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Cat. No. I 571-E1-05
USER’S MANUAL
OMNUC G5
SERIES
R88M-K
@
(AC Servomotors)
R88D-KT
@
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
Trademarks and Copyrights
• System names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies.
© OMRON, 2009
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.
Introduction
Introduction
Thank you for purchasing an OMNUC G5-series Servo Drive. This manual explains how to install and wire the Servo Drive, set parameters needed to operate the Servo Drive, and remedies to be taken and inspection methods to be used should problems occur.
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent knowledge) and also being qualified for one of the following:
Introducing FA equipment
Designing FA systems
Managing FA sites
Notice
This manual contains information you need to know to correctly use the Servo Drive and peripheral equipment.
Before using the Servo Drive, read this manual and gain a full understanding of the information provided herein.
After you finished reading the manual, keep it in a convenient place so that it can be referenced at any time.
Make sure this manual is delivered to the end user.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1
2
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties z Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
z Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED,
ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR
PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF
THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.
z Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL
LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS
BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Terms and Conditions Agreement
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer's application or use of the Product. At Buyer's request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer's application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE
OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN
DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY
RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR
SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the userÅfs programming of a programmable
Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OmronÅfs test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the OmronÅfs Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your
OmronÅfs representative at any time to confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3
Items Requiring Acknowledgment
4
Items Requiring Acknowledgment
1. Terms of Warranty
(1) Warranty period
The warranty period of this product is 1 year after its purchase or delivery to the specified location.
(2) Scope of warranty
If the product fails during the above warranty period due to design, material or workmanship, we will provide a replacement unit or repair the faulty product free of charge at the location where you purchased the product.
Take note, however, that the following failures are excluded from the scope of warranty.
a) Failure due to use or handling of the product in any condition or environment not specified in the catalog, operation manual, etc.
b) Failure not caused by this product c) Failure caused by any modification or repair not carried out by OMRON d) Failure caused by any use not intended for this product e) Failure that could not be predicted with the level of science and technology available when the product was shipped from OMRON f) Failure caused by a natural disaster or any other reason for which OMRON is not held responsible
Take note that this warranty applies to the product itself, and losses induced by a failure of the product are excluded from the scope of warranty.
2. Limited Liability
(1) OMRON shall not assume any responsibility whatsoever for any special damage, indirect damage or passive damage arising from this product.
(2) OMRON shall not assume any responsibility for programming done by individuals not belonging to OMRON, if the product is programmable, or outcomes of such programming.
3. Conditions for Intended Application
(1) If this product is combined with other product, the customer must check the standards and regulations applicable to such combination. The customer must also check the compatibility of this product with any system, machinery or device used by the customer. If the above actions are not taken, OMRON shall not assume any responsibility regarding the compatibility of this product.
(2) If the product is used in the following applications, consult your OMRON sales representative to check the necessary items according to the specification sheet, etc.
Also make sure the product is used within the specified ratings and performance ranges with an ample margin and implement safety measures, such as designing a safety circuit, to minimize danger should the product fail.
a) Used in any outdoor application, application subject to potential chemical contamination or electrical interference, or in any condition or environment not specified in the catalog, operation manual, etc.
b) Nuclear power control equipment, incineration equipment, railway, aircraft and vehicle equipment, medical machinery, entertainment machinery, safety system or any other device controlled by an administrative agency or industry regulation c) System, machinery or device that may threaten human life or property d) Gas, water or electricity supply system, system operated continuously for 24 hours or any other equipment requiring high reliability e) Any other application where a high level of safety corresponding to a) to d) above is required
(3) If the customer wishes to use this product in any application that may threaten human life or property, be sure to confirm beforehand that the entire system is designed in
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Items Requiring Acknowledgment such a way to notify dangers or ensure the necessary level of safety via design redundancy, and that the product is wired and installed appropriately in the system according to the intended application.
(4) Sample applications explained in the catalog, etc. are provided for reference purposes only. When adopting any of these samples, check the function and safety of each equipment or device.
(5) Understand all prohibited items and notes on use provided herein, so that this product will be used correctly and that customers or third parties will not suffer unexpected losses.
4. Specification Change
The product specifications and accessories explained in the catalog, operation manual, etc. are subject to change, if necessary, for the reasons of improvement, etc. Contact your OMRON sales representative to check the actual specifications of this product.
5. Scope of Service
The price of this product excludes costs of service such as dispatching engineers.
If you have any request regarding service, consult your OMRON sales representative.
6. Scope of Application
The above paragraphs are based on the assumption that this product is traded and used in Japan.
If you wish to trade or use this product outside Japan, consult your OMRON sales representative.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5
6
Safety Precautions
Safety Precautions
To ensure that the OMNUC G5-series Servomotor and Servo Drive as well as peripheral equipment are used safely and correctly, be sure to read this Safety Precautions section and the main text before using the product in order to learn items you should know regarding the equipment as well as required safety information and precautions.
Make an arrangement so that this manual also gets to the end user of this product.
After reading this manual, keep it in a convenient place so that it can be referenced at any time.
Explanation of Display
The precautions explained in this section describe important information regarding safety and must be followed without fail.
The display of precautions in this manual and their meanings are explained below.
DANGER
Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. Additionally, there may be severe property damage.
Caution
Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.
Even those items denoted by the caution symbol may lead to a serious outcome depending on the situation. Accordingly, be sure to observe all safety precautions.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure proper operation and performance.
Reference
Indicates an item that helps deepen your understanding of the product or other useful tip.
Explanation of Symbols
Example of symbols
This symbol indicates danger and caution.
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "beware of electric shock".
This symbol indicates a prohibited item (item you must not do).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "disassembly prohibited".
This symbol indicates a compulsory item (item that must be done).
The specific instruction is described using an illustration or text inside or near .
The symbol shown to the left indicates "grounding required".
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
For Safe Use of This Product
Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details. When using this product, be sure to install the covers and shields as specified and use the product according to this manual.
If the product has been stored for an extended period of time, contact your OMRON sales representative.
Danger
Always connect the frame ground terminals of a 100 V or 200 V type drive and motor to a type-D or higher ground. Always connect the ground terminals of a 400 V type to a type-C or higher ground. Improper grounding may result in electrical shock.
Never touch the parts inside the Servo Drive.
Electric shock may result.
While the power is supplied, do not remove the front cover, terminal covers, cables and options.
Electric shock may result.
Installation, operation and maintenance or inspection by unauthorized personnel is prohibited.
Electric shock or injury may result.
Before carrying out wiring or inspection, turn OFF the power supply and wait for at least 15 minutes.
Electric shock may result.
Do not damage, pull, stress strongly, or pinch the cables or place heavy articles on them.
Electric shock, stopping of Servo Drive operation, or burn damage may result.
Never touch the rotating part of the Servomotor during operation.
Injury may result.
Never modify the Servo Drive.
Injury or equipment damage may result.
Install a stopping device on the machine to ensure safety.
* The holding brake is not a stopping device to ensure safety.
Injury may result.
Install an immediate stop device externally to the machine so that the operation can be stopped and the power supply cut off immediately.
Injury may result.
When the power is restored after a momentary power interruption, the machine may restart suddenly. Never come close to the machine when restarting power.
* Implement measures to ensure safety of people nearby even when the machine is restarted.
Injury may result.
After an earthquake, be sure to conduct safety checks.
Electric shock, injury or fire may result.
Never drive the Servomotor using an external drive source.
Fire may result.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7
8
Safety Precautions
Danger
Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration
Resistor.
Fire may result.
Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals.
Fire may result.
When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the information in the operation manual, and apply them to the system design.
Injury or damage may result.
Do not use the cable when it is laying in oil or water.
Electric shock, injury, or fire may result.
Never connect a commercial power supply directly to the Servomotor.
Fire or failure may result.
Do not perform wiring or any operation with wet hands.
Electric shock, injury, or fire may result.
Do not touch the key grooves with bare hands if a motor with shaft-end key grooves is being used.
Injury may result.
Caution
Use the Servomotor and Servo Drive in a specified combination.
Fire or equipment damage may result.
Do not store or install the Servo Drive in the following locations:
Location subject to direct sunlight
Location where the ambient temperature exceeds the specified level
Location where the relative humidity exceeds the specified level
Location subject to condensation due to rapid temperature changes
Location subject to corrosive or flammable gases
Location subject to higher levels of dust, salt content, or iron dust
Location subject to splashes of water, oil, chemicals, etc.
Location where the Servo Drive may receive vibration or impact directly
Installing or storing the Servo Drive in these locations may result in fire, electric shock, or equipment damage.
The Servo Drive radiator, Regeneration Resistor, Servomotor, etc. may become hot while the power is supplied or remain hot for a while even after the power supply is cut off. Never touch these components.
A burn injury may result.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
Storage and Transportation
Caution
When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft.
Injury or failure may result.
Do not overload the Servo Drive or Servomotor. (Follow the instruction on the product label.)
Injury or failure may result.
Use the motor eye-bolts only when transporting the Servomotor.
Do not use them to transport the machine.
Injury or failure may result.
When lifting a 15 kW or higher Servo Drive during moving or installation, always have two people lift the product by grasping a metal part. Do not grasp a plastic part.
Risk of injury or product damage.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9
Safety Precautions
Installation and Wiring
Caution
Do not step on the Servo Drive or place heavy articles on it.
Injury may result.
Do not block the intake or exhaust openings. Do not allow foreign objects to enter the product.
Fire may result.
Be sure to observe the mounting direction.
Failure may result.
Provide the specified clearance between the Servo Drive and the inner surface of the control panel or other equipment.
Fire or failure may result.
Do not apply strong impact on the Servomotor shaft or Servo Drive.
Failure may result.
Wire the cables correctly and securely.
Runaway motor, injury, or failure may result.
Securely tighten the mounting screws, terminal block screws, and cable screws.
Failure may result.
Use crimp terminals for wiring.
If simple twisted wires are connected directly to the protective ground terminal, fire may result.
Only use the power supply voltage specified in this manual.
Burn damage may result.
In locations where the power supply infrastructure is poor, make sure the rated voltage can be supplied.
Equipment damage may result.
Provide safety measures, such as a breaker, to protect against short circuiting of external wiring.
Fire may result.
If the Servo Drive is used in the following locations, provide sufficient shielding measures.
Location subject to noise generates due to static electricity, etc.
Location subject to a strong electric or magnetic field
Location where exposure to radioactivity may occur
Location near power supply lines
Using the Servo Drive in these locations may result in equipment damage.
Connect an immediate stop relay in series with the brake control relay.
Injury or failure may result.
When connecting the battery, make sure the polarity is correct.
Battery damage or explosion may result.
10 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
Operation and Adjustment
Caution
Conduct a test operation after confirming that the equipment is not affected.
Equipment damage may result.
Before operating the Servo Drive in an actual environment, check if it operates correctly based on the parameters you have set.
Equipment damage may result.
Never adjust or set parameters to extreme values, as it will make the operation unstable.
Injury may result.
Separate the motor from the mechanical system and check its operation before installing the motor to the machine.
Injury may result.
If an alarm generated, remove the cause of the alarm and ensure safety, and then reset the alarm and restart the operation.
Injury may result.
Do not use the built-in brake of the motor for normal braking operation.
Failure may result.
Do not operate the Servomotor connected to an excessive load inertia.
Failure may result.
Install safety devices to prevent idle running or lock of the electromagnetic brake or the gear head, or leakage of grease from the gear head.
Injury, damage, or taint damage may result.
If the Servo Drive fails, cut off the power supply to the Servo Drive at the power supply.
Fire may result.
Do not turn ON and OFF the main Servo Drive power supply frequently.
Failure may result.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 11
Safety Precautions
Maintenance and Inspection
Caution
After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting the operation.
Equipment damage may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury may result.
Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time.
Injury may result.
12 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
Location of Warning Label
The Servo Drive bears a warning label at the following location to provide handling warnings.
When handling the Servo Drive, be sure to observe the instructions provided on this label.
Warning label display location
Instructions on Warning Label
(R88D-KTA5L)
Disposal
When disposing of the battery, insulate it using tape and dispose of it by following the applicable ordinance of your local government.
Dispose of the Servo Drive as an industrial waste.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 13
Items to Check after Unpacking
Items to Check after Unpacking
After unpacking, check the following items.
Is this the model you ordered?
Was there any damage sustained during shipment?
Accessories of This Product
Safety Precautions document × 1 copy
Connectors, mounting screws, mounting brackets, and other accessories other than those in the table below are not supplied. They must be prepared by the customer.
The safety bypass connector is required when the safety function is not used. To use the safety function, provide a Safety I/O Signal Connector separately.
If any item is missing or a problem is found such as Servo Drive damage, contact the
OMRON dealer or sales office where you purchased your product.
Specifications
Singlephase
100 VAC
Singlephase/3phase
200 VAC
3-phase
200 VAC
3-phase
400 VAC
Connector for main circuit power supply terminals and control circuit power supply terminals
1 kW
1.5 kW
2 kW
3 kW
5 kW
7.5 kW
15 kW
600 W
50 W
100 W
200 W
400 W
100 W
200 W
400 W
750 W
1 kW
1.5 kW
2 kW
3 kW
5 kW
7.5 kW
15 kW
Included
−
Included
−
Connector for External
Regeneration Resistor connection terminals and motor connection terminals
Safety bypass connector
Included
−
Included
−
−
Mounting
Brackets
Included
14 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Revision History
Revision History
The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left-hand corner of the front or back cover.
Example
I571-E1-05
Revision code
Revision code Revision date
01
02
03
September 2009
June 2010
Revised content
Original production
Made corrections and added explanations.
04
05
January 2011
September 2011
Added models and made corrections.
Added DC input ratings for the R88D-KT75H/-KT150H and made corrections.
September 2015 Made corrections and added explanations.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 15
Structure of This Document
Structure of This Document
This manual consists of the following chapters.
Read the necessary chapter or chapters referring to the following table.
Outline
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Chapter 11
Features and
System
Configuration
Standard Models and External
Dimensions
Specifications
System Design
Basic Control
Modes
Applied
Functions
Safety Function
Parameters
Details
Operation
Adjustment
Functions
Error and
Maintenance
Chapter 12 Appendix
This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards.
This chapter explains the models of Servo Drives, Servomotors, and peripheral equipment, and provides the external dimensions and mounting dimensions.
This chapter provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices.
This chapter explains the installation conditions for the Servo Drive and
Servomotor, wiring methods including wiring conforming to EMC
Directives and regenerative energy calculation methods as well as the performance of External Regeneration Resistors.
This chapter explains an outline of operations available in various control modes and explains the contents of setting.
This chapter gives outline of applied functions such as damping control, electronic gears, gain switching and disturbance observer, and explains the contents of setting.
This function stops the Servomotor based on a signal from a safety controller or safety sensor.
An outline of the function is given together with operation and connection examples.
This chapter explains the set value and contents of setting of each parameter.
This chapter gives the operating procedures and explains how to operate in each mode.
This chapter explains the functions, setting methods, and items to note regarding various gain adjustments.
This chapter explains the items to check when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance.
This chapter provides connection examples using OMRON's PLC and
Position Controller, as well as a list of parameters.
16 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 17
Table Of Contents
Terms and Conditions Agreement ................................................... 2
Items Requiring Acknowledgment ................................................... 4
Safety Precautions........................................................................... 6
Items to Check after Unpacking....................................................... 14
Revision History............................................................................... 15
Structure of This Document ............................................................. 16
Chapter1 Features and System Configuration
1-3 Names and Functions......................................................................... 1-3
1-4 System Block Diagrams...................................................................... 1-5
Chapter2 Standard Models and External Dimensions
2-1 Servo System Configuration ............................................................... 2-1
2-2 How to Read Model Numbers............................................................. 2-3
2-3 Standard Model Tables....................................................................... 2-5
2-4 External and Mounting Dimensions .................................................... 2-25
2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) ... 2-72
3-1 Servo Drive Specifications.................................................................. 3-1
3-2 Overload Characteristics (Electronic Thermal Function) .................... 3-58
3-4 Cable and Connector Specifications................................................... 3-97
3-5 Servo Relay Units and Cable Specifications ...................................... 3-127
3-6 External Regeneration Resistor Specifications................................... 3-146
4-3 Wiring Conforming to EMC Directives ................................................ 4-33
4-4 Regenerative Energy Absorption........................................................ 4-53
4-5 Large Load Inertia Adjustment and Dynamic Brake ........................... 4-61
18 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Table Of Contents
5-4 Internally Set Speed Control............................................................... 5-19
6-5 Encoder Dividing Function.................................................................. 6-14
6-10 Forward and Reverse Drive Prohibition Functions ............................. 6-41
6-11 Disturbance Observer Function.......................................................... 6-44
6-13 Friction Torque Compensation Function ............................................ 6-47
6-14 Inertia Ratio Switching Function ......................................................... 6-49
6-15 Hybrid Vibration Suppression Function .............................................. 6-50
6-17 Instantaneous Speed Observer Function ........................................... 6-55
7-1 Safe Torque OFF (STO) Function ...................................................... 7-1
8-3 Vibration Suppression Parameters..................................................... 8-20
8-4 Analog Control Parameters ................................................................ 8-25
8-5 Interface Monitor Setting Parameters................................................. 8-37
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
19
Table Of Contents
Chapter10 Adjustment Functions
Chapter11 Troubleshooting and Maintenance
20 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Features and System Configuration
1
This chapter explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards.
1-1 Outline ...........................................................................1-1
Outline of the OMNUC G5 Series ................................................... 1-1
Features of OMNUC G5-series Servo Drives ................................. 1-1
1-2 System Configuration ..................................................1-2
1-3 Names and Functions ..................................................1-3
Servo Drive Part Names ................................................................. 1-3
Servo Drive Functions..................................................................... 1-4
1-4 System Block Diagrams...............................................1-5
1-5 Applicable Standards .................................................1-15
EC Directives ................................................................................ 1-15
UL and cUL Standards.................................................................. 1-15
Korean Radio Regulations (KC).................................................... 1-16
SEMI F47 ...................................................................................... 1-17
1-6 Unit Versions...............................................................1-18
Confirmation Method..................................................................... 1-18
Unit Versions................................................................................. 1-18
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-1 Outline
1-1 Outline
1
Outline of the OMNUC G5 Series
With the OMNUC G5 Series, you can perform fully-closed control in addition to position control, speed control and torque control.
Various models are available supporting wide-ranging motor capacities from 50 W to 15 kW and input power supplies from 100 to 400 V. You will surely find a model that best suits your application.
Motors with high-resolution 20-bit incremental encoders and 17-bit absolute/incremental encoders are available as standard models.
The OMNUC G5 Series features realtime autotuning function and adaptive filter function that automatically perform complicated gain adjustments. A notch filter can also be automatically set to suppress machine vibration by reducing machine resonance during operation.
The damping control function of the Servomotor and Servo Drive realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load.
Features of OMNUC G5-series Servo Drives
OMNUC G5-series Servo Drives have the following features.
Switching between Seven Control Modes
You can switch between seven control modes: 1) Position Control Mode, 2) Speed Control
Mode, 3) Torque Control Mode, 4) Position and Speed Control Mode, 5) Position and Torque
Control Mode, 6) Speed and Torque Control Mode, and 7) Fully-closed Control Mode. Desired modes can be selected with the flexible drive according to your need. A single drive supports various applications.
Achievement of Accurate Positioning by Fully-closed Control
Feedbacks from the external encoder connected to the motor is used to accurately control positions.
Accordingly, position control is not affected by deviation caused by ball screws or temperature.
Wide Range of Power Supplies to Meet Any Need
The OMNUC G5 Series now has models supporting 400 V for use with large equipment, at overseas facilities and in wide-ranging applications and environment. Since the utilization ratio of facility equipment also increases, the TCO (total cost of ownership) will come down.
Safe Torque OFF (STO) Function to Ensure Safety
You can cut off the motor current to stop the motor based on a signal from an emergency stop button or other safety equipment. This can be used for an emergency stop circuit that is compliant with safety standards without using an external contactor.
Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal. In addition, the settings can be made easily by setting the damping frequency and filter values.
1-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-2 System Configuration
1-2 System Configuration
SYSMAC + Position Control Unit (Pulse Train Output Type)
PA202
POWER SYSMAC
CJ1G-CPU44
PROGRAMMABLE
CONTROLLER
OPEN
RUN
ERR/ALM
INH
PRPHL
COMM
MCPWR
BUSY
L1
AC100
-240V
L2/N
PERIPHERAL
NC
NC
PORT
Programmable
Controller
SYSMAC CJ/CS
NC414
CN1
CN2
RUN
1
A1
B1
SYNC ERC
2
A2
B2
3
A3
B3
ERH
4
A4
B4 AS
BS
MACH
No.
x101
CN3
CN4 x100
Position Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CJ1W-NC214/414
CJ1W-NC234/434
CS1W-NC113/213/413
CS1W-NC133/233/433
C200HW-NC113/213/413
Controller (Voltage Output Type)
Pulse train
Analog voltage
OMNUC G5 Series
AC Servomotor
R88D-KT @
1
Programmable
Controller
SYSMAC CS
Motion Control Unit
CS1W-MC221/421 (-V1)
The following units support a motor with absolute encoder:
CJ1W-NC214/414
CJ1W-NC234/434
CS1W-MC221/421 (-V1)
INC ABS
OMNUC G5 Series
AC Servomotor
R88M-K @
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-2
1
1-3 Names and Functions
1-3 Names and Functions
Servo Drive Part Names
Analog monitor connector (CN5)
Display
Operation area
USB connector (CN7)
Expansion connector (CN3)
Safety connector (CN8)
Main circuit power supply terminals
(L1, L2, and L3)
Control circuit power supply terminals
(L1C and L2C)
Charge lamp
External Regeneration
Resistor connection terminals (B1, B2, and B3)
Motor connection terminals (U, V and W)
Protective ground terminals
Control I/O connector (CN1)
External encoder connector (CN4
Encoder connector (CN2)
1-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-3 Names and Functions
Servo Drive Functions
Display
A 6-digit 7-segment LED display shows the drive status, alarm codes, parameters, and other information.
Operation Area
Monitors the parameter setting and drive condition.
1
Charge Lamp
Lights when the main circuit power supply is turned ON.
Control I/O Connector (CN1)
Used for command input signals and I/O signals.
Encoder Connector (CN2)
Connector for the encoder installed in the Servomotor.
Expansion Connector (CN3)
A spare connector for expansion. Do not connect anything.
External Encoder Connector (CN4)
Connector for an encoder signal used during fully-closed control.
Analog monitor Connector (CN5)
You can use a special cable to monitor values, such as the motor rotation speed, torque command value, etc.
USB Connector (CN7)
Communications connector for the computer.
Safety Connector (CN8)
Connector for safety devices.
If no safety devices are used, keep the factory-set safety bypass connector installed.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-4
1
1-4 System Block Diagrams
1-4 System Block Diagrams
R88D-KTA5L/-KT01L/-KT02L/-KT01H/-KT02H/-KT04H
L1
CN A
FUSE
L2
FUSE
L3
+
-
Voltage detection
L1C
L2C
FUSE
-
+
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
CN B
B1
B2
B3
U
V
W
FG
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
1-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT04L/-KT08H/-KT10H/-KT15H
CN A
L1
FUSE
L2
L3
FUSE
+
-
Voltage detection
L1C
L2C
FUSE
-
+
CN B
Internal Regeneration
Resistor
B1
B2
B3
U
V
W
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Relay drive
Regeneration control
Internal control power supply
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
FG
1
Axial-flow fan
CN1 CN2
Control interface
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-6
1
1-4 System Block Diagrams
R88D-KT20H
L1
CN A
FUSE
L2
L3
FUSE
L1C
L2C
FUSE
Voltage detection
CN C
Internal Regeneration
Resistor
B1
B2
B3
NC
CN B
U
V
W
FG
15V
G1
5V
3.3V
2.5V
1.5V
E5V
±12V
G2
SW power supply main circuit control
Relay drive
Regeneration control
Internal control power supply
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
FG
Axial-flow fan
CN1 CN2
Control interface
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
1-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT30H/-KT50H
FUSE
L1
L2
L3
FUSE
-
+
L1C
L2C
FUSE
-
+
Voltage detection
Internal Regeneration Resistor
B1
B2
B3
NC
CN B
U
V
W
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Relay drive
Regeneration control
Internal control power supply
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
FG
1
Axial-flow fan
CN1 CN2
Control interface
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-8
1-4 System Block Diagrams
R88D-KT75H
TB1
L1
L2
L3
FUSE
FUSE
+
-
1
TB2
L1C
L2C
FUSE
-
+
Voltage detection
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
Fuse
B1
B2
N
TB1
U
V
W
TB1
FG
Axial-flow fan × 3
DB1
DB2
DB3
DB4
TB2
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
1-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT150H
TB2
L1
FUSE
L2
L3
FUSE
TB1
L1C
L2C
FUSE
-
+
-
+
Voltage detection
Fuse
B1
B2
N
TB2
U
V
W
TB2
1
FG
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Relay drive
Regeneration control
Internal control power supply
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
DB1
DB2
TB1
Axial-flow fan
×
4
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-10
1
1-4 System Block Diagrams
R88D-KT06F/-KT10F/-KT15F/-KT20F
L1
FUSE
L2
L3
FUSE
-
+
Voltage detection
24 V
FUSE
0 V
+
+
-
DC-DC
-
Internal Regeneration Resistor
B1
B2
B3
NC
U
V
W
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
Overcurrent detection
Gate drive
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
FG
Axial-flow fan
CN1
Control interface
CN2
Encoder
CN4
External encoder
CN5
Analog monitor
CN7 CN8
USB Safety
1-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT30F/-KT50F
TB2
L1
FUSE
L2
L3
FUSE
-
+
TB1
24 V
FUSE
0 V
+
+
-
DC-DC
-
Voltage detection
Internal Regeneration Resistor
B1
B2
B3
NC
TB2
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Internal control power supply
Relay drive
Regeneration control
Overcurrent detection
Gate drive
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
U
V
W
TB2
1
FG
Axial-flow fan
CN1 CN2
Control interface
Encoder
CN4
External encoder
CN5
Analog monitor
CN7 CN8
USB Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-12
1-4 System Block Diagrams
R88D-KT75F
TB1
L1
FUSE
L2
L3
FUSE
-
+
1
TB2
24 V
FUSE
0 V
+
+
DC-DC
-
-
Voltage detection
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Relay drive
Regeneration control
Internal control power supply
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
Fuse
B1
B2
NC
TB1
U
V
W
TB1
FG
Axial-flow fan × 3
DB1
TB2
DB2
DB3
DB4
CN1 CN2
Control interface
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
1-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT150F
TB2
L1
FUSE
L2
L3
FUSE
TB1
24 V
FUSE
0 V
+
+
-
DC-DC
-
-
+
Voltage detection
Fuse
B1
B2
NC
TB2
U
V
W
TB2
1
FG
FG
15 V
G1
5 V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power supply main circuit control
Relay drive
Regeneration control
Internal control power supply
MPU & ASIC
Overcurrent detection
Gate drive
Position, speed, and torque calculation control area
• PWM control
Current detection
Display and setting circuit area
DB1
DB2
TB1
Axial-flow fan
×
4
CN1 CN2
Control interface
Encoder
CN4
External encoder
CN5
Analog monitor
CN7
USB
CN8
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-14
1-5 Applicable Standards
1-5 Applicable Standards
1
EC Directives
EC
Directives
Low
Voltage
Directive
EMC
Directives
Machinery
Directive
Product
AC Servo Drive
AC Servomotor
AC Servo Drive
AC Servo Drive
Applicable standards
EN 61800-5-1
EN60034-1/-5
EN 55011 class A group 1
IEC61800-3
EN61000-6-2
EN954-1 (Category 3)
EN ISO13849-1: 2008 (Category 3) (PLc,d)
ISO13849-1: 2006 (Category 3) (PLc,d)
EN61508 (SIL2)
EN62061 (SIL2)
EV61800-5-2 (STO)
IEC61326-3-1 (SIL2)
Note. To conform to EMC directives, the Servomotor and Servo Drive must be installed under the conditions described
in "4-3 Wiring Conforming to EMC Directives" (P.4-33).
UL and cUL Standards
Standard
UL standards
CSA standards
Product
AC Servo Drive
AC Servomotor
AC Servo Drive
AC Servomotor
Applicable standards
UL508C
UL1004-1
UL1004-1, UL1004-6
CSA22.2 No. 14
CSA22.2 No. 100
CSA22.2 No. 100
File number
E179149
*1
E331224
E331224
*2
E179149
E331224
E331224
*2
*1: The R88D-KT20 @ and lower capacity Servo Drives are UL-listed.
The R88D-KT30 @ and higher capacity Servo Drives are UL-recognized.
*2: Applies to 1,500-r/min Servomotors of 7.5 to 15 kW and 1,000-r/min Servomotors of 4.5 to 6 kW.
1-15 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-5 Applicable Standards
The Servo Drives and Servomotors comply with UL 508C (file No. E179149) as long as the following installation conditions 1 and 2 are met.
(1) Use the Servo Drive in a pollution degree 1 or 2 environment as defined in IEC 60664-
1 (example: installation in an IP54 control panel).
(2) Be sure to connect a circuit breaker or fuse, which is a UL-listed product with LISTED and mark, between the power supply and noise filter.
Refer to the following table for the rated current of the circuit breaker or fuse.
Use copper wiring with a temperature rating of 75 ° C or higher.
Drive model
R88D-KT01L
R88D-KT02L
R88D-KT04L
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT75H
R88D-KT150H
Circuit breaker (rated current) (A)
10
10
10
10
10
10
15
15
20
30
50
50
60
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
100/125 * 1
15
15
15
20
30
30
30
50/60 *
2
*1: 100 A when used in combination with the R88M-K11K015T@ . 125A when used in combination with the R88M-K15K015T@ .
*2: 50 A when used in combination with the R88M-K11K015C@ . 60 A when used in combination with the
R88M-K15K015C@ .
1
Korean Radio Regulations (KC)
The G5-series Servo Drives comply with the Korean Radio Regulations (KC).
The G5-series Servomotors and Linear Motors are exempt from the Korean Radio
Regulations (KC).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-16
1
1-5 Applicable Standards
SEMI F47
Some Servo Drives conform to the SEMI F47 standard for momentary power interruptions
(voltage sag immunity) for no-load or light-load operation.
This standard applies to semiconductor manufacturing equipment.
Note 1. It does not apply to Servo Drivers with single-phase 100-V specifications or with
24-VDC specifications for the control power input.
Note 2. Always perform evaluation testing for SEMI F47 compliance in the actual system.
1-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-6 Unit Versions
1-6 Unit Versions
The G5-series Servo Drive uses unit versions.
Unit versions are used to manage differences in supported functions when product upgrades are made.
Confirmation Method
The unit version of a G5-series Servo Drive is given on the product’s nameplate as shown below.
1
Nameplate location
Product Nameplate
Unit Version
Here, the unit version is 1.2.
(R88D-KTA5L)
Unit Versions
Unit version
Not indicated
Ver.1.1
Ver.1.2
Upgraded content
New release
Alarm 27.2 detection conditions have been changed to support the increase of encoder resolution in the G series.
European area compliance
No changes to existing Ver. 1.1 functions
Supported
CX-Drive versions
Ver. 1.80 or higher
Ver. 1.80 or higher
Ver. 1.80 or higher
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 1-18
Standard Models and External Dimensions
This chapter explains the models of Servo Drives, Servomotors, and peripheral equipment, and provides the external dimensions and mounting dimensions.
2
2-1 Servo System Configuration .......................................2-1
2-2 How to Read Model Numbers ......................................2-3
Servomotor ..................................................................................... 2-4
2-3 Standard Model Tables ................................................2-5
Servo Drive Model Table ................................................................ 2-5
Servomotor Model Tables............................................................... 2-6
Servo Drive and Servomotor Combination Tables........................ 2-11
Peripheral Equipment and Cable Model Tables ........................... 2-13
2-4 External and Mounting Dimensions..........................2-25
Servo Drive Dimensions ............................................................... 2-25
Servomotor Dimensions................................................................ 2-43
External Regeneration Resistor Dimensions ................................ 2-70
2-5 EMC Filter Dimensions...............................................2-71
2-6 Dimensions of Mounting Brackets
(L-Brackets for Rack Mounting) ................................2-72
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2
2-1 Servo System Configuration
2-1 Servo System Configuration
High-speed type
SYSMAC
CJ2H
CPU64
PROGRAMMABLE
CONTROLLER
OPEN
RUN
ERR/ALM
INH
PRPHL
COMM
BKUP
MCPWR
BUSY
PERIPHERAL
PORT
Controller
NC414
CN1
CN2
RUN
SYNC ERC
A1
B1
A2
B2 A3
B3
ERH
A4
B4 AS
BS
MACH
No.
x101
CN3
CN4 x100
Standard type
Programmable
Controller
SYSMAC CJ2
Position Control Unit (NC)
CJ1W-NC214/414
CJ1W-NC234/434
NC113
X
MACH
No.
101
12
34
12
34
RUN
ERC
ERH
100
20
20
SYSMAC
CJ1G-CPU44
PROGRAMMABLE
CONTROLLER
RUN
ERR/ALM
INH
PRPHL
COMM
OPEN
MCPWR
BUSY
PERIFHERAL
PORT
Programmable
Controller
SYSMAC CJ1/CS1
1
1
X
Position Control Unit (NC)
CJ1W-NC
@@
3 CS1W-NC
@@
3
C200HW-NC
@@
3
Built-in pulse
I/O function type
CJ1M-CPU2
@
Built-in pulse
I/O function type
CP1H/CP1L
SYSMAC + Controller (Analog output type)
Support Software
•
CX-One FA Integrated
Tool Package
Including CX-Programmer and CX-Position and CX-Motion
Support Software
•
CX-One FA Integrated
Tool Package
(Including CX-Drive)
• CX-Drive
WS02-DRVC1
Direct connection cable for CJ1W-NC @@ 4
XW2Z-
@@@
J-G
@
Pulse Train Commands/Feedback Signals
Position Control Unit Cable
XW2Z@ X
Connector Terminal Block Conversion Unit
XW2 @ -20G @
External Signal
Position Control Unit Cable (NC)
XW2Z-
@
-A
@
Servo Relay Unit
XW2B-
@
Servo Drive Cable
XW2Z-
@
-B
@
External Signal
Connector-Terminal Block Conversion Units and Cable
XW2
@
-50G
@
XW2Z-
@@@
J-B24
Pulse Train Commands
Control Cables (for Motion Control Unit)
R88A-CPG
Analog Commands/Feedback Signals
Programmable Controller
SYSMAC CS1 Motion Control Unit (MC)
CS1W-MC221/421 (-V1)
Available to build the Absolute System.
2-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-1 Servo System Configuration
USB communications
AC Servo Drive AC Servomotors
Motor power signals
Power Cables
• Flexible Cables
• Without Brake
R88A-CA
@@@@@
SR-E
• With Brake
R88A-CA
@@@@@
BR-E
Brake Cables (50 to 750 W max.)
• Flexible Cables
R88A-CAKA
@@@
BR-E
• OMNUC G5 Series Servo Drive
R88D-KT
100 VAC
200 VAC
400 VAC
Feedback Signals
Encoder Cables
● Flexible Cables
• 750 W or less:
R88A-CRKA @@@ CR-E
• 1 kW or more:
R88A-CRKC
@@@
NR-E
• OMNUC G5-series Servomotor
R88M-K
3,000 r/min
2,000 r/min
1,500 r/min
1,000 r/min
Peripheral Devices
External encoder
External
Regeneration
Resistors
R88A-RR
Absolute Encoder Battery Cable
R88A-CRGD0R3C (-BS)
(A battery is included with model numbers ending in “BS”).
* Not required if a battery is connected
to the control connector (CN1).
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-2
2-2 How to Read Model Numbers
2-2 How to Read Model Numbers
2
Servo Drive
The Servo Drive model number tells the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.
R88D-KT01H
OMNUC G5-series Servo Drive
Drive Type
T : Pulse/analog type
Maximum Applicable Servomotor Capacity
06
08
10
15
A5
01
02
04
: 50 W
: 100 W
: 200 W
: 400 W
: 600 W
: 750 W
: 1 kW
: 1.5 kW
20
30
50
75
: 2 kW
: 3 kW
: 5 kW
: 7.5 kW
150 : 15 kW
Power Supply Voltage
L : 100 VAC
H
F
: 200 VAC
: 400 VAC
2-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-2 How to Read Model Numbers
Servomotor
OMNUC G5-series Servomotor
Servomotor Capacity
050
100
200
400
: 50 W
: 100 W
: 200 W
: 400 W
600
750
900
1K0
1K5
2K0
3K0
4K0
4K5
5K0
: 600 W
: 750 W
: 900 W
: 1 kW
: 1.5 kW
: 2 kW
: 3 kW
: 4 kW
: 4.5 kW
: 5 kW
6K0
7K5
: 6 kW
: 7.5 kW
11K0 : 11 kW
15K0 : 15 kW
Rated Rotation Speed
10
15
20
30
: 1,000 r/min
: 1,500 r/min
: 2,000 r/min
: 3,000 r/min
Applied Voltage
F : 400 VAC (incremental encoder specifications)
H
L
C
T
S
: 200 VAC (incremental encoder specifications)
: 100 VAC (incremental encoder specifications)
: 400 VAC (absolute encoder specifications)
: 200 VAC (absolute encoder specifications)
: 100 VAC (absolute encoder specifications)
Options
B
O
S2
: With brake
: With oil seal
: With key and tap
R88M-K10030H-BOS2
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-4
2
2-3 Standard Model Tables
2-3 Standard Model Tables
Servo Drive Model Table
Specifications
Single-phase 100 VAC
Single-phase/3-phase 200 VAC
3-phase 200 VAC
3-phase 400 VAC
Model
50 W R88D-KTA5L
100 W R88D-KT01L
200 W R88D-KT02L
400 W R88D-KT04L
100 W R88D-KT01H
200 W R88D-KT02H
400 W R88D-KT04H
750 W R88D-KT08H
1 kW R88D-KT10H
1.5 kW R88D-KT15H
2 kW
3 kW
R88D-KT20H
R88D-KT30H
5 kW R88D-KT50H
7.5 kW R88D-KT75H
15 kW R88D-KT150H
600 W R88D-KT06F
1 kW R88D-KT10F
1.5 kW R88D-KT15F
2 kW
3 kW
R88D-KT20F
R88D-KT30F
5 kW R88D-KT50F
7.5 kW R88D-KT75F
15 kW R88D-KT150F
2-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Servomotor Model Tables
3,000-r/min Servomotors
Specifications
With incremental encoder
Straight shaft without key
50 W R88M-K05030H
Straight shaft with key and tap
R88M-K05030H-S2
Model
With absolute encoder
Straight shaft without key
R88M-K05030T
Straight shaft with key and tap
R88M-K05030T-S2
100 V
100 W R88M-K10030L
200 W R88M-K20030L
400 W R88M-K40030L
50 W R88M-K05030H
R88M-K10030L-S2
R88M-K20030L-S2
R88M-K40030L-S2
R88M-K05030H-S2
R88M-K10030S
R88M-K20030S
R88M-K40030S
R88M-K05030T
R88M-K10030S-S2
R88M-K20030S-S2
R88M-K40030S-S2
R88M-K05030T-S2
100 W R88M-K10030H
200 W R88M-K20030H
400 W R88M-K40030H
750 W R88M-K75030H
200 V 1 kW R88M-K1K030H
1.5 kW R88M-K1K530H
2 kW R88M-K2K030H
3 kW R88M-K3K030H
R88M-K10030H-S2
R88M-K20030H-S2
R88M-K40030H-S2
R88M-K75030H-S2
R88M-K1K030H-S2
R88M-K1K530H-S2
R88M-K2K030H-S2
R88M-K3K030H-S2
R88M-K10030T
R88M-K20030T
R88M-K40030T
R88M-K75030T
R88M-K1K030T
R88M-K1K530T
R88M-K2K030T
R88M-K3K030T
R88M-K10030T-S2
R88M-K20030T-S2
R88M-K40030T-S2
R88M-K75030T-S2
R88M-K1K030T-S2
R88M-K1K530T-S2
R88M-K2K030T-S2
R88M-K3K030T-S2
4 kW R88M-K4K030H
5 kW R88M-K5K030H
750 W R88M-K75030F
1 kW R88M-K1K030F
1.5 kW R88M-K1K530F
400 V 2 kW R88M-K2K030F
R88M-K4K030H-S2
R88M-K5K030H-S2
R88M-K75030F-S2
R88M-K1K030F-S2
R88M-K1K530F-S2
R88M-K2K030F-S2
3 kW R88M-K3K030F
4 kW R88M-K4K030F
5 kW R88M-K5K030F
R88M-K3K030F-S2
R88M-K4K030F-S2
R88M-K5K030F-S2
Note. Models with oil seals are also available.
R88M-K4K030T
R88M-K5K030T
R88M-K75030C
R88M-K1K030C
R88M-K1K530C
R88M-K2K030C
R88M-K3K030C
R88M-K4K030C
R88M-K5K030C
R88M-K4K030T-S2
R88M-K5K030T-S2
R88M-K75030C-S2
R88M-K1K030C-S2
R88M-K1K530C-S2
R88M-K2K030C-S2
R88M-K3K030C-S2
R88M-K4K030C-S2
R88M-K5K030C-S2
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-6
2
2-3 Standard Model Tables
Model
Specifications
With incremental encoder
Straight shaft without key
Straight shaft with key and tap
100 V
50 W R88M-K05030H-B
100 W R88M-K10030L-B
200 W R88M-K20030L-B
400 W R88M-K40030L-B
R88M-K05030H-BS2
R88M-K10030L-BS2
R88M-K20030L-BS2
R88M-K40030L-BS2
With absolute encoder
Straight shaft without key
R88M-K05030T-B
R88M-K10030S-B
R88M-K20030S-B
R88M-K40030S-B
Straight shaft with key and tap
R88M-K05030T-BS2
R88M-K10030S-BS2
R88M-K20030S-BS2
R88M-K40030S-BS2
50 W R88M-K05030H-B
100 W R88M-K10030H-B
200 W R88M-K20030H-B
400 W R88M-K40030H-B
200 V
750 W R88M-K75030H-B
1 kW R88M-K1K030H-B
1.5 kW R88M-K1K530H-B
2 kW R88M-K2K030H-B
R88M-K05030H-BS2
R88M-K10030H-BS2
R88M-K20030H-BS2
R88M-K40030H-BS2
R88M-K75030H-BS2
R88M-K1K030H-BS2
R88M-K1K530H-BS2
R88M-K2K030H-BS2
R88M-K05030T-B
R88M-K10030T-B
R88M-K20030T-B
R88M-K40030T-B
R88M-K75030T-B
R88M-K1K030T-B
R88M-K1K530T-B
R88M-K2K030T-B
R88M-K05030T-BS2
R88M-K10030T-BS2
R88M-K20030T-BS2
R88M-K40030T-BS2
R88M-K75030T-BS2
R88M-K1K030T-BS2
R88M-K1K530T-BS2
R88M-K2K030T-BS2
3 kW R88M-K3K030H-B
4 kW R88M-K4K030H-B
5 kW R88M-K5K030H-B
750 W R88M-K75030F-B
1 kW R88M-K1K030F-B
1.5 kW R88M-K1K530F-B
400 V 2 kW R88M-K2K030F-B
3 kW R88M-K3K030F-B
4 kW R88M-K4K030F-B
5 kW R88M-K5K030F-B
R88M-K3K030H-BS2 R88M-K3K030T-B
R88M-K4K030H-BS2 R88M-K4K030T-B
R88M-K5K030H-BS2 R88M-K5K030T-B
R88M-K75030F-BS2 R88M-K75030C-B
R88M-K1K030F-BS2 R88M-K1K030C-B
R88M-K1K530F-BS2 R88M-K1K530C-B
R88M-K2K030F-BS2 R88M-K2K030C-B
R88M-K3K030F-BS2 R88M-K3K030C-B
R88M-K4K030F-BS2 R88M-K4K030C-B
R88M-K5K030F-BS2 R88M-K5K030C-B
R88M-K3K030T-BS2
R88M-K4K030T-BS2
R88M-K5K030T-BS2
R88M-K75030C-BS2
R88M-K1K030C-BS2
R88M-K1K530C-BS2
R88M-K2K030C-BS2
R88M-K3K030C-BS2
R88M-K4K030C-BS2
R88M-K5K030C-BS2
Note. Models with oil seals are also available.
2-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
1,500-r/min and 2,000-r/min Servomotors
Specifications
200 V 4 kW R88M-K4K020H
5 kW R88M-K5K020H
400 V
1 kW R88M-K1K020H
1.5 kW R88M-K1K520H
2 kW R88M-K2K020H
3 kW R88M-K3K020H
7.5 kW ---
11 kW ---
15 kW ---
400 W R88M-K40020F
600 W R88M-K60020F
1 kW
1.5 kW R88M-K1K520F
2 kW R88M-K2K020F
3 kW
4 kW
With incremental encoder
Straight shaft without key
Straight shaft with key and tap
R88M-K1K020F
R88M-K3K020F
R88M-K4K020F
R88M-K1K020H-S2
R88M-K1K520H-S2
R88M-K2K020H-S2
R88M-K3K020H-S2
R88M-K4K020H-S2
R88M-K5K020H-S2
---
---
---
R88M-K40020F-S2
R88M-K60020F-S2
R88M-K1K020F-S2
R88M-K1K520F-S2
R88M-K2K020F-S2
R88M-K3K020F-S2
R88M-K4K020F-S2
Model
With absolute encoder
Straight shaft without key
Straight shaft with key and tap
R88M-K1K020T
R88M-K1K520T
R88M-K2K020T
R88M-K3K020T
R88M-K1K020T-S2
R88M-K1K520T-S2
R88M-K2K020T-S2
R88M-K3K020T-S2
R88M-K4K020T
R88M-K5K020T
R88M-K7K515T
R88M-K11K015T
R88M-K15K015T
R88M-K40020C
R88M-K60020C
R88M-K1K020C
R88M-K1K520C
R88M-K2K020C
R88M-K3K020C
R88M-K4K020C
R88M-K4K020T-S2
R88M-K5K020T-S2
R88M-K7K515T-S2
R88M-K11K015T-S2
R88M-K15K015T-S2
R88M-K40020C-BS2
R88M-K60020C-BS2
R88M-K1K020C-S2
R88M-K1K520C-S2
R88M-K2K020C-S2
R88M-K3K020C-S2
R88M-K4K020C-S2
5 kW R88M-K5K020F
7.5 kW ---
11 kW ---
15 kW ---
R88M-K5K020F-S2
---
---
---
R88M-K5K020C
R88M-K7K515C
R88M-K11K015C
R88M-K15K015C
Note 1. Models with oil seals are also available.
Note 2. The rated rotation speed of Servomotors of 7.5 to 15 kW is 1,500 r/min.
R88M-K5K020C-S2
R88M-K7K515C-S2
R88M-K11K015C-S2
R88M-K15K015C-S2
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-8
2
2-3 Standard Model Tables
Model
Specifications
With incremental encoder
Straight shaft without key
Straight shaft with key and tap
1 kW R88M-K1K020H-B
1.5 kW R88M-K1K520H-B
2 kW R88M-K2K020H-B
3 kW R88M-K3K020H-B
200 V 4 kW R88M-K4K020H-B
5 kW R88M-K5K020H-B
400 V
7.5 kW ---
11 kW ---
15 kW ---
400 W R88M-K40020F-B
600 W R88M-K60020F-B
1 kW R88M-K1K020F-B
1.5 kW R88M-K1K520F-B
2 kW R88M-K2K020F-B
3 kW
4 kW
R88M-K3K020F-B
R88M-K4K020F-B
R88M-K1K020H-BS2
R88M-K1K520H-BS2
R88M-K2K020H-BS2
R88M-K3K020H-BS2
R88M-K4K020H-BS2
R88M-K5K020H-BS2
---
---
---
R88M-K40020F-BS2
With absolute encoder
Straight shaft without key
R88M-K1K020T-B
R88M-K1K520T-B
R88M-K2K020T-B
R88M-K3K020T-B
R88M-K4K020T-B
R88M-K5K020T-B
R88M-K7K515T-B
R88M-K11K015T-B
R88M-K15K015T-B
R88M-K40020C-B
R88M-K60020F-BS2 R88M-K60020C-B
R88M-K1K020F-BS2 R88M-K1K020C-B
R88M-K1K520F-BS2
R88M-K2K020F-BS2
R88M-K1K520C-B
R88M-K2K020C-B
R88M-K3K020F-BS2 R88M-K3K020C-B
R88M-K4K020F-BS2 R88M-K4K020C-B
Straight shaft with key and tap
R88M-K1K020T-BS2
R88M-K1K520T-BS2
R88M-K2K020T-BS2
R88M-K3K020T-BS2
R88M-K4K020T-BS2
R88M-K5K020T-BS2
R88M-K7K515T-BS2
R88M-K11K015T-S2
R88M-K15K015T-S2
R88M-K40020C-BS2
R88M-K60020C-BS2
R88M-K1K020C-BS2
R88M-K1K520C-BS2
R88M-K2K020C-BS2
R88M-K3K020C-BS2
R88M-K4K020C-BS2
5 kW R88M-K5K020F-B
7.5 kW ---
11 kW ---
15 kW ---
R88M-K5K020F-BS2 R88M-K5K020C-B
--R88M-K7K515C-B
---
---
R88M-K11K015C-B
R88M-K15K015C-B
R88M-K5K020C-BS2
R88M-K7K515C-BS2
R88M-K11K015C-BS2
R88M-K15K015C-BS2
Note 1. Models with oil seals are also available.
Note 2. The rated rotation speed of Servomotors of 7.5 to 15 kW is 1,500 r/min.
2-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
1,000-r/min Servomotors
Specifications
With incremental encoder
Straight shaft without key
900 kW R88M-K90010H
Straight shaft with key and tap
R88M-K90010H-S2
Model
With absolute encoder
Straight shaft without key
R88M-K90010T
Straight shaft with key and tap
R88M-K90010T-S2
2 kW R88M-K2K010H
200 V 3 kW R88M-K3K010H
4.5 kW ---
6 kW ---
900 kW R88M-K90010F
2 kW R88M-K2K010F
400 V 3 kW R88M-K3K010F
4.5 kW ---
6 kW ---
900 kW R88M-K90010H-B
R88M-K2K010H-S2
R88M-K3K010H-S2
---
---
R88M-K90010F-S2
R88M-K2K010F-S2
R88M-K3K010F-S2
---
R88M-K2K010T
R88M-K3K010T
R88M-K4K510T
R88M-K6K010T
R88M-K90010C
R88M-K2K010C
R88M-K3K010C
R88M-K4K510C
R88M-K2K010T-S2
R88M-K3K010T-S2
R88M-K4K510T-S2
R88M-K6K010T-S2
R88M-K90010C-S2
R88M-K2K010C-S2
R88M-K3K010C-S2
R88M-K4K510C-S2
200 V
2 kW R88M-K2K010H-B
3 kW R88M-K3K010H-B
4.5 kW ---
6 kW ---
900 kW R88M-K90010F-B
2 kW R88M-K2K010F-B
--R88M-K6K010C
R88M-K90010H-BS2 R88M-K90010T-B
R88M-K2K010H-BS2 R88M-K2K010T-B
R88M-K3K010H-BS2 R88M-K3K010T-B
---
---
R88M-K4K510T-B
R88M-K6K010T-B
R88M-K90010F-BS2 R88M-K90010C-B
R88M-K2K010F-BS2 R88M-K2K010C-B
R88M-K6K010C-S2
R88M-K90010T-BS2
R88M-K2K010T-BS2
R88M-K3K010T-BS2
R88M-K4K510T-BS2
R88M-K6K010T-BS2
R88M-K90010C-BS2
R88M-K2K010C-BS2
400 V 3 kW R88M-K3K010F-B
4.5 kW ---
6 kW ---
R88M-K3K010F-BS2 R88M-K3K010C-B
--R88M-K4K510C-B
--R88M-K6K010C-B
R88M-K3K010C-BS2
R88M-K4K510C-BS2
R88M-K6K010C-BS2
Note. Models with oil seals are also available.
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-10
2-3 Standard Model Tables
2
Servo Drive and Servomotor Combination Tables
The tables in this section show the possible combinations of OMNUC G5-series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.
“@ ” at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.
3,000-r/min Servomotors and Servo Drives
Voltage
Single-phase
100 V
Single-phase/
3-phase 100 V
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
Servomotor
Rated output
With incremental encoder
50 W
100 W
200 W
400 W
50 W*
100 W
200 W
400 W
750 W
1 kW*
1.5 kW
2 kW
3 kW
4 kW*
5 kW
R88M-K05030H@
R88M-K10030L@
R88M-K20030L@
R88M-K40030L@
R88M-K05030H@
R88M-K10030H@
R88M-K20030H@
R88M-K40030H@
R88M-K75030H@
R88M-K1K030H@
R88M-K1K530H@
R88M-K2K030H@
R88M-K3K030H@
R88M-K4K030H@
R88M-K5K030H@
750 W* R88M-K75030F@
1 kW* R88M-K1K030F@
1.5 kW
2 kW
R88M-K1K530F@
R88M-K2K030F@
3 kW
4 kW*
5 kW
R88M-K3K030F@
R88M-K4K030F@
R88M-K5K030F@
With absolute encoder
R88M-K05030T@
R88M-K10030S@
R88M-K20030S@
R88M-K40030S@
R88M-K05030T@
R88M-K10030T@
R88M-K20030T@
R88M-K40030T@
R88M-K75030T@
R88M-K1K030T@
R88M-K1K530T@
R88M-K2K030T@
R88M-K3K030T@
R88M-K4K030T@
R88M-K5K030T@
R88M-K75030C@
R88M-K1K030C@
R88M-K1K530C@
R88M-K2K030C@
R88M-K3K030C@
R88M-K4K030C@
R88M-K5K030C@
Servo Drive
* Use these combination with caution because the Servo Drive and Servomotor have different capacities.
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
R88D-KT01H
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT15H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT50H
R88D-KT10F
R88D-KT15F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT50F
2-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
1,500-r/min and 2,000-r/min Servomotors and Servo Drives
Voltage
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
Rated output
1 kW
1.5 kW
2 kW
3 kW
4 kW*
5 kW
7.5 kW
11 kW*
15 kW
15 kW
Servomotor
With incremental encoder
R88M-K1K020H@
R88M-K1K520H@
R88M-K2K020H@
R88M-K3K020H@
R88M-K4K020H@
R88M-K5K020H@
---
---
---
400 W* R88M-K40020F@
600 W R88M-K60020F@
1 kW
1.5 kW
R88M-K1K020F@
R88M-K1K520F@
2 kW
3 kW
4 kW*
5 kW
R88M-K2K020F@
R88M-K3K020F@
R88M-K4K020F@
R88M-K5K020F@
7.5 kW
11 kW*
---
---
---
With absolute encoder
R88M-K1K020T@
R88M-K1K520T@
R88M-K2K020T@
R88M-K3K020T@
R88M-K4K020T@
R88M-K5K020T@
R88M-K7K515T@
R88M-K11K015T@
R88M-K15K015T@
R88M-K40020C@
R88M-K60020C@
R88M-K1K020C@
R88M-K1K520C@
R88M-K2K020C@
R88M-K3K020C@
R88M-K4K020C@
R88M-K5K020C@
R88M-K7K515C@
R88M-K11K015C@
R88M-K15K015C@
Servo Drive
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT50H
R88D-KT75H
R88D-KT150H
R88D-KT150H
R88D-KT06F
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT50F
R88D-KT75F
R88D-KT150F
R88D-KT150F
* Use these combination with caution because the Servo Drive and Servomotor have different capacities.
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-12
2
2-3 Standard Model Tables
1,000-r/min Servomotors and Servo Drives
Voltage
Rated output
Servomotor
With incremental encoder
With absolute encoder
Servo Drive
Single-phase/
3-phase 200 V
900 W* R88M-K90010H@ R88M-K90010T@ R88D-KT15H
3-phase 200 V
3-phase 400 V
2 kW*
3 kW*
R88M-K2K010H@
R88M-K3K010H@
4.5 kW* ---
6 kW* ---
900 W* R88M-K90010F@
2 kW*
3 kW*
R88M-K2K010F@
R88M-K3K010F@
4.5 kW* ---
6 kW* ---
R88M-K2K010T@
R88M-K3K010T@
R88M-K4K510T@
R88M-K6K010T@
R88M-K90010C@
R88M-K2K010C@
R88M-K3K010C@
R88M-K4K510C@
R88M-K6K010C@
R88D-KT30H
R88D-KT50H
R88D-KT50H
R88D-KT75H
R88D-KT15F
R88D-KT30F
R88D-KT50F
R88D-KT50F
R88D-KT75F
* Use these combination with caution because the Servo Drive and Servomotor have different capacities.
Peripheral Equipment and Cable Model Tables
Encoder Cables (European Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min Servomotors of 1.0 kW or more
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
Model
1.5 m R88A-CRKA001-5CR-E
3 m
5 m
R88A-CRKA003CR-E
R88A-CRKA005CR-E
10 m R88A-CRKA010CR-E
15 m R88A-CRKA015CR-E
20 m R88A-CRKA020CR-E
1.5 m R88A-CRKC001-5NR-E
3 m
5 m
R88A-CRKC003NR-E
R88A-CRKC005NR-E
10 m R88A-CRKC010NR-E
15 m R88A-CRKC015NR-E
20 m R88A-CRKC020NR-E
2-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Motor Power Cables (European Flexible Cables)
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 W
[200 V]
For 3,000-r/min Servomotors of 1 to
2 kW
For 2,000-r/min Servomotors of 1 to
2 kW
For 1,000-r/min Servomotors of 900 W
[400 V]
For 3,000-r/min Servomotors of 3 to
5 kW
For 2,000-r/min Servomotors of 3 to
5 kW
For 1,000-r/min Servomotors of 2 to
4.5 kW
Specifications
For 3,000-r/min Servomotors of 750 W to 2 kW
For 2,000-r/min Servomotors of 400 W to 2 kW
For 1,000-r/min Servomotors of 900 W
Model
For motor without brake For motor with brake
1.5 m R88A-CAKA001-5SR-E
3 m
5 m
R88A-CAKA003SR-E
R88A-CAKA005SR-E
10 m R88A-CAKA010SR-E
15 m R88A-CAKA015SR-E
(See note 1.)
20 m R88A-CAKA020SR-E
1.5 m R88A-CAGB001-5SR-E
3 m
5 m
R88A-CAGB003SR-E
R88A-CAGB005SR-E
10 m R88A-CAGB010SR-E
15 m R88A-CAGB015SR-E
20 m R88A-CAGB020SR-E
1.5 m R88A-CAGB001-5SR-E
R88A-CAGB001-5BR-E
R88A-CAGB003BR-E
R88A-CAGB005BR-E
R88A-CAGB010BR-E
R88A-CAGB015BR-E
R88A-CAGB020BR-E
R88A-CAKF001-5BR-E
3 m
5 m
R88A-CAGB003SR-E
R88A-CAGB005SR-E
10 m R88A-CAGB010SR-E
15 m R88A-CAGB015SR-E
R88A-CAKF003BR-E
R88A-CAKF005BR-E
R88A-CAKF010BR-E
R88A-CAKF015BR-E
20 m R88A-CAGB020SR-E R88A-CAKF020BR-E
1.5 m R88A-CAGD001-5SR-E R88A-CAGD001-5BR-E
3 m
5 m
R88A-CAGD003SR-E
R88A-CAGD005SR-E
R88A-CAGD003BR-E
R88A-CAGD005BR-E
10 m R88A-CAGD010SR-E
15 m R88A-CAGD015SR-E
20 m R88A-CAGD020SR-E
R88A-CAGD010BR-E
R88A-CAGD015BR-E
R88A-CAGD020BR-E
Note 1.: Different connectors are used for the motor power and the brake on 100-V and 200-V, 3,000-r/ min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW. When using a Servomotor with a brake, two cables are required: a Power Cable without Brake and a Brake Cable.
Note 2.: For flexible power cables for Servomotors of 11 to 15 kW, refer to
your own cable.
For flexible power cables for Servomotors of 6 to 7.5 kW, refer to
and make your own power cable.
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-14
2
2-3 Standard Model Tables
Brake Cables (European Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
Model
1.5 m R88A-CAKA001-5BR-E
3 m R88A-CAKA003BR-E
5 m R88A-CAKA005BR-E
10 m R88A-CAKA010BR-E
15 m R88A-CAKA015BR-E
20 m R88A-CAKA020BR-E
Note: For flexible brake cables for Servomotors of 6 to 15 kW, refer to
and make your own brake cable.
Encoder Cables (Global Non-Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min Servomotors of 1.0 kW or more
For 2,000-r/min Servomotors
For 1,500-r/min Servomotors
For 1,000-r/min Servomotors
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,500-r/min Servomotors
For 1,000-r/min Servomotors
3 m
Model
R88A-CRKA003C
5 m R88A-CRKA005C
10 m R88A-CRKA010C
15 m R88A-CRKA015C
20 m R88A-CRKA020C
30 m R88A-CRKA030C
40 m R88A-CRKA040C
50 m R88A-CRKA050C
3 m R88A-CRKC003N
5 m R88A-CRKC005N
10 m R88A-CRKC010N
15 m R88A-CRKC015N
20 m R88A-CRKC020N
30 m R88A-CRKC030N
40 m R88A-CRKC040N
50 m R88A-CRKC050N
2-15 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Motor Power Cables (Global Non-Flexible Cables)
[100 V and 200 V]
For 3,000-r/min Servomotors of 3 to 5 kW
For 2,000-r/min Servomotors of 3 to 5 kW
For 1,000-r/min Servomotors of 2 to 4.5 kW
Specifications
For 3,000-r/min Servomotors of 50 to 750
W
[200 V]
For 3,000-r/min Servomotors of 1 to 2 kW
For 2,000-r/min Servomotors of 1 to 2 kW
For 1,000-r/min Servomotors of 900 W
[400 V]
For 3,000-r/min Servomotors of 750 W to 2 kW
For 2,000-r/min Servomotors of 400 W to 2 kW
For 1,000-r/min Servomotors of 900 W
For motor without brake
Model
For motor with brake
(See note 1.) 3 m
5 m
R88A-CAKA003S
R88A-CAKA005S
10 m R88A-CAKA010S
15 m R88A-CAKA015S
20 m R88A-CAKA020S
30 m R88A-CAKA030S
40 m R88A-CAKA040S
50 m R88A-CAKA050S
3 m
5 m
R88A-CAGB003S
R88A-CAGB005S
10 m R88A-CAGB010S
15 m R88A-CAGB015S
20 m
30 m
40 m
50 m
3 m
5 m
R88A-CAGB003S
R88A-CAGB005S
10 m R88A-CAGB010S
15 m R88A-CAGB015S
20 m
30 m
40 m
50 m
3 m
5 m
R88A-CAGD003S
R88A-CAGD005S
10 m R88A-CAGD010S
15 m R88A-CAGD015S
20 m
30 m
40 m
50 m
R88A-CAGB020S
R88A-CAGB030S
R88A-CAGB040S
R88A-CAGB050S
R88A-CAGB020S
R88A-CAGB030S
R88A-CAGB040S
R88A-CAGB050S
R88A-CAGD020S
R88A-CAGD030S
R88A-CAGD040S
R88A-CAGD050S
R88A-CAGB003B
R88A-CAGB005B
R88A-CAGB010B
R88A-CAGB015B
R88A-CAGB020B
R88A-CAGB030B
R88A-CAGB040B
R88A-CAGB050B
R88A-CAKF003B
R88A-CAKF005B
R88A-CAKF010B
R88A-CAKF015B
R88A-CAKF020B
R88A-CAKF030B
R88A-CAKF040B
R88A-CAKF050B
R88A-CAGD003B
R88A-CAGD005B
R88A-CAGD010B
R88A-CAGD015B
R88A-CAGD020B
R88A-CAGD030B
R88A-CAGD040B
R88A-CAGD050B
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-16
2
2-3 Standard Model Tables
Specifications
For 2,000-r/min Servomotors of 7.5 kW
For 1,000-r/min Servomotors of 6 kW
For motor without brake
R88A-CAGE003S
Model
-
For motor with brake
3 m
5 m R88A-CAGE005S
10 m R88A-CAGE010S
-
-
15 m R88A-CAGE015S
20 m R88A-CAGE020S
30 m R88A-CAGE030S
40 m R88A-CAGE040S
50 m R88A-CAGE050S
-
-
-
-
-
Note 1.: Different connectors are used for the motor power and the brake on 100-V and 200-V, 3,000-r/ min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW. When using a Servomotor with a brake, two cables are required: a Power Cable without Brake and a Brake Cable.
make your own cable.
Brake Cables (Global Non-Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
For 1,500-r/min Servomotors of 7.5 to 15 kW
For 1,000-r/min Servomotors of 6 kW
3 m
Model
R88A-CAKA003B
5 m R88A-CAKA005B
10 m R88A-CAKA010B
15 m R88A-CAKA015B
20 m R88A-CAKA020B
30 m R88A-CAKA030B
40 m R88A-CAKA040B
50 m R88A-CAKA050B
3 m R88A-CAGE003B
5 m R88A-CAGE005B
10 m R88A-CAGE010B
15 m R88A-CAGE015B
20 m R88A-CAGE020B
30 m R88A-CAGE030B
40 m R88A-CAGE040B
50 m R88A-CAGE050B
2-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Encoder Cables (Global Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
[100 V and 200 V]
3,000-r/min Servomotors of 1.0 kW or more
For 2,000-r/min Servomotors
For 1,500-r/min Servomotors
For 1,000-r/min Servomotors
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,500-r/min Servomotors
For 1,000-r/min Servomotors
3 m
5 m
Model
R88A-CRKA003CR
R88A-CRKA005CR
10 m R88A-CRKA010CR
15 m R88A-CRKA015CR
20 m R88A-CRKA020CR
30 m R88A-CRKA030CR
40 m R88A-CRKA040CR
50 m R88A-CRKA050CR
3 m
5 m
R88A-CRKC003NR
R88A-CRKC005NR
10 m R88A-CRKC010NR
15 m R88A-CRKC015NR
20 m R88A-CRKC020NR
30 m R88A-CRKC030NR
40 m R88A-CRKC040NR
50 m R88A-CRKC050NR
Motor Power Cables (Global Flexible Cables)
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 W
Specifications
[200 V]
For 3,000-r/min Servomotors of 1 to 2 kW
For 2,000-r/min Servomotors of 1 to 2 kW
For 1,000-r/min Servomotors of 900 W
For motor without brake
R88A-CAKA003SR
Model
For motor with brake
3 m
5 m R88A-CAKA005SR
10 m R88A-CAKA010SR
15 m R88A-CAKA015SR
20 m R88A-CAKA020SR
30 m R88A-CAKA030SR
40 m R88A-CAKA040SR
(See note 1.)
50 m R88A-CAKA050SR
3 m R88A-CAGB003SR
5 m R88A-CAGB005SR
10 m R88A-CAGB010SR
15 m R88A-CAGB015SR
20 m R88A-CAGB020SR
30 m R88A-CAGB030SR
40 m R88A-CAGB040SR
50 m R88A-CAGB050SR
R88A-CAGB003BR
R88A-CAGB005BR
R88A-CAGB010BR
R88A-CAGB015BR
R88A-CAGB020BR
R88A-CAGB030BR
R88A-CAGB040BR
R88A-CAGB050BR
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-18
2
2
2-3 Standard Model Tables
[400 V]
For 3,000-r/min Servomotors of 750 W to
2 kW
For 2,000-r/min Servomotors of 400 W to
2 kW
For 1,000-r/min Servomotors of 900 W
For 3,000-r/min Servomotors of 3 to 5 kW
For 2,000-r/min Servomotors of 3 to 5 kW
For 1,000-r/min Servomotors of 2 to
4.5 kW
Specifications
For motor without brake
R88A-CAGB003SR
Model
For motor with brake
R88A-CAKF003BR 3 m
5 m R88A-CAGB005SR
10 m R88A-CAGB010SR
R88A-CAKF005BR
R88A-CAKF010BR
15 m R88A-CAGB015SR
20 m R88A-CAGB020SR
30 m R88A-CAGB030SR
40 m R88A-CAGB040SR
R88A-CAKF015BR
R88A-CAKF020BR
R88A-CAKF030BR
R88A-CAKF040BR
50 m R88A-CAGB050SR
3 m R88A-CAGD003SR
5 m R88A-CAGD005SR
10 m R88A-CAGD010SR
15 m R88A-CAGD015SR
20 m R88A-CAGD020SR
30 m R88A-CAGD030SR
40 m R88A-CAGD040SR
50 m R88A-CAGD050SR
R88A-CAKF050BR
R88A-CAGD003BR
R88A-CAGD005BR
R88A-CAGD010BR
R88A-CAGD015BR
R88A-CAGD020BR
R88A-CAGD030BR
R88A-CAGD040BR
R88A-CAGD050BR
Note 1.: Different connectors are used for the motor power and the brake on 100-V and 200-V, 3,000-r/ min Servomotors of 50 to 750 W and Servomotors of 6 to 15 kW. When using a Servomotor with a brake, two cables are required: a Power Cable without Brake and a Brake Cable.
your own cable.
For flexible power cables for Servomotors of 6 to 7.5 kW, refer to
and make your own power cable.
Brake Cables (Global Flexible Cables)
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
3 m
5 m
Model
R88A-CAKA003BR
R88A-CAKA005BR
10 m R88A-CAKA010BR
15 m R88A-CAKA015BR
20 m R88A-CAKA020BR
30 m R88A-CAKA030BR
40 m R88A-CAKA040BR
50 m R88A-CAKA050BR
Note: For flexible brake cables for Servomotors of 6 to 15 kW, refer to
and make your own brake cable.
2-19 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Absolute Encoder Battery Cables
Specifications Model
Absolute Encoder Battery Cable (battery not supplied) 0.3 m R88A-CRGD0R3C
Absolute Encoder Battery Cable (R88A-BAT01G battery × 1 supplied) 0.3 m R88A-CRGD0R3C-BS
Absolute Encoder Backup Battery
Specifications
2,000 mA • h 3.6 V
Model
R88A-BAT01G
2
Analog Monitor Cable
Analog monitor cable
Specifications
1 m
Model
R88A-CMK001S
Connectors
Specifications
Motor connector for encoder cable [100 V and 200 V]
For 3,000-r/min of 50 to 750 W
[100 V and 200 V]
For 3,000-r/min of 1 to 5 kW
For 2,000 r/min, 1,000 r/min
[400 V]
For 3,000 r/min, 2,000 r/min and
1,000 r/min
Control I/O connector (CN1)
Encoder connector (CN2)
External encoder connector (CN4)
Safety connector (CN8)
Power cable connector (for 750 W max.)
Brake cable connector (for 750 W max.)
Model
R88A-CNK02R
R88A-CNK04R
R88A-CNU11C
R88A-CNW01R
R88A-CNK41L
R88A-CNK81S
R88A-CNK11A
R88A-CNK11B
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-20
2
2-3 Standard Model Tables
Servo Relay Units (for CN1)
Servo Relay Unit
Specifications
For CS1W-NC113/-NC133
For CJ1W-NC113/-NC133
For C200HW-NC113
For CS1W-NC213/-NC413/-NC233/-NC433
For CJ1W-NC213/-NC413/-NC233/-NC433
For C200HW-NC213/-NC413
For CJ1M-CPU21/-CPU22/-CPU23
For CQM1-CPU43-V1
For CQM1H-PLB21
Model
XW2B-20J6-1B
XW2B-40J6-2B
XW2B-20J6-8A
XW2B-40J6-9A
XW2B-20J6-3B
Servo Relay Unit Cables for Servo Drives
Specifications
Servo Drive cables For CS1W-NC113/-NC133, CJ1W-NC113/-
NC133, C200HW-NC113 (XW2B-20J6-1B)
For CS1W-NC213/-NC413/-NC233/-NC433,
CJ1W-NC213/-NC413/-NC233/-NC433,
C200HW-NC213/-NC413 (XW2B-40J6-2B)
For CQM1-CPU43-V1 or CQM1H-PLB21
(XW2B-20J6-3B)
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
1 m
2 m
Model
XW2Z-100J-B25
XW2Z-200J-B25
1 m
2 m
XW2Z-100J-B31
XW2Z-200J-B31
Note: Do not use a Servo Relay Unit Cable for line receiver inputs (+CWLD: CN1 pin 44,
-CWLD: CN1 pin 45, +CCWLD: CN1 pin 46, -CCWLD: CN1 pin 47).
Use a General-purpose Control Cable (R88A-CPG @ S) and prepare wiring suited for the controller to be connected.
2-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Servo Relay Unit Cables for Position Control Units
Position Control Unit cables
Specifications
For CQM1H-PLB21 (XW2B-20J6-3B)
For CS1W-NC113, C200HW-NC113 (XW2B-
20J6-1B)
For CS1W-NC213/-NC413, C200HW-NC213/-
NC413 (XW2B-20J6-2B)
For CS1W-NC133 (XW2B-20J6-1B)
For CS1W-NC233/-NC433 (XW2B-20J6-2B)
For CJ1W-NC113 (XW2B-20J6-1B)
For CJ1W-NC213/-NC413 (XW2B-20J6-2B)
For CJ1W-NC133 (XW2B-20J6-1B)
For CJ1W-NC233/-NC433 (XW2B-20J6-2B)
For CJ1M-CPU21/-CPU22/-CPU23 (XW2B-
20J6-8A/XW2B-40J6-9A)
Model
0.5 m XW2Z-050J-A3
1 m XW2Z-100J-A3
0.5 m XW2Z-050J-A6
1 m XW2Z-100J-A6
0.5 m XW2Z-050J-A7
1 m XW2Z-100J-A7
0.5 m XW2Z-050J-A10
1 m XW2Z-100J-A10
0.5 m XW2Z-050J-A11
1 m XW2Z-100J-A11
0.5 m XW2Z-050J-A14
1 m XW2Z-100J-A14
0.5 m XW2Z-050J-A15
1 m XW2Z-100J-A15
0.5 m XW2Z-050J-A18
1 m XW2Z-100J-A18
0.5 m XW2Z-050J-A19
1 m XW2Z-100J-A19
0.5 m XW2Z-050J-A33
1 m XW2Z-100J-A33
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-22
2
2-3 Standard Model Tables
Control Cables
Specified cables for Position Control Unit
(line-driver output for 1 axis)
CJ1W-NC234/-NC434
Specifications
1 m
5 m
10 m
1 m Specified cables for Position Control Unit
(open collector output for 1 axis)
CJ1W-NC214/-NC414
Specified cables for Position Control Unit
(line-driver output for 2 axes)
CJ1W-NC234/-NC434
3 m
1 m
5 m
10 m
1 m Specified cables for Position Control Unit
(open collector output for 2 axes)
CJ1W-NC214/-NC414
Specified cables for Motion Control Unit (for 1 axis)
CS1W-MC221-V1/-MC421-V1
Specified cables for Motion Control Unit (for 2 axes)
CS1W-MC221-V1/-MC421-V1
General control cables (with connector on one end)
Connector-terminal block cables
Connector-terminal block
3 m
1 m
2 m
1 m
2 m
M3 screw and for pin terminals
M3.5 screw and for fork/ round terminals
1 m
2 m
3 m
5 m
1 m
2 m
3 m
5 m
M3 screw and for fork/round terminals
XW2B-50G5
XW2D-50G6
Model
XW2Z-100J-G9
XW2Z-500J-G9
XW2Z-10MJ-G9
XW2Z-100J-G13
XW2Z-300J-G13
XW2Z-100J-G1
XW2Z-500J-G1
XW2Z-10MJ-G1
XW2Z-100J-G5
XW2Z-300J-G5
R88A-CPG001M1
R88A-CPG002M1
R88A-CPG003M1
R88A-CPG005M1
R88A-CPG001M2
R88A-CPG002M2
R88A-CPG003M2
R88A-CPG005M2
R88A-CPG001S
R88A-CPG002S
XW2Z-100J-B24
XW2Z-200J-B24
XW2B-50G4
External Regeneration Resistors
Specifications
Regeneration process capacity: 20 W, 50 Ω (with 150 ° C thermal sensor)
Regeneration process capacity: 20 W, 100 Ω (with 150 ° C thermal sensor)
Regeneration process capacity: 70 W, 47 Ω (with 150 ° C thermal sensor)
Regeneration process capacity: 180 W, 20 Ω (with 200 ° C thermal sensor)
Model
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S1
R88A-RR50020S
2-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Mounting Brackets (L-Brackets for Rack Mounting)
Specifications
R88D-KTA5L/-KT01L/-KT01H/-KT02H
R88D-KT02L/-KT04H
R88D-KT04L/-KT08H
R88D-KT10H/-KT15H/-KT06F/-KT10F/-KT15F
Model
R88A-TK01K
R88A-TK02K
R88A-TK03K
R88A-TK04K
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-24
2-4 External and Mounting Dimensions
2-4 External and Mounting Dimensions
2
Servo Drive Dimensions
Single-phase 100 VAC: R88D-KTA5L/-KT01L (50 to 100 W)
Single-phase/3-phase 200 VAC: R88D-KT01H/-KT02H (100 to 200 W)
Wall Mounting
External dimensions
70
40
130
Mounting dimensions
2-M4
6 28
40
2-25 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
φ 5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
130
7
40 70 19.5
2.5
Mounting dimensions
8
2-M4
2
Rectangular hole
R26
7
5.2
2.5
6
(42)*
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-26
2
2-4 External and Mounting Dimensions
Single-phase/3-phase 100 VAC: R88D-KT02L (200 W)
Single-phase/3-phase 200 VAC: R88D-KT04H (400 W)
Wall Mounting
55
External dimensions
70 130
Mounting dimensions
2-M4
φ
5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
55
47
70
19.5
130
7 2.5
6 43
55
Mounting dimensions
8 2-M4
R2.6
7
5.2
2-27
Rectangular hole
2.5
6
(57)*
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
Single-phase/3-phase 100 VAC: R88D-KT04L (400 W)
Single-phase/3-phase 200 VAC: R88D-KT08H (750 W)
Wall Mounting
65
External dimensions
70 170
4
Mounting dimensions
2-M4
2
Front Mounting (Using Front Mounting Brackets)
φ
5.2
20
40
65
External dimensions
70
19.5
2.5
170
7.5
50
65
4
Mounting dimensions
21
2-M4
R2.6
20
40
5.2
Rectangular hole
2.5
6
(67)*
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-28
2
2-4 External and Mounting Dimensions
Single-phase/3-phase 200 VAC: R88D-KT10H/-KT15H (900 W to 1.5 kW)
Wall Mounting
External dimensions
70
86
170
4
Mounting dimensions
2-M4
8.5
70
86
Front Mounting (Using Front Mounting Brackets)
External dimensions
φ
5.2
10
86
60
85
40
φ
5.2
70
19.5
2.5
170
4
Mounting dimensions
4-M4
R2.6
10
5.2
40
5.2
R2.6
Rectangular hole
2.5
6
12
40
(88)*
* Rectangular hole dimensions are reference values.
2-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KT20H (2 kW)
Wall Mounting
External dimensions
R2.6
17.5
86
85
50
42.5
5.2
5.2
φ 5.2
R2.6
70 193.5
3.5
2
R2.6
17.5
5.2
42.5
50
5.2
φ
5.2
R2.6
Mounting dimensions
25
6-M4
18.5
50
86
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-30
2
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
R2.6
17.5
86
85
50
42.5
5.2
5.2
φ 5.2
R2.6
70
30.7
2.5
193.5
R2.6
17.5
5.2
42.5
50
5.2
φ
5.2
R2.6
Mounting dimensions
25
6-M4
Rectangular hole
6
19.5
50
(88)*
* Rectangular hole dimensions are reference values.
2.5
2-31 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KT30H/-KT50H (3 to 5 kW)
Wall Mounting
External dimensions
R2.6
15
65
5.2
130
100
φ
5.2
5.2
R2.6
70 212
3
2
R2.6
15
5.2
65
100
5.2
φ
5.2
R2.6
Mounting dimensions
50
6-M4
15 100
130
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-32
2
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
R2.6
15
65
5.2
130
100
φ
5.2
5.2
R2.6
40.7
2.5
212
R2.6
15
5.2
65
100
5.2
φ
5.2
R2.6
Mounting dimensions
50
6-M4
2.5
Rectangular hole
6
16 100
(132)*
* Rectangular hole dimensions are reference values.
2-33 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KT75H (7.5 kW)
Wall Mounting
External dimensions
90
R2.6
φ
5.2
233
90 71
90
210
R2.6
φ
5.2
R2.6
26
11
70 334 1
3.5
2
R2.6
φ
5.2
90
90
R2.6
210
R2.6
φ
5.2
90
71
11
26
Mounting dimensions
45
10-M4
2.5
27 180
233
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-34
2
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
90
R2.6
φ
5.2
233
90 71
90
210
R2.6
φ
5.2
R2.6
26
11
70
2.5
334
R2.6
φ
5.2
90
90
R2.6
210
R2.6
φ 5.2
90
71
11
26
Mounting dimensions
45
10-M4
Rectangular hole
27.8
180
(235)*
* Rectangular hole dimensions are reference values.
