Omron R88D-KT02L, R88D-KT10H, R88D-KT20F, R88D-KT75F User Manual

Cat. No. I571-E1-07
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
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
 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.
 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.
 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.
2
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
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
4
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
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, is likely to result in serious injury or may result in
death. Additionally there may be severe property damage.
WARNING
Indicates a potentially hazardous situation which, if not avoided, will
result in minor or moderate injury, or may result in serious injury or
death. Additionally there may be significant property damage.
Caution
Indicates a potentially hazardous situation which, if not
avoided, may result in minor or moderate injury or in
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.
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
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".
.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.
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
.
7
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.
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9
Safety Precautions
Security Measures
WARNING
Anti-virus protection
Install the latest commercial-quality antivirus software on the computer connected to the
control system and maintain to keep the software up-to-date.
Security measures to prevent unauthorized access
Take the following measures to prevent unauthorized access to our products.
• Install physical controls so that only authorized personnel can access control systems and
equipment.
• Reduce connections to control systems and equipment via networks to prevent access
from untrusted devices.
• Install firewalls to shut down unused communications ports and limit communications hosts
and isolate control systems and equipment from the IT network.
• Use a virtual private network (VPN) for remote access to control systems and equipment.
• Adopt multifactor authentication to devices with remote access to control systems and
equipment.
• Set strong passwords and change them frequently.
• Scan virus to ensure safety of USB drives or other external storages before connecting
them to control systems and equipment.
Data input and output protection
Validate backups and ranges to cope with unintentional modification of input/output data to
control systems and equipment.
• Checking the scope of data
• Checking validity of backups and preparing data for restore in case of falsification and
abnormalities
• Safety design, such as emergency shutdown and fail-soft operation in case of data
tampering and abnormalities
Data recovery
Backup data and keep the data up-to-date periodically to prepare for data loss.
When using an intranet environment through a global address, connecting to an
unauthorized terminal such as a SCADA, HMI or to an unauthorized server may result in
network security issues such as spoofing and tampering. You must take sufficient measures
such as restricting access to the terminal, using a terminal equipped with a secure function,
and locking the installation area by yourself.
When constructing an intranet, communication failure may occur due to cable disconnection
or the influence of unauthorized network equipment. Take adequate measures, such as
restricting physical access to network devices, by means such as locking the installation
area.
When using a device equipped with the SD Memory Card function, there is a security risk
that a third party may acquire, alter, or replace the files and data in the removable media by
removing the removable media or unmounting the removable media.
Please take sufficient measures, such as restricting physical access to the Controller or
taking appropriate management measures for removable media, by means of locking the
installation area, entrance management, etc., by yourself.
10
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Safety Precautions
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
11
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.
12
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
13
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.
14
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
15
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
(R88D-KTA5L)
Instructions on Warning Label
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.
16
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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.
Connector for main
circuit power supply
terminals and control
circuit power supply
terminals
Specifications
Connector for External
Regeneration Resistor
connection terminals and
motor connection
terminals
Safety
bypass
connector
Mounting
Brackets
50 W
Singlephase
100 VAC
100 W
200 W
400 W
100 W
200 W
Singlephase/3phase
200 VAC
−
Included
400 W
750 W
1 kW
1.5 kW
2 kW
Included
3 kW
3-phase
200 VAC
Included
5 kW
7.5 kW
−
15 kW
600 W
−
1 kW
Included
1.5 kW
3-phase
400 VAC
2 kW
3 kW
Included
5 kW
7.5 kW
−
15 kW
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
−
17
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-E1-07
Revision code
18
Revision code
Revision date
Revised content
01
September 2009
Original production
02
June 2010
Made corrections and added explanations.
03
January 2011
Added models and made corrections.
04
September 2011
Added DC input ratings for the R88D-KT75H/-KT150H and made
corrections.
05
September 2015
Made corrections and added explanations.
06
January 2018
Made corrections and added explanations.
07
September 2022
Revisions for adding safety precautions regarding security.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
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
Features and
System
Configuration
This chapter explains the features of the Servo Drive, name of each
part, and applicable EC Directives and UL standards.
Chapter 2
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.
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.
Chapter 4
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.
Chapter 5
Basic Control
Modes
This chapter explains an outline of operations available in various
control modes and explains the contents of setting.
Chapter 6
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.
Chapter 7
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.
Chapter 8
Parameters
Details
This chapter explains the set value and contents of setting of each
parameter.
Chapter 9
Operation
This chapter gives the operating procedures and explains how to
operate in each mode.
Chapter 10
Adjustment
Functions
This chapter explains the functions, setting methods, and items to note
regarding various gain adjustments.
Chapter 3
Error and
Chapter 11
Maintenance
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.
Chapter 12 Appendix
This chapter provides connection examples using OMRON's PLC and
Position Controller, as well as a list of parameters.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
19
Table Of Contents
Introduction ...................................................................................... 1
Terms and Conditions Agreement ................................................... 2
Items Requiring Acknowledgment ................................................... 4
Safety Precautions........................................................................... 6
Items to Check after Unpacking....................................................... 17
Revision History............................................................................... 18
Structure of This Document ............................................................. 19
Chapter1
1-1
1-2
1-3
1-4
1-5
1-6
Chapter2
2-1
2-2
2-3
2-4
2-5
2-6
Chapter3
3-1
3-2
3-3
3-4
3-5
3-6
3-7
Chapter4
4-1
4-2
4-3
4-4
4-5
4-6
Chapter5
5-1
20
Features and System Configuration
Outline ................................................................................................ 1-1
System Configuration ......................................................................... 1-2
Names and Functions......................................................................... 1-3
System Block Diagrams...................................................................... 1-5
Applicable Standards.......................................................................... 1-15
Unit Versions ...................................................................................... 1-18
Standard Models and External Dimensions
Servo System Configuration ............................................................... 2-1
How to Read Model Numbers............................................................. 2-3
Standard Model Tables....................................................................... 2-5
External and Mounting Dimensions .................................................... 2-25
EMC Filter Dimensions ....................................................................... 2-71
Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) ... 2-72
Specifications
Servo Drive Specifications.................................................................. 3-1
Overload Characteristics (Electronic Thermal Function) .................... 3-58
Servomotor Specifications .................................................................. 3-59
Cable and Connector Specifications................................................... 3-97
Servo Relay Units and Cable Specifications ...................................... 3-127
External Regeneration Resistor Specifications................................... 3-146
EMC Filter Specifications.................................................................... 3-148
System Design
Installation Conditions......................................................................... 4-1
Wiring.................................................................................................. 4-7
Wiring Conforming to EMC Directives ................................................ 4-33
Regenerative Energy Absorption........................................................ 4-53
Large Load Inertia Adjustment and Dynamic Brake ........................... 4-61
Using DC Power ................................................................................. 4-62
Basic Control Mode
Position Control .................................................................................. 5-1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Table Of Contents
5-2
5-3
5-4
5-5
5-6
Chapter6
6-1
6-2
6-3
6-4
6-5
6-6
6-7
6-8
6-9
6-10
6-11
6-12
6-13
6-14
6-15
6-16
6-17
Chapter7
7-1
7-2
7-3
Chapter8
8-1
8-2
8-3
8-4
8-5
8-6
8-7
Chapter9
9-1
9-2
9-3
9-4
9-5
Speed Control..................................................................................... 5-7
Torque Control.................................................................................... 5-14
Internally Set Speed Control............................................................... 5-19
Switching Control................................................................................ 5-23
Fully-closed Control............................................................................ 5-26
Applied Functions
Damping Control................................................................................. 6-1
Adaptive Filter..................................................................................... 6-5
Notch Filter ......................................................................................... 6-7
Electronic Gear Function .................................................................... 6-10
Encoder Dividing Function.................................................................. 6-14
Brake Interlock.................................................................................... 6-19
Gain Switching Function..................................................................... 6-24
Torque Limit........................................................................................ 6-32
Sequence I/O Signal........................................................................... 6-35
Forward and Reverse Drive Prohibition Functions ............................. 6-41
Disturbance Observer Function.......................................................... 6-44
Gain Switching 3 Function.................................................................. 6-46
Friction Torque Compensation Function ............................................ 6-47
Inertia Ratio Switching Function ......................................................... 6-49
Hybrid Vibration Suppression Function .............................................. 6-50
Feed-forward Function ....................................................................... 6-51
Instantaneous Speed Observer Function ........................................... 6-55
Safety Function
Safe Torque OFF (STO) Function ...................................................... 7-1
Operation Example............................................................................. 7-4
Connection Example .......................................................................... 7-6
Parameter Details
Basic Parameters ............................................................................... 8-1
Gain Parameters ................................................................................ 8-9
Vibration Suppression Parameters..................................................... 8-20
Analog Control Parameters ................................................................ 8-25
Interface Monitor Setting Parameters................................................. 8-37
Extended Parameters......................................................................... 8-47
Special Parameters ............................................................................ 8-60
Operation
Operational Procedure ....................................................................... 9-1
Preparing for Operation ...................................................................... 9-2
Using the Front Display ...................................................................... 9-6
Setting the Mode ................................................................................ 9-7
Trial Operation.................................................................................... 9-33
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
21
Table Of Contents
Chapter10 Adjustment Functions
10-1 Gain Adjustment ................................................................................. 10-1
10-2 Realtime Autotuning ........................................................................... 10-3
10-3 Manual Tuning.................................................................................... 10-10
Chapter11 Troubleshooting and Maintenance
11-1
11-2
11-3
11-4
11-5
Troubleshooting.................................................................................. 11-1
Warning List........................................................................................ 11-4
Alarm List............................................................................................ 11-5
Troubleshooting.................................................................................. 11-10
Periodic Maintenance ......................................................................... 11-27
Chapter12 Appendix
12-1 Connection Examples......................................................................... 12-1
12-2 Parameter List .................................................................................... 12-11
Index
22
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Features and System Configuration
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
1-1 Outline
1-1 Outline
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 and System Configuration
1
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)
NC414
CN1
CN2
RUN SYNC
1
A1
B1
PA202
POWER
SYSMAC
CJ1G-CPU44
PROGRAMMABLE
CONTROLLER
2
A2
B2
ERC ERH
3
A3
B3
4
A4
B4
AS
BS
RUN
ERR/ALM
INH
PRPHL
COMM
OPEN
MACH
No.
x10 1
AXIS1
L1
AC100
-240V
INPUT
MCPWR
BUSY
L2/N
CN3
x10 0
CN4
Pulse train
AXIS2
AXIS2
NC
AXIS1
PERIPHERAL
NC
PORT
Programmable
Controller
SYSMAC CJ/CS
1
OMNUC G5 Series
AC Servomotor
Analog
R88D-KT@
voltage
Features and System Configuration
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)
Programmable
Controller
SYSMAC CS
Motion Control Unit
CS1W-MC221/421 (-V1)
INC
ABS
OMNUC G5 Series
AC Servomotor
R88M-K@
The following units support a motor with absolute encoder:
CJ1W-NC214/414
CJ1W-NC234/434
CS1W-MC221/421 (-V1)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-2
1-3 Names and Functions
1-3 Names and Functions
Servo Drive Part Names
Display
1
Features and System Configuration
Analog monitor connector (CN5)
Operation area
USB connector (CN7)
Expansion connector (CN3)
Main circuit
power supply terminals
(L1, L2, and L3)
Safety connector (CN8)
Control circuit
power supply terminals
(L1C and L2C)
Charge lamp
Control I/O connector (CN1)
External Regeneration
Resistor connection
terminals (B1, B2, and B3)
Motor connection
terminals (U, V and W)
External encoder connector (CN4
Protective ground terminals
1-3
Encoder connector (CN2)
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.
1
Operation Area
Monitors the parameter setting and drive condition.
Features and System Configuration
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
1-4 System Block Diagrams
1-4 System Block Diagrams
R88D-KTA5L/-KT01L/-KT02L/-KT01H/-KT02H/-KT04H
L1
CN A
FUSE
L2
Features and System Configuration
1
CN B
B1
B2
L3
L1C
B3
+
FUSE
-
FUSE
L2C
U
V
W
Voltage
detection
+
-
FG
FG
15 V
G1
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
SW power
supply main
circuit control
Relay
drive
Internal
control power
supply
MPU & ASIC
Regeneration
control
Current detection
Gate drive
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
CN1
CN2
Control Encoder
interface
1-5
Overcurrent
detection
CN4
CN5
CN7
CN8
External
encoder
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT04L/-KT08H/-KT10H/-KT15H
L1
CN B
CN A
FUSE
B2
B3
+
Internal Regeneration
Resistor
L2
L3
B1
FUSE
L1C
−
FUSE
L2C
U
V
W
Voltage
detection
+
1
−
FG
15 V
G1
SW power
supply main
circuit control
Relay
drive
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
MPU & ASIC
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
Axial-flow fan
(except for the
R88D-KT04L/-KT08H)
CN1
CN2
Control Encoder
interface
CN4
CN5
CN7
CN8
External
encoder
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-6
Features and System Configuration
FG
1-4 System Block Diagrams
R88D-KT20H
L1
CN C
CN A
FUSE
B1
B2
B3
Internal Regeneration
Resistor
L2
L3
1
NC
FUSE
L1C
CN B
U
V
W
Voltage
detection
FUSE
Features and System Configuration
L2C
FG
FG
15V
G1
SW power
supply main
circuit control
Relay
drive
5V
3.3V
2.5V
1.5V
E5V
±12V
G2
Internal
control power
supply
MPU & ASIC
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
Axial-flow fan
1-7
CN1
CN2
Control
interface
Encoder
CN4
External
encoder
CN5
CN7
CN8
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT30H/-KT50H
B1
FUSE
L1
B2
B3
+
Internal Regeneration Resistor
L2
L3
NC
FUSE
L1C
-
FUSE
L2C
CN B
U
V
W
Voltage
detection
+
1
-
FG
15 V
G1
SW power
supply main
circuit control
Relay
drive
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
MPU & ASIC
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
Axial-flow fan
CN1
CN2
Control Encoder
interface
CN4
CN5
CN7
CN8
External
encoder
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-8
Features and System Configuration
FG
1-4 System Block Diagrams
R88D-KT75H
TB1
TB1
B1
FUSE
L1
B2
N
+
Fuse
L2
L3
FUSE
1 TB2 L1C
FUSE
Features and System Configuration
U
V
W
Voltage
detection
+
L2C
FG
TB1
-
-
15 V
G1
SW power
supply main
circuit control
Relay
drive
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
MPU & ASIC
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
FG
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
DB1
DB2
DB3
DB4
Axial-flow fan × 3
CN1
CN2
Control Encoder
interface
1-9
CN4
CN5
CN7
CN8
External
encoder
Analog
monitor
USB
Safety
TB2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT150H
TB2
TB2
B1
FUSE
L1
B2
N
+
Fuse
L2
L3
FUSE
TB1
L1C
-
FUSE
Voltage
detection
+
L2C
TB2
U
V
W
1
-
FG
15 V
G1
SW power
supply main
circuit control
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
Relay
drive
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
MPU & ASIC
Position, speed, and torque calculation control area
Display and
setting circuit
area
• PWM control
DB1
DB2
Axial-flow fan × 4
CN1
CN2
Control
interface
Encoder
CN4
External
encoder
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
CN5
CN7
CN8
Analog
monitor
USB
Safety
1-10
TB1
Features and System Configuration
FG
1-4 System Block Diagrams
R88D-KT06F/-KT10F/-KT15F/-KT20F
L1
B1
FUSE
B2
B3
+
Internal Regeneration Resistor
L2
L3
1
24 V
NC
FUSE
-
FUSE
Voltage
detection
+
+
DC-DC
-
0V
Features and System Configuration
U
V
W
FG
FG
15 V
G1
SW power
supply main
circuit control
Relay
drive
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
MPU & ASIC
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
Axial-flow fan
1-11
CN1
CN2
CN4
CN5
CN7
CN8
Control
interface
Encoder
External
encoder
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT30F/-KT50F
TB2
TB2
B1
FUSE
L1
B2
+
Internal Regeneration Resistor
L2
L3
NC
FUSE
TB2
-
TB1
24 V
B3
FUSE
Voltage
detection
+
+
DC-DC
-
0V
U
V
W
1
FG
15 V
G1
SW power
supply main
circuit control
Relay
drive
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
MPU & ASIC
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
Display and
setting circuit
area
Position, speed, and torque calculation control area
• PWM control
Axial-flow fan
CN1
CN2
CN4
CN5
CN7
CN8
Control
interface
Encoder
External
encoder
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-12
Features and System Configuration
FG
1-4 System Block Diagrams
R88D-KT75F
TB1
TB1
B1
FUSE
L1
B2
NC
+
Fuse
L2
L3
1
TB2
24 V
FUSE
-
FUSE
Features and System Configuration
0V
FG
Voltage
detection
+
+
DC-DC
-
15 V
G1
SW power
supply main
circuit control
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
Relay
drive
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
FG
Display and
setting circuit
area
MPU & ASIC
Position, speed, and torque calculation control area
• PWM control
DB1
DB2
DB3
DB4
Axial-flow fan × 3
CN1
CN2
Control Encoder
interface
1-13
TB1
U
V
W
CN4
External
encoder
CN5
Analog
monitor
CN7
CN8
USB
Safety
TB2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-4 System Block Diagrams
R88D-KT150F
TB2
B1
FUSE
L1
L3
TB1
24 V
B2
NC
+
L2
TB2
Fuse
FUSE
-
FUSE
Voltage
detection
+
+
DC-DC
-
0V
TB2
U
V
W
1
FG
15 V
G1
SW power
supply main
circuit control
5V
3.3 V
2.5 V
1.5 V
E5 V
±12 V
G2
Internal
control power
supply
Relay
drive
Regeneration
control
Overcurrent
detection
Current detection
Gate drive
MPU & ASIC
Position, speed, and torque calculation control area
Display and
setting circuit
area
• PWM control
DB1 TB1
DB2
Axial-flow fan × 4
CN1
CN2
Control Encoder
interface
CN4
CN5
CN7
CN8
External
encoder
Analog
monitor
USB
Safety
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-14
Features and System Configuration
FG
1-5 Applicable Standards
1-5 Applicable Standards
EC Directives
Features and System Configuration
1
EC
Directives
Product
Applicable standards
Low
Voltage
Directive
AC Servo Drive
EN 61800-5-1
AC Servomotor
EN60034-1/-5
EMC
Directives
AC Servo Drive
EN 55011 class A group 1
IEC61800-3
EN61000-6-2
Machinery
Directive
AC Servo Drive
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
Product
UL
standards
CSA
standards
Applicable standards
File number
AC Servo Drive
UL508C
E179149*1
AC Servomotor
UL1004-1
E331224
UL1004-1, UL1004-6
E331224*2
AC Servo Drive
CSA C22.2 No. 14
E179149
AC Servomotor
CSA C22.2 No. 100
E331224
*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 606641 (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
Circuit breaker (rated current) (A)
10
R88D-KT02L
10
R88D-KT04L
10
R88D-KT01H
10
R88D-KT02H
10
R88D-KT04H
10
R88D-KT08H
15
R88D-KT10H
15
R88D-KT15H
20
R88D-KT20H
30
R88D-KT30H
50
R88D-KT50H
50
R88D-KT75H
60
R88D-KT150H
100/125 *1
R88D-KT06F
15
R88D-KT10F
15
R88D-KT15F
15
R88D-KT20F
20
R88D-KT30F
30
R88D-KT50F
30
R88D-KT75F
30
R88D-KT150F
50/60 *2
1
Features and System Configuration
R88D-KT01L
*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-@.
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
1-5 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.
Features and System Configuration
1
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.
Product Nameplate
Unit Version
Here, the unit version is 1.2.
(R88D-KTA5L)
Unit Versions
Unit version
Not indicated
Upgraded content
Supported
CX-Drive versions
New release
Ver. 1.80 or higher
Ver.1.1
Alarm 27.2 detection conditions have been
changed to support the increase of encoder
resolution in the G series.
Ver. 1.80 or higher
Ver.1.2
European area compliance
No changes to existing Ver. 1.1 functions
Ver. 1.80 or higher
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1-18
Features and System Configuration
Nameplate
location
1
Standard Models and External Dimensions
2
This chapter explains the models of Servo Drives, Servomotors, and peripheral
equipment, and provides the external dimensions and mounting dimensions.
2-1 Servo System Configuration .......................................2-1
2-2 How to Read Model Numbers ......................................2-3
Servo Drive ..................................................................................... 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
2-1 Servo System Configuration
2-1 Servo System Configuration
Support Software
Support Software
• CX-One FA Integrated
Controller
• CX-One FA Integrated
Tool Package
Including CX-Programmer
and CX-Position
and CX-Motion
Tool Package
(Including CX-Drive)
• CX-Drive
WS02-DRVC1
High-speed type
NC414
CN1
CN2
RUN SYNC
1
A1
B1
SYSMAC
CJ2H
CPU64
ERC ERH
2
A2
B2
3
A3
B3
4
A4
B4
AS
BS
RUN
ERR/ALM
INH
PRPHL
PROGRAMMABLE
CONTROLLER
COMM
BKUP
OPEN
MACH
No.
x10 1
AXIS1
MCPWR
BUSY
x10 0
CN3
CN4
PERIPHERAL
AXIS1
AXIS2
Direct connection cable for CJ1W-NC@@4
XW2Z-@@@J-G@
Position Control Unit Cable
Connector Terminal Block Conversion Unit
XW2Z-@X
XW2@-20G@
External Signal
Standard type
NC113
20
20
01
MACH 23
No.
101
01
X
SYSMAC
CJ1G-CPU44
PROGRAMMABLE
CONTROLLER
RUN
ERR/ALM
789
23
INH
PRPHL
RUN
ERC
ERH
100
COMM
OPEN
MCPWR
BUSY
Position Control Unit Cable (NC)
PERIFHERAL
CN1
Pulse Train Commands
Pulse Train Commands/Feedback Signals
4 56
PORT
1
XW2Z-@-A@
Servo Relay Unit
XW2B-@
Servo Drive Cable
XW2Z-@-B@
1
X
Programmable
Controller
SYSMAC CJ1/CS1
Position Control Unit (NC)
CJ1W-NC@@3 CS1W-NC@@3
C200HW-NC@@3
External Signal
CPU Unit
Built-in pulse
I/O function type
CJ1M-CPU2@
Connector-Terminal Block Conversion Units and Cable
XW2@-50G@
Built-in pulse
I/O function type
XW2Z-@@@J-B24
Pulse Train Commands
CP1H/CP1L
Analog Commands
Standard Models and External Dimensions
Position Control Unit (NC)
CJ1W-NC214/414
CJ1W-NC234/434
789
2
Programmable
Controller
SYSMAC CJ2
456
Position Control Unit
AXIS2
PORT
SYSMAC + Controller (Analog output type)
Control Cables (for Motion Control Unit)
R88A-CPG
Programmable Controller
SYSMAC CS1
Analog Commands/Feedback Signals
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
Motor power signals
AC Servomotors
Power Cables
2
• Flexible Cables
Without Brake
R88A-CA@@@@@SR-E
• With Brake
R88A-CA@@@@@BR-E
•
• Flexible Cables
R88A-CAKA@@@BR-E
• OMNUC G5 Series Servo Drive
R88D-KT
• OMNUC G5-series Servomotor
Feedback Signals
100 VAC
200 VAC
400 VAC
Peripheral Devices
Encoder Cables
● Flexible Cables
• 750 W or less:
R88A-CRKA@@@CR-E
• 1 kW or more:
R88A-CRKC@@@NR-E
R88M-K
3,000 r/min
2,000 r/min
1,500 r/min
1,000 r/min
Absolute Encoder Battery Cable
R88A-CRGD0R3C (-BS)
External encoder
External
Regeneration
Resistors
R88A-RR
(A battery is included with
model numbers ending in “BS”).
