Omron OMNUC W series User Manual

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Cat. No. I531-E1-09

USER’S MANUAL

OMNUC W

SERIES

MODELS R88M-W

(AC Servomotors)

MODELS R88D-WT

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

Thank you for choosing this OMNUC W-series product. Proper use and handling of the product will ensure proper product performance, will length product life, and may prevent possible accidents.

Please read this manual thoroughly and handle and operate the product with care.

1. To ensure safe and proper use of your OMRON Servomotors and Servo Drivers, please read this manual

(Cat. No. I531-E1) to gain sufficient knowledge of the products, safety information, and precautions before actual use.

2. The products are illustrated without covers and shieldings to enable showing better detail in this manual.

For actual use of the products, make sure to use the covers and shieldings as specified.

3. Copies of this manual and other related manuals must be delivered to the actual end users of the products.

4. Please keep a copy of this manual close at hand for future reference.

5. If a product has been left unused for a long time, please consult with your OMRON sales representative.

NOTICE

1. This manual describes the functions of the product and relations with other products. You should assume that anything not described in this manual is not possible.

2. Although care has been given in documenting the product, please contact your OMRON representative if you have any suggestions on improving this manual.

3. The product contains dangerous high voltages inside. Turn OFF the power and wait for at least five minutes to allow power to discharge before handling or working with the product. Never attempt to disassemble the product.

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. Specifications and functions may be changed without notice in order to improve product performance.

6. Positive and negative 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 is positive and clockwise rotation is negative.

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

8. 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.

9. The OMNUC W Series can control both incremental and absolute encoders. Differences in functions or specifications according to the encoder type are indicated in this manual. Be sure to check the model that is being used, and follow the relevant specifications.

S Servomotors with incremental encoders: R88M-W j Hj /-W j Lj

S Servomotors with absolute encoders: R88M-W j Tj /-W j Sj

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?

S Are any screws or bolts loose?

USER’S MANUAL

OMNUC W

SERIES

MODELS R88M-W

(AC Servomotors)

MODELS R88D-WT

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

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. Additionally, there may be severe property damage.

WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

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

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 “PLC” 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, 2000

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 and all connected or peripheral devices.

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 Installation, 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 not be performed for at least five 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 in 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

Use the Servomotors and Servo Drivers in a specified combination. Using them incorrectly may result in fire or damage to the products.

Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product.

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, regeneration resistors or Servomotor while the power is being supplied or soon after the power is turned OFF. Doing so may result in a burn injury due to the hot surface.

Storage and Transportation Precautions

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

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

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.

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.

Caution

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

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.

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.

Do not reverse the polarity of the battery when connecting it. Reversing the polarity may damage the battery or cause it to explode.

Operation and Adjustment Precautions

Caution Confirm that no adverse effects will occur in the system before performing the test operation. Not doing so may result in equipment damage.

Caution

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

Not doing so may result in equipment damage.

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.

Caution

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 label

Example from R88D-WTA3HL

Precautions for Safe Use

Dispose of the product and batteries according to local ordinances as they apply.

Have qualified specialists properly dispose of used batteries as industrial waste.

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

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

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.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á NON–INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

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.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á In no event shall the responsibility of OMRON for any act exceed the individual price of the product on

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á which liability is asserted.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

REGARDING THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO

CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

Application Considerations

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á the combination of products in the customer’s application or use of the products.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

At the customer’s request, OMRON will provide applicable third party certification documents identifying

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á ratings and limitations of use that apply to the products. This information by itself is not sufficient for a

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

The following are some examples of applications for which particular attention must be given. This is not

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á uses listed may be suitable for the products:

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á • Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á or uses not described in this manual.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á • Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical equipment, amusement machines, vehicles, safety equipment, and installations subject to separate

Á industry or government regulations.

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

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

PROGRAMMABLE PRODUCTS

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

Disclaimers

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ reasons.

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á changed without any notice. When in doubt, special model numbers may be assigned to fix or establish

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm actual specifications of purchased products.

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

DIMENSIONS AND WEIGHTS

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

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

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

Performance data given in this manual is provided as a guide for the user in determining suitability and

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á 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.

Á ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

The information in this manual has been carefully checked and is believed to be accurate; however, no

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ Á

ÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁÁ

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

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

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

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

1-4 Applicable Standards and Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-5 System Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2

1-7

1-9

1-10

1-11

Chapter 2. Standard Models and Specifications . . . . . . . . . . . . . . . . . 2-1

2-1 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 Servo Driver and Servomotor Combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 External and Mounted Dimensions

2-3-1 AC Servo Drivers

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

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

2-3-2 Parameter Units

2-3-3 AC Servomotors

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

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

2-3-4 AC Servomotors with Gears

2-4 Servo Driver Specifications

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

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

2-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-3 Terminal Block Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-4 Control I/O Specifications (CN1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-5 Encoder Input Specifications (CN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-6 Parameter Unit Input Specifications (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-7 Monitor Output Connector Specifications (CN5)

2-4-8 Battery Connector Specifications (CN8)

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

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

2-5 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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

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

2-5-3 Specifications for Servomotors with Reduction Gears . . . . . . . . . . . . . . . . . . . . . . . .

2-5-4 Encoder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 Cable and Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-1 Control Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-2 Motor Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-3 Peripheral Cables and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

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

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

2-7-1 Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7-2 Cable for Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8 Parameter Unit and Cable Specifications

2-8-1 Parameter Unit

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

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

2-8-2 Parameter Unit Cable (R88A-CCW002C)

2-9 External Regeneration Resistors/Resistance Units

2-10 Absolute Encoder Backup Battery Specifications

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

2-11 DC Reactors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-156

2-159

2-177

2-178

2-180

2-182

2-92

2-93

2-95

2-114

2-119

2-120

2-131

2-152

2-156

2-62

2-63

2-67

2-68

2-89

2-90

2-91

2-2

2-22

2-24

2-32

2-33

2-49

2-62

2-184

Chapter 3. System Design and Installation . . . . . . . . . . . . . . . . . . . . . . 3-1

3-1 Installation Conditions

3-1-1 Servo Drivers

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

3-1-2 Servomotors

3-2 Wiring

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

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

3-2-1 Connecting Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-2 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3

3-4

3-9

3-15

3-2-3 Terminal Block Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-4 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2-5 Wiring for Conformity to EMC Directives

3-3 Regenerative Energy Absorption

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

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

3-3-1 Regenerative Energy Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3-2 Servo Driver Regenerative Energy Absorption Capacity . . . . . . . . . . . . . . . . . . . . . .

3-3-3 Regenerative Energy Absorption by External Regeneration Resistance . . . . . . . . . . .

3-4 Adjustments and Dynamic Braking When Load Inertia Is Large . . . . . . . . . . . . . . . . . . . . . . .

3-4-1 Adjustments When Load Inertia Is Large . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4-2 Dynamic Braking When Load Inertia Is Large . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-17

3-21

3-28

3-38

3-40

3-41

3-46

Chapter 4. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4-1 Operational Procedure

4-2 Preparing for Operation

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

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

4-2-1 Turning Power ON and Checking Indicators

4-2-2 Absolute Encoder Setup and Battery Changes

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

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

4-3 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3-1 Operation Details

4-3-2 Jog Operation

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

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

4-4 User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-1 Setting and Checking Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-2 Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-3 Important Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4-4 Parameter Details

4-5 Operation Functions

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

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

4-5-1 Position Control (Position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-2 Speed Control (Speed)

4-5-3 Torque Control (Torque)

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

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

4-5-4 Internally-set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-5 Switching the Control Mode (Switching Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-6 Forward and Reverse Drive Prohibit (All Operating Modes) . . . . . . . . . . . . . . . . . . .

4-5-7 Encoder Dividing Function (All Operating Modes)

4-5-8 Brake Interlock (All Operating Modes)

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

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

4-5-9 Gain Reduction (Position, Speed, Internally-set speed Control) . . . . . . . . . . . . . . . . .

4-5-10 Torque Limit Function (All Operating Modes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-11 Soft Start Function (Speed, Internally-set Speed Control)

4-5-12 Electronic Gear Function (Position)

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

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

4-5-13 Position Command Filter Function (Position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5-14 Position Lock Function (Speed, Internally-set Speed Control)

4-5-15 Speed Limit Function (Torque)

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

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

4-6 Trial Operation Procedure

4-7 Making Adjustments

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

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

4-7-1 Online Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-7-2 Manual Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8 Advanced Adjustment Functions

4-8-1 Bias Function (Position)

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

4-8-2 Feed-forward Function (Position) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-8-3 Torque Feed-forward Function (Speed)

4-8-4 Speed Feed-forward Function (Position)

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

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

4-8-5 Gain Switching (Position, Speed, Internally-set Speed Control)

4-8-6 Automatic Gain Switching (Position Control)

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

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

4-8-7 Notch Filter (Position, Speed, Internally-set Speed Control) . . . . . . . . . . . . . . . . . . .

4-97

4-98

4-99

4-101

4-104

4-109

4-110

4-82

4-85

4-87

4-88

4-90

4-91

4-93

4-94

4-95

4-110

4-112

4-113

4-114

4-115

4-16

4-18

4-32

4-43

4-73

4-74

4-76

4-77

4-8

4-12

4-16

4-3

4-4

4-6

4-8-8 Speed Feedback Compensation (Position, Speed, Internally-set Time Control)

4-8-9 Speed Feedback Filter (Position, Speed, Internally-set Speed Control)

. . . . .

. . . . . . . . . . .

4-8-10 P Control Switching (Position, Speed, Internally-set Speed Control)

4-9 Using Displays

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

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

4-9-1 Power Supply Indicator and Charge Indicator

4-9-2 Status Display Mode

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

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

4-9-3 Monitor Mode (Unjjj)

4-10 Using Monitor Output

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

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

4-11 System Check Mode

4-11-1 Alarm History

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

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

4-11-2 Online Auto-tuning Functions

4-11-3 Servomotor Origin Search

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

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

4-11-4 User Parameter Initialization

4-11-5 Command Offset Adjustment

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

4-11-6 Analog Monitor Output Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-7 Servomotor Current Detection Offset Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-8 Password Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-9 Checking Servomotor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-10 Checking the Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-11-11 Changing Absolute Encoder Rotation Setting (ABS) . . . . . . . . . . . . . . . . . . . . . . . .

4-11-12 Clearing Option Unit Detection Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-130

4-131

4-133

4-135

4-137

4-138

4-142

4-145

4-117

4-118

4-120

4-121

4-123

4-127

4-149

4-150

4-152

4-153

4-154

Chapter 5. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5-1 Measures when Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-1 Preventive Checks Before Trouble Occurs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1-3 Replacing the Servomotor and Servo Driver

5-2 Alarms

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

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

5-3 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-1 Error Diagnosis Using Alarm Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3-2 Troubleshooting by Means of Operating Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-4 Overload Characteristics (Electron Thermal Characteristics) . . . . . . . . . . . . . . . . . . . . . . . . .

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

5-6 Replacing the Absolute Encoder Battery (ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-18

5-20

5-21

5-23

5-2

5-3

5-5

5-9

Chapter 6. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

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

6-2 Encoder Dividing Rate for Servo Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Single-phase Power for 3,000-r/min (750-W) Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2

6-13

6-14

6-4 Parameter Setting Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15

6-5 Alarms and Warnings when a JUSP-NS115 MECHATROLINK-II Option Unit is Mounted . 6-28

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R-1

Introduction

1-1 Features

1-2 System Configuration

1-3 Servo Driver Nomenclature

1-4 Applicable Standards and Models

1-5 System Block Diagrams

Chapter 1

Introduction

1-1 Features

Chapter 1

With their superior performance and fast response, plus a wider selection of models, the OMNUC W-series AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Series.

Faster Response and Rotation Speed

The W-series AC Servomotors and Servo Drivers provide faster response than the previous U-series models, with high-frequency responses of 400 Hz (compared to 250 Hz for the U Series). Moreover, the 3,000-r/min Servomotors provide rotation speeds of up to 5,000 r/min, as compared to

4,500 r/min for the U Series, for even faster positioning.

Wider Selection

In addition to 3,000-r/min (30-W to 5-kW) Servomotors, the W-series product line offers 1,000-r/min

(300-W to 5.5-kW) models and 1,500-r/min (450-W to 15-kW) models to choose from. They are ideal for applications requiring high torque. Included among the 3,000-r/min models are Flat-style

(100-W to 1.5-kW) Servomotors that are ideal for applications requiring installation in tight spaces.

IP67 (Waterproof) Servomotors

The 3,000-r/min (1- to 5-kW), 1,000 r/min (300 W to 5.5 kW), and 1,500 r/min (450 W to 15 kW)

Servomotors have an enclosure rating of IP67 (waterproof, except for through-shaft parts). The

3,000-r/min (100 W to 1.5-kW) Flat-style Servomotors are also available with IP67 enclosure ratings that include waterproofing for through-shaft parts. Therefore, the W-series Servomotors can be used even in places where they may be exposed to water. (The standard cables, however, cannot be used with IP67 models, and the appropriate cables must be provided by the user.)

Conformity to Standards

The W Series conforms to EC Directives (both low-voltage and EMC) as well as to UL and cUL, thereby assisting the user in meeting required standards.

Built-in Regenerative Power Processing

In addition to the built-in regenerative power processing function using regeneration resistance, external regeneration resistance can also be connected, allowing the W Series to be used for applications with high regenerative energy on vertical axis.

Harmonic Current Control Measures

Terminals for DC Reactor connections are provided to assist with harmonic current control.

Online Autotuning

Autotuning is possible during normal operation with no need to switch to a special autotuning mode, making it easy to set the gain correctly.

1-2

Introduction Chapter 1

Gain Changes

There are two types of gain settings, and the gain can be changed when the load changes during operation.

Control Functions

Any one of the following 12 control modes can be selected in the parameter settings, thereby allowing various applications with a single Servo Driver.

Control mode

Speed control (analog commands)

Position control (pulse train commands)

Torque control (analog commands)

Internal speed control settings

[Default setting]

Internal speed control settings

Position control (pulse train commands)

←→ Speed control (analog commands)

←→ Position control (pulse train commands)

←→ Torque control (analog commands)

←→ Speed control (analog commands)

Position control (pulse train commands)

Speed control (analog commands)

←→ Torque control (analog commands)

Speed control (analog commands) with position-lock stop

Position control (pulse train commands) with pulse prohibit

Password

A password can be required in order to make parameter changes.

Parameter Initialization

Parameters can be returned to their default settings.

Monitoring

The Servo Driver’s operating status is displayed. The following items can be monitored: Speed feedback, speed commands, torque commands, number of pulses from the origin, electrical angle,

I/O signals, command pulse speed, position deviation, motor load rate, regenerative load rate, dynamic resistance load rate, input pulse counter, and feedback pulse counter.

Jogging

The Servomotor can be set for either forward or reverse rotation, and the rotation speed can be set in the parameters.

Servomotor Origin Search

The origin search function can be used to find the Servomotor’s origin (Z phase).

Automatic Adjustment of Command Offsets (Speed and Torque

Control)

The offsets of the speed command input and torque command input can be adjusted automatically.

1-3

Introduction

Monitor Output

The offset and scaling of the analog monitor outputs can be adjusted.

Chapter 1

Multi-turn Limit Changes

The multi-turn limits for absolute encoders can be changed.

Electronic Gear (Position Control)

This function turns the Servomotor by the number of pulses obtained by applying the gear ratio to the number of command pulses. It can be effectively used in the following situations.

S When fine tuning positions and speeds while synchronizing two lines.

S When using a controller with a short command pulse frequency.

S When setting the mechanical movement per pulse to amounts such as 0.01 mm.

The electronic gear ratio is set in parameters (numerator: G1; denominator: G2). The setting range for G1 and G2 is 1 to 65,535, with 0.01 (G1/G2) 100.

Encoder Dividing Function

The encoder signal output from the Servo Driver can be set to the desired number of pulses.

Soft Start Function (Speed Control, Internally Set Speed Control

Settings)

This function causes the Servomotor to be started and stopped at 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.

Position Acceleration/Deceleration Function

Applying acceleration and deceleration to command pulses enables smooth tracking of commands for rapid startups. Either primary delay or linear acceleration/decelerations can be selected for positioning.

Warning Output

Overload and regeneration overload warnings are output. When a warning is output, taking measures, such as shortening the operation cycle, can prevent an alarm from being generated.

Positioning Completed Output

The positioning completed range can be set in two stages, allowing peripheral device operations to begin sooner.

Reverse Mode

Forward and reverse commands can be switched in the parameters, without changing the wiring to the Servomotor or encoder.

1-4

Introduction Chapter 1

Brake Interlock Output

Timing signals interlocked with the Servomotor’s ON/OFF status and rotational speed are output, so the holding brakes of Servomotors with brakes can be operated reliably.

Output Signal Selection

Any three output signals can be selected for output from among the following: Positioning completed 1/2, speed conformity, Servomotor rotation detection, servo preparation completed, current limit detection, speed limit detection, brake interlock, overload warning, and warning output signals.

It is also possible to allocate multiple outputs to the same pin number. For example, the positioning completed 1 signal and the speed conformity signal could both be allocated to pin number 1.

Overtravel Sequence

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

Feed-forward Function and Bias (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

Reduces the positioning time by adding the bias revolutions to the speed command when the deviation counter value exceeds the bias addition range.

Computer Monitoring

The special Servo Driver Communications Software enables performing parameter setting, speed and current monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging, and other operations from a computer. It is also possible to perform multiple-axis communications that set the parameters and monitor operations for multiple Servo Drivers. For details, refer to user documentation on the Servo Driver Communications Software.

DeviceNet Option Unit

A Servo Driver can function as a slave on a DeviceNet network if a DeviceNet Option Unit

(R88A-NCW152-DRT) is mounted to it, enabling application of the Servo Driver as a network driver.

Commands can be sent via DeviceNet communications to the DeviceNet Option Unit to produce outputs to the driver. Outputting positioning commands to the driver through the option unit connector enables positioning operations without a controller. Refer to the OMNUC W-series DeviceNet

Option Unit User’s Manual (Cat. No. I538) for details.

Note The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of r.0014 or later. Refer to 4-11-10 Checking the Version for methods of confirming the Servo

Driver software version.

MECHATROLINK-II Compatibility

The Servo Driver can be incorporated as a Slave in a MECHATROLINK network by installing the

Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number: FNY-NS115) on the

Servo Driver. This enables the Servo Driver to be used as a network Servo Driver.

1-5

Introduction Chapter 1

A wide range of motion control can be achieved in a MECHATROLINK-II network from the Motion Control Unit.

For details, refer to the SYSMAC CS-series CS1W-MCH71 Motion Control Unit Operation Manual (Cat.

No. W426) and the JUSP-NS115 MECHATROLINK-II Application Module Operation Manual (This manual can be obtained from a Yaskawa Electric sales representative or downloaded from the OMRON website).

Note The MECHATROLINK-II Option Unit is compatible with a W-series Servo Driver with software version r.0039 or later and MECHATROLINK-II Option Unit with software version VER.***03 (on the nameplate on the side of the Unit). Refer to 4-11-10 Checking the Version for methods of confirming the Servo Driver software version.

1-6

Introduction

1-2 System Configuration

Controller with Voltage Output

Chapter 1

SYSMAC CS-, C-, or

CV-series

Programmable

Controller

Motion

Control

Unit

CS1W-MC221/421(-V1)

CV500-MC221/421

C200H-MC221

C500-NC222-E

Position Control

Unit

Controller with Pulse Train Output

Analog voltage

R88A-PR02W Parameter

Unit

(Hand-held)

SYSMAC CJ, CS-, C-, or

CV-series

Programmable

Controller

Position Control Unit

CJ1W-NC113/213/413

CJ1W-NC133/233/433

CS1W-NC113/213/413

CS1W-NC133/233/433

C200HW-NC113/213/413

C500-NC113/211

Single-axis Positioner with Pulse String Output

Pulse train

OMNUC W-series

AC Servo Driver

R88D-WT j

MECHATROLINK-II

DeviceNet Single-axis Positioner

3F88M-DRT141

Controller (MECHATROLINK-II Compatible)

DeviceNet Option

Unit

R88A-NCW152-DRT

[Incremental] [Absolute]

OMNUC W-series AC

Servomotor

R88M-W j

MECHATROLINK-II

Option Unit

JUSP-NS115

(OMRON model number: FNY-NS115)

Programmable Controller

SYSMAC CS Series

Motion Control Unit

CS1W-MCH71

Note 1.

Servomotors with absolute encoders can be used in combination with CS1W-

MC221/421(-V1), CV500-MC221/421, C200H-MC221, or CS1W-MCH71 Motion Control

Units, with the 3F88M-DRT141 DeviceNet Single-axis Positioner, or with the

R88A-NCW152-DRT DeviceNet Option Unit.

1-7

Introduction Chapter 1

Note 2.

The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of r.0014 or later.

Note 3.

The MECHATROLINK-II Option Unit is supported when using MECHATROLINK-II Option

Unit software version VER.***03 (indicated on the nameplate on the side of the Unit) in combination with a W-series Servo Driver with software version r.0039 or later. Refer to 4-11-10

Checking the Version for methods of confirming the Servo Driver software version.

1-8

Introduction

1-3 Servo Driver Nomenclature

Chapter 1

Battery holder

Holds the backup battery for when a

Servomotor with an absolute encoder is used.

Analog Monitor Output Connector (CN5)

Rotation speed, torque command values, etc., are output in analog voltage. A special cable is used.

Battery Connector (CN8)

Connects the backup battery for the absolute encoder.

(With top cover opened)

Top cover (See note.)

Charge indicator

Lit when the main-circuit is powered. Even after the power is turned OFF, it remains lit as long as an electric charge remains in the main-circuit capacitor, so do not touch the Servo Driver’s terminals during this period.

Display Area

Displays Servo Driver status, alarm signals, parameters, etc., in five digits,

7-segment LED.

Settings Area

Used for setting parameters and monitoring Servo Driver status.

Power indicator

Lit when the control power is being supplied.

Option Unit Connector (CN10)

Used for connecting a DeviceNet Option

Unit.

Parameter Unit Connector (CN3)

Used for connecting the Parameter Unit or for communicating with a computer.

Note: On the R88D-WT60H (6 kW), this connector is located to the left of the

Display and Settings Areas.

Main-circuit power terminals

These are the input terminals for the main-circuit power supply.

Control-circuit power terminals

These are the connection terminals for the control-circuit power supply and the external regenerative energy resistance.

Control I/O Connector (CN1)

Used for control I/O signals.

Servomotor connection terminals

These are the connection terminals for the

Servomotor power lines.

Encoder Connector (CN2)

Protective ground terminals

These are the ground terminals for preventing electric shock. Ground to 100 Ω or less.

Connects the encoder provided with the

Servomotor.

Note The R88D-WT60H to R88D-WT150H models do not have a top cover. The Analog Monitor Output Connector (CN5), the Battery Connector (CN8), and the battery holder are all located to the right of the display and operation areas. Also, the Terminal Block (for the control circuit, main circuit, and Servomotor) is mounted to the bottom of the Servo Driver.

1-9

Introduction

1-4 Applicable Standards and Models

Chapter 1

EC Directives

Directive

Product Applicable standard

Low voltage AC Servo Drivers EN50178

Remarks

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

Rotating electrical machines.

EMC

AC Servomotors

AC Servo Drivers and AC

Servomotors

IEC60034-8

EN60034-1, -5, -9

EN55011 class A group 1

EN61000-6-2

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

Electromagnetic compatibility generic immunity standard in industrial environments

Note Installation under the conditions specified in 3-2-5 Wiring Conditions Satisfying EMC Directives is required to conform to EMC Directives.

UL/cUL Standards

Standards

UL cUL

Product Applicable standard

AC Servo Drivers UL508C

AC Servomotors UL1004

AC Servo Drivers cUL C22.2 No. 14

AC Servomotors cUL C22.2 No. 100

File No.

E179149

E179189

E179149

E179189

Remarks

Power conversion equipment

Electric motors

Industrial control equipment

Motors and generators

1-10

Introduction

1-5 System Block Diagrams

Chapter 1

200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H

100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL

AC Servo Driver

Thermistor

Fuse

AC Servomotor

Voltage detection

Display/Settings Areas

CN5

DC/DC conversion

Relay drive

Analog monitor output

Voltage detection

Gate drive

Gate drive overcurrent protection

Interface

Analog voltage conversion

PWM generation

Digital current amp

Encoder signal processing

Current command processing

Divider

Command pulse processing

Position control

Speed control

Serial port

CN3

Parameter Unit/computer

Current detection

Battery Connector

(CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

1-11

Introduction

200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H

AC Servo Driver

Fuse

Voltage detection

Display/Settings Area

Relay drive

Voltage detection

Gate drive

Gate drive overcurrent protection

Interface

Thermistor

0.5 to 1 kW

DC/DC conversion

PWM generation

Digital current amp

Encoder signal processing

Divider

Command pulse processing

Position control Analog voltage conversion

Current command processing

CN5

Analog monitor output

Serial port

CN3

Parameter Unit/computer

Speed control

Current detection

200 V AC: R88D-WT20H/-WT30H/-WT50H

AC Servo Driver

Fuse

Chapter 1

AC Servomotor

Battery Connector

(CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

AC Servomotor

1-12

Voltage detection

Display/Settings Area

DC/DC conversion

CN5

Relay drive

Voltage detection

Analog monitor output

Gate drive

Gate drive overcurrent protection

Interface Gate drive

PWM generation

Digital current amp

Analog voltage conversion

Current command processing

Serial port

CN3

Parameter Unit/computer

Encoder signal processing

Divider

Command pulse processing

Position control

Speed control

Current detection

Battery Connector

(CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

Introduction

200 V AC: R88D-WT60H/-WT75H/-WT150H

AC Servo Driver Regeneration resistance (optional)

Thermistor

Fuse

Chapter 1

AC Servomotor

Relay driver

Voltage detection isolator

Gate drive overcurrent protection isolator

Voltage detection isolator

Display/Settings Area

DC/DC conversion PWM generation

Digital current amp

Encoder signal processing

Divider

Command pulse processing

Position control

CN5

Analog monitor output

Analog voltage conversion

Current command processing

Serial port

CN3

Parameter Unit/computer

Speed control

Current detection

Gate drive isolator

Battery Connector

(CN8)

Encoder output

Command pulse input

Speed/torque command input

Control I/O

1-13

Chapter 2 Standard Models and

Specifications

2-1 Standard Models

2-2 Servo Driver and Servomotor Combinations

2-3 External and Mounted Dimensions

2-4 Servo Driver Specifications

2-5 Servomotor Specifications

2-6 Cable and Connector Specifications

2-7 Servo Relay Units and Cable Specifications

2-8 Parameter Unit and Cable Specifications

2-9 External Regeneration Resistors/Resistance

Units

2-10 Absolute Encoder Backup Battery Specifications

2-11 DC Reactors

Standard Models and Specifications

2-1 Standard Models

H Servo Drivers

Specifications

Single-phase 100 V

AC g p 30 W

50 W

100 W

200 W

Single-phase 200 V

AC g p 30 W

50 W

100 W

Three-phase 200 V

AC p

Model

R88D-WTA3HL

R88D-WTA5HL

R88D-WT01HL

R88D-WT02HL

R88D-WTA3H

R88D-WTA5H

R88D-WT01H

200 W

400 W

500 W

750 W

R88D-WT02H

R88D-WT04H

R88D-WT05H

R88D-WT08H

1 kW R88D-WT10H

1.5 kW R88D-WT15H

2 kW

3 kW

5 kW

6 kW

R88D-WT20H

R88D-WT30H

R88D-WT50H

R88D-WT60H

7.5 kW R88D-WT75H

15 kW R88D-WT150H

H Control Cable

Specifications

Motion Control Unit

Cable (1 axis)

1 m

2 m

3 m

5 m

Motion Control Unit

C bl (2 )

1 m

2 m

3 m

General Control

Cable (with connector on one end)

Connector Terminal

Block Cable

5 m

1 m

2 m

1 m

2 m

Connector Terminal Block

Model

R88A-CPW001M1

R88A-CPW002M1

R88A-CPW003M1

R88A-CPW005M1

R88A-CPW001M2

R88A-CPW002M2

R88A-CPW003M2

R88A-CPW005M2

R88A-CPW001S

R88A-CPW002S

R88A-CTW001N

R88A-CTW002N

XW2B-50G5

Note Connector Terminal Block Cable is required when a Connector Terminal Block is used.

Chapter 2

H Peripheral Cables and Connectors

Specifications Model

Analog Monitor Cable (CN5)

Computer Monitor

Cable (CN3)

DOS

Control I/O Connector (CN1)

Encoder Connector (CN2)

Encoder Connector for Motor End

1 m R88A-CMW001S

2 m R88A-CCW002P2

R88A-CNU11C

R88A-CNW01R

R88A-CNW02R

Note Computer Monitor Cable and OMNUC W-series Personal

Computer Monitor Software for Servo Drivers (Windowsbased) are required when a personal computer is used for setting Servo Driver parameters and for monitoring.

2-2

Standard Models and Specifications

H Servo Relay Units

Specifications Model

Servo

Relay

Unit

For CJ1W-NC113/133

For CS1W-NC113/133

For C200HW-NC113

For 3F88M-DRT141

For CJ1W-NC213/233/413/433

For CS1W-NC213/233/413/433

For C500-NC113/211

For C200HW-NC213/413

For CQM1H-PLB21

For CQM1-CPU43-EV1

For CS1W-HCP22-V1

Servo Driver Cable 1 m

2 m

Position

C t l

Unit

Cable

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-3B

XW2Z-100J-B4

XW2Z-200J-B4

0.5 m XW2Z-050J-A2

1 m XW2Z-100J-A2

0.5 m XW2Z-050J-A3 For

CQM1-CPU43-EV1

For CQM1H-PLB21

For CS1W-NC113

For C200HW-NC113

1 m XW2Z-100J-A3

0.5 m XW2Z-050J-A6

1 m XW2Z-100J-A6

0.5 m XW2Z-050J-A7 For CS1W-NC213/413

For

C200HW-NC213/413 1 m XW2Z-100J-A7

For CS1W-NC133 0.5 m XW2Z-050J-A10

1 m XW2Z-100J-A10

For CS1W-NC233 0.5 m XW2Z-050J-A11

1 m XW2Z-100J-A11

0.5 m XW2Z-050J-A14 For CJ1W-NC113

1 m XW2Z-100J-A14

For CJ1W-NC213/413 0.5 m XW2Z-050J-A15

1 m XW2Z-100J-A15

For CJ1W-NC133 0.5 m XW2Z-050J-A18

1 m XW2Z-100J-A18

For CJ1W-NC233/433 0.5 m XW2Z-050J-A19

1 m XW2Z-100J-A19

For CS1W-HCP22-V1,

1-axis

For CS1W-HCP22-V1,

2-axis

0.5 m XW2Z-050J-A22

1 m XW2Z-100J-A22

0.5 m XW2Z-050J-A23

For 3F88M-DRT141

1 m XW2Z-100J-A23

0.5 m XW2Z-050J-A24

1 m XW2Z-100J-A24

H Option Units

Specifications

DeviceNet Option Unit

Model

R88A-NCW152-DRT

Note A DeviceNet Option Unit is required to set Servo Driver parameters or perform positioning via a DeviceNet network.

Refer to the OMNUC W-series DeviceNet Option Unit

User’s Manual (Cat. No. I538) for details.

Chapter 2

H Parameter Units

Specifications

Hand-held (with 1-m cable)

Parameter Unit Cable (2 m)

Model

R88A-PR02W

R88A-CCW002C

Note 1.

A Parameter Unit is required for operating and monitoring the Servo Driver at a remote location or with a control panel.

Note 2.

If the 1-m cable provided with the Parameter Unit is not long enough, purchase the 2-m Parameter Unit Cable and use it in place of the 1-m cable.

H External Regeneration Resistors/Units

Specifications Model

Resistor

Resistance

Unit

220 W 47 Ω R88A-RR22047S

880 W 6.25 Ω R88A-RR88006

Note Required when the motor’s regenerative energy is too high.

H Absolute Encoder Backup Battery

Specifications Model

R88A-BAT01W 1,000 mA h, 3.6 V

(for all Servo Drivers except the

R88D-WT60H)

1,000 mA h, 3.6 V

(for the

R88D-WT60H/75H/150H)

R88A-BAT02W

Note Required when using a Servomotor with an absolute encoder. The cable and connector are included.

H DC Reactors

Specifications Model

For R88D-WTA3HL/A5HL/01HL R88A-PX5063

For R88D-WT02HL

For R88D-WTA3H/A5H/01H

For R88D-WT02H

For R88D-WT04H

For R88D-WT05H/08H/10H

For R88D-WT15H/20H

For R88D-WT30H

For R88D-WT50H

R88A-PX5062

R88A-PX5071

R88A-PX5070

R88A-PX5069

R88A-PX5061

R88A-PX5060

R88A-PX5059

R88A-PX5068

Note There is no DC Reactor for the R88D-WT60H/75H/150H.

H Front-panel Brackets

Specifications Model

For R88D-WTA3HL to WT02HL R88A-TK01W

For R88D-WTA3H to WT10H R88A-TK01W

For R88D-WT15H R88A-TK02W

For R88D-WT20H/30H/50H R88A-TK03W

Note 1.

Required when mounting a Servo Driver from the front panel.

Note 2.

There are no front-panel brackets for the

R88D-WT60H, R88D-WT75H or R88D-WT150H.

2-3

Standard Models and Specifications

H Encoder Cables (For Incremental or

Absolute Encoders)

Flat-style

, /

For 1,500-r/min

Servomotors

Specifications

30 to 750 W 3 m

5 m

Model

R88A-CRWA003C

R88A-CRWA005C

10 m R88A-CRWA010C

15 m R88A-CRWA015C

20 m R88A-CRWA020C

30 m R88A-CRWA030C

1 to 5 kW

100 W to

1.5 kW

40 m R88A-CRWA040C

50 m R88A-CRWA050C

3 m

5 m

R88A-CRWB003N

R88A-CRWB005N

10 m R88A-CRWB010N

15 m R88A-CRWB015N

20 m R88A-CRWB020N

30 m R88A-CRWB030N

40 m R88A-CRWB040N

50 m R88A-CRWB050N

3 m R88A-CRWA003C

5 m R88A-CRWA005C

10 m R88A-CRWA010C

15 m R88A-CRWA015C

20 m R88A-CRWA020C

30 m R88A-CRWA030C

300 W to

5.5 kW

450 W to

15 kW

40 m R88A-CRWA040C

50 m R88A-CRWA050C

3 m

5 m

R88A-CRWB003N

R88A-CRWB005N

10 m R88A-CRWB010N

15 m R88A-CRWB015N

20 m R88A-CRWB020N

30 m R88A-CRWB030N

40 m R88A-CRWB040N

50 m R88A-CRWB050N

Chapter 2

H Power Cables

• Power Cable for 3,000-r/min Servomotors

Model

30 to 750 W 3 m

5 m

Without brake

R88A-CAWA003S

With brake

R88A-CAWA003B

R88A-CAWA005S R88A-CAWA005B

10 m R88A-CAWA010S R88A-CAWA010B

15 m R88A-CAWA015S R88A-CAWA015B

20 m R88A-CAWA020S R88A-CAWA020B

30 m R88A-CAWA030S R88A-CAWA030B

40 m R88A-CAWA040S R88A-CAWA040B

50 m R88A-CAWA050S R88A-CAWA050B

1 to 2 kW

3 to 5 kW

3 m

5 m

R88A-CAWC003S R88A-CAWC003B

R88A-CAWC005S R88A-CAWC005B

10 m R88A-CAWC010S R88A-CAWC010B

15 m R88A-CAWC015S R88A-CAWC015B

20 m R88A-CAWC020S R88A-CAWC020B

30 m R88A-CAWC030S R88A-CAWC030B

40 m R88A-CAWC040S R88A-CAWC040B

50 m R88A-CAWC050S R88A-CAWC050B

3 m R88A-CAWD003S R88A-CAWD003B

5 m R88A-CAWD005S R88A-CAWD005B

10 m R88A-CAWD010S R88A-CAWD010B

15 m R88A-CAWD015S R88A-CAWD015B

20 m R88A-CAWD020S R88A-CAWD020B

30 m R88A-CAWD030S R88A-CAWD030B

40 m R88A-CAWD040S R88A-CAWD040B

50 m R88A-CAWD050S R88A-CAWD050B

2-4

Standard Models and Specifications

• Power Cable for 3,000-r/min Flat-style Servomotors

Model

100 to

750 W

1.5 kW

Without brake With brake

3 m

5 m

R88A-CAWA003S R88A-CAWA003B

R88A-CAWA005S R88A-CAWA005B

10 m R88A-CAWA010S R88A-CAWA010B

15 m R88A-CAWA015S R88A-CAWA015B

20 m R88A-CAWA020S R88A-CAWA020B

30 m R88A-CAWA030S R88A-CAWA030B

40 m R88A-CAWA040S R88A-CAWA040B

50 m R88A-CAWA050S R88A-CAWA050B

3 m

5 m

R88A-CAWB003S R88A-CAWB003B

R88A-CAWB005S R88A-CAWB005B

10 m R88A-CAWB010S R88A-CAWB010B

15 m R88A-CAWB015S R88A-CAWB015B

20 m R88A-CAWB020S R88A-CAWB020B

30 m R88A-CAWB030S R88A-CAWB030B

40 m R88A-CAWB040S R88A-CAWB040B

50 m R88A-CAWB050S R88A-CAWB050B

Chapter 2

• Power Cable for 1,000-r/min Servomotors

Model

Without brake With brake

300 to

900 W

3 m

5 m

R88A-CAWC003S R88A-CAWC003B

R88A-CAWC005S R88A-CAWC005B

10 m R88A-CAWC010S R88A-CAWC010B

15 m R88A-CAWC015S R88A-CAWC015B

20 m R88A-CAWC020S R88A-CAWC020B

30 m R88A-CAWC030S R88A-CAWC030B

40 m R88A-CAWC040S R88A-CAWC040B

50 m R88A-CAWC050S R88A-CAWC050B

1.2 to 3 kW 3 m R88A-CAWD003S R88A-CAWD003B

5 m R88A-CAWD005S R88A-CAWD005B

10 m R88A-CAWD010S R88A-CAWD010B

15 m R88A-CAWD015S R88A-CAWD015B

20 m R88A-CAWD020S R88A-CAWD020B

30 m R88A-CAWD030S R88A-CAWD030B

40 m R88A-CAWD040S R88A-CAWD040B

4 kW

(See note.)

5.5 kW

(See note.)

50 m R88A-CAWD050S R88A-CAWD050B

3 m R88A-CAWE003S R88A-CAWE003B

5 m R88A-CAWE005S R88A-CAWE005B

10 m R88A-CAWE010S R88A-CAWE010B

15 m R88A-CAWE015S R88A-CAWE015B

20 m R88A-CAWE020S R88A-CAWE020B

30 m R88A-CAWE030S R88A-CAWE030B

40 m R88A-CAWE040S R88A-CAWE040B

50 m R88A-CAWE050S R88A-CAWE050B

3 m

5 m

R88A-CAWF003S R88A-CAWE003B

R88A-CAWF005S R88A-CAWE005B

10 m R88A-CAWF010S R88A-CAWE010B

15 m R88A-CAWF015S R88A-CAWE015B

20 m R88A-CAWF020S R88A-CAWE020B

30 m R88A-CAWF030S R88A-CAWE030B

40 m R88A-CAWF040S R88A-CAWE040B

50 m R88A-CAWF050S R88A-CAWE050B

Note For 4-kW and 5.5-kW Servomotors, there are separate connectors for power and brakes. For that reason, when a

Servomotor with a brake is used, it will require both a Power

Cable for a Servomotor without a brake (i.e., R88A-CAWEj S or R88A-CAWF j S) and a Power Cable for a Servomotor with a brake (i.e., R88A-CAWE j B). The Power Cable for a Servomotor with a Brake is for brake line wiring only

(2-core).

2-5

Standard Models and Specifications

• Power Cable for 1,500-r/min Servomotors

Model

450 to

1.3 kW

1.8 to

4.4 kW

5.5 kW

(See note

1.)

7.5 to

11 kW

(See note

1.) )

Without brake With brake

3 m

5 m

R88A-CAWC003S R88A-CAWC003B

R88A-CAWC005S R88A-CAWC005B

10 m R88A-CAWC010S R88A-CAWC010B

15 m R88A-CAWC015S R88A-CAWC015B

20 m R88A-CAWC020S R88A-CAWC020B

30 m R88A-CAWC030S R88A-CAWC030B

40 m R88A-CAWC040S R88A-CAWC040B

50 m R88A-CAWC050S R88A-CAWC050B

3 m R88A-CAWD003S R88A-CAWD003B

5 m R88A-CAWD005S R88A-CAWD005B

10 m R88A-CAWD010S R88A-CAWD010B

15 m R88A-CAWD015S R88A-CAWD015B

20 m R88A-CAWD020S R88A-CAWD020B

30 m R88A-CAWD030S R88A-CAWD030B

40 m R88A-CAWD040S R88A-CAWD040B

50 m R88A-CAWD050S R88A-CAWD050B

3 m R88A-CAWE003S R88A-CAWE003B

5 m R88A-CAWE005S R88A-CAWE005B

10 m R88A-CAWE010S R88A-CAWE010B

15 m R88A-CAWE015S R88A-CAWE015B

20 m R88A-CAWE020S R88A-CAWE020B

30 m R88A-CAWE030S R88A-CAWE030B

40 m R88A-CAWE040S R88A-CAWE040B

50 m R88A-CAWE050S R88A-CAWE050B

3 m

5 m

R88A-CAWF003S R88A-CAWE003B

R88A-CAWF005S R88A-CAWE005B

10 m R88A-CAWF010S R88A-CAWE010B

15 m R88A-CAWF015S R88A-CAWE015B

20 m R88A-CAWF020S R88A-CAWE020B

30 m R88A-CAWF030S R88A-CAWE030B

40 m R88A-CAWF040S R88A-CAWE040B

50 m R88A-CAWF050S R88A-CAWE050B

Note 1.

For Servomotors of 5.5 kW and higher, there are separate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a

Power Cable for a Servomotor without a brake (i.e.,

R88A-CAWE j S or R88A-CAWF j S) and a Power

Cable for a Servomotor with a brake (i.e., R88A-CAWEj B). The Power Cable for a Servomotor of 5.5 kW or higher with a Brake is for brake line wiring only (2-core).

Note 2.

For details on preparing Power Cable for 15-kW Servomotors, refer to Power Cable for 1,500 r/min Servomotors under 3-2-3 Terminal Block Wiring .

Chapter 2

H Encoder Cables for Robot Cables (For

Incremental or Absolute Encoders)

, /

Flat-style

Specifications

For 1,500-r/min

Servomotors

30 to

750 W

Model

1 to 5 kW 3 m

5 m

R88A-CRWB003NR

R88A-CRWB005NR

10 m R88A-CRWB010NR

15 m R88A-CRWB015NR

20 m R88A-CRWB020NR

100 W to

1.5 kW

30 m R88A-CRWB030NR

40 m R88A-CRWB040NR

50 m R88A-CRWB050NR

3 m R88A-CRWA003CR

5 m R88A-CRWA005CR

10 m R88A-CRWA010CR

300 W to

5.5 kW

450 W to

15 kW

3 m

5 m

R88A-CRWA003CR

R88A-CRWA005CR

10 m R88A-CRWA010CR

15 m R88A-CRWA015CR

20 m R88A-CRWA020CR

30 m R88A-CRWA030CR

40 m R88A-CRWA040CR

50 m R88A-CRWA050CR

15 m R88A-CRWA015CR

20 m R88A-CRWA020CR

30 m R88A-CRWA030CR

40 m R88A-CRWA040CR

50 m R88A-CRWA050CR

3 m

5 m

R88A-CRWB003NR

R88A-CRWB005NR

10 m R88A-CRWB010NR

15 m R88A-CRWB015NR

20 m R88A-CRWB020NR

30 m R88A-CRWB030NR

40 m R88A-CRWB040NR

50 m R88A-CRWB050NR

2-6

Standard Models and Specifications

H Power Cables for Robot Cables

• Power Cable for 3,000-r/min Servomotors

Model

Without brake With brake

30 to

750 W

1 to

2 kW

3 to

5 kW

3 m R88A-CAWA003SR R88A-CAWA003BR

5 m R88A-CAWA005SR R88A-CAWA005BR

10 m R88A-CAWA010SR R88A-CAWA010BR

15 m R88A-CAWA015SR R88A-CAWA015BR

20 m R88A-CAWA020SR R88A-CAWA020BR

30 m R88A-CAWA030SR R88A-CAWA030BR

40 m R88A-CAWA040SR R88A-CAWA040BR

50 m R88A-CAWA050SR R88A-CAWA050BR

3 m R88A-CAWC003SR R88A-CAWC003BR

5 m R88A-CAWC005SR R88A-CAWC005BR

10 m R88A-CAWC010SR R88A-CAWC010BR

15 m R88A-CAWC015SR R88A-CAWC015BR

20 m R88A-CAWC020SR R88A-CAWC020BR

30 m R88A-CAWC030SR R88A-CAWC030BR

40 m R88A-CAWC040SR R88A-CAWC040BR

50 m R88A-CAWC050SR R88A-CAWC050BR

3 m

5 m

R88A-CAWD003SR R88A-CAWD003BR

R88A-CAWD005SR R88A-CAWD005BR

10 m R88A-CAWD010SR R88A-CAWD010BR

15 m R88A-CAWD015SR R88A-CAWD015BR

20 m R88A-CAWD020SR R88A-CAWD020BR

30 m R88A-CAWD030SR R88A-CAWD030BR

40 m R88A-CAWD040SR R88A-CAWD040BR

50 m R88A-CAWD050SR R88A-CAWD050BR

• Power Cable for 3,000-r/min Flat-style Servomotors

Model

100 to

750 W

3 m

5 m

Without brake

R88A-CAWA003SR

With brake

R88A-CAWA003BR

R88A-CAWA005SR R88A-CAWA005BR

10 m R88A-CAWA010SR R88A-CAWA010BR

15 m R88A-CAWA015SR R88A-CAWA015BR

20 m R88A-CAWA020SR R88A-CAWA020BR

30 m R88A-CAWA030SR R88A-CAWA030BR

40 m R88A-CAWA040SR R88A-CAWA040BR

50 m R88A-CAWA050SR R88A-CAWA050BR

1.5 kW 3 m R88A-CAWB003SR R88A-CAWB003BR

5 m R88A-CAWB005SR R88A-CAWB005BR

10 m R88A-CAWB010SR R88A-CAWB010BR

15 m R88A-CAWB015SR R88A-CAWB015BR

20 m R88A-CAWB020SR R88A-CAWB020BR

30 m R88A-CAWB030SR R88A-CAWB030BR

40 m R88A-CAWB040SR R88A-CAWB040BR

50 m R88A-CAWB050SR R88A-CAWB050BR

Chapter 2

• Power Cable for 1,000-r/min Servomotors

Model

Without brake With brake

300 to

900 W

1.2 to

3 kW

3 m

5 m

R88A-CAWC003SR R88A-CAWC003BR

R88A-CAWC005SR R88A-CAWC005BR

10 m R88A-CAWC010SR R88A-CAWC010BR

15 m R88A-CAWC015SR R88A-CAWC015BR

20 m R88A-CAWC020SR R88A-CAWC020BR

30 m R88A-CAWC030SR R88A-CAWC030BR

40 m R88A-CAWC040SR R88A-CAWC040BR

50 m R88A-CAWC050SR R88A-CAWC050BR

3 m

5 m

R88A-CAWD003SR R88A-CAWD003BR

R88A-CAWD005SR R88A-CAWD005BR

10 m R88A-CAWD010SR R88A-CAWD010BR

15 m R88A-CAWD015SR R88A-CAWD015BR

20 m R88A-CAWD020SR R88A-CAWD020BR

30 m R88A-CAWD030SR R88A-CAWD030BR

40 m R88A-CAWD040SR R88A-CAWD040BR

50 m R88A-CAWD050SR R88A-CAWD050BR

• Power Cable for 1,500-r/min Servomotors

Model

450 to

1.3 kW

1.8 to

4.4 kW

Without brake With brake

3 m

5 m

R88A-CAWC003SR R88A-CAWC003BR

R88A-CAWC005SR R88A-CAWC005BR

10 m R88A-CAWC010SR R88A-CAWC010BR

15 m R88A-CAWC015SR R88A-CAWC015BR

20 m R88A-CAWC020SR R88A-CAWC020BR

30 m R88A-CAWC030SR R88A-CAWC030BR

40 m R88A-CAWC040SR R88A-CAWC040BR

50 m R88A-CAWC050SR R88A-CAWC050BR

3 m R88A-CAWD003SR R88A-CAWD003BR

5 m R88A-CAWD005SR R88A-CAWD005BR

10 m R88A-CAWD010SR R88A-CAWD010BR

15 m R88A-CAWD015SR R88A-CAWD015BR

20 m R88A-CAWD020SR R88A-CAWD020BR

30 m R88A-CAWD030SR R88A-CAWD030BR

40 m R88A-CAWD040SR R88A-CAWD040BR

50 m R88A-CAWD050SR R88A-CAWD050BR

2-7

Standard Models and Specifications Chapter 2

Servomotors

• 3,000-r/min Servomotors

Without brake

With brake

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

100 V 30 W R88M-W03030L

50 W R88M-W05030L

100 W R88M-W10030L

200 W R88M-W20030L

200 V 30 W R88M-W03030H

50 W R88M-W05030H

100 W R88M-W10030H

200 W R88M-W20030H

400 W R88M-W40030H

750 W R88M-W75030H

1 kW R88M-W1K030H

1.5 kW R88M-W1K530H

2 kW R88M-W2K030H

3 kW

4 kW

R88M-W3K030H

R88M-W4K030H

R88M-W5K030H

100 V

5 kW

30 W

50 W

R88M-W03030L-B

R88M-W05030L-B

100 W R88M-W10030L-B

200 W R88M-W20030L-B

200 V 30 W R88M-W03030H-B

50 W R88M-W05030H-B

100 W R88M-W10030H-B

200 W R88M-W20030H-B

400 W R88M-W40030H-B

750 W R88M-W75030H-B

1 kW R88M-W1K030H-B

1.5 kW R88M-W1K530H-B

2 kW R88M-W2K030H-B

3 kW

4 kW

5 kW

R88M-W3K030H-B

R88M-W4K030H-B

R88M-W5K030H-B

R88M-W03030L-S1

R88M-W05030L-S1

R88M-W10030L-S1

R88M-W20030L-S1

R88M-W03030H-S1

R88M-W05030H-S1

R88M-W10030H-S1

R88M-W20030H-S1

R88M-W40030H-S1

R88M-W75030H-S1

R88M-W1K030H-S2

R88M-W1K530H-S2

R88M-W2K030H-S2

R88M-W3K030H-S2

R88M-W4K030H-S2

R88M-W5K030H-S2

R88M-W03030L-BS1

R88M-W05030L-BS1

R88M-W10030L-BS1

R88M-W20030L-BS1

R88M-W03030H-BS1

R88M-W05030H-BS1

R88M-W10030H-BS1

R88M-W20030H-BS1

R88M-W40030H-BS1

R88M-W75030H-BS1

R88M-W1K030H-BS2

R88M-W1K530H-BS2

R88M-W2K030H-BS2

R88M-W3K030H-BS2

R88M-W4K030H-BS2

R88M-W5K030H-BS2

R88M-W03030S

R88M-W05030S

R88M-W10030S

R88M-W20030S

R88M-W03030T

R88M-W05030T

R88M-W10030T

R88M-W20030T

R88M-W40030T

R88M-W75030T

R88M-W1K030T

R88M-W1K530T

R88M-W2K030T

R88M-W3K030T

R88M-W4K030T

R88M-W5K030T

R88M-W03030S-B

R88M-W05030S-B

R88M-W10030S-B

R88M-W20030S-B

R88M-W03030T-B

R88M-W05030T-B

R88M-W10030T-B

R88M-W20030T-B

R88M-W40030T-B

R88M-W75030T-B

R88M-W1K030T-B

R88M-W1K530T-B

R88M-W2K030T-B

R88M-W3K030T-B

R88M-W4K030T-B

R88M-W5K030T-B

R88M-W03030S-S1

R88M-W05030S-S1

R88M-W10030S-S1

R88M-W20030S-S1

R88M-W03030T-S1

R88M-W05030T-S1

R88M-W10030T-S1

R88M-W20030T-S1

R88M-W40030T-S1

R88M-W75030T-S1

R88M-W1K030T-S2

R88M-W1K530T-S2

R88M-W2K030T-S2

R88M-W3K030T-S2

R88M-W4K030T-S2

R88M-W5K030T-S2

R88M-W03030S-BS1

R88M-W05030S-BS1

R88M-W10030S-BS1

R88M-W20030S-BS1

R88M-W03030T-BS1

R88M-W05030T-BS1

R88M-W10030T-BS1

R88M-W20030T-BS1

R88M-W40030T-BS1

R88M-W75030T-BS1

R88M-W1K030T-BS2

R88M-W1K530T-BS2

R88M-W2K030T-BS2

R88M-W3K030T-BS2

R88M-W4K030T-BS2

R88M-W5K030T-BS2

2-8

Standard Models and Specifications Chapter 2

• 3,000-r/min Flat-style Servomotors

Without brake

With brake

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

100 V 100 W R88M-WP10030L

200 W R88M-WP20030L

200 V 100 W R88M-WP10030H

200 W R88M-WP20030H

400 W R88M-WP40030H

750 W R88M-WP75030H

1.5 kW R88M-WP1K530H

100 V 100 W R88M-WP10030L-B

200 W R88M-WP20030L-B

200 V 100 W R88M-WP10030H-B

200 W R88M-WP20030H-B

400 W R88M-WP40030H-B

750 W R88M-WP75030H-B

1.5 kW R88M-WP1K530H-B

R88M-WP10030L-S1

R88M-WP20030L-S1

R88M-WP10030H-S1

R88M-WP20030H-S1

R88M-WP40030H-S1

R88M-WP75030H-S1

R88M-WP10030S

R88M-WP20030S

R88M-WP10030T

R88M-WP20030T

R88M-WP40030T

R88M-WP75030T

R88M-WP1K530H-S1 R88M-WP1K530T

R88M-WP10030L-BS1 R88M-WP10030S-B

R88M-WP20030L-BS1 R88M-WP20030S-B

R88M-WP10030H-BS1 R88M-WP10030T-B

R88M-WP20030H-BS1 R88M-WP20030T-B

R88M-WP40030H-BS1 R88M-WP40030T-B

R88M-WP75030H-BS1 R88M-WP75030T-B

R88M-WP1K530H-BS1 R88M-WP1K530T-B

R88M-WP10030S-S1

R88M-WP20030S-S1

R88M-WP10030T-S1

R88M-WP20030T-S1

R88M-WP40030T-S1

R88M-WP75030T-S1

R88M-WP1K530T-S1

R88M-WP10030S-BS1

R88M-WP20030S-BS1

R88M-WP10030T-BS1

R88M-WP20030T-BS1

R88M-WP40030T-BS1

R88M-WP75030T-BS1

R88M-WP1K530T-BS1

• 1,000-r/min Servomotors

Without brake

With brake

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

200 V 300 W R88M-W30010H

600 W R88M-W60010H

900 W R88M-W90010H

1.2 kW R88M-W1K210H

2 kW

3 kW

4 kW

R88M-W2K010H

R88M-W3K010H

R88M-W4K010H

5.5 kW R88M-W5K510H

200 V 300 W R88M-W30010H-B

600 W R88M-W60010H-B

900 W R88M-W90010H-B

1.2 kW R88M-W1K210H-B

2 kW R88M-W2K010H-B

3 kW

4 kW

R88M-W3K010H-B

R88M-W4K010H-B

5.5 kW R88M-W5K510H-B

R88M-W30010H-S2

R88M-W60010H-S2

R88M-W90010H-S2

R88M-W1K210H-S2

R88M-W2K010H-S2

R88M-W3K010H-S2

R88M-W4K010H-S2

R88M-W5K510H-S2

R88M-W30010H-BS2

R88M-W60010H-BS2

R88M-W90010H-BS2

R88M-W1K210H-BS2

R88M-W2K010H-BS2

R88M-W3K010H-BS2

R88M-W4K010H-BS2

R88M-W5K510H-BS2

R88M-W30010T

R88M-W60010T

R88M-W90010T

R88M-W1K210T

R88M-W2K010T

R88M-W3K010T

R88M-W4K010T

R88M-W5K510T

R88M-W30010T-B

R88M-W60010T-B

R88M-W90010T-B

R88M-W1K210T-B

R88M-W2K010T-B

R88M-W3K010T-B

R88M-W4K010T-B

R88M-W5K510T-B

R88M-W30010T-S2

R88M-W60010T-S2

R88M-W90010T-S2

R88M-W1K210T-S2

R88M-W2K010T-S2

R88M-W3K010T-S2

R88M-W4K010T-S2

R88M-W5K510T-S2

R88M-W30010T-BS2

R88M-W60010T-BS2

R88M-W90010T-BS2

R88M-W1K210T-BS2

R88M-W2K010T-BS2

R88M-W3K010T-BS2

R88M-W4K010T-BS2

R88M-W5K510T-BS2

2-9

Standard Models and Specifications Chapter 2

• 1,500-r/min Servomotors

Without brake

With brake

200 V 450 W ---

850 W ---

1.3 kW ---

1.8 kW ---

2.9 kW ---

4.4 kW ---

5.5 kW ---

7.5 kW ---

11 kW ---

15 kW ---

200 V 450 W ---

850 W ---

1.3 kW ---

1.8 kW ---

2.9 kW ---

4.4 kW ---

5.5 kW ---

7.5 kW ---

11 kW ---

15 kW ---

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

---

R88M-W45015T

R88M-W85015T

R88M-W1K315T

R88M-W1K815T

R88M-W2K915T

R88M-W4K415T

R88M-W5K515T

R88M-W7K515T

R88M-W11K015T

R88M-W15K015T

R88M-W45015T-B

R88M-W85015T-B

R88M-W1K315T-B

R88M-W1K815T-B

R88M-W2K915T-B

R88M-W4K415T-B

R88M-W5K515T-B

R88M-W7K515T-B

R88M-W11K015T-B

R88M-W15K015T-B

R88M-W45015T-S2

R88M-W85015T-S2

R88M-W1K315T-S2

R88M-W1K815T-S2

R88M-W2K915T-S2

R88M-W4K415T-S2

R88M-W5K515T-S2

R88M-W7K515T-S2

R88M-W11K015T-S2

R88M-W15K015T-S2

R88M-W45015T-BS2

R88M-W85015T-BS2

R88M-W1K315T-BS2

R88M-W1K815T-BS2

R88M-W2K915T-BS2

R88M-W4K415T-BS2

R88M-W5K515T-BS2

R88M-W7K515T-BS2

R88M-W11K015T-BS2

R88M-W15K015T-BS2

2-10

Standard Models and Specifications Chapter 2

IP67 (Waterproof) Servomotors

• 3,000-r/min Servomotors

Without brake

With brake

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

200 V 1 kW R88M-W1K030H-O

1.5 kW R88M-W1K530H-O

2 kW R88M-W2K030H-O

3 kW

4 kW

5 kW

200 V 1 kW

R88M-W3K030H-O

R88M-W4K030H-O

R88M-W5K030H-O

R88M-W1K030H-BO

1.5 kW R88M-W1K530H-BO

2 kW R88M-W2K030H-BO

3 kW

4 kW

5 kW

R88M-W3K030H-BO

R88M-W4K030H-BO

R88M-W5K030H-BO

R88M-W1K030H-OS2

R88M-W1K530H-OS2

R88M-W2K030H-OS2

R88M-W1K030T-O

R88M-W1K530T-O

R88M-W2K030T-O

R88M-W3K030H-OS2

R88M-W4K030H-OS2

R88M-W3K030T-O

R88M-W4K030T-O

R88M-W5K030H-OS2 R88M-W5K030T-O

R88M-W1K030H-BOS2 R88M-W1K030T-BO

R88M-W1K530H-BOS2 R88M-W1K530T-BO

R88M-W2K030H-BOS2 R88M-W2K030T-BO

R88M-W3K030H-BOS2 R88M-W3K030T-BO

R88M-W4K030H-BOS2 R88M-W4K030T-BO

R88M-W5K030H-BOS2 R88M-W5K030T-BO

R88M-W1K030T-OS2

R88M-W1K530T-OS2

R88M-W2K030T-OS2

R88M-W3K030T-OS2

R88M-W4K030T-OS2

R88M-W5K030T-OS2

R88M-W1K030T-BOS2

R88M-W1K530T-BOS2

R88M-W2K030T-BOS2

R88M-W3K030T-BOS2

R88M-W4K030T-BOS2

R88M-W5K030T-BOS2

• 3,000-r/min Flat-style Servomotors

Without brake

With brake

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

100 V 100 W R88M-WP10030L-W

200 W R88M-WP20030L-W

200 V 100 W R88M-WP10030H-W

200 W R88M-WP20030H-W

R88M-WP10030L-WS1 R88M-WP10030S-W

R88M-WP20030L-WS1 R88M-WP20030S-W

R88M-WP10030H-WS1 R88M-WP10030T-W

R88M-WP20030H-WS1 R88M-WP20030T-W

400 W R88M-WP40030H-W

750 W R88M-WP75030H-W

1.5 kW R88M-WP1K530H-W

100 V 100 W R88M-WP10030L-BW

R88M-WP40030H-WS1

R88M-WP75030H-WS1

R88M-WP1K530H-WS1

R88M-WP10030L-BWS1

R88M-WP40030T-W

R88M-WP75030T-W

R88M-WP1K530T-W

R88M-WP10030S-BW

200 W R88M-WP20030L-BW R88M-WP20030L-BWS1 R88M-WP20030S-BW

200 V 100 W R88M-WP10030H-BW R88M-WP10030H-BWS1 R88M-WP10030T-BW

R88M-WP10030S-WS1

R88M-WP20030S-WS1

R88M-WP10030T-WS1

R88M-WP20030T-WS1

R88M-WP40030T-WS1

R88M-WP75030T-WS1

R88M-WP1K530T-WS1

R88M-WP10030S-BWS1

R88M-WP20030S-BWS1

R88M-WP10030T-BWS1

200 W R88M-WP20030H-BW R88M-WP20030H-BWS1 R88M-WP20030T-BW

400 W R88M-WP40030H-BW R88M-WP40030H-BWS1 R88M-WP40030T-BW

R88M-WP20030T-BWS1

R88M-WP40030T-BWS1

750 W R88M-WP75030H-BW R88M-WP75030H-BWS1 R88M-WP75030T-BW R88M-WP75030T-BWS1

1.5 kW R88M-WP1K530H-BW R88M-WP1K530H-BWS1 R88M-WP1K530T-BW R88M-WP1K530T-BWS1

2-11

Standard Models and Specifications Chapter 2

• 1,000-r/min Servomotors

Without brake

With brake

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

200 V 300 W R88M-W30010H-O

600 W R88M-W60010H-O

900 W R88M-W90010H-O

1.2 kW R88M-W1K210H-O

2 kW R88M-W2K010H-O

3 kW R88M-W3K010H-O

4 kW R88M-W4K010H-O

5.5 kW R88M-W5K510H-O

200 V 300 W R88M-W30010H-BO

600 W R88M-W60010H-BO

900 W R88M-W90010H-BO

1.2 kW R88M-W1K210H-BO

2 kW

3 kW

R88M-W2K010H-BO

R88M-W3K010H-BO

4 kW R88M-W4K010H-BO

5.5 kW R88M-W5K510H-BO

R88M-W30010H-OS2

R88M-W60010H-OS2

R88M-W90010H-OS2

R88M-W1K210H-OS2

R88M-W2K010H-OS2

R88M-W3K010H-OS2

R88M-W30010T-O

R88M-W60010T-O

R88M-W90010T-O

R88M-W1K210T-O

R88M-W2K010T-O

R88M-W3K010T-O

R88M-W4K010H-OS2

R88M-W5K510H-OS2

R88M-W4K010T-O

R88M-W5K510T-O

R88M-W30010H-BOS2 R88M-W30010T-BO

R88M-W60010H-BOS2 R88M-W60010T-BO

R88M-W90010H-BOS2 R88M-W90010T-BO

R88M-W1K210H-BOS2 R88M-W1K210T-BO

R88M-W2K010H-BOS2 R88M-W2K010T-BO

R88M-W3K010H-BOS2 R88M-W3K010T-BO

R88M-W4K010H-BOS2 R88M-W4K010T-BO

R88M-W5K510H-BOS2 R88M-W5K510T-BO

R88M-W30010T-OS2

R88M-W60010T-OS2

R88M-W90010T-OS2

R88M-W1K210T-OS2

R88M-W2K010T-OS2

R88M-W3K010T-OS2

R88M-W4K010T-OS2

R88M-W5K510T-OS2

R88M-W30010T-BOS2

R88M-W60010T-BOS2

R88M-W90010T-BOS2

R88M-W1K210T-BOS2

R88M-W2K010T-BOS2

R88M-W3K010T-BOS2

R88M-W4K010T-BOS2

R88M-W5K510T-BOS2

• 1,500-r/min Servomotors

Without brake

With brake

200 V 450 W ---

850 W ---

1.3 kW ---

1.8 kW ---

2.9 kW ---

4.4 kW ---

5.5 kW ---

7.5 kW ---

11 kW ---

15 kW ---

200 V 450 W ---

850 W ---

1.3 kW ---

1.8 kW ---

2.9 kW ---

4.4 kW ---

5.5 kW ---

7.5 kW ---

11 kW ---

15 kW ---

Model

With incremental encoder

Straight shaft without key

Straight shaft with key Straight shaft without key

With absolute encoder

Straight shaft with key

---

R88M-W45015T-O

R88M-W85015T-O

R88M-W1K315T-O

R88M-W1K815T-O

R88M-W2K915T-O

R88M-W4K415T-O

R88M-W5K515T-O

R88M-W7K515T-O

R88M-W11K015T-O

R88M-W15K015T-O

R88M-W45015T-BO

R88M-W85015T-BO

R88M-W1K315T-BO

R88M-W1K815T-BO

R88M-W2K915T-BO

R88M-W4K415T-BO

R88M-W5K515T-BO

R88M-W7K515T-BO

R88M-W11K015T-BO

R88M-W15K015T-BO

R88M-W45015T-OS2

R88M-W85015T-OS2

R88M-W1K315T-OS2

R88M-W1K815T-OS2

R88M-W2K915T-OS2

R88M-W4K415T-OS2

R88M-W5K515T-OS2

R88M-W7K515T-OS2

R88M-W11K015T-OS2

R88M-W15K015T-OS2

R88M-W45015T-BOS2

R88M-W85015T-BOS2

R88M-W1K315T-BOS2

R88M-W1K815T-BOS2

R88M-W2K915T-BOS2

R88M-W4K415T-BOS2

R88M-W5K515T-BOS2

R88M-W7K515T-BOS2

R88M-W11K015T-BOS2

R88M-W15K015T-BOS2

2-12

Standard Models and Specifications

Servomotors with Gears

Chapter 2

D Combination Table for Servomotors with Standard Gears

Standard Gears are highly accurate gears, with a maximum backlash of 3 degrees. The standard shaft is a straight shaft with a key. (Models without keys can also be manufactured for 3,000-r/min motors from 30 to 750 W and for 3,000-r/min flat-style motors. Models without keys have a suffix of -G jj B.)

Note A check mark in a box indicates that the two models can be combined. If the box is unchecked, then the models cannot be combined.

• 3,000-r/min Servomotors

100 V

200 V

30 W

50 W

100 W

200 W

30 W

50 W

100 W

200 W

400 W

750 W

1 kW

1.5 kW

2 kW

3 kW

4 kW

5 kW

Basic model

R88M-W03030L/S

R88M-W05030L/S

R88M-W10030L/S

R88M-W20030L/S

R88M-W03030H/T

R88M-W05030H/T

R88M-W10030H/T

R88M-W20030H/T

R88M-W40030H/T

R88M-W75030H/T

R88M-W1K030H/T

R88M-W1K530H/T

R88M-W2K030H/T

R88M-W3K030H/T

R88M-W4K030H/T

R88M-W5K030H/T

Gear (deceleration rate) n n n n n n n n n n n n n n n n

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n n

• 3,000-r/min Flat-style Servomotors

100 V

200 V

100 W

200 W

100 W

200 W

400 W

750 W

1.5 kW

Basic model Gear (deceleration rate)

R88M-WP10030L/S n

R88M-WP20030L/S n

R88M-WP10030H/T n

R88M-WP20030H/T n

R88M-WP40030H/T n

R88M-WP75030H/T n

R88M-WP1K530H/T n

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ n n n n n n n n n n n n n n n n n n n n n

2-13

Standard Models and Specifications

• 1,000-r/min Servomotors

Basic model

200 V 300 W

600 W

900 W

1.2 kW

2 kW

3 kW

4 kW

5.5 kW

R88M-W30010H/T

R88M-W60010H/T

R88M-W90010H/T

R88M-W1K210H/T

R88M-W2K010H/T

R88M-W3K010H/T

R88M-W4K010H/T

R88M-W5K510H/T

• 1,500-r/min Servomotors

Basic model

Chapter 2 n n n n n n

1/5 1/9 1/11

Gear (deceleration rate)

1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ n n n n n n n n n n n n n n n n n n n

200 V 450 W

850 W

1.3 kW

1.8 kW

2.9 kW

4.4 kW

5.5 kW

7.5 kW

11 kW

15 kW

R88M-W45015T

R88M-W85015T

R88M-W1K315T

R88M-W1K815T

R88M-W2K915T

R88M-W4K415T

R88M-W5K515T

R88M-W7K515T

R88M-W11K015T

R88M-W15K015T

Gear (deceleration rate) n n n n n n

1/5 1/9 1/11 1/20 1/21 1/29 1/33 1/45

-G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ n n n n n n n n n n n n n n n n n n

D Combination Table for Servomotors with Economy Gears

Economy Gears are low-cost gears, with a maximum backlash of 45 degrees. The shaft is a straight shaft with key. Models without keys are not available.

Note 1.

The 1,000-r/min and 1,500-r/min Servomotors cannot be combined with Economy Gears.

Note 2.

A check mark in a box indicates that the two models can be combined. If the box is unchecked, then the models cannot be combined.

2-14

Standard Models and Specifications

• 3,000-r/min Servomotors

Basic model

1/5

-G05CJ

100 V

200 V

200 W

400 W

750 W

1 kW

1.5 kW

2 kW

3 kW

4 kW

5 kW

30 W

50 W

100 W

200 W

30 W

50 W

100 W

• 3,000-r/min Flat-style Servomotors

R88M-W03030L/S

R88M-W05030L/S

R88M-W10030L/S

R88M-W20030L/S

R88M-W03030H/T

R88M-W05030H/T

R88M-W10030H/T

R88M-W20030H/T

R88M-W40030H/T

R88M-W75030H/T

R88M-W1K030H/T

R88M-W1K530H/T

R88M-W2K030H/T

R88M-W3K030H/T

R88M-W4K030H/T

R88M-W5K030H/T

Basic model

100 V

200 V

100 W

200 W

100 W

200 W

400 W

750 W

1.5 kW n n n n n n

R88M-WP10030L/S

R88M-WP20030L/S

R88M-WP10030H/T n

R88M-WP20030H/T n

R88M-WP40030H/T n

R88M-WP75030H/T n

R88M-WP1K530H/T n n

1/5

-G05CJ n n n n n n

Gear (deceleration rate)

1/9 1/15

-G09CJ -G15CJ n n n n n n n n n n n n

Gear (deceleration rate)

1/9

-G09CJ

1/15

-G15CJ n n n n n n

Chapter 2 n n n n n n

1/25

-G25CJ n n n n n n

1/25

-G25CJ

2-15

Standard Models and Specifications

D Servomotors with Standard Gears (Straight Shaft with Key)

• 3,000-r/min Servomotors

Chapter 2

100 V

200 V

1/33

1/5

1/9

1/21

1/33

1/5

1/11

1/5

1/11

1/21

1/33

1/5

1/9

1/21

1/33

1/5

1/11

1/21

1/33

1/5

1/9

1/21

1/33

1/5

1/9

1 kW 1/5

1/9

1/20

1/29

1/45

1.5 kW 1/5

1/9

1/20

1/29

1/45

1/11

1/21

1/33

1/5

1/11

1/21

1/33

1/21

1/33

1/5

1/11

1/21

1/33

1/5

R88M-W05030H-G33BJ

R88M-W10030H-G05BJ

R88M-W10030H-G11BJ

R88M-W10030H-G21BJ

R88M-W10030H-G33BJ

R88M-W20030H-G05BJ

R88M-W20030H-G11BJ

R88M-W20030H-G21BJ

R88M-W20030H-G33BJ

R88M-W40030H-G05BJ

R88M-W40030H-G11BJ

R88M-W40030H-G21BJ

R88M-W40030H-G33BJ

R88M-W75030H-G05BJ

R88M-W75030H-G11BJ

R88M-W75030H-G21BJ

R88M-W75030H-G33BJ

R88M-W1K030H-G05BJ

R88M-W1K030H-G09BJ

R88M-W1K030H-G20BJ

R88M-W1K030H-G29BJ

R88M-W1K030H-G45BJ

R88M-W1K530H-G05BJ

R88M-W1K530H-G09BJ

R88M-W1K530H-G20BJ

R88M-W1K530H-G29BJ

R88M-W1K530H-G45BJ

With incremental encoder

Without brake

R88M-W03030L-G05BJ

R88M-W03030L-G09BJ

With brake

R88M-W03030L-BG05BJ

R88M-W03030L-BG09BJ

R88M-W03030L-G21BJ

R88M-W03030L-G33BJ

R88M-W05030L-G05BJ

R88M-W05030L-G09BJ

R88M-W05030L-G21BJ

R88M-W05030L-G33BJ

R88M-W10030L-G05BJ

R88M-W03030L-BG21BJ

R88M-W03030L-BG33BJ

R88M-W05030L-BG05BJ

R88M-W05030L-BG09BJ

R88M-W05030L-BG21BJ

R88M-W05030L-BG33BJ

R88M-W10030L-BG05BJ

R88M-W10030L-G11BJ

R88M-W10030L-G21BJ

R88M-W10030L-G33BJ

R88M-W20030L-G05BJ

R88M-W20030L-G11BJ

R88M-W20030L-G21BJ

R88M-W20030L-G33BJ

R88M-W03030H-G05BJ

R88M-W03030H-G09BJ

R88M-W03030H-G21BJ

R88M-W03030H-G33BJ

R88M-W05030H-G05BJ

R88M-W05030H-G09BJ

R88M-W05030H-G21BJ

R88M-W10030L-BG11BJ

R88M-W10030L-BG21BJ

R88M-W10030L-BG33BJ

R88M-W20030L-BG05BJ

R88M-W20030L-BG11BJ

R88M-W20030L-BG21BJ

R88M-W20030L-BG33BJ

R88M-W03030H-BG05BJ

R88M-W03030H-BG09BJ

R88M-W03030H-BG21BJ

R88M-W03030H-BG33BJ

R88M-W05030H-BG05BJ

R88M-W05030H-BG09BJ

R88M-W05030H-BG21BJ

R88M-W05030H-BG33BJ

R88M-W10030H-BG05BJ

R88M-W10030H-BG11BJ

R88M-W10030H-BG21BJ

R88M-W10030H-BG33BJ

R88M-W20030H-BG05BJ

R88M-W20030H-BG11BJ

R88M-W20030H-BG21BJ

R88M-W20030H-BG33BJ

R88M-W40030H-BG05BJ

R88M-W40030H-BG11BJ

R88M-W40030H-BG21BJ

R88M-W40030H-BG33BJ

R88M-W75030H-BG05BJ

R88M-W75030H-BG11BJ

R88M-W75030H-BG21BJ

R88M-W75030H-BG33BJ

R88M-W1K030H-BG05BJ

R88M-W1K030H-BG09BJ

R88M-W1K030H-BG20BJ

R88M-W1K030H-BG29BJ

R88M-W1K030H-BG45BJ

R88M-W1K530H-BG05BJ

R88M-W1K530H-BG09BJ

R88M-W1K530H-BG20BJ

R88M-W1K530H-BG29BJ

R88M-W1K530H-BG45BJ

Model

With absolute encoder

Without brake

R88M-W03030S-G05BJ

R88M-W03030S-G09BJ

With brake

R88M-W03030S-BG05BJ

R88M-W03030S-BG09BJ

R88M-W03030S-G21BJ

R88M-W03030S-G33BJ

R88M-W05030S-G05BJ

R88M-W05030S-G09BJ

R88M-W05030S-G21BJ

R88M-W05030S-G33BJ

R88M-W10030S-G05BJ

R88M-W10030S-G11BJ

R88M-W10030S-G21BJ

R88M-W10030S-G33BJ

R88M-W20030S-G05BJ

R88M-W20030S-G11BJ

R88M-W20030S-G21BJ

R88M-W20030S-G33BJ

R88M-W03030S-BG21BJ

R88M-W03030S-BG33BJ

R88M-W05030S-BG05BJ

R88M-W05030S-BG09BJ

R88M-W05030S-BG21BJ

R88M-W05030S-BG33BJ

R88M-W10030S-BG05BJ

R88M-W10030S-BG11BJ

R88M-W10030S-BG21BJ

R88M-W10030S-BG33BJ

R88M-W20030S-BG05BJ

R88M-W20030S-BG11BJ

R88M-W20030S-BG21BJ

R88M-W20030S-BG33BJ

R88M-W03030T-G05BJ

R88M-W03030T-G09BJ

R88M-W03030T-G21BJ

R88M-W03030T-G33BJ

R88M-W05030T-G05BJ

R88M-W05030T-G09BJ

R88M-W05030T-G21BJ

R88M-W05030T-G33BJ

R88M-W10030T-G05BJ

R88M-W10030T-G11BJ

R88M-W10030T-G21BJ

R88M-W10030T-G33BJ

R88M-W20030T-G05BJ

R88M-W20030T-G11BJ

R88M-W20030T-G21BJ

R88M-W20030T-G33BJ

R88M-W40030T-G05BJ

R88M-W40030T-G11BJ

R88M-W40030T-G21BJ

R88M-W40030T-G33BJ

R88M-W75030T-G05BJ

R88M-W75030T-G11BJ

R88M-W75030T-G21BJ

R88M-W75030T-G33BJ

R88M-W1K030T-G05BJ

R88M-W1K030T-G09BJ

R88M-W1K030T-G20BJ

R88M-W1K030T-G29BJ

R88M-W1K030T-G45BJ

R88M-W1K530T-G05BJ

R88M-W1K530T-G09BJ

R88M-W1K530T-G20BJ

R88M-W1K530T-G29BJ

R88M-W1K530T-G45BJ

R88M-W03030T-BG05BJ

R88M-W03030T-BG09BJ

R88M-W03030T-BG21BJ

R88M-W03030T-BG33BJ

R88M-W05030T-BG05BJ

R88M-W05030T-BG09BJ

R88M-W05030T-BG21BJ

R88M-W05030T-BG33BJ

R88M-W10030T-BG05BJ

R88M-W10030T-BG11BJ

R88M-W10030T-BG21BJ

R88M-W10030T-BG33BJ

R88M-W20030T-BG05BJ

R88M-W20030T-BG11BJ

R88M-W20030T-BG21BJ

R88M-W20030T-BG33BJ

R88M-W40030T-BG05BJ

R88M-W40030T-BG11BJ

R88M-W40030T-BG21BJ

R88M-W40030T-BG33BJ

R88M-W75030T-BG05BJ

R88M-W75030T-BG11BJ

R88M-W75030T-BG21BJ

R88M-W75030T-BG33BJ

R88M-W1K030T-BG05BJ

R88M-W1K030T-BG09BJ

R88M-W1K030T-BG20BJ

R88M-W1K030T-BG29BJ

R88M-W1K030T-BG45BJ

R88M-W1K530T-BG05BJ

R88M-W1K530T-BG09BJ

R88M-W1K530T-BG20BJ

R88M-W1K530T-BG29BJ

R88M-W1K530T-BG45BJ

2-16

Standard Models and Specifications Chapter 2

200 V 2 kW

4 kW

1/5

1/9

1/20

1/29

1/45

1/5

1/9

1/5

1/9

1/20

1/29

1/45

1/20

1/29

1/5

1/9

1/20

With incremental encoder

Without brake

R88M-W2K030H-G05BJ

With brake

R88M-W2K030H-BG05BJ

R88M-W2K030H-G09BJ

R88M-W2K030H-G20BJ

R88M-W2K030H-G29BJ

R88M-W2K030H-G45BJ

R88M-W3K030H-G05BJ

R88M-W3K030H-G09BJ

R88M-W3K030H-G20BJ

R88M-W2K030H-BG09BJ

R88M-W2K030H-BG20BJ

R88M-W2K030H-BG29BJ

R88M-W2K030H-BG45BJ

R88M-W3K030H-BG05BJ

R88M-W3K030H-BG09BJ

R88M-W3K030H-BG20BJ

R88M-W3K030H-G29BJ

R88M-W3K030H-G45BJ

R88M-W4K030H-G05BJ

R88M-W4K030H-G09BJ

R88M-W4K030H-G20BJ

R88M-W4K030H-G29BJ

R88M-W5K030H-G05BJ

R88M-W5K030H-G09BJ

R88M-W5K030H-G20BJ

R88M-W3K030H-BG29BJ

R88M-W3K030H-BG45BJ

R88M-W4K030H-BG05BJ

R88M-W4K030H-BG09BJ

R88M-W4K030H-BG20BJ

R88M-W4K030H-BG29BJ

R88M-W5K030H-BG05BJ

R88M-W5K030H-BG09BJ

R88M-W5K030H-BG20BJ

Model

With absolute encoder

Without brake

R88M-W2K030T-G05BJ

With brake

R88M-W2K030T-BG05BJ

R88M-W2K030T-G09BJ

R88M-W2K030T-G20BJ

R88M-W2K030T-G29BJ

R88M-W2K030T-G45BJ

R88M-W3K030T-G05BJ

R88M-W3K030T-G09BJ

R88M-W3K030T-G20BJ

R88M-W2K030T-BG09BJ

R88M-W2K030T-BG20BJ

R88M-W2K030T-BG29BJ

R88M-W2K030T-BG45BJ

R88M-W3K030T-BG05BJ

R88M-W3K030T-BG09BJ

R88M-W3K030T-BG20BJ

R88M-W3K030T-G29BJ

R88M-W3K030T-G45BJ

R88M-W4K030T-G05BJ

R88M-W4K030T-G09BJ

R88M-W4K030T-G20BJ

R88M-W4K030T-G29BJ

R88M-W5K030T-G05BJ

R88M-W5K030T-G09BJ

R88M-W5K030T-G20BJ

R88M-W3K030T-BG29BJ

R88M-W3K030T-BG45BJ

R88M-W4K030T-BG05BJ

R88M-W4K030T-BG09BJ

R88M-W4K030T-BG20BJ

R88M-W4K030T-BG29BJ

R88M-W5K030T-BG05BJ

R88M-W5K030T-BG09BJ

R88M-W5K030T-BG20BJ

• 3,000-r/min Flat-style Servomotors

100 V

200 V

1/33

1/5

1/11

1/21

1/33

1.5 kW 1/5

1/11

1/21

1/33

1/5

1/11

1/21

1/33

1/5

1/11

1/21

1/33

1/5

1/11

1/21

1/33

1/5

1/11

1/21

1/33

1/5

1/11

With incremental encoder

Without brake

R88M-WP10030L-G05BJ

R88M-WP10030L-G11BJ

With brake

R88M-WP10030L-BG05BJ

R88M-WP10030L-BG11BJ

Model

With absolute encoder

Without brake

R88M-WP10030S-G05BJ

R88M-WP10030S-G11BJ

With brake

R88M-WP10030S-BG05BJ

R88M-WP10030S-BG11BJ

R88M-WP10030L-G21BJ

R88M-WP10030L-G33BJ

R88M-WP20030L-G05BJ

R88M-WP20030L-G11BJ

R88M-WP20030L-G21BJ

R88M-WP20030L-G33BJ

R88M-WP10030H-G05BJ

R88M-WP10030H-G11BJ

R88M-WP10030H-G21BJ

R88M-WP10030H-G33BJ

R88M-WP20030H-G05BJ

R88M-WP20030H-G11BJ

R88M-WP20030H-G21BJ

R88M-WP20030H-G33BJ

R88M-WP10030L-BG21BJ

R88M-WP10030L-BG33BJ

R88M-WP20030L-BG05BJ

R88M-WP20030L-BG11BJ

R88M-WP20030L-BG21BJ

R88M-WP20030L-BG33BJ

R88M-WP10030H-BG05BJ

R88M-WP10030H-BG11BJ

R88M-WP10030H-BG21BJ

R88M-WP10030H-BG33BJ

R88M-WP20030H-BG05BJ

R88M-WP20030H-BG11BJ

R88M-WP20030H-BG21BJ

R88M-WP20030H-BG33BJ

R88M-WP10030S-G21BJ

R88M-WP10030S-G33BJ

R88M-WP20030S-G05BJ

R88M-WP20030S-G11BJ

R88M-WP20030S-G21BJ

R88M-WP20030S-G33BJ

R88M-WP10030T-G05BJ

R88M-WP10030T-G11BJ

R88M-WP10030T-G21BJ

R88M-WP10030T-G33BJ

R88M-WP20030T-G05BJ

R88M-WP20030T-G11BJ

R88M-WP20030T-G21BJ

R88M-WP20030T-G33BJ

R88M-WP10030S-BG21BJ

R88M-WP10030S-BG33BJ

R88M-WP20030S-BG05BJ

R88M-WP20030S-BG11BJ

R88M-WP20030S-BG21BJ

R88M-WP20030S-BG33BJ

R88M-WP10030T-BG05BJ

R88M-WP10030T-BG11BJ

R88M-WP10030T-BG21BJ

R88M-WP10030T-BG33BJ

R88M-WP20030T-BG05BJ

R88M-WP20030T-BG11BJ

R88M-WP20030T-BG21BJ

R88M-WP20030T-BG33BJ

R88M-WP40030H-G05BJ

R88M-WP40030H-G11BJ

R88M-WP40030H-G21BJ

R88M-WP40030H-G33BJ

R88M-WP75030H-G05BJ

R88M-WP75030H-G11BJ

R88M-WP75030H-G21BJ

R88M-WP75030H-G33BJ

R88M-WP1K530H-G05BJ

R88M-WP1K530H-G11BJ

R88M-WP1K530H-G21BJ

R88M-WP1K530H-G33BJ

R88M-WP40030H-BG05BJ

R88M-WP40030H-BG11BJ

R88M-WP40030H-BG21BJ

R88M-WP40030H-BG33BJ

R88M-WP75030H-BG05BJ

R88M-WP75030H-BG11BJ

R88M-WP75030H-BG21BJ

R88M-WP75030H-BG33BJ

R88M-WP1K530H-BG05BJ

R88M-WP1K530H-BG11BJ

R88M-WP1K530H-BG21BJ

R88M-WP1K530H-BG33BJ

R88M-WP40030T-G05BJ

R88M-WP40030T-G11BJ

R88M-WP40030T-G21BJ

R88M-WP40030T-G33BJ

R88M-WP75030T-G05BJ

R88M-WP75030T-G11BJ

R88M-WP75030T-G21BJ

R88M-WP75030T-G33BJ

R88M-WP1K530T-G05BJ

R88M-WP1K530T-G11BJ

R88M-WP1K530T-G21BJ

R88M-WP1K530T-G33BJ

R88M-WP40030T-BG05BJ

R88M-WP40030T-BG11BJ

R88M-WP40030T-BG21BJ

R88M-WP40030T-BG33BJ

R88M-WP75030T-BG05BJ

R88M-WP75030T-BG11BJ

R88M-WP75030T-BG21BJ

R88M-WP75030T-BG33BJ

R88M-WP1K530T-BG05BJ

R88M-WP1K530T-BG11BJ

R88M-WP1K530T-BG21BJ

R88M-WP1K530T-BG33BJ

2-17

Standard Models and Specifications Chapter 2

200 V 300

1/29

1/45

1.2 kW 1/5

1/9

1/20

1/29

1/45

2 kW 1/5

1/9

1/20

1/5

1/9

1/20

1/29

1/45

1/5

1/9

1/20

1/5

1/9

1/20

1/29

1/45

1/5

• 1,000-r/min Servomotors

With incremental encoder

Without brake

R88M-W30010H-G05BJ

R88M-W30010H-G09BJ

With brake

R88M-W30010H-BG05BJ

R88M-W30010H-BG09BJ

R88M-W30010H-G20BJ

R88M-W30010H-G29BJ

R88M-W30010H-G45BJ

R88M-W60010H-G05BJ

R88M-W60010H-G09BJ

R88M-W60010H-G20BJ

R88M-W60010H-G29BJ

R88M-W30010H-BG20BJ

R88M-W30010H-BG29BJ

R88M-W30010H-BG45BJ

R88M-W60010H-BG05BJ

R88M-W60010H-BG09BJ

R88M-W60010H-BG20BJ

R88M-W60010H-BG29BJ

R88M-W60010H-G45BJ

R88M-W90010H-G05BJ

R88M-W90010H-G09BJ

R88M-W90010H-G20BJ

R88M-W90010H-G29BJ

R88M-W90010H-G45BJ

R88M-W1K210H-G05BJ

R88M-W1K210H-G09BJ

R88M-W1K210H-G20BJ

R88M-W1K210H-G29BJ

R88M-W1K210H-G45BJ

R88M-W2K010H-G05BJ

R88M-W2K010H-G09BJ

R88M-W2K010H-G20BJ

R88M-W3K010H-G05BJ

R88M-W3K010H-G09BJ

R88M-W60010H-BG45BJ

R88M-W90010H-BG05BJ

R88M-W90010H-BG09BJ

R88M-W90010H-BG20BJ

R88M-W90010H-BG29BJ

R88M-W90010H-BG45BJ

R88M-W1K210H-BG05BJ

R88M-W1K210H-BG09BJ

R88M-W1K210H-BG20BJ

R88M-W1K210H-BG29BJ

R88M-W1K210H-BG45BJ

R88M-W2K010H-BG05BJ

R88M-W2K010H-BG09BJ

R88M-W2K010H-BG20BJ

R88M-W3K010H-BG05BJ

R88M-W3K010H-BG09BJ

Model

With absolute encoder

Without brake

R88M-W30010T-G05BJ

R88M-W30010T-G09BJ

With brake

R88M-W30010T-BG05BJ

R88M-W30010T-BG09BJ

R88M-W30010T-G20BJ

R88M-W30010T-G29BJ

R88M-W30010T-G45BJ

R88M-W60010T-G05BJ

R88M-W60010T-G09BJ

R88M-W60010T-G20BJ

R88M-W60010T-G29BJ

R88M-W60010T-G45BJ

R88M-W90010T-G05BJ

R88M-W90010T-G09BJ

R88M-W90010T-G20BJ

R88M-W90010T-G29BJ

R88M-W90010T-G45BJ

R88M-W1K210T-G05BJ

R88M-W1K210T-G09BJ

R88M-W1K210T-G20BJ

R88M-W1K210T-G29BJ

R88M-W1K210T-G45BJ

R88M-W2K010T-G05BJ

R88M-W2K010T-G09BJ

R88M-W2K010T-G20BJ

R88M-W3K010T-G05BJ

R88M-W3K010T-G09BJ

R88M-W30010T-BG20BJ

R88M-W30010T-BG29BJ

R88M-W30010T-BG45BJ

R88M-W60010T-BG05BJ

R88M-W60010T-BG09BJ

R88M-W60010T-BG20BJ

R88M-W60010T-BG29BJ

R88M-W60010T-BG45BJ

R88M-W90010T-BG05BJ

R88M-W90010T-BG09BJ

R88M-W90010T-BG20BJ

R88M-W90010T-BG29BJ

R88M-W90010T-BG45BJ

R88M-W1K210T-BG05BJ

R88M-W1K210T-BG09BJ

R88M-W1K210T-BG20BJ

R88M-W1K210T-BG29BJ

R88M-W1K210T-BG45BJ

R88M-W2K010T-BG05BJ

R88M-W2K010T-BG09BJ

R88M-W2K010T-BG20BJ

R88M-W3K010T-BG05BJ

R88M-W3K010T-BG09BJ

2-18

Standard Models and Specifications

• 1,500-r/min Servomotors

200 V 50

1/9

1/20

1/29

1/45

1.3 kW 1/5

1/9

1/20

1/5

1/9

1/20

1/29

1/45

1/5

1/29

1/45

1.8 kW 1/5

1/9

1/20

1/29

2.9 kW 1/5

1/9

1/20

4.4 kW 1/5

1/9

---

With incremental encoder

Without brake With brake

---

Chapter 2

Model

With absolute encoder

Without brake

R88M-W45015T-G05BJ

R88M-W45015T-G09BJ

With brake

R88M-W45015T-BG05BJ

R88M-W45015T-BG09BJ

R88M-W45015T-G20BJ

R88M-W45015T-G29BJ

R88M-W45015T-G45BJ

R88M-W85015T-G05BJ

R88M-W85015T-G09BJ

R88M-W85015T-G20BJ

R88M-W85015T-G29BJ

R88M-W85015T-G45BJ

R88M-W1K315T-G05BJ

R88M-W1K315T-G09BJ

R88M-W1K315T-G20BJ

R88M-W1K315T-G29BJ

R88M-W1K315T-G45BJ

R88M-W1K815T-G05BJ

R88M-W1K815T-G09BJ

R88M-W1K815T-G20BJ

R88M-W1K815T-G29BJ

R88M-W2K915T-G05BJ

R88M-W2K915T-G09BJ

R88M-W2K915T-G20BJ

R88M-W4K415T-G05BJ

R88M-W4K415T-G09BJ

R88M-W45015T-BG20BJ

R88M-W45015T-BG29BJ

R88M-W45015T-BG45BJ

R88M-W85015T-BG05BJ

R88M-W85015T-BG09BJ

R88M-W85015T-BG20BJ

R88M-W85015T-BG29BJ

R88M-W85015T-BG45BJ

R88M-W1K315T-BG05BJ

R88M-W1K315T-BG09BJ

R88M-W1K315T-BG20BJ

R88M-W1K315T-BG29BJ

R88M-W1K315T-BG45BJ

R88M-W1K815T-BG05BJ

R88M-W1K815T-BG09BJ

R88M-W1K815T-BG20BJ

R88M-W1K815T-BG29BJ

R88M-W2K915T-BG05BJ

R88M-W2K915T-BG09BJ

R88M-W2K915T-BG20BJ

R88M-W4K415T-BG05BJ

R88M-W4K415T-BG09BJ

2-19

Standard Models and Specifications Chapter 2

1/25

1/5

1/9

1/15

1/25

1/5

1/9

1/15

1/25

1/5

1/9

1/15

1/9

1/15

1/25

1/5

1/9

1/15

1/25

1/5

1/9

1/15

1/25

1/5

D Servomotors with Economy Gears (Straight Shaft with Key)

