G Series Servomotors/Drives w/Mechatrolink

Cat. No. I566-E1-02
USER’S MANUAL
OMNUC G
SERIES
R88M-G@
(AC Servomotors)
R88D-GN@-ML2
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
Trademarks and Copyrights
• Product names and system names in this manual are trademarks or registered trademarks of their
respective companies.
• MECHATROLINK is a registered trademark of the MECHATROLINK Members Association.
 OMRON, 2008
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.
Introduction
Introduction
Thank you for choosing the OMNUC G Series. This User’s Manual describes installation/wiring
methods and parameter setting procedures required for the operation of the OMNUC G Series as
well as troubleshooting and inspection methods.
Intended Readers
This manual is intended for the following personnel.
Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as
follows:
ΠPersonnel in charge of introducing FA equipment
ΠPersonnel in charge of designing FA systems
ΠPersonnel in charge of managing FA systems and facilities
NOTICE
This manual contains information necessary to ensure safe and proper use of the OMNUC G Series
and its peripheral devices. Please read this manual thoroughly and understand its contents before
using the products.
Please keep this manual handy for future reference.
Make sure this User’s Manual is delivered to the actual end user of the products.
1
Read and Understand This Manual
Read and Understand This Manual
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship
for a period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL
DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE
PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR
STRICT LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on
which liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
2
Read and Understand This Manual
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to
the combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the
uses listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions
or uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.
3
Read and Understand This Manual
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other
reasons.
It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be
changed without any notice. When in doubt, special model numbers may be assigned to fix or establish
key specifications for your application on your request. Please consult with your OMRON representative
at any time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and
does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users
must correlate it to actual application requirements. Actual performance is subject to the OMRON
Warranty and Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
4
Precautions for Safe Use
Precautions for Safe Use
„ To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the “Precautions for
Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety
information, and precautions before using the products.
„ Make sure this User’s Manual is delivered to the actual end users of the products.
„ Please keep this manual close at hand for future reference.
Explanation of Signal Words
„ The precautions indicated here provide important information for safety. Be sure to heed the information
provided with the precautions.
„ The following signal words are used to indicate and classify precautions in this manual.
WARNING
Caution
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury.
Additionally, there may be severe property damage.
Indicates a potentially hazardous situation which, if not
avoided, may result in minor or moderate injury, or property
damage.
Failure to heed the precautions classified as “Caution” may also lead to serious results. Always
heed these precautions.
Safety Precautions
„ This manual may include illustrations of the product with protective covers or shields removed in order to show
the components of the product in detail. Make sure that these protective covers and shields are put in place as
specified before using the product.
„ Consult your OMRON representative when using the product after a long period of storage.
WARNING
Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 Ω
or less.
Incorrect grounding may result in electric shock.
Do not touch the inside of the Servo Drive.
Doing so may result in electric shock.
When turning OFF the main circuit power supply, turn OFF the RUN command (RUN) at the
same time. Residual voltage may cause the Servomotor to continue rotating and result in
injury or equipment damage even if the main circuit power supply is turned OFF externally,
e.g., with an emergency stop.
Do not remove the front cover, terminal covers, cables, or optional items while the power is
being supplied.
Doing so may result in electric shock.
5
Precautions for Safe Use
Installation, operation, maintenance, or inspection must be performed by authorized
personnel.
Not doing so may result in electric shock or injury.
Wiring or inspection must not be performed for at least 15 minutes after turning OFF the
power supply.
Doing so may result in electric shock.
Do not damage or pull on the cables, place heavy objects on them, or subject them to
excessive stress.
Doing so may result in electric shock, stopping product operation, or burning.
Do not touch the rotating parts of the Servomotor during operation.
Doing so may result in injury.
Do not modify the product.
Doing so may result in injury or damage to the product.
Provide a stopping mechanism on the machine to ensure safety.
*The holding brake is not designed as a stopping mechanism for safety purposes.
Not doing so may result in injury.
Provide an external emergency stopping mechanism that can stop operation and shut off the
power supply immediately.
Not doing so may result in injury.
Do not come close to the machine immediately after resetting momentary power interruption
to avoid an unexpected restart.
Doing so may result in injury.
Take appropriate measures to secure safety against an unexpected restart.
Confirm safety after an earthquake has occurred.
Failure to do so may result in electric shock, injury, or fire.
Do not use external force to drive the Servomotor.
Doing so may result in fire.
6
Precautions for Safe Use
WARNING
Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Doing so may result in fire.
Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other nonflammable materials.
Failure to do so may result in fire.
Do not frequently and repeatedly turn the main power supply ON and OFF.
Doing so may result in product failure.
Caution
Use the Servomotors and Servo Drives 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.
ΠLocations subject to direct sunlight.
ΠLocations subject to temperatures outside the specified range.
ΠLocations subject to humidity outside the specified range.
ΠLocations subject to condensation as the result of severe changes in temperature.
ΠLocations subject to corrosive or flammable gases.
ΠLocations subject to dust (especially iron dust) or salts.
ΠLocations subject to exposure to water, oil, or chemicals.
ΠLocations subject to shock or vibration.
Do not touch the Servo Drive radiator, Servo Drive regeneration resistor, or Servomotor
while the power is being supplied or soon after the power is turned OFF.
Doing so may result in burn injuries.
„ Storage and Transportation Precautions
Caution
Do not hold the product by the cables or motor shaft while transporting it.
Doing so may result in injury or malfunction.
Do not 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 Servomotor.
Using them for transporting the machinery may result in injury or malfunction.
7
Precautions for Safe Use
„ Installation and Wiring Precautions
Caution
Do not step on or place a heavy object on the product.
Doing so may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the
product.
Covering them or not preventing entry of foreign objects 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 Drive and the control panel or with other
devices.
Not doing so may result in fire or malfunction.
Do not subject Servomotor shaft or Servo Drive to strong impacts.
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 properly.
Incorrect tightening torque may result in malfunction.
Use crimp terminals for wiring.
Do not connect bare stranded wires directly to the protective ground terminal.
Doing so may result in burning.
Always use the power supply voltage specified in the User’s Manual.
An incorrect voltage may result in malfunction or burning.
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 equipment damage.
Install external breakers and take other safety measures against short-circuiting in external
wiring.
Insufficient safety measures against short-circuiting may result in burning.
Take appropriate and sufficient shielding measures when installing systems in the following
locations. Failure to do so may result in damage to the product.
ΠLocations subject to static electricity or other forms of noise.
ΠLocations subject to strong electromagnetic fields and magnetic fields.
ΠLocations subject to possible exposure to radioactivity.
ΠLocations close to power supplies.
Connect an emergency stop cutoff relay in series with the brake control relay.
Failure to do so may result in injury or product failure.
Do not reverse the polarity of the battery when connecting it.
Reversing the polarity may damage the battery or cause it to explode.
8
Precautions for Safe Use
„ Operation and Adjustment Precautions
Caution
Confirm that no adverse effects will occur in the system before performing the test operation.
Not doing so may result in equipment damage.
Check the newly set parameters for proper operation 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.
Do not use the built-in brake of the Servomotor for ordinary braking.
Doing so may result in malfunction.
Do not operate the Servomotor connected to a load that exceeds the applicable load
moment of inertia.
Doing so may result in malfunction.
„ Maintenance and Inspection Precautions
Caution
Resume operation only after transferring to the new Unit the contents of the data required
for operation.
Not doing so may result in equipment damage.
Do not attempt to disassemble or repair any of the products.
Any attempt to do so may result in electric shock or injury.
9
Precautions for Safe Use
„ Warning Label Position
Warning labels are located on the product as shown in the following illustration.
Be sure to follow the instructions given there.
Location of warning label
(R88D-GN01H-ML2)
„ Warning Label Contents
„ Disposing of the Product
• Dispose of the batteries according to local ordinances and regulations. Wrap the batteries in tape
or other insulative material before disposing of them.
• Dispose of the product as industrial waste.
10
Items to Check When Unpacking
Items to Check When Unpacking
Check the following items after removing the product from the package.
• Has the correct product been delivered?
• Has the product been damaged in shipping?
„ Accessories Provided with Product
Safety Precautions document × 1
• No connectors or mounting screws are provided. They have to be prepared by the user.
• Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact
your local sales representative or OMRON sales office.
„ Understanding Servo Drive Model Numbers
The model number provides information such as the Servo Drive type, the applicable Servomotor
capacity, and the power supply voltage.
R88D-GN01H-ML2
OMNUC G-Series
Servo Drive
Drive Type
N : Network type
Applicable Servomotor Capacity
A5 : 50 W
01 : 100 W
02 : 200 W
04 : 400 W
08 : 750 W
10 : 1 kW
15 : 1.5 kW
20 : 2 kW
30 : 3 kW
50 : 5 kW
75 : 7.5 kW
Power Supply Voltage
L : 100 VAC
H : 200 VAC
Network Type
ML2 : MECHATROLINK-II Communications
11
Items to Check When Unpacking
„ Understanding Servomotor Model Numbers
R88M-GP10030H-BOS2
G-Series
Servomotor
Motor Type
Blank: Cylinder type
P:
Flat type
Servomotor Capacity
050:
100:
200:
400:
750:
900:
1K0:
1K5:
2K0:
3K0:
4K0:
4K5:
5K0:
6K0:
7K5:
50 W
100 W
200 W
400 W
750 W
900 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
4.5 kW
5 kW
6 kW
7.5 kW
Rated Rotation Speed
10:
15:
20:
30:
1,000 r/min
1,500 r/min
2,000 r/min
3,000 r/min
Applied Voltage
H:
L:
T:
S:
200 VAC with incremental encoder specifications
100 VAC with incremental encoder specifications
200 VAC with absolute encoder specifications
100 VAC with absolute encoder specifications
Option
Blank: Straight shaft
B: With brake
O: With oil seal
S2: With key and tap
12
Items to Check When Unpacking
„ Understanding Decelerator Model Numbers (Backlash = 3' Max.)
R88G-HPG14A05100PBJ
Decelerator for
G-Series Servomotors
Backlash = 3’ Max.
Flange Size Number
11B
14A
20A
32A
50A
65A
:@40
:@60
:@90
:@120
:@170
:@230
Gear Ratio
05
09
11
12
20
21
25
33
45
:1/5
:1/9 (only frame number 11A)
:1/11 (except frame number 65A)
:1/12 (only frame number 65A)
:1/20 (only frame number 65A)
:1/21 (except frame number 65A)
:1/25 (only frame number 65A)
:1/33
:1/45
Applicable Servomotor Capacity
050
100
200
400
750
900
1K0
1K5
2K0
3K0
4K0
4K5
5K0
6K0
7K5
: 50 W
:100 W
:200 W
:400 W
:750 W
:900 W
:1 kW
:1.5 kW
:2 kW
:3 kW
:4 kW
:4.5 kW
:5 kW
:6 kW
:7 kW
Motor Type
Blank :3,000-r/min cylindrical Servomotors
P
:flat Servomotors
S
:2,000-r/min Servomotors
T
:1,000-r/min Servomotors
Backlash
B
:3’ max.
Option
Blank :Straight shaft
J
:With key and tap
13
Items to Check When Unpacking
„ Understanding Decelerator Model Numbers (Backlash = 15' Max.)
R88G-VRSF09B100PCJ
Decelerator for
G-Series Servomotors
Backlash = 15’ Max.
Gear Ratio
05
09
15
25
:1/5
:1/9
:1/15
:1/25
Flange Size Number
B
C
D
:@52
:@78
:@98
Applicable Servomotor Capacity
050
100
200
400
750
: 50 W
:100 W
:200 W
:400 W
:750 W
Motor Type
Blank :3,000-r/min cylindrical Servomotors
P
:flat Servomotors
Backlash
C
:15’ max.
Option
J
14
:With key
About This Manual
About This Manual
This manual consists of the following chapters. Refer to this table and chose the required chapters
of the manual.
Overview
Chapter 1
Features and System
Configuration
Describes the features and names of parts of the product as well
as the EC Directives and the UL standards.
Chapter 2
Standard Models and
Dimensions
Provides the model numbers, external and mounting hole dimensions for Servo Drives, Servomotors, Decelerators, and peripheral
devices.
Specifications
Provides the general specifications, characteristics, connector
specifications, and I/O circuit specifications for Servo Drives, and
the general specifications and characteristics for Servomotors, as
well as specifications for accessories such as encoders.
Chapter 4
System Design
Describes the installation conditions for Servo Drives, Servomotors, and Decelerators, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the
External Regeneration Resistor.
Chapter 5
Operating Functions
Describes the control functions, parameter settings, and operation.
Chapter 6
Operation
Describes operating procedures and operating methods for each
mode.
Chapter 7
Adjustment Functions
Describes gain adjustment functions, setting methods, and precautions.
Chapter 8
Troubleshooting
Describes items to check for troubleshooting, error diagnoses using alarm LED displays and the countermeasures, error diagnoses
based on the operation status and the countermeasures, and periodic maintenance.
Chapter 9
Appendix
Provides the parameter tables.
Chapter 3
15
Table of Contents
Introduction ...................................................................................... 1
Read and Understand This Manual ................................................. 2
Precautions for Safe Use................................................................. 5
Items to Check When Unpacking .................................................... 11
About This Manual........................................................................... 15
Chapter 1 Features and System Configuration
1-1
1-2
1-3
1-4
1-5
Overview........................................................................................... 1-1
System Configuration ....................................................................... 1-2
Names of Parts and Functions ......................................................... 1-3
System Block Diagrams ................................................................... 1-5
Applicable Standards........................................................................ 1-10
Chapter 2 Standard Models and Dimensions
2-1
2-2
Standard Models .............................................................................. 2-1
External and Mounting Hole Dimensions ......................................... 2-23
Chapter 3 Specifications
3-1
3-2
3-3
3-4
3-5
3-6
3-7
3-8
Servo Drive Specifications................................................................ 3-1
Servomotor Specifications................................................................ 3-17
Decelerator Specifications................................................................ 3-32
Cable and Connector Specifications ................................................ 3-42
Parameter Unit Specifications .......................................................... 3-80
External Regeneration Resistor Specifications ................................ 3-81
Reactor Specifications...................................................................... 3-82
MECHATROLINK-II Repeater Specifications................................... 3-83
Chapter 4 System Design
4-1
4-2
4-3
4-4
Installation Conditions ...................................................................... 4-1
Wiring ............................................................................................... 4-11
Wiring Conforming to EMC Directives .............................................. 4-26
Regenerative Energy Absorption...................................................... 4-44
Chapter 5 Operating Functions
5-1
5-2
5-3
5-4
5-5
5-6
5-7
5-8
5-9
16
Position Control ................................................................................ 5-1
Speed Control................................................................................... 5-4
Torque Control.................................................................................. 5-7
Forward and Reverse Drive Prohibit ................................................ 5-10
Brake Interlock.................................................................................. 5-11
Torque Limit...................................................................................... 5-16
Soft Start........................................................................................... 5-18
Acceleration/Deceleration Time Settings.......................................... 5-19
Moving Average Time....................................................................... 5-20
Table of Contents
5-10
5-11
5-12
5-13
5-14
5-15
5-16
5-17
5-18
5-19
5-20
5-21
5-22
5-23
5-24
5-25
5-26
5-27
Electronic Gear ................................................................................ 5-21
Speed Limit ...................................................................................... 5-22
Sequence Input Signals ................................................................... 5-23
Sequence Output Signals ................................................................ 5-25
Backlash Compensation .................................................................. 5-27
Overrun Protection ........................................................................... 5-29
Gain Switching ................................................................................. 5-31
Speed Feed-forward ........................................................................ 5-38
Torque Feed-forward ....................................................................... 5-39
Speed Feedback Filter Selection ..................................................... 5-40
P Control Switching .......................................................................... 5-41
Torque Command Filter Time Constant ........................................... 5-42
Notch Filter ....................................................................................... 5-43
Adaptive Filter .................................................................................. 5-45
Instantaneous Speed Observer ....................................................... 5-48
Damping Control .............................................................................. 5-50
User Parameters .............................................................................. 5-55
Details on Important Parameters ..................................................... 5-86
Chapter 6 Operation
6-1
6-2
6-3
6-4
6-5
Operational Procedure ..................................................................... 6-1
Preparing for Operation.................................................................... 6-2
Using the Parameter Unit ................................................................. 6-8
Setting the Mode .............................................................................. 6-9
Trial Operation ................................................................................. 6-31
Chapter 7 Adjustment Functions
7-1
7-2
7-3
7-4
Gain Adjustment............................................................................... 7-1
Realtime Autotuning ......................................................................... 7-3
Normal Mode Autotuning ................................................................. 7-9
Manual Tuning ................................................................................. 7-14
Chapter 8 Troubleshooting
8-1
8-2
8-3
8-4
8-5
Error Processing .............................................................................. 8-1
Alarm Table ...................................................................................... 8-3
Troubleshooting ............................................................................... 8-7
Overload Characteristics (Electronic Thermal Function).................. 8-20
Periodic Maintenance....................................................................... 8-21
Chapter 9 Appendix
9-1
Parameter Tables............................................................................. 9-1
17
Chapter 1
Features and System Configuration
1-1 Overview ............................................................ 1-1
Overview ...............................................................................1-1
Features................................................................................1-1
1-2 System Configuration......................................... 1-2
1-3 Names of Parts and Functions........................... 1-3
Servo Drive Part Names .......................................................1-3
Servo Drive Functions...........................................................1-4
Forward and Reverse Motor Rotation ...................................1-4
1-4 System Block Diagrams ..................................... 1-5
1-5 Applicable Standards ......................................... 1-10
EC Directives ........................................................................1-10
UL and CSA Standards.........................................................1-10
1-1 Overview
Features and System Configuration
1
1-1 Overview
Overview
The OMNUC G Series AC Servo Drives (with built-in MECHATROLINK-II communications support)
are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network.
When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71),
a sophisticated positioning control system can be made easily with one communications cable
connecting the Servo Drive and Controller.
With realtime autotuning, adaptive filter, notch filter, and damping control, you can set up a system
that provides stable operation by suppressing vibration in low-rigidity machines.
Features
„ Data Transmission Using MECHATROLINK-II Communications
When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71), all
control data between the Servo Drive and Controller can be exchanged through data
communications.
Since the various control commands are transmitted via data communications, Servomotor‘s
operational performance is maximized without being limited by interface specifications such as the
response frequency of the encoder feedback pulses.
This makes it possible to use the Servo Drive’s various control parameters and monitor data via a
host controller, allowing you to unify the system data control.
„ Suppressing Vibration of Low-rigidity Mechanisms during
Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose
ends tend to vibrate.
Two vibration filters are provided to enable switching the vibration frequency automatically
according to the direction of the rotation. Furthermore, the settings can be made easily by just
setting the vibration frequency and filter values, and you are assured of stable operation even if the
settings are inappropriate.
„ High-speed Positioning via Resonance Suppression Control
The realtime autotuning function automatically estimates the load inertia of the machine in realtime
and sets the optimal gain.
The adaptive filter automatically suppresses vibration caused by resonance.
Two independent notch filters make it possible to reduce the vibration of a mechanism with multiple
resonance frequencies.
„ Command Control Mode Switching
Operations can be performed by switching between two of the following control modes: Position
control, speed control, and torque control. Therefore, a variety of applications can be supported by
one Servo Drive.
1-1
1-2 System Configuration
1-2 System Configuration
1
Features and System Configuration
Controller (MECHATROLINK-ll type)
MECHATRO
LINK-II
Programmable Controller
SYSMAC CJ1
Position Control Unit
CJ1W-NCF71
OMNUC G-Series
AC Servo Drive
R88D-GN@-ML2
MECHATRO
LINK-II
Controller (MECHATROLINK-ll type)
INC
Programmable Controller
SYSMAC CS1
Position Control Unit
CS1W-NCF71
ABS
OMNUC G-Series
AC Servomotor
R88M-G@
1-2
1-3 Names of Parts and Functions
Servo Drive Part Names
Display area
Rotary switches
AC SERVO DRIVE
ADR
9 0 1
2 3
7 8
0 1
2 3
Features and System Configuration
1-3 Names of Parts and Functions
4 5 6
1
X10
COM
X1
MECHATROLINK-II
communications
status LED indicator
RS-232
Analog monitor check pins
(SP, IM, G)
SP
IM
G
communications connector
(CN3)
MECHATROLINK-II
communications connector
(CN6A, CN6B)
Main-circuit power terminals
(L1, L2, L3)
Control-circuit power terminals
(L1C, L2C)
External Regeneration Resistor
connection terminals
(B1, B2, B3)
Control I/O connector (CN1)
Servomotor connection terminals
(U, V, W)
Protective ground terminals
1-3
Encoder connector (CN2)
1-3 Names of Parts and Functions
1
„ Display Area
A 2-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other
information.
„ Analog Monitor Check Pins (SP, IM, and G)
The actual motor speed, command speed, torque, and number of accumulated pulses can be
measured based on the analog voltage level by using an oscilloscope.
Set the type of signal to be output and the output voltage level by setting the Speed Monitor (SP)
Selection (Pn007) and Torque Monitor (IM) Selection (Pn008).
For details, refer to User Parameters on page 5-55.
„ MECHATROLINK-II Status LED Indicator
Indicates the communications status of the MECHATROLINK-II.
For details, refer to MECHATROLINK-II Status LED Indicator on page 6-4.
„ Rotary Switches
Sets the node address.
For details, refer to Servo Drive Display and Settings on page 6-3.
Forward and Reverse Motor Rotation
Reverse (CW)
Forward (CCW)
When the motor output shaft is viewed from the end,
counterclockwise (CCW) rotation is forward and clockwise
(CW) rotation is reverse.
1-4
Features and System Configuration
Servo Drive Functions
1-4 System Block Diagrams
1-4 System Block Diagrams
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/
-GN02H-ML2/-GN04H-ML2
CN B
B2
CN A
L1
~
L3
~
OH
+
−
U
V
W
L2
L1C
B1
FUSE
L2C
~
+
~
−
Voltage
detection
GR
TH
GR
15V
G1
SW power
supply
Main circuit
control
VCC1
E5V
±VCC
G2
Internal
control
power
supply
Relay
drive
Regenerative
control
Overcurrent
detection
Gate drive
Current
detection
Display/
setting circuits
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
Control I/O interface
CN1 control I/O connector
MECHATROLINK-II
interface
CN6A
connector
CN6B
connector
MECHATROLINK-II
communications line
1-5
RS-232
interface
CN3
connector
RS-232
computer
RS
485
+E5V
EG
+BAT
G
±S
CN2 encoder signal connector
Features and System Configuration
1
1-4 System Block Diagrams
1
CN B
CN A
~
L1
L2
~
L3
~
B3
Internal regeneration resistor
+
−
L1C
FUSE
L2C
B1
~
+
~
−
B2
U
V
W
Voltage
detection
GR
TH
VCC1
E5V
±VCC
G2
SW power
supply
Main circuit
control
Internal
control
power
supply
Relay
drive
Regenerative
control
Overcurrent
detection
Gate drive
Current
detection
Display/
setting circuits
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
Cooling fan
Control I/O interface
CN1 control I/O connector
MECHATROLINK-II
interface
RS-232
interface
CN6A
CN6B
connector connector
CN3
connector
MECHATROLINK-II
communications line
RS-232
computer
RS
485
+E5V
EG
+BAT
G
±S
CN2 encoder signal connector
GR
15V
G1
1-6
Features and System Configuration
R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
1-4 System Block Diagrams
1
Terminals
Terminals
~
L1
L2
~
L3
~
B3
+
Internal regeneration resistor
−
L1C
FUSE
~
~
L2C
B1
B2
U
V
W
+
−
GR
TH
GR
15V
G1
SW power
supply
Main circuit
control
VCC1
E5V
±VCC
G2
Internal
control
power
supply
Relay
drive
Regenerative
control
Voltage
detection
Gate drive
Current
detection
Display/
setting circuits
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
Control I/O interface
MECHATROLINK-II
interface
Cooling fan
CN1 control I/O connector
CN6A
connector
CN6B
connector
MECHATROLINK-II
communications line
1-7
RS-232
interface
CN3
connector
RS-232
computer
RS
485
+E5V
EG
+BAT
G
±S
CN2 encoder signal connector
Features and System Configuration
R88D-GN20H-ML2
1-4 System Block Diagrams
1
Terminals
Terminals
~
L1
L2
~
L3
~
B3
+
Internal regeneration resistor
−
L1C
FUSE
L2C
B1
~
+
~
−
B2
U
V
W
GR
TH
VCC1
E5V
±VCC
G2
SW power
supply
Main circuit
control
Internal
control
power
supply
Relay,Gate
drive
Regenerative
control
Voltage
detection
Gate drive
Current
detection
Display/
setting circuits
MPU & ASIC
Position, speed, and torque processor,
PWM control
Encoder
communications
interface
Cooling fan
Control I/O interface
CN1 control I/O connector
MECHATROLINK-II
interface
CN6B
CN6A
connector connector
MECHATROLINK-II
communications line
RS-232
interface
RS
485
+E5V
EG
+BAT
G
±S
CN2 encoder signal connector
GR
15V
G1
CN3
connector
RS-232
computer
1-8
Features and System Configuration
R88D-GN30H-ML2/GN50H-ML2
1-4 System Block Diagrams
1
Terminals
Terminals
L1
~
L2
~
L3
~
B2
+
TH
−
L1C
FUSE
L2C
GR
U
V
W
~
+
~ ~ ~
~
−
+
15V
G1
SW power
supply
Main circuit
control
VCC1
E5V
±VCC
G2
Internal
control
power
supply
Relay,Gate
drive
Regenerative
control
Voltage
detection
Gate drive
Display/
setting circuits
MPU & ASIC
Position, speed, and torque processor,
PWM control
Cooling fan
Control I/O interface
CN1 control I/O connector
MECHATROLINK-II
interface
CN6A
CN6B
connector connector
MECHATROLINK-II
communications line
−
Current
detection
Encoder
communications
interface
1-9
B1
RS-232
interface
CN3
connector
RS-232
computer
RS
485
+E5V
EG
+BAT
G
±S
CN2 encoder signal connector
Features and System Configuration
R88D-GN75H-ML2
1-5 Applicable Standards
1-5 Applicable Standards
EC Directives
EC Directives
Low Voltage
Directive
EMC
Directive
Product
Applicable standards
Comments
AC Servo Drive
EN 50178
Safety requirements for electrical equipment for
measurement, control, or laboratory use
AC Servomotors
IEC 60034-1/-5
Rotating electrical machines
EN 55011 Class A Group 1
Limits of radio disturbance and measurement
methods for industrial, scientific, and medical
radio-frequency equipment
EN 61000-6-2
Electromagnetic compatibility (EMC) Immunity
standard for industrial environments
IEC 61000-4-2
Electrostatic discharge immunity testing
IEC 61000-4-3
Radio frequency radiation field immunity testing
IEC 61000-4-4
Electrical fast transient burst immunity testing
IEC 61000-4-5
Lightning surge immunity testing
IEC 61000-4-6
High-frequency conduction immunity testing
IEC 61000-4-11
Momentary power interruption immunity testing
AC Servo Drive
AC Servomotors
Note To conform to the EMC Directives, the Servomotor and Servo Drive must be installed under
the conditions described in Wiring Conforming to EMC Directives on page 4-26.
UL and CSA Standards
Standard
Product
Applicable standards
UL
standards
AC Servo Drive
CSA
standards
AC Servomotors *1
AC Servomotors
*1
File number
Comments
UL 508C
E179149
Power conversion equipment
UL 1004
E179189
Electric motor
CSA22.2 No.100
E179189
Motor and generator
*1. UL approval is pending for motor capacities of 6 to 7.5 kW.
1-10
Features and System Configuration
1
Chapter 2
Standard Models and Dimensions
2-1 Standard Models ................................................ 2-1
Servo Drives .........................................................................2-1
Servomotors..........................................................................2-2
Servo Drive-Servomotor Combinations ................................2-5
Decelerators..........................................................................2-7
Accessories and Cables .......................................................2-14
2-2 External and Mounting Hole Dimensions ........... 2-23
Servo Drives .........................................................................2-23
Servomotors..........................................................................2-33
Parameter Unit Dimensions ..................................................2-43
Servomotor and Decelerator Combinations ..........................2-44
Decelerator Dimensions........................................................2-47
External Regeneration Resistor Dimensions ........................2-61
Reactor Dimensions..............................................................2-62
2-1 Standard Models
2-1 Standard Models
2
Standard Models and Dimensions
Servo Drives
Specifications
Single-phase 100 VAC
Model
50 W
R88D-GNA5L-ML2
100 W
R88D-GN01L-ML2
200 W
R88D-GN02L-ML2
400 W
R88D-GN04L-ML2
50 W
Single-phase 200 VAC
Single-phase/three-phase 200 VAC
100 W
R88D-GN01H-ML2
200 W
R88D-GN02H-ML2
400 W
R88D-GN04H-ML2
750 W
R88D-GN08H-ML2
1 kW
R88D-GN10H-ML2
900 W
1 kW
R88D-GN15H-ML2
1.5 kW
2 kW
2 kW
3 kW
R88D-GN20H-ML2
R88D-GN30H-ML2
3 kW
Three-phase 200 VAC
4 kW
4.5 kW
R88D-GN50H-ML2
5 kW
6 kW
7.5 kW
2-1
R88D-GN75H-ML2
2-1 Standard Models
Servomotors
2
„ 3,000-r/min Servomotors
Specifications
100 V
Without
brake
200 V
100 V
With
brake
200 V
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
1 kW
1.5kW
2 kW
3 kW
4 kW
5 kW
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
1 kW
1.5kW
2 kW
3 kW
4 kW
5 kW
With incremental encoder
Straight shaft
Straight shaft
without key
with key and tap
R88M-G05030H
R88M-G05030H-S2
R88M-G10030L
R88M-G10030L-S2
R88M-G20030L
R88M-G20030L-S2
R88M-G40030L
R88M-G40030L-S2
R88M-G05030H
R88M-G05300H-S2
R88M-G10030H
R88M-G10030H-S2
R88M-G20030H
R88M-G20030H-S2
R88M-G40030H
R88M-G40030H-S2
R88M-G75030H
R88M-G75030H-S2
------------------------R88M-G05030H-B
R88M-G05030H-BS2
R88M-G10030L-B
R88M-G10030L-BS2
R88M-G20030L-B
R88M-G20030L-BS2
R88M-G40030L-B
R88M-G40030L-BS2
R88M-G05030H-B
R88M-G05030H-BS2
R88M-G10030H-B
R88M-G10030H-BS2
R88M-G20030H-B
R88M-G20030H-BS2
R88M-G40030H-B
R88M-G40030H-BS2
R88M-G75030H-B
R88M-G75030H-BS2
-------------------------
With absolute encoder
Straight shaft
Straight shaft
without key
with key and tap
R88M-G05030T
R88M-G05030T-S2
R88M-G10030S
R88M-G10030S-S2
R88M-G20030S
R88M-G20030S-S2
R88M-G40030S
R88M-G40030S-S2
R88M-G05030T
R88M-G05030T-S2
R88M-G10030T
R88M-G10030T-S2
R88M-G20030T
R88M-G20030T-S2
R88M-G40030T
R88M-G40030T-S2
R88M-G75030T
R88M-G75030T-S2
R88M-G1K030T
R88M-G1K030T-S2
R88M-G1K530T
R88M-G1K530T-S2
R88M-G2K030T
R88M-G2K030T-S2
R88M-G3K030T
R88M-G3K030T-S2
R88M-G4K030T
R88M-G4K030T-S2
R88M-G5K030T
R88M-G5K030T-S2
R88M-G05030T-B
R88M-G05030T-BS2
R88M-G10030S-B
R88M-G10030S-BS2
R88M-G20030S-B
R88M-G20030S-BS2
R88M-G40030S-B
R88M-G40030S-BS2
R88M-G05030T-B
R88M-G05030T-BS2
R88M-G10030T-B
R88M-G10030T-BS2
R88M-G20030T-B
R88M-G20030T-BS2
R88M-G40030T-B
R88M-G40030T-BS2
R88M-G75030T-B
R88M-G75030T-BS2
R88M-G1K030T-B
R88M-G1K030T-BS2
R88M-G1K530T-B
R88M-G1K530T-BS2
R88M-G2K030T-B
R88M-G2K030T-BS2
R88M-G3K030T-B
R88M-G3K030T-BS2
R88M-G4K030T-B
R88M-G4K030T-BS2
R88M-G5K030T-B
R88M-G5K030T-BS2
Note Models with oil seals are also available.
2-2
Standard Models and Dimensions
Model
2-1 Standard Models
„ 3,000-r/min Flat Servomotors
Specifications
Standard Models and Dimensions
2
Without
brake
With
brake
100 W
100 V 200 W
400 W
100 W
200 V 200 W
400 W
100 W
100 V 200 W
400 W
100 W
200 V 200 W
400 W
Model
With incremental encoder
With absolute encoder
Straight shaft
Straight shaft
Straight shaft
Straight shaft
without key
with key and tap
without key
with key and tap
R88M-GP10030L
R88M-GP10030L-S2 R88M-GP10030S
R88M-GP10030S-S2
R88M-GP20030L
R88M-GP20030L-S2 R88M-GP20030S
R88M-GP20030S-S2
R88M-GP40030L
R88M-GP40030L-S2 R88M-GP40030S
R88M-GP40030S-S2
R88M-GP10030H
R88M-GP10030H-S2 R88M-GP10030T
R88M-GP10030T-S2
R88M-GP20030H
R88M-GP20030H-S2 R88M-GP20030T
R88M-GP20030T-S2
R88M-GP40030H
R88M-GP40030H-S2 R88M-GP40030T
R88M-GP40030T-S2
R88M-GP10030L-B
R88M-GP10030L-BS2 R88M-GP10030S-B
R88M-GP10030S-BS2
R88M-GP20030L-B
R88M-GP20030L-BS2 R88M-GP20030S-B
R88M-GP20030S-BS2
R88M-GP40030L-B
R88M-GP40030L-BS2 R88M-GP40030S-B
R88M-GP40030S-BS2
R88M-GP10030H-B
R88M-GP10030H-BS2 R88M-GP10030T-B
R88M-GP10030T-BS2
R88M-GP20030H-B
R88M-GP20030H-BS2 R88M-GP20030T-B
R88M-GP20030T-BS2
R88M-GP40030H-B
R88M-GP40030H-BS2 R88M-GP40030T-B
R88M-GP40030T-BS2
Note Models with oil seals are also available.
„ 2,000-r/min Servomotors
Specifications
1 kW
1.5 kW
2 kW
Without 200 V 3 kW
brake
4 kW
5 kW
7.5 kW
1 kW
1.5 kW
2 kW
With
200 V 3 kW
brake
4 kW
5 kW
7.5 kW
Model
With absolute encoder
Straight shaft
Straight shaft
without key
with key and tap
R88M-G1K020T
R88M-G1K020T-S2
R88M-G1K520T
R88M-G1K520T-S2
R88M-G2K020T
R88M-G2K020T-S2
R88M-G3K020T
R88M-G3K020T-S2
R88M-G4K020T
R88M-G4K020T-S2
R88M-G5K020T
R88M-G5K020T-S2
R88M-G7K515T
R88M-G7K515T-S2
R88M-G1K020T-B
R88M-G1K020T-BS2
R88M-G1K520T-B
R88M-G1K520T-BS2
R88M-G2K020T-B
R88M-G2K020T-BS2
R88M-G3K020T-B
R88M-G3K020T-BS2
R88M-G4K020T-B
R88M-G4K020T-BS2
R88M-G5K020T-B
R88M-G5K020T-BS2
R88M-G7K515T-B
R88M-G7K515T-BS2
Note 1. Models with oil seals are also available.
Note 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min.
2-3
2-1 Standard Models
„ 1,000-r/min Servomotors
900 W
2 kW
Without 200 V 3 kW
brake
4.5 kW
6 kW
900 W
2 kW
With
200 V 3 kW
brake
4.5 kW
6 kW
2
Standard Models and Dimensions
Specifications
Model
With absolute encoder
Straight shaft
Straight shaft
without key
with key and tap
R88M-G90010T
R88M-G90010T-S2
R88M-G2K010T
R88M-G2K010T-S2
R88M-G3K010T
R88M-G3K010T-S2
R88M-G4K510T
R88M-G4K510T-S2
R88M-G6K010T
R88M-G6K010T-S2
R88M-G90010T-B
R88M-G90010T-BS2
R88M-G2K010T-B
R88M-G2K010T-BS2
R88M-G3K010T-B
R88M-G3K010T-BS2
R88M-G4K510T-B
R88M-G4K510T-BS2
R88M-G6K010T-B
R88M-G6K010T-BS2
Note Models with oil seals are also available.
2-4
2-1 Standard Models
Servo Drive-Servomotor Combinations
Standard Models and Dimensions
2
The tables in this section show the possible combinations of OMNUC G-Series Servo Drives and
Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.
The box (-@) at the end of the model number is for options, such as the shaft type, brake and
Decelerators.
„ 3,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
100 V
Singlephase 200 V
Singlephase/threephase 200 V
Three-phase
200 V
Rated
output
50 W
100 W
200 W
400 W
50 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
With incremental encoder
R88M-G05030H-@
R88M-G10030L-@
R88M-G20030L-@
R88M-G40030L-@
R88M-G05030H-@
R88M-G10030H-@
R88M-G20030H-@
R88M-G40030H-@
R88M-G75030H-@
-------------
With absolute encoder
R88M-G05030T-@
R88M-G10030S-@
R88M-G20030S-@
R88M-G40030S-@
R88M-G05030T-@
R88M-G10030T-@
R88M-G20030T-@
R88M-G40030T-@
R88M-G75030T-@
R88M-G1K030T-@
R88M-G1K530T-@
R88M-G2K030T-@
R88M-G3K030T-@
R88M-G4K030T-@
R88M-G5K030T-@
Servo Drive
R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
R88D-GN01H-ML2
R88D-GN01H-ML2
R88D-GN02H-ML2
R88D-GN04H-ML2
R88D-GN08H-ML2
R88D-GN15H-ML2
R88D-GN15H-ML2
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN50H-ML2
„ 3,000-r/min Flat Servomotors and Servo Drives
Servomotor
Voltage
100 V
Singlephase 200 V
2-5
Rated
output
100 W
200 W
400 W
100 W
200 W
400 W
With incremental encoder
R88M-GP10030L-@
R88M-GP20030L-@
R88M-GP40030L-@
R88M-GP10030H-@
R88M-GP20030H-@
R88M-GP40030H-@
With absolute encoder
R88M-GP10030S-@
R88M-GP20030S-@
R88M-GP40030S-@
R88M-GP10030T-@
R88M-GP20030T-@
R88M-GP40030T-@
Servo Drive
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
R88D-GN01H-ML2
R88D-GN02H-ML2
R88D-GN04H-ML2
2-1 Standard Models
„ 2,000-r/min Servomotors and Servo Drives
Servomotor
Singlephase/threephase 200 V
Three-phase
200 V
Servo Drive
Rated
output
1 kW
R88M-G1K020T-@
R88D-GN10H-ML2
1.5 kW
R88M-G1K520T-@
R88D-GN15H-ML2
2 kW
3 kW
4 kW
5 kW
7.5 kW
R88M-G2K020T-@
R88M-G3K020T-@
R88M-G4K020T-@
R88M-G5K020T-@
R88M-G7K515T-@
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN50H-ML2
R88D-GN75H-ML2
With absolute encoder
2
Standard Models and Dimensions
Voltage
„ 1,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
Rated
output
With absolute encoder
Servo Drive
Singlephase/threephase 200 V
900 W
R88M-G90010T-@
R88D-GN15H-ML2
Three-phase
200 V
2 kW
3 kW
4.5 kW
6 kW
R88M-G2K010T-@
R88M-G3K010T-@
R88M-G4K510T-@
R88M-G6K010T-@
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN50H-ML2
R88D-GN75H-ML2
2-6
2-1 Standard Models
Decelerators
The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a
Decelerator based on the Servomotor capacity.
2
Standard Models and Dimensions
„ Backlash = 3’ Max.
Decelerators for 3,000-r/min Servomotors
Specifications
Motor
capacity
50 W
100 W
200 W
400 W
750 W
2-7
Gear ratio
Model
1/5
R88G-HPG11B05100B@
1/9
R88G-HPG11B09050B@
1/21
R88G-HPG14A21100B@
1/33
R88G-HPG14A33050B@
1/45
R88G-HPG14A45050B@
1/5
R88G-HPG11B05100B@
1/11
R88G-HPG14A11100B@
1/21
R88G-HPG14A21100B@
1/33
R88G-HPG20A33100B@
1/45
R88G-HPG20A45100B@
1/5
R88G-HPG14A05200B@
1/11
R88G-HPG14A11200B@
1/21
R88G-HPG20A21200B@
1/33
R88G-HPG20A33200B@
1/45
R88G-HPG20A45200B@
1/5
R88G-HPG14A05400B@
1/11
R88G-HPG20A11400B@
1/21
R88G-HPG20A21400B@
1/33
R88G-HPG32A33400B@
1/45
R88G-HPG32A45400B@
1/5
R88G-HPG20A05750B@
1/11
R88G-HPG20A11750B@
1/21
R88G-HPG32A21750B@
1/33
R88G-HPG32A33750B@
1/45
R88G-HPG32A45750B@
2-1 Standard Models
Specifications
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
Gear ratio
Model
1/5
R88G-HPG32A051K0B@
1/11
R88G-HPG32A111K0B@
1/21
R88G-HPG32A211K0B@
1/33
R88G-HPG32A331K0B@
1/45
R88G-HPG50A451K0B@
1/5
R88G-HPG32A052K0B@
1/11
R88G-HPG32A112K0B@
1/21
R88G-HPG32A211K5B@
1/33
R88G-HPG50A332K0B@
1/45
R88G-HPG50A451K5B@
1/5
R88G-HPG32A052K0B@
1/11
R88G-HPG32A112K0B@
1/21
R88G-HPG50A212K0B@
1/33
R88G-HPG50A332K0B@
1/5
R88G-HPG32A053K0B@
1/11
R88G-HPG50A113K0B@
1/21
R88G-HPG50A213K0B@
1/5
R88G-HPG32A054K0B@
1/11
R88G-HPG50A115K0B@
1/5
R88G-HPG50A055K0B@
1/11
R88G-HPG50A115K0B@
2
Standard Models and Dimensions
Motor
capacity
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix
shown in the box). (Example: R88G-HPG11A05100BJ)
2-8
2-1 Standard Models
Decelerators for 2,000-r/min Servomotors
Specifications
Motor
capacity
Standard Models and Dimensions
2
1 kW
1.5 kW
2 kW
3 kW
4 kW
5 kW
7.5 kW
Gear ratio
Model
1/5
R88G-HPG32A053K0B@
1/11
R88G-HPG32A112K0SB@
1/21
R88G-HPG32A211K0SB@
1/33
R88G-HPG50A332K0SB@
1/45
R88G-HPG50A451K0SB@
1/5
R88G-HPG32A053K0B@
1/11
R88G-HPG32A112K0SB@
1/21
R88G-HPG50A213K0B@
1/33
R88G-HPG50A332K0SB@
1/5
R88G-HPG32A053K0B@
1/11
R88G-HPG32A112K0SB@
1/21
R88G-HPG50A213K0B@
1/33
R88G-HPG50A332K0SB@
1/5
R88G-HPG32A054K0B@
1/11
R88G-HPG50A115K0B@
1/21
R88G-HPG50A213K0SB@
1/25
R88G-HPG65A253K0SB@
1/5
R88G-HPG50A054K0SB@
1/11
R88G-HPG50A114K0SB@
1/20
R88G-HPG65A204K0SB@
1/25
R88G-HPG65A254K0SB@
1/5
R88G-HPG50A055K0SB@
1/11
R88G-HPG50A115K0SB@
1/20
R88G-HPG65A205K0SB@
1/25
R88G-HPG65A255K0SB@
1/5
R88G-HPG65A057K5SB@
1/12
R88G-HPG65A127K5SB@
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number
(the suffix shown in the box). (Example: R88G-HPG32A053K0BJ)
2-9
2-1 Standard Models
Decelerators for 1,000-r/min Servomotors
Specifications
900 W
2 kW
3 kW
4.5 kW
6 kW
Gear ratio
Model
1/5
R88G-HPG32A05900TB@
1/11
R88G-HPG32A11900TB@
1/21
R88G-HPG50A21900TB@
1/33
R88G-HPG50A33900TB@
1/5
R88G-HPG32A052K0TB@
1/11
R88G-HPG50A112K0TB@
1/21
R88G-HPG50A212K0TB@
1/25
R88G-HPG65A255K0SB@
1/5
R88G-HPG50A055K0SB@
1/11
R88G-HPG50A115K0SB@
1/20
R88G-HPG65A205K0SB@
1/25
R88G-HPG65A255K0SB@
1/5
R88G-HPG50A054K5TB@
1/12
R88G-HPG65A127K5SB@
1/20
R88G-HPG65A204K5TB@
1/5
R88G-HPG65A057K5SB@
1/12
R88G-HPG65A127K5SB@
2
Standard Models and Dimensions
Motor
capacity
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number
(the suffix shown in the box). (Example: R88G-HPG32A05900TBJ)
2-10
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors
Specifications
Motor
capacity
Standard Models and Dimensions
2
100 W
200 W
400 W
Gear ratio
Model
1/5
R88G-HPG11B05100PB@
1/11
R88G-HPG14A11100PB@
1/21
R88G-HPG14A21100PB@
1/33
R88G-HPG20A33100PB@
1/45
R88G-HPG20A45100PB@
1/5
R88G-HPG14A05200PB@
1/11
R88G-HPG20A11200PB@
1/21
R88G-HPG20A21200PB@
1/33
R88G-HPG20A33200PB@
1/45
R88G-HPG20A45200PB@
1/5
R88G-HPG20A05400PB@
1/11
R88G-HPG20A11400PB@
1/21
R88G-HPG20A21400PB@
1/33
R88G-HPG32A33400PB@
1/45
R88G-HPG32A45400PB@
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number
(the suffix shown in the box). (Example: R88G-HPG11B05100PBJ)
2-11
2-1 Standard Models
„ Backlash = 15’ Max.
Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key)
2
Specifications
50 W
100 W
200 W
400 W
750 W
Gear ratio
Model
1/5
R88G-VRSF05B100CJ
1/9
R88G-VRSF09B100CJ
1/15
R88G-VRSF15B100CJ
1/25
R88G-VRSF25B100CJ
1/5
R88G-VRSF05B100CJ
1/9
R88G-VRSF09B100CJ
1/15
R88G-VRSF15B100CJ
1/25
R88G-VRSF25B100CJ
1/5
R88G-VRSF05B200CJ
1/9
R88G-VRSF09C200CJ
1/15
R88G-VRSF15C200CJ
1/25
R88G-VRSF25C200CJ
1/5
R88G-VRSF05C400CJ
1/9
R88G-VRSF09C400CJ
1/15
R88G-VRSF15C400CJ
1/25
R88G-VRSF25C400CJ
1/5
R88G-VRSF05C750CJ
1/9
R88G-VRSF09D750CJ
1/15
R88G-VRSF15D750CJ
1/25
R88G-VRSF25D750CJ
Standard Models and Dimensions
Motor
capacity
2-12
2-1 Standard Models
Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key)
Specifications
Motor
capacity
2
Standard Models and Dimensions
100 W
200 W
400 W
2-13
Gear ratio
Model
1/5
R88G-VRSF05B100PCJ
1/9
R88G-VRSF09B100PCJ
1/15
R88G-VRSF15B100PCJ
1/25
R88G-VRSF25B100PCJ
1/5
R88G-VRSF05B200PCJ
1/9
R88G-VRSF09C200PCJ
1/15
R88G-VRSF15C200PCJ
1/25
R88G-VRSF25C200PCJ
1/5
R88G-VRSF05C400PCJ
1/9
R88G-VRSF09C400PCJ
1/15
R88G-VRSF15C400PCJ
1/25
R88G-VRSF25C400PCJ
2-1 Standard Models
Accessories and Cables
2
„ Encoder Cables (Standard Cables)
3,000-r/min Servomotors of 50 to 750 W
with an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an absolute encoder
3,000-r/min Servomotors of 50 to 750 W
with an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an incremental encoder
3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW,
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 900 W to 6 kW
Model
3m
R88A-CRGA003C
5m
R88A-CRGA005C
10 m
R88A-CRGA010C
15 m
R88A-CRGA015C
20 m
R88A-CRGA020C
30 m
R88A-CRGA030C
40 m
R88A-CRGA040C
50 m
R88A-CRGA050C
3m
R88A-CRGB003C
5m
R88A-CRGB005C
10 m
R88A-CRGB010C
15 m
R88A-CRGB015C
20 m
R88A-CRGB020C
30 m
R88A-CRGB030C
40 m
R88A-CRGB040C
50 m
R88A-CRGB050C
3m
R88A-CRGC003N
5m
R88A-CRGC005N
10 m
R88A-CRGC010N
15 m
R88A-CRGC015N
20 m
R88A-CRGC020N
30 m
R88A-CRGC030N
40 m
R88A-CRGC040N
50 m
R88A-CRGC050N
Standard Models and Dimensions
Specifications
2-14
2-1 Standard Models
„ Servomotor Power Cables (Standard Cables)
Model
Specifications
Standard Models and Dimensions
2
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
2-15
For Servomotor without
brake
For Servomotor with
brake
3m
R88A-CAGA003S
---
5m
R88A-CAGA005S
---
10 m
R88A-CAGA010S
---
15 m
R88A-CAGA015S
---
20 m
R88A-CAGA020S
---
30 m
R88A-CAGA030S
---
40 m
R88A-CAGA040S
---
50 m
R88A-CAGA050S
---
3m
R88A-CAGB003S
R88A-CAGB003B
5m
R88A-CAGB005S
R88A-CAGB005B
10 m
R88A-CAGB010S
R88A-CAGB010B
15 m
R88A-CAGB015S
R88A-CAGB015B
20 m
R88A-CAGB020S
R88A-CAGB020B
30 m
R88A-CAGB030S
R88A-CAGB030B
40 m
R88A-CAGB040S
R88A-CAGB040B
50 m
R88A-CAGB050S
R88A-CAGB050B
3m
R88A-CAGC003S
R88A-CAGC003B
5m
R88A-CAGC005S
R88A-CAGC005B
10 m
R88A-CAGC010S
R88A-CAGC010B
15 m
R88A-CAGC015S
R88A-CAGC015B
20 m
R88A-CAGC020S
R88A-CAGC020B
30 m
R88A-CAGC030S
R88A-CAGC030B
40 m
R88A-CAGC040S
R88A-CAGC040B
50 m
R88A-CAGC050S
R88A-CAGC050B
3m
R88A-CAGD003S
R88A-CAGD003B
5m
R88A-CAGD005S
R88A-CAGD005B
10 m
R88A-CAGD010S
R88A-CAGD010B
15 m
R88A-CAGD015S
R88A-CAGD015B
20 m
R88A-CAGD020S
R88A-CAGD020B
30 m
R88A-CAGD030S
R88A-CAGD030B
40 m
R88A-CAGD040S
R88A-CAGD040B
50 m
R88A-CAGD050S
R88A-CAGD050B
2-1 Standard Models
Model
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
For Servomotor without
brake
For Servomotor with
brake
3m
R88A-CAGE003S
---
5m
R88A-CAGE005S
---
10 m
R88A-CAGE010S
---
15 m
R88A-CAGE015S
---
20 m
R88A-CAGE020S
---
30 m
R88A-CAGE030S
---
40 m
R88A-CAGE040S
---
50 m
R88A-CAGE050S
---
2
Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to
750 W, Flat Servomotors, and Servomotors of 6 kW or higher.
Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a
Servomotor without a brake and a Brake Cable.
2-16
Standard Models and Dimensions
Specifications
2-1 Standard Models
„ Brake Cables (Standard Cables)
Specifications
Standard Models and Dimensions
2
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 6 kW
2-17
Model
3m
R88A-CAGA003B
5m
R88A-CAGA005B
10 m
R88A-CAGA010B
15 m
R88A-CAGA015B
20 m
R88A-CAGA020B
30 m
R88A-CAGA030B
40 m
R88A-CAGA040B
50 m
R88A-CAGA050B
3m
R88A-CAGE003B
5m
R88A-CAGE005B
10 m
R88A-CAGE010B
15 m
R88A-CAGE015B
20 m
R88A-CAGE020B
30 m
R88A-CAGE030B
40 m
R88A-CAGE040B
50 m
R88A-CAGE050B
2-1 Standard Models
„ Encoder Cables (Robot Cables)
3,000-r/min Servomotors of 50 to 750 W
with an absolute encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an absolute encoder
3,000-r/min Servomotors of 50 to 750 W
with an incremental encoder,
3,000-r/min Flat Servomotors of 100 to 400 W
with an incremental encoder
3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW,
1,500-r/min Servomotors of 7.5 kW,
1,000-r/min Servomotors of 900 W to 6 kW
Model
3m
R88A-CRGA003CR
5m
R88A-CRGA005CR
10 m
R88A-CRGA010CR
15 m
R88A-CRGA015CR
20 m
R88A-CRGA020CR
30 m
R88A-CRGA030CR
40 m
R88A-CRGA040CR
50 m
R88A-CRGA050CR
3m
R88A-CRGB003CR
5m
R88A-CRGB005CR
10 m
R88A-CRGB010CR
15 m
R88A-CRGB015CR
20 m
R88A-CRGB020CR
30 m
R88A-CRGB030CR
40 m
R88A-CRGB040CR
50 m
R88A-CRGB050CR
3m
R88A-CRGC003NR
5m
R88A-CRGC005NR
10 m
R88A-CRGC010NR
15 m
R88A-CRGC015NR
20 m
R88A-CRGC020NR
30 m
R88A-CRGC030NR
40 m
R88A-CRGC040NR
50 m
R88A-CRGC050NR
2-18
2
Standard Models and Dimensions
Specifications
2-1 Standard Models
„ Servomotor Power Cables (Robot Cables)
Model
Specifications
Standard Models and Dimensions
2
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of
100 to 400 W
3,000-r/min Servomotors of 1 to 1.5 kW,
2,000-r/min Servomotors of 1 to 1.5 kW,
1,000-r/min Servomotors of 900 W
3,000-r/min Servomotors of 2 kW,
2,000-r/min Servomotors of 2 kW
3,000-r/min Servomotors of 3 to 5 kW,
2,000-r/min Servomotors of 3 to 5 kW,
1,000-r/min Servomotors of 2 to 4.5 kW
For Servomotor without
brake
For Servomotor with
brake
3m
R88A-CAGA003SR
---
5m
R88A-CAGA005SR
---
10 m
R88A-CAGA010SR
---
15 m
R88A-CAGA015SR
---
20 m
R88A-CAGA020SR
---
30 m
R88A-CAGA030SR
---
40 m
R88A-CAGA040SR
---
50 m
R88A-CAGA050SR
---
3m
R88A-CAGB003SR
R88A-CAGB003BR
5m
R88A-CAGB005SR
R88A-CAGB005BR
10 m
R88A-CAGB010SR
R88A-CAGB010BR
15 m
R88A-CAGB015SR
R88A-CAGB015BR
20 m
R88A-CAGB020SR
R88A-CAGB020BR
30 m
R88A-CAGB030SR
R88A-CAGB030BR
40 m
R88A-CAGB040SR
R88A-CAGB040BR
50 m
R88A-CAGB050SR
R88A-CAGB050BR
3m
R88A-CAGC003SR
R88A-CAGC003BR
5m
R88A-CAGC005SR
R88A-CAGC005BR
10 m
R88A-CAGC010SR
R88A-CAGC010BR
15 m
R88A-CAGC015SR
R88A-CAGC015BR
20 m
R88A-CAGC020SR
R88A-CAGC020BR
30 m
R88A-CAGC030SR
R88A-CAGC030BR
40 m
R88A-CAGC040SR
R88A-CAGC040BR
50 m
R88A-CAGC050SR
R88A-CAGC050BR
3m
R88A-CAGD003SR
R88A-CAGD003BR
5m
R88A-CAGD005SR
R88A-CAGD005BR
10 m
R88A-CAGD010SR
R88A-CAGD010BR
15 m
R88A-CAGD015SR
R88A-CAGD015BR
20 m
R88A-CAGD020SR
R88A-CAGD020BR
30 m
R88A-CAGD030SR
R88A-CAGD030BR
40 m
R88A-CAGD040SR
R88A-CAGD040BR
50 m
R88A-CAGD050SR
R88A-CAGD050BR
Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to
750 W and Flat Servomotors.
Therefore, when a Servomotor with a brake is used, it will require a Power Cable for a
Servomotor without a brake, as well as a Brake Cable.
2-19
2-1 Standard Models
„ Brake Cables (Robot Cables)
3,000-r/min Servomotors of 50 to 750 W,
3,000-r/min Flat Servomotors of 100 to 400 W
Model
3m
R88A-CAGA003BR
5m
R88A-CAGA005BR
10 m
R88A-CAGA010BR
15 m
R88A-CAGA015BR
20 m
R88A-CAGA020BR
30 m
R88A-CAGA030BR
40 m
R88A-CAGA040BR
50 m
R88A-CAGA050BR
„ Communications Cable
Specifications
RS-232 Communications Cable
Model
2m
R88A-CCG002P2
„ MECHATROLINK-II Communications Cable
Specifications
MECHATROLINK-II Cable
Model
0.5 m
FNY-W6003-A5
1m
FNY-W6003-01
3m
FNY-W6003-03
5m
FNY-W6003-05
10 m
FNY-W6003-10
20 m
FNY-W6003-20
30 m
FNY-W6003-30
MECHATROLINK-II termination resistor
FNY-W6022
„ Absolute Encoder Battery Cable
Specifications
Absolute Encoder Battery Cable
Model
0.3 m
R88A-CRGD0R3C
2-20
2
Standard Models and Dimensions
Specifications
2-1 Standard Models
„ Connectors
Specifications
Standard Models and Dimensions
2
Servomotor Connector for Encoder
Cable
Model
Absolute Encoder
R88A-CNG01R
Incremental Encoder
R88A-CNG02R
Control I/O Connector (CN1)
R88A-CNU01C
Encoder Connector (CN2)
R88A-CNW01R
Power Cable Connector (750 W max.)
R88A-CNG01A
Brake Cable Connector (750 W max.)
R88A-CNG01B
„ Control Cables
Specifications
Model
Connector Terminal Block Cables
Connector Terminal Block
1m
XW2Z-100J-B33
2m
XW2Z-200J-B33
M3 screw type
XW2B-20G4
M3.5 screw type
XW2B-20G5
M3 screw type
XW2D-20G6
„ External Regeneration Resistors
Specifications
Model
Regeneration capacity: 20 W, 50 Ω (with 150°C thermal switch)
R88A-RR08050S
Regeneration capacity: 20 W, 100 Ω (with 150°C thermal switch)
R88A-RR080100S
Regeneration capacity: 70 W, 47 Ω (with 170°C thermal switch)
R88A-RR22047S
Regeneration capacity: 180 W, 20 Ω (with 200°C thermal switch)
R88A-RR50020S
„ Reactors
Specifications
2-21
Model
R88D-GNA5L-ML2/-GN01H-ML2
3G3AX-DL2002
R88D-GN01L-ML2/-GN02H-ML2
3G3AX-DL2004
R88D-GN02L-ML2/-GN04H-ML2
3G3AX-DL2007
R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2
3G3AX-DL2015
R88D-GN15H-ML2
3G3AX-DL2022
R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
3G3AX-AL2025
R88D-GN20H-ML2/-GN30H-ML2
3G3AX-AL2055
R88D-GN50H-ML2
3G3AX-AL2110
R88D-GN75H-ML2
3G3AX-AL2220
2-1 Standard Models
„ Mounting Brackets (L Brackets for Rack Mounting)
Model
R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/-GN02H-ML2
R88A-TK01G
R88D-GN02L-ML2/-GN04H-ML2
R88A-TK02G
R88D-GN04L-ML2/-GN08H-ML2
R88A-TK03G
R88D-GN10H-ML2/-GN15H-ML2
R88A-TK04G
2
Standard Models and Dimensions
Specifications
„ Absolute Encoder Backup Battery
Specifications
2,000 mA·h 3.6 V
Model
R88A-BAT01G
2-22
2-2 External and Mounting Hole Dimensions
2-2 External and Mounting Hole
Dimensions
Servo Drives
„ Single-phase 100 VAC: R88D-GNA5L-ML2/-GN01L-ML2 (50 to 100 W)
Single-phase 200 VAC: R88D-GN01H-ML2/-GN02H-ML2 (50 to 200 W)
Wall Mounting
External Dimensions
Mounting Hole Dimensions
70
40
132
4
Two, M4
AC SERVO DRIVER
ADR
9 0 1
2 3
7 8
0 1
2 3
4 5 6
X10
X1
COM
SP
IM
140
5
150
G
150
Standard Models and Dimensions
2
6
28
40
2-23
2-2 External and Mounting Hole Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
Mounting Dimensions
(Reference Values)
2
70
5.2 dia.
4
24
7
8
2.6
Two, M4
AC SERVO DRIVER
ADR
0 1
0 1
2 3
2 3
7 8
9
4 5 6
X10
X1
COM
SP
IM
Square
hole
(158)*
170 ±0.5
180
170
150
G
6
R2.6
5.2
2.6
(42)*
7
Note The dimensions of the square
hole are reference values.
2-24
Standard Models and Dimensions
21
132
2-2 External and Mounting Hole Dimensions
„ Single-phase 100 VAC: R88D-GN02L-ML2 (200 W)
Single-phase 200 VAC: R88D-GN04H-ML2 (400 W)
2
Wall Mounting
Standard Models and Dimensions
External Dimensions
Mounting Hole Dimensions
70
55
132
4
Two, M4
AC SERVO DRIVER
ADR
0 1
0 1
9
7 8
2 3
2 3
4 5 6
X10
X1
COM
SP
IM
5
150
150
140
G
6
43
55
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
Mounting Dimensions
(Reference Values)
70
55
28
132
4
24
7
8
2.6
Two, M4
5.2 dia.
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
Square
hole
(158)*
170
180
170
150
G
6
R2.6
5.2
7
2-25
2.6
(57)*
Note The dimensions of the square
hole are reference values.
2-2 External and Mounting Hole Dimensions
„ Single-phase 100 VAC: R88D-GN04L-ML2 (400 W)
Single-phase 200/Three phase VAC: R88D-GN08H-ML2 (750 W)
2
Wall Mounting
Mounting Hole Dimensions
70
65
172
4
Two, M4
AC SERVO DRIVER
0 1
ADR
9
2 3
7 8
0 1
2 3
4 5 6
X10
X1
COM
SP
IM
5
150
150
140
G
7.5
50
65
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
Mounting Dimensions
(Reference Values)
70
65
40
172
4
22
5.2 dia. 20
21
2.6
Two, M4
AC SERVO DRIVER
ADR
9 01
2 3
2 3
7 8
01
4 5 6
X10
X1
COM
SP
IM
(158)*
Square hole
6
170
180
170
150
G
2.6
R2.6
5.2
(67)*
20
40
Note The dimensions of the square
hole are reference values.
2-26
Standard Models and Dimensions
External Dimensions
2-2 External and Mounting Hole Dimensions
„ Single-phase/Three-phase 200 VAC: R88D-GN10H-ML2/-GN15H-ML2
(900 W to 1.5 kW)
2
Wall Mounting
Standard Models and Dimensions
External Dimensions
Mounting Hole Dimensions
70
85
172
4
Two, M4
AC SERVO DRIVER
ADR
9 01
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
140
5
150
150
G
7.5
70
(85)
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
85
Mounting Dimensions
(Reference Values)
70
172
60
10
40
4
22
5.2
dia.
5.2 dia.
Four, M4
2.6
AC SERVO DRIVER
ADR
9 01
2 3
2 3
7 8
01
4 5 6
X10
X1
COM
SP
IM
6
Square hole
(158)*
170
170
180
150
G
R2.6
5.2
10
R2.6
5.2
40
2.6
11
40
(87)*
Note The dimensions of the square
hole are reference values.
2-27
2-2 External and Mounting Hole Dimensions
„ Three-phase 200 VAC: R88D-GN20H-ML2 (2 kW)
Wall Mounting
2
External Dimensions
70
50
200
3.5
42.5
5.2
5.2
5.2
dia.
R2.6
R2.6
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
5.2
dia.
R2.6
198
188
168
G
R2.6
5.2
3.5
5.2
42.5
17.5
50
Mounting Hole Dimensions
168
188±0.5
Four, M4
17.5
50
85
2-28
Standard Models and Dimensions
85
17.5
2-2 External and Mounting Hole Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
85
2
17.5
70
50
42.5
32.1
5.2
5.2
5.2
dia.
Standard Models and Dimensions
R2.6
2.6
R2.6
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
5.2
dia.
198
188
168
G
R2.6
R2.6
5.2
5.2
42.5
17.5
50
Mounting Dimensions
(Reference Values)
6
Square hole
188
(176)*
Four, M4
20.5
50
(89)*
Note The dimensions of the square
hole are reference values.
2-29
200
2-2 External and Mounting Hole Dimensions
„ Three-phase 200 VAC: R88D-GN30H-ML2/-GN50H-ML2 (2 to 5 kW)
Wall Mounting
2
130
100
15
65
5.2
5.2 dia.
R2.6
70
200
3.5
5.2
R2.6
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
5.2 dia.
5.2
65
R2.6
15
250
240
220
G
R2.6
3.5
5.2
100
Mounting Hole Dimensions
Six, M4
220
240
50
15
100
130
2-30
Standard Models and Dimensions
External Dimensions
2-2 External and Mounting Hole Dimensions
Front Panel Mounting (Using Mounting Brackets)
External Dimensions
2
130
100
15
65
5.2
5.2 dia.
Standard Models and Dimensions
R2.6
70
32.3
5.2
2.6
R2.6
AC SERVO DRIVER
ADR
9
0 1
2 3
2 3
7 8
0 1
4 5 6
X10
X1
COM
SP
IM
5.2 dia.
R2.6
5.2
65
15
5.2
100
Mounting Dimensions
(Reference Values)
(228)*
6
Square hole
240
Six, M4
50
16
100
(132)*
Note The dimensions of the square
hole are reference values.
2-31
250
240
220
G
R2.6
200
2-2 External and Mounting Hole Dimensions
„ Three-phase 200 VAC: R88D-GN75H-ML2 (7.5 kW)
Front Panel Mounting (Using Mounting Brackets)
2
External Dimensions
90
90
82.5
5.2
70
90
5.2
339.3
(4)
45.1
(2.3)
5.2
9 0 1
2 3
5 6
2 3
7 8
ADR
X10
4
0 1
(4)
AC SERVO DRIVER
X1
COM
SP
IM
G
L1
L2
L3
220
235
250
B1
B2
U
V M
W
5.2
5.2
5.2
85
Four, 5.2 dia.
Mounting Dimensions
(Reference Values)
235
(226)*
4.5
Six, M4
4.5
Square hole
38.5
90
90
Note The dimensions of the square
hole are reference values.
(250)*
2-32
Standard Models and Dimensions
248
37.5
2-2 External and Mounting Hole Dimensions
Servomotors
2
„ 3,000-r/min Servomotors
R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)/-G05030H-B(S2)
/-G10030L-B(S2)/-G10030H-B(S2)
INC
R88M-G05030T(-S2)/-G10030S(-S2)/-G10030T(-S2)/-G05030T-B(S2)
/-G10030S-B(S2)/-G10030T-B(S2)
ABS
Brake connector
Motor connector
Encoder
connector
LL
6
25
3
(Dimensions of shaft end
with key and tap)
14
12.5
3
LN
46
Two, 4.3 dia.
Model
R88M-G05030@
R88M-G10030@
R88M-G05030@-B@
R88M-G10030@-B@
Three, h: 9
1.8
40 × 40
32
30 dia., h: 7
8 dia., h: 6
200
230
Standard Models and Dimensions
50 W/100 W
dia
.
M3 (depth: 6)
Dimensions (mm)
LL
LN
72
26.5
92
46.5
102
26.5
122
46.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-33
2-2 External and Mounting Hole Dimensions
„ 3,000-r/min Servomotors
200 W/400 W/750 W
R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2)
2
/-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2)
/-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2)
INC
Standard Models and Dimensions
R88M-G20030S(-S2)/-G40030S(-S2)/-G20030T(-S2)/-G40030T(-S2)
/-G75030T(-S2)/-G20030S-B(S2)/-G40030S-B(S2)
/-G20030T-B(S2)/-G40030T-B(S2)/-G75030T-B(S2)
Brake connector
Motor connector
LR
3
Four, Z dia.
(Dimensions of shaft end
with key and tap)
C×C
QK
b
dia.
t1
D1
h
D2 dia., h: 7
200
G
KL1
LL
S dia., h: 6
Encoder
connector
220
ABS
M (effective depth: L)
Model
R88M-G20030@
R88M-G40030@
R88M-G75030@
R88M-G20030@-B@
R88M-G40030@-B@
R88M-G75030@-B@
LL
79.5
99
112.2
116
135.5
149.2
LR S
11
30
14
35 19
11
30
14
35 19
D1 D2
70
50
90
70
70
50
90
70
Dimensions (mm)
G KL1 Z QK
18
60 6.5 43 4.5
22.5
80 8 53 6
22
18
60 6.5 43 4.5
22.5
80 8 53 6
22
C
b
4h9
5h9
6h9
4h9
5h9
6h9
h
4
5
6
4
5
6
M t1 L
M4 2.5 8
3
M5
10
3.5
M4 2.5 8
3
M5
10
3.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-34
2-2 External and Mounting Hole Dimensions
„ 3,000-r/min Servomotors
1 kW/1.5 kW/2 kW
R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2)
/-G1K530T-B(S2)/-G2K030T-B(S2)
3
45
42
Four, Z dia.
Six, h: 9
6
D2 dia., h: 7
84
G
(Dimensions of shaft end
with key and tap)
C×C
3.5
55
ABS
KL1
LL
19 dia., h: 6
Servomotor
canon plug
Encoder
canon plug
D3
D1
.
dia
dia
.
M5 (depth: 12)
Dimensions (mm)
LL D1 D2 C D3 G KL1 Z
175 100 80 90 120 7 98 6.6
180
115 95 100 135 10 103 9
205
200 100 80 90 120 7 98 6.6
205
115 95 100 135 10 103 9
230
Model
R88M-G1K030@
R88M-G1K530@
R88M-G2K030@
R88M-G1K030@-B@
R88M-G1K530@-B@
R88M-G2K030@-B@
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
„ 3,000-r/min Servomotors
3 kW
R88M-G3K030T(-S2)/-G3K030T-B(S2)
45
41
Eight, h: 9
130
dia
4
.
111
9
110 dia., h: 7
3
(Dimensions of the shaft end
with key and tap)
120×120
55
12
ABS
162
.
dia
7
LL
22 dia., h: 6
Servomotor/brake
connector
Encoder
connector
84
Standard Models and Dimensions
2
145
dia.
M5 (depth: 12)
Model
R88M-G3K030@
R88M-G3K030@-B@
Dimensions (mm)
LL
217
242
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-35
2-2 External and Mounting Hole Dimensions
„ 3,000-r/min Servomotors
4 kW/5 kW
55
165
.
dia
R88M-G4K030@
R88M-G5K030@
R88M-G4K030@-B@
R88M-G5K030@-B@
Eight, h: 9
4
51
145 dia.
Model
(Dimensions of shaft end
with key and tap)
Four, 9 dia.
110 dia., h: 7
6
2
7
12
130×130
118
65
24 dia., h: 6
LL
84
Servomotor/brake
connector
Encoder
connector
ABS
M8 (depth: 20)
Dimensions (mm)
LL
240
280
265
305
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-36
Standard Models and Dimensions
R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2)
2-2 External and Mounting Hole Dimensions
„ 3,000-r/min Flat Servomotors
100 W/200 W/400 W
R88M-GP10030L(-S2)/-GP20030L(-S2)/-GP40030L(-S2)/-GP10030H(-S2)
/-GP20030H(-S2)/-GP40030H(-S2)/-GP10030L-B(S2)/-GP20030L-B(S2)
/-GP40030L-B(S2)/-GP10030H-B(S2)/-GP20030H-B(S2)/-GP40030H-B(S2)
INC
R88M-GP10030S(-S2)/-GP20030S(-S2)/-GP40030S(-S2)/-GP10030T(-S2)
/-GP20030T(-S2)/-GP40030T(-S2)/-GP10030S-B(S2)/-GP20030S-B(S2)
/-GP40030S-B(S2)/-GP10030T-B(S2)/-GP20030T-B(S2)/-GP40030T-B(S2)
ABS
Encoder
connector
Motor connector
Brake connector
C×C
G F
(Dimensions of shaft end
with key and tap)
Four, Z dia.
QK
D2 dia., h: 7
b
t1
ia.
d
D1
h
(7)
S dia., h: 6
(7)
LR
200
220
LL
KL1
Standard Models and Dimensions
2
M (depth: L)
Model
R88M-GP10030L
R88M-GP10030H
R88M-GP10030S
R88M-GP10030T
R88M-GP20030L
R88M-GP20030H
R88M-GP20030S
R88M-GP20030T
R88M-GP40030L
R88M-GP40030H
R88M-GP40030S
R88M-GP40030T
R88M-GP10030L-B@
R88M-GP10030H-B@
R88M-GP10030S-B@
R88M-GP10030T-B@
R88M-GP20030L-B@
R88M-GP20030H-B@
R88M-GP20030S-B@
R88M-GP20030T-B@
R88M-GP40030L-B@
R88M-GP40030H-B@
R88M-GP40030S-B@
R88M-GP40030T-B@
LL
LR
S
D1 D2
C
Dimensions (mm)
F
G KL1 Z QK
25
8
70
60
3
b
h
t1
M
L
43 4.5 12.5 3h9
3
1.8
M3
6
18 4h9
4
2.5
M4
8
22.5 5h9
5
3
M5
10
43 4.5 12.5 3h9
3
1.8
M3
6
18 4h9
4
2.5
M4
8
22.5 5h9
5
3
M5
10
60.5
50
7
87.5
67.5
11
94.5
30
90
70
80
5
8
53 5.5
82.5
14
109.5
84.5
25
8
70
50
60
3
7
111.5
100
11
127
30
90
70
80
5
8
53 5.5
115
14
142
Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of
the model number.
2-37
2-2 External and Mounting Hole Dimensions
„ 2,000-r/min Servomotors
1 kW/1.5 kW
R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2)
45
41
Eight, h: 9
165
dia.
145
dia
.
M5 (depth: 12)
Dimensions (mm)
LL
150
Model
R88M-G1K020@
R88M-G1K520@
R88M-G1K020@-B@
R88M-G1K520@-B@
175
200
Note The standard models have a straight shaft. Models with a key and tap are indicated with
“S2” at the end of the model number.
„ 2,000-r/min Servomotors
2 kW/3 kW
R88M-G2K020T(-S2)/-G3K020T(-S2)/-G2K020T-B(S2)/-G3K020T-B(S2)
Four, 9 dia.
R88M-G2K020@
R88M-G3K020@
R88M-G2K020@-B@
R88M-G3K020@-B@
LL
200
250
225
275
Eight, h: 9
4
110 dia., h: 7
Model
LW
QK
7
6
118
12
(Dimensions of shaft end
with key and tap)
130 × 130
LR
S dia., h: 6
LL
84
Servomotor/brake
connector
Encoder
connector
ABS
165
dia.
145
dia
.
Dimensions (mm)
LR S LW QK M
55 22 45 41 M5
65 24 55 51 M8
55 22 45 41 M5
65 24 55 51 M8
M (depth: L)
L
12
20
12
20
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-38
Standard Models and Dimensions
Four, 9 dia.
4
6
7
12
2
(Dimensions of shaft end
with key and tap)
130 × 130
55
22 dia., h: 6
110 dia., h: 7
118
LL
84
Servomotor/brake
connector
Encoder
connector
ABS
2-2 External and Mounting Hole Dimensions
„ 2,000-r/min Servomotors
4 kW/5 kW
R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2)
C×C
LR
3.2
Four, Z dia.
b
h
D2 dia., h: 7
QK
t1
18
ABS
(Dimensions of shaft end
with key and tap)
KL1
LL
S dia., h: 6
Servomotor/brake
connector
Encoder
connector
84
Standard Models and Dimensions
2
D3
dia.
D1
dia
.
M (depth: L)
Model
R88M-G4K020@
R88M-G5K020@
R88M-G4K020@-B@
R88M-G5K020@-B@
LL
242
225
267
250
LR
65
70
65
70
S
28
35
28
35
D1
165
200
165
200
D2
130
114.3
130
114.3
Dimensions (mm)
C D3 KL1 Z QK
150 190 128 11 51
176 233 143 13.5 50
150 190 128 11 51
176 233 143 13.5 50
b
8h9
10h9
8h9
10h9
h
7
8
7
8
t1 M
L
4 M8 20
5 M12 25
4 M8 20
5 M12 25
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-39
2-2 External and Mounting Hole Dimensions
„ 1,500-r/min Servomotors
7.5 kW
R88M-G7K515T(-S2)/-G7K515T-B(S2) ABS
2
Brake connector
176 × 176
84
96
90
233
200
Model
R88M-G7K515@
R88M-G7K515@-B@
12, h: 9
Four, 13.5 dia.
8
24 3.2
114.3 dia., h: 7
183
Encoder
connector
113
42 dia., h: 6
LL
.
dia
dia
.
M16 (depth:32)
Dimensions (mm)
LL
340.5
380.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-40
Standard Models and Dimensions
(Dimensions of shaft end
with key and tap)
Eye-bolt
Nominal diameter: 10
5
Motor
connector
2-2 External and Mounting Hole Dimensions
„ 1,000-r/min Servomotors
900 W/2 kW
R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2)
2
ABS
Encoder connector
LL
LR
(Dimensions of shaft end
with key and tap)
S dia., h: 6
C×C
Four, Z dia.
QK
b
h
D2 dia., h: 7
t1
KL1
G F
84
D3
.
D1
dia
.
dia
M (depth: L)
Model
LL
175
182
200
207
R88M-G90010@
R88M-G2K010@
R88M-G90010@-B@
R88M-G2K010@-B@
LR
70
80
70
80
S
22
35
22
35
D1
145
200
145
200
D2
110
114.3
110
114.3
Dimensions (mm)
D3 F
G KL1 Z
165 6 12 118 9
233 3.2 18 143 13.5
165 6 12 118 9
233 3.2 18 143 13.5
C
130
176
130
176
QK
41
50
41
50
b
8h9
10h9
8h9
10h9
h
7
8
7
8
t1 M
L
4 M5 12
5 M12 25
4 M5 12
5 M12 25
Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of
the model number.
„ 1,000-r/min Servomotors
3 kW
R88M-G3K010T(-S2)/-G3K010T-B(S2)
Model
R88M-G3K010@
R88M-G3K010@-B@
50
10, h: 9
5
Four, 13.5 dia.
114.3 dia., h: 7
18 3.2
176 × 176
8
Encoder connector
80
143
LL
ABS
(Dimensions of shaft end
with key and tap)
35 dia., h: 6
Servomotor/brake
connector
84
Standard Models and Dimensions
Servomotor/brake connector
233
.
dia
200
dia
.
M12 (depth: 25)
Dimensions (mm)
LL
222
271
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-41
2-2 External and Mounting Hole Dimensions
„ 1,000-r/min Servomotors
4.5 kW
R88M-G4K510T(-S2)/-G4K510T-B(S2)
LL
(Dimensions of shaft end
with key and tap)
113
176 × 176
Eye-bolt
Model
R88M-G4K510@
R88M-G4K510@-B@
12, h: 9
8
5
143
42 dia., h: 6
90
Four, 13.5 dia.
114.3 dia., h: 7
24 3.2
84
Encoder connector
Nominal
diameter: 10
2
233
.
dia
200
dia
.
M16 (depth: 32)
Dimensions (mm)
LL
300.5
337.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
„ 1,000-r/min Servomotors
6 kW
R88M-G6K010T(-S2)/-G6K010T-B(S2)
ABS
Brake connector
Motor
connector
(Dimensions of shaft end
with key and tap)
Eye-bolt
Nominal diameter: 10
176 × 176
Model
R88M-G6K010@
R88M-G6K010@-B@
12, h: 9
233
200
.
8
Four, 13.5 dia.
114.3 dia., h: 7
Encoder
connector
5
42 dia., h: 6
96
90
dia
dia
.
M16 (depth: 32)
Dimensions (mm)
LL
340.5
380.5
Note The standard models have a straight shaft. Models with a key and tap are indicated with
"S2" at the end of the model number.