* Not required if a battery is connected
to the control connector (CN1).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-2
Standard Models and External Dimensions
Brake Cables (50 to 750 W max.)
2-2 How to Read Model Numbers
2-2 How to Read Model Numbers
Servo Drive
The Servo Drive model number tells the Servo Drive type, applicable Servomotor capacity,
power supply voltage, etc.
R88D-KT01H
2
OMNUC G5-series Servo Drive
Standard Models and External Dimensions
Drive Type
T : Pulse/analog type
Maximum Applicable Servomotor Capacity
A5 : 50 W
01 : 100 W
02 : 200 W
04 : 400 W
06 : 600 W
08 : 750 W
10 : 1 kW
15 : 1.5 kW
20 : 2 kW
30 : 3 kW
50 : 5 kW
75 : 7.5 kW
150 : 15 kW
Power Supply Voltage
L : 100 VAC
H : 200 VAC
F : 400 VAC
2-3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-2 How to Read Model Numbers
Servomotor
R88M-K10030H-BOS2
OMNUC G5-series Servomotor
2
Servomotor Capacity
Standard Models and External Dimensions
050 : 50 W
100 : 100 W
200 : 200 W
400 : 400 W
600 : 600 W
750 : 750 W
900 : 900 W
1K0 : 1 kW
1K5 : 1.5 kW
2K0 : 2 kW
3K0 : 3 kW
4K0 : 4 kW
4K5 : 4.5 kW
5K0 : 5 kW
6K0 : 6 kW
7K5 : 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
H
L
C
T
S
: 400 VAC (incremental encoder specifications)
: 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
Blank : Straight shaft, no key
B
: With brake
: With oil seal
O
S2 : With key and tap
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4
2-3 Standard Model Tables
2-3 Standard Model Tables
Servo Drive Model Table
Specifications
Single-phase 100 VAC
2
Standard Models and External Dimensions
Single-phase/3-phase 200 VAC
3-phase 200 VAC
3-phase 400 VAC
2-5
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
R88D-KT20H
3 kW
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
R88D-KT20F
3 kW
R88D-KT30F
5 kW
R88D-KT50F
7.5 kW
R88D-KT75F
15 kW
R88D-KT150F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Servomotor Model Tables
3,000-r/min Servomotors
Model
Specifications
With incremental encoder
Straight shaft
without key
50 W
Straight shaft
with key and tap
With absolute encoder
Straight shaft
without key
Straight shaft
with key and tap
R88M-K05030H
R88M-K05030H-S2
R88M-K05030T
R88M-K05030T-S2
100 W R88M-K10030L
R88M-K10030L-S2
R88M-K10030S
R88M-K10030S-S2
200 W R88M-K20030L
R88M-K20030L-S2
R88M-K20030S
R88M-K20030S-S2
400 W R88M-K40030L
R88M-K40030L-S2
R88M-K40030S
R88M-K40030S-S2
50 W
R88M-K05030H
R88M-K05030H-S2
R88M-K05030T
R88M-K05030T-S2
100 W R88M-K10030H
R88M-K10030H-S2
R88M-K10030T
R88M-K10030T-S2
200 W R88M-K20030H
R88M-K20030H-S2
R88M-K20030T
R88M-K20030T-S2
400 W R88M-K40030H
R88M-K40030H-S2
R88M-K40030T
R88M-K40030T-S2
750 W R88M-K75030H
R88M-K75030H-S2
R88M-K75030T
R88M-K75030T-S2
R88M-K1K030H
R88M-K1K030H-S2
R88M-K1K030T
R88M-K1K030T-S2
1.5 kW R88M-K1K530H
R88M-K1K530H-S2
R88M-K1K530T
R88M-K1K530T-S2
2 kW
R88M-K2K030H
R88M-K2K030H-S2
R88M-K2K030T
R88M-K2K030T-S2
3 kW
R88M-K3K030H
R88M-K3K030H-S2
R88M-K3K030T
R88M-K3K030T-S2
4 kW
R88M-K4K030H
R88M-K4K030H-S2
R88M-K4K030T
R88M-K4K030T-S2
5 kW
R88M-K5K030H
R88M-K5K030H-S2
R88M-K5K030T
R88M-K5K030T-S2
750 W R88M-K75030F
R88M-K75030F-S2
R88M-K75030C
R88M-K75030C-S2
1 kW
R88M-K1K030F
R88M-K1K030F-S2
R88M-K1K030C
R88M-K1K030C-S2
1.5 kW R88M-K1K530F
R88M-K1K530F-S2
R88M-K1K530C
R88M-K1K530C-S2
2
200 V 1 kW
400 V 2 kW
R88M-K2K030F
R88M-K2K030F-S2
R88M-K2K030C
R88M-K2K030C-S2
3 kW
R88M-K3K030F
R88M-K3K030F-S2
R88M-K3K030C
R88M-K3K030C-S2
4 kW
R88M-K4K030F
R88M-K4K030F-S2
R88M-K4K030C
R88M-K4K030C-S2
5 kW
R88M-K5K030F
R88M-K5K030F-S2
R88M-K5K030C
R88M-K5K030C-S2
Standard Models and External Dimensions
Without brakes
100 V
Note. Models with oil seals are also available.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-6
2-3 Standard Model Tables
Model
Specifications
With incremental encoder
With absolute encoder
Straight shaft
without key
Straight shaft
with key and tap
Straight shaft
without key
Straight shaft
with key and tap
R88M-K05030H-B
R88M-K05030H-BS2
R88M-K05030T-B
R88M-K05030T-BS2
100 W R88M-K10030L-B
R88M-K10030L-BS2
R88M-K10030S-B
R88M-K10030S-BS2
200 W R88M-K20030L-B
R88M-K20030L-BS2
R88M-K20030S-B
R88M-K20030S-BS2
400 W R88M-K40030L-B
R88M-K40030L-BS2
R88M-K40030S-B
R88M-K40030S-BS2
50 W
R88M-K05030H-B
R88M-K05030H-BS2
R88M-K05030T-B
R88M-K05030T-BS2
100 W R88M-K10030H-B
R88M-K10030H-BS2
R88M-K10030T-B
R88M-K10030T-BS2
200 W R88M-K20030H-B
R88M-K20030H-BS2
R88M-K20030T-B
R88M-K20030T-BS2
400 W R88M-K40030H-B
R88M-K40030H-BS2
R88M-K40030T-B
R88M-K40030T-BS2
750 W R88M-K75030H-B
R88M-K75030H-BS2
R88M-K75030T-B
R88M-K75030T-BS2
R88M-K1K030H-B
R88M-K1K030H-BS2
R88M-K1K030T-B
R88M-K1K030T-BS2
1.5 kW R88M-K1K530H-B
R88M-K1K530H-BS2
R88M-K1K530T-B
R88M-K1K530T-BS2
2 kW
R88M-K2K030H-B
R88M-K2K030H-BS2
R88M-K2K030T-B
R88M-K2K030T-BS2
3 kW
R88M-K3K030H-B
R88M-K3K030H-BS2
R88M-K3K030T-B
R88M-K3K030T-BS2
4 kW
R88M-K4K030H-B
R88M-K4K030H-BS2
R88M-K4K030T-B
R88M-K4K030T-BS2
5 kW
R88M-K5K030H-B
R88M-K5K030H-BS2
R88M-K5K030T-B
R88M-K5K030T-BS2
750 W R88M-K75030F-B
R88M-K75030F-BS2
R88M-K75030C-B
R88M-K75030C-BS2
1 kW
R88M-K1K030F-B
R88M-K1K030F-BS2
R88M-K1K030C-B
R88M-K1K030C-BS2
1.5 kW R88M-K1K530F-B
R88M-K1K530F-BS2
R88M-K1K530C-B
R88M-K1K530C-BS2
50 W
100 V
200 V 1 kW
With brakes
Standard Models and External Dimensions
2
400 V 2 kW
R88M-K2K030F-B
R88M-K2K030F-BS2
R88M-K2K030C-B
R88M-K2K030C-BS2
3 kW
R88M-K3K030F-B
R88M-K3K030F-BS2
R88M-K3K030C-B
R88M-K3K030C-BS2
4 kW
R88M-K4K030F-B
R88M-K4K030F-BS2
R88M-K4K030C-B
R88M-K4K030C-BS2
5 kW
R88M-K5K030F-B
R88M-K5K030F-BS2
R88M-K5K030C-B
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
Model
With incremental encoder
Specifications
Straight shaft
without key
Straight shaft
without key
Straight shaft
with key and tap
R88M-K1K020H
R88M-K1K020H-S2
R88M-K1K020T
R88M-K1K020T-S2
1.5 kW R88M-K1K520H
R88M-K1K520H-S2
R88M-K1K520T
R88M-K1K520T-S2
2 kW
R88M-K2K020H
R88M-K2K020H-S2
R88M-K2K020T
R88M-K2K020T-S2
3 kW
R88M-K3K020H
R88M-K3K020H-S2
R88M-K3K020T
R88M-K3K020T-S2
200 V 4 kW
R88M-K4K020H
R88M-K4K020H-S2
R88M-K4K020T
R88M-K4K020T-S2
5 kW
R88M-K5K020H
R88M-K5K020H-S2
R88M-K5K020T
R88M-K5K020T-S2
7.5 kW ---
---
R88M-K7K515T
R88M-K7K515T-S2
11 kW ---
---
R88M-K11K015T
R88M-K11K015T-S2
15 kW ---
---
R88M-K15K015T
R88M-K15K015T-S2
400 W R88M-K40020F
R88M-K40020F-S2
R88M-K40020C
R88M-K40020C-BS2
600 W R88M-K60020F
R88M-K60020F-S2
R88M-K60020C
R88M-K60020C-BS2
1 kW
R88M-K1K020F
R88M-K1K020F-S2
R88M-K1K020C
R88M-K1K020C-S2
1.5 kW R88M-K1K520F
R88M-K1K520F-S2
R88M-K1K520C
R88M-K1K520C-S2
2 kW
R88M-K2K020F
R88M-K2K020F-S2
R88M-K2K020C
R88M-K2K020C-S2
400 V 3 kW
R88M-K3K020F
R88M-K3K020F-S2
R88M-K3K020C
R88M-K3K020C-S2
4 kW
R88M-K4K020F
R88M-K4K020F-S2
R88M-K4K020C
R88M-K4K020C-S2
5 kW
R88M-K5K020F
R88M-K5K020F-S2
R88M-K5K020C
R88M-K5K020C-S2
7.5 kW ---
---
R88M-K7K515C
R88M-K7K515C-S2
11 kW ---
---
R88M-K11K015C
R88M-K11K015C-S2
15 kW ---
---
R88M-K15K015C
R88M-K15K015C-S2
2
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-8
Standard Models and External Dimensions
Without brakes
1 kW
Straight shaft
with key and tap
With absolute encoder
2-3 Standard Model Tables
Model
With incremental encoder
Specifications
Straight shaft
without key
Straight shaft
with key and tap
Straight shaft
without key
Straight shaft
with key and tap
R88M-K1K020H-B
R88M-K1K020H-BS2
R88M-K1K020T-B
R88M-K1K020T-BS2
1.5 kW R88M-K1K520H-B
R88M-K1K520H-BS2
R88M-K1K520T-B
R88M-K1K520T-BS2
2 kW
R88M-K2K020H-B
R88M-K2K020H-BS2
R88M-K2K020T-B
R88M-K2K020T-BS2
3 kW
R88M-K3K020H-B
R88M-K3K020H-BS2
R88M-K3K020T-B
R88M-K3K020T-BS2
200 V 4 kW
R88M-K4K020H-B
R88M-K4K020H-BS2
R88M-K4K020T-B
R88M-K4K020T-BS2
5 kW
R88M-K5K020H-B
R88M-K5K020H-BS2
R88M-K5K020T-B
R88M-K5K020T-BS2
7.5 kW ---
---
R88M-K7K515T-B
R88M-K7K515T-BS2
11 kW ---
---
R88M-K11K015T-B
R88M-K11K015T-S2
15 kW ---
---
R88M-K15K015T-B
R88M-K15K015T-S2
400 W R88M-K40020F-B
R88M-K40020F-BS2
R88M-K40020C-B
R88M-K40020C-BS2
600 W R88M-K60020F-B
R88M-K60020F-BS2
R88M-K60020C-B
R88M-K60020C-BS2
1 kW
R88M-K1K020F-B
R88M-K1K020F-BS2
R88M-K1K020C-B
R88M-K1K020C-BS2
1.5 kW R88M-K1K520F-B
R88M-K1K520F-BS2
R88M-K1K520C-B
R88M-K1K520C-BS2
2 kW
R88M-K2K020F-B
R88M-K2K020F-BS2
R88M-K2K020C-B
R88M-K2K020C-BS2
400 V 3 kW
R88M-K3K020F-B
R88M-K3K020F-BS2
R88M-K3K020C-B
R88M-K3K020C-BS2
4 kW
R88M-K4K020F-B
R88M-K4K020F-BS2
R88M-K4K020C-B
R88M-K4K020C-BS2
5 kW
R88M-K5K020F-B
R88M-K5K020F-BS2
R88M-K5K020C-B
R88M-K5K020C-BS2
7.5 kW ---
---
R88M-K7K515C-B
R88M-K7K515C-BS2
11 kW ---
---
R88M-K11K015C-B
R88M-K11K015C-BS2
15 kW ---
---
R88M-K15K015C-B
R88M-K15K015C-BS2
1 kW
With brakes
2
Standard Models and External Dimensions
With absolute encoder
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
Model
With incremental encoder
Specifications
With brakes
Straight shaft
with key and tap
Straight shaft
without key
Straight shaft
with key and tap
900 kW R88M-K90010H
R88M-K90010H-S2
R88M-K90010T
R88M-K90010T-S2
2 kW
R88M-K2K010H
R88M-K2K010H-S2
R88M-K2K010T
R88M-K2K010T-S2
200 V 3 kW
R88M-K3K010H
R88M-K3K010H-S2
R88M-K3K010T
R88M-K3K010T-S2
4.5 kW ---
---
R88M-K4K510T
R88M-K4K510T-S2
6 kW
---
R88M-K6K010T
R88M-K6K010T-S2
900 kW R88M-K90010F
R88M-K90010F-S2
R88M-K90010C
R88M-K90010C-S2
2 kW
R88M-K2K010F
R88M-K2K010F-S2
R88M-K2K010C
R88M-K2K010C-S2
400 V 3 kW
R88M-K3K010F
R88M-K3K010F-S2
R88M-K3K010C
R88M-K3K010C-S2
4.5 kW ---
---
R88M-K4K510C
R88M-K4K510C-S2
6 kW
---
R88M-K6K010C
R88M-K6K010C-S2
900 kW R88M-K90010H-B
R88M-K90010H-BS2
R88M-K90010T-B
R88M-K90010T-BS2
2 kW
R88M-K2K010H-B
R88M-K2K010H-BS2
R88M-K2K010T-B
R88M-K2K010T-BS2
200 V 3 kW
R88M-K3K010H-B
R88M-K3K010H-BS2
R88M-K3K010T-B
R88M-K3K010T-BS2
4.5 kW ---
---
R88M-K4K510T-B
R88M-K4K510T-BS2
6 kW
---
R88M-K6K010T-B
R88M-K6K010T-BS2
900 kW R88M-K90010F-B
R88M-K90010F-BS2
R88M-K90010C-B
R88M-K90010C-BS2
2 kW
R88M-K2K010F-B
R88M-K2K010F-BS2
R88M-K2K010C-B
R88M-K2K010C-BS2
400 V 3 kW
R88M-K3K010F-B
R88M-K3K010F-BS2
R88M-K3K010C-B
R88M-K3K010C-BS2
4.5 kW ---
---
R88M-K4K510C-B
R88M-K4K510C-BS2
6 kW
---
R88M-K6K010C-B
R88M-K6K010C-BS2
---
---
---
---
Note. Models with oil seals are also available.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-10
2
Standard Models and External Dimensions
Without brakes
Straight shaft
without key
With absolute encoder
2-3 Standard Model Tables
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
2
Servomotor
Standard Models and External Dimensions
Voltage
Rated
output
With incremental
encoder
With absolute
encoder
Servo Drive
Single-phase
100 V
50 W
R88M-K05030H-@
R88M-K05030T-@
R88D-KTA5L
100 W
R88M-K10030L-@
R88M-K10030S-@
R88D-KT01L
Single-phase/
3-phase 100 V
200 W
R88M-K20030L-@
R88M-K20030S-@
R88D-KT02L
400 W
R88M-K40030L-@
R88M-K40030S-@
R88D-KT04L
50 W*
R88M-K05030H-@
R88M-K05030T-@
R88D-KT01H
100 W
R88M-K10030H-@
R88M-K10030T-@
R88D-KT01H
200 W
R88M-K20030H-@
R88M-K20030T-@
R88D-KT02H
400 W
R88M-K40030H-@
R88M-K40030T-@
R88D-KT04H
750 W
R88M-K75030H-@
R88M-K75030T-@
R88D-KT08H
1 kW*
R88M-K1K030H-@
R88M-K1K030T-@
R88D-KT15H
1.5 kW
R88M-K1K530H-@
R88M-K1K530T-@
R88D-KT15H
2 kW
R88M-K2K030H-@
R88M-K2K030T-@
R88D-KT20H
3 kW
R88M-K3K030H-@
R88M-K3K030T-@
R88D-KT30H
4 kW*
R88M-K4K030H-@
R88M-K4K030T-@
R88D-KT50H
5 kW
R88M-K5K030H-@
R88M-K5K030T-@
R88D-KT50H
750 W*
R88M-K75030F-@
R88M-K75030C-@
R88D-KT10F
1 kW*
R88M-K1K030F-@
R88M-K1K030C-@
R88D-KT15F
1.5 kW
R88M-K1K530F-@
R88M-K1K530C-@
R88D-KT15F
2 kW
R88M-K2K030F-@
R88M-K2K030C-@
R88D-KT20F
3 kW
R88M-K3K030F-@
R88M-K3K030C-@
R88D-KT30F
4 kW*
R88M-K4K030F-@
R88M-K4K030C-@
R88D-KT50F
5 kW
R88M-K5K030F-@
R88M-K5K030C-@
R88D-KT50F
Single-phase/
3-phase 200 V
3-phase 200 V
3-phase 400 V
* Use these combination with caution because the Servo Drive and Servomotor have different
capacities.
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
Servomotor
Voltage
Single-phase/
3-phase 200 V
3-phase 200 V
Servo Drive
With incremental
encoder
With absolute
encoder
1 kW
R88M-K1K020H-@
R88M-K1K020T-@
R88D-KT10H
1.5 kW
R88M-K1K520H-@
R88M-K1K520T-@
R88D-KT15H
2 kW
R88M-K2K020H-@
R88M-K2K020T-@
R88D-KT20H
3 kW
R88M-K3K020H-@
R88M-K3K020T-@
R88D-KT30H
4 kW*
R88M-K4K020H-@
R88M-K4K020T-@
R88D-KT50H
5 kW
R88M-K5K020H-@
R88M-K5K020T-@
R88D-KT50H
7.5 kW
---
R88M-K7K515T-@
R88D-KT75H
11 kW*
---
R88M-K11K015T-@
R88D-KT150H
15 kW
---
R88M-K15K015T-@
R88D-KT150H
400 W*
R88M-K40020F-@
R88M-K40020C-@
R88D-KT06F
600 W
R88M-K60020F-@
R88M-K60020C-@
R88D-KT06F
1 kW
R88M-K1K020F-@
R88M-K1K020C-@
R88D-KT10F
1.5 kW
R88M-K1K520F-@
R88M-K1K520C-@
R88D-KT15F
2 kW
R88M-K2K020F-@
R88M-K2K020C-@
R88D-KT20F
3 kW
R88M-K3K020F-@
R88M-K3K020C-@
R88D-KT30F
4 kW*
R88M-K4K020F-@
R88M-K4K020C-@
R88D-KT50F
5 kW
R88M-K5K020F-@
R88M-K5K020C-@
R88D-KT50F
7.5 kW
---
R88M-K7K515C-@
R88D-KT75F
11 kW*
---
R88M-K11K015C-@
R88D-KT150F
15 kW
---
R88M-K15K015C-@
R88D-KT150F
2
* Use these combination with caution because the Servo Drive and Servomotor have different capacities.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-12
Standard Models and External Dimensions
3-phase 400 V
Rated
output
2-3 Standard Model Tables
1,000-r/min Servomotors and Servo Drives
Servomotor
Voltage
Rated
output
With incremental
encoder
Servo Drive
With absolute encoder
Single-phase/
900 W*
3-phase 200 V
R88M-K90010H-@
R88M-K90010T-@
R88D-KT15H
2 kW*
R88M-K2K010H-@
R88M-K2K010T-@
R88D-KT30H
3 kW*
R88M-K3K010H-@
R88M-K3K010T-@
R88D-KT50H
4.5 kW*
---
R88M-K4K510T-@
R88D-KT50H
6 kW*
---
R88M-K6K010T-@
R88D-KT75H
900 W*
R88M-K90010F-@
R88M-K90010C-@
R88D-KT15F
2 kW*
R88M-K2K010F-@
R88M-K2K010C-@
R88D-KT30F
3-phase 400 V 3 kW*
R88M-K3K010F-@
R88M-K3K010C-@
R88D-KT50F
4.5 kW*
---
R88M-K4K510C-@
R88D-KT50F
6 kW*
---
R88M-K6K010C-@
R88D-KT75F
3-phase 200 V
Standard Models and External Dimensions
2
* 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)
2-13
Model
1.5 m
R88A-CRKA001-5CR-E
3m
R88A-CRKA003CR-E
5m
R88A-CRKA005CR-E
10 m
R88A-CRKA010CR-E
15 m
R88A-CRKA015CR-E
20 m
R88A-CRKA020CR-E
[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
1.5 m
R88A-CRKC001-5NR-E
3m
R88A-CRKC003NR-E
5m
R88A-CRKC005NR-E
[400 V]
For 3,000-r/min Servomotors
For 2,000-r/min Servomotors
For 1,000-r/min Servomotors
10 m
R88A-CRKC010NR-E
15 m
R88A-CRKC015NR-E
20 m
R88A-CRKC020NR-E
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Motor Power Cables (European Flexible Cables)
Model
Specifications
For motor without brake
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 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 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
1.5 m
R88A-CAKA001-5SR-E
3m
R88A-CAKA003SR-E
5m
R88A-CAKA005SR-E
10 m
R88A-CAKA010SR-E
15 m
R88A-CAKA015SR-E
20 m
R88A-CAKA020SR-E
1.5 m
R88A-CAGB001-5SR-E
R88A-CAGB001-5BR-E
3m
R88A-CAGB003SR-E
R88A-CAGB003BR-E
5m
R88A-CAGB005SR-E
R88A-CAGB005BR-E
10 m
R88A-CAGB010SR-E
R88A-CAGB010BR-E
15 m
R88A-CAGB015SR-E
R88A-CAGB015BR-E
20 m
R88A-CAGB020SR-E
R88A-CAGB020BR-E
1.5 m
R88A-CAGB001-5SR-E
R88A-CAKF001-5BR-E
3m
R88A-CAGB003SR-E
R88A-CAKF003BR-E
5m
R88A-CAGB005SR-E
R88A-CAKF005BR-E
10 m
R88A-CAGB010SR-E
R88A-CAKF010BR-E
15 m
R88A-CAGB015SR-E
R88A-CAKF015BR-E
20 m
R88A-CAGB020SR-E
R88A-CAKF020BR-E
1.5 m
R88A-CAGD001-5SR-E
R88A-CAGD001-5BR-E
3m
R88A-CAGD003SR-E
R88A-CAGD003BR-E
5m
R88A-CAGD005SR-E
R88A-CAGD005BR-E
10 m
R88A-CAGD010SR-E
R88A-CAGD010BR-E
15 m
R88A-CAGD015SR-E
R88A-CAGD015BR-E
20 m
R88A-CAGD020SR-E
R88A-CAGD020BR-E
(See note 1.)
