions
• The overrun limit will operate under the following conditions.
Conditions under which the overrun limit will operate
Operating mode
Others
Position Control Mode is used.
Pn02 = 0: Position control
1.The servo is ON.
2.The Overrun Limit Setting (Pn26) is not 0.
3.The allowable operating range for both forward and reverse is within 2147483647 after the position command input range is cleared to zero.
If the condition 1 above is not met, the Overrun Limit Setting will be disabled until the conditions for clearing the position command input range are satisfied, as described below.
If the conditions 1 and 2 above are not met, the position command input range will be cleared to zero.
Conditions for Clearing the Position Command Input Range
The position command input range will be cleared to zero under the following conditions.
• The power supply is turned ON.
• The position deviation is cleared. (The deviation counter clearing is enabled and drive prohibit input is enabled by setting the Stop Selection for Drive Prohibition Input (Pn66) to 2.)
• Normal Mode Autotuning starts or ends.
10
10-56
10-5 Operating Functions
Operating Examples
No Position Command Input (Servo ON)
No position command is input, and so the Servomotor’s allowable operating range for both sides will be the range of the travel distance set in Pn26. An overrun limit error will occur if the load enters the range for generating alarm code 34 (range of slanted lines) due to oscillation.
Servomotor
Load
Range for generating alarm code 34
Pn26 Pn26
Servomotor's allowable operating range
Range for generating alarm code 34
Right Side Operation (Servo ON)
When the position command to the right is input, the Servomotor’s allowable operating range will increase by the input position command and will be the range with the rotations set in Pn26 added on both sides of the position command input range.
10
Servomotor
Range for generating alarm code 34
Load
Pn26
Position command input range
Pn26
Servomotor's allowable operating range
Range for generating alarm code 34
Left Side Operation (Servo ON)
When the position command to the left is input, the position command input range will further increase.
Servomotor
Load
Range for generating alarm code 34
Pn26
Position command input range
Pn26
Servomotor's allowable operating range
Range for generating alarm code 34
10-57
10-5 Operating Functions
10-5-7 Brake Interlock
Precautions for Using the Electromagnetic Brake
• The electromagnetic brake on a Servomotor with a brake is a nonexcitation brake designed for holding. Set the parameter to first stop the Servomotor, and then turn OFF the power supply to the brake.
• If the brake is applied while the Servomotor is rotating, the brake disk may become damaged due to friction, damaging the Servomotor.
Function
• You can set the Brake Interlock Output (BKIR) timing to turn ON and OFF the electromagnetic brake.
Parameters Requiring Settings
Parameter
No.
Pn6A
Pn6B
Parameter name Explanation
Brake Timing when Stopped
Use this parameter to set the output timing of the Brake Interlock Output
(BKIR).
Brake Timing
Pn6A: Delay time setting from BKIR OFF until servo OFF.
during Operation
Pn6B: Wait time setting from servo OFF until BKIR OFF.
RUN Command Timing (When Servomotor Is Stopped)
ON
RUN Command (RUN)
OFF
Brake Interlock (BKIR)
ON
OFF
Brake power supply
ON
OFF
Brake operation
ON
OFF
+V
Speed command
(or pulse command)
Approx. 42 ms
Approx. 2 ms
(*1)
200 ms max.
1 to 5 ms
100 ms max.
Approx. 2 ms (*3)
Dynamic brake
Released
Engaged
Servomotor
Energized
Deenergized
Approx. 42 ms
Pn6A (*2)
10
10-58
10-5 Operating Functions
*1. The time from turning ON the brake power supply to the brake being released is 200 ms max.
Take this delay into account and be sure the brake has been released before providing a speed command (pulse command).
*2. The time from turning OFF the brake power supply to the brake engaging is 100 ms max.
If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged.
*3. The Servo ON status will not occur until the Servomotor drops to 30 r/min or less.
Power Supply OFF Timing (When Servomotor Is Stopped)
Power supply
ON
OFF
25 to 35 ms
ON
Brake Interlock (BKIR)
OFF
Pn6A (*1)
Energized
Servomotor
Deenergized
*1. The time from turning OFF the brake power supply to the brake engaging is 100 ms max.
If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged.
RUN Command, Errors, and Power Supply OFF Timing (When Servomotor Is
Rotating)
10
Power supply
Servo Ready (READY)
RUN Command (RUN)
Alarm Output (/ALM)
Brake Interlock (BKIR)
Dynamic brake
Servomotor
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Released
Engaged
Energized
Deenergized
Approx. 10 ms (*1)
25 to 35 ms
(Pn6B *2)
Approx. 1 to 5 ms
Servomotor rotation speed
Braking using dynamic brake
*1. After the Servomotor is deenergized, it will rotate by inertia for approximately 10 ms until the dynamic brake operates.
*2. The Brake Interlock (BKIR) signal will turn OFF when the Servomotor’s rotation speed is
30 r/min. or lower, or the time set in the Brake Timing during Operation (Pn6B) has elapsed.
10-59
10-5 Operating Functions
Alarm Clear (When Servo Is ON)
120 ms min.
ON
Alarm Reset (RESET)
OFF
Dynamic brake
Released
Engaged
Servomotor
Energized
Deenergized
Brake Interlock Output
(BKIR)
ON
OFF
Servo Ready Output
(READY)
ON
OFF
Alarm Output (ALM)
ON
OFF
ON
Servo position, speed, or torque input
OFF
Approx. 2 ms
Approx. 40 ms
220 ms min.
Approx. 2 ms
10
10-60
10-5 Operating Functions
10-5-8 Gain Switching
Function
• This function switches the speed loop and position loop gain. Enabled when Pn30 is set to 1 and
Pn31 is not set to 1, 2, or 4, or when Pn36 is not set to 0 or 1 under Speed Control.
• If GSEL (gain switching) signal is not input, perform control using the Speed Loop Gain (Pn11),
Speed Loop Integration Time Constant (Pn12), and Position Loop Gain (Pn10). If GSEL is input, perform control using the Speed Loop Gain 2 (Pn19), Speed Loop Integration Time Constant 2
(Pn1A), and Position Loop Gain 2 (Pn18).
• If the mechanical system inertia fluctuates too much, or if you want different responsiveness during operation and stoppage, you can perform applicable control using gain switching.
• If realtime autotuning is not effective (under the conditions shown below), the gain switching function will be useful.
• When the load inertia fluctuates in 200 ms or less.
• When rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the rated torque.
• When external force is constantly applied, as with a vertical axis.
Note When No. 2 gain has been selected (i.e., GSEL ON), realtime autotuning will not operate normally. If using the gain switching function, set the Realtime Autotuning Mode Selection
(Pn21) to 0 (not used).
10
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn18
Pn19
Pn1A
Pn30
Pn31
Explanation
Position Loop Gain
2
Set the responsiveness of the position control system when gain 2 is selected.
Speed Loop Gain 2
Set the responsiveness of the speed loop when gain 2 is selected.
Speed Loop
Integration Time
Constant 2
Set the integration time constant of the speed loop when gain 2 is selected.
Gain Switching
Input Operating
Mode Selection
Control Gain
Switch 1 Setting
Set switching between PI and P operation for speed control or switching between gain 1 and gain 2. This parameter can be set if 0 to 2 is set for the Torque Limit
Selection (Pn03) (setting: 1).
If 1 is set for the Gain Switching Input Operating Mode
Selection (Pn30), set the switching conditions for gain 1 and gain 2 (setting: 0).
If a composite mode is set, the setting of this parameter is valid when the first control mode is used.
10-61
10-5 Operating Functions
10-5-9 Torque Limit
Function
• The torque output by the Servomotor can be limited.
• This function is effective in the following cases: Pressing a moving part of a machine (such as a bending machine) against a workpiece with constant force and protecting the Servomotor and mechanical system from excessive force or torque.
• The torque limit method depends on the setting of Pn03.
Parameters Requiring Settings
Pn03 = 0
Reserved.
Pn03 = 1
Torque is limited during operation to a constant torque (parameter settings). For both forward and reverse operation, use Pn5E to limit the maximum torque.
Pn03 = 2
Torque is limited during operation to a constant torque (parameter settings). To limit the maximum torque, use Pn5E for forward operation, and Pn5F for reverse operation.
Pn03 = 3
Use Pn5E to limit the maximum torque when pin 27 is OFF, and use Pn5F when pin 27 is ON.
10
10-62
10-5 Operating Functions
10-5-10 Soft Start
Function
• This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times.
• You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve.
• The soft start processes speed command input (REF) or internally set speed control switching to reduce impact during acceleration and deceleration.
• This function is effective for simple positioning and speed switching operations.
• Do not use this function for a position controller with an acceleration/deceleration function.
10
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn58
Pn59
Explanation
Soft Start
Acceleration Time
Soft Start
Deceleration Time
Set the time using the following formula.
Setting = Acceleration time (setting
2 ms) from 0 r/min to 1,000 r/min.
Set the time using the following formula.
Setting = Deceleration time (setting
2 ms) from 1,000 r/min to 0 r/min.
• If the soft start function is not used, set this parameter to 0 (default setting).
• The actual acceleration and deceleration time is as follows:
Speed command ta = Pn58 × 2 ms/(1000 r/min) td = Pn59 × 2 ms/(1000 r/min)
Speed ta td
10-63
10-5 Operating Functions
10-5-11 Position Command Filter
Function
• Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate.
• Select the filter characteristics using the Position Command Filter Time Constant Setting (Pn4C).
• This function is effective in the following cases:
• There is no acceleration/deceleration function in the command pulse (controller).
• The command pulse frequency changes abruptly, causing the machinery to vibrate during acceleration and deceleration.
• The electronic gear setting is high (G1/G2
10)
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn4C
Position
Command Filter
Time Constant
Setting
Explanation
This is a first-order lag filter for the command pulse input section. If the command pulses change abruptly, this filter can be used to reduce the stepping movement of the
Servomotor.
The larger the setting, the larger the time constant (setting range: 0 to 7).
Operation Example
• The characteristics for each filter are shown below.
• Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain.
Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain
Primary Filter
Speed
Command pulse input frequency
Input frequency
× 0.63
Input frequency
× 0.37
Time
Time constant Time constant
Note The time constant will be as follows according to the setting of Pn4C.
5
6
3
4
7
Pn4C
0
1
2
Time constant (ms)
Disabled
0.2
0.6
1.3
2.6
5.3
10.6
21.2
10
10-64
10-5 Operating Functions
10-5-12 User Parameters
Set and check the user parameters in Parameter Setting Mode. Fully understand what the parameters mean and the setting procedures, and set the parameters according to the control system.
Some parameters are enabled by turning the power OFF and then ON again. After changing these parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON the power again.
10
Setting and Checking Parameters
Overview
Use the following procedure to set or check parameters.
•Go to Parameter Setting Mode. Press the Data key, and then press the Mode key once.
•Set the parameter number (Pn @@) using the Increment and Decrement keys.
•Display the parameter setting by pressing the Data key.
•Change the parameter setting using the Increment, Decrement, and Shift keys.
•Save the changed setting to memory and return to the parameter number display by pressing the
Data key.
Operating Procedures
Displaying Parameter Setting Mode
PR02G keys
Front panel keys
Display example Explanation rk k k k k0
The default display is displayed.
Uknk_k5kpkd.
Press the Data key to display Monitor Mode.
pknk_krk0k0.
Press the Mode key to display Parameter Setting Mode.
Setting the Parameter Number
PR02G keys
Front panel keys
Display example Explanation pknk_k k0k7.
Set the number of the parameter to be set or checked.
10-65
10-5 Operating Functions
Displaying Parameter Settings
PR02G keys
Front panel keys
Display example Explanation pknk_k k0k7.
The parameter number will be displayed.
k k k k k3.
Press the Data key. The setting of the parameter will be displayed.
Changing Parameter Settings
• The following operation is not required if you are only checking a parameter setting.
PR02G keys
Front panel keys
Display example Explanation
The present setting will be displayed.
k k k k k3.
k k k k k5.
Use the Shift, Increment, and Decrement keys to change the setting.
The Shift key is used to change the digit.
Saving the New Setting to Memory and Returning to the Parameter Number Display
• The following operation is not required if you are only checking a parameter setting.
PR02G keys
Front panel keys
Display example Explanation
k k k k k5.
Press the Data key. The new parameter setting will be saved and the parameter number will be displayed again.
10
10-66
10-5 Operating Functions
10
Parameters Details
• This section provides an explanation for all parameters.
Be sure to fully understand the meanings of parameters before making changes to the parameter settings.
Function Selection Parameters (Pn00 to Pn0F)
Pn00
Setting range
Unit No. Setting
0 to 15 Unit --Default setting 1
All modes
Power OFF
ON
Yes
• If communications with a computer or other host controller are used by multiple Units via RS-232 or RS-485, it is necessary to identify which Unit the host is accessing. With this parameter, the unit number can be confirmed using alphanumeric characters.
• The unit number is determined by the unit number switch setting on the front panel when the power supply is turned ON. This number is the unit number when using serial communications.
• The setting of this parameter has no effect on Servomotor operation.
• The setting of this parameter can be changed only by using the unit number switch on the front panel.
Pn01 Default Display
Pn01
Setting range
Default Display
0 to 17 Unit --Default setting 1
All modes
Power OFF
ON
Yes
Explanation of Settings
Setting Explanation
12
13
14
15
10
11
8
9
16
17
6
7
4
5
2
3
0
1
Position deviation
Servomotor rotation speed
Torque output
Control mode
I/O signal status
Alarm code and history
Software version
Warning display
Regeneration load ratio
Overload load ratio
Inertia ratio
Total feedback pulses
Total command pulses
Reserved
Reserved
Automatic Servomotor recognition display
Reserved
Reason for no rotation
Select the data to be displayed on the 7-segment display on the front panel after the power supply is turned ON.
10-67
10-5 Operating Functions
Pn02
Setting range
Control Mode Selection
0 to 6 Unit --Default setting
Explanation of Settings
5
6
3
4
Setting
0
Explanation
Position Control Mode (pulse-string command)
1
2
Internal Speed Mode
Reserved
Reserved
Reserved
Reserved
Reserved
• Use this parameter to set the control mode.
• Do not input a command within 10 ms before or after switching.
Control Mode
Switch Input
Open
Mode 1
Closed
Mode 2
Open
Mode 1
0
All modes
Power OFF
ON
Yes
10 ms min.
10 ms min.
Pn03
Setting range
Torque Limit Selection
0 to 3 Unit --Default setting 1
Position Speed
Power OFF
ON
---
Explanation of Settings
Setting
0 Reserved.
1
2
3
Explanation
Use Pn5E as the limit value for forward and reverse operation.
Use Pn5E as the limit value for forward operation and Pn5F as the limit value for reverse operation.
Use Pn5E as the value when the GSEL/TLSEL input is open and use Pn5F as the value when the GSEL/TLSEL input is closed.
• Use this parameter to set the torque limit method for forward and reverse operation.
• If this parameter is set to 0, the torque limit input for forward and reverse operation will be limited by the No.1 Torque Limit (Pn5E).
• When using torque control, the No.1 Torque Limit (Pn5E) will be the limit value for forward and reverse operation regardless of the setting of this parameter.
10
10-68
10-5 Operating Functions
10
Pn04
Setting range
Drive Prohibit Input Selection
0 to 2 Unit --Default setting 1
All modes
Power OFF
ON
Yes
Explanation of Settings
Setting
0
1
2
Explanation
Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled.
Forward Drive Prohibit Input and Reverse Drive Prohibit Input disabled.
Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled.
• Install limit switches at both ends of the axis to prohibit the Servomotor 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.
• Operation will be as follows if 0 is set.
• Connection between Forward Drive Prohibit Input (POT: CN1 pin 9) and COM closed: Forward limit switch not operating and status normal.
• Connection between Forward Drive Prohibit Input (POT: CN1 pin 9) and COM open: Forward drive prohibited and reverse drive permitted.
• Connection between Reverse Drive Prohibit Input (NOT: CN1 pin 8) and COM closed: Reverse limit switch not operating and status normal.
• Connection between Reverse Drive Prohibit Input (NOT: CN1 pin 8) and COM open: Reverse drive prohibited and forward drive permitted.
• If this parameter is set to 0, the Servomotor will decelerate and stop according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn66).
• If this parameter is set to 0 and the forward and reverse prohibit inputs are both open, an error will be detected in the Servo Drive, and a drive prohibit input error (alarm code 38) will occur.
• If this parameter is set to 2, a drive prohibit input error (alarm code 38) will occur when the connection between either the forward or reverse prohibit input and COM is open.
• If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward torque will be eliminated, and there may be repeated vertical movement of the workpiece. If this occurs, set the Stop Selection for Drive Prohibition Input (Pn66) to 2 or limit operation using the host controller rather than using this parameter.
Pn05
Setting range
Command Speed Selection
0 to 3 Unit --Default setting 0
Speed
Power OFF
ON
---
Explanation of Settings
Setting
0 Reserved.
1
2
Explanation
No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn53 to Pn56)
Reserved.
3 No. 1 Internally Set Speed to No. 8 Internally Set Speed (Pn53 to Pn56 and Pn74 to Pn77)
Use this parameter to select the speed command when using speed control. The Servo Drives has internally set speeds that can be used to easily achieve speed control by using contact inputs.
