Omron R88D-UP04W, R88D-UP08H, R88D-UP12H, R88D-UP20V User Manual

Thank you for choosing this OMNUC UP-series product.

This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC

UP-series products along with parameter settings for the operation of the products.

S Make sure that actual users of this product will read this manual thoroughly and handle and operate the product with care.

S Retain this manual for future reference.

S This manual describes the specifications and functions of the product and relations with other products. Assume that nothing described in this manual is possible.

S Specifications and functions may change without notice to improve product performance.

S Forward and reverse rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows: counterclockwise rotation (CCW) is forward and clockwise rotation (CW) is reverse.

General Instructions

1. Refer to Precautions first and carefully read and be sure to understand the information provided.

2. Familiarize yourself with this manual and understand the functions and performance of the Servomotor and Servo Driver for proper use.

3. The Servomotor and Servo Driver must be wired and the Parameter Unit must be operated by experts in electrical engineering.

4. We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed.

S Precautions on the dangers of high-voltage equipment.

S Precautions on touching the terminals of the product even after power has been turned off. (These terminals are live even with the power turned off.)

5. Do not perform withstand voltage or other megameter tests on the product. Doing so may damage internal components.

6. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life.

7. Do not set any parameter not described in this manual, otherwise the Servomotor or Servo Driver may malfunction. Contact your OMRON representatives if you have any inquiry.

8. The functions and specifications differ for the various models, as shown below. Be sure to check which models are being used before proceeding.

S HA/LA/V/W AC Servo Drivers: R88D-UP jj HA, R88D-UP jj LA, R88D-UP jj V, and R88D-UP jj W

S H/L AC Servo Drivers: R88D-UP jj H and R88D-UP jj L

NOTICE

Before using the product under the following conditions, consult your OMRON representatives, make sure that the ratings and performance characteristics of the product are good enough for the systems, machines, or equipment, and be sure to provide the systems, machines, or equipment with double safety mechanisms.

1. Conditions not described in the manual.

2. The application of the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, or safety equipment.

3. The application of the product to systems, machines, or equipment that may have a serious influence on human life and property if they are used improperly.

Items to Check After Unpacking

Check the following items after removing the product from the package:

S Has the correct product been delivered (i.e., the correct model number and specifications)?

S Has the product been damaged in shipping?

The product is provided with this manual. No connectors or mounting screws are provided.

USER’S MANUAL

OMNUC U

SERIES

MODELS R88M-U

j

(AC Servomotors)

MODELS R88D-UP

j

(AC Servo Drivers)

AC SERVOMOTORS/DRIVERS (30 to 750-W Pulse-train Inputs)

No. 6182

OMRON Corporation

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING 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.

1

No. 6182

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR

PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO

ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED

FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof.

2

No. 6182

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other reasons.

It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and

Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

3

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

!

DANGER

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

!

WARNING

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

!

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient operation of the product.



OMRON, 1994

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein.

Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

General Warnings

Observe the following warnings when using the OMNUC Servomotor and Servo Driver.

This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail. Make sure that these protective covers are on the product before use.

Consult your OMRON representative when using the product after a long period of storage.

!

WARNING

Always connect the frame ground terminals of the Servo Driver and the Servomotor to a class-3 ground (to 100

Ω

or less). Not connecting to a class-3 ground may result in electric shock.

!

WARNING

Do not touch the inside of the Servo Driver. Doing so may result in electric shock.

!

WARNING

Do not remove the front cover, terminal covers, cables, Parameter Units, or optional items while the power is being supplied. Doing so may result in electric shock.

!

WARNING

Operation, maintenance, or inspection must be performed by authorized personnel.

Not doing so may result in electric shock or injury.

!

WARNING

Wiring or inspection must be performed at least 5 minutes after turning off the power supply. Doing so may result in electric shock.

!

WARNING

Do not damage, press, or put excessive stress or heavy objects on the cables. Doing so may result in electric shock.

!

WARNING

Do not touch the rotating parts of the Servomotor under operation. Doing so may result in injury.

!

WARNING

Do not modify the product. Doing so may result in injury or damage to the product.

!

Caution

!

Caution

Use the Servomotors and Servo Drivers in a specified combination. Doing so may result in fire or damage to the products.

Do not store or install in the following places. Doing so may result in fire or damage to the Product.

S

Locations subject to direct sunlight.

S

Locations subject to temperatures or humidity outside the range specified in the specifications.

S

Locations subject to condensation as the result of severe changes in temperature.

S

Locations subject to corrosive or flammable gases.

S

Locations subject to dust (especially iron dust) or salts.

S

Locations subject to shock or vibration.

S

Locations subject to exposure to water, oil, or chemicals.

!

Caution Do not touch the Servo Driver radiator or Servomotor while the power is being supplied or soon after the power is turned off. Doing so may result in a skin burn due to the hot surface.

Storage and Transportation Precautions

!

Caution Do not hold by the cables or motor shaft while transporting the product. Doing so may result in injury or malfunction.

!

Caution

!

Caution

Do not place any load exceeding the figure indicated on the product. Doing so may result in injury or malfunction.

Use the motor eye-bolts only for transporting the Motor. Using them for transporting the machinery may result in injury or malfunction.

Installation and Wiring Precautions

!

Caution Do not step on or place a heavy object on the product. Doing so may result in injury.

!

Caution

!

Caution

Do not cover the inlet or outlet ports and prevent any foreign objects from entering 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.

!

Caution

!

Caution

!

Caution

!

Caution

!

Caution

!

Caution

Provide the specified clearances between the Servo Driver and the control panel or with other devices. Not doing so may result in fire or malfunction.

Do not apply any strong impact. 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 screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

Always use the power supply voltage specified in the User’s Manual. An incorrect voltage may result in malfunction or burning.

!

Caution

!

Caution

!

Caution

!

Caution

Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

Provide an appropriate stopping device on the machine side to secure safety. (A holding brake is not a stopping device for securing safety.) Not doing so may result in injury.

Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption. Not doing so may result in injury.

!

Caution Take appropriate and sufficient countermeasures when installing systems in the following locations:

S Locations subject to static electricity or other forms of noise.

S

Locations subject to strong electromagnetic fields and magnetic fields.

S

Locations subject to possible exposure to radioactivity.

S

Locations close to power supplies.

Operation and Adjustment Precautions

!

Caution Check the newly set parameters for proper execution before actually running them.

Not doing so may result in equipment damage.

!

Caution

!

Caution

!

Caution

!

Caution

!

Caution

Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury.

Separate the Servomotor from the machine, check for proper operation, and then connect 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 come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) 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.

Maintenance and Inspection Precautions

!

WARNING

Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.

!

Caution Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in an unexpected operation.

Warning Labels

Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there.

Warning labels

Warning Labels for Non-conforming Models

Warning label 1

Warning label 2

Warning Labels for Models Conforming to EC Directives

Warning label 2

Warning label 1

VISUAL INDEX

For users who wish to operate soon.

-

The following portions of this manual provide the minimum information required for operation.

Be sure you fully understand at least the information in these portions before attempting operation.

Chapter 2 System Design and Installation, and sections 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6 of Chapter 3 Operation.

Instructions for jog operation using a Parameter Unit are provided in 3-6.

SYSMAC CS1/C/CV

Programmable Controller

Position Control Unit

C200HW-NC113

C200HW-NC213

C200HW-NC413

C200H-NC112

C200H-NC211

C500-NC113

C500-NC211

Pulse input

Controller Connecting Cable

Chapter 5: 5-3-1

OMNUC U is a series of fully software-controlled AC servo drivers built on advanced OM-

RON software servo technology. It provides high performance, a sensitive man-machine interface, and economy.

Setting Functions

Setting User Parameters:

-

Internally Set Speed Control:

-

Electronic Gears:

-

Encoder Dividing:

-

Bias:

-

Torque Control:

-

Brake Interlock:

Section 3-5-1

Section 3-5-3

Section 3-5-4

Section 3-5-5

Section 3-5-6

Section 3-5-7

Section 3-5-8

Adjustments and Troubleshooting

-

Adjustments:

Displays:

-

Monitor Outputs:

-

Protections and Diagnostics:

-

Troubleshooting:

Section 3-7

Section 4-1

Section 4-2

Section 4-3

Section 4-4

OMNUC U Series

I/O Operations

Chapter 5: 5-1-3

OMNUC U-series AC Servo Driver

Cable Specifications

Chapter 5: 5-3-2, 5-3-3

Encoder signals

Power signals

OMNUC U-series

AC Servomotor

Parameter Units

Motor Specifications

Chapter 5: 5-2

Operation Method

Chapter 3: 3-3, 3-4, 3-5

Table of Contents

Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 Servo Driver Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-4 Applicable Standards and Models

1-4-1 UL/cUL Standards

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

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

1-4-2 EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2. System Design and Installation . . . . . . . . . . . . . . . . . . . . . .

2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Wiring Products Conforming to UL/cUL and Wiring Products Not Conforming to Any Standards

2-2-1 Connecting OMRON Servo Controllers

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

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

2-2-2 Connector-Terminal Conversion Unit

2-2-3 Wiring Servo Drivers

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

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

2-2-4 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-5 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 Wiring Products Conforming to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-1 Connecting Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-2 Wiring Servo Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-3 Wiring Products Conforming to EMC Directives

2-3-4 Peripheral Device Connection Examples

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

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

Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Turning On Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

3-3 Using Parameter Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-1 Parameter Unit Keys and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-2 Modes and Changing Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-3 Mode Changes and Display Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 Initial Settings: Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

3-4-2 Setup Parameter Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

3-5 Setting Functions: User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

3-5-2 User Parameter Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-3 Internal Speed Control Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-4 Electronic Gear Function: Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-5 Encoder Dividing Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-5-6 Bias Function: Position Control

3-5-7 Torque Limit Function

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

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

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

3-6 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-1 Preparations for Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-6-2 Jog Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

3-7 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-7-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8-2 Servo Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8-3 Absorption of Regenerative Energy with the External Regeneration Resistor

(Models Conforming to UL/cUL Standards and Models Not Conforming to Any Standards) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-8-4 Processing Regenerative Energy with Multiple Axes

(Models Conforming to EC Directives) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1 Using Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-1 Display Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-2 Status Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-3 Monitor Mode (Un-) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1-4 Checking Servomotor Parameters (Cn-00 Set to 04)

4-2 Using the Monitor Output

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

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

4-3 Protective and Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-1 Alarm Displays and Alarm Code Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-2 Alarm Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-3 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . .

4-3-4 Alarm History Display Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 Servo Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-2 Performance Specifications

5-1-3 I/O Specifications

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

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

5-1-4 Explanation of User Parameters

5-2 Servomotor Specifications

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

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

5-2-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2-3 Torque and Rotational Speed Characteristics

5-2-4 Allowable Loads on Servomotor Shafts

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

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

5-2-5 Encoder Specifications

5-3 Cable Specifications

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

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

5-3-1 Controller Connecting Cables

5-3-2 Encoder Cables

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

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

5-3-3 Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Parameter Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-5 Regeneration Unit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-6 Front-surface Mounting Bracket Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 6. Supplementary Materials . . . . . . . . . . . . . . . . . . . . . . . . . .

6-1 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Servo Connector Terminal Connection Unit

6-3 OMNUC U-series Standard Models

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

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

6-4 Parameter Setting Forms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

1

Chapter 1

Introduction

1-1 Features

Chapter 1

OMNUC AC Servo Drivers control the power supplied to AC Servomotors with pulse-train input signals and perform precision position control. There are 7 types of AC Servomotors: 30-W, 50-W, 100-W,

200-W, 300-W, 400-W, and 750-W.

H

Motor Output Capacity

AC Servomotors with the following output capacities are available.

S

For 200/230-VAC (170 to 253 V) single-phase, 50/60-Hz Input

30 W, 50 W, 100 W, 200 W, 400 W, and 750 W

S For 100/115-VAC (85 to 127 V) single-phase, 50/60-Hz Input

30 W, 50 W, 100 W, 200 W, and 300 W

The Servomotors also come with and without brakes, and with and without keys on the straight shaft. Servomotors that conform to EC Directives, however, are available only with keys on the shaft.

H

Models Conforming to UL/cUL Standards Available (UL/cUL Markings)

AC Servomotors and Servo Drivers that conform to UL/cUL Standards are now available. Their performance, functionality, and appearance are the same as the conventional U-series (HA/LA) models. They are useful for obtaining approvals required for specific applications.

Models conforming to UL/cUL Standards have the same product names as conventional U-series

(HA/LA) models. As shown in the following table, they are distinguished by the manufacturing date.

Model

Models not conforming to any standards

Models conforming to

UL/cUL Standards

Manufacturing date

Before April 1998

After May 1998

Type

H/L, HA/LA

HA/LA

Remarks

Production of H/L models discontinued.

UL/cUL markings are attached to products.

H

EC Directives (CE Markings)

AC Servomotors and Servo Drivers that conform to EC low-voltage and EMC directives are now available. These provide the same performance and functions as the rest of the U Series (HA/LA), and will aid in obtaining specifications.

H

Control Functions

Any one of the following 4 control modes can be selected in the parameter settings.

S

Position Control (Factory Setting)

Controls the position and speed of the Servomotor very precisely with pulse-train input signals.

Any one of the following 3 pulse trains can be selected: forward/reverse pulses, feed pulses/ directional signals, or 90

_

differential phase (A/B phases) signals.

S

Position Control with Pulse Stop Input Enabled (HA/LA/V/W Models)

Turning ON the Pulse Stop Input (IPG) prevents the control signals from being read by the Unit during position control.

1-2

Introduction Chapter 1

S

Internal Speed Control Settings

The speed of the motor is controlled with the three speeds (No. 1, No. 2, and No. 3 internal speed settings) set in the parameters. This mode is effective for simple position control or speedswitching operation.

S

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

Speed control can be performed with the internal speed settings and position control can be performed with pulse-train inputs.

H

Auto-tuning

The gain can be adjusted automatically when the responsiveness has been selected to match the rigidity of the mechanical system. The auto-tuning feature automatically finds the optimum adjustment to match the load, with no need for difficult operations.

H

Monitor

Displays the driver’s operating status on the Parameter Unit.

The following items can be monitored: speed feedback, speed commands, torque commands, number of pulses from the U-phase edge, electrical angle, internal status (bit display), command pulse’s speed, position deviation, and the input pulse counter.

H

Jog Operation

Forward/Reverse motor operation can be controlled from the Parameter Unit. Rotational speed can be set in the parameters.

H

Electronic Gear Function (Position Control)

The number of pulses used to rotate the motor is calculated by multiplying the number of command pulses by the electronic gear ratio. This function is useful in the following kinds of cases.

S

When you want to finely adjust the position and speed of two lines that need to be synchronized

S

When you want to increase the control pulse frequency of a controller with a low pulse frequency

S

When you want to set the movement/pulse to a certain amount, such as 0.01 mm/pulse

The electronic gear ratio is set with parameters G1 and G2 (G1=numerator and G2=denominator).

The setting range for parameters G1 and G2 is 1 to 65,535. The setting range for the gear ratio is

0.01 to 100, i.e., 0.01 ≤ G1/G2 ≤ 100.

H

Encoder Resolution Function

This function allows the encoder signal output from the driver to be set anywhere from 16 to 2,048 pulses/revolution.

H

Software Start Function (Internal Speed Control Settings)

This function causes the motor to be started/stopped in the preset acceleration/deceleration times, allowing a simple position control system to be constructed without a Positioner or Host Controller.

The acceleration and deceleration times are set separately, and the setting range is 0 to 10 s for each.

1-3

Introduction Chapter 1

H

Pulse Smoothing Function (Position Control)

Even high-frequency commands can be executed smoothly by including acceleration/deceleration in the command pulses. The same setting is used for both the acceleration and deceleration times, and the setting range is 0 to 64 ms.

H

Reverse Mode

Forward/Reverse commands can be switched in the parameters, without changing the wiring to the motor or encoder.

H

Brake Interlock Output

Outputs a timing signal interlocked with the motor’s ON/OFF status and rotational speed. The holding brake of a motor with a brake can be operated reliably.

H

Overtravel Sequence

An overtravel sequence compatible with the system can be selected. There are three deceleration methods available: dynamic brake deceleration, free-run deceleration, and emergency-stop torque deceleration (parameter setting).

H

Feed-forward and Bias Functions (Position Control)

These functions reduce the position control time.

S

Feed-forward Function

Reduces the position control time by reducing the number of pulses accumulated in the deviation counter.

S

Bias Function

Reduces the position control time by adding the bias revolutions to the speed control when the deviation counter value exceeds the position completion range.

H

Computer Monitor Software (HA/LA/V/W Models)

The special Servo Driver Communications Software allows parameter setting, speed and current monitoring, I/O monitoring, auto-tuning, and jog operations to be performed from a personal computer. It is also possible to perform multiple-axis communications that set the parameters and monitor the operation of several drivers. Refer to the Computer Monitor Software Instruction Manual

(I513) for OMNUC U-series Servo Drivers for more details.

1-4

Introduction

1-2 System Configuration

Chapter 1

SYSMAC CS1/C/CV

Programmable Controller

C200HW-NC113

C200HW-NC213

C200HW-NC413

C200H-NC112

C200H-NC211

C500-NC113

C500-NC211

Position Control Unit

Parameter Units

OMNUC U-series

AC Servo Driver

OMNUC U-series

AC Servomotor

1-5

Introduction

1-3 Servo Driver Nomenclature

H

Front View

Chapter 1

CN4: Connector for monitor output

Power supply indicator

Alarm indicator

CN3: Parameter Unit connector

Terminal block

CN1: Control I/O connector

CN2: Encoder connector

1-6

Introduction

1-4 Applicable Standards and Models

Chapter 1

1-4-1 UL/cUL Standards

H

Applicable Standards

Standard

UL cUL

Product Applicable Standard

AC Servo Driver UL508C

AC Servomotor UL1004

AC Servo Driver cUL C22.2 No. 14

AC Servomotor cUL C22.2 No.100

File No.

E179149

E179189

E179149

E179189

Remarks

Power conversion equipment

Electric motors

Industrial control equipment

Motor and generators

H

Applicable Models

200 VAC

100 VAC

AC Servo Drivers

R88D-UP jj HA

(See note 1.)

R88D-UP jj

LA

(See note 1.)

AC Servomotors

With incremental encoder

R88M-U jjj 30HAj

(See note 2.) (See note 3.)

R88M-U jjj

30LAj

(See notes 2.) (See note 3.)

Note 1. Maximum output current: for example, “04” means approx. 4 A.

Note 2. Motor capacity: for example, “100” means 100 W.

Note 3. Optional specifications

None: Straight shaft without keys and without brake

B: Straight shaft without keys and with brake

S1: Straight shaft with keys and without brake

BS1: Straight shaft with keys and with brake

Note 4. UL/cUL Standards apply to models manufactured after May 1998.

1-4-2 EC Directives

H

Applicable Standards

EC Directive Product Directive

Low voltage AC Servo Driver EN61010-1

EMC

AC Servomotor IEC34-1, -5, -8, -9

AC Servo Driver

AC Servomotor

EN55011 class A group 1

EN50082-2

Remarks

Safety requirements for electrical equipment for measurement, control, and laboratory use.

Rotating electrical machines.

Limits and methods of measurement of radio disturbance characteristics of industrial, scientific, and medical (ISM) radio-frequency equipment.

Electromagnetic compatibility generic immunity standard, Part 2 Industrial environment.

Note Installation under the conditions specified in 2-3-3 Wiring Products Conforming to EMC Directives is required to conform to EMC Directives.

1-7

Introduction Chapter 1

H

Applicable Models

200 VAC

100 VAC

AC Servo Drivers

R88D-UP jj V

R88D-UP jj W

AC Servomotors

With incremental encoder

R88M-U jjj 30VAj

(See note.)

R88M-U jjj 30WAj

(See note.)

Note Optional specifications (shaft profile: straight shaft with keys)

S1: Straight shaft with keys and without brake

BS1: Straight shaft with keys and with brake

1-8

2

Chapter 2

System Design and Installation

2-1 Installation

2-2 Wiring Products Conforming to UL/cUL and Wiring Products Not Conforming to Any

Standards

2-3 Wiring Products Conforming to EC Directives

System Design and Installation Chapter 2

Installation and Wiring Precautions

!

Caution Do not step on or place a heavy object on the product. Doing so may result in injury.

!

Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product. Doing so may result in fire.

!

Caution Be sure to install the product in the correct direction. Not doing so may result in malfunction.

!

Caution Provide the specified clearances between the Servo Driver and the control panel or with other devices. Not doing so may result in fire or malfunction.

!

Caution

!

Caution

Do not apply any strong impact. Doing so may result in malfunction.

Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction.

!

Caution Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

!

Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

!

Caution Always use the power supply voltage specified in the User’s Manual. An incorrect voltage may result in malfunction or burning.

!

Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

!

Caution Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

!

Caution Provide an appropriate stopping device on the machine side to secure safety. (A holding brake is not a stopping device for securing safety.) Not doing so may result in injury.

!

Caution Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption. Not doing so may result in injury.

!

Caution Take appropriate and sufficient countermeasures when installing systems in the following locations:

S Locations subject to static electricity or other forms of noise.

S Locations subject to strong electromagnetic fields and magnetic fields.

S Locations subject to possible exposure to radioactivity.

S

Locations close to power supplies.

2-2

System Design and Installation

2-1 Installation

2-1-1 External Dimensions (Unit: mm)

H

AC Servo Drivers Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards

D

R88D-UP02H(A)/UP03H(A)/UP04H(A)/UP08H(A) (200 VAC, 30 to 200 W)

R88D-UP03L(A)/UP04L(A)/UP10L(A) (100 VAC, 30 to 100 W)

5

Chapter 2

55 130

4

(6)

5

149

45 (5)

Two,

6 dia.

Installation dimensions

45

Three, M4

149 160

R3

5

(165)

6

D

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

5

160

75 130

(165)

4

(6)

5

60

149

5

(5)

Installation dimensions

60

Two,

6 dia.

149

R3

6

Three, M4

2-3

System Design and Installation

H

AC Servo Drivers Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards (Contd.)

D

R88D-UP20H(A) (200 VAC, 750 W) and R88D-UP15LA (100 VAC, 300 W)

Chapter 2

160

105 130

3.5

6

7

90 (8)

Two, 6 dia.

149

(165)

5

Installation dimensions

149

6

90

Two, R3

6

Four, M4

2-4

System Design and Installation

H

AC Servo Drivers Conforming to EC Directives

D

R88D-UP02V/UP03V/UP04V/UP08V (200 VAC, 30 to 200 W)

R88D-UP03W/UP04W/UP10W (100 VAC, 30 to 100 W)

Chapter 2

Two, 6 dia.

Installation dimensions

R3

Three, M4

D

R88D-UP12V (200 VAC, 400 W)

R88D-UP12W (100 VAC, 200 W)

Two, 6 dia.

Installation dimensions

R3

Three, M4

2-5

System Design and Installation

H

AC Servo Drivers Conforming to EC Directives (Contd.)

D

R88D-UP20V (200 VAC, 750 W)

R88D-UP15W (100 VAC, 300 W)

Chapter 2

Installation dimensions

Four, M4

Two, 6 dia.

Two, R3

2-6

System Design and Installation

H

Regeneration Unit

D

R88A-RG08UA

(15)

(6) 25

Dia.: 6

160 130 149

R3

15

5

25

50

6

(18.5)

H

Parameter Units

D

R88A-PR02U

Two, 4.5 dia.

63

50

130

7

18.5

Chapter 2

Installation dimensions

Two, M4

149

125 135

(8)

1000

2-7

System Design and Installation

D

R88A-PR03U

54

57.5

15

6.9

Chapter 2

2-8

System Design and Installation

H

AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards

D

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

R88M-U03030HA, R88M-U05030HA, R88M-U10030HA

R88M-U03030LA, R88M-U05030LA, R88M-U10030LA

300 ± 30

35

Encoder adapter

Chapter 2

Motor plug

18

14 dia.

6.5

4

300

±

30

5

9.5

2.5

Four, R3.7

Two, 4.3 dia.

6

46 dia.

33 40

LL

L

25

D

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

R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B

R88M-U03030LA-B, R88M-U05030LA-B, R88M-U10030LA-B

300

±

30

35

Encoder adapter

Motor plug

21

14 dia.

6.5

5

300 ± 30

9.5

2.5

Two, 4.3 dia.

4

46 dia.

Four, R3.7

33 LB

LL

L

Model

R88M-U03030HA

R88M-U03030LA

Standard Models

L LL

94.5

69.5

R88M-U05030HA

R88M-U05030LA

102.0

77.0

R88M-U10030HA

R88M-U10030LA

119.5

94.5

6

S

6

8

25

40

Models with Brake

Model

R88M-U03030HA-B

R88M-U03030LA-B

L

126

LL

101

R88M-U05030HA-B

R88M-U05030LA-B

LB

31.5

6

133.5

108.5

31.5

6

S

R88M-U10030HA-B

R88M-U10030LA-B

160 135 40.5

8

2-9

System Design and Installation

H

AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards (Contd.)

D

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

R88M-U20030HA, R88M-U40030HA

R88M-U20030LA, R88M-U30030LA

300 ± 30

35

Encoder adapter

Chapter 2

5.2

7

300 ± 30

12

6 3

Motor plug

Four, 5.5 dia.

21

14 dia.

Four, R5.3

70 dia.

34

LL

L

30

D

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

R88M-U20030HA-B, R88M-U40030HA-B

R88M-U20030LA-B, R88M-U30030LA-B

300

±

30

35

5.2

5.5

7

60

300 ± 30

12

6 3

Encoder adapter

Motor plug

21

14 dia.

Four,

5.5 dia.

Four, R5.3

34 39.5

Model

R88M-U20030HA

R88M-U20030LA

Standard Models

L

126.5

R88M-U40030HA

R88M-U30030LA

154.5

LL

L

96.5

LL

124.5

2-10

60

30

Model

Models with Brake

L

R88M-U20030HA-B

R88M-U20030LA-B

166

R88M-U40030HA-B

R88M-U30030LA-B

194

136

164

LL

System Design and Installation

H

AC Servomotors Conforming to UL/cUL Standards and AC

Servomotors Not Conforming to Any Standards (Contd.)

D

750-W Standard Models: R88M-U75030HA

Chapter 2

300

±

30

35 Encoder adapter

Motor plug

21

14 dia.

5.2

8

300

±

30

15

8 3

Four, 7 dia.

Four, R8.2

35

34 80

145

185

40

D

750-W Models with Brake: R88M-U75030HA-B

300

±

30

35

Encoder adapter

Motor plug

5.2

8

300

±

30

15

8 3

Four, 7 dia.

21

14 dia.

Four, R8.2

34 44.5

189.5

229.5

35

40

80

2-11

System Design and Installation

H

AC Servomotors Conforming to EC Directives

D

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

R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1

R88M-U03030WA-S1, R88M-U05030WA-S1, R88M-U10030WA-S1

Chapter 2

Sh6 dia.

Two, 4.3 dia.

46 dia.

30h7 dia.

14 dia.

Four, R3.7

D

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

R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1

R88M-U03030WA-BS1, R88M-U05030WA-BS1, R88M-U10030WA-BS1

Sh6 dia.

Two, 4.3 dia.

46 dia.

30h7 dia.

14 dia.

Four, R3.7

Model

Standard Models

R88M-U03030VA-S1

R88M-U03030WA-S1

R88M-U05030VA-S1

R88M-U05030WA-S1

R88M-U10030VA-S1

R88M-U10030WA-S1

L

94.5

102.0

119.5

LL

69.5

77.0

94.5

6

8

6

S

2-12

Model

Models with Brake

R88M-U03030VA-BS1

R88M-U03030WA-BS1

R88M-U05030VA-BS1

R88M-U05030WA-BS1

R88M-U10030VA-BS1

R88M-U10030WA-BS1

L

126

133.5

160

LL

101

108.5

135

LB

31.5

31.5

40.5

S

6

6

8

System Design and Installation Chapter 2

H

AC Servomotors Conforming to EC Directives (Contd.)

D

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

R88M-U20030WA-S1, R88M-U30030WA-S1

Four,

5.5 dia.

14 dia.

14h6 dia.

70 dia.

50h7 dia.

Four, R5.3

D

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

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

Four,

5.5 dia.

14 dia.

14h6 dia.

70 dia.

50h7 dia.

Four, R5.3

Standard Models

Model

R88M-U20030VA-S1

R88M-U20030WA-S1

R88M-U40030VA-S1

R88M-U30030-WA-S1

Standard Models

L

126.5

96.5

LL

154.5

124.5

Models with Brake

Model

R88M-U20030VA-BS1

R88M-U20030WA-BS1

R88M-U40030VA-BS1

R88M-U30030WA-BS1

166

194

L

136

LL

164

2-13

System Design and Installation

H

AC Servomotors Conforming to EC Directives (Contd.)

D

750-W Standard Models: R88M-U75030VA-S1

Chapter 2

Four, 7 dia.

16h6 dia.

90 dia.

70h7 dia.

14 dia.

Four, R8.2

D

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

Four, 7 dia.

16h6 dia.

90 dia.

70h7 dia.

14 dia.

Four, R8.2

2-14

System Design and Installation Chapter 2

H

Shaft Dimensions of Motors With Keys

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

(produced on order) are shown below. Motors with keys are indicated by adding “-S1” to the end of the model number. Key slots are based on JIS B1301-1976.

D

30-W/50-W Models

Without Brake: R88M-U03030

jj

-S1, R88M-U05030

jj

-S1

With Brake: R88M-U03030

jj

-BS1, R88M-U05030

jj

-BS1

14 Dia.: 6h6 1.2

2

2

D

100-W Models

Without Brake: R88M-U10030

jj

-S1

With Brake: R88M-U10030

jj

-BS1

14

Dia.: 8h6

1.8

3

3

D

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

Without Brake: R88M-U20030

jj

-S1, R88M-U40030

jj

-S1, R88M-U30030

jj

-S1

With Brake: R88M-U20030

jj

-BS1, R88M-U40030

jj

-BS1, R88M-U30030

jj

-BS1,

20

Dia.: 14h6

3

5

5

D

750-W Models

Without Brake: R88M-U75030

jj

-S1,

With Brake: R88M-U75030

jj

-BS1

30

Dia.: 16h6

5

5

3

2-15

System Design and Installation

2-1-2 Installation Conditions

Chapter 2

H

AC Servo Drivers

D

Space Around Drivers

•

Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.

•

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

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

Fan Fan

50 mm min.

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

Side of Unit

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

W W

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

50 mm min.

30 mm min.

W = 10 mm min.

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ É

ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ

D

Operating Environment

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

0

°

C to +55

°

C

•

Ambient operating temperature:

•

Ambient operating humidity:

•

Atmosphere:

35% to 85% (RH, with no condensation)

No corrosive gases.

D

Ambient Temperature

•

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

•

Temperature rise in any Unit installed in a closed space, such as a control box, will cause the ambient temperature to rise inside the entire closed space. Use a fan or a air conditioner to prevent the ambient temperature of the Servo Driver from exceeding 55

°

C.

•

Unit surface temperatures may rise to as much as 30

°

C above the ambient temperature. Use heatresistant materials for wiring, and keep separate any devices or wiring that are sensitive to heat.

•

The service life of a Servo Driver is largely determined by the temperature around the internal electrolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic volume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements. If a Servo Driver is always operated at the maximum ambient temperature of 55

°

C, then a service life of approximately 50,000 hours can be expected. A drop of 10

°

C in the ambient temperature will double the expected service life.

2-16

System Design and Installation Chapter 2

D

Keeping Foreign Objects Out of Units

•

Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Units during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, heat buildup may damage the Units.

•

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 Drivers.

H

AC Servomotors

D

Operating Environment

Be sure that the environment in which the Servomotor is operated meets the following conditions.

•

Ambient operating temperature:

•

Ambient operating humidity:

•

Atmosphere:

0

°

C to +40

°

C

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

No corrosive gases.

D

Impact and Load

•

The Servomotor is resistant to impacts of up to 10 G

{98 m/s

2

}. Do not subject it to heavy impacts or loads during transport, installation, or positioning. In addition, do not hold onto the encoder, cable, or connector areas when transporting it.

•

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

•

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

D

Connecting to Mechanical Systems

•

The axial loads for Servomotors are specified in section 5-2-4. 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 damage the motor shaft. When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and variation.

Recommended Coupling

Motor shaft center line

Ball screw center line

Shaft core displacement

Name

Oldham coupling

Maker

Myghty Co., Ltd

•

For spur gears, an extremely large radial load may be applied depending on the gear precision. Use spur gears with a high degree of accuracy (for example, JIS class 2: normal line pitch error of 6

µ 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.

Backlash

Adjust backlash by adjusting the distance between shafts.

2-17

System Design and Installation Chapter 2

•

Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes.

Provide appropriate backlash or take other measures to ensure that no thrust load is applied which exceeds specifications.

•

Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may separate due to the tightening strength.

Make moveable.

Bevel gear

•

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 due to belt tension. If an excessive radial load is applied, the motor shaft may be damaged. Set up the structure so that the radial load can be adjusted. A large radial load may also be applied as a result of belt vibration. Attach a brace and adjust Servo

Driver gain so that belt vibration is minimized.

Pulley

Make adjustable.

Belt Tension Motor shaft Load shaft

D

Water and Drip Resistance

•

The Servomotor does not have a water-proof structure. Except for the connector areas, the protective structure is covered by the following JEM (The Japan Electrical Manufacturers’ Association) standards.

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

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

•

If the Servomotor is used in an environment in which condensation occurs, water may enter inside of the encoder from the end surfaces of cables due to motor temperature changes. Either take measures to ensure that water cannot penetrate in this way, or use water-proof connectors. Even when machinery is not in use, water penetration can be avoided by taking measures, such as keeping the motor in servo-lock status, to minimize temperature changes.

•

If machining oil with surfactants (e.g., coolant fluids) or their spray penetrate inside of the motor, insulation defects or short-circuiting may occur. Take measures to prevent machining oil penetration.

D

Oil Seals

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

2-18

System Design and Installation Chapter 2

D

Other Precautions

•

Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous

AC and use permanent magnets. Applying 3-phase power will burn out the motor coils.

•

Do not carry or otherwise handle the Servomotor by its cable, otherwise the cable may become disconnected or the cable clamp may become damaged.

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

•

Absolutely do not remove the encoder cover or take the motor apart. The magnet and the encoder are aligned in the Servomotor. If they become misaligned, the motor will not operate.

2-19

System Design and Installation Chapter 2

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

Products Not Conforming to Any Standards

2-2-1 Connecting OMRON Servo Controllers

Use general-purpose control cables (purchased separately) or Servo Relay Units for the

C200H to connect U-series AC Servomotors and Servo Drivers to OMRON Servo Controllers.