2
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 4-2 Wiring (P. 4-7) and make
your own cable.
For flexible power cables for Servomotors of 6 to 7.5 kW, refer to 3-4 Cable and Connector
Specifications and make your own power cable.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-14
Standard Models and External Dimensions
[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 with brake
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
2
Model
1.5 m
R88A-CAKA001-5BR-E
3m
R88A-CAKA003BR-E
5m
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 3-4 Cable and
Connector Specifications and make your own brake cable.
Standard Models and External Dimensions
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)
2-15
Model
3m
R88A-CRKA003C
5m
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
[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
3m
R88A-CRKC003N
5m
R88A-CRKC005N
10 m
R88A-CRKC010N
15 m
R88A-CRKC015N
[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
20 m
R88A-CRKC020N
30 m
R88A-CRKC030N
40 m
R88A-CRKC040N
50 m
R88A-CRKC050N
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Motor Power Cables (Global Non-Flexible Cables)
Model
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750
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 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
For motor with brake
3m
R88A-CAKA003S
5m
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
3m
R88A-CAGB003S
R88A-CAGB003B
5m
R88A-CAGB005S
R88A-CAGB005B
10 m
R88A-CAGB010S
R88A-CAGB010B
15 m
R88A-CAGB015S
R88A-CAGB015B
20 m
R88A-CAGB020S
R88A-CAGB020B
30 m
R88A-CAGB030S
R88A-CAGB030B
40 m
R88A-CAGB040S
R88A-CAGB040B
50 m
R88A-CAGB050S
R88A-CAGB050B
3m
R88A-CAGB003S
R88A-CAKF003B
5m
R88A-CAGB005S
R88A-CAKF005B
10 m
R88A-CAGB010S
R88A-CAKF010B
15 m
R88A-CAGB015S
R88A-CAKF015B
20 m
R88A-CAGB020S
R88A-CAKF020B
30 m
R88A-CAGB030S
R88A-CAKF030B
40 m
R88A-CAGB040S
R88A-CAKF040B
50 m
R88A-CAGB050S
R88A-CAKF050B
3m
R88A-CAGD003S
R88A-CAGD003B
5m
R88A-CAGD005S
R88A-CAGD005B
10 m
R88A-CAGD010S
R88A-CAGD010B
15 m
R88A-CAGD015S
R88A-CAGD015B
20 m
R88A-CAGD020S
R88A-CAGD020B
30 m
R88A-CAGD030S
R88A-CAGD030B
40 m
R88A-CAGD040S
R88A-CAGD040B
50 m
R88A-CAGD050S
R88A-CAGD050B
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
(See note 1.)
2
Standard Models and External Dimensions
[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
2-16
2-3 Standard Model Tables
Model
Specifications
For 2,000-r/min Servomotors of 7.5 kW
For 1,000-r/min Servomotors of 6 kW
2
For motor without
brake
For motor with brake
3m
R88A-CAGE003S
-
5m
R88A-CAGE005S
-
10 m
R88A-CAGE010S
-
15 m
R88A-CAGE015S
-
20 m
R88A-CAGE020S
-
30 m
R88A-CAGE030S
-
40 m
R88A-CAGE040S
-
50 m
R88A-CAGE050S
-
Standard Models and External Dimensions
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 non-flexible power cables for Servomotors of 11 or 15 kW, refer to 4-2 Wiring (P. 4-7) and
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
2-17
Model
3m
R88A-CAKA003B
5m
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
3m
R88A-CAGE003B
5m
R88A-CAGE005B
10 m
R88A-CAGE010B
15 m
R88A-CAGE015B
20 m
R88A-CAGE020B
30 m
R88A-CAGE030B
40 m
R88A-CAGE040B
50 m
R88A-CAGE050B
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Encoder Cables (Global Flexible Cables)
Specifications
Model
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to 750 W
(for both absolute encoders and incremental encoders)
R88A-CRKA003CR
5m
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
[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
3m
R88A-CRKC003NR
5m
R88A-CRKC005NR
10 m
R88A-CRKC010NR
15 m
R88A-CRKC015NR
[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
20 m
R88A-CRKC020NR
30 m
R88A-CRKC030NR
40 m
R88A-CRKC040NR
50 m
R88A-CRKC050NR
Motor Power Cables (Global Flexible Cables)
Model
Specifications
[100 V and 200 V]
For 3,000-r/min Servomotors of 50 to
750 W
For motor without
brake
For motor with brake
3m
R88A-CAKA003SR
5m
R88A-CAKA005SR
10 m
R88A-CAKA010SR
15 m
R88A-CAKA015SR
20 m
R88A-CAKA020SR
30 m
R88A-CAKA030SR
40 m
R88A-CAKA040SR
50 m
R88A-CAKA050SR
3m
R88A-CAGB003SR
R88A-CAGB003BR
5m
R88A-CAGB005SR
R88A-CAGB005BR
10 m
R88A-CAGB010SR
R88A-CAGB010BR
15 m
R88A-CAGB015SR
R88A-CAGB015BR
20 m
R88A-CAGB020SR
R88A-CAGB020BR
30 m
R88A-CAGB030SR
R88A-CAGB030BR
40 m
R88A-CAGB040SR
R88A-CAGB040BR
50 m
R88A-CAGB050SR
R88A-CAGB050BR
(See note 1.)
[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
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-18
2
Standard Models and External Dimensions
3m
2-3 Standard Model Tables
Model
Specifications
[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
2
Standard Models and External Dimensions
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
For motor without
brake
For motor with brake
3m
R88A-CAGB003SR
R88A-CAKF003BR
5m
R88A-CAGB005SR
R88A-CAKF005BR
10 m
R88A-CAGB010SR
R88A-CAKF010BR
15 m
R88A-CAGB015SR
R88A-CAKF015BR
20 m
R88A-CAGB020SR
R88A-CAKF020BR
30 m
R88A-CAGB030SR
R88A-CAKF030BR
40 m
R88A-CAGB040SR
R88A-CAKF040BR
50 m
R88A-CAGB050SR
R88A-CAKF050BR
3m
R88A-CAGD003SR
R88A-CAGD003BR
5m
R88A-CAGD005SR
R88A-CAGD005BR
10 m
R88A-CAGD010SR
R88A-CAGD010BR
15 m
R88A-CAGD015SR
R88A-CAGD015BR
20 m
R88A-CAGD020SR
R88A-CAGD020BR
30 m
R88A-CAGD030SR
R88A-CAGD030BR
40 m
R88A-CAGD040SR
R88A-CAGD040BR
50 m
R88A-CAGD050SR
R88A-CAGD050BR
Note 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 4-2 Wiring (P. 4-7) and make
your own cable.
For flexible power cables for Servomotors of 6 to 7.5 kW, refer to Motor Power Cable
Specifications on page 3-100 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
Model
3m
R88A-CAKA003BR
5m
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 3-4 Cable and
Connector Specifications 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
Model
2,000 mA•h 3.6 V
2
R88A-BAT01G
Standard Models and External Dimensions
Analog Monitor Cable
Specifications
Analog monitor cable
Model
1m
R88A-CMK001S
Connectors
Specifications
Motor connector for encoder cable
Model
[100 V and 200 V]
For 3,000-r/min of 50 to 750 W
R88A-CNK02R
[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
R88A-CNK04R
Control I/O connector (CN1)
R88A-CNU11C
Encoder connector (CN2)
R88A-CNW01R
External encoder connector (CN4)
R88A-CNK41L
Safety connector (CN8)
R88A-CNK81S
Power cable connector (for 750 W max.)
R88A-CNK11A
Brake cable connector (for 750 W max.)
R88A-CNK11B
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-20
2-3 Standard Model Tables
Servo Relay Units (for CN1)
Specifications
Servo Relay Unit
Standard Models and External Dimensions
2
Model
For CS1W-NC113/-NC133
For CJ1W-NC113/-NC133
For C200HW-NC113
XW2B-20J6-1B
For CS1W-NC213/-NC413/-NC233/-NC433
For CJ1W-NC213/-NC413/-NC233/-NC433
For C200HW-NC213/-NC413
XW2B-40J6-2B
For CJ1M-CPU21/-CPU22/-CPU23
XW2B-20J6-8A
XW2B-40J6-9A
For CQM1-CPU43-V1
For CQM1H-PLB21
XW2B-20J6-3B
Servo Relay Unit Cables for Servo Drives
Specifications
Servo Drive cables
Model
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)
1m
For CJ1M-CPU21/-CPU22/-CPU23
(XW2B-20J6-8A/XW2B-40J6-9A)
1m
XW2Z-100J-B31
2m
XW2Z-200J-B31
XW2Z-100J-B25
XW2Z-200J-B25
2m
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
Specifications
For CQM1H-PLB21 (XW2B-20J6-3B)
XW2Z-050J-A3
1m
XW2Z-100J-A3
For CS1W-NC113, C200HW-NC113 (XW2B20J6-1B)
0.5 m
XW2Z-050J-A6
1m
XW2Z-100J-A6
For CS1W-NC213/-NC413, C200HW-NC213/NC413 (XW2B-20J6-2B)
0.5 m
XW2Z-050J-A7
1m
XW2Z-100J-A7
For CS1W-NC133 (XW2B-20J6-1B)
0.5 m
XW2Z-050J-A10
1m
XW2Z-100J-A10
0.5 m
XW2Z-050J-A11
1m
XW2Z-100J-A11
0.5 m
XW2Z-050J-A14
1m
XW2Z-100J-A14
0.5 m
XW2Z-050J-A15
1m
XW2Z-100J-A15
0.5 m
XW2Z-050J-A18
1m
XW2Z-100J-A18
0.5 m
XW2Z-050J-A19
1m
XW2Z-100J-A19
0.5 m
XW2Z-050J-A33
1m
XW2Z-100J-A33
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 (XW2B20J6-8A/XW2B-40J6-9A)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2
Standard Models and External Dimensions
0.5 m
For CS1W-NC233/-NC433 (XW2B-20J6-2B)
Position Control Unit
cables
Model
2-22
2-3 Standard Model Tables
Control Cables
Specifications
Model
Specified cables for Position Control Unit
(line-driver output for 1 axis)
CJ1W-NC234/-NC434
Standard Models and External Dimensions
2
1m
XW2Z-100J-G9
5m
XW2Z-500J-G9
10 m
XW2Z-10MJ-G9
Specified cables for Position Control Unit
(open collector output for 1 axis)
CJ1W-NC214/-NC414
1m
XW2Z-100J-G13
3m
XW2Z-300J-G13
Specified cables for Position Control Unit
(line-driver output for 2 axes)
CJ1W-NC234/-NC434
1m
XW2Z-100J-G1
5m
XW2Z-500J-G1
10 m
XW2Z-10MJ-G1
Specified cables for Position Control Unit
(open collector output for 2 axes)
CJ1W-NC214/-NC414
1m
XW2Z-100J-G5
3m
XW2Z-300J-G5
Specified cables for Motion Control Unit (for 1 axis)
CS1W-MC221-V1/-MC421-V1
1m
R88A-CPG001M1
2m
R88A-CPG002M1
3m
R88A-CPG003M1
5m
R88A-CPG005M1
1m
R88A-CPG001M2
2m
R88A-CPG002M2
3m
R88A-CPG003M2
5m
R88A-CPG005M2
1m
R88A-CPG001S
2m
R88A-CPG002S
1m
XW2Z-100J-B24
2m
XW2Z-200J-B24
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
M3 screw and for pin
terminals
XW2B-50G4
M3.5 screw and for fork/
round terminals
XW2B-50G5
M3 screw and for fork/round
terminals
XW2D-50G6
External Regeneration Resistors
Specifications
2-23
Model
Regeneration process capacity: 20 W, 50 Ω (with 150°C thermal sensor)
R88A-RR08050S
Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor)
R88A-RR080100S
Regeneration process capacity: 70 W, 47 Ω (with 150°C thermal sensor)
R88A-RR22047S1
Regeneration process capacity: 180 W, 20 Ω (with 200°C thermal sensor)
R88A-RR50020S
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-3 Standard Model Tables
Mounting Brackets (L-Brackets for Rack Mounting)
Specifications
Model
R88D-KTA5L/-KT01L/-KT01H/-KT02H
R88A-TK01K
R88D-KT02L/-KT04H
R88A-TK02K
R88D-KT04L/-KT08H
R88A-TK03K
R88D-KT10H/-KT15H/-KT06F/-KT10F/-KT15F
R88A-TK04K
2
Standard Models and External Dimensions
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
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
2
External dimensions
70
40
Standard Models and External Dimensions
Mounting dimensions
130
140
150
150
2-M4
6
28
40
2-25
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
Mounting dimensions
130
70
40
19.5
2.5
7
φ5.2
8
2-M4
170
180
170
Rectangular
hole
R26
6
5.2
2.5
(42)*
7
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-26
Standard Models and External Dimensions
150
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
External dimensions
Mounting dimensions
70
55
130
2-M4
140
150
150
6
43
55
Front Mounting (Using Front Mounting Brackets)
External dimensions
Mounting dimensions
70
55
130
19.5
47
2.5
7
8
2-M4
170
Rectangular
hole
(158)*
φ5.2
150
170
180
Standard Models and External Dimensions
2
R2.6
6
5.2
2.5
(57)*
7
* Rectangular hole dimensions are reference values.
2-27
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
External dimensions
Mounting dimensions
70
65
170
4
2-M4
150
140
Standard Models and External Dimensions
150
2
7.5
50
65
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
65
170
19.5
40
20
4
2-M4
2.5
Rectangular
hole
R2.6
(158)*
180
170
21
150
170
φ5.2
Mounting dimensions
6
5.2
2.5
(67)*
20
40
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-28
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
Mounting dimensions
70
170
4
86
2-M4
Standard Models and External Dimensions
140
150
150
2
8.5
70
86
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
60
40
170
19.5
φ5.2
4
4-M4
2.5
Rectangular
hole
170
150
170
180
φ5.2
10
(158)*
86
85
Mounting dimensions
6
R2.6
10
5.2
40
5.2
R2.6
2.5
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
86
85
17.5
70
50
φ5.2
5.2
5.2
42.5
R2.6
5.2
φ5.2
R2.6
17.5
3.5
2
198
188
R2.6
Standard Models and External Dimensions
42.5
5.2
168
R2.6
193.5
50
Mounting dimensions
18.5
6-M4
188
168
25
50
86
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-30
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
86
85
17.5
193.5
70
50
R2.6
φ5.2
42.5
5.2
5.2
5.2
42.5
R2.6
5.2
φ5.2
30.7
R2.6
2.5
Standard Models and External Dimensions
R2.6
17.5
198
188
168
2
2.5
50
Mounting dimensions
Rectangular
hole
6-M4
188
(176)*
25
6
19.5
50
(88)*
* Rectangular hole dimensions are reference values.
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
70
130
15
φ5.2
5.2
65
5.2
R2.6
212
100
3
R2.6
5.2
φ5.2
5.2
65
R2.6
15
250
240
Standard Models and External Dimensions
220
2
R2.6
100
Mounting dimensions
6-M4
240
220
50
15
100
130
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-32
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
70
130
100
15
R2.6
65
5.2
φ5.2
5.2
R2.6
5.2
65
5.2
φ5.2
212
40.7
2.5
R2.6
15
250
240
Standard Models and External Dimensions
220
2
R2.6
2.5
100
Mounting dimensions
(228)*
Rectangular
hole
240
6-M4
50
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
233
71
90
90
26
11
R2.6
φ5.2
φ5.2
R2.6
210
φ5.2
11
90
26
70
90
90
3.5
1
R2.6
220
R2.6
334
2.5
R2.6
71
Mounting dimensions
10-M4
235
220
45
27
180
233
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-34
2
Standard Models and External Dimensions
R2.6 φ5.2
235
210
250
90
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
233
71
90
90
90
210
26
70
11
R2.6 φ5.2
R2.6
φ5.2
R2.6
φ5.2
R2.6
210
R2.6
φ5.2
11
90
26
334
2.5
Standard Models and External Dimensions
R2.6
90
90
235
250
220
2
2.5
71
Mounting dimensions
(227)*
Rectangular
hole
27.8
235
10-M4
45
180
(235)*
* Rectangular hole dimensions are reference values.
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
4
φ7
70
30.5
270
7.5
φ7
R3.5
R3.5
450
Standard Models and External Dimensions
435
2
30.5
231
Mounting dimensions
261
200
30.5
435
450
4-M6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-36
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT06F/-KT10F/-KT15F (600 W to 1.5 kW)
Wall Mounting
External dimensions
Mounting dimensions
70
170
4
92
2-M4
140
150
150
70
14.5
92
Front Mounting (Using Front Mounting Brackets)
External dimensions
19.5
φ5.2
4
4-M4
2.5
Rectangular
hole
170
φ5.2
170
70
(158)*
10
92
91
60
40
Mounting dimensions
150
170
180
Standard Models and External Dimensions
2
6
R2.6
5.2
10
5.2
40
2.5
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)
Wall Mounting
External dimensions
Mounting dimensions
94
85
50
φ5.2
42.5
5.2
70
193.5
1.5
6-M4
5.2
188
168
198
R2.6
R2.6
5.2 φ5.2
5.2
17.5
26.5
50
50
94
Front Mounting (Using Front Mounting Brackets)
External dimensions
Mounting dimensions
94
70
85
17.5
193.5
50
φ5.2
42.5
5.2
30.7
6-M4
2.5
5.2
Rectangular
hole
188
(176)*
198
188
168
25
R2.6
6
R2.6
5.2 φ5.2
5.2
17.5
27.5
2.5
50
50
(96)*
* Rectangular hole dimensions are reference values.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-38
2
Standard Models and External Dimensions
168
25
188
17.5
2-4 External and Mounting Dimensions
3-phase 400 VAC: R88D-KT30F/-KT50F (3 to 5 kW)
Wall Mounting
External dimensions
130
100
15
65
5.2
φ5.2
5.2
5.2
65
5.2
φ5.2
Mounting dimensions
212
70
6-M4
3
50
240
220
250
240
220
R2.6
15
15
100
R2.6
130
100
Front Mounting (Using Front Mounting Brackets)
External dimensions
130
100
212
70
6-M4
50
φ5.2
5.2
40.7
2.5
Rectangular
hole
250
240
(228)*
65
5.2
Mounting dimensions
240
15
220
Standard Models and External Dimensions
2
6
R2.6
16
5.2
5.2
φ5.2
65
15
R2.6
2.5
100
(132)*
100
* Rectangular hole dimensions are reference values.
2-39
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
233
90
71
90
11
R2.6 φ5.2
R2.6
φ5.2
φ5.2
R2.6
210
φ5.2
11
90
26
70
2
220
90
90
3.5
1
2.5
R2.6
71
Mounting dimensions
10-M4
235
220
45
27
180
233
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-40
Standard Models and External Dimensions
R2.6
334
R2.6
235
210
26
250
90
2-4 External and Mounting Dimensions
Front Mounting (Using Front Mounting Brackets)
External dimensions
233
90
71
90
90
26
210
φ5.2
R2.6
R2.6
R2.6 φ5.2
70
11
334
2.5
Standard Models and External Dimensions
R2.6
φ5.2
R2.6
210
90
R2.6
φ5.2
11
90
26
90
235
250
220
2
2.5
71
Mounting dimensions
(227)*
Rectangular
hole
27.8
235
10-M4
45
180
(235)*
* Rectangular hole dimensions are reference values.
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
4
φ7
70
30.5
270
7.5
φ7
R3.5
R3.5
450
Standard Models and External Dimensions
435
2
30.5
231
Mounting dimensions
261
200
30.5
435
450
4-M6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-42
2-4 External and Mounting Dimensions
Servomotor Dimensions
3,000-r/min Servomotors (100 V and 200 V)
50 W/100 W (without Brake)
R88M-K05030H (-S2)/-K10030L (-S2)
INC
R88M-K05030T (-S2)/-K10030S (-S2)
ABS
Encoder connector
2
Motor connector
LL
40×40
25
(Shaft end specifications with key and tap)
R3.7
φ8h6
1.5 min.
φ30h7
2
LN
14
12.5
3
3
3h9
(Key groove P9)
6.2
25
6
46.6
Standard Models and External Dimensions
LM
M3 (depth 6)
φ46
±0.
2
R4.2
2−φ4.3
Boss insertion position
(only for the ones with oil seal)
Dimensions (mm)
Model
LL
LM
LN
R88M-K05030@
72
48
23
R88M-K10030@
92
68
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)
INC
R88M-K05030T-B (S2)/-K10030S-B (S2)
ABS
Encoder connector
Brake connector
Motor connector
40×40
(Shaft end specifications
with key and tap)
25
3
14
12.5
3h9
(Key groove P9)
M3 (depth 6)
R3.7
φ8h6
2
LN
φ30h7
46.6
6
3
LM
6.2
25
LL
φ46
±0.
2
R4.2
2−φ4.3
Dimensions (mm)
Model
LL
LM
LN
R88M-K05030@-Bx
102
78
23
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-44
Standard Models and External Dimensions
1.5 min.
Boss insertion position
(only for the ones with oil seal)
2
2-4 External and Mounting Dimensions
200 W/400 W (without Brake)
R88M-K20030@ (-S2)/-K40030@ (-S2)
INC
R88M-K20030@ (-S2)/-K40030@ (-S2)
ABS
60×60
6.5
3
4−φ4.5
φSh6
52.5
30 20 (200 W)
25 (400 W)
±0.2
φ70
φ50h7
2
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)
1.5 min.
Boss insertion position
(only for the ones with oil seal)
Dimensions (mm)
Model
LL
LM
S
R88M-K20030@
79.5
56.5
11
R88M-K40030@
99
76
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)
INC
R88M-K20030@-B (S2)/-K40030@-B (S2)
ABS
Encoder connector
Brake connector
Motor connector
30
60×60
4−ø4.5
(Shaft end specifications with key and tap)
3
30 20 (200 W)
25 (400 W)
φSh6
±0.2
φ50h7
φ70
18 (200 W)
22.5 (400 W)
4 (200 W)
5 (400 W)
6.5
4h9 (200 W)
5h9 (400 W)
(Key groove P9)
8.5
11
LL
LM
52.5
Standard Models and External Dimensions
(Shaft end specifications
with key and tap)
4 (200 W)
5 (400 W)
30
LM
8.5
11
Encoder connector
Motor connector
LL
M4, depth 8 (200 W)
M5, depth 10 (400 W)
1.5 min.
Boss insertion position
(only for the ones with oil seal)
Dimensions (mm)
Model
LL
LM
S
R88M-K20030@-B@
116
93
11
R88M-K40030@-B@
135.5
112.5
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.
2-45
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-4 External and Mounting Dimensions
750 W (without Brake)
R88M-K75030H (-S2)
INC
R88M-K75030T (-S2)
ABS
Encoder connector
Motor connector
112.2
35
86.2
80×80
8
(Shaft end specifications with key and tap)
3
35
25
22
2
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.