10-69
10-5 Operating Functions
Pn06
Setting range
Zero Speed Designation/Speed Command Direction Switch
0 to 2 Unit --Default setting 0
Speed
Power OFF
ON
---
Explanation of Settings
Setting
0
1
2
Explanation
The zero-speed designation input will be ignored, and a zero-speed designation will not be detected.
The zero-speed designation input will be enabled, and the speed command will be assumed to be zero when the connection between the input and common is open.
Speed mode: Use as the speed command sign. The rotation direction is forward when the connection between the input and common is open and reverse when the connection between the input and common is closed.
• Use this parameter to set the function of the Zero-speed Designation Input (VZERO: CN1 pin 26).
Pn07
Setting range
SP Selection
0 to 9 Unit --Default setting
Explanation of Settings
8
9
6
7
Setting
0
1
Explanation
Actual Servomotor speed: 6 V/47 r/min
Actual Servomotor speed: 6 V/188 r/min
4
5
2
3
Actual Servomotor speed: 6 V/750 r/min
Actual Servomotor speed: 6 V/3000 r/min
Actual Servomotor speed: 1.5 V/3000 r/min
Command speed: 6 V/47 r/min
Command speed: 6 V/188 r/min
Command speed: 6 V/750 r/min
Command speed: 6 V/3000 r/min
Command speed: 1.5 V/3000 r/min
3
All modes
Power OFF
ON
---
10
10-70
10-5 Operating Functions
Pn08
Setting range
IM Selection
0 to 12 Unit --Default setting
Explanation of Settings
10
11
12
8
9
6
7
Setting
0
1
Explanation
Torque command: 3 V/rated (100%) torque
Position deviation: 3 V/31 pulses
4
5
2
3
Position deviation: 3 V/125 pulses
Position deviation: 3 V/500 pulses
Position deviation: 3 V/2000 pulses
Position deviation: 3 V/8000 pulses
Reserved
Reserved
Reserved
Reserved
Reserved
Torque command: 3 V/200% torque
Torque command: 3 V/400% torque
0
All modes
Power OFF
ON
---
10
Pn09
Setting range
General-purpose Output 2 Selection
0 to 8 Unit --Default setting 0
All modes
Power OFF
ON
---
Explanation of Settings
Setting
0
1
Output during torque limit
Zero speed detection output
4
5
2
3
Any warning
Over regeneration warning output
Overload warning output
Battery warning output
6
7
8
Fan lock warning output
Reserved
Speed conformity output
Explanation
• Use this parameter to assign the function of General-purpose Output 2 (OUTM2: CN1 pin 40).
10-71
10-5 Operating Functions
Pn0A
Setting range
General-purpose Output 1 Selection
0 to 8 Unit --Default setting 1
All modes
Power OFF
ON
---
Explanation of Settings
Setting
0
1
Output during torque limit
Zero speed detection output
4
5
2
3
Any warning
Over regeneration warning output
Overload warning output
Battery warning output
6
7
8
Fan lock warning output
Reserved
Speed conformity output
Explanation
• Use this parameter to assign the function of General-purpose Output 1 (OUTM1: CN1 pin 12).
Pn0B
Setting range
Operation Switch When Using Absolute Encoder
0 to 2 Unit --Default setting 0
All modes
Power OFF
ON
Yes
Explanation of Settings
Setting
0
1
2
Use as absolute encoder.
Use as incremental encoder.
Explanation
Use as absolute encoder but ignore multi-turn counter overflow.
• Use this parameter to set the operating method for the 17-bit absolute encoder.
• The setting of this parameter is disabled if a 5-core 2,500-pulse/revolution incremental encoder is used.
10
10-72
10-5 Operating Functions
Pn0C
Setting range
RS-232 Baud Rate Setting
0 to 5 Unit --Default setting 2
Explanation of Settings
Setting
0
1
2,400 bps
4,800 bps
4
5
2
3
9,600 bps
19,200 bps
38,400 bps
57,600 bps
Explanation
• Use this parameter to select the baud rate for RS-232 communications.
• Baud rate error: ±0.5%.
All modes
Power OFF
ON
Yes
10
Pn0D
Setting range
RS-485 Baud Rate Setting
0 to 5 Unit --Default setting 2
Explanation of Settings
Setting
0
1
2,400 bps
4,800 bps
4
5
2
3
9,600 bps
19,200 bps
38,400 bps
57,600 bps
Explanation
• Use this parameter to select the baud rate for RS-485 communications.
• Baud rate error: ±0.5%.
All modes
Power OFF
ON
Yes
Pn0E
Setting range
Front Key Protection Setting
0 to 1 Unit --Default setting 0
All modes
Power OFF
ON
Yes
10-73
Explanation of Settings
Setting
0
1
All enabled
Limited to Monitor Mode
Explanation
• Front panel key operations can be limited to Monitor Mode. This function can be used to prevent unintended changes to parameters because of incorrect key operations.
• Even if this parameter is set to 1, parameters can be changed by using communications.
• Use communications to return this parameter to 0.
10-5 Operating Functions
Pn0F
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
Gain Parameters (Pn10 to Pn3D)
Pn10
Setting range
Position Loop Gain
0 to 3000
Position
Power OFF
ON
--Unit 1/s Default setting 40
• Use this parameter to adjust the position loop response to suit the mechanical rigidity.
• The responsiveness of the servo system is determined by the position loop gain. Servo systems with a high loop gain have a high responsiveness and fast positioning. To increase the position loop gain, you must improve mechanical rigidity and increase the specific oscillation frequency.
This should be 50 to 70 (1/s) for ordinary machine tools, 30 to 50 (1/s) for general-use and assembly machines, and 10 to 30 (1/s) for industrial robots. The default position loop gain is 40
(1/s), so be sure to lower the setting for machines with low rigidity.
• Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation 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. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
Position loop gain is generally expressed as follows:
Position loop gain (Kp) =
Command pulse frequency (pulses/s)
Deviation counter accumulated pulses (pulses)
(1/s)
When the position loop gain is changed, the response is as shown in the following diagram.
When position loop gain is high.
Servomotor speed
10
When speed loop gain is low.
Time
• If the speed loop gain and position loop gain are optimally set, the Servomotor operation for the command will be delayed 2/Kp at acceleration and delayed 3/Kp at deceleration.
Servomotor speed
Position command
2
Kp
Servomotor operation
3
Kp
Time
10-74
10-5 Operating Functions
Pn11
Setting range
Speed Loop Gain
1 to 3500 Unit Hz Default setting 50
All modes
Power OFF
ON
---
• Use this parameter to 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 the Speed Loop Gain too high, however, may result in oscillation.
• The setting unit for Pn11 will be Hz if the Inertia Ratio (Pn20) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Overshoots when speed loop gain is high. (Oscillates when gain is too high.)
Servomotor speed
When speed loop gain is low.
Time
10
Pn12
Setting range
Speed Loop Integration Time Constant
1 to 1000 Unit ms Default setting 20
All modes
Power OFF
ON
---
• Use this parameter to set the speed loop integration time constant.
• The smaller the setting, the faster the deviation will come close to 0 when stopping. If 1000 is set, the integral will be ineffective.
When the speed loop integration time constant is changed, the response is as shown in the following diagram.
Overshoots when speed loop integration time constant is small.
Servomotor speed
When speed loop integration time constant is large.
Time
10-75
10-5 Operating Functions
Pn13
Setting range
Speed Feedback Filter Time Constant
0 to 5 Unit ---
All modes
Power OFF
ON
--Default setting 0
• Use this parameter to set the time constant for the low-pass filter (LPF) after speed detection to one of six value (0 to 5).
• Increasing the setting increases the time constant and decreases the noise generated by the
Servomotor. Responsiveness, however, also decreases.
• Normally, use the default setting.
Pn14
Setting range
Torque Command Filter Time Constant
0 to 2500 Unit 0.01ms
All modes
Power OFF
ON
--Default setting 80
• Use this parameter to set the time constant for the first-order lag filter inserted into the torque command.
• This parameter may be effective in suppressing oscillation due to torsion resonance.
Pn15
Setting range
Speed Feed-forward Amount
2000 to 2000
Unit 0.10% Default setting 300
Position
Power OFF
ON
• Use this parameter to set the feed-forward amount in Position Control Mode.
• Increasing the setting decreases the position deviation and increases the responsiveness.
Overshooting, however, will occur more easily.
---
Pn16
Setting range
Feed-forward Command Filter
0 to 6400 Unit
Position
Power OFF
ON
--0.01ms
Default setting 100
• Use this parameter to set the time constant for the first-order lag filter inserted into the feedforward.
• Setting the Feed-forward Command Filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high.
10
Pn17
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
Pn18
Setting range
Position Loop Gain 2
0 to 3000
Position
Power OFF
ON
--Unit 1/s Default setting 20
• Use this parameter to set the responsiveness of the position control system for the second position loop.
Pn19
Setting range
Speed Loop Gain 2
1 to 3500 Unit Hz Default setting 80
• Use this parameter to set the responsiveness of the second speed loop.
All modes
Power OFF
ON
---
10-76
10-5 Operating Functions
Pn1A
Setting range
Speed Loop Integration Time Constant 2
1 to 1000 Unit ms Default setting 50
• Use this parameter to set the second speed loop integration time constant.
All modes
Power OFF
ON
---
Pn1B
Setting range
Speed Feedback Filter Time Constant 2
0 to 5 Unit --Default setting 0
• Use this parameter to set the second speed feedback filter time constant.
All modes
Power OFF
ON
---
Pn1C
Setting range
Torque Command Filter Time Constant 2
0 to 2500 Unit 0.01 ms Default setting 100
All modes
Power OFF
ON
---
• Use this parameter to set the second torque command filter time constant.
• The parameters from Pn18 to Pn1C are the gain and time constants to be selected when gain switching is enabled in the Gain Switching Input Operating Mode Selection (Pn30).
• The gain is switched according to the condition set in the Control Gain Switch 1 Setting (Pn31).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness when the Servomotor is rotating and when it is being stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions, and switch them according to the condition.
• These parameters are automatically changed by executing realtime autotuning. To set them manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
• Gain switching is enabled only for position control.
10
Pn1D
Setting range
Notch Filter 1 Frequency
100 to 1500 Unit
All modes
Power OFF
ON
--Hz Default setting 1500
• Use this parameter to set the frequency of notch filter 1 for resonance suppression.
• The notch filter function will be disabled if this parameter is set to 1500.
Pn1E
Setting range
Notch Filter 1 Width
0 to 4
All modes
Power OFF
ON
--Unit --Default setting 2
• Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels.
• Increasing the setting increases the notch width. Normally, use the default setting.
Pn1F
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
10-77
10-5 Operating Functions
Pn20
Setting range
Inertia Ratio
0 to 10000
All modes
Power OFF
ON
--Unit % Default setting 300
• Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia.
• Pn20 = (Load inertia
Rotor inertia) 100%
• When normal mode autotuning is executed, the load inertia will be automatically estimated after the specified operation, and this parameter will be updated with the result.
• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 min.
• If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn11) and Speed Loop
Gain 2 (Pn19) will be Hz.
• If the Inertia Ratio (Pn20) is set larger than the actual value, the setting for speed loop gain will increase. If the inertia ratio is set smaller than the actual value, the setting for speed loop gain will decrease.
Pn21
Setting range
Realtime Autotuning Mode Selection
0 to 7 Unit --Default setting 0
All modes
Power OFF
ON
---
Explanation of Settings
Setting
0
1
Explanation
Realtime autotuning is disabled.
Normal mode: There is almost no change.
4
5
2
3
6
7
Normal mode: There are gradual changes.
Normal mode: There are sudden changes.
Vertical axis mode: There is almost no change.
Vertical axis mode: There are gradual changes.
Vertical axis mode: There are sudden changes.
No gain switching: There is almost no change.
• Use this parameter to set the operating mode for realtime autotuning.
• The higher the value that is set (e.g., 3 or 6), the faster the response is for a change in inertia during operation. Operation, however, may be unstable depending on the operating pattern. Normally, set the parameter to 1 or 4.
• Use a setting of 4 to 6 if a vertical axis is used.
• Use setting 7 if vibration is caused by gain switching.
10
Pn22
Setting range
Realtime Autotuning Machine Rigidity Selection
0 to 15 Unit --Default setting 2
All modes
Power OFF
ON
---
• Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is enabled.
Pn22
Low
Low
Machine rigidity
Servo gain
High
High
0·1 - - - - - - - - - - - - - - - E·F
Low Responsiveness High
If the setting is changed suddenly by a large amount, the gain will change rapidly, subjecting the machine to shock. Always start by making small changes in the setting, and gradually increase the setting while monitoring machine operation.
10-78
10-5 Operating Functions
Pn23
Setting range
Adaptive Filter Selection
0 to 2 Unit --Default setting 0
Position Speed
Power OFF
ON
Yes
Explanation of Settings
Setting
0 Adaptive filter disabled.
1
2
Adaptive filter enabled.
Explanation
Hold (The adaptive filter frequency when the setting was changed to 2 will be held.)
• Use this parameter to set the operation of the adaptive filter.
• The Adaptive Filter Table Number Display (Pn2F) will be reset to 0 when the adaptive filter is disabled.
• The adaptive filter is normally disabled in the torque control mode.
10
Pn24
Setting range
Vibration Filter Selection
0 to 2 Unit --Default setting 0
Position
Power OFF
ON
---
Explanation of Settings
Setting
0
1
2
Explanation
No switching. (Both filter 1 and filter 2 are enabled.)
Filter 1 or filter 2 can be selected using vibration filter switching (DFSEL).
DFSEL open: Vibration filter 1 (Pn2B and Pn2C) is selected.
DFSEL closed: Vibration filter 2 (Pn2D and Pn2E) is selected.
Switching with position command direction.
Forward: Vibration filter 1 (Pn2B and Pn2C) is selected.
Reverse: Vibration filter 2 (Pn2D and Pn2E) is selected.
Pn25
Setting range
Autotuning Operation Setting
0 to 7 Unit --Default setting
Explanation of Settings
Setting Rotation direction
5
6
3
4
0
1
2
Forward to reverse
Reverse to forward
Forward to forward
Reverse to reverse
Forward to reverse
Reverse to forward
Forward to forward
7 Reverse to reverse
Set the operating pattern for normal mode autotuning.
Number of rotations
Two rotations
One rotation
0
All modes
Power OFF
ON
---
10-79
10-5 Operating Functions
Pn26
Setting range
Overrun Limit Setting
0 to 1000 Unit 0.1 revolution Default setting 10
Position
Power OFF
ON
---
• Use this parameter to set the Servomotor’s allowable operating range for the position command input range.
• An overrun limit error (alarm code 34) will occur if the setting is exceeded.
• The function will be disabled if the setting is 0.
Pn27
Setting range
Instantaneous Speed Observer Setting
0 to 1 Unit --Default setting 0
Position Speed
Power OFF
ON
---
Explanation of Settings
Setting
0 Disabled
1 Enabled
Explanation
• The instantaneous speed observer can both increase the responsiveness and reduce vibration at stopping by improving the speed detection accuracy for devices with high rigidity.
• The Inertia Ratio (Pn20) must be set correctly.
• The Instantaneous Speed Observer Setting (Pn27) will be 0 (disabled) if the Realtime Autotuning
Mode Selection (Pn21) is not set to 0 (enabled).
Pn28
Setting range
Notch Filter 2 Frequency
100 to 1500 Unit
All modes
Power OFF
ON
--Hz Default setting 1500
• Use this parameter to set the notch frequency of notch filter 2 for resonance suppression.
• The notch filter will be disabled if the setting is 1500.
Pn29
Setting range
Notch Filter 2 Width
0 to 4
All modes
Power OFF
ON
--Unit --Default setting 2
• Use this parameter to set the notch width of notch filter 2 for resonance suppression.
• Increasing the setting will increase the notch width. Normally, use the default setting.
Pn2A
Setting range
Notch Filter 2 Depth
0 to 99 Unit --Default setting 0
All modes
Power OFF
ON
• Use this parameter to set the notch depth of notch filter 2 for resonance suppression.
• Increasing the setting will decrease the notch depth and the phase lag.
---
Pn2B
Setting range
Vibration Frequency 1
0 to 2000
Position
Power OFF
ON
--Unit 0.1 Hz Default setting 0
• Use this parameter to set vibration frequency 1 for vibration control to suppress vibration at the end of the load.
• Measure the frequency at the end of the load and make the setting in units of 0.1 Hz.
• Setting frequency: 10.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 9.9 Hz.
10
10-80
10
10-5 Operating Functions
Pn2C
Setting range
Vibration Filter 1 Setting
200 to 2000
Unit 0.1 Hz Default setting 0
Position
Power OFF
ON
---
• First set the Vibration Frequency 1 (Pn2B). Then reduce the setting of Pn2C if torque saturation occurs or increase the setting of Pn2C to increase operation speed. Normally, use a setting of 0.
• Other than the setting range, the following restriction also applies: 10.0 Hz
Pn2B Pn2C Pn2B.
Pn2D
Setting range
Vibration Frequency 2
0 to 2000 Unit 0.1 Hz Default setting 0
Position
Power OFF
ON
---
• Use this parameter to set the vibration frequency 2 for vibration control to suppress vibration at the end of the load.
• Measure the frequency at the end of the load and make the setting in units of 0.1 Hz.