2.5
2-35 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 200 VAC: R88D-KT150H (15 kW)
Wall Mounting
External dimensions
261
231
φ
7
φ
7 30.5
70 270
4
2
R3.5
231
R3.5
30.5
Mounting dimensions
261
200 30.5
4-M6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-36
2
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT06F/-KT10F/-KT15F (600 W to 1.5 kW)
Wall Mounting
External dimensions
70
92
170
4
Mounting dimensions
2-M4
φ
5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
10
92
91
60
40
φ
5.2
70
19.5
2.5
170
14.5
70
92
4
Mounting dimensions
4-M4
R2.6
5.2
10 40
5.2
Rectangular hole
2.5
6
18 40
(94)*
* Rectangular hole dimensions are reference values.
2-37 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT20F (2 kW)
17.5
42.5
5.2
Wall Mounting
94
85
50
External dimensions
φ 5.2
5.2
70 193.5
1.5
Mounting dimensions
25
6-M4 2
R2.6
5.2
17.5
5.2
R2.6
φ
5.2
50
17.5
42.5
5.2
Front Mounting (Using Front Mounting Brackets)
External dimensions
94
85
50
φ 5.2
5.2
70
30.7
2.5
193.5
26.5
94
50
Mounting dimensions
25
6-M4
R2.6
5.2
17.5
50
5.2
R2.6
φ 5.2
Rectangular hole
2.5
6
27.5
50
(96)*
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-38
2
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT30F/-KT50F (3 to 5 kW)
15
Wall Mounting
External dimensions
65
5.2
130
100
φ 5.2
5.2
70 212 3
Mounting dimensions
6-M4
50
R2.6
15
5.2
65
100
5.2
φ 5.2
R2.6
Front Mounting (Using Front Mounting Brackets)
External dimensions
15
65
5.2
130
100
φ 5.2
5.2
70
40.7
2.5
212
15 100
130
Mounting dimensions
6-M4
50
R2.6
15
5.2
65
100
5.2
φ 5.2
R2.6
2-39
Rectangular hole
2.5
6
16
100
(132)*
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT75F (7.5 kW)
Wall Mounting
External dimensions
90
R2.6
φ
5.2
233
90
90
210
R2.6
φ
5.2
R2.6
71
26
11
70
334
3.5
1
2
R2.6
φ
5.2
90
90
R2.6
210
R2.6
φ
5.2
90
71
11
26
Mounting dimensions
45
10-M4
2.5
27 180
233
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-40
2
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
90
R2.6
φ
5.2
233
90
90
210
R2.6
φ
5.2
R2.6
71
26
11
70
2.5
334
R2.6
φ
5.2
90
90
R2.6
210
R2.6
φ
5.2
90
71
11
26
Mounting dimensions
45
10-M4
Rectangular hole
27.8
180
(235)*
* Rectangular hole dimensions are reference values.
2.5
2-41 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT150F (15 kW)
Wall Mounting
External dimensions
261
231
φ
7
φ
7
30.5
70 270
4
2
R3.5
231
R3.5
30.5
Mounting dimensions
261
200 30.5
4-M6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-42
2-4 External and Mounting Dimensions
2
Servomotor Dimensions
3,000-r/min Servomotors (100 V and 200 V)
50 W/100 W (without Brake)
R88M-K05030H (-S2)/-K10030L (-S2)
R88M-K05030T (-S2)/-K10030S (-S2)
INC
ABS
Encoder connector
LL
Motor connector
25
LM
6 3
40 × 40
(Shaft end specifications with key and tap)
R3.7
25
14
12.5
3h9
(Key groove P9)
2
LN
M3 (depth 6)
1.5 min.
Boss insertion position
(only for the ones with oil seal)
φ
46 ±
0.2
R4.2
2 −φ 4.3
Model
R88M-K05030 @
R88M-K10030 @
72
92
LL
Dimensions (mm)
LM LN
48
68
23
43
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-43 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
50 W/100 W (with Brake)
R88M-K05030H-B (S2)/-K10030L-B (S2)
R88M-K05030T-B (S2)/-K10030S-B (S2)
INC
ABS
Encoder connector
Brake connector
LL
Motor connector
25
LM
40 × 40
LN
2
6 3
R3.7
(Shaft end specifications with key and tap)
25
14
12.5
3h9
(Key groove P9)
M3 (depth 6)
1.5 min.
Boss insertion position
(only for the ones with oil seal)
φ
46 ±
0.2
R4.2
2 −φ 4.3
Model
LL
102
Dimensions (mm)
LM
78 23
LN
R88M-K05030 @ -Bx
R88M-K10030 @ -Bx 122 98 43
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-44
2-4 External and Mounting Dimensions
2
2-45
200 W/400 W (without Brake)
R88M-K20030 @ (-S2)/-K40030 @ (-S2)
R88M-K20030 @ (-S2)/-K40030 @ (-S2)
INC
ABS
Encoder connector
Motor connector
LL
LM
6.5
3
30 60 × 60
φ 70
± 0.2
4
−φ
4.5
(Shaft end specifications with key and tap)
30 20 (200 W)
25 (400 W)
18 (200 W)
22.5 (400 W)
4h9 (200 W)
5h9 (400 W)
(Key groove P9)
M4, depth 8 (200 W)
M5, depth 10 (400 W)
8.5 11
1.5 min.
Boss insertion position
(only for the ones with oil seal)
Model
R88M-K20030 @
R88M-K40030 @ 99
LL
Dimensions (mm)
LM S
79.5
56.5
76
11
14
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
200 W/400 W (with Brake)
R88M-K20030 @ -B (S2)/-K40030 @ -B (S2)
R88M-K20030 @ -B (S2)/-K40030 @ -B (S2)
Encoder connector
Brake connector
LL
LM
Motor connector
30
6.5
3
4 − ø4.5
INC
ABS
60 × 60
φ 70
± 0.2
(Shaft end specifications with key and tap)
30
20 (200 W)
25 (400 W)
18 (200 W)
22.5 (400 W)
4h9 (200 W)
5h9 (400 W)
(Key groove P9)
M4, depth 8 (200 W)
M5, depth 10 (400 W)
8.5 11
1.5 min.
Boss insertion position
(only for the ones with oil seal)
Model
R88M-K20030 @ -B @
R88M-K40030 @ -B @
LL
Dimensions (mm)
LM S
116
135.5
93
112.5
11
14
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
750 W (without Brake)
R88M-K75030H (-S2)
R88M-K75030T (-S2)
INC
ABS
Encoder connector
Motor connector
112.2
86.2
8 3
35
80 × 80
(Shaft end specifications with key and tap)
4
−φ
6
φ 90
± 0.2
35
25
22 6h9
2
M5 (depth 10)
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
750 W (with Brake)
R88M-K75030H-B (S2)
R88M-K75030T-B (S2)
INC
ABS
Encoder connector
Brake connector
Motor connector
148.2
122.2
35
8 3
80
×
80
4 −φ 6
(Shaft end specifications with key and tap)
φ 90
± 0.2
35
25
22 6h9
M5 (depth 10)
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-46
2-4 External and Mounting Dimensions
2
1 kW/1.5 kW/2 kW (without Brake)
R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2)
R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2)
INC
ABS
1 kW/1.5 kW/2 kW (with Brake)
R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2)
R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
10 3
55
100
×
100
(Shaft end specifications with key and tap)
4
−φ
9
55
45
42 M3, through
6h9
φ 135
φ
115 M5 (depth 12)
Model
R88M-K1K030 @
R88M-K1K530 @
R88M-K2K030 @
R88M-K1K030 @ -B @
R88M-K1K530 @ -B @
R88M-K2K030 @ -B @
LL
141
159.5
178.5
168
186.5
205.5
Dimensions (mm)
97
LM
115.5
134.5
124
142.5
161.5
66
KB1
84.5
103.5
66
84.5
103.5
KB2
119
137.5
156.5
146
164.5
183.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-47 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3 kW (without Brake)
R88M-K3K030H (-S2)
R88M-K3K030T (-S2)
INC
ABS
3 kW (with Brake)
R88M-K3K030H-B (S2)
R88M-K3K030T-B (S2)
Motor and brake connector
Encoder connector
LL
KB2
LM
112
INC
ABS
55
12 3
120
×
120
(Shaft end specifications with key and tap)
4
−φ
9
φ 162
55
45
41
M3, through
8h9
2
φ
145 M5 (depth 12)
Model
R88M-K3K030 @
R88M-K3K030 @ -B @
LL
Dimensions (mm)
LM KB2
190
215
146
171
168
193
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-48
2-4 External and Mounting Dimensions
2
4 kW/5 kW (without Brake)
R88M-K4K030H (-S2)/-K5K030H (-S2)
R88M-K4K030T (-S2)/-K5K030T (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K030H-B (S2)/-K5K030H-B (S2)
INC
R88M-K4K030T-B (S2)/-K5K030T-B (S2)
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12 6
65
130
×
130
(Shaft end specifications with key and tap)
4
−φ
9
φ 145
65
55
51
M3, through
8h9
φ
165 M8 (depth 20)
Model
R88M-K4K030 @
R88M-K5K030 @
R88M-K4K030 @ -B @
R88M-K5K030 @ -B @
LL
208
243
236
271
Dimensions (mm)
LM
164
199
192
227
KB1
127
162
127
162
KB2
186
221
214
249
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-49 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
3,000-r/min Servomotors (400 V)
750 W/1 kW/1.5 kW/2 kW (without Brake)
R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2)
R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2)
INC
ABS
750 W/1 kW/1.5 kW/2 kW (with Brake)
R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (S2)
R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
10 3
55
100
×
100 (Shaft end specifications with key and tap)
4
−φ
9
φ 135
55
45
42 M3, through
6h9
φ
115 M5 (depth 12)
2
Model
R88M-K75030 @
R88M-K1K030 @
R88M-K1K530 @
R88M-K2K030 @
R88M-K75030 @ -B @
R88M-K1K030 @ -B @
R88M-K1K530 @ -B @
R88M-K2K030 @ -B @
LL
131.5
141
159.5
178.5
158.5
168
186.5
205.5
Dimensions (mm)
LM KB1
87.5
97
115.5
134.5
114.5
124
142.5
161.5
56.5
66
84.5
103.5
53.5
63
81.5
100.5
KB2
109.5
119
137.5
156.5
136.5
146
164.5
183.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-50
2-4 External and Mounting Dimensions
2
3 kW (without Brake)
R88M-K3K030F (-S2)
R88M-K3K030C (-S2)
INC
ABS
Encoder connector
3 kW (with Brake)
R88M-K3K030F-B (S2)
R88M-K3K030C-B (S2)
INC
ABS
Motor and brake connector
LL
LM
KB2
112
55
12 3
0
120
×
120
(Shaft end specifications with key and tap)
4-
φ
9
φ 162
55
45
41
M3, through
8h9
φ
145 M5 (depth 12)
Model
R88M-K3K030 @
R88M-K3K030 @ -B @
LL
Dimensions (mm)
LM KB2
190
215
146
171
168
193
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-51 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K030F (-S2)/-K5K030F (-S2)
R88M-K4K030C (-S2)/-K5K030C (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K030F-B (S2)/-K5K030F-B (S2)
R88M-K4K030C-B (S2)/-K5K030C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12 6
65
130
×
130
(Shaft end specifications with key and tap)
4
−φ
9
φ 145
65
55
51
M3, through
8h9
φ
165 M8 (depth 20)
2
Model
R88M-K4K030 @
R88M-K5K030 @
R88M-K4K030 @ -B @
R88M-K5K030 @ -B @
LL
208
243
236
271
Dimensions (mm)
LM
164
199
192
227
KB1
127
162
127
162
KB2
186
221
214
249
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-52
2-4 External and Mounting Dimensions
2
1,500-r/min and 2,000-r/min Servomotors (200 V)
1 kW/1.5 kW/2 kW/3 kW (without Brake)
R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2)
R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)
INC
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2)
R88M-K1K020T-B (S2)/-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12
LR
6
130
×
130
4
−φ
9
φ 145
(Shaft end specifications with key and tap)
LR
45 (1.0 to 2.0 kW)
55 (3.0 kW)
41 (1.0 to 2.0 kW)
51 (3.0 kW)
M3, through
8h9
φ
165 M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
Model
R88M-K1K020 @
R88M-K1K520 @
R88M-K2K020 @
R88M-K3K020 @
R88M-K1K020 @ -B @
R88M-K1K520 @ -B @
R88M-K2K020 @ -B @
R88M-K3K020 @ -B @
138
LL
155.5
173
208
166
183.5
201
236
55
55
55
65
55
55
55
65
LR
Dimensions (mm)
94
LM
111.5
129
164
122
139.5
157
192
22
22
22
24
22
22
22
24
S
60
77.5
95
60
KB1
127
77.5
95
127
KB2
116
133.5
151
186
144
161.5
179
214
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-53 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K020H (-S2)/-K5K020H (-S2)
R88M-K4K020T (-S2)/-K5K020T (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K020H-B (S2)/-K5K020H-B (S2)
R88M-K4K020T-B (S2)/-K5K020T-B (S2)
INC
ABS
Motor and brake connector
70
Encoder connector
LL
LM
KB2
KB1
18 3.2
176
×
176
4
−φ
13.5
φ 233
(Shaft end specifications with key and tap)
70
55
50
M3, through
10h9
2
M12 (depth 25)
φ
200
Model
R88M-K4K020 @
R88M-K5K020 @
R88M-K4K020 @ -B @
R88M-K5K020 @ -B @
LL
177
196
206
225
Dimensions (mm)
LM
133
152
162
181
96
96
KB1
115
115
KB2
155
174
184
203
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-54
2-4 External and Mounting Dimensions
2
Encoder connector
7.5 kW (without Brake)
R88M-K7K515T (-S2)
ABS
7.5 kW (with Brake)
R88M-K7K515T-B (S2)
Motor connector
ABS
44
48
110
Brake connector
(for model with brake only)
LR LL
LM
KB2
KB1
L3
L2
L1
24 3.2
2 min.
Boss insertion position
176 × 176
43.5
43.5
φ 233
4φ 13.5
(Shaft end specifications with key and tap)
LR
96
90
45
M4, through
12h9
(Key groove P9)
0 -0.2
φ
200
M16
(depth 32 min.)
Model
R88M-K7K515T @
R88M-K7K515T-B @
LL
312
337
LR
113
113
LM
268
293
42
42
Dimensions (mm)
S KB1
219
253
KB2
290
315
L1
117.5
117.5
L2
117.5
152.5
L3
149
183
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-55 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
11 kW/15 kW (without Brake)
R88M-K11K015T (-S2)/-K15K015T (-S2)
ABS
11 kW/15 kW (with Brake)
R88M-K11K015T-B (S2)/R88M-K15K015T-B (S2)
ABS
Motor connector
Encoder connector
44
110
Brake connector
(for model with brake only)
LL
LM
KB2
KB1
L3
L2
L1
LR
220 × 220
57 57
48
32 4
φ 268
φ
235
4φ 13.5
(Shaft end specifications with key and tap)
LR
98
90
45
M5, through
16h9
(Key groove P9)
2
0 -0.2
M20
(depth 40 min.)
2 min.
Boss insertion position
Model
R88M-K11K015T @
R88M-K15K015T @
R88M-K11K015T-B @
R88M-K15K015T-B @
LL
316
384
364
432
LR
116
116
116
116
LM
272
340
320
388
55
55
55
55
Dimensions (mm)
S KB1
232
300
266
334
KB2
294
362
342
410
L1
124.5
158.5
124.5
158.5
L2
124.5
158.5
159.5
193.5
L3
162
230
196
264
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-56
2-4 External and Mounting Dimensions
2
1,500-r/min and 2,000-r/min Servomotors (400 V)
400 W/600 W (without Brake)
R88M-K40020F (-S2)/-K60020F (-S2)
R88M-K40020C (-S2)/-K60020C (-S2)
INC
ABS
400 W/600 W (with Brake)
R88M-K40020F-B (S2)/-K60020F-B (S2)
R88M-K40020C-B (S2)/-K60020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
55
100
×
100
10 3
(Shaft end specifications with key and tap)
4
−φ
9
φ 135
55
45
42 M3, through
6h9
φ
115 M5 (depth 12)
Model
R88M-K40020 @
R88M-K60020 @
R88M-K40020 @ -B @
R88M-K60020 @ -B @
LL
131.5
141
158.5
168
Dimensions (mm)
LM
87.5
97
114.5
124
56.5
66
53.5
63
KB1 KB2
109.5
119
136.5
146
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-57 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
1 kW/1.5 kW/2 kW/3 kW (without Brake)
R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2)
R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)
INC
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2)
R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12
LR
6
130
×
130
(Shaft end specifications with key and tap)
LR
4-
φ
9
45 (1 to 2 kW)
55 (3 kW)
41 (1 to 2 kW)
51 (3 kW)
M3, through
8h9
φ 145
φ
165 M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
2
Model
R88M-K1K020 @
R88M-K1K520 @
R88M-K2K020 @
R88M-K3K020 @
R88M-K1K020 @ -B @
R88M-K1K520 @ -B @
R88M-K2K020 @ -B @
R88M-K3K020 @ -B @
LL
138
155.5
173
208
166
183.5
201
236
55
55
55
65
55
55
55
65
LR
Dimensions (mm)
LM S
94
111.5
129
164
122
139.5
157
192
22
22
22
24
22
22
22
24
60
95
57
92
KB1
77.5
127
74.5
127
KB2
116
133.5
151
186
144
161.5
179
214
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-58
2-4 External and Mounting Dimensions
2
4 kW/5 kW (without Brake)
R88M-K4K020F (-S2)/-K5K020F (-S2)
R88M-K4K020C (-S2)/-K5K020C (-S2)
INC
ABS
4 kW/5 kW (with Brake)
R88M-K4K020F-B (S2)/-K5K020F-B (S2)
R88M-K4K020C-B (S2)/-K5K020C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
70
3.2
176
×
176 (Shaft end specifications with key and tap)
4-
φ
13.5
70
55
50
M3, through
φ 233 10h9
φ
200
M12
(depth 25)
Model
R88M-K4K020 @
R88M-K5K020 @
R88M-K4K020 @ -B @
R88M-K5K020 @ -B @
177
196
206
225
LL
Dimensions (mm)
LM
133
152
162
181
96
96
KB1
115
115
KB2
155
174
184
203
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-59 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
7.5 kW (without Brake)
R88M-K7K515C (-S2)
ABS
7.5 kW (with Brake)
R88M-K7K515C-B (S2)
ABS
Motor connector
Encoder connector
44
48
110
Brake connector
(for model with brake only)
LR LL
LM
KB2
KB1
L3
L2
L1
24 3.2
2 min.
Boss insertion positon
176
×
176
43.5
43.5
φ 233
(Shaft end specifications with key and tap)
4φ 13.5
LR
96
90
45
M4, through
12h9
(Key groove P9)
0 -0.2
φ
200
M16
(depth 32 min.)
2
Model
R88M-K7K515C @
R88M-K7K515C-B @
LL
312
337
LR
113
113
LM
268
293
42
42
Dimensions (mm)
S KB1
219
253
KB2
290
315
L1
117.5
117.5
L2
117.5
152.5
L3
149
183
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-60
2-4 External and Mounting Dimensions
2
11 kW/15 kW (without Brake)
R88M-K11K015C (-S2)/-K15K015C (-S2)
ABS
11 kW/15 kW (with Brake)
R88M-K11K015C-B (S2)/R88M-K15K015C-B (S2)
ABS
Motor connector
Encoder connector
44
110
Brake connector
(for model with brake only)
LL
LM
KB2
KB1
L3
L2
L1
LR
220 × 220
57 57
48
32 4
φ 268
φ
235
4φ 13.5
(Shaft end specifications with key and tap)
LR
98
90
45
M5, through
16h9
(Key groove P9)
0 -0.2
M20
(depth 40 min.)
2 min.
Boss insertion positon
Model
R88M-K11K015C @
R88M-K15K015C @
R88M-K11K015C-B @
R88M-K15K015C-B @
LL
316
384
364
432
LR
116
116
116
116
LM
272
340
320
388
55
55
55
55
Dimensions (mm)
S KB1
232
300
266
334
KB2
294
362
342
410
L1
124.5
158.5
124.5
158.5
L2
124.5
158.5
159.5
193.5
L3
162
230
196
264
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-61 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
1,000-r/min Servomotors (200 V)
900 W (without Brake)
R88M-K90010H (-S2)
R88M-K90010T (-S2)
INC
ABS
900 W (with Brake)
R88M-K90010H-B (S2)
R88M-K90010T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
77.5
12 6
70
130
×
130
(Shaft end specifications with key and tap)
70
45
4-ø9 41 M3, through
8h9
φ 145
φ
165 M5 (depth 12)
2
Model
R88M-K90010 @
R88M-K90010 @ -B @
LL
155.5
183.5
Dimensions (mm)
LM
111.5
139.5
KB2
133.5
161.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-62
2-4 External and Mounting Dimensions
2
2 kW/3 kW (without Brake)
R88M-K2K010H (-S2)/-K3K010H (-S2)
R88M-K2K010T (-S2)/-K3K010T (-S2)
INC
ABS
2 kW/3 kW (with Brake)
R88M-K2K010H-B (S2)/-K3K010H-B (S2)
R88M/-K2K010T-B (S2)/-K3K010T-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
80
3.2
176
×
176 (Shaft end specifications with key and tap)
4
−φ
13.5
80
55
50
M3, through
φ 233 10h9
M12 (depth 25)
φ
200
Model
R88M-K2K010 @
R88M-K3K010 @
R88M-K2K010 @ -B @
R88M-K3K010 @ -B @
LL
163.5
209.5
192.5
238.5
Dimensions (mm)
LM
119.5
165.5
148.5
194.5
KB1
82.5
128.5
82.5
128.5
KB2
141.5
187.5
170.5
216.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-63 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
4.5 kW (without Brake)
R88M-K4K510T (-S2)
ABS
Motor and brake connector
Encoder connector
4.5 kW (with Brake)
R88M-K4K510T-B (S2)
ABS
44
LL
LM
KB2
KB1
LR
L2
L1
24 3.2
2 min.
Boss insertion positon
176 × 176
43.5
43.5
φ 233
(Shaft end specifications with key and tap)
4φ 13.5
LR
96
90
45
M4, through
12h9
(Key groove P9)
0 -0.2
φ
200
M16
(depth 32 min.)
2
Model
R88M-K4K510T @
R88M-K4K510T-B @
LL
266
291
LR
113
113
LM
222
247
Dimensions (mm)
42
42
S KB1
185
185
KB2
244
269
98
98
L1
98
L2
133
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-64
2-4 External and Mounting Dimensions
2
6 kW (without Brake)
R88M-K6K010T (-S2)
ABS
6 kW (with Brake)
Motor connector
Encoder connector
44
R88M-K6K010T-B (S2)
48
110
Brake connector
(for model with brake only)
LL
LM
KB2
KB1
L3
L2
L1
LR
24 3.2
ABS
2 min.
Boss insertion positon
176 × 176
43.5
43.5
φ 233
(Shaft end specifications with key and tap)
4φ 13.5
LR
96
90
45
M4, through
12h9
(Key groove P9)
0 -0.2
φ
200
M16
(depth 32 min.)
Model
R88M-K6K010T @
R88M-K6K010T-B @
LL
312
337
LR
113
113
LM
268
293
42
42
Dimensions (mm)
S KB1
219
253
KB2
290
315
L1
117.5
117.5
L2
117.5
152.5
L3
149
183
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-65 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
1,000-r/min Servomotors (400 V)
900 W (without Brake)
R88M-K90010F (-S2)
R88M-K90010C (-S2)
INC
ABS
900 W (with Brake)
R88M-K90010F-B (S2)
R88M-K90010C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
12 6
70
130
×
130
(Shaft end specifications with key and tap)
4-ø9
70
45
41 M3, through
8h9
φ 145
φ
165 M5 (depth 10)
2
Model
R88M-K90010 @
R88M-K90010 @ -B @
LL
155.5
183.5
Dimensions (mm)
LM
111.5
139.5
KB1
77.5
74.5
KB2
133.5
161.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-66
2-4 External and Mounting Dimensions
2
2 kW/3 kW (without Brake)
R88M-K2K010F (-S2)/-K3K010F (-S2)
R88M-K2K010C (-S2)/-K3K010C (-S2)
INC
ABS
2 kW/3 kW (with Brake)
R88M-K2K010F-B (S2)/-K3K010F-B (S2)
R88M-K2K010C-B (S2)/-K3K010C-B (S2)
INC
ABS
Motor and brake connector
Encoder connector
LL
LM
KB2
KB1
18
80
3.2
176
×
176 (Shaft end specifications with key and tap)
4
−φ
13.5
80
55
50
M3, through
φ 233 10h9
M12 (depth 25)
φ
200
Model
R88M-K2K010 @
R88M-K3K010 @
R88M-K2K010 @ -B @
R88M-K3K010 @ -B @
LL
163.5
209.5
192.5
238.5
Dimensions (mm)
LM
119.5
165.5
148.5
194.5
KB1
82.5
128.5
82.5
128.5
KB2
141.5
187.5
170.5
216.5
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-67 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
4.5 kW (without Brake)
R88M-K4K510C (-S2)
ABS
Motor and brake connector
Encoder connector
4.5 kW (with Brake)
R88M-K4K510C-B (S2)
ABS
44
LL
LM
KB2
KB1
L2
L1
LR
24 3.2
2 min.
Boss insertion positon
176 × 176
43.5 43.5
φ 233
4-
φ
13.5
(Shaft end specifications with key and tap)
LR
96
90
45
M4, through
12h9
(Key groove P9)
φ
200
0 -0.2
M16
(depth 32 min.)
2
Model
R88M-K4K510C @
R88M-K4K510C-B @
LL
266
291
LR
113
113
LM
222
247
Dimensions (mm)
42
42
S KB1
185
185
KB2
244
269
98
98
L1
98
L2
133
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-68
2-4 External and Mounting Dimensions
2
Encoder connector
6 kW (without Brake)
R88M-K6K010C (-S2)
ABS
6 kW (with Brake)
Motor connector
44
R88M-K6K010C-B (S2)
48
110
Brake connector
(for model with brake only)
LL
LM
KB2
KB1
L3
L2
L1
LR
24 3.2
ABS
2 min.
Boss insertion positon
176 × 176
43.5 43.5
φ 233
4-
φ
13.5
(Shaft end specifications with key and tap)
LR
96
90
45
M4, through
12h9
(Key groove P9)
0 -0.2
φ
200
M16
(depth 32 min.)
Model
R88M-K6K010C @
R88M-K6K010C-B @
LL
312
337
LR
113
113
LM
268
293
42
42
Dimensions (mm)
S KB1
219
253
KB2
290
315
L1
117.5
117.5
L2
117.5
152.5
L3
149
183
Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
Models with an oil seal are indicated with O at the end of the model number. The motor dimensions do not change.
2-69 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
External Regeneration Resistor Dimensions
R88A-RR08050S/-RR080100S
20 Thermal switch output
1.2
6
500 104
122
130
R88A-RR22047S1
20
1.2
Thermal switch output
6
500 200
220
230
R88A-RR50020S
10
78
43 25
2
360
386
402
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-70
2
2-5 EMC Filter Dimensions
2-5 EMC Filter Dimensions
M2
W drive mounts
D
H M1 output flexes
Filter model
R88A-FIK102-RE 190
R88A-FIK104-RE 190
R88A-FIK107-RE 190
R88A-FIK114-RE 190
R88A-FIK304-RE 190
R88A-FIK306-RE 245
R88A-FIK312-RE 290
H
External dimensions
W
42
57
44
30
64
86
86
94
130
35
35
40
40
45
D
180
180
180
235
280
180
180
Mount dimensions
M1 M2
20
30
40
60
60
60
100
2-71 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
2-6 Dimensions of Mounting Brackets
(L-Brackets for Rack Mounting)
R88A-TK01K
Top Dimensions
2-C
5
Two, M4 countersunk holes
Bottom Dimensions
Two, M4 countersunk holes
2-C
5
2
24
R2
5.2 dia.
11± 0.2
R2
2.5
R1 max.
7
40
R2
5 11± 0.2
2-R
1
5.2
R2
2.5
R1 max.
33
40
R88A-TK02K
Top Dimensions
2-C
5
Two, M4 countersunk holes
Bottom Dimensions
2-C
5
Two, M4 countersunk holes
24
R2
5.2 dia.
18±0.2
R2
2.5
R1 max.
7
47
R88A-TK03K
Top Dimensions
2-C
5
R2
5 18±0.2
2-R
1
5.2
R2
2.5
R1 max.
40
47
Two, M4 countersunk holes
Bottom Dimensions
2-C
5
Two, M4 countersunk holes
R2
30± 0.2
5.2 dia.
R2
2.5
R1 max.
20
40
R2
2-R1
30± 0.2
5.2
R2
2.5
R1 max.
20
40
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-72
2
2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
R88A-TK04K
Top Dimensions
2-C
5
Two, M4 countersunk holes
R2
5 36± 0.2
10 40±0.2
60
Tw o, 5.2-dia.
R2
holes
2.5
R1 max.
Bottom Dimensions
2-C5 Two, M4 countersunk holes
R2
5.2
19
4-R1
36± 0.2
5.2
R2
2.5
R1 max.
10 40±0.2
60
2-73 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Specifications
This chapter provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices.
3
3-1 Servo Drive Specifications ..........................................3-1
General Specifications .................................................................... 3-1
Characteristics ................................................................................ 3-2
Main Circuit and Motor Connections............................................... 3-9
Control I/O Connector Specifications (CN1) ................................. 3-18
Control Input Circuits .................................................................... 3-28
Control Input Details ..................................................................... 3-32
Control Output Circuits.................................................................. 3-45
Control Output Details................................................................... 3-46
Encoder Connector Specifications (CN2) ..................................... 3-51
External Encoder Connector Specifications (CN4) ....................... 3-51
Analog Monitor Connector Specifications (CN5) .......................... 3-54
USB Connector Specifications (CN7) ........................................... 3-55
Safety Connector Specifications (CN8) ........................................ 3-55
3-2 Overload Characteristics (Electronic Thermal Function) ... 3-58
Overload Characteristics Graphs.................................................. 3-58
3-3 Servomotor Specifications ........................................3-59
General Specifications .................................................................. 3-59
Characteristics .............................................................................. 3-60
Encoder Specifications ................................................................. 3-96
3-4 Cable and Connector Specifications ........................3-97
Encoder Cable Specifications ....................................................... 3-97
Motor Power Cable Specifications .............................................. 3-100
Connector Specifications ............................................................ 3-107
Analog Monitor Cable Specifications .......................................... 3-111
Control Cable Specifications....................................................... 3-112
3-5 Servo Relay Units and Cable Specifications..........3-127
Servo Relay Units Specifications ................................................ 3-127
Position Control Unit-Servo Relay Unit Cable Specifications ..... 3-136
3-6 External Regeneration Resistor Specifications.....3-146
External Regeneration Resistor Specifications........................... 3-146
3-7 EMC Filter Specifications.........................................3-148
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
3-1 Servo Drive Specifications
Select a Servo Drive that matches the Servomotor to be used. Refer to "Servo Drive and
Servomotor Combination Tables"(P.2-11).
The same OMNUC G5-Series AC Servo Drive can be used for either a pulse train input or analog input. You can change the control mode according to the controller. (The default setting is for position control with pulse train commands.)
3
General Specifications
Item
Ambient operating temperature and operating humidity
Storage ambient temperature and humidity
Operating and storage atmosphere
Vibration resistance
0 to +
-20 to
55
+
°
Specifications
C, 20 to 85% max. (with no condensation)
65 ° C, 20 to 85% max. (with no condensation)
Maximum allowable temperature: 80
No corrosive gases
° C for 72 hours maximum (with no condensation)
Insulation resistance
Dielectric strength
UL standards
CSA standards
Korean Radio
Regulations (KC)
10 to 60 Hz and at an acceleration of 5.88 m/s the resonance point)
2
or less (Not to be run continuously at
Between power supply terminals/power terminals and FG terminal: 0.5 M Ω min. (at
500 VDC)
Between power supply terminals/power line terminals and FG terminal: 1,500 VAC for
1 min at 50/60 Hz
Built into panel
EN 55011, EN 61000-6-2, IEC 61800-3
Protective structure
EC
Directives
EMC
Directive
Low Voltage
Directive
Machinery
Directive
EN 61800-5-1
EN954-1 (Category 3), EN ISO 13849-1: 2008 (Category 3) (PLc,d), ISO 13849-1:
2006 (Category 3) (PLc,d), EN61508 (SIL2), EN62061 (SIL2), EN61800-5-2 (STO),
IEC61326-3-1 (SIL2)
UL 508C
CSA22.2 No. 14
Compliant
Note 1 . The above items reflect individual evaluation testing. The results may differ under compound conditions.
Note 2. Disconnect all connections to the Servo Drive before attempting a megameter test (insulation resistance measurement) on a Servo Drive. Failure to follow this guideline may result in damaging the Servo Drive.
Never perform a dielectric strength test on the Servo Drive. Failure to follow this guideline may result in damaging the internal elements.
3-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Characteristics
100-VAC Input Models
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Control circuit
Power supply voltage
Rated current
Heat value
*1
Power supply voltage
Heat value
*1
Weight
R88D-KTA5L
1.2 A
0.4 KVA
1.7 A
11 W
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
4 W
Approx. 0.8 kg
Maximum applicable motor capacity 50 W
Applicable
Servomotor
(R88M-)
3,000 r/ min
INC
ABS
K05030H
K05030T
R88D-KT01L
1.7 A
0.4 KVA
4 W
K10030S
0.5 KVA
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
2.6 A
16.6 W
Approx. 0.8 kg
100 W
K10030L
R88D-KT02L
2.5 A
4.3 A
21 W
4 W
Approx. 1.0 kg
200 W
K20030L
K20030S
R88D-KT04L
4.6 A
0.9 KVA
7.6 A
25 W
4 W
Approx. 1.6 kg
400 W
K40030L
K40030S
2,000-r/ min
1,000-r/ min
ABS
ABS
−
−
−
−
−
−
Performance Speed control range 1:5000
Speed variation (load characteristic)
0.01% max. from 0% to 100% (percentage of rated speed)
Speed variation
(voltage characteristic)
0% at rated voltage ± 10% (percentage of rated speed)
−
−
Temperature variation
(temperature characteristic)
Torque control repeatability
± 0.01% max. (percentage of rated speed) from 0 to 50 ° C
± 1%
*1: The heat value is given for rated operation.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-2
3-1 Servo Drive Specifications
3
200-VAC Input Models
Item
Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
Power supply voltage
Control circuit
Rated current
Heat value
*2
Power supply voltage
R88D-
KT01H
1.2 A
0.5 KVA
14.3/13.7
W *
1
Heat value
*2
4 W
Weight Approx.
0.8 kg
Maximum applicable motor capacity 100 W
Applicable
Servomotor
(R88M-)
3,000-r/ min
INC
ABS
K05030H
K10030H
K05030T
K10030T
2,000-r/ min
INC
−
R88D-
KT02H
1.6 A
0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA
Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
2.3KVA
1.6/0.9 A *
1
2.4/1.3 A *
1
4.1/2.4 A *
1
6.6/3.6 A *
1
9.1/5.2 A *
1
14.2/8.1 A
*
1
23/19 W *
1
33/24 W *
1
30/35.5 W
*
1
57/49 W *
1
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
4 W
Approx.
0.8 kg
200 W
K20030H K40030H K75030H −
K20030T K40030T K75030T −
−
R88D-
KT04H
2.6 A
4 W
Approx.
1.0 kg
400 W
−
R88D-
KT08H
4.1 A
4 W
Approx.
1.6 kg
750 W
−
R88D-
KT10H
5.9 A
7 W
Approx.
1.8 kg
1 kW
R88D-
KT15H
9.4 A
104/93 W
*
1
7 W
Approx.
1.8 kg
1.5 kW
K1K030H
K1K530H
K1K030T
K1K530T
K1K020H K1K520H
ABS
− − − − K1K020T K1K520T
1,000-r/ min
INC
− − − − − K90010H
ABS
− − − − −
Performance Speed control range
Speed variation (load characteristic)
1:5000
0.01% max. from 0% to 100% (percentage of rated speed)
Speed variation
(voltage characteristic)
0% at rated voltage ± 10% (percentage of rated speed)
Temperature variation
(temperature characteristic)
Torque control repeatability
± 0.01% max. (percentage of rated speed) from 0 to 50 ° C
± 1%
*1. The first value is for single-phase input power and the second value is for 3-phase input power.
*2. The heat value is given for rated operation.
K90010T
3-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Item
R88D-
KT20H
13.4 A
R88D-
KT30H
18.7 A
R88D-
KT50H
33.0 A
R88D-
KT75H
44.0 A Continuous output current (rms)
Input power supply
Main circuit
Power supply capacity
3.3 KVA 4.5 KVA 7.5 KVA 11.0 KVA
Power supply voltage
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Rated current 11.8 A 15.1 A 21.6 A 32.0 A
*2
Control circuit
Heat value
*1
Power supply voltage
Heat value
*1
139 W 108 W 328 W 381 W
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
10 W 13 W 13 W 15 W
*2
R88D-
KT150H
66.1 A
22.0 KVA
58.0 A
720 W
17 W
Weight
Maximum applicable motor capacity
Applicable
Servomotor
(R88M-)
3,000-r/ min
2000-r/ min,
1500-r/ min
INC
ABS
INC
ABS
Approx. 2.7 kg
2 kW
K2K030H
K2K030T
K2K020H
K2K020T
Approx. 4.8 kg
3 kW
K3K030H
K3K030T
K3K020H
K3K020T
Approx. 4.8 kg
5 kW
K4K030H
K5K030H
K4K030T
K5K030T
K4K020H
K5K020H
K4K020T
K5K020T
Approx.
13.5 kg
7.5 kW
---
---
---
K7K515T
Approx.
21.0 kg
15 kW
---
---
---
K11K015T
K15K015T
1,000-r/ min
INC
− K2K010H K3K010H -----
ABS
− K2K010T
K3K010T
K4K510T
K6K010T ---
Performance Speed control range
Speed variation (load characteristic)
Speed variation (voltage characteristic)
Temperature variation
(temperature characteristic)
1:5000
0.01% max. from 0% to 100% (percentage of rated speed)
0% at rated voltage
±
± 10% (percentage of rated speed)
0.01% max. (percentage of rated speed) from 0 to 50 ° C
Torque control repeatability ± 2%
*1. The heat value is given for rated operation.
*2. You can use either an AC power supply or DC power supply with the R88D-KT75H and R88D-KT150H. The DC power supply must be 280 to 325 VDC (238 to 357 VDC).
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-4
3-1 Servo Drive Specifications
3
400-VAC Input Models
Item R88D-KT06F R88D-KT10F
24 VDC (20.4 to 27.6 V)
R88D-KT15F
Continuous output current (rms)
Main circuit Power supply capacity
Input power supply
Power supply voltage
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
Rated current 2.1 A 2.8 A 3.9 A
Heat value
*1
1.5 A
1.2 KVA
32.2 W
2.9 A
1.8 KVA
48 W
4.7 A
2.3 KVA
49 W
Control circuit
Power supply voltage
Heat value *1
Weight
Maximum applicable motor capacity
Applicable
Servomotor
(R88M-)
3,000-r/min
INC
ABS
2000-r/min
INC
ABS
R88D-KT20F
6.7 A
3.8 KVA
5.9 A
65 W
7 W 7 W 7 W 10 W
Approx. 1.9 kg Approx. 1.9 kg Approx. 1.9 kg Approx. 2.7 kg
600 W 1 kW 1.5 kW 2 kW
−
−
K75030F
K75030C
K1K030F
K1K530F
K1K030C
K1K530C
K2K030F
K2K030C
K40020F
K60020F
K40020C
K60020C
K1K020F
K1K020C
K1K520F
K1K520C
K2K020F
K2K020C
1,000-r/min
INC
− − K90010F −
Performance
ABS
Speed control range
Speed variation (load characteristic)
Speed variation (voltage characteristic)
Temperature variation
(temperature characteristic)
Torque control repeatability
*1. The heat value is given for rated operation.
−
1:5000
− K90010C
0.01% max. from 0% to 100% (percentage of rated speed)
0% at rated voltage ± 10% (percentage of rated speed)
± 0.01% max. (percentage of rated speed) from 0 to 50 ° C
± 1%
−
± 2%
3-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Item
Continuous output current (rms)
Input power supply
Control circuit
Heat value
*1
Power supply voltage
R88D-KT30F
9.4 A
108 W
R88D-KT50F
16.5 A
200 W
24 VDC (20.4 to 27.6 V)
R88D-KT75F R88D-KT150F
22.0 A 33.4 A
Main circuit Power supply capacity
Power supply voltage
4.5 KVA
Rated current 7.6 A
6.0 KVA
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
12.1 A
11.0 KVA
16.0 A
300 W
22.0 KVA
29.0 A
590 W
Heat value
*1
Weight
Maximum applicable motor capacity
Applicable
Servomotor
(R88M-)
3,000-r/min
INC
ABS
2000-r/min,
1500-r/min
INC
ABS
13 W 13 W 15 W 22 W
Approx. 4.7 kg Approx. 4.7 kg Approx. 13.5 kg Approx. 21.0 kg
3 kW 5 kW 7.5 kW 15 kW
K3K030F
K3K030C
K3K020F
K3K020C
K4K030F
K5K030F
K4K030C
K5K030C
K4K020F
K5K020F
K4K020C
K5K020C
---
---
---
K7K515C
---
---
---
K11K015C
K15K015C
1,000-r/min
INC
K2K010F K3K010F -----
K2K010C
K3K010C
K4K510C
K6K010C ---
Performance
ABS
Speed control range
Speed variation (load characteristic)
Speed variation (voltage characteristic)
Temperature variation
(temperature characteristic)
Torque control repeatability
1:5000
0.01% max. from 0% to 100% (percentage of rated speed)
0% at rated voltage ± 10% (percentage of rated speed)
± 0.01% max. (percentage of rated speed) from 0 to 50 ° C
± 2%
*1. The heat value is given for rated operation.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-6
3-1 Servo Drive Specifications
3
Protective Functions
Error detected
Control power supply undervoltage
Overvoltage
Main power supply undervoltage
Description
The DC voltage of the control power supply fell below the specified value.
The DC voltage of the main circuit exceeded the specified value.
The DC voltage of the main circuit is low.
Overcurrent
Servo Drive overheat
Overload
Regeneration overload
Encoder communications error
Encoder communications data error
Error counter overflow
Excessive hybrid error
Overcurrent flowed to the IGBT. Motor power line ground fault or short circuit.
The temperature of the drive radiator exceeded the specified value.
Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds.
The regenerative energy exceeded the regeneration absorption capacity of the Regeneration Resistor.
The encoder wiring is disconnected.
Communications cannot be performed between the encoder and the drive.
The number of accumulated pulses in the error counter exceeded the set value for the Error Counter Overflow Level (Pn014).
During fully-closed control, difference between position of load from external encoder and position of motor due to encoder was larger than the number of pulses set by Internal/External Feedback Pulse Error Counter
Overflow Level (Pn328).
The motor rotation speed exceeded the maximum number of rotations.
Overspeed
Electronic gear setting error error
ABS
Absolute encoder multi-rotation counter error
ABS
The set value for the Electronic Gear Ratio (Pn009 to Pn010, Pn500 to
Pn503) is not appropriate.
Error counter overflow
Interface I/O setting error
Overrun limit error
Parameter error
Parameters destruction
Drive prohibition input error
Excessive analog input
Error counter value based on the encoder pulse reference exceeded 2
29
(536870912).
An error was detected in the interface I/O signal.
The motor exceeded the allowable operating range set in the Overrun Limit
Setting (Pn514) with respect to the position command input.
Data in the Parameter Save area was corrupted when the power supply was turned ON and data was read from the EEPROM.
The checksum for the data read from the EEPROM when the power supply was turned ON does not match.
The forward drive prohibition and reverse drive prohibition inputs are both turned OFF.
A current exceeding the Excessive Analog Input (Pn424, Pn427 or Pn430) was applied to the analog command input (pin 14).
Absolute encoder system down error
ABS
Absolute encoder overspeed error
The voltage supplied to the absolute encoder is lower than the specified value.
Absolute encoder counter overflow error The multi-rotation counter of the absolute encoder exceeds the specified value.
ABS
The motor rotation speed exceeds the specified value when only the battery power supply of the absolute encoder is used.
ABS
Absolute encoder 1-rotation counter A 1-turn counter error was detected.
A multi-rotation counter error or phase-AB signal error was detected.
3-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Error detected
Absolute encoder status error
Encoder phase-Z error
Encoder CS signal error
ABS
External encoder communications error
External encoder status error
Phases-A, B and Z connection error
Motor non-conformity
Description
The rotation of the absolute encoder is higher than the specified value.
A phase Z pulse was not detected regularly.
A logic error was detected in the CS signal.
An error was detected in external encoder connection and communications data.
An external encoder alarm code was detected.
An error was generated for connection of phases A, B, and Z of external encoder.
The combination of the Servomotor and Servo Drive is not appropriate.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-8
3-1 Servo Drive Specifications
3
Main Circuit and Motor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.
R88D-KTA5L/-KT01L/-KT02L/-KT04L
R88D-KT01H/KT02H/-KT04H/-KT08H/-KT10H/-KT15H
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Function
R88D-KT @ L
(50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KT @ H
(100 W to 1.5 kW) : Single-phase: 200 to 240 VAC (170 to 264 V) 50/
60 Hz
(100 W to 1.5 kW) : 3-phase: 200 to 240 VAC (170 to 264 V) 50/60 Hz
Control circuit power supply input
Note. Single-phase should connect to L1 and L3.
R88D-KT @ L : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KT @ H : Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Motor Connector Specifications (CNB)
U
V
W
Symbol
B1
B3
B2
Name
External
Regeneration
Resistor connection terminals
Motor connection terminals
Function
R88D-KTA5L/-KT01L/-KT02L/-KT01H/-KT02H/-KT04H:
Normally, do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, connect an External
Regeneration Resistor between B1 and B2.
R88D-KT04L/-KT08H/-KT10H/-KT15H:
Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External
Regeneration Resistor between B1 and B2.
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
Precautions for Correct Use
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
3-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
R88D-KT20H
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KT @ H (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KT @ H : Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Function
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
External Regeneration Resistor Connector Specifications (CNC)
Symbol
B1
B3
Name
External Regeneration
Resistor connection terminals
B2
NC Do not connect.
Function
Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Precautions for Correct Use
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
Never connect an External Regeneration Resistor between the B1 and NC terminals.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-10
3
3-1 Servo Drive Specifications
R88D-KT30H/R88D-KT50H
Main Circuit Terminal Block Specifications
U
V
B2
NC
W
L1C
L2C
B1
B3
Symbol
L1
L2
L3
Name
Main circuit power supply input
Control circuit power supply input
External Regeneration
Resistor connection terminals
Do not connect.
Motor connection terminals
Function
R88D-KT @ H (3 to 5 kW):
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KT
Hz
@ H : Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Normally B2 and B3 are connected. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an
External Regeneration Resistor between B1 and B2.
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
Precautions for Correct Use
Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).
If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
Never connect an External Regeneration Resistor between the B1 and NC terminals.
3-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
R88D-KT75H
Terminal Block Specifications, Left Terminal Block (TB1)
Symbol
L1
L2
L3
Name
Main circuit power supply input
B1
B2
N (NC)
U
V
W
External Regeneration
Resistor connection terminals
Motor connection terminals
Function
R88D-KT @ H (7.5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/
60 Hz
280 to 325 VDC (238 to 357 VDC)
Connect an External Regeneration Resistor between B1 and B2.
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
3
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
L1C
L2C
Name
Control circuit power supply input
DB1
DB2
Dynamic brake resistance control terminals
DB3
DB4
Frame ground
Function
R88D-KT @ H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are
1 A max. at 300 VAC/100 VDC max. Connect them if required.
Normally DB3 and DB4 are connected. When using an externally connected Dynamic Brake Resistor, remove the short bar from between DB3 and DB4.
This is the ground terminal. Ground to 100 Ω or less.
Precautions for Correct Use
Tighten the terminal block screws to the torque of 1.5 N•m (M5).
If the torque for terminal block screws exceeds 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 1.4 to 1.6 N•m (M5).
Never connect an External Regeneration Resistor between the B1 and N (NC) terminals
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-12
3
3-1 Servo Drive Specifications
R88D-KT150H
Terminal Block Specifications, Top Terminal Block (TB1)
Symbol
L1C
L2C
Name
Control circuit power supply input
DB1
DB2
Dynamic brake resistance control terminals
Function
R88D-KT @ H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are
1 A max. at 300 VAC/100 VDC max. Connect them if required.
Terminal Block Specifications, Bottom Terminal Block (TB2)
Symbol
L1
L2
L3
B1
Name
Main circuit power supply input
B2
N (NC)
U
V
W
External Regeneration
Resistor connection terminals
Motor connection terminals
Function
R88D-KT @ H (15 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/
60 Hz
280 to 325 VDC (238 to 357 VDC)
Connect an External Regeneration Resistor between B1 and B2.
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Frame ground This is the ground terminal. Ground to 100 Ω or less.
Precautions for Correct Use
Tighten the terminal block screws to the torque of 1.5 N•m (M5) or 2.5 N•m (M6).
If the torque for terminal block screws exceeds 2.0 N•m (M5) or 3.0 N•m (M6), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.4 N•m (M5).
Tighten the ground screws to the torque of 2.4 to 2.6 N•m (M6).
Never connect an External Regeneration Resistor between the B1 and N (NC) terminals
3-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
R88D-KT06F/R88D-KT10F/R88D-KT15F/R88D-KT20F
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
Name
Main circuit power supply input
Function
R88D-KT @ F
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V)
50/60 Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Function
Phase U These are the output terminals to the Servomotor.
Phase V
Be sure to wire them correctly.
Phase W
Control Circuit Connector Specifications (CNC)
Symbol
24 V
0 V
Name
Control circuit power supply input
24 VDC ± 15%
Function
External Regeneration Resistor Connector Specifications (CND)
Symbol
B1
B3
Name
External Regeneration
Resistor connection terminals
B2
NC Do not connect.
Function
Normally B2 and B3 are connected. Do not short B1 and B2.
Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Precautions for Correct Use
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
Never connect an External Regeneration Resistor between the B1 and NC terminals.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-14
3
3-1 Servo Drive Specifications
R88D-KT30F/R88D-KT50F
Main Circuit Terminal Block Specifications (TB1)
Symbol
24 V
0 V
Name
Control circuit power supply input
24 VDC ± 15%
Function
Main Circuit Terminal Block Specifications (TB2)
NC
U
V
W
Symbol
L1
L2
L3
B1
B3
Name
Main circuit power supply input
Function
R88D-KT @ F (3 to 5 kW):
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
External Regeneration
Resistor connection terminals
B2
Normally B2 and B3 are connected. Do not short B1 and B2.
Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
Motor connection terminals
Phase U
Phase V
Phase W
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Precautions for Correct Use
Tighten the terminal block screws to the torque of 0.75 N•m (M4) or 1.5 N•m (M5).
If the torque for terminal block screws exceeds 1.2 N•m (M4) or 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5).
Never connect an External Regeneration Resistor between the B1 and NC terminals.
3-15 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
R88D-KT75F
Terminal Block Specifications, Left Terminal Block (TB1)
B2
NC
U
V
W
Symbol
L1
L2
L3
Name Function
Main circuit power supply input
R88D-KT @ F (7.5 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/
60 Hz
B1 External Regeneration
Resistor connection terminals
Do not connect.
Connect an External Regeneration Resistor between B1 and B2.
Motor connection terminals
Red
White
Blue
Green/
Yellow
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
DB1
Name
24 V Control circuit power
0 V supply input
Dynamic brake resistance control terminals
DB2
DB3
DB4
Frame ground
24 VDC ± 15%
Function
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are 1 A max. at 300 VAC/100 VDC max. Connect them if required.
Normally DB3 and DB4 are connected. When using an externally connected Dynamic Brake Resistor, remove the short bar from between DB3 and DB4.
This is the ground terminal. Ground to 10 Ω or less.
3
Precautions for Correct Use
Tighten the terminal block screws to the torque of 1.5 N•m (M5).
If the torque for terminal block screws exceeds 2.0 N•m (M5), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3).
Tighten the ground screws to the torque of 1.4 to 1.6 N•m (M5).
Never connect an External Regeneration Resistor between the B1 and NC terminals
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-16
3
3-1 Servo Drive Specifications
R88D-KT150F
Terminal Block Specifications, Top Terminal Block (TB1)
Symbol Name
24 V Control circuit power
0 V supply input
DB1
DB2
Dynamic brake resistance control terminals
24 VDC ± 15%
Function
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are 1 A max. at 300 VAC/100 VDC max. Connect them if required.
Terminal Block Specifications, Bottom Terminal Block (TB2)
NC
U
V
W
Symbol
L1
L2
L3
B1
B2
Name
External Regeneration
Resistor connection terminals
Do not connect.
Function
Main circuit power supply input
R88D-KT @ F (15 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/
60 Hz
Connect an External Regeneration Resistor between B1 and B2.
Motor connection terminals
Frame ground
Red
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 10 Ω or less.
Precautions for Correct Use
Tighten the terminal block screws to the torque of 1.5 N•m (M5) or 2.5 N•m (M6).
If the torque for terminal block screws exceeds 2.0 N•m (M5) or 3.0 N•m (M6), the terminal block may be damaged.
Tighten the fixing screw of the terminal block cover to the torque of 0.4 N•m (M5).
Tighten the ground screws to the torque of 2.4 to 2.6 N•m (M6).
Never connect an External Regeneration Resistor between the B1 and NC terminals
3-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control I/O Connector Specifications (CN1)
Control I/O Signal Connections and External Signal Processing for Position Control
Reverse pulse
+ 24 VCW 1 2.2 k
Ω
+ CW 3
500 kpps max.
−
CW 4 220
Ω
Forward pulse
+ 24 VCCW 2 2.2 k
Ω
+ CCW 5
−
CCW 6 220
Ω
Reverse pulse
4 Mpps max.
Forward pulse
+ CWLD 44 2 k
Ω
20 k
Ω
+
− CWLD 45
120
Ω
CCWLD 46
2k
Ω
2k
Ω
20 k
Ω
20 k
Ω
− CCWLD
47
120
Ω
2 k
Ω 20 k
Ω
12 to 24 VDC
+
24 VIN 7 4.7 k
Ω
Operation command
RUN 29
4.7 k
Ω
Damping filter switching
DFSEL1
26
4.7 k
Ω
Gain switching
GSEL
27
4.7 k
Ω
Electronic gear switching
GESEL1 28
4.7 k
Ω
Error counter reset
ECRST 30
4.7 k
Ω
Alarm reset
RESET 31
4.7 k
Ω
Control mode switching
TVSEL 32
4.7 k
Ω
Pulse prohibition
IPG 33
4.7 k
Ω
Reverse drive prohibition
NOT 8
4.7 k
Ω
Forward drive prohibition
POT 9
11
10
35
34
37
36
BKIR
Brake interlock
BKIRCOM
READY Servo ready completed output
READYCOM
/ALM
Alarm output
ALMCOM
Maximum service voltage:
30 VDC
Maximum output current:
50 mA DC
39
38
19
25
INP Positioning completion
INPCOM output
Z Phase-Z output
(open-collector output)
ZGND
21
+ A
22
− A
49 + B
48
−
B
23
24
+ Z
− Z
Encoder phase-A output
Encoder phase-B output
Encoder phase-Z output
Line-driver output corresponding with the EIA RS-422A communications method
(load resistance
120
Ω
min.)
1
μ
F
100
Ω
20 SEN
4.7 k
Ω
13 SENGND
Sensor ON
42 BAT Backup battery *1
43 BATGND
10 k
Ω
16 PCL Forward torque limit input
3.83 k
Ω
17 AGND2
10 k
Ω
18 NCL
3.83 k
Ω
Reverse torque limit input
Shell FG
Frame ground
*1. A cable equipped with a battery is not required if a backup battery is connected.
Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.
Note 2. Pins 13, 20, 42 and 43 represent signals which are applicable when an absolute encoder is used.
Note 3. If pins 21, 22, 49, 48, 23, and 24 are used for the encoder output, use pin 25 (ZGND) to wire the ground.
Note 4. It is not necessary to wire input pins that are not being used.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-18
3-1 Servo Drive Specifications
3
Control I/O Signal Connections and External Signal Processing for Speed Control
Speed command REF 14 20 k Ω
AGND 15
3.83 k Ω
Forward torque limit input PCL 16 10 k Ω
AGND1 17
3.83 k Ω
Reverse torque limit input NCL 18 10k
Ω
3.83 k Ω
Sensor ON SEN 20 100
Ω
SENGND 13
4.7 k
Ω
1 μ F
11 BKIR
10 BKIRCOM
Maximum
35
34
Brake interlock
Servo ready
READY completed output
READYCOM service voltage:
30 VDC
Maximum output current:
50 mA DC
37 /ALM
Alarm output
36 ALMCOM
39
38
TGON
Motor rotation speed detection output
TGONCOM
19 Z
25 ZGND
Phase-Z output
(open-collector output)
12 to 24 VDC
+
24VIN 7 4.7 k Ω
Operation command
RUN 29
4.7 k
Ω
Zero speed designation
VZERO
26
4.7 k Ω
Gain switching
GSEL
27
4.7 k Ω
Internally set speed selection 3
VSEL3 28
4.7 k Ω
Internally set speed selection 2
VSEL2 30
4.7 k Ω
Alarm reset
RESET 31
4.7 k Ω
Control mode switching
TVSEL 32
4.7 k
Ω
Internally set speed selection 1
VSEL1 33
4.7 k Ω
Reverse drive prohibition
NOT 8
4.7 k
Ω
Forward drive prohibition
POT 9
21
+
A
22
− A
49
+
B
48
− B
23
+
Z
24
− Z
Encoder phase-A output
Encoder phase-B output
Encoder phase-Z output
Line-driver output corresponding with the EIA RS-422A communications method
(load resistance
120 Ω min.)
42 BAT Backup battery *1
43 BATGND
Shell FG
Frame ground
*1. A cable equipped with a battery is not required if a backup battery is connected.
Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.
Note 2. Pins 13, 20, 42 and 43 represent signals which are applicable when an absolute encoder is used.
Note 3. If pins 21, 22, 49, 48, 23, and 24 are used for the encoder output, use pin 25 (ZGND) to wire the ground.
Note 4. It is not necessary to wire input pins that are not being used.
3-19 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control I/O Signal Connections and External Signal Processing for Torque Control
Torque command input or speed limit TREF1/VLIM 14 20 k
Ω
AGND1 15
3.83 k
Ω
Torque command input TREF2 16 10 k
Ω
AGND2 17 3.83 k Ω
Sensor ON SEN 20 100
Ω
SENGND 13
4.7 k Ω
1 μ F
11
10
BKIR
Brake interlock
BKIRCOM
35
Servo ready
READY completed output
34 READYCOM
Maximum service voltage:
30 VDC
Maximum output current:
50 mA DC
37 /ALM
36
Alarm output
ALMCOM
39
38
TGON
Motor rotation speed detection output
TGONCOM
19 Z
25 ZGND
Phase-Z output
(open-collector output)
12 to 24 VDC
+
24VIN 7 4.7 k Ω
Operation command RUN 29
4.7 k
Ω
Zero speed designation
VZERO 26
4.7 k
Ω
Gain switching
GSEL
27
4.7 k Ω
Alarm reset
RESET 31
4.7 k
Ω
Control mode switching
TVSEL 32
4.7 k Ω
Reverse drive prohibition
NOT 8
4.7 k
Ω
Forward drive prohibition
POT 9
21
22
49
+
−
+
A
A
B
Encoder phase-A output
Line-driver output corresponding with the EIA RS-422A
48
−
B
Encoder phase-B output
23
+
Z
24
− Z
42 BAT
Encoder phase-Z output
Backup battery *1 communications method
(load resistance
120
Ω
min.)
43 BATGND
Shell FG
Frame ground
*1. A cable equipped with a battery is not required if a backup battery is connected.
Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.
Note 2. Pins 13, 20, 42 and 43 represent signals which are applicable when an absolute encoder is used.
Note 3. If pins 21, 22, 49, 48, 23, and 24 are used for the encoder output, use pin 25 (ZGND) to wire the ground.
Note 4. It is not necessary to wire input pins that are not being used.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-20
3-1 Servo Drive Specifications
3
Control I/O Signal List
CN1 Control Inputs
44
45
46
47
Pin number
1
2
3
4
5
6
20
13
42
43
14
Symbol
+24VCW
+24VCCW
+CW/
+PULS/+FA
-CW/-PULS/
-FA
+ CCW/
+SIGN/+FB
-CCW/-SIGN/
-FB
+ CWLD
-CWLD
+ CCWLD
-CCWLD
24-V open-collector input for command pulse
Reverse pulse, feed pulse, or 90 ° phase difference signal
(phase A)
Forward pulse, direction signal, or 90 ° phase difference signal
(phase B)
SEN
SENGND
BAT
BATGND
REF
TREF1
Name Function and interface
Input terminals for position command pulses for both line driver and open collector.
Changes to enable (set value: 0 < default setting > ) according to the setting of
Command Pulse Input Selection
(Pn005).
√
Control mode
Position Speed Torque
Fully- closed
√
Reverse pulse (input for line driver only)
Forward pulse (input for line driver only)
Input terminals for position command pulses dedicated to the line-driver output.
Changes to enable (set value: 1) according to the setting of Command
Pulse Input Selection (Pn005).
Sensor ON Input
ABS
ABS
This performs serial transmission of multi-rotation data of the absolute encoder and also outputs 1-rotation data as the initial incremental pulses.
This input is enabled by setting the
Operation Switch when Using Absolute
Encoder (Pn015) to 0 or 2.
This is a sensor ON signal ground.
Signal ground
Backup battery input These are the backup battery connection terminals used when the absolute encoder power is interrupted.
(Connection to this terminal is not necessary if you use the absolute encoder battery cable for backup.)
Speed command input This is an analog input terminal for speed command.
Use the Speed Command Scale
(Pn302) to change the rotation speed scale for the command input.
Torque command input
1
Provides a torque command input (set value: 0 or 2) according to the setting of
Torque Command/Speed Limit
Selection (Pn317).
Use the Torque Command Scale
(Pn319) to change the rotation speed scale for the command input.
√
√
√
√
√
√
√
√
√
√
√
3-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Pin number
14
15
16
17
18
7 +
Symbol
VLIM
AGND1
PCL
TREF2
AGND1
NCL
24VIN
SI1 to SI10
NOT [8]
POT [9]
DFSEL1
[26]
Name Function and interface
Control mode
Position Speed Torque
Fully- closed
Speed limit input
Analog ground 1
Forward torque limit input
Torque command input
2
Analog ground 1
Reverse torque limit input
12 to 24-VDC power supply input
Provides a speed limit input (set value:
1) according to the setting of Torque
Command/Speed Limit Selection
(Pn317).
Use the Speed Command Scale
(Pn302) to change the limit speed scale for the analog input.
This is an analog signal ground.
Provides a forward torque limit input (set value: 0 or 4) or forward/reverse torque limit input (set value: 5) according to the setting of Torque Limit Selection
(Pn521).
Provides a torque command input (set value: 1) according to the setting of
Torque Command/Speed Limit
Selection (Pn317).
Use the Torque Command Scale
(Pn319) to change the rotation speed scale for the command input.
This is an analog signal ground.
Provides a reverse torque limit input (set value: 0 or 4) according to the setting of
Torque Limit Selection (Pn521).
The positive input terminal of the external power supply (12 to 24 VDC) for sequence inputs
√
√
√
√
√
√
√
√
√
√
√
√
Sequence input signal These allocate the following function and logics according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
Reverse drive prohibition input
Forward drive prohibition input
This performs the drive prohibition input in the reverse direction.
Changes to enable (set value: 0 or 2) according to the setting of Drive
Prohibition Input Selection (Pn504).
This performs the drive prohibition input in the forward direction.
Changes to enable (set value: 0 or 2) according to the setting of Drive
Prohibition Input Selection (Pn504).
√
√
√
√
√
√
√
√
Damping filter switching
1
Changes to enable (set value: 1 or 2) according to the setting of Damping
Filter Selection (Pn213).
If the set value of Damping Filter
Selection (Pn213) is 2, switching between 4 settings is possible by combining this with the damping filter switching input 2 (DFSEL2).
√ √
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-22
3
3-1 Servo Drive Specifications
Pin number
Symbol
GSEL [27]
GESEL1
[28]
RUN [29]
ECRST [30]
RESET [31]
TVSEL [32]
IPG [33]
VSEL1 [33]
VSEL2 [30]
VSEL3 [28]
TLSEL
DFSEL2
Operation command input
Error counter reset input
Control mode switching input
Name
Gain switching
Electronic gear switching 1
Alarm reset input
Function and interface
This changes to enable (set value: 2) according to the setting of the Gain
Switching Mode (Pn115 for position control, Pn120 for speed control, or
Pn124 for torque control).
When the signal is OFF and ON, gain 1 and gain 2 change to enable, respectively.
Switches the numerator for electronic gear ratio.
You can switch maximum 4 electronic gear ratio numerators by combining with electronic gear switching input 2
(GESEL2).
This turns ON the servo (motor power supply starts).
Resets the position error counter.
An edge (set value: 0) or level (set value:
1) can be selected according to the setting of Error Counter Reset Condition
Selection (Pn517).
√
√
√
√
Control mode
Position Speed Torque
Fully- closed
√
√
√
√
√
√
√
√
Release the alarm status.
The error counter is reset when the alarm is reset.
Some alarms cannot be reset with this input.
This signal switches the control mode for
Servo Drive.
Changes to enable (set value: 3 to 5) according to the setting of Control Mode
Selection (Pn001).
√
√
√
√
√
√
√
Pulse prohibition input Prohibits the position command pulse.
Changes to enable (set value: 0) according to the setting of Command
Pulse Prohibition Input Setting (Pn518).
Internally set speed selection 1
Internally set speed selection 2
Use this input to select a desired Speed
Setting (Pn304 to 311) during the internally set speed operation.
√
Internally set speed selection 3
Torque limit switching Switches the torque limit value via ON/
OFF.
Changes to enable (set value: 3 or 6) according to the setting of Torque Limit
Selection (Pn521). The torque limit value and operating direction vary according to the set value.
Damping filter switching
2
Changes to enable (set value: 2) according to the setting of Damping
Filter Selection (Pn213).
Switching between 4 settings is possible by combining this with the damping filter switching input 1 (DFSEL1).
√
√
√
√ √
√
3-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Pin number
Symbol
GESEL2
VZERO
VSIGN
TSIGN
STOP
JSEL
Name Function and interface
Electronic gear switching 2
Zero speed designation input
Speed command sign input
Torque command sign input
You can switch maximum 4 electronic gear ratio numerators by combining with electronic gear switching input 1
(GESEL1).
This signal forcibly sets the speed command to 0.
Changes to enable (set value: 1 to 3) according to the setting of Zero Speed
Designation Selection (Pn315).
Designates the motor rotation direction for speed commands.
Changes to enable (set value: 1) according to the setting of Speed
Command Direction Selection (Pn301).
This signal designates the motor rotation direction for torque commands.
Changes to enable (set value: 1) according to the setting of Torque
Command Direction Selection (Pn318).
Emergency stop input This is an emergency stop input.
When input, this becomes an emergency stop input error and thereby stop the motor.
Inertia ratio switching input
This signal switches between inertia ratio 1 and inertia ratio 2.
√
√
√
Control mode
Position Speed Torque
Fully- closed
√
√
√
√
√
√
√
√
√
√
√
√
Be cautious that allocatable pin numbers are fixed for the following functions.
Error counter reset input (ECRST): Pin 30 only
Command pulse input prohibition input (IPG): Pin 33 only
The number in brackets indicates the pin number (allocation) at default setting. (The allocations vary according to the control mode.)
3
CN1 Control Outputs
23
24
49
48
21
22
+ Z
-Z
+ B
-B
+ A
-A
Pin number
Symbol Name
Encoder phase A
+ output
Encoder phase A output
Encoder phase B
+ output
Encoder phase B output
Encoder phase Z
+ output
Encoder phase Z output
Function and interface
Encoder signals (or external encoder signals during fully-closed control) are output according to the setting of
Encoder Dividing Numerator (Pn011).
This is the line-driver output (equivalent to RS-422). The maximum output frequency is 4 Mpps.
√
Phase Z is output for encoder signals (or external encoder signals during fullyclosed control). This is the line-driver output (equivalent to RS-422).
Control mode
Position Speed Torque
Fully- closed
√ √ √
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-24
3
3-1 Servo Drive Specifications
Pin number
19
25
Z
Symbol
ZGND
SO1 to SO4
Name Function and interface
Control mode
Position Speed Torque
Fully- closed
Encoder phase-Z output
Encoder phase-Z output common
Phase Z is output for encoder signals (or external encoder signals during fullyclosed control). Open-collector output
√ √ √ √
Sequence output signal These signals allocate the following functions according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413).
Brake interlock output Outputs the timing signal for operating the electromagnetic brake on a motor.
√ √ √ √
BKIR [11]
BKIRCOM
[10]
READY [35] Servo ready completed This output signal indicates the Drive is ready to be energized.
READYCO
M [34]
It is turned ON when the control and main power supply is established and not in alarm status.
/ALM [37] Servo alarm The output is OFF when an alarm is generated for the Servo Drive.
ALMCOM
[36]
INP1 [39] Positioning completion output 1
INP1COM
[38]
TGON [39] Motor rotation speed
TGONCOM
[38] detection output
If the position error is equal to
Positioning Completion Range 1
(Pn431) or less, this output turns ON according to the setting condition of
Positioning Completion Condition
Selection (Pn432).
This output turns ON when the motor rotation speed reaches the speed set in
Rotation Speed for Motor Rotation
Detection (Pn436).
TLIMT
TLIMTCOM
ZSP
Torque limit output
Zero speed detection signal
√
√
√
This output turns ON while the torque is limited.
√
ZSPCOM
VCMP
VCMPCOM
INP2
INP2COM
WARN1
WARN1COM
Speed conformity output
Positioning completion output 2
Warning output 1
This output turns ON when the motor rotation speed is equal to Zero Speed
Detection (Pn434) or less.
This output turns ON when the command speed corresponds to the motor rotation speed.
This output turns ON when the difference between the command speed and motor rotation speed is inside the setting range of Speed Conformity
Detection Width (Pn435).
If the position error is equal to
Positioning Completion Range 2
(Pn442) or less, this output turns ON according to the setting condition of
Positioning Completion Condition
Selection (Pn432).
This output turns ON according to the setting condition of Warning Output
Selection 1 (Pn440).
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
3-25 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Pin number
Symbol
WARN2
WARN2COM
P-CMD
P-
CMDCOM
V-LIMIT
V-
LIMITCOM
ALM-ATB
ALM-
ATBCOM
V-CMD
V-
CMDCOM
Name
Warning output 2
Position command status output
Speed limiting output
Alarm clear attribute output
Function and interface
This output turns ON according to the setting condition of Warning Output
Selection 1 (Pn440).
This output turns ON when a positioning command is input.
This turns ON during torque control or speed limit status.
This output turns ON when an alarm occurs or the alarm can be cleared.
Speed command status output
This output turns ON during speed control or when a speed command is input.
Control mode
Position Speed Torque
Fully- closed
√
√
√
√
√
√
√
√
√
√
√
√
You cannot change the allocation for servo alarm output (/ALM). (The allocation is fixed.)
The number in brackets indicates the pin number (allocation) at default setting. (The allocations vary according to the control mode.)
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-26
3-1 Servo Drive Specifications
3
CN1 Pin Arrangement
2
4
6
8
10
12
PCOM
− CW/
−
PULS/
−
FA
−
−
CCW/
SIGN/
SI1
−
(NOT)
FB
SO1COM
1
24-V open-collector input for command pulse
3
Reverse pulses, feed pulses, or 90º phase difference signal (phase A)
5
Forward pulse, direction signal, or
90ª phase difference signal (phase B)
7
General-purpose input 1 (reverse drive prohibition input)
9
General-purpose output 1 common
11
*1
+
PCOM
+ CW/
+
PULS/+FA
+
SIGN/+FB
+
CCW/
24VIN
SI2
(POT)
SO1
(BKIR)
24-V open-collector input for command pulse
27
Reverse pulses, feed pulses, or 90
° phase difference signal (phase A)
29
Forward pulse, direction signal, or
90°phase difference signal (phase B)
31
12 to 24-VDC power supply input
33
General-purpose input 2 (forward drive prohibition input)
35
General-purpose input 1 (brake interlock output)
37
14
REF/TREF1/
VLIM
16
18
PCL/TREF2
NCL
Speed command input, torque command input 1, speed limit input
Forward torque limit input, torque command input 2
13
15
17
Reverse torque limit input
19
20 SEN
Sensor ON undefined
21
22
− A
Encoder phase A
− output
23
24
−
Z
Encoder phase Z
− output
25
SENGND
AGND1
AGND2
+
Z
+
A
Z
ZGND
SI4
(GSEL)
SI6
(RUN)
SI8
(RESET)
SI10 *2
SO2
(READY)
/ALM
[SO3]
General-purpose
26 input 4
(gain switching)
28
General-purpose input 6 (operation command)
General-purpose input 8 (alarm reset input)
30
32
General-purpose input10 *2
34
General-purpose output 2 (servo ready completed output)
Alarm output
[general-purpose
36 output 3]
38
General-purpose output 4 *2
40
SI3
SI5
SI7
*2
*2
*2
General-purpose
input 3 *2
General-purpose input 5 *2
General-purpose input 7 *2
SI9
(TVSEL)
SO2COM
ALMCOM
[SO3COM]
SO4COM
General-purpose input 9 (control mode switching)
General-purpose output 2 common
Alarm output common
[general-purpose output 3 common]
General-purpose output 4 common
*1
Signal ground
39
Analog ground 1
41
Analog ground 2
43
Phase-Z output
(open collector)
45
Encoder phase A + output
47
Encoder phase Z
+ output
Phase-Z
(open collector) common
49
SO4 *2
BATGND
− CWLD
−
CCWLD
+
B
*1
Absolute encoder backup battery input
42
44
Reverse pulse
(input for line driver only)
46
Forward pulse
(input for line driver only)
48
Encoder phase B
+ output
50
BAT
+ CWLD
+ CCWLD
− B
Absolute encoder backup battery input
Reverse pulse
(input for line driver only)
Forward pulse
(input for line driver only)
Encoder phase B
− output
*1
Note.Do not connect anything to unused pins (*1).
For general-purpose inputs 1 to 10 (SI1 to 10) and general-purpose outputs (SO1, SO2 and SO4), use user parameters Pn400 to Pn409 (Input Signal Selections 1 to 10) and Pn410 to Pn413 (Output Signal Selections 1 to
4) to set the function allocations.
The alarm output (/ALM) is fixed to general-purpose output 3. This is indicated with square brackets in the above figure.
The function that is allocated by default is given in parentheses. “*2” indicates terminals that have different default functions depending on the control mode.
Refer to "6-9 Sequence I/O Signal" (P.6-35) for details on allocations.
To use an absolute encoder, connect a battery to either Pin 42 which is the backup battery input, or 43 which is the battery holder for absolute encoder cable. (Never connect to both.)
Connectors for CN1 (Pin 50)
Name
Cable plug
Cable case (shell kit)
Model
10150-3000PE
10350-52A0-008
Manufacturer
Sumitomo 3M
OMRON model number
R88A-CNU11C
3-27 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control Input Circuits
Speed Command Input, Torque Command Input, Speed Limit Input and Torque Limit Input
REF/TREF1/VLIM14
47 k
Ω
47 k
Ω
20 k Ω
470pF
1000 pF Maximum input voltage
± 10 V
15
47 k Ω 1000 pF
47 k Ω
20 k Ω
1000 pF
470 pF
Maximum input voltage
±
12 V
TREF2/PCL/NCL16,18
14 k Ω 20 k Ω
10 k
Ω
20 k Ω
17
1000 pF
3
Position Command Pulse (Line Receiver Input)
When connecting with a line driver and a line receiver, up to 4 Mpps will be available.
( + CWLD: 44, − CWLD: 45, + CCWLD: 46, − CCWLD: 47)
Controller
20 k Ω
Applicable line driver
AM26LS31A or equivalent
+ 44,46
− 45,47
13
2 k Ω
120 Ω
2 k Ω
20 k Ω
Applicable line receiver
AM26C32 or equivalent
The shielded twisted-pair cable should not exceed 10 m in length.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-28
3
3-1 Servo Drive Specifications
Position Command Pulse (Photocoupler Input)
When connecting with a line driver and a photocoupler, the maximum speed will be 500 kpps.
( + CW: 3, − CW: 4, + CCW: 5, − CCW: 6)
Controller Drive
+
3,5
+ 2.2 k Ω
1000 pF
Applicable line driver
AM26LS31A or equivalent
− −
4,6 220 Ω
Precautions for Correct Use
The shielded twisted-pair cable should not exceed 10 m in length.
3-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Open Collector Input
External 24-V power supply without a Current Limit Resistor (200 kpps maximum) ( + 24 VCW: 1,
− CW: 4, + 24 VCCW: 2, − CCW: 6)
Controller Drive
Vcc 24 V
1,2
+ 2.2 k Ω
2.2 k Ω
4,6
−
1000 pF
220 Ω
3
External control power supply (200 kpps maximum) ( + CW: 3, − CW: 4, + CCW: 5, − CCW: 6)
Controller Drive
Vcc
R
2.2 k Ω
3,5
+
1000 pF
2.2 k Ω
4,6
−
220
Ω
Select a Current Limit Resistor (R) appropriate for Vcc.
VCC
Vcc − 1.5
R + 220
≈ 10mA
(7 to 15 mA)
24 V
12 V
5 V
R
2 k Ω (1/2 W)
1 k Ω (1/2 W)
0 Ω (short)
Precautions for Correct Use
The open collector wiring should not exceed 3 m in length.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-30
3
3-1 Servo Drive Specifications
General-purpose Input
External power supply
12 VDC ± 5% to
24 VDC
±
5%
Input current specification
10 mA max. (per point)
+ 24VIN
SI1
7
8
4.7 k Ω
1.0 k Ω
4.7 k Ω
Signal level
ON level: 10 V or more
OFF level: 3 V or less
SI2
Minimum ON time 40 ms
To another input circuit GND common
9
1.0 k Ω
To other input circuit
Sensor Input
Sensor ON Input
ABS
+
5 V
SEN 20 100
Ω
4.7 K
Ω
7406 or equivalent
At high level
Approx. 1 mA
SENGND
SENGND
13
A PNP transistor is recommended.
The signal level is as follows.
H level: 2.0 V or more, L level: 0.8 V or less
1
μ
F
Photocoupler input
Photocoupler input
3-31 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control Input Details
Details on the input pins for the CN1 connector are described here.
High-speed Photocoupler Input
Pin 3: + Reverse pulse ( + CW), + feed pulse ( + PULS), or + phase A ( + FA)
Pin 4: − Reverse pulse ( − CW), − feed pulse ( − PULS), or − phase A ( − FA)
Pin 5: + Forward pulse ( + CCW), + direction signal ( + SIGN), or + phase B ( + FB)
Pin 6: − Forward pulse ( − CCW), − direction signal ( − SIGN), or − phase B ( − FB)
Function
The functions of these signals depend on the settings of the Command Pulse Rotation Direction
Switching Selection (Pn006) and the Command Pulse Mode Selection (Pn007).
3
Pn005
Set value
Pn006
Set value
Pn007
Set value
Command pulse mode
0 0
0/2
1
Input pins
90 ° phase difference signals
(quadruple multiplier)
3:
4:
5:
6:
+
−
+
−
FA
FA
FB
FB
Reverse pulse/forward pulse
3: + CW
4: − CW
5: + CCW
6: − CCW
Motor forward command
L
Motor reverse command
L
3
Feed pulse/ direction signal
3: + PULS
4: − PULS
5: + SIGN
6: − SIGN
H L
Note 1. If the Command Pulse Rotation Direction Switching Selection (Pn006) is set to 1, the rotation direction will be reversed.