750 W (with Brake)
R88M-K75030H-B (S2)
INC
R88M-K75030T-B (S2)
ABS
Encoder connector
Brake connector
Motor connector
35
148.2
122.2
80×80
8
3
(Shaft end specifications
with key and tap)
35
25
22
6h9
15.5
φ19h6
φ70h7
6
61.6
4−φ6
0.2
0±
φ9
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
Standard Models and External Dimensions
15.5
φ70h7
φ19h6
6
60
4−φ6
0.2
0±
φ9
2-4 External and Mounting Dimensions
1 kW/1.5 kW/2 kW (without Brake)
R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2)
INC
R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2)
ABS
1 kW/1.5 kW/2 kW (with Brake)
R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2)
INC
R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2)
ABS
Motor and brake
connector
Encoder
connector
55
LM
KB2
KB1
55
φ11
5
6h9
6
M3, through
15.5
42
5
φ13
φ19h6
60
45
4−φ9
φ95h7
3
φ19h6
101
10
Standard Models and External Dimensions
(Shaft end specifications with key and tap)
100×100
φ95h7
2
LL
M5 (depth 12)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K1K030@
141
97
66
119
R88M-K1K530@
159.5
115.5
84.5
137.5
R88M-K2K030@
178.5
134.5
103.5
156.5
R88M-K1K030@-B@
168
124
66
146
R88M-K1K530@-B@
186.5
142.5
84.5
164.5
R88M-K2K030@-B@
205.5
161.5
103.5
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)
INC
R88M-K3K030T (-S2)
ABS
3 kW (with Brake)
R88M-K3K030H-B (S2)
INC
R88M-K3K030T-B (S2)
ABS
Motor and brake
connector
Encoder
connector
LL
55
LM
KB2
112
120×120
(Shaft end specifications with key and tap)
2
55
45
5
8h9
7
113
φ22h6
φ110h7
φ14
M3, through
M5 (depth 12)
Dimensions (mm)
Model
LL
LM
KB2
R88M-K3K030@
190
146
168
R88M-K3K030@-B@
215
171
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
Standard Models and External Dimensions
60
2
φ16
18
41
4−φ9
φ110h7
3
φ22h6
12
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K030H (-S2)/-K5K030H (-S2)
INC
R88M-K4K030T (-S2)/-K5K030T (-S2)
ABS
4 kW/5 kW (with Brake)
INC
R88M-K4K030T-B (S2)/-K5K030T-B (S2)
ABS
LL
65
130×130
65
6
55
φ
φ16
5
M3, through
8h9
7
φ24h6
φ110h7
145
20
51
4−φ9
φ24h6
12
60
Standard Models and External Dimensions
(Shaft end specifications with key and tap)
LM
KB2
KB1
φ110h7
Motor and brake
connector
Encoder
connector
118
2
R88M-K4K030H-B (S2)/-K5K030H-B (S2)
M8 (depth 20)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K4K030@
208
164
127
186
R88M-K5K030@
243
199
162
221
R88M-K4K030@-B@
236
192
127
214
R88M-K5K030@-B@
271
227
162
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)
INC
R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2)
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)
INC
R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2)
ABS
Motor and brake
connector
2
55
LM
KB2
KB1
(Shaft end specifications with key and tap)
100×100
55
3
45
φ11
5
6h9
6
φ19h6
M3, through
15.5
42
5
φ13
φ95h7
60
φ19h6
4−φ9
φ95h7
10
M5 (depth 12)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K75030@
131.5
87.5
56.5
109.5
R88M-K1K030@
141
97
66
119
R88M-K1K530@
159.5
115.5
84.5
137.5
R88M-K2K030@
178.5
134.5
103.5
156.5
R88M-K75030@-B@
158.5
114.5
53.5
136.5
R88M-K1K030@-B@
168
124
63
146
R88M-K1K530@-B@
186.5
142.5
81.5
164.5
R88M-K2K030@-B@
205.5
161.5
100.5
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
Standard Models and External Dimensions
101 (without brake)
103 (with brake)
Encoder
connector
LL
2-4 External and Mounting Dimensions
3 kW (without Brake)
R88M-K3K030F (-S2)
INC
R88M-K3K030C (-S2)
ABS
3 kW (with Brake)
R88M-K3K030F-B (S2)
INC
R88M-K3K030C-B (S2)
ABS
120×120
55
45
φ22h6
60
2
φ16
φ14
5
M3, through
8h9
7
41
4-φ9
18
3
113
12
Standard Models and External Dimensions
(Shaft end specifications with key and tap)
φ22h6
Encoder
connector
55
LM
KB2
112
φ110h7
2
LL
φ110h7
Motor and brake
connector
M5 (depth 12)
0
Dimensions (mm)
Model
LL
LM
KB2
R88M-K3K030@
190
146
168
R88M-K3K030@-B@
215
171
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)
INC
R88M-K4K030C (-S2)/-K5K030C (-S2)
ABS
4 kW/5 kW (with Brake)
R88M-K4K030F-B (S2)/-K5K030F-B (S2)
INC
R88M-K4K030C-B (S2)/-K5K030C-B (S2)
ABS
65
(Shaft end specifications with key and tap)
2
130×130
65
6
51
118
60
φ24h6
φ110h7
φ16
5
M3, through
8h9
M8 (depth 20)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K4K030@
208
164
127
186
R88M-K5K030@
243
199
162
221
R88M-K4K030@-B@
236
192
127
214
R88M-K5K030@-B@
271
227
162
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
Standard Models and External Dimensions
5
φ14
7
55
4−φ9
20
12
φ24h6
Encoder
connector
LL
LM
KB2
KB1
φ110h7
Motor and brake
connector
2-4 External and Mounting Dimensions
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)
INC
R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2)
ABS
1 kW/1.5 kW/2 kW/3 kW (with Brake)
INC
R88M-K1K020T-B (S2)/-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2)
ABS
(Shaft end specifications with key and tap)
LR
LR
130×130
45 (1.0 to 2.0 kW)
55 (3.0 kW)
41 (1.0 to 2.0 kW)
51 (3.0 kW)
M3, through
φSh6
5
φ14
φ110h7
60
φSh6
4−φ9
φ16
5
8h9
7
6
18 (1.0 to 2.0 kW)
20 (3.0 kW)
LL
LM
KB2
KB1
12
Encoder
connector
φ110h7
Motor and brake
connector
116 (1.0 to 2.0 kW)
118 (3.0 kW)
Standard Models and External Dimensions
2
R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2)
M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
R88M-K1K020@
138
55
94
22
60
116
R88M-K1K520@
155.5
55
111.5
22
77.5
133.5
R88M-K2K020@
173
55
129
22
95
151
R88M-K3K020@
208
65
164
24
127
186
R88M-K1K020@-B@
166
55
122
22
60
144
R88M-K1K520@-B@
183.5
55
139.5
22
77.5
161.5
R88M-K2K020@-B@
201
55
157
22
95
179
R88M-K3K020@-B@
236
65
192
24
127
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)
INC
R88M-K4K020T (-S2)/-K5K020T (-S2)
ABS
4 kW/5 kW (with Brake)
R88M-K4K020H-B (S2)/-K5K020H-B (S2)
INC
R88M-K4K020T-B (S2)/-K5K020T-B (S2)
ABS
70
(Shaft end specifications with key and tap)
176×176
18
3.2
60
φ35h6
φ114.3h7
3
φ23
M3, through
10h9
M12 (depth 25)
φ2
00
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K4K020@
177
133
96
155
R88M-K5K020@
196
152
115
174
R88M-K4K020@-B@
206
162
96
184
R88M-K5K020@-B@
225
181
115
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
Standard Models and External Dimensions
140
4−φ13.5
2
70
55
50
8
Encoder
connector
30
LM
KB2
KB1
φ35h6
LL
φ114.3h7
Motor and brake
connector
2-4 External and Mounting Dimensions
7.5 kW (without Brake)
R88M-K7K515T (-S2)
ABS
7.5 kW (with Brake)
R88M-K7K515T-B (S2)
Motor
connector
176 × 176
43.5 43.5
L1
(Shaft end specifications with key and tap)
24 3.2
184
4-φ13.5
M4, through
12h9
(Key groove P9)
45
3
φ23
φ114.3h7
φ Sh6
LR
96
90
φ2
2 min.
Boss insertion position
00
0
37-0.2
8
L2
61.5
48
110
φ Sh6
KB1
L3
60
Standard Models and External Dimensions
2
44
Brake connector
(for model with brake only)
LR
φ114.3h7
Encoder
connector
LL
LM
KB2
ABS
M16
(depth 32 min.)
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K7K515T@
312
113
268
42
219
290
117.5
117.5
149
R88M-K7K515T-B@
337
113
293
42
253
315
117.5
152.5
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)
Motor
connector
110
KB1
L3
57
57
L2
L1
2
4-φ13.5
32
4
8
φ Sm6
φ 200h7
φ26
(Shaft end specifications with key and tap)
LR
98
90
45 M5,
16h9
through
(Key groove P9)
φ235
M20
(depth 40 min.)
2 min.
Boss insertion position
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K11K015T@
316
116
272
55
232
294
124.5
124.5
162
R88M-K15K015T@
384
116
340
55
300
362
158.5
158.5
230
R88M-K11K015T-B@
364
116
320
55
266
342
124.5
159.5
196
R88M-K15K015T-B@
432
116
388
55
334
410
158.5
193.5
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
Standard Models and External Dimensions
60
205
61.5
48
220 × 220
φSm6
LL
LM
KB2
44
ABS
φ 200h7
0
49-0.2
10
Encoder
connector
Brake connector
(for model with brake only)
LR
2-4 External and Mounting Dimensions
1,500-r/min and 2,000-r/min Servomotors (400 V)
400 W/600 W (without Brake)
R88M-K40020F (-S2)/-K60020F (-S2)
INC
R88M-K40020C (-S2)/-K60020C (-S2)
ABS
400 W/600 W (with Brake)
INC
R88M-K40020C-B (S2)/-K60020C-B (S2)
ABS
55
LM
KB2
KB1
10
100×100
(Shaft end specifications with key and tap)
55
45
42
3
15.5
φ11
M3, through
6h9
5
φ13
φ19h6
φ19h6
4−φ9
6
LL
60
101 (without brake)
103 (with brake)
Standard Models and External Dimensions
Encoder
connector
φ95h7
Motor and brake
connector
φ95h7
2
R88M-K40020F-B (S2)/-K60020F-B (S2)
5
M5 (depth 12)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K40020@
131.5
87.5
56.5
109.5
R88M-K60020@
141
97
66
119
R88M-K40020@-B@
158.5
114.5
53.5
136.5
R88M-K60020@-B@
168
124
63
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)
INC
R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2)
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)
INC
R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2)
ABS
Motor and brake
connector
(Shaft end specifications with key and tap)
LR
LM
KB2
KB1
Encoder
connector
12
2
LR
130×130
45 (1 to 2 kW)
55 (3 kW)
41 (1 to 2 kW)
51 (3 kW)
6
M3, through
4-φ9
7
18 (1 to 2 kW)
20 (3 kW)
φSh6
φ16
5
φ110h7
φ110h7
60
φSh6
8h9
5
φ14
M5, depth 12 (1.0 to 2.0 kW)
M8, depth 20 (3.0 kW)
KB1
KB2
Dimensions (mm)
Model
LL
LR
LM
S
R88M-K1K020@
138
55
94
22
60
116
R88M-K1K520@
155.5
55
111.5
22
77.5
133.5
R88M-K2K020@
173
55
129
22
95
151
R88M-K3K020@
208
65
164
24
127
186
R88M-K1K020@-B@
166
55
122
22
57
144
R88M-K1K520@-B@
183.5
55
139.5
22
74.5
161.5
R88M-K2K020@-B@
201
55
157
22
92
179
R88M-K3K020@-B@
236
65
192
24
127
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
Standard Models and External Dimensions
116 (1 to 2 kW/without brake)
118 (3 kW/without brake)
118 (1 to 3 kW/with brake)
LL
2-4 External and Mounting Dimensions
4 kW/5 kW (without Brake)
R88M-K4K020F (-S2)/-K5K020F (-S2)
INC
R88M-K4K020C (-S2)/-K5K020C (-S2)
ABS
4 kW/5 kW (with Brake)
R88M-K4K020F-B (S2)/-K5K020F-B (S2)
INC
R88M-K4K020C-B (S2)/-K5K020C-B (S2)
ABS
Motor and brake
connector
70
LM
KB2
KB1
Encoder
connector
176×176
3.2
140
4-φ13.5
70
55
50
M3, through
3
φ23
φ2
00
30
φ35h6
φ35h6
60
8
10h9
φ114.3h7
Standard Models and External Dimensions
18
(Shaft end specifications with key and tap)
φ114.3h7
2
LL
M12
(depth 25)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K4K020@
177
133
96
155
R88M-K5K020@
196
152
115
174
R88M-K4K020@-B@
206
162
96
184
R88M-K5K020@-B@
225
181
115
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)
L2
L1
(Shaft end specifications with key and tap)
M4, through
45
φ2
00
8
12h9
(Key groove P9)
3
φ23
2 min.
Boss insertion positon
M16
(depth 32 min.)
Dimensions (mm)
Model
LL
LR
LM
S
R88M-K7K515C@
312
113
268
R88M-K7K515C-B@
337
113
293
KB1
KB2
L1
L2
L3
42
219
290
117.5
117.5
149
42
253
315
117.5
152.5
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
2-60
Standard Models and External Dimensions
φ Sh6
LR
96
90
0
37-0.2
4-φ13.5
24 3.2
184
60
61.5
48
110
43.5 43.5
φSh6
KB1
L3
176 × 176
φ114.3h7
LL
LM
KB2
44
Brake connector
(for model with brake only)
LR
φ 114.3h7
Motor
connector
Encoder
connector
ABS
2-4 External and Mounting Dimensions
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)
Brake connector
Motor
connector
Encoder
connector
ABS
LL
LM
KB2
44
110
(for model with brake only)
LR
220 × 220
KB1
L3
57
57
L2
L1
4
φ Sm6
φ 200h7
60
Standard Models and External Dimensions
8
φ26
4-φ13.5
(Shaft end specifications with key and tap)
LR
98
90
45 M5,
16h9
through
(Key groove P9)
φ235
φ200h7
0
49-0.2
10
32
205
61.5
48
φSm6
2
M20
(depth 40 min.)
2 min.
Boss insertion positon
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K11K015C@
316
116
272
55
232
294
124.5
124.5
162
R88M-K15K015C@
384
116
340
55
300
362
158.5
158.5
230
R88M-K11K015C-B@
364
116
320
55
266
342
124.5
159.5
196
R88M-K15K015C-B@
432
116
388
55
334
410
158.5
193.5
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)
INC
R88M-K90010T (-S2)
ABS
900 W (with Brake)
R88M-K90010H-B (S2)
INC
R88M-K90010T-B (S2)
ABS
2
70
(Shaft end specifications with key and tap)
70
6
45
41
φ16
5
7
18
φ22h6
60
M3, through
8h9
5
φ14
φ110h7
116
4-ø9
M5 (depth 12)
Dimensions (mm)
Model
LL
LM
KB2
R88M-K90010@
155.5
111.5
133.5
R88M-K90010@-B@
183.5
139.5
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
Standard Models and External Dimensions
12
130×130
φ22h6
LL
LM
KB2
77.5
Encoder
connector
φ110h7
Motor and brake
connector
2-4 External and Mounting Dimensions
2 kW/3 kW (without Brake)
R88M-K2K010H (-S2)/-K3K010H (-S2)
INC
R88M-K2K010T (-S2)/-K3K010T (-S2)
ABS
2 kW/3 kW (with Brake)
R88M-K2K010H-B (S2)/-K3K010H-B (S2)
INC
R88M/-K2K010T-B (S2)/-K3K010T-B (S2)
ABS
80
18
176×176
(Shaft end specifications with key and tap)
3.2
140
Standard Models and External Dimensions
4−φ13.5
60
φ35h6
φ114.3h7
3
φ23
φ2
00
80
55
50
M3, through
10h9
8
Encoder
connector
30
LM
KB2
KB1
φ35h6
2
LL
φ114.3h7
Motor and brake
connector
M12 (depth 25)
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K2K010@
163.5
119.5
82.5
141.5
R88M-K3K010@
209.5
165.5
128.5
187.5
R88M-K2K010@-B@
192.5
148.5
82.5
170.5
R88M-K3K010@-B@
238.5
194.5
128.5
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
4.5 kW (with Brake)
R88M-K4K510T-B (S2)
LL
LM
KB2
KB1
176 × 176
LR
43.5 43.5
L1
(Shaft end specifications with key and tap)
LR
96
90
4-φ13.5
φ114.3h7
φ Sh6
φ2
M16
(depth 32 min.)
00
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
R88M-K4K510T@
266
113
222
R88M-K4K510T-B@
291
113
247
L1
L2
42
185
244
98
98
42
185
269
98
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
Standard Models and External Dimensions
φSh6
140
60
12h9
(Key groove P9)
3
φ23
2 min.
Boss insertion positon
2
M4, through
45
8
24 3.2
0
37-0.2
L2
61.5
Encoder
connector
44
φ114.3h7
Motor and
brake
connector
ABS
2-4 External and Mounting Dimensions
6 kW (without Brake)
R88M-K6K010T (-S2)
ABS
6 kW (with Brake)
R88M-K6K010T-B (S2)
Motor connector
Brake connector
(for model with brake only)
LR
LL
LM
KB2
2
43.5 43.5
L3
L1
(Shaft end specifications with key and tap)
24 3.2
4-φ13.5
φ Sh6
LR
96
90
45
3
φ23
φ 114.3h7
60
Standard Models and External Dimensions
184
61.5
48
110
L2
φ2
2 min.
Boss insertion positon
M4, through
12h9
(Key groove P9)
00
0
37-0.2
8
KB1
176 × 176
φ Sh6
44
φ 114.3h7
Encoder
connector
ABS
M16
(depth 32 min.)
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K6K010T@
312
113
268
42
219
290
117.5
117.5
149
R88M-K6K010T-B@
337
113
293
42
253
315
117.5
152.5
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)
INC
R88M-K90010C (-S2)
ABS
900 W (with Brake)
R88M-K90010F-B (S2)
INC
R88M-K90010C-B (S2)
ABS
70
(Shaft end specifications with key and tap)
70
6
45
41
M3, through
φ16
7
18
8h9
5
φ14
φ110h7
60
φ22h6
4-ø9
M5 (depth 10)
5
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K90010@
155.5
111.5
77.5
133.5
R88M-K90010@-B@
183.5
139.5
74.5
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
Standard Models and External Dimensions
12
130×130
φ110h7
LL
LM
KB2
KB1
Encoder
connector
116 (without brake)
118 (with brake)
2
φ22h6
Motor and brake
connector
2-4 External and Mounting Dimensions
2 kW/3 kW (without Brake)
R88M-K2K010F (-S2)/-K3K010F (-S2)
INC
R88M-K2K010C (-S2)/-K3K010C (-S2)
ABS
2 kW/3 kW (with Brake)
R88M-K2K010F-B (S2)/-K3K010F-B (S2)
INC
R88M-K2K010C-B (S2)/-K3K010C-B (S2)
ABS
80
Encoder
connector
(Shaft end specifications with key and tap)
3.2
4−φ13.5
3
φ23
140
Standard Models and External Dimensions
18
176×176
φ35h6
φ114.3h7
60
80
55
50
M3, through
10h9
8
LM
KB2
KB1
30
LL
φ35h6
2
φ114.3h7
Motor and brake
connector
M12 (depth 25)
φ2
00
Dimensions (mm)
Model
LL
LM
KB1
KB2
R88M-K2K010@
163.5
119.5
82.5
141.5
R88M-K3K010@
209.5
165.5
128.5
187.5
R88M-K2K010@-B@
192.5
148.5
82.5
170.5
R88M-K3K010@-B@
238.5
194.5
128.5
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
4.5 kW (with Brake)
R88M-K4K510C-B (S2)
LL
LM
KB2
KB1
176 × 176
LR
43.5 43.5
L1
(Shaft end specifications with key and tap)
LR
96
90
2
45
M4, through
φSh6
3
φ23
φ2
2 min.
Boss insertion positon
00
12h9
(Key groove P9)
M16
(depth 32 min.)
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
R88M-K4K510C@
266
113
222
R88M-K4K510C-B@
291
113
247
L1
L2
42
185
244
98
98
42
185
269
98
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
Standard Models and External Dimensions
φ Sh6
140
60
4-φ13.5
0
37-0.2
8
24 3.2
φ114.3h7
L2
61.5
Encoder
connector
44
φ114.3h7
Motor and
brake
connector
ABS
2-4 External and Mounting Dimensions
6 kW (without Brake)
R88M-K6K010C (-S2)
ABS
6 kW (with Brake)
R88M-K6K010C-B (S2)
Brake connector
(for model with brake only)
LR
Motor connector
43.5 43.5
L2
L1
4-φ13.5
φ Sh6
φ114.3h7
60
Standard Models and External Dimensions
3
φ23
(Shaft end specifications with key and tap)
LR
96
90
45 M4, through
12h9
(Key groove P9)
φ2
2 min.
Boss insertion positon
00
8
24 3.2
184
61.5
48
110
0
37-0.2
2
KB1
L3
176 × 176
φSh6
44
φ114.3h7
Encoder
connector
LL
LM
KB2
ABS
M16
(depth 32 min.)
Dimensions (mm)
Model
LL
LR
LM
S
KB1
KB2
L1
L2
L3
R88M-K6K010C@
312
113
268
42
219
290
117.5
117.5
149
R88M-K6K010C-B@
337
113
293
42
253
315
117.5
152.5
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
28
43.5
48
62
1.2
Thermal switch output
4.2
ϕ1.5
(0.3 mm2)
20
ϕ3
(0.75 mm2)
R88A-RR08050S/-RR080100S
2
6
104
Standard Models and External Dimensions
500
122
130
1.2
Thermal switch output
4.2
ϕ1.5
(0.3 mm2)
20
ϕ3
(0.75 mm2)
R88A-RR22047S1
6
500
200
220
230
R88A-RR50020S
40
76
78
43 25
5.3
10
360
386
402
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-70
2-5 EMC Filter Dimensions
2-5 EMC Filter Dimensions
W
M2
D
drive
mounts
H M1
2
Standard Models and External Dimensions
output
flexes
External dimensions
Mount dimensions
Filter model
H
2-71
W
D
M1
M2
R88A-FIK102-RE
190
42
44
180
20
R88A-FIK104-RE
190
57
30
180
30
R88A-FIK107-RE
190
64
35
180
40
R88A-FIK114-RE
190
86
35
180
60
R88A-FIK304-RE
190
86
40
180
60
R88A-FIK306-RE
245
94
40
235
60
R88A-FIK312-RE
290
130
45
280
100
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
Bottom Dimensions
Two, M4 countersunk holes
Two, M4 countersunk holes
C
C
2-
29.5
9.5
17
17
5
5
11±0.2
24
ia.
d
11±0.2
5
2.5
.
ax
R2
2-R
m
R2
2.5
R1
5.2
2.5
1
x.
R2
R1
2.5
ma
10
15
10
7
Standard Models and External Dimensions
2
5.
R2
15
2
40
33
40
R88A-TK02K
Top Dimensions
Bottom Dimensions
Two, M4 countersunk holes
C
C
2-
218±0.2
24
5 18±0.2
5.2
2-R
x.
a
1m
R2
dia
.
2.5
R2
R2
9.5
9.5
17
5
5
17
Two, M4 countersunk holes
5.2
1
ma
2.5
15
x.