• Setting frequency: 10.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 9.9 Hz.
Pn2E
Setting range
Vibration Filter 2 Setting
200 to 2000
Unit 0.1 Hz Default setting 0
Position
Power OFF
ON
---
• First set the Vibration Frequency 2 (Pn2D). Then reduce the setting of Pn2E if torque saturation occurs or increase the setting of Pn2E to increase operation speed. Normally, use a setting of 0.
• Other than the setting range, the following restriction also applies: 10.0 Hz
Pn2D Pn2E Pn2D.
10-81
10-5 Operating Functions
Pn2F
Setting range
Adaptive Filter Table Number Display
0 to 64 Unit --Default setting 0
Position Speed
Power OFF
ON
---
Explanation of Settings
17
18
19
20
21
13
14
15
16
9
10
11
12
7
8
5
6
Displayed value
Notch Filter 1
Frequency (Hz)
0 Disabled
3
4
1
2
Disabled
Disabled
Disabled
Disabled
1482
1426
1372
1319
1269
1221
1174
1130
930
895
861
828
796
1087
1045
1005
967
39
40
41
42
43
35
36
37
38
31
32
33
34
27
28
29
30
Displayed value
Notch Filter 1
Frequency (Hz)
22 766
23
24
25
26
737
709
682
656
540
520
500
481
631
607
584
562
396
381
366
352
339
462
445
428
412
Displayed value
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
Notch Filter 1
Frequency (Hz)
326
314
302
290
279
269 (Disabled when Pn22
F)
258 (Disabled when Pn22
F)
248 (Disabled when Pn22
F)
239 (Disabled when Pn22
F)
230 (Disabled when Pn22
F)
221 (Disabled when Pn22
E)
213 (Disabled when Pn22
E)
205 (Disabled when Pn22
E)
197 (Disabled when Pn22
E)
189 (Disabled when Pn22
E)
182 (Disabled when Pn22
D)
Disabled
61
62
63
64
Disabled
Disabled
Disabled
Disabled
• This parameter displays the table entry number corresponding to the frequency of the adaptive filter.
• This parameter is set automatically and cannot be changed if the adaptive filter is enabled (if the Adaptive
Filter Selection (Pn23) is not 0).
• When the adaptive filter is enabled, data will be saved in EEPROM every 30 min. If the adaptive filter is enabled the next time the power supply is turned ON, adaptive operation will start with the data saved in
EEPROM as the default value.
• To clear this parameter and reset the adaptive operation, disable the adaptive filter by setting the
Adaptive Filter Selection (Pn23) to 0, and then enable it again.
10
10-82
10-5 Operating Functions
Pn30
Setting range
Gain Switching Input Operating Mode Selection
0 or 1 Unit --Default setting 1
All modes
Power OFF
ON
---
Explanation of Settings
Setting
0
1
Gain 1 (PI/P switching enabled)
Gain 1/gain 2 switching enabled
Explanation
• Use this parameter to select whether to switch between PI and P operation or to switch between gain 1 and gain 2 in Speed Control Mode.
• PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed, however, if the Torque Limit Selection (Pn03) is set to 3.
Gain input
COM open
COM connection
Speed loop operation
PI operation
P operation
10
Pn31
Setting range
Control Gain Switch 1 Setting
0 to 10 Unit ---
Explanation of Settings
Position Control Mode (
: Enabled,
: Disabled)
Default setting 0
All modes
Power OFF
ON
---
Explanation
Setting
4
5
0
1
2
3
6
7
8
9
10
Gain switching conditions
Always gain 1 (Pn10 to Pn14)
Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
(GSEL) for CN1 pin 27
Amount of change in torque command (Figure A)
Always gain 1 (Pn10 to Pn14)
Command speed (Figure B)
Amount of position deviation
(Figure C)
Command pulses received (Figure D)
Positioning Completed Signal (INP)
OFF (Figure E)
Actual Servomotor speed (Figure B)
Combination of command pulse input and speed (Figure F)
Gain Switch 1
Time (Pn32)
*1
Gain Switch 1
Level Setting
(Pn33)
*3
(
0.05%)
(r/min)
*4
(Pulse)
(r/min)
*5
(r/min)
Gain Switch 1
Hysteresis Setting (Pn34)
*2
*3
(
0.05%)
(r/min)
*4
(Pulse)
(r/min)
*5
(r/min)
10-83
10-5 Operating Functions
Speed Control Mode
Setting
0
1
2
3
4
5
Gain switching conditions
Always gain 1 (Pn10 to Pn14)
Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
(GSEL) for CN1 pin 27
Amount of change in torque command (Figure A)
Amount of change in speed command (Figure B)
Command speed (Figure C)
Explanation
Gain Switch Time
(Pn32, 37)
*1
Gain Switch
Level Setting
(Pn33, 38)
Gain Switch
Hysteresis Setting (Pn34, 39)
*2
*3
(0.05%/166
s)
*5
(10 r/min/s)
(r/min)
*3
(0.05%/166
s)
*5
(10 r/min/s)
(r/min)
Torque Control Mode
Setting
0
1
2
3
Explanation
Gain switching conditions
Always gain 1 (Pn10 to Pn14)
Always gain 2 (Pn18 to Pn1C)
Switching using Gain Switch Input
(GSEL) for CN1 pin 27
Amount of change in torque command
(Figure A)
Gain Switch Time
(Pn32, 37)
*1
Gain Switch
Level Setting
(Pn33, 38)
Gain Switch
Hysteresis Setting (Pn34, 39)
*2
*3
(0.05%/166
s)
*3
(0.05%/166
s)
• Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain
Switching Input Operation Mode Selection (Pn30) is set to 1.
• The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting (Pn31) is 2 and the Torque Limit Selection (Pn03) is 3.
*1. The Gain Switch 1 Time (Pn32) is used when returning from gain 2 to gain 1.
*2. The Gain Switch 1 Hysteresis Setting (Pn34) is defined as shown in the following figure.
10
Pn33
Pn34
0
Gain 1 Gain 2 Gain 1
Pn32
*3. The amount of change is the value within 166
s.
Example: When the condition is a 10% change in torque in 166
s, the set value is 200.
*4. This is the encoder resolution.
*5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis
Setting are different from normal if this parameter is set to 10. (Refer to Figure F.)
10-84
10-5 Operating Functions
10
Figure A Figure C
Speed V
Speed V
Torque T
T
Level
Time
1 2
1
2
Gain 1
2 2
1
1
H
L
L
H
Accumulated pulses
Level
Gain 1
Time
Gain 2
Command speed S
H
L
Gain 1
Figure D
Gain 1
Speed V
Level
Gain 1
Gain 2
Time
Figure B
H
L
Actual speed N
Gain 1
INP
Gain 2
Time
Gain 1
Figure E
Gain 1
Time
Gain 2
Gain 1
Command speed S
Figure F
Actual speed N
H
L
Level
Time
Gain 1 Gain 2 Gain 1
Gain 2 is used only during the Speed Loop Integration Time Constant.
Gain 1 is used at other times.
Pn32
Setting range
Gain Switch 1 Time
0 to 10000 Unit
166 s
Default setting 30
All modes
Power OFF
ON
---
• For Position Control Mode, use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 or 5 to 10.
• For Speed Control Mode, use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 to 5.
For Torque Control Mode, use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3.
10-85
10-5 Operating Functions
Pn33
Setting range
Gain Switch 1 Level Setting
0 to 20000 Unit
All modes
Power OFF
ON
----Default setting 600
• For Position Control Mode, use this parameter to set the judgment level for switching between gain
1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, 5, 6, 9, or 10, Pn33 is enabled.
The unit depends on the Control Gain Switch 1 Setting (Pn31).
• For Speed Control Mode, use this parameter to set the judgment level for switching between gain
1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3 to 5. Pn33 is enabled. The unit depends on the Control Gain Switch 1 Setting (Pn31).
• For Torque Control Mode, use this parameter to set the judgment level for switching between gain
1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, Pn33 is enabled. The unit depends on the Control Gain Switch 1 Setting (Pn31).
Pn34
Setting range
Gain Switch 1 Hysteresis Setting
0 to 20000 Unit --Default setting 50
All modes
Power OFF
ON
---
• Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 1 Level
Setting (Pn33). The unit depends on the Control Gain Switch 1 Setting (Pn31). The following shows the definitions for the Gain Switch 1 Time (Pn32), Gain Switch 1 Level Setting (Pn33), and
Gain Switch 1 Hysteresis Setting (Pn34).
Pn33
0
Pn34
Gain 1 Gain 2 Gain 1
Pn32
• The settings for the Gain Switch 1 Level Setting (Pn33) and the Gain Switch 1 Hysteresis Setting
(Pn34) are effective as absolute values (positive/negative).
10
Pn35
Setting range
Position Loop Gain Switching Time
0 to 10000 Unit
166 s
Default setting 20
Position
Power OFF
ON
• When switching between gain 1 and gain 2 is enabled, set the phased switching time only for position loop gain at gain switching.
Example:
Kp1 (Pn10)
Pn35= 0
166
166 166
1
Kp1 (Pn10) > Kp2 (Pn18)
3
2
2
3
0
1
Bold solid line
Thin solid line
Kp2 (Pn18)
Gain 1 Gain 2
Gain 1
---
10-86
10-5 Operating Functions
Pn36
Setting range
Reserved
---
Pn37
Setting range
Reserved
---
Pn38
Setting range
Reserved
---
Pn39
Setting range
Reserved
---
Unit
Unit
Unit
Unit
---
---
---
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Pn3A
Setting range
Reserved
---
Pn3B
Setting range
Reserved
---
Unit --Default setting ---
Power OFF
ON
---
---
10
Pn3C
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
Pn3D
Setting range
Jog Speed
0 to 500 Unit r/min Default setting
• Use this parameter to set the speed for jog operation.
200
Pn3E
Setting range
Reserved
--Unit --Default setting ---
All modes
Power OFF
ON
---
Power OFF
ON
---
Pn3F
Setting range
Reserved
---
Unit
Unit ---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
10-87
10-5 Operating Functions
Position Control Parameters (Pn40 to Pn4E)
Pn40
Setting range
Command Pulse Input Selection
0 or 1 Unit --Default setting 0
Position
Power OFF
ON
Yes
Explanation of Settings
Pn41
Setting range
Setting
0
1
Explanation
Photocoupler input (+PULS: CN1 pin 3,
PULS: CN1 pin 4, +SIGN: CN1 pin 5,
SIGN: CN1 pin 6)
Line driver input (+CWLD: CN1 pin 44,
CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,
CCWLD: CN1 pin 47)
• Use this parameter to select whether to use photocoupler or line-driver input for the command pulse input.
Command Pulse Rotation Direction Switch
0 or 1 Unit --Default setting 0
Position
Power OFF
ON
Yes
Explanation of Settings
Setting
0
1
Explanation
The Servomotor rotates in the direction specified by the command pulse.
The Servomotor rotates in the opposite direction from the direction specified by the command pulse.
10
10-88
10-5 Operating Functions
Pn42
Setting range
Command Pulse Mode
0 to 3 Unit --Default setting 1
Position
Power OFF
ON
Yes
Explanation of Settings
Setting Command pulse mode Servomotor forward command Servomotor reverse command
0 or 2
90
phase difference
(phases A and B) signal inputs
Phase A
Phase B
Line driver: t1
2 s
Open collector: t1
5 s
1
Reverse pulse and forward pulse inputs
Line driver: t2
1 s
Open collector: t2
2.5 s
10
3
Feed pulse input and forward/reverse signal input
Line driver: t2
1 s
Open collector: t2
2.5 s
• Use this parameter to set the form of the pulse inputs sent as commands to the Servo Drive from the position controller.
Pn43
Setting range
Command Pulse Prohibited Input
0 or 1 Unit --Default setting 1
Position
Power OFF
ON
---
Explanation of Settings
Setting
0 Enabled
1 Disabled
Explanation
• Use this parameter to enable or disable the Pulse Prohibit Input (IPG: CN1 pin 33).
• Command pulse inputs will be prohibited when the connection between the IPG input and COM is open.
• Set this parameter to 1 when the IPG input is not used. This will eliminate the necessity to externally connect the IPG input (CN1 pin 33) and COM (CN1 pin 41).
10-89
10-5 Operating Functions
Pn44
Setting range
Encoder Divider Numerator Setting
1 to 32767 Unit --Default setting 2500
All modes
Power OFF
ON
Yes
Pn45
Setting range
Encoder Divider Denominator Setting
0 to 32767 Unit ---
All modes
Power OFF
ON
Yes Default setting 0
• Use this parameter to set the number of encoder pulses output from the pulse outputs (+A: CN1 pin 21,
A: CN1 pin 22, B: CN1 pin 48, +B: CN1 pin 49)
• If the Encoder Divider Denominator Setting (Pn45) is 0, the number of output pulses for one
Servomotor rotation can be set for A and B using the Encoder Divider Numerator Setting (Pn44).
The resolution of the pulse output after multiplication by 4 will be as follows:
Pulse output resolution per rotation = Encoder Divider Numerator Setting (Pn44)
4
• If the Encoder Divider Denominator Setting (Pn45) is not 0, the pulse output resolution per rotation can be set using the following encoder divider equation.
Pn44 (Encoder Divider Numerator Setting)
Pulse output resolution per rotation =
Pn45 (Encoder Divider Denominator Setting)
× Encoder resolution
• The encoder resolution for a 17-bit absolute encoder is 131,072 pulses/rotation
and a 2,500pulse/ rotation, 5-core incremental encoder is
10,000 pulses/rotation
.
• The pulse output resolution per rotation will never exceed the encoder resolution. (If the above settings are used, the pulse output resolution per rotation will be equal to the encoder resolution.)
• One phase-Z signal is output for each rotation of the Servomotor.
• If the value from the above equation is a multiple of 4, phases Z and A are synchronized. In all other cases, the output width of phase Z will coincide with the encoder resolution, so phases A and
Z will not be synchronized.
Encoder resolution
×
Pn44
Pn45
: Multiple of 4
A
Encoder resolution
×
Pn44
Pn45
: Not multiple of 4
A
B
Z
B
Z
Synched Not synched
10
10-90
10-5 Operating Functions
Pn46
Setting range
Encoder Output Direction Switch
0 or 3 Unit --Default setting 0
All modes
Power OFF
ON
Yes
Setting
---
Phase
Phase A
0, 2 Non-inverted phase B
Forward motor operation Reverse motor operation
1, 3 Inverted phase B
10
Explanation of Settings
Setting
0
1
2
Explanation
Phase
B output: Not inverted, Output source: Encoder position
Phase
B output: Inverted, Output source: Encoder position
Phase-B output: Not inverted, Output source: External scale position
3 Phase-B output: Inversed, Output source: External scale position
• Use this parameter to set the phase
B logic for pulse output (B: CN1 pin 48, +B: CN1 pin 49).
• This parameter can be used to invert the output direction of the phase
B pulse to reverse the relation of the phase
B pulse to the phase-A pulse.
Pn47
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
Pn48
Setting range
Electronic Gear Ratio Numerator 1
0 to 10000 Unit ---
Pn49
Setting range
Electronic Gear Ratio Numerator 2
0 to 10000 Unit ---
Default setting 0
Position
Power OFF
ON
---
Default setting 0
Position
Power OFF
ON
---
Pn4A
Setting range
Electronic Gear Ratio Numerator Exponent
0 to 17 Unit --Default setting 0
Position
Power OFF
ON
---
10-91
10-5 Operating Functions
Pn4B
Setting range
Electronic Gear Ratio Denominator
1 to 10000 Unit
Position
Default setting 10000
Power OFF
ON
-----
• Use these parameters to set the electronic gear.
• The electronic gear can be used for the following:
• To set the amount of Servomotor rotation or movement per input command pulse.
• To increase the nominal command pulse frequency by using a multiplier when the desired
Servomotor speed cannot be achieved due to the limited pulse oscillation capability of the host controller.
• Electronic Gear Block Diagram
Command pulses f
*1
*1
Numerator 1 (Pn48)
× 2
Numerator 2 (Pn49)
Exponent (Pn4A)
F
Internal command
+
−
Denominator (Pn4B)
Feedback pulses
(resolution)
To deviation counter
10,000 pulses/rev or
2 17 pulses/rev
*1. Numerator 1 or Numerator 2 is selected using the Electronic Gear Switch Input (GESEL: CN1 pin
28).
GESEL input open Numerator 1 (Pn48) selected.
GESEL input connected to COM Numerator 2 (Pn49) selected.
• The gear ratio is set using the following equations.
If the numerator equals 0, the following value is set automatically.
Numerator ((Pn48 or Pn49)
2 Pn4A
) = Encoder resolution
In this case, the number of command pulses per revolution can be set in Pn4B.
Encoder resolution
Electronic gear ratio =
Number of command pulses per Servomotor rotation (Pn4B)
If the numerator
does not equal 0, the gear ratio is as follows:
Electronic gear ratio =
Electronic gear ratio numerator (Pn48 or Pn49)
× 2
Electronic gear ratio numerator exponent (Pn4A)
Electronic gear ratio denominator (Pn4B)
The upper limit of the calculated numerator ((Pn48 or Pn49)
2 Pn4A
) is 4,194,304/ (Pn4D setting + 1).