H

Connecting SYSMAC C-series Position Control Units

SYSMAC C-series

Programmable Controller

Position Control Units for SYSMAC

C-series Programmable Controllers

3G2A5-NC111-EV1

C500-NC113

C500-NC211

C200H-NC112

C200H-NC211

C200HW-NC113

C200HW-NC213

C200HW-NC413

General-purpose Control Cable

R88A-CPU jjj S

OMNUC U-series

AC Servo Driver

Encoder Cable

R88A-CRU jjj C

Power Cable

R88A-CAU jjj S

R88A-CAU jjj B

OMNUC U-series

AC Servomotor

Note Refer to Chapter 5 Specifications for connector and cable specifications.

2-20

System Design and Installation Chapter 2

H

Connecting SYSMAC C200H and C500Position Control Units (Using

Servo Relay Units)

C200H Position

Control Unit (1 axis)

C200H-NC112

Position Control Unit Connecting

Cable (for C200H-NC112)

XW2Z-050J-A1 (0.5 m)

XW2Z-100J-A1 (1 m)

C200H Position

Control Unit (2 axes)

C200H-NC211

C500 Position Control Unit

C500-NC113 (1 axis)

C500-NC211 (2 axes)

Position Control Unit Connecting

Cable (for C200H-NC211 and

C500-NC113/211)

XW2Z-050J-A2 (0.5 m)

XW2Z-100J-A2 (1 m)

Terminal Connection Unit

(for C200H-NC112)

XW2B-20J6-1B

Note 1. Refer to Section 6 for a connection example for Relay Unit terminal blocks.

Note 2. A Relay Unit is also available for the

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

Terminal Connection Unit

(for C200H-NC211)

XW2B-40J6-2B

Servo Driver Connecting Cable

XW2Z-100J-B1 (1 m)

XW2Z-200J-B1 (2 m)

Note Two cables are required when using the

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

Encoder Cable

R88A-CRU jjj C

OMNUC U-series

AC Servo Driver

Power Cable

R88A-CAU jjj S

R88A-CAU jjj B

OMNUC U-series

AC Servomotor

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

2-21

System Design and Installation Chapter 2

H

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

Servo Relay Units)

SYSMAC C200HX/HG/HE

Position Control Units

C200HW-NC113 (1 axis)

SYSMAC C200HX/HG/HE

Position Control Unit

C200HW-NC213 (2 axes)

C200HW-NC413 (4 axes)

Position Control Unit Connecting

Cable (for C200HW-NC113)

XW2Z-050J-A6 (0.5 m)

XW2Z-100J-A6 (1 m)

Position Control Unit Connecting

Cable (for C200HW-NC213/413)

XW2Z-050J-A7 (0.5 m)

XW2Z-100J-A7 (1 m)

Note 1. Refer to Section 6 for a connection example for Relay Unit terminal blocks.

Note 2. A Relay Unit is also available for the

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

Terminal Connection Unit

(for C200H-NC112)

XW2B-20J6-1B

Note Two sets of Relay Units and

Position Control Unit Connecting Cables are required when using the C200HW-NC413.

Terminal Connection Unit

(for C200H-NC211)

XW2B-40J6-2B

Servo Driver Connecting Cable

XW2Z-100J-B1 (1 m)

XW2Z-200J-B1 (2 m)

Note Two cables are required when using the

C200HW-NC213 (2 axes) and four cables are required when using the C200HW-

NC413 (4 axes).

OMNUC U-series

AC Servo Driver

Power Cable

R88A-CAU jjj S

R88A-CAU jjj B

Encoder Cable

R88A-CRU jjj C

OMNUC U-series

AC Servomotor

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

2-22

System Design and Installation Chapter 2

2-2-2 Connector-Terminal Conversion Unit

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

Controller

XW2B-40F5-P

Connector-Terminal

Conversion Unit

R88A-CTU jjj N

Connector Cable for

Connector-Terminal Conversion Unit

OMNUC U-series

AC Servo Driver

Power Cable

R88A-CAU jjj S

R88A-CAU jjj B

OMNUC U-series

AC Servomotor

Encoder Cable

R88A-CRU jjj C

Note Refer to Chapter 5 Specifications for connector and cable specifications.

2-23

System Design and Installation Chapter 2

2-2-3 Wiring Servo Drivers

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

H

Wiring Terminal Blocks

Power supply input terminals

To Motor

Power Cable

R88A-CAU jjj S

R88A-CAU jjj B (with brake)

(The broken lines indicate signal lines for the brake. There is no polarity on these lines.)

Main-circuit DC output terminals

Red

White

Blue

Green

Black

Black

24 VDC

P

N

U

V

W

Terminal label

R

T

Name Function

Power supply input

The commercial power supply input terminals for the main circuit and the

Main circuit DC output

R88D-UP jj

H(A): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

R88D-UP jj L(A): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz1 i l h h i hi h l l f

( i

)

(S

Motor connection i l

Frame ground

Red

White

Blue

These are the output terminals to the Servomotor. Be careful to wire l

Green The ground terminal for both the motor output and power supply input. Ground to a class-3 ground (to 100

Ω

or less) or better.

)

Note Refer to 3-8 Regenerative Energy Absorption for the methods to calculate regenerative energy.

2-24

System Design and Installation Chapter 2

H

Terminal Block Current and Wire Sizes

The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the electrical wires.

D

Servo Drivers with 200-VAC Input (R88D-UP

jj

H(A))

Driver

(Watts)

Power supply input current (R, T)

Motor output current (U, V, W)

Power supply input terminal wire size

Motor output i l i i

R88D-UP02H(A)

(30 W)

1.3 A

0.42 A

R88D-UP03H(A)

(50 W)

1.5 A

0.6 A

0.75 mm 2 or AWG 18 min.

R88D-UP04H(A)

(100 W)

2.5 A

0.87 A

R88D-UP08H(A)

(200 W)

4.0 A

2.0 A

R88D-UP12H(A)

(400 W)

6.0 A

2.6 A

1.25 mm 2

R88D-UP20H(A)

(750 W)

11.0 A

4.4 A

2.0 mm 2

0.5 mm

2

or AWG 20 AWG 20 (see note) to AWG 18

Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18.

Use 2.0-mm 2 external ground wires. Use the same wire as used for the motor output.

Ground terminal wire size

Note If the cable length is 15 meters or longer for a 750-W Servomotor, the momentary maximum torque at rotation speeds of 2,500 r/min or higher may drop by approximately 7%.

D

Servo Drivers with 100-VAC Input (R88D-UP

jj

L(A))

Driver model

(Watts)

Power supply input current (R, T)

Motor output current (U,

V, W)

Power supply input terminal wire size

Motor output terminal i i

Ground terminal wire size

R88D-UP03L(A)

(30 W)

2.0 A

0.63 A

R88D-UP04L(A)

(50 W)

2.6 A

0.7 A

0.75 mm 2 or AWG 18 min.

R88D-UP10L(A)

(100 W)

4.5 A

2.2 A

R88D-UP12L(A)

(200 W)

8.0 A

2.7 A

1.25 mm 2

R88D-UP15LA

(300 W)

10.0 A

3.7 A

2 mm 2

0.5 mm 2 or AWG 20 AWG 20 to AWG 18

Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to

AWG18.

Use 2.0-mm 2 external ground wires. Use the same wire as used for the motor output.

H

Wire Sizes and Allowable Current

The following table shows allowable currents when there are three electrical wires. Use values equal to or lower than the specified values.

D

Heat-resistant Vinyl Wiring, UL1007, Rated Temperature 80 ° C (Reference Value)

20

---

18

16

AWG size Nominal crosssectional area

( (mm ) )

0.5

0.75

0.9

1.25

Configuration

( (wires/mm 2 ) )

19/0.18

30/0.18

37/0.18

50/0.18

Conductive resistance

( (

Ω

/km)

39.5

26.0

24.4

15.6

Allowable current (A) for ambient temperature

40

°

C 50

°

C 60

°

C

6.6

5.6

4.5

8.8

9.0

12.0

7.0

7.7

11.0

5.5

6.0

8.5

2-25

System Design and Installation

2-2-4 Wiring for Noise Resistance

Chapter 2

H

Wiring Method

Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below.

AC power supply

MCCB

Surge absorber

Noise filter Contactor

X1

1 3

NF

TB

R

Servo Driver

R88D-

U jjjj

TB

U

2

E

4 T

V

W

Fuse

CN2

Metal duct

Servomotor

R88M-

U jjjjjj

M

RE

3.5mm

2 2 mm 2 min.

Class-3 ground

(to 100 Ω or less) Ground plate

Control board ground

Controller power supply

Machine ground

Thick power line

(3.5 mm 2 )

•

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

•

Use a grounding plate for the frame ground for each Unit, as shown in the illustration, 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.

• If no-fuse breakers (MCCB) are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring and 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.

•

No-fuse breakers (MCCB), surge absorbers, and noise filters (NF) should be positioned near the input terminal block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.

•

Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control panel whenever possible.

Good: Separate input and output NO: Noise not filtered effectively

AC input

1

2

NF

3

E

4

AC output AC input

1

2

NF

3

E

4

Ground Ground

AC output

2-26

System Design and Installation Chapter 2

•

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

R

Driver or

T

•

Separate power supply cables and signal cables when wiring.

Binding

Driver

H

Selecting Components

This section describes the standards used to select components required to increase noise resistance.

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

Recommended components have been listed; refer to the manufacturer of each component for details.

D

No-fuse Breakers (MCCB)

When selecting no-fuse breakers, take into consideration the maximum input current and the inrush current. The momentary maximum output for a servo system is approximately three times that of the rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the rated maximum output. Generalpurpose and low-speed no-fuse breakers are generally suitable. Refer to the table in 2-2-3 Terminal

Block Wiring for the power supply input currents for each motor, and then add the current consumption for the number of shafts, other controllers, etc., to make the selection.

The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input. With lowspeed no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1 second. When making the selection, take into consideration the entire inrush current for the system.

D

Surge Absorbers

Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal voltages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge immunity, and the amount of energy resistance. For 200-VAC systems, use a varistor voltage of 470 V.

The surge absorbers shown in the following table are recommended.

Maker Model Varistor voltage

Max. limit voltage

Surge immunity

Matsushita

El i

Ishizuka i

Okaya

Electric Ind.

ERZV10D471(W)

ERZV14D471(W)

ERZV20D471(W)

ERZC20EK471(W)

Z10L471

Z15L471

Z21L471

Z25M471S

R ⋅ A ⋅ V

-781BWZ-2A

R ⋅ A ⋅ V

-781BXZ-2A

R ⋅ A ⋅ V

-401.621BYR-2

470 V

470 V

470 V

470 V

470 V

470 V

470 V

470 V

---

---

---

775 V

775 V

775 V

775 V

773 V

738 V

733 V

810 V

783 V

783 V

620 V

1,000 A

1,000 A

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

1,250 A

2,500 A

4,000 A

5,000A

1,000A

1,250 A

3,000 A

10,000 A

1,000 A

Energy resistance

45 J

80 J

150 J

150 J

15 W S s

20 W S s

30 W

S s

235 J

---

Fuse capacity

Type

3 to 5 A Disk

3 to 10 A

5 to 15 A

--Block

3 to 5 A Disk

3 to 5 A

5 to 10 A

---

---

Block

Block

---

---

---

---

2-27

System Design and Installation Chapter 2

Note 2. Refer to manufacturers documentation for operating details.

Note 3. The surge immunity is for a standard impulse current of 8/20 µ s. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber.

Note 4. The energy resistance is the value for 2 ms. It may not be possible to retard high-energy pulses at less than 700 V. In that case, absorb surges with an insulated transformer or reactor.

D

Noise Filters for Power Supply Input

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

Select a noise filter with a load current of at least twice the rated current. The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz.

Tokin

Maker Model

LF-210N

LF-215N

LF-220N

Rated current

10 A

15 A

20 A

Remarks

To attenuate noise at frequencies of 200 kH or less, use an insulated transformer and a noise filter. For high frequencies of 30 MHz or more, use a ferrite core and a high-frequency noise filter with a throughtype capacitor.

D

Noise Filters for Motor Output

Use noise filters without built-in capacitors on the Servomotor output lines. Output lines cannot use the same noise filters as the power supply. General-purpose noise filters are made for a power supply frequency of 50/60 Hz; if they are connected to an output of 7.8 to 11 kHz (the Servo Driver PWM frequency), an extremely large leakage current (approx. 100 times normal) will flow to the capacitor in the noise filter. The following table shows the noise filters that are recommended for motor output.

Maker Model

Tokin LF-310KA

LF-320KA

ESD-R-47B

Fuji Electrochemical Co.

RN80UD

Rated current

10 A

20 A

---

---

Remarks

Three-phase block noise filter

EMI core for radiation noise

10-turn for radiation noise

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

Note 2. Typical noise filters are used with power supply frequencies of 50/60 Hz. If these noise filters are connected to outputs of 7.8 to 11 KHz (the Servo Driver’s PWM frequency), a very large

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

Servo Driver could be damaged.

2-28

System Design and Installation Chapter 2

D

Surge Killers

Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.

The following table shows types of surge killers and recommended products.

Type

Diode

Features

Diodes are relatively small devices such as relays used for loads when reset time is not an issue. The reset time is increased because the surge voltage is the lowest when power is cut off. Used for 24/48-VDC systems.

Recommended products

Use a fast-recovery diode with a short reverse recovery time.

Fuji Electric Co., ERB44-06 or equivalent

Select varistor voltage as follows: Thyristor or

Varistor

Thyristor and varistor are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage when power is cut off is approximately 1.5 times that of the varistor.

24-VDC system varistor: 39 V

100-VDC system varistor: 200 V

100-VAC system varistor: 270 V

200-VAC system varistor: 470 V

Capacitor

+ resistor

Use capacitors and resistors for vibration absorption of surge when power is cut off. The reset time can be shortened by proper selection of the capacitor or resistor. Used for 100/200-VAC circuit contactors.

Okaya Electric Ind.

CR-50500 0.5

µ

F-50

Ω

CRE-50500 0.5

µ

F-50

Ω

S2-A-0 0.2 µ F-500 Ω

Note Thyristors and varistors are made by the following companies. Refer to manufacturers documentation for operating details.

Thyristors: Ishizuka Electronics Co.

Varistors: Ishizuka Electronics Co., Matsushita Electric Parts

D

Contactors

When selecting contactors, take into consideration the circuit’s inrush current and the momentary maximum current. The Servo Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors.

Model Rated current Maker

OMRON G6C-2BND

LY2-D

G7L-2A-BUBJ

J7AN-E3

LC1-D093A60

10 A

10 A

25 A

15 A

11 A

Momentary maximum current

---

---

---

120 A

200 A

Coil voltage

24 VDC

24 VDC

24 VDC, 200 to 240 VAC

24 VDC

24 VDC, 200/220 VAC,

200 to 240 VAC

D

Leakage Breakers

Select leakage breakers designed for inverters.

Since switching operations take place inside the Servo Driver, high-frequency current leaks from the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from operating due to leakage current.

When selecting leakage breakers, remember to also add the leakage current from devices other than the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on.

For detailed information about the selection methods of leakage breakers, refer to catalogs provided by manufacturers.

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

2-29

System Design and Installation Chapter 2

Driver Leakage current (direct)

(including high-frequency current)

R88D-UP02H(A) to -UP08H(A) 80 mA

R88D-UP12H(A) 60 mA

Leakage current (resistor-capacitor, in commercial power supply

3 mA

4 mA frequency range)

R88D-UP20H(A) 110 mA 5 mA

Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change depending on the length of power cables and the insulation.

Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will change depending on the temperature and humidity.

Note 3. Leakage current for 100-VAC-input Servomotors is approximately half that of the values shown above.

H

Improving Encoder Cable Noise Resistance

Signals from the encoder are either A, B, or S phase. The frequency for A- or B-phase signals is 154 kHz max., while the transmission speed for S-phase signals is 616 kbps. Follow the wiring methods outlined below to improve encoder noise resistance.

•

Be sure to use dedicated encoder cables.

•

If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.

•

Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and will cause malfunctions. Be sure to use cables fully extended.

•

When installing noise filters for encoder cables, use ferrite cores. The following table shows the recommended ferrite core models.

Tokin

TDK

Maker Name

EMI core

Clamp filter

Model

ESD-QR-25-1

ZCAT2032-0930

ZCAT3035-1330

ZCAT2035-0930A

•

Do not wire the encoder cable in the same duct as power cables and control cables for brakes, solenoids, clutches, and valves.

H

Improving Control I/O Signal Noise Resistance

Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined below for the power supply and wiring.

•

Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, be careful not to connect two power supply ground wires. Install a noise filter on the primary side of the control power supply.

•

Use separate power supplies for control power and for power for the pulse command and deviation counter reset input lines. Do not connect the ground wires for these two power supplies to the same ground.

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

•

For the pulse command and deviation counter reset input lines, be sure to use twisted-pair shielded cable, and connect both ends of the shield wire to ground.

2-30

System Design and Installation Chapter 2

•

If the control power supply wiring is long, noise resistance can be improved by adding 1-

µ

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

• For encoder output (A, B, and Z phase) lines, be sure to use twisted-pair shielded cable, and connect both ends of the shield wire to ground.

•

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

2-31

System Design and Installation

2-2-5 Peripheral Device Connection Examples

H

Connecting to Peripheral Devices

Chapter 2

R T Single-phase, 200/230 VAC, 50/60 Hz (R88D-UP jjj H (A))

Single-phase, 100/115 VAC, 50/60 Hz (R88D-UP jjj L(A))

MCCB

Class-3 ground

(to 100 Ω or less)

1

E

3

2

NF

4

Noise filter

Main-circuit power supply

OFF

ON

1MC X

Main-circuit connector

1MC

Surge killer

X

PL Servo error display

24 VDC

1MC

X

X

OMNUC U-series

AC Servo Driver

R

T

CN1

34 ALM

35 ALMCOM

U

V

W

CN1

XB

24VDC

R88D-CAU jjj S

(-CAU jjj B)

Power Cable

OMNUC U-series

AC Servomotor

CN2

Class-3 ground

(to 100 Ω or less)

R88A-CRU jjj

C

Encoder Cable

B

M

E

R88A-CPU jjj S

General-purpose

Control Cable

CN1

BKIR 7

OGND 10

XB

24 VDC

2-32

System Design and Installation

H

Connecting a Regeneration Unit

Single-phase, 200/230 VAC, 50/60 Hz (R88D-UP jj H(A))

Single-phase, 100/115 VAC, 50/60 Hz (R88D-UP jj L(A))

OMNUC U-series Servo Driver

1MC R

T

R

T

U

V

W

X

CN1

34 ALM CN2

12 to

24 VDC

OFF

1MC X

ON

35 ALMCOM

P

P

N

N

1MC ALM

ALM

RG

JP

Chapter 2

M

E

R

External regeneration resistor

Short bar

R88A-RG08UA

Regeneration Unit

Note 1. When using the external regeneration resistor, disconnect the short bar between the RG and

JP terminals. The internal circuit may be damaged if the external regeneration resistor is connected with the shortbar still connected between the RG and JP terminals.

Note 2. Connect the external regeneration resistor between the P and RG terminals.

Note 3. The Regeneration Unit does not conform to EC Directives.

Note 4. When connecting the ALM output, form a sequence so that the power supply is shut OFF when the contacts open. The Unit may be damaged if the ALM output is used without forming a power shut-off sequence.

2-33

System Design and Installation

2-3 Wiring Products Conforming to EC Directives

Chapter 2

2-3-1 Connecting Servo Controllers

Use general-purpose control cables (purchased separately) to connect U-series AC

Servomotors and Servo Drivers to OMRON Servo Controllers.

H

Connecting to a Servo Controller

Servo Controller

General-purpose Control Cable

R88A-CPU jjj S

OMNUC U-series

AC Servo Driver

(Model conforming to

EC Directives)

Power Cable

R88A-CAU001

R88A-CAU01B

OMNUC U-series

AC Servomotor

(Model conforming to EC Directives)

(Incremental)

Encoder Cable

R88A-CRUD jjj C

(Incremental)

Note Refer to Chapter 5 Specifications for connector and cable specifications.

2-34

System Design and Installation Chapter 2

2-3-2 Wiring Servo Drivers

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

H

Wiring Terminal Blocks

Power supply input terminals

To Motor

Main-circuit DC output terminals

Red

White

Blue

Power Cable

R88A-CAU001

R88A-CAU01B (with brake)

(The broken lines indicate signal lines for the brake. There is no polarity on these lines.)

Green

Black

Black

24 VDC

–

U

V

W

Terminal label

L1

Name

Power supply input

L2

+

Function

The commercial power supply input terminals for the main circuit and the

Main circuit DC

Motor connection i l

Frame ground

R88D-UP jj V: Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

R88D-UP jj

W: Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

When there is a high level of regenerative energy in a multi-axis system, the

+ terminals can be connected together and the terminals can be connected together to increase the ability to absorb regenerative energy

Red These are the output terminals to the Servomotor. Be careful to wire

White l

Blue

Green Ground to a class-3 ground (to 100

Ω

or less) or better.

Note Refer to 3-8 Regenerative Energy Absorption for the methods to calculate regenerative energy.

2-35

System Design and Installation Chapter 2

H

Terminal Block Current and Wire Sizes

The following table shows the rated effective currents flowing to the Servo Driver and the sizes of the electrical wires.

D

Servo Drivers with 200-VAC Input (R88D-UP

jj

V)

Driver

(Watts)

Power supply input current (L1, L2)

Motor output current (U, V, W)

Power supply input terminal wire size

Motor output i l i i

R88D-UP02V

(30 W)

1.3 A

0.42 A

R88D-UP03V

(50 W)

1.5 A

0.6 A

0.75 mm 2 or AWG 18 min.

R88D-UP04V

(100 W)

2.5 A

0.87 A

R88D-UP08V

(200 W)

4.0 A

2.0 A

R88D-UP12V

(400 W)

6.0 A

2.6 A

1.25 mm 2

R88D-UP20V

(750 W)

11.0 A

4.4 A

2.0 mm 2

0.5 mm 2 or AWG 20 AWG 20 (see note) to AWG 18

Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18.

Use 2.0-mm

2

external ground wires. Use the same wire as used for the motor output.

Protective earth terminal wire size

Note If the cable length is 15 meters or longer for a 750-W Servomotor, the momentary maximum torque at rotation speeds of 2,500 r/min or higher may drop by approximately 7%.

D

Servo Drivers with 100-VAC Input (R88D-UP

jj

W)

Driver model

(Watts)

Power supply input current (L1, L2)

Motor output current (U,

V, W)

Power supply input terminal wire size

Motor output terminal i i

Protective earth terminal wire size

R88D-UP03L(A)

(30 W)

2.0 A

0.63 A

R88D-UP04L(A)

(50 W)

2.6 A

0.7 A

0.75 mm 2 or AWG 18 min.

R88D-UP10L(A)

(100 W)

4.5 A

2.2 A

R88D-UP12L(A)

(200 W)

8.0 A

2.7 A

1.25 mm 2

R88D-UP15LA

(300 W)

10.0 A

3.7 A

2 mm 2

0.5 mm 2 or AWG 20 AWG 20 to AWG 18

Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to

AWG18.

Use 2.0-mm 2 external ground wires. Use the same wire as used for the motor output.

H

Wire Sizes and Allowable Current

The following table shows allowable currents when there are three electrical wires. Use values equal to or lower than the specified values.

D

Heat-resistant Vinyl Wiring, UL1007, Rated Temperature 80 ° C (Reference Value)

20

---

18

16

AWG size Nominal crosssectional area

( (mm ) )

0.5

0.75

0.9

1.25

Configuration

( (wires/mm 2 ) )

19/0.18

30/0.18

37/0.18

50/0.18

Conductive resistance

( (

Ω

/km)

39.5

26.0

24.4

15.6

Allowable current (A) for ambient temperature

40

°

C 50

°

C 60

°

C

6.6

5.6

4.5

8.8

9.0

12.0

7.0

7.7

11.0

5.5

6.0

8.5

2-36

System Design and Installation Chapter 2

2-3-3 Wiring Products Conforming to EMC Directives

Models conforming to EC Directive will meet the requirements of the EMC Directives EN55011 Class A

Group 1 (EMI) and EN50082-2 (EMS) if they are wired under the conditions described in this section. If the connected devices, wiring, and other conditions cannot be made to fulfill the installation and wiring conditions when the product is incorporated into a machine, the compliance of the overall machine must be confirmed.

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

•

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

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

•

Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, soft copper wires for the shield weaving.)

•

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

•

Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it.

H

Wiring Methods

Control panel

AC power supply

Metal duct or conduit

Ground (100 Ω max.)

Metal plate

Surge absorber

2 m max.

Controller power supply

Noise filter

Noise filter

Brake power supply

Contactor

0.5 m max.

Ferrite core

Metal duct or conduit

Ferrite core

Clamp Clamp

Grounding plate

Controller

1 m max.

Controller

Clamp

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

Note 2. Remove the sheath from the cable and ground it directly to the metal plate at the clamps.

•

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

• Use the grounding plate for the protective earth for each Unit, as shown in the illustration, 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.

•

If no-fuse breakers (MCCB) are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring and 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.

2-37

System Design and Installation Chapter 2

•

No-fuse breakers (MCCB), surge absorbers, and noise filters (NF) should be positioned near the input terminal block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.

•

Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control panel whenever possible.

Good: Separate input and output NO: Noise not filtered effectively

AC input

1

2

NF

3

E

4

AC output AC input

1

2

NF

3

E

4

Ground Ground

AC output

•

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

L1 L1

Driver or

L2

Binding

•

Separate power supply cables and signal cables when wiring.

L2

Driver

H

Control Panel Structure

Any gaps in the cable entrances, mounting screws, cover, or other parts of a control panel can allow electric waves to leak from or enter the control panel. The items described in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel.

D

Case Structure

•

Use a metal control panel with welded joints on the top, bottom, and all sides. The case must be electrically conductive.

•

When assembling the control panel, remove the coating from all joints (or mask the joints when coating) to ensure electrical conductivity.

•

Be sure that no gaps are created when installing the control panel, as gaps can be caused by distortion when tightening screws.

•

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

•

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

D

Cover Structure

•

Use a metal cover.

•

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

•

Use electrically conductive packing between the cover and the case, as shown in the following diagram. (Remove the coating the contact points of the packing (or mask the contact points when coating) to ensure electrical conductivity.)

2-38

System Design and Installation Chapter 2

•

Be sure that no gaps are created when installing the cover, as gaps can be caused by distortion when tightening screws.

Case

Control panel

Oil-proof packing

Conductive packing

Oil-proof packing

Case

Conductive packing

Cover

Case (inside)

H

Selecting Components

D

No-fuse Breakers (MCCB)

When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. The momentary maximum output for a servo system is approximately three times that of the rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the rated maximum output. Generalpurpose and low-speed no-fuse breakers are generally suitable. Refer to the table in 2-2-3 Terminal

Block Wiring for the power supply input currents for each motor, and then add the current consumption for the number of shafts, other controllers, etc., to make the selection.

The Servo Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input. With lowspeed no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1 second. When making the selection, take into consideration the entire inrush current for the system.

D

Surge Absorbers

Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal voltages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge immunity, and the amount of energy resistance. For 200-VAC systems, use a varistor voltage of 470 V.

The surge absorbers shown in the following table are recommended.

2-39

System Design and Installation Chapter 2

El

Maker i I d

Model

R.A.V-781BYZ-2

R.A.V-781BXZ-4

Max. limit voltage

783 V

783 V

Surge immunity

1,000 A

1,000 A

Type

Block

Remarks

For power supply line

For power supply line ground

Note 1. Refer to manufacturers documentation for operating details.

Note 2. The surge immunity is for a standard impulse current of 8/20 µ s. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber.

D

Noise Filters

Use the following noise filters on the power supplies for the Servo Driver and brake. These filters are manufactured by Okaya Electric Ind.

Application Model Rated current

5 A

Test voltage Insulation resistance

Leakage current

( )

Attenuation characteristic

Normal

(MHz)

Common

(MHz)

0.5 to 30 0.2 to 30 200 V, 30 to 100 W

100 V, 30 or 50 W

Brake power supply

SUP-P5H-

EPR-4

200 V, 200 or 400 W

100 V, 100 W

SUP-P8H-

EPR-4

8 A

200 V, 750 W

100 V, 200 or 300W

SUP-P10H-

EPR-4

10 A

Between terminals:

1,250 V rms,

Between terminals and case:

2,000 V rms,

50/60 Hz, 60 s

Between terminals and case:

6,000 M Ω min.

(at 500 VDC)

0.6 mA

(at 250 V rms 60 Hz)

0.6 to 30 0.3 to 30

0.7 to 30 0.4 to 30

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

Two, 4.8 dia.

Five, M4

2-40

System Design and Installation Chapter 2

D

Surge Killers

Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.

The following table shows types of surge killers and recommended products.

Type

Diode

Features

Diodes are relatively small devices such as relays used for loads when reset time is not an issue. The reset time is increased because the surge voltage is the lowest when power is cut off. Used for 24/48-VDC systems.

Recommended products

Use a fast-recovery diode with a short reverse recovery time.

Fuji Electric Co., ERB44-06 or equivalent

Select varistor voltage as follows: Thyristor or

Varistor

Thyristor and varistor are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage when power is cut off is approximately 1.5 times that of the varistor.

24-VDC system varistor: 39 V

100-VDC system varistor: 200 V

100-VAC system varistor: 270 V

200-VAC system varistor: 470 V

Capacitor

+ resistor

Use capacitors and resistors for vibration absorption of surge when power is cut off. The reset time can be shortened by proper selection of the capacitor or resistor.

Okaya Electric Ind.

CR-50500 0.5 µ F-50 Ω

CRE-50500 0.5

µ

F-50

Ω

S2-A-0 0.2

µ

F-500

Ω

Note Thyristors and varistors are made by the following companies. Refer to manufacturers documentation for operating details.

Thyristors: Ishizuka Electronics Co.

Varistors: Ishizuka Electronics Co., Matsushita Electric Parts

D

Contactors

When selecting contactors, take into consideration the circuit’s inrush current and the momentary maximum current. The Servo Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors.

Maker

OMRON

Model

J7AN-E3

Rated current

15 A

Momentary maximum current

120 A

Coil voltage

24 VDC

D

Leakage Breakers

•

Select leakage breakers designed for inverters.

•

Since switching operations take place inside the Servo Driver, high-frequency current leaks from the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from operating due to leakage current.

•

When selecting leakage breakers, also remember to add the leakage current from devices other than the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on.

• For detailed information about the selection methods of leakage breakers, refer to catalogs provided by manufacturers.

•

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

Driver Leakage current (direct)

(including high-frequency current)

Leakage current (resistor-capacitor, in commercial power supply frequency range)

R88D-UA02V to -UA08V 80 mA

R88D-UA12V 60 mA

3 mA

4 mA

R88D-UA20V 110 mA 5 mA

Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change depending on the length of power cables and the insulation.

Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will change depending on the temperature and humidity.

2-41

System Design and Installation Chapter 2

Note 3. Leakage current for 100-VAC-input Servomotors is approximately half that of the values shown above.

H

Improving Encoder Cable Noise Resistance

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

154 kHz max.; the transmission speed for S-phase signals is 616 kbps.

Follow the wiring methods outlined below to improve encoder noise resistance.

•

Be sure to use dedicated encoder cables.

•

If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.

•

Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and will cause malfunctions. Be sure to use cables fully extended.

•

When installing noise filters for encoder cables, use ferrite cores. The following table shows the recommended ferrite core models.

Tokin

TDK

Maker Name

EMI core

Clamp filter

Model

ESD-QR-25-1

ZCAT2032-0930

ZCAT3035-1330

ZCAT2035-0930A

•

Do not wire the encoder cable in the same duct as power cables and control cables for brakes, solenoids, clutches, and valves.

H

Improving Control I/O Signal Noise Resistance

Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined below for the power supply and wiring.

•

Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, be careful not to connect two power supply ground wires. Install a noise filter on the primary side of the control power supply.

•

For speed and torque command input lines, be sure to use twisted-pair shielded cable, and connect both ends of the shield wire to ground.

•

If the control power supply wiring is long, noise resistance can be improved by adding 1-

µ

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

•

For encoder output (A, B, and Z phase, plus the absolute encoder signal) lines, be sure to use twistedpair shielded cable, and connect both ends of the shield wire to ground.

2-42

System Design and Installation

2-3-4 Peripheral Device Connection Examples

H

Connecting to Peripheral Devices

R T Single-phase, 200/230 VAC, 50/60 Hz (R88D-UP jj V)

Single-phase, 100/115 VAC, 50/60 Hz (R88D-UP jj W)

MCCB

Class-3 ground

(to 100 Ω or less)

1

E

3

2

NF

4

Noise filter

Main-circuit power supply

OFF

X

ON

1MC X

Chapter 2

Main-circuit connector

1MC

Surge killer

PL Servo error display

24 VDC

1MC

X

X

R88A-CPU jjj S

General-purpose

Control Cable

OMNUC U-series

AC Servo Driver

L1

L2

CN1

34 ALM

35 ALMCOM

U

V

W

CN1

XB

24VDC

R88D-CAU001

(-CAU001B)

Power Cable

CN2

Class-3 ground

(to 100 Ω or less)

OMNUC U-series

AC Servomotor

B

M

E

R88A-CRUD jjj C

Encoder Cable

CN1

BKIR 7

OGND 10

XB

24 VDC

2-43

Operation

3-1 Operational Procedure

3-2 Turning On Power and Checking Displays

3-3 Using Parameter Units

3-4 Initial Settings: Setup Parameters

3-5 Setting Functions: User Parameters

3-6 Trial Operation

3-7 Making Adjustments

3-8 Regenerative Energy Absorption

3

Chapter 3

Operation Chapter 3

Operation and Adjustment Precautions

!

Caution Check the newly set parameters for proper execution before actually running them.

Not doing so may result in equipment damage.

!

Caution Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury.

!

Caution

!

Caution

!

Caution

!

Caution

Separate the Servomotor from the machine, check for proper operation, and then connect 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 come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) 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.

3-2

Operation

3-1 Operational Procedure

Chapter 3

After confirming that the system has been correctly installed and wired, make the initial settings for the Servo Driver. Then, set the functions as required for the application of the

Servomotor.

Any incorrect settings in the parameters could cause unexpected motor operation, creating an extremely dangerous situation. Use the procedures provided in this section to carefully set all parameters.

H

Startup Procedure

1. Mounting and Installation

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

2. Wiring and Connections

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

The specified installation and wiring conditions are particularly important to ensure that models conforming to EC Directives actually conform to the EC Directive in the final system.

3. Turning on Power Supply

Before turning on the power supply, check the necessary items. In order to make the initial settings, turn on an application power supply: Chapter 3, section 3-2.

4. Checking Display Status

Check by means of the displays to see whether there are any internal errors in the Servo Driver:

Chapter 3, section 3-2

5. Initial Settings

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

6. Function Settings

By means of the user parameters, set the functions according to the operating conditions: Chap- ter 3, section 3-5.

7. Trial Operation

Before performing trial operation, turn the power supply off and then back on so that any parameters that have been set will be valid.