R1
10
2.5
15
10
2.5
R2
R
40
7
47
47
R88A-TK03K
Top Dimensions
Bottom Dimensions
Two, M4 countersunk holes
C
C
2-
2-
Two, M4 countersunk holes
5
9.5
9.5
17
17
5
30± 0.2
30± 0.2
2.5
.
R2
2
5.
dia
R2
R2
x.
a
1m
5.2
2-R
1
40
x.
R1
ma
10
20
2.5
15
2.5
10
15
R
20
2.5
R2
40
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
2-72
2-6 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
R88A-TK04K
Top Dimensions
Bottom Dimensions
Two, M4
countersunk holes
36± 0.2
19
ho
36± 0.2
R1
ma
x.
10
40±0.2
5.2
1
4-R
2.5
R2
x.
R1
ma
10
40±0.2
60
Standard Models and External Dimensions
60
5.2
R2
2.5
15
10
2
R2
2.5
R2
2.5
15
10
Tw
o,
5
.2d
ia.
5
les
17
9.5
17
9.5
5
C5
C
2-
2-
Two, M4 countersunk holes
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.
3-1 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
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.)
General Specifications
Item
Ambient operating
temperature and operating
humidity
0 to +55°C, 20 to 85% max. (with no condensation)
Storage ambient temperature
and humidity
-20 to +65°C, 20 to 85% max. (with no condensation)
Maximum allowable temperature: 80°C for 72 hours maximum (with no condensation)
Operating and storage
atmosphere
No corrosive gases
Vibration resistance
10 to 60 Hz and at an acceleration of 5.88 m/s2 or less (Not to be run continuously at
the resonance point)
Insulation resistance
Between power supply terminals/power terminals and FG terminal: 0.5 MΩ min. (at
500 VDC)
Dielectric strength
Between power supply terminals/power line terminals and FG terminal: 1,500 VAC for
1 min at 50/60 Hz
Protective structure
Built into panel
EC
Directives
International standard
Specifications
3
Specifications
EMC
Directive
EN 55011, EN 61000-6-2, IEC 61800-3
Low Voltage
Directive
EN 61800-5-1
Machinery
Directive
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 standards
UL 508C
CSA standards
CSA C22.2 No. 14
Korean Radio
Regulations (KC)
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.
Note 3. Some Servo Drive parts will require maintenance. For details, refer to "11-5 Periodic Maintenance" (P.11-27).
3-1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Characteristics
100-VAC Input Models
Item
R88D-KTA5L
R88D-KT01L
R88D-KT02L
R88D-KT04L
Continuous output current (rms)
1.2 A
1.7 A
2.5 A
4.6 A
Input power
supply
Power
supply
capacity
0.4 KVA
0.4 KVA
0.5 KVA
0.9 KVA
Power
supply
voltage
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Rated
current
1.7 A
2.6 A
4.3 A
7.6 A
Heat
value*1
11 W
16.6 W
21 W
25 W
Power
supply
voltage
Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz
Heat
value*1
4W
4W
4W
4W
Weight
Approx. 0.8 kg
Approx. 0.8 kg
Approx. 1.0 kg
Approx. 1.6 kg
Maximum applicable motor capacity
50 W
100 W
200 W
400 W
Applicable
Servomotor
(R88M-)
INC
K05030H
K10030L
K20030L
K40030L
ABS
K05030T
K10030S
K20030S
K40030S
2,000-r/
min
ABS
−
−
−
−
1,000-r/
min
ABS
−
−
−
−
Main
circuit
Performance
3,000 r/
min
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)
±0.01% max. (percentage of rated speed) from 0 to 50°C
Torque control
repeatability
±1%
Specifications
Control
circuit
3
*1: The heat value is given for rated operation.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-2
3-1 Servo Drive Specifications
200-VAC Input Models
R88DKT01H
Item
R88DKT04H
R88DKT08H
R88DKT10H
R88DKT15H
Continuous output current (rms)
1.2 A
1.6 A
2.6 A
4.1 A
5.9 A
9.4 A
Input power
supply
Power
supply
capacity
0.5 KVA
0.5 KVA
0.9 KVA
1.3 KVA
1.8 KVA
2.3KVA
Power
supply
voltage
Single-phase or 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Rated
current
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
Heat
value*2
14.3/13.7
W *1
104/93 W
*1
Power
supply
voltage
Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
Heat
value*2
4W
4W
4W
4W
7W
7W
Weight
Approx.
0.8 kg
Approx.
0.8 kg
Approx.
1.0 kg
Approx.
1.6 kg
Approx.
1.8 kg
Approx.
1.8 kg
Maximum applicable motor capacity
100 W
200 W
400 W
750 W
1 kW
1.5 kW
Applicable
Servomotor
(R88M-)
INC
K05030H
K10030H
K20030H
K40030H
K75030H
−
K1K030H
K1K530H
ABS
K05030T
K10030T
K20030T
K40030T
K75030T
−
K1K030T
K1K530T
INC
−
−
−
−
K1K020H
K1K520H
ABS
−
−
−
−
K1K020T
K1K520T
INC
−
−
−
−
−
K90010H
ABS
−
−
−
−
−
K90010T
Main
circuit
3
Specifications
R88DKT02H
Control
circuit
3,000-r/
min
2,000-r/
min
1,000-r/
min
Performance Speed control range
Speed variation (load
characteristic)
23/19 W *1 33/24 W *1
30/35.5 W
*1
57/49 W *1
1:5000
0.01% max. from 0% to 100% (percentage of rated speed)
Speed variation
0% at rated voltage ±10% (percentage of rated speed)
(voltage characteristic)
Temperature variation
(temperature
characteristic)
±0.01% max. (percentage of rated speed) from 0 to 50°C
Torque control
repeatability
±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.
3-3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
R88DKT20H
Item
R88DKT30H
R88DKT50H
R88DKT75H
R88DKT150H
Continuous output current (rms)
13.4 A
18.7 A
33.0 A
44.0 A
66.1 A
Input power
supply
Power supply
capacity
3.3 KVA
4.5 KVA
7.5 KVA
11.0 KVA
22.0 KVA
Power supply
voltage
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz*2
Rated current
11.8 A
15.1 A
21.6 A
32.0 A
58.0 A
Heat value*1
139 W
108 W
328 W
381 W
720 W
Power supply
voltage
Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz*2
Heat value*1
10 W
13 W
13 W
15 W
17 W
Weight
Approx. 2.7
kg
Approx. 4.8
kg
Approx. 4.8
kg
Approx.
13.5 kg
Approx.
21.0 kg
Maximum applicable motor capacity
2 kW
3 kW
5 kW
7.5 kW
15 kW
INC
K2K030H
K3K030H
K4K030H
K5K030H
---
---
ABS
K2K030T
K3K030T
K4K030T
K5K030T
---
---
Main
circuit
Control
circuit
Performance
3,000-r/
min
2000-r/
min,
1500-r/
min
INC
K2K020H
K3K020H
K4K020H
K5K020H
---
---
ABS
K2K020T
K3K020T
K4K020T
K5K020T
K7K515T
K11K015T
K15K015T
1,000-r/
min
INC
−
K2K010H
K3K010H
---
---
ABS
−
K2K010T
K3K010T
K4K510T
K6K010T
---
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
±0.01% max. (percentage of rated speed) from 0 to 50°C
(temperature characteristic)
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).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-4
Specifications
Applicable
Servomotor
(R88M-)
3
3-1 Servo Drive Specifications
400-VAC Input Models
Item
R88D-KT06F
R88D-KT10F
R88D-KT15F
R88D-KT20F
1.5 A
2.9 A
4.7 A
6.7 A
Power supply
capacity
1.2 KVA
1.8 KVA
2.3 KVA
3.8 KVA
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
5.9 A
Heat value*1
32.2 W
48 W
49 W
65 W
Power supply
voltage
24 VDC (20.4 to 27.6 V)
Heat value*1
7W
7W
7W
10 W
Weight
Approx. 1.9 kg
Approx. 1.9 kg
Approx. 1.9 kg
Approx. 2.7 kg
Maximum applicable motor capacity
600 W
1 kW
1.5 kW
2 kW
Applicable
Servomotor
(R88M-)
INC
−
K75030F
K1K030F
K1K530F
K2K030F
ABS
−
K75030C
K1K030C
K1K530C
K2K030C
INC
K40020F
K60020F
K1K020F
K1K520F
K2K020F
ABS
K40020C
K60020C
K1K020C
K1K520C
K2K020C
INC
−
−
K90010F
−
ABS
−
−
K90010C
−
Continuous output current (rms)
Main circuit
Input power
supply
Control
circuit
Specifications
3
3,000-r/min
2000-r/min
1,000-r/min
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)
±0.01% max. (percentage of rated speed) from 0 to 50°C
Torque control repeatability
±1%
±2%
*1. The heat value is given for rated operation.
3-5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Item
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
9.4 A
16.5 A
22.0 A
33.4 A
Power supply
capacity
4.5 KVA
6.0 KVA
11.0 KVA
22.0 KVA
Power supply
voltage
3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
Rated current
7.6 A
12.1 A
16.0 A
29.0 A
Heat value*1
108 W
200 W
300 W
590 W
Power supply
voltage
24 VDC (20.4 to 27.6 V)
Heat value*1
13 W
13 W
15 W
22 W
Weight
Approx. 4.7 kg
Approx. 4.7 kg
Approx. 13.5 kg Approx. 21.0 kg
Maximum applicable motor capacity
3 kW
5 kW
7.5 kW
15 kW
INC
K3K030F
K4K030F
K5K030F
---
---
ABS
K3K030C
K4K030C
K5K030C
---
---
INC
K3K020F
K4K020F
K5K020F
---
---
ABS
K3K020C
K4K020C
K5K020C
K7K515C
K11K015C
K15K015C
INC
K2K010F
K3K010F
---
---
ABS
K2K010C
K3K010C
K4K510C
K6K010C
---
Continuous output current (rms)
Main circuit
Input power
supply
Control
circuit
3,000-r/min
2000-r/min,
1500-r/min
1,000-r/min
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)
±0.01% max. (percentage of rated speed) from 0 to 50°C
Torque control repeatability
±2%
Specifications
Applicable
Servomotor
(R88M-)
3
*1. The heat value is given for rated operation.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-6
3-1 Servo Drive Specifications
Protective Functions
Error detected
Specifications
3
Description
Control power supply undervoltage
The DC voltage of the control power supply fell below the specified value.
Overvoltage
The DC voltage of the main circuit exceeded the specified value.
Main power supply undervoltage
The DC voltage of the main circuit is low.
Overcurrent
Overcurrent flowed to the IGBT. Motor power line ground fault or short
circuit.
Servo Drive overheat
The temperature of the drive radiator exceeded the specified value.
Overload
Operation was performed with torque significantly exceeding the rating for
several seconds to several tens of seconds.
Regeneration overload
The regenerative energy exceeded the regeneration absorption capacity of
the Regeneration Resistor.
Encoder communications error
The encoder wiring is disconnected.
Encoder communications data error
Communications cannot be performed between the encoder and the drive.
Error counter overflow
The number of accumulated pulses in the error counter exceeded the set
value for the Error Counter Overflow Level (Pn014).
Excessive hybrid error
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).
Overspeed
The motor rotation speed exceeded the maximum number of rotations.
Electronic gear setting error
The set value for the Electronic Gear Ratio (Pn009 to Pn010, Pn500 to
Pn503) is not appropriate.
Error counter overflow
Error counter value based on the encoder pulse reference exceeded 229
(536870912).
Interface I/O setting error
An error was detected in the interface I/O signal.
Overrun limit error
The motor exceeded the allowable operating range set in the Overrun Limit
Setting (Pn514) with respect to the position command input.
Parameter error
Data in the Parameter Save area was corrupted when the power supply
was turned ON and data was read from the EEPROM.
Parameters destruction
The checksum for the data read from the EEPROM when the power supply
was turned ON does not match.
Drive prohibition input error
The forward drive prohibition and reverse drive prohibition inputs are both
turned OFF.
Excessive analog input
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
The voltage supplied to the absolute encoder is lower than the specified
value.
ABS
Absolute encoder counter overflow error The multi-rotation counter of the absolute encoder exceeds the specified
value.
ABS
Absolute encoder overspeed error
ABS
Absolute encoder 1-rotation counter
error
3-7
A 1-turn counter error was detected.
ABS
Absolute encoder multi-rotation counter
error
The motor rotation speed exceeds the specified value when only the battery
power supply of the absolute encoder is used.
A multi-rotation counter error or phase-AB signal error was detected.
ABS
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Error detected
Absolute encoder status error
Description
ABS
The rotation of the absolute encoder is higher than the specified value.
Encoder phase-Z error
A phase Z pulse was not detected regularly.
Encoder CS signal error
A logic error was detected in the CS signal.
External encoder communications error
An error was detected in external encoder connection and communications
data.
External encoder status error
An external encoder alarm code was detected.
Phases-A, B and Z connection error
An error was generated for connection of phases A, B, and Z of external
encoder.
Motor non-conformity
The combination of the Servomotor and Servo Drive is not appropriate.
3
Specifications
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-8
3-1 Servo Drive Specifications
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)
3
L1
Specifications
Symbol
L3
Name
Function
Main circuit power
supply input
L2
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
Note. Single-phase should connect to L1 and L3.
L1C
L2C
Control circuit power
supply input
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)
Symbol
Name
Function
External
Regeneration
Resistor connection
terminals
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.
B1
B3
B2
U
V
W
Motor connection
terminals
Phase U
Phase V
These are the output terminals to the Servomotor.
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
Name
Function
Main circuit power
supply input
R88D-KT@H (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
Control circuit power
supply input
R88D-KT@H : Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
L3
L1C
L2C
3
Motor Connector Specifications (CNB)
Symbol
Motor connection
terminals
V
W
Function
Phase U
Phase V
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Phase W
External Regeneration Resistor Connector Specifications (CNC)
Symbol
B1
B3
Name
Function
External Regeneration
Resistor connection
terminals
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.
B2
NC
Do not connect.
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-10
Specifications
U
Name
3-1 Servo Drive Specifications
R88D-KT30H/R88D-KT50H
Main Circuit Terminal Block Specifications
Symbol
L1
L2
Name
Function
Main circuit power
supply input
R88D-KT@H (3 to 5 kW):
3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
Control circuit power
supply input
R88D-KT@H : Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
External Regeneration
Resistor connection
terminals
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.
L3
L1C
L2C
B1
B3
3
Specifications
B2
NC
Do not connect.
U
Motor connection
terminals
V
Phase U
Phase V
W
These are the output terminals to the Servomotor.
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
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)
L1
L2
L3
Connect an External Regeneration Resistor between B1 and B2.
B1
External Regeneration
Resistor connection
terminals
B2
N (NC)
U
3
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
V
Motor connection
terminals
W
Symbol
L1C
L2C
DB1
DB2
Name
Function
Control circuit power
supply input
R88D-KT@H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
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.
DB3
Normally DB3 and DB4 are connected. When using an externally
connected Dynamic Brake Resistor, remove the short bar from
between DB3 and DB4.
DB4
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).
 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
Specifications
Terminal Block Specifications, Right Terminal Block (TB2)
3-1 Servo Drive Specifications
R88D-KT150H
Terminal Block Specifications, Top Terminal Block (TB1)
Symbol
L1C
L2C
DB1
DB2
Name
Function
Control circuit power
supply input
R88D-KT@H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
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)
3
Symbol
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)
L1
Specifications
L2
L3
Connect an External Regeneration Resistor between B1 and B2.
B1
External Regeneration
Resistor connection
terminals
B2
N (NC)
U
V
W
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Motor connection
terminals
This is the ground terminal. Ground to 100 Ω or less.
Frame ground
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
Name
Main circuit power
supply input
L2
Function
R88D-KT@F
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V)
50/60 Hz
L3
Motor Connector Specifications (CNB)
Symbol
U
Name
Motor connection
terminals
V
Phase U
Phase V
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Phase W
Control Circuit Connector Specifications (CNC)
Symbol
24 V
0V
Name
Control circuit power
supply input
Function
24 VDC ± 15%
External Regeneration Resistor Connector Specifications (CND)
Symbol
B1
B3
Name
Function
External Regeneration
Resistor connection
terminals
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.
B2
NC
Do not connect.
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
W
Function
3-14
3-1 Servo Drive Specifications
R88D-KT30F/R88D-KT50F
Main Circuit Terminal Block Specifications (TB1)
Symbol
24 V
0V
Name
Function
Control circuit power
supply input
24 VDC ± 15%
Main Circuit Terminal Block Specifications (TB2)
Symbol
L1
3
L2
Name
Function
Main circuit power supply
input
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
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.
Specifications
L3
B1
B3
B2
NC
Do not connect.
U
Motor connection
terminals
V
Phase U
Phase V
W
These are the output terminals to the Servomotor.
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.
3-15
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)
Symbol
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
Connect an External Regeneration Resistor between B1 and B2.
B2
External Regeneration
Resistor connection
terminals
NC
Do not connect.
L1
L2
L3
B1
U
Red
V
White
Motor connection
terminals
W
3
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
Specifications
Green/
Yellow
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
24 V
0V
DB1
Name
Function
Control circuit power
supply input
24 VDC±15%
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.
DB2
DB3
Normally DB3 and DB4 are connected. When using an externally
connected Dynamic Brake Resistor, remove the short bar from
between DB3 and DB4.
DB4
Frame ground
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).
 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
3-1 Servo Drive Specifications
R88D-KT150F
Terminal Block Specifications, Top Terminal Block (TB1)
Symbol
24 V
0V
Name
Function
Control circuit power
supply input
24 VDC±15%
DB1
DB2
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)
3
Symbol
Name
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.
B2
External Regeneration
Resistor connection
terminals
NC
Do not connect.
Specifications
L1
L2
L3
B1
U
Red
V
W
White
Motor connection
terminals
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.
Frame ground
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
+24 VCW 1 2.2 kΩ
+CW 3
Reverse pulse
11 BKIR
Maximum
service
voltage:
30 VDC
Maximum
35 READY Servo ready
output current:
completed output
50 mA DC
34 READYCOM
Brake interlock
−CW 4 220 Ω
500 kpps max.
10 BKIRCOM
+24 VCCW 2 2.2 kΩ
+CCW 5
Forward pulse
−CCW 6 220 Ω
−CWLD 45
4 Mpps max.
Forward pulse
37 /ALM
+CWLD 44 2 kΩ 20 kΩ
Reverse pulse
36 ALMCOM
2k Ω 20 kΩ
39 INP
12 to 24 VDC
+24 VIN 7
120 Ω
2 kΩ 20 kΩ
19 Z
Phase-Z output
4.7 kΩ
25 ZGND
Specifications
Positioning
completion
38 INPCOMoutput
+CCWLD 46 2k Ω 20 kΩ
−CCWLD 47
3
Alarm output
120 Ω
(open-collector output)
Operation command
RUN 29
4.7 kΩ
21 +A
Damping filter
switching
DFSEL1
Encoder
phase-A output
22 −A
26
4.7 kΩ
49 +B
Encoder
Gain switching
48 −B phase-B output
GSEL 27
4.7 kΩ
Line-driver output
corresponding with
the EIA RS-422A
communications
method
(load resistance
120 Ω min.)
23 +Z
Electronic gear
switching GESEL1 28
24 −Z
Encoder
phase-Z output
4.7 kΩ
Error counter reset
ECRST 30
100Ω 20 SEN
4.7 kΩ
Alarm reset
1 μF
RESET 31
Sensor ON
4.7 kΩ
13 SENGND
4.7 kΩ
Control mode
switching
TVSEL 32
42 BAT
43 BATGND
4.7 kΩ
Pulse prohibition
IPG 33
10 kΩ 16 PCL
4.7 kΩ
Reverse drive
prohibition
NOT 8
Forward drive
prohibition
POT 9
3.83 kΩ
Forward torque limit input
17 AGND2
10 kΩ 18 NCL
4.7 kΩ
Backup battery*1
Reverse torque limit input
3.83 kΩ
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-18
3-1 Servo Drive Specifications
Control I/O Signal Connections and External Signal Processing for Speed Control
Speed command
11 BKIR
REF 14 20 kΩ
Maximum
Brake interlock
service voltage:
10 BKIRCOM
30 VDC
Servo ready
Maximum
35 READY completed output output current:
50 mA DC
34 READYCOM
3.83 kΩ
AGND 15
Forward torque limit input PCL 16 10 kΩ
3.83 kΩ
AGND1 17
Reverse torque limit input
37 /ALM
NCL 18 10kΩ
Alarm output
3.83 kΩ
SEN 20 100 Ω
Sensor ON
SENGND 13
3
36 ALMCOM
4.7 kΩ
Motor rotation
speed detection
output
38 TGONCOM
39 TGON
1 μF
19 Z
12 to 24 VDC
+24VIN 7
Phase-Z output
(open-collector
output)
4.7 kΩ
25 ZGND
Specifications
Operation command
RUN 29
4.7 kΩ
Zero speed
designation VZERO 26
4.7 kΩ
Gain switching
GSEL 27
4.7 kΩ
Internally set speed
selection 3 VSEL3 28
21 +A
Encoder
phase-A output
22 −A
4.7 kΩ
Internally set speed
selection 2 VSEL2 30
49 +B
Encoder
phase-B output
48 −B
4.7 kΩ
Alarm reset
23 +Z
Line-driver output
corresponding with
the EIA RS-422A
communications
method
(load resistance
120 Ω min.)
Encoder
phase-Z output
24 −Z
RESET 31
4.7 kΩ
Control mode
switching
TVSEL 32
4.7 kΩ
Internally set speed
selection 1 VSEL1 33
42 BAT
4.7 kΩ
Backup battery*1
43 BATGND
Reverse drive
prohibition
NOT 8
4.7 kΩ
Forward drive
prohibition
POT 9
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 kΩ
11 BKIR
Brake interlock
10 BKIRCOM
Servo ready
35 READY completed output
3.83 kΩ
AGND1 15
Torque command input TREF2 16 10 kΩ
34 READYCOM
3.83 kΩ
AGND2 17
37 /ALM
SEN 20 100 Ω
Sensor ON
Maximum
service voltage:
30 VDC
Maximum
output current:
50 mA DC
Alarm output
36 ALMCOM
SENGND 13
4.7 kΩ
1 μF
Motor rotation
speed detection
output
38 TGONCOM
39 TGON
19 Z
12 to 24 VDC
+24VIN 7
3
Phase-Z output
(open-collector
4.7 kΩ
Operation
command
Specifications
25 ZGND output)
RUN 29
4.7 kΩ
Zero speed
designation VZERO
26
4.7 kΩ
Gain switching
GSEL 27
21 +A
4.7 kΩ
Encoder
phase-A output
22 −A
Alarm reset
49 +B
RESET 31
Encoder
phase-B output
4.7 kΩ
48 −B
Control mode
switching
TVSEL 32
Line-driver output
corresponding with
the EIA RS-422A
communications
method
(load resistance
120 Ω min.)
23 +Z
4.7 kΩ
Encoder
phase-Z output
24 −Z
Reverse drive
prohibition
NOT 8
42 BAT
Backup battery*1
4.7 kΩ
43 BATGND
Forward drive
prohibition
POT 9
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-20
3-1 Servo Drive Specifications
Control I/O Signal List
CN1 Control Inputs
Control mode
Pin
number
1
+24VCW
2
+24VCCW
3
Specifications
3
Symbol
4
Name
Function and interface
24-V open-collector
input for command
pulse
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).
+CW/
Reverse pulse, feed
+PULS/+FA pulse, or 90° phase
difference signal
-CW/-PULS/
(phase A)
-FA
5
+CCW/
+SIGN/+FB
6
-CCW/-SIGN/
-FB
44
+CWLD
45
-CWLD
46
+CCWLD
47
-CCWLD
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).