• 3,000-r/min Servomotors

100 V 00

200 V 00

With incremental encoder

Without brake With brake

R88M-W10030L-G05CJ

R88M-W10030L-G09CJ

R88M-W10030L-BG05CJ

R88M-W10030L-BG09CJ

R88M-W10030L-G15CJ

R88M-W10030L-G25CJ

R88M-W20030L-G05CJ

R88M-W10030L-BG15CJ

R88M-W10030L-BG25CJ

R88M-W20030L-BG05CJ

R88M-W20030L-G09CJ

R88M-W20030L-G15CJ

R88M-W20030L-G25CJ

R88M-W10030H-G05CJ

R88M-W10030H-G09CJ

R88M-W10030H-G15CJ

R88M-W10030H-G25CJ

R88M-W20030L-BG09CJ

R88M-W20030L-BG15CJ

R88M-W20030L-BG25CJ

R88M-W10030H-BG05CJ

R88M-W10030H-BG09CJ

R88M-W10030H-BG15CJ

R88M-W10030H-BG25CJ

R88M-W20030H-G05CJ

R88M-W20030H-G09CJ

R88M-W20030H-G15CJ

R88M-W20030H-G25CJ

R88M-W40030H-G05CJ

R88M-W40030H-G09CJ

R88M-W40030H-G15CJ

R88M-W40030H-G25CJ

R88M-W75030H-G05CJ

R88M-W75030H-G09CJ

R88M-W75030H-G15CJ

R88M-W75030H-G25CJ

R88M-W20030H-BG05CJ

R88M-W20030H-BG09CJ

R88M-W20030H-BG15CJ

R88M-W20030H-BG25CJ

R88M-W40030H-BG05CJ

R88M-W40030H-BG09CJ

R88M-W40030H-BG15CJ

R88M-W40030H-BG25CJ

R88M-W75030H-BG05CJ

R88M-W75030H-BG09CJ

R88M-W75030H-BG15CJ

R88M-W75030H-BG25CJ

Model

With absolute encoder

Without brake With brake

R88M-W10030S-G05CJ

R88M-W10030S-G09CJ

R88M-W10030S-BG05CJ

R88M-W10030S-BG09CJ

R88M-W10030S-G15CJ

R88M-W10030S-G25CJ

R88M-W20030S-G05CJ

R88M-W10030S-BG15CJ

R88M-W10030S-BG25CJ

R88M-W20030S-BG05CJ

R88M-W20030S-G09CJ

R88M-W20030S-G15CJ

R88M-W20030S-G25CJ

R88M-W10030T-G05CJ

R88M-W10030T-G09CJ

R88M-W10030T-G15CJ

R88M-W10030T-G25CJ

R88M-W20030S-BG09CJ

R88M-W20030S-BG15CJ

R88M-W20030S-BG25CJ

R88M-W10030T-BG05CJ

R88M-W10030T-BG09CJ

R88M-W10030T-BG15CJ

R88M-W10030T-BG25CJ

R88M-W20030T-G05CJ

R88M-W20030T-G09CJ

R88M-W20030T-G15CJ

R88M-W20030T-G25CJ

R88M-W40030T-G05CJ

R88M-W40030T-G09CJ

R88M-W40030T-G15CJ

R88M-W40030T-G25CJ

R88M-W75030T-G05CJ

R88M-W75030T-G09CJ

R88M-W75030T-G15CJ

R88M-W75030T-G25CJ

R88M-W20030T-BG05CJ

R88M-W20030T-BG09CJ

R88M-W20030T-BG15CJ

R88M-W20030T-BG25CJ

R88M-W40030T-BG05CJ

R88M-W40030T-BG09CJ

R88M-W40030T-BG15CJ

R88M-W40030T-BG25CJ

R88M-W75030T-BG05CJ

R88M-W75030T-BG09CJ

R88M-W75030T-BG15CJ

R88M-W75030T-BG25CJ

2-20

Standard Models and Specifications Chapter 2

1/9

1/15

1/25

1/5

1/9

1/15

1/25

1/5

1/9

1/15

1/25

1/15

1/25

1/5

1/9

1/15

1/25

1/5

1/9

1/15

1/25

1/5

1/9

• 3,000-r/min Flat-style Servomotors

100 V 00

200 V 00

With incremental encoder

Without brake

R88M-WP10030L-G05CJ

R88M-WP10030L-G09CJ

With brake

R88M-WP10030L-BG05CJ

R88M-WP10030L-BG09CJ

Model

With absolute encoder

Without brake

R88M-WP10030S-G05CJ

R88M-WP10030S-G09CJ

With brake

R88M-WP10030S-BG05CJ

R88M-WP10030S-BG09CJ

R88M-WP10030L-G15CJ

R88M-WP10030L-G25CJ

R88M-WP20030L-G05CJ

R88M-WP20030L-G09CJ

R88M-WP20030L-G15CJ

R88M-WP20030L-G25CJ

R88M-WP10030H-G05CJ

R88M-WP10030H-G09CJ

R88M-WP10030H-G15CJ

R88M-WP10030H-G25CJ

R88M-WP20030H-G05CJ

R88M-WP20030H-G09CJ

R88M-WP20030H-G15CJ

R88M-WP20030H-G25CJ

R88M-WP40030H-G05CJ

R88M-WP40030H-G09CJ

R88M-WP40030H-G15CJ

R88M-WP40030H-G25CJ

R88M-WP75030H-G05CJ

R88M-WP75030H-G09CJ

R88M-WP75030H-G15CJ

R88M-WP75030H-G25CJ

R88M-WP10030L-BG15CJ

R88M-WP10030L-BG25CJ

R88M-WP20030L-BG05CJ

R88M-WP20030L-BG09CJ

R88M-WP20030L-BG15CJ

R88M-WP20030L-BG25CJ

R88M-WP10030H-BG05CJ

R88M-WP10030H-BG09CJ

R88M-WP10030H-BG15CJ

R88M-WP10030H-BG25CJ

R88M-WP20030H-BG05CJ

R88M-WP20030H-BG09CJ

R88M-WP20030H-BG15CJ

R88M-WP20030H-BG25CJ

R88M-WP40030H-BG05CJ

R88M-WP40030H-BG09CJ

R88M-WP40030H-BG15CJ

R88M-WP40030H-BG25CJ

R88M-WP75030H-BG05CJ

R88M-WP75030H-BG09CJ

R88M-WP75030H-BG15CJ

R88M-WP75030H-BG25CJ

R88M-WP10030S-G15CJ

R88M-WP10030S-G25CJ

R88M-WP20030S-G05CJ

R88M-WP20030S-G09CJ

R88M-WP20030S-G15CJ

R88M-WP20030S-G25CJ

R88M-WP10030T-G05CJ

R88M-WP10030T-G09CJ

R88M-WP10030T-G15CJ

R88M-WP10030T-G25CJ

R88M-WP20030T-G05CJ

R88M-WP20030T-G09CJ

R88M-WP20030T-G15CJ

R88M-WP20030T-G25CJ

R88M-WP40030T-G05CJ

R88M-WP40030T-G09CJ

R88M-WP40030T-G15CJ

R88M-WP40030T-G25CJ

R88M-WP75030T-G05CJ

R88M-WP75030T-G09CJ

R88M-WP75030T-G15CJ

R88M-WP75030T-G25CJ

R88M-WP10030S-BG15CJ

R88M-WP10030S-BG25CJ

R88M-WP20030S-BG05CJ

R88M-WP20030S-BG09CJ

R88M-WP20030S-BG15CJ

R88M-WP20030S-BG25CJ

R88M-WP10030T-BG05CJ

R88M-WP10030T-BG09CJ

R88M-WP10030T-BG15CJ

R88M-WP10030T-BG25CJ

R88M-WP20030T-BG05CJ

R88M-WP20030T-BG09CJ

R88M-WP20030T-BG15CJ

R88M-WP20030T-BG25CJ

R88M-WP40030T-BG05CJ

R88M-WP40030T-BG09CJ

R88M-WP40030T-BG15CJ

R88M-WP40030T-BG25CJ

R88M-WP75030T-BG05CJ

R88M-WP75030T-BG09CJ

R88M-WP75030T-BG15CJ

R88M-WP75030T-BG25CJ

2-21

Standard Models and Specifications

2-2 Servo Driver and Servomotor Combinations

Chapter 2

The tables in this section show the possible combinations of OMNUC W-series Servo

Drivers and Servomotors. The boxes (j ) at the ends of the model numbers are for options such as shaft type, brake, waterproofing, decelerator, and so on.

3,000-r/min Servomotors and Servo Drivers

100 V

200 V

Rated output

30 W

50 W

100 W

200 W

30 W

50 W

100 W

200 W

400 W

750 W

1 kW

1.5 kW

2 kW

3 kW

4 kW

5 kW

Servomotor

With incremental encoder

R88M-W03030Lj

R88M-W05030Lj

R88M-W10030Lj

R88M-W20030Lj

R88M-W03030Hj

R88M-W05030Hj

R88M-W10030Hj

R88M-W20030Hj

R88M-W40030Hj

R88M-W75030Hj

R88M-W1K030Hj

R88M-W1K530Hj

R88M-W2K030Hj

R88M-W3K030Hj

R88M-W4K030Hj

R88M-W5K030Hj

With absolute encoder

R88M-W03030Sj

R88M-W05030Sj

R88M-W10030Sj

R88M-W20030Sj

R88M-W03030Tj

R88M-W05030Tj

R88M-W10030Tj

R88M-W20030Tj

R88M-W40030Tj

R88M-W75030Tj

R88M-W1K030Tj

R88M-W1K530Tj

R88M-W2K030Tj

R88M-W3K030Tj

R88M-W4K030Tj

R88M-W5K030Tj

Servo Driver

R88D-WTA3HL

R88D-WTA5HL

R88D-WT01HL

R88D-WT02HL

R88D-WTA3H

R88D-WTA5H

R88D-WT01H

R88D-WT02H

R88D-WT04H

R88D-WT08H

R88D-WT10H

R88D-WT15H

R88D-WT20H

R88D-WT30H

R88D-WT50H

3,000-r/min Flat-style Servomotors and Servo Drivers

100 V

200 V

Rated output

100 W

200 W

100 W

200 W

400 W

750 W

1.5 kW

Servomotor

With incremental encoder

With absolute encoder

R88M-WP10030Lj

R88M-WP20030Lj

R88M-WP10030Hj

R88M-WP20030Hj

R88M-WP10030Sj

R88M-WP20030Sj

R88M-WP10030Tj

R88M-WP20030Tj

R88M-WP40030Hj

R88M-WP75030Hj

R88M-WP40030T-

R88M-WP75030Tj j

R88M-WP1K530Hj R88M-WP1K530Tj

Servo Driver

R88D-WT01HL

R88D-WT02HL

R88D-WT01H

R88D-WT02H

R88D-WT04H

R88D-WT08H

R88D-WT15H

2-22

Standard Models and Specifications

1,000-r/min Servomotors and Servo Drivers

200 V

Rated output

300 W

600 W

900 W

1.2 kW

2 kW

3 kW

4 kW

5.5 kW

Servomotor

With incremental encoder

R88M-W30010Hj

R88M-W60010Hj

R88M-W90010Hj

R88M-W1K210Hj

R88M-W2K010Hj

R88M-W3K010Hj

R88M-W4K010Hj

R88M-W5K510Hj

With absolute encoder

R88M-W30010Tj

R88M-W60010Tj

R88M-W90010Tj

R88M-W1K210Tj

R88M-W2K010Tj

R88M-W3K010Tj

R88M-W4K010Tj

R88M-W5K510Tj

Chapter 2

Servo Driver

R88D-WT05H

R88D-WT08H

R88D-WT10H

R88D-WT15H

R88D-WT20H

R88D-WT30H

R88D-WT50H

R88D-WT60H

1,500-r/min Servomotors and Servo Drivers

200 V

Rated output

450 W

850 W

1.3 kW

1.8 kW

2.9 kW

4.4 kW

5.5 kW

7.5 kW

11 kW

15 kW

---

Servomotor

With incremental encoder

With absolute encoder

R88M-W45015Tj

R88M-W85015Tj

R88M-W1K315Tj

R88M-W1K815Tj

R88M-W2K915Tj

R88M-W4K415Tj

R88M-W5K515Tj

R88M-W7K515Tj

R88M-W11K015Tj

R88M-W15K015Tj

Servo Driver

R88D-WT05H

R88D-WT10H

R88D-WT15H

R88D-WT20H

R88D-WT30H

R88D-WT50H

R88D-WT60H

R88D-WT75H

R88D-WT150H

2-23

Standard Models and Specifications

2-3 External and Mounted Dimensions

Chapter 2

Dimensions are shown in millimeters.

2-3-1 AC Servo Drivers

H Single-phase 100 V: R88D-WTA3HL/-WTA5HL/-WT01HL (30 to 100 W)

Single-phase 200 V: R88D-WTA3H/-WTA5H/-WT01H/-WT02H (30 to 200 W)

D Wall Mounting

External dimensions Mounted dimensions

Two, M4

D Front Panel Mounting (Using Mounting Brackets)

External dimensions

5 dia.

Mounted dimensions

Two, M4

2-24

Standard Models and Specifications

Single-phase 100 V: R88D-WT02HL (200 W)

Single-phase 200 V: R88D-WT04H (400 W)

D Wall Mounting

External dimensions

5 dia.

Chapter 2

Mounted dimensions

Two, M4

D Front Panel Mounting (Using Mounting Brackets)

External dimensions

5 dia.

Mounted dimensions

Two, M4

2-25

Standard Models and Specifications Chapter 2

Three-phase 200 V: R88D-WT05H/-WT08H/-WT10H (500 W to 1 kW)

D Wall Mounting

External dimensions

5 dia.

Mounted dimensions

Two, M4

D Front Panel Mounting (Using Mounting Brackets)

External dimensions

5 dia.

Mounted dimensions

Two, M4

2-26

Standard Models and Specifications

Three-phase 200 V: R88D-WT15H (1.5 kW)

D Wall Mounting

External dimensions

5 dia.

Chapter 2

Mounted dimensions

Four, M4

D Front Panel Mounting (Using Mounting Brackets)

External dimensions

Two, 5 dia.

Mounted dimensions

Four, M4

2-27

Standard Models and Specifications Chapter 2

Three-phase 200 V: R88D-WT20H/-WT30H (2 to 3 kW)

D Wall Mounting

External dimensions Mounted dimensions

Two, 6 dia.

Four, M5

D Front Panel Mounting (Using Mounting Brackets)

External dimensions Mounted dimensions

Four, M5

2-28

Standard Models and Specifications

Three-phase 200 V: R88D-WT50H (5 kW)

D Wall Mounting

External dimensions

Two, 5.7 dia.

Chapter 2

Mounted dimensions

Four, M5

5.7

D Front Panel Mounting (Using Mounting Brackets)

External dimensions

3.2

Mounted dimensions

Four, M5

2-29

Standard Models and Specifications

Three-phase 200 V: R88D-WT60H/-WT75H (6 to 7.5 kW)

D Wall Mounting

External dimensions

Two, 7 dia.

Chapter 2

230 max.

Mounting dimensions

Four, M6

2-30

180 ± 0.5

230 max.

235 max.

Standard Models and Specifications

Three-phase 200 V: R88D-WT150H (15 kW)

D Wall Mounting

External dimensions

Two, 7 dia.

Chapter 2

Mounting dimensions

Four, M6

260

200 ± 5

2-31

Standard Models and Specifications

2-3-2 Parameter Units

Hand-held Parameter Unit: R88A-PR02W

Two, 4.5 dia.

Chapter 2

2-32

Standard Models and Specifications

2-3-3 AC Servomotors

3,000-r/min Servomotors without a Brake

D 100 V AC: 30 W/50 W/100 W

R88M-W03030L(-S1)/-W05030L(-S1)/-W10030L(-S1) [Incremental]

R88M-W03030S(-S1)/-W05030S(-S1)/-W10030S(-S1) [Absolute]

D 200 V AC: 30 W/50 W/100 W

R88M-W03030H(-S1)/-W05030H(-S1)/-W10030H(-S1) [Incremental]

R88M-W03030T(-S1)/-W05030T(-S1)/-W10030T(-S1) [Absolute]

Chapter 2

Dimensions of shaft end with key (-S1)

6 dia.

7 dia.

Two, 4.3 dia.

46 dia.

Dimensions of shaft end with key and tap (-S2)

M (effective depth: )

Model

R88M-W03030 j j 69.5

R88M-W05030 j j 77

R88M-W10030 j j 94.5

6h6

8h6

3 b

Dimensions (mm) h

1.2

1.8

M2.5

2-33

Standard Models and Specifications

3,000-r/min Servomotors with a Brake

D 100 V AC: 30 W/50 W/100 W

R88M-W03030L-B(S1)/-W05030L-B(S1)/-W10030L-B(S1) [Incremental]

R88M-W03030S-B(S1)/-W05030S-B(S1)/-W10030S-B(S1) [Absolute]

Chapter 2

D 200 V AC: 30 W/50 W/100 W

R88M-W03030H-B(S1)/-W05030H-B(S1)/-W10030H-B(S1) [Incremental]

R88M-W03030T-B(S1)/-W05030T-B(S1)/-W10030T-B(S1) [Absolute]

Dimensions of shaft end with key (-BS1)

6 dia.

7 dia.

Two, 4.3 dia.

46 dia.

Dimensions of shaft end with key and tap (-BS2)

M (effective depth: )

Model

R88M-W03030 j -B j 101

R88M-W05030 j -B j 108.5

R88M-W10030 j -B j 135

6h6

8h6

3 b

Dimensions (mm) h

1.2

1.8

M2.5

2-34

Standard Models and Specifications

3,000-r/min Servomotors without a Brake

D 100 V AC: 200 W

R88M-W20030L(-S1) [Incremental]

R88M-W20030S(-S1) [Absolute]

D 200 V AC: 200 W/400 W/750 W

R88M-W20030H(-S1)/-W40030H(-S1)/-W75030H(-S1) [Incremental]

R88M-W20030T(-S1)/-W40030T(-S1)/-W75030T(-S1) [Absolute]

Chapter 2

6 dia.

7 dia.

Four, Z dia.

D1 dia.

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key (-S1)

Dimensions of shaft end with key and tap (-S2)

M5 (effective depth: 8)

Model

R88M-W20030 j j 96.5

R88M-W40030 j j 124.5

R88M-W75030 j j 145 40

Dimensions (mm)

D1 D2 G

50h7

70h7

5.5

14h6

16h6

2-35

Standard Models and Specifications

3,000-r/min Servomotors with a Brake

D 100 V AC: 200 W

R88M-W20030L-B(S1) [Incremental]

R88M-W20030S-B(S1) [Absolute]

D 200 V AC: 200 W/400 W/750 W

R88M-W20030H-B(S1)/-W40030H-B(S1)/-W75030H-B(S1) [Incremental]

R88M-W20030T-B(S1)/-W40030T-B(S1)/-W75030T-B(S1) [Absolute]

Chapter 2

6 dia.

7 dia.

Four, Z dia.

D1 dia.

Dimensions of output section of 750-W Servomotors

Dimensions of shaft end with key

(-BS1)

Dimensions of shaft end with key and tap (-BS2) M5 (effective depth: 8)

Model

R88M-W20030 j -B j 136

R88M-W40030 j -B j 164

R88M-W75030 j -B j 189.5

Dimensions (mm)

50h7

70h7

5.5

14h6

16h6

2-36

Standard Models and Specifications

3,000-r/min Servomotors without a Brake

D 200 V AC: 1 kW/1.5 kW/2 kW/3 kW/4.0 kW/5.0 kW

R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2)/

-W4K030H(-S2)/-W5K030H(-S2) [Incremental]

R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2)/

-W4K030T(-S2)/-W5K030T(-S2) [Absolute]

Chapter 2

D1 dia.

D3 dia.

Four, Z dia.

Dimensions of shaft end with key (-S2)

Effective depth: 16

Model Dimensions (mm)

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3

R88M-W1K030 j j 148 45 76

R88M-W1K530 j j 175 102

128

154

96 88 100 115 95h7 130 3

R88M-W2K030 j j 198 125 177

R88M-W3K030 j j 199 63 124 178 114 88 130 145 110h7 165 6

R88M-W4K030 j j 236

R88M-W5K030 j j 276

161 215

201 255

F G

10 7

12 9

Note The external dimensions are the same for IP67 (waterproof) models (-O j ).

S QK

24h6 32

28h6 50

2-37

Standard Models and Specifications

3,000-r/min Servomotors with a Brake

Chapter 2

D 200 V AC: 1 kW/1.5 kW/2 kW/3 kW/4.0 kW/5.0 kW

R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2)/

-W4K030H-B(S2)/-W5K030H-B(S2) [Incremental]

R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T-B(S2)/-W3K030T-B(S2)/

-W4K030T-B(S2)/-W5K030T-B(S2) [Absolute]

D1 dia.

D3 dia.

Four, Z dia.

Dimensions of shaft end with key (-BS2)

(Effective depth: 16)

Model Dimensions (mm)

LL LR KB1 KB2 KL1 KL2 C D1 D2 D3

R88M-W1K030 j -B j 193 45 67

R88M-W1K530 j -B j 219 93

171

197

102 88 100 115 95h7 130 3

R88M-W2K030 j -B j 242 116 220

R88M-W3K030 j -B j 237 63 114 216 119 88 130 145 110h7 165 6

R88M-W4K030 j -B j 274

R88M-W5K030 j -B j 314

151 253

191 293

F G

10 7

12 9

Note The external dimensions are the same for IP67 (waterproof) models (-BO j ).

S QK

24h6 32

28h6 50

2-38

Standard Models and Specifications

3,000-r/min Flat-style Servomotors without a Brake

D 100 V AC: 100 W/200 W

R88M-WP10030L(-S1)/-WP20030L(-S1) [Incremental]

R88M-WP10030S(-S1)/-WP20030S(-S1) [Absolute]

Chapter 2

D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW

R88M-WP10030H(-S1)/-WP20030H(-S1)/-WP40030H(-S1)/-WP75030H(-S1)/

-WP1K530H(-S1) [Incremental]

R88M-WP10030T(-S1)/-WP20030T(-S1)/-WP40030T(-S1)/-WP75030T(-S1)/

-WP1K530T(-S1) [Absolute]

6 dia.

Dimensions of shaft end with key (j S1)

Dimensions of shaft end with key and tap (j S2)

M (effective depth: )

IP67 (-W j ) flange dimensions

D1 dia.

Four, Z dia.

R88M-WP

10030 j j

R88M-WP

20030 j j

R88M-WP

40030 j j

R88M-WP

75030 j j

R88M-WP

1K530 j j

86.5

114.5

Basic servomotor dimensions

50h7

70h7

5.5

Z S

8h6

14h6

40 120 145 110h7 3.5

10 10 16h6 22

19h6

Dimensions (mm)

With key (shaft end dimensions)

QK b h t1

Waterproof type (flange dimensions)

Cable lead-in section

W1 W2 DW1 DW2 A1 A2 A3 A4 A5

14 3 3 1.8

1 4 39 22 9 18 25 21 14

Tap

M3 6

16 5

3.5

1.5

55 28 38 19

2-39

Standard Models and Specifications

3,000-r/min Flat-style Servomotors with a Brake

D 100 V AC: 100 W/200 W

R88M-WP10030L-B(S1)/-WP20030L-B(S1) [Incremental]

R88M-WP10030S-B(S1)/-WP20030S-B(S1) [Absolute]

Chapter 2

D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW

R88M-WP10030H-B(S1)/-WP20030H-B(S1)/-WP40030H-B(S1)/-WP75030H-B(S1)/

-WP1K530H-B(S1) [Incremental]

R88M-WP10030T-B(S1)/-WP20030T-B(S1)/-WP40030T-B(S1)/-WP75030T-B(S1)/

-WP1K530T-B(S1) [Absolute]

6 dia.

Dimensions of shaft end with key (-B j S1)

Dimensions of shaft end with key and tap (-B j S2)

M (effective depth: )

IP67 (-BW j ) flange dimensions

D1 dia.

Four, Z dia.

Basic servomotor dimensions

R88M-WP

10030 j -B j

R88M-WP

20030 j -B j

R88M-WP

40030 j -B j

R88M-WP

75030 j -B j

R88M-WP

1K530 j -B j

98.5

118.5

120

148

LR C

25 60

30 80

50h7

70h7

5.5

8h6

14h6

19h6

40 120 145 110h7 3.5

10 10 16h6 22

Dimensions (mm)

With key (shaft end dimensions)

QK b h t1

14 3 3 1.8

Waterproof type (flange dimensions)

Cable lead-in section

W1 W2 DW1 DW2 A1 A2 A3 A4 A5

4 39 22 9 18 25 21 23

Tap

M3 6

3.5

1.5

55 28 38 26

2-40

Standard Models and Specifications

1,000-r/min Servomotors without a Brake

Chapter 2

D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW

R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/

-W2K010H(-S2)/-W3K010H(-S2) [Incremental]

R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/

-W2K010T(-S2)/-W3K010T(-S2) [Absolute]

Dimensions of output section of 300-W to 900-W Servomotors

D1 dia.

D3 dia.

Four, Z dia.

Dimensions of shaft end with key (-S2)

M (Effective depth: )

R88M-W30010 j j

R88M-W60010 j j

R88M-W90010 j j

R88M-W1K210 j j

R88M-W2K010 j j

R88M-W3K010 j j

138

161

185

LR KB1 KB2 KL1 KL2

166 79 89

192

226

58 65

112

115

149

117

140

164

144

170

204

C D1

130 145 110h7

Dimensions (mm)

D3 F

165 6

200 114.30

0 025

230 3.2

13.5

22h6

QK b

Note The external dimensions are the same for IP67 (waterproof) models (-O j ).

6 6

10 8 h t1 M

3.5

M12 25

2-41

Standard Models and Specifications

1,000-r/min Servomotors with a Brake

Chapter 2

D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW

R88M-W30010H-B(S2)/-W60010H-B(S2)/-W90010H-B(S2)/-W1K210H-B(S2)/

-W2K010H-B(S2)/-W3K010H-B(S2) [Incremental]

R88M-W30010T-B(S2)/-W60010T-B(S2)/-W90010T-B(S2)/-W1K210T-B(S2)/

-W2K010T-B(S2)/-W3K010T-B(S2) [Absolute]

Dimensions of output section of 300-W to 900-W Servomotors

D1 dia.

D3 dia.

Dimensions of shaft end with key (-BS2)

M (Effective depth: )

Four, Z dia.

R88M-W30010 j -B j

R88M-W60010 j -B j

R88M-W90010 j -B j

R88M-W1K210 j -B j

R88M-W2K010 j -B j

R88M-W3K010 j -B j

199

LR KB1 KB2 KL1 KL2

176 58 56

154

177

223 103

217 79 79

243

277

105

139

201

195

221

255

C D1

130 145 110h7

Dimensions (mm)

165 6

200 114.30

0 025

230 3.2

13.5

22h6

QK b

Note The external dimensions are the same for IP67 (waterproof) models (-BO j ).

6 6

10 8 h t1 M

3.5

M12 25

2-42

Standard Models and Specifications

1,000-r/min Servomotors without a Brake

D 200 V AC: 4 kW/5.5 kW

R88M-W4K010H(-S2)/-W5K010H(-S2) [Incremental]

R88M-W4K010T(-S2)/-W5K010T(-S2) [Absolute]

Chapter 2

200 dia.

230 dia.

Four,

13.5 dia.

Dimensions of shaft end with key (-S2)

M16 (Effective depth: 32)

Model

R88M-W4K010 j j 260

R88M-W5K010 j j 334

174

248

Dimensions (mm)

KB1

238

312

Note The external dimensions are the same for IP67 (waterproof) models (-O j ).

KB2

2-43

Standard Models and Specifications

1,000-r/min Servomotors with a Brake

D 200 V AC: 4 kW/5.5 kW

R88M-W4K010H-B(S2)/-W5K510H-B(S2) [Incremental]

R88M-W4K010T-B(S2)/-W5K510T-B(S2) [Absolute]

Chapter 2

200 dia.

230 dia.

Four,

13.5 dia.

Dimensions of shaft end with key (-BS2)

M16 (Effective depth: 32)

Model

R88M-W4K010 j -B j 311

R88M-W5K510 j -B j 365

174

248

Dimensions (mm)

KB1 KB2

289

363

231

305

Note The external dimensions are the same for IP67 (waterproof) models (-BO j ).

KB3

2-44

Standard Models and Specifications

1,500-r/min Servomotors without a Brake

Chapter 2

D 200 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW

R88M-W45015T(-S2)/-W85015T(-S2)/-W1K315T(-S2)/-W1K815T(-S2)/-W2K915T(-S2))/

-W4K415T(-S2) [Absolute]

Dimensions of output section of 450-W to 1.3-kW Servomotors

D1 dia.

D3 dia.

Dimensions of shaft end with key (-S2)

M (Effective depth: )

R88M-W45015Tj

R88M-W85015Tj

R88M-W1K315Tj

R88M-W1K815Tj

R88M-W2K915Tj

R88M-W4K415Tj

161

LR KB1 KB2 KL1 KL2

138 58 65

117

140

185 112

166 79 89

192

226

115

149

164

144

170

204

C D1

130 145 110h7

Dimensions (mm)

165 6

200 114.30

0 025

230 3.2

13.5

22h6

QK b

Note The external dimensions are the same for IP67 (waterproof) models (O j ).

6 6

10 8 h t1 M

3.5

M12 25

2-45

Standard Models and Specifications

1,500-r/min Servomotors with a Brake

Chapter 2

D 200 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW

R88M-W45015T-B(S2)/-W85015T-B(S2)/-W1K315T-B(S2)/-W1K815T-B(S2)/

-W2K915T-B(S2)/-W4K415T-B(S2) [Absolute]

Dimensions of output section of 450-W to 1.3-kW Servomotors

D1 dia.

D3 dia.

Dimensions of shaft end with key (-BS2)

M (Effective depth: )

Four, Z dia.

R88M-W45015T-B j

R88M-W85015T-B j

R88M-W1K315T-B j

R88M-W1K815T-B j

R88M-W2K915T-B j

R88M-W4K415T-B j

176

199

223

243

277

LR KB1 KB2 KL1 KL2

58 56

103

217 79 79

105

139

154

177

201

195

221

255

C D1

130 145 110h7

Dimensions (mm)

D3 F

165 6

200 114.30

0 025

230 3.2

13.5

22h6

QK b

Note The external dimensions are the same for IP67 (waterproof) models (-BO j ).

6 6

10 8 h t1 M

3.5

M12 25

2-46

Standard Models and Specifications

1,500-r/min Servomotors without a Brake

Chapter 2

D 200 V AC: 5.5 kW/7.5 kW/11 kW/15 kW

R88M-W5K515T(-S2)/-W7K515T(-S2)/-W11K015T(-S2)/-W15K015T(-S2) [Absolute]

D1 dia.

D3 dia.

Dimensions of output section of 11-kW and

15-kW Servomotors

15 dia.

Four,

Z dia.

Dimensions of shaft end with key (-S2)

M (Effective depth: )

R88M-W5K515Tj

R88M-W7K515Tj

R88M-W11K015Tj

R88M-W15K015Tj

LL LR KB1 KB2 KL1 KL2 IE C D1

260 113 174 238 150 150 123 180 200

334 248 312

338 116 251 317 168 168 142 220 235 200h7

457 343 435 150

Dimensions (mm)

D2 D3 F G Z S

230 3.2

18 13.5

42h6

270 4 18

13.5

42h6

0.030

0.011

QK b

12 8 h

12 8 5

16 10 6 t1 M

M16 32

M20 40

Note The external dimensions are the same for IP67 (waterproof) models (O j ).

2-47

Standard Models and Specifications

1,500-r/min Servomotors with a Brake

Chapter 2

D 200 V AC: 5.5 kW/7.5 kW/11 kW/15 kW

R88M-W5K515T-B(S2)/-W7K515T-B(S2)/-W11K015T-B(S2)/-W15K015T-B(S2)

[Absolute]

D1 dia.

D3 dia.

Dimensions of output section of 11-kW and

15-kW Servomotors

15 dia.

Four,

Z dia.

Dimensions of shaft end with key (-BS2)

M (Effective depth: )

R88M-W5K515T-B j

R88M-W7K515T-B j

311

385

R88M-W11K015T-B j

R88M-W15K015T-B j

383

519

113

KB1

174

KB2

289

KB3 KL1

231 150

KL2

KL3

123

248

258

343

363

362

497

305

315

415

142

150

180

200

Dimensions (mm)

D2 D3

230

114.30

0.025

114.30

0.025

3.2

13.5

42h6

0.030

0.011

90 b

12 8 h

5 t1 M

M16 32

M16

M20

Note The external dimensions are the same for IP67 (waterproof) models (-BO j ).

2-48

Standard Models and Specifications Chapter 2

2-3-4 AC Servomotors with Gears

AC Servomotors with Standard Gears

D 3,000-r/min Servomotors (30 to 750 W) with Standard Gears a gram

Dimensions (mm)

LL LM LR D1 D2

WOB* WB*

1/5

1/9

1/21

1/33

1/5

1/9

1/21

1/33

100 W 1/5

1/11

1/21

1/33

200 W 1/5

1/11

1/21

1/33

400 W 1/5

1/11

1/21

1/33

750 W 1/5

1/11

1/21

R88M-W03030 j j G05BJ 1, 1-1 69.5

R88M-W03030 j j G09BJ

R88M-W03030 j j G21BJ

69.5

R88M-W03030 j j G33BJ 69.5

R88M-W05030 j j G05BJ 1, 1-1 77

R88M-W05030 j j G09BJ 77

R88M-W05030 j j G21BJ 1, 1-2 77

R88M-W05030 j j G33BJ 77

R88M-W10030 j j G05BJ 1, 1-2 94.5

R88M-W10030 j j G11BJ

R88M-W10030 j j G21BJ

94.5

R88M-W10030 j j G33BJ

R88M-W20030 j j G05BJ 2

94.5

96.5

R88M-W20030 j j G11BJ

R88M-W20030 j j G21BJ

R88M-W20030 j j G33BJ

R88M-W40030 j j G05BJ 2

R88M-W40030 j j G11BJ

R88M-W40030 j j G21BJ

R88M-W40030 j j G33BJ

R88M-W75030 j j G05BJ 2

R88M-W75030 j j G11BJ

R88M-W75030 j j G21BJ

96.5

124.5

145

101

108.5

135

136

164

189.5

105

142

105

120

105

120

145

(92)

(120) 105

(139) 120

(120) 105

(139) 120

(158) 135

(139) 120

(158) 135

(192) 165

1/33 R88M-W75030 j j G33BJ 145 189.5

78 142 145 80 (192) 165

Note 1.

WOB and WB mean “without brake” and “with brake” respectively.

Note 2.

The values in parentheses are reference values.

Diagram 1

Diagram 1-1

Four, Z dia.

100

115

100

115

140

Key dimensions

M (Effective depth: )

112

114

112

134

64.5

55.5

64.5

D2 dia.

---

D1 dia.

C1 C1

Diagram 1-2

C1 C1

Four, RD6

D1 dia.

Four, Z dia.

D2 dia.

2-49

Standard Models and Specifications Chapter 2

102

7.5

12.5

7.5

Dimensions (mm)

T Z

5.5

6.6

5 b

Key dimensions h t1

3.5

M10

1/5

1/9

R88M-W03030 j j G05BJ

R88M-W03030 j j G09BJ

1/21 R88M-W03030 j j G21BJ

1/33 R88M-W03030 j j G33BJ

1/5 R88M-W05030 j j G05BJ

R88M-W05030 j j G09BJ

1/21 R88M-W05030 j j G21BJ

1/33 R88M-W05030 j j G33BJ

100 W 1/5 R88M-W10030 j j G05BJ

1/11 R88M-W10030 j j G11BJ

1/21 R88M-W10030 j j G21BJ

1/33 R88M-W10030 j j G33BJ

200 W 1/5 R88M-W20030 j j G05BJ

1/11 R88M-W20030 j j G11BJ

1/21 R88M-W20030 j j G21BJ

1/33 R88M-W20030 j j G33BJ

400 W 1/5 R88M-W40030 j j G05BJ

1/11 R88M-W40030 j j G11BJ

1/21 R88M-W40030 j j G21BJ

1/33 R88M-W40030 j j G33BJ

750 W 1/5 R88M-W75030 j j G05BJ

1/11 R88M-W75030 j j G11BJ

1/21 R88M-W75030 j j G21BJ

1/33 R88M-W75030 j j G33BJ

Diagram 2

Key dimensions

M (Effective depth: )

C1 C1

Four, RD6

D1 dia.

Four, Z dia.

D2 dia.

2-50

Standard Models and Specifications Chapter 2

D 3,000-r/min Servomotors (1 to 5 kW) with Standard Gears

Model Diagram

LM LR

Dimensions (mm)

C1 C2 D1

1 kW 1/5

1/9

1/20

1/29

1/45

1.5 kW 1/5

2 kW

4 kW

1/29

1/45

1/5

1/9

1/20

1/29

1/45

1/9

1/20

1/29

1/45

1/5

1/9

1/20

1/5

1/9

1/20

1/29

1/5

1/9

1/20

R88M-W1K030 j j G05BJ 1

R88M-W1K030 j j G09BJ

R88M-W1K030 j j G20BJ 2

R88M-W1K030 j j G29BJ

R88M-W1K030 j j G45BJ

R88M-W1K530 j j G05BJ 1

R88M-W1K530 j j G09BJ 2

R88M-W1K530 j j G20BJ

R88M-W1K530 j j G29BJ

R88M-W1K530 j j G45BJ

R88M-W2K030 j j G05BJ 1

R88M-W2K030 j j G09BJ 2

R88M-W2K030 j j G20BJ

R88M-W2K030 j j G29BJ

R88M-W2K030 j j G45BJ

R88M-W3K030 j j G05BJ 2

R88M-W3K030 j j G09BJ

R88M-W3K030 j j G20BJ

R88M-W3K030 j j G29BJ

R88M-W3K030 j j G45BJ

R88M-W4K030 j j G05BJ 2

R88M-W4K030 j j G09BJ

R88M-W4K030 j j G20BJ

R88M-W4K030 j j G29BJ

R88M-W5K030 j j G05BJ 2

R88M-W5K030 j j G09BJ

R88M-W5K030 j j G20BJ

140

160

140

160

140

160

100

140

100

140

100

201

253

221

253

228

238

201

228

253

263

203

207

238

154

203

207

154

166

207

217

154

199

236

175

198

199

236

276

WOB*

149

175

WB*

274

314

242

237

219

242

193

219

–

140

–

140

130

100

130

100

245

310

245

310

245

310

185

245

185

245

185

Note WOB and WB mean “without brake” and “with brake” respectively.

220

280

220

280

220

280

160

220

160

220

160

190

240

190

240

190

240

130

190

130

190

130

135

186

135

186

135

186

135

130

182

130

182

130

182

130

Diagram 1

Key dimensions

Four, Z dia.

D2 dia.

D1 dia.

2-51

Standard Models and Specifications Chapter 2

Diagram 2

137

171

137

171

137

171

–

137

–

137

–

Dimensions (mm)

T Z IE

Model

Key dimensions b h t1

5.5

4 kW 1/5

1/9

1/20

1/29

1/5

1/9

1/20

1/29

1/45

1/5

1/9

1/20

1/29

1/45

1 kW 1/5

1/9

1/20

1/29

1/45

1.5 kW 1/5

2 kW

1/9

1/20

1/29

1/45

1/5

1/9

1/20

R88M-W1K030 j j G05BJ

R88M-W1K030 j j G09BJ

R88M-W1K030 j j G20BJ

R88M-W1K030 j j G29BJ

R88M-W1K030 j j G45BJ

R88M-W1K530 j j G05BJ

R88M-W1K530 j j G09BJ

R88M-W1K530 j j G20BJ

R88M-W1K530 j j G29BJ

R88M-W1K530 j j G45BJ

R88M-W2K030 j j G05BJ

R88M-W2K030 j j G09BJ

R88M-W2K030 j j G20BJ

R88M-W2K030 j j G29BJ

R88M-W2K030 j j G45BJ

R88M-W3K030 j j G05BJ

R88M-W3K030 j j G09BJ

R88M-W3K030 j j G20BJ

R88M-W3K030 j j G29BJ

R88M-W3K030 j j G45BJ

R88M-W4K030 j j G05BJ

R88M-W4K030 j j G09BJ

R88M-W4K030 j j G20BJ

R88M-W4K030 j j G29BJ

R88M-W5K030 j j G05BJ

R88M-W5K030 j j G09BJ

R88M-W5K030 j j G20BJ

Key dimensions

Six, Z dia.

D2 dia.

D1 dia.

2-52

Standard Models and Specifications Chapter 2

D 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW) with Standard Gears a gram

WOB* WB*

LM LR

Dimensions (mm)

D1 D2

100 W 1/5 R88M-WP10030 j j G05BJ 1 62 91 46 60 70 60 (92) 80

1/11

1/21

1/33

200 W 1/5

1/11

1/21

1/33

400 W 1/5

1/11

1/21

1/33

750 W 1/5

1/11

1/21

R88M-WP10030 j j G11BJ

R88M-WP10030 j j G21BJ

R88M-WP10030 j j G33BJ

R88M-WP20030 j j G05BJ 1

R88M-WP20030 j j G11BJ

R88M-WP20030 j j G21BJ

R88M-WP20030 j j G33BJ

R88M-WP40030 j j G05BJ 1

R88M-WP40030 j j G11BJ

R88M-WP40030 j j G21BJ

R88M-WP40030 j j G33BJ

R88M-WP75030 j j G05BJ 1

R88M-WP75030 j j G11BJ

R88M-WP75030 j j G21BJ

86.5

96.5

98.5

118.5 56

118.5 64

118.5 71

118.5 72

120

105

142

105

120

105

120

145

120

(92) 80

(120) 105

(139) 120

(120) 105

(139) 120

(158) 135

(139) 120

(158) 135

(192) 165

1/33

1.5 kW 1/5

1/11

1/21

R88M-WP75030 j j G33BJ

R88M-WP1K530 j j G05BJ 1

R88M-WP1K530 j j G11BJ

R88M-WP1K530 j j G21BJ 2

96.5

114.5

120

148

142

105

142

156

145

120

145

170

120

(192) 165

(158) 135

(192) 165

215 190

1/33 R88M-WP1K530 j j G33BJ 114.5

148 94 156 170 120 215 190

Note 1.

WOB and WB mean “without brake” and “with brake” respectively.

Note 2.

The values in parentheses are reference values.

Diagram 1

100

115

100

115

140

115

140

165

112

114

64.5

112

134

114

134

163

135

---

Key dimensions

M (Effective depth: )

C1 C1

Four, RD6

D1 dia.

Four, Z dia.

D2 dia.

2-53

Standard Models and Specifications Chapter 2

E1 E2 F

7.5

12.5

7.5

12.5

102

105

Dimensions (mm)

T Z

6.6

14 b

Key dimensions h t1 M

M10

3.5

5.5

Model

100 W 1/5

1/11

1/21

1/33

200 W 1/5

1/11

1/21

1/33

400 W 1/5

1/11

1/21

1/33

750 W 1/5

1/11

1/21

1/33

1.5 kW 1/5

1/11

1/21

1/33

R88M-WP10030 j j G05BJ

R88M-WP10030 j j G11BJ

R88M-WP10030 j j G21BJ

R88M-WP10030 j j G33BJ

R88M-WP20030 j j G05BJ

R88M-WP20030 j j G11BJ

R88M-WP20030 j j G21BJ

R88M-WP20030 j j G33BJ

R88M-WP40030 j j G05BJ

R88M-WP40030 j j G11BJ

R88M-WP40030 j j G21BJ

R88M-WP40030 j j G33BJ

R88M-WP75030 j j G05BJ

R88M-WP75030 j j G11BJ

R88M-WP75030 j j G21BJ

R88M-WP75030 j j G33BJ

R88M-WP1K530 j j G05BJ

R88M-WP1K530 j j G11BJ

R88M-WP1K530 j j G21BJ

R88M-WP1K530 j j G33BJ

Diagram 2

Key dimensions

M (Effective depth: )

Four, Z dia.

D2 dia.

D1 dia.

C1 C1

2-54

Standard Models and Specifications Chapter 2

D 1,000-r/min Servomotors (300 to 3 kW) with Standard Gears

300 W 1/5

1/9

1/20

1/29

1/45

600 W 1/5

1/9

1/20

1/29

1/45

900 W 1/5

1/9

1/20

1/29

1/45

1.2 kW 1/5

1/9

1/20

1/29

1/45

2 kW 1/5

1/9

1/20

1/5

1/9

Model

R88M-W30010 j j G05BJ 1

R88M-W30010 j j G09BJ

R88M-W30010 j j G20BJ

R88M-W30010 j j G29BJ 2

R88M-W30010 j j G45BJ

R88M-W60010 j j G05BJ 1

R88M-W60010 j j G09BJ

R88M-W60010 j j G20BJ 2

R88M-W60010 j j G29BJ

R88M-W60010 j j G45BJ

R88M-W90010 j j G05BJ 1

R88M-W90010 j j G09BJ 2

R88M-W90010 j j G20BJ

R88M-W90010 j j G29BJ

R88M-W90010 j j G45BJ

R88M-W1K210 j j G05BJ 2

R88M-W1K210 j j G09BJ

R88M-W1K210 j j G20BJ

R88M-W1K210 j j G29BJ

R88M-W1K210 j j G45BJ

R88M-W2K010 j j G05BJ 2

R88M-W2K010 j j G09BJ

R88M-W2K010 j j G20BJ

R88M-W3K010 j j G05BJ 2

R88M-W3K010 j j G11BJ

Diagram

No.

140

160

140

160

100

140

160

100

140

100

140

100

203

230

255

223

255

234

244

203

230

255

265

168

213

244

156

209

213

156

168

187

213

223

156

166

192

226

185

166

138

161

WOB* WB*

138

176

199

217

243

277

223

217

LM LR

Dimensions (mm)

C1 C2 D1

–

140

–

140

–

140

–

140

180

130

180

130

245

310

245

310

185

245

310

185

245

185

245

185

220

280

220

280

160

220

280

160

220

160

220

160

190

240

190

240

130

190

240

130

190

130

190

130

135

186

135

186

135

186

135

130

182

130

182

130

182

130

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions

Four, Z dia.

D2 dia.

D1 dia.

2-55

Standard Models and Specifications Chapter 2

Dimensions (mm)

T Z IE

137

171

137

171

137

171

–

137

171

–

137

Model

Key dimensions b h t1

5.5

300 W 1/5

1/9

1/20

1/29

1/45

600 W 1/5

1/9

1/20

1/29

1/45

900 W 1/5

1/9

1/20

1/29

1/45

1.2 kW 1/5

1/9

2 kW

1/20

1/29

1/45

1/5

1/9

1/20

1/5

1/9

R88M-W30010 j j G05BJ

R88M-W30010 j j G09BJ

R88M-W30010 j j G20BJ

R88M-W30010 j j G29BJ

R88M-W30010 j j G45BJ

R88M-W60010 j j G05BJ

R88M-W60010 j j G09BJ

R88M-W60010 j j G20BJ

R88M-W60010 j j G29BJ

R88M-W60010 j j G45BJ

R88M-W90010 j j G05BJ

R88M-W90010 j j G09BJ

R88M-W90010 j j G20BJ

R88M-W90010 j j G29BJ

R88M-W90010 j j G45BJ

R88M-W1K210 j j G05BJ

R88M-W1K210 j j G09BJ

R88M-W1K210 j j G20BJ

R88M-W1K210 j j G29BJ

R88M-W1K210 j j G45BJ

R88M-W2K010 j j G05BJ

R88M-W2K010 j j G09BJ

R88M-W2K010 j j G20BJ

R88M-W3K010 j j G05BJ

R88M-W3K010 j j G11BJ

Diagram 2

Key dimensions

Six, Z dia.

D2 dia.

D1 dia.

2-56

Standard Models and Specifications Chapter 2

450 W 1/5

1/9

1/20

1/29

1/45

850 W 1/5

1/9

1/20

1/29

1/45

1.3 kW 1/5

1/9

1/20

1/29

1/45

1.8 kW 1/5

1/9

1/20

1/29

2.9 kW 1/5

1/9

1/20

4.4 kW 1/5

1/9

D 1,500-r/min Servomotors (450 W to 4.4 kW) with Standard Gears

Model

R88M-W45015Tj G05BJ

R88M-W45015Tj G09BJ

R88M-W45015Tj G20BJ

R88M-W45015Tj G29BJ

R88M-W45015Tj G45BJ

R88M-W85015Tj G05BJ

R88M-W85015Tj G09BJ

R88M-W85015Tj G20BJ

R88M-W85015Tj G29BJ

R88M-W85015Tj G45BJ

R88M-W1K315Tj G05BJ

R88M-W1K315Tj G09BJ

R88M-W1K315Tj G20BJ

R88M-W1K315Tj G29BJ

R88M-W1K315Tj G45BJ

R88M-W1K815Tj G05BJ

R88M-W1K815Tj G09BJ

R88M-W1K815Tj G20BJ

R88M-W1K815Tj G29BJ

R88M-W2K915Tj G05BJ

R88M-W2K915Tj G09BJ

R88M-W2K915Tj G20BJ

R88M-W4K415Tj G05BJ

R88M-W4K415Tj G09BJ

Diagram

No.

160

140

160

140

160

100

140

160

140

100

140

223

255

223

255

213

234

244

203

230

255

156

168

213

244

182

209

156

168

213

223

192

226

185

166

161

185

WOB* WB*

138 176

138

176

199

223

243

277

223

217

LM LR

Dimensions (mm)

C1 C2 D1

–

140

–

140

180

130

180

130

310

245

310

245

310

185

245

310

245

185

245

280

220

280

220

280

160

220

280

220

160

220

240

190

240

190

240

130

190

240

190

130

190

186

135

186

135

186

135

186

135

182

130

182

130

182

130

182

130

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions j C2

Four, Z dia.

D2 dia.

D1 dia.

j C1

2-57

Standard Models and Specifications Chapter 2

Dimensions (mm)

T Z IE

171

137

171

137

171

–

137

171

137

–

137

Model

Key dimensions b h

9 t1

5.5

450 W 1/5

1/9

1/20

1/29

1/45

850 W 1/5

1/9

1/20

1/29

1/45

1.3 kW 1/5

1/9

1/20

1/29

1/45

1.8 kW 1/5

1/9

1/20

1/29

2.9 kW 1/5

1/9

1/20

4.4 kW 1/5

1/9

R88M-W45015Tj G05BJ

R88M-W45015Tj G09BJ

R88M-W45015Tj G20BJ

R88M-W45015Tj G29BJ

R88M-W45015Tj G45BJ

R88M-W85015Tj G05BJ

R88M-W85015Tj G09BJ

R88M-W85015Tj G20BJ

R88M-W85015Tj G29BJ

R88M-W85015Tj G45BJ

R88M-W1K315Tj G05BJ

R88M-W1K315Tj G09BJ

R88M-W1K315Tj G20BJ

R88M-W1K315Tj G29BJ

R88M-W1K315Tj G45BJ

R88M-W1K815Tj G05BJ

R88M-W1K815Tj G09BJ

R88M-W1K815Tj G20BJ

R88M-W1K815Tj G29BJ

R88M-W2K915Tj G05BJ

R88M-W2K915Tj G09BJ

R88M-W2K915Tj G20BJ

R88M-W4K415Tj G05BJ

R88M-W4K415Tj G09BJ

Diagram 2

Key dimensions j C2

Four, Z dia.

D2 dia.

D1 dia.

2-58

Standard Models and Specifications

AC Servomotors with Economy Gears

Chapter 2

D 3,000-r/min Servomotors (100 to 750 W) with Economy Reduction Gears

Dimensions (mm)

C1 C2 D2 D3 D4 E1 LL

WOB* WB*

1 94.5

135 67.5

32 52 40 60 50 45 22 10 3 12 20 M5 12 100 W 1/5 R88M-W10030 j

j G05CJ

1/9 R88M-W10030 j

j G09CJ

1/15 R88M-W10030 j

j G15CJ

1/25 R88M-W10030 j

j G25CJ

200 W 1/5 R88M-W20030

j G05CJ j

1/9 R88M-W20030 j

j G09CJ

1/15 R88M-W20030 j

j G15CJ

1/25 R88M-W20030 j

j G25CJ

400 W 1/5 R88M-W40030

j G05CJ j

1/9 R88M-W40030 j

j G09CJ

1/15 R88M-W40030 j

j G15CJ

1/25 R88M-W40030 j

j G25CJ

750 W 1/5 R88M-W75030

j G05CJ j

1/9 R88M-W75030 j

j G09CJ

1/15 R88M-W75030 j

j G15CJ

1/25 R88M-W75030 j

j G25CJ

94.5

2 96.5

96.5

2 124.5

164

124.5

164

124.5

164

124.5

164

2 145

145

135

136

67.5

72.5

89.5

100

89.5

100

104

189.5

93.5

189.5

97.5

189.5

110

189.5

135

125 80

115 90

135 110 98

M10 20

Key dimensions

QK b h t1

16 4 4 2.5

2.5

3.5

2.5

3.5

Note WOB and WB mean “without brake” and “with brake” respectively.

Diagram 1

Key dimensions

Four, Z dia.

(Effective depth: )

D2 dia.

2-59

Standard Models and Specifications

Diagram 2

Four, Z dia.

(Effective depth: )

D2 dia.

Chapter 2

Key dimensions

2-60

Standard Models and Specifications Chapter 2

D 3,000-r/min Flat-style Servomotors (100 to 750 W) with Economy Gears

Dimensions (mm)

C2 D2 LL

WOB* WB*

62 91 72.5

32 52 60 60 50 45 22 10 3 12 20 M5 12 100 W 1/5

1/9

R88M-WP10030 j j G05CJ

R88M-WP10030 j j G09CJ

1/15 R88M-WP10030 j j G15CJ

1/25 R88M-WP10030 j j G25CJ

200 W 1/5 R88M-WP20030 j j G05CJ

1/9 R88M-WP20030 j j G09CJ

1/15 R88M-WP20030 j j G15CJ

1/25 R88M-WP20030 j j G25CJ

400 W 1/5 R88M-WP40030 j j G05CJ

1/9 R88M-WP40030 j j G09CJ

1/15 R88M-WP40030 j j G15CJ

1/25 R88M-WP40030 j j G25CJ

750 W 1/5 R88M-WP75030 j j G05CJ

1/9 R88M-WP75030 j j G09CJ

1/15 R88M-WP75030 j j G15CJ

1/25 R88M-WP75030 j j G25CJ

86.5

98.5

72.5

89.5

100 50

118.5

89.5

118.5

89.5

118.5

100 50

118.5

104 61

120

93.5

97.5

110 61

135 75

115 90

120 90

120 115 90

125 120 135 110 98

M10 20

Key dimensions b h t1

16 4 4 2.5

2.5

3.5

2.5

3.5

Note WOB and WB mean “without brake” and “with brake,” respectively.

Diagram

Key dimensions

Four, Z dia.

(Effective depth: )

D2 dia.

2-61

Standard Models and Specifications

2-4 Servo Driver Specifications

Chapter 2

OMNUC W-series AC Servo Drivers (R88D-WT

)

Referring to 2-2 Servo Driver and Servomotor Combinations , select a

Servo Driver to match the Servomotor that is being used.

OMNUC W-series AC Servomotor Drivers can handle either pulse inputs or analog inputs. The control mode is switched to match the controller being used. (The default setting is for position control by pulse train commands.)

2-4-1 General Specifications

Item Specifications

Ambient operating temperature 0 to 55 ° C

Ambient operating humidity 90% max. (with no condensation)

Ambient storage temperature

Ambient storage humidity

Storage and operating atmosphere

Vibration resistance

–20 to 85 ° C

90% max. (with no condensation)

No corrosive gasses.

Impact resistance

Insulation resistance

Dielectric strength

10 to 55 Hz in X, Y, and Z directions with 0.1-mm double amplitude; acceleration: 4.9 m/s 2 max.

Acceleration 19.6 m/s 2 max., in X, Y, and Z directions, three times

Between power line terminals and case: 0.5 M Ω min. (at 500 V DC)

Between power line terminals and case: 1,500 V AC for 1 min at 50/60 Hz

Protective structure

Between each control signal and case: 500 V AC for 1 min

Built into panel (IP10).

EC directives EMC directive EN55011 class A group1

Low-voltage directive

EN61000-6-2

EN50178

UL standards cUL standards

UL508C cUL C22.2 No.14

Note 1.

The above items reflect individual evaluation testing. The results may differ under compound conditions.

Note 2.

Absolutely do not conduct a withstand voltage test with a Megger tester 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 5-5 Periodic Maintenance for details.

Note 4.

The service life of the Servo Driver is 50,000 hours at an average ambient temperature of

40 ° C at 80% of the rated torque.

2-62

Standard Models and Specifications

2-4-2 Performance Specifications

Control Specifications

Chapter 2

D 100-V AC Input Type

Item

Continuous output current (rms)

Momentary maximum output current (rms)

Input power l

Main circuits

Control circuits

Main circuits

Control circuits

R88D-WTA3HL R88D-WTA5HL R88D-WT01HL R88D-WT02HL

0.66 A 0.95 A 2.4 A 3.0 A

9.0 A 2.0 A 2.9 A 7.2 A

Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

3.5 W 5.2 W 12 W

13 W 13 W 13 W

16.4 W

13 W

Control method

Inverter method

PWM frequency

Weight

Maximum applicable Servomotor wattage

Applicable Ser3,000-r/min [Incremental] vomotor

(R88M-)

3,000-r/min

Flat-style

[Absolute]

[Incremental]

[Absolute]

Performance

1,000-r/min [Incremental]

[Absolute]

1,500-r/min [Absolute]

Speed control range

–

All-digital servo

PWM method based on IGBT

11.7 kHz

Approx. 0.8 kg Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg

30 W 50 W 100 W 200 W

W03030L

W03030S

W05030L

W05030S

W10030L

W10030S

W20030L

W20030S

–

1:5,000

–

WP10030L

WP10030S

–

Load fluctuation rate 0.01% max. at 0% to 100% (at rated rotation speed)

Voltage fluctuation rate 0% at rated voltage ± 10% (at rated rotation speed)

Temperature fluctuation rate ± 0.1% max. at 0 to +50 ° C (at rated rotation speed)

Frequency characteristics 400 Hz (at the same load as the rotor inertia)

Torque control repeatability ± 2%

WP20030L

WP20030S

–

2-63

Standard Models and Specifications

D 200-V AC Input Type (Single-phase Input)

Item R88D-

WTA3H

R88D-

WTA5H

R88D-

WT01H

R88D-

WT02H

Continuous output current (rms)

Momentary maximum output current (rms) l p p ply p Main circuits

Control circuits

Main circuits

Control circuits

PWM frequency

Weight

Applicable Servomotor wattage

Applicable Servot

/ [Incremental]

[Absolute]

3,000-r/min

Fl t t l

Flat-style

[Incremental]

[Absolute]

/ [Incremental]

[Absolute]

1,500-r/min [Absolute]

Control method

Inverter method

Performance Speed control range

Load fluctuation rate

–

0.44 A

1.3 A

0.64 A

2.0 A

0.91 A

2.8 A

2.1 A

6.5 A

Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

3.1 W

13 W

4.6 W

13 W

6.7 W

13 W

13.3 W

13 W

11.7 kHz

Approx.

0.8 kg

30 W

W03030H

W03030T

Approx.

0.8 kg

50 W

W05030H

W05030T

–

Approx.

0.8 kg

100 W

W10030H

W10030T

WP10030H

WP10030T

–

Approx.

0.8 kg

200 W

W20030H

W20030T

WP20030H

WP20030T

–

– –

All-digital servo

–

PWM method based on IGBT

1:5,000

–

0.01% max. at 0% to 100% (at rated rotation speed)

Voltage fluctuation rate 0% at rated voltage ± 10% (at rated rotation speed)

Temperature fluctuation rate ± 0.1% max. at 0 to +50 ° C (at rated rotation speed)

Frequency characteristics 400 Hz (at the same load as the rotor inertia)

Torque control repeatability ± 2%

Chapter 2

R88D-

WT04H

2.8 A

8.5 A

20 W

13 W

Approx.

1.1 kg

400 W

W40030H

W40030T

–

WP40030H

WP40030T

–

D 200-V AC Input Type (Three-phase Input)

Item R88D-

WT05H

R88D-

WT08H

R88D-

WT10H

R88D-

WT15H

R88D-

WT20H

Continuous output current (rms) 3.8 A

Momentary maximum output current (rms) 11.0 A

5.7 A

13.9 A

7.6 A

17 A

11.6 A

28 A

18.5 A

42 A

Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz (See note.) Input power l

Main circuits

Control circuits

Heating valMain circuits ue

Control circuits

PWM frequency

Weight

Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

27 W

15 W

11.7 kHz

Approx.

1.7 kg

41 W

15 W

Approx.

1.7 kg

55 W

15 W

3.9 kHz

Approx.

1.7 kg

123 W

15 W

Approx. 2.8

120 W

15 W

Approx. 3.8

Applicable Servomotor wattage

Applicable

Servomotor

(R88M )

3,000r/min

[Incremental] –

[Absolute]

500 W

–

750 W

W75030H

W75030T

1 kW 1.5 kW

W1K030H W1K530H

W1K030T W1K530T

2 kW

W2K030H

W2K030T

R88D-

WT30H

24.8 A

56 A

155 W

15 W

3,000r/min Flattype

1,000-

/ i

1,500r/min

Control method

Inverter method

[Incremental] – WP75030H – WP1K530H –

[Absolute] – WP75030T –

[Incremental] W30010H W60010H

[Absolute] W30010T W60010T

[Absolute] W45015T –

WP1K530T

W90010H W1K210H

W90010T W1K210T

W85015T W1K315T

–

W2K010H

W2K010T

W1K815T

All-digital servo

PWM method based on IGBT

R88D-

WT50H

32.9 A

84 A

240 W

15 W

R88D-

WT60H

46.9 A

110 A

290 W

27 W

R88D-

WT75H

54.7 A

130 A

330 W

27 W

R88D-

WT150H

78 A

170 A

490 W

30 W

Approx.

3.8 kg

3 kW

Approx.

5.5 kg

5 kW

W3K030H W4K030H

W5K030H

W3K030T W4K030T

W5K030T

– –

Approx.

15 kg

6 kW

–

Approx.

15 kg

7.5 kW

–

Approx.

26 kg

15 kW

–

– – – – –

W3K010H W4K010H W5K510H –

W3K010T W4K010T W5K510T –

–

W2K915T W4K415T W5K515T W7K515T W11K015T

W15K015T

2-64

Standard Models and Specifications Chapter 2

Perfora ce

Item

Speed control range

Load fluctuation rate

Voltage fluctuation rate

Temperature fluctuation rate

Frequency characteristics

Torque control repeatability

R88D-

WT05H

1:5,000

R88D-

WT08H

R88D-

WT10H

R88D-

WT15H

R88D-

WT20H

R88D-

WT30H

0.01% max. at 0% to 100% (at rated rotation speed)

0% at rated voltage ± 10% (at rated rotation speed)

± 0.1% max. at 0 to +50 ° C (at rated rotation speed)

400 Hz (at the same load as the rotor inertia)

± 2%

R88D-

WT50H

R88D-

WT60H

R88D-

WT75H

R88D-

WT150H

Note The input power specifications when using an R88D-WT08H with single-phase 200-V power supply are single-phase 220 to 230 V AC +10 to –15%, 50/60 Hz.

For details, refer to 6-3 Single-phase Power for 3,000-r/min (750-W) Servomotors .

Protective and Diagnostic Functions

Error detection function

Parameter corruption

Main circuit detection error

Parameter setting error

Motor Mismatch

Overcurrent

Regeneration error

Regeneration resistor overload

Main circuit power supply setting error

(See note 1.)

Overvoltage

Low voltage

Overspeed

Overload

Dynamic brake overload

Resistor for inrush current overload

Overheat

Backup error [Absolute]

Checksum error [Absolute]

Battery error [Absolute]

Absolute error

Contents

The checksum for the parameters read from the EEP-ROM does not match.

There is an error in the detection data for the power supply circuit.

Incorrect parameter setting.

The Servomotor does not match the Servo Driver.

Overcurrent detected, or improper radiation shield temperature rise detected.

Regeneration circuit damaged due to large amount of regenerative energy.

Regenerative energy exceeded the regeneration resistance.

The method set in Pn001.2 (AC/DC input selection) is different from the AC/DC wiring method of the main circuit power supply.

Main circuit DC voltage above the allowable range.

Main circuit DC voltage below the allowable range.

Servomotor rotation speed exceeded the maximum speed.

Detected at reverse limit characteristics when 245% of the rated torque was exceeded.

Detected at reverse limit characteristics for 120% to 245% of the rated torque.

Regenerative energy exceeded the dynamic brake resistance during dynamic brake operation.

Inrush current exceeded the inrush resistance during power supply inrush.

Abnormal temperature rise detected in radiation shield.

Encoder backup power supply dropped.

Checksum error for Encoder memory data.

Encoder battery voltage dropped (to 2.7 V or lower).

Encoder internal data error

2-65

Standard Models and Specifications Chapter 2

Error detection function

Overspeed error [Absolute]

Encoder overheating [Absolute]

Speed command input reading error

Torque command input reading error

System error

Runaway detected

Contents

Servomotor rotation speed exceeded 200 r/min when Encoder power was turned ON.

Improper Encoder temperature rise detected.

The A/D end signal was not output from the A/D converter within a fixed time.

A control circuit system error was detected.

The Servomotor rotated in the opposite direction from the command.

Absolute Encoder setup was incorrect.

Multi-turn data error [Absolute]

Encoder communications error

Encoder parameter error

Encoder data error

Multi-turn limit data mismatch [Absolute]

Deviation counter overflow

No communication between the Encoder and the Servo Driver.

The parameters in the Encoder are corrupted.

Data from the Encoder is incorrect.

The multi-turn limits for the Encoder and the Servo Driver do not match.

Deviation counter residual pulses exceeded level set for Pn505.

Motor-load deviation over (See note 1.) The error for the full closed-loop or semiclosed-loop encoder exceeds the number of command units set in Pn51A.

Option detection error (See note 1.) An Option Unit has been removed.

Missing phase detected

Motor current error (See note 2.)

Motor conduction error (See note 2.)

Parameter Unit transmission error

Main-circuit power supply missing phase or disconnection detected.

The current that flows to the Servomotor is abnormally small for the torque command from the Servo Driver.

When the Servomotor is ON, the baseblock condition continues, regardless of the Servo Driver settings or external input.

Data could not be transmitted after the power was turned ON.

(CPF00)

Transmission timeout error (CPF01)

Note 1.

These functions are supported for Servo Drivers with a software version of “r.0014” or later.

Note 2.

These functions are supported for Servo Drivers with software version of “r.0037.”

2-66

Standard Models and Specifications Chapter 2

2-4-3 Terminal Block Specifications

Signal

–

L1C

L2C

Function

Main circuits power supply input

Main circuit DC output (Forward)

DC Reactor termip i p ply harmonic control

Main circuit DC output (Reverse)

Control circuits

l t

External regeneration resistance connection terminal

Condition

R88D-WT j H (30 to 400 W):

Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

R88D-WT j H (500 W to 6 kW):

Three phase 200/230 V AC (170 to 253 V AC) 50/60 Hz

R88D-WT j HL (30 to 200 W):

Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

Do not connect anything. This terminal is for the R88D-WT60H to

R88D-WT150H.

Normally short-circuit between +1 and +2.

If harmonic control measures are required, connect a DC Reactor between

+1 and +2. (This terminal is not provided in R88D-WT60H to R88D-WT150H models.)

Do not connect anything.

R88D-WT j ( )

R88D-WT j HL: Single-phase 100/115 V AC (85 to 127 V AC) 50/60 Hz

30 to 400 W: This terminal does not normally need to be connected. If regenerative energy is high, connect an External Regeneration Resistor between

500 W to 5 kW: Short-circuit between B2 and B3. If regenerative energy is high, remove the short bar between B2 and B3 and connect an External Re-

Servomotor connection terminals

Frame ground

6 to 15 kW: Connect an External Regeneration Resistance Unit between B1 and B2.

Red

White

These are the terminals for outputs to the Servomotor. Be sure to i h l p

Black

Green/

Yellow

This is the ground terminal. Ground to a minimum of 100 Ω (class-3).

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Standard Models and Specifications Chapter 2

2-4-4 Control I/O Specifications (CN1)

Control I/O and External Signals for Position Control

Reverse pulse

Positioning completed output 1

Forward pulse

(See note 2.)

Motor rotation detection

Maximum operating voltage:

30 V DC

Maximum output current:

50 mA

Deviation counter reset

(See note 2.)

Servo ready

(See note 2.)

Alarm output

(See note 2.)

24 V DC

RUN command

Alarm code outputs

Maximum operating voltage:

30 V DC

Maximum output current:

20 mA

Gain deceleration

Forward rotation drive prohibit

Reverse rotation drive prohibit

Encoder A phase outputs Line driver output

EIA-RS422A conforming

(Load resistance:

220 Ω min.)

Encoder B phase outputs

Encoder Z phase outputs

Alarm reset

Forward rotation current limit

Reverse rotation current limit

Ground common

Shell

Frame ground

Note 1.

The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings. The settings in the diagram are the defaults.

Note 2.

An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent, it will automatically reset after a fixed period of time has lapsed without current flowing (supported by Servo Drivers with software version “r.0037” or later).

2-68

Standard Models and Specifications Chapter 2

Control I/O Signal Connections and External Signal Processing for

Speed and Torque Control

Speed command

Torque command

Sensor ON

Backup battery

(2.8 to 4.5 V)

24 V DC

RUN command

A/D converter

(See note 4.)

Speed conformity

Motor rotation detection

Maximum operating voltage:

30 V DC

Maximum output current:

50 mA

Servo ready

(See note 4.)

Alarm output

(See note 4.)

Alarm code outputs

Maximum operating voltage:

30 V DC

Maximum output current:

20 mA

Gain deceleration

Forward rotation drive prohibit

Reverse rotation drive prohibit

Encoder phase-A outputs

Encoder phase-B outputs

Line driver output

EIA-

RS422A conforming

(Load resistance:

220 Ω max.)

Encoder phase-Z outputs

Alarm reset

Forward rotation current limit

Reverse rotation current limit

Ground common

Shell

Frame ground

Note 1.

Parameter settings (control mode selection) are required for speed and torque control.

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Standard Models and Specifications Chapter 2

Note 2.

The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings. The settings in the diagram are the defaults.

Note 3.

Pins 2, 4, 21, and 22 are for use with an absolute encoder.

Note 4.

Control I/O Signals

D CN1 Control Inputs

Pin

No.

Signal name

REF

AGND

TREF

AGND

PCOM

+PULS/

CW/A

–PULS/

CW/A

+SIGN/

CCW/B

–SIGN/

CCW/B

–ECRST

+ECRST

SEN

SENGND

BAT

BATGND

+24VIN put

Function

Speed command input

Speed command input ground

Torque command in-

Torque command input ground

Open collector comd l

Feed pulses, reverse pulses, or 90 _ phase difference pulses (A phase)

Direction signal, forward pulses, or 90 phase difference pulses (B phase)

Contents

Analog input terminal for speed commands. ± 2 to ± 10 V

(Servomotor forward rotation with + voltage)

Scale can be changed by means of user parameter

Pn300 (speed command scale).

Can be used as a speed limit input for torque control (by means of a Pn002.1 setting).

Analog input terminal for torque commands. ± 1 to ± 10 V

(Forward torque with + voltage)

Scale can be changed by means of user parameter

Pn400 (torque command scale) Pn400 (torque command scale).

Can be used as a torque limit input or torque feed forward input for speed control or position control (by means of a Pn002.0 setting).

p l d d i ti p t p t g t th i t to these terminals and connect the – inputs to open-collector output terminals.

Pulse string input terminals for position commands.

Line driver input: 10 mA at 3 V

Maximum response frequency: 500 kpps

Open-collector input: 7 to 15 mA

Maximum response frequency: 200 kpps

Any of the following can be selected by means of a

Pn200 0 setting: feed pulses or direction signals (PULS/

SIGN); forward or reverse pulses (CW/CCW); 90 _ phase difference (A/B phase) signals (A/B).

Line-driver input: 10 mA at 3 V Deviation counter reset

Sensor ON input

ON: Pulse commands prohibited and deviation counter cleared.

ON: Absolute encounter’s multi-turn amount and initial incremental pulses sent.

Required when using an absolute encoder.

Backup battery input Backup battery connector terminals for power interruption for absolute encoder

Connect the battery to either this terminal or CN8.

+24-V power supply input for control DC

Power supply input terminal (+24 V DC) for sequence inputs (pins 40 to 46).

All

Control mode

All

Position

All [absolute]

All

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Standard Models and Specifications Chapter 2

Pin

No.

40 to

Signal name

Function Contents

RUN [40] RUN command input ON: Servo ON (Starts power to Servomotor.)

MING [41] Gain reduction input ON: Switches speed loop to P control and reduces speed gain.

Control mode

All

Position, speed, internally set speed

All POT [42]

NOT [43] Reverse drive prohibit input

RESET

[44]

Alarm reset input

PCL [45]

Forward drive prohibit input

Forward rotation current limit input

NCL [46] Reverse rotation current limit input

RDIR [41] Rotation direction command input

Forward rotation overtravel input (OFF Prohibited; ON:

Permitted).

Reverse rotation overtravel input (OFF Prohibited; ON:

Permitted).

ON: Servo alarm status is reset.

ON: Output current is limited by the value set in Pn404

(forward rotation external current limit).

ON: Output current is limited by the value set in Pn405

(reverse rotation external current limit).

Specifies the direction of rotation for Servomotor rotation at the internally set speed.

All

Internally set speed

OFF: Forward rotation, ON: Reverse rotation

Selects the internally set speed (Pn301, Pn302, Pn303).

Internally set speed

SPD1 [45] Speed selection command 1 input

SPD2 [46] Speed selection command 2 input

TVSEL

[41]

PLOCK

[41]

Control mode switch input

Position lock command input

IPG [41]

GSEL

PSEL

(See note

2.)

Pulse disable input

ON: Change control mode

ON: Position lock goes into effect when the motor rotation speed is no more than the position lock rotation speed (Pn501).

ON: Command pulse inputs are ignored and the motor stops.

Gain switching input ON: Changes gain to No.2 speed gain (Pn104, Pn105,

Command pulse factor switching input

Pn106).

ON: Rotates the motor using the position command pulse multiplied by the value set in Pn217 (command pulse factor). (When Pn218.0 = 1)

Switch control mode

Speed control with position lock

Position control with pulse-disable

Internally set speed

Position

Note 1.

Function allocations for pin 40 to 46 sequence inputs can be set by means of user parameters

Pn50A to Pn50D. In this table, the numbers enclosed in brackets indicate the default pin numbers (allocations). The allocations vary depending on the control mode.

Note 2.

This I/O signal is supported by Servo Drivers with software version “r.0037.”

D CN1 Control Outputs

Pin

No.

Signal name

GND

Function

Ground common

–A

–B

Encoder phase-A + output

Encoder phase-A – output

Encoder phase-B + output

Encoder phase-B – output

Contents

Ground common terminal for the encoder output and alarm code output

Outputs encoder pulses divided according to user parame e 0

Line driver output (conforming to RS-422A).

All

Command mode

All

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Standard Models and Specifications Chapter 2

Pin

No.

Signal name

–Z

+ABS

–ABS

ALO1

ALO2

ALO3

ALM

ALMCOM

25 to

INP1 [25]

INP1COM [26]

INP2

INP2COM

VCMP [25]

VCMPCOM

[26]

TGON [27]

Function Contents

Encoder phase-Z + output

Encoder phase-Z – output

Absolute encoder signal + output

Outputs encoder phase-Z signals (1 pulse/revolution).

Outputs absolute encoder data.

Alarm code output 1

Alarm code output 2 g

f h l

Alarm code output 3

Open collector output: 30 V DC, 20 mA max.

Alarm output

When an alarm is generated for the Servo Driver, the output is OFF.

Positioning comp p

Speed conformity output

Servomotor rotation detection output

Open collector output (50 mA, 30 V DC max.)

ON when the position error is within the positioning comp g ( )

OFF when in a control mode other than position control mode.

ON when the position error is within the positioning comp g ( )

Always OFF when in a control mode other than position control mode.

ON when the Servomotor speed error is within the speed conformity signal output range (Pn503).

Always OFF when in a control mode other than speed control mode.