2-42
Standard Models and Dimensions
Servomotor/brake
connector
ABS
2-2 External and Mounting Hole Dimensions
Parameter Unit Dimensions
2
„ R88A-PR02G Hand-held Parameter Unit
(62)
M3 (depth: 5)
(114)
(15)
Standard Models and Dimensions
(24)
(15)
(1500)
2-43
Mini DIN 8-pin
MD connector
2-2 External and Mounting Hole Dimensions
Servomotor and Decelerator Combinations
Motor model
1/5
1/11
(1/9 for flange size
No.11)
1/21
1/33
1/45
R88MG05030@
R88GR88GHPG11B05100B@
HPG11B09050B@
(Also used with
(Gear ratio 1/9)
R88M-G10030@)
R88GHPG14A21100B@ R88GR88GHPG14A33050B@ HPG14A45050B@
(Also used with
R88M-G10030@)
R88MG10030@
R88GR88GR88GR88GR88GHPG11B05100B@ HPG14A11100B@ HPG14A21100B@ HPG20A33100B@ HPG20A45100B@
R88MG20030@
R88GR88GR88GR88GR88GHPG14A05200B@ HPG14A11200B@ HPG20A21200B@ HPG20A33200B@ HPG20A45200B@
R88MG40030@
R88GR88GR88GR88GR88GHPG14A05400B@ HPG20A11400B@ HPG20A21400B@ HPG32A33400B@ HPG32A45400B@
R88MG75030@
R88GR88GR88GR88GR88GHPG20A05750B@ HPG20A11750B@ HPG32A21750B@ HPG32A33750B@ HPG32A45750B@
R88MG1K030T
R88GR88GR88GR88GR88GHPG32A051K0B@ HPG32A111K0B@ HPG32A211K0B@ HPG32A331K0B@ HPG50A451K0B@
R88MG1K530T
R88GHPG32A052K0B@
(Also used with
R88M-G2K030T)
R88MG2K030T
R88GR88GR88GR88G--HPG32A052K0B@ HPG32A112K0B@ HPG50A212K0B@ HPG50A332K0B@
R88MG3K030T
R88GR88GR88G--HPG32A053K0B@ HPG50A113K0B@ HPG50A213K0B@
---
R88MG4K030T
R88GHPG50A115K0B@
R88G--HPG32A054K0B@ (Also used with
R88M-G5K030T)
---
---
R88MG5K030T
R88GR88G--HPG50A055K0B@ HPG50A115K0B@
---
---
R88GHPG32A112K0B@ R88G(Also used with
HPG32A211K5B@
R88M-G2K030T)
R88GHPG50A332K0B@ R88G(Also used with
HPG50A451K5B@
R88M-G2K030T)
2-44
Standard Models and Dimensions
2
3,000-r/min Servomotors
2-2 External and Mounting Hole Dimensions
3,000-r/min Flat Servomotors
Motor model
Standard Models and Dimensions
2
1/5
1/11
1/21
1/33
1/45
R88MGP10030@
R88GR88GR88GR88GR88GHPG11B05100PB@ HPG14A11100PB@ HPG14A21100PB@ HPG20A33100PB@ HPG20A45100PB@
R88MGP20030@
R88GR88GR88GR88GR88GHPG14A05200PB@ HPG20A11200PB@ HPG20A21200PB@ HPG20A33200PB@ HPG20A45200PB@
R88MGP40030@
R88GR88GR88GR88GR88GHPG20A05400PB@ HPG20A11400PB@ HPG20A21400PB@ HPG32A33400PB@ HPG32A45400PB@
2,000-r/min Servomotors
Motor model
1/5
1/11
1/21
1/33
(1/12 for flange size (1/20 for flange size (1/25 for flange size
No.65)
No.65)
No.65)
1/45
R88MG1K020T
R88GHPG32A053K0B@
(Also used with
R88M-G3K030T)
R88GHPG32A112K0SB@ R88GHPG32A211K0SB@
(Also used with
R88M-G2K020T)
R88GHPG50A332K0SB@ R88GHPG50A451K0SB@
(Also used with
R88M-G2K020T)
R88MG1K520T
R88GHPG32A053K0B@
(Also used with
R88M-G3K030T)
R88GHPG32A112K0SB@
(Also used with
R88M-G2K020T)
R88GHPG50A213K0B@
(Also used with
R88M-G3K030T)
R88GHPG50A332K0SB@
--(Also used with
R88M-G2K020T)
R88MG2K020T
R88GHPG32A053K0B@
(Also used with
R88M-G3K030T)
R88GR88GHPG50A213K0B@
HPG32A112K0SB@ (Also used with
R88M-G3K030T)
R88G--HPG50A332K0SB@
R88MG3K020T
R88GHPG32A054K0B@
(Also used with
R88M-G4K030T)
R88GHPG50A115K0B@
(Also used with
R88M-G5K030T)
R88MG4K020T
R88GR88GR88GR88G--HPG50A054K0SB@ HPG50A114K0SB@ HPG65A204K0SB@ HPG65A254K0SB@
R88MG5K020T
R88GR88GR88GR88G--HPG50A055K0SB@ HPG50A115K0SB@ HPG65A205K0SB@ HPG65A255K0SB@
R88MG7K515T
R88GR88G--HPG65A057K5SB@ HPG65A127K5SB@
2-45
R88GR88G--HPG50A213K0SB@ HPG65A253K0SB@
---
---
2-2 External and Mounting Hole Dimensions
1,000-r/min Servomotors
1/5
1/11
(1/12 for flange size
No.65)
1/21
(1/20 for flange size
No.65)
1/33
(1/25 for flange size
No.65)
R88MG90010T
R88GHPG32A05900TB@
R88GHPG32A11900TB@
R88GHPG50A21900TB@
R88GHPG50A33900TB@
R88MG2K010T
R88GHPG32A052K0TB@
R88GHPG50A112K0TB@
R88GHPG50A212K0TB@
R88GHPG65A255K0SB@
(Also used with R88MG5K020T)
R88MG3K010T
R88GHPG50A055K0SB@
(Also used with R88MG5K020T)
R88GHPG50A115K0SB@
(Also used with R88MG5K020T)
R88GHPG65A205K0SB@
(Also used with R88MG5K020T)
R88GHPG65A255K0SB@
(Also used with R88MG5K020T)
R88MG4K510T
R88GHPG50A054K5TB@
R88GHPG65A127K5SB@ R88G(Also used with R88M- HPG65A204K5TB@
G7K515T)
---
R88MG6K010T
R88GHPG65A057K5SB@
(Also used with R88MG7K515T)
R88GHPG65A127K5SB@
--(Also used with R88MG7K515T)
---
2
Standard Models and Dimensions
Motor model
2-46
2-2 External and Mounting Hole Dimensions
Decelerator Dimensions
2
„ Backlash = 3’ Max.
Standard Models and Dimensions
Decelerators for 3,000-r/min Servomotors
Model
1/5
1/9
50 W 1/21
1/33
1/45
1/5
1/11
100 W 1/21
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
1/33 R88G-HPG20A33100B@
1/45 R88G-HPG20A45100B@
1/5 R88G-HPG14A05200B@
1/11 R88G-HPG14A11200B@
200 W 1/21 R88G-HPG20A21200B@
1/33 R88G-HPG20A33200B@
1/45 R88G-HPG20A45200B@
LM
39.5
39.5
64.0
64.0
64.0
39.5
64.0
LR
42
42
58
58
58
42
58
C1
40
40
60
60
60
40
60
C2
40×40
40×40
60×60
60×60
60×60
40×40
60×60
Dimensions (mm)
D1 D2 D3 D4
46 46 40.0 39.5
46 46 40.0 39.5
70 46 56.0 55.5
70 46 56.0 55.5
70 46 56.0 55.5
46 46 40.0 39.5
70 46 56.0 55.5
D5
29
29
40
40
40
29
40
E
27
27
37
37
37
27
37
F1
2.2
2.2
2.5
2.5
2.5
2.2
2.5
F2
15
15
21
21
21
15
21
64.0 58
66.5 80
60 60×60 70
90 55 dia. 105
46 56.0 55.5 40
46 85.0 84.0 59
37
53
2.5
7.5
21
27
66.5
64.0
64.0
71.0
90
60
60
90
46
70
70
70
59
40
40
59
53
37
37
53
7.5
2.5
2.5
7.5
27
21
21
27
70 85.0 84.0 59
70 85.0 84.0 59
53
53
7.5
7.5
27
27
80
58
58
80
71.0 80
71.0 80
55 dia.
60×60
60×60
89 dia.
105
70
70
105
90 89 dia. 105
90 89 dia. 105
85.0
56.0
56.0
85.0
84.0
55.5
55.5
84.0
Dimensions (mm)
Model
1/5
1/9
50 W 1/21
1/33
1/45
1/5
1/11
100 W 1/21
1/33
R88G-HPG11B05100B@
R88G-HPG11B09050B@
R88G-HPG14A21100B@
R88G-HPG14A33050B@
R88G-HPG14A45050B@
R88G-HPG11B05100B@
R88G-HPG14A11100B@
R88G-HPG14A21100B@
R88G-HPG20A33100B@
1/45
1/5
1/11
200 W 1/21
1/33
1/45
R88G-HPG20A45100B@
R88G-HPG14A05200B@
R88G-HPG14A11200B@
R88G-HPG20A21200B@
R88G-HPG20A33200B@
R88G-HPG20A45200B@
G
S
T
Z1
Z2
AT*1
5
5
8
8
8
5
8
8
8
8
16
16
16
8
16
16
20
20
28
28
28
20
28
28
3.4
3.4
5.5
5.5
5.5
3.4
5.5
5.5
M4×9
M4×9
M4×10
M4×10
M4×10
M4×9
M4×10
M4×10
M3
M3
M3
M3
M3
M3
M3
M3
QK
15
15
25
25
25
15
25
25
b
3
3
5
5
5
3
5
5
h
3
3
5
5
5
3
5
5
Tap
dimensions
t1
M
L
1.8 M3
6
1.8 M3
6
3
M4
8
3
M4
8
3
M4
8
1.8 M3
6
3
M4
8
3
M4
8
10
10
8
8
10
10
10
25
25
16
16
25
25
25
42
42
28
28
42
42
42
9.0
9.0
5.5
5.5
9.0
9.0
9.0
M4×10
M4×10
M4×10
M4×10
M4×10
M4×10
M4×10
M4
M4
M4
M4
M4
M4
M4
36
36
25
25
36
36
36
8
8
5
5
8
8
8
7
7
5
5
7
7
7
4.0
4.0
3
3
4.0
4.0
4.0
Key dimensions
M6
M6
M4
M4
M6
M6
M6
12
12
8
8
12
12
12
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the
box). (Example: R88G-HPG11B05100BJ)
2-47
2-2 External and Mounting Hole Dimensions
R88G-HPG14A05400B@
R88G-HPG20A11400B@
R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
1/5
1/11
400 W 1/21
1/33
1/45
1/5
1/11
750 W 1/21
1/33
1/45
LM
64.0
71.0
71.0
104.0
104.0
78.0
78.0
104.0
104.0
104.0
LR
58
80
80
133
133
80
80
133
133
133
C1
60
90
90
120
120
90
90
120
120
120
C2
60×60
89 dia.
89 dia.
122 dia.
122 dia.
80×80
80×80
122 dia.
122 dia.
122 dia.
Dimensions (mm)
D1 D2 D3
D4
70 70 56.0 55.5
105 70 85.0 84.0
105 70 85.0 84.0
135 70 115.0 114.0
135 70 115.0 114.0
105 90 85.0 84.0
105 90 85.0 84.0
135 90 115.0 114.0
135 90 115.0 114.0
135 90 115.0 114.0
D5
40
59
59
84
84
59
59
84
84
84
E
37
53
53
98
98
53
53
98
98
98
F1
2.5
7.5
7.5
12.5
12.5
7.5
7.5
12.5
12.5
12.5
F2
21
27
27
35
35
27
27
35
35
35
2
Dimensions (mm)
Model
1/5 R88G-HPG14A05400B@
1/11 R88G-HPG20A11400B@
400 W 1/21 R88G-HPG20A21400B@
R88G-HPG32A33400B@
R88G-HPG32A45400B@
R88G-HPG20A05750B@
R88G-HPG20A11750B@
R88G-HPG32A21750B@
R88G-HPG32A33750B@
R88G-HPG32A45750B@
1/33
1/45
1/5
1/11
750 W 1/21
1/33
1/45
G
S
T
Z1
8
10
16
25
28
42
5.5 M4×10 M4
9.0 M4×10 M4
QK
25
36
b
5
8
h
5
7
Tap
dimensions
t1
M
L
3
M4
8
4.0 M6
12
10
13
13
10
10
13
13
13
25
40
40
25
25
40
40
40
42
82
82
42
42
82
82
82
9.0
11.0
11.0
9.0
9.0
11.0
11.0
11.0
M4×10
M4×10
M4×10
M5×12
M5×12
M5×12
M5×12
M5×12
36
70
70
36
36
70
70
70
8
12
12
8
8
12
12
12
7
8
8
7
7
8
8
8
4.0
5.0
5.0
4.0
4.0
5.0
5.0
5.0
Z2
AT*1
M4
M4
M4
M4
M4
M6
M6
M6
Key dimensions
M6
M10
M10
M6
M6
M10
M10
M10
12
20
20
12
12
20
20
20
*1. This is the set bolt.
Outline Drawings
C1 × C1
Set bolt (AT)
D3 dia., h: 7
D1 dia.
D4 dia.
D5 dia.
S dia., h: 7
E
Four, Z2
D2 dia.
T
F1
C2 × C2
Four, Z1 dia.
F2
LR
G
LM
Set bolt (AT)
Four, Z2
Key and Tap Dimensions
D2 dia.
QK
t1
h
b
M (depth: L)
C2 dia.
2-48
Standard Models and Dimensions
Model
2-2 External and Mounting Hole Dimensions
Model
1/5 R88G-HPG32A051K0B@
1/11 R88G-HPG32A111K0B@
2
1 kW 1/21 R88G-HPG32A211K0B@
1/33 R88G-HPG32A331K0B@
Standard Models and Dimensions
1/45 R88G-HPG50A451K0B@
1/5 R88G-HPG32A052K0B@
1/11 R88G-HPG32A112K0B@
1.5 kW 1/21 R88G-HPG32A211K5B@
1/33 R88G-HPG50A332K0B@
1/45 R88G-HPG50A451K5B@
1/5 R88G-HPG32A052K0B@
2 kW
1/11 R88G-HPG32A112K0B@
1/21 R88G-HPG50A212K0B@
1/33 R88G-HPG50A332K0B@
5 kW
LR
C1
E
F1
F2
98 12.5 35
98 12.5 35
98 12.5 35
104 133 120 122 dia. 135 100 115 114 84 98 12.5 35
123 156 170 170 dia. 190 100 165 163 122 103 12.0 53
110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
110 133 120 135 dia. 135 115 115 114 84 98 12.5 35
123 156 170 170 dia. 190 115 165 163 122 103 12.0 53
123 156 170 170 dia. 190 115 165 163 122 103
110 133 120 135 dia. 135 115 115 114 84 98
110 133 120 135 dia. 135 115 115 114 84 98
123 156 170 170 dia. 190 115 165 163 122 103
123 156 170 170 dia. 190 115 165 163 122 103
12.0 53
12.5 35
12.5 35
12.0 53
12.0 53
1/21 R88G-HPG50A213K0B@
107 133 120 130×130 135 145 115 114 84 98 12.5 35
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A054K0B@
129 133 120 130×130 135 145 115 114
1/11 R88G-HPG50A115K0B@
149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG50A055K0B@
149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/11 R88G-HPG50A115K0B@
149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A053K0B@
3 kW 1/11 R88G-HPG50A113K0B@
4 kW
Dimensions (mm)
C2
D1 D2 D3 D4 D5
122
dia.
104 133 120
135 100 115 114 84
104 133 120 122 dia. 135 100 115 114 84
104 133 120 122 dia. 135 100 115 114 84
LM
84
98 12.5 35
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the
box). (Example: R88G-HPG32A051K0BJ)
2-49
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
S
T
Z1
Z2
AT*1
QK
b
h
t1
Tap
dimensions
M
L
1/5 R88G-HPG32A051K0B@
13
40
82
11
M6×12
M6
70
12
8
5.0
M10
20
1/11 R88G-HPG32A111K0B@
13
40
82
11
M6×12
M6
70
12
8
5.0
M10
20
1 kW 1/21 R88G-HPG32A211K0B@
13
40
82
11
M6×12
M6
70
12
8
5.0
M10
20
1/33 R88G-HPG32A331K0B@
13
40
82
11
M6×12
M6
70
12
8
5.0
M10
20
1/45 R88G-HPG50A451K0B@
16
50
82
14
M6×10
M6
70
14
9
5.5
M10
20
1/5 R88G-HPG32A052K0B@
13
40
82
11
M8×10
M6
70
12
8
5.0
M10
20
Key dimensions
1/11 R88G-HPG32A112K0B@
13
40
82
11
M8×10
M6
70
12
8
5.0
M10
20
1.5 kW 1/21 R88G-HPG32A211K5B@
13
40
82
11
M8×10
M6
70
12
8
5.0
M10
20
1/33 R88G-HPG50A332K0B@
16
50
82
14
M8×10
M6
70
14
9
5.5
M10
20
1/45 R88G-HPG50A451K5B@
16
50
82
14
M8×10
M6
70
14
9
5.5
M10
20
1/5 R88G-HPG32A052K0B@
13
40
82
11
M8×10
M6
70
12
8
5.0
M10
20
1/11 R88G-HPG32A112K0B@
13
40
82
11
M8×10
M6
70
12
8
5.0
M10
20
1/21 R88G-HPG50A212K0B@
16
50
82
14
M8×10
M6
70
14
9
5.5
M10
20
1/33 R88G-HPG50A332K0B@
16
50
82
14
M8×10
M6
70
14
9
5.5
M10
20
1/5 R88G-HPG32A053K0B@
13
40
82
11
M8×18
M6
70
12
8
5.0
M10
20
3 kW 1/11 R88G-HPG50A113K0B@
16
50
82
14
M8×16
M6
70
14
9
5.5
M10
20
1/21 R88G-HPG50A213K0B@
16
50
82
14
M8×16
M6
70
14
9
5.5
M10
20
2 kW
4 kW
5 kW
1/5 R88G-HPG32A054K0B@
13
40
82
11
M8×25
M6
70
12
8
5.0
M10
20
1/11 R88G-HPG50A115K0B@
16
50
82
14
M8×25
M6
70
14
9
5.5
M10
20
1/5 R88G-HPG50A055K0B@
16
50
82
14
M8×25
M6
70
14
9
5.5
M10
20
1/11 R88G-HPG50A115K0B@
16
50
82
14
M8×25
M6
70
14
9
5.5
M10
20
*1. This is the set bolt.
Outline Drawings
Set bolt (AT)
E
D1 dia.
D3 dia., h: 7*2
D4 dia.
D5 dia.
S dia.,h: 7
C1 × C1
D2 dia.
F1
T
Four, Z1 dia.
C2 × C2
F2 G
Key and Tap Dimensions
QK
LR
Set bolt (AT)
Four, Z2
LM
D2 dia.
t1
b
h
Four, Z2
M (depth: L)
C2 dia.
*2. With the R88G-HPG50@, the height tolerance is 8 mm (D3 dia., h: 8).
2-50
2
Standard Models and Dimensions
G
Model
2-2 External and Mounting Hole Dimensions
Decelerators for 2,000-r/min Servomotors
Dimensions (mm)
D1 D2 D3 D4
D5
E
1/5 R88G-HPG32A053K0B@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
1/11 R88G-HPG32A112K0SB@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
1 kW 1/21 R88G-HPG32A211K0SB@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
Model
Standard Models and Dimensions
2
1.5 kW
2 kW
3 kW
LM
LR
C1
C2
F1
F2
1/33 R88G-HPG50A332K0SB@
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/45 R88G-HPG50A451K0SB@
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A053K0B@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
1/11 R88G-HPG32A112K0SB@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
1/21 R88G-HPG50A213K0B@
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0SB@
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A053K0B@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
1/11 R88G-HPG32A112K0SB@
107 133 120 130×130 135 145 115 114
84
98 12.5 35
1/21 R88G-HPG50A213K0B@
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A332K0SB@
123 156 170 170 dia. 190 145 165 163 122 103 12.0 53
1/5 R88G-HPG32A054K0B@
129 133 120 130×130 135 145 115 114
1/11 R88G-HPG50A115K0B@
149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/21 R88G-HPG50A213K0SB@
149 156 170 130×130 190 145 165 163 122 103 12.0 53
1/25 R88G-HPG65A253K0SB@
231 222 230 130×130 260 145 220 214 168 165 12.0 57
84
98 12.5 35
Dimensions (mm)
G
S
T
Z1
Z2
AT*1
QK
b
h
Tap
dimensions
t1
M
L
1/5 R88G-HPG32A053K0B@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
Model
Key dimensions
1/11 R88G-HPG32A112K0SB@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
1 kW 1/21 R88G-HPG32A211K0SB@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
1/33 R88G-HPG50A332K0SB@
16
50
82
14
M8×16
M6
70
14
9
5.5 M10
20
1/45 R88G-HPG50A451K0SB@
16
50
82
14
M8×16
M6
70
14
9
5.5 M10
20
1/5 R88G-HPG32A053K0B@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
1/11 R88G-HPG32A112K0SB@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
1/21 R88G-HPG50A213K0B@
16
50
82
14
M8×16
M6
70
14
9
5.5 M10
20
1/33 R88G-HPG50A332K0SB@
16
50
82
14
M8×16
M6
70
14
9
5.5 M10
20
1/5 R88G-HPG32A053K0B@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
1/11 R88G-HPG32A112K0SB@
13
40
82
11
M8×18
M6
70
12
8
5.0 M10
20
1/21 R88G-HPG50A213K0B@
16
50
82
14
M8×16
M6
70
14
9
5.5 M10
20
1/33 R88G-HPG50A332K0SB@
16
50
82
14
M8×16
M6
70
14
9
5.5 M10
20
1/5 R88G-HPG32A054K0B@
13
40
82
11
M8×25
M6
70
12
8
5.0 M10
20
1/11 R88G-HPG50A115K0B@
16
50
82
14
M8×25
M6
70
14
9
5.5 M10
20
1/21 R88G-HPG50A213K0SB@
16
50
82
14
M8×25
M6
70
14
9
5.5 M10
20
1/25 R88G-HPG65A253K0SB@
25
80 130 18
M8×25
M8 110 22
14 9.0 M16
35
1.5 kW
2 kW
3 kW
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the
box). (Example: R88G-HPG32A053K0BJ)
2-51
2-2 External and Mounting Hole Dimensions
4 kW
5 kW
LR
C1
Dimensions (mm)
D1 D2 D3 D4
C2
D5
E
F1
F2
1/5 R88G-HPG50A054K0SB@
149
156 170 180×180 190 165 165 163 122 103 12.0 53
1/11 R88G-HPG50A114K0SB@
149
156 170 180×180 190 165 165 163 122 103 12.0 53
1/20 R88G-HPG65A204K0SB@
231
222 230 180×180 260 165 220 214 168 165 12.0 57
1/25 R88G-HPG65A254K0SB@
231
222 230 180×180 260 165 220 214 168 165 12.0 57
1/5 R88G-HPG50A055K0SB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
1/11 R88G-HPG50A115K0SB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
1/20 R88G-HPG65A205K0SB@
231
222 230 180×180 260 200 220 214 168 165 12.0 57
231
222 230 180×180 260 200 220 214 168 165 12.0 57
1/25 R88G-HPG65A255K0SB@
7.5 kW
LM
1/5 R88G-HPG65A057K5SB@
184.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/12 R88G-HPG65A127K5SB@
254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
Dimensions (mm)
Model
4 kW
5 kW
7.5 kW
G
S
T
Z1
AT*1
Z2
Key dimensions
QK
b
h
t1
Tap
dimensions
M
L
1/5 R88G-HPG50A054K0SB@
16
50
82
14
M10×25
M6
70
14
9
5.5 M10
20
1/11 R88G-HPG50A114K0SB@
16
50
82
14
M10×25
M6
70
14
9
5.5 M10
20
1/20 R88G-HPG65A204K0SB@
25
80 130 18
M10×25
M8 110 22
14 9.0 M16
35
1/25 R88G-HPG65A254K0SB@
25
80 130 18
M10×25
M8 110 22
14 9.0 M16
35
1/5 R88G-HPG50A055K0SB@
16
50
82
14
M12×25
M6
70
14
9
5.5 M10
20
1/11 R88G-HPG50A115K0SB@
16
50
82
14
M12×25
M6
70
14
9
5.5 M10
20
1/20 R88G-HPG65A205K0SB@
25
80 130 18
M12×25
M8 110 22
14 9.0 M16
35
1/25 R88G-HPG65A255K0SB@
25
80 130 18
M12×25
M8 110 22
14 9.0 M16
35
1/5 R88G-HPG65A057K5SB@
25
80 130 18
M12×25
M8 110 22
14 9.0 M16
35
1/12 R88G-HPG65A127K5SB@
25
80 130 18
M12×25
M8 110 22
14 9.0 M16
35
*1. This is the set bolt.
Outline Drawings
Set bolt (AT)
E
D3 dia., h: 7*2
D4 dia.
D5 dia.
S dia.,h: 7
C1 × C1
D1 dia.
D2 dia.
F1
T
Four, Z1 dia.
C2 × C2
F2 G
Key and Tap Dimensions
QK
LR
Set bolt (AT)
Four, Z2
LM
D2 dia.
t1
b
h
Four, Z2
M (depth: L)
C2 dia.
*2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8).
2-52
2
Standard Models and Dimensions
Model
2-2 External and Mounting Hole Dimensions
Decelerators for 1,000-r/min Servomotors
LM
LR
Dimensions (mm)
D1 D2 D3 D4
D5
E
1/5 R88G-HPG32A05900TB@
129
133 120 130×130 135 145 115 114
84
98 12.5 35
1/11 R88G-HPG32A11900TB@
129
133 120 130×130 135 145 115 114
84
98 12.5 35
1/21 R88G-HPG50A21900TB@
149
156 170 130×130 190 145 165 163 122 103 12.0 53
1/33 R88G-HPG50A33900TB@
149
156 170 130×130 190 145 165 163 122 103 12.0 53
Model
2
Standard Models and Dimensions
900 W
2 kW
3 kW
C1
C2
F1
F2
1/5 R88G-HPG32A052K0TB@
129
133 120 180×180 135 200 115 114
1/11 R88G-HPG50A112K0TB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
1/21 R88G-HPG50A212K0TB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
1/25 R88G-HPG65A255K0SB@
231
222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG50A055K0SB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
1/11 R88G-HPG50A115K0SB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
1/20 R88G-HPG65A205K0SB@
231
222 230 180×180 260 200 220 214 168 165 12.0 57
1/25 R88G-HPG65A255K0SB@
231
222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG50A054K5TB@
149
156 170 180×180 190 200 165 163 122 103 12.0 53
84
98 12.5 35
4.5 kW 1/12 R88G-HPG65A127K5SB@
254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/20 R88G-HPG65A204K5TB@
254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/5 R88G-HPG65A057K5SB@
184.5 222 230 180×180 260 200 220 214 168 165 12.0 57
1/12 R88G-HPG65A127K5SB@
254.5 222 230 180×180 260 200 220 214 168 165 12.0 57
6 kW
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the
box). (Example: R88G-HPG32A05900TBJ)
2-53
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
900 W
2 kW
3 kW
G
S
T
Z1
Z2
QK
b
h
Tap
dimensions
t1
M
L
Key dimensions
AT*1
1/5 R88G-HPG32A05900TB@
13
40
82
11
M8×25
M6
70
12
8
5.0 M10
20
1/11 R88G-HPG32A11900TB@
13
40
82
11
M8×25
M6
70
12
8
5.0 M10
20
1/21 R88G-HPG50A21900TB@
16
50
82
14
M8×25
M6
70
14
9
5.5 M10
20
1/33 R88G-HPG50A33900TB@
16
50
82
14
M8×25
M6
70
14
9
5.5 M10
20
1/5 R88G-HPG32A052K0TB@
13
40
82
11 M12×25
M6
70
12
8
5.0 M10
20
1/11 R88G-HPG50A112K0TB@
16
50
82
14 M12×25
M6
70
14
9
5.5 M10
20
1/21 R88G-HPG50A212K0TB@
16
50
82
14 M12×25
M6
70
14
9
5.5 M10
20
1/25 R88G-HPG65A255K0SB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
1/5 R88G-HPG50A055K0SB@
16
50
82
14 M12×25
M6
70
14
9
5.5 M10
20
1/11 R88G-HPG50A115K0SB@
16
50
82
14 M12×25
M6
70
14
9
5.5 M10
20
1/20 R88G-HPG65A205K0SB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
1/25 R88G-HPG65A255K0SB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
1/5 R88G-HPG50A054K5TB@
16
50
5.5 M10
20
4.5 kW 1/12 R88G-HPG65A127K5SB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
1/20 R88G-HPG65A204K5TB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
1/5 R88G-HPG65A057K5SB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
1/12 R88G-HPG65A127K5SB@
25
80 130 18 M12×25
M8 110 22
14 9.0 M16
35
6 kW
82
14 M12×25
M6
70
14
9
*1. This is the set bolt.
Outline Drawings
C1 × C1
Set bolt (AT)
D1 dia.
D dia., h: 7*2
D4 dia.
D5 dia.
S dia.,h: 7
E
D2 dia.
F1
T
Four, Z1 dia.
Four, Z2
C2 × C2
F2 G
LR
LM
Key and Tap Dimensions
QK
t1
h
b
M (depth: L)
*2. With the R88G-HPG50@/-HPG60@, the height tolerance is 8 mm (D3 dia., h: 8).
2-54
2
Standard Models and Dimensions
Model
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Flat Servomotors
Model
2
Standard Models and Dimensions
100 W
1/5
1/11
1/21
1/33
1/45
R88G-HPG11B05100PB@
R88G-HPG14A11100PB@
R88G-HPG14A21100PB@
R88G-HPG20A33100PB@
R88G-HPG20A45100PB@
LM
39.5
64.0
64.0
71.0
71.0
LR
42
58
58
80
80
C1
40
60
60
90
90
C2
60×60
60×60
60×60
89 dia.
89 dia.
Dimensions (mm)
D1 D2 D3 D4
46 70 40.0 39.5
70 70 56.0 55.5
70 70 56.0 55.5
105 70 85.0 84.0
105 70 85.0 84.0
D5
29
40
40
59
59
E
27
37
37
53
53
F1
2.2
2.5
2.5
7.5
7.5
F2
15
21
21
27
27
Dimensions (mm)
Model
100 W
1/5
1/11
1/21
1/33
1/45
R88G-HPG11B05100PB@
R88G-HPG14A11100PB@
R88G-HPG14A21100PB@
R88G-HPG20A33100PB@
R88G-HPG20A45100PB@
Model
200 W
G
5
8
8
10
10
S
T
Z1
QK
15
25
25
36
36
b
3
5
5
8
8
LR
58
80
80
Dimensions (mm)
C1 C2 D1 D2 D3 D4
60 80×80 70 90 56.0 55.5
90 80×80 105 90 85.0 84.0
90 80×80 105 90 85.0 84.0
1/33 R88G-HPG20A33200PB@
1/45 R88G-HPG20A45200PB@
78.0 80
78.0 80
M3
M3
M3
M3
M3
Key dimensions
20
28
28
42
42
LM
65.0
78.0
78.0
M4×9
M4×10
M4×10
M4×10
M4×10
AT*1
8
16
16
25
25
1/5 R88G-HPG14A05200PB@
1/11 R88G-HPG20A11200PB@
1/21 R88G-HPG20A21200PB@
3.4
5.5
5.5
9.0
9.0
Z2
h
3
5
5
7
7
t1
1.8
3.0
3.0
4.0
4.0
Tap
dimensions
M
L
M3
6
M4
8
M4
8
M6
12
M6
12
D5 E F1 F2
40 37 2.5 21
59 53 7.5 27
59 53 7.5 27
90 80×80 105 90 85.0 84.0 59
90 80×80 105 90 85.0 84.0 59
53 7.5 27
53 7.5 27
Dimensions (mm)
Model
200 W
1/5
1/11
1/21
1/33
1/45
R88G-HPG14A05200PB@
R88G-HPG20A11200PB@
R88G-HPG20A21200PB@
R88G-HPG20A33200PB@
R88G-HPG20A45200PB@
G
S
T
Z1
Z2
AT*1
8
10
10
10
10
16
25
25
25
25
28
42
42
42
42
5.5
9.0
9.0
9.0
9.0
M5×12
M5×12
M5×12
M5×12
M5×12
M4
M4
M4
M4
M4
Key dimensions
QK
25
36
36
36
36
b
5
8
8
8
8
h
5
7
7
7
7
t1
3.0
4.0
4.0
4.0
4.0
Tap
dimensions
M
L
M4
8
M6
12
M6
12
M6
12
M6
12
Note 1. The standard models have a straight shaft.
Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the
box). (Example: R88G-HPG11B05100PBJ)
2-55
2-2 External and Mounting Hole Dimensions
400 W
LM
78.0
78.0
78.0
104.0
104.0
R88G-HPG20A05400PB@
R88G-HPG20A11400PB@
R88G-HPG20A21400PB@
R88G-HPG32A33400PB@
R88G-HPG32A45400PB@
1/5
1/11
1/21
1/33
1/45
LR
80
80
80
133
133
C1
90
90
90
120
120
C2
80×80
80×80
80×80
122 dia.
122 dia.
Dimensions (mm)
D1 D2 D3
D4
105 90 85.0 84.0
105 90 85.0 84.0
105 90 85.0 84.0
135 90 115.0 114.0
135 90 115.0 114.0
D5
59
59
59
84
84
E F1 F2
53 7.5 27
53 7.5 27
53 7.5 27
98 12.5 35
98 12.5 35
Dimensions (mm)
Model
400 W
G
R88G-HPG20A05400PB@
R88G-HPG20A11400PB@
R88G-HPG20A21400PB@
R88G-HPG32A33400PB@
R88G-HPG32A45400PB@
1/5
1/11
1/21
1/33
1/45
10
10
10
13
13
S
25
25
25
40
40
T
Z1
Z2
42 9.0 M5×12
42 9.0 M5×12
42 9.0 M5×12
82 11.0 M5×12
82 11.0 M5×12
AT*1
M4
M4
M4
M6
M6
Key dimensions
QK
36
36
36
70
70
b
8
8
8
12
12
h
7
7
7
8
8
t1
4.0
4.0
4.0
5.0
5.0
Tap
dimensions
M
L
M6
12
M6
12
M6
12
M10 20
M10 20
*1. This is the set bolt.
Outline Drawings
C1 × C1
Set bolt (AT)
D3 dia., h: 7
D1 dia.
D4 dia.
D5 dia.
S dia., h: 7
E
Four, Z2
D2 dia.
T
F1
C2 × C2
Four, Z1 dia.
F2
LR
G
LM
Set bolt (AT)
Four, Z2
Key and Tap Dimensions
D2 dia.
QK
t1
h
b
M (depth: L)
C2 dia.
2-56
2
Standard Models and Dimensions
Model
2-2 External and Mounting Hole Dimensions
„ Backlash = 15' Max.
Decelerators for 3,000-r/min Servomotors
Model
50 W
100 W
200 W
400 W
750 W
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B050CJ
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
R88G-VRSF05B200CJ
R88G-VRSF09C200CJ
R88G-VRSF15C200CJ
R88G-VRSF25C200CJ
R88G-VRSF05C400CJ
R88G-VRSF09C400CJ
R88G-VRSF15C400CJ
R88G-VRSF25C400CJ
R88G-VRSF05C750CJ
R88G-VRSF09D750CJ
R88G-VRSF15D750CJ
R88G-VRSF25D750CJ
LM
67.5
67.5
78.0
78.0
67.5
67.5
78.0
78.0
72.5
89.5
100.0
100.0
89.5
89.5
100.0
100.0
93.5
97.5
110.0
110.0
LR
32
32
32
32
32
32
32
32
32
50
50
50
50
50
50
50
50
61
61
61
C1 C2
40 52
40 52
40 52
40 52
40 52
40 52
40 52
40 52
60 52
60 78
60 78
60 78
60 78
60 78
60 78
60 78
80 78
80 98
80 98
80 98
Dimensions (mm)
D1 D2 D3
46 60 50
46 60 50
46 60 50
46 60 50
46 60 50
46 60 50
46 60 50
46 60 50
70 60 50
70 90 70
70 90 70
70 90 70
70 90 70
70 90 70
70 90 70
70 90 70
90 90 70
90 115 90
90 115 90
90 115 90
D4 E3
45 10
45 10
45 10
45 10
45 10
45 10
45 10
45 10
45 10
62 17
62 17
62 17
62 17
62 17
62 17
62 17
62 17
75 18
75 18
75 18
F
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
5
5
5
G
6
6
6
6
6
6
6
6
10
8
8
8
8
8
8
8
10
10
10
10
Note The standard models have a straight shaft with a key.
Outline Drawings
E3
F
Four, Z2 (effective depth: L)
ia.
C1 × C1
G
T
LM
2-57
LR
D3 dia., h: 7
D1 d
D4 dia.
Four, Z1
S dia., h: 6
Standard Models and Dimensions
2
D2 d
ia.
C2 × C2
2-2 External and Mounting Hole Dimensions
100 W
200 W
400 W
750 W
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B050CJ
R88G-VRSF05B100CJ
R88G-VRSF09B100CJ
R88G-VRSF15B100CJ
R88G-VRSF25B100CJ
R88G-VRSF05B200CJ
R88G-VRSF09C200CJ
R88G-VRSF15C200CJ
R88G-VRSF25C200CJ
R88G-VRSF05C400CJ
R88G-VRSF09C400CJ
R88G-VRSF15C400CJ
R88G-VRSF25C400CJ
R88G-VRSF05C750CJ
R88G-VRSF09D750CJ
R88G-VRSF15D750CJ
R88G-VRSF25D750CJ
T
Z1
12
12
12
12
12
12
12
12
12
19
19
19
19
19
19
19
19
24
24
24
20
20
20
20
20
20
20
20
20
30
30
30
30
30
30
30
30
40
40
40
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M4
M5
M5
M5
M5
2
Outline Drawings
Set bolt (AT)
Key Dimensions
b
50 W
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
S
Dimensions (mm)
Key dimensions
Z2 AT L
QK b
h
t1
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M3 12 16 4
4 2.5
M5 M4 12 16 4
4 2.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M6 M4 20 22 6
6 3.5
M8 M4 20 30 8
7
4
M8 M4 20 30 8
7
4
M8 M4 20 30 8
7
4
Standard Models and Dimensions
Model
QK
t1
h
2-58
2-2 External and Mounting Hole Dimensions
Decelerators for 3,000-r/min Flat Servomotors
Model
1/5
1/9
100 W
1/15
1/25
1/5
1/9
200 W
1/15
1/25
1/5
1/9
400 W
1/15
1/25
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
Dimensions (mm)
LR C1 C2 D1 D2 D3 D4 E3
32 60 52 70 60 50 45 10
32 60 52 70 60 50 45 10
32 60 52 70 60 50 45 10
32 60 52 70 60 50 45 10
32 80 52 90 60 50 45 10
50 80 78 90 90 70 62 17
50 80 78 90 90 70 62 17
50 80 78 90 90 70 62 17
50 80 78 90 90 70 62 17
50 80 78 90 90 70 62 17
50 80 78 90 90 70 62 17
50 80 78 90 90 70 62 17
F
3
3
3
3
3
3
3
3
3
3
3
3
G
8
8
8
8
12
12
12
12
12
12
12
12
Note The standard models have a straight shaft with a key.
Outline Drawings
E3
F
Four, Z1
Four, Z2 (effective depth: L)
D1 d
D2 d
D4 dia.
ia.
D3 dia., h: 7
ia.
S dia., h: 6
Standard Models and Dimensions
2
LM
67.5
67.5
78.0
78.0
72.5
89.5
100.0
100.0
89.5
89.5
100.0
100.0
C2 × C2
C1 × C1
G
T
LM
2-59
LR
2-2 External and Mounting Hole Dimensions
Dimensions (mm)
200 W
400 W
R88G-VRSF05B100PCJ
R88G-VRSF09B100PCJ
R88G-VRSF15B100PCJ
R88G-VRSF25B100PCJ
R88G-VRSF05B200PCJ
R88G-VRSF09C200PCJ
R88G-VRSF15C200PCJ
R88G-VRSF25C200PCJ
R88G-VRSF05C400PCJ
R88G-VRSF09C400PCJ
R88G-VRSF15C400PCJ
R88G-VRSF25C400PCJ
T
Z1
Z2
AT
L
12
12
12
12
12
19
19
19
19
19
19
19
20
20
20
20
20
30
30
30
30
30
30
30
M4
M4
M4
M4
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M5
M6
M6
M6
M6
M6
M6
M6
M3
M3
M3
M3
M4
M4
M4
M4
M4
M4
M4
M4
12
12
12
12
12
20
20
20
20
20
20
20
Key dimensions
QK b
h
t1
16 4
4 2.5
16 4
4 2.5
16 4
4 2.5
16 4
4 2.5
16 4
4 2.5
22 6
6 3.5
22 6
6 3.5
22 6
6 3.5
22 6
6 3.5
22 6
6 3.5
22 6
6 3.5
22 6
6 3.5
2
Outline Drawings
Set bolt (AT)
Key Dimensions
b
100 W
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
S
Standard Models and Dimensions
Model
QK
t1
h
2-60
2-2 External and Mounting Hole Dimensions
External Regeneration Resistor Dimensions
2
„ External Regeneration Resistor
Thermal switch output
43.5
28
4.2
3 dia.
(0.75mm2)
1.5 dia.
(0.3mm2)
Standard Models and Dimensions
R88A-RR08050S/-RR080100S
6
t1.2
500
104
20
122
130
Thermal switch output
62
48
4.2
3 dia.
(0.75mm2)
1.5 dia.
(0.3mm2)
R88A-RR22047S
6
t1.2
500
20
200
220
230
25
2-61
43
78
10
360
386
402
40
76
5.2
R88A-RR50020S
2-2 External and Mounting Hole Dimensions
Reactor Dimensions
„ 3G3AX-DL2002
72
90
Standard Models and Dimensions
2
Two, M4
56
66
Four, 5.2 × 8
85
98
Ground terminal
(M4)
72
90
„ 3G3AX-DL2004
Two, M4
56
66
Four, 5.2 × 8
95
98
Ground terminal
(M4)
2-62
2-2 External and Mounting Hole Dimensions
„ 3G3AX-DL2007
72
90
2
Ground terminal
(M4)
56
66
Four, 5.2 × 8
98
105
72
90
„ 3G3AX-DL2015
Two, M4
Ground terminal
(M4)
56
66
Four, 5.2 × 8
98
Standard Models and Dimensions
Two, M4
2-63
115
2-2 External and Mounting Hole Dimensions
„ 3G3AX-DL2022
80
100
2
71
86
Standard Models and Dimensions
Two, M4
Ground terminal
(M4)
Four, 6 × 9
116
105
„ 3G3AX-AL2025/-AL2055
Ground terminal (M5)
Six, M4
terminal screws
Terminal
block
60
40
92
150
Ro R So S To T
Ro R So S To
T
Connection Diagram
50±1
A
Four, 6 dia.
(Notch)
Y±1
C
9.5
Model
3G3AX-AL2025
3G3AX-AL2055
Dimensions (mm)
A
C
Y
130
82
67
140
98
75
2-64
2-2 External and Mounting Hole Dimensions
„ 3G3AX-AL2110/-AL2220
Terminal holes:
Six, K dia.
2
A
D
T
H1
H
Standard Models and Dimensions
Ro R So S To
55
Ro
R So
S To
T
Connection Diagram
X±1
Four, 6 dia.
Y±1
C
(Notch)
Ground terminal (M6)
Model
3G3AX-AL2110
3G3AX-AL2220
2-65
Dimensions (mm)
A
C D H H1 X
Y
K
W
160 103 70 170 106 60 80 5.3 12
180 113 75 190 136 90 90 8.4 16.5
W
W=Terminal width
2-2 External and Mounting Hole Dimensions
MECHATROLINK-II Repeater Dimensions
„ FNY-REP2000
2
(97)
(4)
15
6
4.8
dia.
1
.
dia
5
150
150
4.8
160
(34)
30
14 10
5
12
(20)
5
1
77
50
Standard Models and Dimensions
Dimensions
4.8
15
50
4.8
5
4.8
12
Dimensions
Bottom Mounting
50
Back Mounting
14
M4 tap
150
150
M4 tap
2-66
Chapter 3
Specifications
3-1 Servo Drive Specifications ................................. 3-1
General Specifications ..........................................................3-1
Characteristics ......................................................................3-2
Main Circuit and Servomotor Connector Specifications........3-7
Control I/O Connector Specifications (CN1) .........................3-10
Control Input Circuits ............................................................3-14
Control Output Circuits..........................................................3-14
Control Sequence Timing .....................................................3-15
Encoder Connector Specifications (CN2) .............................3-16
Parameter Unit Connector Specifications (CN3) ..................3-16
3-2 Servomotor Specifications ................................. 3-17
General Specifications ..........................................................3-17
Characteristics ......................................................................3-18
Encoder Specifications .........................................................3-31
3-3 Decelerator Specifications ................................. 3-32
Standard Models and Specifications.....................................3-32
3-4 Cable and Connector Specifications .................. 3-42
Encoder Cable Specifications ...............................................3-42
Absolute Encoder Battery Cable Specifications....................3-48
Servomotor Power Cable Specifications...............................3-49
Communications Cable Specifications..................................3-69
Connector Specifications ......................................................3-70
MECHATROLINK-II Communications Cable
Specifications........................................................................3-73
Control Cable Specifications.................................................3-75
3-5 Parameter Unit Specifications...........................3-80
3-6 External Regeneration Resistor
Specifications ....................................................3-81
External Regeneration Resistor Specifications .....................3-81
3-7 Reactor Specifications ......................................3-82
3-8 MECHATROLINK-II Repeater Specifications ...3-83
3-1 Servo Drive Specifications
3-1 Servo Drive Specifications
Select the Servo Drive matching the Servomotor to be used. (For details, refer to Servo DriveServomotor Combinations on page 2-5.)
OMNUC G-series Servo Drives are designed specifically for use with MECHATROLINK-II
communication.
Specifications
3
General Specifications
Item
Specifications
Ambient operating temperature
and humidity
0 to 55°C, 90% RH max. (with no condensation)
Ambient storage temperature
and humidity
−20 to 65°C, 90% RH max. (with no condensation)
Operating and storage
atmosphere
No corrosive gases
Vibration resistance
Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of
5.88 m/s2 max. in X, Y, and Z directions.
Impact resistance
Acceleration of 19.6m/s2 max. 2 times each in X, Y, and Z directions
Insulation resistance
Between power supply/power line terminals and frame ground: 0.5 MΩ min.
(at 500 VDC)
Dielectric strength
Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min
at 50/60 Hz
Between each control signal and frame ground: 500 VAC for 1 min
Protective structure
Built into panel (IP10).
International
standards
EC
Directives
EMC
Directive
Low
Voltage
Directive
EN 55011 Class A Group 1
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
EN 50178
UL standards
UL 508C
CSA standards
CSA 22.2 No.14
Note 1. The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note 2. Never perform withstand-voltage or other megameter tests on the Servo Drive. Doing so may damage the
internal elements.
Note 3. Depending on the operating conditions, some Servo Drive parts will require maintenance. For details,
refer to Periodic Maintenance on page 8-21.
Note 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55°C at 100%
of the rated torque.
3-1
3-1 Servo Drive Specifications
Characteristics
„ Servo Drives with 100-VAC Input Power
R88D-GNA5LML2
R88D-GN01LML2
R88D-GN02LML2
R88D-GN04LML2
Continuous output current (rms)
1.3 A
1.8 A
2.4 A
4.9 A
Momentary maximum output current (rms)
3.9 A
5.4 A
7.2 A
14.7 A
0.4 KVA
0.4 KVA
0.5 KVA
0.9 KVA
Power
supply
capacity
Main circuit
Input power
supply
Power
supply
voltage
Rated
current
Control circuit
Power
supply
voltage
Rated
current
Heat
generated
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
1.4 A
2.2 A
3.7 A
Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
0.09 A
0.09 A
0.09 A
Main circuit
10.1 W
14.4 W
18.4 W
41.4 W
Control circuit
4.4 W
4.4 W
4.4 W
4.4 W
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
PWM frequency
12.0 kHz
Approx. 0.8 kg
Approx. 1.1 kg
Approx. 1.5 kg
50 W
100 W
200 W
400 W
INC
G05030H
G10030L
G20030L
G40030L
ABS
G05030T
G10030S
G20030S
G40030S
INC
---
GP10030L
GP20030L
GP40030L
ABS
---
GP10030S
GP20030S
GP40030S
2,000-r/min
Servomotors
ABS
---
---
---
---
1,000-r/min
Servomotors
ABS
---
---
---
---
3,000-r/min
Servomotors
3,000-r/min
Flat Servomotors
Speed control range
Performance
6.0 kHz
Approx. 0.8 kg
Maximum applicable motor capacity
Applicable
Servomotors
6.6 A
0.09 A
Weight
3
Specifications
Item
1:5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage
characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature
characteristic
Torque control reproducibility
±0.1% or less at 0 to 50°C (at rated speed)
±3% (at 20% to 100% of rated torque)
3-2
3-1 Servo Drive Specifications
„ Servo Drives with Single-phase 200-VAC Input Power
R88DGN01HML2
R88DGN02HML2
R88DGN04HML2
R88DGN08HML2
R88DGN10HML2
R88DGN15HML2
Continuous output current (rms)
1.16 A
1.6 A
2.7 A
4.0 A
5.9 A
9.8 A
Momentary maximum output current (rms)
3.5 A
5.3 A
7.1 A
14.1 A
21.2 A
28.3 A
0.5 KVA
0.5 KVA
0.9 KVA
1.3 KVA
1.8 KVA
2.3 KVA
Item
Power supply
capacity
3
Input power
supply
Control circuit
Heat
generated
Power supply
voltage
Single-phase 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Rated
current
1.3 A
Power supply
voltage
Rated
current
2.0 A
3.7 A
Single-phase or Three-phase
200 to 240 VAC (170 to 264 V),
50/60 Hz
5.0/3.3*1A 7.5/4.1*1A 11/8.0*1A
Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz
0.05 A
0.05 A
0.05 A
0.05 A
0.07 A
0.07 A
Main circuit
14.3 W
14.8 W
23.6 W
38.7 W
52.9 W
105.9 W
Control circuit
4.5 W
4.5 W
4.5 W
4.3 W
6.1 W
6.1 W
PWM frequency
12.0 kHz
6.0 kHz
Weight
Approx.
0.8 kg
Approx.
0.8 kg
Approx.
1.1 kg
Approx.
1.5 kg
Approx.
1.7 kg
Approx.
1.7 kg
Maximum applicable motor capacity
100 W
200 W
400 W
750 W
1 kW
1.5 kW
INC
G05030H
G10030H
G20030H
G40030H
G75030H
---
---
ABS
G05030T
G10030T
G20030T
G40030T
G75030T
---
G1K030T
G1K530T
3,000-r/min
Servomotors
Applicable
Servomotors
3,000-r/min
Flat Servomotors
INC
GP10030H GP20030H GP40030H
---
---
---
ABS
GP10030T GP20030T GP40030T
---
---
---
2,000-r/min
Servomotors
ABS
---
---
---
---
G1K020T
G1K520T
1,000-r/min
Servomotors
ABS
---
---
---
---
---
G90010T
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
Speed control range
Performance
Specifications
Main circuit
1:5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage
characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature
characteristic
Torque control reproducibility
±0.1% or less at 0 to 50°C (at rated speed)
±3% (at 20% to 100% of rated torque)
*1. The left value is for single-phase input power and the right value is for three-phase input power.
3-3
3-1 Servo Drive Specifications
„ Servo Drives with Three-phase 200-VAC Input Power
R88D-GN20HML2
R88D-GN30HML2
R88D-GN50HML2
R88D-GN75HML2
Continuous output current (rms)
14.3 A
17.4 A
31.0 A
45.4 A
Momentary maximum output current (rms)
45.3 A
63.6 A
84.8 A
170.0 A
3.3 KVA
4.5 KVA
7.5 KVA
11 KVA
Power
supply
capacity
Main circuit
Input
power
supply
Power
supply
voltage
Rated
current
Control circuit
Power
supply
voltage
Rated
current
Heat
generated
Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
10.2 A
15.2 A
23.7 A
0.1 A
0.12 A
0.12 A
0.14 A
Main circuit
112.3 W
219.6 W
391.7 W
376.2 W
Control circuit
10.7 W
13.3 W
13.3 W
13.8 W
6.0 kHz
Weight
Approx. 3.2 kg
Approx. 6.0 kg
Approx. 6.0 kg
Approx. 16.4 kg
2 kW
3 kW
5 kW
7.5 kW
INC
---
---
---
---
ABS
G2K030T
G3K030T
G4K030T
G5K030T
---
INC
---
---
---
---
ABS
---
---
---
---
2,000-r/min
Servomotors
ABS
G2K020T
G3K020T
G4K020T
G5K020T
G7K515T
1,000-r/min
Servomotors
ABS
---
G2K010T
G3K010T
G4K510T
G6K010T
Maximum applicable motor capacity
3,000-r/min
Servomotors
3,000-r/min
Flat Servomotors
Control method
All-digital servo
Inverter method
IGBT-driven PWM method
Speed control range
Performance
35.0 A
Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
PWM frequency
Applicable Servomotors
3
Specifications
Item
1:5000
Speed variability: Load characteristic
0.01% or less at 0% to 100% (at rated speed)
Speed variability: Voltage
characteristic
0% at ±10% of rated voltage (at rated speed)
Speed variability: Temperature
characteristic
Torque control reproducibility
±0.1% or less at 0 to 50°C (at rated speed)
±3% (at 20% to 100% of rated torque)
3-4
3-1 Servo Drive Specifications
„ Protective Functions
Error detection
Description
Control power supply undervoltage
The voltage between P and N in the control voltage converter has dropped
below the specified value.
Overvoltage
The voltage between P and N in the converter has exceeded the specified
value.
Undervoltage
The main power supply between L1 and L3 was interrupted for longer than
the time set in the Momentary Hold Time (Pn06D) when the Undervoltage
Alarm Selection (Pn065) was set to 1. Alternatively, the voltage between P
and N in the main power supply converter dropped below the specified value while the Servo Drive was ON.
Overcurrent
The current flowing to the converter exceeded the specified value.
Overheating
The temperature of the Servo Drive radiator or power elements exceeded
the specified value.
Overload
The torque command value exceeded the level set in the Overload Detection Level Setting (Pn072), resulting in an overload due to the time characteristics.
Regeneration overload
The regenerative energy exceeded the capacity of the regeneration resistor.
Encoder communications error
The disconnection detection function was activated because communications between the encoder and Servo Drive were interrupted for a specified
number of times.
Encoder communications data error
There was an error in the communications data from the encoder. (The encoder is connected, but there is an error in the communications data.)
Deviation counter overflow
The number of position deviation pulses exceeded the Deviation Counter
Overflow Level (Pn209).
Overspeed
The rotation speed of the Servomotor exceeded the setting of the Overspeed Detection Level Setting (Pn073).
Command error
The operation command ended in an error.
Internal deviation counter overflow
The value of the deviation counter (internal control unit) exceeded
227(134217728).
Overrun limit error
The allowable range of movement set in the Overrun Limit Setting (Pn026)
was exceeded by the Servomotor.
Parameter error
The data in the parameter storage area was corrupted when the data was
read from EEPROM at power-ON.
Parameter corruption
The EEPROM write verification data was corrupted when the data was
read from EEPROM at power-ON.
Drive prohibit input error
Both the Forward and Reverse Drive Prohibit Inputs were open when the
Drive Prohibit Input Selection (Pn004) was set to 0 or either the forward or
reverse drive prohibit input was open when the Drive Prohibit Input Selection (Pn004) was set to 2.
Specifications
3
Absolute encoder system
down error
ABS
The power supply and battery to the absolute encoder went down and the
capacitor voltage dropped below the specified value.
Absolute encoder counter
overflow error
ABS
The multiturn counter for the absolute encoder has exceeded the specified
value.
Absolute encoder overspeed
error
ABS
The Servomotor speed exceeded the specified value when the power to
the absolute encoder was interrupted and power was supplied only from
the battery.
Absolute encoder one-turn
counter error
ABS
An error was detected in the one-turn counter for the absolute encoder.
Absolute encoder multi-turn
counter error
ABS
An error was detected in the multiturn counter for the absolute encoder.
Absolute encoder status
error
ABS
The number of rotations of the encoder exceeded the specified value when
the power supply was turned ON.
3-5
3-1 Servo Drive Specifications
Description
A phase Z pulse was not detected regularly for the serial encoder.
Encoder PS signal error
A logic error in the PS signal was detected for the serial encoder.
Node address setting error
The rotary switch for setting the node address of the Servo Drive was out
of range when the control power was turned ON.
Communications error
The expected data during the MECHATROLINK-II communications cycle
was not received continuously, exceeding the number of times set in the
Communications Control (Pn005).
Transmission cycle error
While actuating MECHATROLINK-II communications, synchronization
frames (SYNC) were not received in accordance with the transmission
cycle.
Watchdog data error
The synchronization data exchanged between the master and slave nodes
during each MECHATROLINK-II communications cycle resulted in an error.
Emergency stop input error
The emergency stop input circuit opened.
Transmission cycle setting error
The transmission cycle setting is incorrect when receiving the MECHATROLINK-II CONNECT command.
SYNC command error
A SYNC-related command was issued while MECHATROLINK-II was in
asynchronous communications mode.
Parameter setting error
The electronic gear ratio is outside the allowable parameter setting range;
either it is smaller than 1/100 or larger than 100/1.
Servomotor non-conformity
The Servomotor and Servo Drive do not match.
3-6
3
Specifications
Error detection
Encoder phase Z error
3-1 Servo Drive Specifications
Main Circuit and Servomotor Connector Specifications
When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.
3
„ R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2
R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/
-GN15H-ML2
Specifications
Main Circuit Connector Specifications (CNA)
Symbol
Name
Function
R88D-GN@L-ML2 (50 to 400 W):
L1
L2
L3
L1C
L2C
Main circuit
power supply
input
Single-phase 100 to 115 VAC (85 to 127 V),
50/60 Hz
R88D-GN@H-ML2 (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V),
50/60 Hz
(750 W to 1.5 kW): Three-phase 200 to 240 VAC (170 to 264 V),
50/60Hz
Control circuit
power supply
input
R88D-GN@L-ML2 : Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
R88D-GN@H-ML2: Single-phase 200 to 240 VAC (170 to 264V), 50/60 Hz
Servomotor Connector Specifications (CNB)
Symbol
B1
B2
B3
Name
External
Regeneration
Resistor
connection
terminals
U
V
W
Function
50 to 400 W:
These terminals normally do not need to be connected. If there is high
regenerative energy, connect an External Regeneration Resistor
between B1 and B2.
750 W to 1.5 kW: Normally B2 and B3 are connected. If there is high regenerative energy,
remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.
Red
Servomotor
connection
terminals
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
Frame ground This is the ground terminal. Ground to 100 Ω or less.
3-7
3-1 Servo Drive Specifications
„ R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
Main Circuit Terminal Block Specifications
Symbol
Name
Function
Main circuit power
supply input
R88D-GN@H-ML2 (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60Hz
Control circuit
power supply input
R88D-GN@H-ML2: Single-phase 200 to 230 VAC (170 to 253V), 50/60 Hz
External
Regeneration
Resistor
connection
terminals
2 to 5 kW: Normally B2 and B3 are connected. If there is high regenerative energy,
remove the short-circuit bar between B2 and B3 and connect an External
Regeneration Resistor between B1 and B2.
L1
L2
3
L1C
L2C
B1
B2
B3
U
V
W
Red
Servomotor
connection
terminals
Frame ground
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
3-8
Specifications
L3
3-1 Servo Drive Specifications
„ R88D-GN75H-ML2
Main Circuit Terminal Block Specifications (TB1)
Symbol
Name
Function
L1
3
L2
Main circuit power
supply input
R88D-GN75H-ML2 (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V),
50/60Hz
External
Regeneration
Resistor
connection
terminals
6 to 7.5 kW: A regeneration resistor is not built in.
Connect an External Regeneration Resistor between B1 and B2,
if necessary.
L3
Specifications
B1
B2
U
Red
V
Servomotor
connection
terminals
W
Frame ground
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
Main Circuit Terminal Block Specifications (TB2)
Symbol
Name
NC
---
L1C
Control circuit
power supply input
R88D-GN75H-ML2: Single-phase 200 to 230 VAC (170 to 253 V), 50/60Hz
Frame ground
This is the ground terminal. Ground to 100 Ω or less.
L2C
Function
Do not connect.
NC
EX1
EX2
---
Do not connect.
EX3
NC
FN(+)
FN(−)
3-9
Fan Stop Output
Outputs a warning signal when the fan inside the Servo Drive stops.
(30 VDC, 50 mA max.)
3-1 Servo Drive Specifications
Control I/O Connector Specifications (CN1)
„ Control I/O Signal Connections and External Signal Processing
4.7kΩ
Emergency Stop
STOP 2
1kΩ
4.7kΩ
External
Latch 3
1kΩ
1kΩ
EXT2 4
4.7kΩ
External
Latch 1
Alarm Output
16 ALMCOM
36 OUTM1
General-purpose Output 1
EXT3 3
4.7kΩ
External
Latch 2
3
15 /ALM
Specifications
+24VIN 1
12 to 24 VDC
1kΩ
EXT1 5
4.7kΩ
35 OUTM1COM
29 OUTM2
General-purpose Output 2
30 OUTM2COM
31 OUTM3
General-purpose Output 3
General-purpose
Input 1
IN1 6
1kΩ
32 OUTM3COM
4.7kΩ
Forward Torque
Limit Input
PCL 7
1kΩ
4.7kΩ
Reverse Torque
Limit Input
NCL 8
1kΩ
4.7kΩ
Forward Drive
Prohibit Input
1kΩ
POT 19
4.7kΩ
Reverse Drive
Prohibit Input
1kΩ
NOT 20
4.7kΩ
Origin Proximity
Input
DEC 21
1kΩ
4.7kΩ
General-purpose
Input0
IN0 22
1kΩ
4.7kΩ
General-purpose
Input 2
IN2 23
Backup Battery *1
34 BAT
33 BATCOM
1kΩ
Shell FG
*1. If a backup battery is connected, a cable with a battery is not required.
*2. Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default configuration.
3-10
3-1 Servo Drive Specifications
„ Control I/O Signals
CN1 Control Input Signals
Pin
No.
Symbol
1
+24VIN
Name
Function/Interface
12 to 24-VDC Power
Supply Input
Power supply input terminal (12 to 24 VDC) for sequence
inputs.
Input for emergency stop.
When this signal is enabled and pin 1 is not connected to
pin 2, an Emergency Stop Input error (alarm code 87) occurs. Set this signal to be enabled or disabled in the Emergency Stop Input Setting (Pn041) (Factory default:
Enable).
Specifications
3
2
STOP
Emergency Stop Input
3
EXT3
4
EXT2
5
EXT1
External Latch Signal 3 This external signal input latches the current value
feedback pulse counter.
External Latch Signal 2 The position data is obtained the moment the input is
turned ON.
External Latch Signal 1 Minimal signal width must be 1 ms or more.
6
IN1
External generalpurpose Input 1
7
PCL
Forward Torque Limit
Input
8
NCL
Reverse Torque Limit
Input
POT
Forward Drive Prohibit
Input
19 to 20
NOT
3-11
This input is used as external general-purpose input 1.
When the Torque Limit Selection (Pn003) is set to 3 or 5,
this signal input selects the torque limit. (For details, refer
to the description of the Torque Limit on page 5-16.)
Forward and reverse rotation overtravel input.
Pn004 chooses between enable and disable.
Reverse Drive Prohibit Pn044 sets the function assignment for pins 19 and 20.
Pn066 selects the operation.
Input
21
DEC
Origin Proximity Input
Connect the origin proximity input signal in the origin
search operation.
Pn042 changes the logic of the sensor.
22
IN0
External generalpurpose Input 0
This input is used as external general-purpose input 0.
23
IN2
External generalpurpose Input 2
This input is used as external general-purpose input 2.
11
---
Spare input
Do not connect anything to this input.
12
---
Spare input
Do not connect anything to this input.
13
---
Spare input
Do not connect anything to this input.
14
---
Spare input
Do not connect anything to this input.
9
---
Spare input
Do not connect anything to this input.
10
---
Spare input
Do not connect anything to this input.
27
---
Spare input
Do not connect anything to this input.
28
---
Spare input
Do not connect anything to this input.
34
BAT
33
BATCOM
Backup
Battery Input
Backup battery connection terminals when the absolute
encoder's power is interrupted. A cable with a battery is not
required if a backup battery is connected to this
terminal. (Backup voltage 3.6 V)
17
---
Spare input
Do not connect anything to this input.
24
---
Spare input
Do not connect anything to this input.
25
---
Spare input
Do not connect anything to this input.
26
---
Spare input
Do not connect anything to this input.
18
---
Spare input
Do not connect anything to this input.
ABS
3-1 Servo Drive Specifications
CN1 Control Output Signals
Symbol
15
/ALM
16
ALMCOM
29
OUTM2
30
31
32
36
35
Name
Function/Interface
The output is OFF when an alarm is generated in the Servo Drive.
Alarm Output
3
General-purpose
OUTM2COM Output 2 (READY)
OUTM3
General-purpose
OUTM3COM Output 3 (CLIM)
This is a general-purpose output. The function for this
output is selected by changing the parameter.
Refer to the Output Signal Assignment Details below.
OUTM1
General-purpose
OUTM1COM Output 1 (BKIR)
Output Signal Assignment Details
Pn112 (General-purpose
Output 1 Function Selection)
Pn113 (General-purpose
Output 2 Function Selection)
Pn114 (General-purpose
Output 3 Function Selection)
OUTM1 (General-purpose Output 1)
OUTM2 (General-purpose Output 2)
OUTM3 (General-purpose Output 3)
0
Not
assigned
1
INP1
Positioning Completed 1 output assignment.
2
VCMP
Speed Conformity Signal output assignment.
3
TGON
Servomotor Rotation Speed Detection output
assignment.
4
READY
Servo Ready output assignment.
5
CLIM
Current Limit Detection output assignment.
6
VLIM
Speed Limit Detection output assignment.
7
BKIR
Brake Interlock output assignment.
8
WARN
Warning Signal output assignment.
9
INP2
No output. Always OFF.
Positioning Completed 2 output assignment.
3-12
Specifications
Pin
No.
3-1 Servo Drive Specifications
„ CN1 Pin Arrangement
1
2
STOP
Emergency
Stop Input
4
Specifications
6
8
EXT2
IN1
NCL
EXT3
External Latch
Signal 2
External
General-purpose
Input 1
5
EXT1
PCL
Forward Torque
Limit Input
7
Reverse Torque
Limit Input
28
30 OUTM2COM
ALMCOM
/ALM
34
17
18
BAT
Origin Proximity
Input
23
IN2
External
General-purpose
Input2
25
*
27
*
29
OUTM2
General-purpose
Output 2
31
OUTM3
General-purpose
Output 3
33
BATCOM
Backup Battery
Input
Backup Battery
Input
35 OUTM1COM
*
36
*
DEC
General-purpose
Output 3
Alarm Output
Alarm Output
21
General-purpose
Output 2
*
32 OUTM3COM
15
Forward Drive
Prohibit Input
*
*
*
POT
*
*
*
19
*
26
13
16
IN0
External
General-purpose
Input 0
24
11
14
Reverse Drive
Prohibit Input
22
*
12
NOT
External Latch
Signal 3
External Latch
Signal 1
9
10
12 to 24-VDC
Power Supply
Input
20
3
3
+24VIN
OUTM1
General-purpose
Output 1
General-purpose
Output1
Note 1. Do not connect anything to unused pins (*).
Note 2. Inputs for pins 19 and 20 are determined by parameter settings. The diagram shows the default
configuration.
„ Connector for CN1 (36 Pins)
Name
3-13
Model
Servo Drive Connector
52986-3679
Cable Connector
10136-3000PE
Cable Case (Shell Kit)
10336-52A0-008
Manufacturer
Molex Japan
Sumitomo 3M
3-1 Servo Drive Specifications
Control Input Circuits
„ Control Inputs
For the relay contact, use either a switch, or a transistor with an open-collector output.
External power supply:
12 VDC ±5% to
24 VDC ±5%
Power supply capacity:
50 mA min. (per Unit)
+24VIN 1
3
4.7Ω
To other input circuit ground commons
Specifications
Photocoupler input
To other input circuits
Signal Levels ON level: 10 V min.
OFF level: 3 V max.
Control Output Circuits
„ Control Outputs
Servo Drive
To other output
circuits
+
−
+
−
X
Di
External power supply
24 VDC ±1 V
Maximum operating voltage: 30 VDC
Maximum output current: 50 mA
X
Di
Di: Diode for preventing surge voltage
(Use high-speed diodes.)
3-14
3-1 Servo Drive Specifications
Control Sequence Timing
„ Power ON operation timing
Control power supply
(L1C, L2C)
3
ON
OFF
Approx. 100 to 300 ms
ON
Specifications
Internal control power supply
OFF
Approx. 2 s
ON
MPU initialization completed
Initialize*2
OFF
0 ms min.
Main circuit power supply
(L1, L2, L3)
Servo Ready Output
(READY)*1
Alarm Output
(ALM)
Positioning Completed
Output (INP)
ON
OFF
ON
Approx. 10 ms after the main circuit power is
turned ON after initialization is completed.
OFF
ON
OFF
ON
OFF
0 ms min.
RUN Command Input
(RUN)
ON
OFF
Approx. 2 ms
Dynamic brake
ON
OFF
Approx. 40 ms
Servomotor
power supply
OFF
Approx. 2 ms
Brake Interlock Output
(BKIR)
Pn06A
ON
1 to 5 ms
ON
OFF
100 ms min.
Servomotor position, speed,
or torque input
ON
OFF
*1. Servo Ready (READY) turns ON and returns a response when these conditions are met: MPU initialization is
completed, main power is established, no alarms exist, MECHATROLINK-II communications are established, and
the servo is synchronized.
*2. Once the internal control power is established, the protective function starts working about 1.5 s after the CPU starts
initializing itself.
Be sure that the input signals, in particular the Emergency Stop (STOP) and Drive Prohibit (POT/NOT) inputs are
settled before the protective function starts working.
3-15
3-1 Servo Drive Specifications
Encoder Connector Specifications (CN2)
Pin
No.
Symbol
Name
1
E5V
Encoder power supply
+5 V
Function/Interface
E0V
3
BAT+
Battery +
4
BAT−
Battery −
5
PS+
Encoder +phase S
input
6
PS−
Encoder −phase S
input
Shell
FG
Shield ground
Backup power supply output for the absolute encoder.
3.6 V, 100 µA for operation during power interruption, 265 µA for
power interruption timer, and 3.6 µA when power is supplied to Servo Drive
Line-driver input (corresponding with the EIA RS-485 communications method)
Cable shield ground
Connectors for CN2 (6 Pins)
Name
Model
Servo Drive Connector 53460-0629
Cable Connector
55100-0670
Manufacturer
Molex Japan
Parameter Unit Connector Specifications (CN3)
Pin
No.
Symbol
Name
3
TXD
RS-232 send data
4
GND
Ground
---
5
RXD
RS-232 receive data
Receive data input from the Parameter Unit or personal computer
Function/Interface
Send data output to the Parameter Unit or personal computer
Connector for CN3 (8 Pins)
Name
Connector
Model
MD-S8000-10
Manufacturer
J.S.T. Mfg. Co.
3-16
Specifications
Encoder power supply
GND
2
3
Power supply output for the encoder 5.2 V, 180 mA
3-2 Servomotor Specifications
3-2 Servomotor Specifications
The following OMNUC G-Series AC Servomotors are available.
Œ3,000-r/min Servomotors
Œ3,000-r/min Flat Servomotors
Œ2,000-r/min Servomotors
Œ1,000-r/min Servomotors
There are various options available on the Servomotors, such as models with brakes or different
shaft types.
Select a Servomotor based on the mechanical system’s load conditions and the installation
environment.
General Specifications
3,000-r/min
Flat Servomotors
3,000-r/min Servomotors
Item
50 to 750 W
Ambient operating
temperature and humidity
Ambient storage
temperature and humidity
1 to 5 kW
100 to 400 W
1,000-r/min Servomotors
2,000-r/min Servomotors
900 W to
5 kW
6 to 7.5 kW
0 to 40°C, 85% RH max. (with no condensation)
−20 to 65°C, 85% RH
max. (with no condensation)
−20 to 80°C, 85% max. (with no condensation)
Operating and storage
atmosphere
No corrosive gases
Vibration resistance *1
10 to 2,500 Hz
Acceleration of
49 m/s2 max. in the X,
Y, and Z directions
10 to 2,500 Hz
Acceleration of
24.5 m/s2 max. in the
X, Y, and Z directions
10 to 2,500 Hz
Acceleration of
49 m/s2 max. in the X,
Y, and Z directions
10 to 2,500 Hz
Acceleration of
24.5 m/s2 max. in the X, Y,
and Z directions
Impact resistance
Acceleration of
98 m/s2 max.
3 times each in the X,
Y, and Z directions
Acceleration of
98 m/s2 max.
3 times each in the X,
Y, and Z directions
Acceleration of
98 m/s2 max.
3 times each in the X,
Y, and Z directions
Acceleration of
98 m/s2max.
2 times vertically
Insulation resistance
20 MΩ min. at 500 VDC between the power terminals and FG terminal
Dielectric strength
1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal
Operating position
All directions
Insulation grade
Structure
Type B
Type F
Type B
IP65 (excluding the output shaft rotating section and lead wire ends)
Vibration grade
V-15
Mounting method
Flange-mounting
EC
Directives
Type F
Totally enclosed, self-cooling
Protective structure
International standards
Specifications
3
EMC
Directive
EN 55011 Class A Group 1
Low-voltage
Directive
IEC 60034-1/-5
EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11
UL standards
UL 1004
CSA standards
CSA 22.2 No.100
UL:
pending *2
*1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended
periods of time.
*2. UL application pending for motor sizes from 6 to 7.5 kW.
Note 1. Do not use the cable when it is laid in oil or water.
Note 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
3-17
3-2 Servomotor Specifications
Characteristics
„ 3,000-r/min Servomotors
100 VAC
Model (R88M-)
G05030H
G10030L
G20030L
G40030L
Unit
G05030T
G10030S
G20030S
G40030S
Rated output *1
W
50
100
200
400
Rated torque *1
N·m
0.16
0.32
0.64
1.3
Rated rotation speed
r/min
3000
Max. momentary rotation
speed
r/min
5000
Max. momentary torque *1
Rated current *1
Max. momentary current
*1
N·m
0.45
0.93
1.78
3.6
A (rms)
1.1
1.7
2.5
4.6
A (rms)
3.4
5.1
7.6
13.9
2.5 × 10-6
5.1 × 10-6
1.4 × 10-5
2.6 × 10-5
kg·m2
Rotor inertia
(GD2/4)
Applicable load inertia
30 times the rotor inertia max.*2
---
Torque constant *1
N·m/A
0.14
0.19
0.26
0.28
Power rate *1
kW/s
10.4
20.1
30.3
62.5
ms
1.56
1.11
0.72
0.55
ms
0.7
0.8
2.5
2.9
N
68
68
245
245
Mechanical time
constant
Electrical time constant
Allowable radial load
*3
Allowable thrust load
*3
Weight
N
58
58
98
98
Without brake
kg
Approx. 0.3
Approx. 0.5
Approx. 0.8
Approx. 1.2
With brake
kg
Approx. 0.5
Approx. 0.7
Approx. 1.3
Approx. 1.7
Radiation shield dimensions
(material)
100 × 80 × t10 (AI)
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake inertia
Brake specifications
3
130 × 120 × t12 (AI)
GNA5L-ML2
GN01L-ML2
GN02L-ML2
GN04L-ML2
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
Excitation voltage *4
V
Power consumption
(at 20°C)
W
7
7
9
9
Current consumption
(at 20°C)
A
0.3
0.3
0.36
0.36
Static friction torque
N·m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
ms
35 max.
35 max.
50 max.
50 max.
ms
20 max.
20 max.
15 max.
15 max.
Attraction time
*5
Release time *5
24 VDC ±5%
Backlash
1° (reference value)
Allowable work per
braking
J
39.2
39.2
137
137
Allowable total work
J
4.9 × 103
4.9 × 103
44.1 × 103
44.1 × 103
Allowable angular
acceleration
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type B
3-18
Specifications
Item
3-2 Servomotor Specifications
200 VAC
Model (R88M-)
G05030H
G10030H
G20030H
G40030H
G75030H
Unit
G05030T
G10030T
G20030T
G40030T
G75030T
Item
Rated output
3
*1
W
50
100
200
400
750
Rated torque *1
N·m
0.16
0.32
0.64
1.3
2.4
Rated rotation speed
r/min
Max. momentary rotation
speed
r/min
Max. momentary torque *1
N·m
Specifications
Rated current
*1
5000
0.45
0.90
4500
1.78
3.67
7.05
A (rms)
1.1
1.1
1.6
2.6
4
Max. momentary current *1 A (rms)
3.4
3.4
4.9
7.9
12.1
2.5 × 10-6
5.1 × 10-6
1.4 × 10-5
2.6 × 10-5
8.7 × 10-5
kg·m2
(GD2/4)
Rotor inertia
Applicable load inertia
Torque constant *1
Power rate
*1
Mechanical time
constant
Electrical time constant
20 times the
rotor inertia
max.*2
30 times the rotor inertia max.*2
--N·m/A
0.14
0.19
0.41
0.51
0.64
kW/s
10.4
20.1
30.3
62.5
66
ms
1.56
1.1
0.71
0.52
0.45
ms
0.7
0.79
2.6
3
4.6
*3
N
68
68
245
245
392
Allowable thrust load *3
N
58
58
98
98
147
Without brake
kg
Approx. 0.3
Approx. 0.5
Approx. 0.8
Approx. 1.2
Approx. 2.3
With brake
kg
Approx. 0.5
Approx. 0.7
Approx. 1.3
Approx. 1.7
Allowable radial load
Weight
Radiation shield dimensions
(material)
100 × 80 × t10 (AI)
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake specifications
Brake inertia
130 × 120 × t12 (AI)
Approx. 3.1
170 × 160 ×
t12 (AI)
GN01H-ML2 GN01H-ML2 GN02H-ML2 GN04H-ML2 GN08H-ML2
2 × 10-7
2 × 10-7
1.8 × 10-6
1.8 × 10-6
7.5 × 10-6
Excitation voltage *4
V
Power consumption
(at 20°C)
W
7
7
9
9
10
Current consumption
(at 20°C)
A
0.3
0.3
0.36
0.36
0.42
Static friction torque
N·m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
2.45 min.
ms
35 max.
35 max.
50 max.
50 max.
70 max.
ms
20 max.
20 max.
15 max.
15 max.
20 max.
Attraction time
*5
Release time *5
24 VDC ±5%
Backlash
1° (reference value)
Allowable work per
braking
J
39.2
39.2
137
137
196
Allowable total work
J
4.9 × 103
4.9 × 103
44.1 × 103
44.1 × 103
147 × 103
Allowable angular
acceleration
3-19
3000
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type B
3-2 Servomotor Specifications
200 VAC
Model (R88M-)
G1K030T
G1K530T
G2K030T
G3K030T
G4K030T
G5K030T
Unit
Rated output *1
W
1000
1500
2000
3000
4000
5000
Rated torque *1
N·m
3.18
4.77
6.36
9.54
12.6
15.8
Rated rotation speed
r/min
Max. momentary rotation
speed
r/min
Max. momentary torque
Rated current
*1
N·m
*1
3000
5000
9.1
4500
3
12.8
18.4
27.0
36.3
45.1
A (rms)
7.2
9.4
13
18.6
24.7
28.5
Max. momentary current *1 A (rms)
21.4
28.5
40
57.1
75
85.7
2
kg·m
1.69 × 10-4 2.59 × 10-4 3.46 × 10-4 6.77 × 10-4 1.27 × 10-3 1.78 × 10-3
(GD2/4)
Rotor inertia
Applicable load inertia
Torque constant *1
Power rate
15 times the rotor inertia max.*2
---
*1
N·m/A
0.44
0.51
0.48
0.51
0.51
0.57
kW/s
60
88
117
134
125
140
Mechanical time
constant
ms
0.78
0.54
0.53
0.46
0.51
0.46
Electrical time constant
ms
6.7
10
10.8
20
20
20
Allowable radial load *3
N
392
490
490
490
784
784
Allowable thrust load *3
N
147
196
196
196
343
Approx.
17.3
Approx.
19.2
Without brake
kg
Approx. 4.5 Approx. 5.1 Approx. 6.5 Approx. 9.3
With brake
kg
Approx. 5.1 Approx. 6.5 Approx. 7.9 Approx. 11
Approx.
14.8
Weight
170 × 160 × 320 × 300 × 320 × 300 ×
t12(AI)
t30 (AI)
t20 (AI)
Radiation shield dimensions
(material)
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake inertia
Brake specifications
343
Approx.
12.9
GN15HML2
GN15HML2
GN20HML2
2.5 × 10-5
3.3 × 10-5
3.3 × 10-5
380 × 350 × t30 (AI)
GN30HML2
GN50HML2
GN50HML2
3.3 × 10-5 1.35 × 10-4 1.35 × 10-4
Excitation voltage *4
V
Power consumption
(at 20°C)
W
18
19
19
19
22
22
Current consumption
(at 20°C)
A
0.74
0.81
0.81
0.81
0.9
0.9
Static friction torque
N·m
4.9 min.
7.8 min.
7.8 min.
11.8 min.
16.1 min.
16.1 min.
Attraction time *5
ms
50 max.
50 max.
50 max.
80 max.
110 max.
110 max.
ms
15 max.
15 max.
15 max.
15 max.
50 max.
50 max.
Release time
*5
24 VDC ±10%
Backlash
1° (reference value)
Allowable work per
braking
J
392
392
392
392
1470
1470
Allowable total work
J
2.0 × 105
4.9 × 105
4.9 × 105
4.9 × 105
2.2 × 106
2.2 × 106
Allowable angular
acceleration
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
3-20
Specifications
Item
3-2 Servomotor Specifications
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).
The maximum momentary torque indicates the standard value.
*2. Applicable Load Inertia
ΠThe operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and
its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an
appropriate motor and confirm that operation is possible.
ΠIf the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may
burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal
operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
3
Specifications
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
Torque-Rotational Speed Characteristics for 3,000-r/min Servomotors
Π3,000-r/min Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
ΠR88M-G05030H/T (50 W)
ΠR88M-G10030L/S (100 W)
(N·m)
(N·m)
0.5
0.48
0.48
0
0.5 0.32
1000 2000 3000 4000 5000
(r/min)
ΠR88M-G40030L/S (400 W)
(N·m)
4.0 3.6
3.6 (3000)
Repetitive usage
2.0 1.3
1.3
Continuous usage
3-21
0.83 (3600)
1.0 0.83
0.1
Continuous usage
(N·m)
0.75
2.0 1.78
Repetitive usage
Repetitive usage
0.25 0.16
0.16
0
ΠR88M-G20030L/S (200 W)
1.3
0.6
1000 2000 3000 4000 5000
(r/min)
Continuous usage
0
1.0
0.32
0.28
1000 2000 3000 4000 5000
(r/min)
0
1.78 (3500)
Repetitive usage
0.64
0.64
Continuous usage
0.9
0.6
1000 2000 3000 4000 5000
(r/min)
3-2 Servomotor Specifications
Π3,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
ΠR88M-G10030H/T (100 W)
(N·m)
0.5
(N·m)
(N·m)
0.45
1.0 0.93
0.45
0.1
Continuous usage
1000 2000 3000 4000 5000
(r/min)
0
ΠR88M-G40030H/T (400 W)
0.28
1000 2000 3000 4000 5000
(r/min)
0
Repetitive usage
2.0 1.3
1.3
Continuous usage
1.7
1000 2000 3000 4000 5000
(r/min)
Continuous usage
ΠR88M-G1K530T (1.5 kW)
0
Continuous usage
Continuous usage
1000 2000 3000 4000 5000
(r/min)
ΠR88M-G4K030T (4 kW)
0
1000 2000 3000 4000 5000
(r/min)
(N·m)
30 27.0
18.4 (3600)
27.0 (3400)
Repetitive usage
15 9.54
9.54
Continuous usage
Continuous usage
0
4.8
ΠR88M-G3K030T (3 kW)
6.0
3.6
9.1 (4000)
1.0
Repetitive usage
10 6.36
6.36
Repetitive usage
7.5 4.77
4.77
0.38
1000 2000 3000 4000 5000
(r/min)
Repetitive usage
5 3.18
3.18
1000 2000 3000 4000 5000
(r/min)
20 18.4
12.9 (3500)
0
4.0
(N·m)
15 12.9
3
0.64
Continuous usage
10 9.1
ΠR88M-G2K030T (2 kW)
(N·m)
0.64
ΠR88M-G1K030T (1 kW)
7.05 (3600)
Repetitive usage
4.0 2.4
2.4
0.78
1.5
(N·m)
8.0 7.05
3.6 (3800)
1.78 (4500)
Repetitive usage
(N·m)
4.0 3.6
0
Continuous usage
2.0 1.78
1.0
ΠR88M-G75030H/T (750 W)
(N·m)
0
0.93
Repetitive usage
0.5 0.32
0.32
Repetitive usage
0.25 0.16
0.16
1000 2000 3000 4000 5000
(r/min)
0
5.5
1000 2000 3000 4000 5000
(r/min)
ΠR88M-G5K030T (5 kW)
(N·m)
(N·m)
40 36.3
37.9
50 45.1
Repetitive usage
20 12.6
12.6
Continuous usage
0
ΠR88M-G20030H/T (200 W)
47.6
Repetitive usage
25 15.8
15.8
10.0
1000 2000 3000 4000 5000
(r/min)
15.0
Continuous usage
0
1000 2000 3000 4000 5000
(r/min)
3-22
Specifications
ΠR88M-G05030H/T (50 W)
3-2 Servomotor Specifications
Precautions
for Correct Use
ΠUse the following Servomotors in the ranges shown in the graphs below.