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.
ABS
20
SEN
13
SENGND
Signal ground
This is a sensor ON signal ground.
42
BAT
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.)
ABS
BATGND
Speed command input
REF
Torque command input
1
14
TREF1
3-21
Fullyclosed
√
√
√
√
Forward pulse,
direction signal, or 90°
phase difference signal
(phase B)
Sensor ON Input
43
Position Speed Torque
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.
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.
√
√
√
√
√
√
√
√
√
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control mode
Pin
number
Symbol
Name
Function and interface
Position Speed Torque
Speed limit input
14
VLIM
15
AGND1
Analog ground 1
This is an analog signal ground.
Forward torque limit
input
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).
PCL
Torque command input
2
16
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.
√
√
√
√
3
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.
√
17
AGND1
Analog ground 1
This is an analog signal ground.
18
NCL
Reverse torque limit
input
Provides a reverse torque limit input (set
value: 0 or 4) according to the setting of
Torque Limit Selection (Pn521).
√
√
7
+24VIN
12 to 24-VDC power
supply input
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
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).
√
√
√
√
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).
√
SI1 to SI10
NOT [8]
Forward drive
prohibition input
POT [9]
8, 9, 26 to 33
Damping filter switching
1
DFSEL1
[26]
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
√
√
√
√
3-22
Specifications
TREF2
Fullyclosed
3-1 Servo Drive Specifications
Control mode
Pin
number
Symbol
Name
Function and interface
Position Speed Torque
Fullyclosed
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).
√
Operation command
input
This turns ON the servo (motor power
supply starts).
√
Error counter reset
input
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).
√
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).
√
√
√
Prohibits the position command pulse.
Changes to enable (set value: 0)
according to the setting of Command
Pulse Prohibition Input Setting (Pn518).
√
Gain switching
GSEL [27]
Electronic gear
switching 1
GESEL1
[28]
3
Specifications
RUN [29]
ECRST [30]
Alarm reset input
RESET [31]
Control mode switching
input
TVSEL [32]
Pulse prohibition input
IPG [33]
VSEL1 [33]
Internally set speed
selection 1
VSEL2 [30]
Internally set speed
selection 2
VSEL3 [28]
Internally set speed
selection 3
8, 9, 26 to 33
√
√
√
√
√
√
√
TLSEL
3-23
√
Use this input to select a desired Speed
Setting (Pn304 to 311) during the
internally set speed operation.
Torque limit switching
Damping filter switching
2
DFSEL2
√
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.
√
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).
√
√
√
√
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control mode
Pin
number
Symbol
GESEL2
Name
Fullyclosed
√
√
You can switch maximum 4 electronic
gear ratio numerators by combining with
electronic gear switching input 1
(GESEL1).
Zero speed designation
input
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).
√
Speed command sign
input
VSIGN
Torque command sign
input
Emergency stop input
STOP
Inertia ratio switching
input
√
3
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).
√
√
This is an emergency stop input.
When input, this becomes an
emergency stop input error and thereby
stop the motor.
√
√
√
√
This signal switches between inertia
ratio 1 and inertia ratio 2.
√
√
√
√
 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.)
CN1 Control Outputs
Control mode
Pin
number
Symbol
Name
21
+A
Encoder phase A
+output
22
-A
Encoder phase A output
49
+B
Encoder phase B
+output
48
-B
Encoder phase B output
23
+Z
Encoder phase Z
+output
24
-Z
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.
Position Speed Torque
Fullyclosed
√
√
√
√
Phase Z is output for encoder signals (or
external encoder signals during fullyclosed control). This is the line-driver
output (equivalent to RS-422).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-24
Specifications
TSIGN
8, 9, 26 to 33
Position Speed Torque
Electronic gear
switching 2
VZERO
JSEL
Function and interface
3-1 Servo Drive Specifications
Control mode
Pin
number
Symbol
Name
Function and interface
Phase Z is output for encoder signals (or
external encoder signals during fullyclosed control). Open-collector output
Position Speed Torque
Fullyclosed
√
√
19
Z
Encoder phase-Z
output
25
ZGND
Encoder phase-Z
output common
SO1 to SO4
Sequence output signal These signals allocate the following functions according to the
settings of Output Signal Selections 1 to 4 (Pn410 to 413).
BKIR [11]
Brake interlock output
BKIRCOM
[10]
READY [35] Servo ready completed
3
READYCO
M [34]
Specifications
/ALM [37]
Servo alarm
Positioning completion
output 1
INP1COM
[38]
TGON [39]
10, 11, 34 to 39
3-25
WARN1COM
√
√
√
√
√
√
√
√
√
√
√
√
√
Zero speed detection
signal
This output turns ON when the motor
rotation speed is equal to Zero Speed
Detection (Pn434) or less.
√
√
√
Speed conformity
output
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).
√
√
Positioning completion
output 2
INP2COM
WARN1
√
This output turns ON while the torque is
limited.
VCMPCOM
INP2
√
Torque limit output
ZSPCOM
VCMP
√
This output turns ON when the motor
rotation speed reaches the speed set in
Rotation Speed for Motor Rotation
Detection (Pn436).
TLIMTCOM
ZSP
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).
√
Motor rotation speed
detection output
TGONCOM
[38]
TLIMT
This output signal indicates the Drive is
ready to be energized.
It is turned ON when the control and
main power supply is established and
not in alarm status.
The output is OFF when an alarm is
generated for the Servo Drive.
ALMCOM
[36]
INP1 [39]
Outputs the timing signal for operating
the electromagnetic brake on a motor.
√
Warning output 1
√
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).
√
√
√
√
√
√
√
√
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-1 Servo Drive Specifications
Control mode
Pin
number
Symbol
WARN2
Name
Warning output 2
WARN2COM
P-CMD
PCMDCOM
V-LIMIT
This output turns ON when a positioning
command is input.
Speed limiting output
This turns ON during torque control or
speed limit status.
V-CMD
VCMDCOM
Alarm clear attribute
output
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.
Position Speed Torque
Fullyclosed
√
√
√
√
√
√
√
√
√
√
√
√
 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.)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-26
3
Specifications
10, 11, 34 to 39
ALMATBCOM
This output turns ON according to the
setting condition of Warning Output
Selection 1 (Pn440).
Position command
status output
VLIMITCOM
ALM-ATB
Function and interface
3-1 Servo Drive Specifications
CN1 Pin Arrangement
1
2
4
6
PCOM
−CW/
−PULS/−FA
−CCW/
−SIGN/−FB
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)
PCOM
+CW/
+PULS/+FA
+CCW/
+SIGN/+FB
7
8
Specifications
3
10
General-purpose
input 1 (reverse drive
prohibition input)
SI1
(NOT)
SO1COM
12
General-purpose
output 1
common
9
11
NCL
General-purpose
input 1 (brake
interlock output)
SO1
(BKIR)
SEN
−A
37
AGND1
Analog
ground 1
AGND2
Analog
ground 2
SI6
(RUN)
General-purpose
input 6 (operation
command)
SI8
(RESET)
General-purpose
input 8 (alarm
reset input)
SI10*2
SO2
(READY)
/ALM
[SO3]
General-purpose
output 2 (servo ready
completed output)
Alarm output
[general-purpose
output 3]
SO4*2
Z
+A
Phase-Z
output
(open collector)
45
47
Encoder
phase Z+output
ZGND
Phase-Z
(open collector)
common
Encoder
phase Z−output
49
General-purpose
input 3*2
SI3
28
SI5
General-purpose
input 5*2
30
SI7
*2
General-purpose
input 7*2
32
SI9
(TVSEL)
General-purpose
input 9 (control
mode switching)
34
SO2COM
General-purpose
output 2
common
36
ALMCOM
[SO3COM]
Alarm output
common
[general-purpose
output 3 common]
38
SO4COM
General-purpose
output 4
common
*2
General-purpose
output 4*2
*1
40
*1
BATGND
−CWLD
Encoder
phase A+output
+Z
*2
26
General-purpose
input10*2
41
Encoder
phase A−output
25
SI4
(GSEL)
General-purpose
input 4
(gain switching)
Signal ground
39
Sensor ON
undefined
23
−Z
SENGND
35
43
21
24
SI2
(POT)
General-purpose
input 2 (forward drive
prohibition input)
Reverse torque
limit input
19
22
+24VIN
*1
17
20
31
12 to 24-VDC
power
supply input
33
Speed command 13
input, torque
REF/TREF1/
14
command input 1,
VLIM
speed limit input
Forward torque 15
limit input,
16 PCL/TREF2
torque command
input 2
18
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)
−CCWLD
+B
Absolute
encoder backup
battery input
Reverse pulse
(input for line
driver only)
Forward pulse
(input for line
driver only)
42
BAT
Absolute
encoder backup
battery input
44
+CWLD
Reverse pulse
(input for line
driver only)
46
+CCWLD
Forward pulse
(input for line
driver only)
48
−B
Encoder
phase B−output
Encoder
phase B+output
50
*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
Model
Cable plug
10150-3000PE
Cable case (shell kit)
10350-52A0-008
Manufacturer
Sumitomo 3M
3-27
OMRON model number
R88A-CNU11C
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
20 kΩ
47 kΩ
REF/TREF1/VLIM14
Maximum
input voltage
±10 V
47 kΩ
470pF
1000 pF
47 kΩ
15
1000 pF
3
470 pF
47 kΩ
20 kΩ
1000 pF
Maximum
input voltage
±12 V
14 kΩ
20 kΩ
Specifications
TREF2/PCL/NCL16,18
20 kΩ
1000 pF
10 kΩ
17
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
Applicable
line driver
AM26LS31A or
equivalent
+
44,46
−
45,47
2 kΩ
20 kΩ
120 Ω
2 kΩ
13
Applicable
line receiver
20 kΩ 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
3-1 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 kΩ
1000 pF
Applicable line driver
AM26LS31A or equivalent
4,6
220 Ω
Precautions for Correct Use
3
Specifications
 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 kΩ
2.2 kΩ
4,6
−
1000 pF
220 Ω
3
Controller
Drive
Vcc
2.2 kΩ
R
3,5 +
2.2 kΩ
1000 pF
−
4,6
220 Ω
Select a Current Limit Resistor (R) appropriate for Vcc.
VCC
Vcc − 1.5
R + 220
≈10mA
(7 to 15 mA)
R
24 V
2 kΩ (1/2 W)
12 V
1 kΩ (1/2 W)
5V
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
Specifications
 External control power supply (200 kpps maximum) (+CW: 3, −CW: 4, +CCW: 5, −CCW: 6)
3-1 Servo Drive Specifications
General-purpose Input
External power supply
12 VDC ± 5% to
24 VDC ± 5%
+24VIN
7
SI1
8
4.7 kΩ
Photocoupler input
1.0 kΩ
Input current
specification
10 mA max. (per point)
4.7 kΩ
Signal level
ON level: 10 V or more
OFF level: 3 V or less
Photocoupler input
1.0 kΩ
SI2
9
Minimum ON time 40 ms
To another input circuit GND common
To other input circuit
3
Specifications
Sensor Input
Sensor ON Input ABS
+5 V
SEN
20
100 Ω
4.7 KΩ
At high level
Approx. 1 mA
1 μF
7406 or equivalent
SENGND
13
SENGND
 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
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).
0/2
0
0
1
3
90° phase
difference
signals
(quadruple
multiplier)
Input pins
Motor reverse command
3: +FA
4: −FA
5: +FB
6: −FB
Reverse
3: +CW
pulse/forward 4: −CW
pulse
5: +CCW
6: −CCW
Feed pulse/
direction
signal
Motor forward command
3: +PULS
4: −PULS
5: +SIGN
6: −SIGN
L
L
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
Specifications
Pn005 Pn006 Pn007
Command
Set
Set
Set
pulse mode
value value value
3
3-1 Servo Drive Specifications
Command Pulse Timing for Photocoupler Inputs
Command pulse mode
Timing
Forward command
Feed pulse/direction
signal
Maximum input frequency
Line driver:
500 kpps
Open collector:
200 kpps
Reverse command
Direction signal
t1 t2
t2 t1 t2
Feed pulse
t1
τ
t1
T
Specifications
3
t1 ≤ 0.1 μs
t2 > 2.5 μs
t2 > 1.0 μs
τ ≥ 2.5 μs
τ ≥ 1.0 μs
T ≥ 5.0 μs
T ≥ 2.0 μs
(τ/T) × 100 ≤ 50 (%)
(τ/T) × 100 ≤ 50 (%)
Reverse command
Reverse pulse
t2
Forward pulse
t1
t1
τ
T
At 200 kpps
At 500 kpps
t1 ≤ 0.5 μs
t1 ≤ 0.1 μs
t2 > 2.5 μs
t2 > 1.0 μs
τ ≥ 2.5 μs
τ ≥ 1.0 μs
T ≥ 5.0 μs
T ≥ 2.0 μs
(τ/T) × 100 ≤ 50 (%)
(τ/T) × 100 ≤ 50 (%)
Forward command
90° phase difference
signals
Maximum input frequency
Line driver:
500 kpps
Open collector:
200 kpps
At 500 kpps
t1 ≤ 0.5 μs
Forward command
Reverse pulse/forward
pulse
Maximum input frequency
Line driver:
500 kpps
Open collector:
200 kpps
At 200 kpps
Reverse command
Phase-A pulse
t1
t1
Phase-B pulse
τ
T
3-33
At 200 kpps
At 500 kpps
t1 ≤ 0.5 μs
t1 ≤ 0.1 μs
τ ≥ 10 μs
τ ≥ 4.0 μs
T ≥ 20 μs
T ≥ 8.0 μs
(τ/T) × 100 ≤ 50 (%)
(τ/T) × 100 ≤ 50 (%)
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 Pn006 Pn007
Command
Set
Set
Set
pulse mode
value value value
0/2
0
1
3
90° phase
difference
signals
(quadruple
multiplier)
44: +FA
45: −FA
46: +FB
47: −FB
Reverse
pulse/
forward
pulse
44: +CW
45: −CW
46: +CCW
47: −CCW
Feed pulse/ 44: +PULS
direction
45: −PULS
signal
46: +SIGN
47: −SIGN
Motor forward command
Motor reverse command
3
Specifications
1
Input pins
L
L
H
L
Note 1. If the Command Pulse Rotation Direction Switching Selection (Pn006) is set to 1, the rotation direction will be
reversed.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-34
3-1 Servo Drive Specifications
Command Pulse Timing for Line Receiver Inputs
Command pulse mode
Timing
Forward command
Feed pulse/direction
signal
Maximum input frequency
Line driver:
4 Mpps
Reverse command
Direction signal
t1 t2
t2 t1 t2
Feed pulse
t1
τ
t1
T
3
t1 ≤ 20 ns
t2 > 125 ns
Specifications
τ ≥ 125 ns
T ≥ 250 ns
(τ/T) × 100 ≤ 50 (%)
Reverse pulse/forward
pulse
Maximum input frequency
Line driver:
4 Mpps
Forward command
Reverse command
Reverse pulse
t2
Forward pulse
t1
t1
τ
t1 ≤ 20 ns
T
t2 > 125 ns
τ ≥ 125 ns
T ≥ 250 ns
(τ/T) × 100 ≤ 50 (%)
Forward command
90° phase difference
signals
Maximum input frequency
Line driver:
4 Mpps
Reverse command
Phase-A pulse
t1
t1
Phase-B pulse
τ
T
t1 ≤ 20 ns
τ ≥ 500 μs
T ≥ 1 μs
(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.
3
Backup Battery Input (BAT)
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.
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-36
Specifications
Pin 42: Backup battery +input (BAT)
Pin 43: Backup battery −input (BATGND)
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.
3
Specifications
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).
3
Alarm Reset Input (RESET)
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 μs, 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).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-38
Specifications
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.)
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
OFF (first control mode)
ON (second control mode)
3
Position control
Speed control
4
Position control
Torque control
5
Speed 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).
3
Function
Specifications
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
Damping filter
1
OFF
−
Enabled
ON
−
OFF
OFF
ON
OFF
OFF
ON
ON
ON
1
Damping filter
2
Damping filter Damping filter
3
4
Enabled
Enabled
Enabled
Enabled
Enabled
2
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
Electronic
Gear 1
GESEL2
OFF
OFF
ON
OFF
OFF
ON
ON
ON
Electronic
Gear 2
Electronic
Gear 3
Electronic
Gear 4
Pn009 valid
Pn500 valid
Pn501 valid
Pn502 valid
 Electronic Gear Ratio Denominator (Pn010) is a common setting.
Pulse Prohibition Input (IPG)
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).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-40
3
Specifications
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).
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
Specifications
3
3
VSEL1
VSEL2
VSEL3
Speed command selection
OFF
OFF
−
No. 1 Internally Set Speed (Pn304)
ON
OFF
−
No. 2 Internally Set Speed (Pn305)
OFF
ON
−
No. 3 Internally Set Speed (Pn306)
ON
ON
−
No. 4 Internally Set Speed (Pn307)
OFF
OFF
−
No. 1 Internally Set Speed (Pn304)
ON
OFF
−
No. 2 Internally Set Speed (Pn305)
OFF
ON
−
No. 3 Internally Set Speed (Pn306)
ON
ON
−
Analog speed command input (REF)
OFF
OFF
OFF
No. 1 Internally Set Speed (Pn304)
ON
OFF
OFF
No. 2 Internally Set Speed (Pn305)
OFF
ON
OFF
No. 3 Internally Set Speed (Pn306)
ON
ON
OFF
No. 4 Internally Set Speed (Pn307)
OFF
OFF
ON
No. 5 Internally Set Speed (Pn308)
ON
OFF
ON
No. 6 Internally Set Speed (Pn309)
OFF
ON
ON
No. 7 Internally Set Speed (Pn310)
ON
ON
ON
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).
Pn315 set value
3-41
Operation when ON
0
Zero speed designation is disabled.
1
The speed command becomes 0.
2
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).
3
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.
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
Pn303 set
value
VSIGN
0
Not
affected
0
1
1
Not affected
ON
Pn301 set
value
0
VSIGN
Not affected
Speed command
direction*1
+ Voltage (0 to 10 V)
Forward direction
- Voltage (−10 to 0 V)
Reverse direction
+ Voltage (0 to 10 V)
Reverse direction
- Voltage (−10 to 0 V)
Forward direction
+ Voltage (0 to 10 V)
- Voltage (−10 to 0 V)
+ Voltage (0 to 10 V)
- Voltage (−10 to 0 V)
Reverse direction
Internal command speed
Speed command
direction*1
+ (1 to 20,000 r/min)
Forward direction
− (−20,000 to −1 r/min)
Reverse direction
+ (1 to 20,000 r/min)
Forward direction
− (−20,000 to −1 r/min)
Reverse direction
OFF
1
Forward direction
Forward direction
Not affected
ON
Reverse direction
*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
3-42
3
Specifications
OFF
Analog speed command
(REF)
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
Forward direction
Reverse direction
OFF
Pn013 (No. 1 Torque Limit)
Pn013 (No. 1 Torque Limit)
ON
Pn522 (No. 2 Torque Limit)
Pn522 (No. 2 Torque Limit)
OFF
Pn013 (No. 1 Torque Limit)
Pn522 (No. 2 Torque Limit)
ON
Pn525 (Forward External Torque Limit) Pn526 (Reverse External Torque Limit)
3
3
Specifications
6
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
Pn320
set value
TSIGN
Torque command input
(TREF)
Torque command
direction*1
+ Voltage (0 to 10 V)
Forward direction
- Voltage (−10 to 0 V)
Reverse direction
+ Voltage (0 to 10 V)
Reverse direction
- Voltage (−10 to 0 V)
Forward direction
0
0
Not affected
1
OFF
1
Not affected
Forward direction
Not affected
ON
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).
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-44
Specifications
Function
3
3-1 Servo Drive Specifications
Control Output Circuits
Position Feedback Output
Servo Drive
3
21 +A
+A
Phase A
22 −A
−A
Output line driver
AM26C31 or
equivalent
Phase B
49 +B
+B
48 −B
−B
23 +Z
+Z
24 −Z
−Z
25 ZGND
GND
Phase Z
Specifications
Controller
0V
R = 120 to 180 Ω
+5 V
R
Phase A
R
Phase B
R
Phase Z
0V
0V
Shell FG
FG
Applicable line receiver
AM26C32 or equivalent
FG
Phase-Z Output (Open Collector Output)
Drive
Controller
10 Ω 19 Z
Maximum service voltage: 30 VDC or less
Maximum output current: 50 mA or less
0V
25 ZGND
Shell
FG
FG
FG
Sequence Output
 General-purpose output
 General-purpose output common
SO1 : 11, SO2 : 35, /ALM : 37, SO4 : 39
SO1COM : 10, SO2COM : 34, ALMCOM : 36, SO4COM : 38
Servo Drive
10 Ω
11,35,37,39
+
X
External power supply 12 to 24 VDC
Maximum service voltage: 30 VDC or less
Maximum output current: 50mA max.
Di
-
10,34,36,38
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
Control power supply
(L1C and L2C)
ON
OFF
Approx. 100 to 300 ms
Internal control
power supply
MPU initialization
completed
OFF
ON
Approx. 1.5 s
Approx. 2 s
3
Iinitialization *3
OFF
0 s or more
ON
Specifications
Main circuit power
supply
(L1, L2 and L3)
ON
OFF
10 ms after the initialization is completed and the main circuit is turned on*2
Servo ready
completed output
(READY)
Alarm output
(/ALM)
Positioning
completion output
(INP)
ON
OFF
ON
OFF
ON
OFF
0 ms or more
Operation
command input
(RUN)
ON
OFF
Approx. 2 ms
Dynamic brake
ON
OFF
Approx. 60 ms
Motor power supply
Pn437
ON
OFF
Approx. 4 ms
Brake interlock
output (BKIR)
1 to 6 ms
ON
OFF
100 ms or more*1
Servo position, speed,
torque input
ON
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."
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-46
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.
3
 The maximum output frequency is 4 Mpps (after quadruple multiplier).
Specifications
 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 A
Phase B
Phase B
Phase Z
Phase Z
Synchronous
 If the motor encoder
resolution × Pn324/Pn325
is a multiple of 4, phases Z
and A are synchronized.
3-47
Asynchronous
 In cases except for the one
on the left, phases A and Z
are not synchronized.
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)
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.
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).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-48
3
Specifications
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).
3-1 Servo Drive Specifications
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).
3
Specifications
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).
3-49
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).
This turns ON during torque control or speed limit status.
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
Specifications
Function
3
3-1 Servo Drive Specifications
Encoder Connector Specifications (CN2)
Pin
number
Name
Function and interface
1
E5V
Encoder power supply +5 V Power supply output for the encoder
2
E0V
Encoder power supply GND
3
BAT+
Battery +
4
BAT−
Battery −
5
PS+
Encoder + phase S
input
6
PS−
Encoder − phase S
input
Shell
FG
Frame ground
Specifications
3
Symbol
Backup power supply output for the absolute encoder
Encoder signal I/O (serial signal)
Frame ground
Connectors for CN2 (6 Pins)
Name
Model
Drive connector
53460-0629
Cable connector
55100-0670
OMRON model
number
Manufacturer
−
Molex Japan
R88A-CNW01R
External Encoder Connector Specifications (CN4)
These are the specifications of the connector that connects to the external encoder.