Note 2. If the photocoupler LED is turned ON, each signal will go high as shown above.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-32
3-1 Servo Drive Specifications
3
Command Pulse Timing for Photocoupler Inputs
Command pulse mode Timing
Feed pulse/direction signal
Maximum input frequency
Line driver:
500 kpps
Open collector:
200 kpps
Direction signal
Feed pulse t1 t2
Forward command t2 t1 t2
Reverse command t1 t1
τ
T
At 200 kpps t1
≤
0.5
μ s t2
>
2.5
μ s
τ ≥
2.5
μ s
T
≥
5.0
μ s
(
τ
/T)
×
100
≤
50 (%)
Forward command
At 500 kpps t1
≤
0.1
μ s t2
>
1.0
μ s
τ ≥
1.0
μ s
T
≥
2.0
μ s
(
τ
/T)
×
100
≤
50 (%)
Reverse command Reverse pulse/forward pulse
Maximum input frequency
Line driver:
500 kpps
Open collector:
200 kpps
Reverse pulse
Forward pulse t2 t1
τ t1
T
At 200 kpps t1
≤
0.5
μ s t2
>
2.5
μ s
τ ≥
2.5
μ s
T
≥
5.0
μ s
(
τ
/T)
×
100
≤
50 (%)
At 500 kpps t1
≤
0.1
μ s t2
>
1.0
μ s
τ ≥
1.0
μ s
T
≥
2.0
μ s
(
τ
/T)
×
100
≤
50 (%)
90 ° phase difference signals
Maximum input frequency
Line driver:
500 kpps
Open collector:
200 kpps
Phase-A pulse
Phase-B pulse t1
Forward command t1
Reverse command
τ
T
At 200 kpps t1
≤
0.5
μ s
τ ≥
10
μ s
T ≥ 20 μ s
( τ /T) × 100 ≤ 50 (%)
At 500 kpps t1
≤
0.1
μ s
τ ≥
4.0
μ s
T ≥ 8.0 μ s
( τ /T) × 100 ≤ 50 (%)
3-33 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Line Receiver Input
Pin 44: + Reverse pulse ( + CW), + feed pulse ( + PULS), or + phase A ( + FA)
Pin 45: − Reverse pulse ( − CW), − feed pulse ( − PULS), or − phase A ( − FA)
Pin 46: + Forward pulse ( + CCW), + direction signal ( + SIGN), or + phase B ( + FB)
Pin 47: − Forward pulse ( − CCW), − direction signal ( − SIGN), or − phase B ( − FB)
Function
The functions of these signals depend on the settings of the Command Pulse Rotation Direction
Switching Selection (Pn006) and the Command Pulse Mode Selection (Pn007).
Pn005
Set value
Pn006
Set value
Pn007
Set value
Command pulse mode
0/2
90 ° phase difference signals
(quadruple multiplier)
Input pins
44: + FA
45: − FA
46: + FB
47: − FB
1 0 1
Reverse pulse/ forward pulse
44: + CW
45: − CW
46: + CCW
47: − CCW
Motor forward command
L
Motor reverse command
L
3
Feed pulse/ direction signal
44: + PULS
45: − PULS
46: + SIGN
47: − SIGN
H L
Note 1. If the Command Pulse Rotation Direction Switching Selection (Pn006) is set to 1, the rotation direction will be reversed.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-34
3-1 Servo Drive Specifications
3
Command Pulse Timing for Line Receiver Inputs
Command pulse mode Timing
Feed pulse/direction signal
Maximum input frequency
Line driver:
4 Mpps
Direction signal
Feed pulse t1 t2
Forward command t1 t1
T
τ t2 t1 t2
Reverse command t 1
≤
20 ns t 2
>
125 ns
τ ≥
125 ns
T
≥
250 ns
(
τ
/T)
×
100
≤
50 (%)
Reverse pulse/forward pulse
Maximum input frequency
Line driver:
4 Mpps
Reverse pulse
Forward pulse
Forward command t2
Reverse command
90 ° phase difference signals
Maximum input frequency
Line driver:
4 Mpps
Phase-A pulse
Phase-B pulse t1
τ t1
T t 1
≤
20 ns t 2
>
125 ns
τ ≥
125 ns
T ≥ 250 ns
( τ /T) × 100 ≤ 50 (%)
Forward command t1 t1
τ
T
Reverse command t1
≤
20 ns
τ ≥
500
μ s
T
≥
1
μ s
(
τ
/T)
×
100
≤
50 (%)
3-35 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Sensor ON Input (SEN)
Pin 20: Sensor ON input (SEN)
Pin 13: Signal ground (SENGND)
Function
This input changes to enable (set value: 1) according to the setting of Absolute Interface
Function Selection (Pn616).
When the SEN signal turns ON, this performs serial transmission of multi-rotation data of the absolute encoder and also outputs 1-rotation data as the initial incremental pulses.
If the SEN signal is OFF, motor power supply is not possible even when the RUN signal
(Operation command) is input. The RUN signal changes to enable after the SEN signal turns
ON and the normal operation of encoder becomes ready.
If the power is turned ON with the encoder disconnected, the SEN signal is ignored.
Backup Battery Input (BAT)
Pin 42: Backup battery + input (BAT)
Pin 43: Backup battery − input (BATGND)
Function
These are the backup battery connection terminals used when the absolute encoder power is interrupted.
Normally, the battery is connected to the battery holder for the absolute encoder battery cable. Do not connect anything to these terminals.
3
Precautions for Correct Use
Be sure not to connect to both of the absolute encoder battery cable and the backup battery inputs at the same time. Such connection may result in malfunction.
Speed Command Input (REF), Torque Command Input (TREF1) and Speed Limit Input (VLIM)
Pin 14: Speed command input (REF), torque command Input (TREF1) and speed limit input
(VLIM)
Pin 15: Analog input ground (AGND1)
Function
During speed control
Speed command is input. Use the Speed Command Scale (Pn302) to change the rotation speed scale for the command input.
During torque control
This signal provides either a torque command input (set value: 0 or 2) or speed limit input (set value: 1) according to the setting of Torque Command/Speed Limit Selection (Pn317).
In the case of torque command input 1 (TREF1), you can use Torque Command Scale (Pn319) to change the rotation speed scale relative to the command input.
In the case of speed limit input (VLIM), you can use the Speed Command Scale (Pn302) to change the limit speed scale relative to the analog input.
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3
3-1 Servo Drive Specifications
Torque Command Input 2 (TREF2) and Forward Torque Limit Input (PCL)
Pin 16: Torque command input 2 (TREF2) and forward torque limit input (PCL)
Pin 17: Analog input ground 2 (AGND2)
Function
During position control, speed control or fully-closed control
This signal provides a forward torque limit input (set value: 0 or 4) or forward/reverse torque limit input (set value: 5) according to the setting of Torque Limit Selection (Pn521).
You can use Analog Torque Limit Scale (Pn527) to change the torque limit scale relative to the analog input.
During torque control
This signal provides a torque command input (set value: 1) according to the setting of Torque
Command/Speed Limit Selection (Pn317).
In the case of torque command input 2 (TREF2), you can use Torque Command Scale (Pn319) to change the rotation speed scale relative to the command input.
Reverse Torque Limit Input (NCL)
Pin 18: Reverse torque limit input (NCL)
Pin 17: Analog input ground 2 (AGND2)
Function
During position control, speed control or fully-closed control
This signal provides a reverse torque limit input (set value: 0 or 4) according to the setting of
Torque Limit Selection (Pn521).
You can use Analog Torque Limit Scale (Pn527) to change the torque limit scale relative to the analog input.
Operation command (RUN)
Pin 29: Operation command (RUN)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
You must always allocate the operation command (RUN). If it is not allocated, the servo will not turn ON.
Function
This input turns ON the power drive circuit for the main circuit of the Servo Drive. If this signal is not input (servo OFF), the motor cannot drive.
Forward Drive Prohibition Input (POT) and Reverse Drive Prohibition Input (NOT)
Pin 9: Forward drive prohibition input (POT)
Pin 8: Reverse drive prohibition input (NOT)
3-37 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Function
These two signals are the inputs to prohibit forward and reverse rotation (overtravel inputs).
If Drive Prohibition Input Selection (Pn504) is 1, you can use the setting of Stop Selection
(Pn505) to select the operation to be taken upon input of each prohibit signal.
If Drive Prohibition Input Selection (Pn504) is 2, drive prohibition input protection (E380) actuates upon input of a drive prohibition.
Precautions for Correct Use
Both signals are disabled (in a state in which drive prohibition will not operate) in the default settings.
If prohibiting the drive input is required, set the Drive Prohibit Input Selection (Pn504) to either 0 or
2. The setting on the Input Signal Selection 1 to 10 (Pn400 to Pn409) can change the logic and allocation for the respective Input terminals (CN1 to 8, 9 and 26 to 33).
Alarm Reset Input (RESET)
Pin 31: Alarm reset input (RESET)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
The input logic for the alarm reset input (RESET) is always NO. (You cannot set NC logic.)
Function
It is the external reset input for servo alarm. (A reset occurs at the rising edge of this input.)
Inputting for 120 ms or more releases an alarm condition.
An alarm reset also resets the content of the error counter, upon which the position loop becomes no longer effective.
Eliminate the cause of the alarm before resuming operation. To prevent danger, turn OFF the
Operation command (RUN) first, then input the alarm reset signal.
Some alarms cannot be reset with this input.
Error Counter Reset Input (ECRST)
Pin 30: Error counter reset input (ECRST)
This is the allocation at default setting. You can change the functions for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
You can only allocate the error counter reset input (ECRST) to pin 30 (SI7). Allocating to any other terminal generates an error counter reset signal allocation error (A332).
The input logic for the error counter reset input (ECRST) is always NO. (You cannot set NC logic.)
Function
Inputting the error counter reset resets the content of the error counter, upon which the position loop becomes no longer effective.
You can use Error Counter Reset Condition Selection (Pn517) to set the status (level) signal
(ON) or differential (rising edge) signal (from OFF to ON).
Input the differential signal for at least 100 μ s, or status signal for at least 1 ms. A reset may not occur if the time is shorter.
Control Mode Switching (TVSEL)
Pin 32: Control mode switching (TVSEL)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-38
3
3-1 Servo Drive Specifications
Function
If the Control mode Selection (Pn001) is set to 3 to 5, the Control mode can be switched as given in the following table.
Pn001 set value
3
4
5
OFF (first control mode)
Position control
Position control
Speed control
ON (second control mode)
Speed control
Torque control
Torque control
Gain Switching (GSEL)
Pin 27: Gain switching (GSEL)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
Function
This signal changes to enable (set value: 2) according to the setting of the Gain Switching
Mode (Pn115 for position control, Pn120 for speed control, or Pn124 for torque control).
When the signal is OFF and ON, gain 1 and gain 2 change to enable, respectively.
Damping Filter Switching 1 (DFSEL1) and Damping Filter Switching 2 (DFSEL2)
Pin 26: Damping filter switching 1 (DFSEL1)
No allocation: Damping filter switching 2 (DFSEL2)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
Function
Use the sequence signal to switch among the 4 filters for use in damping control when the setting of Damping Filter Selection (Pn213) is enable (set value: 1 or 2).
Pn213 set value
DFSEL1 DFSEL2
1
2
OFF
ON
OFF
ON
OFF
ON
−
−
OFF
OFF
ON
ON
Damping filter
1
Enabled
Damping filter
2
Enabled
Enabled
Enabled
Damping filter
3
Enabled
Damping filter
4
Enabled
Enabled
Enabled
Electronic Gear Switching 1 (GESEL1) and Electronic Gear Switching 2 (GESEL2)
Pin 28: Electronic gear switching 1 (GESEL1)
No allocation: Electronic gear switching 2 (GESEL2)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
3-39 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Function
Use these 2 signals to switch among up to 4 electronic gear ratio numerators.
GESEL1 GESEL2
OFF
OFF
ON
ON
Electronic
Gear 1
Pn009 valid
Electronic
Gear 2
Electronic
Gear 3
OFF
ON
OFF
ON
Pn500 valid
Pn501 valid
Electronic Gear Ratio Denominator (Pn010) is a common setting.
Electronic
Gear 4
Pn502 valid
Pulse Prohibition Input (IPG)
Pin 33: Pulse prohibition input (IPG)
This is the allocation at default setting. However, Command Pulse Prohibition Input (Pn518) is set to disable (set value: 1). To use this, change Pn518 to enable (set value: 0). You can change the functions for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of
Input Signal Selection 1 to 10 (Pn400 to 409).
You can only allocate the pulse prohibition input (ECRST) to pin 33 (SI10). Allocating this input to any other terminal generates a pulse prohibition input allocation error (A337).
Function
You can use this input to forcibly stop the command pulse input.
When this input is ON, the drive ignores the command pulse input and does not count pulses.
Internally Set Speed Selection 1, 2 and 3 (VSEL1, 2 and 3)
Pin 33: Internally set speed selection 1 (VSEL1) Pin 30: Internally set speed selection 2
(VSEL2)
Pin 28: Internally set speed selection 3 (VSEL3)
This is the allocation at default setting. However, Command Speed Selection (Pn300) is set to disable (set value: 0). To use this, change Command Speed Selection (Pn300) to enable (set value: 1 to 3). You can change the logics and allocations for input terminals (CN1 to 8, 9 and
26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-40
3
3-1 Servo Drive Specifications
Function
Perform speed control according to the internal speed set value in the parameter.
You can select from up to 8 internal speed set values.
Pn300 set value
1
2
3
OFF
ON
OFF
ON
OFF
ON
OFF
ON
VSEL1
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
VSEL2
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
ON
ON
VSEL3
−
−
−
−
−
−
−
−
OFF
OFF
Speed command selection
No. 1 Internally Set Speed (Pn304)
No. 2 Internally Set Speed (Pn305)
No. 3 Internally Set Speed (Pn306)
No. 4 Internally Set Speed (Pn307)
No. 1 Internally Set Speed (Pn304)
No. 2 Internally Set Speed (Pn305)
No. 3 Internally Set Speed (Pn306)
Analog speed command input (REF)
No. 1 Internally Set Speed (Pn304)
No. 2 Internally Set Speed (Pn305)
No. 3 Internally Set Speed (Pn306)
No. 4 Internally Set Speed (Pn307)
No. 5 Internally Set Speed (Pn308)
No. 6 Internally Set Speed (Pn309)
No. 7 Internally Set Speed (Pn310)
No. 8 Internally Set Speed (Pn311)
To use the internally set speeds, use NC contacts for the zero speed designation input
(VZERO). (If this is OFF, the speed command becomes 0.)The zero speed designation input
(VZERO) is set to disable (set value: 0) by default. To use this, change Zero Speed
Designation Selection (Pn315) to enable (set value: 1 to 2).
(If the zero speed designation input is not used, the motor turns at No. 1 Internally Set Speed
(Pn304) when the servo turns ON.)
Zero Speed Designation (VZERO)
No allocation: Zero speed designation (VZERO)
There is no allocation at default setting. Also, Zero Speed Designation Selection (Pn315) is set to disable (set value: 1). You can change the logics and allocations for input terminals (CN1 to
8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
Function
You can use this input to forcibly change the speed command to 0.
This signal changes to enable (set value: 1 to 3) according to the setting of Zero Speed
Designation Selection (Pn315).
0
Pn315 set value
1
2
3
Operation when ON
Zero speed designation is disabled.
The speed command becomes 0.
The speed command becomes 0, and the servo lock is applied when an actual speed is equal to or less than Position Lock Level Setting (Pn316).
The servo lock is applied when a command speed is equal to or less than the Position
Lock Level Setting (Pn316) minus 10 r/min.
3-41 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Speed Command Sign Input (VSIGN)
No allocation: Speed command sign designation (VSIGN)
There is no allocation at default setting. Also, Speed Command Direction Selection (Pn301) is set to disable (set value: 0). You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
Function
You can use this input to designate the rotation direction relative to the speed command.
If Speed Command Direction Selection (Pn301) is enable (set value: 1), the polarity of analog command input and rotation direction at internal command speed become disabled.
Pn301 set value
0
1
Pn303 set value
0
1
Not affected
VSIGN
Not affected
OFF
ON
Analog speed command
(REF)
+ Voltage (0 to 10 V)
- Voltage ( − 10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage ( − 10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage ( − 10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage ( − 10 to 0 V)
Speed command direction
*1
Forward direction
Reverse direction
Reverse direction
Forward direction
Forward direction
Reverse direction
Pn301 set value
0
1
VSIGN
Not affected
OFF
ON
Internal command speed
+ (1 to 20,000 r/min)
− ( − 20,000 to − 1 r/min)
+ (1 to 20,000 r/min)
− ( − 20,000 to − 1 r/min)
Not affected
Speed command direction
*1
Forward direction
Reverse direction
Forward direction
Reverse direction
Forward direction
Reverse direction
*1.The motor rotation direction (CW, CCW) specified by the command direction is determined by the setting of Pn000.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-42
3
3-1 Servo Drive Specifications
Torque Limit Switching (TLSEL)
No allocation: Torque Limit Switching (TLSEL)
There is no allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
Function
This input is used for switching the torque limit value.
This signal changes to enable (set value: 3 or 6) according to the setting of Torque Limit
Selection (Pn521).
Pn521 set value TLSEL
3
OFF
ON
6
OFF
ON
Forward direction
Pn013 (No. 1 Torque Limit)
Pn522 (No. 2 Torque Limit)
Reverse direction
Pn013 (No. 1 Torque Limit)
Pn522 (No. 2 Torque Limit)
Pn013 (No. 1 Torque Limit) Pn522 (No. 2 Torque Limit)
Pn525 (Forward External Torque Limit) Pn526 (Reverse External Torque Limit)
Torque Command Sign Input (TSIGN)
No allocation: Torque command sign input (TSIGN)
There is no allocation at default setting. Also, Torque Command Direction Selection (Pn318) is set to disable (set value: 0). You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
Function
You can use this input to designate the rotation direction relative to the torque command.
If Torque Command Direction Selection (Pn301) is enable (set value: 1), the polarity of torque command input is disabled.
Pn318 set value
0
1
Pn320 set value
0
1
Not affected
TSIGN
Not affected
OFF
ON
Torque command input
(TREF)
+ Voltage (0 to 10 V)
- Voltage ( − 10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage ( − 10 to 0 V)
Not affected
Torque command direction
*1
Forward direction
Reverse direction
Reverse direction
Forward direction
Forward direction
Reverse direction
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined by the setting of Pn000.
3-43 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Emergency Stop Input (STOP)
No allocation: Emergency stop input (STOP)
There is no allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
Function
This is an external alarm stop input.
Upon input of an emergency stop, the system stops according to the set value of Stop
Selection for Alarm Detection (Pn510).
Inertia Ratio Switching Input (JSEL)
No allocation: Inertia ratio switching input (JSEL)
This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10
(Pn400 to 409).
Function
You can switch the inertia ratio between Inertia Ratio 1 (Pn004) and Inertia Ratio 2 (Pn613).
When this signal is OFF, Inertia Ratio 1 (Pn004) becomes valid. If ON, Inertia Ratio 2 (Pn613) becomes valid.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-44
3-1 Servo Drive Specifications
3
Control Output Circuits
Position Feedback Output
Phase A
Output line driver
AM26C31 or equivalent
Phase B
Phase Z
0 V
FG
Servo Drive
21 + A
22
−
A
49 + B
48 − B
23 + Z
24 − Z
25 ZGND
Shell FG
+ A
Controller
R = 120 to 180 Ω
−
A
R
+ B
− B
+ Z
−
Z
R
R
GND
0 V
+ 5 V
Phase A
Phase B
Phase Z
0 V
Applicable line receiver
AM26C32 or equivalent
FG
Phase-Z Output (Open Collector Output)
Drive Controller
10
Ω
19 Z
FG
25 ZGND
Shell FG
0 V
Maximum service voltage: 30 VDC or less
Maximum output current: 50 mA or less
FG
Sequence Output
General-purpose output SO1 : 11, SO2 : 35, /ALM : 37, SO4 : 39
General-purpose output common SO1COM : 10, SO2COM : 34, ALMCOM : 36, SO4COM : 38
Servo Drive
10 Ω
11,35,37,39
+
X
Di
-
10,34,36,38
External power supply 12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50mA max.
Di: Surge voltage prevention diode
(When driving a relay directly with an output signal, always insert a diode as shown in the above figure. )
3-45 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control Output Details
Control Output Sequence
ON
Control power supply
(L1C and L2C)
OFF
ON
Internal control power supply
OFF
Approx. 100 to 300 ms
ON
MPU initialization completed
OFF
Main circuit power supply
(L1, L2 and L3)
Servo ready completed output
(READY)
ON
OFF
ON
OFF
Approx. 1.5 s
Iinitialization
*3
Approx. 2 s
0 s or more
10 ms after initialization is completed (after main circuit is turned ON *2 )
ON
Alarm output
(/ALM)
OFF
Positioning completion output
(INP)
ON
OFF
0 ms or more
Operation command input
(RUN)
ON
OFF
Approx. 2 ms
ON
Dynamic brake
OFF
Approx. 60 ms Pn437
ON
Motor power supply
OFF
Approx. 4 ms 1 to 6 ms
Brake interlock output (BKIR)
ON
OFF
100 ms or more *1
Servo position, speed, ON torque input
OFF
*1. In this section, the hardware inputs the servo ON signal, but the signal is not accepted.
*2. The servo ready completed output turns ON the moment the conditions of MPU initialization completed and main circuit power supply establishment are both satisfied.
*3. Once the internal control power is established, the protective function starts working about 1.5 s after the MPU starts initializing itself. Make sure all I/O signals which connect to the amplifier (especially forward/reverse direction, drive prohibition input and external encoder input) are established before operation of the protective function starts. Also, you can increase this time with Pn618 "Power Supply ON Initialization Time."
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-46
3
3-1 Servo Drive Specifications
Encoder Outputs (Phases A, B and Z)
Pin 21: + A, 22: -A, 48: -B, 49: + B, 23: + Z, 24: -Z
Function
It outputs the phase A, phase B, and phase Z encoder signals for the Servomotor.
The encoder outputs conform to the RS-422 communication method.
You can use External Feedback Pulse Dividing Numerator Setting (Pn324) and External
Feedback Pulse Dividing Denominator Setting (Pn325) to set the dividing ratio.
The logical relation of phase B to the phase A pulse and whether to set the output source to an encoder or external encoder can be selected with Encoder Output Direction Switching Selection
(Pn012).
The ground for the output circuit line driver is connected to the signal ground (ZGND). It is not isolated.
The maximum output frequency is 4 Mpps (after quadruple multiplier).
The output frequency = the motor encoder resolution × (Pn324/Pn325) × 4 × motor rotation speed
(r/min)/60
The output phases are as shown below. (They are the same for both incremental and absolute encoders.)
Phase A
Phase B
Phase Z
Synchronous
If the motor encoder resolution × Pn324/Pn325 is a multiple of 4, phases Z and A are synchronized.
Phase A
Phase B
Phase Z
Asynchronous
In cases except for the one on the left, phases A and Z are not synchronized.
3-47 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Brake Interlock Output (BKIR)
Pin 11: Brake interlock output (BKIR)
Pin 10: Brake interlock output common (BKIRCOM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This outputs an external brake timing signal according to the settings of the Brake Timing when
Stopped (Pn437) and Brake Timing During Operation (Pn438).
Servo Ready Completed Output (READY)
Pin 35: Servo ready completed output (READY)
Pin 34: Servo ready completed output common (READYCOM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This output signal indicates the Servo Drive is ready to supply power to the Servomotor.
It is turned ON when the control and main power supply is established and not in alarm status.
3
Alarm Output (/ALM)
Pin 37: Alarm Output (/ALM)
Pin 36: Alarm output common (ALMCOM)
The alarm output terminal is fixed to pin 36 or 37.
Function
The output is turned OFF when the drive detects an error.
This output is OFF when the power supply is turned ON, but turns ON when the drive's initial processing has been completed.
Positioning Completion Output 1 (INP1) and Positioning Completion Output 2 (INP2)
Pin 39: Positioning completion output 1 (INP1)
Pin 38: Positioning completion output common (INP1COM)
No allocation: Positioning completion output 2 (INP2)
No allocation: Positioning completion output 2 common (INP2COM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
The INP1 turns ON when the error counter accumulated pulse is less than or equal to the
Positioning Completion Range 1 (Pn431) set value.
The INP2 turns ON when the error counter accumulated pulse is less than or equal to the
Positioning Completion Range 2 (Pn442) set value.
The output turns ON according to Positioning Completion Condition Selection (Pn432).
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3-1 Servo Drive Specifications
3
3-49
Motor Rotation Speed Detection Output (TGON)
Pin 39: Motor rotation speed detection output (TGON)
Pin 38: Motor rotation speed detection output common (TGONCOM)
This is the allocation at default setting. You can change the allocations of output terminals (CN1 to
10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413).
Function
It turns ON when the speed of the Servomotor exceeds the set value of the Rotation Speed for
Motor Rotation Detection (Pn436).
Torque Limiting Signal (TLIMT)
No allocation: Torque limiting signal (TLIMT)
No allocation: Torque limiting signal common (TLIMTCOM)
This is the allocation at default setting. You can change the allocations of output terminals (CN1 to
10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413).
Function
This output turns ON while the torque is limited.
Zero Speed Detection Signal (ZSP)
No allocation: Zero speed detection signal (ZSP)
No allocation: Zero speed detection signal common (ZSPCOM)
This is the allocation at default setting. You can change the allocations of output terminals (CN1 to
10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413).
Function
This output turns ON when the motor rotation speed is equal to Zero Speed Detection (Pn434) or less.
Speed Conformity Output Signal (VCMP)
No allocation: Speed conformity output signal (VCMP)
No allocation: Speed conformity output signal common (VCMPCOM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This output turns ON when the command speed corresponds to the motor rotation speed.
This output turns ON when the difference between the command speed and motor speed is equal to the Speed Conformity Detection Width (Pn435) or less.
Warning Output 1 (WARN1) and Warning Output 2 (WARN2)
No allocation: Warning output 1 (WARN1) and warning output 2 (WARN2)
No allocation: Warning output 1 common (WARN1COM) and warning output 2 common
(WARN2COM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
The output turns ON according to the setting conditions of Warning Output Selection 1 (Pn440) and Warning Output Selection 2 (Pn441).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Position Command Status Output (P-CMD)
No allocation: Position command status output (P-CMD)
No allocation: Position command status output common (P-CMDCOM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This output turns ON when a positioning command is input.
Speed Limiting Output (V-LIMIT)
No allocation: Speed limiting output (V-LIMIT)
No allocation: Speed limiting output common (V-LIMITCOM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This turns ON during torque control or speed limit status.
3
Alarm Clear Attribute Output (ALM-ATB)
No allocation: Alarm clear attribute output (ALM-ATB)
No allocation: Alarm clear attribute output common (ALM-ATB COM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This output turns ON when an alarm occurs or the alarm can be cleared.
Speed Command Status Output (V-CMD)
No allocation: Speed command status output (V-CMD)
No allocation: Speed command status output common (V-CMDCOM)
This is the allocation at default setting. You can change the allocations of output terminals
(CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4
(Pn410 to 413).
Function
This output turns ON during speed control or when a speed command is input.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-50
3-1 Servo Drive Specifications
3
Encoder Connector Specifications (CN2)
2
3
4
Pin number
1
Symbol
E5V
E0V
BAT +
BAT −
5 PS +
6 PS −
Shell FG
Name Function and interface
Encoder power supply + 5 V Power supply output for the encoder
Encoder power supply GND
Backup power supply output for the absolute encoder Battery +
Battery −
Encoder + phase S input
Encoder signal I/O (serial signal)
Encoder − phase S input
Frame ground Frame ground
Connectors for CN2 (6 Pins)
Name
Drive connector
Cable connector
Model
53460-0629
55100-0670
Manufacturer
Molex Japan
OMRON model number
−
R88A-CNW01R
External Encoder Connector Specifications (CN4)
These are the specifications of the connector that connects to the external encoder.
2
5
6
3
4
7
8
9
10
Shell
Pin number
1
Symbol
E5V
E0V
+EXS
− EXS
+EXA
− EXA
+EXB
− EXB
+EXZ
− EXZ
FG
Name Function and interface
External encoder power supply output
External encoder signal I/O
(Serial signal)
Use at 5.2 V ± 5% and at or below 250 mA.
This is connected to the control circuit ground connected to connector CN1.
Performs serial signal input and output.
Performs input and output of phase A, B, and Z signals.
External encoder signal input
(Phase A, B, and Z signals)
Frame ground Frame ground
Connectors for CN4 (10 Pins)
Name
Connector
Model
MUF-PK10K-X
Manufacturer
JST Mfg. Co., Ltd.
OMRON model number
R88A-CNK41L
3-51 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
External Encoder Input Signals Table
External Encoder I/O (CN4)
3
4
Pin number
1
Symbol
E5V
Name Function and interface
2
5
E0V
+
−
+
EXS
EXS
EXA
External encoder power supply output
External encoder signal serial interface
External encoder signal
90 ° phase difference input
(Phases A, B and Z)
External encoder power supply: 5.2 VDC ± 5%, 250 mA max.
If the above capacity is exceeded, provide a separate power supply.
This is an external encoder serial bi-directional signal.*(Conforming to EIA485)
Maximum response frequency: 400 Mpps
This is an external encoder 90 ° phase input signal.*
Maximum response frequency: 4 Mpps (quadruple multiplier)
6 − EXA
7 + EXB
EXA t1
8 − EXB t1
9
10
+
−
EXZ
EXZ
EXB t1 t2 t1 t1
>
0.25
μ s t2
>
1.0
μ s
* Connect external encoder signals to the serial interface ( + EXS/ − EXS) or 90 ° phase difference inputs according to the encoder type.
3
Example of Connection with External Encoder
90 ° Phase Difference Output Type (Pn323 = 0)
External encoder side
Phase A
Phase B
Phase Z
Power supply area
+5 V
0 V
PA
/PA
PB
/PB
PC
/PC
FG
E5V
Servo Drive side (CN4)
1
5 V
5.2 V ± 5% 250 mA max
E0V 2
GND
+EXA 5
2 k Ω
− EXA 6
120 Ω
2 k
Ω
2 k
Ω
+EXB 7
− EXB 8
120
Ω
2 k Ω
2 k
Ω
+EXZ
− EXZ
FG
9
10
120
Shell
2 k Ω
Ω
20 k
20 k
20 k
20 k
20 k
20 k
Ω
Ω
Ω
Ω
Ω
Ω
FG
PULS
PULS
PULS
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-52
3
3-1 Servo Drive Specifications
Serial Communications Type, Incremental Encoder Specifications (Pn323 = 1)
Magnescale Incremental by Sony
Manufacturing Systems Corporation SR75/SR85 Servo Drive side (CN4)
Serial number
+5 V
0 V
SD/RQ
− SD/ − RQ
E5V 1
5 V
+ EXS 3
GND
680
Ω
−
E0V 2
EXS 4
120 Ω
680 Ω
FG FG Shell
FG
3-53 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Analog Monitor Connector Specifications (CN5)
Monitor Output Signal Table
Monitor output (CN5)
Pin
Number
Symbol Name
Analog monitor output 1
1 AM1
2 AM2
Analog monitor output 2
5
6
3
4
GND
−
−
−
Analog monitor ground
Not used
Not used
Not used
Connectors for CN5 (6 Pins)
Name
Connector housing
Connector terminal
Model
51004-0600
50011-8000
Function and interface
Outputs the analog signal for the monitor.
Default setting: Motor rotation speed 1 V/(500 r/min)
You can use Pn416 and Pn417 to change the item and unit.
You can use Pn421 to change the output method.
Outputs the analog signal for the monitor.
Default setting: Torque command, 1 V/(33%)
You can use Pn418 and Pn419 to change the item and unit.
You can use Pn421 to change the output method.
Ground for analog monitors 1, 2
Do not connect.
Do not connect.
Do not connect.
Manufacturer
Molex Japan
Molex Japan
3
Monitor Output Circuit
Servo Drive
−
+
1 k
Ω
1/2 AM1/AM2
Monitor equipment
3 GND
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-54
3-1 Servo Drive Specifications
3
USB Connector Specifications (CN7)
Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking alarm status and alarm history, and parameter saving and loading can be performed.
4
5
2
3
Pin number
1
Symbol
VBUS
D −
D +
−
GND
Name
USB signal terminal
Function and interface
Use this function for computer communication.
Reserved for manufacturer use Do not connect.
Signal ground Signal ground
Precautions for Correct Use
Use a commercially available USB cable that is shielded, equipped with a ferrite core for noise immunity, and supports USB2.0. The Mini B type USB cable can be used.
Safety Connector Specifications (CN8)
Connection of Safety I/O Signals and Processing of External Signals
External power supply
12 VDC ± 5% to
24 VDC ± 5%
External power supply
12 VDC ± 5% to
24 VDC ± 5%
SF1 +
4
4.7 k Ω
1 k Ω
SF1 −
3
SF2 +
6
4.7 k
Ω
1 k
Ω
SF2 −
5
10 8
7
EDM
+
EDM −
Maximum servicevoltage
: 30 VDC or less.
Maximum output current
: 50 mADC.
Leakage current
: 0.1 mA max.
Residual voltage
: 1.7 V max.
Shell
FG
3-55 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Safety I/O Signal Table
Safety I/O (CN8)
4
5
2
3
Pin
Number
1
6
7
8
Shell
Symbol Name
−
−
SF1 −
SF1 +
Reserved
Safety input 1
SF2 −
SF2 +
Safety input 2
EDM − EDM output
EDM +
FG Frame ground
Do not connect.
Function and interface
Inputs 1 and 2 for operating the STO function, which are
2 independent circuits. This input turns OFF the power transistor drive signals in the Servo Drive to cut off the current output to the motor.
A monitor signal is output to detect a safety function failure.
Connected to the ground terminal inside the Servo Drive.
Connector for CN8 (8 Pins)
Name Model Manufacturer
OMRON model number
Tyco Electronics AMP KK R88A-CNK81S Industrial Mini I/O Connector
(D-SHAPE1)
2013595-1
Note. The recommended cable is a 6-conductor (AWG30 to AWG26) shielded cable with a finished outer diameter of 6.7 mm max.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-56
3-1 Servo Drive Specifications
3
Safety Input Circuit
External power supply
12 VDC ± 5% to
24 VDC ± 5%
Signal level
ON level: 10 V or more
OFF level: 3 V or less
SF1 + 4
SF1 − 3
SF2 + 6
SF2 − 5
Servo Drive
4.7 k Ω
1 k Ω
4.7 k Ω
1 k
Ω
Photocoupler input
Photocoupler input
EDM Output Circuit
Servo Drive
10 Ω
7
8
+
−
EDM
EDM
X
Di
External power supply
12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50 mA max.
Leakage current: 0.1 mA max.
Residual voltage: 1.7 V max.
Di: Surge voltage prevention diode
(Use a high-speed diode.)
3-57 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-2 Overload Characteristics (Electronic Thermal Function)
3-2 Overload Characteristics (Electronic Thermal Function)
An overload protection function (electronic thermal) is built into the Servo Drive to protect the
Servo Drive and motor from overloading.
If an overload does occur, first eliminate the cause of the overload and then wait at least 1 minute for the motor temperature to drop before turning ON the power again.
If the alarm reset is repeated at short intervals, the motor windings may burn out.
Overload Characteristics Graphs
The following graphs show the characteristics of the load ratio and electronic thermal function's operation time.
Time [s]
100
10
[100 V, 200 V]
3,000-r/min Servomotors
50 W
100 W (100 V)
100 W (200 V)
200 W
400 W
750 W
1
3
0.1
115
100
100
150 200
10
1
250 300 Overload [%]
[200 V]
3,000-r/min Servomotors 1.0 kW to 5 kW
2,000-r/min Servomotors
1,500-r/min Servomotors
1,000-r/min Servomotors
[400 V]
3,000-r/min Servomotors
2,000-r/min Servomotors
1,500-r/min Servomotors
1,000-r/min Servomotors
0.1
115
100 150 200 250 300 Overload [%]
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-58
3
3-3 Servomotor Specifications
3-3 Servomotor Specifications
The following OMNUC G5-Series AC Servomotors are available.
3,000-r/min Servomotors
2,000-r/min Servomotors
1,500-r/min Servomotors
1,000-r/min Servomotors
There are various options available, such as models with brakes, or different shaft types.
Select a Servomotor based on the mechanical system's load conditions and the installation environment.
General Specifications
Item
3,000-r/min Servomotors
1,000-r/min Servomotors
1,500-r/min Servomotors
2,000-r/min Servomotors
900 W to 15 kW
Ambient operating temperature and operating humidity
Storage ambient temperature and humidity
Operating and storage atmosphere
Vibration resistance *
1
50 to 750 W 1 to 5 kW
0 to + 40 ° C, 20% to 85% (with no condensation)
− 20 to + 65 ° C, 20% to 85% (with no condensation)
Maximum allowable temperature: 80 ° C for 72 hours maximum (standard humidity)
No corrosive gases
Acceleration of 49 m/s
2
24.5 m/s
2
max. in X, Y, and Z directions when the motor is stopped
Impact resistance
Insulation resistance
Dielectric strength
Insulation class
Protective structure
EC
Directive
Low
Voltage
Directive
UL standards
CSA standards
Acceleration of 98 m/s 2 max. 3 times each in X, Y, and Z directions
Between power terminal and FG terminal: 20 M Ω min. (at 500 VDC)
1,500 VAC between power terminal and FG terminal for 1 min (voltage 100 V, 200 V)
1,800 VAC between power terminal and FG terminal for 1 min (voltage 400 V)
1,000 VAC between brake terminal and FG terminal for 1 min
Type B Type F
IP67 (except for through-shaft parts and motor and encoder connector pins)
EN60034 1/ 5
UL1004-1
CSA22.2 No. 100
UL1004-1, UL1004-6 *2
*1. The amplitude may be amplified by machine resonance. Do not exceed 80% of the specified value for extended periods of time.
*2. UL 1004-6 applies only to 1,500-r/min Servomotors of 7.5 to 15 kW and 1,000-r/min Servomotors of 4.5 to 6 kW.
Note 1. Do not use the cable when it is laying in oil or water.
Note 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself.
Note 3. Disconnect all connections to the Servomotor before attempting a megameter test (insulation resistance measurement) on a Servomotor. Failure to follow this guideline may result in damaging the Servomotor.
Never perform a dielectric strength test on the Servomotor. Failure to follow this guideline may result in damaging the internal elements.
3-59 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Characteristics
3,000-r/min Servomotors
Model (R88M-)
K05030H K10030L
Item Unit
Rated output *
1
Rated torque *
1
W
N • m
Rated rotation speed r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
50
0.16
3,000
6,000
0.48
K05030T
100
0.32
0.95
K10030S
Rated current *
1
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
−
2
2
4.7
0.025
× 10
-4
0.027
× 10
-4
N • m/A 0.11
± 10%
6.9
0.051
0.054
× 10
30 times the rotor inertia max. *
0.14
±
× 10
-4
-4
10%
2
Power rate
*
1
Without brake kW/s
With brake
A (rms) kW/s
1.1
10.1
9.4
1.6
19.8
18.7
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
Allowable radial load *
3 N
1.43
1.54
0.82
68
1.03
1.09
0.91
68
Allowable thrust load *
3
Weight Without brake
N kg
58
Approx. 0.31
With brake kg Approx. 0.51
Radiator plate dimensions (material) 100 × 80 × t10 (AI)
Applicable Servo Drives (R88D-)
Brake inertia kg • m
2
KTA5L
2 × 10
-7
Excitation voltage * 4 V 24 VDC ± 5%
Power consumption
(at 20 ° C)
W
Current consumption
(at 20 ° C)
A
Static friction torque N • m
7
0.3
0.29 min.
58
Approx. 0.45
Approx. 0.65
KT01L
2 × 10
-7
7
0.3
0.29 min.
Attraction time *
5 ms 35 max.
35 max.
Release time *
5
Backlash ms
Allowable work per braking
J
Allowable total work J
20 max.
± 1 °
39.2
4.9
× 10
3
20 max.
39.2
4.9
× 10
3
100 VAC
K20030L
200
0.64
1.91
2.5
10.6
0.14
0.16
× 10
0.20
± 10%
28.9
25.3
0.61
0.70
3.0
245
98
400
1.3
0.26
K40030L
K40030S
× 10
0.28
× 10
0.21
± 10%
62.3
57.8
0.48
0.52
3.4
245
1.27 min.
50 max.
-4
-4
Approx. 0.78
Approx. 1.2
Approx. 1.2
Approx. 1.6
130 × 120 × t12 (AI)
KT02L
1.8
× 10
-6
KT04L
1.8
× 10
-6
9
0.36
1.27 min.
50 max.
15 max.
137
44.1
K20030S
×
×
10
10
-4
-4
3
3.8
4.6
19.5
98
9
0.36
20 max.
137
44.1
× 10
3
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-60
3
3-3 Servomotor Specifications
Item
Model (R88M-)
Brake limit
Rating
Insulation class
−
−
Unit rad/s
2
−
K05030H
K05030T
K10030L
K10030S
100 VAC
K20030L
K20030S
K40030L
K40030S
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
10 million times min.
Continuous
Type F
3-61 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1 W
Unit
50
K05030H
K05030T
100
K10030H
K10030T
Rated torque *
1 N • m
Rated rotation speed r/min
Maximum rotation speed r/min
0.16
3,000
6,000
0.32
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
0.48
1.1
0.95
1.1
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
4.7
0.025
× 10
-4
0.027
× 10
-4
−
N • m/A 0.11
± 10%
4.7
0.051
0.054 × 10
0.21
±
× 10
-4
10%
-4
30 times the rotor inertia max.*
2
Power rate
*
1
Without brake kW/s
With brake kW/s
10.1
9.4
19.8
18.7
1.43
1.07
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
1.54
0.82
1.13
0.90
Allowable radial load *
3
Allowable thrust load *
3
N
N
68
58
68
58
Weight Without brake
With brake kg kg
Approx. 0.31
Approx. 0.51
Approx. 0.46
Approx. 0.66
Radiator plate dimensions (material) 100 × 80 × t10 (AI)
Applicable Servo Drives (R88D-) KT01H KT01H
200 VAC
200
0.64
1.91
1.5
6.5
0.14
0.16
0.32
28.9
25.3
0.58
0.66
3.2
245
98
K20030H
K20030T
×
×
±
10
10
-4
-4
10%
Approx. 0.79
Approx. 1.2
400
1.3
3.8
2.4
10.2
0.26
K40030H
K40030T
0.28
× 10
0.40
62.3
57.8
0.43
0.46
3.4
245
98
×
±
10
-4
-4
10%
Approx. 1.2
Approx. 1.6
130 × 120 × t12 (AI)
KT02H KT04H
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-62
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage *
4 V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking ms ms
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K05030H
K05030T
2 × 10
-7
24 VDC ± 5%
7
2 × 10
-7
7
K10030H
K10030T
200 VAC
9
K20030H
K20030T
1.8
× 10
-6
K40030H
K40030T
1.8
× 10
-6
9
0.3
0.3
0.36
0.36
0.29 min.
35 max.
20 max.
± 1 °
39.2
0.29 min.
35 max.
20 max.
1.27 min.
50 max.
15 max.
1.27 min.
50 max.
15 max.
39.2
137 137
4.9
× 10
3
4.9
× 10
3
44.1
× 10
3
44.1
× 10
3
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
10 million times min.
Continuous
Type F
3-63 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1 W
Unit
750
K75030H
K75030T
Rated torque *
1 N • m
Rated rotation speed r/min
Maximum rotation speed r/min
2.4
3,000
6,000
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
A (0-p)
Without brake kg • m
2
With brake kg • m
2
Applicable load inertia
−
7.1
4.1
0.87
× 10
-4
0.97
× 10
-4
20 times the rotor inertia max. *
2
Torque constant *
Power rate
*
1
1 N • m/A 0.45
± 10%
Without brake kW/s
With brake kW/s
65.4
58.7
0.37
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
0.42
5.3
Allowable radial load *
3 N 392
Allowable thrust load *
3
Weight Without brake
N kg
147
Approx. 2.3
With brake kg Approx. 3.1
Radiator plate dimensions (material) 170 × 160 × t12 (AI)
Applicable Servo Drives (R88D-) KT08H
1000
3.18
5,000
9.55
6.6
28
2.03
× 10
-4
2.35
× 10
-4
196
200 VAC
K1K030H
K1K030T
Approx. 3.5
Approx. 4.5
320 × 300 × t20 (AI)
KT15H
1500
4.77
14.3
8.2
35
2.84
3.17
×
×
15 times the rotor inertia max. *
2
0.37
49.8
43.0
0.61
0.71
5.8
490
0.45
80.1
71.8
0.49
0.55
6.3
490
196
K1K530H
K1K530T
10
10
Approx. 4.4
Approx. 5.4
KT15H
-4
-4
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-64
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage *
4 V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking ms ms
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K75030H
K75030T
7.5
× 10
-6
24 VDC ± 5%
10
0.42
2.45 min.
70 max.
20 max. *
6
± 1 °
196
1.47
× 10
5
30,000
10 million times min.
Continuous
Type F
392
4.9
× 10
5
10,000
200 VAC
K1K030H
K1K030T
0.33
× 10
-4
24 VDC ± 10%
19
0.81
± 10%
7.8 min.
50 max.
15 max. *
6
K1K530H
K1K530T
0.33
× 10
-4
19
0.81
± 10%
7.8 min.
50 max.
15 max. *
6
392
4.9
× 10
5
3-65 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1
Rated torque *
1
W
Unit
N • m
Rated rotation speed r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
Rated current *
1
Momentary maximum current *
1
N • m
A (rms)
A (0-p)
19.1
11.3
48
2000
6.37
K2K030H
K2K030T
3,000
5,000
3000
9.55
28.6
18.1
77
K3K030H
K3K030T
Rotor inertia
Without brake
Applicable load inertia
Torque constant *
1 kg • m
With brake kg • m
-
2
2
3.68
N • m/A 0.44
× 10
− 4
4.01
× 10
− 4
6.50
× 10
− 4
7.85
× 10
− 4
15 times the rotor inertia max. *
0.41
2
Power rate
*
1
Without brake kW/s 110 140
Mechanica l time constant
With brake kW/s
Without brake ms
With brake ms
Electrical time constant ms
Allowable radial load *
3
N
Allowable thrust load *
3
N
101
0.44
0.48
6.7
490
196
116
0.41
0.49
11
490
196
Weig ht
Without brake
With brake kg kg
Approx. 5.3
Approx. 6.3
Approx. 8.3
Approx. 9.4
Radiator plate dimensions (material) 380 × 350 × t30 (AI)
Applicable drives (R88D-) KT20H KT30H
200 VAC
4000
12.7
K4K030H
K4K030T
4,500
38.2
19.6
83
12.9
14.2
0.49
126
114
0.51
0.56
12
784
343
×
×
10
10
Approx. 11.0
Approx. 12.6
KT50H
− 4
− 4
5000
15.9
K5K030H
K5K030T
4,500
47.7
24.0
102
17.4
× 10
− 4
18.6
× 10
− 4
0.49
146
136
0.50
0.54
13
784
343
Approx. 14.0
Approx. 16.0
KT50H
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-66
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Excitation voltage *
4
Allowable angular acceleration
Brake limit
Rating
Insulation class
-
-
-
Unit kg • m
2
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5 ms
Release time *
5 ms
Backlash
Allowable work per braking
J
Allowable total work J rad/s
2
K2K030H
K2K030T
0.33
× 10
− 4
24 VDC ± 10%
19 19
K3K030H
K3K030T
0.33
× 10
− 4
0.81
± 10%
7.8 min.
50 max.
15 max. *
6
± 1 °
392
4.9
× 10
6
10,000
10 million times min.
Continuous
Type F
0.81
± 10%
11.8 min.
80 max.
15 max. *
6
392
4.9
× 10
6
200 VAC
K4K030H
K4K030T
1.35
× 10
− 4
22
0.90
± 10%
16.1 min.
110 max.
50 max. *
7
1,470
2.2
× 10
6
K5K030H
K5K030T
1.35
× 10
− 4
22
0.90
± 10%
16.1 min.
110 max.
50 max. *
7
1,470
2.2
× 10
6
3-67 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1 W
Unit
750
K75030F
K75030C
Rated torque *
1 N • m
Rated rotation speed r/min
Maximum rotation speed r/min
2.39
3,000
5,000
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
Momentary maximum current *
1
Rotor inertia
A (0-p)
Without brake kg • m
2
With brake kg • m
2
Applicable load inertia
−
7.16
2.4
10
1.61
1.93
×
×
10
10
-4
-4
20 times the rotor inertia max. *
2
3.18
9.55
3.3
14
2.03
K1K030F
K1K030C
1000
× 10
2.35
× 10
-4
-4
Torque constant * 1 N • m/A
Power rate
*
1
Without brake kW/s
With brake kW/s
0.78
35.5
29.6
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
0.67
0.8
5.9
0.75
49.8
43
0.60
0.70
5.8
Allowable radial load *
3 N 490 490
Allowable thrust load *
3
Weight Without brake
N kg
196
Approx. 3.1
196
Approx. 3.5
With brake kg Approx. 4.1
Approx. 4.5
Radiator plate dimensions (material) 320 × 300 × t20 (AI)
Applicable Servo Drives (R88D-) KT10F KT15F
400 VAC
K1K530F
K1K530C
1500
4.77
14.3
4.2
18
2.84
0.89
80.1
71.8
0.49
0.55
6.5
490
196
× 10
3.17
× 10
-4
-4
15 times the rotor inertia max. *
Approx. 4.4
Approx. 5.4
KT15F
2
K2K030F
K2K030C
2000
6.37
19.1
5.7
24
3.68
× 10
-4
4.01
× 10
-4
0.87
110
101
0.45
0.49
6.6
490
196
Approx. 5.3
Approx. 6.3
KT20F
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-68
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage *
4 V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking ms ms
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K75030F
K75030C
0.33
× 10
-4
24 VDC ± 10%
17 19
K1K030F
K1K030C
0.33
× 10
-4
0.70
± 10%
2.5 min.
50 max.
15 max. *
6
± 1 °
392
4.9
× 10
5
10,000
10 million times min.
Continuous
Type F
0.81
± 10%
7.8 min.
50 max.
15 max. *
6
392
4.9
× 10
5
400 VAC
K1K530F
K1K530C
0.33
× 10
-4
19
0.81
± 10%
7.8 min.
50 max.
15 max. *
6
392
4.9
× 10
5
K2K030F
K2K030C
0.33
× 10
-4
19
0.81
± 10%
7.8 min.
50 max.
15 max. *
6
392
4.9
× 10
5
3-69 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1 W
Unit
3000
K3K030F
K3K030C
Allowable radial load *
3
Allowable thrust load *
3
N
N
490
196
Weight Without brake
With brake kg kg
Approx. 8.3
Approx. 9.4
Radiator plate dimensions (material) 380 × 350 × t30 (AI)
Applicable Servo Drives (R88D-) KT30F
4000
400 VAC
K4K030F
K4K030C
Rated torque *
1 N • m
Rated rotation speed r/min
Maximum rotation speed r/min
9.55
3,000
5,000
12.7
4,500
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
28.6
9.2
38.2
9.9
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
39
6.50
× 10
-4
7.85
× 10
-4
−
N • m/A 0.81
42
12.9
14.2
0.98
×
×
10
10
15 times the rotor inertia max. *
2
-4
-4
Power rate
*
1
Without brake kW/s
With brake kW/s
140
116
126
114
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
0.40
0.49
12
0.51
0.56
13
784
343
Approx. 11.0
Approx. 12.6
KT50F
5000
15.9
K5K030F
K5K030C
47.7
12.0
51
17.4
× 10
-4
18.6
× 10
-4
0.98
146
136
0.50
0.54
13
784
343
Approx. 14.0
Approx. 16.0
KT50F
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-70
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage *
4 V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking ms ms
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K3K030F
K3K030C
0.33
× 10
-4
24 VDC ± 10%
19
0.81
± 10%
11.8 min.
80 max.
15 max. *
6
± 1 °
392
4.9
× 10
5
10,000
10 million times min.
Continuous
Type F
400 VAC
K4K030F
K4K030C
0.33
× 10
-4
22
0.90
± 10%
16.1 min.
110 max.
50 max. *
7
1470
2.2
× 10
6
K5K030F
K5K030C
1.35
× 10
-4
22
0.90
± 10%
16.1 min.
110 max.
50 max. *
7
1470
2.2
× 10
6
3-71 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
*1. These are the values when the Servomotor is combined with a drive at normal temperature (20 ° C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (T/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
*7. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
3
Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors
3,000-r/min Servomotor (100 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input.
• R88M-K05030H/T (50 W) • R88M-K10030L/S (100 W) • R88M-K20030L/S (200 W)
(N • m)
Power supply voltage dropped by 10%
0.48 (4000)
0.5 0.48
0.25
Momentary operation range
0.16 0.16
Continuous operation range
0
0.3
0.08
6000
(r/min)
(N • m)
Power supply voltage dropped by 10%
0.95(3700)
1.0 0.95
Momentary operation range
0.5
0.32
0.32
Continuous operation range
4300
0
0.56
0.4
0.16
5000 6000
(r/min)
(N • m) Power supply voltage dropped by 10%
1.91 (2600)
2.0 1.91
1.0
Momentary operation range
0.64 0.64
Continuous operation range
3100
0
0.8
0.64
0.32
6000
(r/min)
• R88M-K40030L/S (400 W)
(N • m)
Power supply voltage dropped by 10%
3.8(2600)
4.0 3.8
2.0
Momentary operation range
1.3 1.3
Continuous operation range
3100
0
1.7
1.3
0.32
6000
(r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-72
3
3-3 Servomotor Specifications
3,000-r/min Servomotor (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K05030H/T (50 W)
(N • m)
Power supply voltage dropped by 10%
0.48 (4000)
0.5 0.48
0.25
Momentary operation range
0.16 0.16
Continuous operation range
0
0.3
0.08
6000
(r/min)
• R88M-K10030H/T (100 W)
(N • m)
1.0 0.95
Power supply voltage dropped by 10%
0.95(5000)
0.9
0.5
Momentary operation range
0.32
0.32
Continuous operation range 0.16
0 6000
(r/min)
• R88M-K20030H/T (200 W)
(N • m)
2.0 1.91
Power supply voltage dropped by 10%
(4000) 1.91 (4600)
Momentary operation range
1.0
0.64
0.64
Continuous operation range
0
1.3
1.1
0.32
6000
(r/min)
• R88M-K40030H/T (400 W)
(N • m)
4.0 3.8
Power supply voltage dropped by 10%
(3100) 3.8(3600)
2.0
Momentary operation range
1.3 1.3
Continuous operation range
0
2.0
1.7
0.64
6000
(r/min)
• R88M-K75030H/T (750 W)
(N • m)
8.0 7.1
Power supply voltage dropped by 10%
(3200)
7.1(3600)
4.0
Momentary operation range
2.4
2.4
Continuous operation range
0 1000 2000 3000
3.4
3.0
0.60
6000
(r/min)
• R88M-K1K030H/T (1 kW)
(N • m)
Power supply voltage dropped by 10%
(3800) 9.55(4200)
10 9.55
5
Momentary operation range
3.18
3.18
Continuous operation range
0
6.0
4.0
1.9
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K530H/T (1.5 kW)
(N • m)
Power supply voltage dropped by 10%
7.5
Momentary operation range
4.77
4.77
Continuous operation range
0
4.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K4K030H/T (4 kW)
• R88M-K2K030H/T (2 kW)
(N • m)
Power supply voltage dropped by 10%
10
Momentary operation range
0
Continuous operation range
1000 2000 3000 4000 5000
(r/min)
• R88M-K3K030H/T (3 kW)
(N • m)
Power supply voltage dropped by 10%
(3100) 28.7(3400)
15
0
Momentary operation range
9.55
9.55
12.0
8.0
5.7
Continuous operation range
1000 2000 3000 4000 5000
(r/min)
• R88M-K5K030H/T (5 kW)
(N • m) (N • m)
40 38.2
Momentary operation range
38.2(3100)
Power supply voltage dropped by 10%
20
(2800)
12.7
12.7
10.0
Continuous operation range
0
50 47.7
Momentary operation range
47.7(3200)
Power supply voltage dropped by 10%
25
(2800)
15.9
15.9
Continuous operation range
15.0
1000 2000 3000 4000 5000
(r/min)
0 1000 2000 3000 4000 5000
(r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
3-73 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
3,000-r/min Servomotor (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input.
• R88M-K75030F/C (750 W)
(N • m)
Power supply voltage dropped by 10%
4
Momentary operation range
0
Continuous operation range
1.6
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K030F/C (1 kW)
(N • m)
Power supply voltage dropped by 10%
(3800)
9.55(4200)
5
Momentary operation range
3.18
3.18
Continuous operation range
0
6.0
4.0
1.9
1000 2000 3000 4000 5000
(r/min)
• R88M-K1K530F/C (1.5 kW)
(N • m)
Power supply voltage dropped by 10%
(3200) 14.3(3600) 15 14.3
Momentary operation range
7.5
4.77
4.77
Continuous operation range
0
4.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K2K030F/C (2 kW)
(N • m)
20 19.1
Power supply voltage dropped by 10%
(3300) 19.1(3700)
10
Momentary operation range
6.37
6.37
Continuous operation range
0
7.0
2.0
1000 2000 3000 4000 5000
(r/min)
• R88M-K3K030F/C (3 kW)
(N • m)
30 28.6
Power supply voltage dropped by 10%
(3100) 28.7(3400)
15
0
Momentary operation range
9.55
9.55
Continuous operation range
12.0
8.0
5.7
1000 2000 3000 4000 5000
(r/min)
• R88M-K4K030F/C (4 kW)
(N • m)
40 38.2
Momentary operation range
38.2(3100)
Power supply voltage dropped by 10%
20
(2800)
12.7 12.7
10
Continuous operation range
0 1000 2000 3000 4000 5000
(r/min)
• R88M-K5K030F/C (5 kW)
(N • m)
50 47.7 47.7(3200)
Power supply
Momentary operation range voltage dropped by 10%
25
0
Continuous operation range
1000 2000 3000 4000 5000
(r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-74
3
3-3 Servomotor Specifications
Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction.
• R88M-K05030L/S/H/T
(50 W: With oil seal)
Rated torque ratio [%]
100%
• R88M-K10030L/S/H/T
(100 W: With oil seal)
Without brake
With brake
Rated torque ratio [%]
100%
70%
60%
• R88M-K20030L/SH/T
(200 W: With oil seal)
Without brake Rated torque ratio [%]
With brake 100%
75%
70%
Without brake
With brake
80%
70%
0 10 20 30 40
Ambient temperature
[ ° C]
0 10 20 30
Ambient
40 temperature
[°C]
• R88M-K40030L/S/H/T
(400 W: Without oil seal)
Rated torque ratio [%]
100%
• R88M-K40030L/S/H/T
(400 W: With oil seal)
With brake Rated torque ratio [%]
100%
90%
0
(1.5 kW)
10 20 30 40
Ambient temperature
[ ° C]
• R88M-K1K530H/T/F/C
With brake Rated torque ratio [%]
100%
75%
Without brake
With brake
85%
0 10 20 30
Ambient
40 temperature
[°C]
0 10 20 30 40
Ambient temperature
[°C]
0 10 20 30
Ambient
40 temperature
[°C]
• R88M-K2K030H/T/F/C
(2 kW)
Rated torque ratio [%]
100%
• R88M-K3K030H/T/F/C
(3 kW)
Without brake
With brake
85%
70%
Rated torque ratio [%]
100%
• R88M-K4K030H/T/F/C
(4 kW)
Without brake
With brake
90%
85%
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
0 10 20 30 40
Ambient temperature
[°C]
0 10 20 30 40
Ambient temperature
[°C]
0 10 20 30 40
Ambient temperature
[°C]
• R88M-K5K030H/T/F/C
(5 kW)
Rated torque ratio [%]
100%
With brake
70%
0 10 20 30 40
Ambient temperature
[°C]
3-75 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
1,500-r/min and 2,000-r/min Servomotors
Model (R88M-)
K1K020H
200 VAC
K1K520H
Item
Rated output *
1 W
Unit
Rated torque *
1 N • m
Rated rotation speed r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
1,000
4.77
2,000
3,000
14.3
K1K020T
1,500
7.16
21.5
K1K520T
Rated current *
1 A (rms) 5.7
9.4
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
2
With brake
A (0-p) kg • m
2
Applicable load inertia −
Torque constant *
1 N • m/A
24
4.60
5.90
0.63
×
×
10
10
-4
-4
40
6.70
7.99
0.58
×
×
10 times the rotor inertia max. *
2
10
10
-4
-4
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake ms
With brake ms
49.5
38.6
0.80
1.02
76.5
64.2
0.66
0.80
Electrical time constant
Allowable radial load * 3 ms
N
9.4
490
10
490
Allowable thrust load *
3
Weight Without brake
N kg
With brake
Radiator plate dimensions
(material) kg
Applicable Servo Drives (R88D-)
Brake inertia kg • m
2
Excitation voltage *
4 V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking ms ms
J
196
Approx. 5.2
Approx. 6.7
275
KT10H
1.35
× 10
24 VDC ± 10%
14
0.59
± 1 °
588
×
±
260
10%
4.9 min.
80 max.
-4
70 max. *
6
× t15 (AI)
196
Approx. 6.7
Approx. 8.2
KT15H
1.35
× 10
19
0.79
±
-4
10%
13.7 min.
100 max.
50 max. *
1,176
6
2,000
9.55
K2K020H
K2K020T
KT20H
1.35
× 10
-4
19
0.79
± 10%
13.7 min.
100 max.
50 max. *
6
1,176
28.6
11.5
49
8.72
× 10
-4
10.0
× 10
-4
0.64
105
91.2
0.66
0.76
10
490
196
Approx. 8.0
Approx. 9.5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-76
3
3
3-3 Servomotor Specifications
Model (R88M-)
Item s Allowable total work J
Unit
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K1K020H
7.8
× 10
5
K1K020T
10,000
10 million times min.
Continuous
Type F
200 VAC
K1K520H
1.5
× 10
6
K1K520T
K2K020H
1.5
× 10
6
K2K020T
3-77 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
K3K020H
200 VAC
K4K020H
Item
Rated output *
1 W
Unit
Rated torque *
1
Rated rotation speed
N • m r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
3,000
14.3
2,000
3,000
43.0
K3K020T
4,000
19.1
57.3
K4K020T
Rated current *
1 A (rms) 17.4
21.0
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
74
12.9
× 10
-4
14.2
× 10
-4
−
N • m/A 0.59
89
37.6
38.6
0.70
×
×
10 times the rotor inertia max. *
2
10
10
-4
-4
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake ms
With brake ms
159
144
0.57
0.63
97.1
94.5
0.65
0.66
Electrical time constant
Allowable radial load *
3 ms
N
12
784
20
784
Allowable thrust load * 3 N
Weight Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
343
Approx. 11.0
Approx. 12.6
380 × 350
KT30H
× t30 (AI)
343
Approx. 15.5
Approx. 18.7
470 × 440
KT50H
× t30 (AI)
5,000
23.9
KT50H
K5K020H
K5K020T
71.6
25.9
110
48.0
× 10
-4
48.8
× 10
-4
0.70
119
117
0.63
0.64
19
784
343
Approx. 18.6
Approx. 21.8
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-78
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage * 4
Attraction time *
5
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m ms
Release time *
5
Backlash ms
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration
Brake limit
Rating
Insulation class rad/s
−
−
−
2
K3K020H
K3K020T
1.35
× 10
-4
24 VDC ± 10%
22
0.90
± 10%
16.2 min.
110 max.
50 max. *
6
± 1 °
1470
2.2
× 10
6
10,000
10 million times min.
Continuous
Type F
200 VAC
K4K020H
K4K020T
4.7
× 10
-4
31
1.3
± 10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
× 10
6
K5K020H
K5K020T
4.7
× 10
-4
31
1.3
± 10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
× 10
6
3-79 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
---
200 VAC
---
Item
Rated output *
1 W
Unit
Rated torque *
1
Rated rotation speed
N • m r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
7,500
47.8
1,500
3,000
119.0
K7K515T
11,000
70.0
2,000
175.0
K11K015T
Rated current *
1 A (rms) 44.0
54.2
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
165
101 × 10
-4
107 × 10
-4
−
N • m/A 0.77
203
212
220
0.92
×
×
10
10
10 times the rotor inertia max. *
2
-4
-4
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake ms
With brake ms
226
213
0.58
0.61
231
223
0.80
0.83
Electrical time constant
Allowable radial load *
3 ms
N
21
1,176
31
2,254
Allowable thrust load * 3 N
Weight Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
490
Approx. 36.4
Approx. 40.4
550 × 520
KT75H
× t30 (AI)
686
Approx. 52.7
Approx. 58.9
670 × 630
KT150H
× t35 (AI)
15,000
95.0
---
K15K015T
KT150H
224.0
66.1
236
302 × 10
-4
311 × 10
-4
1.05
302
293
0.71
0.74
32
2,254
686
Approx. 70.2
Approx. 76.3
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-80
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage * 4
Attraction time *
5
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m ms
Release time *
5
Backlash ms
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration
Brake limit
Rating
Insulation class rad/s
−
−
−
2
---
K7K515T
4.7
× 10
-4
24 VDC ± 10%
34
1.4
± 10%
58.8 min.
150 max.
50 max.
± 1 °
1,372
2.9
× 10
6
5,000
10 million times min.
Continuous
Type F
200 VAC
---
K11K015T
7.1
× 10
-4
26
1.08
± 10%
100 min.
300 max.
140 max.
2,000
4.0
× 10
6
3,000
---
K15K015T
7.1
× 10
-4
26
1.08
± 10%
100 min.
300 max.
140 max.
2,000
4.0
× 10
6
3-81 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
K40020F K60020F
Item
Rated output *
1 W
Unit
Rated torque *
1
Rated rotation speed
N • m r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
400
1.91
2,000
3,000
5.73
K40020C
600
2.86
8.59
K60020C
Rated current *
1 A (rms) 1.2
1.5
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
4.9
1.61
× 10
-4
1.90
× 10
-4
−
N • m/A 1.27
6.5
2.03
1.38
× 10
2.35
× 10
-4
-4
10 times the rotor inertia max. *
2
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake ms
With brake ms
22.7
19.2
0.70
0.83
40.3
34.8
0.62
0.72
Electrical time constant
Allowable radial load *
3 ms
N
5.7
490
5.9
490
Allowable thrust load * 3 N
Weight Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
196
Approx. 3.1
Approx. 4.1
320 × 300
KT06F
× t20 (AI)
196
Approx. 3.5
Approx. 4.5
KT06F
400 VAC
K1K020F
1,000
4.77
14.3
2.8
12
4.60
5.90
× 10
1.27
49.5
38.6
0.79
1.01
10
490
196
275
K1K020C
×
×
10
Approx. 5.2
Approx. 6.7
260
KT10F
-4
-4
× t15 (AI)
1,500
7.16
21.5
4.7
20
6.70
7.99
1.16
76.5
64.2
0.66
0.79
10
490
196
K1K520F
K1K520C
×
×
10
10
Approx. 6.7
Approx. 8.2
KT15F
-4
-4
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-82
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage * 4
Attraction time *
5
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m ms
Release time *
5
Backlash ms
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration
Brake limit
Rating
Insulation class rad/s
−
−
−
2
K40020F
K40020C
1.35
× 10
-4
24 VDC ± 10%
17
K60020F
K60020C
1.35
× 10
-4
17
0.70
± 10%
2.5 min.
50 max.
15 max. *
7
± 1 °
392
4.9
× 10
5
10,000
10 million times min.
Continuous
Type F
0.70
± 10%
2.5 min.
50 max.
15 max. *
7
392
4.9
× 10
5
400 VAC
K1K020F
K1K020C
1.35
× 10
-4
14
0.59
± 10%
4.9 min.
80 max.
70 max. *
6
588
7.8
× 10
5
K1K520F
K1K520C
1.35
× 10
-4
19
0.79
± 10%
13.7 min.
100 max.
50 max. *
6
1176
1.5
× 10
6
3-83 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
K2K020F K3K020F
400 VAC
Item
Rated output *
1 W
Unit
Rated torque *
1
Rated rotation speed
N • m r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
9.55
K2K020C
2,000
2,000
3,000
28.7
14.3
43.0
K3K020C
3,000
Rated current *
1 A (rms) 5.9
8.7
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
25
8.72
× 10
-4
10.0
× 10
-4
−
N • m/A 1.27
37
12.9
1.18
× 10
14.2
× 10
-4
-4
10 times the rotor inertia max. *
2
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake ms
With brake ms
105
91.2
0.68
0.78
159
144
0.56
0.61
Electrical time constant
Allowable radial load *
3 ms
N
10
490
12
784
Allowable thrust load * 3 N
Weight Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
196
Approx. 8.0
Approx. 9.5
275 × 260 × t15
(AI)
KT20F
343
Approx. 11.0
Approx. 12.6
380 × 350 × t30
(AI)
KT30F
4,000
19.1
57.3
10.6
45
37.6
38.6
× 10
1.40
97.1
94.5
0.60
0.61
21
784
343
470
K4K020F
K4K020C
×
×
10
Approx. 15.5
Approx. 18.7
440
KT50F
-4
-4
× t30 (AI)
5,000
23.9
71.6
13.0
55
48.0
48.8
1.46
119
117
0.60
0.61
19
784
343
K5K020F
K5K020C
×
×
10
10
Approx. 18.6
Approx. 21.8
KT50F
-4
-4
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-84
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage * 4
Attraction time *
5
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m ms
Release time *
5
Backlash ms
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration
Brake limit
Rating
Insulation class rad/s
−
−
−
2
K2K020F
K2K020C
1.35
× 10
-4
24 VDC ± 10%
19
K3K020F
K3K020C
1.35
× 10
22
-4
0.79
± 10%
13.7 min.
100 max.
50 max. *
6
± 1 °
1176
1.5
× 10
6
10,000
10 million times min.
Continuous
Type F
0.90
± 10%
16.2 min.
110 max.
50 max. *
6
1470
2.2
× 10
6
400 VAC
K4K020C
4.7
× 10
-4
31
K4K020F
1.3
± 10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
× 10
6
K5K020F
K5K020C
4.7
× 10
-4
31
1.3
± 10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
× 10
6
3-85 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
---
400 VAC
-----
Item
Rated output *
1 W
Unit
Rated torque *
1
Rated rotation speed
N • m r/min
Maximum rotation speed r/min
Momentary maximum torque *
1
N • m
7,500
47.8
K7K515C
1,500
3,000
119.0
K11K015C
11,000
70.0
2,000
175.0
K15K015C
15,000
95.9
224.0
Rated current *
1 A (rms) 22.0
27.1
Momentary maximum current *
1
Rotor inertia
With brake
Applicable load inertia
Torque constant *
1
A (0-p)
Without brake kg • m kg • m
2
2
83
101 × 10
-4
107 × 10
-4
−
N • m/A 1.54
101
212
1.84
× 10
220 × 10
-4
-4
10 times the rotor inertia max. *
2
Power rate
*
1
Without brake kW/s
With brake kW/s
Mechanical time constant
Without brake ms
With brake ms
226
213
0.58
0.61
231
223
0.80
0.83
Electrical time constant
Allowable radial load *
3 ms
N
21
1,176
31
2,254
Allowable thrust load * 3 N
Weight Without brake
With brake kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
490
Approx. 36.4
Approx. 40.4
550 × 520 × t30
(AI)
KT75F
686
Approx. 52.7
Approx. 58.9
670 × 630
KT150F
× t35 (AI)
33.1
118
302
311
2.10
302
293
0.71
0.74
32
2,254
686
×
×
10
10
Approx. 70.2
Approx. 76.3
KT150F
-4
-4
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-86
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage * 4
Attraction time *
5
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m ms
Release time *
5
Backlash ms
Allowable work per braking
J
Allowable total work J
Allowable angular acceleration
Brake limit
Rating
Insulation class rad/s
−
−
−
2
± 1
2.9
°
×
K7K515C
4.7
× 10
50 max.
1,372
10
5,000
6
---
-4
24 VDC
34
1.4
± 10%
58.8 min.
±
150 max.
10%
26
1.08
2,000
3,000
10 million times min.
Continuous
Type F
400 VAC
±
---
K11K015C
7.1
× 10
-4
10%
100 min.
300 max.
140 max.
4.0
× 10
6
---
K15K015C
7.1
× 10
-4
26
1.08
100 min.
300 max.
140 max.
2,000
4.0
×
± 10%
10
6
*1. These are the values when the Servomotor is combined with a drive at normal temperature (20 ° C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (T/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
*7. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
3-87 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Torque-Rotation Speed Characteristics for 1,500-r/min and 2,000-r/min Servomotors
1,500-r/min and 2,000-r/min Servomotor (200 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K1K020H/T (1 kW) • R88M-K1K520H/T (1.5 kW) • R88M-K2K020H/T (2 kW)
(N • m)
15 14.3
10
5
Momentary operation range
4.77
(2000)
4.77
Continuous operation range
14.3(2200)
Power supply voltage dropped by 10%
6.0
4.0
3.2
(N • m)
20
10
21.5
(2000)
Momentary operation range
21.5(2300)
Power supply voltage dropped by 10%
7.16
7.16
Continuous operation range
10.0
6.0
4.8
(N • m)
30 28.6
15
Momentary operation range
9.55
(2000)
9.55
Continuous operation range
28.6(2200)
Power supply voltage dropped by 10%
15.0
11.0
6.4
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
• R88M-K3K020H/T (3 kW) • R88M-K4K020H/T (4 kW) • R88M-K5K020H/T (5 kW)
(N • m)
50 43.0
Power supply voltage dropped by 10%
(2200) 43.0(2400)
25
14.3
14.3
Continuous operation range
0
Momentary operation range
1000 2000
28.0
20.0
9.5
3000 (r/min)
(N • m)
50
25
57.3
(1900)
Momentary operation range
57.3(2100)
Power supply voltage dropped by 10%
19.1
19.1
25.0
13.0
Continuous operation range
(N • m)
0 1000 2000 3000 (r/min)
70
71.6
(1900) 71.6(2100)
Momentary operation range
Power supply voltage dropped by 10%
35
23.9
23.9
20.0
Continuous operation range
0 1000 2000
3.0
3000 (r/min)
• R88M-K7K515T (7.5 kW) • R88M-K11K015T (11 kW) • R88M-K15K015T (15 kW)
(N • m)
100
50
0
119.0
Power supply voltage dropped by 10%
(2200)
119.0(2500)
(N • m)
175.0
Power supply voltage dropped by 10%
(1700) 175.0(2000)
(N • m)
224.0
Power supply voltage dropped by 10%
(1500)
224.0(1700)
150
Momentary operation range Momentary operation range
200
Momentary operation range
130.0
47.8
47.8(1500)
Continuous operation range
60.0
12.0
75 70.0
70.0(1500)
Continuous operation range
52.5
100
95.5
95.5(1500)
Continuous operation range
95.5
57.0
1000 2000 3000 (r/min)
0 1000 2000 (r/min)
0 1000 2000 (r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-88
3
3-3 Servomotor Specifications
1,500-r/min and 2,000-r/min Servomotor (400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input.
• R88M-K40020F/C (400 W) • R88M-K60020F/C (600 W) • R88M-K1K020F/C (1 kW)
(N • m)
6 5.73
Power supply voltage dropped by 10%
(2400) 5.73(2700)
(N • m)
10 8.59
Momentary operation range
3
1.91
1.91
Continuous operation range
3.5
2.0
1.3
Power supply voltage dropped by 10%
(2100)
Momentary operation range
5
2.86
2.86
Continuous operation range
8.59(2400)
4.5
1.9
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
(N • m)
15 14.3
10
(2000)
Momentary operation range
14.3(2200)
Power supply voltage dropped by 10%
5
4.77
4.77
Continuous operation range
6.0
4.0
3.2
0 1000 2000 3000 (r/min)
• R88M-K1K520F/C (1.5 kW) • R88M-K2K020F/C (2 kW) • R88M-K3K020F/C (3 kW)
(N • m)
21.5
20
Power supply voltage dropped by 10%
(2000)
Momentary operation range
21.5(2300)
10
7.16
7.16
Continuous operation range
10.0
6.0
4.8
(N • m)
30 28.6
(2000)
Momentary operation range
28.6(2200)
Power supply voltage dropped by 10%
15
9.55
9.55
Continuous operation range
15.0
11.0
6.4
0 1000 2000 3000 (r/min) 0 1000 2000 3000 (r/min)
(N • m)
50 43.0
25
0
Power supply voltage dropped by 10%
(2200)
Momentary operation range
14.3
14.3
Continuous operation range
1000 2000
43.0(2400)
28.0
20.0
9.5
3000 (r/min)
• R88M-K4K020F/C (4 kW) • R88M-K5K020F/C (5 kW) • R88M-K7K515C (7.5 kW)
(N • m)
50
57.3
(1900) 57.3(2100)
Power supply voltage dropped by 10%
Momentary operation range
25 19.1
19.1
25.0
13.0
Continuous operation range
0 1000 2000 3000 (r/min)
(N • m)
70
35
71.6
(1900) 71.6(2100)
Momentary operation range
Power supply voltage dropped by 10%
23.9
23.9
0
Continuous operation range
1000 2000
20.0
3.0
3000 (r/min)
(N • m)
119.0
Power supply voltage dropped by 10%
(2200)
119.0(2500)
100
Momentary operation range
50
0
47.8
47.8(1500)
Continuous operation range
1000 2000
60.0
12.0
3000 (r/min)
• R88M-K11K015C (11 kW)
(N • m)
175.0
• R88M-K15K015C (15 kW)
Power supply voltage dropped by 10%
(1700) 175.0(2000)
(N • m)
224.0
Power supply voltage dropped by 10%
(1500)
224.0(1700)
150
75
0
Momentary operation range
130.0
200
Momentary operation range
70.0
70.0(1500)
52.5
100
95.5
95.5(1500)
Continuous operation range
95.5
57.0
Continuous operation range
0 1000 2000 (r/min)
1000 2000 (r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible.
Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction.
• R88M-K5K020H/T/F/C (5 kW)
Rated torque ratio [%]
100%
Without brake
With brake
90%
85%
• R88M-K7K515T/C (7.5 kW)
Rated torque ratio [%]
100%
90%
• R88M-K15K015T/C (15 kW)
Rated torque ratio [%]
100%
90%
0 10 20 30 40
Ambient temperature
[ ° C]
3-89
0 10 20 30 40
Ambient temperature
[ ° C]
0 10 20 30 40
Ambient temperature
[ ° C]
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
1,000-r/min Servomotors
Model (R88M-)
Item
Rated output *
1 W
Unit
Rated torque *
1
Momentary maximum torque *
1
N • m
Rated rotation speed r/min
Maximum rotation speed r/min
N • m
K90010H
K90010T
900
8.59
1,000
2,000
19.3
K2K010H
K2K010T
2,000
19.1
47.7
200 VAC
K3K010H
K3K010T
3,000
28.7
71.7
Rated current *
1 A (rms)
Power rate
* 1
Without brake kW/s
With brake kW/s
7.6
Momentary maximum current *
1
Rotor inertia
A (0-p)
Without brake kg • m
2
With brake kg • m
2
Applicable load inertia −
Torque constant *
1 N • m/A
24
6.70
7.99
0.86
×
×
10
10
-4
-4
60
30.3
× 10
31.4
× 10
-4
-4
10 times the rotor inertia max. *
0.88
2
80
48.4
× 10
-4
49.2
× 10
-4
0.96
110
92.4
17.0
120
116
22.6
170
167
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
0.66
0.78
11
0.75
0.78
18
0.63
0.64
21
Allowable radial load *
3 N
Allowable thrust load *
3
Weight Without brake
With brake
N kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
Brake inertia kg • m
2
Excitation voltage *
4
Attraction time *
5
V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m ms
Release time *
5
Backlash ms
686
196
Approx. 6.7
Approx. 8.2
270
KT15H
1.35
× 10
24 VDC ± 10%
19
0.79
13.7 min.
100 max.
50 max. *
± 1 °
×
±
260
-4
10%
6
×
1176
490
t15 (AI)
KT30H
4.7
× 10
-4
31
1.3
± 10%
24.5 min.
80 max.
25 max. *
7
1470
490
KT50H
4.7
× 10
-4
34
1.4
± 10%
58.8 min.
150 max.
50 max. *
7
K4K510T
4,500
43.0
107.0
29.7
110
79.1
84.4
× 10
1.02
233
219
0.55
0.63
20
1470
490
KT75H
4.7
× 10
-4
34
1.4
±
×
---
10
50 max.
-4
-4
6,000
57.0
143.0
38.8
149
1.04
325
307
0.54
0.57
23
1764
588
Approx. 14.0
Approx. 20.0
Approx. 29.4
Approx. 36.4
Approx. 17.5
Approx. 23.5
Approx. 33.3
Approx. 40.4
470 × 440 × t30 (AI)
10%
58.8 min.
150 max.
101
550
34
1.4
±
×
×
---
K6K010T
10
107 × 10 t30 (AI)
-4
-4
520
KT75H
4.7
× 10
-4
10%
58.8 min.