Using outside of these ranges may cause the Servomotor to generate
heat, which could result in encoder malfunction.
ΠR88M-G05030H/T
50 W (Without Oil Seal)
3
ΠR88M-G05030H/T
50 W (With Oil Seal)
Rated Torque (%)
With brake Rated Torque (%)
100%
95%
ΠR88M-G10030H/T
100 W (Without Oil Seal)
Without brake
100%
With brake
Rated Torque (%)
With brake 100%
95%
Specifications
70%
60%
0
10
20
30
Ambient
temperature
40
ΠR88M-G10030H/T
100 W (With Oil Seal)
10
20
30
40
Without brake
Rated Torque (%)
100%
20
30
ΠR88M-G40030H/T
400 W (With Oil Seal)
20
30
40
0
10
20
100%
90%
30
40
Ambient
temperature
ΠR88M-G1K530T (1.5 kW)
0
10
20
30
40
Rated Torque (%)
With brake
100%
0
10
20
30
40
100%
0
10
20
30
With brake
100%
0
3-23
90%
85%
10
20
30
40
Ambient
temperature
85%
70%
40
Ambient
temperature
ΠR88M-G4K030T (4 kW)
0
10
20
30
40
Ambient
temperature
ΠR88M-G5K030T (5 kW)
Without brake
Without brake
Rated Torque (%)
With brake
100%
85%
Ambient
temperature
ΠR88M-G3K030T (3 kW)
Without brake
Rated Torque (%)
With brake
75%
Ambient
temperature
ΠR88M-G2K030T (2 kW)
Without brake
Rated Torque (%)
Ambient
temperature
With brake
80%
70%
Ambient
temperature
40
10
Rated Torque (%)
With brake
75%
70%
10
0
ΠR88M-G40030H/T
400 W (Without Oil Seal)
With brake 100%
0
Ambient
temperature
ΠR88M-G20030H/T
200 W (With Oil Seal)
Without brake
Rated Torque (%)
0
Rated Torque (%)
With brake
100%
0
90%
85%
10
20
30
40
Ambient
temperature
Rated Torque (%)
With brake
100%
70%
0
10
20
30
40
Ambient
temperature
3-2 Servomotor Specifications
„ 3,000-r/min Flat Servomotors
100 VAC
200 VAC
Model (R88M-) GP10030L GP20030L GP40030L GP10030H GP20030H G40030H
Unit
GP10030S GP20030S GP40030S GP10030T GP20030T G40030T
Rated output
*1
W
100
200
400
100
200
400
Rated torque
*1
N·m
0.32
0.64
1.3
0.32
0.64
1.3
Rated rotation speed
r/min
Max. momentary rotation
speed
r/min
Max. momentary torque *1
3000
3000
5000
4500
5000
N·m
0.84
1.8
3.6
0.86
1.8
3.65
Rated current *1
A (rms)
1.6
2.5
4.4
1
1.6
2.5
Max. momentary current *1
A (rms)
4.9
7.5
13.3
3.1
4.9
7.5
Rotor inertia
kg·m2
(GD2/4)
1.0 × 10-5
3.5 × 10-5
6.5 × 10-5
1.0 × 10-5
3.5 × 10-5
6.4 × 10-5
Applicable load inertia
20 times the rotor inertia max.*2
---
Torque constant *1
N·m/A
0.21
0.27
0.3
0.34
0.42
0.54
kW/s
10.2
11.7
26.0
10.2
11.5
25.5
Mechanical time constant
ms
0.87
0.75
0.55
1.05
0.81
0.59
Electrical time constant
ms
3.4
6.7
6.7
2.9
5.6
6.6
N
68
245
245
68
245
245
58
98
98
58
98
98
Power rate
*1
Allowable radial load
*3
Allowable thrust load
*3
Weight
N
Without brake
kg
With brake
kg
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake specifications
Brake inertia
Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.7 Approx. 1.3 Approx. 1.8
Approx. 0.9 Approx. 2 Approx. 2.5 Approx. 0.9 Approx. 2 Approx. 2.5
130 × 120 ×
t10 (AI)
Radiation shield dimensions
(material)
170 × 160 × t12(AI)
130 × 120 ×
t10 (AI)
170 × 160 × t12 (AI)
GN01LML2
GN02LML2
GN04LML2
GN01HML2
GN02HML2
GN04HML2
3 × 10-6
9 × 10-6
9 × 10-6
3 × 10-6
9 × 10-6
9 × 10-6
Excitation voltage *4
V
Power consumption
(at 20°C)
W
7
10
10
7
10
10
Current consumption
(at 20°C)
A
0.29
0.41
0.41
0.29
0.41
0.41
Static friction torque
N·m
0.29 min.
1.27 min.
1.27 min.
0.29 min.
1.27 min.
1.27 min.
ms
50 max.
60 max.
60 max.
50 max.
60 max.
60 max.
ms
15 max.
15 max.
15 max.
15 max.
15 max.
15 max.
Attraction time
*5
Release time *5
24 VDC ±10%
Backlash
J
Allowable total work
J
Allowable angular
acceleration
24 VDC ±10%
1° (reference value)
Allowable work per
braking
137
3
196
44.1 × 103 147 × 103
1° (reference value)
196
137
196
147 × 103 44.1 × 103 147 × 103
196
147 × 103
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Continuous
Insulation grade
---
Type B
Type B
3-24
Specifications
Item
3-2 Servomotor Specifications
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).
The maximum momentary torque indicates the standard value.
*2. Applicable Load Inertia
ΠThe operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and
its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an
appropriate motor and confirm that operation is possible.
ΠIf the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may
burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal
operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
3
Specifications
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
Torque-Rotational Speed Characteristics for 3,000-r/min Flat Servomotors
Π3,000-r/min Flat Servomotors with 100-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
ŒR88M-GP10030L/S (100 W)
ŒR88M-GP20030L/S (200 W)
(N·m)
(N·m)
(N·m)
1.0 0.84
2.0 1.8
0.84 (3500)
0.32
Repetitive usage
1.0 0.64
0.64
Continuous usage
0.19
Continuous usage
1000 2000 3000 4000 5000
(r/min)
0
4.0 3.6
1.8 (3400)
Repetitive usage
0.5 0.32
0.32
0
ŒR88M-GP40030L/S (400 W)
2.0 1.3
0.38
1000 2000 3000 4000 5000
(r/min)
0
3.6 (3300)
Repetitive usage
1.3
1.5
Continuous usage
0.78
1000 2000 3000 4000 4500
(r/min)
Π3,000-r/min Flat Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
ŒR88M-GP10030H/T (100 W)
ŒR88M-GP20030H/T (200 W)
(N·m)
(N·m)
1.0 0.86
0.86
Continuous usage
3-25
(N·m)
1.8 (4500)
2.0 1.8
Repetitive usage
1.0 0.64
0.64
Repetitive usage
0.5 0.32
0.32
0
ŒR88M-GP40030H/T (400 W)
Continuous usage
0.19
1000 2000 3000 4000 5000
(r/min)
0
4.0 3.65
3.65 (3600)
Repetitive usage
2.0 1.3
1.3
0.38
1000 2000 3000 4000 5000
(r/min)
Continuous usage
0
2.0
0.78
1000 2000 3000 4000 5000
(r/min)
3-2 Servomotor Specifications
„ 2,000-r/min Servomotors
200 VAC
Model (R88M-)
G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T
Unit
Rated output *1
W
1000
1500
2000
3000
4000
5000
7500
Rated torque *1
N·m
4.8
7.15
9.54
14.3
18.8
23.8
48
Rated rotation speed
r/min
2000
1500
Max. momentary rotation
speed
r/min
3000
2000
Max. momentary torque *1
N·m
Rated current
*1
13.5
19.6
26.5
41.2
54.9
70.6
111
A (rms)
5.6
9.4
12.3
17.8
23.4
28
46.6
Max. momentary current *1 A (rms)
17.1
28.5
37.1
54.2
71.4
85.7
117.8
kg·m2
6.17 × 10-4 1.12 × 10-3 1.52 × 10-3 2.23 × 10-3 4.25 × 10-3 6.07 × 10-3 9.9 × 10-3
(GD2/4)
Rotor inertia
Applicable load inertia
10 times the rotor inertia max.*2
---
Torque constant *1
*1
N·m/A
0.88
0.76
0.78
0.81
0.81
0.85
1.03
kW/s
37.3
45.8
60
91.6
83.2
93.5
230
Mechanical time
constant
ms
0.7
0.81
0.75
0.72
1
0.9
0.71
Electrical time constant
ms
18
19
21
20
24
32
34
Allowable radial load *3
N
490
490
490
784
784
784
1176
Allowable thrust load *3
N
196
196
196
343
343
343
490
Without brake
kg
Approx.
6.8
Approx.
8.5
Approx.
10.6
Approx.
14.6
Approx.
18.8
Approx.
25
Approx.
41
With brake
kg
Approx.
8.7
Approx.
10.1
Approx.
12.5
Approx.
16.5
Approx.
21.3
Approx.
28.5
Approx.
45
Power rate
Weight
Radiation shield dimensions
(material)
Applicable Servo Drives (R88D-)
Brake specifications
GN10HML2
kg·m2
(GD2/4)
Brake inertia
380 × 350
× t30 (AI)
275 × 260 × t15 (AI)
GN15HML2
GN20HML2
470 × 440 × t30 (AI)
GN30HML2
1.35 × 10-4
GN50HML2
GN50HML2
GN75HML2
4.25 × 10-4 4.7 × 10-4 4.7 × 10-4
Excitation voltage *4
V
Power consumption
(at 20°C)
W
14
19
19
22
26
31
34
Current consumption
(at 20°C)
A
0.59
0.79
0.79
0.9
1.1
1.3
1.4
Static friction torque
N·m
4.9 min.
13.7 min.
13.7 min.
16.1 min.
21.5 min.
24.5 min. 58.8 min.
Attraction time *5
ms
80 max.
100 max.
100 max.
110 max.
90 max.
80 max.
150 max.
ms
70 max.
50 max.
50 max.
50 max.
35 min.
25 min.
50 max.
1372
1372
Release time
*5
24 VDC ±10%
Backlash
1° (reference value)
Allowable work per
braking
J
588
1176
1176
1170
1078
Allowable total work
J
7.8 × 105
1.5 × 106
1.5 × 106
2.2 × 106
2.5 × 106
Allowable angular
acceleration
2.9 × 106 2.9 × 106
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
3-26
3
Specifications
Item
3-2 Servomotor Specifications
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).
The maximum momentary torque indicates the standard value.
*2. Applicable Load Inertia
ΠThe operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and
its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an
appropriate motor and confirm that operation is possible.
ΠIf the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may
burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal
operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
3
Specifications
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
Torque-Rotational Speed Characteristics for 2,000-r/min Servomotors
Π2,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
ΠR88M-G1K020T (1 kW)
ΠR88M-G1K520T (1.5 kW)
ΠR88M-G2K020T (2 kW)
(N·m)
(N·m)
(N·m)
13.5 (2200)
15 13.5
Repetitive usage
5 4.8
5.5
3.2
4.8
Continuous usage
0
1000
3000 (r/min)
2000
ΠR88M-G3K020T (3 kW)
10 7.15
7.15
Continuous usage
0
1000
2000
14.3
4.7
3000 (r/min)
ΠR88M-G4K020T (4 kW)
Repetitive usage
15 9.54
9.54
Continuous usage
0
(N·m)
54.9 (2000)
1000
3000 (r/min)
ΠR88M-G7K515T (7.5 kW)
(N·m)
100
111
111
100
Repetitive usage
50
0
3-27
48
48
Continuous usage
1000
70.6
70.6 (2000)
35 23.8
2000
1500
36
2000 (r/min)
3000 (r/min)
Repetitive usage
Repetitive usage
Continuous usage
0
70
14.3
9.5
2000
(N·m)
41.2 (2200)
Repetitive usage
25 14.3
14.3
1000
13.2
6.3
ΠR88M-G5K020T (5 kW)
(N·m)
50 41.2
26.5 (2200)
30 26.5
20
Repetitive usage
10
18.5 (2200)
18.5
23.8
Continuous usage
Continuous usage
(r/min)
0
1000
2000
23.0
15.8
3000 (r/min)
3-2 Servomotor Specifications
„ 1,000-r/min Servomotors
200 VAC
Model (R88M-)
G90010T
G2K010T
G3K010T
G4K510T
G6K010T
W
900
2000
3000
4500
6000
N·m
8.62
19.1
28.4
42.9
57.2
Unit
Rated output *1
Rated torque
*1
Rated rotation speed
r/min
1000
Max. momentary rotation
speed
r/min
2000
Max. momentary torque *1
N·m
18.4
41.5
60
101
130
A (rms)
7.6
18.5
24
33
57.2
Max. momentary current *1 A (rms)
17.1
44
57.1
84.2
121.4
1.12 × 10-3
3.55 × 10-3
5.57 × 10-3
8.09 × 10-3
9.9 × 10-3
Rated current *1
kg·m2
(GD2/4)
Rotor inertia
Applicable load inertia
Torque constant *1
10 times the rotor inertia max.*2
--N·m/A
1.13
1
1.1
1.3
1.22
kW/s
66.3
103
145
228
331
Mechanical time constant
ms
0.88
0.97
0.74
0.7
0.65
Electrical time constant
ms
20
25
30
31
46.2
Allowable radial load *3
N
686
1176
1470
1470
1764
Power rate
*1
Allowable thrust load
Weight
*3
N
196
490
490
490
588
Without brake
kg
Approx. 8.5
Approx. 17.5
Approx. 25
Approx. 34
Approx. 41
With brake
kg
Approx. 10
Approx. 21
275 × 260 ×
t15 (AI)
Radiation shield dimensions
(material)
Applicable Servo Drives (R88D-)
kg·m2
(GD2/4)
Brake specifications
Brake inertia
Approx. 28.5 Approx. 39.5
Approx. 45
470 × 440 × t30 (AI)
GN15H-ML2 GN30H-ML2 GN50H-ML2 GN50H-ML2 GN75H-ML2
1.35 × 10-4
4.7 × 10-4
4.7 × 10-4
4.7 × 10-4
4.7 × 10-4
Excitation voltage *4
V
Power consumption
(at 20°C)
W
19
31
34
34
34
Current consumption
(at 20°C)
A
0.79
1.3
1.4
1.4
1.4
Static friction torque
N·m
13.7 min.
24.5 min.
58.8 min.
58.8 min.
58.8 min.
ms
100 max.
80 max.
150 max.
150 max.
150 max.
ms
50 max.
25 max.
50 max.
50 max.
50 max.
Attraction time
*5
Release time *5
24 VDC ±10%
Backlash
1° (reference value)
Allowable work per
braking
J
1176
1372
1372
1372
1372
Allowable total work
J
1.6 × 106
2.9 × 106
2.9 × 106
2.9 × 106
2.9 × 106
Allowable angular
acceleration
rad/s2
10,000 max.
(Speed of 900 r/min or more must not be changed in less than 10 ms)
Brake life
---
10,000,000 operations
Rating
---
Continuous
Insulation grade
---
Type F
3-28
3
Specifications
Item
3-2 Servomotor Specifications
*1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20°C, 65%).
The maximum momentary torque indicates the standard value.
*2. Applicable Load Inertia
ΠThe operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and
its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an
appropriate motor and confirm that operation is possible.
ΠIf the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may
burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled.
*3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal
operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
3
Specifications
Radial load
Thrust load
Center of shaft (LR/2)
*4. This is an OFF brake. (It is reset when excitation voltage is applied).
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.).
Torque-Rotational Speed Characteristics for 1,000-r/min Servomotors
Π1,000-r/min Servomotors with 200-VAC Power Input
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
ΠR88M-G90010T (900 W)
(N·m)
20 18.4
ΠR88M-G2K010T (2 kW)
18.4 (1600)
(N·m)
50 41.5
Repetitive usage
10 8.62
10.0
Continuous usage
4.31
1000
25 19.1
0
1000
(N·m)
(N·m)
100
Repetitive usage
50 42.9
3-29
130 (1500)
42.9
1000
Repetitive usage
57.2
40
Continuous usage
0
2000 (r/min)
Continuous usage
21.5
2000 (r/min)
71
57.2
50
0
1000
28.6
2000 (r/min)
60 (1350)
Repetitive usage
9.5
101 (1300)
100
70 60
35 28.4
ΠR88M-G6K010T (6 kW)
130
(N·m)
34.9
19.1
Continuous usage
2000 (r/min)
ΠR88M-G4K510T (4.5 kW)
101
41.5 (1600)
Repetitive usage
8.62
0
ΠR88M-G3K010T (3 kW)
38
28.4
Continuous usage
0
1000
14.2
2000 (r/min)
3-2 Servomotor Specifications
Precautions
for Correct Use
ΠUse the following Servomotors in the ranges shown in the graphs below.
Using outside of these ranges may cause the Servomotor to generate
heat, which could result in encoder malfunction.
ΠR88M-G6K010T
6 kW (With Oil Seal)
Without brake
Rated Torque (%)
With brake
100%
85%
70%
0
10
20
30
40
Ambient
temperature
Without brake
Rated Torque (%)
100%
0
3
With brake
90%
85%
10
20
30
40
Ambient
temperature
„ Temperature Characteristics of the Servomotor and Mechanical System
ΠOMNUC G-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 maximum momentary torque increases, and as the temperature rises, the
Servomotor's maximum momentary torque decreases.
Œ The maximum momentary torque rises by 4% at a normal temperature of 20°C compared to a
temperature of −10°C.
Conversely, the maximum momentary torque decreases about 8% when the magnet warms up to
80°C from the normal temperature.
ΠGenerally, when the temperature drops in a mechanical system, the friction torque and the load
torque increase.
For that reason, overloading may occur at low temperatures. In particular, in systems that use a
Decelerator, the load torque at low temperatures may be nearly twice as much as the load torque
at normal temperatures.
Check whether overloading may occur at low temperature startup.
Also check to see whether abnormal Servomotor overheating or alarms occur at high
temperatures.
ΠAn increase in load friction torque seemingly increases load inertia.
Therefore, even if the Servo Drive gains are adjusted at a normal temperature, the Servomotor
may not operate properly at low temperatures.
Check to see whether there is optimal operation even at low temperatures.
3-30
Specifications
ΠR88M-G4K510
4.5 kW (Without Oil Seal)
3-2 Servomotor Specifications
Encoder Specifications
„ Incremental Encoders
Item
Specifications
3
Specifications
Encoder system
Optical encoder
No. of output pulses
Phases A and B: 2,500 pulses/rotation
Phase Z: 1 pulse/rotation
Power supply voltage 5 VDC ±5%
Power supply current
180 mA (max.)
Output signals
+S, −S
Output interface
RS-485 compliance
„ Absolute Encoders
Item
Encoder system
Specifications
Optical encoder
17 bits
No. of output pulses
Phases A and B: 32,768 pulses/rotation
Phase Z: 1 pulse/rotation
Maximum rotations
−32,768 to +32,767 rotations or 0 to 65,534 rotations
Power supply
voltage
5 VDC ±5%
Power supply current 110 mA (max.)
3-31
Applicable battery
voltage
3.6 VDC
Current consumption
of battery
265 µA for a maximum of 5 s right after power interruption
100 µA for operation during power interruption
3.6 µA when power is supplied to Servo Drive
Output signals
+S, −S
Output interface
RS-485 compliance
3-3 Decelerator Specifications
3-3 Decelerator Specifications
The following Decelerators are available for use with OMNUC G-Series Servomotors. Select a
Decelerator matching the Servomotor capacity.
3
Standard Models and Specifications
Decelerators for 3,000-r/min Servomotors
Model
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
rotation
speed
torque
speed
Decelerator
inertia
Allow- Allowable
able
Weight
radial thrust
load
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG11B05100B@*2
600
0.50
63
1000
1.42
5.00 × 10-7
135
538
0.29
1/9
R88GHPG11B09050B@
333
1.12
78
555
3.16
3.00 × 10-7
161
642
0.29
1/21
R88GHPG14A21100B@
143
2.18
65
238
6.13
5.00 × 10-6
340
1358
1.04
1/33
R88GHPG14A33050B@
91
3.73
71
151
10.5
4.40 × 10-6
389
1555
1.04
1/45
R88GHPG14A45050B@
67
5.09
71
111
14.3
4.40 × 10-6
427
1707
1.04
1/5
R88GHPG11B05100B@
600
1.28
80
1000
3.6
5.00 × 10-7
135
538
0.29
1/11
R88GHPG14A11100B@
273
2.63
75
454
7.39
6.00 × 10-6
280
1119
1.04
100
R88G1/21
W
HPG14A21100B@
143
5.40
80
238
15.2
5.00 × 10-6
340
1358
1.04
1/33
R88GHPG20A33100B@
91
6.91
65
151
19.4
6.50 × 10-5
916
3226
2.4
1/45
R88GHPG20A45100B@
67
9.42
65
111
26.5
6.50 × 10-5
1006
3541
2.4
1/5
R88GHPG14A05200B@
600
2.49
78
1000
6.93
2.07 × 10-5
221
883
1.02
1/11
R88GHPG14A11200B@
273
6.01
85
454
16.7
1.93 × 10-5
280
1119
1.09
200
R88G1/21
W
HPG20A21200B@
143
10.2
76
238
28.5
4.90 × 10-5
800
2817
2.9
1/33
R88GHPG20A33200B@
91
17.0
81
151
47.4
4.50 × 10-5
916
3226
2.9
1/45
R88GHPG20A45200B@
67
23.2
81
111
64.6
4.50 × 10-5
1006
3541
2.9
50
W
3-32
Specifications
„ Backlash = 3’ Max.
3-3 Decelerator Specifications
Model
Specifications
3
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
rotation
speed
torque
speed
Decelerator
inertia
Allowable
radial
load
Allowable
thrust
load
Weight
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG14A05400B@
600
5.66
87
1000
16.0
(15.7)
2.07 × 10-5
221
883
1.09
1/11
R88GHPG20A11400B@
273
11.7
82
454
33.1
(32.5)
5.70 × 10-5
659
2320
2.9
400
R88G1/21
W
HPG20A21400B@
143
23.5
86
238
66.5
(65.2)
4.90 × 10-5
800
2547
2.9
1/33
R88GHPG32A33400B@
91
34.7
81
151
98.2
(96.3)
6.20 × 10-5
1565
6240
7.5
1/45
R88GHPG32A45400B@
67
47.4
81
111
133.9
(131.4)
6.10 × 10-5
1718
6848
7.5
1/5
R88GHPG20A05750B@
600
9.94
83
1000
29.2
6.80 × 10-5
520
1832
2.9
1/11
R88GHPG20A11750B@
273
23.2
88
454
68.1
6.00 × 10-5
659
2320
3.1
750
R88G1/21
W
HPG32A21750B@
143
42.3
84
238
124.3
3.00 × 10-4
1367
5448
7.8
1/33
R88GHPG32A33750B@
91
69.7
88
151
204.7
2.70 × 10-4
1565
6240
7.8
1/45
R88GHPG32A45750B@
67
95.0
88
111
279.2
2.70 × 10-4
1718
6848
7.8
1/5
R88GHPG32A051K0B@
600
11.5
72
1000
32.9
3.90 × 10-4
889
3542
7.3
1/11
R88GHPG32A111K0B@
273
28.9
83
454
82.6
3.40 × 10-4
1126
4488
7.8
1/21
R88GHPG32A211K0B@
143
58.1
87
238
166.1
3.00 × 10-4
1367
5488
7.8
1/33
R88GHPG32A331K0B@
91
94.3
90
151
270.0
2.80 × 10-4
1565
6240
7.8
1/45
R88GHPG50A451K0B@
67
124.2
87
100*1
355.4
4.70 × 10-4
4538
15694
19.0
1/5
R88GHPG32A052K0B@
600
19.1
80
1000
51.3
3.90 × 10-4
889
3542
7.4
1/11
R88GHPG32A112K0B@
273
45.7
87
454
122.5
3.40 × 10-4
1126
4488
7.9
1/21
R88GHPG32A211K5B@
143
90.1
90
238
241.9
3.00 × 10-4
1367
5448
7.9
1/33
R88GHPG50A332K0B@
91
141.5
90
136*1
379.7
4.80 × 10-4
4135
14300
19.0
1/45
R88GHPG50A451K5B@
67
192.9
90
100*1
517.8
4.70 × 10-4
4538
15694
19.0
1
kW
1.5
kW
3-33
3-3 Decelerator Specifications
2
kW
3
kW
4
kW
5
kW
Decelerator
inertia
Allowable
radial
load
Allowable
thrust
load
Weight
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG32A052K0B@
600
26.7
84
1000
77.4
3.90 × 10-4
889
3542
7.4
1/11
R88GHPG32A112K0B@
273
62.4
89
454
180.7
3.40 × 10-4
1126
4488
7.9
1/21
R88GHPG50A212K0B@
143
118.9
89
214*1
343.9
5.80 × 10-4
3611
12486
19.0
1/33
R88GHPG50A332K0B@
91
191.8
91
136*1
555.0
4.80 × 10-4
4135
14300
19.0
1/5
R88GHPG32A053K0B@
600
42.0
88
1000
118.9
3.80 × 10-4
889
3542
7.3
1/11
R88GHPG50A113K0B@
273
92.3
88
409*1
261.4
7.70 × 10-4
2974
10285
19.0
1/21
R88GHPG50A213K0B@
143
183.0
91
214*1
517.7
5.80 × 10-4
3611
12486
19.0
1/5
R88GHPG32A054K0B@
600
53.9
90
900*1
163.4
3.80 × 10-4
889
3542
7.9
1/11
R88GHPG50A115K0B@
273
124.6
90
409*1
359.0
8.80 × 10-4
2974
10285
19.1
1/5
R88GHPG50A055K0B@
600
69.3
88
900*1
197.8
1.20 × 10-3
2347
8118
17.7
1/11
R88GHPG50A115K0B@
273
158.4
91
409*1
451.9
8.80 × 10-4
2974
10285
19.1
*1. Keep the maximum rotation speed at 4,500 r/min or less.
*2. With the R88G-HPG11B05100B(J), cold start efficiency may be reduced if a 50-W motor is used. (When operation
is first started in the morning while the Decelerator temperature is low, the viscosity of the lubricant inside the
Decelerator will be higher. As operation continues and the Decelerator temperature rises, the viscosity of the
lubricant will be lowered and efficiency will improve.)
Note 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note 4. The allowable radial load is the value at the LR/2 position.
Note 5. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of
the model number (the suffix in the box).
3-34
3
Specifications
Model
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
rotation
speed
torque
speed
3-3 Decelerator Specifications
Decelerators for 2,000-r/min Servomotors
Model
Specifications
3
1
kW
1.5
kW
2
kW
3-35
Rated
rota- Rated
torque
tion
speed
MaxiMaximum
AllowEffimum
Decelerator able
momencienmomeninertia
tary
radial
cy
tary
rotation
load
torque
speed
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG32A053K0B@
400
20.4
85
600
57.4
3.80 × 10-4
889
3542
7.3
1/11
R88GHPG32A112K0SB@
182
47.3
90
273
133.1
3.40 × 10-4
1126
4488
7.8
1/21
R88GHPG32A211K0SB@
95
92.3
92
143
259.7
2.90 × 10-4
1367
5448
7.8
1/33
R88GHPG50A332K0SB@
60
144.9
92
91
407.6
4.70 × 10-4
4135
14300
19.0
1/45
R88GHPG50A451K0SB@
44
197.7
92
67
555.9
4.70 × 10-4
4538
15694
19.0
1/5
R88GHPG32A053K0B@
400
31.7
89
600
86.8
3.80 × 10-4
889
3542
7.3
1/11
R88GHPG32A112K0SB@
182
72.1
92
273
197.7
3.40 × 10-4
1126
4488
7.8
1/21
R88GHPG50A213K0B@
95
137.5
92
143
377.0
5.80 × 10-4
3611
12486
19.0
1/33
R88GHPG50A332K0SB@
60
219.4
93
91
601.5
4.70 × 10-4
4135
14300
19.0
1/5
R88GHPG32A053K0B@
400
43.2
91
600
119.9
3.80 × 10-4
889
3542
7.3
1/11
R88GHPG32A112K0SB@
182
97.4
93
273
270.5
3.40 × 10-4
1126
4488
7.8
1/21
R88GHPG50A213K0B@
95
185.6
93
143
515.9
5.80 × 10-4
3611
12486
19.0
1/33
R88GHPG50A332K0SB@
60
270.0*1
93
91
815.0
4.70 × 10-4
4135
14300
19.0
3-3 Decelerator Specifications
3
kW
4
kW
5
kW
7.5
kW
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG32A054K0B@
400
66.0
92
600
190.1
3.80 × 10-4
889
3542
7.9
1/11
R88GHPG50A115K0B@
182
145.2
92
273
418.3
8.80 × 10-4
2974
10285
19.1
1/21
R88GHPG50A213K0SB@
95
260.0*1
93
143
806.4
6.90 × 10-4
3611
12486
19.1
1/25
R88GHPG65A253K0SB@
80
322.9
90
120
930.1
3.00 × 10-3
7846
28654
52.0
1/5
R88GHPG50A054K0SB@
400
85.8
91
600
250.3
1.20 × 10-3
2347
8118
18.6
1/11
R88GHPG50A114K0SB@
182
192.7
93
273
562.8
8.70 × 10-4
2974
10285
20.1
1/20
R88GHPG65A204K0SB@
100
342.2
91
150
999.2
3.28 × 10-3
7338
26799
52.0
1/25
R88GHPG65A254K0SB@
80
430.9
92
120
1258.6
3.24 × 10-3
7846
28654
52.0
1/5
R88GHPG50A055K0SB@
400
109.8
92
600
325.5
1.10 × 10-3
2347
8118
22.0
1/11
R88GHPG50A115K0SB@
182
200.0*1
93
273
723.8
8.40 × 10-4
2974
10285
23.5
1/20
R88GHPG65A205K0SB@
100
438.2
92
150
1300.5
2.85 × 10-3
7338
26799
55.4
1/25
R88GHPG65A255K0SB@
80
550.9
93
120
1634.4
2.81 × 10-3
7846
28654
55.4
1/5
R88GHPG65A057K5SB@
300
221.1
92
400
511.2
2.07 × 10-2
4841
17681
48.0
1/12
R88GHPG65A127K5SB@
125
540.8
94
166
1250.7
2.02 × 10-2
6295
22991
52.0
*1."Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note 3. The allowable radial load is the value at the LR/2 position.
Note 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of
the model number (the suffix in the box).
3-36
3
Specifications
Model
MaxiRated
Allowmum Maximum
rota- Rated Effi- momen- momen- Decelerator able
tion torque ciency
tary
inertia
radial
tary
speed
load
rotation torque
speed
3-3 Decelerator Specifications
Decelerators for 1,000-r/min Servomotors
Model
Specifications
3
900
W
2
kW
3
kW
4.5
kW
6
kW
MaxiMaxiRated
mum
Allowmum
Decelerator able
rota- Rated Effi- momenmomeninertia
tion torque ciency
tary
radial
tary
rotation
speed
load
torque
speed
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG32A05900TB@
200
39.9
93
400
85.2
3.80 × 10-4
889
3542
7.9
1/11
R88GHPG32A11900TB@
90
89.0
94
182
190.1
3.40 × 10-4
1126
4488
8.4
1/21
R88GHPG50A21900TB@
47
169.8
94
95
362.4
7.00 × 10-4
3611
12486
19.1
1/33
R88GHPG50A33900TB@
30
268.5
94
60
573.2
5.90 × 10-4
4135
14300
19.1
1/5
R88GHPG32A052K0TB@
200
90.2
95
400
196.1
4.90 × 10-4
889
3542
8.9
1/11
R88GHPG50A112K0TB@
90
198.4
94
182
430.9
8.40 × 10-4
2974
10285
20.1
1/21
R88GHPG50A212K0TB@
47
320.0*1
95
95
786.8
6.50 × 10-4
3611
12486
20.1
1/25
R88GHPG65A255K0SB@
40
446.7
94
80
971.1
2.81 × 10-3
7846
28654
55.4
1/5
R88GHPG50A055K0SB@
200
133.9
94
400
282.9
1.10 × 10-3
2347
8118
22.0
1/11
R88GHPG50A115K0SB@
90
246.0*1
95
182
684.0
8.40 × 10-3
2974
10285
23.5
1/20
R88GHPG65A205K0SB@
50
534.7
94
100
1129.2
2.85 × 10-3
7338
26799
55.4
1/25
R88GHPG65A255K0SB@
40
669.9
94
80
1411.5
2.81 × 10-3
7846
28654
55.4
1/5
R88GHPG50A054K5TB@
200
203.5
95
400
479.2
1.20 × 10-3
2347
8118
22.0
1/12
R88GHPG65A127K5SB@
83
485.6
94
166
1142.9
2.02 × 10-2
6295
22991
52.0
1/20
R88GHPG65A204K5TB@
50
813.1
95
100
1915.0
1.92 × 10-2
7338
26799
52.0
1/5
R88GHPG65A057K5SB@
200
268.1
94
400
609.7
2.07 × 10-2
4841
17681
48.0
1/12
R88GHPG65A127K5SB@
83
650.3
95
166
1477.3
2.02 × 10-2
6295
22991
52.0
*1."Rated torque" indicates the allowable rated torque for the decelerator. Do not exceed this value.
Note 1. The Decelerator inertia is the Servomotor shaft conversion value.
Note 2. The protective structure for Servomotors with Decelerators satisfies IP44.
Note 3. The allowable radial load is the value at the LR/2 position.
Note 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of
the model number (the suffix in the box).
3-37
3-3 Decelerator Specifications
Decelerators for 3,000-r/min Flat Servomotor
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GHPG11B05100PB@
600
1.28
80
1000
3.44
(3.36)
5.00 × 10-7
135
538
0.34
1/11
R88GHPG14A11100PB@
273
2.63
75
454
7.06
(6.89)
6.00 × 10-6
280
1119
1.04
100
R88G1/21
W
HPG14A21100PB@
143
5.40
80
238
14.5
(14.2)
5.00 × 10-6
340
1358
1.04
1/33
R88GHPG20A33100PB@
91
6.91
65
151
18.6
(18.1)
4.50 × 10-5
916
3226
2.9
1/45
R88GHPG20A45100PB@
67
9.42
65
111
25.3
(24.7)
4.50 × 10-5
1006
3541
2.9
1/5
R88GHPG14A05200PB@
600
2.49
78
1000
7.01
2.07 × 10-5
221
883
0.99
1/11
R88GHPG20A11200PB@
273
4.75
68
454
13.4
5.80 × 10-5
659
2320
3.1
200
R88G1/21
W
HPG20A21200PB@
143
10.2
76
238
28.8
4.90 × 10-5
800
2817
3.1
1/33
R88GHPG20A33200PB@
91
17.0
81
151
47.9
4.50 × 10-5
916
3226
3.1
1/45
R88GHPG20A45200PB@
67
23.2
81
111
65.4
4.50 × 10-5
1006
3541
3.1
1/5
R88GHPG20A05400PB@
600
4.67
72
1000
(900)
13.1
(12.9)
7.10 × 10-5
520
1832
3.1
1/11
R88GHPG20A11400PB@
273
11.7
82
454
(409)
32.9
(32.4)
5.80 × 10-5
659
2320
3.1
400
R88G1/21
W
HPG20A21400PB@
143
23.5
86
238
(214)
66.2
(65.2)
4.90 × 10-5
800
2817
3.1
1/33
R88GHPG32A33400PB@
91
34.7
81
151
(136)
97.6
(96.2)
2.80 × 10-4
1565
6240
7.8
1/45
R88GHPG32A45400PB@
67
47.4
81
111
(100)
133.0
(131.2)
2.80 × 10-4
1718
6848
7.8
Note 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note 4. The allowable radial load is the value at the LR/2 position.
Note 5. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of
the model number (the suffix in the box).
3-38
3
Specifications
Model
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
rotation
speed
torque
speed
3-3 Decelerator Specifications
„ Backlash = 15’ Max.
Decelerators for 3,000-r/min Servomotors
Model
Specifications
3
50
W
100
W
200
W
3-39
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
rotation
speed
torque
speed
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GVRSF05B100CJ
600
0.52
65
1000
1.46
4.00 × 10-6
392
196
0.55
1/9
R88GVRSF09B100CJ
333
0.93
65
556
2.63
3.50 × 10-6
441
220
0.55
1/15
R88GVRSF15B100CJ
200
1.67
70
333
4.73
3.50 × 10-6
588
294
0.70
1/25
R88GVRSF25B100CJ
120
2.78
70
200
7.88
3.25 × 10-6
686
343
0.70
1/5
R88GVRSF05B100CJ
600
1.19
75
1000
3.38
4.00 × 10-6
392
196
0.55
1/9
R88GVRSF09B100CJ
333
2.29
80
556
6.48
3.50 × 10-6
441
220
0.55
1/15
R88GVRSF15B100CJ
200
3.81
80
333
10.8
3.50 × 10-6
588
294
0.70
1/25
R88GVRSF25B100CJ
120
6.36
80
200
18.0
3.25 × 10-6
686
343
0.70
1/5
R88GVRSF05B200CJ
600
2.70
85
1000
7.57
1.18 × 10-5
392
196
0.72
1/9
R88GVRSF09C200CJ
333
3.77
66
556
10.6
2.75 × 10-5
931
465
1.70
1/15
R88GVRSF15C200CJ
200
6.29
66
333
17.6
3.00 × 10-5
1176
588
2.10
1/25
R88GVRSF25C200CJ
120
11.1
70
200
31.2
2.88 × 10-5
1323
661
2.10
3-3 Decelerator Specifications
L
400
W
750
W
Decelerator
inertia
Allowable
radial
load
Allowable
Weight
thrust
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GVRSF05C400CJ
600
5.40
85
1000
15.6
(15.3)
3.63 × 10-5
784
392
1.70
1/9
R88GVRSF09C400CJ
333
9.50
83
556
27.4
(26.8)
2.75 × 10-5
931
465
1.70
1/15
R88GVRSF15C400CJ
200
15.8
83
333
45.7
(44.8)
3.00 × 10-5
1176
588
2.10
1/25
R88GVRSF25C400CJ
120
26.4
83
200
76.1
(74.7)
2.88 × 10-5
1323
661
2.10
1/5
R88GVRSF05C750CJ
600
10.7
90
1000
31.7
7.13 × 10-5
784
392
2.10
1/9
R88GVRSF09D750CJ
333
18.2
85
556
53.9
6.50 × 10-5
1176
588
3.40
1/15
R88GVRSF15D750CJ
200
30.4
85
333
89.9
7.00 × 10-5
1372
686
3.80
1/25
R88GVRSF25D750CJ
120
50.7
85
200
149.8
6.80 × 10-5
1617
808
3.80
Note 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note 4. The allowable radial load is the value at the LR/2 position.
Note 5. The standard models have a straight shaft with a key.
3-40
3
Specifications
Model
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
speed
rotation
torque
speed
3-3 Decelerator Specifications
Decelerators for 3,000-r/min Flat Servomotors
Model
Specifications
3
100
W
200
W
400
W
MaxiMaxiRated
mum
Effimum
rota- Rated
momencienmomention torque
tary
cy
tary
rotation
speed
torque
speed
Decelerator
inertia
Allowable
radial
load
r/min
N·m
%
r/min
N·m
kg·m2
N
N
kg
1/5
R88GVRSF05B100PCJ
600
1.19
75
1000
3.15
4.00 × 10-6
392
196
0.72
1/9
R88GVRSF09B100PCJ
333
2.29
80
556
6.048
3.50 × 10-6
441
220
0.72
1/15
R88GVRSF15B100PCJ
200
3.81
80
333
10.08
3.50 × 10-6
588
294
0.87
1/25
R88GVRSF25B100PCJ
120
6.36
80
200
16.8
3.25 × 10-6
686
343
0.87
1/5
R88GVRSF05B200PCJ
600
2.70
85
1000
7.65
1.18 × 10-5
392
196
0.85
1/9
R88GVRSF09C200PCJ
333
3.77
66
556
10.692
2.75 × 10-5
931
465
1.80
1/15
R88GVRSF15C200PCJ
200
6.29
66
333
17.82
3.00 × 10-5
1176
588
2.20
1/25
R88GVRSF25C200PCJ
120
11.1
70
200
31.5
2.88 × 10-5
1323
661
2.20
1/5
R88GVRSF05C400PCJ
600
5.40
85
1000
(900)
15.5
(15.3)
3.63 × 10-5
784
392
1.80
1/9
R88GVRSF09C400PCJ
333
9.50
83
556
(500)
27.3
(26.9)
2.75 × 10-5
931
465
1.80
1/15
R88GVRSF15C400PCJ
200
15.8
83
333
(300)
45.4
(44.8)
3.00 × 10-5
1176
588
2.20
1/25
R88GVRSF25C400PCJ
120
26.4
83
200
(180)
75.7
(74.7)
2.88 × 10-5
1323
661
2.20
Note 1. The values inside parentheses ( ) are for 100-V Servomotors.
Note 2. The Decelerator inertia is the Servomotor shaft conversion value.
Note 3. The protective structure for Servomotors with Decelerators satisfies IP44.
Note 4. The allowable radial load is the value at the LR/2 position.
Note 5. The standard models have a straight shaft with a key.
3-41
Allowable
Weight
thrust
load
3-4 Cable and Connector Specifications
3-4
Cable and Connector Specifications
Encoder Cable Specifications
These cables are used to connect the encoder between a Servo Drive and Servomotor. Select the
Encoder Cable matching the Servomotor.
3
R88A-CRGA@C
Cable Models
For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors
of 100 to 400 W
Model
Length (L)
Outer diameter of sheath
R88A-CRGA003C
3m
Approx. 0.2 kg
R88A-CRGA005C
5m
Approx. 0.3 kg
R88A-CRGA010C
10 m
R88A-CRGA015C
15 m
Approx. 0.9 kg
R88A-CRGA020C
20 m
Approx. 1.2 kg
R88A-CRGA030C
30 m
Approx. 2.4 kg
R88A-CRGA040C
40 m
R88A-CRGA050C
50 m
6.5 dia.
6.8 dia.
Weight
Approx. 0.6 kg
Approx. 3.2 kg
Approx. 4.0 kg
Connection Configuration and Dimensions
Servo Drive
R88D-GN@
(6.5 dia./
6.8 dia.)
L
Servomotor
R88M-G@
Wiring
Servomotor
Servo Drive
No.
No.
Signal
Signal
Red
E5V
1
7
E5V
Black
E0V
2
8
E0V
Orange
BAT
3
1
BAT
Orange/White
4
2
Blue
S
5
4
S
Blue/White
6
5
FG
Shell
FG
3
Cable:
Servo Drive Connector AWG22×2C + AWG24×2P UL20276 (3 to 20 m) Servomotor Connector
AWG16×2C + AWG26×2P UL20276 (30 to 50 m)
Connector:
Connector:
3 to 20 m: Crimp-type I/O Connector (Molex Japan)
(Tyco Electronics AMP KK)
Connector pins:
30 to 50 m: 55100-0670 (Molex Japan)
(Tyco Electronics AMP KK)
Connector pins:
(Tyco Electronics AMP KK)
50639-8028 (Molex Japan)
for AWG16
3-42
Specifications
„ Encoder Cables (Standard Cables)
3-4 Cable and Connector Specifications
R88A-CRGB@C
Cable Models
For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat
Servomotors of 100 to 400 W
Specifications
3
Model
Length (L)
Outer diameter of sheath
R88A-CRGB003C
3m
Approx. 0.2 kg
R88A-CRGB005C
5m
Approx. 0.3 kg
R88A-CRGB010C
10 m
R88A-CRGB015C
15 m
Approx. 0.9 kg
R88A-CRGB020C
20 m
Approx. 1.2 kg
R88A-CRGB030C
30 m
Approx. 2.4 kg
R88A-CRGB040C
40 m
R88A-CRGB050C
50 m
6.5 dia.
6.8 dia.
Weight
Approx. 0.6 kg
Approx. 3.2 kg
Approx. 4.0 kg
Connection Configuration and Dimensions
Servo Drive
R88D-GN@
(6.5 dia./
6.8 dia.)
L
Servomotor
R88M-G@
Wiring
Servomotor
No.
No.
Signal
Red
1
4
E5V
Black
2
5
E0V
Blue
5
2
S
Blue/White
6
3
Shell
FG
6
FG
Cable
Servo Drive Connector AWG22×2C + AWG24×2P UL20276 (3 to 20 m) Servomotor Connector
AWG16×2C + AWG26×2P UL20276 (30 to 50 m)
Connector:
Connector:
172160-1 (Tyco Electronics AMP KK)
3 to 20 m: Crimp-type I/O Connector (Molex Japan)
Connector pins:
30 to 50 m: 55100-0670 (Molex Japan)
170365-1 (Tyco Electronics AMP KK)
Connector pins:
171639-1 (Tyco Electronics AMP KK)
50639-8028 (Molex Japan)
for AWG16
Servo Drive
Signal
E5V
E0V
S
3-43
3-4 Cable and Connector Specifications
R88A-CRGC@N
Cable Models
For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, and 1,000-r/min
Servomotors of 900 W to 6 kW
Length (L)
Outer diameter of sheath
Weight
R88A-CRGC003N
3m
Approx. 0.3 kg
R88A-CRGC005N
5m
Approx. 0.4 kg
R88A-CRGC010N
10 m
R88A-CRGC015N
15 m
Approx. 1.0 kg
R88A-CRGC020N
20 m
Approx. 1.5 kg
R88A-CRGC030N
30 m
Approx. 2.5 kg
R88A-CRGC040N
40 m
R88A-CRGC050N
50 m
Approx. 0.7 kg
6.5 dia.
6.8 dia.
Approx. 3.3 kg
Approx. 4.1 kg
Connection Configuration and Dimensions
(6.5 dia./
6.8 dia.)
L
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring
Signal
E5V
E0V
BAT
S
FG
No.
1
2
3
4
5
6
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
Cable:
Servo Drive Connector AWG22×2C + AWG24×2P UL20276 (3 to 20 m)
AWG16×2C + AWG26×2P UL20276 (30 to 50 m)
Connector:
3 to 20 m: Crimp-type I/O Connector (Molex Japan)
30 to 50 m: 55100-0670 (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
No.
H
G
T
S
K
L
J
Signal
E5V
E0V
BAT
S
FG
Servomotor Connector
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
3-44
3
Specifications
Model
3-4 Cable and Connector Specifications
„ Encoder Cables (Robot Cables)
R88A-CRGA@CR
Cable Models
For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors
of 100 to 400 W
Model
Length (L)
R88A-CRGA003CR
3m
Approx. 0.2 kg
R88A-CRGA005CR
5m
Approx. 0.4 kg
R88A-CRGA010CR
10 m
R88A-CRGA015CR
15 m
Approx. 1.1 kg
R88A-CRGA020CR
20 m
Approx. 1.5 kg
R88A-CRGA030CR
30 m
Approx. 2.8 kg
R88A-CRGA040CR
40 m
R88A-CRGA050CR
50 m
Specifications
3
Outer diameter of sheath
7.5 dia.
8.2 dia.
Weight
Approx. 0.8 kg
Approx. 3.7 kg
Approx. 4.6 kg
Connection Configuration and Dimensions
(7.5/
8.2
dia.)
L
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring (3 to 20 m)
Servo Drive
Signal
No.
E5V
1
E0V
BAT+
BAT−
S+
S−
FG
2
3
4
5
6
Shell
Servomotor
No. Signal
7
E5V
Blue/Red
Blue/Black
Pink
/Red
Pink/Black
8
1
2
4
5
3
Green/Red
Green/Black
Orange/Red
Orange/Black
Cable:
Servo Drive Connector AWG24×4P UL20276
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
E0V
BAT+
BAT−
S+
S−
FG
Servomotor Connector
Connector:
172161-1(Tyco Electronics AMP KK)
Connector pins:
170365-1(Tyco Electronics AMP KK)
Wiring (30 to 50 m)
Servo Drive
No.
Signal
E5V
1
E0V
BAT+
BAT−
S+
S−
FG
2
3
4
5
6
Shell
Blue
White
Yellow
Brown
Green
Black
Red
Grey
Purple
Orange
Blue
Brown
Cable
Servo Drive Connector AWG25 × 6P UL2517
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
3-45
Servomotor
No.
Signal
7
E5V
8
1
2
4
5
3
E0V
BAT+
BAT−
S+
S−
FG
Servomotor Connector
Connector:
172161−1 (Tyco Electronics AMP KK)
Connector pins:
170365−1 (Tyco Electronics AMP KK)
3-4 Cable and Connector Specifications
R88A-CRGB@CR
Cable Models
For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat
Servomotors of 100 to 400 W
Model
Length (L)
R88A-CRGB003CR
3m
Approx. 0.2 kg
R88A-CRGB005CR
5m
Approx. 0.4 kg
R88A-CRGB010CR
10 m
R88A-CRGB015CR
15 m
Approx. 1.1 kg
R88A-CRGB020CR
20 m
Approx. 1.5 kg
R88A-CRGB030CR
30 m
Approx. 2.8 kg
R88A-CRGB040CR
40 m
R88A-CRGB050CR
50 m
7.5 dia.
8.2 dia.
Weight
Approx. 0.8 kg
Approx. 3.7 kg
Approx. 4.6 kg
Connection Configuration and Dimensions
(7.5/
8.2
dia.)
L
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring (3 to 20 m)
Servo Drive
No.
Signal
E5V
1
E0V
S+
S−
FG
2
5
6
Shell
Servomotor
Signal
No.
4
E5V
Blue/Red
Blue/Black
Pink
/Red
Pink/Black
5
2
3
6
Orange/Red
Orange/Black
Cable:
Servo Drive Connector AWG24×4P UL20276
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
E0V
S+
S−
FG
Servomotor Connector
Connector:
172160-1(Tyco Electronics AMP KK)
Connector pins:
170365-1(Tyco Electronics AMP KK)
Wiring (30 to 50 m)
Servo Drive
Signal
No.
E5V
1
E0V
S+
S−
FG
2
5
6
Shell
Blue
White
Yellow
Brown
Green
Black
Red
Grey
Blue
Brown
Cable
Servo Drive Connector AWG25 × 6P UL2517
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
Servomotor
Signal
No.
4
E5V
5
2
3
6
3
E0V
S+
S−
FG
Servomotor Connector
Connector:
172160−1 (Tyco Electronics AMP KK)
Connector pins:
170365−1 (Tyco Electronics AMP KK)
3-46
Specifications
Outer diameter of sheath
3-4 Cable and Connector Specifications
R88A-CRGC@NR
Cable Models
For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW,
2,000-r/min Servomotors of 1 to 5 kW, 1,000-r/min Servomotors of 900 W to 4.5 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
R88A-CRGC003NR
3m
Approx. 0.4 kg
R88A-CRGC005NR
5m
Approx. 0.5 kg
R88A-CRGC010NR
10 m
R88A-CRGC015NR
15 m
Approx. 1.3 kg
R88A-CRGC020NR
20 m
Approx. 1.6 kg
R88A-CRGC010NR
30 m
Approx. 2.9 kg
R88A-CRGC015NR
40 m
R88A-CRGC020NR
50 m
7.5 dia.
8.2 dia.
Weight
Approx. 0.9 kg
Approx. 3.8 kg
Approx. 4.7 kg
Connection Configuration and Dimensions
(7.5/
8.2
dia.)
L
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring (3 to 20 m)
Servo Drive
No.
Signal
E5V
1
E0V
BAT+
BAT−
S+
S−
FG
2
3
4
5
6
Shell
Servomotor
No. Signal
H
E5V
Blue/Red
Blue/Black
Pink
/Red
Pink/Black
G
T
S
K
L
J
Green/Red
Green/Black
Orange/Red
Orange/Black
Cable:
Servo Drive Connector AWG24×4P UL20276
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
E0V
BAT+
BAT−
S+
S−
FG
Servomotor Connector
Straight plug:
N/MS3106B20-29S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
Wiring (30 to 50 m)
Servo Drive
No.
Signal
E5V
1
E0V
BAT+
BAT−
S+
S−
FG
2
3
4
5
6
Shell
Blue
White
Yellow
Brown
Green
Black
Red
Grey
Purple
Orange
Blue
Brown
Cable
Servo Drive Connector AWG25 × 6P UL2517
Connector:
Crimp-type I/O Connector (Molex Japan)
Connector pins:
50639-8028 (Molex Japan)
3-47
Servomotor
No.
Signal
H
E5V
G
T
S
K
L
J
E0V
BAT+
BAT−
S+
S−
FG
Servomotor Connector
Connector:
N/MS3106B20-29S (Japan Aviation Electronics)
Connector pins:
N/MS3057-12A (Japan Aviation Electronics)
3-4 Cable and Connector Specifications
Absolute Encoder Battery Cable Specifications
ABS
Cable Models
Length (L)
R88A-CRGD0R3C
0.3 m
3
Specifications
Model
Connection Configuration and Dimensions
43.5
43.5
18.8
Servomotor
18.8
Servo Drive
R88D−
GN@−
ML2
300
t=12
Battery holder
R88M−G@
t=12
Wiring
Servo Drive
No.
Signal
E5V
E0V
BAT +
BAT−
S+
S−
FG
1
2
3
4
5
6
Red
Black
Orange
Orange/White
Blue
Blue/White
Shell
Servomotor
Signal
No.
1
2
3
4
5
6
Shell
E5V
E0V
BAT +
BAT−
S+
S−
FG
Connector socket:
54280-0609
(Molex Japan)
Battery holder
Signal
No.
1
BAT +
BAT−
2
Connector plug:
55100-0670 (Molex Japan)
3-48
3-4 Cable and Connector Specifications
Servomotor Power Cable Specifications
These cables connect the Servo Drive and Servomotor. Select the cable matching the Servomotor.
Precautions
for Correct Use
„ Power Cables for Servomotors without Brakes (Standard Cables)
R88A-CAGA@S
Cable Models
For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W
Model
Length (L)
Outer diameter of sheath
R88A-CAGA003S
3m
Approx. 0.2 kg
R88A-CAGA005S
5m
Approx. 0.3 kg
R88A-CAGA010S
10 m
Approx. 0.6 kg
R88A-CAGA015S
15 m
Weight
R88A-CAGA020S
20 m
R88A-CAGA030S
30 m
Approx. 1.8 kg
R88A-CAGA040S
40 m
Approx. 2.4 kg
R88A-CAGA050S
50 m
Approx. 3.0 kg
Approx. 0.9 kg
6.2 dia.
Approx. 1.2 kg
Connection Configuration and Dimensions
(50)
(50)
L
(6.2
dia.)
Specifications
3
ΠUse a robot cable if the Servomotor is to be used on moving parts.
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG20×4C UL2464
M4 crimp terminals
Servomotor
Signal
No.
1
2
3
4
Phase U
Phase V
Phase W
FG
Servomotor Connector
Connector:
(Tyco Electronics AMP KK)
Connector pins:
(Tyco Electronics AMP KK)
(Tyco Electronics AMP KK)
3-49
3-4 Cable and Connector Specifications
R88A-CAGB@S
Cable Models
For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min
Servomotors of 900 W
Length (L)
Outer diameter of sheath
Weight
R88A-CAGB003S
3m
Approx. 0.7 kg
R88A-CAGB005S
5m
Approx. 1.0 kg
R88A-CAGB010S
10 m
Approx. 2.0 kg
R88A-CAGB015S
15 m
R88A-CAGB020S
20 m
R88A-CAGB030S
30 m
Approx. 5.6 kg
R88A-CAGB040S
40 m
Approx. 7.4 kg
R88A-CAGB050S
50 m
Approx. 9.2 kg
Approx. 2.9 kg
10.4 dia.
Approx. 3.8 kg
Connection Configuration and Dimensions
(70)
(10.4
dia.)
L
Servomotor
37.3
dia.
Servo Drive
R88D-GN@
R88M-G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG14×4C UL2463
M4 crimp terminals
Servomotor
Signal
No.
A
B
C
D
Phase U
Phase V
Phase W
FG
Servomotor Connector
Straight plug:
N/MS3106B20-4S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A (Japan Aviation Electronics)
3-50
3
Specifications
Model
3-4 Cable and Connector Specifications
R88A-CAGC@S
Cable Models
For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGC003S
3m
Approx. 0.7 kg
R88A-CAGC005S
5m
Approx. 1.0 kg
R88A-CAGC010S
10 m
Approx. 2.0 kg
R88A-CAGC015S
15 m
R88A-CAGC020S
20 m
R88A-CAGC030S
30 m
Approx. 5.6 kg
R88A-CAGC040S
40 m
Approx. 7.4 kg
R88A-CAGC050S
50 m
Approx. 9.2 kg
Approx. 2.9 kg
10.4 dia.
Approx. 3.8 kg
Connection Configuration and Dimensions
(70)
(10.4
dia.)
L
Servomotor
37.3
dia.
Servo Drive
R88D-GN@
R88M-G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG14×4C UL2463
M5 crimp terminals
3-51
Servomotor
Signal
No.
Phase U
A
Phase V
B
Phase W
C
FG
D
Servomotor Connector
Straight plug:
N/MS3106B20-4S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A (Japan Aviation Electronics)
3-4 Cable and Connector Specifications
R88A-CAGD@S
Cable Models
For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min
Servomotors of 2 to 4.5 kW
Length (L)
Outer diameter of sheath
Weight
R88A-CAGD003S
3m
Approx. 1.3 kg
R88A-CAGD005S
5m
Approx. 2.1 kg
R88A-CAGD010S
10 m
Approx. 4.0 kg
R88A-CAGD015S
15 m
R88A-CAGD020S
20 m
R88A-CAGD030S
30 m
Approx. 11.9 kg
R88A-CAGD040S
40 m
Approx. 15.8 kg
R88A-CAGD050S
50 m
Approx. 19.7 kg
Approx. 6.0 kg
14.7 dia.
Approx. 8.0 kg
Connection Configuration and Dimensions
(70)
(14.7
dia.)
Servomotor
40.5
dia.
Servo Drive
L
R88D-GN@
R88M-G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG10×4C UL2463
M5 crimp terminals
Servomotor
Signal
No.
Phase U
A
Phase V
B
Phase W
C
FG
D
Servomotor Connector
Straight plug:
N/MS3106B22-22S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A (Japan Aviation Electronics)
3-52
3
Specifications
Model
3-4 Cable and Connector Specifications
R88A-CAGE@S
Cable Models
For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGE003S
3m
Approx. 4.0 kg
R88A-CAGE005S
5m
Approx. 6.5 kg
R88A-CAGE010S
10 m
Approx. 12.6 kg
R88A-CAGE015S
15 m
R88A-CAGE020S
20 m
R88A-CAGE030S
30 m
Approx. 37.2 kg
R88A-CAGE040S
40 m
Approx. 49.5 kg
R88A-CAGE050S
50 m
Approx. 61.8 kg
Approx. 18.8 kg
28.5 dia.
Approx. 24.9 kg
Connection Configuration and Dimensions
(70)
(28.5
dia.)
Servomotor
56.4
dia.
Servo Drive
L
R88D−GN@
R88M−G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG6×4C UL62
M5 crimp terminals
3-53
Servomotor
Signal
No.
A
B
C
D
Phase U
Phase V
Phase W
FG
Servomotor Connector
Straight plug:
N/MS3106B32-17S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-20A (Japan Aviation Electronics)
3-4 Cable and Connector Specifications
„ Power Cables for Servomotors without Brakes (Robot Cables)
R88A-CAGA@SR
Cable Models
For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W
Model
Length (L)
Weight
R88A-CAGA003SR
3m
Approx. 0.2 kg
R88A-CAGA005SR
5m
Approx. 0.3 kg
R88A-CAGA010SR
10 m
Approx. 0.7 kg
R88A-CAGA015SR
15 m
R88A-CAGA020SR
20 m
R88A-CAGA030SR
30 m
Approx. 1.9 kg
R88A-CAGA040SR
40 m
Approx. 2.6 kg
R88A-CAGA050SR
50 m
Approx. 3.2 kg
3
Approx. 1.0 kg
6.9 dia.
Approx. 1.3 kg
Connection Configuration and Dimensions
(50)
(6.9
dia.)
Servo Drive
(50)
L
Servomotor
R88D-GN@
R88M-G@
Wiring
Servo Drive
Red
White
Black
Green/Yellow
Cable: AWG20×4C UL2464
M4 crimp terminals
Servomotor
Signal
No.
1
Phase U
2
Phase V
3
Phase W
4
FG
Servomotor Connector
Connector:
172159-1(Tyco Electronics AMP KK)
Connector pins:
170362-1(Tyco Electronics AMP KK)
170366-1(Tyco Electronics AMP KK)
3-54
Specifications
Outer diameter of sheath
3-4 Cable and Connector Specifications
R88A-CAGB@SR
Cable Models
For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min
Servomotors of 900 W
Specifications
3
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGB003SR
3m
Approx. 0.8 kg
R88A-CAGB005SR
5m
Approx. 1.3 kg
R88A-CAGB010SR
10 m
Approx. 2.4 kg
R88A-CAGB015SR
15 m
R88A-CAGB020SR
20 m
R88A-CAGB030SR
30 m
Approx. 6.9 kg
R88A-CAGB040SR
40 m
Approx. 9.2 kg
R88A-CAGB050SR
50 m
Approx. 11.4 kg
Approx. 3.5 kg
12.7 dia.
Approx. 4.6 kg
Connection Configuration and Dimensions
(70)
37.3
dia.
(12.7
dia.)
Servo Drive
L
R88D−GN@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG14×4C UL2501
M4 crimp terminals
3-55
Servomotor
No.
Signal
A
Phase U
B
Phase V
C
Phase W
D
FG
Servomotor Connector
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
Servomotor
R88M−G@
3-4 Cable and Connector Specifications
R88A-CAGC@SR
Cable Models
For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGC003SR
3m
Approx. 0.8 kg
R88A-CAGC005SR
5m
Approx. 1.3 kg
R88A-CAGC010SR
10 m
Approx. 2.4 kg
R88A-CAGC015SR
15 m
R88A-CAGC020SR
20 m
R88A-CAGC030SR
30 m
Approx. 6.9 kg
R88A-CAGC040SR
40 m
Approx. 9.2 kg
R88A-CAGC050SR
50 m
Approx. 11.4 kg
Approx. 4.6 kg
Connection Configuration and Dimensions
(12.7
dia.)
Servomotor
37.3
dia.
Servo Drive
L
R88D−GN@
R88M−G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
Cable: AWG14×4C UL2501
M5 crimp terminals
Servomotor
No.
Signal
A
Phase U
B
Phase V
C
Phase W
D
FG
Servomotor Connector
Straight plug:
N/MS3106B20-4S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
3-56
Specifications
Approx. 3.5 kg
12.7 dia.
(70)
3
3-4 Cable and Connector Specifications
R88A-CAGD@SR
Cable Models
For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min
Servomotors of 2 to 4.5 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGD003SR
3m
Approx. 1.4 kg
R88A-CAGD005SR
5m
Approx. 2.2 kg
R88A-CAGD010SR
10 m
Approx. 4.2 kg
R88A-CAGD015SR
15 m
R88A-CAGD020SR
20 m
R88A-CAGD030SR
30 m
Approx. 12.4 kg
R88A-CAGD040SR
40 m
Approx. 16.5 kg
R88A-CAGD050SR
50 m
Approx. 20.5 kg
Approx. 6.3 kg
15.6 dia.
Approx. 8.3 kg
Connection Configuration and Dimensions
(70)
(15.6
dia.)
L
Servomotor
40.5
dia.
Servo Drive
R88D-GN@
R88M-G@
Wiring
Servo Drive
Red
White
Blue
Green/Yellow
M5 crimp terminals
3-57
Servomotor
Signal
No.
A
Phase U
B
Phase V
C
Phase W
D
FG
Cable: AWG10×4C UL2501
Servomotor Connector
Straight plug:
N/MS3106B22-22S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
3-4 Cable and Connector Specifications
„ Power Cables for Servomotors with Brakes (Standard Cables)
R88A-CAGB@B
Cable Models
For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW,
and 1,000-r/min Servomotors of 900 W
Length (L)
R88A-CAGB003B
3m
Approx. 0.8 kg
R88A-CAGB005B
5m
Approx. 1.3 kg
R88A-CAGB010B
10 m
Approx. 2.4 kg
R88A-CAGB015B
15 m
R88A-CAGB020B
20 m
R88A-CAGB030B
30 m
Approx. 6.8 kg
R88A-CAGB040B
40 m
Approx. 9.1 kg
R88A-CAGB050B
50 m
Approx. 11.3 kg
10.4/5.4 dia.
Weight
Approx. 3.5 kg
Approx. 4.6 kg
Connection Configuration and Dimensions
(70)
(10.4
dia.)
L
Servo Drive
Servomotor
R88M-G@
(5.a4.)
di
R88D-GN@
L
(70)
Wiring
Servo Drive
Servomotor
Signal
No.
Black
Brown
Red
White
Blue
Green/Yellow
M4 crimp terminals
Cable: AWG20 × 2C UL2464
Cable: AWG14 × 4C UL2463
G
H
A
F
I
B
E
D
C
Brake
Brake
NC
Phase U
Phase V
Phase W
Ground
Ground
NC
Servomotor Connector
Straight plug:
N/MS3106B20-18S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A (Japan Aviation Electronics)
3-58
Specifications
Outer diameter of sheath
3
Model
3-4 Cable and Connector Specifications
R88A-CAGC@B
Cable Models
For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGC003B
3m
Approx. 0.8 kg
R88A-CAGC005B
5m
Approx. 1.3 kg
R88A-CAGC010B
10 m
Approx. 2.4 kg
R88A-CAGC015B
15 m
R88A-CAGC020B
20 m
R88A-CAGC030B
30 m
Approx. 6.8 kg
R88A-CAGC040B
40 m
Approx. 9.1 kg
R88A-CAGC050B
50 m
Approx. 11.3 kg
Approx. 3.5 kg
10.4/5.4 dia.
Approx. 4.6 kg
Connection Configuration and Dimensions
(70)
(10.4
dia.)
L
Servomotor
37.3
dia.
Servo Drive
(5.a4.)
di
R88D-GN@
R88M-G@
L
)
(70
Wiring
Servo Drive
M4
M5
Black
Brown
Red
White
Blue
Green/Yellow
Crimp terminals
Cable: AWG20 × 2C UL2464
Cable: AWG14 × 4C UL2463
Servomotor
Signal
No.
G
H
A
F
I
B
E
D
C
Brake
Brake
NC
Phase U
Phase V
Phase W
Ground
Ground
NC
Servomotor Connector
Straight plug:
N/MS3106B20-18S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A (Japan Aviation Electronics)
3-59
3-4 Cable and Connector Specifications
R88A-CAGD@B
Cable Models
For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min
Servomotors of 2 to 4.5 kW
Length (L)
Outer diameter of sheath
R88A-CAGD003B
3m
Approx. 1.5 kg
R88A-CAGD005B
5m
Approx. 2.4 kg
R88A-CAGD010B
10 m
Approx. 4.5 kg
R88A-CAGD015B
15 m
R88A-CAGD020B
20 m
R88A-CAGD030B
30 m
Approx. 13.1 kg
R88A-CAGD040B
40 m
Approx. 17.4 kg
R88A-CAGD050B
50 m
Approx. 21.8 kg
14.7/5.4 dia.
Weight
Approx. 6.7 kg
Approx. 8.8 kg
Connection Configuration and Dimensions
(70)
(14.7
dia.)
L
Servomotor
43.7
dia.
Servo Drive
(5.a4.)
di
R88D-GN@
R88M-G@
L
)
(70
Wiring
Servo Drive
M4
M5
Black
Brown
Red
White
Blue
Green/Yellow
Crimp terminals Cable: AWG20 × 2C UL2464
Cable: AWG10 × 4C UL2463
Servomotor
Signal
No.
A
B
C
D
E
F
G
H
I
Brake
Brake
NC
Phase U
Phase V
Phase W
Ground
Ground
NC
Servomotor Connector
Straight plug:
N/MS3106B24-11S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-16A (Japan Aviation Electronics)
3-60
3
Specifications
Model
3-4 Cable and Connector Specifications
„ Power Cables for Servomotors with Brakes (Robot Cables)
R88A-CAGB@BR
Cable Models
For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW,
and 1,000-r/min Servomotors of 900 W
Specifications
3
Model
Length (L)
Outer diameter of sheath
R88A-CAGB003BR
3m
Approx. 0.9 kg
R88A-CAGB005BR
5m
Approx. 1.5 kg
R88A-CAGB010BR
10 m
Approx. 2.8 kg
R88A-CAGB015BR
15 m
R88A-CAGB020BR
20 m
R88A-CAGB030BR
30 m
Approx. 8.2 kg
R88A-CAGB040BR
40 m
Approx. 10.9 kg
R88A-CAGB050BR
50 m
Approx. 13.6 kg
12.7/6.1 dia.
Weight
Approx. 4.2 kg
Approx. 5.5 kg
Connection Configuration and Dimensions
(70)
(12.7
dia.)
L
Servo Drive
Servomotor
R88D-GN@
(6.a1.)
di
R88M-G@
L
(70)
Wiring
Servo Drive
Black
White
Red
White
Blue
Green/Yellow
M4 crimp terminals
3-61
Cable: AWG20 × 2C UL2464
Cable: AWG14 × 4C UL2501
Servomotor
Signal
No.
G
Brake
H
Brake
NC
A
F
Phase U
I
Phase V
B
Phase W
E
Ground
D
Ground
C
NC
Servomotor Connector
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
3-4 Cable and Connector Specifications
R88A-CAGC@BR
Cable Models
For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CAGC003BR
3m
Approx. 0.9 kg
R88A-CAGC005BR
5m
Approx. 1.5 kg
R88A-CAGC010BR
10 m
Approx. 2.8 kg
R88A-CAGC015BR
15 m
R88A-CAGC020BR
20 m
R88A-CAGC030BR
30 m
Approx. 8.2 kg
R88A-CAGC040BR
40 m
Approx. 10.9 kg
R88A-CAGC050BR
50 m
Approx. 13.6 kg
Approx. 5.5 kg
Connection Configuration and Dimensions
(12.7
dia.)
L
Servomotor
37.3
dia.
Servo Drive
(6.a1.)
di
R88D-GN@
R88M-G@
L
70)
(
Wiring
Servo Drive
M4
M5
Black
White
Red
White
Blue
Green/Yellow
Crimp terminals
Cable: AWG20 × 2C UL2464
Cable: AWG14 × 4C UL2501
Servomotor
No.
Signal
G
Brake
H
Brake
A
NC
F
Phase U
Phase V
I
B
Phase W
E
Ground
D
Ground
C
NC
Servomotor Connector
Straight plug:
N/MS3106B20-18S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-12A
(Japan Aviation Electronics)
3-62
Specifications
Approx. 4.2 kg
12.7/6.1 dia.
(70)
3
3-4 Cable and Connector Specifications
R88A-CAGD@BR
Cable Models
For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min
Servomotors of 2 to 4.5 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
R88A-CAGD003BR
3m
Approx. 1.6 kg
R88A-CAGD005BR
5m
Approx. 2.5 kg
R88A-CAGD010BR
10 m
Approx. 4.7 kg
R88A-CAGD015BR
15 m
R88A-CAGD020BR
20 m
R88A-CAGD030BR
30 m
Approx. 13.7 kg
R88A-CAGD040BR
40 m
Approx. 18.2 kg
R88A-CAGD050BR
50 m
Approx. 22.7 kg
15.6/6.1 dia.
Weight
Approx. 7.0 kg
Approx. 9.2 kg
Connection Configuration and Dimensions
(70)
(15.6
dia.)
L
Servomotor
43.7
dia.
Servo Drive
(6.a1.)
di
R88D-GN@
R88M-G@
L
)
(70
Wiring
Servo Drive
M4
M5
Black
White
Red
White
Blue
Green/Yellow
Crimp terminals
3-63
Cable: AWG20 × 2C UL2464
Cable: AWG10 × 4C UL2501
Servomotor
Signal
No.
A
Brake
B
Brake
C
NC
D
Phase U
Phase V
E
F
Phase W
G
Ground
H
Ground
I
NC
Servomotor Connector
Straight plug:
N/MS3106B24-11S
(Japan Aviation Electronics)
Cable clamp:
N/MS3057-16A
(Japan Aviation Electronics)
3-4 Cable and Connector Specifications
„ Brake Cables (Standard Cables)
R88A-CAGA@B
Cable Models
For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W
Length (L)
Weight
R88A-CAGA003B
3m
Approx. 0.1 kg
R88A-CAGA005B
5m
Approx. 0.2 kg
R88A-CAGA010B
10 m
Approx. 0.4 kg
R88A-CAGA015B
15 m
R88A-CAGA020B
20 m
R88A-CAGA030B
30 m
Approx. 1.2 kg
R88A-CAGA040B
40 m
Approx. 1.6 kg
R88A-CAGA050B
50 m
Approx. 2.1 kg
Approx. 0.6 kg
5.4 dia.
Approx. 0.8 kg
Connection Configuration and Dimensions
(50)
(5.4
dia.)
Servo Drive
(50)
L
Servomotor
R88M-G@
R88D-GN@
Wiring
Servo Drive
Black
Brown
M4 crimp terminals Cable: AWG20 × 2C UL2464
Servomotor
Signal
No.
A
Brake
B
Brake
Servomotor Connector
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
3-64
Specifications
Outer diameter of sheath
3
Model
3-4 Cable and Connector Specifications
R88A-CAGE@B
Cable Models
For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW
Specifications
3
Model
Length (L)
Outer diameter of sheath
R88A-CAGE003B
3m
Approx. 0.2 kg
R88A-CAGE005B
5m
Approx. 0.3 kg
R88A-CAGE010B
10 m
Approx. 0.5 kg
R88A-CAGE015B
15 m
R88A-CAGE020B
20 m
R88A-CAGE030B
30 m
Approx. 1.3 kg
R88A-CAGE040B
40 m
Approx. 1.7 kg
R88A-CAGE050B
50 m
Approx. 2.1 kg
5.4 dia.
Weight
Approx. 0.7 kg
Approx. 0.9 kg
Connection Configuration and Dimensions
(70)
(5.4
dia.)
L
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring
Servo Drive
Black
Brown
M4 crimp terminals
Cable: AWG20 × 2C UL2464
Servomotor
Signal
No.
A
Brake
B
Brake
Servomotor Connector
Straight plug:
N/MS3106B14S-2S (Japan Aviation Electronics)
Cable clamp:
N/MS3057-6A (Japan Aviation Electronics)
3-65
3-4 Cable and Connector Specifications
„ Brake Cables (Robot Cables)
R88A-CAGA@BR
Cable Models
For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W
Length (L)
Weight
R88A-CAGA003BR
3m
Approx. 0.1 kg
R88A-CAGA005BR
5m
Approx. 0.2 kg
R88A-CAGA010BR
10 m
Approx. 0.4 kg
R88A-CAGA015BR
15 m
R88A-CAGA020BR
20 m
R88A-CAGA030BR
30 m
Approx. 1.3 kg
R88A-CAGA040BR
40 m
Approx. 1.8 kg
R88A-CAGA050BR
50 m
Approx. 2.2 kg
Approx. 0.7 kg
6.1 dia.
Approx. 0.9 kg
Connection Configuration and Dimensions
(50)
(50)
(6.1
dia.)
L
Servo Drive
Servomotor
R88D-GN@
R88M-G@
Wiring
Servo Drive
Black
White
M4 crimp terminals
Cable: AWG20 × 2C UL2464
Servomotor
No.
Signal
A
Brake
B
Brake
Servomotor Connector
Connector:
172157-1 (Tyco Electronics AMP KK)
Connector pins:
170362-1 (Tyco Electronics AMP KK)
170366-1 (Tyco Electronics AMP KK)
3-66
Specifications
Outer diameter of sheath
3
Model
3-4 Cable and Connector Specifications
Resistant to Bending of Robot Cables
Use Robot Cable that can withstand at least 20 million bends to the minimum bending radius (R)
given below or larger.
Note 1. The service life data for resistant to bending is based on test data. Use it for reference only,
and provide sufficient allowance.
Note 2. This value is the number of bends when electricity is conducted through the conductors that
will not result in cracking or damage to an extent that would affect the functionality of the
sheath. Broken shield strands may occur.
3
Specifications
Note 3. If a bending radius smaller than the minimum bending radius is used, it may result in
mechanical damage or ground fault damage due to insulation breakdown. If it is necessary
to use a bending radius smaller than the minimum bending radius, consult with your
OMRON representative.
Encoder Cables
Model
Minimum bending radius (R)
R88A-CAGA@@@CR
45 mm
R88A-CAGA■■■CR*1
50 mm
R88A-CAGB@@@CR
45 mm
R88A-CAGB■■■CR*1
50 mm
R88A-CAGC@@@CR
45 mm
R88A-CAGC■■■CR*1
50 mm
@@@: 003 to 020
■■■: 030 to 050
Power Cables for Servomotors without Brakes
Model
Minimum bending radius (R)
R88A-CAGA@@@SR
45 mm
R88A-CAGB@@@SR
90 mm
R88A-CAGC@@@SR
90 mm
R88A-CAGD@@@SR
100 mm
@@@: 003 to 050
Power Cables for Servomotors with Brakes
Model
Minimum bending radius (R)
Power cable
90 mm
Brake Cables
45 mm
Power cable
90 mm
Brake Cables
45 mm
Power cable
100 mm
Brake Cables
45 mm
R88A-CAGB@@@BR
R88A-CAGC@@@BR
R88A-CAGD@@@BR
@@@: 003 to 050
3-67
3-4 Cable and Connector Specifications
Brake Cables
Model
Minimum bending radius (R)
R88A-CAGA@@@BR
45 mm
@@@: 003 to 050
Moving Bend Test
3
Specifications
Stroke:
750 mm
Bending
radius (R)
30 times/min
*1. Encoder cable: 30 to 50 m only
Stroke:
550 mm, 50 times/min
3-68
3-4 Cable and Connector Specifications
Communications Cable Specifications
„ Computer Monitor Cable
Cable Models
3
Specifications
Cables for RS-232 Communications
Model
Length (L)
Outer diameter of sheath
Weight
R88A-CCG002P2
2m
4.2 dia.
Approx. 0.1 kg
Connection Configuration and Dimensions
38
2000
Servo Drive
Personal computer
R88D-GN@
Wiring
Personal computer
No.
Signal
RTS
7
CTS
8
RXD
2
GND
5
TXD
3
FG
Shell
Servo Drive
Signal
No.
3
4
5
Shell
TXD
GND
RXD
FG
Cable: AWG28 × 3C UL20276
PC Connector
17JE-13090-02 (D8A) (DDK Ltd.)
Precautions
for Correct Use
3-69
ΠCommunications with the Host Device
After confirming the startup of the Servo Drive, initiate communications
with the host device.
Note that irregular signals may be received from the host interface during
startup. For this reason, take appropriate initialization measures such as
clearing the receive buffer.
3-4 Cable and Connector Specifications
Connector Specifications
„ Control I/O Connector (R88A-CNU01C)
This connector connects to the control I/O connector (CN1) on the Servo Drive.
Use this connector when preparing a control cable yourself.
3
Dimensions
Specifications
43.6
39
Connector plug:
10136-3000PE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)
t=18
„ Encoder Connectors
These connectors are used for encoder cables.
Use them when preparing an encoder cable yourself.
Dimensions
R88A-CNW01R (for Servo Drive’s CN2 Connector)
This connector is a soldering type.
Use the following cable.
ΠApplicable wire: AWG16 max.
ΠInsulating cover outer diameter: 2.1 mm dia. max.
Œ Outer diameter of sheath: 6.7 dia. ±0.5 mm
18.8
43.5
Connector plug:
55100-0670 (Molex Japan Co.)
t = 12
3-70
3-4 Cable and Connector Specifications
ABS
R88A-CNG01R (for Servomotor Connector)
Use the following cable.
ΠApplicable wire: AWG22 max.
ΠOuter diameter of sheath: 1.75 mm dia. max.
(2.28)
23.7±0.4
(4)
16±0.4
Panel Mounting Hole
19.1
14.55
4.2
8.4
2.8
3.35
2.8
Specifications
8.4
4.2
14±0.15
3
(8.8)
*1
4.6
1.6
5.35
14.55
14±0.15
Connector housing:
172161-1 (Tyco Electronics AMP KK)
Contact socket:
170365-1 (Tyco Electronics AMP KK)
*1. Applicable panel thickness:
0.8 to 2.0 mm
INC
ΠApplicable wire: AWG22 max.
ΠOuter diameter of sheath: 1.75 mm dia. max.
(2.28)
23.7±0.4
14.55
19.1
14±0.15
4.2
2.8
8.4
(4)
11.8±0.4
Panel Mounting Hole
3.35
R88A-CNG02R (for Servomotor Connector)
Use the following cable.