ON when the Servomotor rotation speed exceeds the value set for the Servomotor rotation detection speed

TGONCOM

[28]

Command

All mode

All [absoe]

All

Position

Speed

All

Note TGON is always ON when the encoder of the Servo

Driver is not connected.

circuits.

p g All READY [29]

READYCOM

[30]

CLIMT

CLIMTCOM

VLIMT

VLIMTCOM

BKIR

BKIRCOM

WARN

WARNCOM

PSON

(See note 2.)

PSONCOM

(See note 2.)

Shell FG

Current limit detection output

Speed limit detection output

ON if the speed is limited.

Always OFF when in a control mode other than torque control mode.

Brake interlock output g g g

P 06 P 0 p d P 08 g

Command pulse faco e ab ed o p i i d g g

ON when the command pulse factor has changed after e S (co

O a d p se ac o s c g) p as

Frame ground

All

Torque

All

Position

Connection terminal for cable’s shielded wire and FG line. All

2-72

Standard Models and Specifications Chapter 2

Note 1.

Function allocations for pin 25 to 30 sequence outputs can be set by means of user parameters Pn50E to Pn510. In this table, the numbers enclosed in brackets indicate the default pin numbers (allocations). (The allocations vary depending on the control mode.)

Note 2.

The interface for pin 25 to 30 sequence outputs is open-collector output (50 mA, 30 V DC max.).

Note 3.

These I/O signals are supported by Servo Drivers with software version “r.0037.”

CN1: Pin Arrangement

10 AGND

SENGND

[absolute]

AGND

–PULS

/–CW/–A

–SIGN

/–CCW

/–B

14 –ECRST

18 PCOM

20 –Z

Sensor ON input ground

Sensor ON input

Speed command input ground

– feed pulse, – reverse pulse,

– A phase

Torque command input ground

– direction signal, – forward pulse, – B phase.

13 PCOM

Deviation counter reset

15 +ECRST

See note 2.

Open-collector command power

Encoder phase-Z – output

Backup battery

– input (see note 3)

See note 2.

GND

PCOM

REF

+PULS

/+CW/+A

TREF

INP1

Ground common

Open-collector command power

Speed command input

+ feed pulse, + reverse pulse,

+ A phase

Torque command input

+direction signal, + forward pulse, + B phase

Open-collector command power

+ deviation counter reset

See note 2

Encoder phase-Z + output

Backup battery

+ input (See note 3.)

See note 2

Positioning completed output 1

(See note 1.)

27 TGON

29 READY

ALM

–B

41 MING

AL01

AL03

NOT

PCL

+24VIN

–ABS

[absolute]

26 INP1COM

Motor rotation detection output

(See note 1.)

28 TGONCOM

Servo ready output (See note 1.)

30 READYCOM

Positioning completed output ground

(See note 1.)

Motor rotation detection output ground

(See note 1.)

Servo ready output ground

(See note 1.)

Alarm output

32 ALMCOM

Alarm output ground

Encoder phase-A + output

34 –A

Encoder phase-A – output

Encoder phase-B – output

36 +B

Encoder phase-B + output

Alarm code output 1

38 AL02

Alarm code output 2

Alarm code output 3

Gain reduction input

(See note 1.)

40 RUN

RUN command input

(See note 1.)

Reverse rotation drive prohibit input

(See note 1.)

Forward current limit

(See note 1.)

POT

RESET

Forward rotation drive prohibit input

(See note 1.)

Alarm reset input

(See note 1.)

46 NCL

Reverse current limit

(See note 1.)

Control DC

+24-V input

Absolute encoder signal – output

48 +ABS

[absolute]

Absolute encoder signal + output

See note 2.

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Standard Models and Specifications Chapter 2

Note 1.

Function allocations for pin 40 to 46 sequence inputs and pin 25 to 30 sequence outputs can be set by means of user parameters Pn50A to Pn50D, Pn513, and Pn50E to Pn510, respectively. The allocations shown in this table are the defaults.

Note 2.

Do not wire the empty pins.

Note 3.

When an absolute encoder is used, connect the battery (2.8 to 4.5 V) to the backup battery inputs at pins 21 and 22 or to CN8 (Battery Connector).

D CN1 Connectors (50P)

Servo Driver receptacle

Cable solder plug

Cable case

10250-52A2JL (Sumitomo 3M)

10150-3000VE (Sumitomo 3M)

10350-52A0-008 (Sumitomo 3M)

Control Input Circuits

D Speed and Torque Command Inputs

12 V DC

470 Ω (1/2 W max.)

2 k Ω (1/2 W max.)

(When analog controls are used.)

Speed command

Torque command

Servo Driver

Converter

Input impedance: Approx. 14 k Ω

Circuit time constant: Approx. 47 µ s

Maximum input voltage: 12 V

D Position Command Pulse Inputs and Deviation Counter Reset Inputs

Line Driver Input

Controller Servo Driver

Input current:10 mA, 3 V

Applicable line driver:

AM26L S31A or equivalent

Open Collector Input

Using Power Supply for Open Collector Commands (PCOM)

Controller Servo Driver

Input current: 10 mA, 12 V

Signal levels

High (H): 2.4 V min.

Low (L): 0.8 V max.

2-74

Standard Models and Specifications

Using External Power Supply

Controller Servo Driver

Chapter 2

Input current: 7 to 15 mA

Note Select a value for resistance R so that the input current will be from 7 to 15 mA.

Vcc R

24 V

12 V

5 V

2.2 k Ω

1 k Ω

180 Ω

D Sensor ON Inputs [Absolute]

Servo Driver

Input current: 5 V DC, 1 mA

High: Approx. 1 mA

7406 or equivalent

Signal Levels High: 4 V min.

Low: 0.8 V max.

Note A PNP transistor is recommended.

D Sequence Inputs

Servo Driver

External power supply:

24 V ± 1 V DC

Power supply capacity:

50 mA min. (per Unit)

Photocoupler input: 24 V DC, 7 mA

To other input circuit GNDs To other input circuits

Signal Levels ON level: Minimum (+24VIN–11) V

OFF level: Maximum (+24VIN–1) V

2-75

Standard Models and Specifications

Control Output Circuits

D Position Feedback Output

Servo Driver

Phase A

Output line driver

SN75ALS174NS or equivalent

Phase B

Phase Z

Shell

Chapter 2

Controller for user

R = 220 to 470 Ω

Phase A

Phase B

Phase Z

Applicable line receiver

SN75175/MC3486

/AM26LS32

D Sequence and Alarm Outputs

Servo Driver side

To other output circuits

(See note.)

External power supply

24 V DC

Di: Diode for preventing surge voltage (Use speed diodes.)

± 1 V

Maximum operating voltage:

Maximum output current:

30 V DC

50 mA

Note An automatic reset fuse is provided to protect output. If the fuse is activated for overcurrent, it will automatically reset after a fixed period of time has lapsed without current flowing (supported by

Servo Drivers with software version “r.0037” or later).

2-76

Standard Models and Specifications

D Alarm Code Outputs

Servo Driver side

Chapter 2

Di: Diode for preventing surge voltage (Use speed diodes.)

External power supply

24 V DC ± 1 V

Maximum operating voltage:

Maximum output current:

30 V DC

20 mA

Control Input Details (CN1)

D 5: Speed Command Input (REF); 6: Speed Command Input Ground (AGND)

Speed Control

This is the input for speed commands. The scale of the rotation speed for REF voltage can be changed by means of user parameter Pn300 (speed command scale). The default setting is for the rated rotation speed for an input of 10 V.

Torque Control

This input becomes an analog speed limit input when Pn002.1 (speed command input change, of function selection application switch 2) is set to 1. The default setting is for the function to not be used (set value: 0). The scale of the speed limit value for speed command inputs can be changed by means of user parameter Pn300 (speed command scale).

The REF voltage is irrelevant (absolute values only).

The speed is limited to the Pn407 (speed limit) setting or the REF voltage limit, whichever is lower.

Position Control

This input becomes a speed feed forward input when Pn207.1 (speed command input change) is set to

1. The default setting is for the function to not be used (set value: 0). A speed command corresponding to the REF voltage is added to the speed loop.

D 9: Torque Command Input (TREF); 10: Torque Command Input Ground (AGND)

Torque Control

This is the input for torque commands. The scale of the output torque for TREF voltage can be changed by means of user parameter Pn400 (torque command scale). The default setting is for the rated torque for an input of 3 V.

Position and Speed Control

This input becomes an analog torque limit input (set value: 1 or 3) or a torque feed forward input (set value: 2) depending on the Pn002.0 (torque command input change, of function selection application switch 2) setting.

2-77

Standard Models and Specifications Chapter 2

The scale of the torque limit value or the feed forward torque for TREF voltage can be changed by means of user parameter Pn400 (torque command scale). The default setting is for the rated torque for an input of 3 V.

Pn002.0 = 1: Analog Torque Control Input

Output values for both forward and reverse are limited by the same value, regardless of the TREF voltage polarity (the absolute value is used). See the note below.

Pn002.0 = 2: Torque Feedforward Input

A torque corresponding to the TREF voltage is added to the current loop. The TREF voltage polarity is effective.

Pn002.0 = 3: Analog Torque Limit Input when Inputting PCL and NCL

The TREF voltage polarity is ignored (the absolute value is used). When PCL (forward rotation current limit input) is input, the output torque for forward rotation is limited. When NCL (reverse rotation current limit input) is input, the output torque for reverse rotation is limited. See the note below.

Note The output torque is limited by the lowest limit value of the following torque limits: The analog torque limit according to TREF voltage, Pn402 (forward torque limit), Pn403 (reverse torque limit),

Pn404 (forward rotation external current limit), and Pn405 (reverse rotation external current limit).

The limit value for analog torque limit Pn402 or Pn403 (Pn002.0 = 1) are always enabled. The limit value for analog torque limit Pn404 or Pn405 (Pn002.0 = 3) is enabled when PCL or NCL is input.

D + Feed Pulse, +Reverse Pulse, +90 _ Phase Difference Pulse (A Phase)

(7: +PULS/+CW/+A)

– Feed Pulse, –Reverse Pulse, –90 _ Phase Difference Pulse (A Phase)

(8: –PULS/–CW/–A)

+ Direction Signal, +Forward Pulse, +90 _ Phase Difference Pulse (B Phase)

(11: +SIGN/+CCW/+B)

– Direction Signal, –Forward Pulse, –90 _ Phase Difference Pulse (B Phase)

(12: –SIGN/–CCW/–B)

The function of these signals depends on the setting of Pn200.0 (command pulse mode: position control setting 1).

Pn200.0 = 0: Feed pulse and direction signal: positive logic

Pn200.0 = 1: Forward pulse and reverse pulse: positive logic (default)

Pn200.0 = 2: 90 _ Phase Difference (phases A/B) (x1), positive logic

Pn200.0 = 3: 90 _ Phase Difference (phases A/B) (x2), positive logic

Pn200.0 = 4: 90 _ Phase Difference (phases A/B) (x4), positive logic

Pn200.0 = 5: Feed pulse and direction signal: negative logic

Pn200.0 = 6: Forward pulse and reverse pulse: negative logic

Pn200.0 = 7: 90 _ Phase Difference (phases A/B) (x1), negative logic

Pn200.0 = 8: 90 _ Phase Difference (phases A/B) (x2), negative logic

Pn200.0 = 9: 90 _ Phase Difference (phases A/B) (x4), negative logic

2-78

Standard Models and Specifications

Logic

Pn200.0

setting

Command pulse mode

Feed pulse and direction signal

Reverse pulse and forward pulse

90 _ phase difference signals

(x1)

90 _ phase difference signals

(x2)

90 _ phase difference signals

(x4)

Feed pulse and direction signal

Input pins

7: +PULS

8: –PULS

11: +SIGN

12: –SIGN

7: +CW

8: –CW

11: +CCW

12: –CCW

7: +A

8: –A

11: +B

12: –B

Reverse pulse and forward pulse

90 _

(x1)

phase difference signals

90 _ phase difference signals

(x2)

90 _ phase difference signals

(x4)

7: +PULS

8: –PULS

11: +SIGN

12: –SIGN

7: +CW

8: –CW

11: +CCW

12: –CCW

7: +A

8: –A

11: +B

12: –B

Servomotor forward command

Chapter 2

Servomotor reverse command

2-79

Standard Models and Specifications Chapter 2

Command Pulse Timing

The following wave forms are for positive logic. Conditions are the same for negative logic.

Command pulse mode

Feed pulse and direction signal

Maximum input frequency:

Line driver: 500 kpps

Open collector:

200 kpps

Direction signals

Feed pulses

Timing

Forward rotation command Reverse rotation command

Reverse pulse and forward pulse

Maximum input frequency:

Line driver: 500 kpps

Open collector:

200 kpps

Reverse pulses

Forward pulses

Forward rotation command

Input filter: 200 kpps

(Pn200.3 = 1) t1 0.1 µ s t2 > 3.0 µ s

τ 2.5 µ s

T 5.0 µ s

( τ/ T) × 100 50 (%)

Reverse rotation command

Input filter: 500 kpps

(Pn200.3 = 0) t1 0.1 µ s t2 > 3.0 µ s

τ 1.0 µ s

T 2.0 µ s

( τ/ T) × 100 50 (%)

Input filter: 200 kpps

(Pn200.3 = 1) t1 0.1 µ s t2 > 3.0 µ s

τ 2.5 µ s

T 5.0 µ s

( τ/ T) × 100 50 (%)

Forward rotation command

Input filter: 500 kpps

(Pn200.3 = 0) t1 0.1 µ s t2 > 3.0 µ s

τ 1.0 µ s

T 2.0 µ s

( τ/ T) × 100 50 (%)

Reverse rotation command

90 _ phase difference signals

Maximum input frequency: x1:

Line driver: 500 kpps

Open collector:

200 kpps x2:

Line driver: 400 kpps

Open collector:

200 kpps x4:

Line driver: 200 kpps

Open collector:

200 kpps

2-80

Phase A pulses

Phase B pulses

Input filter: 200 kpps

(Pn200.3 = 1) t1 0.1 µ s

τ 2.5 µ s

T 5.0 µ s

( τ/ T) × 100 50 (%)

Input filter: 500 kpps

(Pn200.3 = 0) t1 0.1 µ s

τ 1.0 µ s

T 2.0 µ s

( τ/ T) × 100 50 (%)

Standard Models and Specifications Chapter 2

D + Deviation Counter Reset (15: +ECRST)

– Deviation Counter Reset (14: –ECRST)

The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled. Pn200.1 (position control setting 1: deviation counter reset) can be used to set either a status signal (high or low) or a differential signal (low to high or high to low). Input the reset signal for 20 µ s minimum. The counter will not be reset if the signal is too short.

D Sensor ON Input (4: SEN)

Sensor ON Input Ground (2: SENGND)

SEN signal ON, OFF, and ON again.

When the SEN signal turns ON (low to high), the absolute encoder’s multi-turn amount and the initial incremental pulses are sent. When the SEN signal is OFF, power cannot be supplied to the Servomotor even if a RUN command is input. The RUN command will not be enabled until the SEN signal turns ON and the encoder achieves normal operation. Do not turn ON the SEN signal for at least 3 s after turning on the power supply. Refer to the following diagram for turning the SEN signal ON, OFF, and ON again.

SEN signal

1.3 s min.

15 ms min.

D Backup Battery + Input (21: BAT)

Backup Battery – Input (22: BATGND)

These are the connection terminals for a backup battery for when power to the absolute encoder is interrupted. Normally a Backup Battery Unit is used and the battery is connected to CN8 (Battery Connector), so in that case do not connect anything to these terminals. The battery voltage is 2.8 to 4.5 V.

D RUN Command Input (40: 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 except for JOG operations.

Note This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The RUN signal is allocated by Pn50A.1.

D Gain Reduction Input (41: MING)

This signal is enabled for position control, speed control, and internally set control. When it is input, speed loop control is changed from PI to P control. Use it when it is necessary to weaken servo rigidity

(repellant force with respect to external force). If position control is executed without including a position loop, there may be some position deviation due to temperature drift from a device such as the A/D converter. If a gain reduction is input in such a case, the loop gain of the speed loop will be lowered and the amount of drift will be decreased. If there is static friction torque on the load (5% or more of the rated torque), the Servomotor can be completely stopped.

If a position loop is included, 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 a vertical shaft where a gravity load is applied, or for applications where constant external force is applied, because position deviation will occur.

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The MING signal is allocated by Pn50A.2.

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Standard Models and Specifications Chapter 2

Note 2.

With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR, or IPG according to the Pn000.1 (control mode selection) setting and the control mode in operation. For details, refer to 4-4-3 Important Parameters .

D Forward Drive Prohibit (42: POT)

Reverse Drive Prohibit (43: NOT)

These two signals are the inputs for forward and reverse drive prohibit (overtravel). When they are input, driving is possible in the respective direction. When driving is prohibited, movement will stop according to the settings of Pn001.0 and Pn001.1. Refer to the diagram below.) Alarm status will not be generated at the Servo Driver while driving is prohibited

Note This is the default allocation. For either signal, the drive prohibition is normally disabled. This setting can be changed by Pn50A.3/Pn50b.0. Input terminal selections (CN1 pins 40 to 46) can be changed by means of Pn50A.0 (input signal selection mode).

Pn001.0

0 or 1

Stopped Status

Servo unlocked

Pn001.1

ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ 0

POT (NOT) is OFF Free run Pn001.1

Servo unlocked

Emergency stop torque (Pn406) See note 1.

ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ

Servo locked

ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍÍ

Note 1.

The position loop will not operate for position control when stopping in this mode.

Note 2.

When torque control is being used, the stopping method is determined by Pn001.0 setting.

(The Pn001.1 setting is irrelevant.)

D Alarm Reset (44: RESET)

This is the external reset signal input for the servo alarm. Remove the cause of the alarm and then restart operation.

Caution Turn OFF the RUN command before inputting the reset signal. It can be dangerous to input the reset signal while the RUN command is ON.

Note This is the default allocation. The input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The RESET signal is allocated by Pn50b.1.

D Forward Rotation Current Limit (45: PCL)

Reverse Rotation Current Limit (46: NCL)

These two signals are inputs for limiting the forward and reverse output current (output torque).

When these signals are input, the output torque in the respective direction of rotation is limited by the settings of Pn404 (forward rotation external current limit) and Pn405 (reverse rotation external current limit).

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Standard Models and Specifications Chapter 2

When another torque limit function besides Pn404/Pn405 is enabled, the output torque is limited to the lower of the values.

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The PCL signal is allocated by Pn50b.2, and the NCL signal is allocated by Pn50b.3.

Note 2.

With the default allocation, the functions for pins 45 and 46 can be changed to PCL/NCL or

SPD1/SPD2 by means of the Pn000.1 (control mode selection) setting and the control mode in operation. For details, refer to 4-4-3 Important Parameters .

D Rotation Direction Command Input (41: RDIR)

This signal specifies the direction of rotation when operation is carried out at the internally set speed

(numbers 1 to 3). When this signal is OFF, the direction is forward; when it is ON, the direction is reverse.

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The RDIR signal is allocated by Pn50C.0.

Note 2.

D Speed Selection Command 1 (45: SPD1)

Speed Selection Command 2 (46: SPD2)

Refer to the table under Control Mode Switch (41: TVSEL) .

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The SPD1 signal is allocated by Pn50C.1, and the SPD2 signal is allocated by Pn50C.2.

Note 2.

The control mode will change according to the status of the TVSEL signal when Pn50A.0 is set to 1.

Note 3.

With the default allocation, the functions for pin 45 and 46 can be changed to PCL/NCL or

SPD1/SPD2 by means of the Pn000.1 (control mode selection) setting and the control mode in operation. For details, refer to 4-4-3 Important Parameters .

D Control Mode Switch (41: TVSEL)

The SPD1 and SPD2 signals are enabled when Pn000.1 (function selection basic switch: control mode selection) is set to any of the settings between 3 and 6.

The TVSEL signal is enabled when Pn000.1 is set to any of the settings between 4 and 9.

The control mode and internal speed set in Pn301 to Pn303 are changed using signal combinations, as shown in the following table.

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Standard Models and Specifications Chapter 2

Control mode setting

Pn000.1 = 3

Internally set speed control

Pn000.1 = 4

Internally set speed control

↔ Speed control

Pn000.1 = 5

Internally set speed control

↔ Position control

Pn000.1 = 6

Internally set speed control

↔ Torque control

Pn000.1 = 7

Position control

↔ Speed control

Pn000.1 = 8

Position control

↔ Torque control

Pn000.1 = 9

Torque control

↔ Speed control

---

TVSEL

TVSEL: OFF

Pn50A.0 = 0

(See note 2.)

TVSEL: ON

TVSEL: OFF

Pn50A.0 = 0

(See note 2.)

TVSEL: ON

TVSEL: OFF

Pn50A.0 = 0

(See note 2.)

TVSEL: ON

TVSEL: OFF

TVSEL: ON

TVSEL: OFF

TVSEL: ON

TVSEL: OFF

TVSEL: ON

Stop by speed loop.

SPD1: OFF

SPD2: OFF

Stop by speed loop.

SPD2: ON

No. 1 internal speed setting

(Pn301)

No. 1 internal p

(Pn301) g

Stop by speed loop.

Position control

Speed control

Position control

Torque control

Speed control

No. 1 internal p

(Pn301) g

Position control

No. 1 internal p

(Pn301) g

Torque control

SPD1: ON

SPD2: OFF

No. 3 internal speed setting

(Pn303)

No. 3 internal p

(Pn303) g

SPD2: ON

No. 2 internal speed setting

(Pn302)

No. 2 internal p

(Pn302) g

No. 3 internal p

(Pn303) g

No. 3 internal p

(Pn303) g

No. 2 internal p

(Pn302) g

No. 2 internal p

(Pn302) g

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The TVSEL signal is allocated by

Pn50C.3.

Note 2.

The allocation of the TVSEL signal and the control mode when there is no input will change when Pn50A is at the default setting (0) and Pn000.1 is set to 4, 5, or 6. (See above table.)

Note 3.

D Position Lock Command Input (41: PLOCK)

If position control is executed without including a position loop, there may be some position deviation due to temperature drift from a device such as the A/D converter. If a position lock command is input in such a case, then, when the Servomotor rotation speed falls below the rotation speed set in Pn501

(position lock rotation speed), the speed control mode will be changed to position control mode and the

Servomotor will be position-locked and completely stopped.

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The PLOCK signal is allocated by

Pn50d.0.

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Standard Models and Specifications Chapter 2

Note 2.

D Pulse Disable Input (41: IPG)

Command pulse inputs are disabled. The motor will stop when this signal goes ON, and the position will be locked.

Note 1.

This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The IPG signal is allocated by Pn50d.1.

Note 2.

D Gain Switching Input (Not Allocated: GSEL)

The GSEL signal changes the gain. When this signal is not input, the settings of Pn100 (speed loop gain), Pn101 (speed loop integration constant), and Pn102 (position loop gain) are used for control.

When this signal is input, the settings of Pn104 (No. 2 speed loop gain), Pn105 (No. 2 speed loop integration constant), and Pn106 (No. 2 position loop gain) are used for control.

Note The GSEL signal is not allocated by default. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The GSEL signal is allocated by

Pn50d.2.

D Command Pulse Factor Switching Input (Not Allocated: PSEL)

The PSEL signal changes the command pulse factor.

When this signal is not input, the command pulse is used to rotate the motor.

When this signal is input, the result of applying the settings of Pn217 (command pulse factor) to the command pulse is used to rotate the motor. The PSON (command pulse factor enable) output, which indicates that the command pulse factor has changed, turns ON.

The ON/OFF timing for the PSEL signal and PSON signal is shown in the following diagram.

Note 1.

When the command pulse factor change function is used, set Pn218.0 (command pulse factor switching function selection) to 1, and set the applicable factor in Pn217.

Note 2.

Allocate the PSON signal using Pn510.2.

Command pulse factor switching input (PSEL)

4 ms max.

Command pulse factor enabled output (PSON)

Internal operation

Note The PSEL signal is not allocated by default. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The PSEL signal is allocated using Pn513.0.

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Standard Models and Specifications

Control Output Details

D Control Output Sequence

Power supply input

(L1C, LC2, L1, L2, (L3))

OFF

Approx. 2 s

Alarm output

(ALM)

OFF

200 ms (See note.)

Servo ready output

(READY)

OFF

Positioning completed output 1, 2

(INP1, INP2)

OFF

2ms 60ms

Chapter 2

300 ms

Brake interlock output

(BKIR)

OFF

RUN command input

(RUN)

OFF

0 to 35 ms 2 ms

Alarm reset input

(RESET)

OFF

Alarm code outputs

(ALO1, ALO2, ALO3)

OFF

Note This signal will remain ON for approximately 250 ms after input of the SEN signal when using an absolute encoder.

D Encoder A-, B-, Z-phase Outputs

33: +A; 34: –A; 36: +B; 35: –B; 19: +Z; 20: –Z

D 48: +ABS, 49: –ABS

Servomotor encoder signals are output as divided phase-difference pulses according to the encoder dividing rate setting (Pn201). The output form is line driver output, and conforms to EIA-RS-422A. Receive the signals with a line driver or high-speed photocoupler.

By inputting the SEN signal (low to high), absolute data is first output as serial data from the phase A, and then it is output as A-phase and B-phase initial incremental pulses (90 ° phase-difference pulses).

The output operation is the same as for an ordinary incremental encoder (90 ° phase-difference pulses).

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Standard Models and Specifications Chapter 2

The following diagram shows the output phases. (The phases are the same for both absolute and incremental encoders.)

Forward Rotation Side Reverse Rotation Side

Phase A Phase A

Phase B Phase B

Phase Z Phase Z

Note 1.

Phase Z is synchronous with phase A.

Note 2.

The speed of the initial incremental pulses depends on the Servo Driver software version. If the software version is “r0014,” the speed will be equivalent to approximately 2,500 r/min for

3,000-r/min motors and to approximately 1,000 r/min for 1,000-r/min motors. If the software version is “r0008,” the speed will be equivalent to approximately 2,500 r/min. (Same for all motors.)

D Alarm Code Outputs 1 to 3 (37: ALO1; 38: AL02; 39: ALO3)

When a Servo Driver error is detected, the contents of the error are output in 3-bit code. The alarm code output ground common is CN1 pin 1 (GND). For details, refer to 5-2 Alarms .

D Alarm Output (31: ALM)

Alarm Output Ground (32: ALMCOM)

When the Servo Driver detects an error, outputs are turned OFF. At that time, an alarm code is output according to the contents of the error. This output is OFF at the time of powering up, and turns ON when the initial processing is completed.

D Positioning Completed Output 1 (25: INP1)

Positioning Completed Output 1 Common (26: INP1COM)

Positioning Completed Output 2 (Not Allocated: INP2)

The INP1 signal turns ON when the number of accumulated pulses in the deviation counter is less than

Pn500 (positioning completed range 1). The INP2 signal turns ON when the number of pulses is less than Pn504 (positioning completed range 2). These signals are always OFF when the control mode is any mode other than the position control mode.

Note 1.

These are the default allocations. The INP1 signal is allocated by Pn50E.0, and the INP2 signal is allocated by Pn510.0.

Note 2.

With the default allocations, INP1 (enabled for position control) and VCMP (enabled for speed control) are allocated to CN1 pins 25 and 26.

D Speed Conformity Output (25: VCMP)

Speed Conformity Output Common (26: VCMPCOM)

The VCMP signal turns ON when the difference between the speed command and the Servomotor rotation speed is equal to or less than the value set for Pn503 (speed conformity signal output width). For example, if the speed command is for 3,000 r/min and the set value is for 50 r/min, it turns ON when the

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Standard Models and Specifications Chapter 2 rotation speed is between 2,950 and 3,050 r/min. This signal is always OFF when the control mode is any mode other than the speed control mode.

Note 1.

These are the default allocations. The VCMP signal is allocated by Pn50E.1.

Note 2.

With the default allocations, INP1 (enabled for position control) and VCMP (enabled for speed control) are allocated to CN1 pins 25 and 26.

D Motor Rotation Detection Output (27: TGON)

The TGON signal turns ON when the motor rotation speed exceeds the value set for Pn502 (rotation speed for motor rotation detection).

Note This is the default allocation. The TGON signal is allocated by Pn50E.2.

Note TGON is always ON when the encoder of the Servo Driver is not connected.

D Servo Ready Output (29: READY)

Servo Ready Output Common (30: READYCOM)

The READY signal turns ON if no errors are detected after the main circuits are powered up.

The READY signal turns OFF when the absolute encoder is used and when the SEN signal is OFF.

Note This is the default allocation. The READY signal is allocated by Pn50E.3.

D Current Limit Detection Output (Not Allocated: CLIMT)

The CLIMT signal is turned ON in any of the following four cases:

S The output torque reaches the limit value set in Pn402 or Pn403 (the forward and reverse torque limits).

S The output torque reaches the limit value set in Pn404 or Pn405 (the forward and reverse rotation external current limits) while PCL/NCL (forward/reverse rotation current limit) is ON.

S The output torque reaches TREF (analog torque limit) when Pn002.0 (torque command input change) is set to 1.

S The output torque reaches TREF (analog torque limit), with PCL/NCL (forward/reverse rotation current limit) ON, when Pn002.0 (torque command input change) is set to 3.

Note The CLIMT signal is not allocated by default. It is allocated by Pn50F.0.

D Speed Limit Detection Output (Not Allocated: VLIMT)

The VLIMT signal is turned ON in either of the following two cases:

S The Servomotor rotation speed reaches the limit set in Pn407 (speed limit).

S The Servomotor rotation speed reaches REF (analog speed limit) when Pn002.1 (speed command input change) is set to 1.

This signal is always OFF when the control mode is any mode other than the torque control mode.

Note The VLIMT signal is not allocated by default. It is allocated by Pn50F.1.

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Standard Models and Specifications Chapter 2

D Brake Interlock Output (Not Allocated: BKIR)

External brake timing signals are output according to the settings in Pn506 (brake timing 1), Pn507

(brake command speed), and Pn508 (brake timing 2).

Note 1.

The BKIR signal is not allocated by default. It is allocated by Pn50F.2.

Note 2.

For details on the brake interlock function, refer to 4-5-8 Brake Interlock (All Operating

Modes) .

D Warning Output (Not Allocated: WARN)

The WARN signal is turned ON in any of the following three cases:

S The Servomotor output torque (effective value) exceeds 115% of the rated torque.

S The regenerative energy exceeds the tolerance of the internal regeneration resistance.

S When external regeneration resistance is used, the regenerative energy exceeds the value set for

Pn600 (regeneration resistor capacity).

Note The WARN signal is not allocated by default. It is allocated by Pn50F.3.

D Command Pulse Factor Enabled Output (Not Allocated: PSON)

The PSON signal turns ON when the command pulse factor has changed after the PSEL (command pulse factor switching) input has been turned ON. After the PSEL input is turned OFF, PSON turns OFF when the command pulse factor returns to 1.

Note 1.

Refer to the information on the PSEL signal for details on timing for switching the command pulse factor.

Note 2.

When command pulse factor switching is used, set Pn218.0 (command pulse factor switching function selection) to 1, and set the applicable factor in Pn217.

Note 3.

Allocate the PSEL signal using Pn513.0.

Note 4.

The PSON signal is not allocated by default. The PSON signal is allocated using Pn510.2.

2-4-5 Encoder Input Specifications (CN2)

Pin No.

Shell

Symbol

E5V

E0V

BAT+

BAT–

S+

S–

Signal name

Encoder power supply +5 V

Encoder power supply GND

Battery + [absolute]

Battery – [absolute]

Encoder + phase-S input

Encoder – phase-S input

Shielded ground

Function/Interface

Power supply outlet for encoder: 5 V, 180 mA

Note An automatic reset fuse is provided to protect output. If the fuse is activated due to overcurrent, it will automatically reset after a fixed period of time has lapsed without current flowing (supported by Servo Drivers with software version “r.0037” or later).

Backup power output for encoder

(3 6 V 20 µ A for backup or when stopped;

3 µ A when Servo Driver is being powered)

Line driver input (conforming to EIA-RS422A)

(I i d p (

Ω )

)

Cable shielded ground

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Standard Models and Specifications

D CN2 Connectors Used (6P)

Receptacle at Servo Driver

Cable plug

53460-0611 (Molex Japan Co., Ltd.)

55100-0670 (Molex Japan Co., Ltd.)

Chapter 2

2-4-6 Parameter Unit Input Specifications (CN3)

Pin No.

1, 8

2, 9

3, 10

4, 6

11, 12

Shell

Symbol

TXD+

TXD–

RXD+

RXD–

PRMU

–

+5V

GND

Signal name

Transmission data +

Transmission data –

Reception data +

Reception data –

Unit switching

Termination resistance terminal

(Not used.)

+5 V output

Ground

Shielded ground

Function/Interface

This is data transmitted to a Parameter Unit (or a personal computer).

Line receiver input

This is data received from a Parameter Unit (or a personal computer).

Line receiver input

This is the switching terminal for a Parameter

Unit or personal computer.

This is the termination resistance terminal for the line receiver.

6-pin connection for RS-422 communications

(final Servo Driver only).

(Do not connect.)

P p pp y p

Cable shielded ground

D CN3 Connectors Used (14P)

Receptacle at Servo Driver 10214-52AJL

Cable plug with solder

Cable case

10114-3000VE

10314-50A0-008

(Sumitomo 3M)

2-4-7 Monitor Output Connector Specifications (CN5)

Pin No.

Symbol

Signal name

Analog Monitor 2

Analog Monitor 1

Function/Interface

Default setting: Speed monitor, 1 V per

1,000 r/min (Can be changed by Pn003.1.)

Default setting: Current monitor, 1 V / rated torque (Can be changed by Pn003.0.)

GND

Analog Monitor Ground

D CN5 Connectors Used (4P)

Pin header at Servo Driver

Cable connector socket

Cable connector contact

DF11-4DP-2DS

DF11-4DS-2C

DF11-2428SCF

(Hirose Electric )

D Monitored Items and Scaling Changes

Monitored items can be changed by means of Pn003 (function selection application switch 3). It is also possible to change the scaling and adjust the output voltage offset in the system check mode.

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Standard Models and Specifications Chapter 2

Monitored item

Servomotor rotation p ( p )

Torque command

(current monitor)

Speed command

Position error

Monitor output specifications

1 V per 1,000 r/min; forward rotation: – voltage; reverse rotation: + voltage

1 V per 250 r/min; forward rotation: – voltage; reverse rotation: + voltage

1 V per 125 r/min; forward rotation: – voltage; reverse rotation: + voltage

I V / rated torque; forward acceleration: – voltage; reverse acceleration: + voltage

1 V per 1,000 r/min; forward command: – voltage; reverse command: + voltage

0.05 V / 1 command unit; plus error: – voltage; reverse error:

+ voltage

0.05 V / 100 command units; plus error: – voltage; minus error: + voltage

1 V per 1,000 r/min; forward rotation command: – voltage; reverse rotation command: + voltage

Pn003.0,

Pn003.1 setting

5 Command pulse frequency

Note 1.

The table shows the specifications with no offset adjustment or scaling changes.

Note 2.

The maximum output voltage is 8 V. Normal outputs will not be possible if this value is exceeded.

Note 3.

The output accuracy is approximately 15%.

2-4-8 Battery Connector Specifications (CN8)

Pin No.

Signal name

BAT

2 BATGND

Name

Backup battery, + input

Backup battery, – input

Function/Interface

Backup power supply input for absolute encoder; 3.6 V, 20 powered.

µ A for backup or when stopped; 3 µ A when Servo Driver is being

D CN8 Connectors Used (2P)

Pin header at Servo Driver

Cable connector socket

Cable connector contact

DF3-2DP-2DS

DF3-2S-2C

DF3-2428SCFC

(Hirose Electric )

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Standard Models and Specifications

2-5 Servomotor Specifications

Chapter 2

OMNUC W-series AC Servomotors (R88M-W

)

There are three kinds of OMNUC W-Series AC Servomotors, as follows:

• 3,000-r/min Servomotors

• 3,000-r/min Flat-style Servomotors

• 1,000-r/min Servomotors

• 1,500-r/min Servomotors

These Servomotors also have optional specifications, such as shaft type, with or without brake, waterproofing, with or without reduction gears, and so on. Select the appropriate Servomotor for your system according to the load conditions and installation environment.

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Standard Models and Specifications Chapter 2

2-5-1 General Specifications

Item 3,000-r/min Servomotors

30 to 750 W 1 to 5 kW

3,000-r/min

Flat-style

Servomotors

1,000-r/min

Servomotors

1,500-r/min

Servomotors

Ambient operating temperature 0 to 40 ° C

Ambient operating humidity 20% to 80% (with no condensation)

Storage ambient temperature –20 to 60 ° C

Ambient storage temperature 20% to 80% (with no condensation)

No corrosive gasses.

Storage and operating atmosphere

Vibration resistance

(See note 1.)

Impact resistance

Insulation resistance

Dielectric strength

10 to 2,500 Hz in

X, Y, and Z directions with acceleration 49 m/s 2 max.

10 to 2,500 Hz in

X, Y, and Z directions with acceleration 24.5 m/s max.

10 to 2,500 Hz in

X, Y, and Z directions with acceleration 49 m/s 2 max.

10 to 2,500 Hz in

X, Y, and Z directions with acceleration 24.5 m/s max.

Acceleration 490 m/s 2 max., in X,

Y, and Z directions, two times

Acceleration 490 m/s 2 max., in X,

Y, and Z directions, two times

Acceleration 490 m/s 2 max., in X,

Y, and Z directions, two times

Acceleration 490 m/s 2 max., in X,

Y, and Z directions, two times

Between power line terminals and FG: 10 M Ω min. (500 V DC megger)

Between power line terminals and FG: 1,500 V AC for 1 min at 50/60 Hz

Run position

Insulation grade

All directions

Type B Type F

Totally-enclosed self-cooling Structure

Vibration grade

Mounting method

V-15

Flange-mounting

EC Directives EMC Directive EN55011 Class A Group1

Low-voltage

Directive

EN61000-6-2

IEC60034-8, EN60034-1, -5, -9

UL standards cUL standards

UL1004 cUL C22.2 No. 100

Type B Type F

Note 1.

Vibration may be amplified due to sympathetic resonance of machinery, so use the Servomotor Driver under conditions which will not exceed 80% of the specification values over a long period of time.

Note 2.

Water-proof connectors must be used on the Power and Encoder Cables when used in environments subject to direct contact with water. Refer to 3-1-2 Servomotors for the recommended connectors.

Note 3.

The above items reflect individual evaluation testing. The results may differ under compound conditions.

Note 4.

The Servomotors cannot be used in misty environments.

D Degree of Protection

The degree of protection of Servomotors depends on the motor type as shown in the following tables.

Servomotors include ordinary models and oil-seal models. Oil seals are provided to prevent oil or grease from entering into through-shaft portion. They are not designed to prevent water permeation.

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Standard Models and Specifications

3,000 r/min Servomotors

Ordinary type

Oil-seal type

30 to 750 W

IP55 (Excluding through-shaft portion)

3,000 r/min Flat-style Servomotors

Ordinary type

Oil-seal type

Waterproof type

IP55 (Excluding through-shaft portion)

IP67 (Excluding through-shaft portion)

1,500 r/min Servomotors and 1,500 r/min Servomotors

Ordinary type

Oil-seal type

IP67 (Excluding through-shaft portion) (See note.)

Note Oil seals can be attached or removed by the user.

Chapter 2

1 to 5 kW

IP67 (Excluding through-shaft portion) (See note.)

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Standard Models and Specifications

2-5-2 Performance Specifications

Chapter 2

3,000-r/min Servomotors

D Performance Specifications Table

Item

Rated output*

Rated torque*

Rated rotation speed

Momentary maximum rotation speed

Momentary maximum torque*

Rated current*

Momentary maximum current*

Rotor inertia

Unit

N S m r/min r/min

N S m

A (rms)

R88M

-W03030L

R88M

-W03030S

0.0955

3,000

5,000

0.286

0.66

2.0

0.159

0.477

0.95

2.9

100 V AC

R88M

-W05030L

R88M

-W05030S

R88M

-W10030L

R88M

-W10030S

100

0.318

0.955

2.4

7.2

R88M

-W20030L

R88M

-W20030S

200

0.637

1.91

3.0

9.0

Torque constant*

Power rate*

Mechanical time constant

Electrical time constant

Allowable radial load kg S m 2

(GD 2 /4)

S ms ms m/A kW/s

Allowable thrust load

Weight Without brake

N kg

With brake kg

Radiation shield dimensions

(material)

Applicable load inertia

Applicable Servo Driver

(R88D-)

1.66

10 –6

0.157

5.49

1.4

1.0

Approx.

0.3

Approx.

0.6

See note 6.

WTA3HL

2.20

10 –6

0.182

11.5

0.85

1.1

Approx.

0.4

Approx.

0.7

t6 × j 250 mm (Al)

WTA5HL

3.64

0.146

27.8

0.61

1.1

0.5

0.8

–6

Approx.

WT01HL

1.06

4.4

–5

0.234

38.2

0.41

245

Approx.

1.1

Approx.

1.6

WT02HL

R88M

-W03030H

R88M

-W03030T

0.0955

3,000

200 V AC

R88M

-W05030H

R88M

-W10030H

R88M

-W05030T

0.159

R88M

-W10030T

100

0.318

R88M

-W20030H

R88M

-W20030T

200

0.637

5,000

0.286

0.44

1.3

1.66

10 –6

0.238

5.49

1.4

1.0

0.477

0.64

2.0

2.20

10 –6

0.268

11.5

0.88

1.1

Approx.

0.3

Approx.

0.6

Approx.

0.4

Approx.

0.7

t6 × j 250 mm (Al)

See note 6.

WTA3H WTA5H

0.955

0.91

2.8

3.64

10 –6

0.378

27.8

0.53

1.2

Approx.

0.5

Approx.

0.8

WT01H

1.91

2.1

6.5

1.06

10 –5

0.327

38.2

0.39

4.6

245

Approx.

1.1

Approx.

1.6

WT02H

2-95

Standard Models and Specifications Chapter 2

Brake p ti

Item

Brake inertia

Excitation voltage

Power consumption (at

20 ° C)

Current consumption (at

20 ° C)

Static friction torque

Attraction time

(See note 3.)

Release time

(See note 3.)

Backlash

Rating

Insulation grade

Unit kg S m 2

(GD 2 /4)

R88M

-W03030L

R88M

-W03030S

8.5 × 10 –7

100 V AC

R88M

-W05030L

R88M

-W10030L

R88M

-W05030S

8.5 × 10 –7

R88M

-W10030S

8.5 × 10 –7

24 V DC ± 10%

R88M

-W20030L

R88M

-W20030S

5.8 × 10 –6

R88M

-W03030H

R88M

-W03030T

8.5 × 10 –7

24 V DC ±

200 V AC

R88M

-W05030H

R88M

-W10030H

R88M

-W05030T

8.5 × 10 –7

R88M

-W10030T

8.5 × 10 –7

R88M

-W20030H

R88M

-W20030T

5.8 × 10 –6

10%

N S m ms ms

–

0.25

0.2 min.

30 max.

60 max.

1 ° (reference value)

Continuous

Type F

0.25

0.2 min.

30 max.

60 max.

0.25

6.9

0.29

0.25

0.34 min.

1.47 min.

0.2 min.

30 max.

60 max.

20 max.

30 max.

60 max.

Continuous

Type F

0.25

0.2 min.

30 max.

60 max.

1 ° (reference value)

0.25

6.9

0.29

0.34 min.

1.47 min.

30 max.

60 max.

20 max.

Note 1.

*The values for items marked by asterisks are the values at an armature winding temperature of 100 ° C (for models of 750 W or less) or 20 ° C (for models of 1 kW or more), combined with the Servo Driver. Other values are at normal conditions (20 ° C, 65%). The momentary maximum torque shown above indicates the standard value.

Note 2.

The brakes are the non-excitation operation type (released when excitation voltage is applied).

Note 3.

The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4.

The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

Note 5.

The value indicated for the allowable radial load is for the positions shown in the diagrams following the next table.

Note 6.

Applicable Load Inertia

1) The drivable load inertia ratio (load inertia/rotor inertia) changes depending on the mechanical configuration being driven and its rigidity. Highly rigid machines can operate with a large load inertia.

Select a Servomotor and verify operation.

2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dynamic brake enabled.

2-96

Standard Models and Specifications Chapter 2

Item Unit

Rated output*

Rated torque*

Rated rotation speed

Momentary maximum rotation speed

Momentary maximum torque*

Rated current*

Momentary maximum current*

Rotor inertia

N S m r/min r/min

N S m

A (rms)

R88M

-W40030H

R88M

-W40030T

400

1.27

3,000

5,000

3.82

2.8

8.5

R88M

-W75030H

R88M

-W75030T

750

2.39

7.16

4.4

13.4

Torque constant*

Power rate*

Mechanical time constant

Electrical time constant

Allowable radial load kg S m

(GD

S ms ms

Allowable thrust load

Weight Without brake

With brake

N kg kg

Radiation shield dimensions (material)

Applicable load inertia

Applicable Servo Driver

(R88D-)

/4) m/A kW/s

1.73 ×

10 –5

0.498

93.7

0.25

5.4

245

Approx.

1.7

Approx.

2.2

See note 6.

WT04H

6.72

8.7

–5

0.590

84.8

0.26

392

147

Approx.

3.4

Approx.

4.3

t6 × j 250 mm (Al)

WT08H

-W1K030H

-W1K030T

1,000

3.18

9.54

5.7

1.74 ×

10 –4

0.64

57.9

0.87

7.1

R88M

686

196

Approx.

4.6

WT10H

1,500

4.9

14.7

9.7

2.47

7.7

5.8

–4

0.56

97.2

0.74

686

196

Approx.

6.0

Approx.

7.5

t12 × j 300 mm (Al)

WT15H

200 V AC

R88M

-W1K530H

R88M

-W1K530T

12.7

3.19

8.3

–4

0.54

127

0.62

Approx.

7.0

Approx.

8.5

R88M

-W2K030H

R88M

-W2K030T

2,000

6.36

19.1

686

196

WT20H

R88M

-W3K030H

R88M

-W3K030T

3,000

9.8

R88M

-W4K030H

R88M

-W4K030T

4,000

12.6

R88M

-W5K030H

R88M

-W5K030T

5,000

15.8

29.4

18.8

7.00 ×

10 –4

0.57

137

0.74

13.0

980

392

Approx.

11.0

WT30H

37.8

25.4

9.60

10 –4

0.53

166

0.65

14.1

1,176

392

14.0

Approx.

14.0

Approx.

17.0

t12 × j 400 mm (Al)

WT50H

47.6

28.6

1.23

10 –3

0.60

202

0.59

14.7

1,176

392

Approx.

17.0

Approx.

20.0

WT50H

2-97

Standard Models and Specifications Chapter 2

Brake specifications

Item Unit

Brake inertia

Excitation voltage

Power consumption (at

20 ° C)

Current consumption (at

20 ° C)

Static friction torque

Attraction time

(See note

3.)

Release time

(See note

3.) kg S m

(GD

N S ms ms

Backlash

Rating –

Insulation grade

– m

/4)

R88M

-W40030H

R88M

-W40030T

5.8 × 10 –6

6.9

0.29

R88M

-W75030H

R88M

-W75030T

1.4 × 10 –5

24 V DC ± 10%

7.7

0.32

R88M

-W1K030H

R88M

-W1K030T

3.25

–5

0.29

1.47 min.

2.45 min.

7.84 min.

60 max.

20 max.

1 ° (reference value)

Continuous

Type F

80 max.

20 max.

180 max.

100 max.

200 V AC

R88M

-W1K530H

R88M

-W1K530T

3.25 ×

10 –5

0.29

7.84 min.

180 max.

100 max.

R88M

-W2K030H

R88M

-W2K030T

3.25

–5

0.29

7.84 min.

180 max.

100 max.

R88M

-W3K030H

R88M

-W3K030T

2.1 × 10 –4

R88M

-W4K030H

R88M

-W4K030T

2.1 × 10 –4

9.85

0.41

20 min.

180 max.

100 max.

9.85

0.41

20 min.

180 max.

100 max.

R88M

-W5K030H

R88M

-W5K030T

2.1 × 10 –4

9.85

0.41

20 min.

180 max.

100 max.

Note 1.

Note 2.

The brakes are the non-excitation operation type (released when excitation voltage is applied).

Note 3.

The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4.

The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

2-98

Standard Models and Specifications Chapter 2

Note 5.

The value indicated for the allowable radial load is for the positions shown in the following diagrams.

Radial load

5 mm

Thrust load

(Models of 750 W or less)

Radial load

Thrust load

End of Servomotor shaft

(Models of 1 kW or more)

Note 6.

The applicable load inertia is restricted by the regenerative energy absorption capacity.

D Torque and Rotation Speed Characteristics

3,000-r/min Servomotors (100 V AC)

The following graphs show the characteristics with a 3-m standard cable and 100-V AC input.

R88M-W03030L/S (30 W) R88M-W05030L/S (50 W) R88M-W10030L/S (100 W)

Repeated usage

Continuous usage

R88M-W20030L/S (200 W)

Repeated usage

Continuous usage Continuous usage

Repeated usage

Continuous usage

2-99

Standard Models and Specifications Chapter 2

3,000-r/min Servomotors (200 V AC)

The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.

R88M-W03030H/T (30 W) R88M-W05030H/T (50 W) R88M-W10030H/T (100 W)

Repeated usage

Continuous usage

R88M-W20030H/T (200 W)

Repeated usage

Continuous usage

R88M-W40030H/T (400 W)

Repeated usage

Continuous usage

R88M-W75030H/T (750 W)

Repeated usage

Continuous usage

R88M-W1K030H/T (1 kW)

Repeated usage

Continuous usage

R88M-W1K530H/T (1.5 kW)

Repeated usage

Continuous usage

R88M-W2K030H/T (2 kW)

Repeated usage

Continuous usage

R88M-W3K030H/T (3 kW)

Repeated usage

Continuous usage

R88M-W4K030H/T (4 kW)

Repeated usage

Continuous usage

R88M-W5K030H/T (5 kW)

Repeated usage

Continuous usage

Repeated usage

Continuous usage

Repeated usage

Continuous usage

2-100

Standard Models and Specifications Chapter 2

D Servomotor and Mechanical System Temperature Characteristics

• W-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 visibly increases 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.

Caution Do not use 2-kW or 5-kW Servomotors within the shaded portions of the following diagrams.

If used in these regions, the Servomotor may heat, causing the encoder to malfunction.

R88M-W2K030 j (2 kW) R88M-W5K030 j (5 kW)

Effective torque

(N.m)

Effective torque

(N.m)

Ambient temperature ( _ C) Ambient temperature ( _ C)

2-101

Standard Models and Specifications

3,000-r/min Flat-style Servomotors

Chapter 2

D Performance Specifications Table

Item Unit 100 V AC

Rated output*

Rated torque*

Rated rotation speed

Momentary maximum rotation speed

Momentary maximum torque*

N S m r/min r/min

N S m

R88M

-WP10030

R88M

-WP10030

100

0.318

3,000

5,000

0.955

R88M

-WP20030

R88M

-WP20030

200

0.637

1.91

R88M

-WP10030

R88M

-WP10030

100

0.318

3,000

5,000

0.955

R88M

-WP20030

R88M

-WP20030

200

0.637

1.91

200 V AC

R88M

-WP40030

R88M

-WP40030

400

1.27

3.82

R88M

-WP75030

R88M

-WP75030

750

2.39

7.16

R88M

-WP1K530

R88M

-WP1K530

1,500

4.77

14.3

Rated current*

Momentary maximum current*

Rotor inertia

A (rms)

Torque constant*

Power rate*

Mechanical time constant

Electrical time constant kg S m 2

(GD 2 /4)

N S m/A kW/s ms ms

Allowable radial load

Allowable thrust load

Weight Without brake

N kg

With brake kg

Radiation shield dimensions (material)

Applicable load inertia

Applicable Servo Driver (R88D-)

2.2

7.1

4.91

0.160

20.6

0.56

3.6

× 10

See note 6.

WT01HL

–6

245

392

147

490

147

Approx. 0.7

Approx. 1.4

Approx. 0.7

Approx. 1.4

Approx. 2.1

Approx. 4.2

Approx. 6.6

Approx. 0.9

t6 × j

2.7

8.4

1.93

0.258

21.0

0.64

6.3

× 10 –5

Approx. 1.9

250 mm (Al)

WT02HL

0.89

2.8

4.91

0.392

20.6

0.53

3.7

Approx. 0.9

t6 ×

× j

250 mm (Al)

WT01H

–6

2.0

6.0

1.93

0.349

21.0

0.54

7.4

× 10 –5

Approx. 1.9

WT02H

2.6

8.0

3.31

0.535

49.0

0.36

8.6

× 10 –5

Approx. 2.6

WT04H

4.1

13.9

2.10

0.641

27.1

0.66

× 10 –5

Approx. 5.7

t12 × j

WT08H

7.5

23.0

4.02

0.687

56.7

0.46

× 10 –4

Approx. 8.1

300 mm (Al)

WT15H

2-102

Standard Models and Specifications Chapter 2

Item Unit

R88M

-WP10030

100 V AC

R88M

-WP20030

R88M

-WP10030

2.9 ×

10 –6

R88M

-WP20030

1.09 × 10 –5

R88M

-WP10030

R88M

-WP10030

2.9 × 10 –6

R88M

-WP20030

R88M

-WP20030

1.09 × 10 –5

200 V AC

R88M

-WP40030

R88M

-WP40030

1.09 × 10 –5

R88M

-WP75030

R88M

-WP75030

8.75 × 10 –5

R88M

-WP1K530

R88M

-WP1K530

8.75 × 10 –5 Brake p ti

Brake inertia

Excitation voltage

Power consumption

(at 20 ° C)

Current consumption (at

20 ° C)

Static friction torque

Attraction time (See note 3.)

Release time (See note 3.)

Backlash

Rating

Insulation grade kg S m 2

(GD 2 /4)

N S m ms ms

–

24 V DC ± 10%

8.1

0.34

7.6

0.29

1 ° (reference value)

Continuous

Type F

24 V DC ± 10%

8.1

0.34

7.6

0.29

1 ° (reference value)

Continuous

Type F

7.6

0.34

7.5

0.31

0.48 to 0.73 0.95 to 1.42 0.48 to 0.73 0.95 to 1.42 1.96 to 2.84 3.5 min.

20 max.

40 max.

20 max.

40 max.

20 max.

40 max.

20 max.

40 max.

60 max.

20 max.

40 max.

0.42

7.1 min.

20 max.

40 max.

Note 1.

The values for items marked by asterisks 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 momentary maximum torque shown above indicates the standard value.

Note 2.

The brakes are the non-excitation operation type (released when excitation voltage is applied).

Note 3.

The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4.

The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

Note 5.

The value indicated for the allowable radial load is for the position shown in the following diagram.

Radial load

Thrust load

5 mm

Note 6.

Applicable Load Inertia

Select a Servomotor and verify operation.

2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dynamic brake enabled.

2-103

Standard Models and Specifications Chapter 2

D Torque and Rotation Speed Characteristics

3,000-r/min Flat-style Servomotors (100 V AC)

The following graphs show the characteristics with a 3-m standard cable and 100-V AC input.

R88M-WP10030L/S (100 W) R88M-WP20030L/S (200 W)

Repeated usage

Continuous usage

Repeated usage

Continuous usage

3,000-r/min Flat-style Servomotors (200 V AC)

The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.

R88M-WP10030H/T (100 W) R88M-WP20030H/T (200 W) R88M-WP40030H/T (400 W)

Repeated usage

Continuous usage

R88M-WP75030H/T (750 W)

Repeated usage

Continuous usage

R88M-WP1K530H/T (1.5 kW)

Repeated usage

Continuous usage

Repeated usage

Continuous usage

Repeated usage

Continuous usage

D Servomotor and Mechanical System Temperature Characteristics

2-104

Standard Models and Specifications Chapter 2 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%.

2-105

Standard Models and Specifications

1,000-r/min Flat-style Servomotors

Chapter 2

D Performance Specifications Table

Item Unit

R88M

-W30010H

R88M

-W30010T

R88M

-W60010H

R88M

-W60010T

R88M

-W90010T

Rated output*

Rated torque*

Rated rotation speed

Momentary maximum rotation speed

Momentary maximum torque*

Rated current*

Momentary maximum current*

N S m r/min r/min

N S m

A (rms)

300

2.84

1,000

2,000

7.17

3.0

7.3

600

5.68

14.1

5.7

13.9

Rotor inertia

Torque constant*

Power rate*

Mechanical time constant

Electrical time constant

Allowable radial load kg S m 2

(GD 2 /4)

S ms ms m/A kW/s

Allowable thrust load

Weight Without brake

With brake kg kg

Radiation shield dimensions

(material)

Applicable load inertia

Applicable Servo Driver

(R88D-)

7.24

10 –4

1.03

11.2

5.1

490

Approx.

5.5

Approx.

7.5

See note 6.

WT05H

1.39

3.8

4.7

–3

1.06

23.2

490

Approx.

7.6

Approx.

9.6

t20 × j 400 mm (Fe)

WT08H

R88M

-W90010H

900

8.62

19.3

7.6

16.6

2.05

10 –3

1.21

36.3

2.8

5.7

686

343

Approx.

9.6

Approx.

WT10H

200 V AC

R88M

-W1K210

R88M

-W1K210

1,200

11.5

R88M

-W2K010

R88M

-W2K010

2,000

19.1

28.0

11.6

3.17

1.03

41.5

2.0

–3

13.5

1,176

490

Approx.

4.60

1.7

–3

1.07

79.4

Approx.

23.5

t30 × j 550 mm (Fe)

WT15H

44.0

18.5

13.9

1,470

490

WT20H

R88M

-W3K010

R88M

-W3K010

3,000

28.4

R88M

-W4K010

R88M

-W4K010

4,000

38.2

R88M

-W5K510

R88M

-W5K510

5,500

52.6

63.7

24.8

6.75

10 –3

1.19

120

1.4

15.5

1,470

490

Approx.

28.5

WT30H

107

30.0

8.90

10 –3

1.34

164

1.3

14.6

1,764

588

Approx.

WT50H

137

43.2

110

1.25

10 –2

1.26

221

1.1

16.5

1,764

588

Approx.

45.5

WT60H

2-106

Standard Models and Specifications Chapter 2

Item Unit

R88M

-W30010H

R88M

-W30010T

R88M

-W60010H

R88M

-W60010T

R88M

-W90010H

R88M

-W90010T

R88M

-W1K210

200 V AC

R88M

-W2K010

R88M

-W1K210

8.5 ×

10 –4

R88M

-W2K010

8.5 × 10 –4

R88M

-W3K010

R88M

-W3K010

8.5 × 10 –4

R88M

-W4K010

R88M

-W4K010

8.5 × 10 –4

R88M

-W5K510

R88M

-W5K510

8.5 × 10 –4 Brake specifications

Brake inertia

Excitation voltage

Power consumption (at

20 ° C)

Current consumption (at

20 ° C)

Static friction torque

Attraction time (See note 3.)

Release time (See note 3.)

Backlash

Rating

Insulation grade kg S m 2

(GD 2 /4)

N S m ms ms

–

2.1 × 10 –4

24 V DC ± 10%

9.85

0.41

2.1 × 10 –4

9.85

0.41

1 ° (reference value)

Continuous

Type F

2.1 × 10 –4

9.85

0.41

18.5

0.77

18.5

0.77

18.5

0.77

23.5

0.98

23.5

0.98

4.41 min.

12.7 min.

43.1 min.

72.6 min.

180 max.

100 max.

Note 1.

*The values for items marked by asterisks 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 momentary maximum torque shown above indicates the standard value.

Note 2.

The brakes are the non-excitation operation type (released when excitation voltage is applied).

Note 3.

The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4.

The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

Note 5.

The value indicated for the allowable radial load is for the position shown in the following diagram.

Radial load

Thrust load

End of Servomotor shaft

Note 6.

Applicable Load Inertia

Select a Servomotor and verify operation.

2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dynamic brake enabled.

2-107

Standard Models and Specifications Chapter 2

D Torque and Rotation Speed Characteristics

1,000-r/min Servomotors (200 V AC)

The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.

R88M-W30010H/T (300 W) R88M-W60010H/T (600 W) R88M-W90010H/T (900 W)

Repeated usage

Continuous usage

R88M-W1K210H/T (1.2 kW)

Repeated usage

Continuous usage

R88M-W2K010H/T (2 kW)

Continuous usage

R88M-W3K010H/T (3 kW)

Repeated usage

Continuous usage

R88M-W4K010H/T (4 kW)

Repeated usage

Continuous usage

R88M-W5K510H/T (5.5 kW)

Repeated usage

Continuous usage

Repeated usage

Continuous usage

Repeated usage

Continuous usage

2-108

Standard Models and Specifications Chapter 2

D Servomotor and Mechanical System Temperature Characteristics

Caution Do not use 900-W, 2-kW, 4-kW, or 5.5-kW Servomotors within the shaded portions of the following diagrams. If used in these regions, the Servomotor may heat, causing the encoder to malfunction.

R88M-W90010 j (900 W)

Effective torque (N S m)

R88M-W2K010 j (2 kW)

Effective torque (N S m)

R88M-W3K010 j (3 kW)

Effective torque (N S m)

Ambient temperature ( _ C)

R88M-W4K010 j (4 kW)

Effective torque (N S m)

Ambient temperature ( _ C)

R88M-W5K510 j (5.5 kW)

Effective torque (N S m)

Ambient temperature ( _ C)

Ambient temperature ( _ C) Ambient temperature ( _ C)

2-109

Standard Models and Specifications

1,500-r/min Servomotors

Chapter 2

D Performance Specifications Table

Item Unit 200 V AC

Rated output*

Rated torque*

Rated rotation speed

Momentary maximum rotation speed

Momentary maximum torque*

N S m r/min r/min

N S m

R88M

-W45015T

450

2.84

1,500

3,000

8.92

R88M

-W85015T

850

5.39

13.8

R88M

-W1K315T

1,300

8.34

23.3

R88M

-W1K815T

1,800

11.5

28.7

R88M

-W2K915T

2,900

18.6

45.1

R88M

-W4K415T

4,400

28.4

71.1

R88M

-W5K515T

5,500

35.0

87.6

R88M

-W7K515T

7,500

48.0

119

R88M

-W11K015T

R88M

-W15K015T

11,000 15,000

70.0

95.4

2,000

175 224

Rated current*

Momentary maximum current*

Rotor inertia

A (rms)

3.8

Torque constant*

Power rate*

Mechanical time constant

Electrical time constant

Allowable radial load

Allowable thrust load

Weight Without brake kg S m

(GD 2

/4)

N S m/A kW/s ms ms

N kg

With brake kg

Radiation shield dimensions

(material)

Applicable load inertia

Applicable Servo Driver

(R88D-)

7.24 ×

10 –4

0.82

11.2

5.0

5.1

490

7.1

1.39

10 –3

0.83

20.9

3.1

5.3

490

10.7

2.05

0.84

33.8

2.8

6.3

–3

686

343

16.7

3.17

10 –3

0.73

41.5

2.2

12.8

1,176

490

23.8

4.60

0.83

75.3

1.9

–3

12.5

1,470

490

32.8

6.75

1.3

–3

0.91

120

15.7

1,470

490

42.1

110

8.90

10 –3

0.88

137

1.3

16.4

1,764

588

54.7

130

1.25

0.93

184

1.1

–2

18.4

1,764

588

58.6

140

2.81

1.2

–2

1.25

174

22.6

1,764

588

78.0

170

3.15

10 –2

1.32

289

0.98

27.2

4,998

2,156

Approx.

5.5

Approx.

7.5

Approx.

7.6

Approx.

9.6

t20 × j 400 mm (Fe)

Approx.

9.6

Approx.

23.5

t30 × j 550 mm (Fe)

Approx.

28.5

Approx.

45.5

Approx.

57.5

Approx.

100 t35 × j 650 mm

(Fe)

See note 6.

WT05H WT10H WT15H WT20H WT30H WT50H WT60H WT75H WT150H WT150H

2-110

Standard Models and Specifications Chapter 2

Brake specifications

Brake inertia

Excitation voltage

Power consumption (at

20 ° C)

Current consumption (at

20 ° C)

Static friction torque

Attraction time (See note 3.)

Release time (See note 3.)

Backlash

Rating

Insulation grade

N S m ms ms

–

– kg S m 2

(GD 2 /4)

R88M

-W45015T

2.1 ×

10 –4

R88M

-W85015T

2.1

10 –4

24 V DC ± 10%

9.85

0.41

4.41

min.

180 max.

100 max.

9.85

0.41

12.7

min.

180 max.

100 max.

1 ° (reference value)

Continuous

Type F

R88M

-W1K315T

2.1 ×

10 –4

R88M

-W1K815T

8.5 ×

10 –4

9.85

0.41

12.7

min.

180 max.

100 max.

18.5

0.77

43.1

min.

180 max.

100 max.

R88M

-W2K915T

8.5 ×

10 –4

18.5

0.77

43.1

min.

180 max.

100 max.

200 V AC

R88M

-W4K415T

8.5 ×

10 –4

18.5

0.77

43.1

min.

180 max.

100 max.

R88M

-W5K515T

8.5 ×

10 –4

R88M

-W7K515T

8.5 ×

10 –4

23.5

0.98

72.6

min.

180 max.

100 max.

23.5

0.98

72.6

min.

180 max.

100 max.

R88M

-W11K015T

1.88 ×

10 –3

R88M

-W15K015T

3.75 ×

10 –3

1.33

84.3

min.

170 max.

1.46

115 min.

250 max.

80 max. 80 max.

Note 1.

*The values for items marked by asterisks are the values at an armature winding temperature of 20 ° C, combined with the Servo Driver. Other values are at normal conditions (20 ° C, 65%).

The momentary maximum torque shown above indicates the standard value.

Note 2.

The brakes are the non-excitation operation type (released when excitation voltage is applied).

Note 3.

The operation time is the measured value (reference value) with a surge killer (CR50500, by

Okaya Electric Industries co. LTD) inserted.

Note 4.

The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.

Note 5.

The value indicated for the allowable radial load is for the position shown in the following diagram.

Radial load

Thrust load

End of Servomotor shaft

Note 6.

Applicable Load Inertia

Select a Servomotor and verify operation.

2) If the dynamic brake is used frequently with a large load inertia, it may lead to burnout of the dynamic brake resistor. Do not repeatedly turn the Servo ON and OFF with the dynamic brake enabled.

2-111

Standard Models and Specifications

D Torque and Rotation Speed Characteristics

Chapter 2

1,500-r/min Servomotors (200 V AC)

The following graphs show the characteristics with a 3-m standard cable and 200-V AC input.

R88M-W45015T (450 W) R88M-W85015T (850 W) R88M-W1K315T (1.3 kW)

Repeated usage

Continuous usage

R88M-W1K815T (1.8 kW)

Repeated usage

Continuous usage

R88M-W2K915T (2.9 kW)

Repeated usage

Continuous usage

R88M-W4K415T (4.4 kW)

Repeated usage

Continuous usage

R88M-W5K515T (5.5 kW)

Repeated usage

Continuous usage

R88M-W7K515T (7.5 kW)

Repeated usage

Continuous usage

R88M-W11K015T (11 kW)

Repeated usage

Continuous usage

R88M-W15K015T (15 kW)

Repeated usage

Continuous usage

Repeated usage

Continuous usage

Repeated usage

Continuous usage

2-112

Standard Models and Specifications Chapter 2

D Servomotor and Mechanical System Temperature Characteristics

• Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. Therefore, 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 is abnormal Servomotor overheating or alarms are occurring at high temperatures.

Caution Do not use 1.3-kW, 2.9-kW, 4.4-kW, 5.5-kW, 7.5-kW, 11-kW, or 15-kW Servomotors within the shaded portions of the following diagrams. If used in these regions, the Servomotor may overheat, causing the encoder to malfunction.

R88M-W1K315T (1.3 kW)

Effective torque (N S m)

R88M-W2K915T (2.9 kW)

Effective torque (N S m)

R88M-W4K415T (4.4 kW)

Effective torque (N S m)

R88M-W5K515T (5.5 kW)

Effective torque (N S m)

Ambient temperature ( _ C)

R88M-W7K515T (7.5 kW)

Effective torque (N S m)

Ambient temperature (

R88M-W11K015T (11 kW)

Effective torque (N S m)

_ C) Ambient temperature (

R88M-W15K015T (15 kW)

Effective torque (N S m)

_ C) Ambient temperature ( _ C)

Ambient temperature ( _ C) Ambient temperature ( _ C) Ambient temperature ( _ C)

2-113

Standard Models and Specifications Chapter 2

2-5-3 Specifications for Servomotors with Reduction Gears

3,000-r/min Servomotors with Standard Reduction Gears

(30 W to 5 kW)

Rated rotation speed t

Rated torque

Maximum t rotation speed

Maximum momentary torque

Reduction i ti

Allowable radial load

Allowable thrust load t r/min

1/5

1/9

R88M-W03030 j j G05BJ 600

R88M-W03030 j j G09BJ 333

1/21 R88M-W03030 j j G21BJ 143

1/33 R88M-W03030 j j G33BJ 91

1/5

1/9

R88M-W05030 j j G05BJ 600

R88M-W05030 j j G09BJ 333

1/21 R88M-W05030 j j G21BJ 143

1/33 R88M-W05030 j j G33BJ 91

100 W 1/5 R88M-W10030 j j G05BJ 600

1/11 R88M-W10030 j j G11BJ 273

1/21 R88M-W10030 j j G21BJ 143

200 W

1/33 R88M-W10030 j j G33BJ 91

1/5 R88M-W20030 j j G05BJ 600

1/11 R88M-W20030 j j G11BJ 273

1/21 R88M-W20030 j j G21BJ 143

1/33 R88M-W20030 j j G33BJ 91

400 W 1/5 R88M-W40030 j j G05BJ 600

1/11 R88M-W40030 j j G11BJ 273

1/21 R88M-W40030 j j G21BJ 143

1/33 R88M-W40030 j j G33BJ 91

750 W 1/5 R88M-W75030 j j G05BJ 600

1/11 R88M-W75030 j j G11BJ 273

1/21 R88M-W75030 j j G21BJ 143

1/33 R88M-W75030 j j G33BJ 91

1/5 R88M-W1K030 j j G05BJ 600

1/9 R88M-W1K030 j j G09BJ 333

1/20 R88M-W1K030 j j G20BJ 150

1/29 R88M-W1K030 j j G29BJ 103

1/45 R88M-W1K030 j j G45BJ 67

1.5 kW 1/5 R88M-W1K530 j j G05BJ 600

1/9 R88M-W1K530 j j G09BJ 333

1/20 R88M-W1K530 j j G20BJ 150

1/29 R88M-W1K530 j j G29BJ 103

1/45 R88M-W1K530 j j G45BJ 67

1/5

1/9

R88M-W2K030 j j G05BJ 600

R88M-W2K030 j j G09BJ 333

1/20 R88M-W2K030 j j G20BJ 150

1/29 R88M-W2K030 j j G29BJ 103

1/45 R88M-W2K030 j j G45BJ 67

1/5 R88M-W3K030 j j G05BJ 600

1/9 R88M-W3K030 j j G09BJ 333

1/20 R88M-W3K030 j j G20BJ 150

1/29 R88M-W3K030 j j G29BJ 103

1/45 R88M-W3K030 j j G45BJ 67

1/5

1/9

R88M-W4K030 j j G05BJ 600

R88M-W4K030 j j G09BJ 333

1/20 R88M-W4K030 j j G20BJ 150

1/29 R88M-W4K030 j j G29BJ 103

1/5

1/9

R88M-W5K030 j j G05BJ 600

R88M-W5K030 j j G09BJ 333

1/20 R88M-W5K030 j j G20BJ 150

30.4

67.0

128

201

38.2

68.7

153

17.9

34.1

53.6

16.2

35.7

68.2

101

8.01

12.6

3.82

8.40

16.0

25.2

7.64

0.72

N S m

1.80

4.80

7.55

1.67

3.01

605

877

190

343

762

212

470

682

1,058

151

272

221

343

58.8

106

235

341

529

76.4

138

306

443

688

118

10.2

22.3

42.7

67.0

12.7

22.9

50.9

5.96

11.4

17.9

5.40

11.9

22.7

33.5

2.67

4.20

1.27

2.80

5.34

8.40

2.55

N S m

0.238

0.599

1.60

2.51

0.557

1.00

202

292

63.2

114

253

70.6

157

227

353

50.4

90.7

73.8

114

19.6

35.3

78.4

114

176

25.4

45.8

102

148

229

39.2

2,940

3,430

833

1,960

2,650

2,940

8,040

833

1,960

2,650

6,860

8,040

1,670

343

451

813

921

833

980

2,650

1,960

6,080

6,860

8,040

1,670

4,700

6,080

6,860

3,820

4,700

6,080

323

549

608

245

441

568

657

235

167

216

137

176

137

206

392

431

245

800

364

190

121

800

444

200

364

190

121

800

364

190

121

190

121

800

364

190

121

800

800 r/min

444

190

121

800

444

200

138

800

444

200

444

200

138

800

444

800

444

200

138

800

444

200

138

800

4,900

5,690

1,280

3,000

4,220

4,900

8,830

1,280

3,000

4,220

7,350

8,830

1,960

294

314

490

1,280

1,570

4,220

3,000

6,370

7,350

8,830

1,960

4,320

6,370

7,350

2,940

4,320

6,370

235

294

235

294

314

147

127

147

235

7.80 × 10 –4

2.02 × 10 –3

1.34 × 10 –3

9.70 × 10 –4

1.02 × 10 –3

1.25 × 10 –3

2.02 × 10 –3

1.34 × 10 –3

2.04 × 10 –3

1.25 × 10 –3

2.02 × 10 –3

4.88 × 10 –4

3.92 × 10 –4

3.44 × 10 –4

4.77 × 10 –4

6.79 × 10 –4

4.88 × 10 –4

6.58 × 10 –4

3.44 × 10 –4

4.77 × 10 –4

6.79 × 10 –4

1.03 × 10 –3

6.58 × 10 –4

1.02 × 10 –3 kg S m 2

3.64 × 10 –6

1.24 × 10 –6

8.4 × 10 –7

6.4 × 10 –7

3.60 × 10 –6

3.30 × 10 –6

1.80 × 10 –6

1.3 × 11 –6

7.76 × 10 –6

4.76 × 10 –6

4.26 × 10 –6

3.26 × 10 –6

3.35 × 10 –5

8.50 × 10 –6

1.10 × 10 –5

6.50 × 10 –6

3.35 × 10 –5

1.95 × 10 –5

1.73 × 10 –5

5.83 × 10 –5

5.28 × 10 –5

5.93 × 10 –5

2.63 × 10 –5

3.44 × 10 –4

3.11 × 10 –4

6.79 × 10 –4

5.8

6.6

9.9

3.5

3.7

3.8

3.6

4.3

4.7

7.1

1.6

1.4

1.7

2.7

3.0

1.0

1.1

1.4

Without brake

1.0

Weight

With brake

6.7

7.5

10.8

14.4

31.4

4.0

4.2

4.3

4.1

4.8

5.2

7.6

1.9

1.7

2.0

3.0

3.5

1.3

1.4

1.7

58.5

31.4

15.7

32.7

52.5

16.5

33.5

53.5

2-114

Standard Models and Specifications Chapter 2

Note 1.

The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2.

The enclosure rating for Servomotors with reduction gears is IP55 for 30- to 750-W models, and IP44 for 1- to 5-kW models.

Note 3.

The maximum momentary rotation speed for the motor shaft of Servomotors with reduction gears is 4,000 r/min.

Note 4.

The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears. Use torque limits so that these values are not exceeded.

Note 5.

The allowable radial loads are measured at a point 5 mm from the end of the shaft for 30- to

750-W Servomotors and in the center of the shaft for 1- to 5-W Servomotors.

3,000-r/min Flat-style Servomotors with Standard Reduction Gears

(100 W to 1.5 kW)

Rated rotation speed r/min

100 W 1/5 R88M-WP10030 j j G05BJ

1/11 R88M-WP10030 j j G11BJ

1/21 R88M-WP10030 j j G21BJ

1/33 R88M-WP10030 j j G33BJ

200 W 1/5 R88M-WP20030 j j G05BJ

1/11 R88M-WP20030 j j G11BJ

1/21 R88M-WP20030 j j G21BJ

1/33 R88M-WP20030 j j G33BJ

400 W 1/5 R88M-WP40030 j j G05BJ

1/11 R88M-WP40030 j j G11BJ

1/21 R88M-WP40030 j j G21BJ

1/33 R88M-WP40030 j j G33BJ

600

273

143

600

273

143

600

273

143

750 W 1/5 R88M-WP75030 j j G05BJ

1/11 R88M-WP75030 j j G11BJ

600

273

1/21 R88M-WP75030 j j G21BJ 143

1.5 kW

1/33 R88M-WP75030 j j G33BJ

1/5

R88M-WP1K530 j j G05BJ 600

1/11 R88M-WP1K530 j j G11BJ 273

1/21 R88M-WP1K530 j j G21BJ 143

1/33 R88M-WP1K530 j j G33BJ 91 t

Rated torque

11.4

17.9

5.40

11.9

22.7

33.5

10.2

22.3

42.7

67.0

20.3

N S m

1.27

2.80

5.34

8.40

2.55

5.96

44.6

80.1

126 i

Efficiency

Maximum momentary rotation speed

190

121

800

364

800

364

190

121

800

364

190

121

800

800 r/min

364

190

121

364

190

121

Maximum momentary torque

34.1

53.6

16.2

35.7

68.2

101

30.4

67.0

128

201

60.8

3.82

N S m

8.40

16.0

25.2

7.64

17.9

134

270

353

Reduction i ti kg S m 2

9.29 × 10 –6

4.79 × 10 –6

4.29 × 10 –6

3.29 × 10 –6

3.60 × 10 –5

8.80 × 10 –6

1.10 × 10 –5

6.50 × 10 –6

3.60 × 10 –5

1.95 × 10 –5

1.72 × 10 –5

7.65 × 10 –5

5.23 × 10 –5

6.63 × 10 –5

4.55 × 10 –5

1.54 × 10 –4

2.09 × 10 –4

1.98 × 10 –4

1.12 × 10 –4

Allowable radial load

568

657

343

451

813

921

353

245

323

549

608

245

441

167

216

392

431

647

1,274

Allowable thrust load t

314

294

314

490

314

235

294

235

294

147

235

490

882

5.2

7.7

6.9

8.0

3.5

3.8

4.1

4.2

4.8

11.0

11.6

Without brake

1.5

3.0

13.7

23.6

Weight

With brake

5.7

8.2

8.4

9.5

4.0

4.3

4.6

4.7

5.3

12.5

13.1

1.7

3.2

15.2

25.1

Note 1.

The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2.

The enclosure rating for Servomotors with reduction gears is IP55.

Note 3.

The maximum momentary rotation speed for the motor shaft of Servomotors with reduction gears is 4,000 r/min.

Note 4.

The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears. Use torque limits so that these values are not exceeded.

Note 5.

The allowable radial loads are measured at a point 5 mm from the end of the shaft.

2-115

Standard Models and Specifications Chapter 2

1,000-r/min Servomotors with Standard Reduction Gears

(300 W to 3 kW)

Rated rotation speed t

Rated torque i

Efficiency

Maximum t rotation speed

Maximum momentary torque

Reduction i ti

Allowable radial load

Allowable thrust load t r/min

300 W 1/5

600 W 1/5

1/9

R88M-W30010 j j G05BJ 200

1/9 R88M-W30010 j j G09BJ 111

1/20 R88M-W30010 j j G20BJ 50

1/29 R88M-W30010 j j G29BJ 34

1/45 R88M-W30010 j j G45BJ 22

R88M-W60010 j j G05BJ 200

R88M-W60010 j j G09BJ 111

1/20 R88M-W60010 j j G20BJ 50

1/29 R88M-W60010 j j G29BJ 34

1/45 R88M-W60010 j j G45BJ 22

900 W 1/5 R88M-W90010 j j G05BJ 200

1/9 R88M-W90010 j j G09BJ 111

1/20 R88M-W90010 j j G20BJ 50

1/29 R88M-W90010 j j G29BJ 34

1/45 R88M-W90010 j j G45BJ 22

1.2 kW 1/5

1/9

R88M-W1K210 j j G05BJ 200

R88M-W1K210 j j G09BJ 111

1/20 R88M-W1K210 j j G20BJ 50

1/29 R88M-W1K210 j j G29BJ 34

1/45 R88M-W1K210 j j G45BJ 22

1/5 R88M-W2K010 j j G05BJ 200

1/9 R88M-W2K010 j j G09BJ 111

1/20 R88M-W2K010 j j G20BJ 50

1/5

1/9

R88M-W3K010 j j G05BJ 200

R88M-W3K010 j j G09BJ 111

34.5

62.1

138

200

310

46.0

82.8

N S m

11.4

20.4

45.4

65.9

102

22.7

40.9

90.9

132

204

184

267

414

76.4

138

306

114

204

77.2

139

309

448

695

112

202

28.7

N S m

51.6

115

166

258

56.4

*82.5

226

327

508

448

650

1,008

176

317

704

255

459

400

222

100

400

222

400

222

400 r/min

222

100

400

222

100

400

222

1,280

3,000

4,220

7,350

8,830

1,960

3,000

1,280

1,570

2,260

4,900

5,690

1,280

1,570

4,220

4,900

8,830

6,370

7,350

8,830

1,960

3,000

6,370

2,940

4,320

6,080

6,860

8,040

1,670

1,960

6,080

3,820

4,700

833

1,960

2,650

6,860

8,040

1,670

1,960

883

980

1,270

2,940

3,430

833

980

2,650

2,940

8,040 kg S m 2

1.26 × 10 –4

9.40 × 10 –5

1.40 × 10 –4

2.76 × 10 –4

1.81 × 10 –4

1.30 × 10 –4

9.00 × 10 –5

4.70 × 10 –4

2.80 × 10 –4

4.50 × 10 –4

3.40 × 10 –4

4.80 × 10 –4

6.90 × 10 –4

1.04 × 10 –3

6.70 × 10 –4

1.02 × 10 –3

7.80 × 10 –4

2.02 × 10 –3

1.34 × 10 –3

9.70 × 10 –4

1.02 × 10 –3

7.80 × 10 –4

2.02 × 10 –3

2.04 × 10 –3

1.25 × 10 –3

Without brake

14 kg

Weight

With brake

20.4

37.4

57.4

16 kg

41.5

48.5

68.5

63.5

73.5

Note 1.

The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2.

The enclosure rating for Servomotors with reduction gears is IP44.

Note 3.

The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears. Use torque limits so that these values are not exceeded.

Note 4.

The allowable radial loads are measured in the center of the shaft.

2-116

Standard Models and Specifications Chapter 2

1,500-r/min Servomotors with Standard Reduction Gears

(450 W to 4.4 kW)

Rated rotation speed t

Rated torque i

Efficiency

Maximum t rotation speed

Maximum momentary torque

Reduction i ti

Allowable radial load

Allowable thrust load t

450 W 1/5

850 W 1/5

1/9

R88M-W45015Tj G05BJ

1/9 R88M-W45015Tj G09BJ

1/20 R88M-W45015Tj G20BJ

1/29 R88M-W45015Tj G29BJ

1/45 R88M-W45015Tj G45BJ

R88M-W85015Tj G05BJ

R88M-W85015Tj G09BJ

1/20 R88M-W85015Tj G20BJ

1/29 R88M-W85015Tj G29BJ

1/45 R88M-W85015Tj G45BJ

1.3 kW 1/5 R88M-W1K315Tj G05BJ

1/9 R88M-W1K315Tj G09BJ

1/20 R88M-W1K315Tj G20BJ

1/29 R88M-W1K315Tj G29BJ

1/45 R88M-W1K315Tj G45BJ

1.8 kW 1/5

1/9

R88M-W1K815Tj G05BJ

R88M-W1K815Tj G09BJ

1/20 R88M-W1K815Tj G20BJ

1/29 R88M-W1K815Tj G29BJ

2.9 kW 1/5 R88M-W2K915Tj G05BJ

1/9 R88M-W2K915Tj G09BJ

1/20 R88M-W2K915Tj G20BJ

4.4 kW 1/5

1/9

R88M-W4K415Tj G05BJ

R88M-W4K415Tj G09BJ

33.4

60.0

133

193

300

46.0

82.8

N S m

11.4

20.4

45.4

65.9

102

21.6

38.8

86.2

125

194

184

267

74.4

134

298

114

204

300

167

300

167

300

167 r/min

300

167

300

167

300

167

459

666

182

325

730

284

512

93.2

168

373

541

839

115

207

35.7

N S m

64.2

143

207

321

55.2

*74.5

221

320

497

100

400

222

100

400

222

400

222

100

400

222

103

400

222

600 r/min

333

150

100

1,960

3,000

4,220

7,350

8,830

1,960

3,000

1,280

1,570

4,220

4,900

5,690

1,280

1,570

4,220

4,900

8,830

6,370

7,350

2,940

4,320

6,370

2,940

4,320

6,080

6,860

3,820

4,700

6,080

3,820

4,700

1,670

1,960

2,650

6,860

8,040

1,670

1,960

883

980

2,650

2,940

3,430

883

980

2,650

2,940

8,040 kg S m 2

1.26 × 10 –4

9.40 × 10 –5

4.66 × 10 –4

2.76 × 10 –4

1.81 × 10 –4

1.30 × 10 –4

9.00 × 10 –5

4.70 × 10 –4

2.80 × 10 –4

4.50 × 10 –4

7.20 × 10 –4

4.80 × 10 –4

6.90 × 10 –4

1.04 × 10 –3

6.70 × 10 –4

1.02 × 10 –3

7.80 × 10 –4

2.02 × 10 –3

1.34 × 10 –3

2.04 × 10 –3

1.25 × 10 –3

2.02 × 10 –3

2.04 × 10 –3

1.25 × 10 –3

Without brake

14 kg

Weight

With brake

30.4

37.4

57.4

16 kg

58.5

68.5

63.5

73.5

Note 1.