150 max.
50 max.
×
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-90
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Allowable work per braking
J
Unit
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K90010H
K90010T
K2K010H
K2K010T
1176
1.5
× 10
6
10,000
1372
2.9
× 10
10 million times min.
Continuous
Type F
6
200 VAC
K3K010H
K3K010T
1372
2.9
× 10
6
---
K4K510T
1372
2.9
× 10
6
5,000
---
K6K010T
1372
2.9
× 10
6
3-91 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Model (R88M-)
Item
Rated output *
1 W
Unit
K90010F
K90010C
900
K2K010F
K2K010C
2,000
400 VAC
K3K010F
K3K010C
3,000 4,500
---
K4K510C
---
K6K010C
6,000
Rated torque *
1 N • m
Rated rotation speed r/min
Maximum rotation speed r/min
8.59
1,000
2,000
19.1
28.7
Momentary maximum torque *
1
Rated current *
1
N • m
A (rms)
Mechanical time constant
Without brake ms
With brake ms
Electrical time constant ms
19.3
3.8
0.66
0.79
11
47.7
8.5
71.7
11.3
Momentary maximum current *
1
Rotor inertia
Without brake kg • m
With brake
Applicable load inertia
Torque constant *
1
A (0-p) kg • m
−
2
2
12
6.70
× 10
-4
7.99
× 10
-4
N • m/A 1.72
30
30.3
× 10
31.4
× 10
-4
-4
10 times the rotor inertia max. *
1.76
2
40
48.4
× 10
-4
49.2
× 10
-4
1.92
Power rate
*
1
Without brake kW/s
With brake kW/s
110
92.4
120
116
170
167
0.76
0.78
18
0.61
0.62
22
Allowable radial load *
3
Allowable thrust load *
3
Weight Without brake
With brake
N
N kg kg
Radiator plate dimensions
(material)
Applicable Servo Drives (R88D-)
686
196
Approx. 6.7
Approx. 8.2
270 × 260 × t15 (AI)
KT15F
1176
490
1470
490
43.0
107.0
14.8
55
79.1
× 10
84.4
× 10
2.05
233
219
0.55
0.63
20
1470
490
-4
-4
57.3
143.0
19.4
74
101
2.08
325
307
0.54
0.57
23
588
×
1764
10
107 × 10
-4
-4
Approx. 14.0
Approx. 20.0
Approx. 29.4
Approx. 36.4
Approx. 17.5
Approx. 23.5
Approx. 33.3
Approx. 40.4
470 × 440
KT30F
× t30 (AI)
KT50F
470 × 440 × t30 (AI)
KT50F
550 × 520 t30 (AI)
KT75F
×
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-92
3
3-3 Servomotor Specifications
Model (R88M-)
Item
Brake inertia
Unit kg • m
2
Excitation voltage *
4 V
Power consumption
(at 20 ° C)
Current consumption
(at 20 ° C)
W
A
Static friction torque N • m
Attraction time *
5
Release time *
5
Backlash
Allowable work per braking ms ms
J
Allowable total work J
Allowable angular acceleration rad/s
2
Brake limit
Rating
Insulation class
−
−
−
K90010C
1.35
× 10
-4
24 VDC ± 10%
19
K90010F K2K010F
K2K010C
4.7
× 10
-4
31
0.79
± 10%
13.7 min.
100 max.
50 max. *
6
± 1 °
1176
1.5
× 10
6
10,000
1.3
± 10%
24.5 min.
80 max.
25 max. *
7
1372
2.9
× 10
10 million times min.
Continuous
Type F
6
400 VAC
K3K010F
K3K010C
4.7
× 10
-4
---
K4K510C
4.7
× 10
-4
34
1.4
±
1372
10%
58.8 min.
150 max.
50 max. *
7
2.9
× 10
6
34
1.4
± 10%
58.8 min.
150 max.
50 max.
1372
2.9
× 10
5,000
6
---
K6K010C
4.7
× 10
-4
34
1.4
± 10%
58.8 min.
150 max.
50 max.
1372
2.9
× 10
6
3-93 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
*1. These are the values when the Servomotor is combined with a drive at normal temperature (20 ° C, 65%). The momentary maximum torque indicates the standard value.
*2. Applicable load inertia.
The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible.
The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates. Otherwise, the dynamic brake circuits may fail or the dynamic brake resistor may burn.
*3. The allowable radial and thrust loads are the values determined for a limit of 20,000 hours at normal operating temperatures.
The allowable radial loads are applied as shown in the following diagram.
Radial load
Thrust load
Shaft center (T/2)
*4. This is a non-excitation brake. (It is released when excitation voltage is applied.)
*5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 by Okaya Electric
Industries Co., Ltd.).
*6. Direct current switching with a varistor (TNR9G820K by Nippon Chemi-Con Corporation).
*7. Direct current switching with a varistor (Z15D151 by Ishizuka Electronics Co.).
Torque-Rotation Speed Characteristics for 1,000-r/min Servomotors
1,000-r/min Servomotor (200/400 VAC)
The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.
• R88M-K90010H/T/F/C
(900 W) (2 kW) (3 kW)
(N • m)
20
19.3
Power supply voltage dropped by 10%
(1600)
10
Momentary operation range
8.59
8.59
Continuous operation range
19.3(1800)
14.0
8.0
4.3
(N • m)
50
25
47.7
(1400)
Momentary operation range
47.7(1600)
Power supply voltage dropped by 10%
28.0
19.1
19.1
18.0
Continuous operation range
9.6
(N • m)
70
71.7
(1400)
Momentary operation range
71.7(1600)
Power supply voltage dropped by 10%
40.0
35 28.7
28.7
Continuous operation range
20.0
14.0
0 1000 2000 (r/min) 0 1000 2000 (r/min) 0 1000 2000 (r/min)
• R88M-K4K510T/C (4.5 kW)
(N • m)
107.0
100
Power supply voltage dropped by 10%
(1500) 107.0(1700)
Momentary operation range
50 43.0
43.0
70.0
50.0
22.0
Continuous operation range
0
• R88M-K6K010T/C (6 kW)
(N • m)
150
143.0
Power supply voltage dropped by 10%
(1500) 143.0(1700)
Momentary operation range
75
57.3
57.3
Continuous operation range
100.0
57.3
28.0
1000 2000 (r/min) 0 1000 2000 (r/min)
Note 1: The continuous operation range is the range in which continuous operation is possible. Continuous operation at the maximum speed is also possible. However, doing so will reduce the output torque.
Note 2: If the motor power cable exceeds 20 m, the voltage drop will increase and the momentary operation range will become narrower.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-94
3
3-3 Servomotor Specifications
Temperature Characteristics of the Motor and Mechanical System
OMNUC G5-Series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approx. -0.13%/ ° C.
As the temperature drops, the motor's momentary maximum torque increases, and as the temperature rises, the motor's momentary maximum torque decreases.
The momentary maximum torque rises by 4% at a normal temperature of 20 ° C compared to a temperature of − 10 ° C. Conversely, the momentary maximum torque decreases about 8% when the magnet warms up to 80 ° C from the normal temperature.
Generally, when the temperature drops in a mechanical system, the friction torque and the load torque increase. For that reason, overloading may occur at low temperatures.
In particular, in systems that use a Decelerator, the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures.
Check whether overloading may occur during starting at low temperature.
Also check to see whether abnormal motor overheating or alarms occur at high temperatures.
An increase in load friction torque seemingly increases load inertia.
Therefore, even if the drive gains are adjusted at a normal temperature, the motor may not operate properly at low temperatures. Check to see whether optimal operation can be obtained even at low temperatures.
3-95 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
Encoder Specifications
Incremental Encoder Specifications
Item
Encoder system
Specifications
Optical encoder
20 bits
Phases A and B: 262,144 pulses/rotation
Phase Z: 1 pulse/rotation
Number of output pulses
Power supply voltage 5 VDC ± 5%
Power supply current 180 mA (max.)
Output signals
Output interface
+ S, − S
RS-485 compliant
Absolute Encoder Specifications
Item
Encoder system Optical encoder
Specifications
Number of output pulses
17 bits
Phases A and B: 32,768 pulses/rotation
Phase Z: 1 pulse/rotation
Maximum rotations − 32,768 to + 32,767 rotations
Power supply voltage
5 VDC ± 5%
Power supply current 110 mA (max.)
Applicable battery voltage
3.6 VDC
Current consumption of battery
Output signals
Output interface
265 μ A (for a maximum of 5 s right after power interruption)
100 μ A (for operation during power interruption)
3.6 μ A (when power is supplied to the Servo Drive)
+ S, − S
RS-485 compliant
Note: Multi-rotation Data Backup
• The multi-rotation data will be lost if the battery cable connector is disconnected at the motor when connecting the battery cable for the absolute encoder and battery.
• If you do not use an absolute encoder battery cable and connect the battery to CN1, the multi-rotation data will be lost if CN2 is disconnected.
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-96
3-4 Cable and Connector Specifications
3-4 Cable and Connector Specifications
3
Encoder Cable Specifications
These cables are used to connect the encoder between the Servo Drive and the Servomotor.
Select the cable matching the Servomotor. The cables listed are flexible, shielded and have
IP67 protection.
Encoder Cables (European Flexible Cables)
R88A-CRKA @ CR-E
Cable types
(For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min
Servomotors of 50 to 750 W)
Model Length (L)
Outer diameter of sheath
R88A-CRKA001-5CR-E 1.5 m
R88A-CRKA003CR-E 3 m
R88A-CRKA005CR-E
R88A-CRKA010CR-E
5 m
10 m
R88A-CRKA015CR-E
R88A-CRKA020CR-E
15 m
20 m
6.9 dia.
Connection configuration and external dimensions
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
3
4
5
6
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
[Servo Drive side connector]
Connector model
55100-0670 (Molex Japan)
Cable
0.34 mm
2 ×
2C
+
0.22 mm
2 ×
2P or
AWG22
×
2C
+
AWG24
×
2P
Servomotor side
Number
6
3
Symbol
E5V
5
2
7
4
1
E0V
BAT
+
BAT
−
S
+
S
−
FG
[Servomotor side connector]
Angle clamp model
JN6FR07SM1 (Japan Aviation Electronics)
Connector pin model
LY10-C1-A1-1000 (Japan Aviation Electronics)
3-97 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
R88A-CRKC @ NR
Cable types
(For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min
Servomotors of 1 kW or more, [400 V] 3,000-r/min Servomotors, 2,000-r/min Servomotors and
1,000-r/min Servomotors)
Model Length (L)
Outer diameter of sheath
R88A-CRKC001-5NR-E 1.5 m
R88A-CRKC003NR-E
R88A-CRKC005NR-E
3 m
5 m
R88A-CRKC010NR-E
R88A-CRKC015NR-E
R88A-CRKC020NR-E
10 m
15 m
20 m
7.6 dia.
Connection configuration and external dimensions
L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
3
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
[Servo Drive side connector]
Connector model
55100-0670 (Molex Japan)
Cable
1 mm 2 ×
2C
+
0.22 mm 2 ×
2P or
AWG17
×
2C
+
AWG24
×
2P
Servomotor side
Number
4
1
6
5
3
7
9
Symbol
E5V
E0V
BAT
+
BAT
−
S
+
S
−
FG
[Servomotor side connector]
Straight plug model
JN2DS10SL2-R (Japan Aviation Electronics)
Contact model
JN1-22-22S-10000 (Japan Aviation Electronics)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-98
3-4 Cable and Connector Specifications
3
Absolute Encoder Battery Cable Specifications
Use the following Cable when using an absolute encoder.
Cable Model
Model
R88A-CRGD0R3C
R88A-CRGD0R3C-BS
Length (L)
0.3 m
0.3 m
Battery
Not included
R88A-BAT01G 1 included
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Connection Configuration and External Dimensions
43.5
90±5
300
110
43.5
Servo Drive side
R88D-K @ t=12 t=27.2
Battery holder t=12
Wiring
Servo Drive side
Symbol
E5V
E0V
BAT +
BAT −
S +
S −
FG
Number
1
2
5
6
3
4
Shell
Red
Black
Orange
Orange/White
Blue
Blue/White
Connector plug:
55100-0670 (Molex Japan)
Battery holder
Symbol
BAT +
BAT −
Number
1
2
Servomotor side
R88M-K @
Servomotor side
Number
1
2
3
4
5
6
Shell
Symbol
E5V
E0V
BAT +
BAT −
S +
S −
FG
Connector socket:
54280-0609 (Molex Japan)
3-99 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Motor Power Cable Specifications
These cables connect the Servo Drive and the Servomotor. Select the cable matching the
Servomotor.
The cables listed are flexible, shielded and have IP67 protection.
Power Cables without Brakes (European Flexible Cables)
R88A-CAKA @ SR-E
Cable types
[100 V and 200 V] (For 3,000-r/min Servomotors of 50 to 750 W)
Model Length (L)
Outer diameter of sheath
R88A-CAKA001-5SR-E 1.5 m
R88A-CAKA003SR-E 3 m
R88A-CAKA005SR-E
R88A-CAKA010SR-E
R88A-CAKA015SR-E
R88A-CAKA020SR-E
5 m
10 m
15 m
20 m
6.7 dia.
3
Connection configuration and external dimensions
(50) L
Servo Drive side
R88D-K
@
Servomotor side
R88M-K
@
Wiring
Servo Drive side
M4 crimp terminal
Red
White
Blue
Green/Yellow
Cable
0.5 mm
2 ×
4C or AWG20
×
4C
Servomotor side
Number Symbol
3
4
1
2
Phase U
Phase V
Phase W
FG
[Servomotor side connector]
Angle plug model
JN8FT04SJ1 (Japan Aviation Electronics)
Connector pin model
ST-TMH-S-C1B-3500-A534G (Japan Aviation Electronics)
Note: for servomotors with brake a separate cable R88A-CAKA @@@ BR-E is needed.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-100
3
3-4 Cable and Connector Specifications
R88A-CAGB @ SR-E
Cable types
200 V:
(For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min
Servomotors of 900 W)
400 V:
(For 3,000-r/min Servomotors of 750W to 2 kW, 2,000-r/min Servomotors of 400 W to 2 kW,
1,000-r/min Servomotors of 900 W)
Model Length (L)
Outer diameter of sheath
R88A-CAGB001-5SR-E 1.5 m
R88A-CAGB003SR-E
R88A-CAGB005SR-E
3 m
5 m
R88A-CAGB010SR-E
R88A-CAGB015SR-E
R88A-CAGB020SR-E
10 m
15 m
20 m
12.7 dia.
Connection configuration and external dimensions
(70) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
Cable
2.5 mm 2 × 4C or AWG14 ×
4C
Servomotor side
Number Symbol
A
B
Phase U
Phase V
C
D
Phase W
FG
[Servomotor side connector]
Right angle plug model
N/MS3108B20-4S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
3-101 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
R88A-CAGD @ SR-E
Cable types
(For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min
Servomotors of 2 to 4.5 kW)
Model Length (L)
Outer diameter of sheath
R88A-CAGD001-5SR-E 1.5 m
R88A-CAGD003SR-E
R88A-CAGD005SR-E
3 m
5 m
R88A-CAGD010SR-E
R88A-CAGD015SR-E
R88A-CAGD020SR-E
10 m
15 m
20 m
13.2 dia.
3
Connection configuration and external dimensions
(70) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-1
Black-2
Black-3
Green/Yellow
M5 crimp terminal
Cable
4 mm 2 ×
4C or AWG11 ×
4C
Servomotor side
Number Symbol
A Phase U
B
C
D
Phase V
Phase W
FG
[Servomotor side connector]
Right angle plug model
N/MS3108B22-22S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-102
3
3-4 Cable and Connector Specifications
Power Cables with Brakes (European Flexible Cables)
R88A-CAGB @ BR-E
Cable types
200 V:
(For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min
Servomotors of 900 W)
Model Length (L)
Outer diameter of sheath
R88A-CAGB001-5BR-E 1.5 m
R88A-CAGB003BR-E 3 m
R88A-CAGB005BR-E
R88A-CAGB010BR-E
5 m
10 m
R88A-CAGB015BR-E
R88A-CAGB020BR-E
15 m
20 m
12.5 dia.
Connection configuration and external dimensions
(150) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
2.5
2.5
2.5
2.5
Cable
2.5 mm
2 ×
4C + 0.5 mm
2 ×
2C
or
AWG14
×
4C + AWG20
×
2C
Servomotor side
Number Symbol
G
H
Brake
Brake
I
B
A
F
NC
Phase U
Phase V
Phase W
E
D
C
FG
FG
NC
[Servomotor side connector]
Right angle plug model
N/MS3108B20-18S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-12A (Japan Aviation Electronics)
3-103 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
R88A-CAKF @ BR-E
Cable types
400 V:
(For 3,000-r/min Servomotors of 750W to 2 kW, 2,000-r/min Servomotors of 400 W to 2 kW,
1,000-r/min Servomotors of 900 W)
Model Length (L)
Outer diameter of sheath
R88A-CAKF001-5BR-E 1.5 m
R88A-CAKF003BR-E
R88A-CAKF005BR-E
3 m
5 m
R88A-CAKF010BR-E
R88A-CAKF015BR-E
R88A-CAKF020BR-E
10 m
15 m
20 m
12.5 dia.
3
Connection configuration and external dimensions
(150) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
2.5
2.5
2.5
2.5
Cable
2.5 mm 2 ×
4C + 0.5 mm 2 ×
2C
or
AWG14
×
4C + AWG20
×
2C
Servomotor side
Number Symbol
A
B
I
Brake
Brake
NC
D
E
F
G
H
C
Phase U
Phase V
Phase W
FG
FG
NC
[Servomotor side connector]
Right angle plug model
N/MS3108B24-11S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-16A (Japan Aviation Electronics)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-104
3
3-4 Cable and Connector Specifications
R88A-CAGD @ BR-E
Cable types
(For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min
Servomotors of 2 to 4.5 kW)
Model Length (L)
Outer diameter of sheath
R88A-CAGD001-5BR-E 1.5 m
R88A-CAGD003BR-E
R88A-CAGD005BR-E
3 m
5 m
R88A-CAGD010BR-E
R88A-CAGD015BR-E
R88A-CAGD020BR-E
10 m
15 m
20 m
13.5 dia.
Connection configuration and external dimensions
(150) L
Servo Drive side
R88D-K @
Servomotor side
R88M-K @
Wiring
Servo Drive side
Black-5
Black-6
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
0.5
0.5
4
4
4
4
Servomotor side
Number Symbol
A
B
Brake
Brake
I
D
NC
Phase U
E
F
G
H
C
Phase V
Phase W
FG
FG
NC
Cable
4 mm 2 ×
4C + 0.5 mm 2 ×
2C
or
AWG11
×
4C + AWG20
×
2C
[Servomotor side connector]
Right angle plug model
N/MS3108B24-11S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-16A (Japan Aviation Electronics)
3-105 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Brake Cables (European Flexible Cables)
R88A-CAKA @ BR-E
Cable types
100 and 200 V:
(For 3,000-r/min Servomotors of 50 to 750 W)
Outer diameter of sheath
Model
R88A-CAKA001-5BR-E 1.5 m
R88A-CAKA003BR-E 3 m
R88A-CAKA005BR-E
R88A-CAKA010BR-E
5 m
10 m
R88A-CAKA015BR-E
R88A-CAKA020BR-E
15 m
20 m
Length (L)
6.0 dia.
Connection configuration and external dimensions
(50) L
Servo Drive side
R88D-K
@
Servomotor side
R88M-K
@
3
Wiring
Servo Drive side
Black-1
Black-2
0.5
0.5
Cable
0.5 mm
2 ×
2C
or
AWG20
×
2C
Servomotor side
Number Symbol
1 Brake
2 Brake
[Servomotor side connector]
Connector model
JN4FT02SJ1-R (Japan Aviation Electronics)
Contact model
ST-TMH-S-C1B (Japan Aviation Electronics)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-106
3-4 Cable and Connector Specifications
3
Connector Specifications
Control I/O Connector (R88A-CNU11C)
This is the connector to be connected to the Servo Drive's control I/O connector (CN1).
Use this connector when preparing a control cable by yourself.
For information on wiring method, refer to Control Cable Specifications (P.3-112).
This connector is soldered.
Dimensions
39
Connector plug model
10150-3000PE (Sumitomo 3M)
Connector case model
10350-52A0-008 (Sumitomo 3M) t = 18
Encoder Connectors
These connectors are used for encoder cables.
Use them when preparing an encoder cable by yourself.
For information on wiring method, refer to Encoder Cable Specifications (P.3-97).
Dimensions
R88A-CNW01R (Drive's CN2 side)
This connector is soldered.
43.5
Connector plug model
55100-0670 (Molex Japan) t = 12
3-107 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
R88A-CNK02R (Servomotor side)
This connector is pressure welded.
For the tools that are required for production, contact the manufacturer directly.
The cable direction from the angle plug can be reversed.
Adaptive motors
100-V, 3,000-r/min Servomotors of 50 to 400
W
200-V, 3,000-r/min Servomotors of 50 to 750
W
12.5
8
21.5
Angle clamp model JN6FR07SM1
(Japan Aviation Electronics)
Connector pin model LY10-C1-A1-10000
(Japan Aviation Electronics)
R88A-CNK04R (Servomotor side)
This connector is pressure welded.
For the tools that are required for production, contact the manufacturer directly.
Adaptive motors
200-V, 3,000-r/min Servomotors of all capacities
200-V, 2,000-r/min Servomotors of all capacities
200-V, 1,500-r/min Servomotors of all capacities
200-V, 1,000-r/min Servomotors of all capacities
400-V, 3,000-r/min Servomotors of all capacities
400-V, 2,000-r/min Servomotors of all capacities
400-V, 1,000-r/min Servomotors of all capacities
400-V, 1,500-r/min Servomotors of all capacities
3
7
3 1
4
10
J A E
8
Straight plug model JN2DS10SL2-R
(Japan Aviation Electronics)
Contact model JN1-22-22S-PKG100
(Japan Aviation Electronics)
52
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-108
3
3-4 Cable and Connector Specifications
Power Cable Connector (R88A-CNK11A)
This connector is used for power cables.
Use it when preparing a power cable by yourself.
For information on wiring method, refer to
Power Cable Specifications (P.3-100).
This connector is pressure welded.
For the tools that are required for production, contact the manufacturer directly.
The cable direction from the angle plug can be reversed.
Note If you reverse the direction, you cannot attach the Connector to Servomotors of 50 W and 100 W.
Adaptive motors
100-V, 3,000-r/min Servomotors of 50 to 400
W
200-V, 3,000-r/min Servomotors of 50 to 750
W
R5.5
17.6
12
28.8
Angle plug model JN8FT04SJ1
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
Brake Cable Connector (R88A-CNK11B)
This connector is used for brake cables.
Use it when preparing a brake cable by yourself.
For information on wiring method, refer to Brake
Cables (European Flexible Cables) (P.3-106).
This connector is pressure welded.
For the tools that are required for production, contact the manufacturer directly.
The cable direction from the angle plug can be reversed.
Adaptive motors
100-V, 3,000-r/min Servomotors of 50 to 400
W
200-V, 3,000-r/min Servomotors of 50 to 750
W
17
12.3
29.6
3-109
Angle plug model JN4FT02SJ1-R
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
External Encoder Connector (R88A-CNK41L)
Use this connector to connect to an external encoder in fully-closed control.
This connector is soldered.
(42.5)
13.6
10.4
(10.5)
7.2
Connector plug model
MUF-PK10K-X (J.S.T. Mfg. Co., Ltd.)
Pin Arrangement
View from Inserted Portion View from Soldered Housing Surface
10 9 8 7 6 5 4 3 2 1
1
2
3
4
5
6
7
8
9
10
Note 1: The recommended cable is a AWG28 to AWG24 shielded cable with a finished outer diameter of 6.8 max.
Note 2: For information on wiring method, refer to
External Encoder Connector Specifications
The cable length must be 20 m or less.
Safety I/O Signal Connector (R88A-CNK81S)
Use this connector to connect to a safety device.
This connector is soldered.
11
3
33
φ 6.7
2
1
4
3
6
5
Note 1: The recommended cable is a 6-conductor (AWG30 to AWG26) shielded cable with a finished outer diameter of 6.7 mm max.
Note 2: For information on wiring, refer to
Safety Connector Specifications (CN8)
(P.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-110
3
3-4 Cable and Connector Specifications
Analog Monitor Cable Specifications
Analog Monitor Cable (R88A-CMK001S)
Connection configuration and external dimensions
Symbol
AM1
AM2
GND
No.
1
4
5
2
3
6
Red
White
Black
Cable: AWG24
×
3C UL1007
Connector housing: 51004-0600 (Molex Japan)
Connector terminal: 50011-8000 (Molex Japan)
1 m
3-111 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Control Cable Specifications
Specified Cables for Motion Control Unit (R88A-CPG @ M @ )
Use this cable to connect to the Motion Control Units for OMRON Programmable Controllers
(SYSMAC). Cables are available for either 1 axis or 2 axes.
The following Motion Control Units can be used.
CS1W-MC221/421(-V1)
CV500-MC221/-MC421
C200H-MC221
Cable types
Cables for 1 axis
Model
R88A-CPG001M1
R88A-CPG002M1
R88A-CPG003M1
R88A-CPG005M1
1 m
2 m
3 m
5 m
Length (L)
Outer diameter of sheath
8.3 dia.
Weight
Approx. 0.2 kg
Approx. 0.3 kg
Approx. 0.4 kg
Approx. 0.6 kg
3
Cables for 2 axes
Model
R88A-CPG001M2
R88A-CPG002M2
R88A-CPG003M2
R88A-CPG005M2
1 m
2 m
3 m
5 m
Length (L)
Outer diameter of sheath
8.3 dia.
Weight
Approx. 0.3 kg
Approx. 0.5 kg
Approx. 0.7 kg
Approx. 1.0 kg
Connection configuration and external dimensions
Cables for 1 axis
39 L
Motion Control Unit side
CS1W-MC221/421(-V1) t = 18
Cables for 2 axes
39 L
Motion Control Unit side
CS1W-MC221/421(-V1) t = 18 t = 18
39
Servo Drive side
R88D-K @ t = 18 t = 18
39
Servo Drive side
R88D-K @
Servo Drive side
R88D-K @
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-112
3
3-4 Cable and Connector Specifications
Wiring
Cables for 1 axis
Motion Control
Unit side
Number Symbol
+ 24V
DCGND
1
2
XALM
XRUN
XALMRS
XSGND
XSOUT
X − GND
X − A
X − A
X − B
X − B
X − Z
X − Z
XOUT
XAGND
3
4
5
8
9
10
11
12
13
14
15
16
17
18
AWG20 Red
AWG20 Black
White/Black (1)
Pink/Black (1)
Yellow/Black (1)
Gray/Black (1)
Gray/Red (1)
Orange/Black (2)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Yellow/Black (1)
Pink/Red (1)
Pink/Black (1)
Orange/Red (1)
Orange/Black (1)
Orange/Black (1)
Gray/Black (1)
Cable: AWG26
×
5P
+
AWG26
×
6C
+ F24V 19
FDC GND 20
YALM 21
YRUN
YALMRS
22
23
26
27
YSGND
YSOUT
Y − GND
Y − A
Y − A
Y − B
Y − B
Y − Z
Y − Z
YOUT
YAGND
28
29
30
31
32
33
34
35
36
Connector plug model
10136-3000PE (Sumitomo 3M)
Connector case model
10336-52A0-008 (Sumitomo 3M)
Servo Drive side
Number Symbol
37
29
31
13
20
25
21
22
49
48
23
24
14
15
Shell
7
36
/ALM
RUN
RESET
SENGND *
SEN
ZGND
+ A
− A
+ B
− B
+ Z
− Z
REF/TREF1/VLIM
AGND
*
Connector plug model
10150-3000PE
(Sumitomo 3M) FG
+ 24VIN
ALMCOM
Connector case model
10350-52A0-008
(Sumitomo 3M)
The symbols on the controller side are the DRVX and DRVY connector symbols. For the DRVZ and DRVU connectors, X and Y are indicated as Z and U, respectively.
Terminals marked with asterisks are for absolute encoders.
Connect 24 VDC to the 2 lines (red and black) extending from the connector on the controller side.
(red: + 24 V, black: -)
3-113 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Cables for 2 axes
Motion Control
Unit side
Number Symbol
+ 24V
DCGND
1
2
XALM
XRUN
3
4
XALMRS
XSGND
XSOUT
X − GND
X
−
A
X − A
X
−
B
X − B
X
−
Z
X − Z
XOUT
XAGND
5
8
9
10
11
12
13
14
15
16
17
18
+ F24V 19
FDC GND 20
AWG20 Red
AWG20 Black
Servo Drive side
Number
White/Black (1)
Pink/Black (1)
Yellow/Black (1)
Gray/Black (1)
Gray/Red (1)
Orange/Black (2)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Yellow/Black (1)
Pink/Red (1)
Pink/Black (1)
Orange/Red (1)
Orange/Black (1)
37
29
31
13
20
25
21
22
49
48
23
24
14
15
Orange/Black (1)
Gray/Black (1)
Shell
7
Cable
AWG26 × 5P + AWG26 × 6C
36
Symbol
/ALM
RUN
RESET
SENGND
SEN
ZGND
+ A
− A
+ B
− B
+ Z
− Z
REF/TREF1/VLIM
AGND
FG
+ 24VIN
ALMCOM
*
*
Connector plug model
10150-3000PE
(Sumitomo 3M)
Connector case model
10350-52A0-008
(Sumitomo 3M)
YALM
YRUN
YALMRS
YSGND
YSOUT
Y − GND
Y − A
Y − A
Y − B
Y − B
Y − Z
Y − Z
YOUT
YAGND
21
22
23
26
27
28
29
30
31
32
33
34
35
36
White/Black (1)
Pink/Black (1)
Yellow/Black (1)
Gray/Black (1)
Gray/Red (1)
Orange/Black (2)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Yellow/Black (1)
Pink/Red (1)
Pink/Black (1)
Orange/Red (1)
Orange/Black (1)
Connector plug model
10136-3000PE (Sumitomo 3M)
Connector case model
10336-52A0-008 (Sumitomo 3M)
Cable
AWG26 × 5P + AWG26 × 6C
Number
7
36
Symbol
+ 24VIN
ALMCOM
37
29
31
13
20
25
21
22
49
48
23
24
14
15
Shell
/ALM
RUN
RESET
SENGND *
SEN
ZGND
+ A
− A
+ B
− B
+ Z
− Z
REF/TREF1/VLIM
AGND
FG
*
Connector plug model
10150-3000PE
(Sumitomo 3M)
Connector case model
10350-52A0-008
(Sumitomo 3M)
The symbols on the controller side are the DRVX and DRVY connector symbols. For the DRVZ and DRVU connectors, X and Y are indicated as Z and U, respectively.
Terminals marked with asterisks are for absolute encoders.
Connect 24 VDC to the 2 lines (red and black) extending from the connector on the controller side.
(red: + 24 V, black: -)
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-114
3-4 Cable and Connector Specifications
Specified Cables for Position Control Unit (for CJ1W-NC @@ 4 - High-speed Type)
This cable is for connecting Position Control Units (CJ1W-NC @@ 4) for OMRON
Programmable Controller SYSMAC CJ Series. Cables are available for either 1 axis or 2 axes.
The following types of Position Control Units are supported.
CJ1W-NC214/-NC414/-NC234/-NC434
Cable types
Cable for line-driver output for 1 axis
Model Length
3
Cable for open collector output for 1 axis
Model Length
Cable for line-driver output for 2 axes
Model Length
Cable for open collector output for 2 axes
Model Length
3-115
Connection configuration and external dimensions
Cables for 1 axis
16.1
L
Position Control
Unit side
CJ1W-NC @@ 4
Cables for 2 axes t = 6.1
16.1
L
Position Control
Unit side
CJ1W-NC @@ 4 t = 18
39
Servo Drive side
R88D-K
@
39 t = 6.1
t=18
Servo Drive side
R88D-K @
Servo Drive side
R88D-K @ t = 18
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Wiring
Cable for line-driver output for 1 axis
AWG18 twisted pair 1 m
Red: 24 VDC
Black: 24 VDC GND
PCU side
XG4M-5030-T (OMRON)
24-V power supply for output
24-V GND for output
Input common
Forward direction pulse output (+)
Forward direction pulse output (-)
Reverse direction pulse output (+)
Reverse direction pulse output (-)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z
+
Encoder phase Z
−
16
19
18
21
20
23
1
3
5
17
22
25
24
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
15
11
10
12
13
7
General-purpose input 6
Alarm input
SEN output
Signal ground
9
26
27
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 1 or 3)
10150-3000PE (Sumitomo 3M)
BKIR
BKIRCOM
+
CWLD
−
CWLD
+
CCWLD
−
CCWLD
+
A
−
A
+
B
−
B
+
Z
−
Z
+
24VIN
ECRST
RUN
DFSEL
RESET
TLSEL
INP
INPCOM
READY
REDYCOM
/ALM
ALMCOM
SEN
SENGND
FG
37
36
20
13
Shell
31
27
39
38
35
34
24
7
30
29
26
47
21
22
49
48
23
11
10
44
45
46
Brake interlock output
Reverse pulse (*1)
(input for line driver only)
Forward pulse (*1)
(input for line driver only)
Encoder phase A
+ output
Encoder phase A
− output
Encoder phase B
+ output
Encoder phase B
− output
Encoder phase Z
+ output
Encoder phase Z
− output
+
24-V power supply for controls
Error counter reset input
Operation command input
Damping filter switching
Alarm reset
Torque limit switching
Positioning completion output 1
Servo ready completed output
Alarm output
Sensor ON input
Frame ground
3
24-V power supply for output
24-V GND for output
Input common
Forward direction pulse output (
+
)
Forward direction pulse output (
−
)
Reverse direction pulse output (
+
)
Reverse direction pulse output (
−
)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B −
Encoder phase Z
+
Encoder phase Z
−
33
32
31
30
37
36
35
34
2
4
50
39
38
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
41
45
44
42
43
49
General-purpose input 48
Alarm input
SEN output
Signal ground
47
29
28
*1 Since the PCU handles forward direction commands as
CW-direction/phase-A advance pulses (selectable by the output pulse direction selection parameter), connect the wires as shown here.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-116
3
3-4 Cable and Connector Specifications
Cable for open collector output for 1 axis
AWG18 twisted pair 1 m
Red: 24 VDC
Black: 24 VDC GND
PCU side
XG4M-5030-T (OMRON)
24-V power supply for output
24-V GND for output
1
3
Input common
Forward direction pulse output
(with 1.6 k
Ω
Resistor)
Reverse direction pulse output
(with 1.6 k
Ω
Resistor)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z
+
Encoder phase Z
−
5
16
18
21
20
23
22
25
24
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
15
11
10
12
13
7
General-purpose input 6
Alarm input
SEN output
Signal ground
9
26
27
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 1 or 3)
10150-3000PE (Sumitomo 3M)
11 BKIR
Brake interlock output
38
35
34
37
36
20
13
Shell
26
31
27
39
10 BKIRCOM
3
+
CW/
+
PULS/
+
FA
4
−
CW/
−
PULS/
−
FA
5
+
CCW/
+
SIGN/
+
FB
6
−
CCW/
−
SIGN/
−
FB
21
22
49
48
+
A
−
A
+
B
−
B
23
24
7
+
Z
−
Z
+
24VIN
30 ECRST
29 RUN
DFSEL
RESET
TLSEL
INP
INPCOM
READY
REDYCOM
/ALM
ALMCOM
SEN
SENGND
FG
Reverse pulses, feed pulses, or phase A (*1)
Forward pulse, direction signal, or phase B (*1)
Encoder phase A
+ output
Encoder phase A
− output
Encoder phase B + output
Encoder phase B
− output
Encoder phase Z
+ output
Encoder phase Z
− output
+
24-V power supply for controls
Error counter reset input
Operation command input
Damping filter switching
Alarm reset
Torque limit switching
Positioning completion output 1
Servo ready completed output
Alarm output
Sensor ON input
Frame ground
24-V power supply for output
24-V GND for output
Input common
Forward direction pulse output
(with 1.6 k
Ω
Resistor)
Reverse direction pulse output
(with 1.6 k
Ω
Resistor)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z
+
Encoder phase Z
−
2
4
50
38
36
35
34
33
32
31
30
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
41
45
44
42
43
49
General-purpose input 48
Alarm input
SEN output
Signal ground
47
29
28
*1 Since the PCU handles forward direction commands as
CW-direction/phase-A advance pulses (selectable by the output pulse direction selection parameter), connect the wires as shown here.
3-117 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Cable for line-driver output for 2 axes
AWG18 twisted pair 1 m
Red: 24 VDC
Black: 24 VDC GND
PCU side
XG4M-5030-T (OMRON)
24-V power supply for output
24-V GND for output
Input common
Forward direction pulse output (
+
)
Forward direction pulse output (
−
)
Reverse direction pulse output (
+
)
Reverse direction pulse output (
−
)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z
+
Encoder phase Z
−
19
18
21
20
23
22
25
24
1
3
5
17
16
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
General-purpose input
Alarm input
SEN output
Signal ground
15
11
10
12
13
7
6
9
26
27
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 1 or 3)
10150-3000PE (Sumitomo 3M)
BKIR
BKIRCOM
+ CWLD
−
CWLD
+
CCWLD
−
CCWLD
+
A
− A
+
B
−
B
+
Z
−
Z
+ 24VIN
ECRST
RUN
DFSEL
RESET
TLSEL
INP
INPCOM
READY
REDYCOM
/ALM
ALMCOM
SEN
SENGND
FG
38
35
34
37
36
20
13
Shell
24
7
30
29
26
31
27
39
47
21
22
49
48
23
11
10
44
45
46
Brake interlock output
Reverse pulse (*1)
(input for line driver only)
Forward pulse (*1)
(input for line driver only)
Encoder phase A
+ output
Encoder phase A
− output
Encoder phase B
+ output
Encoder phase B
− output
Encoder phase Z
+ output
Encoder phase Z
− output
+
24-V power supply for controls
Error counter reset input
Operation command input
Damping filter switching
Alarm reset
Torque limit switching
Positioning completion output 1
Servo ready completed output
Alarm output
Sensor ON input
Frame ground
24-V power supply for output
24-V GND for output
Input common
Forward direction pulse output (
+
)
Forward direction pulse output (
−
)
Reverse direction pulse output (
+
)
Reverse direction pulse output (
−
)
Encoder phase A +
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z
+
Encoder phase Z
−
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
General-purpose input
Alarm input
SEN output
Signal ground
37
36
35
34
33
32
31
30
2
4
50
39
38
41
45
44
42
43
49
48
47
29
28
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 2 or 4)
10150-3000PE (Sumitomo 3M)
11
10
44
45
46
47
21
22
49
48
23
24
7
30
29
26
31
27
39
38
35
34
37
36
20
13
Shell
BKIR
BKIRCOM
+
CWLD
−
CWLD
+
CCWLD
−
CCWLD
+
A
−
A
+
B
−
B
+
Z
−
Z
+
24VIN
ECRST
RUN
DFSEL
RESET
TLSEL
INP
INPCOM
READY
REDYCOM
/ALM
ALMCOM
SEN
SENGND
FG
Brake interlock output
Reverse pulse (*1)
(input for line driver only)
Forward pulse (*1)
(input for line driver only)
Encoder phase A
+ output
Encoder phase A
− output
Encoder phase B
+ output
Encoder phase B − output
Encoder phase Z
+ output
Encoder phase Z
− output
+
24-V power supply for controls
Error counter reset input
Operation command input
Damping filter switching
Alarm reset
Torque limit switching
Positioning completion output 1
Servo ready completed
output
Alarm output
Sensor ON input
Frame ground
*1 Since the PCU handles forward direction commands as CW-direction/phase-A advance pulses (selectable by the output pulse direction selection parameter), connect the wires as shown here.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-118
3
3
3-4 Cable and Connector Specifications
Cable for open collector output for 2 axes
AWG18 twisted pair 1 m
Red: 24 VDC
Black: 24 VDC GND
PCU side
XG4M-5030-T (OMRON)
24-V power supply for output
24-V GND for output
1
3
Input common
Forward direction pulse output
(with 1.6 k
Ω
Resistor)
Reverse direction pulse output
(with 1.6 k
Ω
Resistor)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z +
Encoder phase Z
−
5
16
18
21
20
23
22
25
24
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
General-purpose input
Alarm input
SEN output
Signal ground
15
11
10
12
13
7
6
9
26
27
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 1 or 3)
10150-3000PE (Sumitomo 3M)
11 BKIR
37
36
20
13
Shell
27
39
38
35
34
10 BKIRCOM
3
+
CW/
+
PULS/
+
FA
4
−
CW/
−
PULS/
−
FA
5
+
CCW/
+
SIGN/
+
FB
6
−
CCW/
−
SIGN/
−
FB
21
22
49
48
+
A
−
A
+
B
−
B
23
24
7
+
Z
−
Z
+
24VIN
30 ECRST
29
26
31
RUN
DFSEL
RESET
TLSEL
INP
INPCOM
READY
REDYCOM
/ALM
ALMCOM
SEN
SENGND
FG
Brake interlock output
Reverse pulses, feed pulses, or phase A (*1)
Forward pulse, direction signal, or phase B (*1)
Encoder phase A
+ output
Encoder phase A
− output
Encoder phase B
+ output
+
− output
Encoder phase Z
+ output
Encoder phase Z
− output
+
24-V power supply for controls
Error counter reset input
Operation command input
Damping filter switching
Alarm reset
Torque limit switching
Positioning completion output 1
Servo ready completed output
Alarm output
Sensor ON input
Frame ground
24-V power supply for output
24-V GND for output
Input common
Forward direction pulse output
(with 1.6 k
Ω
Resistor)
Reverse direction pulse output
(with 1.6 k
Ω
Resistor)
Encoder phase A
+
Encoder phase A
−
Encoder phase B
+
Encoder phase B
−
Encoder phase Z
+
Encoder phase Z
−
2
4
50
38
36
35
34
33
32
31
30
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
General-purpose input
Alarm input
SEN output
Signal ground
41
45
44
42
43
49
48
47
29
28
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 2 or 4)
10150-3000PE (Sumitomo 3M)
11
29
BKIR
10
3
4
49
48
23
24
7
BKIRCOM
+
CW/
+
PULS/
+
FA
−
CW/
−
PULS/
−
FA
+
CCW/
+
SIGN/
+
FB 5
6
−
CCW/
−
SIGN/
−
FB
21
22
+
A
−
A
+
B
−
B
+
Z
−
Z
+
24VIN
30 ECRST
RUN
Brake interlock output
Reverse pulses, feed pulses, or phase A (*1)
Forward pulse, direction signal, or phase B (*1)
Encoder phase A
+ output
Encoder phase A
− output
Encoder phase B
+ output
Encoder phase B
− output
Encoder phase Z
+ output
Encoder phase Z
− output
+
24-V power supply for controls
Error counter reset input
Operation command input
26
31
27
39
38
35
34
37
36
20
13
DFSEL
RESET
TLSEL
INP
INPCOM
READY
REDYCOM
/ALM
ALMCOM
SEN
SENGND
Damping filter switching
Alarm reset
Torque limit switching
Positioning completion output 1
Servo ready completed output
Alarm output
Sensor ON input
Shell FG Frame ground
*1 Since the PCU handles forward direction commands as CW-direction/phase-A advance pulses (selectable by the output pulse direction selection parameter), connect the wires as shown here.
3-119 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
General-purpose Control Cables (R88A-CPG @ S)
This is a cable attached to the connector to be connected to the drive’s control I/O connector
(CN1). The connector for the controller is not provided. When connecting to a Position Control
Unit which does not have a specified cable or connecting to another company's controller, prepare wiring suited for the controller to be connected.
When connecting to a controller which does not have a specified cable, either use a generalpurpose control cable or a connector-terminal block cable and a connector-terminal block.
Cable types
Model
R88A-CPG002S 2 m
Length (L)
Outer diameter of sheath
12.8 dia.
Weight
Approx. 0.3 kg
Approx. 0.6 kg
3
Connection configuration and external dimensions
L
Controller side
39
Servo Drive side
R88D-K @ t = 18
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-120
3-4 Cable and Connector Specifications
3
Wiring
22
23
24
25
26
18
19
20
21
Number
1
2
7
8
9
10
11
12
13
14
5
6
3
4
15
16
17
Wire/Mark color
Orange/Red (1)
Orange/Black (1)
Gray/Red (1)
Gray/Black (1)
White/Red (1)
White/Black (1)
Yellow/Red (1)
Pink/Red (1)
White/Black (2)
Yellow/Red (2)
Yellow/Black (2),
Pink/Black (2)
Symbol
+ 24VCW
+ 24VCCW
+ CW/ + PULS/ + FA
− CW/ − PULS/ − FA
+ CCW/ + SIGN/ + FB
− CCW/ − SIGN/ − FB
+ 24VIN
SI1
AGND1
PCL/TREF2
AGND2
Number Wire/Mark color
27
28
Pink/Black (3)
White/Black (3)
29
30
31
32
33
34
Pink/Black (1) SI2 35
Orange/Red (2)
Orange/Black (2)
Yellow/Black (1)
SO1 − 36
SO1
−−−
+ 37
38
Gray/Black (2) SENGND 39
White/Red (2) REF/TREF1/VLIM 40
41
42
43
Yellow/Red (3)
Pink/Red (3)
Yellow/Black (3)
Gray/Black (4)
Orange/Red (4)
White/Red (4)
White/Black (4)
Yellow/Black (4)
Pink/Red (4)
Pink/Black (4)
Gray/Red (4)
Orange/Black (4)
Gray/Red (5)
Gray/Black (5)
Pink/Red (2)
Orange/Red (5)
Gray/Red (2)
Orange/Red (3)
Orange/Black (3)
Gray/Red (3)
Gray/Black (3)
Orange/Black (5)
White/Red (3)
NCL
Z
SEN
+ A
− A
+ Z
− Z
ZGND
SI3
44
45
46
47
48
49
50
Shell
White/Red (5)
White/Black (5)
Yellow/Red (5)
Yellow/Black (5)
Pink/Black (5)
Pink/Red (5)
−−−
−−−
/ALM
SO4 −
SO4 +
−−−
−−−
BAT
BATGND
− B
+ B
−−−
FG
+ CWLD
− CWLD
+ CCWLD
− CCWLD
SI4
SI5
SI6
SI7
SI8
SI9
SI10
SO2 −
SO2 +
Symbol
Connector plug model: 10150-3000PE (Sumitomo 3M)
Connector case model: 10350-52A0-008 (Sumitomo 3M)
Cable: AWG24 × 25P UL20276
• Wires with the same wire color and the same number of marks form a twisted pair.
Example: Wires with respective wire and mark colors of orange/red (1) and orange/black (1) form a twisted pair.
3-121 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Terminal Block Cables (XW2Z@ J-B24)
This is a cable to connect the Servo drive I/O signals (CN1 connector) to a terminal block for general-purpose. All servo drive I/O signals are wired.
Cable types
Model
XW2Z-100J-B24
XW2Z-200J-B24
1 m
2 m
Length (L)
Outer diameter of sheath
11.2 dia.
Weight
Approx. 0.2 kg
Approx. 0.4 kg
Connection configuration and external dimensions
16.1
L
Connector-terminal block side
XW2B-50G4
XW2B-50G5
XW2D-50G6 t = 6.1
t = 18
39
Servo Drive side
(CN1 connector)
R88D-K
@
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-122
3
3-4 Cable and Connector Specifications
Terminal block Connector
6
7
8
9
10
11
1
2
3
4
5
Number Number
6
7
8
9
10
11
1
2
3
4
5
43
44
45
46
47
48
49
50
35
36
37
38
39
40
41
42
27
28
29
30
31
32
33
34
21
22
23
24
26
20
14
15
16
17
18
12
19
43
44
45
46
47
48
49
50
35
36
37
38
39
40
41
42
27
28
29
30
31
32
33
34
21
22
23
24
26
20
14
15
16
17
18
12
19
Servo Drive side
Symbol
1
2
3
4
5
6
7
9
10
11
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Red (1)
Gray/Red (1)
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
+
−
+ 24VCW
+
24VCCW
+
CW/
+
PULS/
+
FA
−
CW/
−
PULS/
−
FA
CCW/
CCW/
+
−
SIGN/
SIGN/
+
24VIN
SI2
SO1
−
SO1
+
+
−
FB
FB
• 1 Wires with the same wire color
and the same number of marks
form a twisted pair
Example: Wires with respective
wire and mark colors
of Yellow/Black (1) and
Pink/Black (1) form a
twisted pair
21
22
23
24
26
14
15
Green/Red (2)
Green/Black (2)
REF/TREF1/VLIM
AGND1
16
17
Orange/Red(2)
Orange/Black (2)
PCL/TREF2
AGND2
18 NCL
12
Gray/Red (1)
Gray/Black(2)
−−−
Pink/Red (3)
Pink/Black(3)
Green/Red (3)
Green/Black (3)
Orange/Red(3)
+ A
−
A
+
Z
−
Z
SI3
31 Blue/Black (4) SI8
35 SO2
37
38
39
Pink/Black (4)
Green/Red (4) −
Servo Drive Connector:
Orange/Red(4)
Orange/Black (4)
Gray/Red(4)
Gray/Black(4)
+
40
41
Blue/Red (5)
Blue/Black (5)
−−−
Terminal Block Connector:
Pink/Red (5)
/ALM
SO4 −
SO4
+
−−−
Connector plug model
10150-3000PE (Sumitomo 3M)
Connector case model
10350-52A0-008 (Sumitomo 3M)
43 BATGND
44
45
46
47
48
49
50
Shell
Green/Red (5)
Green/Black (5)
Orange/Red (5)
Orange/Black (5)
Gray/Red (5)
Gray/Black(5)
Orange/Red(1)
+
−
+
CWLD
−
CWLD
CCWLD
CCWLD
−
B
+
B
−
FG
XG4M-5030 (OMRON)
Strain relief model XG4T-5004 (OMRON)
Cable: AWG28
×
25P UL2464
3-123 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
Connector-Terminal Block Conversion Unit
The Connector-Terminal Block Conversion Unit connects the servo drive I/O signals (CN1 connector) for general purpose. Use the cable (XW2Z@ J-B24) to connect the Connector-
Terminal Block Conversion Unit to the CN1 connector.
XW2B-50G4 (M3 Screw Terminal Block)
Dimensions
3.5
29.5
5.08
Flat cable connector (MIL type plug)
157.5
3.5
15.5
2-
φ
3.5
45
Terminal block
20.5
38.1
(45.3)
Use 0.3 to 1.25 mm
2
wire (AWG22 to 16).
The wire inlet is 1.8 mm (height) × 2.5 mm (width).
Strip the insulation from the end of the wire for 6 mm as shown below.
6 mm
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-124
3-4 Cable and Connector Specifications
XW2B-50G5 (M3.5 Screw Terminal Block)
3
Dimensions
3.5
29.5
7
8.5
Flat cable connector (MIL type plug)
247.5
7.3
Terminal block
7
3.5
15.5
2-
φ
3.5
45
20.5
43.5
(45.3)
When using crimp terminals, use crimp terminals with the following dimensions.
When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.59 N•m.
Round terminal
φ
3.2mm
6.8 mm max.
Fork terminal
3.7mm
6.8 mm max.
Applicable crimp terminals
1.25
− 3
Round terminals
Fork terminals
2 − 3.5
1.25Y
− 3
2 − 3.5
Applicable wires
AWG22-16
(0.3 to 1.25 mm
2
)
AWG16-14
(1.25 to 2.0 mm
2
)
AWG22-16
(0.3 to 1.25 mm
2
)
AWG16-14
(1.25 to 2.0 mm
2
)
3-125 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4 Cable and Connector Specifications
XW2D-50G6 (M3 Screw Terminal Block)
A1
B1
A2 A3
B2 B3
A4
B4
A5 A6
B5
B6
A7
A8
B7 B8
A9 A10
A11 A12
B9 B10
B11
A13
B12
A14
B13
A15
B14
B15
A16 A17
B16 B17
A18
A19
B18
A20
B19
B20
Dimensions
184
144
DIN rail lock
7
(4.5)
MIL type connector XG4A
2-
φ
4.5
6 40
1.2
7
5.8
M3
(39.1)
17.6
39
7
When using crimp terminals, use crimp terminals with the following dimensions.
When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N•m.
Round terminal
φ 3.2 mm
5.8 mm max.
Fork terminal
3.2 mm 5.8 mm max.
Applicable crimp terminals
Round terminals
Fork terminals
1.25
−
1.25Y
3
− 3
Applicable wires
AWG22-16
(0.3 to 1.25 mm 2 )
AWG22-16
(0.3 to 1.25 mm
2
)
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-126
3-5 Servo Relay Units and Cable Specifications
3-5 Servo Relay Units and Cable
Specifications
This section provides the specifications for the Servo Relay Unit and cables used for connecting to Position Control Units for OMRON Programmable Controllers (SYSMAC).
Select the models that match the Position Control Unit to be used.
3
Servo Relay Units Specifications
XW2B-20J6-1B
This Servo Relay Unit connects to the following OMRON Position Control Units.
0
10
11
1
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
CJ1W-NC113/-NC133
CS1W-NC113/-NC133
C200HW-NC113
Dimensions
Position Control Unit side
3.5
7
135
10
0
2φ 3.5
19
9
Servo Drive side
3.5
7
Terminal block pitch: 7.62 mm
3-127 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Wiring
10
+
24 V
Emergency stop
CW limit CCW limit
Origin proximity
RUN
0 0 V
ALM BKIR 19
Common Common Common
External interrupt
Common Common RESET ALMCOM FG
9
X1 X1
24 VDC
XB
(*1)
24 VDC
*1. The XB contacts are used to turn ON/OFF the electromagnetic brake.
Note 1.Do not connect unused terminals.
Note 2.The 0 V terminal is internally connected to the common terminals.
Note 3.The applicable crimp terminal is R1.25-3 (round with open end).
XW2B-40J6-2B
This Servo Relay Unit connects to the following OMRON Position Control Units.
CJ1W-NC213/-NC233/-NC413/-NC433
CS1W-NC213/-NC233/-NC413/-NC433
C200HW-NC213/-NC413
0
20
1
21
2
22
3
23
4
24
5
25
6
26
7
27
8
28
9
29
10
30
11
31
12
32
33
13
34
14
35
15
16
36
17
37
38
18
39
19
3
Dimensions
Position Control Unit side
3.5
7
X-axis drive side
180
Y-axis drive side
3.5
7
20
0
39
19
2-
φ
3.5
Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-128
3
3-5 Servo Relay Units and Cable Specifications
Wiring
20 +
24 V
0
0 V
X/Y-axis emergency stop
X-axis
CW limit
X-axis
CCW limit
X-axis
Origin proximity
X-axis
Common Common Common
X-axis
RUN
External interrupt
Common Common
X-axis
ALM
X-axis
BKIR
X-axis
RESET
X-axis
ALMCOM
Y-axis
CW limit
Y-axis
CCW limit
Y-axis
Origin proximity
Y-axis
RUN
Common Common
Y-axis
External interrupt
Common Common
Y-axis
RESET
Y-axis
ALM
Y-axis
BKIR
Y-axis
ALMCOM
39
FG
19
X1 X1
24 VDC
XB
(*1)
Y1 Y1
24 VDC
YB
(*1)
24 VDC
*1. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake.
Note 1.Do not connect unused terminals.
Note 2.The 0 V terminal is internally connected to the common terminals.
Note 3.The applicable crimp terminal is R1.25-3 (round with open end).
XW2B-20J6-3B
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
CQM1-CPU43-V1
CQM1-PLB21
0
10
11
1
2
12
3
13
14
4
5
15
6
16
7
17
8
18
19
9
Dimensions
CQM1 side
3.5
7
10
0
2φ 3.5
135
19
9
Servo Drive side
3.5
7
3-129
Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Wiring
10 +
24V CW CCW RUN ECRST INP
0 0V CW CCW Common Common
ALM BKIR 19
Z RESET ALMCOM FG
9
(*1) (*1)
X1
CQM1 Input Unit
(*2)
X1
24 VDC
XB
(*3)
24 VDC
*1. If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter.
*2. Input this output signal to a CQM1 Input Unit.
*3. The XB contacts are used to turn ON/OFF the electromagnetic brake.
Note 1.The phase Z is an open collector.
Note 2.Do not connect unused terminals.
Note 3.The 0 V terminal is internally connected to the common terminals.
Note 4.The applicable crimp terminal is R1.25-3 (round with open end).
XW2B-20J6-8A
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis)
0
10
1
11
2
12
3
13
4
14
5
15
6
16
7
17
8
18
9
19
3
Dimensions
CJ1M-CPU21/22/23 side
3.5
7
135
10
0
2φ 3.5
19
9
Servo Drive side
3.5
7
Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-130
3
3-5 Servo Relay Units and Cable Specifications
Wiring
The Servo Drive phase Z output signal is wired to the origin signal in this terminal block.
10
+
24 V IN6 IN7 IN8
Origin proximity
RUN
(*3)
MING ALM BKIR 19
0 0 V Common Common Common IN9 Common Common RESET ALMCOM FG
9
CW limit (*1)
(Contact 2960.06)
CCW limit (*1)
(Contact 2960.07)
X1 X1 XB
(*2)
24 VDC
24 VDC
*1. CW and CCW limit input signals can also be input through Input Units. The signal for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW:
A541.08, CCW: A541.09 for pulse output 1. Accordingly, the actual inputs can be used as the CW/
CCW limit by outputting the flags below in the ladder program.
Example)
2960.06
A540.08
*2. The XB contacts are used to turn ON/OFF the electromagnetic brake.
*3. Connection to the MING input terminal is disabled.
Note 1.Do not connect unused terminals.
Note 2.The 0 V terminal is internally connected to the common terminals.
Note 3.The applicable crimp terminal is R1.25-3 (round with open end).
3-131 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
XW2B-40J6-9A
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
CJ1M-CPU21/-CPU22/-CPU23 (for 2 axes)
0
20
1
21
2
22
3
23
4
24
5
25
6
26
7
27
8
28
29
9
10
30
11
31
12
32
13
33
14
34
15
35
16
36
17
37
38
18
39
19
Dimensions
CJ1M-CPU21/22/23 side
3.5
7
20
0
2φ 3.5
X-axis drive side Y-axis drive side
180 3.5
7
39
19
3
Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-132
3
3-5 Servo Relay Units and Cable Specifications
Wiring
The Servo Drive phase Z output signal is wired to the origin signal in this terminal block.
20 +
24 V
0 0 V
(*3)
IN6 IN7
X-axis
Origin proximity
X-axis
RUN
X-axis
MING
X-axis
ALM
Common Common Common Common Common Common
X-axis
RESET
X-axis
X-axis
BKIR
ALMCOM
(*3)
IN8 IN9
Y-axis
Origin proximity
Y-axis
RUN
Y-axis
MING
Y-axis
ALM
Y-axis
BKIR
Common Common Common Common Common
Y-axis
RESET
Y-axis
ALMCOM
39
FG
19
X-axis
CW limit
(Contact
2960.06)
(*1)
X-axis
CCW limit
(Contact
2960.07)
(*1)
X1 X1 XB
24 VDC
(*2)
Y-axis
CW limit
Y-axis
CCW limit
(Contact (Contact
2960.08) 2960.09)
(*1) (*1)
Y1 Y1
24 VDC
YB
(*2)
24 VDC
*1. CW and CCW limit input signals can also be input through Input Units. The signal for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW:
A541.08, CCW: A541.09 for pulse output 1. Accordingly, the actual inputs can be used as the CW/
CCW limit by outputting the flags below in the ladder program.
Example)
2960.06
A540.08
*2. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake.
*3. Connection to the MING input terminal is disabled.
*4. Do not connect unused terminals.
*5. The 0 V terminal is internally connected to the common terminals.
*6. The applicable crimp terminal is R1.25-3 (round with open end).
3-133 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Servo Drive Cable (XW2Z@ J-B31)
This cable connects the drive to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A).
Cable types
Model Length (L)
Outer diameter of sheath
Weight
XW2Z-200J-B31 2 m
8.1 dia.
Approx. 0.1 kg
Approx. 0.2 kg
Note: Do not use a Servo Relay Unit Cable for line receiver inputs (+CWLD: CN1 pin 44,
-CWLD: CN1 pin 45, +CCWLD: CN1 pin 46, -CCWLD: CN1 pin 47).
Use a General-purpose Control Cable (R88A-CPG @ S) and prepare wiring suited for the controller to be connected.
Connection configuration and external dimensions
L
Servo Relay Unit side
XW2B-20J6-8A
XW2B-40J6-9A
Servo Drive side
R88DKT
@
3
Wiring
Servo Relay Unit side
Wire and mark color
Blue/Red (1)
Blue/Black (1)
Pink/Red (1)
Pink/Black (1)
Green/Red (1)
Green/Black (1)
Orange/Red (1)
−
−
Gray/Red (1)
Gray/Black (1)
Blue/Red (2)
Blue/Black (2)
Orange/Black (1)
Pink/Red (2)
Pink/Black (2)
Orange/Red (2)
Green/Black (2)
Orange/Red (2)
Any
18
19
20
13
14
15
16
17
Number
1
2
3
4
5
6
7
8
9
10
11
12
[Servo Relay Unit connector]
Connector socket model: XG4M-2030
Strain relief model: XG4T-2004
[Cable]
AWG28 × 10P UL2464
Servo Drive side
Number
6
3
4
7
38
5
30
10
23
24
39
29
27
31
11
37
36
Shell
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-134
3
3-5 Servo Relay Units and Cable Specifications
[Drive connector]
Connector plug model: 10150-3000PE (Sumitomo 3M)
Connector case model: 10350-52A0-008 (Sumitomo 3M)
3-135 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Position Control Unit-Servo Relay Unit Cable Specifications
Position Control Unit Cable (XW2Z@ J-A3)
This cable connects a Programmable Controller (CQM1H-PLB21) to a Servo Relay Unit
(XW2B-20J6-3B).
Cable types
Model
XW2Z-050J-A3
XW2Z-100J-A3
50 cm
1 m
Length (L)
Outer diameter of sheath
7.5 dia.
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Connection configuration and external dimensions
39 L 6
3
CQM1 side
CQM1H-PLB21
Servo Relay Unit side
XW2B-20J6-3B t=15
Wiring
CQM1 side
Number
15
12
13
14
1
3
4
5
6
Hood cover
Cable: AWG28
×
4P
+
AWG28
×
4C
Servo Relay Unit side
11
12
13
14
7
8
9
10
15
16
Number
1
2
5
6
3
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-136
3
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z@ J-A6)
This cable connects a Position Control Unit (CS1W-NC113 and C200HW-NC113) to a Servo
Relay Unit (XW2B-20J6-1B).
Cable types
Model
XW2Z-100J-A6 1 m
Length (L)
Outer diameter of sheath
8.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.1 kg
Connection configuration and external dimensions
47 L 6
Position Control Unit side
CS1W-NC113
C200HW-NC113
Servo Relay Unit side
XW2B-20J6-1B t = 11
Wiring
Position Control Unit side
Number
A1
A2
A8
A6
A10
A16
A14
A24
A12
A21
A23
A22
A19
A20
Crimp terminal Cable: AWG28
×
4P
+
AWG28
×
10C
Servo Relay Unit side
Number
13
14
15
16
9
10
11
12
7
8
5
6
3
4
1
2
21
22
23
24
17
18
19
20
25
26
3-137 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z@ J-A7)
This cable connects a Position Control Unit (CS1W-NC213/NC413 and C200HW-NC213/
NC413) to a Servo Relay Unit (XW2B-40J6-2B).
Cable types
Model
XW2Z-100J-A7 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
47 L 6
3
Position Control Unit side
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413 t = 11
Wiring
Position Control Unit side
Number
A1/B1
A2/B2
A8
A6
A10
A16
A14
A24/B24
A19
A21
A12
A23
A22
A20/B20
B8
B6
B10
B16
B14
B23
B22
B21
B19
B12
Crimp terminal
Cable: AWG28
×
6P
+
AWG28
×
16C
Servo Relay Unit side
Number
1
2
3
6
7
8
4
5
21
22
23
24
17
18
19
20
13
14
15
16
9
10
11
12
29
30
31
32
25
26
27
28
33
34
Servo Relay Unit side
XW2B-40J6-2B
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-138
3-5 Servo Relay Units and Cable Specifications
3
Position Control Unit Cable (XW2Z@ J-A10)
This cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B-
20J6-1B).
Cable types
Model
XW2Z-100J-A10 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
47 L 6
Position Control Unit side
CS1W-NC133
Servo Relay Unit side
XW2B-20J6-1B t = 11
1000
Wiring
Position Control Unit side
Number
A3
A4
A1
A2
A7
A8
A5
A6
A10
A16
A14
A24
A12
A21
A23
A22
A19
A20
Crimp terminal
AWG 20Black
AWG 20Red
Cable: AWG28
×
4P
+
AWG28
×
10C
Servo Relay Unit side
Number
19
20
21
22
15
16
17
18
23
24
25
26
9
10
11
12
13
14
7
8
5
6
3
4
1
2
3-139 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z@ J-A11)
This cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B-
40J6-1B).
Cable types
Model
XW2Z-100J-A11 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
47 L 6
3
Position Control Unit side
CS1W-NC233
CS1W-NC433
Servo Relay Unit side
XW2B-40J6-1B t = 11
1000
Wiring
Position Control Unit side
Number
A3/B3
A4/B4
A1/B1
A2/B2
A7
A8
A5
A6
A10
A16
A14
A24/B24
A19
A21
A12
A23
A22
A20/B20
B7
B8
B5
B6
B10
B16
B14
B23
B22
B21
B19
B12
Crimp terminal
AWG20 Black
AWG20 Red
Cable: AWG28
×
6P
+
AWG28
×
16C
Servo Relay Unit side
Number
22
23
24
25
26
27
28
29
16
17
18
19
20
21
30
31
32
33
34
8
9
10
11
12
13
14
15
5
6
7
1
2
3
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-140
3-5 Servo Relay Units and Cable Specifications
3
3-141
Position Control Unit Cable (XW2Z@ J-A14)
This cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B-
20J6-1B).
Cable types
Model
XW2Z-100J-A14 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
500
Position Control Unit side
CJ1W-NC113
13
NC1
CJ1W-
Servo Relay Unit side
XW2B-20J6-1B t = 11
L 6
Wiring
Position Control Unit side
Number
A1
A2
A8
A6
A9
A14
A12
A20
A11
A17
A19
A18
A15
A16
Crimp terminal
Cable: AWG28
×
4P
+
AWG28
×
10C
Servo Relay Unit side
19
20
21
22
15
16
17
18
23
24
25
26
11
12
13
14
7
8
9
10
Number
1
2
5
6
3
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z@ J-A15)
This cable connects a Position Control Unit (CJ1W-NC213/NC413) to a Servo Relay Unit
(XW2B-40J6-2B).
Cable types
Model
XW2Z-100J-A15 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
3
500
Position Control Unit side
CJ1W-NC213
CJ1W-NC413
Servo Relay Unit side
XW2B-40J6-2B
-NC213/NC413
CJ1W t = 11
L
Wiring
Position Control Unit side
Number
A1/B1
A2/B2
A8
A6
A9
A14
A12
A20/B20
A15
A17
A11
A19
A18
A16/B16
B8
B6
B9
B14
B12
B19
B18
B17
B15
B11
Crimp terminal Cable: AWG28
×
8P
+
AWG28
×
16C
Servo Relay Unit side
21
22
23
24
25
26
13
14
15
16
17
18
19
20
27
28
29
30
31
32
33
34
Number
1
4
5
2
3
6
10
11
12
7
8
9
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-142
3-5 Servo Relay Units and Cable Specifications
3
3-143
Position Control Unit Cable (XW2Z@ J-A18)
This cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B-
20J6-1B).
Cable types
Model
XW2Z-100J-A18 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
500
Position Control Unit side
CJ1W-NC133
Servo Relay Unit side
XW2B-20J6-1B
-NC133
CJ1W t = 11
1000
L 6
Wiring
Position Control Unit side
Number
A3
A4
A1
A2
A7
A8
A5
A6
A9
A14
A12
A20
A11
A17
A19
A18
A15
A16
Crimp terminal
AWG20 Black
AWG20 Red
Cable: AWG28
×
4P
+
AWG28
×
10C
Servo Relay Unit side
Number
7
8
9
10
11
12
13
14
15
16
17
1
4
5
2
3
6
18
19
20
21
22
23
24
25
26
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z@ J-A19)
This cable connects a Position Control Unit (CJ1W-NC233/433) to a Servo Relay Unit (XW2B-
40J6-2B).
Cable types
Model
XW2Z-100J-A19 1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
500
Position Control Unit side
CJ1W-NC233
CJ1W-NC433
Servo Relay Unit side
XW2B-40J6-2B
-NC233/NC433
CJ1W t = 11
1000
L 6
3
Wiring
Position Control Unit side
Number
A3/B3
A4/B4
A1/B1
A2/B2
A7
A8
A5
A6
A9
A14
A12
A20/B20
A15
A17
A11
A19
A18
A16/B16
B7
B8
B5
B6
B9
B14
B12
B19
B18
B17
B15
B11
Crimp terminal
AWG20 Black
AWG20 Red
Cable: AWG28
×
8P
+
AWG28
×
16C
Servo Relay Unit side
Number
26
27
28
29
22
23
24
25
30
31
32
33
34
15
16
17
18
19
20
21
11
12
13
14
7
8
9
10
3
4
1
2
5
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-144
3-5 Servo Relay Units and Cable Specifications
3
3-145
Position Control Unit Cable (XW2Z@ J-A33)
This cable connects a Programmable Controller (CJ1M-CPU21/CPU22/CPU23) to a Servo
Relay Unit (XW2B-20J6-8A or XW2B-40J6-9A).
Cable types
Model
XW2Z-050J-A33
XW2Z-100J-A33
50 cm
1 m
Length (L)
Outer diameter of sheath
10.0 dia.
Weight
Approx. 0.1 kg
Approx. 0.2 kg
Connection configuration and external dimensions
500
CJ1M side
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
Servo Relay Unit side
XW2B-20J6-8A
XW2B-40J6-9A
6 L 6
Wiring
CJ1M side Servo Relay Unit side
Number Number
37
39
40
32
1
2
3
4
5
31
35
3
5
17
6
23
24
6
7
8
10
11
12
13
14
15
34
16
17
18
19
33
36
9
11
18
12
20
21
22
23
24
25
26
27
28
29
30
29
30
2
8
13
14
19
20
25
26
Cable: AWG28
×
6P
+
AWG28
×
14C
Crimp terminal
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-6 External Regeneration Resistor Specifications
3-6 External Regeneration Resistor
Specifications
External Regeneration Resistor Specifications
R88A-RR08050S
Model
R88A-
RR08050S
Resistance value
Nominal capacity
Regeneration absorption for 120 ° C temperature rise
50 Ω 80 W 20 W
Heat radiation condition
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150 ° C ± 5%
NC contact
Rated output (resistive load): 125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
3
R88A-RR080100S
Model
R88A-
RR080100S
Resistance value
Nominal capacity
Regeneration absorption for 120 ° C temperature rise
100 Ω 80 W 20 W
Heat radiation condition
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150 ° C ± 5%
NC contact
Rated output (resistive load): 125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
R88A-RR22047S1
Model
R88A-
RR22047S1
Resistance value
Nominal capacity
Regeneration absorption for 120 ° C temperature rise
47 Ω 220 W 70 W
Heat radiation condition
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Operating temperature:
150 ° C ± 5%
NC contact
Rated output (resistive load): 250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-146
3
3-6 External Regeneration Resistor Specifications
R88A-RR50020S
Model
R88A-
RR50020S
Resistance value
Nominal capacity
Regeneration absorption for 120 ° C temperature rise
Heat radiation condition
20 Ω 500 W 180 W
Thermal switch output specifications
Aluminum
600 × 600,
Thickness: 3.0
Operating temperature
200 ° C ± 7 ° C
NC contact
Rated output (resistive load): 250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
3-147 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-7 EMC Filter Specifications
3-7 EMC Filter Specifications
Specifications
Applicable servo drive
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
Filter model
R88A-FIK102-RE
R88A-FIK104-RE
R88A-FIK107-RE
R88A-FIK114-RE
R88A-FIK304-RE
R88A-FIK306-RE
R88A-FIK312-RE
Rated current
2.4 A
4.1 A
6.6 A
14.2 A
4 A
6 A
12 A
Leakage current
3.5 mA
Rated voltage
250 VAC single-phase
400 VAC single-phase
3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-148
System Design
This chapter explains the installation conditions for the Servo Drive and
Servomotor, wiring methods including wiring conforming to EMC Directives and regenerative energy calculation methods as well as the performance of External
Regeneration Resistors.
4
4-1 Installation Conditions .................................................4-1
Space Conditions around Servo Drives .......................................... 4-1
Servomotor Installation Conditions ................................................. 4-3
Decelerator Installation Conditions ................................................. 4-6
4-2 Wiring.............................................................................4-7
Peripheral Equipment Connection Examples ................................. 4-8
Main Circuit and Motor Connections............................................. 4-18
4-3 Wiring Conforming to EMC Directives......................4-33
Wiring Method............................................................................... 4-33
Selecting Connection Component ................................................ 4-41
4-4 Regenerative Energy Absorption..............................4-53
Regenerative Energy Calculation ................................................. 4-53
Servo Drive Regeneration Absorption Capacity ........................... 4-56
Regenerative Energy Absorption with an External Regeneration Resistor.......4-57
Connecting an External Regeneration Resistor............................ 4-58
4-5 Large Load Inertia Adjustment and Dynamic Brake ......4-61
Adjustment When the Load Inertia Is Large.................................. 4-61
Dynamic Brake When the Load Inertia Is Large ........................... 4-61
4-6 Using DC Power..........................................................4-62
Connection Examples for DC Power ............................................ 4-63
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-1 Installation Conditions
4-1 Installation Conditions
4
Space Conditions around Servo Drives
Space Conditions around Equipment
Install Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drive and convection inside the panel. If the drives are installed side by side, install a fan for air circulation to prevent uneven temperatures inside the panel.
100 mm min.
Air
Fan Fan
Servo
Drive
A
Servo
Drive
B
Servo
Drive
C
Side of
Servo
Drive
40 mm or more
W W
W = 10 mm or more
100 mm min.
Air
W must be 50 mm or more if 7.5-kW or 15-kW Servo Drives are installed.
Servo Drives of 100 V or 200 V with a capacity of 750 W max. can be installed side by side with a 1-mm clearance (W in above illustration). For ambient temperature requirements, refer to
Environment Operating Conditions below.
If the mounting surface of the Servo Drive is coated, remove the coating to allow electrical conduction. If you make your own mounting bracket, we recommend that you apply electrically conductive plating.
Mounting Direction
Mount the Servo Drive perpendicular on the panel so that the model number reads normally.
Environment Operating Conditions
The environment in which drives are operated must meet the following conditions. Drives may malfunction if operated under any other conditions.
Operating ambient temperature: 0 to + 55 ° C (Take into account temperature rises in the following individual drives themselves.)
Operating humidity: 90% RH max. (with no condensation)
Operating atmosphere: No corrosive gases.
Altitude: 1,000 m max.
For Servo Drives of 100 V or 200 V with a capacity of 750 W max., the specifications for operating ambient temperature depend on the Servo Drive (A, B, and C) when the clearance between Servo
Drives is 1 mm.
Servo Drive A: 0 to 50 ° C
Servo Drive B: 0 to 40 ° C
Servo Drive C: 0 to 45 ° C
4-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-1 Installation Conditions
Ambient Temperature Control
Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of reliability.
When the drive is installed in a closed space, such as a box, the ambient temperature may rise due to temperature rise in each unit. Use a fan or air conditioner to prevent the Servo Drive's ambient temperature from exceeding 55 ° C.
Drive surface temperatures may rise to as much as 30 ° C above the ambient temperature. Use heat-resistant materials for wiring, and provide a distance from any devices or wiring that are sensitive to heat.
The service life of a Servo Drive is largely determined by the ambient temperature around the internal electrolytic capacitors. When an electrolytic capacitor reaches its limit, electrostatic capacity drops and internal resistance increases. This leads to overvoltage alarms, malfunctioning due to noise, and damage to individual elements.
If a drive is always operated at the ambient temperature of 55 ° C and with a 100% output of the rated torque and rated rotation speed, its life is expected to be approx. 28,000 hours (excluding the axial-flow fan). A drop of 10 ° C in the ambient temperature will double the expected life for drive.
Lifetime 25
°
C = Lifetime 55
°
C
×
55
−
25
2 = 224000 hour
10
Keeping Foreign Objects Out of Units
Place a cover over the drive or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the drive during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, drive's heat dissipation is blocked, which may result in malfunction.
Take measures during installation and operation to prevent foreign objects such as metal particles, oil, machining oil, dust, or water from getting inside of the drives.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-2
4-1 Installation Conditions
4
Servomotor Installation Conditions
4-3
Environment Operating Conditions
The environment in which the motor is operated must meet the following conditions. Operating the motor outside of the following ranges may result in malfunction of the motor.
Operating ambient temperature: 0 to + 40 ° C *1
Operating humidity: 85% RH max. (with no condensation)
Operating atmosphere: No corrosive gases.
*1. The ambient operating temperature is the temperature at a point 50 mm from the motor.
Impact and Load
The motor is resistant to impacts of up to 98 m/ s
2
. Do not apply heavy impacts or loads during transport, installation, or removal of the motor.
When transporting the motor, hold the motor body itself. And do not hold the encoder, cable, or connector areas. Failure to follow this guideline may result in damaging the motor.
Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft.
After assembly, secure cables so that there is no impact or load placed on the cable outlet.
Connecting to Mechanical Systems
For the allowable axial loads for motors,
refer to "Characteristics"(P.3-2). If an axial
load greater than that specified is applied to a motor, it may reduce the limit of the motor bearings and may break the motor shaft.
When connecting to a load, use couplings that can sufficiently absorb mechanical eccentricity and declination.
For spur gears, an extremely large radial load may be applied depending on the gear precision.
Use spur gears with a high degree of precision
(for example, JIS class 2: normal line pitch error of 6 μ m max. for a pitch circle diameter of 50 mm).
If the gear precision is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft.
When using bevel gears, a load is applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure that a thrust load larger than the specified level is not applied.
Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may crack under the tightening force.
Motor center line
Backlash
Set a movable structure.
Ball screw center line
Set a structure in which the distance between axes can be adjusted.
Bevel gear
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-1 Installation Conditions
When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.
A radial load twice as large as the belt tension will be placed on the motor shaft. Do not allow a load that exceeds the allowable radial load to be placed on the motor shaft. If an excessive radial load is applied, the motor shaft and bearings may be damaged.
Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted.
Pulley
Tension adjustment (Set a movable structure.)
Belt
Tension
Water and Drip Resistance
The protective structure for the motors is as follows:
Equivalent to IP67 (except for through-shaft parts and motor connector pins and encoder connector pins)
Oil-water Measures
Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through-shaft part. The operating conditions of the Servomotor with an oil seal are as follows:
Keep the oil level below the lip of the oil seal.
Prepare a good lubricated condition under which only oil droplets splash on the oil seal.
If you are using the Servomotor with the shaft in upward direction, make sure that no oil accumulates on the lip of the oil seal.
Radiator Plate Installation Conditions
When you mount a Servomotor onto a small device, be sure to provide enough radiation space on the mounting area. Otherwise the Servomotor temperature rises too high. One of the preventive measures is to install a radiator plate between the motor attachment area and the motor flange. (Refer to the following figure.) If a radiator plate cannot be connected, the
Servomotor may be damaged by an excessive rise in temperature. Refer to the "Servomotor
Specifications"(P.3-59) for the radiator plate specifications.
Radiator plate
4
The temperature rise depends on the mounting part materials and the installation environment.
Check the actual temperature rise by using a real Servomotor.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-4
4
4-1 Installation Conditions
Depending on the environment, such as when the Servomotor is installed near a heating element, the Servomotor temperature may rise significantly. In this case, take any of the following measures.
Lower the load ratio.
Review the heat radiation conditions of the Servomotor.
Install a cooling fan and apply forced air cooling to the Servomotor.
Other Precautions
Take measures to protect the motor shaft from corrosion. The motor shaft is coated with anticorrosion oil when shipped, but anti-corrosion oil or grease should also be applied when connecting the components that apply load to the shaft.
Caution
Do not apply a commercial power supply directly to the motor. Failure may result.
Never repair the Servo Drive by disassembling it.
Electric shock or injury may result.
4-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-1 Installation Conditions
Decelerator Installation Conditions
Using Another Company's Decelerator (Reference)
If the system configuration requires another company's decelerator to be used in combination with an OMNUC G5-Series motor, select the decelerator so that the load on the motor shaft
(i.e., both the radial and thrust loads) is within the allowable range. (Refer to
"Characteristics"(P.3-2) for details on the allowable loads for the motors.)