Check to see whether protective functions such as emergency stop and operational limits are working reliably. Check operation at both low speed and high speed: Chapter 3, section 3-6.

8. Adjustments

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

9. Operation

Operation can now begin. If any trouble should occur, refer to Chapter 4 Applications: Chapter 4.

3-3

Operation

3-2 Turning On Power and Checking Displays

Chapter 3

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

H

Checking Power Supply Voltage

• Check to be sure that the power supply voltage is within the ranges shown below.

R88D-UP jj H(A) (200 VAC specifications): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

R88D-UP jj

L(A) (100 VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

R88D-UP jj

V (200 VAC specifications): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

R88D-UP jj

W (100 VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

H

Checking Terminal Block Wiring

•

The power supply inputs R and T, or L1 and L2, must be properly connected to the terminal block.

•

The Servomotor’s red (U), white (V), and blue (W) power lines and the green ground wire ( ) must be properly connected to the terminal block.

H

Checking the Servomotor

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

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

H

Checking the Encoder Connectors

•

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

•

The encoder connectors at the Servomotor must be securely connected.

H

Checking the Control Connectors

•

The control connectors must be securely connected.

•

The Run command must be OFF.

H

Checking the Parameter Unit Connection

•

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

CN3.

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

H

Turning On Power

•

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

3-4

Operation Chapter 3

H

Checking Displays

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

Normal (Base block) b b

Note 1. “Base block” means that the Servomotor is not receiving power.

Error (Alarm Display)

0 2

Note 2. The alarm code (the number shown in the alarm display) changes depending on the contents of the error.

•

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

Servomotor shaft clockwise and counterclockwise, and check to be sure that it agrees with the positive and negative on the speed display. If it does not agree, then the encoder signal line may be wired incorrectly. Check the conductivity of the cable by itself.

Reverse rotation

Forward rotation

Display example

0 0 3 8

Forward rotation

- 0 0 2 5

Reverse rotation

Note To monitor the speed feedback value, press the MODE/SET Key and go into monitor mode u n - 0 0

. Then press the DATA Key.

• If there is an error, refer to Chapter 4 Application and take the necessary countermeasures.

3-5

Operation

3-3 Using Parameter Units

Chapter 3

The key operations for the Hand-held R88A-PR02U Parameter Unit and the Mounted

R88A-PR03U Parameter Unit vary depending on the functions used.

3-3-1 Parameter Unit Keys and Functions

Hand-held

Parameter Unit

R88A-PR02U

Mounted

Parameter Unit

R88A-PR03U

PR02U

RESET

PR03U

+

SERVO

DATA

---

---

DATA

DATA

Function

Alarm reset

Mode switching

Data memory

Servo ON/OFF during jog operations

Switching between parameter display and data display; data memory

Increments parameter numbers and data values.

Decrements parameter numbers and data values.

Left shift for operation digits

Right shift for operation digits

3-3-2 Modes and Changing Modes

H

Modes

OMNUC U-series AC Servo Drivers have four operating modes, as described in the following table. For example, the Settings Mode is used to set parameters.

Mode Function

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

Power supply ON display, base block, positioning completion, rotation detection and current limit detection, command pulse input

Symbol display (indicating internal status via 3-digit 7-segment display):

Base block, operating, forward rotation prohibited, reverse rotation prohibited, alarm display

Settings mode

Monitor mode

Alarm history display mode

System check: Jog operations, alarm history data clear, motor parameters check, auto-tuning

Setting and checking setup parameters

Setting and checking user parameters

Speed feedback, speed commands, torque commands, number of pulses from Uphase, electrical angle, internal status bit display, command pulse speed display, position deviation, input pulse counter (HA/LA/V/W Models)

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

3-6

Operation

H

Changing Modes

To change modes, press the MODE/SET Key.

Chapter 3

Power ON

Status display mode

Settings mode Monitor mode

Alarm history display mode

(Display example)

-. b b c n - 0 0 u n - 0 0

3-3-3 Mode Changes and Display Contents

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

0 - a.0 2

3-7

Operation

Power ON

Status display mode

Settings mode

Monitor mode

Alarm history display mode

Chapter 3

(Display example) c n - 0 0

-. b b

System check mode

Bit Displays (page 4-4)

Power ON

Base block (motor not receiving power)

Positioning completion

Command pulse input

Motor rotation detected / Current limit detected

Symbol Displays

b b

Base block r U n

In operation (running) p % t

Forward rotation prohibited n % t

Reverse rotation prohibited a.

j j Alarm display

Jog operation (page 3-31)

Clear alarm history data (page 4-14)

Motor parameters check (page 4-8)

Auto-tuning (page 3-32) c n - 0 1

Setup parameter no. 1

DATA

Sequence input signal switch (page 3-9)

Sequence output signal switch

Interrupt return processing switch

Abnormal stop selection

Deviation counter with Servo OFF

P control switch selection

P control switch conditions

Pulse Stop Switch (HA/LA/V/W Models) c n - 0 2

Setup parameter no. 2

DATA

Reverse mode (page 3-9)

Input command mode

Command pulse mode

Deviation counter clear

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

Models)

Torque command filter time constant (HA/LA/V/W

Models)

Command pulse logic

Monitor output level switch

User parameters c n - 0 4

Speed loop gain (page 3-14) c n - 2 9

Unit number setting (HA/LA/V/W Models) u n - 0 0 u n - 0 1 u n - 0 2 u n - 0 3 u n - 0 4 u n - 0 5 u n - 0 6 u n - 0 7 u n - 0 8 u n - 0 9

Speed feedback (page 4-5)

Speed command (When using internally set speed control)

Torque command

Number of pulses from U-phase edge

Electrical angle

Internal status bit display 1

Internal status bit display 2

Command pulse speed display

Position deviation (deviation counter)

Input pulse counter (HA/LA/V/W Models)

0 - a.

j j Error one time before (page 4-14)

9 - a.

j j Error ten time before

3-8

Operation Chapter 3

3-4 Initial Settings: Setup Parameters

Setup parameters are parameters that are essential for starting up the system. They include I/O signal function changes, selection of processing for momentary stops and errors, command pulse modes, and so on. Set them to match the user system.

Once the parameters have been set, they become effective when the power supply is turned on again after having been turned off. (Check to see that the LED display has gone off.)

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

H

Displaying Setup Parameters

There are two setup parameters: No. 1 (Cn-01) and No. 2 (Cn-02).

To display the contents of setup parameters, execute the following key operations.

1. To go into settings mode ( cn-00

), press the MODE/SET Key.

2. To display the setup parameter number ( cn-01

or cn-02

), press the Up and Down keys.

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

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

DATA Key.

The contents of the setup parameters are displayed as follows:

E C A 8 6 4 2 0

Bit no.

0

F d b 9 7 5 3 1

Bit no. to be set.

In the leftmost four digits, 16 bits of information are displayed. In the rightmost digit, the bit number that can be set is displayed. It can be checked whether the bit information is “0” (not lit) or “1” (lit), according to the 7-segment display vertical bar. To change the set value, first set the bit number in the rightmost digit, and then set the appropriate bit to “0” or “1.”

H

Setting Setup Parameters

First, display the setting of the setup parameter (No. 1 or No. 2) using the procedure given above. To change a setting, specify the bit to be changed and then set it to “1” or “0.”

D

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

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

2. Using the Up (or Down) Key, reverse the lit/not lit status of the appropriate bit number. For “lit,” set the bit number to “1.” For “not lit,” set it to “0.”

3. Repeat steps 1 and 2 above as required.

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

5. With this, the parameter setting operation is complete. Pressing the DATA Key at this point will bring back the parameter number display.

D

Making Settings with Mounted Parameter Unit (R88A-PR03U)

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

2. Using the MODE/SET Key, reverse the lit/not lit status of the appropriate bit number. For “lit,” set the bit number to “1.” For “not lit,” set it to “0.”

3-9

Operation Chapter 3

3. Repeat steps 1 and 2 above as required.

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

5. With this, the parameter setting operation is complete. Pressing the DATA Key at this point will bring back the parameter number display.

3-4-2 Setup Parameter Contents

H

Setup Parameter No. 1 (Cn-01)

Item Setting

0

Bit no.

Factory setting

0 l i hi l i hi mentary stop

1

2

3

4

0

1

1

0

1

0

1

0

1

0

1

0

1

0

1

---

Abnormal stop 6 1

8

1

0

0

1

0

1

0

Deviation counter

OFF

P control switch l i

P control switch

9

A b

( (see

E

0

0

1

0

1

0

1

0

1

0

1

0, 0

0, 1

1, 0

1, 1

---

Explanation

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

Servo always ON.

Not used.

Enables forward drive prohibit input (POT).

Permits always-forward drive.

Enables reverse drive prohibit input (NOT).

Permits always -reverse drive.

Takes TGON/CLIMT signal as motor rotation detection output.

Takes TGON/CLIMT signal as current limit detection output.

Servo alarm set at time of recovery from momentary stop.

Servo alarm automatically cleared at time of recovery from momentary stop.

Motor stopped by dynamic brake.

Motor stopped with free run.

Dynamic brake OFF after motor stopped.

Dynamic brake ON after motor stopped.

Method for stopping when over-travel occurs depends on bit no. 6 setting.

When over-travel occurs, motor is stopped at the torque set by user parameter Cn-06 (emergency stop torque).

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

When over-travel occurs, motor comes to deceleration stop and position is locked. (see note 6)

Clear counter for alarms occurring while Servo is OFF

Do not clear counter for alarms occurring while Servo is OFF

Switch control according to bits C and d.

Do not switch

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

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

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

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

Not used.

3-10

Operation Chapter 3

Item Bit no.

Factory setting

0

Setting Explanation

Pulse stop switching

(HA/LA/V/W Models)

F 0

1

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

Disables the pulse stop input.

(CN1-15 is the gain reduction (MING).)

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

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

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

Enables the pulse stop input.

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

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

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

(Position control is performed with the internal speed control settings and the pulse-train input.)

Note 1. If power is immediately turned back on after having been cut off, a momentary stop alarm may be generated. If bit no. 5 is set to “1,” the alarm will be cleared automatically even if it is generated, and operation will resume.

Note 2. If set bit 6 to “1” and bit 8 to “0,” the dynamic brake relay will turn OFF after the Servomotor stops, regardless of the setting of bit no. 7.

Note 3. With P control switch conditions, a change from PI control to P control is selected.

Note 4. Do not set bit nos. 1 and E of setup parameter no. 1 (Cn-01).

Note 5. These parameters become effective only after power is reset. Confirm that the indicators go out before turning power back on. (Check to see that the LED display has gone off)

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

3-11

Operation Chapter 3

H

Setup Parameter No. 2 (Cn-02)

Item Bit no.

Factory setting

Setting

Reverse rotation mode 0 0 0

Explanation

Input command mode

Command pulse mode

Deviation counter clear

Speed integration

(HA/LA/V/W Models)

Torque command filter

1

2

6

7

8

9

A b c

0

0

5, 4, 3 , ,

0

0

0

0

1

0

0

1

---

0

1

1

0

1

0

---

---

---

0

0, 0, 0

0, 0, 1

0, 1, 0

0, 1, 1

1, 0, 0

---

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

3.)

Rotates in the CW direction with a + command.

Not used.

Position control with pulse-train input:

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

In the H/L Models, CN1-15 will be the gain reduction (MING).

In the HA/LA/V/W Models, CN1-15 will be the gain reduction

(MING) if Cn-01 bit F is set to “0” or the pulse stop input (IPG) if Cn-01 bit F is set to “1.”

Internal speed control settings:

CN1-11 and 12 are used as speed selection commands 1 and

2 inputs (SPD1, SPD2).

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

Feed pulse and Forward/reverse signal

Forward rotation pulse and Reverse rotation pulse

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

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

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

Not used.

Not used.

Not used.

Not used.

Clears the deviation counter when the signal is high level

Clears the deviation counter on the rising edge of the signal

1 ms

0.01 ms

Primary filter

(HA/LA/V/W Models)

1 Secondary filter d 0 0 Positive logic versal l

Parameter Unit monitor h

E 0

1

0

1

Negative logic

Position deviation monitor set for 1 command.

Position deviation monitor set for 100 commands.

F 0 --Not used.

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

Note 2. These parameters become effective only after power is reset. Confirm that the indicators go out before turning power back on. (Check to see that the LED display has gone off)

Note 3. Counterclockwise direction when viewed from the motor output shaft is CCW and clockwise direction is

CW.

3-12

Operation Chapter 3

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

This section explains the particularly important setup parameters. If these parameters aren’t set properly, the motor might not operate or might operate unpredictably. Set these parameters appropriately for the system being used.

H

Control Mode Settings

The control mode is determined by the following setup parameters:

•

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

•

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

The following diagram shows the function of these two bits:

Control mode

0

Cn-02 bit 2

1

0

Cn-01 bit F

1

Position control by pulse-train input

Position control by pulse-train input

(The pulse stop input (IPG is enabled.)

HA/LA/V/W

Models

0

Cn-01 bit F

1

Internal speed control settings only.

(servo lock when stopped)

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

HA/LA/V/W

Models

0

Cn-02 bit 2 Cn-01 bit F

0

1

1

0

1

Control mode

Position control by pulse-train inputs (Factory setting)

Position control by pulse-train inputs (pulse stop input (IPG) enabled)

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

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

Note Cn-01 bit F is effective in the HA/LA/V/W Models only. With H/L Models, use Cn-02 bit 2 to select either “position control by pulse-train inputs” or “internal speed control settings.”

H

Command Pulses in Position Control

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

1

0

1

0

Cn-02 bit 3 Cn-02 bit 4 Cn-02 bit 5

0 0 0

0

1

0

0

1

0

0

1

Selected command pulse mode

Feed pulse (PULS)/Direction signal (SIGN)

Forward pulse (CCW)/Reverse pulse (CW) (Factory setting)

90

_

differential phase (A/B phase) signal (1

×

)

90

_

differential phase (A/B phase) signal (2

×

)

90

_

differential phase (A/B phase) signal (4

×

)

Note One of three multiples can be selected when inputting a 90

_

differential phase signal (1

×

, 2

×

, or

4

×

). If the 4

×

multiple is selected, the input pulses are multiplied by a factor of 4, so the number of motor revolutions (speed and angle) are 4 times the number when the 1

×

multiple is selected.

3-13

Operation Chapter 3

H

Error Stop Processes

Bits 6, 7, 8, and 9 of Cn-01 specify how the motor will be stopped when the servo goes OFF (the run command is OFF), an alarm is generated, or overtravel occurs. The following diagrams show the function of these four bits:

Stop Process for Servo OFF/Alarm

Deceleration method

0

Bit 6 Decelerate by dynamic brake.

0

1

Servo OFF or Alarm

1

Decelerate by free run.

Bit 7 Stop condition

Servo free (dynamic brake OFF)

Servo free (dynamic brake ON)

Servo free (dynamic brake OFF)

Stop Process for Overtravel

Overtravel occurs.

Deceleration method

Bit 8

0

1

0

Bit 6

1

Decelerate by dynamic brake.

Decelerate by free run.

Decelerate by emergency stop torque (Cn-06).

0

1

Bit 9

Stop condition

Servo free (dynamic brake OFF)

Servo free (dynamic brake OFF)

Servo lock

3-5 Setting Functions: User Parameters

Execute the user parameter settings in order as follows:

Go into settings mode.

. . . . . . . . . . . . . . . . . . . . . MODE/SET Key

Display the pertinent parameter number.

. . . . . Direction Keys (Handy-type)

Up and Down Keys (Mounted-type)

Display the contents (data) of the parameter.

.

DATA Key

Change the data.

. . . . . . . . . . . . . . . . . . . . . . . . . Direction Keys (Handy-type)

Up and Down Keys (Mounted-type)

Save the data in memory.

. . . . . . . . . . . . . . . . . . MODE/SET and DATA Keys

3-14

Operation Chapter 3

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

H

Displaying User Parameters

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

D

Displaying with Handy-type (R88A-PR02U)

1. Press the MODE/SET Key to go into settings mode ( cnjj

).

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

Press the Right and Left Keys to select the digit to be set. The digit whose value can be set will blink.

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

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

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

Note If only the Up or Down Key is pressed at step 2., the parameter number can be set directly. In this case, the rightmost digit will blink. The number cannot be set if the second digit (the 10s digit) is blinking (i.e., blinking indicates the digit that can be changed).

D

Displaying with Mounted-type (R88A-PR03U)

1. Press the MODE/SET Key to go into settings mode ( cnjj

).

2. Press the Up and Down Keys to display the desired user parameter number.

The number will be incremented or decremented each time the Up or Down Key is pressed.

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

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

D

Parameter Display Example

Parameter Number Display [1] Data Display [2]

DATA c n - 0 4 0 0 0 8 0

DATA

[5] [4]

H

Setting User Parameters

First, use the previous procedure to display the settings of the user parameter. Then use the following procedures to set user parameters.

D

Making Settings with Handy-type (R88A-PR02U)

1. Use the Right and Left Keys to select the digit that is to be set. The digit for which the value can be changed will blink.

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

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

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

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

3-15

Operation Chapter 3

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

Note 1. Settings can also be made by pressing only the Up and Down Keys in stead of using steps 1.

and 2. This will enable setting digits higher than the one that is blinking. Use whichever method is faster for the number of digits that need to be set.

Note 2. The Down Key can be pressed when all digits higher than the blinking one are zeros to set the minimum value in the setting range.

Note 3. The fifth digit (i.e., the leftmost digit) cannot be made to blink by pressing the Left Key. The fifth digit can be set from the fourth digit. For example, to set “10000,” press the Left Key to make the fourth digit blink and then press the Up Key again once the fourth digit reaches “9.” The fifth digit will change to “1” and the fourth digit will change to “0.”

D

Making Settings with Mounted-type (R88A-PR03U)

1. Using the Up and Down Keys, set the data. If the keys are held down, the numbers will change 10 at a time. If the keys are held down even longer, the numbers will change 100 and then 1,000 at a time.

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

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

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

3-5-2 User Parameter Chart

PRM

No.

Parameter name

Cn-00 System check mode

Factory setting

-----

Unit

---

Setting range

Explanation

Cn-01

Cn-02

Setup parameter no. 1

Setup parameter no. 2

---

---

Cn-0A Encoder divider rate (See note 2.)

1,000

---

---

---

---

Refer to system check mode explanation.

Refer to setup parameter no. 1 explanation.

Refer to setup parameter no. 2 explanation.

Adjusts speed loop response.

Cn-04 Speed loop gain

(See note 1.)

Cn-05

Cn-06

Speed loop integration constant

Emergency stop torque

Cn-07 Software start acceleration time

Cn-08 Forward torque limit

Cn-09 Reverse torque limit

80

20

Maximum torque

0

Maximum torque

Maximum torque

Hz ms

% ms

%

%

Pulses/ revolution

1 to 2,000

2 to 10,000 Speed loop integration const.

0 to maximum torque

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

Bit b=1: 0.01-ms units

Deceleration torque when abnormality occurs (compared to rated torque).

0 to 10,000 Acceleration time setting for software start.

0 to maximum torque

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

0 to maximum torque

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

16 to 2,048 Setting for number of output pulses from Servo Driver.

3-16

Operation Chapter 3

PRM

No.

Parameter name

Cn-0b Rotational speed for motor rotation detection

Cn-0C P control switching (torque commands)

Factory setting

20

200

Cn-0d P control switching (speed commands)

Cn-0E P control switching (accel-

Cn-0F

Cn-10

Cn-12

Cn-15

Cn-16

Cn-17

Cn-18

Cn-19

Cn-1b

Cn-1C Bias rotational speed

Cn-1d eration commands)

P control switching (deviation pulse)

Jog speed

Cn-11 Number of encoder pulses

(See notes 2 and 3.)

Brake timing 1

Brake command speed

Brake timing 2

Torque command filter time constant

Forward rotation external current limit

Reverse rotation external current limit

Cn-1A Position loop gain

Positioning completion range

Feed-forward amount

Cn-1E Deviation counter overflow level

Cn-1F No. 1 internal speed setting

Cn-20 No. 2 internal speed setting

Cn-21 No. 3 internal speed setting

0

0

10

500

2,048

0

100

50

4

100

100

40

3

0

0

1,024

100

200

300 r/min

% r/min

10

100

%

%

1/s

Unit

(r/min)/s

Command units r/min

Pulses/ revolution

10 ms r/min

10 ms

Command units r/min

% r/min r/min

µ s

× 256 commands r/min

Setting range

1 to 4,500

Explanation

0 to maximum torque

0 to 4,500

0 to 3,000

0 to 1,000

0 to 4,500

2,048

0 to 50

0 to 4,500

10 to 100

0 to 250

0 to maximum torque

0 to maximum torque

Setting for rotational speed for motor rotor detection output.

If a torque command exceeds this value, the mode switches from PI to P control.

If a speed command exceeds this value, the mode switches from PI to P control.

If an acceleration command exceeds this value, the mode switches from PI to P control.

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

Setting for manual rotational speed

Setting for number of pulses for encoder used.

Delay time setting from brake command until servo turns off.

Sets rotational speed for outputting brake commands.

Waiting time from servo-off to brake command output.

Setting for torque command filter time constant (6.4 to

398 Hz).

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

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

1 to 500

0 to 250

0 to 450

For position loop response adjustment.

Sets the range for the positioning completion signal output.

Sets the bias for position control.

0 to 100 Position control feed-forward compensation.

1 to 32,767 Sets the level for detection of deviation counter overflow.

0 to 4,500

0 to 4,500

0 to 4,500

Rotational speed, no. 1 internal setting

Rotational speed, no. 2 internal setting

Rotational speed, no. 3 internal setting

3-17

Operation Chapter 3

PRM

No.

Parameter name

Cn-23 Software start deceleration time

Cn-24 Electronic gear ratio G1

(numerator) (see note 2)

Cn-25 Electronic gear ratio G2

(denominator) (see note 2)

Cn-26 Position command acceleration/deceleration time constant

0

4

1

0

Factory setting ms

---

---

×

Unit

0.1 ms

Setting range

0 to 10,000 Sets the deceleration time for software starts.

1 to 65,535 Setting range

/ 00 ≤ G /G ≤ 00

1 to 65,535

0 to 640

Explanation

Sets the time constant for smoothing.

Cn-27 Feed-forward command filter

Cn-28 Compensating gain

(HA/LA/V/W Models)

0

0

× 0.1 ms

---

0 to 640

0 to 100

Sets the feed-forward command filter.

Adjustment gain during position control

Cn-29 Unit number setting

(HA/LA/V/W Models)

0 --0 to 14 Unit number setting used during multi-axis communications

Note 1. Cn-04 (speed loop gain) is factory set for three times the load inertia. Therefore, if the load inertia is extremely small, some oscillation may occur. If it does, then lower Cn-04 to 20 or less.

Note 2. After the settings for Cn-11 (number of encoder pulses), Cn-24 (Electronic gear ratio G1 (numerator)), and Cn-25 (Electronic gear ratio G2 (denominator)) have been made, they become effective when the power is turned on again after having been cut off. (Check to see that the LED display has gone off.)

Note 3. Do not change the setting of Cn-11 (number of encoder pulses). The motor might not operate correctly if the setting is changed.

Note 4.

Refer to the Computer Monitor Software Instruction Manual (I513) for OMNUC U-series

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

3-18

Operation

3-5-3 Internal Speed Control Settings

Chapter 3

H

Function

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

No. 3 internal speed settings).

•

The internal speed is selected with control input terminals CN1-11 and CN1-12 (speed selection commands 1 and 2). The direction of rotation is specified with CN1-15 (the rotation direction command).

• When both speed selection commands 1 and 2 are OFF, the motor will decelerate to a stop in the software start deceleration time (specified in Cn-23) and then go into servo lock status.

Depending on the parameter settings, it might be possible to perform position control in this status using pulse-train inputs. (HA/LA/V/W Models)

H

Setup Parameter Settings

•

Set bit 2 of setup parameter number 2 (Cn-02) to “1.” When this bit is set to “1,” the internal speed control settings function can be used and CN1-11, 12, and 15 have the following functions:

Control inputs CN1-11 and 12:

Control input CN1-15:

. . . .

. . . . . . . . . . .

Speed selection commands 1 and 2 (SPD1 and SPD2)

Rotation direction command (RDIR)

•

The following table shows the combinations of speeds and directions that can be selected with these three control inputs.

CN1-11

SPD1

OFF

ON

ON

CN1-12

SPD2

ON

ON

OFF

CN1-15

RDIR

OFF

ON

OFF

ON

OFF

ON

Internal speed setting, Rotational direction

No. 1 internal speed setting, forward

No. 1 internal speed setting, reverse

No. 2 internal speed setting, forward

No. 2 internal speed setting, reverse

No. 3 internal speed setting, forward

No. 3 internal speed setting, reverse

D

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

•

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

•

In this control mode, it is possible to perform speed control using the internal speed control settings as well as position control using the pulse-train inputs.

•

When both SPD1 and SPD2 are OFF, the motor will be decelerated, the positioning completion output will be output, and the servo will enter servo lock status. It will still be possible to receive pulse command inputs in servo lock status.

Note Input pulse commands after the positioning completion output (INP) is turned ON. The Unit will ignore any pulses input before the positioning completion output goes ON.

3-19

Operation Chapter 3

H

User Parameter Settings

PRM

No.

Parameter name

Cn-07 Software start acceleration time

Cn-23 Software start deceleration time

Factory

0

0 setting

Unit ms ms

Setting range

Explanation

0 to 10,000 Sets the time for the motor to accelerate from 0 r/min to

4,500 r/min.

0 to 10,000 Sets the time for the motor to decelerate from 4,500 r/min to

0 r/min.

Cn-26

Cn-1F

Position command acceleration/deceleration time constant

No. 1 internal speed setting

0

100

0.1 ms 0 to 640 Sets the time constant for pulse smoothing.

r/min 0 to 4,500 Sets the speed for when

SPD1 is OFF and SPD2 is

ON.

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

SPD1 is ON and SPD2 is ON.

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

SPD1 is ON and SPD2 is

OFF.

Note 1. The software start acceleration and deceleration times are effective on the internal speed settings.

Note 2. The actual acceleration and deceleration times are found by means of the following formula:

Actual acceleration (deceleration) time =

Internal speed setting (r/min)

4,500 (r/min)

×

Software start acceleration

(deceleration) time

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

Motor speed

4500 r/min

Time

3-20

Operation

H

Operation Example

D

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

Chapter 3

Speed selection command 1

SPD1

Speed selection command 2

SPD2

Switch rotation direction

RDIR

Pulse command

Positioning completed

(INP)

6 ms min.

6 ms min.

Speed 1

Speed 2

Speed 3

Motor operation

Speed 1

3-5-4 Electronic Gear Function: Position Control

H

Function

•

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

•

The electronic gear is useful for the following applications:

S To fine-tune the position and speed of two lines that must be synchronized.

S

When using a positioner with a low command pulse frequency.

S To set the machine movement per pulse to a specific value, such as 0.01 mm.

H

Setting User Parameters

•

The electronic gear is set as G1 divided by G2 (G1/G2). G1 is set in user parameter Cn-24; G2 is set in Cn-25. The target pulse count is computed as follows:

Target pulse count = Command pulse count x G1/G2

•

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

4X).

•

One pulse for the position deviation (deviation counter) display and positioning completion range will be equivalent to one input pulse (here the unit is said to be the command).

3-21

Operation Chapter 3

PRM

No.

Parameter name

Cn-24 Electronic gear ratio G1

(numerator)

Cn-25 Electronic gear ratio G2

(denominator)

4

Factory setting

1

---

---

Unit Setting range

Explanation

1 to 65,535 Setting range

/ 00

≤

G /G

≤

00

1 to 65,535

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

H

Example

If G1 is set to 8,192 and G2 is set to 1,000, the motor will turn once for every 1,000 input pulses (output as

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

1,000 pulses

Driver

Electronic gear

G1/G2

= 8,192/1,000

8,192 pulses

Motor

One revolution

(8,192 pulses)

3-5-5 Encoder Dividing Function

H

Function

•

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

•

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

•

Use this function for the following applications:

When connecting to a positioner with a low response frequency.

When it is desirable to set a pulse rate that is easily understandable.

(For example, in a mechanical system in which a single Servomotor revolution corresponds to a movement of 10 mm, if the resolution is 5

µ m/pulse, set the encoder dividing rate to 2,000 (pulses/ revolution).

•

Set the parameters as shown in the following table.

PRM

No.

Parameter name

Cn-0A Encoder divider rate

Factory setting

1,000 pulses/ revolution

Setting range

16 to 2,048 pulses/revolution

Explanation

Setting for number of output pulses from Servo Driver.

Note The power must be toggled to enable this parameter (be sure that the indicators go out completely).

3-22

Operation Chapter 3

H

Operation

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

Servo Driver

Encoder

A

B

E

Frequency divider

A-phase

B-phase

S

Processing circuitry Z-phase

•

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

Note The width of the Z-phase output pulse is not affected by the divider rate and will remain constant.

Forward Rotation Side Reverse Rotation Side

A-phase

B-phase

Z-phase

A-phase

B-phase

Z-phase

Note When the encoder divider rate is set to other than 2,048, 1024, 512,..., the phase difference for phases A and B is not 90

°

, but scatters for time T. (See the diagram below.)

A-phase

B-phase t1 t2 t1 t1 t1 t1 t2 t1 = nT, t2 = (n+1)T

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

n = 2,048/encoder divider rate

Input to frequency divider

(encoder output)

A-phase

B-phase

T

3-23

Operation Chapter 3

3-5-6 Bias Function: Position Control

The bias function shortens positioning time by adding the bias rotational speed to the speed command when the residual pulses in the deviation counter exceed the positioning completion range.

H

Function

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

H

Parameters to be Set

PRM No.

Cn-1b

Parameter name

Positioning completion range

3

Factory setting

Unit

Command units

Setting range

1 to 250

Explanation

Sets the range for positioning completion signal output.

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

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

Note 2. As the bias rotational speed increases, Servomotor rotation becomes more unstable. The optimal value changes depending on the load, gain, and positioning completion range, so observe the response while making the adjustment. Start with the bias rotational speed set to 0 and slowly increase it.

H

Operation

•

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

•

When the pulses are within the positioning completion range, the bias rotational speed is no longer added to the speed command.

• For internal processing block configuration, refer to the position loop block diagram in 3-7-2 Manual ly Adjusting Gain.

+r/min.

Speed command

(Frequency of command pulse train)

Servomotor speed without bias function

Servomotor speed when bias function is used

Motor speed

Time reduced Time

3-24

Positioning completion

INP

ON

OFF

Operation

3-5-7 Torque Limit Function

Chapter 3

H

Function

•

This function limits the Servomotor’s output torque.

•

This function can be used to protect the Servomotor and machine system by preventing excessive force or torque on the machine system when the machine (moving part) pushes against the workpiece with a steady force, such as in a bending machine.

•

There are two methods for limiting the torque:

1. Limit the steady force applied during normal operation with user parameters Cn-08 (forward torque limit) and Cn-09 (reverse torque limit).

2. Limit operation with external signals connected to pins CN1-11 (PCL: forward current limit input) and CN1-12 (NCL: reverse current limit input). Set user parameters Cn-18 ( forward rotation external current limit ) and Cn-19 (reverse rotation external current limit ).

H

Parameter Settings

D

Method 1: Limiting the Force Applied During Operation

•

User Parameter Settings

Unit Setting range PRM

No.

Parameter name Factory setting

Cn-08 Forward torque limit Maximum torque

%

Cn-09 Reverse torque limit Maximum torque

%

Explanation

0 to maximum torque

0 to maximum torque

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

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

Note Set these parameters to the maximum torque (the factory setting) when the torque limit function isn’t being used.

D

Method 2: Limiting Operation with External Signals

•

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

Set bit 2 of Cn-02 (the input command mode) to “0.” When bit 2 is “0,” control input terminal CN1-11 will be PCL (forward current limit input), CN1-12 will be NCL (reverse current limit input), and it will be possible to use the external current limit function.

•

User Parameter Settings

PRM

No.

Parameter name

Cn-18 Forward rotation external current limit

Factory setting

100

Unit

%

Setting range Explanation

Cn-19 Reverse rotation external current limit

100 %

0 to maximum torque

0 to maximum torque

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

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

3-25

Operation

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

Chapter 3

H

Magnetic Brakes

The magnetic brakes for Servomotors with brakes are specialized holding brakes with non-magnetized operation. Therefore set the parameters so that the brake power supply is turned off after the Servomotor stops. If the brake is applied while the Servomotor is operating, the brake will suffer abnormal wear or even damage, and will quickly become defective.

For wiring methods, refer to 2-2-5 Peripheral Device Connection Examples.

H

Function

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

OFF can be set.

H

Parameters to be Set

Parameter name PRM

No.

Cn-12 Brake timing 1

Cn-15

Cn-16

Brake command speed

Brake timing 2

0

Factory setting

Unit

10 ms

100

50 r/min

10 ms

Setting range

0 to 50

Explanation

Delay time setting from brake command until servo turns off.

0 to 4,500 Sets rotational speed for outputting brake commands.

10 to 100 Waiting time from servo-off to brake command output.

3-26

Operation

H

Operation

D

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

Chapter 3

Run instruction

RUN

Brake interlock signal

BKIR

Brake power supply

Brake operation

Cancelled

Maintained

Pulse train command

CW/CCW

Power to motor

Power on

Power off

25 to 35 ms

(See note 1)

200 max.

Approx. 6 ms

100 max.

Cn-12 (see note 2)

Note 1. It takes up to 200 ms for the brake to be cleared after the brake power supply has been turned on. Taking this delay into account, have the speed command be given after the brake has been cleared.

Note 2. It takes up to 100 ms for the brake to be held after the brake power supply has been turned off.

When using it for the vertical shaft, take this delay into account and set brake timing 1 (Cn-12) so that the Servomotor will not receive power until after the brake is held.

D

Timing for Power Supply (When Servomotor is Stopped)

Power supply

55 to 75 ms

Brake interlock signal

BKIR

Power to motor

Power on

Power off

Cn-12 (see note)

Note It takes up to 100 ms for the brake to be held after the brake power supply has been turned off.

When using it for the vertical shaft, take this delay into account and set brake timing 1 (Cn-12) so that the Servomotor will not receive power until after the brake is held.

3-27

Operation Chapter 3

D

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

Power supply

Run command

RUN

Alarm output

ALM

Brake interlock signal

BKIR

Power to motor

Power on

Power off

(See note 2)

Motor rotational speed

Approx. 10 ms

(See note 1.)

Brake command speed

(Cn-15)

Braking by dynamic brake

(When Cn-01 bit no. 6 = 0)

Note 1. For the approximately 10 ms it takes from when the power to the Servomotor turns off until the dynamic brake operates, the Servomotor rotates by momentum.

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

(Cn-15), or if the time set for brake timing 2 (Cn-16) elapses after the Servomotor stops receiving power, the brake interlock signal (BKIR) will turn OFF.