The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2.

The enclosure rating for Servomotors with reduction gears is IP44.

Note 3.

The maximum momentary torque values marked by asterisks are the maximum allowable torque for the reduction gears. Use torque limits so that these values are not exceeded.

Note 4.

The allowable radial loads are measured in the center of the shaft.

2-117

Standard Models and Specifications Chapter 2

3,000-r/min Servomotors with Economy Reduction Gears

(100 to 750 W)

Rated rotation speed t

Rated torque i

Efficiency

Maximum t rotation speed

Maximum momentary torque

Reduction i ti

Allowable radial load

Allowable thrust load t r/min

100 W 1/5

1/9

R88M-W10030 j j G05CJ 600

R88M-W10030 j j G09CJ 333

1/15 R88M-W10030 j j G15CJ 200

200 W

1/25 R88M-W10030 j j G25CJ 120

1/5 R88M-W20030 j j G05CJ 600

1/9 R88M-W20030 j j G09CJ 333

1/15 R88M-W20030 j j G15CJ 200

400 W

1/25 R88M-W20030 j j G25CJ 120

1/5 R88M-W40030 j j G05CJ 600

1/9 R88M-W40030 j j G09CJ 333

1/15 R88M-W40030 j j G15CJ 200

1/25 R88M-W40030 j j G25CJ 120

750 W 1/5 R88M-W75030 j j G05CJ 600

1/9 R88M-W75030 j j G09CJ 333

1/15 R88M-W75030 j j G15CJ 200

1/25 R88M-W75030 j j G25CJ 120

2.71

3.78

6.31

11.1

5.40

N S m

1.19

2.29

3.82

6.36

9.49

15.8

26.4

10.8

18.2

30.4

50.7

556

333

200

1,000

556

333

200 r/min

1,000

556

333

200

1,000

556

333

200

1,000

28.5

47.6

79.3

32.2

54.7

91.2

152

8.12

11.3

18.9

33.4

16.2

3.58

N S m

6.88

11.5

19.1

kg S m 2

4.08 × 10 –6

3.43 × 10 –6

3.62 × 10 –6

3.92 × 10 –6

1.53 × 10 –5

2.68 × 10 –5

2.71 × 10 –5

2.67 × 10 –5

3.22 × 10 –5

2.68 × 10 –5

2.71 × 10 –5

2.79 × 10 –5

7.17 × 10 –5

6.50 × 10 –5

7.09 × 10 –5

7.05 × 10 –5

392

441

588

1,323

392

931

1,176

1,323

784

931

1,176

1,617

784

1,176

1,372

2,058

196

465

588

661

392

196

220

294

661

465

588

808

392

588

686

1,029

1.82

2.8

3.2

3.4

1.05

1.2

2.2

Without brake kg

3.4

3.8

4.9

5.5

6.8

7.2

10.6

Weight

With brake

3.9

4.3

5.4

6.4

7.7

8.1

11.5

1.35

1.5

2.5

2.32

3.3

3.7

3.9

Note 1.

The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2.

The enclosure rating for Servomotors with reduction gears is IP44.

Note 3.

The allowable radial loads are measured in the center of the shaft.

3,000-r/min Flat-style Servomotors with Economy Reduction Gears

(100 to 750 W)

100 W 1/5

1/9

R88M-WP10030 j j G05CJ

R88M-WP10030 j j G09CJ

1/15 R88M-WP10030 j j G15CJ

1/25 R88M-WP10030 j j G25CJ

200 W 1/5 R88M-WP20030 j j G05CJ

1/9 R88M-WP20030 j j G09CJ

1/15 R88M-WP20030 j j G15CJ

1/25 R88M-WP20030 j j G25CJ

400 W 1/5 R88M-WP40030 j j G05CJ

1/9 R88M-WP40030 j j G09CJ

1/15 R88M-WP40030 j j G15CJ

1/25 R88M-WP40030 j j G25CJ

750 W 1/5

1/9

R88M-WP75030 j j G05CJ

R88M-WP75030 j j G09CJ

1/15 R88M-WP75030 j j G15CJ

1/25 R88M-WP75030 j j G25CJ

Rated rotation speed

200

120

600

333

600

333

200

120

600

333

200

120 r/min

600

333

200

120 t

Rated torque

6.31

11.1

5.40

9.49

15.8

26.4

10.8

18.2

30.4

50.7

N S m

1.19

2.29

3.82

6.36

2.71

3.78

Efficiency

Maximum momentary rotation speed r/min

1,000

556

333

200

1,000

556

333

200

1,000

556

333

200

1,000

556

333

200

Maximum momentary torque

18.9

33.4

16.2

28.5

47.6

79.3

32.2

54.7

91.2

152

3.58

N S m

6.88

11.5

19.1

8.12

11.3

Reduction i ti kg S m 2

1.60 × 10 –5

1.37 × 10 –5

3.38 × 10 –6

3.68 × 10 –6

1.53 × 10 –5

2.56 × 10 –5

2.71 × 10 –5

2.67 × 10 –5

3.23 × 10 –5

2.56 × 10 –5

2.71 × 10 –5

2.79 × 10 –5

7.17 × 10 –5

6.50 × 10 –5

6.86 × 10 –5

7.05 × 10 –5

Allowable radial load

392

441

588

1,323

392

931

1,176

1,323

784

931

1,176

1,617

784

1,176

1,372

2,058

Allowable thrust load t

588

808

392

588

686

1,029

196

465

588

661

392

465

196

220

294

661

4.3

5.4

6.7

8.0

2.25

3.2

3.6

3.9

8.4

11.8

Without brake kg

1.42

1.47

2.5

Weight

With brake

4.8

5.9

8.2

9.5

2.75

3.7

4.1

4.4

9.9

13.3

1.62

1.67

2.7

Note 1.

The reduction gear inertia indicates the Servomotor shaft conversion value.

Note 2.

The enclosure rating for Servomotors with reduction gears is IP44.

Note 3.

The allowable radial loads are measured in the center of the shaft.

2-118

Standard Models and Specifications

2-5-4 Encoder Specifications

Chapter 2

Incremental Encoder Specifications

Item 3,000-r/min Servomotors

30 to 750 W 1 to 5 kW

3,000-r/min

Flat-style

Servomotors

1,000-r/min

Servomotors

Encoder method

Number of output pulses

Power supply voltage

Power supply current

Maximum rotation speed

Output signals

Optical encoder

13 bits

A, B phase:

2,048 pulses/ revolution

Z phase: 1 pulse/revolution

5 V DC

120 mA

+S, –S

± 5%

5,000 r/min

17 bits

A, B phase:

32,768 pulses/ revolution

Z phase: 1 pulse/revolution

150 mA

13 bits

A, B phase:

2,048 pulses/ revolution

Z phase: 1 pulse/revolution

120 mA

17 bits

A, B phase:

32,768 pulses/ revolution

Z phase: 1 pulse/revolution

150 mA

Output impedance

Serial communications data

Conforming to EIA RS-422A.

Output based on LTC1485CS or equivalent.

Position data, poll sensor, U, V, W phase, encoder alarm, Servomotor data

Serial communications method Bi-directional communications in HDLC format, by Manchester method

Absolute Encoder Specifications

Item 3,000-r/min Servomotors

30 to 750 W 1 to 5 kW

3,000-r/min

Flat-style

Servomotors

1,000-r/min

Servomotors

1,500-r/min

Servomotors

Encoder method

Number of output pulses

Optical encoder

16 bits 17 bits 16 bits

A, B phase:

16,384 pulses/ revolution

Z phase: 1 pulse/revolution

A, B phase:

32,768 pulses/ revolution

Z phase: 1 pulse/revolution

A, B phase:

16,384 pulses/ revolution

Z phase: 1 pulse/revolution

–32,768 to +32,767 rotations or 0 to 65,534 rotations

17 bits

A, B phase:

32,768 pulses/ revolution

Z phase: 1 pulse/revolution

Maximum rotational speed

Power supply voltage

Power supply current

Applicable battery voltage

5 V DC ± 5%

180 mA

3.6 V DC

Battery current consumption

Maximum rotation speed

20 µ A (for backup, when stopped), 3 µ A (when Servo Driver is powered)

5,000 r/min

+S, –S Output signals

Output impedance

Serial communications data

Conforming to EIA RS-422A.

Output based on LTC1485CS or equivalent.

Position data, poll sensor, U, V, W phase, encoder alarm, Servomotor data

Serial communications method Bi-directional communications in HDLC format, by Manchester method

Absolute value communications data

Amount of rotation

2-119

Standard Models and Specifications

2-6 Cable and Connector Specifications

All dimensions are in millimeters unless otherwise specified.

2-6-1 Control Cables

Chapter 2

Motion Control Unit Cables (R88A-CPW

M

)

These are special cables for connecting to Motion Control Units used with OMRON Programmable

Controllers. There are two types, for one or two axes.

Note The following Motion Control Units are available.

CS1W-MC221/-MC421(-V1)

CV-500-MC221/-MC421

C200H-MC221

D Cable Models

Number of axes

Model

R88A-CPW001M1

R88A-CPW002M1

R88A-CPW003M1

R88A-CPW005M1

R88A-CPW001M2

R88A-CPW002M2

R88A-CPW003M2

R88A-CPW005M2

Length (L)

1 m

2 m

3 m

5 m

1 m

2 m

3 m

5 m

Outer diameter of sheath

8.3 dia.

Weight

Approx. 0.2 kg

Approx. 0.3 kg

Approx. 0.4 kg

Approx. 0.6 kg

Approx. 0.3 kg

Approx. 0.4 kg

Approx. 0.5 kg

Approx. 0.7 kg

D Connection Configuration and External Dimensions

Cables for One Axis

Motion Control Unit

CS1W-MC221/421(-V1)

CV-500-MC221/421

C200H-MC221

Servo Driver

R88D-WT j

2-120

Standard Models and Specifications

Cables for Two Axes

Chapter 2

Motion Control Unit

CS1W-MC221/421(-V1)

CV-500-MC221/421

C200H-MC221

Servo Driver

R88D-WT j

Servo Driver

R88D-WT j

D Wiring

Cables for One Axis

Motion Control Unit

Signal

AWG20 Red

AWG20 Black

White/Black –

Pink/Black –

Yellow/Black –

Gray/Black –

Gray/Red –

Orange/Black – –

White/Red –

White/Black –

Yellow/Red –

Yellow/Black –

Pink/Red –

Pink/Black –

Orange/Red –

Orange/Black –

Gray/Black –

Cable: AWG26 × 5P + AWG26 × 6C

Servo Driver

Signal

Shell

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Connector plug:

10136-3000VE (Sumitomo 3M)

Connector case:

10336-52A0-008 (Sumitomo 3M)

2-121

Standard Models and Specifications Chapter 2

Note 1.

The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X →

Z and Y → U.

Note 2.

The terminals marked with asterisks are for use with absolute encoders.

Note 3.

Supply 24 V DC to the two wires (black and red) that are taken out from the Controller’s connector. (Red is + and black is –.)

Cables for Two Axes

Motion Control Unit

AWG20 Red

Signal

AWG20 Black

Servo Driver

Signal

White/Black –

Pink/Black –

Yellow/Black –

Gray/Black –

Gray/Red –

Orange/Black – –

White/Red –

White/Black –

Yellow/Red –

Yellow/Black –

Pink/Red –

Pink/Black –

Orange/Red –

Orange/Black –

Gray/Black –

Cable:

AWG26 × 5P + AWG26 × 6C

Shell

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Signal

White/Black –

Pink/Black –

Yellow/Black –

Gray/Black –

Gray/Red –

Orange/Black – –

White/Red –

White/Black –

Yellow/Red –

Yellow/Black –

Pink/Red –

Pink/Black –

Orange/Red –

Orange/Black –

Connector plug: Cable: AWG26

10136-3000VE (Sumitomo 3M)

× 5P + AWG26 × 6C

Connector case:

10336-52A0-008 (Sumitomo 3M)

Shell

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Note 1.

The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X →

Z and Y → U.

Note 2.

The terminals marked with asterisks are for use with absolute encoders.

2-122

Standard Models and Specifications Chapter 2

Note 3.

Supply 24 V DC to the two wires (black and red) that are taken out from the Controller’s connector. (Red is + and black is –.)

General Control Cables (R88A-CPW

S)

A General Control Cable is connected to the Servo Driver’s Control I/O Connector (CN1). There is no connector on the Controller end. When connecting it to a Position Control Unit with no special cable provided, or to a controller manufactured by another company, wire a connector to match the controller.

Note There is one method for connecting to a Controller with no special cable provided, and another method for using connector Terminal Block cable and a connector Terminal Block.

D Cable Models

Model

R88A-CPW001S

R88A-CPW002S

Length (L)

1 m

2 m

12.8 dia.

Outer diameter of sheath Weight

Approx. 0.3 kg

Approx. 0.6 kg

D Connection Configuration and External Dimensions

Controller Servo Driver

R88D-WT j

2-123

Standard Models and Specifications Chapter 2

D Wiring

Yellow/Black (– – –)

Pink/Black (– – – –)

Yellow/Red (– – – – –)

Pink/Red (– – – –)

Orange/Red (–)

Orange/Black (–)

Gray/Red (–)

Gray/Black (–)

White/Red (–)

White/Black (–)

Yellow/Red (–)

Yellow/Black (–)

Yellow/Black (– – – – –)

Pink/Black (–)

Pink/Red (–)

Orange/Red (– – – – –)

Orange/Black (– – – – –)

Pink/Red (– – – – –)

Gray/Red (– –)

Gray/Black (– –)

Gray/Red (– – – – –)

Gray/Black (– – – – –)

White/Red (– – – – –)

White/Black (– – – – –)

Orange/Red (– –)

Signal name

Pulse Analog

GND

SENGND

GND

SENGND

PCOM

SEN SEN

REF

AGND

+CW

–CW

TREF

AGND

+CCW

–CCW

PCOM

–ECRST

+ECRST

PCOM

–Z

BAT

BATGND

–Z

BAT

BATGND

INP1 VCMP

26 Orange/Black (– –) INP1COM VCMPCOM

Connector plug: 10150-3000VE (Sumitomo 3M)

Connector case: 10350-52A0-008 (Sumitomo 3M)

Cable: AWG24 × 25P UL20276

White/Red (– –)

White/Black (– –)

Yellow/Red (– –)

Yellow/Black (– –)

Pink/Red (– –)

Pink/Black (– –)

Orange/Red (– – –)

Orange/Black (– – –)

Gray/Black (– – –)

Gray/Red (– – –)

White/Red (– – –)

White/Black (– – –)

Yellow/Red (– – –)

Pink/Red (– – –)

Pink/Black (– – –)

Orange/Red (– – – –)

Orange/Black (– – – –)

Gray/Black (– – – –)

Shell –

White/Red (– – – –)

White/Black (– – – –)

Gray/Red (– – – –)

Yellow/Red (– – – –)

Yellow/Black (– – – –)

Pink/Black (– – – – –)

ALO3

RUN

MING

POT

NOT

RESET

PCL

NCL

+24VIN

+ABS

–ABS

Pulse

Signal name

Analog

TGON TGON

TGONCOM

READY

READYCOM

TGONCOM

READY

READYCOM

–A

–B

ALM

ALMCOM

ALO1

ALO2

ALM

ALMCOM

–A

–B

ALO1

ALO2

ALO3

RUN

MING

POT

NOT

RESET

PCL

NCL

+24VIN

+ABS

–ABS

FG FG

Note Wires with the same wire color and the same number of marks form twisted pairs. For example, the orange wire with one red mark (–) is twisted together with the orange wire with one black mark

(–).

Connector Terminal Block Cables (R88A-CTW

N) and Connector

Terminal Blocks (XW2B-50G5)

D Cable Models

Model

R88A-CTW001N

R88A-CTW002N

Length (L)

1 m

2 m

11.8 dia.

Outer diameter of sheath Weight

Approx. 0.2 kg

Approx. 0.4 kg

2-124

Standard Models and Specifications

D Connection Configuration and External Dimensions

Connector

Terminal Block

XW2B-50G5

Chapter 2

Servo Block

R88D-WT j

D Wiring

Terminal

Block Connector Servo Driver

Wire/mark color

Shell

Yellow/Black (– – –)

Pink/Black (– – – –)

Yellow/Red (– – – – –)

Pink/Red (– – – –)

Orange/Red (–)

Orange/Black (–)

Gray/Red (–)

Gray/Black (–)

White/Red (–)

White/Black (–)

Yellow/Red (–)

Yellow/Black (–)

Yellow/Black (– – – – –)

Pink/Black (–)

Pink/Red (–)

Orange/Red (– – – – –)

Orange/Black (– – – – –)

Pink/Red (– – – – –)

Gray/Red (– –)

Gray/Black (– –)

Gray/Red (– – – – –)

Gray/Black (– – – – –)

White/Red (– – – – –)

White/Black (– – – – –)

Orange/Red (– –)

Orange/Black (– –)

White/Red (– –)

White/Black (– –)

Yellow/Red (– –)

Yellow/Black (– –)

Pink/Red (– –)

Pink/Black (– –)

Orange/Red (– – –)

Orange/Black (– – –)

Gray/Black (– – –)

Gray/Red (– – –)

White/Red (– – –)

White/Black (– – –)

Yellow/Red (– – –)

Pink/Red (– – –)

Pink/Black (– – –)

Orange/Red (– – – –)

Orange/Black (– – – –)

Gray/Black (– – – –)

White/Red (– – – –)

White/Black (– – – –)

Gray/Red (– – – –)

Yellow/Red (– – – –)

Yellow/Black (– – – –)

Pink/Black (– – – – –)

Pulse

Signal

Analog

Note Wires with the same wire color and the same number of marks form twisted pairs. For example, the orange wire with one red mark (–) is twisted together with the orange wire with one black mark (–).

Servo Driver Connector

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Terminal Block Connector

Connector socket:

XG4M-5030 (OMRON)

Strain relief:

XG4T-5004 (OMRON)

Cable: AWG28 × 25P UL2464

2-125

Standard Models and Specifications Chapter 2

Connector Terminal Block Cables (XW2Z–

J-B15) and Connector

Terminal Blocks (XW2B-20G

)

Of the control I/O signals (CN1), only those related to positioning control are connected to a Terminal

Block. Use a Connector Terminal Block to save wiring work when using the W-series Servo Driver with the FNY-NS115 MECHATROLINK–II Interface Unit attached to it. This also saves more wiring space than when using an XW2B-50G5 Connector Terminal Block.

Connector Terminal Block Cables (XW2Zj J-B15)

D Cables

XW2Zj J-B15

Model Length (L)

XW2Z-100J-B15

XW2Z-200J-B15

1 m

2 m

External sheath diameter

8.0 dia.

D Connection Configuration and External Dimensions

Weight

Approx. 0.1 kg

Approx. 0.2 kg

Connector

Terminal Block

XW2B-20G4

XW2B-20G5

XW2D-20G6

Servo Driver

R88D-WT j

D Wiring

Connector

Terminal Block Servo Driver

Symbol

+24VIN

Note Functions can be allocated by the user to pin numbers with asterisks. Allocate functions to suit your application.

Shell

DEC

POT

NOT

EXT1

EXT2

EXT3

BATGND

BAT

BKIRCOM

BKIR

ALMCOM

ALM

Servo Driver Connector

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Terminal Block Connector

Connector socket:

XG4M-2030 (OMRON)

Strain relief:

XG4T-2004 (OMRON)

Cable

AWG28 × 3P+AWG28 × 7C UL2464

2-126

Standard Models and Specifications Chapter 2

Connector Terminal Blocks (XW2B-20G

)

Three models of Connector Terminal Block are available. Select an appropriate model depending on wiring methods and screw sizes.

D Terminal Blocks

XW2B-20G4

The XW2B-20G4 is an M3 screw terminal block.

D External Dimensions

Flat cable connector

(MIL connector)

Two, 3.5 dia.

Note The terminal pitch is 5.08 mm.

Precautions

• Use 0.30 to 1.25 mm 2 wire (AWG22 to AWG16).

• The wire inlet for M3 screw terminal blocks is 1.8 × 2.5 mm (vertical × horizontal).

2-127

Standard Models and Specifications

• Strip the sheath as shown in the following diagram.

6 mm

Chapter 2

D Terminal Blocks

XW2B-20G5

The XW2B-20G5 is an M3.5 screw terminal block.

D External Dimensions

Two, 3.5 dia.

Note The terminal pitch is 8.5 mm.

2-128

Flat cable connector

(MIL connector)

Standard Models and Specifications

Precautions

• When using crimp terminals, use crimp terminals with the following dimensions.

Round Crimp Terminals Fork Crimp Terminals

Dia: 3.7 mm

Chapter 2

6.8 mm max.

3.7 mm 6.8 mm max.

Applicable Crimp Terminals

Round Terminals

Fork Terminals

2 to 3.5

2Y to 3.5

D Terminal Blocks

XW2D-20G6

The XW2D-20G6 is an M3 screw terminal block.

Applicable Wires

AWG16 to AWG14 (1.25 to 2.0 mm 2 )

D External Dimensions

Two, 4.5 dia.

2-129

Standard Models and Specifications

Precautions

• When using crimp terminals, use crimp terminals with the following dimensions.

Round Crimp Terminals Fork Crimp Terminals

Dia: 3.2 mm

Chapter 2

5.8 mm max.

3.2 mm 5.8 mm max.

Applicable Crimp Terminals

Round Terminals

Fork Terminals

1.25 to 3

1.25Y to 3

Applicable Wires

AWG22 to AWG16 (0.30 to 1.25 mm 2 )

D Terminal Block Wiring Example (for XW2B-20G4/XW2B-20G5 and XW2D-20G6)

(See note 7.)

Not used

(See note 1.)

(See note 5.)

24 V DC 24 V DC

Note 1.

Backup battery for absolute encoders (2.8 to 4.5 V).

Note 2.

A backup battery for absolute encoders is not required for motors with incremental encoders.

Note 3.

Connect a backup battery for an absolute encoder to either the Connector-Terminal Block

Conversion Unit or to the battery cable for absolute encoder backup (with battery), but not to both.

Note 4.

Secure the backup battery for an absolute encoder with cable clips with double-sided tape or a similar means.

Note 5.

The XB contact is used to turn the electromagnetic brake ON and OFF.

Note 6.

Do not wire unused terminals.

2-130

Standard Models and Specifications Chapter 2

Note 7.

Use the Terminal Block only after allocating Servo Driver signals to pins. The following parameters are set when wiring as described in the above wiring example.

Input signal Output signal

I/O Signal (CN1) Parameter Settings

Parameter No.

Pn50A

Pn50B

Pn511

Pn50F

Name

Input Signal Selection 1

Input Signal Selection 2

Input Signal Selection 5

Output Signal Selection 2

2881

8883

6541

0200

Setting

2-6-2 Motor Cable Specifications

The motor cable is used to connect the Servo Driver and Servomotor. Select the appropriate cable for the Servomotor. The maximum distance between Servo Driver and Servomotor is 50 m.

Note Use a Robot Cable if the cable needs to bend.

D Bend Resistance of Robot Cables

Robot Cables use wire that has a bending life of 20 million times when used at the minimum bending radius (R) or greater under the following conditions.

Note 1.

The bending resistance data was compiled under test conditions and must be used as a guide only. An extra margin must always be allowed.

Note 2.

The life expectancy is the number of uses without cracks or damage to the sheath that would affect performance while current is applied to the wire conductor. This value does not apply to cut shield strands.

Note 3.

If Robot Cables are used at a bending radius smaller than the minimum bending radius, mechanical malfunctions, ground faults, and other problems may occur due to insulation breakdown. Contact your OMRON representative if you need to use a Robot Cable with a bending radius smaller than the minimum bending radius.

2-131

Standard Models and Specifications

D Power Cables

Without brake

With brake

Without brake

With brake

Without brake

With brake

Without brake

With brake jjj : 003 to 050

D Encoder Cables

Model

R88A-CAWA jjj CR

R88A-CAWA ∆∆∆ CR

R88A-CAWB jjj NR

R88A-CAWB ∆∆∆ NR jjj : 003 to 020

∆∆∆ : 030 to 050

D Moving Bending Test

Model

R88A-CAWA jjj SR

R88A-CAWA jjj BR

R88A-CAWB jjj SR

R88A-CAWB jjj BR

R88A-CAWC jjj SR

R88A-CAWC jjj BR

R88A-CAWD jjj SR

R88A-CAWD jjj BR

Minimum bending radius (R)

46 mm

78 mm

46 mm

78 mm

Chapter 2

Minimum bending radius (R)

55 mm

96 mm

150 mm

Stroke

320 mm

Bending radius (R)

2-132

Standard Models and Specifications Chapter 2

Standard Encoder Cable Specifications

Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to

50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)

Cable Models

R88A-CRWA j C

Model

R88A-CRWA003C

R88A-CRWA005C

R88A-CRWA010C

R88A-CRWA015C

R88A-CRWA020C

R88A-CRWA030C

R88A-CRWA040C

R88A-CRWA050C

R88A-CRWB j N

Model

R88A-CRWB003N

R88A-CRWB005N

R88A-CRWB010N

R88A-CRWB015N

R88A-CRWB020N

R88A-CRWB030N

R88A-CRWB040N

R88A-CRWB050N

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

6.5 dia.

6.8 dia.

Weight

Approx. 0.2 kg

Approx. 0.4 kg

Approx. 0.7 kg

Approx. 1.0 kg

Approx. 1.3 kg

Approx. 2.5 kg

Approx. 3.3 kg

Approx. 4.1 kg

3 m

5 m

Length (L)

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

6.5 dia.

6.8 dia.

Weight

Approx. 0.4 kg

Approx. 0.5 kg

Approx. 0.8 kg

Approx. 1.1 kg

Approx. 1.4 kg

Approx. 2.6 kg

Approx. 3.4 kg

Approx. 4.2 kg

Connection Configuration and External Dimensions

R88A-CRWA j C

43.5

Servo Driver

R88D-WT j

Servomotor

R88M-W j

R88A-CRWB j N

Servo Driver

R88D-WT j

43.5

Servomotor

R88M-W j

2-133

Standard Models and Specifications Chapter 2

Wiring

R88A-CRWA j C

Servo Driver

Signal

Cable:

AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)

Red

Black

Orange

Orange/White

Open

Open/White

Shell

Connector plug: 3 to 20 m

30 to 50 m

. . . . .

. . . .

55101-0600 (Molex Japan)

55100-0670 (Molex Japan)

Crimp terminal: 50639-8091 (Molex Japan)

Servomotor

Signal

Shell

Cable

Connector socket:

54280-0609 (Molex Japan)

Servomotor

Connector plug:

55102-0600 (Molex Japan)

R88A-CRWB j N

Servo Driver

Signal

Cable:

AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)

Red

Black

Orange

Orange/White

Open

Open/White

Shell

Connector plug: 3 to 20 m

30 to 50 m

. . . . . 55101-0600 (Molex Japan)

. . . . 55100-0670 (Molex Japan)

Crimp terminal: 50639-8091 (Molex Japan)

Servomotor

Signal

Cable

Straight plug:

N/MS3106B20-29S (JAE Ltd.)

Cable plug:

N/MS3057-12A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A20-29P (DDK Ltd.)

Power Cable

Select a Power Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)

R88A-CAWA

The R88A-CAWA j Cables are for 3,000-r/min Servomotors (30 to 750 W) and 3,000-r/min Flat-style

Servomotors (100 to 750 W).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWA003S

R88A-CAWA005S

R88A-CAWA010S

R88A-CAWA015S

R88A-CAWA020S

R88A-CAWA030S

R88A-CAWA040S

R88A-CAWA050S

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

6.2 dia.

Weight

Approx. 0.2 kg

Approx. 0.3 kg

Approx. 0.6 kg

Approx. 0.9 kg

Approx. 1.2 kg

Approx. 1.8 kg

Approx. 2.4 kg

Approx. 3.0 kg

2-134

Standard Models and Specifications Chapter 2

For Servomotors with Brakes

Model

R88A-CAWA003B

R88A-CAWA005B

R88A-CAWA010B

R88A-CAWA015B

R88A-CAWA020B

R88A-CAWA030B

R88A-CAWA040B

R88A-CAWA050B

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

7.4 dia.

Weight

Approx. 0.3 kg

Approx. 0.5 kg

Approx. 0.9 kg

Approx. 1.3 kg

Approx. 1.7 kg

Approx. 2.5 kg

Approx. 3.3 kg

Approx. 4.1 kg

Note If a 750-W Servomotor is to be wired at a distance of 30 meters or more, use R88A-CAWB jj

Cable.

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

D Wiring

For Servomotors without Brakes

Servo Driver

M4 crimp terminal

Red

White

Blue

Green/Yellow

Cable: AWG20 × 4C UL2464

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Connector cap:

350780-1 (Tyco Electronics AMP KK)

Connector socket:

350689-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350779-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350690-3 (Tyco Electronics AMP KK)

Connector pin 4:

770210-1 (Tyco Electronics AMP KK)

2-135

Standard Models and Specifications

For Servomotors with Brakes

Servo Driver

M4 crimp terminals

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG20 × 6C UL2464

Chapter 2

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Connector cap:

350781-1 (Tyco Electronics AMP KK)

Connector socket:

350689-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350715-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3, 5, 6:

350690-3 (Tyco Electronics AMP KK)

Connector pin 4:

770210-1 (Tyco Electronics AMP KK)

R88A-CAWB

The R88A-CAWB j Cables are for 3,000-r/min Flat-style Servomotors (1.5 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWB003S

R88A-CAWB005S

R88A-CAWB010S

R88A-CAWB015S

R88A-CAWB020S

R88A-CAWB030S

R88A-CAWB040S

R88A-CAWB050S

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

10.4 dia.

Weight

Approx. 0.6 kg

Approx. 1.0 kg

Approx. 1.9 kg

Approx. 2.8 kg

Approx. 3.7 kg

Approx. 5.5 kg

Approx. 7.3 kg

Approx. 9.2 kg

For Servomotors with Brakes

Model

R88A-CAWB003B

R88A-CAWB005B

R88A-CAWB010B

R88A-CAWB015B

R88A-CAWB020B

R88A-CAWB030B

R88A-CAWB040B

R88A-CAWB050B

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

14.5 dia.

Weight

Approx. 1.0 kg

Approx. 1.6 kg

Approx. 3.2 kg

Approx. 4.8 kg

Approx. 6.4 kg

Approx. 9.5 kg

Approx. 12.7 kg

Approx. 15.8 kg

Note Use these cables if a 750-W Servomotor is to be wired at a distance of 30 meters or more.

2-136

Standard Models and Specifications

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Chapter 2

Servomotor

R88M-W j

Servomotor

R88M-W j

D Wiring

For Servomotors without Brakes

Servo Driver

M4 crimp terminal

Red

White

Blue

Green/Yellow

Cable: AWG14 × 4C UL2463

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Connector cap:

350780-1 (Tyco Electronics AMP KK)

Connector socket:

Pins 1 to 3:

350551-6 (Tyco Electronics AMP KK)

Pin 4:

350551-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350779-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350547-6 (Tyco Electronics AMP KK)

Connector pin 4:

350669-1 (Tyco Electronics AMP KK)

For Servomotors with Brakes

Servo Drivers

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG14 × 6C UL2463

M4 crimp terminals

Servomotors

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Connector plug:

350781-1 (Tyco Electronics AMP KK)

Connector socket:

Pins 1 to 3:

350551-6 (Tyco Electronics AMP KK)

Pins 4 to 6:

350551-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350715-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350547-6 (Tyco Electronics AMP KK)

Connector pin 4:

350669-1 (Tyco Electronics AMP KK)

Connector pins 5 and 6:

350690-3 (Tyco Electronics AMP KK)

2-137

Standard Models and Specifications Chapter 2

R88A-CAWC

The R88A-CAWC j Cables are for 3,000-r/min Servomotors (1 to 2 kW), 1,000-r/min Servomotors (300 to 900 W), and 1,500-r/min Servomotors (450 W to 1.3 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWC003S

R88A-CAWC005S

R88A-CAWC010S

R88A-CAWC015S

R88A-CAWC020S

R88A-CAWC030S

R88A-CAWC040S

R88A-CAWC050S

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

For Servomotors with Brakes

Model

R88A-CAWC003B

R88A-CAWC005B

R88A-CAWC010B

R88A-CAWC015B

R88A-CAWC020B

R88A-CAWC030B

R88A-CAWC040B

R88A-CAWC050B

3 m

5 m

Length (L)

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

10.4 dia.

Weight

Approx. 0.6 kg

Approx. 1.0 kg

Approx. 1.9 kg

Approx. 2.8 kg

Approx. 3.7 kg

Approx. 5.6 kg

Approx. 7.4 kg

Approx. 9.2 kg

Outer diameter of sheath

14.5 dia.

Weight

Approx. 1.1 kg

Approx. 1.7 kg

Approx. 3.3 kg

Approx. 4.9 kg

Approx. 6.4 kg

Approx. 9.6 kg

Approx. 12.7 kg

Approx. 15.9 kg

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

2-138

Standard Models and Specifications Chapter 2

D Wiring

For Servomotors without Brakes

Servo Driver

Red

M4 crimp terminals

White

Blue

Green/Yellow

Cable: AWG14 × 4C UL2463

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Straight plug:

N/MS3106B18-10S (JAE Ltd.)

Cable clamp:

N/MS3057-10A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A18-10P (DDK Ltd.)

For Servomotors with Brakes

Servo Driver

M4 crimp terminals

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG14 × 6C UL2463

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Straight plug:

N/MS3106B20-15S (JAE Ltd.)

Cable clamp:

N/MS3057-12A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A20-15P (DDK Ltd.)

Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Terminal

Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals from the phase-U, phase-V, and phase-W wires for these Servo Drivers.

R88A-CAWD

The R88A-CAWD j Cables are for 3,000-r/min Servomotors (3 to 5 kW), 1,000-r/min Servomotors (1.2

to 3 kW), and 1,500-r/min Servomotors (1.8 to 4.4 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWD003S

R88A-CAWD005S

R88A-CAWD010S

R88A-CAWD015S

R88A-CAWD020S

R88A-CAWD030S

R88A-CAWD040S

R88A-CAWD050S

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

14.7 dia.

Weight

Approx. 1.3 kg

Approx. 2.1 kg

Approx. 4.1 kg

Approx. 6.0 kg

Approx. 8.0 kg

Approx. 11.9 kg

Approx. 15.8 kg

Approx. 19.7 kg

2-139

Standard Models and Specifications

For Servomotors with Brakes

Model

R88A-CAWD003B

R88A-CAWD005B

R88A-CAWD010B

R88A-CAWD015B

R88A-CAWD020B

R88A-CAWD030B

R88A-CAWD040B

R88A-CAWD050B

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Chapter 2

Outer diameter of sheath

17.8 dia.

Weight

Approx. 1.9 kg

Approx. 3.0 kg

Approx. 5.8 kg

Approx. 8.6 kg

Approx. 11.4 kg

Approx. 17.0 kg

Approx. 22.6 kg

Approx. 28.2 kg

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

D Wiring

For Servomotors without Brakes

Servo Driver

M5 crimp terminals

Red

White

Blue

Green/Yellow

Cable: AWG10 × 4C UL2463

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Straight plug:

N/MS3106B22-22S (JAE Ltd.)

Cable clamp:

N/MS3057-12A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A22-22P (DDK Ltd.)

2-140

Standard Models and Specifications Chapter 2

For Servomotors with Brakes

Servo Driver

M5 crimp terminals

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG10 × 6C UL2463

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Straight plug:

N/MS3106B24-10S (JAE Ltd.)

Cable clamp:

N/MS3057-16A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A24-10P (DDK Ltd.)

Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Terminal

Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals from the phase-U, phase-V, and phase-W wires for these Servo Drivers.

When using a 1.2-kW motor (1,000 r/min), it cannot be connected to the R88D-WT15H connector as is. Wires with ferrules must be thinned. Remove the crimp terminals from the phase-U, phase-V, and phase-W wires on the Servo Driver side and thin the conductor to approximately half or use a pin terminal.

R88A-CAWE

The R88A-CAWE j Cables are for 1,000-r/min Servomotors (4 kW) and 1,500-r/min Servomotors

(5.5 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWE003S

R88A-CAWE005S

R88A-CAWE010S

R88A-CAWE015S

R88A-CAWE020S

R88A-CAWE030S

R88A-CAWE040S

R88A-CAWE050S

3 m

5 m

Length (L)

10 m

15 m

20 m

30 m

40 m

50 m

For Servomotors with Brakes

Model

R88A-CAWE003B

R88A-CAWE005B

R88A-CAWE010B

R88A-CAWE015B

R88A-CAWE020B

R88A-CAWE030B

R88A-CAWE040B

R88A-CAWE050B

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

23.8 dia.

Weight

Approx. 2.8 kg

Approx. 4.5 kg

Approx. 8.6 kg

Approx. 12.8 kg

Approx. 16.9 kg

Approx. 25.2 kg

Approx. 33.5 kg

Approx. 41.8 kg

Outer diameter of sheath

5.4 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

Approx. 0.4 kg

Approx. 0.6 kg

Approx. 0.8 kg

Approx. 1.2 kg

Approx. 1.6 kg

Approx. 2.0 kg

2-141

Standard Models and Specifications Chapter 2

Note For 4-kW (1,000-r/min) Servomotors and 5.5-kW (1,500-r/min) Servomotors , there are separate connectors for power and brakes. Therefore, whenever a Servomotor with a brake is used, it is necessary to use both Power Cable for Servomotors without brakes (R88A-CAWE j S) and Power Cable for Servomotors with brakes (R88A-CAWE j B). R88A-CAWE j B Cable is used for wiring (2-core) the brake line only.

D Connection Configuration and External Dimensions

For Power Connector

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Brake Connector

Servo Driver

R88D-WT j

Servomotor

R88M-W j

D Wiring

For Power Connector

Servo Driver

M5 crimp terminals

Red

White

Blue

Green/Yellow

Cable: AWG8 × 4C UL62

Servomotor (Power Connector)

Symbol

Phase-U

Phase-V

Phase-W

Cable

Straight plug:

N/MS3106B32-17S (JAE Ltd.)

Cable clamp:

N/MS3057-20A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A32-17P (DDK Ltd.)

For Brake Connector

Servo Driver

M4 crimp terminals

Black

Brown

Cable: AWG20 × 2C UL2464

Servomotor (Brake Connector)

Symbol

Brake

Cable

Straight plug:

N/MS3106A10SL-3S (JAE Ltd.)

Cable clamp:

N/MS3057-4A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A10SL-3P (DDK Ltd.)

R88A-CAWF

The R88A-CAWF j Cables are for 1,000-r/min Servomotors (5.5 kW) and 1,500-r/min Servomotors

(7.5 to 11 kW).

2-142

Standard Models and Specifications

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWF003S

R88A-CAWF005S

R88A-CAWF010S

R88A-CAWF015S

R88A-CAWF020S

R88A-CAWF030S

R88A-CAWF040S

R88A-CAWF050S

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Chapter 2

Outer diameter of sheath

28.5 dia.

Weight

Approx. 4.0 kg

Approx. 6.5 kg

Approx. 12.6 kg

Approx. 18.8 kg

Approx. 24.9 kg

Approx. 37.2 kg

Approx. 49.5 kg

Approx. 61.8 kg

For Servomotors with Brakes

To the Servomotor’s brake connector, connect R88A-CAWE j B Cable, just as for 4-kW (1,000-r/min)

Servomotors with brakes. Refer to the previous page for R88A-CAWE j B specifications.

Note For 5.5-kW (1,000-r/min) Servomotors, and 7.5- to 11-kW (1,500-r/min) Servomotors, there are separate connectors for power and brakes. Therefore, whenever a Servomotor with a brake is used, it is necessary to use both Power Cable for Servomotors without brakes (R88A-CAWF j S) and Power Cable for Servomotors with brakes (R88A-CAWE j B). R88A-CAWE j B Cable is used for wiring (2-core) the brake line only.

D Connection Configuration and External Dimensions

(For Power Connector)

Servo Driver

R88D-WT j

Servomotor

R88M-W j

D Wiring (for Power Connector)

M6 crimp terminals for red, white, and blue; M8 for green/yellow

Servo Driver

Red

White

Blue

Green/Yellow

Cable: AWG6 × 4C UL62

Servomotor (Power Connector)

Symbol

Phase-U

Phase-V

Phase-W

Cable

Straight plug:

N/MS3106B32-17S (JAE Ltd.)

Cable clamp:

N/MS3057-20A (JAE Ltd.)

Servomotor

Receptacle:

MS3102A32-17P (DDK Ltd.)

2-143

Standard Models and Specifications Chapter 2

Robot Cable Encoder Cable Specifications

Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)

D Cable Models

R88A-CRWA j CR

Model

R88A-CRWA003CR

R88A-CRWA005CR

R88A-CRWA010CR

R88A-CRWA015CR

R88A-CRWA020CR

R88A-CRWA030CR

R88A-CRWA040CR

R88A-CRWA050CR

R88A-CRWB j NR

Model

R88A-CRWB003NR

R88A-CRWB005NR

R88A-CRWB010NR

R88A-CRWB015NR

R88A-CRWB020NR

R88A-CRWB030NR

R88A-CRWB040NR

R88A-CRWB050NR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

3 m

5 m

Length (L)

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

7.0 dia.

6.7 dia.

Outer diameter of sheath

7.0 dia.

6.7 dia.

Weight

Approx. 0.2 kg

Approx. 0.3 kg

Approx. 0.6 kg

Approx. 0.9 kg

Approx. 1.2 kg

Approx. 1.8 kg

Approx. 2.4 kg

Approx. 3.0 kg

Weight

Approx. 0.3 kg

Approx. 0.4 kg

Approx. 0.7 kg

Approx. 1.0 kg

Approx. 1.3 kg

Approx. 1.9 kg

Approx. 2.5 kg

Approx. 3.1 kg

D Connection Configuration and External Dimensions

R88A-CRWA j CR

Servo Driver

R88D-WT j

Servomotor

R88M-W j

R88A-CRWB j NR

Servo Driver

R88D-WT j

2-144

Servomotor

R88M-W j

Standard Models and Specifications

D Wiring

R88A-CRWA j CR

Servo Driver

Signal

Cable:

AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)

Red

Black

Orange

Orange/White

Open

Open/White

Shell

Connector plug: 55100-0670 (Molex Japan)

Crimp terminal: 50639-8091 (Molex Japan)

Servomotor

Signal

Shell

Chapter 2

Cable

Connector socket:

54280-0609 (Molex Japan)

Servomotor

Connector plug:

55102-0600 (Molex Japan)

R88A-CRWB j NR

Servo Driver

Signal

Cable:

AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m)

AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m)

Red

Black

Orange

Orange/White

Open

Open/White

Shell

Connector plug: 55100-0670 (Molex Japan)

Crimp terminal: 50639-8091 (Molex Japan)

Servomotor

Signal

Cable

Connector plug:

MS3106B20-29S (DDK Ltd.)

Cable plug:

MS3057-12A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A20-29P (DDK Ltd.)

Robot Cable Power Cable Specifications

Select a Power Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.)

R88A-CAWA

R

The R88A-CAWA j R Cables are for 3,000-r/min Servomotors (30 to 750 W) and 3,000-r/min Flat-style

Servomotors (100 to 750 W).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWA003SR

R88A-CAWA005SR

R88A-CAWA010SR

R88A-CAWA015SR

R88A-CAWA020SR

R88A-CAWA030SR

R88A-CAWA040SR

R88A-CAWA050SR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

6.5 dia.

Weight

Approx. 0.2 kg

Approx. 0.3 kg

Approx. 0.6 kg

Approx. 0.8 kg

Approx. 1.1 kg

Approx. 1.7 kg

Approx. 2.2 kg

Approx. 2.8 kg

2-145

Standard Models and Specifications Chapter 2

For Servomotors with Brakes

Model

R88A-CAWA003BR

R88A-CAWA005BR

R88A-CAWA010BR

R88A-CAWA015BR

R88A-CAWA020BR

R88A-CAWA030BR

R88A-CAWA040BR

R88A-CAWA050BR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

7.0 dia.

Weight

Approx. 0.2 kg

Approx. 0.4 kg

Approx. 0.8 kg

Approx. 1.1 kg

Approx. 1.5 kg

Approx. 2.3 kg

Approx. 3.0 kg

Approx. 3.8 kg

Note If a 750-W Servomotor is to be wired at a distance of 30 meters or more, use R88A-CAWB j R

Cable.

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

D Wiring

For Servomotors without Brakes

Servo Driver

Red

White

Blue

Green/Yellow

Cable: AWG21 × 4C UL2464

M4 crimp terminal

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Connector cap:

350780-1 (Tyco Electronics AMP KK)

Connector socket:

350689-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350779-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350690-3 (Tyco Electronics AMP KK)

Connector pin 4:

770210-1 (Tyco Electronics AMP KK)

2-146

Standard Models and Specifications Chapter 2

For Servomotors with Brakes

Servo Drivers

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG21 × 6C UL2464

M4 crimp terminals

Servomotors

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Connector cap:

350781-1 (Tyco Electronics AMP KK)

Connector socket:

350689-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350715-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350690-3 (Tyco Electronics AMP KK)

Connector pin 4:

770210-1 (Tyco Electronics AMP KK)

Connector pins 5 and 6:

350690-3 (Tyco Electronics AMP KK)

R88A-CAWB

R

The R88A-CAWB j R Cables are for 3,000-r/min Flat-style Servomotors (1.5 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWB003SR

R88A-CAWB005SR

R88A-CAWB010SR

R88A-CAWB015SR

R88A-CAWB020SR

R88A-CAWB030SR

R88A-CAWB040SR

R88A-CAWB050SR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

9.5 dia.

Weight

Approx. 0.5 kg

Approx. 0.8 kg

Approx. 1.5 kg

Approx. 2.2 kg

Approx. 3.0 kg

Approx. 4.5 kg

Approx. 5.9 kg

Approx. 7.4 kg

2-147

Standard Models and Specifications Chapter 2

For Servomotors with Brakes

Model

R88A-CAWB003BR

R88A-CAWB005BR

R88A-CAWB010BR

R88A-CAWB015BR

R88A-CAWB020BR

R88A-CAWB030BR

R88A-CAWB040BR

R88A-CAWB050BR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

11.5 dia.

Weight

Approx. 0.7 kg

Approx. 1.1 kg

Approx. 2.2 kg

Approx. 3.3 kg

Approx. 4.4 kg

Approx. 6.6 kg

Approx. 8.8 kg

Approx. 11.0 kg

Note Use these cables if a 750-W Servomotor is to be wired at a distance of 30 meters or more.

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

D Wiring

For Servomotors without Brakes

Servo Driver

Red

White

Blue

Green/Yellow

Cable: AWG15 × 4C UL2586

M4 crimp terminal

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Connector cap:

350780-1 (Tyco Electronics AMP KK)

Connector socket:

Pins 1 to 3:

350550-6 (Tyco Electronics AMP KK)

Pin 4:

350551-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350779-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350547-6 (Tyco Electronics AMP KK)

Connector pin 4:

350669-1 (Tyco Electronics AMP KK)

2-148

Standard Models and Specifications Chapter 2

For Servomotors with Brakes

Servo Drivers

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG15 × 6C UL2586

M4 crimp terminals

Servomotors

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Connector cap:

350781-1 (Tyco Electronics AMP KK)

Connector socket:

Pins 1 to 3:

350550-6 (Tyco Electronics AMP KK)

Pins 4 to 6:

350550-3 (Tyco Electronics AMP KK)

Servomotor

Connector plug:

350715-1 (Tyco Electronics AMP KK)

Connector pins 1 to 3:

350547-6 (Tyco Electronics AMP KK)

Connector pin 4:

350669-1 (Tyco Electronics AMP KK)

Connector pins 5 and 6:

350690-3 (Tyco Electronics AMP KK)

R88A-CAWC

R

The R88A-CAWC j R Cables are for 3,000-r/min Servomotors (1 to 2 kW), 1,000-r/min Servomotors

(300 to 900 W), and 1,500-r/min Servomotors (450 W to 1.3 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWC003SR

R88A-CAWC005SR

R88A-CAWC010SR

R88A-CAWC015SR

R88A-CAWC020SR

R88A-CAWC030SR

R88A-CAWC040SR

R88A-CAWC050SR

3 m

5 m

Length (L)

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

9.5 dia.

For Servomotors with Brakes

Model

R88A-CAWC003BR

R88A-CAWC005BR

R88A-CAWC010BR

R88A-CAWC015BR

R88A-CAWC020BR

R88A-CAWC030BR

R88A-CAWC040BR

R88A-CAWC050BR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

11.5 dia.

Weight

Approx. 0.6 kg

Approx. 0.9 kg

Approx. 1.6 kg

Approx. 2.4 kg

Approx. 3.1 kg

Approx. 4.6 kg

Approx. 6.1 kg

Approx. 7.5 kg

Weight

Approx. 0.8 kg

Approx. 1.3 kg

Approx. 2.4 kg

Approx. 3.5 kg

Approx. 4.6 kg

Approx. 6.8 kg

Approx. 9.0 kg

Approx. 11.2 kg

2-149

Standard Models and Specifications

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

For Servomotors with Brakes

Servo Driver

R88D-WT j

Chapter 2

Servomotor

R88M-W j

Servomotor

R88M-W j

D Wiring

For Servomotors without Brakes

Servo Driver

M4 crimp terminals

Red

White

Blue

Green/Yellow

Cable: AWG15 × 4C UL2586

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Connector plug:

MS3106B18-10S (DDK Ltd.)

Cable clamp:

MS3057-10A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A18-10P (DDK Ltd.)

For Servomotors with Brakes

Servo Driver

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG15 × 6C UL2586

M4 crimp terminals

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Connector plug:

MS3106B20-15S (DDK Ltd.)

Cable clamp:

MS3057-12A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A20-15P (DDK Ltd.)

Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Terminal

Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals from the phase-U, phase-V, and phase-W wires for these Servo Drivers.

2-150

Standard Models and Specifications Chapter 2

R88A-CAWD

R

The R88A-CAWD j R Cables are for 3,000-r/min Servomotors (3 to 5 kW), 1,000-r/min Servomotors

(1.2 to 3 kW), and 1,500-r/min Servomotors (1.8 to 4.4 kW).

D Cable Models

For Servomotors without Brakes

Model

R88A-CAWD003SR

R88A-CAWD005SR

R88A-CAWD010SR

R88A-CAWD015SR

R88A-CAWD020SR

R88A-CAWD030SR

R88A-CAWD040SR

R88A-CAWD050SR

3 m

Length (L)

5 m

10 m

15 m

20 m

30 m

40 m

50 m

For Servomotors with Brakes

Model

R88A-CAWD003BR

R88A-CAWD005BR

R88A-CAWD010BR

R88A-CAWD015BR

R88A-CAWD020BR

R88A-CAWD030BR

R88A-CAWD040BR

R88A-CAWD050BR

3 m

5 m

Length (L)

10 m

15 m

20 m

30 m

40 m

50 m

Outer diameter of sheath

13.5 dia.

Outer diameter of sheath

16.5 dia.

Weight

Approx. 1.1 kg

Approx. 1.7 kg

Approx. 3.3 kg

Approx. 4.9 kg

Approx. 6.4 kg

Approx. 9.5 kg

Approx. 12.6 kg

Approx. 15.7 kg

Weight

Approx. 1.7 kg

Approx. 2.6 kg

Approx. 4.9 kg

Approx. 7.2 kg

Approx. 9.4 kg

Approx. 14.1 kg

Approx. 18.7 kg

Approx. 23.3 kg

D Connection Configuration and External Dimensions

For Servomotors without Brakes

Servo Driver

R88D-WT j

Servomotor

R88M-W j

For Servomotors with Brakes

D Wiring

Servo Driver

R88D-WT j

Servomotor

R88M-W j

2-151

Standard Models and Specifications

For Servomotors without Brakes

Servo Driver

M5 crimp terminals

Red

White

Blue

Green/Yellow

Cable: AWG11 × 4C UL2586

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Cable

Connector plug:

MS3106B22-22S (DDK Ltd.)

Cable clamp:

MS3057-12A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A22-22P (DDK Ltd.)

Chapter 2

For Servomotors with Brakes

Servo Driver

Red

White

Blue

Green/Yellow

Black

Brown

Cable: AWG11 × 6C UL2586

M5 crimp terminals

Servomotor

Symbol

Phase-U

Phase-V

Phase-W

Brake

Cable

Connector plug:

MS3106B24-10S (DDK Ltd.)

Cable clamp:

MS3057-16A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A24-10P (DDK Ltd.)

Note Connector-type terminal blocks are used for Servo Drivers of 1.5 kW or less, as shown in Terminal

Block Wiring Procedure under 3-2-3 Terminal Block Wiring. Remove the crimp terminals from the phase-U, phase-V, and phase-W wires for these Servo Drivers. When using a 1.2-kW motor

(1,000 r/min), it cannot be connected to the R88D-WT15H connector as is. Wires with ferrules must be thinned. Remove the crimp terminals from the phase-U, phase-V, and phase-W wires on the Servo Driver side and thin the conductor to approximately half.

2-6-3 Peripheral Cables and Connector Specifications

Analog Monitor Cable (R88A-CMW001S)

This is cable for connecting to the Servo Driver’s Analog Monitor Connector (CN5). It is required for connecting analog monitor outputs to external devices such as measuring instruments.

D Cable Models

Model

R88A-CMW001S 1 m

Length (L) Weight

Approx. 0.1 kg

D Connection Configuration and External Dimensions

Servo Driver

R88D-WT j

External device

2-152

Standard Models and Specifications

D Wiring

Servo Driver

Symbol

Red

White

Black

Cable: AWG24 × 4C UL1007

Connector socket:

DF11-4DS-2C (Hirose Electric)

Connector contacts:

DF11-2428SCF (Hirose Electric)

Chapter 2

Computer Monitor Cables (R88A-CCW002

P)

Computer Monitor Cable and computer monitoring software (run on Windows95) for OMNUC W-series

Servo Drivers are required in order to use a personal computer for monitoring and setting parameters for a Servo Driver. There are two kinds of cable, one for DOS/V computers, and the other for NEC PC98 notebook computers (but not for PC98 desktop computers).

D Cable Models

For DOS/V Computers

Model

R88A-CCW002P2 2 m

Length (L) Outer diameter of sheath

6 dia.

Weight

Approx. 0.1 kg

For NEC PC98 Notebook Computers

Model

R88A-CCW002P3 2 m

Length (L) Outer diameter of sheath

6 dia.

Weight

Approx. 0.1 kg

D Connection Configuration and External Dimensions

For DOS/V Computers

Personal computer

(DOS/V)

Servo Driver

R88D-WT j

For NEC PC98 Notebook Computers

Notebook computer

(NEC PC98)

Servo Driver

R88D-WT j

2-153

Standard Models and Specifications

D Wiring

For DOS/V Computers

Computer

Symbol

Servo Driver

Symbol

Chapter 2

Shell

Connector:

17JE-13090-02 (D8A)

Cable: AWG26 × 3C UL2464

(DDK Ltd.)

For NEC PC98 Notebook Computers

Computer

Symbol

Shell

Servo Driver

Symbol

Connector plug:

10114-3000VE (Sumitomo 3M)

Connector case:

10314-52A0-008 (Sumitomo 3M)

Connector plug:

10114-3000VE (Sumitomo 3M)

Connector case:

10314-52A0-008 (Sumitomo 3M)

Shell

Connector plug:

Cable: AWG26

10114-3000VE (Sumitomo 3M)

× 3C UL2464

Connector case:

10314-52F0-008 (Sumitomo 3M)

Shell

Control I/O Connector (R88A-CNU11C)

This is the connector for connecting to the Servo Driver’s Control I/O Connector (CN1). This connector is used when the cable is prepared by the user.

D External Dimensions

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Encoder Connectors (R88A-CNW0

R)

These are the connectors for the encoder cable. These connectors are used when the cable is prepared by the user. They are solder-type connectors. Use the following cable.

2-154

Standard Models and Specifications

• Wire size: AWG16 max.

• Stripped outer diameter: 2.1 mm max.

• Outer diameter of sheath: 6.7 ± 0.5 mm

D External Dimensions

R88A-CNW01R (For Driver’s CN2 Connector)

R88A-CNW02R (For Motor Connector)

Connector Plug Model Number

55100-0670 (Molex)

Connector Plug Model Number

54280-0609 (Molex)

Chapter 2

2-155

Standard Models and Specifications

2-7 Servo Relay Units and Cable Specifications

Chapter 2

This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units. Select the models that match the Position

Control Unit being used. For details, refer to 3-2-1 Connecting Cable .

All dimensions are in millimeters unless otherwise specified.

2-7-1 Servo Relay Units

XW2B-20J6-1B

This Servo Relay Unit connects to the following OMRON Position

Control Units.

• C200H-NC112

• C200HW-NC113

D External Dimensions

Position Control Unit connector

Servo Driver connector

Two, 3.5 dia.

Note Terminal Block pitch: 7.62 mm

2-156

Standard Models and Specifications

D Wiring

Emergency stop

CW limit

Com mon

CCW limit

Origin proximity

Com mon

(See note 5)

24 V DC

External interrupt

Chapter 2

24 V DC

(See note 1)

Note 1.

The XB contact is used to turn ON/OFF the electromagnetic brake.

Do not connect unused terminals.

The 0 V terminal is internally connected to the common terminals.

The following crimp terminal is applicable:

R1.25-3 (round with open end).

Allocate BKIR (Braking Lock) to CN1 pin

27.

XW2B-40J6-2B

This Servo Relay Unit connects to the following OMRON Position Control Units.

• C200H-NC211

• C500-NC113/NC211

• C200HW-NC213/-NC413

D External Dimensions

Position Control Unit connector

X-axis Servo

Driver connector

Y-axis Servo

Driver connector

Two, 3.5 dia.

Note Terminal Block pitch:

7.62 mm

2-157

Standard Models and Specifications Chapter 2

D Wiring

X/Y-axis emergency stop

X-axis

CW limit

Com mon

X-axis origin proximity

Com mon

X-axis

CCW limit

Com mon

X-axis

RUN

Com mon

X-axis

MING

(See note 5)

X-axis

ALM

X-axis

BKIR

Com mon

X-axis

RESET

X-axis external interrupt

X-axis

ALMCOM

Y-axis

CW limit

Com mon

Y-axis

CCW limit

Y-axis origin proximity

Y-axis

RUN

Com mon

Y-axis external interrupt

Y-axis

MING

Y-axis

ALM

(See note 5)

Y-axis

BKIR

Y-axis

RESET

Y-axis

ALMCOM

(See note 1)

24 V DC 24 V DC

24 V DC

Note 1.

The XB contact is used to turn ON/OFF the electromagnetic brake.

Do not connect unused terminals.

The 0 V terminal is internally connected to the common terminals.

The following crimp terminal is applicable: R1.25-3 (round with open end).

Allocate BKIR (Braking Lock) to CN1 pin 27.

XW2B-20J6-3B

This Servo Relay Unit connects to the following OMRON Programmable Controllers.

• CQM1-CPU43-V1

• CQM1H-PLB21 (Pulse I/O Board for CQM1H-CPU51 or

CQM1H-CPU61)

• CS1W-HCP22-V1

D External Dimensions

Position Control Unit connector

Servo Driver connector

Two, 3.5 dia.

Note Terminal Block pitch: 7.62 mm

2-158

Standard Models and Specifications

D Wiring

(See note 8)

Com mon

24 V DC

(See note 1)

CQM1

Input

Unit

(See note 2)

Chapter 2

24 V DC

(See note 3)

Note 1.

If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter.

Input this output signal to a CQM1 Input

Unit.

The XB contact is used to turn ON/OFF the electromagnetic brake.

The phase-Z output is an open-collector output.

Do not connect unused terminals.

The 0 V terminal is internally connected to the common terminals.

The following crimp terminal is applicable:

Radius of 1.25 to 3 (round with open end).

Allocate BKIR (Braking Lock) to CN1 pin

27.

2-7-2 Cable for Servo Relay Units

Servo Driver Cable (XW2Z-

J-B4)

D Cable Models

Model

XW2Z-100J-B4

XW2Z-200J-B4

1 m

2 m

Length (L) Outer diameter of sheath

8.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Servo Relay Unit

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-3B

Servo Driver

R88D-WT j

2-159

Standard Models and Specifications

D Wiring

Servo Relay Unit Servo Driver

Symbol

Chapter 2

Shell

Connector plug:

10150-3000VE (Sumitomo 3M)

Connector case:

10350-52A0-008 (Sumitomo 3M)

Cable: AWG28 × 4P + AWG28 × 9C

Position Control Unit Cable (XW2Z-

J-A2)

This is the cable for connecting between a C200H-NC211, C500-NC113, or C500-NC211 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A2

XW2Z-100J-A2

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Position Control Unit

C200H-NC211

C500-NC113

C500-NC211

Servo Relay Unit

XW2B-40J6-2B

2-160

Standard Models and Specifications

D Wiring

Position Control Unit Servo Relay Unit

Chapter 2

Cable: AWG28 × 8P + AWG28 × 16C

Position Control Unit Cable (XW2Z-

J-A3)

This is the cable for connecting between a CQM1-CPU43-V1 or CQM1H-PLB21 Programmable Controller and an XW2B-20J6-3B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A3

XW2Z-100J-A3

Length (L)

50 cm

1 m

Outer diameter of sheath

7.5 dia.

Weight

Approx. 0.1 kg

2-161

Standard Models and Specifications

D Connection Configuration and External Dimensions

Position Control Unit

CQM1-CPU43-V1

CQM1H-PLB21

D Wiring

Position Control Unit

Chapter 2

Servo Relay Unit

XW2B-20J6-3B

Servo Relay Unit

Hood cover

Cable: AWG28 × 4P + AWG28 × 4C

Position Control Unit Cable (XW2Z-

J-A6)

This is the cable for connecting between a CS1W-NC113 or C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A6

XW2Z-100J-A6

Length (L)

50 cm

1 m

Outer diameter of sheath

8.0 dia.

Weight

Approx. 0.1 kg

D Connection Configuration and External Dimensions

CS1W-NC113

C200HW-NC113

Position Control

Unit

2-162

XW2B-20J6-1B

Servo Relay Unit

Standard Models and Specifications

D Wiring

Position Control Unit Servo Relay Unit

Chapter 2

Crimp terminal

Cable: AWG28 × 4P + AWG28 × 10C

Position Control Unit Cable (XW2Z-

J-A7)

This is the cable for connecting between a CS1W-NC213, CS1W-NC413, C200HW-NC213 or

C200HW-NC413 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A7

XW2Z-100J-A7

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC213

CS1W-NC413

C200HW-NC213

C200HW-NC413

XW2B-40J6-2B

Servo Relay Unit

2-163

Standard Models and Specifications

D Wiring

Position Control Unit Servo Relay Unit

Chapter 2

Crimp terminal

Cable: AWG28 × 8P + AWG28 × 16C

Position Control Unit Cable (XW2Z-

J-A10)

This is the cable for connecting between a CS1W-NC133 Position Control Unit and an XW2B-20J6-1B

Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A10

XW2Z-100J-A10

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

2-164

Standard Models and Specifications

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC133

D Wiring

Position Control Unit

AWG20, black

AWG20, red

Servo Relay Unit

Chapter 2

XW2B-20J6-1B

Servo Relay Unit

Crimp terminal

Cable: AWG28 × 4P + AWG28 × 10C

Position Control Unit Cable (XW2Z-

J-A11)

This is the cable for connecting between a CS1W-NC233/433 Position Control Unit and an

XW2B-40J6-2B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A11

XW2Z-100J-A11

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

2-165

Standard Models and Specifications

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC233

CS1W-NC433

D Wiring

Position Control Unit

AWG20, black

AWG20, red

Servo Relay Unit

Chapter 2

XW2B-40J6-2B

Servo Relay Unit

2-166

Crimp terminal

Cable: AWG28 × 8P + AWG28 × 16C

Standard Models and Specifications Chapter 2

Position Control Unit Cable (XW2Z-

J-A14)

This is the cable for connecting between a CJ1W-NC113 Position Control Unit and an XW2B-20J6-1B

Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A14

XW2Z-100J-A14

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC113

XW2B-20J6-1B

Servo Relay Unit

D Wiring

Position Control Unit Servo Relay Unit

Crimp terminal

Cable: AWG28 × 4P + AWG28 × 10C

2-167

Standard Models and Specifications Chapter 2

Position Control Unit Cable (XW2Z-

J-A15)

This is the cable for connecting between a CJ1W-NC213/NC413 Position Control Unit and an

XW2B-40J6-2B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A15

XW2Z-100J-A15

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC213

CS1W-NC413

XW2B-40J6-2B

Servo Relay Unit

2-168

Standard Models and Specifications

D Wiring

Position Control Unit Servo Relay Unit

Chapter 2

Crimp terminal

Cable: AWG28 × 8P + AWG28 × 16C

Position Control Unit Cable (XW2Z-

J-A18)

This is the cable for connecting between a CJ1W-NC133 Position Control Unit and an XW2B-20J6-1B

Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A18

XW2Z-100J-A18

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

2-169

Standard Models and Specifications

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC133

Chapter 2

XW2B-20J6-1B

Servo Relay Unit

D Wiring

Position Control Unit

AWG20, black

AWG20, red

Servo Relay Unit

Crimp terminal Cable: AWG28 × 4P + AWG28 × 10C

Position Control Unit Cable (XW2Z-

J-A19)

This is the cable for connecting between a CJ1W-NC233/NC433 Position Control Unit and an

XW2B-40J6-2B Servo Relay Unit.

2-170

Standard Models and Specifications

D Cable Models

Model

XW2Z-050J-A19

XW2Z-100J-A19

Length (L)

50 cm

1 m

Chapter 2

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-NC233

CS1W-NC433

XW2B-40J6-2B

Servo Relay Unit

2-171

Standard Models and Specifications

D Wiring

Position Control Unit

AWG20, black

AWG20, red

Servo Relay Unit

Chapter 2

Crimp terminal

Cable: AWG28 × 8P + AWG28 × 16C

Position Control Unit Cable (XW2Z-

J-A22)

This is the cable for connecting between a CS1W-HCP22-V1 Position Control Unit and an

XW2B-20J6-3B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A22

XW2Z-100J-A22

2-172

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

Standard Models and Specifications

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-HCP22-V1

D Wiring

Position Control Unit Servo Relay Unit

Chapter 2

XW2B-20J6-3B

Servo Relay Unit

Crimp terminal Cable: AWG28 × 4P + AWG28 × 4C

Position Control Unit Cable (XW2Z-

J-A23)

This is the cable for connecting between a CS1W-HCP22-V1 Position Control Unit and an

XW2B-20J6-3B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A23

XW2Z-100J-A23

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

2-173

Standard Models and Specifications

D Connection Configuration and External Dimensions

Position Control Unit

CS1W-HCP22-V1

Chapter 2

XW2B-20J6-3B

Servo Relay Unit

D Wiring

Position Control Unit Servo Relay Unit

Cable: AWG28 × 4P + AWG28 × 4C

Servo Relay Unit

2-174

Crimp terminal Cable: AWG28 × 4P + AWG28 × 4C

Standard Models and Specifications Chapter 2

Position Control Unit Cable (XW2Z-

J-A24)

This is the cable for connecting between a 3F88M-DRT141 DeviceNet Single-axis Positioner and an

XW2B-20J6-1B Servo Relay Unit.

D Cable Models

Model

XW2Z-050J-A24

XW2Z-100J-A24

Length (L)

50 cm

1 m

Outer diameter of sheath

10.0 dia.

Weight

Approx. 0.1 kg

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Single-axis

Positioner

3F88M-DRT141

XW2B-20J6-1B

Servo Relay Unit

2-175

Standard Models and Specifications

D Wiring

Single-axis Positioner Servo Relay Unit

Chapter 2

Crimp terminal (round) Cable: AWG28 × 4P + AWG28 × 10C

Crimp terminal (Y-shape)

2-176

Standard Models and Specifications

2-8 Parameter Unit and Cable Specifications

All dimensions are in millimeters unless otherwise specified.

2-8-1 Parameter Unit

Chapter 2

R88A-PR02W Hand-held Parameter Unit

Parameter Units are required for operation and monitoring the Servo

Driver at a remote location or with a control panel.

Note A 1-meter cable is provided with the Parameter Unit. If this is not long enough to connect between the Parameter Unit and the

Servo Driver, then use the R88A-CCW002C Parameter Unit

Cable (2 meters, purchased separately).

General Specifications

Item

Operating ambient temperature 0 to 55 ° C

Storage ambient temperature –10 to 75 ° C

Operating ambient humidity 35% to 85% (with no condensation)

Storage ambient humidity

Storage and operating atmosphere

Vibration resistance

Impact resistance

35% to 85% (with no condensation)

No corrosive gasses.

4.9 m/s 2 max.

Standards

Acceleration 19.6 m/s 2 max.

2-177

Standard Models and Specifications Chapter 2

Performance Specifications

Model

Type

Accessory cable

Connectors

Display

External dimensions

Weight

Communications specifications

Standard

Communications method

Baud rate

Start bits

Data

Parity

Stop bits

Errors detected by Parameter

Standards

Hand-held

1 m

7910-7500SC (10 pins)

7-segment LED

63 × 135 × 18.5 mm (W × H × D)

Approx. 0.2 kg (including 1-m cable that is provided)

RS-232C

Asynchronous (ASYNC)

2,400 bps

1 bit

8 bits

None

1 bit

Display CPF00

CPF01

Cannot transmit even after 5 seconds have elapses since power supply was turned on.

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.

2-8-2 Parameter Unit Cable (R88A-CCW002C)

If the 1-meter cable provided with the Parameter Unit is not long enough, then replace it with R88A-

CCW002C Parameter Unit Cable (2 meters).

Note If this cable is connected to an OMNUC U-series Hand-held Parameter Unit (R88A-PR02U), the

Parameter Unit can be used as an OMNUC W-series Parameter Unit. (Operation is the same as for the R88A-PR02W.)

D Cable Models

Model

R88A-CCW002C 2 m

Length (L) Outer diameter of sheath

6 dia.

Weight

Approx. 0.2 kg

D Connection Configuration and External Dimensions

Parameter Unit

R88A-PR02W

R88A-PR02U

R88D-WT j

Servo Driver

2-178

Standard Models and Specifications

D Wiring

Parameter Unit

Symbol

Servo Driver

Symbol

Chapter 2

Connector socket:

D8410-4501 (Sumitomo 3M)

Connector case:

D79004-3210 (Sumitomo 3M)

Contacts:

3690-1000 (Sumitomo 3M)

Cable: AWG26 × 7C UL2464

Shell

Connector plug:

10114-3000VE (Sumitomo 3M)

Connector case:

10314-52A0-008 (Sumitomo 3M)

2-179

Standard Models and Specifications Chapter 2

2-9 External Regeneration Resistors/Resistance Units

If the Servomotor’s regenerative energy is excessive, connect an External Regeneration Resistor or an External Regeneration Resistance Unit.

R88A-RR22047S External Regeneration Resistor

R88A-RR88006 External Regeneration Resistance Unit

Specifications

Model Resistance

R88A-RR22047S 47

R88A-RR88006

Ω

6.25

Ω

± 10%

Nominal capacity

220 W

880 W

Regeneration absorption for

120 ° C temperature rise

70 W

Heat radiation condition t1.0 × j 350

(SPCC)

180 W –

Thermal switch output specifications

Operating temperature:

170 ° C ± 3%, NC contact, Rated output: 3 A

–

External Dimensions

All dimensions are in millimeters.

D R88A-RR22047S External Regeneration Resistor

Thermal switch output

500

2-180

Standard Models and Specifications

D R88A-RR88006 External Regeneration Resistance Unit

Four, 6 dia.

Chapter 2

Terminal arrangement

R1 R1 R2 R2

2-181

Standard Models and Specifications

2-10 Absolute Encoder Backup Battery Specifications

Chapter 2

A backup battery is required when using a Servomotor with an absolute encoder. Install the Battery Unit in the Servo Driver’s battery holder, and connect the provided connector to the Battery Connector (CN8).

R88A-BAT0

W Absolute Encoder Backup Battery Unit

Model No.

R88A-BAT01W

R88A-BAT02W

Applicable Servo Driver

All drivers except for R88D-WT60H to

R88D-WT150H

R88D-WT60H to R88D-WT150H

Specifications

Item

Battery model number ER3V (Toshiba)

Specifications

Battery voltage

Current capacity

3.6 V

1,000 mA S h

D Connection Configuration and External Dimensions

Unit: mm

15 dia.

Model No.

R88A-BAT01W

R88A-BAT02W

D Wiring

20 mm

50 mm

Length (L)

Cable: AWG24 × 2C UL1007

Red

Black

Symbol

Connector housing:

DF3-2S-2C (Hirose Electric)

Contact pin:

DF3-2428SCFC (Hirose Electric)

2-182

Standard Models and Specifications Chapter 2

Manufacturing Code

A manufacturing date is indicated on the side surface of the Battery using the following code.

Manufacturing day of month: One alphanumeric character

Manufacturing month: One alphanumeric character

Manufacturing year: One alphanumeric character

The following alphanumeric characters are used to indicate the year, month, and day of month.

Manufacturing Character year

Christian year

K L M N O P Q R S T

1999 2000 2001 2002 2003 2004 2005 2006 2007 2008

Manufacturing month g Character

Month

Manufacturing d f th g Character

Day of month

Character

Day of month

Character

Day of month

Note For Batteries produced before 2000, some manufacturing codes are indicated only in two digits

(i.e., year and month).

S Example 1

OMR: December 18, 2003

S Example 2

LU: November 2000

2-183

Standard Models and Specifications

2-11 DC Reactors

Chapter 2

Connect a DC Reactor to the Servo Driver’s DC Reactor connection terminal as a harmonic current control measure. Select a model to match the Servo Driver being used.

(The R88D-WT60H to R88D-WT150H models are not provided with a DC Reactor.)

R88A-PX

DC Reactors

Specifications

Servo Driver model

100 V

200 V

R88D-WTA3HL/A5HL/01HL

R88D-WT02HL

R88D-WTA3H/A5H/01H

R88D-WT02H

R88D-WT04H

R88D-WT05H/08H/10H

R88D-WT15H/20H

R88D-WT30H

R88D-WT50H

Model

R88A-PX5063

R88A-PX5062

R88A-PX5071

R88A-PX5070

R88A-PX5069

R88A-PX5061

R88A-PX5060

R88A-PX5059

R88A-PX5068

DC Reactor

Rated current (A)

1.8

Inductance

10.0

(mH)

3.5

0.85

1.65

3.3

4.8

8.8

14.0

26.8

4.7

40.0

20.0

10.0

2.0

1.5

1.0

0.47

Weight (kg)

Approx. 0.6

Approx. 0.9

Approx. 0.5

Approx. 0.8

Approx. 1.0

Approx. 0.5

Approx. 1.0

Approx. 1.1

Approx. 1.9

External Dimensions

Model A B C D E F G

R88A-PX5059 50 74 125 140 35 45 60 5

R88A-PX5060 40 59 105 125 45 60 65 4

R88A-PX5061 35 52 80 95 35 45 50 4

R88A-PX5062 40 59 100 120 40 50 55 4

R88A-PX5063 35 52 90 105 35 45 50 4

R88A-PX5068 50 74 125 155 53 66 75 5

R88A-PX5069 40 59 105 125 45 60 65 4

R88A-PX5070 40 59 100 120 35 45 50 4

R88A-PX5071 35 52 80 95 30 40 45 4

Four, H dia.

2-184

Chapter 3 System Design and Installation

3-1 Installation Conditions

3-2 Wiring

3-3 Regenerative Energy Absorption

3-4 Adjustments and Dynamic Braking When Load

Inertia Is Large

System Design and Installation Chapter 3

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. Failure to observe this may result in fire.

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 box or 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 voltages specified in the this manual. An incorrect voltage may result in malfunctioning or burning.

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

To avoid damage to the product, take appropriate and sufficient countermeasures when installing systems in the following locations:

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

S Locations subject to strong electromagnetic fields and magnetic fields.

S Locations subject to possible exposure to radiation.

S Locations close to power supply lines.

When connecting the battery, be careful to connect the polarity correctly. Incorrect polarity connections can damage the battery or cause it to explode.

3-2

System Design and Installation

3-1 Installation Conditions

Chapter 3

3-1-1 Servo Drivers

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.

• Take the control cable’s connector direction into account when installing the Servo Drivers.

Fan Fan 50 mm min.

Air

Side panel

50 mm min.

Air

30 mm min.

W = 10 mm min.

Mounting Direction

Mount the Servo Drivers in a direction (perpendicular) such that the lettering for the model number, and so on, can be seen.

Operating Environment

The environment in which Servo Drivers are operated must meet the following conditions.

0 to +55 ° C (Take into account temperature rises in the individ• Ambient operating temperature: ual Servo Drivers themselves.)

• Ambient operating humidity:

• Atmosphere:

20% to 90% (with no condensation)

No corrosive gases.

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.

3-3

System Design and Installation Chapter 3

• 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 40 ° C and at 80% of the rated torque, 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.

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.

3-1-2 Servomotors

Operating Environment

The environment in which the Servomotor is operated must meet the following conditions.

• Ambient operating temperature:

• Ambient operating humidity:

• Atmosphere:

0 to +40 ° C

20% to 80% (with no condensation)

No corrosive gases.

Impact and Load

• The Servomotor is resistant to impacts of up to

490 m/s 2 . Do not subject it to heavy impacts or loads during transport, installation, or removal. When transporting it, hold onto the Servomotor itself, and do not hold onto the encoder, cable, or connector areas. Holding onto weaker areas such as these can damage the Servomotor.

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

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

3-4

System Design and Installation Chapter 3

Connecting to Mechanical Systems

• The axial loads for Servomotors are specified in

2-5-2 Performance Specifications . 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.

Servomotor shaft center line

Ball screw center line

Shaft core displacement

• 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.

• 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.

Backlash

Make moveable.

Adjust backlash by adjusting the distance between shafts.

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 Pulley for tension adjustment

(Make adjustable.)

Belt

Tension

Connectors Conforming to EC Directives

The Power Cable and Encoder Cable connectors listed in the following table are recommended for conforming to EC Directives.

Note The connectors for the Servomotor models not listed below, i.e., 3,000-r/min Servomotors (30 to

750 W) and all 3,000-r/min Flat-style Servomotor models, already conform to EC Directives and do not need to be changed.

3-5

System Design and Installation

D Recommended Connectors

For Power Cables

Without t brake

Servomotor type

3,000-r/min

1,000-r/min

3,000-r/min

1,000-r/min

Servomotor model Connector model

1 kW

1.5 kW

R88M-W1K030

R88M-W1K530 j j -

j j g yp

CE05-8A18-10SD-B-BAS

2 kW R88M-W2K030 j j

Straight type

CE06-6A18-10SD-B-BSS

300 W R88M-W30010 j j

600 W R88M-W60010 j j

900 W R88M-W90010 j j

450 W R88M-W45015Tj

850 W R88M-W85015Tj

1.3 kW R88M-W1K315Tj

3 kW

4 kW

5 kW

1.2 kW

R88M-W3K030

R88M-W4K030 j j -

j j g yp

JL04V-8A22-22SE-EB

R88M-W5K030

R88M-W1K210 j j -

j j

Straight type

JL04V-6A22-22SE-EB

2 kW

3 kW

R88M-W2K010 j j

R88M-W3K010 j j

1.8 kW R88M-W1K815Tj

2.9 kW R88M-W2K915Tj

4.4 kW R88M-W4K415Tj

4 kW

5.5 kW

R88M-W4K010

R88M-W5K510 j j -

j j g yp

JL04V-8A32-17SE

5.5 kW R88M-W5K515T-B j

Straight type

JL04V-6A32-17SE

7.5 kW R88M-W7K515T-B j

11 kW R88M-W11K015Tj

15 kW R88M-W15K015Tj

Chapter 3

Cable clamp model

For sheath external diameter of 6.5 to 8.7 dia.:

CE3057-10A-3 (D265)

For sheath external diameter of 8.5 to 11 dia.:

Maker

DDK Ltd.

For sheath external diameter of 10.5 to 14.1 dia.:

CE3057-10A-1 (D265)

For sheath external diameter of 6.5 to 9.5 dia.:

JL04-2022CK(09)

For sheath external diameter of 9.5 to 13 dia.:

Japan Aviti El tronics Industry, Ltd.

(JAE)

For sheath external diameter of 12.9 to 15.9 dia.:

JL04-2022CK(14)

( (Use a conduit.) ) Japan Aviti El tronics Industry, Ltd.

(JAE)

3-6

System Design and Installation Chapter 3

With brake

Servomotor type

3,000-r/min

1,000-r/min

3,000-r/min

1,000-r/min

3 kW

Servomotor model

R88M-W2K010 j -B j

R88M-W3K010 j -B j

Connector model

1 kW

1.5 kW

R88M-W1K030

R88M-W1K530 j j

-B

-B j j g yp

JL04V-8A20-15SE-EB

2 kW

300 W

R88M-W2K030

R88M-W30010 j j

-B

-B j j

Straight type

JL04V-6A20-15SE-EB

600 W R88M-W60010 j -B j

900 W R88M-W90010 j -B j

450 W R88M-W45015T-B j

850 W R88M-W85015T-B j

1.3 kW R88M-W1K315T-B j

3 kW

4 kW

5 kW

R88M-W3K030

R88M-W4K030 j j

-B

-B j j g yp

JL04V-8A24-10SE-EB

R88M-W5K030 j -B j

Straight type

JL04V-6A24-10SE-EB

1.2 kW R88M-W1K210 j -B j

2 kW

1,500-r/min 1.8 kW R88M-W1K815T-B j

2.9 kW R88M-W2K915T-B j

1,000-r/min

(See note.)

1,500-r/min

4.4 kW R88M-W4K415T-B j

4 kW

5.5 kW

R88M-W4K010

R88M-W5K510 j j

-B

-B j j

( p

Angled type

)

5.5 kW

7.5 kW

R88M-W5K515T-B

R88M-W7K515T-B j j

Straight type

JL04V-6A32-17SE

11 kW R88M-W11K015T-B j

15 kW R88M-W15K015T-B j (For brake connector)

Angled type

MS3108A10SL-3S (D190): Plug

CE-10SLBA-S: Back shell

Straight type

MS3108A10SL-3S (D190): Plug

CE-10SLBS-S: Back shell

Note

Cable clamp model

For sheath external diameter of 6.5 to 9.5 dia.:

JL04-2022CK(09)

For sheath external diameter of 9.5 to 13 dia.:

For sheath external diameter of 12.9 to 15.9 dia.:

JL04-2022C K(14)

For sheath external diameter of 9 to 12 dia.:

JL04-2428CK(11)

For sheath external diameter of 12 to 15 dia.:

For sheath external diameter of 15 to 18 dia.:

JL04-2428CK(17)

(

For sheath external diameter of 18 to 20 dia :

JL04-2428CK(20)

(Use a conduit.) )

For sheath external diameter of 5 to 8 dia.:

CE3057-4A-1

Maker

Japan Aviti El tronics Industry, Ltd.

(JAE)

Japan Aviatio Elec tronics Industry, Ltd.

(JAE) y

Japan Aviti El tronics Industry, Ltd.

(JAE)

DDK Ltd.

For 4-kW and 5.5-kW (1,000-r/min) Servomotors and 5.5- to 15-kW (1,500-r/min) Servomotors, there are separate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Power Cable for a Servomotor with a brake.

For Encoder Cables

Servomotor type Servomotor model Connector model

3,000-r/min

(1 to 5 kW)

1,000-r/min

(300 W to 5.5 kW)

1,500-r/min

(450 W to 15 kW)

R88M-W1K030 to j j

R88M-W5K030 j j

R88M-W30010 j j to

R88M-W5K510 j j

R88M-W45015Tj to

R88M-W15K015Tj

Angled type

JA08A-20-29S-J1-EB

Straight type

JA06A-20-29S-J1-EB

Cable clamp model

For sheath external diameter of 6.5 to 9.5 dia.:

For sheath external diameter of 9.5 to 13 dia.:

For sheath external diameter of 12.9 to 16 dia.:

JL04-2022CKE(14)

Maker

Japan Aviation Electronics Industry, Ltd.

(JAE)

Water and Drip Resistance

The enclosure ratings for the Servomotors are as follows:

3,000-r/min Servomotors (30 to 750 W): IP55 (except for through-shaft parts).

3-7

System Design and Installation Chapter 3

3,000-r/min Servomotors (1 to 5 kW): IP67 (except for through-shaft parts). Models are also available with IP67 ratings that include through-shaft parts.

3,000-r/min Flat-style Servomotors (100 W to 1.5 kW): IP55 (except for through-shaft parts). Models are also available with IP67 ratings that include through-shaft parts.

1,000-r/min Servomotors (300 W to 5.5 kW): IP67 (except for through-shaft parts). Models are also available with IP67 ratings that include through-shaft parts.

1,500-r/min Servomotors (450 W to 15 kW): IP67 (except for through-shaft parts). Models are also available with IP67 ratings that include through-shaft parts.

The standard cable conforms to IP30. When selecting an IP67-rated Servomotor for use in a wet environment, install waterproof connectors for the power and Encoder Cables. The recommended connectors are the same as for the EC Directives, listed in the tables above.

Oil Seals

If the Servomotor is to be used in a location where it may be exposed to oil or grease, select an

IP67-rated Servomotor or a Servomotor with an oil seal.

Other Precautions

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

AC and use permanent magnets. Applying commercial power directly will burn out the motor coils.

• 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 AC Servomotor. If they become misaligned, the motor will not operate.

3-8

System Design and Installation

3-2 Wiring

3-2-1 Connecting Cable

Chapter 3

This section shows the types of connecting cable used in an OMNUC W-series servo system. The wide selection of cables provided for configuring a servo system using a

Motion Control Unit or Position Unit makes wiring simple.