Also, select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-6
4
4-2 Wiring
4-2 Wiring
Power Cables for 1,500-r/min Servomotors
For a 1,500-r/min Servomotor with 11 kW or 15 kW, make the following cable yourself and use it to connect the Servomotor and Servo Drive.
Wiring
Servo Drive side
Red
White
Blue
Green/Yellow
M6 crimp terminal
Cable: AWG4 × 4C UL62
Servomotor side
Number Symbol
A
B
C
D
Phase U
Phase V
Phase W
FG
[Servomotor side connector]
Straight plug model
N/MS3106B32-17S (Japan Aviation Electronics)
Cable clamp model
N/MS3057-20A (Japan Aviation Electronics)
Note 1. The cable length between the Servomotor and Servo Drive must be 50 m or less.
Use wire lengths that match the positions of the U, V, W, and FG terminals on the Servo Driver
(M6 crimp terminals).
Note 2. The power connector and brake connector are separate for Servomotors with brakes.
Connector Pin Arrangement on Servomotor End (Viewed from Soldered Side of Plug)
D A
C B
4-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
Peripheral Equipment Connection Examples
R88D-KTA5L/-KT01L/-KT02L/-KT04L
R88D-KT01H/-KT02H/-KT04H/-KT08H/-KT10H/-KT15H (Single-phase Input)
R T @@
L
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-KT
@@
H
NFB
1 2
Noise filter (*1)
E NF Main circuit power supply
3 4
OFF ON X
Ground to 100
W
or less.
Main circuit contactor (*1)
1MC
24 VDC
User-side control device
1MC
Regeneration Resistor
Reactor
(*5)
X
X
(*4)
Control cables
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
OMNUC G5-series
AC Servo Drive
CNA
L1C
L2C
XB
CNB
U
24 VDC
V
CNA
L1
L3
CNB
B1
B3
W
CN2
B2
CN1
37 /ALM
36 ALMCOM
CN1
OUTM1
11
(BKIR)
CN1
COM
XB
(*2)
Power cables
Ground to 100 Ω
Encoder cables
(*3)
or less
OMNUC G5-series
AC Servomotor
B
M
E
*1. Recommended products are listed in
Wiring Conforming to EMC Directives .
*2. Recommended relay: MY relay by OMRON
(24-V)
24 VDC
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24
VDC).
*3. There is no polarity on the brakes.
*4. The Built-in Regeneration Resistor (KT04L,
KT08H, KT10H and KT15H) shorts B2 and
B3. When the amount of regeneration is large, remove the connection between B2 and B3 and connect the Regeneration
Resistor between B1 and B2.
*5. There is no Internal Regeneration Resistor for KTA5L to KT02L, and KT01H to KT04H.
When the amount of regeneration is large, connect the necessary Regeneration
Resistor between B1 and B2.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-8
4-2 Wiring
4
R88D-KT01H/-KT02H/-KT04H/-KT08H/-KT10H/-KT15H (3-phase Input)
S
3-phase 200 to 240 VAC, 50/60 Hz: R88D-KT
@@
H
NFB
Ground to 100
W
or less.
E
1 2 3
NF
4 5 6
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
OMNUC G5-series
AC Servo Drive
CNA
L1C
L2C
CNB
U
V
User-side control device
Reactor
Regeneration
Resistor
24 VDC
X
CNA
L1
L2
W
X
L3
(*4)
CNB
B1
B3
CN2
B2
CN1
37 /ALM
36 ALMCOM
CN1
CN1
OUTM1
11
(BKIR)
OUTM1
10
COM
Control cables
24 VDC
XB
Power cables
(*3)
OMNUC G5-series
AC Servomotor
B
Ground to 100 Ω or less
Encoder cables
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in
Wiring Conforming to EMC Directives
.
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Built-in Regeneration Resistor
(KT08H to KT15H) shorts B2 and B3.
When the amount of regeneration is large, remove the connection between
B2 and B3 and connect the
Regeneration Resistor between B1 and
B2.
4-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT20H
R S T
3-phase 200 to 230 VAC, 50/60 Hz: R88D-KT @@ H
NFB
E
1 2 3
NF
4 5 6
Ground to 100
Ω
or less.
Noise filter (*1)
Main circuit power supply
OFF ON
X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
Regeneration
Resistor
24 VDC
User-side control device
1MC
Reactor
X
OMNUC G5-series
AC Servo Drive
CNA
L1C
L2C
CNB
U
V
W
X
(*4)
CNA
L1
L2
L3
CNC
B1
B3
B2
CN1
37 /ALM
36 ALMCOM
CN1
CN2
CN1
BKIR 11
BKIRCOM 10
24 VDC
XB
Power cables
(*3)
OMNUC G5-series
AC Servomotor
Ground to 100
Ω
or less
Encoder cables
B
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in
Wiring Conforming to EMC Directives
.
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Built-in Regeneration Resistor
(KT20H) shorts B2 and B3. When the amount of regeneration is large, remove the connection between B2 and B3 and connect the Regeneration Resistor between B1 and B2.
4
Control cables
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-10
4-2 Wiring
4
R88D-KT30H/-KT50H
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
E
1 2 3
NF
4 5 6
Ground to 100
Ω
or less.
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
Regeneration
Resistor
24 VDC
User-side control device
1MC
Reactor
X
X
1MC
TB1
OMNUC G5-series
AC Servo Drive
L1C
L2C
TB1
U
V
XB
24 VDC
Surge suppressor (*1)
PL
Servo alarm display
Power cables
(*3)
OMNUC G5-series
AC Servomotor
B
M
W
TB1
L1
L2
X
L3
B1
(*4)
B3
B2
CN1
37 /ALM
36 ALMCOM
CN1
CN2
CN1
BKIR 11
BKIRCOM 10
Ground to 100 Ω or less
Encoder cables E
XB
(*2)
24 VDC
*1. Recommended products are listed in 4-3
Wiring Conforming to EMC Directives
.
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Built-in Regeneration Resistor
(KT30H and KT50H) connects B2 and
B3. When the amount of regeneration is large, remove the connection between
B2 and B3 and connect the
Regeneration Resistor between B1 and
B2.
Control cables
4-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT75H with AC Power Supply Input
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
E
1 2 3
NF
4 5 6
Ground to 100 Ω or less.
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
2MC
Regeneration
Resistor
User-side control device
Reactor
24 VDC
(*7)
1MC
X
X
Control cables
Surge suppressor
2MC
X
1MC
CN1
37 /ALM
36 ALMCOM
CN1
BKIR 11
CN1
BKIRCOM 10
Surge suppressor (*1)
PL
Servo alarm display
TB1
L1
L2
L3
B1
B2
TB1
OMNUC G5-series
AC Servo Drive
L1C
L2C
TB1
U
XB
24 VDC
V
W
CN2
Power cables
(*3)
Ground to 100
Ω
or less.
Encoder cables
DB1 DB2 DB3 DB4
(*4)
(*5) (*6)
OMNUC G5-series
AC Servomotor
B
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in
Wiring Conforming to EMC Directives
.
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. When using an externally connected
Dynamic Brake Resistor, remove the short bar from between DB3 and DB4.
*5. Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur due to deposition in the Dynamic Brake
Resistor.
*6. A Dynamic Brake Resistor of 2 Ω , 180 W is built in. If the capacity is insufficient, use an external Dynamic Brake Resistor of 1.2 Ω , 400 W.
*7. Install an external protective device, such as a thermal switch. Monitor the temperature of the external Dynamic
Brake Resistor.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-12
4
4-2 Wiring
R88D-KT150H with AC Power Supply Input
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
E
1 2 3
NF
4 5 6
Ground to 100
Ω
or less.
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
2MC
Regeneration
Resistor
24 VDC
User-side control device
1MC
Reactor
X
X
Control cables
Surge suppressor
2MC
X
1MC
CN1
37 /ALM
36 ALMCOM
CN1
CN1
BKIR 11
BKIRCOM 10
Surge suppressor (*1)
PL
Servo alarm display
TB1
L1
L2
L3
B1
B2
TB1
OMNUC G5-series
AC Servo Drive
L1C
L2C
TB1
U
DC24V
XB
V
W
CN2
Power cables
(*3)
Ground to 100
Ω
or less.
Encoder cables
DB1 DB2
XB
(*2)
24 VDC
(*4) (*5)
OMNUC G5-series
AC Servomotor
B
M
E
*1. Recommended products are listed in
Wiring Conforming to EMC Directives .
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur due to deposition in the Dynamic Brake
Resistor.
*5. Use an external Dynamic Brake Resistor of 1.2 Ω , 400 W.
*6. Install an external protective device, such as a thermal switch. Monitor the temperature of the external Dynamic
Brake Resistor.
(*6)
4-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT06F/-KT10F/-KT15F/-KT20F
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
Ground to 10
Ω
or less.
E
1 2 3
NF
4 5 6
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display
1MC
24 VDC
OMNUC G5-series
AC Servo Drive
CNC
24 V
0 V
CNB
U
V
XB
24 VDC
Reactor
Regeneration
Resistor
24 VDC
User-side control device
X
X
(*4)
CNA
L1
L2
L3
CND
B1
W
CN2
B3
B2
CN1
37 /ALM
36 ALMCOM
CN1
CN1
OUTM1
(BKIR)
11
OUTM1
COM
10
Control cables
Power cables
(*3)
OMNUC G5-series
AC Servomotor
Ground to 10
Ω
or less
Encoder cables
B
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in
Wiring Conforming to EMC Directives
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is
2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Built-in Regeneration Resistor
(KT06F to KT20F) connects B2 and B3.
When the amount of regeneration is large, remove the connection between
B2 and B3 and connect the Regeneration
Resistor between B1 and B2.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-14
4-2 Wiring
4
R88D-KT30F/-KT50F
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
Ground to 10 Ω or less.
E
1 2 3
NF
4 5 6
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
X
1MC
1MC
24 VDC
OMNUC G5-series
AC Servo Drive
TB2
24 V
0 V
TB1
U
V
W
User-side control device
Reactor
Regeneration
Resistor
24 VDC
X
X
(*4)
TB1
L1
L2
L3
B1
B3
B2
CN1
37 /ALM
36 ALMCOM
CN1
CN2
CN1
BKIR 11
BKIRCOM 10
Control cables
XB
Surge suppressor (*1)
PL
Servo alarm display
Power cables
(*3)
OMNUC G5-series
AC Servomotor
B
24 VDC
Ground to 10 Ω or less
Encoder cables
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in
Wiring Conforming to EMC Directives
*2. Recommended relay: MY relay by
OMRON (24-V)
For example, MY2 relay by OMRON can be used with all G5-Series motors with brakes because its rated induction load is
2 A (24 VDC).
*3. There is no polarity on the brakes.
*4. The Built-in Regeneration Resistor
(KT30F and KT50F) connects B2 and B3.
When the amount of regeneration is large, remove the connection between
B2 and B3 and connect the Regeneration
Resistor between B1 and B2.
4-15 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT75F
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
Ground to 10
Ω
or less.
E
1 2 3
NF
4 5 6
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
2MC
X
1MC
Surge suppressor (*1)
PL
Servo alarm display (*5) (*6)
Reactor
Power supply
(neutral point)
Regeneration
Resistor
24 VDC
User-side control device
(*7)
1MC
X
X
24 VDC
OMNUC G5-series
AC Servo Drive
TB2
24 V
0 V
TB1
U
V
W
TB1
L1
L2
L3
B1
B2
CN2
24 VDC
Control cables
Surge suppressor
2MC
CN1
37 /ALM
36 ALMCOM
CN1
CN1
BKIR 11
BKIRCOM 10
DB1 DB2 DB3 DB4
(*4)
XB
Power cables
(*3)
Ground to 10 Ω or less.
Encoder cables
OMNUC G5-series
AC Servomotor
B
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in
Wiring Conforming to EMC Directives
.
*2. Recommended relay: MY relay by OMRON
(24-V)
For example, MY2 relay by OMRON can be used with all G5-Series motors with brakes because its rated induction load is 2 A (24
VDC).
*3. There is no polarity on the brakes.
*4. When using an externally connected
Dynamic Brake Resistor, remove the short bar from between DB3 and DB4.
*5. Provide auxiliary contacts to protect the system with an external sequence so that a
Servo ON state will not occur due to deposition in the Dynamic Brake Resistor.
*6. A Dynamic Brake Resistor of 8 Ω , 180 W is built in. If the capacity is insufficient, use an external Dynamic Brake Resistor of 4.8 Ω ,
400 W.
*7. Wire the circuit so that the voltage between
DB1 and DB2 is 400 VAC or less. Install an external protective device, such as a thermal switch. Monitor the temperature of the external Dynamic Brake Resistor.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-16
4-2 Wiring
4
R88D-KT150F
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
E
1 2 3
NF
4 5 6
Ground to 10
Ω
or less.
Noise filter (*1)
Main circuit power supply
OFF ON X
X
1MC
Main circuit contactor (*1)
1MC
2MC
Surge suppressor (*1)
PL
Servo alarm display (*4) (*5)
Power supply
(neutral point)
Regeneration
Resistor control device
1MC
Reactor
24 VDC
User-side
X
X
24 VDC
TB2
OMNUC G5-series
AC Servo Drive
24 V
0 V TB1
U
XB
24 VDC
V
W
TB1
L1
L2
L3
B1
B2
CN2
Power cables
(*3)
Ground to 10
Ω
or less.
Encoder cables
Control cables
Surge suppressor
CN1
37 /ALM
36 ALMCOM
CN1
CN1
BKIR 11
BKIRCOM 10
DB1 DB2
OMNUC G5-series
AC Servomotor
B
M
E
XB
(*2)
24 VDC
*1. Recommended products are listed in 4-3
Wiring Conforming to EMC Directives
.
*2. Recommended relay: MY relay by OMRON
(24-V)
For example, MY2 relay by OMRON can be used with all G5-Series motors with brakes because its rated induction load is 2 A (24
VDC).
*3. There is no polarity on the brakes.
*4. Provide auxiliary contacts to protect the system with an external sequence so that a
Servo ON state will not occur due to deposition in the Dynamic Brake Resistor.
*5. Use an external Dynamic Brake Resistor of
4.8 Ω , 400 W.
*6. Wire the circuit so that the voltage between
DB1 and DB2 is 400 VAC or less. Install an external protective device, such as a thermal switch. Monitor the temperature of the external Dynamic Brake Resistor.
2MC
(*6)
4-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
Main Circuit and Motor Connections
When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance.
R88D-KTA5L/-KT01L/-KT02L/-KT04L
R88D-KT01H/-KT02H/-KT04H/-KT08H/-KT10H/-KT15H
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KT @ L
(50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
R88D-KT @ H
(100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V)
50/60 Hz
(100 W to 1.5 kW): 3-phase 200 to 240 VAC (170 to 264 V) 50/60
Hz
R88D-KT @ L : Single-phase 100 to 120 VAC (85 to 132 V) 50/60Hz
R88D-KT @ H : Single-phase 200 to 240 VAC (170 to 264 V) 50/60
Hz
4
Motor Connector Specifications (CNB)
U
V
W
Symbol
B1
B3
B2
Name
External Regeneration
Resistor connection terminals
Motor connection terminals
Function
50 to 400 W: Normally, do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, connect an
External Regeneration Resistor between B1 and B2.
750 W to 1.5 kW: Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the short-circuit bar between B2 and
B3 and connect an External Regeneration Resistor between B1 and B2.
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Frame ground This is the ground terminal. Ground to 100 Ω or less.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-18
4
4-2 Wiring
R88D-KT20H
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
L1C
L2C
Name
Main circuit power supply input
Control circuit power supply input
Function
R88D-KT @ H (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KT @ H : Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Red
White
Blue
Function
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
External Regeneration Resistor Connector Specifications (CNC)
Symbol
B1
B3
Name
External Regeneration
Resistor connection terminals
B2
NC Do not connect.
Function
Normally B2 and B3 are shorted. Do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
4-19 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT30H/-KT50H
Terminal Block Specifications
U
V
B2
NC
W
L1C
L2C
B1
B3
Symbol
L1
L2
L3 input
Name
Main circuit power supply
Control circuit power supply input
External Regeneration
Resistor connection terminals
Do not connect.
Motor connection terminals
R88D-KT
Hz
@
Function
R88D-KT @ H (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V)
50/60 Hz
H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Normally B2 and B3 are connected. Do not short B1 and B2. Doing so may cause malfunctions. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an
External Regeneration Resistor between B1 and B2.
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
4
Frame ground This is the ground terminal. Ground to 100 Ω or less.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-20
4
4-2 Wiring
R88D-KT75H
Terminal Block Specifications, Left Terminal Block (TB1)
Symbol
L1
L2
L3
Name Function
Main circuit power supply input
R88D-KT @ H (7.5 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/
60 Hz
280 to 325 VDC (238 to 357 VDC)
Connect an External Regeneration Resistor between B1 and B2.
Terminal B1 is main circuit DC output (positive).
B1
B2
N (NC)
U
V
W
External Regeneration
Resistor connection terminals
Motor connection terminals
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
L1C
L2C
Name
Control circuit power supply input
DB1
DB2
Dynamic brake resistance control terminals
DB3
DB4
Frame ground
Function
R88D-KT @ H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are
1 A max. at 300 VAC/100 VDC max. Connect them if required.
Normally DB3 and DB4 are connected. When using an externally connected Dynamic Brake Resistor, remove the short bar from between DB3 and DB4.
This is the ground terminal. Ground to 100 Ω or less.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and N (NC) terminals
4-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT150H
Terminal Block Specifications, Top Terminal Block (TB1)
Symbol
L1C
L2C
Name
Control circuit power supply input
DB1
DB2
Dynamic brake resistance control terminals
Function
R88D-KT @ H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are 1
A max. at 300 VAC/100 VDC max. Connect them if required.
Terminal Block Specifications, Bottom Terminal Block (TB2)
Symbol
L1
L2
L3
Name Function
Main circuit power supply input
R88D-KT @ H (15 kW): 3-phase 200 to 230 VAC (170 to 253 V) 50/
60 Hz
280 to 325 VDC (238 to 357 VDC)
Connect an External Regeneration Resistor between B1 and B2.
Terminal B1 is main circuit DC output (positive).
B1
B2
N (NC)
U
V
W
External Regeneration
Resistor connection terminals
Motor connection terminals
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
4
Frame ground This is the ground terminal. Ground to 100 Ω or less.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and N (NC) terminals
R88D-KT06F/-KT10F/-KT15F/-KT20F
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
L3
Name
Main circuit power supply input
Function
R88D-KT @ F
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60
Hz
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-22
4
4-2 Wiring
Motor Connector Specifications (CNB)
Symbol
U
V
W
Name
Motor connection terminals
Frame ground
Red
White
Function
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 10 Ω or less.
Control Circuit Connector Specifications (CNC)
Symbol Name
24 V Control circuit power
0 V supply input
24 VDC (21.6 to 26.4 V)
Function
External Regeneration Resistor Connector Specifications (CND)
Symbol
B1
B3
Name
External Regeneration
Resistor connection terminals
B2
NC Do not connect.
Function
Normally B2 and B3 are connected. Do not short B1 and B2.
Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
R88D-KT30F/-KT50F
Terminal Block Specifications (TB1)
Symbol Name
24 V Control circuit power
0 V supply input
24 VDC (21.6 to 26.4 V)
Function
4-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
Terminal Block Specifications (TB2)
NC
U
V
W
L3
B1
B3
Symbol
L1
L2
B2
Main circuit power supply input
Name
External Regeneration
Resistor connection terminals
Function
R88D-KT @ F (3 to 5 kW): 3-phase 380 to 480 VAC (323 to 528 V)
50/60 Hz
Normally B2 and B3 are connected. Do not short B1 and B2. Doing so may cause malfunctions.
If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration
Resistor between B1 and B2.
Do not connect.
Motor connection terminals
Frame ground
Red
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 10 Ω or less.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-24
4
4-2 Wiring
R88D-KT75F
Terminal Block Specifications, Left Terminal Block (TB1)
NC
U
V
W
Symbol
L1
L2
L3
Name Function
Main circuit power supply input
R88D-KT @ F (7.5 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/
60 Hz
B1
B2
External Regeneration
Resistor connection terminals
Do not connect.
Connect an External Regeneration Resistor between B1 and B2.
Motor connection terminals
Red
White
Blue
Green/
Yellow
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
DB1
Name
24 V Control circuit power
0 V supply input
Dynamic brake resistance control terminals
DB2
DB3
DB4
Frame ground
24 VDC ± 15%
Function
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are 1 A max. at 300 VAC/100 VDC max. Connect them if required.
Normally DB3 and DB4 are connected. When using an externally connected Dynamic Brake Resistor, remove the short bar from between DB3 and DB4.
This is the ground terminal. Ground to 10 Ω or less.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
4-25 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
R88D-KT150F
Terminal Block Specifications, Top Terminal Block (TB1)
Symbol Name
24 V Control circuit power
0 V supply input
DB1
DB2
24 VDC ± 15%
Function
Dynamic brake resistance control terminals
These terminals are used to control the MC for externally connected dynamic brake resistance. The output contact specifications are 1 A max. at 300 VAC/100 VDC max. Connect them if required.
Terminal Block Specifications, Bottom Terminal Block (TB2)
NC
U
V
W
Symbol
L1
L2
L3
B1
B2
Name
External Regeneration
Resistor connection terminals
Do not connect.
Function
Main circuit power supply input
R88D-KT @ F (15 kW): 3-phase 380 to 480 VAC (323 to 528 V) 50/
60 Hz
Connect an External Regeneration Resistor between B1 and B2.
Motor connection terminals
Frame ground
Red
White
Blue
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Green/
Yellow
This is the ground terminal. Ground to 10 Ω or less.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-26
4
4-2 Wiring
Terminal Block Wire Sizes
100-VAC Input Type Wire Sizes: R88D-KT @@ L
Item
Model (R88D-)
Power supply capacity
Main circuit power supply input (L1 and L3, or L1, L2 and L3)
Rated current
Wire size
Control circuit power supply input
(L1C and L2C)
Motor connection terminals (U, V, W, and FG)
*1 *2
Wire size
Rated current
Wire size
Frame ground (FG) Wire size
Screw size
A
−
−
A
−
−
−
Unit kVA
Tightening torque N·m
KTA5L
0.4
1.7
AWG 14 to 18
AWG 18
1.2
AWG 14 to 18
AWG 14
M4
1.2
KT01L
0.4
2.6
1.7
*1. Use the same wire size for B1 and B2.
*2. Connect an OMRON power cable to the motor connection terminals.
KT02L
0.5
4.3
2.5
KT04L
0.9
7.6
4.6
4-27 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
200 VAC Input Type Wire Sizes: R88D-KT @@ H
Model (R88D-)
Item
Power supply capacity
Main circuit power supply input (L1 and
L3, or L1, L2 and L3)
Rated current
Wire size
Screw size
Control circuit power supply input (L1C and L2C)
Tightening torque
Wire size
Screw size
Tightening torque
Motor connection terminals (U, V, W, and FG)
*2 *3
Frame ground (FG)
Rated current
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Unit kVA
A
A
−
−
N·m
−
−
N·m
−
−
N·m
−
−
N·m
KT01H
0.5
1.6/0.9
*1
KT02H
0.5
2.4/1.3
*1
−
−
AWG14 to 18
−
−
AWG18
−
−
1.2
AWG14 to 18
−
−
AWG14
−
−
−
−
1.6
M4
1.2
−
−
−
−
KT04H
0.9
4.1/2.4
*1
−
−
2.6
*1. The first value is for single-phase input and the second value is for 3-phase input.
*2. Use the same wire size for B1 and B2.
*3. Connect an OMRON power cable to the motor connection terminals.
−
−
−
−
KT08H
1.3
6.6/3.6
*1
−
−
4.1
KT10H
1.8
9.1/5.2
*1
AWG14
−
−
−
−
5.9
AWG14
−
−
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-28
4
4-2 Wiring
Model (R88D-)
Item
Power supply capacity
Main circuit power supply input (L1 and
L3, or L1, L2 and L3)
Rated current
Wire size
Screw size
Tightening torque
Control circuit power supply input (L1C and
L2C)
Wire size
Screw size
Tightening torque
Motor connection terminals (U, V, W, and FG)
*2 *3
Frame ground (FG)
Dynamic brake resistance control terminals
Rated current
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Wire size
Screw size
Tightening torque
Unit kVA
−
−
N·m
A
−
−
N·m
A
−
−
N·m
−
−
N·m
−
−
N·m
KT15H KT20H KT30H KT50H KT75H KT150H
−
−
2.3
14.2/
8.1
*1
AWG14
3.3
11.8
−
−
AWG18
−
−
−
−
−
−
9.4
AWG14
13.4
−
−
AWG14
M4
1.2
−
−
4.5
7.5
15.1
AWG12
M5
2.0
21.6
M5
2.0
18.7
AWG12
33.0
M5
2.0
AWG12
M5
2.0
*1. The first value is for single-phase input and the second value is for 3-phase input.
*2. Use the same wire size for B1 and B2.
*3. Connect an OMRON power cable to the motor connection terminals.
11.0
22.0
32.0
58.0
AWG10 AWG6
M6
2.0 to
2.4
2.2 to
2.5
1.3 to
1.5
M4
0.7 to
0.8
44.0
66.1
AWG6 AWG4
2.0 to
2.4
M6
2.2 to
2.5
AWG6 AWG4
M6
1.4 to
1.6
2.4 to
2.8
AWG18
M5
1.3 to
1.5
M4
0.7 to
0.8
4-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
400 VAC Input Type Wire Sizes: R88D-KT @@ F
Item
Model (R88D-)
Main circuit power supply input (L1 and
L3, or L1, L2 and L3)
Control circuit power supply input (L1C and L2C)
Motor connection terminals (U,
V, W, and FG)
*1 *2
Frame ground
(FG)
Dynamic brake resistance control terminals
KT06F KT10F KT15F KT20F KT30F KT50F KT75F KT150F
Unit
Rated current
A 2.1
Screw size −
Tightening torque
N·m
−
−
2.8
Wire size
Wire size
−
−
AWG14
Screw size −
Tightening torque
N·m
−
−
−
−
AWG20 to 24
−
−
Rated current
A 1.5
2.9
Wire size − AWG14
Screw size −
Tightening torque
N·m
−
−
−
−
Wire size −
Screw size −
Tightening torque
N·m
AWG14
M4
1.2
− Wire size −
Screw size −
Tightening torque
N·m
−
3.9
−
−
−
−
4.7
−
−
5.9
−
−
−
−
6.7
−
−
7.6
AWG12
M5
2.0
AWG18
M5
2.0
9.4
AWG12
M5
2.0
AWG12
M5
2.0
12.1
16.5
16.0
29.0
AWG10 AWG6
M6
2.0 to
2.4
2.2 to
2.5
1.3 to
1.5
22.0
M4
0.7 to
0.8
33.1
AWG6 AWG4
M6
2.0 to
2.4
2.2 to
2.5
AWG6 AWG4
M6
1.4 to
1.6
2.4 to
2.8
AWG18
M5
1.3 to
1.5
M4
0.7 to
0.8
*1. Use the same wire size for B1 and B2.
*2. Connect an OMRON power cable to the motor connection terminals.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-30
4
4-2 Wiring
6
4
14
12
10
8
20
−
18
16
Wire Sizes and Allowable Current (Reference)
The following table shows the allowable current when there are 3 power supply wires. Use a current below these specified values.
600-V Heat-resistant Vinyl Wire (HIV)
AWG size
2.0
3.5
5.5
8.0
0.5
0.75
0.9
1.25
14.0
22.0
Nominal crosssectional area
(mm
2
)
Configuration
(wires/mm 2 )
Conductive resistance
( Ω /km)
19/0.18
30/0.18
37/0.18
50/0.18
7/0.6
7/0.8
7/1.0
7/1.2
7/1.6
7/2.0
39.5
26.0
24.4
15.6
9.53
5.41
3.47
2.41
1.35
0.85
Allowable current (A) for ambient temperature
6.6
30 ° C
8.8
5.6
7.0
40 ° C
4.5
5.5
50 ° C
9.0
12.0
23
33
43
55
79
99
7.7
11.0
20
29
38
49
70
88
6.0
8.5
16
24
31
40
57
70
4-31 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Terminal Block Wiring Procedure
On a Servo Drive with 2.0 kW or less, connector-type terminal blocks are used.
The procedure for wiring these terminal blocks is explained below.
4-2 Wiring
Connector-type terminal block
(Example of R88D-KT01H)
1. Remove the terminal block from the Servo Drive before wiring.
The Servo Drive may be damaged if the wiring is done with the terminal block in place.
2. Strip off 8 to 9 mm of the covering from the end of each wire.
Refer to "Terminal Block Wire Sizes"(P.4-27) for applicable wire sizes.
8 to 9 mm
3. Open the wire insertion slots in the terminal block using a tool.
There are 2 ways to open the wire insertion slots, as follows.
Pry the slot open using the lever that comes with the Servo Drive. (Figure A)
Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the screwdriver on the terminal block, and press down firmly to open the slot. (Figure B)
4
Figure A Figure B
4. With the wire insertion slot held open, insert the end of the wire.
After inserting the wire, let the slot close by releasing the pressure from the lever or the screwdriver.
5. Mount the terminal block to the Servo Drive.
After all of the terminals have been wired, return the terminal block to its original position on the Servo Drive.
Note. Some shapes of the ferrules that are connected to the lines may be difficult to insert into the connector. If so, use the following methods to insert the ferrules.
Rotate the connector insertion orientation by 90 ° .
Adjust the shape of the ferrules with pliers or other suitable tool and then insert the ferrules.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-32
4
4-3 Wiring Conforming to EMC Directives
4-3 Wiring Conforming to EMC Directives
Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2
(EMS)) can be ensured by wiring under the conditions described in this section.
These conditions are for conformance of OMNUC G5-series products to the EMC directives.
EMC-related performance of these products, however, may be influenced by the configuration, wiring, and other conditions of the equipment in which the products are installed. The EMC conformance of the system as a whole must be confirmed by the customer.
The following are the requirements for EMC Directive conformance.
The Servo Drive must be installed in a metal case (control panel). (The motor does not, however, have to be covered with a metal plate.)
Noise filters and lightening surge absorptive elements (surge absorbers) must be installed on power supply lines.
Braided shielded cables must be used for all encoder cables. (Use tin-plated, mild steel wires for the shielding.)
All cables, I/O wiring, and power lines connected to the Servo Drive must have clamp cores installed to improve the noise immunity.
The shields of all cables must be directly connected to a ground plate.
Wiring Method
R88D-KTA5L/-KT01L/-KT02L/-KT04L/-KT01H/-KT02H/-KT04H/-KT08H/-KT10H/-
KT15H/-KT20H/-KT30H/-KT50H/-KT75H/-KT150H
Single-phase: 100 VAC
2/3-phase: 200 VAC
FC2
(1) (3)
SG
(2)
NF
(6)
(5)
FC1
FC1
L1
L2
L3
L1C
CNA
SD
CNB
L2C
CN2
U
V
W
CN1
FC3
FC1
(4)
(7)
SM
Single-phase :
100 VAC
(8)
Controller
*1. For models with a single-phase power supply input (R88D-KTA5L/-KT01L/-KT02L/-KT04L/-KT01H/-
KT02H/-KT04H/-KT08H/-KT10H/-KT15H), the main circuit power supply input terminals are L1 and L3.
Ground the motor's frame to the machine ground when the motor is on a movable shaft.
Use a ground plate for the frame ground for each unit, as shown in the above diagrams, and ground to a single point.
Use ground lines with a minimum thickness of 3.5 mm
2
, and arrange the wiring so that the ground lines are as short as possible.
A no-fuse breaker, surge absorber, and noise filter should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance.
4-33 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Unit Details
Symbol
SG
Name
Surge absorber
Manufacturer
Okaya Electric
Industries Co., Ltd.
Model
R·A·V-781BXZ-4
Comment
3-phase 200 VAC
NF Noise filter
Okaya Electric
Industries Co., Ltd.
SUP-EK5-ER-6
3SUP-HU10-ER-6
Single-phase 100/200 VAC (5 A)
3-phase 200 VAC (10 A)
3SUP-HU30-ER-6 3-phase 200 VAC (30 A)
3SUP-HL50-ER-6B 3-phase 200 VAC (50 A)
SD
SM
FC1
FC2
FC3
−
Servo Drive
Servomotor
Clamp core
Schaffner EMC Inc.
OMRON
OMRON
TDK
FS5559-60-34
FS5559-80-34
−
−
ZCAT3035-1330
RJ8035
3-phase 200 VAC (60 A)
3-phase 200 VAC (80 A)
*1
*1
−
Clamp core
Clamp core
Controller
Konno Industry
MICROMETALS
TDK
−
RJ8095
T400-61D
ZCAT3035-1330
−
−
For R88D-KT75H/-KT150H
For other models
−
*1. A specified combination of Servo Drive and Servomotor must be used.
R88D-KT75H/-KT150H with DC Power Supply Input
Three-phase :
200 VAC FC2
(1)
SG
*1
NF
(6)
+
AC/
DC
−
FC1
FC1
L1
L2
L3
L1C
L2C
CNA
SD
CNB
CN2
U
V
W
(5)
CN1
FC3
FC1
(3)
(4)
4
(7)
SM
Single-phase :
100 VAC
Controller
(8)
Note. The main circuit power supply input terminals are L1 and L3. Connect the positive line to L1 and the negative line to L3.
Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
Use a ground plate for the frame ground for each Unit, as shown in the above diagrams, and ground to a single point.
Use ground lines with a minimum thickness of 3.5 mm
2
, and arrange the wiring so that the
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-34
4
4-3 Wiring Conforming to EMC Directives ground lines are as short as possible.
A no-fuse breaker, surge absorber, and noise filter should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance.
Unit Details
FC1
FC2
FC3
−
Symbol
SG
NF
SD
SM
Name
Surge absorber
Noise filter
Servo Drive
Servomotor
Clamp core
Clamp core
Clamp core
Controller
Manufacturer
Okaya Electric
Industries Co., Ltd.
Model
R·A·V-781BXZ-4
Schaffner EMC Inc. FN258-42-07
OMRON
OMRON
TDK
Konno Industry
MICROMETALS
−
−
−
ZCAT3035-1330
RJ8095
T400-61D
−
Comment
3-phase 200 VAC
3-phase 200 VAC (42 A)
−
−
−
−
*1
*1
*1. A specified combination of Servo Drive and Servomotor must be used.
R88D-KT06F/-KT10F/-KT15F/-KT20F/-KT30F/-KT50F/-KT75F/-KT150F
3-phase:
400 VAC
(1)
SG
(2)
FC2
L1
SD
NF
(6)
(5)
24 V
DC
L2
L3
CNA
U
CNB
V
FC1
L1C
L2C
W
FC1
CN1
CN2
FC1
FC3
(4)
(3)
(7)
Single-phase :
100 VAC
(8) Controller
SM
4-35 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Unit Details
Symbol
SG
NF
SD
SM
FC1
FC2
FC3
−
Name
Surge absorber
Manufacturer
Okaya Electric
Industries Co., Ltd.
Model
R·A·V-801BXZ-4
Comment
Noise filter
Servo Drive
Servomotor
Clamp core
Schaffner EMC Inc.
OMRON
OMRON
TDK
FN258L-16-07
FN258L-30-07
FN258-42-07
−
−
ZCAT3035-1330
3 -phase 400 VAC (16 A)
3 -phase 400 VAC (30 A)
3 -phase 400 VAC (42 A)
*1
*1
−
Clamp core
Clamp core
Konno Industry
MICROMETALS
TDK
RJ8035
RJ8095
T400-61D
ZCAT3035-1330
−
For R88D-KT75H/-KT150H
For other models
Controller − − −
*1. A specified combination of Servo Drive and Servomotor must be used.
Cable Details
Symbol
(1)
Supplies from Connects to Cable name Length
AC power supply Noise filter
Power supply line
2 m −
Comment
(2)
(3)
(4)
(5)
(6)
(7)
(8)
Noise filter
Servo Drive
Servo Drive
Switch box
Frame ground
Frame ground
Servo Drive
Servomotor
Servomotor
Servo Drive
Noise filter
Servo Drive
AC power supply Controller
Power supply line
2 m −
Power cable 20 m −
Encoder cable
20 m −
I/O cable
FG line
2 m −
1.5 m −
1.5 m − FG line
Power supply line
1.5 m −
Shielded Ferrite
No No
No
No
Yes
No
No
No
No
Optional
Optional
Optional
Optional
No
No
No
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-36
4
4-3 Wiring Conforming to EMC Directives
Noise Filter for Power Supply Input
We recommend you to use the noise filter for the Servo Drive.
Drive Noise filter for power supply input
Phase Model Model
Rated current
Leakage current
(60 Hz) max
Single-phase R88D-K @ A5L @@
R88D-K @ 01L @@
R88D-K @ 02L @@
SUP-EK5-ER-6 5A 1.0mA (at 250 VAC)
Single-phase R88D-K @ 04L @@ 3SUP-HU10-ER-6 10A 3.5mA (at 500 VAC)
Single-phase
R88D-K @ 01H @@
SUP-EK5-ER-6 5A 1.0mA (at 250 VAC)
3-phase 3SUP-HU10-ER-6 10A 3.5mA (at 500 VAC)
Single-phase SUP-EK5-ER-6 5A 1.0mA (at 250 VAC)
R88D-K @ 02H @@
3-phase
Single-phase
3SUP-HU10-ER-6 10A 3.5mA (at 500 VAC)
SUP-EK5-ER-6 5A 1.0mA (at 250 VAC)
R88D-K @ 04H @@
3-phase
3SUP-HU10-ER-6 10A 3.5mA (at 500 VAC)
Single or 3phase
R88D-K @ 08H @@
R88D-K @ 10H @@
R88D-K @ 15H @@
3SUP-HU30-ER-6 30A
3.5mA
(at 500 VAC)
Manufacturer
Okaya
Electric
Industries
Co., Ltd.
R88D-K @ 20H @@ 3SUP-HU50-ER-6 50A
3.5mA
(at 500 VAC)
R88D-K @ 30H @@
R88D-K @ 50H @@
3SUP-HL50-ER-6B 50A
8.0mA
(at 500 VAC)
R88D-K @ 75H @@ FS5559-60-34 60A
1.35mA
(at 480 VAC/50 Hz)
R88D-K @ 150H @@ FS5559-80-34 80A
1.35mA
(at 480 VAC/50 Hz)
3-phase R88D-K @ 06F @@
R88D-K @ 10F @@
R88D-K @ 15F @@
R88D-K @ 20F @@
R88D-K @ 30F @@
R88D-K @ 50F @@
R88D-K @ 75F @@
R88D-K @ 150F @@
FN258L-16-07
FN258L-30-07
FN258-42-07
16A
30A
42A
0.8mA
(at 440 VAC/50 Hz)
0.8mA
(at 440 VAC/50 Hz)
25.8mA
(at 440 VAC/50 Hz)
Schaffner
EMC Inc.
For operations, if no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
The noise filter must be installed as close as possible to the entrance of the control panel. Wire as shown at the left in the following illustration.
4-37 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Separate the input and output.
AC input
1
2
3
NF
E
4
5
6
AC output
Ground
The effect of the noise filter is small.
AC input
1
2
3
NF
E
4
5
6
Ground
AC output
Use twisted-pair cables for the power supply cables, or bind the cables.
Twisted-pair cables Bound cables
Servo Drive
L1C
L2C
Binding
Separate power supply lines and signal lines when wiring.
7.0
2.0
z External Dimensions
SUP-EK5-ER-6
100±2.0
88.0
75.0
5.0
53.1±1.0
3SUP-HU10-ER-6
115
105
95
2-φ4.5×6.75 2-φ4.5 6-M4
11.6
13.0
M4
Servo Drive
L1
L2
L3
5.5
Ground terminal
M4
Attachment screw for cover M3
Cover
Noise filter unit
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-38
4
4-3 Wiring Conforming to EMC Directives
3SUP-HU30-ER-6
145
135
125
5.5
Ground terminal
M4
3SUP-HL50-ER-6B
150
2-φ 5.5×7
M6
M6
Attachment screw for cover M3
M4
Cover
Noise filter unit
3SUP-HU50-ER-6
165
136
5.5
Ground terminal
M4
286 ±3.0
270
255
±1.0
240 2-φ5.5
4-39
M5
Attachment screw for cover M3 z Circuit Diagram
SUP-EK5-ER-6
R Cx
L
Cy
Cy
L
Cx
Cover
Noise filter unit
IN
3SUP-HU10-ER-6/3SUP-HU30-ER-6
3SUP-HU50-ER-6
L1
OUT
R Cx1 Cx1
Cy1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
LINE
3SUP-HL50-ER-6B
LOAD
4-3 Wiring Conforming to EMC Directives
Noise Filter for the Brake Power Supply
We recommend using a noise filter for the Servo Drive.
Model
Rated current
Rated voltage
Leakage current Manufacturer
SUP-EK5-ER-6 5 A 250 V 1.0 mA (at 250 Vrms, 60 Hz)
Okaya Electric
Industries Co., Ltd.
Note. Noise can also be reduced by 1.5 turns with the ZCAT3035-1330 (TDK) Clamp Core.
4
Control Panel Structure
Openings in the control panel, such as holes for cables, panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this, observe the recommendations described below when designing or selecting a control panel.
Case Structure
Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces are electrically conductive.
If assembly is required, strip the paint off the joint areas (or mask them during painting), to make them electrically conductive.
The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws.
Do not leave any conductive part unconnected.
Ground all units within the case to the case itself.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-40
4-3 Wiring Conforming to EMC Directives
Door Structure
Use a metal door.
Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams.)
Use a conductive gasket between the door and the case. (Refer to the diagrams.)
Strip the paint off the sections of the door and case that will be in contact with the conductive gasket (or mask them during painting), so that they are electrically conductive.
The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws.
Case
4
A
B
Door
[Control panel]
Door end
Oil-resistant gasket Conductive gasket
[A-B cross-section diagram]
Oil-resistant gasket
Conductive gasket
[Door (interior side)]
Selecting Connection Component
This section explains the criteria for selecting the connection components required to improve noise resistance.
Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components.
For more details, contact the manufacturers directly.
4-41
No-fuse Breaker (NFB)
When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
Maximum Input Current
The momentary maximum output of the Servo Drive is approx. 3 times the rated output, and can be output for up to 3 seconds.
Therefore, select no-fuse breakers with an operation time of at least 5 seconds at 300% of the rated current ratio. General and low-speed no-fuse breakers are generally suitable.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Select a no-fuse breaker with a rated current greater than the total effective load current of all the motors (when multiple Servo Drives are used). (The rated current of the power supply input for
each motor is provided in "Main Circuit and Motor Connections"(P.4-18).)
Add the current consumption of other controllers, and any other components when selecting.
Inrush Current
The following table lists the Servo Drive inrush currents.
With low-speed no-fuse breakers, an inrush current 10 times the rated current can flow for 0.02
second.
When the power of multiple Servo Drives are turned ON simultaneously, select a no-fuse breaker with a 20-ms allowable current that is greater than the total inrush current, shown in the following table.
Servo Drive model
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT75H
R88D-KT150H
29
29
29
22
14
14
14
29
22
66
66
7
7
7
15
Inrush current (A0-p)
Main circuit power supply
Control circuit power supply
14
14
14
14
28
28
28
28
28
28
14
14
14
15
15
4
Servo Drive model
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
32
32
32
32
28
28
28
32
Inrush current (A0-p)
Main circuit power supply
Control circuit power supply
48
48
48
48
48
48
48
48
Leakage Breaker
Select a leakage breaker for high frequencies and surge resistance.
When selecting leakage breakers, remember to add the leakage current from devices other than
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-42
4
4-3 Wiring Conforming to EMC Directives the motor, such as devices using a switching power supply, noise filters, inverters, and so on.
To prevent malfunction due to inrush current, we recommend using a leakage breaker of 10 times the total of all leakage current values.
The leakage breaker is activated at 50% of the rated current. Select a leakage breaker with approx. twice the capacity.
For details on leakage breakers selection method, refer to the manufacturer's catalog.
Because switching takes place inside the Servo Drives, high-frequency current leaks from the SW elements of the Servo Drive, the armature of the motor, and the cables.
High-frequency, surge-resistant leakage breakers, because they do not detect high-frequency current, can prevent operation with high-frequency leakage current.
When using a general leakage breaker, use 3 times the total of the leakage current given in the following table as a reference value.
Servo Drive model Input power supply
Increase per 10 m of cable
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT75H
R88D-KT150H
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
Single-phase 100 V
Single-phase 100 V
Single-phase 100 V
Single-phase 100 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
Single-phase 200 V
3-phase 200 V
3-phase 200 V
3-phase 200 V
3-phase 200 V
3-phase 200 V
3-phase 200 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
3-phase 400 V
Leakage current
(Cable: 3 m)
0.38 mA
0.39 mA
0.41 mA
1.39 mA
0.88 mA
1.14 mA
0.96 mA
1.18 mA
1.53 mA
1.52 mA
1.39 mA
0.46 mA
0.83 mA
1.03 mA
0.84 mA
1.02 mA
0.96 mA
1.27 mA
1.01 mA
3.50 mA
5.30 mA
2.28 mA
2.20 mA
2.55 mA
2.92 mA
3.92 mA
3.54 mA
6.70 mA
10.40 mA
0.1 mA
0.12 mA
0.23 mA
0.3 mA
1.1 mA
0.93 mA
1.23 mA
2.07 mA
1.13 mA
1.8 mA
2.03 mA
2.4 mA
3.23 mA
2.9 mA
3.73 mA
2.73 mA
Note: These values vary greatly depending on the installation conditions of the motor power cable and the measurement conditions. Use them for reference only.
4-43 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Surge Absorber
Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines.
When selecting surge absorbers, take into account the varistor voltage, the surge immunity and the energy tolerated dose.
For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.
The surge absorbers shown in the following table are recommended.
Manufacturer
Okaya Electric
Industries Co., Ltd.
Okaya Electric
Industries Co., Ltd.
Okaya Electric
Industries Co., Ltd.
Model
R•A•V-781BWZ-4
R•A•V-781BXZ-4
R•A•V-801BXZ-4
Surge immunity
700 V
700 V
800 V
±
±
±
20% 2500 A
20% 2500 A
20% 2500 A
Type
Block
Comment
Single-phase
100/200 VAC
3-phase 200
VAC
3-phase 400
VAC
Note 1. Refer to the manufacturers' catalog for operating details.
Note 2. The surge immunity is for a standard impulse current of 8/20 μ s. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber.
External Dimensions
For single-phase (BWZ series)
φ
4.2
φ
4.2
For 3-phase (BXZ series)
4
1 2 1 2 3
41
Equalizing Circuits
For single-phase (BWZ series) For 3-phase (BXZ series)
(1) (2) (1) (2) (3)
41
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-44
4
4-3 Wiring Conforming to EMC Directives
Radio Noise Filter and Emission Noise Prevention Clamp Core
Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit.
Model
3G3AX-ZCL1
*1
3G3AX-ZCL2 *2
ESD-R-47B *3
ZCAT3035-1330
RJ8035
RJ8095
T400-61D
*4
Manufacturer
OMRON
OMRON
NEC TOKIN
TDK
Konno Industry
Konno Industry
MICROMETALS
Application
For Drive output and power cable
For Drive output and power cable
For Drive output and power cable
For Encoder cable and I/O cable
For power lines
For power lines
For Servo Drive output and power cables
*1. Generally used for 1.5 kW or higher.
*2. Generally used for 1.5 kW or lower. The maximum number of windings is 3 turns.
*3. Generally used for 50/100 W. The maximum number of windings is 2 turns.
*4. Also used on the Drive output power lines to comply with the EMC Directives. Only a clamp is used.
This clamp can also be used to reduce noise current on a FG line.
4-45 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
External Dimensions
3G3AX-ZCL1
130
85
4-3 Wiring Conforming to EMC Directives
3G3AX-ZCL2
3-M4
180±2
160±2
7×14 Long hole
ESD-R-47B
3.0
7 dia.
17.5
5.1 dia.
ZCAT3035-1330
39
34
50
95
80
2-M5
26
30
13
4
RJ8035/RJ8095 T400-61D
A
B
E
Model
RJ8035
RJ8095
Current
35 A
95 A
A
170
200
B
150
180
23
34
C
F
Dimensions (unit: mm)
D1 D2
Core thickness
80
130
53
107
24
35
E
R3.5
R3.5
7
7
F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-46
4-3 Wiring Conforming to EMC Directives
4
Impedance Characteristics
3G3AX-ZCL1
60
80
20
40
100
0.1
4T
15T
1 10
Frequency (kHz)
100
ESD-R-47B
10000
1000
100
10
1
1 10 100
Frequency (MHz)
1000
3G3AX-ZCL2
1000
100
10
1
0.1
1
ZCAT3035-1330
1000
10 100
Frequency (kHz)
1000 10000
100
10
10 100
Frequency (MHz)
1000
4-47 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
RJ8035
10000
1000
100
10
1
0.1
0.01
1
3T
1T
10 100
Frequency (kHz)
T400-61D
100
10
1
0.1
0.01
0.001
0.0001
1 10 100 1,000
Frequency (kHz)
10,000 100,000
RJ8095
10000
1000
100
10
1
0.1
1000
0.01
1
3T
1T
10 100
Frequency (kHz)
1000
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-48
4
4-3 Wiring Conforming to EMC Directives
Surge Suppressor
Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows the types of surge suppressors and recommended products.
Type
Diodes
Thyristors and varistors
Capacitor + resistor
Feature
Diodes are used for relatively small loads such as relays when the reset time is not a critical issue.
At power shutoff the surge voltage is the lowest, but the reset time takes longer.
Used for 24/48-VDC systems.
Recommended product
Use a fast-recovery diode with a short reverse recovery time.
(e.g., RU2 of Sanken Electric Co., Ltd.).
Thyristors and varistors are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is critical.
The surge voltage at power shutoff is approx. 1.5 times the varistor voltage.
The capacitor plus resistor combination is used to absorb vibration in the surge at power supply shutoff.
The reset time can be shortened by selecting the appropriate capacitance and resistance.
Select the varistor voltage as follows.
24-VDC systems: varistor voltage 39 V
100-VDC systems: varistor voltage 200 V
100-VAC systems: varistor voltage 270 V
200-VAC systems: varistor voltage 470 V
Okaya Electric Industries Co., Ltd.
XEB12002 0.2 μ F-120 Ω
XEB12003 0.3 μ F-120 Ω
Thyristors and varistors are made by the following manufacturers. Refer to manufacturer's documentation for details on these components.
Thyristors: Ishizuka Electronics Co.
Varistor: Ishizuka Electronics Co., Panasonic Corporation
Contactor
Select contactors based on the circuit's inrush current and the maximum momentary phase current.
The drive inrush current is covered in the preceding explanation of no-fuse breaker selection.
And the maximum momentary phase current is approx. twice the rated current.
4-49 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Improving Encoder Cable Noise Resistance
Take the following steps during wiring and installation to improve the encoder's noise resistance.
Always use the specified encoder cables.
Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and cause malfunctions. Always use cables fully extended.
When installing noise filters for encoder cables, use clamp cores.
The following table shows the recommended clamp cores.
Manufacturer
NEC TOKIN
TDK
Product name
Clamp core
Clamp core
Model
ESD-SR-250
ZCAT3035-1330
Specifications
For cable dia. up to 13 mm
For cable dia. up to 13 mm
Do not place the encoder cable with the following cables in the same duct.
Control cables for brakes, solenoids, clutches, and valves.
External Dimensions
ESD-SR-250
4 to
φ
13
31.5
Impedance Characteristics
ESD-SR-250
10000
38.0
1000
100
10
1
1 10
Frequency (MHz)
100 1000
Refer to the following sections for the dimensions and impedance characteristics of the
ZCAT3035-1330: "External Dimensions"(P.4-46) and "Impedance Characteristics"(P.4-47).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-50
4
4-3 Wiring Conforming to EMC Directives
Improving Control I/O Signal Noise Resistance
Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.
Use completely separate power supplies for the control I/O power supply (especially 24 VDC) and the external operation power supply. In particular, do not connect the 2 power supply ground wires.
Install a noise filter on the primary side of the control I/O power supply.
If motors with brakes are being used, do not use the same 24-VDC power supply for both the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the ground wires may cause I/O signal errors.
Keep the power supply for pulse commands and error counter reset input lines separated from the control I/O power supply as far as possible. In particular, do not connect the 2 power supply ground wires.
We recommend using line drivers for the pulse command outputs.
Always use twisted-pair shielded cable for the pulse command and error counter reset signal lines, and connect both ends of the shield cable to frame grounds.
If the control I/O power supply wiring is long, noise resistance can be improved by adding 1μ F laminated ceramic capacitors between the control I/O power supply and ground at the drive input section or the controller output section.
For open collector inputs/outputs, keep the length of wires to within 2 m.
4-51 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
Reactor to Reduce Harmonic Current
Harmonic Current Measures
Use a Reactor to suppress harmonic currents. The Reactor functions to suppress sudden and quick changes in electric currents.
The
Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose
Components
requires that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines.
Select the proper Reactor model according to the Servo Drive to be used.
Servo Drive Reactor
Model
Number of power phases
Model
Rated current
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT75H
R88D-KT150H
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
Three-phase
Single-phase
3G3AX-DL2002 1.6 A
3G3AX-DL2004 3.2 A
3G3AX-DL2007 6.1 A
3G3AX-DL2015 9.3 A
Single-phase 3G3AX-DL2002 1.6 A
Three-phase 3G3AX-AL2025 10.0 A
Single-phase 3G3AX-DL2004 3.2 A
Three-phase 3G3AX-AL2025 10.0 A
Single-phase 3G3AX-DL2007 6.1 A
Three-phase 3G3AX-AL2025 10.0 A
Single-phase 3G3AX-DL2015 9.3 A
Three-phase 3G3AX-AL2025 10.0 A
Single-phase 3G3AX-DL2015 9.3 A
Three-phase 3G3AX-AL2025 10.0 A
Single-phase 3G3AX-DL2022 13.8 A
Three-phase 3G3AX-AL2025 10.0 A
3G3AX-AL2055
3G3AX-AL2110
3G3AX-AL2220
3G3AX-AL4025
3G3AX-AL4055
3G3AX-AL4110
3G3AX-AL4220
20.0 A
37.0 A
70.0 A
6.0 A
10.0 A
20.0 A
36.0 A
Inductance
6.75 mH
2.8 mH
3.51 mH
2.8 mH
3.51 mH
2.8 mH
2.51 mH
2.8 mH
21.4 mH
10.7 mH
6.75 mH
3.51 mH
21.4 mH
2.8 mH
10.7 mH
2.8 mH
0.88 mH
0.35 mH
0.18 mH
7.7 mH
3.5 mH
1.3 mH
0.74 mH
Weight
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.3 kg
Approx. 1.6 kg
Approx. 0.8 kg
Approx. 2.8 kg
Approx. 1.0 kg
Approx. 2.8 kg
Approx. 1.3 kg
Approx. 2.8 kg
Approx. 1.6 kg
Approx. 2.8 kg
Approx. 1.6 kg
Approx. 2.8 kg
Approx. 2.1 kg
Approx. 2.8 kg
Approx. 4.0 kg
Approx. 5.0 kg
Approx. 10.0 kg
Approx. 2.7 kg
Approx. 4.0 kg
Approx. 6.0 kg
Approx. 10.0 kg
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-52
4
4-4 Regenerative Energy Absorption
4-4 Regenerative Energy Absorption
A Servo Drive uses its built-in capacitors to absorb the regenerative energy produced during motor deceleration. If the amount of regenerative energy is too much for the built-in capacitors to absorb, it also uses an Internal Regeneration Resistor. An overvoltage error occurs, however, if the amount of regenerative energy from the Servomotor is too large. If this occurs, reduce the regenerative energy by changing operating patterns or increase the regeneration process capacity by connecting External Regeneration Units.
Precautions for Correct Use
Some Servo Drive models do not have any built-in Internal Regeneration Resistor.
The regeneration absorption capacity of a Servo Drive varies depending on the Servo Drive model.
For information on whether or not your Servo Drive has an Internal Regeneration Resistor
and its regeneration absorption capacity, refer to Servo Drive Regeneration Absorption
Regenerative Energy Calculation
The method for calculating regenerative energy on the horizontal axis is indicated below.
+ N
1
Motor operation
− N
2
T
D2
E g2
Motor output torque
T
D1
E g1 t
1 t
2
T
In the output torque graph, acceleration in the forward direction is shown as positive, and acceleration in the reverse direction is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
N
1 , N 2
: Rotation speed at start of deceleration [r/min]
T
D1 , T D2
: Deceleration torque [N·m] t
1 , t 2
: Deceleration time [s]
Note. Due to the loss of motor winding resistance and PWM, the actual regenerative energy will be approx. 90% of the values derived from these equations.
4-53 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-4 Regenerative Energy Absorption
The method for calculating regenerative energy on the vertical axis is indicated below.
+
N
1
Downward movement
Motor operation
Upward movement
−
N
2
T
D2
E g21
T
L2
E g22
Motor output torque
T
D1
E g1 t
1 t
2 t
3
T
In the output torque graph, acceleration in the forward direction (rising) is shown as positive, and acceleration in the reverse direction (falling) is shown as negative.
The regenerative energy values in each region can be derived from the following equations.
4
E g21
E g22
E g2
E g21
+
E g22
N
1 , N 2
: Rotation speed at start of deceleration [r/min]
T
D1 , T D2
: Deceleration torque
T
L2
[N·m]
: Torque during downward movement [N·m] t
1 , t 3
: Deceleration time [s] t
2
: Constant-speed driving time during downward movement [s]
Note. Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the values derived from these equations.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-54
4
4-4 Regenerative Energy Absorption
Determining the Capacity of Regenerative Energy Absorption by Built-in Capacitors
If both the values E g1
and E g2
[J] mentioned above are equal to or less than the value of the
Servo Drive’s regenerative energy that can be absorbed by built-in capacitors Ec [J], the Servo
Drive can process regenerative energy only by its built-in capacitors.
If either the value E g1
or E g2
[J] exceeds the value of the Servo Drive’s regenerative energy that can be absorbed by built-in capacitors Ec [J], however, use the following equations to determine the average regeneration power Pr [W].
E
P r g
=
=
( E g 1
−
E c
)
+
( E g 2
−
E c
) [J]
[W]
P r
: Average regeneration power that must be absorbed in 1 cycle of operation [W]
E g : Regenerative energy that must be absorbed in 1 cycle of operation [J]
E c
: Regenerative energy that can be absorbed by built-in capacitors [J]
T : Operation cycle [s]
Note. If the expression (E g1
- Ec) result is zero or less, regard it as 0. The expression (E g2
- Ec) must also be handled in the same way.
The above expressions calculate the average regeneration power Pr [W], which cannot be absorbed by the built-in capacitors. If this average regeneration power Pr [W] is equal to or less than the average amount of regeneration that can be absorbed by the Servo Drive’s Internal
Regeneration Resistor, the Servo Drive can independently process the regenerative energy.
If this average regeneration power Pr [W] cannot be processed only by the Servo Drive, take the following processes.
Connect an External Regeneration Resistor. (Regeneration process capacity improves.)
Reduce the rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.)
Lengthen the deceleration time. (Regenerative energy per unit time decreases.)
Lengthen the operation cycle, i.e., the cycle time. (Average regenerative power decreases.)
4-55 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-4 Regenerative Energy Absorption
Servo Drive Regeneration Absorption Capacity
The following table shows the regenerative energy (and amount of regeneration) that each
Servo Drive can absorb. If these values are exceeded, take the processes above.
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
R88D-KT01H
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT75H
R88D-KT150H
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
Servo Drive model
64
64
64
106
106
273
492
113
282
254
64
74
74
74
113
11
11
15
22
18
18
26
46
Regenerative energy to be absorbed by built-in capacitor [J]
−
−
−
12
−
−
−
17
Internal regeneration resistor
Average amount of regenerative energy to be absorbed [W]
18
18
72
60
60
−
−
21
21
21
29
60
60
−
−
5
4
4
100
25
25
10
7
34
34
34
25
17
17
17
13
29
14
14
100
100
40
40
Allowable minimum regeneration resistance [ Ω ]
Regenerative energy to be absorbed by built-in capacitor varies depending on the input voltage to the main circuit power supply for the Servo Drive. The above value for each Servo Drive model is calculated when the input voltage is as follows.
Main circuit power supply input voltage Model
R88D-K @@ L
R88D-K @@ H
R88D-K @@ F
100 VAC
200 VAC
400 VAC
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-56
4-4 Regenerative Energy Absorption
4
Regenerative Energy Absorption with an External Regeneration Resistor
If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive, connect an External Regeneration Resistor.
Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive.
Double-check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals.
The External Regeneration Resistor will heat up to approx. 120 ° C. Do not place it near equipment and wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions.
External Regeneration Resistor
Characteristics
Model
R88A-
RR08050S
R88A-
RR080100S
R88A-
RR22047S1
R88A-
RR50020S
Resistance value
Nominal capacity
Regeneration absorption for 120 ° C temperature rise
50
47
20
Ω
100
Ω
Ω
Ω
80 W
80 W
220 W
500 W
20 W
20 W
70 W
180 W
Heat radiation condition
Thermal switch output specifications
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
350 × 350,
Thickness: 3.0
Aluminum
600 × 600,
Thickness: 3.0
Operating temperature:
150 ° C ± 5%
NC contact
Rated output (resistive load): 125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
Operating temperature:
150 ° C ± 5%
NC contact
Rated output (resistive load): 125 VAC, 0.1 A max.
30 VDC, 0.1 A max.
(minimum current: 1 mA)
Operating temperature:
150 ° C ± 5%
NC contact
Rated output (resistive load): 250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
Operating temperature
200 ° C ± 7 ° C
NC contact
Rated output (resistive load): 250 VAC, 0.2 A max.
42 VDC, 0.2 A max.
(minimum current: 1 mA)
4-57 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-4 Regenerative Energy Absorption
Connecting an External Regeneration Resistor
R88D-KTA5L/-KT01L/-KT02L/-KT01H/-KT02H/-KT04H
Normally B2 and B3 are open.
If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3, and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
B1
B3
B2
θ > Thermal switch output
External Regeneration Resistor
4
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
R88D-KT04L/-KT08H/-KT10H/-KT15H/-KT20H/-KT30H/-KT50H/-KT06F/-
KT10F/-KT15F/-KT20F/-KT30F/-KT50F
Normally B2 and B3 are connected.
If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3, and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
θ > Thermal switch output
B1
B3
B2
External Regeneration Resistor
Remove the short-circuit bar between B2 and B3.
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-58
4
4-4 Regenerative Energy Absorption
R88D-KT75H/-KT150H/-KT75F/-KT150F
If an External Regeneration Resistor is necessary, connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below.
Servo Drive
B1
B2
θ > Thermal switch output
External Regeneration Resistor
Precautions for Correct Use
Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open.
When using multiple External Regeneration Resistors, connect each thermal switch in series.
The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
4-59 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-4 Regenerative Energy Absorption
Combining External Regeneration Resistors
Regeneration absorption capacity
* 1
20 W
Model
R88A-RR08050S
R88A-RR080100S
Resistance value
* 2
50 Ω /100 Ω
40 W
R88A-RR08050S
R88A-RR080100S
25 Ω /50 Ω
70 W
R88A-RR22047S1
140 W
R88A-RR22047S1
47 Ω 94 Ω
Connection method
R R R R
Regeneration absorption capacity
* 1
140 W
Model
Resistance value
* 2
R88A-RR22047S1
23.5 Ω
Connection method
280 W
R88A-RR22047S1
47 Ω
R
R
R
R
560 W
R88A-RR22047S1
23.5 Ω
4
Regeneration absorption capacity
* 1
180 W
Model R88A-RR50020S
Resistance value
* 2
20 Ω
R
Connection method
360 W
R88A-RR50020S
10 Ω
1440 W
R88A-RR50020S
10 Ω
*1. Select a combination that has an absorption capacity greater than the average regeneration power
(Pr).
*2. Do not use a combination with resistance values lower than the allowable minimum regeneration resistance of each drive. For information on the allowable minimum regeneration resistance, refer to
Servo Drive Regeneration Absorption Capacity (P.4-56).
Precautions for Safe Use
Surface temperatures on regeneration resistance can reach 200 ° C.
Do not place objects that tend to catch fire nearby. To prevent people from touching them, install a cover that enables heat dissipation.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-60
4-5 Large Load Inertia Adjustment and Dynamic Brake
4-5 Large Load Inertia Adjustment and
Dynamic Brake
The applicable load inertia of the Servomotor is the value of the load inertia at which the Servo
Drive circuit is not destroyed in normal usage conditions. Use at a level below the applicable load inertia, and note the cautions below regarding adjustment and dynamic braking.
4
Adjustment When the Load Inertia Is Large
In the instances below, realtime autotuning may not function properly. In this event, improve the load conditions, or perform manual tuning to set the gain and the inertia ratio.
When the load inertia is less than 3 times or over 20 times the rotor inertia, or is over the applicable load inertia ratio.
When the load inertia varies.
When the load has low mechanical rigidity.
When backlash or non-linear conditions occur in the load.
When the acceleration/deceleration torque is less than the unbalanced load or viscous friction torque.
When a speed of 100 r/min or higher or an acceleration/deceleration of 2000 r/min per second or higher continues for no more than 50 ms.
Dynamic Brake When the Load Inertia Is Large
Because the dynamic brake is used for emergency stopping, the rating is for short time intervals.
To prevent wire breakage, smoke, and fire during dynamic braking, pay attention to the following points.
Do not intentionally start and stop the motor by Servo ON/OFF.
Do not drive the motor using an externally applied power. Do not turn ON the power while the motor is rotating.
If motor rotation stops due to dynamic braking, establish a stop time of at least 3 minutes until the
Servo is turned ON again.
The dynamic brake converts the rotational energy of the motor into heat by the dynamic brake resistance.
The rotational energy of the motor is calculated using the equation below.
• Rotational energy of motor
= 1
2
J ω 2
1
2
J (2 ) 2 (
N
) 2
60
J : Load inertia + rotor inertia of motor [W]
N : Motor speed [r/min]
When the load inertia is large or the rotation speed is high, the load on the dynamic brake circuit increases. Set the maximum operating rotation speed appropriately for the load inertia.
You can specify in the parameters whether or not the dynamic brake operates in the conditions below.
A 5 kW or less Servo Drive enters the dynamic braking state when the control power turns
OFF, regardless of the settings.
Main circuit power supply OFF (Pn507 Stop Selection with Main Power Supply OFF)
When the Servo is OFF
When an error occurs
(Pn506 Stop Selection with Servo OFF)
(Pn510 Stop Selection for Alarm Detection)
When drive prohibition is input (Pn505 Stop Selection for Drive Prohibition Input)
4-61 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-6 Using DC Power
4-6 Using DC Power
You can use either an AC or DC power supply for the main power and control power for the following Servo Drives.
R88D-KT75H
R88D-KT150H
There are no Servo Drive parameters that you need to change to use an AC or DC power supply.
Precautions for Correct Use
If you use a DC power supply for the main power and control power, connect the positive side to
L1 and L1C on the terminal block (TB1) and connect the negative side to L3 and L3C.
Time is required to discharge power when the main power is turned OFF. High voltages remain inside the Servo Drive even after the power supply is turned OFF. Take sufficient precautions against electric shock. Before carrying out wiring or inspection, turn OFF the main power supply and wait for at least 15 minutes.
Do not connect the power supply to the B1 or N terminal. Internal elements may be destroyed.
Do not connect or disconnect the terminal block while the main power supply is ON. Arcs may cause burning.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-62
4-6 Using DC Power
4
Connection Examples for DC Power
R88D-KT75H with DC Power Supply Input
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
1 2 3
E NF
4 5 6
Noise filter
Main circuit power supply
OFF ON X
Ground to 100
Ω
or less.
Main circuit contactor (*1)
1MC
2MC
24 VDC
X
1MC
CN1
37 /ALM
36 ALMCOM
CN1
CN1
BKIR 11
BKIRCOM 10
Surge suppressor (*1)
PL
Servo alarm display
1MC
Regeneration
Resistor
24 VDC
User-side control device
(*7)
X
+
AC/
DC
−
G5-series
AC Servo Drive
TB1
L1C
L2C
TB1
U
V
W
AC/
DC
+
−
TB1
L1
L2
L3
B1
B2
CN2
24 VDC
XB
Power cable
Ground to 100
Ω
(*3)
or less.
X
Control cable
(*9)
2MC
DB1 DB2 DB3 DB4
(*8)
(*4)
(*5) (*6)
G5-series
AC Servomotor
B
M
Encoder cable E
XB
(*2)
24 VDC
*1.Recommended products are listed in
Conforming to EMC Directives .
*2.Recommended relays: MY Relays by OMRON (24-V)
For example, MY2 Relays by OMRON can be used with all G5-series Servomotors with Brakes because its rated inductive load is 2 A (24 VDC).
*3.There is no polarity on the brake.
*4.When using an externally connected Dynamic Brake
Resistor, remove the short bar from between DB3 and
DB4.
*5.Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur due to deposition in the Dynamic Brake Resistor
*6.A dynamic brake of 2 Ω , 180 W is built in. If the capacity is insufficient, use an external Dynamic Brake Resistor of 1.2 Ω , 400 W. Do not use the built-in resistor and an external resistor at the same time.
*7. Install an external protective device, such as a thermal switch. Monitor the temperature of the external Dynami
Brake Resistor.
*8. Wire the circuit so that the voltage between DB1 and
DB2 is 300 VAC or less or 100 VDC or less. Use a separate power source to supply power to CN1.
*9. Insert a surge suppressor if you use AC power.
4-63 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-6 Using DC Power
R88D-KT150H with DC Power Supply Input
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
E
1 2 3
NF
4 5 6
Ground to 100
Ω
or less.
Noise filter (*1)
Main circuit power supply
OFF ON X
Main circuit contactor (*1)
1MC
2MC
24 VDC
1MC
Regeneration
Resistor
24 VDC
User-side control device
(*6)
X
+
AC/
DC
−
AC/
DC
X
2MC
+
−
Control cable
(*8)
X
1MC
CN1
37 /ALM
36 ALMCOM
CN1
CN1
BKIR 11
BKIRCOM 10
DB1 DB2
(*7)
Surge suppressor (*1)
PL
Servo alarm display
TB1
L1
L2
L3
B1
B2
G5-series
AC Servo Drive
TB1
L1C
L2C
TB1
U
V
W
CN2
XB
24 VDC
Power cable
Ground to 100
Ω
(*3)
or less.
Encoder cable
(*4) (*5)
G5-series
AC Servomotor
B
M
E
XB
(*2)
24 VDC
*1.Recommended products are listed in
*2.Recommended relays: MY Relays by OMRON
(24-V)
For example, MY2 Relays by OMRON can be used with all G5-series Servomotors with Brakes because itsrated inductive load is 2 A (24 VDC).
*3.There is no polarity on the brake.
*4.Provide auxiliary contacts to protect the system with an external sequence so that a Servo ON state will not occur due to deposition in the
Dynamic Brake Resistor.
*5.Use an external Dynamic Brake Resistor of
1.2 Ω , 400 W.
*6.Install an external protective device, such as a thermal switch. Monitor the temperature of the external Dynamic Brake Resistor.
*7. Wire the circuit so that the voltage between DB1 and DB2 is 300 VAC or less or 100 VDC or less.
Use a separate power source to supply power to
CN1.
*8. Insert a surge suppressor if you use AC power.
4
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-64
Basic Control Mode
This chapter explains an outline of operations available in various control modes and explains the contents of setting.
5-1 Position Control............................................................5-1
Outline of Operation........................................................................ 5-1
Parameters Requiring Settings ....................................................... 5-2
Related Functions ........................................................................... 5-5
Parameter Block Diagram for Position Control Mode ..................... 5-6
5-2 Speed Control ...............................................................5-7
Outline of Operation........................................................................ 5-7
Parameters Requiring Settings ....................................................... 5-7
Related Functions ......................................................................... 5-12
Parameter Block Diagram for Speed Control Mode...................... 5-13
5-3 Torque Control............................................................5-14
Outline of Operation...................................................................... 5-14
Parameters Requiring Settings ..................................................... 5-14
Related Functions ......................................................................... 5-17
Parameter Block Diagram for Torque Control Mode..................... 5-18
5-4 Internally Set Speed Control......................................5-19
Outline of Operation...................................................................... 5-19
Parameters Requiring Settings ..................................................... 5-19
5-5 Switching Control .......................................................5-23
Outline of Operation...................................................................... 5-23
Parameters Requiring Settings ..................................................... 5-23
Related Functions ......................................................................... 5-25
5-6 Fully-closed Control ...................................................5-26
Outline of Operation...................................................................... 5-26
Parameters Requiring Settings ..................................................... 5-28
Parameter Block Diagram for Fully-closed Control Mode............. 5-35
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-1 Position Control
5-1 Position Control
5
Outline of Operation
Position control is performed based on the pulse train input received from the controller.
The motor rotates using the value of the pulse train input multiplied by the Electronic Gear (Pn008 to Pn010).
Controller
(pulse train output type)
Position Control Unit
CJ1W-NC113/133
CJ1W-NC213/233
CJ1W-NC214/414
CJ1W-NC234/434
CJ1W-NC413/433
CS1W-NC113/133
CS1W-NC213/233
CS1W-NC413/433
CPU Unit with built-in pulse I/O
CJ1M-CPU21/22/23
CP1H-X/XA/Y
CP1L-M/L
Pulse train
44
45
46
47
5
6
3
4
Drive
OMNUC G5
+
CWLD
− CWLD
+ CCWLD
− CCWLD
Position Control Mode
Electronic Gear
(Pn008 to Pn010)
+
CW
− CW
+ CCW
− CCW
Numerator
Denominator
Motor
OMNUC G5
5-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-1 Position Control
Parameters Requiring Settings
Parameter number
Pn000
Pn001
Pn005
Pn006
Pn007
Pn008
Pn009
Pn010
Parameter name Explanation Reference
Reference Direction Select the relation between the reference command and the rotation direction in the motor.
Control Mode Selection Select the control mode.
Command Pulse Input Selection Select the command pulse input terminal.
Set the count direction for the command pulse input.
Command Pulse Rotation
Direction Switching
Selection
Command Pulse Mode
Selection
Electronic Gear Integer
Setting
Electronic Gear Ratio
Numerator 1
Electronic Gear Ratio
Denominator
Set the count method for the command pulse input.
Define the number of command pulses per motor revolution.
If this is zero, Pn009 and Pn010 become active.
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
P.8-1
P.8-5
Control Mode Selection (Pn001)
Select the position control (Set values: 0=Position control, 3=Switch between position control and speed control or 4=Switch between position control and torque control).
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-2
5
5-1 Position Control
Command Pulse Input Process (Pn005, Pn006, Pn007)
Position command input terminals are classified into the input 1 system (+CW, -CW, +CCW, -
CCW) and input 2 system (+CWLD, -CWLD, +CCWLD, -CCWLD).
If the position command output is an open collector output, set input 1. If it is a line-driver output, set input 2.
Although input 1 can also be used for a line-driver output, the allowable maximum input frequency will become lower than when input 2 is selected.
Parameter number
Pn005
Pn006
Pn007
Parameter name
Command Pulse
Input Selection
Command Pulse
Rotation Direction
Switching
Selection
Command Pulse
Mode Selection
Explanation
Setting range
Select the command pulse input terminal.
0: Photocoupler input (+CW, -CW,
+CCW, -CCW)
1: Input for line driver only (+CWLD,
-CWLD, +CCWLD, -CCWLD)
Set the count direction for the command pulse input.
0: Command pulse, forward direction
1: Command pulse, reverse direction
Set the count method for the command pulse input.
0: 90 ° phase difference (A/B) signal input)
1: Forward/reverse pulse
2: 90 ° phase difference (A/B) signal input)
3: Feed pulse/direction signal
0 or 1
0 or 1
0 to 3
−
−
−
Unit
5-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-1 Position Control
1
The settings for command pulse rotation direction and command pulse mode are as follows.
Pn006 Pn007
Command pulse pattern
Signal name
Forward direction command
Reverse direction command
0 or 2
90 ° phase difference,
2-phase pulse
(phase A
+ phase B)
CW
CCW
Phase A t1 t1 t1 t1
Phase B t1 t1 t1 t1
Phase B is 90 ° ahead of phase A.
Phase B is 90 ° behind phase A.
0
1
Forward direction pulse train + Reverse direction pulse train
CW
CCW t2 t2 t3 t2 t2
3
Pulse train
+ Sign
CW
CCW t6 t4 t5
H t6 t6 t4 t5
L t6
0 or 2
1
90 ° phase difference, 2phase pulse
(phase A
+ phase B)
CW
CCW
Phase A t1 t1 t1 t1
Phase B
Phase B is 90
°
behind phase A.
t1 t1 t1 t1
Phase B is 90
°
ahead of phase A.
t2 t2 Forward direction pulse train + Reverse direction pulse train
CW
CCW t3 t2 t2 t4 t5
3
Pulse train
+ Sign
CW
CCW t6 t4 t5
L t6 t6
H t6
5
Symbol
+CWLD, -CWLD, +CCWLD,
-CCWLD
+CW, -CW,
+CCW, -CCW
Line driver
Open collector
Allowable input maximum frequency
4 Mpps t1
0.25
500 kpps
200 kpps
2
5
Minimum required duration [ μ s] t2 t3 t4 t5
0.125
1
2.5
0.125
1
2.5
0.125
1
2.5
0.125
1
2.5
t6
0.125
1
2.5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-4
5-1 Position Control
Electronic Gear Function (Pn008, Pn009, Pn010)
This function allows you to multiply the pulse command input from the host controller by the specified gear ratio to determine the position command.
Parameter number
Parameter name
Pn008
Pn009
Electronic Gear
Integer Setting
Electronic Gear
Ratio Numerator 1
Pn010
Electronic Gear
Ratio
Denominator
Explanation
Setting range
Set the number of command pulses corresponding to 1 motor rotation.
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
0 to 2
20
0 to 2
30
1 to 2
30
−
−
Unit
Pulse
For details on the electronic gear function, refer to "6-4 Electronic Gear Function"(P.6-10).
5
Related Functions
Parameter number
Pn008
Pn011
Pn012
Pn222
Pn223
Pn431
Pn432
Pn433
Pn503
Pn517
Pn518
Parameter name Explanation Reference
Electronic Gear Integer
Setting
Encoder Dividing
Numerator
Encoder Output Direction
Switching Selection
Position Command Filter
Time Constant
Smoothing Filter Time
Constant
Positioning Completion
Range 1
Positioning Completion
Condition Selection
Positioning Completion
Hold Time
Encoder Dividing
Denominator
Error Counter Reset
Condition Selection
Command Pulse
Prohibition Input Setting
Set the number of command pulses corresponding to 1 motor rotation.
Set the pulse output resolution using the numbers of output pulses per rotation for phase A and phase B, respectively.
Set the phase-B logic and output source for pulse output.
Set the time constant of the first-order lag filter for the position command.
Set the time constant of the FIR filter for the position command.
Set the threshold of position error for output of the positioning completion signal.
Select the condition under which the positioning completion signal is output.
Set the INP signal output time.
You can set a dividing ratio by using Encoder Dividing
Numerator (Pn011) as the dividing numerator and Encoder
Dividing Denominator (Pn503) as the dividing denominator.
Set the reset condition under which the error counter reset input signal.
Set whether to enable or disable the command pulse prohibition input.
5-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter Block Diagram for Position Control Mode
5-1 Position Control
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-6
5-2 Speed Control
5-2 Speed Control
5
Outline of Operation
Motor speed control is performed based on the analog voltage input from the controller.
You can also perform position control by combining with a controller that has a position control function.
You can change the relation between the speed command and the rotation speed by setting the
Speed Command Scale (Pn302).
Controller
(analog voltage output type)
Drive
OMNUC G5
Speed Control Mode
Motion Control Unit
CS1W-MC221/421( − V1)
Analog voltage
(speed command)
14
15
REF
AGND
Speed Command Scale
(Pn302) r/min
V
Motor
OMNUC G5
Parameters Requiring Settings
Parameter number
Pn000
Pn001
Pn300
Pn301
Pn302
Pn303
Pn312
Pn313
Pn314
Parameter name Explanation Reference
Reference direction
Select the relation between the reference command and the rotation direction in the motor.
Control Mode Selection
Command Speed
Selection
Select the control mode.
Select the speed command input method.
Speed Command
Direction Selection
Set the method for designating the forward or reverse direction for the speed command.
Speed Command Scale Set the input gain for the analog speed command input.
Inverts the polarity of the analogue speed command.