10
10-92
10-5 Operating Functions
10
Pn4C
Setting range
Position Command Filter Time Constant Setting
0 to 7 Unit --Default setting 0
Position
Power OFF
ON
---
Explanation of Settings
5
6
3
4
7
Setting
0
1
2
No filter
Time constant: 0.2 ms
Time constant: 0.6 ms
Time constant: 1.3 ms
Time constant: 2.6 ms
Time constant: 5.3 ms
Time constant: 10.6 ms
Time constant: 21.2 ms
Explanation
• The position command filter is the first-order lag filter for the command pulse input.
• The time constant of the position command filter can be set to one of eight values.
• The position command filter can be used for the following:
• If the command pulses change abruptly, the filter can be used to reduce the stepping movement of the Servomotor.
• The following are examples of when the command pulses can change abruptly:
The electronic gear setting is high (10 times or higher).
The command pulse frequency is low.
Pn4D
Setting range
Smoothing Filter Setting
0 to 31 Unit --Default setting 0
Position
Power OFF
ON
Yes
• Use this parameter to select the FIR filter time constant used for the command pulses (FIR: Finite impulse response).
• The higher the setting, the smoother the command pulses.
Input position command
Position command after smoothing filter processing
Position command after FIR filter processing t f t f tf = (Pn4E + 1)
× Control cycle
Time
10-93
10-5 Operating Functions
• If the setting is 0, the control cycle will be (0 + 1)
166 = 166 s.
If the setting is 1, the control cycle will be (1 + 1)
166 = 332 s.
Likewise, if the setting is 31, the control cycle will be (31 + 1)
166 = 5,312 s.
Response with position loop gain
Response with position loop gain t f t f
Pn4E
Setting range
Deviation Counter Reset Condition Setting
0 to 2 Unit --Default setting 1
Position
Power OFF
ON
---
Explanation of Settings
Setting
0
1
2
Explanation
Clears the deviation counter when the signal is closed for 100
s or longer.
Clears the deviation counter on the falling edge of the signal (open and then closed for
100
s or longer).
Disabled
• If Pn4E is set to 0, the minimum time width of the ECRST signal will be as follows:
100
μs min.
ECRST (pin 30)
Pn4F
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
10
10-94
10-5 Operating Functions
Speed and Torque Control Parameters (Pn50 and Higher)
Pn50
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
Pn51
Setting range
Reserved
---
Pn52
Setting range
Reserved
---
Unit
Unit
Pn53
Setting range
No. 1 Internally Set Speed
20000 to 20000 Unit
---
--r/min
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting 100
Speed
Power OFF
ON
---
Pn54
Setting range
No. 2 Internally Set Speed
20000 to 20000
Unit
Pn55
Setting range
No. 3 Internally Set Speed
20000 to 20000
Unit
10
Pn56
Setting range
No. 4 Internally Set Speed
20000 to 20000
Unit
Pn57
Setting range
Reserved
--Unit r/min r/min r/min
---
Default setting 200
Speed
Power OFF
ON
---
Default setting 300
Speed
Power OFF
ON
---
Default setting 50
Speed
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Pn58
Setting range
Soft Start Acceleration Time
0 to 5000 Unit 2 ms/ (1000 r/min) Default setting 0
Speed
Power OFF
ON
---
Pn59
Setting range
Soft Start Deceleration Time
0 to 5000 Unit 2 ms/ (1000 r/min) Default setting
Speed
Power OFF
ON
--0
• A soft start can be set when inputting speed commands of stepping movement or when using internally set speed.
• Do not set acceleration and deceleration times when using the Servo Drive in combination with an external position loop. (Set both Pn58 and Pn59 to 0.)
Internally Set Speed
1000 r/min
Speed ta td
10-95
10-5 Operating Functions
Pn5A
Setting range
S-curve Acceleration/Deceleration Time Setting
0 to 500 Unit 2 ms
Speed
Power OFF
ON
--Default setting 0
• Use this parameter to set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable smooth operation. This parameter 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.
Speed ts ta ts ts td ts
1.
Set the linear acceleration and deceleration times in Pn58 and
Pn59.
2.
Set the time width for the S-curve portion centered on the inflection points for acceleration and deceleration in Pn5A (unit: 2 ms).
ta: Pn58 td: Pn59 ts: Pn5A
Set as follows: ta
2
> ts and td
2
> ts
Pn5B
Setting range
Reserved
---
Pn5B Torque Command/Speed Limit Selection
Pn5C
Setting range
Reserved
---
Pn5D
Setting range
Reserved
---
Pn5E
Setting range
No. 1 Torque Limit
0 to 500
Unit
Unit
Unit
---
---
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Unit % Default setting 300
All modes
Power OFF
ON
---
Pn5F
Setting range
No. 2 Torque Limit
0 to 500
Position Speed
Power OFF
ON
--Unit % Default setting 100
• Use these parameters to set the limit value for the output torque (Pn5E: No. 1 Torque Limit, Pn5F:
No. 2 Torque Limit) of the Servomotor.
• The maximum torque in the forward and reverse directions is limited in Torque Control Mode, and the settings of the Torque Limit Selection (Pn03) and No. 2 Torque Limit (Pn5F) are ignored.
• Make the settings as a percentage of the rated torque.
Example: Maximum torque is limited to 150%
Torque (%)
300 (max.)
Forward
Pn5E, Pn5F = 150
200
100 (rated)
Speed
(Rated) (Maximum)
Reverse
100
200
300
10-96
10
10-5 Operating Functions
Pn60
Setting range
Positioning Completion Range
0 to 32767 Unit
Position
Power OFF
ON
--Pulse Default setting 25
• Use this parameter in combination with the Positioning Completion Condition Setting (Pn63) to set the timing to output the Positioning Completed Output (INP: CN1 pin 39). The Positioning
Completed Output (INP) will turn ON when command pulse input is completed, the Servomotor
(workpiece) movement stops, and the number of the accumulated pulses in the deviation counter is less than the setting of this parameter.
• For position control, set the number of encoder pulses.
• The basic unit for accumulated pulses is the encoder resolution. The encoder resolutions are as follows:
• 17-bit encoder: 2
17
= 131,072
• 2,500-pulse/revolution encoder: 4
2500 = 10000
• If this parameter is set to a very small value, the time required for the INP signal to turn ON will increase and the output may chatter. The setting of the Positioning Completion Range does not affect the precision of the final position.
Accumulated pulses
Pn60
INP
ON
Pn60
10
Pn61
Setting range
Zero Speed Detection
10 to 20000 Unit r/min Default setting 20
All modes
Power OFF
ON
---
• Use this parameter to s et the rotation speed threshold at which to output a zero speed detection output or speed coincidence output from the general-purpose output (OUTM1: CN1 pin 12 or OUTM2: CN1 pin
40).
• If a speed detection output is assigned, an output will be made when the speed of the motor is lower than the value set for this parameter.
• If a speed coincidence output is assigned, an output will be made when difference between the speed command and the speed of the motor is lower than the value set for this parameter.
• The setting of this parameter is valid for both forward and reverse operation regardless of the
Servomotor rotation direction. This setting has a hysteresis of 10 r/min.
Forward
Speed
(Pn61 + 10) r/min
Reverse
ON
(Pn61
− 10) r/min
OUTM1
10-97
10-5 Operating Functions
Pn62
Setting range
Rotation Speed for Motor Rotation Detection
10 to 20000 Unit r/min Default setting 50
Speed
Power OFF
ON
---
• Use this parameter to set the rotation speed (r/min) at which to output the Servomotor Rotation
Detection Output (TGON: CN1 pin 39, TGONCOM: CN1 pin 38).
• The Servomotor Rotation Detection Output (TGON) will turn ON when the Servomotor speed exceeds the setting of this parameter.
• The setting of this parameter is valid for both forward and reverse operation regardless of the
Servomotor direction. This setting has a hysteresis of 10 r/min.
Speed
(Pn62 + 10) r/min
Forward
Reverse
(Pn62
− 10) r/min
TGON
OFF
ON
Pn63
Setting range
Positioning Completion Condition Setting
0 to 3 Unit --Default setting 0
Position
Power OFF
ON
---
Explanation of Settings
Setting
0
1
2
3
Explanation
Positioning completion output turns ON when the position deviation is within the Positioning
Completion Range (Pn60).
Positioning completion output turns ON when the position deviation is within the Positioning
Completion Range (Pn60) and there is no position command.
Positioning completion output turns ON when the zero speed detection signal is ON, the position deviation is within the Positioning Completion Range (Pn60), and there is no position command.
Positioning completion output turns ON when the position deviation is within the Positioning
Completion Range (Pn60) and there is no position command. The ON status will be maintained until the next position command is received.
• Use this parameter in combination with the Positioning Completion Range (Pn60) to set the operation for Positioning Completed Output (INP: CN1 pin 39).
Pn64
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
10
10-98
10-5 Operating Functions
Pn65
Setting range
Undervoltage Alarm Selection
0 or 1 Unit --Default setting 1
All modes
Power OFF
ON
---
Explanation of Settings
Setting
0
1
Explanation
When the main power supply is interrupted during Servo ON status, a main power supply undervoltage alarm (alarm code 13) does not occur and the Servo OFF status is entered.
When the main power supply turns ON again, the Servo ON status is reset.
When the main power supply is interrupted during Servo ON status, an error occurs for a main power supply undervoltage (alarm code 13).
• Use this parameter to select whether to activate the main power supply undervoltage function
(alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D).
• If the Momentary Hold Time (Pn6D) is set to 1,000, Pn65 is disabled.
• If the setting of Momentary Hold Time (Pn6D) is too long and the voltage between P and N in the main power supply converter drops below the specified value before a main power supply interruption is detected, a main power supply undervoltage (alarm code 13) will occur regardless of the setting of Pn65.
10
Pn66
Setting range
Stop Selection for Drive Prohibition Input
0 to 2 Unit --Default setting 0
All modes
Power OFF
ON
Yes
Explanation of Settings
Setting
0
1
2
Explanation
During deceleration: The dynamic brake is activated. After stopping: The torque command in the drive prohibit direction is set to 0. Deviation counter contents: Held
During deceleration: The torque command in the drive prohibit direction is set to 0. After stopping: The torque command in the drive prohibit direction is set to 0. Deviation counter contents: Held
During deceleration: An emergency stop is performed. After stopping: The servo is locked.
Deviation counter contents: Cleared before and after deceleration.
• Use this parameter to set the drive conditions during deceleration or after stopping after the
Forward Drive Prohibit Input (POT: CN1 pin 9) or Reverse Drive Prohibit Input (NOT: CN1 pin 8) is enabled.
• If this parameter is set to 2, the Emergency Stop Torque (Pn6E) will be used to limit the torque during deceleration.
• With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive prohibit input. To prevent this, it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn66), and that stopping in the servo-lock state be set (set value: 2).
10-99
10-5 Operating Functions
Pn67
Setting range
Stop Selection with Main Power OFF
0 to 9 Unit --Default setting 0
All modes
Power OFF
ON
---
Explanation of Settings
Setting
6
7
4
5
8
9
2
3
0
1
During deceleration
Dynamic brake
Free run
Dynamic brake
Free run
Dynamic brake
Free run
Dynamic brake
Free run
Emergency stop
Emergency stop
Explanation
After stopping
Dynamic brake
Dynamic brake
Servo free
Servo free
Dynamic brake
Dynamic brake
Servo free
Servo free
Dynamic brake
Servo free
Deviation counter
Cleared
Cleared
Cleared
Cleared
Held
Held
Held
Held
Cleared
Cleared
• Use this parameter to set the operation to be performed after the main power supply is shut off if the Undervoltage Alarm Selection (Pn65) is set to 0.
• Operation during deceleration and after stopping
• Clearing the deviation counter
If this parameter is set to 8 or 9, the Emergency Stop Torque (Pn6E) will be used to limit the torque during deceleration.
10
Pn68
Setting range
Stop Selection for Alarm Generation
0 to 3 Unit --Default setting 0
All modes
Power OFF
ON
---
Explanation of Settings
Setting
2
3
0
1
During deceleration
Dynamic brake
Free run
Dynamic brake
Free run
Explanation
After stopping
Dynamic brake
Dynamic brake
Servo free
Servo free
Deviation counter
Held
Held
Held
Held
• Use this parameter to set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs.
• The deviation counter is cleared when an alarm is cleared.
10-100
10-5 Operating Functions
Pn69
Setting range
Stop Selection with Servo OFF
0 to 9 Unit
All modes
Power OFF
ON
----Default setting 0
• Use this parameter to set the operation to be performed after Servo OFF status is entered (i.e., after RUN (CN1 pin 29) changes from ON to OFF).
• Operation during deceleration and after stopping
• Clearing the deviation counter
• The relations between set values, operation, and deviation counter processing for this parameter are the same as for the Stop Selection with Main Power OFF (Pn67).
Pn6A
Setting range
Brake Timing When Stopped
0 to 100 Unit 2 ms Default setting 10
All modes
Power OFF
ON
---
• Use this parameter to set the brake timing from when the Brake Interlock Output (BKIRCOM: CN1 pin 10, BKIR: CN1 pin 11) turns OFF (i.e., braking held) until the Servomotor is deenergized (servo free) when Servo OFF status is entered while the Servomotor is stopped.
• When the RUN Command Input is turned OFF while the Servomotor is stopped, the Brake
Interlock Signal (BKIR) will turn OFF, and the Servo will turn OFF after the time set for this parameter (setting
2 ms) elapses.
10
RUN Command (RUN)
Brake Interlock (BKIR)
Released
Actual brake
Released tb
Hold
Hold
Servomotor ON/OFF status
ON
OFF
Pn6A
• Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the delay in the brake operation (tb).
Brake timing when stopped (setting
2 ms)
tb
Pn6B
Setting range
Brake Timing during Operation
0 to 100 Unit 2 ms Default setting 50
All modes
Power OFF
ON
---
• Use this parameter to set the brake timing from when the RUN Command Input (RUN: CN1 pin
29) is detected to be OFF until the Brake Interlock Output (BKIRCOM: CN1 pin 10, BKIR: CN1 pin
11) turns OFF when Servo OFF status is entered while the Servomotor is operating.
When the RUN Command Input is turned OFF while the Servomotor is operating, the
Servomotor will decelerate reducing the number of rotations, and the Brake Interlock Signal
(BKIR) will turn OFF after the time set for this parameter has elapsed (setting
2 ms).
10-101
10-5 Operating Functions
RUN Command (RUN)
Brake Interlock (BKIR)
Released
T
B
Servomotor ON/OFF status
ON
Hold
OFF
Servomotor speed
30 r/min
“TB” in the above figure is the brake timing during operation (setting
2 ms) or the time until the speed of the Servomotor falls to 30 r/min or lower, whichever is shorter.
Pn6C
Setting range
Regeneration Resistor Selection
0 to 3 Unit --Default setting 0
All modes
Power OFF
ON
Yes
Explanation of Settings
Setting
0
1
2
3
Explanation
Regeneration resistor used: Built-in resistor
The regeneration processing circuit will operate and the regeneration overload (alarm code
18) will operate according to the internal resistor (with approximately 1% duty).
Regeneration resistor used: External resistor
The regeneration processing circuit will operate, and regeneration overload (alarm code 18) will cause a trip when the operating rate of the regeneration resistor exceeds 10%.
Regeneration resistor used: External resistor
The regeneration processing circuit will operate, but regeneration overload (alarm code 18) will not.
Regeneration resistor used: None
The regeneration processing circuit and regeneration overload (alarm code 18) will not operate, and all regenerative energy will be processed by the built-in capacitor.
• Do not touch the External Regeneration Resistor. It can be very hot and may cause burns.
• 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 External Regeneration Resistor can become extremely hot and may cause burning.
• Set this parameter depending on whether the built-in regeneration resistor is used, or the built-in regeneration resistor is disconnected and an External Regeneration Resistor is connected. (The
External Regeneration Resistor is connected between B1 and B2.)
• To use the built-in regeneration resistor, always set this parameter to 0.
10
Pn6D
Setting range
Momentary Hold Time
35 to 1000
All modes
Power OFF
ON
Yes Unit 2 ms Default setting 35
• Use this parameter to set the amount of time required until shutoff is detected if the main power supply remains shut off.
• The main power OFF detection will be disabled if this parameter is set to 1000.
10-102
10-5 Operating Functions
Pn6E
Setting range
Emergency Stop Torque
0 to 500 Unit % Default setting 0
All modes
Power OFF
ON
---
• Use this parameter to set the torque limit for the following cases.
• Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input (Pn66) set to 2.
• Deceleration with the Stop Selection with Main Power OFF (Pn67) set to 8 or 9.
• Deceleration with the Stop Selection with Servo OFF (Pn69) set to 8 or 9.
• The normal torque limit will be used if this parameter is set to 0.
Pn6F
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
Pn70
Setting range
Deviation Counter Overflow Level
0 to 32767 Unit 256
resolution Default setting
100
Power OFF
ON
• Use this parameter to set the deviation counter overflow level.
• The set value is calculated using the following formula.
Set value = Deviation counter overflow detection pulses [pulses]/256
• If the positioning loop gain is small and the setting of this parameter is too small, a deviation counter overflow (alarm code 24) may be detected even during normal operation.
• Deviation counter overflow (alarm code 24) will not be detected if this parameter is set to 0.