4.2
2.8
9.8±0.15
Connector housing:
172160-1 (Tyco Electronics AMP KK)
Contact socket:
170365-1 (Tyco Electronics AMP KK)
3-71
*1
(8.8)
2.5
1.6
5.35
10.35
*1. Applicable panel thickness:
0.8 to 2.0 mm
3-4 Cable and Connector Specifications
„ Power Cable Connector (R88A-CNG01A)
This connector is used for power cables.
Use it when preparing a power cable yourself.
11.8±0.4
Specifications
10.35
14.9
3
2.8
4.2
9.8±0.15 (4)
(2.28)
23.7±0.4
3.35
Panel Mounting Hole
4.2
2.5
(8.8)
2.8
1.6
9.8±0.15
Connector housing:
172159-1 (Tyco Electronics AMP KK)
Contact socket:
170366-1 (Tyco Electronics AMP KK)
5.35
10.35
Applicable panel thickness:
0.8 to 2.0 mm
„ Brake Cable Connector (R88A-CNG01B)
This connector is used for brake cables.
Use it when preparing a brake cable yourself.
(2.28)
2.8
6.15
3.35
23.7±0.4
10.7
(4)
5.6±0.15
Panel Mounting Hole
4.2
2.8
9.8±0.15
Connector housing:
172157-1 (Tyco Electronics AMP KK)
Contact socket:
170366-1 (Tyco Electronics AMP KK)
(8.8)
2.5
1.6
5.35
10.35
Applicable panel thickness:
0.8 to 2.0 mm
3-72
3-4 Cable and Connector Specifications
MECHATROLINK-II Communications Cable Specifications
„ MECHATROLINK Communications Cable (With Connectors and ferrite cores on
both ends) (FNY-W6003-@@)
3
Cable Models
Specifications
Model
Model
MECHATROLINK-II cable
MECHATROLINK-II
termination resistor
FNY-W6003-A5
0.5 m
FNY-W6003-01
1m
FNY-W6003-03
3m
FNY-W6003-05
5m
FNY-W6003-10
10 m
FNY-W6003-20
20 m
FNY-W6003-30
30 m
FNY-W6022
---
Connection Configuration and Dimensions
MECHATROLINK-II Communications Cable
L
with ferrite core
MECHATROLINK-II termination resistor
21
(8)
46
3-73
Length (L)
3-4 Cable and Connector Specifications
Wiring
The diagram below shows a typical connection between a host device and the Servo Drive using a
MECHATROLINK-II communications cable.
B CD
E 0 12
78 9 A
NC Unit
34 56
L2
3
Ln
Specifications
L1
Termination
resistor
Note 1. Cable length between nodes (L1, L2, ... Ln) should be 0.5 m or longer.
Note 2. Total cable length should be L1 + L2 + ... + Ln ≤ 50 m.
3-74
3-4 Cable and Connector Specifications
Control Cable Specifications
„ Connector Terminal Block Cables (XW2Z-@J-B33)
This is the connector terminal block cable for the G-Series Servo Drive (with built-in
MECHATROLINK-II).
3
Specifications
Cable Models
Model
Length (L)
XW2Z-100J-B33
1m
XW2Z-200J-B33
2m
Outer diameter of sheath
Weight
Approx. 0.1 kg
8.0 dia.
Approx. 0.2 kg
Connection Configuration and Dimensions
6
L
39
Connector terminal
block
43.5
Servo Drive
30
XW2B-20G4
XW2B-20G5
XW2D-20G6
R88D-GN@
t=18
Wiring
Terminal
block
Connector
Signal
No.
No.
+24VIN
0V
+24VIN
0V
+24VIN
0V
STOP
DEC
POT
NOT
EXT1
EXT2
EXT3
BATCOM
BAT
OUTM1COM
OUTM1
ALMCOM
/ALM
FG
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Servo Drive
No. Wire/mark color
1
2
21
19
20
5
4
3
33
34
35
36
16
15
Shell
Signal
Blue/Red (1)
+24VIN
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Red (1)
STOP
Orange/Black(1)
DEC
Gray/Red (1)
POT
Gray/Black (1)
NOT
Blue/Red (2)
EXT1
Blue/Black (2)
EXT2
Pink/Red (2)
EXT3
Green/Red (2)
BATCOM
Green/Black (2)
BAT
Orange/Red (2) OUTM1COM
Orange/Black (2) OUTM1
Gray/Red (2)
ALMCOM
Gray/Black (2)
/ALM
FG
Wires with the same wire color and
the same number of marks form a
twisted pair.
Example:
A yellow/black (1) wire and
pink/black (1) wire form a twisted
pair.
Servo Drive Connector
Connector plug:
10136-3000PE (Sumitomo 3M)
Connector case:
10336-52A0-008 (Sumitomo 3M)
Terminal Block Connector
Connector socket: XG4M-2030
(OMRON)
Strain relief: XG4T-2004
(OMRON)
Cable
AWG28×10P UL2464
3-75
3-4 Cable and Connector Specifications
„ Connector-Terminal Block Conversion Unit
The Connector-Terminal Block Conversion Unit can be used along with a Connector Terminal Block
Cable (XW2Z-@J-B33) to convert the Servo Drive's control I/O connector (CN1) to a terminal block.
XW2B-20G4 (M3 screw terminal block)
Specifications
3
ΠDimensions
Flat cable connector
(MIL connector)
20
19
1
19
2
20
Terminal
block
20.5
38.1
5.08
Two,
3.5 dia.
Precautions
for Correct Use
(45.3)
2
1
3.5
45
67.5
15.5
29.5
3.5
ΠUse 0.30 to 1.25 mm2 wire (AWG22 to AWG16).
Œ The wire inlet is 1.8 mm (height) × 2.5 mm (width).
ΠStrip the insulation from the end of the wire for 6 mm as shown below.
6 mm
3-76
3-4 Cable and Connector Specifications
XW2B-20G5 (M3.5 screw terminal block)
3
Specifications
ΠDimensions
Flat cable connector
(MIL connector)
3.5
7
20
19
1
19
2
20
45
29.5
2
1
15.5
112.5
3.5
7
Two, 3.5 dia.
7.3
20.5
(45.3)
Terminal
block
43.5
8.5
ΠTerminal block pitch: 8.5 mm
Precautions
for Correct Use
ΠWhen using crimp terminals, use crimp terminals with the following
dimensions.
ΠWhen connecting wires and crimp terminals to a terminal block, tighten
them with a tightening torque of 0.59 N·m.
Round Crimp Terminals
Fork Terminals
3.2-mm dia.
6.8 mm max.
3.7 mm 6.8 mm max.
Applicable Crimp Terminals
1.25-3
AWG22-16
(0.3 to 1.25 mm2)
2-3.5
AWG16-14
(1.25 to 2.0 mm2)
1.25Y-3
AWG22-16
(0.3 to 1.25 mm2)
2-3.5
AWG16-14
(1.25 to 2.0 mm2)
Round Crimp Terminals
Fork Terminals
3-77
Applicable Wires
3-4 Cable and Connector Specifications
XW2D-20G6 (M3 screw terminal block)
A1 A
2
A3 A
4 A
5 A
6 A7
B1 B
2 B3
A8 A
9 A1
B4 B
0
5 B
6 B7
B8 B
9 B1
0
Specifications
3
ΠDimensions
79
57
(4.5)
40
6
Two, 4.5 dia.
(39.1)
17.6
Precautions
for Correct Use
39
ΠWhen using crimp terminals, use crimp terminals with the following
dimensions.
ΠWhen connecting wires and crimp terminals to a terminal block, tighten
them with a tightening torque of 0.7 N·m.
Round Crimp Terminals
Fork Terminals
3.2-mm dia.
5.8 mm max.
3.2 mm 5.8 mm max.
Applicable Crimp Terminals
Applicable Wires
Round Crimp Terminals
1.25-3
AWG22-16
(0.3 to 1.25 mm2)
Fork Terminals
1.25Y-3
AWG22-16
(0.3 to 1.25 mm2)
The diagram on the next page shows a typical connection between a host device and the Servo
Drive using a MECHATROLINK-II communications cable.
3-78
3-4 Cable and Connector Specifications
ΠTerminal Block Wiring Example (common for XW2B-20G4/-20G5, XW2D-20G6)
*3
+24V +24V +24V STOP POT
0V
0V
0V
DEC
EXT1 EXT3
BAT OUTM1 /ALM
NOT EXT2 BAT OUTM1 ALM
COM
COM COM
*1
Specifications
3
24 VDC
FG
*2
X1
XB
24 VDC
*1. Absolute encoder backup battery 3.6 to 4.5 V
*2. The XB contacts are used to turn ON/OFF the electromagnetic brake.
*3. Assign BKIR (brake interlock) to CN1-36 pin to use.
Note 1. The absolute encoder backup battery is not required when using a Servomotor with an incremental
encoder.
Note 2. Connect the absolute encoder backup battery to only one of either the connector terminal block or
absolute encoder backup battery cable.
Note 3. Use cable clips with double-sided adhesive tape to secure the absolute encoder backup battery in place.
3-79
3-5 Parameter Unit Specifications
3-5 Parameter Unit Specifications
„ R88A-PR02G Hand-held Parameter Unit
The Parameter Unit is required to operate the Servo Drive from a distance away from the Servo
Drive, or to operate and monitor the Servo Drive from a control panel.
The cable connected to the Parameter Unit is 1.5 m long.
Item
Specifications
„ General Specifications
Specifications
Ambient operating
temperature and humidity
0 to 55°C, 90% RH max. (with no condensation)
Ambient storage
temperature and humidity
−20 to 80°C, 90% RH max. (with no condensation)
Operating and storage
atmosphere
No corrosive gases
Vibration resistance
5.9 m/s2 max.
„ Performance Specifications
Specifications
Type
Hand-held
Cable length
1.5 m
Connectors
Mini DIN 8-pin MD connector
Display
Seven-segment LED display
Outer diameter
62 (W) × 114 (H) × 15 (D) mm
Weight
Approx. 0.1 kg (including cable)
Communications specifications
Item
RS-232
Standard
Communications method Asynchronous (ASYNC)
Baud rate
9,600 bps
Start bits
1 bit
Data
8 bits
Parity
No
Stop bits
1 bit
3
3-80
3-6 External Regeneration Resistor Specifications
3
External Regeneration Resistor Specifications
Specifications
3-6 External Regeneration Resistor
Specifications
„ R88A- RR08050S
Model
R88ARR08050S
Resistance
50 Ω
Regeneration
Nominal
absorption for 120°C
capacity
temperature rise
80 W
20 W
Heat radiation
condition
Thermal switch
output specifications
Aluminum,
250 × 250,
Thickness: 3.0
Operating temperature: 150°C ±5%,
NC contact
Rated output:
30 VDC, 50 mA max.
Heat radiation
condition
Thermal switch
output specifications
Operating temperature: 150°C ±5%,
NC contact
Rated output:
30 VDC, 50 mA max.
„ R88A-RR080100S
Model
R88ARR080100S
Resistance
Regeneration
Nominal
absorption for 120°C
capacity
temperature rise
100 Ω
80 W
20 W
Aluminum,
250 × 250,
Thickness: 3.0
Resistance
Nominal
capacity
Regeneration
absorption for 120°C
temperature rise
Heat radiation
condition
Thermal switch
output specifications
70 W
Aluminum,
350 × 350,
Thickness: 3.0
Operating temperature: 170°C ±7°C,
NC contact
Rated output:
250 VAC, 0.2 A max.
Heat radiation
condition
Thermal switch
output specifications
Aluminum,
600 × 600,
Thickness: 3.0
Operating temperature: 200°C ±7°C,
NC contact
Rated output:
250 VAC, 0.2 A max.
24 VDC, 0.2 A max.
„ R88A-RR22047S
Model
R88ARR22047S
47 Ω
220 W
„ R88A-RR50020S
Model
R88ARR50020S
3-81
Resistance
20 Ω
Regeneration
Nominal
absorption for 120°C
capacity
temperature rise
500 W
180 W
3-7 Reactor Specifications
3-7 Reactor Specifications
Connect a Reactor to the Servo Drive as a harmonic current control measure. Select a model
matching the Servo Drive to be used.
„ Specifications
Servo Drive Model
Model
Rated
current
Inductance
Weight
Reactor
type
R88D-GNA5L-ML2
R88D-GN01H-ML2
3G3AX-DL2002
1.6 A
21.4 mH
Approx.
0.8 kg
Singlephase
R88D-GN01L-ML2
R88D-GN02H-ML2
3G3AX-DL2004
3.2 A
10.7 mH
Approx.
1.0 kg
Singlephase
R88D-GN02L-ML2
R88D-GN04H-ML2
3G3AX-DL2007
6.1 A
6.75 mH
Approx.
1.3 kg
Singlephase
R88D-GN04L-ML2
R88D-GN08H-ML2
R88D-GN10H-ML2
3G3AX-DL2015
9.3 A
3.51 mH
Approx.
1.6 kg
Singlephase
R88D-GN15H-ML2
3G3AX-DL2022
13.8 A
2.51 mH
Approx.
2.1 kg
Singlephase
R88D-GN08H-ML2
R88D-GN10H-ML2
R88D-GN15H-ML2
3G3AX-AL2025
10.0 A
2.8 mH
Approx.
2.8 kg
Threephase
R88D-GN20H-ML2
R88D-GN30H-ML2
3G3AX-AL2055
20.0 A
0.88 mH
Approx.
4.0 kg
Threephase
R88D-GN50H-ML2
3G3AX-AL2110
34.0 A
0.35 mH
Approx.
5.0 kg
Threephase
R88D-GN75H-ML2
3G3AX-AL2220
67.0 A
0.18 mH
Approx.
10.0 kg
Threephase
3-82
Specifications
3
Reactor specifications
3-8 MECHATROLINK-II Repeater Specifications
3-8 MECHATROLINK-II Repeater
Specifications
A MECHATROLINK-II Repeater is required to extend the MECHATROLINK-II connection distance.
Specifications
3
■ FNY-REP2000
Item
Specifications
Cable length
Between Controller and Repeater: 50 m max.
Between Repeater and Terminator: 50 m max.
Maximum number of
connectable nodes
Between Controller and Repeater: 14 over 50 m or 15 over 30 m
Between Repeater and terminating resistance: 15 over 50 m or 16 over 30 m
The total number of nodes on both sides of the Repeater cannot exceed the
maximum number of Units connectable to the Controller.
(For the CS1W/CJ1W-NCF71, the maximum number of nodes is 16.)
Indicators
3 LED indicators (Power, CN1 sending, CN2 communicating)
Power supply current
180 mA max.
External power supply
24 VDC ±4.8 V, 100 mA
Weight
0.5 kg
Repeater Part Names
Power indicator (POWER)
CN1 sending (TX1)
Setting switch (SW)
Leave all bits set to OFF.
CN2 sending (TX2)
MECHATROLINK-II communications
connectors (CN1 and CN2)
Control power supply terminals
(24 VDC and 0 VDC)
Protective ground terminal
3-83
3-8 MECHATROLINK-II Repeater Specifications
Connection Method
The following diagram shows an example of connections between a host Controller, Servo Drives,
and a Repeater.
MECHATROLINK-II
30 m or less: 15 nodes max.
30 to 50 m: 14 nodes max.
Specifications
3
MECHATROLINK-II
30 m or less: 16 nodes max.
30 to 50 m: 15 nodes max.
100 m max.: Maximum number of nodes connectable to Controller
(16 nodes max. for CJ1W/CS1W-NCF71)
3-84
Chapter 4
System Design
4-1 Installation Conditions ........................................ 4-1
Servo Drives .........................................................................4-1
Servomotors..........................................................................4-3
Decelerators..........................................................................4-7
4-2 Wiring ................................................................. 4-11
Connecting Cables................................................................4-11
Selecting Connecting Cables................................................4-12
Peripheral Device Connection Examples..............................4-16
Main Circuit and Servomotor Connector Specifications........4-20
4-3 Wiring Conforming to EMC Directives................ 4-26
Wiring Method.......................................................................4-26
Selecting Connection Components.......................................4-31
4-4 Regenerative Energy Absorption ....................... 4-44
Calculating the Regenerative Energy ...................................4-44
Servo Drive Regenerative Energy Absorption
Capacity ................................................................................4-47
Absorbing Regenerative Energy with an External
Regeneration Resistor ..........................................................4-48
Connecting an External Regeneration Resistor ....................4-49
4-1 Installation Conditions
4-1 Installation Conditions
Servo Drives
„ Space around Drives
ΠInstall Servo Drives according to the dimensions shown in the following illustration to ensure
proper heat dispersion and convection inside the panel. If the Servo Drives are to be installed side
by side, install a fan for air circulation to prevent uneven temperatures from developing inside the
panel.
System Design
4
Fan
Servo
Drive
Servo
Drive
W
40 mm min.
100 mm min.
Fan
Servo
Drive
W
W = 10 mm min.
Air
Side
panel
100 mm min.
Air
„ Mounting Direction
ΠMount the Servo Drives in a direction (perpendicular) so that the model number can be seen
properly.
„ Operating Environment
ΠThe environment in which Servo Drives are operated must meet the following conditions. Servo
Drives may malfunction if operated under any other conditions.
Ambient operating temperature: 0 to 55°C (Take into account temperature rises in the individual
Servo Drives themselves.)
Ambient operating humidity: 90% RH max. (with no condensation)
Atmosphere: No corrosive gases.
Altitude: 1,000 m max.
„ Ambient Temperature Control
ΠServo Drives should be operated in environments in which there is minimal temperature rise to
maintain a high level of reliability.
ΠTemperature rise in any Unit installed in a closed space, such as the control box, will cause the
Servo Drive’s ambient temperature to rise. Use a fan or air conditioner to prevent the Servo Drive's
ambient temperature from exceeding 55°C.
Œ Servo Drive surface temperatures may rise to as much as 30°C above the ambient temperature.
Use heat-resistant materials for wiring, and keep its distance from any devices or wiring that are
sensitive to heat.
ΠThe service life of a Servo Drive is largely determined by the temperature around the internal
electrolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in
electrostatic capacity and an increase in internal resistance, which can result in overvoltage
alarms, malfunctioning due to noise, and damage to individual elements.
4-1
4-1 Installation Conditions
Œ If a Servo Drive is always operated at the ambient temperature of 55°C and with 100% of the rated
torque and rated rotation speed, its service life is expected to be approximately 28,000 hours
(excluding the axial-flow fan). A drop of 10°C in the ambient temperature will double the expected
service life.
„ Keeping Foreign Objects Out of Units
4
System Design
ΠPlace a cover over the Units or take other preventative measures to prevent foreign objects, such
as drill filings, from getting into the Units during installation. Be sure to remove the cover after
installation is complete. If the cover is left on during operation, Servo Drive’s heat dissipation is
blocked, which may result in malfunction.
ΠTake measures during installation and operation to prevent foreign objects such as metal particles,
oil, machining oil, dust, or water from getting inside of Servo Drives.
4-2
4-1 Installation Conditions
Servomotors
„ Operating Environment
ΠThe environment in which the Servomotor is operated must meet the following conditions.
Operating the Servomotor outside of the following ranges may result in malfunction of the
Servomotor.
Ambient operating temperature: 0 to 40°C (See note.)
Ambient operating humidity: 85% RH max. (with no condensation)
Atmosphere: No corrosive gases.
Note The ambient temperature is the temperature at a point 5 cm from the Servomotor.
„ Impact and Load
ΠThe Servomotor is resistant to impacts of up
to 98 m/s2. Do not apply heavy impacts or
loads during transport, installation, or
removal.
System Design
4
ΠWhen transporting, hold the Servomotor
body itself, and do not hold the encoder,
cable, or connector areas. Doing so may
damage the Servomotor.
ΠAlways use a pulley remover to remove
pulleys, couplings, or other objects from the
shaft.
ΠSecure cables so that there is no impact or
load placed on the cable connector areas.
„ Connecting to Mechanical Systems
ΠThe axial loads for Servomotors are
specified in Characteristics on page 3-18. If
Ball screw center line
an axial load greater than that specified is
applied to a Servomotor, it will reduce the
service life of the motor bearings and may
break the motor shaft.
Do not offset center lines
lines.
Servomotor shaft
ΠWhen connecting to a load, use couplings
center line
that can sufficiently absorb mechanical
eccentricity and declination.
ΠFor spur gears, an extremely large radial
load may be applied depending on the gear
precision. Use spur gears with a high degree
of precision (for example, JIS class 2: normal
Backlash
line pitch error of 6 µm max. for a pitch circle
Structure in which
diameter of 50 mm).
the distance between
ΠIf the gear precision is not adequate, allow
shafts adjustable.
backlash to ensure that no radial load is
placed on the motor shaft.
ΠBevel gears will cause a load to be applied in
the thrust direction depending on the
structural precision, the gear precision, and
Bevel gear
temperature changes. Provide appropriate
backlash or take other measures to ensure
Make
that a thrust load larger than the specified
movable.
level is not applied.
ΠDo not put rubber packing on the flange
surface. If the flange is mounted with rubber packing, the motor flange may crack under the
tightening force.
4-3
4-1 Installation Conditions
ΠWhen connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.
ΠA radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load
exceeding specifications to be placed on the motor shaft. If an excessive radial load is applied, the
motor shaft and bearings may be damaged.
ΠSet up a movable pulley between the motor shaft and the load shaft so that the belt tension can
be adjusted.
Pulley
Tension adjustment
(Make adjustable.)
4
Belt
„ Water and Drip Resistance
ΠThe protective structure for the Servomotors is as follows:
IP65 (except for through-shaft parts and cable outlets)
„ Countermeasures against Oil
When using the Servo Motor in an environment in which the shaft through-hole is exposed to oil
spray, use a Servomotor with an oil seal. The operating conditions for a Servomotor with an oil seal
are as follows:
ΠKeep the oil level below the lip of the oil seal.
ΠSet up good lubricating conditions so that any oil spray falls on the oil seal.
ΠIf the Servomotor is used with the shaft pointing upwards, be careful to not allow oil to accumulate
at the lip of the oil seal.
„ Radiator Plate Installation Conditions
ΠWhen the Servomotor is installed in a small space, the Servomotor temperature may rise unless
sufficient surface area is provided to allow heat dissipation from the Servomotor mounting surface.
Take measures such as inserting a radiator plate between the Servomotor mounting surface and
the flange. If radiator plates are not inserted, the motor may be damaged by increased
temperatures. For radiator plate specifications, refer to 3-2 Servomotor Specifications.
ΠServomotor heating will depend on the material of the mounting surface and on the installation
environment. Be sure to check the Servomotor temperature under actual operating conditions.
ΠThe Servomotor temperature may rise sharply if the Servomotor is installed in an environment
such as near a heat source. Take the following countermeasures as required by the installation
environment.
ΠReduce the load ratio.
ΠModify the Servomotor's heat dissipation conditions.
ΠForcibly cool the Servomotor by installing a cooling fan.
Radiator plate
4-4
System Design
Tension
4-1 Installation Conditions
„ Oil Seal
The Servomotor oil seal dimensions are given below. The expected service life of an oil seal is
approximately 5,000 hours. The actual life depends on the application conditions and environment.
Oil seal installation and replacement are treated as repair work. For inquiries, consult your OMRON
representative.
Motor model
System Design
4
Shaft diameter (mm)
Outer diameter (mm)
Width (mm)
R88M-G05030@
8.9
17
4
R88M-G10030@
8.9
17
4
R88M-G20030@
14
28
4
R88M-G40030@
14
28
4
R88M-G75030@
19.8
30
4
R88M-GP10030@
8.9
22
4
R88M-GP20030@
14
28
4
R88M-GP40030@
14
28
4
R88M-G1K030@
20
35
7
R88M-G1K530@
20
35
7
R88M-G2K030@
20
35
7
R88M-G3K030@
24
38
7
R88M-G4K030@
24
38
7
R88M-G5K030@
24
38
7
R88M-G1K020@
24
38
7
R88M-G1K520@
24
38
7
R88M-G2K020@
24
38
7
R88M-G3K020@
24
38
7
R88M-G4K020@
30
45
7
R88M-G5K020@
40
58
7
R88M-G7K515@
45
62
9
R88M-G90010@
24
38
7
R88M-G2K010@
40
58
7
R88M-G3K010@
40
58
7
R88M-G4K510@
45
62
9
R88M-G6K010@
45
62
9
When using the Servomotor in an environment where the Servomotor shaft will be exposed to oil,
select a Servomotor with an oil seal.
Precautions
ΠKeep the oil level below the oil seal.
ΠIf there is no oil at all on the oil seal, the oil seal, which is made of rubber, will be glazed. Use the
Servomotor in an environment with a suitable amount of oil.
ΠInstall the Servomotor so that oil does not accumulate around the oil seal.
4-5
4-1 Installation Conditions
„ Other Precautions
ΠTake measures to protect the shaft from corrosion.
The shafts are coated with anti-corrosion oil when shipped, but anti-corrosion oil or grease should
also be applied when connecting the shaft to a load.
WARNING
Do not apply commercial power directly to the Servomotor.
Doing so may result in fire.
System Design
4
Do not dismantle or repair the product.
Doing so may result in electric shock or injury.
4-6
4-1 Installation Conditions
Decelerators
„ Installing Decelerators
Installing an R88G-HPG@@@ (Backlash = 3’ Max.)
Use the following procedure to install the Decelerator on the Servomotor.
1. Turn the input joint and align the head of the bolt that secures the shaft with the
rubber cap.
2. Apply sealant to the installation surface on the Servomotor (recommended sealant:
Loctite 515).
3. Gently insert the Servomotor into the Decelerator.
System Design
4
As shown in the figures on the next page, stand the Decelerator upright and slide the Servomotor
shaft into the input shaft joint while making sure it does not fall over. If the Decelerator cannot be
stood upright, tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at
a tilt.
4. Bolt together the Servomotor and the Decelerator flanges.
Bolt Tightening Torque for Aluminum
Allen head bolt size
M4
M5
M6
M8
M10
M12
Tightening torque (N·m)
3.2
6.3
10.7
26.1
51.5
89.9
5. Tighten the input joint bolt.
Bolt Tightening Torque for Duralumin
Allen head bolt size
M4
M5
M6
M8
M10
M12
Tightening torque (N·m)
2.0
4.5
15.3
37.2
73.5
128
Note Always use the torque given in the table above. The Servomotor may slip or other problems
may occur if the specified torque level is not satisfied.
The R88G-HPG11@ uses two set screws for the connecting section.
Allen head bolt size
M3
Tightening torque (N·m)
0.69
6. Mount the supplied rubber cap to complete the installation procedure.
(For the R88G-HPG11@, mount two screws with gaskets.)
4-7
4-1 Installation Conditions
D
A
C
B
4
System Design
F
E
Installing the Decelerator
When installing the R88G-HPG@@@, first make sure that the mounting surface is flat and that there
are no burrs on the tap sections, and then bolt on the mounting flanges.
Mounting Flange Bolt Tightening Torque for Aluminum
R88G-HPG
11
14
20
32
50
65
Number of bolts
4
4
4
4
4
4
Bolt size
M3
M5
M8
M10
M12
M16
Mounting PCD (mm)
46
70
105
135
190
260
Tightening torque (N·m)
1.4
6.3
26.1
51.5
103
255
4-8
4-1 Installation Conditions
Installing an R88G-VRSF@@@ (Backlash = 15’ Max.)
Use the following procedure to install the Decelerator on the Servomotor.
1. Turn the input joint and align the head of the bolt that secures the shaft with the
rubber cap.
Make sure the set bolts are loose.
2. Gently insert the Servomotor into the Decelerator.
As shown in the figures below, stand the Decelerator upright and slide the Servomotor shaft into the
input shaft joint while making sure it does not fall over. If the Decelerator cannot be stood upright,
tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt.
4
System Design
3. Bolt together the Servomotor and the Decelerator flanges.
Bolt Tightening Torque
Allen head bolt size
M4
M5
M6
Tightening torque (N·m)
3.0
5.8
9.8
4. Tighten the input joint bolt.
Bolt Tightening Torque for Duralumin
Allen head bolt size
M3
M4
M5
Tightening torque (N·m)
1.5
4.5
7.1
Note Always use the torque given in the table above. The Servomotor may slip or other problems
may occur if the specified torque level is not satisfied.
5. Mount the supplied rubber cap to complete the installation procedure.
C
E
D
A
4-9
B
4-1 Installation Conditions
Installing the Decelerator
When installing the R88G-VRSF@@@, first make sure that the mounting surface is flat and that
there are no burrs on the tap sections, and then bolt on the mounting flanges.
Mounting Flange Bolt Tightening Torque for Aluminum
B frame
C frame
D frame
4
4
4
Bolt size
M5
M6
M8
Mounting PCD (mm)
60
90
115
Tightening torque (N·m)
5.8
9.8
19.6
Number of bolts
4
„ Using Another Company’s Decelerator (Reference Information)
If the system configuration requires another company’s decelerator to be used in combination with
an OMNUC G-Series Servomotor, select the decelerator so that the load on the motor shaft (i.e.,
both the radial and thrust loads) is within the allowable range.
(Refer to Characteristics on page 3-18 for details on the allowable loads for the motors.)
Also, select the decelerator so that the allowable input rotation speed and allowable input torque of
the decelerator are not exceeded.
4-10
System Design
R88G-VRSF
4-2 Wiring
4-2 Wiring
Connecting Cables
This section shows the types of connecting cables used in an OMNUC G-Series servo system.
„ System Configuration
4
CN6A/CN6B
(MECHATROLINK-II
Communications
Connector)
System Design
Controller
Motion Control Unit
1
MECHATROLINK-II Cable
CN1
(Control I/O Connector)
CJ1W-NCF71
Servo Drive
2 Connector Terminal Block and Cable
R88D-GN@-ML2
Cable for Connector
Terminal Block
CN2
(Encoder Connector)
Terminal block
Connector
Terminal
Block
CS1W-NCF71
Programmable Controllers
SYSMAC CJ1
SYSMAC CS1
3
Control I/O Connector
4
Power Cable
5
Encoder Cable
6
Encoder Cable
(Robot Cables)
1
6
Power Cable
(Robot Cables)
1
1 Use a robot cable when the cable must be flexible.
Servomotor
R88M−G@
4-11
4-2 Wiring
Selecting Connecting Cables
„ Encoder Cables (Standard Cables)
Select an Encoder Cable matching the Servomotor to be used.
3,000-r/min Servomotors
Encoder Cable
50 to 750 W
ABS
R88A-CRGA@@@C
50 to 750 W
INC
R88A-CRGB@@@C
1 to 5 kW
100 to 400 W
ABS
R88A-CRGA@@@C
100 to 400 W
INC
R88A-CRGB@@@C
3,000-r/min Flat Servomotors
2,000-r/min Servomotors
(1,500-r/min Servomotors)
1,000-r/min Servomotors
R88A-CRGC@@@N
1 to 7.5 kW
R88A-CRGC@@@N
900 W to 6 kW
R88A-CRGC@@@N
Comments
The @@@ digits in the model
number indicate the cable
length(3 m, 5 m, 10 m, 15 m,
20 m, 30 m, 40 m, or 50 m).
Example model number for a
3-m cable:
R88A-CRGA003C
4-12
4
System Design
Servomotor type
4-2 Wiring
„ Power Cables (Standard Cables)
Select a Power Cable matching the Servomotor to be used.
Power Cables for Servomotors
Without Brakes
Power Cables for Servomotors
With Brakes
50 to 750 W
R88A-CAGA@@@S
R88A-CAGA@@@S
(For Power Connector)
R88A-CAGA@@@B
(For Brake Connector)
1 to 1.5 kW
R88A-CAGB@@@S
R88A-CAGB@@@B
2 kW
R88A-CAGC@@@S
R88A-CAGC@@@B
3 to 5 kW
R88A-CAGD@@@S
R88A-CAGD@@@B
100 to 400 W
R88A-CAGA@@@S
R88A-CAGA@@@S
(For Power Connector)
R88A-CAGA@@@B
(For Brake Connector)
1 to 1.5 kW
R88A-CAGB@@@S
R88A-CAGB@@@B
2 kW
R88A-CAGC@@@S
R88A-CAGC@@@B
3 to 5 kW
R88A-CAGD@@@S
R88A-CAGD@@@B
7.5 kW
R88A-CAGE@@@S
R88A-CAGE@@@S
(For Power Connector)
R88A-CAGE@@@B
(For Brake Connector)
900 W
R88A-CAGB@@@S
R88A-CAGB@@@B
2 to 4.5 kW
R88A-CAGD@@@S
R88A-CAGD@@@B
R88A-CAGE@@@S
R88A-CAGE@@@S
(For Power Connector)
R88A-CAGE@@@B
(For Brake Connector)
Servomotor type
3,000-r/min Servomotors
System Design
4
3,000-r/min Flat Servomotors
2,000-r/min Servomotors
(1,500-r/min Servomotors)
1,000-r/min Servomotors
6 kW
Note 1. The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m,
or 50 m). Example model number for a 3-m cable: R88A-CAGA003S
Note 2. For 50 to 750 W (3,000-r/min) Servomotors, Flat Servomotors, and 6-kW and higher 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 Brake Cable.
„ Encoder Cables (Robot Cables)
Use a robot cable when the encoder cable must be flexible.
Servomotor type
3,000-r/min Servomotors
Encoder Cable
50 to 750 W
ABS
R88A-CRGA@@@CR
50 to 750 W
INC
R88A-CRGB@@@CR
1 to 5 kW
3,000-r/min
Flat Servomotors
R88A-CRGC@@@NR
100 to 400 W
ABS
R88A-CRGA@@@CR
100 to 400 W
INC
R88A-CRGB@@@CR
2,000-r/min Servomotors
1 to 5 kW
R88A-CRGC@@@NR
1,000-r/min Servomotors
900 W to 4.5 kW
R88A-CRGC@@@NR
4-13
Comments
The @@@ digits in the model
number indicate the cable
length.
(3 m, 5 m, 10 m, 15 m, 20 m, 30
m, 40 m, or 50 m).
Example model number for a 3m cable: R88A-CRGA003CR
4-2 Wiring
„ Power Cables (Robot Cables)
Use a robot cable when the power cable must be flexible.
Power Cables for Servomotors
without Brakes
Power Cables for Servomotors
with Brakes
50 to 750 W
R88A-CAGA@@@SR
R88A-CAGA@@@SR
(For Power Connector)
R88A-CAGA@@@BR
(For Brake Connector)
1 to 1.5 kW
R88A-CAGB@@@SR
R88A-CAGB@@@BR
2 kW
R88A-CAGC@@@SR
R88A-CAGC@@@BR
3 to 5 kW
R88A-CAGD@@@SR
R88A-CAGD@@@BR
100 to 400 W
R88A-CAGA@@@SR
R88A-CAGA@@@SR
(For Power Connector)
R88A-CAGA@@@BR
(For Brake Connector)
1 to 1.5 kW
R88A-CAGB@@@SR
R88A-CAGB@@@BR
2 kW
R88A-CAGC@@@SR
R88A-CAGC@@@BR
3 to 5 kW
R88A-CAGD@@@SR
R88A-CAGD@@@BR
900 W
R88A-CAGB@@@SR
R88A-CAGB@@@BR
2 to 4.5 kW
R88A-CAGD@@@SR
R88A-CAGD@@@BR
3,000-r/min Servomotors
3,000-r/min
Flat Servomotors
2,000-r/min Servomotors
1,000-r/min Servomotors
4
System Design
Servomotor type
Note 1. The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m,
or 50 m). Example model number for a 3-m cable: R88A-CAGA003SR
Note 2. For 50 to 750 W (3,000-r/min) Servomotors and Flat 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 Brake Cable.
„ Computer Monitor Cable
A Computer Monitor Cable and the Computer Monitor Software for Servo Drives (CX-Drive) are
required to set Servo Drive parameters and perform monitoring with a personal computer.
Name/specifications
Computer Monitor Cable
Model
2m
R88A-CCG002P2
Remarks
Only a 2-meter cable is available.
„ Control I/O Connector
This connector is used when the cable for the Servo Drive’s control I/O connector (CN1) is prepared
by the user.
Name
Control I/O Connector
Model
R88A-CNU01C
Remarks
This is the connector for connecting to
the Control I/O Connector (CN1). (This
item is a connector only.)
4-14
4-2 Wiring
„ Connector-Terminal Blocks and Cables
These are used to convert the Servo Drive's control I/O Connector (CN1) signals to a terminal block.
Connector Terminal Block
XW2B-20G4
XW2B-20G5
XW2D-20G6
System Design
4
4-15
Cable
XW2Z-@@@J-B33
Comments
The @@@ digits in the model number
indicate the cable length (1 m and
2 m).
Example model number for a 2-m
cable: XW2Z-200J-B33
4-2 Wiring
Peripheral Device Connection Examples
„ R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2
R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/
-GN15H-ML2
R
T
Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GN@@L-ML2
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GN@@H-ML2
NFB
4
2
NF
3
4
Noise filter
(*1)
OFF
ON
X
Main-circuit contactor (*1)
System Design
1
E
1MC
(Ground to
100 Ω or less.)
Surge killer (*1)
1MC
X
PL
Servo error display
OMNUC G-Series
AC Servo Drive
CNA
Power Cable
(*3)
XB
L1C
OMNUC G-Series
AC Servomotor
B
L2C
CNB
24 VDC
U
1MC
CNA
Reactor
L1
V
L3
W
M
CNB
B1
Regeneration
resistor
(*5)
(*4)
(Ground to
100 Ω or less.)
B3
CN2
B2
Encoder Cable
E
CN1
X
15 /ALM
*1. Recommended products are listed in
16 ALMCOM
*2. Recommended relay: MY Relay (24 V),
24 VDC
4-3 Wiring Conforming to EMC Directives.
CN1
X
User
control
device
BKIR
CN1
Control Cable
BKIRCOM
24 VDC
XB
(*2)
by OMRON. For example, the MY2
Relay's rated inductive load is 2 A at 24
VDC and applicable to all G-Series
Servomotors with brakes.
*3. The brake is not affected by the polarity
of the power supply.
*4. Connect B2-B3 for the models
with a built-in regeneration resistor
(GN04L-ML2, GN08H-ML2, GN10H-ML2,
and GN15H-ML2).
If the amount of regeneration is large,
disconnect B2-B3 and connect an
External Regeneration Resistor to B1-B2.
*5. The models GNA5L-ML2 to GN02L-ML2 and
GN01H-ML2 to GN04H-ML2 do not have a
built-in regeneration resistor.
If the amount of regeneration is large,
an External Regeneration Resistor must be
connected to B1-B2.
4-16
4-2 Wiring
„ R88D-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
R S T
Three-phase 200 to 240 VAC, 50/60 Hz
NFB
1
4
2
3
NF
E
4
5
6
Noise filter
(*1)
OFF
ON
X
Main-circuit contactor (*1)
1MC
System Design
(Ground to
100 Ω or less.)
Surge killer (*1)
1MC
X
PL
Servo error display
OMNUC G-Series
AC Servo Drive
CNA
Power Cable
XB
OMNUC G-Series
AC Servomotor
(*3)
L1C
B
CNB
L2C
24 VDC
U
1MC
V
CNA
Reactor
M
L1
W
L2
L3
CNB
(Ground to
100 Ω or less.)
CN2
B1
(*4)
Regeneration
resistor
Encoder Cable
B3
B2
*1. Recommended products are
CN1
X
15 /ALM
24 VDC
16 ALMCOM
CN1
X
BKIR
User
control
device
CN1
Control Cable
4-17
E
BKIRCOM
XB
(*2)
listed in 4-3 Wiring Conforming
to EMC Directives.
*2. Recommended relay: MY Relay
(24 V), by OMRON. For example,
the MY2 Relay's rated inductive
load is 2 A at 24 VDC and applicable to
24 VDC
all G-Series Servomotors with brakes.
*3. The brake is not affected by the
polarity of the power supply.
*4. Connect B2-B3 for the models
with a built-in regeneration resistor
(GN08H-ML2 to GN15H-ML2).
If the amount of regeneration is large,
disconnect B2-B3 and connect an
External Regeneration Resistor to B1-B2.
4-2 Wiring
„ R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
R S T
Three-phase 200 to 230 VAC, 50/60 Hz
NFB
2
3
NF
E
4
5
6
Noise filter
(*1)
OFF
ON
X
4
Main-circuit contactor (*1)
1MC
(Ground to
100 Ω or less.)
System Design
1
Surge killer (*1)
1MC
X
PL
Servo error display
OMNUC G-Series
AC Servo Drive
TB1
XB
Power Cable
(*3)
L1C
OMNUC G-Series
AC Servomotor
B
TB1
L2C
24 VDC
U
1MC
V
TB1
Reactor
M
L1
W
L2
L3
B1
(*4)
Regeneration
resistor
(Ground to
100 Ω or less.)
CN2
B3
Encoder Cable
E
B2
*1. Recommended products are
CN1
X
15 /ALM
24 VDC
16 ALMCOM
CN1
X
BKIR
User
control
device
CN1
Control Cable
BKIRCOM
XB
(*2)
listed in 4-3 Wiring Conforming
to EMC Directives.
*2. Recommended relay: MY Relay
(24 V), by OMRON. For example,
the MY2 Relay's rated inductive
load is 2 A at 24 VDC and applicable to
all G-Series Servomotors with brakes.
24 VDC
*3. The brake is not affected by the polarity
of the power supply.
*4. Connect B2-B3 for the models
with a built-in regeneration resistor
(GN20H-ML2 to GN50H-ML2).
If the amount of regeneration is large,
disconnect B2-B3 and connect an
External Regeneration Resistor to B1-B2.
4-18
4-2 Wiring
„ R88D-GN75H-ML2
R S T
Three-phase 200 to 230 VAC, 50/60 Hz
NFB
1
4
2
3
NF
E
4
5
6
Noise filter
(*1)
OFF
ON
X
Main-circuit contactor (*1)
1MC
System Design
(Ground to
100 Ω or less.)
Surge killer (*1)
1MC
X
PL
Servo error display
OMNUC G-Series
AC Servomotor
OMNUC G-Series
AC Servo Drive
TB2
Power Cable
(*3)
XB
L1C
B
TB1
L2C
24 VDC
U
1MC
V
TB1
Reactor
M
L1
W
L2
L3
B1
Regeneration
resistor (*4)
CN2
B2
(Ground to
100 Ω or less.)
Encoder Cable
TB2
FN (+)
CN1
X
15 /ALM
FN(-)
16 ALMCOM
CN1
X
BKIR
User
control
device
CN1
Control Cable
4-19
*1. Recommended products are
listed in 4-3 Wiring Conforming
to EMC Directives.
*2. Recommended relay: MY Relay
(24 V), by OMRON. For example,
the MY2 Relay's rated inductive
load is 2 A at 24 VDC and applicable to
24 VDC
all G-Series Servomotors with brakes.
XB
*3. The brake is not affected by the
(*2)
polarity of the power supply.
*4. The model GN75H-ML2 does not have
a built-in regeneration resistor.
If the amount of regeneration is large,
an External Regeneration Resistor
must be connected to B1-B2.
Fan Stop
24 VDC
BKIRCOM
E
4-2 Wiring
Main Circuit and Servomotor Connector Specifications
When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.
„ R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2
R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/
-GN15H-ML2
Main Circuit Connector Specifications (CNA)
4
Symbol
Name
R88D-GN@L-ML2 (50 to 400 W):
L2
L3
L1C
L2C
Main circuit
power supply
input
Single-phase 100 to 115 VAC (85 to 127 V),
50/60 Hz
R88D-GN@H-ML2 (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V),
50/60 Hz
(750 W to 1.5 kW): Three-phase 200 to 240 VAC (170 to 264 V),
50/60Hz
Control circuit
power supply
input
R88D-GN@L-ML2 : Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz
R88D-GN@H-ML2: Single-phase 200 to 240 VAC (170 to 264V), 50/60 Hz
Servomotor Connector Specifications (CNB)
Symbol
B1
B2
B3
Name
External
Regeneration
Resistor
connection
terminals
U
V
W
Function
50 to 400 W:
These terminals normally do not need to be connected. If there is high
regenerative energy, connect an External Regeneration Resistor
between B1 and B2.
750 W to 1.5 kW: Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2.
Red
Servomotor
connection
terminals
Frame ground
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
4-20
System Design
L1
Function
4-2 Wiring
„ R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2
Main Circuit Terminal Block Specifications
Symbol
Name
Function
Main circuit power
supply input
R88D-GN@H-ML2 (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60Hz
L1
L2
L3
L1C
4
L2C
B1
System Design
B2
B3
Control circuit
R88D-GN@H-ML2 : Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz
power supply input
External
Regeneration
Resistor
connection
terminals
U
V
W
Red
Servomotor
connection
terminals
Frame ground
4-21
2 to 5 kW: Normally B2 and B3 are connected. If there is high regenerative energy,
remove the short-circuit bar between B2 and B3 and connect an External
Regeneration Resistor between B1 and B2.
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
4-2 Wiring
„ R88D-GN75H-ML2
Main Circuit Terminal Block Specifications (TB1)
Symbol
Name
Function
L1
Main circuit power
supply input
L2
R88D-GN75H-ML2 (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V),
50/60Hz
L3
B1
External
Regeneration
Resistor
connection
terminals
B2
A regeneration resistor is not built in.
Connect an External Regeneration Resistor between B1 and B2, if
necessary.
Red
V
Servomotor
connection
terminals
W
Frame ground
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
Main Circuit Terminal Block Specifications (TB2)
Symbol
Name
NC
---
L1C
L2C
Function
Do not connect.
Control circuit
R88D-GN75H-ML2: Single-phase 200 to 230 VAC (170 to 253 V), 50/60Hz
power supply input
Frame ground
This is the ground terminal. Ground to 100 Ω or less.
NC
EX1
EX2
---
Do not connect.
EX3
NC
FN(+)
FN(−)
Fan Stop Output
4
System Design
U
6 to 7.5 kW:
Outputs a warning signal when the fan inside the Servo Drive stops.
(30 VDC, 50 mA max).
4-22
4-2 Wiring
„ Terminal Block Wire Sizes
100-VAC Input: R88D-GN@@L-ML2
Model (R88D-)
Item
Power supply capacity
System Design
4
GNA5LML2
GN01LML2
GN02LML2
GN04LML2
kVA
0.4
0.4
0.5
0.9
1.4
2.2
3.7
6.6
Unit
Main circuit power
supply input
(L1 and L3 or
L1, L2, and L3)*1
Rated current
A
Wire size
---
Control circuit
power supply input
(L1C and L2C)
Rated current
A
Wire size
---
Servomotor
Rated current
connection
terminals
Wire size
(U, V, W, and GR)*2
Frame ground
(GR)
A
AWG18
0.09
AWG16
0.09
0.09
AWG18
1.2
1.7
2.5
---
AWG18
Wire size
---
AWG14
Screw size
---
M4
N⋅m
1.2
Torque
0.09
4.6
200-VAC Input: R88D-GN@@H-ML2
Model (R88D-)
GN01HML2
GN02HML2
GN04HML2
GN08HML2
GN10HML2
kVA
0.5
0.5
0.9
1.3
1.8
Rated current
A
1.3
2.0
3.7
5.0/3.3*1
7.5/4.1*1
Wire size
---
Screw size
---
---
---
---
---
---
N⋅m
---
---
---
---
---
Rated current
A
0.05
0.05
0.05
0.05
0.07
Wire size
---
Screw size
---
---
---
---
---
---
N⋅m
---
---
---
---
---
A
1.2
1.6
2.6
4.0
5.8
Item
Unit
Power supply capacity
Main circuit power
supply input
(L1 and L3, or
L1, L2, and L3)*1
Control circuit
power supply input
(L1C and L2C)
Torque
Torque
Rated current
Servomotor
Wire size
connection
terminals
Screw size
(U, V, W, and GR)*2
Torque
Frame ground
(GR)
AWG16
AWG18
---
AWG18
AWG16
---
---
---
---
---
---
N⋅m
---
---
---
---
---
Wire size
---
AWG14
Screw size
---
M4
N⋅m
1.2
Torque
4-23
AWG18
4-2 Wiring
Item
Unit
Power supply capacity
Main circuit power
supply input
(L1 and L3, or
L1, L2, and L3) *1
Control circuit
power supply input
(L1C and L2C)
kVA
GN20H- GN30H- GN50H- GN75HML2
ML2
ML2
ML2
2.3
*1
4.5
7.5
11
10.2
15.2
23.7
35.0
AWG12
AWG10
AWG8
A
Wire size
---
Screw size
---
---
M5
N⋅m
---
2.0
Rated current
A
0.07
Wire size
---
Screw size
---
---
M5
N⋅m
---
2.0
A
9.4
Torque
Rated current
Servomotor
Wire size
connection
terminals
Screw size
(U, V, W, and GR)*2
Torque
11.0/8.0
3.3
Rated current
Torque
Frame ground
(GR)
GN15HML2
AWG14
0.1
0.12
0.12
AWG18
---
13.4
AWG14
4
18.6
33.0
47.0
AWG12
AWG8
AWG6
---
---
M5
N⋅m
---
2.0
Wire size
---
AWG14
Screw size
---
M4
M5
N⋅m
1.2
2.0
Torque
0.14
AWG12
AWG8
*1. The left value is for single-phase input power, and the right value is for three-phase input power.
*2. Use the same wire sizes for B1 and B2.
*3. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals.
„ Wire Sizes and Allowable Current (Reference)
The following table shows the allowable current when there are three power supply wires.
Use a current below these specified values.
600-V Heat-resistant Vinyl Wire (HIV)
AWG size
Nominal
cross-sectional area
(mm2)
Configuration
(wires/mm2)
Conductive
resistance
(Ω/km)
20
0.5
19/0.18
---
0.75
18
Allowable current (A) for ambient temperature
30°C
40°C
50°C
39.5
6.6
5.6
4.5
30/0.18
26.0
8.8
7.0
5.5
0.9
37/0.18
24.4
9.0
7.7
6.0
16
1.25
50/0.18
15.6
12.0
11.0
8.5
14
2.0
7/0.6
9.53
23
20
16
12
3.5
7/0.8
5.41
33
29
24
10
5.5
7/1.0
3.47
43
38
31
8
8.0
7/1.2
2.41
55
49
40
6
14.0
7/1.6
1.35
79
70
57
4-24
System Design
Model (R88D-)
4-2 Wiring
„ Terminal Block Wiring Procedure
Connector-type Terminal Blocks are used for Servo Drives of 1.5 kW or less (R88D-GNA5L-ML2 to
GN15H-ML2).
The procedure for wiring these Terminal Blocks is explained below.
Connector-type
Terminal Block
System Design
4
(Example: R88D-GN01H-ML2)
1. Remove the Terminal Block from the Servo Drive before wiring.
The Servo Drive will be damaged if the wiring is performed with the Terminal Block in place.
2. Strip off 8 to 9 mm of the covering from the end of each wire.
Refer to Terminal Block Wire Sizes on page 4-23 for applicable wire sizes.
8 to 9 mm
3. Open the wire insertion slots in the Terminal Block.
There are two ways to open the wire insertion slots:
ΠPry the slot open using the lever that comes with the Servo Drive (as in Fig. A).
ΠInsert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the screwdriver, and
press down firmly to open the slot (as in Fig. B).
Fig. A
Fig. B
4. With the slot held open, insert the end of the wire.
After inserting the wire, let the slot close by releasing the pressure from the lever or the screwdriver.
5. Mount the Terminal Block to the Servo Drive.
After all of the terminals have been wired, return the Terminal Block to its original position on the
Servo Drive.
4-25
4-3 Wiring Conforming to EMC Directives
4-3
Wiring Conforming to EMC Directives
Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2 (EMS))
can be ensured by wiring under the conditions described below.
These conditions are for conformance of OMNUC G-Series products to the EMC Directives. EMCrelated performance of these products, however, depends on the configuration, wiring, and other
conditions of the equipment in which the products are installed. The EMC conformance of the
system as a whole must be confirmed by the customer.
The following are the requirements for EMC Directive conformance.
Wiring Method
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2/-GN01H-ML2/-GN02H-ML2/
-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2/-GN20H-ML2/-GN30H-ML2/
-GN50H-ML2
Single-phase: 100 VAC
Three-phase: 200 VAC
B
A
FC
L1
NF
SV
CNA
FC
U
V
CNB
W
L2
L3
L1C
SG
FC
L2C
F
D
CN2
FC
E
C
CN1
G
SM
Single-phase:
100 VAC
H
TB Controller
*1. For models with a single-phase power supply input (R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-
ML2/-GN04L-ML2/-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2), the main circuit
power supply input terminals are L1 and L3.
ΠGround the motor's frame to the machine ground when the motor is on a movable shaft.
ΠUse a ground plate for the frame ground for each Unit, as shown in the above diagrams, and
ground to a single point.
4-26
4
System Design
ΠThe Servo Drive must be installed in a metal case (control panel). (The Servomotor does not,
however, have to be covered with a metal plate.)
ΠNoise filters and surge absorbers must be installed on power supply lines.
ΠShielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, mild steel
wires for the shielding.)
ΠAll cables, I/O wiring, and power lines connected to the Servo Drive must have clamp filters
installed.
ΠThe shields of all cables must be directly connected to a ground plate.
4-3 Wiring Conforming to EMC Directives
ΠUse ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground
lines are as short as possible.
ΠNo-fuse breakers, surge absorbers, and noise filters should be positioned near the input terminal
block (ground plate), and I/O lines should be separated and wired at the shortest distance.
R88D-GN75H-ML2
FC
SV
L1
NF
4
L2
U
CNA
CNB
L3
Three-phase:
200 VAC
System Design
V
W
L1C
SG
FC
L2C
FC
FC
CN1
CN2
Single-phase:
100 VAC
SM
TB Controller
Unit Details
Symbol
SG
NF
Name
Surge absorber
Noise filter
Manufacturer
Okaya Electric
Industries Co., Ltd.
Okaya Electric
Industries Co., Ltd.
Model
Remarks
RAV781BWZ-4
Single-phase 100 VAC
RAV781BXZ-4
Three-phase 200 VAC
SUP-EK5-ER-6
Single-phase
100/200 VAC (5 A)
3SUP-HQ10-ER-6
Three-phase 200 VAC
(10A)
3SUP-HU30-ER-6
Three-phase 200 VAC
(30 A)
3SUP-HL50-ER-6B
Three-phase 200 VAC
(50A)
SV
Servo Drive
OMRON
---
*1
SM
Servomotor
OMRON
---
*1
FC
Clamp core
TDK
TB
Controller
ZACT305-1330
---
---
--Switch box
*1. A specified combination of Servo Drive and Servomotor must be used.
4-27
4-3 Wiring Conforming to EMC Directives
Cable Details
Supplies from
Connects to
Cable name
Length Remarks Shielded Ferrite
AC power supply Noise filter
Power supply line
2m
Threephase
200 VAC
No
No
Noise filter
Servo Drive
Power supply line
2m
---
No
Yes
Servo Drive
Servomotor
Power cable
20 m
---
Yes
Yes
Servo Drive
Servomotor
Encoder cable
20 m
---
No
Yes
Switch box
Servo Drive
I/O cable
2m
---
No
Yes
Frame ground
Noise filter
Frame ground line
1.5 m
---
No
No
Frame ground
Noise filter
Frame ground line
1.5 m
---
No
No
AC power supply Switch box
Power supply line
1.5 m
---
No
No
„ Noise Filters for the Power Supply Input
Use the following noise filters for the Servo Drive power supply.
Noise Filters for the Power Supply Input
Servo Drive model
Rated
current
Phases
Maximum leakage
current (60 Hz)
SUP-EK5-ER-6
5A
Single
1.0 mA
(at 250 VAC)
3SUP-HQ10-ER-6
10 A
Three
3.5 mA
(at 500 VAC)
5A
Single
1.0 mA
(at 250 VAC)
Model
Manufacturer
R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
R88D-GN01H-ML2
R88D-GN02H-ML2 SUP-EK5-ER-6
R88D-GN04H-ML2
R88D-GN08H-ML2 3SUP-HQ10-ER-6
10 A
Three
3.5 mA
(at 500 VAC)
30 A
Three
3.5 mA
(at 500 VAC)
50 A
Three
8.0 mA
(at 500 VAC)
Okaya Electric
Industries Co.,
Ltd.
R88D-GN10H-ML2
R88D-GN15H-ML2 3SUP-HU30-ER-6
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2 3SUP-HL50-ER-6B
R88D-GN75H-ML2
4-28
4
System Design
Symbol
4-3 Wiring Conforming to EMC Directives
ΠIf no-fuse breakers are installed at the top and the power supply line is wired from the lower duct,
use metal tubes for wiring or make sure that there is adequate distance between the input lines
and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
ΠWire the noise filter as shown at the left in the following illustration. The noise filter must be
installed as close as possible to the entrance of the control box.
Correct: Separate input and output
AC input
4
1
2
3
NF
E
4
5
6
AC output
Wrong: Noise not filtered effectively
AC input
1
2
3
NF
E
4
5
6
Ground
Ground
System Design
AC output
ΠUse twisted-pair cables for the power supply cables, or bind the cables.
Correct: Properly twisted
Correct: Cables are bound.
Servo Drive
Servo Drive
L1
L1C
L2
L2C
L3
Binding
ΠSeparate power supply cables and signal cables when wiring.
„ Control Panel Structure
Openings in the control panel, such as holes for cables, operating panel mounting holes, and gaps
around the door, may allow electromagnetic waves into the panel. To prevent this, observe the
recommendations described below when designing or selecting a control panel.
Case Structure
ΠUse a metal control panel with welded joints at the top, bottom, and sides so that the surfaces will
be electrically conductive.
ΠIf assembly is required, strip the paint off the joint areas (or mask them during painting), to make
them electrically conductive.
ΠThe panel may warp and gaps may appear when screws are tightened. Be sure that no gaps
appear when tightening screws.
ΠDo not leave any conductive part unconnected.
ΠGround all Units within the case to the case itself.
Door Structure
ΠUse a metal door.
ΠUse a water-draining structure where the door and case fit together, and leave no gaps. (Refer to
the diagrams on the next page.)
ΠUse a conductive gasket between the door and the case. (Refer to the diagrams on the next page.)
ΠStrip the paint off the sections of the door and case that will be in contact with the conductive
gasket (or mask them during painting), so that they will be electrically conductive.
ΠThe panel may warp and gaps may appear when screws are tightened. Be sure that no gaps
appear when tightening screws.
4-29
4-3 Wiring Conforming to EMC Directives
Case
Door
A
B
4
Door
Oil-resistant gasket
Control panel
Conductive gasket
System Design
Cross-sectional view of A–B
Oil-resistant gasket
Conductive gasket
Door (interior view)
4-30
4-3 Wiring Conforming to EMC Directives
Selecting Connection Components
This section explains the criteria for selecting the connection components required to improve noise
resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable
conditions when selecting the components.
For more details, contact the manufacturers directly.
4
„ No-fuse Breakers (NFB)
When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
Maximum Input Current:
System Design
ΠThe Servo Drive's maximum momentary output is approximately three times the rated output, and
can be output for up to three seconds.
Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the
rated current. General-purpose and low-speed no-fuse breakers are generally suitable.
ΠSelect a no-fuse-breaker with a rated current greater than the total effective load current of all the
Servomotors. The rated current of the power supply input for each Servomotor is provided in Main
Circuit and Servomotor Connector Specifications on page 4-20.
ΠAdd the current consumption of other controllers, and any other components, when selecting the
NFB.
Inrush Current:
ΠThe following table lists the Servo Drive inrush currents.
ΠWith low-speed no-fuse breakers, an inrush current 10 times the rated current can flow for
0.02 second.
ΠWhen multiple Servo Drives are turned ON simultaneously, select a no-fuse-breaker with a 20-ms
allowable current that is greater than the total inrush current, shown in the following table.
Servo Drive model
4-31
Inrush current (Ao-p)
Main circuit power supply
Control circuit power supply
R88D-GNA5L-ML2
7
14
R88D-GN01L-ML2
7
14
R88D-GN02L-ML2
7
14
R88D-GN04L-ML2
30
14
R88D-GN01H-ML2
14
28
R88D-GN02H-ML2
14
28
R88D-GN04H-ML2
14
28
R88D-GN08H-ML2
60
28
R88D-GN10H-ML2
29
28
R88D-GN15H-ML2
29
28
R88D-GN20H-ML2
29
14
R88D-GN30H-ML2
22
14
R88D-GN50H-ML2
22
14
R88D-GN75H-ML2
88
66
4-3 Wiring Conforming to EMC Directives
„ Leakage Breakers
Leakage current
Servo Drive model
Input power
Resistance method
Resistor plus capacitor
Clamping method
(Measurement filter ON at H10K13283)
Motor cable length: 3 m Motor cable length: 3 m Per meter of motor cable
R88D-GNA5L-ML2 Single-phase 100 V
0.42 mA
0.33 mA
0.003 mA
R88D-GN01L-ML2 Single-phase 100 V
0.45 mA
0.35 mA
0.002 mA
R88D-GN02L-ML2 Single-phase 100 V
0.46 mA
0.35 mA
0.002 mA
R88D-GN04L-ML2 Single-phase 100 V
0.48 mA
0.35 mA
0.002 mA
R88D-GN01H-ML2 Single-phase 200V
0.92 mA
1.04 mA
0.016 mA
R88D-GN02H-ML2 Single-phase 200V
0.94 mA
1.06 mA
0.013 mA
R88D-GN04H-ML2 Single-phase 200V
1.15 mA
1.13 mA
0.013 mA
R88D-GN08H-ML2 Single-phase 200V
1.27 mA
1.09 mA
0.014 mA
R88D-GN10H-ML2 Single-phase 200V
1.27 mA
1.19 mA
0.015 mA
R88D-GN15H-ML2 Single-phase 200V
1.51 mA
1.20 mA
0.015 mA
R88D-GN08H-ML2 Three-phase 200 V
1.62 mA
0.98 mA
0.009 mA
R88D-GN10H-ML2 Three-phase 200 V
1.77 mA
1.03 mA
0.008 mA
R88D-GN15H-ML2 Three-phase 200 V
2.18 mA
1.04 mA
0.003 mA
R88D-GN20H-ML2 Three-phase 200 V
2.88 mA
1.08 mA
0.008 mA
R88D-GN30H-ML2 Three-phase 200 V
2.83 mA
1.15 mA
0.011 mA
R88D-GN50H-ML2 Three-phase 200 V
3.07 mA
1.14 mA
0.011 mA
R88D-GN75H-ML2 Three-phase 200 V
6.32 mA
1.23 mA
0.013 mA
Note 1. The above leakage current is for cases when Servomotor power cable length is 3 meters or shorter.
(The leakage current depends on the power cable length and the insulation.)
Note 2. The resistor plus capacitor method provides a yardstick to measure the leakage current that may flow
through the human body when the Servomotor or Servo Drive is not grounded correctly.
The above leakage current is for normal temperature and humidity. (The leakage current depends on the
temperature and humidity.)
4-32
4
System Design
ΠSelect leakage breakers designed for protection against grounding faults.
ΠBecause switching takes place inside the Servo Drives, high-frequency current leaks from the
switching elements of the Servo Drive, the armature of the motor, and the cables.
High-frequency breakers with surge withstand capability do not detect high-frequency current,
preventing the breaker from operating with high-frequency leakage current.
When using a general-purpose leakage breaker, use three times the sum of the leakage current
given in the following table as a reference value.
ΠWhen selecting leakage breakers, remember to add the leakage current from devices other than
the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so
on. To prevent malfunction due to inrush current, we recommend using a leakage breaker of ten
times the total of all current values.
ΠThe leakage breaker is activated at 50% of the rated current. Allow leeway when selecting a
leakage breaker.
Œ For details on leakage breakers, refer to the manufacturer’s catalog.
ΠThe following table shows the Servomotor leakage current for each Servo Drive model.
4-3 Wiring Conforming to EMC Directives
„ Surge Absorbers
ΠUse surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply
input lines.
ΠWhen selecting surge absorbers, take into account the varistor voltage, the allowable surge
current and the energy.
ΠFor 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.
ΠThe surge absorbers shown in the following table are recommended.
4
Manufacturer
Model
Surge immunity
Okaya Electric
Industries Co., Ltd.
R·A·V-781BWZ-4
Okaya Electric
Industries Co., Ltd.
R·A·V-781BXZ-4
700 V ±20%
Type
2,500 A
Block
700 V ±20%
2,500 A
Remarks
Single-phase
100/200 VAC
Three-phase
200 VAC
System Design
Note 1. Refer to the manufacturers' documentation for operating details.
Note 2. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either
decrease the current or change to a larger-capacity surge absorber.
Dimensions
Single-phase BWZ Series
Three-phase BXZ Series
5.5
11
5.5
11
4.2 dia.
200
200
28.5
28.5
4.5
28
41
41
Equalizing Circuits
Single-phase BWZ Series
4-33
28
1 2 3
1 2
Three-phase BXZ Series
4.5
4.2 dia.
4-3 Wiring Conforming to EMC Directives
„ Noise Filters for the Power Supply Input
ΠUse the following noise filters for the Servo Drive's power supply.
Noise filter for the Power Supply Input
Servo Drive model
Model
Rated
current
Max. leakage
current (60 Hz)
SUP-EK5-ER-6
5A
1 mA
(at 250 VAC)
3SUP-HQ10-ER-6
10 A
3.5 mA
(at 500 VAC)
SUP-EK5-ER-6
5A
1 mA
(at 250 VAC)
Manufacturer
R88D-GNA5L-ML2
R88D-GN01L-ML2
R88D-GN02L-ML2
R88D-GN04L-ML2
4
R88D-GN02H-ML2
R88D-GN04H-ML2
3SUP-HQ10-ER-6
10 A
3.5 mA
(at 500 VAC)
3SUP-HU30-ER-6
30 A
3.5 mA
(at 500 VAC)
3SUP-HL50-ER-6B
50 A
8 mA
(at 500 VAC)
R88D-GN08H-ML2
Okaya Electric
Industries Co.,
Ltd.
R88D-GN10H-ML2
R88D-GN15H-ML2
R88D-GN20H-ML2
R88D-GN30H-ML2
R88D-GN50H-ML2
R88D-GN75H-ML2
Dimensions
SUP-EK5-ER-6
53.1±2.0
115
105
95
5.0
10.0
50.0
60.0
2.0
70
43
10
M4
Two, 4.5 dia. Six, M4
Cover mounting
screw M3
11.6
13.0
M4
52
Two, 4.5 × 6.75 dia.
5.5
Ground
terminal
12.0
7.0
100±2.0
88.0
75.0
3SUP-HQ10-ER-6
Cover
Noise Filter
4-34
System Design
R88D-GN01H-ML2
4-3 Wiring Conforming to EMC Directives
3SUP-HU30-ER-6
3SUP-HL50-ER-6B
Two,
5.5 × 7
dia.
5.5
Ground terminal
M4
Two,
5.5 dia.
M6
M6
13
43
10
18
90±1.0
120
95
70
286±3.0
270
255±1.0
240
150
115
105
Cover mounting
screw
M3
M4
System Design
52
4
Cover
Noise Filter
Circuit Diagrams
SUP-EK5-ER-6
3SUP-HQ10-ER-6
L
L
IN
Cy
R
Cx
OUT
L1
Cx
Cy
R
Cx1
Cx1
Cy1
3SUP-HU30-ER-6
3SUP-HL50-ER-6B
LINE
IN
LOAD
OUT
L1
R
Cx1
Cx1
Cy1
„ Noise Filter for the Brake Power Supply
ΠUse the following noise filter for the brake power supply.
Model
SUP-EK5-ER-6
Rated current Rated voltage
5A
250 V
Leakage current
Manufacturer
1.0 mA
(at 250 Vrms, 60 Hz)
Okaya Electric
Industries Co., Ltd.
Note Noise can also be reduced by using 1.5 turns with the ZCAT3035-1330 (TDK) Radio Noise
Filter.
4-35
4-3 Wiring Conforming to EMC Directives
„ Radio Noise Filters and Emission Noise Prevention Clamp Cores
Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent
noise emitted from the internal oscillation circuit.
Manufacturer
Application
*1
OMRON
Servo Drive output and power cable
3G3AX-ZCL2 *2
OMRON
Servo Drive output and power cable
NEC TOKIN
Servo Drive output and power cable
TDK
Encoder cable and I/O cable
3G3AX-ZCL1
ESD-R-47B *3
ZCAT3035-1330
*1.
*2.
*3.
*4.
*4
Generally used for 1.5 kW or higher.
Generally used for 1.5 kW or lower. The maximum number of windings is three turns.
Generally used for 50/100 W. The maximum number of windings is two turns.
Also used on the Servo Drive output power lines to comply with the EMC Directives. Only a
clamp is used. This clamp can also be used to reduce noise current on a frame ground line.
Dimensions
3G3AX-ZCL1
3G3AX-ZCL2
130
85
39.5
7
35
80
83±2
78
72
Three, M4
50
95
80
31.5
7 × 14 oval hole
26
Two, M5
12.5
180±2
160±2
7 dia.
ESD-R-47B
17.5
5.1 dia.
39
34
30
13
51.5
25.5 dia.
34.0
3.0
6.5
ZCAT 3035-1330
4-36
4
System Design
Model
4-3 Wiring Conforming to EMC Directives
Impedance Characteristics
3G3AX-ZCL1
3G3AX-ZCL2
1000
4T
4
100
Impedance (Ω)
Impedance (Ω)
20
15T
40
60
10
1
System Design
80
100
0.1
0.1
1
10
1
100
10
100
1000
Frequency (kHz)
Frequency (kHz)
ESD-R-47B
ZCAT 3035-1330
1000
10000
Impedance (Ω)
Impedance (Ω)
1000
100
10
1
1
10
100
Frequency (MHz)
4-37
1000
100
10
10
100
Frequency (MHz)
1000
10000
4-3 Wiring Conforming to EMC Directives
„ Surge Suppressors
ΠInstall surge suppressors for loads that have induction coils, such as relays, solenoids, brakes,
clutches, etc.
ΠThe following table shows the types of surge suppressors and recommended products.
Features
Recommended products
Diodes are used for relatively small loads
when the reset time is not an issue, such
as relays.
At power shutoff the surge voltage is the
lowest, but the reset time takes longer.
Used for 24/48-VDC systems.
Use a fast-recovery diode with a short reverse recovery time (e.g. RU2 of Sanken
Electric Co., Ltd.).
Thyristor or
varistor
Thyristors and varistors are used for loads
with large induction coils, as in electromagnetic brakes, solenoids, etc., and
when reset time is an issue. The surge
voltage at power shutoff is approximately
1.5 times the varistor voltage.
Select the varistor voltage as follows:
24 VDC system: Varistor V. 39V
100 VDC system: Varistor V. 200 V
100 VAC system: Varistor V. 270 V
200 VAC system: Varistor V. 470 V
Capacitor
+ resistor
The capacitor plus resistor combination is
used to absorb vibration in the surge at
Okaya Electric Industries Co., Ltd.
power shutoff. The reset time can be
XEB12002 0.2 µF - 120 Ω
shortened by selecting the appropriate ca- XEB12003 0.3 µF - 120 Ω
pacitance and resistance.
Diode
4
ΠThyristors and varistors are made by the following companies. Refer to manufacturers'
documentation for details on these components.
Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co.
„ Contactors
ΠSelect contactors based on the circuit's inrush current and the maximum momentary phase
current.
ΠThe Servo Drive inrush current is covered in the preceding explanation of no-fuse breaker
selection, and the maximum momentary phase current is approximately twice the rated current.
ΠThe following table shows the recommended contactors.
Manufacturer
OMRON
Model
Rated current
Coil voltage
J7L-09-22200
11 A
200 VAC
J7L-12-22200
13 A
200 VAC
J7L-18-22200
18 A
200 VAC
J7L-32-22200
26 A
200 VAC
J7L-40-22200
35 A
200 VAC
J7L-50-22200
50 A
200 VAC
J7L-65-22200
65 A
200 VAC
J7L-75-22200
75 A
200 VAC
4-38
System Design
Type
4-3 Wiring Conforming to EMC Directives
„ Improving Encoder Cable Noise Resistance
Take the following steps during wiring and installation to improve the encoder's noise resistance.
ΠAlways use the specified Encoder Cables.
ΠIf cables are joined midway, be sure to use connectors and do not remove more than 50 mm of
the cable insulation. In addition, always use shielded cables.
ΠDo not coil cables. If cables are long and are coiled, mutual induction and inductance will increase
and cause malfunctions. Always use cables fully extended.
ΠWhen installing noise filters for Encoder Cables, use clamp filters.
ΠThe following table shows the recommended clamp filters.
4
System Design
Manufacturer
Product name
Model
Specifications
NEC TOKIN
Clamp Filters
ESD-SR-250
For cable diameter up to
13 mm
TDK
Clamp Filters
ZCAT3035-1330
For cable diameter up to
13 mm
ΠDo not place the Encoder Cable with the following cables in the same duct:
Control Cables for brakes, solenoids, clutches, and valves.
Dimensions
31.6
ESD-SR-250
~13
dia.
31.5
38.0
Impedance Characteristics
ESD-SR-250
10000
Impedance(Ω)
1000
100
10
1
1
10
100
Frequency (MHz)
4-39
1000
4-3 Wiring Conforming to EMC Directives
„ Improving Control I/O Signal Noise Resistance
Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.
„ Reactors to Reduce Harmonic Current
Harmonic Current Countermeasures
ΠThe Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes
in electric currents.
Π"The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose
Components" require that manufacturers take appropriate measures to suppress harmonic
current emissions onto power supply lines.
ΠSelect the proper Reactor model according to the Servo Drive to be used.
Servo Drive model
Reactor specifications
Model
Rated current
Inductance
R88D-GNA5L-ML2
R88D-GN01H-ML2
3G3AX-DL2002
1.6 A
21.4 mH
R88D-GN01L-ML2
R88D-GN02H-ML2
3G3AX-DL2004
3.2 A
10.7 mH
R88D-GN02L-ML2
R88D-GN04H-ML2
3G3AX-DL2007
6.1 A
6.75 mH
R88D-GN04L-ML2
R88D-GN08H-ML2
R88D-GN10H-ML2
3G3AX-DL2015
9.3 A
3.51 mH
R88D-GN15H-ML2
3G3AX-DL2022
13.8 A
2.51 mH
R88D-GN08H-ML2
R88D-GN10H-ML2
R88D-GN15H-ML2
3G3AX-AL2025
10.0 A
2.8 mH
R88D-GN20H-ML2
R88D-GN30H-ML2
3G3AX-AL2055
20.0 A
0.88 mH
R88D-GN50H-ML2
3G3AX-AL2110
34.0 A
0.35 mH
R88D-GN75H-ML2
3G3AX-AL2220
67.0 A
0.18 mH
4-40
4
System Design
ΠUse completely separate power supplies for the control power supply (especially 24 VDC) and the
external operation power supply. In particular, do not connect the two power supply ground wires.
ΠInstall a noise filter on the primary side of the control power supply.
ΠIf Servomotors with brakes are being used, do not use the same 24-VDC power supply for both
the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the
ground wires may cause I/O signal errors.
ΠKeep the power supply for pulse commands and deviation counter reset input lines separated from
the control power supply as far as possible. In particular, do not connect the two power supply
ground wires.
ΠWe recommend using line drivers for the pulse command and deviation counter reset outputs.
ΠAlways use twisted-pair shielded cable for the pulse command and deviation counter reset signal
lines, and connect both ends of the shield to frame grounds.
Œ If the control power supply wiring is long, noise resistance can be improved by adding 1-µF
laminated ceramic capacitors between the control power supply and ground at the Servo Drive
input section or the controller output section.
ΠFor open-collector specifications, keep the length of wires to within two meters.
4-3 Wiring Conforming to EMC Directives
„ Selecting Other Parts for Noise Resistance
This section explains the criteria for selecting other connection components required to improve
noise resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable
conditions when selecting the components.
For more details, contact the manufacturers directly.
Noise Filters for the Power Supply Input
ΠUse a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive.
ΠSelect a noise filter with a rated current that is at least two times greater than the effective load
current (the rated current of the main circuit power supply input given in Main Circuit and
Servomotor Connector Specifications on page 4-20).
4
System Design
Manufacturer
NEC TOKIN
Okaya Electric
Industries Co.,
Ltd.
TDK
Model
Rated
current
GT-2050
5A
GT-2100
10 A
GT-2150
15 A
GT-2150
20 A
HFP-2153
15 A
HFP-2303
30 A
SUP-EK10-ER-6
10 A
SUP-EK15-ER-6
15 A
SUP-EK20-ER-6
20 A
SUP-EK30-ER-6
30 A
3SUP-HL10-ER-6
10 A
3SUP-HL15-ER-6
15 A
3SUP-HL30-ER-6
30 A
3SUP-HL75-ER-6
75 A
3SUP-HL100-ER-6
100 A
ZRCS2006-00S
6A
ZRCS2010-00S
10 A
ZRCS2020-00S
20 A
ZRCS2030-00S
30 A
ZRCT5050-MF
50 A
ZRCT5080-MF
80 A
ZRCT5100-MF
100 A
Applicable standards
Remarks
UL, CSA, VDE, TÜV
Singlephase
UL, CSA, TÜV
Threephase
UL, cUL, TÜV
Singlephase
UL, TÜV
Threephase
UL, CSA, NEMKO
Singlephase
UL, CSA, NEMKO
Threephase
Note 1. To attenuate noise at low frequencies below 200 kHz, use an isolation transformer and a
noise filter.
Note 2. To attenuate noise at high frequencies over 30 MHz, use a ferrite core and a high-frequency
noise filter with a feed-through capacitor.
Note 3. If multiple Servo Drives are connected to a single noise filter, select a noise filter with a rated
current at least two times the total rated current of all the Servo Drives.
4-41
4-3 Wiring Conforming to EMC Directives
Noise Filters for Servomotor Output
ΠUse noise filters without built-in capacitors on the Servomotor output lines.
ΠSelect a noise filter with a rated current at least two times the Servo Drive's continuous output
current.
ΠThe following table shows the noise filters that are recommended for Servomotor output.
OMRON
Rated
current
Model
3G3AX-NF001
6A
3G3AX-NF002
12 A
3G3AX-NF003
25 A
3G3AX-NF004
50 A
3G3AX-NF005
75 A
3G3AX-NF006
100 A
Remarks
4
For inverter output
Note 1. Servomotor output lines cannot use the same noise filters for power supplies.
Note 2. Typical general-purpose noise filters are made for power supply frequencies of 50/60 Hz. If
these noise filters are connected to the PWM output of the Servo Drive, a very large (about
100 times larger) leakage current will flow through the noise filter's condenser and the Servo
Drive could be damaged.
Dimensions
3G3AX-NF001/-NF002
E
F
G
Four, M
J
C
B
A
P
Model
M4
H
Dimensions (mm)
A
B
C
E
F
G
H
J
M
P
3G3AX-NF001
140
125
110
70
95
22
50
20
4.5 dia.
156
3G3AX-NF002
160
145
130
80
110
30
70
25
5.5 dia.
176
4-42
System Design
Manufacturer
4-3 Wiring Conforming to EMC Directives
3G3AX-NF003/-NF004/-NF005/-NF006
Six, O
30
P
F
E
50
Two, N
4
C
B
A
J
H
System Design
Four, 6.5 dia.
50
Model
4-43
Dimensions (mm)
A
B
C
E
F
H
J
N
O
P
3G3AX-NF003
160
145
130
80
112
120
---
---
M4
154
3G3AX-NF004
200
180
160
100
162
150
120
M5
M5
210
3G3AX-NF005
220
200
180
100
182
170
140
M6
M6
230
3G3AX-NF006
220
200
180
100
182
170
140
M8
M8
237
4-4 Regenerative Energy Absorption
4-4 Regenerative Energy Absorption
The Servo Drives have internal regenerative energy absorption circuitry, which absorbs the
regenerative energy produced during Servomotor deceleration and prevents the DC voltage from
increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the
Servomotor is too large. If this occurs, measures must be taken to reduce the regenerative energy
by changing operating patterns, or to increase the regenerative energy absorption capacity by
connecting an External Regeneration Resistor.
4
Calculating the Regenerative Energy
System Design
„ Horizontal Axis
+N1
Servomotor
operation
−N2
TD2
Eg2
Servomotor
output torque
TD1
Eg1
t1
t2
T
ΠIn the output torque graph, acceleration in the positive direction is shown as positive, and
acceleration in the negative direction is shown as negative.
ΠThe regenerative energy values for each region can be derived from the following equations.
E g1 =
1
2
* 60 * N 1 * T D1 * t1 [J]
2π
E g2 =
1
2
* 60 * N 2 * T D2 * t2 [J]
2π
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [N·m]
t1, t2:
Deceleration time [s]
Note Due to the loss of winding resistance and PWM, the actual regenerative energy will be
approximately 90% of the values derived from these equations.
4-44
4-4 Regenerative Energy Absorption
ΠFor Servo Drive models with internal capacitors used for absorbing regenerative energy, the
values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Drive’s regenerative energy
absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive
Regenerative Energy Absorption Capacity on page 4-47.)
ΠFor Servo Drive models with an internal regeneration resistor used for absorbing regenerative
energy, the average amount of regeneration Pr (unit: W) must be calculated, and this value must
be lower than the Servo Drive’s regenerative energy absorption capacity. (The capacity depends
on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page
4-47.)
The average regeneration power (Pr) is the regeneration power produced in one cycle of
operation [W].
4
Pr
= (Eg1 + Eg2) / T [W]
System Design
T: Operation cycle [s]
4-45
4-4 Regenerative Energy Absorption
„ Vertical Axis
+N1
Falling
Servomotor
operation
Rising
−N2
TD2
4
TL2
Servomotor
output torque
Eg3
TD1
Eg1
t
t
1
2
t
3
T
ΠIn the output torque graph, acceleration in the positive direction (rising) is shown as positive, and
acceleration in the negative direction (falling) is shown as negative.
ΠThe regenerative energy values for each region can be derived from the following equations.
E g1 =
E g2 =
E g3 =
1
2
2π
* 60 * N 1 * T D1 * t1 [J]
2π
[J]
N 2 * T L 2 * t2
60 *
1 2π
N 2 * T D2 * t3 [J]
2 * 60 *
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [N·m]
Torque when falling [N·m]
TL2:
t1, t3:
Deceleration time [s]
t2:
Constant-velocity travel time when falling [s]
Note Due to the loss of winding resistance, the actual regenerative energy will be approximately
90% of the values derived from these equations.
ΠFor Servo Drive models with internal capacitors used for absorbing regenerative energy, the
values for both Eg1 or Eg2 + Eg3 (unit: J) must be lower than the Servo Drive’s regenerative energy
absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive
Regenerative Energy Absorption Capacity on page 4-47.)
ΠFor Servo Drive models with an internal regeneration resistor used for absorbing regenerative
energy, the average amount of regeneration Pr (unit: W) must be calculated, and this value must
be lower than the Servo Drive’s regenerative energy absorption capacity. (The capacity depends
on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page
4-47.)