3-28

Operation

3-6 Trial Operation

Chapter 3

After the wiring is complete and the parameter settings have been made, conduct a trial operation. First, check with rotation of the motor without connecting a load (i.e., without connecting the mechanical system). Then, connect the mechanical system, auto-tune the system, and confirm that the correct operation pattern is performed.

3-6-1 Preparations for Trial Operation

H

Preparations

D

Power Off

The power supply must be toggled to apply some of the parameter settings. Always turn off the power supply before starting.

D

No Motor Load

Do not connect a load to the motor shaft during trial operation, just in case the motor runs out of control.

D

Stopping the Motor

Make sure that the power switch can be turned off or the Run command used to stop the motor immediately in case of trouble.

D

Connecting a Parameter Unit

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

H

Actual Trial Operation

(1) Powering Up

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

•

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

Display example: b b

•

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

1. Confirm the initial display shown above.

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

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

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

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

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

3-29

Operation Chapter 3

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

(2) Jog Operations (See 3-6-2 Jog Operations.)

• Perform jog operations using the Parameter Unit and confirm the following:

Does the motor turn in the correct direction?

Is there any unusual sound or vibration?

Do any error occur?

• If an error occurs, refer to Chapter 4 Application for troubleshooting.

(3) Connect a load and auto-tune (See 3-7 Making Adjustments.)

•

Connect the motor shaft to the load (mechanical system) securely, being sure to tighten screws so that they will not become loose.

•

Perform auto-tuning with the Parameter Unit.

(4) Turning ON the Run command Input

•

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

•

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

(5) Low Speed Operation

• Operate at low speed.

Apply a low-frequency pulse command.

The meaning of “low speed” can vary with the mechanical system. Here, “low speed” means approximately 10% to 20% of the actual operating speed.

•

Check the following items.

Is the emergency stop operating correctly?

Are the limit switches operating correctly?

Is the operating direction of the machinery correct?

Are the operating sequences correct?

Are there any abnormal sounds or vibration?

Is anything abnormal occurring?

•

If anything abnormal occurs, refer to Chapter 4 Application and apply the appropriate countermeasures.

(6) Operation Under Actual Load Conditions

•

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

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

Is the load torque roughly equivalent to the measured value? (Use the torque command display.)

Are the positioning points correct?

When an operation is repeated, is there any discrepancy in positioning?

Are there any abnormal sounds or vibration?

Is either the Servomotor or the Servo Driver abnormally overheating?

Is anything abnormal occurring?

•

If anything abnormal occurs, refer to Chapter 4 Application and apply the appropriate countermeasures.

(7) Readjust the gain.

•

If the gain could not be adjusted completely using auto-tuning, perform the procedure in 3-7 Making

Adjustments to adjust the gain.

3-30

Operation Chapter 3

3-6-2 Jog Operations

Jog operations rotate the Servomotor in a forward or reverse direction using the Parameter Unit. Jog operations are made possible when system check mode Cn-00 is set to “00.” The items in parentheses in the following explanation indicate operations using the Handy-type Parameter Unit.

[1] [2] c n - 0 0

DATA

System check mode

[5]

Indicates settings mode.

0 0 - 0 0

Data

[4] ON OFF [4]

0 g

H

Operating Procedure (Key in Parentheses are for Mounted-type

Parameter Units)

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

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

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

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

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

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

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

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

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

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

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

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

H

User Parameter Settings

The rotational speed during jog operation can be set with user parameter Cn-10, as shown in the following table.

Explanation PRM No.

Parameter name Factory setting

Cn-10 Jog speed 500

Unit Setting range r/min 0 to 4,500 Speed setting for jog operation

3-31

Operation

3-7 Making Adjustments

Chapter 3

3-7-1 Auto-tuning

Auto-tuning rotates the Servomotor with a load connected (mechanical system), and automatically adjusts the position loop gain, the speed loop gain, and the speed loop integration time constant. When adjustments cannot be made by auto-tuning, refer to

3-7-2 Manually Adjusting Gain.

H

Executing Auto-tuning

Make sure that Cn-28 for compensation gain adjustment is set to 0 before performing auto-tuning. Proper gain adjustment may not be possible with auto-tuning if the parameter is not set to 0. This parameter is factory-set to 0.

[1] c n - 0 0

Indicates settings mode.

[2]

DATA

System check mode

[6]

[3]

0 0 - 0 5

[4]

Data

[5] c - 0 0 1 t U n

Auto-tuning display e n d

Auto-tuning end display

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

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

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

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

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

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

7. Using the Up and Down Keys, adjust the rigidity to the mechanical system.(Refer to Selecting Me chanical Rigidity below.)

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

3-32

Operation Chapter 3

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

Input is ON.)

10. Perform auto-tuning, using the Up Key for forward operation and the Down Key for reverse operation. Continue pressing the key until “End” is displayed, indicating that auto-tuning has been completed.

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

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

D

Selecting Mechanical Rigidity

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

HA/LA/V/W Models

Response Set value

Low 001

Position loop gain

16

(1/s)

002 28

Medium 003 40

Representative applications k d i i d i

XY tables, Cartesian-coordinate robots, general-purpose machinery, etc.

004 56

005 78

006 108

007 130

H/L Models

Response Set value

Low

Position loop gain

001 20

(1/s)

Medium

High

002 40

003 60

Representative applications

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

XY tables, Cartesian-coordinate robots, general-purpose machinery, etc.

Ball screws (direct coupling), feeders, etc.

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

D

Auto-tuning

•

Auto-tuning will not be complete until at least three operations have been completed. Be sure there is plenty of room for the machine to operate.

•

If the auto-tuning is not complete after three operation, operations will be repeat as long as the key is held down.

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

•

Auto-tuning will automatically change the setting of the user parameter position loop gain (Cn-1A), speed loop gain (Cn-04), and speed loop integration time constant (Cn-05). These values will not be changed, however, until the auto-tuning operation has been completed.

3-33

Operation Chapter 3

•

If auto-tuning does not complete or if the gain set via auto-tuning is not sufficient, adjust the gain manually using the procedure in 3-7-2 Manually Adjusting Gain.

1/2 jog speed

0

Approx. 1.1 s Approx. 0.7 s

3-34

Operation Chapter 3

3-7-2 Manually Adjusting Gain

Make sure that Cn-28 for compensation gain adjustment is set to 0 before performing auto-tuning. This parameter is factory-set to 0.

!

Caution Never make extreme changes in the setting. Doing so may cause unstable operation or result in injury. Gradually vary the gain setting from the standard value shown below and check motor operation while changing the settings.

D

Gain Adjustment Flowchart

Perform auto-tuning to match the rigidity of the mechanical system.

The motor hunts when servo-locked.

(Accompanied by a hunting noise.)

NO

Raise the rigidity selection to the value just before hunting occurs and perform auto-tuning.

YES

Decrease the rigidity selection so hunting doesn’t occur and perform auto-tuning.

Do characteristics such as positioning time meet system specifications?

NO

YES

Increase Cn-04 (speed loop gain) to a value where hunting doesn’t occur in servo-lock.

Decrease Cn-05 (speed loop integration time constant) to a value where hunting doesn’t occur in servo-lock.

End adjustment.

Does hunting (vibration) occur when the motor is operated?

NO

Run the motor and monitor its operation.

:

YES

Decrease Cn-04 (speed loop gain).

Increase Cn-1A (position loop gain), but do not increase it so far that overshooting occurs.

End adjustment.

Increase Cn-05 (speed loop integration time constant).

: When vibration can’t be eliminated despite several adjustments or positioning is too slow:

Increase Cn-17 (torque command filter time constant).

HA/LA/V/W Models:

Increase Cn-28 (compensating gain).

3-35

Operation Chapter 3

D

Gain Adjustment Standards

The following table shows reference values for gain adjustment. Adjustments can be made quickly if these values are used as standards. Make the initial gain setting based on the load inertia.

Position loop gain

Cn-1A (1/s)

Comments

1

3

3

10

20

20

Load inertia factor

80

80

120

350

420

200

Speed loop gain

Cn-04 (Hz)

40

20

Speed loop integration constant

Cn-05 (ms)

30

40

80

120

60

40

40

40

20

10

High rigidity

Factory setting

---

---

Moderate rigidity

Low rigidity

H

Adjustment Parameters

D

Adjusting Speed Loop Gain

PRM

No.

Parameter name

Cn-04 Speed loop gain

Factory setting

80 Hz

Unit Setting range

1 to

2,000

Explanation

Adjusts the speed loop response.

As the gain is increased, the servo rigidity is strengthened. The greater the inertia rate, the higher this is set. If the gain is set too high, oscillation will occur.

When the speed loop gain is manipulated, the response is as shown in the diagram below.

Overshoots when speed loop gain is high. (Oscillates when the gain is too high.)

Motor speed

(speed monitor)

When speed loop gain is low.

Time

3-36

Operation Chapter 3

D

Adjusting the Speed Loop Integration Time Constant

PRM

No.

Parameter name

Cn-05 Speed loop integration constant

Factory setting

20

Unit

1 ms/

0.01 ms

Setting range

2 to

10,000

Explanation

Speed loop integration constant.

As the constant is increased, the response is shortened and the resiliency toward external force is weakened. If it is set too short, oscillation will occur.

The unit set in bit b of Cn-02 (integration constant’s unit) is used to set the constant.

(HA/LA/V/W Models)

When the speed loop integration time constant is manipulated, the response is as shown in the diagram below.

Overshoots when speed loop integral time constant is short.

Motor speed

(speed monitor)

When speed loop integral time constant is long.

PRM

No.

Cn-17

Parameter name Factory setting

Torque command filter time constant

4

Unit

0.1 ms

Cn-1A Position loop gain 40 1/s

Time

Setting range

Explanation

0 to 250 Sets torque command filter time constant.

Increase the time constant to reduce oscillation due to machinery resonance frequency.

The filter characteristic is switched using the torque command filter time constants.

(HA/LA/V/W Models)

1 to 500 For servo-lock strength adjustment when position lock function is used. Adjust to match mechanical rigidity.

3-37

Operation Chapter 3

D

Position Loop Gain

The responsiveness of the servo system is determined by the position loop gain. When a servo system has high position loop gain, the responsiveness is greater and positioning can be faster. In order for position loop gain to be raised, the mechanical rigidity and the characteristic frequency must be increased. For general NC machine tools, the range is 50 to 70 (1/s); for general machinery and assembly devices, it is 30 to 50 (1/s); for industrial robots, it is 10 to 30 (1/s). The factory setting for position loop gain is 40 (1/s), so it should be lowered for systems with low rigidity.

Position loop gain is generally expressed as follows:

Position loop gain (Kp) =

Instruction command frequency (pulses/s)

Deviation counter’s residual pulse amount (pulses)

(1/s)

In addition, the system response setting is 1/Kp, so in order to increase the responsiveness, it is necessary to increase the position loop gain. If a system has low rigidity or low characteristic frequency, increasing the position loop gain sympathetic vibration of machinery will occur and an alarm will be generated.

If position loop gain is low, positioning time can be improved by using feed-forward control.

In addition to this method, positioning completion can be speeded up by using the bypass function.

High position loop gain

Motor speed

Low position loop gain

PRM

No.

Cn-1b

Parameter name Factory setting

Positioning completion range

3

Unit

Command units

Cn-1C Bias rotational speed

0 r/min

Setting range

Explanation

0 to 250 Sets the range for the positioning completion signal output. (Generally set according to the precision required by the system.)

Increasing the positioning completion range too much can cause the positioning completion output to turn ON during lowspeed operation or other times when there are few residual pulses.

0 to 450 Used to reduce positioning time.

Positioning time will be decrease as the bias rotational speed is increased, but will become unstable if it is increased too much. Increase the value gradually from 0 and observe the affect on the system.

0 to 100 Position control feed-forward compensation.

Cn-1d Feed-forward amount

0 %

D

Feed-forward Amount

The feed-forward amount is effective when the position loop gain is set to less than 25 l/s. It will not be very effective when the position loop gain is higher than 25 l/s.

3-38

Time

Operation Chapter 3

Increasing the feed-forward amount to much will cause excessive overshooting.

The feed-forward amount is not sent through the deviation counter, but is applied directly to the speed loop. The differential of the deviation counter is thus not applied, causing a faster response when the load response is delayed from the commands.

Be sure that the position loop is completely adjusted and that the speed loop is operating safely before adjusting the feed-forward amount.

Increasing the feed-forward amount too much will cause the speed command to oscillate, resulting in abnormal noise from the motor. Increase the feed-forward amount slowly from 0%, adjusting it so that the positioning completion output is not adversely affected (e.g., turn repeatedly ON and OFF) and so that the speed does not overshoot.

PRM

No.

Cn-1E

Parameter name Factory setting

Deviation counter overflow level

1,024

Cn-26 Position command acceleration/deceleration time constant

Cn-27 Feed-forward command filter

0

0

Cn-28 Compensating gain

(HA/LA/V/W Models)

0

Unit Setting range

Explanation

×

256 commands

1 to

32,767

Sets the level for detection of deviation counter overflow.

The residual pulses in the deviation counter will equal the command pulse frequency divided by the position loop gain. Divide this value by 256, add a reasonable amount of leeway, and set the deviation counter overflow level to the resulting value.

× 0.1 ms 0 to 640 Sets the time constant for smoothing (position command soft start function).

Even if the position command pulses are input in steps, the time constant set here will be used to accelerate/decelerate the motor.

The same time will be used for both acceleration and deceleration.

Set this parameter to 0 when using a position controller that has an acceleration/deceleration function.

× 0.1 ms 0 to 640 Sets the feed-forward command filter.

This parameters acts as a low-pass filter to prevent the feed-forward amount from being applied too quickly when position command pulses are input in steps.

--0 to 100 Decreases the speed loop gain by the set value when a large torque is output due to acceleration, deceleration, etc.

D

Compensating Gain

Increasing the compensating gain will reduce motor vibration and will also enable setting a larger speed loop gain, allowing faster positioning. Increasing the compensating gain too much will delay following accelerations/decelerations.

Adjust the compensating gain only after adjusting the speed loop gain (Cn-04) and the speed loop integration constant (Cn-05).

Depending on the values of the speed loop gain (Cn-04) and the speed loop integration constant

(Cn-05), the upper limit of the compensating gain may be 100 or less. An error will occur if the compensating gain is set too high.

3-39

Operation Chapter 3

Set the compensating gain to 0 when auto-tuning. The gain will not be adjusted correctly if the compensating gain is not set to 0.

D

Position Loop Block Diagram

Command pulses

Cn-02 bit nos. 3, 4, 5

Command pulse mode

Encoder output

Cn-1d

Feed-forward amount

Cn-26

Position command acceleration/ deceleration time constant

Cn-0A

Encoder divider rate

16 to

2048/2048

Cn-24,25

Electronic gear ratio

G1/G2

Cn-27

Feed-forward command filter

Cn-1C

Bias rotational speed

Cn-1b

Positioning completion range

Cn-24,25

Electronic gear ratio

G1/G2

+

Deviation counter

– (Cn-1E)

×

4

Cn-1A

Position loop gain

+

Cn-04,05

Speed loop

–

+

+

Speed detection

Cn-28

Comp.

gain

× 4

Cn-17

Current loop

E M

3-8 Regenerative Energy Absorption

Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Servo Driver’s internal capacitors, thereby preventing an increase in DC voltage.

If the regenerative energy from the Servomotor becomes too large, however, an overvoltage error will occur. In such cases, it is necessary to connect a Regeneration Unit to increase the capacity for absorbing regenerative energy.

3-8-1 Calculating Regenerative Energy

Regenerative energy is produced when the direction of Servomotor rotation or output torque is reversed. The methods for calculating regenerative energy for the horizontal and vertical shafts are explained below.

3-40

Operation

H

Horizontal Axle

Motor operation

Motor output torque

Chapter 3

Note In the output torque graph, when the rotation direction and the torque direction match it is shown as positive.

The regenerative energy for each section can be found by means of the following formulas:

E g1

E g2

= 1/2

S

N

1

= 1/2

S

N

2

S

T

D1

S

T

D2

S

t

1

S

t

2

S

0.105 [J]

S

0.105 [J]

N

1

, N

2

: Rotation speed at beginning of deceleration [r/min]

T

D1

, T

D2

: Deceleration torque [N

S

m] t

1

, t

2

: Deceleration time [s]

Note There is some loss due to winding resistance, so the actual regenerative energy will be approximately 90% of the figure derived by the formula.

The maximum regenerative energy for the Servo Driver’s internal capacitors only can be found by means of the following formula:

E g

= (E g1

, E g2

) [J]

E g

is the larger of E g1

and E g2.

When regenerative energy is absorbed at the Servo Driver only, E g

must not exceed the amount of regenerative energy that can be absorbed at the Servo Driver. In addition, the average regenerative power when a Regeneration Unit is connected can be found by means of the following formula:

P r

= (E g1

+ E g2

)/T [W]

T: Operation cycle [s]

E g

must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the

Servo Driver is used to absorb regenerative energy. When a Regeneration Unit is connected, the average regenerative power (P t

) must not exceed the regeneration processing power (12 W) of the Regeneration Unit.

Connect an external regeneration resistor when the regeneration processing power of the Regeneration Unit (12 W) is exceeded. Refer to 3-8-3 Absorption of Regenerative Energy with the External Re generation Resistor for details on external regeneration resistors.

3-41

Operation

H

Vertical Axle

Motor operation

Falling

Motor output torque

Rising

Chapter 3

Note In the output torque graph, when the rotation direction and the torque direction match it is shown as positive.

The regenerative energy for each section can be found by means of the following formulas:

E g1

E g2

E g3

= 1/2

S

N

1

= N

2

S

T

L2

= 1/2

S

N

2

S

T

S

t

S

T

2

D1

D2

S

S

t

t

1

3

S

0.105 [J]

S

0.105 [J]

S

0.105 [J]

N

1

, N

2

T

T

D1

L2

, T

: Rotation speed at beginning of deceleration [r/min]

D2

: Torque when declining [N

S

m]

: Deceleration torque [N

S

m] t

1

, t

3

: Travel time equivalent to torque when declining [s] t

2

: Deceleration time [s]

Note There is some loss due to winding resistance, so the actual regenerative energy will be approximately 90% of the figure derived by the formula.

The maximum regenerative energy for the Servo Driver’s internal capacitors only can be found by means of the following formula:

E g

is the larger of E g1

, E g2

+ E g3.

When regenerative energy is absorbed at the Servo Driver only, E g

must not exceed the amount of regenerative energy that can be absorbed at the Servo Driver. In addition, the average regenerative power when a Regeneration Unit is connected can be found by means of the following formula:

P r

= (E g1

+ E g2

+ E g3

)/T [W]

T: Operation cycle [s]

E g

must not exceed the maximum regeneration absorption capacity of the Servo Driver when only the

Servo Driver is used to absorb regenerative energy. When a Regeneration Unit is connected, the average regenerative power (P t

) must not exceed the regeneration processing power (12 W) of the Regeneration Unit.

3-42

Operation Chapter 3

Connect an external regeneration resistor when the regeneration processing power of the Regeneration Unit (12 W) is exceeded. Refer to 3-8-3 Absorption of Regenerative Energy with the External Re generation Resistor for details on external regeneration resistors.

3-8-2 Servo Driver Absorbable Regenerative Energy

H

Regenerative Energy Absorbed Internally

The Servo Driver absorbs regenerative energy by means of an internal capacitor. If there is more regenerative energy than can be absorbed by the capacitor, an overvoltage error will be generated and operation cannot continue. The amounts of regenerative energy that can be absorbed by the various Servo

Drivers alone are shown in the tables below. If regenerative energy exceeding these values is produced, take the following measures.

•

Connect a Regeneration Unit (R88A-RG08UA) (Refer to 3-8-3). (Models Conforming to UL/cUL

Standards and Models Not Conforming to Any Standards)

•

Lower the operating rotation speed. (The regenerative energy is proportional to the square of the rotation speed.)

•

Lengthen the deceleration time. (Reduce the amount of regenerative energy per unit time.)

•

When using multiple axes, the + terminals can be connected together and the – terminals can be connected together to use regenerative energy as the drive energy for the other axes (Refer to

3-8-4). (Models Conforming to EC Directives)

D

200-VAC Input Type

Model

R88D-UP02H(A)/UP02V

(30 W)

R88D-UP03H(A)/UP03V

(50 W)

R88D-UP04H(A)/UP04V

(100 W)

R88D-UP08H(A)/UP08V

(200 W)

R88D-UP12H(A)/UP12V

(400 W)

R88D-UP20H(A)/UP20V

(750 W)

Absorptive regeneration energy (J)

7.0

Maximum applicable load inertia

(x10 –4 kg S m 2 )

0.63

Remarks (see note *3)

Rotor inertia × 30, 4,500 r/min

8.7

13.3

0.78

1.2

Rotor inertia × 30, 4,500 r/min

Rotor inertia

×

30, 4,500 r/min

23.9

21.1

52.2

3.69

3.8

13.4

Rotor inertia

×

30, 3,000 r/min

Rotor inertia

×

20, 3,000 r/min

Rotor inertia × 20, 3,000 r/min

Note 1. The input voltage is the value at 200 VAC. As the input voltage is increased, the amount of regenerative energy that can be absorbed is decreased.

Note 2. For Servomotors with brakes, add the brake inertia to the load inertia.

Note 3. This is the applicable range for the horizontal shaft. (No external force should be applied.)

3-43

Operation Chapter 3

D

100-VAC Input Type

Model Absorptive regeneration energy (J)

7.0

Maximum applicable load inertia

(x10 –4 kg S m 2 )

0.63

R88D-UP03L(A)/UP03W

(30 W)

R88D-UP04L(A)/UP04W

(50 W)

R88D-UP10L(A)/UP10W

(100 W)

R88D-UP12L(A)/UP12W

(200 W)

R88D-UP15LA/UP15W

(300 W)

8.7

13.3

23.9

99.5

0.78

1.2

3.69

3.8

Remarks (see note *3)

Rotor inertia × 30, 4,500 r/min

Rotor inertia × 30, 4,500 r/min

Rotor inertia

×

30, 4,500 r/min

Rotor inertia

×

30, 3,000 r/min

Rotor inertia × 20, 4,500 r/min

Note 1. The input voltage is the value at 100 VAC. As the input voltage is increased, the amount of regenerative energy that can be absorbed is decreased.

Note 2. For Servomotors with brakes, add the brake inertia to the load inertia.

Note 3. This is the applicable range for the horizontal shaft. (No external force should be applied.)

H

Range for Absorbing Regenerative Energy

The relationship between rotation speed and the load inertia that can be absorbed by a Servo Driver alone is shown in the diagrams below. If a Servo Driver is operated outside of this range, a Regeneration

Unit must be connected. These diagrams show the applicable range for the horizontal shaft. If an external force acts in the same direction as the Servomotor rotation, due to factors such as the fall time on the vertical shaft, be sure to measure the regenerative energy and check to see that the amount that can be absorbed is not exceeded.

D

R88D-UP02H(A)/-UP03H(A)/-UP04H(A)/-UP02V/-UP03V/-UP04V (30 W, 50 W, 100 W)

R88D-UP03L(A)/-UP04L(A)/-UP10L(A)/-UP03W/-UP04W/-UP10W (30 W, 50 W, 100 W)

Applicable load inertia

( × 10 –4 kg S m 2 )

100W 1.2 × 10 –4 kg S m 2

50W 0.78

×

10

–4 kg

S m

2

30W 0.63 × 10 –4 kg S m 2

Rotation speed (r/min)

3-44

Operation

D

R88D-UP08H(A)/-UP08V (200 W)

R88D-UP12L(A)/-UP12W (200 W)

Applicable load inertia

( × 10 –4 kg S m 2 )

200W 3.69 × 10 –4 kg S m 2

2.15

Chapter 3

Rotation speed (r/min)

D

R88D-UP12H(A)/-UP12V (400 W)

R88D-UP15LA/-UP15W (300 W)

Applicable load inertia

( × 10 –4 kg S m 2 )

300W, 400W 3.8

×

10

–4 kg

S m

2

UA12H(A)

UP12V

1.9

UA15LA

UP15W

Rotation speed (r/min)

3-45

Operation

D

R88D-UP20H(A)/-UP20V (750 W)

Applicable load inertia

( × 10 –4 kg S m 2 )

700W 13.4 × 10 –4 kg S m 2

Chapter 3

4.7

Rotation speed (r/min)

3-8-3 Absorption of Regenerative Energy with the External

Regeneration Resistor (Models Conforming to UL/cUL

Standards and Models Not Conforming to Any

Standards)

Connect one or more external regeneration resistors when a Regeneration Unit (R88A-

RG08UA) cannot absorb all of the regenerative energy. Remove the short bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor between the P and RG terminals. Connecting to the wrong terminals may destroy the Regeneration Unit, so connect the resistor carefully. (The Regeneration Unit does not conform to EC Directives.)

The external regeneration resistor will heat to approximately 120

_

C. Do not install it near devices or wiring that is sensitive to heat. Install heat radiation plates suitable to the radiation conditions.

H

External Regeneration Resistors

D

Models

Model Resistance Nominal capacity

R88A-RR22047S 47 Ω ± 5% 220 W

Regeneration absorption at

120 _ C

70 W

Heat radiation conditions t1.0

× j 350

(SPCC)

Thermal switch output specifications

Operating temperature:

170 _ C ± 5%

N.C. contact

Rated output: 3 A

3-46

Operation

D

Combining External Regeneration Resistors

Item Regeneration absorption capacity

70 W 280 W

Combining external regeneration resistors

Chapter 3

Note Use a combination with an absorption capacity larger than the average regenerative power (P r

).

D

Dimensions (Unit: mm)

1.5 dia.

(0.3 mm

2

)

Thermal switch output

3 dia.

(0.75 mm 2 )

H

Wiring External Regeneration Resistors

Remove the short bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor(s) between the P and RG terminals.

External regeneration resistor

Short bar

Note The thermal switch output must be connected in the same way as the ALM output from the Regeneration Unit, i.e., so that power supply is shut OFF when the contacts open. The resistor may be damaged if the thermal switch output is used without forming a power shut-off sequence.

3-47

Operation Chapter 3

3-8-4 Processing Regenerative Energy with Multiple Axes

(Models Conforming to EC Directives)

When using multiple axes, the + terminals on the Servo Drivers can be connected together and the – terminals can be connected together to use regenerative energy as the drive energy for the other axes, thus absorbing the energy. Servo Drivers with different power supply voltages, however, cannot be connected. Also, regeneration absorption capacity will not be increased when all axes simultaneously produce regenerative energy.

H

Wiring Method (Example for 3 Axes)

Axis 1 Axis 2 Axis 3

Note 1. Do not open or close the connections between the + or – terminals while power is being supplied. The Units may be destroyed.

Note 2. Do not connect Servo Drivers that are using different power supply voltages. The Units may be destroyed.

Regeneration absorption capacity will not be increased when all axes simultaneously produce regenerative energy. Take one or more of the following methods if this occurs.

•

Reduce the number of rotations being used. (Regenerative energy is directly proportional to the square of the number of rotations.)

•

Increase the deceleration time. (This will reduce the regenerative energy per unit time.)

3-48

Application

4-1 Using Displays

4-2 Using the Monitor Output

4-3 Protective and Diagnostic Functions

4-4 Troubleshooting

4-5 Periodic Maintenance

4

Chapter 4

Application

4-1 Using Displays

Chapter 4

4-1-1 Display Functions

OMRON U-series AC Servomotors have unique servo software that enables quantitative monitoring in real time, on digital displays, of changes in a variety of characteristics.

Use these displays for checking the various characteristics during operation.

H

Servo Driver Displays

There are two LED indicators on the Servo Driver itself. One is for the power supply and another is for alarms.

Power supply indicator

Alarm indicator

Symbol

PWR

ALM

Name Function

Power supply indicator Lit when AC power supply is normal.

Alarm indicator Lit when error occurs.

If the alarm indicator is lit, connect a Parameter Unit and check the contents of the alarm.

H

Parameter Unit Displays

When a Parameter Unit is connected, monitoring can be conducted by means of a 5-digit 7-segment

LED.

R88A-PR02U Handy Type R88A-PR03U Mounted Type

Display area

(7-segment display)

4-2

Application Chapter 4

H

Parameter Unit Key Functions

The contents displayed by the Parameter Unit can be changed by key operations.

Function Handy-type

Parameter Unit

R88A-PR02U

RESET

Mounted

Parameter Unit

R88A-PR03U

+

Alarm reset

Mode switching; data memory

Servo ON/OFF during jog operations

SERVO DATA

DATA DATA

Switching between parameter display and data display; data memory

Increments parameter numbers and data values.

Decrements parameter numbers and data values.

Left shift for operation digits

---

---

Right shift for operation digits

H

Types of Modes

There are four types of modes for Parameter Unit displays. The functions in each mode are shown in the following table.

Mode Function

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

Power supply ON display, base block, positioning completed, rotation detection and current limit detection, command pulse input

Symbol display (indicating internal status via 3-digit 7-segment display):

Base block, operating, forward rotation prohibited, reverse rotation prohibited, alarm display

Settings mode

Monitor mode

Alarm history display mode

System check: Jog operations, alarm history data clear, motor parameters check, auto-tuning

Setting and checking setup parameters

Setting and checking user parameters

Speed feedback, speed commands, torque commands, number of pulses from Uphase, electrical angle, internal status bit display, command pulse speed, position deviation, and input pulse counter (HA/LA/V/W Models)

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

4-3

Application

H

Changing the Mode

Use the MODE/SET Key to change from one mode to another.

Chapter 4

Power ON

Status display mode

Settings mode Monitor mode

Alarm history display mode

(Display example)

-. b b c n - 0 0 u n - 0 0 0 - a.0 2

4-1-2 Status Display Mode

The status display mode is entered when powering up or by means of the MODE/SET Key. In the status display mode, Servo Driver status is displayed in two ways: bit data and symbols. These displays are shown in the following illustration.

Rotation detected/Current limit detected

Positioning completed Command pulse input

Base block b b

Power supply ON

Bit data display Symbol display

H

Bit Data Display Contents

Bit data

Power supply ON

Contents

Lit when Servo Driver power supply is ON.

Base block Lit during base block (no power to motor); dimmed when servo is ON.

Positioning completed

Rotation detection /current

Lit when the pulse count remaining on the deviation counter is equal to or less than the positioning completed range set in Cn-1b.

Lit when the motor rotational speed is equal to or greater than the rotational speed for motor rotation detection (Cn-0b).

Lit when a torque command is limited by the torque limit value (Cn-08, 09 or

Cn-18, 19).

Lit when the specified command pulse is being input.

Command pulse input

Note The setting of bit no. 4 in setup parameter no. 1 (Cn-01) determines whether rotation detection or current limit detection will be output.

4-4

Application

H

Symbol Display Contents

Contents Symbol display

bb rUn p%t n%t a .

jj

Base block (no power to motor)

Operating

Forward rotation prohibited

Reverse rotation prohibited

Alarm display (Refer to alarm table.)

Chapter 4

4-1-3 Monitor Mode (Un-)

H

Types of Monitoring

In monitor mode, ten types of monitoring can be carried out.

Monitor no. Monitor contents

00 Speed feedback

Unit r/min

01 Speed command r/min

02

03

04

05

Torque command %

Number of pulses from U-phase edge

Pulses

Explanation

Displays actual rotational speed of motor.

Displays commands to speed loop when controlling via internally set speeds.

“0” will be displayed when controlling with pulse trains.

The command to the current loop is displayed as 100% of the rated torque.

The number of pulses from the U-phase edge is displayed in units of encoder resolution.

Displays pulse number with 1/4 turn being 2048 pulses

(with an error of approx. ± 5 pulses).

Displays the electrical angle of the motor.

Displays Servo Driver internal information as either lit or

06

07

08

09

Electrical angle

Internal status bit display 1

Internal status bit display 2

Command pulse speed display

Position deviation

(deviation counter)

Input pulse counter

Degrees

---

--r/min

Pulses

Command units

Displays the command pulse counter converted to a frequency (r/min).

Displays the pulse count (position deviation) remaining on the deviation counter in command units (based on input pulses).

Counts and displays the input pulses. (HA/LA/V/W Models)

H

Operation in Monitor Mode

In order to conduct monitoring, first go into monitor mode and then set the monitor number and press the

DATA Key. The items in parentheses in the following explanation indicate operations using the Handytype Parameter Unit.

[3]

DATA u n - 0 0 3 0 0 0

DATA

[4] Monitor mode Monitor no.

Monitor data

4-5

Application Chapter 4

1. Press the MODE/SET Key to go into monitor mode.

2. Using the Up and Down (and Right and Left) Keys, set the monitor number.

3. Press the DATA Key to display the monitor data.

4. Press the DATA Key to return to the monitor number display.

5. Press the MODE/SET Key to move from monitor mode to alarm history display mode.

H

Internal Status Bit Display (Un-05, Un-06)

Internal status is displayed by 7-segment bit lighting. The bit number allocation is shown in the following diagram.

13

14

15

16

10

11

12

17

9

8

7

18

6

5

4

19

3

2

1

20

4-6

Application Chapter 4

Monitor no.

Un-05

3

4

1

2

Bit no.

Un-06

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

1

2

3

4 to 20

Symbol Contents

ALM

DBON

DIR

TGON/

CLIMT

Lit when alarm is generated.

Lit during dynamic brake operation.

Lit when in reverse rotation mode (when Cn-02 bit no. 0 = 1).

Lit when the motor rotational speed is equal to or greater than the rotational speed for motor rotation detection (Cn-0b). Lit when a torque command is limited by the torque limit value (Cn-08, 09 or

Cn-18, 19).

INP

PCON

Lit when the motor rotational speed reaches the speed command value.

Lit when the speed control loop is in P control.

PCL/SPD1 Lit when forward rotation current limit / speed selection command 1

(CN1-11) is ON.

NCL/SPD2 Lit when reverse rotation current limit / speed selection command 2

(CN1-12) is ON.

SVON

A

Lit when motor is receiving power.

Encoder A phase (HA/LA/V/W Models: Lit when there is a signal;

H/L Models: Dimmed when there is a signal)

B

Z

Encoder B phase (HA/LA/V/W Models: Lit when there is a signal;

H/L Models: Dimmed when there is a signal)

Encoder Z phase (HA/LA/V/W Models: Lit when there is a signal;

H/L Models: Dimmed when there is a signal)

PU

PV

Poll sensor U phase

Poll sensor V phase

PW

RUN

Poll sensor W phase

Lit when run command is ON.

MING/

RDIR/IPG

POT

NOT

Not used

CW

CCW

ECRST

Not used

Lit when CN1-15 is ON. (Input signal functions change according to parameter settings.)

Lit when forward drive prohibit input is ON.

Lit when reverse drive prohibit input is ON.

Lit when clockwise command pulses are being input.

Lit when counterclockwise command pulses are being input.

Lit when the deviation counter reset input is ON.

