OMRON FND-X j, j-SRT Position Driver USER’S MANUAL
The OMRON FND-Xj and FND-Xj-SRT Position Drivers are servo drivers with built-in positioner functions that control AC servomotors according to positioning data. They offer various control modes, including PTP control, feeder control, and direct I/O signal input. They support a range of AC servomotors, including the U, UE, H, and M series. These Position Drivers are designed for use in automation applications requiring precise positioning and control.
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Cat. No. I524-E1-2 USER’S MANUAL OMNUC FND-X SERIES MODELS FND-Xj (DIO Type) FND-Xj-SRT (CompoBus/S Type) POSITION DRIVERS Thank you for choosing this OMNUC FND-X-series product. This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC FND-X-series products along with parameter settings for the operation of the products. S Make sure that actual users of this product will read this manual thoroughly and handle and operate the product with care. S Retain this manual for future reference. S This manual describes the specifications and functions of the product and relations with other products. Assume that nothing described in this manual is possible. S Specifications and functions may change without notice to improve product performance. S Forward and reverse rotation of AC Servomotors described in this manual are defined as looking at the end of the output shaft of the motor as follows: counterclockwise rotation is forward and clockwise rotation is reverse. General Instructions 1. Refer to Precautions first and carefully read and be sure to understand the information provided. 2. Familiarize yourself with this manual and understand the functions and performance of the Servomotor and Servo Driver for proper use. 3. The Servomotor and Servo Driver must be wired and operated by experts in electrical engineering. 4. We recommend that you add the following precautions to any instruction manuals you prepare for the system into which the product is being installed. S Precautions on the dangers of high-voltage equipment. S Precautions on touching the terminals of the product even after power has been turned OFF. (These terminals are live even with the power turned OFF.) 5. Do not perform withstand voltage or other megameter tests on the product. Doing so may damage internal components. 6. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on hand and to consider the operating environment and other conditions affecting the service life. 7. Do not set any parameter not described in this manual, otherwise the Servomotor or Servo Driver may malfunction. Contact your OMRON representatives if you have any inquiry. NOTICE Before using the product under the following conditions, consult your OMRON representatives, make sure that the ratings and performance characteristics of the product are good enough for the systems, machines, or equipment, and be sure to provide the systems, machines, or equipment with double safety mechanisms. 1. Conditions not described in the manual. 2. The application of the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, or safety equipment. 3. The application of the product to systems, machines, or equipment that may have a serious influence on human life and property if they are used improperly. Items to Check After Unpacking Check the following items after removing the product from the package: S Has the correct product been delivered (i.e., the correct model number and specifications)? S Has the product been damaged in shipping? The product is provided with Safety Precautions Sheets. No connectors or mounting screws are provided. Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property. ! DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. ! WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. ! Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage. OMRON Product References All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product. The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense. The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else. Visual Aids The following headings appear in the left column of the manual to help you locate different types of information. Note Indicates information of particular interest for efficient and convenient operation of the product. OMRON, 1998 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. General Precautions Observe the following precautions when using the OMNUC Position Drivers and peripheral devices. This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail. Make sure that these protective covers are on the product before use. Consult your OMRON representative when using the product after a long period of storage. ! WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock. ! WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor to a class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground may result in electric shock. ! WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or optional items while the power is being supplied. Doing so may result in electric shock. ! WARNING Operation, maintenance, or inspection must be performed by authorized personnel. Not doing so may result in operation stoppage, burning of the product, electric shock, or injury. ! WARNING Wiring or inspection must be performed at least 1 minute after turning off the power supply. Doing so may result in electric shock. ! WARNING Do not damage, pull on, apply stress to, place heavy objects on, or pinch the cables. Doing so may result in electric shock. ! WARNING Do not touch the rotating parts of the Servomotor under operation. Doing so may result in injury. ! WARNING Do not modify the product. Doing so may result in injury or damage to the product. ! Caution Use the Servomotors and Servo Drivers in a specified combination. Not doing so may result in fire or damage to the products. ! Caution Do not store or install the product in the following places. Doing so may result in electric shock, fire or damage to the product. S Locations subject to direct sunlight. S Locations subject to temperatures or humidity outside the range specified in the specifications. S Locations subject to condensation as the result of severe changes in temperature. S Locations subject to corrosive or flammable gases. S Locations subject to dust (especially iron dust) or salts. S Locations subject to shock or vibration. S Locations subject to exposure to water, oil, or chemicals. ! Caution Do not touch the Servo Driver radiator, regenerative resistor, or Servomotor while the power is being supplied or soon after the power is turned off. Doing so may result in a skin burn due to the hot surface. Storage and Transportation Precautions ! Caution Do not hold by the cables or motor shaft while transporting the product. Doing so may result in injury or malfunction. ! Caution Do not place any load exceeding the figure indicated on the product. Doing so may result in injury or malfunction. ! Caution Use the motor eye-bolts only for transporting the Servomotor. Using them for transporting the machinery may result in injury or malfunction. Installation and Wiring Precautions ! Caution Do not step on or place a heavy object on the product. Doing so may result in injury. ! Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product. Doing so may result in fire. ! Caution Be sure to install the product in the correct direction. Not doing so may result in malfunction. ! Caution Provide the specified clearances between the Servo Driver and the control panel or with other devices. Not doing so may result in fire or malfunction. ! Caution Do not apply any strong impact. Doing so may result in malfunction. ! Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction. ! Caution Be sure to firmly tighten the screws fixing the product, the terminal block, and cables. Not doing so may result in malfunction. ! Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to the terminal block. Doing so may result in fire. ! Caution Use the power supply voltages specified in this manual. Not doing so may result in burning. ! Caution Take appropriate measures to ensure that the specified power with the rated voltage is supplied. Be particularly careful in places where the power supply is unstable. Not doing so may result in damage to the product. ! Caution Install external breakers and take other safety measures against short-circuiting in external wiring. Not doing so may result in fire. ! Caution Provide an appropriate stopping device on the machine side to secure safety. (A holding brake is not a stopping device for securing safety.) Not doing so may result in injury. ! Caution Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption. Not doing so may result in injury. ! Caution Take appropriate and sufficient countermeasures when installing systems in the following locations. Not doing so may result in equipment damage. S Locations subject to static electricity or other forms of noise. S Locations subject to strong electromagnetic fields and magnetic fields. S Locations subject to possible exposure to radioactivity. S Locations close to power supplies. Operation and Adjustment Precautions ! Caution Confirm that no adverse effect will occur in the system before performing the test operation. Not doing so may result in equipment damage. ! Caution Check the newly set parameters for proper execution before actually running them. Not doing so may result in equipment damage. ! Caution Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury. ! Caution Separate the Servomotor from the machine, check for proper operation, and then connect to the machine. Not doing so may cause injury. ! Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury. ! Caution Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury. ! Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction. Maintenance and Inspection Precautions ! WARNING ! Caution Do not attempt to take the Unit apart or repair. Doing either of these may result in electrical shock or injury. 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. Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning labels Warning Labels Warning label 1 May cause electric shock. Warning label 2 Connect to a ground of 100 Ω or less. VISUAL INDEX For users who wish to begin operations quickly. - The OMNUC FND-X-series Position Driver allows motor test operation only by wiring the driver and motor without connecting the controller. Read 3-2 Turning ON Power and Checking Display, properly set the motor model code, and then operate the motor according to 3-8-2 System Check Mode. Do not connect any load (machines) when performing test operation. Perform test operation only after confirming that no adverse effects will be caused by test operation. 5-3-1 General Control Cable Specifications SYSMAC C/CV Programmable Controller I/O signals SYSMAC C200H-HX/HG/HE or CQM1 Programmable Controller SRM1-C01/-C02 Master Controller Section 6 CompoBus/S Specifications CompoBus/S signals Initial Operation (Starting) - 3-1 Operation Procedure - 3-2Turning ON Power and Checking Displays Function Settings (Parameter Settings) - 3-4 Setting Functions: User Parameters (H Parameters) - 3-5 Position Control Settings (PTP Parameters) - 3-6 Setting Positioning Data (PTP Data, Direct Input) Trial Operation and Adjustments - 3-8-1 Trial Operation Procedure - 3-8-2 System Check Mode - 3-9-1 Auto-tuning - 3-9-2 Manually Adjusting Gain Troubleshooting - 4-4 Protection and Diagnosis - 4-5 Troubleshooting OMNUC FND-X Series Teaching Box CVM1-PRO01 Teaching Box ROM Cassette: CVM1-MP702 (Common for MC Units and Position Drivers) CVM1-MP703 For details refer to Cat. No. W354-E1. RS-422 Teaching Box connections cable OMNUC FND-X-series Position Drivers 5-1 Position Driver Specifications 2-2-3 Wiring Terminal Blocks 3-3-3 Mode Details 6-3 Connecting a CompoBus/S System 2-2-2 Control Circuitry Terminal Wiring CompoBus/S Type 200 V: FND-XjjH-SRT 100 V: FND-XjjL-SRT DIO Type 200 V: FND-XjjH 100 V: FND-XjjL 5-3 Cable Specifications Power signals OMNUC M-series AC Servomotors 1200 r/min: 200 to 1.8 kW with Resolver 2000 r/min: 200 to 2.2 kW with Resolver 4000 r/min: 60 to 2 kW with Resolver Encoder/Resolver signals OMNUC U-series AC Servomotors OMNUC U-UE-series AC Servomotors OMNUC H-series AC Servomotors 3000 r/min: 30 to 2 kW with Incremental Encoder 3000 r/min: 30 to 2 kW with Absolute Encoder 3000 r/min: 100 to 750 W with Incremental Encoder 3000 r/min: 50 to 1100 W with Incremental Encoder Table of Contents Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 Nomenclature and Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 Supported Standards and Supporting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3-1 Standards Supported by Position Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3-2 Standards Supported by AC Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Chapter 2. Design and Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-2 Control Circuitry Terminal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-3 Wiring Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-4 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-5 Wiring Products Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-6 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2 Turning ON Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2-1 Items to Check Before Turning ON the Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2-2 Turning ON the Power and Checking the Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Using the Display Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-1 Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-2 Modes and Mode Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-3 Mode Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-4 CompoBus/S Communications Display and Setting Panel . . . . . . . . . . . . . . . . . . . . . 3-4 Setting Functions: User Parameters (H Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4-1 Setting User Parameters and H Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4-2 User Parameter and H Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4-3 User Parameter and H Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 Position Control Settings (PTP Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-1 Setting PTP Parameters (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-2 PTP Parameters (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5-3 PTP Parameter Details (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Setting Positioning Data (PTP Data, Direct Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-1 Setting PTP Data (When UP-01 is 11 or 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-2 Setting Direct Input (When UP-01 is 13 or 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-3 PTP Data (Pd01jj to Pd64j) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-4 PTP Data Details (Pdjjj) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7 Operational Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7-1 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7-2 Origin Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7-3 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7-4 Point Positioning (UP-01: 11 or 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7-5 Direct Positioning (UP-01: 13 or 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8-1 Trial Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8-2 System Check Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Table of Contents 3-9 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9-3 Adjustment Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10-2 Position Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10-3 Regenerative Energy Absorption by Regeneration Resistor . . . . . . . . . . . . . . . . . . . . Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 Check Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2-1 I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4 Protection and Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4-1 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4-2 Countermeasures to Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4-3 CompoBus/S-type Position Driver Protective and Diagnostic Functions . . . . . . . . . . 4-4-4 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4-5 Alarm Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5-1 Preliminary Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5-2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5-3 Replacing the Position Driver and the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5-4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 Position Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1-1 General Specifications (Common to DIO, CompoBus/S) . . . . . . . . . . . . . . . . . . . . . . 5-1-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2-1 U-series 30-W to 750-W Servomotors (INC/ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2-2 U-UE-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2-3 U-series 1-kW to 2-kW Servomotors (INC/ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2-4 H-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2-5 M-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3-1 General Control Cables (DIO Position Drivers Only) . . . . . . . . . . . . . . . . . . . . . . . . . 5-3-2 Connector Terminal Board Conversion Unit Cables (DIO Position Drivers Only) . . . 5-3-3 External Control Signal Connecting Cables (CompoBus/S Position Drivers Only) . . 5-3-4 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3-5 Resolver Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3-6 Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Chapter 6. CompoBus/S Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 6-1 CompoBus/S Configuration Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 CompoBus/S Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3 Connecting a CompoBus/S System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Table of Contents Chapter 7. Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Parameter Settings Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Chapter 1 Introduction 1-1 1-2 1-3 Functions Nomenclature and Key Operations Supported Standards and Supporting Models Chapter 1 Introduction 1-1 Functions OMRON’s FND-X Position Drivers are servo drivers with built-in positioner functions that control AC servomotors according to positioning data. j FND-X-Series Models There are two types of FND-X Position Drivers, according to the type of control signals used. Control signals DIO CompoBus/S Model FND-XH/FND-XL FND-XH-SRT/FND-XL-SRT Up to eight CompoBus/S Position Drivers can be connected to one Master Unit for 128 input and 128 output points. Two-wire communications are used, reducing system wiring. High-speed communications are also achieved, with a communications cycle time of 0.5 or 0.8 ms. Note Only the high-speed communications mode is available with the FND-X. j International Standards: EC Directives and UL/cUL Standards Position Drivers manufactured beginning April 1999 are available that conform to EC directives and UL/cUL standards, making it easier to conform to these standards in the overall system. When conforming to directives/standards, use U-series Servomotors that also conform to the require directives/standards. j Applicable Servomotor Models The following AC Servomotors can be connected to FND-X-series Position Drivers. • OMNUC U Series (30 to 750 W) Servomotors Conforming to UL/cUL Standards With incremental encoders: R88M-UHA- With absolute encoders: R88M-UTA- Servomotors Conforming to EC Directives With incremental encoders: R88M-UVA- With absolute encoder: R88M-UXA- • OMNUC U Series (1 to 2 kW) Servomotors Not Conforming to Standards With incremental encoder: R88M-UH- With absolute encoder: R88M-UT- Servomotors Conforming to EC Directives With incremental encoder: R88M-UV- With absolute encoder: R88M-UX- • OMNUC U-UE Series (100 to 750 W) Servomotors Not Conforming to Standards With incremental encoder: R88M-UEH- Servomotors Conforming to EC Directives With incremental encoder: R88M-UEV- 1-2 Chapter 1 Introduction • OMNUC H (50 to 1,100 W) Series (with incremental encoder): R88M-H- • OMNUC M (60 to 2,200 W) Series (with resolver): R88M-M- Note H-series and M-series models do not conform to the EC Directives and UL/cUL standards. • The following models are available with different output capacities, and are arranged according to input power supply. D Position Driver and AC Servomotor Combinations Position Driver Input power Model supply Single-phase g FND-X06H- 200/240 / ((170 to 264) VAC at 50/60 Hz FND-X12H- FND-X25H- Applicable AC Servomotor Series Model Output capacity U R88M-U03030A 30 W R88M-U05030A 50 W R88M-U10030A 100 W U-UE R88M-UE10030-S1 100 W H R88M-H05030 50 W R88M-H10030 100 W U R88M-U20030A 200 W R88M-U40030A 400 W U-UE R88M-UE20030-S1 200 W R88M-UE40030-S1 400 W H R88M-H20030 200 W R88M-H30030 300 W M R88M-M06040 60 W R88M-M12040 120 W R88M-M20040 200 W R88M-M40040 400 W R88M-M20020 200 W R88M-M40020 400 W R88M-M20012 200 W R88M-M40012 400 W U R88M-U75030A 750 W R88M-U1K030 1000 W U-UE R88M-UE75030-S1 750 W H R88M-H50030 500 W R88M-H75030 750 W R88M-H1K130 1100 W M R88M-M70040 700 W R88M-M1K140 1100 W R88M-M70020 700 W R88M-M1K120 1100 W R88M-M70012 700 W Rated r/min 3,000 , r/min 3,000 r/min 3,000 , r/min 3,000 , r/min 3,000 r/min , 3,000 , r/min 4,000 , r/min 2,000 , r/min 1,200 , r/min 3,000 , r/min 3,000 r/min 3,000 , r/min 4,000 , r/min 2,000 , r/min 1,200 r/min 1-3 Chapter 1 Introduction Position Driver Input power Model supply Three-phase FND-X50H- (1 0 to 200/240 (170 264) VAC at 50/60 Hz Single-phase g 100/115 / ((85 to 127) VAC at 50/60 Hz FND-X06L- FND-X12L- Applicable AC Servomotor Series Model Output capacity U R88M-U1K530 1500 W R88M-U2K030 2000 W M R88M-M2K040 2000 W R88M-M1K820 1800 W R88M-M2K220 2200 W R88M-M1K112 1100 W R88M-M1K412 1400 W R88M-M1K812 1800 W U R88M-U03030A 30 W R88M-U05030A 50 W R88M-U10030A 100 W U-UE R88M-UE10030-S1 100 W H R88M-H05030 50 W R88M-H10030 100 W U R88M-U20030A 200 W U-UE R88M-UE20030-S1 200 W H R88M-H20030 200 W M R88M-M06040 60 W R88M-M12040 120 W R88M-M20040 200 W R88M-M20020 200 W R88M-M20012 200 W Rated r/min 3000 r/min 4000 r/min 2000 r/min 1200 r/min 3,000 , r/min 3,000 r/min 3,000 , r/min 3,000 r/min 3,000 r/min 3,000 r/min 4,000 , r/min 2,000 r/min 1,200 r/min Note 1. Even when a U-series or U-UE-series Servomotor is used in combination with a100-VAC-input Position Driver, a 200-VAC Servomotor must be used. A 100-VAC Servomotor cannot be connected. Note 2. Straight-axis servomotors are available either with or without a key or brake. In the above table, the Servomotors have the following features. U-series Straight axis without brake, without key U-series UE models Straight axis without brake, with key (not available without key) H-series Straight axis without brake, with key M-series Straight axis without brake, with key (“A” cut for small-capacity) Note 3. Motor control is enabled by setting the user parameter UP-02 of the Position Driver. Note 4. U-series UE-type and H-series Servomotors can be used only with Position Driver software version 4.01 (September 1997) or later. U-series 1-kW to 2-kW Servomotors and M-series 1.1-kW to 2.2-kW Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. 1-4 Chapter 1 Introduction j Servomotor Features and Selection Standards Any FND-X-series Position Driver can be freely selected according to the application. When making the selection, take the following points into consideration. D Servomotor Features U/UE Series Compact size, high-speed response High resolution (except for UE type) Absolute encoder system can be configured (except for UE type). H Series High resolution High application load inertia (less than 10 times the rotary inertia) Usable in systems with comparatively low mechanical rigidity. M Series High application load inertia (less than 10 times the rotary inertia) Usable in systems with comparatively low mechanical rigidity. High output torque in a low-rotation motor Up to a maximum of 50 meters between Servomotor and Servo Driver. D Motor Selection Standards (Reference) Drive system type Ball screw direct connection Turntable direct connection Feeder (direct connection) Harmonic drive Chain drive Belt drive Rack & pinion Low inertia U, U-UE, H, M U, U-UE, H, M U, U-UE, H, M U, U-UE, H, M U, U-UE, H, M U, U-UE, H, M U, U-UE, H, M High inertia U, U-UE, H, M U, U-UE, H, M U, U-UE, H, M H, M H, M H, M H, M Note “Low inertia” means that the motor axis conversion inertia is approximately 0 to 5 times the rotary inertia for H-series and M-series Servomotors, and approximately 0 to 15 times the rotary inertia for U-series and U-series UE-type Servomotors. “High inertia” means that the motor axis conversion inertia is approximately 5 to 10 times the rotary inertia for H-series and M-series Servomotors, and approximately 15 to 30 times the rotary inertia for U-series and U-series UE-type Servomotors. j Position Control Functions D Pulse Rate Setting Function Pulse rate setting makes it possible to set positioning data (i.e., positions and speeds) according to the mechanical axis. 1-5 Chapter 1 Introduction D Control Mode The following four types of control modes are available to the Position Driver: PTP control and feeder control modes with the internal point data preset in the Position Driver and these same modes with direct I/O signal input. D Internal Point Data • A maximum of 64 points of data (Pd01 to Pd64) can be set internally in the Position Driver. • Positions can be set within a range between –39,999,999 to 39,999,999 with the absolute or incremental value specified. D Positioning Data Instruction by Direct Input Eight-point input and input timing signals are used to input position data and speed data within the following ranges into the Position Driver. Position Setting Range: –39,999,999 to 39,999,999 (with incremental or absolute setting) Speed Setting Range: 1% to 100% (override setting with respect to reference speed) D Position Compensation Function This function executes backlash compensation when PTP control is used, and slip compensation when feeder control is used. D Acceleration/Deceleration Function • Either linear (trapezoidal) acceleration or deceleration time or S-shaped (primary low-pass filter) acceleration or deceleration time can be selected. In addition, different times can be set for acceleration and deceleration. • The S-shaped acceleration/deceleration function makes it possible, for example, to start up conveyors smoothly or achieve feeder control with minimal feeder slippage. D Stop Methods • The stop method for when the STOP signal is turned OFF can be selected with PP-24. Free-running stop: Motor power supply turned OFF. Deceleration stop: Servo-lock after the operation decelerates to a stop in preset time. Error counter reset stop: Servo-lock after an immediate deceleration to a stop with the error counter reset. • The stop method of the Position Driver in the case of overrun or software limit signal detection can be selected with PP-25. Overrun: Servo free-running stop with the alarm AL38 turned ON or servolock stop. Software limit detection: Servo-lock stop with or without alarms AL34 and AL35 turned ON. j Teaching Functions D Position Teaching The Position Driver has a teaching function that enables the Position Driver stop the mechanical axis with an external force by going into servo-free status or JOG operation and to take up the stop position data automatically as part of PTP data. 1-6 Introduction Chapter 1 D Mechanical Origin Teaching An optional position can be specified as the mechanical origin by moving the position to the mechanical origin and teaching after the completion of origin search. j Motor Control Functions D Motor Type and Capacity Selection by Motor Code A motor type and capacity can be selected by setting UP-02 to the corresponding motor code. D Auto-tuning Function • The Position Driver has an auto-tuning function. If a machine and motor are connected to the Position Driver, this function makes it possible to check the capacity and characteristics of the machine load by turning the motor and enables the automatic gain control of the Position Driver according to the capacity and characteristics of the machine load. • The auto-tuning function makes it possible to save system startup time. j Programming Devices D Teaching Box: CVM1-PRO01 + ROM Cassette The Teaching Box provides for easy operation, including the following: Position Driver status monitoring Parameter editing and transfer Teaching Jogging Positioning to specified points Autotuning Note Refer to the CVM1-PRO01 Teaching Box Operation Manual (W354) for more information. D OMNUC FND-X Series Monitoring Software The OMNUC FND-X Series Monitoring Software runs on an IBM PC/AT or compatible computer and provides for easy operation, including the following: Position Driver status monitoring Parameter editing and transfer Speed and current waveform displays Autotuning j Monitor Functions D Monitor Mode The motor speed, present value, reference value, position deviation value, machine speed, motor current, effective load factor, electronic thermal value, electrical angle, and regenerative absorption rate can be monitored on the front panel of the Position Driver in this mode. D Check Mode The I/O signal status, alarm details, alarm history, and software version are displayed on the front panel of the Position Driver in this mode. 1-7 Introduction Chapter 1 j Protection and Self-diagnostic Functions D Hardware Protection The Position Driver is protected from overcurrent, overvoltage, low voltage, abnormal power, clock failure, overcurrent (soft), speed amplifier saturation, and overload damage. D Mechanical System Protection The mechanical system is protected from damage resulting from overspeed, error counter overflows, soft limit overflows, coordinate counter overflows, or overrun. D Parameter Setting-related Errors The Position Driver detects parameter setting errors. D Detector-related Errors Resolver wire burnout, resolver failure, encoder wire disconnection, encoder communications failure, absolute encoder backup failure, absolute encoder checksum failure, absolute encoder battery failure, absolute encoder absolute failure, absolute encoder overspeed failure, encoder data failure, and encoder initialization failure. D Position-related Errors BCD data, indefinite PV, and PTP data non-setting errors. j Test Functions D Motor Test Function The Position Driver has a motor test function that makes it possible to easily check whether a motor is connected to the Position Driver. When this function is enabled, the motor rotation direction can be controlled with the operation keys and the motor speed can be set in UP-29. The motor speed is set to 50 r/min before shipping. D Sequential Output Test Function The Position Driver has a sequential output test function that makes it possible to easily check whether a host controller is connected to the Position Driver. This function makes it possible to turn any output terminal ON or OFF with the operation keys. 1-8 Chapter 1 Introduction 1-2 Nomenclature and Key Operations D DIO Position Drivers Front View Display (5-digit, 7-segment LEDs) Operation Keys (5 keys) Monitor Output Terminal CN5 (RS-232C) Communications Connector CN1 (CONT) Control Signal Connector Terminal Block CN2 (M.SEN) Motor Sensor Connector Bottom View Radiation fin CN6 BAT Connector j Key Operations Key DATA Name Mode Key Main function Changes the Position Driver’s mode. Shift Key Shifts the operation column to the left. Data Key Saves the set data. Increment Key Increments the parameter address or data value. Decrements the parameter address or data value. Decrement Key 1-9 Chapter 1 Introduction D CompoBus/S Position Drivers Front View Display (5-digit, 7-segment LEDs) Operation Keys (5 keys) Monitor Output Terminal CN5 (RS-232C) Communications Connector Node Address Setting Switch Terminal Block CN1 (CONT) Control Signal Connector CN4 (LIMIT) External control signal connector CN2 (M.SEN) Motor Sensor Connector Bottom View Radiation fin CN6 BAT Connector j Key Operations Key DATA Name Mode Key Main function Changes the Position Driver’s mode. Shift Key Shifts the operation column to the left. Data Key Saves the set data. Increment Key Increments the parameter address or data value. Decrements the parameter address or data value. Decrement Key 1-10 Chapter 1 Introduction 1-3 Supported Standards and Supporting Models 1-3-1 Standards Supported by Position Drivers Standard UL/cUL EC Low-voltage Directive EMC Directive Supported standard File No. UL508C E179149 EN50178 --EN55011 class A --group 1 EN61000-4 --- Remarks Electrical power conversion devices Industrial product specifications Radio interference limits and measurement methods for radio frequency devices for industrial, scientific, and medical applications Electromagnetic compatibility and immunity Note All Position Drivers in the FND-X Series conform to UL/cUL standards and EC directives. 1-3-2 Standards Supported by AC Servomotors Standard Supported standard UL1004 cUL C22.2 No. 100 Low-voltage Directive IEC34-1, -5, -8, -9 EMC Directive EN55011 class A group 1 UL/cUL EC EN61000-4 File No. E179189 E179189 ----- --- Remarks Electric motors Motors and generators Rotating electric devices Radio interference limits and measurement methods for radio frequency devices for industrial, scientific, and medical applications Electromagnetic compatibility and immunity j Servomotors Conforming to UL/cUL Standards Power supply 200 VAC 200 VAC AC Servomotors R88M-U30HA- (30 to 750 W) R88M-U30TA- (30 to 750 W) Encoder Incremental encoder Absolute encoder Note Servomotors manufactured beginning in May 1998 conform to UL/cUL standards. j Servomotors Conforming EC Directives Power supply 200 VAC 200 VAC 200 VAC 200 VAC 200 VAC AC Servomotors R88M-U30VA- (30 to 750 W) R88M-U30XA- (30 to 750 W) R88M-UE30V- (100 to 750 W) R88M-U30V- (1 to 2 kW) R88M-U30X- (1 to 2 kW) Encoder Incremental encoder Absolute encoder Incremental encoder Incremental encoder Absolute encoder Note The Servomotors must be wired as described in 2-2 Wiring to conform to the EMC Directive. 1-11 2 Chapter 2 Design and Installation 2-1 2-2 Installation Wiring Chapter 2 Design and Installation 2-1 Installation 2-1-1 External Dimensions (Unit: mm) DIO and CompoBus/S Position Drivers j 200-VAC FND-X06H-/-X12H- 100-VAC FND-X06L-/-X12L- Mounting Dimensions Three, 6 dia. Three, M5 j 200-VAC FND-X25H- Mounting Dimensions Three, 6 dia. 2-2 Three, M5 Chapter 2 Design and Installation j 200-VAC FND-X50H- Four, 6 dia. Mounting Dimensions Four, M5 2-3 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030HA, R88M-U05030HA, R88M-U10030HA 300±30 35 Encoder adapter Motor plug 6.5 18 14 dia. 300±30 6 6h6 dia. 2.5 Two, 4.3 dia. 30h7 dia. 17 9.5 5 Four, R3.7 6 40 46 dia. 33 40 LL 25 L j 30-W/50-W/100-W Models with Brakes: R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B 300±30 35 Encoder adapter Motor plug 21 14 dia. 2.5 Two, 4.3 dia. 30h7 dia. 17 5 33 LB LL Four, R3.7 4 46 dia. 40 9.5 6.5 6h6 dia. 300±30 40 25 L Standard Models (Without Brakes) Model L LL S R88M-U03030HA 94.5 69.5 6 R88M-U05030HA 102.0 77.0 6 R88M-U10030HA 119.5 94.5 8 2-4 Models with Brakes Model L LL R88M-U03030HA-B 126 101 R88M-U05030HA-B 133.5 108.5 R88M-U10030HA-B 160 135 LB S 31.5 6 31.5 6 40.5 8 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030HA, R88M-U40030HA 300±30 35 Encoder adapter Motor plug 21 14 dia. 12 3 Four, 5.5 dia. 50h7 dia. 17 6 Four, R5.3 70 dia. 60 7 14h6 dia. 300±30 5.2 34 60 LL 30 L j 200-W/400-W Models with Brakes: R88M-U20030HA-B, R88M-U40030HA-B 300±30 35 Encoder adapter Motor plug 21 14 dia. Four, 5.5 dia. 50h7 dia. 3 34 Four, R5.3 60 12 6 70 dia. 7 17 5.5 14h6 dia. 300±30 5.2 60 39.5 LL 30 L Standard Models (Without Brakes) Model L LL R88M-U20030HA 126.5 96.5 R88M-U40030HA 154.5 124.5 Models with Brakes Model L LL R88M-U20030HA-B 166 136 R88M-U40030HA-B 194 164 2-5 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030HA 300±30 35 Encoder adapter Motor plug 21 14 dia. 300±30 8 15 3 Four, R8.2 35 80 90 dia. 16h6 dia. Four, 7 dia. 70h7 dia. 8 17 5.2 34 80 145 40 185 j 750-W Models with Brakes: R88M-U75030HA-B 300±30 35 Encoder adapter Motor plug 21 14 dia. 300±30 8 15 Four, R8.2 3 35 34 44.5 80 80 189.5 229.5 2-6 90 dia. Four, 7 dia. 70h7 dia. 8 16h6 dia. 17 5.2 40 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1 Sh6 dia. 14 dia. Four, R3.7 30h7 dia. 46 dia. Two, 4.3 dia. j 30-W/50-W/100-W Models with Brakes: R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1 Standard Models (Without Brakes) Model L LL S R88M-U03030VA-S1 94.5 69.5 6 R88M-U05030VA-S1 102.0 77.0 6 R88M-U10030VA-S1 119.5 94.5 8 Four, R3.7 46 dia. Two, 4.3 dia. 30h7 dia. Sh6 dia. 14 dia. Models with Brakes Model L LL R88M-U03030VA-BS1 126 101 R88M-U05030VA-BS1 133.5 108.5 R88M-U10030VA-BS1 160 135 LB S 31.5 6 31.5 6 40.5 8 2-7 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030VA-S1, R88M-U40030VA-S1 Four, R5.3 70 dia. Four, 5.5 dia. 50h7 dia. 14h6 dia. 14 dia. j 200-W/400-W Models with Brakes: R88M-U20030VA-BS1, R88M-U40030VA-BS1 Standard Models (Without Brakes) Model L LL R88M-U20030VA-S1 126.5 96.5 R88M-U40030VA-S1 154.5 124.5 2-8 Four, R5.3 70 dia. Four, 5.5 dia. 50h7 dia. 14h6 dia. 14 dia. Models with Brakes Model L R88M-U20030VA-BS1 166 R88M-U40030VA-BS1 194 LL 136 164 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030VA-S1 14 dia. Four, R8.2 90 dia. 70h7 dia. 16h6 dia. Four, 7 dia. j 750-W Models with Brakes: R88M-U75030VA-BS1 14 dia. Four, R8.2 90 dia. 70h7 dia. 16h6 dia. Four, 7 dia. 2-9 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030TA, R88M-U05030TA, R88M-U10030TA Encoder adapter Motor plug 14 dia. Sh6 dia. Four, R3.7 Two, 4.3 dia. 46 dia. 53 dia. 30h7 dia. j 30-W/50-W/100-W Models with Brakes: R88M-U03030TA-B, R88M-U05030TA-B, R88M-U10030TA-B Encoder adapter Motor plug 14 dia. Sh6 dia. Two, 4.3 dia. Four, R3.7 46 dia. 53 dia. Standard Models (Without Brakes) Model L LL S R88M-U03030TA 117.5 92.5 6 R88M-U05030TA 125 100 6 R88M-U10030TA 142.5 117.5 8 2-10 30h7 dia. Models with Brakes Model L LL R88M-U03030TA-B 149 124 R88M-U05030TA-B 156.5 131.5 R88M-U10030TA-B 183 158 LB 31.5 31.5 40.5 S 6 6 8 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030TA, R88M-U40030TA Encoder adapter Motor plug 14 dia. 14h6 dia. Four, R5.3 Four, 5.5.dia. 70 dia. 50h7 dia. j 200-W/400-W Models with Brakes: R88M-U20030TA-B, R88M-U40030TA-B Encoder adapter Motor plug 14 dia. 14h6 dia. Four, 5.5.dia. Four, R5.3 70 dia. 50h7 dia. Standard Models (Without Brakes) Model L LL R88M-U20030TA 147.5 117.5 R88M-U40030TA 175.5 145.5 Models with Brakes Model L R88M-U20030TA-B 187 R88M-U40030TA-B 215 LL 157 185 2-11 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030TA Encoder adapter Motor plug 14 dia. Four, R8.2 Four, 7 dia. 16h6 dia. 90 dia. 70h7 dia. j 750-W Models with Brakes: R88M-U75030TA-B Encoder adapter Motor plug 14 dia. Four, R8.2 Four, 7 dia. 16h6 dia. 90 dia. 70h7 dia. 2-12 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to EC Directives j 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030XA-S1, R88M-U05030XA-S1, R88M-U10030XA-S1 Sh6 dia. 14 dia. 46 dia. 30h7 dia. 53 dia. Four, R3.7 Two, 4.3 dia. j 30-W/50-W/100-W Models with Brakes: R88M-U03030XA-BS1, R88M-U05030XA-BS1, R88M-U10030XA-BS1 Sh6 dia. 14 dia. Standard Models (Without Brakes) Model L LL S R88M-U03030XA-S1 117.5 92.5 6 R88M-U05030XA-S1 125 100 6 R88M-U10030XA-S1 142.5 117.5 8 30h7 dia. 53 dia. Two, 4.3 dia. Four, R3.7 46 dia. Models with Brakes Model L LL R88M-U03030XA-BS1 149 124 R88M-U05030XA-BS1 156.5 131.5 R88M-U10030XA-BS1 183 158 LB S 31.5 6 31.5 6 40.5 8 2-13 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to EC Directives (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-U20030XA-S1, R88M-U40030XA-S1 14h6 dia. 14 dia. Four, 5.5 dia. Four, R5.3 50h7 dia. 70 dia. j 200-W/400-W Models with Brakes: R88M-U20030XA-BS1, R88M-U40030XA-BS1 14h6 dia. 14 dia. 50h7 dia. Four, 5.5 dia. Standard Models (Without Brakes) Model L LL R88M-U20030XA-S1 147.5 117.5 R88M-U40030XA-S1 175.5 145.5 2-14 Four, R5.3 70 dia. Models with Brakes Model L R88M-U20030XA-BS1 187 R88M-U40030XA-BS1 215 LL 157 185 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS, 30 to 750 W) Conforming to EC Directives (Contd.) j 750-W Standard Models (Without Brakes): R88M-U75030XA-S1 14 dia. Four, R8.2 16h6 dia. 70h7 dia. Four, 7 dia. 90 dia. j 750-W Models with Brakes: R88M-U75030XA-BS1 14 dia. Four, R8.2 90 dia. 70h7 dia. 16h6 dia. Four, 7 dia. 2-15 Chapter 2 Design and Installation U-Series AC Servomotor Shaft Dimensions with Keys (U-INC, U-ABS, 30 to 750 W) Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors with keys are shown below. Motors with keys are indicated by adding “-S1” to the end of the model number. Key slots are based on JIS B1301-1976. j 30-W/50-W Models Standard: R88M-U03030-S1, R88M-U05030-S1 With Brakes: R88M-U03030-BS1, R88M-U05030-BS1 14 Dia.: 6h6 1.2 2 2 j 100-W Models Standard: R88M-U10030-S1 With Brakes: R88M-U10030-BS1 14 Dia.: 8h6 1.8 3 3 j 200-W/400-W Models Standard: R88M-U20030-S1, R88M-U40030-S1 With Brakes: R88M-U20030-BS1, R88M-U40030-BS1 20 Dia.: 14h6 3 5 5 j 750-W Models Standard: R88M-U75030-S1 With Brakes: R88M-U75030-BS1 30 Dia.: 16h6 3 5 5 2-16 Chapter 2 Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Not Conforming to Any Standards j 100-W Standard Models (Without Brakes): R88M-UE10030H-S1 Encoder adapter Motor plug Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. 8h6 dia. Four, R3.7 30h7 dia. 8h6 dia. Two, 4.3 dia. 46 dia. j 100-W Models with Brakes: R88M-UE10030H-BS1 Encoder adapter Motor plug Shaft end dimensions 30h7 dia. Two, 4.3 dia. 46 dia. 8h6 dia. 8h6 dia. Key slot dimensions, conform to JIS B1301-1976. Four, R3.7 2-17 Chapter 2 Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-UE20030H-S1, R88M-UE40030H-S1 Encoder adapter Motor plug Shaft end dimensions 14h6 dia. Key slot dimensions, conform to JIS B1301-1976. Four, R5.3 14h6 dia. 50h7 dia. Four, 5.5 dia. 70 dia. j 200-W/400-W Models with Brakes: R88M-UE20030H-BS1, R88M-UE40030H-BS1 Encoder adapter Motor plug Shaft end dimensions 50h7 dia. 70 dia. Standard Models (Without Brakes) Model L LL R88M-UE20030H-S1 126.5 96.5 R88M-UE40030H-S1 154.5 124.5 2-18 Four, R5.3 14h6 dia. 14h6 dia. Key slot dimensions, conform to JIS B1301-1976. Four, 5.5 dia. Models with Brakes Model L R88M-UE20030H-BS1 166 R88M-UE40030H-BS1 194 LL 136 164 Chapter 2 Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Not Conforming to Any Standards (Contd.) j 750-W Standard Models (Without Brakes): R88M-UE75030H-S1 Encoder adapter Motor plug Four, R8.2 16h6 dia. 90 dia. 70h7 dia. 16h6 dia. Four, 7 dia. Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. j 750-W Models with Brakes: R88M-UE75030H-BS1 Encoder adapter Motor plug Four, R8.2 16h6 dia. 90 dia. 70h7 dia. 16h6 dia. Four, 7 dia. Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. 2-19 Chapter 2 Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives j 100-W Standard Models (Without Brakes): R88M-UE10030V-S1 14 dia. 8h6 dia. Shaft end dimensions Four, R3.7 Key slot dimensions, conform to JIS B1301-1976. 30h7 dia. Two, 4.3 dia. 46 dia. j 100-W Models with Brakes: R88M-UE10030V-BS1 14 dia. 2-20 46 dia. Four, R3.7 8h6 dia. Key slot dimensions, conform to JIS B1301-1976. Two, 4.3 dia. 30h7 dia. 8h6 dia. Shaft end dimensions Chapter 2 Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives (Contd.) j 200-W/400-W Standard Models (Without Brakes): R88M-UE20030V-S1, R88M-UE40030V-S1 14h6 dia. 14 dia. Four, 5.5 dia. Four, R5.3 Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. 50h7 dia. 14h6 dia. 70 dia. j 200-W/400-W Models with Brakes: R88M-UE20030V-BS1, R88M-UE40030V-BS1 14h6 dia. 14 dia. Four, 5.5 dia. Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. 14h6 dia. 50h7 dia. 70 dia. Standard Models (Without Brakes) Model L LL R88M-UE20030V-S1 126.5 96.5 R88M-UE40030V-S1 154.5 124.5 Four, R5.3 Models with Brakes Model L R88M-UE20030V-BS1 166 R88M-UE40030V-BS1 194 LL 136 164 2-21 Chapter 2 Design and Installation OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives (Contd.) j 750-W Standard Models (Without Brakes): R88M-UE75030V-S1 Shaft end dimensions 16h6 dia. Key slot dimensions, conform to JIS B1301-1976. 14 dia. Four, R8.2 16h6 dia. Four, 7 dia. 70h7 dia. 90 dia. j 750-W Models with Brakes: R88M-UE75030V-BS1 Shaft end dimensions 16h6 dia. Key slot dimensions, conform to JIS B1301-1976. 14 dia. Four, R8.2 16h6 dia. Four, 7 dia. 70h7 dia. 90 dia. 2-22 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 1 to 2 kW) 95h7 dia. 24h6 dia. j 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes) Not Conforming to Any Standards: R88M-U1K030H/-U1K530H/-U2K030H Conforming to EC Directives: R88M-U1K030V-S1/-U1K530V-S1/-U2K030V-S1 130 dia. 115 dia. Four, 7 dia. 95h7 dia. 24h6 dia. j 1.0-kW/1.5-kW/2.0-kW Models With Brakes Not Conforming to Any Standards: R88M-U1K030H-B/-U1K530H-B/-U2K030H-B Conforming to EC Directives: R88M-U1K030V-BS1/-U1K530V-BS1/-U2K030V-BS1 130 dia. 115 dia. Four, 7 dia. Standard Models (Without Brakes) Model L LL R88M-U1K030 194 149 R88M-U1K530 220 175 R88M-U2K030 243 198 Models with Brakes Model L R88M-U1K030-B 238 R88M-U1K530-B 264 R88M-U2K030-B 287 LL 193 219 242 Note Servomotors with model numbers ending in “S1” have straight shafts with keys. Refer to page 2-25 U-Series AC Servomotor Shaft Dimensions with Keys for key dimensions. 2-23 Chapter 2 Design and Installation OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 1 to 2 kW) 95h7 dia. 24h6 dia. j 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes) Not Conforming to Any Standards: R88M-U1K030T/-U1K530T/-U2K030T Conforming to EC Directives: R88M-U1K030X-S1/-U1K530X-S1/-U2K030X-S1 130 dia. 115 dia. Four, 7 dia. 95h7 dia. 24h6 dia. j 1.0-kW/1.5-kW/2.0-kW Models With Brakes Not Conforming to Any Standards: R88M-U1K030T-B/-U1K530T-B/-U2K030T-B Conforming to EC Directives: R88M-U1K030X-BS1/-U1K530X-BS1/-U2K030X-BS1 130 dia. 115 dia. Four, 7 dia. Standard Models (Without Brakes) Model L LL R88M-U1K030 208 163 R88M-U1K530 234 189 R88M-U2K030 257 212 Models with Brakes Model L R88M-U1K030-B 252 R88M-U1K530-B 278 R88M-U2K030-B 301 LL 207 233 256 Note Servomotors with model numbers ending in “S1” have straight shafts with keys. Refer to page 2-25 U-Series AC Servomotor Shaft Dimensions with Keys for key dimensions. 2-24 Chapter 2 Design and Installation U-Series AC Servomotor Shaft Dimensions with Keys (U-INC, U-ABS, 1 to 2 kW) Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors with keys are shown below. Motors with keys are indicated by adding “-S1” to the end of the model number. Key slots are based on JIS B1301-1976. 24h6 dia. j 1.0-kW/1.5-kW/2.0-kW Models Standard: R88M-U1K030-S1, R88M-U1K530-S1, R88M-U2K030-S1 With Brakes: R88M-U1K030-BS1, R88M-U1K530-BS1, R88M-U2K030-BS1 M8 with effective depth of 16 2-25 Chapter 2 Design and Installation OMNUC H-Series AC Servomotor with Incremental Encoder (H) j 50-W/100-W Standard Models (Without Brakes): R88M-H05030, R88M-H10030 j 50-W/100-W Models with Brakes: R88M-H05030-B, R88M-H10030-B Four, R4 8 93 dia. max. 63 dia. 50 0 dia. 0.009 0 dia. 0.025 80±0.2 dia. Four, 5 dia. 66 Standard Models (Without Brakes) Model L1 L2 L3 R88M-H05030 (50 W) 53.5 99 45.5 R88M-H10030 (100 W) 63.5 109 45.5 66±0.4 Models With Brakes Model L1 L2 R88M-H05030-B (50 W) 84.5 130 R88M-H10030-B (100 W) 94.5 140 L3 45.5 45.5 j 200-W/300-W Standard Models (Without Brakes): R88M-H20030, R88M-H30030 j 200-W/300-W Models with Brakes: R88M-H20030-B, R88M-H30030-B Four, R10 14 107 dia. max. 77 dia. 70 0 dia. 0.011 0 dia. 0.03 90±0.2 dia. Four, 6 dia. Standard Models (Without Brakes) Model L1 L2 L3 R88M-H20030 (200 W) 77 123.5 46.5 R88M-H30030 (300 W) 89 135.5 46.5 2-26 80 80±0.4 Models With Brakes Model L1 L2 R88M-H20030-B (200 W) 107.5 154 R88M-H30030-B (300 W) 119.5 166 L3 46.5 46.5 Chapter 2 Design and Installation OMNUC H-Series AC Servomotors with Incremental Encoders (H) (Contd.) j 500-W/750-W/1100-W Standard Models (Without Brakes): R88M-H50030, R88M-H75030, R88M-H1K130 j 500-W/750-W/1100-W Models with Brakes: R88M-H50030-B, R88M-H75030-B, R88M-H1K130-B Four, R15 162 dia. max. 77 dia. 110 0 dia. 0.035 130±0.2 dia. Four, 9 dia. Shaft Dimensions R88M-H50030/-H50030-B R88M-H75030/-H75030-B 16 0 dia. 0.011 Shaft Dimensions R88M-H1K130/-H1K130-B 19 0 dia. 0.013 Standard Models (Without Brakes) Model L1 L2 L3 R88M-H50030 (500 W) 107.5 154.0 46.5 R88M-H75030 (750 W) 126.0 172.5 46.5 R88M-H1K130 (1100 W) 144.5 191.0 46.5 Models With Brakes Model L1 L2 L3 R88M-H50030-B (500 W) 148.5 195.0 46.5 R88M-H75030-B (750 W) 167.0 213.5 46.5 R88M-H1K130-B (1100 W) 185.5 232.0 46.5 2-27 Chapter 2 Design and Installation OMNUC M-Series AC Servomotors with Resolvers (M) j 60-W/120-W (4,000 r/min) Standard Models (Without Brakes): R88M-M06040, R88M-M12040 8h6 dia. 50h7 dia. 7.4 dia. … Four, 5 dia. j 60-W/120-W (4,000 r/min) Models with Brakes: R88M-M06040-B, R88M-M12040-B 50h7 dia. 8h6 dia. 7.4 dia. ° ° Four, 5 dia. Standard Models (Without Brakes) Model L LL LM R88M-M06040 150 120 85 R88M-M12040 175 145 110 j Shaft End Dimensions 2-28 Models with Brakes Model LX LY R88M-M06040-B 184 154 R88M-M12040-B 209 179 LM 85 110 Chapter 2 Design and Installation OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.) j 200-W (2,000 r/min) Standard Models (Without Brakes): R88M-M20020 j 200-W/400-W (4,000 r/min) Standard Models: R88M-M20040, R88M-40040 14h6 dia. 80h7 dia. 7.4 dia. 100±0.2 dia Four, 7dia. j 200-W (2,000 r/min) Models with Brakes: R88M-M20020-B j 200-W/400-W (4,000 r/min) Models with Brakes: R88M-M20040-B, R88M-M40040-B 80h7 dia. 14h6 dia. 7.4 dia. 100±0.2 dia Four, 7dia. Standard Models (Without Brakes) Model L LL LM R88M-M20040 166 131 92 196 161 122 R88M-M20020 R88M-M40040 Models with Brakes Model LX LY R88M-M20040-B 196 161 226 191 R88M-M20020-B R88M-M40040-B LM 92 122 j Shaft End Dimensions 2-29 Chapter 2 Design and Installation OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.) j 200-W/400-W/700-W (1,200 r/min) Standard Models (Without Brakes): R88M-M20012, R88M-M40012, R88M-M70012 j 400-W/700-W/1,100-W (2,000 r/min) Standard Models (Without Brakes): R88M-M40020, R88M-M70020, R88M-M1K120 19h6 dia. 110h7 dia. j 700-W/1,100-W/2,000-W (4,000 r/min) Standard Models (Without Brakes): R88M-70040, R88M-M1K140, R88M-M2K040 145±0.2 dia. Four, 9 dia. j 200-W/400-W/700-W (1,200 r/min) Models with Brakes: R88M-M20012-B, R88M-M40012-B, R88M-M70012-B j 400-W/700-W/1,100-W (2,000 r/min) Models with Brakes: R88M-M40020-B, R88M-M70020-B, R88M-M1K120B 19h6 dia. 110h7 dia. j 700-W/1,100-W/2,000-W (4,000 r/min) Models with Brakes: R88M-M70040-B, R88M-M1K140-B, R88M-M2K040-B 145±0.2 dia. 165 dia. Four, 9 dia. 2-30 Chapter 2 Design and Installation Standard Models Model R88M-M20012 R88M-M40020 R88M-M70040 R88M-M40012 R88M-M70020 R88M-M1K140 R88M-M70012 R88M-M1K120 R88M-M2K040 Models with Brakes L 240 LL 195 LM 156 275 230 191 345 300 261 Model R88M-M20012-B R88M-M40020-B R88M-M70040-B R88M-M40012-B R88M-M70020-B R88M-M1K140-B R88M-M70012-B R88M-M1K120-B R88M-M2K040-B LX 282 LY 237 LM 156 317 272 191 387 342 261 j Shaft End Directions OMNUC M-Series AC Servomotors with Resolvers (Contd.) j 1,100-W/1,400-W/1,800-W (1,200 r/min) Standard Models: R88M-M1K112/-M1K412/-M1K812 180 x 180 114.3h7 0 35 +0.01 dia. j 1,800-W/2,200-W (2,000 r/min) Standard Models: R88M-M1K820/-M2K220 200±0.3 dia. Four, 14 dia. 230 dia. 2-31 Chapter 2 Design and Installation 180 x 180 0 114.3h7 35 +0.01 dia. j 1,100-W/1,400-W/1,800-W (1,200 r/min) Models with Brakes: R88M-M1K112-B/-M1K412-B/-M1K812-B j 1,800-W/2,200-W (2,000 r/min) Models with Brakes: R88M-M1K820-B/-M2K220-B 200±0.3 dia. Four, 14 dia. 230 dia. Standard Models Model L LL LM LX LY LZ R88M-M1K112 370 291 252 439 360 256 R88M-M1K820 R88M-M1K412 400 321 282 469 390 286 R88M-M2K220 R88M-M1K812 460 381 342 529 450 346 Models with Brakes Model L LL LM LX LY LZ R88M-M1K112-B R88M-M1K820-B 370 291 252 439 360 256 R88M-M1K412-B R88M-M2K220-B 400 321 282 469 390 286 R88M-M1K812-B 460 381 342 529 450 346 j Shaft End Directions 4.5 10 h9 C1 60 R5 2-32 8 Chapter 2 Design and Installation 2-1-2 Installation Conditions Position Driver j Space Around Drivers • Install Position Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also install a fan for circulation if Position Drivers are installed side by side to prevent uneven temperatures from developing inside the panel. • Mount the Position Drivers vertically (so that the model number and writing can be read). ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ ÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉÉ W 30 mm min. 50 mm min. Position Driver Fan Position Driver Position Driver Fan Side of Driver W W = 10 mm min. 50 mm min. j Operating Environment Be sure that the environment in which Position Drivers are operated meets the following conditions. • Ambient operating temperature: 0°C to +55°C • Ambient operating humidity: 35% to 90% (RH, with no condensation) • Atmosphere: No corrosive gases. j Ambient Temperature • Position Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability. • Temperature rise in any Position Driver installed in a closed space, such as a control box, will cause the ambient temperature to rise inside the entire closed space. Use a fan or a air conditioner to prevent the ambient temperature of the Position Driver from exceeding 55°C. • Position Driver surface temperatures may rise to as much as 40°C above the ambient temperature. Use heat-resistant materials for wiring, and keep separate any devices or wiring that are sensitive to heat. • The service life of a Position Driver is largely determined by the temperature around the internal electrolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic volume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements. If a Position Driver is always operated at the maximum ambient temperature of 35°C, then a service life of approximately 50,000 hours can be expected. A drop of 10°C in the ambient temperature will approximately double the expected service life. 2-33 Chapter 2 Design and Installation j Keeping Foreign Objects Out of Units • Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Position Driver during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, heat buildup may damage the Driver. • Take measures during installation and operation to prevent foreign objects such as metal particles, oil, machining oil, dust, or water from getting inside of the Position Driver. AC Servomotors j Operating Environment Be sure that the environment in which the Servomotor is operated meets the following conditions. • Ambient operating temperature: 0°C to +40°C • Ambient operating humidity: OMNUC U Series: 20% to 80% (RH, with no condensation) OMNUC U-UE Series: 20% to 80% (RH, with no condensation) OMNUC H Series: 35% to 85% (RH, with no condensation) OMNUC M Series: 35% to 85% (RH, with no condensation) • Atmosphere: No corrosive gases. j Impact and Load • The Servomotor is resistant to impacts of up to 98 m/s2 {10 G}. Do not subject it to heavy impacts or loads during transport, installation, or positioning. In addition, do not hold onto the encoder/resolver area, cable, or connector areas when transporting it. • Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft. • Secure cables so that there is no impact or load placed on the cable connector areas. j Connecting to Mechanical Systems • The axial loads for Servomotors are specified in section 5-2 Servomotor Specifications. If an axial load greater than that specified is applied to a Servomotor, it will reduce the service life of the motor bearings and may damage the motor shaft. When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and variation. Recommended Coupling Name Oldham coupling Motor shaft center line Shaft core displacement Maker Myghty Co., Ltd • For spur gears, an extremely large radial load may be applied depending on the gear precision. Use spur gears with a high degree of accuracy (for example, JIS class 2: normal line pitch error of 6 µm max. for a pitch circle diameter of 50 mm). If the gear precision is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft. 2-34 Ball screw center line Backlash Adjust backlash by adjusting the distance between shafts. Chapter 2 Design and Installation • Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure that no thrust load is applied which exceeds specifications. • Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may separate due to the tightening strength. Bevel gear Make moveable. • When connecting to a V-belt or timing belt, consult the maker for belt selection and tension. A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension. If an excessive radial load is applied, the motor shaft may be damaged. Set up the structure so that the radial load can be adjusted. A large radial load may also be applied as a result of belt vibration. Attach a brace and adjust Position Driver gain so that belt vibration is minimized. Pulley Belt Tension Make adjustable. Motor shaft Load shaft j Water and Drip Resistance • The Servomotor does not have a water-proof structure. Except for the connector areas, the protective structure meets the following JEM (The Japan Electrical Manufacturers’ Association) standards: U Series, 30 to 750 W Conforming to UL/cUL and UE Type Not Conforming to Any Standards: IP-42 U Series, 30 to 750 W Conforming to EC Directives and UE Type Conforming to EC Directives: IP-44 (except shaft penetration point) U Series, 1 to 2 kW Not Conforming to Any Standards: IP-65 (except shaft penetration point) U Series, 1 to 2 kW Conforming to EC Directives: IP-55 (including shaft penetration point) H Series: IP-52 M Series: IP-42 Note Protective Structure: Indicated as IP- (IP: Protection rating symbol, : rating class) according to the IEC standard (IEC529: 1989-11). • If the Servomotor is used in an environment in which condensation occurs, water may enter inside of the encoder/resolver from the end surfaces of cables due to motor temperature changes. Either take measures to ensure that water cannot penetrate in this way, or use water-proof connectors. Even when machinery is not in use, water penetration can be avoided by taking measures, such as keeping the motor in servo-lock status, to minimize temperature changes. • If machining oil with surfactants (e.g., coolant fluids) or their spray penetrate inside of the motor, insulation defects or short-circuiting may occur. Take measures to prevent machining oil penetration. • The water and drip resistance of the standard cables for U-Series Servomotors of 1 to 2 kW is equivalent to IP-30. Use water-resistance cables for the power cables and encoder cables in locations subject to contact with water. Use the following recommended products for power cable and encoder cable connectors when the device is to meet EC directives. 2-35 Chapter 2 Design and Installation Power Cable Connectors Servomotor Standard With Brakes Servomotor model R88MU1K030- U1K530- U2K030- U1K030-B U1K530-B U2K030-B Connector model Cable clamp model Manufacturer Elbow connectors: CE05-8A18-10SD-BBAS Sheath exterior diam- Daiichi Electronic eter of 6.5 to 8.7 mm: Industries Co., CE3057-10A-3 (D265) Ltd. Straight connectors: CE05-6A18-10SD-BBSS Sheath exterior diameter of 8.5 to 11 mm: CE3057-10A-2 (D265) Sheath exterior diameter of 10.5 to 14.1 mm: CE3057-10A-1 (D265) Elbow connectors: Sheath exterior diam- Japan Aviation JL04V-8A20-15SE-EB eter of 6.5 to 9.5: Electronics IndusJL04-2022CK (09) try, Ltd. Straight connectors: JL04V-6A20-15SE-EB Sheath exterior diameter of 9.5 to 13: JL04-2022CK (12) Sheath exterior diameter of 12.9 to 15.9: JL04-2022CK (14) Encoder Cable Connectors Servomotor All models Connector model Elbow connectors: JA08A-20-29S-J1-EB Straight connectors: JA06A-20-29S-J1-EB Cable clamp model Sheath exterior diameter of 6.5 to 9.5 mm: JL04-2022CKE (09) Manufacturer Japan Aviation Electronics Industry, Ltd. Sheath exterior diameter of 9.5 to 13 mm: JL04-2022CKE (12) Sheath exterior diameter of 12.9 to 16 mm: JL04-2022CKE (14) j Other Precautions • Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous AC and use permanent magnets. Applying 3-phase power will burn out the motor coils. • Do not carry the Servomotor by its cable, otherwise the cable may become disconnected or the cable clamp may become damaged. • The shafts are coated with anti-rust oil when shipped. Apply anti-rust oil or grease to the shaft if necessary. When anti-rust oil or grease is applied, connections such as couplings to the load shaft may slip causing dislocations. Therefore, pay careful attention to the connections after applying anti-rust oil or grease. • Absolutely do not remove the encoder/resolver cover or take the motor apart. The magnet and the encoder/resolver are aligned in the Servomotor. If they become misaligned, the motor will not operate. 2-36 Design and Installation Chapter 2 • The Servomotor may not produce sufficient torque when moved only a small distance from the point where power is turned ON (a distance equivalent to about ±6 pulses). If only a very small distance is to be moved, move the motor at least ±6 pulses after turning ON the power before starting actual operation. 2-37 Design and Installation 2-2 Chapter 2 Wiring 2-2-1 Overview Use a general-purpose control cable (purchased separately) to connect the Position Driver to the Programmable Controller. For connecting the Position Driver to an AC Servomotor, use a dedicated Encoder/Resolver Cable and a Power Cable. (For the M Series there is no dedicated power cable. It must be prepared by the user.) Note Refer to Chapter 5 Specifications for details on connectors and cables. 2-38 Chapter 2 Design and Installation Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to UL/cUL or UE Type Not Conforming to Any Standards SYSMAC CV/C-series Programmable Controller C200HX/HG/HE or CQM1 Programmable Controller SRM1-C01/-C02 Master Control Unit CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable) General-purpose Control Cable FND-CCXS FND-X-series Position Driver (DIO Type) FND-X-series Position Driver (CompoBus/S Type) Backup Battery Power Cable R88A-CAUS R88A-CAUB Encoder Cable R88A-CRUC (for incremental encoder) R88A-CSUC (for absolute encoder) Connect when using a Servomotor with an absolute encoder. OMNUC U-Series AC Servomotor Conforming to UL/cUL or U-UE-Series AC Servomotor Not Conforming to Any Standards Note Refer to Chapter 5 Specifications for connector and cable specifications. 2-39 Chapter 2 Design and Installation Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to EC Directives or UE Type Conforming to EC Directives SYSMAC CV/C-series Programmable Controller C200HX/HG/HE or CQM1 Programmable Controller CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable) General-purpose Control Cable FND-CCXS FND-X-series Position Driver (DIO Type) Encoder Cable R88A-CRUDC (for incremental encoder) R88A-CSUDC (for absolute encoder) SRM1-C01/-C02 Master Control Unit Power Cable R88A-CAU001 R88A-CAU01B FND-X-series Position Driver (CompoBus/S Type) Backup Battery Connect when using a Servomotor with an absolute encoder. OMNUC U-Series AC Servomotor Conforming to EC Directives or U-UE-Series AC Servomotor Conforming to EC Directives Note Refer to Chapter 5 Specifications for connector and cable specifications. 2-40 Chapter 2 Design and Installation Using OMNUC U-series AC Servomotors: 1 to 2 kW SYSMAC CV/C-series Programmable Controller SRM1-C01/-C02 Master Control Unit C200HX/HG/HE or CQM1 Programmable Controller General-purpose Control Cable FND-CCXS FND-X-series Position Driver (DIO Type) CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable) FND-X-series Position Driver (CompoBus/S Type) Power Cable R88A-CAUBN R88A-CAUBB Encoder Cable R88A-CRUBN (for incremental encoder/ absolute encoder) Backup Battery Connect when using a Servomotor with an absolute encoder. OMNUC U-series AC Servomotor: 1 to 2 kW Note 1. Refer to Chapter 5 Specifications for connector and cable specifications. Note 2. To perform mounting in accordance with EC Directives, use a Servomotor that conforms to EC Directives. In addition, replace the connectors for the power cable and the encoder cable at the Servomotor with the recommended Connectors listed under Water and Drip Resistance in 2-1-2 Installation Conditions. 2-41 Chapter 2 Design and Installation Using an OMNUC H-series AC Servomotor SYSMAC CV/C-series Programmable Controller SYSMAC HX/HG/HE or CQM1 Programmable Controller SRM1-C01/-C02 Master Control Unit CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable) General-purpose Control Cable FND-CCXS FND-X-series Position Driver (DIO Type) FND-X-series Position Driver (CompoBus/S Type) Power Cable R88A-CAHS R88A-CAHB Conversion Cable R88A-CRH0R5T Encoder Cable R88A-CRHC OMNUC H-series AC Servomotor Note Refer to Chapter 5 Specifications for connector and cable specifications. 2-42 Chapter 2 Design and Installation Using an OMNUC M-series AC Servomotor SYSMAC CV/C-series Programmable Controller C200HX/HG/HE or CQM1 Programmable Controller General-purpose Control Cable FND-CCXS SRM1-C01/-C02 Master Control Unit CompoBus/S Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable) FND-X-series Position Driver (CompoBus/S Type) FND-X-series Position Driver (DIO Type) Power Cable (Prepared by user.) Conversion Cable R88A-CRM0R5T Resolver Cable R88A-CRMN OMNUC M-series AC Servomotor Note Refer to Chapter 5 Specifications for connector and cable specifications. 2-43 Chapter 2 Design and Installation j Wiring Power Cables Red White Blue Green j Power Cable Wire Sizes Wire size Model R88MR88M M20012 M40012 M70012 M1K112 M1K412 M1K812 M20020 M40020 M70020 M1K120 2-44 mm2 1.25 1.25 1.25 2 2 2 0.9 1.25 1.25 1.25 AWG AWG16 AWG16 AWG16 AWG14 AWG14 AWG14 AWG18 AWG16 AWG16 AWG16 Wire size Model R88MR88M M1K820 M2K220 M06040 M12040 M20040 M40040 M70040 M1K140 M2K040 mm2 3.5 3.5 0.9 0.9 0.9 0.9 1.25 1.25 3.5 AWG AWG12 AWG12 AWG18 AWG18 AWG18 AWG18 AWG16 AWG16 AWG12 Chapter 2 Design and Installation 2-2-2 Control Circuitry Terminal Wiring DIO Position Drivers Control Signal Connector (CN1: CONT) Pin Arrangement 1 2 CWL RUN RESET ORG 22 READY START 24 ORGSTP +JOG +JOG operation 26 RUNON 9 10 TEACH –JOG 12 P.IN1 Point selection 1 /Position 1 14 P.IN3 Point selection 3 /Position 3 Point selection 5 /Position 5 17 P.IN6 18 P.IN7 Point selection 2 /Position 2 32 P.OUT3 15 P.IN4 16 P.IN5 Point selection 0 /Position 0 30 P.OUT1 13 P.IN2 Point selection 4 /Position 4 Position 7 Origin search completed 25 T.COM Teaching completed 27 INP Positioning completed 29 P.OUT0 Point output 0/ Position selection 1 31 P.OUT2 Point output 2/ Position selection 3 33 P.OUT4 Point output 4/ Speed selection 35 P.OUT6 Point output 6 Point output 1/ Position selection 2 Point output 3/ Position selection 4 34 P.OUT5 Point output 5 36 +24V +24-VDC power supply input for control Point selection 6 /Position 6 23 S.COM Alarm 28 ALM 11 P.IN0 Brake output Motor running –JOG operation Teach 21 BO Origin stop 7 SEARCH Origin search 8 Output ground Ready Start Alarm reset 19 OGND Deceleration stop Origin proximity RUN command 5 6 CCW limit input 20 STOP CW limit input 3 4 CCWL j Connectors Used Sumitomo 3M Receptacle at Position Driver Soldered plug at cable side Case at cable side 10236-6202JL 10136-3000VE 10336-52A0-008 CompoBus/S Position Drivers CompoBus/S Communications Terminal Block (CN1: CONT) Pin Arrangement Signal BD H Name CompoBus/S serial line (+) BD L CompoBus/S serial line (–) Functions These are the terminals for connecting CompoBus/S communications cables. cables Be careful to connect the polarities correctly. j I/O Allocation The FND-X has 16 input points and 16 output points. 2-45 Chapter 2 Design and Installation IN (16 Input Points) I/O allocation OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 Signal RUN START RESET SEARCH +JOG –JOG TEACH STOP (see note 2) P. IN0 P. IN1 P. IN2 P. IN3 P. IN4 P. IN5 P. IN6 P. IN7 Name RUN command START Alarm reset Origin search +JOG operation –JOG operation Teach Deceleration stop Point selection 0/Position 0 Point selection 1/Position 1 Point selection 2/Position 2 Point selection 3/Position 3 Point selection 4/Position 4 Point selection 5/Position 5 Point selection 6/Position 6 Position 7 OUT (16 Output Points) I/O allocation IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 Signal BO READY S.COM ORGSTP T.COM RUNON INP ALM P. OUT0 P. OUT1 P. OUT2 P. OUT3 P. OUT4 P. OUT5 P. OUT6 --- Name Brake output READY Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0/Position selection 1 Point output 1/Position selection 2 Point output 2/Position selection 3 Point output 3/Position selection 4 Point output 4/Speed selection Point output 5 Point output 6 Not used Note 1. The I/O allocation indicates the word allocation for the Master Unit. Note 2. The Servomotor cannot be driven if the deceleration stop signal is OFF for the external control input (CN4-4) or the CompoBus/S input (OUT7). 2-46 Chapter 2 Design and Installation External Control Signal Connectors (CN4: LIMIT) Pin Arrangement 1 2 CWL CW limit STOP Deceleration stop (see note) BO Brake output 14 OGND Output ground 8 CCW limit 9 3 4 CCWL ORG Origin proximity 10 11 5 6 7 +24 V 8 12 +24-VDC power supply input for control 13 j Connectors Used Sumitomo 3M Receptacle at Position Driver Soldered plug at cable side Case at cable side 10214-6202JL 10114-3000VE 10314-52A0-008 Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control input (CN4-4) or the CompoBus/S input (OUT7). 2-47 Chapter 2 Design and Installation Control I/O Specifications DIO Compo Bus/S Signal Name CN1-1 CN4-1 CCWL CCW limit input CN1-2 CN4-2 CWL CW limit input CN1-3 CN1-4 CN4-3 OUT0 ORG RUN Origin proximity RUN command CN1-5 OUT1 START START CN1-6 OUT2 RESET Alarm reset CN1-7 OUT3 SEARCH Origin search CN1-8 OUT4 +JOG +JOG operation CN1-9 OUT5 –JOG –JOG operation CN1-10 OUT6 TEACH Teach Function and interface Inputs the + direction limit signal (status enabled) ON: Drive possible OFF: Motor stopped by limit detection when driving in the + direction. Inputs the – direction limit signal (status enabled) ON: Drive possible OFF: Motor stopped by limit detection when driving in – direction. Signal for mechanical origin setting Command for beginning power on to motor (status enabled) When OFF, error counter is cleared. ON: Power ON to motor OFF: Power OFF to motor Begins positioning operation (rising edge enabled) ON: START Alarm reset signal (rising edge enabled) When RUN is ON (rising edge enabled): ON: Origin search begins When RUN is OFF (status enabled): ON: Origin teaching awaited +JOG operation (status enabled) ON: Rotate –JOG operation (status enabled) ON: Rotate When ORIGIN SEARCH is OFF (status enabled): When UP-01 = 11 or 12, motor’s present position is taken for PTP data when this bit turns ON. When UP-01 = 13 or 14, P.IN0 to P.IN7 is taken as positioning data when this bit turns ON. When RUN is OFF and ORIGIN SEARCH is ON (status enabled): Motor’s present position is taken for origin compensation amount. 2-48 Internal allocation IN15 IN16 IN17 IN0 IN1 IN2 IN3 IN4 IN5 IN6 Chapter 2 Design and Installation DIO Compo Bus/S Signal CN1-11 OUT8 P.IN0 CN1-12 OUT9 P.IN1 CN1-13 OUT10 P.IN2 Name Function and interface Point selection 0/ Position 0 Point selection 1/ Position 1 Point selection 2/ Position 2 Point selection 3/ Position 3 Point selection 4/ Position 4 Point selection 5/ Position 5 Point selection 6/ Position 6 Position 7 Deceleration stop Positioning data inputs (status enabled) When UP-01 = 11 or 12, PTP data No. is input as positioning data. Range: 1 to 64, 64 BCD input. input CN1-14 OUT11 P.IN3 CN1-15 OUT12 P.IN4 CN1-16 OUT13 P.IN5 CN1-17 OUT14 P.IN6 CN1-18 CN1-20 OUT15 CN4-4 OUT7 P.IN7 STOP CN1-36 CN4-7 +24V CN1-19 CN4-14 OGND CN1-21 BO CN1-22 CN4-8 IN0 IN1 +24-VDC power supply input for control Output ground common Brake output READY Ready CN1-23 IN2 S.COM CN1-24 IN3 ORGSTP Origin search completed Origin stop CN1-25 IN4 T.COM CN1-26 IN5 RUNON CN1-27 IN6 INP Positioning completed CN1-28 IN7 ALM Alarm Teaching completed Motor running Internal allocation IN7 IN8 IN9 When UP-01 = 13 or 14,, positioning g d t is data i input. i t Range: R 1 to t 99, 99 BCD ini put. IN10 Taken in order, two digits at a time, from the rightmost digits. IN11 IN12 IN13 Stops according to deceleration stop mode (falling edge enabled) ON: Motor driven OFF: Motor stopped Power supply input terminal for control input. Output ground common for control input. External brake timing signal output. Output OFF when brake is operating. Outputs ready status for receiving ORIGIN SEARCH, START, TEACH, or point selection signal input. Output turns ON when positioning data is received or when motor rotation is completed. Output turns ON when motor’s present position is established. Output turns ON when positioning is stopped at mechanical origin position. Output turns ON when teaching input processing is completed. Output turns ON when power is turned ON to the motor. Output turns ON when error counter residual pulses are within the UP-07 (positioning completed range) setting. Output indicates error occurrence at the driver or motor. Output OFF when an alarm occurs. IN14 IN18 --- --OUT14 OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 2-49 Chapter 2 Design and Installation DIO Compo Bus/S Signal CN1-29 IN8 P.OUT0 CN1-30 IN9 P.OUT1 CN1-31 IN10 P.OUT2 CN1-32 IN11 P.OUT3 CN1-33 IN12 P.OUT4 CN1-34 CN1-35 IN13 IN14 P.OUT5 P.OUT6 Name Point output 0/ Position selection 1 Point output 1/ Position selection 2 Point output 2/ Position selection 3 Point output 3/ Position selection 4 Point output 4/ Speed selection Point output 5 Point output 6 Function and interface When UP-01 = 11 or 12: Outputs (BCD) point No. during waiting g or execution. When UP-01 = 13 or 14: Outputs request signal for receiving ositioning data ((position osition and sspeed). eed). positioning OUT8 The output ON time is set for PP-26 (selection signal output time). OUT9 Note The “internal allocations” are the numbers allocated in the CPU Unit. 2-50 Internal allocation OUT7 OUT10 OUT11 OUT12 OUT13 Chapter 2 Design and Installation Control Input Details DIO CCWL CN1-1 CCW limit CompoBus/S CN4-1 N.C. condition • Pin No. 1 is the plus (+) direction limit input signal. When this signal is not being input (ON), the motor cannot be rotated in the plus (+) direction. • If this signal turns OFF during motor rotation in the plus (+) direction, the motor will be stopped according to the PP-25 (alarm selection) setting. DIO CWL CN1-2 CW limit CompoBus/S CN4-2 N.C. condition • Pin No. 2 is the minus (–) direction limit input signal. When this signal is not being input (ON), the motor cannot be rotated in the minus (–) direction. • If this signal turns OFF during motor rotation in the minus (–) direction, the motor will be stopped according to the PP-25 (alarm selection) setting. DIO ORG CN1-3 Origin proximity CompoBus/S CN4-3 N.O. condition • Pin No. 3 is the input for determining the mechanical origin. • When an origin search is executed, operation stops at the motor’s Z-phase position and the origin is determined after the origin proximity signal turns from ON to OFF during motor rotation in the direction set by PP-19 (origin search direction). • When PP-06 and PP-07 (leftmost and rightmost digits for the origin compensation amount) are set, positioning will be executed from this position by the amount set for origin compensation, and then that compensated position will be taken as the mechanical origin. DIO RUN CN1-4 RUN command CompoBus/S OUT0 N.O. condition The pin No. 4 signal input turns ON the power to drive the motor and begins motor operation. If this signal is not input (turned ON), the motor cannot be driven. DIO START CN1-5 START CompoBus/S OUT1 N.O. condition • The pin No. 5 signal input executes the specified positioning (point No. input or direct input). • When this signal is input (turned ON), the motor is operated and positioning is executed based on the positioning data. DIO RESET CN1-6 Alarm reset CompoBus/S OUT2 N.O. condition • This is the alarm’s external reset signal. • When this signal is input (turned ON), the alarm is cleared and the alarm output is turned ON. (The alarm will not be cleared, however, if the alarm condition remains in effect.) • If this signal is input under normal conditions (i.e., when no alarm is generated), the motor is decelerated to a stop according to the deceleration time. • When positioning is being executed according to PTP data, the point number is taken again. • When an alarm is generated, remove the cause of the alarm before beginning operation again. For safety’s sake, turn OFF the RUN command before inputting the alarm reset signal. 2-51 Chapter 2 Design and Installation DIO SEARCH CN1-7 Origin search CompoBus/S OUT3 N.O. condition • The pin No. 7 signal input begins an origin search or origin teaching operation. • When this signal is input (turned ON) while RUN is ON, an origin search operation is executed. (The motor rotates in the direction set in PP-19 (origin search direction). • When this signal is input (turned ON) while RUN is OFF, an origin teaching operation is executed. If the teaching (TEACH) signal is turned ON while the origin search signal is ON, the position at that time will be automatically taken into PP-06/PP-07 (origin compensation amount) as the origin compensation amount. DIO +JOG CN1-8 +JOG operation CompoBus/S OUT4 N.O. condition • The pin No. 8 signal input rotates the motor in the + JOG direction at the JOG speed. • While this signal is being input (i.e., while it is ON), the motor rotates in the forward direction at the speed set in PP-16 (JOG speed). DIO –JOG CN1-9 –JOG operation CompoBus/S OUT5 N.O. condition • The pin No. 9 signal input rotates the motor in the – JOG direction at the JOG speed. • While this signal is being input (i.e., while it is ON), the motor rotates in the reverse direction at the speed set in PP-16 (JOG speed). DIO TEACH CN1-10 Teach CompoBus/S OUT6 N.O. condition j Teaching [Origin established, UP-01 (Control Mode) = 11 or 12, Origin search signal OFF] • This is the signal input for automatically taking the PTP data’s position data. • When this signal is input (turned ON), the motor’s present value is taken as an absolute value to the position data for the PTP data (Pd-) selected by the point selection signal. j Taking Direct Positioning Data [Origin established, UP-01 (Control Mode) = 13 or 14, RUN command OFF, origin search signal OFF] • This is the signal input for taking the positioning data (position, speed) from the control input. • When this signal is input (turned ON), the position and speed data are taken sequentially from the positioning data inputs (P.IN 0 to 7), two digits at a time, beginning from the rightmost digits. • The position and speed selection signals (P.OUT 0 to 4) are output as data request signals. j Origin Teaching [Origin established, RUN command OFF, origin search signal ON] • This is the input signal for automatically taking the origin compensation amount. • When this signal is input (turned ON), the motor’s present value is taken into PP-06/PP-07 (origin compensation amount) as the origin compensation amount, at the encoder/resolver resolution conversion. 2-52 Chapter 2 Design and Installation DIO P.IN0 to 7 CN1-11 to 18 CompoBus/S Point selection / Position data OUT8 to 15 N.O. condition j Point Selection 0 to 6 [UP-01 (Control Mode) = 11 or 12] • This is the signal input for selecting positioning data from PTP data. • The range of data is 1 to 64, in BCD. • Point selections 0 to 3 become the data input for digit 100, and point selections 4 to 6 become the data input for digit 101. Example: When point No. 12 is set. Point selection 6 5 4 3 2 1 0 0 0 1 0 0 1 0 0: OFF, 1: ON j Positions 0 to 7 [UP-01 (Control Mode) = 13 or 14] • This is the positioning data signal input. • The range of data is 0 to 99, in BCD (up to a maximum of “F9,” for the position’s leftmost digits only). • The 32 bits for the position data and the 8 bits for the speed data are taken eight bits at a time. At this time the position and speed selection signals (P.OUT 0 to 4) are output as data request signals. Refresh the input data according to the data request signals. • If the speed is set to “0,” it will be taken as 100%. DIO STOP CN1-20 Deceleration stop CompoBus/S CN4-4 / OUT7 N.C. condition • This is the signal input for forcibly stopping motor rotation. • While this signal is not being input (ON), the motor cannot be driven. • With the CompoBus/S Position Drivers, the motor cannot be driven unless the external control signal input (CN4-4) and the CompoBus/S input (OUT7) are both input. • The method for stopping the motor depends on the set value for PP-24 (deceleration stop mode). Control Output Details DIO BO CN1-21 Brake output CompoBus/S CN4-8 / IN0 • When UP-16 (brake mode) is set to 1, 2, or 3 (brake retention), the timing signal for applying the electromagnetic brake is output. If the motor’s rotation speed falls below the UP-28 (brake-ON r/min) set value under the following circumstances, the output will be turned OFF and the electromagnetic brake will be operated. When the RUN signal has been turned OFF. When an error shutting OFF the power to the motor has occurred. When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run stop). • When UP-16 is set to 0 (dynamic brake), the timing signal for applying the dynamic brake is output. Under the following circumstances the output is turned OFF and the dynamic brake is operated. 2-53 Chapter 2 Design and Installation When the RUN signal has been turned OFF. When an error shutting OFF the power to the motor has occurred. When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run stop). Electromagnetic Brake Wiring and Operational Sequence • Wiring AC Servomotor Brake (See note) 24 VDC Protectively separated 24 VDC Note With the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and OGND (CN4 to 14) are provided. For controlling brake drive bits, use the CN4 to CN8 pin outputs. • Operational Sequence RUN Alarm reset (RESET) Alarm (ALM) Power to motor Power ON Power ON Brake output (BO) Note 1 Note 2 Motor operation (speed) UP-28 (brake-ON r/min) Note 1. When the motor is stopped, the brake output turns OFF in approximately 2.4 ms. Note 2. When the motor is stopped, the brake output turns OFF in approximately 0.8 ms. 2-54 Chapter 2 Design and Installation Dynamic Brake Wiring and Operational Sequence • Wiring AC Servomotor (See note) 24 VDC Protectively separated Note With the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and OGND (CN4 to 14) are provided. For controlling dynamic brake drive bits, use the CN4 to CN8 pin outputs. • Operational Sequence RUN Alarm reset (RESET) Alarm (ALM) Power ON Power to motor Power ON Brake output (BO) Motor operation (speed) DIO READY CN1-22 READY CompoBus/S IN1 • This output turns ON when the input signal processing is completed and the origin search, start, teach, and point selection signal inputs are ready. • The output turns OFF when position data is taken and positioning begins, and turns ON when the processing is completed. The time set for HP-46 (positioning completed timer) must be OFF. • While this signal is OFF, any START signal that is input will be invalid. 2-55 Chapter 2 Design and Installation DIO S.COM CN1-23 CompoBus/S Origin search completed IN2 • This output turns ON when the mechanical origin is established. • The output conditions are as follows: When a motor with an absolute-value encoder is connected, the signal turns ON when the power supply is input. When a motor with an incremental encoder or resolver is connected: When UP-01 (control mode) is 11 or 13, the signal turns ON after origin search is completed. When UP-01 (control mode) is 12 or 14, the signal turns ON when the power supply is input. DIO ORGSTP CN1-24 Origin stop CompoBus/S IN3 The output turns ON when the motor is stopped at the mechanical origin. DIO T.COM CN1-25 CompoBus/S Teaching completed IN4 • This output turns ON when the teaching input processing is completed. • The output turns OFF when the teaching input turns OFF. DIO RUNON CN1-26 Motor running CompoBus/S IN5 This output turns ON when the RUN command is input to the motor and power begins to flow to the motor. DIO INP CN1-27 CompoBus/S Positioning completed IN6 • This output turns ON when error counter residual pulses are within the UP-07 (positioning completed range) setting. • The output turns OFF when positioning begins. • After positioning is completed, the output remains ON until the time set for HP-46 (positioning completed timer) elapses. DIO ALM CN1-28 Alarm CompoBus/S IN7 • This output turns OFF when the driver detects an error. • The output is OFF when the power supply is turned ON, and the output turns ON when the initial processing is completed. DIO P.OUT0 to 6 CN1-29 to 35 CompoBus/S IN8 to 14 Point output / Position selection, speed selection j Point Outputs 0 to 6 [UP-01 (Control Mode) = 11 or 12] • The PTP data number that is waiting or being executed is output. • The range of output data is 0 to 64, in BCD. (0: When point selection not input.) 2-56 Chapter 2 Design and Installation • Point outputs 0 to 3 become the data output for digit 100, and point outputs 4 to 6 become the data output for digit 101. Example: When point No. 12 is selected. Point output 6 5 4 3 2 1 0 0 0 1 0 0 1 0 0: OFF, 1: ON j Position Selection 1 to 4 [UP-01 (Control Mode) = 13 or 14] • This is the request signal output for obtaining positioning data. • Refresh the data for positions 0 to 7 (P.IN 0 to 7) according to the data request signals. • The output ON time can be set by PP-26 (selection signal output time). Adjust this parameter when inputting data from a source such as a Programmable Controller. 2-57 Chapter 2 Design and Installation Control I/O Connections and External Signal Processing (DIO Position Drivers) 24 VDC +24 V Brake output CCW limit input Maximum voltage: 24 VDC CW limit input Output current: 40 mA Origin proximity RUN Origin search completed START Origin stop Alarm reset Teaching completed Origin search +JOG operation Motor running –JOG operation Positioning completed Teach Point selection 0/ Position 0 Alarm Point output 0 / Position selection 1 Position 7 STOP 24 VDC 8 mA Point output 6 Output ground Note 1. The wiring for control inputs P.IN 1 to 6 is omitted. The input circuitry is the same as for P.IN0. Note 2. The wiring for control inputs P.OUT 1 to 5 is omitted. The output circuitry is the same as for P.OUT 0. 2-58 Chapter 2 Design and Installation Control I/O Connections and External Signal Processing (CompoBus/S Position Drivers) 24 VDC +24 V 7 8 Brake output CCW limit input 14 CW limit input Output ground Maximum voltage: 24 VDC Output current: 40 mA Origin proximity Deceleration stop 24 VDC 8 mA Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control input (CN4-4) or the CompoBus/S input (OUT7). 2-59 Chapter 2 Design and Installation Example: Connecting DIO Position Drivers to a Programmable Controller FND-X Position Driver 24 VDC +24 V Programmable Controller Output Unit Brake Programmable Controller Input Unit 2-60 Chapter 2 Design and Installation Example: Connecting DIO Position Drivers to Thumbwheel Switch (Positioning Data Designation by Direct Input) 24 VDC Note 1. The wiring for position data digits 102 to 105 is omitted, but it is the same as for the other digits. Note 2. The wiring for control output pins 21 to 28 is omitted. Note 3. Do not remove the reversecurrent prevention diodes even when outputting the position and speed data from PLC Output Units. +24 V FND-X Position Driver Position data 100 digit Position data 101 digit Position data 106 digit Position data 107 digit Sign +/– INC/ABS Speed data 100 digit Speed data 101 digit 2-61 Chapter 2 Design and Installation 2-2-3 Wiring Terminal Blocks Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks. Wiring FND-X06 to X25 Terminal Blocks Power supply inputs Regeneration Resistor connection terminals Red Power cable White Blue or Black Green 2-62 Chapter 2 Design and Installation Terminal Name label Power supply input R S P J N A Function The commercial power supply input terminals for the main circuit and the control circuits. Single-phase FND-XH-: Singlehase 200/240 VAC (170 to 264 V) 50/60 Hz FND-XL-: Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Main circuit DC output Connector terminals for the R88A-RR20030 or Regenerative Resistor connection terminals R88A R88A-RR40030 RR40030 Regenerative Resistor, which will be required if there is excessive regenerative energy. (see note) Main circuit DC output Main circuit DC output terminal. These are the output terminals to the SerPhases A and U motor output Red vomotor. Be careful to wire them correctly. OMNUC Servomotors can be connected h i l with i h R88A CAU to these terminals R88A-CAU Cable (for U-series Servomotors) or R88A-CAH Cable (for H-series Servomotors). B Phases B and V motor output White C Phases C and W motor output Blue or black Frame ground Green Ground (to 100 Ω or less). This terminal is used for both motor output and power supply input. OMRON does not provide a cable to connect these terminals to OMNUC M-series Servomotors, so the user must provide an appropriate cable if an M-series Servomotor is used. Note Refer to 3-10 Regenerative Energy Absorption for the methods to calculate regenerative energy. 2-63 Chapter 2 Design and Installation Wiring FND-X50 Terminal Blocks Protectively separated Power cable Main power Regeneration supply inputs Resistor 2-64 Green Blue or Black White Red Control circuit power supply inputs Ground (100 Ω or less) Chapter 2 Design and Installation Terminal Name label Control circuit power supply input R0 S0 R S T P J1 J2 N MC COM BO BI1 BI2 A Function The commercial power supply input terminals for the control circuits. Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz Main power supply y input The commercial power supply y input terminals for the h main i circuits. i i Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz Main circuit DC output Connector terminals for the R88A-RR20030 or Resistor which will Regenerative Resistor connection terminals R88A-RR40030 Regenerative Resistor, be required if there is excessive regenerative energy. IIn thi this case, remove th the short h tb bar b between t JP1 and JP2. (see note) Main circuit DC output Main circuit DC output terminal. Not used. Do not connect anything y g to these terminals and do not remove the h short h b bar b between BI BI1 and d BI BI2. Phases A and U motor output Red B Phases B and V motor output White C Phases C and W motor output Blue or black Frame ground These are the output terminals to the Servomotor. Be careful to wire them correctly. OMNUC Servomotors can be connected to these terminals with R88A-CAUB Cable (for U-series Servomotors). OMRON O O does not provide a cable to connect these terminals to OMNUC M-series Servomotors, so the user must provide an appropriate cable if an M-series Servomotor is used. Green Ground (to 100 Ω or less). This terminal is used for both motor output and power supply input. Note Refer to 3-10 Regenerative Energy Absorption for the methods to calculate regenerative energy. 2-65 Chapter 2 Design and Installation Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Position Driver’s terminal block, and also the sizes of the electrical wires. j Position Drivers with 200-VAC Input (FND-XH-) Driver Main power supply l iinput termii nals (R, (R S, S T) Control circuit in power supply inut terminals put (R0, S0) Motor output terminals (A, (A B, B C, C PE) Effective current Wire size Tightening torque Effective current FND-X06H- 2.1 A 0.75 mm2 1.3 N⋅m --- Wire size --- FND-X12H- 4.9 A FND-X25H- 10.1 A 1.25 mm2 FND-X50H- 16 A 0.35 A 0.75 mm2 Tightening torque --- 1.3 N⋅m Effective current 1.4 A 3.4 A Wire size 0.75 mm2 5.7 A 14.1 A 1.25 mm2 2.0 mm2 1.25 mm2 2.0 mm2 Tightening torque 1.3 N⋅m Frame g ground terminal i l (PE) Wire size 0.75 mm2 Tightening torque 1.3 N⋅m j Position Drivers with 100-VAC Input (FND-XL-) Driver Main power supply y input terminals i l (R (R, S) Motor output terminals (A B, (A, B C, C PE) Frame ground g terminal (PE) FND-X06L- Effective current Wire size Tightening torque Effective current Wire size Tightening torque Wire size Tightening torque 2.9 A 0.75 mm2 1.3 N⋅m 1.4 A 0.75 mm2 1.3 N⋅m 0.75 mm2 1.3 N⋅m FND-X12L- 3.3 A 2.1 A Wire Sizes and Allowable Current The following table shows allowable currents when there are three electrical wires. Use values equal to or lower than the specified values. j Heat-resistant Vinyl Wiring, UL1007, Rated Temperature 80°C (Reference Value) AWG size 20 --18 16 14 12 10 2-66 Nominal crosssectional area 2) ( (mm 0.5 0.75 0.9 1.25 2.0 3.5 5.5 Configuration ((wires/mm2) 19/0.18 30/0.18 37/0.18 50/0.18 7/0.6 7/0.8 7/1.0 Conductive resistance (Ω/k ) (Ω/km) 39.5 26.0 24.4 15.6 9.53 5.41 3.47 Allowable current (A) for ambient temperature 40°C 6.6 8.8 9.0 12.0 23 33 43 50°C 5.6 7.0 7.7 11.0 20 29 38 60°C 4.5 5.5 6.0 8.5 16 24 31 Chapter 2 Design and Installation 2-2-4 Wiring for Noise Resistance j Wiring Method for FND-X06 to -X25 Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below. (Faulty grounding, shortcircuit protection) (Lightning surge protection) (Noise protection) (Noise protection) Noise filter No-fuse breaker NFB Surge absorber FND-X Contactor X1 1 3 TB R TB A 4 S B C NF AC power supply 2 E Fuse R88M-U/H/M Metal duct M CN2 2 mm2 min. 3.5mm2 Thick power line (3.5 mm2) (Electric shock noise protection) Ground (to 100 Ω or less) Ground plate Control board ground Controller power supply Machine ground (Electrical shock, noise protection) • Ground the motor’s frame to the machine ground when the motor is on a movable shaft. • Use a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a single point. • Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines are as short as possible. • If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring. If input and output lines are wired together, noise resistance will decrease. • No-fuse breakers, surge absorbers, and noise filters (NF) should be positioned near the input terminal block (ground plate), and I/O lines should be isolated and wired using the shortest means possible. • Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control panel whenever possible. Right: Separate input and output 1 AC input Ground 3 NF 2 Wrong: Noise not filtered effectively E 4 1 AC output AC input 3 NF 2 E 4 Ground AC output 2-67 Chapter 2 Design and Installation • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Twisted Wires Binding R Position Driver Position Driver or S Binding • Separate power supply cables and signal cables when wiring. j Wiring Method for FND-X50H- Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below. (Faulty grounding, short-circuit protection) (Lightning surge protection) No-fuse breaker Surge absorber AC power supply (Noise protection) (Noise protection) Noise filter Contactor Metal duct CN2 (M.SEN) Fuse Protectively separated Thick power line (3.5 mm2) Ground (to 100 Ω or less) (Electric shock noise protection) Ground plate Controller power supply Control board ground (Electrical shock, noise protection) Machine ground • Ground the motor’s frame to the machine ground when the motor is on a movable shaft. • Use a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a single point. • Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines are as short as possible. • If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring. If input and output lines are wired together, noise resistance will decrease. • No-fuse breakers, surge absorbers, and noise filters (NF) should be positioned near the input terminal block (ground plate), and I/O lines should be isolated and wired using the shortest means possible. 2-68 Chapter 2 Design and Installation • Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control panel whenever possible. Right: Separate input and output AC inputs AC outputs Wrong: Noise not filtered effectively AC inputs Ground Ground AC outputs • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Twisted Wires Binding Position Driver Position Driver Binding • Separate power supply cables and signal cables when wiring. j Selecting Components This section explains the standards for selecting the required components for improving noise resistance. When selecting components, it is necessary to understand characteristics such as the capacity, performance, applicable range, and so on. For details regarding any of the recommended products listed in the tables below, contact their respective makers. D No-fuse Breakers When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. The momentary maximum output for a servo system is approximately three times that of the rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the rated maximum output. Generalpurpose and low-speed no-fuse breakers are generally suitable. Refer to the table in 2-2-3 Wiring Terminal Blocks for the power supply input currents for each motor, and then add the current consumption for the number of shafts, other controllers, etc., to make the selection. The Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input. With lowspeed no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1 second. When making the selection, take into consideration the entire inrush current for the system. 2-69 Chapter 2 Design and Installation D Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal voltages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge immunity, and the amount of energy resistance. For 200-VAC systems, use a varistor voltage of 470 V. The surge absorbers shown in the following table are recommended. Maker Model Matsushita El Electric i Industrial Ishizuka El Electric i Okaya y El i Electric Industrial Varistor voltage ERZC10DK471 (W) ERZC14DK471 (W) ERZC20DK471 (W) ERZC20EK471 (W) Z10L471 Z15L471 Z21L471 Z25M471S RAV-781 BWZ-2A RAV-781 BXZ-2A R-A-V-401-621BYR-2 470 V 470 V 470 V 470 V 470 V 470 V 470 V 470 V ------- Max. limit voltage 775 V 775 V 775 V 775 V 773 V 738 V 733 V 810 V 783 V 783 V 620 V Surge immunity 1,250 A 2,500 A 4,000 A 5,000 A 1,000 A 1,250 A 3,000A 10,000 A 1,000 A 1,000 A 1,000 A Energy resistance 45J 80J 150J 150J 15Ws 20Ws 30Ws 235J ------- Fuse capacity 3 to 5 A 3 to 10 A 5 to 15 A --3 to 5 A 3 to 5 A 5 to 10 A --------- Type Tester Block Tester Block Block Note 1. The “(W)” for the Matsushita Electric Industrial products indicates that they are UL- and CSAapproved products. Note 2. Refer to manufacturers documentation for operating details. Note 3. 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. Note 4. The energy resistance is the value at 2 ms. At 700 V or less, high-energy pulses may not be avoidable. In that case, use an insulated transformer or reactor for surge absorption. D Noise Filters for Power Supply Input • Use a noise filter for external noise attenuation and for the reduction of radiation noise from the Position Driver. • Select a noise filter with a rated current of at least double that of the Driver’s input current. • The noise filters shown in the following table can be used for 40-dB attenuation of noise between 200 kHz and 30 MHz. Maker Tokin Model LF-210N LF-215N LF-220N LF-315K LF-325K Rated current 10 A 15 A 20 A 15 A 25 A Remarks For single g phase For three phase Note 1. For attenuating noise in a low-frequency band of less than 200 kHz, use an insulated transformer and a noise filter. Note 2. For attenuating noise in a high-frequency band of more than 30 MHz, use a ferrite core and a high-frequency noise filter employing a through-type capacitor. 2-70 Chapter 2 Design and Installation D Noise Filters for Servomotor Output • For Servomotor output lines, use a filter type without a built-in capacitor. • The following table shows recommended noise filters for Servomotor output lines. Maker Tokin Fuji Electrochemical Model LF-310KA LF-320KA ESD-R-47B Rated current 10 A 20 A --- RN80UD --- Remarks 3-phase block noise filter EMI core for radiation noise 10 turns for radiation noise Note The same noise filter cannot be used for Servomotor output lines as for the power supply. ! Caution Ordinary noise filters are created for a power supply frequency of 50/60 Hz, so connecting an output of 10 kHz (the Position Driver’s PWM frequency) can generate an extremely high (approximately 100 time the normal) leakage current flow to the capacitor in the noise filter and cause damage to the Position Driver. D Surge Killers Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. The following table shows types of surge killers and recommended products. Type Diode Features Diodes are relatively small devices such as relays used for loads when reset time is not an issue. The reset time is increased because the surge voltage is the lowest when power is cut OFF. Used for 24/48-VDC systems. Thyristor or Varistor Thyristor and varistor are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage when power is cut OFF is approximately 1.5 times that of the varistor. Capacitor + resistor Use capacitors and resistors for vibration absorption of surge when power is cut OFF. The reset time can be shortened by proper selection of the capacitor or resistor. Recommended products Use a fast-recovery diode with a short reverse recovery time. Fuji Electric Co., ERB44-06 or equivalent Select varistor voltage as follows: 24-VDC system varistor: 39 V 100-VDC system varistor: 200 V 100-VAC system varistor: 270 V 200-VAC system varistor: 470 V Okaya Electric Industrial Co. CR-50500 0.5 µF-50 Ω CRE-50500 0.5 µF-50 Ω S2-A-0 0.2 µF-500 Ω Note Thyristors and varistors are made by the following companies. Refer to manufacturers documentation for operating details. Thyristors: Ishizuka Electronics Co. Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co. 2-71 Chapter 2 Design and Installation D Contactors When selecting contactors, take into consideration the circuit’s inrush current and the momentary maximum current. The Position Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors. Maker OMRON Model G6C-2BND LY2-D G7L-2A-BUBJ J7AN-E3 LC1D25106 LP1D25106 Rated current 10 A 10 A 25 A 15 A 26 A 26 A Momentary maximum current ------120 A ----- Coil voltage 24 VDC 24 VDC 24 VDC, 200 to 240 VAC 24 VDC 200 VAC 24 VDC D Leakage Breakers • Select leakage breakers designed for inverters. • Since switching operations take place inside the Position Driver, high-frequency current leaks from the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from operating due to leakage current. • When selecting leakage breakers, also remember to add the leakage current from devices other than the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on. • For detailed information on how to select leakage breakers, refer to the catalogs provided by the manufacturers. • The following table shows the Servomotor leakage currents for each Driver model. Driver model FND-X06/X12 FND-X25 FND-X50H Leakage current (direct) (including high-frequency current) 35 mA0-P 40 mA0-P 120 mA0-P Leakage current (resistor-capacitor, in commercial power supply frequency range) 2 mArms 2 mArms 3 mArms Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change depending on the length of power cables and the insulation. Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will change depending on the temperature and humidity. j Improving Encoder and Resolver Cable Noise Resistance Signals from the encoder are A-phase, B-phase, or S-phase. The A-phase and B-phase frequency is 154 kHz, and the S-phase baud rate is 616K bits/s. Signals from the resolver are analog voltage signals. Follow the wiring methods outlined below to improve encoder/resolver noise resistance. • Be sure to use dedicated encoder and resolver cables. • If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire. 2-72 Chapter 2 Design and Installation • Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and will cause malfunctions. Be sure to use cables fully extended. • When installing noise filters for encoder cables, use clamp filters. The following table shows the recommended clamp filter models. (Do not use the clamp filters for resolver cables.) Maker Tokin TDK Name EMI core Clamp filter Model ESD-QR-25-1 ZCAT2032-0930 ZCAT3035-1330 ZCAT2035-0930A • Do not wire the encoder or resolver cable in the same duct as power cables and control cables for brakes, solenoids, clutches, and valves. j Improving Control I/O Signal Noise Resistance Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined below for the power supply and wiring. • Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, be careful not to connect two power supply ground wires. Install a noise filter on the primary side of the control power supply. • 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 Position Driver input section and the controller output section. • Use shielded cable for the control cables, and connect the shield to the connector frame at the Driver. 