The average regeneration power (Pr) is the regeneration power produced in one cycle of
operation [W].
P r = ( E g1 + E g2 + E g2 ) / T [W]
T: Operation cycle [s]
4-46
System Design
Eg2
4-4 Regenerative Energy Absorption
Servo Drive Regenerative Energy Absorption Capacity
„ Amount of Internal Regeneration Absorption in Servo Drives
The OMNUC G-Series Servo Drives absorb regenerative energy internally with built-in capacitors.
If the regenerative energy is too large to be processed internally, an overvoltage error occurs and
operation cannot continue.
The following table shows the regenerative energy (and amount of regeneration) that each Servo
Drive can absorb. If these values are exceeded, take the following measures.
ΠConnect an External Regeneration Resistor (to improve the regeneration processing capacity).
ΠReduce the operating rotation speed. (The amount of regeneration is proportional to the square of
the rotation speed.)
ΠExtend the deceleration time (to decrease the regenerative energy produced per time unit).
ΠExtend the operation cycle, i.e., the cycle time (to decrease the average regeneration power).
System Design
4
Internal regeneration resistance
Servo Drive model
Regenerative
energy (J) that can
be absorbed by
internal capacitor
Minimum value
of regeneration
Resistance
resistance
(Ω)
(Ω)
Average amount of
regeneration that can
be absorbed (W)
R88D-GNA5L-ML2
12
---
---
18
R88D-GN01L-ML2
12
---
---
18
R88D-GN02L-ML2
18
---
---
18
R88D-GN04L-ML2
27
12
50
13
R88D-GN01H-ML2
16
---
---
35
R88D-GN02H-ML2
16
---
---
35
R88D-GN04H-ML2
25
---
---
35
R88D-GN08H-ML2
43
12
100
27
R88D-GN10H-ML2
70
20
30
27
R88D-GN15H-ML2
70
20
30
18
R88D-GN20H-ML2
70
40
15
11
R88D-GN30H-ML2
70
40
15
11
R88D-GN50H-ML2
105
80
10
7
R88D-GN75H-ML2
250
---
---
4
Note These are the values at 100 VAC for 100-VAC models, and at 200 VAC for 200-VAC models.
4-47
4-4 Regenerative Energy Absorption
Absorbing Regenerative Energy with an External Regeneration
Resistor
„ External Regeneration Resistor
Performance Specifications
Model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
R88A-RR50020S
Resistance
50 Ω
100 Ω
47 Ω
20 Ω
Nominal
capacity
80 W
80 W
220 W
500 W
Regeneration ab- Heat radiation
sorption at 120°C
condition
Thermal switch output
specifications
20 W
Operating temperaAluminum,
ture: 150°C ±5%
250 × 250,
NC contact
Thickness: 3.0 Rated output:
30 VDC, 50 mA max.
20 W
Operating temperaAluminum,
ture: 150°C ±5%
NC contact
250 × 250,
Thickness: 3.0 Rated output:
30 VDC, 50 mA max.
70 W
Operating temperaAluminum,
ture: 170°C ±7°C
350 × 350,
NC contact
Thickness: 3.0 Rated output:
250 VAC, 0.2 A max.
180 W
Operating temperature: 200°C ±7°C
Aluminum,
NC contact
600 × 600,
Rated output:
Thickness: 3.0
250 VAC, 0.2 A max.
24 VDC, 0.2 A max.
4-48
4
System Design
If the regenerative energy exceeds the absorption capacity of the Servo Drive, connect an External
Regeneration Resistor.
Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive.
Double-check the terminal names when connecting the resistor because the Servo Drive may be
damaged by burning if connected to the wrong terminals.
The External Regeneration Resistor will heat up to approximately 120°C. Do not place it near
equipment and wiring that is easily affected by heat. Attach radiator plates suitable for the heat
radiation conditions.
4-4 Regenerative Energy Absorption
Connecting an External Regeneration Resistor
„ R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/-GN02H-ML2/
-GN04H-ML2
If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the
diagram below.
Servo Drive
4
θ>
Thermal Switch Output
B1
System Design
B2
Precautions
for Correct Use
External
Regeneration
Resistor
ΠConnect the thermal switch output so that the main circuit power supply is
shut OFF when the contacts open. The resistor may be damaged by
burning, or cause fire if it is used without setting up a power supply shutoff
sequence using the output from the thermal switch.
„ R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2/-GN20H-ML2/
-GN30H-ML2/-GN50H-ML2
If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3,
and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram
below.
Servo Drive
θ>
B1
B3
Thermal Switch Output
External Regeneration
Resistor
B2
Remove the short-circuit bar between B2 and B3.
Precautions
for Correct Use
4-49
ΠConnect the thermal switch output so that the main circuit power supply is
shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each
thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without
setting up a power supply shutoff sequence using the output from the
thermal switch.
4-4 Regenerative Energy Absorption
„ R88D-GN75H-ML2
If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the
diagram below.
Servo Drive
θ>
Thermal Switch Output
B1
Precautions
for Correct Use
External
Regeneration
Resistor
4
ΠConnect the thermal switch output so that the main circuit power supply is
shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each
thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without
setting up a power supply shutoff sequence using the output from the
thermal switch.
4-50
System Design
B2
4-4 Regenerative Energy Absorption
Combining External Regeneration Resistors
Regeneration
absorption
capacity *1
Model
Resistance*2
20 W
40 W
70 W
140 W
R88A-RR08050S
R88A-RR080100S
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S
R88A-RR22047S
50 Ω / 100 Ω
25 Ω / 50 Ω
47 Ω
94 Ω
R
Connection
method
System Design
4
R
Regeneration
absorption
capacity *1
Model
R
140 W
280 W
560 W
R88A-RR22047S
R88A-RR22047S
R88A-RR22047S
23.5 Ω
47 Ω
23.5 Ω
Resistance*2
Connection
method
Regeneration
absorption
capacity *1
Model
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
R
180 W
360 W
1440 W
R88A-RR50020S
R88A-RR50020S
R88A-RR50020S
20 Ω
10 Ω
10 Ω
Resistance*2
Connection
method
R
R
R
R
R
R
R
R
R
R
R
*1. Select a combination that has an absorption capacity greater than the average regeneration
power (Pr).
*2. Do not use a combination with resistance values lower than the minimum external regeneration
resistance of each Servo Drive. For information on the minimum external regeneration
resistance, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-47.
Precautions
for Correct Use
4-51
Œ Surface temperatures on regeneration resistors can reach 200°C.
Do not place objects that tend to catch fire near the resistors. To prevent
people from touching them, install a type of cover that enables heat
dissipation.
Chapter 5
Operating Functions
5-1
5-2
5-3
5-4
5-5
5-6
5-7
5-8
5-9
5-10
5-11
5-12
5-13
5-14
5-15
5-16
5-17
5-18
5-19
5-20
5-21
5-22
5-23
5-24
5-25
5-26
Position Control.................................................. 5-1
Speed Control .................................................... 5-4
Torque Control ................................................... 5-7
Forward and Reverse Drive Prohibit .................. 5-10
Brake Interlock ................................................... 5-11
Torque Limit ....................................................... 5-16
Soft Start ............................................................ 5-18
Acceleration/Deceleration Time Settings ........... 5-19
Moving Average Time ........................................ 5-20
Electronic Gear .................................................. 5-21
Speed Limit ........................................................ 5-22
Sequence Input Signals ..................................... 5-23
Sequence Output Signals .................................. 5-25
Backlash Compensation .................................... 5-27
Overrun Protection ............................................. 5-29
Gain Switching ................................................... 5-31
Speed Feed-forward .......................................... 5-38
Torque Feed-forward ......................................... 5-39
Speed Feedback Filter Selection ....................... 5-40
P Control Switching............................................ 5-41
Torque Command Filter Time Constant ............. 5-42
Notch Filter......................................................... 5-43
Adaptive Filter .................................................... 5-45
Instantaneous Speed Observer ......................... 5-48
Damping Control ................................................ 5-50
User Parameters ................................................ 5-55
Setting and Checking Parameters ........................................5-55
Parameter Tables .................................................................5-61
5-27 Details on Important Parameters ....................... 5-86
5-1 Position Control
5-1 Position Control
Function
Performs position control using commands from the Position Control Units for MECHATROLINK-II,
CJ1W-NCF71/CS1W-NCF71.
The Servomotor rotates using the value of the position command (position command units)
multiplied by the Electronic Gear Ratio (Pn205/Pn206).
Host Controller
(MECHATROLINK-II compatible)
OMNUC G-Series Servo Drive
5
Operating Functions
Position Control Unit
CJ1W-NCF71
CS1W-NCF71
(Absolute Movement
Command /
Relative Movement
Command)
Issue Positioning
Command
Position Control
Mode
Electronic Gear
Ratio
Feedback
Position/Speed
OMNUC G-Series
Servomotor
G1: Pn205
G2: Pn206
G1/G2
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference page
Pn205
Pn206
Electronic Gear
Ratio 1
(Numerator)
Electronic Gear
Ratio 2
(Denominator)
Sets the electronic gear ratio (G1/G2).
5-85
5-85
Pn107
Linear Acceleration
Constant
Sets the angular acceleration (command units/s2) for
positioning operations.
5-82
Pn10A
Linear Deceleration Constant
Sets the angular deceleration (command units/s2) for
positioning operations.
5-82
Pn10E
Moving Average
Time
Sets the moving average time for the position command.
Reduces the angular acceleration when starting and stopping, and when approaching and leaving target speed.
5-82
Pn209
Deviation Counter
Overflow Level
Sets the level to detect the deviation counter overflow in
command units. Setting is based on the encoder to be
used and the electronic gear ratio.
5-85
Pn101
Backlash
Compensation
Sets the mechanical backlash in command units.
5-81
5-1
5-1 Position Control
Related Functions
ΠThe main functions related to position control are as follows:
Explanation
Reference page
Speed Feed-forward
This function issues direct speed commands without going
through the deviation counter.
Sets the speed command ratio (%).
5-38
Damping Control
Sets the vibration frequencies 1, 2 and vibration filters 1,2
for damping control.
5-50
Moving Average Time
Sets the moving average time for the position command.
Reduces the acceleration when starting and stopping, and
when approaching and leaving target speed.
5-20
Soft Limit
Sets the maximum position command and position feedback current value during position control.
5-81
Backlash Compensation
Sets the mechanical backlash in command units.
5-27
5
Operating Functions
Function
5-2
5-1 Position Control
Parameter Block Diagram for Position Control Mode
MECHATRO
LINK-II
MECHATRO
LINK-II
Operating Functions
5
Speed
Command
Speed FF
[VFF]
Generate
Position
Command
Target
Position
[TPOS]
Target
Speed
[TSPD]
Command
Position
[IPOS]
Command
Speed
[CSPD]
Command
Position
[POS,
MPOS]
Feedback
Position
[AOPS/
LPOS]
Torque
Command
TRQ [%]
*1
Electronic
Gear
Pn205:
Numerator
Pn206:
Denominator
Pn10E:
Moving
Average
Pn015:
FF Amount
Pn016:
Time
Constant
+
Deviation
Counter
Pn010: No.1
Pn018: No.2
+
−
+
+
−
Speed Command
Monitor
Deviation
Monitor
Feedback Speed
[FSPD]
Speed Monitor SP
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time Constant 2
Pn020:
Inertia Ratio
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
Torque Command [TRQ]
Receive
Encoder
Signal
Notch Filter
Torque Limit
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Pn003: Selection
Pn014: Filter
Pn01C: Filter 2
Torque Limit PCL/NCL
Speed
PI Processor
Speed FF
Position Deviation
[PERR]
Torque Command Filter
5-3
Vibration Filter
Pn02B:
Frequency 1
Pn02C:
Filter 1
Pn02D:
Frequency 2
Pn02E:
Filter 2
+
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
−
Torque
PI
Processor
Current Feedback
Torque Monitor IM
RE
SM
*1
5-2 Speed Control
5-2 Speed Control
Function
ΠPerforms speed control using commands from the Position Control Units for MECHATROLINK-II,
CJ1W-NCF71/CS1W-NCF71. The Servomotor rotates at the command speed.
ΠThe current feedback value is divided by the Electronic Gear Ratio (Pn205/Pn206) and expressed
in the commanded units.
CJ1W-NCF71
CS1W-NCF71
(Speed Control
Command)
Issue Torque Feedforward Command
Feedback
Position/Speed
OMNUC G-Series
Servomotor
Electronic Gear
Ratio
G1: Pn205
G2: Pn206
G1/G2
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference page
Pn205
Pn206
Electronic Gear
Ratio 1(Numerator)
Electronic Gear
Sets the electronic gear ratio (G1/G2).
Ratio 2
(Denominator)
5-85
5-85
Pn058
Soft Start
Acceleration Time
Sets the time for the Servomotor to accelerate from 0 to
maximum speed [r/min].
5-74
Pn059
Soft Start
Deceleration Time
Sets the time for the Servomotor to decelerate from maximum speed to 0 r/min.
5-74
Pn061
Speed Conformity
Signal Output
Width
Sets the detection width for the speed conformity output
width (VCMP).
5-75
Pn062
Rotation Speed for
Motor Rotation
Detection
Sets the rotations for the motor rotation detection output
(TGON) signal.
5-75
Pn011
Pn019
Speed Loop Gain
1, 2
Adjusts the speed loop responsiveness.
The larger the value, the faster the response is.
5-67
Pn012
Pn01A
Speed Loop
Integration Time
Constant 1, 2
Sets the speed loop integration time constant.
Adjusts according to the inertia of the load.
5-67
Pn020
Inertia Ratio
Sets the load inertia. The speed loop responsiveness is the
value multiplied by the speed loop gain.
5-68
Pn013
Pn01B
Speed Feedback
Filter Time
Constant 1, 2
Sets the speed feedback time constant.
Normally, use a setting of 0.
5-67
5-4
5
Operating Functions
OMNUC G-Series Servo Drive
Host Controller
(MECHATROLINK-II Compatible)
Issue Target Speed
Speed Control
Specification Command
Mode
Position Control Unit
5-2 Speed Control
Related Functions
ΠThe main functions related to speed control are as follows:
Function
Operating Functions
Reference page
Torque Feed-forward
This function issues direct torque commands
without performing speed PI calculations.
Sets the torque command ratio (%).
5-39
Soft Start
Sets the soft acceleration and deceleration for
the speed command.
5-18
Torque Limit
Limits the output torque.
5-16
P Control Switching
Switches from PI control to P control.
5-41
Speed Feedback Filter
Selection
Changes the time constant of the detection filter
for the feedback speed to reduce resonance of
the load.
5-40
5
5-5
Explanation
5-2 Speed Control
Parameter Block Diagram for Speed Control Mode
Speed Command
Speed FF [VFF]
Speed Command
Unit Conversion
Speed
PI Processor
Target Speed
[VREF/TSPD]
Command Speed
Monitor
[CSPD]
MECHATRO
LINK-II
Feedback Position
[AOPS/LPOS]
Soft Start
Acceleration/
Deceleration
Pn058: Acceleration
Pn059: Deceleration
Feedback Speed
[FSPD]
+
−
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time Constant 2
Pn020:
Inertia Ratio
5
*1
Speed Command
Monitor
Electronic Gear
Torque Command
Monitor
[TRQ]
Pn205: Numerator
Pn206: Denominator
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
CW Torque Limit
CCW Torque Limit
[PTLIM/NTLIM]
Speed Monitor SP
Torque Command
TRQ [%]
*1
Receive
Encoder
Signal
Notch Filter
Torque Limit
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Pn003: Selection
Torque Command Filter
+
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
−
Torque
PI
Processor
RE
SM
Current Feedback
Torque Monitor IM
Pn014: Filter
Pn01C: Filter 2
Torque Limit PCL/NCL
5-6
Operating Functions
MECHATRO
LINK-II
5-3 Torque Control
5-3 Torque Control
Function
ΠPerforms torque control using commands from the Position Control Units for MECHATROLINK-II,
CJ1W-NCF71/CS1W-NCF71. The Servomotor operates with the commanded torque output.
The current feedback value is divided by the Electronic Gear Ratio (Pn205/Pn206) and expressed
in the commanded units.
Host Controller
OMNUC G-Series Servo Drive
(MECHATROLINK-II Compatible)
Issue Torque
Torque Control
Position Control Unit Specification Command Mode
CJ1W-NCF71
Issue Speed
CS1W-NCF71
Electronic Gear
Limit Command
Ratio
(Torque Control
Command)
G1: Pn205
Feedback
G2: Pn206
Position/Speed
G1/G2
Operating Functions
5
OMNUC G-Series
Servomotor
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference page
Pn205
Pn206
Electronic Gear
Ratio 1
(Numerator)
Electronic Gear
Ratio 2
(Denominator)
Sets the electronic gear ratio (G1/G2).
5-85
5-85
Pn053
Speed Limit
Limits the speed during torque control.
5-74
Pn05B
Speed Limit
Selection
Selects speed limit control from the network or through
internal parameter Pn053.
5-75
Pn003
Torque Limit
Selection
Selects torque limit from the network or through
parameter settings.
5-87
Pn05E
No. 1 Torque Limit
Sets the No. 1 Servomotor output torque limit.
5-75
Pn05F
No. 2 Torque Limit
Sets the No. 2 Servomotor output torque limit.
5-75
Pn01D
Notch Filter 1
Frequency
Sets the notch filter 1 frequency for the torque command.
5-68
Pn028
Notch Filter 2
Frequency
Sets the notch filter 2 frequency for the torque command.
5-71
5-7
5-3 Torque Control
Related Functions
Functions related to torque control are as follows:
Explanation
Reference page
Torque Command
Filter Time
Constant
Increase to decrease machine resonance.
5-42
Notch Filter
Sets the machine specific resonance frequency.
5-43
Speed Limit
Limits the Servomotor speed during torque control.
5-22
Torque Limit
Limits the maximum output torque during torque control.
5-16
Speed Feedback
Filter Selection
Selects the speed detection filter.
5-40
5
Operating Functions
Function
5-8
5-3 Torque Control
Parameter Block Diagram for Torque Control Mode
MECHATRO
LINK-II
Speed Limit Selection
Unit Conversion
Sign
Speed
PI Processor
Pn053: Internal Value
Pn05B: Selection Setting
Absolute
Value
+
X
−
Speed Limit Value
5
MECHATRO
LINK-II
[VLIM/TSPD]
Operating Functions
Command Speed
Monitor
[CSPD]
Feedback Position
[AOPS/LPOS]
Speed Command
Monitor
Speed Detection Filter
Pn013: Filter 1
Pn01B: Filter 2
Electronic Gear
Pn205: Numerator
Pn206: Denominator
Feedback Speed
[FSPD]
*1
*2
Notch Filter
Torque Limit
Pn01D: Filter 1 Frequency
Pn01E: Filter 1 Width
Pn028: Filter 2 Frequency
Pn029: Filter 2 Width
Pn02A: Filter 2 Depth
Pn02F: Adaptive Filter
Pn003: Selection
Pn014: Filter
Pn01C: Filter 2
Torque Limit PCL/NCL
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time Constant 2
Pn020:
Inertia Ratio
*1
Speed Monitor SP
Torque Command
Monitor
[TRQ]
Torque Command Filter
5-9
*2
Absolute
Value
Torque Command
TQRFF [%]
Receive
Encoder
Signal
+
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
−
Torque
PI
Processor
Current Feedback
Torque Monitor IM
RE
SM
5-4 Forward and Reverse Drive Prohibit
5-4
Forward and Reverse Drive Prohibit
Function
ΠThis function sets the Forward Drive Prohibit Input (POT) and Reverse Drive Prohibit Input (NOT)
operation at the control I/O connector CN1 on the Servo Drive.
ΠYou can stop the Servomotor from rotating beyond the machine's operating range with the drive
prohibition inputs.
Parameters Requiring Settings
5
Parameter
No.
Parameter name
Pn004
Drive Prohibit Input
Selection
Chooses whether to enable or disable this function when
POT/NOT turns OFF.
5-88
Pn044
Input Signal
Selection
Sets the POT/NOT assignment. By default, CN1 pin 19 is
set to POT, and CN1 pin 20 is set to NOT.
5-74
Pn066
Stop Selection for
Drive Prohibition
Input
Sets the deceleration stopping method when POT/NOT
turns OFF.
5-95
Reference page
Operating Functions
Explanation
Operation
[Stopping method when Pn004=0 and either POT or NOT turns OFF]
Stop Selection for Drive
Prohibition Input (Pn066)
0
POT (NOT) turns OFF.
1
Deceleration Method
Decelerates with dynamic brake
Stopped Status
Disables torque
in drive prohibited
direction
Use free-run to decelerate
2
Use Emergency Stop Torque
(Pn06E) to decelerate.
Servo lock status
ΠDrive Prohibit Input Error (alarm code 38) occurs when Pn004=0 and both Forward Drive Prohibit
and Reverse Drive Prohibit inputs turn OFF.
ΠWhen Pn004=1, the inputs for both Forward Drive Prohibit and Reverse Drive Prohibit are
disabled.
ΠDrive Prohibit Input Error (alarm code 38) occurs when Pn004=2, and either Forward Drive
Prohibit input or Reverse Drive Prohibit input turns OFF.
ΠAfter stopping, a command in the direction of the drive prohibit input will cause a command
warning.
With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive
prohibit input. To prevent this, it is recommended that the deceleration method be set to use
emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066), and that
stopping in the servo-lock state be set (set value: 2).
5-10
5-5 Brake Interlock
5-5 Brake Interlock
Function
ΠThis function sets the output timing of the Brake Interlock (BKIR) signal used to activate the holding
brake during servo ON, alarms, and servo OFF.
Parameters Requiring Settings
Operating Functions
5
Parameter
No.
Parameter name
Pn06A
Brake Timing when
Stopped
Sets the delay time from the Servo OFF command to the
Brake Interlock (BKIR) signal OFF and power stoppage
during a servo lock stop.
5-78
Pn06B
Brake Timing
during Operation
Sets the delay time from the Servo OFF command to the
Brake Interlock (BKIR) signal OFF and power stoppage
while the Servomotor is operating. BKIR turns OFF if the
speed drops below 30 r/min before the set time.
5-78
Explanation
Reference page
Precautions on the holding brake
ΠThe brake on a Servomotor with a brake is a nonexcitation brake designed for holding during
stops.
Set the time so that the brake is activated after the Servomotor is stopped.
ΠIf the brake is applied while the Servomotor is rotating, the brake disk may be damaged or wear
out, and cause damage to the Servomotor bearings and encoder.
5-11
5-5 Brake Interlock
„ Operation timing during Servo ON or OFF (when Servomotor is stopped)
ON
Servo OFF
Run Command (RUN)
*1
Servo ON
Servo OFF
OFF
Approx. 2 ms
ON
Dynamic Brake
Relay
DB Engaged
DB Released
DB Engaged *2
OFF
Approx. 40 ms
Pn06A
ON
Deenergized
Servomotor
Energized
Deenergized
OFF
Approx. 2 ms
OFF
Break Release Request ON
via MECHATROLINK-II
OFF
Control
Brake Interlock
Output (BKIR)*3
1 to 5 ms
ON
Release Request
5
Release Request
ON
OFF
Release Request
Attraction Time
Release Time
Released
Holding Brake
Brake Released
Engaged
*1. The Servo ON status will not occur until the Servomotor speed drops below approximately 30 r/min.
*2. The operation of the dynamic brake during Servo OFF depends on the Stop Selection with Servo OFF (Pn069).
*3. The Brake Interlock (BKIR) signal is output on the release request command that comes first, either from the Servo
Controller or the MECHATROLINK-II. The BKIR signal is used by assigning it to the general purpose outputs on
CN1.
Note The brake attraction and release time varies depending on the brake on the Servomotor. For details, refer
to 3-2 Servomotor Specifications on page 3-17.
5-12
Operating Functions
Break Release Request
via Servo Control
5-5 Brake Interlock
„ Operation timing during Servo ON or OFF (when Servomotor is rotating)
Regenerative energy occurs when the Servomotor is stopped on an alarm under this operation
timing.
For this reason, the operation cannot be repeated. Wait at least 10 minutes before the Servomotor
cools down.
ON
Run Command (RUN)
Servo OFF
Servo ON
*1
Servo OFF
OFF
Approx. 2 ms
Dynamic Brake
Relay
1 to 5 ms
ON
DB Engaged
DB Released
DB Engaged *2
OFF
Approx. 40 ms
5
Servomotor
ON
Deenergized
Energized
Approx. 2 ms
Operating Functions
Deenergized
OFF
Brake Interlock
Output (BKIR)*3
t1*4
Pn06B
ON
Brake Engaged
Release Request
OFF
Rotation Speed A
Approx. +30 r/min
Servomotor
Rotation Speed
Approx. 30 r/min
BKIR
Servo ON Enabled
Approx. −30 r/min
Release Request
Rotation Speed B
Brake Engaged
Approx. 30 r/min
*1. The Servo ON status will not occur until the Servomotor speed drops below approximately 30 r/min.
*2. The operation of the dynamic brake during Servo OFF depends on the Stop Selection with Servo OFF (Pn069).
*3. The Brake Interlock (BKIR) signal is output on the release request command that comes first, either from the Servo
Controller or the MECHATROLINK-II. The BKIR signal is used by assigning it to the general purpose outputs on
CN1.
In the example above, a release request was not issued from the network.
*4. t1 is either the Brake Timing during Operation (Pn06B) setting or the time for the Servomotor speed to drop below
approximately 30 r/min, whichever occurs first.
Note The Servomotor will not change to Servo ON until it stops even if the Servo ON input is turned ON while it
is decelerating.
5-13
5-5 Brake Interlock
„ Operation timing during alarms (during Servo ON)
OFF
Normal
Alarm
Alarm output
ON
0.5 to 5 ms
ON
Servomotor
Energized
Deenergized
OFF
Approx. 2 ms
Dynamic Brake
Relay
Servo Ready
Output (READY)
Alarm Output (ALM)
ON
DB Released
DB Engaged *1
OFF
ON
READY
5
OFF
ON
Alarm
t1
Brake Interlock
Output (BKIR) *2
ON
OFF
Release
Request
Pn06B
Brake Engaged
Rotation Speed A
If the timing for
Pn06B comes first
Approx. 30 r/min
Brake Interlock
Output (BKIR)
BKIR
Release Request
Rotation Speed B
Operating Functions
OFF
Brake Engaged
If the timing to
reach 30 r/min comes first
Approx. 30 r/min
*1. The operation of the dynamic brake during alarms depends on the Stop Selection with Servo OFF (Pn069).
*2. t1 is either the Brake Time during Operation (Pn06B) setting or the time for the Servomotor speed to drop below
approximately 30 r/min, whichever occurs first. t1 becomes 0 when an alarm occurs while the motor is stopped.
Note 1. The Servomotor will not change to Servo ON until it stops even if the Servo ON input is turned ON while
it is decelerating. The Brake Interlock (BKIR) signal is used by assigning it to the general purpose outputs
on CN1.
Note 2. The above operation timing is applied because of the Missing Phase alarm and Main Circuit Low Voltage
alarm when the power is turned OFF while the Servomotor is rotating.
5-14
5-5 Brake Interlock
„ Operation timing at alarm reset
Perform an alarm reset from CX-Drive, host controller via MECHATROLINK-II, or the Parameter
Unit. (Alarms can also be reset by recycling the power.)
Reset
ON
Alarm Reset
OFF
120 ms
Servo Ready
Output (READY)
ON
READY
OFF
ON
Alarm Output (ALM)
Alarm
Alarm Reset
OFF
Operating Functions
5
0 ms min.
Run Command
(RUN)
Dynamic Brake
Relay
ON
Servo OFF
*1
Servo ON
OFF
ON
DB Engaged
DB Released
OFF
Approx. 40 ms
ON
Deenergized
Servomotor
Energized
OFF
2 ms
Brake Interlock
Output (BKIR) *2
ON
Brake Engaged
Release Request
OFF
100 ms min.
Operation Command
Input
ON
Prohibited
Enabled
OFF
*1. Servo ON status will not occur until the Servomotor speed drops below approximately 30 r/min.
*2. The Brake Interlock (BKIR) signal is output on the release request command that comes first, either from the Servo
Controller or the MECHATROLINK-II. The BKIR signal is used by assigning it to the general purpose outputs on
CN1.
Note Servo OFF status occurs (Servomotor is de-energized) after the alarm reset. To go to Servo ON status,
issue the Servo ON command again after the alarm reset according to the operation timing shown above.
5-15
5-6 Torque Limit
5-6 Torque Limit
Function
ΠThis function limits the torque output by the Servomotor.
ΠThe function can be used for:
· pressing in press machine applications
· protecting a mechanical system by suppressing torque at start-up and deceleration
ΠThere are several methods to choose at the Torque Limit Selection (Pn003).
Parameter
No.
Parameter name
Explanation
Reference page
Pn003
Torque Limit
Selection
Selects the torque limit by various
parameters and from the network.
5-87
Pn05E
No. 1 Torque Limit
Sets the No.1 Servomotor output torque
limit.
5-75
Pn05F
No. 2 Torque Limit
Sets the No. 2 Servomotor output torque
limit.
5-75
„ Torque limit settings for each Servomotor
ΠThe setting range for the torque limit is 0 to 300% and the standard default setting is 300% except
for the following combinations of Servo Drives and Servomotors.
Servo Drive
Applicable Servomotor
Maximum torque limit [%]
R88D-GN15H-ML2
R88M-G90010T
225
R88D-GN30H-ML2
R88M-G2K010T
230
R88M-G3K010T
235
R88M-G4K510T
255
R88M-G6K010T
256
R88M-G7K515T
250
R88D-GN50H-ML2
R88D-GN75H-ML2
5-16
Operating Functions
5
Parameters Requiring Settings
5-6 Torque Limit
„ Torque limit during position and speed control
Pn003
Settings
1
Set the limit values for forward and reverse operations in Pn05E.
2
Forward: Use Pn05E.
Reverse: Use Pn05F.
3
Switch limits by torque limit values and input signals from the network.
Limit in forward direction:
PCL is OFF = Pn05E, PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E, NCL is ON = Pn05F
4
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be switched by torque limit values from the
network as below.
Limit in forward direction:
Use Pn05E or MECHATROLINK-II command option command value 1, whichever is
smaller.
Limit in reverse direction:
Use Pn05F or MECHATROLINK-II command option command value 2, whichever is
smaller.
5
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be switched by torque limit values and input
signals from the network as below.
Limit in forward direction:
PCL is OFF = Pn05E,
PCL is ON = Pn05E or MECHATROLINK-II command option command value 1,
whichever is smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINK-II command option command value 2,
whichever is smaller.
5
Operating Functions
Explanation
ΠAlways select the No. 1 Torque Limit (Pn05E) as the torque limit when using torque control.
ΠFor the torque limit when Torque Feed-forward is selected, settings of 1 to 3 are enabled only in
speed control. These settings are disabled if not in speed control.
Settings of 4 to 5 are always disabled.
Note PCL ON: When either Forward Torque Limit (CN1 PCL: pin 7) or MECHATROLINK-II
Communications Option Field (P-CL) is ON.
PCL OFF: When both Forward Torque Limit (CN1 PCL: pin 7) and MECHATROLINK-II
Communications Option Field (P-CL) are OFF.
5-17
5-7 Soft Start
5-7 Soft Start
Function
ΠSet the acceleration and deceleration time for speed command values from the host controller.
ΠSet the acceleration and deceleration time for the maximum rotation speed of each Servomotor.
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn058
Soft Start
Acceleration Time
Sets the acceleration time for the speed command.
Set the time it takes to accelerate from 0 r/min to the
Servomotor's maximum speed multiplied by 500.
5-74
Pn059
Soft Start
Deceleration Time
Sets the deceleration time for the speed command.
Set the time it takes to decelerate from the Servomotor's
maximum speed to 0 r/min multiplied by 500.
5-74
Reference page
ΠIf the soft start function is not used, set this parameter to 0 (default setting).
Speed Command
N
Servomotor Speed
ta
Acceleration time ta [s] = Pn058 × 0.002 ×
Deceleration time td [s] = Pn059 × 0.002 ×
5
Operating Functions
Explanation
td
Speed command rotation speed
Max. rotation speed
Speed command rotation speed
Max. rotation speed
5-18
5-8 Acceleration/Deceleration Time Settings
5-8
Acceleration/Deceleration Time Settings
Function
ΠSet the angular acceleration to reach the target speed and angular deceleration to stop for position
commands.
Œ Units of setting is × 10,000 [command units/s2].
Parameters Requiring Settings
5
Operating Functions
Parameter
No.
Parameter name
Explanation
Reference page
Pn107
Linear Acceleration
Constant
Sets the acceleration speed for positioning
moves.
(Units: × 10,000 [command units/s2])
5-82
Pn10A
Linear Deceleration
Constant
Sets the deceleration speed for positioning
moves.
(Units: × 10,000 [command units/s2])
5-82
Note 1. The factory default setting for this parameter:
Linear Acceleration Constant = Linear Deceleration Constant = 100 × 10,000 [command
units/s2].
Note 2. The setting will be handled after conversion to an un-signed 16-bit data (0 to 65535).
Example: −32768 → 8000h = 32768
−1 → FFFFh = 65535
Setting example (using a 2,500-p/r Incremental Encoder)
When the setting is 100 × 10,000 [command units/s2], target speed is 2,400 r/min, and the electronic
gear ratio of G1/G2 is 2/1, the acceleration and deceleration time is as follows:
2,400/60 = 40 r/s The position units for one turn is 5,000 [command units].
The rotation speed units for 2,400 r/min is 40 × 5,000 = 200,000 [command units/s].
The linear acceleration and deceleration time to reach 2,400 r/min is 200,000/1,000,000 = 0.2 s.
Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and
deceleration time.
The setting must be increased in order to reduce the acceleration time.
Setting example (using a 17-bit Absolute Encoder)
When the setting is 100 × 10,000 [command units/s2], target speed is 2,400 r/min, and the electronic
gear ratio of G1/G2 is 64/1, the acceleration and deceleration time is as follows:
2,400/60 = 40 r/s The position units for one turn is 8,192 [command units].
The rotation speed units for 2,400 r/min is 40 × 8,192 = 327,680 [command units/s].
The linear acceleration and deceleration time to reach 2,400 r/min is 327,680/1,000,000
= 0.32768 s.
Increasing the electronic gear ratio degrades the distribution accuracy of the linear acceleration and
deceleration time.
The setting must be decreased in order to reduce the acceleration time.
In this example, set 328 for an acceleration time of 0.1 s.
5-19
5-9 Moving Average Time
5-9 Moving Average Time
Function
ΠThis function applies the Moving Average Filter (FIR) to the linear acceleration and deceleration
time for position commands.
ΠThis function can reduce vibration and impact during acceleration and deceleration.
ΠTime setting range: 0 to 510 ms.
Parameters Requiring Settings
Pn10E
Parameter name
Moving Average
Time
Explanation
Reference page
Sets the moving average time for the position command.
Note If the Moving Average Time is set, speed commands
may not be executed seamlessly when switching the
control modes, and when switching between
interpolation feed motions and positioning motions
(motions wherein the command waveforms are
generated inside the Servo Drive).
5-82
Pn10E
Operating Functions
Parameter
No.
5
Pn10E
Command speed
pattern
Servomotor speed
pattern
Pn10E
Pn10E
5-20
5-10 Electronic Gear
5-10 Electronic Gear
Function
ΠThe Servomotor rotates at the value (the number of pulses) of the position command multiplied by
the electronic gear ratio.
ΠDuring speed and torque control, the pulses from the Servomotor encoder are divided by the
electronic gear ratio and converted into command units before being fed back.
5
Parameters Requiring Settings
Operating Functions
Parameter
No.
Parameter name
Explanation
Reference
page
5-85
5-85
Pn205
Electronic Gear Ratio 1
(Numerator)
Sets the numerator for the electronic gear ratio.
Setting this parameter to 0 automatically sets the encoder
resolution as the numerator. (131,072 for a 17-bit absolute
encoder, and 10,000 for a 2,500-p/r incremental encoder).
The electronic gear ratio can be set to 1/100 to 100 times.
A parameter setting alarm (alarm code 93) will occur if the ratio is set outside this range.
Pn206
Electronic Gear Ratio 2
(Denominator)
Sets the denominator for the electronic gear ratio.
A parameter setting alarm (alarm code 93) will occur if the ratio is set outside this range.
The factory default setting for this parameter is Electronic Gear ratio 1 = Electronic Gear ratio 2 = 1.
Setting example (using a 2,500-p/r Incremental Encoder)
ΠTo make one turn using a setting unit of 5,000
10000
Pn205
=
Pn206
5000
=
2
1
Setting example (using a 17-bit Absolute Encoder)
ΠTo make one turn using a setting unit of 10,000
131072
8192
Pn205
=
=
Pn206
625
10000
5-21
5-11 Speed Limit
5-11 Speed Limit
Function
ΠSet the Servomotor rotation speed limit when using torque control.
ΠThe speed limit value can be set by the internal parameter (Pn053) or from a host controller.
Parameters Requiring Settings
Parameter name
Explanation
Reference page
5-74
5-75
Pn053
Speed Limit
Sets the speed limit when torque control is used.
This value is the same for both forward and reverse
directions.
The setting must be less than the maximum rotation speed
of the Servomotor.
Pn05B
Speed Limit
Selection
Select to perform speed limit by the Speed Limit (Pn053), or
the smaller value of either the speed limit from MECHATROLINK-II or the Speed Limit (Pn053).
5
Operating Functions
Parameter
No.
5-22
5-12 Sequence Input Signals
5-12 Sequence Input Signals
Function
ΠInput signals for controlling the Servo Drive operation. Enable or disable the connections and
functions as necessary.
Parameters Requiring Settings
5
Parameter
No.
Pn041
Operating Functions
Pn003
Pn004
Pn066
Pn042
Parameter name
Explanation
Reference page
Emergency Stop
Input Setting
Torque Limit
Selection
Enables or disables the emergency stop input. The default
setting is ''enabled''.
Sets whether to select torque limit using the Forward Torque
Limit (PCL) or Reverse Torque Limit (NCL).
Drive Prohibit Input
Selection
Stop Selection for
Drive Prohibition
Input
Origin Proximity
Input Logic Setting
Sets whether to enable or disable the Forward Drive Prohibit
Input (POT) or Reverse Drive Prohibit Input (NOT) function.
Selects the stopping method when the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is
input.
Sets the input logic for the Origin Proximity Input (DEC).
5-73
5-87
5-88
5-95
5-73
„ CN1 Control Input Signals
Pin No.
Symbol
1
+24VIN
2
STOP
3
EXT3
4
EXT2
5
EXT1
6
IN1
7
PCL
8
NCL
POT
19 to 20
NOT
21
DEC
22
IN0
23
IN2
5-23
Name
Function/Interface
12 to 24-VDC Power Supply Power supply input terminal (12 to 24 VDC) for sequence
Input
inputs.
Input for emergency stop.
When this signal is enabled and pin 1 is not connected to pin
Emergency Stop Input
2, an Emergency Stop Input error (alarm code 87) occurs. Set
this signal to be enabled or disabled in the Emergency Stop
Input Setting (Pn041). (Factory default: Enable)
This external signal input latches the current value feedback
External Latch Signal 3
pulse counter.
The position data is obtained the moment the input is turned
External Latch Signal 2
ON.
External Latch Signal 1
Minimal signal width must be 1 ms or more.
External General-purpose
This input is used as external general-purpose input 1.
Input 1
Forward Torque Limit Input When the Torque Limit Selection (Pn003) is set to 3 or 5, this
signal input selects the torque limit. (For details, refer to the
Reverse Torque Limit Input description of the 5-6 Torque Limit on page 5-16.)
Forward Drive Prohibit Input Forward, reverse drive rotation overtravel Input.
Pn004 chooses between enable and disable.
Pn044 sets the function assignment for pins 19 and 20.
Reverse Drive Prohibit Input
Pn066 selects the operation.
Connect the origin proximity input signal in the origin search
Origin Proximity Input
operation.
Pn042 changes the logic of the sensor.
External General-purpose
This input is used as external general-purpose input 0.
Input 0
External General-purpose
This input is used as external general-purpose input 2.
Input 2
5-12 Sequence Input Signals
„ CN1 Control Input Signal Connection Diagram
OMNUC G-Series
Servo Drive
+24VIN 1
4.7kΩ
Emergency Stop
STOP 2
1kΩ
12 to 24 VDC
4.7kΩ
External Latch 3
EXT3 3
1kΩ
4.7kΩ
External Latch 2
EXT2 4
5
1kΩ
External Latch 1
EXT1 5
Operating Functions
4.7kΩ
1kΩ
4.7kΩ
General-purpose
IN1 6
Input 1
1kΩ
4.7kΩ
Forward Torque
PCL 7
Limit Input
1kΩ
4.7kΩ
Reverse Torque
NCL 8
Limit Input
1kΩ
4.7kΩ
Forward Drive
Prohibit Input
1kΩ
POT 19
4.7kΩ
Reverse Drive
Prohibit Input
1kΩ
NOT 20
4.7kΩ
1kΩ
Origin Proximity
DEC 21
4.7kΩ
General-purpose
IN0 22
Input 0
1kΩ
4.7kΩ
General-purpose
IN2 23
Input 2
1kΩ
Note Inputs for pins 19 and 20 are determined by parameter settings.
The diagram shows the default configuration.
5-24
5-13 Sequence Output Signals
5-13 Sequence Output Signals
Function
ΠSequence output signals that output the Servo Drive status.
Parameters Requiring Settings
Operating Functions
5
Parameter
No.
Parameter name
Explanation
Reference page
Pn112
General-purpose
Output 1 Function
Selection
Selects the function for general-purpose output 1 (OUTM1).
5-83
Pn113
General-purpose
Output 2 Function
Selection
Selects the function for general-purpose output 2 (OUTM2).
5-83
Pn114
General-purpose
Output 3 Function
Selection
Selects the function for general-purpose output 3 (OUTM3).
5-83
„ CN1 Control Output Signals
Pin
No.
Symbol
15
/ALM
16
ALMCOM
29
OUTM2
30
OUTM2COM
31
OUTM3
32
36
35
5-25
Name
Alarm Output
The output is OFF when an alarm is generated in the
Servo Drive.
General-purpose
Output 2 (READY)
General-purpose
OUTM3COM Output 3 (CLIM)
OUTM1
Function/Interface
General-purpose
OUTM1COM Output 1 (BKIR)
This is a general-purpose output. The function for this
output is selected by changing the parameter.
Refer to Output Signal Assignment Details on the next
page.
5-13 Sequence Output Signals
Output Signal Assignment Details
Pn112 (General-purpose
Output 1 Function Selection)
Pn113 (General-purpose
Output 2 Function Selection)
Pn114 (General-purpose
Output 3 Function Selection)
OUTM1 (General-purpose Output 1)
OUTM2 (General-purpose Output 2)
OUTM3 (General-purpose Output 3)
0
Not
assigned
1
INP1
Positioning Completed 1 output assignment.
2
VCMP
Speed Conformity Signal output assignment.
3
TGON
Servomotor Rotation Speed Detection output
assignment.
4
READY
Servo Ready output assignment.
5
CLIM
Current Limit Detection output assignment.
6
VLIM
Speed Limit Detection output assignment.
7
BKIR
Brake Interlock output assignment.
8
WARN
Warning Signal output assignment.
9
INP2
No output. Always OFF.
Operating Functions
5
Positioning Completed 2 output assignment.
„ CN1 Control Output Signal Connection Diagram
OMNUC G-Series
Servo Drive
15 /ALM
Alarm Output
16 ALMCOM
36 OUTM1
General-purpose Output 1
35 OUTM1COM
29 OUTM2
General-purpose Output 2
30 OUTM2COM
31 OUTM3
General-purpose Output 3
32 OUTM3COM
Backup Battery *1
34 BAT
33 BATCOM
Shell FG
*1. If a backup battery is connected, a cable with a battery is not required.
5-26
5-14 Backlash Compensation
5-14 Backlash Compensation
Function
ΠCompensates the position error caused by backlash in the machine.
ΠThe specified amount of command units is compensated when the operation direction changes.
Note 1. The backlash compensation status will be retained when you switch from position control to
speed control or torque control. Backlash compensation will resume with the status retained
during the previous position control.
Note 2. To determine the actual position of the Servomotor, offset the backlash compensation
amount from the Servomotor position data acquired via the network.
5
Note 3. Position data acquired via RS-232 is the value after the backlash compensation.
Operating Functions
Note 4. After the Servo ON, compensation will be performed on the first position command for
operation in the set direction. Compensation will not be performed for prior reverse
operations.
Compensation will, however, be performed on the first reverse operation after the initial
backlash compensation.
Once backlash compensation has been performed, it will not be performed again as long as
operation continues in the same direction.
Note 5. When the Servo OFF status occurs while backlash compensation is performed, the
backlash compensation amount will be cleared by presetting the position command data
within the Servo Drive with Servomotor position data including the backlash compensation
amount. When the Servo ON occurs again, backlash compensation will be performed as
described above.
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference page
Pn100
Backlash
Compensation
Selection
Enables or disables backlash compensation and sets the
direction for compensation.
5-81
Pn101
Backlash
Compensation
Sets the backlash compensation amount in command units.
5-81
Pn102
Backlash
Compensation
Time Constant
Sets the time to apply backlash compensation.
The value dividing the compensation amount by the time
constant is the speed.
5-81
5-27
5-14 Backlash Compensation
„ Compensation in the forward direction
OMNUC G-Series
Servomotor
Pn101
„ Compensation in the reverse direction
OMNUC G-Series
Servomotor
Operating Functions
5
Pn101
5-28
5-15 Overrun Protection
5-15 Overrun Protection
Function
ΠThe Servomotor can be stopped with an alarm for an overrun limit error (alarm code 34) if the
Servomotor exceeds the allowable operating range set in the Overrun Limit Setting (Pn026) with
respect to the position command input.
ΠThis can be used to prevent impact on the edges of the machine because of Servomotor
oscillation.
Operating Functions
5
Parameters Requiring Settings
Parameter
No.
Pn026
Parameter name
Overrun Limit Setting
Explanation
Reference
page
Sets the Servomotor’s allowable operating range for
the position command input range.
(Setting range: 0 to 100 rotations)
An overrun limit error (alarm code 34) will occur if the
set value is exceeded.
5-70
Operating Conditions
ΠThe overrun limit will operate under the following conditions.
Conditions under which the overrun limit will operate
Operating mode Position Control Mode is used.
Others
1. The servo is ON.
2. The Overrun Limit Setting (Pn026) is not 0.
3. The allowable operating range for both forward and reverse is within 2,147,483,647 after the
position command input range is cleared to zero.
If the condition 1 above is not met, the Overrun Limit Setting will be disabled until the conditions
for clearing the position command input range are satisfied, as described below.
If the conditions 1 and 2 above are not met, the position command input range will be cleared
to zero.
Conditions for Clearing the Position Command Input Range
The position command input range will be cleared to zero under the following conditions.
ΠThe power supply is turned ON.
ΠThe position deviation is cleared. (The deviation counter clearing is enabled and drive prohibit
input is enabled by setting the Stop Selection for Drive Prohibition Input (Pn066) to 2.)
ΠNormal mode autotuning starts or ends.
ΠThe position data is initialized (such as during component setup request, origin return, coordinate
system setup, or adjustment commands)
Precautions
for Correct Use
5-29
ΠNote this function is not intended to protect against abnormal position
commands.
ΠWhen the overrun limit error occurs, the Servomotor is decelerated and
stopped according to the Stop Selection for Alarm Generation (Pn068).
Set Pn026 to a range taking into account the deceleration operation.
Otherwise, the loads may hit and cause damage to the machine ends
during deceleration.
5-15 Overrun Protection
Operating Examples
„ No Position Command Input (Servo ON)
No position command is input, and so the Servomotor’s allowable operating range for both sides
will be the range of the travel distance set in Pn026. An overrun limit error will occur if the load enters
the range for generating alarm code 34 (range of slanted lines) due to oscillation.
Servomotor
Load
5
Servomotor's
allowable
operating range
Range for generating
alarm code 34
Range for generating
alarm code 34
„ Right Side Operation (Servo ON)
When the position command to the right is input, the Servomotor’s allowable operating range will
increase by the input position command and the range of rotations set in Pn026 will be added to
both sides of the position command input range.
Servomotor
Load
Pn026
Range for generating
alarm code 34
Position command
input range
Pn026
Servomotor's allowable operating
range
Range for generating
alarm code 34
„ Left Side Operation (Servo ON)
When the position command to the left is input, the position command input range will further
increase.
Servomotor
Load
Pn026 Position command input range
Range for generating
alarm code 34
Pn026
Servomotor's allowable operating range
Range for generating
alarm code 34
5-30
Operating Functions
Pn026 Pn026
5-16 Gain Switching
5-16 Gain Switching
Function
ΠThis function switches the position loop and speed loop gain.
ΠSelect between enable or disable with the Gain Switching Operating Mode Selection (Pn030).
Set the switching conditions with the Gain Switch Setting (Pn031).
ΠThe control can be optimized by switching gain settings when the load inertia changes, or the
responsiveness at stops and during operation needs to be changed.
ΠGain switching is used when realtime autotuning does not work effectively in such cases as
follows:
· When the load inertia fluctuates in 200 ms or less.
· When the Servomotor rotation speed does not exceed 500 r/min., or the load torque does not
exceed 50% of the rated torque.
· When external force is constantly applied, as with a vertical axis.
Operating Functions
5
Note When gain 2 has been selected, realtime autotuning will not operate normally. If using the
gain switching, set the Realtime Autotuning Mode Selection (Pn021) to 0 (disabled).
5-31
5-16 Gain Switching
Parameters Requiring Settings
Parameter name
Explanation
Reference page
Pn030
Gain Switching
Operating Mode
Selection
Enable or disable gain switching.
5-72
Pn031
Gain Switch
Setting
Sets the condition for switching between gain 1 and gain 2.
The conditions depend on the control mode.
5-72
Pn010
Position Loop Gain
Sets position loop responsiveness.
5-67
Pn011
Speed Loop Gain
Sets speed loop responsiveness.
5-67
Pn012
Speed Loop
Integration Time
Constant
Adjusts the speed loop integration time constant.
5-67
Pn013
Speed Feedback
Filter Time
Constant
Selects the speed detection filter time constant.
5-67
Pn014
Torque Command
Filter Time
Constant
Sets the time constant for the torque command filter.
5-68
Pn018
Position Loop
Gain 2
Sets the 2nd position loop responsiveness.
5-68
Pn019
Speed Loop Gain 2 Sets the 2nd speed loop responsiveness.
5-68
Pn01A
Speed Loop
Integration Time
Constant 2
Adjusts the speed loop integration time constant 2.
5-68
Pn01B
Speed Feedback
Filter Time
Constant 2
Selects the speed detection filter time constant.
5-68
Pn01C
Torque Command
Filter Time
Constant 2
Sets the time constant for the 2nd torque command filter.
5-68
Pn032
Gain Switch
Time
Sets the time to return from gain 2 to gain 1.
(Units: 166 µs)
5-72
Pn033
Gain Switch
Level Setting
Sets the judgment level for switching between gain 1 and
gain 2.
5-73
Pn034
Gain Switch
Hysteresis Setting
Sets the hysteresis width for the judgment level set in the
Gain Switch Level setting (Pn033).
5-73
Pn035
Position Loop Gain
Switching Time
Sets the number of steps to switch from low gain to high
gain. (Units: 166 µs)
5-73
5
Operating Functions
Parameter
No.
5-32
5-16 Gain Switching
„ Timings for Gain Switch Setting (Pn031)
Switching between gain 1 and gain 2 will be performed as illustrated below.
Note that Position Loop Gain will be switched according to the setting for Pn035.
Gain Switch Setting (Pn031) = 2: Switching from Network
Gain switches instantly when commanded from the network.
Position command
Gain switch command
5
Operating Functions
Gain 1
Gain 1
Gain 2
Gain Switch Setting (Pn031) = 3: Switching by an amount of change in torque
command
The torque command change amount (angular acceleration and deceleration speed command) is
set in units of 0.05%/166 µs.
Gain Switch is canceled if the change amount vibrates and fails to meet the switching time.
The change amount is approximately 6 units when switching 4% in 2 ms. (0.33% change in
166 µs)
Speed command
Torque command
Pn034
Pn033
Amount of change
in torque
Pn034
Pn034
Pn033
Pn034
Pn032
Gain 1
5-33
2
1
Pn032
2
Pn032
Gain 1
2
1
Pn032
2
Gain 1
5-16 Gain Switching
Gain Switch Setting (Pn031) = 5, 9: Switching by the Speed Command or Actual
Servomotor Speed
Speed command or actual Servomotor speed
Pn034
Pn034
Pn033
Pn032
Gain 1
Gain 2
Gain 1
5
Operating Functions
Gain Switch Setting (Pn031) = 6: Switching by the Position Deviation
Switches the gain based on the accumulated value in the deviation counter.
Position deviation amount
Pn034
Pn034
Pn033
Pn032
Gain 1
Gain 2
Gain 1
Gain Switch Setting (Pn031) = 7: Switching based on position command pulses
received
Switches the gain when one or more position command pulse exists.
Position command
Pn032
Gain 1
Gain 2
Gain 1
5-34
5-16 Gain Switching
Gain Switch Setting (Pn031) = 8: Switching when the positioning completed signal
turns OFF
Switches to gain 2 when the accumulated pulses in the deviation counter exceed Positioning
Completion Range 1 (Pn060).
Amount of accumulated pulses in the deviation counter
INP1 ON
INP1 ON
INP1 OFF
Canceled because time condition is not satisfied
5
Operating Functions
Gain 1
Gain 2
Pn032
Gain 1
Gain Switch Setting (Pn031) = 10: Switching by the combination of position command
pulses received and speed
Switches to gain 2 when there are position command pulses received.
Switches to gain 1 when there are no position commands for the time specified in the Gain Switch
Time (Pn032), and when the speed is equal to or less than
the Gain Switch Level Setting (Pn033) − the Gain Switch Hysteresis Setting (Pn034) [r/min].
Position command
Pn034
Pn033
Actual Servomotor speed
Pn032
Gain 1
Pn032
Gain 2
Gain 1
„ Timing for Position Loop Gain Switching Time (Pn035)
When switching the gain, the speed loop gain, speed loop integration time constant, torque
command filter time constant, and speed detection filter will change at the same time, but switching
is made by the time set to reduce vibration or resonance in the machine caused by changing gain
from low to high.
The switching time is in units of 166 µs of the internal cycle. If the position loop gain is increased
from 30 [1/s] to 50 [1/s] and Pn035 is set to 20, the gain moves up a step every 166 µs. (3.32 ms)
Conversely, the gain goes down immediately when reducing the position loop gain from 50 [1/s] to
30 [1/s].
N
every 166 µs
High gain
3
2
1
Low gain
5-35
Low gain
5-16 Gain Switching
„ Gain switching in position control mode
In position control mode the Gain Switch Setting (Pn031) changes as follows.
(O: Supported, x: Not supported)
Switching condition
Gain Switch
Time (Pn032)
Gain Switch
Level Setting
(Pn033)
Gain Switch
Hysteresis
Setting (Pn034)
Position Loop
Gain Switching
Time (Pn035)
0
Always Gain 1
x
x
x
x
1
Always Gain 2
x
x
x
x
2
Switching from the network
x
x
x
O
3
Amount of change in torque
command
O
O
(× 0.05%)
O
(× 0.05%)
O
4
Always Gain 1
x
x
x
x
5
Speed command
O
O
(r/min)
O
(r/min)
O
6
Amount of position deviation
O
O
(pulse)
O
(pulse)
O
7
Position command pulses
received
O
x
x
O
8
Positioning Completed
Signal (INP1) OFF
O
x
x
O
9
Actual Servomotor speed
O
O
(r/min)
O
(r/min)
O
10
Combination of position
command pulses received
and speed
O
O
O
O
5
Operating Functions
Pn031
setting
„ Gain switching in speed control mode
In speed control mode the Gain Switch Setting (Pn031) changes as follows.
(O: Supported, x: Not supported)
Pn031
setting
Switching condition
Gain Switch
Time (Pn032)
Gain Switch
Level Setting
(Pn033)
Gain Switch
Hysteresis
Setting (Pn034)
0
Always Gain 1
x
x
x
1
Always Gain 2
x
x
x
2
Switching from network
x
x
x
3
Amount of change in torque
command
O
O
(× 0.05%)
O
(× 0.05%)
4
Always Gain 1
x
x
x
5
Speed command
O
O
(r/min)
O
(r/min)
5-36
5-16 Gain Switching
„ Gain switching in torque control mode
In torque control mode the Gain Switch Setting (Pn031) changes as follows.
(O: Supported, x: Not supported)
Pn031
setting
Operating Functions
5
5-37
Switching condition
Gain Switch
Time (Pn032)
Gain Switch
Level Setting
(Pn033)
Gain Switch
Hysteresis
Setting (Pn034)
0
Always Gain 1
x
x
x
1
Always Gain 2
x
x
x
2
Switching from network
x
x
x
3
Amount of change in torque
command
O
O
(× 0.05%)
O
(× 0.05%)
5-17 Speed Feed-forward
5-17 Speed Feed-forward
Function
This function shortens positioning time by adding the amount of change in position command value
directly to the speed loop without passing it through the deviation counter.
Performing feed-forward compensation effectively increases the position loop gain and improves
responsiveness.
However, this function is not so effective in a system where the position loop gain is already
sufficiently high.
5
Parameter
No.
Parameter name
Explanation
Reference page
Pn015
Speed Feedforward Amount
Sets the speed feed-forward amount from the position
command. (Setting range: 0 to 100%)
5-68
Pn016
Feed-forward
Filter Time
Constant
Sets the time constant for the speed feed-forward first-order
lag filter. (Setting range: 0 to 64 ms)
5-68
Damping Control Filter
Pn02B, Pn02C
Pn02D, Pn02E
Position Command
F/F
Pn015
Filter
Pn016
Deviation Counter
Pn010, Pn018
Speed
Command
Encoder
Feedback
Adjust the feed-forward after completing the gain adjustment.
The Servomotor will overshoot if the feed-forward amount is too large. Increase the feed-forward
amount, but not so much that it causes overshooting.
The feed-forward filter is the first-order lag filter. Set this filter according to the acceleration and
deceleration time.
Feed-forward amount
63.2%
Pn016
The figure above shows step response, but the positioning time will be delayed accordingly if
acceleration or deceleration occurs.
5-38
Operating Functions
Parameters Requiring Settings
5-18 Torque Feed-forward
5-18 Torque Feed-forward
Function
In speed commanded control, using the torque feed-forward command reduces the delay caused
by the speed loop integration time and thereby makes acceleration and deceleration faster. For a
vertical axis, torque feed-forward can compensate heavy loads to eliminate the difference (up and
down) in the torque command amount by the speed command calculation.
5
Parameters Requiring Settings
Operating Functions
There are no parameters to set. This is set by command from the network.
To control during acceleration and deceleration, differential operations will be required for the speed
command via the host controller.
Torque
Command
TFF[%]
Torque Feed-forward
Speed
Command
Unit
Conversion
Target Speed
MECHATRO [
r/min]
LINK-II
Notch Filter
Soft Start
Acceleration/
Deceleration
Pn058:
Acceleration
Pn059:
Deceleration
Speed
PI
Processor
Torque
Command
Filter
Torque
Limit
Torque
PI
Processor
Current Feedback
Speed Feedback
5-39
Torque Limit
PCL/NCL
5-19 Speed Feedback Filter Selection
5-19 Speed Feedback Filter Selection
Function
Selects the speed feedback filter. Normally, use a setting of 0.
This is used when the speed loop gain cannot be raised any more due to vibration in the machine.
Increasing the value reduces the noise of the Servomotor but also reduces its responsiveness.
(first-order lag filter)
When the Instantaneous Speed Observer Setting is enabled (Pn027 = 1), Pn013 and Pn01B are
disabled and processed as 0.
5
Parameter
No.
Parameter name
Explanation
Reference page
Pn013
Speed Feedback
Filter Time
Constant
Selects the speed detection filter time constant.
Normally, use a setting of 0. (Setting range: 0 to 5)
5-67
Pn01B
Speed Feedback
Filter Time
Constant 2
Selects the 2nd speed detection filter time constant.
Normally, use a setting of 0. (Setting range: 0 to 5)
5-68
The settings and cut-off frequencies of Pn013 and Pn01B are as follows.
Setting
Frequency (Hz)
0
---
1
1820
2
1120
3
740
4
680
5
330
5-40
Operating Functions
Parameters Requiring Settings
5-20 P Control Switching
5-20 P Control Switching
Function
This function switches speed loop control from PI control to P control.
Switching to P control reduces the servo rigidity and eliminates vibration.
The absence of the integration time results in greater speed and position deviations due to external
forces and load torques.
5
Parameters Requiring Settings
Operating Functions
There are no parameters to set. This is set by command from the network.
5-41
5-21 Torque Command Filter Time Constant
5-21 Torque Command Filter Time Constant
Function
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn014
Torque Command
Filter Time
Constant
Sets the time constant for the torque command filter.
(Setting range: 0 to 25 ms, units: 0.01 ms)
5-68
Pn01C
Torque Command
Filter Time
Constant 2
Sets the 2nd time constant for the torque command filter.
(Setting range: 0 to 25 ms, units: 0.01 ms)
5-68
Explanation
Reference page
Characteristics of
load resonance
frequency
Filter cut-off
frequency
Frequency
0 db
−3 db
Loop gain
[db]
Attenuate resonance
to reduce loop gain
to 0 db or lower
Filter time
constant
5-42
5
Operating Functions
Set the primary filter applied to the torque command. The 1st and 2nd filter is switched by gain
switching.
The torque command filter can suppress machine vibration that occurs when a servo loop is
configured.
Adjusting the time constant of the torque command filter may be able to suppress vibration.
Responsiveness worsens by increasing the time constant. Overshoots may occur as the servo
rigidity decreases. Depending on the machine, optimize the setting for this filter as well as the notch
filter explained in the next section.
5-22 Notch Filter
5-22 Notch Filter
Function
Two notch filters can be set for torque commands.
When resonance occurs at a ball screw or a specific location, set the resonance frequency to
eliminate the resonance.
Parameters Requiring Settings
5
Operating Functions
Parameter
No.
Parameter name
Explanation
Sets the frequency of notch filter 1.
Enabled from 100 to 1499 Hz, disabled at 1500 Hz.
Reference page
Pn01D
Notch Filter 1
Frequency
Pn01E
Selects the width of the frequency of notch filter 1.
Notch Filter 1 Width The notch width becomes wider by increasing this value.
(Setting range: 0 to 4, normally use a setting of 2.)
5-68
Pn028
Notch Filter 2
Frequency
5-71
Pn029
Selects the width of the frequency of notch filter 2.
Notch Filter 2 Width The notch width becomes wider by increasing this value.
(Setting range: 0 to 4, normally use a setting of 2.)
Pn02A
Notch Filter 2
Depth
Sets the frequency of notch filter 2.
Enabled from 100 to 1499 Hz, disabled at 1500 Hz.
Selects the depth of the frequency of notch filter 2.
Increasing this value decreases the notch depth and
reduces the phase lag.
(Setting range: 0 to 99, normally use a setting of 2.)
Notch filter width settings and depths
Setting
Depth = Fc/fw
Width at 500 Hz
0
0.41
408 to 613 Hz
1
0.56
380 to 659 Hz
2
0.71
354 to 707 Hz
3
0.86
330 to 758 Hz
4
1.01
308 to 811 Hz
Notch filter depths and attenuation
5-43
Depth
Output/Input (%)
0
0 (cut-off)
30
15% (−16.5 db)
50
50% (−6 db)
99
99% (pass through)
5-68
5-71
5-71
5-22 Notch Filter
A notch filter is a filter that eliminates a designated component of a frequency.
fw
Width fw
0 db
-3 db
Depth = Fc/fw
Frequency Hz
5
Cut-off frequency Fc
Operating Functions
A notch filter is used to eliminate resonance occurring in a machine.
Machine resonance
Characteristics
after filtering
Notch Filter
Notch Filter 1
Notch Filter 2
5-44
5-23 Adaptive Filter
5-23 Adaptive Filter
Function
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from
the vibration component that appears in the Servomotor speed during actual operation and
automatically sets the frequency of the notch filter, which removes the resonance component from
the torque command.
The automatically set notch filter frequency is set in the Adaptive Filter Table Number Display
(Pn02F).
The resonance filter frequency can be obtained by specifying the Pn02F table No.
5
Operating Functions
Vibration suppressed
Servomotor
speed
Adaptive filter enabled
Adaptive filter disabled
Filter frequency set
Position/Speed Command
Position/Speed
Control
Adaptive
Filter
Torque Command Current Loop
Control
SM
Estimate
Resonance Frequency
Realtime
Autotuning
Speed Feedback
Estimate Load Inertia
RE
Parameters Requiring Settings
Parameter
No.
Pn023
Parameter name
Adaptive Filter
Selection
Setting
0
Explanation
Reference page
Adaptive filter
Adaptive operation
Disabled
---
1
Yes
5-92
Enabled
2
No (retained)
If the Adaptive Filter Table Number Display (Pn02F) has stopped changing (completed), a setting
of 2 will be retained, assuming that the resonance point does not change.
Write the data to the EEPROM if the results are to be saved.
5-45
5-23 Adaptive Filter
Precautions
for Correct Use
ΠThe adaptive filter may not function properly under the following
conditions.
Conditions under which the adaptive filter does not function properly
Control Mode
ΠIn Torque Control Mode. (Operates in position and speed control modes)
ΠIf the resonance frequency is 300 Hz or lower.
Resonating load ΠIf there are multiple points of resonance.
ΠIf the resonance peak or control gain is low, and the Servomotor speed is not
status
affected by it.
ΠIf the Servomotor speed with high-frequency components changes due to
backlash or other non-linear elements (play).
Command
pattern
ΠIf the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more in
0.1 s.
Precautions
for Correct Use
ΠUnusual noise or vibration may occur until the adaptive filter stabilizes after
startup, immediately after the first servo ON, or when the Realtime
Autotuning Machine Rigidity Selection (Pn022) is increased, but this is not
a problem if it disappears right away. If the unusual noise or vibration,
however, continues for three or more reciprocating operations, take the
following measures in any order you can.
ΠWrite the parameters used during normal operation to the EEPROM.
ΠLower the Realtime Autotuning Machine Rigidity Selection (Pn022).
ΠDisable the adaptive filter by setting the Adaptive Filter Selection (Pn023)
to 0. (Reset the inertia estimate and adaptive operation)
ΠSet the notch filter manually.
ΠOnce unusual noise or vibration occurs, the Inertia Ratio (Pn020) may
have changed to an extreme value. In this case, also take the measures
described above.
ΠThe Adaptive Filter Table Number Display (Pn02F) is written to the
EEPROM every 30 minutes, and when the power supply is turned OFF
and turned ON again, this data is used as the initial values for the adaptive
operation.
5-46
5
Operating Functions
Load status
5-23 Adaptive Filter
Disabling the Adaptive Filter
The adaptive filter function, which performs automatic tracking in response to the load resonance,
can be disabled by setting the Adaptive Filter Selection (Pn023) to 0. If the adaptive filter is disabled
when it is operating correctly, the resonance that has been suppressed will reappear, and noise or
vibration may occur.
Therefore, before disabling the adaptive filter, perform copying function to the Notch Filter 1
Frequency (Pn01D) of the Adaptive Filter Table Number Display (Pn02F) or manually set the Notch
Filter 1 Frequency (Pn01D) based on the Adaptive Filter Table Number Display (Pn02F) in the
following tables.
Pn02F Notch Filter 1 Frequency
Operating Functions
5
Pn02F Notch Filter 1 Frequency
Pn02F
Notch Filter 1 Frequency
0
(Disabled)
22
766
44
326
1
(Disabled)
23
737
45
314
2
(Disabled)
24
709
46
302
3
(Disabled)
25
682
47
290
4
(Disabled)
26
656
48
279
5
1482
27
631
49
269 (Disabled when Pn022 ≥ F)
6
1426
28
607
50
258 (Disabled when Pn022 ≥ F)
7
1372
29
584
51
248 (Disabled when Pn022 ≥ F)
8
1319
30
562
52
239 (Disabled when Pn022 ≥ F)
9
1269
31
540
53
230 (Disabled when Pn022 ≥ F)
10
1221
32
520
54
221 (Disabled when Pn022 ≥ E)
11
1174
33
500
55
213 (Disabled when Pn022 ≥ E)
12
1130
34
481
56
205 (Disabled when Pn022 ≥ E)
13
1087
35
462
57
197 (Disabled when Pn022 ≥ E)
14
1045
36
445
58
189 (Disabled when Pn022 ≥ E)
15
1005
37
428
59
182 (Disabled when Pn022 ≥ D)
16
967
38
412
60
(Disabled)
17
930
39
396
61
(Disabled)
18
895
40
381
62
(Disabled)
19
861
41
366
63
(Disabled)
20
828
42
352
64
(Disabled)
21
796
43
339
Set the Notch Filter 1 Frequency (Pn01D) to 1,500 when disabling the adaptive filter using the above
table.
5-47
5-24 Instantaneous Speed Observer
5-24 Instantaneous Speed Observer
Function
The instantaneous speed observer improves speed detection accuracy, increases responsiveness,
and reduces vibration at stopping by estimating the speed of the Servomotor using a load model
(load inertia).
This function does not work for machines with resonance or insufficient rigidity.
This function can be used in the position and speed control modes.
This function is available for Servomotors with only a high speed resolution absolute encoder.
Speed Command
5
Position
Control
Speed
Control
Torque
Command
Current Loop
Control
SM
Load
Instantaneous
Speed Observer
Estimated
Speed
Load Model
Speed Feedback
RE
Parameters Requiring Settings
Parameter
No.
Parameter name
Pn020
Inertia Ratio
Pn027
Instantaneous
Speed Observer
Setting
Pn060
Positioning
Completion
Range 1
Precautions
for Correct Use
Control Mode
Setting
Explanation
Sets the load inertia ratio as accurately as possible.
0
Instantaneous Speed Observer disabled
1
Instantaneous Speed Observer enabled
Reference page
5-68
5-71
Set this parameter when using an absolute encoder.
5-75
ΠThe instantaneous speed observer may not function properly or may not
be effective under the following conditions.
Conditions under which the instantaneous speed observer
does not function properly
ΠIn Torque Control Mode. (Operates in position and speed control modes)
Œ If there’s a large resonance point at the frequency of 300 Hz or lower.
Resonating load ΠIf there are multiple resonance frequencies.
ΠIf the resonance peak or control gain is low, and the Servomotor speed is not
status
affected by it.
Load status
Encoder
ΠIf the Servomotor speed with high-frequency components changes due to
backlash or other non-linear elements (play).
ΠIf a large disturbance torque with high-frequency components is applied.
ΠIf the load inertia changes.
ΠIf a 2,500-p/r incremental encoder is used.
5-48
Operating Functions
Position Command
5-24 Instantaneous Speed Observer
Operating Procedure
1. Set the Inertia Ratio (Pn020).
ŒSet the inertia ratio as accurately as possible.
ŒInput the calculated inertia ratio if it has already been calculated when selecting a Servomotor.
ŒIf the inertia ratio is not known, perform normal mode autotuning and set the inertia ratio.
ŒUse the Pn020 setting if the Inertia Ratio (Pn020) is obtained using realtime autotuning that can
be used in normal position control.
2. Adjust the gain for the position loop and speed loop.
Adjust the Position Loop Gain (Pn010), Speed Loop Gain (Pn011), Speed Loop Integration Time
Constant (Pn012), and Torque Command Filter Time Constant (Pn014).
Use normal mode autotuning and realtime autotuning if there are no problems in doing so.
3. Set the Instantaneous Speed Observer Setting (Pn027).
5
Operating Functions
ŒSet the Instantaneous Speed Observer Setting (Pn027) to 1. The speed detection method will
switch to the Instantaneous Speed Observer.
ŒIf the machine operating noise or vibration becomes louder, or the torque monitor waveform
fluctuates significantly, return the setting to 0 and make sure the inertia ratio and adjustment
parameters are correct.
ŒIf improvements are seen, such as a quieter operation, less vibration, or less fluctuation in the
torque monitor waveform, make fine adjustments in the Inertia Ratio (Pn020) to find the setting
that makes the least fluctuation while monitoring the position deviation waveform and the actual
speed waveform.
If changes are made to the Position Loop Gain (Pn010), Speed Loop Gain (Pn011), or Speed
Loop Integration Time Constant (Pn012), the optimum value for the Inertia Ratio (Pn020) may
have changed. Readjust the value in the Inertia Ratio (Pn020) so that the fluctuation will be
minimal.
5-49
5-25 Damping Control
5-25 Damping Control
Function
Damping control is used to reduce vibration when the end of the machine exhibits vibration.
This function is effective on vibration in machines with low rigidity. The normal type is suitable for
frequencies from 10 to 200 Hz, the low-pass type is for 1 to 200 Hz.
The adaptive filter (300 Hz or more) can be used for the normal type, but not for the low-pass type.
Damping control works with position commands and thus cannot be used for speed and torque
control.
Vibration at the end
Vibration frequency changes
depending on position
Operating Functions
Servo Drive
PLC
NCF71
5
R88D-GN@
-ML2
Move
The control block diagram for Damping Control is shown below.
Speed
Command
Speed FF
[VFF]
MECHATRO
LINK-II
MECHATRO
LINK-II
Position
Command
Generation
Target
Position
Target
Speed
Command
Position
Command
Speed
Command
Position
Torque
Command
Electronic
Gear
Torque Command
Filter
Pn014, Pn01C
Speed FF
Pn015:
FF Amount
Pn016:
Time
Constant
Deviation
Counter
Pn010: No.1
Pn018: No.2
Pn205:
Numerator
Pn206:
Denominator
Pn10E:
Moving
Average
Notch Filter
Pn01D, Pn01E
Pn028, Pn029
Pn02A, Pn02F
*1
Vibration Filter
Pn02B:
Frequency 1
Pn02C:
Filter 1
Pn02D:
Frequency 2
Pn02E:
Filter 2
Speed
PI Processor
Pn011:
Speed Gain 1
Pn012:
Integration
Time Constant 1
Pn019:
Speed Gain 2
Pn01A:
Integration
Time
Constant 2
Pn020:
Inertia Ratio
+
+
+
−
*1
Speed Detection
Receive
Encoder
Signal
RE
Torque Limit
Pn003: Selection
Pn05E: No.1 Torque Limit
Pn05F: No.2 Torque Limit
Current
PI
Processor
SM
5-50
5-25 Damping Control
Parameters Requiring Settings
Parameter
No.
Parameter name
Setting
Explanation
Reference page
Selects the vibration filter type and switching mode
based on the status of the equipment. (See Note 1)
Filter type
0
1
Pn024
Vibration Filter
Selection
5
Switching with command
direction
2
3
4
Operating Functions
Normal type
Switching mode
No switching
(Both 1 and 2 are
enabled)
Low-pass type
5
5-92
No switching
(Both 1 and 2 are
enabled)
Switching with command
direction
Vibration
Frequency 1
Sets the Vibration Frequency 1 for damping control to suppress vibration at the end of the load. The setting frequency
range and adaptive filter operation depend on the filter type selected with the Vibration Filter Selection (Pn024).
Set to 0 if the damping control is not used. (See Note 1)
5-71
Pn02C
Vibration Filter 1
Setting
Decrease this setting if torque saturation occurs when setting the Vibration Frequency 1 (Pn02B). Increase it to make
the operation faster. Normally, use a setting of 0.
The setting range depends on the filter type selected with
the Vibration Filter Selection (Pn024), as shown below if Vibration Filter 1 is enabled.
Note This parameter is disabled when Vibration Filter 1 is
disabled.
Œ Normal type (Setting range: −200 to 2000)
Setting range: 100 ≤ Pn02B + Pn02C ≤ Pn02B × 2 or 2000
Œ Low-pass type (Setting range: −200 to 2000)
Setting range: 10 ≤ Pn02B + Pn02C ≤ Pn02B × 6
5-71
Pn02D
Vibration
Frequency 2
Same function as Pn02B.
5-71
Pn02E
Vibration Filter 2
Setting
Same function as Pn02C.
5-72
Pn02B
5-51
5-25 Damping Control
Note Details on the vibration filter settings are as follows.
Mode Selection
Vibration frequency setting range 10.0 to 200.0 Hz
(Disabled when set to 0 to 99)
Adaptive filter can be used
Normal type
Filter type
selection
Low-pass type
No switching
Switching mode
selection
Vibration frequency setting range 1.0 to 200.0 Hz
(Disabled when set to 0 to 9)
Adaptive filter cannot be used (forcibly set to disabled)
Both Vibration Frequency 1 and 2 are enabled.
Switching with
command direction
Precautions
for Correct Use
Description of setting
Selects Vibration Frequency 1 in forward direction
(Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse direction
(Pn02D, Pn02E)
5
ΠThe damping control may not function properly or may not be effective
under the following conditions.
Conditions under which damping control does not function properly
Control Mode
Load status
ΠIn speed and torque control modes.
ΠIf forces other than position commands, such as external forces, cause vibration.
ΠIf the vibration frequency is outside the range of 1 to 200 Hz.
ΠIf the ratio of the resonance frequency to anti-resonance frequency is large.
ΠIf the vibration frequency is greater than the response frequency in position
control (the value of position loop gain [1/s] divided by 2π (6.28)).
(10 Hz when the position loop gain is 63 [1/s].)
Operating Procedure
1. Adjust the gain for the position loop and speed loop.
Adjust the Position Loop Gain (Pn010), Speed Loop Gain (Pn011), Speed Loop Integration Time
Constant (Pn012), and Torque Command Filter Time Constant (Pn014).
Use normal mode autotuning and realtime autotuning if there are no problems in doing so.
2. Measure the vibration frequency at the end of the machine system.
Vibration frequency is measured using a laser displacement meter, servo acceleration meter, or
acceleration pick-up.
Set the measured vibration frequency to the Vibration Frequency 1 (Pn02B) and Vibration
Frequency 2 (Pn02D) according to the motion.
Set the filter type and switching mode with the Vibration Filter Setting (Pn024).
5-52
Operating Functions
Vibration Filter
Selection
5-25 Damping Control
If no measurement device is available, use the CX-Drive data tracing function, and read the residual
vibration frequency (Hz) from the position deviation waveform as shown in the following figure.
Command
speed
Position deviation
Calculation of
vibration frequency
ΠThe following gives the vibration frequency in the
figure.
f (Hz) =
1
T(s)
Since the unit for the parameter is 0.1Hz:
(Pn02B, Pn02D) = 10 × f
Vibration cycle T
5
ΠExample:
When the vibration cycle is 100 ms and 20 ms, the
vibration frequency is 10 Hz and 50 Hz,
therefore set Pn02B = 100, Pn02D = 500.
If the vibration does not disappear with the frequency setting, raise or lower the resonance
frequency to find the frequency that can reduce vibration.
Operating Functions
3. Set the Vibration Filter.
Set Vibration Filter 1 (Pn02C) and Vibration Filter 2 (Pn02E).
First, set to 0.
The stabilization time can be reduced by setting a large value; however, torque ripple will increase
at the command change point as shown in the following figure. Set a range that will not cause torque
saturation under actual operation conditions. The effects of vibration suppression will be lost if
torque saturation occurs.
Vibration filter
setting appropriate
Vibration filter setting too large
Torque saturation
Torque command
Decrease this setting if torque saturation occurs when setting the Vibration Frequency 1 (Pn02B).
Increase it to make the movement faster. Normally, use a setting of 0.
The setting range depends on the filter type selected with the Vibration Filter Selection (Pn024), as
shown below if Vibration Filter 1 is enabled.
Œ Normal type (Setting range: −200 to 2000)
Setting range: 100 ≤ Pn02B + Pn02C ≤ Pn02B × 2 or 2000
Œ Low-pass type (Setting range: −200 to 2000)
Setting range: 10 ≤ Pn02B + Pn02C ≤ Pn02B × 6
Note This parameter is disabled when Vibration Filter 1 is disabled.
5-53
5-25 Damping Control
4. Set the Vibration Filter Selection (Pn024).
Select the vibration filter type and vibration filter switching mode depending on the status of the
machine.
Filter type
0
1
Normal type
Switching mode
No switching
(Both filter 1 and filter 2 are
enabled)
2
Switching with command direction
3
No switching
(Both filter 1 and filter 2 are
enabled)
4
5
Low-pass type
Switching with command direction
The Vibration Filter Selection (Pn024) parameter is enabled at power-ON. Turn OFF the control
power and turn it ON again after setting this parameter.
If the low-pass type filter is selected, the Adaptive Filter Selection (Pn023) is forcibly set to 0 and
cannot be used.
If the low-pass type filter is selected when the adaptive filter is operating correctly, the resonance
that has been suppressed will reappear, and noise or vibration may occur.
5-54
5
Operating Functions
Setting
5-26 User Parameters
5-26 User Parameters
Set and check the user parameters in Parameter Setting Mode.
Fully understand what the parameters mean and the setting procedures, and set the parameters
according to the system.
Some parameters are enabled by turning the power OFF and then ON again. After changing these
parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON
the power again.
Setting and Checking Parameters
5
„ Overview
Use the following procedure to set or check parameters.
Operating Functions
ŒGo to Parameter Setting Mode. Press the
ŒSelect the Parameter Type ---
key, and then press the
key once.
,
ŒSwitch to the Parameter Setting Display --ŒSet the parameter number (Pn@@) ---
,
ŒDisplay the parameter setting --ŒChange the parameter setting ---
,
,
ŒSave the changed setting to memory and return to Parameter Setting Mode ---
„ Operating Procedures for 16-bit Positioning Parameters
1. Displaying Parameter Setting Mode
Key
operation
Display example
Explanation
The default display is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
1k6kbkiktkp
Press the
key to display Parameter Setting Mode.
2. Selecting the Parameter Type
Key
operation
Display example
1k6kbkiktkp
5-55
Explanation
Confirm that 16-bit Parameter is selected.
5-26 User Parameters
3. Switching to the Parameter Setting Display
Key
operation
Display example
pknk_krk0k0.k
1k6
Explanation
Press the
key to go to the Parameter Setting Display.
Press the
key to return to the Parameter Type Selection Display.
4. Setting the Parameter Number
Display example
pknk_k k0k4.
1k6
Explanation
Set the number of the parameter to be set or checked.
5
Operating Functions
Key
operation
5. Displaying the Parameter Setting
Key
operation
Display example
k k k k k0
0k4
Explanation
Press the
key to display the setting.
The selected parameter number appears in the sub window.