4-1-4 Checking Servomotor Parameters (Cn-00 Set to 04)

Servomotor parameters can be checked when system check mode Cn-00 is set to “04.”

Servomotor parameters are the Servomotor specifications that can be controlled by that

Servo Driver. They are not the specifications of the Servomotor that is connected. Use this to check whether the Servo Driver and Servomotor combination is suitable.

4-7

Application Chapter 4

H

Servomotor Parameter Checking Operation

The items in parentheses in the following explanation indicate operations using the Handy-type Parameter Unit.

[1] [2] [3] [4] c n - 0 0

DATA

0 0 - 0 4

[5]

Indicates settings mode.

System check mode Data

[5]

[6] f 0 0 0 2 y 0 0 0 0

1. Press the MODE/SET Key to switch to the settings mode.

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

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

4. Using the Up and Down Keys, change the setting to “04.” (Servomotor parameter check)

5. Press the MODE/SET Key, and check the Servomotor parameters in order.

6. Press the MODE/SET Key to display special specifications in hexadecimal.

7. Press the MODE/SET Key to return to the data display for the system check mode.

[7]

H

Parameter Display Contents

D

Servomotor Parameters

f 0 0 0 2

Motor capacity 9E: 30 W b2: 50 W

Motor type 00: 200-V type

41: 100-V type

01: 100 W

02: 200 W

03: 300 W

04: 400 W

08: 750 W

D

Special Specifications

y 0 0 0 0

User specifications number (hexadecimal display)

4-8

Application

4-2 Using the Monitor Output

Chapter 4

The Servo Drive outputs a monitor voltage proportional to the Servomotor rotation speed and current from the monitor output connector (CN4) on the top of the Servo Driver. This output can be used to install a meter in the control panel or to enable more precise gain adjustments.

H

Analog Monitor Output Specifications

D

Monitor Output Terminals (Top of the Servo Driver)

Pin allocation

CN4

Top of Servo Driver

D

Monitor Output Circuit

Front

CN4

47 Ω

CN4-1

NM Speed monitor

CN4-3

GND

47 Ω

CN4-2

AM Current monitor

CN4-4

GND

D

Monitor Output Specifications

Speed monitor

Current monitor

With 0 V as center, voltage output at 0.5 V/(1000 r/min) ratio. Forward rotation: (–) voltage; reverse rotation: (+) voltage Output accuracy: approximately ± 10%

With 0 V as center, voltage output at 0.5 V/(rated torque) ratio. Forward acceleration:

(–) voltage; reverse acceleration: (+) voltage Output accuracy: approximately ± 10%

4-9

Application

H

Analog Monitor Cable (R88A-CMW001S)

Use this cable to connect the Servo Driver’s Analog Monitor Connector.

Chapter 4

Servo Driver

R88Djj

1.7 dia.

Servo Driver

Symbol No.

Red

White

Black

Black

Cable: AWG24 x 4C UL1007

External devices

Connector socket model

DF11-4DS-2C (Hirose)

Connector socket model

DF11-2428SCF (Hirose)

4-10

Application

4-3 Protective and Diagnostic Functions

Chapter 4

4-3-1 Alarm Displays and Alarm Code Outputs

The Servo Driver has the error detection functions shown below. When an error is detected, the alarm output (ALM ) and the alarm code output (AL01-03) are output, the Servo Driver’s internal power drive circuit is turned off, and the alarm is displayed.

H

Alarm Table

DisAlarm code Alarm Error detection f i

Detection contents

ALO1 ALO2 ALO3

a.02

OFF OFF OFF OFF Parameter corruption The checksum for the parameters read from the EEPROM does not match.

a.04

OFF OFF OFF OFF Parameter setting error Incorrect parameter setting. (HA/LA/V/W

Models)

a.10

ON OFF OFF OFF Overcurrent

a.31

ON ON OFF OFF Deviation counter overflow

Overcurrent or overheating detected.

The pulses remaining on the deviation counter exceed the deviation counter overflow level set in Cn-1E.

a.40

OFF OFF ON OFF Overvoltage Main circuit DC voltage exceeded the allowable value.

a.51

ON OFF ON

a.52

ON OFF ON

OFF

OFF

Over speed

Excessive speed command input

Detected at 4,950 r/min.

Speed command for 4,700 r/min was input. (H/L Models)

a.70

ON ON ON OFF Overload Detected at reverse limit characteristics when the output torque exceeds120% of the rated torque. (HA/LA/V/W Models)

a.71

ON ON ON OFF Overload Detected at reverse limit characteristics when 135% of the rated torque was exceeded. (H/L Models)

a.72

ON ON ON OFF Overload Detected at reverse limit characteristics for 120% to 135% of the rated torque.

(H/L Models)

a.c1

ON OFF ON

a.c2

ON OFF ON

OFF Runaway detected.

OFF Phase error detected.

Connector not properly connected.

Encoder not properly wired.

a.c3

ON OFF ON OFF Encoder A or B phase wire disconnection.

a.c4

ON OFF ON OFF Encoder S phase wire disconnection.

a.f3

OFF ON OFF OFF Momentary power failure alarm

a.99

OFF OFF OFF ON Alarm reset power supply turned on.

cpf00

OFF OFF OFF OFF Parameter Unit transmission error 1

Faulty power or encoder wiring.

Either Phase A or Phase B signal was disconnected or short circuited.

Encoder S phase was disconnected or short circuited.

The power supply was re-started within the power retention period.

This is history data only, and is not an alarm.

Data could not be transmitted after the power supply was turned on. (It no longer exists in the alarm history.) cpf01 --------Parameter Unit transmission error 2

Transmission timeout error (It no longer exists in the alarm history.)

Note “---” means indefinite.

4-11

Application Chapter 4

4-3-2 Alarm Output

This section describes the timing of alarm outputs when power is turned on and when alarms occur. The method used to clear alarms is also described.

H

Timing Chart

Power input

(R, T)

Run command

(RUN)

ON

OFF

ON

OFF

Error occurrence

Alarm reset

(RESET)

Alarm output

(ALM)

Power to motor

ON

OFF

Approx. 2 s

ON

OFF

ON

OFF

25 to 35 ms

Error

6 ms min.

6 ms max.

Approx. 350 ms

H

Alarm Output Circuit

Alarm output

Output specifications: 30 VDC, 50 mA max.

Normal:

Error (alarm):

Output transistor ON

Output transistor OFF

H

Clearing Alarms

• Any of the following methods can be used to clear alarms:

Turn ON the alarm reset signal (RESET).

Toggle the power supply.

Press the Reset Key on the Parameter Unit.

Overcurrent alarms (A.10), however, cannot be cleared by toggling the power supply.

•

Operation will start as soon as the alarm is cleared if the alarm is cleared while the Run command

(RUN) is ON, possibly creating a dangerous situation. Turn OFF the Run command before clearing alarms. Take adequate safety precautions if an alarm is going to be cleared while the Run command is

ON or when the Servo Always ON (Cn-01, bit 0 set to 1) is used.

4-12

Application

4-3-3 Overload Characteristics (Electron Thermal

Characteristics)

Chapter 4

An overload protection function (electron thermal) is built into the Servo Driver to protect against Servo Driver or Servomotor overload. If an overload (A.70 to A.72) does occur, first clear 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 too soon, the Servomotor coil may be damaged.

H

Overload Characteristic Graph

The characteristic between the load ratio and the electronic thermal operating time is shown in the following graph.

Load ratio (%)

Note 1. The load ratio is calculated in relation to the Servomotor’s rated current.

Load ratio (%) =

Servomotor current

Servomotor rated current

× 100

Note 2. For example, if a current three times the rated motor current is applied continuously, and overload will be detected in approximately 3 s.

4-13

Application

4-3-4 Alarm History Display Mode

Chapter 4

The Servo Driver stores the history of the 10 most recent alarms that have been generated. The alarm history can be displayed by going into the alarm history display mode and using the Up and Down Keys.

To clear the alarm history, set the system check mode to “02” and press the MODE/SET

Key.

H

Displaying the Alarm History

0 4 0

Error number Alarm history data

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

2. Press the MODE/SET Key to go to the alarm history display mode.

3. Use the Up and Down Keys to go up and down through the error occurrence numbers and display the corresponding alarm history data. (The larger the error occurrence number, the less recent the alarm is.)

H

Clearing Alarm History Data

Alarm history data initialization is executed in the system check mode. The items in parentheses in the following explanation indicate operations using the Handy-type Parameter Unit.

[2] [3] [4] [5] c n - 0 0

DATA

0 0 - 0 2

[7]

Indicates settings mode.

System check mode Data

[6]

To data display

Alarm history data cleared.

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

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

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

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

5. Using the Up and Down Keys, set the parameter to “02.” (Alarm history clear)

6. Press the MODE/SET Key to clear the alarm history data.

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

4-14

Application

4-4 Troubleshooting

Chapter 4

When an error occurs, check the error contents by means of the operating status and alarm display, investigate the cause and apply the appropriate countermeasures.

H

Error Diagnosis by Means of Operating Status

Symptom

The power supply indicator

(PWR) does not light even when the power supply is turned on.

The motor does not operate even when command i t t )

Probable cause

Power supply lines are incorrectly wired.

The RUN signal is OFF

(when Cn-01 bit no. 0 is “0”).

Items to check

• Check the power supply voltage.

• Check the power supply lines.

Check the RUN signal’s ON and OFF by means of the monitor mode.

Check the models.

The correspondence between the Servo Driver and the Servomotor is incorrect.

The POT and NOT signals are OFF (when Cn-01 bit nos. 2 and 3 are “0”).

Check whether POT and

NOT are displayed in status display mode.

The motor operates momentarily, but then it does not operate.

Countermeasures

• Correct the power supply.

•

Correct the wiring.

• Input the RUN signal.

• Correct the wiring.

Combine models that correspond correctly.

The mode is the internal speed control setting mode.

The deviation counter reset input (ECRST) is ON.

An error occurred with the

RESET signal ON.

Check Cn-02 bit no. 2.

Check the deviation counter reset signal in monitor mode

(internal status bit display).

Check the RESET signal’s

ON and OFF by means of the monitor mode.

•

Turn ON the POT and

NOT signals.

• If POT and NOT are not being used, set Cn-01 bit nos. 2 and 3 to “1.”

Set Cn-02 bit no. 2 to “0” unless internally set speed control is being used.

•

Turn OFF the ECRST signal.

•

Correct the wiring.

Turn the RESET signal OFF and take measures according to the alarm display.

Set according to the controller command pulse type.

The setting for the command pulse mode is not correct

(Cn-02 bits 3, 4, 5).

The setting for the number of encoder pulses is incorrect.

The Servomotor power lines or encoder lines are wired incorrectly.

Check positioner’s command pulse type and

Driver’s command pulse mode.

Check whether Cn-11 is

“2048.”

Check the Servomotor power line U, V, and W phases, and the encoder line wiring.

Set Cn-11 to “2048.”

Correct the wiring.

4-15

Application Chapter 4

Symptom

Servomotor operation is unstable.

Probable cause

The Servomotor power lines or encoder lines are wired incorrectly.

The settings for the bias function are not correct.

There are eccentricities or looseness in the coupling connecting the Servomotor shaft and the mechanical system, or there are load torque fluctuations according to how the pulley gears are engaging.

Gain is wrong.

Items to check

Check the Servomotor power line U, V, and W phases, and the encoder line wiring.

---

• Check the machinery.

• Try operating the Servomotor without a load.

---

Countermeasures

Correct the wiring.

Adjust bias revolutions and positioning completed range.

Adjust the machinery.

Servomotor is overheating. The ambient temperature is

The correspondence between the Servo Driver and the Servomotor is incorrect.

Check the models.

There are unusual noises.

The machinery is vibrating.

Inspect the machinery to see whether there are any foreign objects in the movable parts, or whether there is any damage, deformation, or looseness.

The speed loop gain adjustment is insufficient.

---

Vibration is occurring at the same frequency as the applicable power supply.

too high.

Ventilation is obstructed.

There is an overload.

Inductive noise is occurring.

Check to be sure that the ambient temperature around the Servomotor is no higher than 40 ° C.

Check to see whether anything is blocking ventilation.

Check the torque command value by means of monitor mode.

• Check to see whether the

Servo Driver control signal lines are too long.

•

Check to see whether control signal lines and power supply lines are too close to each other.

• Use auto-tuning.

• Adjust the gain manually.

Lower the ambient temperature to 40 ° C or lower. (Use a cooler or fan.)

Ensure adequate ventilation.

• Lighten the load.

• Change to a larger capacity Servomotor.

Combine models that correspond correctly.

Fix any problems causing vibration.

• Use auto-tuning.

•

Adjust the gain manually

(speed loop gain).

• Shorten the control signal lines.

• Separate control signal lines from power supply lines.

• Use a low-impedance power supply for control signals.

4-16

Application Chapter 4

H

Error Diagnosis by Means of Alarm Display (Parameter Unit)

Alarm display a .

02

Error content Condition when error occurred

Parameter corruption

Occurred when power was turned on.

Probable cause

Internal memory error

Countermeasures

Replace Servo Driver.

a .

04 Parameter setting error

( (HA/LA/V/W

Occurred when power was turned on.

Occurred after auto-tuning was executed

A user parameter was set to a value outside of the setting range previously.

Control board defective.

The compensating gain

(Cn-28) was set a value other than 0 when auto-tuning was executed.

Change the user parameter setting so it is within the setting range.

Replace Servo Driver.

Using the Handy-type

Parameter Unit, set Cn-04 and Cn-05 to their factory default values, set Cn-28 to

0, then execute auto-tuning.

a .

10 Overcurrent Occurred when power was turned on.

Control board defective.

Replace Servo Driver.

Occurred when Servo was turned on.

• Current feedback circuit error

• Main circuit transistor module error

Servomotor power line is short-circuited or grounded.

Replace Servo Driver.

•

Correct the power line short-circuiting or grounding.

• Measure the insulation resistance at the Servomotor itself. If there is shortcircuiting, replace the Servomotor.

Correct the wiring.

There is faulty wiring at the

U, V, or W phase, or the

GR.

Overheating Occurred during operation.

Occurred even though power was on.

i d f waiting for a time, operation resumes.

Servomotor coil are damaged.

Measure the winding resistance. If the coil are damaged, replace the Servomotor.

The ambient temperature Bring the ambient temperafor the Servo Driver is higher than 55

°

C.

ture for the Servo Driver down to 55

°

C or lower.

The load torque is too high.

• Lighten the load.

• Lengthen the acceleration time.

• Select another Servomotor.

4-17

Application Chapter 4

Alarm display a .

31 a a a

.

.

.

40

51

52

Error content

Deviation counter overflow

Overvoltage

Over speed

Excessive speed command input

(H/L Models) i

Condition when error occurred

Occurred when Servomotor did not operate even when command pulse train was t

Occurred at high-speed operation.

Occurred when a long com-

Occurred when power was turned on.

Occurred during Servomotor deceleration.

Occurred while lowering

(vertical shaft)

High-speed rotation occurred when command was input.

High-speed rotation occurred when command was input.

Probable cause Countermeasures

Servomotor power lines or encoder lines are wired incorrectly.

The Servomotor is mechanically locked.

Servomotor power lines or encoder lines are wired incorrectly.

Correct the wiring.

Unlock the Servomotor shaft.

Correct the wiring.

The gain adjustment is insufficient.

The acceleration/deceleration times are too extreme.

The load is too large.

Adjust the gain.

Lengthen the acceleration/deceleration time.

• Lighten the load.

• Select another Servomotor.

Cn-1E (deviation counter overtravel) is too small.

Increase Cn-1E.

The power supply voltage is outside of the allowable range.

• The supply voltage must be 170 to 253 VAC when

200 VAC is specified.

• The supply voltage must be 85 to 127 VAC when

100 VAC is specified.

The load inertia is too large.

• Lengthen the deceleration time.

The power supply voltage is outside of the allowable range.

• Reset the motor.

• The supply voltage must be 170 to 253 VAC when

200 VAC is specified.

• The supply voltage must be 85 to 127 VAC when

100 VAC is specified.

Regeneration Unit error Replace the Regeneration

Unit

Gravity torque is too large.

• Add a counterbalance to the machine, and reduce the gravity torque.

• Reduce the lowering speed.

• Connect a Regeneration

Unit.

The rotational speed exceeded 4,950 r/min due to overshooting.

• Adjust the gain.

• Lower the maximum speed of the command.

Encoder is wired incorrectly.

Correct the wiring.

A speed command exceeding 4,700 r/min was input.

• Lower the command pulse frequency.

• Reduce the electronic gear ratio or increase the command pulses.

4-18

Application Chapter 4

Alarm display a

.

70 a

.

71 a.80

a a a a a

.

.

.

.

.

c1 c2 c3 c4 f3

Error content

Overload

Encoder error

Runaway detected

Phase error detected

Encoder A, B phase wire disconnection.

Encoder S phase wire disconnection.

Momentary power failure alarm

Condition when error occurred

Probable cause

Occurred during operation.

Operating at more than

120% of the rated torque.

(A.70) HA/LA/V/W Models

Operating at more than

135% of the rated torque.

(A.71) H/L Models

Operating at 120% to 135% of the rated torque.

(A.72) H/L Models

Power supply voltage dropped.

Countermeasures

• If the Servomotor shaft is locked, unlock it.

• If Servomotor power lines are incorrectly wired, correct them.

• Lighten the load.

• Lengthen the acceleration time.

• Adjust the gain.

•

The supply voltage must be 170 to 253 VAC when

200 VAC is specified.

• The supply voltage must be 85 to 127 VAC when

100 VAC is specified.

Cn-01 bit no. E is set to “1.” Set Cn-01 bit No. E to “0.” Occurred when the power was turned on.

Some movement occurred at the beginning of operation.

Some movement occurred at the beginning of operation.

Occurred when the power was turned on.

• Encoder lines wired incorrectly.

• Servomotor power lines wired incorrectly.

Correct the wiring.

• Encoder lines disconnected.

• Connector contact faulty.

• Correct the wiring.

• Insert the connectors correctly.

Cn-01 bit no. E is set to “1.” Set Cn-01 bit No. E to “0.”

Some movement occurred at the beginning of operation.

•

•

Encoder lines disconnected.

Connector contact faulty.

• Correct any disconnected lines.

• Insert connectors correctly.

Correct the wiring.

Encoder lines wired incorrectly.

Encoder defective.

Servo Driver defective.

Replace the Servomotor.

Replace Servo Driver.

Cn-01 bit no. E is set to “1.” Set Cn-01 bit No. E to “0.” Occurred when the power was turned on.

Some movement occurred at the beginning of operation.

Occurred when the power was turned on.

•

•

Encoder lines disconnected.

Connector contact faulty.

•

Correct any disconnected lines.

• Insert connectors correctly.

Correct the wiring.

Encoder lines wired incorrectly.

Encoder defective.

Servo Driver defective.

Replace the Servomotor.

Replace Servo Driver.

Cn-01 bit no. E is set to “1.” Set Cn-01 bit No. E to “0.”

• A momentary power failure occurred.

• The power supply was restarted within the power retention period.

• Reset and then run again.

• Set Cn-01 bit no. 5 to “1” to automatically clear the alarm when the power is restored after a momentary power failure.

4-19

Application Chapter 4

Alarm display cpf00 cpf01

Error content

Parameter Unit transmission er-

Condition when error occurred

Occurred when power was turned on.

Parameter Unit transmission er-

Occurred while the Parame-

Probable cause Countermeasures

• Connector contact faulty.

• Insert connectors correctly.

• Internal element is malfunctioning.

• Reset and operate again.

• Servo Driver defective.

• Parameter Unit is defective.

• Cable is broken (R88A-

PR02U).

• Replace the Servo Driver.

• Replace the Parameter

Unit.

• Connector contact faulty.

• Insert connectors correctly.

• Reset and operate again.

• Internal element is malfunctioning.

• Internal element is damaged.

•

Cable is broken (R88A-

PR02U).

•

•

Replace the Servo Driver.

Replace the Parameter

Unit.

4-20

Application

4-5 Periodic Maintenance

Chapter 4

!

WARNING

Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.

!

Caution Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in an unexpected operation.

Servo Motors and Drives contain many components and will operate properly only when each of the individual components is operating properly. Some of the electrical and mechanical components require maintenance depending on application conditions. In order to ensure proper long-term operation of Servo Motors and Drivers, periodic inspection and part replacement is required according to the life of the components.

The periodic maintenance cycle depends on the installation environment and application conditions of the Servo Motor or Driver. Recommended maintenance times are listed below for Servo Motors and

Drivers. Use these are reference in determining actual maintenance schedules.

H

Servo Motors

•

Recommended Periodic Maintenance

Oil Seal: 2,000 hours

Bearings: 20,000 hours

Application Conditions: Ambient motor operating temperature of 40

_

C, within allowable shaft load, rated operation (rated torque and r/m), installed as described in operation manual.

•

The radial loads during operation (rotation) on timing pulleys and other components contacting belts is twice the still load. Consult with the belt and pulley manufacturers and adjust designs and system settings so that the allowable shaft load is not exceeded even during operation. If a motor is used under a shaft load exceeding the allowable limit, the motor shaft can break, the bearings can burn out, and other problems can occur.

H

Servo Driver and Regeneration Units

• Recommended Periodic Maintenance

Aluminum analytical capacitors: 50,000 hours

Application Conditions: Ambient driver (regeneration unit) operating temperature of 55 _ C, rated operation (rated torque), installed as described in operation manual.

• The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature.

Generally speaking, an increase of 10

_

C in the ambient operating temperature will reduce capacitor life by 50%. We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Servo Drivers and Regeneration Units.

•

It is recommended that the Servo Driver and Regeneration Unit be inspected at five-year intervals if they are used under conditions worse than the above or not used over a long time of time. Contact your

OMRON representative for inspection and the necessity of any component replacement.

4-21

5

Chapter 5

Specifications

5-1 Servo Driver Specifications

5-2 Servomotor Specifications

5-3 Cable Specifications

5-4 Parameter Unit Specifications

5-5 Regeneration Unit Specifications

5-6 Front-surface Mounting Bracket Specifications

Specifications

5-1 Servo Driver Specifications

Chapter 5

5-1-1 General Specifications

Item

Operating ambient temperature 0

°

C to 55

°

C

Operating ambient humidity

Storage ambient temperature

Specifications

35% to 85% RH (with no condensation)

–10 ° C to 75 ° C

Storage ambient humidity 35% to 85% RH (with no condensation)

No corrosive gasses.

Storage and operating atmosphere

Vibration resistance

Impact resistance

Insulation resistance

Dielectric strength

10 to 55 Hz in X, Y, and Z directions with 0.10-mm double amplitude; acceleration: 4.9 m/s

2

max.; time coefficient: 8 min; 4 sweeps

Acceleration 19.6 m/s 2 max., in X, Y, and Z directions, three times

Between power line terminals and case: 5 M Ω min. (at 1,000 VDC)

Models Conforming to UL/cUL Standards and Models Not Conforming to

Any Standards

Between power line terminals and case: 1,000 VAC for 1 min

(20 mA max.) at 50/60 Hz

Protective structure

Models Conforming to EC Directives

Between power line terminals and case: 1,500 VAC for 1 min at 50/60 Hz

Built into panel.

Note 1. The above items reflect individual evaluation testing. The results may differ under compounded conditions.

Note 2. Absolutely do not conduct a withstand voltage test or a megger test on the Servo Driver. If such tests are conducted, internal elements may be damaged.

Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance.

Refer to 4-5 Periodic Maintenance for details.

Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of

55

°

C (at the rated torque and the rated rotation speed).

5-2

Specifications Chapter 5

5-1-2 Performance Specifications

H

200-VAC Input Servo Drivers Conforming to UL/cUL Standards and

200-VAC Input Servo Drivers Not Conforming to Any Standards

Item R88D-

UP02H(A)

R88D

-UP03H(A)

R88D

-UP04H(A)

R88D

-UP08H(A)

R88D

-UP12H(A)

R88D

-UP20H(A)

Continuous output current (0-P)

Momentary max. output current (0-P)

Input power supply

Control method

Speed feedback

Applicable load inertia

0.6 A

1.8 A

0.85 A

2.7 A

1.2 A

4.0 A

2.8 A

8.5 A

Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

All-digital servo

Optical encoder, 2,048 pulses/revolution

Maximum of 30 times motor’s rotor inertia

3.7 A

11.3 A

6.2 A

19.7 A

Maximum of 20 times motor’s rotor inertia

Inverter method

PWM frequency

Applicable Servomotor

Applicable Servomotor wattage

PWM method based on IGBT

11 kHz

R88M

-U03030H(

A)

30 W

R88M

-U05030H(

A)

50 W

R88M

-U10030H(

A)

100 W

R88M

-U20030H(

A)

200 W

R88M

-U40030H(

A)

400 W

Cable length between motor and driver 20 m max.

Weight (approximate) 0.9 kg

Heating value 15 W 18 W 20 W 35 W

Capacity Maximum pulse frequency 200 kpps

Position loop gain

Electronic gear

0 to 500 (1/s)

Electronic gear ratio setting range: 0.01

≤

(G1/G2)

≤

100

(G1, G2 = 1 to 65,535)

0 to 250 command units Positioning completed range

Feed-forward compensation

0% to 100% of speed command amount (pulse frequency)

1.2 kg

45 W

7.8 kHz

R88M

-U75030H(

A)

750 W

1.5 kg

60 W

Input signals

Output signals

Bias setting

Position acceleration/deceleration time constant

Position command pulse input (see note)

Deviation counter reset

Sequence input

Position feedback output

Speed monitor output

Current monitor output

Sequence output

External regeneration processing

Protective functions

0 to 450 r/min

0 to 64.0 ms (The same setting is used for acceleration and deceleration.)

TTL, line driver input with photoisolation, input current: 6 mA at 3 V

Feed pulse and direction signal, forward pulse and reverse pulse, or 90

_

differential phase (A and B phases) signal (set via parameter). Pulse width: See note.

TTL, line driver input with photoisolation, input current: 6 mA at 3 V

24-VDC, 5-mA photocoupler input, external power supply: 24

±

1 VDC, 50 mA min.

A-, B-, Z-phase line driver output (EIA RS-422A)

A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution

Z-phase: 1 pulse/revolution

0.5 V/1,000 r/min

0.5 V/rated torque

Alarm output, motor rotation detection, brake interlock, positioning completion; opencollector outputs: 30 VDC, 50 mA (except for alarm code output, which is 30 VDC, 20 mA)

Required for regeneration of more than 30 times the motor’s rotor inertia.

Required for regeneration of more than 20 times the motor’s rotor inertia.

Overcurrent, grounding, overload, overvoltage, overspeeding, runaway prevention, transmission errors, encoder errors, deviation counter overflow

Note The input pulse width must meet the following conditions.

H

T

IL

,T

IH

≥

2.5

µ s

L

T

IL

T

IH

5-3

Specifications Chapter 5

H

100-VAC Input Servo Drivers Conforming to UL/cUL and

100-VAC Input Servo Drivers Not Conforming to Any Standards

Control method

Inverter method

PWM frequency

Item

Continuous output current (0-P)

Momentary max. output current

(0-P)

Input power supply

Speed feedback

Applicable load inertia

Applicable Servomotor

R88D-

UP03L(A)

0.9 A

2.8 A

R88D-

UP04L(A)

1.3 A

4.1 A 10 A

R88D-

UP10L(A)

3.1 A

R88D-

UP12L(A)

3.8 A

12 A

Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

All-digital servo

Optical encoder, 2,048 pulses/revolution

Maximum of 30 times motor’s rotor inertia

PWM method based on IGBT

11 kHz

R88M

-U03030L(A)

30 W

20 m max.

R88M

-U05030L(A)

50 W

R88M

-U10030L(A)

100 W

R88M

-U20030L(A)

200 W

UP15LA

4.8 A

15 A

R88D-

20 times max.

7.8 kHz

R88M

-U30030LA

300 W Applicable Servomotor wattage

Cable length between motor and driver

Weight (approximate)

Heating value

Input signals

Output signals

Position loop gain

Electronic gear

0.9 kg

17 W 20 W 30 W

1.2 kg

47 W

200 kpps

1 to 500 (1/s)

Electronic gear ratio setting range: 0.01 ≤ (G1/G2) ≤ 100

(G1, G2 = 1 to 65,535)

0 to 250 command units

1.5 kg

70 W

Positioning completed range

Feed-forward compensation

0% to 100% of speed command amount (pulse frequency)

Bias setting

Position acceleration/deceleration time constant

0 to 450 r/min

0 to 64.0 ms (The same setting is used for acceleration and deceleration.)

Position command pulse input (see note)

TTL, line driver input with photoisolation, input current: 6 mA at 3 V

Feed pulse and direction signal, forward pulse and reverse pulse, or 90 _ differential phase (A and B phases) signal (set via parameter). Pulse width: See note.

Deviation counter reset TTL, line driver input with photoisolation, input current: 6 mA at 3 V

Sequence input 24-VDC, 5-mA photocoupler input, external power supply: 24 ± 1 VDC, 50 mA min.

Position feedback output A-, B-, Z-phase line driver output (EIA RS-422A)

A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution

Z-phase: 1 pulse/revolution

Speed monitor output

Current monitor output

Sequence output

0.5 V/1,000 r/min

0.5 V/100%

Alarm output, motor rotation detection, brake interlock, positioning completion; open collector outputs: 30 VDC, 50 mA (except for alarm code output, which is 30

VDC, 20 mA)

5-4

Specifications Chapter 5

Item

External regeneration processing

Protective functions

R88D-

UP03L(A)

R88D-

UP04L(A)

R88D-

UP10L(A)

R88D-

UP12L(A)

R88D-

UP15LA

Required for regeneration of more than 30 times the motor’s rotor inertia.

Required for regeneration of more than

20 times the motor’s rotor inertia.

Overcurrent, grounding, overload, overvoltage, overspeeding, runaway protection, transmission errors, encoder errors, deviation counter overflow

Note The input pulse width must be meet the following conditions.

H

T

IL

,T

IH

≥ 2.5 µ s

L

T

IL

T

IH

H

200-VAC Input Servo Drivers Conforming to EC Directives

Item R88D-

UP02V

R88D

-UP03V

R88D

-UP04V

R88D

-UP08V

Continuous output current (0-P) 0.6 A

Momentary max. output current (0-P) 1.8 A

Input power supply

Control method

0.85 A

2.7 A

1.2 A

4.0 A

2.8 A

8.5 A

Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz

All-digital servo

Speed feedback

Applicable load inertia

Optical encoder, 2,048 pulses/revolution

Maximum of 30 times motor’s rotor inertia

Inverter method

PWM frequency

Applicable Servomotor

R88D

-UP12V

3.7 A

11.3 A

R88D

-UP20V

6.2 A

19.7 A

Maximum of 20 times motor’s rotor inertia

PWM method based on IGBT

11 kHz

R88M

-U03030VA

30 W

20 m max.

R88M

-U05030VA

50 W

R88M

-U10030VA

100 W

R88M

-U20030VA

200 W

R88M

-U40030VA

400 W

7.8 kHz

R88M

-U75030VA

750 W Applicable Servomotor wattage

Cable length between motor and driver

Weight (approximate)

Heating value

Capacity Maximum pulse frequency

Position loop gain

Electronic gear

0.9 kg

15 W

200 kpps

0 to 500 (1/s)

18 W

Electronic gear ratio setting range: 0.01 ≤ (G1/G2) ≤ 100

(G1, G2 = 1 to 65,535)

0 to 250 command units

20 W 35 W

1.2 kg

45 W

1.5 kg

60 W

Input signals

Positioning completed range

Feed-forward compensation

Bias setting

Position acceleration/deceleration time constant

Position command pulse input (see note)

0% to 100% of speed command amount (pulse frequency)

0 to 450 r/min

0 to 64.0 ms (The same setting is used for acceleration and deceleration.)

Deviation counter reset

Sequence input

TTL, line driver input with photoisolation, input current: 6 mA at 3 V

Feed pulse and direction signal, forward pulse and reverse pulse, or 90 _ differential phase (A and B phases) signal (set via parameter). Pulse width: See note.

TTL, line driver input with photoisolation, input current: 6 mA at 3 V

24-VDC, 5-mA photocoupler input, external power supply: 24 ± 1 VDC, 50 mA min.

5-5

Specifications Chapter 5

Output signals

Item R88D-

UP02V

R88D

-UP03V

R88D

-UP04V

R88D

-UP08V

R88D

-UP12V

R88D

-UP20V

Position feedback output A-, B-, Z-phase line driver output (EIA RS-422A)

A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution

Z-phase: 1 pulse/revolution

Speed monitor output

Current monitor output

Sequence output

0.5 V/1,000 r/min

0.5 V/rated torque

Alarm output, motor rotation detection, brake interlock, positioning completion; open-collector outputs: 30 VDC, 50 mA (except for alarm code output, which is

30 VDC, 20 mA)

External regeneration processing

Protective functions

Required for regeneration of more than 30 times the motor’s rotor inertia.

Required for regeneration of more than 20 times the motor’s rotor inertia.

Overcurrent, grounding, overload, overvoltage, overspeeding, runaway prevention, transmission errors, encoder errors, deviation counter overflow

Note The input pulse width must meet the following conditions.

H

T

IL

,T

IH

≥ 2.5 µ s

L

T

IL

T

IH

H

100-VAC Input Servo Drivers Conforming to EC Directives

Item

Continuous output current (0-P)

Momentary max. output current

(0-P)

Input power supply

Control method

Speed feedback

Applicable load inertia

Inverter method

PWM frequency

Applicable Servomotor

Applicable Servomotor wattage

Cable length between motor and driver

Weight (approximate)

Heating value

R88D-UP03W R88D-UP04W R88D-UP10W R88D-UP12W R88D-UP15W

0.9 A 1.3 A 3.1 A 3.8 A 4.8 A

2.8 A 4.1 A 10 A 12 A 15 A

Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz

All-digital servo

Optical encoder, 2,048 pulses/revolution

Maximum of 30 times motor’s rotor inertia

PWM method based on IGBT

11 kHz

R88M

-U03030WA

30 W

20 m max.

R88M

-U05030WA

50 W

R88M

-U10030WA

100 W

R88M

-U20030WA

200 W

20 times max.

7.8 kHz

R88M

-U30030WA

300 W

1.5 kg

70 W

Position loop gain

Electronic gear

0.9 kg

17 W 20 W 30 W

1.2 kg

47 W

200 kpps

1 to 500 (1/s)

Electronic gear ratio setting range: 0.01 ≤ (G1/G2) ≤ 100

(G1, G2 = 1 to 65,535)

0 to 250 command units Positioning completed range

Feed-forward compensation

Bias setting

Position acceleration/deceleration time constant

0% to 100% of speed command amount (pulse frequency)

0 to 450 r/min

0 to 64.0 ms (The same setting is used for acceleration and deceleration.)