Servo System Configuration

Parameter Unit Parameter Unit Cable

DOS/V personal computers

Controller

Motion Control Unit

Note A 1- cable is provided with the Parameter Unit. If this is not long enough, then purchase Parameter Unit

Cable (2 m).

Computer Monitor Cable

Motion Control Unit Cable

For 1 axis

CN3 (Parameter Unit Connector)

Analog Monitor Cable

Absolute Encoder Backup

Battery Unit

R88A-BAT01W

(for all Servo Drivers except R88D-WT60H to

R88D-WT150H)

R88A-BAT02W

(for R88D-WT60H to

R88D-WT150H)

For 2 axes

CS1W-MC221/421(-V1)

CV500-MC221/421

C200H-MC221

Position Control Unit

Position Control Units with Pulse Train Outputs

CJ1W-NC113/213/413

CJ1W-NC133/233/433

CS1W-NC113/213/413

CS1W-NC133/233/433

C200HW-NC113/213/413

C500-NC113/211

CPU Units with Pulse

Outputs

CQM1-CPU43-EV1

CQM1H-PLB21

CS1W-HCP22-V1

Single-axis Positioners with Pulse Train Outputs

3F88M-DRT141

Other Controllers

C500-NC222, etc.

Servo Relay Unit Cable

Cable to Position

Control Unit

Cable to Servo

Driver

Servo Relay Unit

Terminal Block Cable

Terminal Block Cable

Connector

Terminal

Block

General Control Cable and Control I/O Connector

CN1 (Control I/O Connector)

Terminal block

Power Cable

Robot Cable

Power Cable

(See note.)

R88D-WT j

Servo Driver

CN2

( Encoder Connector)

Encoder Cable

Robot Cable

Encoder Cable

(See note.)

Note Use a Robot Cable if the cable needs to bend.

(Refer to page 2-131.)

R88M-W j

Servomotor

3-9

System Design and Installation Chapter 3

Selecting Connecting Cables

1. Motion Control Unit Cable

There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected.

Motion Control Unit

CS1W-MC221/421(-V1)

CV500-MC221/421

For 1 axis

For 2 axes

Cable Remarks

R88A-CPW jjj M1 The empty boxes in the model numbers are for cable length. The

R88A-CPW jjj M2 cables can be 1, 2, 3, or 5 meters long. (For example, R88A-CPW002M1 is for one axis and is 2 meters long.)

2. Servo Relay Unit Cable

Select a Servo Relay Unit and Cable to match the Position Control Unit that is to be used.

Position Control Unit Cable to Position Control Unit

C500-NC113

C500-NC211

XW2Zjjj J-A2

XW2Zjjj J-A3 CQM1-CPU43-EV1

CQM1H-PLB21

CS1W-NC113

C200HW-NC113

XW2Zjjj J-A6

XW2Zjjj J-A7 CS1W-NC213

CS1W-NC413

C200HW-NC213

C200HW-NC413

CS1W-NC133 XW2Zjjj J-A10

XW2Zjjj J-A11 CS1W-NC233

CS1W-NC433

CJ1W-NC113

CJ1W-NC213

CJ1W-NC413

XW2Z-

XW2Zjjj jjj

J-A14

J-A15

CJ1W-NC133

CJ1W-NC233

CJ1W-NC433

CS1W-HCP22-V1

XW2Zjjj J-A18

XW2Zjjj J-A19

3F88M-DRT141

XW2Zjjj J-A22 (for 1 axis)

XW2Zjjj J-A23 (for 2 axes)

XW2Zjjj J-A24

Servo Relay Unit

XW2B-40J6-2B

XW2B-20J6-3B

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-1B

XW2B-40J6-2B

XW2B-20J6-3B

XW2B-20J6-1B

Cable to Servo Driver

XW2Zjjj J-B4

Note 1.

The empty boxes in the model numbers are for cable length. The cables can be 0.5 or 1 meter long. (For example, XW2Z-050J-A1 is 0.5 meter long.)

Note 2.

When 2-axis control is used with C200HW-NC213, C200HW-NC413, C200H-NC211, or

C500-NC211 Position Control Units, two cables are required to the Servo Driver.

3-10

System Design and Installation Chapter 3

3. Connector-Terminal Block Cables

These cables are used for connecting to Controllers for which no special cable is provided. The cables and terminal block convert the Servo Driver’s Control I/O Connector (CN1) signals to terminal block connections.

Connector Terminal Block

XW2B-50G5

Cable

R88A-CTW jjj N

Remarks

The empty boxes in the model numbers are for cable length. The cables can be 1 or 2 meters long.

(For example, R88A-CTW002N is 2 meters long.)

4. General Control Cable and Control I/O Connector

These cables and connector are used for connecting to Controllers for which no special cable is provided, and when the cable for the Servo Driver’s control I/O connector is prepared by the user.

Name

General Control Cable

Control I/O Connector

Cable

R88A-CPW jjj S

R88A-CNU11C

Remarks

The cable is attached to a connector that connects to the Control I/O Connector (CN1). The empty boxes in the model numbers are for cable length.

The cables can be 1 or 2 meters long. (For example, R88A-CPW001S is 1 meter long.)

This is the connector for connecting to the Control

I/O Connector (CN1). (This item is a connector only.)

5. Power Cable

Select a Power Cable to match the Servomotor that is to be used.

Servomotor type

3,000-r/min

, /

Servomotors

, /

Servomotors y

1,000-r/min

, /

Servomotors

30 to 750 W

1 to 2 kW

3 to 5 kW

100 to 750 W

1.5 kW

300 to 900 W

1.2 to 3 kW

4 kW

Power Cables for Servomotors

Without Brakes

R88A-CAWA jjj S

R88A-CAWC jjj S

R88A-CAWD jjj S

R88A-CAWA jjj S

R88A-CAWB jjj S

R88A-CAWC jjj S

R88A-CAWD jjj S

R88A-CAWE jjj S

5.5 kW R88A-CAWF jjj S

Power Cables for Servomotors

With Brakes

R88A-CAWA jjj B

R88A-CAWC jjj B

R88A-CAWD jjj B

R88A-CAWA jjj B

R88A-CAWB jjj B

R88A-CAWC jjj B

R88A-CAWD jjj B

R88A-CAWE jjj S

(For Power Connector)

R88A-CAWE jjj B

(For Brake Connector)

R88A-CAWF jjj S

(For Power Connector)

R88A-CAWE jjj B

(For Brake Connector)

3-11

System Design and Installation Chapter 3

1,500-r/min

, /

Servomotors

Servomotor type

450 W to 1.3 kW

1.8 to 4.4 kW

5.5 kW

7.5 to 11 kW

15 kW

Power Cables for Servomotors

Without Brakes

R88A-CAWC jjj S

R88A-CAWD jjj S

R88A-CAWE jjj S

R88A-CAWF jjj S

(Made by customer.)

Power Cables for Servomotors

With Brakes

R88A-CAWC jjj B

R88A-CAWD jjj B

R88A-CAWE jjj S

(For Power Connector)

R88A-CAWE jjj B

(For Brake Connector)

R88A-CAWF jjj S

(For Power Connector)

R88A-CAWE jjj B

(For Brake Connector)

(Make the cable for the Power

Connector.)

R88A-CAWE jjj B

(For Brake Connector)

Note 1.

The empty boxes in the model numbers are for cable length. The cables can be 3, 5, 10, 15,

20, 30, 40, or 50 meters long. (For example, R88A-CAWA003S is 3 meters long.)

Note 2.

For 4-kW and 5.5-kW (1,000-r/min) Servomotors, and 5.5-kW and higher (1,500-r/min) Servomotors, there are separate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Power Cable for a Servomotor with a brake.

Note 3.

For 750-W Servomotors, use R88A-CAWB j Power Cable if the wiring distance will be 30 meters or more.

Note 4.

A Power Cable is not provided for 15-kW (1,500-r/min) Servomotors. Refer to Power Cable for

1,500 r/min Servomotors under 3-2-3 Terminal Block Wiring, and make the power cable.

6. Encoder Cable

Select an Encoder Cable to match the Servomotor that is to be used.

Servomotor type

3,000-r/min

, /

Servomotors

30 to 750 W

1 to 5 kW

100 W to 1.5 kW

Encoder Cable

R88A-CRWA

R88A-CRWB

R88A-CRWA jjj jjj jjj

Remarks

C The empty boxes in the model numbers

f bl l h Th bl b 3

5, 10, 15, 20, 30, 40, or 50 meters long.

(For example, R88A-CRWA003C is 3

3,000-r/min Flat-style

Servomotors

1,000-r/min

Servomotors

1,500-r/min

Servomotors

300 W to 5.5 kW

450 W to 15 kW

R88A-CRWB

R88A-CRWB jjj jjj

7. Robot Cable

Use a Robot Cable if the encoder or power cables need to bend.

3-12

System Design and Installation Chapter 3

• Encoder Cables

Motor

, tors

1 to 5 kW

100 to 1.5 kW 3,000-r/min Flat-style

Servomotors

1,000-r/min Servomotors

300 to 5.5 kW

1,500-r/min Servomotors

Encoder Cable

R88A-CRWA jjj CR The “ jjj ” in the model number indi-

R88A-CRWB jjj NR cates the cable length.

R88A-CRWA jjj CR

There are 8 cable lengths: 3 m, 5 m,

10 m, 15 m, 20 m, 30 m, 40 m, and

R88A-CRWB jjj NR

450 W to 15 kW R88A-CRWB jjj NR

(

Remarks

(Example model number:

R88A CRWA003CR (3 ))

• Power Cables

Motor Power Cable for Motors

Without Brakes

, tors

1 to 2 kW

R88A-CAWA jjj SR

R88A-CAWC jjj SR

, tors tors

/ y

3 to 5 kW

100 to 750 W

1.5 kW

1.2 to 3 kW

R88A-CAWD jjj SR

R88A-CAWA jjj SR

R88A-CAWB jjj SR

R88A-CAWC jjj SR

R88A-CAWD jjj SR

/ jjj SR

1.8 to 4.4 kW R88A-CAWD jjj SR

Power Cable for Motors

With Brakes

R88A-CAWA jjj BR

R88A-CAWC jjj BR

R88A-CAWD jjj BR

R88A-CAWA jjj BR

R88A-CAWB jjj BR

R88A-CAWC jjj BR

R88A-CAWD jjj BR

R88A-CAWC jjj BR

R88A-CAWD jjj BR

Note The “ jjj ” in the model number indicates the cable length. There are 8 cable lengths: 3 m,

5 m, 10 m, 15 m, 20 m, 30 m, 40 m, and 50 m.

(Example model number: R88A-CAWA003SR (3 m))

8. Parameter Unit Cable

With OMNUC W-series Servo Drivers, parameter settings and Servo Driver monitoring can be carried out using the display and settings areas on the front panel of the Servo Driver. A Parameter Unit (R88A-

PR02W) is required in order to perform these operations at a distance from the Servo Driver, or using a control box. If the 1-meter cable provided with the Parameter Unit is not long enough, then replace it with

2-meter Parameter Unit Cable.

Note If this cable is connected to an OMNUC U-series Hand-held Parameter Unit (R88A-PR02U), that

Unit can be used as a W-series Parameter Unit.

Name/specifications

Parameter Unit Cable

Model

2 m R88A-CCW002C

Remarks

Only 2-meter cables are available.

9. Computer Monitor Cable

A Computer Monitor Cable and the OMNUC W-series Computer Monitor Software for Servo Drivers

(run on Windows) are required to make Servo Driver parameter settings and perform monitoring from a personal computer.

Name/specifications

Computer Monitor

Cable

For DOS personal computers

Model Remarks

2 m R88A-CCW002P2 Only 2-meter cables are available.

3-13

System Design and Installation Chapter 3

10. Analog Monitor Cable

This is the cable for connecting to the Servo Driver’s Analog Monitor Connector (CN5). It is required for connecting analog monitor outputs to an external device (such as a measuring instrument).

Name/specifications

Analog Monitor Cable

Model

1 m R88A-CMW001S

Remarks

Only 1-meter cables are available.

3-14

System Design and Installation

3-2-2 Peripheral Device Connection Examples

Chapter 3

H R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL/-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H

Single-phase 100/115 V AC, 50/60 Hz: R88D-WT jj HL

Single-phase 200/230 V AC, 50/60 Hz: R88D-WT jj H

Noise filter (See note 2.)

Main-circuit power supply

Main-circuit connector (See note 2.)

Class-3 ground

OMNUC W-series

AC Servo Driver

Surge killer (See note 2.)

Servo error display

Power Cable

(See note 4.)

OMNUC W-series

AC Servomotor

24 V DC

DC Reactor

24 V DC

Usercontrolled device

Control cable

Class-3 ground

Encoder Cable

24 V DC

(See note 1.)

(See note 3.)

Note 1.

Set by user parameter Pn50F.

Recommended product in 3-2-4 Wiring for Noise

Resistance . For conformity to EC Directives, refer to 3-2-5 Wiring for Conformity to EMC

Directives .

Recommended relay: MY Relay (24 V), by

OMRON. For example, an MY2 Relay outputs to a 2-A inductive load at 24 V DC, making it applicable to all W-series Motors with Brakes.

The brake is not affected by the polarity of the power supply.

3-15

System Design and Installation Chapter 3

H R88D-WT05H/-WT08H/-WT10H/-WT15H/-WT20H/-WT30H/-WT50H/-WT60H/-WT75H/

-WT150H

Three-phase 200/230 V AC 50/60 Hz

Class-3 ground

Noise filter (See note 2.)

Main-circuit power supply

Main-circuit connector (See note 2.)

OMNUC W-series

AC Servo Driver

Surge killer (See note 2.)

Servo error display

Power Cable

(See note 5.)

OMNUC W-series

AC Servomotor

24 V DC

(See note 4.)

DC Reactor

Class-3 ground

Encoder Cable

24 V DC

Usercontrolled device

Control cable

(See note 1.)

24 V DC

(See note 3.)

Note 1.

Set by user parameter Pn50F.

Recommended product in 3-2-4 Wiring for Noise

Resistance . For conformity to EC Directives, refer to

3-2-5 Wiring for Conformity to EMC Directives .

Recommended relay: MY relay (24 V), by OMRON.

For example, an MY2 Relay outputs to a 2-A inductive load at 24 V DC, making it applicable to all

W-series Motors with Brakes.

Refer to 6-3 Single-phase Power for 3,000-r/min

(750-W) Servomotors when using an R88D-WT08H with single-phase 200-V power supply.

The brake is not affected by the polarity of the power supply.

3-16

System Design and Installation

3-2-3 Terminal Block Wiring

Chapter 3

When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and antinoise measures.

Terminal Block Names and Functions

Terminal label

Name

Main circuit i p input t pp y

R88D-WT j H (30 to 400 W) g p (

Main circuit DC output (positive)

Function

R88D-WT j H (500 W to 6 kW) p / ( ), /

R88D-WT j HL (30 to 200 W)

Single-phase 100/115 V AC (85 to 127 V), 50/60 Hz

Do not connect anything to these terminals.

Connection terminals for DC

Reactor for power supply harmonic control

(Only the R88D-WT60H, R88D-WT75H, and R88D-WT150H have this terminal.)

Normally short between 1 and 2.

When harmonic control measures are required, connect a DC Reactor between 1 and 2.

(The R88D-WT60H, R88D-WT75H, and R88D-WT150H do not have these terminals.)

L1C

L2C

Main circuit DC output (negative)

Control circuit i p input t pp y

External regeneration resistance connection terminal

Do not connect anything to these terminals.

R88D-WT j H g p ( ),

R88D-WT j HL

Single-phase 100/115 V AC (85 to 127 V), 50/60 Hz

30 to 400 W: These terminals normally do not need to be connected. If there is high regenerative energy, connect an External Regeneration Resistor be-

500 W to 5 kW: Normally short between B2 and B3. If there is high regenerative energy, remove the short bar between B2 and B3 and connect an Exter-

Servomotor connection terminals

Frame ground

6 to 15 kW: Connect an External Regeneration Resistance Unit between B1 and B2.

Red

White

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

Blue

Green/

Yellow

This is the ground terminal. Ground to a 100 Ω or less.

3-17

System Design and Installation

Terminal Block Wire Sizes

Chapter 3

D 100-V AC Input (R88D-WT j HL)

Item

Power supply capacity

Main circuit power supply input (L1 L2)

Rated current

Wire size

Screw size

Torque

Control circuit power supply input (L1C,

L2C) input (L1C

Rated current

Wire size

Screw size

Torque

Rated current Servomotor connection ter minal (U, V, W,

)

Wire size

Screw size

Model

Unit kVA

A (rms) mm 2

–

N S m

A (rms) mm 2

–

N S m

A (rms) mm 2

–

R88D-WTA3HL R88D-WTA5HL R88D-WT01HL R88D-WT02HL

0.15

–

1.1

1.25

0.13

1.25

–

0.66

1.25

0.25

1.8

1.25

0.13

1.25

0.95

1.25

0.4

3.0

1.25

0.13

1.25

2.4

1.25

–

(See note 2.)

( ) g

Torque

Wire size

Screw size

N S m mm 2

–

Torque N S m 1.2

Note 1.

Use the same wire sizes for 1, 2, B1, and B2.

1.2

Note 2.

Connect special OMRON Power Cable to the Servomotor connection terminals.

0.6

5.2

0.13

1.25

3.0

1.25

1.2

D 200-V AC Input (R88D-WT j H)

Item

Power supply capacity

Main circuit power supply input (L1 L2 or

L1, L2, L3)

(See note 1.)

Rated current

Wire size

Screw size

Control circuit power supply input (L1C,

L2C)

Torque

Rated current

Wire size

Screw size

Model

Unit kVA

A (rms) mm 2

–

N S m

A (rms) mm 2

–

R88D-

WTA3H

0.2

0.8

1.25

–

0.13

1.25

–

R88D-

WTA5H

0.25

1.1

1.25

0.13

1.25

R88D-

WT01H

0.4

2.0

1.25

0.13

1.25

R88D-

WT02H

0.75

3.4

1.25

0.13

1.25

R88D-

WT04H

1.2

5.5

0.13

1.25

R88D-

WT05H

1.4

4.0

0.15

1.25

R88D-

WT08H

1.9

5.4

0.15

1.25

R88D-

WT10H

2.3

7.0

0.15

1.25

R88D-

WT15H

3.2

9.5

3.5

0.15

1.25

R88D-

WT20H

4.3

12.0

3.5

1.2

0.15

1.25

R88D-

WT30H

5.9

17.0

3.5

1.2

0.15

1.25

Servomotor connection terminal

(U, V, W,

(See note 2.)

) )

Torque

Rated current

Wire size

Screw size

Torque

N S m

A (rms) mm 2

–

0.44

1.25

–

0.64

1.25

0.91

1.25

2.1

1.25

2.8

1.25

3.8

5.7

7.6

3.5

11.6

3.5

1.2

18.5

3.5

1.2

24.8

5.5

(

Frame ground

)

Wire size

Screw size

N S m mm 2

–

1.2

Torque N S m 1.2

1.2

Note 1.

Use the same wire sizes and tightening torques for 1, 2, B1, and B2.

1.2

R88D-

WT50H

7.5

24.0

5.5

0.15

1.25

1.2

32.9

1.2

Note 2.

Connect special OMRON Power Cable to the Servomotor connection terminals.

2.5

0.27

1.25

1.2

46.9

R88D-

WT60H

R88D-

WT75H

12.5

32.0

15.5

41.0

R88D-W

T150H

30.9

81.0

1.25

1.2

54.7

2.5

0.27

0.30

1.25

1.2

7.8

3-18

System Design and Installation

Wire Sizes and Allowable Current

The following table shows the allowable current for when there are three wires.

Chapter 3

D 600-V Heat-resistant Vinyl Wiring (HIV) (Reference Values)

AWG size Nominal crosssectional area

( (mm )

Configuration

(wires/mm 2 )

Conductive resistance

( ( Ω /k )

–

2.0

3.5

5.5

8.0

0.5

0.75

0.9

1.25

14.0

22.0

19/0.18

30/0.18

37/0.18

50/0.18

7/0.6

7/0.8

7/1.0

7/1.2

7/1.6

7/2.0

39.5

26.0

24.4

15.6

9.53

5.41

3.47

2.41

1.35

0.849

Allowable current (A) for ambient temperature

30 ° C

6.6

40 ° C

5.6

50 ° C

4.5

8.8

9.0

12.0

7.0

7.7

11.0

5.5

6.0

8.5

Terminal Block Wiring Procedure

Connector-type Terminal Blocks are used for Servo Drivers of 1.5 W or less (R88D-WTA3H j to

R88D-WT15H). The procedure for wiring these Terminal Blocks is explained below.

Connector-type

Terminal Block

(Example: R88D-WT01H)

1. Remove the Terminal Block from the Servo Driver.

Caution The Terminal Block must be removed from the Servo Driver before being wired. The

Servo Driver will be damaged if the wiring is done with the Terminal Block in place.

2. Strip the covering off the ends of the wires.

Prepare wires of the right sizes, according to the tables provided under Terminal Block Wire Sizes above, and strip off 8 or 9 mm of the covering from the end of each wire.

8 to 9 mm

3-19

System Design and Installation Chapter 3

3. Open the wire insertion slots in the Terminal Block

There are two ways to open the wire insertion slots, as follows:

S Pry the slot open using the lever that comes with the Servo Driver (as in Fig. A).

S Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for Servo Driver installation, and press down firmly to open the slot (as in Fig. B).

231-131J Lever

(Wago Company of Japan Ltd)

210-120J Driver

(Wago Company of Japan Ltd)

Fig. A Fig. B

4. Insert the wire into the slot.

With the slot held open, insert the end of the wire. Then let the slot close by releasing the pressure from the lever or the screwdriver.

5. Mount the Terminal Block to the Servo Driver.

After all of the terminals have been wired, return the Terminal Block to its original position on the

Servo Driver.

Power Cable for 1,500 r/min Servomotors

When using a 15-kW Servomotor (R88M-W15K015Tj ), make a Power Cable as shown below to connect the Servomotor and Servo Driver.

D Connection Configuration and External Dimensions

Servo Driver

R88D-WT150H

Servomotor

(Power Connector)

R88M-W j

D Wiring

Servo Driver

M8 crimp terminal

Red

White

Blue

Green/yellow

Cable: AWG4 × 4C UL62

Servomotor (Power Connector)

Signal

Phase-U

Phase-V

Phase-W

Cable

Connector plug:

MS3106B32-17S (DDK Ltd.)

Cable plug:

MS3057-20A (DDK Ltd.)

Servomotor

Receptacle:

MS3102A32-17P (DDK Ltd.)

Note 1.

The maximum cable distance between the Servomotor and Servo Driver is 50 m.

3-20

System Design and Installation Chapter 3

Note 2.

For Servomotors with brakes, there are separate connectors for power and brakes. Therefore, whenever a Servomotor with a brake is used, a separate R88A CAWE j B Power Cable is required. R88A CAWE j B Power Cable is used for wiring (2-core) the brake line only.

3-2-4 Wiring for Noise Resistance

System noise resistance will vary greatly depending on the wiring method used. This section explains how to reduce noise through proper wiring.

Wiring Method

D R88D-WTA3H j to R88D-WT04H Servo Drivers (Single-phase Power Supply Input)

AC power supply

NFB

Surge absorber

Noise filter

Contactor

Metal duct

Fuse

3.5 mm 2

Class-3 ground (to

100 Ω or less)

Ground plate Ground control box Controller power supply

2 mm 2

Thick power line (3.5 mm 2 )

Machine ground

D R88D-WT05H to R88D-WT150H Servo Drivers (Three-phase Power Supply Input)

AC power supply NFB

Surge absorber

Noise filter

Contactor

X1 Metal duct

Fuse

2 mm 2

3.5 mm 2

Thick power line (3.5 mm 2 )

Class-3 ground (to

100 Ω or less)

Ground plate Ground control box

Controller power supply

Machine ground

• 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 above diagrams, and ground to a single point.

3-21

System Design and Installation Chapter 3

• Use ground lines with a minimum thickness of 3.5 mm 2 are as short as possible.

, and arrange the wiring so that the ground lines

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

• If surge absorbers are installed, incorporate a fuse to protect against short-circuit failure. As a guide, select a fuse with approximately three times the maximum momentary current.

• 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 box whenever possible.

Correct: Separate input and output

AC input AC output

WRONG: Noise not filtered effectively

AC input

Ground

AC output

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

Correct: Properly twisted

Driver

Correct: Cables are bound.

Driver or

Binding

• Separate power supply cables and signal cables when wiring.

Selecting Components

This section explains the criteria for selecting the connection components required for improving noise resistance. These criteria include capacity performance, applicable range, and so on. For more details, contact the manufacturers directly.

3-22

System Design and Installation Chapter 3

Singleh g phase

Threephase

100

200

D No-fuse Breakers (NFB)

When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current.

Maximum input current:

The momentary maximum output for a Servo Driver 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. General-purpose and low-speed no-fuse breakers are generally suitable. The table in 3-2-3 Terminal Block Wiring shows the rated power supply input currents for each Servomotor. Select a no-fuse-breaker with a rated current greater than the total effective load current (when multiple Servomotors are used). When making the selection, add in the current consumption of other controllers, and so on.

Servo Driver inrush current:

With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 second.

For a simultaneous inrush for multiple Servo Drivers, select a no-fuse-breaker with a 20-ms allowable current greater than the total inrush current shown in the following table for the applicable Servomotor models.

W Power supply voltage

Model Capacity Rated current

A (rms)

No-fuse breaker model

WTA3HL 30 W

WTA5HL 50 W

WT01HL 100 W

WT02HL 200 W

WTA3H 30 W

WTA5H

WT01H

50 W

100 W

WT02H

WT04H

200 W

400 W

WT05H

WT08H

WT10H

WT15H

WT20H

450 W

750 W

1 kW

1.5 kW

2 kW

WT30H

WT50H

WT60H

WT75H

3 kW

5 kW

6 kW

7.5 kW

WT15K0H 15 kW

1.1

1.8

5.2

0.8

1.1

3.4

5.5

5.4

9.5

140

130

140

Inrush current

(main power supply circuit)

A (0-p)

From rated current

(*125%)

1.375

2.25

3.75

6.5

1.375

2.5

4.25

6.875

6.75

8.75

11.875

21.25

51.25

101.25

NF30-SW 10A

NF30-SW 15A

NF30-SW 20A

NF30-SW 30A

NF50-SW 50A

NF100-SW 75A

NF100-SW 125A

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. The surge absorbers shown in the following table are recommended.

3-23

System Design and Installation Chapter 3

Maker Model

Matsushita Electric ERZC20EK471(W)

ERZC25EK471(W)

ERZC32EK471(W)

Ishizuka Electronics Co. Z25M471S

Z33M471S

Varistor voltage

470 V

Max. limit voltage

775 V

Surge immunity

5,000 A

10,000 A

20,000 A

10,000A

20,000 A

Energy resistance

150 J

225 J

405 J

235 J

385 J

Type

Block

Note 1.

The (W) for the Matsushita models indicates that they are UL and CSA certified.

Note 2.

Refer to the 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 an effective load current of at least twice the rated current. The effective load current is the total of the rated currents for the main circuit power supply input and the control circuit power supply input given in 3-2-3 Terminal Block Wiring.

The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz.

Type Maker

NEC TOKIN

Model

GT-2050

LF-210N

LF-215N

LF-220N

LF-315K

LF-325K

LF-335K

LF-380K

ZCW2210-01

ZCW2220-01

ZCW2230-01

15 A

25 A

35 A

80 A

10 A

20 A

30 A

ZCW2240-01 40 A

ZACT2280-ME 80 A

Rated current

5 A

10 A

15 A

20 A

NEC TOKIN

TDK

Note 1.

To attenuate noise at frequencies of 200 kHz 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 through-type capacitor.

Note 2.

If multiple Servo Drivers are to be connected to a single noise filter, select a noise filter with a rated current at least two times the total rated current of all the Servo Drivers.

D Noise Filters for Servomotor Output

Use noise filters without built-in capacitors on the Servomotor output lines. Select a noise filter with a rated current at least two times the total rated current of the Servo Driver’s continuous output current.

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

3-24

System Design and Installation Chapter 3

Maker

NEC TOKIN

Model

LF-310KA

LF-320KA

LF-350KA

LF-3110KA

10 A

20 A

Rated current

50 A

110 A

Remarks

Note 1.

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 11.7 kHz/5.9 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.

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

Thyristor or varistor

Capacitor + resistor

Features

Diodes are used for relatively small loads when the reset time is not an issue, such as relays.

The reset time is increased because the surge voltage is the lowest when power is cut off.

Used for 24/48-V DC systems.

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

The capacitor + resistor combination is used to absorb vibration in the surge when power is cut off. The reset time can be shortened by selecting the appropriate capacitance and resistance.

Recommended products

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

Example: Fuji Electric Co., ERA22-06

Select the varistor voltage as follows:

24 V DC system: 39 V

100 V DC system: 200 V

100 V AC system: 270 V

200 V AC system: 470 V

Okaya Electric Industries Co., Ltd.

XEB12002

XEB12003

0.2 µ F – 120 Ω

0.3 µ F – 120 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 Industrial Co.

D Contactors

When selecting contactors, take into consideration the circuit’s inrush current and the maximum momentary current. The Servo Driver inrush current is covered in the preceding explanation of no-fusebreaker selection, and the maximum momentary current is approximately twice the rated current. The following table shows the recommended contactors.

3-25

System Design and Installation

Maker

OMRON

Model

J7L-09

J7L-32

J7L-40

J7L-50

J7L-85

J7L-12

J7L-32

J7L-40

J7L-50

J7L-85

Rated current

11 A

26 A

35 A

50 A

80 A

Two poles 12 A

Three poles 12 A

Two poles 25 A

Three poles 25 A

Two poles 35 A

Three poles 35 A

Two poles 45 A

Three poles 50 A

Two poles 65 A

Three poles 80 A

Coil voltage

200 V AC

24 V DC

Chapter 3

D Leakage Breakers

Select leakage breakers designed for inverters.

Since switching takes place inside the Servo Drivers, harmonic current leaks from the armature of the motor. With inverter leakage breakers, harmonic 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 details on leakage breakers, refer to the manufacturer’s catalog.

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

Driver Leakage current (resistor/capacitor measurement)

(commercial power supply frequency range)

R88D-WTA3HL to -WT02HL 16 mA

R88D-WTA3H to -WT04H

R88D-WT05H to -WT10H

8 mA

3 mA

R88D-WT15H

R88D-WT20H/-WT30H

R88D-WT50H

R88D-WT60H/-WT75H

R88D-WT150H

5 mA

6 mA

9 mA

21 mA

57 mA

Note 1.

The above leakage current is for cases where Servomotor power line length is less than 10 meters. (It varies depending on the power line length and the insulation.)

Note 2.

The above leakage current is for normal temperature and humidity. (It varies depending on the temperature and humidity.)

3-26

System Design and Installation

Leakage Breaker Connection Example

AC power supply side

No-fuse breaker

Surge absorber

Leakage breaker

Noise filter

Servo Driver side

Chapter 3

D Harmonic Current Countermeasures (AC Reactor)

The AC Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes in electric currents.

In September 1994, the Ministry of International Trade and Industry established guidelines for the suppression of harmonic waves emitted from home and general electric appliances. To comply with the guidelines, appropriate measures are required to suppress the influence of harmonic waves on power supply lines.

Select the proper AC Reactor model according to the Servo Driver that is to be used.

Note DC Reactors cannot be connected to models R88D-WT60H to R88D-WT150H, so use an AC

Reactor instead.

Servo Drive Reactor specifications

Model number

R88D-WTA3HL/A5HL/01HL R88A-PX5063

R88D-WT02HL

R88D-WTA3H/A5H/01H

R88D-WT02H

R88A-PX5062

R88A-PX5071

R88A-PX5070

R88D-WT04H

R88D-WT05H/08H/10H

R88D-WT15H/20H

R88D-WT30H

R88D-WT50H

R88D-WT60H

R88D-WT75H

R88D-WT150H

R88A-PX5069

R88A-PX5061

R88A-PX5060

R88A-PX5059

R88A-PX5068

3G3IV-PUZBAB40A0.265MH

3G3IV-PUZBAB60A0.18MH

3G3IV-PUZBAB90A0.12MH

3.3

4.8

8.8

14.0

26.8

Rated current (A)

1.8

3.5

0.85

1.65

Inductance

(mH)

10.0

4.7

40.0

20.0

10.0

2.0

1.5

1.0

0.47

0.265

0.18

0.12

Reactor type

DC Reactor

AC Reactor

DC Reactor Connection Example

Servo Driver

DC Reactor

AC Reactor Connection Example

AC Reactor Servo Driver

R88D-WTA3 j to R88D-WT50H R88D-WT60H to R88D-WT150H

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System Design and Installation Chapter 3

Improving Encoder Cable Noise Resistance

The OMNUC W Series uses serial encoders, with phase-S signals from the encoder. The phase-S communications speed is 4 Mbits/s.

In order to improve the encoder’s noise resistance, take the following measures for wiring and installation.

• Always use the specified 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, always use shielded cable.

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

• When installing noise filters for Encoder Cables, use clamp filters. The following table shows the recommended clamp filter models.

Maker

NEC TOKIN

TDK

Name

EMI core

Model

ESD-SR-25

ZCAT2032-0930

ZCAT3035-1330

ZCAT2035-0930A

• Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes, solenoids, clutches, and valves.

Improving Control I/O Signal Noise Resistance

Positioning can be affected if control I/O signals are influenced by noise.

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

• As much as possible, keep the power supply for pulse command and deviation counter reset input lines separate from the control power supply. Be particularly careful not to connect the two power supply ground lines.

• It is recommended that a line driver be used for pulse command and deviation counter reset outputs.

• Always use twisted-pair shielded cable for pulse command and deviation counter reset signal lines, and connect both ends of the shield to frame grounds.

• Always use twisted-pair shielded cable for speed and torque command signal lines, and connect both ends of the shield to frame grounds.

• If the control power supply wiring is long, noise resistance can be improved by adding 1µ F laminated ceramic capacitors between the control power supply and ground at the Servo Driver input section or the controller output section.

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

• For open-collector specifications, keep the length of wires to within two meters.

3-2-5 Wiring for Conformity to EMC Directives

When the wiring conditions provided in this section are satisfied, the wiring will conform to EMC Directives (EN55011 Class A Group 1 (EMI), EN61000-6-2 (EMS)). These

3-28

System Design and Installation Chapter 3 conditions were stipulated when EMC Directive approval was obtained for the W Series.

They will be affected by the installation and wiring conditions resulting from the connected devices and wiring when the W Series is built into the system. Therefore, the entire system must be checked for conformity.

The following conditions must be satisfied in order to conform to the EC Directives.

• The Servo Driver must be mounted in a metal case (control box). (It is not necessary to mount the

Servomotor in a metal box.)

• Noise filters and surge absorbers must be inserted in power supply lines.

• Shielded cable must be used for I/O signal cables and encoder cables. (Use tinned soft steel wire.)

• Cables leading out from the control box must be enclosed within metal ducts or conduits with blades.

(It is not necessary to enclose the 30-cm power cable, encoder cable, or connectors in a metal duct or conduit.)

• Ferrite cores must be installed for cables with braided shields, and the shield must be directly grounded to a ground plate.

Wiring Method

AC power supply

Metal duct or conduit

Control box

2 m max.

Surge absorber

Noise filter

Brake power supply

Contactor (See note 3.)

Noise filter

Motor built-in device

Ferrite core

Metal duct or conduit

Ferrite core

2 m max.

Class-3 ground (to

100 Ω or less)

Ferrite core

Clamp

Ferrite core

Ground plate

Controller power supply

Controller

Ferrite core

Clamp

Ferrite core

Note 1.

Make 1.5 turns for the ferrite core’s cable winding.

Note 2.

Peel the insulation off the cable at the clamp, and directly connect the shield to the metal plate.

Note 3.

For single-phase power supply input models (R88D-WTA3H j to R88D-WT04H), the maincircuit power supply input terminals will be L1 and L2.

• 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 above diagrams, and ground to a single point.

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System Design and Installation Chapter 3

• Use ground lines with a minimum thickness of 3.5 mm 2 are as short as possible.

, and arrange the wiring so that the ground lines

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

Correct: Separate input and output

AC input AC output

WRONG: Noise not filtered effectively

AC input

Ground

AC output

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

Correct: Properly twisted

Driver

Correct: Cables are bound.

Driver or

Binding

• Separate power supply cables and signal cables when wiring.

Control Box Structure

If there are gaps in the control box from cable openings, operating panel installation holes, gaps around the door, and so on, it may allow electric waves to penetrate. In order to prevent this from occurring, take the measures described below.

D Case Structure

• Construct the control box case of metal, and weld the joints between the top, bottom, and sides so that they will be electrically conductive.

• For assembly, strip the paint off of joined areas (or mask them during painting), to make them electrically conductive.

• If gaps are opened in the control box case when tightening down screws, make adjustments to prevent this from occurring.

• Do not leave any conducting part unconnected.

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System Design and Installation

• Connect to the case all Units inside of the case.

Chapter 3

D Door Structure

• Construct the door of metal.

• Use a water draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams below.)

• Use conductive packing between the door and the case, as shown in the diagrams below. Strip the paint off of the sections of the door and case that will be in contact with the conductive packing (or mask them during painting), so that they will be electrically conductive.

• Be careful not to let gaps be opened in the control box while tightening down screws.

Case

Door

Control box

Oil-proof packing

Conductive packing

Door

Cross-sectional view of A–B

Oil-proof packing

Conductive packing

Door (interior view)

Selecting Components

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System Design and Installation Chapter 3

D No-fuse Breakers (NFB)

When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current.

Maximum input current:

Servo Driver inrush current:

With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 second.

Servo Driver

R88D-WTA3HL to -WT02HL

R88D-WTA3H to -WT04H

R88D-WT05H to -WT10H

R88D-WT15H

R88D-WT20H/-WT30H

R88D-WT50H

R88D-WT60H

R88D-WT75H

R88D-WT150H

Inrush current (Ao-p)

Control-circuit power supply

130

140

Main-circuit power supply

D Surge Absorbers

Maker Model Type Remarks

Okaya Electric

I d i C L d

R S A S V-781BYZ-2

R S A S V-781BXZ-4

Max. limit voltage

783 V

Surge immunity

1,000 A

Block Between power supply lines

Between power supply line grounds

Note 1.

Refer to the 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.

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System Design and Installation Chapter 3

D Noise Filters for Power Supply Input

Use the following noise filters for the Servo Driver power supply

Servo Driver model

R88D-WTA3HL to

WT01HL

R88D-WT02HL

R88D-WTA3H to

WT02H

R88D-WT04H

Model

SUP-P5H-EPR

SUP-P8H-EPR

SUP-P5H-EPR

SUP-P8H-EPR

Rated current

5 A

8 A

5 A

8 A

Noise Filter

Rated voltage

250 V

Leakage current (See note.) Maker

0.6 mA (at 250 Vrms, 60 Hz) Okaya

Electric

Industries

Co., Ltd.

250 V

440 V

0.6 mA (at 250 Vrms, 60 Hz) Okaya

Electric

Industries

Co., Ltd.

1.9 mA (at 400 Vrms, 50 Hz) Schaffner

1.9 mA (at 400 Vrms, 50 Hz)

R88D-WT05H

R88D-WT08H to

WT15H

R88D-WT20H

R88D-WT30H

R88D-WT50H to

WT60H

R88D-WT75H

R88D-WT150H

Note

FN351-8/29

FN351-16/29

8 A

16 A

FN351-25/33

FN351-36/33

25 A

36 A

FMAC-0934-5010 50 A

FMAC-0953-6410 64 A

FS5559-150-35 150 A

480 V

28 mA (at 400 Vrms, 50 Hz)

5 mA (at 440 Vrms, 50 Hz) TIMONTA

5 mA (at 440 Vrms, 50 Hz)

1.8 mA (at 480 Vrms, 50 Hz) Schaffner

The leakage currents shown for Schaffner noise filters are the values for when a three-phase power supply uses a Y connection. The leakage current will be greater for a X connection.

External Dimensions w SUP-P j H-EPR Noise Filters (by Okaya Electric Industries Co., Ltd.)

Two, 4.8 dia.

Five, M4

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System Design and Installation w FN351j Noise Filters (by Schaffner)

Chapter 3

Dimensions (mm)

B C D E

FN351-8/29 180 115 100 85 60

FN351-16/29 200 50 36 0 65

FN351-25/33

FN351-36/33

• FMACj Noise Filters (by Timonta)

FMAC-0934-5010

FMAC-0953-6410

Dimensions (mm)

250

308

201

231

• FS5559-150-35 Noise Filters (by Schaffner)

3-34

System Design and Installation Chapter 3 w Noise Filter for Brake Power Supply

Use the following noise filter for the brake power supply. (Refer to the SUP-P j H-EPR diagram above for dimensions.)

Model Rated current

SUP-P5H-EPR 5 A

Rated voltage

250 V

Leakage current Maker

0.6 mA (at 250 Vrms, 60 Hz) Okaya Electric

Industries Co.,

Ltd.

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

Thyristor

Varistor the varistor.

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-V DC systems.

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

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:

24-V DC system:

100-V DC system:

100-V AC system:

200-V AC system:

39 V

200 V

270 V

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 Industries Co., Ltd.

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 Industrial Co.

D Contactors

Maker

OMRON

Coil voltage

200 V AC

Model

LC1D09106

LC1D25106

LC1D40116

LC1D50116

LC1D80116

LC1D09106

LP1D25106

LP1D40116

LP1D50116

LP1D80116

Rated current

11 A

26 A

35 A

50 A

80 A

11 A

26 A

35 A

50 A

80 A

24 V DC

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System Design and Installation Chapter 3

Leakage Current and Leakage Breakers

Use a surge-resistant leakage breaker designed for Inverters that will not operate for high-frequency currents. The detection current of a leakage breaker is set to approximately 60% of the normal rated current. You should thus allow a leeway of approximately two times the rated current.

Leakage current will also flow to the input noise filter, switch mode power supply, and other devices. Be sure to allow for these devices as well.

Values indicated with asterisks are measured using the UL (JIS) methods.

Servo Driver model

*Leakage current

(for 10-m cable)

R88D-WTA3HL 2.5 mA

R88D-WTA5HL

R88D-WT01HL

R88D-WT02HL 3.0 mA

R88D-WTA3H 5.0 mA

R88D-WTA5H

R88D-WT01H

R88D-WT02H 8.0 mA

R88D-WT04H

R88D-WT05H

R88D-WT08H

R88D-WT10H 10.0 mA

R88D-WT15H

R88D-WT20H 12.0 mA

R88D-WT30H

R88D-WT50H 15.0 mA

R88D-WT60H 21.0 mA

R88D-WT75H

R88D-WT150H 57.0 mA

*Additional leakage current per 10 m of cable

0.5 mA

0.6 mA

0.7 mA

0.8 mA

1.0 mA

1.5 mA

PWM frequency

11.7 kHz

3.9 kHz

Input power supply voltage

Single-phase

/ VAC (

Single-phase

/ VAC (

Leakage Breaker Connection Example

AC power supply side

No-fuse breaker

Surge absorber

Leakage breaker

Noise filter

Servo Driver side

Improving Encoder Cable Noise Resistance

The OMNUC W Series uses serial encoders, with phase-S signals from the encoder. The phase-S communications speed is 4 Mbits/s.

In order to improve the encoder’s noise resistance, take the following measures for wiring and installation.

• Always use the specified Encoder Cables.

3-36

System Design and Installation Chapter 3

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

• When installing noise filters for Encoder Cables, use clamp filters. The following table shows the recommended clamp filter models.

Maker

NEC TOKIN

TDK

Name

EMI core

Model

ESD-SR-25

ZCAT2032-0930

ZCAT3035-1330

ZCAT2035-0930A

• Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes, solenoids, clutches, and valves.

Improving Control I/O Signal Noise Resistance

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

• It is recommended that a line driver be used for pulse command and deviation counter reset outputs.

• Always use twisted-pair shielded cables for pulse command and deviation counter reset signal lines, and connect both ends of the shield to frame grounds.

• Always use twisted-pair shielded cable for speed and torque command signal lines, and connect both ends of the shield to frame grounds.

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

• For open-collector specifications, keep the length of wires to within two meters.

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System Design and Installation Chapter 3

3-3 Regenerative Energy Absorption

The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing. An overcurrent error is generated, however, if the amount of regenerative energy from the Servomotor is too large. If this occurs, measures must be taken to reduce the regenerative energy produced by changing operating patterns, and so on, or to improve the regenerative energy absorption capacity by connecting external regeneration resistance.

3-3-1 Regenerative Energy Calculation

Horizontal Axis

Servomotor operation

Servomotor output torque

Note In the output torque graph, acceleration in the positive direction is shown as positive, and acceleration in the negative direction is shown as negative.

• The regenerative energy values for E g1

and E g2

are derived from the following equations.

E g1 g2

2 p

D2 t t

[J]

[J] t

, N

, t

: Rotation speed at beginning of deceleration [r/min]

, T

: Deceleration torque [N S m]

: Deceleration time [s]

Note There is some loss due to winding resistance, so the actual regenerative energy will be approximately 90% of the values derived from these equations.

• For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of

400 W or less.), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Driver’s regen-

3-38

System Design and Installation Chapter 3 erative energy absorption capacity. (The capacity varies depending on the model. For details, refer to

3-3-2 Servo Driver Regenerative Energy Absorption Capacity .)

• For Servo Driver models with internal regeneration resistance for absorbing regenerative energy (i.e., models of 500 W or more), the average amount of regeneration P r

(unit: W) must be calculated, and this value must be lower than the Servo Driver’s regenerative energy absorption capacity. (The capacity varies depending on the model. For details, refer to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity .)

The average amount of regeneration (P r cycle of operation.

) is the power consumed by regeneration resistance in one

P r

= (E g1

+ E g2

)/T [W]

T: Operation cycle [s]

Vertical Axis

Fall

Servomotor operation

Rise

Servomotor output torque

Note In the output torque graph, acceleration in the positive direction (rise) is shown as positive, and acceleration in the negative direction (fall) is shown as negative.

• The regenerative energy values for E g1

, E g2

, and E g3

are derived from the following equations.

E g1 g2 g3

2 p

D1 t

2 t t

[J]

[J] t

, N

, T

1 t

, t

: Rotation speed at beginning of deceleration [r/min]

: Deceleration torque [N S m]

: Torque when falling [N S m]

: Deceleration time [s]

: Constant-velocity travel time when falling [s]

Note There is some loss due to winding resistance, so the actual regenerative energy will be approximately 90% of the values derived from these equations.

3-39

System Design and Installation Chapter 3

• For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of

400 W or less.), the values for both Eg1 or Eg2 + Eg3 (unit: J) must be lower than the Servo Driver’s regenerative energy absorption capacity. (The capacity varies depending on the model. For details, refer to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity .)

• For Servo Driver models with internal regeneration resistance for absorbing regenerative energy (i.e., models of 500 W or more), the average amount of regeneration P r

The average amount of regeneration (P r cycle of operation.

) is the power consumed by regeneration resistance in one

P r

= (E g1

+ E g2

+ E g3

)/T

T: Operation cycle [s]

[W]

3-3-2 Servo Driver Regenerative Energy Absorption Capacity

Amount of Internal Regeneration Resistance in Servo Drivers

W-series Servo Drivers absorb regenerative energy by means of internal capacitors or resistors. If the regenerative energy is more than can be processed internally, an overvoltage error is generated and operation cannot continue. The following table shows the regenerative energy (and amount of regeneration) that the individual Servo Drivers themselves can absorb. If these values are exceeded, take the following measures.

• Connect external regeneration resistance (to improve the regeneration processing capacity).

• Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.)

• Lengthen the deceleration time (to decrease the regenerative energy produced per time unit).

• Lengthen the operation cycle, i.e., the cycle time (to decrease the average regenerative power).

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System Design and Installation Chapter 3

Servo Driver

R88D-WTA3HL

R88D-WTA5HL

R88D-WT01HL

R88D-WT02HL

R88D-WTA3H

R88D-WTA5H

R88D-WT01H

R88D-WT02H

R88D-WT04H

R88D-WT05H

R88D-WT08H

R88D-WT10H

R88D-WT15H

R88D-WT20H

R88D-WT30H

R88D-WT50H

R88D-WT60H

R88D-WT75H

R88D-WT150H

–

Regenerative energy

(J) that can be gy absorbed by internal capacitor (See note 1.)

–

37.1

–

7.8

15.7

18.5

37.1

–

Internal regeneration resistance

Average amount of regeneration that can be absorbed (W)

–

12.5

–

Resistance ( Ω )

Note 1.

These are the values at 100 V AC for 100-V AC models, and at 200 V AC for 200-V AC models.

Note 2.

The R88D-WT60H to R88D-WT150H models do not have built-in regeneration resistor. External resistance must be connected according to the amount of regeneration.

3-3-3 Regenerative Energy Absorption by External

Regeneration Resistance

If the regenerative energy exceeds the absorption capacity of the Servo Driver by itself, then external regeneration resistance must be connected. That resistance can be provided by either an External Regeneration Resistor or an External Regeneration Resistance Unit (for the R88D-WT60H to R88D-WT150H). A Resistor or Unit can be used alone or in combination with other Resistors/Units to provide the required regeneration processing capacity.

Caution Connect the External Regeneration Resistor or External Regeneration Resistance

Unit between the Servo Driver’s B1 and B2 terminals. Check the terminal names carefully when connecting to the terminals. If the Resistor or Unit is connected to the wrong terminals it will damage the Servomotor.

Note 1.

The External Regeneration Resistor can reach a temperature of approximately 120 ° C, so install it at a distance from heat-sensitive devices and wiring. In addition, a radiation shield must be installed according to the radiation conditions.

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System Design and Installation Chapter 3

Note 2.

The External Regeneration Resistance Unit is for use with R88D-WT60H to R88D-WT150H

Servo Drivers only. It cannot be connected to other Servo Drivers.

Note 3.

For external dimensions, refer to 2-9 External Regeneration Resistors/Resistance Units .

External Regeneration Resistors and External Regeneration

Resistance Units

D Specifications

Model

R88D-RR22047S

External

Regeneration

Resistor

R88D-RR88006

External

Regeneration

Unit

Resistance

47 Ω

6.25

Ω

± 10%

Nominal capacity

220 W

880 W

Regeneration absorption at

120 ° C

70 W

180 W –

Heat radiation t1.0 × j

(SPCC)

350

Thermal switch output

Operating temperature:

170 ° C

NC contact

–

Note The following external regeneration resistors are recommended products from another manufacturer, Iwaki Musen Kenkyusho Co., Ltd. For details, refer to the manufacturer’s documentation.

RH120N50 Ω J 50 Ω ± 5%

RH300N50 Ω J 50 Ω ± 5%

RH500N50 Ω J 50 Ω ± 5%

30 W (Amount of regeneration at 120 ° C)

75 W (Amount of regeneration at 120 ° C)

100 W (Amount of regeneration at 120 ° C)

D Combining External Regeneration Resistors (R88D-RR22047S)

Note A combination cannot be used if the resistance is less than the minimum connection resistance for any given Servo Driver. Refer to the following table for the minimum connection resistance values for each Servo Driver, and select a suitable combination.

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System Design and Installation Chapter 3

Servo Driver Minimum Connection Resistance and External

Regeneration Resistor Combinations

External Regeneration Resistor Combinations Servo Driver

R88D-WTA3HL to

R88D-WT01HL

R88D-WT02HL 40

R88D-WTA3H to

R88D-WT01H

R88D-WT02H/-WT04H 40

Minimum

Connection

Resistance ( Ω )

R88D-WT05H to

R88D-WT10H

R88D-WT15H

R88D-WT20H/-WT30H 12

R88D-WT50H

R88D-WT60H

5.8

R88D-WT75H/-WT150H 2.9

1, 2

1, 2, 3

1, 2, 3, 4, 5

1, 2, 3, 4, 5, 6

1, 2, 3, 4, 5, 6 (or External Regeneration Resistance Unit)

Wiring External Regeneration Resistance

D R88D-WTA3HL/-WTA5HL/-WT01HL/--WT02HL/-WTA3H/-WTA4H/-WTA5H/-WT01H/

-WT02H/-WT04H

Connect an External Regeneration Resistor between the B1 and B2 terminals.

Servo Driver

External Regeneration Resistor

Note When using the R88A-RR22047S, connect the thermal switch output so that the power supply will be shut off when open.

D R88D-WT05H/-WT08H/-WT10H/-WT15H/-WT20H/-WT30H/-WT50H

Remove the short-circuit wiring between B2 and B2, and then connect an External Regeneration Resistor between the B1 and B2 terminals.

Servo Driver

External Regeneration Resistor

Note 1.

The short-circuit wiring between B2 and B3 must be removed.

← Remove 2.

When using the R88A-RR22047S, connect the thermal switch output so that the power supply will be shut off when open.

D R88D-WT60H/-75H/-150H

Connect an External Regeneration Resistor or an External Regeneration Resistance Unit between the

B1 and B2 terminals.

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System Design and Installation Chapter 3

Note The R88D-WT60H to R88D-WT150H models do not have built-in regeneration processing circuitry, so external resistance must be connected.

Servo Driver

External Regeneration Resistor or External Regeneration Resistance Unit

R1 (See note 2.)

R2 (See note 2.)

Note 1.

When using the R88A-RR22047S, connect the thermal switch output so that the power supply will be shut off when open.

For the R88A-RR88006 (R1 and R2 have no polarity).

Connect an External Regeneration Resistor or

External Regeneration Resistance Unit either alone or in combination, according to the required regeneration processing capacity.

3-44

System Design and Installation Chapter 3

Setting Pn600 (Regeneration Resistor Capacity) for an External

Regeneration Resistor

Pn600 (Regeneration Resistor Capacity) must be set correctly when using an external regeneration resistor. The regenerative energy in the Servo Driver is calculated based on the assumption that the regeneration resistance that is built into the Servo Driver is connected. The following settings are therefore recommended for Pn600 (Regeneration Resistor Capacity).

Servo Driver model

R88D–WT15H

R88D–WT20H

R88D–WT30H

R88D–WT50H

R88D–WT60H

23.5

15.7

23.5

15.7

23.5

15.7

23.5

15.7

23.5

15.7

External regeneration resistance ( W )

280

630

140

560

840

280

630

140

560

840

280

630

140

560

840

280

630

140

560

840

280

630

140

560

840

280

630

140

560

280

630

Absorption capacity of external regeneration resistor (W)

12.5

6.25

3.13

6.25

Regeneration resistance built into Servo Driver

( W )

Recommended setting for Pn600

105

237

105

106

118

211

474

211

105

420

946

105

420

421

165

370

165

3-45

System Design and Installation Chapter 3

3-4 Adjustments and Dynamic Braking When Load Inertia Is

Large

The value that is given for the Servomotor’s applicable load inertia is the value that will not damage the Servo Driver’s internal circuits (dynamic brake circuit, regenerative circuit, etc.) when control is basically stable and the operating status is normal. When the

Servomotor is used at the applicable load inertia or below, there are certain operating conditions and precautions that must be observed when making adjustments and using the dynamic brake. For details on regenerative energy processing, refer to 3-3 Regenerative Energy Absorption .

3-4-1 Adjustments When Load Inertia Is Large

Operation is possible with a large load inertia as long as the load torque is within a range that allows

Servo Driver control (i.e., no larger than the rated torque and within the electronic thermal range: these depend on the motor speed and acceleration/deceleration). If the load inertia ratio is large, however, adjustment becomes difficult using only the rigidity setting and autotuning, as shown below. The following table lists the adjustment criteria according to the load inertia.

Load inertia ratio

Below 500%

Adjustment criteria

Adjustment is possible using mainly the factory settings or the rigidity setting function

(Fn001).

500% to 1,000% Adjustment is possible using mainly the rigidity setting and autotuning.

1,000% to 3,000% Adjustment may be possible using the rigidity setting and autotuning, but it may be necessary to manually adjust settings such as the gain.

Above 3,000% Adjustment will be difficult using the rigidity setting and autotuning. Set the load inertia based on mechanism settings, and manually adjust the gain.

3-4-2 Dynamic Braking When Load Inertia Is Large

Dynamic braking is used to brake the Servomotor by consuming rotational energy using a resistor. The

Servomotor’s rotational energy can be found by using the following equation.

Servomotor rotational energy – (1/2 × J × ω 2 ) = 1/2 × J × (2 × π ) 2 × (N/60) 2

J: Load inertia + Servomotor rotor inertia

N: Servomotor speed [r/min]

Therefore, if the load inertia ratio is large and the motor speed is high, the load on the dynamic brake circuit will be great and there will be a risk of burnout. Burnout may also occur if the dynamic brake is used repeatedly within a short period of time. Do not use the dynamic brake under conditions where the maximum speeds or load inertia ratios shown in the following table are exceeded. For operating conditions other than these, use the following equation: 1/2 × J × ω 2 = Constant.

3-46

System Design and Installation Chapter 3

Servomotor

3,000-r/min Servomotors, 30 to 400 W

3,000-r/min Servomotors, 750 W

3,000-r/min Servomotors, 1 k to 2 kW

3,000-r/min Servomotors, 3 kW

3,000-r/min Servomotors, 4 kW, 5 kW

Load inertia ratio

3,000% max.

Application conditions

Maximum speed of 5,000 r/min

2,000% max.

Maximum speed of 5,000 r/min

1,000% max.

Maximum speed of 5,000 r/min

1,000% max.

Maximum speed of 4,000 r/min

1,000% max.

Maximum speed of 5,000 r/min

3,000-r/min Flat-type Servomotors, 100 W 2,500% max.

Maximum speed of 5,000 r/min

3,000-r/min Flat-type Servomotors, 200 W or 400 W

3,000-r/min Flat-type Servomotors, 750 W or 1.5 kW

1,500% max.

Maximum speed of 5,000 r/min

1,000% max.

Maximum speed of 5,000 r/min

1,000-r/min Servomotors, 300 W to 1.2 kW 1,000% max.

Maximum speed of 2,000 r/min

1,000-r/min Servomotors, 2 kW 1,000% max.

Maximum speed of 1,500 r/min

1,000-r/min Servomotors, 3 kW

1,000-r/min Servomotors, 4 kW

1,000% max.

Maximum speed of 1,000 r/min

Maximum speed of 2,000 r/min

1,000-r/min Servomotors, 5 kW

1,500-r/min Servomotors, 450 W, 850 W

1,500-r/min Servomotors, 1.3 kW

1,500-r/min Servomotors, 1.8 kW

1,500-r/min Servomotors, 2.9 kW

1,500-r/min Servomotors, 4.4 kW

1,500-r/min Servomotors, 5.5 kW

1,500-r/min Servomotors, 7.5 kW

1,500-r/min Servomotors, 11 kW, 15 kW

1,000% max.

700% max.

500% max.

Maximum speed of 1,500 r/min

Maximum speed of 3,000 r/min

Maximum speed of 2,500 r/min

Maximum speed of 2,000 r/min

Maximum speed of 1,500 r/min

Maximum speed of 2,500 r/min

Maximum speed of 2,000 r/min

Maximum speed of 1,500 r/min

Note If the dynamic brake is stopped at a speed higher than the speed specified above under Application conditions , the dynamic brake resistor may weld.

For Servomotors of 1.5 kW or less, observe the following precautions if there is a possibility of the power being turned ON while the Servomotor is rotating.

In Servomotors of 1.5 kW or less, the dynamic brake circuit uses a relay. Normally, if an alarm occurs while the Servo is OFF, the dynamic brake operates according to the function selection application switch (Pn001.0, 1) when drive prohibition is being input. At 1.5 kW or less, however, the dynamic brake operates regardless of this setting even if the main circuit power supply or the control power supply is

OFF.

Current flows to the relay while the dynamic brake is operating. If 2 (Stop Servomotor by free run) is selected for the function selection application switch (Pn001.0: Stop selection for alarm generation with

Servo OFF), the relay turns OFF when the power is turned ON again.

If the power is turned from OFF to ON while the Servomotor is rotating, the relay operates while current is flowing to it. This may cause the relay contacts to fuse.

For Servomotors of 1.5 kW or less, if there is a possibility of the power being turned ON during Servomotor rotation, either set 0 (Stop Servomotor by dynamic brake) for the function selection application switch (Pn001.0: Stop selection for alarm generation with Servo OFF) or make sure that the power will not be turned ON until the Servomotor has stopped.

3-47

Operation

4-1 Operational Procedure

4-2 Preparing for Operation

4-3 Trial Operation

4-4 User Parameters

4-5 Operation Functions

4-6 Trial Operation Procedure

4-7 Making Adjustments

4-8 Advanced Adjustment Functions

4-9 Using Displays

4-10 Using Monitor Output

4-11 System Check Mode

Chapter 4

Operation Chapter 4

Precautions

Caution Confirm that there will be no effect on the equipment, and then perform a test operation. Not doing so may result in equipment damage.

Caution

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

Not doing so may result in equipment damage.

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

Caution

Separate the Servomotor from the machine, check for proper operation, and then connect to the machine. Not doing so may cause injury.

When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury.

Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in a malfunction.

4-2

Operation

4-1 Operational Procedure

Chapter 4

After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and Servo Driver. Then make the function settings as required according to the use of the Servomotor and Servo Driver. If the parameters are set incorrectly, there is a risk of an unforeseen Servomotor operation. Set the parameters in accordance with the instructions in this manual.

1. Mounting and installation

Install the Servomotor and Servo Driver according to the installation conditions. (Do not connect the

Servomotor to the mechanical system before checking the no-load operation.) Refer to 3-1 Installation Conditions .

2. Wiring and connections

Connect to power supply and peripheral devices. Specified installation and wiring requirements must be satisfied, particularly for models conforming to the EC Directives. Refer to 3-2 Wiring .

3. Preparing for operation

Before turning ON the power supply, check the necessary items. Check by means of the displays to see whether there are any internal errors in the Servo Driver. If using a Servomotor with an absolute encoder, first set up the absolute encoder. Refer to 4-2-2 Absolute Encoder Setup and Battery

Changes .

4. Checking operation

Check the operation of the Servomotor and Servo Driver alone by performing a jogging operation without a load. Refer to 4-4-3 Important Parameters .

5. Function settings

By means of the user parameters, set the functions according to the operating conditions. Refer to

4-4-4 Parameter Details and 4-5 Operation Functions .

6. Trial operation

Turn the power OFF then ON again to enable the parameter settings. If using a Servomotor with an absolute encoder, set up the absolute encoder and set the Motion Control Unit’s initial parameters.

Turn ON the power, and 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 (using instructions from the Host Controller). Refer to 4-6 Trial Operation Procedure .

7. Adjustments

Manually adjust the gain as required. Further adjust the various functions to further improve the control performance as required. Refer to 4-7 Making Adjustments and 4-8 Advanced Adjustment

Functions .

8. Operation

Operation can now begin. If any trouble should occur, refer to Chapter 5 Troubleshooting .

4-3

Operation

4-2 Preparing for Operation

Chapter 4

This section explains the procedure following installation and wiring of the Servomotor and Servo Driver, to prepare the mechanical system for operation. It explains what you need to check both before and after turning ON the power. It also explains the setup procedure required if using a Servomotor with an absolute encoder.

4-2-1 Turning Power ON and Checking Indicators

Items to Check Before Turning ON the Power

D Checking Power Supply Voltage

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

R88D-WT j HL (Single-phase 100 V AC input)

Main-circuit power supply: Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

Control-circuit power supply: Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

R88D-WTA3H/A5H/01H/02H/04H (Single-phase 200 V AC input)

Main-circuit power supply: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

Control-circuit power supply: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

R88D-WT05H/08H/10H/15H/20H/30H/50H/60H/75H/150H (Three-phase 200 V AC input)

Main-circuit power supply: Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz

Control-circuit power supply: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

D Checking Terminal Block Wiring

• The main-circuit power supply inputs (L1/L2 or L1/L2/L3) and the control-circuit power supply inputs

(L1C/L2C) must be properly connected to the terminal block.

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

D Checking the Servomotor

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

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

D Checking the Encoder Connectors

• The Encoder Cable must be securely connected to the Encoder Connector (CN2) at the Servo Driver.

• The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor.

D Checking the Control Connectors

• The Control Cable must be securely connected to the I/O Control Connector (CN1).

• The RUN command (RUN) must be OFF.

4-4

Operation Chapter 4

D Checking Parameter Unit Connections

• The Parameter Unit (R88A-PR02W) must be securely connected to the CN3 connector.

Turning ON Power

• First carry out the preliminary checks, and then turn ON the control-circuit power supply. It makes no difference whether or not the main-circuit power supply is also turned ON.

• The ALM output will take approximately 2 seconds to turn ON after the power has been turned ON.

Do not attempt to detect an alarm using the Host Controller during this time (when power is being supplied with the Host Controller connected).

Checking Displays

• When the power is turned ON, one of the codes shown below will be displayed at either the indicators or the Parameter Unit.

Normal (Base Block) Error (Alarm Display)

Note 1.

“bb” (baseblock) means that the Servomotor is not receiving power.

Note 2.

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

Note 3.

When using a Servomotor with an absolute encoder for the first time, A.81 (backup error) will be displayed. Clear this error by setting up the absolute encoder. (Refer to 4-2-2 Absolute

Encoder Setup and Battery Changes ).

• If the display is normal (i.e., no errors), manually turn the Servomotor shaft forward and reverse, and check to be sure that it agrees with the positive and negative on the speed display. Display the speed feedback in Monitor Mode using the setting switches on the front panel, or the Parameter Unit, and turn the Servomotor shaft forward and reverse.

PR02W operation

Front panel key operation

Display example Explanation

(Baseblock display)

(Press and hold for 1 s min.)

Rotate the Servomotor shaft forwards by hand.

Rotate the Servomotor shaft in reverse by hand.

Press the MODE/SET Key to change to System Check

Mode.

Press the MODE/SET Key once again to change to

Setting Mode.

Press the MODE/SET Key once again to change to

Monitor Mode.

Press the DATA Key to display the Servomotor speed

(r/min). Un000 is the speed feedback monitor number.

(See note 1.)

Rotate the Servomotor shaft forward to check that the load is displayed. (Refer to the diagram below.)

Rotate the Servomotor shaft in reverse to check that the load is displayed. (Refer to the diagram below.)

4-5

Operation Chapter 4

Note 1.

If using the operation keys on the front panel, press and hold the DATA Key for one second or longer.

Note 2.

Refer to 4-3-1 Operation Details for details of operations.

Forward/reverse Servomotor rotation

Reverse rotation

Forward rotation

Seen from the Servomotor output shaft, counterclockwise

(CCW) is forward rotation, and clockwise (CW) is reverse rotation.

If the direction of Servomotor rotation and the speed feedback monitor symbols do not agree, the

Encoder Cable may be incorrectly wired. Check the conduction for each cable.

• If there is an error, refer to Chapter 5 Troubleshooting and take the necessary countermeasures.

4-2-2 Absolute Encoder Setup and Battery Changes

You must set up the absolute encoder if using a Servomotor with an absolute encoder.

Perform the setup if connecting a Battery Unit (R88A-BAT01W) to an absolute encoder for the first time, or when setting the mechanical rotation data to 0 for a trial operation.

Absolute Encoder Setup Procedure

• Be sure to follow this procedure carefully. Any mistakes in carrying out this procedure could result in faulty operation.

D Absolute Encoder Setup (Fn008) in System Check Mode

Absolute encoder setup in

System Check Mode

1 s min.

PGCL1 displayed.

(1 s later)

1 s min.

PGCL5 set.

Setup operation

Flashing donE displayed

(setup complete).

Returns to PGCL5.

4-6

Operation Chapter 4

D Operation Procedure

PR02W operation

Front panel key operation

Display example Explanation

Status Display Mode. (See note.)

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to select function Fn008.

(1 s min.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to enter the absolute encoder setup functions. PGCL1 will be displayed.

Press the Up Key to display PGCL5.

(Approx. 1 s later)

Press the MODE/SET Key to set up the absolute encoder. When setup is complete, “donE” will flash for approximately 1 s.

After “donE” has been displayed, the display will return to “PGCL5.”

Press the DATA Key (front panel: DATA Key for 1 s min.) to display the System Check Mode function code.

(1 s min.)

Note When connecting a Servomotor with an absolute encoder and turning ON the power for the first time, A.81 (backup error) will be displayed.

D Turn ON the Power

The alarm (A.81) will not be cancelled with the setup operation. Turn OFF the power (and check that the power indicator is not lit), then turn ON the power again to cancel the alarm. After the power is turned ON again, as long as there is no error, the setup procedure is complete at this point. If an alarm

(A.81) occurs, repeat the previous step.

Additional Setup Operations

D Trial Operation Setup

• The preceding setup is necessary to check the Servomotor and Servo Driver operations (without a load). When connecting the Servomotor and mechanical system for a trial operation, the absolute encoder may rotate excessively. If that occurs, perform the setup once again.

• When connecting to the CV500-MC221/421 or C200H-MC221 Motion Control Unit, carry out the setup close to the mechanical origin. An error will be generated if the absolute data exceeds ± 32,767 pulses when making the initial settings for the CV500-MC221/MC421 or C200H-MC221 Motion

Control Unit (This limitation does not apply to the CS1W-MC221/MC241 Motion Control Unit).

Note The number of rotations and the output range for the OMNUC W-series absolute encoders are different from the previous models (U series).

W series:

U series:

Number of rotations and output range: –32,768 to 32,767

Number of rotations and output range: –99,999 to 99,999

Set the operating range within the number of rotations and output range.

4-7

Operation Chapter 4

D Setup when Replacing Battery Unit

• If an alarm (A.81) occurs after replacing the Battery Unit, repeat the setup from the start.

• When connecting to the CV500-MC221/421 or C200H-MC221 Motion Control Unit, carry out the setup close to the mechanical origin (This limitation does not apply to the CS1W-MC221/MC241 Motion

Control Unit). The rotation data will be different from before the battery was replaced, so reset the initial Motion Control Unit parameters (including for the CS1W-MC221/MC421 Motion Control Unit).

Note It is not necessary to set up and reset the initial parameters for the Motion Control Unit if no alarm occurs after the Battery Unit has been replaced. If the Battery Unit is replaced using the correct procedure before it wears out, an error alarm will not be generated. Refer to 4-2-2 Absolute Encoder Setup and Battery Changes for Battery Unit service life and replacement method.

D Other Cases where Setup Is Required

• If the Encoder Cable is removed from the connector (on either the Servo Driver or Servomotor side), the data within the absolute encoder will be cleared. In this case, perform the setup once again.

• If the Battery Unit has completely worn down, the data within the absolute encoder will be cleared. In this case, replace the Battery Unit and perform the setup once again.

4-3 Trial Operation

This section explains basic operations and the jog operation for the Servomotor and

Servo Driver.

4-3-1 Operation Details

• The key operations for the R88A-PR02W Parameter Unit and the Servo Driver front panel setting keys vary depending on the functions used. The same settings and operations are possible with either method.

• If a Parameter Unit is connected, the indicators (7-segment LEDs) on the front panel will flash, and the settings keys cannot be used.

4-8

Operation

Keys and Functions

Parameter Unit Servo Driver front panel settings area

Chapter 4

PR02W Front panel keys

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

Modes

OMNUC W-series AC Servo Drivers have the following four modes.

Mode

Status Display

Mode

System Check

Mode

Settings Mode

Monitor Mode

Function

This mode displays the internal Servo Driver status using bit display (LED lit/not lit) and symbol display (7-segment 3-digit LEDs).

Bit display: Control-circuit power supply ON display, main-circuit power supply ON display, baseblock, in position, speed conformity, rotation detection, command pulses being input, speed command being input, torque command being input, deviation counter reset signal being input

Symbol display: Baseblock (bb), operating (run), forward rotation prohibited (Pot), reverse rotation prohibited (not), alarm display (A.

jj ), key operation disabled (nO OP), setting error (Error)

Alarm history display, rigidity setting during online auto-tuning, jog operation, Servomotor origin search, user parameter initialization, alarm history data clear, online auto-tuning results storage, absolute encoder setup, automatic command offset adjustment, manual command offset adjustment, manual analog monitor output offset adjustment, analog monitor output scaling, automatic Servomotor current detection offset adjustment, manual current detection offset adjustment, password setting, Servomotor parameters check, version check, absolute encoder rotation setting change

This is the mode for setting and checking user parameters (Pn jjj )

This mode monitors the I/O status for each signal and internal Servo Driver data.

Speed feedback, speed commands, torque commands, number of pulses from Zphase, electrical angle, internal signal monitor, external signal monitor, command pulse speed display, position displacement, cumulative load rate, regeneration load rate, dynamic brake load rate, input pulse counter, feedback pulse counter

4-9

Operation Chapter 4

Mode Changes and Display Contents

S Use the MODE/SET Key to change modes.

S Use the Up and Down Keys to change parameter and monitor numbers.

Status Display Mode Bit Displays

Control-circuit power ON

Main-circuit power ON

Base block (Servomotor not receiving power)

In position / Speed conformity

Torque commands being input /

Deviation counter reset signal being input

Command pulses being input /

Speed commands being input

Servomotor rotation detected

Symbol Displays

Base block

In operation (running)

Forward rotation prohibited

Reverse rotation prohibited

Alarm display

See 4-9-2 Status Display Mode .

System Check Mode

Settings Mode

Alarm history display (See 4-11-1 Alarm History)

Rigidity setting during online auto-tuning (See 4-11-2 Online Auto-tuning Related

Functions)

Jog operation (See 4-3-2 Jog Operation)

Servomotor origin search (See 4-11-3 Servomotor Origin Search)

User parameter initialization (See 4-11-4 User Parameter Initialization)

Alarm history data clear (See 4-11-1 Alarm History)

Online auto-tuning results storage (See 4-11-2 Online Auto-tuning Related Functions)

Absolute encoder setup (See 4-2-2 Absolute Encoder Setup and Battery Changes)

Automatic command offset adjustment (See 4-11-5 Command Offset Adjustment)

Manual speed command offset adjustment (See 4-11-5 Command Offset Adjustment)

Manual torque command offset adjustment (See 4-11-5 Command Offset Adjustment)

Manual analog monitor output offset adjustment (See 4-11-6 Analog Monitor Output

Adjustment)

Analog monitor output scaling (See 4-11-6 Analog Monitor Output Adjustment)

Automatic Servomotor current detection offset adjustment (See 4-11-7 Servomotor

Current Detection Offset Adjustment)

Manual current detection offset adjustment (See 4-11-7 Servomotor Current

Detection Offset Adjustment)

Password setting (See 4-11-8 Password Setting)

Servomotor parameters check (See 4-11-9 Checking Servomotor Parameters)

Version check (See 4-11-10 Checking Version)

Absolute Encoder rotation setting change (See 4-11-11 Changing Absolute Encoder

Rotation Setting)

Option Unit detection results clear (See 4-11-12 Clearing Option Unit Detection Results

(F014).

See 4-4-4 Parameter Details Function selection switch

---

Regeneration resistance capacity

Monitor Mode See 4-9-3 Monitor Mode

Speed feedback

---

Feedback pulse counter

4-10

Operation Chapter 4

Basic Operations in Each Mode

Status Display Mode

Status display Status Display Mode displays all information that can be displayed in this mode using 5-digit 7-segment LEDs. Consequently, there are no Key operations in this mode.

System Check Mode

Function code Function contents

1 s min.

Note: The display contents and operation vary depending on the function selected. Refer to the specific page for each function for details.

Setting Mode

Monitor Mode

• In System Check Mode, set the function code (Fn jjj ) using the Up or Down Key.

• After selecting the function code, press the DATA Key (front panel: DATA Key 1s min.) to execute the function.

• Subsequent operations vary depending on the function selected. Refer to the specific page for each function for details.

• When you have finished the function, press the DATA Key (front panel: DATA Key 1s min.) to return to the function code display.

Parameter number Parameter contents

1 s min.

Note: The parameter contents can be displayed either as n. followed by 4 digits (e.g., n.0010), or as a 5-digit number (e.g., 00080), depending on the setting. Refer to 4-4 User

Parameters for details.

• In Setting Mode, use the Up or Down Key to set the parameter number (Pn jjj ).

• If the parameter number is too big, you can set the operation to be performed more quickly while changing the operation digits, using the Left Key (front panel: DATA Key for less than 1 s) or Right Key.

• After selecting the parameter number, press the DATA Key (front panel: DATA Key 1s min.) to display the contents.

• To change the contents of the parameter, press the DATA Key (front panel: DATA Key 1s min.) to record the change.

• When you have finished settings, press the DATA Key (front panel: DATA Key 1s min.) to return to parameter number display.

Monitor number Monitor contents

1 s min.

Refer to 4-9-3 Monitor Mode for items that can be monitored, and for the display contents.

• In Monitor Mode, use the Up or Down Key to set the monitor number (Un jjj ).

• After selecting the monitor number, press the DATA Key (front panel: DATA Key 1s min.) to display the contents.

• When you have finished monitoring, press the DATA Key (front panel: DATA Key 1s min.) to return to the monitor number display.

4-11

Operation Chapter 4

Note 1.

The “ ” mark beneath a display example indicates the numbers are flashing. (Digits that can be changed flash).

Note 2.

In this manual, when Parameter Unit keys and front panel keys are shown together, the Parameter Unit key is given first, and the front panel key is given in parentheses as follows:

( ).

Note 3.

Press and hold the Up or Down Key to increment or decrement rapidly (auto-increment function).

Note 4.

The function selected depends on the length of time you press and hold the DATA Key on the

Servo Driver front panel (functions as the Left Key when held for less than 1 s, and as the

DATA Key when held for 1 s or longer).

4-3-2 Jog Operation

• Jog operations rotate the Servomotor in a forward or reverse direction using the operation keys.

• For safety’s sake, only use the jog operation when the Servomotor is unloaded (i.e., when the shaft is not connected to the mechanical system). Also, to prevent the Servomotor rotating sideways, fasten the Servomotor mounting surface firmly to the machinery.

• Use the jog operation when the power to the Host Controller is turned OFF, or the Host Controller is not connected.

Using the Jog Operation

• The jog operation is System Check Mode function code Fn002.

• You can use the keys to turn the Servomotor ON or OFF, or rotate the Servomotor forward and reverse.

• The default jog operation speed is 500 r/min. You can change the speed using user parameter number Pn304 (jog speed).

D First Try 500 r/min.

System Check Mode jog operation

1 s min.

Release Key

JoG displayed. (Servo OFF.)

Servo ON/OFF operation

JoG displayed. (Servo ON.)

Forward/reverse rotation operation

Rotate the Servomotor while holding down the Key.

4-12

Operation Chapter 4

D Operation Procedure

PR02W Front panel key operation

Display example

(1 s min.)

Explanation

Press the MODE SET Key to change to System Check

Mode.

Select function code Fn002 using the Up or Down Key. The digits you can operate will flash.

Press the DATA Key (front panel: DATA Key for 1 s min.).

The jog operation will be enabled.

Turn ON the Servomotor.

(1 s min.)

Press the Up Key. While the Up Key is held down, the Servomotor will rotate forwards at 500 r/min.

Press the Down Key. While the Down Key is held down, the

Servomotor will rotate in reverse at 500 r/min.

Turn OFF the Servomotor.

Press the DATA Key (front panel: DATA Key for 1 s min.) to end the jog operation and return to the function code display.

Note 1.

You can end the jog operation with the Servomotor turned OFF. When the display returns to

Fn002, the Servomotor will turn OFF automatically.

Note 2.

The 2-digit LED bit display before the “JoG” display is the same as the bit display in Status

Display Mode.

D Changing the Rotation Speed

• The default setting for user parameter number Pn304 (jog speed) is 00500 (500 r/min.). You can change this setting to change the rotation speed during a jog operation.

• Try changing the jog speed setting to 01000 (1000 r/min.)

Setting Mode jog speed

1 s min.

Pn304 setting displayed.

Change setting.

1 s min.

After approx. 1 s

1 s min.

Data memory (See note.)

Finished writing data. (Display flashes).

Note When changing the setting, first press the DATA Key (front panel: DATA Key for 1 s min.) to write the data to memory, then press the Key again to return to the parameter number display. You cannot return to the parameter number display without saving the changed data to memory.

4-13

Operation

D Operation Procedure

PR02W Front panel key operation

Display example

(System Check Mode)

Explanation

Chapter 4

Press the MODE/SET Key to change to Setting Mode.

(1 s min.)

(Approx. 1 s later)

Press the Up or Down Key to set parameter number

Pn304. (See note 1.)

Press DATA Key (front panel: DATA Key for 1 s min.).

The parameter number Pn304 setting will be displayed.

Press the Up or Down Key to change the setting to

01000.

Press the DATA Key (front panel: DATA Key for 1 s min.) to save the data to memory (the setting display will flash for approximately 1 s).

After the display has finished flashing, it will return to normal.

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the parameter number display.

(1 s min.)

Note 1.

The digits you can operate will flash.

Note 2.

Change the jog speed setting as described, then perform jog operations as before. Confirm that the rotation speed is faster than before.

D Procedure for Changing Settings

• You can use various operations to change the parameter number and parameter settings. Use these operations as needed to shorten the time required for a setting operation.

• Try changing the jog speed setting using various different operations.

Note Do not change any other parameter settings at this stage. Before changing other parameter settings, make sure you read and fully understand 4-4 User Parameters .

Changing the Setting Using the Up and Down Keys

• The digits that can be changed will flash.

• Press the Up Key to increment the setting, and press the Down Key to decrement the setting.

• Press and hold the keys to increment and decrement rapidly (auto-increment function).

Press and hold

Display differs depending on the timing when the key is released

Press and hold

Changing the Setting while Changing the Operation Digits using the Left Key and

Right Keys

• Press the Left Key (front panel: DATA Key for less than 1 s) to shift the operation digit to the left, and press the Right Key to shift the operation digit to the right.

4-14

Operation Chapter 4

Note 1.

There is no right shift function for the front panel keys.

Note 2.

Press the DATA Key on the front panel for less than 1 s. Pressing the Key for 1 s or more causes the Unit to recognize the Key as the DATA Key.

Less than 1 s

• The function code, parameter number, and monitor number are the rightmost three digits of the digits that can be changed. Press the Left Key (front panel: DATA Key for less than 1 s) to change the operation digit as follows:

Units (digit No. 0) to 10s (digit No. 1) to 100s (digit No. 2) to units (digit No. 0), etc.

Note This manual uses digit numbers shown above to denote the position of the digit in question in the

5-digit display. The rightmost digit is digit No. 0, and the leftmost digit is digit No. 4. Also, you can change 4 or 5 digits in the parameter setting data. Press the Left Key (front panel: DATA Key for less than 1 s) to shift the operation digit to the left in the same way. After you reach the leftmost digit you can change, the display returns to digit No. 0.

• Use the following operation to shift the operation digit if, for example, you want to change the setting from 00500 to 01000.

Select operation digit No. 2 using the Left Key (front panel: DATA Key for less than 1 s), and then press the Up Key 5 times at digit No. 5. You can shorten the operation time by performing operations in this way.

• You can shorten the operation time by using the operation digit shift function, but the digit number from which you start the operation depends on which current setting (display contents) you want to change. Try a variety of different procedures to find the best one.

4-15

Operation

4-4 User Parameters

Chapter 4

Set and check the user parameters using the Setting Mode. Make sure you fully understand the parameter meanings and how to set them before setting user parameters in the system. Some parameters are enabled by turning OFF the Unit, then turning it ON again. When changing these parameters, turn OFF the power (check that the power lamp is not lit), then turn ON the power again.

4-4-1 Setting and Checking Parameters

Operation Overview

• Use the following procedure to set and check parameters.

S Go into Setting Mode: ( )

S Set the parameter number (Pn jjj ): , , (

S Display the parameter setting: ( for 1 s min.)

S Change the setting: , , (

less than 1 s),

less than 1 s), (Not required for checking only.)

S Save the changed setting to memory: (

S Return to parameter number display: (

for 1 s min.) (Not required for checking only.)

for 1 s min.)

Operation Procedure

D Going into Setting Mode

PR02W operation

Front panel key operation

Display example

(Status Display Mode)

Explanation

Press the MODE/SET Key to go into Setting Mode

D Setting the Parameter Number

PR02W operation

Front panel key operation

Display example Explanation

(less than

1 s)

Set the parameter number you want to set or check. If the parameter number is too big, you can set the operation to be performed more quickly while changing the operation digits, using the Left Key (front panel:

DATA Key for less than 1 s) or Right Key.

• Unused parameter numbers are basically not displayed. For example, if you press the Up Key on operation digit No. 0 while displaying parameter number Pn005, the display will change to Pn100 (as

4-16

Operation Chapter 4 there are no Pn006 to Pn099). For this reason, if, for example, you change Pn000 to Pn207 using the

Shift Key, you can perform the operation more quickly by making the change starting from the leftmost digit side (i.e., digit No. 2).

D Displaying Parameter Settings

PR02W operation

Front panel key operation

Display example Explanation

(The parameter number is displayed.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display the parameter setting.

(1 s min.)

Note Parameter settings can be displayed as 5 digits as shown above, or as “n.” followed by 4 digits, i.e., as n.

jjjj .

D Changing Settings

• The following operation is not necessary if you are only checking the settings.

• Parameter settings can be set as 5 digits, or as 4 digits (displayed as n.

jjjj ). When set as 4 digits, each digit in the parameter has a meaning, so the parameter cannot be set just by using the Up and

Down Keys. Be sure to set the parameter using the Left Key (front panel: DATA Key for less than 1 s), and Right Key.

Types of parameters

Function selection switches (Pn000 to

Pn003)

Speed control setting (Pn10b)

Online auto-tuning setting (Pn110)

Position control settings 1 to 3 (Pn200,

Pn207, Pn218)

Torque command setting (Pn408)

I/O signal selection (Pn50A to 513)

All other user parameters

Display example Explanation

For parameters displayed as

“n.

jjjj “, each of the 4 digits after the “n.” indicate different function settings (i.e., 4 different function settings are performed using 1 parameter No.) For these parameters, each digit must be set separately.