6. Changing the Parameter Setting
ΠThe following operation is not required if you are only checking a parameter setting.
Key
operation
Display example
Explanation
k k k k k3
0k4
Use the
keys to change the setting.
The decimal point will flash for the digit that can be set.
k k k k k3
0k4
Press the
key to save the new setting.
7. Returning to Parameter Setting Mode
ΠThe following operation is not required if you are only checking a parameter setting.
Key
operation
Display example
pknk_krk0k0.k
1k6
Explanation
Press the
key to return to Parameter Setting Mode.
5-56
5-26 User Parameters
„ Operating Procedures for 32-bit Positioning Parameters
1. Displaying Parameter Setting Mode
Key
operation
Display example
Explanation
The default display is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
1k6kbkiktkp
Press the
key to display Parameter Setting Mode.
5
Operating Functions
2. Selecting the Parameter Type
Key
operation
Display example
3k2kbkiktkp
Explanation
Press the
keys to select 32-bit parameters.
3. Switching to the Parameter Setting Display
Key
operation
Display example
pknk_krk0k0.k
3k2
Explanation
Press the
key to go to the Parameter Setting Display.
Press the
key to return to the Parameter Type Selection Display.
4. Setting the Parameter Number
Key
operation
Display example
pknk_krk0k5.k
3k2
Explanation
Set the number of the parameter to be set or checked.
5. Displaying the Parameter Setting
Key
operation
Display example
k k6k3k2k8.
0k0
Hk k k k k
0k0
5-57
Explanation
Press the
key to display the setting.
The selected parameter number appears in the sub window.
32-bit parameters have many digits and thus displayed on two displays.
Press the
key to change the display.
Negative values of the parameter are indicated with a dot.
5-26 User Parameters
6. Changing the Parameter Setting
ΠThe following operation is not required if you are only checking a parameter setting.
Display example
k1k0k0k0k0
0k0
Hk k k k k
0k0
k1k0k0k0k0
0k0
Hk k k k k
0k0
Explanation
Use the
keys to change the setting.
The decimal point will flash for the digit that can be set.
5
Press the
key to save the new setting.
Operating Functions
Key
operation
7. Returning to Parameter Setting Mode
ΠThe following operation is not required if you are only checking a parameter setting.
Key
operation
Display example
pknk_krk0k0.k
3k2
Explanation
Press the
key to return to Parameter Setting Mode.
5-58
5-26 User Parameters
„ Operating Procedures for Servo Parameters
1. Displaying Parameter Setting Mode
Key
operation
Display example
Explanation
The default display is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
1k6kbkiktkp
Press the
key to display Parameter Setting Mode.
5
Operating Functions
2. Selecting the Parameter Type
Key
operation
Display example
skekrkUkokp
Explanation
Press the
keys to select the servo parameter.
3. Switching to the Parameter Setting Display
Key
operation
Display example
pknk_k k0k0.
skU
Explanation
Press the
key to go to the Parameter Setting Display.
Press the
key to return to the Parameter Type Selection Display.
4. Setting the Parameter Number
Key
operation
Display example
pknk_k k1k0
skU
Explanation
Set the number of the parameter to be set or checked.
5. Displaying the Parameter Setting
Key
operation
Display example
k k k4k0k0
1k0
5-59
Explanation
Press the
key to display the setting.
The selected parameter number appears in the sub window.
5-26 User Parameters
6. Changing the Parameter Setting
ΠThe following operation is not required if you are only checking a parameter setting.
Key
operation
Display example
k k1k0k0k0
1k0
k k1k0k0k0
1k0
Explanation
Use the
keys to change the setting.
The decimal point will flash for the digit that can be set.
Press the
key to save the new setting.
5
7. Returning to Parameter Setting Mode
Key
operation
Display example
pknk_k k1k0
skU
Operating Functions
ΠThe following operation is not required if you are only checking a parameter setting.
Explanation
Press the
key to return to Parameter Setting Mode.
5-60
5-26 User Parameters
Parameter Tables
The Servo Drive has various parameters for setting the characteristics and functions of the
Servomotor.
The function and purpose of each parameter is explained here.
Understand the parameters to optimize the Servomotor to your operating conditions.
Servo Drive parameters are categorized by function as follows.
1. Servo Parameters
These parameters are mainly for Servomotor control such as function selection, operation settings,
and gain adjustments.
5
2. Positioning Parameters
Operating Functions
These parameters are for acceleration and deceleration settings and function selection related to
positioning commands started by MECHATROLINK-II communications.
The parameters are categorized for 16-bit positioning and 32-bit positioning depending on the
setting range.
3. Reserved Parameters
Parameters listed as [Reserved] or unlisted parameter numbers cannot be used.
Do not change the default settings of these parameters.
4. Attributes
The attribute indicates when the changed setting for the parameter will be enabled.
A
Always enabled after change
B
Change prohibited during Servomotor operation and command issuance.
(It is not known when changes made during Servomotor operation and command issuance
will be enabled.)
C
Enabled when the control power is reset, or when a CONFIG command is executed via
the network (MECHATROLINK-II communications).
R
Read-only and cannot be changed.
Note 1. Parameters marked with "(RT)" are automatically set during realtime autotuning. To set
these parameters manually, disable realtime autotuning by setting the Realtime Autotuning
Mode Selection (Pn021) to 0 before changing the parameter.
Note 2. Parameter No. is the number for MECHATROLINK-II communications and CX-Drive.
The Parameter Unit shows only the last two digits.
Parameter numbers in the 100s specify 16-bit parameters, and numbers in the 200s specify
32-bit parameters.
MECHATROLINK-II Communications Parameter No.
Category
0@@h
Servo parameter numbers
1@@h
16-bit positioning parameters
2@@h
32-bit positioning parameters
Note 3. A command refers to data sent from the host controller to the Servo Drive via the network
(MECHATROLINK-II communications).
A response refers to data sent from the Servo Drive to the host controller via the network
(MECHATROLINK-II communications).
5-61
5-26 User Parameters
User parameters are set and checked on CX-Drive or the Parameter Unit (R88A-PR02G).
Pn
No.
000
Parameter name Setting
Reserved
Explanation
Do not change.
Default
setting
Unit
Setting
range
Attribute
„ Parameter Tables
1
---
---
---
Selects the data to be displayed on the 7-segment LED
display on the front panel.
Normal status ("--" Servo OFF, "00" Servo ON)
1
Indicates the machine angle from 0 to FF hex.
0 is the zero position of the encoder. The angle
increases when the Servomotor turns forward.
The count continues from "0" after exceeding
"FF".
When using an incremental encoder, the display
shows "nF" (not Fixed) until detecting the zero
position on the encoder after the control power is
turned ON.
2
Indicates the electrical angle from 0 to FF hex.
0 is the position where the inductive voltage on the
U phase reaches the position peak. The angle
increases when the Servomotor turns forward.
The count continues from "0" after exceeding
"FF".
Default Display
3
Indicates the number (total) of MECHATROLINKII communications errors from 0 to FF hex.
The communications error count (total) saturates
at the maximum of FFFFh. "h" appears only for the
lowest byte. The count continues from "00" after
exceeding "FF".
Note The communications error count (total) is
cleared by turning OFF the control power.
4
Indicates the setting on the rotary switch (node
address value) loaded at startup, in decimal.
This value does not change even if the rotary
switch is turned after startup.
5
0
---
0 to 4
A
0
---
---
---
5 to Reserved
32767 (Do not set.)
002
Reserved
Do not change.
5-62
Operating Functions
001
0
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
1
---
1 to 5
B
Selects the torque limit function, or the torque
feed-forward function during speed control.
„ Torque Limit Selection
For torque control, always select Pn05E.
For position control and speed control, select the torque
limit as follows.
Operating Functions
5
003
1
Use Pn05E as the limit value for forward and
reverse operations.
2
Forward: Use Pn05E.
Reverse: Use Pn05F.
3
Switch limits by torque limit values and input
signals from the network.
Limit in forward direction:
PCL is OFF = Pn05E, PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E, NCL is ON = Pn05F
4
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be
switched by torque limit values from the network
as follows:
Limit in forward direction:
Use Pn05E or MECHATROLINK-II command
option command value 1, whichever is smaller.
Limit in reverse direction:
Use Pn05F or MECHATROLINK-II command
option command value 2, whichever is smaller.
5
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be
switched by torque limit values and input signals
from the network as follows:
Limit in forward direction:
PCL is OFF = Pn05E,
PCL is ON = Pn05E or MECHATROLINK-II
command option command value 1, whichever is
smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINK-II
command option command value 2, whichever is
smaller.
Torque Limit
Selection
Note PCL ON: When either Forward Torque Limit
(CN1 PCL: pin 7) or MECHATROLINKII Communications Option Field (P-CL)
is ON.
PCL OFF: When both Forward Torque Limit (CN1
PCL: pin 7) and MECHATROLINK-II
Communications Option Field (P-CL)
are OFF.
„ Torque Feed-forward Function Selection
1 to 3
Enabled only during speed control. Disabled if not
using speed control.
4 to 5 Always disabled
5-63
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 2
C
Sets the function for the Forward and Reverse Drive
Prohibit Inputs (CN1 POT: pin 19, NOT: pin 20)
0
1
Both POT and NOT inputs disabled.
2
When either POT or NOT input becomes OPEN,
the Drive Prohibit Input Error (alarm code 38) will
occur.
5
Operating Functions
004
Drive Prohibit
Input
Selection
Decelerates and stops according to the sequence
set in the Stop Selection for Drive Prohibition Input
(Pn066) when both POT and NOT inputs are
enabled.
When both POT and NOT inputs are OPEN, the
Drive Prohibit Input Error (alarm code 38) will
occur.
5-64
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 3955
C
30
ms
0 to 1000
C
Controls errors and warnings for
MECHATROLINK-II communications.
Note Use with this parameter set to 0. Program to stop
immediately if using a value other than 0.
Set the Consecutive Communications Error Detection
Count in COM_ERR (bit 8 to 11). The communications
error (alarm code 83) will occur when a communications
error, which is assessed at every MECHATROLINK-II
communications cycle, occurs consecutively for the
number of the Consecutive Communications Error
Detection Count. The error and warning can be masked
for debug purposes.
Operating Functions
5
bits 15-12
bits 11-8
bits 7-4
bits 3-0
---
COM_ERR
MSK COM
WARNG
MSK COM
ALM
Π[bits 8-11] COM_ERR (Consecutive Communications
Error Detection Count)
Setting range: 0 to 15.
Consecutive Communications Error Detection Count = COM_ERR + 2
005
Note These bits are debug functions. Set to enable (0)
Communications
when not debugging.
Control
Π[bits 0-3] MECHATROLINK-II Communications Alarms
Mask (MSK COM ALM)
[bit0] 0: Communications error
(alarm code 83) enabled
1: Communications error
(alarm code 83) disabled
[bit1] 0: Watchdog data error
(alarm code 86) enabled
1: Watchdog data error
(alarm code 86) disabled
Π[bits 4-7] MECHATROLINK-II Communications
Warnings Mask (MSK COM WARNG)
[bit4] 0: Data setting warning
(warning code 94h) enabled
1: Data setting warning
(warning code 94h) disabled
[bit5] 0: Command warning
(warning code 95h) enabled
1: Command warning
(warning code 95h) disabled
[bit6] 0: ML-II communications warning
(warning code 96h) enabled
1: ML-II communications warning
(warning code 96h) disabled
006
Sets the duration to display the node address when the
control power is turned ON.
Note The node address display has priority even if there
are alarms or warnings at power ON.
Power ON
Address Display
Duration Setting 0 to 6 600 ms
7 to
set value × 100 ms
1000
5-65
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
3
---
0 to 11
A
0
---
0 to 14
A
0
---
---
---
Selects the output to the Analog Speed Monitor (SP on the
front panel).
Note This monitor output has a delay due to filtering. The
Operating Direction Setting (Pn043) does not
affect this monitor output. Thus, forward rotation is
always positive (+), and reverse rotation is always
negative (−).
Speed monitor
(SP) Selection
Actual Servomotor speed: 47 r/min/6 V
1
Actual Servomotor speed: 188 r/min/6 V
2
Actual Servomotor speed: 750 r/min/6 V
3
Actual Servomotor speed: 3000 r/min/6 V
4
Actual Servomotor speed: 12000 r/min/6 V
5
Command speed: 47 r/min/6 V
6
Command speed: 188 r/min/6 V
7
Command speed: 750 r/min/6 V
8
Command speed: 3000 r/min/6 V
9
Command speed: 12000 r/min/6 V
10
Outputs the Issuance Completion Status (DEN).
0V: Issuing
5V: Issuance complete
11
Outputs the Gain Selection Status.
0V: Gain 2
5V: Gain 1
Selects the output to the Analog Torque Monitor (IM on the
front panel)
Note This monitor output has a delay due to filtering. The
Operating Direction Setting (Pn043) does not
affect this monitor output. Thus, forward rotation is
always positive (+), and reverse rotation is always
negative (−).
008
Torque Monitor
(IM) Selection
0
Torque command: 100%/3 V
1
Position deviation: 31 pulses/3 V
2
Position deviation: 125 pulses/3 V
3
Position deviation: 500 pulses/3 V
4
Position deviation: 2000 pulses/3 V
5
Position deviation: 8000 pulses/3 V
6 to 10 Reserved
009
Reserved
11
Torque command: 200%/3 V
12
Torque command: 400%/3 V
13
Outputs the Issuance Completion Status (DEN).
0V: Issuing
5V: Issuance complete
14
Outputs the Gain Selection Status.
0V: Gain 2
5V: Gain 1
Do not change.
5
Operating Functions
007
0
5-66
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 1
A
0
---
0 to 2
C
2
---
0 to 5
C
Allows/prohibits parameter changes via the network.
00A
Operating Functions
5
Prohibit
Parameter
Changes via
Network
Operation Switch
When Using
00B
Absolute
Encoder
0
Allows parameter changes from the host controller
via the network.
1
Prohibits parameter changes from the host
controller via the network.
Attempting to change a parameter via the network
when prohibited triggers the Command Warning
(warning code 95h).
Selects how the an absolute encoder is used.
This parameter is disabled when using an incremental
encoder.
0
Use as an absolute encoder.
1
Use an absolute encoder as an incremental
encoder.
2
Use as an absolute encoder but ignore absolute
multi-turn counter overflow alarm (alarm code 41).
Sets the baud rate for RS-232 communications.
00C
RS-232 Baud
Rate Setting
0
2,400 bps
1
4,800 bps
2
9,600 bps
3
19,200 bps
4
38,400 bps
5
57,600 bps
00D
Reserved
Do not change.
0
---
---
---
00E
Reserved
Do not change.
0
---
---
---
00F
Reserved
Do not change.
0
---
---
---
Position Loop
Gain (RT)
Sets the position loop responsiveness.
Increasing the gain increases position control responsiveness and shortens stabilization time.
Oscillation or overshoot will occur if set too high. Adjust for
optimum responsiveness.
400
×0.1
0 to 30000
B
Speed Loop
Gain (RT)
Sets the speed loop responsiveness.
If the Inertia Ratio (Pn020) is set correctly, this parameter
is set to the Servomotor response frequency.
Increasing the gain increases the speed control responsiveness, but too much gain may cause oscillating.
Small gain may cause overshoot in the speed response.
Adjust for optimum responsiveness.
500
×0.1
1 to 30000
B
Adjusts the speed loop integration time constant.
Set a large value for large load inertia.
Speed Loop
Decrease the setting for fast response with small
Integration Time
inertia.
Constant (RT)
Set 9999 to stop integration operation while retaining the
integration value. A setting of 10000 disables integration.
200
×0.1
1 to 10000
B
0
---
0 to 5
B
010
011
012
Sets the type of speed detection filter time constant.
Normally, use a setting of 0.
Speed Feedback
Increasing the value reduces the noise of the Servomotor
Filter Time
013
but also reduces its responsiveness.
Constant (RT)
This parameter is disabled if the Instantaneous Speed
Observer Setting (Pn027) is enabled.
5-67
[1/s]
Hz
ms
014
015
Parameter name Setting
Torque
Command
Filter Time
Constant (RT)
Setting
range
0 to 2500
B
0 to 1000
B
0 to 6400
B
×0.01
Speed Feed- Sets the speed feed-forward amount.
forward Amount This parameter is particularly useful when fast response is
(RT)
required.
300
×0.1
100
×0.01
0
---
---
---
Sets the position loop gain when using gain 2 switching.
Same function as Pn010.
200
×0.1
0 to 30000
B
Sets the speed loop gain when using gain 2 switching.
Same function as Pn011.
800
×0.1
1 to 30000
B
500
×0.1
1 to 10000
B
0
---
0 to 5
B
100
×0.01
0 to 2500
B
1500
Hz
100 to 1500
B
Selects the notch width of notch filter 1 for resonance suppression.
Normally, use a setting of 2.
2
---
0 to 4
B
Do not change.
0
---
---
---
300
%
0 to 10000
B
017
Reserved
018
Position Loop
Gain 2 (RT)
019
Speed Loop
Gain 2 (RT)
Sets the time constant for the speed feed-forward
first-order lag filter.
Do not change.
Sets the speed loop integration time constant when using
Speed Loop
gain 2 switching.
Integration Time Same function as Pn012.
Constant 2 (RT) Set 9999 to stop integration operation while retaining the
integration value. Setting 10000 disables integration.
Sets the speed detection filter when using gain 2 switchSpeed Feedback ing.
Filter Time
01B
Same function as Pn013. Normally, use a setting of 0.
Constant 2 (RT) When Instantaneous Speed Observer Setting (Pn027) is
enabled, this parameter will be disabled.
01D
Unit
80
Feed-forward
Filter Time
Constant (RT)
01C
Default
setting
Adjusts the first-order lag filter time constant for the torque
command section.
The torque filter setting may reduce machine vibration.
016
01A
Explanation
Torque
Sets the first-order lag filter time constant for the torque
Command
command section when using gain 2 switching.
Filter Time
Same function as Pn014.
Constant 2 (RT)
Notch Filter 1
Frequency
Sets the notch frequency of notch filter 1 for resonance
suppression.
This filter must be matched with the resonance
frequency of the load.
ms
%
ms
[1/s]
Hz
ms
ms
100 to
Filter enabled
1499
1500 Filter disabled
01E
Notch Filter 1
Width
01F
Reserved
Sets the load inertia as a percentage of the Servomotor
rotor inertia.
020 Inertia Ratio (RT) Setting [%] = (Load inertia / Rotor inertia) × 100
The inertia ratio estimated during realtime autotuning is
stored in the EEPROM every 30 minutes.
5-68
5
Operating Functions
Pn
No.
Attribute
5-26 User Parameters
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 7
B
2
---
0 to F
B
0
---
0 to 2
B
Sets the operating mode for realtime autotuning.
A setting of 3 or 6 will provide faster response to changes
in inertia during operation. Operation, however, may be
unstable depending on the operating pattern.
Normally, use a setting of 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical
axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain
switching are a problem.
5
Realtime
021 Autotuning Mode
Selection
Realtime
Autotuning
0
Operating Functions
Disabled
1
2
Gradual changes
Sudden changes
4
Almost no change
Vertical axis
mode
6
7
--Almost no change
Horizontal axis
mode
3
5
Degree of change in
load inertia
Gradual changes
Sudden changes
Gain switching
disable mode
Almost no change
Sets the machine rigidity for realtime autotuning.
Increasing this value increases the responsiveness.
Realtime
If the value is changed suddenly by a large amount, the
Autotuning
gain will change rapidly, subjecting the machine to shock.
022
Machine
Always start by making small changes in the value, and
Rigidity Selection gradually increase the value while monitoring machine
operation.
Cannot be set to 0 when using the Parameter Unit.
023
5-69
Adaptive Filter
Selection
Enables or disables the adaptive filter.
The Adaptive Filter Table Number Display (Pn02F) will be
reset to 0 when disabled.
Note When the Vibration Filter Selection (Pn024) is set
to a low-pass filter type (Pn024 = 3 to 5), the
adaptive filter is forcibly set to disabled
(Pn023 = 0).
0
Adaptive filter disabled.
1
Adaptive filter enabled.
Adaptive operation performed.
2
Adaptive filter enabled. Adaptive operation will not
be performed (i.e., retained).
024
Parameter name Setting
Explanation
Selects the vibration filter type and switching mode.
„ Filter type selection
ΠNormal type:
Vibration frequency setting range 10.0 to 200.0 Hz
ΠLow-pass type:
Vibration frequency setting range 1.0 to 200.0 Hz
„ Switching mode selection
ΠNo switching: Both 1 and 2 are enabled
ΠSwitching with command direction:
Selects Vibration Frequency 1 in forward direction
(Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse direction
Vibration Filter
(Pn02D, Pn02E)
Selection
Filter type
Switching mode
0
1
Unit
Setting
range
0
---
0 to 5
C
5
No switching
Normal type
Switching with command
direction
2
3
4
Default
setting
Operating Functions
Pn
No.
Attribute
5-26 User Parameters
No switching
Low-pass type
Switching with command
direction
5
Sets the operating pattern for normal mode autotuning.
Number of
rotations
Forward and Reverse
(Alternating)
0
1
025
Normal Mode
Autotuning
Operation Setting
026
Repeat cycles of
2 rotations
Reverse and Forward
(Alternating)
2
Forward only
3
Reverse only
4
Forward and Reverse
(Alternating)
5
Overrun
Limit Setting
Rotation direction
Repeat cycles of
single rotation
0
---
0 to 7
B
10
×0.1
rotation
0 to 1000
A
Reverse and Forward
(Alternating)
6
Forward only
7
Reverse only
Sets the Servomotor’s allowable operating range for the
position command input range.
Set to 0 to disable the overrun protective function.
For details, refer to 5-15 Overrun Protection on page 5-29.
5-70
Pn
No.
027
Parameter name Setting
The Instantaneous Speed Observer improves speed detection accuracy, thereby improving responsiveness and
reducing vibration when stopping.
When the instantaneous speed observer is enabled, both
Speed Feedback Filter Time Constant (Pn013) and Speed
Instantaneous
Feedback Filter Time Constant 2 (Pn01B) are disabled.
Speed Observer
This feature cannot be used with realtime autotuning.
Setting (RT)
For details, refer to 5-24 Instantaneous Speed Observer
on page 5-48.
5
Operating Functions
028
Explanation
Notch Filter 2
Frequency
0
Disabled
1
Enabled
Sets the notch frequency of notch filter 2 for resonance
suppression.
This parameter must be matched with the resonance
frequency of the load.
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 1
B
1500
Hz
100 to 1500
B
100 to
Filter enabled
1499
1500 Filter disabled
029
Notch Filter 2
Width
Selects the notch width of notch filter 2 for resonance
suppression.
Increasing the value increases the notch width.
2
---
0 to 4
B
02A
Notch Filter 2
Depth
Selects the notch depth of notch filter 2 for resonance
suppression.
Increasing this value decreases the notch depth, thereby
reducing the phase lag.
0
---
0 to 99
B
Vibration
Frequency 1
Sets the vibration frequency 1 for damping control to
suppress vibration at the end of the load.
Measure and set the frequency of the vibration.
The frequency setting range depends on the filter type
selected in the Vibration Filter Selection (Pn024).
ΠNormal type
Setting frequency range: 10.0 to 200.0 Hz (Disabled
when set to 0 to 99)
ΠLow-pass type
Setting frequency range: 1.0 to 200.0 Hz (Disabled when
set to 0 to 9)
For details, refer to 5-25 Damping Control on page 5-50.
0
×0.1
0 to 2000
B
When setting Vibration Frequency 1 (Pn02B), reduce this
setting if torque saturation occurs, or increase it to make
the movement faster.
Normally, use a setting of 0.
The setting range depends on the filter type selected in the
Vibration Filter Selection (Pn024), and if Vibration Filter 1
Vibration Filter 1 is enabled, the ranges are as follows:
02C
Note This parameter is disabled when Vibration Filter 1
Setting
is disabled.
ΠNormal type
Setting range: 100 ≤ Pn02B + Pn02C ≤ Pn02B × 2
or 2000
ΠLow-pass type
Setting range: 10 ≤ Pn02B + Pn02C ≤ Pn02B × 6
0
×0.1
0
×0.1
02B
02D
5-71
Vibration
Frequency 2
Same function as Pn02B.
Hz
Hz
Hz
−200 to 2000 B
0 to 2000
B
Pn
No.
Parameter name Setting
02E
Vibration Filter 2
Same function as Pn02C.
Setting
02F
Adaptive Filter
Table Number
Display
Explanation
Displays the table entry number corresponding to the
frequency of the adaptive filter.
This parameter is set automatically when the adaptive
filter is enabled (i.e., when the Adaptive Filter Selection
(Pn023) is set to a value other than 0), and cannot be
changed.
When the adaptive filter is enabled, this parameter will be
saved in EEPROM approximately every 30 min. If the
adaptive filter is enabled the next time the power supply is
turned ON, adaptive operation will start with the data
saved in EEPROM as the default value.
To clear this parameter and reset the adaptive operation,
disable the adaptive filter by setting the Adaptive Filter
Selection (Pn023) to 0, and then enable it again.
Default
setting
Unit
0
×0.1
0
---
Hz
Attribute
5-26 User Parameters
Setting
range
−200 to 2000 B
0 to 64
R
5
5 to 48 Filter enabled
49 to
Enable or disable the filter with Pn022
64
Enables or disables gain switching.
030
Gain Switching
Operating Mode
Selection (RT)
0
Disabled. Uses Gain 1 (Pn010 to Pn014).
PI/P operation is switched from
MECHATROLINK-II.
1
The gain is switched between Gain 1 (Pn010 to
Pn014) and Gain 2 (Pn018 to Pn01C).
For details, refer to 5-16 Gain Switching on page
5-31.
1
---
0 to 1
B
2
---
0 to 10
B
30
×166
µs
0 to 10000
B
Sets the trigger for gain switching.
The details depend on the control mode.
For details, refer to 5-16 Gain Switching on page 5-31.
031
032
Gain Switch
Setting (RT)
0
Always Gain 1
1
Always Gain 2
2
Switching from the network
3
Amount of change in torque command
4
Always Gain 1
5
Speed command
6
Amount of position deviation
7
Position command pulses received
8
Positioning Completed Signal (INP) OFF
9
Actual Servomotor speed
10
Combination of position command pulses received and speed
Enabled when the Gain Switch Setting (Pn031) is set to 3,
Gain Switch Time
or 5 to 10. Sets the lag time from the trigger detection to
(RT)
actual gain switching when switching from gain 2 to gain 1.
5-72
Operating Functions
0 to 4 Filter disabled
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
Sets the judgment level to switch between Gain 1 and
Gain Switch Level Gain 2 when the Gain Switch Setting (Pn031) is set to 3,
033
Setting (RT)
5, 6, 9, or 10. The unit for the setting depends on the
condition set in the Gain Switch Setting (Pn031).
600
---
0 to 20000
B
Sets the hysteresis of the judgment level for the Gain
Switch Level Setting (Pn033) when the Gain Switch
Setting (Pn031) is set to 3, 5, 6, 9, or 10. The unit for the
setting depends on the condition set in the Gain Switch
Setting (Pn031).
50
---
0 to 20000
B
20
×166
µs
0 to 10000
B
Pn
No.
034
035
Operating Functions
5
Parameter name Setting
Gain Switch
Hysteresis
Setting (RT)
Explanation
This parameter can prevent the position loop gain from
Position Loop increasing suddenly when the position loop gain and
Gain Switching position loop gain 2 differ by a large amount.
Time (RT)
When the position loop gain increases, it takes the
duration of (set value + 1) × 166 µs.
036
Reserved
Do not change.
0
---
---
---
037
Reserved
Do not change.
0
---
---
---
038
Reserved
Do not change.
0
---
---
---
039
Reserved
Do not change.
0
---
---
---
03A
Reserved
Do not change.
0
---
---
---
03B
Reserved
Do not change.
0
---
---
---
03C
Reserved
Do not change.
0
---
---
---
03D
Jog Speed
Sets the jog operation speed with the Parameter Unit or
CX-Drive.
Note Jog operation is only available when the network is
not established. Do not try to establish the network
while using jog operation. Otherwise, command
alarm (alarm code 27) will occur.
200
r/min
0 to 500
B
03E
Reserved
Do not change.
0
---
---
---
03F
Reserved
Do not change.
0
---
---
---
040
Reserved
Do not change.
0
---
---
---
1
---
0 to 1
C
1
---
0 to 1
C
041
Enables the Emergency Stop Input (STOP).
Note If this function is disabled, the response status will
Emergency Stop
always be 0 (disabled).
Input Setting
0
Disabled.
1
042
5-73
Origin Proximity
Input
Logic Setting
Enabled (alarm code 87 issued on OPEN)
Sets the logic for the Origin Proximity Input (DEC).
0
N.C contact (origin proximity detected on OPEN)
1
N.O contact (origin proximity detected on CLOSE)
Pn
No.
043
Parameter name Setting
Explanation
Sets the relationship between polarity of operation data
sent over the network and the direction of Servomotor
rotation.
Note In RS-232C communications and on the analog
monitor (SP, IM) on the front panel, forward
Operating
direction is always positive (+), and reverse
Direction Setting
rotation is always negative (−).
0
Sets the reverse direction as the positive
direction (+).
1
Sets the forward direction as the positive
direction (+).
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
1
---
0 to 1
C
0
---
0 to 1
C
Sets the terminal assignment for Drive Prohibit Input.
0
Sets CN1 pin 19 to POT, CN1 pin 20 to NOT.
1
Sets CN1 pin 19 to NOT, CN1 pin 20 to POT.
045
Reserved
Do not change.
0
---
---
---
046
Reserved
Do not change.
0
---
---
---
047
Reserved
Do not change.
0
---
---
---
048
Reserved
Do not change.
0
---
---
---
049
Reserved
Do not change.
0
---
---
---
04A
Reserved
Do not change.
0
---
---
---
04B
Reserved
Do not change.
0
---
---
---
04C
Reserved
Do not change.
0
---
---
---
04D
Reserved
Do not change.
0
---
---
---
04E
Reserved
Do not change.
0
---
---
---
04F
Reserved
Do not change.
0
---
---
---
050
Reserved
Do not change.
0
---
---
---
051
Reserved
Do not change.
0
---
---
---
052
Reserved
Do not change.
0
---
---
---
Sets the speed limit for torque control mode. (The value is
an absolute value)
This parameter is limited by the Overspeed Detection
Level Setting (Pn073).
50
r/min
−20000 to
20000
B
053
Speed Limit
054
Reserved
Do not change.
0
---
---
---
055
Reserved
Do not change.
0
---
---
---
056
Reserved
Do not change.
0
---
---
---
057
Reserved
Do not change.
0
---
---
---
0
×2 ms
0 to 5000
B
Sets the deceleration time for speed control mode.
Deceleration time [s] from maximum speed [r/min]
to 0 r/min = Set value × 2 ms
0
×2 ms
0 to 5000
B
Do not change.
0
---
---
---
058
Sets the acceleration time for speed control mode.
Soft Start
Acceleration time [s] from 0 r/min to maximum speed
Acceleration Time
[r/min] = Set value × 2 ms
059
Soft Start
Deceleration
Time
05A
Reserved
5-74
5
Operating Functions
044
Input Signal
Selection
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 1
B
Selects the speed limit for torque control mode.
05B
Speed Limit
Selection
Use the Speed Limit (Pn053)
1
Use the speed limit value via
MECHATROLINK-II or the Speed Limit (Pn053),
whichever is smaller.
05C
Reserved
Do not change.
0
---
---
---
05D
Reserved
Do not change.
0
---
---
---
No. 1 Torque
Limit
Sets the No. 1 Torque Limit for the Servomotor output
torque.
Refer to information on the Torque Limit Selection (Pn003)
to select the torque limit.
The maximum value of the setting range depends on the
applicable Servomotor.
300
%
0 to 500
B
No. 2 Torque
Limit
Sets the No. 2 torque limit for the Servomotor output
torque.
Refer to information on the Torque Limit Selection (Pn003)
to select the torque limit.
The maximum value of the setting range depends on the
applicable Servomotor.
100
%
0 to 500
B
Sets the positioning completion range when Positioning
Completion 1 (INP1) Output is selected.
Positioning is complete when all positioning command
pulses are exhausted, and the absolute value of the
position deviation converted into command units is less
than this setting.
25
Command
units
0 to 10000
A
Sets the detection width for the speed conformity
detection (VCMP) signal.
Speed Conformity Speed conformity is achieved when the absolute value of
Signal
061
the difference between the internal speed command
Output Width (before acceleration and deceleration limits are applied)
and the Servomotor speed is less than the set speed.
Note This setting has a hysteresis of 10 r/min.
20
r/min 10 to 20000
A
Sets the threshold level for the speed reached (TGON)
signal.
Rotation Speed
Speed reached is determined when the absolute value of
062 for Motor Rotation
the Servomotor speed is greater than the setting speed.
Detection
Note Speed reached detection has a hysteresis of
10 r/min.
50
r/min 10 to 20000
A
Sets the positioning completion range when Positioning
Completion 2 (INP2) is selected.
Positioning is complete when the absolute value of the
position deviation converted into command units is less
than this setting, regardless of whether position command
pulses are still being processed.
100
Command
units
A
05E
5
Operating Functions
0
05F
060
063
5-75
Positioning
Completion
Range 1
Positioning
Completion
Range 2
0 to 10000
064
Parameter name Setting
Explanation
Enables or disables the offset component readjustment
function of the Motor Phase Current Detector (CT) for
Servo ON command inputs. The readjustment is made
when control power is turned ON.
Motor Phase
Note This adjustment is inaccurate if the offset is
Current
measured while the Servomotor is rotating. To
Offset
enable this function, do not rotate the Servomotor
Re-adjustment
when inputting the Servo ON command.
Setting
0
Disabled (only when turning ON control power)
1
Default
setting
Unit
Setting
range
0
---
0 to 1
A
Enabled (when turning ON control power, or at
Servo ON)
Selects whether to activate the main power supply
undervoltage function (alarm code 13) when the main
power supply is interrupted for the duration of the Momentary Hold Time (Pn06D) during Servo ON.
0
065
Undervoltage
Alarm Selection
1
Turns the Servo OFF according to the setting for
the Stop Selection with Main Power OFF (Pn067),
interrupting the positioning command generation
process (positioning operation) within the Servo
Drive. When the main power supply is turned back
ON, Servo ON will resume. Restart the positioning
operation after performing the positioning operation and recovering from Servo OFF.
5
1
---
0 to 1
B
Causes an error due to main power supply
undervoltage (alarm code 13).
This parameter is disabled if Pn06D = 1,000.
If Pn06D is set too long and the voltage between
P and N in the main power supply converter drops
below the specified value before a main power
supply interruption is detected, a main power
supply undervoltage (alarm code 13) will occur.
5-76
Operating Functions
Pn
No.
Attribute
5-26 User Parameters
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 2
C
Sets the deceleration stop operation to be performed after
the Forward Drive Prohibit Input (POT) or Reverse Drive
Prohibit Input (NOT) is enabled.
During
deceleration
Deviation counter
Dynamic
brake
Disables
torque command in drive
prohibited
direction
Cleared while
decelerating with
dynamic brake.
Retained after
stopping.
1
Disables
torque
Disables
torque command in drive
prohibited
direction
Cleared while
decelerating.
Retained after
stopping.
2
Retained while
decelerating, cleared
Emergency
upon completion of
Stop Torque Servo locked
deceleration, and
(Pn06E)
retained after
stopping.
0
5
Operating Functions
After
stopping
(30 r/min or
less)
Note1. The positioning command generation process
Stop Selection for
066 Drive Prohibition
Input
5-77
(positioning operation) within the Servo Drive will be
forcibly stopped once it enters the deceleration
mode. Also, when the deceleration mode is
activated during speed control or torque control, it
will switch to position control. If a positioning
operation command is received during deceleration,
the internal positioning command generation
process will be retained, and after deceleration is
complete, positioning operation will be activated.
Note2. When the Servomotor rotation speed is 30 r/min or
less (stopped), the deceleration mode will not be
activated even if the drive prohibit input is enabled.
Note3. When the parameter is set to 2 and an operation
command in the drive prohibited direction is
received after stopping, a command warning
(warning code 95h) will be issued. When the
parameter is set to 0 or 1, the operation command in
the prohibited direction after stopping will be
accepted, but the Servomotor will not operate and
the position deviation will accumulate because the
torque command is 0. Take measures such as
issuing a command in the reverse direction from the
host controller.
Note4. When the parameter is set to 2, MECHATROLINK-II
communications are interrupted, and either Forward
or Reverse Drive Prohibit Input (POT or NOT) is
turned ON, receiving an operation command (jog
operation or normal mode autotuning) via RS232 will
cause a Drive Prohibit Input Error (alarm code 38).
A Drive Prohibit Input Error (alarm code 38) will also
occur if either POT or NOT is turned ON while
operating on an operation command received via
RS232.
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 7
B
Sets the operation to be performed during deceleration
and after stopping after the main power supply is turned
OFF with the Undervoltage Alarm Selection (Pn065) set to
0. The deviation counter will be reset when the power OFF
is detected.
2 and 6
Use dynamic brake to decelerate, but free the
motor when stopped.
3 and 7
Use free-run to decelerate, and free the motor
when stopped.
5
Sets the deceleration process and stop status after an
alarm is issued by the protective function. The deviation
counter will be reset when an alarm is issued.
068
Stop Selection for
Alarm Generation
0
Use dynamic brake to decelerate and remain
stopped with dynamic brake.
1
Use free-run to decelerate and remain stopped
with dynamic brake.
2
Use dynamic brake to decelerate, but free the
motor when stopped.
3
Use free-run to decelerate, and free the motor
when stopped.
0
---
0 to 3
B
069
Sets the operational conditions to apply during deceleration and after stopping when the Servo is turned OFF.
Stop Selection The relationship between set values, operation, and
with Servo OFF deviation counter processing for this parameter is the
same as for the Stop Selection with Main Power OFF
(Pn067).
0
---
0 to 7
B
06A
Sets the duration from when the Brake Interlock (BKIR)
signal turns OFF to when the Servomotor is de-energized
when the RUN command is turned OFF with the Servomotor stopped.
Brake Timing
Note The brake interlock signal is the logical OR of the
When Stopped
brake release request from the network and the
release request from the Servo controller. Note,
the brake release request from the network is OFF
(operation request is ON) at power ON.
10
2 ms
0 to 1000
B
When the run command (RUN) is turned OFF during the
Servomotor rotation, the Servomotor will decelerate reducing the rotation speed and the Brake Interlock Signal
(BKIR) will turn OFF after the time set by this parameter
has elapsed.
Brake Timing BKIR turns OFF if the Servomotor speed drops below 30
06B
during Operation r/min before the set time.
Note The brake interlock signal is the logical OR of the
brake release request from the network and the
release request from the Servo controller. Note,
the brake release request from the network is OFF
(operation request is ON) at power ON.
50
2 ms
0 to 1000
B
5-78
Operating Functions
067
Use dynamic brake to decelerate and remain
Stop Selection 0 and 4
stopped with dynamic brake.
with Main Power
OFF
Use free-run to decelerate and remain stopped
1 and 5
with dynamic brake.
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
0
---
0 to 3
C
Sets the amount of time required to detect shutoff when
Momentary Hold the main power supply continues to shut off.
06D
Time
The main power OFF detection will be disabled if this
parameter is set to 1000.
35
2 ms
35 to 1000
C
Sets the torque limit during deceleration because of the
Drive Prohibition Input when the Stop Selection for Drive
Prohibition Input (Pn066) is set to 2.
Emergency Stop
06E
When this parameter is set to 0, the normal torque limit will
Torque
be set.
The maximum value of the setting range depends on the
Servomotor.
0
%
0 to 300
B
Pn
No.
Parameter name Setting
Explanation
Sets the regeneration resistor operation and the regeneration overload (alarm code 18) operation.
Set this parameter to 0 if using the built-in regeneration
resistor.
If using an external regeneration resistor, be sure to turn
OFF the main power when the built-in thermal switch is
activated.
06C
Regeneration
Resistor
Selection
0
Sets the regeneration overload to match the
built-in regeneration resistor. (regeneration load
ratio below 1%)
1
The regeneration overload (alarm code 18) occurs
when the load ratio of the external regeneration
resistor exceeds 10%.
2
The regeneration processing circuit by the
external regeneration resistor is activated, but the
regeneration overload (alarm code 18) does not
occur.
3
The regeneration processing circuit is not activated. All regenerative energy is absorbed by the
built-in capacitor.
Operating Functions
5
06F
Reserved
Do not change.
0
---
---
---
070
Reserved
Do not change.
0
---
---
---
071
Reserved
Do not change.
0
---
---
---
072
Overload
Detection
Level Setting
Sets the overload detection level.
The overload detection level will be set at 115% if this
parameter is set to 0.
Normally, use a setting of 0, and set the level only when
reducing the overload detection level.
0
%
0 to 500
A
073
Overspeed
Detection
Level Setting
Sets the overspeed detection level.
The overspeed detection level is 1.2 times the maximum
Servomotor rotation speed when the parameter is set to 0.
Normally, use a setting of 0, and set the level only when
reducing the overspeed detection level.
Note The detection margin of error for the setting is
±3 r/min for a 7-core absolute encoder and
±36 r/min for a 5-core incremental encoder.
0
r/min
0 to 20000
A
074
Reserved
Do not change.
0
---
---
---
075
Reserved
Do not change.
0
---
---
---
076
Reserved
Do not change.
0
---
---
---
077
Reserved
Do not change.
0
---
---
---
5-79
Pn
No.
Parameter name Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
078
Reserved
Do not change.
0
---
---
---
079
Reserved
Do not change.
0
---
---
---
07A
Reserved
Do not change.
0
---
---
---
07B
Reserved
Do not change.
0
---
---
---
07C
Reserved
Do not change.
0
---
---
---
07D
Reserved
Do not change.
0
---
---
---
07E
Reserved
Do not change.
0
---
---
---
07F
Reserved
Do not change.
0
---
---
---
Operating Functions
5
5-80
5-26 User Parameters
Pn
Parameter name
No.
Default
setting
Unit
Setting
range
Attribute
„ 16-bit Positioning Parameters: Parameter No. 100 to 13F
0
---
0 to 2
C
0
Command
units
−32768 to
32767
B
0
0.01
ms
0 to 6400
B
0
---
---
---
0
---
0 to 3
A
Sets the threshold for detecting the origin (ZPOINT) in
absolute values.
ZPOINT = 1 when the return to origin completes (coordinate system setup is complete) and the feedback position
is within the setting range of this parameter.
10
Command
units
0 to 250
A
Do not change.
0
---
---
---
Setting
Explanation
Enables or disables the backlash compensation for
position control, and sets the compensation direction.
100
Operating Functions
5
101
Backlash
Compensation
Selection
Backlash
Compensation
0
Disabled
1
Compensates in the initial positive direction after
the Servo ON.
2
Compensates in the initial negative direction after
the Servo ON.
Sets the backlash compensation amount for position
control.
Sets the backlash compensation time constant for position control.
Value of
Pn100
102
103
Backlash
Compensation
Time Constant
Reserved
Pn101 = Positive
number
Pn101 = Negative
number
1
Compensates in
positive direction
during rotation in
positive direction
Compensates in
negative direction
during rotation in
positive direction
2
Compensates in
positive direction
during rotation in
negative direction
Compensates in
negative direction
during rotation in
negative direction
Do not change.
Enables or disables the soft limit.
When enabled, the soft limit values are set in Forward
Software Limit (Pn201) and Reverse Software Limit
(Pn202).
Note The response value for limit signals disabled by
this setting will be set to 0.
The response value for limit signals is also set to 0
when the Servomotor does not complete its return
to origin.
104
Soft Limit
105
Origin Range
106
Reserved
5-81
0
Enable both the Forward / Reverse Software
Limits (Pn201 and Pn202)
1
Disable the Forward Software Limit (Pn201),
enable the Reverse Software Limit (Pn202)
2
Enable the Forward Software Limit (Pn201),
disable the Reverse Software Limit (Pn202)
3
Disable both the Forward / Reverse Software
Limits (Pn201 and Pn202)
Setting
Explanation
Sets the acceleration for positioning operations.
A setting of "0" is regarded as "1".
The setting will be handled after conversion to an
unsigned 16-bit data (0 to 65535).
Example: −32768 → 8000h = 32768
−1 → FFFFh = 65535
Default
setting
Unit
Setting
range
−32768 to
32767
B
×
1000
0
[command
units/
s2 ]
107
Linear
Acceleration
Constant
108
Reserved
Do not change.
0
---
---
---
109
Reserved
Do not change.
0
---
---
---
−32768 to
32767
B
Sets the deceleration for positioning operations.
A setting of "0" is regarded as "1".
The setting will be handled after conversion to an
unsigned 16-bit data (0 to 65535).
Example: −32768 → 8000h = 32768
−1 → FFFFh = 65535
100
×
1000
0
[command
units/
s2 ]
10A
Linear
Deceleration
Constant
10B
Reserved
Do not change.
0
---
---
---
10C
Reserved
Do not change.
0
---
---
---
10D
Reserved
Do not change.
0
---
---
---
0
×0.1
0 to 5100
B
0
---
0 to 1
B
50
100
[command
units/
s]
1 to 32767
B
5
100
[command
units/
s]
1 to 32767
B
Sets the moving average time for position commands.
Note If the Moving Average Time is set, commands may
not be executed seamlessly when switching the
Moving Average
10E
control mode, and when switching between
Time
interpolation feed motions and positioning motions
(motions wherein the command waveforms are
generated inside the Servo Drive).
100
ms
Sets the direction for origin return.
10F
Origin Return
Mode Settings
0
Positive direction
1
Negative direction
Sets the operating speed for origin return from when the
origin proximity signal is turned ON, to when it is turned
Origin Return
OFF and the latch signal is detected.
110 Approach Speed
This parameter can be set to a maximum value of 32767,
1
but internally the speed is limited to the Servomotor's
maximum speed.
Sets the operating speed for origin return, from when the
point after the latch signal is detected to when the Origin
Origin Return
Return Final Distance (Pn204) is reached.
111 Approach Speed
This parameter can be set to a maximum value of 32767,
2
but internally the speed is limited to the Servomotor's
maximum speed.
5-82
5
Operating Functions
Pn
Parameter name
No.
Attribute
5-26 User Parameters
Pn
Parameter name
No.
Setting
Explanation
Default
setting
Unit
Setting
range
Attribute
5-26 User Parameters
7
---
0 to 9
C
Selects the function for general-purpose output 1
(OUTM1).
0
Always OFF
1
INP1 output.
Turn ON when position deviation is equal to or less
than Pn060 for position control. Undefined when
not using position control.
2
VCMP output.
Turn ON when the deviation between the Servomotor speed and commanded speed is within the
range set by Pn061 for speed control. Undefined
when not using speed control.
3
TGON output.
Turn ON when the absolute value of the Servomotor speed exceeds Pn062 setting in all control
modes.
4
READY output.
Turn ON when the main power is supplied, there
is no alarm, and Servo SYNC with a host controller
is established in all control modes.
Operating Functions
5
General-purpose
Output 1
112
Function
Selection
5
CLIM output.
Turn ON when torque limit is activated in all control
modes.
6
VLIM output.
Turn ON when the Servomotor speed
reaches the speed limit for torque control. Undefined when not using torque control.
7
BKIR output.
Turn ON with the release timing of the brake
release signal in all control modes.
8
WARN output.
Turn ON when a warning is issued in all control
modes.
9
INP2 output.
Turn ON when the position deviation is equal to or
less than the Positioning Completion Range 2
(Pn063) for position control. Undefined when not
using position control.
General-purpose
Output 2
113
Function
Selection
Selects the function for general-purpose output 2
(OUTM2).
The set values and the functions are the same as for
general-purpose output 1 (OUTM1).
0
---
0 to 9
C
General-purpose
Output 3
114
Function
Selection
Selects the function for general-purpose output 3
(OUTM3).
The set values and the functions are the same as for
general-purpose output 1 (OUTM1).
0
---
0 to 9
C
115
to
13F
Do not change.
0
---
---
---
5-83
Reserved
5-26 User Parameters
200
201
202
Default
setting
Explanation
Unit
Setting range
Absolute
Origin Offset
Sets the offset amount for the encoder position and the
mechanical coordinate system position when
using an absolute encoder.
0
Com- −1073741823
mand
to
C
units 1073741823
Forward
Software Limit
Sets the soft limit in the forward direction.
If the Servomotor exceeds the limit, the network response status (PSOT) will turn ON (=1).
Note1. Be sure to set the limits so that Forward
Software Limit > Reverse Software Limit.
Note2. PSOT is not turned ON when origin return is
incomplete.
500000
Com- −1073741823
mand
to
A
units 1073741823
Sets the soft limit for the reverse direction.
If the Servomotor exceeds the limit, the network response status (NSOT) will turn ON (=1).
Note1. Be sure to set the limits so that Forward
Software Limit > Reverse Software Limit.
Note2. NSOT is not turned ON when origin return is
incomplete.
Com- −1073741823
−500000 mand
to
A
units 1073741823
Reverse
Software Limit
5
Sets the distance to travel after detecting the latch
signal input position when performing external input
positioning.
The operation after detecting the latch signal input
position will be determined by the external input positioning direction and this parameter as follows.
External
input
positioning
direction
203
Final Distance for
External Input
Positioning
Sign
Positive
Negative
Decelerates to a
stop, reverses, then
moves in the
negative direction
and stops
Positive
direction
Moves in the
positive direction
and stops*1
Negative
direction
Decelerates to a
stop, reverses, then Moves in the
moves in the posi- negative direction
tive direction and
and stops*1
stops
100
Com- −1073741823
to
B
mand
units 1073741823
*1. Reverses after decelerating to a stop if the final
distance for external input positioning is short in
comparison to the deceleration distance.
5-84
Operating Functions
Pn
SetParameter name
No.
ting
Attribute
„ 32-bit Positioning Parameters: Parameter No. 200 to 21F
Pn
SetParameter name
No.
ting
Default
setting
Explanation
Unit
Setting range
Attribute
5-26 User Parameters
Sets the distance from the latch signal input position to
the origin when performing origin return.
The operation after detecting the latch signal input
position will be determined by the origin return
direction and this parameter as follows.
Origin
return
direction
204
Origin Return
Final Distance
Sign
Positive
Positive
direction
Moves in the
positive direction
and stops*1
Decelerates to a
stop, reverses, then
moves in the
negative direction
and stops
Negative
direction
Moves in the
negative direction
and stops*1
Decelerates to a
stop, reverses, then
moves in the
positive direction
and stops
5
Operating Functions
Negative
100
Com- −1073741823
mand
to
B
units 1073741823
*1. Reverses after decelerating to a stop if the final
travel distance for origin return is short in
comparison to the deceleration distance.
205
Sets the numerator for the electronic gear ratio.
Setting this parameter to 0 automatically sets the encoder resolution as the numerator. (131072 for a 17-bit
Electronic Gear absolute encoder, or 10000 for a 2,500-p/r incremental
Ratio 1
encoder).
(Numerator)
Note Set the electronic gear ratio within the range of
1/100 to 100 times. A parameter setting alarm
(alarm code 93) will occur if the ratio is set
outside of this range.
1
---
0 to 131072
C
206
Electronic Gear
Ratio 2
(Denominator)
Sets the denominator for the electronic gear ratio.
Note Set the electronic gear ratio within the range of
1/100 to 100 times. A parameter setting alarm
(Alarm code 93) will occur if the ratio is set
outside of this range.
1
---
1 to 65535
C
207
Reserved
Do not change.
0
---
---
---
208
Reserved
Do not change.
0
---
---
---
Sets the deviation counter overflow level.
The value will become saturated at 134217728
Deviation
(= 227) pulses after multiplying with the electronic gear
209 Counter Overflow
ratio.
Level
Setting this parameter to 0 will disable deviation
counter overflow.
20A
to
21F
5-85
Reserved
Do not change.
20000
0
Com0 to
mand
2147483647
units
---
---
A
---
5-27 Details on Important Parameters
5-27 Details on Important Parameters
ΠThis section provides an explanation for the particularly important parameters.
Be sure to fully understand the meanings of these parameters before making changes to the
parameter settings.
ΠDo not set or change the default values for user parameters listed as "Reserved".
ΠThe attribute indicates when the changed setting for the parameter will be enabled.
Attribute
Timing when changes will be enabled
Always enabled after change
B
Change prohibited during Servomotor operation and command issuance.
(It is not known when changes made during Servomotor operation and command issuance
will be enabled.)
C
Enabled when the control power is reset, or when CONFIG command is executed via the
network (MECHATROLINK-II communications).
R
Read-only and cannot be changed.
5
Operating Functions
A
5-86
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn003
Torque Limit Selection
1 to 5
---
1
B
ΠSelects torque limit function, or torque feed-forward function during speed control.
Torque Limit Selection
Select the torque limit for position control or speed control as follows.
Setting
Operating Functions
5
Explanation
1
Use Pn05E as the limit value for forward and reverse operations.
2
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
3
Switch limits by torque limit values and input signals from the network.
Limit in forward direction: PCL is OFF = Pn05E, PCL is ON = Pn05F
Limit in reverse direction: NCL is OFF = Pn05E, NCL is ON = Pn05F
4
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be switched by torque limit values from the network
as follows:
Limit in forward direction: Use Pn05E or MECHATROLINK-II command option command
value 1, whichever is smaller.
Limit in reverse direction: Use Pn05F or MECHATROLINK-II command option command
value 2, whichever is smaller.
5
Forward: Use Pn05E as limit.
Reverse: Use Pn05F as limit.
Only in speed control, torque limits can be switched by torque limit values and input
signals from the network as follows:
Limit in forward direction:
PCL is OFF = Pn05E,
PCL is ON = Pn05E or MECHATROLINK-II command option command value 1,
whichever is smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINK-II command option command value 2,
whichever is smaller.
Note 1. PCL ON: When either Forward Torque Limit (CN1 PCL: pin 7) or MECHATROLINK-II
Communications Option Field (P-CL) is ON.
PCL OFF: When both Forward Torque Limit (CN1 PCL: pin 7) and MECHATROLINK-II
Communications Option Field (P-CL) are OFF.
Note 2. For torque control, always select Pn05E.
Torque Feed-forward Function Selection
Setting
5-87
Explanation
1 to 3
Enabled only during speed control. Disabled if not using speed control.
4 to 5
Always disabled.
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn004
Drive Prohibit Input Selection
0 to 2
---
0
C
Sets the function for the Forward and Reverse Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin 20).
Setting
Explanation
0
Decelerates and stops according to the sequence set in the Stop Selection for Drive
Prohibition Input (Pn066) when both POT and NOT inputs are enabled.
When both POT and NOT inputs are OPEN, the Drive Prohibit Input Error (alarm code 38)
will occur.
1
Both POT and NOT inputs disabled.
2
When either POT or NOT input becomes OPEN, the Drive Prohibit Input Error (alarm code
38) will occur.
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn005
Communications Control
0 to 3955
---
0
C
Controls errors and warnings for MECHATROLINK-II communications.
Note Use with this parameter set to 0.
Program to stop immediately if using a value other than 0.
Set the Consecutive Communications Error Detection Count in COM_ERR (bit 8 to 11).
The communications error (alarm code 83) will occur when a communications error, which is
assessed at every MECHATROLINK-II communications cycle, occurs consecutively for the number
of the Consecutive Communications Error Detection Count. The error and warning can be masked
for debug purposes.
bit
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Setting
0
0
0
0
X
X
X
X
0
X
X
X
0
0
X
X
Content
---
COM_ERR
MSK COM WARNG
MSK COM ALM
[bits 8-11]COM_ERR (Consecutive Communications Error Detection Count)
Setting range: 0 to 15
Consecutive Communications Error Detection Count = COM_ERR + 2
Note These bits are debug functions. Set to enable (0) when not debugging.
[bits 0-3] MECHATROLINK-II Communications Alarms Mask (MSK COM ALM)
[bit 0] 0: Communications error (alarm code 83) enabled
1: Communications error (alarm code 83) disabled
[bit1] 0: Watchdog data error (alarm code 86) enabled
1: Watchdog data error (alarm code 86) disabled
[bits 4-7] MECHATROLINK-II Communications Warnings Mask (MSK COM WARNG)
[bit4] 0: Data setting warning (warning code 94h) enabled
1: Data setting warning (warning code 94h) disabled
[bit5] 0: Command warning (warning code 95h) enabled
1: Command warning (warning code 95h) disabled
[bit6] 0: ML-II communications warning (warning code 96h) enabled
1: ML-II communications warning (warning code 96h) disabled
5-88
Operating Functions
5
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn021
Realtime Autotuning
Mode Selection
0 to 7
---
0
B
Sets the operating mode for realtime autotuning.
A setting of 3 or 6 will provide faster response to changes in inertia during operation. Operation,
however, may be unstable depending on the operating pattern.
Normally, set the parameter to 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain switching are a problem.
5
Setting
Realtime Autotuning
Degree of change in load inertia
0
Disabled
---
1
Almost no change
Operating Functions
2
Horizontal axis mode
Gradual changes
3
Sudden changes
4
Almost no change
5
Vertical axis mode
Gradual changes
6
7
Sudden changes
Gain switching disable mode
Precautions
for Correct Use
Almost no change
ΠIn realtime autotuning, responses to inertia changes are derived from the
changes in approximately 10 s.
Realtime autotuning may not be able to follow sharp changes in inertia.
In this case, the vibrations may occur in the operation. Disable realtime
autotuning by setting 0 when the operation has become normal.
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn022
Realtime Autotuning
Machine Rigidity Selection
0 to F
---
2
B
Sets the machine rigidity for realtime autotuning.
When realtime autotuning is enabled, each parameter in the table is automatically set to the
machine rigidity values in "Realtime Autotuning (RTAT) Parameter Tables" on the next page.
Autotuning adjusts the response by estimating the load inertia based on these values.
Thus, if the value is too large and not suitable for the load, vibration or resonance may occur.
If this occurs, lower the setting.
5-89
5-27 Details on Important Parameters
Realtime Autotuning (RTAT) Parameter Tables
Parameter name
AT Machine Rigidity Selection (Pn022)
AT Mode Selection
(Pn021)
0
1
2
3
4
5
6
7
Pn010
Position Loop Gain
---
120
320
390
480
630
720
900 1080
Pn011
Speed Loop Gain
---
90
180
220
270
350
400
500
600
Pn012
Speed Loop Integration Time
Constant
---
620
310
250
210
160
140
120
110
Pn013
Speed Feedback Filter Time
Constant
---
0
0
0
0
0
0
0
0
Pn014
Torque Command
Filter Time Constant*1
---
253
126
103
84
65
57
45
38
Pn015
Speed Feed-forward Amount
---
300
300
300
300
300
300
300
300
Pn016
Feed-forward Filter Time
Constant
---
50
50
50
50
50
50
50
50
Pn017
Reserved
---
0
0
0
0
0
0
0
0
Pn018
Position Loop Gain 2
---
190
380
460
570
730
840 1050 1260
Pn019
Speed Loop Gain 2
---
90
180
220
270
350
400
Pn01A
Speed Loop Integration Time
Constant 2
Pn01B
Speed Feedback Filter Time
Constant 2
---
0
0
0
0
0
0
0
0
Pn01C
Torque Command Filter Time
Constant 2*1
---
253
126
103
84
65
57
45
38
Pn020
Inertia Ratio
---
Pn027
Instantaneous Speed
Observer Setting
---
0
0
0
0
0
0
0
0
Pn030
Gain Switching
Operating Mode Selection
---
1
1
1
1
1
1
1
1
Pn031
Gain Switch Setting*3
1 to 6
10
10
10
10
10
10
10
10
7
0
0
0
0
0
0
0
0
Pn032
Gain Switch Time
---
30
30
30
30
30
30
30
30
Pn033
Gain Switch Level Setting
---
50
50
50
50
50
50
50
50
Pn034
Gain Switch Hysteresis Setting
---
33
33
33
33
33
33
33
33
Pn035
Position Loop Gain Switching
Time
---
20
20
20
20
20
20
20
20
500
600
1, 2, 3, 7
10000 10000 10000 10000 10000 10000 10000 10000
4, 5, 6
9999 9999 9999 9999 9999 9999 9999 9999
Estimated load inertia ratio
5-90
5
Operating Functions
Parameter
No.
5-27 Details on Important Parameters
Parameter
No.
Operating Functions
5
Parameter name
AT Mode Selection
(Pn021)
AT Machine Rigidity Selection (Pn022)
8
9
A
B
C
D
E
F
Pn010
Position Loop Gain
---
1350 1620 2060 2510 3050 3770 4490 5570
Pn011
Speed Loop Gain
---
750
900 1150 1400 1700 2100 2500 3100
Pn012
Speed Loop Integration Time
Constant
---
90
80
70
60
50
40
40
30
Pn013
Speed Feedback Filter Time
Constant
---
0
0
0
0
0
0
0
0
Pn014
Torque Command
Filter Time Constant*1
---
30
25
20*2
16*2
13*2
11*2
10*2
10*2
Pn015
Speed Feed-forward Amount
---
300
300
300
300
300
300
300
300
Pn016
Feed-forward Filter Time
Constant
---
50
50
50
50
50
50
50
50
Pn017
Reserved
---
0
0
0
0
0
0
0
0
Pn018
Position Loop Gain 2
---
1570 1820 2410 2930 3560 4400 5240 6490
Pn019
Speed Loop Gain 2
---
750
Pn01A
Speed Loop Integration Time
Constant 2
Pn01B
Speed Feedback Filter Time
Constant 2
---
0
0
0
0
0
0
0
0
Pn01C
Torque Command Filter Time
Constant 2*1
---
30
25
20*2
16*2
13*2
11*2
10*2
10*2
Pn020
Inertia Ratio
---
Pn027
Instantaneous Speed
Observer Setting
---
0
0
0
0
0
0
0
0
Pn030
Gain Switching
Operating Mode Selection
---
1
1
1
1
1
1
1
1
Pn031
Gain Switch Setting*3
1 to 6
10
10
10
10
10
10
10
10
7
0
0
0
0
0
0
0
0
Pn032
Gain Switch Time
---
30
30
30
30
30
30
30
30
Pn033
Gain Switch Level Setting
---
50
50
50
50
50
50
50
50
Pn034
Gain Switch Hysteresis Setting
---
33
33
33
33
33
33
33
33
Pn035
Position Loop Gain Switching
Time
---
20
20
20
20
20
20
20
20
900 1150 1400 1700 2100 2100 3100
1, 2, 3, 7
10000 10000 10000 10000 10000 10000 10000 10000
4, 5, 6
9999 9999 9999 9999 9999 9999 9999 9999
Estimated load inertia ratio
ΠParameters Pn015, 016, 01A, 030, and 032 to 035 are set to fixed values. The Servo Drive is set to rigidity No.2
as the default value.
*1. The lower limit is set to 10 when using a 17-bit encoder and 25 when using a 2,500-p/r encoder.
*2. The value for a 17-bit absolute encoder. The value for a 2,500-p/r incremental encoder is 25.
*3. The default setting for the Servo Drive is 2 (switching from the network).
5-91
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn023
Adaptive Filter Selection
0 to 2
---
0
B
Enables or disables the adaptive filter.
The adaptive filter is enabled during realtime autotuning and manual tuning.
The adaptive filter reduces resonance point vibration in the Servomotor response by estimating the
resonance frequency from the vibration component that appears in the Servomotor speed, and
automatically sets the frequency of the notch filter which removes the resonance component from
the torque command.
The adaptive filter can only be used with position and speed control modes. It is not available for
torque control mode.
The adaptive filter may not operate properly under the following conditions.
Resonance
points
ΠIf the resonance frequency is 300 Hz or lower.
ΠIf there are multiple points of resonance.
ΠIf the resonance peak or control gain is low, and the Servomotor speed is not affected by
it.
Load
ΠIf the Servomotor speed with high-frequency components changes due to backlash or
other non-linear elements.
Command
pattern
ΠIf the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more in 0.1 s.
If the adaptive filter does not function properly, correct by setting the Notch Filter 1 Frequency
(Pn01D) and Notch Filter 1 Width (Pn01E).
Setting the Vibration Filter Selection (Pn024) to low-pass type 3 to 5 disables (= 0) the adaptive
filter.
Setting
Explanation
0
Adaptive filter disabled
1
Adaptive filter enabled, adaptive operation ON
2
Adaptive filter retained (retains the adaptive filter frequency when set to 2)
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn024
Vibration Filter Selection
0 to 5
---
0
C
Selects the vibration filter type and switching mode.
Filter type
ΠNormal type: Vibration frequency setting range 10.0 to 200.0 Hz
Adaptive filter can be used.
ΠLow-pass type: Vibration frequency setting range 1.0 to 200.0 Hz
Adaptive filter cannot be used (forcibly set to disabled).
5-92
Operating Functions
5
Conditions under which the adaptive filter does not function properly
5-27 Details on Important Parameters
Switching mode selection
ΠNo switching: Both 1 and 2 are enabled
ΠSwitch with command direction:
Selects Vibration Frequency 1 in forward direction (Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse direction (Pn02D, Pn02E)
Setting
Filter type
Switching mode
0
1
No switching
(Both filter 1 and filter 2 are enabled.)
Normal type
2
Switching with command direction
3
4
5
No switching
(Both filter 1 and filter 2 are enabled.)
Low-pass type
Operating Functions
5
Switching with command direction
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn025
Normal Mode
Autotuning Operation Setting
0 to 7
---
0
B
Normal mode autotuning operates on condition that the network is not established.
If the network is established while normal mode autotuning is in operation, the command error
(alarm code 27) will occur.
Normal mode autotuning will not operate properly unless the Torque Limit Selection (Pn003) is set
to 1, (Pn05E is the torque limit value), and the Drive Prohibit Input Selection (Pn004) is set to 1
(disabled).
Setting
Number of
rotations
0
1
2
Rotation Direction
Forward and Reverse (Alternating)
Repeat cycles of
2 rotations
Reverse and Forward (Alternating)
Forward only
3
Reverse only
4
Forward and Reverse (Alternating)
5
6
Repeat cycles of
single rotation
Reverse and Forward (Alternating)
7
Forward only
Reverse only
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn02F
Adaptive Filter Table Number Display
0 to 64
---
0
R
The number corresponding to the resonance frequency detected by the adaptive filter is entered.
If the adaptive filter is not used, set the Adaptive Filter Selection (Pn023) to 0 and set the number
in this parameter to the notch filter. Or set the Adaptive Filter Selection (Pn023) to 2 to retain the
Adaptive Filter Table Number.
The Adaptive Filter Table is shown on the next page.
5-93
5-27 Details on Important Parameters
Adaptive Filter Table
Pn02F Notch Filter 1 Frequency
Pn02F
Notch Filter 1 Frequency
0
(Disabled)
22
766
44
326
1
(Disabled)
23
737
45
314
2
(Disabled)
24
709
46
302
3
(Disabled)
25
682
47
290
4
(Disabled)
26
656
48
279
5
1482
27
631
49
269 (Disabled when Pn022 ≥ F)
6
1426
28
607
50
258 (Disabled when Pn022 ≥ F)
7
1372
29
584
51
248 (Disabled when Pn022 ≥ F)
8
1319
30
562
52
239 (Disabled when Pn022 ≥ F)
9
1269
31
540
53
230 (Disabled when Pn022 ≥ F)
10
1221
32
520
54
221 (Disabled when Pn022 ≥ E)
11
1174
33
500
55
213 (Disabled when Pn022 ≥ E)
12
1130
34
481
56
205 (Disabled when Pn022 ≥ E)
13
1087
35
462
57
197 (Disabled when Pn022 ≥ E)
14
1045
36
445
58
189 (Disabled when Pn022 ≥ E)
15
1005
37
428
59
182 (Disabled when Pn022 ≥ D)
16
967
38
412
60
(Disabled)
17
930
39
396
61
(Disabled)
18
895
40
381
62
(Disabled)
19
861
41
366
63
(Disabled)
20
828
42
352
64
(Disabled)
21
796
43
339
ΠThe table number corresponding to the frequency for the adaptive filter is displayed.
ΠThis parameter is set automatically and cannot be changed when the adaptive filter is enabled
(when the Adaptive Filter Selection (Pn023) is 1 or 2).
ΠWhen the adaptive filter is enabled, data will be saved in EEPROM every 30 min. If the adaptive
filter is enabled the next time the power supply is turned ON, adaptive operation will start with the
data saved in EEPROM as the default value.
ΠTo clear this parameter and reset the adaptive operation, disable the adaptive filter by setting the
Adaptive Filter Selection (Pn023) to 0, and then enable it again.
5-94
5
Operating Functions
Pn02F Notch Filter 1 Frequency
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn066
Stop Selection for Drive Prohibition Input
0 to 2
---
0
C
Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input (POT) or
Reverse Drive Prohibit Input (NOT) is enabled.
Setting
During deceleration
Deviation counter
0
Dynamic brake
Disables torque command
in drive prohibited direction
Cleared while decelerating
with dynamic brake.
Retained after stopping.
1
Disables torque
Disables torque command
in drive prohibited direction
Cleared while decelerating.
Retained after stopping.
2
Emergency Stop Torque
(Pn06E)
Servo locked
Retained while decelerating,
cleared upon completion of
deceleration, and retained
after stopping.
5
Operating Functions
After stopping
(30 r/min or less)
Note 1. The positioning command generation process (positioning operation) within the Servo Drive
will be forcibly stopped once it enters the deceleration mode. Also, when the deceleration
mode is activated during speed control or torque control, it will switch to position control. If
a positioning operation command is received during deceleration, the internal positioning
command generation process will be retained, and after deceleration is complete,
positioning operation will be activated.
Note 2. When the Servomotor rotation speed is 30 r/min or less (stopped), the deceleration mode
will not be activated even if the drive prohibit input is enabled.
Note 3. When the parameter is set to 2 and an operation command in the drive prohibited direction
is received after stopping, a command warning (warning code 95h) will be issued. When the
parameter is set to 0 or 1, the operation command in the prohibited direction after stopping
will be accepted, but the Servomotor will not operate and the position deviation will
accumulate because the torque command is 0. Take measures such as issuing a command
in the reverse direction from the host controller.
Note 4. When the parameter is set to 2, MECHATROLINK-II communications are interrupted, and
either Forward or Reverse Drive Prohibit Input (POT or NOT) is turned ON, receiving an
operation command (jog operation or normal mode autotuning) via RS232 will cause a Drive
Prohibit Input Error (alarm code 38). A Drive Prohibit Input Error (alarm code 38) will also
occur if either POT or NOT is turned ON while operating on an operation command received
via RS232.
Note 5. With a vertical axis, there is a risk that the load may drop when drive is prohibited by the
drive prohibit input. To prevent this, it is recommended that the deceleration method be set
to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066),
and that stopping in the servo-lock state be set (set value: 2).
5-95
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn067
Stop Selection with Main Power OFF
0 to 7
---
0
B
Sets the operational conditions during deceleration and after stopping after the main power supply is
turned OFF with the Undervoltage Alarm Selection (Pn065) set to 0.
The deviation counter will be reset when the power OFF is detected.
Explanation
0 and 4
Use dynamic brake to decelerate and remain stopped with dynamic brake.
1 and 5
Use free-run to decelerate and remain stopped with dynamic brake.
2 and 6
Use dynamic brake to decelerate, but free the motor when stopped.
3 and 7
Use free-run to decelerate, and free the motor when stopped.
5
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn068
Stop Selection for Alarm Generation
0 to 3
---
0
B
Sets the deceleration process and stop status after an alarm is issued by the protective function. The
deviation counter will be reset when an alarm is issued.
Setting
Explanation
0
Use dynamic brake to decelerate and remain stopped with dynamic brake.
1
Use free-run to decelerate and remain stopped with dynamic brake.
2
Use dynamic brake to decelerate, but free the motor when stopped.
3
Use free-run to decelerate, and free the motor when stopped.
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn069
Stop Selection with Servo OFF
0 to 7
---
0
B
Sets the operational conditions to apply during deceleration and after stopping when the Servo is
turned OFF.
Setting
Explanation
0 and 4
Use dynamic brake to decelerate and remain stopped with dynamic brake.
1 and 5
Use free-run to decelerate and remain stopped with dynamic brake.
2 and 6
Use dynamic brake to decelerate, but free the motor when stopped.
3 and 7
Use free-run to decelerate, and free the motor when stopped.
5-96
Operating Functions
Setting
5-27 Details on Important Parameters
Pn No.
Parameter name
Setting
range
Unit
Default
setting
Attribute
Pn06C
Regeneration Resistor Selection
0 to 3
---
0
C
Sets the regeneration resistor operation and the regeneration overload (alarm code 18) operation.
Set this parameter to 0 if using the built-in regeneration resistor.
If using an external regeneration resistor, be sure to turn OFF the main power when the built-in
thermal switch is activated.
Setting
Operating Functions
5
5-97
Explanation
0
Sets the regeneration overload to match the built-in regeneration resistor. (regeneration
load ratio below 1%)
1
The regeneration overload (alarm code 18) occurs when the load ratio of the external
regeneration resistor exceeds 10%.
2
The regeneration processing circuit by the external regeneration resistor is activated, but
the regeneration overload does not occur.
3
The regeneration processing circuit is not activated. All regenerative energy is absorbed
by the built-in capacitor.
Chapter 6
Operation
6-1 Operational Procedure ....................................... 6-1
6-2 Preparing for Operation...................................... 6-2
Items to Check Before Turning ON the Power......................6-2
Turning ON Power ................................................................6-4
Checking the Displays ..........................................................6-5
Absolute Encoder Setup .......................................................6-6
6-3 Using the Parameter Unit................................... 6-8
Names of Parts and Functions..............................................6-8
6-4 Setting the Mode ................................................ 6-9
Changing the Mode...............................................................6-9
Monitor Mode ........................................................................6-10
Parameter Setting Mode .......................................................6-17
Parameter Write Mode ..........................................................6-23
Normal Mode Autotuning ......................................................6-24
Auxiliary Function Mode........................................................6-25
Copy Mode............................................................................6-28
6-5 Trial Operation ................................................... 6-31
Preparation for Trial Operation .............................................6-31
Trial Operation with CX-Drive ...............................................6-31
6-1 Operational Procedure
6-1 Operational Procedure
After mounting and wiring, connect a power supply, and check the operation of the Servomotor and
Servo Drive individually.
Then make the function settings as required according to the use of the Servomotor and Servo
Drive. If the parameters are set incorrectly, there is a risk of an unpredictable Servomotor operation.
Set the parameters according to the instructions in this manual.
Item
Mounting and
installation
Wiring and
connections
Contents
Install the Servomotor and Servo Drive according to the installation
conditions. (Do not connect the Servomotor to the mechanical system before checking the no-load operation.)
Connect the Servomotor and Servo Drive to the power supply and
peripheral devices.
· Specified installation and wiring requirements must be satisfied,
particularly if conforming to the EC Directives.
Reference
4-1 Installation
Conditions
4-2 Wiring
6
Operation
Check the necessary items and then turn ON the power supply.
Check the display to see whether there are any internal errors in the
Preparation for
6-2 Preparing for
Servo Drive.
operation
Operation
If using a Servomotor with an absolute encoder, first set up the absolute encoder.
Setting functions
By means of the user parameters, set the functions according to the
operating conditions.
5-26 User Parameters
First, test operation without a load connected to the motor. Then turn
the power OFF and connect the mechanical system to the motor. 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,
6-5 Trial OperaTrial operation such as the emergency stop and operational limits, work properly.
tion
Check operation at both low speed and high speed using the system
without a workpiece, or with dummy workpieces.
If the servo is locked when there is no load, it may cause the Servomotor to vibrate. Adjust the gain as required, e.g., by setting the inertia ratio (Pn020) to 0.
Adjustments
Operation
6-1
Manually adjust the gain if necessary. Further adjust the various
functions to improve the control performance.
Chapter 7 Adjustment Functions
Operation can now be started. If any problems should occur, refer to Chapter 8 TrouChapter 8 Troubleshooting.
bleshooting
6-2 Preparing for Operation
6-2 Preparing for Operation
This section explains the procedure for preparing the mechanical system for operation following
installation and wiring of the Servomotor and Servo Drive. It explains what you need to check both
before and after turning ON the power.
It also explains the setup procedure required for using a Servomotor with an absolute encoder.
Items to Check Before Turning ON the Power
„ Checking Power Supply Voltage
ΠCheck to be sure that the power supply voltage is within the ranges shown below.
R88D-GT@L-ML2 (single-phase 100 VAC input)
Main circuit power supply: Single-phase, 100 to 115 VAC (85 to 127 V), 50/60 Hz
Control circuit power supply: Single-phase, 100 to 115 VAC (85 to 127 V), 50/60 Hz
6
Operation
R88D-GN01H-ML2/02H-ML2/04H-ML2/08H-ML2/10H-ML2/15H-ML2
(Single-phase or single/three-phase 200 VAC input)
Main circuit power supply: Single-phase or single/three-phase, 200 to 240 VAC
(170 to 264 V), 50/60 Hz
Control circuit power supply: Single-phase or single/three-phase, 200 to 240 VAC
(170 to 264 V), 50/60 Hz
R88D-GN20H-ML2/30H-ML2/50H-ML2/75H-ML2 (three-phase 200VAC input)
Main circuit power supply: Three-phase, 200 to 230 VAC (170 to 253 V), 50/60 Hz
Control circuit power supply: Single-phase, 200 to 230 VAC (170 to 253 V), 50/60 Hz
„ Checking Terminal Block Wiring
ΠThe main circuit power supply inputs (L1/L3 or L1/L2/L3) must be properly connected to the
terminal block.
ΠThe control circuit power supply inputs (L1C/L2C) must be properly connected to the terminal
block.
ΠThe Servomotor's red (U), white (V), and blue (W) power lines and the green/yellow ground wire
( ) must be properly connected to the terminal block.
„ Checking the Servomotor
ΠThere should be no load on the Servomotor. (Do not connect the mechanical system.)
ΠThe Servomotor's power lines and the power cables must be connected securely.
„ Checking the Encoder Connectors
ΠThe Encoder Cable must be connected securely to the Encoder Connector (CN2) at the Servo
Drive.
ΠThe Encoder Cable must be connected securely to the Encoder Connector at the Servomotor.
„ Checking the Control I/O Connectors
ΠThe Control Cable must be connected securely to the Control I/O Connector (CN1).
ΠThe RUN command (RUN) must be OFF.
„ Checking Parameter Unit Connections
ΠWhen using the Parameter Unit (R88A-PR02G), the enclosed cable must be connected securely
to the CN3 connector.
6-2
6-2 Preparing for Operation
„ Servo Drive Display and Settings
The display for the Servo Driver R88D-GN@ is illustrated below.
The display shows the node address setting for MECHATROLINK-II, alarm display for the Servo
Drive, and the communications status.
Rotary switches for
setting a node
address
7-segment LED (2 digits)
AC SERVO DRIVER
ADR
9 01
2 3
2 3
7 8
01
4 5 6
X10
Analog monitor pins
SP: Speed monitor
IM: Torque monitor
G: Signal ground
6
X1
COM
SP
MECHATROLINK-II
communications
status LED
indicator (COM)
Operation
IM
G
Note 1. The node address is only loaded once when the control power supply is turned ON.
Changes made after turning the power ON will not be applied until the power is turned ON
next time.
Do not change the rotary switch setting after turning the power ON.
Note 2. The setting range for the node address setting rotary switch is 1 to 31.
The actual node address used on the network will be the sum of the rotary switch setting
and the offset value of 40h.
If the rotary switch setting is not between 1 and 31, a node address setting error (alarm code
82) will occur.
6-3
Rotary Switch Set Value
Description
1 to 31
Node address = Set value + 40h
(41h ≤ Node address ≤ 5Fh)
Others
Alarm code 82 occurs.
6-2 Preparing for Operation
„ MECHATROLINK-II Status LED Indicator
The display status of the MECHATROLINK-II status LED indicator (COM) is described below.
LED Display
Description
No communications
Flashing green
Asynchronous communications established
Lit green
Synchronous communications established
Flashing red
Lit red
Recoverable MECHATROLINK-II communications alarm
ΠCommunications error (alarm code 83)
ΠTransmission cycle error (alarm code 84)
ΠWatchdog data error (alarm code 86)
ΠTransmission cycle setting error (alarm code 90)
ΠSYNC command error (alarm code 91)
Irrecoverable MECHATROLINK-II communications alarm
ΠNode address setting error (alarm code 82)
Note If a communications error occurs at the same time as a non-communications error, the
MECHATROLINK-II status LED indicator (COM) will still follow the above rule.
6
Turning ON Power
ΠFirst 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 turned ON.
ΠThe alarm (/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 (if power
is turned ON while the Host Controller is connected).
6-4
Operation
OFF
6-2 Preparing for Operation
Checking the Displays
„ 7-segment LED
The display of the 7-segment LED on the front panel is shown below.
When the power is turned ON, the node address set with the rotary switch is displayed, followed by
the display content set by the Default Display (Pn001) parameter.
When an alarm occurs, the alarm code will be displayed. When a warning occurs, the warning code
will be displayed.
Turn ON Control Power Supply
All OFF
6
8.8.
All ON
(approx. 0.6 s)
nkak
[nA] (Node Address)
(approx. 0.6 s)
Operation
<Node Address Display>
Rotary switch setting (for MSD = 0, LSD = 3)
(Time set by the Power ON Address Display
Duration Setting (Pn006))
k3k
<Normal Display (when the Default Display (Pn001) is set to 0)>
Main Power Supply ON
and Network Established
-k-k
[- -]
Main Power Supply OFF
or Network Not Established
-k-.
Servo ON
[- -] + right dot ON
Servo OFF
0k0.
Alarm Issued
Alarm Cleared
<Alarm Display>
Alarm code flashes in decimal display
(Below is an example for overload)
1k6k
[00] + right dot ON
Warning Issued
<Warning Display>
Alternates between warning code (hex)
and normal display
(Below is an example for overload)
9k0.
Warning code (2 s)
6-5
Warning Cleared
0k0.
Normal Display
(approx. 4 s)
6-2 Preparing for Operation
Absolute Encoder Setup
ABS
When the power is turned OFF, multi-turn data for the absolute value data will be retained using the
battery for the absolute encoder. Hence, when turning ON the machine for the first time after loading
the battery, you will need to clear the encoder at the origin and set the multi-turn data to 0. To clear
the encoder, use the Parameter Unit, CX-Drive or via MECHATROLINK-II.
Note Be sure to turn OFF and turn ON the control power supply again after clearing the absolute
value data. A command error (alarm code 27) will occur when the absolute encoder is
cleared from the Parameter Unit or CX-Drive. This is for safety purposes, not an indication of
failure. Note that the one-turn data cannot be cleared.