Analog Speed Command
Rotation Direction
Switching
Soft Start Acceleration
Time
Soft Start Deceleration
Time
S-curve Acceleration/
Deceleration Time Setting
Set the acceleration time for internally set speed control. Set the time until 1,000 r/min is reached.
Set the deceleration time for internally set speed control. Set the time until 1,000 r/min is reached.
Set the S-curve time in the time width centered on the inflection points for acceleration and deceleration.
5-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-2 Speed Control
Control Mode Selection (Pn001)
Select the speed control (Set values: 1=Speed control, 3=Switching between position and speed control or 5=Switching between speed control and torque control).
Analog Speed Command Input Process (Pn300, Pn301, Pn302, Pn303)
Convert the voltage input by an analog input to a speed command to control the motor.
Parameter number
Pn300
Pn301
Pn302
Pn303
Parameter name Explanation
Setting range
Command Speed
Selection
Speed Command
Direction
Selection
Speed Command
Scale
Analog Speed
Command
Rotation Direction
Switching
Select the speed command input method.
0: Analog torque command
1: No. 1 to 4 internally set speed
2: No. 1 to 3 internally set speed, analog torque command
3: No. 1 to 8 internally set speed
Select the method for designating the direction for the speed command.
0: Use the sign of the speed command
Example: +: Forward
− : Reverse
1: Use the speed command sign selection (VSIGN)
Example: OFF: Forward
ON: Reverse
Set the input gain for the analog speed command input.
Set to reverse the polarity of the speed command input.
0: The rotation direction is controlled by the voltage of the analog speed command (REF).
Positive voltage: Forward
Negative voltage: Reverse
1: The rotation direction is controlled by the voltage of the analog speed command (REF).
Positive voltage: Reverse
Negative voltage: Forward
0 to 3
0 or 1
10 to 2000
0 or 1
The conversion of analog speed command is explained below.
−
−
−
Unit
(r/min)/V
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-8
5
5-2 Speed Control
Command
Speed
Selection
(Pn300)
Speed
Command
Direction
Selection
(Pn301)
Analog
Speed
Command
Rotation
Direction
Switching
(Pn303)
Analog speed command
(REF)
Speed command sign selection
(VSIGN)
Speed command direction
*1
Conversion graph
0
0
0
1
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
Not affected
Forward direction
Reverse direction
Reverse direction
Forward direction
Figure A
Figure B
1
Not affected
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
OFF
ON
Forward direction
Reverse direction
Figure C
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined by the setting of Pn000.
5-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-2 Speed Control
Example) When Speed Command Scale (Pn302) = 500
Speed limit value = Speed Command Scale (Pn302) × input voltage
Figure A
Speed command
5000
3000
− 10 − 6
−
3000
6 10
Input voltage
− 5000
Speed command
5000
3000
Speed command
5000
3000
Figure B
− 10 − 6
−
3000
− 5000
Speed command
6 10
Input voltage
Figure C
5
−
10
−
6
VSIGN OFF
6 10
Input voltage
− 10 − 6
− 3000
−
5000
VSIGN ON
6 10
Input voltage
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-10
5
5-2 Speed Control
Speed Command Acceleration/Deceleration Setting Function (Pn312, Pn313, Pn314)
With a step speed command, you can change the speed command based on this setting to reduce the shock caused by change in acceleration.
Parameter number
Pn312
Pn313
Pn314
Parameter name
Soft Start
Acceleration Time
Soft Start
Deceleration Time
S-curve Acceleration/
Deceleration Time Setting
Explanation
Setting range
Set the acceleration time for acceleration process with respect to the speed command input.
Set the deceleration processing deceleration time for speed command inputs.
Set the S-curve acceleration/ deceleration time.
0 to 10000
0 to 10000
0 to 1000
Unit ms/(1,000 r/ min) ms/(1,000 r/ min) ms
Soft Start Acceleration Time (Pn312), Soft Start Deceleration Time (Pn313)
If a step speed command is input, set in Soft Start Acceleration Time (Pn312) the time needed for the speed command to reach 1,000 r/min. Also set in Soft Start Deceleration Time (Pn313) the time needed for the speed command to reach 0 r/min from 1,000 r/min.
Soft start acceleration time [ms] = Vc/1,000 × Pn312 × 1 ms
Soft start deceleration time [ms] = Vc/1,000 × Pn313 × 1 ms
A speed command that is input in steps
Speed [r/min]
A speed command after the acceleration/deceleration processing
1000 r/min
5-11
Time
Pn312
×
1 ms
Pn313 × 1 ms
S-curve Acceleration/Deceleration Time Setting (Pn314)
Set the S-curve time in the time width centered on the inflection points in acceleration/deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time (Pn312) or Soft Start Deceleration Time (Pn313).
ta = Vc/1,000 × Pn312 × 1 ms td = Vc/1,000 × Pn313 × 1 ms ts = Pn314 × 1 ms
Set an appropriate time so that ta > ts and td > ts are satisfied.
ts ts
Speed [r/min]
Target speed
(Vc)
A speed command after the acceleration/deceleration processing ts ts
Time ta td
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-2 Speed Control
Related Functions
Parameter number
Pn315
Pn316
Pn435
Pn436
Pn422
Pn423
Parameter name Explanation Reference
Zero Speed Designation
Selection
Position Lock Level
Setting
Speed Conformity
Detection Range
Rotation Speed for Motor
Rotation Detection
Analog Input 1 Offset
Analog Input 1 Filter Time
Constant
Set the zero speed designation.
Set the threshold for transition to the servo lock state under position control.
Set the detection threshold for the motor rotation speed detection output. If the difference between the speed command and motor speed is within the set threshold, a motor rotation speed detection output is output.
This setting has a hysteresis of 10 r/min for detection.
Set the detection threshold for speed reached output. A speed reached output is output when the motor speed exceeds the set value.
This setting has a hysteresis of 10 r/min for detection.
Set the analog input 1 offset.
Set the filter for analog input 1.
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-12
5
5-2 Speed Control
Parameter Block Diagram for Speed Control Mode
5-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-3 Torque Control
5-3 Torque Control
Torque control is performed based on the torque command specified by the analog voltage. In addition to the torque command, torque control also requires a speed limit input to prevent the motor rotation speed from becoming excessively high.
Outline of Operation
Controller
(analog voltage output type)
Analog voltage
(torque command)
*
None of OMRON controllers is a torque command voltage output type.
14
15
16
17
Drive
OMNUC G5
Torque Control Mode
TREF1
/VLIM
Torque Command Scale
(Pn319)
Torque
AGND
TREF2
V
AGND
Motor
OMNUC G5
Precautions for Correct Use
If the motor speed is limited by the speed limit, the motor speed will be limited and will not reach the speed corresponding to the analog torque command.
5
Parameters Requiring Settings
Parameter number
Pn001
Pn317
Pn318
Pn319
Pn320
Parameter name Explanation
Control Mode Selection
Torque Command/Speed
Limit Selection
Select the control mode.
Select the input location for the torque command and speed limit.
Select the rotation direction of the torque command.
Torque Command
Direction Selection
Torque Command Scale Set the input gain for analog torque command input.
Analog Torque Command
Rotation Direction
Switching
Reverse the polarity of the torque command input.
Reference
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-14
5-3 Torque Control
5
5-15
Control Mode Selection (Pn001)
Select the torque control (Set values: 2=Torque control, 4=Switching between Position control and Torque control or 5=Switching between Speed control and torque control).
Analog Torque Command Input Process (Pn317, Pn318, Pn319, Pn320)
Convert the voltage input by an analog input to a torque command to control the motor.
Parameter number
Pn317
Pn318
Pn319
Pn320
Parameter name Explanation
Setting range
Torque
Command/Speed
Limit Selection
Torque Command
Direction
Selection
Torque Command
Scale
Analog Torque
Command
Rotation Direction
Switching
Select the input location for the torque command and speed limit value.
0: Torque command: Analog input 1 speed limit: Pn321
1: Torque command: Analog input 2 speed limit: Analog input 1
2: Torque command: Analog input 1 speed limit: Pn321, Pn322
Select the method for selecting the direction for the torque command.
0: Use the sign
1: Use TVSIGN
Set the input gain for analog torque command input.
Reverse the polarity of the torque command input.
0: Forward operation
1: Reverse operation
0 to 2
0 or 1
10 to 100
0 or 1
−
−
−
Unit
0.1 V/100%
The conversion of analog torque command is explained below.
Torque
Command /
Speed
Limit
Selection
(Pn317)
Torque
Command
Direction
Selection
(Pn318)
Analog
Torque
Command
Rotation
Direction
Switching
(Pn320)
Analog torque command
(TREF)
Torque command sign selection
(TSIGN)
Torque command direction*
1
Conversion graph
0
0
1
0
1
+Voltage (0 to 10 V)
-Voltage (-10 to 0 V)
Not affected
+Voltage (0 to 10 V)
-Voltage (-10 to 0 V)
Not affected Not affected
OFF
ON
Forward direction
Reverse direction
Reverse direction
Forward direction
Forward direction
Reverse direction
Figure A
Figure B
Figure C
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined by the setting of Pn000.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-3 Torque Control
Example) When the torque command scale is 30
Torque command = 100 × Input voltage / (Torque Command Scale (Pn319) × 0.1)
Figure B
Torque command
333
200
Figure A
Torque command
333
200
− 10 − 6
− 200
6 10
Input voltage
− 10 − 6
− 200
6 10
Input voltage
Torque command
333
200
Torque command Figure C
− 10 − 6 6
Input voltage
− 10 − 6
TSIGN OFF
− 200
− 333
TSIGN ON
6 10
Input voltage
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-16
5-3 Torque Control
5
Related Functions
Parameter number
Parameter name
Pn315
Pn321
Pn322
Pn422
Pn423
Pn425
Pn426
Explanation Reference
Zero Speed
Designation
Selection
Set the zero speed designation function.
Speed Limit Value
Setting
Reverse Direction
Speed Limit Value
Setting
Analog Input 1
Offset
Analog Input 1
Filter Time
Constant
Analog Input 2
Offset
Analog Input 2
Filter Time
Constant
Set the speed limit value applicable during torque control.
During torque control, the speed is controlled so as not to exceed the level set by the speed limit value.
Set this if you want to change the speed limit value depending on whether the direction is forward or reverse.
Set the offset for analog input 1.
Set the filter for analog input 1.
Set the offset for analog input 2.
Set the filter for analog input 2.
5-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter Block Diagram for Torque Control Mode
5-3 Torque Control
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-18
5-4 Internally Set Speed Control
5-4 Internally Set Speed Control
5
Outline of Operation
Performs motor speed control using the speeds set in the No. 1 to 8 Internally Speed Settings.
Select the internally set speed using Internally Set Speed Selections 1 to 3 of the control input terminals (VSEL1: CN-1 to 33 pins, VSEL2: CN-1 to 30 pins, VSEL3: CN-1 to 28 pins).
Controller
* Internally set
speed control can
be executed using
only the digital I/O
signals.
Speed selection command VSEL1
VSEL2
VSEL3
Drive
OMNUC G5
Internally set speed control
No. 1 to 8 Internally
Set Speed
(Pn304 to 311)
Motor
OMNUC G5
Parameters Requiring Settings
Pn300
Pn304
Pn305
Pn306
Pn307
Pn308
Pn309
Pn310
Pn311
Parameter number
Pn001
Parameter name Explanation Reference
Control Mode Selection
Select the control mode for internally set speed control.
(Set values: 1, 3 and 5)
Select the speed command input method.
Command Speed
Selection
No. 1 Internally Set Speed Set the internally set speeds (r/min).
No. 2 Internally Set Speed
No. 3 Internally Set Speed
The settings can be made from -20,000 to 20,000 r/min. Be sure to set the speeds within the allowable range of rotation speed of the motor.
No. 4 Internally Set Speed
No. 5 Internally Set Speed
No. 6 Internally Set Speed
No. 7 Internally Set Speed
No. 8 Internally Set Speed
5-19 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-4 Internally Set Speed Control
Selecting the Internally Set Speeds
The following tables show the internally set speeds that are set with VSEL1, VSEL2 and
VSEL3 (internally set speed selection 1, 2 and 3).
Pn300 = 1
2
3
0
1
Number
OFF
ON
OFF
ON
VSEL1
OFF
OFF
ON
ON
VSEL2 VSEL3
Disabled
Disabled
Disabled
Disabled
Set speed
Pn304
Pn305
Pn306
Pn307
Pn300 = 2
1
2
0
Number
3
OFF
ON
OFF
ON
VSEL1
OFF
OFF
ON
ON
*1. The mode will be analog speed control.
Input the proper current to REF.
VSEL2
Pn300 = 3
6
7
4
5
2
3
0
1
Number
OFF
ON
OFF
ON
OFF
ON
OFF
ON
VSEL1
OFF
OFF
ON
ON
OFF
OFF
ON
ON
VSEL2
VSEL3
Disabled
Disabled
Disabled
Disabled
ON
ON
ON
ON
OFF
OFF
OFF
OFF
VSEL3
Set speed
Pn304
Pn305
Pn306
*1
Set speed
Pn304
Pn305
Pn306
Pn307
Pn308
Pn309
Pn310
Pn311
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-20
5
5-4 Internally Set Speed Control
Operation Example
Internally set speed control with 4 speed changes when Pn300 = 1
Operation command (RUN)
Zero speed designation (VZERO)
Internally set speed selection 1 (VSEL1)
Internally set speed selection 2 (VSEL2)
Stop
Speed
Servo ON
Open
Drive
Close
Open Open
Speed 2
Speed 1
Close
Open
Close Close
Speed 4
Speed 3
Time
(*1)
*1. The acceleration time, deceleration time, and S-curve acceleration/deceleration time can be set using parameters (Pn312, Pn313, and Pn314).
Precautions for Correct Use
If more than one internally set speed selection signals are changed at the same time (e.g., as when changing from speed 2 to speed 3), the internally set speed selection signals between them may be temporarily selected. (For example, speed 1 or speed 4 may be temporarily selected.)
Observe the following precautions if an acceleration time or deceleration time of 0 or close to
0 is used, if the sign of the internally set speed command changes, or if the change in the internally set speed command is large. Any of these may cause a sudden change in the internally set speed command.
1) Do not change between more than one internally set speed signal at the same time.
2) Set soft start acceleration and soft start deceleration and change the speed gradually (i.e., do not change the speed suddenly).
5-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-4 Internally Set Speed Control
Internal Speed Command (Pn304 to 311)
Control the motor speed according to the internal speed command value set by a parameter.
The internally set speed becomes valid when the setting of Speed Setting Internal/External
Switching is 1 to 3.
Up to 8 internally set speeds can be set.
Parameter number
Parameter name
Pn304
Pn305
Pn306
Pn307
Pn308
Pn309
Pn310
Pn311
Explanation
No. 1 Internally Set
Speed
No. 2 Internally Set
Speed
No. 3 Internally Set
Speed
No. 4 Internally Set
Speed
No. 5 Internally Set
Speed
No. 6 Internally Set
Speed
No. 7 Internally Set
Speed
No. 8 Internally Set
Speed
Set the speed 1 internally set speed.
Set the speed 2 internally set speed.
Set the speed 3 internally set speed.
Set the speed 4 internally set speed.
Set the speed 5 internally set speed.
Set the speed 6 internally set speed.
Set the speed 7 internally set speed.
Set the speed 8 internally set speed.
Setting range
-20,000 to
20,000
-20,000 to
20,000
-20,000 to
20,000
-20,000 to
20,000
-20,000 to
20,000
-20,000 to
20,000
-20,000 to
20,000
-20,000 to
20,000
Unit r/min r/min r/min r/min r/min r/min r/min r/min
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-22
5-5 Switching Control
5-5 Switching Control
5
Outline of Operation
This function controls the motor by switching between two control modes via external inputs.
The control mode switching is performed by the control mode switching input (TVSEL: CN-1 pin
32).
Controller
Drive
OMNUC G5
Analog voltage (speed command)
Switching control (Example of switching between position control and speed control)
14
16
REF
AGND
Speed control
Pulse train
3
4
5
6
+ CW
− CW
+ CCW
− CCW
Position control
32 TVSEL
Motor
OMNUC G5
Parameters Requiring Settings
Parameter number
Pn001
Parameter name
Control Mode Selection
Explanation
Select control mode for switching control.
(Set values: 3, 4 and 5)
Reference
Control Mode Selected by TVSEL (Control Mode Switching Input)
The following table shows the relation between TVSEL (control mode switching input) and the control mode selected.
Control Mode
Selection (Pn001) setting
OFF
TVSEL
ON
3
4
5
Position control
Position control
Speed control
Speed control
Torque control
Torque control
Note. Use caution when switching control mode. Operation may change suddenly depending on the control mode settings.
5-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-5 Switching Control
Operation Example
Position and Speed Control Switching Example (Pn001 = 3)
Control mode switching input (TVSEL)
ON
OFF
+ V
10 ms or more
Speed command input (REF)
Pulse command
− V
ON
OFF
Positioning completion output (INP)
Motor rotation speed detection output (TGON)
ON
OFF
+ r/min
10 ms or more
Motor operation
− r/min
There is a maximum delay of 10 ms in reading the input signal.
When switching from speed control to position control, turn OFF the control mode switching input
(TVSEL) and wait at least 10 ms after the positioning completion output (INP) turns ON before inputting the pulse command. The pulses input before INP turns ON will be ignored.
The shaded areas for the positioning completion output (INP) in the time chart show that the signal is turned ON as the motor rotation speed detection output (TGON). (The meaning of the signal depends on the control mode.)
5
Position and Torque Control Switching Example (Pn001 = 4)
Control mode switching input (TVSEL)
ON
OFF
+
V
Torque command input (TREF)
Pulse command
−
V
ON
OFF
(Forward)
10 ms or more
10 ms or more
(Reverse)
Positioning completion output (INP)
ON
OFF
+ r/min
Motor operation
− r/min
Crash
This time chart shows an example of torque thrust.
There is a maximum delay of 10 ms in reading the input signal.
When switching from torque control to position control, turn OFF the control mode switching input
(TVSEL) and wait at least 10 ms after the positioning completion output (INP) turns ON before inputting the pulse command. The pulses input before INP turns ON will be ignored.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-24
5-5 Switching Control
5
Speed and Torque Control Switching Example (Pn001 = 5)
Control mode switching input (TVSEL)
ON
OFF
+ V
Speed command input (REF)
− V
+ V
Torque command input (TREF)
− V
+ r/min
*1
*2
Motor operation
Torque Control Mode
− r/min
*1. Deceleration for the torque command.
*2. Deceleration due to load inertia energy and load friction torque.
There is a maximum delay of 10 ms in reading the input signal.
Motor operation in torque control changes according to the motor load conditions (e.g., friction, external power, inertia). Take safety measures on the machine side to prevent motor runaway.
Adjust the torque command using Analog Input 2 Offset (Pn425) and Analog Input 2 Filter Time
Constant (Pn426) because the torque command input is analog input 2.
Related Functions
Refer to the related functions for each control mode.
5-25 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-6 Fully-closed Control
5-6 Fully-closed Control
Outline of Operation
An externally provided encoder is used to directly detect the position of the control target and feedback the detected machine position to perform position control. This way, controls can be performed without being affected by ball screw error, temperature changes, etc. You can achieve highly accurate positioning by configuring a fully-closed control system.
Controller
(pulse train output type)
Position Control Unit
CJ1W-NC113/133
CJ1W-NC213/233
CJ1W-NC214/414
CJ1W-NC234/434
CJ1W-NC413/433
CS1W-NC113/133
CS1W-NC213/233
CS1W-NC413/433
CPU Unit with built-in pulse I/O
CJ1M-CPU21/22/23
CP1H-X/XA/Y
CP1L-M/L
Pulse train
Drive
OMNUC G5
CN1
44
45
46
47
5
6
3
4
Fully-closed Control Mode
+
CWLD Electronic gear
(Pn008 to Pn010) − CWLD
+ CCWLD
− CCWLD
Numerator
Denominator
+
CW
− CW
+ CCW
− CCW
External Encoder Dividing Ratio
(Pn324 to Pn325)
+ EXS
− EXS
+
EXA
− EXA
Numerator
Denominator
+ EXB
− EXB
+ EXZ
− EXZ
CN4
Position detection
Motor
OMNUC G5
External encoder
5
Precautions for Correct Use
You cannot connect an external encoder with absolute encoder specifications.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-26
5
5-6 Fully-closed Control
Setting Procedure for Fully-closed Control
1. Set the Control Mode Selection (Pn001) to 6.
2. Set the Encoder Output Direction Switching Selection (Pn012) to 2 or 3. For details on encoder dividing
function, refer to "6-5 Encoder Dividing Function" (P.6-14).
3. Set the Electronic Gear Integer Setting (Pn008) to 0, and set the Electronic Gear Ratio Numerator 1
(Pn009) and Electronic Gear Ratio Denominator (Pn010).
For fully-closed control, the command pulse or external encoder input is used as the reference. If the gear ratio (Pn009 and Pn010) is set to 1/1, one command pulse or one input pulse from the external encoder will determine the travel distance.
Example: Using an External Encoder with a Resolution of 0.1 μ m
If the gear ratio (Pn009 and Pn010) is set to 1/1 and a command of 100 pulses is applied to the
Servo Drive, a positioning operation of 10 μ m will be performed for the external encoder.
100 command units × 1/1 (gear ratio) × 0.1 μ m = 10 μ m
If the gear ratio (Pn009 and Pn010) is set to 1/2 and a command of 200 pulses is applied to the
Servo Drive, a positioning operation of 10 μ m will be performed for the external encoder.
200 command units × 1/2 (gear ratio) × 0.1 μ m = 10 μ m
4. Set the External Feedback Pulse Dividing Ratio (Pn324 and Pn325) according to information in "
External Feedback Pulse Dividing Ratio Setting (Pn324, Pn325)" (P. 5-33).
5. Set the Internal/External Feedback Pulse Error Counter Overflow Level (Pn328) and Internal/External
Feedback Pulse Error Counter Reset (Pn329) according to information in " External Feedback Pulse
Error Setting (Pn328, Pn329)" (P. 5-34).
5-27 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-6 Fully-closed Control
Parameters Requiring Settings
Parameter number
Pn000
Pn001
Pn005
Pn006
Pn007
Pn008
Pn009
Pn010
Pn011
Pn012
Pn323
Pn324
Pn325
Pn326
Pn327
Pn328
Pn329
Pn503
Pn620
Parameter name Explanation Reference
Rotation Direction
Switching
Control Mode Selection
Command Pulse Input
Selection
Command Pulse Rotation
Direction Switching Selection
Command Pulse Mode
Selection
Electronic Gear Integer
Setting
Electronic Gear Ratio
Numerator 1
Electronic Gear Ratio
Denominator
Encoder Dividing
Numerator
Encoder Output Direction
Switching Selection
External Feedback Pulse
Type Selection
External Feedback Pulse
Dividing Numerator
External Feedback Pulse
Dividing Denominator
External Feedback Pulse
Direction Switching
External Feedback Pulse
Phase-Z Setting
Internal/External Feedback
Pulse Error Counter
Overflow Level
Internal/External Feedback
Pulse Error Counter Reset
Encoder Dividing
Denominator
External Encoder Phase-Z
Setting
Set the relation between the command direction and the motor rotation direction.
Select the control mode.
Select the command pulse input.
Set the count direction for the command pulse input.
Set the count method for the command pulse input.
Set the number of command pulses corresponding to 1 motor rotation.
Set the numerator of the electronic gear ratio for the command pulse input.
Use this parameter to set the denominator of the electronic gear ratio for the command pulse input.
Set the number of phase A and phase B output pulses, respectively per motor rotation.
Select the phase B logic for pulse regeneration output and the output source.
Select the external encoder type.
Set the numerator of the external encoder divider setting.
Set the denominator of the external encoder divider setting.
Set the polarity of the external encoder feedback pulse.
Set whether to enable or disable the disconnection detection function of phase Z when a 90 ° phase difference output type external encoder is used.
Set the threshold of A250 "internal/external feedback pulse error counter overflow" in the command unit.
The hybrid error becomes 0 every time the motor rotates by the set value.
Set the denominator when the number of pulses per motor rotation in pulse regeneration is not an integer.
Set the external encoder phase-Z output width.
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-28
5
5-6 Fully-closed Control
Rotation Direction Switching (Pn000)
Set the relation between the command direction and the motor rotation direction.
0: A forward direction command sets the direction to CW as viewed from the shaft end
1: A forward direction command sets the direction to CCW as viewed from the shaft end
Take note that if Pn000 = 1, the scale count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses, etc.
Control Mode Selection (Pn001)
Select the fully-closed control (set value: 6).
Command Pulse Input Process (Pn005, Pn006, Pn007)
Position command input terminals are classified into the input 1 system (+CW, -CW, +CCW, -
CCW) and input 2 system (+CWLD, -CWLD, +CCWLD, -CCWLD).
If the position command output is a line-driver output, set input 2. If it is an open collector output, set input 1. Although input 2 can also be used for a line-driver output, the allowable maximum input frequency will become lower than when input 1 is selected.
Parameter number
Pn005
Pn006
Pn007
Parameter name
Command Pulse
Input Selection
Command Pulse
Rotation Direction
Switching
Selection
Command Pulse
Mode Selection
Explanation
Setting range
Select the command pulse input terminal.
When using a Servo Relay Unit cable, set to 0 (photocoupler input).
0: Photocoupler input
(+CW, -CW, +CCW, -CCW)
1: Input for line driver only
(+CWLD, -CWLD, +CCWLD,
-CCWLD)
Set the count direction for the command pulse input.
0: Command pulse, forward direction
1: Command pulse, reverse direction
Set the count method for the command pulse input.
0: 90 ° phase difference (A/B) signal input
1: Forward/reverse pulse
2: 90 ° phase difference (A/B) signal input
3: Feed pulse/direction signal
0 or 1
0 or 1
0 to 3
−
−
−
Unit
For information on the settings for command pulse rotation direction and command pulse mode,
refer to "5-1 Position Control"(P.5-1).
5-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-6 Fully-closed Control
Electronic Gear Function (Pn008, Pn009, Pn010)
This function sets the position command for the position control part a value calculated by multiplying the pulse command input from the Host Controller with the set electronic gear ratio.
Parameter number
Parameter name
Pn008
Pn009
Electronic Gear
Integer Setting
Electronic Gear
Ratio Numerator 1
Pn010
Electronic Gear
Ratio
Denominator
Explanation
Setting range
Set the number of command pulses corresponding to 1 motor rotation.
Set the numerator of the electronic gear ratio for the command pulse input.
Set the denominator of the electronic gear ratio for the command pulse input.
0 to 2
20
0 to 2
30
1 to 2
30
−
−
Unit
Pulse
For details on the electronic gear function, refer to "6-4 Electronic Gear Function"(P.6-10).
For fully-closed control, set the Electronic Gear Integer Setting (Pn008) to 0, and set the Electronic
Gear Ratio Numerator 1 (Pn009) and Electronic Gear Ratio Denominator (Pn010).
5
Encoder Dividing Function (Pn011, Pn012, Pn503)
The number of pulses can be set for the encoder signals output from the drive.
Parameter number
Parameter name
Pn011
Encoder Dividing
Numerator
Pn012
Encoder Output
Direction
Switching
Selection
Explanation
Setting range
Unit
Set the number of phase A and phase B output pulses, respectively per motor rotation.
Select the phase B logic for pulse regeneration output and the output source. For fully-closed control, select an external encoder for the output source.
1 to 262144 Pulse/r
1
2
3
0
Set value
Output source
Encoder
External encoder
Phase B logic
Non-reverse
Reverse
Non-reverse
Reverse
0 to 3 −
Pn503
Encoder Dividing
Denominator
When the number of output pulse per rotation is not an integer, you can set a dividing ratio by setting the set value here to a number other than 0, and using Pn011 as the dividing numerator and Pn503 as the dividing denominator.
0 and
1 to 262144
−
For details on encoder dividing function, refer to "6-5 Encoder Dividing Function"(P.6-14).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-30
5
<
5-6 Fully-closed Control
External Feedback Pulse Type Selection (Pn323, Pn326)
Set the external encoder output type and direction.
Parameter number
Parameter name
External
Feedback Pulse
Type Selection
Explanation
Select the type of the external encoder to be used.
Pn323
Set value
0
1
2
External encoder type
90 ° phase difference output type
Incremental encoder with serial communications
Reserved (Do not use this setting.)
Setting range
0 to 2 −
Unit
Pn326
External
Feedback Pulse
Direction
Switching
If the count directions of the external encoder feedback pulse and the encoder total feedback pulses do not match, reverse the external encoder feedback pulse direction in this setting.
0: Not reversed, 1: Reversed
0 or 1 −
5-31 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-6 Fully-closed Control
The corresponding external encoders for each output type are given in the following table.
Pn323 set value
External encoder type
Corresponding external encoder examples
Maximum input frequency *
2
0
1
90 ° phase difference output type
*1
Incremental encoder with serial communications
90 ° phase difference output type external encoder
Sony Manufacturing Systems Corporation
SR75, SR85
Reserved (Do not use this setting.)
0 to 4 Mpps
(After × 4)
0 to 400 Mpps
2
*1. These are the directions in which the Servo Drive counts the pulses from a 90 ° phase difference output type external encoder.
Count-down direction Count-up direction t1 t1
EXA
EXA
EXB t2
EXB is 90 ° ahead of EXA.
t1 > 0.25 μ s t2 > 1.0 μ s
EXB t2
EXB is 90 ° behind EXA.
t1 > 0.25 μ s t2 > 1.0 μ s
*2. These are the feedback speeds from the external encoder at which Servo Drive can respond.
Check the external encoder operation manual for its maximum output frequency.
For example, the maximum speed when an external encoder with a resolution of 0.01 μ m is used for the serial communication type is 0.01 μ m × (400 × 10
6
) pps = 4.00 m/s.
An overspeed error protection is generated, however, if the motor shaft rotation speed exceeds the maximum speed.
5
Precautions for Correct Use
For the external encoder connection direction, set the rotation direction so that count-up occurs when the motor shaft is rotating counterclockwise, and count-down occurs when the motor shaft is rotating clockwise. If the connection direction cannot be selected due to installation conditions, etc., the count direction can be reversed using External Feedback Pulse Direction Switching
(Pn326).
Take note that if Pn000 = 1, the encoder count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses, etc.
If Pn000 = 0, the count direction matches the count direction for monitoring.
Even when the speed command is within the Drive’s speed command range, an acceleration error will occur if the speed command exceeds the maximum speed of motor shaft rotation.
To confirm that the installation direction is correct, use the front-panel monitor or the CX-Drive monitor function to check the counting direction of the total external encoder feedback pulses and the total encoder feedback pulses. If the counting directions are the same, the connections are correct.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-32
5
5-6 Fully-closed Control
External Feedback Pulse Dividing Ratio Setting (Pn324, Pn325)
Set the dividing ratio for the encoder resolution and external encoder resolution.
Parameter number
Pn324
Pn325
Parameter name
External Feedback
Pulse Dividing
Numerator
External Feedback
Pulse Dividing
Denominator
Explanation
Setting range
Set the numerator of the external encoder divider setting. Normally, set the number of encoder output pulses per motor rotation. If the set value is 0, the encoder resolution is set automatically.
Set the denominator of the external encoder divider setting. Normally, set the number of external encoder output pulses per motor rotation.
0 to 2
20
1 to 2
20
-
-
Unit
Check the number of encoder feedback pulses and the number of external encoder output pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (Pn324) and
External Feedback Pulse Dividing Denominator (Pn325) so that the following formula works out.
Pn324 Number of encoder output pulses per motor rotation
=
Pn325 Number of external encoder output pulses per motor rotation
If this divider setting is wrong, there will be deviations between the position calculated from encoder pulses and the position calculated from external encoder. If the movement distance is long, these deviations accumulate and cause an internal/external feedback pulse error counter overflow level error.
Setting Examples
Ball screw pitch: 10 mm
External encoder resolution: 0.1 μ m
Encoder resolution: 20 bits
Servomotor encoder resolution: 20 bits/rotation
10 mm
Ball screw
Ball screw pitch 10 mm
1 Rotation
Encoder Output Pulses per Motor Rotation (Pn324)
20 bits = 1,048,576
External encoder resolution: 0.1 μ m
External Encoder Output Pulse Per Motor Rotation (Pn325)
10 [mm] / 0.1 [ μ m/pulse] = 100,000 [pulses]
Pn324 Number of encoder output pulses per motor rotation 1,048,576
= =
Pn325 Number of external encoder output pulses per motor rotation 100,000
5-33 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-6 Fully-closed Control
External Feedback Pulse Error Setting (Pn328, Pn329)
The difference between the encoder position and external encoder position is detected, and if the difference exceeds the value of Internal/External Feedback Pulse Error Counter Overflow
Level (Pn328), an alarm will occur.
Parameter number
Parameter name
Pn328
Pn329
Internal/External
Feedback Pulse
Error Counter
Overflow Level
Internal/External
Feedback Pulse
Error Counter
Reset
Explanation
Setting range
Set the allowable difference (hybrid error) between the encoder-detected position and external encoder-detected position in command units.
The hybrid error becomes 0 every time the motor rotates by the set value. If the set value is 0, the hybrid error is not cleared.
1 to 2
27
0 to 100
Unit
Command units
Rotations
Pn329: Internal/External Feedback Pulse Error Counter Reset
Every time the motor rotates for the amount set by Pn329, the internal/external feedback pulse error is cleared.
This function can be used when there is deviation between the position calculated from encoder pulses and the position calculated from external encoder due to slipping, etc, and internal/external feedback pulse errors accumulate.
Amount of internal/external feedback pulse error
[command unit]
Error detected
5
Pn328 Internal/External Feedback Pulse Error Counter Overflow Level
Cleared to 0
Cleared to 0
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Number of motor rotations [rotations]
Precautions for Correct Use
An internal/external feedback pulse error counter overflow level error occurs when the external encoder is abnormal, connection is wrong, or connection point between the motor and load is loose, among others. Accordingly, check these items when an alarm occurs.
Be sure to set an appropriate value for Internal/External Feedback Pulse Error Counter Reset
(Pn329). If an extremely small value is set, this function may not operate.
Take sufficient safety measures, such as installing limit sensors.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-34
5-6 Fully-closed Control
Parameter Block Diagram for Fully-closed Control Mode
5
+
+
+
+
+
+
+
+ +
+
+
5-35 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Applied Functions
This chapter gives outline of applied functions such as damping control, electronic gears, gain switching and disturbance observer, and explains the contents of setting.
6-1 Damping Control...........................................................6-1
Outline of Operation........................................................................ 6-1
Parameters Requiring Settings ....................................................... 6-2
6-2 Adaptive Filter...............................................................6-5
Outline of Operation........................................................................ 6-5
Parameters Requiring Settings ....................................................... 6-6
6-3 Notch Filter....................................................................6-7
Outline of Operation........................................................................ 6-7
Parameters Requiring Settings ....................................................... 6-8
6-4 Electronic Gear Function ...........................................6-10
Outline of Operation...................................................................... 6-10
Parameters Requiring Settings ..................................................... 6-10
Operation Example ....................................................................... 6-12
6-5 Encoder Dividing Function ........................................6-14
Outline of Operation...................................................................... 6-14
Parameters Requiring Settings ..................................................... 6-14
6-6 Brake Interlock............................................................6-19
Outline of Operation...................................................................... 6-19
Parameters Requiring Settings ..................................................... 6-19
Precautions for Correct Use of Holding Brake .............................. 6-19
6-7 Gain Switching Function............................................6-24
Outline of Operation...................................................................... 6-24
Parameters Requiring Settings ..................................................... 6-25
6-8 Torque Limit ................................................................6-32
Outline of Operation...................................................................... 6-32
Parameters Requiring Settings ..................................................... 6-32
6-9 Sequence I/O Signal ...................................................6-35
Outline of Operation...................................................................... 6-35
Input Signals ................................................................................. 6-35
Output Signals .............................................................................. 6-38
6-10 Forward and Reverse Drive Prohibition Functions .6-41
Outline of Operation...................................................................... 6-41
Parameters Requiring Settings ..................................................... 6-41
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6
6
6-11 Disturbance Observer Function ............................... 6-44
Outline of Operation...................................................................... 6-44
Parameters Requiring Settings ..................................................... 6-45
Operating Procedure..................................................................... 6-45
6-12 Gain Switching 3 Function........................................ 6-46
Outline of Operation...................................................................... 6-46
Parameters Requiring Settings ..................................................... 6-46
6-13 Friction Torque Compensation Function ................ 6-47
Outline of Operation...................................................................... 6-47
Parameters Requiring Settings ..................................................... 6-47
Operation Example ....................................................................... 6-48
6-14 Inertia Ratio Switching Function .............................. 6-49
Outline of Operation...................................................................... 6-49
Parameters Requiring Settings ..................................................... 6-49
Operating Procedure..................................................................... 6-49
6-15 Hybrid Vibration Suppression Function .................. 6-50
Outline of Operation...................................................................... 6-50
Parameters Requiring Settings ..................................................... 6-50
Operating Procedure..................................................................... 6-50
6-16 Feed-forward Function .............................................. 6-51
Outline of Operation...................................................................... 6-51
Parameters Requiring Settings ..................................................... 6-51
Operating Procedure..................................................................... 6-52
6-17 Instantaneous Speed Observer Function................ 6-55
Outline of Operation...................................................................... 6-55
Parameters Requiring Settings ..................................................... 6-55
Operating Procedure..................................................................... 6-56
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-1 Damping Control
6-1 Damping Control
Outline of Operation
If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration.
This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are from 1 to 200 Hz.
Since damping control is performed using position commands, it cannot be used with speed or torque control.
Position Controller Servo Drive
The end vibrates
The damping frequency changes based on the position.
6
Movement
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-1
6-1 Damping Control
6
Parameters Requiring Settings
Parameter number
Parameter name
Pn001
Pn213
Pn214
Pn215
Pn216
Pn217
Control Mode
Selection
Damping Filter
Selection
Damping
Frequency 1
Damping Filter 1
Setting
Explanation
The function is the same with Pn215.
Reference
Set to the Position Control Mode or Fully-closed Control
Mode.
0: Position control
3: First control mode for position/speed control
4: First control mode for position/torque control
6: Fully-closed control
Select the damping filter switching mode according to the condition of the unit.
0: Damping filter 1 or 2 enabled
1: Switching by external input (DFSEL1)
2: Switching by external input (DFSEL1, DFSEL2)
3: Switching with command direction
Set damping frequency 1 to suppress vibration at the end of the load in damping control.
If the damping control function is not used, set 0.
When the Damping Frequency 1 (Pn214) is set, reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally 0 is set.
If the damping filter 1 is disabled, this parameter is also disabled.
The function is the same with Pn214.
Pn218
Pn219
Pn220
Pn221
Damping
Frequency 2
Damping Filter 2
Setting
Damping
Frequency 3
Damping Filter 3
Setting
Damping
Frequency 4
Damping Filter 4
Setting
The function is the same with Pn214.
The function is the same with Pn215.
The function is the same with Pn214.
The function is the same with Pn215.
Precautions for Correct Use
Stop operation before changing the parameters or switching with DFSEL.
Damping control may not function properly or the effect may not be apparent under the following conditions.
Item
Control mode
Load condition
Conditions under which the effect of damping control is inhibited
- Speed Control Mode or Torque Control Mode
- If forces other than position commands, such as external forces, cause vibration.
- If the damping frequency is outside the range of 1 to 200 Hz.
- If the ratio of the resonance frequency to anti-resonance frequency is large.
6-2 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-1 Damping Control
Operating Procedure
1. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain (Pn100), Speed Loop Gain (Pn101), Speed Loop Integral Time
Constant (Pn102) and Torque Command Filter Time Constant (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
2. Measure the damping frequency at the tip of the mechanical unit.
Measure the damping frequency by using a measurement device such as a laser displacement sensor, servo acceleration meter, or acceleration pick-up.
Set the damping frequency in one of Damping Frequency 1 to Damping Frequency 4 (1:
Pn214, 2: Pn216, 3: Pn218, 4: Pn220) according to the operation.
Also set the switching mode using Damping Filter Selection (Pn213).
If the measurement device cannot be used, use CX-Drive tracing function, and read the residual damping frequency (Hz) from the position error waveform as shown in the following figure.
Command speed
Position error
Calculate the damping frequency.
The damping frequency in the figure is calculated with the following formula: f (Hz)
=
1
T (s)
Damping cycle T
Since the parameter unit is 0.1 Hz:
(Pn214, Pn216, Pn218, Pn220) = 10 × f
Application example
If the damping cycle is 100 ms or 20 ms, set 100 or
500 in the parameter so that the damping frequency becomes 10 Hz or 50 Hz.
If vibration persists after setting the frequency, increase or decrease the damping frequency to find the frequency at which vibration decreases.
3. Make the damping filter settings.
Make the damping filter settings (1: Pn215, 2: Pn217, 3: Pn219, 4: Pn221).
First, set to 0.
The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure. Set a range that will not cause torque saturation under actual operation conditions. The effects of vibration suppression will be lost if torque saturation occurs.
6
Damping filter setting is appropriate.
Damping filter setting is too large.
Torque saturation
Torque command
When the Damping Frequency 1 (Pn214) is set, reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally 0 is set.
If the damping filter 1 is enabled, use the following setting range.
Setting range: 100 ≤ Pn214 + Pn215 ≤ Pn214 × 2 or 2,000
Note: If the damping filter 1 is disabled under Damping Filter Selection (Pn213), this parameter is also disabled.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-3
6
6-1 Damping Control
4. Set the Damping Filter Selection (Pn213).
Damping filters 1 to 4 can be switched according to the conditions of the machine vibration.
0
Set value
1
2
3
Switching mode
Damping filter 1 and 2 enabled
Switching by external input (DFSEL1)
Open: Damping filter 1 or 3 enabled
Shorted: Damping filter 2 or 4 enabled
Switching by external input (DFSEL1, DFSEL2)
When DFSEL1 and DFSEL2 are both open: Damping filter 1 enabled
When DFSEL1 is shorted and DFSEL2 is open: Damping filter 2 enabled
When DFSEL1 is open and DFSEL2 is shorted: Damping filter 3 enabled
When DFSEL1 and DFSEL2 are both shorted: Damping filter 4 enabled
Switching with command direction
Forward: Damping filters 1 and 3 enabled
Reverse: Damping filters 2 and 4 enabled
6-4 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-2 Adaptive Filter
6-2 Adaptive Filter
Outline of Operation
The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the torque command.
The automatically set notch filter frequency is set in Notch 3 (Pn207 to Pn209) or Notch 4
(Pn210 to Pn212).
Refer to "6-3 Notch Filter" (P.6-7) for information on notch filter.
After vibration suppression Motor speed
6
Adaptive filter disabled
Adaptive filter effect
Filter frequency setting completed
Position and speed command
Position and speed control
Adaptive filter
Torque command
Current loop control
Resonance frequency estimation
Load inertia estimation
Realtime autotuning
Speed feedback
SM
RE
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-5
6-2 Adaptive Filter
6
Parameters Requiring Settings
Parameter number
Parameter name
Pn200
Adaptive Filter
Selection
Explanation Reference
Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation.
0: Adaptive filter disabled
1: 1 adaptive filters enabled
2: 2 adaptive filters enabled
3: Resonance Frequency Measurement Mode
The servo drive measures the resonant frequency automatically.
4: Adaptive result clear
The notch filter 3 and notch filter 4 parameters are disabled, and adaptive result is cleared.
Precautions for Correct Use
Adaptive filter may not operate correctly under the following conditions.
Item
Control mode
Conditions under which the adaptive filter not operates properly
· Torque Control Mode
Resonance points
· If the resonance frequency is 300 Hz or lower.
· If the resonance peak or control gain is too low to affect the motor speed.
· If there are three or more resonance points.
Load
· If the motor speed with high-frequency components changes due to backlash or other non-linear elements.
Command pattern · The acceleration/deceleration is sudden.
If the adaptive filter does not operate properly, use Notch 1 (Pn201 to Pn203) or Notch 2 (Pn204 to Pn206) to implement resonance measures according to the manual adjustment procedure.
Refer to "6-3 Notch Filter" (P.6-7) for information on notch filter.
An unusual noise or vibration may occur until the adaptive filter stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn003) is increased, but this is not a problem if it disappears right away. If the vibration or unusual noise, however, continues for three or more reciprocating operations, take the following measures in the possible order.
· Write the parameters used during normal operation to the EEPROM.
· Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
· Disable the adaptive filter by setting the Adaptive Filter Selection (Pn200) to 0.
(Resetting of inertial estimation and adaptive operation)
· Manually set the notch filter.
If unusual noise or vibration occurred, the setting of Notch 3 (Pn207 to Pn209) or Notch 4 (Pn210 to Pn212) may have changed to an extreme value. In this case, set Adaptive Filter Selection
(Pn200) to 0 to disable the parameter and then set Notch 3 Frequency Setting (Pn207) and Notch
4 Frequency Setting (Pn210) to 5,000 (disabled). Next, enable Adaptive Filter Selection again.
Notch 3 Frequency Setting (Pn207) and Notch 4 Frequency Setting (Pn210) are written to the
EEPROM every 30 minutes. When the power supply is turned OFF and then turned ON again, this data will be used as the default settings to perform adaptive operation.
The adaptive filter is disabled when torque control is performed, but the adaptive filter frequency used in the control mode before switching will be held if torque control has been selected by setting the Control Mode Selection (Pn001) to 5 or 6.
6-6 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-3 Notch Filter
6-3 Notch Filter
Outline of Operation
You can set up to 4 notch filters for the torque command.
If a ball screw or other controlled device causes resonance at a specific location, you can set the resonance frequency using a notch filter to eliminate resonance.
A notch filter is used to eliminate a specified frequency component.
fw
Width fw
0db
−
3db
Depth
=
Fc/fw
Frequency Hz
Cut-off frequency Fc
If machine resonance occurs, use this notch filter to eliminate resonance.
Machine resonance
6
Notch filter
Notch filter 1
Characteristics after filtering
Notch filter 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-7
6-3 Notch Filter
6
Parameters Requiring Settings
Parameter number
Pn201
Pn202
Pn203
Pn204
Pn205
Pn206
Pn207
Pn208
Pn209
Pn210
Pn211
Pn212
Parameter name Explanation Reference
Notch 1 Frequency
Setting
Notch 1 Width
Setting
Notch 1 Depth
Setting
Notch 2 Frequency
Setting
Notch 2 Width
Setting
Notch 2 Depth
Setting
Notch 3 Frequency
Setting
*1
Notch 3 Width
Setting
*1
Notch 3 Depth
Setting
*1
Notch 4 Frequency
Setting
*1
Notch 4 Width
Setting
*1
Notch 4 Depth
Setting
*1
Set the center frequency of notch filter 1.
The notch filter is enabled at 50 to 4,999 Hz, and disabled at 5,000 Hz.
Select the width of the notch filter 1 frequency.
Increasing the value widens the notch width.
(Setting range: 0 to 20)
Select the depth of the notch filter 1 center frequency.
Increasing the value decreases the notch depth and thereby reduces the phase delay. The notch filter is disabled if 100 is set.
(Setting range: 0 to 99)
Set the center frequency of the notch filter 2.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 2 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 2 center frequency.
The details are the same with the notch filter 1 depth.
Set the center frequency of the notch filter 3.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 3 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 3 center frequency.
The details are the same with the notch filter 1 depth.
Set the center frequency of the notch filter 4.
The details are the same with the notch filter 1 frequency.
Select the width of the notch filter 4 frequency.
The details are the same with the notch filter 1 width.
Select the depth of the notch filter 4 center frequency.
The details are the same with the notch filter 1 depth.
*1 If an adaptive filter is used, these are set automatically.
Precautions for Correct Use
Identify the resonance frequency using the frequency characteristics measurement function, resonance frequency monitor or operation waveform of the waveform graphics function of CX-
Drive and set the identified frequency as the notch filter frequency.
6-8 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-3 Notch Filter
Notch Filter Width and Depth
Width Setting
This is the ratio of the frequency bandwidth at a damping factor of -3 [dB] relative to the center frequency when the depth is 0. This value should conform to the left column in the table below.
15
16
17
18
19
20
11
12
13
14
7
8
9
10
5
6
3
4
0
1
2
Set value
Depth Setting
This is the I/O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100. If the indication unit is [dB], this value should conform to the right column in the table below.
4.76
5.66
6.73
8.00
9.51
11.31
13.45
16.00
1.19
1.41
1.68
2.00
2.38
2.83
3.36
4.00
Width
Bandwidth/center frequency
0.50
0.59
0.71
0.84
1.00
35
40
45
50
15
20
25
30
60
70
80
90
100
3
4
5
10
0
1
2
Set value
Depth
I/O ratio (%) Damping factor (dB)
0 (Cut off)
1
2
3
4
5
10
15
20
25
30
35
40
45
50
60
70
80
90
− 4.4
− 3.1
− 1.9
− 0.9
100 (Passed) 0.0
− 14.0
− 12.0
− 10.5
− 9.1
− 8.0
− 6.9
− 6.0
−∞
− 40.0
− 34.0
− 30.5
− 28.0
− 26.0
− 20.0
− 16.5
6
Notch filter frequency characteristics
10
5
0
−
5
−
10
−
15
−
20
−
25
−
30
1 0
−
3[dB]
1 0 0
Frequency [Hz]
1 0 0 0
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-9
6-4 Electronic Gear Function
6-4 Electronic Gear Function
Outline of Operation
The motor can be rotated for the number of pulses obtained by multiplying the position command values by the electronic gear ratio.
This function supports position and fully-closed control.
6
Parameters Requiring Settings
Parameter number
Parameter name Explanation Reference
Pn008
Pn009
Pn010
Pn500
Pn501
Pn502
Electronic Gear Integer
Setting
Electronic Gear Ratio
Numerator 1
Electronic Gear Ratio
Denominator
Set the number of command pulses corresponding to 1 motor rotation.
Set the numerator of the electronic gear ratio.
If the set value is 0, the encoder resolution is automatically set as the numerator.
· 131,072 for a 17-bit absolute encoder
· 1,048,576 for a 20-bit incremental encoder
Set the denominator of the electronic gear ratio.
Electronic Gear Ratio
Numerator 2
*1
Set the numerator of the electronic gear ratio 2.
Electronic Gear Ratio
Numerator 3
*1
Set the numerator of the electronic gear ratio 3.
Electronic Gear Ratio
Numerator 4
*1
Set the numerator of the electronic gear ratio 4.
*1. Switching among Electronic Gear Ratio Numerators 2 to 4 (Pn500 to Pn502) is performed using the electronic gear switching input (GESEL1/GESEL2).
The settings of GESEL1 and GESEL2 are as follows.
GESEL1 GESEL2
OFF
ON
OFF
ON
OFF
OFF
ON
ON
Applicable parameters
Electronic Gear Ratio Numerator 1
(Pn009)
Electronic Gear Ratio Numerator 2
(Pn500)
Electronic Gear Ratio Numerator 3
(Pn501)
Electronic Gear Ratio Numerator 4
(Pn502)
Any values can be set for PN008, Pn009, and Pn010, but operation may not be correct if you set an extreme electronic gear ratio. Set the electronic gear ratio to between 1/1,000 and 1,000.
6-10 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-4 Electronic Gear Function
Electronic Gear Ratio Setting (Pn008, Pn009, Pn010)
Electronic
Gear
Integer
Setting
(Pn008)
Electronic
Gear Ratio
Numerator 1
(Pn009)
Electronic
Gear Ratio
Denominator
(Pn010)
Explanation
1 to
1058576
−
0
−
When the Electronic Gear Integer Setting (Pn008) ≠ 0
The processing will be based on the set value of
Electronic Gear Integer Setting (Pn008) regardless of the set values of Electronic Gear Ratio Numerator 1 (Pn009) and Electronic Gear Ratio Denominator (Pn010).
Command pulse input
Encoder resolution *
Electronic Gear Integer Setting (Pn008)
Position command
Position command pulse = Encoder resolution /
Electronic Gear Integer Setting (Pn008)
Switching among electronic gear ratio numerators 1 to 4 is disabled when the Electronic Gear Integer Setting
(Pn008) ≠ 0.
When the Electronic Gear Integer Setting (Pn008) = 0, or
Electronic Gear Ratio Numerator 1 (Pn009) = 0
The processing will be based on the set value of
Electronic Gear Ratio Denominator (Pn010).
Command pulse input
Encoder resolution *
Electronic Gear Ratio Denominator (Pn010)
Position command
0
1 to
1073741824
1 to
1073741824
Position command pulse = Encode resolution / Electronic
Gear Ratio Denominator (Pn010)
When the Electronic Gear Integer Setting (Pn008) = 0, or
Electronic Gear Ratio Numerator 1 (Pn009) ≠ 0
The processing will be based on the set values of
Electronic Gear Ratio Numerator 1 (Pn009) and
Electronic Gear Ratio Denominator (Pn010).
Command pulse input
Electronic Gear Ratio Numerator 1 (Pn009)
Electronic Gear Ratio Denominator (Pn010)
Position command
Position command pulse = Electronic Gear Ratio
Numerator 1 (Pn009) / Electronic Gear Ratio
Denominator (Pn010)
* The encoder resolution is set as the numerator for fully-closed control. The command pulse is the external encoder reference for fully-closed control. Accordingly, please be cautious that the Pn008 set value will not be the number of command pulses per motor rotation.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-11
6-4 Electronic Gear Function
6
Operation Example
Example of a motor with a 20-bit encoder (1,048,576 pulses/rotation)
When the Electronic Gear Integer Setting (Pn008) ≠ 0
If you set Pn008 = 2,000, it will operate the same as the 2,000 (pulses/rotation) Servomotor.
Servo Drive Servomotor encoder resolution: 20 bits
2,000 pulses 1,048,576 pulses Encoder resolution
Electronic Gear Integer Setting (Pn008)
=
1,048,576
2000
1-rotation (1,048,576 pulses)
When the Electronic Gear Integer Setting (Pn008) = 0 and the Electronic Gear Ratio Numerator = 0
If you set Pn010 = 2,000, it will operate the same as the 2,000 (pulses/rotation) Servomotor.
Servo Drive
Servomotor encoder resolution: 20 bits
2,000 pulses 1,048,576 pulses Encoder resolution
Electronic gear ratio denominator (Pn010)
=
1,048,576
2000
1-rotation (1,048,576 pulses)
6-12
When the Electronic Gear Integer Setting (Pn008) = 0 and the Electronic Gear Ratio Numerator ≠ 0
If you set Pn009 and Pn010 = 512/1, it will operate the same as the 2,048 (pulses/rotation)
Servomotor.
Servo Drive
Servomotor encoder resolution: 20 bits
2,048 pulses 1,048,576 pulses Electronic gear ratio numerator 1 (Pn009)
Electronic gear ratio denominator (Pn010)
=
512
1
=
1,048,576
2048
1-rotation (1,048,576 pulses)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-4 Electronic Gear Function
Precautions for Correct Use
Set the parameters so that the command pulse frequency multiplied by the electronic gear ratio does not exceed 175 Mpps*. If 175 Mpps* is exceeded, alarm 27.2 will occur.
Example:
The following calculation is for an incremental encoder with a resolution of 1,048,576, an electronic gear setting of 500 (Pn008 = 500), and a command pulse frequency of 100 kpps.
100 Kpps × 1,048,576/500 = 209,715,200 = 209.7152 Mpps, which exceeds 175 Mpps*.
The calculation changes as follows if the electronic gear is set to 5,000 (Pn008 = 5,000) and the command pulse frequency is 100 kpps.
100 Kpps × 1,048,576/5,000 = 20,971,520 =20.97152 Mpps, which does not exceed
175 Mpps*.
* Alarm 27.2 will occur if 3 Gpps is exceeded when using software version 1.10 or higher.
The software version can be checked on the front panel or with the CX-Drive.
For information on checking the software version on the front panel, refer to
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-13
6-5 Encoder Dividing Function
6-5 Encoder Dividing Function
Outline of Operation
The number of output pulses from the drive can be adjusted.
You can set the number of pulses per motor rotation in the range of 1 to (the number of encoder resolution pulses).
This function is used in the following cases:
- When you use a controller with a low response frequency
- When you want to set the pulse rate corresponding to a certain value
Example: Set the encoder dividing ratio to 2,000 (pulses/rotation) for when the resolution is set to 5 μ m/pulse on mechanical systems that travel 10 mm per motor rotation.
6
Parameters Requiring Settings
Parameter number
Pn011
Pn012
Pn503
Pn533
Pn620
Pn622
Parameter name Explanation Reference
Encoder Dividing
Numerator
Encoder Output
Direction Switching
Selection
Encoder Dividing
Denominator
Set the number of phase-A and phase-B output pulses, respectively per motor rotation.
Select the phase B logic for pulse regeneration output and the output source.
Pulse Regeneration
Output Limit Setting
Set the denominator when the number of pulses per motor rotation in pulse regeneration is not an integer.
Set whether to enable or disable the detection of
Alarm 28.0 "pulse regeneration error."
0: Disabled, 1: Enabled
Set the external encoder phase-Z output width.
External Encoder
Phase-Z Setting
90 ° Phase Difference
Output External
Encoder Pulse Output
Method Selection
Select the regeneration method of pulse outputs A and B when a 90 ° phase difference output type external encoder is used.
0: Without signal regeneration.
1: With signal regeneration for phase-A and phase-B. Without signal regeneration for phase-Z.
6-14 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-5 Encoder Dividing Function
Encoder Dividing Ratio Setting (Pn011, Pn503)
Encoder
Dividing
Numerator
(Pn011)
Encoder
Dividing
Denominator
(Pn503)
Explanation
When the output source is the encoder
When Encoder Dividing Denominator (Pn503) = 0
This is set by Encoder Dividing Numerator (Pn011), and the output pulse is the number of pulses set by Encoder Dividing Numerator (Pn011) as follows.
1 to
262144
1 to
262144
0
1 to
262144
Encoder pulse Pn011 set value × 4
Encoder resolution
Output pulse from the drive
Number of pulse output per rotation = Encoder Dividing Numerator (Pn011)
× 4
When the output source is the external encoder
When Encoder Dividing Denominator (Pn503) = 0
The dividing ratio is 1:1.
External encoder pulse 1
1
Output pulse from the drive
When Encoder Dividing Denominator (Pn503) ≠ 0
The output pulse will be as follows based on Encoder Dividing Numerator
(Pn011) and Encoder Dividing Denominator (Pn503).
Encoder pulse or external encoder pulse Pn011 set value
Pn503 set value
Output pulse from the drive
Number of pulse output per rotation =
Encoder Dividing Numerator (Pn011)
Encoder Dividing Denominator (Pn503)
× encoder resolution
6
Phase Z Signal Output
1 phase-Z signal is output by 1 pulse per motor rotation. When the Encoder Dividing
Denominator (Pn503) ≠ 0, and if the pulse output resolution per rotation is not a multiple of 4, phase-Z and phase-A outputs are not synchronized. The output will be made as an encoder resolution, resulting in narrower width.
If Pn011 and Pn503 are integers If Pn011 and Pn503 are not integers
A
B
Z
A
B
Z
Synchronous Asynchronous
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-15
6-5 Encoder Dividing Function
Encoder Output Direction Switching Selection (Pn012)
The corresponding external encoders for each output type are given in the following table.
Pn012 set value
Output source
Phase B logic
CCW direction operation CW direction operation
0 Encoder
2
1
3
External encoder
Encoder
External encoder
Nonreverse
Phase
A
Phase
B
Reverse
Phase
A
Phase
B
Phase
A
Phase
B
Phase
A
Phase
B
6
External Encoder Pulse Regeneration Function
Serial Incremental External Encoder
Phase Z is output without dividing the phase Z of the serial incremental external encoder. In addition, take note that there are differences as illustrated in the figure below depending on the direction passing phase Z.
Phase A
Phase B
Phase Z
Phase-Z position of external encoder* 1
Operating direction
Operating direction
* 2
* 2
*1. Phase-Z position and its relationship with phases A and B vary depending on the scale.
*2. Phase Z is regenerated for 1 pulse. If the width is narrow, the output time can be extended by the External Encoder
Phase Z Setting (Pn620).
6-16 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-5 Encoder Dividing Function
90 ° Phase Difference Output Type External Encoder
Phase Z is output without dividing the Z signal that is input from the 90 ° phase difference output type external encoder.
When 90 ° Phase Difference Output External Encoder Pulse Output Method Selection (Pn622) =
1, the phase AB signal can be input into the amplifier and regenerated. Note, in this case, that the phase-AB regeneration will be delayed compared to when Pn622 is set to 0.
External Encoder Common Items
When detection cannot be made because the phase-Z signal width is narrow due to the external encoder travel distance, if you set the phase-Z signal output time in the External Encoder-Z
Setting (Pn620), phase Z can be output at least for that period of time.
In addition, take note that the output is made from when the phase-Z signal starts and, therefore, it will be different from the actual phase-Z signal width. Take note, also, that the direction of the time extension varies depending on the direction of the operation.
Phase-Z output for pulse regeneration
(before time extension)
Phase-Z output for pulse regeneration
(after time extension)
Operating direction
Pn620 External Encoder Phase-Z Setting
Operating direction
Pn620 External Encoder Phase-Z Setting
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-17
6
6-5 Encoder Dividing Function
Precautions for Correct Use
The maximum output frequency of the pulse regeneration output will be 4 Mpps (after quadruple multiplier). If operated at a speed that exceeds this, the regeneration function may not operate properly and position misalignment may result.
Phase A
Phase B
0.25
μ s or more
- You can generate Alarm 28.0 "pulse regeneration error" when the pulse regeneration limit is reached based on the Pulse Regeneration Output Limit Setting (Pn533). Note that this alarm is generated when the pulse regeneration output limit is detected. Therefore, the alarm does not occur due to the maximum output frequency. Depending on the motor rotation status
(uneven rotations), the alarm may occur when the detection is made at the frequency that goes up momentarily.
- Take not that if the encoder is used as the output source and the pulse output resolution per rotation is not a multiple of 4, phase Z and phase A are not synchronized, and the width may be narrow.
Phase A
Phase B
Phase A
Phase B
Phase Z Phase Z
*Will not be synchronized
with phase A.
When the dividing ratio is multiple of 4 When the dividing ratio is not multiple of 4
Note: When Pn503 = 0 and the output resolution is set to Pn011, the dividing ratio is always a multiple of 4.
When en encoder with the incremental specifications is used, the first phase Z output after the power supply is turned ON may not always be within the above pulse width. When you are using the phase-Z signal, rotate the motor more than once after turning ON the power supply, and confirm that phase-Z regeneration has been performed once before using the second and subsequent phase Z outputs.
6-18 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-6 Brake Interlock
6-6 Brake Interlock
Outline of Operation
This function lets you set the output timing for the brake interlock (BKIR) signal that activates the holding brake when the servo is turned ON, an alarm generates, or the servo is turned OFF.
Parameters Requiring Settings
Parameter number
Parameter name
Pn437
Pn438
Pn439
Explanation Reference
Brake Timing when
Stopped
Brake Timing
During Operation
Brake Clear Speed
Setting
Set the time after a servo OFF command is issued upon servo lock stop, until the brake interlock output (BKIR) signal turns OFF and power supply stops.
Set the time after a servo OFF command is issued while the motor is rotating, until the brake interlock output (BKIR) turns OFF and power supply stops. If the speed drops to the speed set inPn439 or below before the time set here elapses, BKIR will turn OFF.
To set the speed threshold for run time mechanical brake output determination.
6
Precautions for Correct Use of Holding Brake
The brake on a Servomotor with a brake is a normally closed brake designed only to hold when the operation is stopped.
Accordingly, set an appropriate time so that the brake actuates after the motor stops.
If the brake is engaged while the Servomotor is rotating, the brake disc will wear abnormally or sustain damage, resulting in a bearing or encoder failure in the Servomotor.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-19
6-6 Brake Interlock
6
Operation
Servo ON/OFF Operation Timings < when Motor Is Stopped >
ON
Operation command (RUN)
OFF
Servo OFF * 1
Dynamic brake
Released
Engaged
DB engaged
Servo ON
Approx. 2 ms
DB Released
Approx. 60 ms
Motor power supply
ON
OFF
No power supply Power supply
Approx. 4 ms
Brake release request from servo control *3
ON
OFF
Release request
Servo OFF
DB engaged
Pn437
No power supply
1 to 6 ms
*2
Brake interlock output (BKIR) *3
ON
OFF
Release request
Holding brake operation
Released
Held
Attraction time
Brake released
Release time
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF (Pn506).
*3. The brake interlock (BKIR) signal is output upon a release request from servo control. The BKIR signal is assigned to the general-purpose output (CN1).
Servomotor Specifications" (P.3-59).
6-20 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-6 Brake Interlock
Servo ON/OFF Operation Timings < When Motor Is Rotating >
Based on these operation timings, regenerative energy is produced if the motor rotation stops abnormally.
Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.
Operation command (RUN)
ON
OFF
Servo OFF *1 Servo ON
Approx. 2 ms
Released
Dynamic brake DB engaged
Engaged
DB Released
Approx. 60 ms
Motor power supply
ON
OFF
No power supply Power supply
Approx. 4 ms
ON
Brake release request from servo control *3
OFF
Brake held Release request
Motor rotation speed
Approx.
Servo ON enabled
+
30 r/min
Approx. − 30 r/min
Servo OFF
1 to 5 ms
DB Released t1 *4
*2
No power supply
When the Pn438 set value is early
Pn439 set value
BKIR
Release request
When the Pn439 set value is early
Pn438
Brake held
Pn439 set value
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF (Pn506).
*3. The brake interlock (BKIR) signal is output upon a release request from servo control. The BKIR signal is assigned to the general-purpose output (CN1).
*4. "t1" is either the time set for the Brake Timing During Operation (Pn438), or the time needed for the motor speed to drop to speed set in Brake Release Speed Setting (Pn439) or below, whichever comes first.
Note:Even when the servo ON input is turned ON again while the motor is decelerating, the system does not enter the servo ON state until the motor stops.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-21
6-6 Brake Interlock
6
Operation Timings when Alarm Generates (Servo ON)
Alarm generation
OFF
ON
Normal
Motor power supply
Dynamic brake
ON
OFF
Power supply
Released
Engaged
DB Released
Alarm output
0.5 to 5 ms
No power supply
DB engaged*1
Servo ready output (READY)
Alarm output (ALM)
ON
OFF
ON
OFF
READY
Alarm t1
Pn438
Brake interlock output (BKIR) *2
ON
OFF
Release request Brake held
Brake interlock output (BKIR) *2
Rotation speed A
Pn439 set value
BKIR
Release request
Rotation speed B
Brake held
When the Pn438 setting is early
When the timing of reaching the Pn439 set value or lower is early
Pn439 set value
*1. The dynamic brake operation when an alarm generates depends on Stop Selection with Servo OFF (Pn506).
*2. “t1” is either the time set for the Brake Timing During Operation (Pn438), or the time needed for the motor speed to drop to speed set in Brake Release Speed Setting (Pn439) or below, whichever comes first.
Note 1.Even when the servo ON input is turned ON again while the motor is decelerating, the system does not enter the servo ON state until the motor stops. The BKIR signal is assigned to the general-purpose output (CN1).
Note 2.If the main circuit power supply turns OFF while the motor is operating, a phase loss alarm or main circuit voltage low alarm will occur, in which case this operation timing will be applied.
6-22 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-6 Brake Interlock
Operation Timings at Alarm Reset
Reset alarms by turning OFF the power supply and then turning it ON again.
The alarm reset input recognition time can be changed using Alarm Reset Condition Selection
(Pn516). The default setting is 120 ms.
Alarm reset
Servo ready output (READY)
Alarm output (ALM)
Operation command (RUN)
ON
OFF
Dynamic brake
Released
Engaged
Motor power supply
Brake interlock output (BKIR) *2
ON
OFF
ON
OFF
Operation command input
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Alarm
Servo OFF
Reset
120 ms
READY
* 1
Alarm Released
0 ms or more
Servo ON
2 ms or more
DB engaged
No power supply
Brake held
Input prohibited
DB Released
Approx. 60 ms
Power supply
4 ms
Release request
100 ms or more
Input allowed
*1. The servo does not turn ON until the motor rotation speed drops to approx. 30 r/min or below.
*2. The brake interlock (BKIR) signal is output upon a release request from servo control. The BKIR signal is assigned to the general-purpose output (CN1).
Note:After the alarm has been reset, the system enters the servo OFF state (motor not excited). To turn the servo ON, issue a servo ON command again after resetting the alarm, according to the above timings.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-23
6
6-7 Gain Switching Function
6-7 Gain Switching Function
Outline of Operation
This function switches the position loop and speed loop gain.
Select enable or disable using Gain Switching Input Operating Mode Selection (Pn114). Set the switching condition using the gain switching setting.
If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping and operating, you can perform optimal control by using gain switching.
Use gain switching when the realtime autotuning does not work effectively, etc. (See below.)
- When the load inertia fluctuates in 200 ms or less.
- When the motor rotation speed does not exceed 500 r/min, or load torque does not exceed
50% of the rated torque.
- When an external force is constantly applied, as with a vertical axis.
Note. When Gain 2 has been selected, realtime autotuning does not operate normally. If using the gain switching, set the Realtime Autotuning to "disabled" (Pn002 = 0).
6-24 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
Parameters Requiring Settings
Parameter number
Parameter name Explanation Reference
Pn114
Gain Switching Input
Operating Mode Selection
Set whether to enable or disable the gain switching function.
Position Control Mode
Pn115
Pn116
Pn117
Pn118
Pn119
Switching Mode in
Position Control
Gain Switching Delay
Time in Position Control
Gain Switching Level in
Position Control
Gain Switching Hysteresis in Position Control
Position Gain Switching
Time
Set the condition for switching between Gain 1 and Gain 2.
Set the time to return from Gain 2 to Gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between Gain 1 and
Gain 2.
Set the hysteresis width to be provided in the judgment level set in Gain Switching Level (Pn117).
Set the number of phased switches from low to high gain.
(Unit: 0.1 ms)
Speed Control mode
Pn120
Pn121
Pn122
Pn123
Switching Mode in Speed
Control
Gain Switching Delay
Time in Speed Control
Gain Switching Level in
Speed Control
Gain Switching Hysteresis in Speed Control
Set the condition for switching between Gain 1 and Gain 2.
Set the time to return from Gain 2 to Gain 1. (Unit: 0.1 ms)
Set the judgment level for switching between Gain 1 and
Gain 2.
Set the hysteresis width to be provided in the judgment level set in Gain Switching Level (Pn122).
Torque Control Mode
Pn124
Pn125
Pn126
Pn127
Switching Mode in Torque
Control
Gain Switching Delay
Time in Torque Control
Gain Switching Level in
Torque Control
Gain Switching Hysteresis in Torque Control
Set the condition for switching between Gain 1 and Gain 2.
Set the time to return from Gain 2 to Gain 1.
(Unit: 0.1 ms)
Set the judgment level for switching between Gain 1 and
Gain 2.
Set the hysteresis width to be provided in the judgment level set in Gain Switching Level (Pn126).
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-25
6
6-7 Gain Switching Function
Diagrams of Gain Switching Setting
Switching between Gain 1 (Pn100 to Pn104) and Gain 2 (Pn105 to Pn109) occurs at the following times. Take note that, in the case of position loop gains, switching occurs based on the setting of Pn119.
For the details of each gain, refer to "Chapter 8, Parameter Details".
The details of the gain switching setting vary depending on the control mode used. For the
details of settings available in each mode, refer to "Gain Switching Setting for Each Control
Gain Switching Mode = 2: Gain Switching (GSEL)
The gain is switched instantly when a gain switching command is issued by external input.
Position command
GSEL
Gain 1
Gain switching instruction
Gain 2
Gain 1
6-26 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
Gain Switching Mode = 3: Switching by Torque Command Change Amount
Torque command change amount (angular acceleration and deceleration speed command) is set in units of 0.05%/166 μ s.
If the amount of change fluctuates and the switching time is not met, the switching will be cancelled.
In the case of switching due to a change amount of 4% over 2 ms, a value of approx. 6 will apply. (Change of 0.33% per 166 μ s.)
Speed command
Torque command
Pn127
Pn126 6
Torque change amount
Pn127
Pn127
Pn126
Pn125 Pn125
Pn127
Pn125 Pn125
2 1 2 Gain 1 Gain 1 2 1 2 Gain 1
Gain Switching Mode = 5 or 9: Switching by Speed Command or Actual Motor Speed
Speed command or actual motor speed
Pn118, Pn123
Pn117, Pn122
Pn118, Pn123
Gain 1
Gain 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Pn116, Pn121
Gain 1
6-27
6
6-7 Gain Switching Function
Gain Switching Mode (Pn031) = 6: Switching by Amount of Position Error
Gain switching is performed based on the accumulated count in the error counter.
Amount of position error
Pn118
Pn118
Pn117
Pn116
Gain 1 Gain 1
Gain 2
Gain Switching Mode = 7: Switching by Position Command Received
Gain switching is performed when a position command corresponding to 1 command unit or more is received.
Position command
Gain 1
Pn116
Gain 1
Gain 2
Gain Switching Mode = 8: Switching by Positioning Completion Signal OFF
Switching to the gain 2 is performed when the error counter accumulated pulse exceeds the
Positioning Completion Range 1 (Pn431).
Amount of error counter accumulated pulse
INP1 ON
Gain 1
INP1 OFF
Cancelled because the time conditions are not met
Gain 2
INP1 ON
Pn116
Gain 1
6-28 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
Gain Switching Mode = 10: Switching by Combination of Position Command Received and Speed
Switching to the gain 2 occurs when a position command is received.
If no position command is issued for the period of Gain Switching Delay Time in Speed Control
(Pn121) and the speed also becomes the same as or less than the result of Gain Switching
Level (Pn122) - Gain Switching Hysteresis (Pn123) [r/min], switching to the gain 1 will occur.
Position command
Pn123
Pn122
Actual motor speed
Gain 1
Gain 2
Pn116 Pn121
Gain 1
Timing for Position Gain Switching Time (Pn119)
You can suppress rapid increases in the position loop gain during position control when there is a large difference between Position Loop Gain 1 (Pn100) and Position Loop Gain 2 (Pn105).
When the position loop gain increases, it will be changed over the specified time.
Position Gain Switching Time
The Position Gain Switching Time (Pn119) can be set to reduce torque variations and vibration caused by a rapid increase in the position loop gain that can occur when the gain is switched during position control or fully closed control.
Precautions for Correct Use
When the position loop gain is switched to a smaller value, the setting of this parameter will be ignored and the gain will be switched immediately.
Example Gain 1 (Pn100) > Gain 2 (Pn105)
Gain 2 (Pn105)
6
Gain 1 (Pn100)
Result of switching 1
Position Gain
Switching Time [ms]
(Pn119)
2 1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-29
6-7 Gain Switching Function
6
6-30
Gain Switching Setting for Each Control Mode
The settable switching conditions vary depending on the control mode used. Set the parameters for each control mode.
Position Control Mode
In the Position Control Mode, it varies as follows according to gain switching mode in Position
Control (Pn115).
( √ : Enabled, − : Disabled)
0
1
2
3
4
5
6
7
8
9
Pn115 set value
10
Switching conditions
Always gain 1
Always gain 2
Switching from gain switching (GSEL)
Torque command change amount
Always gain 1
Command speed
√
−
−
−
Gain
Switching
Delay Time
(Pn116)
−
−
Gain
Switching
Level
(Pn117)
−
−
Gain
Switching
Hysteresis
(Pn118)
−
−
Position
Gain
Switching
Time (Pn119)
− √
√
Amount of position error
√
Position command received √
Positioning completion signal (INP1) OFF
√
Actual motor speed
√
−
√
[ × 0.05%]
−
√
[r/min]
√
[pulse]
−
−
√
[r/min]
−
√
[ × 0.05%]
−
√
[r/min]
√
[pulse]
−
−
√
[r/min]
√
−
√
√
√
√
√
Combination of position command received and speed
√ √ √ √
Speed Control Mode
In the Speed Control Mode, it varies as follows according to switching mode in Speed Control
(Pn120).
( √ : Enabled, − : Disabled)
0
1
2
3
4
5
Pn120 set value
Switching conditions
Always gain 1
Always gain 2
Switching from gain switching (GSEL)
Torque command change amount
−
√
Amount of change in speed command
Speed command
−
√
−
−
Gain Switching
Delay Time
(Pn121)
−
−
−
√
[ × 0.05%]
−
Gain Switching
Level (Pn122)
√
[r/min]
[
−
−
Gain Switching
Hysteresis
(Pn123)
−
√
−
√
× 0.05%]
[r/min]
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
Torque Control Mode
In the Torque Control Mode, it varies as follows according to switching mode in Torque Control
(Pn124).
( √ : Enabled, − : Disabled)
0
1
2
3
Pn124 set value
Switching conditions
Always Gain 1
Always Gain 2
Switching from gain switching (GSEL)
Torque command change amount
−
−
Gain Switching
Delay Time
(Pn125)
−
−
Gain Switching
Level (Pn126)
−
−
Gain Switching
Hysteresis
(Pn127)
−
√
−
√
[ × 0.05%]
−
√
[ × 0.05%]
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-31
6-8 Torque Limit
6-8 Torque Limit
Outline of Operation
The output torque by the Servomotor can be limited.
This function is used in the following conditions.
- When push-motion operation, such as pressing, is performed.
- When the torque at startup and during deceleration should be suppressed to protect the mechanical system, etc.
Various methods are available according to Torque Control Selection (Pn521).
6
Parameters Requiring Settings
Parameter number
Pn521
Pn013
Pn522
Pn523
Pn524
Pn525
Pn526
Pn527
Pn425
Pn426
Pn428
Pn429
Parameter name
Torque Limit Selection
Explanation
Select the torque limit based on the various parameters and input signals.
Set the No. 1 motor output torque limit value.
Reference
No. 1 Torque Limit
No. 2 Torque Limit
Torque Limit Switching
Setting 1
Torque Limit Switching
Setting 2
Forward External Torque
Limit
Reverse External Torque
Limit
Analog Torque Limit Scale
Analog Input 2 Offset
Analog Input 2 Filter Time
Constant
Analog Input 3 Offset
Analog Input 3 Filter Time
Constant
Set the No. 2 motor output torque limit value.
Set the rate of change (fluctuate) when switching from the No. 1 torque limit to No. 2 torque limit.
Set the rate of change (fluctuate) when switching from the No. 2 torque limit to No. 1 torque limit.
Set the forward torque limit for a network signal.
Set the reverse torque limit for a network signal.
Set the gain for conversion for the analog torque limit input.
Set the offset adjustment value for the voltage applied to analog input 2.
Set the time constant of the first-order lag filter for the voltage applied to analog input 2.
Set the offset adjustment value for the voltage applied to analog input 3.
Set the time constant of the first-order lag filter for the voltage applied to analog input 3.
6-32 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-8 Torque Limit
Torque Limit in Position, Speed and Fully-Closed Controls
Pn521 set value
Explanation
0
1
2
3
4
5
6
Forward operation: Set by PCL (0 to 10 V)
Reverse operation: Set by NCL ( − 10 to 0 V)
Limit in both forward and reverse operation: Set by Pn013
Forward operation: Set by Pn013
Reverse operation: Set by Pn522
Switch the limit value using torque limit switching (TLSEL).
When TLSEL is OFF
Limit in both forward and reverse operation: Pn013
When TLSEL is ON
Limit in both forward and reverse operation: Pn522
Forward operation: Set by PCL (0 to 10 V)
Reverse operation: Set by NCL (0 to 10 V)
Limit in both forward and reverse operation: Set by PCL (0 to 10 V)
Switch the limit value using torque limit switching (TLSEL).
When TLSEL is OFF
Forward operation: Pn013
Reverse operation: Pn522
When TLSEL is ON
Forward operation: Pn525
Reverse operation: Pn526
For the torque limit in torque control, always select No. 1 Torque Limit (Pn013).
The torque limit under torque feed-forward selection is enable only during speed control when the set value is 1 to 3.
PCL signal is assigned to the terminal 16 in CN1. For details, refer to “Torque Command Input 2
(TREF2) and Forward Torque Limit Input (PCL)” (P. 3-37).
NCL signal is assigned to the terminal 18 in CN1. For details, refer to "Reverse Torque Limit Input
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-33
6-8 Torque Limit
Rate of Change Setting at Switching (Pn521 = 3)
If 3 is set in Torque Limit Selection (Pn521), you can add fluctuate the change at the time of switching. This function is disabled in any other setting.
How to Set Rate of Change (Fluctuate)
Set the parameter according to the switching type.
From No. 1 torque limit to No. 2 torque limit: Pn523
From No. 2 torque limit to No. 1 torque limit: Pn524
The sign of the rate of change switches automatically inside the drive based on the magnitude correlation of the No. 1 torque limit and No. 2 torque limit.