---
Pn71
Setting range
Reserved
--Unit --Default setting ---
Power OFF
ON
---
10
Pn72
Setting range
Overload Detection Level Setting
0 to 500 Unit % Default setting 0
All modes
Power OFF
ON
• Use this parameter to set the overload detection level.
• The overload detection level will be 115% 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 reduce the overload detection level.
• The setting of this parameter is limited to 115% of the Servomotor rating.
---
Pn73
Setting range
Overspeed Detection Level Setting
0 to 20000 Unit
All modes
Power OFF
ON
--r/min Default setting 0
• Use this parameter to set the overspeed detection level.
• The overspeed detection level will be 1.2 times the maximum Servomotor 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 reduce the overspeed detection level.
• The setting of this parameter is limited to 1.2 times the maximum Servomotor rotation speed.
• The detection margin of error for the setting is
3 r/min for a 7-core absolute encoder and
36 r/min for a 5-core incremental encoder.
Pn74
Setting range
No. 5 Internally Set Speed
20000 to 20000
Unit r/min Default setting 500
Speed
Power OFF
ON
---
10-103
10-5 Operating Functions
Pn75
Setting range
No. 6 Internally Set Speed
20000 to 20000
Unit
Pn76
Setting range
No. 7 Internally Set Speed
20000 to 20000
Unit
Pn77
Setting range
No. 8 Internally Set Speed
20000 to 20000
Unit
Pn78
Setting range
Reserved
--Unit
Pn79
Setting range
Reserved
---
Pn7A
Setting range
Reserved
---
Pn7B
Setting range
Reserved
---
Unit
Unit
Unit
Pn7C
Setting range
Reserved
---
Pn7D
Setting range
Reserved
---
Pn7E
Setting range
Reserved
---
Pn7F
Setting range
Reserved
---
Unit
Unit
Unit
Unit r/min r/min r/min
Default setting 600
Speed
Power OFF
ON
---
Default setting 700
Speed
Power OFF
ON
---
Default setting 800
Speed
Power OFF
ON
---
---
---
---
---
---
---
---
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
Default setting ---
Power OFF
ON
---
10
10-104
10-6 Trial Operation
10-6 Trial Operation
10
Preparation for Trial Operation
Checks before Trial Operation
Check the following items before starting trial operation.
Wiring
• Make sure that all wiring is correct, 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 the Servomotor has been securely installed.
Disconnection from Mechanical System
• If necessary, make sure that the Servomotor has been disconnected from the mechanical system.
Brake
• Make sure that the brake has been released.
Trial Operation in Position Control Mode
1. Connect connector CN1.
2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM).
3. Turn ON the power supply to the Servo Drive.
4. Confirm that the parameters are set to the standard settings.
5. Set the outputs from the host device to agree with the Command Pulse Mode (Pn42).
6. Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again.
7. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41).
Servo ON status will be entered and the Servomotor will be activated.
8. Input a low-frequency pulse signal from the host device to start low-speed operation.
9. Check the Servomotor rotation speed in Monitor Mode.
Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops when the command pulses are stopped.
10-105
10-7 Adjustment Functions
10-7 Adjustment Functions
10-7-1 Gain Adjustment
SMARTSTEP 2 750 W Model Servo Drive provide realtime autotuning and normal mode autotuning functions. With these functions, 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 Servomotor must operate 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 Servomotor as close as possible to the operations specified by the commands, and to maximize the performance of the machine.
Example: Ball screw
Low Gain Setting High Gain Setting
High Gain Setting and
Feed-forward Setting
(r/min)
+2000
0
Actual Servomotor speed
Command speed
−2000
0.0
125 250 375
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
20
40
50
0
300
0.0
125 250 375
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
70
50
30
0
300
0.0
125 250 375
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
100
80
20
500
300
10
10-106
10-7 Adjustment Functions
10
Gain Adjustment Methods
Automatic adjustment
Manual adjustment
Function
Realtime autotuning
Fit gain function
Adaptive filter
Normal Mode Autotuning
Automatic gain adjustment reset
Manual tuning (basic)
Basic procedure
Gain switching
Machine resonance suppression
Automatic gain setting
Manual tuning (application)
Instantaneous speed observer
Vibration control
Explanation
Realtime autotuning estimates the load inertia of the mechanical system in realtime and automatically sets the optimal gain according to the estimated load inertia.
The fit gain function automatically searches for the appropriate rigidity setting by repeating input of an operation with a specified pattern to automatically make the rigidity setting for realtime autotuning when position control is performed.
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation and automatically sets the coefficient of the notch filter, which removes the resonance component from the torque command.
Normal mode autotuning automatically sets the appropriate gain by operating the Servomotor with the command pattern automatically generated by the Servo Drive and estimating the load inertia from the torque required at that time.
This function disables the default settings for realtime autotuning and the adaptive filter.
Manual tuning 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.
Position control mode adjustment
Speed control mode adjustment
Torque control mode adjustment
Gain switching can be used with internal data or external signals to perform such actions as reducing vibration at stopping, shortening stabilization time, and improving command follow-up.
It is sometimes not possible to set the gain high because of vibration or sound due to resonance caused by shaft contortion when the machine rigidity is low. In these cases, two types of filters can be used to suppress resonance.
This function initializes control parameters and gain switching parameters to settings that match the normal mode autotuning rigidity parameters before manual tuning is performed.
The following application functions can be used to further improve performance if the specifications cannot be satisfied using basic adjustment.
The instantaneous speed observer both increases responsiveness and reduces vibration at stopping by estimating the Servomotor speed using a load model and improving the speed detection accuracy.
Vibration control reduces vibration by removing the vibration frequency component from the command when the end of mechanisms or devices vibrates.
Note 1. Take sufficient care for safety.
Note 2. If oscillation occurs (e.g., abnormal sound or vibration), immediately turn OFF the power supply or let the servo OFF status occur.
10-107
10-7 Adjustment Functions
Gain Adjustment Procedure
Start of adjustment
Use automatic adjustment?
Yes
No
Is command input possible?
Yes
No
Realtime autotuning setting
Realtime autotuning
Normal mode autotuning
Will rigidity also be set automatically?
No
Yes
Fit gain function
Is operation OK?
Yes
No
Reset of automatic adjustment function
Is operation OK?
No
Yes
(Default setting)
Manual tuning
Reset of automatic adjustment function
Is operation OK?
Yes
No
Writing in EEPROM
End of adjustment
Consult your OMRON representative.
Gain Adjustment and Machine Rigidity
Do the following to increase the machine rigidity:
• Install the machine on a secure base so that it does not wobble.
• 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 allowable axial load for the Servomotor.
• Use gears with small backlash.
The specific vibration (resonance frequency) of the mechanical system has a large impact on the gain adjustment. The servo system responsiveness cannot be set high for machines with a low resonance frequency (low machine rigidity).
10
10-108
10-7 Adjustment Functions
10
10-7-2 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.
Position/speed command
Operation commands for actual conditions of use
Automatic gain adjustment
Automatic filter adjustment
Position/speed control
Adaptive filter
Torque command
Current control
Servo- motor current
Estimated resonance frequency
Estimated load inertia
Realtime autotuning
Servomotor speed
Encoder
Servo Drive
Servo- motor
Precautions for Correct Use
• Realtime autotuning may not function properly under the conditions described in the following table. If realtime autotuning does not function properly, use normal mode autotuning or manual tuning.
Load inertia
Load
Operating pattern
Conditions under which realtime autotuning does not function properly
If the load inertia is too small or too large compared with the rotor inertia (i.e., less than 3 times, more than 20 times, or more than the applicable load inertia ratio).
If the load inertia changes quickly, i.e., in less than 10 seconds.
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.
1. Stop the Servomotor (i.e., turn the servo OFF).
2. Set the Realtime Autotuning Mode Selection (Pn21) to 1 to 7.
The default setting is 1.
Setting
5
6
3
4
7
0
1
2
Realtime Autotuning
Not used
Normal mode
Vertical axis mode
No gain switching mode
Degree of change in load inertia during operation
---
No change in load inertia
Gradual changes in load inertia
Sudden changes in load inertia
No change in load inertia
Gradual changes in load inertia
Sudden changes in load inertia
No change in load inertia
10-109
10-7 Adjustment Functions
When the degree of load inertia change is high, set the value to 3 or 6.
Use a setting of 4 to 6 when the vertical axis is used.
Use setting 7 if vibration occurs due to gain switching.
3. Set the Realtime Autotuning Machine Rigidity Selection (Pn22) to 0 or a low value.
4. Turn the servo ON, and operate the machine as normally.
5. To increase system responsiveness, gradually increase the setting of the Realtime
Autotuning Machine Rigidity Selection (Pn22).
If the machine produces unusual noise or oscillation, return the Realtime Autotuning Machine
Rigidity Selection to a low value (e.g., 0 to 3) immediately.
6. Write data to the EEPROM if the results are to be saved.
Operating Procedure
Insert the Parameter Unit connector into CN3B of the
Servo Drive and turn ON the Servo Drive power supply.
rk k k k k0k
Setting Parameter Pn21
Press the key.
Press the key.
Select the number of the parameter to be set by using the and keys.
(Pn21 is selected in this example.)
Press the key.
Change the value by using the and keys.
Uknk_kskpkdk pknk_k k0k0.
pknk_k k2k1.
1.
Press the key.
pknk_k k2k1.
Setting Parameter Pn22
Select Pn22 by using the key.
Press the key.
Increase the value by using the key.
pknk_k k2k2.
4
(Default setting)
Decrease the value by using the key.
Press the key.
Writing to EEPROM
Press the key.
Press the key.
ekek_kskekt.
ekekpk k k-.
The bars as shown in the figure on the right will increase when the key is pressed down for approx. 5 s.
ekekpk k-k-.
-k-k-k-k-k-.
Writing will start (momentary display).
sktkakrktk
10
End fkiknkikskh.
rkekskektk .
Writing completed.
ekrkrkokrkkkk.
Writing error occurred.
10-110
10
10-7 Adjustment Functions
Filt Gain Function
SMARTSTEP 2 750 W Model include a fit gain function that automatically sets the rigidity to match the device when realtime autotuning is used at position control. A fully automatic search is performed for the optimal rigidity setting by repeating a specified reciprocating operation with position control.
Position command
(reciprocating command for trapezoidal speed waveform)
+
−
Position deviation
Position/ speed control
Adaptive filter
Torque command
Current control
Servo- motor current
Servo- motor
Estimated resonance frequency
Estimated load inertia
Realtime autotuning
(Stabilization time)
Automatic setting of rigidity and gain table
(Vibration detection)
Servo- motor speed
Encoder
Fit gain function
Servo Drive
Precautions for Correct Use
• To be applicable, this function must satisfy the following conditions in addition to the conditions for realtime autotuning.
Realtime autotuning operation
Adaptive filter
Control mode
Operating pattern
Conditions under which the fit gain functions properly
The realtime autotuning operates normally.
The Servo is ON.
Pn21= 1 to 6. (Operation is not possible if Pn21 is 0 or 7.)
The adaptive filter is enabled.
Pn23 = 1: Enabled
The control mode is position control.
Pn02 = 0: Position control
The position command is for reciprocating operation.
The time per position command is at least 50 ms.
The minimum frequency for the position command is 1 kpps.
Acceleration/deceleration
≤
(3,000 r/min/0.1 s)
1 s min.
Command waveform
50 ms min.
Positioning completed
ON
OFF
1 s min.
• In addition to the precautions for realtime autotuning, be aware of the following conditions under which operation may not be performed correctly. If that occurs, use normal realtime autotuning.
Operating pattern
Conditions under which the fit gain does not function properly
One position command is too short, i.e., less than two revolutions.
Positioning is not completed after the position command is completed and before the next position command starts.
The acceleration/deceleration is sudden, i.e., 3,000 r/min/0.1 s.
10-111
10-7 Adjustment Functions
Before starting the fit gain function, make the following settings using the fit gain window on the front panel, parameter setting mode, the Parameter Unit, or CX-Drive.
Remarks Parameter Setting
Realtime Autotuning
Mode Selection (Pn21)
Make one of the following settings.
1: Normal mode (almost no change)
2: Normal mode (gradual change)
3: Normal mode (sudden change)
4: Vertical axis mode (almost no change)
5: Vertical axis mode (gradual change)
6: Vertical axis mode (sudden change)
Realtime Autotuning
Machine Rigidity Selection
(Pn22)
0: Realtime rigidity No. 0
Adaptive Filter Selection
(Pn23)
Positioning Completion
Range (Pn60)
1: Enabled
17-bit encoder: 20 pulses min.
2,500 P/r encoder: 10 pulses min.
The parameters at the left can also be set using the execution display in the fit gain window on the front panel.
Operating Procedure
1. Set the front panel display to the execution display of the fit gain window.
2. With the dot at the far right flashing, decrease the rigidity to 0, and press the
Decrement key on the front panel for 3 s min. to start the fit gain function.
3. Input a position command that satisfies the operating pattern conditions.
If the fit gain is completed normally, if it is completed with an error. (The
will be displayed, and will be displayed
display can be cleared using the keys.)
• Time is required for the change to be made for fit gain operation. It may take approximately 2 or
3 min. depending on the equipment configuration, which may require up to approximately 50 reciprocating operations. Normally, the fit gain will be completed when the optimal realtime rigidity number is found.
• will be displayed in the following cases.
The INP signal becomes unstable, or a realtime rigidity number without small vibration is not found.
The keys on the front panel are used while fit gain is operating or the applicable conditions are not satisfied.
10
10-112
10-7 Adjustment Functions
Operating Procedure
Front Panel Display Example
Selection display Execution display
Fit gain window
Execution display in fit gain window
aktk_kfkikt fk k1k-k1k0.
(Pn23 = 1)
Value set for Pn21
Perform the servo lock and set the rigidity to 0, and then press the key for 3 s while the dot ( ) at the far right is flashing as shown in the display above.
The front panel display will change to 000.000.
0k0k0.0k0k0
Fit gain will start.
The front panel display will change along with the machine operation.
Time is required before the change is made.
0k0k0.1k0k0
4k0k0.4k0k0
10
fkiknkikskh.
Completed normally.
ekrkrkokrkkkk.
Error occurred.
Fit Gain Results
If fit gain is completed normally, will be displayed, and will be displayed if it is completed with an error. To apply the results obtained from fit gain after resetting the power supply, write the data to the EEPROM. (Refer to the following description.)
f. k1k-k1k4k
.
and press the key for 3 s min. to write the present settings to the EEPROM.
10-113
10-7 Adjustment Functions
Automatically Set Parameters
The following parameters are set automatically.
Parameter No.
Pn10
Pn11
Pn12
Pn13
Pn14
Pn18
Pn19
Pn1A
Pn1B
Pn1C
Pn20
Pn22
Parameter name
Position Loop Gain
Speed Loop Gain
Speed Loop Integration Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Inertia Ratio
Realtime Autotuning Machine Rigidity Selection
The following parameters are set automatically. (The settings will not change even if realtime autotuning is executed.)
Parameter No.
Pn15
Pn16
Pn27
Pn30
Pn31
Pn32
Pn33
Pn34
Pn35
Parameter name
Speed Feed-forward Amount
Feed-forward Command Filter
Instantaneous Speed Observer Setting
Gain Switching Input Operating Mode Selection
Control Gain Switch 1 Setting
Gain Switch 1 Time
Gain Switch 1 Level Setting
Gain Switch 1 Hysteresis Setting
Position Loop Gain Switching Time
Set value
300
50
0
1
10
30
50
33
20
Precautions for Correct Use
• Some degree of noise or vibration may occur during fit gain operation, but this is normally not a problem because the gain is lowered automatically.
If the noise or vibration continues, however, press any key on the front panel to cancel the fit gain operation.
10
10-114
10-7 Adjustment Functions
Adaptive Filter
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation, and automatically sets the coefficient of the notch filter. This removes the resonance component from the torque command.
Position/speed command
Operation commands for actual conditions of use
Automatic gain adjustment
Position/speed control
Automatic filter adjustment
Adaptive filter
Torque command
Current control
Servo- motor current
Servo- motor
Estimated resonance frequency
Estimated load inertia
Realtime autotuning
Servo Drive
Servo- motor speed
Encoder
Precautions for Correct Use
• The adaptive filter operates under the following conditions.
10
Control mode
Conditions under which the adaptive filter operates
The control mode is not torque control.
• The adaptive filter may not operate correctly under the following conditions. If it does not, take measures against resonance by following the manual adjustment procedure using Notch Filter 1
(Pn1D/1E) or Notch Filter 2 (Pn28 to 2A).
• Adaptive filter may not operate correctly under the following conditions.
Resonance points
Load
Command pattern
Conditions under which the adaptive filter does not function properly
If the resonance frequency is 300 Hz or lower.
If the resonance peak or control gain is low, and the Servomotor speed is not affected by it.
If there are multiple points of resonance.
If the Servomotor speed with high-frequency components changes due to backlash or other non-linear elements.
If the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more in 0.1 s.
Operating Procedure
1. Set the Adaptive Filter Selection (Pn23) to 1.
The adaptive filter will be enabled.
Setting
0
1
2
Adaptive filter
Disabled
Enabled
Adaptive operation
---
Yes
Yes (hold)
Set the Adaptive Filter Selection to 2 if the resonance point may not have changed when the adaptive operation is completed (i.e., Pn2F does not change).