Pin
number
1
Symbol
Name
Function and interface
E5V
External encoder power supply
output
2
E0V
3
+EXS
4
−EXS
5
+EXA
6
−EXA
7
+EXB
8
−EXB
9
+EXZ
10
−EXZ
Shell
FG
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
3-51
Model
Manufacturer
MUF-PK10K-X
JST Mfg. Co., Ltd.
OMRON model number
R88A-CNK41L
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)
Symbol
1
E5V
2
E0V
3
+EXS
4
−EXS
5
+EXA
6
−EXA
7
+EXB
8
−EXB
9
+EXZ
10
−EXZ
*
Name
Function and interface
External encoder power
supply output
External encoder power supply: 5.2 VDC ± 5%, 250
mA max.
If the above capacity is exceeded, provide a
separate power supply.
External encoder signal
serial interface
This is an external encoder serial bi-directional
signal.*(Conforming to EIA485)
Maximum response frequency: 400 Mpps
External encoder signal
90° phase difference input
(Phases A, B and Z)
This is an external encoder 90° phase input signal.*
Maximum response frequency: 4 Mpps (quadruple
multiplier)
EXA
t1
t1
EXB
t1
t1
t2
t1>0.25 μs
t2>1.0 μs
Connect external encoder signals to the serial interface (+EXS/−EXS) or 90° phase difference inputs
according to the encoder type.
Example of Connection with External Encoder
 90° Phase Difference Output Type (Pn323 = 0)
Servo Drive side (CN4)
External encoder side
5V
E5V
1
E0V
2
5.2 V ±5% 250 mA max
+5 V
Power supply area
0V
PA
Phase A
/PA
PB
Phase B
/PB
PC
Phase Z
/PC
GND
+EXA
−EXA
+EXB
−EXB
+EXZ
2 kΩ
5
6
2 kΩ
20 kΩ
7
2 kΩ
20 kΩ
8
120 Ω
9
−EXZ 10
FG
20 kΩ
PULS
120 Ω
2 kΩ
20 kΩ
2 kΩ
20 kΩ
PULS
PULS
120 Ω
2 kΩ
FG
20 kΩ
Shell
FG
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
3-52
Specifications
Pin
number
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)
5V
E5V 1
+5 V
E0V 2
0V
GND
SD/RQ
+EXS 3
−SD/−RQ
−EXS 4
Serial number
680 Ω
120 Ω
680 Ω
FG
FG
Shell
FG
Specifications
3
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
Symbol
Number
1
Name
Function and interface
Analog monitor output 1
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.
AM1
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.
2
AM2
3
GND
Analog monitor ground
Ground for analog monitors 1, 2
4
−
Not used
Do not connect.
5
−
Not used
Do not connect.
6
−
Not used
Do not connect.
Connectors for CN5 (6 Pins)
Name
Model
Manufacturer
Connector housing
51004-0600
Molex Japan
Connector terminal
50011-8000
Molex Japan
Monitor Output Circuit
Servo Drive
−
+
1 kΩ
1/2 AM1/AM2
Monitor equipment
3 GND
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-54
Specifications
Analog monitor output 2
3
3-1 Servo Drive Specifications
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.
Pin
number
Name
Function and interface
1
VBUS
2
D−
3
D+
4
−
Reserved for manufacturer use Do not connect.
5
GND
Signal ground
Use this function for computer communication.
USB signal terminal
Signal ground
Precautions for Correct Use
Specifications
3
Symbol
 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
4.7 kΩ
SF1+
4
External power supply
12 VDC ± 5% to
24 VDC ± 5%
1 kΩ
SF1−
10
8
3
4.7 kΩ
SF2+
7
6
External power supply
12 VDC ± 5% to
24 VDC ± 5%
Maximum servicevoltage
EDM+ : 30 VDC or less.
Maximum output current
: 50 mADC.
Leakage current
: 0.1 mA max.
EDM− Residual voltage
: 1.7 V max.
1 kΩ
Shell
SF2−
FG
5
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)
Pin
Number
Symbol
1
−
2
−
3
SF1−
4
SF1+
5
SF2−
6
SF2+
7
EDM−
8
EDM+
Shell
FG
Name
Function and interface
Reserved
Do not connect.
Safety input 1
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.
Safety input 2
EDM output
A monitor signal is output to detect a safety function
failure.
Frame ground
Connected to the ground terminal inside the Servo Drive.
Name
Industrial Mini I/O Connector
(D-SHAPE1)
Model
2013595-1
Manufacturer
Tyco Electronics AMP KK
OMRON model
number
R88A-CNK81S
Note. The recommended cable is a 6-conductor (AWG30 to AWG26) shielded cable with a finished
outer diameter of 6.7 mm max.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-56
Specifications
Connector for CN8 (8 Pins)
3
3-1 Servo Drive Specifications
Safety Input Circuit
Servo Drive
SF1+
External power supply
12 VDC ± 5% to
24 VDC ± 5%
Specifications
4.7 kΩ
1 kΩ
Signal level
ON level: 10 V or more
OFF level: 3 V or less
3
4
SF1−
3
SF2+
6
4.7 kΩ
1 kΩ
SF2−
Photocoupler
input
5
Photocoupler
input
EDM Output Circuit
Servo Drive
10 Ω
7 +EDM
8 −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.
3
Time [s]
100
[100 V, 200 V]
3,000-r/min Servomotors
10
Specifications
50 W
100 W (100 V)
100 W (200 V)
200 W
400 W
750 W
1
0.1
115
100
150
200
250
100
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
10
1
0.1
115
100
150
200
250
300 Overload [%]
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-58
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
3
3,000-r/min Servomotors
50 to 750 W
1 to 5 kW
900 W to 15 kW
Ambient operating
temperature and operating
humidity
0 to +40°C, 20% to 85% (with no condensation)
Storage ambient
temperature and humidity
−20 to +65°C, 20% to 85% (with no condensation)
Maximum allowable temperature: 80°C for 72 hours maximum (standard humidity)
Operating and storage
atmosphere
No corrosive gases
Vibration resistance *1
Acceleration of 49 m/s2 *2
24.5 m/s2 max. in X, Y, and Z directions when the motor is stopped
Impact resistance
Acceleration of 98 m/s2 max. 3 times each in X, Y, and Z directions
Insulation resistance
Between power terminal and FG terminal: 20 MΩ min. (at 500 VDC)
Dielectric strength
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
Insulation class
Type B
Protective structure
IP67 (except for through-shaft parts and motor and encoder connector pins)
International standard
Specifications
Item
1,000-r/min Servomotors
1,500-r/min Servomotors
2,000-r/min Servomotors
EC
Directive
Low
Voltage
Directive
Type F
EN60034-1/-5
UL1004-1, UL1004-6 *3
UL standards
UL1004-1
CSA standards
CSA C22.2 No. 100
*1. The amplitude may be amplified by machine resonance. Do not exceed 80% of the specified value for extended periods of time.
*2. 24.5m/s2 is specified for 1,500-r/min Servomotors of 7.5 to 15 kW and 1,000-r/min Servomotors of 4.5 to 6 kW.
*3. 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
100 VAC
Model (R88M-)
Item
Unit
Rated output *1
W
1
K05030H
K10030L
K20030L
K40030L
K05030T
K10030S
K20030S
K40030S
50
100
200
400
0.32
0.64
1.3
0.16
r/min
3,000
Maximum rotation speed
r/min
6,000
Momentary maximum
torque *1
N•m
0.48
0.95
1.91
3.8
Rated current *
A (rms)
1.1
1.6
2.5
4.6
Momentary maximum
current *1
A (0-p)
4.7
6.9
10.6
19.5
Without brake kg • m2
0.025×10-4
0.051×10-4
0.14×10-4
0.26×10-4
kg • m2
0.027×10-4
0.054×10-4
0.16×10-4
0.28×10-4
Applicable load inertia
−
30 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.11±10%
0.20±10%
0.21±10%
1
Rotor
inertia
With brake
0.14±10%
Power rate Without brake kW/s
*1
With brake
kW/s
10.1
19.8
28.9
62.3
9.4
18.7
25.3
57.8
Mechanical Without brake ms
time constant With brake
ms
1.43
1.03
0.61
0.48
1.54
1.09
0.70
0.52
Electrical time constant
ms
0.82
0.91
3.0
3.4
Allowable radial load *3
N
68
68
245
245
Allowable thrust load *3
N
58
58
98
98
Weight Without brake
kg
Approx. 0.31
Approx. 0.45
Approx. 0.78
Approx. 1.2
kg
Approx. 0.51
Approx. 0.65
Approx. 1.2
Approx. 1.6
KTA5L
KT01L
KT02L
-7
-7
With brake
Radiator plate dimensions (material) 100 × 80 × t10 (AI)
Brake specifications
Applicable Servo Drives (R88D-)
2
Brake inertia
kg • m
Excitation voltage *4
V
24 VDC ± 5%
Power consumption
(at 20°C)
W
Current consumption
(at 20°C)
Static friction torque
Attraction time *
5
Release time *5
130 × 120 × t12 (AI)
KT04L
-6
1.8×10-6
2×10
1.8×10
7
7
9
9
A
0.3
0.3
0.36
0.36
N•m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
ms
35 max.
35 max.
50 max.
50 max.
20 max.
20 max.
15 max.
15 max.
ms
2×10
3
Specifications
N•m
Rated rotation speed
Rated torque *
±1°
Backlash
Allowable work per
braking
J
39.2
39.2
137
137
Allowable total work
J
4.9×103
4.9×103
44.1×103
44.1×103
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-60
3-3 Servomotor Specifications
100 VAC
Model (R88M-)
Brake specifications
Item
Unit
K05030H
K10030L
K20030L
K40030L
K05030T
K10030S
K20030S
K40030S
Allowable angular
acceleration
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
Brake limit
−
10 million times min.
Rating
−
Continuous
−
Type F
Insulation class
Specifications
3
3-61
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
Unit
K05030H
K10030H
K20030H
K40030H
K05030T
K10030T
K20030T
K40030T
W
50
100
200
400
Rated torque *1
N•m
0.16
0.32
0.64
1.3
Rated rotation speed
r/min
3,000
Maximum rotation speed
r/min
6,000
Momentary maximum
torque *1
N•m
0.48
0.95
1.91
3.8
Rated current *1
A (rms)
1.1
1.1
1.5
2.4
Momentary maximum
current *1
A (0-p)
4.7
4.7
6.5
10.2
Without brake kg • m2
0.025×10-4
0.051×10-4
0.14×10-4
0.26×10-4
kg • m2
0.027×10-4
0.054 ×10-4
0.16×10-4
0.28×10-4
Applicable load inertia
−
30 times the rotor inertia max.*2
Torque constant *1
N • m/A
0.11±10%
0.21±10%
0.32±10%
0.40±10%
Power rate Without brake kW/s
*1
With brake
kW/s
10.1
19.8
28.9
62.3
9.4
18.7
25.3
57.8
Mechanical Without brake ms
time
With brake
ms
constant
1.43
1.07
0.58
0.43
1.54
1.13
0.66
0.46
Electrical time constant
ms
0.82
0.90
3.2
3.4
Allowable radial load *3
N
68
68
245
245
Allowable thrust load *3
N
58
58
98
98
Weight Without brake
kg
Approx. 0.31
Approx. 0.46
Approx. 0.79
Approx. 1.2
kg
Approx. 0.51
Approx. 0.66
Approx. 1.2
Approx. 1.6
Rotor
inertia
With brake
With brake
Radiator plate dimensions (material) 100 × 80 × t10 (AI)
Applicable Servo Drives (R88D-)
KT01H
3
Specifications
Rated output *1
130 × 120 × t12 (AI)
KT01H
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
KT02H
KT04H
3-62
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
2
Brake specifications
K10030H
K20030H
K40030H
K05030T
K10030T
K20030T
K40030T
-7
-7
1.8×10
1.8×10-6
7
9
9
0.3
0.3
0.36
0.36
N•m
0.29 min.
0.29 min.
1.27 min.
1.27 min.
Attraction time *5
ms
35 max.
35 max.
50 max.
50 max.
Release time *5
ms
20 max.
20 max.
15 max.
15 max.
Brake inertia
kg • m
2×10
Excitation voltage *4
V
24 VDC ± 5%
Power consumption
(at 20°C)
W
7
Current consumption
(at 20°C)
A
Static friction torque
2×10
-6
±1°
Backlash
3
Specifications
Unit
K05030H
Allowable work per
braking
J
39.2
39.2
137
137
Allowable total work
J
4.9×103
4.9×103
44.1×103
44.1×103
Allowable angular
acceleration
rad/s2
30,000 max.
(Speed of 2,800 r/min or more must not be changed in less than 10 ms.)
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-63
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
Unit
K75030H
K1K030H
K1K530H
K75030T
K1K030T
K1K530T
Rated output *1
W
750
1000
1500
Rated torque *1
N•m
2.4
3.18
4.77
Rated rotation speed
r/min
3,000
Maximum rotation speed
r/min
6,000
5,000
Momentary maximum
torque *1
N•m
7.1
9.55
14.3
Rated current *1
A (rms)
4.1
6.6
8.2
Momentary maximum
current *1
A (0-p)
28
35
0.87×10-4
2.03×10-4
2.84×10-4
kg • m2
0.97×10-4
2.35×10-4
3.17×10-4
Applicable load inertia
−
20 times the rotor inertia
max. *2
15 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.45±10%
0.37
0.45
Power rate Without brake kW/s
*1
With brake
kW/s
65.4
49.8
80.1
58.7
43.0
71.8
Mechanical Without brake ms
time
With brake
ms
constant
0.37
0.61
0.49
0.42
0.71
0.55
Electrical time constant
ms
5.3
5.8
6.3
Allowable radial load *3
N
392
490
490
Allowable thrust load *3
N
147
196
196
Weight Without brake
kg
Approx. 2.3
Approx. 3.5
Approx. 4.4
kg
Approx. 3.1
Approx. 4.5
Approx. 5.4
With brake
With brake
Radiator plate dimensions (material) 170 × 160 × t12 (AI)
320 × 300 × t20 (AI)
Applicable Servo Drives (R88D-)
KT15H
KT08H
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
Without brake kg • m2
Rotor
inertia
KT15H
3-64
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
2
Brake specifications
K1K030H
K1K530H
K75030T
K1K030T
K1K530T
-5
-4
0.33×10
0.33×10-4
Brake inertia
kg • m
0.75×10
Excitation voltage *4
V
24 VDC ± 5%
24 VDC ± 10%
Power consumption
(at 20°C)
W
10
19
19
Current consumption
(at 20°C)
A
0.42
0.81±10%
0.81±10%
Static friction torque
N•m
2.45 min.
7.8 min.
7.8 min.
Attraction time *5
ms
70 max.
50 max.
50 max.
Release time *5
ms
20 max.
15 max. *6
15 max. *6
±1°
Backlash
3
Specifications
Unit
K75030H
Allowable work per
braking
J
196
392
392
Allowable total work
J
1.47×105
4.9×105
4.9×105
Allowable angular
acceleration
rad/s2
30,000
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-65
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
Rated output *
1
Unit
K2K030H
K3K030H
K4K030H
K5K030H
K2K030T
K3K030T
K4K030T
K5K030T
2000
3000
4000
5000
N•m
6.37
9.55
12.7
15.9
Rated rotation speed
r/min
3,000
Maximum rotation speed
r/min
5,000
4,500
4,500
Momentary maximum
torque *1
N•m
19.1
28.6
38.2
47.7
Rated current *1
A (rms)
11.3
18.1
19.6
24.0
Momentary maximum
current *1
A (0-p)
48
77
83
102
Without
brake
kg • m2
3.68×10-4
6.50×10-4
12.9×10-4
17.4×10-4
With brake
kg • m2
4.01×10-4
6.85×10-4
14.2×10-4
18.6×10-4
Applicable load inertia
-
15 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.44
0.41
0.49
0.49
Without
brake
kW/s
110
140
126
146
With brake
kW/s
101
116
114
136
Rotor
inertia
Power rate
*1
3
Specifications
W
Rated torque *1
Mechanica Without
brake
l time
constant
With brake
ms
0.44
0.41
0.51
0.50
ms
0.48
0.49
0.56
0.54
Electrical time constant
ms
6.7
11
12
13
Allowable radial load *3
N
490
490
784
784
Allowable thrust load *3
N
196
196
343
343
Without brake
kg
Approx. 5.3
Approx. 8.3
Approx. 11.0
Approx. 14.0
With brake
kg
Approx. 6.3
Approx. 9.4
Approx. 12.6
Approx. 16.0
KT50H
KT50H
Weig
ht
Radiator plate dimensions (material) 380 × 350 × t30 (AI)
Applicable drives (R88D-)
KT20H
KT30H
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-66
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
Unit
2
K5K030H
K2K030T
K3K030T
K4K030T
K5K030T
-4
-4
-4
1.35×10
1.35×10-4
19
22
22
0.81±10%
0.81±10%
0.90±10%
0.90±10%
N•m
7.8 min.
11.8 min.
16.1 min.
16.1 min.
ms
50 max.
0.33×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
19
Current consumption
(at 20°C)
A
Static friction torque
Attraction time *5
ms
0.33×10
80 max.
6
15 max. *
110 max.
6
110 max.
7
15 max. *
50 max. *
50 max. *7
±1°
Backlash
Brake specifications
K4K030H
kg • m
Release time *
Specifications
K3K030H
Brake inertia
5
3
K2K030H
Allowable work per
braking
J
392
392
1,470
1,470
Allowable total work
J
4.9×105
4.9×105
2.2×106
2.2×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
-
10 million times min.
Rating
-
Continuous
Insulation class
-
Type F
3-67
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
K75030F
K1K030F
K1K530F
K2K030F
K75030C
K1K030C
K1K530C
K2K030C
W
750
1000
1500
2000
Rated torque *1
N•m
2.39
3.18
4.77
6.37
Rated rotation speed
r/min
3,000
Maximum rotation speed
r/min
5,000
Momentary maximum
torque *1
N•m
7.16
9.55
14.3
19.1
Rated current *1
A (rms)
2.4
3.3
4.2
5.7
Momentary maximum
current *1
A (0-p)
10
14
18
24
Without brake kg • m2
1.61×10-4
2.03×10-4
2.84×10-4
3.68×10-4
kg • m2
1.93×10-4
2.35×10-4
3.17×10-4
4.01×10-4
Applicable load inertia
−
20 times the rotor
inertia max. *2
15 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.78
0.75
0.89
0.87
Power rate Without brake kW/s
*1
With brake
kW/s
35.5
49.8
80.1
110
29.6
43
71.8
101
Mechanical Without brake ms
time
With brake
ms
constant
0.67
0.60
0.49
0.45
0.8
0.70
0.55
0.49
Electrical time constant
ms
5.9
5.8
6.5
6.6
Allowable radial load *3
N
490
490
490
490
Allowable thrust load *3
N
196
196
196
196
Weight Without brake
kg
Approx. 3.1
Approx. 3.5
Approx. 4.4
Approx. 5.3
kg
Approx. 4.1
Approx. 4.5
Approx. 5.4
Approx. 6.3
KT15F
KT20F
Rotor
inertia
With brake
With brake
3
Specifications
Rated output *1
Radiator plate dimensions (material) 320 × 300 × t20 (AI)
Applicable Servo Drives (R88D-)
KT10F
KT15F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-68
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
2
Brake specifications
K1K030F
K1K530F
K2K030F
K75030C
K1K030C
K1K530C
K2K030C
-4
-4
-4
Brake inertia
kg • m
0.33×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
Current consumption
(at 20°C)
0.33×10-4
0.33×10
0.33×10
17
19
19
19
A
0.70±10%
0.81±10%
0.81±10%
0.81±10%
Static friction torque
N•m
2.5 min.
7.8 min.
7.8 min.
7.8 min.
Attraction time *5
ms
50 max.
50 max.
50 max.
50 max.
Release time *5
ms
15 max. *6
15 max. *6
15 max. *6
15 max. *6
±1°
Backlash
3
Specifications
Unit
K75030F
Allowable work per
braking
J
392
392
392
392
Allowable total work
J
4.9×105
4.9×105
4.9×105
4.9×105
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-69
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
K3K030F
K4K030F
K5K030F
K3K030C
K4K030C
K5K030C
W
3000
4000
5000
Rated torque *1
N•m
9.55
12.7
15.9
Rated rotation speed
r/min
3,000
Maximum rotation speed
r/min
5,000
4,500
Momentary maximum
torque *1
N•m
28.6
38.2
47.7
Rated current *1
A (rms)
9.2
9.9
12.0
Momentary maximum
current *1
A (0-p)
39
42
51
Without brake kg • m2
6.50×10-4
12.9×10-4
17.4×10-4
kg • m2
7.85×10-4
14.2×10-4
18.6×10-4
Applicable load inertia
−
15 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.81
0.98
0.98
Power rate Without brake kW/s
*1
With brake
kW/s
140
126
146
116
114
136
Mechanical Without brake ms
time
With brake
ms
constant
0.40
0.51
0.50
0.49
0.56
0.54
Electrical time constant
ms
12
13
13
Allowable radial load *3
N
490
784
784
Allowable thrust load *3
N
196
343
343
Weight Without brake
kg
Approx. 8.3
Approx. 11.0
Approx. 14.0
kg
Approx. 9.4
Approx. 12.6
Approx. 16.0
KT50F
KT50F
Rotor
inertia
With brake
With brake
3
Specifications
Rated output *1
Radiator plate dimensions (material) 380 × 350 × t30 (AI)
Applicable Servo Drives (R88D-)
KT30F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-70
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
2
Brake specifications
K4K030F
K5K030F
K3K030C
K4K030C
K5K030C
-4
-4
1.35×10
1.35×10-4
Brake inertia
kg • m
0.33×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
19
22
22
Current consumption
(at 20°C)
A
0.81±10%
0.90±10%
0.90±10%
Static friction torque
N•m
11.8 min.
16.1 min.
16.1 min.
Attraction time *5
ms
80 max.
110 max.
110 max.
Release time *5
ms
15 max. *6
50 max. *7
50 max. *7
±1°
Backlash
3
Specifications
Unit
K3K030F
Allowable work per
braking
J
392
1470
1470
Allowable total work
J
4.9×105
2.2×106
2.2×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
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 ten 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)
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)
Power supply voltage
dropped by 10%
0.48 (4000)
(N • m)
0.5
• R88M-K10030L/S (100 W)
0.48
Momentary operation range
0.25 0.16
0.16
0.3
Continuous operation range
0.08
Power supply voltage
dropped by 10%
(N • m)
1.0 0.95
0.32
Continuous operation range
4300
0
(N • m)
2.0 1.91
0.95(3700)
Momentary operation range
0.5 0.32
1000 2000 3000 4000 5000 6000
(r/min)
0
• R88M-K20030L/S (200 W)
0.56
0.4
1.0
Momentary operation
range
0.64
0.64
Continuous operation
range
0.16
1000 2000 3000 4000 5000 6000
(r/min)
Power supply voltage
dropped by 10%
1.91 (2600)
0
0.8
0.64
0.32
3100
1000 2000 3000 4000 5000 6000
(r/min)
• R88M-K40030L/S (400 W)
(N • m)
4.0 3.8
2.0
Power supply voltage
dropped by 10%
3.8(2600)
Momentary operation
range
1.3
1.3
Continuous operation
range
0
1.7
1.3
0.32
3100
1000 2000 3000 4000 5000 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
Specifications
*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).