Torque limit switching input (TLSEL)
No. 1 Torque
Limit (Pn013)
Torque Limit Switching
Setting 1 (Pn523)
6
No. 2 Torque
Limit (Pn522)
Torque Limit Switching
Setting 2 (Pn524)
If the setting of No. 1 Torque Limit (Pn013) or No. 2 Torque Limit (Pn522) is changed from the front panel or CX-Drive, the rate of change setting will be ignored and the new torque limit value will be applied immediately.
Torque Limit Settings by Servomotors
The torque limit setting range is between 0% and 300%. The default setting is 300%. This is not the case when a Servo Drive and a Servomotor are used in the following combinations.
Servo Drive
R88D-KT15 @
R88D-KT30 @
R88D-KT50 @
R88D-KT75 @
R88D-KT75H
R88D-KT75F
R88D-KT150 @
Applicable
Servomotor
R88M-K90010 @
R88M-K2K010 @
R88M-K3K010 @
R88M-K4K510 @
R88M-K6K010 @
R88M-K7K515T
R88M-K7K515C
R88M-K11K015 @
R88M-K15K015 @
Maximum torque limit [%]
272
265
267
265
253
225
250
250
263
6-34 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-9 Sequence I/O Signal
6-9 Sequence I/O Signal
Outline of Operation
You can set sequences in various operating conditions.
For the connection of I/O signals and processing of external signals, refer to "Control I/O
Connector Specifications (CN1)" (P.3-18).
Input Signals
You can allocate any function of input signals to the input pins for the control I/O connector
(CN1). In addition, you can change logic. However, refer to "Input Signal Allocation Method"
(P.6-36) for more information because some signals have allocation limitations.
If a G-series Servo Drive is being replaced with a G5-series Servo Drive, use the G5-series
Servo Drive with the default settings.
Input Signal Default Setting
The allocations of the default input signals are as follows. Refer to "Input Signal Allocation
Method" when you change the allocation to use.
Applicable parameters
Pn400
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
Pn408
Pn409
Input signals
Factory default setting (hex)
Position control or fully-closed control
Signal name
Logic
Default setting state
Speed control
Signal name
Logic
SI1 input
SI2 input
SI3 input
SI4 input
SI5 input
SI6 input
SI7 input
SI8 input
SI9 input
SI10 input
00828282h
(8553090)
00818181h
(8487297)
0091910Ah
(9539850)
00060606h
(394758)
0000100Ch
(4108)
00030303h
(197379)
00000f07h
(3847)
00040404h
(263172)
00050505h
(328965)
00000E88h
(3720)
NOT
POT
DFSEL1
GSEL
GESEL1
RUN
ECRST
RESET
TVSEL
IPG
NC
NC
NO
NO
NO
NO
NO
NO
NO
NC
NOT
POT
VZERO
GSEL
VSEL3
RUN
VSEL2
RESET
TVSEL
VSEL1
NC
NC
NC
NO
NO
NO
NO
NO
NO
NO
Signal name
NOT
POT
VZERO NC
GSEL
−
RUN
−
Torque control
NC
NC
NO
−
−
−
Logic
NO
RESET NO
TVSEL NO
−
Contacts NO and NC in the logic fields indicate the following statuses.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-35
6
6
6-9 Sequence I/O Signal
NO: Disabled (OFF) when signal input is open with COM −
Enabled (ON) when signal input is shorted with COM −
NC: Disabled (OFF) when signal input is shorted with COM −
Enabled (ON) when signal input is open with COM −
" − " indicates the status where no function is allocated.
Parameters that Can Be Allocated
Use the following parameters when changing the input signal allocation to use.
For the setting method, refer to "Input Signal Allocation Method".
Parameter number
Parameter name Explanation
Pn400 Input Signal Selection 1
Set the SI1 input function allocation. This parameter is based on the hex display standard. (The display on the front panel is based on decimal.)
Pn401 Input Signal Selection 2 Set the SI2 input function allocation.
Pn402 Input Signal Selection 3 Set the SI3 input function allocation.
Pn403 Input Signal Selection 4 Set the SI4 input function allocation.
Pn404 Input Signal Selection 5 Set the SI5 input function allocation.
Pn405 Input Signal Selection 6 Set the SI6 input function allocation.
Pn406 Input Signal Selection 7 Set the SI7 input function allocation.
Pn407 Input Signal Selection 8 Set the SI8 input function allocation.
Pn408 Input Signal Selection 9 Set the SI9 input function allocation.
Pn409
Input Signal Selection
10
Set the SI10 input function allocation.
Reference
6-36
Input Signal Allocation Method
Input the setting for each control mode in any of the parameters of Pn400 to Pn409 to allocate signals.
Set the parameters based on the hex display standard.
Set the set value of the function for each control mode in "**" below.
Refer to the function number table provided below for the set value of each function. The logic setting is included in the function numbers.
00******h
Position control/fully-closed control
Speed control
Torque control
Example:
Position control or fully-closed control: Electronic gear switching input 1 for contact NO (0Ch)
Speed control:
Torque control:
Internally set speed selection 1 for contact NC (8Eh)
Disabled (00h)
00008E0Ch
Position control/fully-closed control
Speed control
Torque control
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-9 Sequence I/O Signal
This will be 36364 since the front panel display is in decimal numbers.
Function Number Table
The set values to be used for allocations are as follows:
Signal name Symbol
Disabled −
Forward drive prohibition input POT
Reverse drive prohibition input NOT
Operation command
*1
Alarm reset input
Control mode switching input
Gain switching
RUN
RESET
TVSEL
GSEL
00h
01h
02h
03h
04h
05h
06h
Error counter reset input
*2 ECRST 07h
Pulse prohibition input
*3
Torque limit switching
Damping filter switching 1
Damping filter switching 2
IPG
TLSEL
DFSEL1
DFSEL2
08h
09h
0Ah
0Bh
Electronic gear switching input 1 GESEL1 0Ch
Electronic gear switching input 2 GESEL2 0Dh
Internally set speed selection 1 VSEL1
Internally set speed selection 2 VSEL2
Internally set speed selection 3 VSEL3
Zero speed designation input VZERO
Speed command sign input
Torque command sign input
Emergency stop input
Inertia ratio switching input
VSIGN
TSIGN
STOP
J-SEL
12h
13h
14h
15h
0Eh
0Fh
10h
11h
NO
Set value
NC
Setting not available
81h
82h
83h
Setting not available
85h
86h
Setting not available
88h
90h
91h
92h
93h
94h
95h
89h
8Ah
8Bh
8Ch
8Dh
8Eh
8Fh
*1 The operation command (RUN) always needs to be allocated. Servo cannot be turned ON if it is not allocated.
*2 Allocate this to Input Signal Selection 7 (Pn406). An alarm will occur if it is allocated to anything other than that.
*3 Allocate this to Input Signal Selection 10 (Pn409). An alarm will occur if it is allocated to anything other than that.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-37
6
6-9 Sequence I/O Signal
Precautions for Correct Use
Do not use any values other than the settings listed.
If you allocate the same function to multiple input signals, interface input duplicate allocation error
1 (Alarm 33.0) or interface input duplicate allocation error 2 (Alarm 33.1) will occur.
You can allocate error counter reset input (ECRST) to Input Signal Selection 7 (Pn406) only. If you allocate it to anything other than that, a counter reset allocation error (Alarm 33.6) will occur.
You can allocate pulse prohibition input (IPG) to Input Signal Selection 10 (Pn409) only. If you allocate it to anything other than that, a command pulse prohibition input allocation error (Alarm 33.7) will occur.
If you are using the control mode switching input (TVSEL), you must set it for all control mode. If you do not set it for all control mode, interface input function number error 1 (Alarm 33.2) or interface input function number error 2 (Alarm 33.3) will occur.
If you set Zero Speed Designation Selection (Pn315) to 2 or 3, you must always allocate zero speed designation input (VZERO) in speed control for the same pin where zero speed designation input (VZERO) is allocated for speed control. In addition, specify the same settings for the logic.
Be sure to allocate the functions that are used by multiple control mode (such as operation command and alarm reset input) to the same pin, and do the same for the logic. If this is not set correctly, interface input duplicate allocation error 1 (Alarm 33.0) or interface input duplicate allocation error 2 (Alarm 33.1) will occur.
You must always allocate the operation command (RUN). Servo cannot be turned ON if it is not allocated.
Output Signals
You can allocate output signal functions to the output pins for the control I/O connector (CN1).
If a G-series Servo Drive is being replaced with a G5-series Servo Drive, use the G5-series
Servo Drive with the default settings.
Output Signal Default Setting
The allocations of the default output signals are as follows. Refer to "Output Signal Allocation
Method" when you change the allocation to use.
Default setting state
Applicable parameters
Output
Signals
Default set value
Position control or fully-closed control
Signal name
Pn410
Pn411
Pn412
Pn413
SO1 output
SO2 output
SO3 output
SO4 output
00030303h
(197379)
00020202h
(131586)
*1
00050504h
(328964)
BKIR
READY
ALM
INP
*1 Alarm output signal allocations cannot be changed.
Speed control
Signal name
BKIR
READY
ALM
TGON
Torque control
Signal name
BKIR
READY
ALM
TGON
6-38 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-9 Sequence I/O Signal
Parameters that Can Be Allocated
Use the following parameters when changing the output signal allocation to use.
For the setting method, refer to "Output Signal Allocation Method".
Parameter number
Parameter name Explanation
Pn410 Output Signal Selection 1
Set the SO1 output function allocation. This parameter is set in hexadecimal standard.
Refer to the output signal function number table for details.
Pn411 Output Signal Selection 2 Set the SO2 output function allocation.
Pn412 Output Signal Selection 3
Set the SO3 output function allocation. This parameter is always fixed to the alarm output signals.
Pn413 Output Signal Selection 4 Set the SO4 output function allocation.
Reference
Output Signal Allocation Method
Input the setting for each control mode in any of the parameters of Pn410 to Pn413 to allocate signals.
Set up the parameters based on the hex display standard in the same manner as the input signal allocation method.
Set the set value of the function for each control mode in "**" below.
Refer to the function number table provided below for the set value of each function. The logic setting is included in the function numbers.
00******h
Position control/fully-closed control
Speed control
Torque control
Example:
Position control or fully-closed control: Speed conformity output (08h)
Speed control:
Torque control:
Motor rotation speed detection output (05h)
Zero speed detection signal (07h)
00070508h
Position control/fully-closed control
Speed control
Torque control
This will be 460040 since the front panel display is in decimal numbers.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-39
6
6-9 Sequence I/O Signal
Function Number Table
The set values to be used for allocations are as follows:
Signal name
Disabled
Servo ready completed output
Brake interlock output
Positioning completion output
Motor rotation speed detection output
Torque limiting signal
Zero speed detection output
Speed conformity output
Warning output 1
Warning output 2
Position command status output
Positioning completion output 2
Output during speed limit
Alarm attribute output
Speed command status output
−
READY
BKIR
INP
TGON
TLC
ZSP
VCMP
WARN1
WARN2
P-CMD
INP2
V-LIMIT
ALM-ATB
V-CMD
Symbol
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
05h
06h
07h
08h
00h
02h
03h
04h
Set value
Precautions for Correct Use
Do not use any values other than the settings listed.
You can allocate the same function to more than one output signal.
You cannot change the output signal logic. When the function is disabled (OFF), signal input is open with COM − , and when the function is enabled (ON), signal input is shorted with COM − .
6-40 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-10 Forward and Reverse Drive Prohibition Functions
6-10 Forward and Reverse Drive Prohibition Functions
Outline of Operation
When the forward drive prohibition input (POT) and the reverse drive prohibition input (NOT) are turned OFF, the motor will stop rotating.
You can stop the motor from rotating beyond the device's operating range by connecting limit inputs.
Parameters Requiring Settings
Parameter number
Pn400 to
Pn409
Pn504
Pn505
Parameter name
Input Signal Selection 1 to 10
Drive Prohibition Input
Selection
Stop Selection for Drive
Prohibition Input
Explanation
Set the input signal allocations and logic.
In the default settings, the allocations are as follows.
Pn400 (CN1 - pin 8): NOT (Logic contact NC)
Pn401 (CN1 - pin 9): POT (Logic contact NC)
Set the operation to be performed upon forward and reverse drive prohibition input.
Set the deceleration and stop methods upon forward and reverse drive prohibition input.
Reference
6
Input Signal Selection Function (Default setting: Pn400, Pn401)
In the default setting, the allocations are as follows.
Parameter number
Parameter name
Set value
Default setting
Position Control or fully-closed control
Speed control
Torque control
Pn400
Pn401
Input Signal
Selection 1
Input Signal
Selection 2
00828282h
(8553090)
00818181h
(8487297)
NOT (NC)
POT (NC)
NOT (NC)
POT (NC)
NOT (NC)
POT (NC)
Refer to "6-9 Sequence I/O Signal" (P.6-35) for details on input signal selections 1 to 10.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-41
6
6-10 Forward and Reverse Drive Prohibition Functions
Drive Prohibition Input Selection (Pn504)
Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch. This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine. Set the operation to be performed upon forward and reverse drive prohibition input.
Drive
Prohibition
Input Selection
(Pn504)
Explanation
0
1
2
Forward drive prohibition input and reverse drive prohibition input enabled.
The operation when a signal is input is as follows.
Forward drive prohibition input closed: Forward limit switch not operating and status normal.
Forward drive prohibition input open: Forward direction prohibited and reverse direction permitted.
Reverse drive prohibition input closed: Reverse limit switch not operating and status normal.
Reverse drive prohibition input open: Reverse direction prohibited and forward direction permitted.
The Servomotor will decelerate and stop according to the sequence set in Stop Selection for Drive Prohibition Input (Pn505). For details, refer to explanation for Stop Selection for
Drive Prohibition Input (Pn505).
If the forward and the reverse prohibition inputs are both open, a drive prohibition input error 1 (Alarm 38.0) occurs because it is taken that Servo Drive is in error condition.
Forward and reverse drive prohibition input disabled.
Forward and reverse drive prohibition input enabled.
If either the forward or the reverse prohibition input is open, a drive prohibition input error
(Alarm 38.0) occurs.
Precautions for Correct Use
Drive Prohibition Input Selection (Pn504) is set to 1 (disabled) in the default settings. If prohibiting the drive input is required, set the Drive Prohibit Input Selection (Pn504) to either 0 or 2. The setting on the Input Signal Selection 1 to 10 (Pn400 to Pn409) can change the logic and allocation for the respective Input terminals (CN1 to 8, 9 and 26 to 33).
6-42 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-10 Forward and Reverse Drive Prohibition Functions
Stop Selection for Drive Prohibition Input (Pn505)
Set the deceleration and stop methods upon a forward or reverse drive prohibition input.
Stop Selection for
Drive Prohibition
Input (Pn505)
0
1
2
Deceleration method After stopping
Dynamic brake
Free-run
(Torque command = 0 for drive prohibition direction)
Immediate stop
Torque command in driveprohibited direction = 0
Torque command in driveprohibited direction = 0
Servo lock
Error counter
Held
Held
Clear before and after deceleration.
POT (NOT) is turned OFF.
Stop Selection for Drive
Prohibition Input (Pn505)
0
1
2
Deceleration method
Decelerate with dynamic brake
Decelerate in the free-run status
Stop status
Servo unlocked
Decelerate with Immediate
Stop Torque (Pn511)
Servo locked
While the Forward Drive Prohibition Input (POT) is OFF, the Servomotor cannot be driven in the forward direction, but it can be driven in the reverse direction. Conversely, while the reverse drive prohibition input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction.
If immediate stop torque is set for deceleration and servo lock is set for stop (set value: 2), torque limit during deceleration will be limited with the set value of the Immediate Stop Torque
(Pn511).
6
Precautions for Correct Use
A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state. To prevent the load from falling, set emergency stop torque for deceleration and servo lock for stop (set value: 2) in Stop Selection for Drive Prohibition Input (Pn505), or limit the operation using the Host Controller rather than using this function.
Because an immediate stop will force the motor to decelerate quickly, the position error will momentarily be a large value during position control, and Alarm 24.0 "error counter overflow" or
Alarm 34.0 "overrun limit error" may occur.In such a case, set the Position Counter Overflow Level
(Pn014) and the Overrun Limit Setting (Pn514) to appropriate values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-43
6-11 Disturbance Observer Function
6-11 Disturbance Observer Function
6
Outline of Operation
You can lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value.
You can use the disturbance observer in the following situations for position control or speed control.
When servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning function is disabled
When instantaneous speed observer function is disabled
Disturbance torque
Torque command
Add to the direction that cancels the disturbance
+
+
Gain
Setting with
Pn623
+
−
Torque command
Motor
+ load
+ −
Load model
Filter
Setting with Pn623
Motor speed
Disturbance observer
Disturbance torque
Estimation value
Precautions for Correct Use
If there is a resonance point below the cut-off frequency estimated by the disturbance observer or if a large amount of high-frequency elements is found in the disturbance torque, the disturbance observer may not be effective.
6-44 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-11 Disturbance Observer Function
Parameters Requiring Settings
Parameter number
Pn610
Pn623
Pn624
Parameter name
Function Expansion Setting
Disturbance Torque
Compensation Gain
Disturbance Observer Filter
Setting
Explanation Reference
Set the bits related to the disturbance observer. P.8-60
Set the compensation gain for the disturbance torque.
Set the filter time constant for disturbance torque compensation.
Operating Procedure
1. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions to be enabled in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected
2. Set the Disturbance Observer Filter Setting (Pn624).
Set Disturbance Torque Compensation Gain (Pn623) to a small value, and then change the value of Disturbance Observer Filter Setting (Pn624) from a large value to a small value. And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balanced.
3. Set the Disturbance Torque Compensation Gain (Pn623).
Change the value of Disturbance Torque Compensation Gain (Pn623) from a small value to a large value. And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balanced.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-45
6-12 Gain Switching 3 Function
6-12 Gain Switching 3 Function
6
Outline of Operation
You can newly set gain 3 right before stopping to the gain switching function of Gain Switching
Input Operating Mode Selection (Pn114).
You can use the gain 3 switching function in the following situations for position control or fullyclosed control.
When servo is ON
When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Parameter number
Pn605
Pn606
Parameter name Explanation
Gain 3 Effective Time Set effective time of gain 3.
Gain 3 Ratio Setting Set gain 3 as a multiple of gain 1.
Reference
Operation
Operation Timings of Gain 1, 2 and 3
Example: When the switching mode in position control = 7 and the switching condition is set to position command received
Position command speed [r/min]
6-46
Pn605 × 0.1ms
Gain 2 Gain 3 Gain 1
Pn105 to Pn109 Pn100 to Pn104
Gain 3 region
Position loop gain = Pn100 × Pn606/100
Speed loop gain = Pn101 × Pn606/100
The gain 1 value is used for the speed loop integral time constant, speed feedback filter time constant, and torque command filter time constant.
Precautions for Correct Use
If gain 3 is not used, set the Gain 3 Effective Time (Pn605) to 0 and Gain 3 Ratio Setting (Pn606) to 0.
In the gain 3 region, only the position loop gain and the speed loop gain are treated as gain 3, and the gain 1 setting is applied for all other gains.
If the gain 2 switching condition is established in the gain 3 region, operation switches to gain 2.
If gain 2 is switching to gain 3, Position Gain Switching Time (Pn119) is enabled.
Take note that there will be a gain 3 region even when gain 2 is switched to gain 1 due to a parameter change and so forth.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-13 Friction Torque Compensation Function
6-13 Friction Torque Compensation Function
Outline of Operation
As a function to reduce the effect of friction, you can set the unbalanced load compensation that always compensates the constantly working offset torque, and the dynamic friction compensation that changes its direction depending on the operating direction.
You can use the function under the following conditions:
When Servo is ON
When there is no trouble with the motor's normal rotation
Parameters Requiring Settings
Parameter number
Pn607
Pn608
Pn609
Parameter name
Torque Command Value
Offset
Forward Direction Torque
Offset
Reverse Direction Torque
Offset
Explanation Reference
Set the unbalanced load compensation value that is always added to the torque command in the control mode other than torque control.
Set the dynamic friction compensation value that is added to the torque command when a forward direction position command is input for position control or fully-closed control.
Set the dynamic friction compensation value that is added to the torque command when a reverse direction position command is input for position control or fully-closed control.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-47
6-13 Friction Torque Compensation Function
6
Operation Example
Torque Command Value Offset (Pn607) reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis and so forth if that torque command value is set.
Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609) are used with loads that require a large amount of dynamic friction torque due to the radial load, such as the belt drive axis. By setting the friction torque for each rotation direction for all parameters, you can reduce the deterioration and inconsistencies of positioning stabilization time due to dynamic friction.
Pn607
(Torque command value offset)
Command speed Forward direction
Pn608
(Forward direction torque offset)
Pn609
(Reverse direction torque offset)
Time
Motor de-energized
Reverse direction
Motor power supply
Motor de-energized
Precautions for Correct Use
You can use the unbalanced load compensation and the dynamic friction compensation together or separately. Take note that the following use limit is applied upon control mode switching or servo
ON.
During torque control
The unbalanced load compensation and the dynamic friction compensation are 0 regardless of the parameter setting.
When servo is OFF during speed control
The load compensation is enabled based on Pn607 when the servo is turned OFF. The dynamic friction compensation will be 0 regardless of the parameter setting.
When the servo is turned ON during position control or fully-closed control
The unbalanced load compensation and the dynamic friction compensation values are held until the first position command is input. When the position command is input, the unbalanced load compensation will be updated based on Pn607. Also, based on the command direction, the dynamic friction compensation value will be updated according to parameters Pn608 or Pn609.
6-48 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-14 Inertia Ratio Switching Function
6-14 Inertia Ratio Switching Function
Outline of Operation
You can switch the inertia ratio from 1 or 2 using inertia ratio switching input (JSEL). This functions effectively if used when the load inertia changes in 2 levels.
You can use inertia ratio switching in the following situations.
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning is disabled
When adaptive filter function is disabled
When instantaneous speed observer function is disabled
When disturbance observer function is disabled
Parameters Requiring Settings
Parameter number
Pn610
Pn004
Pn613
Parameter name
Function Expansion
Setting
Inertia Ratio
Inertia Ratio 2
Explanation
Set the bits related to inertia ratio switching.
Set the inertia ratio 1.
Set the inertia ratio 2.
Reference
6
Operating Procedure
1. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable inertia ratio switching in bit 3.
0: Disabled
1: Enabled
2. Set the Inertia Ratio 1 (Pn004).
3. Set the Inertia Ratio 2 (Pn613).
4. Set the inertia ratio switching input (JSEL).
Function Expansion
Setting (Pn610)
When bit 3 = 0: Inertia ratio switching is disabled
When bit 3 = 1: Inertia ratio switching is enabled
Inertia ratio switching input (JSEL)
OFF
ON
OFF
ON
Applicable inertia ratio
Inertia Ratio 1 (Pn004)
Inertia Ratio 2 (Pn613)
Precautions for Correct Use
Be sure that the motor is stopped when using the inertia ratio switching function.
If the difference between inertia ratio 1 and inertia ratio 2 is large, a vibration may occur even if the motor is stopped. Use it upon confirming that there is no problem with vibration on the actual machine.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-49
6-15 Hybrid Vibration Suppression Function
6-15 Hybrid Vibration Suppression Function
Outline of Operation
This function suppresses the vibration that is caused by the amount of the torsion between the motor and the load in the Fully-closed Control Mode. You can use this function to raise the gain setting.
The hybrid vibration suppression function can be used in the following situations.
Fully-closed Control Mode
When Servo is ON
When there is no trouble with the motor's normal rotation
6
Parameters Requiring Settings
Parameter number
Pn634
Parameter name
Hybrid Vibration
Suppression Gain
Pn635
Hybrid Vibration
Suppression Filter
Explanation Reference
Set the hybrid vibration suppression gain.
In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
Set the hybrid vibration suppression filter.
Operating Procedure
1. Set the Hybrid Vibration Suppression Gain (Pn634) to the same value as the position loop gain.
2. Gradually increase the set value of the Hybrid Vibration Suppression Filter (Pn635) while driving with fully-closed control and check the changes in the response.
If the response improves, find the combination of Pn634 and Pn635 that result in the optimal response by adjusting them.
Precautions for Correct Use
This function is effective when the amount of torsion between the motor shaft and the load is large.
It may be less effective when the amount of torsion is small.
6-50 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-16 Feed-forward Function
6-16 Feed-forward Function
Outline of Operation
The feed-forward function come in 2 types: speed feed-forward and torque feed-forward.
The speed feed forward can minimize the position error and increase the responsiveness by calculating the speed control command that is required for the operation based on the internal positioning command during position or fully-closed control, and adding it to the speed command that is calculated based on the comparison with the position feedback.
The torque feed forward can increase the responsiveness during speed control by calculating the torque command that is required for the operation based on the speed control command, and adding it to the torque command that is calculated based on the comparison with the speed feedback.
Parameters Requiring Settings
Parameter number
Pn110
Pn111
Pn112
Pn113
Pn600
Pn610
Parameter name Explanation Reference
Speed Feed-forward
Amount
Speed Feed-forward
Command Filter
Torque Feed-forward
Amount
Torque Feed-forward
Command Filter
Analog Torque Feedforward Gain Setting
Use this parameter to add the speed control command calculated from the internal positioning command that is multiplied by this parameter's ratio to the speed command from the position control process.
Set the time constant for the first-order lag filter that is applied to speed feed-forward input.
Use this parameter to add the torque command calculated from the speed control command that is multiplied by this parameter's ratio to the torque command from the speed control process.
Set the time constant for the first-order lag filter that is applied to torque feed-forward input.
Set the input gain of analog torque feed-forward.
0 to 9 will be disabled.
Function Expansion Setting Set the bits related to inertia ratio switching.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-51
6-16 Feed-forward Function
6
Operating Procedure
Speed Feed-forward Operating Method
1. Set the Speed Feed-forward Command Filter (Pn111).
Set it to approx. 50 (0.5 ms).
2. Adjust the Speed Feed-forward Amount (Pn110).
Gradually increase the value of Speed Feed-forward Amount (Pn110) and finely adjust it to avoid overshooting during acceleration/deceleration.
If the speed feed-forward amount is set to 100%, the position error will be 0 in calculation.
However, a large overshooting will occur during acceleration/deceleration.
The position error during an operation at a constant speed will decrease based on the following formula according to the speed feed-forward gain value.
Position error [command unit] = command speed [command unit/s] / position loop gain [1/s] ×
(100 - speed feed-forward amount [%]) / 100
Motor speed
Position error
Command speed
Speed feed-forward gain
0 [%]
50 [%]
80 [%]
Time
The position error in the range of constant speed becomes smaller as the speed feed-forward gain increases.
Precautions for Correct Use
The operating noise may increase when the speed feed forward is enabled if the update cycle of the position command input is longer than the Servo Drive's control cycle, or if the pulse frequency is not uniform. Apply the position command filter (first-order lag or FIR smoothing) or increase the speed feed-forward filter setting.
6-52 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-16 Feed-forward Function
Torque Feed-forward Operating Method
1. Set the Inertia Ratio (Pn004).
Set the inertia ratio as correctly as possible.
If the inertia ratio is calculated for the selected motor, input the calculated value.
If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Set the Torque Feed-forward Command Filter (Pn113).
Set it to approx. 50 (0.5 ms).
3. Adjust the Torque Feed-forward Amount (Pn112).
Gradually increase the value of Torque Feed-forward Amount (Pn112).
Since the position error during acceleration/deceleration at a certain speed can be brought close to 0, it can be controlled almost to 0 throughout the entire operation range during a trapezoidal speed pattern under ideal conditions where no disturbance torque is working.
In reality, disturbance torque is always present and, therefore, the position error cannot be completely 0.
Motor speed
Position error
Command speed
Speed feed-forward amount
Torque feed-forward amount
0 [%]
50 [%]
= fixed to 100 [%]
Time
100 [%]
6
Torque feed-forward can reduce the position error in a range of constant acceleration/ deceleration.
When operating in position control, this function normally is used together with the speed feedforward.
Precautions for Correct Use
If you increase the torque feed-forward filter time constant, the operation noise will be reduced.
However, the position error where the acceleration changes will become larger.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-53
6
6-16 Feed-forward Function
Application Example of Analog Torque Feed Forward
The analog torque feed forward is enabled when bit 5 of the Function Expansion Setting
(Pn610) is set to 1. In addition, if analog input 3 is used by another function (for example, analog torque limit), this function is disabled.
It is converted to torque from the voltage [V] that is applied to analog input 3 based on the
Analog Torque Feed-forward Gain Setting (Pn600) and is added to the torque command [%].
The conversion from the input voltage [V] to analog input 3 to a torque command [%] to the motor is performed as illustrated in the graph below. The slope of the graph is when Pn600 =
30.The slope changes based on the Pn600 set value.
Torque command [%] = 100 × Input voltage [V] / (Pn600 set value × 0.1)
Torque command [%]
333
200
−
10
−
6
−
200
−
333
6 10 Input voltage [V]
6-54 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-17 Instantaneous Speed Observer Function
6-17 Instantaneous Speed Observer Function
Outline of Operation
Estimating the motor speed using a load inertia increases responsiveness and reduces vibration at stopping and improves the speed detection accuracy. This function can be used for position control.
The instantaneous speed observer function can be used in the following situations.
When Servo is ON
When there is no trouble with the motor's normal rotation
When realtime autotuning is disabled
Speed command
Speed control
Torque command
Current control
Motor current
Speed estimation value
Instantaneous speed observer
Load model
To position control
Servo amplifier
(Total inertia)
Motor position
Motor
Encoder
Load
6
Parameters Requiring Settings
Parameter number
Pn610
Pn004
Pn100
Pn101
Pn103
Pn108
Parameter name Explanation
Function
Expansion Setting
Inertia Ratio
Set whether to enable or disable the instantaneous observer function.
Set the inertia ratio 1.
Position Loop Gain Set the position loop gain.
Speed Loop Gain Set the speed loop gain.
Speed Feedback
FIlter Time
Constant
Set six filter time constants.
Speed Feedback
FIlter Time
Constant 2
Set six filter time constants.
Reference
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 6-55
6-17 Instantaneous Speed Observer Function
6
Operating Procedure
1. Set the Inertia Ratio (Pn004).
Set the inertia ratio as correctly as possible.
If the Inertia Ratio (Pn004) is requested in a realtime auto gain tuning, use the set value.
If the inertia ratio is calculated for the selected motor, input the calculated value.
If the inertia ratio is not known, perform autotuning and set the inertia ratio.
2. Adjust the position loop gain and speed loop gain.
Adjust Position Loop Gain (Pn100), Speed Loop Gain (Pn101), Speed Loop Integral Time
Constant (Pn102) and Torque Command Filter Time Constant (Pn104).
If no problem occurs in realtime autotuning, you can continue to use the settings.
3. Set the Function Expansion Setting (Pn610).
Set whether to enable or disable the instantaneous speed observer function in bit 0.
0: Disabled
1: Enabled
If you set this to 1 (enabled), the speed detection method will switch to instantaneous speed observer.
If the machine operation noise or vibration, or a change in the torque monitor waveform is significant enough to cause any problem, return the setting to 0 and make sure that the inertia ratio or the adjustment parameters are correct.
If the machine operation noise or vibration, or a change in the torque monitor waveform is small, make small adjustments to the Inertia Ratio (Pn004) to find the setting that makes the smallest change while monitoring the position error waveform and the actual speed waveform.
If Position Loop Gain (Pn100), Speed Loop Gain (Pn101) or Speed Loop Integral Time Constant
(Pn102) is changed, the optimal value for the Inertia Ratio (Pn004) may have changed, so make small adjustments on the value for the Inertia Ratio (Pn004) again to set a value that makes the smallest change.
Precautions for Correct Use
This function may not function properly or the effect may not be apparent under the following conditions.
· If the margin of error with the actual device is large for the inertia load
· If there are multiple resonance points
· If there is a large resonance point at a frequency of 300 Hz or lower
· If there is a non-linear element (play), such as a large backlash
· If the load inertia changes
· If there is a large disturbance torque with high-frequency elements is applied
· If the setting range for positioning is small
6-56 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Function
This function stops the Servomotor based on a signal from a safety controller or safety sensor.
An outline of the function is given together with operation and connection examples.
7-1 Safe Torque OFF (STO) Function................................7-1
Outline of Operation........................................................................ 7-1
I/O Signal Specifications ................................................................. 7-2
7-2 Operation Example .......................................................7-4
7-3 Connection Example ....................................................7-6
7
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7-1 Safe Torque OFF (STO) Function
7-1 Safe Torque OFF (STO) Function
7
Outline of Operation
The safe torque OFF (hereinafter referred to as STO according to IEC61800-5-2) function is used to cut off the motor current and stop the motor through the input signals from a safety equipment, such as a Safety Controller or safety sensor, that is connected to the safety connector (CN8).
When the STO function is operating, the Servo Drive turns OFF the servo ready completed output (READY) to go into the safety status.
The PFH value is 2.30 × 10 − 8
.
Precautions for Safe Use
When using the STO function, be sure to execute a risk assessment of the equipment to confirm that the system safety requirements are met.
There are the following risks even when the STO function is operating. Be sure to take safety into account as part of the risk assessment.
• The motor runs if an external force is present (e.g., force of gravity on a vertical axis). If holding is required, implement appropriate measures, such as providing external brakes. The brakes for a Servo Drive with brakes are used for the holding purpose only, and cannot be used for control.
• Even if there is no external force, when Stop Selection for Alarm Detection (Pn510) is set to free-run (with the dynamic brake disabled), the motor operates as free-run and the stop distance is long.
• The motor may operate in the range of up to 180 degrees of electrical angle due to a power transistor trouble and so forth.
• The power supply to the motor is cut off by the STO function, but the power supply to the Servo
Drive will not be cut off nor electrically isolated. For Servo Drive maintenance, cut off the power supply to the Servo Drive through another means.
The EDM output signal is not a safety output. Do not use the EDM output for any purpose other than the failure monitoring function.
Be sure to check the wiring when installing. Especially check the following:
• The wiring is not short-circuited or disconnected.
• The polarity of EDM circuit is not reversed.
• SF1, SF2 and EDM operate properly.
The system with incorrect wiring may damage the safety function.
The dynamic brake and external brake release signal outputs are not safety-related parts. Make sure to design the equipment so that it is not dangerous even if the external brake release fails during the STO status.
When using the STO function, connect equipment that meets the safety standards.
Following certifications are fulfilled:
• CAT-3 (EN 954-1, EN/ISO 13849-1)
• Performance level d (EN/ISO 13849-1)
• SIL 2 (IEC/EN 62061)
7-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7-1 Safe Torque OFF (STO) Function
I/O Signal Specifications
Safety Input Signal
There are 2 safety input circuits to operate the STO function.
Signal name
Safety input 1
Symbol
SF
SF
+
−
Pin number
Description
CN8-4 • The upper arm drive signal of the
CN8-3 power transistor inside the Servo
Drive is cut off.
√
√
Control mode
Position Speed Torque
Fullyclosed
√ √ √
√ √ √
Safety input 2
SF2 + CN8-6 • The lower arm drive signal of the power transistor inside the Servo
SF2 − CN8-5 Drive is cut off.
√
√
√
√
√
√
√
√
When safety input 1 or 2 turns OFF, the STO function will start operating within 5 ms of the input, and the motor output torque will be reduced to 0.
Connect the equipment so that the safety input circuit is turned OFF to operate the STO function.
Use Stop Selection for Alarm Detection (Pn510) to set the operation when the safety input is turned OFF.
7
Precautions for Correct Use
L-pulses for self-diagnosis of safety equipment
When you are connecting a safety device, such as a safety controller or a safety sensor, the safety output signal of the device may include L pulses for self-diagnosis. To avoid malfunction due to the
L pulses for self-diagnosis, a filter that removes the L pulses is built into the safety input circuit. If the
OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as
OFF. To make sure that OFF is recognized, maintain the OFF status of safety input signal for at least
5 ms.
For self-diagnosis L pulse
5 ms or more
Safety input signal
Within 1 ms
Servo amplifier operation
Normal operation
Within 5 ms
STO status
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-2
7
7-1 Safe Torque OFF (STO) Function
External Device Monitor (EDM) Output Signal
This is a monitor output signal that is used to monitor the status of safety input signals using an external device.
Connect a safety device, such as a safety controller or a safety sensor. Connect the EDM output signal to the monitoring terminal on a safety device.
Signal name
EDM output
Symbol
Pin number
Description
Control mode
Position Speed Torque
Fullyclosed
√ √ √ √ EDM + CN8-8
EDM − CN8-7
• A monitor signal is output to detect a safety function failure.
* This is not a safety output.
√ √ √ √
Relationship Between Safety Input Signals and EDM Output Signal
Normally when both safety inputs 1 and 2 are OFF, i.e., when the STO function is activated for both safety input circuits, the EDM output is ON.
You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal states using an external device.
Errors occur in the following two cases:
Both safety inputs 1 and 2 are OFF, but the EDM output circuit signal does not turn ON.
Either or both safety inputs 1 and 2 are ON, but the EDM output circuit signal is ON.
Signal name Symbol Signal status
Safety input 1
Safety input 2
EDM output
SF1
SF2
ON
ON
EDM OFF
ON
OFF
OFF
OFF
ON
OFF
OFF
OFF
ON
The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal is output.
7-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7-2 Operation Example
Operation Timings to a Safety Status
Operation command (RUN) Servo ON
Servo OFF
Safety input 1
Safety input 2 *3
Motor power is supplied.
EDM output
Dynamic brake relay *2
Normal status
STO status
Power supply
OFF
Response time = 5 ms max.
No power supply
Response time = 6 ms max.
ON
0.5 to 5 ms
DB released DB engaged
7-2 Operation Example
Servo ready completed output (READY)
READY
Alarm output (ALM)
Normal Alarm
Pn438 set value
Brake interlock output (BKIR)
Brake released Brake held t1 *1
Pn439 set value
When the Pn438 set value is early
Pn438 set value
Brake released
Brake held t1 *1
Pn439 set value
When the timing of reaching the
Pn439 set value or lower is early
*1. t1 is the set value of the Brake Timing During Operation (Pn438), or the time needed for the motor rotation speed to drop to or below the Brake Release Speed Setting (Pn439), whichever occurs first.
*2. The dynamic brake is based on the Stop Selection for Alarm Detection (Pn510) setting.
*3. STO status is entered when either safety input 1 or 2 turns OFF.
7
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-4
7
7-2 Operation Example
Timing of Return from the Safety Status
Operation command
(RUN) *1
Servo OFF command
Safety input 1
Safety input 2
Motor power is supplied.
EDM output
STO status
ON
Normal status
No power supply
Response time = 6 ms max.
OFF
Servo ON
Follow the normal servo ON/OFF operation timing diagram upon input of the operation command (RUN).
For details, refer to
"6-6 Brake
Interlock."
Dynamic brake relay
DB released/engaged *2
Alarm occurrence status
DB released/engaged *3
Servo OFF
READY Servo ready completed output (READY)
Alarm reset input (RESET) *1
Reset
Alarm output
(ALM)
Alarm Normal
Brake interlock output (BKIR)
Brake held
*1. Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and
2 to ON. Alarm clear must be performed because alarms will occur. Be sure to execute the alarm clear when both safety inputs 1 and 2 are returned to the ON status. An alarm will occur immediately if the alarm reset is executed when even one of these is still in the OFF status. Depending on the timing, another error (Alarm No. 99.0) may occur. If another error occurs, you must turn OFF the power supply, then turn it ON again.
*2. Since this is a status where alarms will occur, the dynamic brake is based on the Stop Selection for
Alarm Detection (Pn510).
*3. Since this is a normal servo OFF status, the dynamic brake is based on the Stop Selection with Servo
OFF (Pn506) setting.
7-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7-3 Connection Example
7-3 Connection Example
Connection with a Safety Controller (Two Safety Inputs and One EDM Output)
Safety
Controller
G9SP-series
Safety Controller
Safety output
(source)
Safety output 1
SF1+
Safety input
SF1 −
Safety output 2
SF2+
SF2 −
Test output
0V
Safety input
EDM+
EDM −
EDM input EDM output
Servo Drive
M
7
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-6
Parameter Details
This chapter explains the set value and contents of setting of each parameter.
8-1 Basic Parameters..........................................................8-1
8-2 Gain Parameters ...........................................................8-9
8-3 Vibration Suppression Parameters...........................8-20
8-4 Analog Control Parameters .......................................8-25
8-5 Interface Monitor Setting Parameters.......................8-37
8-6 Extended Parameters .................................................8-47
8-7 Special Parameters.....................................................8-60
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
8-1 Basic Parameters
8-1 Basic Parameters
Pn000
Setting range
Rotation Direction Switching
0 or 1 Unit −
Default setting
1
Power OFF and ON
All
Yes
Explanation of Set Values
This object switches the motor rotation direction for a position, speed, or torque command.
0
1
Set value
Description
A forward direction command sets the motor rotation direction to CW.
A forward direction command sets the motor rotation direction to CCW.
CW
CCW
Regarding the motor rotation direction, when seen from load-side axis, clockwise is referred to as
CW and counterclockwise as CCW.
8-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Pn001
Setting range
Control Mode Selection
0 to 6 Unit −
Default setting
0
Power OFF and ON
All
Yes
Explanation of Set Values
4
5
2
3
6
0
1
Set value
Description
Position control (pulse train command)
Speed control (analog command)
Torque control (analog command)
Mode 1: Position control, Mode 2: Speed control
Mode 1: Position control, Mode 2: Torque control
Mode 1: Speed control, Mode 2: Torque control
Fully-closed control
Set the control mode to be used.
If a composite mode is set (set values: 3 to 5), mode 1 or mode 2 can be selected using the control mode switching input (TVSEL).
· When the control mode switching input is open: Select mode 1.
· When the control mode switching input is short-circuited: Select mode 2.
Do not input a command within 10 ms before or after switching.
Close Control mode switching input
Open
1 2
Open
1
8
Pn002
Setting range
10 ms or more
Realtime Autotuning Mode Selection
0 to 6 Unit −
10 ms or more
Default setting
1
Explanation of Set Values
3
4
1
2
5
6
0
Set value
Description
Disabled
This mode focuses on stability.
This mode focuses on positioning.
Used when an unbalanced load is present such as a vertical axis.
Used when friction is large (unbalanced load also calculated).
Used only for estimating load characteristics.
Used when customizing Realtime Autotuning Mode.
Refer to "10-2 Realtime Autotuning" (P.10-3) for details on the settings
Power OFF and ON
All
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-2
8-1 Basic Parameters
8
Pn003
Setting range
Pn004
Setting range
Realtime Autotuning Machine Rigidity Setting
0 to 31 Unit −
Default setting
13 *
Power OFF and ON
All
−
Default settings:
* Pn003 = 11 - For 200V drives of 1 kW or upper and 400V drives
Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
Low
Low
←
Machine rigidity
→
←
Servo gain
→
High
High
0.1 - - - - - - - - - - - - - - - 31 Pn003
Low
←
Responsiveness
→
High
If the set value is changed suddenly by a large amount, the gain may change rapidly, subjecting the machine to shock. Always start with a small setting, and gradually increase the setting while monitoring machine operation.
Inertia Ratio
0 to 10,000 Unit %
Default setting
250
Power OFF and ON
All
−
Set the load inertia as a percentage of the motor rotor inertia.
Pn004 = (Load inertia / Rotor inertia) × 100%
When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn101) and Speed Loop
Gain 2 (Pn106) is Hz.
If the Inertia Ratio (Pn004) is set larger than the actual value, the setting for speed loop gain will increase. If the Inertia Ratio (Pn004) is set smaller than the actual value, the setting for speed loop gain will decrease.
Command Pulse Input Selection
0 or 1 Unit −
Default setting
0
Position Fully-closed
Power OFF and ON
Yes
Pn005
Setting range
Pn006
Setting range
Explanation of Set Values
Set value
Description
0
1
Photocoupler input (+PULS: CN1 pin 3, -PULS: CN1 pin 4, +SIGN: CN1 pin 5, -SIGN: CN1 pin 6)
Input for line driver only (+CWLD: CN1 pin 44, -CWLD: CN1 pin 45, +CCWLD: CN1 pin 46,
-CCWLD: CN1 pin 47)
Selects whether to use photocoupler or input for line driver only for the command pulse input.
When using a Servo Relay Unit cable, set to 0 (photocoupler input).
Command Pulse Rotation Direction Switching Selection
0 or 1 Unit −
Default setting
0
Position Fully-closed
Power OFF and ON
Yes
8-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Pn007
Setting range
Explanation of Set Values
Set value
Description
0
1
The motor rotates in the direction specified by the command pulse.
The motor rotates in the opposite direction from the direction specified by the command pulse.
Set the motor rotation direction for the command pulse input.
Command Pulse Mode Selection
0 to 3 Unit −
Set the count method for the command pulse input.
Command
Pulse
Rotation
Direction
Switching
Selection
(Pn006)
Command
Pulse Mode
Setting
(Pn007)
Command pulse mode
Default setting
Motor forward command
1
Position Fully-closed
Power OFF and ON
Yes
Motor reverse command
0 or 2
90 ° phase difference
(phases A and
B) signal inputs
Phase
A
Phase
B t1 t1 t1 t1 t1 t1 t1 t1
Line driver: t1 ≥ 2 μ s Open collector: t1 ≥ 5 μ s
0 1
3
Reverse pulse/ forward pulse t3 t2 t2 t2 t2
Line driver: t2 ≥ 1 μ s Open collector: t2 ≥ 2.5 μ s
Feed pulse/ direction signal t4 t5
H t6 t4 t5 t6 t6 L
Line driver: t2 ≥ 1 μ s Open collector: t2 ≥ 2.5 μ s t6
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-4
8
8-1 Basic Parameters
Pn008
Setting range
Pn009
Setting range
Command
Pulse
Rotation
Direction
Switching
Selection
(Pn006)
Command
Pulse Mode
Setting
(Pn007)
Command pulse mode
Motor forward command
Motor reverse command
1
0 or 2
1
90 ° phase difference
(phases A and
B) signal inputs
Phase
A t1 t1 t1 t1
Phase
B t1 t1 t1 t1
Line driver: t1 ≥ 2 μ s Open collector: t1 ≥ 5 μ s t2 t2
Reverse pulse/ forward pulse t3 t2 t2
Line driver: t2 ≥ 1 μ s Open collector: t2 ≥ 2.5 μ s t4 t5 t4 t5
3
Feed pulse/ direction signal t6
L t6 t6
H t6
Line driver: t2 ≥ 1 μ s Open collector: t2 ≥ 2.5 μ s
Set the form of the pulse inputs sent as command to the drive from a Position Controller.
Modes 0 and 2 are exactly the same.
For fully-closed control, set the parameter to 0, and set the Electronic Gear Ratio Numerator 1
(Pn009) and Electronic Gear Ratio Denominator (Pn010).
Electronic Gear Integer Setting
0 to 2
20
Unit pulse
Default setting
10000
Position Fully-closed
Power OFF and ON
Yes
Set the number of command pulses corresponding to 1 motor rotation.
If the set value is 0, Electronic Gear Ratio Numerator 1 (Pn009) and Electronic Gear Ratio
Denominator (Pn010) become valid.
Electronic Gear Ratio Numerator 1
0 to 2
30
Unit −
Default setting
0
Position
Power OFF and ON
−
8-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Pn010
Setting range
Pn011
Setting range
Pn012
Setting range
Electronic Gear Ratio Denominator
1 to 2
30
Unit −
Default setting
10000
Position
Power OFF and ON
−
Set the electronic gear function.
· It is enabled when Pn008 is 0.
The electronic gear can be used for the following:
· To set the amount of motor rotation or travel distance per input command pulse.
· To increase the nominal command pulse frequency by using a multiplier when the desired motor speed cannot be achieved due to the limited pulse generation capability of the host device (possible maximum output frequency).
Electronic Gear Block Diagram:
Command counts f
*1
*1
*1
Numerator 1 (Pn009)
Numerator 2 (Pn500)
Numerator 3 (Pn501)
Numerator 4 (Pn502)
Denominator (Pn010)
Internal command
+
F −
Feedback counts
(resolution)
To error counter
2 20 count/rev or
2 17 count/rev
*1. Numerator 2 to 4 is selected using the electronic gear switching (GESEL1 and GESEL2).
OFF
ON
OFF
ON
GESEL1
OFF
OFF
ON
ON
GESEL2 Selected numerator
Electronic Gear Ratio Numerator 1
Electronic Gear Ratio Numerator 2
Electronic Gear Ratio Numerator 3
Electronic Gear Ratio Numerator 4
Any values can be set for PN008, Pn009, and Pn010, but operation may not be correct if you set an extreme electronic gear ratio. Set the electronic gear ratio to between 1/1,000 and
1,000. Refer to "6-4 Electronic Gear Function" (P.6-10) for information on the settings.
Encoder Dividing Numerator
1 to 262,144 Unit P/r
Default setting
2500
Power OFF and ON
All
Yes
If Encoder Dividing Denominator (Pn503) = 0, the encoder resolution becomes the pulse output dividing denominator.
Note that 1 pulse corresponds to 4 counts. Encoder resolution corresponds with counts.
Encoder pulse
→
Pn011
×
4 (When the host side uses a 4 multiplier process)
Encoder resolution
→
Output pulse
8
Encoder Output Direction Switching Selection
0 to 3 Unit −
Default setting
0
Power OFF and ON
All
Yes
Set the phase-B logic and output source for pulse output. For fully-closed control, select an external encoder for the output source. For other control modes, set the encoder.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-6
8
8-1 Basic Parameters
Explanation of Set Values
Pn012 set value
0
Output source
Encoder
2
External encoder
Phase B logic
CCW direction operation
Nonreverse
Phase
A
Phase
B
1
3
Encoder
External encoder
Reverse
Phase
A
Phase
B
CW direction operation
Phase
A
Phase
B
Phase
A
Phase
B
Pn013
Setting range
Pn014
Setting range
Pn015
Setting range
No. 1 Torque Limit
0 to 500 Unit %
Default setting
Set the No. 1 limit value for the output torque of the motor.
Error Counter Overflow Level
0 to 2
27
Unit Command unit
Set the range of the error counter overflow level.
Operation Switch when Using Absolute Encoder
0 to 2 Unit −
Default setting
Default setting
500
Power OFF and ON
All
−
Position Fully-closed
100000
Power OFF and ON
−
1
Position Fully-closed
Power OFF and ON
Yes
Pn016
Setting range
Explanation of Set Values
1
2
0
Set value
Description
Use as absolute encoder.
Use as incremental encoder.
Use as absolute encoder but ignore multi-rotation counter overflow.
Set the operating method for the 17-bit absolute encoder.
Regeneration Resistor Selection
0 to 3 Unit −
Default setting
3 *
Power OFF and ON
All
Yes
* The default setting is 0 for 100-V Servo Drives of 400 W, 200-V Servo Drives of 750 W to 5 kW, and
400-V Servo Drives of 5 kW or lower.
8-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Pn017
Setting range
Explanation of Set Values
Set value
Description
0
1
2
3
Regeneration Resistor used: Built-in Resistor
The regeneration processing circuit operates and the regeneration overload (Alarm No. 18) will be enabled according to the Built-in Resistor (with approx. 1% duty).
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, and regeneration overload (Alarm No. 18) will cause a trip when the operating rate of the Regeneration Resistor exceeds 10%.
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, but regeneration overload (Alarm No. 18) will not occur.
Regeneration Resistor used: None
The regeneration processing circuit and regeneration overload (Alarm No. 18) will not operate, and all regenerative energy will be processed by the built-in capacitor.
Do not touch the External Regeneration Resistor. A burn injury may result.
Always provide a temperature fuse or other protective measure when using an External
Regeneration Resistor. Regardless of whether the regeneration overload error is enabled or disabled, the Regeneration Resistor can generate heat and may cause burning.
Set this parameter depending on whether the Built-in Regeneration Resistor is used, or the Builtin Regeneration Resistor is disconnected and an External Regeneration Resistor is connected.
(The External Regeneration Resistor connection terminal is connected.)
To use the Built-in Regeneration Resistor, always set this parameter to 0.
External Regeneration Resistor Setting
0 to 4 Unit −
Default setting
0
Power OFF and ON
All
Yes
8
Explanation of Set Values
0
3
4
1
2
Set value
Description
Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor is 10%.
Reserved
Reserved
Reserved
Reserved
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-8
8
8-2 Gain Parameters
8-2 Gain Parameters
Pn100
Setting range
Position Loop Gain
0 to 30,000 Unit 0.1/s
Default setting
480 *
Position Fully-closed
Power OFF and ON
−
The default setting is 320 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Adjust the position loop response to suit the machine rigidity.
The responsiveness of the servo system is determined by the position loop gain. Servo systems with a high position loop gain have a high responsiveness and fast positioning. To increase the position loop gain, you must improve machine rigidity and increase the specific damping frequency. This should be 500 to 700 (0.1/s) for ordinary machine tools, 300 to 500 (0.1/s) for general-use and assembly machines, and 100 to 300 (0.1/s) for industrial robots. The default position loop gain is 400 (0.1/s), so be sure to lower the set value for machines with low machine rigidity.
Increasing the position loop gain in systems with low machine rigidity or systems with low specific damping frequencies may cause machine resonance, resulting in an overload alarm.
If the position loop gain is low, you can shorten the positioning time using feed-forward.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn002) to 0.
Position loop gain is generally expressed as follows:
Command pulse frequency (pulses/s)
Position loop gain (Kp) =
Error counter accumulated pulse (pulse)
(0.1/s)
Response when the position loop gain is operated
Position loop gain is high.
Motor speed
Position loop gain is low.
Time
If the speed loop gain and position loop gain are optimally set, the motor operation for the command will be delayed 2/Kp at acceleration and delayed 3/Kp at deceleration.
Motor speed
Position command
2
Kp
Motor operation
3
Kp
Time
8-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
Pn101
Setting range
Speed Loop Gain
1 to 32,767 Unit 0.1 Hz
Default setting
270 *
Power OFF and ON
All
−
The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Determine speed loop responsiveness.
The setting for the speed loop gain must be increased to increase the position loop gain and improve the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
The setting unit for Pn101 will be Hz if the Inertia Ratio (Pn004) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.
Motor speed
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Speed loop gain is low.
Pn102
Setting range
Time
Speed Loop Integral Time Constant
1 to 10,000 Unit 0.1 ms
Default setting
210 *
Power OFF and ON
All
−
The default setting is 310 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Set the speed loop integral time constant.
The smaller the set value, the faster the error approaches 0 when stopping. Set to 9,999 to maintain integration. Set to 10,000 to invalidate the effect of integration.
When the speed loop integral time constant is changed, the response is as shown in the following diagram.
Motor speed
Overshooting occurs if the speed loop integral time constant is small.
8
Speed loop integral time constant is large.
Time
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-10
8-2 Gain Parameters
8
Pn103
Setting range
Pn104
Setting range
Pn105
Setting range
Pn106
Setting range
Pn107
Setting range
Pn108
Setting range
Pn109
Setting range
Speed Feedback Filter Time Constant
0 to 5 Unit −
Default setting
0
Power OFF and ON
All
−
Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
Increasing the set value increases the time constant and decreases the noise generated by the motor. Responsiveness, however, also decreases.
Normally, use the default set value.
Torque Command Filter Time Constant
0 to 2,500 Unit 0.01 ms
Default setting
84 *
Power OFF and ON
All
The default setting is 126 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Set the time constant for the first-order lag filter inserted into the torque command.
This parameter may be effective in suppressing vibration due to torsion resonance.
−
Position Loop Gain 2
1 to 30,000 Unit 0.1/s
Default setting
570 *
Position Fully-closed
Power OFF and ON
−
The default setting is 380 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Set the responsiveness of the position control system for the second position loop.
Speed Loop Gain 2
1 to 32,767 Unit 0.1 Hz
Default setting
1*
Power OFF and ON
All
The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Set the responsiveness of the second speed loop.
−
Speed Loop Integral Time Constant 2
1 to 10,000 Unit 0.1 ms
Set the second speed loop integral time constant.
Speed Feedback Filter Time Constant 2
0 to 5 Unit −
Set the second speed feedback filter.
Default setting
Default setting
10000
0
Power OFF and ON
Power OFF and ON
All
All
−
−
Torque Command Filter Time Constant 2
0 to 2,500 Unit 0.01 ms
Default setting
84 *
Power OFF and ON
All
−
The default setting is 126 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
Set the second torque filter time constant.
The parameters from Pn105 to Pn109 are the gain and time constants to be selected when the
Gain Switching Input Operating Mode Selection (Pn114) is enabled.
The gains are switched according to the condition set in the Gain Switching Mode (Pn115, Pn120 and Pn124).
If the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the motor is rotating or being stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions, and switching them according to the condition.
This parameter is automatically changed by executing realtime autotuning function. To set it manually, set the Realtime Autotuning Mode Selection (Pn002) to 0.
8-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
Pn110
Setting range
Pn111
Setting range
Pn112
Setting range
Pn113
Setting range
Speed Feed-forward Amount
0 to 1,000 Unit 0.1%
Default setting
300
Position Fully-closed
Power OFF and ON
−
Set the feed-forward amount. Increasing the set value decreases the position error and increases the responsiveness. Overshooting, however, will occur more easily.
Speed Feed-forward Command Filter
0 to 6,400 Unit 0.01 ms
Default setting
50
Position Fully-closed
Power OFF and ON
−
Set the time constant for the first-order lag filter inserted into the feed forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed-forward is set high.
Torque Feed-forward Amount
0 to 1,000 Unit 0.1%
Default setting
Position Speed Fully-closed
0
Power OFF and ON
−
Set the feed-forward amount in the torque loop. Increasing the set value decreases the position error and increases the responsiveness. Overshooting, however, will occur more easily.
Torque Feed-forward Command Filter
0 to 6,400 Unit 0.01 ms
Default setting
Position Speed Fully-closed
0
Power OFF and ON
−
Set the time constant for the first-order lag filter inserted into the feed forward.
Setting the filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed-forward is set high.
Gain Switching Input Operating Mode Selection
0 or 1 Unit −
Default setting
1
Power OFF and ON
All
−
8
Pn114
Setting range
Explanation of Set Values
0
1
Set value
Gain 1 (PI/P switching enabled)
Gain 1/gain 2 switching available
Description
Select either PI/P operation switching or gain 1/gain 2 switching.
PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed, however, if the Torque Limit Selection (Pn521) is set to 3.
Gain input
GSEL OFF
GSEL ON
Speed loop operation
PI operation
P operation
For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
If autotuning is enabled, feedforward gain and filter are set at a fixed value.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-12
8-2 Gain Parameters
8
Pn115
Setting range
Switching Mode in Position Control
0 to 10 Unit −
Default setting
0
Position Fully-closed
Power OFF and ON
−
Explanation of Settings
( √ : Enabled, − : Disabled)
0
1
2
3
4
5
6
7
8
9
Set value
10
Gain switching conditions
Always Gain 1 (Pn100 to Pn104)
Always Gain 2 (Pn105 to Pn109)
Switching using gain switching input (GSEL) for CN1 pin 27
Torque command variation (Refer to Figure A)
Always Gain 1 (Pn100 to Pn104)
Command speed (Refer to Figure
B)
Amount of position error (Refer to
Figure C)
Command pulses received (Refer to Figure D)
Positioning completion signal (INP)
OFF (Refer to Figure E)
Actual motor speed (Refer to
Figure B)
Combination of command pulse input and speed (Refer to Figure F)
−
−
Explanation
Gain Switching
Delay Time in
Position
Control
(Pn116)
*1
−
√
−
√
√
√
√
√
√
−
−
Gain Switching
Level in Position
Control (Pn117)
−
−
Gain Switching
1 Hysteresis in
Position
Control
(Pn118)
*2
−
√ *3
( × 0.05%)
−
√ (r/min)
√ *4
(pulse)
−
−
√ (r/min)
√ *5
(r/min)
(
−
√
−
√
√
−
−
√
√
*3
× 0.05%)
(r/min)
*4
(r/min)
*5
(pulse)
(r/min)
Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the Gain Switch input is not assigned to any input if this setting is 2.
*1. The Gain Switching Delay Time in Position Control (Pn116) becomes effective when the gain is switched from 2 to 1.
*2. The Gain Switching Hysteresis in Position Control (Pn118) is defined in the drawing below.
Pn117
Pn118
0
Gain 1 Gain 2 Gain 1
Pn116
*3. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*4. This is the encoder resolution.
8-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
*5. The meanings of the gain switching delay time in position control, gain switching level in position control, and gain switching hysteresis in position control are different from normal if this is set to 10.
(Refer to Figure F)
Figure A Figure C
Speed V
Speed V
Torque T
Accumulated pulses
Level
Gain 1
Time
Gain 2
H
L
1
Δ T
Level
H
L
L
H
Time
1 2
1
2 Gain 1 2
1
2 1
Command speed S
Gain 1 Gain 2
Time
Figure D
1
Speed V
Level
Figure B
H
L
Actual speed N
Figure E
Gain 1 Gain 2
Time
Gain 1
INP
Gain 1 Gain 2
Time
1
8
Figure F
Command speed S
Gain 1
Actual speed N
H
L
Level
Time
Gain 2 Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn116
Setting range
Gain Switching Delay Time in Position Control
0 to 10,000 Unit 0.1 ms
Default setting
50
Position Fully-closed
Power OFF and ON
−
Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Position Control
(Pn115) is set to 3 or 5 to 10.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-14
8-2 Gain Parameters
8
Pn117
Setting range
Pn118
Setting range
Pn119
Setting range
Gain Switching Level in Position Control
0 to 20,000 Unit −
Default setting
50
Position Fully-closed
Power OFF and ON
−
This is enabled when the Switching Mode in Position Control (Pn115) is set to 3, 5, 6, 9 or 10. It sets the judgment level for switching between gain 1 and gain 2. The unit depends on the
Switching Mode in Position Control (Pn115).
Gain Switching Hysteresis in Position Control
0 to 20,000 Unit −
Default setting
33
Position Fully-closed
Power OFF and ON
−
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (Pn117). The unit depends on the setting of the Switching Mode in Position
Control (Pn115).
The following shows the definitions for the Gain Switching Delay Time in Position Control (Pn116),
Gain Switching Level in Position Control (Pn117), and Gain Switching Hysteresis in Position
Control (Pn118).
Pn117
Pn118
0
Gain 1 Gain 2 Gain 1
Pn116
The settings for the Gain Switching Level in Position Control (Pn117) and the Gain Switching
Hysteresis in Position Control (Pn118) are enabled as absolute values (positive/negative).
Position Gain Switching Time
0 to 10,000 Unit 0.1 ms
Default setting
33
Position Fully-closed
Power OFF and ON
−
If the difference between the Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105) is large during position control, this parameter can be used to suppress a rapid increase in the position loop gain. When the gain increases, it will change by the time set for this parameter.
Position Gain Switching Time
The Position Gain Switching Time (Pn119) can be set to more smoothly change the gain and reduce vibration when a large change is being made in the position loop gain during position control or fully-closed control. This smooths vibration and the changes in torque that can occur when the position loop gain is changed too quickly.
Precautions for Correct Use
If the gain is changed to a smaller value, the setting of this parameter is ignored and the gain is changed immediately.
Example: Pn100 > Pn105
Pn105
Pn100
Results of switching
Gain in
Pn100
Position Gain
Switching Time [ms]
(Pn119)
Gain in Pn105 Gain in
Pn100
8-15 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
Pn120
Setting range
Switching Mode in Speed Control
0 to 5 Unit −
Default setting
0
Speed
Power OFF and ON
−
Explanation of Settings
( √ : Enabled, − : Disabled)
0
1
2
3
4
Set value
Gain switching conditions
Always the Gain 1 (Pn100 to Pn104) −
Always the Gain 2 (Pn105 to Pn109) −
Switching using gain switching input
(GSEL) for CN1 pin 27
−
Explanation
Gain
Switching
Delay Time in
Speed Control
(Pn121)
*1
Torque command variation (Refer to
Figure A)
Speed command variation (Refer to
Figure B)
√
√
−
−
Gain
Switching
Level in Speed
Control
(Pn122)
−
√ *3
(0.05%)
√ *4
(10 r/min/s)
−
−
−
Gain Switching
Hysteresis in
Speed Control
(Pn123)
*2
√ *3
(0.05%)
√ *4
(10 r/min/s)
5 Speed command (Refer to Figure C) √ √ (r/min) √ (r/min)
Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the switching input is not assigned when
Pn120 = 2.
*1. The Gain Switching Delay Time in Speed Control (Pn121) becomes effective when the gain is switched from 2 to 1.
*2. The Gain Switching Hysteresis in Speed Control (Pn123) is defined as shown in the drawing below.
8
Pn122
Pn123
0
Gain 1 Gain 2 Gain 1
Pn121
*3. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*4. The meanings of the Gain Switching Delay Time in Speed Control (Pn121), Gain Switching Level in
Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control (Pn123) are different from normal if this is set to 10. (Refer to Figure D)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-16
8-2 Gain Parameters
8
Speed V
Figure A
Speed V
Level
Gain 1
Figure B
H
L
Gain 2
Time
Gain 1
Torque T
Figure C
Speed V
Δ
T
Level
Time
1 2
1
2 Gain 1 2 2
1
1
H
L
L
H
Command speed S
Accumulated pulse
Level
Gain 1
Time
Gain 2
Figure D
H
L
1
Gain 1
Actual speed N
H
L
Level
Time
Gain 2 Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn121
Setting range
Pn122
Setting range
Gain Switching Delay Time in Speed Control
0 to 10,000 Unit 0.1 ms
Default setting
0
Speed
Power OFF and ON
−
Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Speed Control
(Pn120) is set to 3 to 5.
Gain Switching Level in Speed Control
0 to 20,000 Unit −
Default setting
0
Speed
Power OFF and ON
−
In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (Pn120) is set to 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the
Switching Mode in Speed Control (Pn120).
8-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
Pn123
Setting range
Gain Switching Hysteresis in Speed Control
0 to 20,000 Unit −
Default setting
0
Speed
Power OFF and ON
−
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (Pn122). The unit depends on the setting of the Switching Mode in Speed Control (Pn120).
The following shows the definitions for the Gain Switching Delay Time in Speed Control (Pn121), Gain
Switching Level in Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control (Pn123).
Pn124
Setting range
Pn122
Pn123
0
Gain 1 Gain 2 Gain 1
Pn121
The settings for the Gain Switching Level in Speed Control (Pn122) and the Gain Switching
Hysteresis in Speed Control (Pn123) are enabled absolute values (positive/negative).
Switching Mode in Torque Control
0 to 3 Unit −
Default setting
0
Torque
Power OFF and ON
−
Explanation of Settings
Set value
Gain switching conditions
−
−
Explanation
Gain
Switching
Delay Time in
Torque Control
(Pn125)
*1
−
−
Gain
Switching
Level in
Torque Control
(Pn126)
−
−
Gain Switching
Hysteresis in
Torque Control
(Pn127)
*2
0
1
2
3
Always Gain 1 (Pn100 to Pn104)
Always Gain 2 (Pn105 to Pn109)
Switching using gain switching input
(GSEL) for CN1 pin 27
Torque command variation (Refer to
Figure A)
−
√
−
√ *3
(0.05%)
−
√ *3
(0.05%)
Select the switching condition between gain 1 and gain 2 when the Gain Switching Input Operating
Mode Selection (Pn114) is set to 1.
The gain is always gain 1 regardless of the gain input if the switching input is not assigned when
Pn124=2.
*1. The Gain Switching Delay Time in Torque Control (Pn125) becomes effective the gain is switched from 2 to 1.
*2. The Gain Switching Hysteresis in Torque Control (Pn127) is defined as shown in the following figure.
8
Pn126
Pn127
0
Gain 1 Gain 2 Gain 1
Pn125
*3. The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-18
8-2 Gain Parameters
8
Figure A
Speed V
Torque T
Δ
T
Level
Time
1 2
1
2 Gain 1 2 2
1
1
H
L
L
H
Pn125
Setting range
Pn126
Setting range
Pn127
Setting range
Gain Switching Delay Time in Torque Control
0 to 10,000 Unit 0.1 ms
Default setting
0
Torque
Power OFF and ON
−
Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Torque Control
(Pn124) is set to 3.
Gain Switching Level in Torque Control
0 to 20,000 Unit −
Default setting
0
Torque
Power OFF and ON
−
This is enabled when the Switching Mode in Torque Control (Pn124) is set to 3. It sets the judgment level for switching between gain 1 and gain 2. The unit depends on the setting of
Switching Mode in Torque Control (Pn124).
Gain Switching Hysteresis in Torque Control
0 to 20,000 Unit −
Default setting
0
Torque
Power OFF and ON
−
Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Torque Control (Pn126). The unit depends on the setting of Switching Mode in Torque Control
(Pn124).
The following shows the definitions for the Gain Switching Delay Time in Torque Control (Pn125),
Gain Switching Level in Torque Control (Pn126), and Gain Switching Hysteresis in Torque Control
(Pn127).
Pn126
Pn127
0
Gain 1 Gain 2 Gain 1
Pn125
The settings for the Gain Switching Level in Torque Control (Pn126) and the Gain Switching
Hysteresis in Torque Control (Pn127) are enabled as absolute values (positive/negative).
8-19 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-3 Vibration Suppression Parameters
8-3 Vibration Suppression Parameters
Pn200
Setting range
Adaptive Filter Selection
0 to 4 Unit −
Default setting
Position Speed Fully-closed
0
Power OFF and ON
−
Pn201
Setting range
Explanation of Set Values
Set value
0
1
2
3
4
Description
Disabled. The current values are held for the parameters related to notch filters 3 and 4.
One adaptive filter is enabled. The parameter related to notch filter 3 is updated based on the applicable result.
Two adaptive filter is enabled. The parameters related to notch filters 3 and 4 are updated based on the applicable result.
The resonance frequency is measured. The measurement result can be checked using CX-
Drive. The current values are held for the parameters related to notch filters 3 and 4.
Adaptive result is cleared.Parameters related to notch filters 3 and 4 are disabled and the adaptive result is cleared.
Set the operation of the adaptive filter.
The adaptive filter is normally disabled in the Torque Control Mode.
Notch 1 Frequency Setting
50 to 5,000 Unit Hz
Default setting
5000
Set the frequency of resonance suppression notch filter 1.
The notch filter function will be disabled if this parameter is set to 5,000.
Power OFF and ON
All
−
Pn202
Setting range
Notch 1 Width Setting
0 to 20 Unit −
Default setting
2
Power OFF and ON
Set the width of resonance suppression notch filter 1 to one of 20 levels.
Increasing the set value widens the notch width. Normally, use the default set value.
All
−
Pn203
Setting range
Notch 1 Depth Setting
0 to 99 Unit −
Default setting
Set the notch depth of resonance suppression notch filter 1.
Increasing the set value shortens the notch depth and the phase lag.
0
Power OFF and ON
All
−
Pn204
Setting range
Notch 2 Frequency Setting
50 to 5,000 Unit Hz
Default setting
5000
Set the notch frequency of resonance suppression notch filter 2.
The notch filter function will be disabled if this parameter is set to 5,000.
Power OFF and ON
All
−
Pn205
Setting range
Notch 2 Width Setting
0 to 20 Unit −
Default setting
2
Power OFF and ON
Select the notch width of resonance suppression notch filter 2.
Increasing the set value widens the notch width. Normally, use the default set value.
All
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-20
8
8-3 Vibration Suppression Parameters
8
Pn206
Setting range
Notch 2 Depth Setting
0 to 99 Unit −
Default setting
Set the notch depth of resonance suppression notch filter 2.
Increasing the set value shortens the notch depth and the phase lag.
0
Power OFF and ON
All
−
Pn207
Setting range
Notch 3 Frequency Setting
50 to 5,000 Unit Hz
Default setting
5000
Set the notch frequency of resonance suppression notch filter 3.
The notch filter function will be disabled if this parameter is set to 5,000.
Power OFF and ON
All
−
Pn208
Setting range
Notch 3 Width Setting
0 to 20 Unit −
Default setting
2
Power OFF and ON
Select the notch width of resonance suppression notch filter 3.
Increasing the set value widens the notch width. Normally, use the default set value.
All
−
Pn209
Setting range
Pn210
Setting range
Notch 3 Depth Setting
0 to 99 Unit −
Default setting
Set the notch depth of resonance suppression notch filter 3.
Increasing the set value shortens the notch depth and the phase lag.
0
Notch 4 Frequency Setting
50 to 5,000 Unit Hz
Default setting
5000
Set the notch frequency of resonance suppression notch filter 4.
The notch filter function will be disabled if this parameter is set to 5,000.
Power OFF and ON
Power OFF and ON
All
All
−
−
Pn211
Setting range
Notch 4 Width Setting
0 to 20 Unit −
Default setting
2
Power OFF and ON
Select the notch width of resonance suppression notch filter 4.
Increasing the set value widens the notch width. Normally, use the default set value.
All
−
Pn212
Setting range
Pn213
Setting range
Notch 4 Depth Setting
0 to 99 Unit −
Default setting
0
Set the notch depth of resonance suppression notch filter 4.
Increasing the set value shortens the notch depth and the phase lag.
Damping Filter Selection
0 to 3 Unit −
Default setting
0
Power OFF and ON
All
−
Position
Power OFF and ON
−
8-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-3 Vibration Suppression Parameters
Explanation of Set Values
0
Set value
1
2
3
Description
Damping filter 1 and 2 enabled
With external input (DFSEL1), either 1 and 3 or 2 and 4 can be selected.
· Open: Damping filters 1 and 3 enabled
· Shorted: Damping filters 2 and 4 enabled
With external input (DFSEL1 and DFSEL2), one of the filters 1 to 4 can be selected.
· When DFSEL1 and DFSEL2 are both open: Damping filter 1 enabled
· When DFSEL1 is shorted and DFSEL2 is open: Damping filter 2 enabled
· When DFSEL1 is open and DFSEL2 is shorted: Damping filter 3 enabled
· When DFSEL1 and DFSEL2 are both shorted: Damping filter 4 enabled
The damping filters are switched with position command direction.
· Forward direction: Damping filters 1 and 3 enabled
· Reverse direction: Damping filters 2 and 4 enabled
Pn214
Setting range
Pn215
Setting range
Pn216
Setting range
Pn217
Setting range
Damping Frequency 1
0 to 2,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
Set damping frequency 1 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
The range of frequency setting is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9
Hz.
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Filter 1 Setting
0 to 1,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
First set the Damping Frequency 1 (Pn214). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Corresponding damping frequency
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Frequency 2
0 to 2,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
Set Damping Frequency 2 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
The range of frequency setting is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9
Hz.
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Filter 2 Setting
0 to 1,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
First set the Damping Frequency 2 (Pn216). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Corresponding damping frequency
Lower limit: Damping frequency + damping filter setting ≥ 100
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-22
8
8-3 Vibration Suppression Parameters
Pn218
Setting range
Pn219
Setting range
Pn220
Setting range
Pn221
Setting range
Pn222
Setting range
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Frequency 3
0 to 2,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
Set Damping Frequency 3 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
The range of frequency setting is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9
Hz.
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Filter 3 Setting
0 to 1,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
First set the Damping Frequency 3 (Pn218). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Corresponding damping frequency
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Frequency 4
0 to 2,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
Set Damping Frequency 4 to suppress vibration at the end of the load in damping control.
Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
The range of frequency setting is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9
Hz.
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Damping Filter 4 Setting
0 to 1,000 Unit 0.1 Hz
Default setting
0
Position
Power OFF and ON
−
First set the Damping Frequency 4 (Pn220). Then reduce the setting if torque saturation occurs or increase the setting to increase operation speed. Normally, use a setting of 0.
Set value is restricted in the following manner.
Upper limit: Corresponding damping frequency
Lower limit: Damping frequency + damping filter setting ≥ 100
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Position Command Filter Time Constant
0 to 10,000 Unit 0.1 ms
Default setting
0
Position Fully-closed
Power OFF and ON
−
The position command filter time constant is the first-order lag filter inserted after the electronic gear ratio for the command pulse input.
The position command filter time constant can be used for the following:
· If the command pulses change abruptly, the filter can be used to reduce the stepping movement of the motor.
· The following are examples of when the command pulses can change abruptly:
The electronic gear ratio setting is high (10 times or higher).
The command pulse frequency is low.
8-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Speed
Target speed Vc
Input position command
Vc × 0.632
*1
Vc × 0.368
*1
8-3 Vibration Suppression Parameters
Position command after the smoothing filter process
Pn223
Setting range t f t f
Time t f
= (Pn222 × 0.1 ms) Filter switching dwell time *2
*1 The actual process involves calculation error.
*2 If accumulated pulses remain within the filter after the filter set value has been changed, etc., the motor may operate at a speed higher than the command speed immediately after switching the filter.
Smoothing Filter Time Constant
0 to 10,000 Unit 0.1 ms
Default setting
0
Position Fully-closed
Power OFF and ON
−
Set the FIR filter time constant used for command pulse input. (FIR: Finite impulse response)
The higher the set value, the smoother the command pulses.
Input position command Position command after the FIR filter process
Speed
8 t f t f
=
(Pn223
×
0.1 ms) t f
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-24
8
8-4 Analog Control Parameters
8-4 Analog Control Parameters
Pn300
Setting range
Command Speed Selection
0 to 3 Unit −
Default setting
0
Speed
Power OFF and ON
−
Pn301
Setting range
Explanation of Set Values
2
3
Set value
0
1
Description
Analog speed command
No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn304 to Pn307)
No. 1 Internally Set Speed to No. 3 Internally Set Speed (Pn304 to Pn306), analog speed command
No. 1 Internally Set Speed to No. 8 Internally Set Speed (Pn304 to Pn311)
Select the speed command when using speed control. The drive has internally set speed function that can be used to easily achieve speed control by using contact inputs.
For details on internally set speed function, refer to "5-4 Internally Set Speed Control" (P.5-19).
Speed Command Direction Selection
0 or 1 Unit −
Default setting
0
Speed
Power OFF and ON
−
Explanation of Set Values
Set value
0
1
Description
Use the sign of the speed command: Example: +: Forward, − : Reverse
Use the speed command sign selection (VSIGN); Example: OFF: Forward, ON: Reverse
Set to reverse the polarity of the speed command input (REF: CN1 pin 14). This is used to change the motor rotation direction without changing the polarity of host device command signals.
The default setting for this parameter is 0. By rotating to the reverse direction with the +command keeps the compatibility with all OMNUC W-Series Servo Drives.
The operation of the Servomotor may be abnormal if the polarity of the speed command signal from the Position
Control Unit does not agree with the setting of this parameter when the Servo Drive system is comprised of the combination of the Servo Drive set to the Speed Control Mode and an external Position Control Unit.
8-25 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Command
Speed
Selection
(Pn300)
Speed
Command
Direction
Selection
(Pn301)
Analog
Speed
Command
Rotation
Direction
Switching
(Pn303)
Analog speed command
(REF)
Speed command sign selection
(VSIGN)
Speed command direction
*1
Conversion graph
0
0
0
1
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
Not affected
Forward direction
Reverse direction
Reverse direction
Forward direction
Figure A
Figure B
1
Not affected
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
OFF
ON
Forward direction
Reverse direction
Figure C
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined by the setting of Pn000.
Speed command
Figure A
Speed command
Figure B
8
−
10 10
Input voltage
−
10 10
Input voltage
Speed command Speed command Figure C
−
10 10
Input voltage
−
10
VSIGN OFF
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
VSIGN ON
10
Input voltage
8-26
8-4 Analog Control Parameters
8
Pn304
Setting range
Pn305
Setting range
Pn306
Setting range
Pn307
Setting range
Pn308
Setting range
Pn309
Setting range
Pn302
Setting range
Speed Command Scale
10 to 2,000 Unit (r/min)/V
Default setting
500
Speed Torque
Power OFF and ON
−
Set the relation between the voltage applied to the speed command input (REF: CN1 pin 14) and the motor speed.
For details on speed control, refer to "5-2 Speed Control" (P.5-7).
This parameter sets the relation between voltage and speed limit when applying an analog speed limit in Torque Control Mode
Analog Speed Command Rotation Direction Switching
0 or 1 Unit −
Default setting
1
Speed
Power OFF and ON
−
Pn303
Setting range
Explanation of Set Values
Set value
0
1
Description
Rotation direction is changed by analog speed command (REF) voltage.
+Voltage: Forward direction
-Voltage: Reverse direction
Rotation direction is changed by analog speed command voltage.