2-2-5 Wiring Products Conforming to EMC Directives Position Drivers will meet the requirements of the EMC Directives if they are connected to a U-Series Servomotor that conforms to the EC directives and are wired under the conditions described in this section. If the connected devices, wiring, and other conditions cannot be made to fulfill the installation and wiring conditions when the product is incorporated into a machine, the compliance of the overall machine must be confirmed. The following conditions must be met to conform to EMC Directives. • The Position Driver must be installed in a metal case (control panel). • Noise filters and surge absorbers must be installed on all power supply lines. • Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, soft copper wires for the shield weaving.) • All cables leaving the control panel must be wired in metal ducts or conduits with blades. • Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it. 2-73 Chapter 2 Design and Installation j Wiring Methods D FND-X06 to X25 Position Drivers Device containing Servomotor Control panel Metal plate Metal duct or AC power conduit supply NFB R88M-U conforming to EC Directives Brake power supply Surge absorber Ferrite core Contactor Metal duct or conduit Noise filter Protectively separated Ground (100 Ω max.) 0.5 m max. Controller power supply Ferrite core Clamp Driver FG Controller Ferrite core Clamp Grounding plate DIO: 5 m max. CompoBus/S: 100 m max. Clamp 0.5 m max. 0.5 m max. Controller Note 1. The cable winding for the ferrite core must be 1 turn. Note 2. Remove the sheathes from the cables at the clamps and ground them directly to the metal plate at the clamps. Note 3. For DIO Position Drivers, remove the sheath from control cables and connect the shield directly to the metal plate. For CompoBus/S Position Drivers, place the control cables in metal ducts or conduits and connect the duct or conduit directly to the metal plate. 2-74 Chapter 2 Design and Installation D FND-X50H- Position Drivers Control panel Device containing Servomotor R88M-U conforming to EC Directives Metal plate Metal duct or AC power conduit supply Brake power supply Surge absorber NFB Noise filter Ground (100 Ω max.) Controller power supply Ferrite core Contactor Metal duct or conduit Protectively separated Ferrite core 0.5 m max. Clamp Driver FG Controller Ferrite core Clamp Grounding plate 0.5 m max. DIO: 5 m max. CompoBus/S: 100 m max. Clamp 0.5 m max. Controller Note 1. The cable winding for the ferrite core must be 1 turn. Note 2. Remove the sheathes from the cables at the clamps and ground them directly to the metal plate at the clamps. Note 3. For DIO Position Drivers, remove the sheath from control cables and connect the shield directly to the metal plate. For CompoBus/S Position Drivers, place the control cables in metal ducts or conduits and connect the duct or conduit directly to the metal plate. D All Position Drivers • Ground the motor’s frame to the machine ground when the motor is on a movable shaft. • Connect the frame ground for each Unit as shown in the diagram and using ground lines as short as possible. • If no-fuse breakers (MCCB) are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring 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. • No-fuse breakers (MCCB), surge absorbers, and noise filters (NF) should be positioned near the input terminal block (ground plate), and I/O lines should be isolated and wired using the shortest means possible. j Noise Filters • Remove the coating (or mask when coating) from the panel area to which the Position Driver and noise filters are mounted to improve electrical conductivity. • Locate noise filters as close to the Position Driver as possible and keep the wiring distance between the noise filters and Position Driver as short as possible. 2-75 Chapter 2 Design and Installation • Wire the noise filter as shown at the left in the following illustrations. Good: Separate input and output AC inputs 1 2 3 4 NF NO: Noise not filtered effectively AC outputs AC inputs 1 2 5 6 2 E Ground 4 NF 5 6 E Ground AC outputs • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Twisted Wires Binding R0 R S T Position Driver Position Driver S0 Binding • Separate power supply cables and signal cables when wiring. FND-X06 to X25 Position Drivers FND-X50H- Position Drivers Installation panel AC power Installation panel Do not coat mounting surface. FND-X AC power Do not coat mounting surface. Primary Contactor FND-X Noise filter Secondary Control circuit power supply Primary Noise filter Contactor Secondary Main power supply Main power supply and control circuit power supply 0.5 m max. 0.5 m max. j Connecting Cables • Used shielded cables for control cables and encoder cables. • All cables leaving the control panel must be wired in metal ducts or conduits with blades. • All power cables and encoder cables to the Servomotors must be 20 m or less. 2-76 Chapter 2 Design and Installation • Remove the sheathes from the control cables and encoder cables at the clamps and ground the shield directly at the clamps. • Ground the metal ducts and conduits with blades • Attach ferrite cores on all cables as near as possible to the Position Driver. Shield Connections Installation panel Installation panel FND-X Host controller 0.5 m max. Clamp 0.5 m max. Clamp 0.5 m max. Clamp Do not coat or plate mounting surface. Detail at Clamps j Control Panel Structure Any gaps in the cable entrances, mounting screws, cover, or other parts of a control panel can allow electric waves to leak from or enter the control panel. The items described in this section must be abided by in panel design and selection to ensure that electric waves cannot leak or enter the control panel. D Case Structure • Use a metal control panel with welded joints on the top, bottom, and all sides. The case must be electrically conductive. 2-77 Chapter 2 Design and Installation • When assembling the control panel, remove the coating from all joints (or mask the joints when coating) to ensure electrical conductivity. • Be sure that no gaps are created when installing the control panel, as gaps can be caused by distortion when tightening screws. • Be sure there are not any electrically conductive parts that are not in electrical contact. • Ground all Units mounted in the control panel to the panel case. • Never open holes in the control panel that are any larger than necessary. Open smaller individual holes (e.g., for individual cables, cooling fans, etc.). Large holes will allow allow electric waves to leak from or enter the control panel. • Be sure that the panels to check the Position Driver and other Units are mounted are electrically conductive with the control panel. Control panel case Top Do not coat or plate. Side Do not coat or plate. Mounting panel D Door Structure • Use a metal door. • Connect the door and the control panel with short wires at several locations to ensure electrical conductivity. • Be sure that no gaps are created when installing the cover, as gaps can be caused by distortion when tightening screws. Weld screws or other conductive objects to the door and case and connect with ground wires to ensure electrical conductivity. Control panel case Door 2-78 Chapter 2 Design and Installation j Selecting Components This section describes standards to be considered when selecting components to be connected to reduce noise. Select components after reviewing characteristics such as capacities, performance, and application ranges. Recommended components are listed below for reference. For further details, consult the manufacturer. D No-fuse Breakers (MCCB) When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. The momentary maximum output for a servo system is approximately three times that of the rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the rated maximum output. General-purpose and low-speed no-fuse breakers are generally suitable. Refer to the table in 2-2-3 Wiring Terminal Blocks for the power supply input currents for each motor. Be sure to add the current consumption for the number of shafts, other controllers, etc., to make the selection. The Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is input. With lowspeed no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1 second. When making the selection, take into consideration the entire inrush current for the system. D Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal voltages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge immunity, and the amount of energy resistance. For 200-VAC systems, use a varistor voltage of 470 V. The surge absorbers shown in the following table are recommended. Maker Okaya y El Electric i Ind. I d Model R.A.V-781BYZ-2 R.A.V-781BXZ-4 Max. limit voltage 783 V 783 V Surge immunity 1,000 A 1,000 A Type Block Remarks For power supply line For power supply line ground Note 1. Refer to manufacturer’s 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. D Ferrite Cores Maker TDK Model ZCAT305-1330 D Power Supply Input Noise Filters Maker Soshin Electric Co.,, Ltd. Motor capacity 30 to 500 W 750 to 1,000 W 1.5 to 2 kW Model NF2010A-PI NF2015A-PI HF3010A-PI Remarks Single-phase, 10 A Single-phase, 15 A Three-phase, 10 A 2-79 Chapter 2 Design and Installation NF2010A-PI/NF2015A-PI Dimensions 77 max. Two, 5-mm dia. 77 max. HF2030A-PI Dimensions Four, 5-mm dia. 2-80 Chapter 2 Design and Installation D Surge Killers Install surge killers for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. The following table shows types of surge killers and recommended products. Type Diode Features Diodes are relatively small devices such as relays used for loads when reset time is not an issue. The reset time is increased because the surge voltage is the lowest when power is cut off. Used for 24/48-VDC systems. Thyristor or Varistor Thyristor and varistor are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage when power is cut off is approximately 1.5 times that of the varistor. Capacitor + resistor Use capacitors and resistors for vibration absorption of surge when power is cut off. The reset time can be shortened by proper selection of the capacitor or resistor. Recommended products Use a fast-recovery diode with a short reverse recovery time. Fuji Electric Co., ERB44-06 or equivalent Select varistor voltage as follows: 24-VDC system varistor: 100-VDC system varistor: 100-VAC system varistor: 200-VAC system varistor: Okaya Electric Ind. 39 V 200 V 270 V 470 V CR-50500 0.5 µF-50 Ω CRE-50500 0.5 µF-50 Ω S2-A-0 0.2 µF-500 Ω Note Thyristors and varistors are made by the following companies. Refer to manufacturer’s documentation for operating details. Thyristors: Ishizuka Electronics Co. Varistors: Ishizuka Electronics Co., Matsushita Electric Parts D Contactors When selecting contactors, take into consideration the circuit’s inrush current and the momentary maximum current. The Position Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors. Maker OMRON Model LC1D25106 LC1D40116 LC1D50116 LC1D80116 LP1D25106 LP1D40116 LP1D50116 LP1D80116 Rated current 26 A 35 A 50 A 80 A 26 A 35 A 50 A 80 A Coil voltage 200 VAC 24 VDC D Leakage Breakers • Select leakage breakers designed for inverters. • Switching operations take place inside the Position Driver, causing high-frequency current to leak from the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not detected, preventing the breaker from operating due to leakage current. • When selecting leakage breakers, also remember to add the leakage current from devices other than the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on. • For detailed information about the selection methods of leakage breakers, refer to catalogs provided by manufacturers. 2-81 Design and Installation Chapter 2 • The following table shows the Servomotor leakage currents for each Position Driver. Driver Leakage current (resistor-capacitor, in commercial power supply frequency range) FND-X06/X12 35 mA0-P 2 mArms FND-X25 40 mA0-P 2 mArms FND-X50H 120 mA0-P 3 mArms Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change depending on the length of power cables and the insulation. Note Leakage current (resistor) (including high-frequency current) 2. Leakage current values shown above are for room temperature and humidity. The values will change depending on the temperature and humidity. j Improving Encoder/Resolver Cable Noise Resistance Signals from the encoder are either A, B, or S phase. The frequency for A- or B-phase signals is 154 kHz and the transmission speed for S-phase signals is 616 kbps. The Resolvers use analog voltage signals. Follow the wiring methods outlined below to improve encoder/resolver noise resistance. • Be sure to use dedicated encoder/resolver cables. • If lines are interrupted in the middle, connect them with connectors, making sure that the cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire. • Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and will cause malfunctions. Be sure to use cables fully extended. • When installing noise filters for encoder cables, use clamp filters. The following table shows the recommended clamp filter models. Do not use these with resolver cables. • Do not wire the encoder/resolver cable in the same duct as power cables and control cables for brakes, solenoids, clutches, and valves. j Improving Control I/O Signal Noise Resistance Position can be affected if control I/O signals are influenced by noise. Follow the methods outlined below for the power supply and wiring. • Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, be careful not to connect two power supply ground wires. Install a noise filter on the primary side of the control power supply. • 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 Position Driver input section and the controller output section. • Use twisted-pair shielded cables for control cables, and the shield wire to the connector frame at the Position Driver. 2-82 Chapter 2 Design and Installation j Harmonic Current Suppression • An AC Reactor that controls steep current changes is used for suppressing harmonic current. • Guidelines issued by MITI in September 1994 regarding countermeasures for harmonic suppression of domestic or general-purpose electric appliances require measures that control the flow of harmonic current to the power supply line. • Select an appropriate AC Reactor depending on the Position Driver to be used. • When using a single-phase power supply, one connection terminal will become open. Be sure to insulate this terminal with insulation tape, etc. D Connection Example FND-X06 to -X25 AC Reactor FND-X50 AC Reactor FND-X FND-X D Application Specifications AC Reactor Drivers Model FND-X06L- FND-X12L- FND-X06H- FND-X12H- FND-X25H- FND-X50H- 3G3IV-PUZBAB5A2.1MH Rated current 5A Inductance Loss Weight 2.1 mH 15 W 2.5 kg g 3G3IV-PUZBAB2.5A4.2MH 3G3IV-PUZBAB5A2.1MH 3G3IV-PUZBAB10A1.1MH 3G3IV-PUZBAB20A0.53MH 2.5 A 5A 10 A 20 A 4.2 mH 2.1 mH 1.1 mH 0.53 mH 15 W 15 W 25 W 35 W 2.5 kg 2.5 kg 3 kg 3 kg 2-83 Chapter 2 Design and Installation D Dimensions Model 3G3IV PUZBAB 3G3IV-PUZBAB 2.5A4.2MH 5A2.1MH 10A1.1MH 20A0.53MH Dimensions (mm) Drawing g 1 2 A 120 120 130 130 B 71 71 88 88 B1 ------114 C 120 120 130 105 Drawing 1 D 40 40 50 50 E 50 50 65 65 F 105 105 130 130 H 20 20 22 22 J M6 M6 M6 M6 K 10.5 10.5 11.5 11.5 M: Terminal Nameplate 2-84 M M4 M4 M4 M5 Drawing 2 M: Terminal Details of mounting hole L 7 7 7 7 Mounting bolt Details of mounting hole Mounting bolt Nameplate Chapter 2 Design and Installation 2-2-6 Peripheral Device Connection Examples j Connecting FND-X06 to X25 Position Drivers to Peripheral Devices R S Single-phase, 200/240 VAC, 50/60 Hz (FND-XH) Single-phase, 100/115 VAC, 50/60 Hz (FND-XL) NFB Main-circuit power supply Main-circuit connector ON OFF 1MC 1MC X 1MC TB R TB S A TB B OMNUC U-series Power Cable 30 to 750 W R88A-CAUS R88A-CAUB 1 to 2 kW R88A-CAUBS R88A-CAUBB EC Directives R88A-CAU001 R88A-CAU01B Servo error display OMNUC U/H/M-series AC Servomotor OMNUC H-series Power Cable R88A-CAHS R88A-CAHB M Connect an external Regenerative Resistor if the regeneration capacity in the Position Driver is not sufficient. R P C JP1 The external Regenerative Short bar Resistor can heat to 120°C. Install the Resistor so that heating will not cause adverse affects. JP2 Remove the short bar from between JP1 and JP2 when connecting an external Regenerative Resistor. CN1 (CONT) X CN2 (M.SEN) Protectively separated 28 ALM 24 VDC (See note) User’s control device Surge killer PL OMNUC FND-X-series Position Driver Regenerative Resistor 100W: R88A-RR20030 200 W: R88A-RR40030 X 19 OGND CN1 (CONT) Ground (to 100 Ω or less) OMNUC U-series Encoder Cable 30 to 750 W R88A-CRUC (Incremental) R88A-CSUC (Absolute) 1 to 2 kW (Incremental and Absolute) R88A-CRUBN EC Directives R88A-CRUDC (Incremental) R88A-CSUDC (Absolute) OMNUC H-series Encoder Cable R88A-CRHC + R88A-CRH0R5T OMNUC M-series Resolver Cable R88A-CRMN + R88A-CRM0R5T DIO Position Drivers:FND-CCXS General-purpose Control Cable CompoBus/S Position Drivers: Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable (VCTF JIS C3306 2-core 0.75mm2)) Note When using the CompoBus/S Position Drivers, create the same sequence using the ALM bit. 2-85 Chapter 2 Design and Installation j Connecting FND-X50H- Position Drivers to Peripheral Devices Three-phase, 200/240 VAC, 50/60 Hz (FND-X50H-) Main-circuit power supply Main-circuit connector Surge killer Servo error display OMNUC U/M-series AC Servomotor OMNUC FND-X-series Position Driver OMNUC U-series (1 to 2 kW) Power Cables R88A-CAUBS R88A-CAUBB Connect an external Regenerative Resistor if the regeneration capacity in the Position Driver is not sufficient. The external Regenerative Resistor can heat to 120°C. Install the Resistor so that heating will not cause adverse affects. TB R User’s control device Regenerative Resistor 100W: R88A-RR20030 200 W: R88A-RR40030 Ground (to 100 Ω or less) P J Protectively separated CN1 (CONT) OMNUC U-series (1 to 2 kW) Encoder Cable (Incremental or Absolute) R88A-CRUBN OMNUC M-series Resolver Cable R88A-CRMN + R88A-CRM0RST 28 ALM 24 VDC 19 OGND DIO Position Drivers:FND-CCXS (See note) General-purpose Control Cable CompoBus/S Position Drivers: Communications Cable (SCA1-4F10 Flat Cable or commercially available VCTF cable (VCTF JIS C3306 2-core 0.75mm2)) Note When using the CompoBus/S Position Drivers, create the same sequence using the ALM bit. 2-86 Chapter 2 Design and Installation 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder When using a U-series Servomotor with an absolute encoder, connect a lithium battery to the BAT connector (C6) so that the position data will be retained when the power supply is turned OFF. This section explains how to wire and replace the battery, and how to set up the absolute encoder. Use one of the following methods. 1. Obtain an OTS-BAT01 Battery with Connector and Cable. 2. Obtain a lithium battery and connector and prepare the battery so that it can be connected to CN6. (The C500-BAT08 Battery cannot be connected directly. The connector must be replaced with a recommend connector and the battery must be prepared for connection.) The rest of this section describes the battery wiring and replacement methods and the absolute encoder setup. j BAT Connector (CN6) Driver rear panel Pin arrangement BAT connector (CN6) j Battery Wiring Lithium battery Pin No. 1 2 3 Symbol FG BAT BATGND Name and contents Frame ground Backup battery + input: connects 2.8 to 4.5-VDC battery. Backup battery – input: ground for backup battery. 2-87 Chapter 2 Design and Installation j Lithium Battery (Recommended Products) With an absolute encoder, a battery must be used in order to retain position data when the power is turned OFF. Maker Toshiba OMRON (made by Hitachi Maxell) Model ER6V 3G2A9-BAT08 Voltage 3.6 V 3.6 V Electrical capacity 2,000 mAh 1,650 mAh Estimated service life Approx. 10 years Approx. 7 years Note 1. When power is turned OFF internally at the Position Driver, the battery voltage is not monitored. Be careful not to let the voltage drop below 2.8 V. If necessary, install a battery voltagedrop detection circuit or a monitor in the system. Note 2. Use one battery for one Position Driver. (The estimated battery service life is calculated based on this condition.) Note 3. The Toshiba lithium battery does not have a connector for BAT connections. It is necessary to separately purchase and attach a connector for BAT connections. j Replacing the Battery The following method can be used to replace the battery while retaining the absolute encoder’s rotation data. 1. Turn ON the Position Driver’s power supply and leave it ON for three minutes. This will charge the capacitor in the encoder. 2. Turn OFF the Position Driver’s power supply and leave it OFF while replacing the battery. Connect the battery between pins 2 and 3 of the Position Driver’s BAT connector (CN6). Note 1. After step 1 above has been implemented, the encoder will operate normally even with the battery removed for up to two days (at 0°C to 40°C). Note 2. While replacing the battery, be careful not to short-circuit the plus and minus terminals. Note 3. When disconnecting the lead wires, disconnect the plus and minus terminals separately. Disconnecting them at the same time can cause them to short-circuit and create sparks. Note 4. Be sure to use the prescribed method for disposing of used batteries. In particular, do not under any circumstances dispose of them in a fire. Doing so may cause them to explode. j Setting up the Absolute Encoder Setup is required to set the amount of machine rotation to zero for trial operation of the Servomotor or when the absolute encoder has been left disconnected from the battery for more than two days. (This is because the voltage of the capacitor inside the absolute encoder will drop if a battery is left unconnected for more than two days, possibly interfering with the proper operation of internal elements.) 2-88 Chapter 2 Design and Installation j Setup Method Perform the following procedure carefully. Mistakes may lead to errors in the setup. 1. Wire the Position Driver, Servomotor, and encoder correctly if they are not already wired correctly. 2. Connect the battery. 3. Turn ON power to the Position Driver. 4. Leave the power ON for three minutes. Note An alarm may be generated, but it can be cleared with the following procedure. 5. Perform the following steps for 30-W to 750-W models. a) Turn OFF the power to the Position Driver. b) Remove the encoder connector. c) Reset the data by shorting between encoder connector terminals 13 and 14 (on the motor side) for one or two seconds. (See the following diagram.) Models conforming to UL/cUL Models conforming to EC Directives 1-kW/2-kW models 6. Perform the following steps for 1-kW to 2-kW models. a) Turn OFF the power to the Position Driver. b) Remove the encoder connector. c) Reset the data by shorting between encoder connector terminals R and S (on the motor side) for two minutes. (See the above diagram.) d) Remove the short between R and S. e) Confirm that the voltage between R and S is 0.4 V or less. The S terminal is ground. f) If the voltage is greater than 0.4 V, reconnect the terminals until the voltage drops to 0.4 V or less. 7. Restore the wiring to its original state. 8. Turn the power back ON to the Position Driver. 9. If no error occurs, the setup has been completed. 10. If an alarm (A.L41, 42 or 43) occurs, repeat this procedure from the beginning. 2-89 3 Chapter 3 Operation 3-1 3-2 3-3 3-4 Operational Procedure Turning ON Power and Checking Displays Using the Display Area Setting Functions: User Parameters (H Parameters) 3-5 Position Control Settings (PTP Parameters) 3-6 Setting Positioning Data (PTP Data, Direct Input) 3-7 Operational Sequence 3-8 Trial Operation 3-9 Making Adjustments 3-10 Regenerative Energy Absorption Operation 3-1 Chapter 3 Operational Procedure After confirming that the system has been correctly installed and wired, make the initial settings for the Position Driver. Then, set the position control functions according to the position control methods. Any incorrect settings in the parameters could cause unexpected motor operation, creating an extremely dangerous situation. Use the procedures provided in this chapter to carefully set all parameters. j Startup Procedure 1. Mounting and installation Install the Servomotor and Driver according to the installation conditions. Refer to 2-1 Installation. 2. Wiring and connections Connect to power supply and peripheral devices. Refer to 2-2 Wiring. 3. Turning ON power supply Before turning ON the power supply, check the necessary items. In order to make the initial settings, turn ON the applicable power supply. Refer to 3-2-1 Items to Check Before Turning ON Power. 4. Checking display status Check by means of the displays to see whether there are any internal errors in the Driver. Refer to 3-2-2 Turning ON Power and Confirming the Display. 5. Function settings Set the user parameters for operation. Refer to 3-4 Setting Functions: User Parameters (H Parameters). 6. Position control settings Set the PTP parameters according to the position control methods. Refer to 3-5 Position Control Settings (PTP Parameters). 7. Position data settings Set the data for executing positioning with PTP data or direct input. Refer to 3-6 Setting Positioning Data (PTP Data, Direct Input). 8. Trial operation Before performing trial operation, turn the power supply off and then back on so that any parameters that have been set will be valid. Check to see whether protective functions such as emergency stop and operational limits are working reliably. Check operation at both low speed and high speed. Refer to 3-8 Trial Operation. 9. Adjustments Execute auto-tuning. Manually adjust the gain as required. Refer to 3-9 Making Adjustments. 10. Operation Operation can now begin. Should any trouble occur, refer to Chapter 4 Application. 3-2 Chapter 3 Operation Operation and Adjustment Precautions ! Caution Confirm that no adverse effect will occur in the system before performing the test operation. Not doing so may result in equipment damage. ! Caution Check the newly set parameters for proper execution before actually running them. Not doing so may result in equipment damage. ! Caution Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury. ! Caution Separate the Servomotor from the machine, check for proper operation, and then connect to the machine. Not doing so may cause injury. ! Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury. ! Caution Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury. ! Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction. 3-3 Chapter 3 Operation 3-2 Turning ON Power and Checking Displays 3-2-1 Items to Check Before Turning ON the Power j Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below. FND-X06H- /-X12H- /-X25H- (single-phase, 200-VAC specifications): Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz FND-X50H- (three-phase, 200-VAC specifications): Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz FND-X L- (single-phase, 100-VAC specifications): Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz j Checking Terminal Block Wiring • Power supply inputs (models with single-phase inputs: R and S, models with three-phase inputs: R, S, T, R0, S0) must be properly connected to the terminal block. • The Servomotor’s red (A/U), white (B/V), and blue/black (C/W) power lines and the green ground wire ( ) must be properly connected to the terminal block. j Checking the Servomotor Wiring • There should be no load on the Servomotor. (Do not connect to the mechanical system.) • The power line connectors at the Servomotor must be securely connected. j Checking Encoder and Resolver Connectors Wiring • Encoder and resolver cables must be securely connected to the motor sensor connectors (CN2) at the Driver. • Encoder and resolver cables must be securely connected to the encoder/resolver connectors at the Servomotor. j Checking Control Signal Connector Wiring • Be sure that the control signal connectors or the CompoBus/S terminals and external control signal connectors are firmly connected. • The RUN command must be OFF. 3-4 Chapter 3 Operation 3-2-2 Turning ON the Power and Checking the Display j Turning ON the Power Before turning ON the power supply, check carefully to confirm that it is safe. j Checking Displays When the power is turned ON, one of the codes shown below will be displayed. Normal (motor speed display) r 0 Error (alarm display) a.l Factory settings (parameter setting error) 40. a.l 26. Note The alarm code (the number shown in the alarm display) changes depending on the contents of the error. If the power is turned ON with the factory settings in place, a parameter setting error (A.L 26) will be displayed. This is because the applicable motor parameter (UP-02) factory setting is “0000.” Referring to the following tables and example procedure, set in UP-02 the model code for the motor that is to be used. D U Series (With Incremental Encoder) Motor model R88M-U03030HA(VA) R88M-U05030HA(VA) R88M-U10030HA(VA) R88M-U20030HA(VA) R88M-U40030HA(VA) R88M-U75030HA(VA) R88M-U1K030H(V) R88M-U1K530H(V) R88M-U2K030H(V) Capacity 30 W 50 W 100 W 200 W 400 W 750 W 1 KW 1.5 kW 2 kW Code 1401 1402 1403 1404 1405 1406 1607 1608 1609 Note The motor code for R88M-U1K315H(V) is 160D. D U Series (With Absolute Encoder) Motor model R88M-U03030TA(XA) R88M-U05030TA(XA) R88M-U10030TA(XA) R88M-U20030TA(XA) R88M-U40030TA(XA) R88M-U75030TA(XA) R88M-U1K030T(X) R88M-U1K530T(X) R88M-U2K030T(X) Capacity 30 W 50 W 100 W 200 W 400 W 750 W 1 KW 1.5 kW 2 kW Code 1501 1502 1503 1504 1505 1506 1507 1508 1509 Note The motor code for R88M-U1K315X is 1513. 3-5 Chapter 3 Operation D U-UE Series Motor model R88M-UE10030H(V)-S1 R88M-UE20030H(V)-S1 R88M-UE40030H(V)-S1 R88M-UE75030H(V)-S1 Capacity 100 W 200 W 400 W 750 W Code 1603 1604 1605 1606 D H Series Motor model R88M-H05030 R88M-H10030 R88M-H20030 R88M-H30030 R88M-H50030 R88M-H75030 R88M-H1K130 Capacity 50 W 100 W 200 W 300 W 500 W 750 W 1100 W Code 1007 1008 1009 1010 1011 1012 1013 D M Series (1,200 r/min) Motor model R88M-M20012 R88M-M40012 R88M-M70012 R88M-M1K112 R88M-M1K412 R88M-M1K812 Capacity 200 W 400 W 700 W 1100 W 1400 W 1800 W Code 0105 0106 0107 0108 0109 010A D M Series (2,000 r/min) Motor model R88M-M20020 R88M-M40020 R88M-M70020 R88M-M1K120 R88M-M1K820 R88M-M2K220 Capacity 200 W 400 W 700 W 1100 W 1800 W 2200 W Code 0205 0206 0207 0208 0217 0218 D M Series (4,000 r/min) Motor model R88M-M06040 R88M-M12040 R88M-M20040 R88M-M40040 R88M-M70040 R88M-M1K140 R88M-M2K040 3-6 Capacity 60 W 120 W 200 W 400 W 700 W 1100 W 2000 W Code 0405 0406 0407 0408 0409 040A 040B Chapter 3 Operation Note U-UE-series (U-series, UE-type) and H-series Servomotors can only be used with Position Driver software version 4.01 (September 1997) or later. U-series 1 to 2-kW and M-series 1.1 to 2.2-kW Servomotors can only be used with Position Driver software version 4.04 (April 1999) or later. Example: Procedure for Setting Code 1403 Display a.l 26. up01. 0000. 0000. 0003. Key operation Parameter setting error (A.L 26) displayed. (The “.” in the rightmost digit flashes.) Press the Mode Key twice to display the user parameters. Press the Increment Key three times to display the contents of UP-02 (applicable motor). Press the Data Key and the Shift Key simultaneously to enable data to be changed. Press the Increment Key three times to enter “3” for the rightmost digit. 0003. Press the Shift Key twice. The “100” digit (the third digit from the right) will flash. 0403. Press the Increment Key four times to enter “4” for the “100” digit. 1403. In the same way, press the Shift Key again so that the “1,000” digit (the leftmost digit) flashes, and then press the Increment Key to enter “1” for that digit. Finally, press the Data Key to set the data. 1403. Note After setting the parameters, turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again. (The values set for UP-02 will go into effect when the power is turned back ON.) If the display is normal (motor speed display) after the power is turned ON, rotate the motor shaft by hand in both the forward and reverse directions and check to make sure that the positive and negative signs in the display match the direction of rotation. If they do not match, check the encoder and resolver cables to make sure they are connected correctly. Reverse rotation Forward rotation Display example r 38 Forward rotation r 25 Reverse rotation Flashing If an error message (A.L ) is displayed when the power is turned ON, refer to Chapter 4 Application and take the necessary countermeasures. 3-7 Chapter 3 Operation 3-3 Using the Display Area 3-3-1 Key Operations j Display Area Layout j Key Functions Key operation Main function The Mode Key changes the mode. The Shift Key shifts to the digit on the left. The Data Key saves data. DATA The Increment Key increments parameter numbers and data. The Decrement Key decrements parameter numbers and data. DATA 3-8 + DATA + DATA + The Increment Key and Data Key together increment the parameter number by 10 (or 2 for PTP data). The Decrement Key and Data Key together decrement the parameter number by 10 (or 2 for PTP data). The Data Key and Shift Key together enable data to be changed. Chapter 3 Operation 3-3-2 Modes and Mode Changes j Modes The OMNUC FND-X Series has the following seven modes: Mode Monitor Mode Check Mode Adjustment Parameter Edit Mode User Parameter Edit Mode PTP Parameter Edit Mode PTP Data Edit Mode System Check Mode Function Monitors motor speed, present value, reference value, position deviation value, machine speed, motor current, effective load factor, electronic thermal value, electrical angle, and regenerative absorption rate. Displays the I/O signal status, alarm details, alarm history, and software version. Displays and sets the adjustment parameters. Displays and sets the user parameters and H parameters. Displays and sets the PTP parameters. Displays and sets the PTP data. Used for motor test operation, output signal testing, and auto-tuning. j Changing Modes To change modes, press the Mode Key. The System Check Mode and H parameter editing, however, require special operations. Power supply ON (Press for at least 5 seconds) Monitor Mode Check Mode System Check Mode (Double-click) User Parameter Edit Mode PTP Parameter Edit Mode H Parameter Edit Adjustment Parameter Edit Mode PTP Data Edit Mode (Displayed only when UP-01 is 11 or 12.) 3-9 Chapter 3 Operation 3-3-3 Mode Details The following diagram outlines the contents of each of the modes. Monitor Mode + Motor speed Present value Refer to 4-1. + DATA Regenerative absorption (Press for at least 5 seconds.) (Double-click) System Check Mode Motor test operation Output signal test Auto-tuning Check Mode Adjustment Parameter Edit Mode User Parameter Edit Mode + + DATA To monitor mode Refer to 3-8-2 and 3-9. Input signal display Alarm display Alarm history display Software version display Refer to 4-2. AJ2 Speed loop proportional gain AJ3 Speed loop integral gain AJ4 Position loop gain AJ7 Interrupt gain suppression AJ8 Feed forward gain AJ9 Current reference filter Refer to 3-9. UP-01 Control mode UP-02 Motor code Refer to 3-4. UP-31 External regeneration resistance capacity (Double-click) H Parameter Edit PTP Parameter Edit Mode HP-33 Load rate time HP-46 In-position Refer to 3-4. PP-01 Minimum Setting Unit PP-02 Pulse rate 1 Refer to 3-5. PP-26 Selection signal output time PTP Data Edit Mode Pd01H Point No. 1 Position data (leftmost) Pd01L Point No. 1 Position data (rightmost) Pd01F Point No. 1 Speed data Pd01A Point No. 1 Acceleration/deceleration selection Pd01r Point No. 1 Operation mode selection Pd64H Point No. 64 Position data (leftmost) Pd64L Point No. 64 Position data (rightmost) Pd64F Point No. 64 Speed data Pd64A Point No. 64 Acceleration/deceleration selection Pd64r Point No. 64 Operation mode selection 3-10 Refer to 3-6. Chapter 3 Operation 3-3-4 CompoBus/S Communications Display and Setting Panel j Layout of Display and Setting Panel j Rotary Switch The rotary switch is used for setting the node address. Each FND-X Position Driver occupies two consecutive node addresses, set for IN and OUT respectively by the switch. The OUT Slave Area is allocated to the FND-X Position Driver’s input area, and the IN Slave Area is allocated to the FND-X Position Driver’s output area. The node addresses are allocated by the switch settings as follows: Switch setting 0/1 2/3 4/5 6/7 8/9 A/B C/D E/F Output signals IN Slave 0, IN Slave 1 IN Slave 2, IN Slave 3 IN Slave 4, IN Slave 5 IN Slave 6, IN Slave 7 IN Slave 8, IN Slave 9 IN Slave 10, IN Slave 11 IN Slave 12, IN Slave 13 IN Slave 14, IN Slave 15 Input signals OUT Slave 0, OUT Slave 1 OUT Slave 2, OUT Slave 3 OUT Slave 4, OUT Slave 5 OUT Slave 6, OUT Slave 7 OUT Slave 8, OUT Slave 9 OUT Slave 10, OUT Slave 11 OUT Slave 12, OUT Slave 13 OUT Slave 14, OUT Slave 15 The procedure when the C200HW-SRM21 is used for the Master Unit is provided here as an example. Example: Master Unit Unit Number set to 0, Position Driver Node Address set to 0 When the Master Unit number is 0, the starting word for the CPU Bus Unit area of the Programmable Controller that is allocated to the Programmable Controller will be set to word 100. Also, when the node address of the Position Driver is set to 0, the Slave areas of IN Slave 0 and 1 and OUT Slave 0 and 1 will be allocated to the Position Driver. The control I/Os of the Position Driver are allocated to the Special I/O Unit area of the Programmable Controller as shown in the following tables. 3-11 Chapter 3 Operation Word 100 OUT Slave 1 Bit 15 14 13 12 11 10 9 8 OUT Slave 0 Signal name P. IN7 P. IN6 P. IN5 P. IN4 P. IN3 P. IN2 P. IN1 P. IN0 Signal allocation OUT15 OUT14 OUT13 OUT12 OUT11 OUT10 OUT9 OUT8 Bit 7 6 5 4 3 2 1 0 Word 108 IN Slave 1 Bit 15 14 13 12 11 10 9 8 Signal name STOP TEACH –JOG +JOG SEARCH RESET START RUN Signal allocation OUT7 OUT6 OUT5 OUT4 OUT3 OUT2 OUT1 OUT0 IN Slave 0 Signal name --P. OUT6 P. OUT5 P. OUT4 P. OUT3 P. OUT2 P. OUT1 P. OUT0 Signal allocation IN15 IN14 IN13 IN12 IN11 IN10 IN9 IN8 Bit 7 6 5 4 3 2 1 0 Signal name ALM INP RUNON T.COM ORGSTP S.COM READY BO Signal allocation IN7 IN6 IN5 IN4 IN3 IN2 IN1 IN0 Note 1. When using the CQM1-SRM21 as the Master Unit, be sure to set the number of points allocated to one node address to 8-point mode. If used in 4-point mode, an area overlap error will be occur. Note 2. For details regarding Master Unit word allocation, refer to the Master Unit operation manual. j CompoBus/S Communication Status Indicators Indicator PWR Name Power supply y Color Green COMM Communicating Yellow Status Lit Not lit Lit Not lit ERR Communications error Red Lit Not lit Meaning The power is turned ON. The power is turned OFF. Communications are being executed normally. There is a communications error or communications are being awaited. A communications error has occurred. Communications are being executed normally or communications are being awaited. Note For details on diagnosis using the communication status indicators, refer to 4-4-3 CompoBus/Stype Position Driver Protective and Diagnostic Functions. 3-12 Operation 3-4 Chapter 3 Setting Functions: User Parameters (H Parameters) User parameters and H parameters are parameters for selecting the control mode, applicable motor, and so on, which are required for system startup. Match the settings to the system being used. Some of the user parameters go into effect when the power has been turned OFF and then back ON again. (Check to be sure that the display has turned OFF.) Those user parameters that need to have the power turned OFF and ON again are indicated in the tables in 3-4-2 User Parameter and H Parameter Tables. Use the following procedure to set the user parameters: Go to the User Parameter Edit Mode. . . . . . . . . Mode Key Display the pertinent parameter number. . . . . . Increment Key, Decrement Key, Increment Key +Data Key, Decrement Key + Data Key Display the parameter contents (data). . . . . . . . Increment Key Enable the data change. . . . . . . . . . . . . . . . . . . . Data Key + Shift Key Change the data. . . . . . . . . . . . . . . . . . . . . . . . . . Increment Key, Decrement Key, Shift Key Save the data in memory. . . . . . . . . . . . . . . . . . . Data Key 3-4-1 Setting User Parameters and H Parameters j Setting User Parameters Use the following procedure to set the user parameters. 1. Press the Mode Key to go to the Users Parameter Edit Mode (UP-01). 2. Use the Up and Decrement Keys to display the parameter number (UP- ) desired. 3. Press the Increment Key to display the parameter data. 4. Press the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will flash. 5. Use the Up and Decrement Keys to change the data. The flashing numeral can be changed. To move to the next digit, press the Shift Key. 6. Press the Data Key to save the changed data in memory. 3-13 Chapter 3 Operation D User Parameters Display Example Parameter number (UP-01) display Data display (UP-01 contents) Rightmost digit flashes. Parameter number (UP-02) display Data display (UP-02 contents) Parameter number (UP-03) display Data display (UP-03 contents) j Setting H Parameters Use the following procedure to set the H parameters. 1. Press the Mode Key to go to the Users Parameter Edit Mode (UP-01). 2. Press the Increment Key, Decrement Key, and Shift Key simultaneously to display H parameter HP-33. 3. Use the Up and Decrement Keys to display the parameter number (HP- ) desired. 4. Press the Increment Key to display the parameter data. 5. Press the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will flash. 6. Use the Up and Decrement Keys to change the data. The flashing numeral can be changed. To move to the next digit, press the Shift Key. 7. Press the Data Key to save the changed data in memory. 8. Double-click the Mode Key to go from H Parameter Edit to the Monitor Mode. D H Parameters Display Example User parameter display Parameter number (HP-33) display Data display (HP-33 contents) Parameter number (HP-46) display Data display (HP-46 contents) 3-14 Rightmost digit flashes. Chapter 3 Operation 3-4-2 User Parameter and H Parameter Tables The following tables list the user parameters (UP-01 to UP-29) and H parameters (HP-33 and HP-46). j User Parameters No. Name UP01 Control mode Min. unit Setting Factory range setting --00 to 11 FF 02 Motor code --- 03 Resolver cable length 1m 07 In-position width 1 pulse 11 Current limit 0.1% 14 S-curve acceleration/ deceleration time 0.01 s Brake mode --- 16 0000 to 0000 FFFF 1 to 5 120 1 to 32,767 0.0 to 100.0 0.00 to 32.76 0 to 3 3 100.0 0.00 0 Explanation Specifies position control mode: 11: Point positioning (PTP) 12: Point positioning (feeder) 13: Direct positioning (PTP) 14: Direct positioning (feeder) Motor model code Re-power required? Yes Yes Sets the resolver cable length for No when M-series motor is used. (Valid only for M-series motors.) Outputs positioning completed sig- No nal (INP) according to number of motor sensor pulses set as positioning deviation. OMNUC U Series (30 to 750 W) with incremental encoder: 8,192 pulses/rotation OMNUC U Series (30 to 650 W) with absolute encoder: 4,096 pulses/rotation OMNUC U Series (1 to 2 kW) with incremental encoder: 16,384 pulses/rotation OMNUC U Series (1 to 2 kW) with absolute encoder: 32,768 pulses/ rotation OMNUC U-UE Series: 4,096 pulses/rotation OMNUC H Series: 8,000 pulses/ rotation OMNUC M Series: 24,000 pulses/ rotation Specifies rate based on maximum No motor current as 100%. Sets the time until 90% of the target No speed is obtained. “0.00“ sets trapezoidal acceleration and deceleration. 0: Dynamic brake 1: On-hold brake (stops in deceleration time) 2: On-hold brake (stops after rotation according to error counter’s accumulated number of pulses) 3: On-hold brake (free-running stop) Yes 3-15 Chapter 3 Operation No. Name UP25 Monitor output Min. unit Setting Factory range setting --000 to 010 011 Explanation Specifies monitor output function. Re-power required? No 0 Positive voltage 0: Not reversed 1: Reversed 26 Motor rotation direction --- 0, 1 0 28 Brake ON speed 0.1% 0.0 to 100.0 1.0 29 30 31 Motor test speed 1 r/min External regeneration resistance value 0.1 Ω External regeneration resistance capacity 0.01 kW 1 to 8,000 50 0.0 to 100.0 0.0 Speed/Current selection 0: Current 1: Speed Specifies motor rotation direction. No 0: Forward rotation 1: Reverse direction Specifies r/min to turn OFF break No output in on-hold brake mode. Specifies rate based on rated motor r/min as 100%. * The brake may be damaged if the on-hold brake mode is selected for motors rotating at high speed. Specifies r/min for motors for testing. * When testing a motor, make sure that the set value is less than the rated motor r/min. Specifies the regeneration absorption resistance value (Ω) No Yes * Only valid for FND-X50H- . 0.00 to 327.67 0.00 * When using an OMRON External Regeneration Resistor, set to 30.0 (Ω). Specifies the regeneration Yes absorption resistance capacity (kW). * Only valid for FND-X50H- . j H Parameters (HP-33, HP-46) No. Name HP33 Load rate time Min. unit 1s Setting Factory range setting 1 to 60 30 46 3.2 ms 3.2 to 320.0 3-16 In-position timer 3.2 Explanation Specifies interval for effective load factor calculation to value obtained from machine cycle time multiplied by an integer. Specifies minimum positioning completion ON time and minimum ready signal OFF time. Re-power required? No No Chapter 3 Operation Note If the positioning completed signal (READY) is input to the Programmable Controller (PC), make sure that the set value is large enough so that the PC will be able to respond. Set value y PC cycle time × 2 + PC input delay time + 1 ms With CompoBus/S-type Position Drivers, use the following formula for the Programmable Controller’s input circuit delay time: PC input circuit delay time = (Communications cycle time) x 2 3-4-3 User Parameter and H Parameter Details j User Parameters PRM No. UP-01 Parameter name Control mode Setting range 00 to FF Unit --- Factory setting 11 This parameter specifies the positioning control mode. Set value 11 Description Point positioning (PTP) • Executes position control according to positioning data set for internal point data (PTP data: Pd ). • The maximum number of points is 64. For the point number to be executed, select from control inputs P.IN0 to 6 (point selection 0 to 6). 12 • Used for positioning between points, such as pick-and-place. Point positioning (feeder) • Executes position control according to positioning data set for internal point data (PTP data: Pd ). • The maximum number of points is 64. For the point number to be executed, select from control inputs P.IN0 to 6 (point selection 0 to 6). 13 • Present position is cleared at startup. Used for feed control such as sheet feeding. Direct positioning (PTP) • Executes position control according to position and speed data entered for control inputs P.IN0 to 7 (position data 0 to 7). 14 • Used for positioning between points, such as pick-and-place. Direct positioning (feeder) • Executes position control according to position and speed data entered for control inputs P.IN0 to 7 (position data 0 to 7). • Present position is cleared at startup. Used for feed control such as sheet feeding. Note After setting this parameter, turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again. (The new settings will go into effect when the power is turned back ON.) PRM No. UP-02 Parameter name Motor code Setting range 0000 to FFFF --- Unit Factory setting 0000 • This parameter specifies the motor model code. • If the power is turned ON with the factory settings in place, a parameter setting error (A.L 26) will be displayed. Refer to the following tables and set in UP-02 the model code for the motor that is to be used. 3-17 Chapter 3 Operation D U Series (With Incremental Encoder) Motor model R88M-U03030HA(VA) R88M-U05030HA(VA) R88M-U10030HA(VA) R88M-U20030HA(VA) R88M-U40030HA(VA) R88M-U75030HA(VA) R88M-U1K030H(V) R88M-U1K530H(V) R88M-U2K030H(V) Capacity 30 W 50 W 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW Code 1401 1402 1403 1404 1405 1406 1607 1608 1609 Note The motor code for R88M-U1K315H(V) is 160D. D U Series (With Absolute Encoder) Motor model R88M-U03030TA(XA) R88M-U05030TA(XA) R88M-U10030TA(XA) R88M-U20030TA(XA) R88M-U40030TA(XA) R88M-U75030TA(XA) R88M-U1K030T(X) R88M-U1K530T(X) R88M-U2K030T(X) Capacity 30 W 50 W 100 W 200 W 400 W 750 W 1 kW 1.5 kW 2 kW Code 1501 1502 1503 1504 1505 1506 1507 1508 1509 Note The motor code for R88M-U1K315X is 1513. D U-UE Series Motor model R88M-UE10030H(V)-S1 R88M-UE20030H(V)-S1 R88M-UE40030H(V)-S1 R88M-UE75030H(V)-S1 Capacity 100 W 200 W 400 W 750 W Code 1603 1604 1605 1606 D H Series Motor model R88M-H05030 R88M-H10030 R88M-H20030 R88M-H30030 R88M-H50030 R88M-H75030 R88M-H1K130 3-18 Capacity 50 W 100 W 200 W 300 W 500 W 750 W 1100 W Code 1007 1008 1009 1010 1011 1012 1013 Chapter 3 Operation D M Series (1,200 r/min) Motor model R88M-M20012 R88M-M40012 R88M-M70012 R88M-M1K112 R88M-M1K412 R88M-M1K812 Capacity 200 W 400 W 700 W 1100 W 1400 W 1800 W Code 0105 0106 0107 0108 0109 010A D M Series (2,000 r/min) Motor model R88M-M20020 R88M-M40020 R88M-M70020 R88M-M1K120 R88M-M1K820 RR88M-M2K220 Capacity 200 W 400 W 700 W 1100 W 1800 W 2200 W Code 0205 0206 0207 0208 0217 0218 D M Series (4,000 r/min) Motor model R88M-M06040 R88M-M12040 R88M-M20040 R88M-M40040 R88M-M70040 R88M-M1K140 R88M-M2K040 Capacity 60 W 120 W 200 W 400 W 700 W 1100 W 2000 W Code 0405 0406 0407 0408 0409 040A 040B Note After setting this parameter, turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again. (The new setting will go into effect when the power is turned back ON.) PRM No. UP-03 Parameter name Resolver cable length Setting range 1 to 120 Unit m Factory setting 5 • This parameter specifies the resolver cable length for when M-series AC Servomotors are connected. • Be sure to make this setting correctly. If the set value differs from the actual cable length, the motor’s torque will be reduced. • This parameter is not valid for motors other than M-series AC Servomotors. 