5-6

Specifications Chapter 5

Input signals

Item

Position command pulse input (see note)

R88D-UP03W R88D-UP04W R88D-UP10W R88D-UP12W R88D-UP15W

TTL, line driver input with photoisolation, input current: 6 mA at 3 V

Feed pulse and direction signal, forward pulse and reverse pulse, or 90 _ differential phase (A and B phases) signal (set via parameter). Pulse width: See note.

Output signals

Deviation counter reset TTL, line driver input with photoisolation, input current: 6 mA at 3 V

Sequence input 24-VDC, 5-mA photocoupler input, external power supply: 24 ± 1 VDC, 50 mA min.

Position feedback output A-, B-, Z-phase line driver output (EIA RS-422A)

A-phase and B-phase (dividing rate setting): 16 to 2,048 pulses/revolution

Z-phase: 1 pulse/revolution

Speed monitor output

Current monitor output

Sequence output

0.5 V/1,000 r/min

0.5 V/100%

External regeneration processing

Protective functions

Alarm output, motor rotation detection, brake interlock, positioning completion; open collector outputs: 30 VDC, 50 mA (except for alarm code output, which is 30

VDC, 20 mA)

Required for regeneration of more than 30 times the motor’s rotor inertia.

Required for regeneration of more than

20 times the motor’s rotor inertia.

Overcurrent, grounding, overload, overvoltage, overspeeding, runaway protection, transmission errors, encoder errors, deviation counter overflow

Note The input pulse width must be meet the following conditions.

H

T

IL

,T

IH

≥

2.5

µ s

L

T

IL

T

IH

5-1-3 I/O Specifications

H

Terminal Block Specifications, Models Conforming to UL/cUL

Standards and Models Not Conforming to Any Standards

P

N

U

R

T

Signal

V

W

Function

Power supply input

Main circuit DC output

Servomotor Uphase output

Servomotor Vphase output

Servomotor Wphase output

Frame ground

Condition

R88D-UP jj

H(A) (200-VAC Units): Single-phase 200/230 VAC (170 to

253 VAC) 50/60 Hz

R88D-UP jj L(A) (100-VAC Units): Single-phase 100/115 VAC (85 to

127 VAC) 50/60 Hz

These are the connection terminals for the Regeneration Unit

(R88A-RG08UA). Connect these when the regeneration energy is high.

Red These are the terminals for outputs to the Servomotor.

White

Blue

Green This is the connection terminal. Use a 100 Ω or less (class-3) or better ground. It is used in common for Servomotor output and power supply input.

5-7

Specifications Chapter 5

H

Terminal Block Specifications, Models Conforming to EC Directives

+

–

Signal

L1

L2

U

Function

Power supply input

Main circuit DC output

Condition

R88D-UP jj V (200-VAC Units): Single-phase 200/230 VAC (170 to

253 VAC) 50/60 Hz

R88D-UP jj W (100-VAC Units): Single-phase 100/115 VAC (85 to

127 VAC) 50/60 Hz

When using multiple axes and there is excessive regenerative energy, the + terminals can be connected together and the – terminals can be connected together to increase the regeneration absorption capacity.

Red These are the terminals for outputs to the Servomotor.

V

W

Servomotor Uphase output

Servomotor Vphase output

Servomotor Wphase output

Protective earth terminal

White

Blue

Green This is the connection terminal. Use a 100 Ω or less (class-3) or better ground.

5-8

Specifications Chapter 5

H

CN1: Control I/O Specifications (Common to Models Conforming to

UL/cUL Standards, Models Not Conforming to Any Standards, and

Models Conforming to EC Directives)

D

CN1: Control Input

1

2

Pin No.

Signal name

+PULS/CW/A

–PULS/CW/A

Function

Feed pulse, reverse pulse,

90

_ differential phase pulse (A phase)

3

4

5

+SIGN/

CCW/B

–SIGN/

CCW/B

+ECRST

Direction signal, forward

, _ differential l (B h )

Deviation counter reset

Contents

Line driver input: 6 mA at 3V

Switched between feed ulse and direction signal, reverse pulse and forward pulse, and 90 _ differential f th C 02 t t

Maximum frequency: 200 kpps

Line driver input: 6 mA at 3V

ON: Disables command input and resets deviation

6 –ECRST

11

12

13

14

15

PCL/SPD1

NCL/SPD2

+24VIN

RUN

MING

IPG

(HA/LA/V/W

Models)

RDIR

Forward rotation current limit input / Speed selection command 1 input

Reverse rotation current limit input / Speed selection command 2 input

+24-V power supply input for control DC

Run command input

Operation can be switched between a status signal

(high level) and a differential signal (rising edge) using bit A in setup parameter Cn-02.

Forward/reverse rotation current limit (PCL/NCL) when setup parameter Cn-02 bit no. 2 = 0.

( (ON: Current limit) )

Internal setting speed (Cn-1F, 20, 21) selector switch when setup parameter Cn-02 bit no. 2 = 1.

Power supply for pin nos. 11, 12, 14, 15, 16, 17, 18;

+24-V input

ON: Servo ON, when setup parameter Cn-01 bit no.

Gain deceleration input

Pulse stop input

When setup parameter Cn-01 bit no. 0 = 1, this signal is not used. (Automatically set to Servo ON.)

ON: Decrease speed loop gain, when setup parameter Cn-02 bit no. 2 = 0 and Cn-01 bit no. F = 0.

ON: Stop input command pulses, when setup parameter Cn-02 bit no. 2 = 0 and Cn-01 bit no. F = 1.

16

17

18

28

29

POT

NOT

RESET

---

---

Rotation direction command inputs

Forward drive prohibit input

Reverse drive prohibit input

Alarm reset input

---

---

When setup parameter Cn-02 bit no. 2 = 1, this is the rotation direction command for internal speed settings 1 to 3. (OFF: Forward, ON: Reverse)

Forward rotation overtravel input (OFF when prohibited). When setup parameter Cn-01 bit no. 2 = 1, this signal is not used.

Reverse rotation overtravel input (OFF when prohibited). When setup parameter Cn-01 bit no. 3 = 1, this signal is not used.

ON: Servo alarm status is reset.

Do not connect.

5-9

Specifications Chapter 5

21

22

23

27

30

31

24

25

26

32

33

34

35

36

D

CN1: Control Output

7

Pin No.

Signal name

BKIR

8 INP

9

10

19

20

TGON

CLIMT

OGND

EGND

+A

Brake interlock output

Positioning competed output

Function

Servomotor rotation detection output

Contents

Outputs external brake interlock signal.

Turned ON when the pulse count remaining in the deviation counter is equal to or less than the positioning completed range set in user parameter

Cn-1b.

When setup parameter Cn-01 bit no. 4 = 0, this turns

ON if the Servomotor rotational speed exceeds the value set for the Servomotor rotation detection speed (Cn-0b).

Current limit detection output

Output ground common

When setup parameter Cn-01 bit no. 4 = 1, this turns

ON if the forward/reverse rotation current limit (PCL/

NCL) is ON and the output torque reaches either the external current limit (Cn-18, 19) or the level of the lowest value set for the torque limit (Cn-08, -09).

If the forward/reverse rotation current limit (PCL/

NCL) is OFF, this output turns ON when the output torque reaches the value set for the torque limit

(Cn-08, -09).

Output ground common for BKIR, VCMP, INP,

TGON/CLIMT

Encoder signal output

GND

This is the ground for encoder signal outputs.

Encoder A-phase + output Outputs encoder pulses divided according to user

–A

–B

+B

+Z

–Z

---

---

ALO1

ALO2

ALO3

ALOCOM

ALM

ALMCOM

FG

Encoder A-phase – output

RS-422A).

Encoder B-phase – output Outputs encoder pulses divided according to user

Encoder B-phase + output

RS-422A).

Encoder Z-phase + output )

Encoder Z-phase – output

( f i RS A)

Do not connect.

---

---

Alarm code output 1

Alarm code output 2 f h l i d O

Alarm code output 3

Alarm code output GND

Alarm output

Alarm output GND i OFF O ll

Frame ground (see note) Ground terminal for shield wire of cable and FG line.

Note Pin 36 is not used on models conforming to the EC Directives.

D

Connectors Used (36P)

Sumitomo 3M Receptacle at Servo Driver

Soldered plug at cable side

Case at cable side

5-10

10236-52A2JL

10136-3000VE

10336-52A0-008

Specifications

D

Pin Arrangement

2

4

6

8

10

12

14

16

–PULS

/CW/A

–SIGN/

CCW/B

–ECRST

INP

OGND

NCL/

SPD2

RUN

POT

1

+PULS

/CW/A

–feed pulse, reverse pulse,

A phase

–direction signal, forward pulse,

B phase

3

+SIGN/

CCW/B

5 +ECRST

–deviation counter reset

7 BKIR

Positioning completed output

9

TGON/

CLIMT

Output ground common

Reverse rotation current limit, speed selection command 2

11

PCL/

SPD1

13 +24VIN

Run command input

Forward rotation drive prohibit input

15

MING/

IPG/

RDIR

17 NOT

18 RESET

Alarm reset input

+feed pulse, reverse pulse,

A phase

+direction signal, forward pulse,

B phase

+deviation counter reset

20 +A

22 –B

24 +Z

Brake interlock output

26

Motor rotation detection,current control detection

Forward rotation current limit, speed selection command 1

28

30 ALO1

Control DC

+24-V input

Gain deceleration, pulse stop input, rotation direction

32 ALO3

34 ALM

Reverse rotation drive prohibit input

36

FG

(see note 2)

Encoder

A-phase

+ output

Encoder

B-phase

– output

Encoder

Z-phase

+ output

19 EGND

21 –A

23 +B

25 –Z

27

Chapter 5

Encoder signal output

GND

Encoder

A-phase

– output

Encoder

B-phase

+ output

Encoder

Z-phase

– output

29

Alarm code output 1

31 ALO2

Alarm code output 2

Alarm code output 3

33 ALOCOM

Alarm code output

GND

Alarm output

35 ALMCOM

Alarm output

GND

Frame ground

Note 1. The IPG (pulse stop input) setting for pin number 15 can be selected in HA/LA/V/W Models only.

Note 2. Pin 36 is not used on models conforming to EC Directives.

5-11

Specifications Chapter 5

H

Control Input Interface

The input circuit for the control I/O connector (CN1) is as shown in the following diagram.

+24 VIN

13

4.7 k

3.3 k

External power supply

24-VDC

±

1 V

50 mA min.

RUN

14 5 mA

To other input circuit GNDs To other input circuits

D

Run Command (14: RUN)

This is the input that turns on the power drive circuit for the main circuit of the Servo Driver. If this signal is not input (i.e., servo-off status), the Servomotor cannot operate. Depending on the setting of setup parameter Cn-01, bit no. 0, this signal can be bypassed. In that case, the servo will be turned on after the power is turned on.

D

Gain Reduction (15: MING), Pulse Stop (15: IPG),

Rotation Direction Command (15: RDIR)

This input signal can be switched among the following three kinds of signals by changing on the settings of bit 2 of setup parameter Cn-02 and bit F of setup parameter Cn-01. Select the signal function required for your application.

•

Gain Reduction (15: MING; Cn-02 Bit No. 2 = 0 and Cn-01 Bit No. F = 0)

Bit F of Cn-01 can be set in HA/LA/V/W Models only. Input this signal to lower the loop gain for the control loop, and to weaken servo rigidity (repellant force with respect to external force).

When the gain reduction is input, speed loop integration is disabled, decreasing the speed loop gain.

In addition, when parts are inserted after positioning, the insertion operation is made easier because the repellant force with respect to external force is weakened by the inputting of this signal. This cannot be used for the vertical shaft where a gravity load is applied, because position deviation will occur.

•

Pulse Stop (15: IPG; Cn-02 Bit No. 2 = 0 and Cn-01 Bit No. F = 1)

This signal can be used in HA/LA/V/W Models only. Command signals won’t be received internally while this signal is ON.

•

Rotation Direction Command (15: RDIR; Cn-02, Bit No. 2= 1)

This signal becomes the rotation direction change command for when operation is carried out at the internally set speed (no. 1 through no. 3 internally set speeds). When this signal is not input, the rotation direction is forward; when it is input, the direction is reverse.

D

Forward Drive Prohibit (16: POT, Cn-01 bit No. 2 = 0)

Reverse Drive Prohibit (17: NOT, Cn-01 bit No. 3 = 0)

These two signals are the inputs for forward and reverse drive prohibit (overtravel). When they are input, driving is possible in the respective directions. When driving is prohibited, movement will stop ac-

5-12

Specifications Chapter 5 cording to the settings of bits nos. 6, 8, and 9 of setup parameter no. 1 (Cn-01). Alarm status will not be generated at the Driver. When drive prohibition is not used, clear the function by connecting the respective signal to the external power supply +24-V GND or setting setup parameter Cn-01, bit nos. 2, 3 = 1,1.

ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í

Bit

Deceleration Method Stopped Status

No. 6

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Bit

0

Dynamic brake Servo free

No. 8

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í

0

1

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í

POT (NOT) is OFF

1

Free run

Bit

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í No. 9 Servo free

Í

0

Emergency stop torque (Cn-06)

See note

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í 1

Servo locked

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í

Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í Í ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ Í

ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ

Note The position loop is not valid when stopping with this mode.

D

Forward/Reverse Rotation Current Limit [11, 12: (PCL/SPD1), (NCL/SPD2)]

These input signals switch between the forward/reverse current limit and the speed selection command signal for the internally set speed, depending on the setting of setup parameter Cn-02 bit no. 2. Set the required functions for using it.

•

Forward/Reverse Rotation Current Limit (11, 12: PCL, NCL)

When setup parameter Cn-02 bit no. 2 = 0, these input signals become respectively the forward rotation current limit and the reverse rotation current limit, and they limit the current to the Servomotor.

The current limit values can be set for the respective directions by means of user parameters Cn-18 and 19.

•

Speed Selection Command (11, 12: SPD1, SPD2)

When setup parameter Cn-02 bit no. 2 = 1, these input signals become the speed selection command 1 and the speed selection command 2. Depending on the combination, the Servomotor speed can be controlled according to the internally set speeds, nos. 1 through 3, which are set in user parameter Cn-1F, 20, 21. At that time, the CN1-15 pin becomes the rotation direction command (RDIR).

D

Alarm Reset (18: RESET)

This is the external reset signal input for the servo alarm. The alarm is reset when the signal turns ON.

Remove the cause of the alarm and then restart operation. In order to prevent danger, turn OFF the run command before inputting the reset signal.

D

Command Pulse Inputs and Deviation Counter Reset Inputs

The input circuits for command pulse and deviation counter reset inputs are shown in the following diagram.

Line-driver Input

Controller side

+

Servo Driver side

+

220 Ω

Applicable line driver

AM26LS31A or equivalent

– –

5-13

Specifications Chapter 5

Open-collector Input

When connected with open collector output, insert a current limit resistor as shown below.

Vcc

Controller side

R

+

Servo Driver side

+

220 Ω

–

–

When Vcc = 5 V: R = 0 Ω

When Vcc = 12 V:R = 750 Ω

When Vcc = 24 V:R = 1.6 k Ω

Deviation Counter Reset (5, 6: +ECRST/–ECRST)

The contents of the deviation counter will be reset and the position loop will be disabled when the deviation counter reset signal turns ON.

The deviation counter reset signal must be input for at least 20

µ s to be effective. The counter may or may not be reset if the input signal is less than 20

µ s.

The setting of Cn-02 bit No. A determines whether setting is performed on the high signal level or on the rising edge of the signal.

•

+Feed Pulse/Reverse Pulse/90

°

Differential Pulse A Phase (CN1-1: +PULS/+CW/+A)

–Feed Pulse/Reverse Pulse/90 ° Differential Pulse A Phase (CN1-2: –PULS/–CW/–A)

+Direction Signal/Forward Pulse/90

°

Differential Pulse B Phase (CN1-3: +SIGN/+CCW/+B)

–Direction Signal/Forward Pulse/90

°

Differential Pulse B Phase (CN1-4: –SIGN/–CCW/–B)

The functions of the above pulses depend on the command pulse mode and command pulse logic setting.

•

Command Pulse Mode (Cn-02 bit nos. 5, 4, 3)

Cn-02 bit nos. 5, 4, 3 = 0, 0, 0 Feed pulses and direction signal

Cn-02 bit nos. 5, 4, 3 = 0, 0, 1 Forward pulse and reverse pulse (factory default)

Cn-02 bit nos. 5, 4, 3 = 0, 1, 0 90

°

differential phase (A and B phases) signal (1X)

Cn-02 bit nos. 5, 4, 3 = 0, 1, 1

Cn-02 bit nos. 5, 4, 3 = 1, 0, 0

90 ° differential phase (A and B phases) signal (2x)

90 ° differential phase (A and B phases) signal (4X)

• Command Pulse Logic Reversal (Cn-02 bit no. d)

Cn-02 bit no. d = 0 Positive logic

Cn-02 bit no. d = 1 Negative logic

5-14

Specifications

Logic Bits Input

5 4 3

Positive 0 0 0 ---

0

0

0

0

1

1

1

0

1

---

×

×

1

2

1 0 0 × 4

Negative 0 0 0 ---

Command Input pins mode

Forward pulse and direction signal

Reverse pulse and forward pulse

90

_ differential

1: +PULS

2: –PULS

3: +SIGN

4: –SIGN

1: +CW

2: –CW

3: +CCW

4: –CCW

1: +A

2 A

0

0

0

1

1

0

---

×

1

0 1 1 × 2

1 0 0

×

4 signals

Forward pulse and direction signal

Reverse pulse and forward pulse

90 _ differential

4: –B

1: +PULS

2: –PULS

3: +SIGN

4: –SIGN

1: +CW

2: –CW

3: +CCW

4: –CCW

1: +A

2 A signals 4: –B

Forward motor

“H”

“L”

“L”

“H”

Chapter 5

Reverse motor

“L”

“L”

“H”

“H”

5-15

Specifications Chapter 5

Command Pulse Timing

Command pulse mode

Forward pulse and direction signal

Maximum frequency:

200 kpps

Direction t1 t2

Timing

Forward commands

T

τ t2 t1 t2

Reverse commands

Pulse t1 t1 t1 ≤ 0.1

µ s t2> 3.0

µ s

τ ≥ 2.5

µ s

T

≥

5.0

µ s

Reverse pulse and forward pulse

Maximum frequency:

200 kpps

CW

Forward commands

τ

T

Reverse commands t2

CCW t1 t1 t1 ≤ 0.1

µ s t2> 3.0

µ s

τ ≥ 2.5

µ s

T ≥ 5.0

µ s

90

_

differential phase signals

(A and B pulses)

Maximum frequency:

200 kpps

A phase

B phase t1 t1

τ

T Forward commands Reverse commands t1 ≤ 0.1

µ s τ ≥ 2.5

µ s

T ≥ 5.0

µ s

Note Although the above timing charts show positive logic, the same conditions hold for negative logic.

H

Control Output Interface

The output circuit for the control I/O connector (CN1) is as shown in the following diagram.

To other output circuits

To other output circuits

10

OGND

Di

External power supply

24-VDC ± 1 V

Maximum operating voltage: 30 VDC

Maximum output current: 50 mA max.

(Alarm code output: 20 mA max.)

Di: Diode for preventing surge voltage

(Use speed diodes.)

5-16

Specifications

D

Control Output Sequence

Power supply input

(R, T)

Alarm output

(ALM)

Positioning completed output

(INP)

Brake interlock output

(BKIR)

Run command input

(RUN)

Alarm reset input

(RESET)

Alarm code outputs

(ALO1, ALO2, ALO3)

Approx. 2 s

25 to 35 ms 6 ms

6 ms

Chapter 5

*t

*t = Approx. 6 s: R88D-UP02H(A)/-UP03H(A)/-UP03L(A)

R88D-UP02V/-UP03V/-UP03W

Approx. 10 s: R88D-UP04H(A)/-UP08H(A)/-UP12H(A)

R88D-UP04L(A)/-UP10L(A)/-UP12L(A)

R88D-UP04V/-UP08V/-UP12V

R88D-UP04W/-UP10W/-UP12W

Approx. 15 s: R88D-UP20H(A)/-UP15L(A)

R88D-UP20V/-UP15W

D

Brake Interlock (7: BKIR)

This outputs the external brake timing signal set in Cn-12, 15, and 16. Refer to 3-5-8 Brake Interlock (For

Motors with Brakes) for details.

D

Positioning Completed Output (8: INP)

This output is turned ON when the pulse count remaining on the deviation counter is less than the positioning completed range set in user parameter Cn-1b. If the command speed is low and the positioning completed range is large, the positioning completed output will remain ON.

D

Motor Rotation Detection (9: TGON/CLIMIT)

This output switches between the Servomotor rotation detection output signal and the current limit detection signal depending on the setting of setup parameter Cn-01 bit no. 4.

•

Motor Rotation Detection (9: TGON; Setup Parameter Cn-01 Bit No. 4 = 0)

Outputs when the motor rotational speed equals or exceeds the value set for user parameter Cn-0b

(rotational speed for motor rotation detection).

5-17

Specifications Chapter 5

•

Current Limit Detection (9: CLIMIT; Setup Parameter Cn-01 Bit No. 4 = 1)

When the forward current limit (PCL) and the reverse current limit (NCL) are input, this signal is output when the Servomotor’s output torque reaches the lower of the two following torque limit values: the torque limit value set for user parameters Cn-18, -19 (forward/reverse rotation external current limit) or the torque limit value set for user parameters Cn-08, -09 (forward/reverse rotation torque limit).

D

Alarm Output/Alarm Output Ground (34/35: ALM/ALMCOM)

When the Servo Driver detects an error, outputs are turned OFF. At that time, an alarm code (see below) is output according to the contents of the error. This output is OFF at the time of powering up, and turns

ON when the power-up processing is completed.

D

Alarm Code Outputs 1 to 3 and Alarm Code Output Ground (30, 31, 32, 33: AL01 to

AL03 and 33: ALOCOM)

When a Servo Driver error is generated, the contents of the error are output in 3-bit code. For details, refer to 4-3-1 Alarm Displays and Alarm Code Outputs.

D

Encoder A-, B-, and Z-phase Outputs (20, 21: +A, -A; 23, 22: +B, -B, 24, 25: +Z, -Z)

Servomotor encoder signals are output as divided phase-difference pulses according to the user parameter encoder divider rate setting (Cn-0A). The output form is line driver output, and conforms to EIA-

RS-422A. Receive with a line receiver or high-speed photocoupler.

•

Output Phase (When Encoder Divider Rate Setting is 2,048)

Forward Rotation Side Reverse Rotation Side

A-phase A-phase

B-phase

Z-phase

B-phase

Z-phase

5-18

Specifications

•

Output Circuit and Receiving Circuit

Servo Driver

CN1-

20 +A

A-phase

21 –A

23 +B

B-phase

22 –B

24 +Z

Z-phase

Output line driver

SN75ALS 174NS or equivalent

0 V

25 –Z

19 EGND

36 FG

FG

Chapter 5

+A

–A

+B

–B

+Z

–Z

GND

Controller on User’s Side

+5 V

2 16

3

R A-phase

1

4

6

5

R B-phase

7

12

10

R

9

0 V

FG

R = 220 to 470 Ω

11

8

Z-phase

0 V

Applicable line receiver

TI-SN75175/MC3486/AM26LS32

R = 220 to 470

Ω

5-19

Specifications Chapter 5

H

Control I/O Signal Connections and External Signal Processing

Reverse pulse

+CW 1

220

Ω

–CW 2

Forward pulse

+CCW 3

220 Ω

–CCW 4

Deviation counter reset

+ECRST 5

220 Ω

–ECRST 6

Do not connect these pins.

26

27

28

29

24 VDC +24 VIN 13

Run instruction

RUN 14

4.7 k

Gain deceleration MING 15

Forward rotation drive prohibit

POT

4.7 k

16

Reverse rotation drive prohibit

NOT

4.7 k

17

4.7 k

Alarm reset

RESET

18

Forward rotation current limit

PCL

4.7 k

11

Reverse rotation current limit

NCL

4.7 k

12

4.7 k

7

BKIR

Brake interlock

8

INP

Positioning completion

9

10

34

TGON

Motor rotation detection

OGND

Output ground common

ALM

Alarm output

35

ALMCOM

Maximum operating voltage: 30 VDC

Maximum output current: 50 mA

30

31

ALO1

Alarm code output

ALO2

32

ALO3

33

ALOCOM

Alarm code output GND

20

21

+A

Encoder A-phase

–A

Maximum operating voltage: 30 VDC

Maximum output current: 20 mA

23

22

+B

Encoder B-phase

–B

24

25

+Z

Encoder Z-phase

–Z

Line driver output

EIA-RS422A conforming

(Load resistance:

200

Ω

max.)

19 EGND

Encoder signal output GND

36

FG

Frame ground

Note Pin 36 is not used with models conforming to EC Directives.

5-20

Specifications Chapter 5

H

CN2: Encoder Input Specifications

Pin No.

Signal name Function

1, 2, 3

4, 5, 6

7

8, 9

10, 11

12, 13

14

15

16

17

18

19

20

(see note)

E0V

E5V

DIR

NC

NC

NC

S+

S–

A+

A–

B+

B–

FG

Encoder power supply GND

Encoder power supply +5 V

Rotation direction switch input Connects to E0V when reverse rotation is executed by + input.

Not used Do not connect.

Not used

Not used

Encoder + S-phase input

Encoder – S-phase input

Encoder + A-phase input

Do not connect.

Do not connect.

(I i d

Interface

Ω )

(I i d Ω )

Encoder – A-phase input

Encoder + B-phase input

Encoder – B-phase input

Shielded ground

(I i d

Cable shielded ground

Ω )

Note Pin 20 is not used on models conforming to EC Directives. Instead, connect the cable shield to the connector plug and ground it directly using a clamp.

D

Connectors Used (20P)

Sumitomo 3M Receptacle at Servo Driver

Soldered plug at cable side

Case at cable side

10220-52A2JL

10120-3000VE

10320-52A0-008

D

Pin Arrangement

1 E0V

Encoder power supply GND

11 NC

2 E0V

Encoder power supply GND

3 E0V

Encoder power supply GND

12 NC

13 NC

4 E5V

6 E5V

8 NC

Encoder power supply +5 V

Encoder power supply +5 V

5 E5V

7 DIR

9 NC

Encoder power supply +5 V

Rotation direction switch input

14 S+

16 A+

18 B+

Encoder

+ S-phase input

Encoder

+ A-phase input

Encoder

+ B-phase input

15 S–

17 A–

19 B–

Encoder

– S-phase input

Encoder

– A-phase input

Encoder

– B-phase input

10 NC 20

FG

(see note)

Frame ground

Note Pin 20 is not used with models conforming to EC Directives

D

Rotation Direction Change (7: DIR)

To set up the mechanical configuration so that a + voltage input causes reverse rotation instead of forward rotation, this terminal can be connected to the E0V terminal for any of pins 1 through 3 (encoder power supply GND terminal). This function carries out the same operation by means of setting setup parameter Cn-02 bit no. 0 to “1.” Use this to prevent runaway when replacing the Servo Driver.

5-21

Specifications Chapter 5

When the rotation direction is changed, the encoder A-phase and B-phase output phases are also changed. When not set, + voltage is for forward rotation and A-phase advance; when set, + voltage if for reverse rotation and A-phase advance (and - voltage is for forward rotation and B-phase advance).

Therefore wiring changes are unnecessary for encoder signals to the position controller.

D

Encoder Pulse Input Signals (A-, B-, S-phase)

Inputs signals output from the Servomotor encoder. In S-phase, servo sensor U-, V-, W-, and Z-phase are transmitted according to A- and B-phase logic.

D

Encoder Power Supply Grounds (1 to 3: E0V) and

Encoder Power Supply 5 V (E5V: 4 to 6)

Outputs +5.2 ± 0.1 V as the power supply for the Servomotor encoder. The encoder power supply cannot be used for other purposes.

H

CN3: Parameter Unit Input Specifications

4

5

2

3

1

Pin No.

Signal name

TXD+

TXD–

RXD+

RXD–

PRMU

6 RT1

Function

Transmission data +

Transmission data –

Reception data +

Reception data –

Unit switching

Termination resistance

I/O interface

This is the send data line-driver output to the

U i ( l )

This is the send data line-driver input from the

U i ( l )

This is the switching terminal for a Parameter

Unit or personal computer. If the pin is open, it is for a personal computer. If connected to

+5V, it is for a Parameter Unit.

This is the termination resistance terminal for

7

8

9

RT2

+5V

GND

+5 V output

Ground for the final Servo Driver, short-circuit

RT1-RT2.

This is the +5 V output to the Parameter Unit.

D

Pin Arrangement

1

2

3

4

TXD+

TXD–

RXD+

RXD–

Transmission data +

6 RT1

Transmission data –

7 RT2

Reception data +

8 +5V

Reception data –

9 GND

5 PRMU

Unit switching

Termination resistance on/off

+5-V output

Ground

5-22

Specifications

D

Connectors Used (D-sub Connector, 9 Pin)

Dai-ichi Denshi Kogyo Socket at Servo Driver

Soldered plug at cable side

OMRON

Cover at cable side

Soldered plug at cable side

Cover at cable side

Chapter 5

17LE-13090-27 (D2BC)

17JE-23090-02 (D1)

17JE-09H-15

XM2A-0901

XM2S-0912

H

CN4: Speed/Current Monitor Specifications

Pin Signal name

Function

1

2

NM

AM

3, 4 GND

I/O interface

Speed monitor output Voltage output with a ratio of

±

0.5 V/(1,000 r/min), centered at 0V.

(–) voltage is forward, (+) voltage is reverse, and output accuracy is about ± 10%.

Current monitor output Voltage output with a ratio of

±

0.5 V / (rated torque), centered at

0V. (–) voltage is forward acceleration, (+) voltage is reverse acceleration. Output accuracy is about ± 10%.

Output ground This is the output ground mentioned above.

D

Connectors Used (4 Pin)

Hirose Electric Pin header at Servo Driver DF11-4DP-2DS

Socket at cable side DF11-4DS-2C

Socket crimp-type terminal at cable side DF11-2428 SC

5-1-4 Explanation of User Parameters

Refer to 3-4-2 Setup Parameter Contents and 3-5-2 User Parameter Chart for a table of user parameters and setup parameters.

D

Speed Loop Gain: Cn-04

This is the proportional gain for the speed controller. The adjustable range is 1 to 2,000 Hz (the response frequency when equivalent inertia is used). As the number is increased, the gain is increased.

The factory setting is for 80 (Hz). Using the factory setting for the Servomotor alone or with a small load inertia will cause vibration to occur, so set the value to a maximum of 20 (Hz) for operation.

D

Speed Loop Integration Constant: Cn-05

This is the integration time for the speed controller. The adjustable range is 2 to 10,000 (ms), and it is factory set to 20 (ms). As the number is increased, the gain is decreased. The unit can be changed using the integration time constant setting unit (Cn-02 bit No-b). (HA/LA/V/W Models)

D

Emergency Stop Torque: Cn-06

When setup parameter Cn-01 bit no. 8 = 1, this sets the braking torque for over-travel stopping (forward/ reverse drive prohibit input operation). The setting range is 0 to the maximum torque (a percentage of the braking torque as 100% of the Servomotor rated torque). The factory setting is for the maximum torque.

D

Software Start Acceleration Time: Cn-07

Software Start Deceleration Time: Cn-23

The Servomotor rotation acceleration time from 0 r/min to 4,500 r/min is set in Cn-07, and the deceleration time from 4,500 r/min to 0 r/min is set in Cn-23. The factory setting is for 0 (ms). Set the acceleration and deceleration times to 0 (ms) unless using the internal speed settings.

5-23

Specifications Chapter 5

D

Forward Torque Control: Cn-08

Reverse Torque Control: Cn-09

The Servomotor output torque control value for forward rotation is set in Cn-08, and the value for reverse rotation is set in Cn-09. The setting range is 0 to the maximum torque, and the factory setting is for the maximum torque.

D

Encoder Divider Rate: Cn-0A

The number of pulses detected (A- and B-pulses) per encoder revolution is converted to the number of pulses set for this parameter and output from the Servo Driver. The setting range is 16 to 2,048 pulses/ revolution, and the factory setting is for 1,000 (pulses/revolution).

D

Rotational Speed for Servomotor Rotation Detection: Cn-0b

This sets the rotational speed for detecting whether or not the Servomotor is rotating. The setting range is 1 to 4,500 r/min. When motor rotation detection has been set for the sequence output signal switch

(Cn-01 bit 4 = 0), the Servomotor rotation detection output (TGON: CN1-9) is turned ON if the Servomotor rotational speed meets or exceeds this set value. The factory setting is for 20 (r/min).

D

P Control Switching (Torque Command): Cn-0C

P Control Switching (Speed Command): Cn-0d

P Control Switching (Acceleration Command): Cn-0E

P Control Switching (Deviation Pulse): Cn-0F

These set the various points for switching the speed controller from PI control to P control in order to moderate excessive characteristics when an operation such as acceleration or deceleration is executed accompanied by output saturation of the controller. These selections are made by setting the setup parameter Cn-01 bit nos. b, d and C.

D

Jog Speed: Cn-10

This sets the speed for manual operation. The setting range is 0 to 4,500 r/min. During manual operation, operating commands are given from the Parameter Unit. The factory setting is for 500 (r/min).

D

Number of Encoder Pulses: Cn-11

This sets the number of pulses per revolution of a connected encoder. Do not change this parameter’s setting; the Servomotor might not operate correctly if it is changed. The factory setting is for 2,048

(pulses/revolution).

D

Brake Timing 1: Cn-12

Brake Command Speed: Cn-15

Brake Timing 2: Cn-16

These parameters determine the output timing of the brake interlock signal (BKIR), which controls the electromagnetic brake.

Brake timing 1 sets the delay time from the time of brake interlock goes OFF until the servo turns off. The setting range is 0 to 50 (

×

10 ms), and the factory setting is for 0 (

×

10 ms).

The brake command speed is the speed (r/m) used to turn OFF the brake interlock. The setting range is

0 to 4,500 (r/m) and the factory setting is for 100 (r/m).

Brake timing 2 sets the wait time from when the servo goes OFF until the brake interlock goes OFF. The setting range is 10 to 100 (

×

10 ms), and the factory setting is for 50 (

×

10 ms).

5-24

Specifications Chapter 5

If the run command turns off , a servo error occurs, or the main-circuit power supply turns off during operation of a Servomotor with a brake, the dynamic brake comes on (setup parameter Cn-01 bit no. 6 =

0) and Servomotor rotation speed is decreased. When the speed drops to the level of the value set for the brake command speed (Cn-15), the brake interlock output (BKIR: CN1-7) turns OFF.

Even if the speed does not drop to the level of the value set for the brake command speed (Cn-15), the brake interlock output (BKIR: CN1-7) turns OFF after the time set for brake timing 2 has elapsed. (This time setting is made for the purpose of preventing damage to machinery or the Servomotor holding brake.)