+Voltage: Reverse direction
-Voltage: Forward direction
No. 1 Internally Set Speed
− 20,000 to 20,000 Unit r/min
No. 2 Internally Set Speed
− 20,000 to 20,000 Unit r/min
No. 3 Internally Set Speed
− 20,000 to 20,000 Unit r/min
No. 4 Internally Set Speed
− 20,000 to 20,000 Unit r/min
No. 5 Internally Set Speed
− 20,000 to 20,000 Unit r/min
No. 6 Internally Set Speed
− 20,000 to 20,000 Unit r/min
Default setting
Default setting
Default setting
Default setting
Default setting
Default setting
0
0
0
0
0
0
Speed
Power OFF and ON
−
Speed
Power OFF and ON
−
Speed
Power OFF and ON
−
Speed
Power OFF and ON
−
Speed
Power OFF and ON
−
Speed
Power OFF and ON
−
8-27 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn310
Setting range
Pn311
Setting range
Pn312
Setting range
No. 7 Internally Set Speed
− 20,000 to 20,000 Unit r/min
Default setting
0
Speed
Power OFF and ON
−
No. 8 Internally Set Speed
− 20,000 to 20,000 Unit r/min
Default setting
0
Speed
Power OFF and ON
−
If internal speed settings are enabled in the Command Speed Selection (Pn300), set the No. 1 to
4 internally set speed in Pn304 to Pn307 and the No. 5 to 8 internally set speed in Pn308 to Pn311.
Set the speed in r/min.
The polarity of the set values indicates the polarity of the internally set speed.
+
−
The forward direction as viewed from the shaft end
The reverse direction as viewed from the shaft end
The absolute value of the parameter setting is limited by the Overspeed Level Setting (Pn513).
Soft Start Acceleration Time
0 to 10,000 Unit ms/(1,000 r/min)
Default setting
0
Speed
Power OFF and ON
−
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-28
8-4 Analog Control Parameters
Pn313
Setting range
Soft Start Deceleration Time
0 to 10,000 Unit ms/(1,000 r/min)
Default setting
0
Speed
Power OFF and ON
−
Control the speed by setting acceleration/deceleration to the speed command inside the drive.
A soft start can be set when inputting speed commands of stepping movement or when using internal speed setting.
Do not set acceleration/deceleration time settings when using the drive in combination with an external position loop. (Set both Pn312 and Pn313 to 0.)
Internally set speed
1,000 r/min
Speed
8
Acceleration Time Deceleration time
Pn314
Setting range
S-curve Acceleration/Deceleration Time Setting
0 to 1,000 Unit ms
Default setting
0
Speed
Power OFF and ON
−
Set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable smooth operation. This is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration.
ts ts ta ts td ts
1. Basic linear acceleration time and deceleration time are set by Pn312 and Pn313, respectively.
2. The S-curve time is set by Pn314
(unit: 2 ms) based on the time width around the point of inflection during linear acceleration and deceleration.
ta: Pn312 td: Pn313 ts: Pn314 ta
Use
> ts, and
> ts
2 td
2 as settings.
8-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn315
Setting range
Zero Speed Designation Selection
0 to 3 Unit −
Default setting
0
Speed Torque
Power OFF and ON
−
Explanation of Set Values
0
1
Set value
2
3
Description
Zero speed designation function is disabled.
Speed command becomes 0 upon zero speed designation input. (Refer to Figure A)
Speed command becomes 0 upon zero speed designation input, and servo locks with position control when actual speed reaches below Position Lock Level Setting (Pn316).
(Refer to Figure B)
Servo locks with position control upon zero speed designation input and when speed command reaches below Zero Destination Level (Pn316). (Refer to Figure C)
Figure A
Speed command
ON
Speed Command Acceleration/
Deceleration Setting
(Pn312, Pn313, Pn314)
Zero speed designation input
OFF ON
Speed control
When the zero speed designation input is turned ON, the speed command is forcibly set to 0.
Set the acceleration/deceleration setting of the speed command using Soft Start Acceleration Time
(Pn312), Soft Start Deceleration Time (Pn313) or S-curve Acceleration/Deceleration Time Setting (Pn314).
Figure B Actual motor speed
Pn316
Speed command
ON
Speed Command Acceleration/
Deceleration Setting
(Pn312, Pn313, Pn314)
Zero speed designation input
OFF ON
Position control Speed control Position control
8
When the zero speed designation input is ON, the speed command is forcibly set to 0, and if the actual speed is equal to or less than the Position Lock Level Setting (Pn316), operation switches to position control and the servo lock is applied. When the zero speed designation input is OFF, operation switches to speed control. Once the servo lock is applied in position control, this state continues as long as the zero speed designation input is ON, even if the actual speed becomes greater than the Position Lock Level Setting (Pn316) by external forces.
Since the position command for position control is forced to be 0, properly set the position loop gain, various error detection functions and other settings.
Use this parameter when the Control Mode Selection (Pn001) is set to 1 (speed control).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-30
8
8-4 Analog Control Parameters
This may not operate correctly if the Control Mode Setting (Pn001) is set to 3 (position or speed control) or 4 (position or torque control).
Figure C
Speed command
Zero speed designation input
Pn316
ON
Position control Speed control Position control
Pn316
Setting range
The zero speed designation input is turned ON, and when the speed command is equal to or less than the Position Lock Level Setting (Pn316) minus 10 r/min, operation switches to position control and the servo lock is applied. When the speed command is equal to or more than the Position Lock
Level Setting (Pn316) plus 10 r/min, operation switches to speed control and the motor speed follows the command speed.
When the zero speed designation input is turned ON, the speed command will never be 0. You need to change the speed command.
Since the operation is executed as a normal position control during position control, properly set the position loop gain, various alarm detection functions and other settings.
Use this parameter when the Control Mode Selection (Pn001) is set to 1 (speed control).
This may not operate correctly if the Control Mode Setting (Pn001) is set to 3 (position or speed control) or 4 (position or torque control).
Position Lock Level Setting
10 to 20,000 Unit r/min 30
Speed Torque
Power OFF and ON
−
Servo locks with position control when the speed of the motor is lower than the setting of this parameter.
The setting of this parameter is valid for both forward and reverse direction regardless of the motor rotation direction.
Forward operation
Default setting
Speed
(Pn316)r/min
Pn317
Setting range
(Pn316)r/min
Reverse operation
Speed control
Servo lock
Torque Command/Speed Limit Selection
0 to 2 Unit −
Speed control
Default setting
0
Torque
Power OFF and ON
−
8-31 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Explanation of Set Values
1
2
0
Set value
Torque command
Analog input 1 (TREF1)
Analog input 2 (TREF2)
Analog input 1 (TREF1)
Speed limit
Pn321
Analog input 1 (VLIM)
Pn321, Pn322
It depends on the control mode.
When the control mode is set to speed control/torque control, the torque command input is set to analog input 2.
If analog input 1 is used for the speed limit, the speed control scale is set in Pn302. The applied voltage is converted to a speed limit as shown below when the analog speed limit is in effect.
Speed limit [r/min] = |Pn302 × Input voltage [V]|
An example is shown below for Pn302 = 500 [r/min/V]
Speed limit [r/min]
5000
3000
Pn318
Setting range
-10 -5 5 10
Input voltage [V]
Torque Command Direction Selection
0 or 1 Unit −
Default setting
0
Explanation of Set Values
0
1
Set value
Description
The direction is specified by the sign of the torque command
The direction is specified by the torque command sign input (TSIGN)
Torque
Power OFF and ON
−
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-32
8
8-4 Analog Control Parameters
Torque
Command
/ Speed
Limit
Selection
(Pn317)
Torque
Command
Direction
Selection
(Pn318)
Analog
Torque
Command
Rotation
Direction
Switching
(Pn320)
Analog torque command
(TREF)
Torque command sign selection
(TSIGN)
Torque command direction*
1
Conversion graph
0
0
1
0
1
+Voltage (0 to 10 V)
-Voltage (-10 to 0 V)
Not affected
+Voltage (0 to 10 V)
-Voltage (-10 to 0 V)
Not affected Not affected
OFF
ON
Forward direction
Reverse direction
Reverse direction
Forward direction
Forward direction
Reverse direction
Figure A
Figure B
Figure C
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined by the setting of Pn000.
Torque command
Figure A
Torque command
Figure B
−
10 10
Input voltage
−
10 10
Input voltage
Torque command Torque command Figure C
−
10 10
Input voltage
−
10 10
Input voltage
TSIGN OFF TSIGN ON
8-33 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn319
Setting range
Torque Command Scale
10 to 100 Unit 0.1 V/100%
Default setting
30
Torque
Power OFF and ON
−
Set the relation between the voltage applied to the torque reference input (TREF1: CN1 pin 14,
TREF2: CN2 pin 16) and the motor speed.
Refer to "5-3 Torque Control" (P.5-14) for more information on torque command scale.
Pn320
Setting range
Analog Torque Command Rotation Direction Switching
0 to 1 Unit −
Default setting
0
Torque
Power OFF and ON
−
Pn321
Setting range
Explanation of Set Values
0
1
Set value
Description
Direction of motor torque: The +command indicates the forward direction as viewed from the shaft end.
Direction of motor torque: The +command indicates the reverse direction as viewed from the shaft end.
Reverse the polarity of the torque command input (REF/TREF1: CN1 pin 14 or PCL/TREF2: CN1 pin 16).
Speed Limit Value Setting
0 to 20,000 Unit r/min
Default setting
0
Torque
Power OFF and ON
−
Pn322
Setting range
Pn323
Setting range
Reverse Direction Speed Limit Value Setting
0 to 20,000 Unit r/min
Default setting
0
Torque
Power OFF and ON
−
Corresponding speed limit values during torque control is shown in the table below.
Torque
Command/
Speed Limit
Selection
(Pn317)
0
1
Speed
Limit
Value
Setting
(Pn321)
Reverse
Direction
Speed Limit
Value Setting
(Pn322)
0
0 to 20,000 Not affected
1 to 3
0 to 20,000 0 to 20,000
0 to 20,000 1 to 20,000
0 to 20,000 1 to 20,000
Zero Speed
Designation
0
Selection
(Pn315)
1 to 3
1 to 3
Zero speed clamp
Not affected
OFF
ON
Not affected
OFF
ON
Analog torque command direction
Speed limit value
Not affected
Pn321 set value
Pn321 set value
0
Forward direction Pn321 set value
Reverse direction Pn322 set value
Forward direction Pn321 set value
Reverse direction Pn322 set value
Not affected 0
External Feedback Pulse Type Selection
0 to 2 Unit −
Default setting
0
Fully-closed
Power OFF and ON
Yes
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-34
8-4 Analog Control Parameters
Explanation of Set Values
8
Count-down direction t1
Count-up direction t1
EXA
EXA
EXB t2
EXB is 90
°
ahead of EXA. t1
>
0.25
μ s t2
>
1.0
μ s
EXB t2
EXB is 90
°
behind EXA. t1
>
0.25
μ s t2
>
1.0
μ s
For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is rotating counterclockwise, and count-down occurs when the motor shaft is rotating clockwise.
If the connection direction cannot be selected due to installation conditions, etc., the count direction can be reversed using External Feedback Pulse Direction Switching (Pn326).
Take note that if Pn000 = 1, the encoder count direction becomes opposite to the count direction used for monitoring the total external encoder feedback pulses, etc.
If Pn000 = 0, the count direction matches the count direction for monitoring.
Even when the speed command is within the Drive’s speed command range, an acceleration error will occur if the speed command exceeds the maximum speed of motor shaft rotation.
External Feedback Pulse Dividing Numerator
0 to 2
20
Unit −
Default setting
0
Fully-closed
Power OFF and ON
Yes
Pn324
Setting range
Pn325
Setting range
Pn326
Setting range
External Feedback Pulse Dividing Denominator
1 to 2
20
Unit −
Default setting
10000
Fully-closed
Power OFF and ON
Yes
Check the number of encoder pulses per motor rotation and number of external encoder pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (Pn324) and External
Feedback Pulse Dividing Denominator (Pn325).
Pn324
Pn325
Encoder resolution per motor rotation [pulses]
=
External encoder resolution per motor rotation [pulses]
If this ratio is incorrect, the deviation between the position calculated from encoder pulses and position calculated from external encoder pulses will increase. Particularly when the moving distance is long, an excessive deviation error will occur.
Set Pn324 to 0 to have encoder resolution automatically set as numerator.
External Feedback Pulse Direction Switching
0 or 1 Unit −
Default setting
0
Fully-closed
Power OFF and ON
Yes
8-35 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn327
Setting range
External Feedback Pulse Phase-Z Setting
0 or 1 Unit −
Default setting
0
Fully-closed
Power OFF and ON
Yes
Set to enable or disable phase-Z disconnection detection when a 90 ° phase difference output type external encoder is used.
Explanation of Set Values
0
1
Set value
Description
Phase-Z disconnection detection enabled
Phase-Z disconnection detection disabled
Pn328
Setting range
Explanation of Set Values
0
1
Set value
Description
External encoder feedback pulse count direction not reversed
External encoder feedback pulse count direction reversed
Pn329
Setting range
Internal/External Feedback Pulse Error Counter Overflow Level
1 to 2
27
Unit Command unit
Default setting
16000
Fully-closed
Power OFF and ON
Yes
Set the allowable difference (feedback pulse error) between the motor (encoder) position and load
(external encoder) position in command units.
Internal/External Feedback Pulse Error Counter Reset
0 to 100 Unit Rotation
Default setting
0
Fully-closed
Power OFF and ON
Yes
The feedback pulse error is reset every time the motor rotates for the amount set by the Internal/
External Feedback Pulse Error Counter Reset (Pn329). This can be used for applications where feedback pulse error accumulates due to slippage.
Feedback pulse error value [command units]
(absolute value)
Occurrence of excessive feedback pulse deviation error
Excessive feedback pulse error setting
8
Feedback pulse error reset setting
Motor rotation speed [rotations]
When using feedback pulse error reset, make sure the feedback pulse error reset setting is set to a proper value. When the set value is extremely small, the protective function may not work to prevent any erroneous operation due to improper connection of the external encoder.
Take sufficient care to ensure safety.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-36
8
8-5 Interface Monitor Setting Parameters
8-5 Interface Monitor Setting Parameters
Pn400 Input Signal Selection 1
Setting range 0 to 00FFFFFFh Unit −
Pn401 Input Signal Selection 2
Setting range 0 to 00FFFFFFh Unit −
Pn402 Input Signal Selection 3
Setting range 0 to 00FFFFFFh Unit −
Pn403 Input Signal Selection 4
Setting range 0 to 00FFFFFFh Unit −
Pn404 Input Signal Selection 5
Setting range 0 to 00FFFFFFh Unit −
Pn405 Input Signal Selection 6
Setting range 0 to 00FFFFFFh Unit −
Pn406 Input Signal Selection 7
Setting range 0 to 00FFFFFFh Unit −
Pn407 Input Signal Selection 8
Setting range 0 to 00FFFFFFh Unit −
Pn408 Input Signal Selection 9
Setting range 0 to 00FFFFFFh Unit −
Pn409 Input Signal Selection 10
Setting range 0 to 00FFFFFFh Unit −
Pn410 Output Signal Selection 1
Setting range 0 to 00FFFFFFh Unit −
Pn411 Output Signal Selection 2
Setting range 0 to 00FFFFFFh Unit −
Pn412 Not used
Setting range − Unit −
Default setting 8553090 Power OFF and ON Yes
Default setting 8487297 Power OFF and ON Yes
Default setting 9539850 Power OFF and ON Yes
Default setting 394758 Power OFF and ON Yes
Default setting 4108
All
Power OFF and ON Yes
All
Default setting 197379 Power OFF and ON Yes
Default setting 3847
Default setting 263172 Power OFF and ON Yes
Default setting 328965 Power OFF and ON Yes
Default setting 3720
All
All
All
All
All
Power OFF and ON Yes
All
All
All
Power OFF and ON Yes
All
Default setting 197379 Power OFF and ON Yes
All
Default setting 131586 Power OFF and ON Yes
Default setting -
All
Power OFF and ON −
Pn413 Output Signal Selection 4
Setting range 0 to 00FFFFFFh Unit −
Refer to "6-9 Sequence I/O Signal" (P.6-35)for more information on settings.
All
Default setting 328964 Power OFF and ON Yes
8-37 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn416 Analog Monitor 1 Selection
Setting range 0 to 21 Unit − Default setting 0
All
Power OFF and ON −
Explanation of Set Values
0
1
7 value
11
12
13
14
15
8
9
10
16
17
2
3
4
5
6
18
19
20
21
Set
Monitor type
Explanation
Unit
Motor speed
Position command speed * 3 r/min r/min
Internal position command speed *
3
Speed control command
Torque command
Position command error *
4
Encoder position error *
4
Fully-closed error *
4 r/min r/min
% (rated torque ratio) pulse (command units) pulse (encoder units)
Hybrid Error
P-N voltage
Regeneration load ratio
Overload load ratio
Forward direction torque limit
Reverse direction torque limit
Speed limit value
Inertia ratio
Analog input 1 *
2
Analog input 2 *
2
Analog input 3 *
2
Encoder temperature
Drive temperature
Encoder 1-rotation data *
1
V
V
°
° pulse (external encoder units) pulse (command units)
V
%
%
% (rated torque ratio)
%
V
% (rated torque ratio) r/min
C
C pulse (encoder units)
Output gain when
Pn417 = 0
500
500
500
500
33
3,000
3,000
3,000
3,000
80
33
33
33
33
500
500
1
1
1
10
10
110,000
*1. Forward and reverse directions of monitor data are the direction set in Pn000. However, CCW will be the forward direction for the absolute encoder 1-rotation data. A normal value is output from the incremental encoder after the first phase Z is input.
*2. Analog inputs 1 to 3 will output terminal voltage even when terminal is not used.
*3. Corresponding to command pulse input, command pulse speed is before command filter (position command filter time constant and smoothing filter time constant), and internal command speed is after command filter.
*4. The position command error is an error from the command pulse input, while the encoder position error or fully-closed position error is the error at the input of the position loop.
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-38
8-5 Interface Monitor Setting Parameters
8
Command pulse input
Command pulse speed
[r/min]
Command dividing multiplier process
Command filter
Internal command speed
[r/min]
+
−
Position control
Encoder feedback
/external encoder feedback
*4. Position error and feedback pulse error come in 2 types, encoder unit/external encoder unit and command unit. Encoder unit/external encoder unit will be an error of position control input section and command unit will be an error of command pulse input.
Command pulse input
Command dividing multiplier
Command filter
+
−
Encoder position error (encoder unit)
/feedback pulse error (external encoder unit)
Position control
Pn417
Setting range
+
− Command dividing multiplier reverse conversion
Position command error (command unit)
/command feedback pulse error (command unit)
Pn418
Setting range
Pn419
Setting range
Encoder feedback
/external encoder feedback
Analog Monitor 1 Scale Setting
0 to 214,748,364 Unit −
Set output gain for analog monitor 1.
Default setting
0
Power OFF and ON
All
−
Analog Monitor 2 Selection
0 to 21 Unit −
Default setting
4
Select the type of analog monitor 2.
The set value for this parameter is same as Analog Monitor 1 Type (Pn416).
Power OFF and ON
All
−
Analog Monitor 2 Scale Setting
0 to 214,748,364 Unit −
Set the output gain for analog monitor 2.
Default setting
0
Power OFF and ON
All
−
8-39 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn421
Setting range
Analog Monitor Output Selection
0 to 2 Unit −
Select the analog monitor output voltage direction.
Set value
Output range
0 − 10 to 10 V
Default setting
0
Data output
−
Output voltage [V]
10 V
0 V
5,000
Motor speed
5,000 [r/min]
Power OFF and ON
All
−
1 0 to 10 V
−
−
10 V
Output voltage [V]
10 V
5,000 0 V
Motor speed
5,000 [r/min]
−
10 V
Output voltage [V]
10 V
Pn422
Setting range
2 0 to 10 V
5 V
Motor speed
0 V 0
−
2,500
2,500 [r/min]
−
10 V
When monitor type is motor speed and gain of conversion is 500 (1 V = 500 r/min)
Analog Input 1 Offset
− 5,578 to 5,578 Unit 0.359 mV
Default setting
0
Power OFF and ON
All
−
Adjust the offset of the speed command input (REF: CN1 pin 14).
The offset amount is approx. the set value times 0.359 mV.
There are 2 ways to adjust the offset.
· Manual adjustment
· Automatic adjustment
The manual adjustment is as follows:
· To adjust the offset for individual drives, accurately input 0 V to the speed command input/torque command input
(REF/TREF1) (or connect to the signal ground), and then set this parameter so that the motor does not rotate.
· If you use a position loop in the host device, set this parameter so that there are no accumulated pulses at servo lock stop status.
The automatic adjustment is as follows:
This parameter will be automatically set when automatic offset adjustment is executed. Refer to
"Analog Input Automatic Offset Adjustment" (P.9-26) for the automatic offset adjustment method.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-40
8
8-5 Interface Monitor Setting Parameters
8
Pn423
Setting range
Analog Input 1 Filter Time Constant
0 to 6,400 Unit 0.01 ms
Default setting
0
Power OFF and ON
Set the first-order lag filter time constant in the speed command input (REF: CN1 pin 14).
All
−
Pn424
Setting range
Excessive Analog Input 1
0 to 100 Unit 0.1 V
Default setting
0
Power OFF and ON
All
−
Set the overflow level for speed command input (REF: CN1 pin 14) or torque command input
(TREF1: CN1 pin 14) using voltage after offset compensation.
Excessive analog input (Alarm No. 39) will be disabled if this parameter is set to 0.
Pn425
Setting range
Analog Input 2 Offset
− 342 to 342 Unit 5.86 mV
Default setting
0
Power OFF and ON
All
−
Adjust the offset of the speed command input (REF: CN1 pin 16).
The offset amount is approx. the set value times 5.86 mV.
There are 2 ways to adjust the offset.
· Manual adjustment
· Automatic adjustment
The manual adjustment is as follows:
· To adjust the offset for individual drives, accurately input 0 V to the speed command input/ torque command input (REF/TREF1) (or connect to the signal ground), and then set this parameter so that the motor does not rotate.
· If you use a position loop in the host device, set this parameter so that there are no accumulated pulses at servo lock stop status.
The automatic adjustment is as follows:
This parameter will be automatically set when automatic offset adjustment is executed. Refer to
"Analog Input Automatic Offset Adjustment" (P.9-26) for the automatic offset adjustment method.
Pn426
Setting range
Pn427
Setting range
Analog Input 2 Filter Time Constant
0 to 6,400 Unit 0.01 ms
Default setting
0
Power OFF and ON
Set the first-order lag filter time constant in the speed command input (REF: CN1 pin 16).
All
−
Excessive Analog Input 2
0 to 100 Unit 0.1 V
Default setting
0
Power OFF and ON
All
−
Set the overflow level for speed command input (REF: CN1 pin 16) or torque command input
(TREF1: CN1 pin 14) using voltage after offset compensation.
Excessive analog input (Alarm No. 39) will be disabled if this parameter is set to 0.
8-41 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn428
Setting range
Pn429
Setting range
Analog Input 3 Offset
− 342 to 342 Unit 5.86 mV
Default setting
0
Power OFF and ON
All
−
Adjust the offset of the speed command input (REF: CN1 pin 18).
The offset amount is approx. the set value times 5 mV.
There are 2 ways to adjust the offset.
· Manual adjustment
· Automatic adjustment
The manual adjustment is as follows:
· To adjust the offset for individual drives, accurately input 0 V to the speed command input/ torque command input (REF/TREF1) (or connect to the signal ground), and then set this parameter so that the motor does not rotate.
· If you use a position loop in the host device, set this parameter so that there are no accumulated pulses at servo lock stop status.
The automatic adjustment is as follows:
This parameter will be automatically set when automatic offset adjustment is executed. Refer to
"Analog Input Automatic Offset Adjustment" (P.9-26) for the automatic offset adjustment method.
Analog Input 3 Filter Time Constant
0 to 6,400 Unit 0.01 ms
Default setting
0
Power OFF and ON
Set the first-order lag filter time constant in the speed command input (REF: CN1 pin 18).
All
−
Pn430
Setting range
Excessive Analog Input 3
0 to 100 Unit 0.1 V
Default setting
0
Power OFF and ON
All
−
Set the overflow level for speed command input (REF: CN1 pin 18) or torque command input
(TREF1: CN1 pin 14) using voltage after offset compensation.
Excessive analog input (Alarm No. 39) will be disabled if this parameter is set to 0.
Pn431
Setting range
Positioning Completion Range 1
0 to 262,144 Unit Command unit
Default setting
10
Position Fully-closed
Power OFF and ON
−
Use this parameter in combination with the Positioning Completion Condition Selection (Pn432) to set the timing to output the positioning completion output (INP1). The positioning completion output (INP) will output when the Servomotor (workpiece) movement stops and the number of the accumulated pulses in the error counter is within the set value of this parameter, after command pulse input is completed.
Unit for setting is command unit, but it can be changed to encoder unit with Position Setting Unit
Selection (Pn520). However, note that the unit for error counter overflow level will be changed as well.
If this parameter is set to a very small value, the time required for the INP signal to be output will increase and the chattering may occur during output. The setting of the positioning completion range does not affect the precision of the final positioning.
Accumulated pulse
Pn431
8
INP
ON
Pn431
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-42
8-5 Interface Monitor Setting Parameters
8
Pn432
Setting range
Positioning Completion Condition Selection
0 to 3 Unit −
Default setting
0
Position Fully-closed
Power OFF and ON
−
Pn433
Setting range
Explanation of Set Values
Set value
Description
0
1
2
3
Positioning completion output (INP1) turns ON when the position error is within the
Positioning Completion Range 1 (Pn431).
Positioning completion output turns ON when the position error is within the Positioning
Completion Range 1 (Pn431) and there is no position command.
Positioning completion output (INP1) turns ON when the zero speed detection output (ZSP) is ON, the position error is within the Positioning Completion Range 1 (Pn431), and there is no position command.
Positioning completion output turns ON when the position error is within the Positioning
Completion Range 1 (Pn431) and there is no position command. The ON status is then held until the Positioning Completion Hold Time (Pn433) elapses. After that, if turns ON or OFF based on the position error at the time.
Use this in combination with the Positioning Completion Range 1 (Pn431) to set the operation for positioning completion output (INP: CN1 pin 39).
Positioning Completion Hold Time
0 to 30,000 Unit 1 ms
Default setting
0
Position Fully-closed
Power OFF and ON
−
When Positioning Completion Hold Time (Pn433) is set to 0, hold time becomes infinite and ON status is held until the next position command comes in.
Pn434
Setting range
Zero Speed Detection
10 to 20,000 Unit r/min
Default setting
50
Power OFF and ON
All
−
General-purpose output timing is set by rotation speed r/min.
General-purpose output 1 (ZSP) will be turned ON when the speed of the motor is lower than the setting of this parameter.
The set value in this parameter is valid in both forward and reverse directions, regardless of the actual motor rotation direction. The setting has a hysteresis of 10 r/min.
Forward operation
Speed
(Pn434
+
10)r/min
OUTM1
Reverse operation
(Pn434
−
10)r/min
ON
8-43 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn435
Setting range
Speed Conformity Detection Range
10 to 20,000 Unit r/min
Default setting
50
Speed
Power OFF and ON
−
When speed command and motor speed are identical, speed conformity output signal is output.
This setting has a hysteresis of 10 r/min for detection.
Speed [r/min]
Speed command
A speed command after the acceleration
/deceleration processing
Pn435
Speed Conformity Detection Range
Pn435
Speed Conformity
Detection Range
Motor speed
Time
Pn435
Speed Conformity Detection Range
ON
Speed conformity output
ON OFF OFF
Pn436
Setting range
Rotation Speed for Motor Rotation Detection
10 to 20,000 Unit r/min
Default setting
1000
Speed
Power OFF and ON
−
Motor rotation speed detection output signal is output when the motor speed reaches the speed set as the achieved speed.
This setting has a hysteresis of 10 r/min for detection.
Speed [r/min]
Pn436 + 10
Pn436 − 10
Motor speed
8
Time − (Pn436 − 10)
− (Pn436 + 10)
Motor rotation speed detection output OFF ON OFF ON
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-44
8-5 Interface Monitor Setting Parameters
8
Pn437
Setting range
Brake Timing when Stopped
0 to 10,000 Unit 1 ms
Default setting
0
Power OFF and ON
All
−
Set the time required for the Servomotor to be de-energized (servo free) after the brake interlock output (BKIR: CN1 pin 10) turns OFF (i.e., brake held), when servo OFF status is entered while the Servomotor is stopped.
When the Servomotor is stopped and the operation command (RUN) is turned OFF, the brake interlock signal (BKIR) will turn OFF, and the Servomotor will be de-energized after waiting for the setting time (set value × ms).
Operation command (RUN)
Pn438
Setting range
Brake interlock
(BKIR)
Actual brake
Released Held
Released tb
Held
Motor power is supplied.
Power supply
No power supply
Pn437
Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the delay time in the brake operation (tb).
Brake timing when stopped (set value × 1 ms) ≥ tb
For details, refer to "6-6 Brake Interlock" (P.6-19).
Brake Timing During Operation
0 to 10,000 Unit 1 ms
Default setting
0
Power OFF and ON
All
−
Set the required time for the brake interlock output (BKIR: CN1 pin 10) to turn OFF after the operation command (RUN: CN1 pin 29) is detected to be OFF when servo OFF status is entered while the Servomotor is operating. When the operation command (RUN) is turned OFF while the motor is operating, the motor will decelerate to reduce speed, and the brake interlock signal (BKIR) will turn ON after the setting time (set value × 1 ms) has elapsed.
Operation command (RUN)
8-45
Brake interlock
(BKIR)
Motor power is supplied.
Released
T B
Power supply
Held
No power supply
Motor speed
The smaller of
Pn438 and Pn439
"TB" in the above figure is the Brake Timing During Operation (Pn438) (set value × 1 ms) or the time until the motor rotation speed falls to the speed set for the Brake Release Speed Setting
(Pn439) or lower, whichever is shorter.
For details, refer to "6-6 Brake Interlock" (P.6-19).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn439
Setting range
Brake Release Speed Setting
30 to 3,000 Unit r/min
Default setting
30
Power OFF and ON
All
−
Pn440
Setting range
Released (ON)
Pn438 set value
Engaged (OFF) t1 *1
Motor rotation speed
Pn439 set value
Pn438 set value
When the motor takes longer than
Pn438 ms to reach
Pn439 rpm
Released (ON) Engaged (OFF) t1 *1
Motor rotation speed
Pn439 set value
When the motor takes less than Pn438 ms to reach Pn439 rpm
Warning Output Selection 1
0 to 10 Unit −
Default setting
0
Power OFF and ON
All
−
Pn441
Setting range
Explanation of Set Values
7
8
5
6
9
10
3
4
1
2
0
Set value
Description
An OR output of all alarm status
Overload warning
Excessive regeneration warning
Battery warning
Fan warning
Encoder communications warning
Encoder overheating warning
Vibration detection warning
Service life detection warning
External encoder error warning
External encoder communications error warning
Refer to "11-2 Warning List" (P.11-4) for more information on settings.
Warning Output Selection 2
0 to 7 Unit −
Default setting
0
Power OFF and ON
The set values for this parameter are same as Warning Output Selection 1 (Pn440).
All
−
Pn442
Setting range
Positioning Completion Range 2
0 to 262,144 Unit Command unit
Default setting
10
Position Fully-closed
Power OFF and ON
Set the positioning completion range.
The set values for this parameter are same as Positioning Completion Range 1 (Pn431).
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-46
8
8
8-6 Extended Parameters
8-6 Extended Parameters
Pn500
Setting range
Pn501
Setting range
Pn502
Setting range
Pn503
Setting range
Electronic Gear Ratio Numerator 2
0 to 2
30
Unit −
Electronic Gear Ratio Numerator 3
0 to 2
30
Unit −
Electronic Gear Ratio Numerator 4
0 to 2
30
Unit −
Default setting
Default setting
Default setting
0
0
0
Position
Power OFF and ON
Power OFF and ON
−
Position
−
Position
Power OFF and ON
−
Encoder Dividing Denominator
0 to 262,144 Unit −
Default setting
0
Power OFF and ON
All
Yes
If encoder dividing denominator ≠ 0, division is performed at the rate according to the formula below.
Encoder FB pulse
→
Pn011
Pn503
→
Output pulse
Therefore, the formula will be as follows when the host side counts pulses through processing with quadruple multiplier.
Number of pulse output resolution per rotation = Pn011 × Encoder resolution
Pn053
The pulse output resolution per rotation will never exceed the encoder resolution. (If the above settings are used, the pulse output resolution per rotation will be equal to the encoder resolution.)
1 phase-Z signal is output for each rotation of the motor.
If the pulse output resolution per rotation from the above equation is a multiple of 4, phases Z and
A are output in synchronization. In all other cases, the output width of phase Z will be output as the encoder resolution, resulting to be narrower than phase A. Accordingly, phases A and Z will not be synchronized.
The output source is the encoder and the pulse dividing ratio is a multiple of 4.
A
The output source is the encoder and the pulse dividing ratio is not a multiple of 4.
A
B
Z
B
Z
Synchronous Asynchronous
8-47 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Pn504
Setting range
Drive Prohibition Input Selection
0 to 2
Explanation of Set Values
Unit −
Default setting
1
All
Power OFF and ON
Yes
1
2
Set value
0
Description
Forward drive prohibition input and reverse drive prohibition input enabled.
Forward drive prohibition input and reverse drive prohibition input disabled.
Forward drive prohibition input and reverse drive prohibition input enabled.
Install limit switches at both ends of the axis to prohibit the motor from traveling in the direction where one of the switches operates. This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine.
Operation will be as follows if 0 is set.
· Forward drive prohibition input (POT: CN1 pin 9) and COM connected: Normal status when the forward limit switch does not operate
· Forward drive prohibition input (POT: CN1 pin 9) and COM open: Forward direction prohibited and reverse direction permitted
· Reverse drive prohibition input (NOT: CN1 pin 8) and COM connected: Normal status when the reverse limit switch does not operate
· Reverse drive prohibition input (NOT: CN1 pin 8) and COM open: Reverse direction prohibited and forward direction permitted.
If this parameter is set to 0, the Servomotor will decelerate and stop according to the sequence set in the Stop
Selection for Drive Prohibition Input (Pn505) For details, refer to explanation for Stop Selection for Drive Prohibition
Input (Pn505).
If this parameter is set to 0 and the forward and reverse prohibition inputs are both open, a drive prohibition input error (Alarm No.38) occurs because it is taken that Servo Drive is in error condition.
If this parameter is set to 2, a drive prohibition input error (Alarm No. 38) will occur when the connection between either the forward or reverse prohibition input and COM is open.
If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward torque will be eliminated, and there may be repeated vertical movement of the workpiece. If this occurs, set the Stop Selection for Drive Prohibition Input (Pn505) to 2 or perform limit processing using the
Host Controller rather than using this function.
Pn505
Setting range
Stop Selection for Drive Prohibition Input
0 to 2
Explanation of Set Values
Unit −
Default setting
0
Power OFF and ON
All
Yes
Set value
0
1
2
Description
During deceleration: Dynamic brake operation
After stop: Torque command is 0 for drive prohibition direction
Error counter: Held
During deceleration: Torque command is 0 for drive prohibition direction
After stop: Torque command is 0 for drive prohibition direction
Error counter: Held
During deceleration: Immediate stop
After stop: Torque command is 0 for drive prohibition direction
Error counter: Clear before and after deceleration
Set the drive conditions during deceleration or after stopping after the drive prohibition input (POT:
CN1 pin 9 or NOT: CN1 pin 8) is enabled.
If this is set to 2, the Immediate Stop Torque (Pn511) will be used to torque limit during deceleration.
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-48
8
8-6 Extended Parameters
Pn506
Setting range
The dynamic brake is designed only for emergency stopping. Design the system to stop within about three minutes after the dynamic brake operates.
Stop Selection with Servo OFF
0 to 9 Unit −
Default setting
0
Power OFF and ON
All
−
Explanation of Set Values
5
6
3
4
0
1
2
7
8
9
Set value
During deceleration *
3
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Immediate stop *
1
Immediate stop *
1
Explanation
After stopping
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Servo free
Error counter
Clear *
4
Clear *
4
Clear *
4
Clear *
4
Hold *
2
Hold *
2
Hold *
2
Hold *
2
Clear *
4
Clear *
4
If an alarm occurs when servo is turned OFF, the operation will be based on the Stop Selection for
Alarm Detection (Pn510). Additionally, if the main power supply is turned OFF when servo is OFF, it will be based on the Stop Selection with Main Power Supply OFF (Pn507).
The dynamic brake is designed only for emergency stopping. Design the system to stop within about three minutes after the dynamic brake operates.
*1. Emergency stop refers to an immediate stop operation applying control while servo is still ON and stopping the operation immediately.
At that time, the torque command value is restricted by the Immediate Stop Torque (Pn511).
*2. If the position command is given or the motor runs continuously when servo is turned OFF, the position error accumulates and Alarm 24.0, "error counter overflow," may occur. In addition, if servo is turned ON when the position error or external encoder error is a large value, the motor may operate abruptly to perform a control operation to bring the error to 0. Take sufficient care when using while holding the position error or external encoder error.
*3. Decelerating is the time between when the motor is running and when the motor speed reaches 30 r/ min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status, subsequent operation is based on the after-stop status regardless of the motor speed.
*4. The position error or external encoder error will always be cleared to 0.
8-49 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Pn507
Setting range
Stop Selection with Main Power Supply OFF
0 to 9 Unit −
Default setting
0
All
Power OFF and ON
−
Pn508
Setting range
Explanation of Set Values
6
7
4
5
8
9
2
3
0
1
Set value During deceleration *
3
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Immediate stop *
1
Immediate stop *
1
Explanation
After stopping
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Servo free
Error counter
Clear *
4
Clear *
4
Clear *
4
Clear *
4
Hold *
2
Hold *
2
Hold *
2
Hold *
2
Clear *
4
Clear *
4
If an alarm occurs when the main power supply is turned OFF, the operation will be based on the Stop
Selection for Alarm Detection (Pn510). If the main power supply is turned OFF when Servo is ON, and if the Undervoltage Alarm Selection (Pn508) is set to 1, Alarm 13.1, "main power supply undervoltage (AC cut-off detection)," will occur. Follow the Stop Selection for Alarm Detection
(Pn510).
The dynamic brake is designed only for emergency stopping. Design the system to stop within about three minutes after the dynamic brake operates.
*1. Emergency stop refers to an immediate stop operation applying control while servo is still ON and stopping the operation immediately.
At that time, the torque command value is restricted by the Immediate Stop Torque (Pn511).
*2. If the position command is given or the motor runs continuously when the main power supply is turned OFF, the position error accumulates and Alarm 24.0, "error counter overflow," may occur. In addition, if servo is turned ON when the position error or external encoder error is a large value, the motor may operate abruptly to perform a control operation to bring the error to 0. Take sufficient care when using while holding the position error or external encoder error.
*3. Decelerating is the time between when the motor is running and when the motor speed reaches 30 r/ min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status, subsequent operation is based on the after-stop status regardless of the motor speed.
*4. The position error or external encoder error will always be cleared to 0.
Undervoltage Alarm Selection
0 or 1 Unit −
Default setting
1
Power OFF and ON
All
−
Explanation of Set Values
Set value
0
1
Description
The servo is turned OFF based on the setting of the Stop Selection with Main Power Supply
OFF (Pn507) and turn it back to servo ON state by turning ON the main power supply.
Alarm 13.1 "main power supply undervoltage" will occur and a trip will be caused.
8
Pn509
Setting range
Momentary Hold Time
70 to 2,000 Unit 1 ms
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default setting
70
Power OFF and ON
All
Yes
8-50
8
8-6 Extended Parameters
Pn510
Setting range
Set main power supply alarm detection time.
The main power supply OFF detection will be disabled if this is set to 2,000.
Stop Selection for Alarm Detection
0 to 7 Unit −
Default setting
0
Power OFF and ON
All
−
Explanation of Set Values
2
3
0
1
4
5
6
7
Set value
During deceleration *
3
Dynamic brake operation
Free-run
Dynamic brake operation
Free-run
Operation A: Immediate stop * 2
Operation B: Dynamic brake operation
Operation A: Immediate stop *
2
Operation B: Free-run
Operation A: Immediate stop *
2
Operation B: Dynamic brake operation
Operation A: Immediate stop *
2
Operation B: Free-run
Explanation
After stopping
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Dynamic brake operation
Dynamic brake operation
Servo free
Servo free
Error counter
Clear *
1
Clear *
1
Clear *
1
Clear *
1
Clear *
1
Clear *
1
Clear *
1
Clear *
1
Set the operation to be performed after stopping or during deceleration when any protective function of the drive operates and an alarm occurs.
The dynamic brake is designed only for emergency stopping. Design the system to stop within about three minutes after the dynamic brake operates.
*1. The error counter is cleared when an alarm is reset.
*2. Operations A and B indicate whether immediate stop takes place upon alarm generation. If an immediate stop alarm is generated, immediate stop in operation A is executed.
If an alarm that does not support immediate stop is generated, immediate stop in operation B will take place.
*3. Decelerating is the time between when the motor is running and when the motor speed reaches 30 r/ min or less. Once the motor reaches 30 r/min or less and moves to the after-stop status, subsequent operation is based on the after-stop status regardless of the motor speed.
8-51 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Immediate Stop Operation when an Alarm that Supports Immediate Stop is Generated
Speed
[r/mn]
Motor speed
Speed command
Speed deemed as stop
(30 r/min)
Time
Alarm
No alarm generation An alarm that supports immediate stop is generated.
Torque limit
Overspeed protection threshold
Normal torque limit
Normal operation
Normal operation (command from the host)
Normal torque limit
Pn511 immediate Stop Torque
(Measure to lessen the impact at an immediate stop)
Normal operation
Pn615 Overspeed Detection Level Setting at Immediate Stop
(Protection from runaway at an immediate stop)
Set the Overspeed Detection Level Setting at Immediate Stop (Pn615) to the Overspeed
Detection Level Setting (Pn513) or higher.
Immediate stop undefined
Immediate stop time
Alarm status (Operation after the stop:
Dynamic brake/free-run)
If the actual speed is not 30 r/min or less after the time set by the Alarm Detection Allowable Time Setting
(Pn614) elapses, an immediate alarm status will occur. In addition, if an alarm that does not support immediate stop occurs inside the drive at immediate stop, an immediate alarm status will occur.
Set the allowable overspeed level to Pn615, "Overspeed Detection Level Setting at Immediate
Stop," as a protective measure against runaway at an immediate stop. Alarm 26.1, "overspeed 2," if it occurs, will cause an immediate alarm trip because it is an alarm that does not support immediate stop. However, if the setting is below Pn513, "Overspeed Detection Level Setting," an immediate stop will not take place because Alarm 26.1, "overspeed 2," will occur before Alarm
26.0, "overspeed."
In addition, if Alarm 26.0 and Alarm 26.1 are detected at the same time, Alarm 26.0 will be displayed. However, an immediate stop will not take place because Alarm 26.1 has also occurred internally.
Pn511
Setting range
Immediate Stop Torque
0 to 500 Unit %
Default setting
0
Power OFF and ON
All
−
Set the torque limit for the following cases.
· Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input (Pn505) set to 2.
· Deceleration with the Stop Selection with Main Power Supply OFF (Pn507) set to 8 or 9.
· Deceleration with the Stop Selection with Servo OFF (Pn506) set to 8 or 9.
The normal torque limit will be used if this parameter is set to 0.
This object is set in units of 0.1% of the rated torque.
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-52
8-6 Extended Parameters
8
Pn512
Setting range
Pn513
Setting range
Pn514
Setting range
Overload Detection Level Setting
0 to 500 Unit %
Default setting
0
Set the overload detection level.
If this setting is 0, the level is set to 115% of nominal torque
Internally there is a limit of 115%, so higher values are limited to 115%
This object is set as a percentage of the rated torque.
Power OFF and ON
All
−
Overspeed Detection Level Setting
0 to 20,000 Unit r/min
Default setting
0
Power OFF and ON
All
−
Set the overspeed detection level.
The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this parameter is set to 0.
This parameter should normally be set to 0. The setting should be changed only when it is necessary to lower the overspeed detection level.
The set value of this parameter is limited to 1.2 times the maximum motor rotation speed.
The detection margin of error for the set value is ± 3 r/min for 17 bit absolute encoder and ± 36 r/ min for a 20 bit incremental encoder
Overrun Limit Setting
0 to 1,000 Unit 0.1 rotation
Default setting
10
Position Fully-closed
Power OFF and ON
Set the allowable operating range for the position command input range.
If the set value is exceeded, motor operation range setting protection is activated.
−
When position command is not input
Motor Load
Pn514 Pn514
Alarm generation range
Servomotor's allowable operating range Alarm generation range
When position command is input
Pn515
Setting range
Motor Load
Alarm generation range
Pn514
Position command input range Pn514
Servomotor's allowable operating range Alarm generation range
Control Input Signal Read Setting
0 to 3 Unit −
Default setting
0
Power OFF and ON
All
Yes
8-53 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Pn516
Setting range
Explanation of Set Values
1
2
3
0
Set value
0.166 ms
0.333 ms
1 ms
1.666 ms
Description
Select the signal read cycle for control input (digital input).
The Servo Drive reads an input signal multiple times at the specified cycle. If the Servo Drive reads the same signal for multiple consecutive cycles, then the input signal is valid.
Alarm Reset Condition Selection
0 or 1 Unit −
Default setting
0
Power OFF and ON
All
Yes
Pn517
Setting range
Explanation of Set Values
Set value
0
1
Description
120 ms
Follow the Control Input Signal Read Setting (Pn515).
Select the signal confirmation time for alarm reset input signal (RESET).
Error Counter Reset Condition Selection
0 to 4 Unit −
Default setting
3
Position Fully-closed
Power OFF and ON
−
Explanation of Set Values
3
4
1
2
Set value
0
Description
Disabled
Clears the error counter at level when the signal is shorted for 500 μ s or longer.
Clears the error counter at level when the signal is shorted for 1 ms or longer.
Clears the error counter at edge when the signal changes from open to shorted for 100 μ s or longer.
Clears the error counter at edge when the signal changes from open to shorted for 1 ms or longer.
When set to 1 or 2, the minimum time width will be as follows.
Error counter reset input signal
8
Set value 1: 500
μ s or more
Set value 2: 1 ms or more
Error reset keeps repeating.
When set to 3 or 4, the minimum time width will be as follows.
Error counter reset input signal
Set value 3: 100
μ s or more
Set value 4: 1 ms or more
Error is reset once.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-54
8-6 Extended Parameters
8
Pn518
Setting range
Command Pulse Prohibition Input Setting
0 or 1 Unit −
Default setting
1
Position Fully-closed
Power OFF and ON
−
Pn519
Setting range
Explanation of Set Values
Set value
0
1
Enabled
Disabled
Description
Enable or disable the pulse prohibition input signal (IPG).
When command pulse prohibition input is enabled, command pulse input count process is force stopped.
Command Pulse Prohibition Input Read Setting
0 to 3 Unit −
Default setting
0
Position Fully-closed
Power OFF and ON
Yes
Pn520
Setting range
Explanation of Set Values
3
4
1
2
0
Set value
Description
0.166 ms
0.333 ms
1 ms
1.666 ms
0.166 ms (No judgment of multiple matches)
Select the signal read cycle for the pulse prohibition input signal (IPG).
The signal status is updated when the signal status in each signal read cycle that has been set matches multiple times.
You can lower the possibility of incorrect operation caused by noise by extending the signal read cycle. However, the responsiveness to signal inputs will be reduced.
Position Setting Unit Selection
0 or 1 Unit −
Default setting
0
Position Fully-closed
Power OFF and ON
Yes
Explanation of Set Values
0
Set value
1
Command units
Encoder units
Description
Select the setting unit of Positioning Completion Range 1 and 2 (Pn431 and Pn442), and Error
Counter Overflow Level (Pn014).
8-55 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Pn521
Setting range
Torque Limit Selection
0 to 6 Unit −
Default setting
Position Speed Fully-closed
1
Power OFF and ON
−
Pn522
Setting range
Explanation of Set Values
Torque
Limit
Selection
(Pn521)
Torque limit switching input
(TLSEL)
Torque Limit
Switching
Setting (Pn523 and 524)
Forward torque limit input (PCL)
Reverse torque limit input (NCL)
Forward direction torque limit
Reverse direction torque limit
0
1
2
3
−
−
OFF
ON
−
−
Enabled
Enabled
0 to 10 V -10 to 0 V PCL
Pn013
Pn013
Pn013
Pn522
PCL
NCL
Pn522
4 0 to 10 V 0 to 10 V NCL
5
6
OFF
ON
−
−
0 to 10 V Not affected PCL
Pn013
Pn525
PCL
Pn522
Pn526
Select the method to set the forward and reverse torque limits.
If this parameter is set to 1, the forward and reverse torque limit input will be limited by the No. 1
Torque Limit (Pn013).
When using torque control, the No. 1 Torque Limit (Pn013) will be the limit value for forward and reverse operation regardless of the setting of this parameter.
No. 2 Torque Limit
0 to 500 Unit %
Default setting
Position Speed Fully-closed
500
Power OFF and ON
−
Set the limit value for the output torque (Pn013: No. 1 Torque Limit, Pn522: No. 2 Torque Limit) of the motor.
Refer to information on the Torque Limit Selection (Pn521) to select the torque limits.
During torque control, maximum torques for both forward and reverse directions are limited.
Settings in Torque Limit Selection (Pn521) and No. 2 Torque Limit (Pn522) will be ignored.
Make the settings as a percentage of the rated torque. [Example] Maximum torque is limited to 150%
Torque [%]
Forward
300 (maximum)
When Pn013 or Pn522
=
150
200
100 (rated)
8
100
200
Speed
(rated) (maximum)
300
Reverse
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-56
8-6 Extended Parameters
8
Pn523
Setting range
Torque Limit Switching Setting 1
0 to 4,000 Unit ms/100%
Set the rate of change from torque limit 1 to torque limit 2
When set to 0, switching takes place immediately.
Default setting
Position Speed Fully-closed
0
Power OFF and ON
−
Torque Limit undefined
(TLSEL)
No.1
Torque Limit
(Pn013)
Torque Limit
Switching Setting 1 (Pn523)
Pn524
Setting range
Pn525
Setting range
Pn526
Setting range
Pn527
Setting range
Pn528
Setting range
No.2
Torque Limit
(Pn522)
Torque Limit
Switching Setting 2 (Pn524)
Torque Limit Switching Setting 2
0 to 4,000 Unit ms/100%
Default setting
Position Speed Fully-closed
0
Power OFF and ON
−
Set values for this parameter are same as those for Torque Limit Switching Setting 1 (Pn523).
Set the rate of change from torque limit 2 to torque limit 1
Forward External Torque Limit
0 to 500 Unit %
Default setting
Position Speed Fully-closed
500
Set the forward external torque limit for the torque limit switching input.
This object is set in units of 0.1% of the rated torque.
Power OFF and ON
−
Reverse External Torque Limit
0 to 500 Unit %
Default setting
Position Speed Fully-closed
500
Set the reverse external torque limit for the torque limit switching input.
This object is set in units of 0.1% of the rated torque.
Power OFF and ON
−
Analog Torque Limit Scale
10 to 100 Unit 0.1 V/100%
Default setting
Set the gain for conversion for the analog torque limit input.
Position Speed Fully-closed
30
Power OFF and ON
−
Default Display
0 to 35 Unit −
Default setting
1
Power OFF and ON
All
Yes
8-57 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Pn531
Setting range
Explanation of Set Values
29
30
31
32
25
26
27
28
33
35
21
22
23
24
16
17
18
20
12
13
14
15
8
9
10
11
5
6
3
4
1
2
Set value
0 Position command error
Motor speed
Position command speed
Speed control command
Torque command
Total encoder pulses
Total command pulses
Total external encoder feedback pulses
Control mode
I/O signal status
Analog input value
Alarm factor, history
Warning number
Regeneration resistance load ratio
Overload load ratio
Description
Inertia ratio
Reason for no rotation
Display of the number of I/O signal changes
Absolute encoder data
Absolute external encoder position
Monitor for the number of encoder communications errors
Display of axis numbers for communication
Position error (encoder unit)
External encoder error (external encoder unit)
Hybrid error
P-N voltage
Soft version
Drive serial number
Motor serial number
Accumulative operation time
Automatic motor recognition function
Temperature information
Safety status monitor
Select the data to be displayed on the 7-segment LED on the front panel after the power supply is turned ON.
For information on the display, refer to "9-4 Setting the Mode" (P.9-7).
Axis Number
0 to 127 Unit −
Default setting
1
Power OFF and ON
Set the axis number for USB communications. Normally, do not change the set value.
All
Yes
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-58
8-6 Extended Parameters
8
Pn532
Setting range
Command Pulse Input Maximum Setting
250 to 4,000 Unit kpps
Default setting
4000
Position Fully-closed
Power OFF and ON
Yes
Set the maximum number of pulses for a command pulse input. If the command pulse input frequency exceeds 1.2 multiplied by this set value, alarm 27.0 (command pulse frequency error) will occur.
Command pulse input frequency errors are detected for the number of pulses that are received by the Servo Drive. If the number of pulses that is input greatly exceeds this set value, normal detection of the error may not be possible. Also, if the set value is less than 1,000, one of the following digital filters is applied to the command pulse input.
Pn532 set value
250 to 499
500 to 999
1,000 to 4,000
200 ns × 2 readings
100 ns × 2 readings
None (through)
Digital filter
Pn533
Setting range
Pulse Regeneration Output Limit Setting
0 or 1 Unit −
Default setting
Pn535
Setting range
Explanation of Set Values
0
1
Set value
Error detection disabled
Error detection enabled
Description
Set the detection of Alarm 28.0 "pulse regeneration error".
Front Key Protection Setting
0 or 1 Unit −
Default setting
0
Power OFF and ON
All
Yes
0
Power OFF and ON
All
Yes
Explanation of Set Values
0
1
Set value
Front panel operation not blocked
Front panel operation blocked
Description
Set the operation limitation from the front panel.
The operation limits depend on the mode. The operation limits are as follows.
Mode
Monitor Mode
Parameter Setting Mode
EEPROM Write Mode
Auxiliary Function Mode
Operation limits
All monitor data can be checked.
Parameters cannot be changed. However, parameter set values can be checked.
Cannot be executed. (Will not be displayed)
Operations other than the release of the front key protection setting cannot be executed. (Will not be displayed)
8-59 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
8-7 Special Parameters
Pn600 Analog Torque Feed-forward Gain Setting
Setting range 0 to 100 Unit 0.1 V/100%
Position Speed Fully-closed
Default setting 0 Power OFF and ON −
Set the input gain for analog torque feed-forward. 0 to 9 will disable the function.
Pn602 Excessive Speed Error Setting
Setting range 0 to 20000 Unit r/min Default setting 0
Set the detection level for excessive speed error (alarm 24.1).
If 0 is set, excessive speed error will not be detected.
All
Power OFF and ON −
Pn604 Jog Speed
Setting range 0 to 500 Unit r/min Default setting 300
Set the command speed during JOG trial operation (speed control).
Pn605 Gain 3 Effective Time
Setting range 0 to 10,000 Unit 0.1 ms
Set effective time of gain 3 of 3-step gain switching.
Default setting 0
All
Power OFF and ON −
Position Fully-closed
Power OFF and ON −
Pn606 Gain 3 Ratio Setting
Setting range 100 to 1,000 Unit
Set gain 3 as a multiple of gain 1.
% Default setting 100
Position Fully-closed
Power OFF and ON −
Pn607 Torque Command Value Offset
Setting range − 100 to 100 Unit %
Set offset torque to add to torque command.
This object is set as a percentage of the rated torque.
Default setting 0
All
Power OFF and ON −
Pn608 Forward Direction Torque Offset
Setting range − 100 to 100 Unit % Default setting 0
Set the value to add to the torque command in the forward direction operation.
This object is set as a percentage of the rated torque.
All
Power OFF and ON −
Pn609 Reverse Direction Torque Offset
Setting range − 100 to 100 Unit % Default setting 0
Set offset torque to add to torque command for reverse direction operation.
This object is set as a percentage of the rated torque.
All
Power OFF and ON −
Pn610 Function Expansion Setting
Setting range 0 to 63 Unit − Default setting 0
Position
Power OFF and ON −
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-60
8
8-7 Special Parameters
Pn611
Setting range
Pn613
Setting range
Pn614
Setting range
Set the functions by bit.
bit 0 bit 1 bit 2 bit 3 bit 4 bit 5
Bit Function
0
Instantaneous speed observer function Disabled
Disturbance observer function Disabled
Disturbance observer operation setting Always enabled
Inertia ratio switching function Disabled
Electric current response improvement function Disabled
Analog Torque Feed-forward Disabled
Set value
1
Enabled
Enabled
Only when gain 1 is selected
Enabled
Enabled
Enabled
Set the decimal value that has been converted from the bits.
[Example]
Instantaneous speed observer function: enabled
Disturbance observer function: enabled
Disturbance observer operation setting: always enabled
Inertia ratio switching function: disabled
Electric current response improvement function: enabled
Analog torque feed-forward: disabled
If the settings are as described above, the bits will be 010011, and the decimal value will be 19.
Therefore, the set value will be 19.
Electric Current Response Setting
50 to 100 Unit %
Default setting
100
Make fine adjustment to electric current response. The default setting is 100%.
Power OFF and ON
All
−
Inertia Ratio 2
0 to 10,000 Unit %
Default setting
Set the second load inertia as a percentage of the motor rotor inertia.
250
Power OFF and ON
All
−
Alarm Detection Allowable Time Setting
0 to 1,000 Unit ms
Default setting
200
All
Power OFF and ON
−
Set the allowable time before completing an immediate stop when an alarm occurs. When time T
B in the following diagram has elapsed, the alarm output will be forced ON.
The resolution is 2 ms, so the allowable time will be 12 ms even if 11 is set.
Operation command (RUN)
8-61
Brake interlock
(BKIR)
Motor power is supplied.
Released
T B
Power supply
Held
No power supply
Motor speed
30 r/min
TB in the above figure is the brake timing during operation or the time until the motor rotation speed falls to 30 r/min or lower, whichever is shorter.
For details, refer to "6-6 Brake Interlock" (P.6-19).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
Pn615
Setting range
Pn616
Setting range
Overspeed Detection Level Setting at Immediate Stop
0 to 20,000 Unit r/min
Default setting
0
Power OFF and ON
All
−
Set overspeed detection level upon generation of immediate stop alarm.
The overspeed detection level setting will be 1.2 times the maximum motor rotation speed if this parameter is set to 0.
This parameter should normally be set to 0. The setting should be changed only when it is necessary to lower the overspeed detection level.
The set value of this parameter is limited to 1.2 times the maximum motor rotation speed.
Absolute Interface Function Selection
0 or 1 Unit −
Default setting
1
Power OFF and ON
All
Yes
Pn617
Setting range
Explanation of Set Values
Set value
0
1
Disabled
Enabled
Set this parameter to 1.
Front Panel Parameter Write Selection
0 or 1 Unit −
Explanation
Default setting
0
Power OFF and ON
All
Yes
Pn618
Setting range
Explanation of Set Values
Set value
0
1
Explanation
EEPROM write not performed when a parameter is changed from the front panel
EEPROM write performed at the same time
Set the EEPROM write conditions when the front panel parameter is changed.
Power Supply ON Initialization Time
0 to 100 Unit 0.1 s
Default setting
0
Power OFF and ON
Set initialization time after power supply ON to the standard 1.5 seconds plus some.
All
Yes
Pn619
Setting range
Encoder Phase-Z Setting
0 to 32,767 Unit Pulse
Default setting
0
Power OFF and ON
All
Yes
Finely adjust the ON width of encoder phase-Z signal output.
This is enabled when the phase-Z output and phase-A output are not synchronized (Pn011/Pn503
× Encoder resolution is not a multiple of 4) due to the encoder dividing ratio setting.
The set value of Pn619 and the ON width of phase-Z output are related as follows:
Phase-Z output width [s] = 30/(Pn619 × Motor speed [r/min])
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-62
8-7 Special Parameters
8
Pn620
Setting range
External Encoder Phase-Z Setting
0 to 400 Unit μ s
Default setting
0
Fully-closed
Power OFF and ON
Yes
Set the external encoder phase-Z regeneration width with time.
You can output the phase-Z signal at least for the period of time that has been set if the phase-Z signal width is too short for detection due to the travel distance from the external encoder.
Pn622
Setting range
90 ° Phase Difference Output Type External Encoder Phase-AB Regeneration Method Selection
0 or 1 Unit −
Default setting
0
Fully-closed
Power OFF and ON
Yes
Select the regeneration method of pulse outputs A and B when a 90 ° phase difference output type external encoder is used.
Explanation of Set Values
Set value
0
1
Without signal regeneration
With signal regeneration
*1,*2
Explanation
*1. Through outputs are always made for phase Z without signal regeneration.
*2. If the signal regeneration setting is selected, the duties of A and B are regenerated on the amplifier side and disturbance of waveforms can be suppressed. Take note, however, that this causes delays in phase Z.
Pn623
Setting range
Disturbance Torque Compensation Gain
− 100 to 100 Unit %
Set the compensation gain for the disturbance torque.
Default setting
0
Position Fully-closed
Power OFF and ON
−
Pn624
Setting range
Disturbance Observer Filter Setting
10 to 2,500 Unit 0.01 ms
Default setting
Set the filter time constant for disturbance torque compensation.
53
Position Fully-closed
Power OFF and ON
−
Pn627
Setting range
Warning Latch Hold Time Selection
0 to 10 Unit s
Default setting
5
Power OFF and ON
All
Yes
After the cause of a warning is cleared, the warning state is held for the number of seconds set with Warning Latch Hold Time Selection (Pn627).
When 0 is set, the warning state is held even after the cause of the warning is cleared.
Explanation of Set Values
Set value
0
1 to 10
Explanation
The warning state is held even after the cause of the warning is cleared.
To clear the warning state, execute the alarm clear.
The warning state is held for the set number of seconds after the cause of the warning is cleared.
For example, when 3 is set, the warning state is held for 3 seconds after the cause of the warning is cleared.
8-63 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
Pn628
Setting range
Pn631
Setting range
Not used
− Unit −
Realtime Autotuning Estimated Speed Selection
0 to 3 Unit −
Default setting
Default setting
−
1
Power OFF and ON
All
−
Power OFF and ON
All
Yes
Explanation of Set Values
1
2
Set value
0
3
Explanation
Finalize estimated results when load estimation becomes stable.
Estimates every minute from the load characteristic changes.
Estimates every second from the load characteristic changes.
Estimates the optimum speed from the load characteristic changes.
Pn632
Setting range
Realtime Autotuning Customization Mode Setting
− 32,768 to 32,767 Unit −
Default setting
0
Power OFF and ON
All
Set details of autotuning when the Realtime Autotuning Mode Selection (Pn002) is set to 6.
Refer to "10-2 Realtime Autotuning" (P.10-3) for information on realtime Autotuning.
−
Explanation of Set Values
Bits
0 or 1
Name
Load characteristics estimation
*1
2 or 3 Change inertia ratio
4 to 6
7
Torque compensation
Rigidity setting
Explanation
Enable or disable load characteristics change, the estimation.
0: Disabled
1: Enabled
Set how to update the results of load characteristics estimation for the Inertia Ratio (Pn004).
0: Use the present set value
1: Update with the estimation result
Set how to update the results of load characteristics estimation for the Torque Command Offset (Pn607), Forward Torque Offset
(Pn608), and Reverse Torque Offset (Pn609).
0: Use the present set value
1: Disable torque compensation and clear the above parameters to 0.
2: Vertical mode. Update Pn607 and clear Pn608 and Pn609 to
0.
3: Weak friction compensation. Update Pn607 and set Pn608 and Pn609 for weak friction compensation.
4: Medium friction compensation. Update Pn607 and set Pn608 and Pn609 for medium friction compensation.
5: Strong friction compensation. Update Pn607 and set Pn608 and Pn609 for strong friction compensation.
Enable or disable the basic gain settings for the Realtime
Autotuning Machine Rigidity Selection (Pn003).
0: Disabled
1: Enabled
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-64
8
8-7 Special Parameters
Bits
8
9 to 10
Name
Fixed parameter setting
Gain switching setting
Explanation
Enable or disable the normally fixed parameters.
0: Use the current settings
1: Set to fixed values
Select the setting method for parameters related to gain switching when realtime autotuning is enabled.
0: Use the current settings
1: Disable gain switching
2: Enable gain switching
*1 When load characteristic estimation is disabled, inertia ratio updating is also disabled, even if the latter is set to be updated with the estimation result. When torque compensation is updated with the estimation result, load characteristic estimation is disabled.
Safety Points
This parameter is set at the bit level. Unexpected operation may occur if the bits are not set correctly. Set this parameter with care.
Reference
Setting Bit-level Parameters
Use the following procedure to calculate the set value if all settings are not 0.
(1) Check the lowest bit for each setting.
Example: Lowest bit for torque compensation: 4
(2) Multiply the set value by 2 to the power of the lowest bit.
Example: The value for weak friction compensation for the torque compensation would be 2
4
× 3 = 48.
(3) Repeat steps 1 and 2 for all settings and add the results to obtain the set value for Pn632.
Example: The calculation is as follows for the following settings: Load characteristic estimation: Enabled, Inertia ratio updating: Enabled, Torque compensation: Weak friction compensation, Rigidity setting: Enabled, Fixed parameters: Set to fixed values, and Gain switching: Enabled.
2
0 × 1 + 2
2 × 1 + 2
4 × 3 + 2
7 × 1 + 2
8 × 1 + 2
9 × 2 = 1461
8-65 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
Pn633
Setting range
Pn634
Setting range
Pn635
Setting range
Pn637
Setting range
Pn638
Setting range
Absolute Encoder Initial Pulse Regeneration Speed
1,000 to 3,000 Unit r/min
Default setting
1000
Power OFF and ON
All
−
Set the pulse regeneration speed when the initial pulse is output.
Connection with OMRON controller
For the Host Controller to correctly receive the position from the absolute encoder, the pulse output from the drive must be set to be completed before the controller's timeout.
Pulse are outputted to a speed equivalent to a motor rotating at a speed specified by this parameter.
The following values or more are recommended for use.
OMRON controller
CJ1W-NC @@ 4
CS1W-MC @@@
CV500-MC @@@
C200H-MC @@@
3F88M-DRT141
1000
1000
3000
1500
Pn633
*1. You can set the timeout setting time on the controller side.
Hybrid Vibration Suppression Gain
0 to 30,000 Unit 0.1/s
Default setting
0
Fully-closed
Power OFF and ON
−
Set the hybrid vibration suppression gain.
In general, set it to the same value as the position loop gain, and finely adjust it based on the situation.
Hybrid Vibration Suppression Filter
0 to 6,400 Unit 0.01 ms
Set the hybrid vibration suppression filter.
Default setting
10
Fully-closed
Power OFF and ON
−
Vibration Detection Threshold
0 to 1,000 Unit 0.1%
Default setting
0
Power OFF and ON
All
−
Set the vibration detection threshold.
If torque vibration that exceeds this setting is detected, the vibration detection warning will occur.
This object is set in units of 0.1% of the rated torque.
Warning Mask Setting
− 32,768 to 32,767 Unit −
Default setting
4
Power OFF and ON
Set a mask for warning detection.
If you set the corresponding bit to 1, the corresponding warning detection will be disabled.
Refer to "11-2 Warning List" (P.11-4) for details on the setting method.
All
Yes
8
Precautions for Correct Use
Parameters between Pn700 and Pn800 are not used. Do not change the settings.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-66
8-7 Special Parameters
8
8-67 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Operation
This chapter gives the operating procedures and explains how to operate in each mode.
9-1 Operational Procedure .................................................9-1
9-2 Preparing for Operation ...............................................9-2
Items to Check Before Turning ON the Power Supply.................... 9-2
Turning ON the Power Supply ........................................................ 9-3
Checking the Displays .................................................................... 9-3
Absolute Encoder Setup ................................................................. 9-4
9-3 Using the Front Display ...............................................9-6
9-4 Setting the Mode...........................................................9-7
Changing the Mode......................................................................... 9-7
Monitor Mode .................................................................................. 9-8
Parameter Setting Mode ............................................................... 9-22
Parameter Write Mode.................................................................. 9-24
Auxiliary Function Mode................................................................ 9-25
9-5 Trial Operation ............................................................9-33
Preparation for Trial Operation ..................................................... 9-33
Trial Operation in Position Control Mode ...................................... 9-34
Trial Operation in Speed Control Mode ........................................ 9-35
Trial Operation in Torque Control Mode ....................................... 9-36
Trial Operation in Fully-closed Control Mode................................ 9-37
9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9
9-1 Operational Procedure
9-1 Operational Procedure
Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive.
Then make the function settings as required according to the use of the motor and drive.
If the user parameters are set incorrectly, there is a risk of an unpredictable motor operation, which is dangerous. Set the parameters securely according to the setting methods in this manual.
Item
Mounting and installation
Contents
Install the motor and drive according to the installation conditions.(Do not connect the motor to the mechanical system before checking no-load operation.)
Reference
Wiring and connections
Connect the motor and drive to the power supply and peripheral equipment.
Specified installation and wiring conditions must be satisfied, particularly for models conforming to the EC Directives.
Preparing for operation
Check the necessary items and then turn ON the power supply.
Check on the display to see whether there are any internal errors in the drive.
When using a Servomotor with an absolute encoder, set up the absolute encoder.
Function settings
By means of the user parameters, set the functions according to the operating conditions.
Trial operation
First, check the motor operation with no-load. Then turn the power supply OFF and connect the motor to the mechanical system.
If using a motor with an absolute encoder, set up the absolute encoder and set the Motion Control Unit's initial parameters.
Turn ON the power supply again, and check to see whether protective functions, such as the emergency stop and operational limits, work properly.
Check operation at both low speed and high speed using the system without a workpiece, or with dummy workpieces.
Adjustment
Operation
Manually adjust the gain if necessary.
Further adjust the various functions to improve the control performance.
Operation can now be started.
If any problems should occur, refer to "Chapter 11, Troubleshooting and Maintenance".
9-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-2 Preparing for Operation
9-2 Preparing for Operation
This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive. It explains items to check both before and after turning ON the power supply.
It also explains the setup procedure required if using a motor with an absolute encoder.
Items to Check Before Turning ON the Power Supply
Checking Power Supply Voltage
Check to be sure that the power supply voltage is within the ranges shown below.
R88D-KTA5L/KT01L/KT02L/KT04L (Single-phase 100-VAC input)
Main circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
Control circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
R88D-KT01H/02H/04H/08H/10H/15H (Single-phase or single-phase/3-phase 200-VAC input)
Main circuit power supply: Single-phase or single-phase/3-phase 200 to 240 VAC (170 to 264
V) 50/60 Hz Control circuit power supply: Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
R88D-KT20H/30H/50H/75H/150H (3-phase 200-VAC input)
Main circuit power supply: 3-phase 200 to 230 VAC (170 to 253 V)
50/60 Hz Control circuit power supply: Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KT06F/KT10F/KT15F/KT20F/KT30F/KT50F/KT75F/KT150F (3-phase 400-VAC input)
Main circuit power supply: 3-phase 380 to 480 VAC (323 to 528 V)
50/60 Hz Control circuit power supply: 24 VDC ± 15%
Checking Terminal Block Wiring
The main circuit power supply inputs (L1/L3 or L1/L2/L3) must be properly connected to the terminal block.
The control circuit power supply inputs (L1C/L2C) must be properly connected to the terminal block.
The motor's U, V, and W power lines and the green/yellow ( ) must be properly connected to the terminal block.
Checking the Motor
There should be no load on the motor. (Do not connect the mechanical system.)
The motor side power lines and the power cables must be securely connected.
Checking the Encoder Wiring
The encoder cable must be securely connected to the encoder connector (CN2) at the drive.
The encoder cable must be securely connected to the encoder connector at the motor.
Checking the Control I/O Connector
The control cable must be securely connected to the control I/O connector (CN1).
The operation command (RUN) must be OFF.
9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-2
9-2 Preparing for Operation
9
Turning ON the Power Supply
First carry out the preliminary checks, and then turn ON the control circuit power supply.
It makes no difference whether or not the main circuit power supply is turned ON.
The alarm output (/ALM) will take approx. 2 seconds to turn ON after the power supply has been turned ON. Do not attempt to detect an alarm using the Host Controller during this time. (If power supply is turned ON while the Host Controller is connected.)
Checking the Displays
Displays on the Drive
The following will appear on the display area on the drive when the power supply is turned ON.
Approx. 2 s
0.6 s
0.6 s
Default display (determined by the Default
Display setting of parameter Pn528.)
9-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-2 Preparing for Operation
Absolute Encoder Setup
ABS
You must set up the absolute encoder if using a motor with an absolute encoder. The setup is required when you turn ON the power supply for the first time, when an absolute encoder system down error (Alarm No. 40) occurs, or when the encoder cable is disconnected and then connected again.
When using an absolute encoder, set Pn015 to 0 or 2 and set Pn616 to 1.
Set up an absolute encoder while the servo is OFF. Always cycle the power supply after completing the setup.
Absolute Encoder Setup Procedure
1. Turn ON the power supply and align the origin position.
Turn ON the power supply, perform the origin adjustment operation, and move the machine to the origin position.
2. Go to Auxiliary Function Mode.
Press and on the drive. Auxiliary Function Mode will be displayed.
3. Use the Increment and Decrement keys to go to the Absolute Encoder Clear Mode.
Press again. Absolute Encoder Clear Mode will be displayed.
(AUXILIARY FUNCTION mode)
Mode selection Execute
Alarm clear
A1 automatic offset
A2 automatic offset
A3 automatic offset
Motor trial operation
Absolute encoder clear
Parameter initialization
Front panel lock
9
4. Start clearing the absolute encoder.
Hold down . Clearing the absolute encoder will be started.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-4
9
9-2 Preparing for Operation
Pressing and holding
(for approx. 5 s) increases " ."
Start absolute encoder clear.
Clearing is finished in an instant.
Note. will be displayed if absolute encoder
clear is performed on an incremental encoder.
5. Restart the drive.
Turn OFF the control power supply to the drive and then turn it back ON.
9-5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-3 Using the Front Display
9-3 Using the Front Display
LED display (6 digits)
All LEDs will flash when an alarm occurs and the window switches to the alarm display.
Mode key
Switches between the following 4 modes.
• Monitor Mode
• Parameter Setting Mode
• Auxiliary Function mode
• Parameter Write mode
Increment and Decrement key
Increases/decreases the parameter number or data value.
Shift key
Shifts the operating digit to the left.
Data key
Switches between the parameter and data displays, and writes data.
9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-6
9-4 Setting the Mode
9-4 Setting the Mode
Changing the Mode
Front panel default display
*1
9
*1. The display will be based on the Default Display (Pn528) setting after the power supply is turned ON.
9-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Monitor Mode
Position command error
Motor speed
Position command speed
Speed control command
Torque command
Total encoder pulses
Total command pulses
Total external encoder feedback pulses
Control mode
I/O signal status
Analog input value
Alarm factor, history
Warning number
Regeneration resistance load ratio
Overload load ratio
Inertia ratio
Reason for no rotation
I/O signal change count display
Absolute encoder data
Absolute external encoder position
Monitor for the count of encoder communications errors
Communication axis number display
Position error (encoder unit)
External encoder error
(external encoder unit)
Hybrid error
P-N voltage
Soft version
Drive serial number
Motor serial number
Accumulative operation time
Automatic motor recognition function
Drive temperature, encoder temperature
Safety status monitor
When is pressed, the display position will move in the direction of the arrow.
When is pressed, it will move in the opposite direction.
The motor rotation speed will be displayed the first time the power supply is turned ON after purchase. To change the initial display when the power supply is turned ON, change the setting
for the Default Display (Pn528). For details, refer to Pn528 "Default Display" (P.8-57).
9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-8
9
9-4 Setting the Mode
Position Command Error
Lower (L)
Higher (H)
Position command error [command unit]
Press to switch between Lower (L) and Higher (H).
Motor Rotation Speed
Displays the motor rotation speed (unit: r/min).
Rotation speeds in reverse operation are displayed with "-".
Position Command Speed
Displays the position command speed (unit: r/min).
Speed Control Command
Displays the speed control command (unit: r/min).
Torque Command
Displays the percentage of drive torque command.
When the rated torque output for the drive is used, "100%" is displayed.
Torque outputs in reverse operation are displayed with "-".
9-9 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Total Encoder Pulses
Lower (L)
Higher (H)
Total encoder pulses [encoder pulse]
Press to switch between Lower (L) and Higher (H).
Total Command Pulses
Lower (L)
Higher (H)
Total command pulses [command pulse]
Press to switch between Lower (L) and Higher (H).
Total External Encoder Feedback Pulses
Lower (L)
Higher (H)
Total external encoder feedback pulses
Press to switch between Lower (L) and Higher (H).
9-4 Setting the Mode
9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-10
9
9-4 Setting the Mode
Control Mode
Position Control Mode
Speed Control Mode
Torque Control Mode
Fully-closed Control Mode
Displays which control mode is being used: position control, speed control, torque control, or fullyclosed control.
I/O Signal Status
Input signal (pin 8) ON
Output signal (pin 10) OFF or disabled
...ON
...OFF or disabled
Pin number
...Input
...Output
Displays the status of the control input and output signals connected to CN1.
Switching between Input Signals and Output Signals
If the decimal point is on the right side of the signal number, the signal number can be changed.
Use to move the flashing decimal point.
If the decimal point is on the right side of the I/O switching point, you can switch between input and output.
Switch between input and output.
9-11
Press to select the signal you want to monitor.
(Last input signal number)
(First input signal number)
(Last output signal number)
(First output signal number)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Analog Input Value
Input signal Input voltage (V)
Press to select the signal you want to monitor.
Analog input value 1 (V)
The value after offset compensation is displayed.
Analog input value 2 (V)
Analog input value 3 (V)
Note. Voltages exceeding
+
/
−
10 V are not displayed accurately.
Alarm Factor, History
Alarm code
( if no alarm is present)
...Present alarm
...History 0 (latest history)
...History 13 (oldest history)
Up to the most recent 14 alarms, including the current one, can be viewed in the reason of error.
The display area will flash when an alarm occurs.
If an alarm that is recorded in the history occurs, the alarm code for the current alarm and for history 0 will be the same.
"st" will flash on the display if a safety input error (alarm 30.0) occurs.
9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-12
9
9-4 Setting the Mode
Alarm Codes and Meanings
12
13
14
Alarm codes
11
Contents
Control power supply undervoltage
Overvoltage
Main power supply undervoltage
Overcurrent
Servo Drive overheat
15
37
38
39
Alarm codes
36 Parameter error
Contents
Parameters destruction
Drive prohibition input error
40
Excessive analog input
Absolute encoder system down error ABS
16
Overload
41
Absolute encoder counter overflow error ABS
18
21
23
Regeneration overload
Encoder communications error
Encoder communications data error
42
44
45
Absolute encoder overspeed error ABS
Absolute encoder 1-rotation counter error ABS
Absolute encoder multi-rotation counter error ABS
Encoder error 1 24 Error counter overflow
Overspeed
46
26
27
34
Electronic gear setting error
Overrun limit error
47
48
49
Absolute encoder status error
Encoder phase-Z error
Encoder CS signal error
Note. The following alarms are not recorded in the history.
11: Control power supply undervoltage
13: Main power supply undervoltage
36: Parameter error
37: Parameters destruction
38: Drive prohibition input error
95: Motor non-conformity
ABS
9-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Warning Number
,
...Warning status
...No warning status
Warning number
Press to display the occurrence status of each warning.
9-4 Setting the Mode
Regeneration Load Ratio
Displays the regeneration resistance load ratio as a percentage when the detection level for the regeneration overload is 100%.
Overload Load Ratio
9
Displays the overload ratio as a percentage when the rated load corresponds to 100%.
Inertia Ratio
The inertia ratio (%) is displayed.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-14
9-4 Setting the Mode
9
Reasons for No Rotation
A number is displayed to indicate the reason the motor does not rotate.
...Position control
...Speed control
...Torque control
...Fully-closed control
Control mode
Reason number
Number
1
2
Item
Flashing
0
Alarm or warning has occurred
No reason
Main power supply interrupted
No RUN input
Drive prohibition input is enabled.
3
4
5
6
7
8
9
10
11
12
13
Low torque limit setting
Analog torque limit input is enabled.
IPG input is enabled.
Frequency of command pulse input is low.
ECRST input is enabled.
VZERO input is enabled.
S, T
External speed command is low.
Internal speed command is 0.
Torque command is low
S
S
T
Speed limit is low
T
Relevant control mode
All
Description
An alarm has occurred. Warning has occurred.
All
No reason has been detected. The motor operation should be possible.
The main power supply to the drive is not turned ON.
All
All
All
All
P, S
P
P
P
The operation command (RUN) is not connected to COM.
When Pn504 = 0 (drive prohibition input enabled):
· The forward drive prohibition input (POT) is open and the speed command is in the forward direction.
· The reverse drive prohibition input (NOT) is open and the speed command is in the reverse direction.
The currently effective torque limit set value, Pn013 (No. 1 Torque
Limit) or Pn522 (No. 2 Torque Limit), is less than 5% of