„ Absolute Encoder Setup Procedure (for the Parameter Unit)
1. Turn ON the power supply and align to the origin.
Turn ON the power supply, perform the origin alignment operation, and move the machine to the
origin position.
6
2. Go to Auxiliary Function Mode.
Press
and
on the Parameter Unit to display Auxiliary Function Mode.
Press
Operation
3. Go to Absolute Encoder Clear Mode.
again. Absolute Encoder Clear Mode will be displayed.
Auxiliary Function Mode
Execute.
Select mode.
fknk_kakckl.
fknk_kjkokg.
fknk_keknkc.
Alarm Clear Mode
akcklk k k-.
Motor Trial
Operation Mode
jkokgk k k-.
Absolute Encoder
Clear Mode
eknkck k k-.
6-6
6-2 Preparing for Operation
4. Start clearing the absolute encoder.
Hold down
. Clearing the absolute encoder will be started.
Hold down the Increment
key for approx. 3 seconds.
The number of dashes on
the display will increase.
eknkck k k-.k
eknkck k-k-.k
-k-k-k-k-k-.k
Clearing the absolute
encoder will be started.
Clearing will be finished
almost immediately.
sktkakrktk k
fkiknkikskh.k
ekrkrkokrk .k
Note: If you attempt to clear an incremental encoder,
"Error" will be displayed.
6
5. Restart the Servo Drive.
Operation
Turn OFF the control power supply to the Servo Drive, and then turn it back ON.
6-7
6-3 Using the Parameter Unit
6-3 Using the Parameter Unit
Names of Parts and Functions
Connector
Parameter Unit
Cable
Display area
Operating area
Operation
6
LED Display (6 Digits)
If an error occurs, all digits will flash and the
display will switch to the error display.
8.8.8.8.8.8.
8.8
Unit No. Display (2 Digits)
Displays the parameter type (servo, 16 bit, or
32 bit).
In Parameter Setting Mode, displays the
2-digit parameter number.
Mode Key
Switches between the following six modes.
· Monitor Mode
· Normal mode autotuning
· Parameter Setting Mode · Auxiliary Function Mode
· Parameter Write Mode · Copy Mode
Increment/Decrement Key
Increases or decreases parameter numbers
or set values.
Shift Key
Shifts the digit being changed to the left.
Data Key
Switches between the parameter and setting
displays, saves settings, etc.
6-8
6-4 Setting the Mode
6-4 Setting the Mode
Monitor
Changing the Mode
Parameter
Setting
Parameter Unit
default display
Copy
Auxiliary
Function
Normal Mode
Autotuning
Parameter
Write
Operation
6
6-9
1k6kbkikktkp
pknk_krk0k0.k
1k6
6-4 Setting the Mode
Monitor Mode
Position deviation
Position deviation: 8 pulses
Servomotor speed
1000 r/min
Control mode
I/O signal status
Alarm history
Torque output: 100%
Position control display
Input signal No. 0 enabled
No current errors
Software version
Software version 1.01
Warning display
No current warnings
Regeneration load
ratio
30% of allowable
regeneration energy
Overload load
ratio
Inertia ratio
Total feedback
pulses
Total command
pulses
Overload load ratio: 28%
Inertia ratio: 100%
Total feedback pulses: 50
Total command pulses: 10
Not used.
Not used.
Automatic Servomotor
recognition enabled/
disabled display
6
Operation
Torque output
Automatic Servomotor
recognition enabled
Communications
method display
6-10
6-4 Setting the Mode
ΠThe Servomotor speed will be displayed the first time the power is turned ON after purchase. To
change the initial display when the power is turned ON, change the setting for the Default Display
(Pn001). For details, refer to Default Display on page 5-62.
„ Position Deviation
ΠDisplays the number of accumulated pulses in the deviation counter (unit: pulse).
Œ Accumulated pulses in reverse rotation are displayed with “−”.
„ Servomotor Speed
ΠDisplays the Servomotor speed (unit: r/min).
Œ Speeds in reverse rotation are displayed with “−”.
Operation
6
„ Torque Output
ΠDisplays the percentage of Servomotor torque output.
Œ When the rated toque output for the Servomotor is used, “100%” is displayed.
Œ Torque outputs in reverse rotation are displayed with “−”.
„ Control Mode
Position Control Mode
Speed Control Mode
Torque Control Mode
ΠDisplays which of position control, speed control, and torque control is being used.
6-11
6-4 Setting the Mode
„ I/O Signal Status
Input signal No. 00 ON
Output signal No. 1A OFF or disabled
ON
OFF or disabled
Signal No. display (0 to 1F hex)
Input
Output
ΠDisplays the status of the control input and output signals connected to CN1.
Input Signals
6
Signal
No.
Abbreviation
Name
Pin
No.
00
POT
Forward Drive Prohibit Input
19
01
NOT
Reverse Drive Prohibit Input
20
02
DEC
Origin Proximity Input
21
06
EXT1
External Latch Signal 1
5
07
EXT2
External Latch Signal 2
4
08
EXT3
External Latch Signal 3
3
0A
STOP
Emergency Stop input
2
0B
IN2
External General-purpose
Input 2
23
0C
PCL
Forward Torque Limit Input
7
0D
NCL
Reverse Torque Limit Input
8
0E
IN0
External General-purpose
Input 0
22
0F
IN1
External General-purpose
Input 1
6
Operation
CN1
6-12
6-4 Setting the Mode
Output Signals
CN1
Signal
No.
Abbreviation
00
READY
Servo Ready
---
01
/ALM
Alarm Output
15
02
INP1
Positioning Completed 1 Output
---
03
BKIR
Brake Interlock
---
04
ZSPD
Zero Speed Detection
---
05
TLIM
Torque Limiting
---
06
VCMP
Speed Conformity
---
09
TGON
Servomotor Rotation Speed
Detection
---
0F
INP2
Positioning Completed 2 Output
---
Name
Pin
No.
6
Operation
Switching between Input and Output Signals
If the decimal point is at the right of the signal number,
the signal number can be changed.
Move the flashing decimal point with the Shift key.
If the decimal point is at the right of the input/output
indication, you can switch between inputs and outputs.
Switches between inputs and outputs.
The following procedure can also be used to switch between inputs and outputs.
Press the Increment or Decrement key to select the signal number to be monitored.
(Lowest input signal number)
(Highest input signal number)
(Lowest output signal number)
(Highest output signal number)
6-13
6-4 Setting the Mode
„ Alarm History
Alarm code
("- -" is displayed if no alarms have occurred.)
: Current alarm
: Alarm 0 (newest alarm)
: Alarm 13 (oldest alarm)
6
Operation
ΠUp to the most recent 14 alarms, including the current one, can be viewed in the alarm history.
ΠThe display will flash when an alarm occurs.
ΠIf an alarm that is recorded in the history occurs, the alarm code for the current alarm and for alarm
0 will be the same.
6-14
6-4 Setting the Mode
Alarm Codes and Meanings
Alarm
Codes
Operation
6
Meaning
Alarm
Codes
11
Control power supply undervoltage
40
Absolute encoder system
down error
ABS
12
Overvoltage
41
Absolute encoder counter
overflow error
ABS
13
Main power supply undervoltage
42
Absolute encoder
overspeed error
ABS
14
Overcurrent
44
Absolute encoder one-turn counter error
15
Servo Drive overheat
45
Absolute encoder multi-turn counter
error
16
Overload
47
Absolute encoder status
error
18
Regeneration overload
48
Encoder phase Z error
21
Encoder communications error
49
Encoder PS signal error
23
Encoder communications data error
82
Node address setting error
24
Deviation counter overflow
83
Communications error
26
Overspeed
84
Transmission cycle error
27
Command error
86
Watchdog data error
29
Internal deviation counter overflow
87
Emergency stop input error
34
Overrun limit error
90
Transmission cycle setting error
36
Parameter error
91
SYNC command error
37
Parameter corruption
93
Parameter setting error
38
Drive prohibit input error
95
Servomotor non-conformity
Others
Note The following alarms are not recorded in the history.
11: Control power supply undervoltage
13: Main power supply undervoltage
36: Parameter error
37: Parameter corruption
38: Drive prohibit input error
87: Emergency stop input error
95: Servomotor non-conformity
„ Software Version
ΠDisplays the software version of the Servo Drive.
6-15
Meaning
Other errors
ABS
6-4 Setting the Mode
„ Warning Display
: No warning,
: Warning
Overload: 85% or more of the alarm level for
overload.
Over-regeneration: 85% or more of the alarm level for regeneration
overload.
The alarm level will be 10% of the operating ratio of the regeneration
resistance if the Regeneration Resistor Selection (Pn06C) is set to 1.
Absolute encoder battery voltage dropped to 3.2 V or less
Fan lock: Abnormal cooling fan speed.
Not used.
„ Regeneration Load Ratio
6
Operation
ΠDisplays the regeneration resistance load ratio as a percentage of the detection level for the
regeneration load.
„ Overload Load Ratio
ΠDisplays the load ratio as a percentage of the rated load.
„ Inertia Ratio
Displays the inertia ratio as a percentage.
„ Total Feedback Pulses and Total Command Pulses
ΠDisplays the total number of pulses after the power supply is turned ON.
ΠThe display will overflow as shown in the following figure.
2,147,483,647 pulses
0
−2,147,483,647 pulses
−2,147,483,647 pulses
Power ON
Forward
Reverse
ΠUse the
pulses.
key to switch the display between the upper and lower digits of the total number of
Lower digits
Upper digits
Hk-k2k1kk4k7
Hold down the
4k8k3k6k4k7
key for 5 s or longer to reset the total pulses to 0.
„ Automatic Servomotor Recognition
Automatic recognition enabled (Always this indication is displayed.)
6-16
6-4 Setting the Mode
Parameter Setting Mode
„ 16-bit Positioning Parameters
1. Displaying Parameter Setting Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
1k6kbkiktkp
Press the
key to display Parameter Setting Mode.
6
Operation
2. Selecting the Parameter Type
Key
operation
Display example
1k6kbkiktkp
Explanation
Confirm that 16-bit Parameter is selected.
3. Switching to the Parameter Setting Display
Key
operation
Display example
pknk_krk0k0.k
1k6
Explanation
Press the
key to go to the Parameter Setting Display.
Press the
key to return to the Parameter Type Selection Display.
4. Setting the Parameter Number
Key
operation
6-17
Display example
Explanation
pknk_k k0k4.
1k6
Use the
,
, and
keys to set the parameter number.
If the parameter number is large, the setting can be made more quickly by
using the
key to change the digit that is being set. The decimal point will
flash for the digit that can be set.
6-4 Setting the Mode
5. Displaying the Parameter Setting
Key
operation
Display example
k k k k k0
0k4
Explanation
Press the
key to display the setting.
The selected parameter number appears in the sub window.
6. Changing the Parameter Setting
Display example
Explanation
k k k k k3
0k4
Use the
,
, and
keys to change the setting.
The decimal point will flash for the digit that can be set.
k k k k k3
0k4
Press the
6
key to save the new setting.
Operation
Key
operation
7. Returning to Parameter Setting Mode
Key
operation
Display example
pknk_krk0k0.k
1k6
Precautions
for Correct Use
Explanation
Press the
key to return to Parameter Setting Mode.
Œ Some parameters will be displayed with an “r” before the number when the
display returns to Parameter Setting Mode. To enable the settings that
have been changed for these parameters, you must turn the power supply
OFF and ON after saving the parameters to the EEPROM.
ΠWhen the setting for a parameter is saved, the new setting will be used for
control. Make gradual rather than large changes when changing values for
parameters that affect the motor operation significantly. This is particularly
true for the speed loop gain and position loop gain.
ΠFor details on parameters, refer to Parameter Tables on page 5-61.
6-18
6-4 Setting the Mode
„ 32-bit Positioning Parameters
1. Displaying Parameter Setting Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
1k6kbkiktkp
Press the
key to display Parameter Setting Mode.
2. Selecting the Parameter Type
6
Key
operation
Display example
Operation
3k2kbkiktkp
Explanation
Press the
and
keys to select 32-bit parameters.
3. Switching to the Parameter Setting Display
Key
operation
Display example
pknk_krk0k0.k
3k2
Explanation
Press the
key to go to the Parameter Setting Display.
Press the
key to return to the Parameter Type Selection Display.
4. Setting the Parameter Number
Key
operation
6-19
Display example
Explanation
pknk_krk0k5.k
3k2
Use the
,
, and
keys to set the parameter number.
If the parameter number is large, the setting can be made more quickly by
using the
key to change the digit that is being set. The decimal point will
flash for the digit that can be set.
6-4 Setting the Mode
5. Displaying the Parameter Setting
Key
operation
Display example
k k6k3k2k8.
0k0
Hk k k k k
0k0
Explanation
Press the
key to display the setting.
The selected parameter number appears in the sub window.
32-bit parameters have many digits and thus displayed on two displays.
Press the
key to change the display.
Negative values of the parameter are indicated with a dot.
6. Changing the Parameter Setting
Display example
Explanation
6
k1k0k0k0k0
0k0
Hk k k k k
0k0
k1k0k0k0k0
0k0
Hk k k k k
0k0
Use the
,
, and
keys to change the setting.
The decimal point will flash for the digit that can be set.
Press the
Operation
Key
operation
key to save the new setting.
7. Returning to Parameter Setting Mode
Key
operation
Display example
pknk_krk0k0.k
3k2
Precautions
for Correct Use
Explanation
Press the
key to return to Parameter Setting Mode.
Œ Some parameters will be displayed with an “r” before the number when the
display returns to Parameter Setting Mode. To enable the settings that
have been changed for these parameters, you must turn the power supply
OFF and ON after saving the parameters to the EEPROM.
ΠWhen the setting for a parameter is saved, the new setting will be used for
control. Make gradual rather than large changes when changing values for
parameters that affect the motor operation significantly. This is particularly
true for the speed loop gain and position loop gain.
ΠFor details on parameters, refer to Parameter Tables on page 5-61.
6-20
6-4 Setting the Mode
„ Servo Parameters
1. Displaying Parameter Setting Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
1k6kbkiktkp
Press the
key to display Parameter Setting Mode.
2. Selecting the Parameter Type
6
Key
operation
Display example
Operation
skekrkUkokp
Explanation
Press the
and
keys to select the servo parameter.
3. Switching to the Parameter Setting Display
Key
operation
Display example
pknk_k k0k0.
skU
Explanation
Press the
key to go to the Parameter Setting Display.
Press the
key to return to the Parameter Type Selection Display.
4. Setting the Parameter Number
Key
operation
6-21
Display example
Explanation
pknk_k k1k0
skU
Use the
,
, and
keys to set the parameter number.
If the parameter number is large, the setting can be made more quickly by
using the
key to change the digit that is being set. The decimal point will
flash for the digit that can be set.
6-4 Setting the Mode
5. Displaying the Parameter Setting
Key
operation
Display example
k k k4k0k0
1k0
Explanation
Press the
key to display the setting.
The selected parameter number appears in the sub window.
6. Changing the Parameter Setting
Display example
k k1k0k0k0
1k0
k k1k0k0k0
1k0
Explanation
Use the
,
, and
keys to change the setting.
The decimal point will flash for the digit that can be set.
6
Press the
key to save the new setting.
Operation
Key
operation
7. Returning to Parameter Setting Mode
Key
operation
Display example
pknk_k k1k0
skU
Precautions
for Correct Use
Explanation
Press the
key to return to Parameter Setting Mode.
Œ Some parameters will be displayed with an “r” before the number when the
display returns to Parameter Setting Mode. To enable the settings that
have been changed for these parameters, you must turn the power supply
OFF and ON after saving the parameters to the EEPROM.
ΠWhen the setting for a parameter is saved, the new setting will be used for
control. Make gradual rather than large changes when changing values for
parameters that affect the motor operation significantly. This is particularly
true for the speed loop gain and position loop gain.
ΠFor details on parameters, refer to Parameter Tables on page 5-61.
6-22
6-4 Setting the Mode
Parameter Write Mode
Settings changed in the Parameter Setting Mode must be saved to the EEPROM. To do so, the
following procedure must be performed.
1. Saving Changed Settings
Key
operation
Display example
6
Explanation
Press the
key to display Parameter Write Mode.
Press the
key to switch to Parameter Write Mode.
Press the
key for 5 s or longer.
The bar indicator will increase.
Operation
Writing will start. (This display will appear only momentarily.)
This display indicates a normal completion. In addition to the
,
either
or
may be displayed. If
is displayed,
writing has been completed normally, but some of the changed parameters
will be enabled only after the power has been turned OFF and ON again.
Turn OFF the Servo Drive power supply and then turn it ON again.
is displayed if there is a writing error. Write the data again.
2. Returning to Parameter Write Mode
Key
operation
Display example
Explanation
Press the
Precautions
for Correct Use
6-23
key to return to the Parameter Write Mode Display.
ΠIf a write error occurs, write the data again. If write errors continue to occur,
there may be a fault in the Servo Drive.
ΠDo not turn OFF the power supply while writing to EEPROM. Incorrect data
may be written if the power supply is turned OFF. If the power supply is
turned OFF, perform the settings again for all parameters, and write the
data again.
ΠDo not disconnect the Parameter Unit from the Servo Drive during the time
from writing start ( sktkakrktk k ) to writing completion (
or
). If the Parameter Unit is disconnected, repeat the procedure
from the beginning.
6-4 Setting the Mode
Normal Mode Autotuning
For details on normal mode autotuning, refer to 7-3 Normal Mode Autotuning on page 7-9. This
section describes the operating procedure only.
1. Displaying Normal Mode Autotuning
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
Press the
key three times to display Normal Mode Autotuning.
6
Key
operation
Display example
Explanation
Press the
key to switch to Normal Mode Autotuning.
Press and hold the
key until sktkakrktk k is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
The Servomotor will start, and normal mode autotuning will begin.
This display indicates a normal completion.
will be displayed if a tuning error has occurred.
3. Returning to Normal Mode Autotuning
Key
operation
Display example
Explanation
Press the
Precautions
for Correct Use
key to return to Normal Mode Autotuning.
ΠFor details on normal mode autotuning, refer to 7-3 Normal Mode
Autotuning on page 7-9. This section describes the operating procedure
only.
ΠAlways save each gain value changed with normal mode autotuning in the
EEPROM so that the data is not lost when the power is turned OFF or for
some other reason.
ΠIf a normal mode autotuning error occurs, the values for each gain will
return to the value before executing normal mode autotuning.
6-24
Operation
2. Executing Normal Mode Autotuning
6-4 Setting the Mode
Auxiliary Function Mode
Auxiliary Function Mode includes alarm reset, absolute encoder reset, and jog operation.
Displaying Auxiliary Function Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Uknk_k5kpkd
Press the
key to display Monitor Mode.
Press the
key four times to display Auxiliary Function Mode.
6
Operation
„ Alarm Reset
1. Executing Alarm Reset
Key
operation
Display example
Explanation
Press the
key to switch to Alarm Reset Mode.
Press and hold the
key until sktkakrktk k is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
Alarm reset will start.
This display indicates a normal completion.
will be displayed if the alarm could not be reset. Reset the power
supply to clear the error.
2. Returning to Auxiliary Function Mode
Key
operation
Display example
Explanation
Press the
6-25
key to return to Auxiliary Function Mode.
6-4 Setting the Mode
„ Absolute Encoder Reset ABS
1. Executing Absolute Encoder Reset
Key
operation
Display example
eknkck k k-.
eknkck k-k-.
Explanation
Press the
key to switch to Absolute Encoder Reset Mode.
Press and hold the
key until sktkakrktk k is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
Absolute encoder reset will start.
This display indicates a normal completion.
2. Returning to Auxiliary Function Mode
Key
operation
Display example
fknk_keknkc
Precautions
for Correct Use
Explanation
Press the
6
Operation
will be displayed if the absolute encoder reset could not be
performed. Check whether an unsupported encoder is connected, and then
perform the procedure again.
key to return to Auxiliary Function Mode.
ΠThe absolute encoder can be reset only for systems that use an absolute
encoder.
ΠDo not disconnect the Parameter Unit from the Servo Drive until resetting
the absolute encoder has completed. If the Parameter Unit is
disconnected, reconnect it and make the settings from the beginning.
6-26
6-4 Setting the Mode
„ Jog Operation
1. Executing Jog Operation
Key
operation
Display example
Explanation
Press the
key to display Jog Operation Mode from the alarm reset display
in Auxiliary Function Mode.
Press the
key to switch to Jog Operation Mode.
Press and hold the
key until “Ready” is displayed.
The bar indicator will increase when the key is pressed for 5 s or longer.
The bar indicator will increase.
This completes preparations for jog operation.
6
Operation
Press and hold the
key until “Sev_on” is displayed.
The decimal point will move to the left when the key is pressed for 3 s or
longer.
The Servo will turn ON.
Forward operation will be performed while the
key is pressed,
and reverse operation will be performed while the
key is pressed.
The Servomotor will stop when the key is released. The speed set for the Jog
Speed (Pn03D) will be used for jogging.
2. Returning to Auxiliary Function Mode
Key
operation
Display example
Explanation
Press the
key to return to Auxiliary Function Mode.
The Servo lock will be released.
6-27
6-4 Setting the Mode
Copy Mode
In Copy Mode, user parameters set in the Servo Drive can be copied to the Parameter Unit, and
user parameters stored in the Parameter Unit can be copied to the Servo Drive.
This function can be used to easily set the same user parameters for more than one Servo Drive.
All parameters (Servo, 16-bit, and 32-bit) will be copied collectively.
„ Copying from the Servo Drive to the Parameter Unit
1. Displaying Copy Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Press the
key to display Monitor Mode.
Press the
key five times to display Copy Mode.
Operation
6
2. Executing Copying
Key
operation
Display example
Explanation
Press the
key to switch to Copy Mode.
Press and hold the
key until “EEPCLR” is displayed.
The bar indicator will increase when the key is pressed for 3 s or longer.
The indicator bar will increase.
ekekpkcklkr
-k-
pkok5k_kp
ckp
skrkUk_kp
ckp
Initialization of the EEPROM in the Parameter Unit will start.
The positioning parameters are copied.
The Servo parameters and the model code are copied.
This display indicates a normal completion.
6-28
6-4 Setting the Mode
3. Returning to Copy Mode
Key
operation
Display example
Explanation
Press the
Precautions
for Correct Use
6
key to return to Copy Mode.
ΠIf
is displayed before completion, repeat the procedure from the
beginning. Press the
key to clear the error.
ΠDo not disconnect the Parameter Unit from the Servo Drive while copying
is being performed. If the Parameter Unit is disconnected, connect it and
then repeat the procedure from the beginning.
ΠIf errors are repeatedly displayed, the following may be the cause: cable
disconnection, connector contact failure, incorrect operation due to noise,
or EEPROM fault in the Parameter Unit.
„ Copying from the Parameter Unit to the Servo Drive
Operation
1. Displaying Copy Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn001) is displayed.
Press the
key to display Monitor Mode.
Press the
key five times to display Copy Mode.
Press the
key to switch to the copy display for copying from the Parameter Unit to the Servo Drive.
2. Checking the Servo Drive Model Code
Key
operation
Display example
Explanation
Press the
key to switch to Copy Mode.
Press and hold the
key until “EEP_CH” is displayed.
If the model codes do not match, "DIFFER" will be displayed.
The bar indicator will increase when the key is pressed for 3 s or longer.
The bar indicator will increase.
The Servo Drive model code is being checked. If a different model code has
been entered, refer to 3. Different Model Codes on the next page to perform
the procedure.
If the model codes match, the display will proceed to the display in 4. Executing Copying.
6-29
6-4 Setting the Mode
3. Different Model Codes
Key
operation
Display example
Explanation
The decimal point will move to the left when the
longer.
key is pressed for 3 s or
The model codes are being matched.
Press the
key to cancel copying before completion.
4. Executing Copying
Display example
ekekpk_kckh
-k-
pkok5k_kp
ckp
skrkUk_kp
ckp
Explanation
6
Writing user parameters to the EEPROM of the Servo Drive will start.
Operation
Key
operation
The positioning parameters are copied.
The Servo parameters are copied.
This display indicates a normal completion.
5. Returning to Copy Mode
Key
operation
Display example
Explanation
Press the
Precautions
for Correct Use
key to return to Copy Mode.
ΠIf
is displayed before completion, repeat the procedure from the
beginning.
ΠPress the
key to clear the error.
ΠIf errors are repeatedly displayed, the following may be the cause: cable
disconnection, connector contact failure, incorrect operation due to noise,
or EEPROM fault in the Parameter Unit.
ΠDo not disconnect the Parameter Unit from the Servo Drive while copying
is being performed. If the Parameter Unit is disconnected, incorrect data
may be written and the data may be corrupted. Copy the user parameters
again from the source Servo Drive to the Parameter Unit, and then copy
the user parameters from the Parameter Unit to the other Servo Drive.
6-30
6-5 Trial Operation
6-5 Trial Operation
When you have finished installation, wiring, and switch settings and have confirmed that status is
normal after turning ON the power supply, perform trial operation. The main purpose of trial
operation is to confirm that the servo system is electrically correct.
If an error occurs during the trial operation, refer to Chapter 8 Troubleshooting to eliminate the
cause. Then check for safety, and then retry the trial operation.
Preparation for Trial Operation
„ Checks before Trial Operation
Check the following items before starting trial operation.
Wiring
ΠMake sure that all wiring is correct, especially the power supply input and motor output.
ΠMake sure that there are no short-circuits. Check the ground for short-circuits as well.
ΠMake sure that there are no loose connections.
Operation
6
Power Supply Voltage
ΠMake sure that the voltage corresponds to the rated voltage.
Motor Installation
ΠMake sure that the Servomotor has been securely installed.
Disconnection from Mechanical System
ΠIf necessary, make sure that the Servomotor has been disconnected from the mechanical system.
Brake
ΠMake sure that the brake has been released.
Trial Operation with CX-Drive
1. Connect connector CN1.
2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM).
3. Turn ON the power supply to the Servo Drive.
4. Confirm that the parameters are set to the standard settings.
5. Connect the Computer Communications Cable to CN3, and write parameters from
CX-Drive.
6. Write the parameters to EEPROM and then turn OFF the power supply and turn it ON
again.
7. Turn the status to Servo ON with jog operation via CX-Drive, and Servo lock the
motor.
8. Perform low speed jog operation via CX-Drive.
9. Check the Servomotor rotation speed.
6-31
Chapter 7
Adjustment Functions
7-1 Gain Adjustment................................................. 7-1
Purpose of the Gain Adjustment ...........................................7-1
Gain Adjustment Methods.....................................................7-1
Gain Adjustment Procedure..................................................7-2
7-2 Realtime Autotuning........................................... 7-3
Realtime Autotuning Setting Method ....................................7-4
Machine Rigidity Setting Method ..........................................7-4
7-3 Normal Mode Autotuning ................................... 7-9
Setting the Parameters .........................................................7-9
7-4 Manual Tuning ................................................... 7-14
Basic Settings .......................................................................7-14
7-1 Gain Adjustment
7-1 Gain Adjustment
OMNUC G-Series Servo Drives provide realtime autotuning and normal mode autotuning functions.
With these functions, gain adjustments can be made easily even by those who use a servo system
for the first time. Use manual tuning if autotuning does not provide the desired response.
Purpose of the Gain Adjustment
The Servomotor must operate in response to commands from the host system with minimal time
delay and maximum reliability. The gain is adjusted to bring the actual operation of the Servomotor
as close as possible to the operations specified by the commands, and to maximize the
performance of the machine.
Example: Ball screw
(r/min)
+2000
High Gain Setting and
Feed-forward Setting
High Gain Setting
0
7
Actual Servomotor speed
Command speed
-2000
Adjustment Functions
Low Gain Setting
0.0
125
250
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
375
20
30
50
0
300
0.0
125
250
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
375
0.0
70
50
Position Loop Gain:
Speed Loop Gain:
Speed Loop Integration
Time Constant:
Speed feed-forward
Inertia Ratio:
30
0
300
125
250
375
100
80
20
500
300
Gain Adjustment Methods
Function
Realtime autotuning
Automatic
adjustment
Normal mode autotuning
Manual tuning
Manual
adjustment
Basic procedure
Explanation
Reference
page
Realtime autotuning estimates the load inertia of the
mechanical system in realtime and automatically sets the
optimal gain according to the estimated load inertia.
Normal mode autotuning automatically sets the appropriate
gain by operating the Servomotor with the command pattern
generated automatically by the Servo Drive and estimating
the load inertia from the torque required at that time.
Manual tuning is performed if autotuning cannot be executed
due to restrictions on the control mode or load conditions, or
if maximum responsiveness needs to be ensured to match
each load.
Position control mode adjustment
7-15
Speed control mode adjustment
7-16
Torque control mode adjustment
7-21
7-3
7-9
7-14
Note 1. Take sufficient care for safety.
Note 2. If there is oscillation (e.g., abnormal sound or vibration), immediately turn OFF the power supply or let the
servo OFF status occur.
7-1
7-1 Gain Adjustment
Gain Adjustment Procedure
Start of adjustment
Use automatic
adjustment?
No
Yes
Is command input
possible?
No
Yes
Realtime autotuning
setting
Normal mode
autotuning
Realtime autotuning
7
Adjustment Functions
Is operation OK?
No
Yes
Is operation OK?
No
Yes
(Default setting)
Manual tuning
Is operation OK?
No
Yes
Writing in EEPROM
End of adjustment
Consult your OMRON
representative.
„ Gain Adjustment and Machine Rigidity
Do the following to increase the machine rigidity:
ΠInstall the machine on a secure base so that it does not wobble.
ΠUse couplings that have a high rigidity, and that are designed for servo systems.
ΠUse a wide timing belt, and use a tension within the allowable axial load for the Servomotor or
decelerator’s output.
ΠUse gears with small backlash.
The specific vibration (resonance frequency) of the mechanical system has a large impact on gain
adjustment. The responsiveness of the servo system cannot be set high for machines with a low
resonance frequency (low machine rigidity).
7-2
7-2 Realtime Autotuning
7-2 Realtime Autotuning
Realtime autotuning estimates the load inertia of the mechanical system in realtime and operates
the system by automatically setting the gain according to the estimated load inertia. By executing
autotuning with the adaptive filter enabled, you can also reduce vibration and resonance.
Realtime autotuning adjusts the PI control for the speed loop, and is thus effective for all controls.
Speed Command
Position Command
Position
Control
Speed
PI Control
Torque
Command
Current Loop
Control
SM
Load
Estimate
Load Inertia
Speed Feedback
RE
Position Feedback
7
Adjustment Functions
Precautions
for Correct Use
ΠRealtime autotuning may not function properly under the conditions
described in the following table. If realtime autotuning does not function
properly, use normal mode autotuning or manual tuning.
Conditions under which realtime autotuning does not function properly
Load inertia
Load
Operating
pattern
ΠIf the load inertia is too small or too large compared with the rotor inertia (i.e., less
than 3 times, more than 20 times, or more than the applicable load inertia ratio).
ΠIf the load inertia changes quickly, i.e., in less than 10 seconds.
ΠIf the machine rigidity is extremely low.
ΠIf there is backlash or play in the system.
ΠIf the speed is continuously run at a low speed below 100 r/min.
ΠIf the acceleration/deceleration gradually changes at less than 2,000 r/min in 1 s.
ΠIf the acceleration/deceleration torque is too small compared with the unbalanced
load and the viscous friction torque.
ΠIf a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not
continue for at least 50 ms.
ΠWith realtime autotuning, the parameters are fixed to the values in the machine rigidity table when
the machine rigidity is set. The operating coefficients for the speed loop gain and the integration
time constant are changed by estimating the load inertia based on the operating pattern. Set the
estimated values gradually because setting different values for the patterns may cause vibration.
7-3
7-2 Realtime Autotuning
Realtime Autotuning Setting Method
1. Turn the servo OFF before setting realtime autotuning.
2. Set the Realtime Autotuning Mode Selection (Pn021) according to the load.
Setting the parameter to 3 or 6 will allow the system to respond faster to inertia changes during
operation. However, it may also cause operation to become unstable depending on the operating
pattern. Normally use a setting of 1 or 4.
Use a setting of 4 to 6 when the vertical axis is used.
Gain switching is enabled for a setting of 1 to 6.
If change in operation due to gain switching becomes an issue, use a setting of 7.
Setting
Realtime autotuning
Degree of change in load inertia
0
Disabled (default)
---
1
Horizontal axis mode
Gradual changes
3
Sudden changes
4
Almost no change
5
Vertical axis mode
6
7
Gradual changes
7
Sudden changes
Gain switching disable mode
Almost no change
Machine Rigidity Setting Method
1. Set the Realtime Autotuning Machine Rigidity Selection (Pn022) as shown below.
Machine rigidity 0 cannot be selected for the Parameter Unit and CX-Drive.
Set the machine rigidity starting with a low value and check the operation.
Mechanical Configuration / Drive System
Realtime Autotuning
Machine Rigidity Selection (Pn022)
Ball screw direct coupling
6 to C
Ball screw and timing belt
4 to A
Timing belt
2 to 8
Gears, rack and pinion drives
2 to 8
Machines with low rigidity, etc
1 to 4
Stacker crane
Tune manually.
2. Turn the servo ON, and operate the machine with the normal pattern.
To improve the response, increase the machine rigidity number, and then check the response
again. If vibration occurs, enable the adaptive filter. If the filter is already enabled, lower the machine
rigidity number and make adjustments.
3. If there is no problem with the operation, turn the servo OFF, and disable the
Realtime Autotuning Mode Selection (Pn021) by setting it to 0.
The adaptive filter can be left enabled. To disable the adaptive filter, read the frequency on the
Adaptive Filter Table Number display, and set the Notch Filter 1 Frequency to the same value.
7-4
Adjustment Functions
2
Almost no change
7-2 Realtime Autotuning
Precautions
for Correct Use
Adjustment Functions
7
7-5
ΠUnusual noise or vibration may occur until the load inertia is estimated or
the adaptive filter stabilizes after startup, immediately after the first servo
ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn022)
is increased. This is not a problem if it disappears right away. If the unusual
noise or vibration, however, continues for three or more reciprocating
operations, take the following measures in any order you can.
ΠWrite the parameters used during normal operation to the EEPROM.
ΠLower the Realtime Autotuning Machine Rigidity Selection (Pn022).
ΠManually set the notch filter.
ΠOnce unusual noise or vibration occurs, the Inertia Ratio (Pn020) may
have changed to an extreme value. In this case, also take the measures
described above.
ΠOut of the results of realtime autotuning, the Inertia Ratio (Pn020) is
automatically saved to the EEPROM every 30 minutes. Realtime
autotuning will use this saved data as the default value when the power is
turned OFF and turned ON again.
ΠThe Instantaneous Speed Observer Setting (Pn027) will automatically be
disabled (0) if realtime autotuning is enabled.
7-2 Realtime Autotuning
Operating Procedure
Insert the Parameter Unit connector into CN3 of the
Servo Drive and turn ON the Servo Drive power
supply.
rk k k k k0k
Setting Parameter Pn021
key.
Press the
key.
Press the
key.
Press the
key.
Select the number of the parameter to be set by
using the
and
keys.
(Pn021 is selected in this example.)
Press the
0.
key.
Change the value by using the
Press the
and
keys.
key.
Select Pn022 by using the
2k1k k k k
7
pknk_k k2k1.
skUk k k k
Setting Parameter Pn022
Press the
Uknk_kskpkd.
1k6kbkiktkp
skekrkUkokpk
pknk_k k0k0.
skUk k k k
pknk_k k2k1.
skUk k k k
key.
Adjustment Functions
Press the
pknk_k k2k2.
skUk k k k
key.
Increase the value by using the
key.
Decrease the value by using the
key.
2.
2k2k k k k
(Default setting)
Press the
key.
Writing to EEPROM
Press the
key.
Press the
key.
The bars as shown in the figure on the right will
increase when the
key is pressed down for
approx. 5 s.
ekek_kskekt.
ekekpk k k-.
ekekpk k-k-.
-k-k-k-k-k-.
Writing will start (momentary display).
sktkakrktk
End
fkiknkikskh. rkekskektk . ekrkrkokrkkkk.
Writing completed.
Writing error occurred.
7-6
7-2 Realtime Autotuning
Realtime Autotuning (RTAT) Parameter Tables
Parameter
No.
Adjustment Functions
7
Parameter name
AT Machine Rigidity Selection (Pn022)
AT Mode Selection
(Pn021)
0
1
2
3
4
5
6
7
Pn010
Position Loop Gain
---
120
320
390
480
630
720
900 1080
Pn011
Speed Loop Gain
---
90
180
220
270
350
400
500
600
Pn012
Speed Loop Integration Time
Constant
---
620
310
250
210
160
140
120
110
Pn013
Speed Feedback Filter Time
Constant
---
0
0
0
0
0
0
0
0
Pn014
Torque Command
Filter Time Constant*1
---
253
126
103
84
65
57
45
38
Pn015
Speed Feed-forward Amount
---
300
300
300
300
300
300
300
300
Pn016
Feed-forward Filter Time
Constant
---
50
50
50
50
50
50
50
50
Pn017
Reserved
---
0
0
0
0
0
0
0
0
Pn018
Position Loop Gain 2
---
190
380
460
570
730
840 1050 1260
Pn019
Speed Loop Gain 2
---
90
180
220
270
350
400
Pn01A
Speed Loop Integration Time
Constant 2
Pn01B
Speed Feedback Filter Time
Constant 2
---
0
0
0
0
0
0
0
0
Pn01C
Torque Command Filter Time
Constant 2*1
---
253
126
103
84
65
57
45
38
Pn020
Inertia Ratio
---
Pn027
Instantaneous Speed
Observer Setting
---
0
0
0
0
0
0
0
0
Pn030
Gain Switching Operating Mode
Selection
---
1
1
1
1
1
1
1
1
Pn031
Gain Switch Setting*3
1 to 6
10
10
10
10
10
10
10
10
7
0
0
0
0
0
0
0
0
Pn032
Gain Switch Time
---
30
30
30
30
30
30
30
30
Pn033
Gain Switch Level Setting
---
50
50
50
50
50
50
50
50
Pn034
Gain Switch Hysteresis
Setting
---
33
33
33
33
33
33
33
33
Pn035
Position Loop Gain Switching
Time
---
20
20
20
20
20
20
20
20
7-7
500
600
1, 2, 3, 7
10000 10000 10000 10000 10000 10000 10000 10000
4, 5, 6
9999 9999 9999 9999 9999 9999 9999 9999
Estimated load inertia ratio
7-2 Realtime Autotuning
Parameter name
AT Mode Selection
(Pn021)
AT Machine Rigidity Selection (Pn022)
8
9
A
B
C
D
E
F
Pn010
Position Loop Gain
---
1350 1620 2060 2510 3050 3770 4490 5570
Pn011
Speed Loop Gain
---
750
900 1150 1400 1700 2100 2500 3100
Pn012
Speed Loop Integration Time
Constant
---
90
80
70
60
50
40
40
30
Pn013
Speed Feedback Filter Time
Constant
---
0
0
0
0
0
0
0
0
Pn014
Torque Command
Filter Time Constant*1
---
30
25
20*2
16*2
13*2
11*2
10*2
10*2
Pn015
Speed Feed-forward Amount
---
300
300
300
300
300
300
300
300
Pn016
Feed-forward Filter Time
Constant
---
50
50
50
50
50
50
50
50
Pn017
Reserved
---
0
0
0
0
0
0
0
0
Pn018
Position Loop Gain 2
---
1570 1820 2410 2930 3560 4400 5240 6490
Pn019
Speed Loop Gain 2
---
750
Pn01A
Speed Loop Integration Time
Constant 2
Pn01B
Speed Feedback Filter Time
Constant 2
---
0
0
0
0
0
0
0
0
Pn01C
Torque Command Filter Time
Constant 2*2
---
30
25
20*2
16*2
13*2
11*2
10*2
10*2
Pn020
Inertia Ratio
---
Pn027
Instantaneous Speed
Observer Setting
---
0
0
0
0
0
0
0
0
Pn030
Gain Switching Operating Mode
Selection
---
1
1
1
1
1
1
1
1
Pn031
Gain Switch Setting*3
1 to 6
10
10
10
10
10
10
10
10
7
0
0
0
0
0
0
0
0
Pn032
Gain Switch Time
---
30
30
30
30
30
30
30
30
Pn033
Gain Switch Level Setting
---
50
50
50
50
50
50
50
50
Pn034
Gain Switch Hysteresis
Setting
---
33
33
33
33
33
33
33
33
Pn035
Position Loop Gain Switching
Time
---
20
20
20
20
20
20
20
20
900 1150 1400 1700 2100 2100 3100
1, 2, 3, 7
10000 10000 10000 10000 10000 10000 10000 10000
4, 5, 6
9999 9999 9999 9999 9999 9999 9999 9999
Estimated load inertia ratio
ΠParameters Pn015, 016, 01A, 030, and 032 to 035 are set to fixed values. The Servo Drive is set to rigidity No.2
as the default value.
*1. The lower limit is set to 10 when using a 17-bit encoder and 25 when using a 2,500-p/r encoder.
*2. The value for a 17-bit absolute encoder. The value for a 2500-p/r incremental encoder is 25.
*3. The default setting for the Servo Drive is 2 (switching from the network).
7-8
7
Adjustment Functions
Parameter
No.
7-3 Normal Mode Autotuning
7-3 Normal Mode Autotuning
Normal mode autotuning is used to estimate the load inertia of the machine.
Position data generated within the Servo Drive is used to operate the machine for the estimation,
thereby achieving greater accuracy in estimating the load inertia.
Normal mode autotuning can be used from the Parameter Unit or CX-Drive.
Internal
Position
Command
Pn025
Position
Control
Speed
PI Control
Torque
Command
Current Loop
Control
SM
Load
Estimate
Load Inertia
Position Feedback
Speed Feedback
7
RE
Repeat
Adjustment Functions
Setting of
internal position
command Pn025
Torque command
Setting the Parameters
1. Set the operating pattern.
Set the operating pattern using the Normal Mode Autotuning Operation Setting (Pn025).
Setting
Number of rotations
0
1
2
Forward and Reverse (Alternating)
Two rotations
Repeat
Multiple Times
3
6
7
7-9
Reverse and Forward (Alternating)
Forward only
Reverse only
4
5
Direction of rotation
Forward and Reverse (Alternating)
One rotation
Repeat
Multiple Times
Reverse and Forward (Alternating)
Forward only
Reverse only
7-3 Normal Mode Autotuning
The following graph shows the speed operating pattern when the set value is 0.
The operating pattern starts with 3 or 4 reciprocating operations, followed by up to 3 cycles of 2
reciprocations, with each cycle accelerated twice as much as the previous cycle.
The acceleration will stop changing, as it is limited by the No. 1 Torque Limit (Pn05E). This is not
an indication of failure.
2. Select the machine rigidity.
Mechanical Configuration
/ Drive System
Machine Rigidity
Ball screw direct coupling
6 to C
Ball screw and timing belt
4 to A
Timing belt
2 to 8
Gears, rack and pinion drives
2 to 8
Machines with low rigidity, etc.
1 to 4
Stacker crane
Tune manually.
To improve the response, increase the machine rigidity number, and then check the response
again. If vibration occurs, lower the machine rigidity number and make adjustments.
The setting parameters are the same as in Realtime Autotuning (RTAT) Parameter Tables on page
7-7.
3. Execute normal mode autotuning.
Move the load to a position where it will not interfere with the operation performed according to the
operation pattern. For reciprocating movement, ±1 or ±2 rotations will be made. For one-way
movement, about 20 rotations will be made.
„ Operating with the Parameter Unit
1. Switch to the Normal Mode Autotuning display.
Servo lock is performed automatically.
For details on switching to the Normal Mode Autotuning display, refer to Normal Mode Autotuning
on page 6-24.
Normal mode autotuning display
Machine rigidity No.
7-10
7
Adjustment Functions
Set the machine rigidity number according to the rigidity of the machine. Refer to the following table
for the machine rigidity values.
Machine rigidity 0 cannot be selected for the Parameter Unit and CX-Drive.
Set the machine rigidity starting with a low value and check the operation.
7-3 Normal Mode Autotuning
2. Select the machine rigidity.
Press
to select machine rigidity No.
aktk_knkok0. kMachine rigidity No.: Low
aktk_knkok1. kk
aktk_knkokf.
Machine rigidity No.: High
3. Switch to Normal Mode Autotuning.
After selecting the machine rigidity number, press the
key to switch to Normal Mode Autotuning.
(For details on the operation, refer to Normal Mode Autotuning on page 6-24.)
aktkuk k k-.
Normal mode autotuning
4. Execute normal mode autotuning.
7
Adjustment Functions
Press and hold the
key until the display changes to sktkakrktk k .
(For details on the operation, refer to Normal Mode Autotuning on page 6-24.)
The Servomotor rotates, and normal mode autotuning begins. The operating pattern will differ
depending on the Normal Mode Autotuning Operation Setting (Pn025). If Pn025 is set to 0, the
Servomotor will rotate twice in the forward/reverse directions for about 15 seconds. This cycle is
repeated up to 5 times. There is no problem if operation ends before 5 cycles are completed.
Repeat "Step 2 (Select the machine rigidity)" to "Step 4 (Execute normal mode autotuning)" until the
satisfying response can be obtained.
5. Save the gain adjustment value.
Once the satisfying response is obtained, switch to Parameter Write Mode and save the gain values
to the EEPROM. (For details on the operation, refer to Parameter Write Mode on page 6-23.)
To save the adjustment results, switch to Parameter Write Mode, and save the parameters to the
EEPROM.
7-11
7-3 Normal Mode Autotuning
ΠWhen using normal mode autotuning with a Servomotor with a brake,
connect the brake interlock (BKIR) output signal to allow the brake to be
released.
ΠIf the Positioning Completion Range 1 (Pn060) is too narrow, it will cause
an error. By default, the parameter is set to 25 for an incremental encoder.
When using an absolute encoder, set the parameter to 250 (ten times
larger).
ΠIf the Deviation Counter Overflow Level (Pn209) is too small, it will cause
a deviation counter overflow.
When using an absolute encoder, increase the setting from 20,000 pulses
(default) to 200,000 pulses.
ΠSet the Torque Limit Selection (Pn003) to 1. If the setting is too small, it will
cause an error.
ΠThe maximum motor output during normal mode autotuning will be limited
by the No. 1 Torque Limit (Pn05E). If the value is too small, there may be
problems with the operation.
ΠActuating the network during normal mode autotuning will cause a
command error (alarm code 27). Do not actuate the network while
executing normal mode autotuning.
ΠThe position data is initialized after normal mode autotuning.
ΠIf the load inertia is less than 3 times the rotor inertia or greater than the
applicable load inertia (20 to 30 times greater), there may be problems with
the operation.
ΠIf the machine rigidity is extremely low, or if the backlash is extremely
large, estimation cannot be performed.
ΠIf an error occurs or a drive prohibition input is received during normal
mode autotuning, a tuning error will occur.
ΠIf normal mode autotuning is executed and the load inertia cannot be
estimated, the load inertia will remain the same as it was before normal
mode autotuning.
ΠExecuting normal mode autotuning may not cause an error but result in
vibration. Use caution to ensure safety, and promptly turn OFF the power
supply if anything unusual happens.
7-12
7
Adjustment Functions
Precautions
for Correct Use
7-3 Normal Mode Autotuning
Normal Mode Autotuning (AT) Parameter Tables
Parameter
Parameter name
No.
Pn010
Pn011
Pn012
Pn013
Pn014
Pn015
Pn016
7
Pn018
Adjustment Functions
Pn019
Pn01A
Pn01B
Pn01C
Pn020
Pn027
Pn030
Pn031
Pn032
Pn033
Pn034
Pn035
0
1
2
3
AT Machine Rigidity Selection (Pn022)
4
5
6
7
8
9
A
B
Position Loop
120 320 390 480 630 720 900 1080 1350 1620 2060 2510
Gain
Speed Loop
90 180 220 270 350 400 500 600 750 900 1150 1400
Gain
Speed Loop
Integration Time 620 310 250 210 160 140 120 110 90 80 70 60
Constant
Speed Feedback Filter Time 0
0
0
0
0
0
0
0
0
0
0
0
Constant
Torque
Command
253 126 103 84 65 57 45 38 30 25 20*2 16*2
Filter Time
Constant*1
Speed Feed300 300 300 300 300 300 300 300 300 300 300 300
forward Amount
Feed-forward
Filter Time
50 50 50 50 50 50 50 50 50 50 50 50
Constant
Position Loop
190 380 460 570 730 840 1050 1260 1570 1820 2410 2930
Gain 2
Speed Loop
90 180 220 270 350 400 500 600 750 900 1150 1400
Gain 2
Speed Loop
Integration
9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999
Time Constant 2
Speed Feedback Filter Time 0
0
0
0
0
0
0
0
0
0
0
0
Constant 2
Torque Command Filter Time 253 126 103 84 65 57 45 38 30 25 20*2 16*2
Constant 2*1
Inertia Ratio
Estimated load inertia ratio
Instantaneous
Speed Observer 0
0
0
0
0
0
0
0
0
0
0
0
Setting
Gain Switching
Operating Mode 1
1
1
1
1
1
1
1
1
1
1
1
Selection
Gain Switch
10 10 10 10 10 10 10 10 10 10 10 10
Setting
Gain Switch
30 30 30 30 30 30 30 30 30 30 30 30
Time
Gain Switch
50 50 50 50 50 50 50 50 50 50 50 50
Level Setting
Gain Switch
Hysteresis
33 33 33 33 33 33 33 33 33 33 33 33
Setting
Position Loop
Gain Switching 20 20 20 20 20 20 20 20 20 20 20 20
Time
C
E
F
3050 3770 4490 5570
1700 2100 2500 3100
50
40
40
30
0
0
0
0
13*2 11*2 10*2 10*2
300 300 300 300
50
50
50
50
3560 4400 5240 6490
1700 2100 2100 3100
9999 9999 9999 9999
0
0
0
0
13*2 11*2 10*2 10*2
0
0
0
0
1
1
1
1
10
10
10
10
30
30
30
30
50
50
50
50
33
33
33
33
20
20
20
20
*1. The lower limit is set to 10 when using a 17-bit encoder and 25 when using a 2,500-p/r encoder.
*2. The value for a 17-bit absolute encoder. The value for a 2500-p/r incremental encoder is 25.
7-13
D
7-4 Manual Tuning
7-4 Manual Tuning
Basic Settings
As described before, the OMNUC G-Series Servo Drives have an autotuning function. Depending
on load conditions or other restrictions, however, readjustment may be required if the gain cannot
be properly adjusted when normal mode autotuning is performed or the optimum responsiveness
or stability is required to match each load. This section describes how to perform manual tuning for
each control mode and function.
„ Before Manual Setting
The Parameter Unit can be used to adjust the Servomotor (machine) while monitoring the operation
or noise, but more reliable adjustment can be performed quickly by using waveform monitoring with
the data tracing function of CX-Drive or by measuring the analog voltage waveform with the monitor
function.
Analog Monitor Output
AC SERVO DRIVE
9 01
2 3
2 3
7 8
ADR
5 6
X10
4
01
X1
COM
1kΩ
SP
IM
1kΩ
7
Adjustment Functions
The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be
measured in the analog voltage level using an oscilloscope or other device. Set the type of signal
to be output and the output voltage level by setting the Speed Monitor (SP) Selection (Pn007) and
Torque Monitor (IM) Selection (Pn008). For details, refer to Parameter Tables on page 5-61.
G
CX-Drive Data Tracing
Commands to the Servomotor and Servomotor operation (e.g., speed, torque commands, and
position deviation) can be displayed on a computer as waveforms. Refer to the CX-Drive Operation
Manual (Cat. No. W453).
RS-232 connection cable
Connect to CN3.
7-14
7-4 Manual Tuning
„ Position Control Mode Adjustment
Use the following procedure to make adjustments in position control for the OMNUC G Series.
Start of adjustment
Never make extreme adjustment or
changes to settings. Doing so will result
in unstable operation and may lead to
injuries. Adjust the gain in small
increments while checking Servomotor
operation.
Disable realtime autotuning (Pn021 = 0).
Set each parameter to the values in
Parameter Settings for Different Applications.
Operate with a normal operating pattern and load.
Positioning time and other operational performance satisfactory?
No
Yes
End of adjustment
Increase the Speed Loop Gain (Pn011),
but not so much that it causes hunting when the servo is locked.
7
Reduce the Speed Loop Integration Time Constant (Pn012),
but not so much that it causes hunting when the servo is locked.
Adjustment Functions
Does hunting (vibration) occur when the Servomotor is rotated?
Yes
No
Reduce the Speed Loop Gain (Pn011).
Increase the Position Loop Gain (Pn010),
but not so much that it causes overshooting.
Increase the Speed Loop Integration Time
Constant (Pn012).
Write the data to EEPROM in the parameter write mode.
End of adjustment
If vibration does not stop no matter how many times
you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn014).
Set the Notch Filter 1 Frequency (Pn01D) and
the Notch Filter 2 Frequency (Pn028)
to the frequency of a vibrating application.
7-15
7-4 Manual Tuning
„ Speed Control Mode Adjustment
With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for
the position control mode. Use the following procedure to adjust parameters.
Start of adjustment
Never make extreme adjustment or
changes to settings. Doing so will result
in unstable operation and may lead to
injuries.
Adjust the gain in small increments while
checking Servomotor operation.
Disable realtime autotuning (Pn021 = 0).
Set each parameter to the values in
Parameter Settings for Different Applications.
Operate with a normal operating pattern and load.
Speed responsiveness and other operational performance satisfactory?
Yes
No
End of adjustment
Increase the Speed Loop Gain (Pn011),
but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn012),
but not so much that it causes hunting when the servo is locked.
No
Yes
Reduce the Speed Loop Gain (Pn011).
Write the data to EEPROM in the parameter write mode.
Increase the Speed Loop Integration
Time Constant (Pn012).
End of adjustment
If vibration does not stop no matter how many times
you perform adjustments, or if positioning is slow:
Increase the Torque Command Filter Time
Constant (Pn014).
Set the Notch Filter 1 Frequency (Pn01D) and
the Notch Filter 2 Frequency (Pn028)
to the frequency of a vibrating application.
7-16
Adjustment Functions
Does hunting (vibration) occur when the Servomotor is rotated?
7
7-4 Manual Tuning
„ Servo Drive Manual Tuning Procedure
There are four basic adjustment parameters for the Servo Drive.
If the desired operating characteristics can be achieved by adjusting the following four parameters,
you do not need to adjust any other parameter.
Parameter No.
Parameter Name
Default Value
2nd Parameter No.
Pn010
Position Loop Gain
40.0[1/s]
Pn018
Pn011
Speed Loop Gain
50.0Hz
Pn019
Pn012
Speed Loop Integration Time
Constant
20.0ms
Pn01A
Pn014
Torque Command Filter Time
Constant
0.80ms
Pn01C
„ About Parameter Adjustments
There are three Servo Drive control loops: the outermost Position Loop, the Speed Loop, and the
innermost Current Loop. The inner loop is affected by the outer loop and vice versa.
Set the initial values according to the configuration and rigidity of the machine, inertia ratio, and
other factors.
Referential parameter settings for different applications are provided below.
Adjustment Functions
7
Parameter Settings for Different Applications
Speed Loop
Torque Command
Integration
Filter Time Constant
Time Con[× 0.01 ms]
stant
Application
Inertia
Rigidity
Position
Loop Gain
[1/s]
Ball screw, horizontal
Ball screw, horizontal
Ball screw, horizontal
Ball screw, vertical
Ball screw, vertical
Ball screw, vertical
Ball screw, nut rotation, horizontal
Ball screw, nut rotation, horizontal
Ball screw, nut rotation, vertical
Ball screw, nut rotation, vertical
Timing belt
Timing belt
Rack & pinion
Rack & pinion
Rack & pinion
Index table
Index table
Robot arm, cylindrical
Large
Medium
Small
Large
Medium
Small
Large
Medium
Large
Medium
Large
Medium
Large
Large
Medium
Large
Small
Large
Low
Medium
High
Low
Medium
High
Low
Medium
Low
Medium
Low
Medium
Low
Medium
Medium
Medium
High
Low
20
40
80
20
40
60
20
40
20
40
20
30
20
30
40
40
80
15
140
80
60
160
80
60
140
100
160
120
160
120
160
120
100
120
120
160
35
20
15
45
30
20
40
30
45
25
60
40
60
40
20
25
20
60
160
100
80
160
120
100
160
120
160
120
160
120
160
120
100
120
100
160
Robot arm, cylindrical
General purpose
Medium Medium
Medium Medium
25
30
120
100
40
30
120
150
ΠThe Inertial Ratio (Pn020) is fixed at 300%.
7-17
Speed Loop
Gain [Hz]
7-4 Manual Tuning
Inertial Estimations
Small inertia
5 times the rotor inertia or less
Medium inertia
5 to 10 times the rotor inertia or less
Large inertial
10 to 20 times the rotor inertia or less
Pn010, Pn018 Position Loop Gain
This loop controls the pulse count from the encoder so that the count will become a specified value.
When the deviation counter’s pulse count drops below the specified value, positioning is completed
and a signal is output. The ratio of the maximum speed to the deviation counter is the Position Loop
Gain.
Position Loop Gain [1/s]=
Command maximum speed [pps]
Number of accumulated pulses
in the deviation counter (P)
7
Adjustment Functions
The reciprocal of the Speed Loop Integration Time Constant (Pn012) should be used as a reference
for setting the Position Loop Gain.
For example, if Pn012 is set to 100 ms, set the Position Loop Gain to 10 [1/s].
There will be no overshooting with these settings. To speed up the positioning process, increase
the Position Loop Gain. If the Position Loop Gain is too large, overshooting or vibrations may occur.
In this case, reduce the Position Loop Gain.
If the vibration is occurring in the Speed Loop or the Current Loop, adjusting the Position Loop does
not stop the vibration.
The response to Position Loop Gain adjustment is shown below.
ΠHigh Position Loop Gain causes overshooting.
Commnaded operation pattern
Actual Servomotor speed
Speed
(r/min)
time
ΠLow Position Loop Gain slows down the positioning process.
Commanded operation pattern
Actual Servomotor speed
Speed
(r/min)
time
7-18
7-4 Manual Tuning
Pn011, Pn019 Speed Loop Gain
The Speed Loop Gain determines the responsiveness of the Servo Drive.
If the Inertia Ratio (Pn020) is set correctly, this setting will be used as the response frequency.
Increasing the Speed Loop Gain will improve the response and speed up the positioning process,
but will also increase the likelihood of vibration. Increase the Speed Loop Gain, but not so much that
it causes vibrations.
Since the Speed Loop Gain is related to the Speed Loop Integration Time Constant (Pn012),
increasing the Integration Time Constant can also increase the Speed Loop Gain.
ΠLow Speed Loop Gain causes a slower response and large overshooting.
→ Increase the Speed Loop Gain.
Commanded operation pattern
Actual Servomotor speed
Speed
(r/min)
7
time
Adjustment Functions
ΠHigh Speed Loop Gain increases the likelihood of vibration. Vibration and resonance may not
disappear in some cases. → Decrease the Speed Loop Gain.
Commanded operation pattern
Speed
(r/min)
Actual Servomotor speed
time
7-19
7-4 Manual Tuning
Pn012, Pn01A Speed Loop Integration Time Constant
The Speed Loop Integration Time Constant also determines the responsiveness of the Servo Drive.
ΠLow Speed Loop Integration Time Constant causes vibration and resonance.
→ Increase the Speed Loop Integration Time Constant.
Commanded operation pattern
Speed
(r/min)
Actual Servomotor speed
time
ΠHigh Speed Loop Integration Time Constant causes a slower response and decreased Servo
Drive rigidity.
→ Decrease the Speed Loop Integration Time Constant.
7
Speed
(r/min)
Adjustment Functions
Commanded operation pattern
Actual Servomotor speed
time
Pn014, Pn01C Torque Command Filter Time Constant
(Input Adjustment for the Current Loop)
The Torque Command Filter applies a filter to smoothen the current commands from the Speed
Loop. This provides a smoother current flow, thus reducing the amount of vibration.
The default value of the Filter Time Constant is 80 (0.8 ms).
Increase the value to reduce vibration. An increase in value, however, will cause a slower response.
Use 1/25 of the Speed Loop Integration Time Constant (Pn012) as a reference for setting.
The Torque Command Filter also reduces vibration due to machine rigidity.
The Torque Command Filter Time Constant is related to the Speed Loop Gain (Pn011). If Pn011 is
set too large, vibration cannot be reduced by increasing the Torque Command Filter Time Constant.
If there is machine resonance, for example from a ball screw, use the notch filter (Pn01D and
Pn01E) to reduce vibration, or enable the adaptive filter.
7-20
7-4 Manual Tuning
Other Adjustments
If the Torque Loop is saturated because of short acceleration time, large load torque, or other
causes, overshooting occurs in the speed response. In such a case, increase the acceleration time
to prevent torque saturation.
Commanded operation pattern
Overshooting occurs for the
amount of delay in command.
Acceleration torque
required for the
commanded pattern
Maximum
instantaneous torque
output of the Servomotor
„ Torque Control Mode Adjustment
The torque control is based on the speed control loop using the Speed Limit (Pn053) or the speed
limit value from MECHATROLINK-II as the speed limit. This section explains how to set the speed
limit value.
Adjustment Functions
7
Setting Speed Limit Values
ΠIf the Speed Limit Selection (Pn05B) is set to 0, the setting for the Speed Limit (Pn053) will be used
as the speed limit value. If the Speed Limit Selection (Pn05B) is set to 1, the smaller of either the
Speed Limit (Pn053) or the MECHATROLINK-II speed limit value will be used.
ΠWhen the Servomotor speed approaches the speed limit value, the control method will switch from
torque control using torque commands from MECHATROLINK-II, to speed control using the speed
limit value determined via MECHATROLINK-II or the Speed Limit (Pn053).
ΠTo ensure the stable operation during the speed limit, parameters need to be adjusted according
to Speed Control Mode Adjustment on page 7-16.
ΠIf the Speed Limit (Pn053) or the speed limit value from MECHATROLINK-II is too low, the Speed
Loop Gain is too low, or the Speed Loop Integration Time Constant is set to 10000 (disable), the
input to the torque limiter will be small and the torque commanded via MECHATROLINK-II may
not be achieved.
7-21
Chapter 8
Troubleshooting
8-1 Error Processing ................................................ 8-1
Preliminary Checks When a Problem Occurs .......................8-1
Precautions When Troubleshooting......................................8-2
Replacing the Servomotor and Servo Drive..........................8-2
8-2 Alarm Table........................................................ 8-3
8-3 Troubleshooting ................................................. 8-7
Error Diagnosis Using the Displayed Alarm Codes ..............8-7
Error Diagnosis Using the Displayed Warning Codes ..........8-14
Error Diagnosis Using the Operating Status .........................8-15
8-4 Overload Characteristics
(Electronic Thermal Function) ............................ 8-20
Overload Characteristics Graphs ..........................................8-20
8-5 Periodic Maintenance......................................... 8-21
Servomotor Service Life........................................................8-21
Servo Drive Service Life .......................................................8-22
Replacing the Absolute Encoder Battery ..............................8-23
8-1 Error Processing
8-1 Error Processing
Preliminary Checks When a Problem Occurs
This section explains the preliminary checks and analytical tools required to determine the cause of
a problem.
„ Checking the Power Supply Voltage
ΠCheck the voltage at the power supply input terminals.
Main Circuit Power Supply Input Terminals (L1, L3)
R88D-GN@L-ML2 (50 W to 400 W): Single-phase, 100 to 115 VAC (85 to 127 V), 50/60 Hz
R88D-GN@H-ML2 (100 W to 1.5 kW): Single-phase, 200 to 240 VAC (170 to 264 V), 50/60 Hz
Main Circuit Power Supply Input Terminals (L1, L2, L3)
R88D-GN@H-ML2 (750 W to 7.5 kW): Three-phase, 200 to 240 VAC (170 to 264 V), 50/60 Hz
Control Circuit Power Supply Input Terminals (L1C, L2C)
R88D-GN@L-ML2: Single-phase, 100 to 115 VAC (85 to 127 V), 50/60 Hz
R88D-GN@H-ML2: Single-phase, 200 to 240 VAC (170 to 264 V), 50/60 Hz
If the voltage is outside of this range, there is a risk of operation failure, so be sure that the power
supply is correct.
ΠCheck the voltage of the sequence input power supply. (+24 VIN Terminal (CN1 pin 1))
Within the range of 11 to 25 VDC
If the voltage is outside of this range, there is a risk of operation failure, so be sure that the power
supply is correct.
Troubleshooting
8
„ Checking Whether an Alarm Has Occurred
ΠEvaluate the problem using the 7-segment LED display on the front panel.
You can also evaluate the problem by using the R88A-PR02G Parameter Unit.
ΠCX-Drive can also be used for the display. The operation status can also be monitored.
Check the load status, including data trace.
ΠWhen an alarm has occurred:
Check the alarm code that is displayed (@@) and evaluate the problem based on the alarm that is
indicated.
ΠWhen an alarm has not occurred:
Make an analysis according to the problem.
8-1
8-1 Error Processing
Precautions When Troubleshooting
When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start
to operate or suddenly stop, so always take the following precautions.
You should assume that anything not described in this manual is not possible with this product.
„ Precautions
ΠDisconnect the cable before checking for wire breakage. Even if you test conduction with the cable
connected, test results may not be accurate due to conduction via bypassing circuit.
ΠIf the encoder signal is lost, the Servomotor may run away, or an error may occur. Be sure to
disconnect the Servomotor from the mechanical system before checking the encoder signal.
ΠWhen performing tests, first check that there are no persons in the vicinity of the equipment, and
that the equipment will not be damaged even if the Servomotor runs away. Before performing the
tests, verify that you can immediately stop the machine using an emergency stop even if the
Servomotor runs away.
Replacing the Servomotor and Servo Drive
Use the following procedure to replace the Servomotor or Servo Drive.
„ Replacing the Servomotor
1. Replace the Servomotor.
2. Perform origin position alignment (for position control).
Œ When the Servomotor is replaced, the Servomotor’s origin position (phase Z) may deviate, so
origin alignment must be performed.
Œ Refer to the Position Controller’s manual for details on performing origin alignment.
3. Set up the absolute encoder.
ΠIf a Servomotor with an absolute encoder is used, the absolute value data in the absolute encoder
will be cleared when the Servomotor is replaced, so setup is again required. The rotation data will
be different from before the Servomotor was replaced, so reset the initial Motion Control Unit
parameters.
ΠFor details, refer to Absolute Encoder Setup on page 6-6.
„ Replacing the Servo Drive
1. Copy the parameters.
Use the Parameter Unit or CX-Drive to write down all the parameter settings or save them.
2. Replace the Servo Drive.
3. Set the parameters.
Use the Parameter Unit or CX-Drive to set all the parameters.
4. Set up the absolute encoder.
ΠIf a Servomotor with an absolute encoder is used, the absolute value data in the absolute encoder
will be cleared when the Servo Drive is replaced, so setup is again required. The rotation data will
be different from before the Servo Drive was replaced, so reset the initial Motion Control Unit
parameters.
ΠFor details, refer to Absolute Encoder Setup on page 6-6.
8-2
Troubleshooting
8
8-2 Alarm Table
8-2 Alarm Table
„ Protective Functions
The Servo Drive has built-in protective functions. When a protective function is activated, the
Servo Drive turns OFF the alarm output signal (ALM) and switches to the Servo OFF status.
The alarm code will be displayed on the front panel.
Alarm type
Description
---
Protective function that allows the alarm to be reset, and leaves record in the
alarm history.
PR
Protective function that does not allow the alarm to be reset, and requires the
control power supply to be turned OFF and turned ON again after resolving the
problem.
X
Precautions
for Correct Use
ΠAlarms can be reset via the network, CX-Drive or the Parameter Unit.
ΠOverload (alarm code 16) cannot be reset for approximately 10 s after its
occurrence.
ΠIf "HH", "hh", or "yy" is displayed on the Alarm Number display, the built-in
MPU is malfunctioning. Turn OFF the power supply.
„ Warning Function
The Servo Drive issues a warning before a protective function is activated, allowing you to check
overload and other status in advance. A warning is also issued for a network error, allowing you
to check the network status.
Troubleshooting
8
Protective function that does not leave record in the alarm history.
8-3
8-2 Alarm Table
„ Alarms
Alarm
Type
11
X
12
---
13
X
14
PR
15
PR
16
---
18
PR
21
PR
23
PR
24
---
26
---
27
PR
29
---
34
---
36
PR
X
37
PR
X
38
X
40
PR
41
PR
42
PR
44
PR
45
PR
47
---
Error Detection Function
Detection Details and Cause of Error
The DC voltage of the main circuit has
dropped below the specified value.
The DC voltage of the main circuit is
Overvoltage
abnormally high.
Main power supply undervoltage
The DC voltage of the main circuit is low.
Overcurrent flowed to the IGBT. Servomotor
Overcurrent
power line ground fault or short circuit.
The temperature of the Servo Drive radiator
Servo Drive overheat
exceeded the specified value.
Operation was performed with torque
Overload
significantly exceeding the rating for several
seconds to several tens of seconds.
The regenerative energy exceeded the
Regeneration overload
processing capacity of the regeneration
resistor.
Communications between the encoder and
the Servo Drive failed for a specified number
Encoder communications error
of times, thereby activating the error detection
function.
Communications error occurred for the data
Encoder communications data error
from the encoder.
The number of position deviation pulses
Deviation counter overflow
exceeded the Deviation Counter Overflow
Level (Pn209).
The rotation speed of the Servomotor
Overspeed
exceeded the setting of the Overspeed
Detection Level Setting (Pn073).
Command error
The operation command resulted in an error.
The value of the internal deviation counter
Internal deviation counter overflow (internal control unit) exceeded 227
(134217728).
The Servomotor exceeded the allowable
operating range set in the Overrun Limit
Overrun limit error
Setting (Pn026) with respect to the position
command input.
Data in the parameter save area was
Parameter error
corrupted when the data was read from the
EEPROM at power-ON.
The EEPROM write verification data was
Parameter corruption
corrupted when the data was read from the
EEPROM at power-ON.
Forward and Reverse Drive Prohibit Inputs
Drive prohibit input error
(NOT and POT) both became OPEN.
Absolute encoder
The voltage supplied to the absolute encoder
ABS dropped below the specified value.
system down error
Absolute encoder counter
The multi-turn counter of the absolute
ABS encoder exceeded the specified value.
overflow error
The Servomotor rotation speed exceeded the
Absolute encoder
ABS specified value when power to the absolute
overspeed error
encoder is supplied by the battery only.
Absolute encoder
A one-turn counter error was detected.
one-turn counter error
An absolute encoder multi-turn counter or inAbsolute encoder
cremental encoder phase AB signal error was
multi-turn counter error
detected.
Absolute encoder
The rotation of the absolute encoder is higher
ABS than the specified value.
status error
Control power supply undervoltage
8-4
8
Troubleshooting
Alarm
Display
8-2 Alarm Table
Alarm
Display
Alarm
Type
48
R
Encoder phase Z error
49
R
Encoder PS signal error
82
R
Node address setting error
83
---
Communications error
84
---
Transmission cycle error
86
---
Watchdog data error
87
X
Emergency stop input error
90
---
Transmission cycle setting error
91
---
SYNC command error
93
R
Parameter setting error
95
R
X
Servomotor non-conformity
Others
R
Other errors
Error Detection Function
Troubleshooting
8
Detection Details and Cause of Error
A phase-Z pulse was not detected
regularly.
A logic error was detected in the PS signal.
The rotary switch for setting the node address
of the Servo Drive was set out of range.
Data received during each MECHATROLINKII communications cycle repeatedly failed,
exceeding the number of times set in the
Communications Control (Pn005).
While actuating MECHATROLINK-II
communications, synchronization frames
(SYNC) were not received according to the
transmission cycle.
Synchronization data exchanged
between the master and slave nodes
during each MECHATROLINK-II
communications cycle resulted in an
error.
The emergency stop input became OPEN.
The transmission cycle setting error when
the MECHATROLINK-II
CONNECT command is received.
A SYNC-related command was issued while
MECHATROLINK-II was in asynchronous
communications mode.
Parameter setting exceeded the allowable
range.
The combination of the Servomotor and
Servo Drive is not appropriate.
The control circuit malfunctioned due to
excessive noise.
An error occurred within the Servo Drive due
to the activation of its self-diagnosis function.
Note The alarm display is in decimal.
For example, if a SYNC command error occurs, "91" will flash on the front panel of the Gseries Servo Drive. The warning code read from the host Position Control Unit (CJ1WNC@71 or CS1W-NC@71) would be 405B.
8-5
8-2 Alarm Table
„ Warnings
Priority
Warning
Code
Warning Detection
Function
94h
Data setting warning
· Command argument setting is out of the range.
· Parameter write failure.
· Command settings are wrong, and others.
95h
Command warning
· Command output conditions are not satisfied.
· Received unsupported command.
· Subcommand output conditions are not satisfied.
96h
ML-II
communications
warning
One or more MECHATROLINK-II communications error
occurred.
90h
Overload warning
85% of the overload alarm trigger level has been
exceeded.
91h
Regeneration
overload warning
85% of the regeneration overload alarm trigger level has
been exceeded.
92h
Battery warning
Voltage of absolute encoder battery has dropped below
3.2 V.
93h
Fan lock warning
The built-in cooling fan stopped, or rotated abnormally.
High
Warning Details
Low
Note 2. When multiple warnings occur, the warning codes are displayed on the front panel in the
order of their priority (shown above).
Note 3. The alarm display is in hexadecimal.
For example, if a regenerative load warning occurs, "91" and "00" will alternately flash on
the front panel of the G-series Servo Drive. The warning code read from the host Position
Control Unit (CJ1W-NC@71 or CS1W-NC@71) would be 4091.
8-6
8
Troubleshooting
Note 1. All warnings are retained. After resolving the problem, clear the alarms and the warnings.
8-3 Troubleshooting
8-3 Troubleshooting
If an error occurs in the machine, determine the error conditions from the alarm indicator and
operating status, identify the cause of the error, and take appropriate countermeasures.
Error Diagnosis Using the Displayed Alarm Codes
Alarm
code
11
Alarm Name
Cause
Control power supply
undervoltage
The voltage between P and N in the
control voltage converter has dropped
below the specified value.
1 The power supply voltage is low. A
momentary power failure occurred.
2 The power supply capacity is
insufficient. The inrush current at
power-ON caused the power
supply voltage to drop.
3 The Servo Drive has failed.
Measure the line voltage between
control power supply L1C and L2C.
1 Resolve the cause of the power
supply voltage drop and/or
momentary power failure.
2 Increase the power supply
capacity.
3 Replace the Servo Drive.
Overvoltage
The voltage between P and N in the
main circuit has exceeded the specified value. The power supply voltage is
too high. Phase advance capacitor
and/or UPS (uninterruptible power
supply) is causing a jump in voltage.
1 Regenerative energy cannot be
absorbed due to a disconnection of
the regeneration resistor.
2 Regenerative energy cannot be
absorbed due to the use of an
inappropriate external regeneration
resistor.
3 The Servo Drive has failed.
Measure and check the line voltages
between L1, L2, and L3 of the main
power supply. Input a correct voltage.
Remove the phase advance capacitor.
1 Measure the resistance for the
external regeneration resistor
between terminals B1 and B2 of the
Servo Drive, and check that the
reading is normal. Replace it if
disconnected.
2 Provide the necessary
regeneration resistance and
wattage.
3 Replace the Servo Drive.
Main power supply
undervoltage
With the Undervoltage Alarm Selection
(Pn065) set to 1, the main power
supply between L1 and L3 was
interrupted for longer than the time set
by Momentary Hold Time (Pn06D).
Alternatively, the voltage between P
and N in the main circuit dropped
below the specified value while the
Servo Drive was ON.
1 The power supply voltage is low.
2 A momentary power failure
occurred.
3 The power supply capacity is insufficient - The inrush current at
power-ON caused the power
supply voltage to drop.
4 Missing phase - A single-phase
power supply was used for a threephase Servo Drive.
5 The Servo Drive has failed.
Measure and check the line voltages
between L1, L2, and L3 of the main
power supply.
1 Resolve the cause of the power
supply voltage drop and/or
momentary power failure.
2 Check the setting for the
Momentary Hold Time (Pn06D).
3 Increase the power supply
capacity. Refer to the Servo Drive
specifications for the power supply
capacity.
4 Correctly connect the phases (L1,
L2, and L3) of the power supply.
Connect single-phase 100 V and
single-phase 200 V to L1 and L3.
5 Replace the Servo Drive.
8
Troubleshooting
12
13
8-7
Countermeasure
8-3 Troubleshooting
14
15
16
Alarm Name
Overcurrent
Cause
Countermeasure
The current on the inverter circuit
exceeded the specified value.
1 The Servo Drive has failed.
(Failure of circuit, IGBT parts, etc.)
2 Short circuit on Servomotor lines U,
V, and W.
3 Ground fault on the Servomotor
lines.
4 Servomotor burnout.
5 Contact failure on the Servomotor
lines.
6 The dynamic brake relay has been
consequently welded.
7 The Servomotor is not compatible
with the Servo Drive.
8 The operation command input is
received simultaneously with or
before Servo-ON.
1 If the alarm is triggered
immediately when the Servo Drive
is turned ON with the Servomotor
lines disconnected, replace the
Servo Drive.
2 Check for short circuit in the
Servomotor lines U, V, and W.
Connect the Servomotor lines
correctly.
3 Check the insulation resistance
between Servomotor lines U, V, W
and the ground line. If there is
insulation failure, replace the
Servomotor.
4 Measure the interphase
resistances of the Servomotor. If
they are unbalanced, replace the
Servomotor.
5 Check the connector pins for
connections U, V, and W of the
Servomotor. If they are loose or
have come off, securely fix them.
6 Replace the Servo Drive.
7 Check and match the capacity of
the Servomotor and the Servo
Drive.
8 After the Servo ON, wait for at least
100 ms before inputting an
operation command.
Servo Drive overheat
The temperature of the Servo Drive
radiator or power elements exceeded
the specified value.
1 The Servo Drive's ambient
temperature has exceeded the
specified value. Radiation
performance has dropped.
2 There is excessive load.
1 Reduce the Servo Drive's ambient
temperature, and improve the
cooling conditions.
2 Increase the capacity of the Servomotor. Reduce the effective load
ratio, for example with a longer
acceleration / deceleration time.
Overload
The effective values of the torque
commands have exceeded the overload level set by the Overload Detection Level Setting (Pn072). Operation
is performed with reverse time characteristics.
1 The load is excessive, and the
effective torque has exceeded the
set level and operation has been
performed for a long time.
2 Oscillation, hunching, and vibration
are occurring due to improper gain
adjustment.
3 Servomotor phases are incorrectly
wired and/or are disconnected.
4 The mechanical load is increasing.
There is a problem with the
mechanics.
5 The holding brake is ON.
6 The Servomotor lines are
incorrectly wired between multiple
axes.
Check that the torque (current) waveform is not oscillating, and that it is not
fluctuating significantly in the vertical
direction. Check the overload warning
display and the load ratio.
1 Increase the capacity of the Servo
Drive and Servomotor, or reduce
the load. Or increase the
acceleration / deceleration time to
reduce the effective torque.
2 Readjust the gain to stop oscillation
and hunching.
3 Connect the Servomotor lines as
specified in the wiring diagram.
Replace the cables.
4 Check that the mechanics operate
smoothly.
5 Measure the voltage at the brake
terminal. Turn OFF the brake.
Note You cannot reset the warning
for at least 10 seconds after it
occurred.
8-8
8
Troubleshooting
Alarm
code
8-3 Troubleshooting
Alarm
code
18
21
Troubleshooting
8
23
24
8-9
Alarm Name
Regeneration
overload
Encoder
communications error
Cause
Countermeasure
The regenerative energy exceeded the
capacity of the regeneration resistor.
1 The converter voltage was
increased by regenerative energy
during deceleration due to a large
load inertia. The voltage was
further increased due to insufficient
energy absorption of the
regeneration resistance.
2 Because the Servomotor’s rotation
speed is too high, regenerative
energy cannot be fully absorbed
within the specified deceleration
time.
3 The operating limit of the External
Regeneration Resistor is limited to
10%.
Check the regeneration resistance
load ratio. Continuous regenerative
braking is not acceptable.
1 Check the operation pattern (speed
monitor). Check the regeneration
resistance load ratio and the overregeneration warning display.
Increase the capacity of the
Servomotor and the Servo Drive to
slow down the deceleration time.
Use an External Regeneration
Resistor.
2 Check the operation pattern (speed
monitor). Check the regeneration
resistance load ratio and the overregeneration warning display.
Increase the capacity of the
Servomotor and the Servo Drive to
slow down the deceleration time.
Lower the Servomotor rotation
speed. Use an External
Regeneration Resistor.
3 Set Pn06C to 2.
Communications between the encoder
and the Servo Drive failed for a
specified number of times, thereby
activating the error detection function.
(No response to request from the
Servo Drive.)
Check that the encoder line is properly
connected.
Check that there is no damage to the
encoder due to incorrect connections.
Replace the Servomotor and check
again.
Communications error occurred for the
data from the encoder. Mainly a data
error due to noise. The encoder line is
connected, but the communications
data is erroneous.
ΠCheck that the encoder power supply
voltage is within the range of 4.75 to
5.25 VDC. (If the encoder line is
long.)
ΠIf the Servomotor line and the
encoder line are bound together,
separate them.
ΠCheck that the shield is connected to
FG (frame ground), and that FG is
grounded.
ΠAttach a ferrite core to the encoder
cable. Attach a radio noise filter to the
power cable.
Encoder
communications data
error
Deviation counter
overflow
The number of position deviation
pulses exceeded the Deviation
Counter Overflow Level (Pn209).
1 The Servomotor operation is not
following the commands.
2 The Deviation Counter Overflow
Level (Pn209) is set too low.
Calculate the deviation counter
value based on the command
speed and the position loop gain.
1 Use the speed monitor and torque
monitor to check that the
Servomotor is operating as
commanded. Check that torque is
not saturated. Check that the No. 1
Torque Limit (Pn05E) and the No. 2
Torque Limit (Pn05F) are not too
small.
Check by readjusting the gain,
increasing the acceleration /
deceleration times, and lowering
the speed with the reduced load.
2 Increase the setting for Pn209.
8-3 Troubleshooting
26
27
29
34
36
Alarm Name
Overspeed
Command error
Cause
Countermeasure
The rotation speed of the Servomotor
exceeded the setting of the Overspeed
Detection Level Setting (Pn073).
ΠCheck that excessive speed
commands have not been issued.
ΠIf overshoot is occurring due to
improper gain adjustment, adjust the
gain for the position loop and the
speed loop.