2. Write the data to the EEPROM if the results are to be saved.
10-115
10-7 Adjustment Functions
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 (Pn22) is increased, but this is not a problem if it disappears right away. If the unusual noise or vibration, however, continues for three or more reciprocating operations, take one or more of the following measures.
Write the parameters used during normal operation to the EEPROM.
Lower the Realtime Autotuning Machine Rigidity Selection (Pn22).
Disable the adaptive filter by setting the Adaptive Filter Selection (Pn23) to 0 (resetting the inertia estimation and the adaptive operation).
Manually set the notch filter.
• Once unusual noise or vibration occurs, the Adaptive Filter Table Number
Display (Pn2F) may have changed to an extreme value. In this case, also take the measures described above.
• The Adaptive Filter Table Number Display (Pn2F) is written to the
EEPROM every 30 minutes, and when the power supply is turned OFF and turned ON again, this data is used as the initial values for the adaptive operation.
• The adaptive filter is normally disabled when torque control is performed.
Automatically Set Parameters
The following parameters are set automatically.
Parameter No.
Pn10
Pn11
Pn12
Pn13
Pn14
Pn18
Pn19
Pn1A
Pn1B
Pn1C
Pn20
Parameter name
Position Loop Gain
Speed Loop Gain
Speed Loop Integration Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Inertia Ratio
10
10-116
10
10-7 Adjustment Functions
The settings for the following parameters are automatically set and cannot be changed. (The settings will not change even if realtime autotuning is executed.)
Parameter No.
Pn15
Pn16
Pn27
Pn30
Pn31
Pn32
Pn33
Pn34
Pn35
Parameter name
Speed Feed-forward Amount
Feed-forward Command Filter
Instantaneous Speed Observer Setting
Gain Switching Input Operating Mode Selection
Control Gain Switch 1 Setting
Gain Switch 1 Time
Gain Switch 1 Level Setting
Gain Switch 1 Hysteresis Setting
Position Loop Gain Switching Time
Set value
300
50
10
30
0
1
50
33
20
Note 1. Parameters that are automatically set cannot be changed if realtime autotuning is enabled.
Note 2. Pn31 is 10 when position control is used and the Realtime Autotuning Mode Selection
(Pn21) is set to 1 to 6. Otherwise, it is 0.
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 turns ON, or when the Realtime Autotuning Machine Rigidity Selection
(Pn22) is increased. This is not a problem if it disappears right away. If the unusual noise or vibration, however, continues for three 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 (Pn22).
Manually set the notch filter.
• Once unusual noise or vibration occurs, the Inertia Ratio (Pn20) 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 (Pn20) is automatically saved to the EEPROM every 30 minutes. Realtime autotuning will use this saved data as the default value when the power is turned OFF and turned ON again.
• The Instantaneous Speed Observer Setting (Pn27) will automatically be disabled (0) if realtime autotuning is enabled.
10-117
10-7 Adjustment Functions
10-7-3 Normal Mode Autotuning
Normal mode autotuning operates the Servomotor according to command patterns automatically created in the Servo Drive, then estimates the load inertia based on the torque required at that time and automatically sets the appropriate gain.
Position command
Motor acceleration
Normal mode autotuning
Internal position command generation
Estimated load inertia
Automatic gain adjustment
Torque command
Position/ speed control
Servomotor torque
Current control
Servomotor current
Servomotor
Servomotor speed
Encoder
Servo Drive
Precautions for Correct Use
• Normal mode autotuning operates under the following conditions.
Conditions under which normal mode autotuning operates
Control mode All control modes can be used.
Others
The servo is ON.
The deviation counter reset signal is not input.
Note Set the Torque Limit Selection (Pn03) to 1. Operation may be incorrect if the setting is not 1.
• Normal mode autotuning may not function properly under the conditions described in the following table. If normal mode autotuning does not function properly, use manual tuning.
Load inertia
Load
Conditions under which normal mode autotuning does not function properly
If the load inertia is too small or too large compared with the rotor inertia (i.e., less than 3 times, more than 20 times, or more than the applicable load inertia ratio).
If the load inertia changes.
If the machine rigidity is extremely low.
If there is backlash or play in the system.
Note 1. A tuning error will occur if an error occurs, the servo turns OFF, the main power supply is turned OFF, drive prohibit is enabled, or a deviation counter reset occurs while normal mode autotuning is in operation.
Note 2. If normal mode autotuning is executed, and the load inertia cannot be estimated, the gain will remain the same as it was before normal mode autotuning.
Note 3. When normal mode autotuning is being executed, the Servomotor output torque can be output to the maximum set in the No. 1 Torque Limit (Pn5E) parameter.
Note 4. Take sufficient care to ensure safety. If vibration occurs, immediately turn OFF the power supply or the servo and return the gain to the default by using the parameter settings.
10
10-118
10-7 Adjustment Functions
Normal Mode Autotuning Operation
• Normal mode autotuning sets the responsiveness with the machine rigidity number.
Machine Rigidity Numbers
The degree of rigidity for the machine used is set to a number from 0 to F. The higher the rigidity of the machine, the higher the rigidity number and gain that can be set. Normally, start with a low rigidity number, increase the number in sequence while repeating normal mode autotuning, and stop before oscillation, unusual noise, or vibration occurs.
• The operating pattern set in the Autotuning Operation Setting (Pn25) is repeated for up to five cycles. The operating acceleration doubles each cycle starting with the third cycle. Depending on the load, operation may end before completing five cycles or the operating acceleration may not change. This is not an error.
10
Normal Mode Autotuning Setting Method
1. Set the operating pattern using the Autotuning Operation Setting (Pn25) parameter.
2. Move the load to a safe position even if the Servomotor performs the operating pattern set in Pn25.
3. Prohibit the command.
4. Turn the servo ON.
5. Start normal mode autotuning.
Start normal mode autotuning from the front panel or by using CX-Drive.
6. Adjust the machine rigidity for the desired responsiveness at a level where vibration does not occur.
7. If there are no problems with the results, write the data to the EEPROM.
10-119
10-7 Adjustment Functions
Automatically Set Parameters
Normal Mode Autotuning
Parameter
No.
Parameter name
Rigidity No.
0 1 2 3 4 5 6 7 8 9 A B C D E F
Pn10 Position Loop Gain 12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557
Pn11 Speed Loop Gain
Pn12
Pn13
Pn14
Pn15
Pn16
Pn18
9 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310
Speed Loop
Integration Time
Constant
Speed Feedback
Filter Time
Constant
Torque Command
Filter Time
Constant
*2
Speed Feed- forward Amount
Feed-forward
Command Filter
Position Loop Gain
2
62
0
31
0
25
0
253 126 103
21
0
84
16
0
65
14
0
57
12
0
45
11
0
38
9
0
30
8
0
25
7
0
20
6
0
16
5
0
13
4
0
11
4
0
10
3
0
10
300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
50
19
50
38
50
46
50
57
50
73
50
84
50 50 50 50 50 50 50 50 50 50
105 126 157 188 241 293 356 440 524 649
Pn19 Speed Loop Gain 2 9 18 22 27 35 40 50 60 75 90 115 140 1170 210 250 310
Pn1A
Pn1B
Pn1C
Speed Loop
Integration Time
Constant 2
Speed Feedback
Filter Time
Constant 2
Torque Command
Filter Time
Constant 2
*2
Pn20 Inertia Ratio
999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999
0 0 0
253 126 103
0
84
0
65
0
57
0
45
0
38
0
30
0
25
0
20
Estimated load inertia ratio
0
16
0
13
0
11
0
10
0
10
Pn27
Pn30
Pn31
Instantaneous
Speed Observer
Setting
Gain Switching
Input Operating
Mode Selection
Control Gain Switch
1 Setting
*1
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
0
1
10
Pn32 Gain Switch 1 Time 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30
Pn33
Pn34
Pn35
Gain Switch 1 Level
Setting
Gain Switch 1
Hysteresis Setting
Position Loop Gain
Switching Time
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
50
33
20
• The parameters Pn15, Pn16, Pn1A, Pn30, and Pn32 to Pn36 are set to fixed values. For normal mode autotuning, the default rigidity is 2.
*1. The value is 10 for position control and 0 for speed and torque control.
*2. The lower limit is set to 10 if a 17-bit encoder is used and to 25 if a 2,500-pulse/revolution encoder is used.
10
10-120
10
10-7 Adjustment Functions
Front Panel Operating Procedure
1. Switch to the Normal Mode Autotuning from the Monitor Mode.
Press the Data key and then press the Mode key three times to change the mode.
rkkkkkkkkkkkkkkkk0
Servomotor rotation speed display (default display)
2. Input the machine rigidity number using the Increment and Decrement keys.
Cannot be set to 0 when using the Parameter Unit.
aktk_knkok0.
Machine rigidity No.
aktk_knkokf.
Machine rigidity No.: High
Press the key to move in the direction of the arrow.
Press the key to move in the opposite direction of the arrow.
aktk_knkok0.
Machine rigidity No.: Low
Drive system
Ball screw direct coupling
Ball screw and timing belt
Timing belt
Gears, rack and pinion drives
Machines with low rigidity, etc.
Machine rigidity No.
6 to C
4 to A
2 to 8
2 to 8
0 to 4
3. Press the Data key to enter the Monitor/Run Mode.
4. Press and hold the Increment key until the display changes to
The Servo will be ON for pin 29 of connector CN1.
.
10-121
10-7 Adjustment Functions
5. Press the Increment key for approx. 3 s.
The bar indicator will increase as shown in the following figure.
The Servomotor will start to rotate.
For a period of approximately 15 s, the Servomotor will make two revolutions in the forward/reverse direction, which will comprise one cycle and will be repeated up to five times. There is no problem if operation ends before five cycles have been completed.
aktkuk k k-.
aktkuk k-k-.
-k-k-k-k-k-.
sktkakrktk fkiknkikskh.
ekrkrkokrkkkk.
Tuning completed normally.
Tuning error occurred.
6. Write the data to the EEPROM so that the gain values are not lost when the power supply is shut off.
• Do not perform normal mode autotuning with the Servomotor or Servo Drive alone. The Inertia
Ratio (Pn20) will become 0.
Precautions for Correct Use
Problem
An error is displayed.
Values for Pn10 or other parameters related to gain are the same as before execution.
The load inertia cannot be estimated.
Likely cause
An alarm has occurred, the servo is
OFF, or the deviation counter is reset.
The Servomotor does not rotate.
The ECRST (pin 30) of CN1 is input.
Countermeasures
Do not operate the Servomotor near the Limit Switches or Origin
Proximity Sensor.
Turn the servo ON.
Release the deviation counter reset.
Lower Pn10 to 10 and Pn11 to
50, and then execute again.
Make the adjustment manually.
(Input the calculated load inertia.)
Turn OFF the ECRST (pin 30) of
CN1.
10
10-122
10-7 Adjustment Functions
10-7-4 Disabling the Automatic Gain
Adjustment Function
This section provides precautions for disabling realtime autotuning and the adaptive filter. These functions are enabled by default.
Precautions for Correct Use
• When disabling the automatic adjustment function, the RUN Command
Input (RUN) must be turned OFF.
Disabling Realtime Autotuning
By setting the Realtime Autotuning Mode Selection (Pn21) to 0, the automatic estimation of the
Inertia Ratio (Pn20) will stop, and realtime autotuning will be disabled.
However, the estimated Inertia Ratio (Pn20) will remain. If the Pn20 value is obviously incorrect, perform normal mode autotuning or calculate and set the appropriate value manually.
Precautions for Correct Use
• To enable the Realtime Autotuning Mode Selection (Pn21), turn OFF the
RUN Command Input (RUN), and then turn it back ON.
10
Disabling the Adaptative Filter
17
18
19
20
21
Pn2F Notch Filter 1 Frequency (Hz) Pn2F Notch Filter 1 Frequency (Hz) Pn2F Notch Filter 1 Frequency (Hz)
0 (Disabled) 22 766 44 326
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
(Disabled)
(Disabled)
(Disabled)
(Disabled)
1482
1426
1372
1319
1269
1221
1174
1130
1087
1045
1005
967
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
737
709
682
656
631
607
584
562
540
520
500
481
462
445
428
412
45
46
314
302
47 290
48 279
49 269 (Disabled when Pn22
F)
50 258 (Disabled when Pn22
F)
51 248 (Disabled when Pn22
F)
52 239 (Disabled when Pn22
F)
53 230 (Disabled when Pn22
F)
54 221 (Disabled when Pn22
E)
55 213 (Disabled when Pn22
E)
56 205 (Disabled when Pn22
E)
57 197 (Disabled when Pn22
E)
58 189 (Disabled when Pn22
E)
59 182 (Disabled when Pn22
D)
60 (Disabled)
930
895
861
828
796
39
40
41
42
43
396
381
366
352
339
61
62
63
64
(Disabled)
(Disabled)
(Disabled)
(Disabled)
10-123
10-7 Adjustment Functions
10-7-5 Manual Tuning
Basic Settings
As described before, the SMARTSTEP 2 750 W Model Servo Drives have an autotuning function.
Depending on load conditions or other restrictions, however, readjustment may be required if the gain cannot be properly adjusted when autotuning is performed or the optimum responsiveness or stability is required to match each load. This section describes how to perform manual tuning for each control mode and function.
Before Manual Setting
The front panel or the Parameter Unit can be used to adjust the Servomotor (machine) while monitoring the operation or noise, but 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 Servomotor speed, command speed, torque, and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device. Set the type of signal to be output and the output voltage level by setting the SP Selection (Pn07) and IM Selection
(Pn08).
10
CX-Drive Data Tracing
Commands to the Servomotor and Servomotor operation (e.g., speed, torque commands, and position deviation) can be displayed on a computer as waveforms. Refer to the CX-Drive Operation Manual (Cat. No. W453).
RS-232 connection cable
3
Connect to CN3B.
(Do not connect to CN3A.)
10-124
10
10-7 Adjustment Functions
Position Control Mode Adjustment
Use the following procedure to make adjustments in position control for the SMARTSTEP 2 750 W
Model.
Start of adjustment
Disable realtime autotuning (Pn21 = 0 or 7).
Set each parameter to the values in Table 1.
Never make extreme adjustment or changes to settings. Doing so will result in unstable operation and may lead to injuries. Adjust the gain in small increments while checking Servomotor operation.
Set the Inertia Ratio (Pn20) (value calculated at motor selection).
Operate with a normal operating pattern and load.
Positioning time and other operation performance satisfactory?
No
Yes
End of adjustment
Increase the Speed Loop Gain (Pn11), but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12), but not so much that it causes hunting when the servo is locked.
Does hunting (vibration) occur when the Servomotor is rotated?
No
Increase the Position Loop Gain (Pn10), but not so much that it causes overshooting.
Yes
Reduce the Speed Loop Gain (Pn11).
Increase the Speed Loop Integration Time
Constant (Pn12).
Write the data to EEPROM in the parameter write mode.
End of adjustment
If vibration does not stop no matter how many times you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn14).
Set the following parameters.
10-125
10-7 Adjustment Functions
Table 1: Parameter Adjustment Values
Pn18
Pn19
Pn1A
Pn1B
Pn1C
Pn1D
Pn1E
Pn20
Parameter No.
Pn10
Parameter name
Position Loop Gain
Pn11
Pn12
Speed Loop Gain
Speed Loop Integration Time Constant
Pn13
Pn14
Pn15
Pn16
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Speed Feed-forward Amount
Feed-forward Command Filter
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
Notch Filter 1 Frequency
Notch Filter 1 Width
Inertia Ratio
160
1500
2
*1
30
50
40
0
Guideline
30
50
40
0
160
0
0
*1.Input the Inertia Ratio (Pn20). The inertia ratio can be measured with normal mode autotuning or set to a calculated value. When the inertia ratio is unknown, enter 300 as the inertia ratio.
10
10-126
10-7 Adjustment Functions
Gain Switching Function
With manual tuning, Gain 1 and Gain 2 can be set manually. The gain can be switched according to the operation.
Switching from Gain 1 to Gain 2 can be used for the following applications.
• To increase responsiveness by increasing the gain during operation.
• To increase servo lock rigidity by increasing the gain when operation is stopped.
• To switch to an optimal gain according to the operating mode.
• To reduce the gain to suppress vibration when operation is stopped.
Operation
Status
Gain
Command speed
Stop
(Servo lock)
Low gain
(Gain 1)
Drive
High gain
(Gain 2)
1 ms 2 ms
Stop
(Servo lock)
Low gain
(Gain 1)
Time
Vibration is suppressed by lowering the gain.
Application Example
The example is for a case where noise is a problem when the Servomotor is stopped (servo lock), and the noise is reduced by switching to a lower gain setting after the Servomotor has stopped.
10
Parameter
No.
Parameter name
Pn10 Position Loop Gain
Pn11 Speed Loop Gain
Pn12
Pn13
Pn14
Speed Loop Integration Time
Constant
Speed Feedback Filter Time
Constant
Torque Command Filter Time
Constant
Pn15 Speed Feed-forward Amount
Pn16
Feed-forward Command
Filter
Pn18 Position Loop Gain 2
Pn19 Speed Loop Gain 2
Pn1A
Pn1B
Pn1C
Speed Loop Integration Time
Constant 2
Speed Feedback Filter Time
Constant 2
Torque Command Filter Time
Constant 2
Perform manual tuning without gain switching.