Parameters displayed using 5 digits indicate a single value. These parameters can be set from the lowest point to the highest point within the setting range using just the Up or Down

Key. You can also set the digits separately.

Example of a 5-digit Parameter Setting

PR02W operation

Front panel key operation

Display example

(Present setting)

(less than

1 s)

Explanation

Change the setting using the Up or Down Key. If the setting is too large, you can set the operation to be performed more quickly while changing the operation digits, using the Left Key (front panel: DATA Key for less than 1 s) or Right Key.

4-17

Operation Chapter 4

Example of an n. + 4 Digits Parameter Setting

PR02W operation

Front panel key operation

Display example

(Present setting)

(less than

1 s)

Explanation

Digit No. 3 Digit No. 0 Set the digit No. to be operated using the Left Key (front panel: DATA Key for less than 1 s) or Right Key. You cannot use only the Up and Down Keys.

Saving the Changed Setting to Memory

• The following operation is not necessary if you are only checking the settings.

PR02W operation

Front panel key operation

Display example Explanation

(1 s min.)

(After approx. 1 s)

Press the DATA Key (front panel: DATA Key for 1 s min.) to save the data to memory (the setting display will flash for approximately 1 s).

After the display has finished flashing, it will return to normal.

D Return to Parameter Number Display

PR02W operation

Front panel key operation

Display example

(1 s min.)

Explanation

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the parameter No. display.

4-4-2 Parameter Tables

• Some parameters are enabled by turning OFF the Unit, then turning it ON again. (See the tables below.) When changing these parameters, turn OFF the power (check that the power lamp is not lit), then turn ON the power again.

• The specific digit number of a parameter for which each digit number must be set separately is displayed in the table with “.0” added to the digit number. For example, Pn001.0 (i.e., digit No. 0 of parameter No. Pn001).

• The default setting for parameters set using 5 digits are displayed in the table with the leftmost digits not shown if they are 0 (e.g., if the default setting is 00080, 80 is entered in the table).

• Do not set parameters or digit numbers shown as “Not used.”

• Parameters marked with one asterisk are for the DeviceNet Option Unit. Do not change the settings of these parameters unless a DeviceNet Option Unit is mounted.

• Parameters marked with two asterisks are supported by Servo Drivers with software version “r.0037.”

4-18

Operation

Function Selection Parameters (From Pn000)

Parameter No.

Parameter name

Pn000 Function selection basic

Digit

No.

Name Setting

Reverse rotation

Control mode selection

A b

Unit No.

setting

0 to F

Explanation Default setting

CCW direction is taken for positive command

CW direction is taken for positive command

Speed control by analog command

Position control by pulse train command

Torque control by analog command

Internally set speed control

Switches between internally set speed control and speed control

Switches between internally set speed control and position control

Switches between internally set speed control and torque control

Switches between position control and speed control

Switches between position control and torque control

Switches between torque control and speed control

Speed control with position lock

Position control with pulse prohibition

Servo Driver communications unit number setting (necessary for multiple Servo Driver connections when using personal computer monitoring software)

(Do not change setting.)

0010

Pn001 Function selection application switch 1

Not used.

Select stop if an alarm occurs when

Servomotor is

OFF

Select p when prohibited drive is input

Select

AC/DC power input

Select g code output

Servomotor stopped by dynamic brake.

Dynamic brake OFF after

Servomotor stopped

Servomotor stopped with free run

Stop according to Pn001.0 setting

(release Servomotor after stopping)

Stop Servomotor using torque set in

Pn406, and lock Servomotor after stopping

Stop Servomotor using torque set in

Pn406, and release Servomotor after stopping

AC power supply: AC power supplied from L1, L2, (L3) terminals

DC power supply: DC power from

+1, – terminals

Alarm code only output from ALO1,

ALO2, ALO3

Alarm code and warning code output from ALO1, ALO2, ALO3

1002

---

Unit

Chapter 4

Setting range

Restart power?

---

Yes

4-19

Operation Chapter 4

Parameter No.

Pn002

Parameter name

Function selection application switch 2

Digit

No.

Name

Torque command input change

(during position and speed control)

Speed command input input change

(during torque control)

Operation switch when when using absolute encoder

Fullyl d encoder usage

1 method* 2

Setting

Pn003

Pn004

Pn005

Function selection application

Not used.

2 to 3

---

Analog monitor

1 (AM) alloca-

Analog monitor

2 (NM) allocation

Not used.

8 to F

0 to F

---

Explanation

Not used.

Use TREF as analog torque limit input

Use TREF as torque feed forward input

Use TREF as analog torque limit when PCL and NCL are ON

Not used.

Use REF as analog speed limit input

Use as absolute encoder

Use as incremental encoder

Fully-closed encoder is not used.

Fully-closed encoder is used without phase Z.

Fully-closed encoder is used with phase Z.

Fully-closed encoder is used in Reverse Rotation Mode without phase

Fully-closed encoder is used in Reverse Rotation Mode with phase Z.

Servomotor rotation speed:

1V/1000 r/min

Speed command: 1 V/1000 r/min

Torque command: 1 V/rated torque

Position deviation:

0.05 V/1 command unit

Position deviation:

0.05 V/100 command units

Command pulse frequency:

1 V/1000 r/min.

Servomotor rotation speed:

1 V/250 r/min

Servomotor rotation speed:

1 V/125 r/min

Not used.

Same as Pn003.0

0000

0002

(Do not change setting.)

Default setting

0000

---

Unit Setting range

Restart power?

--Yes

---

Yes

---

4-20

Operation Chapter 4

Servo Gain Parameters (From Pn100)

Parameter

No.

Parameter name

Pn100 Speed loop gain

Pn101 Speed loop integration constant

Pn102 Position loop gain

Pn103 Inertia ratio

Digit

No.

Name

Explanation (See note 1.)

Setting

Explanation (See note 2.)

Adjusts speed loop responsiveness.

Speed loop integral time constant

Adjusts position loop responsiveness.

Set using the ratio between the machine system inertia and the Servomotor rotor inertia.

Default setting

2000

300

1/s

Unit Setting range g x 0.01 ms 15 to

51200

0 to

20000

(See note

3.)

---

1 to 2000 ---

Restart power?

1 to 2000 ---

---

1 to 2000 ---

Pn104 Speed loop gain

Pn105 Speed loop integration constant 2

Pn106 Position loop gain

Pn107 Bias rotational speed

Pn108 Bias addition band

Pn109 Feed-forward amount

Pn10A Feed-forward command filter

Pn10b Speed control

Adjusts speed loop responsiveness (enabled by gain switching input).

Speed loop integral time constant (enabled by gain switching input).

Adjusts position loop responsiveness (enabled by gain switching input).

Sets position control bias.

Sets the position control bias operation start using deviation counter pulse width.

Position control feed-forward compensation value

Sets position control feed-forward command filter.

0 P control g

Speed control loop switching

Automatic g switching selection **

Not used.

0 Sets internal torque command value conditions (Pn10C).

1 Sets speed command value conditions (Pn10d).

2 Sets acceleration command value conditions (Pn10E)

3 Sets deviation pulse value conditions (Pn10F)

4 No P control switching function

0 PI control

1 IP control

0 Automatic gain switching disabled

1 Gain switching using position commands

2 Gain switching using position deviation

3 Gain switching using position commands and position deviation

0 (Do not change setting.)

2000

004 x 0.01 ms 15 to

51200

1/s r/min

Command unit

0 to 250

% 0 to 100 x 0.01 ms 0 to 6400 ---

---

1 to 2000 ---

0 to 450

---

Yes

4-21

Operation Chapter 4 eter

No.

Digit

No.

Sets level of torque command to switch from PI control to P control.

Name

Explanation (See note 1.)

Setting

Explanation (See note 2.)

Pn10C P control switching

(torque command)

Pn10d P control switching

(speed command)

Pn10E P control switching

(acceleration command)

Pn10F P control switching

(deviation pulse)

Pn110 Online g

Sets level of speed command to switch from PI control to P control.

Sets level of acceleration command to switch from PI control to P control.

Sets level of deviation pulses to switch from PI control to P control.

0 Selects online

0 Auto-tunes initial operations only after power is turned ON.

1 Always auto-tunes.

2 No auto-tuning

0 ON 1

Selects speed feedback compensation function

Selects dh i friction compensation function

Not used.

1 OFF

0 Friction compensation: OFF

1 Friction compensation: rated torque ratio small

2 Friction compensation: rated torque ratio large

0 (Do not change setting.)

Adjusts speed loop feedback gain.

Pn111 Speed feedback compensa ting gain

Pn112 Not used.

(Do not change setting.)

Pn113 Not used.

(Do not change setting.)

Pn114 Not used.

(Do not change setting.)

Pn115 Not used.

(Do not change setting.)

Pn116 Not used.

(Do not change setting.)

Pn117 Not used.

(Do not change setting.)

Pn118 Not used.

(Do not change setting.)

Pn119 Not used.

(Do not change setting.)

Pn11A Not used.

(Do not change setting.)

Pn11b Not used.

(Do not change setting.)

Pn11C Not used.

(Do not change setting.)

Pn11d Not used.

(Do not change setting.)

Pn11E Not used.

(Do not change setting.)

Pn11F Not used.

(Do not change setting.)

Pn120 Not used.

(Do not change setting.)

Pn121 Not used.

(Do not change setting.)

Pn122 Not used.

(Do not change setting.)

Pn123 Not used.

(Do not change setting.)

Default setting

200

0012

100

1000

200

1000

% r/min

10 r/min/s 0 to 3000 ---

Command unit

---

Setting range

0 to 800

0 to

10000

0 to

10000

1 to 500

---

Restart power?

---

Yes

---

4-22

Operation Chapter 4 eter

No.

Pn124

Pn125

Digit

No.

Name

Sets the switching delay after conditions have been met, when the automatic gain switching function is used

(Pn10b.2=1 to 3).

Explanation (See note 1.)

Setting

Explanation (See note 2.)

Automatic gain switching timer

Automatic gain switching width

(amount of position deviation)

Sets the position deviation used as the switching condition when the automatic gain switching function by position deviation (Pn10b.2 = 2, 3) is used.

Default setting

100 ms

Setting range

1 to

10000

Command unit

1 to 250

Restart power?

---

Note 1.

Explanation for parameters set using 5 digits.

Note 2.

Explanation for parameters requiring each digit No. to be set separately.

Note 3.

The setting range is 0 to 10,000 for Servo Drivers with a software version of “r.0014” or earlier.

4-23

Operation Chapter 4

Position Control Parameters (From Pn200)

ParamParameter eter name

No.

Pn200 Position control

Pn201 Encoder divider rate

Pn202 Electronic gear ratio

G1 (numerator)

Pn203 Electronic gear ratio

G2 (denominator)

Pn204 Position command filter time constant 1

(primary filter)

Digit

No.

Name

Explanation (See note 1.)

Setting

Explanation (See note 2.)

Command p

0 Feed pulse forward/reverse signal: Positive logic

1 Forward pulse/reverse pulse:

Positive logic

2 90 ° phase difference (A/B phase) signal (x1): Positive logic

3 90 ° phase difference (A/B phase) signal (x2): Positive logic

4 90 ° phase difference (A/B phase) signal (x4): Positive logic

5 Feed pulses/Forward/reverse signal: Negative logic

6 Forward pulse/reverse pulse:

Negative logic

7 90 ° phase difference (A/B phase) signal (x1): Negative logic

8 90 ° phase difference (A/B phase) signal (x2): Negative logic

9 90 ° phase difference (A/B phase) signal (x4): Negative logic

Deviation t t

0 High level signal counter reset 1

Rising signal (low to high)

2 Low level signal

Deviation counter reset if an alarm occurs when the

Servomotor is OFF

3 Falling signal (low to high)

0 Deviation counter reset if an alarm occurs when Servomotor is OFF.

1 Deviation counter not reset if an alarm occurs when Servomotor is OFF.

2 Deviation counter reset only if alarm occurs.

3 Pulse command filter selection

0 Command filter for line driver signal input (500 kpps)

1 Command filter for open-collector signal input

(200 kpps)

Sets the number of output pulses from the Servo Driver.

Sets the pulse rate for the command pulses and Servo

Servomotor travel distance.

0.01 G1/G2 100

Sets soft start for command pulse. (Soft start characteristics are for the primary filter.)

Default setting

1011

1000

--pulse/rotation

---

Unit x 0.01 ms

---

Setting range g

16 to

16384

1 to

65535

1 to

65535

Restart power?

Yes

0 to 6400 ---

4-24

Operation Chapter 4 eter

No.

Pn205 Absolute encoder multi-turn limit setting

Pn206

Number of fullyclosed encoder pulses

Pn207 Position control setting 2

Digit

No.

Name

Explanation (See note 1.)

Setting

Explanation (See note 2.)

Sets the limit to the number of rotations when using a Servo

Servomotor with an absolute encoder.

Sets the number of fully-closed encoder pulses for each motor rotation.

Selects position command filter.

Speed command input switching switching

(during position control)

Primary filter (Pn204)

Linear acceleration and deceleration (Pn208)

Function not used

REF used as feed-forward input

2 to

Not used.

Pn208 Position command filter time constant 2

(linear acceleration and deceleration)

Pn212

Not used.

(Do not change setting.)

Sets soft start for command pulse. (Soft start characteristics are for the linear acceleration and deceleration.)

Pn217

Pn218

Command pulse factor

Position t l setting 3

Sets the factor used for position command pulse input.

1 to

Command l f t switching selection

Not used.

0 Disables the function.

1 Rotates the Servomotor using the command pulse multiplied by the factor set in Pn217.

0 (Do not change setting.)

Default setting

65535

16384

0000

2048

0000 rotations pulses/rotation

--x 0.01 ms

---

Factor

-----

Setting range

0 to

65535

25 to

65535

---

0 to 6400

---

1 to 99

---

Restart power?

Yes

---

Yes

Note 1.

Explanation for parameters set using 5 digits.

Note 2.

Explanation for parameters requiring each digit No. to be set separately.

4-25

Operation

Speed Control Parameters (From Pn300)

Parameter

No.

Parameter name

Explanation

Pn300

Pn301

Pn302

Pn303

Pn304

Pn305

Pn306

Pn307

Pn308

Pn309**

Speed command scale

No. 1 internal speed setting

No. 2 internal speed setting

No. 3 internal speed setting

Sets the speed command voltage (REF)

Number of rotations for No. 1 internal setting

Number of rotations for No. 2 internal setting

Number of rotations for No. 3 internal setting

Jog speed Sets rotation speed during jog operation.

Soft start acceleration time

Sets acceleration time during speed control soft start.

Soft start deceleration time

Sets deceleration time during speed control soft start.

Speed command filter time constant

Speed feedback filter time constant

Not used.

Sets constant during filter of speed command voltage input (REF).

Sets constant during filter of speed feedback.

(Do not change setting.)

Default setting

1000

100

200

300

500

60 r/min r/min r/min ms ms x 0.01 ms x 0.01 ms

---

Chapter 4

Unit

0.01 v/No.

rated rotations r/min

Setting range

150 to 3000 ---

Restart power?

0 to 10000 ---

0 to 65535 ---

-----

4-26

Operation Chapter 4

Torque Control Parameters (From Pn400)

Parameter No.

Parameter name

Digit

No.

Name

Explanation (See note 1.)

Setting

Explanation (See note 2.)

Pn400 Torque command scale

Pn401 Torque command filter time constant

Pn402 Forward torque limit

Sets the torque command voltage (TREF) to output the rated torque.

Sets the constant when filtering the internal torque command.

Forward rotation output torque limit (rated torque ratio).

Pn403 Reverse torque limit

Pn404 Forward rotation external current limit

Reverse rotation output torque limit (rated torque ratio).

Output torque limit during input of forward rotation current limit (rated torque ratio)

Pn405 Reverse rotation external current limit

Pn406 Emergency stop torque

Output torque limit during input of reverse rotation current limit (rated torque ratio)

Deceleration torque when an error occurs (rated torque ratio)

Pn407 Speed limit Sets the speed limit in torque control mode.

Pn408 Torque command setting

Pn409 Notch filter

1 frequency

Pn40A

Notch filter

1 Q value

Pn40b

Pn40C

Notch filter

2 frequency

Notch filter

Q value

0 Selects t h filt 1

0 notch filter 1. 1

Notch filter 1 not used.

Notch filter 1 used for torque commands.

Not used.

Selects notch filter 2.

(Do not change setting.)

Notch filter 2 not used.

Notch filter 2 used for torque commands.

3 Not used.

0 (Do not change setting.)

Sets notch filter 1 frequency for torque command.

Sets Q value of notch filter 1.

Sets notch filter 2 frequency for torque command.

Sets Q value of notch filter 2.

Default setting

350

100

350

3000

0000

2000

Unit

Hz x 0.01

Setting range g

0.1 V/ rated torque

10 to 100 x 0.01 ms 0 to

65535

---

% r/min

--x 0.01

Note 1.

Explanation for parameters set using 5 digits.

Note 2.

Explanation for parameters requiring each digit No. to be set separately.

0 to 800

0 to

10000

---

50 to

2000

---

50 to 400 ---

50 to

2000

---

50 to 400 ---

---

Restart power?

---

4-27

Operation Chapter 4

Sequence Parameters (From Pn500)

Parameter No.

Parameter name

Digit

No.

Name

Explanation

Setting

Explanation

Pn500 Positioning completion range 1

Pn501 Position lock rotation speed

Pn502 Rotation speed for motor rotation detection

Pn503 Speed conformity signal output width

Pn504 Positioning completion range 2

Pn505 Deviation counter overflow level

Pn506 Brake timing 1

Pn507 Brake command speed

Pn508 Brake timing 2

Pn509 Momentary hold time

Sets the range of positioning completed output 1 (INP1).

Sets the number of rotations for position lock during speed control.

Sets the number of rotations for the Servomotor rotation detection output (TGON).

Sets the allowable fluctuation (number of rotations) for the speed conformity output (VCMP).

Sets the range for positioning completed output 2 (INP2).

Sets the delay from the brake command to the Servomotor turning OFF.

Sets the number of rotations for outputting the brake command.

Sets the delay time from the Servomotor turning OFF to the brake command output.

Sets the time during which alarm detection is disabled when a power failure occurs.

Default setting

Sets the detection level for the deviation counter over alarm.

1024

100

Unit

Command unit

0 to 250 r/min r/min

0 to

10000

1 to

10000 r/min

Setting range g

0 to 100

---

Command unit

1 to 250 x 256 command unit

1 to

32767 x 10 ms r/min x 10 ms ms

0 to 50

0 to

10000

---

10 to 100 ---

20 to

1000

---

Restart power?

4-28

Operation

Parameter name

Pn50A Input signal selection 1

Digit

No.

(

Name

Input signal allocation mode

RUN signal

(RUN command) input terminal allocation

MING signal input terminal allocation

POT signal

Input terminal allocation

Explanation

Setting

Explanation

Sets the sequence input signal allocation to the same as

R88D-UT.

User-defined sequence input signal allocation

Allocated to CN1, pin 40: Valid at low input.

Allocated to CN1, pin 41: Valid at low input

Allocated to CN1, pin 42: Valid at low input

Allocated to CN1, pin 43: Valid at low input

Allocated to CN1, pin 44: Valid at low input

Allocated to CN1, pin 45: Valid at low input

Allocated to CN1, pin 46: Valid at low input

Always enabled.

Always disabled.

Allocated to CN1, pin 40: Valid at high output

A b

C d

Allocated to CN1, pin 41: Valid at high output

Allocated to CN1, pin 42: Valid at high output

Allocated to CN1, pin 43: Valid at high output

Allocated to CN1, pin 44: Valid at high output

Allocated to CN1, pin 45: Valid at high output

Allocated to CN1, pin 46: Valid at high output

0 to F Same as Pn50A.1.

MING (gain reduction) signal allocation

0 to F Same as Pn50A.1

POT (forward drive prohibited) signal allocation

Default setting

8100 ---

Chapter 4

Setting range

---

Restart power?

Yes

4-29

Operation

Pn50b

Pn50C Input signal

Pn50d

Parameter name

Input signal selection 2 selection 3

Input signal selection 4

Digit

No.

Name

NOT signal

Input terminal allocation

RESET signal

Input terminal allocation

PCL signal

Input terminal allocation

NCL signal

Input terminal allocation

RDIR signal

Input terminal allocation

SPD1 signal

Input terminal allocation

SPD2 signal

Input terminal allocation

TVSEL signal

Input terminal allocation

PLOCK signal

Input terminal allocation

IPG signal

Input terminal allocation

GSEL signal

Input terminal allocation

Not used.

Explanation

Setting

Explanation

0 to F Same as Pn50A.1.

NOT (reverse drive prohibited) signal allocation

0 to F Same as Pn50A.1.

RESET (alarm reset) signal allocation

0 to F Same as Pn50A.1.

PCL (forward rotation current limit) signal allocation

0 to F Same as Pn50A.1.

NCL (reverse rotation current limit) allocation

0 to F Same as Pn50A.1.

RDIR (rotation direction command) signal allocation

0 to F Same as Pn50A.1.

SPD1 (speed selection reference 1) signal allocation

0 to F Same as Pn50A.1.

SPD2 (speed selection command 2) signal allocation

0 to F Same as Pn50A.1.

TVSEL (control mode switching) signal allocation

0 to F Same as Pn50A.1.

PLOCK (position lock command) signal allocation

0 to F Same as Pn50A.1.

IPG (pulse disable) signal allocation

0 to F Same as Pn50A.1.

GSEL (gain switching) signal allocation

8 (Do not change setting.)

Default setting

6548

8888

---

Chapter 4

Setting range

---

Restart power?

Yes

4-30

Operation

Parameter name

Pn50E Output

Pn50F

Pn510

Pn511 signal selection 1

Output signal selection 2

Output signal selection 3

Not used.

Digit

No.

Name

0 to

INP1 signal

(positioning completed

1) output terminal allocation

VCMP signal output terminal allocation

TGON signal output terminal allocation

READY signal output terminal allocation

CLIMT signal output terminal allocation

VLIMT signal output terminal allocation

BKIR signal output terminal allocation

WARN signal output terminal allocation

INP2 signal output terminal allocation

Not used.

PSON signal output terminal allocation **

Not used.

0 to 3 Same as Pn50E.0.

Explanation

Setting

No output

Explanation

Allocated to CN1 pins 25, 26

Allocated to CN1 pins 27, 28

3 Allocated to CN1 pins 29, 30

0 to 3 Same as Pn50E.0.

VCMP (speed coincidence) signal allocation

0 to 3 Same as Pn50E.0.

TGON (Servomotor rotation detection) signal allocation

0 to 3 Same as Pn50E.0.

READY (Servomotor warmup complete) signal allocation

0 to 3 Same as Pn50E.0.

CLIMT (current limit detection) signal allocation

0 to 3 Same as Pn50E.0.

VLIMT (speed limit detection) signal allocation

0 to 3 Same as Pn50E.0.

BKIR (brake interlock) signal allocation.

0 to 3 Same as Pn50E.0.

WARN (warning) signal allocation

INP2 (positioning completed 2) signal allocation

(Do not change setting.)

PSON (command pulse factor enabled) signal allocation

(Do not change setting.)

Default setting

3211

0000

8888

---

Chapter 4

Setting range

---

Restart power?

Yes

---

4-31

Operation Chapter 4

Pn512

Pn513

Parameter name

Output signal

Input signal selection 6

Pn51A

Pn51b

Pn51C

Pn51E

Motor-load deviation over level

Not used.

Deviation counter overflow warning level

Digit

No.

Name

Output signal reverse for

CN1 pins

25, 26

Output signal reverse for

CN1 pins

27, 28

Output signal reverse CN1 pins 29, 30

Explanation

Setting

Explanation

Not reversed.

Reversed.

Not reversed.

Reversed.

Not reversed.

Reversed.

2 to

Not used.

PSEL signal input terminal allocation

Not used.

0 (Do not change setting.)

0 to F Same as Pn50A.1.

PSEL (command pulse factor switching) signal allocation

(Do not change setting.)

Sets the allowable range for the number of pulses for fully-closed encoders and semi-closed encoders.

(Do not change setting.)

Sets the detection level for the deviation counter overflow warning. (Set as a percentage for the deviation counter overflow level (Pn505).)

100

450

Default setting

0000

0088

---

Setting

---

--range

Command unit

0 to

32767

---

% 0 to 100

Restart power?

Yes

---

Other Parameters (From Pn600)

Explanation Parameter

No.

Pn600

Parameter name

Regeneration resistor capacity

Setting for regeneration resistance load ratio monitoring calculations

Pn601 Not used.

Note The normal setting is 0. If an external regeneration resistor is used, refer to

3–3–3 Regenerative Energy Absorption by External Regeneration Resistanc e for the recommended setting.

(Do not change setting.)

Default setting

---

Unit x 10 W

Setting range

From 0

(varies by

Unit.)

---

Restart power?

-----

4-4-3 Important Parameters

This section explains the user parameters you need to set and check before using the

Servomotor and Servo Driver. If these parameters are set incorrectly, there is a risk of the Servomotor not rotating, and of a misoperation. Set the parameters to suit your system.

4-32

Operation Chapter 4

Reverse Rotation Mode Settings (Pn000.0)

Pn000.0

Setting range

Function selection basic switch –– Reverse rotation mode (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

CCW direction is taken for positive command (counterclockwise seen from the

Servomotor output shaft)

CW direction is taken for positive command (clockwise seen from the Servomotor output shaft)

• This parameter sets the Servomotor’s direction of rotation.

• Even if 1 is set, the Servo Driver’s encoder output phase (A/B phase) does not change (i.e., the Servomotor’s direction of rotation is simply reversed).

• For example, with a pulse command, the motor will rotate counterclockwi se for a counterclockwi se command if the Reverse Rotation Mode Setting is set to 0 and will rotate clockwi se for a counterclockwi se command if the Reverse Rotation Mode Setting is set to 1.

Control Mode Selection (Pn000.1)

Pn000.1

Setting range

Function selection basic switch –– Control mode selection (All operation modes)

0 to b Unit --Default setting

1 Restart power?

Yes

A b

Setting Explanation

Setting

Speed control (Analog command)

Position control (Pulse train command)

Explanation

Torque control (Analog command)

Internal speed control settings

Internal speed control settings ←→ Speed control (Analog command)

Internal speed control settings ←→ Position control (Pulse train command)

Internal speed control settings ←→ Torque control (Analog command)

Position control (Pulse train command) ←→ Speed control (Analog command)

Position control (Pulse train command) ←→ Torque control (Analog command)

Speed control (Analog command) ←→ Torque control (Analog command)

Speed control with position-lock function (Analog command)

Position control with pulse disable function (Pulse train command)

• Set to match the application content and the output form of the Host controller you are using.

• If using switching control mode (7 to 9), switch the control mode using TVSEL (control mode switch input).

• If using internal speed control setting and another control mode (4 to 6), switch control mode using

SPD1 and SPD2 (speed selection command inputs 1 and 2).

4-33

Operation Chapter 4

Alarm Stop Selection (Pn001.0)

Pn001.0

Setting range

Function selection application switch 1 –– Stop selection for alarm generation with servo OFF

(All operation modes)

0 to 2 Unit --Default setting

2 Restart power?

Yes

Setting Explanation

Stop Servomotor using dynamic brake (dynamic brake stays ON after Servomotor has stopped).

Stop Servomotor using dynamic brake (dynamic brake released after Servomotor has stopped).

Stop Servomotor using free run.

• Select the stopping process for when the servo is turned OFF or an alarm occurs.

• Dynamic Brake Operation when Power Is Turned OFF

The dynamic brake will remain ON if the main circuit and control circuit power supplies are turned OFF for Servo Drivers of the capacities listed below. This means that it will be slightly more difficult to turn the motor shaft by hand than it is when the dynamic brake is OFF. To release the dynamic brake, disconnect the Servo Motor wiring (U, V, or W). Always confirm that any disconnected wires are connected properly before turning ON the power supplies again.

100-V AC input, 30 to 200 W: R88D-WTA3HL to R88D-WT02HL

200-V AC input, 30 W to 1.5 kW: R88D-WTA3H to R88D-WT15H

• Relationship between Main Circuit and Control Circuit Power Supply Status and Dynamic Brake Operation

R88D-WTA3HL to R88D-WT02HL (100-V AC input)

R88D-WTA3H to R88D-WT15H (200-V AC input)

Power supply status

Main circuit power supply

ON ON

Control circuit power supply

Dynamic brake operation

PN001.0 = 0 PN001.0 = 1 PN001.0 = 2

ON OFF

OFF

ON (then to

OFF)

R88D-WT20H to R88D-WT150H

Power supply status

Main circuit power supply

ON ON

Control circuit power supply

OFF

Dynamic brake operation

PN001.0 = 0 PN001.0 = 1 PN001.0 = 2

OFF

ON (then to

OFF)

ON (then to

OFF)

OFF

4-34

Operation Chapter 4

Overtravel Stop Selection (Pn001.1)

Pn001.1

Setting range

Function selection application switch 1 –– Stop selection for drive prohibition input (Position, speed, internally-set speed control)

0 to 2 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Stop according to the setting of Pn001.0 (servo released after Servomotor has stopped)

Stop the Servomotor using the torque set in Pn406 (emergency stop torque), then locks the servo.

Stop the Servomotor using the torque set in Pn406 (emergency stop torque), then releases the servo (dynamic brake is turned OFF).

• Select the stopping process for when overtravel occurs.

Stopping Methods when Forward/Reverse Drive Prohibit is OFF

Deceleration Method

Pn001.1

Pn001.0

0 or 1

POT (NOT) is OFF

Dynamic brake

Free run

1 or 2

Stopped Status

Servo unlocked

Emergency stop torque (Pn406)

Pn001.1

Servo unlocked

See note 1.

Servo locked

Note 1.

The position loop is disabled when the servo stops in servolock mode during position control.

Note 2.

During torque control, the stopping process depends on Pn001.0 (the Pn001.1 setting does not matter).

Note 3.

POT and NOT are allocated to pin CN1-42 at the factory, and set to always OFF (i.e., drive prohibition is disabled). To use the drive prohibition function, change the setting using

Pn50A.3 and Pn50b.0.

Note 4.

With a vertical load, the load may fall due to its own weight if it is left at a drive prohibit input. We recommend that you set the stop method for the drive prohibit input (Pn001.1) for decelerating with the emergency stop torque, and then set stopping with the servo locked (SV: 1) to prevent the load from falling.

Command Pulse Mode Selection (Pn200.0): Position Control

Pn200.0

Setting range

Position control setting 1 –– Command Pulse Mode (Position)

0 to 9 Unit --Default setting

1 Restart power?

Yes

4-35

Operation Chapter 4

Setting Explanation

Feed pulse/forward signal: Positive logic

Reverse pulse/reverse pulse: Positive logic

90 ° phase difference (A/B phase) signal (x1): Positive logic

90 ° phase difference (A/B phase) signal (x2): Positive logic

90 ° phase difference (A/B phase) signal (x4): Positive logic

Feed pulses/Forward/reverse signal: Negative logic

Forward pulse/reverse pulse: Negative logic

90 ° phase difference (A/B phase) signal (x1): Negative logic

90 ° phase difference (A/B phase) signal (x2): Negative logic

90 ° phase difference (A/B phase) signal (x4): Negative logic

• If using position control, select the command pulse mode to suit the Host Controller’s command pulse format.

• If inputting 90 ° phase difference signals, select either x1, x2, or x4. If you select x4, the input pulse will be multiplied by 4, so the number of Servomotor rotations (speed and angle) will be four times that of the x1 selection.

I/O Signal Allocation (Pn50A to Pn513)

• With the OMNUC W series, you can freely change the I/O signal allocation.

• If using an OMRON position controller (Position Control Unit or Motion Control Unit), you do not need to change the default settings. The various special Control Cables are also based on the default allocations.

• The default allocations (which are the same as for the R88D-UT OMRON Servo Driver) are as follows:

Input signal

CN1, pin No.

Signal name

40 RUN (RUN command input)

---

Condition

4-36

Operation Chapter 4

Input signal

CN1, pin No.

Signal name

MING (gain reduction input)

Condition

When Pn000.1 is 0 (speed control) or 1 (position control)

When Pn000.1 is 3, 4, or 5 (internal speed control setting), and

SPD1 and SPD2 are both OFF

When Pn000.1 is 3, 4, 5, or 6 (internal speed control setting), and either SPD1 or SPD2 is ON

RDIR (rotation direction command input)

TVSEL (control mode switch input)

PLOCK

(position lock command input)

IPG (pulse disable input)

POT (forward drive prohibit input)

NOT (reverse drive prohibit input)

RESET (alarm reset input)

PCL (forward rotation current limit input)

SPD1 (speed selection command 1 input)

NCL (reverse rotation current limit input)

SPD2 (speed selection command 2 input)

When Pn000.1 is 7, 8, or 9 (switching control mode)

When Pn000.1 is A (speed command with position lock)

When Pn000.1 is b (position control with pulse disable)

Set to always OFF (i.e., drive prohibition is disabled).

---

When Pn000.1 is 0 to 2, or 7, 8, 9, A, or b.

When Pn000.1 is 3, 4, 5, or 6 (internal speed control setting).

When Pn000.1 is 0, 1, or 2, or 7, 8, 9, A, or b.

When Pn000.1 is 3, 4, 5, or 6 (internal speed control setting).

Output signal

25/26

27/28

29/30

INP1

(Positioning completed output 1)

VCMP (speed conformity output)

TGON

(Servomotor rotation detection output)

READY (Servo ready output)

When using Position Control Mode.

When using Speed Control Mode or Internally-set Speed

Control Mode.

---

4-37

Operation

D Input Signal Selection (Pn50A to Pn50d, Pn513)

Pn50A.0

Setting range

Input signal selection 1 –– Input signal allocation mode (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Chapter 4

Yes

Setting Explanation

Sets the sequence input signal allocation to the same as R88D-UT

User-defined sequence input signal allocation

• If set to 0, the input signal allocation for CN1 is the same as shown above. You cannot change the input signal pin number with this setting. You can, however, select whether the signal is always ON or always OFF, using Pn50A.1 to Pn50b.3.

• If set to 1, you can set the input signal pin number (Pn50A.1 to Pn50d.2). You can also allocate multiple input signals to one pin number, in which case, when a signal is input, all signals allocated to that pin number are input. For example, if switching between speed control and position control, when the gain is lowered using speed control, if both TVSEL (control mode switch input) and MING (gain reduction input) are allocated to the same pin number, switching to speed control and gain reduction will be performed as one signal.

Pn50A.1

Setting range

Input signal selection 1 –– RUN signal (RUN command) input terminal allocation (All operation modes)

0 to F Unit --Default setting

0 Restart power?

Yes

C d

A b

Setting Explanation

Allocated to CN1-40 pin: enabled using L input

Allocated to CN1-41 pin: enabled using L input

Allocated to CN1-42 pin: enabled using L input

Allocated to CN1-43 pin: enabled using L input

Allocated to CN1-44 pin: enabled using L input

Allocated to CN1-45 pin: enabled using L input

Allocated to CN1-46 pin: enabled using L input

Always ON

Always OFF

Allocated to CN1-40 pin: enabled using H input

Allocated to CN1-41 pin: enabled using H input

Allocated to CN1-42 pin: enabled using H input

Allocated to CN1-43 pin: enabled using H input

Allocated to CN1-44 pin: enabled using H input

Allocated to CN1-45 pin: enabled using H input

Allocated to CN1-46 pin: enabled using H input

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 40 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

4-38

Operation Chapter 4

• When set to 7, the servo turns ON after the power has been turned ON. You cannot use the jog operation with this setting.

Pn50A.2

Setting range

Input signal selection 1 –– MING signal (gain reduction) input terminal allocation (Position, speed, internally-set speed control)

0 to F Unit --Default setting

1 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 41 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50A.3

Setting range

Input signal selection 1 –– POT signal (forward drive prohibited) input terminal allocation (All operation modes)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 42 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

• If set to 7 (always ON), the servo is in always overtravel status (i.e., forward rotation is always driveprohibited).

• If set to 8 (always OFF), the servo drive prohibition is OFF (i.e., the forward rotation drive is permitted).

• The POT signal permits forward rotation drive upon input.

Pn50b.0

Setting range

Input signal selection 2 –– NOT signal (reverse drive prohibited) input terminal allocation (All operation modes)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 43 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

• If set to 7 (always ON), the servo is in always in overtravel status (i.e., reverse rotation is always driveprohibited).

• If set to 8 (always OFF), the servo drive prohibition is OFF (i.e., the reverse rotation drive is permitted).

• The NOT signal permits reverse rotation drive upon input.

Pn50b.1

Input signal selection 2 –– RESET signal (alarm reset) input terminal allocation (All operation modes)

0 to F Unit --Default setting

4 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 44 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

4-39

Operation Chapter 4

• Do not set 7 (always ON).

• If setting 8 (always OFF), when the alarm is cancelled, turn ON the power or reset the alarm using the operation keys.

Pn50b.2

Setting range

Input signal selection 2 –– PCL signal (forward rotation current limit) input terminal allocation

(All operation modes)

0 to F Unit --Default setting

5 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 45 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50b.3

Setting range

Input signal selection 2 –– NCL signal (reverse rotation current limit) input terminal allocation

(All operation modes)

0 to F Unit --Default setting

6 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 46 enabled by L input. Settings 7 and 8 are both enabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50C.0

Setting range

Input signal selection 3 –– RDIR signal (rotation direction command) input terminal allocation

(internally-set speed control)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50C.1

Setting range

Input signal selection 3 –– SPD1 signal (speed selection command 1) input terminal allocation

(internally-set speed control)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50C.2

Setting range

Input signal selection 3 –– SPD2 signal (speed selection command 2) input terminal allocation

(internally-set speed control)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50C.3

Setting range

Input signal selection 3 –– TVSEL signal (control mode switching) input terminal allocation

(Switching control)

0 to F Unit --Default setting

8 Restart power?

Yes

4-40

Operation Chapter 4

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50d.0

Setting range

Input signal selection 4 –– PLOCK signal (position lock command) input terminal allocation

(Speed)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50d.1

Setting range

Input signal selection 4 –– IPG signal (pulse disable) input terminal allocation (Position)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

Pn50d.2

Setting range

Input signal selection 4 –– GSEL signal (gain switching) input terminal allocation (Position, speed, internally-set speed control)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot use GSEL signal. Settings 0 to F are all disabled.

• To use the GSEL signal, set Pn50A.0 to 1.

Pn513.0

Setting range

Input signal selection 6 –– PSEL signal (command pulse factor switching) input terminal allocation (Position)

0 to F Unit --Default setting

8 Restart power?

Yes

• Settings are the same as for Pn50A.1.

• If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled.

• To change the pin number, set Pn50A.0 to 1.

• This new parameter is supported by Servo Drivers with software version “r.0037.”

D Output Signal Selection (Pn50E to Pn510, Pn512)

• Output signal selection is performed in Pn50E to Pn510, and whether each signal should be reversed is set in Pn512.

• You can allocate multiple output signals to the same pin. Such signals are output separately as an OR operation.

• The default settings allocate INP1 (positioning completed output 1) and VCMP (speed conformity) to pin Nos. 25 and 26. In Position Control Mode, INP1 is output, and in Speed Control Mode, VCMP is output. Also, TGON (Servomotor rotation detection) is allocated to pins 27 and 28, and READY (Servomotor ready) is allocated to pins 29 and 30.

Pn50E.0

Setting range

Output signal selection 1 –– INP1 signal (positioning completed output 1) output terminal allocation (Position)

0 to 3 Unit --Default setting

1 Restart power?

Yes

4-41

Operation Chapter 4

Setting Explanation

No output

Allocated to pins CN1-25 and 26 (pin 26 is the COM port)

Allocated to pins CN1-27 and 28 (pin 28 is the COM port)

Allocated to pins CN1-29 and 30 (pin 30 is the COM port)

Pn50E.1

Setting range

Pn50E.2

Setting range

Pn50E.3

Setting range

Pn50F.0

Setting range

Pn50F.1

Setting range

Pn50F.2

Setting range

Pn50F.3

Output signal selection 1 –– VCMP signal (speed conformity) output terminal allocation

(Speed)

0 to 3 Unit --Default setting

1 Restart power?

Yes

Output signal selection 1 –– TGON signal (Servomotor rotation detection) output terminal allocation (All operation modes)

0 to 3 Unit --Default setting

2 Restart power?

Yes

Output signal selection 1 –– READY signal (Servomotor ready) output terminal allocation (All operation modes)

0 to 3 Unit --Default setting

3 Restart power?

Yes

Output signal selection 2 –– CLIMT signal (current limit detection) output terminal allocation

(All operation modes)

0 to 3 Unit --Default setting

0 Restart power?

Yes

Output signal selection 2 –– VLIMT signal (speed limit detection) output terminal allocation

(Torque)

0 to 3 Unit --Default setting

0 Restart power?

Yes

Output signal selection 2 –– BKIR signal (brake interlock) output terminal allocation (All operation modes)

0 to 3 Unit --Default setting

0 Restart power?

Yes

Output signal selection 2 –– WARN signal (warning) output terminal allocation (All operation modes)

0 to 3 Unit --Default setting

0 Restart power?

Yes Setting range

Pn510.0

Setting range

Output signal selection 3 –– INP2 (positioning completed 2) output terminal allocation

(Position)

0 to 3 Unit --Default setting

0 Restart power?

Yes

Pn510.2

Setting range

Output signal selection 3 –– PSON (command pulse factor enabled) output terminal allocation

0 to 3 Unit --Default setting

0 Restart power?

Yes

• Parameter settings are the same as for Pn50E.0.

• Pn510.2 is a new parameter supported by Servo Drivers with software version “r.0037.”

4-42

Operation Chapter 4

Pn512.0

Setting range

Output signal reverse –– Pins CN1-25 and 26 output signal reverse (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

Not reversed.

Reversed.

Explanation

• Select the characteristics of the output signal allocated to pins CN1-25 and 26.

• If you set 1 (reverse), ON/OFF outputs are reversed.

Pn512.1

Setting range

Output signal reverse –– Pins CN1-27 and 28 output signal reverse (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

Not reversed.

Reversed.

Pn512.2

Setting range

Explanation

Output signal reverse –– Pins CN1-29 and 30 output signal reverse (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

Not reversed.

Reversed.

Explanation

4-4-4 Parameter Details

This section explains all user parameters not already explained in 4-4-3 Important Parameters . Make sure you fully understand the meaning of each parameter before making any changes to parameter settings. Be sure not to change parameters designated

“Not used.”, and digit No. settings.

Function Selection Parameters (From Pn000)

D Function Selection Basic Switch (Pn000: Default Setting 0010)

Pn000.0

Setting range

Function selection basic switch –– Reverse rotation mode (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Note Refer to 4-4-3 Important Parameters .

Yes

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Operation Chapter 4

Pn000.1

Setting range

Function selection basic switch –– Control mode selection (All operation modes)

0 to b Unit --Default setting

1 Restart power?

Yes

Note Refer to 4-4-3 Important Parameters .

Pn000.2

Setting range

Function selection basic switch –– Unit No. setting (All operation modes)

0 to F Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

0 to F Sets the Servo Driver unit number

Explanation

• You must make settings if connecting multiple Servo Drivers using OMNUC W-series Servo Driver

Computer Monitoring Software (for Windows95). Refer to the software for details.

Pn000.3

Setting range

Function selection basic switch –– Not used.

--Unit --Default setting

0 Restart power?

Yes

Note Do not change setting.

D Function Selection Application Switch 1 (Pn001: Default setting 1002)

Pn001.0

Setting range

Function selection application switch 1 –– Stop selection if alarm occurs when servo is OFF

(All operation modes)

0 to 2 Unit --Default setting

2 Restart power?

Yes

Note Refer to 4-4-3 Important Parameters .

Pn001.1

Setting range

Function selection application switch 1 –– Stop selection when drive prohibited is input

(Position, speed, internally-set speed control)

0 to 2 Unit --Default setting

0 Restart power?

Yes

Note Refer to 4-4-3 Important Parameters .

Pn001.2

Setting range

Function selection application switch 1 –– AC/DC power supply input selection (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

AC power supply: AC power supplied from L1, L2, (L3) terminals

DC power supply: DC power from +1, – terminals

• Select setting 1 if using a DC power supply.

• If using a DC power supply, perform the following operations.

Control circuit power supply: Supply DC power to L1C and L2C. There is no polarity.

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Operation Chapter 4

Main circuit power supply: Supply DC power as follows: positive voltage to +1 terminal, and ground to – terminal.

External regeneration resistance terminals: Remove the short bar from between B2 and B3 so that

B1, B2, and B3 are open. (For Servo Drivers without B3, open B1 and B2.)

Make sure input voltage is 120 to 179 V DC for 100 V input type, and 240 to 357 V DC for 200 V input type.

Note 1.

Always set this parameter to 1 when using a DC power supply. If a DC power supply is connected with this parameter set to 0, the regeneration absorption circuit will operate, possibly damaging the Servo Driver. When changing the setting from 0 to 1, either the main circuit power supply must be OFF, or the external regeneration resistance terminals must be open.

Note 2.

If using a DC power supply, the regeneration absorption circuit inside the Servo Driver will not operate. The regeneration power returns to the DC power supply, so make sure the DC power supply can absorb the regeneration power.

Note 3.

If using a DC power supply, the residual voltage in the main-circuit power supply is not discharged rapidly when the power is turned OFF. Be sure to mount a discharge circuit on the DC power supply. Also, check that the charge indicator is not lit before storing the power supply input when the power supply has been turned OFF (the discharge time for the Servo Driver is approximately 30 minutes.)

Pn001.3

Setting range

Function selection application switch 1 –– Warning code output selection (All operation modes)

0, 1 Unit --Default setting

1 Restart power?

Yes

Setting Explanation

Only alarm code is output from ALO1, ALO2, and ALO3

Both alarm code and warning code are output from ALO1, ALO2, and ALO3

• Select whether the alarm code output will be from outputs ALO1 to ALO3 (CN1-37 to 39) if an alarm

(overload alarm, regeneration overload alarm) occurs.

Note Refer to 5-2 Alarms for warning code details.

D Function Selection Application Switch 2 (Pn002: Default Setting 0000)

Pn002.0

Setting range

Function selection application switch 2 –– Torque command input change (Position, speed)

0 to 3 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Function not used.

TREF used as analog torque limit.

TREF used as torque feed-forward input.

TREF used as analog torque limit when PCL and NCL are ON.

• Set TREF (torque command input) function when using position control and speed control.

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Operation Chapter 4

• Set 1 to limit the output torque to the same value for both forward and reverse regardless of TREF voltage polarity (read as an absolute value).

• Set 2 to calculate torque corresponding to TREF voltage in the current loop (TREF voltage polarity enabled).

• Set 3 to limit the forward output torque during PCL input (forward current limit input), and limit the reverse output torque during NCL input (reverse current limit input), regardless of TREF voltage polarity

(read as an absolute value).

• You can change the TREF voltage scale using Pn400 (torque command scale). Default setting: 3 V/ rated torque.

Note Other torque limit functions include Pn402 (forward torque limit), Pn403 (reverse torque limit),

Pn404 (Forward rotation external current limit), and Pn405 (Reverse rotation external current limit). The smallest output torque from among the enabled limitations is limited.

Pn002.1

Setting range

Function selection application switch 2 –– Speed command input switching (Torque)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

Function not used.

REF used as analog speed limit.

Explanation

• Set the REF (speed command input) function for torque control.

• Set 1 to set REF voltage as the analog speed limit, regardless of polarity (read as an absolute value).

• You can change the REF voltage scale using Pn300 (speed command scale). Default setting: 10 V/ rated rotation.

Note Other speed limitation functions include Pn407 (speed limit). The speed is limited to the lower value.

Pn002.2

Setting range

Function selection application switch 2 –– Operation switching using an absolute encoder (All operation modes, absolute)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

Use as an absolute encoder.

Use as an incremental encoder.

Explanation

• When 1 is set, the absolute encoder operates as an incremental encoder (backup battery not necessary).

Note If encoder resolution greater than 2,048 pulses/rotation is required with a 30- to 750-W Servomotor (including Flat-style) at 3,000 r/min., you can use a Servomotor with an absolute encoder

(16,384 pulses/rotation) as a Servomotor with an incremental encoder.

Pn002.3

Setting range

Function selection application switch 2 –– Fully-closed encoder usage method

0 to 4 Unit --Default setting

0 Restart power?

Yes

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Operation Chapter 4

Setting Explanation

Fully-closed encoder is not used.

Fully-closed encoder is used without phase Z.

Fully-closed encoder is used with phase Z.

Fully-closed encoder is used in reverse rotation mode without phase Z.

Fully-closed encoder is used in reverse rotation mode with phase Z.

• Set the application method for a fully-closed encoder when a DeviceNet Option Unit

(R88A-NCW152-DRT) is mounted and a fully-closed encoder will be used.

• Always set this parameter to 0 (default) if a DeviceNet Option Unit is not mounted or a fully-closed encoder will not be used.

Note Refer to the OMNUC W-series DeviceNet Option Unit User’s Manual (I538) for details on application methods for a fully-closed encoder (fully-closed control).

D Function Selection Application Switch 3 (Pn003: Default Setting 0002)

Pn003.0

Setting range

Function selection application switch 3 –– Analog monitor 1 (AM) allocation (All operation modes)

0 to F Unit --Default setting

2 Restart power?

Yes

Pn003.1

Setting range

Function selection application switch 3 –– Analog monitor 2 (NM) allocation (All operation modes)

0 to F Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

8 to F

Explanation

Servomotor rotation speed (speed monitor): 1 V/1000 r/min. Forward rotation: – voltage, reverse rotation: + voltage. All operation modes

Speed command: 1 V/1000 r/min. Forward rotation command: – voltage, reverse rotation command: + voltage. Position, speed, internally-set speed control

Torque command (current monitor): 1 V/rated torque, forward acceleration: – voltage, reverse acceleration: + voltage. All operation modes

Position deviation: 0.05 V/1 command. Plus deviation: – voltage, minus deviation:

+ voltage. Position

Position deviation: 0.05 V/100 commands. Plus deviation: – voltage, minus deviation:

+ voltage. Position

Command pulse frequency: 1 V/1000 r/min. Forward rotation: – voltage, reverse rotation:

+ voltage. Position

Servomotor rotation speed (speed monitor): 1 V/250 r/min., Forward rotation: – voltage, reverse rotation: + voltage. All operation modes

Servomotor rotation speed (speed monitor): 1 V/125 r/min., Forward rotation: – voltage, reverse rotation: + voltage. All operation modes

Not used.

• The Pn003 monitor settings are as follows: Pn003.0 is analog monitor 1 (AM: Pin CN5-2), and

Pn003.1 is analog monitor 2 (NM: Pin CN5-1).

• Set values are the same as for Pn003.0 and Pn003.1.

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Operation Chapter 4

Note 1.

Displays status without offset adjustment and scaling changes. (Perform offset adjustment and scaling changes using System Check Mode.)

Note 2.

The maximum analog monitor output voltage is 8 V. Exceeding this voltage may result in a wrong output.

Note 3.

Analog monitor output accuracy is approximately 15%.

Pn003.2

Setting range

Function selection application switch 2 –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change setting.

Pn003.3

Setting range

Function selection application switch 2 –– Not used.

--Unit --Default setting

Note Do not change setting.

0 Restart power?

D Unused Parameters (Pn004 and Pn005)

Pn004

Setting range

Not used.

--Unit ---

Note Do not change setting.

Pn005

Setting range

Not used.

--Unit

Note Do not change setting.

---

Default setting

0000

Restart power?

Gain Parameters (From Pn100)

Pn100

Setting range

Speed loop gain (Position, speed, internally-set speed control)

1 to 2000 Unit Hz Default setting

80 Restart power?

• This gain adjusts the speed loop response.

• Increase the setting (i.e., increase the gain) to raise servo rigidity. Generally, the greater the inertia ratio, the higher the setting. There is a risk of oscillation, however, if the gain is too high.

Overshoots when speed loop gain is high. (Oscillates when gain is too high.)

Servomotor speed (speed monitor)

When speed loop gain is low.

Time

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Operation Chapter 4

Pn101

Setting range

Speed loop integration constant (Position, speed, internally-set speed control)

15 to 51200 Unit x 0.01 ms Default setting

2000 Restart power?

• Sets the speed loop integral time constant.

• The higher the setting, the lower the response, and the lower the resiliency to external force. There is a risk of oscillation if the setting is too low.

Overshoots when speed loop integration constant is short.

Servomotor speed (speed monitor)

When speed loop integration constant is long.

Time

Pn102

Setting range

Position loop gain (Position, speed with position lock)

1 to 2000 Unit 1/s Default setting

40 Restart power?

• Adjust the position loop response to suit the mechanical rigidity.

• The position loop gain is enabled in speed control only if using the position lock function. Use servolock power adjustment during position lock.

• Servo system response is determined by the position loop gain. Servo systems with a high loop gain have a high response, and positioning is fast. To raise the position loop gain, you must improve mechanical rigidity and raise the specific oscillation. This should be 50 to 70 (1/s) for ordinary machine tools, 30 to 50 (1/s) for general-use and assembly machines, and 10 to 30 (1/s) for production robots.

The default position loop gain is 40 (1/s), so be sure to lower the setting for machines with low rigidity.

• Raising the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation may result in machine resonance, causing an overload alarm to occur.

• If the position loop gain is low, you can shorten the positioning time using feed forward. You can also shorten the positioning time using the bias function.

Position loop gain is generally expressed as follows:

Position loop gain (Kp) =

Command pulse frequency (pulses/s)

Deviation counter residual pulses (pulses)

(1/s)

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Operation Chapter 4

When the position loop gain is manipulated, the response is as shown in the diagram below.

When position loop gain is high

Servomotor speed

When position loop gain is low

Time

Pn103

Setting range

Inertia ratio (Position, speed, internally-set speed control)

0 to 20000 Unit % Default setting

300 Restart power?

• Set the mechanical system inertia (load inertia for Servomotor shaft conversion) using the ratio (%) of the Servomotor rotor inertia. If the inertia ratio is set incorrectly, the Pn100 (speed loop gain) value will also be incorrect.

• This parameter is the initial online auto-tuning value. After performing online auto-tuning, the correct value will be written to Pn103 if the tuning results are saved. Refer to 4-7-1 Online Auto-tuning for details.

Note The setting range is 0 to 10,000 when the Servo Driver software version is “r.0014” or earlier.

Pn104

Setting range

Pn105

Setting range

No. 2 speed loop gain (Position, speed, internally-set speed control)

1 to 2000 Unit Hz Default setting

80 Restart power?

No. 2 speed loop integral time constant (Position, speed, internally-set speed control)

15 to 51200 Unit x 0.01 ms Default setting

2000 Restart power?

Pn106

Setting range

No. 2 position loop gain (Position, speed with position lock)

1 to 2000 Unit 1/s Default setting

40 Restart power?

• These parameters are gain and time constants selected when using gain switching under the following conditions.

S When GSEL (gain switching input) is used.

A terminal must be allocated using Pn50d.2 (input signal selection 4 –– GSEL (gain switching) signal input terminal allocation). Refer to 4-8-5 Gain Switching (Position, Speed, Internally-set

Speed Control) for details.

S When automatic gain switching is set and the switching conditions are met.

Pn10b.2 (automatic gain switching selection) must be set. Refer to 4-8-6 Automatic Gain Switching (Position Control) for details.

• If the mechanical system inertia changes greatly or if you want to change the responsiveness for when the Servomotor is rotating and when it is stopped, you can achieve the appropriate control by setting the gain and time constant beforehand for each of these conditions, and then switch according to the conditions.

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Operation Chapter 4

• We recommend using Racks on which online auto-tuning cannot be set to be always enabled. Online auto-tuning cannot be set to be always enabled under the following conditions.

S When using torque feed-forward function.

S When load inertia fluctuates by 200 ms maximum.

S During operations where rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the rated torque.

S When external power is constantly applied, as with the vertical axis.

Note 1.

Automatic gain switching is enabled for position control only. When position control is not used, the Servomotor operates using No. 1 gain (Pn100, Pn101, Pn102).

Note 2.

When automatic gain switching is used, set No. 1 gain for gain during operation, and set No. 2 gain for gain while stopped.

Note 3.

Automatic gain switching and gain switching using GSEL (gain switching input) cannot be used together. When Pn10b.2 (automatic gain switching selection) is set between 1 and 3,

GSEL switching is disabled.

Note 4.

When No. 2 gain is selected, online auto-tuning is normally disabled.

Pn107

Setting range

Bias rotational speed (Position)

0 to 450 Unit r/min.

Default setting

0 Restart power?

Pn108

Setting range

Bias addition band (Position)

0 to 250 Unit r/min.

Default setting

7 Restart power?

• These two parameters set the position control bias.

• This function shortens the positioning time by adding the number of bias rotations to the speed command (i.e., commands to the speed control loop).

• When the deviation counter residual pulses exceed the Pn108 (bias addition band) setting, the speed set in Pn107 (bias rotational speed) is added to the speed command, and when they are within the limits for Pn108, it stops being added.

Note 1.

Set Pn107 to 0 if not using bias function.

Note 2.

If the bias rotation speed is too great, the Servomotor operation may become unstable. The optimum value will vary depending on the load, gain, and bias addition range, so check and adjust the Servomotor response. (Gradually increase the value, starting from Pn107 = 0.)

Bias function operation

Servomotor speed

(speed monitor)

Speed command

(command pulse frequency)

Bias function not used.

Bias function used.

Pn107 added to speed command when residual pulses exceed Pn108

Time

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Operation Chapter 4

Pn109

Setting range

Feed-forward amount (Position)

0 to 100 Unit % Default setting

0 Restart power?

• Sets the feed-forward compensation value during positioning.

• When performing feed-forward compensation, the effective servo gain rises, improving responsiveness. There is almost no effect, however, on systems where the position loop gain is sufficiently high.

• Use to shorten positioning time.

Note Setting a high value may result in machine vibration. Set the feed-forward amount for general machinery to 80% maximum. (Check and adjust machine response.)

Pn10A

Setting range

Feed-forward command filter (Position)

0 to 6400 Unit x 0.01 ms Default setting

0 Restart power?

• Sets the feed-forward primary (lag) command filter during position control.

• If the positioning completed signal is interrupted (i.e., repeatedly turns ON and OFF) because of performing feed-forward compensation, and a speed overshoot is generated, alleviate the problem by setting the primary lag filter.

D Speed Control Setting (Pn10b: Default Setting 0004)

Pn10b.0

Setting range

Speed control setting –– P control switching conditions (Position, speed, internally-set speed control)

0 to 4 Unit --Default setting

4 Restart power?

Yes

Setting Explanation

Internal torque command (Pn10C) condition (Position, speed, internally-set speed control)

Speed command (Pn10d) condition (Position, speed, internally-set speed control)

Acceleration command (Pn10E) condition (Position, speed, internally-set speed control)

Deviation pulse (Pn10F) condition (Position)

P control switching function not used. (Position, speed, internally-set speed control)

• Sets the speed control loop switching function from PI control to P control.

• Normally, using the speed loop gain and the position loop gain set by means of the auto-tuning operation will provide adequate control. (Consequently, there is normally no need to change the setting.)

• When PI control is always being used, switching to P control may help if the Servomotor speed overshoots or undershoots (i.e., the effective servo gain is reduced by switching to P control to stabilize the servo system). The positioning time can also be shortened in this way.

• If the output torque is saturated during acceleration and deceleration, set speed control to 0 (switching by internal torque command), or 2 (switching by acceleration command).

• If the speed control overshoots or undershoots without the output torque being saturated during acceleration and deceleration, set speed control to 1 (switching by speed command), or 3 (switching by deviation pulse value).

• If the setting is made from 0 to 3 (i.e., if P control switching is used), set the switching condition to

Pn10C to Pn10F.

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Operation Chapter 4

Note Setting Pn10b.1 (speed control loop switching) to 1 (IP control) changes the parameter to switch from IP control to P control.

Pn10b.1

Setting range

Speed control setting –– Speed control loop switching (Position, speed, internally-set speed control)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

PI control

IP control

Explanation

• Set the speed control loop to either PI control or IP control.

• There is normally no need to change the setting.

• If you cannot shorten positioning time in PI control, change the setting to 1 (IP control).

Note Online auto-tuning does not normally operate in IP control.

Pn10b.2

Setting range

Speed control setting –– Automatic gain switching selection

0 to 3 Unit --Default setting

0 Restart power?

Setting Explanation

Automatic gain switching disabled.

Gain switching using position commands.

Gain switching using position deviation.

Gain switching using position commands and position deviation

• Sets to enable or disable automatic gain switching.

• When automatic gain switching is used, set in Pn124 (automatic gain switching timer) the switching delay time after conditions are met.

• when position deviation is used to perform gain switching, set the amount of position deviation used as the switching condition in Pn125 (automatic gain switching width).

Note 1.

Automatic gain switching is enabled for positioning control only. When positioning control is not used, the Servomotor operates using the No. 1 gain.

Note 2.

When automatic gain switching is used (set value is between 1 and 3), gain switching using

GSEL (gain switching input) is disabled.

Note 3.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn10b.3

Setting range

Speed control setting –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn10C

Setting range

P control switching (torque command) (Position, speed, internally-set speed control)

0 to 800 Unit % Default setting

200 Restart power?

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Operation Chapter 4

• You must set Pn10C if you set Pn10b.0 (P control switching condition) to 0 (switching by internal torque command).

• Set the condition to switch to P control using Servomotor rated torque ratio (%).

• The servo switches to P control if the internal torque command exceeds the setting level.

Pn10d

Setting range

P control switching (speed command) (Position, speed, internally-set speed control)

0 to 10000 Unit r/min Default setting

0 Restart power?

• You must set Pn10d if you set Pn10b.0 (P control switching condition) to 1 (switching by speed command).

• Set the speed to switch to P control.

• The servo switches to P control if the speed command exceeds the setting level.

Pn10E

Setting range

P control switching (acceleration command) (Position, speed, internally-set speed control)

0 to 3000 Unit x 10 r/min/s Default setting

0 Restart power?

• You must set Pn10E if you set Pn10b.0 (P control switching condition) to 2 (switching by acceleration command).

• Set the acceleration to switch to P control.

• The servo switches to P control if the acceleration command value exceeds the setting level.

Pn10F

Setting range

P control switching (deviation pulse)

0 to 10000 Unit Command unit

Default setting

10 Restart power?

• You must set Pn10F if you set Pn10b.0 (P control switching condition) to 3 (switching by deviation pulse).

• Set the deviation pulse to switch to P control.

• The servo switches to P control if the deviation counter residual pulses exceed the setting level.

D Online Auto-tuning Setting (Pn110: Default Setting 0012)

• Online auto-tuning is a control function that constantly maintains the target speed loop gain and position loop gain using the operating load inertia measured by the Servo Driver. Use this function to adjust the gain easily even if you are using a servo system for the first time.

• The following four user parameters are set automatically by online auto-tuning.

S Pn100: Speed loop gain

S Pn101: Speed loop integration time constant

S Pn102: Position loop gain

S Pn401: Torque command filter time constant

Note You cannot use online auto-tuning in the following cases.

S Control using torque command mode.

S Speed control loop using IP control (Pn10b.1 = 1)

S Control using the No. 2 gain (when GSEL (gain switching input) is input or automatic gain switching is used).

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Operation Chapter 4

S Using torque feed-forward function (Pn002.0 = 2)

S Using speed feedback compensation function (Pn110.1 = 0)

Note Refer to 4-7-1 Online Auto-tuning for details.

Pn110.0

Setting range

Online auto-tuning setting –– Online auto-tuning selection (Position, speed, internally-set speed control)

0 to 2 Unit --Default setting

2 Restart power?

Yes

Setting Explanation

After the power is turned ON, auto-tuning is only performed for the initial operation.

Auto-tuning is always performed.

Auto-tuning is not used.

• Select the auto-tuning function you want to use.

• 0: After the power is turned ON, execute auto-tuning and, when the load inertia calculations are complete, use the data for control. Thereafter, do not perform auto-tuning again whenever the power is turned ON. Make this setting if load inertia fluctuation is small.

• 1: Constantly refresh the load inertia calculation data and constantly store the responses. Make this setting if load inertia fluctuates constantly.

• 2: Do not execute auto-tuning. Make this setting if you cannot use auto-tuning (see above), or if adjusting the gain manually. Also set this parameter to 2 if load inertia fluctuation is small, and if, having once calculated load inertia using auto-tuning (setting: 0), you wish to perform subsequent control using the same conditions after having saved the auto-tuning results to memory (System Check Mode operation).

• Make this setting 0 or 2 if auto-tuning is disabled. (See above.)

S When load inertia fluctuates by 200 ms maximum.

S During operations where rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the rated torque.

S When external power is constantly applied, as with the vertical axis.

Pn110.1

Setting range

Online auto-tuning setting –– Speed feedback compensation function selection (Position, speed, internally-set speed control)

0, 1 Unit --Default setting

1 Restart power?

Yes

Setting Explanation

Speed feedback compensation function ON

Speed feedback compensation function OFF

• This function shortens positioning time.

• Use this function to lower speed loop feedback gain, and to raise speed loop gain and position loop gain. In this way, you can improve command responsiveness and shorten positioning time. Positioning time cannot be shortened, however, when external force is applied as with the vertical shaft, because responsiveness to external interference is lowered.

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Operation Chapter 4

• If 0 (function ON) is set, set Pn111 (speed feedback compensating gain).

Note If using online auto-tuning, set this parameter to 1 (function OFF). If using speed feedback compensation function, online auto-tuning is disabled.

Pn110.2

Setting range

Online auto-tuning function –– Adhesive friction compensation function selection (Position, speed, internally-set speed control)

0 to 2 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Friction compensation: None (when adhesive friction for rated revolutions is 10% max. of rated torque)

Friction compensation: Rated torque ratio: Small (when adhesive friction for rated rotation speed is 10% to 30% of rated torque)

Friction compensation: Rated torque ratio: Large (when adhesive friction for rated rotation speed is 30% to 50% of rated torque)

• When calculating load inertia using online auto-tuning, set whether the effects of adhesive friction (load torque proportional to rotation speed) on the servo system should be considered.

• If adhesive friction is to be considered, set whether the adhesive friction is large or small to improve the accuracy of the load inertia calculations.

Note If the adhesive friction on the rated rotation speed is 10% max. of the rated torque, set this parameter to 0 (No friction compensation).

Pn110.3

Setting range

Online auto-tuning setting –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn111

Setting range

Speed feedback compensating gain (Position, speed, internally-set speed control)

1 to 500 Unit % Default setting

100 Restart power?

• Use this parameter to adjust the speed loop feedback gain for when Pn110.1 (speed feedback compensation function selection) is set to ON.

• The smaller the setting, the higher you can raise the speed loop gain and position loop gain. If the setting is too small, however, responses may be unstable.

Note 1.

Correctly set Pn103 (inertia ratio), perform the usual manual adjustment, then adjust the speed feedback compensation. After manual adjustment, manually readjust the setting to approximately 90%. Then, readjust repeatedly while gradually reducing the setting to find the optimum setting.

Note 2.

If using speed feedback compensation function, online auto-tuning is disabled.

Note 3.

Refer to 4-8-8 Speed Feedback Compensation for details.

D Unused Gain Parameters (Pn 112 to Pn123)

Note Do not change the settings of the following parameters.

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Operation

Pn11F

Pn120

Pn121

Pn122

Pn123

Pn11A

Pn11b

Pn11C

Pn11d

Pn11E

Pn112

Pn113

Pn114

Pn115

Pn116

Pn117

Pn118

Pn119

Not used.

Default setting

D Automatic Gain Switching (Pn124 to Pn125)

Pn124

Setting range

Automatic gain switching timer

1 to 10000 Unit ms Default setting

100 Restart power?

• When Pn10b.2 (automatic gain switching selection) is set between 1 and 3, this parameter sets the switching delay time after conditions are completed.

Note 1.

For details on automatic gain switching, refer to 4-8-6 Automatic Gain Switching (Position

Control) .

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn125

Setting range

Automatic gain switching width (amount of position deviation)

1 to 250 Unit Command unit

Default setting

7 Restart power?

• This parameter sets the amount of position deviation used for the switching condition when automatic gain switching is performed using position deviation (Pn10b.2 = 2, 3).

Note 1.

For details on automatic gain switching, refer to 4-8-6 Automatic Gain Switching (Position

Control) .

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Chapter 4

1000

100

1000

200

Operation Chapter 4

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Position Control Parameters (From Pn200)

D Position Control Setting 1 (Pn200: Default Setting 1011)

Pn200.0

Setting range

Position control setting 1 –– Command pulse mode (Position)

0 to 9 Unit --Default setting

Note Refer to 4-4-3 Important Parameters for details.

Pn200.1

Setting range

Position control setting 1 –– Deviation counter reset (Position)

0 to 3 Unit --Default setting

Restart power?

Yes

Restart power?

Yes

Setting Explanation

Reset deviation counter using high level signal (status signal)

Reset deviation counter using rising signal (Low to High)

Reset deviation counter using low level signal (status signal)

Reset deviation counter using sinking signal (High to Low)

• Sets input conditions under which ECRST (deviation counter reset input, CN1-15: +ECRST, CN1-14:

–ECRST) is enabled.

• If using an OMRON Position Control Unit, do not change the default setting.

Pn200.2

Setting range

Position control setting 1 –– Deviation counter reset when servo is OFF and an alarm occurs

(Position)

0 to 2 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Reset deviation counter when servo is OFF and an alarm occurs

Do not reset deviation counter when servo is OFF and an alarm occurs

Reset deviation counter if alarm occurs, regardless of servo status

• Sets whether the deviation counter will be reset when the servo is OFF and an alarm occurs.

• If the deviation counter is not reset (setting 1 or 2), the next time the servo is turned ON, the Servomotor will rotate only to the number of deviation counter residual pulses. Be careful, because the servo begins to operate as soon as the power is turned ON.

Pn200.3

Setting range

Position control setting 1 –– Pulse command filter selection

0, 1 Unit --Default setting

1 Restart power?

Yes

Setting Explanation

Command filter for line driver signal input (500 kpps)

Command filter for open collector signal input (200 kpps)

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Operation Chapter 4

• Sets the pulse command input filter.

• Set this parameter to conform to the command pulse input (line driver input or open-collector input).

Pn201

Setting range

Encoder dividing rate (All operation modes)

16 to 16384 Unit Pulses/ rotation

Default setting

1000 Restart power?

Yes

• Sets the number of output pulses from the Servo Driver.

• The encoder resolution for each Servomotor is shown below. Set the resolution as the upper limit.

INC

3,000 r/min. Servomotor (30 to 750 W): 2,048 pulses/rotation

3,000 r/min. Servomotor (1 to 5 kW): 32,768 pulses/rotation

3,000 r/min. flat-type Servomotor: 2,048 pulses/rotation

1,000 r/min. Servomotor: 32,768 pulses/rotation

ABS

3,000 r/min. Servomotor (30 to 750 W): 16,384 pulses/rotation

3,000 r/min. Servomotor (1 to 5 kW): 32,768 pulses/rotation

3,000 r/min. flat-type Servomotor: 16,384 pulses/rotation

1,000 r/min. Servomotor: 32,768 pulses/rotation

1,500 r/min. Servomotor: 32,768 pulses/rotation

Note 1.

Even if encoder resolution is 32,768 (pulses/rotation), the maximum setting is 16,384 (pulses/ rotation).

Note 2.

If you set a value greater than the encoder resolution, the resolution setting will taken to be the encoder resolution.

Note 3.

If using an OMRON Position Control Unit (analog voltage output type) or Motion Control Unit, the upper limit of the encoder dividing rate is the rotation speed used. Refer to Encoder Dividing Rate and Rotations Using OMRON Servo Controllers for details.

Note 4.

Refer to 4-5-7 Encoder Dividing Function for details.

Pn202

Setting range

Electronic gear ratio G1 (numerator) (Position)

1 to 65535 Unit --Default setting

4 Restart power?

Yes

Pn203

Setting range

Electronic gear ratio G2 (denominator) (Position)

1 to 65535 Unit --Factory 1 Restart power?

Yes

• Sets the command pulses and Servomotor travel distance pulse rate.

• When G1/G2 = 1, if an (encoder resolution x 4) pulse is input, the Servomotor will rotate once (the internal Servo Driver will operate at x4).

• Set within the range 0.01 G1/G2 100.

Note Refer to 4-5-12 Electronic Gear Function for details.

Pn204

Setting range

Position command filter time constant 1 (primary filter)

0 to 6400 Unit x 0.01 ms Default setting

0 Restart power?

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Operation Chapter 4

• Sets the command pulse soft start. The soft start property is the primary filter (exponentiation function).

Note 1.

The soft start properties also include linear acceleration and deceleration. (Set the time constant using Pn208.) Select the filter you want to use using Pn207.0 (position command filter selection).

Note 2.

Refer to 4-5-13 Position Command Filter Function for details.

Pn205

Setting range

Absolute encoder multi-turn limit setting (All operation modes) (ABS)

0 to 65535 Unit Rotation Default setting

65535 Restart power?

Yes

• Sets the amount of multi-turn rotation when using a Servomotor with an absolute encoder.

• If using an absolute encoder, the counter counts the number of rotations from the setup position, and outputs the number of rotations from the Servo Driver (When SEN signal is input, output from CN1-48:

+ absolute, or CN1-49 – absolute).

• With the default setting (Pn205 = 65535), the Servomotor multi-turn data will be as follows:

Forward

Reverse

Multi-turn data

Servomotor rotations

• With the default settings changed (i.e., Pn205 65535), the Servomotor multi-turn data will be as follows:

Pn205 set value

Rotation data

Forward Reverse

Servomotor rotations

That is, when the default settings are changed (i.e., Pn205 65535), the Servomotor multi-turn data will be only in the positive direction. If you want to set the multi-turn limit as high as possible, with the entire operating area positive, set a number such as 65534.

To return the multi-turn data to 0 each time the motor (e.g., turntable) completes m rotations, set the value (m–1) in Pn205. For example, if the machine’s gear ratio is 1/33, set 32 in Pn205 to return the multi-turn data to 0 after 33 rotations.

Note If Pn205 is changed, the limit to the number of rotations in the encoder memory and the limit to the number of rotations in the Servo Driver memory will no longer agree, so an A.CC alarm (multi-turn limit nonconformity) will be generated. To cancel this alarm, the setting for the number of multiturns (Fn013) must be changed in the System Check Mode.

Pn206

Setting range

Number of fully-closed encoder pulses (Option)

25 to 65535 Unit Pulses/ rotation

Default setting

16384 Restart power?

Yes

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Operation Chapter 4

• Set the number of pulses per motor rotation for a fully-closed encoder when a DeviceNet Option Unit

(R88A-NCW152-DRT) is mounted and a fully-closed encoder will be used.

• This parameter is valid whenever Pn002.3 (Application Method for Full Closed-loop Encoder) is not set to 0.

• Do not change the default setting when using a Servo Driver alone without a DeviceNet Option Unit or when not using a fully-closed encoder.

• The lower limit of the setting range is 25, but always set a value of 513 or higher (and select a fullyclosed encoder to enable this). An A.04 alarm (parameter setting error) may occur if a value less than

513 is set.

Note Refer to the OMNUC W-series DeviceNet Option Unit User’s Manual (I538) for details on application methods for a fully-closed encoder (fully-closed loop control).

D Position Control Setting 2 (Pn207: Default Setting 0000)

Pn207.0

Setting range

Position control setting 2 –– Position command filter selection (Position)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Primary filter (Set Pn204 properties)

Linear acceleration and deceleration (set Pn208 properties)

• Select the command pulse soft start properties.

• Select 0 to allocate the properties to Pn204 (position command filter time constant 1), and select 1 to allocate the properties to Pn208 (position command filter time constant 2).

• If not using the soft start function, set the properties for the selected filter to 0.

Note Refer to 4-5-13 Position Command Filter Function for details.

Pn207.1

Setting range

Position control setting 2 –– Speed command input switching for position control (Position)

0, 1 Unit --Default setting

0 Restart power?

Yes

Setting Explanation

Setting

Function not used.

REF used as feed-forward input

Explanation

• Set the REF function (speed command input) for position control.

• Select 1 to input the REF voltage speed feed-forward input, and add the speed equivalent to the speed

REF voltage to the speed loop command. This can shorten positioning time.

• You can change the REF voltage scale using Pn300 (speed control scale). (Default setting: 10 V/rated rotations.)

• If using an OMRON Positioning Unit (pulse train output type), set this parameter to 0 (function not used).

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Operation Chapter 4

Note Refer to 4-8-4 Speed Feed-forward Function for details.

Pn207.2

Setting range

Position control function 2 –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn207.3

Setting range

Position control function 2 –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn208

Setting range

Position command filter time constant 2 (linear acceleration and deceleration)

0 to 6400 Unit x0.01 ms default setting

0 Restart power?

• Sets the command pulse soft start. The soft start properties are linear acceleration and deceleration.

Note 1.

The soft start properties also include the primary filter (the time constant set by Pn204). Select the filter you want to use using Pn207.0 (position command filter selection).

Note 2.

Refer to 4-5-13 Position Command Filter Function for details.

Pn212

Setting range

Not used.

--Unit --default setting

2048 Restart power?

Note 1.

Do not change the setting.

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn217

Setting range

Command pulse factor

1 to 99 Unit Factor default setting

1 Restart power?

• Sets the factor (1 to 99) for the position command pulse when command pulse factor switching is used.

• Command pulse factor switching uses external signals (control input) during operation to switch the multiplying factor of the position command pulse ( 1 to set value in Pn217).

• Enabled when Pn218.0 (command pulse factor switching selection) is set to 1.

• Set Pn513.0 (PSEL signal input terminal allocation) and Pn510.2 (PSON signal output terminal allocation) to appropriate values.

• If the PSEL (command pulse factor switching) input is set to ON when command pulse factor switching is used, the Servo Driver will rotate the Servomotor using the position command pulse Pn217 as the command pulse.

Note 1.

For details on timing of command pulse factor switching, refer to the pages on the PSEL (command pulse factor switching) signal under 2-4-4 Control I/O Specifications (CN1) .

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

D Position Control Setting 3 (Pn218: Default Setting 0000)

Pn218.0

Setting range

Position control setting 3 –– Command pulse factor switching selection

0, 1 Unit --Default setting

0 Restart power?

Yes

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Operation Chapter 4

Setting Explanation

Function not used.

Rotates Servomotor using the command pulse multiplied by the factor set in Pn217.

• Selects whether command pulse factor switching is used.

• When 1 is selected, set appropriate values for Pn217 (command pulse factor), Pn513 (PSEL signal input terminal allocation), and Pn510.2 (PSON signal output terminal allocation).

Note 1.

For details on timing of command pulse factor switching, refer to the pages on the PSEL (command pulse factor switching) signal under 2-4-4 Control I/O Specifications (CN1) .

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn218.1

Setting range

Position control setting 3 –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn218.2

Setting range

Position control setting 3 –– Not used.

--Unit ---

Note Do not change the setting.

Pn218.3

Setting range

Position control setting 3 –– Not used.

--Unit ---

Note Do not change the setting.

Default setting

Restart power?

Speed Control Parameters (From Pn300)

Pn300

Setting range

Speed command scale (All operation modes)

150 to 3000 Unit 0.01 V/ rated rotations

Default setting

1000 Restart power?

• This parameter sets the relationship between REF (speed command input) voltage and Servomotor rotation speed.

• Set REF voltage for operating at the rated rotation speed.

• The default setting is for the rated rotation speed at an REF voltage of 10 V.

Note REF voltage functions as the input voltage shown below using control mode and parameter settings.

S During speed control: Speed command inputs

S During torque control: analog speed limits (when Pn002.1 = 1)

S During position control: Speed feed-forward inputs (when Pn207.1 = 1)

Pn301

Setting range

No. 1 internal speed setting

0 to 10000 Unit r/min.

Default setting

100 Restart power?

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Operation Chapter 4

Pn302

Setting range

No. 2 internal speed setting

0 to 10000 Unit r/min.

Default setting

200 Restart power?

Pn303

Setting range

No. 3 internal speed setting

0 to 10000 Unit r/min.

Default setting

300 Restart power?

• These parameters set the speed when using internally-set speed control.

• The speed setting is selected by the ON/OFF status of SPD1 and SPD2 (speed selection command inputs 1 and 2), and the direction of rotation is selected by RDIR (rotation direction command input).

Note 1.

If a value that exceeds the maximum Servomotor rotation speed is set, that value will be regarded as the maximum Servomotor rotation speed.

Note 2.

Refer to 4-5-4 Internally Set Speed Control for details.

Pn304

Setting range

Jog speed (All operation modes)

0 to 10000 Unit r/min.

Default setting

• Sets the speed for when the jog operation is used.

500 Restart power?

Note 1.

If a value that exceeds the maximum Servomotor rotation speed is set, that value will be regarded as the maximum Servomotor rotation speed.

Note 2.

Refer to 4-3-2 Jog Operation for details.

Pn305

Setting range

Soft start acceleration time (Speed, internally-set speed control)

0 to 10000 Unit ms Default setting

0 Restart power?

Pn306

Setting range

Soft start deceleration time (Speed, internally-set speed control)

0 to 10000 Unit ms Default setting

0 Restart power?

• Sets the acceleration and deceleration time for soft start using speed control.

• Set the acceleration time from Servomotor rotation speed = 0 (r/min.) to the maximum rotation speed in Pn305, and set the deceleration time from the maximum rotation speed to the Servomotor rotation speed = 0 (r/min.) in Pn306.

• Set both Pn305 and Pn306 to 0 if using a position controller with acceleration and deceleration functions, or if not using speed control and internally-set speed control.

Note Refer to 4-5-11 Soft Start Function for details.

Pn307

Setting range

Speed command filter time constant (All operation modes)

0 to 65535 Unit x 0.01 ms Default setting

40 Restart power?

• Sets the REF (speed command input) voltage (primary) filter time constant.

• Set if the Servomotor rotation speed is fluctuating due to REF voltage noise. (Set the value as small as possible to minimize the effects of noise. If the setting is too large, responsiveness will be reduced.)

Pn308

Setting range

Speed feedback filter time constant (Position, speed, internally-set speed control)

0 to 65535 Unit x 0.01 ms Default setting

0 Restart power?

4-64

Operation Chapter 4

• Sets the filter time constant (primary filter) for speed feedback.

• Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical system vibration.

Note When speed feedback filter is set, online auto-tuning does not operate normally.

Pn309

Setting range

Not used.

--Unit --default setting

60 Restart power?

Note 1.

Do not change the setting.

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Torque Control Parameters (From Pn400)

Pn400

Setting range

Torque command scale (All operation modes)

10 to 100 Unit 0.1 V/rated torque

Default setting

30 Restart power?

• This parameter sets the relationship between TREF (torque command input) voltage and output torque.

• Set the TREF voltage to output the rated torque.

• The default setting is for a rated torque at TREF 3 V.

Note TREF voltage functions as an input voltage according to the control mode and parameter settings, as shown below.

S Torque control: torque command input

S Position and speed control: analog torque limit (when Pn002.0 = 1 or 3).

Torque feed-forward input (when Pn002.0 = 2)

Pn401

Setting range

Torque command filter time constant (All operation modes)

0 to 65535 Unit x 0.01 ms Default setting

40 Restart power?

• Sets the (primary) filter time constant for the internal torque command.

When the mechanical resonance frequency is within the response frequency of the servo loop, Servomotor vibration will occur. In order to prevent this from occurring, set the torque command filter time constant.

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

) :

= Filter time constant (s), fc: cut-off frequency.

Set the cut-off frequency to below the mechanical resonance frequency.

• Also make this setting if the Servomotor rotation speed is fluctuating in Torque Control Mode due to

TREF voltage noise. (Set the value as low as possible to minimize the effects of noise. If the setting is too high, responsiveness will be lowered.)

Pn402

Setting range

Forward torque limit (All operation modes)

0 to 800 Unit % Default setting

350 Restart power?

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Operation Chapter 4

Pn403

Setting range

Reverse torque limit (All operation modes)

0 to 800 Unit % Default setting

350 Restart power?

• Set Pn402 (forward torque limit) and Pn403 (reverse torque limit) using the ratio (%) of the Servomotor rated torque for each.

Note These following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3), Pn402

(forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external current limit), and Pn405 (reverse rotation external current limit). The output torque is limited by the smallest of the enabled limit values. Refer to 4-5-10 Torque Limit Function for details.

Pn404

Setting range

Forward rotation external current limit (All operation modes)

0 to 800 Unit % Default setting

100 Restart power?

Pn405

Setting range

Reverse rotation external current limit (All operation modes)

0 to 800 Unit % Default setting

100 Restart power?

• Set in Pn404 the torque limit for when PCL (forward current limit input) is input, and set in Pn405 the torque limit for when NCL (reverse current limit input) is input, using the ratio (%) of the Servomotor rated torque for each.

Note The following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3), Pn402

Pn406

Setting range

Emergency stop torque (Position, control, and internally-set speed control)

0 to 800 Unit % Default setting

350 Restart power?

• Set the deceleration torque if overtravel occurs using the ratio (%) of the Servomotor rated torque.

Note This parameter is enabled when Pn001.1 (Stop selection for drive prohibition is input) is set to 1 or

2 (i.e., stop using Pn406).

Pn407

Setting range

Speed limit (Torque)

0 to 10000 Unit r/min.

• Set the speed limit for Torque Control Mode.

Default setting

3000 Restart power?

Note The following speed limit functions are available: Analog speed limit (when Pn002.1 = 1), and

Pn407 (speed limit). The speed limit is set to whichever is the smaller. Refer to 4-5-10 Torque

Limit Function for details.