3-19 Chapter 3 Operation PRM No. UP-07 Parameter name In-position width Setting range 1 to 32,767 Unit Pulse Factory setting 3 • This parameter specifies, by the number of motor sensor pulses, the position deviation for outputting the positioning completed signal (INP). • OMNUC U Series 30 to 750 W with incremental encoder: 8,192 pulses/rotation OMNUC U Series 30 to 750 W with absolute encoder: 4,096 pulses/rotation OMNUC U Series 1 to 2 kW with incremental encoder: 16,384 pulses/rotation OMNUC U Series 1 to 2 kW with absolute encoder: 32,768 pulses/rotation OMNUC U-UE Series with incremental encoder: 4,096 pulses/rotation OMNUC H Series with incremental encoder: 8,000 pulses/rotation OMNUC M Series with resolver: 24,000 pulses/rotation (absolute precision: 0.18°; ambient temperature: 25°C) • Match this setting to the mechanical precision. PRM No. UP-11 Parameter name Current limit value Setting range 0.0 to 100.0 Unit % Factory setting 100.0 • This parameter specifies the maximum current provided to the motor, with the motor’s momentary maximum current as 100%. • Use this parameter to limit the torque added to the mechanical system. PRM No. UP-14 Parameter name S-curve acceleration/deceleration time Setting range 0.0 to 32.76 Unit s Factory setting 0.00 • This parameter specifies the S-curve (filter characteristic) for the acceleration/deceleration time (PP-20 to PP-23). • Use this parameter to suppress the impact to the mechanical system during acceleration and deceleration. • If the acceleration/deceleration time is 0, this will become the time until 90% of the target speed is obtained. • When this parameter is set to “0.00,” the S-shaped acceleration/deceleration will be invalidated and a trapezoidal curve will be employed according to the acceleration/deceleration time (PP-20 to PP-23). PRM No. UP-16 Parameter name Brake mode Setting range 0 to 3 Unit --- Factory setting 0 This parameter specifies the brake output (BO) function and the method for stopping the motor when the RUN command is OFF. Set value 0 1 2 3 Description Brake output: dynamic brake; stop method: free-running stop Brake output: on-hold brake; stop method: stop in deceleration time during execution Brake output: on-hold brake; stop method: stop after rotation according to error counter’s accumulated number of pulses Brake output: on-hold brake; stop method: free-running stop Note After setting this parameter, turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again. (The new setting will go into effect when the power is turned back ON.) 3-20 Chapter 3 Operation PRM No. UP-25 Parameter name Monitor output Setting range 000 to 011 Unit --- Factory setting 010 This parameter specifies the analog monitor output data and the output polarity. Set value 000 001 010 011 PRM No. UP-26 Description Current monitor output; output not reversed (positive voltage for forward torque) Current monitor output; output reversed (negative voltage for forward torque) Speed monitor output; output not reversed (positive voltage for forward motor rotation) Speed monitor output; output reversed (negative voltage for forward motor rotation) Parameter name Motor rotation direction Setting range 0, 1 Unit --- Factory setting 0 This parameter specifies the direction of motor rotation. Set value 0 1 Description Rotation in forward direction with + direction command Rotation in reverse direction with + direction command Note “+direction” indicates the present value addition direction, and “– direction” indicates the present value subtraction direction. PRM No. UP-28 Parameter name Brake ON speed Setting range 0.0 to 100.0 Unit % Factory setting 1.0 • When the on-hold brake (1, 2, 3) is set for the brake mode (UP-16), this parameter specifies the r/min for turning OFF the brake output (BO). • Set the motor’s rated r/min as 100%. ! Caution PRM No. UP-29 If the on-hold brake is operated during high-speed motor rotation it will cause damage to the brake. Parameter name Motor test speed Setting range 1 to 8,000 Unit r/min Factory setting 50 • This parameter specifies the r/min for motor test operation. • Set the motor test r/min to a value no higher than than the motor’s rated r/min. PRM No. UP-30 Parameter name External regeneration resistance value Setting range 0.0 to 100.0 Unit Ω Factory setting 0.0 • When attaching an External Regeneration Resistor, this parameter specifies its resistance value (Ω). • This parameter is used for calculating the regeneration absorption rate. (The regeneration absorption rate is displayed in Monitor Mode.) Note 1. This parameter is only valid for the FND-X50H- . Note 2. When using an OMRON External Regeneration Resistor, set to 30.0 (Ω). Note 3. After this parameter has been set, it will become valid when the power supply is turned OFF (check that the display has been cleared) and ON again. 3-21 Chapter 3 Operation PRM No. UP-31 Parameter name External regeneration resistance capacity Setting range 0.00 TO 327.67 Unit kW Factory setting 0.00 • When attaching an External Regeneration Resistor, this parameter specifies its capacity (kW). • This parameter is used for calculating the regeneration absorption rate. (The regeneration absorption rate is displayed in Monitor Mode.) Note 1. This parameter is only valid for the FND-X50H- . Note 2. After this parameter has been set, it will become valid when the power supply is turned OFF (check that the display has been cleared) and ON again. j H Parameters PRM No. HP-33 Parameter name Load rate time Setting range 1 to 60 Unit s Factory setting 30 • This parameter specifies the time interval for the effective load factor calculation. • Set the integer multiple for the machine cycle time. • The effective load factor is displayed in Monitor Mode. PRM No. HP-46 Parameter name In-position timer Setting range 3.2 to 320.0 Unit ms Factory setting 3.2 • This parameter specifies the minimum ON time for the positioning completed signal and the minimum OFF time for the ready signal. • Be sure to set enough time so that the Programmable Controller (PC) will be able to respond when the positioning completed signal and the ready signal are received by the PC. Set value y PC cycle time × 2 + PC input delay time + 1 ms • When the Increment and Decrement Keys are pressed, the set value is changed in units of 3.2 ms. The digit to be set cannot be specified by pressing the Shift Key. 3-22 Operation 3-5 Chapter 3 Position Control Settings (PTP Parameters) PTP parameters are the parameters required for setting position data such as the minimum setting unit, pulse rate, reference speed, and so on. Some of the user parameters go into effect when the power has been turned OFF and then back ON again. Those user parameters are indicated in the tables in 3-5-2 PTP Parameters (PP-01 to PP-26). Go to the User Parameter Edit Mode. . . . . . . . . Mode Key Display the pertinent parameter number. . . . . . Increment Key, Decrement Key, Increment Key +Data Key, Decrement Key + Data Key Display the parameter contents (data). . . . . . . . Increment Key Enable the data change. . . . . . . . . . . . . . . . . . . . Data Key + Shift Key Change the data. . . . . . . . . . . . . . . . . . . . . . . . . . Increment Key, Decrement Key, Shift Key Save the data in memory. . . . . . . . . . . . . . . . . . . Data Key 3-5-1 Setting PTP Parameters (PP-01 to PP-26) Use the following procedure to set the PTP parameters. 1. Press the Mode Key to go to the PTP Parameter Edit Mode (PP-01). 2. Use the Increment and Decrement Keys to display the parameter number (PP- ) desired. 3. Press the Increment Key to display the parameter data. 4. Press the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will flash. 5. Use the Increment and Decrement Keys to change the data. The flashing numeral can be changed. To move to the next digit, press the Shift Key. 6. Press the Data Key to save the changed data in memory. 3-23 Chapter 3 Operation D PTP Parameter Display Example Parameter number (PP-01) display Rightmost digit flashes. Data display (PP-01 contents) Parameter number (PP-02) display Data display (PP-02 contents) Parameter number (PP-03) display Data display (PP-03 contents) 3-5-2 PTP Parameters (PP-01 to PP-26) No. Name PP01 Minimum setting unit 02 Pulse rate 1 (Rotation) 03 Pulse rate 2 (Movement) 04 Minimum resolution (leftmost digits) 05 Minimum resolution (rightmost digits) 06 Origin compensation (leftmost digits) 07 08 09 Factory setting 0.0001 --- Setting range 0.0001 to 1 1 to 32,767 1 to 32,767 --- --- --- 0042 1 pulse –9,999 to 9,999 0 0 to 9,999 0 (PP-01) 0 to (See 9,999 note 1.) Compensation 0 to (rightmost digits) 9,999 0 Origin compensation (rightmost digits) 1 revolution 1 Compensation (leftmost digits) 10 Forward software limit (leftmost digits) 11 Forward software limit (rightmost digits) 3-24 Min. unit --- (PP-01) –9,999 (See to note 1.)) 9,999 0 to 9,999 1 10 0.0 0 9,999 9,999 Explanation Specifies basic unit for movement and speed value setting and display. Specifies PP-02 to n and PP-03 to x (Note: “n” n is the number of motor revolutions and “x” is machine axis movement.) Re-power required? Yes Yes Yes Used to display machine axis move- Yes ment per motor sensor pulse. This factory-set value cannot be changed. y g Yes Specifies number of motor sensor pulses for movement between origin search completion position and hi axis i origin. i i machine * The value can be obtained by origin teaching. Specifies backlash compensation if UP-01 is set to 11 or 13 in PTP control mode. Specifies slip compensation if UP-01 is set to 12 or 14 in feeder control mode. Specifies software limit position in the forward direction. * The software limit overflow in the positive direction will not be detected if the value is set to 9999,9999. No No No No No No Chapter 3 Operation No. Name PP12 Reverse software limit (leftmost digits) Min. unit (PP-01) (See note 1.)) Setting Factory range setting –9,999 –9,999 to 9,999 13 Reverse software limit (rightmost digits) 0 to 9,999 9,999 14 1/s Reference speed (leftmost digits) Reference speed (rightmost digits) JOG speed 1% 0 to 9,999 0 0 to 9,999 500 1 to 199 10 Origin search high speed 1 to 199 10 15 16 17 18 Origin search low speed 1% 1% 1 to 199 1 19 Origin search direction --- 0, 1 0 20 Acceleration time 0 1 ms 0 to 9,999 0 21 Acceleration time 1 1 ms 0 to 9,999 100 Explanation Specifies software limit position in the reverse direction. * The software limit overflow in the reverse direction will not be detected if the value is set to –9999,9999. Specifies machine axis reference speed per second. Re-power required? No No No No Specifies motor r/min in JOG operation as override value based on reference speed. Specifies origin proximity search speed in origin search operation as override value based on reference speed. This value is used as axis speed for origin compensation as well. * Set an appropriate value so that the origin proximity signal can be detected accurately. Specifies phase-Z search speed in origin search operation as override value based on reference speed. * Set an appropriate value so that the speed will be 500 r/min maximum. Specifies origin search direction. 0: Forward direction 1: Reverse direction Specifies time spent in reaching reference speed after system is in operation. No No No No No * This value is used as acceleration time for the Position Driver in origin search operation, JOG operation, point positioning operation, and direct positioning operation. Specifies time spent in reaching ref- No erence speed after system is in operation. * This value will be valid if the Position Driver is in point positioning operation. 3-25 Chapter 3 Operation No. Name PP22 Deceleration time 0 23 Deceleration time 1 Min. unit 1 ms 1 ms Setting Factory range setting 0 to 0 9,999 Specifies time spent in decelerating reference speed to a stop. 0 to 9,999 * This value is used as deceleration time for the Position Driver in origin search operation, JOG operation, point positioning operation, and direct positioning operation. Specifies time spent in decelerating No reference speed to a stop. 100 24 Deceleration stop mode --- 0 to 2 1 25 Alarm selection --- 00 to 11 11 Explanation Re-power required? No * This value will be valid if the Position Driver is in point positioning operation. Selects stop method with STOP sig- No nal OFF. 0: Free-running stop 1: Deceleration stop 2: Error counter reset stop Selects alarm processing method with No limit or soft limit detection. Overrun 0: Servo-lock stop 1: Servo-free alarm 26 Selection signal 0.8 ms output time (See note 2.) 0.8 to 800.0 20.0 Soft limit 0: Servo-lock stop 1: Servo-lock alarm Specifies time during which P.OUT0 to P.OUT4 signals are turned ON for selecting position data and speed data for direct positioning. No Note 1. The minimum setting value varies with the value set in PP-01. The setting unit is used for machine axis movement and can be changed with the pulse rate setting. Setting unit examples: Linear movement: mm, cm, m, inch, yard Rotating movement: degree, rad, revolution Other movement: Pulse Note 2. Be sure to set enough time so that the Programmable Controller (PC) will be able to respond when the position and speed data selections are received by the PC. Set value y PC cycle time × 2 + PC input delay time + 1 ms With CompoBus/S-type Position Drivers, use the following formula for the Programmable Controller’s input circuit delay time: PC input circuit delay time = (Communications cycle time) x 2 3-26 Chapter 3 Operation 3-5-3 PTP Parameter Details (PP-01 to PP-26) PRM No. PP-01 Parameter name Minimum setting unit Setting range 0.0001 to 1 Unit Factory setting Machine axis 0.0001 movement • This parameter specifies the basic unit for movement and speed value setting and display. • Any of the following five basic units can be be set: 0.0001, 0.001, 0.01, 0.1, 1. • Set this unit according to the minimum feeding amount. For example, if the minimum feeding amount is 0.1 (mm), set a minimum setting unit of no more than 0.1. Note 1. After setting this parameter, turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again. (The new setting will go into effect when the power is turned back ON.) Note 2. If parameter PP-01 is changed after the position and speed data have been set, the position and speed digits will change. After setting the parameters (PP-01 to PP-03) that serve as references for the other parameter settings, turn the power OFF and then ON again to put these reference parameter settings into effect before setting the rest of the parameters. PRM No. PP-02 PRM No. PP-03 Parameter name Pulse rate 1 Parameter name Pulse rate 2 Setting range 1 to 32,767 Setting range 1 to 32,767 Unit Rotation Unit Mechanical axis movement Factory setting 1 Factory setting 10 • In order to set the amount of mechanical axis movement as positioning data, set the relationship between the motor shaft rotation and the mechanical axis movement. • For example, for a relationship of one motor rotation to 10 mm of mechanical axis movement, set PP-02 to “1” and PP-03 to “10.” Note After setting this parameter, turn OFF the power and check to be sure that the displays have turned OFF before turning the power back ON again. (The new setting will go into effect when the power is turned back ON.) PRM No. PP-04 PRM No. PP-05 Parameter name Minimum resolution (leftmost digits) Parameter name Minimum resolution (rightmost digits) Setting range --- Setting range --- Unit Mechanical axis movement Unit Mechanical axis movement Factory setting 0.0 Factory setting 0042 These parameters are used to display the mechanical axis movement per encoder/resolver pulse. The factory-set values cannot be changed. Displayed value = pulse rate 2 / (pulse rate 1 x motor sensor resolution) 3-27 Chapter 3 Operation Motor sensor resolution: OMNUC U Series 30 to 750 W with incremental encoder: OMNUC U Series 30 to 750 W with absolute encoder: OMNUC U Series 1 to 2 kW with incremental encoder: OMNUC U Series 1 to 2 kW with absolute encoder: OMNUC U Series with absolute encoder: OMNUC U-UE Series with incremental encoder: OMNUC H Series with incremental encoder: OMNUC M Series with resolver: 8,192 pulses/rotation 4,096 pulses/rotation 16,384 pulses/rotation 32,768 pulses/rotation 4,096 pulses/rotation 4,096 pulses/rotation 8,000 pulses/rotation 24,000 pulses/rotation Note The displayed value will be changed after PP-01 to PP-03 have been set and the power has been turned OFF and back ON again. PRM No. PP-06 PRM No. PP-07 Parameter name Origin compensation (leftmost digits) Parameter name Origin compensation (rightmost digits) Setting range –9,999 to 9,999 Unit Pulse Setting range 0 to 9,999 Unit Pulse Factory setting 0 Factory setting 0 • These parameters are used to set the mechanical origin to any position. • Set the number of motor sensor pulses for movement between the origin search completion position and the mechanical origin. • When origin teaching is executed, the data is automatically written to these parameters and the teaching position becomes the origin. • After these parameters have been set, the mechanical origin can be moved by executing an origin search. PRM No. PP-08 PRM No. PP-09 Parameter name Compensation (leftmost digits) Parameter name Compensation (rightmost digits) Setting range 0 to 9,999 Unit Mechanical axis movement Setting range 0 to 9,999 Unit Mechanical axis movement Factory setting 0 Factory setting 0 • These parameters specify the amount of mechanical axis movement for compensation during positioning operations. • The decimal point location is set by PP-01 (minimum setting unit). • For PTP control (UP-01: 11 or 13), this compensation becomes backlash compensation; for feeder control (UP-01: 12 or 14), it becomes slip compensation. Backlash Compensation • Set the amount of play (backlash) for a mechanical system such as gears or chains. • When movement is in the reverse direction from that of the previous operation, stopping precision can be improved by feeding an exact amount of compensation to absorb the backlash in the mechanical system. 3-28 Chapter 3 Operation • The following diagram provides an example of backlash compensation during operation. Backlash compensation Slip Compensation • Set slip compensation if slippage occurs in the mechanical system during feeding. • Set these parameters to compensate for the amount of slippage that occurs when feeding for just the amount set for pulse rate 2. For example, if 10 mm is fed with PP-01 (minimum setting unit) set to 0.001 and PP-03 (pulse rate 2) to 10 (mm), and if the slippage amount is 0.1 mm, then set PP-08 to 0 and PP-09 to 0.100. • Compensating for just the amount of slippage that occurs during feeding absorbs the play from the mechanical system and improves the stopping precision. Also, in order to match the mechanical axis speed to the command value, the motor is speeded up for just the amount of slippage (within the motor’s maximum speed range). • The following diagram provides an example of slip compensation during operation. Speed Slip compensation Motor rotation speed with slip compensation Motor rotation speed without slip compensation Time PRM No. PP-10 PRM No. PP-11 PRM No. PP-12 PRM No. PP-13 Parameter name Positive software limit (leftmost digits) Parameter name Positive software limit (rightmost digits) Parameter name Negative software limit (leftmost digits) Parameter name Negative software limit (rightmost digits) Setting range –9,999 to 9,999 Setting range 0 to 9,999 Setting range –9,999 to 9,999 Setting range 0 to 9,999 Unit Mechanical axis movement Unit Mechanical axis movement Unit Mechanical axis movement Unit Mechanical axis movement Factory setting 9,999 Factory setting 9,999 Factory setting –9,999 Factory setting 9,999 3-29 Chapter 3 Operation • These parameters set limits on mechanical system movement. • The decimal point location is set by PP-01 (minimum setting unit). • When a software limit is detected, the motor is placed in servo-lock and stopped. The alarm output status at that time is determined by the PP-25 (alarm selection) setting. • After the motor has been stopped as a result of a software limit having been detected, the motor will only be able to be driven in the direction which will release it from the software limit. (If alarm A.L34 or A.L35 has been generated, the alarm must be reset before the motor can be driven.) • If the maximum value is set for a given detection direction (e.g., 99,999,999 for the positive software limit), then the software limit for that direction will be ignored and the alarm detection will not be activated. PRM No. PP-14 PRM No. PP-15 Parameter name Reference speed (leftmost digits) Parameter name Reference speed (rightmost digits) Setting range 0 to 9,999 Unit Mechanical axis movement Setting range 0 to 9,999 Unit Mechanical axis movement Factory setting 0 Factory setting 500 • These parameters specify the motor’s speed during positioning, as the amount of mechanical axis movement per second. • The actual speed becomes the reference speed x the override. (The override value is set as PTP speed data or by direct input.) PRM No. PP-16 Parameter name JOG speed Setting range 1 to 199 Unit % Factory setting 10 This parameter specifies the motor r/min in JOG operation (+JOG, –JOG) as an override value based on the reference speed as 100%. Note Set the JOG speed at or below the motor’s maximum speed. PRM No. PP-17 Parameter name Origin search high speed Setting range 1 to 199 Unit % Factory setting 10 • This parameter specifies origin proximity signal search speed in origin search operation as an override value based on the reference speed as 100%. • The origin search high speed is also used as the speed during origin compensation Note Set an appropriate value so that the origin proximity signal can be detected accurately. PRM No. PP-18 Parameter name Origin search low speed Setting range 1 to 199 Unit % Factory setting 1 In origin search operation, this parameter specifies the motor sensor’s Z-phase search speed after origin proximity signal detection as an override value based on the reference speed as 100%. Note Set an appropriate value so that the speed will be 500 r/min maximum. PRM No. PP-19 3-30 Parameter name Origin search direction Setting range 0, 1 Unit --- Factory setting 0 Chapter 3 Operation This parameter specifies the direction for beginning an origin search operation. Set value 0 1 Description Begins origin search in the positive direction (incrementing the present value). Begins origin search in the negative direction (decrementing the present value). PRM No. PP-20 Parameter name Acceleration time 0 PRM No. PP-21 Parameter name Acceleration time 1 Setting range 0 to 9,999 Unit ms Setting range 0 to 9,999 Factory setting 0 Unit ms Factory setting 100 • These parameters specify the time from a stop until the reference speed is reached. • The actual acceleration time can be obtained from the following formula: [(Target speed – present speed) / reference speed] x acceleration time If S-curve acceleration time (UP-14) is set, the acceleration time will be lengthened. • Acceleration time 0 is used as the acceleration time for origin search, JOG operation, and positioning by direct input. • When positioning with PTP data, acceleration time 0 or 1 can be selected using the PTP data’s acceleration/deceleration selection (Pd A). PRM No. PP-22 Parameter name Deceleration time 0 PRM No. PP-23 Parameter name Deceleration time 1 Setting range 0 to 9,999 Unit ms Setting range 0 to 9,999 Factory setting 0 Unit ms Factory setting 100 • These parameters specify the time from the reference speed until the positioning is stopped. • The actual deceleration time can be obtained from the following formula: [(Present speed – target speed) / reference speed] x deceleration time • Deceleration time 0 is used as the deceleration time for origin search, JOG operation, and positioning by direct input. • When positioning with PTP data, deceleration time 0 or 1 can be selected using the PTP data’s acceleration/deceleration selection (Pd A). Acceleration/Deceleration Operation Speed Actual motor response (example) Reference speed (PP-14, PP-15) Time Acceleration time Deceleration time 3-31 Chapter 3 Operation PRM No. PP-24 Parameter name Deceleration stop mode Setting range 0, 1, 2 Unit Factory setting --- 1 This parameter selects the stop method for when the deceleration stop (STOP) signal is OFF. Set value 0 1 Description Free-running stop. (Servo OFF) Stop in deceleration time specified by positioning data during operation. (Servo-lock after stop) Stop with error counter reset. (Servo-lock after stop) 2 Note With a free-running stop, after the STOP signal has turned ON operation can be re-started by turning the RUN command from OFF to ON. Deceleration Stop Operation Speed Deceleration stop (STOP) OFF (1) Free-running stop (2) Stop in deceleration time (1) (3) Error counter reset stop (2) (3) Position Note After the deceleration stop (STOP) signal turns OFF, there is a maximum delay of 1.6 ms before the stop processing begins. PRM No. PP-25 Parameter name Alarm selection Setting range 00 to 11 Unit --- Factory setting 11 This parameter specifies the alarm processing method for when limit detection (overrun) or software limit detection occurs. Set value 0 1 0 1 PRM No. PP-26 Description Servo-lock stop when software limit is detected. Alarm (A.L34, A.L35) and servo-lock stop when software limit is detected. Servo-lock stop when limit is detected. Alarm (A.L38) and servo-free stop when limit is detected. Parameter name Selection signal output time Setting range 0.8 to 800.0 Unit ms Factory setting 20.0 • This parameter specifies the time during which P.OUT0 to P.OUT4 signals are turned ON for selecting position data and speed data for positioning by direct input. 3-32 Operation Chapter 3 • Be sure to set enough time for the Programmable Controller (PC) to respond when the position and speed data selections are received by the PC. Set value y PC cycle time × 2 + PC input delay time + 1 ms With CompoBus/S-type Position Drivers, use the following formula for the Programmable Controller’s input circuit delay time: PC input circuit delay time = (Communications cycle time) x 2 • When the Increment and Decrement Keys are pressed, the set value is changed in units of 0.8 ms. The digit to be set cannot be specified by pressing the Shift Key. 3-33 Operation 3-6 Chapter 3 Setting Positioning Data (PTP Data, Direct Input) Positioning data includes the following data settings: position, speed, acceleration/deceleration, and operation mode. (The acceleration/deceleration and operation mode selection settings are not made for position control by direct input.) Go to the User Parameter Edit Mode. . . . . . . . . Mode Key Display the pertinent parameter number. . . . . . Increment Key, Decrement Key, Increment Key +Data Key, Decrement Key + Data Key Display the parameter contents (data). . . . . . . . Increment Key Enable the data change. . . . . . . . . . . . . . . . . . . . Data Key + Shift Key Change the data. . . . . . . . . . . . . . . . . . . . . . . . . . Increment Key, Decrement Key, Shift Key Save the data in memory. . . . . . . . . . . . . . . . . . . Data Key 3-6-1 Setting PTP Data (When UP-01 is 11 or 12) Use the following procedure to set the PTP data (Pd01 to Pd64 ). 1. Press the Mode Key to go to the PTP Data Edit Mode (Pd01H). 2. Use the Increment and Decrement Keys to display the parameter number (Pd ) desired. 3. Press the Increment Key to display the parameter data. 4. Press the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will flash. 5. Use the Increment and Decrement Keys to change the data. The flashing numeral can be changed. To move to the next digit, press the Shift Key. 6. Press the Data Key to save the changed data in memory. 3-34 Chapter 3 Operation D PTP Data Display Example Parameter number (Pd01H) display Data display (Pd01H contents) Rightmost digit flashes. Parameter number (Pd01L) display Indicates incremental value designation. Data display (Pd01L contents) Parameter number (Pd01F) display When PP-01 (minimum setting unit) is set to “0.0001,” zeroes following the decimal point are not displayed. Data display (Pd01F contents) Parameter number (Pd01A) display Data display (Pd01A contents) Parameter number (Pd01r) display Data display (Pd01r contents) 3-6-2 Setting Direct Input (When UP-01 is 13 or 14) • With direct input, the control inputs (P.IN0 to 7), position data (7 + 1/2 digits BCD), sign bit, I (incremental value) or A (absolute value) designation bit, and speed data (2 digits BCD) are taken in order. • P.OUT0 to 4 (position selection 1 to 4, speed selection ) are output as timing signals for taking the data. • Data is taken on the falling edge of the P.OUT signal. When setting data from the Programmable Controller, output the data between the time that P.OUT turns ON and turns OFF. The time that P.OUT stays ON for can be set by PP-26 (selection signal output time). 3-35 Chapter 3 Operation D Direct Input Positioning Data Position data range: –39,999,999 to 39,999,999 (with incremental or absolute setting) Speed data range: 0 to 99 (100%, 1 to 99%) Input signal Name Position 7 Position 6 Output signal Position selection 1 2nd dd digit g (P iti ) (Position) Bit 3 Bit 2 Position selection 2 4th d digit g (P iti ) (Position) Bit 3 Bit 2 Position selection 3 6 digit 6th dg (P iti ) (Position) Position I/A bit Bit 2 Position sign bit 8 digit 8th dg (P iti ) (Position) Bit 1 7th d digit g (P iti ) (Position) Bit 3 Position 5 Bit 1 Bit 1 Bit 1 Position 4 Bit 0 Bit 0 Bit 0 Position 3 Position 2 1st s digit dg (P iti ) (Position) Bit 3 Bit 2 3 d digit 3rd dg (P iti ) (Position) Bit 3 Bit 2 5 digit 5th dg (P iti ) (Position) Position selection 4 Bit 3 Bit 3 Bit 2 Speed selection 2nd dd digit g (S (Speed) d) Bit 2 Bit 1 Bit 0 Bit 2 Bit 3 Bit 0 1st s digit dg (S (Speed) d) Bit 3 Bit 2 Position 1 Bit 1 Bit 1 Bit 1 Bit 1 Bit 1 Position 0 Bit 0 Bit 0 Bit 0 Bit 0 Bit 0 Note 1. For example, when position selection 1 (P.OUT0) is ON, positions 0 to 7 (P.IN0 to 7) are taken as the position data’s first and second digits. (They are taken at the falling edge of P.OUT0.) Note 2. The position sign bit specifies the position as “plus” when OFF (0), and “minus” when ON (1). Note 3. The position data takes the value set by PP-01 (minimum setting unit). Note 4. When the position I/A bit is OFF (0), I (incremental value) is set; when it is ON (1), A (absolute value) is set. Note 5. Set the speed data with the reference speed (PP-14, PP-15) override value (%). If the speed data is set to “0,” the override value will be 100%. Note 6. With direct input, the acceleration/deceleration time is fixed at PP-20 (acceleration time 0) and PP-22 (deceleration time 0). D Direct Input Setting Example In this example, positioning is moved at 250 mm/s to an absolute-value position of 1,000 mm, with the mechanical system set for 10 mm of movement per motor rotation, a minimum feed amount of 1 µm, and a reference speed of 500 mm/s. Parameter Settings Minimum setting unit: Pulse rate: Reference speed: 3-36 PP-01 = 0.001 (minimum feed amount: 0.001 mm) PP-02 = 1; PP-03 = 10 (10 mm of movement per motor rotation) PP-14 = 0; PP-15 = 500 (500 mm/s) Chapter 3 Operation Direct Input Data (Signal) Settings Position data: “A + 01000000” (x 0.001 mm) = 81000000 Speed data: Position selection 1 50 (%) Position selection 2 Position selection 3 Position selection 4 Input signal Name Output signal Position selection 1 0 Position selection 2 0 OFF Position selection 3 0 8 Speed selection OFF Position 6 OFF OFF Position 5 OFF Position 4 OFF Position 3 OFF Position 2 OFF OFF OFF OFF OFF Position 1 OFF OFF OFF OFF OFF Position 0 OFF OFF OFF ON OFF 0 ON A OFF OFF + ON OFF OFF OFF 0 OFF OFF OFF OFF 0 OFF 3-6-3 PTP Data (Pd01 No. Pd 01H 01L 01F 01A 01r OFF Position selection 4 Position 7 0 OFF Minimum Setting Factory setting range setting unit Point No. 1 posi- (PP-01) (I/A) (I) 0 tion data (leftmost –3,999 digits) to 3,999 Point No. 1 posi- (PP-01) 0 to 0 tion data (right9,999 most digits) Point No. 1 speed 1% 1 to 1 data 199 Point No. 1 accel- --00 to 11 00 eration/deceleration selection --- 0 to 2 5 ON 1 OFF 0 to Pd64 ) Name Point No. 1 operation mode selection OFF OFF 0 Description Specifies point No. 1 position data. A value between –39,999,999 and 39,999,999 can be set. Leftmost digit is used to specify “A” ((absolute)) or “I” (incremental) ( ) value. Specifies override value based on reference speed. Selects acceleration/deceleration time for positioning. Acceleration 0: Acceleration time 0 1: Acceleration time 1 Deceleration 0 Deceleration time 0 1: Deceleration time 1 0: Independent operation mode 1: Automatic incremental mode 2: Continuous operation mode 3-37 Chapter 3 Operation Pd02 to Pd63 are the same as Pd01 in data except for the point number. 64H Point No. 64 posi- (PP-01) tion data (leftmost digits) (I/A) –3,999 to 3,999 (I) 0 64L Point No. 64 position data (rightmost digits) Point No. 64 speed data Point No. 64 acceleration/deceleration selection Point No. 64 operation mode selection (PP-01) 0 to 9,999 0 1% --- 1 to 1 199 00 to 11 00 --- 0 64F 64A 64r Same as point No. 1. 0 Available in independent operation mode only. Note 1. The position data (leftmost digits) display is as follows, according to whether the sign is plus or minus and whether the values are incremental or absolute. Sign + – I (Incremental value designation) A (Absolute value designation) I + 1234 A + 1234 I – 1234 A – 1234 Note 2. When the value set for the position data’s leftmost digits is negative, pressing the Decrement Key with the fourth digit (i.e., the leftmost numeral) flashing will cause that digit to change as follows: Note 3. When the value set for the position data’s leftmost digits is negative, pressing the Increment Key causes the flashing numeral to be decremented. (Since it is negative, this actually increments the overall number.) Note 4. To set the I/A designation, press the Increment Key or the Decrement Key while the fifth (leftmost) digit is flashing to toggle between “I” and “A.” 3-6-4 PTP Data Details (Pd PRM No. Pd H PRM No. Pd L Parameter name Positioning data (leftmost digits) Parameter name Positioning data (rightmost digits) ) Setting range (I/A), –3,999 to 3,999 Setting range 0 to 9,999 Unit Mechanical axis movement Unit Mechanical axis movement Factory setting (I) 0 Factory setting 0 • The above PTP data determines the mechanical movement distance (i.e., the amount of motor rotation), the sign, and the data attribute (i.e., I or A). 3-38 Chapter 3 Operation • The decimal point location is determined by the PP-01 (minimum setting unit) setting. If, for example, you want to move to a position (incremental value) of 1,000 mm from the present position, with the mechanical system set for 10 mm of movement per motor rotation and a minimum feed amount of 1 µm, then make the following settings. PTP Parameter Settings Minimum setting unit: Pulse rate: PP-01 = 0.001 (minimum feed amount: 0.001 mm) PP-02 = 1; PP-03 = 10 (10 mm of movement per motor rotation) PTP Data Settings Leftmost digits Pd H = “I + 100” Rightmost digits Pd L = “0.000” I 100 0.000 • Data Attribute (I/A Designation) I (incremental value designation) is the method for designating the amount of movement from the present point (the present value). A (absolute value designation) is the method for designating the amount of movement from the mechanical origin (the zero position). Incremental and Absolute Movement Example (Position Data: 100) I (incremental) movement distance A (absolute) movement distance Position Mechanical origin Present value Note 1. If the data attribute “I” is set, the position moves to the one obtained from the present value added to 100. If the data attribute “A” is set, the position moves to the position specified by the coordinate value 100. Note 2. With feeder control (UP-01: 12), the present value is cleared when the start signal turns ON, and then positioning is executed. Therefore, set the position data based on the position where the start signal was turned ON as 0. PRM No. Pd F Parameter name Speed data Setting range 1 to 199 Unit % Factory setting 1 • This data specifies the movement speed for positioning operations. • Set an override value as a percentage with respect to the reference speed set in PP-14 and PP-15. For example, make the following settings for a speed of 250 mm/s on condition that the reference speed is 500 mm/s. PTP Parameter Setting Reference speed PP-14 = 0, PP-15 = 500 (500 mm/s) PTP Data Setting Speed Data Pd F = 50 (%) 3-39 Chapter 3 Operation PRM No. Pd A Parameter name Acceleration/deceleration selection Setting range 00 to 11 Unit --- Factory setting 00 This data specifies the acceleration time and deceleration time for positioning. Set value 0 1 0 1 Description Selects deceleration time 0 (set in PP-22). Selects deceleration time 1 (set in PP-23). Selects acceleration time 0 (set in PP-20). Selects acceleration time 1 (set in PP-21). Note If the S-curve deceleration/acceleration time constant is set in UP-14, the S-curve acceleration/ deceleration filter will be enabled, in which case the acceleration and deceleration time will be longer in proportion to the time constant. PRM No. Pd r Parameter name Operation mode selection Setting range 0 to 2 Unit --- Factory setting 0 This data specifies the method for moving to the next positioning after a positioning operation has been executed. Set value 0 1 2 Description Independent operation mode Automatic incremental mode Continuous operation mode Note Only the independent operation mode can be set in Pd64r for point number 64. Independent Operation Mode • Operation is stopped in servo-lock upon completion of positioning at the selected point number. • The selected point number is output to point outputs 0 to 6 (P.OUT0 to P.OUT6). • To execute the next positioning, turn ON the start signal after the point number is input. Motor speed Independent operation mode Point output Point no. n Automatic Incremental Mode • Operation is stopped in servo-lock upon completion of positioning for the selected point number. • After operation is stopped, the next point number is output to point outputs 0 to 6 ((P.OUT0 to P.OUT6). • When the start signal is input (i.e., turns ON), positioning is executed for the next point number. (When positioning is executed in order of point numbers, there is no need to set the point number every time.) 3-40 Motor speed Independent operation mode Point output Point no. n Chapter 3 Operation Continuous Operation Mode • In this mode, the Position Driver stays in continuous operation without being stopped in servo-lock. • Until the continuous operation mode specification is canceled (i.e., until the mode changes into independent operation mode or automatic incremental mode), the Position Driver continues operating and refreshing the present point number. • P.OUT0 to P.OUT6 are refreshed whenever the present point number changes. Motor speed Continuous operation mode Point output Point no. n Continuous operation mode Independent operation mode n +1 n+2 n D Precautions when Using Continuous Operation Mode with Feeder Control • With feeder control (UP-01: 12), positioning is executed with the present value at the time the start signal turns ON taken as the reference (origin). • If the Position Driver is in continuous operation mode, the present value will be set to 0 at the moment the start signal is turned ON after the point number is input. The present value cannot be cleared, however, if the next positioning is performed because the start signal is not input in that case. Therefore, for example, make the following settings for a high-speed feed distance of 900 mm followed by a lowspeed feed distance of 100 mm. Setting Example 1 Point number 1 = “I + 900.000,” continuous operation mode Point number 2 = “I + 100.000,” independent operation mode Setting Example 2 Point number 1 = “I + 900.000,” continuous operation mode Point number 2 = “A + 1,000.000,” independent operation mode Note In these examples, PP-01 is set to 0.001 for the minimum setting unit. Continuous operation mode Point output Point no. 1 Independent operation mode Point no. 2 Point no. 1 Note 1. There is no difference in operation between the data attributes “I” and “A” at point number 1. Note 2. The operation at point number 2 varies according to the data attribute (I/A) setting. 3-41 Chapter 3 Operation 3-7 Operational Sequence 3-7-1 Origin Search Function • When a motor with an incremental encoder/resolver is used, an operation to establish the mechanical origin after the power has been turned ON is required. This operation is called “origin search.” • The origin search operation establishes the mechanical origin by actually operating the motor and utilizing the limit input signals (CCWL/CWL), the origin proximity signal (ORG), and the motor sensor’s Z-phase signal. • When an absolute encoder is used, origin search is not required because the absolute-value data is retained by the battery even when the Driver’s power supply is turned OFF. (Origin compensation and origin teaching are enabled.) • There are three origin search patterns, according to the position from which the origin search is begun. Pattern 1: When the origin search is executed between the limit input signal input in the reverse of the origin search direction and the origin proximity signal input. Pattern 2: When the origin search is executed while the origin proximity signal is ON. Pattern 3: When the origin search is executed between the origin proximity signal input and the limit input signal input in the origin search direction. Note If the OFF position of the origin proximity signal (ORG) is close to the motor sensor’s Z-phase position, the origin position may deviate due to inconsistency in the origin proximity OFF position (one revolution for U/H-series motors, and 1/2 revolution for M-series motors). If that occurs, remove the motor from the mechanical system and adjust the Z-phase position. Then reinstall the motor. U Series: H Series: M Series: 3-42 Z-phase output is 1 pulse per revolution, so rotate motor shaft for 1/2 revolution. Z-phase output is 1 pulse per revolution, so rotate motor shaft for 1/2 revolution. Z-phase output is 2 pulses per revolution, so rotate motor shaft for 1/4 revolution. Chapter 3 Operation PTP Parameters The following PTP parameter settings are related to origin search. Make the settings according to the mechanical system. No. Name PP14 Reference speed (leftmost digits) 15 Reference speed (rightmost digits) 17 Origin search high speed Min. unit 1/s 18 Origin search low speed 1% 19 1% Setting Factory range setting 0 to 0 9,999 0 to 500 9,999 1 to 10 199 1 to 199 1 Origin search direction 0, 1 0 06 Origin compensation 1 pulse (leftmost digits) 0 07 Origin compensation (rightmost digits) –9,999 to 9,999 0 to 9,999 0 Explanation Specifies machine axis reference speed per second. Specifies origin proximity search speed in origin search operation as override value based on reference speed. (This value is used as axis speed for origin compensation as well.) Set an appropriate value so that the origin proximity signal can be detected accurately. Specifies phase-Z search speed in origin search operation as override value based on reference speed. Set an appropriate value so that the speed will be 500 r/min maximum. Specifies origin search direction. 0: Begin in positive (+) direction 1: Begin in negative (–) direction Specifies number of motor sensor pulses for movement between origin search completion position and mechanical origin. g The value can be obtained by origin teaching. Note 1. The acceleration and deceleration times for origin search will be acceleration time 0 (PP-20) and deceleration time 0 (PP-22). Note 2. The direction of movement for origin search is determined by the origin search direction (PP-19) and motor rotation direction (UP-26) settings. (The factory settings are for origin search to be executed with the motor rotating in the forward direction (CCW) with a positive (+) direction setting (i.e., present position incremented). Note 3. When origin compensation (PP-06, PP-07) is set, positioning moves for just the set amount after the motor’s sensor Z-phase signal is detected. Origin search high speed (PP-17) Motor operation (speed) Origin search operation Z-phase signal Origin compensation operation Mechanical origin Operation • The operation sequences for the three origin search patterns are shown below. • For these examples it is assumed that the factory settings are used for the origin search direction (PP-19) and the motor rotation direction (UP-26), and that origin compensation (PP-06, PP-07) is set to “0.” • Origin search operation will start when the origin search (SEARCH) signal is turned ON, with the READY signal ON. 3-43 Chapter 3 Operation Origin Search Pattern 1: Starting Between CWL Signal and Origin Proximity Signal 1. Positioning begins in the origin search direction at the origin search high speed. 2. Positioning changes to the origin search low speed when the origin proximity signal turns ON (rising edge). 3. The origin is established by the first Z-phase signal that is received after the origin proximity signal turns OFF (falling edge). RUN command (RUN) Origin search (SEARCH) CCW limit input (CCWL) Origin proximity (ORG) Z-phase First Z-phase signal after ORG turns OFF READY Origin search completed (S.COM) Origin (ORGSTP) Positioning completed (INP) Origin search high speed Origin search low speed Motor operation (speed) Note After the RUN command (RUN) signal turns ON, there will be an interval of 110 ms max. before the READY signal and the positioning completed (INP) signal turn ON. 3-44 Chapter 3 Operation Origin Search Pattern 2: Starting With Origin Proximity Input Signal ON 1. Positioning begins in the origin search direction at the origin search low speed. 2. The origin is established by the first Z-phase signal that is received after the origin proximity signal turns OFF (falling edge). RUN command (RUN) Origin search (SEARCH) CCW limit input (CCWL) Origin proximity (ORG) Z-phase First Z-phase signal after ORG turns OFF READY Origin search completed (S.COM) Origin (ORGSTP) Positioning completed (INP) Origin search low speed Motor operation (speed) Note After the RUN command (RUN) signal turns ON, there will be an interval of 110 ms max. before the READY signal and the positioning completed (INP) signal turn ON. 3-45 Chapter 3 Operation Origin Search Pattern 3: Starting Between Origin Proximity Signal and CCWL Signal 1. Positioning begins in the origin search direction at the origin search high speed. 2. The direction of movement is reversed when the CCWL signal turns OFF. 3. When the origin proximity signal turns from ON to OFF, the direction of movement is reversed again and the speed is changed to the origin search low speed. 4. The origin is established by the first Z-phase signal that is received after the origin proximity signal turns OFF. RUN command (RUN) Origin search (SEARCH) CCW limit input (CCWL) Origin proximity (ORG) Z-phase First Z-phase signal after ORG turns OFF READY Origin search completed (S.COM) Origin (ORGSTP) Positioning completed (INP) Origin search high speed Origin search low speed Motor operation (speed) Origin search high speed Note After the RUN command (RUN) signal turns ON, there will be an interval of 110 ms max. before the READY signal and the positioning completed (INP) signal turn ON. 3-46 Operation Chapter 3 Summary of Origin Search Operation Origin search direction: + direction Limit input Origin proximity Z-phase Speed Origin search pattern 1 Position Speed Origin search pattern 2 Position Speed Origin search pattern 3 Position 3-47 Chapter 3 Operation Origin Search Example Program (SYSMAC C200H-HX/HG/HE) The following ladder program example (for SYSMAC C200H-HX/HG/HE) is provided for reference j Word Allocation In this program example, the I/O signals are allocated to the input and output words as follows: Output Unit: Word 0 Bit number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 RUN START RESET SEARCH +JOG –JOG TEACH STOP P.IN0 P.IN1 P.IN2 P.IN3 P.IN4 P.IN5 P.IN6 P.IN7 Position Driver signal name RUN command Start Alarm reset Origin search +JOG operation –JOG operation Teach Deceleration stop Point selection 0 / Position 0 Point selection 1 / Position 1 Point selection 2 / Position 2 Point selection 3 / Position 3 Point selection 4 / Position 4 Point selection 5 / Position 5 Point selection 6 / Position 6 Position 7 Input Unit: Word 8 Bit number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 3-48 BO READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 P.OUT1 P.OUT2 P.OUT3 P.OUT4 P.OUT5 P.OUT6 Position Driver signal name Brake output Ready Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0 / Position selection 1 Point output 1/ Position selection 2 Point output 2 / Position selection 3 Point output 3/ Position selection 4 Point output 4/ Speed selection Point output 5 Point output 6 (Not used.) Chapter 3 Operation IR Area Word 30 in the IR area is used. j Ladder Program • For this example program it is assumed that limit input signals (CCWL and CWL) and origin proximity signals used for origin search operations are directly input from the sensors. • There are three types of origin search, depending on the beginning position for the search, but for the purposes of this ladder program example they are all the same. (So there is no need to change the origin search pattern.) • The program uses bits in IR 30. RUN switch 0807 0000 (RUN) 0007 (STOP) (See note 2.) RUN command signal output 3300 (DECELERATION STOP switch) ORIGIN SEARCH switch DIFU(013) 30000 Origin search signal output 3000 0801 (READY) 0003 Origin search 0801 3001 3001 3003 An error is output if the origin search signal is input while the ready signal is OFF. Origin search error check switch 3002 Origin search error 3002 Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For details regarding word allocations, refer to the Master Unit operation manual. Note 2. Bit allocation will be made for the deceleration stop (STOP) signal when using a CompoBus/ S-type Position Driver. In this case, the deceleration stop (STOP) signal must be turned ON in the ladder program. (If the deceleration stop signal for external control input (CN 4-4), or ladder program input (OUT 7) is OFF, the motor will not run.) 3-7-2 Origin Teaching Function • The origin teaching operation sets any given position as the mechanical origin. • If the motor sensor’s Z-phase position (the origin search completion position) is not at the desired mechanical origin after an origin search operation, it will be possible to move to any given position and use the origin teaching operation to make that position the mechanical origin (present value 0). 3-49 Chapter 3 Operation • The amount of movement at this time is taken by the PTP parameters (PP-06, PP-07) as the origin compensation, and in subsequent origin search operations this value is used to move to the origin teaching position (the mechanical origin) to complete the origin search. Note Origin teaching cannot be executed if the origin is not established. PTP Parameters The following PTP parameters are set by the origin teaching operation. No. Name Min. PPunit 06 Origin compensation 1 pulse (leftmost digits) 07 Origin compensation (rightmost digits) Setting Factory range setting –9,999 0 to 9,999 0 to 0 9,999 Explanation Specifies number of motor sensor pulses for movement between origin search completion position and mechanical origin. g The value can be obtained by origin teaching. Operation 1. 2. 3. 4. Complete the origin search operation. Use the JOG operation or external force (with servo OFF) to move to the mechanical origin. Turn OFF the RUN command (if the JOG operation has been used). Turn ON the origin search (SEARCH) command, and then turn ON the teaching (TEACH) command. (When the origin teaching operation has been completed, the teaching completed signal (T.COM) turns ON. RUN signal ON when JOG operation used for movement. RUN command (RUN) Origin search (SEARCH) Teaching (TEACH) READY Origin search completed (S.COM) Origin (ORGSTP) Positioning completed (INP) Teaching completed (T.COM) Motor operation 3-50 Movement by JOG operation or external force Chapter 3 Operation 3-7-3 Teaching Function • The teaching operation takes the motor’s present value as the position data in the specified PTP data. • Teaching is only enabled when the control mode is set for point positioning (UP-01: 11 or 12). • The position data that is taken by the teaching operation is all absolute-value (A) data. Also, the speed data, acceleration/deceleration selection, and operation mode selection do not change. (Make the settings after teaching is completed.) • Teaching can be executed with the RUN command either ON or OFF, so it can be executed while the mechanical system is being moved by either the JOG operation or external force. Note Teaching cannot be executed if the origin is not established. PTP Parameters The following PTP parameters are set by the teaching operation. No. PdH L Name Point No. position data (leftmost digits) Point No. position data (rightmost digits) Min. Setting Factory unit range setting (PP-01) (I/A) (I) 0 –3,999 to 3,999 (PP-01) 0 to 9,999 0 Explanation Specifies point no. position data. A value between –39,999,999 and 39,999,999 can be set. Leftmost digit is used to specify “A” (absolute) or “I” (incremental) value. N t Note 1 represents 1. t a number b ffrom 01 to 64. Note 2. With teaching, the position data is A (absolute value) Operation (Example: Teaching With JOG) 1. Input to points 0 to 6 (P.IN0 to 6) the point numbers to be taught. (Make sure that they match the numbers for point outputs 0 to 6 (P.OUT0 to 6). 2. Use the JOG operation (+JOG or –JOG) to rotate the motor. 3. Move to the position that is to be taught, and then turn ON the teaching (TEACH) input. 3-51 Chapter 3 Operation 4. When the teaching completed signal (T.COM) turns ON, turn OFF the teaching (TEACH) input. RUN command (RUN) +JOG operation (+JOG) Teaching (TEACH) Point selection (P.INP0 to 6) Point No. n READY Positioning completed (INP) Teaching completed (T.COM) Point output (P.OUT0 to 6) Point No. n Motor operation 3-7-4 Point Positioning (UP-01: 11 or 12) Function • Positioning is executed according to the PTP data of point numbers input to P.IN0 to P.IN6. • Positioning is started when the start signal is turned ON while the ready signal is ON. • The ready signal is turned OFF at the moment positioning begins and turned ON again upon completion of the positioning operation. Note With feeder control (UP-01: 12), the present value is cleared when the start signal is turned ON. Operation 1. Input the point numbers to P.IN0 to P.IN6. (Make sure that the P.OUT0 to P.OUT6 signals match the point numbers input to P.IN0 to P.IN6.) 2. Make sure that the ready signal is ON. Then turn ON the start signal. 