Set Gain 2
(Pn18 to Pn1C) to the same values as Gain
1 (Pn10 to
Pn14).
60
50
16
0
50
300
50
60
50
16
0
60
Set gain switching conditions
(Pn30 to Pn35).
Adjust Pn11 and Pn14
(for Gain 1) when stopped.
30
85
10-127
10-7 Adjustment Functions
Parameter
No.
Name
Perform manual tuning without gain switching.
Pn20 Inertia Ratio
Pn30
Gain Switching Input
Operating Mode Selection
Pn31 Control Gain Switch 1 Setting
Pn32 Gain Switch 1 Time
Pn33 Gain Switch 1 Level Setting
Pn34
Pn35
Gain Switch 1 Hysteresis
Setting
Position Loop Gain Switching
Time
Enter the value for load calculation if already known.
Perform normal mode autotuning and measure the inertia ratio.
The default is 300.
0
Set Gain 2
(Pn18 to Pn1C) to the same values as Gain
1 (Pn10 to
Pn14).
Set gain switching conditions
(Pn30 to Pn35).
1
7
30
0
0
0
Adjust Pn11 and Pn14
(for Gain 1) when stopped.
Setting Gain Switching Conditions
Position Control Mode (
: Relevant parameter enabled, ---: Disabled)
Gain Switch Setting
Pn31
Conditions for switching to gain 2
Figure
---
---
Setting parameters for position control mode
Gain Switch Time
*1
Gain Switch Level
Setting
Gain Switch Hysteresis
Setting
*2
Pn32 Pn33 Pn34
---
---
---
---
---
---
0 Always gain 1
1 Always gain 2
2
3
Switching using Gain Switch
Input (GSEL)
Amount of change in torque command
4 Always gain 1
5 Command speed
6 Amount of position deviation
7 Command pulses received
8
Positioning Completed
Output
9 Actual Servomotor speed
10
Combination of command pulse input and speed
---
---
A
---
C
D
F
C
G
---
---
---
---
(r/min)
*4
(pulse)
---
---
(r/min)
(r/min)
*6
---
*3
(0.05%/166
s)
*3
(0.05%/166
s)
---
(r/min)
*4
(pulse)
---
---
(r/min)
(r/min)
*6
10-128
10
10-7 Adjustment Functions
10
Machine Resonance Control
When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus not allowing the gain to be set to a high value. In this case, the resonance can be suppressed by using the two filter types.
Torque Command Filter (Pn14, Pn1C)
The filter time constant is set to attenuate the resonance frequency. The cut-off frequency can be calculated using the following equation.
Cut-off frequency (Hz) fc =
1
2
πT
=
1
2
π × parameter setting × 10
−5
Notch Filter
• Adaptive Filter (Pn23, Pn2F)
The SMARTSTEP 2 750 W Model Servo Drive use an adaptive filter to control vibration for loads that are difficult to handle with the previous notch filters and torque filters, such as when each device has a different resonance point. The adaptive filter is enabled by setting the Adaptive Filter
Selection (Pn23) to 1.
Parameter
No.
Pn23
Pn2F
Parameter name
Adaptive Filter
Selection
Adaptive Filter Table
Number Display
Explanation
1: The adaptive filter is enabled.
Displays the table number corresponding to the frequency for the adaptive filter.
The setting of this parameter cannot be changed.
• Notch Filters 1 and 2 (Pn1D, Pn1E, Pn28, Pn29, and Pn2A)
The SMARTSTEP 2 750 W Model Servo Drive provide two normal notch filters. Notch Filter 1 can be used to adjust the frequency and width, and Notch Filter 2 can be used to adjust frequency, width, and depth with parameters.
Parameter
No.
Parameter name Explanation
Pn1D
Pn1E
Pn28
Pn29
Pn2A
Notch Filter 1
Frequency
Notch Filter 1 Width
Notch Filter 2
Frequency
Notch Filter 2 Width
Notch Filter 2 Depth
Set 10% lower.
Set according to the characteristics of the resonance points.
Set 10% lower.
Set according to the characteristics of the resonance points.
10-129
10-7 Adjustment Functions
Automatic Gain Setting
Automatic gain setting initializes the control parameters and the gain switching parameters to gain settings for normal mode autotuning to match the rigidity before manual tuning is performed.
Precautions for Correct Use
• Stop operation before making changes when executing the automatic gain setting function.
Operating Procedure
Refer to Front Panel Display Example on page 113.
1. Stop operation.
2. Start the automatic gain setting function in the fit gain window on the front panel.
If the fit gain is completed normally, will be displayed, and if it is completed with an error. (The display can be cleared using the keys.)
will be displayed
3. Write data to the EEPROM if the results are to be saved.
Automatically Set Parameters
The following parameters are set automatically.
Parameter No.
Pn10
Pn11
Pn12
Pn13
Pn14
Pn18
Pn19
Pn1A
Pn1B
Pn1C
Parameter name
Position Loop Gain
Speed Loop Gain
Speed Loop Integration Time Constant
Speed Feedback Filter Time Constant
Torque Command Filter Time Constant
Position Loop Gain 2
Speed Loop Gain 2
Speed Loop Integration Time Constant 2
Speed Feedback Filter Time Constant 2
Torque Command Filter Time Constant 2
10
Settings for the following parameters are set automatically.
Parameter No.
Pn15
Pn16
Pn27
Pn30
Pn31
Pn32
Pn33
Pn34
Pn35
Parameter name
Speed Feed-forward Amount
Feed-forward Command Filter
Instantaneous Speed Observer Setting
Gain Switching Input Operating Mode Selection
Control Gain Switch 1 Setting
Gain Switch 1 Time
Gain Switch 1 Level Setting
Gain Switch 1 Hysteresis Setting
Position Loop Gain Switching Time
*1. The setting is 10 for position control and 0 for speed and torque control.
Set value
300
50
0
1
10
*1
30
50
33
20
10-130
10
10-7 Adjustment Functions
Instantaneous Speed Observer
The instantaneous speed observer improves speed detection accuracy, increases responsiveness, and reduces vibration at stopping by estimating the Servomotor speed using a load model.
Speed command
Speed control
Torque command
Current control
Servo- motor current
Servo- motor
Load
Estimated speed
Instantaneous
Speed Observer
Load model
To position control
Servo Drive
(Total inertia)
Feedback pulse
Encoder
Precautions for Correct Use
• The instantaneous speed observer cannot be used unless the following conditions are satisfied.
Control mode
Encoder
Conditions under which the instantaneous speed observer operates
Position control or speed control is used.
Pn02 = 0: Position control
Pn02 = 1: Internal Speed control
A 7-core absolute encoder is used.
• The instantaneous speed observer may not function properly or the effect may not be apparent under the following conditions.
Load
Others
Conditions under which the instantaneous speed observer does not function properly
If the margin of error with the actual device is too large for the inertia load of the
Servomotor and load combined.
Example : If there is a large resonance point at the frequency of 300 Hz or lower.
: There is a non-linear element, such as large backlash.
If the load inertia changes.
If a large disturbance torque with high-frequency elements is applied.
If the stabilization range for positioning is extremely small.
10-131
10-7 Adjustment Functions
Operating Procedure
1. Set the Inertia Ratio (Pn20).
Set the inertia ratio as correctly as possible.
• Use the Pn20 setting if the Inertia Ratio (Pn20) is found using realtime autotuning that can be used in normal position control.
• Input the calculated value if it is already known by load calculation.
• If the inertia ratio is not known, perform normal mode autotuning and measure the inertia.
2. Perform adjustments for normal position control.
3. Set the Instantaneous Speed Observer Setting (Pn27).
• Set the Instantaneous Speed Observer Setting (Pn27) to 1. The speed detection method will switch to Instantaneous Speed Observer.
• If the change in torque waveform or the operation noise is large, return the setting to 0 and check the precautions above as well as the Inertia Ratio (Pn20) again.
• If the change in torque waveform or the operation noise is small, make small adjustments in the
Inertia Ratio (Pn20) to find the setting that makes the smallest change while monitoring the position deviation waveform and the actual speed waveform. If the Position Loop Gain or Speed
Loop Gain is changed, the optimal setting for the Inertia Ratio (Pn20) may have changed, so set it again by making small adjustments.
10
10-132
10
10-7 Adjustment Functions
Vibration Control
When the machine end vibrates, vibration control removes the vibration frequency from the commands, reducing vibration.
Vibrating end
Set the frequency of the vibrating end.
Vibration measured with Displacement Sensor
Position command
Control filter
Position/ speed control
Servo Drive
Servomotor
Position controller
Torque com- mand Current control
Servo- motor
Move- ment
Coupling
Moving body
Load
Ball screw
Machine table
Feedback pulse
Servo Drive
Encoder
Precautions for Correct Use
• The following conditions must be met to use vibration control.
Control Mode
Conditions under which vibration control operates
The Position Control Mode must be used.
Pn02 = 0: Position control
• Stop operation before changing the parameters or switching with DFSEL/PNSEL.
• Under the following conditions, vibration control may not operate properly or may have no effect.
Load
Conditions under which the effect of vibration control is inhibited
If forces other than commands, such as external forces, cause vibration.
If the ratio of the resonance frequency to anti-resonance frequency is large.
If the vibration frequency is outside the range of 10.0 to 200.0 Hz.
10-133
10-7 Adjustment Functions
Operating Procedure
1. Setting the Vibration Frequency (Frequency 1: Pn2B, Frequency 2: Pn2D)
Measure the vibration frequency at the end of the machine. When the end vibration can be measured directly using a laser displacement sensor, read the vibration frequency f (Hz) from the waveform measurement and set it as the Vibration Frequency (Pn2B, Pn2D). If no measurement device is available, use CX-Drive data tracing function, and read the residual vibration frequency
(Hz) from the position deviation waveform as shown in the following figure.
Command speed
Position deviation
Calculation of vibration frequency
Vibration cycle T
• The following gives the vibration frequency in the figure.
f (Hz) =
1
T(s)
(Pn2B, Pn2D) = 10
f
• Example:
When the vibration cycle is 100 ms and 20 ms, the vibration frequency is 10 Hz and 40 Hz, therefore set Pn2B = 100, Pn2D = 400.
2. Setting the Vibration Filter (Filter 1: Pn2C, Filter 2: Pn2E)
First, set the Vibration Filter (Pn2C, Pn2E) 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.
Vibration filter setting appropriate
Vibration filter setting too large
Torque saturation
10
Torque command
• The vibration filter setting is restricted by the following equation.
10.0 Hz
Vibration frequency Vibration filter setting Vibration frequency
3. Set the Vibration Filter Selection (Pn24).
Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration.
Pn24
0
1
2
Switching mode
No switching (1 and 2 both enabled)
Switching with DFSEL/PNSEL input
Open: Vibration filter 1
Closed: Vibration filter 2
Switching with command direction
Forward operation: Vibration filter 1
Reverse operation: Vibration filter 2
10-134
10-8 Troubleshooting
10-8 Troubleshooting
10-8-1 Alarm Table
If the Servo Drive detects an error, the Alarm Output (ALM) will turn ON, the power drive circuit in the Servo Drive will turn OFF, and the alarm code will be displayed
Precautions for Correct Use
• Reset the alarm using one of the following methods. Remove the cause of the alarm first.
• Turn ON the Alarm Reset Input (RESET).
• Turn OFF the power supply, then turn it ON again.
• Reset the alarm on the Parameter Unit.
Note, however, that some alarms can only be cleared by recycling the power
(turn ON
OFF ON).
• If you clear an alarm while the RUN Command Input (RUN) is turned ON, the Servo Drive will start operation as soon as the alarm is cleared, which is dangerous. Be sure to turn OFF the RUN Command Input (RUN) before clearing the alarm. If the RUN Command Input (RUN) is always ON, first check safety sufficiently before clearing the alarm.
10
Alarms
Only shows the alarm codes that are different than in the previous sections. For the other alarm codes refer to Chapter 8-Troubleshooting.
Alarm code
Error detection function
13 Main power supply undervoltage
24 Deviation counter overflow
26 Overspeed
27 Electronic gear setting error
45 Multi-turn counter error
49 Encoder PS signal error
Detection details and cause of error
The DC voltage of the main circuit is low.
The number of accumulated pulses in the deviation counter exceeded the setting for the Deviation Counter Overflow Level
(Pn70).
The Servomotor exceeded the maximum number of rotations.
The setting for the electronic gear ratio
(Pn48 to 4B) is not appropriate.
Incremental encoder phase-AB signal error was detected.
A logic error was detected in the PS signal.
Alarm reset possible
Yes
Yes
Yes
Yes
No
No
10-135
10-8 Troubleshooting
10-8-2 Troubleshooting
Error Diagnosis Using the Displayed Alarm Codes
Alarm code
13
24
Error
Main power supply undervoltage
Deviation counter overflow
(Continued on next page)
Status when error occurs Cause Countermeasure
Occurs when the Servo
Drive is turned ON.
Occurs when power supply is turned ON.
Occurs when the
Servomotor does not rotate even when command pulses are input.
Occurs during highspeed rotation.
Occurs when a long string of command pulses is given.
The power supply
voltage is low.
Momentary power
interruption occurred.
Power supply capacity is insufficient.
The power supply
voltage is reduced beacuse the main
power supply is OFF.
The main power supply is not input.
Phase loss.
Check the power
supply capacity.
Change the power supply.
Turn ON the power supply.
Extend the
Momentary Hold Time
(Pn6D).
Correctly connect the phases of the power supply voltage.
Correctly connect the single phase.
Replace the Servo
Drive.
The main circuit power supply is damaged.
Control PCB error.
The Servomotor
power wiring or the
encoder wiring is
incorrect.
The Servomotor is mechanically being held.
Correct the wiring.
Control PCB error.
If the Servomotor shaft is held by
external force, release it.
Release the
electromagnetic brake.
Replace the Servo
Drive.
Correct the wiring.
The Servomotor
power wiring or the
encoder wiring is
incorrect.
Gain adjustment is
insufficient.
The acceleration and deceleration rapid.
Adjust the gain
The load is too large.
Extend the
acceleration and
deceleration times.
Reduce the load.
Select a suitable
Servomotor.
10-136
10
10-8 Troubleshooting
10
Alarm code
24
26
27
45
49
Error Status when error occurs Cause Countermeasure
Deviation counter overflow
(Continued from previous page)
Overspeed
Electronic gear setting error
Multi-turn counter error
Encoder PS signal error
Occurs during operation.
Occurs during highspeed rotation.
Occurs when torque limit switching is used.
Occurs when command signal is input or command is input.
Occurs when the power supply is turned ON.
Occurs during operation.
The setting for the
Deviation Counter
Overflow Level (Pn70) was exceeded.
The speed command input is too large.
Increase the setting of
Pn70.
Reduce the rotation speed.
Lighten the load.
Extend the
acceleration and
deceleration time.
Set the command pulse frequency to
500 kpps max.
Set Pn48 and Pn49 so that the command pulse frequency is
500 kpps max.
The setting for the
Electronic Gear Ratio
Numerator (Pn48 or
Pn49) is not
appropiate.
The maximum number of rotations is
exceeded due to
overshooting.
The encoder wiring is incorrect.
Adjust the gain.
Reduce the maximum command speed.
Correct the wiring.
The Overspeed
Detection Level
Setting (Pn73) has ben exceeded.
The setting for the
Electronic Gear Ratio
Numerator (Pn48 to
Pn49) is not
appropiate.
If torque limit
switching is used,
correctly set the
allowable operating speed for Pn73.
Set Pn48 and Pn49 so that the command pulse frequency is 500 kpps max.
The encoder is faulty.
Replace the
Servomotor.
A logic error was
detected in the PS
signal from the
encoder.
Replace the
Servomotor.
10-137
10-8 Troubleshooting
10-8-3 Overload Characteristics
(Electronic Thermal Function)
An overload protection (electronic thermal) function is built into the Servo Drive to protect the Servo
Drive and Servomotor from overloading.
If an overload does occur, first eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning ON the power again.
If the power is turned ON again repeatedly at short intervals, the Servomotor windings may burn out.
Overload Characteristics Graph
The following graph show the characteristics of the load rate and electronic thermal function’s operation time.
Time (s)
100
750 W
10
1
0.1
100
115
150 200 250 300 Torque (%)
When the torque command = 0, and a constant torque command is continuously applied after three or more times the overload time constant has elapsed, the overload time t [s] will be: t [s] =
Overload time constant [s]
log e
(1
Overload level [%] / Torque command [%])
2
(The overload time constant [s] depends on the Servomotor. The standard overload level is 115%.)
Precautions for Correct Use
• Overload (alarm code 16) cannot be reset for approximately 10 seconds after its occurrence.