D Torque Command Setting (Pn408: Default Setting 0000)

Pn408.0

Setting range

Torque command setting –– Notch filter 1 function selection (All operation modes)

0, 1 Unit --Default setting

0 Restart power?

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Operation Chapter 4

Setting Explanation

Notch filter 1 function not used.

Notch filter 1 used in torque commands. (Set the frequency using Pn409, and set the Q value using Pn40A).

• Set whether or not to use notch filter 1 for internal torque commands (current loop commands).

• Use the notch filter to prevent mechanical resonance. This function can be used to raise the speed loop gain and to shorten positioning time.

Note 1.

With W series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2.

Note 2.

For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed

Control) .

Pn408.1

Setting range

Torque command setting –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn408.2

Setting range

Torque command setting –– Notch filter 2 function selection

0, 1 Unit --Default setting

0 Restart power?

Setting Explanation

Notch filter 2 function not used.

Notch filter 2 used in torque commands. (Set the frequency using Pn40b, and set the Q value in Pn40C.)

• Set whether or not to use notch filter 2 for internal torque commands (current loop commands).

• Use the notch filter to prevent mechanical resonance. This function can be used to increase the speed loop gain and to shorten positioning time.

Note 1.

With W series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2.

Note 2.

For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed

Control .

Note 3.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn408.3

Setting range

Torque command setting –– Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

Pn409

Setting range

Notch filter 1 frequency

50 to 2000 Unit Hz Default setting

2000

• Enabled when Pn408.0 (notch filter 1 function selection) is set to 1.

• Sets the mechanical resonance frequency.

Restart power?

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Operation Chapter 4

Note For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed Control .

Pn40A

Setting range

Notch filter 1 Q value

50 to 400 Unit x0.01

Default setting

• Enabled when Pn408.0 (notch filter 1 function selection) is set to 1.

• Sets the Q value for notch filter 1.

Restart power?

Note 1.

For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed

Control .

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn40b

Setting range

Notch filter 2 frequency

50 to 2000 Unit Hz Default setting

2000

• Enabled when Pn408.2 (notch filter 2 function selection) is set to 1.

• Sets the mechanical resonance frequency.

Restart power?

Note 1.

For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed

Control .

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn40C

Setting range

Notch filter 2 Q value

50 to 400 Unit x0.01

Default setting

• Enabled when Pn408.2 (notch filter 2 function selection) is set to 1.

• Sets the Q value for notch filter 2.

Restart power?

Note 1.

For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed

Control .

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Sequence Parameters (From Pn500)

Pn500

Setting range

Positioning completion range 1

0 to 250 Unit Command unit

Default setting

3 Restart power?

• Set the deviation counter to output INP1 (positioning completed output 1) during position control.

• INP1 is ON when Pn500 is below the deviation counter residual pulse.

Note Related parameters: Pn50E.0 (INP1 signal output terminal allocation), Pn504 (positioning completed range 2).

Pn501

Setting range

Position lock rotation speed

0 to 10000 Unit r/min.

Default setting

• Set the number of position lock rotations during speed control.

10 Restart power?

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Operation Chapter 4

• When the Servomotor rotation speed is below the set value and PLOCK (position lock command input) is input, the operation mode switches from speed control to position control, and the Servomotor is locked.

• Use Pn102 (position loop gain) to adjust servolock force.

Note Related parameters: Pn50A.0 (input signal allocation mode), and Pn50d.0 (PLOCK signal input terminal allocation).

Pn502

Setting range

Rotation speed for motor rotation detection

0 to 10000 Unit r/min.

Default setting

20 Restart power?

• Set the rotation speed for outputting TGON (Servomotor rotation detection output).

• TGON turns ON when the Servomotor rotation speed is greater than the set value.

Note Related parameter: Pn50E.2 (TGON signal output terminal allocation).

Pn503

Setting range

Speed conformity signal output width

0 to 100 Unit r/min.

Default setting

10 Restart power?

• Set the allowable fluctuation range (rotation speed) for outputting VCMP (speed conformity output) during speed control.

• VCMP turns ON when the difference between the speed command value and Servomotor rotation speed is less than the set value.

Note Related parameter: Pn50E.1 (VCMP signal output terminal allocation).

Pn504

Setting range

Positioning completion range 2

1 to 250 Unit Command unit

Default setting

3 Restart power?

• Set the deviation counter to output INP2 (positioning completed output 2) during position control.

• INP2 is ON when the deviation counter residual pulses are less than the set value.

• You can reduce processing time by, for example, using INP2 as a near signal output, and receiving near signals and preparing the next sequence by the time positioning is complete (i.e., by the time

INP1 turns ON). In this example, Pn504 is set higher than Pn500.

Note Related parameters: Pn510.0 (INP2 signal output terminal allocation), and Pn500 (positioning completion range 1).

Pn505

Setting range

Deviation counter overflow level

1 to 32767 Unit x 256 command unit

Default setting

1024 Restart power?

• Set the deviation counter overload alarm detection level during position control.

• The servo alarm is turned ON when the deviation counter residual pulse setting is exceeded.

• Set this parameter to an appropriate number of command units (2 to 3 rotations), giving due consideration to the system and operation patterns.

Pn506

Setting range

Brake timing 1 (all operation modes)

0 to 50 Unit x 10 ms Default setting

0 Restart power?

4-69

Operation Chapter 4

Pn507

Setting range

Brake command speed

0 to 10000 Unit r/min.

Default setting

100 Restart power?

Pn508

Setting range

Brake timing 2 (all operation modes)

10 to 100 Unit x 10 ms Default setting

50 Restart power?

• This parameter sets the BKIR (brake interlock output) timing to control the electromagnetic brake ON/

OFF when a Servomotor with a brake is used.

• This setting prevents damage to the machinery and the Servomotor holding brake.

• PN506 (brake timing 1): Set the lag time from BKIR OFF to servo OFF.

• Pn507 (brake command speed): Set the rotation speed for turning OFF BKIR.

• Pn508 (brake timing 2): Set the standby time from servo OFF to BKIR OFF.

• When RUN is OFF while the Servomotor is stopped, first turn OFF BKIR, wait for the duration set in

Pn506, then turn OFF the servo.

• When RUN is OFF while the Servomotor is stopped, if a servo alarm occurs, and the main circuit power supply is OFF, the Servomotor will decelerate and the rotation speed will fall. When the rotation speed falls to below the Pn507 setting, BKIR will be turned OFF.

Note 1.

Related parameter: Pn50F.2 (BKIR signal output terminal allocation).

Note 2.

Refer to Brake Interlock for details of brake interlock functions.

Pn509

Setting range

Momentary hold time (All operation modes)

20 to 1000 Unit ms Default setting

20 Restart power?

• Sets the time during which alarm detection is disabled if a momentary power failure occurs.

• When the power supply voltage to the Servo Driver is OFF, the Servo Driver detects that the power supply is OFF and turns OFF the servo. The 20 ms default setting means that if the power supply voltage is recovered within 20 ms, operation will continue without the servo being turned OFF.

• In the following cases, the servo is turned OFF regardless of the Pn509 setting:

S If the load is too great, and A.41 (insufficient voltage) occurs during a momentary power stoppage.

S If the control power supply falls during a momentary power stoppage, and cannot be controlled.

Pn50A Input signal selection 1 (All operation modes)

Default setting

8100 Restart power?

Yes

Pn50b 6548 Yes

Pn50C

Pn50d

Input signal selection 2 (All operation modes)

Input signal selection 3 (All operation modes)

Input signal selection 4 (All operation modes)

Default setting

8888

Restart power?

Yes

Pn50E 3211 Yes

Pn50F

Output signal selection 1 (All operation modes)

Output signal selection 2 (All operation modes)

Default setting

0000

Restart power?

Yes

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Operation Chapter 4

Pn510

Pn512

Output signal selection 3 (All operation modes)

Output signal reverse (All operation modes)

Note Refer to 4-4-3 Important Parameters .

Pn511

Setting range

Not used.

--Unit ---

Default setting

0000

8888

Restart power?

Yes

Note Do not change the setting.

Pn513 Input signal selection 6 (All operation modes)

Default setting

0088 Restart power?

Yes

Note Refer to 4-4-3 Important Parameters .

Pn51A

Setting range

Motor-load deviation over level (Option)

0 to 32767 Unit Command unit

Default setting

0 Restart power?

• Set this parameter when a DeviceNet Option Unit (R88A-NCW152-DRT) is mounted and a fullyclosed encoder will be used.

• This parameter is valid whenever Pn002.3 (Fully-closed encoder usage method) is not set to 0.

• Set the allowable error level in command units for a fully-closed encoder or semi-closed encoder

(i.e., the encoder mounted on a W-series Servomotor).

• If the position error of the fully-closed encoder or semi-closed encoder exceeds the value set for this parameter, an A.d1 alarm (Motor-load deviation over) will be detected.

• If this parameter is set to 0, an A.d1 alarm will not be detected. Set it to 0 in systems where there is slipping between drive (i.e., motor) and the detection device (i.e., fully-closed encoder).

• Do not change the default setting when using a Servo Driver alone without a DeviceNet Option Unit or when not using a fully-closed encoder.

Note Refer to the OMNUC W-series DeviceNet Option Unit User’s Manual (I538 ) for details on application methods for a fully-closed encoder (fully-closed loop control).

Pn51b

Setting range

Not used.

--Unit --Default setting

100 Restart power?

Note 1.

Do not change the setting.

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

Pn51C

Setting range

Not used.

--Unit --Default setting

450 Restart power?

Note 1.

Do not change the setting.

Note 2.

This new parameter is supported by Servo Drivers with software version “r.0037.”

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Operation Chapter 4

Pn51E

Setting range

Deviation counter overflow warning level (Position)

0 to 100 Unit % Default setting

0 Restart power?

• Set the deviation counter overflow warning detection level using the ratio (%) for Pn505 (deviation counter overflow level).

• When the deviation counter residual pulses exceed the set value, a deviation counter overflow warning (A.90) will occur.

• When the set value is 0, the deviation counter overflow warning will not be detected.

Note This new parameter is supported by Servo Drivers with software version “r.0037.”

Other Parameters (From Pn600)

Pn600

Setting range

Regeneration resistor capacity

0 to Unit type

Unit x 10 W Default setting

0 Restart power?

• If using an External Regeneration Resistor or External Regeneration Resistance Unit, set the regeneration absorption amount. Set the regeneration absorption amount for when the temperature rises above 120 ° C, not the nominal amount. (Refer to Regenerative Energy Absorption Using External Regeneration Resistance for details.)

• Perform Un00A (regeneration load monitor) calculations, and A.92 (regeneration overload warning) and A.32 (regeneration overload alarm) based on the Pn600 setting.

Note If an External Regeneration Resistor or External Regeneration Resistance Unit is not connected, set Pn600 to 0.

Pn601

Setting range

Not used.

--Unit --Default setting

0 Restart power?

Note Do not change the setting.

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Operation

4-5 Operation Functions

Chapter 4

4-5-1 Position Control (Position)

Functions

• Perform position control using the pulse train input from CN1-7,8 for CW and CN1-11,12 for CCW.

• The Servomotor rotates using the value of the pulse train input multiplied by the electronic gear

(Pn202, Pn203).

Controller (Pulse train output type)

Position Control Unit

C200HW-NC113

C200HW-NC213

C200HW-NC413

C200H-NC112

C200H-NC211

C500-NC113

C500-NC211

Pulse train

OMNUC W-series Servo Driver

Position Control Mode

Electronic gears

(Pn202, Pn203)

G1/G2

OMNUC W-series

Servomotor

Parameters Requiring Settings

Parameter No.

Pn000.1

Pn200.0

Pn202

Pn203

Parameter name

Function selection basic switch 1

Control mode selection

Position control setting 1

Command pulse mode

Electronic gear ratio G1

(denominator)

Electronic gear ratio G2

(numerator)

Explanation

Select the control mode you wish to use for position control (settings: 1, 5, 7, 8, b).

Set to match the controller command pulse status.

Set the pulse routes for the command pulse and Servomotor travel amount.

0.01 G1/G2 100

Reference

4-4-3 Important

Parameters

4-4-3 Important

Parameters

4-5-12 Electronic

Gear Function

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Operation Chapter 4

Related Functions

• The main functions related to position control that can be used during position control are as follows:

Function name Explanation

Position command filter function Sets the soft start for the command pulse.

Torque feed-forward function

Speed feed-forward function

Feed-forward function

Bias function

Torque limit function

Gain reduction function

P control switching function

Calculates TREF (torque command input) for the current loop to reduce positioning time.

Calculates REF (speed command input) for the current loop to reduce positioning time.

Calculates command pulse differential for the speed loop to reduce positioning time.

Calculates number of bias rotations for the speed loop to reduce positioning time.

Limits the Servomotor’s torque output.

Switches speed loop command from PI control to P control by inputting a MING (gain reduction) signal to lower servo rigidity.

Switches the speed control loop automatically from PI control to P control to lower servo rigidity. (Switching conditions can be selected.)

Reference

4-5-13 Position

Command Filter

Function

4-8-3 Torque

Feed-Forward

Function

4-8-4 Speed

Feed-forward

Function

4-8-2

Feed-forward

Function

4-8-1 Bias

Function

4-5-10 Torque

Limit Function

4-5-9 Gain

Reduction

4-8-10 P

Control

Switching

4-5-2 Speed Control (Speed)

Function

• Performs Servomotor speed control using analog voltage input from the speed command (REF:

CN1-5, 6). You can also perform position control by combining speed control with the controller mounted to the position control function.

• You can change the relationship between the speed command and the rotation speed by setting the speed command scale (Pn300).

Controller

(analog voltage output type)

OMNUC W-series Servo Driver

Speed Control Mode

Motion Control Unit

CS1W-MC221/421(-V1)

CV500-MC221/421

C200H-MC221

Position Control Unit

C500-NC222

Analog voltage

(speed command)

Speed command scale (Pn300) r/min.

OMNUC W-series

Servomotor

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Operation Chapter 4

Parameters Requiring Settings

Parameter

No.

Pn000.1

Pn300

Parameter name

Function selection basic switch 1

Speed command scale

Explanation

Set the control mode for speed control (Settings: 0,

4, 7, 9, A)

Set the REF (speed command input) voltage for operating at the rated rotation speed.

Rotation speed (r/min.)

Rated rotation

(Default setting)

Speed command voltage (V)

Reference

4-4-3 Important

Parameters

4-4-4 Parameter

Details

Rated rotation speed

Related Functions

• The main functions related to speed control that can be used during speed control are as follows:

Function name

Soft start function

Explanation

Sets the soft start for the speed command.

Reference

4-5-11 Soft Start

Function

4-5-14 Position Lock

Function

Position lock function

Torque feed-forward function

This function stops the Servomotor in servolock status (position control status) using PLOCK

(position lock command) signal input.

Calculates TREF (torque command input) for the current loop to reduce acceleration and deceleration time.

Torque limit function This function limits the Servomotor’s output torque output.

Gain reduction function Switches speed loop command from PI control to P control by inputting a MING (gain reduction) signal to lower servo rigidity.

P control switching function

Switches the speed control loop automatically from

PI control to P control to lower servo rigidity (you can select the switching conditions).

4-8-3 Torque

Feed-forward Function

4-5-10 Torque Limit

Function

4-5-9 Gain Reduction

4-8-10 P Control

Switching

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Operation

4-5-3 Torque Control (Torque)

Chapter 4

Functions

• Controls the Servomotor output torque using analog voltage input from the torque command (TREF:

CN1-9, 10).

• You can change the relationship between the torque command and output torque using the torque control scale (Pn400) setting.

Controller

(analog voltage output type)

Analog voltage

(torque command)

Note OMRON does not manufacture torque command voltage output type controllers.

OMNUC W-series Servo Driver

Torque Control Mode

Torque command scale

(Pn400)

Torque

OMNUC W-series

Servomotor

Parameters Requiring Settings

Parameter

No.

Pn000.1

Pn400

Parameter name

Function selection basic switch 1

Torque command scale

Explanation

Select the control mode for torque control (Settings:

2, 6, 8, 9)

Set the TREF (torque command input) voltage to output the rated torque.

Output torque (output torque rate) (Default setting)

Reference

4-4-3 Important

Parameters

4-4-4 Parameter

Details

Torque command voltage (V)

Note Servomotor operation with torque control varies according to the Servomotor load conditions

(e.g., friction, external power, inertia). Perform safety measures on the devices to prevent Servomotor runaway.

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Operation Chapter 4

Related Functions

• Functions related to torque control that can be used during torque control are as follows:

Function name Explanation

Torque limit function This function limits the Servomotor’s torque output.

Speed limit function This function limits the Servomotor rotation speed from becoming too high.

Reference

4-5-10 Torque Limit

Function

4-5-15 Speed Limit

Function

4-5-4 Internally-set Speed Control

Functions

• Controls the Servomotor speed using the speed (internally-set speed Nos. 1 to 3) set in the parameters.

• Selects the internally-set speed using the control input terminal’s speed selection commands 1 and 2

(SPD1: CN1-45, SPD2: CN1-46), and sets the rotation direction using the rotation direction command

(RDIR: CN1-41) (Pin No. is the default allocation.)

• When SPD1 and SPD2 are both OFF, the Servomotor decelerates and stops according to the deceleration time. At this time, you can make pulse train inputs (during position control), speed command inputs (during speed control), and torque command inputs (during torque control) using the parameter settings.

Controller OMNUC W-series Servo Driver

Internally-set speed control

Speed selection command

OMNUC W-series

Servomotor

Note internally-set speed control can only be performed using digital I/O signals.

Rotation direction command

Internally-set speeds 1 to 3

(Pn301 to Pn303)

Rotation direction

4-77

Operation Chapter 4

Parameters Requiring Settings

Parameter

No.

Pn000.1

Pn50C

Pn301

Parameter name

Function selection basic switch 1

Control mode selection

Input signal selection 3

Explanation

Select the control mode for the internally-set speed control (Settings: 3, 4, 5, 6)

You must set Pn50C.0 (RDIR signal selection),

Pn50C.1 (SPD1 signal selection), and Pn50C.2

(SPD2 signal selection). (See note 1.)

Set the internally-set speed (r/min.) (0 to 10,000

/ ) (S )

Pn302

Pn303

Pn305

Pn306

No. 1 Internal speed setting

No. 2 internally-set speed

No. 3 internal speed setting

Soft start acceleration time

Soft start deceleration time

Set the acceleration and deceleration times (ms) p y (0 0,000 )

Reference

4-4-3 Important

Parameters

4-4-3 Important

Parameters

4-4-4 Parameter

Details

4-8-10 P Control

S g

Note 1.

If changing the default setting, set Pn50A.0 (input signal selection mode) to 1 (user-defined settings).

Note 2.

If the maximum Servomotor rotation speed setting is greater than Pn301, Pn302, and Pn303, the setting will be taken to be the maximum rotation speed.

Related Functions

• The main functions related to internal speed setting control that can be used during internal speed setting control are as follows:

Function name

Position lock function

Explanation

This function stops the Servomotor in servolock status

(position control status) using PLOCK (position lock command) signal input.

Torque limit function

Gain reduction function

This function limits the torque output by the

Servomotor.

Switches speed loop command from PI control to P control by inputting a MING (gain reduction) signal to lower servo rigidity.

P control switching function Switches the speed control loop automatically from PI control to P control to lower servo rigidity. (The switching conditions can be selected.)

Reference

4-5-14 Position

Lock Function

4-5-10 Torque

Limit Function

4-5-9 Gain

Reduction

4-8-10 P Control

Switching

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Operation Chapter 4

Internally-set Speed Selection

• The following table shows the relationship between SPD1 and SPD2 (speed selection commands 1 and 2), and the internally-set speeds that are selected.

Control mode setting

Pn000.1 = 3

Internally-set speed control

Pn000.1 = 4

Internally-set speed control

↔ Speed control

Pn000.1 = 5

Internally-set speed control

↔ Position control

Pn000.1 = 6

Internally-set speed control

↔ Torque control

---

TVSEL SPD1: OFF

SPD2: OFF

Stop by speed loop.

TVSEL: OFF Stop by speed

Pn50A.0 = 0

(See note 1.)

TVSEL: ON loop.

TVSEL: OFF Stop by speed loop.

Pn50A.0 = 0

(See note 1.)

TVSEL: ON

TVSEL: OFF Stop by speed loop.

Pn50A.0 = 0

(See note 1.)

TVSEL: ON p

SPD2: ON

No. 1 internal speed setting

(Pn301)

No. 1 internal p

(Pn301) g

Speed control

No. 1 internal

(Pn301) g

Position control

No. 1 internal p

(Pn301) g

Torque control

SPD1: ON

SPD2: OFF

No. 3 internal speed setting

(Pn303)

No. 3 internal p

(Pn303) g

SPD2: ON

No. 2 internal speed setting

(Pn302)

No. 2 internal p

(Pn302) g

No. 3 internal p

(Pn303) g

No. 3 internal p

(Pn303) g

No. 2 internal p

(Pn302) g

No. 2 internal p

(Pn302) g

Note 1.

When Pn50A.0 (input signal allocation mode) is set to the default setting (0) and Pn000.1 is set between 4 and 6, the control mode switches without TVSEL (control mode switching) signal allocation or input.

Note 2.

When Pn50A.0 is set to 1 and the TVSEL signal is allocated, the control mode switches according to the TVSEL signal.

Operation Examples

D Internally-set Speed Control Settings Only (Pn000.1 = 3)

Speed selection command 1

SPD1

Speed selection command 2

SPD2

Rotation direction command

RDIR

Speed 2

Speed 3

Decelerates according to

Pn306 (soft start deceleration time) setting

Speed 1

Servomotor operation

Accelerates according to

Pn305 (soft start acceleration time) setting Speed 1 (reverse rotation)

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Operation Chapter 4

Note 1.

There is a maximum delay of 2 ms in reading the input signal.

Note 2.

If the position lock function is not used, the servo will stop using the speed loop (i.e., internal speed command 0 r/min.)

Note 3.

Speed command input, pulse train input, and torque command input are ignored.

D Internally-set Speed Control + Speed Control (Pn000.1 = 4)

Speed selection command 1

SPD1

Speed selection command 2

SPD2

Rotation direction command

RDIR

Speed command input

REF

Speed 3

Speed 2

Speed 1 REF speed

Servomotor operation Speed Control Mode

Speed 1

(reverse rotation)

Note Operation follows the speed command input (REF) immediately after SPD1 and SPD2 are both

OFF (although there is a delay of up to 2 ms in reading the input signal).

D Internally-set Speed Control + Position Control (Pn000.1 = 5)

Speed selection command 1

SPD1

Speed selection command 2

SPD2

Rotation direction command

RDIR 2 ms min.

Pulse command

Positioning completed, INP1

(Speed compare,

VCMP) Speed 3

Speed 2

Speed 1

2 ms min.

Servomotor operation

Speed 1 (reverse rotation)

Note 1.

When SPD1 and SPD2 are turned OFF, the Servomotor will decelerate to a stop, INP1 (position completed output 1) will be output, and the servo will be position-locked. Pulse train com-

4-80

Operation Chapter 4 mand inputs can be received in this status. The pulse command is input after INP1 is turned

ON. Until INP1 is turned ON, pulse inputs are ignored.

Note 2.

After INP1 has turned ON, turn ON the speed selection command in the same way as when switching from position control to internally-set speed control.

Note 3.

There is a maximum delay of 2 ms in reading the input signal.

Note 4.

The shaded areas in the time chart for the positioning completed signal (INP1) indicate the places where the signal is turned ON as the VCMP (speed compare) signal. (The meaning of the signal differs according to the control mode.)

D Internally-set Speed Control + Torque Control (Pn000.1 = 6)

Speed selection command 1

SPD1

Speed selection command 2

SPD2

Rotation direction command

RDIR

Torque command input

TREF

Speed 3

Speed 2

Speed 1

Servomotor operation

Torque Control Mode

Speed 1 (reverse rotation)

Note 1.

Operation follows the speed command input (TREF) immediately after SPD1 and SPD2 are both OFF (although there is a delay of up to 2 ms in reading the input signal).

Note 2.

Servomotor operation with torque control varies according to the Servomotor load conditions

(e.g., friction, external power, inertia). Perform safety measures on the devices to prevent

Servomotor runaway.

Note 3.

When Servomotor servo-lock is required, set any of the internal speed settings to 0 r/min and select that speed with SPD1 and SPD2 (speed selection commands 1 and 2).

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Operation Chapter 4

4-5-5 Switching the Control Mode (Switching Control)

Functions

• This function controls the Servomotor by switching between two control modes by means of external inputs.

• The control mode switching is executed at the control mode switching control input terminal (TVSEL:

CN1-41).

Controller

Analog voltage

(speed command)

OMNUC W-series Servo Driver

Switching control

(Example: Between position control and speed control)

Speed control

OMNUC W-series

Servomotor

Pulse train

Position control

Parameters Requiring Settings

Parameter

No.

Pn000.1

Pn50C.3

Parameter name

Function selection basic switch 1

Control mode selection

Input signal selection 3

TVSEL signal selection

Explanation

Select control mode for switching control (Settings:

7, 8, 9)

You must set Pn50C.3 (TVSEL signal selection).

(See note.)

Reference

4-4-3 Important

Parameters

4-4-3 Important

Parameters

Note If you select the switching control mode with the default settings, the mode will be allocated to pin

CN1-41.

If changing the default setting, set Pn50A.0 (input signal selection mode) to 1 (user-defined settings).

Related Functions

Note Refer to the related functions for each control mode.

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Operation Chapter 4

Control Mode Selected Using TVSEL (Control Mode Switching)

• The following table shows the relationship between TVSEL (control mode switching) and the control mode selected.

TVSEL

OFF

Internally-set speed control Speed control

Pn000.1 = 4 (between internally-set speed control and speed control)

Pn000.1 = 5 (between internally-set speed control and position control)

Pn000.1 = 6 (between internally-set speed control and torque control)

Pn000.1 = 7 (between position control and speed control)

Pn000.1 = 8 (between position control and torque control)

Pn000.1 = 9 (between torque control and speed control)

Internally-set speed control

Position control

Torque control

Position control

Torque control

Speed control

Torque control

Speed control

Note 1.

Note 2.

When Pn50A.0 is set to 1, with Pn000.1 set between 4 and 6, and the TVSEL signal is allocated, the control mode switches according to the TVSEL signal.

Note 3.

For details on internally-set speed control, refer to 4-5-4 Internally-set Speed Control .

Operation Examples

D Position and Speed Control Switching Example (Pn000.1 = 7)

Control mode switching

TVSEL

2 ms min.

Speed command input

REF

Pulse commands

Positioning completed, INP1

(Speed compare,

VCMP)

Servomotor operation

2 ms min.

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Operation Chapter 4

Note 1.

There is a maximum delay of 2 ms in reading the input signal.

Note 2.

When switching from speed control to position control, input the pulse command after TVSEL

(control mode switching) has turned OFF, INP1 (positioning completed output 1) signal has turned ON, and 2 ms has elapsed. The pulses will be ignored until the positioning completed

(INP1) signal has turned ON.

Note 3.

The shaded areas in the time chart for the positioning completed 1 (INP1) signal indicate the places where the signal is turned ON as the VCMP (speed compare) signal. (The meaning of the signal differs according to the control mode.)

D Position and Torque Control Switching Example (Pn000.1 = 8)

2 ms min.

Control mode switching

TVSEL

Torque command input

TREF

Pulse commands

(Forward operation) 2 ms min.

(Reverse operation)

Positioning completed signal

INP1

Servomotor operation

Impact

Note 1.

This time chart shows an example of torque thrust.

Note 2.

There is a maximum delay of 2 ms in reading the input signal.

Note 3.

When switching from torque control to position control, input the pulse command after TVSEL

(control mode switching) has turned OFF, the positioning completed output 1 (INP1) signal has turned ON, and 2 ms has elapsed. The pulses will be ignored until the positioning completed output 1 (INP1) signal has turned ON.

4-84

Operation

D Speed and Torque Control Switching Example (Pn000.1 = 9)

Control mode switching

TVSEL

Speed command input

REF

Torque command input

TREF

Chapter 4

Servomotor operation

Torque Control Mode

Note 1.

There is a maximum delay of 2 ms in reading the input signal.

Note 2.

Servomotor operation with torque control varies according to the Servomotor load conditions

(e.g., friction, external power, inertia). Perform safety measures on the devices to prevent the

Servomotor from running amok.

4-5-6 Forward and Reverse Drive Prohibit (All Operating

Modes)

Functions

• When forward drive prohibit (POT: CN1-42) and reverse drive prohibit (NOT: CN1-43) are OFF, stops the Servomotor rotating (Pin No. is allocated in the default settings).

• You can stop the Servomotor from rotating beyond the device’s travel range by connecting a lit input.

4-85

Operation Chapter 4

Parameters Requiring Setting

Parameter No.

Pn50A.3

Pn50b.0

Pn001

Parameter name

Input signal selection 1:

POT signal selection

Explanation

You must allocate both POT and NOT. (See note.)

Input signal selection 2:

NOT signal selection

Function selection switch 1 Set the stop method when

POT and NOT in Pn001.1

(stop selection for drive prohibition input) are OFF.

Pn406 Emergency stop torque

If Pn001.1 is set to 0 (stop according to Pn001.0

setting), be sure to set Pn

001.0 (stop selection for alarm generation with servo

OFF).

If Pn001.1 is set to 1 or 2, set emergency stop torque in Pn406.

Reference

4-4-3 Important Parameters

4-4-4 Parameter Details

Note POT and NOT are allocated to CN1-42, 43 in the default settings, but are both set to disabled (i.e., drive prohibition will not operate). If changing the default setting, set Pn50A.0 (input signal selection mode) to 1 (user-defined settings).

Operation

Stopping Methods when Forward/Reverse Drive Prohibit is OFF

Deceleration Method

Pn001.1

Pn001.0

0 or 1

POT (NOT) is OFF

Dynamic brake

Free run

1 or 2

Stopped Status

Servo unlocked

Emergency stop torque (Pn406)

Pn001.1

Servo unlocked

See note 1.

Servo locked

Note 1.

If the Servomotor stops in this mode during position control, the position loop is disabled.

Note 2.

The position method used during torque control depends on Pn001.0 setting (the P001.1 setting is unrelated).

Note 3.

POT (forward drive prohibited)

NOT (reverse drive prohibited)

Reverse direction

Forward direction

Position

Only forward drive allowed

Both forward and reverse drive allowed

Only reverse drive allowed

4-86

Operation Chapter 4

Note 1.

When a command to travel in a prohibited direction within the drive prohibit area is input, the

Servomotor is stopped using the method set in Pn001.1. If a command to travel in the opposite direction is input, the Servomotor automatically resumes operation.

Note 2.

With position control, the feedback pulses and command pulses continue to be counted without the deviation counter’s residual pulses being reset. If the drive prohibit input turns ON in this state (i.e., drive permitted), the position will be shifted by the amount of the residual pulses.

4-5-7 Encoder Dividing Function (All Operating Modes)

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 (number of encoder resolution pulses). The upper limit is 16,384 pulses/rotation.

• Use this function for the following applications:

When using a controller with a low response frequency.

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

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

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

Parameters Requiring Setting

Parameter No.

Pn201

Parameter name

Encoder dividing rate setting

Explanation

Set the number of encoder pulses to be output. (See notes 1, 2, and 3).

Reference

4-4-4 Parameter

Details

Note 1.

The default setting is 1,000 (pulses/rotation), and the setting range is 16 to 16,384 (pulses/ rotation).

Note 2.

These parameters are enabled when the power is turned ON again after having been turned

OFF. (Check to see that the LED display has gone OFF.)

Note 3.

If a value greater than the encoder resolution is set, operation will proceed according to the formula: (dividing rate setting) = (encoder resolution)

Operation

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

Encoder Driver

Processing circuitry

Frequency divider

Phase A

Phase B

Phase Z

4-87

Operation Chapter 4

• The output phases of the encoder signal output from the Servo Driver are as shown below (when divider ratio Pn201 = encoder resolution).

Forward rotation side Reverse rotation side

Phase A Phase A

Phase B

Phase Z Phase Z

• When the encoder divider rate is set to other than 2 n (16,384, 8,192, 4,096, 2,048, 1,024, etc.), the phase difference for phases A and B is not 90 ° , but scatters for time T. (See the diagram below.)

Phase A

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

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

n = resolution/encoder divider rate

Input to frequency divider

(processing circuit output)

Phase A

Phase B

4-5-8 Brake Interlock (All Operating Modes)

Precautions for Using Electromagnetic Brake

• The electromagnetic brake Servomotor with a brake is a non-excitation brake especially for holding.

First stop the Servomotor, then turn OFF the power supply to the brake before setting the parameters.

If the brake is applied while the Servomotor is operating, the brake disk may become damaged or malfunction due to friction, causing damage to the Servomotor.

Function

• You can set the BKIR (brake interlock) signal output timing to turn ON and OFF the electromagnetic brake.

4-88

Operation Chapter 4

Parameters Requiring Setting

Parameter No.

Pn50F.2

Pn506

Parameter name

Output signal selection 2: BKIR signal selection

Brake timing 1

Pn507

Pn508

Brake command speed

Brake timing 2

Explanation

Be sure to allocate BKIR.

(See note.)

This parameter sets the BKIR output timing.

Pn506: Sets lag time from

BKIR OFF to servo OFF.

Pn507: Sets the rotation speed for turning BKIR OFF.

Pn508: Sets the standby time from servo OFF to BKIR OFF.

Reference

4-4-3 Important

Parameters

4-4-4 Parameter Details

Note BKIR is not allocated in the default settings.

Operation

D RUN Timing (When Servomotor Is Stopped)

RUN

0 to 35 ms

BKIR (brake interlock)

Approx. 2 ms

Brake power supply

200 ms max.

100 ms max.

Brake operation

See note 1.

Speed command or pulse command

Energized

Servomotor energizing

Deenergized

Pn506 (See note 2.)

Note 1.

The time from turning ON the brake power supply to the brake being released is 200 ms max.

Set the speed command (pulse command) to be given after the brake has been released, taking this delay into account.

Note 2.

The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If using the Servomotor on a vertical axis, set Pn506 (brake timing 1) so that the Servomotor deenergizes after the brake has engaged, taking this delay into account.

4-89

Operation Chapter 4

D Power Supply Timing (When Servomotor is Stopped)

Power supply

25 to 35 ms

BKIR (brake interlock)

Energized

Servomotor energized

Deenergized

Pn506 (See note.)

Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If using the Servomotor on a vertical axis, set Pn506 (brake timing 1) so that the Servomotor deenergizes after the brake has engaged, in consideration of this delay.

D RUN, Error, and Power Supply Timing (When Servomotor Is Stopped)

Power supply

RUN

ALM (alarm output)

(See note 2.)

BKIR (brake interlock)

Energized

Servomotor energized

Deenergized

Servomotor rotation speed

Approx. 10 ms

(See note 1.)

PN507 (brake command speed)

Braking using dynamic brake

(when Pn001.0 = 0)

Note 1.

During the approximately 10 ms from the Servomotor deenergizing to dynamic brake being applied, the Servomotor will continue to rotate due to its momentum.

Note 2.

If the Servomotor rotation speed falls below the speed set in Pn507 (brake command speed) or the time set in Pn508 (brake timing 2) after the Servomotor deenergizes is exceeded, the

BKIR (brake interlock) signal is turned OFF.

4-5-9 Gain Reduction (Position, Speed, Internally-set speed

Control)

Functions

• This function switches speed loop control from PI (proportional integration) control to P (proportional) control when gain reduction (MING: CN1-41) is ON. (Pin No. is allocated in the default settings.)

• The speed loop gain is lowered when the proportional gain is lost. Also, resiliency to the external load force is reduced by the speed error proportion (difference between the speed command and speed feedback) being lost.

4-90

Operation Chapter 4

• If controlling the position without adding a position control loop, the position may slip due to temperature drift from the A/D converter, etc. In this case, when MING (gain reduction) is input, the speed loop gain will fall, and the amount of drift will be lowered. If there is static friction on the load (5% min. of the rated torque), the Servomotor may stop completely.

• Inputting MING during parts insertion operations after positioning is completed with a position loop incorporated will make parts insertion easier by weakening resistance to external force.

• This is also effective for operating at high gain during rotations, and for lowering gain to suppress vibrations when the Servomotor is stopped.

Note If MING is input with applications that include vertical axes with gravity loads or continuous external force, the target position cannot be attained.

Parameters Requiring Setting

Parameter

No.

Pn50A.2

Parameter name

Input signal selection 1: MING signal selection

Explanation

Be sure to allocate MING. (See note.)

Reference

4-4-3 Important

Parameters

Note If changing the default setting, set Pn50A.0 (input signal selection mode) to 1 (user-defined settings).

4-5-10 Torque Limit Function (All Operating Modes)

Functions

• The torque limit function limits the Servomotor’s output torque.

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

• There are four methods that can be used to limit the torque (pin No. is allocated at the factory):

• Limit the steady force applied during normal operation with user parameters Pn402 (forward torque limit) and Pn403 (reverse torque limit). (All operation modes.)

• Limit operation with external signals connected to pins CN1-45 (PCL: forward current limit input) and CN1-46 (NCL: reverse current limit input). Set user parameters Pn404 (forward rotation external current limit) and Pn405 (reverse rotation external current limit) (all operation modes).

• Limit normal operation with analog voltage using TREF (torque command input) as the analog current limit input (position, speed, internally-set speed limit).

• Limit analog voltage with external signals connected to pins CN1-45 (PCL: forward current limit input) and CN1-46 (NCL: reverse current limit input) using TREF (position, speed, internally-set speed limit).

• When torque limit is ON, CLIMT (current limit detection) signal is output (if the signal has been allocated using parameter Pn50F.0).

• If multiple torque limits are enabled, the output torque is limited to the minimum limit value.

4-91

Operation

Parameters Requiring Settings

Chapter 4

D Limiting the Steady Force Applied During Normal Operation with User Parameters

(All Operating Modes)

Parameter No.

Explanation Reference

Pn402

Pn403

Parameter name

Forward torque limit

Reverse torque limit

Set the output torque limit for the forward direction as a percentage of the rated torque (setting range:

0% to 800%).

Set the output torque limit for the reverse direction as a percentage of the rated torque (setting range:

0% to 800%).

4-4-4 Parameter

Details

Note 1.

Set these parameters to 350 (the default setting) when the torque limit function is not being used.

Note 2.

If the connected Servomotor is set to a value greater than the maximum momentary torque, the maximum momentary torque will become the set limit.

D Limiting Operation with External Signals (All Operating Modes)

Parameter No.

Pn50b.2

Pn50b.3

Pn404

Pn405

Parameter name

Input signal selection 2

PCL signal selection

NCL signal selection

Forward torque limit

Reverse torque limit

Explanation Reference

You must allocate PCL and NCL. (See note 1.) 4-4-3 Important

Parameters

Set the output torque limit when PCL is ON as a percentage of the Servomotor rated torque

(setting range: 0% to 800%).

Set the output torque limit when NCL is ON as a percentage of the Servomotor rated torque

(setting range: 0% to 800%).

4-4-4

Parameter

Details

Note 1.

If you change the default settings, set Pn50A.0 (input signal selection mode) to 1.

Note 2.

If the connected Servomotor is set to a value greater than the maximum momentary torque, the maximum momentary torque will become the set limit.

Note 3.

If using this function with internally-set speed control, set Pn50A.1 to 1 (user-defined settings), and allocate the required input signals (PCL, NCL, SPD1, SPD2, RDIR, etc.)

D Limiting Normal Operation with Analog Voltage (Position, Speed, Internally-set

Speed Control)

• When Pn002.0 (torque command input switching) is set to 1, TREF (torque command input) becomes the analog torque limit input terminal, so you can limit the torque on multiple levels.

• Calculate the torque limit (%) as follows: Absolute TREF voltage (V) / Pn400 (torque control scale) x

1000.

• Regardless of whether the voltage is positive or negative, both forward and reverse directions have the same limits (i.e., absolute value is taken).

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Operation Chapter 4

Parameter No.

Pn002.0

Pn400

Parameter name

Torque command input switching

Torque control scale

Explanation

Set Pn002.0 to 1. (Use TREF as analog torque limit.)

Set TREF voltage when using rated torque. (See note.)

Note The default setting is 30 (x 0.1 V/rated torque).

Reference

4-4-4 Parameter

Details

D Limiting Analog Voltage with External Signals (Position, Speed, Internally-set

Speed Control)

• If Pn002.0 (torque command input switching) is set to 3, when PCL and NCL are ON, TREF (torque command input) becomes the analog torque limit input terminal.

• Calculate the torque limit (%) as follows:

Absolute TREF voltage (V) / Pn400 (torque control scale) x 1000.

• Regardless of whether the voltage is positive or negative, both forward and reverse directions have the same limits (taken as absolute values).

Parameter No.

Pn002.0

Pn50b.2

Pn50b.3

Pn400

Parameter name

Torque command input switching

Input signal selection

PCL signal selection

NCL signal selection

Torque control scale

Explanation

Set Pn002.0 to 3 (use TREF as analog torque limit when PCL and NCL are ON).

Reference

4-4-4 Parameter

Details

You must allocate PCL and NCL. (See note 1.) 4-4-3 Important

Parameters

Set TREF voltage for when the rated torque is used. (See note 2.)

4-4-4 Parameter

Details

Note 1.

If changing the default setting, set Pn50A.0 (input signal selection mode) to 1 (user-defined settings).

Note 2.

The default setting is 30 (x 0.1 V/rated torque).

Note 3.

If using this function with internally-set speed control, set Pn50A.1 to 1 (user-defined settings), and allocate the required input signals (PCL, NCL, SPD1, SPD2, RDIR, etc.).

4-5-11 Soft Start Function (Speed, Internally-set Speed

Control)

Functions

• This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times.

• You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve.

• The soft start processes REF (speed command input) or internally-set speed control switching to reduce shock during acceleration and deceleration.

• This function is effective for simple positioning and speed switching operations.

Note Do not use this function for a position controller with an acceleration/deceleration function.

4-93

Operation

Parameters Requiring Settings

Parameter No. Parameter name

Pn305 Soft start acceleration time

Pn306 Soft start deceleration time

Explanation

Set the acceleration time from 0 (r/min.) to the maximum rotation speed (setting range: 0 to 10,000

(ms)).

Set the deceleration time from maximum rotation speed to 0 (r/min.) Setting range: 0 to 10,000 (ms).

Chapter 4

Reference

4-4-4

Parameter

Details

Note 1.

If not using the soft start function, set this parameter to 0 (default setting).

Note 2.

The actual acceleration and deceleration time is as follows:

Actual acceleration (deceleration time) =

Servomotor speed speed command (r/min.) maximum No. rotations (r/min.) x soft start acceleration (deceleration) time

Max. No. rotations

(See note.)

Speed command

Actual acceleration time

Time

Actual deceleration time

Note The maximum rotation speeds are as follows:

• 3,000-r/min. Servomotor: 5,000 r/min.

• 3,000-r/min. Flat-style Servomotor: 5,000 r/min.

• 1,000-r/min. Servomotor: 2,000 r/min.

• 1,500-r/min. Servomotor (450 W to 7.5 kW): 3,000 r/min.

• 1,500-r/min. Servomotor (11 to 15 kW): 2,000 r/min.

4-5-12 Electronic Gear Function (Position)

Functions

• This function rotates the Servomotor for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio.

• This function is enabled under the following conditions.

When fine-tuning the position and speed of two lines that are to be synchronous.

When using a position controller with a low command pulse frequency.

When you want to set the travel distance for machinery per pulse to 0.01 mm, for example.

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Operation Chapter 4

Parameters Requiring Settings

Parameter No.

Pn202

Pn203

Parameter name

Electronic gear ratio G1

(denominator)

Electronic gear ratio G2

(numerator)

Explanation

Set the pulse rate for the command pulse and

Servomotor travel distance. When G1/G2 = 1, if the pulse (encoder resolution x 4) is input, the

S p ( will rotate x 4). (See note 1.)

(

) p ,

Reference

4-4-4 Parameter

Details

Note 1.

Set within the range 0.01 G1/G2 100.

Note 2.

These parameters become effective when the power is turned ON again after having been turned OFF. (Check to see that the LED display has gone OFF.)

Note 3.

With the default setting (G1/G2 = 4), the Servomotor will rotate once when the encoder resolution pulses are input.

Note 4.

One position deviation (deviation counter) display and positioning completed range pulse make one input pulse. (This is called a command unit.)

Operation

D Servomotor with 2,048 (Pulses/Rotation) Encoder

• When set to G1/G2 = 8192/1000, the operation is the same as for a 1,000-pulses/rotation Servomotor.

Servo Driver

Servomotor

(Encoder resolution:

2,048 pulses/rotation)

1,000 pulses

Command pulse factor

(Pn217)

Electronic gear 8,192 pulses

1 rotation (8,192 pulses)

Note 1.

If the PSEL (command pulse factor switching) input is ON when Pn218.0 (command pulse factor switching selection) is set to 1, the result from multiplying the set value in Pn217 (command pulse factor) is multiplied again by the electronic gear ratio.

Note 2.

Command pulse factor switching is a new function supported by Servo Drivers with software version “r.0037.”

4-5-13 Position Command Filter Function (Position)

Functions

• Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate.

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Operation Chapter 4

• Select the filter characteristics using Pn207.0 (position command filter selection).

• When Pn204 (position command filter time constant 1) is selected, acceleration and deceleration are performed using the primary filter (exponentiation function).

• When Pn208 (position command filter time constant 2) is selected, acceleration and deceleration are linear.

• This function is effective in the following cases:

There is no acceleration/deceleration function in the command pulse (controller).

The command pulse frequency changes rapidly, causing the machinery to vibrate during acceleration and deceleration.

The electronic gear setting is high (G1/G2 = 10).

Parameters Requiring Settings

Parameter

No.

Pn207.0

Parameter name

Pn204

Pn208

Select position control filter

Position control filter time constant

1 (primary filter)

Position control filter time constant

2 (linear acceleration and deceleration)

Explanation

Select either primary filter (setting: 0), or linear acceleration and deceleration (setting: 1).

Enabled when Pn207.0 = 0. Be sure to set the primary filter time constant (setting range = 0 to 6400

(x 0.01 ms)).

Enabled when Pn207.0 = 1. Be sure to set the acceleration and deceleration times (setting range =

0 to 6400 (x 0.01 ms)).

Reference

4-4-4

Parameter

Details

Note If not using the position command filter function, set each content to 0 (i.e., the default setting).

Operation

• The characteristics for each filter are shown below.

• Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain delay.

Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain (Pn102)

D Primary filter

Speed

Command pulse input frequency

Input frequency x 0.63

Input frequency x 0.37

Time

4-96

Operation

D Linear acceleration and deceleration

Speed

Command pulse input frequency

Chapter 4

Time

4-5-14 Position Lock Function (Speed, Internally-set Speed

Control)

Functions

• If controlling the position without adding a position control loop, the position may slip due to temperature drift from the A/D converter, etc. In this case, this function stops the position loop by using an external signal to switch from Speed Control Mode to Position Control Mode.

• If position lock command (PLOCK: CN1-41) is input, when the number of Servomotor rotations is equal to or less than the rotation speed set in Pn501 (position lock rotation speed), the Unit switches from Speed Control Mode to Position Control Mode, and the Servomotor becomes position locked

(Pin No. is allocated in the default settings).

• When the internal speed control value is equal to or greater than Pn501 (position lock rotation speed), the Servomotor will rotate.

• Loop gain during position lock is set using Pn102 (position loop gain).

Parameters Requiring Settings

Parameter

No.

Pn50d.0

Parameter name

Pn501

Pn102

Explanation

Input signal selection 4

PLOCK must be allocated. (See note 1.)

PLOCK signal selection

Position lock rotation speed

Set the position lock rotation speed. Setting range:

0 to 10,000 (r/min).

Position loop gain Use this parameter to adjust the lock force during position lock.

Reference

4-4-3 Important

Parameters

4-4-4 Parameter

Details

Note 1.

If changing the default setting, set Pn50A.0 (input signal selection mode) to 1 (user-defined settings).

Note 2.

Set Pn000.1 (control mode selection) to A (speed control with position lock function) to allocate PLOCK to pin CN1-41.

4-97

Operation

Operation

Chapter 4

REF

(speed command input)

PLOCK

(position lock command)

Servomotor operation

Pn501 (Position lock rotation speed)

Position lock status

4-5-15 Speed Limit Function (Torque)

Functions

• This function limits Servomotor rotation speed when torque control is used.

• Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the mechanical system.

• Outside of the speed limit range, a torque in proportion to the difference from the speed limit value is generated to slow down the Servomotor rotation speed. In such cases the number of Servomotor rotations does not necessarily match the speed limit value. (The number of Servomotor rotations varies depending on the load.)

• There are two methods that can be used for limiting the speed:

• Apply a constant fixed speed limit for torque control, by means of user parameters.

• Limit the speed by means of analog voltage. Use REF (speed command input) as an analog speed limit input.

• When the speed limit is in operation, VLIMT (speed control output) is output (when the signal has been allocated in Pn50F.1).

• The Servomotor rotation speed is limited by the smallest limit among the speed limits and analog speed limits set in the parameters.

D Parameters Requiring Settings

Parameter No.

Pn407

Parameter name

Speed limit

Explanation

Set the speed limit for torque control. Setting range: 0 to 10,000 (r/min).

Reference

4-4-4 Parameter

Details

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Operation Chapter 4

D Limiting the Speed with Analog Voltage

• When Pn002.1 (speed command input switching) is set to 1, REF (speed command input) becomes the analog speed limit input terminal, so you can limit the speed on multiple levels. The speed limit value can be calculated from the following equation:

• Absolute REF voltage (V) / Pn300 (speed command scale) x 100 x rated rotation speed (r/min.)

• Regardless of whether the voltage is positive or negative, both forward and reverse directions have the same limits (taken as absolute values).

Parameter No.

Parameter name

Pn002.1

Function selection switch 2

Pn300

Speed command input switching

Speed command scale

Explanation

Set Pn002.1 to 1 (i.e., use REF as the analog speed limit input).

Set the REF voltage for the rated rotation speed.

(See note.)

Reference

4-4-4 Parameter

Details

Note The default setting is 1000 (x 0.01 V / No. or rated rotations).

4-6 Trial Operation Procedure

When you have finished installation, wiring, verifying Servomotor and Servo Driver operations (i.e., jog operation), and setting the user parameters, perform a trial operation.

The main purpose of a trial operation is to confirm that the servo system is operating correctly electrically. Make sure that the host controller and all the programming devices are connected, then turn ON the power. First perform a trial operation at low speed to confirm that the system is operating correctly. Next, perform a normal run pattern to confirm that the system is operating correctly.

Note 1.

If an error occurs during the trial operation, refer to Troubleshooting to eliminate the cause.

Then check for safety and reset the alarm, and then retry the trial operation.

Note 2.

If the system vibrates due to insufficient gain adjustment, making it difficult to check the operation, refer to 4-7 Making Adjustments , and adjust the gain.

Preparation for Trial Operation

Turn OFF the Power

Some parameters are enabled by turning OFF the Unit, then turning it ON again. Consequently, first turn

OFF the power to the control circuits and main circuits.

Mechanical System Connection

Firmly connect the Servomotor shaft and the load (i.e., the mechanical system). Tighten screws to make sure they are not loose.

Absolute Encoder Setup ABS

If using Servomotor with an absolute encoder, refer to 4-2-2 Absolute Encoder Setup and Battery Changes for the setup procedure. After performing a jog operation, the amount of multi-turn rotation may be too large, so when connecting the absolute encoder to the mechanical system, be sure to set the rotation speed to zero.

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Operation Chapter 4

Turning OFF the Servomotor

In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machinery, set up the system so that the power and the RUN command can be turned OFF.

Trial Operation

1. Turn ON the Power Supply.

• Turn ON the power supply to the control circuits and main circuits, and then turn ON the RUN command.

• Check that the Servomotor is ON.

2. Low-speed Operation

• Send a low speed command from the host controller to rotate the Servomotor. (The definition of low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5 normal 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 any error (or alarm) generated?

Note 1.

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

Note 2.

If the system vibrates due to insufficient gain adjustment, making it difficult to check the operation, refer to 4-7 Making Adjustments , and adjust the gain.

3. Operation Under Actual Load Conditions

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

Is the operating speed correct? (Use the speed feedback monitor.)

Is the load torque roughly equivalent to the measured value? (Use the torque command monitor and the accumulated load monitor.)

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 any error (or alarm) generated?

Note 1.

Refer to 4-9-3 Monitor Mode for how to display the speed feedback monitor, torque command monitor, and the cumulative load rate monitor.

Note 2.

If anything abnormal occurs, refer to Troubleshooting and apply the appropriate countermeasures.

Note 3.

If the system vibrates due to insufficient gain adjustment impeding, making it difficult to check the operation, refer to 4-7 Making Adjustments , and adjust the gain.

4. Completing the Trial Operation

• Performing the above completes the trial operation. Next, adjust the gain to improve command efficiency. (Refer to 4-7 Making Adjustments for details.)

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Operation

4-7 Making Adjustments

Chapter 4

The OMNUC W-series AC Servo Driver is equipped with an online auto-tuning function.

Use this function to easily adjust the gain even if you are using a servo system for the first time. If you cannot use the online auto-tuning function, adjust the gain manually.

4-7-1 Online Auto-tuning

What Is Online Auto-tuning?

• Online auto-tuning is a control function that measures the driver’s load inertia while it is operating, and attempts to maintain constantly the target speed loop gain and position loop gain.

Note You cannot use online auto-tuning in the following cases.

• When the Torque Control Mode is used for control.

• When IP control is used for a speed control loop (Pn10b.1 = 1).

• When using No. 2 gain for control (i.e., when GSEL (gain switching input) is input or automatic gain switching is used).

• When the torque feed-forward function is used (Pn002.0 = 2).

• When the speed feedback compensation function is used (Pn110.1 = 0).

Online Auto-tuning Related Settings

• The following tables show the user parameters and System Check Modes relating to online auto-tuning.

D User Parameters (Pn jjj )

Parameter

No.

Pn100

Pn101

Pn102

Pn103

Pn110

Pn401

Parameter name

Speed loop gain

Speed loop integration time constant

Position loop gain

Inertia ratio

Online auto-tuning setting

Torque command filter time constant

Explanation

Target value for auto-tuning

Integration time constant for auto-tuning

Target value for auto-tuning

Initial value for auto-tuning

Select auto-tuning function

Filter time constant for auto-tuning

D System Check Mode (Fn jjj )

Function code

Fn001

Function name

Rigidity setting for online auto-tuning

Explanation

Fn007 Storing of online auto-tuning results

Select 10 stages from a combination of Pn100,

Pn101, Pn102, and Pn401. (See note.)

The inertia ratio calculated using online auto-tuning is written to Pn103 (inertia ratio).

Note The selected value is written to the user parameters.

4-101

Operation Chapter 4

Online Auto-tuning Procedure

• Use the following procedure when using the online auto-tuning function.

Note If the online auto-tuning is set to be always enabled, the Servomotor may become unstable due to extreme vibration when the load fluctuates. It is recommended that you perform online auto-tuning once, write the results (inertia ratio) to the user parameters, then run the operation with the online auto-tuning turned OFF.

Start

Set the online auto-tuning target rigidity (Fn001).

Set online auto-tuning to be always enabled (Pn110.0 = 1).

Turn ON the power (to enable the parameter settings).

Refer to the next page for target rigidity.

Run the operation with a normal operating pattern and load.

Operating properly?

If an error occurs, reset the rigidity (Fn001) and perform the operation again.

Operating properly?

If an error occurs, set the viscous friction compensation

(Pn110.2 = 1 or 2). (See note 1.)

Turn ON the power (to enable the parameter settings), then perform the operation.

Operating properly?

If an error occurs, stop the operation and adjust the gain manually.

If no errors occur, stop the operation, and store the auto-tuning results (Fn007).

Set the online auto-tuning to be always OFF (Pn110.0 = 2).

End

Note 1.

Determine the suitable parameter setting using the torque commands within a constant velocity range (Un002).

Note 2.

For System Check Mode operations, refer to 4-11-2 Online Auto-Tuning Related Functions .

4-102

Operation Chapter 4

Selecting Mechanical Rigidity During Online Auto-tuning (Fn001)

• Setting the rigidity during online auto-tuning sets the servo system’s target speed loop gain and position loop gain.

• Select the rigidity setting (Fn001) from the following 10 levels to suit the mechanical system.

Response

Low 01

Rigidity setting

Fn001

(d.00

jj )

Position loop gain

(S –1 )

Pn102

Speed loop gain

(Hz)

Pn100

Speed loop integration time constant

(x 0.01 ms)

Pn101

6000

Torque command filter time constant

(x 0.01 ms)

Pn401

250

Representative applications

(mechanical system)

Medium

120

160

200

250

120

160

200

250

4500

3000

2000

1500

1000

800

600

500

400

200

130

100

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

XY tables, Cartesian-coordinate robots, general-purpose machinery, etc.

Ball screws

(di coupling), feeders, etc.

Note 1.

The servo-system loop gain will rise in response to a higher rigidity setting, shortening positioning time. If the setting is too large, however, the machinery may vibrate, so make the setting small.

Note 2.

When setting the rigidity, the user parameters in the above table will change automatically.

Note 3.

If you enable auto-tuning without setting the rigidity, the user parameter settings (Pn102,

Pn100, Pn101, and Pn401) will be used as the tuning target values.

4-103

Operation Chapter 4

Online Auto-tuning Related User Parameters

Paramt

No.

Parameter name

Explanation

Digit

No.

Name Setting

Adjusts speed loop responsiveness.

Explanation

Pn100 Speed loop gain

Pn101 Speed loop integration time constant

Pn102 Position loop gain

Pn103 Inertia ratio

Pn110 Online autotuning tti g setting

Speed loop integration time constant

Adjusts position loop responsiveness.

Sets the ratio using the mechanical system inertia to Servomotor rotor inertia ratio.

Online auto-tuning selection

Speed feedback compensati on function selection

Viscous f i ti compensati on function selection

Turns ON the power supply, then performs auto-tuning on the RUN startup only.

Auto-tuning always ON.

Auto-tuning OFF.

OFF

Friction compensation: OFF

Friction compensation: Rated torque ratio (small)

Friction compensation: Rated torque ratio (large)

3 Not used.

0 Do not change the setting.

Sets the filter time constant for the internal torque command.

Pn401 Torque command filter time constant

Default setting

2000

Unit x

0.01 ms g range power

1 to

2000

15 to

51200

300

0012

1/s

---

1 to

2000

0 to

10000

--x

0.01 ms

0 to

65535

Yes

Note Refer to 4-4-4 Parameter Details for details of each parameter.

4-7-2 Manual Tuning

Rigidity Settings During Online Auto-tuning (Fn001)

• If you set the rigidity during online auto-tuning, the gains corresponding to machine rigidity are set automatically. Even if you adjust the gain as an initial setting using manual tuning, you can perform tuning comparatively quickly, so we recommend setting the rigidity (Fn001) first.

• Select the rigidity setting to suit the mechanical system from the following 10 levels.

Note Refer to 4-11-2 Online Auto-tuning Related Functions for System Check Mode operations.

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Operation Chapter 4

Response Rigidity setting

Fn001

(d.00

jj )

Position loop gain

(S –1 )

Pn102

Speed loop gain

(Hz)

Pn100

Speed loop integration time constant

(x 0.01 ms)

Pn101

6000

Torque command filter time constant

(x 0.01 ms)

Pn401

250

Representative applications

(mechanical system)

Low

Medium

4500

3000

2000

200

130

100

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

XY tables, Cartesian-coordinate robots, general-purpose machinery, etc.

Ball screws

(di coupling), feeders, etc.

120

160

200

250

120

160

200

250

1500

1000

800

600

500

400

Note 1.

The servo-system loop gain will rise in response to a higher rigidity setting, shortening positioning time. If the setting is too large, however, the machinery may vibrate, so make the setting small.

Note 2.

When the rigidity is set, the user parameters in the above table will change automatically.

Manual Tuning-related User Parameters

Parameter No.

Parameter name

Pn100 Speed loop gain

Pn101 Speed loop integrati on time constant

Pn102 Position loop gain

Pn103 Inertia ratio

Pn401 Torque command filter time constant

Explanation

Adjusts speed loop responsiveness.

Speed loop integration time constant

Adjusts position loop responsiveness.

Sets the ratio using the mechanical system inertia to Servomotor rotor inertia ratio.

Sets the filter time constant for the internal torque command.

Default setting

2000

300

Note Refer to 4-4-4 Parameter Details for details of each parameter.

1/s

Unit Setting range

Hz 1 to

2000 x 0.01 ms 15 to

51200

1 to

2000

0 to

1000 x 0.01 ms 0 to

65535

Restart power?

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Operation Chapter 4

Manual Tuning Procedure (During Position Control)

• Use the following procedure to perform operation with position control (pulse train input).

Note Turn OFF online auto-tuning (Pn110.0 = 2).

Start

Turn OFF online auto-tuning (Pn110.0 = 2)

Note Do not perform extreme adjustment and setting changes as they may destabilize the operation. Adjust the gain a little at a time while checking the Servomotor operation.

Turn ON the power (to enable Pn110.0 setting).

Set Pn103 (inertia ratio) Calculated during Servomotor selection.

Set rigidity (Fn001) for online auto-tuning.

Is Servomotor hunting (and growling) with servo locked?

Increase rigidity setting (Fn001) until there is no hunting.

Reduce rigidity setting (Fn001) until there is no hunting.

Reduce rigidity setting (Fn001) by 1.

Run under normal operating pattern and load.

Positioning time, etc., satisfactory?

Adjustment complete

Increase Pn100 (speed loop gain) until there is no hunting with Servolock ON.

Reduce Pn101 (speed loop integration constant until there is no hunting with Servolock ON.

Pn101 setting target

Pn101 = (2.3 to 4) x

2 π x Pn100

(s)

Any hunting (vibration) when the Servomotor rotates?

(See note.)

Rotate Servomotor and monitor operation.

Increase Pn102 (position loop gain) until there is no overshooting.

Adjustment complete

Reduce Pn100 (speed loop gain).

Increase Pn101 (speed loop integration constant).

Note If vibration does not cease no matter how many times you perform adjustments, or if positioning is slow:

Increase Pn401 (torque command filter time constant)

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Operation Chapter 4

Manual Tuning Procedure (During Speed Control)

• Use the following procedure to perform operation with speed control (speed command voltage input).

Start

Note Set the online auto-tuning to be always OFF (Pn110.0 = 2).

Turn OFF online auto-tuning (Pn110.0 = 2).

Turn ON the power (to enable Pn110.0 setting).

Set Pn103 (inertia ratio). Calculated during Servomotor selection.

Set rigidity (Fn001) for online auto-tuning.

Is Servomotor hunting (and groaning) with servo locked?

Increase rigidity setting (Fn001) until there is no hunting.

Note Do not perform extreme adjustment and setting changes as they may destabilize the operation. Adjust the gain a little at a time while checking the Servomotor operation.

Reduce rigidity setting (Fn001) until there is no hunting.

Reduce rigidity setting (Fn001) by 1.

Run under normal operating pattern and load

Positioning time, etc., satisfactory?

End adjustment

Increase Pn100 (speed loop gain) until there is no hunting with Servolock ON.

Reduce Pn101 (speed loop integration constant until there is no hunting with Servolock ON.

Pn101 setting target

Pn101 = (2.3 to 4) x

2 π x Pn100

(s)

Any hunting (vibration) when the Servomotor rotates?

(See note.)

Rotate Servomotor and monitor operation.

If using positioning:

Increase Pn300 (speed control scale) or position loop gain on the controller until there is no overshooting.

If using speed operation:

Set Pn300 (speed command scale) to match rotation speed.

End adjustment

Reduce Pn100 (speed loop gain

Increase Pn101 (speed loop integration constant)

Note If vibration does not cease no matter how many times you perform adjustments, or if positioning is slow.

Increase Pn401 (torque command filter time constant)

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Operation

Position Loop Block Diagram (Reference)

Chapter 4

Feed-forward amount

Command pulse factor

Electronic gear ratio

(G1/G2)

Feed-forward command filter

Bias rotational speed

Command pulses

Command pulse mode

Position command filter time constant

Command pulse factor

Electronic gear ratio

(G1/G2)

Bias addition band

Deviation counter

Position loop gain

Speed detection

Speed loop

Current detection

Current loop

Encoder output

Encoder dividing rate

Current loop

Speed loop

Position loop

Encoder Servomotor

Gain Adjustment Procedure

• The servo system control block is configured from the following three loops: Position loop, speed loop, and current loop.

• The current loop is the innermost loop, followed by the speed loop, then the position loop.

• Outputs from outer loops become inputs to inner loops, and for outer loops to perform suitable control operations, it is necessary that inner loops respond sufficiently to their inputs, i.e., inner loop responsiveness must be high. Also, be sure to adjust the gain starting from the innermost loop.

• The current loop is adjusted at the factory for sufficient response, so adjust the speed loop first, then adjust the position loop.

• Adjust the speed loop to increase compliance with the speed command. Perform the adjustment while checking the servo rigidity (force needed to maintain position against external force) with the Servolock ON.

• Adjust the position loop to increase compliance with the position command. Input position commands using an actual operating pattern, and perform the adjustment while checking the position-fixing time.

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Operation

4-8 Advanced Adjustment Functions

Chapter 4

4-8-1 Bias Function (Position)

Functions

• The bias function shortens positioning time by adding bias revolutions to speed commands (i.e., commands to the speed control loop).

• If the residual pulses in the deviation counter exceed the setting in Pn108 (bias addition band), the speed set in Pn107 (bias rotational speed) is added to the speed command, and when the residual pulses in the deviation counter are within the setting in Pn108, adding to the number of bias rotations stops.

Parameters Requiring Settings

Parameter No.

Pn107

Pn108

Parameter name

Bias rotational speed

Bias addition band

Explanation

Set the rotation speed to be added to the bias

(setting range: 0 to 450 (r/min.)).

Set the residual pulses to be added to the number of bias rotations using command units (setting range: 0 to 250 (command units)).

Reference

4-4-4 Parameter

Details

Note 1.

When not using the bias function, set Pn107 to 0.

Note 2.

If the bias rotational speed is set too high, it will cause Servomotor operation to be unstable.

The optimum setting depends on the load, the gain, and the bias addition band, so adjust the setting while observing the Servomotor response. (Begin with a bias setting of Pn107 = 0, and gradually increase it.)

Setting Procedure

• Complete the gain adjustment before adjusting the bias.

• Increase the Pn107 (bias rotational speed) setting until positioning time is minimal. At this point, if there are no problems with using overshoot, adjustments are complete.

• If the overshoot is too large, increase Pn108 (bias addition band) to reduce it.

Operation

Servomotor speed

Speed command (command pulse frequency)

Bias function OFF

Bias function ON

Pn107 added to speed command when residual pulse exceeds Pn108.

Note Refer to Position Loop Block Diagram in 4-7-2 Manual Tuning for the internal processing block configuration.

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Operation

4-8-2 Feed-forward Function (Position)

Chapter 4

Functions

• This function shortens the positioning time by automatically adding the command pulse input (CW/

CCW) differential value to the speed loop in the Servo Driver.

• Perform feed-forward compensation to increase servo gain efficiency, thus improving responsiveness. There is very little effect, however, on systems with sufficiently high position loop gain.

Note Refer to Position Loop Block Diagram in 4-7-2 Manual Tuning for the internal processing block configuration.

Parameters Requiring Settings

Parameter No.

Pn109

Pn10A

Parameter name

Feed-forward amount

Feed-forward command filter

Explanation

Set the feed-forward gain (setting rage: 0 to 100

(%)).

Set the feed-forward command filter (primary lag).

(Setting range: 0 to 6400 (x 0.01 ms).)

Reference

4-4-4 Parameter

Details

Note When not using the feed-forward function, set Pn10A to 0.

Setting Procedure

• Finish adjusting the gain before adjusting the feed-forward.

• Increase the Pn109 (feed-forward amount) setting until positioning time is minimal. At this point, if there are no problems with using overshoot, adjustments are complete. A high setting may cause the machinery to vibrate. With ordinary machinery, set the gain to 80% maximum. (Adjust the gain while checking the machine response.)

• If the overshoot is too large, increase Pn10A (feed-forward command filter) to reduce the it.

4-8-3 Torque Feed-forward Function (Speed)

Functions

• The torque feed-forward function reduces the acceleration time by adding the value of TREF (torque command input) to the current loop; it can be used with speed control.

• Normally a differential value is generated in the controller and this value is input to TREF.

• Overshooting will occur if the feed-forward amount (the voltage input to TREF) is too high, so adjust

Pn400 (torque command scale) as required.

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Operation

Torque Feed-forward Function Block Diagram

Host Controller

Torque feed-forward

Position command

Differential

Speed command

Encoder output

Chapter 4

Torque command scale

Servo Driver

Speed command scale

Encoder dividing rate

Speed detection

Speed loop

Current detection

Current loop

Parameters Requiring Settings

Parameter No.

Pn002.0

Pn400

Parameter name

Torque command input switching

Torque command scale

Explanation

Set Pn002.0 to 2 (use TREF as torque feed-forward input)

Adjust the torque feed-forward amount. (See note.)

Reference

4-4-4 Parameter

Details

Note The default setting is 30 (x 0.1 V / rated torque).

Operation

REF

(speed command input)

TREF

(torque feed-forward input)

Servomotor output torque

Without the torque feed-forward function

Servomotor operation

Note 1.

If torque feed-forward is input when the Servomotor’s rotation speed is fixed, the rotation speed won’t match the speed command. Design the Controller’s circuit so that torque feedforward is applied only when the Servomotor is accelerating or decelerating.

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Operation Chapter 4

Note 2.

A torque will be generated that accelerates the Servomotor in the forward direction if torque feed-forward is applied with a positive (+) voltage. Be sure that the polarity is correct because errors such as reverse Servomotor rotation or oscillation will occur if the feed-forward is applied with a polarity opposing the acceleration direction.

4-8-4 Speed Feed-forward Function (Position)

Functions

• This function shortens positioning time by adding the REF (speed command input) value to the speed loop.

• Normally, the differential value for the position command (pulse train command) is generated in the controller, and input to REF.

• If the feed-forward amount (REF voltage) is too large, an overshoot may occur, so adjust Pn300

(speed command scale) as required.

Speed Feed-forward Function Block Diagram

Host Controller

Differential

Speed feed-forward Speed command scale

Command pulses

Position command

Command pulse factor

Electronic gear ratio

(G1/G2)

Encoder output

Encoder dividing rate

Servo Driver

Deviation counter

Speed detection

Speed loop

Current detection

Current loop

Parameters Requiring Settings

Parameter No.

Pn207.1

Pn300

Parameter name

Speed command input switching

Speed command scale

Explanation

Set Pn207.1 to 1 (use REF as speed torque feed-forward input).

Adjust the speed feed-forward amount. (See note.)

Example

4-4-4 Parameter

Details

Note The default setting is 1000 (x 0.01 V / rated number of revolutions).

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Operation

Operation

Position command

Chapter 4

REF (speed feedforward input

Servomotor operation

Without the feed-forward function

Note When a positive voltage speed feed-forward is added, a command to rotate the Servomotor forwards is added. If a reverse feed-forward command is added to the pulse train, positioning time will be lengthened, so check the polarity carefully.

4-8-5 Gain Switching (Position, Speed, Internally-set Speed

Control)

Functions

• This function switches the speed loop and position loop gain.

• If GSEL (gain switching) signal is not being input, perform control using Pn100 (speed loop gain),

Pn101 (speed loop integration constant), and Pn102 (position loop gain). If GSEL is being input, perform control using Pn104 (speed loop gain 2), Pn105 (speed loop integration constant 2), and Pn106

(position loop gain 2).

• If the mechanical system inertia fluctuates too much, or if there is no difference between operation and standby responses, you can perform applicable control using gain switching.

• If online auto-tuning is not enabled (under the conditions shown below), the gain switching function will be enabled.

• When using the torque feed-forward function.

• When the load inertia fluctuates by 200 ms max.

• When rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of rated torque.

• External force is constantly applied, as with a vertical axis.

Note When No. 2 gain has been selected (i.e., GSEL ON), online auto-tuning will not operate normally.

If using the gain switching function, turn OFF online auto-tuning (Pn110.0 = 2).

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Operation Chapter 4

Parameters Requiring Settings

Parameter

No.

Pn50A.0

Pn50d.2

Pn104

Pn105

Pn106

Parameter name

Input signal selection 1

Input signal selection mode

Input signal selection 4

GSEL signal selection

No. 2 speed loop gain

No. 2 speed loop

Differential time constant

No. 2 position loop gain

Explanation

GSEL signal is not allocated in the default settings.

Set Pn50A.0 to 1 (user-defined settings).

Allocate GSEL signal.

Set the speed loop gain for when GSEL is ON.

Set the speed loop differential time constant for when GSEL is ON.

Set the position loop gain for when GSEL is ON.

Reference

4-4-3 Important

Parameters

4-4-4 Parameter

Details

• Adjust Pn104, Pn 105, and Pn 106 when GSEL is ON according to 4-7-2 Manual Tuning . Fn001 (rigidity setting for online auto-tuning) is not performed on No. 2 gain, however, so set the initial values for adjustment referring to the above table.

4-8-6 Automatic Gain Switching (Position Control)

Functions

• This function switches the speed loop and position loop gain.

• Depending on whether position commands are used, and the amount of position deviation, the No. 1 gain (Pn100, Pn101, Pn102) and No. 2 gain (Pn104, Pn105, Pn106) can be automatically switched.

Note 1.

Automatic gain switching is enabled for position control only. When position control is not used, the Servomotor operates using the No. 1 gain (Pn100, Pn101, Pn102).

Note 2.

When automatic gain switching is used, set the No. 1 gain for gain during operating, and set the No. 2 gain for gain while stopped.

Note 3.

Automatic gain switching and gain switching using GSEL (gain switching input) cannot be used together. When Pn10b.2 (automatic gain switching selection) is set between 1 and 3,

GSEL switching is disabled.

Note 4.

Automatic gain switching is a new function supported by Servo Drivers with software version

“r.0037.”

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Operation Chapter 4

Parameters Requiring Settings

Parameter

No.

Pn10b.2

Parameter name Explanation

Set the conditions for gain switching in Pn10b.2

Speed control setting ––

Automatic gain switching selection

1: Switches using position commands

2: Switches using position deviation

3: Switches using position commands and position deviation

Pn124

Pn125

Pn104

Pn105

Pn106

Automatic gain switching timer

Automatic gain switching width

No. 2 speed loop gain

No. 2 speed loop differential time constant

No. 2 position loop gain

Set the switching delay time after gain switching conditions are met.

Set the amount of position deviation used as the switching condition when automatic gain switching by position deviation is used (Pn10b.2 = 2, 3).

Set the speed loop gain for when the Servomotor is stopped.

Set the speed loop derivative time constant for when the Servomotor is stopped.

Set the position loop gain for when the Servomotor is stopped.

Reference

4-4-4

Parameter

Details

Operation

D Pn10b.2 = 1: Timing when Switching Using Position Commands

Position command pulse

Stopped Operating Stopped

Gain

No.2 gain No. 1 gain No.2 gain

Time

D Pn10b.2=2: Timing when Switching Using Position Deviation

Deviation counter pulses

Gain No.2 gain No. 1 gain No.2 gain

Time

Note Pn10b.2=3: When switching is performed using position commands and position deviation, when either of the above conditions is met, the gain switches to the No.1 gain.

4-8-7 Notch Filter (Position, Speed, Internally-set Speed

Control)

Functions

• Set whether or not to use the notch filter for internal torque commands (current loop commands). The notch filter is used to lower the responsiveness of the set frequency.

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Operation Chapter 4

• Use the notch filter to prevent mechanical resonance. This function can be used to raise the speed loop gain and to shorten positioning time.

• With W series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2.

Note 1.

The filter setting is used to prevent mechanical resonance that cannot be eliminated using gain adjustment. If the notch filter is not set carefully, the mechanical operation may become unstable. Therefore, adjust while observing the mechanical operation using a torque command monitor or other method. Make sure that an emergency stop switch is provided so that the machine can be stopped immediately.

Note 2.

The Q value setting and notch filter 2 are new functions supported by Servo Drivers with software version “r.0037.”

Parameters Requiring Settings

Parameter

No.

Pn408.0

Pn409

Pn40A

Pn408.2

Pn40b

Pn40C

Parameter name

Torque command setting

Notch filter 1 function selection

Notch filter 1 frequency

Notch filter 1 Q value

Torque command setting

Notch filter 2 function selection

Notch filter 2 frequency

Notch filter 2 Q value

Explanation

To use the notch filter 1 function, set Pn408.0 to 1

(notch filter 1 ON).

Set the machine resonance frequency.

Set the Q value for notch filter 1.

To use the notch filter 2 function, set Pn408.2 to 1

(notch filter 2 ON).

Set the machine resonance frequency.

Set the Q value for notch filter 2.

Reference

4-4-4

Parameter

Details

Note The Q value is a parameter that determines the characteristics of the notch filter. The smaller the

Q value, the broader the frequency range that lowers the responsiveness. There fore, the responsiveness of the current loop other than the resonance frequency is lowered. When the Q value is high, the frequency that lowers the responsiveness can be concentrated around the resonance frequency. When the impact from the load and temperature cause the resonance frequency to fluctuate, however, the notch filter effectiveness drops, so determine the optimum set value while performing adjustment.

Frequency

Frequency characteristics when Q = 0.7 (set value = 70)

Frequency

Frequency characteristics when Q = 2.0 (set value = 200)

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Operation Chapter 4

Setting Procedure

• Measure the torque vibration frequency by increasing the Pn100 (speed loop gain) with the machinery vibrating slightly. Use the OMNUC W-series Servo Driver Computer Monitoring Software to measure the analog monitor (torque command monitor) output.

• Set the measured frequency using Pn409 (or Pn40b) (notch filter 1/2 frequency).

• Adjust the value of Pn409 (or Pn40b) slightly to minimize output torque vibration.

• Gradually raise the Q value (Pn40A or Pn40C) within the range in which the vibration will not increase.

• Once again, adjust Pn100 (speed loop gain), Pn101 (speed loop integration constant), Pn102 (position loop gain), and Pn401 (torque command filter time constant) according to 4-7-2 Manual Tuning .

4-8-8 Speed Feedback Compensation (Position, Speed,

Internally-set Time Control)

Functions

• This function shortens positioning time.

• This function works to lower the speed loop feedback gain, and raise the speed loop gain and position loop gain. Consequently, responsiveness to commands is improved, and positioning time can be shortened. Noise sensitivity is lowered, however, so positioning time cannot be shortened where there is external force applied, such as with the vertical axis.

Note If you use the speed feedback compensation function, online auto-tuning will not operate normally. To use the speed feedback compensation function, turn OFF the online auto-tuning (Pn110.0 =

2).

Parameters Requiring Settings

Parameter No.

Parameter name

Pn110.1

Selects speed feedback compensation function

Pn111 Speed feedback compensating gain

Explanation

To use the speed feedback compensation function, set Pn110.1 to 1 (speed feedback compensation function ON).

Adjusts the speed loop feedback gain.

Reference

4-4-4

Parameter

Details

• Reduce the setting value for Pn111 (speed feedback compensating gain) to increase the speed loop gain and position loop gain. If the value is too small, the response may vibrate.

Setting Procedure

• To perform adjustment, measure the position error and torque command. Refer to the OMNUC W-series Servo Driver personal computer monitoring software to measure the analog monitor output.

• Follow 4-7-2 Manual Tuning to adjust Pn100 (speed loop gain), Pn101 (speed loop integration time constant), Pn102 (position loop gain), and Pn401 (torque command filter time constant) to quickly set the position error to zero without the torque command vibrating.

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Operation Chapter 4

• After completing tuning, lower Pn111 to 10, and adjust Pn100, Pn101, Pn102, and Pn401 in the same way.

4-8-9 Speed Feedback Filter (Position, Speed, Internally-set

Speed Control)

Functions

• This function sets the primary filter for the speed feedback gain.

• Use the filter function when you cannot raise the speed loop feedback due to mechanical system vibration, etc.

Note If you use the speed feedback compensation function, online auto-tuning will not operate normally. To use the speed feedback compensation function, turn OFF the online auto-tuning (Pn110.0 =

2).

Parameters Requiring Settings

Parameter No.

Pn308

Parameter

Name

Speed feedback filter time constant

Explanation

Set the filter time constant for the speed feedback.

(Setting range: 0 to 65535 (x 0.01 ms).)

Reference

4-4-4 Parameter

Details

Setting Procedure

• Measure the machinery vibration cycle, and set Pn508 (speed feedback filter time constant) to that value.

4-8-10 P Control Switching (Position, Speed, Internally-set

Speed Control)

Functions

• This function automatically switches the control method for the speed loop control from PI (proportional integration) control to P (proportional) control.

• Normally, control is sufficient using the speed loop gain and position loop gain set by auto-tuning. (So normally there is no need to change the setting.)

• Continual operation using PI control may cause switching to P control if the Servomotor speed overshoots or undershoots. (Switching to P control lowers the effective servo gain to stabilize the servo system.) You can also reduce positioning time in this way.

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Operation Chapter 4

Parameters Requiring Settings

Parameter

No.

Pn10b.0

Parameter name

Speed control setting

Explanation

Sets the condition for switching the speed loop from PI control to P control. Use Pn10C to Pn10F to make the switching level settings.

Pn10C

P control switching condition

P control switching

(torque command)

Pn10d

Pn10E

Pn10F

P control switching

(speed command)

P control switching

(acceleration command)

P control switching

(deviation pulse)

Set when Pn10b.0 = 0 (switch using internal torque command value). Set the conditions for switching to P control using the ratio (%) of the Servomotor rated torque.

Set when Pn10b.0 = 1 (switch using speed command value). Set the speed (r/min.) to switch to P control.

Set when Pn10b.0 = 2 (switch using acceleration command value). Set the acceleration (x 10 r/min. /s) to switch to P control.

Set when Pn10b.0 = 3 (switch using deviation pulse value). Set the deviation pulse value (command unit) to switch to P control.

Reference

4-4-4

Parameter

Details

• If the output torque is saturated during acceleration and deceleration, switch to P control using the internal torque command value or acceleration command value.

• If the output torque is not saturated during acceleration and deceleration, and an overshoot or undershoot occurs, switch to P control using the speed command value or deviation pulse value.

Operation

• Clear the speed overshoot and undershoot by switching to P control.

Overshoot

Servomotor operation

Operation during PI control

Undershoot

Operation using P-control switching function

D Switching Using Torque Command

• You can switch to P control when the internal torque command value exceeds the setting in Pn10C to prevent output torque saturation and cancel speed overshoot and undershoot.

Internal torque command value

Time

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Operation Chapter 4

D Switching Using Speed Command

• You can switch to P control when the speed command value exceeds the setting in Pn10d to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high-speed area.

Speed command value

Time

D Switching Using Acceleration Command

• You can switch to P control when the acceleration command value exceeds the setting in Pn10E to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high-speed area.

Acceleration command value

Time

D Switching Using Deviation Pulse

• You can switch to P control when the deviation pulse value exceeds the setting in Pn10F to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high-speed area.

Deviation pulse value

Time

4-9 Using Displays

OMNUC C-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.

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Operation Chapter 4

4-9-1 Power Supply Indicator and Charge Indicator

• There are two LED indicators on the Servo Driver itself. One is for the power supply, and the other is a charge indicator.

Charge indicator Power supply indicator

Indicators

Symbol

POWER

CHARGE

Name Color

Power supply indicator Green

Charge indicator Red

Function

Lit when control power supply is normal.

Lit when main-circuit power supply is charging.

Note The indicator stays lit while the main circuit capacitor remains charged even after the power is turned OFF. Do not touch the Servo Driver terminal.

4-9-2 Status Display Mode

• The Status Display Mode indicates the internal status of the driver using bit display (LED ON/OFF), and symbol display (3-digit 7-segment LEDs).

• Status Display Mode is the mode in which the Servo Driver starts when the power supply is first turned

ON.

Status Display

Mode

Symbol display

Bit display

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Operation

Bit Data Display Contents

Chapter 4

Rotation detected

Command pulses being input

(during position control)

Speed commands being input

(during position control)

Positioning completed 1

(during position control)

Speed conformity

(during speed control)

Base block

Control-circuit power supply ON

Main-circuit power supply ON

Deviation counter reset signal being input (position control)

Torque commands being input (torque control)

Bit data Contents

Control-circuit power supply ON Lit when Servo Driver control-circuit power supply is ON.

Main-circuit power supply ON

Base block

Positioning completed 1

Speed conformity

Rotation detection

Inputting command pulses

Inputting speed command

Inputting deviation counter reset signal

Inputting torque command

Lit when Servo Driver main-circuit power supply is ON.

Lit during base block (no power to Servomotor, servo is OFF); dimmed when servo is ON.

Lit when the residual pulses in the deviation counter fall below the setting for Pn500 (positioning completion range 1).

Lit when the Servomotor rotation speed is within the range of (speed command value ± (Pn503 (speed conformity signal output width)).

Lit when the Servomotor rotation speed is equal to or greater than

Pn502 (rotation speed for motor rotation detection) setting.

Lit when command pulses are being input.

Lit when a speed command input meets or is greater than Pn502 (rotation speed for motor rotation detection) setting.

Lit when the ECRST (deviation counter reset signal) is being input.

Lit when a torque command at least 10% of the rated torque is input.

Symbol Display Contents

Symbol display Contents

Base block (no power to Servomotor, servo is OFF)

Operating (power to Servomotor, servo is ON)

Forward rotation prohibited (POT (Forward rotation prohibited input) is OFF)

Reverse rotation prohibited (NOT (Reverse rotation prohibited input) is OFF)

Alarm display (Refer to alarm table.)