3. Positioning will begin and the ready signal will be turned OFF. 3-52 Chapter 3 Operation 4. The ready signal will be turned ON again upon completion of the positioning. RUN command (RUN) Start (START) Point selection (P.IN0 to P.IN6) Point no. m Point no. n Point no. m Point no. n Independent operation mode Automatic incremental mode READY Positioning completion (INP) Point output (P.OUT0 to P.OUT6) Motor operation Continuous Independent operation operation mode mode Point Positioning Program Example (C200H-HX/HG/HE) The following point positioning ladder program example (for SYSMAC C200H-HX/HG/ HE) is provided for reference j Word Allocation In this program example, the I/O signals are allocated to the input and output words as follows: Output Unit: Word 0 Bit number 0 1 2 3 4 5 6 7 8 9 10 RUN START RESET SEARCH +JOG –JOG TEACH STOP P.IN0 P.IN1 P.IN2 Position Driver signal name RUN command Start Alarm reset Origin search +JOG operation –JOG operation Teach Deceleration stop (See note 2.) Point selection 0 / Position 0 Point selection 1 / Position 1 Point selection 2 / Position 2 3-53 Chapter 3 Operation Bit number 11 12 13 14 15 Position Driver signal name Point selection 3 / Position 3 Point selection 4 / Position 4 Point selection 5 / Position 5 Point selection 6 / Position 6 Position 7 P.IN3 P.IN4 P.IN5 P.IN6 P.IN7 Input Unit: Word 8 Bit number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 BO READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 P.OUT1 P.OUT2 P.OUT3 P.OUT4 P.OUT5 P.OUT6 Position Driver signal name Brake output Ready Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0 / Position selection 1 Point output 1/ Position selection 2 Point output 2 / Position selection 3 Point output 3/ Position selection 4 Point output 4/ Speed selection Point output 5 Point output 6 (Not used.) DM Area DM No. Data contents 00 01 02 Point number Input signal Output signal IR Area Word 30 in the IR area is used. Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For details regarding word allocations, refer to the Master Unit operation manual. Note 2. Bit allocation will be made for the deceleration stop (STOP) signal when using a CompoBus/ S-type Position Driver. Note 3. Point numbers 0 to 64 (BCD) are input to P.IN0 to P.IN6 and output from P.OUT0 to P.OUT6. Input to the Position Driver P.IN6 4 101 P.IN5 2 101 P.IN4 1 101 P.IN3 8 100 P.IN2 4 100 P.IN1 2 100 P.IN0 1 100 P.OUT3 8 100 P.OUT2 4 100 P.OUT1 2 100 P.OUT0 1 100 Output from the Position Driver P.OUT6 4 101 3-54 P.OUT5 2 101 P.OUT4 1 101 Chapter 3 Operation j Ladder Program RUN switch 0807 (Alarm output) 0000 (RUN) RUN command signal output 3300 (DECELERATION STOP switch) 0007 (STOP) (See note 3.) Point No. setting switch DIFU(013)3100 3100 3102 3101 3101 3101 0801 (READY) MOVD(083)D0000 #0210 Outputs point number to leftmost 8 bits of word 00. 00 Point number setting 3102 3102 3104 3103 3103 3103 0801 (READY) ANDW(034)00 #7F00 Moves point number input (control input) to DM 0001. D0001 ANDW(034)08 #7F00 Moves point number output (control output) to DM 0002. D0002 Point number setting check. CMP(020)D0001 D0002 Compares point number I/O. 25506(=) 3104 3104 3106 (Point number check switch) 3105 Point number setting completed 3105 START switch DIFU(013)3200 START signal output 3200 0801 0001 START 0801 (READY) 3201 3201 An error is output if the START signal is input while the ready signal is OFF. 3203 (START error check switch) 3202 START error 3202 3-55 Operation Chapter 3 Note 1. The point number setting switch is a contact for taking the point number (DM 00) into the Position Driver. Note 2. Turn ON the point number check switch (3106) and the START switch when “point number setting completed” (3105) is output. Note 3. When using a CompoBus/S-type Position Driver, the deceleration stop (STOP) signal must be turned ON in the ladder program. (If the deceleration stop signal for external control input (CN 4-4), or ladder program input (OUT 7) is OFF, the motor will not run.) 3-7-5 Direct Positioning (UP-01: 13 or 14) Function • Positioning is executed by taking in sequence the position and speed data entered for positions 0 to 7 (P.IN0 to 7), according to the timing output signals for position data selections 1 to 4 (P.OUT0 to 3) and the speed data selection (P.OUT4). • When the teach signal is turned ON, the Position Driver starts reading the data. Both the teaching completed (T.COM) and ready signals are turned ON when the Position Driver has finished reading the data. • Positioning is started when the start signal is turned ON while the ready signal is ON. • The ready signal is turned OFF during positioning and turned ON again upon completion of the positioning operation. Note With feeder control (UP-01: 12), the present value is cleared when the start signal is turned ON. Operation 1. The two rightmost digits of the position data are input to P.IN0 to P.IN7. 2. The teach signal is turned ON. Position selection 1 (P.OUT0) are turned ON and OFF and the position data is taken at the falling edge. 3. Next position selection 2 (P.OUT1 is turned ON. While P.OUT1 is ON, positions 0 to 7 are taken into the third and fourth digits. 4. The remaining position data (i.e., the rest of the digits, sign bit, and I/A bit) and speed data are taken in the same way. 5. After all the data has been taken, both the teaching completed (T.COM) and ready signals are turned ON. After it is confirmed that they have turned ON, the teach signal is turned OFF. 6. When the start signal is turned ON, positioning begins and the ready signal is turned OFF. 3-56 Operation Chapter 3 7. The ready signal is turned ON again upon completion of the positioning operation. RUN command (RUN) Teaching (TEACH) Start (START) Position data (P.IN0 to P.IN7) Teaching completed (T.COM) READY (READY) Positioning completed (INP) Position selection 1 (P.OUT0) Position selection 2 (P.OUT1) Position selection 3 (P.OUT2) Position selection 4 (P.OUT3) Speed selection (P.OUT4) Selection signal output time can be set in PP-26. Motor operation 3-57 Chapter 3 Operation Direct Positioning Program Example (C200H-HX/HG/HE) The following direct positioning ladder program example (for SYSMAC C200H-HX/HG/ HE) is provided for reference. j Word Allocation In this program example, the I/O signals are allocated to the input and output words as follows: Output Unit: Word 0 Bit number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 RUN START RESET SEARCH +JOG –JOG TEACH STOP P.IN0 P.IN1 P.IN2 P.IN3 P.IN4 P.IN5 P.IN6 P.IN7 Position Driver signal name RUN command Start Alarm reset Origin search +JOG operation –JOG operation Teach Deceleration stop (See note 2.) Point selection 0 / Position 0 Point selection 1 / Position 1 Point selection 2 / Position 2 Point selection 3 / Position 3 Point selection 4 / Position 4 Point selection 5 / Position 5 Point selection 6 / Position 6 Position 7 Input Unit: Word 8 Bit number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 3-58 BO READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 P.OUT1 P.OUT2 P.OUT3 P.OUT4 P.OUT5 P.OUT6 Position Driver signal name Brake output Ready Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0 / Position selection 1 Point output 1/ Position selection 2 Point output 2 / Position selection 3 Point output 3/ Position selection 4 Point output 4/ Speed selection Point output 5 Point output 6 (Not used.) Chapter 3 Operation DM Area DM number 01 02 10 11 12 20 21 Data contents Input signal Output signal Positioning data (rightmost digits) Positioning data (leftmost digits) Speed data Indirect table for positioning data Digit transfer control data table IR Area Word 30 in the IR area is used. Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For details regarding word allocations, refer to the Master Unit operation manual. Note 2. Bit allocation will be made for the deceleration stop (STOP) signal when using a CompoBus/ S-type Position Driver. Note 3. Input position data (BCD) and speed data (BCD) into P.IN 0 to 7 with P.OUT0 to 4. P.IN7 8 10n+1 P.IN6 4 10n+1 P.IN5 2 10n+1 P.IN4 1 10n+1 P.IN3 8 10n P.IN2 4 10n P.IN1 2 10nn P.IN0 1 10n Position data: P.OUT0 ON; n=0, P.OUT1 ON; n=2, P.OUT2 ON; n=4, P.OUT3 ON; n=6 P.IN6; ±data 0: +, 1: – P.IN7; INC/ABS data 0: INC, 1: ABS Speed data: P.OUT4 ON; n=0 3-59 Chapter 3 Operation j Ladder Program RUN switch 0807 (Alarm output) 0000 (RUN) RUN command signal output 3300 (DECELERATION STOP switch) 0007 (STOP) (See note 3.) Data input switch DIFU(013)3100 3100 3102 3101 3101 0801 (READY) 3101 0006 (TEACH) 0006 0808(P.OUT0) MOV(021)#0010 D0020 MOV(021)#0210 D0021 0809(P.OUT1) MOV(021)#0010 Transfer information for rightmost digits of position data D0020 MOV(021)#0212 D0021 0810(P.OUT2) MOV(021)#0011 D0020 MOV(021)#0210 D0021 Transfer information for leftmost digits of position data 0811(P.OUT3) MOV(021)#0011 D0020 MOV(021)#0212 D0021 0812(P.OUT4) MOV(021)#0012 D0020 Transfer information for speed data MOV(021)#0210 D0021 3-60 Chapter 3 Operation 0808 ANDW(034)00 #00FF 0809 Releases control inputs to DM 01. D0001 MOVD(083) *D0020 0810 D0021 D0002 0811 Transfers positioning data in 8-bit units to the leftmost 8 bits of DM 02. ANDW(034)D0002 0812 #FF00 D0002 ORW(035)D0001 D0002 00 3101 0804 Positioning data settings Clears rightmost 8 bits of DM 02. Adds released control inputs and positioning data and outputs result to word 00. (Teaching completed) DIFU(013)3102 3102 3106 (Position data intake check switch) 3105 Position data intake completed 3105 START switch DIFU(013)3200 3200 START signal output 0801 (READY) 0001 START 0801 3201 3201 3203 (START error check switch) 3202 START error An error is output if the START signal is input while the ready signal is OFF. 3202 Note 1. The data input switch is a contact for taking the set position data into the Position Driver. Note 2. Turn ON the position data intake switch (3106) and the START switch when “position data intake completed” (3105) is output. Note 3. When using a CompoBus/S-type Position Driver, the deceleration stop (STOP) signal must be turned ON in the ladder program. (If the deceleration stop signal for external control input (CN 4-4), or ladder program input (OUT 7) is OFF, the motor will not run.) 3-61 Chapter 3 Operation 3-8 Trial Operation After the wiring is complete and the parameter settings have been made, conduct a trial operation. First, in system check mode, check the motor’s rotation direction without connecting a load (i.e., without connecting the mechanical system), and check to be sure that the I/O signals are correctly wired. Then, connect the mechanical system, auto-tune the system, and confirm that the correct operation pattern is performed. If an error occurs during trial operation, refer to Chapter 4 Application and apply the appropriate measures. 3-8-1 Trial Operation Procedure Preparations j Turning OFF the Power Supply The power supply must be turned OFF and back ON in order for some of the parameter settings to go into effect, so always turn OFF the power supply before starting. j Leaving the Motor With No Load Connected Do not connect a load to the motor shaft during trial operation in case the motor runs out of control. j Preparing to Stop the Motor Make sure that the power switch can be turned OFF or the RUN command can be used to stop the motor immediately in case of trouble. Actual Trial Operation (1) Powering Up • With the RUN command OFF, apply an AC voltage. • After internal initialization, the mode will be the Monitor Mode. Monitor display example: r 0 • Set the speed loop proportional gain (AJ2.) to approximately 1.0. (Match the gain with no load.) 1. Confirm the initial display (Monitor Mode) shown above. 2. Press the Mode Key twice to enter the Adjustment Parameters Edit Mode. 3. Press the Increment Key to display the contents of AJ2. (speed loop proportional gain). 4. Press the Shift Key and Data Key to enable the data to be changed. (The digit that can be changed will flash.) 5. Press the Shift Key, Increment Key, or Decrement Key as required to change the setting to 1.0. 6. Press the Data Key to end the data change operation. 3-62 Operation Chapter 3 Note 1. The factory setting for the speed loop proportional gain (AJ2.) is 1.0 (multiple). Note 2. In the Adjustment Parameters Edit Mode, the set value is re-written at the point where the number is changed by pressing the Increment Key and Decrement Key. (2) Testing the Motor (Refer to 3-8-2 System Check Mode.) • Execute the motor test operation in System Check Mode and perform the following checks. Is the motor’s rotation direction correct? Are there any abnormal sounds or vibration? Is anything abnormal occurring? (3) Checking the I/O Signal Wiring • Execute the output signal test in System Check Mode and perform the following check. (Refer to 3-8-2 System Check Mode.) Are signals from the Position Driver being correctly read by the host controller? • Check the following item with the Check Mode’s I/O signal display. (Refer to 4-2 Check Mode.) Are signals and limit inputs from the host controller, origin proximity signals, deceleration stop input signals, and so on, being correctly read by the Position Driver? (4) Auto-tuning With a Load Connected (Refer to 3-9 Making Adjustments.) • Connect the motor shaft to the load (mechanical system) securely, being sure to tighten screws so that they will not become loose. • Execute auto-tuning in System Check Mode. (5) Turning ON the RUN Command Input • Turn ON the run command input. • Check to be sure that the motor goes into servo-lock status. (6) Operating at Low Speed • Operate the motor at low speed. The meaning of “low speed” can vary with the mechanical system. Here, “low speed” means approximately 10% to 20% of the actual operating speed. • Check the following items. Is the emergency stop operating correctly? Are the limit switches operating correctly? Is the operating direction of the machinery correct? Are the operating sequences correct? Are there any abnormal sounds or vibration? Is anything abnormal occurring? (7) Operating Under Normal Load Conditions • Operate the motor in a regular pattern and check the following items. Is the speed correct? (Use the Monitor Mode’s motor speed display and the mechanical speed display.) Is the load torque roughly equivalent to the measured value? (Use the Monitor Mode’s motor current display and the effective load factor display.) Are the positioning points correct? When an operation is repeated, is there any discrepancy in positioning? Are there any abnormal sounds or vibration? Is either the motor or the Driver abnormally overheating? Is anything abnormal occurring? 3-63 Chapter 3 Operation (8) Readjusting the Gain • If the gain could not be adjusted completely using auto-tuning, perform the procedure in 3-9 Making Adjustments to adjust the gain manually. 3-8-2 System Check Mode The System Check Mode is used to conduct the motor test, output signal test, and auto-tuning. To enter this mode, use the following procedure: 1. Press the Mode Key to go into the Monitor Mode. 2. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds to go into the System Check Mode. To exit the System Check Mode, double-click the Mode Key. Note The motor test operation is a function for operating the motor with only the Position Driver and the motor. The limit inputs and deceleration stop input are disabled, so before conducting this test check to make sure that there will be no adverse effect on the equipment. Entering the System Check Mode The System Check Mode can be entered from the Monitor Mode. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds. Monitor Mode System Check Mode Motor test Output signal test Double-click the Mode Key. Auto-tuning AdS display Functions in System Check Mode j Motor Test Operation • With the motor test operation, the motor is operated in forward and reverse by means of key operations with just the motor and Position Driver connected. (Connection to a host controller is not required.) • The motor speed can be set by UP-29 (motor test r/min). The factory setting is 50 r/min. j Output Signal Test • With the output signal test, Position Driver output signals are turned ON and OFF. • This test is used to check the connections with the host controller. 3-64 Chapter 3 Operation j Auto-tuning • With auto-tuning, the size and characteristics of the load (the mechanical system) can be checked, and the gain can be automatically adjusted and set accordingly. • There are three kinds of gain to be set: position loop gain (AJ.4), speed loop proportional gain (AJ.2), and speed loop integral gain (AJ.3). • There are three parameters for auto-tuning: reciprocating rotation range (Auto1), target response frequency (Auto2), and maximum rotation speed (Auto3). Note For details regarding auto-tuning, refer to 3-9 Making Adjustments. j AdS Display This is a parameter for manufacturer adjustments. Do not change the setting. Motor Test Operation Procedure Display example Key operation Press the Mode Key to enter Monitor Mode. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds to enter System Check Mode. Press the Data Key to go to servo-ON status. Press the Increment Key to test forward operation. (The motor should rotate in the forward direction while the Increment Key is being held down.) Press the Decrement Key to test reverse operation. (The motor should rotate in the reverse direction while the Decrement Key is being held down.) Press the Data Key to go to servo-OFF status. Double-click the Mode Key to return to Monitor Mode. j User Parameter Settings The motor speed can be set by UP-29 (motor test r/min). No. Name UP29 Motor test r/min Min. unit 1 r/min Setting Factory range setting 1 to 50 8,000 Explanation Specifies the motor speed during the motor test operation. Note Be sure to set this parameter to no more than the motor’s rated speed. 3-65 Chapter 3 Operation Output Signal Test Operating Procedure Display example Key operation Press the Mode Key to enter Monitor Mode. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds to enter System Check Mode. Press the Shift Key to bring up the output signal test display. Press the Data Key and Shift Key to enable the output signal test. (The output signals will all be turned OFF.) Use the Increment Key and the Decrement Key to select the signal. In this example the origin signal (ORGSTP) is selected. Press the Data Key to turn ON the output signal. (“1” indicates “ON.”) Press the Data Key again to turn OFF the output signal. (“1” indicates “OFF.”) Press the Mode Key to return to the output signal test display. Double-click the Mode Key to return to Monitor Mode. j Output Signal Numbers, Symbols, and Names Number S00 S01 S02 S03 S04 S05 S06 S07 S08 S09 S10 S11 S12 S13 S14 3-66 Symbol READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 P.OUT1 P.OUT2 P.OUT3 P.OUT4 P.OUT5 P.OUT6 BO Name READY Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0 / Position selection 1 Point output 1 / Position selection 2 Point output 2 / Position selection 3 Point output 3 / Position selection 4 Point output 4 / Speed selection Point output 5 Point output 6 Brake output Chapter 3 Operation 3-9 Making Adjustments 3-9-1 Auto-tuning Auto-tuning is a function for automatically operating the motor to adjust the position loop gain, speed loop proportional gain, and speed loop integral gain. If adjustments cannot be made by auto-tuning, refer to 3-9-2 Manually Adjusting Gain. When using auto-tuning, the limit inputs and deceleration stop input must be connected. Basic Auto-tuning Procedure • To go into auto-tuning, first enter the System Check Mode from the Monitor Mode, and then press the Shift Key to bring up the auto-tuning display. • After setting the auto-tuning parameters, press the Data Key and Increment Key simultaneously to begin the auto-tuning operation. • When the auto-tuning operation has been completed, double-click the Mode Key to return to the Monitor Mode. System Check Mode Monitor Mode Motor test Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds. Output signal test Auto-tuning display Double-click the Mode Key. Auto-tuning Executes auto-tuning operation. Auto-tuning in progress. (Display flashes and motor operates.) Auto-tuning completed. Auto-tuning Parameter Settings Display Name Min. unit 1 rev. Setting Factory range setting 1 to 1 300 Auto 1 Reciprocating rotation width Auto 2 Destination cutoff frequency 1 Hz 1 to 100 40 Auto 3 Maximum rotation speed 1 r/min 1 to 4,000 1,000 Explanation Specifies the amount to move to one side in reciprocating operation during auto-tuning execution. Specifies the position loop responsiveness. (Normally set from 20 Hz to 80 Hz.) Specifies the maximum motor speed during auto-tuning execution. 3-67 Chapter 3 Operation Note 1. The reciprocating operation is performed twice during auto-tuning. Check the mechanical operating range and set the reciprocating rotation range accordingly. Note 2. Set the maximum rotation speed to the maximum speed for actual operation. Reciprocating rotation width Maximum rotation speed Motor speed 3-68 Time Chapter 3 Operation Operating Procedure Example In this auto-tuning example, it is assumed that the reciprocating rotation range is set to 5 (revolutions), the target response frequency is set to 50 (Hz), and the maximum rotation speed is set to 2,000 (r/min). Display example Key operation Press the Mode Key to enter Monitor Mode. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds to enter System Check Mode. Press the Shift Key twice to bring up the auto-tuning display (reciprocating rotation range). Press the Increment Key to display the reciprocating rotation range data. Press the Data Key and Shift Key to enable the data to be changed. (The digit that can be changed will flash.) Use the Increment Key, the Decrement Key, and the Shift Key to change the setting to “5.” Press the Data Key to save the new setting. Press the Increment Key to bring up the target response frequency display. Press the Increment Key to display the target response frequency data. Press the Data Key and Shift Key to enable the data to be changed. (The digit that can be changed will flash.) Use the Increment Key, the Decrement Key, and the Shift Key to change the setting to “50.” Press the Data Key to save the new setting. Press the Increment Key to bring up the maximum rotation speed display. Press the Increment Key to display the maximum rotation speed data. Press the Data Key and Shift Key to enable the data to be changed. (The digit that can be changed will flash.) Use the Increment Key, the Decrement Key, and the Shift Key to change the setting to “2000.” Press the Data Key to save the new setting. Press the Increment Key to bring up the auto-tuning display (reciprocating rotation range). Press the Data Key and the Increment Key to execute auto-tuning. (The display will flash while the motor is operating.) When the display stops flashing it indicates that the auto-tuning operation is completed. Double-click the Mode Key to return to Monitor Mode. 3-69 Operation Chapter 3 Notes on Auto-tuning Settings • The reciprocating operation is performed twice during auto-tuning, so pay careful attention to the mechanical operating range. • The amount of movement to one side in reciprocating operation during auto-tuning is the value set in the “Auto1” auto-tuning parameter (reciprocating operation width). • The motor speed during auto-tuning is the value set in the “Auto3” auto-tuning parameter (maximum rotation speed). • When auto-tuning is completed, the adjustment parameter settings for position loop gain (AJ4.), speed loop proportional gain (AJ2.), and speed loop integral gain (AJ3.) will be changed automatically. (They will not be changed until the operation has been completed.) • If the response is not sufficient for the gain after the auto-tuning adjustments, then refer to 3-9-2 Manually Adjusting Gain and adjust the gain manually. 3-70 Chapter 3 Operation 3-9-2 Manually Adjusting Gain Gain Adjustment Flowchart ! Perform auto-tuning to match the rigidity of the mechanical system. The motor hunts when servo-locked. (Accompanied by a hunting noise.) NO Raise the Destination cutoff frequency to the value just before hunting occurs and perform auto-tuning. Do characteristics such as positioning time meet system specifications? YES WARNING Do not make extreme adjustment or setting changes as they cause unstable operation and may result in injury. Perform gain adjustment by changing the value in small increments, while checking that the motor is operating normally. Decrease the target response frequency so hunting doesn’t occur and perform auto-tuning. YES End adjustment. NO Increase AJ2. (speed loop proportional gain) to a value where hunting doesn’t occur in servo-lock. Decrease AJ3. (speed loop integral gain) to a value where hunting doesn’t occur in servo-lock. Does hunting (vibration) occur when the motor is operated? : YES NO Run the motor and monitor its operation. Decrease AJ2. (speed loop proportional gain). Increase AJ4. (position loop gain) until overshooting does not occur. Increase AJ3. (speed loop integral gain). End adjustment. : When vibration can’t be eliminated despite several adjustments or positioning is too slow: Decrease AJ9. (current reference filter). 3-71 Chapter 3 Operation 3-9-3 Adjustment Parameter Details PRM No. AJ2. Parameter name Setting range Speed loop proportional gain 0.0 to 100.0 Unit Multiple Factory setting 1.0 • This parameter adjusts the speed loop response. • As the gain is increased, the servo rigidity is strengthened. The greater the inertia rate, the higher this is set. If the gain is set too high, oscillation will occur. • Adjustment can be performed more quickly by first setting the load inertia ratio. Response When Speed Loop Proportional Gain is Adjusted When speed loop proportional gain is high. (Oscillates when gain is too high.) Motor speed When speed loop proportional gain is low. Time PRM No. AJ3. Parameter name Speed loop integral gain Setting range 0.1 to 20.0 Unit Multiple Factory setting 1.0 • This parameter sets the speed loop integral gain. • As the gain is decreased, the responsiveness is lowered and the resistance to external force is weakened. If the gain is set too high, oscillation will occur. 3-72 Chapter 3 Operation Response When Speed Loop Integral Gain is Adjusted When speed loop integral gain is high Motor speed When speed loop integral gain is low Time PRM No. AJ4. Parameter name Position loop gain Setting range 1 to 200 Unit rad/s Factory setting 30 • Adjust the position loop response to match the mechanical rigidity. • The servo system’s responsiveness is determined by the position loop gain. When the position loop gain is high, the servo system’s responsiveness will be high and positioning can be executed quickly. In order to increase the position loop gain, it is necessary to raise the mechanical rigidity and increase the characteristic frequency. For normal construction machinery, set the gain to 50 to 70 (rad/s); for general purpose machinery and assembly machinery, 30 to 50 (rad/s); for industrial robots, 10 to 30 (rad/s). • If the system has low mechanical rigidity or low characteristic frequency, increasing the position loop gain will cause mechanical resonance and will generate an overload alarm. • If the position loop gain is low, the positioning time can be shortened by using feed forward. Response When Position Loop Gain is Adjusted When position loop gain is high Motor speed When position loop gain is low Time 3-73 Chapter 3 Operation PRM No. AJ7. Parameter name Setting range Interrupt gain suppression 0 to 10,000 Unit --- Factory setting 0 • If any value other than “0” is set for this parameter, the speed loop integral gain will be disabled when stopped, and the speed loop proportional gain will be suppressed. • As the set value is increased, the amount of suppression is increased and the speed loop proportion gain is lowered. • Adjust this parameter if the motor makes abnormal noises when stopping. PRM No. AJ8. Parameter name Setting range Feed-forward gain 0.0 to 2.0 Unit Multiple Factory setting 0.0 • This parameter is effective when the position loop gain is low (25 rad/s). It is not effective when the position loop gain is high. • Feed forward adds to the speed loop directly without going through the error counter, so responsiveness is increased without the error counter’s integral term being entered (when the load system operates without reference delays). • Before the feed-forward gain can be adjusted, the position loop must be fully adjusted and the speed loop must be operating with stability. Check to make sure that these conditions are met before attempting to adjust the feed-forward gain. • When the feed-forward amount is set too high, the speed reference becomes like a sawtooth wave and the motor makes abnormal noises. Raise the value gradually, beginning with 0.0 (multiple). • Make the adjustment so that the positioning completion output does not repeatedly turn ON and OFF, and so that there is no speed overshooting. PRM No. AJ9. Parameter name Setting range Current reference filter 400 to 20,000 rad/s Unit Factory setting 6,000 • This parameter specifies the current reference cut-off frequency. • Gradually lower this value if vibration occurs due to a mechanical resonance frequency. Feed forward gain Position data creation area Deviation counter Position loop Speed loop Current loop Speed detection Encoder/resolver 3-74 Motor Chapter 3 Operation 3-10 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Position Driver’s internal capacitors, thereby preventing an increase in DC voltage. If the regenerative energy from the Servomotor becomes too large, however, an overvoltage error will occur. In such cases, it is necessary to connect a Regeneration Resistor to increase the regeneration processing capacity. 3-10-1 Calculating Regenerative Energy Regenerative energy is produced when the direction of Servomotor rotation or output torque is reversed. The methods for calculating regenerative energy for the horizontal and vertical axes are explained below. Horizontal Axis Motor operation Motor output torque Note In the output torque graph, acceleration in the positive direction is shown as positive, and acceleration in the negative direction is shown as negative. The regenerative energy for each section can be found by means of the following formulas: Eg1 = 1/2 N1 TD1 t1 1.027 × 10–2 [J] Eg2 = 1/2 N2 TD2 t2 1.027 × 10–2 [J] N1, N2: Rotation speed at beginning of deceleration [r/min] TD1, TD2: Deceleration torque [kgf cm] t1, t2: Deceleration time [s] Note There is some loss due to winding resistance, so the actual regenerative energy will be approximately 90% of the figure derived by the formula. 3-75 Chapter 3 Operation The maximum regenerative energy (Eg) occurring in any operational section can be found by means of the following formula: [Unit: J] Eg is the larger of Eg1 and Eg2. The average regenerative power per cycle of operation can be found by means of the following formula: [Unit: W] Pr = (Eg1 + Eg2)/T [W] T: Operation cycle [s] The maximum regenerative energy (Eg) and the average regenerative power (Pr) must not exceed the regeneration absorption capacity of the Driver. If the regeneration absorption capacity is insufficient, connect a Regeneration Resistor. Vertical Axis Falling Motor operation Rising Motor output torque Note In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and acceleration in the negative direction (falling) is shown as negative. The regenerative energy for each section can be found by means of the following formulas: Eg1 = 1/2 N1 TD1 t1 1.027 × 10–2 [J] Eg2 = N2 TL2 t2 1.027 × 10–2 [J] Eg3 = 1/2 N2 TD2 t3 1.027 × 10–2 [J] N1, N2: Rotation speed at beginning of deceleration [r/min] TD1, TD2: Deceleration torque [kgf cm] TL2: Torque when falling [kgf cm] t1, t3: Deceleration time [s] t2: Travel time equivalent to torque when falling [s] Note There is some loss due to winding resistance, so the actual regenerative energy will be approximately 90% of the figure derived by the formula. 3-76 Chapter 3 Operation The maximum regenerative energy (Eg) occurring in any operational section can be found by means of the following formula: [Unit: J] Eg is the largest of Eg1, Eg2, Eg3. The average regenerative power per cycle of operation can be found by means of the following formula: [Unit: W] Pr = (Eg1+ Eg2+ Eg3)/T [W] T: Operation cycle [s] The maximum regenerative energy (Eg) and the average regenerative power (Pr) must not exceed the regeneration absorption capacity of the Driver. If the regeneration absorption capacity is insufficient, connect a Regeneration Resistor. 3-10-2 Position Driver Absorbable Regenerative Energy The Position Driver absorbs regenerative energy by means of an internal capacitor. If there is more regenerative energy than can be absorbed by the capacitor, an overvoltage error will be generated and operation cannot continue. The amounts of regenerative energy that can be absorbed by the various Position Drivers alone are shown in the tables below. If regenerative energy exceeding these values is produced, take the following measures. • Connect a Regeneration Resistor. • Lower the operating rotation speed. (The regenerative energy is proportional to the square of the rotation speed.) • Lengthen the deceleration time. (Reduce the amount of regenerative energy per unit time.) 200-VAC Input Type Regeneration processing capacity Model FND-X06H- FND-X12H- FND-X25H- FND-X50H- Average regenerative power (W) 13 24 37 160 Regenerative energy (J) 17 17 22 38 Note The input voltage is the value at 200 VAC. As the input voltage is increased, the amount of regenerative energy that can be absorbed is decreased. 100-VAC Input Type Model FND-X06L- FND-X12L- Regeneration processing capacity Average regenerative power (W) 13 17 Regenerative energy (J) 17 17 Note The input voltage is the value at 100 VAC. As the input voltage is increased, the amount of regenerative energy that can be absorbed is decreased. 3-77 Chapter 3 Operation 3-10-3 Regenerative Energy Absorption by Regeneration Resistor If the Position Driver alone cannot absorb the regenerative energy, connect a Regeneration Resistor. The Regeneration Resistor connects between the P and J terminals at the Position Driver’s terminal block. ! Caution Be careful when connecting the Regeneration Resistor. If done incorrectly it will damage the Position Driver. ! Caution The Regeneration Resistor heats up to 120°C, so be careful not to place it near equipment or wiring that may be affected by heat. Also be sure to install a radiation shield that satisfies the heat radiation conditions. Selecting a Regeneration Resistor j Types of Regeneration Resistors Type Model Resistance Nominal capacity A R88A-RR20030 30Ω 200 W Regeneration absorption at 120C 100 W B R88A-RR40030 30Ω 400 W 200 W Heat radiation conditions t3 × 350 (aluminum) t3 × 350 (aluminum) j Regeneration Resistor Combinations Regeneration absorption capacity Combination method 100 W 200 W A B 400 W 800 W A A B B A A B B Note Select a combination with a capacity greater than the average regenerative power (Pr). j Dimensions (Unit: mm) Model R88A-RR20030 R88A-RR40030 3-78 L1 215 265 L2 200 250 W 50 60 H 25 30 Chapter 3 Operation Wiring the Regeneration Resistor As shown in the following diagram, connect the Regeneration Resistor between the P and J terminals at the Position Driver’s terminal block. Position Driver terminal block 2.0 mm2 Regeneration Resistor Note With the FND-X50H-, connect a Regeneration Resistor between P and JP1. In this case, remove the short bar between JP1 and JP2. 3-79 4 Chapter 4 Application 4-1 4-2 4-3 4-4 4-5 4-6 Monitor Mode Check Mode Monitor Output Protection and Diagnosis Troubleshooting Periodic Maintenance Chapter 4 Application 4-1 Monitor Mode The following ten items can be monitored in Monitor Mode: motor speed, present value, reference value, position deviation, mechanical speed, motor current, effective load factor, electrothermal value, electrical angle, and regenerative absorption rate. The Monitor Mode is entered when the Position Driver’s power supply is turned ON. The various items to be monitored can be displayed one at a time by pressing the Increment Key and Decrement Key. j Operation in Monitor Mode Power ON Monitor Mode Motor speed Present value (leftmost digits) Present value (rightmost digits) Other monitor items 4-2 Check Mode Chapter 4 Application j Monitor Details Display Monitored item r Motor speed A’ A C’ C E’ E P’ P F’ F cF cc L bL Present value (leftmost digits) Present value (rightmost digits) Reference value (leftmost digits) Reference value (rightmost digits) Position deviation (leftmost digits) Position deviation (rightmost digits) (Not used.) (Not used.) Mechanical speed (leftmost digits) Mechanical speed (rightmost digits) (Not used.) (Not used.) Motor current Effective load factor Unit r/min Mechanical axis movement Explanation Displays the actual rotation speed of the motor shaft. Calculates and displays the present value of the mechanical axis based on feedback from the motor sensor. Mechanical axis movement Displays the mechanical axis position referenced by the Position Driver. Pulse Displays the deviation of the present value from the reference value with encoder/resolver resolution. --- --- Mechanical axis movement per er second Calculates and displays the movement speed of the mechanical axis based on feedback from the motor sensor. ----A0–P % ----Displays the output current to the motor. Displays the effective load factor with respect to the motor’s rated current value. Effective load factor = (output current effective value) / (motor’s rated current) oL Electrothermal value % d Electrical angle deg rL Regenerative absorption rate % Effective values are calculated at the time interval set for HP-33 (load factor time constant). Calculates the motor’s heat generation from the output current and displays it as a percentage of the heat generation in rated operation. (When the power is turned ON, 90 [%] is displayed.) If this value exceeds 110 [%], an A.L17 (motor overload) alarm will be detected. Displays the motor’s electrical angle (0.0 to 360.0). When a Regeneration Resistor is connected, this monitor item displays the regenerative absorption current as a percentage of the motor’s rated current. Note In the motor speed, present value, position deviation, mechanical speed, and motor current monitoring displays, the respective display will flash if the value is negative. (The numeric portion will not flash.) 4-3 Chapter 4 Application 4-2 Check Mode The following four items can be displayed in Check Mode: I/O signal status, alarm details, alarm history, and software version To enter the Check Mode, press the Mode Key while in Monitor Mode. Also, the Check Mode’s alarm display is brought up automatically when an alarm is generated. The Check Mode’s items can be displayed one at a time by pressing the Increment Key and Decrement Key. j Operation in Check Mode Monitor Mode Check Mode I/O signal status Alarm generated Alarm details Alarm history data Alarm history Software version Most recent error Second most recent error o.b display H.P-L display S.P-L display 4-4 15th most recent error Chapter 4 Application j Check Mode Display Details Display Contents I/O signal status Explanation Displays the ON/OFF status of control I/O signals. Alarm details Displays details regarding alarms that are generated. (The example display at the left indicates that no alarm has been generated. When an alarm occurs, the alarm code is displayed here.) This display is brought up automatically whenever an alarm occurs during operation. The alarm can be cleared by pressing the Data Key at that time. If multiple errors occur simultaneously, however, it will be necessary to press the Data Key for each error. Software version For details regarding alarms, refer to 4-4 Protection and Diagnosis. Displays the errors that have occurred in the past. (Up to 15 errors are retained in memory.) Displays the software version. o.b display (Not used.) H.P-L display (Not used.) S.P-L display (Not used.) Alarm history 4-5 Chapter 4 Application 4-2-1 I/O Signal Status With the I/O signal status display, the ON/OFF status of control I/O signals is indicated by the turning ON and OFF of 7-segment display LED bits. j I/O Signal Bit Allocation The vertical LEDs show the ON/OFF status of inputs (1 to 20) and the horizontal LEDs show the ON (lit)/OFF (not lit) status of outputs ((1) to (15)). Indicates Check Mode. j Input Signal Allocation Bit No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Symbol CCWL CWL ORG RUN START RESET SEARCH +JOG –JOG TEACH P.IN0 P.IN1 P.IN2 P.IN3 P.IN4 P.IN5 P.IN6 P.IN7 --STOP Name CCW limit input CW limit input Origin proximity RUN command START Alarm reset Origin search +JOG operation –JOG operation TEACH Point selection 0/ Position 0 Point selection 1/ Position 1 Point selection 2/ Position 2 Point selection 3/ Position 3 Point selection 4/ Position 4 Point selection 5/ Position 5 Point selection 6/ Position 6 Position 7 (Not used.) Deceleration stop DIO type CN1-1 CN1-2 CN1-3 CN1-4 CN1-5 CN1-6 CN1-7 CN1-8 CN1-9 CN1-10 CN1-11 CN1-12 CN1-13 CN1-14 CN1-15 CN1-16 CN1-17 CN1-18 --CN1-20 CompoBus/S type CN4-1 CN4-2 CN4-3 OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 --OUT7, CN4-4 (see note) Note When the deceleration stop signal for both OUT7 and CN4-4 is ON, bit No. 20 will be lit. 4-6 Chapter 4 Application j Output Signal Allocation Bit No. (1) (2) (3) (4) (5) (6) (7) (8) (9) Symbol BO READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 (10) P.OUT1 (11) P.OUT2 (12) P.OUT3 (13) P.OUT4 (14) (15) P.OUT5 P.OUT6 Name Brake output Ready Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0/ Position selection 1 Point output 1/ Position selection 2 Point output 2/ Position selection 3 Point output 3/ Position selection 4 Point output 4/ Speed selection Point output 5 Point output 6 DIO type CN1-21 CN1-22 CN1-23 CN1-24 CN1-25 CN1-26 CN1-27 CN1-28 CN1-29 CompoBus/S type IN0, CN4-8 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 CN1-30 IN9 CN1-31 IN10 CN1-32 IN11 CN1-33 IN12 CN1-32 CN1-35 IN13 IN14 4-7 Chapter 4 Application 4-3 Monitor Output The Position Driver outputs (analog) a voltage proportional to the motor’s rotation speed and current. The monitor voltage is output from the monitor output terminal on the front panel of the Position Driver. This analog output can be used to install a meter in the control panel or to provide more precise gain adjustments. j Monitor Output Terminal on Driver’s Front Panel 2 (Speed monitor / Current monitor) 1 (GND) Monitor output terminal j Monitor Output Circuitry Speed monitor / Current monitor j Monitor Output Specifications Speed monitor Current monitor 4-8 With 0 V as center, voltage output at rate of 3 V/(motor’s rated speed). Forward rotation: (+) voltage; reverse rotation: (–) voltage output Output accuracy: approx. ±10% With 0 V as center, voltage output at rate of 3 V/(motor’s maximum current). Forward acceleration: (+) voltage; reverse acceleration: (–) voltage Output accuracy: approx. ±10% Chapter 4 Application j User Parameter Setting No. Name UP25 Monitor output selection Min. unit --- Setting Factory range setting 000 to 010 011 Explanation Specifies the output terminal function. 0 Voltage polarity 0: Not reversed 1: Reversed Speed/Current selection 0: Current 1: Speed 4-9 Chapter 4 Application 4-4 Protection and Diagnosis 4-4-1 Alarms The Position Driver has the error detection functions shown below. When an error is detected the output signal ALM (CN1-28) turns OFF and the alarm is displayed. The following table shows the alarm codes that are displayed on the Position Driver’s front panel, and it provides explanations of each of their meanings. Display A.L01 A.L02 Error detection function Overcurrent Overvoltage A.L03 Voltage drop A.L06 Resolver disconnection Power status error A.L07 A.L09 A.L10 A.L12 A.L15 A.L16 A.L17 A.L18 A.L19 A.L20 A.L21 A.L26 A.L32 A.L34 A.L35 A.L37 4-10 Meaning of code and probable cause Overcurrent or overheating detected. Main circuit’s DC voltage exceeded 410 VDC. Main circuit’s DC voltage fell below 200 VDC. The resolver is disconnected. The main circuit connections are different from the settings. Regeneration The internal Regeneration Resistor has Resistor overheat overheated (only for FND-X50). Regeneration The regeneration transistor has been ON for operation error more than 50 ms (only for FND-X50). Clock stopped The Position Driver’s clock is stopped. Overcurrent (soft) The current exceeded the motor’s rated current (120%). Speed amp The speed amp was saturated for more than saturation 3 seconds. Motor overload The electrothermal value exceeded 110%. Short time The current exceeded the motor’s rated overload current (120%) for a sustained period of time. Resolver error There was an error in the resolver feedback. Speed over The motor speed exceeded 120% of the maximum speed. Deviation counter The deviation counter’s accumulated pulses over exceeded ±221. Parameter setting The user parameter settings (UP-01, UP-02) error are not appropriate. Resolver error The resolver feedback was in error. + Software limit The reference value exceeded the software over limit in the positive direction (PP-10, PP-11). – Software limit The reference value exceeded the software over limit in the negative direction (PP-12, PP-13). Coordinate counter The present value exceeded ±231. over Teaching or origin teaching was executed with the parameter setting exceeded. Motor current Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo-lock Servo-lock Servo-lock Chapter 4 Application Display A.L38 A.L40 A.L41 A.L42 A.L43 A.L44 A.L45 A.L46 A.L47 A.L48 A.L50 A.L51 A.L52 Error detection function Overrun Encoder disconnection Encoder communications error Absolute encoder backup error Absolute encoder checksum error Absolute encoder battery error Absolute encoder absolute value error Absolute encoder over speed Encoder data not transmitted Encoder initialization error BCD data error Present position unknown PTP data not set Meaning of code and probable cause Motor current The limit input signal in the direction of movement turned OFF. An encoder disconnection or short-circuit was detected. There was an error in the encoder’s S-phase data (or A-phase when an absolute encoder is connected). The absolute encoder’s backup voltage dropped. There was an error in the absolute encoder’s memory data check. The absolute encoder’s backup battery voltage dropped. There was an error in the absolute encoder’s sensor check. Servo OFF The speed exceeded 400 r/min when multiple rotation data was transmitted. The encoder’s S-phase data was not transmitted within the prescribed time. The encoders reception circuitry malfunctioned. The input data for P.IN0 to 7 is not BCD. START, TEACH, or ORIGIN TEACH was executed when the origin was not established. A point number was selected for which the PTP data was not set. Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo OFF Servo-lock Servo-lock Servo-lock 4-11 Chapter 4 Application 4-4-2 Countermeasures to Alarms Alarm display A.L01 Error content Overcurrent Overheating Condition when error occurred Probable cause Occurred when power was turned ON. Occurred when S d Servo was turned ON. Control board defective. Replace Driver. Current feedback circuit error Main circuit transistor module error Replace Driver. Servomotor power line is short-circuited or grounded. • Correct the power line shortcircuiting or grounding. • Measure the insulation resistance at the Servomotor itself. If there is short-circuiting, replace the Servomotor. Occurred during operation even though power was ON ON. Overvoltage The ambient temperature for Bring the ambient temperathe Driver is higher than 55°C. ture for the Driver down to 55°C or lower. The load torque is too high. • Lighten the load. • Lengthen the acceleration time. • Select another Servomotor. Occurred when power was turned ON. The power supply voltage is outside of the allowable range. Occurred during motor deceleration. The load inertia is too large. • The supply voltage must be 170 to 264 VAC when 200 VAC is specified • The supply voltage must be 85 to 127 VAC when 100 VAC is specified. • Lengthen the deceleration time. • Calculate the regeneration and select a Regeneration Resistor. If reset is executed after waiting for a time, operation resumes. A.L02 The power supply voltage is outside of the allowable range. The external Regeneration Resistor is damaged. Occurred while lowering (vertical shaft). 4-12 Countermeasures Gravity torque is too large. • The supply voltage must be 170 to 264 VAC when 200 VAC is specified • The supply voltage must be 85 to 127 VAC when 100 VAC is specified. Calculate the amount of regeneration and replace the Regeneration Resistor with one of the appropriate capacity. • Add a counterbalance to the machine, and reduce the gravity torque. • Reduce the lowering speed. • Connect an external Regeneration Resistor. Chapter 4 Application Alarm display A.L03 A.L06 Error content Voltage drop Resolver disconnection Condition when error occurred Probable cause Countermeasures Occurred during operation. The power supply voltage fell below the prescribed value. Occurred during motor acceleration The power supply capacity is insufficient. • For 200-VAC input specifications, use a 170 to 264-VAC power supply. • For 100-VAC input specifications, use an 85 to 127-VAC power supply. Increase the power supply capacity. Occurred when power was turned ON ON. The UP-02 (applicable motor) setting is wrong. Set the motor model code correctly. The resolver’s wiring is disconnected or faulty. Occurred after slight movement at the beginning. There is poor contact at the connectors. • Connect any places that are disconnected. • Correct the wiring. Make sure the connectors are inserted firmly and locked into place. A.L07 Power status error --- An error occurred in the main circuit. Replace the Driver. A.L09 Regeneration Resistor overheat Occurred during operation. The regenerative absorption exceeded the internal absorption. Connect an external Regeneration Resistor. The power supply voltage is outside the allowable range. Use a 170 to 264-VAC power supply. The Regeneration Resistor is damaged. • Replace the external Regeneration Resistor. • If an external Regeneration Resistor is not being used, replace the Driver. A.L10 Regeneration operation error Occurred during operation. An external Regeneration Mount a short bar between Resistor is not being used and JP1 and JP2. the short bar has been removed from between JP1 and JP2 on the terminal block. The regeneration circuit is damaged. Replace the Driver. A.L12 Clock stop --- The Position Driver’s internal clock has stopped. Replace the Driver. A.L15 Overcurrent ((soft)) [Th currentt [The exceeded the motor’s rated current (120%).] Occurred during operation. The mechanical system is locked. Correct the places that are locked. The power lines are wired incorrectly. Correct the wiring. The power lines are shortedcircuited or grounded. Correct the short-circuiting or grounding. The UP-02 (applicable motor) setting is wrong. Set the motor model code correctly. The mechanical system is locked. Correct the places that are locked. The power lines are wired incorrectly. Correct the wiring. The UP-02 (applicable motor) setting is wrong. Set the motor model code correctly. A.L16 Speed amp saturation [Th speed d amp [The was saturated for more than 3 seconds.] Occurred during operation. 