The operation command resulted in an
error.
1 Incorrect value in position
command.
· The amount of change in the
position command (value calculated with the electronic gear ratio)
exceeded the specified value.
· The travel distance required for
acceleration / deceleration,
calculated when starting
positioning, exceeded the
specified value.
2 A MECHATROLINK-II link was
established with the host while
executing a standalone operation
(normal mode autotuning, and jog
operation).
Note If the alarms are cleared
immediately after actuating
communications, this alarm
may be cleared immediately
after it has been issued, and
cannot be read.
3 Multi-turn data on the absolute
encoder was cleared via RS-232
communications after actuating the
MECHATROLINK-II link.
ΠCheck that the operation commands
are correct.
1 Review the operation commands
and settings.
Check the settings. For example,
check that the amount of change
for the position command is not too
large (i.e. interpolation function),
the backlash compensation
amount is not too large, the
backlash compensation time
constant is not too small, the
electronic gear ratio is not too large,
and the acceleration/deceleration
is not too small.
2 Do not actuate the network while
executing normal mode autotuning
and jog operation.
3 Alarm code 27 is issued when
clearing the multi-turn data on the
absolute encoder via RS-232
communications. This is for safety
purposes, not an error. When
executing the multi-turn clear
command via the network, an
alarm will not be issued, but be sure
to reset the control power supply.
The value of the internal deviation
counter (internal control unit) exceeded
227 (134217728).
Check that the speed monitor and
torque monitor values are indicated as
commanded by the Servo Drive. Check
that torque is not saturated. Check that
the No. 1 Torque Limit (Pn05E) and the
No. 2 Torque Limit (Pn05F) are not too
small.
Check by readjusting the gain,
increasing the acceleration / deceleration times, and lowering the speed with
the reduced load.
Internal deviation
counter overflow
Overrun limit error
Parameter error
The Servomotor exceeded the
allowable operating range set by the
Overrun Limit Setting (Pn026) with
respect to the position command input.
1 The gain is not appropriate for the
load.
2 The setting for Pn026 is too small.
Data in the parameter save area was
corrupted when the data was read from
the EEPROM at power-ON.
1 Check the position loop gain,
speed loop gain, integration time
constant, and inertia ratio.
2 Increase the setting for Pn026.
Set Pn026 to 0 to disable the
protective function.
If the warning continues to occur even
after retransferring all parameters, the
Servo Drive may have failed.
Replace the Servo Drive.
8-10
8
Troubleshooting
Alarm
code
8-3 Troubleshooting
Alarm
code
37
38
Alarm Name
Parameter corruption
Drive prohibit input
error
Troubleshooting
8
40
Absolute encoder
system down error
Cause
Countermeasure
The EEPROM write verification data
was corrupted when the data was read
from the EEPROM at power-ON.
If the warning continues to occur even
after retransferring all parameters, the
Servo Drive may have failed.
Replace the Servo Drive.
1 The Drive Prohibit Input Selection
(Pn004) is set to 0, and both
Forward and Reverse Drive
Prohibit Inputs (POT and NOT)
became OPEN.
2 The Drive Prohibit Input Selection
(Pn004) is set to 2, and either
Forward or Reverse Drive Prohibit
Input (POT or NOT) became
OPEN.
3 With the Drive Prohibit Input
Selection (Pn004) set to 0,
MECHATROLINK-II
communications interrupted, and
either Forward or Reverse Drive
Prohibit Input (POT or NOT) turned
ON, an operation command (jog
operation or normal mode
autotuning) was received via
RS232. Or, either POT or NOT
turned ON while operating on an
operation command received via
RS232.
Check the sensors, power supply, and
wiring for the Forward and Reverse
Drive Prohibit Inputs.
Also check that the response of the
power supply (12 to 24 VDC) is not too
slow.
Check that there is no command input
in the direction of the Drive Prohibit Input.
The power supply and battery voltage
to the encoder dropped, and the
capacitor voltage dropped below the
specified value. (3.0 V or less)
Connect the power supply for the
battery, and clear the absolute encoder. Refer to Absolute Encoder Setup on
page 6-6.
Initial setup of the absolute encoder
must be performed to clear the alarm.
The multi-turn counter of the encoder
exceeded the specified value.
Check the setting for the Operation
Switch When Using Absolute Encoder
(Pn00B).
Set the travel distance from the mechanical origin within 32767 rotations.
Initial setup of the absolute encoder
must be performed to clear the alarm.
The Servomotor rotation speed exceeded the specified value when
power to the absolute encoder is
supplied by the battery only during a
power outage.
Check the power supply voltage on the
encoder side (5 V ± 5%).
Check the connection of the CN2
connector.
Initial setup of the absolute encoder
must be performed to clear the alarm.
An error was detected in the one-turn
counter for the encoder.
Replace the Servomotor.
Check for malfunction due to noise.
Also take EMC measures.
Initial setup of the absolute encoder
must be performed to clear the alarm.
An absolute encoder multi-turn counter
or incremental encoder phase AB signal error was detected.
Replace the Servomotor.
Check for malfunction due to noise.
Also take EMC measures.
Initial setup of the absolute encoder
must be performed to clear the alarm.
ABS
41
Absolute encoder
counter overflow error
ABS
42
Absolute encoder
overspeed error
ABS
44
Absolute encoder
one-turn counter error
45
Absolute encoder
multi-turn counter
error
8-11
8-3 Troubleshooting
47
Alarm Name
Absolute encoder
status error
ABS
48
49
82
83
84
86
Cause
The encoder’s detection values were
higher than the specified value at
power-ON.
A phase-Z pulse of the 2500 p/r 5-line
serial encoder was not detected
Encoder phase Z error
regularly.
The encoder has failed.
Encoder PS signal
error
Node address setting
error
Watchdog data error
Do not rotate the Servomotor when the
power is turned ON.
Replace the Servomotor.
Check for malfunction due to noise.
Also take EMC measures.
Logic error was detected in the PS
signal (magnetic pole) of the 2500 p/r
5-line serial encoder.
The encoder has failed.
Replace the Servomotor.
The rotary switch for setting the node
address of the Servo Drive was set out
of range. (Value is read at power-ON)
Check the value of the rotary switch for
setting the node address.
Set the rotary switch correctly (set to 1
to 31), and then turn OFF the control
power supply for the Servo Drive and
turn it ON again.
Data received during each
MECHATROLINK-II communications
cycle repeatedly failed, exceeding the
number of times set by the Communications Control (Pn005).
Check that commands are being sent
from the master node to the slave
node.
Check the MECHATROLINK-II
communications cable for disconnection or wiring problem.
Check the connection of the terminator
(termination resistor).
Check the MECHATROLINK-II
communications cable for excessive
noise, and that the cable is laid properly. Also check the FG wiring for the Servo Drive.
Increase the consecutive communications error detection count in the Communications Control (Pn005).
Communications error
Transmission cycle
error
Countermeasure
While actuating MECHATROLINK-II
communications, synchronization
frames (SYNC) were
not received according to the transmission cycle.
ΠThe synchronization frames
themselves were faulty.
ΠThe transmission cycle of the
synchronization frames was not as
specified. (Includes dropped frames).
ΠCheck the transmission cycle of the
synchronization frames sent from the
master node, and ensure that it does
not fluctuate and is as specified.
ΠCheck the communications cable for
disconnection or wiring problem.
ΠCheck for excessive noise on the
communications cable.
ΠCheck the connection of the
terminator (termination resistor).
ΠCheck the laying of the
communications cable and the FG
wiring.
Synchronization data exchanged
between the master and slave nodes
during each MECHATROLINK-II communications cycle resulted in an error.
ΠCheck the update process for the
watchdog data (MN) on the master
node.
8-12
8
Troubleshooting
Alarm
code
8-3 Troubleshooting
Alarm
code
Alarm Name
87
Emergency stop input
error
90
Transmission cycle
setting error
91
Parameter setting
error
95
Servomotor
non-conformity
8
Troubleshooting
8-13
Other errors
Countermeasure
ΠThe emergency stop input became
OPEN.
ΠCheck the power supply and wiring
connected to the emergency stop
input. Check that the emergency stop
input is ON.
ΠCheck that the response of the
control signal power supply (12 to 24
VDC) at power-ON is not too slow in
comparison to the startup of the
Servo Drive.
ΠThe transmission cycle setting for
receiving the MECHATROLINK-II
CONNECT command is incorrect.
ΠCheck the transmission cycle
settings, and resend the CONNECT
command.
ΠA SYNC-related command was
issued while MECHATROLINK-II was
SYNC command error
in asynchronous communications
mode.
93
Others
Cause
ΠCheck the command sent from the
master node.
ΠThe electronic gear ratio parameter is
set outside the allowable setting
range. (Less than 1/100 or greater
than 100/1)
ΠCheck the parameter setting.
ΠThe combination of the Servomotor
and Servo Drive is not appropriate.
ΠUse the Servomotor and Servo Drive
in the correct combination.
The control circuit malfunctioned due
to excessive noise.
An error occurred within the Servo
Drive due to the activation of its
self-diagnosis function.
Turn OFF the power supply, and then
turn it back ON.
If the error continues to occur, there
may be a failure.
Stop the operation, and replace the
Servomotor and Servo Drive.
8-3 Troubleshooting
Error Diagnosis Using the Displayed Warning Codes
94h
Error
Cause
Countermeasure
Data setting warning
ΠCommand argument setting is out of
the range.
ΠParameter write failure.
ΠCommand settings are wrong, and
others.
ΠCheck the setting range.
ΠCheck the control power supply
voltage.
ΠCheck the command settings.
ΠCommand output conditions are not
satisfied.
ΠReceived unsupported command.
ΠSubcommand output conditions are
not satisfied.
ΠOperation command in the drive
prohibited direction was issued after
being stopped by a POT/NOT input.
ΠSend the command after the
command output conditions are
satisfied.
ΠDo not send unsupported
commands.
ΠFollow the subcommand output
conditions and send.
ΠCheck the status of POT/NOT input
and operation command.
ΠOne or more MECHATROLINK-II
communications error occurred.
ΠRefer to the countermeasures for
Communications error on page 8-12
(alarm code 83).
95h
Command warning
96h
ML-II communications
warning
90h
Overload warning
Π85% of the overload alarm trigger
level has been exceeded.
Refer to Overload on page 8-8.
91h
Regeneration
overload
Π85% of the regeneration overload
alarm trigger level has been
exceeded.
Refer to Regeneration overload on
page 8-9.
92h
Battery warning
93h
Fan lock warning
8
ΠVoltage of absolute encoder battery
has dropped below 3.2 V.
Replace the absolute encoder battery
while the control power supply is being
input.
ΠThe built-in cooling fan stopped, or
rotated abnormally.
ΠModels with a built-in fan
R88D- GN10H-ML2/ GN20H-ML2/
GN30H-ML2/-GN40H-ML2/-GN50HML2/-GN75H-ML2
If the warning continues to occur,
the fan may have failed.
If so, the internal temperature of the
Servo Drive will rise, causing a failure.
Replace the fan.
8-14
Troubleshooting
Warning
Code
8-3 Troubleshooting
Error Diagnosis Using the Operating Status
Symptom
7-segment
LED is not lit.
Troubleshooting
8
Probable cause
No control power supply.
Items to check
Countermeasure
Check that the control power supply
voltage is within the specified
range.
Ensure that power is
supplied properly.
Check that the power supply input
is wired correctly.
Wire correctly.
Check that the network cable
is connected correctly.
Check that the host
controller is running.
Check that the terminator is
connected.
Check the connector and
connection.
LED (COM)
is not lit.
MECHATROLINK-II
communications not
actuated.
LED (COM)
is flashing in
green.
Asynchronous communications on the
Can be controlled from the host
MECHATROLINK-II
controller (Normal status).
communications actuated.
LED (COM)
is lit in green.
Synchronous communications on the
MECHATROLINK-II
communications actuated.
Controllable status (Normal status). Normal status.
LED (COM)
is flashing in red.
Recoverable alarm related
to MECHATROLINK-II
communications.
ΠReset and actuate the network
again from the host controller.
ΠCheck the network wiring.
Check the wiring and noise.
LED (COM)
is lit in red.
Irrecoverable alarm related
to MECHATROLINK-II
communications.
Check that there is no overlap of
node address on the network, and
that the number of connected
Servo Drives is less than 17.
Correct the network
address.
An alarm has
occurred.
Read the alarm code and
the alarm history.
Check details of alarm by referring
to Error Diagnosis Using the Displayed Alarm Codes on page 8-7.
Take countermeasures by
referring to Error Diagnosis
Using the Displayed Alarm
Codes on page 8-7.
8-15
Normal status.
8-3 Troubleshooting
Does not
Servo lock.
Servo lock is ON,
but Servomotor
does not rotate.
The Servomotor
operates
momentarily, but
it does not operate after that.
Probable cause
Items to check
Countermeasure
Not Servo locked.
Check the response of
the NCF71 Servo lock bit.
Set the Servo lock command
bit on the host controller
again.
The power cable is
not properly connected.
Check the wiring of the Servomotor
power cable.
Wire the Servomotor power
cable correctly.
Servomotor power is not
ON.
Check the wiring of the main circuit,
and the voltage of the power
supply.
Input the main circuit power
supply and voltage correctly.
The Forward and Reverse
Drive Prohibit Inputs (POT
and NOT) are OFF.
ΠCheck that the inputs for POT and
NOT are not OFF.
ΠCheck the +24 VIN input for CN1.
Turn ON POT and NOT, and
input +24 VIN correctly.
Torque limit is 0.
Check that torque limits Pn05E and
Pn05F are not set to 0.
Set the maximum torque to
be used for each.
Torque control is used for
the control from the host
controller, and the torque
command value is set to 0.
Check the control mode and the
torque command value for the host
controller.
Set the control mode for the
host controller to position
control mode, and check
Servo lock.
Servo Drive failure.
---
Replace the Servo Drive.
No command is sent
from the host controller.
For position commands, check that
speed and position are not set to 0.
Input the position and speed
data to start the Servomotor.
8
Cannot tell whether the
Servomotor is rotating.
Check that the speed command
from the host controller is not too
slow.
Check the speed command
from the host controller.
The holding brake is
working.
Check the brake interlock (BKIR)
signal and the +24 VDC power
supply.
For a Servomotor with brake,
check that its holding brake
is released by Servo lock.
The No.1 and No. 2 Torque
Limits (Pn05E, Pn05F) are
too small.
Check that the torque limits Pn05E
and Pn05F are not set to a value
close to 0.
Set the maximum torque to
be used for each.
Troubleshooting
Symptom
Torque control is used for
the control from the host
controller, and the torque
command value is too
small.
Check the control mode and the
torque command value for the host
controller.
Set the control mode for the
host controller to position
control mode, and check
Servo lock.
The Speed Limit (Pn053) is
set to 0 for torque control
mode.
Check the Speed Limit (Pn053)
value.
Increase the value for the
Speed Limit (Pn053).
Servo Drive failure.
---
Replace the Servo Drive.
The Servomotor Power
Cable is wired incorrectly.
Check the wiring of the Servomotor
Power Cable phases U, V, and W.
Correctly wire the Servomotor Power Cable phases U,
V, and W.
Not enough position command data.
Check the position data, electronic
gear, and others for NCF71.
Set the correct data.
8-16
8-3 Troubleshooting
Symptom
The Servomotor
rotates
without a
command.
The Servomotor
rotates in the
direction opposite
to the command.
The holding
brake does not
work.
8
Troubleshooting
The Servomotor
is overheating.
The Servomotor
rotation is
unstable.
8-17
Probable cause
Items to check
Countermeasure
There is a small input for
speed command mode.
Check that there is no input
for speed command mode.
Set the speed command to
0, or switch to position control mode.
There is a small input for
torque command mode.
Check that there is no input for
torque command mode.
Switch from torque control
mode to position control
mode.
The Operating Direction
Setting (Pn043) setting is
incorrect.
Check the Operating Direction
Setting (Pn043) value.
Change the Operating
Direction Setting (Pn043)
value.
NCF71 command is
incorrect.
ΠSet values are inappropriate for
an absolute command.
ΠThe polarity is incorrect for an
incremental command.
ΠCheck the current and
target values.
ΠCheck the rotation
direction.
Power is supplied to the
holding brake.
Check whether power is supplied to
the holding brake.
ΠCheck the brake interlock
(BKIR) signal and the relay
circuit.
ΠCheck that the holding
brake is not worn down.
The load is too large.
Measure the torque using the front
panel IM or a tool.
ΠSlow down the
acceleration/deceleration.
ΠLower the speed and
measure the load.
The heat radiation conditions for the Servomotor
have worsened.
ΠCheck that the specified heat
radiation conditions are satisfied.
ΠFor a Servomotor with a brake,
check the load ratio.
ΠImprove the heat radiation
conditions.
ΠReduce the load.
ΠImprove ventilation.
The ambient temperature is
too high.
Check that the ambient temperature has not exceeded 40 °C.
Load and gain do not
match.
Check the response waveforms for
speed and torque.
Adjust the speed loop gain
so that the rotation is
stabilized.
Load inertia exceeds the
specified range.
Calculate the load inertia.
ΠCheck if the adjustments
can be made via manual
tuning.
ΠIncrease the capacity of the
Servomotor.
Low rigidity is resulting in
vibration.
Measure the vibration frequency of
the load.
Enable damping control, and
set the vibration filter frequencies.
Loose coupling with the
machine, and/or large
gaps.
Check coupling with the machine.
Tighten the coupling with the
machine.
ΠRadiate heat and cool.
ΠReduce the load ratio.
8-3 Troubleshooting
Symptom
Probable cause
Items to check
Countermeasure
Problem with the coupling
between the Servomotor
axis and the machine.
Check that the coupling of the Servomotor and the machine is not
misaligned.
Deceleration stop
command is received from
the host controller.
Check the control ladder on the
host controller.
Review the control on the
host controller.
ΠCheck the load inertia.
ΠDynamic brake resistor is
disconnected.
ΠReview the load inertia.
ΠReplace the Servomotor
and Servo Drive with
appropriate models.
ΠRe-tighten the coupling.
ΠReplace with a tight
coupling.
Machine position
is misaligned.
Overshoots when
starting or
stopping.
Load inertia is too large.
Dynamic brake is disabled.
Check if the dynamic brake
is disabled or has failed.
ΠIf disabled, enable it.
ΠIf there is a failure, or
disconnection of the
resistor, replace the
Servomotor.
The Position Loop Gain
(Pn010) is too large.
Review the Position Loop Gain
(Pn010).
Adjust the gain to avoid
overshooting.
Poor balance between the
Speed Loop Integration
Time Constant (Pn012)
and the Speed Loop Gain
(Pn011).
Review the Speed Loop Integration
Time Constant (Pn012) and the
Speed Loop Gain (Pn011).
Use CX-Drive and analog
monitors (SP, IM) to measure the response and adjust
the gain.
Inappropriate machine
rigidity setting by realtime
autotuning.
Review the machine rigidity setting.
Match the machine rigidity
setting to the load rigidity.
Inertial ratio setting differs
from the load.
Review the Inertial Ratio (Pn020).
Match the Inertia Ratio
(Pn020) to the load.
8-18
8
Troubleshooting
The Servomotor
is slow to stop
even if the RUN
command is
turned OFF while
the Servomotor is
rotating.
8-3 Troubleshooting
Symptom
Probable cause
Items to check
Countermeasure
Review the Torque Command Filter
Time Constant (Pn014).
Increase the Torque Command Filter Time Constant
(Pn014) to stop the vibration.
Vibration occurs due to
machine resonance.
Check if the resonance frequency is
high or low.
If the resonance frequency is
high, set an adaptive filter to
stop the resonance, or measure the resonance frequency and set Notch
Filters 1 and 2.
ΠThe Position Loop Gain
(Pn010) is too large.
ΠPoor balance between
the Speed Loop
Integration Time Constant
(Pn012) and the Speed
Loop Gain (Pn011).
Review the Position Loop Gain
(Pn010), Speed Loop Integration
Time Constant (Pn012), and the
Speed Loop Gain (Pn011).
Use CX-Drive and
analog monitors (SP, IM) to
measure the response and
adjust the gain.
The Speed Feedback Filter
Time Constant (Pn013)
does not match the load.
Check the Speed Feedback Filter
Time Constant (Pn013). The
parameter is usually set to 0.
Increase the Speed Feedback Filter Time Constant
(Pn013) and operate.
Check whether the vibration frequency is 100 Hz or below.
If the vibration frequency is
100 Hz or below, stop the
vibration by setting the vibration frequency for the vibration filter.
Check whether the coupling with
the load is unbalanced.
Make adjustments to
balance the rotation.
Check for eccentricity of the load.
Eliminate eccentricity.
Eccentricity of the load
results in noise due to
fluctuation of torque.
Check for noise from within the
decelerator.
Check the decelerator specifications and perform an
inspection.
The Torque Command
Filter Time Constant
(Pn014) does not match
the load.
Unusual noise
and vibration
occurs from
the Servomotor
or the load.
Vibration occurs due to low
mechanical rigidity.
Troubleshooting
8
Vibration occurs due to
mechanical installation.
8-19
8-4 Overload Characteristics (Electronic Thermal Function)
8-4 Overload Characteristics
(Electronic Thermal Function)
An overload protection (electronic thermal) function is built into the Servo Drive to protect the Servo
Drive and Servomotor from overloading.
If an overload does occur, first eliminate the cause of the error and then wait at least one minute for
the Servomotor temperature to drop before turning on the power again.
If the power is turned ON again repeatedly at short intervals, the Servomotor windings may burn out.
Overload Characteristics Graphs
The following graphs show the characteristics of the load ratio and the electronic thermal function's
operation time.
Time (s)
100
50 W
100 W (100 V)
100 W (200 V)
200 W
400 W
750 W
10
8
0.1
115
100
150
200
250
Troubleshooting
1
300 Torque (%)
Time (s)
100
R88M-G@10T
R88M-G@20T
R88M-G@15T
R88M-G@30T
R88M-GP@
10
900 W to 6 kW
1 kW to 5 kW
7.5 kW
1 kW to 5 kW
100 W to 400 W
1
0.1
115
100
150
200
250
300 Torque (%)
When the torque command = 0, and a constant torque command is continuously applied after three
or more times the overload time constant has elapsed, the overload time t [s] will be:
t [s] = − Overload time constant [s] × loge (1 − Overload level [%] / Torque command [%]) 2
(The overload time constant [s] depends on the Servomotor. The standard overload level is 115%.)
Precautions
for Correct Use
ΠOverload (alarm code 16) cannot be reset for approximately 10 seconds
after its occurrence.
8-20
8-5 Periodic Maintenance
8-5 Periodic Maintenance
Caution
Resume operation only after transferring to the new Unit the
contents of the data required for operation.
Not doing so may result in equipment damage.
Do not attempt to disassemble or repair any of the products.
Any attempt to do so may result in electric shock or injury.
Servomotors and Servo Drives contain many components and will operate properly only when each
of the individual components is operating properly.
Some of the electrical and mechanical components require maintenance depending on application
conditions. Periodic inspection and part replacement are necessary to ensure proper long-term
operation of Servomotors and Servo Drives. (quotes from “The Recommendation for Periodic
Maintenance of a General-purpose Inverter” published by JEMA)
The periodic maintenance cycle depends on the installation environment and application conditions
of the Servomotor or Servo Drive.
Recommended maintenance times are listed below for Servomotors and Servo Drives. Use these
for reference in determining actual maintenance schedules.
Troubleshooting
8
Servomotor Service Life
ΠThe service life for components is listed below.
Bearings: 20,000 hours
Decelerator: 20,000 hours
Oil seal: 5,000 hours
Encoder: 30,000 hours
These values presume an ambient Servomotor operating temperature of 40°C, shaft loads within
the allowable range, rated operation (rated torque and rated r/min), and proper installation as
described in this manual.
The oil seal can be replaced.
ΠThe 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.
8-21
8-5 Periodic Maintenance
Servo Drive Service Life
8
Troubleshooting
ΠDetails on the service life of the Servo Drive are provided below.
Aluminum electrolytic capacitors: 28,000 hours
(at an ambient Servo Drive operating temperature of 55°C, the rated operation output (rated
torque), installed as described in this manual.)
Axial fan: 10,000 to 30,000 hours
Inrush current prevention relay: Approx. 20,000 operations (The service life depends on the
operating conditions.)
ΠWhen using the Servo Drive in continuous operation, use fans or air conditioners to maintain an
ambient operating temperature below 40°C.
ΠWe recommend that ambient operating temperature and the power ON time be reduced as much
as possible to lengthen the service life of the Servo Drive.
ΠThe life of aluminum electrolytic 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%.
ΠThe aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no
power supplied. If the Servo Drive is not used for a long time, we recommend a periodic inspection
and part replacement schedule of five years.
ΠIf the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under
conditions worse than those described above, a periodic inspection schedule of five years is
recommended.
ΠUpon request, OMRON will examine the Servo Drive and Servomotor and determine if a
replacement is required.
8-22
8-5 Periodic Maintenance
Replacing the Absolute Encoder Battery
ABS
Replace the Absolute Encoder Backup Battery if it has been used for more than three years or if an
absolute encoder system down error (alarm code 40) has occurred.
„ Replacement Battery Model and Specifications
Item
Specifications
Name
Absolute Encoder Backup Battery
Model
R88A-BAT01G
Battery model
ER6V (Toshiba)
Battery voltage
3.6 V
Current capacity
2000 mA·h
„ Mounting the Backup Battery
Mounting the Battery for the First Time
Connect the absolute encoder battery to the Servomotor, and then set up the absolute encoder.
Refer to Absolute Encoder Setup on page 6-6.
Once the absolute encoder battery is attached, it is recommended that the control power supply be
turned ON and OFF once a day to refresh the battery.
If you neglect to refresh the battery, battery errors may occur due to voltage delay in the battery.
8
Troubleshooting
Replacing the Battery
If a battery alarm occurs, the absolute encoder battery must be replaced.
Replace the battery with the control power supply to the Servo Drive ON. If the battery is replaced
with the control power supply to the Servo Drive OFF, data held in the encoder will be lost.
Once the absolute encoder battery has been replaced, clear the battery alarm. For details on
clearing the alarm, refer to Alarm Reset on page 6-25.
Note If the absolute encoder is cleared, or the absolute values are cleared using communications,
all error and rotation data will be lost and the absolute encoder must be set up again. For
details, refer to Absolute Encoder Setup on page 6-6.
8-23
8-5 Periodic Maintenance
Battery Mounting Procedure
1. Prepare the R88A-BAT01G replacement battery.
R88A-BAT01G
2. Remove the battery box cover.
8
Troubleshooting
Raise the hooks to remove the cover.
3. Put the battery into the battery box.
Insert the battery.
Attach the connector.
4. Close the cover to the battery box.
Make sure that the connector
wiring does not get caught when
closing the cover to the battery
box.
8-24
Chapter 9
Appendix
9-1 Parameter Tables............................................... 9-1
9-1 Parameter Tables
9-1 Parameter Tables
The attribute indicates when the changed setting for the parameter will be enabled.
A
Always enabled after change
B
Change prohibited during Servomotor operation and command issuance.
(It is not known when changes made during Servomotor operation and command issuance
will be enabled.)
C
Enabled when the control power supply is reset, or when a CONFIG command is executed
via the network (MECHATROLINK-II communications).
R
Read-only and cannot be changed.
Note 1. Parameters marked with "(RT)" are automatically set during realtime autotuning. To set
these parameters manually, disable realtime autotuning by setting the Realtime Autotuning
Mode Selection (Pn021) to 0 before changing the parameter.
Note 2. Parameter No. is the number for MECHATROLINK-II communications and CX-Drive.
The Parameter Unit shows only the last two digits.
Parameter numbers in the 100s specify 16-bit parameters, and numbers in the 200s specify
32-bit parameters.
Appendix
9
9-1
9-1 Parameter Tables
User parameters are set and checked on CX-Drive or the Parameter Unit (R88A-PR02G).
000
001
002
Parameter name Setting
Reserved
Explanation
Do not change.
Selects the data to be displayed on the 7-segment
LED display on the front panel.
Normal status ("--" Servo OFF, "00" Servo
0
ON)
1
Mechanical angle (0 to FF hex)
2
Electrical angle (0 to FF hex)
Default Display
Cumulative count for MECHATROLINK-II
3
communication errors (0 to FF hex)
Rotary switch setting (node address)
4
loaded at startup, in decimal
5 to
Reserved (Do not set.)
32767
Reserved
Do not change.
Default
Setting
Unit
Setting
Range
1
---
---
---
0
---
0 to 4
A
0
---
---
---
Set
value
9
Appendix
Pn
No.
Attribute
„ Parameter Tables
9-2
Pn
No.
Parameter name Setting
Explanation
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
1
---
1 to 5
B
Selects the torque limit function, or the torque feedforward function during speed control.
„ Torque Limit Selection
For torque control, always select Pn05E.
For position control and speed control, select the
torque limit as follows.
Use Pn05E as limit value for forward and
reverse operations.
Forward: Use Pn05E.
2
Reverse: Use Pn05F.
Switch limits by torque limit values and
input signals from the network.
Limit in forward direction:
PCL is OFF = Pn05E,
3
PCL is ON = Pn05F
Limit in reverse direction:
NCL is OFF = Pn05E,
NCL is ON = Pn05F
Forward: Use Pn05E as limit
Reverse: Use Pn05F as limit
Only in speed control, limits can be
switched by torque limit values from the
network as follows:
Limit in forward direction:
4
Use Pn05E or MECHATROLINK-II
command option command value 1,
whichever is smaller.
Limit in reverse direction:
Use Pn05F or MECHATROLINK-II
command option command value 2,
whichever is smaller.
Forward: Use Pn05E as limit
Reverse: Use Pn05F as limit
Only in speed control, torque limits can be
switched by torque limit values and input
signals from the network as follows.
Limit in forward direction:
PCL is OFF = Pn05E,
5
PCL is ON = Pn05E or MECHATROLINKII command option command value 1,
whichever is smaller.
Limit in reverse direction:
NCL is OFF = Pn05F,
NCL is ON = Pn05F or MECHATROLINKII command option command value 2,
whichever is smaller.
Note PCL ON: When either Forward Torque
Limit (CN1 PCL: pin 7) or
MECHATROLINK-II
Communications Option Field
(P-CL) is ON.
PCL OFF: When both Forward Torque Limit
(CN1 PCL: pin 7) and
MECHATROLINK-II
Communications Option Field
(P-CL) are OFF.
1
9
Appendix
003
Torque Limit
Selection
„ Torque Feed-forward Function Selection
1 to 3
4 to 5
9-3
Enabled only during speed control.
Disabled if not using speed control.
Always disabled
Set
value
Parameter name Setting
Explanation
Selects the function for the Forward and Reverse
Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin
20).
Decelerates and stops according to the
sequence set in the Stop Selection for
Drive Prohibition Input (Pn066) when both
Drive Prohibit
0
POT and NOT inputs are enabled.
004 Input Selection
When both POT and NOT inputs are
OPEN, the Drive Prohibit Input Error
(alarm code 38) will occur.
1
Both POT and NOT inputs disabled.
When either POT or NOT input becomes
2
OPEN, the Drive Prohibit Input Error
(alarm code 38) will occur.
Communications Controls errors and warnings for
005
Control
MECHATROLINK-II communications.
Sets the duration to display the node address when
the control power is turned ON.
Power ON
006 Address Display 0 to 6 600ms
Duration Setting
7 to
set value × 100 ms
1000
Selects the output to the Analog Speed Monitor (SP
on the front panel).
Forward rotation is always positive (+), and reverse
rotation is always negative (−).
0
Actual Servomotor speed: 47 r/min/6 V
1
Actual Servomotor speed: 188 r/min/6 V
2
Actual Servomotor speed: 750 r/min/6 V
Actual Servomotor speed: 3000 r/min/
3
6V
Actual Servomotor speed: 12000 r/min/
4
6V
Speed Monitor
5
Command speed: 47 r/min/6 V
007
(SP) Selection
6
Command speed: 188 r/min/6 V
7
Command speed: 750 r/min/6 V
8
Command speed: 3000 r/min/6 V
9
Command speed: 12000 r/min/6 V
Outputs the Issuance Completion Status
(DEN).
10
0 V: Issuing
5 V: Issuance complete
Outputs the Gain Selection Status.
11
0 V: Gain 2
5 V: Gain 1
Default
Setting
Unit
Setting
Range
0
---
0 to 2
C
0
---
0 to 3955 C
30
ms
0 to 1000 C
Set
value
9
3
---
0 to 11
A
---
9-4
Appendix
Pn
No.
Attribute
9-1 Parameter Tables
Pn
No.
008
009
00A
Appendix
9
00B
00C
00D
00E
00F
010
9-5
Parameter name Setting
Explanation
Selects the output to the Analog Torque Monitor (IM
on the front panel).
Forward rotation is always positive (+), and reverse
rotation is always negative (−).
0
Torque command: 100%/3 V
1
Position deviation: 31 pulses/3 V
2
Position deviation: 125 pulses/3 V
3
Position deviation: 500 pulses/3 V
4
Position deviation: 2000 pulses/3 V
Torque Monitor
5
Position deviation: 8000 pulses/3 V
(IM) Selection
6 to 10 Reserved
11
Torque command: 200%/3 V
12
Torque command: 400%/3 V
Outputs the Issuance Completion Status
(DEN).
13
0 V: Issuing
5 V: Issuance complete
Outputs the Gain Selection Status.
14
0 V: Gain 2
5 V: Gain 1
Reserved
Do not change.
Allows/prohibits parameter changes via the
network.
Allows parameter changes from the host
Prohibit
0
controller via the network.
Parameter
Prohibits parameter changes from the
Changes
host controller via the network.
via Network
1
Attempting to change a parameter via the
network when prohibited triggers the
Command Warning (warning code 95h).
Selects how the absolute encoder is used.
This parameter is disabled when using an incremental encoder.
Operation Switch
0
Use as an absolute encoder.
When Using
Use an absolute encoder as incremental
Absolute
1
encoder.
Encoder
Use as an absolute encoder, but ignore
2
absolute multi-turn counter overflow error
(alarm code 41).
Sets the baud rate for RS-232 communications.
0
2,400 bps
1
4,800 bps
RS-232 Baud
2
9,600 bps
Rate Setting
3
19,200 bps
4
38,400 bps
5
57,600 bps
Reserved
Do not change.
Reserved
Do not change.
Reserved
Position Loop
Gain (RT)
Do not change.
Sets the position loop responsiveness.
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
0
---
0 to 14
A
0
---
---
---
0
---
0 to 1
A
0
---
0 to 2
C
2
---
0 to 5
C
0
0
-----
-----
-----
0
---
400
--0 to
30000
---
×0.1
[1/s]
B
Set
value
Parameter name Setting
Explanation
Sets the speed loop responsiveness.
Speed Loop Gain If the Inertia Ratio (Pn020) is set correctly, this
011
parameter is set to the Servomotor response
(RT)
frequency.
012
013
014
015
016
017
018
019
01A
01B
01C
01D
Adjusts the speed loop integration time constant.
Speed Loop
Set 9999 to stop integration operation while
Integration Time
retaining the integration value. A Setting of 10000
Constant (RT)
disables integration.
Speed
Feedback Filter Sets the type of speed detection filter time constant.
Time Constant Normally, use a setting of 0.
(RT)
Torque
Adjusts the first-order lag filter time constant for the
Command
torque command section.
Filter Time
The torque filter setting may reduce machine
Constant (RT) vibration.
Speed Feed- Sets the speed feed-forward amount.
forward Amount This parameter is particularly useful when fast re(RT)
sponse is required.
Feed-forward
Sets the time constant for the speed feed-forward
Filter Time
first-order lag filter.
Constant (RT)
Reserved
Do not change.
Position Loop Sets the position loop gain when using gain 2
Gain 2 (RT)
switching.
Speed Loop
Sets the speed loop gain when using gain 2 switchGain 2 (RT)
ing.
Sets the speed loop integration time constant when
using gain 2 switching.
Speed Loop
Same function as Pn012.
Integration Time
Set 9999 to stop integration operation while
Constant 2 (RT)
retaining the integration value. Setting 10000
disables integration.
Sets the speed detection filter when using gain 2
Speed
switching.
Feedback Filter
Normally, use a setting of 0.
Time Constant 2
When Instantaneous Speed Observer Setting
(RT)
(Pn027) is enabled, this parameter will be disabled.
Torque
Sets the first-order lag filter time constant for the
Command Filter
torque command section when using gain 2
Time Constant 2
switching.
(RT)
Sets the notch frequency of notch filter 1 for
resonance suppression.
Notch Filter 1
100 to
Filter enabled
Frequency
1499
1500
Notch Filter 1
Width
Unit
Setting
Range
1 to
30000
B
500
×0.1
200
×0.1
ms
1 to
10000
B
0
---
0 to 5
B
80
×0.01
300
×0.1
100
×0.01
0
Hz
ms
%
ms
0 to 2500 B
0 to 1000 B
0 to 6400 B
--×0.1
[1/s]
×0.1
Hz
--0 to
30000
1 to
30000
500
×0.1
ms
1 to
10000
B
0
---
0 to 5
B
100
×0.01
1500
Hz
100 to
1500
B
2
---
0 to 4
B
0
---
---
300
%
--0 to
10000
200
800
ms
Set
value
--B
B
9
0 to 2500 B
Filter disabled
Selects the notch width of notch filter 1 for
resonance suppression.
Normally, use a setting of 2.
01F
Reserved
Do not change.
Selects the load inertia as a percentage of the
020 Inertia Ratio (RT)
Servomotor rotor inertia.
01E
Default
Setting
Appendix
Pn
No.
Attribute
9-1 Parameter Tables
B
9-6
Pn
No.
021
022
023
Appendix
9
024
9-7
Parameter name Setting
Explanation
Sets the operating mode for realtime autotuning.
Realtime
Degree of change
Autotuning
in load inertia
0
Disabled
--1
Almost no change
Horizontal axis
Realtime
2
Gradual changes
mode
Autotuning Mode
3
Sudden changes
Selection
4
Almost no change
Vertical axis
5
Gradual changes
mode
6
Sudden changes
Gain switching
7
Almost no change
disable mode
Realtime
Autotuning
Sets the machine rigidity for realtime autotuning.
Machine Rigidity Cannot be set to 0 when using the Parameter Unit.
Selection
Enables or disables the adaptive filter.
0
Adaptive filter disabled.
Adaptive filter enabled. Adaptive
Adaptive Filter
1
operation performed.
Selection
Adaptive filter enabled. Adaptive
2
operation will not be performed
(i.e. retained).
Selects the vibration filter type and the switching
mode.
„ Filter type selection
ΠNormal type:
Vibration frequency setting range:
10.0 to 200.0 Hz
ΠLow-pass type:
Vibration frequency setting range:
1.0 to 200.0 Hz
„ Switching mode selection
ΠNo switching: Both 1 and 2 are enabled
ΠSwitching with command direction:
Selects Vibration Frequency 1 in forward
Vibration Filter
Selection
direction (Pn02B, Pn02C)
Selects Vibration Frequency 2 in reverse
direction (Pn02D, Pn02E)
Filter Type
Switching mode
0
No switching
1
Normal type
Switching with com2
mand direction
3
No switching
4
Low-pass type
Switching with com5
mand direction
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
0
---
0 to 7
B
2
---
0 to F
B
0
---
0 to 2
B
0
---
0 to 5
C
Set
value
Parameter name Setting
Explanation
Sets the operating pattern for normal mode
autotuning.
Number of
Rotation direction
rotations
Forward and Reverse
0
(Alternating)
Repeat cycles of Reverse and Forward
1
Normal Mode
(Alternating)
2 rotations
Autotuning
025
2
Forward only
Operation Setting
3
Reverse only
Forward and Reverse
4
(Alternating)
Repeat cycles of Reverse and Forward
5
single
(Alternating)
rotation
6
Forward only
7
Reverse only
Sets the Servomotor’s allowable operating range
Overrun Limit
026
for the position command input range.
Setting
Set to 0 to disable overrun protective function.
The Instantaneous Speed Observer improves
speed detection accuracy, thereby improving
Instantaneous responsiveness and reducing vibration when
027 Speed Observer stopping.
Setting (RT)
0
Disabled
1
Enabled
Sets the notch frequency of notch filter 2 for
Notch Filter 2 resonance suppression.
028
Frequency
This parameter must be matched with the
resonance frequency of the load.
Selects the notch width of notch filter 2 for
Notch Filter 2
resonance suppression.
029
Width
Increasing the value increases the notch width.
Selects the notch depth of notch filter 2 for
Notch Filter 2 resonance suppression.
02A
Depth
Increasing the value decreases the notch depth,
thereby reducing the phase lag.
Sets the vibration frequency 1 for damping control
Vibration
02B
to suppress vibration at the end of the load.
Frequency 1
Measure and set the frequency of the vibration.
When setting Vibration Frequency 1 (Pn02B),
Vibration Filter 1 reduce this setting if torque saturation occurs,
02C
Setting
or increase it to make the movement faster.
Normally, use a setting of 0.
Vibration
Sets the vibration frequency 2 for damping control
02D
Frequency 2
to suppress vibration at the end of the load.
Vibration Filter 2 Sets vibration filter 2 for damping control to
02E
Setting
suppress vibration at the end of the load.
Displays the table entry number corresponding to
the frequency of the adaptive filter.
This parameter is set automatically when the
adaptive filter is enabled (i.e. when the Adaptive
Adaptive Filter
Filter Selection (Pn023) is set to a value other than
02F
Table Number
0), and cannot be changed.
Display
0 to 4 Filter disabled
Default
Setting
Unit
Setting
Range
0
---
0 to 7
B
10
×0.1
rota- 0 to 1000 A
tion
0
---
0 to 1
B
1500
Hz
100 to
1500
B
2
---
0 to 4
B
0
---
0 to 99
B
0
×0.1
0
×0.1
0
×0.1
0
0
Set
value
Hz
Hz
Hz
×0.1
Hz
---
9
Appendix
Pn
No.
Attribute
9-1 Parameter Tables
0 to 2000 B
−200 to
2000
B
0 to 2000 B
−200 to
2000
B
0 to 64
R
5 to 48 Filter enabled
49 to 64 Enable or disable the filter with Pn022
9-8
Pn
No.
030
031
032
Appendix
9
033
034
035
036
037
038
039
03A
03B
03C
03D
03E
03F
9-9
Parameter name Setting
Explanation
Enables or disables gain switching.
When enabled, the setting of the Gain Switch
Setting (Pn031) is used as the condition for
switching between gain 1 and gain 2.
Gain Switching
Disabled. Uses Gain 1 (Pn010 to Pn014).
Operating Mode
0
PI/P operation is switched from
Selection (RT)
MECHATROLINK-II.
The gain is switched between Gain 1
1
(Pn010 to Pn014) and Gain 2 (Pn018 to
Pn01C).
Sets the trigger for gain switching.
The details depend on the control mode.
0
Always Gain 1
1
Always Gain 2
2
Switching from the network
Degree of change in torque command
Always Gain 1
Speed command
Amount of position deviation
Position command pulses received
Positioning Completed Signal (INP) OFF
Actual Servomotor speed
Combination of position command pulses
10
received and speed
Enabled when the Gain Switch Setting (Pn031) is
Gain Switch Time set to 3, or 5 to 10. Sets the lag time from the trigger
(RT)
detection to actual gain switching when switching
from gain 2 to gain 1.
Sets the judgment level to switch between Gain 1
and Gain 2 when the Gain Switch Setting (Pn031)
Gain Switch
Level Setting is set to 3, 5, 6, 9, or 10. The unit for the setting
(RT)
depends on the condition set in the Gain Switch
Setting (Pn031).
Sets the hysteresis of the judgment level for the
Gain Switch
Gain Switch Level Setting (Pn033) when the Gain
Hysteresis
Switch Setting (Pn031) is set to 3, 5, 6, 9, or 10.
Setting (RT)
The unit for the setting depends on the condition set
for the Gain Switch Setting (Pn031).
This parameter can prevent the position loop gain
from increasing suddenly when the position loop
Position Loop
gain and position loop gain 2 differ by a large
Gain Switching
amount.
Time (RT)
When the position loop gain increases, it takes the
duration of (set value + 1) × 166 µs.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Sets the jog operation speed with the Parameter
Jog Speed
Unit or CX-Drive.
Reserved
Do not change.
Reserved
Do not change.
Gain Switch
Setting (RT)
3
4
5
6
7
8
9
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
1
---
0 to 1
B
2
---
0 to 10
B
30
×166
µs
0 to
10000
B
600
---
0 to
20000
B
50
---
0 to
20000
B
20
×166
µs
0 to
10000
B
0
0
0
0
0
0
0
---------------
---------------
---------------
200
r/min
0 to 500
---
0
0
-----
-----
-----
Set
value
040
041
042
043
044
045
046
047
048
049
04A
04B
Parameter name Setting
Reserved
Do not change.
Emergency Stop Enables the Emergency Stop Input (STOP).
Input
0
Disabled
Setting
1
Enabled (alarm code 87 issued on OPEN)
Sets the logic for the Origin Proximity Input (DEC).
Origin Proximity
N.C contact (origin proximity detected on
0
Input Logic
OPEN)
Setting
N.O contact (origin proximity detected on
1
CLOSE)
Sets the relationship between polarity of operation
data sent over the network and the direction of
Servomotor rotation.
Operating
Sets the reverse direction as the positive
Direction Setting
0
direction (+).
Sets the forward direction as the positive
1
direction (+).
Sets the terminal assignment for Drive Prohibit
Input.
Input Signal
Sets CN1 pin 19 to POT, CN1 pin 20 to
0
Selection
NOT.
Sets CN1 pin 19 to NOT, CN1 pin 20 to
1
POT.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
04C
04D
04E
04F
050
051
052
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
053
Speed Limit
054
055
056
057
Reserved
Reserved
Reserved
Reserved
Soft Start
Acceleration
Time
Soft Start
Deceleration
Time
Reserved
058
059
05A
Explanation
Do not change.
Do not change.
Do not change.
Do not change.
Do not change.
Do not change.
Do not change.
Sets the speed limit for torque control mode.
(The value is an absolute value)
This parameter is limited by the Overspeed
Detection Level Setting (Pn073).
Do not change.
Do not change.
Do not change.
Do not change.
Sets the acceleration time for speed control mode.
Acceleration time [s] from 0 r/min to maximum
speed [r/min] = Set value × 2 ms
Sets the deceleration time for speed control mode.
Deceleration time [s] from maximum speed [r/min]
to 0 r/min = Set value × 2 ms
Do not change.
Default
Setting
Unit
Setting
Range
0
---
---
---
1
---
0 to 1
C
1
---
0 to 1
C
1
---
0 to 1
C
0
---
0 to 1
C
0
0
0
0
0
0
0
---------------
---------------
---------------
0
0
0
0
0
0
0
---------------
---------------
---------------
50
r/min
0
0
0
0
---------
---------
---------
×2 ms 0 to 5000 B
0
×2 ms 0 to 5000 B
---
9
−20000 to
B
20000
0
0
Set
value
Appendix
Pn
No.
Attribute
9-1 Parameter Tables
---
---
9-10
Pn
No.
05B
05C
05D
05E
05F
060
061
062
063
9
Appendix
064
065
9-11
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
0
---
0 to 1
B
0
0
-----
-----
-----
300
%
0 to 500
B
100
%
0 to 500
B
Sets the positioning completion range when
Positioning Completion 1 (INP1) Output is selected.
25
Command
units
0 to
10000
A
Sets the detection width for the speed conformity
detection (VCMP) signal.
20
r/min
10 to
20000
A
Sets the threshold level for the speed reached
(TGON) signal.
50
r/min
10 to
20000
A
Sets the positioning completion range when
Positioning Completion 2 (INP2) is selected.
100
Command
units
0 to
10000
A
0
---
0 to 1
A
1
---
0 to 1
B
Parameter name Setting
Speed Limit
Selection
Reserved
Reserved
No.1 Torque
Limit
No.2 Torque
Limit
Positioning
Completion
Range 1
Speed
Conformity
Signal Output
Width
Rotation Speed
for Motor
Rotation
Detection
Positioning
Completion
Range 2
Explanation
Sets the speed limit for torque control mode.
0
Use the Speed Limit (Pn053)
Use the speed limit value via
1
MECHATROLINK-II or the Speed Limit
(Pn053), whichever is smaller.
Do not change.
Do not change.
Sets the No.1 Torque Limit for the Servomotor
output torque.
Sets the No.2 Torque Limit for the Servomotor
output torque.
Enables or disables the offset component readjustment function of the Motor Phase Current Detector
Motor Phase (CT) for Servo ON command inputs. The readjustCurrent Offset ment is made when control power is turned ON.
Disabled (only when turning ON control
Re-adjustment
0
power)
Setting
Enabled (when turning ON control power,
1
or at Servo ON)
Selects whether to activate the main power supply
undervoltage function (alarm code 13) when the
main power supply is interrupted for the duration of
the Momentary Hold Time (Pn06D) during Servo
ON.
Turns the Servo OFF according to the
setting for the Stop Selection with Main
Power OFF (Pn067), interrupting the
Undervoltage
positioning command generation process
Alarm Selection
(positioning operation) within the Servo
0
Drive.
When the main power supply is turned
back ON, Servo ON will resume. Restart
the positioning operation after performing
the positioning operation and recovering
from Servo OFF.
Causes an error due to main power supply
1
undervoltage (alarm code 13).
Set
value
Parameter name Setting
066
Stop Selection for
Drive Prohibition
Input
067
Stop Selection
with Main Power
OFF
068
Stop Selection for
Alarm
Generation
069
Stop Selection
with Servo OFF
06A
Brake Timing
when Stopped
Explanation
Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input (POT)
or Reverse Drive Prohibit Input (NOT) is enabled.
After
During de- stopping
Deviation
celeration (30 r/min
counter
or less)
Disables
Cleared while
torque in decelerating with
Dynamic
0
drive
dynamic brake.
brake
prohibited Retained after
direction
stopping.
Disables
Cleared while
torque in
Disables
decelerating.
1
drive
torque
Retained after
prohibited
stopping.
direction
Retained while
decelerating,
Emergencleared upon
cy Stop
Servo
2
completion of
Torque
locked
deceleration, and
(Pn06E)
retained after
stopping.
Sets the operation to be performed during deceleration and after stopping after the main power supply
is turned OFF with the Undervoltage Alarm Selection (Pn065) set to 0. The deviation counter will be
reset when the power OFF is detected.
Use dynamic brake to decelerate and
0 and 4
remain stopped with dynamic brake.
Use free-run to decelerate and
1 and 5
remain stopped with dynamic brake.
Use dynamic brake to decelerate, but free
2 and 6
the motor when stopped.
Use free-run to decelerate, and free the
3 and 7
motor when stopped.
Sets the deceleration process and stop status after
an alarm is issued by the protective function. The
deviation counter will be reset when an alarm is
issued.
Use dynamic brake to decelerate and
0
remain stopped with dynamic brake.
Use free-run to decelerate and remain
1
stopped with dynamic brake.
Use dynamic brake to decelerate, but free
2
the motor when stopped.
Use free-run to decelerate, and free the
3
motor when stopped.
Sets the operation after a Servo OFF.
The relationship between set values, operation,
and deviation counter processing for this parameter
is the same as for the Stop Selection with Main
Power OFF (Pn067).
Sets the duration from Brake Interlock (BKIR) signal detection to Servo OFF.
Default
Setting
Unit
Setting
Range
0
---
0 to 2
C
Set
value
9
0
---
0 to 7
B
0
---
0 to 3
B
0
---
0 to 7
B
Appendix
Pn
No.
Attribute
9-1 Parameter Tables
10
2 ms 0 to 1000 B
9-12
Pn
No.
06B
06C
06D
Appendix
9
06E
06F
070
071
072
073
074
075
076
077
078
079
07A
07B
07C
9-13
Parameter name Setting
Explanation
Sets the duration from Servo OFF to when the
Brake Interlock (BKIR) signal is turned OFF.
BKIR is also turned OFF when the speed drops to
30 r/min or less before the set time elapses.
Sets the regeneration resistor operation and the
regeneration overload (alarm code 18) operation.
Set this parameter to 0 if using the built-in
regeneration resistor.
If using an external regeneration resistor, be sure to
turn OFF the main power when the built-in thermal
switch is activated.
Sets the regeneration overload to match
0
the built-in regeneration resistor. (regeneration load ratio below 1%)
Regeneration
Resistor
The regeneration overload (alarm code
Selection
18) occurs when the load ratio of the
1
external regeneration resistor exceeds
10%.
The regeneration processing circuit by the
external regeneration resistor is activated,
2
but the regeneration overload (alarm code
18) does not occur.
The regeneration processing circuit is not
3
activated. All regenerative energy is
absorbed by the built-in capacitor.
Sets the amount of time required to detect shutoff
Momentary Hold when the main power supply continues to shut off.
Time
The main power OFF detection will be disabled if
this parameter is set to 1000.
Sets the torque limit during deceleration because of
the Drive Prohibition Input when the Stop Selection
for Drive Prohibition Input (Pn066) is set to 2.
Emergency Stop
When this parameter is set to 0, the normal torque
Torque
limit will be set.
The maximum value of the setting range depends
on the Servomotor.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Sets the overload detection level.
Overload
The overload detection level will be set at 115% if
Detection
this parameter is set to 0.
Level Setting Normally, use a setting of 0, and set the level only
when reducing the overload detection level.
Sets the overspeed detection level.
Overspeed
The overspeed detection level is 1.2 times the
Detection
maximum Servomotor rotation speed when the
Level Setting
parameter is set to 0.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Reserved
Do not change.
Brake Timing
during
Operation
Default
Setting
50
Unit
Setting
Range
2 ms 0 to 1000
Attribute
9-1 Parameter Tables
B
0
---
0 to 3
C
35
2 ms
35 to
1000
C
0
%
0 to 300
B
0
0
0
-------
-------
-------
0
%
0 to 500
A
0
r/min
0 to
20000
A
0
0
0
0
0
0
0
0
0
-------------------
-------------------
-------------------
Set
value
07D
07E
07F
Parameter name Setting
Reserved
Reserved
Reserved
Do not change.
Do not change.
Do not change.
Explanation
Default
Setting
Unit
Setting
Range
0
0
0
-------
-------
-------
Set
value
9
Appendix
Pn
No.
Attribute
9-1 Parameter Tables
9-14
9-1 Parameter Tables
Pn
SetParameter name
No.
ting
Explanation
Default
Setting
Unit
Setting
Range
Attribute
„ 16-bit Positioning Parameters: Parameter Numbers 100 to 13F
0
---
0 to 2
C
Enables or disables the backlash compensation
for position control, and sets the compensation
direction.
100
Backlash
Compensation
Selection
0
Disabled
1
Compensates in the initial forward
direction after the Servo ON.
2
Compensates in the initial forward
direction after the Servo ON.
101
Backlash
Compensation
Sets the backlash compensation amount for
position control.
0
Command
units
−32768 to
32767
B
102
Backlash
Compensation
Time Constant
Sets the backlash compensation time constant
for position control.
0
0.01
ms
0 to 6400
B
103
Reserved
Do not change.
0
---
---
---
0
---
0 to 3
A
Sets the threshold for detecting the origin
(ZPOINT) in absolute values.
ZPOINT = 1 when the return to origin completes
(coordinate system setup is complete) and the
feedback position is within the setting range of
this parameter.
10
Command
units
0 to 250
A
Do not change.
0
---
---
---
−32768 to
32767
B
Enables or disables the soft limit.
104
Enable both the Forward / Reverse
Software Limits (Pn201 and Pn202)
1
Disable the Forward Software Limit
(Pn201),
enable the Reverse Software Limit
(Pn202)
Soft Limit
Appendix
9
0
105
Origin Range
106
Reserved
2
Enable the Forward Software Limit
(Pn201),
disable the Reverse Software Limit
(Pn202)
3
Disable both the Forward / Reverse Software Limits (Pn201 and Pn202)
Sets the acceleration for positioning operations.
A setting of "0" is regarded as "1".
The setting will be handled after conversion to
an unsigned 16-bit data (0 to 65535).
Example: −32768 → 8000h = 32768
−1 → FFFFh = 65535
×
1000
0
[Command
units/
s2]
107
Linear
Acceleration
Constant
108
Reserved
Do not change.
0
---
---
---
109
Reserved
Do not change.
0
---
---
---
9-15
100
Set
value
Pn
SetParameter name
No.
ting
Explanation
Sets the deceleration for positioning operations.
A setting of "0" is regarded as "1".
The setting will be handled after conversion to
an unsigned 16-bit data (0 to 65535).
Example: −32768 → 8000h = 32768
−1 → FFFFh = 65535
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
−32768 to
32767
B
Set
value
×
1000
0
[Command
units/
s2 ]
10A
Linear
Deceleration
Constant
10B
Reserved
Do not change.
0
---
---
---
10C
Reserved
Do not change.
0
---
---
---
10D
Reserved
Do not change.
0
---
---
---
10E
Moving
Average Time
Sets the moving average time for position
commands.
0
×0.1
0 to 5100
B
10F
Origin Return
Mode Settings
0
---
0 to 1
B
50
×100
[Command
units/
s]
1 to 32767
B
5
×100
[Command
units/
s]
1 to 32767
B
100
ms
Sets the direction for origin return.
Positive direction
1
Negative direction
Sets the operating speed for origin return, from
Origin Return
when the origin proximity signal is turned ON, to
110 Approach Speed
when it is turned OFF and the latch signal is
1
detected.
Origin Return Sets the operating speed for origin return, from
111 Approach Speed when the latch signal is detected, to when the
2
Origin Return Final Distance (Pn204) is reached.
9
Appendix
0
9-16
Pn
SetParameter name
No.
ting
Explanation
Default
Setting
Unit
Setting
Range
Attribute
9-1 Parameter Tables
7
---
0 to 9
C
Selects the function for general-purpose output
1 (OUTM1).
112
Generalpurpose Output
1 Function
Selection
0
Always OFF
1
INP1 output.
Turn ON when position deviation is equal
to or less than Pn060 for position control.
2
VCMP output.
Turn ON when the deviation between
Servomotor speed and commanded
speed is within the range set by Pn061 for
speed control.
3
TGON output.
Turn ON when the absolute value of the
Servomotor speed exceeds Pn062 settings in all control modes.
4
READY output.
Turn ON when the main power is supplied,
there is no alarm, and Servo SYNC with a
host controller is established in all control
modes.
5
CLIM output.
Turn ON when torque limit is activated in
all control modes.
6
VLIM output.
Turn ON when the Servomotor speed
reaches the speed limit for torque control.
7
BKIR output.
Turn ON with the release timing of the
brake release signal in all control modes.
8
WARN output.
Turn ON when a warning is issued in all
control modes.
9
INP2 output.
Turn ON when the position deviation is
equal to or less than the Positioning
Completion Range 2 (Pn063) for position
control.
Appendix
9
113
Generalpurpose Output
2 Function
Selection
Selects the function for general-purpose output
2 (OUTM2).
The set values and the functions are the same
as for general-purpose output 1 (OUTM1).
0
---
0 to 9
C
114
Generalpurpose Output
3 Function
Selection
Selects the function for general-purpose output
3 (OUTM3).
The set values and the functions are the same
as for general-purpose output 1 (OUTM1).
0
---
0 to 9
C
115
to
13F
Reserved
Do not change.
0
---
---
---
9-17
Set
value
9-1 Parameter Tables
Pn
SetParameter name
No.
ting
Default
Setting
Description
Unit
Setting Range
Attribute
„ 32-bit Positioning Parameters: Parameter Numbers 200 to 21F
0
Com- −1073741823
mand
to
C
units 1073741823
500000
Com- −1073741823
mand
to
A
units 1073741823
200
Sets the offset amount for the encoder posiAbsolute Origin tion and the mechanical coordinate system
Offset
position when using an absolute encoder.
201
Forward
Software Limit
Sets the soft limit in the forward direction.
If the Servomotor exceeds the limit, the
network response status (PSOT) will turn ON
(=1).
Note 1. Be sure to set the limits so that
Forward Software Limit > Reverse
Software Limit.
Note 2. PSOT is not turned ON when origin
return is incomplete.
Reverse
Software Limit
Sets the soft limit for the reverse direction.
If the Servomotor exceeds the limit, the
network response status (NSOT) will turn ON
Com- −1073741823
(=1).
Note 1. Be sure to set the limits so that
−500000 mand
to
A
Forward Software Limit > Reverse
units 1073741823
Software Limit.
Note 2. NSOT is not turned ON when origin
return is incomplete.
202
Set value
Sets the distance to travel after detecting the
latch signal input position when performing
external input positioning.
The operation after detecting the latch signal
input position will be determined by the
external input positioning direction and this
parameter as follows.
Final Distance for
203 External Input
Positioning
Appendix
External
input
positioning
direction
9
Sign
Positive
Negative
Decelerates to a
stop, reverses,
Moves in the
then moves in
Positive
positive directhe negative
direction
tion and stops *1
direction and
stops
Decelerates to a
stop, reverses,
Negative then moves in
direction the positive
direction and
stops
100
Com- −1073741823
mand
to
B
units 1073741823
Moves in the
negative
direction and
stops *1
*1. Reverses after decelerating to a stop if
the final distance for external input
positioning is short in comparison to the
deceleration distance.
9-18
Pn
SetParameter name
No.
ting
Default
Setting
Description
Unit
Setting Range
Attribute
9-1 Parameter Tables
Sets the distance from the latch signal input
position to the origin when performing origin
return.
The operation after detecting the latch signal
input position will be determined by the origin
return direction and this parameter as follows.
Origin
return
direction
204
Origin Return
Final Distance
Sign
Positive
Negative
Moves in the
Positive positive
direction direction and
stops *1
Decelerates to a
stop, reverses,
then moves in
the negative
direction and
stops
Moves in the
Negative negative
direction direction and
stops *1
Decelerates to a
stop, reverses,
then moves in
the positive
direction and
stops
100
Com- −1073741823
mand
to
B
units 1073741823
*1. Reverses after decelerating to a stop if
the final distance for origin return is short
in comparison to the deceleration
distance.
205
Sets the numerator for the electronic gear ratio.
Setting this parameter to 0 automatically sets
the encoder resolution as the numerator.
Electronic Gear (131072 for a 17-bit absolute encoder, or
Ratio 1
10000 for a 2,500-p/r incremental encoder).
(Numerator)
Note Set the electronic gear ratio within the
range of 1/100 to 100 times. A
parameter setting alarm (alarm code
93) will occur if the ratio is set outside
of this range.
1
---
0 to 131072
C
206
Sets the denominator for the electronic gear
ratio.
Electronic Gear Note Set the electronic gear ratio within the
Ratio 2
range of 1/100 to 100 times. A
(Denominator)
parameter setting alarm (alarm code
93) will occur if the ratio is set outside
of this range.
1
---
1 to 65535
C
Appendix
9
207
Reserved
Do not change.
0
---
---
---
208
Reserved
Do not change.
0
---
---
---
20000
Command
units
0 to
2147483647
A
---
---
---
---
209
Deviation
Counter
Overflow Level
20A
to
21F
Reserved
9-19
Sets the deviation counter overflow level.
The value will become saturated at
134217728 (= 227) pulse after multiplying with
the electronic gear ratio.
Setting this parameter to 0 will disable
deviation counter overflow.
Do not change.
Set value
Index
Numerics
Copy Mode .............................................................. 6-28
D
1,000-r/min Servomotors .................................. 2-4, 3-28
12 to 24-VDC Power Supply Input (+24VIN) ........... 3-11
16-bit Positioning Parameters ........................ 5-81, 9-15
2,000-r/min Servomotors .................................. 2-3, 3-26
3,000-r/min Flat Servomotors ........................... 2-3, 3-24
3,000-r/min Servomotors .................................. 2-2, 3-18
32-bit Positioning Parameters ........................ 5-84, 9-18
A
Absolute Encoder Battery Cable .................... 3-48, 2-20
Absolute Encoders .................................................. 3-31
Absolute Origin Position Offset (Pn200).................. 5-84
AC Reactors ............................................................ 4-40
Adaptive Filter.......................................................... 5-45
Adaptive Filter Selection (Pn023) ................... 5-69, 5-92
Adaptive Filter Table Number Display (Pn02F)
........................................................................ 5-72, 5-93
Address Display Time at Power Up (Pn006) ........... 5-65
Alarm Output (/ALM)....................................... 3-12, 5-25
Alarm Reset............................................................. 6-25
alarms table ............................................................... 8-4
allowable current ..................................................... 4-24
applicable standards................................................ 1-10
B
Backlash Compensation.......................................... 5-27
Backlash Compensation (Pn101) ............................ 5-81
Backlash Compensation Selection (Pn100) ............ 5-81
Backlash Compensation Time Constant (Pn102).... 5-81
Backup Battery Input (BAT)..................................... 3-11
Brake Cables (Robot Cables)......................... 2-20, 3-66
Brake Cables (Standard Cables).................... 2-17, 3-64
Brake Interlock......................................................... 5-11
Brake Timing during Operation (Pn06B) ................. 5-78
Brake Timing When Stopped (Pn06A) .................... 5-78
C
Check Pins ................................................................ 1-4
Clamp Cores............................................................ 4-36
Communications Cables................................. 2-20, 3-69
Communications Control (Pn005) .................. 5-65, 5-88
Computer Monitor Cable ................................ 3-69, 4-14
Connecting cables ................................................... 4-11
connector specifications .......................................... 3-42
Connector Terminal Block Cables .................. 2-21, 3-75
Connector Terminal Blocks ..................................... 2-21
Connectors .............................................................. 2-21
Connector-Terminal Block Conversion Unit ............ 3-76
Connector-Terminal Blocks and Cables .................. 4-15
Contactors ............................................................... 4-38
Control Cables................................................ 2-21, 3-42
Control I/O connector specifications........................ 3-10
Control I/O Connector..................................... 3-70, 4-14
Control Input Circuits ............................................... 3-14
Control input signals ................................................ 3-11
Control inputs .......................................................... 3-14
Control Output Circuits ............................................ 3-14
Control Outputs ....................................................... 3-14
Control Sequence Timing ........................................ 3-15
Index-1
Damping Control...................................................... 5-50
Decelerator dimensions........................................... 2-47
Decelerator installation conditions............................. 4-7
Decelerator specifications ....................................... 3-32
Decelerators .............................................................. 2-7
Decelerators for 1,000-r/min Servomotors
(Backlash = 3’ Max.)....................................... 2-53, 3-37
Decelerators for 2,000-r/min Servomotors
(Backlash = 3’ Max.)....................................... 2-51, 3-35
Decelerators for 3,000-r/min Flat Servomotors
(Backlash = 15’ Max.)..................................... 2-59, 3-41
Decelerators for 3,000-r/min Flat Servomotors
(Backlash = 3’ Max.)....................................... 2-55, 3-38
Decelerators for 3,000-r/min Servomotors
(Backlash = 15’ Max.)..................................... 2-57, 3-39
Decelerators for 3,000-r/min Servomotors
(Backlash = 3’ Max.)....................................... 2-47, 3-32
Default Display (Pn001)........................................... 5-62
Deviation Counter Overflow Level (Pn209) ............. 5-85
disabling adaptive filter ............................................ 5-47
Drive Prohibit Input Selection (Pn004) ........... 5-64, 5-88
Dynamic brake................................................ 5-95, 5-96
E
EC Directives........................................................... 1-10
Electronic Gear........................................................ 5-21
Electronic Gear Ratio 1 (Numerator) (Pn205) ......... 5-85
Electronic Gear Ratio 2 (Denominator) (Pn206)...... 5-85
Electronic Thermal Function.................................... 8-20
Emergency Stop Input (STOP)....................... 3-11, 5-23
Emergency Stop Input Setting (Pn041) ................... 5-73
Emergency Stop Torque (Pn06E) ........................... 5-79
Encoder cable.......................................................... 3-42
Encoder cable noise resistance............................... 4-39
Encoder Cables (Robot Cables)............ 2-18, 3-45, 4-13
Encoder Cables (Standard Cables)....... 2-14, 3-42, 4-12
Encoder connector specifications (CN2) ................. 3-16
Encoder connectors................................................. 3-70
Encoder Dividing ..................................................... 5-10
Encoder specifications............................................. 3-31
Error Diagnosis Using the Displayed Alarm Codes
................................................................................... 8-7
Error Diagnosis Using the Displayed Warning Codes
................................................................................. 8-14
Error Diagnosis Using the Operating Status............ 8-15
Error Processing........................................................ 8-1
External dimensions ................................................ 2-23
External General-purpose Input 0 (IN0) ......... 3-11, 5-23
External General-purpose Input 1 (IN1) ......... 3-11, 5-23
External General-purpose Input 2 (IN2) ......... 3-11, 5-23
External latch signal 1 (EXT1) ........................ 3-11, 5-23
External latch signal 2 (EXT2) ........................ 3-11, 5-23
External latch signal 3 (EXT3) ........................ 3-11, 5-23
External Regeneration Resistor dimensions ........... 2-61
External Regeneration Resistor specifications ........ 3-81
External Regeneration Resistors............................. 2-21
Index
F
Feed-forward Filter Time Constant (Pn016) ............ 5-68
Final Distance for External Input Positioning (Pn203)
................................................................................. 5-84
Forward Drive Prohibit............................................. 5-10
Forward Drive Prohibit Input (POT) ................ 3-11, 5-23
Forward Software Limit (Pn201).............................. 5-84
Forward Torque Limit Input (PCL) .................. 3-11, 5-23
G
gain adjustment ......................................................... 7-1
Gain Switch Hysteresis Setting (Pn034).................. 5-73
Gain Switch Level Setting (Pn033).......................... 5-72
Gain Switch Setting (Pn031) ................................... 5-72
Gain Switch Time (Pn032)....................................... 5-72
Gain Switching......................................................... 5-31
Gain Switching Operating Mode Selection (Pn030)
................................................................................. 5-72
General-purpose Output 1 (OUTM1).............. 3-12, 5-25
General-purpose Output 1 Function Selection (Pn112)
................................................................................. 5-83
General-purpose Output 2 (OUTM2).............. 3-12, 5-25
General-purpose Output 2 Function Selection (Pn113)
................................................................................. 5-83
General-purpose Output 3 (OUTM3).............. 3-12, 5-25
General-purpose Output 3 Function Selection (Pn114)
................................................................................. 5-83
H
harmonic current countermeasures......................... 4-40
I
Incremental Encoders..............................................
Inertia Ratio (Pn020) ...............................................
Input Signal Selection (Pn044) ................................
Instantaneous Speed Observer...............................
Instantaneous Speed Observer Setting (Pn027).....
3-31
5-68
5-74
5-48
5-71
J
Jog Operation .......................................................... 6-27
Jog Speed (Pn03D) ................................................. 5-73
L
Leakage Breakers ................................................... 4-32
Linear Acceleration Constant (Pn107)..................... 5-82
Linear Deceleration Constant (Pn10A).................... 5-82
M
Main Circuit Connector Specifications (CNA)
.......................................................................... 3-7, 4-20
Main Circuit Terminal Block Specifications
.......................................................... 3-8, 3-9, 4-21, 4-22
Manual Tuning......................................................... 7-14
MECHATROLINK-II Communications Cable
........................................................................ 2-20, 3-73
mode setup................................................................ 6-9
Momentary Hold Time (Pn06D)............................... 5-79
Monitor Mode........................................................... 6-10
Motor Phase Current Offset Re-adjustment Setting
(Pn064).................................................................... 5-75
Mounting Brackets (L brackets for rack mounting)
.................................................................................
mounting hole dimensions.......................................
Moving Average Time..............................................
Moving Average Time (Pn10E) ...............................
2-22
2-23
5-20
5-82
N
no-fuse breakers...................................................... 4-31
Noise filter..................................... 4-34, 4-35, 4-36, 4-42
noise filters for brake power supply ......................... 4-35
noise filters for Servomotor output........................... 4-42
noise filters for the power supply input .................... 4-34
Normal Mode Autotuning.................................. 6-24, 7-9
Normal Mode Autotuning Operation Setting (Pn025)
........................................................................ 5-70, 5-93
Notch Filter .............................................................. 5-43
Notch Filter 1 Frequency (Pn01D)........................... 5-68
Notch Filter 1 Width (Pn01E)................................... 5-68
Notch Filter 2 Depth (Pn02A) .................................. 5-71
Notch Filter 2 Frequency (Pn028) ........................... 5-71
Notch Filter 2 Width (Pn029) ................................... 5-71
No. 1 Torque Limit (Pn05E)..................................... 5-75
No. 2 Torque Limit (Pn05F) ..................................... 5-75
O
oil seal ....................................................................... 4-5
Operating Direction Setting (Pn043)........................ 5-73
Operation Switch When Using Absolute Encoder
(Pn00B) ................................................................... 5-67
Origin Proximity Input (DEC) .......................... 3-11, 5-23
Origin Proximity Input Logic Setting (Pn042)........... 5-73
Origin Range (Pn105).............................................. 5-81
Origin Return Approach Speed 1 (Pn110)............... 5-82
Origin Return Approach Speed 2 (Pn111)............... 5-82
Origin Return Final Distance (Pn204)...................... 5-85
Origin Return Mode Settings (Pn10F) ..................... 5-82
Overload Characteristics ......................................... 8-20
Overload Detection Level Setting (Pn072) .............. 5-79
Overrun Limit Setting (Pn026) ................................. 5-70
Overrun Protection .................................................. 5-29
Overspeed Detection Level Setting (Pn073) ........... 5-79
P
P Control Switching ................................................. 5-41
Parameter Details.................................................... 5-86
Parameter Setting Mode.......................................... 6-17
Parameter Tables ............................................. 5-61, 9-1
Parameter Unit Connector Specifications (CN3) ..... 3-16
Parameter Unit dimensions ..................................... 2-43
Parameter Unit specifications.................................. 3-80
Parameter Write Mode ............................................ 6-23
Periodic Maintenance .............................................. 8-21
pin arrangement ...................................................... 3-13
Position Control ......................................................... 5-1
Position Control Mode ............................................. 7-15
Position Loop Gain (Pn010) .................................... 5-67
Position Loop Gain 2 (Pn018) ................................. 5-68
Position Loop Gain Switching Time (Pn035) ........... 5-73
Positioning Completion Range 1 (Pn060) ............... 5-75
Positioning Completion Range 2 (Pn063) ............... 5-75
Power Cables (Robot Cables) ................................. 4-14
Index-2
Index
Power Cables (Standard Cables) ............................ 4-13
Power Cables for Servomotors with Brakes
(Robot Cables) ........................................................ 3-61
Power Cables for Servomotors with Brakes
(Standard Cables) ................................................... 3-58
Power Cables for Servomotors without Brakes
(Robot Cables) ........................................................ 3-54
Power Cables for Servomotors without Brakes
(Standard Cables) ................................................... 3-49
Prohibit Parameter Changes via Network (Pn00A) . 5-67
Protective Functions .................................................. 3-5
R
radio noise filters ..................................................... 4-36
Reactor dimensions................................................. 2-62
Reactors ................................................ 2-21, 3-82, 4-40
Realtime Autotuning .................................................. 7-3
Realtime Autotuning Machine Rigidity Selection
(Pn022)........................................................... 5-69, 5-89
Realtime Autotuning Mode Selection (Pn021)
........................................................................ 5-69, 5-89
Regeneration Resistor Selection (Pn06C)...... 5-79, 5-97
regenerative energy................................................. 4-44
regenerative energy (External Regeneration Resistors)
................................................................................. 4-48
regenerative energy absorption............................... 4-47
Replacing the Absolute Encoder Battery................. 8-23
replacing the Servo Drive .......................................... 8-2
replacing the Servomotor .......................................... 8-2
Reverse Drive Prohibit............................................. 5-10
Reverse Drive Prohibit Input (NOT)................ 3-11, 5-23
Reverse Software Limit (Pn202).............................. 5-84
Reverse Torque Limit Input (NCL).................. 3-11, 5-23
Rotation Speed for Motor Rotation Detection
(Pn062).................................................................... 5-75
rotational speed characteristics for 1,000-r/min
Servomotors ............................................................ 3-29
rotational speed characteristics for 2,000-r/min
Servomotors ............................................................ 3-27
rotational speed characteristics for 3,000-r/min Flat
Servomotors ............................................................ 3-25
rotational speed characteristics for 3,000-r/min
Servomotors ............................................................ 3-21
RS-232 Baud Rate Setting (Pn00C)........................ 5-67
S
Sequence Input Signals........................................... 5-23
Sequence Output Signals........................................ 5-25
Servo Drive characteristics........................................ 3-2
Servo Drive dimensions........................................... 2-23
Servo Drive functions ................................................ 1-4
Servo Drive General Specifications........................... 3-1
Servo Drive installation conditions............................. 4-1
Servo Drive models ................................................... 2-1
Servo Drive part names............................................. 1-3
Servo Drive service life............................................ 8-22
Servo Drive-Servomotor combinations...................... 2-5
Servomotor and Decelerator Combinations ............ 2-44
Servomotor characteristics ...................................... 3-18
Servomotor connector specifications (CNB)..... 3-7, 4-20
Servomotor general specifications .......................... 3-17
Servomotor installation conditions............................. 4-3
Index-3
Servomotor models ................................................... 2-2
Servomotor power cable.......................................... 3-49
Servomotor Power Cables (Robot Cables) ............. 2-19
Servomotor Power Cables (Standard Cables) ........ 2-15
Servomotor service life ............................................ 8-21
Soft Limit (Pn104).................................................... 5-81
Soft Start.................................................................. 5-18
Soft Start Acceleration Time (Pn058) ...................... 5-74
Soft Start Deceleration Time (Pn059)...................... 5-74
Speed Conformity Signal Output Width (Pn061) ..... 5-75
Speed Control............................................................ 5-4
speed control mode adjustment .............................. 7-16
Speed Feedback Filter Selection............................. 5-40
Speed Feedback Filter Time Constant (Pn013) ...... 5-67
Speed Feedback Filter Time Constant 2 (Pn01B)... 5-68
Speed Feed-forward................................................ 5-38
Speed Feed-forward Amount (Pn015)..................... 5-68
Speed Limit.............................................................. 5-22
Speed Limit (Pn053)................................................ 5-74
Speed Limit Selection (Pn05B)................................ 5-74
speed limit values .................................................... 7-21
Speed Loop Gain (Pn011)....................................... 5-67
Speed Loop Gain 2 (Pn019).................................... 5-68
Speed Loop Integration Time Constant (Pn012) ..... 5-67
Speed Loop Integration Time Constant 2 (Pn01A).. 5-68
Speed monitor (SP) Selection (Pn007) ................... 5-66
Stop Selection for Alarm Generation (Pn068) 5-78, 5-96
Stop Selection for Drive Prohibition Input (Pn066)
........................................................................ 5-77, 5-95
Stop Selection with Main Power OFF (Pn067)
........................................................................ 5-78, 5-96
Stop Selection with Servo OFF (Pn069)......... 5-78, 5-96
surge absorbers....................................................... 4-33
surge suppressors ................................................... 4-38
system block diagrams .............................................. 1-5
system configuration.................................................. 1-2
T
Terminal Block Wire Sizes....................................... 4-23
Terminal Block Wiring.............................................. 4-25
Torque Command Filter Time Constant .................. 5-42
Torque Command Filter Time Constant (Pn014) .... 5-68
Torque Command Filter Time Constant 2 (Pn01C)
................................................................................. 5-68
Torque Control........................................................... 5-7
torque control mode adjustment .............................. 7-21
Torque Feed-forward............................................... 5-39
Torque Limit.................................................... 5-16, 5-19
Torque Limit Selection (Pn003) ...................... 5-63, 5-87
Torque Monitor (IM) Selection (Pn008) ................... 5-66
Trial Operation......................................................... 6-31
troubleshooting .......................................................... 8-7
U
UL and CSA standards............................................ 1-10
Undervoltage Alarm Selection (Pn065) ................... 5-76
user parameters ...................................................... 5-55
using the parameter unit............................................ 6-8
Index
V
Vibration Filter 1 Setting (Pn02C)............................ 5-71
Vibration Filter 2 Setting (Pn02E) ............................ 5-72
Vibration Filter Selection (Pn024)................... 5-70, 5-92
Vibration Frequency 1 (Pn02B) ............................... 5-71
Vibration Frequency 2 (Pn02D) ............................... 5-71
W
Wire Sizes ............................................................... 4-24
wiring conforming to EMC Directives....................... 4-26
Index-4
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.
Cat. No. I566-E1-02
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to
the previous version.
Revision code
01
02
R-1
Date
July 2008
June 2009
Revised content and pages
Original production
Page 13: Corrected flange size number.
Page 14: Corrected option.
Page 1-4: Added definitions for forward and reverse operation.
Pages 1-7 to 1-9: Removed one of the lines above "current detection."
Pages 2-7, 2-11, 2-44, 2-45, 2-47, 2-55, 3-29, 4-7, and 4-8: Corrected model
numbers.
Page 2-18: Added 1,500-r/min Servomotors.
Pages 2-23 to 2-32, 2-48, 2-50, 2-52, 2-54, 2-56, 2-57, and 2-59: Corrected figures and dimensions.
Page 2-65: Added Repeater dimensions.
Page 3-17: Removed "decelerators" at top of page.
Page 3-19: Corrected maximum momentary torque.
Page 3-22: Changed "3600" to "4000" for R88M-G1K030T (1 kW).
Pages 3-32 and 3-38: Corrected model numbers and specifications.
Page 3-34: Corrected "18.6" to "17.7" and added note.
Page 3-38: Changed "0.85" to "0.87."
Page 3-66: Added information on robot cables.
Page 3-80: Added section on MECHATROLINK-II Repeater specifications.
Page 4-4: Added information on oil resistance and heat radiation plates.
Page 4-5: Changed information on oil seals.
Page 5-10: Added information at bottom of page.
Page 5-53: Changed frequency to 50 Hz and the calculation result at the top of
the page.
Pages 5-95 and 8-5: Added note.
Page 6-1: Added information to "Trial operation."
Pages 6-15, 8-4, and 8-11: Removed "ABS" from two places each page.
Pages 8-4 and 8-11: Rewrote description of alarm display 45.
Page 8-6: Removed numbers in parentheses and changed note.
Page 8-14: Changed warning codes.
OMRON Corporation
Industrial Automation Company
Control Devices Division H.Q.
Automation & Drive Division
Drive Department 1
Shiokoji Horikawa, Shimogyo-ku,
Kyoto, 600-8530 Japan
Tel: (81) 75-344-7173/Fax: (81) 75-344-7149
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ELECTRONICS LLC
One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
Authorized Distributor:
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark, Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
OMRON Industrial Automation Global: www.ia.omron.com
© OMRON Corporation 2008 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
Cat. No. I566-E1-02
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