10
10-138
Index
Numerics
12 to 24-VDC Power Supply Input (24VIN) ........... 10-19
24-V Open-collector Input for Command Pulse
(+24VCW).............................................................. 10-19
3,000-r/min Flat Servomotors .................................... 2-2
3,000-r/min Servomotors ........................................... 2-1
90-degree Phase Difference Pulse Input (Phase A)
(FA)........................................................................ 10-19
90-degree Phase Difference Pulse Input (Phase B)
(FB)........................................................................ 10-19
90-degree Phase Difference Signal......................... 3-11
A
A2- Standard Models and Dimensions Appendix-6. 10-1
adaptive filter .................................................... 7-5, 7-14
Adaptive Filter Selection (Pn23) ............................ 10-79
Adaptive Filter Table Number Display (Pn2F) ....... 10-82
alarm LED indicator ................................................... 1-4
alarm output...................................................... 3-13, 6-2
Alarm Output (/ALM)................................... 10-21, 10-25
alarm reset input........................................................ 3-9
Alarm Reset Input (RESET) ....................... 10-20, 10-23
alarm table........................................................... 10-135
ALM .................................................................. 3-13, 6-2
applicable load inertia.............................................. 3-25
autotuning.................................................................. 7-8
Autotuning Operation Setting (Pn25)..................... 10-79
autotuning table ................................................... 10-120
B
BKIR ...................................................... 3-14, 5-58, 5-59
Brake Cables ............................................................. 2-5
Brake Interlock....................................... 3-14, 5-58, 5-59
Brake Interlock Output (BKIR) ............................... 10-21
Brake Timing during Operation (Pn6B) ............... 10-101
Brake Timing When Stopped (Pn6A) .................. 10-101
C
CCW ........................................................................ 3-11
check pins................................................................ 10-3
clamp cores ............................................................. 4-21
Command Pulse Input Selection (Pn40) ............... 10-88
Command Pulse Mode (Pn42) .............................. 10-89
Command Pulse Prohibited Input (Pn43) .............. 10-89
Command Speed Selection (Pn05) ....................... 10-69
connecting cables.................................................. 10-42
Connector Terminal Block Cables ......................... 10-38
Connector-Terminal Block Cables............. 2-8, 3-45, 4-8
Connector-Terminal Block Conversion Unit . 3-46, 10-39
Connector-Terminal Block Conversion Units...... 2-9, 4-8
contactors ..................................................... 4-23, 10-46
Control Gain Switch 1 Setting (Pn31).................... 10-83
Control I/O Connectors..................................... 2-6, 3-40
control I/O connectors ........................................... 10-33
control input signals............................................... 10-19
Control Mode Selection (Pn02) ............................. 10-68
Copy Mode .............................................................. 6-20
CW........................................................................... 3-11
D
damping control ....................................................... 7-23
Default Display (Pn01)........................................... 10-67
Deviation Counter Overflow Level (Pn70) ........... 10-103
Deviation Counter Reset Condition Setting (Pn4E) 10-94
Deviation Counter Reset Input .................................. 3-9
Deviation Counter Reset Input (ECRST).... 10-20, 10-23
DIN Rail Mounting Unit .............................................. 2-9
dimensions....................................................... 2-18
Direction Signal ....................................................... 3-11
Direction Signal (SIGN) ......................................... 10-19
disabling realtime autotuning............................... 10-123
Drive Prohibit Input Selection (Pn04) .................... 10-69
E
EC Directives............................................................. 1-6
ECRST ...................................................................... 3-9
electronic gear .................................................. 5-9, 5-50
Electronic Gear Ratio Denominator (Pn4B)........... 10-92
Electronic Gear Ratio Numerator 1 (Pn48)............ 10-91
Electronic Gear Ratio Numerator 2 (Pn49)............ 10-91
Electronic Gear Ratio Numerator Exponent (Pn4A) 10-91
Electronic Gear Switch ............................................ 3-10
Electronic Gear Switch (GESEL)........................... 10-20
EMC Directives........................................................ 4-13
Emergency Stop Torque (Pn6E) ......................... 10-103
Encoder Cables ....................................... 2-4, 3-26, 4-24
encoder connector specifications (CN2)................ 10-25
Encoder Connectors................................................ 3-15
Encoder Divider Denominator Setting (Pn45) ....... 10-90
Encoder Divider Numerator Setting (Pn44) ........... 10-90
encoder dividing ............................................... 5-8, 5-49
Encoder Input Connector (CN2) ................................ 2-6
Encoder Output Direction Switch (Pn46)............... 10-91
encoder outputs (phases A, B, and Z)................... 10-24
Encoder Phase-A - Output (-A) ............................. 10-21
Encoder Phase-A + Output (+A)............................ 10-21
Encoder Phase-B - Output (-B) ............................. 10-21
Encoder Phase-B + Output (+B)............................ 10-21
Encoder Phase-Z - Output (-Z).............................. 10-21
Encoder Phase-Z + Output (+Z) ............................ 10-21
encoder specifications ............................................. 3-25
error diagnosis using the displayed alarm codes 10-136
External Regeneration Resistor Connection Cables 3-37
External Regeneration Resistors............. 2-9, 2-16, 4-30
dimensions....................................................... 2-16
specifications ................................................... 3-77
F
Feed Pulse .............................................................. 3-11
Feed Pulse (PULS)................................................ 10-19
feedback output ....................................................... 3-14
Feed-forward Amount (Pn15) ................................ 10-76
Feed-forward Command Filter (Pn16)................... 10-76
Forward Drive Prohibit Input........................... 3-11, 5-33
Forward Drive Prohibit Input (POT) ............ 10-19, 10-23
Forward Pulse ......................................................... 3-11
Forward Pulse (CCW) ........................................... 10-19
Forward Pulse (CCWLD)....................................... 10-20
Frame Ground (FG)............................................... 10-21
Front Key Protection Setting (Pn0E) ..................... 10-73
G
Gain Switch ............................................................. 3-10
Gain Switch (GSEL) .............................................. 10-19
Gain Switch 1 Hysteresis Setting (Pn34)............... 10-86
Gain Switch 1 Level Setting (Pn33)....................... 10-86
Gain Switch 1 Time (Pn32).................................... 10-85
gain switching function ........................................ 10-127
Gain Switching Input Operating Mode Selection
(Pn30).................................................................... 10-83
General-purpose Control Cables.... 2-8, 3-43, 4-8, 10-36
General-purpose Output 1 (OUTM1)..................... 10-21
General-purpose Output 1 Selection (Pn0A)......... 10-72
General-purpose Output 2 (OUTM2)..................... 10-21
General-purpose Output 2 Selection (Pn09) ......... 10-71
General-purpose Output Common (COM) ............ 10-21
GESEL..................................................................... 3-10
GSEL ....................................................................... 3-10
I
IM Selection (Pn08) ............................................... 10-71
Inertia Ratio (Pn20) ............................................... 10-78
INP.................................................................. 3-13, 5-55
instantaneous speed observer ............................ 10-131
Instantaneous Speed Observer Setting (Pn27)..... 10-80
internally set speed control........................................ 5-4
Internally Set Speed Selection 1 ............................. 3-10
Internally Set Speed Selection 1 (VSEL1)............. 10-20
Internally Set Speed Selection 2 ............................... 3-9
Internally Set Speed Selection 2 (VSEL2)............. 10-20
Internally Set Speed Selection 3 (VSEL3)............. 10-20
J
jog operation............................................................ 6-19
Jog Speed (Pn3D) ................................................. 10-87
L
leakage breakers ..................................................... 4-18
M
machine rigidity numbers..................................... 10-119
Main Circuit Connector .............................. 2-6, 3-3, 3-39
main circuit connector............................................ 10-17
Main Circuit Connector Specifications (CNA)........ 10-17
Momentary Hold Time (Pn6D)............................. 10-102
Motion Control Unit Cables.................................... 10-33
motor rotation directions .......................................... 3-16
Index
N
NFB ......................................................................... 4-17
No. 1 Internally Set Speed (Pn53)......................... 10-95
No. 1 Torque Limit (Pn5E)..................................... 10-96
No. 2 Internally Set Speed (Pn54)......................... 10-95
No. 2 Torque Limit (Pn5F) ..................................... 10-96
No. 3 Internally Set Speed (Pn55) 10-95, 10-103, 10-104
No. 4 Internally Set Speed (Pn56)......................... 10-95
noise filters for power supply input ................. 4-20, 4-26
noise filters for Servomotor output........................... 4-26
noise resistance....................................................... 4-25
non-fuse breakers.................................................... 4-17
NOT ................................................................ 3-11, 5-33
Notch Filter 1 Frequency (Pn1D)........................... 10-77
Notch Filter 1 Width (Pn1E)................................... 10-77
Notch Filter 2 Depth (Pn2A) .................................. 10-80
Notch Filter 2 Frequency (Pn28) ........................... 10-80
Notch Filter 2 Width (Pn29) ................................... 10-80
notch filters .............................................................. 7-21
O
oil seal ....................................................................... 4-4
Operation Switch When Using Absolute Encoder
(Pn0B) ................................................................... 10-72
Overload Detection Level Setting (Pn72) ............ 10-103
overrun limit .................................................... 5-16, 5-41
Overrun Limit Setting (Pn26) ................................. 10-80
Overspeed Detection Level Setting (Pn73) ......... 10-103
P
parameter details................................................... 10-67
Parameter Unit .......................................... 2-2, 3-76, 6-4
dimensions....................................................... 2-15
specifications ................................................... 3-76
Personal Computer Monitor Cables ................. 2-6, 3-38
phase-Z output ........................................................ 3-14
Phase-Z Output (Z)................................................ 10-21
Phase-Z Output Common (ZCOM)........................ 10-21
pin arrangement .................................................... 10-22
Position Command Filter Time Constant Setting
(Pn4C) ................................................................... 10-93
position control .......................................................... 5-1
Position Control Mode ......................................... 10-125
Position Loop Gain (Pn10) .................................... 10-74
Position Loop Gain 2 (Pn18) ................................. 10-76
Position Loop Gain Switching Time (Pn35) ........... 10-86
Positioning Completed Output........................ 3-13, 5-55
Positioning Completed Output (INP) .......... 10-21, 10-25
Positioning Completion Condition Setting (Pn63).. 10-98
Positioning Completion Range (Pn60) .................. 10-97
POT ................................................................ 3-11, 5-33
Power Cables
three-phase .............................................. 3-36
Power Supply Cables ......................................... 2-6, 4-7
power supply LED indicator....................................... 1-4
PULS ....................................................................... 3-11
Pulse Prohibit Input (IPG)........................... 10-20, 10-23
PWR .......................................................................... 1-4
Index
R
R7A-CMB01A ............................................................ 3-3
R7A-CNB01A .......................................................... 3-40
R7A-CNB01P ................................................... 3-3, 3-39
radio noise filters ..................................................... 4-21
Reactors .................................................................... 2-9
dimensions....................................................... 2-17
specifications ................................................... 3-78
realtime autotuning .................................................... 7-3
Realtime Autotuning Machine Rigidity Selection
(Pn22).................................................................... 10-78
Realtime Autotuning Mode Selection (Pn21)......... 10-78
Regeneration Resistor Selection (Pn6C)............. 10-102
regenerative energy................................................. 4-28
RESET....................................................................... 3-9
Reverse Drive Prohibit Input........................... 3-11, 5-33
Reverse Drive Prohibit Input (NOT)............ 10-19, 10-23
Reverse Pulse ......................................................... 3-11
Reverse Pulse (CW).............................................. 10-19
Reverse Pulse (CWLD) ......................................... 10-20
Robot Cables for Brakes ........................................... 4-6
Robot Cables for Encoders ....................................... 4-6
Robot Cables for Servomotor Power......................... 4-6
Rotation Speed for Motor Rotation Detection (Pn62) 10-98
rotational speed characteristics for 3,000-r/min
Servomotors .......................................................... 10-27
RS-232 Baud Rate Setting (Pn0C)........................ 10-73
RS-485 Baud Rate Setting (Pn0D)........................ 10-73
RUN........................................................................... 3-9
RUN Command (RUN) ............................... 10-20, 10-23
RUN Command Input ................................................ 3-9
S
S-curve Acceleration/Deceleration Time Settings
(Pn5A) ................................................................... 10-96
Sensor ON Input (SEN) ......................................... 10-19
Servo Drive functions .............................................. 10-3
Servo Drives .............................................................. 2-1
characteristics .................................................... 3-2
dimensions....................................................... 2-10
general specifications ........................................ 3-1
Servo Ready Output (READY) ................... 10-21, 10-24
Servo Relay Units............................................... 2-7, 4-7
Position Control Unit Cables .............................. 2-8
specifications............................................ 3-64
Servo Drive Cables ............................................ 2-7
specifications................................... 3-61, 3-63
Servomotor connector specifications (CNB).......... 10-17
Servomotor Connectors............................. 2-6, 3-3, 3-40
Servomotor Power Cables
specifications ................................................... 3-29
Servomotor Rotation Speed Detection Output 3-13, 5-56
Servomotor Rotation Speed Detection Output
(TGON)....................................................... 10-21, 10-25
Servomotors .............................................................. 2-1
3,000-r/min Flat Servomotors
characteristics .......................................... 3-19
dimensions ............................................... 2-14
torque and rotation speed characteristics 3-22
3,000-r/min Servomotors
characteristics .......................................... 3-17
dimensions ............................................... 2-12
torque and rotation speed characteristics 3-21
general specifications ...................................... 3-16
SIGN........................................................................ 3-11
Smoothing Filter Setting (Pn4D)............................ 10-93
Soft Start Acceleration Time (Pn58) ...................... 10-95
Soft Start Deceleration Time (Pn59)...................... 10-95
SP Selection (Pn07) .............................................. 10-70
Speed Feedback Filter Time Constant (Pn13) ...... 10-76
Speed Feedback Filter Time Constant 2 (Pn1B)... 10-77
Speed Loop Gain (Pn11)....................................... 10-75
Speed Loop Gain 2 (Pn19).................................... 10-76
Speed Loop Integration Time Constant (Pn12) ..... 10-75
Speed Loop Integration Time Constant 2 (Pn1A).. 10-77
Standard Cables for Encoders .................................. 4-6
Standard Cables for Servomotor Power.................... 4-6
Stop Selection for Alarm Generation (Pn68) ....... 10-100
Stop Selection for Drive Prohibition Input (Pn66) .. 10-99
Stop Selection with Main Power OFF (Pn67) ...... 10-100
Stop Selection with Servo OFF (Pn69)................ 10-101
surge absorbers....................................................... 4-19
surge suppressors ................................................... 4-23
T
TGON ............................................................. 3-13, 5-56
TLSEL...................................................................... 3-10
Torque Command Filter Time Constant (Pn14) .... 10-76
Torque Command Filter Time Constant 2 (Pn1C). 10-77
torque limit ...................................................... 5-15, 5-54
Torque Limit Selection (Pn03) ............................... 10-68
Torque Limit Switch ................................................. 3-10
Torque Limit Switch (TLSEL)................................. 10-19
U
UL standards ............................................................. 1-6
Undervoltage Alarm Selection (Pn65) ................... 10-99
Unit No. Setting (Pn00).......................................... 10-67
unit No. switch ......................................................... 10-3
V
Vibration Filter 1 Setting (Pn2C)............................ 10-81
Vibration Filter 2 Setting (Pn2E) ............................ 10-81
Vibration Filter Selection (Pn24)............................ 10-79
Vibration Filter Switch (DFSEL)............................. 10-19
Vibration Frequency 1 (Pn2B) ............................... 10-80
Vibration Frequency 2 (Pn2D) ............................... 10-81
VSEL1 ..................................................................... 3-10
VSEL2 ....................................................................... 3-9
VZERO ............................................................. 3-10, 5-4
W
Index
X
XW2B-20J6-1B........................................................ 3-51
XW2B-20J6-3B........................................................ 3-53
XW2B-20J6-8A........................................................ 3-54
XW2B-40J6-2B........................................................ 3-52
XW2B-40J6-9A........................................................ 3-56
XW2B-80J7-12A...................................................... 3-57
XW2Z-_J-A10 .......................................................... 3-67
XW2Z-_J-A11 .......................................................... 3-68
XW2Z-_J-A14 .......................................................... 3-69
XW2Z-_J-A15 .......................................................... 3-70
XW2Z-_J-A18 .......................................................... 3-71
XW2Z-_J-A19 .......................................................... 3-72
XW2Z-_J-A28 .......................................................... 3-74
XW2Z-_J-A3 ............................................................ 3-64
XW2Z-_J-A30 .......................................................... 3-75
XW2Z-_J-A33 .......................................................... 3-73
XW2Z-_J-A6 ............................................................ 3-65
XW2Z-_J-A7 ............................................................ 3-66
XW2Z-_J-B29 .......................................................... 3-61
XW2Z-_J-B30 .......................................................... 3-62
XW2Z-_J-B32 .......................................................... 3-63
Z
Zero Speed Designation................................... 3-10, 5-4
Zero Speed Designation Input (VZERO) ............... 10-19
Zero Speed Designation/Speed Command Direction
Switch (Pn06) ........................................................ 10-70
Zero Speed Detection (Pn61)................................ 10-97
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.
Cat. No. I561-E2-01
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Revision code
01
Date
Dec 2011 750 W Servo Drive included.
Revised content
R-1
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Cat. No. I561-E2-01
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Key Features
- Compact AC Servo Drives
- Suppressing Vibration of Low-rigidity Mechanisms During Acceleration/Deceleration
- High-speed Positioning via Resonance Suppression Control
- Compatible with Command Pulse of 90 Phase Difference Inputs
- A Wide Range of Pulse Setting Functions
- Simplified Speed Control with Internal Speed Settings
- Encoder Dividing Output Function