4-13 Chapter 4 Application Alarm display A.L17 Error content Motor overload [[The electrotherl mall value exceeded 110%.] Condition when error occurred Occurred during operation. Probable cause The mechanical system is locked. Correct the places that are locked. The power lines are wired incorrectly. Correct the wiring. The load is too large. • Lighten the load. • Lengthen the deceleration time. Re-adjust the gain. The gain adjustment is incorrect. A.L18 Short time overload [Th currentt [The exceeded the motor’s rated current (120%) for a sustained period of time.]] Occurred during operation. The mechanical system is locked. Correct the places that are locked. The power lines are wired incorrectly. Correct the wiring. The load is too large. • Lighten the load. • Lengthen the deceleration time. Re-adjust the gain. The gain adjustment is incorrect. A.L19 A.L20 A.L21 A.L26 4-14 Malfunctioning was caused by noise. • Connect any disconnected places. • Correct any faulty contacts. Wire the resolver cables separately from the power lines. The motor operated at high g speed t t upon startup. There was a resolver feedback error. Wire the resolver cables separately from the power lines. The encoder is wired incorrectly. Correct the wiring. Occurred during operation. The gain adjustment is incorrect. Re-adjust the gain. Motor did not operate even though g the START signal was tturned d ON ON. The motor power lines or the encoder lines are wired incorrectly. Correct the wiring. The mechanical system is locked. Correct the places that are locked. Occurred at highspeed rotation. The motor power lines or the encoder lines are wired incorrectly. Correct the wiring. Occurred when positioning g with a l large amountt off movement or during a JOG operation. The gain adjustment is incorrect. Re-adjust the gain. Acceleration was too sudden. Lengthen the acceleration time. The load is too large. • Lighten the load. • Select another motor. Occurred when operating g at the maximum i rotation t ti speed. The reference speed is too high. Correct the speed settings. The slip compensation is too large. Correct the slip compensation. Occurred when power was turned ON. No data is set for UP-01 and UP-02, or else the setting is incorrect. Correctly set the data for UP-01 and UP-02. (After setting the data, turn the power off and back ON.) Resolver error [There was an error in the feed resolver feedback.] Occurred during operation. Speed over [[The motor d exceeded d d speed 120% of the maximum speed.] Deviation counter over [[The error counter’s ’ accumulated l t d pulses exceeded ±221.]] Parameter setting error Countermeasures The resolver cable is disconnected. Chapter 4 Application Alarm display A.L32 Error content Resolver error Condition when error occurred Occurred when power was turned ON ON. Probable cause Countermeasures The resolver cable is disconnected. Connect any disconnected places. The resolver cable wiring is incorrect. Correct the wiring. The UP-02 (applicable motor) setting is wrong. Set the motor model code correctly. A.L34 + Software limit over Occurred during operation. The reference value set in PP-10 and PP-11 was exceeded. • Reset the alarm and use JOG or manual operation to release from the software limit. • Correct the reference value. • Correct the PP-10 and PP-11 values. A.L35 – Software limit over Occurred during operation. The reference value set in PP-12 and PP-13 was exceeded. • Reset the alarm and use JOG or manual operation to release from the software limit. • Correct the reference value. • Correct the PP-12 and PP-13 values. A.L37 Coordinate counter over [Th presentt [The value exceeded ±231.] Occurred during shaft movement. The reference value is too large. Correct the reference value. Feedback control is being employed in PTC control mode. Correctly set the control mode (UP-01). (After setting the data, turn the power OFF and back ON.) Overrun [The limit input signal in the direction of movement turned OFF during an operation other than origin search.] Occurred during shaft movement. The reference value is too large. Correct the reference value. The limit sensor’s position is incorrect. Correct the limit sensor’s position. The limit sensor’s polarity is incorrect. Wire the sensor so that it turns ON during normal operation. The limit sensor is broken. Replace the limit sensor. Encoder disconnection Occurred after moving g jjust a little i i att th the b beginning. The encoder’s lines are disconnected. Connect any disconnected places. There is poor contact at the connectors. Make sure the connectors are inserted firmly and locked into place. The encoder’s wiring is incorrect. Correct the wiring. The encoder is damaged. The Driver is damaged. The UP-02 (applicable motor) setting is wrong. Replace the motor. Replace the Driver. Set the motor model code correctly. The encoder cable is loose. Make sure the connectors are inserted firmly and locked into place. The UP-02 (applicable motor) setting is wrong. Set the motor model code correctly. The encoder S-phase wiring is incorrect. Correct the wiring. A.L38 A.L40 Occurred when beginning. Occurred when power was turned ON ON. A.L41 Encoder communications error ( t 1) (see note Occurred when power was turned ON ON. 4-15 Chapter 4 Application Alarm display Error content Condition when error occurred Probable cause Countermeasures The absolute encoder’s backup voltage dropped (even if the encoder was being used for the first time). There was an error in the absolute encoder’s memory data check. Perform the absolute encoder setup. The absolute encoder’s backup battery voltage dropped (to 2.6 to 2.8 V max.). There was an error in the absolute encoder’s sensor check. (Internal encoder error) Replace the battery and then perform the absolute encoder setup. A.L42 Absolute encoder Occurred when backup error power was turned ON. A.L43 Absolute encoder Occurred when checksum error power was turned ON. A.L44 Absolute encoder Occurred when battery error power was turned ON. A.L45 Absolute encoder Occurred when absolute value power was turned error ON. A.L46 Absolute encoder Occurred when over speed power was turned ON. Encoder data not Occurred when transmitted power was turned ON ON. The speed exceeded 400 r/min when the power was turned ON. A.L48 Encoder initialization error A.L50 BCD data error A.L47 Perform the absolute encoder setup. • Turn the power OFF and then back ON. • If the error persists, then replace the motor. Turn ON the power while the motor is stopped The UP-02 (applicable motor) setting is wrong. Set the motor model code correctly. The encoder S-phase wiring is disconnected. Connect any disconnected places. Occurred when power was turned ON. The Driver malfunctioned. Occurred when power was turned ON ON. The data input for direct positioning was not BCD. • Turn the power OFF and then back ON. • If the error persists, then replace the motor. Re-input the data and make sure it is correct. The point number input for point positioning was not BCD. A.L51 Present position unknown Occurred at startup or when teaching. START, TEACH, or ORIGIN Execute an origin search to TEACH was executed when establish the origin. the origin was not established. A.L52 PTP data not set Occurred when power was turned ON. A point number was selected for which the PTP data was not set. • Set the correct PTP data. • Select a point number for which PTP data has been set. Note 1. If the motor has been incorrectly connected, or if the applicable motor (UP-02) has been incorrectly set, the motor may perform some revolutions before an A.L41 error is generated. Check the settings for the connected motor and the applicable motor before recommencing operation. Note 2. For details on replaceable batteries, refer to 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder. 4-16 Chapter 4 Application 4-4-3 CompoBus/S-type Position Driver Protective and Diagnostic Functions With the CompoBus/S Master Unit (C200HW-SRM21 is used here as an example) and the CompoBus/S-type Position Driver (FND-X-SRT), the communications status can be checked using the LED indicators. j FND-X-SRT D Diagnosis Using LED Indicator Status Indicator status PWR Not lit COMM Not lit ERR Not lit Lit Not lit Not lit Lit Not lit Lit Lit Not lit --- Probable cause of error Countermeasure The Position Driver’s power is not turned on. The Slave’s node address is set in the 8 to 15 range when the maximum number of Slaves connectible to the Master is 16. A communications error occurred during communications. Turn on the power for the Position Driver. Set the node address from 0 to 7, or set the maximum number of connectible Slaves to 32. The Master is a CQM1, and the number of occupied points per node is set to 4. The Master’s power is not turned on. Establish the cause of the error by checking the LED indicator on the Master and take appropriate countermeasures. Change the setting to 8-point mode. Turn on the power for the Master. j CompoBus/S Master Unit (Example: C200HW-SRM21) D Diagnosis Using LED Indicator Status Indicator RUN (green) (g ) SD (y (yellow)) RD (y (yellow)) ERC (red) Status Lit Not lit Lit Not lit Lit Not lit Lit IN/OUT ((red)) Not lit Lit Not lit 8421 (red) Lit/Not lit Meaning The Position Driver is operating normally. Indicates one of the following conditions: The power is OFF, there is an I/O setting error, the CPU Unit is in standby status, or there is a unit number setting error. Data is being transmitted. Data is not being transmitted. Data is being received. Data is not being received. A Slave has been withdrawn from communications. (Communications error) The Slaves are communicating normally. An error has occurred with an Output Slave. An error has occurred with an Input Slave or all Slaves are operating normally. These indicators represent the four-digit binary slave number of the Slave in which the error occurred. 4-17 Chapter 4 Application 4-4-4 Overload Characteristics An overload protection function (electrothermal) is built into the Position Driver to protect against Position Driver or Servomotor overload. If a motor overload (A.L17) or temporary overload (A.L18) does occur, first clear the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning ON the power again. If the power is turned ON again too soon, the Servomotor coil may be damaged. j Motor Overload (A.L17) Detection D Detection Method • A motor overload is detected by first calculating the motor’s heat generation (the electrothermal value) from the current flowing to the motor. • If 110% of the electrothermal value is exceeded, a motor overload will be detected. • The electrothermal value is displayed by the Monitor Mode’s electrothermal value display (oL). D Detection Time When a uniform load is added beginning with an electrothermal value of 0, the time until the Driver detects a motor overload is as shown in the following diagram. (Reference value) Note The initial value for the electrothermal value when the Driver is powered up is set at 90%. This is because of the need to rapidly detect an overload in order to prevent motor burnout. Therefore a thermal value of about 90% will be displayed even when there is no overload to the motor when the power is turned ON. As long as there is no overload, however, the electrothermal value will be gradually decreased, so there is no problem for operation. Detection time (min) Load ratio (%) Note 1. The load ratio is calculated in relation to the motor’s rated current. Load ratio (%) = Motor current Motor rated current × 100 Note 2. The value for “T” is determined individually for each Servomotor model, and indicates the motor’s burn time constant. 4-18 Chapter 4 Application • U-series (30 to 750 W) Servomotors Motor model R88M-U03030 R88M-U05030 R88M-U10030 R88M-U20030 R88M-U40030 R88M-U75030 Wattage 30 W 50 W 100 W 200 W 400 W 750 W T (min) 4 4 8 8 10 18 Wattage 100 W 200 W 400 W 750 W T (min) 8 8 10 18 • U-UE-series Servomotors Motor model R88M-UE10030 R88M-UE20030 R88M-UE40030 R88M-UE75030 • U-series (1 to 2 kW) Servomotors Motor model R88M-U1K030 R88M-U1K530 R88M-U2K030 Wattage 1 kW 1.5 kW 2 kW T (min) 30 39 45 Wattage 50 W 100 W 200 W 300 W 500 W 750 W 1,100 W T (min) 6 7 12 15 18 20 22 • H-series Servomotors Motor model R88M-H05030 R88M-H10030 R88M-H20030 R88M-H30030 R88M-H50030 R88M-H75030 R88M-H1K130 • M-series Servomotors (1,200 r/min) Motor model R88M-M20012 R88M-M40012 R88M-M70012 R88M-M1K112 R88M-M1K412 R88M-M1K812 Wattage 200 W 400 W 700 W 1,100 W 1,400 W 1,800 W T (min) 19 24 41 37 58 64 4-19 Chapter 4 Application • M-series Servomotors (2,000 r/min) Motor model R88M-M20020 R88M-M40020 R88M-M70020 R88M-M1K120 R88M-M1K820 R88M-M2K220 Wattage 200 W 400 W 700 W 1,100 W 1,800 W 2,200 W T (min) 14 15 31 38 53 54 • M-series Servomotors (4,000 r/min) Motor model R88M-M06040 R88M-M12040 R88M-M20040 R88M-M40040 R88M-M70040 R88M-M1K140 R88M-M1K040 Wattage 60 W 120 W 200 W 400 W 700 W 1,100 W 2,000 W T (min) 7 11 7 17 34 21 36 j Short Time Overload (A.L18) Detection D Detection Method A temporary overload is detected when the motor’s current continually exceeds 120% of the motor’s rated current for at least a fixed period of time. D Detection Time The detection time is as shown in the following diagram. It is the same for all Servomotor models. (Reference value) Detection time (s) Load ratio (%) 4-20 Chapter 4 Application 4-4-5 Alarm Output This chapter describes the timing of alarm outputs when power is turned ON and when alarms occur. The method used to clear alarms is also described. j Timing Chart Power input (R, S) ON RUN command (RUN) ON OFF OFF Error Error occurrence 2 ms min. ON Alarm reset (RESET) OFF Approx. 2 s 2 ms max. ON Alarm output (ALM) OFF ON Power to motor Approx. 40 ms Approx. 110 ms OFF j Alarm Output Circuitry (DIO Type) 28 Alarm output 19 OGND Output specifications: 24 VDC, 40 mA max. Normal: Output transistor ON Error (alarm): Output transistor OFF j Clearing Alarms • Any of the following methods can be used to clear alarms: Turn ON the alarm reset signal (RESET). Turn the power supply OFF and then back ON. Press the Data Key while the alarm is displayed. Power status alarms (A.L07), however, cannot be cleared by turning the power OFF and then back ON. • Operation will start as soon as the alarm is cleared if the alarm is cleared while the RUN command (RUN) is ON, possibly creating a dangerous situation. Turn OFF the RUN command before clearing alarms. 4-21 Chapter 4 Application 4-5 Troubleshooting 4-5-1 Preliminary Inspection This section describes the preliminary inspections and monitoring devices that are required to locate and clear the cause of an error. j Power Supply Voltage Check • Check that the voltage at the AC power supply terminals is within the following range: 100-VAC-input type 85 to 127 VAC 200-VAC-input type 170 to 264 VAC If the voltage is outside this range, faulty operation may occur. Provide the correct power supply. • Check that the power supply voltages for external device interfaces are within the following range: 23 to 25 VDC If the voltage is outside this range, faulty operation may occur. Provide the correct power supply. j Monitoring Device Selection D Alarm Check If an alarm has been generated, check the alarm code and take countermeasures in accordance with the meaning of that code. If an alarm has not been generated, take countermeasures in accordance with the nature of the error. (Refer to 4-5-4 Troubleshooting.) D Monitoring Device Type The following types of monitoring device are available. Position Driver Display Panel Investigate the error using the 7-segment LED display panel on the front side of the Position Driver along with the operating keys. (When an alarm has been generated, it will automatically be displayed.) The investigation procedure for this device type is explained in this manual. Teaching Box Use the following three items together. (When an alarm has been generated, it will automatically be displayed.) CVM1-PRO01 Programming Console without ROM. CVM1-MP702 CVM1-MP703 Memory Cassette compatible with FND-X and MC/NC Units, or FND-X-dedicated Memory Cassette. CV500-CN2A Connecting Cable to connect the Position Driver and the Teaching Box. (The in the model name represents the length of the cable. Any of the lengths 2, 4, or 6 m can be used.) 4-22 Application Chapter 4 For details on the operating procedures for this device type, refer to the Teaching Box (For Position Drivers) Operating Manual (W354). 4-5-2 Precautions When performing checks of the inputs and outputs following error generation, there is a possibility that the Position Driver will operate unexpectedly or suddenly stop. Be sure to take the following precautions. Do not perform any operations or procedures not described in this manual. j Precautions • When checking for breaks in cables be sure to disconnect the wiring first. With the wiring is connected, there is still a possibility of continuity caused by a return circuit, even if a continuity check is performed. • If the encoder signal goes out, the Motor will run out of control, and an error will be generated. When investigating the encoder signal, remove the Motor from the mechanical system first. • When measuring output from the encoder, take the measurement at E0V (0-V encoder power supply) as a basis. By measuring the differential between CH1 and CH2 with an oscilloscope, the effects of noise can be offset. • Before performing checks, ensure that nobody is inside the mechanical equipment, and that if the Motor runs out of control, no damage will be caused. Also, in preparation for the unlikely event of the Motor running out of control, before performing checks for errors, first check that an emergency stop can be performed for the machinery. 4-5-3 Replacing the Position Driver and the Motor Use the following procedure to replace the Position Driver or Motor. j Replacing the FND-X Position Driver 1. Make a copy of the Position Driver parameters. Using the Position Driver operation keys, display all of the parameters and create a written record of them. (Refer to 7-2 Parameter Settings Tables.) 2. Replace the Position Driver. With the CompoBus/S-type, set the communications unit number switch to the original FND-X setting. 3. Set the Position Driver parameters. With Personal Computer Monitoring Software: Using the Personal Computer Monitoring Software, transfer all the parameters saved at the personal computer to the Position Driver. Without Personal Computer Monitoring Software: Using the Position Driver operation keys, recreate all the parameter settings recorded in step 1. 4. Perform origin teaching. If there is no origin compensation because, for example, the backup copy of the parameters was made at the design stage, it will be necessary to perform origin teaching. Use the following procedure to perform origin teaching. 4-23 Application Chapter 4 Procedure for Origin Teaching a) After replacement, perform origin search with the new Position Driver. b) Move to the original position of the origin by moving the mechanical system by hand in a servofree state, or by moving the mechanical system using JOG operations. c) Turn OFF the Position Driver run command (RUN), and after turning the origin search input (SEARCH) ON, turn ON the teaching input (TEACH). d) Check that the teaching completed output (T.COM) turns ON. An origin compensation that makes the present position of the system into the position of the origin, will be registered in the Position Driver. j Replacing the Motor 1. Replace the Motor. 2. Perform origin teaching. When the Motor is replaced, the Motor’s own origin position (Z phase) will shift, making it necessary to perform origin teaching. Procedure for Origin Teaching a) After replacement, perform origin search. b) Move to the original position of the origin by moving the mechanical system by hand in a servofree state, or by moving the mechanical system using JOG operations. c) Turn OFF the Position Driver run command (RUN), and after turning the origin search input (SEARCH) ON, turn ON the teaching input (TEACH). d) Check that the teaching completed output (T.COM) turns ON. An origin compensation that makes the present position of the system into the position of the origin, will be registered in the Position Driver. 4-24 Chapter 4 Application 4-5-4 Troubleshooting When an error occurs, check the error contents by means of the operating status and alarm display, investigate the cause and apply the appropriate countermeasures. j Error Diagnosis by Means of Operating Status (DIO, CompoBus/S) Symptom The LED indicator does not light even when the power supply is turned ON. Probable cause Power supply lines are improperly connected. Items to check Countermeasures Check the power supply voltage. Correct the power supply. Check the power supply lines. Correct the wiring. 4-25 Chapter 4 Application Symptom The motor does not operate even when the START command is input. Probable cause The RUN signal is OFF. Items to check Use the Check Mode to check the RUN signal’s ON/OFF status. Countermeasures • Input the RUN signal. • Correct the wiring. The correspondence between Check the models. the Driver and the Servomotor is incorrect. Combine models that correspond correctly. The CWL/CCWL inputs are OFF. Use the Check Mode to check the inputs. Correct the wiring. The software limit is being detected. Use the Monitor Mode to check the present value. Correctly set the software limits. Check the software limits (PP-10, 11, 12, 13). Deceleration stop is OFF. Use the Check Mode to check the input. DIO type: • Correct the wiring. CompoBus/S type: The rotation direction is wrong. 4-26 • Turn both the external control input (CN4-4) and the CompoBus/S input (OUT7) ON. • Correct the wiring. Correctly set the point number input. The point number input is 0. Use the Check Mode to check the input. One of the following signals is being input: origin search, teaching, JOG, or alarm reset. Use the Check Mode to check the inputs. Correct the wiring. During direct positioning, the position data is set for “I (incremental) 0.” Check the position data setting. Correctly set the position data. The position data (Pd) to be executed does not match the present value. Check the position data (Pd). Correctly set the position data (Pd). The motor’s power lines are disconnected. Check the power lines. Correct the wiring. The control mode is incorrect. Check the control mode (UP-01). Correctly set the control mode. The START signal is not being input. Use the Check Mode to check the input. Correct the wiring. During direct positioning, the positioning g data is not being g l received. i d properly Check the wiring for the position and speed data selections. Correct the wiring. Check the setting of the signal output time (PP-26). Check the signal reception timing and correctly set the pulse width. Reference speed (PP-14, 15) is “0.” Check the reference speed (PP-14, 15) setting. Correctly set the reference speed (PP-14, 15). The motor rotation direction (UP-26) setting is incorrect. Check the motor rotation direction (UP-26) setting. Correctly set the motor rotation direction (UP-26) The position data (Pd) setting is incorrect. Check the position data (Pd) setting. Correctly set the position data (Pd). During direct positioning, the position data’s polarity input is incorrect. Check the position data setting. Correctly set the position data. The encoder/resolver wiring is incorrect. Check the encoder/resolver wiring. Correct the wiring. Chapter 4 Application Symptom The position is slipping. g Probable cause Items to check Countermeasures The point number input is incorrect. Use the Check Mode to check the point number input. Correctly set the point number input. The position data (Pd) setting is incorrect. Check the position data (Pd) setting. Correctly set the position data (Pd). The minimum setting unit (PP-01) or pulse rate (PP-02, 03) setting is incorrect. Check the minimum setting unit (PP-01) and pulse rate (PP-02, 03) settings. Correctly set the minimum setting unit and pulse rate settings. The compensation (PP-08, 09) setting is incorrect. Check the compensation (PP-08, 09) setting. Correctly set the compensation (PP-08, 09). Dedicated lines are not being used for the encoder/resolver. Check the encoder/resolver lines. Replace the encoder/resolver lines with dedicated lines. The operation mode for the point number being executed is incorrect. Check the operation mode (Pdr) setting. Correctly set the operation mode (Pdr). The coupling connecting the motor shaft to the mechanical system is loose. Check the mechanical system. Check and adjust the machinery. Repeat the origin search and check whether the search completion position is different. Disconnect the motor from the mechanical system and shift the Z-phase position by the amount shown below. Then reinstall the motor. The belt is loose. During an origin search, the motor sensor’s Z-phase position and the origin proximity OFF position are too close. U Series: 1/2 revolution H Series: 1/2 revolution M Series: 1/4 revolution The motor g stops during operation. ti The deceleration stop (STOP) input turned OFF. Use the Check Mode to check the input. Correct the wiring. The alarm reset (RESET) input turned ON. Use the Check Mode to check the input. Correct the wiring. The CWL/CCWL input turned OFF (when the alarm selection (PP-25) is 0). The software limit is being detected ((when the alarm selecti (PP-25) (PP 25) is i 0). 0) tion Use the Check Mode to check the input. • Correctly set the position data. • Correct the wiring. Use the Monitor Mode to check the present position. Correctly set the position data. Check the software limits (PP-10, 11, 12, 13). Correctly set the software limits. The motor operates t il momentarily, but then it stops operating. The applicable motor (UP-02) setting is incorrect. Check the applicable motor (UP-02) setting. Correctly set the applicable motor (UP-02). The motor’s power lines and the encoder/resolver lines are wired incorrectly. Check the wiring of the motor’s power lines and the encoder/resolver lines. Correct the wiring. Motor operation is unstable. The motor’s power lines and the encoder/resolver lines are wired incorrectly. Check the wiring of the motor’s power lines and the encoder/resolver lines. Correct the wiring. The coupling connecting the motor shaft to the mechanical system is eccentric, and screws may be loose. Gain is wrong. Check the mechanical system. Rotate the motor with no load (disconnected from the mechanical system). --- Check and adjust the machinery. • Use auto-tuning. • Adjust the gain manually. 4-27 Chapter 4 Application Symptom Motor is overheating. Probable cause Items to check Countermeasures The ambient temperature is too high. Check to be sure that the ambient temperature around the motor is no higher than 40°C. Lower the ambient temperature to 40°C or lower. (Use a cooler or fan.) The ventilation is obstructed. Check to see whether anything is blocking ventilation. Ensure adequate ventilation. There is an overload. Use the Monitor Mode to check the electrothermal value. The machinery is vibrating. Inspect the machinery to see whether there are any foreign objects in the movable parts, or whether there is any damage, deformation, or looseness. • Lighten the load. • Change to a larger capacity motor. Fix any problems causing vibration. The speed loop gain adjustment is insufficient. --- • Use auto-tuning. • Adjust the gain manually. The parameters The parameters are write-procannot be tected. changed. Check the computer’s monitoring software. Using the computer’s monitoring software, release the write protection. Output torque is The motor has only made small insufficient movements (approx. ±6 pulses of encoder resolution) from the power supply position. --- After making the motor perform rotations of over ±6 pulses, re-attempt normal operation. There are unusual noises. 4-28 Chapter 4 Application j Error Diagnosis by Means of Operating Status (CompoBus/S Only) Symptom Probable cause There is an error in the com- The node address is overmunications data. lapping another node address. The Programmable Controller’s load shutdown bit has turned ON. The communications cable connection or the communications cable itself is f lt faulty. Communications will not start. Items to check Check the node address settings of all the Slaves. Countermeasures Correctly set the node addresses. Check the status of the Pro- Turn OFF the load shutgrammable Controller’s load down bit. shutdown bit. Check the connections. (If a flat cable is being used, check the connector area.) Connect the cable properly. Check the connectors. Replace the connectors if necessary. Check the conductivity of the communications cable. Replace the cable if necessary. There is no terminating resistance connected, or it is connected at some position other than the farthest Unit. Check the location of the terminating resistance. Connect the terminating resistance at the last Unit. The Master Unit is not connected at the end of the main line. Check the location of the Master Unit. Connect the Master Unit at the end of the main line. The length of the main line, a branch line, or the total length is greater than the prescribed limit. Check the lengths of the main and branch lines, and the total combined length. Correct the wiring so that the lengths of the main and branch lines, and the total combined length, are within the prescribed limits. VCTF cable is combined with special flat cable. Check the cables that are being used. Use either VCTF or flat cable, but not both together. The Master is for a CQM1 System, and the Programmable Controller occupies either two or four words, and a node address is set which is not permitted for nodes 0 to 7. (An “address over” error is generated.) Check the number of words occupied by the Master Unit’s Programmable Controller, and the number of points occupied per node address. Change the number of words occupied by the Programmable Controller and the number of points occupied per node address. Note If a communications error occurs, refer to the operation manual for the Master Unit. 4-29 Chapter 4 Application 4-6 ! Periodic Maintenance WARNING ! Caution Do not attempt to take the Unit apart or repair. Doing either of these may result in electrical shock or injury. 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. Servomotors and Position Drivers contain many components and will operate properly only when each of the individual components is operating properly. Some of the electrical and mechanical components require maintenance depending on application conditions. In order to ensure proper long-term operation of Servomotors and Position Drivers, periodic inspection and part replacement is required according to the service life of the components. The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor or Position Driver. Recommended maintenance times are listed below for Servomotors and Position Drivers. Use these as references in determining actual maintenance schedules. j Servomotors • Recommended Periodic Maintenance Oil Seal: 2,000 hours Bearings: 20,000 hours (U Series); 30,000 hours (H Series, M Series) Application Conditions: Ambient motor operating temperature of 40C, within allowable shaft load, rated operation (rated torque and r/m), installed as described in operation manual. • The radial loads during operation (rotation) on timing pulleys and other components contacting belts is twice the still load. Consult with the belt and pulley manufacturers and adjust designs and system settings so that the allowable shaft load is not exceeded even during operation. If a motor is used under a shaft load exceeding the allowable limit, the motor shaft can break, the bearings can burn out, and other problems can occur. j Position Drivers • Recommended Periodic Maintenance Aluminum analytical capacitors: 50,000 hours at ambient temperature of 35C Fans: 55,000 hours at ambient temperature of 20C (FND-X50H- only) Application Conditions: Rated operation (rated torque) and installation as described in the User’s Manual. • The life of aluminum analytical capacitors is greatly affected by the ambient operating temperature. Generally speaking, an increase of 10C in the ambient operating temperature will reduce capacitor life by 50%. We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Position Drivers. • It is recommended that the Position Driver be inspected at five-year intervals if they are used under conditions worse than the above or not used over a long time of time. Contact your OMRON representative for inspection and the necessity of any component replacement. 4-30 Application Chapter 4 j Lithium Battery • When using a U-series Servomotor with absolute encoder, periodic maintenance will be required for the lithium battery. For details about battery lifetimes and replacement methods, refer to 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder. 4-31 5 Chapter 5 Specifications 5-1 5-2 5-3 Position Driver Specifications Servomotor Specifications Cable Specifications Chapter 5 Specifications 5-1 Position Driver Specifications 5-1-1 General Specifications (Common to DIO, CompoBus/S) Item Power supply voltage Specifications Single-phase 200-VAC (FND-X06H/-X12H/-X25H-): Single-phase 200/240 VAC, –15% to +10%, at 50/60 Hz Three-phase 200-VAC (FND-X50H-): Three-phase 200/240 VAC, –15% to +10%, at 50/60 Hz Single-phase 100-VAC (FND-X06L/-X12L-): Single-phase 100/115 VAC, –15% to +10%, at 50/60 Hz Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmosphere Dielectric strength Insulation resistance Vibration resistance 0 to 55°C 35% to 90% RH (with no condensation) –10 to 70°C 35% to 90% RH (with no condensation) No corrosive gasses. Impact resistance Protective structure Low-voltage Directives applicable class 1,500 VACRMS for 1 min at 50/60 Hz Between supply input terminals and case: 5 MΩ min. (at 500 VDC) 10 to 150 Hz in X, Y, and Z directions with 0.10-mm double amplitude; acceleration: 9.8 m/s2 {1 G} max.; time coefficient: 8 min; 4 sweeps Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times each. Built into panel (IP00). Overvoltage category II Pollution degree II Note 1. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Note 2. Absolutely do not conduct a withstand voltage test or a megger test on the Position Driver. If such tests are conducted, internal elements may be damaged. Note 3. Depending on the operating conditions, some Position Driver parts will require maintenance. Refer to 4-6 Periodic Maintenance for details. Note 4. The service life of the Position Driver is 50,000 hours at an average ambient temperature of 35°C (at the rated torque and the rated rotation speed). 5-2 Chapter 5 Specifications 5-1-2 Performance Specifications j DIO Position Drivers Item Continuous output current (0-P) FND-X06L FND-X12L FND-X06H FND-X12H FND-X25H FND-X50H 2.0 A 3.0 A 2.0 A 4.8 A 8.0 A 20 A Momentary maximum output 6.0 A current (0-P) 12 A 6.0 A 12 A 25 A 50 A Input power supply Main circuit Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz (The main circuit and control circuits use the same terminals.)) Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz (The main circuit and control circuits use the same terminals.) Control circuits Position/ speed f db k feedback Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz U Series (INC) 30 to 750 W: Optical Incremental encoder, 2,048 pulses/revolution 1 to 2 kW: Optical Incremental encoder, 4,096 pulses/revolution U Series (ABS) 30 to 750 W: Optical Absolute encoder, 1,024 pulses/revolution 1 to 2 kW: Optical Absolute encoder, 8,192 pulses/revolution U-UE Series H Series M Series U Series (INC) H Series M Series Inverter method Optical Incremental encoder, 1,024 pulses/revolution Magnetic Incremental encoder, 2,000 pulses/revolution Resolver, absolute accuracy 0.18° max.; ambient temperature 25° Maximum of 30 times Maximum of 30 times Maximum of motor’s rotor inertia motor’s rotor inertia 20 times motor’s rotor inertia (10 times for 1-kW model) Maximum of 20 times Maximum of 20 times Maximum of motor’s rotor inertia motor’s rotor inertia 18 times motor’s rotor inertia (10 times for 1-kW model) Maximum of 30 times Maximum of 30 times Maximum of motor’s rotor inertia motor’s rotor inertia 20 times motor’s rotor inertia Maximum of 10 times motor’s rotor inertia Maximum of 10 times motor’s rotor inertia PWM method based on IGBT PWM frequency 10 kHz Weight Approx. 1.5 kg Frequency response (speed control) 100 Hz (at a load inertia equivalent to motor’s rotor inertia) Position loop gain 1 to 200 (rad/s) Feed forward 0% to 200% of speed reference Pulse rate 1/32,767 v (pulse rate 1 / pulse rate 2) v 32,767/1 Applicable load inertia (See note 1.) U Series (ABS) U-UE Series Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz Approx. 1.5 kg Approx. 2.5 kg Maximum of 10 times motor’s rotor inertia Maximum of 10 times motor’s rotor inertia --- Approx. 4.5 kg 5-3 Chapter 5 Specifications Item FND-X06L FND-X12L FND-X06H FND-X12H FND-X25H FND-X50H Positioning completion width 1 to 32,767 (pulses) U Series (INC): 8,192 pulses/revolution; U Series (ABS): 4,096 pulses/revolution; U-UE Series: 4,096 pulses/revolution; H Series: 8,000 pulses/revolution M Series 24,000 pulses/revolution Acceleration/Deceleration 0 to 9,999 (ms); acceleration and deceleration times set separately. Two times can be set time for each. S-curve acceleration/deceleration function available (filter time constant: 0.00 to 32.76 s). Sequence input Sequence output 19 pts. (limit inputs, origin proximity, RUN command, START, alarm reset, origin search, JOG operation, teaching, point selection, position data, deceleration stop) Photocoupler input: 24 VDC, 8 mA External power supply: 24 VDC ±1 V, 150 mA min. 15 pts. (brake output, READY, origin search completion, origin, teaching, motor running, positioning completion, alarm, point output, position selection, speed selection) Open collector output: 24 VDC, 40 mA Monitor output ((See t 2 note 2.)) Speed monitor 3 V/motor’s rated speed (output accuracy: approx. ±10%) Current monitor 3 V/motor’s maximum current (output accuracy: approx. ±10%) Heating g l value Main circuit Control circuit 17 W 23 W 20 W 23 W 17 W 23 W 27 W 23 W 47 W 23 W 110 W 26 W Regenerative absorption capacity 13 W + 17 J 17 W + 17 J 13 W + 17 J 24 W + 17 J 37 W + 22 J 160 W + 38 J Protective functions Overcurrent, overvoltage, resolver disconnection, power status error, clock stopped, overcurrent (soft), speed amp saturation, motor overload, temporary overload, resolver error, speed over, error counter over, parameter setting error, software limit over, coordinate counter over, overrun, encoder disconnection, encoder communications error, absolute encoder backup error, absolute encoder checksum error, absolute encoder absolute error, absolute encoder over speed, encoder data not transmitted, BCD data error, present value undetermined, PTP data not set, Regeneration Resistor overheat, regeneration operation error Note 1. The applicable load inertia is expressed as a factor of the motor’s rotary inertia. Note 2. For the monitor output, the monitor items and voltage polarity can be set by parameter UP-25 (monitor output selection). j CompoBus/S Position Drivers Item FND-X06L -SRT FND-X12L -SRT FND-X06H -SRT FND-X12H -SRT FND-X25H -SRT FND-X50H -SRT Continuous output current (0-P) 2.0 A 3.0 A 2.0 A 4.8 A 8.0 A 20 A Momentary maximum output current (0-P) 6.0 A 12 A 6.0 A 12 A 25 A 50 A Input power supply Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz (The main circuit and control circuits use the same terminals.)) Main circuit Control circuits 5-4 Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz (The main circuit and control circuits use the same terminals.) Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz Chapter 5 Specifications Item Position/ speed feedb k back Applicable load inertia (See note 1.) FND-X06L -SRT FND-X12L -SRT FND-X06H -SRT FND-X12H -SRT FND-X25H -SRT U Series (INC) 30 to 750 W: Optical Incremental encoder, 2,048 pulses/revolution 1 to 2 kW: Optical Incremental encoder, 4,096 pulses/revolution U Series (ABS) 30 to 750 W: Optical Absolute encoder, 1,024 pulses/revolution 1 to 2 kW: Optical Absolute encoder, 8,192 pulses/revolution U-UE Series Optical Incremental encoder, 1,024 pulses/revolution H Series M Series Magnetic incremental encoder, 2,000 pulses/revolution Resolver, absolute accuracy 0.18° max.; ambient temperature 25° U Series (INC) Maximum of 30 times motor’s rotor inertia Maximum of 30 times motor’s rotor inertia U Series (ABS) Maximum of 20 times motor’s rotor inertia Maximum of 20 times motor’s rotor inertia U-UE Series Maximum of 30 times motor’s rotor inertia Maximum of 30 times motor’s rotor inertia H Series M Series Maximum of 10 times motor’s rotor inertia Maximum of 10 times motor’s rotor inertia FND-X50H -SRT Maximum of 20 times motor’s rotor inertia (10 times for 1-kW model) Maximum of 18 times motor’s rotor inertia (10 times for 1-kW model) Maximum of 20 times motor’s rotor inertia Maximum of 10 times motor’s rotor inertia Approx. 2.5 kg Approx. 4.5 kg Maximum of 10 times motor’s rotor inertia --- Inverter method PWM method based on IGBT PWM frequency 10 kHz Weight Approx. 1.5 kg Frequency response (speed control) 100 Hz (at a load inertia equivalent to motor’s rotor inertia) Position loop gain 1 to 200 (rad/s) Feed forward 0% to 200% of speed reference Pulse rate 1/32,767 v (pulse rate 1 / pulse rate 2) v 32,767/1 Positioning completion width 1 to 32,767 (pulses) U Series (INC): 8,192 pulses/revolution; U Series (ABS): 4,096 pulses/revolution; UE Series: 4,096 pulses/revolution; H Series: 8,000 pulses/revolution M Series 24,000 pulses/revolution Acceleration/Deceleratio n time 0 to 9,999 (ms); acceleration and deceleration times set separately. Two times can be set for each. S-curve acceleration/deceleration function available (filter time constant: 0.00 to 32.76 s). CompoBus/S 16 input points (RUN command, start, alarm reset, origin search, JOG operation, inching, point selection, position data, deceleration stop) 16 output points (brake output, ready, origin search completed, origin, teaching completed, motor running, positioning completed, alarm, point output, position/speed data selection) Sequence input 4 pts. (limit inputs, origin proximity, deceleration stop) Photocoupler input: 24 VDC, 8 mA External power supply: 24 VDC ±1 V, 40 mA min. Sequence output 1 pt. (brake output) Open collector output: Monitor output ((See t 2 note 2.)) Speed monitor 3 V/motor’s rated speed (output accuracy: approx. ±10%) Current monitor 3 V/motor’s maximum current (output accuracy: approx. ±10%) Approx. 1.5 kg 24 VDC, 40 mA 5-5 Chapter 5 Specifications Item Heating value FND-X06L -SRT FND-X12L -SRT FND-X06H -SRT FND-X12H -SRT FND-X25H -SRT FND-X50H -SRT Main circuit 17 W 20 W 17 W 27 W 47 W 110 W Control circuit 23 W 23 W 23 W 23 W 23 W 26 W Regenerative absorption capacity 13 W + 17 J 17 W + 17 J 13 W + 17 J 24 W + 17 J 37 W + 22 J 160 W + 38 J Protective functions Overcurrent, overvoltage, resolver disconnection, power status error, clock stopped, overcurrent (soft), speed amp saturation, motor overload, temporary overload, resolver error, speed over, error counter over, parameter setting error, software limit over, coordinate counter over, overrun, encoder disconnection, encoder communications error, absolute encoder backup error, absolute encoder checksum error, absolute encoder absolute error, absolute encoder over speed, encoder data not transmitted, BCD data error, present value undetermined, PTP data not set, CompoBus/S communications error, Regeneration Resistor overheat, regeneration operation error Note 1. The applicable load inertia is expressed as a factor of the motor’s rotary inertia. Note 2. For the monitor output, the monitor items and voltage polarity can be set by parameter UP-25 (monitor output selection). 5-1-3 I/O Specifications j Terminal Blocks (FND-X06/-X12/-X25) Signal R S Function Power supply input P J Main circuit DC output Regeneration Resistor connection terminal Main circuit DC output Servomotor’s Aphase and Uphase output Servomotor’s Bphase and Vphase output Servomotor’s Cphase and Wphase output Frame ground N A B C 5-6 Condition These are the application power supply input terminals for the main circuit and control circuit. Pay attention to the power supply voltage, because it varies according to the model. FND-XH-: Single-phase 200/240 VAC (170 to 264 VAC) 50/60 Hz FND-XL-: Single-phase 100/115 VAC (85 to 127 VAC) 50/60 Hz These are the connection terminals for the Regeneration Resistor (R88A-RR20030/-RR40030). Connect them when the regeneration energy is high. This is the main circuit DC output terminal. Red White These are the terminals for outputs to the Servomotor. Be careful to wire them correctly. OMNUC Servomotors can be connected to these terminals with R88A-CAU Cable ((for U/U-UE-series Servomotors)) or R88A-CAH C C Cable (f (for H-series S Servomotors). ) O OMRON O does not provide a dedicated cable to connect these terminals to OMNUC M-series Servomotors, so the user must provide an appropriate cable if an M M-series series Servomotor is used used. Blue or black Green This is the connection terminal. Use at lease a class-3 ground (100 Ω or less). This ground is used in common for Servomotor output and power supply input. Chapter 5 Specifications j Terminal Blocks (FND-X50H-) Signal R0 S0 R S T P JP1 JP2 N MC COM BO BI1 BI2 A B C Function Condition Control power These are the power supply input terminals for the control circuit. supply input Single-phase 200/240 VAC (170 to 264 VAC) 50/60 Hz Main circuit power These are the power supply input terminals for the main circuit. supply input Three-phase 200/240 VAC (170 to 264 VAC) 50/60 Hz Main circuit DC output Regeneration Resistor connection terminal Main circuit DC output Not used These are the connection terminals for the Regeneration Resistor (R88A-RR20030/-RR40030). Connect them when the regeneration energy is high. When connecting a Regeneration Resistor, remove the short bar from between JP1 and JP2. This is the main circuit DC output terminal. Servomotor’s Aphase and Uphase output Servomotor’s Bphase and Vphase output Servomotor’s Cphase and Wphase output Frame ground Red (Do not connect anything to these terminals. Do not remove the short bar from between BI1 and BI2.) White These are the terminals for outputs to the Servomotor. Be careful to wire them correctly. OMNUC Servomotors can be connected to these terminals with R88A-CAUB Cable ((for U-series Servomo) O O does not provide a dedicated cable to connect these tors). OMRON terminals to OMNUC M-series Servomotors, so the user must provide an appropriate cable if an M-series Servomotor is used. Blue or black Green This is the connection terminal. Use at a ground of 100 Ω or less. This ground is used in common for Servomotor output and power supply input. 5-7 Chapter 5 Specifications j CN2 (M.SEN) Motor Sensor Connectors (DIO, CompoBus/S) Pin No. 1 Signal name E0V 2 3 4 5 6 7 8 S1 S3 E5V NC S2 S4 +ABS 9 R1 –ABS 10 11 12 R2 NC SG +BAT 13 –BAT 14 S+/Z+ 15 S–/Z– 16 A+ 17 A– 18 B+ 19 B– 20 FG Name I/O interface Encoder power supply ground Power supply output for encoder: 5 V, 120 mA SIN excitation winding Resolver excitation signal output SIN excitation winding Resolver excitation signal output Encoder power supply, +5 V Power supply outlet for encoder: 5 V, 120 mA ----COS excitation winding Resolver excitation signal output COS excitation winding Resolver excitation signal output Absolute encoder signal + Line driver input (conforming to EIA-RS422A) input (Input impedance: 220 Ω) Resolver signal input Resolver detection signal input Absolute encoder signal – Line driver input (conforming to EIA-RS422A) input (Input impedance: 220 Ω) Resolver signal input Resolver detection signal input ----Resolver cable shield ground Resolver cable shield ground Absolute encoder backup power supply Battery + output: out ut: 3.6 V, 16 µA (for backup, rotation stopped) Battery – 2µA (when +5-V voltage is applied) Encoder + S/+ Z-phase input Line driver input (conforming to EIA-RS422A) (Input impedance: 220 Ω) Encoder – S/– Z-phase input Line driver input (conforming to EIA-RS422A) (Input impedance: 220 Ω) Encoder + A-phase input Line driver input (conforming to EIA-RS422A) (Input impedance: 220 Ω) Encoder – A-phase input Line driver input (conforming to EIA-RS422A) (Input impedance: 220 Ω) Encoder + B-phase input Line driver input (conforming to EIA-RS422A) (Input impedance: 220 Ω) Encoder – B-phase input Line driver input (conforming to EIA-RS422A) (Input impedance: 220 Ω) Encoder cable shield ground Encoder cable shield ground D Connectors Used Receptacle at Position Driver Soldered plug at cable side Case at cable side 5-8 10220-52A2JL 10120-3000VE 10320-52A0-008 (Sumitomo 3M) (Sumitomo 3M) (Sumitomo 3M) Chapter 5 Specifications j CN2 (Motor Sensor Connector) Pin Arrangement 1 2 S1 SIN excitation winding E5V Encoder power supply, +5V 3 4 5 6 S2 +ABS R1 S3 11 12 +BAT Battery + 14 S+/Z+ Encoder+S/ +Z-phase input SIN excitation winding 16 A+ S4 Absolute encoder signal + Resolver signal input Encoder power supply ground NC COS excitation winding 7 8 E0V –ABS 9 R2 10 NC COS excitation winding Absolute encoder signal – Resolver signal input 18 B+ 20 FG SG 13 –BAT Battery – 15 S–/Z– Encoder–S/ –Z-phase input 17 A– Encoder – A-phase input 19 B– Encoder – B-phase input Encoder +A-phase input Encoder +B-phase input Encoder cable shield ground Resolver cable shield ground j CN5 (RS-232C) Communications Connectors (DIO, CompoBus/S) 1 Pin No. Signal TXD Name Transmission data 2 DTR 3 4 NC RTS Transmission/reception-capable output --Reception-capable output 5 RXD+ Reception data + 6 RXD– Reception data – 7 8 9 TXD+ TXD– RXD Transmission data + Transmission data – Reception data 10 CTS Reception-capable input 11 +5V +5-V output 12 13 14 FG FG GND Shield g ground 0V Interface Transmission data (conforming to EIA RS-232C) Transmission/reception-capable output (conforming to EIA RS-232C) --Reception-capable output (conforming to EIA RS-232C) Reception data (conforming to EIA RS 422) RS-422) Input impedance: 330 Ω Transmission data ((conforming g to EIA RS RS-422) ) Reception data (conforming to EIA RS-232C) Reception-capable input (conforming to EIA RS-232C) External terminal power supply, 5 V, 300 mA Shield g ground Power supply ground for external terminal D Connectors Used Receptacle at Position Driver Soldered plug at cable side Case at cable side 10214-52A2JL 10114-3000VE 10314-52A0-008 (Sumitomo 3M) (Sumitomo 3M) (Sumitomo 3M) 5-9 Chapter 5 Specifications j CN5 (Communications Connector) Pin Arrangement 1 2 DTR RTS RXD– 8 RXD 11 RXD+ +5V 13 FG 7 TXD+ Transmission data + Transmission data – 10 CTS Receptioncapable input 12 FG Shield ground +5 output Reception data + Reception data – TXD– Reception data NC Receptioncapable output 5 6 Transmission data 9 3 4 TXD Transmission/ reception-capable output Shield ground 14 GND 0V j Monitor Output Terminal (MON) Pin No. 1 2 Signal name GND MON Name Output ground Monitor output I/O interface Monitor ground Speed monitor: 3 V/motor’s rated speed, 1 mA Current monitor: 3 V/motor’s maximum current, 1 mA D Connectors Used Connectors at Position Driver Cable housing Cable contacts B2B-EH-A EHR-2 BEH-001T-P0.6 (J.S.T. Mfg. Co., Ltd.) (J.S.T. Mfg. Co., Ltd.) (J.S.T. Mfg. Co., Ltd.) j CN6 BAT Connectors Pin No. 1 2 3 Signal name FG BAT BATGND Name Shield ground Backup battery + input Backup battery – input I/O interface Shield ground Absolute encoder backup battery y connection i terminal, i l 2.8 to 4.5 V D Connectors Used Connectors at Position Driver Cable housing Cable contacts 5-10 B3PS-VH VHR-3N BVH-21T-P1.1 (J.S.T. Mfg. Co., Ltd.) (J.S.T. Mfg. Co., Ltd.) (J.S.T. Mfg. Co., Ltd.) Chapter 5 Specifications j CN1 (CONT) Control Signal Connectors (DIO Position Drivers Only) D Control Inputs Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 20 36 Symbol CCWL CWL ORG RUN START RESET SEARCH +JOG –JOG TEACH P.IN0 P.IN1 P.IN2 P.IN3 P.IN4 P.IN5 P.IN6 P.IN7 STOP +24V Name CCW limit input CW limit input Origin proximity RUN command START Alarm reset Origin search +JOG operation –JOG operation TEACH Point selection 0 / Position 0 Point selection 1 / Position 1 Point selection 2 / Position 2 Point selection 3 / Position 3 Point selection 4 / Position 4 Point selection 5 / Position 5 Point selection 6 / Position 6 Position 7 Deceleration stop +24-V power supply input for control D Control Outputs Pin No. 19 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 Symbol OGND BO READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 P.OUT1 P.OUT2 P.OUT3 P.OUT4 P.OUT5 P.OUT6 Name Output ground Brake output Ready Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0 / Position selection 1 Point output 1 / Position selection 2 Point output 2 / Position selection 3 Point output 3 / Position selection 4 Point output 4 / Speed selection Point output 5 Point output 6 5-11 Chapter 5 Specifications D Connectors Used Receptacle at Position Driver Soldered plug at cable side Case at cable side 10236-6202JL 10136-3000VE 10336-52A0-008 (Sumitomo 3M) (Sumitomo 3M) (Sumitomo 3M) Note 1. The control input interface is a photocoupler input of 24 VDC at 8 mA. Note 2. For the external power supply, use 24 VDC ±1 V at 150 mA minimum. Note 3. The control output interface is a photocoupler output of 24 VDC at 40 mA. j CN1 (Control Signal Connector) Pin Arrangement 1 2 CWL CW limit input RUN RESET ORG 22 READY START 24 ORGSTP +JOG +JOG operation 26 RUNON 9 10 TEACH –JOG 28 ALM 11 P.IN0 12 P.IN1 14 P.IN3 16 P.IN5 Point selection 1/ Position 1 30 P.OUT1 13 P.IN2 Point selection 2/ Position 2 15 P.IN4 Point selection 4/ Position 4 Point selection 3/ Position 3 32 P.OUT3 Point selection 5/ Position 5 34 P.OUT5 17 P.IN6 18 P.IN7 5-12 Position 7 Point selection 0/ Position 0 Point selection 6/ Position 6 36 +24V Brake output 23 S.COM Origin search completed 25 T.COM Teaching completed 27 INP Positioning completed 29 P.OUT0 Point output 0/ Position selection 1 31 P.OUT2 Point output 2/ Position selection 3 33 P.OUT4 Point output 4/ Speed selection 35 P.OUT6 Point output 6 Motor running –JOG operation Teach 21 BO Origin stop 7 SEARCH Origin search 8 Output ground READY START Alarm reset 19 OGND Deceleration stop Origin proximity RUN command 5 6 CCW limit input 20 STOP 3 4 CCWL Alarm Point output 1/ Position selection 2 Point output 3/ Position selection 4 Point output 5 +24-V power supply input for control Chapter 5 Specifications j CN1 (CONT) CompoBus/S Communications Terminals Symbol BD H Name CompoBus/S serial line (+) BD L CompoBus/S serial line (–) Function These are the terminals for connecting CompoBus/S communications cable. cable When wiring them, them be careful with the polarity. D IN (16 Input Points) I/O allocation OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 Symbol RUN START RESET SEARCH +JOG –JOG TEACH STOP P.IN0 P.IN1 P.IN2 P.IN3 P.IN4 P.IN5 P.IN6 P.IN7 Name RUN command Start Alarm reset Origin search +JOG operation –JOG operation Teach Deceleration stop Point selection 0 / Position 0 Point selection 1 / Position 1 Point selection 2 / Position 2 Point selection 3 / Position 3 Point selection 4 / Position 4 Point selection 5 / Position 5 Point selection 6 / Position 6 Position 7 D OUT (16 Output Points) I/O allocation IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 Symbol BO READY S.COM ORGSTP T.COM RUNON INP ALM P.OUT0 P.OUT1 P.OUT2 P.OUT3 P.OUT4 P.OUT5 P.OUT6 --- Name Brake output Ready Origin search completed Origin stop Teaching completed Motor running Positioning completed Alarm Point output 0 / Position selection 1 Point output 1 / Position selection 2 Point output 2 / Position selection 3 Point output 3 / Position selection 4 Point output 4 / Speed selection Point output 5 Point output 6 Not used Note For I/O allocation, refer to the operation manual for the Master Unit. 5-13 Chapter 5 Specifications j CN4 (LIMIT) External Control Signal Connectors (CompoBus/S Only) Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Symbol Name CCWL CWL ORG STOP NC NC +24V BO NC NC NC NC NC 0GND CCW limit input CW limit input Origin proximity Deceleration stop +24-V power supply input for control Brake output Ground D Connectors Used Receptacle at Position Driver Soldered plug at cable side Case at cable side 10214-6202JL 10114-3000VE 10314-52A0-008 (Sumitomo 3M) (Sumitomo 3M) (Sumitomo 3M) Note 1. The control input interface is a photocoupler input of 24 VDC at 8 mA. Note 2. For the external power supply, use 24 VDC ±1 V at 40 mA minimum. Note 3. The control output interface is a photocoupler output of 24 VDC at 40 mA. j CN4 Pin Arrangement 1 2 CWL STOP CCW limit input ORG Origin proximity CW limit input Brake output Deceleration stop 14 OGND Output ground 10 11 5 12 6 13 7 5-14 BO 8 9 3 4 CCWL +24V +24-V power supply input for control Chapter 5 Specifications 5-2 Servomotor Specifications 5-2-1 U-series 30-W to 750-W Servomotors (INC/ABS) j General Specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method Specifications 0 to 40°C 20% to 80% RH (with no condensation) –10 to 75°C 20% to 85% RH (with no condensation) No corrosive gasses. 