D

Torque Command Filter Time Constant: Cn-17

This sets the low-pass filter time constant for the torque command. The setting range is 0 to 250 (

×

100

µ s), and the factory setting is 4 (

×

100

µ s).

The relationship between the filter time constant and the cut-off frequency can be found by means of the following formula: fc (Hz) = 1 / (2

πΤ

) :

Τ

= Filter time constant

If

Τ

= 400 (

µ s), fc will be approximately 400 (Hz).

When the characteristic vibration of the machinery is within the response frequency of the servo loop,

Servomotor vibration will occur. In order to prevent this sympathetic vibration based on the characteristic vibration of the machinery, set the torque filter time constant to a value that will eliminate the vibration

(i.e., set it to a high value).

D

Forward Rotation External Current Limit: Cn-18

Reverse Rotation External Current Limit: Cn-19

These set the Servomotor output torque limits for the forward and reverse directions. They are valid when the forward/reverse current limits (PCL/NCL CN1-11/12) are input. This function can’t be used if the input command mode is set to “internal speed control settings.” The setting range is 0 to the maximum torque, and the factory setting is for the 100 (%).

D

Position Loop Gain: Cn-1A

Adjust the position loop gain to the rigidity of the machine. Set to between 50 and 70 (1/s) for general NC machine tools, to between 30 and 50 (1/s) for general and assembly machines, and to 10 to 30 (1/s) for industrial robots.

Load alarms will be caused by machine oscillation if the position loop gain is increased for systems with low rigidity or systems with intrinsically low-frequency vibration.

The setting range is 1 to 500 (1/s), and the factory setting is 40 (1/s).

D

Positioning Completed Range: Cn-1b

This sets the deviation counter value for outputting the positioning completed output (INP). When the deviation counter value falls below this setting, the positioning completed output turns ON. The setting range is 0 to 250 (command units), and the factory setting is 3 (command units).

D

Bias Rotational Speed: Cn-1C

This is the setting for position control bias. Use this setting according to the load conditions in order to shorten positioning time. The setting range is 1 to 450 (r/min), and the factory setting is 0 (r/min).

5-25

Specifications Chapter 5

D

Feed-forward Amount: Cn-1d

This is the feed forward compensation for the position controller. Positioning time is shortened by adding the command pulse differential to the speed command. The setting range is 0 to 100%, and the factory setting is 0%.

D

Deviation Counter Overflow Level: Cn-1E

This sets the level for detection deviation counter overflow. If the deviation counter value exceeds this set value, a servo alarm will be generated. The setting range is 1 to 32,767 (

×

256 command units), and the factory setting is 1,024 ( × 256 command units).

D

No. 1 Internal Speed Setting: Cn-1F (Factory Setting: 100 r/min)

No. 2 Internal Speed Setting: Cn-20 (Factory Setting: 200 r/min)

No. 3 Internal Speed Setting: Cn-21 (Factory Setting: 300 r/min)

Make these settings to control speeds by means of internal settings. The setting range is 0 to 4,500

(r/min). For details, refer to 3-5-3 Setting Internal Speed Control.

D

Electronic Gear Ratio G1 (Numerator): Cn-24

Electronic Gear Ratio G2 (Denominator): Cn-25

The motor will be operated by the pulses resulting from the number of command pulses multiplied by the gear ratio (G1/G2).

The setting range for both G1 and G2 is 65,535, and the settings are restricted as follows:

(1/100) x

(G1/G2) x

100.

The factory setting is : G1 =4, G2 = 1 (i.e., an electronic gear ratio of 4/1). At the factory setting, inputting

2,048 pulses will cause one Servomotor revolution.

D

Position Command Acceleration/Deceleration Time Constant: Cn-26

This executes smoothing processing on command pulses for Servomotor operation. It is valid in the following cases:

•

There is no acceleration or deceleration for command pulses.

• The command pulse frequency changes suddenly.

•

The electronic gear ratio setting is large (G1/G2 y

10).

The setting range is 0 to 640 ( × 0.1 ms), and the factory setting is 0 ( × 0.1 ms).

D

Feed Forward Command Filter: Cn-27

This is the setting for the low-pass filter so that the feed forward amount is not added suddenly. Using this setting can prevent overshooting in the event of sudden changes in command pulse frequency. The setting range is 0 to 640 (

×

0.1 ms), and the factory setting is 0 (

×

0.1 ms).

D

Compensating Gain: Cn-28 (HA/LA/V/W Models)

When outputting a large torque (during acceleration, deceleration, etc.), the speed loop gain is decreased based on this setting. Motor vibration can be reduced by increasing this setting; also, the positioning time can be reduced because the speed loop gain can be set to a higher value.

If this setting is too high, follow-up delays can occur during acceleration and deceleration. The setting range is 0 to 100, and the factory setting is 0.

5-26

Specifications Chapter 5

Adjust the compensation gain after adjusting the speed loop gain with Cn-04 and the speed loop integral time constant with Cn-05.

The compensation gain may not be 100 due to the speed loop gain and speed loop integral time constant set with Cn-04 and Cn-05, in which case increasing the compensation gain will cause an error.

Make sure that the set value is 0 before performing auto-tuning. Proper gain adjustment may not be possible with auto-tuning if the set value is not 0.

D

Unit Number Setting: Cn-29 (HA/LA/V/W Models)

This setting specifies the Servo Driver’s unit number when communicating with a personal computer.

Set the unit number to 0 when communicating with a single axis. Set the unit number from 1 to 14 when communicating with multiple axes; in this case, be sure not to use the same unit number for more than one Unit. The Servo Driver or personal computer might be damaged if the same unit number is used for more than one Unit. The setting range is from 0 to14, and the factory setting is 0.

Refer to the Computer Monitor Software Instruction Manual (I513) for OMNUC U-series Servo Drivers for more details on the unit number setting.

5-27

Specifications

5-2 Servomotor Specifications

Chapter 5

5-2-1 General Specifications

Item

Operating ambient temperature 0

°

C to 40

°

C

Operating ambient humidity

Storage ambient temperature

Specifications

20% to 80% RH (with no condensation)

–10

°

C to 75

°

C

Storage ambient humidity 20% to 85% RH (with no condensation)

No corrosive gasses.

Storage and operating atmosphere

Vibration resistance

Impact resistance

Insulation resistance

Dielectric strength

Run position

Insulation grade

10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 24.5 m/s 2 max.; time coefficient: 8 min; 4 sweeps

Acceleration 98 m/s 2 max., in X, Y, and Z directions, three times

Between power line terminals and case: 10 M Ω min. (500 VDC megger)

Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz (JEC 2121)

All directions

Structure

Protective structure

Type A (JIS C4004): Models conforming to UL Standards

Type B (JIS C4004): All models other than those in Type A

Totally-enclosed self-cooling

Vibration grade

Models Conforming to UL/cUL Standards and Models Not Conforming to

Any Standards: IP-42 (JEM1030)

Models Conforming to EC Directives: IP-44 (IEC34-5) (excluding shaft opening)

(Cannot be used in environment with water-soluble cutting fluids.)

V-15 (JEC2121)

Mounting method Flange-mounting

Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor Driver under conditions which will not exceed 19.6 m/s 2 over a long period of time.

Note 2. The above items reflect individual evaluation testing. The results may differ under compounded conditions.

Note 3. The Servomotor cannot be used in a misty atmosphere.

Note 4.

The drip-proofing specifications for models conforming to UL/cUL Standards and models not conforming to any standards are special specifications covered by IP-44. (Models with dripproof specifications provide drip-proofing on Servomotors with oil seals.)

5-28

Specifications Chapter 5

5-2-2 Performance Specifications

H

200 VAC Servomotors

Item Unit R88M

-U03030H(A)

-U03030VA

30

R88M

-U05030H(A)

-U05030VA

50

R88M

-U10030H(A)

-U10030VA

100 Rated output

(see note)

Rated torque

(see note)

W

N S m

Rated rotational speed

Momentary maximum rotational speed

Momentary maximum torque (see note)

Momentary maximum/ rated current ratio r/min r/min

N

%

S m

Rated current (see note)

A (rms)

Momentary maximum

A (rms) current (see note)

Rotor inertia kg

S m

(GD

2

2

/4)

Torque constant

(see note)

N S m/A

Induced voltage constant

(see note)

Power rate

(see note) mV/

(r/min) kW/s ms Mechanical time constant

Winding resistance

Winding impedance

Ω mH

Electrical time constant

Weight ms kg

Corresponding Servo

Driver

0.095

3,000

4,500

0.29

310

0.42

1.3

0.21

×

10

–5

0.255

8.89

4.36

1.5

15.8

23.1

1.5

Approx. 0.3

R88D-

UP02H(A)

-UP02V

0.159

3,000

4,500

0.48

317

0.60

1.9

0.26

×

10

–5

0.286

9.98

9.63

0.9

9.64

16.9

1.8

Approx. 0.4

R88D-

UP03H(A)

-UP03V

0.318

3,000

4,500

0.96

322

0.87

2.8

0.40

×

10

–5

0.408

14.0

25.4

0.5

6.99

13.2

1.9

Approx. 0.5

R88D-

UP04H(A)

-UP04V

R88M

-U20030H(A)

-U20030VA

200

R88M

-U40030H(A)

-U40030VA

400

R88M

-U75030H(A)

-U75030VA

750

0.637

3,000

4,500

1.91

300

2.0

6.0

1.23

×

10

–5

0.355

12.4

32.8

0.4

1.34

7.2

5.4

Approx. 1.1

R88D-

UP08H(A)

-UP08V

1.27

3,000

4,500

3.82

308

2.6

8.0

1.91

×

10

–5

0.533

18.6

84.6

0.3

1.23

7.9

6.4

Approx. 1.7

R88D-

UP12H(A)

-UP12V

2.39

3,000

4,500

7.10

316

4.4

13.9

6.71

×

10

–5

0.590

20.6

85.1

0.3

0.45

5.7

13

Approx. 3.4

R88D-

UP20H(A)

-UP20V

Note The values for torque and rotational speed characteristics, are the values at an armature winding temperature of 100

°

C, combined with the Servo Driver. Other values are at normal conditions (20

°

C, 65%). The maximum momentary torque is a reference value.

5-29

Specifications Chapter 5

D

AC Servomotor Heat Radiation Conditions

When an AC Servomotor is continuously operated at the rated conditions, a heat radiation plate equivalent to an rectangular aluminum plate of t6

×

250 mm is required at the Servomotor flange mounting area. (This is for horizontal mounting, with nothing around the Servomotor and no interference from heat convection currents.)

H

100 VAC Servomotors

Item Unit

Rated output (see note) W

Rated torque (see note) N S m

Rated rotational speed r/min

Momentary maximum rotational speed r/min

Momentary maximum torque (see note)

N

S m

Momentary maximum/ rated current ratio

%

R88M

-U03030L(A)

-U03030WA

30

0.095

3,000

4,500

0.29

317

Rated current (see note) A (rms)

Momentary maximum current (see note)

A (rms)

Rotor inertia

Torque constant (see note) kg S m 2

(GD 2 /4)

N S m/A

0.63

2.0

0.21

0.168

× 10 –5

Induced voltage constant (see note)

Power rate (see note) mV/(r/min) kW/s

Mechanical time constant ms

Winding resistance

Winding impedance

Ω mH

Electrical time constant ms

Weight kg

5.87

4.36

1.6

7.22

9.7

1.3

Approx. 0.3

R88M

-U05030L(A)

-U05030WA

50

0.159

3,000

4,500

0.48

322

0.9

2.9

0.26

× 10 –5

0.194

6.79

9.63

0.9

4.34

6.9

1.6

Approx. 0.4

R88M

-U10030L(A)

-U10030WA

100

0.318

3,000

4,500

0.96

323

2.2

7.1

0.40

× 10 –5

0.156

5.43

25.4

0.6

1.22

2.0

1.6

Approx. 0.5

R88M

-U20030L(A)

-U20030WA

200

0.637

3,000

4,500

1.91

311

2.7

8.4

1.23

× 10 –5

0.255

8.9

32.8

0.4

0.706

4.0

5.7

Approx. 1.1

R88M

-U30030LA

-U30030WA

300

0.954

3,000

4,500

3.72

400

3.7

14.8

1.91

× 10 –5

0.279

9.74

47.3

0.3

0.435

2.3

5.3

Approx. 1.7

Corresponding Servo Driver R88D-

UP03L(A)

-UP03W

R88D-

UP04L(A)

-UP04W

R88D-

UP10L(A)

-UP10W

R88D-

UP12L(A)

-UP12W

R88D-

UP15LA

-UP15W

Note The values for torque and rotational speed characteristics, are the values at an armature winding temperature of 100 ° C, combined with the Servo Driver. Other values are at normal conditions (20 ° C, 65%). The maximum momentary torque is a reference value.

D

AC Servomotor Heat Radiation Conditions

When an AC Servomotor is continuously operated at the rated conditions, a heat radiation plate equivalent to an rectangular aluminum plate of t6

×

250 mm is required at the Servomotor flange mounting area. (This is for horizontal mounting, with nothing around the Servomotor and no interference from heat convection currents.)

5-30

Specifications

H

Specifications for Servomotors with Magnetic Brakes

Chapter 5

The magnetic brakes installed in Servomotors with brakes are status-holding brakes with non-magnetized operation. The magnetic brake is released when a magnetic current (24 VDC) is applied. The magnetic brake is not meant to be used for braking. Using it for braking will damage it. During Servomotor operation, be sure to release the magnetic brake by applying a magnetic voltage. The specifications for Servomotors with brakes are similar to those for Servomotors without brakes, so except for inertia and weight, the various constants are all the same.

Note: The inertia for magnetic brakes is the load inertia.

D

Specifications for AC Servomotors With Brakes (Specifications in Common for 100 and 200 VAC)

Item Unit kg

S m 2

(GD 2 /4) kg S m 2

(GD 2 /4) kg

S m 2

(GD 2 /4) kg

R88M

-U03030 j

-B

0.21

×

10 –5

R88M

-U05030 j

-B

0.26

×

10 –5

R88M

-U10030 j

-B

0.40

×

10 –5

R88M

-U20030 j

-B

1.23

×

10 –5

R88M

-U30030 j

-B

1.91

×

10 –5

R88M

-U40030 j

-B

1.91

×

10 –5

R88M

-U75030 j

-B

6.71

×

10 –5 Rotor inertia

Brake inertia

Total inertia

Weight

(approx.)

Magnetized voltage

Power consumption

Current consumption

Static friction torque

V

N S m

0.09

× 10 –5

0.30

×

10 –5

0.6

0.35

×

10 –5

0.7

24 VDC

±

10% (No polarity)

W (at 20 ° C) 6

A (at 20

°

C) 0.25

0.2 min.

0.49

×

10 –5

0.8

6

0.25

0.34 min.

0.58

× 10 –5

1.81

×

10 –5

1.6

6.5

0.27

1.5 min.

2.49

×

10 –5

2.2

2.49

×

10 –5

2.2

1.40

× 10 –5

8.11

×

10 –5

4.3

6

0.25

2.5 min.

Absorption time

(see note 1)

Release time

(see note 1) ms ms

(40 max.)

(20 max.)

(60 max.)

(30 max.)

(100 max.)

(40 max.)

(200 max.)

(50 max.)

Backlash ---

Rating ---

Insulation grade

---

(

±

1

°

)

Continuous

Type F (brake only)

Note 1. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed.

Note 2. The items in parentheses are reference values.

5-31

Specifications

5-2-3 Torque and Rotational Speed Characteristics

Chapter 5

H

Torque Characteristics (With 3-m Standard Cable and 200-VAC Input)

R88M-U03030H(A)

R88M-U03030VA

R88M-U05030H(A)

R88M-U05030VA

R88M-U10030H(A)

R88M-U10030VA

Frequent use

Continuous use

R88M-U20030H(A)

R88M-U20030VA

Frequent use

Continuous use

R88M-U40030H(A)

R88M-U40030VA

Frequent use

Continuous use

R88M-U75030H(A)

R88M-U75030

Frequent use

Continuous use

Frequent use

Continuous use

Frequent use

Continuous use

5-32

Specifications Chapter 5

H

Torque Characteristics (With 3-m Standard Cable and 100-VAC Input)

R88M-U03030L(A)

R88M-U03030WA

R88M-U05030L(A)

R88M-U05030VA

R88M-U10030L(A)

R88M-U10030VA

Frequent use

Frequent use

Continuous use

R88M-U20030L(A)

R88M-U20030WA

Frequent use

Continuous use

R88M-U30030LA

R88M-U30030WA

Continuous use

Frequent use

Continuous use

Frequent use

Continuous use

H

Servomotor and Mechanical System Temperature Characteristics

•

U-series 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 momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases. When the normal temperature of 20 ° C and -10 ° C are compared, the momentary maximum torque increases by approximately 4%. Conversely, when the magnet warms up to 80

°

C from the normal temperature of 20

°

C, the momentary maximum torque decreases by approximately 8%.

•

Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. For that reason, overloading may occur at low temperatures. In particular, in systems which use deceleration devices, the load torque at low temperatures may be nearly twice the load torque at normal temperatures. Check with a current monitor to see whether overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures.

•

An increase in load friction torque increases the apparent load inertia. Therefore, even if the Servo

Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low temperatures. Check to see whether there is optimal operation at low temperatures too.

5-33

Specifications Chapter 5

5-2-4 Allowable Loads on Servomotor Shafts

The allowable loads on Servomotor shafts are shown in the following table. Operate the Servomotor at no more than the allowable radial and thrust loads. At the time of assembly, assemble the Servomotor at no more than the momentary maximum radial and thrust loads (static pressure).

Servomotor

R88M-U03030 j

R88M-U05030 j

R88M-U10030 j

R88M-U20030 j

R88M-U30030 j

R88M-U40030 j

R88M-U75030 j

186

186

186

490

490

490

735

Momentary allowable radial load

(static pressure)

N

127

127

127

176

176

176

392

Momentary allowable thrust load

(static pressure)

N

Allowable radial load

Allowable thrust load

68

68

78

245

245

245

392

N

54

54

54

74

74

74

147

Note 1. The allowable loads are the same for motors with brakes.

Note 2. The allowable radial load is the value at a point 5 mm from the end of the shaft.

N

Radial load

Thrust load

5 mm

Note 3. The allowable radial and thrust loads are values determined with a service life of 20,000 hours taken as a criteria.

Note 4. The service life of bearing grease is 20,000 hours at a Servomotor ambient temperature of

40

°

C, and under the rated operating conditions.

Note 5. Absolutely do not impact the Servomotor or the output shaft by striking them with an implement such as a hammer. Doing so will damage the Servomotor and encoder bearings.

Note 6. Make sure that the radial load is within the allowable range when there is a radial load applied.

If the Servomotor is operated at more than the allowable radial load, the shaft may suffer damage due to fatigue.

Note 7. Applying an excessive load even once can damage the bearings and eventually cause a breakdown.

5-34

Specifications Chapter 5

5-2-5 Encoder Specifications

Item

Encoder method

Number of output pulses

Power supply voltage

Power supply current

Phase characteristics

Phase relationship

Standards

Optical incremental encoder

A, B phase: 2,048 pulses/revolution

Z phase: 1 pulse/revolution

5 VDC

±

5%

DC, 350 mA (for load resistance of 220

Ω

)

90

° ±

43.2

°

For rotation in the CW direction, A phase is advanced by 90

°

compared to

B phase.

4500 r/min Maximum rotational speed

Maximum response frequency 153.6 kHz

Output signals +A, –A, +B, –B, +S, –S

Output impedance

Serial communications data

Conforming to EIA RS-422A.

Output based on AM26LS31CN or equivalent.

Z phase, poll sensor, U, V, W phase

Serial communications method Combination communications method based on A, B, and S phases.

5-35

Specifications

5-3 Cable Specifications

5-3-1 Controller Connecting Cables

H

Connector-Terminal Block Conversion Unit Cables

D

Types of Cable

Model Length (L)

R88A-CTU001N 1 m

R88A-CTU002N 2 m

Outer diameter of sheath

9.9 dia.

D

Connection Configuration

XW2B-40F5-P

Connector-Terminal

Conversion Unit

72.72

46 t = 10.3

L

Chapter 5

39

43.6

t = 18

OMNUC U-Series

AC Servomotor Driver

5-36

Specifications

D

Wiring

20

21

22

23

24

25

26

27

28

15

16

17

18

19

10

11

12

13

14

29

30

31

32

33

34

35

36

37

38

39

40

No.

1

2

5

6

3

4

7

8

9

B

A

B

B

A

B

A

B

A

A

B

A

B

A

A

B

A

B

A

B

A

B

A

B

A

B

A

A

B

B

A

B

A

B

A

B

B

A

B

A

No.

8

9

9

7

8

5

6

6

7

10

4

5

3

4

2

2

1

1

3

18

19

19

20

20

16

16

17

17

18

13

14

14

15

15

10

11

11

12

12

13

Cable: AWG24

Connector plug: Fujitsu’s FCN-361J040-AU

Connector cover: Fujitsu’s FCN-360C040-B

×

UL20276

18P

Chapter 5

18

19

20

21

22

23

24

25

26

27

14

15

16

17

10

11

12

13

7

8

9

5

6

3

4

1

2

28

29

30

31

32

33

34

35

Shell

No.

–B

+B

+Z

–Z

TGON

0GND

PCL

NCL

+24 VIN

RUN

MING

POT

NOT

RESET

EGND

+A

–A

Analog

Signal

Pulse

TREF

AGND

REF

AGND

BKIR

VCMP

+CW

–CW

+CWW

–CWW

+ECRST

–ECRST

BKIR

INP

TGON

0GND

PCL

NCL

+24 VIN

RUN

MIGN

POT

NOT

RESET

EGND

+A

–A

–B

+B

+Z

–Z

ALO1

ALO2

ALO3

ALOCOM

ALM

ALMCOM

FG

ALO1

ALO2

ALO3

ALOCOM

ALM

ALMCOM

FG

Connector plug

Sumitomo 3M’s 10136-3000VE

Connector cover

Sumitomo 3M’s 10336-52A-008

5-37

Specifications

H

General-purpose Control Cable

D

Types of Cable

Model Length (L)

R88A-CPU001S 1 m

R88A-CPU002S 2 m

Outer diameter of sheath

9.9 dia.

D

Connection Configuration

L

Position Control Unit mounted on a SYSMAC

C/CV-series PC

Chapter 5

39 t = 18

43.6

OMNUC U-Series

AC Servomotor Driver

5-38

Specifications

7

8

5

6

3

4

1

2

9

10

11

12

13

26

27

28

29

30

22

23

24

25

18

19

20

21

14

15

16

17

31

32

33

34

35

Shell

D

Wiring

No.

Yellow

Yellow

Pink

Pink

Orange

Orange

Gray

Gray

White

White

Yellow

Yellow

Pink

Pink

Orange

Pink

Pink

Gray

Gray

Orange

Orange

White

White

Orange

Orange

Gray

Gray

White

White

Yellow

Yellow

Orange

Gray

Gray

White

White

Shield

Insulation Dot mark Dot mark

– – –

– – –

– – –

– – –

– – –

– – –

– – – –

– –

– –

– –

– –

– – –

– – –

– – –

– – –

–

–

– –

– –

– –

– –

– –

– –

–

–

–

–

–

–

–

–

– – – –

– – – –

– – – –

– – – –

– – – –

---

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Red

Black

Black

Red

Black

Red

Black

Red

Black

Red

Red

Black

Red

Black

Red

---

Signal name

Analog Pulse

TREF

AGND

+CW

–CW

REF

AGND

+CCW

–CCW

+ECRST

–ECRST

BKIR

VCMP

TGON

0GND

PCL

NCL

+24VIN

BKIR

INP

TGON

0GND

PCL

NCL

+24VIN

RUN

MING

POT

NOT

RESET

EGND

+A

–A

–B

+B

+Z

–Z

ALO1

ALO2

ALO3

ALO1

ALO2

ALO3

ALOCOM ALOCOM

ALM ALM

ALMCOM ALMCOM

FG FG

–B

+B

+Z

–Z

RUN

MING

POT

NOT

RESET

EGND

+A

–A

Cable: AWG24X18P

UL20276

Chapter 5

Connector Pin

Arrangement

6

8

10

2

4

12

14

16

18

11

13

15

5

7

9

1

3

20

22

24

26

28

17

30

32

34

36

29

31

33

35

19

21

23

25

27

Connector plug model:

10136-3000VE

(Sumitomo 3M)

Connector case model:

10336-52A0-008

(Sumitomo 3M)

5-39

Specifications

5-3-2 Encoder Cables

Chapter 5

H

Encoder Cables for Models Conforming to UL/cUL Standards and

Models Not Conforming to Any Standards

D

Types of Cable

Model Length (L)

R88A-CRU003C 3 m

R88A-CRU005C 5 m

R88A-CRU010C 10 m

R88A-CRU015C 15 m

R88A-CRU020C 20 m

Outer diameter of sheath

8 dia.

(Up to a maximum of 20 m between the Monitor and the Servo Driver.)

D

Connection Configuration

D

Wiring

23.7

OMNUC U-Series

AC Servomotor

16 t = 14

L 37 t = 14

33.3

OMNUC U-Series

AC Servomotor Driver

Symbol No.

A+

A–

B+

1

2

3

AWG24 (blue)

AWG24 (white/blue)

AWG24 (yellow)

AWG24 (white/yellow)

B– 4

AWG24 (green)

S+ 5

AWG24 (white/green)

S–

E0V

6

7

AWG22 (black)

E5V

FG

8

9

AWG22 (red)

AWG22

(green/yellow)

Cable: AWG22

×

3C + AWG24

×

3P

UL2589

14

15

1

4

20

No.

Symbol

16

17

18

A+

A–

B+

19 B–

S+

S–

E0V

E5V

FG

5-40

Specifications

<For Cable>

Connector housing model:

Connector socket contact model:

Crimping tool:

Pulling tool:

Connector plug model:

Connector case model:

<For Motor>

Connector plug model:

Connector pin contact model:

172161-1 (Tyco Electronics AMP)

170365-1 (Tyco Electronics AMP)

724649-1

724668-2

10120-3000VE (Sumitomo 3M)

10320-52A0-008 (Sumitomo 3M)

172169-1 (Tyco Electronics AMP)

170359-1 (Tyco Electronics AMP)

H

Encoder Cables for Models Conforming to EC Directives

D

Types of Cable

Model Length (L)

R88A-CRUD003C 3 m

R88A-CRUD005C 5 m

R88A-CRUD010C 10 m

R88A-CRUD015C 15 m

R88A-CRUD020C 20 m

Outer diameter of sheath

8 dia.

(Up to a maximum of 20 m between the Monitor and the Servo Driver.)

D

Connection Configuration

Chapter 5

OMNUC U-Series

AC Servomotor

38

32.2

t = 15

L 39 t = 14

33.3

OMNUC U-Series

AC Servomotor Driver

5-41

Specifications Chapter 5

D

Wiring

Symbol No.

A+

A–

B+

B–

S+

S–

E0V

5

6

7

1

2

3

AWG24 (blue)

AWG24 (white/blue)

AWG24 (yellow)

4

AWG24 (white/yellow)

AWG24 (green)

AWG24 (white/green)

AWG22 (black)

E5V

FG

8

9

AWG22 (red)

AWG22

(green/yellow)

14

15

1

4

20

No.

16

17

18

19

Cable: AWG22 × 3C + AWG24 × 3P

UL2589

Shell FG

Symbol

A+

A–

B+

B–

S+

S–

E0V

E5V

<For Cable>

Connector model: 17J E 13090-02D8A (DDK)

Stud model: 17L-002A1 (DDK)

Connector plug model: 10120-3000VE (Sumitomo 3M)

Connector case model: 10320-52A0-008 (Sumitomo 3M)

<For Motor>

Connector: 17JE-23090-02D8A (DDK)

5-42

Specifications

5-3-3 Power Cable

Chapter 5

H

Power Cable for Servomotors Without Brakes, Models Conforming to

UL/cUL Standards and Models Not Conforming to Any Standards

D

Types of Cable

Model Length (L)

R88A-CAU003S 3 m

R88A-CAU005S 5 m

R88A-CAU010S 10 m

R88A-CAU015S 15 m

R88A-CAU020S 20 m

Outer diameter of sheath

5.8 dia.

(Up to a maximum of 20 m between the Monitor and the Servo Driver.)

D

Connection Configuration

L 50

D

OMNUC U-Series

AC Servomotor

Wiring

OMNUC U-Series

AC Servomotor Driver

Symbol No.

U-phase

V-phase

W-phase 3

GR 4

1

2

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green

Cable: AWG20

×

4C

UL2517

Crimp-style terminal

5-43

Specifications

<For Cable>

Connector housing model: 172159-1 (Tyco Electronics AMP)

Connector socket contact model: 170366-1 (Tyco Electronics AMP)

Crimping tool:

Pulling tool:

724651-1

724668-2

<For Motor>

Connector plug model:

Connector pin contact model:

172167-1 (Tyco Electronics AMP)

170359-1 (Tyco Electronics AMP) for 30 to 100-W models

170360-1 (Tyco Electronics AMP) for 200 to 750-W models

Chapter 5

H

Power Cable for Servomotors With Brakes, Models Conforming to

UL/cUL Standards and Models Not Conforming to Any Standards

D

Types of Cable

Model Length (L)

R88A-CAU003B 3 m

R88A-CAU005B 5 m

R88A-CAU010B 10 m

R88A-CAU015B 15 m

R88A-CAU020B 20 m

Outer diameter of sheath

6.8 dia.

(Up to a maximum of 20 m between the Monitor and the Servo Driver.)

D

Connection Configuration

L 50

OMNUC U-Series

AC Servomotor

OMNUC U-Series

AC Servomotor Driver

5-44

Specifications

D

Wiring

Symbol No.

U-phase 1

V-phase 2

W-phase 3

GR 4

Brake

Brake

5

6

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green

AWG20 Black

AWG20 Black

Cable: AWG20 × 6C

UL2517

<For Cable>

Connector housing model: 172160-1 (Tyco Electronics AMP)

Connector socket contact model: 170366-1 (Tyco Electronics AMP)

Crimping tool:

Pulling tool:

724651-1

724668-2

<For Motor>

Connector plug model:

Connector pin contact model:

Crimp-style terminal

172168-1 (Tyco Electronics AMP)

170359-1 (Tyco Electronics AMP) 30 to 100-W models

170360-1 (Tyco Electronics AMP) 200 to 750-W models

Chapter 5

H

Power Cable for Servomotors Without Brakes, Models Conforming to

EC Directives

D

Types of Cable

Model

R88A-CAU001

Length (L)

1 m

Outer diameter of sheath

5.8 dia.

Note 1. Power cables will be cut to the specified length in 1-m increments.

Note 2. The maximum distance between the Servomotor and the Servo Driver is 20 m.

D

Connection Configuration

OMNUC U-Series

AC Servomotor

OMNUC U-Series

AC Servomotor Driver

5-45

Specifications

D

Wiring

AC Servomotor

U-phase

V-phase

W-phase

GR

Red

White

Blue

Green/Yellow

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green

Cable: AWG20

×

4C

UL2517

U

V

W

Chapter 5

AC Servo Driver

H

Power Cable for Servomotors With Brakes, Models Conforming to EC

Directives

Model

R88A-CAU01B

Length (L)

1 m

Outer diameter of sheath

6.8 dia.

Note 1. Power cables will be cut to the specified length in 1-m increments.

Note 2. The maximum distance between the Servomotor and the Servo Driver is 20 m.

D

Connection Configuration

OMNUC U-Series

AC Servomotor

OMNUC U-Series

AC Servomotor Driver

5-46

Specifications

D

Wiring

AC Servomotor

U-phase

V-phase

W-phase

GR

Brake

Brake

Red

White

Blue

Green/Yellow

Red

Black

AWG20 Red

AWG20 White

AWG20 Blue

AWG20 Green

AWG20 Black

AWG20 Black

Cable: AWG20 × 6C

UL2517

Chapter 5

AC Servo Driver

U

V

W

24 VDC

±

10%

(no polarity)

5-47

Specifications

5-4 Parameter Unit Specifications

Chapter 5

H

General Specifications

Item

Operating ambient temperature 0 ° C to 55 ° C

Storage ambient temperature –10 ° C to 75 ° C

Operating ambient humidity

Standards

35% to 85% RH (with no condensation)

Storage ambient humidity 35% to 85% RH (with no condensation)

No corrosive gasses.

Storage and operating atmosphere

Vibration resistance

Impact resistance

4.9 m/s

2

max.

Acceleration 19.6 m/s

2

max.

H

Performance Specifications

Model

Type

Accessory cable

Accessory connectors

Display

External dimensions

CommuStandard nications specifica-

Communications method

Baud rate

Start bits

Data

Parity

Stop bits

Errors detected by Parameter

R88A-PR02U

Hand held

1,000 mm

7910-7500SC (10 pins)

7-segment LED, 5 digits

63 × 135 × 18.5 (W × H × D)

RS-232C

Asynchronous (ASYNC)

2,400 bps

1 bit

8 bits

None

1 bit

Display

R88A-PR03U

Mounted

(Connected by connectors.)

D sub-connector (9 pins)

54 × 57.5 × 15 (W × H × D)

RS-422A

CPF00 Cannot transmit even after 5 seconds have elapsed since power supply was turned on.

CPF01 A BCC error or faulty reception data has occurred for five consecutive times, or a time overrun (1 s) has occurred for three consecutive times.

5-48

Specifications

5-5 Regeneration Unit Specifications

Chapter 5

H

R88A-RG08UA Regeneration Unit

D

General Specifications

Item

Operating ambient temperature 0

°

C to 55

°

C

Storage ambient temperature –10

°

C to 75

°

C

Operating ambient humidity

Standards

35% to 85% RH (with no condensation)

Storage ambient humidity 35% to 85% RH (with no condensation)

No corrosive gasses.

Storage and operating atmosphere

Vibration resistance

Impact resistance

4.9 m/s 2 max.

Acceleration 19.6 m/s

2

max.

D

Performance Specifications

Model

Regeneration operating voltage

Regeneration processing current

Average regeneration power

Externally connected regeneration resistance

Error detection function

Alarm output

External dimensions

R88A-RG08UA

380 V

DC

8 A

DC

12 W (internal resistance: 50 Ω , 60 W)

47 Ω ±

5%

Regeneration resistance disconnection, regeneration transistor damage, overvoltage

SPST-NC contact (open contact at time of protective function operation)

(200 VAC drive possible.)

55

×

160

×

130 (W

×

H

×

D)

D

Indicator LED Specifications

POWER

Name

REGEN

ALARM-REGEN

ALARM-OV

Specifications

Lit while power flows between P and N terminals.

Lit during regeneration operation.

Lit for regeneration resistance disconnection or regeneration transistor damage.

Lit when overvoltage occurs.

Note 1. When the error detection function operates, an alarm is output from the Unit.

Note 2. Create a sequence so that the power supply (R-T) to the Servo Driver is cut off when an alarm is generated.