Key operation disabled (When attempting to execute operations that cannot be performed in System Check Mode)

Setting error (When a parameter setting is not suitable)

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Operation

4-9-3 Monitor Mode (Un jjj )

Chapter 4

Operations Using Monitor Mode

• After switching to Monitor Mode, set the monitor number, and press the DATA Key (front panel: DATA

Key for 1 s min.) to display the monitor value.

D Switching to Monitor Mode

Status Display Mode

System Check Mode

Setting Mode

Monitor Mode

Note Switch to Monitor Mode (Un.

jjj ) using the MODE/SET

Key.

D Operations in Monitor Mode

Speed feedback

Speed command

Torque command

1 s min.

Speed feedback monitor value

Speed command monitor value

1 s min.

Torque command monitor value

Note After setting the monitor number using the Up and Down

Keys, press the DATA Key (front panel: DATA Key for 1 s min.) to display the monitor value. Press the Key again to return to the monitor number display.

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Operation Chapter 4

Operating Procedure Example: Displaying Monitor Value of Electrical Angle (Un.004)

PR02W operation

Front panel key operation

Display Explanation

(Status Display Mode)

Press the MODE SET Key to switch to Monitor Mode.

(1 s min.)

Note Digits that can be manipulated will flash.

Set monitor No. Un004 using the Up or Down Key. (See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display monitor value for Un004 (electrical angle).

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to monitor number display.

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Types of Monitoring

• In Monitor Mode, 14 types of monitoring can be carried out.

Display

(monitor No.)

Monitor contents Unit

Speed feedback (all output modes)

Speed command

(speed)

Torque command (all output modes)

Number of pulses from

Phase Z edge (all output modes)

Electrical angle (all output modes)

Input signal monitor (all output modes)

Output signal monitor

(all output modes)

Command pulse speed display (position)

Position deviation

(deviation counter)

(position)

Cumulative load ratio

(all output modes)

Regeneration load ratio

(all output modes)

Dynamic brake resistance load ratio (all output modes)

Input pulse counter

(position)

Feedback pulse counter

(all output modes) r/min r/min

Pulse

Explanation

Displays actual rotation speed of Servomotor.

Displays speed command voltage calculated in r/min.

Displays command values to current loop (rated torque = 100%).

Displays rotation position from Phase Z edge (4X calculation).

Degrees Displays the electrical angle of the Servomotor.

---

Displays the control input signal status using

ON/OFF bits.

Displays the control output signal status using

ON/OFF bits.

r/min Calculates and displays command pulse frequency in r/min.

Command Displays the number of residual pulses in the deviation counter (input pulse standard).

The display will change to “SAt” if the deviation exceeds 9999.

Displays effective torque (rated torque = 100%,

10-s cycle).

Displays regeneration absorption current due to regeneration resistance (calculates internal resistance capacity or Pn600 setting as 100% in

10-s cycles).

% Displays current consumption during dynamic brake operation (calculates tolerance current consumption as 100% in 10-s cycles).

Command Counts and displays input pulses (displayed in hexadecimal).

Pulse Counts and displays feedback pulse (4X calculation, displayed in hexadecimal).

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Operation Chapter 4

D Input Signal Monitor Contents (Un005)

OFF (high level)

(top is lit)

ON (low level)

(bottom is lit)

LED No.

Indicator No.

Input terminal

1 CN1-40

2 CN1-41

CN1-42

CN1-43

CN1-44

CN1-45

CN1-46

CN1-4

Signal name (default)

RUN (RUN command)

MING (gain reduction), RDIR (rotation direction command), TVSEL

(control mode switching), PLOCK (position lock command), IPG (pulses prohibited)

POT (forward rotation prohibited)

NOT (reverse rotation prohibited)

RESET (alarm reset)

PCL (forward rotation current limit), SPD1 (speed selection command 1)

NCL (reverse rotation current limit), SPD2 (speed selection command 2)

SEN (sensor ON)

Note 1.

The vertical 7-segment LED is divided into two segments, upper and lower, which together comprise one pair to display the ON/OFF status of a single input signal. When an input signal is OFF (high level), the top LED is lit, and when the signal is ON (low level), the bottom LED is lit. When the SEN signal is ON (high level), the top LED is lit, and when the signal is OFF (low level), the bottom LED is lit.

Note 2.

Refer to 4-4-3 Important Parameters for input signal allocation.

D Output Signal Monitor Contents (Un006)

OFF (high level)

(top is lit)

ON (low level)

(bottom is lit)

LED No.

Indicator No. Output terminal

1 CN1-31, 32

CN1-25, 26

CN1-27, 28

CN1-29, 30

CN1-37

CN1-38

CN1-39

Signal name (default)

ALM (alarm)

INP1 (positioning completed output 1), VCMP (speed conformity)

TGON (Servomotor rotation detection)

READY (servo ready)

ALO1 (alarm code output 1)

ALO2 (alarm code output 2)

ALO3 (alarm code output 3)

Note 1.

The vertical 7-segment LED is divided into two segments, upper and lower, which together comprise one pair to display the ON/OFF status of a single output signal. When an output signal is OFF (high level), the top LED is lit, and when the signal is ON (low level), the bottom

LED is lit.

Note 2.

Refer to 4-4-3 Important Parameters for input signal allocation.

D Input Pulse Counter (Un00C) and Feedback Pulse Counter (Un00d) Contents

• Input Pulse Counter (Un00C) and Feedback Pulse Counter (Un00d) monitor values are displayed as

8-digit hexadecimal (32-bit string data).

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Operation Chapter 4

• These monitor values can also be cleared (i.e., set to zero) in Monitor Mode.

Feedback pulse counter

1 s min.

Feedback pulse counter monitor value (upper 16-bit part, displayed as “H.

jjjj “)

1 s min.

Feedback pulse counter monitor value (lower16-bit part, displayed as “L.

jjjj “)

Operating Procedure Example: Feedback Pulse Counter (Un.00d) Monitor Value

Display

PR02W operation

Front panel key operation

Display Explanation

(Monitor Mode)

(1 s min.)

Set monitor No. Un004 using the Up or Down Key. (See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display upper 4 digits (16-bit part) as H.

jjjj

Press the Up or Down Key to display lower 4 digits

(16-bit part) as L.

jjjj

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to monitor number display.

Note 1.

Digits that can be manipulated will flash.

Note 2.

Press Up and Down Keys simultaneously when the monitor value is displayed (i.e.,

“H.

jjjj “ or “L.

jjjj “ is displayed) to clear the counter (i.e., reset to H.0000 or L.0000).

4-10 Using Monitor Output

OMNUC W-series AC Servo Drivers output in analog form the Servomotor rotation speed, torque command, position difference, and other proportional voltage amounts from the Analog Monitor Output Connector (CN5). This function can be used in situations such as making fine gain adjustments or when a meter is attached to the control panel. Select the monitor items using user parameters Pn003.0 and Pn003.1. Also, use

Fn00C and Fn00d in System Check Mode to adjust the offset and change the scaling.

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Operation Chapter 4

Analog Monitor Output Connector (CN5)

• The Analog Monitor Output Connector (CN5) is located inside the top cover of the Servo Driver.

Note There is no top cover on models R88D-WT60H to R88D-WT150H (6 to 15 kW). Instead, CN5 is to the right of the display and settings area.

Analog Monitor Output

Connector (CN5)

CN5 pin distribution (front panel view)

Driver pin header: DF11-4DP-2DS

Cable connector socket: DF11-4DS-2C

Cable connector contact: DF11-2428SCF

(Manufactured by Hirose.)

View with upper cover open

Pin No.

Symbol

Name

Analog monitor 2

Analog monitor 1

Function and interface

Default setting: Speed monitor 1 V / 1000 r/min. (change using Pn003.1)

Default setting: Current monitor 1 V / rated torque

(change using Pn003.0)

GND

GND Analog monitor ground

Note 1.

Displays status with no change to scaling.

Note 2.

Maximum output voltage is 8 V. Exceeding this value may result in an abnormal output.

Note 3.

Output accuracy is approximately 15%.

Analog Monitor Output Circuit

Servo Driver

47 Ω

NM (analog monitor 2)

47 Ω AM (analog monitor 1)

GND (analog monitor ground)

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Operation

Analog Monitor Cable (R88A-CMW001S)

Use this cable to connect the Servo Driver’s Analog Monitor Connector (CN5)

Chapter 4

Servo Driver

R88D-WT j

Servo Driver

Symbol No.

1.7 dia.

Red

White

Black

Cable: AWG24 x 4C UL1007

External devices

Connector socket model

DF11-4DS-2C (Hirose)

Connector socket model

DF11-2428SCF (Hirose)

Monitored Item Selection: User Parameter Function Application Switch

3 (Pn003: Default Setting 0002)

Change the monitored item with user parameter Pn003 (function selection application switch 3).

Pn003.0

Setting range

Function selection application switch 3: Analog monitor 1 (AM) allocation

0 to F Unit --Default setting

2 Restart power?

Pn003.1

Setting range

Function selection application switch 3: Analog monitor 2 (NM) allocation

0 to F Unit --Default setting

0 Restart power?

Settings Explanation

Setting

8 to F

Explanation

Servomotor rotation speed (speed monitor): 1 V/1000 r/min. Forward rotation: – voltage, reverse rotation: + voltage. All operation modes

Speed command: 1 V/1000 r/min. Forward rotation command: – voltage, reverse rotation command: + voltage. Position, speed, internally-set speed control

Torque command (current monitor): 1 V/rated torque, forward acceleration: – voltage, reverse acceleration: + voltage. All operation modes

Position deviation: 0.05 V/1 command. Plus deviation: – voltage, minus deviation:

+ voltage. Position

Position deviation: 0.05 V/100 commands. Plus deviation: – voltage, minus deviation:

+ voltage. Position

Command pulse frequency: 1 V/1000 r/min. Forward rotation: – voltage, reverse rotation:

+ voltage. Position

Servomotor rotation speed (speed monitor): 1 V/250 r/min., Forward rotation: – voltage, reverse rotation: + voltage. All operation modes

Servomotor rotation speed (speed monitor): 1 V/125 r/min., Forward rotation: – voltage, reverse rotation: + voltage. All operation modes

Not used.

• Set values are the same as for Pn003.0 and Pn003.1.

Note Displays status without offset adjustment and scaling changes.

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Analog Monitor Output Adjustment: System Check Mode Offset

Adjustment (Fn00C), Scaling (Fn00d)

• The following two types of analog monitor output adjustment can be performed using System Check

Mode.

• Analog monitor output offset manual adjustment (Fn00C).

• Analog monitor output scaling (Fn00d)

Note Refer to 4-11-6 Analog Monitor Output Adjustment for details of adjustment and operation methods.

4-11 System Check Mode

System Check Mode Functions

• Refer to the relevant pages for an explanation of System Check Mode (Fn jjj ) and other functions.

Display

(function code)

Function name Reference

Alarm history display: Displays the last 10 alarms to occur.

4-11-1 Alarm history

Rigidity setting during online auto-tuning: Sets the control target during online auto-tuning.

Jog operation

Servomotor origin search: Fix the position of the Servomotor origin pulse (Phase Z) using a key operation.

User parameter initialization: Restores user parameters to their default settings.

Alarm history data clear

Store online auto-tuning results: Writes the load data calculated using online auto-tuning to Pn103 (inertia ratio).

Absolute encoder setup (ABS)

Speed and torque command offset automatic adjustment

4-11-2 Online Auto-tuning

Related Functions

4-3-2 Jog Operation

4-11-3 Servomotor Origin

Search

4-11-4 User Parameter

Initialization

4-11-1 Alarm history

4-11-2 Online Auto-tuning

Related Functions

4-2-2 Absolute Encoder

Setup and Battery Changes

4-11-5 Command Offset

Adjustment

Speed command offset manual adjustment

Torque command offset manual adjustment

Analog monitor output offset manual adjustment

Analog monitor output scaling: You can change the analog monitor output scaling within a range of 50% to 150%.

Servomotor current detection offset automatic adjustment

4-11-6 Analog Monitor

Output Adjustment

Servomotor current detection offset manual adjustment

4-11-7 Servomotor Current

Detection Offset

Adjustment

4-11-8 Password Setting Password setting: You can permit or prohibit writing to user parameters.

Servomotor parameter check: Check the types of connected

Servomotors and encoders.

Version check: Check the Servo Driver and encoder software versions.

4-11-9 Checking

Servomotor Parameters

4-11-10 Checking Version

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Operation

Display

(function code)

Function name

Chapter 4

Reference

Absolute encoder multi-turn setting (ABS) change: If you change user parameter setting Pn205 (absolute encoder multi-turn limit setting), the new value is automatically written to the encoder.

Option Unit detection results clear: If an Option Unit is removed, an A.E7 alarm (option detection error) will be detected. Use this function to clear the Option Unit detection results.

4-11-11 Changing Absolute

Encoder Rotation Setting

4-11-12 Clearing Option

Unit Detection Results

4-11-1 Alarm History

• OMNUC W-series AC Servo Drivers remember up to the last 10 alarms to have occurred. This section explains the alarm history data display (Fn000) and how to clear the data (Fn006).

Alarm History Display (Fn000)

• Display the remembered alarms using System Check Mode (Fn000).

Note 1.

Alarms CPF00 (Parameter Unit transmission error 1) and CPF01 (Parameter Unit transmission error 2) are Parameter Unit alarms, and so are not stored in the alarm history.

Note 2.

Warnings are not stored in the alarm history.

Note 3.

If the same alarm occurs continuously, it is entered in the alarm history only as a single alarm.

System Check Mode alarm history display

1 s min.

Error number

Alarm history data

Alarm history display

(displays last alarm)

Alarm history display

(displays alarm before last)

1 s min.

Alarm history display

(displays alarm second before last)

1 s min.

Alarm history display

(displays ninth alarm before last)

1 s min.

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Operation Chapter 4

Operation Procedure

PR02W operation

Front panel key operation

Display Explanation

(1 s min.)

Press the MODE/SET Key to change to System Check

Mode. If a function code other than Fn000 is displayed, press the Up or Down Key to set function code Fn000.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.). The last alarm will be displayed.

Press the Up Key to display the alarm before the alarm currently displayed. (See note 2.)

Press the Up Key to display the alarms in order of occurrence. (See note 3).

Press DATA Key (front panel: DATA Key for 1 s min.) to end displaying the alarm history and return to the function code display.

Note 1.

The digits you can manipulate will flash.

Note 2.

The larger the error number, the older the alarm.

Note 3.

The display “A--” indicates no alarm.

Alarm History Data Clear (Fn006)

• Use the alarm history data clear (Fn006) to clear all the alarm history in memory.

Note When you clear the alarm log data, the alarm history display for all alarms will change to “ j -A.--.”

System Check Mode

Alarm history data clear

1 s min.

Alarm history data clear display

(trCLr displayed)

Alarm history data clear operation

Flashing donE displayed

(clear completed)

(1 s later)

Returns to trCLr display.

1 s min.

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Operation Chapter 4

Operation Procedure

PR02W operation

Front panel key operation

(Approx. 1 s later)

(1 s min.)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn006.

(See note.)

Press DATA Key (front panel: DATA Key for 1 s min.) to display “trCLr.”

Press the MODE/SET Key to clear the alarm history data. When the data has been cleared, “donE” will flash for approximately 1 s.

After “donE” has been displayed, the display will return to “trCLr.”

Press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

4-11-2 Online Auto-tuning Functions

• In System Check Mode, online auto-tuning consists of the rigidity setting (Fn001) and saving tuning results (Fn007).

Rigidity Setting During Online Auto-tuning (Fn001)

• The rigidity setting during online auto-tuning sets the target speed loop gain and position loop gain for the servo system.

• Select the rigidity setting according to the following 10 levels for the mechanical system.

Rigidity setting

Fn001

(d.00

jj )

Position loop gain

[s –1 ]

Pn102

120

160

200

250

120

160

200

250

Speed loop gain

[Hz]

Pn100

Speed loop integration time constant

[x 0.01 ms]

Pn101

6000

4500

3000

2000

1500

1000

800

600

500

400

100

Torque command filter time constant

[x 0.01 ms]

Pn401

250

200

130

Note 1.

The higher the rigidity setting, the higher the servo system loop gain, and the shorter the positioning time. If the set value is too high, however, the machinery may vibrate. If vibration occurs, lower the setting.

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Operation Chapter 4

Note 2.

When you set the rigidity, the user parameters given in the above table will change automatically.

Note 3.

If you enable auto-tuning without setting the rigidity, tuning is performed using the user parameter settings (Pn102, Pn100, Pn101, and Pn401) as the target values.

System Check Mode

Rigidity setting during autotuning 1 s min.

Displays rigidity setting

(d.00

jj displayed).

Selects rigidity.

Displays rigidity setting

(d.00

jj displayed).

Writes selected rigidity.

“donE” flashes (rigidity setting complete).

(1 s later)

Returns to d.00

jj display.

1 s min.

Operation Procedure

PR02W operation

Front panel key operation

(Approx. 1 s later)

(1 s min.)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn001.

(See note.)

Press DATA Key (front panel: DATA Key for 1 s min.) to display “d.00

jj .”

Press the Up or Down Key to select the rigidity.

Press the MODE/SET Key to set the rigidity. When rigidity setting is completed, “donE” will flash for approximately 1 s.

After “donE” has been displayed, the display will return to “d.00

jj .”

Press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

Storing Online Auto-tuning Results (Fn007)

• Online auto-tuning constantly calculates and refreshes the load inertia using the rigidity settings

(speed loop gain, position loop gain, etc.) as target values. When the power supply is turned OFF after operations are complete, however, the calculated data is lost, and the next time the power supply is turned ON, calculations will restart using Pn103 (inertia ratio) setting as the initial value.

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Operation Chapter 4

• Store the online auto-tuning results if you want to use the results as the initial value when the power supply is next turned ON again. Performing this operation writes the results to Pn103 (inertia ratio).

System Check Mode

Online auto-tuning results stored

1 s min.

Tuning results (inertia ratio) displayed (d.

jjjj displayed)

Press this key to write tuning results

“donE” flashes (Pn103 setting complete)

(1 s later)

1 s min.

Display returns to d.

jjjj

Operation Procedure

PR02W operation

Front panel key operation

Display Explanation

(Approx. 1 s later)

(1 s min.)

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn007.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “d.

jjjj .” (See note 2.)

Press the MODE/SET Key to write the tuning results to

Pn103 (inertia ratio). When writing is complete, “donE” will flash for approximately 1 s.

After “donE” has been displayed, the display will return to “d.

jjjj .”

Press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

Note 1.

The digits you can manipulate will flash.

Note 2.

“ jjjj “ denotes the inertia ratio (%) calculated by online auto-tuning. (The example given shows a display of 200%).

4-11-3 Servomotor Origin Search

Servomotor Origin Search (Fn003)

• The Servomotor origin search function rotates the Servomotor to the encoder’s origin pulse (phase Z) position, and then stops the Servomotor.

• Use this function to adjust the origin position of the Servomotor shaft and mechanical system.

Note 1.

Execute the Servomotor origin search before connecting the Servomotor shaft and mechanical system.

Note 2.

The RUN command input must be turned OFF. Also, if the RUN signal is set to be always ON

(Pn50A.1 = 7), either change the setting to “Always OFF” (setting value: 8) or change the setting to another value, then turn OFF the power supply once, and then turn it ON again.

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Operation Chapter 4

Note 3.

While the Servomotor origin search is being executed, the POT (forward drive prohibited) and

NOT (reverse drive prohibited) inputs are disabled.

Note 4.

The Servomotor origin search rotation speed is 60 r/min.

System Check Mode

Servomotor origin search

1 s min.

Servomotor origin search display

(servo is OFF)

Servo ON/OFF operation

Servomotor origin search display

(servo is ON)

Execute Servomotor origin search

(forward/reverse operation)

Note Press and hold the key.

Servomotor origin search complete (display flashes)

Operation Procedure

PR02W operation

Front panel key operation

(1 s min.)

(Servomotor origin search complete)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn003.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display Servomotor origin search.

Turn ON the servo.

Press the Up Key to rotate the Servomotor forwards, and press the Down Key to rotate the Servomotor in reverse. The Servomotor will rotate at 60 r/min. while the

Key is being pressed.

When Servomotor origin search is completed, the display will flash, and the Servomotor will servolock at the origin pulse position.

Press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code, and the Servomotor servo will turn OFF.

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Operation

4-11-4 User Parameter Initialization

Chapter 4

User Parameter Initialization (Fn005)

• Initialize the user parameters to return the user parameters to the default settings.

Note 1.

You cannot perform initialization while the servo is ON. First turn OFF the servo, then perform the operation.

Note 2.

After initializing the user parameters, turn OFF the power supply (confirm that the power supply indicator is not lit), then turn ON the power once again to enable the parameters.

System Check Mode

User parameter initialization

1 s min.

User parameter initialization display (“P.InIt” displayed)

Initialize

Initializing (“P.InIt” flashes)

Initialization complete

(“donE” flashes)

1 s min.

(1 s later)

Returns to “P.init”

Operation Procedure

PR02W operation

Front panel key operation

(After initialization)

(Approx. 1 s later)

(1 s min.)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn005.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display user parameter initialization.

Press the MODE/SET Key to start user parameter initialization. During initialization, “P.InIt” will flash.

The display “donE” will flash for about 1 second when the user parameter initialization has been completed.

After displaying “donE,” the display will return to “P.InIt.”

Press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

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Operation Chapter 4

4-11-5 Command Offset Adjustment

• When operating in the Speed Control and Torque Control Modes, the Servomotor may rotate slightly even if an analog command voltage of 0 V (command value zero) is input. This is due to small offset amounts (in the order of mV) in the Host Controller and external circuits command voltage.

• If using speed control or torque command control, be sure to adjust the offset to zero.

• Use one of the following methods to adjust the command offset.

• Speed and torque command offset automatic adjustment (Fn009)

• Speed command offset manual adjustment (Fn00A) and torque command offset manual adjustment (Fn00b).

Speed and Torque Command Offset Manual Adjustment (Fn009)

• This function adjusts automatically both the speed command and torque command.

• When the offset is adjusted, the offset amount is stored in internal driver memory. You can also check this offset amount using manual adjustment (Fn00A or Fn00b).

Note Make sure the servo is turned OFF before performing speed and torque command offset automatic adjustment. Consequently, you cannot use automatic adjustment with a status that includes position loop using the Host Controller (i.e., when the servo is ON). Use manual adjustment if you want to adjust the deviation pulse to zero when the servolock is ON and includes a position loop using the Host Controller.

System Check Mode

Speed and torque command offset automatic adjustment

1 s min.

Display offset automatic adjustment (rEF_o displayed)

Perform automatic adjustment

Automatic adjustment completed (“donE” flashes)

(1 s later)

Returns to rEF_o display

1 s min.

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Operation

Operation Procedure

PR02W operation

Front panel key operation

Chapter 4

(1 s min.)

(Input command = 0)

(Approx. 1 s later)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn009.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “rEF_o.”

Input speed and torque commands “command = 0” from either the Host Controller or the external circuits. (Make sure that RUN is turned OFF.)

Press the MODE/SET Key to perform automatic offset adjustment. When automatic adjustment is complete,

“donE” flashes for approximately 1 s.

After displaying “donE,” the display will return to “rEF_o.”

Press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

Speed Command Offset Manual Adjustment (Fn00A)

• Use manual adjustment for adjusting deviation pulses (the deviation counter value in the host controller) to zero while servo-locked, with a position loop incorporated by the host controller.

• Perform manual adjustment while checking the deviation counter value or the Servomotor shaft movement while the RUN signal is ON.

• The speed command offset setting range is –9999 to 9999 (x 0.058 mV).

Note Manually adjust the speed command offset using Speed Control Mode.

System Check Mode

Speed command offset manual adjustment

1 s min.

Speed command offset manual adjustment display (“SPd” displayed)

RUN signal is ON (servo is ON)

Servo is ON

1 s max.

Speed command offset display

Adjust speed command offset

Speed command offset display

1 s min.

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Operation Chapter 4

Operation Procedure

PR02W operation

Front panel key operation

Display Explanation

(1 s min.)

Input command = 0, servo

ON)

(1 s max.)

(1 s min.)

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn00A.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “SPd.”

Input speed command “command = 0” from either the

Host Controller or the external circuits, and make sure that RUN is ON. (See note 2.)

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the offset amount. (See note

3.)

Press the Up or Down Key to change the offset amount.

Adjust the offset until the Servomotor stops. (See note

4.)

After completing offset adjustment, press the DATA Key

(front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

Note 1.

The digits you can manipulate will flash.

Note 2.

Make sure that the servolock is ON if a position loop is incorporated by the host controller.

Note 3.

The offset amount unit is x 0.058 mV.

Note 4.

If a position loop is incorporated by the host controller, adjust until the host controller deviation counter value is zero.

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Operation Chapter 4

Torque Command Offset Manual Adjustment (Fn00b)

• Adjust the torque command manually while checking the Servomotor shaft movement with the RUN signal ON.

• The torque command offset setting range is –9,999 to 9,999 (x 0.0058 mV).

(For Servo Drivers with software version r.0014 or earlier, the torque command offset setting range is

–128 to 127 (x 14.7 mV).)

Note Adjust the torque command offset manually using torque command mode.

System Check Mode

Torque command offset manual adjustment

1 s min.

Torque command offset manual adjustment (“trq” displayed)

RUN signal is ON (servo is ON)

Servo ON status

1 s max.

Torque command offset displayed.

Torque command offset adjustment

Torque command offset displayed.

1 s min.

Operation Procedure

PR02W operation

Front panel key operation

(1 s min.)

Input command = 0, servo

ON)

(1 s max.)

(1 s min.)

Display

Note 1.

The digits you can manipulate will flash.

Note 2.

The offset amount unit is x 14.7 mV.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn00b.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “trq.”

Input torque command “command = 0” from either the

Host Controller or the external circuits, and make sure that RUN is ON.

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the offset amount. (See note

2.)

Press the Up or Down Key to change the offset amount.

Adjust the offset until the Servomotor stops. (See note

3.)

After completing offset adjustment, press the DATA Key

(front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

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Note 3.

Check the offset amount to stop the Servomotor in both forward direction and reverse direction, and then set the center value accordingly.

4-11-6 Analog Monitor Output Adjustment

• The following two types of analog monitor output adjustment can be performed using System Check

Mode.

• Analog monitor output offset manual adjustment (Fn00C).

• Analog monitor output scaling (Fn00d)

Note 1.

Set the monitor items to be output from the analog monitor using Pn003.0 (analog monitor 1

(AM) allocation), and Pn003.1 (analog monitor 2 (NM) allocation).

Note 2.

The maximum analog monitor output voltage is 8 V. Exceeding this value may result in an abnormal output.

Note 3.

Analog monitor output accuracy is approximately 15%

Analog Monitor Output Offset Manual Adjustment (Fn00C)

• Use this function to adjust the analog output monitor offset. You can adjust each of the two monitor outputs separately.

• The analog monitor output offset adjustment range is –128 to 127 (x 17 mV).

Note When adjusting the analog monitor output offset, confirm that the output voltage is zero (e.g., if outputting the Servomotor rotation speed, confirm that the servo is OFF and the Servomotor shaft is not moving) before connecting the measuring instrument to be used.

1 s min.

Word selection (word 2)

System Check Mode

Analog monitor output

Offset manual adjustment

1 s min.

Word selection (word 1)

1 s max.

Analog monitor 1 (AM) offset adjustment

1 s max.

Analog monitor 2 (NM) offset adjustment

1 s min.

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Operation Chapter 4

Operation Procedure

PR02W operation

Front panel key operation

Display Explanation

(1 s min.)

(1 s max.)

(1 s min.)

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn00C.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Ch1_o” (for analog monitor output 1 (AM)).

(See note 2.)

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the analog monitor output 1

(AM) offset amount. (See note 3.)

Press the Up or Down Key to change the offset amount.

Adjust the measuring device measurement value to 0 V.

After completing adjustments for analog monitor 1, press the Left Key (front panel: DATA Key for less than 1 s) or

Right Key to return to the “Ch1_o” display.

Press the MODE/SET Key to display “Ch2_o.”

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the analog monitor output 2

(NM) offset amount. (See note 3.)

Press the Up or Down Key to change the offset amount.

Adjust the measuring device measurement value to 0 V, the same as for analog output monitor 1.

After completing adjustments for analog monitor 2, press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

Note 1.

The digits you can manipulate will flash.

Note 2.

Press the MODE SET Key in this mode to display “Ch2_o,” then select analog monitor output

2 (NM). Press the same Key again to return to “Ch1_o” display.

Note 3.

The offset amount unit is x 17 mV.

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Operation Chapter 4

Analog Monitor Output Scaling (Fn00d)

• Use this function to set the analog monitor output scale. You can set the two monitor outputs separately.

• The analog monitor output scale setting range is –128 to 127 (x 0.4%).

• Perform the scale setting as the center value of 100%. For example, if you set –125, 100% – (125 x

0.4%) = 50%, so the monitor output voltage = 1/2. Alternatively, if you set 125, 100% = (125 x 0.4%) =

150%, so the monitor output voltage = x 1.5.

• Make the setting in accordance with the measuring device input range.

• At a setting of 100%, if the analog monitor output voltage exceeds 8 V, you can adjust the output range to normal (i.e., within 8 V) by setting the scale to a negative number.

1 s min.

Word selection (word 2)

System Check Mode

Analog monitor output scaling

1 s min.

Word selection (word 1)

1 s max.

Analog monitor 1

(AM) scaling

1 s max.

Analog monitor 2

(NM) scaling

1 s min.

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Operation Chapter 4

Operation Procedure

PR02W operation

Front panel key operation

(1 s min.)

(1 s max.)

Display

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn00d.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Ch1_G” (for analog monitor output 1 (AM)).

(See note 2.)

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the analog monitor output 1

(AM) offset amount. (See note 3.)

Press the Up or Down Key to change the scale. Set the scale according to the measuring device input range.

After completing adjustments for analog monitor 1, press the Left Key (front panel: DATA Key for less than 1 s) or

Right Key to return to the “Ch1_G” display.

Press the MODE/SET Key to display “Ch2_G.”

(1 s max.)

(1 s min.)

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the analog monitor output 2

(NM) scale setting. (See note 3.)

Press the Up or Down Key to change the scale. Set the scale according to the measuring device input range, the same as for analog output monitor 1.

After completing adjustments for analog monitor 2, press the DATA Key (front panel: DATA Key for 1 s min.). The display will return to the System Check Mode function code.

Note 1.

The digits you can manipulate will flash.

Note 2.

Press the MODE/SET Key in this mode to display “Ch2_G,” then select analog monitor output

2 (NM). Press the same Key again to return to “Ch1_G” display.

Note 3.

The scale unit is x 0.4%.

4-11-7 Servomotor Current Detection Offset Adjustment

• Servomotor current detection offset adjustment has already been completed at the factory. Consequently, there is normally no need to perform adjustments.

• If you think that the torque ripple caused by current detection offset is abnormally large, perform Servomotor current detection offset automatic adjustment (Fn00E).

• After performing automatic adjustment, perform manual adjustment (Fn00F) if you still want to lower the torque ripple even further. If manual adjustment is performed badly, however, there is a risk of worsening the characteristics.

Servomotor Current Detection Offset Automatic Adjustment (Fn00E)

• Perform automatic adjustment to the Servomotor current detection offset.

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Operation Chapter 4

Note Automatic adjustment can be performed only when the power supply to the main circuits is turned

ON, and the power supply to the servo is OFF.

System Check Mode

Servomotor current detection offset automatic adjustment

1 s min.

Offset automatic adjustment display

(“Cur_o” displayed)

Perform automatic adjustment

Automatic adjustment completed (“donE” flashes)

(1 s later)

Return to

“Cur_o” display

1 s min.

Operation Procedure

PR02W operation

Front panel key operation

(Approx. 1 s later)

(1 s min.)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn00E.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Cur_o”.

Press the MODE/SET Key to perform automatic offset adjustment. When automatic adjustment is completed,

“donE” will be displayed for approximately 1 s.

After “donE” has been displayed, the display will return to “Cur_o.”

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System Check Mode function code display.

Servomotor Current Detection Offset Manual Adjustment (Fn00F)

• This function manually adjusts the Servomotor current detection offset.

• Adjust the U-phase and V-phase offsets alternately while balancing each separately.

• When performing adjustments, rotate the Servomotor at 100 r/min. without connecting the mechanical system to the Servomotor shaft (i.e., make sure there is no load), and perform the adjustments while monitoring the waveform of the analog monitor output’s torque command monitor (current monitor).

• The Servomotor current detection offset setting range is –512 to 511.

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Operation Chapter 4

Note If adjusting the Servomotor current detection offset, first try performing automatic adjustment

(Fn00E). Only attempt manual adjustment if the torque ripple is still large after performing automatic adjustment.

1 s min.

Phase selection (Cu2

= V phase)

System Check Mode

Servomotor current detection offset manual adjustment

1 s min.

Phase selection (Cu1

= U phase)

1 s max.

U-phase (CU1) offset adjustment

1 s max.

V-phase (CU2) offset adjustment

1 s min.

Flowchart for Servomotor Current Detection Offset Manual Adjustment

Rotate Servomotor at approx. 100 r/min. (with no load).

Adjust phase-U offset 10 ° in the best direction for torque ripple

Adjust phase-V offset 10 ° in the best direction for torque ripple.

Torque ripple does not improve even if adjusted in both + and – directions?

Adjust phase-U offset 1 ° in the best direction for torque ripple.

Adjust phase-V offset 1 ° in the best direction for torque ripple.

Characteristics OK?

End

Note 1.

Adjust the offset while monitoring the torque command monitor (current monitor)’s waveform.

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Operation Chapter 4

Note 2.

Perform rough adjustments in units of 10 ° , and fine adjustments in units of 1 ° . (You can also perform intermediate adjustments in units of 5 ° .)

Note 3.

Do not greatly adjust either U phase or V phase alone.

Operation Procedure

PR02W operation

Front panel key operation

(1 s min.)

(1 s max.)

Display Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn00F.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Cu1_o” (U phase)

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the U-phase offset amount.

Press the Up or Down Key to change the offset amount.

Change the offset in units of 10 ° in the direction in which the torque ripple is reduced.

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to return to the “Cu1_o” display.

Press the MODE/SET Key to display “Cu2_o.” (V phase).

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to display the V-phase offset amount.

Press the Up or Down Key to change the offset amount.

Change the offset in units of 10 ° in the direction in which the torque ripple is reduced.

Press the Left Key (front panel: DATA Key for less than

1 s) or Right Key to return to the “Cu2_o” display.

Press the MODE/SET Key to display “Cu1_o.”

Repeat the above operation (phase-U adjustment to phase-V adjustment) until the torque ripple improves no further even by changing the offset in both the + and – directions. Next, finely adjust the phase U and phase V in the same way.

(1 s min.)

When you have completed the Servomotor current detection offset adjustment, press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System

Check Mode function code display.

Note The digits you can manipulate will flash.

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Operation

4-11-8 Password Setting

Chapter 4

Password Setting (Fn010)

• This function prevents the user parameter settings and System Check Mode settings and adjustments being overwritten unintentionally.

• When a write-prohibited password is set, from the next power-up onwards it becomes impossible to make parameter settings or to make settings or adjustments in System Check Mode. It still remains possible, however, to refer to the user parameters and perform some functions in System Check

Mode. The functions that can be performed in System Check Mode while write prohibited is enabled are as follows:

Display alarm log (Fn000), password setting (Fn010), Servomotor parameters check (Fn011), and version check (Fn012).

If you try to perform any functions other than these, “nO OP” will flash for approximately 1 s, and then the display will return to the function code.

• If you set the write-enabled password, the write-prohibited status will be cancelled (i.e., you can write to the user parameters, etc., when the power is next turned ON again).

System Check Mode

Password setting

Password display

1 s min.

Password display

Write to password

“donE” flashes (password setting completed)

(1 s later)

Return to password display

1 s min.

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Operation

Operation Procedure

PR02W operation

Front panel key operation

(Approx. 1 s later)

(1 s min.)

Display

Chapter 4

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn010.

(See note 1.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display the password “P.

jjjj .”

Press the Up or Down Key to select the password.

0000: Write enabled, 0001: Write prohibited.

Press the MODE/SET Key to set the password. When setting is complete, “donE” will flash for approximately

1 s.

After displaying “donE,” the display will return to

“P.

jjjj .”

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System Check Mode function code display.

Note 1.

The digits you can manipulate will flash.

Note 2.

If this is set to any value other than 0000 or 0001, “Error” will flash for approximately 1 s, and then the display will return to the original password.

4-11-9 Checking Servomotor Parameters

Checking Servomotor Parameters (Fn011)

• You can check the type of Servomotor, encoder, etc., that is connected.

System Check Mode

Servomotor parameter check

1 s min.

Servomotor voltage and

Servomotor type displayed.

Servomotor capacity displayed

1 s min.

Encoder information displayed.

1 s min.

Servo Driver specifications displayed.

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Operation

Servomotor Voltage and Servomotor Type

Chapter 4

Servomotor type

Servomotor voltage

Servomotor voltage

Data Voltage

100 V AC

200 V AC

Servomotor type

Data

Servomotor Type

3,000 r/min. (30 to 750 W)

3,000 r/min. Flat-style

3,000 r/min. (1 to 5 kW)

1,500 r/min.

1,000 r/min.

Servomotor Capacity

Note Servomotor capacity is the displayed value x 10 (W). The example on the left shows a Servomotor capacity of 30 W.

Servomotor capacity

Encoder Information

Encoder resolution

Encoder type

Encoder type

Data

Type

Incremental encoder

Absolute encoder

Encoder resolution

Data

Resolution

13-bit (2,048 pulses/rotation)

16-bit (16,384 pulses/rotation)

17-bit (32,768 pulses/rotation)

Driver Specification

Note “0000” is displayed for standard specifications. Other numbers are displayed for special specifications.

Operation Procedures

PR02W operation

(1 s min.)

Driver specification

Front panel key operation

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn011.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.). Servomotor voltage and Servomotor type are displayed as “F.

jjjj .”

Press the MODE/SET Key. Servomotor capacity is displayed as “P.

jjjj .”

Press the MODE/SET Key. Encoder information is displayed as “E.

jjjj .”

Press the MODE/SET Key. Servo Driver specification is displayed as “y.

jjjj .”

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System Check Mode function code display.

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Operation

4-11-10 Checking the Version

Chapter 4

Version Check (Fn012)

• You can use this function to check the Servo Driver and encoder software versions.

System Check Mode

Version check

1 s min.

Servo Driver software version displayed.

1 s min.

Encoder software version displayed.

Operation Procedure

PR02W operation

Front panel key operation

(1 s min.)

Display

(1 s min.)

Note The digits you can manipulate will flash.

Explanation

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn012.

(See note.)

Press the DATA Key (front panel: DATA Key for 1 s min.). Driver software version is displayed as

“r.

jjjj .”

Press the MODE/SET Key. Encoder software version is displayed as “E.

jjjj .”

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System Check Mode function code display.

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Operation Chapter 4

4-11-11 Changing Absolute Encoder Rotation Setting (ABS)

Changing Absolute Encoder Multi-turn Setting (Fn013)

• When you change the setting for user parameter Pn205 (absolute encoder multi-turn limit setting), and turn OFF the power supply to the Servo Driver and then back ON again, an A.CC (multi-turn limit nonconformity) alarm occurs. When this alarm occurs, you can change the setting in the encoder to the same as the Servo Driver setting by means of Fn013 (absolute encoder multi-turn setting change).

After changing the setting, turn OFF the power, then turn it ON again, to clear the A.CC alarm.

System Check Mode

Absolute encoder multiturn setting change

1 s min.

(1 s later)

Rotation setting displayed

(PGSEt displayed).

Perform rotation setting.

Setting completed

(“donE” flashes).

Return to PGSEt display.

1 s min.

Operation Procedure

PR02W operation

Front panel key operation

(Approx. 1 s later)

(1 s min.)

Display Explanation

Status Display Mode. (See note 1.)

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn013.

(See note 2.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “PGSEt.”

Press the MODE/SET Key. Multi-turn setting change will be performed. When the setting is completed, “donE” will flash for approximately 1 s.

After “donE has been displayed, the display will return to

“PGSEt.”

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System Check Mode function code display. (See note 3.)

Note 1.

Perform the above operation when A.CC is displayed.

Note 2.

The digits you can manipulate will flash.

Note 3.

The A.CC alarm will be cleared the next time the power supply is turned OFF, then ON again.

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Operation

4-11-12 Clearing Option Unit Detection Results

Chapter 4

Option Unit Detection Results Clear (Fn014)

• If an Option Unit is removed and then the power supply is turned ON, an A.E7 alarm (option detection error) will occur. This is because the Servo Driver has determined that an error exists because the

Option Unit cannot be detected.

• If an A.E7 alarm occurs, use one of the following methods to clear the alarm.

D Using an Option Unit

Turn OFF the power supplies, mount the Option Unit properly, and turn ON the power supplies.

D Not Using an Option Unit

Initialize the user parameters (by executing Fn005), clear the Option Unit detection results (by executing Fn014), and reset the power supplies.

System Check Mode

Option Unit detection results clear

1 s min.

Display for clearing Option Unit detection results (o.InIt displayed.)

Execute the clear operation.

Clear completed

(“donE” flashes).

(1 s later)

Return to o.InIt display.

1 s min.

Operation Procedure

PR02W operation

Front panel key operation

Display Explanation

Status Display Mode. (See note 1.)

(Approx. 1 s later)

(1 s min.)

Press the MODE/SET Key to change to System Check

Mode.

Press the Up or Down Key to set function code Fn014.

(See note 2.)

Press the DATA Key (front panel: DATA Key for 1 s min.) to display “o.InIt.”

Press the MODE/SET Key. The Option Unit detection results will be cleared. When the clear operation is completed, “donE” will flash for approximately 1 s.

After “donE has been displayed, the display will return to

“o.InIt.”

Press the DATA Key (front panel: DATA Key for 1 s min.) to return to the System Check Mode function code display.

Note 1.

Perform the above operation when A.E7 is displayed.

Note 2.

The digits you can manipulate will flash.

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Chapter 5 Troubleshooting

5-1 Measures when Trouble Occurs

5-2 Alarms

5-3 Troubleshooting

5-4 Overload Characteristics

(Electron Thermal Characteristics)

5-5 Periodic Maintenance

5-6 Replacing the Absolute Encoder Battery (ABS)

Troubleshooting

5-1 Measures when Trouble Occurs

Chapter 5

5-1-1 Preventive Checks Before Trouble Occurs

This section explains the preventive checks and analysis tools required to determine the cause of trouble when it occurs.

Check the Power Supply Voltage

• Check the voltage to the power supply input terminals.

Main-circuit Power Supply Input Terminals (L1, L2, (L3))

R88D-WT j H

(30 to 400 W): Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

(500 W to 15 kW): 3-phase 200/230 V AC (170 to 253 V) 50/60 Hz

R88D-WT j HL (30 to 200 W): Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

Control-circuit Power Supply Input Terminals (L1C, L2C)

R88D-WT j H: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz

R88D-WT j HL: Single-phase 100/115 V AC (85 to 127 V) 50/60 Hz

If the voltage falls outside of this range, there is a risk of misoperation, so make sure that the power supply is correct.

• Make sure that the voltage of the sequence input power supply (+24 VIN Terminal (CN1-47 pin)) is within the range 23 to 25 VDC. If the voltage falls outside of this range, there is a risk of misoperation, so make sure that the power supply is correct.

Selecting Analysis Tools

D Check Whether an Alarm Has Occurred

• If an alarm has occurred, check the alarm code (A.

jj ), and perform analysis depending on the alarm code.

Note If an Option Unit is installed, an Option Unit error code may be output. For details, also refer to the operation manual for the Option Unit.

• If an alarm has not occurred, perform analysis depending on the error.

Note Refer to 5-3 Troubleshooting in either case.

D Types of Analysis Tools

• The types of analysis tools are as follows:

Servo Driver Indicators and Parameter Unit

S Perform analysis using the display (7-segment LEDs) and the operation keys on the front panel of the Servo Driver. You can also perform the same operation using the Parameter Unit (R88A-

PR02W). This manual explains analysis using these methods.

5-2

Troubleshooting Chapter 5

Computer Monitor Software

S Install and use the OMNUC W-series Servo Driver Computer Monitor Software (for Windows 95).

The following three items are required: An IBM PC/AT or compatible with Windows 95, the Computer Monitor Software, and Connecting Cable (R88A-CCW002P j ).

S Refer to the Computer Monitor Software for operation details.

5-1-2 Precautions

When checking and verifying I/O after trouble has occurred, the Servo Driver may suddenly start to operate or suddenly stop, so take precautions. Also, do not attempt operations not specified in this manual.

Precautions

• Disconnect any cables before checking if they have burned out. Even if you have checked the conduction of the wiring, there is a risk of conduction due to the return circuit.

• If the encoder signal is lost, the Servomotor may run away, or an error may be generated. Make sure the Servomotor is disconnected from the mechanical system before checking the encoder signal.

• When measuring the encoder output, measure using the ground (CN1-1 pin) as standard. If measuring using an oscilloscope, measure using the differential between CH1 and CH2 to reduce interference from noise.

• When performing tests, first check that there are no personnel inside the machine facilities, and that the facilities will not be damaged even if the Servomotor runs away. Also, check that even if the Servomotor runs away, you can immediately stop the machine using an emergency stop before performing the tests.

5-1-3 Replacing the Servomotor and Servo Driver

Perform the following procedure to replace the Servomotor or Servo Driver.

Replacing the Servomotor

1. Replace the Servomotor.

2. Perform origin teaching (if using position control).

S When replacing the Servomotor, the Servomotor’s specific origin position (Z-phase) may slip, so be sure to perform origin teaching.

S Refer to the manual for the position controller you use for how to perform origin teaching.

3. Set up the absolute encoder (ABS).

S If using a Servomotor with an absolute encoder, when replacing the Servomotor, the absolute data in the absolute encoder will be cleared, so you need to set up the data again. Also, the rotation limit data will be different from before you replaced the Servomotor, so initialize the Motion Control Unit settings.

Note Refer to 4-2-2 Absolute Encoder Setup and Battery Changes for details.

5-3

Troubleshooting Chapter 5

S Also, if you have changed the setting in Pn205 (absolute encoder multi-turn limit setting), an A.CC

(rotation speed mismatch) alarm will occur, so change the rotation limit setting (Fn013) using system check mode.

Replacing the Servo Driver

1. Make a note of the parameters.

S If using Computer Monitor Software, start the program, and transfer and save all the parameters in the Servo Driver to the personal computer.

S If not using Computer Monitor Software, write all of the parameter settings using Parameter Unit or

Servo Driver operation keys. (Refer to 6-4 Parameter Setting Value Table .)

2. Replace the Servo Driver.

3. Set the parameters.

S If using Computer Monitor Software, transfer all the parameters stored in the personal computer to the Servo Driver.

S If not using Computer Monitor Software, set all the parameters using a Parameter Unit or Servo

Driver operation keys.

4. Set up the absolute encoder (ABS).

S If using a Servomotor with an absolute encoder, when replacing the Servomotor, the absolute data in the absolute encoder will be cleared, so you need to reset the data. Also, the rotation limit data will be different from before you replaced the Servomotor, so initialize the Motion Control Unit settings.

Note Refer to 4-2-2 Absolute Encoder Setup and Battery Changes for details.

5-4

Troubleshooting

5-2 Alarms

Chapter 5

If the Servo Driver detects an error, ALM (alarm output) and ALO1 to ALO3 (alarm codes) are output, the power drive circuit in the Servo Driver turns OFF, and the alarm is displayed. If the Servo Driver detects a warning (e.g., overload warning or regenerative overload warning), WARN (warning output) and ALO1 to ALO3 (warning codes) are output, and the warning is displayed. (Operation continues.)

Note 1.

Warning outputs and warning codes are output only if the parameters have been set

(Pn50F.3, Pn001.1).

Note 2.

If an Option Unit is installed, an Option Unit error code may be output. For details, also refer to the operation manual for the Option Unit.

When a Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number:

FNY-NS115) is mounted to the Servo Driver, there are other Option Board alarms and warnings in addition to those listed below. For details, refer to 6-5 Alarms and Warnings when a

JUSP-NS115 MECHATROLINK-II Option Unit is Mounted .

Note 3.

Refer to 5-3-1 Error Diagnosis Using Alarm Display for appropriate alarm countermeasures.

Note 4.

Cancel the alarm using one of the following methods. (Remove the cause of the alarm first.)

S Input a RESET (alarm reset) signal.

S Turn OFF the power supply, then turn it ON again.

S Press the RESET Key on the Parameter Unit, or press the Up and Down Keys together on the front panel. The following alarms can only be cancelled by turning OFF the power supply, then turning it ON again: A.02, A.04, A.10, A.81, A.82, A.83, A.84, A.C9, A.Cb, A.CC, and A.E7.

Note 5.

If you cancel an alarm while RUN is turned ON, the Servo Driver will start as soon as the alarm is cleared, which is dangerous. Be sure to turn OFF the RUN command before cancelling the alarm. If the RUN command is ON, or the servo is always ON (setting Pn50A.1 = 7), first check safety sufficiently before cancelling the alarm.

Alarm Table

OFF

Alarm code

ALO1 ALO2 ALO3

OFF

OFF ror

Error detection f

Parameter corruption

OFF OFF Main circuit detection error

Parameter setting er-

OFF OFF Motor mismatch

Overcurrent

Cause of error

The checksum for the parameters read from the EEPROM does not match.

There is an error in the detection data for the power supply circuit.

Incorrect parameter setting.

The Servomotor does not match the Servo

Driver.

Overcurrent detected, or improper radiation shield temperature rise detected. (1.5 to

3 kW only).

OFF Regeneration error

OFF Regeneration overload

Regeneration circuit damaged due to large amount of regenerative energy.

Regenerative energy exceeded the regeneration resistance.

5-5

Troubleshooting Chapter 5

ALO1

Alarm code

ALO2 ALO3

OFF

Error detection function

OFF Main-circuit power supply setting error

OFF ON

(See note 3.)

Overvoltage

Low voltage

Overspeed

Overload

Dynamic brake overload

Inrush resistance overload

Overheat

The setting of Pn001.2 (AC/DC input selection) and the AC/DC wiring method of the main circuit power supply are not the same.

Main circuit DC voltage above the allowable range.

Main circuit DC voltage below the allowable range.

Servomotor rotation speed exceeded the maximum speed.

Output torque exceeded 245% of rated torque.

Output torque continued at 120% to 245% of rated torque.

Regenerative energy exceeded the dynamic brake resistance during dynamic brake operation.

Inrush current exceeded the inrush resistance during power supply inrush.

Abnormal temperature rise detected in radiation shield.

Encoder backup power supply dropped.

Checksum error for encoder memory data.

OFF OFF Backup error (ABS)

OFF OFF Checksum error

(ABS)

OFF OFF Battery error (ABS)

OFF

OFF OFF Overspeed error

(ABS)

OFF OFF Encoder overheating

(ABS)

OFF OFF Speed command input reading error

OFF OFF Torque command input reading error

OFF OFF System error

Absolute error

Runaway detected.

Encoder battery voltage dropped (to 2.7 V or lower).

Encoder internal data error

Servomotor rotation speed exceeded 200 r/ min when encoder power was turned ON.

Abnormal encoder temperature rise detected.

The A/D end signal was not output from the

A/D converter within a fixed time.

The A/D end signal was not output from the

A/D converter within a fixed time.

A control circuit system error was detected.

The Servomotor rotated in the opposite direction from the command.

Absolute encoder setup was incorrect.

OFF

Multi-turn data error

(ABS)

Encoder communications error

Encoder parameter error

Encoder data error OFF ON

OFF

ON Multi-turn limit discrepancy

OFF Deviation counter overflow

No communication between encoder and

Servo Driver.

Encoder parameters are corrupted.

Data from the encoder is corrupted.

The multi-turn limits for the encoder and the

Servo Driver do not conform.

Deviation counter’s residual pulses exceeded the deviation counter overflow level set in Pn505.

5-6

Troubleshooting Chapter 5

ALO1

Alarm code

ALO2 ALO3

ON ON

Error detection function

OFF Motor-load deviation over (See note 3.)

The error for a fully-closed or semi-closed encoder is greater than or equal to the number of command units set in Pn51A.

An Option Unit has been removed.

OFF

---

ON Option detection error

(See note 3.)

OFF Missing phase detected.

OFF Motor current error

(See note 4.)

OFF Motor conduction error (See note 4.)

---

Parameter Unit transmission error 1

Parameter Unit transmission error 2

Main-circuit power supply missing phase or disconnection detected.

The current that flows to the Servomotor is abnormally small for the torque command from the Servo Driver.

When the Servomotor is ON, the baseblock condition continues, regardless of the Servo Driver settings or external input.

Data could not be transmitted after the power supply was turned ON.

Transmission timeout error

Note 1.

Alarm codes designated “---” are undefined.

Note 2.

When an alarm occurs, ALM (alarm output) is turned OFF.

Note 3.

These alarms are supported for Servo Drivers with a software version of “r.0014” or later.

Note 4.

These alarms are supported for Servo Drivers with a software version of “r.0037” or later.

Warning Table

Alarm code

ALO1 ALO2 ALO3

OFF OFF OFF

OFF

Warning detection f g

Deviation counter overflow (See note 6.)

Deviation counter residual pulses exceeded the deviation counter overflow level set in Pn505 multiplied by the ratio

(%) set in Pn51E.

Overload

Regeneration overload When a warning occurs before the regeneration overload alarm (A.32) is reached, the alarm may be generated if the Servomotor continues to operate.

Battery warning (ABS)

When a warning occurs before the overload alarm (A.71, A.72) is reached, the alarm may be generated if the Servomotor continues to operate.

(See note 5.)

A battery alarm (A.83) will occur in the near future, possibly the next time the power supply is turned ON. (Replace with battery with the control circuit power supply turned ON.)

Note 1.

Alarm codes designated “---” are undefined.

Note 2.

When Pn001.3 (warning code output selection) is set to 1, warning codes will be output (default setting is 1).

Note 3.

To output warnings, allocate the output terminal using Pn50F.3 (WARN signal output terminal allocation).

5-7

Troubleshooting Chapter 5

Note 4.

This warning is supported for Servo Drivers with a software version of “r.0014” or later.

Note 5.

This warning is supported for Servo Drivers with a software version of “r.0037” or later.

5-8

Troubleshooting

5-3 Troubleshooting

Chapter 5

If an error occurs in the machinery, check the type of error using the alarm indicators and operation status, verify the cause, and take appropriate countermeasures.

5-3-1 Error Diagnosis Using Alarm Display

Note 1.

If an Option Unit is installed, an Option Unit error code may be output. For details, also refer to the operation manual for the Option Unit.

Note 2.

Alarms marked with one asterisk are supported for Servo Drivers with a software version of

“r.0014” or later.

Note 3.

Warnings marked with two asterisks are supported for Servo Drivers with a software version of “r.0037” or later.

Display Error

Parameters corrupted

Main circuit detection error

Parameter setting error

Status when error occurs

Occurs when control circuit power supply is turned ON.

Occurs when main circuit power supply is turned ON.

Occurs when control circuit power supply is turned ON.

Cause of error

Power supply was turned OFF while parameters were being written.

Internal memory error

Main circuit detection data error

Countermeasures

Initialize (Fn005) the user parameters, and then reset the parameters.

Replace the Servo Driver.

Servomotor mismatch

Occurs when control circuit power supply is turned ON.

A value outside of the setting range was previously set in the parameters.

Reset the parameters within the setting range.

Control panel error Replace the Servo Driver.

Servomotor and

Servo Driver combination is incorrect.

Encoder internal data error

Correct the combination.

Replace the Servomotor.

5-9

Troubleshooting Chapter 5

Display Error

Overcurrent

Status when error occurs

Occurs when power supply is turned ON.

Occurs when servo is turned ON.

Cause of error Countermeasures

Control panel error

Main circuit transistor module error

Current feedback circuit error

Main circuit transistor module error

Servomotor power line is short-circuited or grounded between phases.

Replace the Servo Driver.

Repair the short-circuited or grounded wire.

Measure the insulation resistance at the Servomotor and, if there is a short-circuit, replace the

Servomotor.

Correct the wiring.

Miswiring between

U-phase, V-phase,

W-phase, and ground.

Servomotor winding is burned out.

Ambient Servo Driver temperature exceeds 55 ° C.

Radiation shield air convection is poor.

The fan has stopped.

Operating above rated output.

Measure the winding resistance, and if the winding is burned out, replace the Servomotor.

Lower the Servo Driver’s ambient temperature to

55 ° C or less.

Mount according to mounting conditions.

Replace the Servo Driver.

Lighten the load.

Regeneration error Occurs during operation.

Error in the regenerative circuit parts.

External Regeneration Resistor is burned out.

Apart from a shortcircuit between B2 and B3, the external circuit resistor is not connected.

Replace the Servo Driver.

Replace the External Regeneration Resistor.

Correctly connect the external circuit resistor (between B1 and B2).

Regeneration overload

Occurs during operation.

Regenerative energy exceeds tolerance.

Setting error in

Pn600 (regeneration resistor capacity)

Calculate the regenerative energy, and connect an external Regeneration

Resistor with the required regeneration absorption capacity.

Set Pn600 correctly.

5-10

Troubleshooting Chapter 5

Display Error

Main-circuit power supply setting error*

Overvoltage

Low voltage

Status when error occurs

Occurs when the main circuit power supply is turned ON.

Occurs when power supply is turned ON.

Occurs when Servomotor is decelerating.

Occurs during descent (vertical axis)

Cause of error Countermeasures

The setting of

Pn001.2 (AC/DC input selection) and the AC/DC wiring method of the main circuit power supply are not the same.

Servo Driver is faulty.

Main circuit power supply voltage is outside tolerance range.

Load inertia is too great.

Correct the setting of

Pn001.2.

Correct the wiring.

Replace the Servo Driver.

Change the main circuit power supply voltage to within tolerance range.

Deceleration time is too long.

Calculate the regenerative energy, and connect an external Regeneration

Resistor with the required regeneration absorption capacity.

Reduce main circuit power supply voltage to within tolerance range.

Main circuit power supply voltage exceeds tolerance range.

Gravitational torque is too large.

Add a counterbalance to the machinery to lower gravitational torque.

Slow the descent speed.

Calculate the regenerative energy, and connect and external Regeneration Resistor with the required regeneration absorption capacity.

Control panel error Replace the Servo Driver.

Occurs when the control circuit power supply only is turned

ON.

Occurs when the main circuit power supply is turned ON.

Main circuit power supply voltage is outside tolerance range.

Main circuit power supply is damaged.

Change the main circuit power supply voltage to within tolerance range.

Replace the Servo Driver.

5-11

Troubleshooting

Display Error

Overspeed

Overload

Dynamic brake overload

Chapter 5

Status when error occurs

Occurs when the servo is ON.

Occurs along with high-speed rotation when a command is input.

Cause of error Countermeasures

Encoder signal between controllers is wired incorrectly.

Servomotor power line is wired incorrectly.

Position and speed command inputs are too large.

Pn300 (speed command scale), and

Pn202 and Pn203

(electronic gear) settings are too large.

Speed limit is not performed during torque control.

Rotation limit has been exceeded due to overshooting.

Rewire correctly.

Input command values correctly.

Set the parameters correctly.

Set Pn407 (speed limit)

Adjust the gain.

Lower the maximum specified speed.

Occurs during operation.

Running at over

245% of rated torque (effective torque).

Power supply voltage has fallen.

Repair the Servomotor shaft if it is locked.

If the Servomotor power line is wired incorrectly, rewire it correctly.

Lighten the load.

Lengthen the acceleration and deceleration times.

Adjust the gain.

Check the power supply voltage, and lower to within tolerance range.

Occurs during operation.

Running at 120% to

245% of rated torque (effective torque).

Power supply voltage has fallen.

Lighten the load.

Lengthen the acceleration and deceleration times.

Adjust the gain.

Check the power supply voltage, and lower to within tolerance range.

Occurs when the servo is turned OFF after operating.

Occurs when the power supply is turned ON.

Energy required for stopping exceeds the dynamic brake resistor tolerance.

Lower the rotation speed.

Reduce the load inertia.

Reduce the frequency of dynamic brake use.

Control panel error Replace the Servo Driver.

5-12

Troubleshooting Chapter 5

Display Error

Inrush resistance overload

Status when error occurs

Occurs when the main circuit power supply is turned ON.

Cause of error Countermeasures

Inrush current when the main circuit power supply is turned

ON exceeds inrush resistor tolerance.

Reduce the frequency by which the main circuit power supply is turned

ON and OFF.

Control panel error Replace the Servo Driver.

Overheat

Occurs when the control circuit power supply only is turned

ON.

Occurs when the control circuit power supply only is turned

ON.

Occurs during operation.

g p

Control panel error Replace the Servo Driver.

Backup error (ABS) Occurs when control circuit power supply is turned ON.

Control panel error Replace the Servo Driver.

Ambient Servo Driver temperature exceeds 55 poor.

° C.

Radiation shield sink air convection is

The fan has stopped.

Operating above rated output.

Lower the Servo Driver’s ambient temperature to

55 ° C or less.

Mount according to mounting conditions.

Replace the Servo Driver.

Lighten the load.

Absolute encoder backup voltage has fallen.

Set up the absolute encoder correctly.

Occurs the first time the encoder is used.

Absolute encoder memory check error

Set up the absolute encoder correctly.

Checksum error

(ABS)

Battery error (ABS)

Absolute error

Overspeed error

(ABS)

Occurs when control circuit power supply is turned ON.

Occurs when control circuit power supply is turned ON or during operation.

Absolute encoder battery voltage has fallen (to 2.7 V or less)

Absolute encoder sensor check error

(internal encoder error)

Replace the battery while the control circuit power supply is ON.

Turn OFF the power supply, then ON again.

Take noise countermeasures.

Replace the Servomotor

(if the cause is encoder error).

Replace the Servomotor

Occurs when control circuit power supply is turned ON.

Encoder is defective.

Servo Driver is defective.

Servomotor is rotating at 200 r/min. or more when the control circuit power supply is turned ON.

Replace the Servo Driver.

Turn ON the control circuit power supply while the Servomotor is OFF.

5-13

Troubleshooting Chapter 5

Display Error

Encoder overheating (ABS)

Status when error occurs

Occurs when the control circuit power supply is turned ON.

Occurs during operation.

Cause of error

Encoder is defective.

Countermeasures

Replace the Servomotor

Command input g

Occurs during operation.

Ambient Servomotor temperature exceeds 40 ° C.

Servomotor spring mounting clip is too small.

Lower the ambient temperature to 40 ° C or less.

Use a spring mounting clip the same dimensions or greater than those of the radiation shield indicated in the Servomotor efficiency specifications.

Operating above rated output

Command input reader misoperation

Command input reader is broken.

Command input reader misoperation

Lighten the load

Reset the alarm, then restart the operation.

Replace the Servo Driver.

Reset the alarm, then restart the operation.

Command input reader is broken.

Replace the Servo Driver.

Control panel error Replace the Servo Driver.

System error Occurs during operation.

Runaway detected Occurs when there is a slight movement upon startup.

Encoder is wired incorrectly.

Correct the wiring.

Servomotor power line is wired incorrectly.

Rotation data error

(ABS)

Occurs when the l i i supply is turned ON.

Encoder is defective Replace the Servomotor

Servo Driver is defective.

Replace the Servo Driver.

Encoder communications error

Occurs when the control circuit power supply is turned ON, or occurs during operation.

Encoder signal is wired incorrectly

Correct the wiring.

Encoder is defective Replace the Servomotor

Servo Driver is defective.

Replace the Servo Driver.

error p Occurs when the control circuit power supply is turned ON.

Encoder is defective Replace the Servomotor

Servo Driver is defective.

Replace the Servo Driver.

Encoder data error Occurs when the control circuit power

Encoder signal is wired incorrectly

Correct the wiring.

p supply is turned ON. Encoder is defective Replace the Servomotor

Servo Driver is defective.

Replace the Servo Driver.

5-14

Troubleshooting Chapter 5

Display

Deviation counter overflow

Error

Multi-turn limit mismatch (ABS)

Motor-load deviation over*

Status when error occurs

Occurs when the control circuit power

Servomotor will not rotate even when command pulses are input.

Occurs when rotating at high speed.

Occurs when long are sent.

Occurs when the motor or full closedloop encoder is rog p

Cause of error Countermeasures

Pn205 (absolute encoder rotation limit setting) changed.

Pn205 (absolute encoder rotation limit setting) changed by mistake.

Perform absolute encoder rotation limit setting change (Fn013).

Set Pn205 correctly

Servomotor power or encoder line is wired incorrectly.

Rewire correctly.

Locked mechanically

Repair if the Servomotor shaft is locked

Control panel error Replace the Servo Driver.

Servomotor power or encoder line is miswired.

Rewire correctly.

Gain adjustment is insufficient.

Acceleration and deceleration is too violent.

Adjust the gain.

Lengthen acceleration and deceleration time.

Load is too large.

Use position command filter (Pn207.0, Pn204, and Pn208).

Lighten the load.

Reselect the Servomotor.

Correct the setting of

Pn002.3.

Pn002.3 (fullyclosed encoder usage method) is not set correctly.

Pn206 (number of fully-closed encoder pulses) is not set correctly.

Pn51A (motor-load deviation over level) is not set correctly.

The machinery is not operating properly.

Slipping is occurring in the power transmission.

Fully-closed encoder wiring error.

Fully-closed encoder is defective.

Option Unit is defective.

Correct the setting of

Pn206.

Correct the setting of

Pn51A according to the machinery.

Check the machinery.

Set Pn51A to 0 so that

A.d1 is not detected.

Wire the fully-closed encoder correctly.

Replace the fully-closed encoder.

Replace the Option Unit.

5-15

Troubleshooting Chapter 5

Display

Option detection error*

Missing phase detected.

Error Status when error occurs

Occurs when the control circuit power supply is turned ON.

Occurs when servo is ON.

Motor current error** Occurs at startup

(See note.)

Cause of error Countermeasures

Option Unit has been removed.

Option Unit is defective.

Servo Driver is defective.

Main circuit power supply is not connected.

Main circuit power supply phase is missing, or wire is burned out.

Servomotor power line is not connected.

Servomotor power line is wired incorrectly or the connection is defective.

Servomotor power line is broken or defective, preventing current from flowing correctly to the Servomotor.

Servomotor is defective.

Servo Driver is defective.

Mount the Option Unit properly.

Initialize the user parameters by executing

Fn005, and clear the Option Unit detection results by executing Fn014 (if an

Option Unit is not to be used).

Replace the Option Unit.

Replace the Servo Driver.

Check the main circuit power supply wiring.

Correct the wiring.

Check the Servomotor power line and correct the wiring.

Check the conduction and resistance value, and replace the power line if it is defective.

Replace the Servomotor.

Replace the Servo Driver.

5-16

Troubleshooting Chapter 5

Display Error

Motor conduction error**

Parameter Unit transmission error 1

Parameter Unit transmission error 2

Status when error occurs

Occurs when servo is ON.

Occurs at startup.

(See note.)

Occurs during operation.

Occurs when power supply is turned ON.

Occurs when Pa-

U use.

Cause of error Countermeasures

Servomotor power line is not connected.

Servomotor power line is wired incorrectly or the connection is defective.

Servomotor power line is broken or defective, preventing current from flowing correctly to the Servomotor.

Servomotor is defective.

Servo Driver is defective.

Servomotor power line is not connected.

Servomotor power line is wired incorrectly or the connection is defective.

Servomotor power line is broken or defective, preventing current from flowing correctly to the Servomotor.

Servomotor is defective.

Servo Driver is defective.

Attempted to execute servo ON

(motor current conduction) while motor is being controlled by the dynamic brake, such as when the servo is OFF or drive prohibit input is being used.

Servo Driver is defective.

Internal element misoperation

Internal element is broken

Correct the wiring.

Check the Servomotor power line and correct the wiring.

Check the conduction and resistance value, and replace the power line if it is defective.

Replace the Servomotor.

Replace the Servo Driver.

Correct the wiring.

Check the Servomotor power line and correct the wiring.

Check the conduction and resistance value, and replace the power line if it is defective.

Replace the Servomotor.

Replace the Servo Driver.

Check that the servo ON sequence is correct.

Check that the RUN signal is correctly input.

When the drive prohibit input is used, check that the signal is correctly input.

Replace the Servo Driver.

Reset the alarm, then restart the operation.

Replace the Servo Driver.

Note When the torque commands are less than 90% or when a torque limit of less than 90% is applied,

A.F6 will occur instead of A.F5.

5-17

Troubleshooting Chapter 5

5-3-2 Troubleshooting by Means of Operating Status

Symptom

The power supply indicator

(POWER) does not light even when the power supply is turned

ON.

The Servomotor does not operate even h when a command is given.

(No alarm is output.)

The Servomotor operates momentarily, but then it does not operate.

right.

ON.

Probable cause

Power supply lines are incorrectly wired.

The RUN signal is OFF.

The POT and NOT signals are OFF (except when

Pn50A.3 and Pn50b.0 are set to 8).

The control mode is not

The deviation counter reset input (ECRST) is ON.

An error occurred with the

RESET (alarm reset) signal

Pn200.0 (Command pulse mode) setting is incorrect.

The speed command (REF) voltage is 0 V.

The PLOCK signal is ON.

SEN (sensor ON) is turned

OFF (when using an absolute encoder).

The Servomotor power lines or encoder lines are wired incorrectly.

Check the power supply voltage.

Check the power supply lines.

Items to check Countermeasures

Correct the power supply.

Correct the wiring.

Check the RUN signal’s ON and OFF by means of the monitor mode (Un005).

Check whether POT and

NOT are displayed in status display mode.

Check Pn000.1 (control mode selection)

With monitor mode, check the ON/OFF status of the

ECRST signal (Un005).

Pn200.1 (Deviation counter reset) setting is incorrect.

Check the RESET signal’s

ON and OFF by means of the monitor mode.

Input the RUN signal.

Correct the wiring.

Turn ON the POT and NOT signals.

If POT and NOT are not being used, set to “Always

OFF” (Pn50A.3 and

Pn50b.0 = 8).

Set the control mode to match the command type.

Turn OFF the ECRST signal.

Correct the wiring.

Reset Pn200.1 to match the

Controller.

Turn the RESET signal OFF and take measures according to the alarm display.

Set the mode to match the

Controller’s command pulse type.

Check the Controller’s command pulse type and the

Servo Driver’s command pulse mode.

Check the speed command by means of the monitor mode (Un001).

Check the speed command voltage.

Check the PLOCK signal by means of the monitor mode

(internal status bit).

Correct the wiring.

Turn the PLOCK signal

OFF.

Check the Pn501 (Position lock rotation speed) value.

Turn ON the SEN signal.

Check whether the SEN signal is ON or OFF using monitor mode.

Check the Servomotor power line U, V, and W phases, and the encoder line wiring.

Correct the wiring.

Control mode

All modes

Position

All modes

Position

Speed

All modes

5-18

Troubleshooting Chapter 5

Symptom Probable cause Items to check Countermeasures

Servomotor operation is unstable.

Servomotor is overheating.

There are unusual noises.

Vibration is occurring at the same frequency as the applicable power supply.

The Servomotor operates even when speed command is for 0 V.

The Servomotor power lines or encoder lines are wired incorrectly.

The bias function setting is incorrect.

The polarity of the speed command (REF) input is wrong.

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.

Check the Servomotor power line U, V, and W phases, and the encoder line wiring.

---

Check the speed command input wiring.

Check the machinery.

Try operating the Servomotor without a load.

Correct the wiring.

The ambient temperature is too high.

Ventilation is obstructed.

There is an overload.

---

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 (Un002).

Use auto-tuning.

Adjust the gain manually.

The correspondence between the Servo Driver and the Servomotor is incorrect.

Check the models.

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.

Pn100 (Speed loop gain) is insufficient.

---

Lower the ambient temperature to 40

Fix any problems causing vibration.

° C or less. (Use a cooler or fan.)

Ensure adequate ventilation.

Lighten the load.

Change to a larger capacity

Servomotor and Servo Driver.

Combine models that correspond correctly.

Inductive noise is occurring. Check to see whether the

Servo Driver control signal lines are too long.

The speed command voltage and the speed command input section are offset.

Check to see whether control signal lines and power supply lines are too close to each other.

Check the speed command voltage.

Adjust Pn107 (bias rotational speed) and Pn108 (bias addition width).

Correct the wiring.

Adjust the machinery.

Use online 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.

Adjust the speed command offset (Fn009 or Fn00A).

Use speed control mode with position lock function.

(Control mode selection:

Pn000.1 = A)

Control mode

All modes

Position

Speed

All modes

Position

Speed

All modes

Position

Speed

All modes

Speed

5-19

Troubleshooting Chapter 5

5-4 Overload Characteristics (Electron Thermal Characteristics)

An overload protection (electron thermal) function is built into the Servo Driver to protect against Servo Driver or Servomotor overload. If an overload (A.71 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.

Overload characteristics are shown in the following table. If, for example, a current of three times the

Servomotor’s rated current flows continuously, it will be detected after approximately three seconds.

Load ratio (%)

A: 3,000 r/min.-Servomotors, 30 to 400 W

3,000 r/min. Flat-style Servomotors, 100 to 400 W

B: 3,000-r/min. Servomotors, 750W to 5 kW

3,000-r/min. Flat-style Servomotors, 750 W to 1.5 kW

1,000-r/min. Servomotors, 300 W to 5.5 kW

1,500-r/min. Servomotors, 450 W to 15 kW

Note The load ratio is calculated in relation to the Servomotor’s rated current.

Load ratio (%) =

Servomotor current

Servomotor rated current

× 100

5-20

Troubleshooting

5-5 Periodic Maintenance

Chapter 5

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.

Servomotors and Servo Drivers 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 Servomotors 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 Servomotor or Driver. Recommended maintenance times are listed below for Servomotors and

Drivers. Use these for reference in determining actual maintenance schedules.

Servomotors

• Recommended Periodic Maintenance

Bearings: 20,000 hours

Reduction gear: 20,000 hours

Oil seal: 5,000 hours

Application Conditions: Ambient Servomotor 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 Servomotor is used under a shaft load exceeding the allowable limit, the Servomotor shaft can break, the bearings can burn out, and other problems can occur.

Servo Drivers

• Recommended Periodic Maintenance

Aluminum analytical capacitors: 50,000 hours, at an ambient Servo Driver operating temperature of 40 _ C, rated operation (rated torque), installed as described in operation manual.

Axle fan: 30,000 hours, at an ambient Servo Driver operating temperature of 40 _ C and an ambient humidity of 65%.

Absolute encoder backup battery:

50,000 hours, at an ambient Servo Driver operating temperature of 20 _ C.

5-21

Troubleshooting Chapter 5

• When using the Servo Driver under the continuous operation mode, cool the Servo Driver with fans and air conditioners to maintain an ambient operating temperature below 40 _ C.

• 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.

• If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recommended. Please consult with OMRON to determine whether or not components need to be replaced.

5-22

Troubleshooting

5-6 Replacing the Absolute Encoder Battery (ABS)

Chapter 5

Replace the absolute encoder backup battery if it has been used for at least five years, or if an A.93 (battery warning) warning or an A.83 (battery error) alarm occurs.

Battery Model and Specifications

Item

Name

Model numbers

Battery model

Battery voltage

Current capacity

Specification

Absolute Encoder Backup Battery Unit

R88A-BAT01W (For all Servo Drivers except R88D-WT60H to R88D-WT150H)

R88A-BAT02W (For R88D-WT60H to R88D-WT150H)

ER3V (Toshiba)

3.6 V

1,000 mA S h

Note Refer to 2-10 Absolute Encoder Backup Battery Specifications for dimensions and wiring details.

Battery Replacement Procedure

• Replace the battery using the following replacement procedure. After replacing the battery, if a A.81

(backup error) alarm does not occur, the replacement is completed. If an A.81 alarm occurs, you need to set up the absolute encoder.

1. Turn ON the power supply to the Servo Driver’s control circuit.

S Turn ON the power supply to the Servo Driver’s control circuit only. This will supply power to the absolute encoder.

Note If an A.93 warning occurs when the power supply is ON, turn OFF only the main circuit power supply after completing operation and then perform the following replacement procedure. If the control circuit power supply is turned OFF, the absolute data in the absolute encoder may be inadvertently cleared.

2. Replace the battery.

S Remove the old battery from the Servo Driver’s battery holder, and disconnect the connector to the battery from the battery connector CN8.

S Place the new battery in the battery holder, and insert the connector correctly into battery connector CN8.

3. Turn the power supply OFF, then ON again.

S After correctly connecting the new battery, turn OFF the power supply to the Servo Driver, then turn it ON again.

S If a Servo Driver alarm is not displayed, battery replacement is completed.

Note If A.81 (backup error) is displayed, you need to set up the absolute encoder. Refer to 4-2-2

Absolute Encoder Setup and Battery Changes , and perform the setup and make the initial settings for the Motion Control Unit.

5-23

Chapter 6 Appendix

6-1 Connection Examples

6-2 Encoder Dividing Rate for Servo Controllers

6-3 Single-phase Power for 3,000-r/min (750-W)

Servomotors

6-4 Parameter Setting Tables

6-5 Alarms and Warnings when a JUSP-NS115

MECHATROLINK-II Option Unit is Mounted

Appendix

6-1 Connection Examples

Chapter 6

Connection Example 1: Connecting to SYSMAC CJ1W-NC113/213/413

Position Control Units

Main circuit power supply

3-phase 200/230 V AC 50/60Hz

Main circuit contact

Surge killer

CJ1W-NC113/213/413

Contents

24-V DC input (for output)

0-V input (for output)

CCW (with a resistor)

CCW (without a resistor)

CW (with a resistor)

CW (without a resistor)

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

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

Class-3 ground

24 V DC

R88D-WT j

DC reactor

Red

White

Blue

Green/

Yellow

Power Cable

R88A-CAW j

R88A-CAW j R

R88M-W j

Encoder Cable

R88A-CRW j

R88A-CRW j R

Shell

Note 1.

The example shows a three-phase, 200-V AC input to the Servo Driver for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Driver in use.

Note 2.

Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 3.

Leave unused signal lines open and do not wire them.

Note 4.

Use mode 2 for origin search.

Note 5.

Use the 24-V DC power supply for command pulse signals as a dedicated power supply.

Note 6.

The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 7.

Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

6-2

Appendix Chapter 6

Connection Example 2: Connecting to SYSMAC CJ1W-NC133/233/433

Position Control Units

Main circuit power supply

3-phase 200/230 V AC 50/60Hz

Main circuit contact

Surge killer

CJ1W-NC133/233/433

Contents

5-V DC power supply (for pulse output)

5-V GND (for pulse output)

24-V DC input (for output)

0-V input (for output)

CCW (output (+))

CCW (output (–))

CW (output (+))

CW (output (–))

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

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

Class-3 ground

5 V DC

24 V DC

R88D-WT j

DC reactor

Red

White

Blue

Green/

Yellow

Power Cable

R88A-CAW j

R88A-CAW j R

R88M-W j

Encoder Cable

R88A-CRW j

R88A-CRW j R

Shell

Note 1.

Note 2.

Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 3.

Leave unused signal lines open and do not wire them.

Note 4.

Use mode 2 for origin search.

Note 5.

Use the 5-V DC power supply for command pulse signals as a dedicated power supply.

Note 6.

The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 7.

Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

6-3

Appendix Chapter 6

Connection Example 3: Connecting to SYSMAC CS1W-NC113/213/413 or C200HW-NC113/213/413 Position Control Units

Main circuit power supply

3-phase 200/230 V AC 50/60Hz

Main circuit contact

Surge killer

CS1W-NC113/213/413

C200H-NC113/213/413

Contents

24-V DC input (for output)

0-V input (for output)

X-axis pulse output

CCW (with a resistor)

CCW (without a resistor)

CW (with a resistor)

CW (without a resistor)

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

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

Class-3 ground

24 V DC

R88D-WT j

DC reactor

Red

White

Blue

Green/

Yellow

Power Cable

R88A-CAW j

R88A-CAW j R

R88M-W j

Encoder Cable

R88A-CRW j

R88A-CRW j R

Shell

Note 1.

Note 2.

Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 3.

Leave unused signal lines open and do not wire them.

Note 4.

Use mode 2 for origin search.

Note 5.

Use the 24-V DC power supply for command pulse signals as a dedicated power supply.

Note 6.

The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 7.

Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

6-4

Appendix Chapter 6

Connection Example 4: Connecting to SYSMAC CS1W-NC133/233/433

Position Control Units

Main circuit power supply

3-phase 200/230 V AC 50/60Hz

Main circuit contact

Surge killer

CS1W-NC133/233/433

Contents

5-V DC power supply (for pulse output)

5-V GND (for pulse output)

24-V DC input (for output)

0-V input (for output)

CCW (output (+))

CCW (output (–))

CW (output (+))

CW (output (–))

X-axis dev. cntr. reset output

X-axis origin line driver input

X-axis origin common

X-axis positioning complete input

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

Class-3 ground

5 V DC

24 V DC

R88D-WT j

DC reactor

Red

White

Blue

Green/

Yellow

Power Cable

R88A-CAW j

R88A-CAW j R

R88M-W j

Encoder Cable

R88A-CRW j

R88A-CRW j R

Shell

Note 1.

Note 2.

Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 3.

Leave unused signal lines open and do not wire them.

Note 4.

Use mode 2 for origin search.

Note 5.

Use the 5-V DC power supply for command pulse signals as a dedicated power supply.

Note 6.

The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 7.

Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

6-5

Appendix Chapter 6

Connection Example 5: Connecting to 3F88M-DRT141 DeviceNet

Single-axis Positioner

Main circuit power supply

3-phase 200/230 V AC 50/60Hz

Main circuit contact

Surge killer

3F88M-DRT141

Contents

+24-V power supply (power supply for Unit)

VDD ground (power supply for Unit)

CCW pulse (+)

CCW pulse (–)

CW pulse (+)

CW pulse (–)

Class-3 ground

24 V DC

R88D-WT j

DC reactor

Deviation counter reset (–)

Deviation counter reset (+)

+5-V power supply for origin

Origin sensor input

+5-V A-phase power supply

A-phase input

+5-V B-phase power supply

B-phase input

IN19 (driver in-position)

IN15 (driver alarm)

OUT06 (RUN ON/OFF output)

OUT05 (absolute value read)

+24-V power supply (for general-purpose input)

Output common

IN11 (RUN ON/OFF input)

IN18 (origin proximity)

IN16 (+ limit input)

IN17 (– limit input)

IN03 (emergency stop)

24 V DC

Shell

Red

White

Blue

Green/

Yellow

Power Cable

R88A-CAW j

R88A-CAW j R

R88M-W j

Encoder Cable

R88A-CRW j

R88A-CRW j R

Battery

2.8 to 4.5 V DC

Note 1.

Note 2.

Incorrect signal wiring can cause damage to Units and the Servo Driver.

Note 3.

Leave unused signal lines open and do not wire them.

Note 4.

The diode recommended for surge absorption is the ERB44-02 (Fuji Electric).

Note 5.

Make the setting so that the Servo can be turned ON and OFF with the RUN signal.

Note 6.

General-purpose I/O is one allocation example. The emergency stop, limit input, and driver alarm contacts are NC and the driver in-position, origin proximity, RUN ON/OFF input, RUN

ON/OFF output, and absolute value read contacts are NO.

Note 7.

Connect the terminals and wiring marked with an asterisk (*) when using an Absolute Encoder.

Note 8.

Use command pulse output in the line driver output setting.

6-6

Appendix Chapter 6

Connection Example 6: Connecting to SYSMAC C200H-NC112 Position

Control Units

Main circuit power supply

3-phase 200/230 V AC 50/60Hz

Main circuit contact

Surge killer

C200H-NC112

Contents

24-V DC input (for output)

Class-3 ground

No.

24 V DC

5-V DC input (for output)

CCW (with a resistor)

CCW (without a resistor)

CW (with a resistor)

CW (without a resistor)

0 V

USER’S MANUAL

OMNUC W

SERIES

MODELS R88M-W

(AC Servomotors)

MODELS R88D-WT

(AC Servo Drivers)

AC SERVOMOTORS/SERVO DRIVERS

NOTICE

Items to Check After Unpacking

USER’S MANUAL

OMNUC W

SERIES

MODELS R88M-W

(AC Servomotors)

MODELS R88D-WT

(AC Servo Drivers)

Notice:

DANGER

OMRON Product References

Visual Aids

OMRON, 2000

General Warnings

Storage and Transportation Precautions

Installation and Wiring Precautions

Operation and Adjustment Precautions

Maintenance and Inspection Precautions

Warning Labels

Precautions for Safe Use

Read and Understand this Manual

Warranty and Limitations of Liability

Application Considerations

PROGRAMMABLE PRODUCTS

Disclaimers

DIMENSIONS AND WEIGHTS

Table of Contents

Table of Contents

Table of Contents

Introduction

Chapter 1

Faster Response and Rotation Speed

Wider Selection

IP67 (Waterproof) Servomotors

Conformity to Standards

Built-in Regenerative Power Processing

Harmonic Current Control Measures

Online Autotuning

Gain Changes

Control Functions

Password

Parameter Initialization

Monitoring

Jogging

Servomotor Origin Search

Automatic Adjustment of Command Offsets (Speed and Torque

Control)

Monitor Output

Multi-turn Limit Changes

Electronic Gear (Position Control)

Encoder Dividing Function

Soft Start Function (Speed Control, Internally Set Speed Control

Settings)

Position Acceleration/Deceleration Function

Warning Output

Positioning Completed Output

Reverse Mode

Brake Interlock Output

Output Signal Selection

Overtravel Sequence

Feed-forward Function and Bias (Position Control)

Computer Monitoring

DeviceNet Option Unit

MECHATROLINK-II Compatibility

EC Directives

UL/cUL Standards

200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H

100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL

200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H

200 V AC: R88D-WT20H/-WT30H/-WT50H

200 V AC: R88D-WT60H/-WT75H/-WT150H