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times Between power line terminals and case: 10 MΩ min. (500-VDC megger) Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz (JEC 2121) All directions Type B (JIS C4004) (Type A according to UL standards) Totally-enclosed self-cooling Models conforming to UL/cUL standards: IP-42 (JEM1030) Models conforming to EC Directives: IP-44 (IEC 34-5) (not including the shaft opening) Cannot be used in environment with water-soluble cutting fluids. V-15 (JEC2121) Flange-mounting Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so do not exceed 19.6 m/s2 (2 G) over a long period of time. Note 2. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Note 3. The Servomotor cannot be used in a misty atmosphere. Note 4. The drip-proof specifications for models conforming to UL/cUL standards are covered by IP-44. (Models with drip-proof specifications provide drip-proofing on Servomotors with oil seals.) j Performance Specifications with an Incremental Encoder Item Unit R88M -U03030HA/ -U03030VA R88M -U05030HA/ -U05030VA R88M -U10030HA/ -U10030VA R88M -U20030HA/ -U20030VA R88M -U40030HA/ -U40030VA R88M -U75030HA/ -U75030VA Rated output (See note.) W 30 50 100 200 400 750 Rated torque q (S note.)) (See Nm kgfcm 0.095 0.974 0.159 1.62 0.318 3.25 0.637 6.49 1.27 13.0 2.39 24.3 5-15 Chapter 5 Specifications Item Rated rotation speed Unit R88M -U03030HA/ -U03030VA R88M -U05030HA/ -U05030VA R88M R88M -U10030HA/ -U20030HA/ -U10030VA -U20030VA R88M -U40030HA/ -U40030VA R88M -U75030HA/ -U75030VA r/min 3,000 Momentary maxi- r/min mum rotation speed 4,500 Momentary maxi- Nm mum torque (See kgfcm note.) 0.29 0.48 0.96 1.91 3.82 7.10 2.92 4.87 9.75 19.5 39.0 72.9 Rated current (See note.) 0.42 0.60 0.87 2.0 2.6 4.4 1.3 1.9 2.8 6.0 8.0 13.9 kgm2 (GD2/4) 0.21 × 10–5 0.26 × 10–5 0.40 × 10–5 1.23 × 10–5 1.91 × 10–5 6.71 × 10–5 kgfcms2 0.21 × 10–4 0.27 × 10–4 0.41 × 10–4 1.26 × 10–4 1.95 × 10–4 6.85 × 10–4 Torque q constant (S note.)) (See Nm/A kgfcm/A 0.255 2.60 0.286 2.92 0.408 4.16 0.355 3.62 0.533 5.44 0.590 6.01 Induced voltage constant (See note.) mV/ (r/min) 8.89 9.98 14.0 12.4 18.6 20.6 Power rate (See note.) kW/s 4.36 9.63 25.4 32.8 84.6 85.1 Mechanical time constant ms 1.5 0.9 0.5 0.4 0.3 0.3 Winding resistance Ω 15.8 9.64 6.99 1.34 1.23 0.45 Winding impedance mH 23.1 16.9 13.2 7.2 7.9 5.7 Electrical time constant ms 1.5 1.8 1.9 5.4 6.4 13 Momentary allowable radial load N 186 490 735 kgf 19 50 75 Momentary allowable thrust load N 127 176 392 kgf 13 18 40 Allowable radial l d load N kgf 68 7 78 8 245 25 392 40 Allowable thrust l d load N kgf 54 5.5 54 5.5 74 7.5 147 15 Weight Without brake kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4 kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3 Radiation shield dimensions Material: A1 t6 x 250 Applicable Position Driver (FND ) (FND-) 200-V input X06H- X12H- 100-V input X06L- X12L- A (rms) Momentary maxi- A (rms) mum current (See note.) Rotor inertia With brake 5-16 X25H- --- --- Chapter 5 Specifications Item Brake specifi fications Unit R88M -U03030HA/ -U03030VA R88M -U05030HA/ -U05030VA R88M R88M -U10030HA/ -U20030HA/ -U10030VA -U20030VA R88M -U40030HA/ -U40030VA R88M -U75030HA/ -U75030VA kgm2 (GD2/4) 0.09 x 10–5 0.58 x 10–5 1.40 x 10–5 kgfcms2 V 0.09 x 10–4 24 VDC ±10% (No polarity) 0.59 x 10–4 1.43 x 10–4 Power consumption W (at 20°C) 6.0 6.5 6.0 Current consumption Static friction torque A (at 20°C) 0.25 0.27 0.25 Nm 0.2 min. 0.34 min. 1.5 min. 2.5 min. kgfcm 2.0 min. 3.5 min. 15.0 min. 25.0 min. Absorption time (See note 3.) ms 40 max. 60 max. 100 max. 200 max. Release time (See note 3.) Backlash ms 20 max. 30 max. 40 max. 50 max. (Reference value) ±1° Rating Insulation grade ----- Continuous Type F Brake inertia Excitation voltage Note 1. The values for torque and rotation speed characteristics, are the values at an armature winding temperature of 100°C, combined with the Position Driver. Other values are at normal conditions (20°C, 65%). The maximum momentary torque is a reference value. Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load 5 mm Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20,000 hours at normal usage as the standard. 5-17 Chapter 5 Specifications j Performance Specifications with an Absolute Encoder Item Unit R88M -U03030TA/ -U03030XA R88M -U05030TA/ -05030XA R88M -U10030TA/ -U10030XA R88M -U20030TA/ -U20030XA R88M -U40030TA/ -U40030XA R88M -U75030TA/ -U75030XA Rated output (See note.) W 30 50 100 200 400 750 Rated torque q (S note.)) (See Nm kgfcm 0.095 0.974 0.159 1.62 0.318 3.25 0.637 6.49 1.27 13.0 2.39 24.3 Rated rotation speed r/min 3,000 Momentary maxi- r/min mum rotation speed 4,500 Momentary maxi- Nm mum torque (See kgfcm note.) 0.29 0.48 0.96 1.91 3.82 7.10 2.92 4.87 9.75 19.5 39.0 72.9 Rated current (See note.) 0.42 0.60 0.87 2.0 2.6 4.4 1.3 1.9 2.8 6.0 8.0 13.9 kgm2 (GD2/4) 0.46 × 10–5 0.51 × 10–5 0.65 × 10–5 1.48 × 10–5 2.16 × 10–5 6.96 × 10–5 kgfcms2 0.47 × 10–4 0.53 × 10–4 0.67 × 10–4 1.52 × 10–4 2.21 × 10–4 7.11 × 10–4 Torque q constant (S note.)) (See Nm/A kgfcm/A 0.255 2.60 0.286 2.92 0.408 4.16 0.355 3.62 0.533 5.44 0.590 6.01 Induced voltage constant (See note.) mV/ (r/min) 8.89 9.98 14.0 12.4 18.6 20.6 Power rate (See note.) kW/s 4.36 9.63 25.4 32.8 84.6 85.1 Mechanical time constant ms 1.5 0.9 0.5 0.4 0.3 0.3 Winding resistance Ω 15.8 9.64 6.99 1.34 1.23 0.45 Winding impedance mH 23.1 16.9 13.2 7.2 7.9 5.7 Electrical time constant ms 1.5 1.8 1.9 5.4 6.4 13 Momentary allowable radial load N 186 490 735 kgf 19 50 75 Momentary allowable thrust load N 127 176 392 kgf 13 18 40 Allowable radial l d load N kgf 68 7 78 8 245 25 392 40 Allowable thrust l d load N kgf 54 5.5 49 5 68 7 147 15 Weight Without brake kg Approx. 0.45 Approx. 0.55 Approx. 0.65 Approx. 1.2 Approx. 1.8 Approx. 3.5 kg Approx. 0.75 Approx. 0.85 Approx. 0.95 Approx. 1.7 Approx. 2.3 Approx. 4.5 A (rms) Momentary maxi- A (rms) mum current (See note.) Rotor inertia With brake 5-18 Chapter 5 Specifications Item Unit R88M -U03030TA/ -U03030XA R88M -U05030TA/ -05030XA R88M -U10030TA/ -U10030XA R88M -U20030TA/ -U20030XA R88M -U40030TA/ -U40030XA R88M -U75030TA/ -U75030XA Radiation shield dimensions Material: A1 t6 x 250 Applicable Position Driver (FND ) (FND-) 200-V input X06H- X12H- 100-V input X06L- X12L- Brake specifi fications kgm2 (GD2/4) 0.09 x 10–5 0.58 x 10–5 1.40 x 10–5 kgfcms2 V 0.09 x 10–4 24 VDC ±10% (No polarity) 0.59 x 10–4 1.43 x 10–4 Power consumption Current consumption Static friction torque W (at 20°C) 6.0 6.5 6.0 A (at 20°C) 0.25 0.27 0.25 Nm 0.2 min. 0.34 min. 1.5 min. 2.5 min. kgfcm 2.0 min. 3.5 min. 15.0 min. 25.0 min. Absorption time (See note 3.) ms 40 max. 60 max. 100 max. 200 max. Release time (See note 3.) Backlash ms 20 max. 30 max. 40 max. 50 max. (Reference value) ±1° Rating Insulation grade ----- Continuous Type F Brake inertia Excitation voltage X25H- --- --- Note 1. The values for torque and rotation speed characteristics, are the values at an armature winding temperature of 100°C, combined with the Position Driver. Other values are at normal conditions (20°C, 65%). The maximum momentary torque is a reference value. Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. 5-19 Chapter 5 Specifications Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load 5 mm Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20,000 hours at normal usage as the standard. j Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200/100-VAC Input) R88M-U03030HA/TA R88M-U03030VA/XA R88M-U05030HA/TA R88M-U05030VA/XA Repeated used area Repeated used area Continuous operation area Continuous operation area R88M-U20030HA/TA R88M-U20030VA/XA Repeated used area Continuous operation area R88M-U40030HA/TA R88M-U40030VA/XA Repeated used area Continuous operation area R88M-U10030HA/TA R88M-U10030VA/XA Repeated used area Continuous operation area R88M-U75030HA/TA R88M-U75030VA/XA Repeated used area Continuous operation area j Servomotor and Mechanical System Temperature Characteristics • U-series AC Servomotors use rare earth magnets (neodymium–iron magnets). The temperature coefficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases. When the normal temperature of 20°C and -10°C are compared, the momentary maximum torque increases by approximately 4%. Conversely, when the magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque decreases by approximately 8%. 5-20 Chapter 5 Specifications • Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. For that reason, overloading may occur at low temperatures. In particular, in systems which use deceleration devices, the load torque at low temperatures may be nearly twice the load torque at normal temperatures. Check with a current monitor to see whether overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures. • An increase in load friction torque visibly increases load inertia. Therefore, even if the Position Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low temperatures. Check to see whether there is optimal operation at low temperatures too. j Incremental Encoder Specifications Item Encoder method Number of output pulses Power supply voltage Power supply current Pulse duty characteristics Phase characteristics Phase relationship Maximum rotation speed Maximum response frequency Output signals Output interface Serial communications data Serial communications method Standards Optical incremental encoder A, B phase: 2,048 pulses/revolution, Z phase: 1 pulse/revolution 5 VDC±5% DC, 350 mA (for load resistance of 220 Ω) 50% ±10% 90° ±43.2° For rotation in the CW direction, A phase is advanced by 90° compared to B phase. 4,500 r/min 153.6 kHz +A, –A, +B, –B, +S, –S Conforming to EIA RS-422A. Output based on AM26LS31CN or equivalent. Z phase, poll sensor, U, V, W phase Combination communications method based on A, B, and S phases. 5-21 Chapter 5 Specifications j Absolute Encoder Specifications Item Encoder method Number of output pulses Maximum rotational amount Power supply voltage Power supply current Applicable battery voltage Battery consumption current Standards Optical absolute encoder A, B phase: 1,024 pulses/revolution, Z phase: 1 pulse/revolution ±99,999 revolution 5 VDC±5% DC, 170 mA (for load resistance of 220 Ω) 3.6 VDC 16 µA during backup or when operation is stopped, 2 µA when 5 V is supplied 50% ±10% 90° ±36° For rotation in the CW direction, A phase is advanced by 90° compared to B phase. 4,500 r/min 76.8 kHz +A, –A, +B, –B, +Z, –Z, +ABS, –ABS Conforming to EIA RS-422A. Output based on MC3487 or equivalent. Rotation amount Absolute position within rotation Pulse duty characteristics Phase characteristics Phase relationship Maximum rotation speed Maximum response frequency Output signals Output interface Absolute-value communications data 5-2-2 U-UE-series Servomotors j General Specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method 5-22 Specifications 0°C to 40°C 20% to 80% RH (with no condensation) –10°C to 75°C 20% to 85% RH (with no condensation) No corrosive gasses. 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times Between power line terminals and case: 10 MΩ min. (500-VDC megger) Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz (JEC 2121) All directions Type B (JIS C4004) Totally-enclosed self-cooling Models not conforming to any standards: IP-42 (JEM1030) Models conforming to EC Directives: IP-44 (IEC 34-5) (not including the shaft opening) Cannot be used in environment with water-soluble cutting fluids. V-15 (JEC2121) Flange-mounting Chapter 5 Specifications Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so do not exceed 19.6 m/s2 (2 G) over a long period of time. Note 2. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Note 3. The Servomotor cannot be used in a misty atmosphere. j Performance Specifications Item Unit R88M -UE10030H-S1/ -UE10030V-S1 R88M -UE20030H-S1/ -UE20030V-S1 R88M -UE40030H-S1/ -UE40030V-S1 R88M -UE75030H-S1/ -UE75030V-S1 Rated output (See note.) W 100 200 400 750 Rated torque q (S note.)) (See Nm kgfcm r/min 0.318 3.25 3,000 0.637 6.49 1.27 13.0 2.39 24.3 Momentary maximum rotation speed r/min 4,500 Momentary y maximum torque (S (See note.)) Nm kgfcm A (rms) 0.96 9.75 0.87 1.91 19.5 2.0 3.82 39.0 2.6 7.10 72.9 4.4 Momentary maximum current (See note.) A (rms) 2.8 6.0 8.0 13.9 Rotor inertia kgm2 (GD2/4) kgfcms2 Nm/A kgfcm/A mV/ (r/min) 0.40 × 10–5 0.41 × 10–4 0.408 4.16 14.0 1.23 × 10–5 1.26 × 10–4 0.355 3.62 12.4 1.91 × 10–5 1.95 × 10–4 0.533 5.44 18.6 6.71 × 10–5 6.85 × 10–4 0.590 6.01 20.6 Power rate (See note.) kW/s 25.4 32.8 84.6 85.1 Mechanical time constant ms 0.5 0.4 0.3 0.3 Winding resistance Ω 6.99 1.34 1.23 0.45 Winding impedance mH 13.2 7.2 7.9 5.7 Electrical time constant Momentary y allowable radial di l lload d ms 1.9 5.4 6.4 13 N kgf N kgf N kgf N kgf kg 186 19 127 13 78 8 54 5.5 Approx. 0.5 490 50 176 18 245 25 74 7.5 Approx. 1.1 Approx. 1.7 735 75 392 40 392 40 147 15 Approx. 3.4 With brake Radiation shield dimensions kg Material: A1 Approx. 0.8 t6 x 250 Approx. 1.6 Approx. 2.2 Approx. 4.3 Applicable P i i Driver Di (FND ) Position (FND-) 200-V input 100-V input X06H- X06L- X12H- X12L- --- X25H- --- Rated rotation speed Rated current (See note.) Torque q constant (S note.)) (See Induced voltage constant (See note.) Momentary y allowable thrust h l d load Allowable radial load Allowable thrust load Weight Without brake 5-23 Chapter 5 Specifications Item Brake ifi specifications Unit R88M -UE10030H-S1/ -UE10030V-S1 R88M -UE20030H-S1/ -UE20030V-S1 R88M -UE40030H-S1/ -UE40030V-S1 R88M -UE75030H-S1/ -UE75030V-S1 kgm2 (GD2/4) kgfcms2 V 0.09 x 10–5 0.58 x 10–5 –4 0.09 x 10 0.59 x 10–4 24 VDC ±10% (No polarity) 1.40 x 10–5 1.43 x 10–4 Power consumption W (at 20°C) 6.0 6.5 6.0 Current consumption Static friction i torque A (at 20°C) 0.25 0.27 0.25 Nm kgfcm ms 0.34 min. 3.5 min. 60 max. 1.5 min. 15.0 min. 100 max. 2.5 min. 25.0 min. 200 max. Release time (See note 3.) ms 30 max. 40 max. 50 max. Backlash (Reference value) ±1° Rating Insulation grade ----- Continuous Type F Brake ineri tia Excitation voltage Absorption time (See note 3.) Note 1. The values for torque and rotation speed characteristics, are the values at an armature winding temperature of 100°C, combined with the Position Driver. Other values are at normal conditions (20°C, 65%). The maximum momentary torque is a reference value. Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load 5 mm Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20,000 hours at normal usage as the standard. Note 6. U-series UE Servomotors can be used only with Position Driver software version 4.01 (September 1997) or later. 5-24 Chapter 5 Specifications j Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200/100-VAC Input) R88M-UE10030H-S1 R88M-UE10030V-S1 R88M-UE20030H-S1 R88M-UE20030V-S1 R88M-UE40030H-S1 R88M-UE40030V-S1 Repeated use area Repeated use area Repeated use area Continuous operation area Continuous operation area Continuous operation area R88M-UE75030H-S1 R88M-UE75030V-S1 Repeated use area Continuous operation area j Servomotor and Mechanical System Temperature Characteristics • U-UE-series AC Servomotors use rare earth magnets (neodymium–iron magnets). The temperature coefficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases. When the normal temperature of 20°C and -10°C are compared, the momentary maximum torque increases by approximately 4%. Conversely, when the magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque decreases by approximately 8%. • Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. For that reason, overloading may occur at low temperatures. In particular, in systems which use deceleration devices, the load torque at low temperatures may be nearly twice the load torque at normal temperatures. Check with a current monitor to see whether overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures. • An increase in load friction torque visibly increases load inertia. Therefore, even if the Position Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low temperatures. Check to see whether there is optimal operation at low temperatures too. 5-25 Chapter 5 Specifications j Encoder Specifications Item Encoder method Number of output pulses Power supply voltage Power supply current Pulse duty characteristics Phase characteristics Phase relationship Standards Optical incremental encoder A, B phase: 1,024 pulses/revolution, Z phase: 1 pulse/revolution 5 VDC±5% DC, 350 mA (for load resistance of 220 Ω) 50% ±10% 90° ±43.2° For rotation in the CW direction, A phase is advanced by 90° compared to B phase. 4,500 r/min 76.8 kHz +A, –A, +B, –B, +S, –S Conforming to EIA RS-422A. Output based on AM26LS31CN or equivalent. Z phase, poll sensor, U, V, W phase Combination communications method based on A, B, and S phases. Maximum rotation speed Maximum response frequency Output signals Output interface Serial communications data Serial communications method 5-2-3 U-series 1-kW to 2-kW Servomotors (INC/ABS) j General Specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Run position Insulation grade Structure Protective structure Vibration grade Mounting method 5-26 Specifications 0 to 40°C 20% to 80% RH (with no condensation) –20 to 60°C 20% to 80% RH (with no condensation) No corrosive gasses. 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude; acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times Between power line terminals and case: 10 MΩ min. (500-VDC megger) Between power line terminals and case: 1,500 VAC for 1 min (10 mA max.) at 50/60 Hz (JEC 2121) All directions Type F (JIS C4004) Totally-enclosed self-cooling Models not conforming to any standards: IP-65 (IEC 34-5) (This standard does not apply to the shaft opening. The connector used for the standard cable conforms to IP-30.) Models conforming to EC Directives: IP-55 (IEC 34-5) (This standard does not apply to the shaft opening. The connector used for the standard cable conforms to IP-30.) Cannot be used in environment with water-soluble cutting fluids. V-15 (JEC2121) Flange-mounting Chapter 5 Specifications Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so do not exceed 19.6 m/s2 (2 G) over a long period of time. Note 2. Use water-resistance cables for the power cables and encoder cables in locations subject to contact with water. Note 3. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Note 4. The Servomotor cannot be used in a misty atmosphere. j Performance Specifications with an Incremental Encoder Item Rated output (See note.) Rated torque q ((See note.)) Rated rotation speed Momentary maximum rotation speed Unit R88M -U1K030H/ -U1K030V R88M -U1K530H/ -U1K530V R88M -U2K030H/ -U2K030V W 1,000 1,500 2,000 Nm kgfcm r/min 3.18 32.4 3,000 4.77 48.7 6.36 65.0 r/min 4,500 Momentary y maximum torque q Nm (S note.)) (See kgfcm Rated current (See note.) A (rms) 9.54 97.2 6.1 14.3 146 9.9 16.1 (See note 7.) 164 (See note 7.) 12.0 Momentary maximum current (See note.) A (rms) 17 28 35.4 Rotor inertia kgm2 (GD2/4) kgfcms2 Nm/A kgfcm/A mV/ (r/min) 1.74 × 10–4 1.78 × 10–3 0.59 6.1 22.2 2.47 × 10–4 2.52 × 10–3 0.54 5.5 20.0 3.19 × 10–4 3.26 × 10–3 0.52 5.3 19.5 Power rate (See note.) kW/s 57.9 92.2 103 Mechanical time constant ms 0.9 0.7 0.6 Winding resistance Ω 0.67 0.31 0.19 Winding impedance mH 4.75 2.40 1.57 Electrical time constant Momentary y allowable radial l d load ms 7.1 7.7 8.3 N kgf N kgf N kgf N kgf kg kg Material: A1 1,570 160 590 60 680 70 190 20 Approx. 4.6 Approx. 6.0 t20 x 400 Approx. 5.8 Approx. 7.5 Approx. 7.0 Approx. 8.5 200-V input 100-V input X25H- --- Torque q constant ((See note.)) Induced voltage constant (See note.) Momentary y allowable thrust l d load Allowable radial load Allowable thrust load Weight g Without brake With brake Radiation shield dimensions Applicable P i i Driver Di (FND ) Position (FND-) X50H- 5-27 Chapter 5 Specifications Item kgm2 (GD2/4) kgfcms2 Excitation volt- V age Brake spec- Brake inertia ifi i ifications 0.33 x 10–4 0.34 x 10–3 24 VDC ±10% (No polarity) Power consumption W (at 20°C) 7 Current consumption A (at 20°C) 0.29 Static friction torque Nm kgfcm ms 80 min. 7.8 min. 180 max. Release time (See note 3.) ms 100 max. Backlash Rating Insulation grade (Reference value) ±0.5° Continuous Type F Absorption time (See note 3.) ----- R88M -U2K030H/ -U2K030V R88M -U1K530H/ -U1K530V R88M -U1K030H/ -U1K030V Unit Note 1. The values for torque and rotation speed characteristics, are the values at an armature winding temperature of 100°C, combined with the Position Driver. Other values are at normal conditions (20°C, 65%). The maximum momentary torque is a reference value. Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load 5 mm Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20,000 hours at normal usage as the standard. Note 6. U-series 1-kW to 2-kW Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. Note 7. The momentary maximum torque for 2-kW Servomotors is approx. 16% less than when used with a standard U-series Servodriver. j Performance Specifications with an Absolute Encoder Item Rated output (See note.) Rated torque q ((See note.)) 5-28 Unit R88M -U1K030T/ -U1K030X R88M -U1K530T/ -U1K530X R88M -U2K030T/ -U2K030X W 1,000 1,500 2,000 Nm kgfcm 3.18 32.4 4.77 48.7 6.36 65.0 Chapter 5 Specifications Item Rated rotation speed r/min 3,000 Momentary maximum rotation speed r/min 4,500 R88M -U2K030T/ -U2K030X R88M -U1K530T/ -U1K530X R88M -U1K030T/ -U1K030X Unit Momentary y maximum torque q Nm (S note.)) (See kgfcm Rated current (See note.) A (rms) 9.54 97.2 6.1 14.3 146 9.9 16.1 (See note 7.) 164 (See note 7.) 12.0 Momentary maximum current (See note.) A (rms) 17 28 35.4 Rotor inertia kgm2 (GD2/4) kgfcms2 Nm/A kgfcm/A mV/ (r/min) 1.74 × 10–4 1.78 × 10–3 0.59 6.1 22.2 2.47 × 10–4 2.52 × 10–3 0.54 5.5 20.0 3.19 × 10–4 3.26 × 10–3 0.52 5.3 19.5 Power rate (See note.) kW/s 57.9 92.2 103 Mechanical time constant ms 0.9 0.7 0.6 Winding resistance Ω 0.67 0.31 0.19 Winding impedance mH 4.75 2.40 1.57 Electrical time constant Momentary y allowable radial l d load ms 7.1 7.7 8.3 N kgf N kgf N kgf N kgf kg kg Material: A1 1,570 160 590 60 680 70 190 20 Approx. 5.0 Approx. 6.5 t20 x 400 Approx. 6.2 Approx. 8.0 Approx. 7.4 Approx. 9.0 200-V input 100-V input X25H- --- Torque q constant ((See note.)) Induced voltage constant (See note.) Momentary y allowable thrust l d load Allowable radial load Allowable thrust load Weight g Without brake With brake Radiation shield dimensions Applicable P i i Driver Position Di (FND ) (FND-) X50H- 5-29 Chapter 5 Specifications Item kgm2 (GD2/4) kgfcms2 Excitation volt- V age Brake spec- Brake inertia ifi i ifications W (at 20°C) 7 Current consumption A (at 20°C) 0.29 Static friction torque Nm kgfcm ms 80 min. 7.8 min. 180 max. Release time (See note 3.) ms 100 max. Backlash Rating Insulation grade (Reference value) ±0.5° Continuous Type F ----- R88M -U2K030T/ -U2K030X 0.33 x 10–4 0.34 x 10–3 24 VDC ±10% (No polarity) Power consumption Absorption time (See note 3.) R88M -U1K530T/ -U1K530X R88M -U1K030T/ -U1K030X Unit Note 1. The values for torque and rotation speed characteristics, are the values at an armature winding temperature of 100°C, combined with the Position Driver. Other values are at normal conditions (20°C, 65%). The maximum momentary torque is a reference value. Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load 5 mm Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20,000 hours at normal usage as the standard. Note 6. U-series 1-kW to 2-kW Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. Note 7. The momentary maximum torque for 2-kW Servomotors is approx. 16% less than when used with a standard U-series Servodriver. 5-30 Chapter 5 Specifications j Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200-VAC Input) R88M-U1K030H/T R88M-U1K030V/X Short-term operation area (within 1 s) Continuous operation area R88M-U1K530H/T R88M-U1K530V/X Short-term operation area (within 1 s) Continuous operation area R88M-U2K030H/T R88M-U2K030V/X Short-term operation area (within 1 s) Continuous operation area j Servomotor and Mechanical System Temperature Characteristics • U-series AC Servomotors use rare earth magnets (neodymium–iron magnets). The temperature coefficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases. When the normal temperature of 20°C and -10°C are compared, the momentary maximum torque increases by approximately 4%. Conversely, when the magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque decreases by approximately 8%. • Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. For that reason, overloading may occur at low temperatures. In particular, in systems which use deceleration devices, the load torque at low temperatures may be nearly twice the load torque at normal temperatures. Check with a current monitor to see whether overloading is occurring at low temperatures, and how much the load torque is. Likewise, check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures. • An increase in load friction torque visibly increases load inertia. Therefore, even if the Position Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low temperatures. Check to see whether there is optimal operation at low temperatures too. 5-31 Chapter 5 Specifications ! Caution Do not use a 2-kW Servomotor in the shaded range in the following graph. Heat generated by the Motor may cause the Encoder to malfunction. R88M-U2K030 (2 kW) Effective torque (Nm) ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ ÍÍÍÍÍÍÍ 6.36 5.72 0 30 40 Ambient temperature (C) j Incremental Encoder Specifications Item Encoder method Number of output pulses Power supply voltage Power supply current Pulse duty characteristics Phase characteristics Phase relationship Maximum rotation speed Maximum response frequency Output signals Output interface Serial communications data Serial communications method 5-32 Standards Optical incremental encoder A, B phase: 4,096 pulses/revolution, Z phase: 1 pulse/revolution 5 VDC±5% DC, 350 mA (for load resistance of 220 Ω) 50% ±10% 90° ±36° For rotation in the CW direction, A phase is advanced by 90° compared to B phase. 4,500 r/min 307.2 kHz +A, –A, +B, –B, +S, –S Conforming to EIA RS-422A. Output based on MC3487 or equivalent. Z phase, poll sensor, U, V, W phase Combination communications method based on A, B, and S phases. Chapter 5 Specifications j Absolute Encoder Specifications Item Encoder method Number of output pulses Maximum rotational amount Power supply voltage Power supply current Applicable battery voltage Battery consumption current Pulse duty characteristics Phase characteristics Phase relationship Standards Optical absolute encoder A, B phase: 8,192 pulses/revolution, Z phase: 1 pulse/revolution ±99,999 revolution 5 VDC±5% DC, 400 mA (for load resistance of 220 Ω) 3.6 VDC 10 µA (At backup or rotation stop.) 50% ±10% 90° ±36° For rotation in the CW direction, A phase is advanced by 90° compared to B phase. 4,500 r/min 614.4 kHz +A, –A, +B, –B, +Z, –Z, Conforming to EIA RS-422A. Output based on SN75158 or equivalent. Rotation amount Absolute position within rotation (output only when power is supplied) Maximum rotation speed Maximum response frequency Output signals Output interface Absolute-value communications data 5-2-4 H-series Servomotors j General Specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmosphere Run position Insulation grade Structure Protective structure Vibration grade Mounting method Specifications 0 to 40°C 35% to 85% RH (with no condensation) –10 to 75°C 35% to 85% RH (with no condensation) No corrosive gasses. All directions Type B Totally-enclosed self-cooling IP-52 Cannot be used in environment with water-soluble cutting fluids. V-15 (JEC2121) Flange-mounting Note 1. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Note 2. The Servomotor cannot be used in a misty atmosphere. Note 3. The drip-proofing specifications are covered by IP-54. (Models with drip-proof specifications provide drip-proofing on Servomotors with oil seals.) 5-33 Chapter 5 Specifications j Performance Characteristics Item Unit R88M -H05030 R88M -H10030 R88M -H20030 R88M -H30030 R88M -H50030 R88M -H75030 R88M -H1K130 Rated output (See note.) W 50 100 200 300 500 750 1100 Rated torque q (S note.)) (See Nm kgfcm 0.16 1.62 0.32 3.25 0.64 6.50 0.95 9.74 1.59 16.2 2.39 24.4 3.50 35.7 Rated rotation speed r/min 3,000 Momentary maximum rotation speed r/min 4,000 Momentary maximum torque (See note.) Nm 0.48 0.95 1.91 2.86 4.76 7.17 8.62 kgfcm 4.86 9.74 19.5 29.2 48.6 73.2 88 Rotor inertia kgm2 (GD2/4) 0.14 × 10–4 0.22 × 10–4 0.44 × 10–4 0.65 × 10–4 2.5 × 10–4 4.1 × 10–4 5.7 × 10–4 kgfcms 1.4 × 10–4 2.2 × 10–4 4.5 × 10–4 6.6 × 10–4 26 × 10–4 42 × 10–4 58 × 10–4 2 Torque constant (See note.) Nm/A 0.22 0.35 0.43 0.49 0.43 0.47 0.59 kgfcm/A 2.2 3.6 4.4 5.0 4.4 4.8 6.0 Induced voltage constant (See note.) mV/ (r/min) 23 37 45 52 45 50 62 Power rate (See note.) kW/s 1.8 4.7 9.1 14 9.7 14 21 Mechanical time constant ms 6.9 2.7 2.3 1.7 2.2 1.4 1.3 Winding resistance Ω 24 16 10 6.1 1.6 0.74 0.80 Winding impedance mH 51 43 38 28 10 6.6 6.9 Electrical time constant ms 2.1 2.7 3.8 4.5 6.5 9.0 8.6 Momentary allowable radial load N 147 343 637 834 kgf 15 35 65 85 Momentary allowable thrust load N 196 275 490 490 kgf 20 28 50 50 Allowable radi l load dial l d N kgf 103 10.5 All lowable thrust load A N kgf N kgf 29 3.0 29 3.0 Weig ht Without brake kg Approx. 0.9 Approx. 1.1 Approx. 1.8 Approx. 2.2 Approx. 4.3 Approx. 5.6 Approx. 6.8 With brake kg Approx. 1.4 Approx. 1.6 Approx. 2.6 Approx. 3.0 Approx. 6.5 Approx. 7.8 Approx. 9.0 5-34 B 113 11.5 186 19.0 196 20.0 78 8.0 78 7.5 353 36.0 373 38.0 118 12.0 118 11.0 441 45.0 147 15.0 147 13.0 Chapter 5 Specifications Item Unit R88M -H05030 R88M -H10030 R88M -H20030 R88M -H30030 R88M -H50030 Radiation shield dimensions Applicable Position Driver (FND ) (FND-) Material: A1 t6 x 150 t6 x 250 t12 x 250 200-V input X06H- X12H- X25H- 100-V input X06L- X12L- Brake Brake spec- inertia ifi ifications kgm2 (GD2/4) 0.02 x 10–4 0.05 x 10–4 0.5 x 10–4 kgfcms 0.2 x 10–4 0.5 x 10–4 5 x 10–4 --- --- R88M -H75030 --- R88M -H1K130 --- 2 Excita- V tion voltage 24 VDC ±10% (No polarity) Power consumption Static friction torque W (at 20°C) 10 11 22 Nm 0.5 min. 1.5 min. 5.4 min. kgfcm 5 min. 15 min. 55 min. Absorption time Release time ms 50 max. (reference value) ms 30 max. (reference value) 50 max. (reference value) Backlash (Reference value) ±1.2° ±0.9° Rating Insulation grade ----- Continuous Type F ±0.7° Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 2. For motors with brakes, increase the size of the radiation shield by 100 mm (example: t6 x 250 → t6 x 350). Note 3. The allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output shaft length). (See the diagram below.) Radial load Thrust load B A Note 4. The allowable thrust load varies depending on the shaft direction. Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30,000 hours at normal usage as the standard. 5-35 Specifications Chapter 5 Note 6. H-series Servomotors can be used only with Position Driver software version 4.01 (September 1997) or later. j Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200/100-VAC Input) 5-36 Chapter 5 Specifications R88M-H05030 (50 W) R88M-H10030 (100 W) Short-term operation area (within 1 s) Short-term operation area (within 1 s) Continuous operation area Continuous operation area (r/min) R88M-H30030 (300 W) R88M-H20030 (200 W) Short-term operation area (within 1 s) Continuous operation area (r/min) R88M-H50030 (500 W) Short-term operation area (within 1 s) Short-term operation area (within 1 s) Continuous operation area Continuous operation area (r/min) (r/min) R88M-H75030 (750 W) Short-term operation area (within 1 s) Continuous operation area (r/min) (r/min) R88M-H1K130 (1100 W) Short-term operation area (within 1 s) Continuous operation area (r/min) 5-37 Chapter 5 Specifications j Encoder Specifications Item Encoder method Number of output pulses Power supply voltage Pulse duty characteristics Phase characteristics Phase relationship Standards A, B, Z phase: Magnetic incremental encoder with MR elements A, B phase: 2,000 pulses/revolution, Z phase: 1 pulse/revolution 5 VDC±5% 50% ±10% 90° ±40° For rotation in the CW direction, A phase is advanced by 90° compared to B phase. 4,000 r/min 133.3 kHz +A, –A, +B, –B, +S, –S Conforming to EIA RS-422A. Output based on AM26LS31CN or equivalent. Z phase, poll sensor, U, V, W phase Manchester code Maximum rotation speed Maximum response frequency Output signals Output interface Serial communications data Serial communications method 5-2-5 M-series Servomotors j General Specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmosphere Run position Insulation grade Structure Protective structure Vibration grade Mounting method Specifications 0 to 40°C 35% to 85% RH (with no condensation) –10 to 75°C 35% to 85% RH (with no condensation) No corrosive gasses. All directions Type F (JIS C4004) Totally-enclosed self-cooling IP-42 (JEM1030) Cannot be used in environment with water-soluble cutting fluids. V-15 (JEC2121) Flange-mounting Note 1. The above items reflect individual evaluation testing. The results may differ under compounded conditions. Note 2. The Servomotor cannot be used in a misty atmosphere. Note 3. The drip-proofing specifications are covered by IP-44. (Models with drip-proof specifications provide drip-proofing on Servomotors with oil seals.) 5-38 Chapter 5 Specifications j Performance Characteristics D 1,200 r/min Item Unit R88M -M20012 R88M -M40012 R88M -M70012 R88M -M1K112 R88M -M1K412 R88M -M1K812 Rated output (See note.) W 200 400 700 1,100 1,400 1,800 Rated torque q (S note.)) (See Nm kgfcm r/min 1.59 16.2 1,200 3.18 32.5 5.57 56.8 8.75 89.3 11.1 114 14.3 146 Momentary maxi- r/min mum rotation speed Momentary maxi- Nm mum torque (See kgfcm note.) 1,300 4.3 7.4 17.6 16.7 30.4 44.1 44.0 75.0 180 170 310 450 Rated current (See note.) A (rms) 2.1 2.9 4.0 6.6 8.4 9.3 Momentary maxi- A (rms) mum current (See note.) Rotor inertia kgm2 (GD2/4) 7.1 7.1 14.2 14.2 28.3 35.4 6.3 × 10–4 9.8 × 10–4 1.6 × 10–3 4.2 × 10–3 4.9 × 10–3 6.5 × 10–3 kgfcms2 Nm/A kgfcm/A mV/ (r/min) 6.4 × 10–3 0.74 7.6 53 1.0 × 10–2 1.10 11.2 72 1.6 × 10–2 1.40 14.3 88 4.3 × 10–2 1.32 13.5 82 5.0 × 10–2 1.32 13.5 83 6.6 × 10–2 1.53 15.6 92 Power rate (See note.) kW/s 4.0 10 20 18 25 32 Mechanical time constant ms 7.3 3.5 2.3 3.1 2.8 1.9 Winding resistance Ω 9.8 6.4 4.2 1.9 1.5 1.0 Winding impedance mH 70 65 50 20 40 27 Electrical time constant ms 7.1 10.1 11.8 10 26 26 Momentary allowable radial load N 880 940 1,000 2,040 2,100 2,190 kgf 90 96 102 208 214 223 Momentary allowable thrust load N 2,380 2,380 2,380 5,390 5,390 5,390 kgf 243 243 243 550 550 550 Allowable radial load N 480 (560) 519 (600) 548 (640) 1,029 (1,190) 1,058 (1,230) 1,107 (1,270) kgf N kgf kg 49 (57) 68 (88) 7 (9) Approx. 6.5 53 (61) 58 (78) 6 (8) Approx. 9.0 56 (65) 58 (69) 6 (7) Approx. 14 105 (121) 156 (190) 16 (19) Approx. 22 108 (125) 147 (180) 15 (18) Approx. 26 113 (130) 127 (160) 13 (16) Approx. 34 kg Approx. 7.1 Approx. 10 Approx. 15 Approx. 24 Approx. 28 Approx. 38 Rated rotation speed Torque q constant (S note.)) (See Induced voltage constant (See note.) Allowable thrust l d load Weight Without brake With brake 5-39 Chapter 5 Specifications Item Unit R88M -M20012 R88M -M40012 R88M -M70012 R88M -M1K112 R88M -M1K412 R88M -M1K812 Radiation shield dimensions Material: FE (See note 4.) t15 x 250 t20 x 300 t20 x 400 Applicable Position Driver (FND ) (FND-) 200-V input X12H- X25H- X50H- 100-V input X12L- --- Brake specifi fications kgm2 (GD2/4) 1.9 x 10–5 3.2 x 10–5 6.8 x 10–5 2.9 x 10–4 3.0 x 10–4 kgfcms2 V 1.9 x 10–4 3.3 x 10–4 24 VDC ±10% (No polarity) 6.9 x 10–4 2.9 x 10–3 3.1 x 10–3 Power consumption Current consumption Static friction torque W (at 20°C) 9.8 15 18 22 A (at 20°C) 0.41 0.63 0.76 0.92 Nm 2.0 min. 3.9 min. 7.8 min. 16 min. 29 min. kgfcm 20 min. 40 min. 80 min. 160 min. 300 min. Absorption time (See note 3.) ms 25 max. 35 max. 40 max. 60 max. 90 max. Release time (See note 3.) Backlash ms 15 max. 15 max. 20 max. 40 max. 35 max. (Reference value) ±0.36° ±0.32° ±0.27° ±0.24° ±0.21° Rating Insulation grade ----- Continuous Type B Brake inertia Excitation voltage Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 2. The operation time measurement is the measured value with a surge killer installed. Note 3. For Servomotors with brakes, increase the dimensions of the radiation shield by 50 mm each. (For example: t15 x 250 becomes t15 x 300.) Note 4. The allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output shaft length). (See the diagram below.) Radial load Thrust load Output shaft center 5-40 Chapter 5 Specifications Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in parentheses). Note 6. M-series 1,200-r/min, 1,100 to 1,800-W Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. D 2,000 r/min Item Unit R88M -M20020 R88M -M40020 R88M -M70020 R88M -M1K120 R88M -M1K820 R88M -M2K220 Rated output (See note.) W 200 400 700 1,100 1,800 2,200 Rated torque q (S note.)) (See Nm kgfcm r/min 0.955 9.74 2,000 1.91 19.5 3.34 34.1 5.25 53.6 8.58 87.6 10.5 107 Momentary maxi- r/min mum rotation speed Momentary maxi- Nm mum torque (See kgfcm note.) 2,200 3.3 3.9 9.6 12.9 21.6 26.5 34.0 40.0 98.0 132 220 270 Rated current (See note.) A (rms) 2.0 3.3 4.1 5.5 8.6 12.3 Momentary maxi- A (rms) mum current (See note.) Rotor inertia kgm2 (GD2/4) 7.1 7.1 14.2 14.2 35.4 35.4 1.6 × 10–4 6.3 × 10–4 9.8 × 10–4 1.6 × 10–3 4.2 × 10–3 4.9 × 10–3 kgfcms2 Nm/A kgfcm/A mV/ (r/min) 1.6 × 10–3 0.56 5.7 35 6.4 × 10–2 0.57 5.8 40 1.0 × 10–2 0.81 8.3 50 1.6 × 10–2 0.95 9.7 62 4.3 × 10–2 0.98 10 50 5.0 × 10–2 0.85 8.7 53 Power rate (See note.) kW/s 6.0 5.8 11 18 17 22 Mechanical time constant ms 3.4 7.9 3.1 2.6 2.1 2.6 Winding resistance Ω 10 6.1 3.1 2.2 0.70 0.58 Winding impedance mH 46 32 25 21 17 14 Electrical time constant ms 4.5 5.3 8.1 9.6 24 24 Momentary allowable radial load N 420 880 940 1,000 2,,040 2,100 kgf 43 90 96 102 208 214 Momentary allowable thrust load N 1,180 2,380 2,380 2,380 5,390 5,390 kgf 120 243 243 243 550 550 Allowable radial l d load N kgf N 205 (250) 21 (25) 19 (29) 401 (470) 41 (48) 68 (88) 431 (500) 44 (51) 58 (78) 460 (540) 47 (55) 58 (69) 862 (1,000) 88 (102) 156 (190) 891 (1,030) 91 (105) 147 (180) Rated rotation speed Torque q constant (S note.)) (See Induced voltage constant (See note.) Allowable thrust l d 5-41 Chapter 5 Specifications Item R88M -M20020 R88M -M40020 R88M -M70020 R88M -M1K120 R88M -M1K820 R88M -M2K220 kgf kg 2 (3) Approx. 3.2 7 (9) Approx. 6.5 6 (8) Approx. 9.0 6 (7) Approx. 14 16 (19) Approx. 22 15 (18) Approx. 26 kg Approx. 3.6 Approx. 7.1 Approx. 10 Approx. 15 Approx. 24 Approx. 28 Radiation shield dimensions Material: FE (See note 4.) t15 x 250 t20 x 300 Applicable Position Driver (FND ) (FND-) 200-V input X12H- 100-V input X12L- --- Brake specifi fications kgm2 (GD2/4) 6.7 x 10–4 1.9 x 10–5 kgfcms2 V Power consumption Current consumption Static friction torque load Weight Without brake With brake Unit t20 x 400 X25H- X50H- 3.2 x 10–5 6.8 x 10–5 2.8 x 10–4 6.8 x 10–5 1.9 x 10–4 24 VDC ±10% (No polarity) 3.3 x 10–4 6.9 x 10–3 2.9 x 10–3 W (at 20°C) 6.0 9.8 15 18 A (at 20°C) 0.25 0.41 0.63 0.76 Nm 0.98 min. 2.0 min. 3.9 min. 7.8 min. 16 min. kgfcm 10 min. 20 min. 40 min. 80 min. 160 min. Absorption time (See note 3.) ms 30 max. 25 max. 35 max. 40 max. 60 max. 90 max. Release time (See note 3.) Backlash ms 10 max. 15 max. 15 max. 20 max. 40 max. 35 max. (Reference value) ±0.85° ±0.36° ±0.32° ±0.27° ±0.24° ±0.21° Rating Insulation grade ----- Continuous Type B Brake inertia Excitation voltage Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 2. The operation time measurement is the measured value with a surge killer installed. Note 3. For Servomotors with brakes, increase the dimensions of the radiation shield by 50 mm each. (For example: t15 x 250 becomes t15 x 300.) 5-42 Chapter 5 Specifications Note 4. The allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output shaft length). (See the diagram below.) Radial load Thrust load Output shaft center Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in parentheses). Note 6. M-series 2,000-r/min 1,100 to 2,200-W Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. D 4,000 r/min Item Unit R88M -M06040 R88M -M12040 R88M -M20040 R88M -M40040 R88M -M70040 R88M -M1K140 R88M -M2K040 Rated output (See note.) W 60 120 200 400 700 1,100 2,000 Rated torque q (S note.)) (See Nm kgfcm r/min 0.143 1.46 4,000 0.286 2.92 0.477 4.87 0.955 9.74 1.67 17.0 2.62 26.8 4.77 48.7 Momentary r/min maximum rotation speed Momentary Nm maximum torque kgfcm (See note.) 4,400 0.490 1.03 1.52 3.72 4.61 6.86 15.7 5.00 10.5 15.5 38.0 47.0 70.0 160 Rated current (See note.) A (rms) 1.5 1.8 2.1 3.4 4.6 5.0 10.5 Momentary maximum current (See note.) Rotor inertia A (rms) 4.9 7.1 7.1 14.2 14.2 14.2 35.4 kgm2 (GD2/4) 2.9 × 10–5 4.1 × 10–5 8.9 × 10–5 1.6 × 10–4 6.3 × 10–4 9.8 × 10–4 1.6 × 10–3 kgfcms2 Nm/A kgfcm/A mV/ (r/min) 3.0 × 10–4 0.15 1.5 8.0 4.2 × 10–4 0.19 1.9 11.3 9.1 × 10–4 0.23 2.3 16.3 1.6 × 10–3 0.28 2.9 20 6.4 × 10–3 0.35 3.6 23.3 1.0 × 10–2 0.52 5.3 31.7 1.6 × 10–2 0.46 4.7 30 Power rate (See note.) kW/s 0.70 2.0 2.6 5.8 4.4 7.0 15 Mechanical time constant ms 6.6 3.8 7.6 4.5 7.4 3.2 2.8 Winding resistance Ω 7.35 4.7 6.52 3.55 2.2 1.33 0.57 Winding impedance mH 13 12 25 15 12 11 5.5 Electrical time constant ms 1.8 2.6 3.8 4.2 5.5 8.3 9.6 Rated rotation speed Torque q constant (S note.)) (See Induced voltage constant (See note.) 5-43 Chapter 5 Specifications Item Unit R88M -M06040 R88M -M12040 R88M -M20040 R88M -M40040 R88M -M70040 R88M -M1K140 R88M -M2K040 Momentary allowable radial load N 140 160 370 420 880 940 1,000 kgf 14 16 38 43 90 96 102 Momentary allowable thrust load N 440 440 1,180 1,180 2,380 2,380 2,380 kgf 45 45 120 120 243 243 243 Allowable radial l d load N kgf 58 (69) 6 (7) 58 (78) 6 (8) 147 (180) 15 (18) 166 (200) 17 (20) 323 (370) 33 (38) 343 (400) 35 (41) 362 (420) 37 (43) Allowable thrust l d load N kgf 5 (6.9) 0.6 (0.7) 4 (5.9) 0.5 (0.6) 19 (29) 2 (3) 19 (29) 2 (3) 58 (69) 6 (7) 49 (59) 5 (6) 39 (49) 4 (5) Weight Without brake kg Approx. 1.2 Approx. 1.6 Approx. 2.3 Approx. 3.2 Approx. 6.5 Approx. 9.0 Approx. 14 With brake kg Approx. 1.4 Approx. 1.8 Approx. 2.7 Approx. 3.6 Approx. 7.1 Approx. 10 Approx. 15 Radiation shield dimensions Material: FE (See note 4.) t15 x 250 Applicable Position Driver (FND ) (FND-) 200-V input X12H- 100-V input X12L- Brake specifi fications kgm2 (GD2/4) 1.5 x 10–6 6.7 x 10–6 1.9 x 10–5 3.2 x 10–5 6.8 x 10–5 kgfcms2 V 1.5 x 10–5 6.8 x 10–5 24 VDC ±10% (No polarity) 1.9 x 10–4 3.3 x 10–5 6.9 x 10–5 W (at 20°C) 5.0 6.0 9.8 15 A (at 20°C) 0.21 0.25 0.41 0.63 Nm 0.59 min. 0.98 min. 2.0 min. 3.9 min. 7.8 min. kgfcm 6 min. 10 min. 20 min. 40 min. 80 min. Absorp- ms tion time (See note 3.) 25 max. 30 max. 25 max. 35 max. 40 max. Release time (See note 3.) ms 10 max. 10 max. 15 max. 15 max. 20 max. Backlash (Reference value) ±1.2° ±0.85° ±0.36° ±0.32° ±0.27° Rating Insulation grade ----- Continuous Type B Brake inertia Excitation voltage Power consumption Current consumption Static friction torque 5-44 t20 x 300 X25H- X50H- --- Chapter 5 Specifications Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.) Note 2. The operation time measurement is the measured value with a surge killer installed. Note 3. For Servomotors with brakes, increase the dimensions of the radiation shield by 50 mm each. (For example: t15 x 250 becomes t15 x 300.) Note 4. The allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output shaft length). (See the diagram below.) Radial load Thrust load Output shaft center Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in parentheses). Note 6. M-series 4,000 r/min 1,100 to 2,000 W Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. j Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200/100-VAC Input) D 1,200 r/min R88M-M20012 R88M-M40012 Short-term operation area (within 1 s) Short-term operation area (within 1 s) Continuous operation area Short-term operation area (within 1 s) Continuous operation area Short-term operation area (within 1 s) Continuous operation area (r/min) R88M-M1K112 R88M-M70012 Continuous operation area (r/min) R88M-M1K412 Short-term operation area (within 1 s) Continuous operation area (r/min) R88M-M1K812 Short-term operation area (within 1 s) Continuous operation area 5-45 Chapter 5 Specifications D 2,000 r/min R88M-M20020 R88M-M40020 Continuous operation area Continuous operation area Continuous operation area (r/min) 5-46 Short-term operation area (within 1 s) Short-term operation area (within 1 s) Short-term operation area (within 1 s) R88M-M1K120 R88M-M70020 (r/min) R88M-M1K820 Short-term operation area (within 1 s) Short-term operation area (within 1 s) Continuous operation area Continuous operation area (r/min) R88M-M2K220 Short-term operation area (within 1 s) Continuous operation area Chapter 5 Specifications D 4,000 r/min R88M-M06040 R88M-M12040 Short-term operation area (within 1 s) Continuous operation area R88M-M20040 Short-term operation area (within 1 s) Short-term operation area (within 1 s) Continuous operation area Continuous operation area (r/min) (r/min) R88M-M40040 R88M-M1K140 R88M-M70040 Short-term operation area (within 1 s) Short-term operation area (within 1 s) Short-term operation area (within 1 s) Continuous operation area Continuous operation area (r/min) (r/min) Continuous operation area (r/min) R88M-M2K040 Short-term operation area (within 1 s) Continuous operation area j Resolver Specifications Item Accuracy Origin signal Standards Absolute accuracy: 0.18° max. (Ambient temperature: 25°C) 2 pulses/revolution 5-47 Chapter 5 Specifications 5-3 Cable Specifications 5-3-1 General Control Cables (DIO Position Drivers Only) D Cable Models Model FND-CCX001S FND-CCS002S Length (L) 1m 2m Outer diameter of sheath 11.8 dia. D Connection Configuration 39 43.5 L t=18 SYSMAC C-series Programmable Controller 5-48 FND-X-series Position Driver Chapter 5 Specifications D Wiring Pin No. Dot mark Dot mark color Signal name Connector Pin Arrangement 1 Insulation color Light brown – Black CCWL 2 2 Light brown – Red CWL 4 3 Yellow – Black ORG 6 4 Yellow – Red RUN 8 5 Light green – Black START 10 6 Light green – Red RESET 12 7 Gray – Black SEARCH 14 8 Gray – Red +JOG 16 9 White – Black –JOG 18 10 White – Red TEACH 11 Light brown –– Black P.IN0 12 Light brown –– Red P.IN1 13 Yellow –– Black P.IN2 14 Yellow –– Red P.IN3 15 Light green –– Black P.IN4 16 Light green –– Red P.IN5 17 Gray –– Black P.IN6 18 Gray –– Red P.IN7 19 White –– Black OGND 20 White –– Red STOP 21 Light brown ––– Black BO 22 Light brown ––– Red READY 23 Yellow ––– Black S.COM 24 Yellow ––– Red ORGSTP 25 Light green ––– Black T.COM 26 Light green ––– Red RUNON 27 Gray ––– Black INP 28 Gray ––– Red ALM 29 White ––– Black P.OUT0 30 White ––– Red P.OUT1 31 Light brown –––– Black P.OUT2 32 Light brown –––– Red P.OUT3 33 Yellow –––– Black P.OUT4 34 Yellow –––– Red P.OUT5 35 Light green –––– Black P.OUT6 36 Light green –––– Red +24V 1 3 5 7 9 11 13 15 17 20 22 24 26 28 30 32 34 36 19 21 23 25 27 29 31 33 35 Connector plug model: 10136-3000VE (Sumitomo 3M) Connector case model: 10336-52A0-008 (Sumitomo 3M) Cable: UL2464, AWG24X18P Note Connect the shield to the shield plate under the connector cover. 