Note 3. When the error detection function operates and the Servo Driver’s power supply is cut off, the

Regeneration Unit won’t be restored to its normal status until 2 to 3 seconds have elapsed, even if the power supply is turned on again. (Normal status is restored after the electrolytic capacitor in the Servo Driver has been discharged and the voltage between P and N drops.)

Note 4. Does not conform to EC Directives.

5-49

Specifications

5-6 Front-surface Mounting Bracket Specifications

Chapter 5

The Front-surface Mounting Brackets (R88A-TK01U/TK02U) are used to mount a Servo Driver from the front surface. The model of the Bracket depends on the model of the

Servo Driver.

These Mounting Brackets cannot be used with models conforming to EC Directives.

H

Combinations

Model

R88D-UP02H(A)

R88D-UP03H(A)

R88D-UP04H(A)

R88D-UP08H(A)

R88D-UP12H(A)

R88D-UP20H(A)

R88D-UP03L(A)

R88D-UP04L(A)

R88D-UP10L(A)

R88D-UP12L(A)

R88D-UP15LA

Servo Driver

Supply voltage

200 V

100 V

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

200 W

300 W

Power

R88A-TK01U

R88A-TK02U

R88A-TK01U

R88A-TK02U

Note The Brackets come with a top bracket, a bottom bracket, and five mounting screws.

5-50

Specifications

H

Dimensions

D

R88A-TK01U

Top Mounting Bracket

Chapter 5

6 dia.

Two, 3.6-dia. pan-head screws

Bottom Mounting Bracket

Two, 3.6-dia. pan-head screws

5-51

Specifications

D

R88A-TK02U

Top Mounting Bracket

6 dia.

Chapter 5

Two, 3.6-dia. pan-head screws

Bottom Mounting Bracket

Two, 3.6-dia. pan-head screws

5-52

Specifications

H

Mounting Dimensions

D

R88A-TK01U

D

R88A-TK02U

Chapter 5

Two, M5 Three, M5

5-53

6

Chapter 6

Supplementary

Materials

6-1 Connection Examples

6-2 Servo Connector Terminal Connection Unit

6-3 OMNUC U-series Standard Models

6-4 Parameter Setting Forms

Supplementary Materials

6-1 Connection Examples

Chapter 6

H

Connecting to SYSMAC C200H-NC112 Position Control Unit with

5-VDC Power Supply

MC

C200H-NC112

R

R88B-UP jj L j :

100/115 VAC,50/60 Hz

NFB

R88B-UP jj H j :

200/230 VAC,50/60 Hz

T

Class-3 ground

Main circuit power supply

OFF ON

X1

MC

X1

MC

SUP

PL

R88D-UP jjjj AC Servomotor Driver

Main circuit contact

Surge killer

Servo error display

Contents

Output power supply input, 24 VDC

Terminal

No.

A

1

B

2

A

Output power supply input, 5 VDC B

CCW (with resistance)

3

A

CCW (without resistance)

CW (with resistance)

CW (without resistance)

4

0 V

Deviation counter reset output

0 V

Origin line driver input

Positioning completed input

Position proximity input

CCW limit input

CW limit input

External interrupt input

Emergency stop input

5

6

8

9

10

12

13

19

20

B

A

B

A

B

A

B

A

B

A

A

B

B

A

B

A

B

A

B

B

A

5 VDC

12 to 24 VDC

24 VDC

R88A-CPU

X1

X1

General-purpose

Cable jjj S

CN 1

3 +CCW

4 –CCW

1 +CW

2 –CW

5

6

+ECRST

–ECRST

24

25

+Z

–Z

8 INP

13 +24VIN

14 RUN

18 RESET

10 OGND

35 ALMCOM

34 ALM

Shell FG

TB

R

T

P

N

U

V

W

Red

White

Connect external Regeneration Unit as required.

R88A-CAU jjj S

Power Cable

R88M-U jjjjjjj

AC Servomotor

Blue

Green

M

CN2

R88A-CRU jjj C

Encoder Cable

RE

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. Use mode 2 for origin search.

Note 4. Use a dedicated power supply (5 VDC) for command pulse signals.

Note 5. ERB44-02 diodes (by Fuji Electric) or equivalent are recommended for surge absorption.

Note 6. Use the RUN signal to set whether the Servo can be turned ON/OFF.

6-2

Supplementary Materials Chapter 6

H

Connecting to SYSMAC C200H-NC112 Position Control Unit with

24-VDC Power Supply

R

R88B-UP jj L j :

100/115 VAC,50/60 Hz

R88B-UP jj H j :

200/230 VAC,50/60 Hz

NFB

T

Class-3 ground

Main circuit power supply

OFF ON

X1

MC

X1

MC

SUP

PL

R88D-UP jjjj AC Servomotor Driver

MC

Main circuit contact

Surge killer

Servo error display

C200H - NC112

Contents

Output power supply input, 24 VDC

Output power supply input, 5 VDC

CCW (with resistance)

Terminal

No.

1

A

B

A

2

3

B

A

CCW (without resistance)

CW (with resistance)

B

A

4

CW (without resistance) B

24 VDC

0 V

Deviation counter reset output

0 V

Origin line driver input

Positioning completed input

Position proximity input

CCW limit input

CW limit input

5

6

8

9

10

12

13

A

B

A

B

A

A

B

A

B

A

B

A

B

1.6 K

12 to 24 VDC

External interrupt input

Emergency stop input

19

20

B

A

B

B

A

24 VDC

R88A-CPU

X1

X1

General-purpose

Cable jjj

S

CN 1

3 +CCW

4 –CCW

1 +CW

2 –CW

5

6

+ECRST

–ECRST

24 +Z

25 –Z

8 INP

13 +24VIN

14 RUN

18 RESET

10 OGND

35 ALMCOM

34

ALM

Shell FG

TB

R

T

P

N

U

V

W

CN2

Red

White

Connect external Regeneration Unit as required.

R88A-CAU jjj S

Power Cable

R88M-U jjjjjjj

AC Servomotor

Blue

Green

M

R88A-CRU jjj C

Encoder Cable

RE

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. Use mode 2 for origin search.

Note 4. Use a dedicated power supply (24 VDC) for command pulse signals.

Note 5. ERB44-02 diodes (by Fuji Electric) or equivalent are recommended for surge absorption.

Note 6. Use the RUN signal to set whether the Servo can be turned ON/OFF.

6-3

Supplementary Materials Chapter 6

H

Connecting to SYSMAC C200H-NC211 and C500-NC113/211 Position

Control Unit with 5-VDC Power Supply

R

R88B-UP jj

L j

:

100/115 VAC,50/60 Hz

R88B-UP jj H j :

200/230 VAC,50/60 Hz

NFB

T

Class-3 ground

Main circuit power supply

OFF ON

X1

MC

X1

MC

SUP

PL

R88D-UP jjjj AC Servomotor Driver

MC

Main circuit contact

Surge killer

Servo error display

C200H - NC211

Contents

Output power supply input, 24 VDC

Output power supply, 0 V

No.

1

23

X-axis pulse output

CW (with resistance) 2

CW (without resistance) 3

CCW (with resistance)

CCW (without resistance)

13

14

X-axis deviation counter reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning completed input

4

9

11

8

24 VDC

5 VDC

CN 1

1 +CW

2 –CW

3 +CCW

4 –CCW

5 +ECRST

6

–ECRST

24 +Z

25 –Z

8 INP

U

V

W

TB

R

T

P

N

CN2

Red

White

Connect external Regeneration Unit as required.

R88A-CAU jjj S

Power Cable

Blue

Green

R88M-U jjjjjjj

AC Servomotor

M

R88A-CRU jjj C

Encoder Cable

RE

X/Y-axis input common 22

13 +24VIN

24 VDC

X1

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit input

X/Y-axis emergency stop input

6

7

17

18

19

X1

14 RUN

18 RESET

10

35

34

OGND

ALMCOM

ALM

24 VDC

Shell

FG

FG 12

R88A-CPU jjj S

General-purpose Cable

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. Use mode 2 for origin search.

Note 4. Use a dedicated power supply (5 or 24 VDC) for command pulse signals.

Note 5. ERB44-02 diodes (by Fuji Electric) or equivalent are recommended for surge absorption.

Note 6. This wiring diagram is an example of X-axis wiring only. If two-axis control is used, the external input and Servo Driver wiring must be done in the same way for the Y axis.

Note 7. Use the RUN signal to set whether the Servo can be turned ON/OFF.

6-4

Supplementary Materials Chapter 6

H

Connecting to SYSMAC C200H-NC211 and C500-NC113/211 Position

Control Unit with 24-VDC Power Supply

R

R88B-UP jj

L j

:

100/115 VAC,50/60 Hz

R88B-UP jj H j :

200/230 VAC,50/60 Hz

NFB

T

Class-3 ground

Main circuit power supply

OFF

ON

X1

MC

X1

MC

SUP

PL

R88D-UP jjjj AC Servomotor Driver

MC

Main circuit contact

Surge killer

Servo error display

C200H - NC211

Contents

Output power supply input, 24 VDC

Output power supply, 0 V

No.

1

23

X-axis pulse output

CW (with resistance) 2

CW (without resistance) 3

CCW (with resistance)

CCW (without resistance)

13

14

24 VDC

CN 1

1 +CW

2 –CW

3 +CCW

4 –CCW

U

V

W

TB

R

T

P

N

Red

White

Connect external Regeneration Unit as required.

R88A-CAU jjj S

Power Cable

R88M-U jjjjjjj

AC Servomotor

Blue

Green

M

X-axis deviation counter reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning completed input

4

9

11

8

1.6 K

5 +ECRST

6

–ECRST

24 +Z

25 –Z

8 INP

CN2

R88A-CRU jjj C

Encoder Cable

RE

X/Y-axis input common 22

13 +24VIN

24 VDC

X1

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit input

X/Y-axis emergency stop input

6

7

17

18

19

X1

14 RUN

18 RESET

10

35

34

OGND

ALMCOM

ALM

24 VDC

Shell

FG

FG 12

R88A-CPU jjj S

General-purpose Cable

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. Use mode 2 for origin search.

Note 4. Use a dedicated power supply (24 VDC) for command pulse signals.

Note 5. ERB44-02 diodes (by Fuji Electric) or equivalent are recommended for surge absorption.

Note 6. This wiring diagram is an example of X-axis wiring only. If two-axis control is used, the external input and Servo Driver wiring must be done in the same way for the Y axis.

Note 7. Use the RUN signal to set whether the Servo can be turned ON/OFF.

6-5

Supplementary Materials Chapter 6

H

Connecting to SYSMAC 3G2A5-NC111-EV1 Position Control Unit

NFB

Main circuit power supply

OFF ON

MC

R

R88B-UP jj

L j

:

100/115 VAC,50/60 Hz

R88B-UP jj H j :

200/230 VAC,50/60 Hz

T

MC

X1

X1

MC

SUP

PL

Main circuit contact

Surge killer

Servo error display

Class-3 ground

R88D-UP jjjj AC Servomotor Driver

3G2A5-NC111-EV1

Contents

12 to 24 VDC

CW limit

CCW limit

Emergency stop

External interrupt

Origin

Origin proximity

Local

Ready

5 VDC

CW+

CW–

CCW+

CCW–

Terminal

No.

A

1

B

2

A

B

A

3

4

B

A

5

B

A

B

8

9

10

A

B

A

A

B

B

5 VDC

24 VDC X1

24 VDC

X1

13

CN 1

+24 VIN

14 RUN

18 RESET

35 ALMCOM

34 ALM

1

2

+CW

–CW

3 +CCW

4 –CCW

5 +ECRST

6 –ECRST

Shell FG

TB

R

T

P

N

U

V

W

CN2

Connect external Regeneration Unit as required.

R88A-CAU jjj S

Power Cable

R88M-U jjjjjjj

AC Servomotor

M

R88A-CRU jjj C

Encoder Cable

RE

R88A-CPU jjj S

General-purpose Cable

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. ERB44-02 diodes (by Fuji Electric) or equivalent are recommended for surge absorption.

Note 4. When using a 3G2A5-NC111-EV1 Position Control Unit, origin search is carried out according to the origin and origin proximity inputs. Set the origin and origin proximity for the mechanical system. Even after the 3G2A5-NC111-EV1 completes the origin search and pulses are stopped, pulses are still accumulated in the deviation counter in the Servo Driver. The Servomotor will move for the amount of residual pulses and then stop, so there may be a discrepancy with the origin. In order to minimize the amount of the discrepancy, set the origin search proximity speed as low as possible.

Note 5. Use the RUN signal to set whether the Servo can be turned ON/OFF.

6-6

Supplementary Materials Chapter 6

H

Connecting to SYSMAC C200HW-NC113/213/413 Position Control

Units (5-VDC Power Supply)

Main circuit power supply

R88D-UP jj H j : 200/230

VAC, 50/60 Hz

R88D-UP jj L j : 100/115

VAC, 50/60 Hz

Main circuit contact

Surge killer

Servo error display

R88D-UP jjjj

C200HW-NC113/213/413 Class-3 ground

Contents

24-V DC input (for output)

0-V input (for output)

X-axis pulse output

CW (with a resistor)

CW (w/O a resistor)

CCW (with a resistor)

CCW (w/O a resistor)

24 VDC

5 VDC

Connect to External

Regeneration Unit as requred.

Red

White

Blue

Green

R88A-CAU jjj S

R88M-U jjjjjj

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

R88A-CRU jjj C

X-axis input common

X-axis external interrupt input

X-axis origin proximity input

X-axis CCW limit input

X-axis CW limit inpu t

X-axis emerg. stop input

12 to 24 VDC

24 VDC

R88A-CPU jjj S

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. Use mode 2 for origin search.

Note 4. Use the 5-VDC and 24-VDC power supply for command pulse signals as a dedicated power supply.

Note 5. The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 6. This diagram shows a connection example for the X axis only. For 2-axis control, connect an external input and Servo Driver for the Y axis as well.

Note 7. Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

Note 8. The maximum response for the pulse command input of the U-series Servo Driver is

200 kpps.

6-7

Supplementary Materials Chapter 6

H

Connecting to SYSMAC C200HW-NC113/213/413 Position Control

Units (24-VDC Power Supply)

Main circuit power supply

R88D-UP jj H j : 200/230

VAC, 50/60 Hz

R88D-UP jj L j : 100/115

VAC, 50/60 Hz

Main circuit contact

Surge killer

Servo error display

R88D-UP jjjj

C200HW-NC113/213/413 Class-3 ground

Contents

24-V DC input (for output)

0-V input (for output)

X-axis pulse output

CW (with a resistor)

CW (w/O a resistor)

CCW (with a resistor)

CCW (w/O a resistor)

24 VDC

Connect to External

Regeneration Unit as required.

Red

White

Blue

R88A-CAU jjj S

Green

R88M-U jjjjjj

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

R88A-CRU jjj C

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

12 to 24 VDC

24 VDC

R88A-CPU jjj S

Note 1. Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 2. Leave unused signal lines open and do not wire them.

Note 3. Use mode 2 for origin search.

Note 4. Use the 24-VDC power supply for command pulse signals as a dedicated power supply.

Note 5. The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 6. This diagram shows a connection example for the X axis only. For 2-axis control, connect an external input and Servo Driver for the Y axis as well.

Note 7. Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

Note 8. The maximum response for the pulse command input of the U-series Servo Driver is

200 kpps.

6-8

Supplementary Materials

6-2 Servo Connector Terminal Connection Unit

Terminal Connection Unit for C200H-NC112

XW2B-20J6-1B

C200H-NC112 connector Servo Driver connector

Chapter 6

Two, 3.5 dia.

Note: Terminal block pitch: 7.62 mm

Emergency stop

CW limit

CCW limit

Origin proximity

Common

Common

Common

Common

Common

External interrupt

24

VDC

(See note 1)

24 VDC

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake.

Note 2. Do not connect unused terminals.

Note 3. The 0 V terminal is internally connected to the common terminals.

Note 4. The following crimp terminal is applicable: R1.25-3 (round with open end).

6-9

Supplementary Materials Chapter 6

Terminal Connection Unit for C200H-NC211

XW2B-40J6-2B

C200H-NC211 connector

X-axis Servo Driver connector

Y-axis Servo Driver connector

Two, 3.5 dia.

X/Y-axis emergency stop

X-axis origin proximity

Common

X-axis

CW limit

X-axis

CCW limit

Common

Common

X-axis

RUN

Common

X-axis

MING

Common

X-axis

ALM

X-axis

BKIR

Note: Terminal block pitch: 7.62 mm

Y-axis origin proximity

Y-axis

CW limit

Y-axis

CCW limit

Common

Common

Y-axis

RUN

Common

Common

Y-axis

MING

Y-axis

ALM

Y-axis

BKIR

X-axis external interrupt

X-axis

RESET 24

VDC

(See note 1)

X-axis

ALMCOM

Y-axis external interrupt

Y-axis

RESET

24

VDC

(See note 1)

Y-axis

ALMCOM

24 VDC

Note 1. The XB contact is used to turn ON/OFF the electromagnetic brake.

Note 2. Connect the CW and CCW limit signals to a common terminal when controlling one axis.

Note 3. Do not connect unused terminals.

Note 4. The 0 V terminal is internally connected to the common terminals.

Note 5. The following crimp terminal is applicable: R1.25-3 (round with open end).

6-10

Supplementary Materials

Terminal Connection Unit for CQM1-CPU43-V1, CQM1H-PLB21

XW2B-20J6-3B

CQM1 connector Servo Driver connector

Chapter 6

Two, 3.5 dia.

Note: Terminal block pitch: 7.62 mm

Common

Common

(See note 1)

(See note 1)

24

VDC

(See note 3)

(See note 2)

24 VDC

Note 1. Inputting this signal will cause the CQM1’s output pulse to be returned and input to the highspeed counter.

Note 2. Input this output signal to a CQM1’s Input Unit.

Note 3. The XB contact is used to turn ON/OFF the electromagnetic brake.

Note 4. An open-collector output is used for the Z phase.

Note 5. Do not connect unused terminals.

Note 6. The 0 V terminal is internally connected to the common terminals.

Note 7. The following crimp terminal is applicable: R1.25-3 (round with open end).

6-11

Supplementary Materials

6-3 OMNUC U-series Standard Models

Chapter 6

H

Models Conforming to UL/cUL Standards and Models Not Conforming to Any Standards

D

Servomotors

Specification

200 VAC

With brake

100 VAC

200 VAC

100 VAC

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

200 W

300 W

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

200 W

300 W

Model

R88M-U03030HA

R88M-U05030HA

R88M-U10030HA

R88M-U20030HA

R88M-U40030HA

R88M-U75030HA

R88M-U03030LA

R88M-U05030LA

R88M-U10030LA

R88M-U20030LA

R88M-U30030LA

R88M-U03030HA-B

R88M-U05030HA-B

R88M-U10030HA-B

R88M-U20030HA-B

R88M-U40030HA-B

R88M-U75030HA-B

R88M-U03030LA-B

R88M-U05030LA-B

R88M-U10030LA-B

R88M-U20030LA-B

R88M-U30030LA-B

6-12

Supplementary Materials Chapter 6

Specification

200 VAC

With brake

100 VAC

200 VAC

100 VAC

D

Servo Drivers with Pulse-train Inputs

Pulse-train input

Specification

200 VAC

50 W

100 W

200 W

300 W

30 W

50 W

100 W

200 W

30 W

50 W

100 W

200 W

400 W

750 W

30 W

400 W

750 W

30 W

50 W

100 W

200 W

300 W

100 VAC

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

200 W

300 W

Model

R88M-U03030HA-S1

R88M-U05030HA-S1

R88M-U10030HA-S1

R88M-U20030HA-S1

R88M-U40030HA-S1

R88M-U75030HA-S1

R88M-U03030LA-S1

R88M-U05030LA-S1

R88M-U10030LA-S1

R88M-U20030LA-S1

R88M-U30030LA-S1

R88M-U03030HA-BS1

R88M-U05030HA-BS1

R88M-U10030HA-BS1

R88M-U20030HA-BS1

R88M-U40030HA-BS1

R88M-U75030HA-BS1

R88M-U03030LA-BS1

R88M-U05030LA-BS1

R88M-U10030LA-BS1

R88M-U20030LA-BS1

R88M-U30030LA-BS1

Model

R88D-UP02HA

R88D-UP03HA

R88D-UP04HA

R88D-UP08HA

R88D-UP12HA

R88D-UP20HA

R88D-UP03LA

R88D-UP04LA

R88D-UP10LA

R88D-UP12LA

R88D-UP15LA

D

Parameter Unit

Handy type

Specification

Mounted type

R88A-PR02U

R88A-PR03U

Model

D

Regeneration Unit

Specification Model

Regeneration processing current: 8 A R88A-RG08UA

6-13

Supplementary Materials

D

External Regeneration Resistor

Specification Model

Regeneration capacity: 70 W, 47

Ω

R88A-RR22047S

Chapter 6

D

Encoder Cables

Specification

Connectors at both ends

Cable only

3 m

5 m

10 m

15 m

Model

R88A-CRU003C

R88A-CRU005C

R88A-CRU010C

R88A-CRU015C

20 m R88A-CRU020C

1-m units R88A-CRU001

D

Power Cables

Specification

For standard Connector at one

( b k ) d

For motors with

Cable only

Connector at one

Cable only

3 m

5 m

10 m

15 m

Model

R88A-CAU003S

R88A-CAU005S

R88A-CAU010S

R88A-CAU015S

20 m R88A-CAU020S

1-m units R88A-CAU001

3 m

5 m

10 m

R88A-CAU003B

R88A-CAU005B

R88A-CAU010B

15 m

20 m

R88A-CAU015B

R88A-CAU020B

1-m units R88A-CAU01B

D

General-purpose Control Cables

Specification

For general-purpose end

1 m

2 m

Model

R88A-CPU001S

R88A-CPU002S

6-14

Supplementary Materials

D

Servo Relay Units

Specification

Servo Relay C200H-NC112

C200HW-NC113

C200H-NC211

C500-NC113/211

C200HW-NC213/413

Servo Driver Cable

CQM1-CPU43-V1

CQM1H-PLB21

1 m

Position Control C200H-NC112

2 m

0.5 m

1 m

0.5 m C200H-NC211

C /

CQM1-CPU43-V1

1 m

0.5 m

1 m

C200HW-NC113 0.5 m

1 m

C200HW-NC213

C HW NC

0.5 m

1 m

Chapter 6

Model

XW2B-20J6-1B

XW2B-40J6-2B

D

Connectors, Terminal Blocks and Peripheral Cable

Specification

Control cable connector

Connector terminal block

Connection cable for i l bl k

Analog monitor cable

1 m

2 m

1 m

Model

R88A-CNU01C

XW2B-40F5-P

R88A-CTU001N

R88A-CTU002N

R88A-CMW001S

D

Front-surface Mounting Brackets

Specification

For the following Servo Drivers

200 VAC: 30 to 400 W

100 VAC: 30 to 200 W

For the following Servo Drivers

200 VAC: 750 W

100 VAC: 300 W

R88A-TK01U

R88A-TK02U

Model

Note HA/LA models: Models manufactured after May 1998 conform to UL/cUL Standards.

H/L models: Do not conform to UL/cUL Standards.

XW2B-20J6-3B

XW2Z-100J-B1

XW2Z-200J-B1

XW2Z-050J-A1

XW2Z-100J-A1

XW2Z-050J-A2

XW2Z-100J-A2

XW2Z-050J-A3

XW2Z-100J-A3

XW2Z-050J-A6

XW2Z-100J-A6

XW2Z-050J-A7

XW2Z-100J-A7

6-15

Supplementary Materials

H

Models Conforming to EC Directives

D

Servomotors

Specification

200 VAC

With brake

100 VAC

200 VAC

100 VAC

D

Servo Drivers with Pulse-train Inputs

Pulse-train inputs

Specification

200 VAC

200 W

300 W

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

30 W

50 W

100 W

200 W

300 W

100 VAC

30 W

50 W

100 W

200 W

400 W

750 W

30 W

50 W

100 W

200 W

300 W

Chapter 6

Model

R88M-U03030VA-S1

R88M-U05030VA-S1

R88M-U10030VA-S1

R88M-U20030VA-S1

R88M-U40030VA-S1

R88M-U75030VA-S1

R88M-U03030WA-S1

R88M-U05030WA-S1

R88M-U10030WA-S1

R88M-U20030WA-S1

R88M-U30030WA-S1

R88M-U03030VA-BS1

R88M-U05030VA-BS1

R88M-U10030VA-BS1

R88M-U20030VA-BS1

R88M-U40030VA-BS1

R88M-U75030VA-BS1

R88M-U03030WA-BS1

R88M-U05030WA-BS1

R88M-U10030WA-BS1

R88M-U20030WA-BS1

R88M-U30030WA-BS1

Model

R88D-UP02V

R88D-UP03V

R88D-UP04V

R88D-UP08V

R88D-UP12V

R88D-UP20V

R88D-UP03W

R88D-UP04W

R88D-UP10W

R88D-UP12W

R88D-UP15W

D

Parameter Units

Handy type

Specification

Mounted type

R88A-PR02U

R88A-PR03U

Model

6-16

Supplementary Materials

D

Encoder Cables

Specification

Connectors at both ends

Cable only

Chapter 6

3 m

5 m

10 m

Model

R88A-CRUD003C

R88A-CRUD005C

R88A-CRUD010C

15 m

20 m

R88A-CRUD015C

R88A-CRUD020C

1-m units R88A-CRU001

D

Power Cables (Cables Only)

Specification Model

For standard motor (no brake) 1-m units R88A-CAU001

For motor with brake 1-m units R88A-CAU01B

D

General-purpose Control Cables

Specification

1 m

2 m

Model

R88A-CPU001S

R88A-CPU002S

D

Peripheral Cable

Specification

Analog monitor cable 1 m

Model

R88A-CMW001S

6-17

Supplementary Materials

6-4 Parameter Setting Forms

Chapter 6

H

User Parameters

PRM

No.

Parameter name

Cn-04 Speed loop gain (See note 1.)

Cn-05 Speed loop integration constant

Cn-06

Cn-07

Cn-08

Cn-09

Cn-0A

Emergency stop torque

Soft start acceleration time

Forward torque limit

Reverse torque limit

Encoder divider rate (See note 2.)

Cn-0b Rotation speed for motor rotation detection

Cn-0C P control switching (torque commands)

20

200

Cn-0d P control switching (speed commands) 0

0 Cn-0E P control switching (acceleration commands)

Cn-0F P control switching (deviation pulse) 10

Cn-10 Jog speed

Cn-11 Number of encoder pulses (See notes

2 and 3.)

Cn-12 Brake timing 1

Cn-15 Brake command speed

Cn-16

80

20

Factory setting

Maximum torque

0

Maximum torque

Maximum torque

1,000

Cn-17 Torque command filter time constant 4

Cn-18

Cn-19

Cn-1A

Cn-1b

Cn-1C

Cn-1d

Cn-1E

Brake timing 2

Forward rotation external current limit

Reverse rotation external current limit

Position loop gain

Positioning completion range

Bias rotational speed

Feed-forward amount

Deviation counter overflow level

500

2,048

0

100

50

100

100

40

3

0

0

1,024

Unit

Hz

H/L: ms

HA/LA/

V/W: ms or

0.01 ms

%

Setting range

1 to 2,000

2 to 10,000 ms

%

%

0 to maximum torque

0 to 10,000

0 to maximum torque

0 to maximum torque

16 to 2,048 Pulses/ revolution r/min 1 to 4,500

% r/min

10

(r/min)/s

Command units r/min

Pulses/ revolution

10 ms r/min

10 ms

100 µ s

%

0 to maximum torque

0 to 4,500

0 to 3,000

0 to 10,000

0 to 4,500

2,048

%

0 to 50

0 to 4,500

10 to 100

0 to 250

0 to maximum torque

0 to maximum torque

1 to 500

0 to 250

1/s

Command units r/min

%

×

256 commands

0 to 450

0 to 100

1 to 32,767

2,048

Setting

6-18

Supplementary Materials Chapter 6

PRM

No.

Parameter name

Cn-1F No. 1 internal speed setting

Cn-20 No. 2 internal speed setting

Cn-21 No. 3 internal speed setting

Cn-23 Soft start deceleration time

Cn-24 Electronic gear ratio G1 (numerator)

(see note 2)

Cn-25 Electronic gear ratio G2 (denominator)

(see note 2)

Cn-26 Position command acceleration/deceleration time constant

Cn-27 Feed-forward command filter

Cn-28 Compensating gain

(HA/LA/V/W Models)

Cn-29 Unit number setting

(HA/LA/V/W Models) (See note 4)

0

4

Factory setting

100

200

300

1

0

0

0

0 r/min r/min r/min ms

---

---

Setting range

0 to 4,500

0 to 4,500

0 to 4,500

0 to 10,000

1 to 65,535

×

0.1 ms 0 to 640

×

0.1 ms 0 to 640

--0 to 100

---

Unit

1 to 65,535

0 to 14

Setting

Note 1. Cn-04 (speed loop gain) is factory-set for three times the load inertia. Therefore, if the load inertia is extremely small, some oscillation may occur. If it does, then lower Cn-04 to 20 or less.

Note 2. After the settings for Cn-11 (number of encoder pulses), Cn-24 (Electronic gear ratio G1 (numerator)), and Cn-25 (Electronic gear ratio G2 (denominator)) have been made, they become effective when the power is turned on again after having been cut off. (Check to see that the

LED display has gone off.)

Note 3. Set Cn-11 (number of encoder pulses) according to the number of pulses (resolution) of the encoder. The parameter must be set to 2,048 for an incremental encoder.

Note 4. Refer to the Computer Monitor Software Instruction Manual (I513) for OMNUC U-series

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

6-19

Supplementary Materials Chapter 6

H

Setup Parameters No. 1 (Cn-01)

Item Setting

Sequence input 0

Bit No.

Factory setting

0 0

Explanation

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

Servo always ON.

Sequence

1

2

3

4

0

1

1

0

0

1

0

1

0

1

--No used.

Enables forward drive prohibit input (POT).

Permits always-forward drive.

Enables reverse drive prohibit input (NOT).

Permits always -reverse drive.

switching

Processing at from momentary stop

Abnormal stop

5 (see

6

1

1

1

0

1

Takes TGON/CLIMT signal as motor rotation detection output.

Takes TGON/CLIMT signal as current limit detection output.

Servo alarm set at time of recovery from momentary stop.

Servo alarm automatically cleared at time of recovery from momentary stop.

Motor stopped by dynamic brake.

note 2) )

8

1

0

0

1

0

1

0

Motor stopped with free run.

Dynamic brake OFF after motor stopped.

Dynamic brake ON after motor stopped.

Deviation

Servo OFF

P control switch selection

P control switch

9

A b d, C

0

0

1

0, 0

1

0

1

0

1

0

1

0, 0

Method for stopping when over-travel occurs depends on bit no. 6 setting.

When over-travel occurs, motor is stopped at the torque set by user parameter Cn-06 (emergency stop torque).

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

When over-travel occurs, motor comes to deceleration stop and position is locked. (see note 6)

Clear counter for alarms occurring while Servo is

OFF.

Do not clear counter for alarms occurring while Servo is OFF.

Switch control according to bits C and d.

note 3)

E 0

0, 1

1, 0

1, 1

---

Do not switch.

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

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

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

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

Not used.

Setting

0 =

1 = 0

2 =

3 =

4 =

5 =

6 =

7 =

8 =

9 =

A = b =

C =

E = 0

6-20

Supplementary Materials Chapter 6

Item

Pulse stop switching

(HA/LA/V/W

Models)

Bit No.

F

Factory setting

0

Setting

0

1

Explanation

Position Control (Cn-02 bit 2 = 0)

Disables the pulse stop input.

Internal speed control settings (Cn-02 bit 2 = 1)

Command pulses aren’t received when

PCL and NCL are OFF.

Position Control (Cn-02 bit 2 = 0)

Enables the pulse stop input.

Internal speed control settings (Cn-02 bit 2 = 1)

Command pulses aren’t received when

PCL and NCL are OFF. (Position control is performed with the internal speed control settings and the pulse-train input.)

Setting

F =

Note 1. If power is immediately turned back on after having been cut off, a momentary stop alarm may be generated. If bit no. 5 is set to “1,” the alarm will be cleared automatically even if it is generated, and operation will resume.

Note 2. If set bit 6 to “1” and bit 8 to “0,” the dynamic brake relay will turn OFF after the Servomotor stops, regardless of the setting of bit no. 7.

Note 3. With P control switch conditions, a change from PI control to P control is selected.

Note 4. Do not change the setting of bits 1 and E of setup parameter no. 1 (Cn-01) when a Servomotor with an incremental encoder is being used.

Note 5. These parameters become effective only after power is reset. Confirm that the indicators go out before turning power back on. (Check to see that the LED display has gone off.)

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

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Supplementary Materials Chapter 6

H

Setup Parameters No. 2 (Cn-02)

Item Setting

Reverse rotation mode 0

Bit no.

Factory setting

0 0

Origin error mask

Input command mode

(see note 2)

Command pulse mode

8

9

Deviation counter clear A

6

7

Speed integration

(HA/LA/V/W Models)

Torque command filter

(HA/LA/V/W Models) reversal l

Parameter Unit monitor h

1

2 b

C d

E

F

0

0

1

0

0

0

0

0

0

0

0

0

0

1

0

1

0

1

0

1

1

---

0

1

0, 0, 0

0, 0, 1

0, 1, 0

0, 1, 1

1, 0, 0

---

---

---

---

0

1

---

Explanation Setting

Rotates in CCW direction with a + command.

(See note 3.)

Rotates in CW direction with a + command.

No used.

Position control with pulse-train input:

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

In the H/L Models, CN1-15 will be the gain reduction (MING).

In the HA/LA/V/W Models, CN1-15 will be the gain reduction (MING) if Cn-01 bit F is set to

“0” or the pulse stop input (IPG) if Cn-01 bit F is set to “1.”

[Internal speed control settings]

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

CN1-15 is used as rotation direction command

(RDIR).

Feed pulse and Forward/reverse signal

Forward rotation pulse and Reverse rotation pulse

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

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

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

Not used

Not used

Not used

Not used

Clears the deviation counter when the signal is high level

Clears the deviation counter on the rising edge of the signal

1 ms

0 =

1 = 0

2 =

4 =

5 =

6 = 0

7 = 0

8 = 0

9 = 0

A = b =

0.01 ms

Primary filter C =

Secondary filter

Positive logic

Negative logic

Position deviation monitor set for 1 command.

Position deviation monitor set for 100 command.

Not used F = 0

Note 1. Do not set bit nos. 1, 6 to 9, F of setup parameter no. 2 (Cn-02).

Note 2. These parameters become effective only after power is reset. Confirm that the indicators go out before turning power back on. (Check to see that the LED display has gone off.)

Note 3. Counterclockwise direction viewed from the motor output shaft is CCW.

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