5-49 Chapter 5 Specifications 5-3-2 Connector Terminal Board Conversion Unit Cables (DIO Position Drivers Only) D Cable Models Model R88A-CTU001N R88A-CTU002N Length (L) 1m 2m Outer diameter of sheath 9.9 dia. D Connection Configuration XW2B-40F5-P Connector Terminal Board 5-50 FND-X-series Position Driver Chapter 5 Specifications D Wiring 36 +24V Shell Cable: AWG24X18P, UL2464 Connector plug model: 10114-3000VE (Sumitomo 3M) Connector case model: 10314-52A0-008 (Sumitomo 3M) Connector plug model: FCN-361J040-AU (Fujitsu) Connector case model: FCN-36C040-B (Fujitsu) 5-51 Chapter 5 Specifications 5-3-3 External Control Signal Connecting Cables (CompoBus/S Position Drivers Only) j Connector-Terminal Block Conversion Unit Cable D Cable Model FND-CTX002N Length (L) 2m Outer diameter of sheath 7.4 dia. D Connection Configuration 2,000 39 30 29.5 16.1 t=12.7 t=6.1 XW2B-20G4 or XW2B-20G5 Connector–Terminal Block FND-X-series Position Driver D Wiring Connector model: 5-52 Terminal block Connector No. No. No. Symbol 1 1 7 +24 V 2 2 3 3 1 CCWL 4 4 5 5 2 CWL 6 6 7 7 3 ORG 8 8 4 STOP 9 9 10 10 11 11 8 BO 12 12 14 OGND 13 13 14 14 15 15 16 16 17 17 18 18 19 19 20 20 XG4M-2030-T (OMRON) Contact plug model: Contact case model: 10114-3000VE (Sumitomo 3M) 10314-52A0-008 (Sumitomo 3M) Chapter 5 Specifications 5-3-4 Encoder Cables j Encoder Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards and U-UE-series Servomotors not Conforming to Any Standards With Incremental Encoder D Cable Models Model R88A-CRU003C R88A-CRU005C R88A-CRU010C R88A-CRU015C R88A-CRU020C Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 8 dia. Note Up to a maximum of 20 meters between the Servomotor and the Position Driver is 20 m. D Connection Configuration L 39 16 33.3 23.7 t=14 t=14 U-series 30-W to 750-W AC Servomotor conforming to UL/cUL standards U-UE-series AC Servomotor not conforming to any standards with incremental encoder FND-X-series Position Driver D Wiring Symbol No. A+ A– B+ B– 1 2 3 4 S+ S– 5 6 7 8 9 E0V E5V FG No. Symbol AWG24 (blue) AWG24 (white/blue) AWG24 (yellow) AWG24 (white/yellow) AWG24 (green) AWG24 (white/green) AWG22 (black) AWG22 (red) AWG22 (green/yellow) Cable: 1 2 3 4 A+ A– B+ B– 5 6 S+ S– 7 8 9 E0V E5V FG AWG22 × 3C + AWG24 × 3P UL2589 5-53 Chapter 5 Specifications For Cable Connector housing model: Connector socket contact model: Crimping tool: Pulling tool: 172161-1 (Nippon Amp) 170365-1 (Nippon Amp) 724649-1 724668-2 For Motor Contact plug model: Connector pin contact model: 172169-1 (Nippon Amp) 170359-1 (Nippon Amp) Contact plug model: Contact case model: 10120-3000VE (Sumitomo 3M) 10320-52A0-008 (Sumitomo 3M) j Encoder Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards with Absolute Encoder D Cable Models Model R88A-CSU003C R88A-CSU005C R88A-CSU010C R88A-CSU015C R88A-CSU020C Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 10.3 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. D Connection Configuration L 39 16 33.3 23.7 U-series 30-W to 750-W AC Servomotor conforming to UL/cUL standards with absolute encoder 5-54 t=22.4 t=14 FND-X-series Position Driver Chapter 5 Specifications D Wiring Symbol No. A+ 1 A– 2 B+ 3 B– 4 Z+ 5 Z– 6 E0V 7 E5V 8 ABS+ 10 ABS– 11 NC 12 Reset 13 BAT– 14 BAT+ 15 FG 9 No. AWG24 Blue AWG24 White/Blue AWG24 Yellow AWG24 White/Yellow AWG24 Green AWG24 White/Green AWG22 Black AWG22 Red AWG24 Purple AWG24 White/Purple AWG24 White/Gray AWG24 White/Orange AWG24 Orange AWG22 Green/Yellow Cable: For Cable Connector housing model: Connector socket contact model: Crimping tool: Pulling tool: 172163-1 (Nippon Amp) 170365-1 (Nippon Amp) 724649-1 724668-2 For Motor Contact plug model: Connector pin contact model: 172171-1 (Nippon Amp) 170359-1 (Nippon Amp) Symbol 16 A+ 17 A– 18 B+ 19 B– 14 Z+ 15 Z– 1 E0V 4 E5V 8 ABS+ 9 ABS– 10 (Reset) 13 BAT– 12 BAT+ 20 FG AWG22 × 3C + AWG24 × 6P UL2589 Contact plug model: Contact case model: 10120-3000VE (Sumitomo 3M) 10320-52A0-008 (Sumitomo 3M) j Encoder Cables for U-series 30-W to 750-W Servomotors and U-UE-series Servomotors Conforming to EC Directives with Incremental Encoders D Cable Models Model R88A-CRUD003C R88A-CRUD005C R88A-CRUD010C R88A-CRUD015C R88A-CRUD020C Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 8.0 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. 5-55 Chapter 5 Specifications D Connection Configuration U-series 30-W to 750-W AC Servomotor conforming to EC Directives U-UE-series AC Servomotor conforming to EC Directives with incremental encoder FND-X-series Position Driver D Wiring Symbol No. A+ 1 A– 2 B+ 3 B– 4 S+ 5 S– 6 E0V 7 E5V 8 FG 9 No. AWG24 Blue AWG24 White/Blue AWG24 Yellow AWG24 White/Yellow AWG24 Green AWG24 White/Green AWG22 Black AWG22 Red AWG22 Green Yellow 16 A+ 17 A– 18 B+ 19 B– 14 S+ 15 S– 1 E0V 4 E5V 20 Shell Cable: Symbol FG AWG22 × 3C + AWG24 × 3P UL2589 For Cable Connector model: Stand model: 17JE13090-02D8A (Daiichi Electronic Industries) Contact plug model: 17L-002A1 (Daiichi Electronic Industries) Contact case model: For Motor Connector model: 17JE23090-02D8A (Daiichi Electronic Industries) 10120-3000VE (Sumitomo 3M) 10320-52A0-008 (Sumitomo 3M) j Encoder Cables for U-series 30-W to 750-W Servomotors Conforming to EC Directives with Absolute Encoders D Cable Models Model R88A-CSUD003C R88A-CSUD005C R88A-CSUD010C R88A-CSUD015C R88A-CSUD020C Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 10.3 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. 5-56 Chapter 5 Specifications D Connection Configuration U-series 30-W to 750-W AC Servomotor conforming to EC Directives with absolute encoder FND-X-series Position Driver D Wiring Symbol A+ No. 1 A– 2 B+ 3 B– 4 Z+ 5 Z– 6 E0V 7 E5V 8 ABS+ 10 ABS– 11 NC 12 Reset 13 BAT– 14 BAT+ 15 FG 9 No. AWG24 Blue AWG24 White/Blue AWG24 Yellow AWG24 White/Yellow AWG24 Green AWG24 White/Green AWG22 Black AWG22 Red AWG24 Purple AWG24 White/Purple AWG24 White/Gray AWG24 White/Orange AWG24 Orange AWG22 Green/Yellow Symbol 16 A+ 17 A– 18 B+ 19 B– 14 Z+ 15 Z– 1 E0V 4 E5V 8 ABS+ 9 ABS– 10 (Reset) 13 BAT– 12 BAT+ 20 Shell FG Cable: AWG22 × 3C + AWG24 × 6P For Cable Connector model: Stand model: 17JE13150-02D8A (Daiichi Electronic Industries) Contact plug model: 17L-002A1 (Daiichi Electronic Industries) Contact case model: For Motor Connector model: 17JE23150-02D8A (Daiichi Electronic Industries) 10120-3000VE (Sumitomo 3M) 10320-52A0-008 (Sumitomo 3M) 5-57 Chapter 5 Specifications j Encoder Cables for U-series 1-kW to 2-kW Servomotors with Incremental or Absolute Encoders Note To conform to EC Directives, use the recommended connectors (refer to 2-1-2 Installation Conditions). D Cable Models Model R88A-CRUB003C R88A-CRUB005C R88A-CRUB010C R88A-CRUB015C R88A-CRUB020C Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 10.3 dia. Note The maximum between the Servomotor and the Position Driver is 20 m. 37.3 dia. D Connection Configuration U-series 1-kW to 2-kW AC Servomotor 5-58 FND-X-series Position Driver Chapter 5 Specifications D Wiring Signal Signal AWG24 Blue AWG24 White/Blue AWG24 Yellow AWG24 White/Yellow AWG24 Green AWG24 White/Green AWG22 Black AWG22 Red AWG22 Purple Not used. Not used. AWG24 White/Purple Not used. Not used. AWG24 White/Gray Reset Reset AWG24 White/Orange AWG24 Orange AWG22 Green/Yellow Cable: AWG22 × 3C + AWG24 × 6P For Cable Connector plug model: Cable clamp model: MS3106B20-29S MS3057-12A Shell Connector plug model: 10120-3000VE (Sumitomo 3M) Contact case model: 10320-52A0-008 (Sumitomo 3M) For Motor Receptacle model: MS3102A20-29P j Encoder and Conversion Cables for H-series Servomotors D Encoder Cable Models Model R88A-CRH001C R88A-CRH003C R88A-CRH005C R88A-CRH010C R88A-CRH015C R88A-CRH020C R88A-CRH030C Length (L) 1m 3m 5m 10 m 15 m 20 m 30 m Outer diameter of sheath 8.0 dia. Note Up to a maximum of 30 m between the Servomotor and the Position Driver is 20 m. 5-59 Chapter 5 Specifications D Connection Configuration L 40.5 40.5 500 39 t=7.4 OMNUC H-series AC Servomotor t=15 Encoder Cable 41 23 33.3 11.7 t=14 Conversion Cable FND-X-series Position Driver D Wiring Symbol Symbol Red Black Gray Blue Orange Pink Light blue Yellow Brown Green Cable: AWG22 × 3P + 3C UL2589 For Cable Plug housing model: Contact socket model: Crimping tool: Pulling tool: SMP-10V-NC (J.S.T. Mfg. Co., Ltd.) BHF-001GI-0.8BS (J.S.T. Mfg. Co., Ltd.) YC-12 SMJ-06 For Motor Receptacle housing model: Contact pin model: Contact plug model: Contact case model: SMR-10V-N (J.S.T. Mfg. Co., Ltd.) SYM-001G-0.6A (J.S.T. Mfg. Co., Ltd.) D Conversion Cable for H-series Servomotors Model R88A-CRH0R5T 5-60 Length (L) 0.5 m Outer diameter of sheath 7.5 dia. XM2A-1501 (OMRON) XM2S-1511 (OMRON) Chapter 5 Specifications D Wiring Symbol No. A+ A– B+ B– 8 7 6 5 S+ S– 4 3 9 13 E5V E0V RG 16 17 18 19 14 A+ A– B+ B– S+ S– 15 4 1 E5V E0V 20 FG 14 SG Contact cover model: No. Symbol 15 Cable: AWG22 × 4P XM2S-1511 (OMRON) Contact plug model: 10120-3000VE (Sumitomo 3M) Contact socket model: XM2D-1501 (OMRON) Contact case model: 10320-52A0-008 (Sumitomo 3M) Fixture model: XM2Z-0001 (OMRON) 5-3-5 Resolver Cables j Resolver and Conversion Cables for M-series Servomotors D Cable Models Model R88M-CRM003N R88M-CRM005N R88M-CRM010N R88M-CRM015N R88M-CRM020N R88M-CRM030N R88M-CRM040N R88M-CRM050N Length (L) 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m Outer diameter of sheath 8.2 dia. Note The maximum distance between the Servomotor and the Position Driver is 50 m. D Connection Configuration L 35.8 35.8 500 39 OMNUC M-series AC Servomotor t=18 Resolver Cable 39.3 27 dia. 33.3 58 t=14 Conversion Cable FND-X-series Position Driver 5-61 Chapter 5 Specifications D Wiring Symbol Symbol Red/White Yellow/White Shield Red Black Shield Yellow Blue Shield Cable: AWG24 x 3P Connector Model For Cable Socket: JRC-16WPQ-7S (Hirose Electric) Plug: JRC-16WPQ-CP10 (Hirose Electric) For Motor Receptacle: Connector plug model: MR-20F (Honda Tsushin Kogyo Co., Ltd.) Connector case model: MR-20L (Honda Tsushin Kogyo Co., Ltd.) JRC-16WRQ-7P (Hirose Electric) D Conversion Cable for M-series Servomotors Model R88A-CRM0R5T Length (L) 0.5 m Outer diameter of sheath 6.1 dia. D Wiring Symbol No. R1 R2 S1 S3 S2 S4 SG1 SG2 SG3 No. Symbol 8 9 2 3 6 7 11 5 11 6 12 7 13 18 19 20 R1 R2 S1 S3 S2 S4 SG Cable: AWG24 x 3P Relay case model: MR-20LK2G (Honda Tsushin Kogyo Co., Ltd.) Connector plug model: 10120-3000VE (Sumitomo 3M) Connector model: Connector case model: 10320-52A0-008 (Sumitomo 3M) 5-62 MR-20RM (Honda Tsushin Kogyo Co., Ltd.) Chapter 5 Specifications j Resolver Cables for M-series Servomotors D Cable Models Model R88M-CRMA003N R88M-CRMA005N R88M-CRMA010N R88M-CRMA015N R88M-CRMA020N R88M-CRMA030N R88M-CRMA040N R88M-CRMA050N Length (L) 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m Outer diameter of sheath 8.2 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. D Connection Configuration L 39 27 dia. 33.3 58 t=14 OMNUC M-series AC Servomotor FND-X-series Position Driver D Wiring Symbol Symbol Red/White Yellow/White Red Black Yellow Blue Cable: AWG24 x 3P For Cable Socket: JRC-16WPQ-7S (Hirose Electric) Plug: JRC-16WPQ-CP10 (Hirose Electric) For Motor Receptacle: Connector plug model: Connector case model: 10120-3000VE (Sumitomo 3M) 10320-52A0-008 (Sumitomo 3M) JRC-16WRQ-7P (Hirose Electric) 5-63 Chapter 5 Specifications 5-3-6 Power Cables j Power Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards and U-UE-series Servomotors not Conforming to Any Standards without Brake D Cable Models Model R88A-CAU003S R88A-CAU005S R88A-CAU010S R88A-CAU015S R88A-CAU020S Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 5.8 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. D Connection Configuration U-series 30-W to 750-W AC Servomotor conforming to UL/cUL standards UE-series AC Servomotor not conforming to any standards without brake FND-X-series Position Driver D Wiring Symbol No. U-phase V-phase 1 2 W-phase 3 GR 4 AWG20 Red White AWG20 Blue AWG20 Green AWG20 Cable: AWG20 × 4C UL2517 For Cable Connector housing model: Connector socket contact model: Crimping tool: Pulling tool: For Motor Contact plug model: Connector pin contact model: 5-64 172159-1 (Nippon Amp) 170366-1 (Nippon Amp) 724651-1 724668-2 172167-1 (Nippon Amp) 170359-1 (Nippon Amp) 30 to 100 W 170360-1 (Nippon Amp) 200 to 750 W M4 Crimp terminals Chapter 5 Specifications j Power Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards and U-UE-series Servomotors not Conforming to Any Standards With Brake D Cable Models Model R88A-CAU003B R88A-CAU005B R88A-CAU010B R88A-CAU015B R88A-CAU020B Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 6.8 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. D Connection Configuration U-series 30-W to 750-W AC Servomotor conforming to UL/cUL standards U-UE-series AC Servomotor not conforming to any standards with brake FND-X-series Position Driver D Wiring Symbol No. U-phase V-phase 1 2 W-phase 3 GR 4 Brake 5 Brake 6 AWG20 Red White AWG20 Blue AWG20 AWG20 Green Black AWG20 Black AWG20 Cable: AWG20 × 6C UL2517 For Cable Connector housing model: Connector socket contact model: Crimping tool: Pulling tool: For Motor Contact plug model: Connector pin contact model: M4 Crimp terminals 172160-1 (Nippon Amp) 170366-1 (Nippon Amp) 724651-1 724668-2 172168-1 (Nippon Amp) 170359-1 (Nippon Amp) 30 to 100 W 170360-1 (Nippon Amp) 200 to 750 W 5-65 Chapter 5 Specifications j Power Cables for U-series 30-W to 750-W and U-UE-series Servomotors D Cable Models Model R88A-CAU001 R88A-CAU01B Length (L) 1m 1m Outer diameter of sheath 5.8 dia. 6.8 dia. Remarks For models without brake For models with brake Note 1. The power cable comes in units of 1 m. Cut the cable as required to make the specified length. Note 2. The maximum distance between the Servomotor and the Position Driver is 20 m. D Connection Configuration U-series 30-W to 750-W AC Servomotor U-UE-series AC Servomotor FND-X-series Position Driver D Wiring R88A-CAU001 AC Servomotor Position Driver Red AWG20 Red White AWG20 White Blue AWG20 Blue U-phase V-phase W-phase Green /Yellow AWG20 Green Cable: 5-66 AWG20 × 4C UL2517 Chapter 5 Specifications R88A-CAU01B AC Servomotor Position Driver U-phase Red AWG20 Red V-phase White AWG20 White Blue AWG20 Blue Green /Yellow AWG20 Green Red AWG20 Black Black AWG20 Black W-phase Brake Brake Cable: AWG20 × 4C UL2517 24 VDC ±10% (no polarity) j Power Cables for U-series 1-kW to 2-kW Servomotors Without Brake Note To conform to EC Directives, use the recommended connectors (refer to 2-1-2 Installation Conditions). D Cable Models Model R88A-CAUB003S R88A-CAUB005S R88A-CAUB010S R88A-CAUB015S R88A-CAUB020S Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 14 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. 34.1 dia. D Connection Configuration U-series 1-kW to 2-kW AC Servomotor without brake FND-X-series Position Driver 5-67 Chapter 5 Specifications D Wiring Signal AWG12 Red AWG12 White AWG12 Black AWG12 Green U-phase V-phase W-phase Cable: AWG12 × 4C V5.5-4 Crimp terminals For Cable Connector plug model: MS3106B18-10S Cable clamp model: MS3057-10A For Motor Receptacle MS3102A18-10P j Power Cables for U-series 1-kW to 2-kW Servomotors With Brake Note To conform to EC Directives, use the recommended connectors (refer to 2-1-2 Installation Conditions). D Cable Models Model R88A-CAUB003S R88A-CAUB005S R88A-CAUB010S R88A-CAUB015S R88A-CAUB020S Length (L) 3m 5m 10 m 15 m 20 m Outer diameter of sheath 16.5 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. 37.3 dia. D Connection Configuration U-series 1-kW to 2-kW AC Servomotor with brake 5-68 FND-X-series Position Driver Chapter 5 Specifications D Wiring Signal AWG12 U-phase AWG12 V-phase AWG12 W-phase Brake Red White Black AWG12 Green AWG12 Brown AWG12 Yellow Brake Cable: AWG12 × 6C V5.5-4 Crimp terminals For Cable Connector plug model: MS3106B20-15S Cable clamp model: MS3057-12A For Motor Receptacle model: MS3102A20-15P j Power Cables for H-series Servomotors Without Brake D Cable Models Model R88A-CAH001S R88A-CAH003S R88A-CAH005S R88A-CAH010S R88A-CAH015S R88A-CAH020S R88A-CAH030S Length (L) 1m 3m 5m 10 m 15 m 20 m 30 m Wire size AWG18 Outer diameter of sheath 5.8 dia. AWG16 11.3 dia. Note The maximum distance between the Servomotor and the Position Driver is 30 m. D Connection Configuration L OMNUC H-series AC Servomotor (without brake) FND-X-series Position Driver 5-69 Chapter 5 Specifications D Wiring Symbol No. A-phase B-phase 1 2 C-phase 3 GR 4 Red White Blue Green Cable: AWG18 × 4 AWG16 x 4 UL2517 For Cable Plug housing model: Contact socket model: Crimping tool: Pulling tool: Insertion tool LP-04-1 (J.S.T. Mfg. Co., Ltd.) LLF-61T-2.0 (J.S.T. Mfg. Co., Ltd.) YC-9 LEJ-20 LIT-2013 For Motor Receptacle housing model: Contact pin model: LR-04-1 (J.S.T. Mfg. Co., Ltd.) SLM-61T-2.0 (J.S.T. Mfg. Co., Ltd.) M4 Crimp terminals j Power Cables for H-series Servomotors With Brake D Cable Models Model R88A-CAH001B R88A-CAH003B R88A-CAH005B R88A-CAH010B R88A-CAH015B R88A-CAH020B R88A-CAH030B Length (L) 1m 3m 5m 10 m 15 m 20 m 30 m Wire size AWG18 Outer diameter of sheath 8.3 dia. AWG16 11.3 dia. Note The maximum distance between the Servomotor and the Position Driver is 20 m. D Connection Configuration L OMNUC H-series AC Servomotor (without brake) 5-70 FND-X-series Position Driver Chapter 5 Specifications D Wiring Symbol No. A-phase B-phase 1 2 C-phase 3 GR 4 Brake 5 Brake 6 Red White Blue Green Black Black Cable: For Cable Plug housing model: Contact socket model: Crimping tool: Pulling tool: Insertion tool: For Motor Receptacle housing model: Contact pin model: M4 Crimp terminals AWG18 × 6 AWG16 x 4 + AWG20 x 2 UL2517 LP-06-1 (J.S.T. Mfg. Co., Ltd.) LLF-61T-2.0 (J.S.T. Mfg. Co., Ltd.) YC-9 LEJ-20 LIT-2013 LR-06-1 (J.S.T. Mfg. Co., Ltd.) SLM-61T-2.0 (J.S.T. Mfg. Co., Ltd.) A, B, C, GR SLM-01T-2.0 (J.S.T. Mfg. Co., Ltd.) Brake 5-71 6 Chapter 6 CompoBus/S Specifications 6-1 6-2 6-3 CompoBus/S Configuration Requirements CompoBus/S Communications Specifications Connecting a CompoBus/S System Chapter 6 CompoBus/S Specifications 6-1 CompoBus/S Configuration Requirements The CompoBus/S is configured as shown in the following diagram. Special flat cable Terminating resistance Master Communications power supply Slave Slave Slave Slave Slave Slave Main line Branch line T: T-branch method M: Multi-drop method Power supply cable Masters The Master controls the CompoBus/S and manages the external I/O for each of the Slaves. There is only one Master per CompoBus/S System. The Master must be connected at the end of the main line as shown in the above diagram. Slaves Slaves process external I/O by communicating with the CompoBus/S and Master. Main and Branch Lines The main line is the cable that connects the furthest separated terminals. Branch lines are the cables that branch out from the main line. Cable With the CompoBus/S, either special flat cable or VCTF cable can be used for communications. When flat cable is used, the communications power supply can be provided from the CompoBus/S cable. The configuration example in the above diagram uses flat cable. When VCTF cable is used, the power supply must be provided to the Slaves through a separate cable. (A communications power supply is not required for the FND-X.) Connection Method The CompoBus/S has two methods for connecting Slaves: the T-branch method and the multi-drop method. With the T-branch method, Slaves are connected to branch lines that branch off from the main line. With the multi-drop method, Slaves are connected directly to the main line. Termination Resistance In order to stabilize communications, it is necessary to install terminating resistance at the opposite end of the main line from the Master. There are two types of terminating resistance: the connector type with special flat cable, and the terminal block type. 6-2 Chapter 6 CompoBus/S Specifications j Types of Connection-related Devices Aside from Masters and Slaves, the following devices are used with a CompoBus/S System. D Cable Types The following table shows the two cable types and their specifications. Type VCTF (commercially available) SCA1-4F10 Special Flat Cable (length: 100 m) Specifications Vinyl cord, VCTF, JIS C 3306 Two-core nominal cross-sectional area: 0.75 mm2 (signal line x 2) Conductor resistance (20°C): 25.1 Ω/km Nominal cross-sectional area: 0.75 mm2 x 4 (signal line x 2, power line x 2) Ambient operating temperature: 60°C max. Note Do not use any VCTF cable other than two-core cable. D Connector and Terminal Block Types The following table shows the types of connectors and terminal blocks that can be used. Type Pressure connector for branching Pressure connector for extension Pressure connector with terminating resistance Terminal block with terminating resistance Model SCN1-TH4 SCN1-TH4E SCN1-TH4T SRS1-T Remarks This connector is used for branching from the main line to branch lines. It can only be used with special flat cable. This connector is used for extending special flat cable. This is a connector with terminating resistance. It can only be used with special flat cable. This is a terminal block with terminating resistance. It can be used with either VCTF or special flat cable. Note 1. Connect the terminating resistance (i.e., pressure connectors or terminal blocks with terminating resistance) at the end of the main line farthest from the Master. Note 2. Use commercially available terminal blocks for branching or extending VCTF cable. Note 3. For details regarding connectors and terminal blocks, refer to the CompoBus/S Operation Manual (W266). 6-3 Chapter 6 CompoBus/S Specifications 6-2 CompoBus/S Communications Specifications This section provides details for CompoBus/S communications. j Communications Specifications Item Communications method Communications baud rate Modulation method Coding method Error control checks Cable used Communications di distance Specifications Special CompoBus/S protocol 750,000 baud Baseband method Manchester coding method Manchester code check, frame length check, parity check Vinyl cord, VCTF, JIS C 3306: Two-core nominal cross-sectional area: 0.75 mm2 (signal line x 2) (VCTF cable) Special flat cable: 0.75 mm2 x 4 (signal line x 2, power line x 2) VCTF Cable Main line length Branch line length 100 meters max. 3 meters max. Total branch length 50 meters max. Special Flat Cable Main line length 30 meters max. Branch line length 3 meters max. Total branch length 30 meters max. Even when special flat cable is used, if no more than 16 Slaves are connected the main line length can be extended to a maximum of 100 meters, and the total branch line length extended to a maximum of 50 meters. 6-4 Chapter 6 CompoBus/S Specifications Item Maximum number maxiof I/O Points, maxi mum number of connected Slaves, communications cycle time Specifications When a C200HW-SRM21 or SRM1-C01/02 Master Unit is Used (for C200HX/HG/HE, C200HS) Max. number of I/O Maximum number Communications points of Slaves cycle time IN: 64; OUT: 64 IN:8; OUT: 8 0.5 ms IN: 128; OUT: 128 IN: 16; OUT: 16 0.8 ms When a CQM1 Master Unit is Used (For CQM1) Max. I/O points Maximum number of Slaves IN: 64; OUT: 64 IN:8; OUT: 8 (in 8-pt. mode) IN: 16; OUT: 16 (in 4-pt. mode) IN: 32; OUT: 32 IN:4; OUT: 4 (in 8-pt. mode) IN:8; OUT: 8 (in 4-pt. mode) IN: 16; OUT: 16 IN:2; OUT: 2 (in 8-pt. mode) IN:4; OUT: 4 (in 4-pt. mode) Communications cycle time 0.5 ms Cannot be used.* 0.5 ms Cannot be used.* 0.5 ms Cannot be used.* *The 4-point mode cannot be used when an FND-X Position Driver is connected. Note Only the high-speed communications mode is available with the FND-X. j Maximum Cable Length The “main line length” indicates the sum of the cable lengths between the Master Unit and the terminating resistance connected to the farthest terminal from the main line. The “branch line length” indicates the length of any cable that branches off from the main line. The “total branch line length” indicates the sum of all the branch lines connected to the main line. Main line length Terminating resistance Master Branch line length Slave Slave Slave Slave Slave Slave Slave Slave Total branch line length = L1 + L2 + L3 + L4 + L5 The main line length, branch line length, and total branch line length depend on the type of cable used and the number of Slaves connected, as shown in the following table. Cable type VCTF cable Special flat cable Main line length 100 m max. 30 m max. (See note 1.) Branch line length 3 m max. 3 m max. Total branch length 50 m max. 30 m max. (See note 1.) Note 1. If no more than 16 Slaves are connected, the main line can be extended to a maximum of 100 meters and the total branch line length to a maximum of 50 meters, just as with VCTF cable. Note 2. Use either VCTF cable or special flat cable, and do not mix them. 6-5 Chapter 6 CompoBus/S Specifications 6-3 Connecting a CompoBus/S System This manual only explains the CompoBus/S wiring related to FND-X-series Position Drivers. For more information on connecting communications cables, wiring, Slaves, and so on, refer to the CompoBus/S Operation Manual (W266). j Preparing Communications Cables When connecting CompoBus/S cable to the Position Driver, follow the procedure shown below to prepare the cable. 1. Remove 5 to 7 mm of the insulation from the end of the communications cable (two wires), and securely twist the loose strands together for each of them. 5 to 7 mm When using commercially-available VCTF cable, determine in advance which signal wire is to be used for BD H (high) and which for BD L (low). For special flat cable, the signal wires are as shown below. Communications power supply positive side (BS+): Brown Communications data “high” side (BD H): Black Communications data “low” side (BD L): White Communications power supply negative side (BS–): Blue 2. When using special flat cable, the two power supply signal wires must be insulated. j Connecting Communications Cable 1. Use a flat-head screwdriver to loosen the Position Driver’s two CompoBus/S communications terminal screws, and remove the cable terminal block. Cable terminal block Screws Note If the communications cable can be connected by simply tightening the screws, the cable terminal block need not be removed. 2. Loosen the screws that fasten the signal wires to the cable terminal block, and carefully insert the two signal wires into their respective holes in the terminal block. BD H BD L 6-6 Chapter 6 CompoBus/S Specifications Note Before inserting the signal wires, make sure that the screws have been loosened sufficiently. If a screw is too tight when a wire is inserted, the wire may go into the gap in the rear of the fitting instead of going into the proper place. If this happens, the wire cannot be securely fastened. Fitting Signal wire insertion hole Signal wire 3. Tighten the cable terminal block screws to the proper torque of 0.5 Nm for each signal wire. Use a small flat-head screwdriver with of uniform thickness. A normal screwdriver which is thin only at the end will not fit all the way in. Small flat-head screwdriver of uniform thickness Note The XW4Z-00C Screwdriver is available from OMRON especially for this task. Shape of screwdriver’s head Side view Front view 0.6 mm 3.5 mm The A1 Series by Phoenix Contact is recommended as a crimp-stye terminal for the cable. Phoenix Contact also supplies the ZA3 as a special-purpose tool. Crimp-style terminal Cable Insert the cable and crimp it. 4. Be careful to match the directions of the cable terminal block and the Position Driver’s terminal block, and insert the cable terminal block. Be sure to push it all the way in. 6-7 CompoBus/S Specifications Chapter 6 Note Connect the cable with enough room so that it will not be pulled or bent. Also be sure not to place heavy objects on the cable cord, or it may cause short circuiting. 5. Use a flat-head screwdriver to fasten the two screws that were loosened in step 1 to a torque of 0.2 Nm. 6-8 7 Chapter 7 Appendices 7-1 7-2 Standard Models Parameter Settings Tables Chapter 7 Appendices 7-1 Standard Models j Position Drivers DIO Type y Specifications 200-VAC input 100-VAC input CompoBus/S Type y 200-VAC input 100-VAC input 6A 12 A 25 A 50 A 6A 12 A 6A 12 A 25 A 50 A 6A 12 A Model FND-X06H FND-X12H FND-X25H FND-X50H FND-X06L FND-X12L FND-X06H-SRT FND-X12H-SRT FND-X25H-SRT FND-X50H-SRT FND-X06L-SRT FND-X12L-SRT j Teaching Box Specifications Teaching Box ROM Cassette Connecting g Cable Common to FND-X, MC/NC Units FND-X only 2m 4m 6m Model CVM1-PRO01 CVM1-MP702 CVM1-MP703 CV500-CN22A CV500-CN42A CV500-CN62A Note A ROM Cassette and Connecting Cable are required in order to use the Teaching Box. j External Regenerative Resistors Specification Regeneration capacity: 100 W, 30Ω Regeneration capacity: 200 W, 30Ω Model R88A-RR20030 R88A-RR40030 j General Control Cable (DIO Type) Control Cable for FND-X Specifications 1m (With connector on one end.) 2m Model FND-CCX001S FND-CCX002S j Connector-Terminal Board (DIO Type) Specification Connector for Control Cable Connector-Terminal Board Connecting g Cable for C Connector-Terminal T i lB Board d 7-2 1m 2m Model R88A-CNU01C XW2B-40F5-P R88A-CTU001N R88A-CTU002N Chapter 7 Appendices j Cable, Conversion Unit, Connector for External Control Signals Connector-Terminal Block Conversion Unit Cable Connector-Terminal Block C Conversion i U Unit i Specification 2m Model FND-CTX002N M3 screws M3.5 screws External Control Signal (CN4) Connector XW2B-20G4 XW2B-20G5 R88A-CNX01C Note When wiring the external control signal (C4) for the CompoBus/S type, either use the Unit in combination with a Connector-Terminal Block Conversion Unit and Cable, or prepare a cable yourself for the CN4 connector. j U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards with U-series Incremental Encoder Straight g shaft with no kkey Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) With brake 3,000 , r/min Standard ((without b k ) brake) 3,000 r/min , With brake 3,000 , r/min 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W Model R88M-U03030HA R88M-U05030HA R88M-U10030HA R88M-U20030HA R88M-U40030HA R88M-U75030HA R88M-U03030HA-B R88M-U05030HA-B R88M-U10030HA-B R88M-U20030HA-B R88M-U40030HA-B R88M-U75030HA-B R88M-U03030HA-S1 R88M-U05030HA-S1 R88M-U10030HA-S1 R88M-U20030HA-S1 R88M-U40030HA-S1 R88M-U75030HA-S1 R88M-U03030HA-BS1 R88M-U05030HA-BS1 R88M-U10030HA-BS1 R88M-U20030HA-BS1 R88M-U40030HA-BS1 R88M-U75030HA-BS1 7-3 Chapter 7 Appendices j U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards with U-series Absolute Encoder Straight g shafts with no kkeys Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) With brake 3,000 , r/min Standard ((without b k ) brake) 3,000 , r/min With brake 3,000 , r/min 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W Model R88M-U03030TA R88M-U05030TA R88M-U10030TA R88M-U20030TA R88M-U40030TA R88M-U75030TA R88M-U03030TA-B R88M-U05030TA-B R88M-U10030TA-B R88M-U20030TA-B R88M-U40030TA-B R88M-U75030TA-B R88M-U03030TA-S1 R88M-U05030TA-S1 R88M-U10030TA-S1 R88M-U20030TA-S1 R88M-U40030TA-S1 R88M-U75030TA-S1 R88M-U03030TA-BS1 R88M-U05030TA-BS1 R88M-U10030TA-BS1 R88M-U20030TA-BS1 R88M-U40030TA-BS1 R88M-U75030TA-BS1 j U-series 30 to 750-W AC Servomotors Conforming to EC Directives with Incremental Encoder Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) Standard ((with b k ) brake) 7-4 3,000 , r/min 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W Model R88M-U03030VA-S1 R88M-U05030VA-S1 R88M-U10030VA-S1 R88M-U20030VA-S1 R88M-U40030VA-S1 R88M-U75030VA-S1 R88M-U03030VA-BS1 R88M-U05030VA-BS1 R88M-U10030VA-BS1 R88M-U20030VA-BS1 R88M-U40030VA-BS1 R88M-U75030VA-BS1 Chapter 7 Appendices j U-series 30 to 750-W AC Servomotors Conforming to EC Directives with Absolute Encoder Straight g shafts with no kkeys Specifications Standard ((without 3,000 , r/min b k ) brake) Standard ((with b k ) brake) 3,000 , r/min 30 W 50 W 100 W 200 W 400 W 750 W 30 W 50 W 100 W 200 W 400 W 750 W Model R88M-U03030XA-S1 R88M-U05030XA-S1 R88M-U10030XA-S1 R88M-U20030XA-S1 R88M-U40030XA-S1 R88M-U75030XA-S1 R88M-U03030XA-BS1 R88M-U05030XA-BS1 R88M-U10030XA-BS1 R88M-U20030XA-BS1 R88M-U40030XA-BS1 R88M-U75030XA-BS1 j U-UE-series AC Servomotors Not Conforming to Any Standards with Incremental Encoder Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) With brake 3,000 , r/min 100 W 200 W 400 W 750 W 100 W 200 W 400 W 750 W Model R88M-UE10030H-S1 R88M-UE20030H-S1 R88M-UE40030H-S1 R88M-UE75030H-S1 R88M-UE10030H-BS1 R88M-UE20030H-BS1 R88M-UE40030H-BS1 R88M-UE75030H-BS1 j U-UE-series AC Servomotors Conforming to EC Directives with Incremental Encoder Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) With brake 3,000 , r/min 100 W 200 W 400 W 750 W 100 W 200 W 400 W 750 W Model R88M-UE10030V-S1 R88M-UE20030V-S1 R88M-UE40030V-S1 R88M-UE75030V-S1 R88M-UE10030V-BS1 R88M-UE20030V-BS1 R88M-UE40030V-BS1 R88M-UE75030V-BS1 Note When selecting a U-series or U-UE-series Servomotor, the Servomotor must be a 200-VAC type (HA/TA/VA/XA or H/A) even when the U/U-UE Servomotor is combined with a 100-VAC-input Position Driver. A 100-VAC-type Servomotor cannot be connected. 7-5 Chapter 7 Appendices j U-series 1 to 2-kW AC Servomotors Not Conforming to Any Standards with Incremental Encoder Straight g shafts with no kkeys Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) Standard ((with b k ) brake) 3,000 , r/min Standard ((without b k ) brake) 3,000 , r/min Standard ((with b k ) brake) 3,000 , r/min 1 kW 1.5 kW 2 kW 1 kW 1.5 kW 2 kW 1 kW 1.5 kW 2 kW 1 kW 1.5 kW 2 kW Model R88M-U1K030H R88M-U1K530H R88M-U2K030H R88M-U1K030H-B R88M-U1K530H-B R88M-U2K030H-B R88M-U1K030H-S1 R88M-U1K530H-S1 R88M-U2K030H-S1 R88M-U1K030H-BS1 R88M-U1K530H-BS1 R88M-U2K030H-BS1 j U-series 1 to 2-kW AC Servomotors Not Conforming to Any Standards with Absolute Encoder Straight g shafts with no kkeys Specifications Standard ((without 3,000 , r/min b k ) brake) Standard ((with b k ) brake) 3,000 , r/min 1 kW 1.5 kW 2 kW 1 kW 1.5 kW 2 kW Model R88M-U1K030T R88M-U1K530T R88M-U2K030T R88M-U1K030T-B R88M-U1K530T-B R88M-U2K030T-B j U-series 1 to 2-kW AC Servomotors Conforming to EC Directives with Incremental Encoder Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) Standard ((with b k ) brake) 3,000 , r/min 1 kW 1.5 kW 2 kW 1 kW 1.5 kW 2 kW Model R88M-U1K030V-S1 R88M-U1K530V-S1 R88M-U2K030V-S1 R88M-U1K030V-BS1 R88M-U1K530V-BS1 R88M-U2K030V-BS1 j U-series 1 to 2-kW AC Servomotors Conforming to EC Directives with Absolute Encoder Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) Standard ((with b k ) brake) 7-6 3,000 , r/min 1 kW 1.5 kW 2 kW 1 kW 1.5 kW 2 kW Model R88M-U1K030X-S1 R88M-U1K530X-S1 R88M-U2K030X-S1 R88M-U1K030X-BS1 R88M-U1K530X-BS1 R88M-U2K030X-BS1 Chapter 7 Appendices j H-series AC Servomotors with Incremental Encoder Straight g shafts with k keys Specifications Standard ((without 3,000 , r/min b k ) brake) With brake 3,000 , r/min 50 W 100 W 200 W 300 W 500 W 750 W 1100 W 50 W 100 W 200 W 300 W 500 W 750 W 1100 W Model R88M-H05030 R88M-H10030 R88M-H20030 R88M-H30030 R88M-H50030 R88M-H75030 R88M-H1K130 R88M-H05030-B R88M-H10030-B R88M-H20030-B R88M-H30030-B R88M-H50030-B R88M-H75030-B R88M-H1K130-B 7-7 Chapter 7 Appendices j M-series AC Servomotors with Resolver Specifications Straight g shafts with k keys Standard ((without b k ) brake) 1,200 , r/min 2,000 , r/min 4,000 , r/min With brake 1,200 , r/min 2,000 , r/min 4,000 r/min , Model 200 W 400 W 700 W 1100 W 1400 W 1800 W 200 W 400 W 700 W 1100 W 1800 W 2200 W 60 W 120 W 200 W 400 W 700 W 1100 W 2000 W 200 W 400 W 700 W 1100 W 1400 W 1800 W 200 W 400 W 700 W 1100 W 1800 W 2200 W 60 W 120 W 200 W 400 W 700 W 1100 W 2000 W R88M-M20012 R88M-M40012 R88M-M70012 R88M-M1K112 R88M-M1K412 R88M-M1K812 R88M-M20020 R88M-M40020 R88M-M70020 R88M-M1K120 R88M-M1K820 R88M-M2K220 R88M-M06040 R88M-M12040 R88M-M20040 R88M-M40040 R88M-M70040 R88M-M1K140 R88M-M2K040 R88M-M20012-B R88M-M40012-B R88M-M70012-B R88M-M1K112-B R88M-M1K412-B R88M-M1K812-B R88M-M20020-B R88M-M40020-B R88M-M70020-B R88M-M1K120-B R88M-M1K820-B R88M-M2K220-B R88M-M06040-B R88M-M12040-B R88M-M20040-B R88M-M40040-B R88M-M70040-B R88M-M1K140-B R88M-M2K040-B Note The 60-W and 120-W motor output shafts for the 4,000-r/min type are “A cut” (i.e., the cross-section of the shaft is shaped like an “A ”). 7-8 Chapter 7 Appendices j Encoder Cable for U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards Specifications For Servomotors with incremental encoders. (With connectors on both sides.) Cable only For Servomotors with absolute encoders. (With connectors on both sides.) 3m 5m 10 m 15 m 20 m 1-m units 3m 5m 10 m 15 m 20 m Model R88A-CRU003C R88A-CRU005C R88A-CRU010C R88A-CRU015C R88A-CRU020C R88A-CRU001 R88A-CSU003C R88A-CSU005C R88A-CSU010C R88A-CSU015C R88A-CSU020C j Encoder Cable for U-series 30 to 750-W AC Servomotors Conforming to EC Directives Specifications For Servomotors with incremental encoders. (With connectors on both sides.) Cable only For Servomotors with absolute encoders. (With connectors on both sides.) 3m 5m 10 m 15 m 20 m 1-m units 3m 5m 10 m 15 m 20 m Model R88A-CRUD003C R88A-CRUD005C R88A-CRUD010C R88A-CRUD015C R88A-CRUD020C R88A-CRU001 R88A-CSUD003C R88A-CSUD005C R88A-CSUD010C R88A-CSUD015C R88A-CSUD020C j Encoder Cable for U-UE-series AC Servomotors Not Conforming to Any Standards Specifications For Servomotors with incremental encoders. (With connectors on both sides.) Cable only 3m 5m 10 m 15 m 20 m 1-m units Model R88A-CRU003C R88A-CRU005C R88A-CRU010C R88A-CRU015C R88A-CRU020C R88A-CRU001 7-9 Chapter 7 Appendices j Encoder Cable for U-UE-series AC Servomotors Conforming to EC Directives Specifications For Servomotors with incremental encoders. (With connectors on both sides.) Cable only 3m 5m 10 m 15 m 20 m 1-m units Model R88A-CRUD003C R88A-CRUD005C R88A-CRUD010C R88A-CRUD015C R88A-CRUD020C R88A-CRU001 j Encoder Cable for U-series 1 to 2-kW AC Servomotors Specifications For Servomotors with incremental encoders. (With connectors on both sides.) 3m 5m 10 m 15 m 20 m Model R88A-CRUB003N R88A-CRUB005N R88A-CRUB010N R88A-CRUB015N R88A-CRUB020N j Encoder Cable for H-series AC Servomotors Specifications With connectors on both sides 1m 3m 5m 10 m 15 m 20 m 30 m H-series Conversion Cable 50 cm Model R88A-CRH001C R88A-CRH003C R88A-CRH005C R88A-CRH010C R88A-CRH015C R88A-CRH020C R88A-CRH030C R88A-CRH0R5T j Resolver Cable for M-series AC Servomotors Specifications With connectors on both sides 3m 5m 10 m 15 m 20 m 30 m 40 m 50 m M-series Conversion Cable 50 cm Model R88A-CRM003N R88A-CRM005N R88A-CRM010N R88A-CRM015N R88A-CRM020N R88A-CRM030N R88A-CRM040N R88A-CRM050N R88A-CRM0R5T Note Resolver Cables can be used in combination with M-series Conversion Cable. 7-10 Chapter 7 Appendices j Power Cable for U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards Specifications Cable with connector on both sides for Servomotor without ih b brake k Cable only Cable with connector on both sides for Servomotor with ihb brake k Cable only 3m 5m 10 m 15 m 20 m 1-m units 3m 5m 10 m 15 m 20 m 1-m units Model R88A-CAU003S R88A-CAU005S R88A-CAU010S R88A-CAU015S R88A-CAU020S R88A-CAU001 R88A-CAU003B R88A-CAU005B R88A-CAU010B R88A-CAU015B R88A-CAU020B R88A-CAU01B j Power Cable for U-series 30 to 750-W AC Servomotors Conforming to EC Directives Specifications For Servomotor without brake 1-m units For Servomotor with brake 1-m units Model R88A-CAU001 R88A-CAU01B Note The above models are for the Cable only. j Power Cable for U-UE-series AC Servomotors Not Conforming to Any Standards Specifications Cable with connector on both sides for Servomotor ih b k without brake Cable only Cable with connector on both sides for Servomotor ihb k with brake Cable only 3m 5m 10 m 15 m 20 m 1-m units 3m 5m 10 m 15 m 20 m 1-m units Model R88A-CAU003S R88A-CAU005S R88A-CAU010S R88A-CAU015S R88A-CAU020S R88A-CAU001 R88A-CAU003B R88A-CAU005B R88A-CAU010B R88A-CAU015B R88A-CAU020B R88A-CAU01B 7-11 Chapter 7 Appendices j Power Cable for U-UE-series AC Servomotors Conforming to EC Directives Specifications For Servomotor without brake 1-m units For Servomotor with brake 1-m units Model R88A-CAU001 R88A-CAU01B Note The above models are for the Cable only. j Power Cable for U-series 1 to 2-kW AC Servomotors Specifications Cable with connector on both sides for Servomotor ih b k without brake Cable with connector on both sides for Servomotor with ihb brake k 3m 5m 10 m 15 m 20 m 3m 5m 10 m 15 m 20 m Model R88A-CAUB003S R88A-CAUB005S R88A-CAUB010S R88A-CAUB015S R88A-CAUB020S R88A-CAUB003B R88A-CAUB005B R88A-CAUB010B R88A-CAUB015B R88A-CAUB020B j Power Cable for H-series AC Servomotors Specifications Cable with connector on one end 1m f Servomotor for S without ih b brake k 3m 5m 10 m 15 m 20 m 30 m Cable with connector on one end 1m f Servomotor for S with i h brake b k 3m 5m 10 m 15 m 20 m 30 m 7-12 Model R88A-CAH001S R88A-CAH003S R88A-CAH005S R88A-CAH010S R88A-CAH015S R88A-CAH020S R88A-CAH030S R88A-CAH001B R88A-CAH003B R88A-CAH005B R88A-CAH010B R88A-CAH015B R88A-CAH020B R88A-CAH030B Chapter 7 Appendices 7-2 Parameter Settings Tables j User Parameters (UP-01 to UP-29) No. Name Min. unit Setting Factory UPrange setting 01 Control mode --00 to 11 FF 02 Motor code --- 03 Resolver cable length 1m 07 In-position width 1 pulse 11 Current limit 0.1% 14 S-curve acceleration/ deceleration time 0.01 s Brake mode --- 16 0000 to 0000 FFFF 1 to 5 120 1 to 32,767 0.0 to 100.0 0.00 to 32.76 0 to 3 3 100.0 0.00 0 Explanation Specifies position control mode: 11: Point positioning (PTP) 12: Point positioning (feeder) 13: Direct positioning (PTP) 14: Direct positioning (feeder) Motor model code Re-power required? Yes Set value Yes Sets the resolver cable length No for when M-series motor is used. (Valid only for M-series motors.) Outputs positioning completed No signal (INP) according to number of motor sensor pulses set as positioning deviation. OMNUC U Series with incremental encoder: 8,192 pulses/rotation OMNUC U Series with absolute encoder: 4,096 pulses/ rotation OMNUC U/U-UE Series with: 4,096 pulses/rotation OMNUC H Series with absolute encoder: 8,000 pulses/ rotation OMNUC M Series: 24,000 pulses/rotation Specifies rate based on maxi- No mum motor current as 100%. Sets the time until 90% of the No target speed is obtained. “0.00“ sets trapezoidal acceleration and deceleration. 0: Dynamic brake 1: On-hold brake (stops in deceleration time) 2: On-hold brake (stops after rotation according to error counter’s accumulated number of pulses) 3: On-hold brake (free-running stop) Yes 7-13 Chapter 7 Appendices No. Name UP25 Monitor output Min. unit Setting Factory range setting --000 to 010 011 Explanation Specifies monitor output function. Re-power required? No 0 Positive voltage 0: Not reversed 1: Reversed 26 Motor rotation direction --- 0, 1 0 28 Brake ON speed 0.1% 0.0 to 100.0 1.0 29 30 31 7-14 Motor test speed 1 r/min External regeneration resistance value 0.1 Ω External regeneration resistance capacity 0.01 kW 1 to 8,000 0.0 to 100.0 50 0.0 Speed/Current selection 0: Current 1: Speed Specifies motor rotation direction. 0: Forward rotation 1: Reverse direction Specifies r/min to turn OFF break output in on-hold brake mode. Specifies rate based on rated motor r/min as 100%. * The brake may be damaged if the on-hold brake mode is selected for motors rotating at high speed. Specifies r/min for motors for testing. * When testing a motor, make sure that the set value is less than the rated motor r/ min. Specifies the regeneration absorption value (Ω). No No No Yes * Only valid for FND-X50H- . 0.00 to 327.67 0.00 * When using an OMRONmade external Regeneration Resistor, set to 30.0 (Ω). Specifies the regeneration absorption capacity (kW). Only valid for FND-X50H- . Yes Set value Chapter 7 Appendices j H Parameters (HP-33, HP-46) No. Name HP33 Load rate time Min. unit 1s Setting Factory range setting 1 to 60 30 46 3.2 ms 3.2 to 320.0 In-position timer (See note.) 3.2 Explanation Specifies interval for effective load factor calculation to value obtained from machine cycle time multiplied by integer. Specifies minimum positioning completion ON time and minimum READY signal OFF time. Re-power required? No Set value No Note If the positioning completed signal (READY) is input to the Programmable Controller (PC), make sure that the set value is large enough so that the PC can respond. Set value y PC cycle time × 2 + PC input delay time + 1 ms For the CompoBus/S type, make the PC’s input delay time two times that of the communications cycle. 7-15 Chapter 7 Appendices j PTP Parameters (PP-01 to PP-26) No. PP- Name Min. unit Setting range Factory setting Explanation Re-power required? 01 Minimum setting unit --- 0.0001 to 1 0.0001 Specifies basic unit for movement and speed value setting and display. Yes 02 Pulse rate 1 (Rotation) 1 revolution 1 to 32,767 1 Yes 03 Pulse rate 2 (Movement) 1 1 to 32,767 10 Specifies PP-02 to n and PP-03 to x (Note: “n” is the number of motor revolutions and “x” is machine axis movement.) 04 Minimum resolution (leftmost digits) Minimum resolution (rightmost digits) --- --- 0.0 Yes --- --- 0042 Displays the movement of the mechanical axis per 1 motor sensor pulse. ((Setting g not possible.)) Origin compensation (leftmost digits) Origin compensation (rightmost digits) 1 pulse –9,999 to 9,999 0 0 to 9,999 0 (PP-01) 0 to Compensation (leftmost (See 9,999 note 1.)) digits) Compensa0 to tion (rightmost 9,999 digits) 0 05 06 07 08 09 10 11 12 13 14 15 7-16 Forward software limit (leftmost digits) Forward software limit (rightmost digits) (PP-01) –9,999 (See to note 1.) 9,999 Reverse software limit (leftmost digits) Reverse software limit (rightmost digits) (PP-01) –9,999 (See to note 1.) 9,999 Reference speed (leftmost digits) Reference speed (rightmost digits) 1/s 0 to 9,999 0 9,999 9,999 –9,999 0 to 9,999 9,999 0 to 9,999 0 0 to 9,999 500 Yes Yes Specifies number of motor sen- No sor pulses for movement between origin search completion position and machine axis origin. i No * The value can be obtained by origin teaching. Specifies backlash compensation if UP-01 is set to 11 or 13 in PTP control mode. S Specifies slip compensation if UP-01 is set to 12 or 14 in feeder control mode. No No Specifies software limit position No in forward direction. * The software limit overflow in the positive ositive direction is not detected if the value is set to 9999,9999. No Specifies software limit position No in reverse direction. * The software limit overflow in the reverse direction is not detected if the value is set to –9999,9999. Specifies machine axis reference speed per second. No No No Set value Chapter 7 Appendices No. Name PP16 JOG speed Min. unit 1% Setting Factory range setting 1 to 10 199 17 1% 1 to 199 18 Origin search high speed Origin search low speed 1% 1 to 199 10 1 19 Origin search direction --- 0, 1 0 20 Acceleration time 0 1 ms 0 to 9,999 0 21 22 Acceleration time 1 Deceleration time 0 1 ms 1 ms 0 to 9,999 0 to 9,999 100 0 Explanation Specifies motor r/min in JOG operation as override value based on reference speed. Specifies origin proximity search speed in origin search operation as override value based on reference speed. This value is used as axis speed for origin compensation as well. Re-power required? No Set value No * Set an appropriate value so that the origin proximity signal can be detected accurately. Specifies phase-Z search No speed in origin search operation as override value based on reference speed. * Set an appropriate value so that the speed will be 500 r/min maximum. Specifies origin search direction. 0: Forward direction 1: Reverse direction Specifies time spent in reaching reference speed after system is in operation. * This value is used as acceleration time for the Position Driver in origin search operation, JOG operation, point positioning operation, and direct positioning operation. Specifies time spent in reaching reference speed after system is in operation. No No No * This value is valid if the Position Driver is in point positioning operation. Specifies time spent in deceler- No ating reference speed to a stop. * This value is used as deceleration time for the Position Driver in origin search operation, JOG operation, point positioning operation, and direct positioning operation. 7-17 Chapter 7 Appendices No. Name PP23 Deceleration time 1 Min. unit 1 ms Setting Factory range setting 0 to 100 9,999 24 Deceleration stop mode --- 0 to 2 1 25 Alarm selection --- 00 to 11 11 Explanation Re-power required? Specifies time spent in deceler- No ating reference speed to a stop. * This value is valid if the Position Driver is in point positioning operation. Selects stop method with No STOP signal OFF. 0: Free-running stop 1: Deceleration stop 2: Error counter reset stop Selects alarm processing meth- No od with limit or soft limit detection. 26 Selection signal output time (See note 2.) 0.8 ms 0.8 to 800.0 20.0 Set value Overrun 0: Servo-lock stop 1: Servo-free alarm Soft limit 0: Servo-lock stop 1: Servo-lock alarm Specifies time during which No P.OUT0 to P.OUT4 signals are turned ON for selecting position data and speed data for direct positioning. Note 1. The PP-01 parameter indicates the changes in the smallest value that can be used for setting. The unit is movement of the mechanical axis (herein referred to as the “mechanical axis movement unit”), and can be changed as required using the pulse rate setting. Examples of mechanical axis movement units: Linear units: mm, cm, m, inch, yard Revolution units: degrees, radians, revolutions Other units: pulses Note 2. Be sure to set enough time for the Programmable Controller (PC) to respond when the position and speed data selections are received by the PC. Set value y PC cycle time × 2 + PC input delay time + 1 ms For the CompoBus/S type, make the PC’s input delay time two times that of the communications cycle. 7-18 Chapter 7 Appendices j PTP Data (Pd01 to Pd64 ) D Explanation of Settings No. Pd Name H Point No. position data (leftmost digits) L Point No. position data (rightmost digits) Point No. speed data Point No. acceleration/deceleration selection F A r Point No. operation mode selection Minimum Setting Factory setting range setting unit (PP-01) (I/A) (I) 0 –3,999 to 3,999 (PP-01) 0 to 0 9,999 1% --- 1 to 199 00 to 11 1 00 Description Specifies point No. position data. A value between –39,999,999 and 39,999,999 can be set. Leftmost digit is used to specify “A” ((absolute)) or “I” (incremental) ( ) value. Specifies override value based on reference speed. Selects acceleration/deceleration time for positioning. --- 0 to 2 0 Acceleration 0: Acceleration time 0 1: Acceleration time 1 Deceleration 0 Deceleration time 0 1: Deceleration time 1 0: Independent operation mode 1: Automatic incremental mode 2: Continuous operation mode Note The position data (leftmost digits) display is as follows, according to whether the sign is plus or minus and whether the values are incremental or absolute. Sign + – I (Incremental value designation) A (Absolute value designation) I + 1234 A + 1234 I – 1234 A – 1234 D Table for Entering Settings No. Pd- Position data (I/A) Leftmost (H) Rightmost (L) Speed data (F) Acceleration/ deceleration selection (A) Operation mode (r) 01 02 03 04 05 06 07 08 7-19 Chapter 7 Appendices No. Pd09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 29 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 7-20 Position data (I/A) Leftmost (H) Rightmost (L) Speed data (F) Acceleration/ deceleration selection (A) Operation mode (r) Chapter 7 Appendices No. Pd- Position data (I/A) Leftmost (H) Rightmost (L) Speed data (F) Acceleration/ deceleration selection (A) Operation mode (r) 51 52 53 54 55 56 57 58 59 60 61 62 63 64 j Adjustment Parameters (AJ2 to AJ9) No. AJ2 AJ3 AJ4 AJ7 AJ8 AJ9 Parameter name Min. unit Setting Factory range setting 0.0 to 1.0 100.0 0.1 to 20.0 1.0 Speed loop proportional gain Speed loop integral gain Position loop gain Interrupt gain suppression 0.1x 1 rad/s 1 1 to 200 0 to 10,000 30 0 Feed forward gain Current reference filter 0.1x 1 rad/s 0.0 to 2.0 400 to 20,000 0.0 6,000 0.1x Explanation Set value Gain for adjusting position loop response Speed loop integral gain Position loop gain Speed loop proportional gain suppression when stopped Feed forward gain Cutoff frequency for current reference 7-21 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I524-E1-2 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version. Revision code 1 Date February 1998 2 April 1999 Revised content Original production Major changes, including information on new Position Drivers, parameters, etc., have been made. R-1 OMRON Corporation Systems Components Division 14F Nissei Bldg. 1-6-3, Osaki, Shinagawa-ku, Tokyo 141-0032 Japan Tel: (81)3-3779-9038/Fax: (81)3-3779-9041 Authorized Distributor: Cat. No. I524-E1-2 Note: Specifications subject to change without notice. Printed in Japan ">

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Key features
- Built-in positioner functions
- Control AC servo motors
- PTP and feeder control modes
- Direct I/O signal input
- Support for various servo motors
- Auto-tuning function
- Teaching functions
- Protection and self-diagnostic functions
- Monitor and check modes
- Motor test function
Frequently asked questions
There are two types of FND-X Position Drivers, based on the type of control signals used: DIO and CompoBus/S.
The following AC servomotors are compatible: OMNUC U Series, OMNUC UE Series, OMNUC H Series, and OMNUC M Series.
The auto-tuning function automatically adjusts the gain control of the Position Driver based on the capacity and characteristics of the machine load.
The Position Driver offers four control modes: PTP control and feeder control modes with internal point data, and the same modes with direct I/O signal input.
The FND-X Position Drivers have hardware protection against overcurrent, overvoltage, low voltage, and other issues. They also have mechanical system protection and parameter setting-related error detection.
The monitor mode allows you to monitor various parameters, such as motor speed, present value, and position deviation. The check mode allows you to view I/O signal status, alarm details, and other information.
The motor test function allows you to check if a motor is connected to the Position Driver and control its rotation direction and speed. The sequential output test function enables you to test the sequential output operation.