3-3 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)
Power supply voltage
dropped by 10%
0.48 (4000)
(N • m)
0.5
• R88M-K10030H/T (100 W)
0.48
Momentary operation range
0.25 0.16
0.16
0.3
Continuous operation range
0.08
1000 2000 3000 4000 5000 6000
(r/min)
Specifications
(3100) 3.8(3600)
4.0 3.8
Momentary operation range
0
• R88M-K1K530H/T (1.5 kW)
Continuous operation range
Momentary operation range
4.77
4.77
Continuous operation range
1000
2000
3000
(3800) 9.55(4200)
4000 5000
(r/min)
0
1000
7.0
6.37
2000
3000
6.0
4.0
1.9
1000
2000
3000
4000 5000
(r/min)
• R88M-K3K030H/T (3 kW)
Power supply voltage
dropped by 10%
(N • m)
30 28.6
(3100)
28.7(3400)
Momentary operation range
15 9.55
9.55
Continuous operation range
Continuous operation range
• R88M-K4K030H/T (4 kW)
4000 5000
(r/min)
0
1000
2000
3000
12.0
8.0
5.7
4000 5000
(r/min)
• R88M-K5K030H/T (5 kW)
(N • m)
(N • m)
40 38.2
(2800) 38.2(3100)
Momentary operation range
12.7
1000
Power supply
voltage dropped
by 10%
12.7
Continuous operation range
0
10 9.55
Continuous operation range
Power supply voltage
dropped by 10%
(3300) 19.1(3700)
6.37
4.0
Power supply voltage
dropped by 10%
0
Momentary operation range
10
(N • m)
0.60
1000 2000 3000 4000 5000 6000
(r/min)
20 19.1
0.32
1000 2000 3000 4000 5000 6000
(r/min)
Momentary operation range
5 3.18
3.18
3.4
3.0
2.4
(N • m)
1.3
1.1
0.64
• R88M-K1K030H/T (1 kW)
• R88M-K2K030H/T (2 kW)
Power supply voltage
dropped by 10%
(3200) 14.3(3600)
0
Momentary operation range
2.4
0.64
Continuous operation range
Power supply voltage
dropped by 10%
(3200) 7.1(3600)
(N • m)
1000 2000 3000 4000 5000 6000
(r/min)
Continuous operation range
0
0.16
1000 2000 3000 4000 5000 6000
(r/min)
0
4.0
15 14.3
Momentary operation range
1.0
0.32
Continuous operation range
2.0
1.7
0.64
(N • m)
0.32
8.0 7.1
Momentary operation range
1.3
1.3
0
20
2.0 1.91
• R88M-K75030H/T (750 W)
Power supply voltage
dropped by 10%
(N • m)
7.5
Power supply voltage
dropped by 10%
(4000)
1.91 (4600)
(N • m)
0.95(5000)
1.0 0.95
0.5
• R88M-K40030H/T (400 W)
2.0
Power supply voltage
dropped by 10%
(N • m)
0.9
0
3
• R88M-K20030H/T (200 W)
2000
3000
50 47.7
Momentary operation range
25
10.0
4000 5000
(r/min)
(2800) 47.7(3200)
15.9
15.9
Continuous operation range
0
1000
Power supply
voltage dropped
by 10%
2000
3000
15.0
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)
Power supply voltage
dropped by 10%
(N • m)
8 7.16
4
• R88M-K1K030F/C (1 kW)
(3500)
7.16(3800)
2.6
1.6
2.39
Continuous operation range
0
1000
2000
3000
4000 5000
(r/min)
• R88M-K2K030F/C (2 kW)
(3300)
20 19.1
10 9.55
5
6.37
19.1(3700)
6.37
7.0
0
2000
3000
2000
3000
15
4000 5000
(r/min)
(3100)
4000 5000
(r/min)
1000
2000
3000
Momentary operation range
7.5
4.77
4.77
4.0
Continuous operation range
0
1000
2000
3000
4000 5000
(r/min)
(N • m)
40 38.2
20
4000 5000
(r/min)
0
12.7
Power supply
voltage dropped
by 10%
12.7
Continuous operation range
1000
3
(2800) 38.2(3100)
Momentary operation range
12.0
8.0
5.7
Continuous operation range
0
Power supply voltage
dropped by 10%
(3200) 14.3(3600)
• R88M-K4K030F/C (4 kW)
28.7(3400)
Momentary operation range
9.55
9.55
15 14.3
1.9
Power supply voltage
dropped by 10%
30 28.6
(N • m)
2000
3000
10
4000 5000
(r/min)
• R88M-K5K030F/C (5 kW)
(N • m)
50 47.7
(2800)
47.7(3200)
Momentary operation range
25
15.9
15.9
Power supply
voltage dropped
by 10%
15
Continuous operation range
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-74
Specifications
1000
1000
(N • m)
2.0
Continuous operation range
0
6.0
4.0
3.18
Continuous operation range
Momentary operation range
10
3.18
• R88M-K3K030F/C (3 kW)
Power supply voltage
dropped by 10%
(N • m)
Power supply voltage
dropped by 10%
(3800) 9.55(4200)
(N • m)
Momentary operation range
Momentary operation range
2.39
• R88M-K1K530F/C (1.5 kW)
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 [%]
• R88M-K10030L/S/H/T
(100 W: With oil seal)
Without brake
100%
With brake
• R88M-K20030L/SH/T
(200 W: With oil seal)
Without brake
Rated torque ratio [%]
3
10
20
• R88M-K40030L/S/H/T
(400 W: Without oil seal)
Specifications
100%
0
10
20
30
Ambient
temperature
90%
0
40[°C]
• R88M-K40030L/S/H/T
(400 W: With oil seal)
With brake
Rated torque ratio [%]
80%
70%
75%
70%
Ambient
temperature
40 [°C]
30
With brake
With brake 100%
100%
70%
60%
0
Without brake
Rated torque ratio [%]
10
20
30
• R88M-K1K530H/T/F/C
(1.5 kW)
Without brake
Rated torque ratio [%]
With brake
100%
Rated torque ratio [%]
With brake
100%
85%
75%
Ambient
0
10
20
30
40temperature
[°C]
• R88M-K2K030H/T/F/C
(2 kW)
0
10
20
30
With brake
100%
Ambient
temperature
40 [°C]
• R88M-K3K030H/T/F/C
(3 kW)
Without brake
Rated torque ratio [%]
85%
70%
0
10
20
30
Without brake
Without brake
Rated torque ratio [%]
With brake
100%
10
20
30
40 temperature
[°C]
90%
85%
Ambient
0
10
20
30
Ambient
temperature
40[°C]
• R88M-K4K030H/T/F/C
(4 kW)
Rated torque ratio [%]
With brake
100%
90%
85%
Ambient
0
Ambient
temperature
40[°C]
40 temperature
[°C]
Ambient
0
10
20
30
40 temperature
[°C]
• R88M-K5K030H/T/F/C
(5 kW)
Rated torque ratio [%]
With brake
100%
70%
0
3-75
10
20
30
Ambient
temperature
40 [°C]
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
200 VAC
Model (R88M-)
Item
Unit
1
K1K020H
K1K520H
K2K020H
K1K020T
K1K520T
K2K020T
1,000
1,500
2,000
Rated torque *1
N•m
4.77
7.16
9.55
Rated rotation speed
r/min
2,000
Maximum rotation speed
r/min
3,000
Momentary maximum
torque *1
N•m
14.3
21.5
28.6
Rated current *1
A (rms)
5.7
9.4
11.5
Momentary maximum
current *1
A (0-p)
24
40
49
Without brake kg • m2
4.60×10-4
6.70×10-4
8.72×10-4
kg • m2
5.90×10-4
7.99×10-4
10.0×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.63
0.58
0.64
Power rate Without brake kW/s
*1
With brake
kW/s
49.5
76.5
105
38.6
64.2
91.2
Mechanical Without brake ms
time
With brake
ms
constant
0.80
0.66
0.66
1.02
0.80
0.76
Electrical time constant
ms
9.4
10
10
Allowable radial load *3
N
490
490
490
Allowable thrust load *3
N
196
196
196
Weight Without brake
kg
Approx. 5.2
Approx. 6.7
Approx. 8.0
kg
Approx. 6.7
Approx. 8.2
Approx. 9.5
Rotor
inertia
With brake
With brake
Radiator plate dimensions
(material)
275 × 260 × t15 (AI)
Brake specifications
Applicable Servo Drives (R88D-)
KT10H
KT15H
KT20H
Brake inertia
kg • m2
1.35×10-4
1.35×10-4
1.35×10-4
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
14
19
19
Current consumption
(at 20°C)
A
0.59±10%
0.79±10%
0.79±10%
Static friction torque
N•m
4.9 min.
13.7 min.
13.7 min.
Attraction time *5
ms
80 max.
100 max.
100 max.
Release time *5
ms
70 max. *6
50 max. *6
50 max. *6
1,176
1,176
±1°
Backlash
Allowable work per
braking
3
Specifications
W
Rated output *
J
588
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-76
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
K1K020H
Brake specifications
Item
K1K520H
K2K020H
K1K020T
K1K520T
K2K020T
5
6
6
Unit
Allowable total work
J
7.8×10
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
1.5×10
1.5×10
Specifications
3
3-77
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
Unit
K3K020H
K4K020H
K5K020H
K3K020T
K4K020T
K5K020T
W
3,000
4,000
5,000
Rated torque *1
N•m
14.3
19.1
23.9
Rated rotation speed
r/min
2,000
Maximum rotation speed
r/min
3,000
Momentary maximum
torque *1
N•m
43.0
57.3
71.6
Rated current *1
A (rms)
17.4
21.0
25.9
Momentary maximum
current *1
A (0-p)
74
89
110
Without brake kg • m2
12.9×10-4
37.6×10-4
48.0×10-4
kg • m2
14.2×10-4
38.6×10-4
48.8×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.59
0.70
0.70
Power rate Without brake kW/s
*1
With brake
kW/s
159
97.1
119
144
94.5
117
Mechanical Without brake ms
time
With brake
ms
constant
0.57
0.65
0.63
0.63
0.66
0.64
Electrical time constant
ms
12
20
19
Allowable radial load *3
N
784
784
784
Allowable thrust load *3
N
343
343
343
Weight Without brake
kg
Approx. 11.0
Approx. 15.5
Approx. 18.6
kg
Approx. 12.6
Approx. 18.7
Approx. 21.8
Radiator plate dimensions
(material)
380 × 350 × t30 (AI)
470 × 440 × t30 (AI)
Applicable Servo Drives (R88D-)
KT30H
KT50H
Rotor
inertia
With brake
With brake
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
Rated output *1
KT50H
3-78
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
K3K020H
Item
Unit
2
K4K020T
K5K020T
-4
-4
-4
kg • m
1.35×10
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
22
31
31
Current consumption
(at 20°C)
A
0.90±10%
1.3±10%
1.3±10%
Static friction torque
N•m
16.2 min.
24.5 min.
24.5 min.
Attraction time *5
ms
110 max.
80 max.
80 max.
ms
50 max. *6
25 max. *7
25 max. *7
4.7×10
4.7×10
±1°
Backlash
Brake specifications
K3K020T
Excitation voltage *4
Release time *
Specifications
K5K020H
Brake inertia
5
3
K4K020H
Allowable work per
braking
J
1470
1372
1372
Allowable total work
J
2.2×106
2.9×106
2.9×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-79
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
Unit
---
---
---
K7K515T
K11K015T
K15K015T
W
7,500
11,000
15,000
Rated torque *1
N•m
47.8
70.0
95.0
Rated rotation speed
r/min
1,500
Maximum rotation speed
r/min
3,000
2,000
Momentary maximum
torque *1
N•m
119.0
175.0
224.0
Rated current *1
A (rms)
44.0
54.2
66.1
Momentary maximum
current *1
A (0-p)
165
203
236
Without brake kg • m2
101×10-4
212×10-4
302×10-4
kg • m2
107×10-4
220×10-4
311×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.77
0.92
1.05
Power rate Without brake kW/s
*1
With brake
kW/s
226
231
302
213
223
293
Mechanical Without brake ms
time
With brake
ms
constant
0.58
0.80
0.71
0.61
0.83
0.74
Electrical time constant
ms
21
31
32
Allowable radial load *3
N
1,176
2,254
2,254
Allowable thrust load *3
N
490
686
686
Weight Without brake
kg
Approx. 36.4
Approx. 52.7
Approx. 70.2
kg
Approx. 40.4
Approx. 58.9
Approx. 76.3
Radiator plate dimensions
(material)
550 × 520 × t30 (AI)
670 × 630 × t35 (AI)
Applicable Servo Drives (R88D-)
KT75H
KT150H
Rotor
inertia
With brake
With brake
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
Rated output *1
KT150H
3-80
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Item
2
---
K7K515T
K11K015T
K15K015T
-4
-4
7.1×10
7.1×10-4
Brake inertia
kg • m
4.7×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
34
26
26
Current consumption
(at 20°C)
A
1.4±10%
1.08±10%
1.08±10%
Static friction torque
N•m
58.8 min.
100 min.
100 min.
Attraction time *5
ms
150 max.
300 max.
300 max.
5
ms
50 max.
140 max.
140 max.
±1°
Backlash
Brake specifications
Specifications
---
Unit
Release time *
3
---
Allowable work per
braking
J
1,372
2,000
2,000
Allowable total work
J
2.9×106
4.0×106
4.0×106
Allowable angular
acceleration
rad/s2
5,000
3,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-81
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
K40020F
K60020F
K1K020F
K1K520F
K40020C
K60020C
K1K020C
K1K520C
W
400
600
1,000
1,500
Rated torque *1
N•m
1.91
2.86
4.77
7.16
Rated rotation speed
r/min
2,000
Maximum rotation speed
r/min
3,000
Momentary maximum
torque *1
N•m
5.73
8.59
14.3
21.5
Rated current *1
A (rms)
1.2
1.5
2.8
4.7
Momentary maximum
current *1
A (0-p)
4.9
6.5
12
20
Without brake kg • m2
1.61×10-4
2.03×10-4
4.60×10-4
6.70×10-4
kg • m2
1.90×10-4
2.35×10-4
5.90×10-4
7.99×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
1.27
1.38
1.27
1.16
Power rate Without brake kW/s
*1
With brake
kW/s
22.7
40.3
49.5
76.5
19.2
34.8
38.6
64.2
Mechanical Without brake ms
time
With brake
ms
constant
0.70
0.62
0.79
0.66
0.83
0.72
1.01
0.79
Electrical time constant
ms
5.7
5.9
10
10
Allowable radial load *3
N
490
490
490
490
Allowable thrust load *3
N
196
196
196
196
Weight Without brake
kg
Approx. 3.1
Approx. 3.5
Approx. 5.2
Approx. 6.7
kg
Approx. 4.1
Approx. 4.5
Approx. 6.7
Approx. 8.2
Rotor
inertia
With brake
With brake
Radiator plate dimensions
(material)
320 × 300 × t20 (AI)
275 × 260 × t15 (AI)
Applicable Servo Drives (R88D-)
KT06F
KT10F
KT06F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
Rated output *1
KT15F
3-82
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
2
K1K520F
K40020C
K60020C
K1K020C
K1K520C
-4
-4
-4
1.35×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
Current consumption
(at 20°C)
1.35×10-4
1.35×10
1.35×10
17
17
14
19
A
0.70±10%
0.70±10%
0.59±10%
0.79±10%
Static friction torque
N•m
2.5 min.
2.5 min.
4.9 min.
13.7 min.
Attraction time *5
ms
50 max.
50 max.
80 max.
100 max.
ms
15 max. *7
15 max. *7
70 max. *6
50 max. *6
±1°
Backlash
Brake specifications
K1K020F
kg • m
Release time *
Specifications
K60020F
Brake inertia
5
3
K40020F
Allowable work per
braking
J
392
392
588
1176
Allowable total work
J
4.9×105
4.9×105
7.8×105
1.5×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-83
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
K2K020F
K3K020F
K4K020F
K5K020F
K2K020C
K3K020C
K4K020C
K5K020C
Rated output *1
W
2,000
3,000
4,000
5,000
Rated torque *1
N•m
9.55
14.3
19.1
23.9
Rated rotation speed
r/min
2,000
Maximum rotation speed
r/min
3,000
Momentary maximum
torque *1
N•m
28.7
43.0
57.3
71.6
Rated current *1
A (rms)
5.9
8.7
10.6
13.0
Momentary maximum
current *1
A (0-p)
25
37
45
55
Without brake kg • m2
8.72×10-4
12.9×10-4
37.6×10-4
48.0×10-4
kg • m2
10.0×10-4
14.2×10-4
38.6×10-4
48.8×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
1.27
1.18
1.40
1.46
Power rate Without brake kW/s
*1
With brake
kW/s
105
159
97.1
119
91.2
144
94.5
117
Mechanical Without brake ms
time
With brake
ms
constant
0.68
0.56
0.60
0.60
0.78
0.61
0.61
0.61
Electrical time constant
ms
10
12
21
19
Allowable radial load *3
N
490
784
784
784
Allowable thrust load *3
N
196
343
343
343
Weight Without brake
kg
Approx. 8.0
Approx. 11.0
Approx. 15.5
Approx. 18.6
kg
Approx. 9.5
Approx. 12.6
Approx. 18.7
Approx. 21.8
Radiator plate dimensions
(material)
275 × 260 × t15
(AI)
380 × 350 × t30
(AI)
470 × 440 × t30 (AI)
Applicable Servo Drives (R88D-)
KT20F
KT30F
KT50F
Rotor
inertia
With brake
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Specifications
With brake
3
KT50F
3-84
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
2
K5K020F
K2K020C
K3K020C
K4K020C
K5K020C
-4
-4
-4
1.35×10
4.7×10
4.7×10-4
19
22
31
31
A
0.79±10%
0.90±10%
1.3±10%
1.3±10%
Static friction torque
N•m
13.7 min.
16.2 min.
24.5 min.
24.5 min.
Attraction time *5
ms
100 max.
110 max.
80 max.
80 max.
ms
50 max. *6
50 max. *6
25 max. *7
25 max. *7
1.35×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
Current consumption
(at 20°C)
±1°
Backlash
Brake specifications
K4K020F
kg • m
Release time *
Specifications
K3K020F
Brake inertia
5
3
K2K020F
Allowable work per
braking
J
1176
1470
1372
1372
Allowable total work
J
1.5×106
2.2×106
2.9×106
2.9×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-85
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
---
---
---
K7K515C
K11K015C
K15K015C
W
7,500
11,000
15,000
Rated torque *1
N•m
47.8
70.0
95.9
Rated rotation speed
r/min
1,500
Maximum rotation speed
r/min
3,000
2,000
Momentary maximum
torque *1
N•m
119.0
175.0
224.0
Rated current *1
A (rms)
22.0
27.1
33.1
Momentary maximum
current *1
A (0-p)
83
101
118
Without brake kg • m2
101×10-4
212×10-4
302×10-4
kg • m2
107×10-4
220×10-4
311×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
1.54
1.84
Power rate Without brake kW/s
*1
With brake
kW/s
226
231
302
213
223
293
Mechanical Without brake ms
time
With brake
ms
constant
0.58
0.80
0.71
0.61
0.83
0.74
Electrical time constant
ms
21
31
32
Allowable radial load *3
N
1,176
2,254
2,254
Allowable thrust load *3
N
490
686
686
Weight Without brake
kg
Approx. 36.4
Approx. 52.7
Approx. 70.2
kg
Approx. 40.4
Approx. 58.9
Approx. 76.3
Radiator plate dimensions
(material)
550 × 520 × t30
(AI)
670 × 630 × t35 (AI)
Applicable Servo Drives (R88D-)
KT75F
KT150F
Rotor
inertia
With brake
With brake
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
Rated output *1
2.10
KT150F
3-86
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
2
---
K7K515C
K11K015C
K15K015C
-4
-4
7.1×10
7.1×10-4
kg • m
4.7×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
34
26
26
Current consumption
(at 20°C)
A
1.4±10%
1.08±10%
1.08±10%
Static friction torque
N•m
58.8 min.
100 min.
100 min.
Attraction time *5
ms
150 max.
300 max.
300 max.
5
ms
50 max.
140 max.
140 max.
±1°
Backlash
Brake specifications
Specifications
---
Brake inertia
Release time *
3
---
Allowable work per
braking
J
1,372
2,000
2,000
Allowable total work
J
2.9×106
4.0×106
4.0×106
Allowable angular
acceleration
rad/s2
5,000
3,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
*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 ten 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)
(N • m)
(N • m)
15 14.3
10
5
(2000) 14.3(2200)
Power supply
voltage dropped
by 10%
Momentary operation range
4.77
6.0
4.0
3.2
4.77
Continuous operation range
0
1000
3000 (r/min)
2000
• R88M-K3K020H/T (3 kW)
21.5
50 43.0
(2200) 43.0(2400)
Power supply
voltage dropped
by 10%
Momentary operation range
10 7.16
10.0
7.16
1000
0
28.0
20.0
9.5
14.3
Continuous operation range
1000
0
3000 (r/min)
2000
• R88M-K7K515T (7.5 kW)
119.0
100
50
47.8(1500)
Continuous operation range
0
1000
2000
15.0
11.0
6.4
9.55
Continuous operation range
0
1000
3000 (r/min)
2000
(N • m)
57.3
(1900) 57.3(2100)
Power supply
voltage dropped
by 10%
50
25 19.1
25.0
19.1
1000
0
13.0
Power supply voltage
dropped by 10%
(1700) 175.0(2000)
150
75
70.0
130.0
70.0(1500)
Continuous operation range
0
1000
71.6
35 23.9
Power supply
voltage dropped
by 10%
23.9
20.0
Continuous operation range
3000 (r/min)
2000
(N • m)
175.0
70
3
(1900) 71.6(2100)
Momentary operation range
Continuous operation range
12.0
3000 (r/min)
9.55
(N • m)
Momentary operation range
60.0
15
• R88M-K5K020H/T (5 kW)
Momentary operation range
47.8
Power supply
voltage dropped
by 10%
Momentary operation range
• R88M-K4K020H/T (4 kW)
• R88M-K11K015T (11 kW)
Power supply voltage
dropped by 10%
(2200) 119.0(2500)
(N • m)
(2000) 28.6(2200)
0
3.0
3000 (r/min)
2000
• R88M-K15K015T (15 kW)
(N • m)
224.0
Power supply voltage
dropped by 10%
(1500) 224.0(1700)
200 Momentary operation range
100
52.5
2000 (r/min)
1000
95.5
95.5(1500)
Continuous operation range
0
1000
95.5
57.0
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-88
Specifications
Momentary operation range
14.3
3000 (r/min)
2000
Momentary operation range
25
30 28.6
6.0
4.8
Continuous operation range
Power supply voltage
dropped by 10%
(N • m)
21.5(2300)
(2000)
20
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)
Power supply voltage
dropped by 10%
(2400) 5.73(2700)
(N • m)
6 5.73
10 8.59
1.91
1.91
Continuous operation range
0
1000
• R88M-K1K520F/C (1.5 kW)
Power supply voltage
dropped by 10%
(2000) 21.5(2300)
21.5
3
20
4.5
2.86
1.9
0
1000
3000 (r/min)
2000
1000
2000
6.0
4.0
3.2
4.77
Continuous operation range
0
1000
3000 (r/min)
2000
(N • m)
30 28.6
(2000) 28.6(2200)
Power supply
voltage dropped
by 10%
Momentary operation range
0
Momentary operation range
4.77
(N • m)
15
3000 (r/min)
0
Continuous operation range
Power supply
voltage dropped
by 10%
• R88M-K3K020F/C (3 kW)
10.0
6.0
4.8
7.16
5
(2000) 14.3(2200)
• R88M-K2K020F/C (2 kW)
Momentary operation range
10 7.16
Specifications
2.86
Continuous operation range
3000 (r/min)
2000
(N • m)
5
2.0
1.3
(N • m)
15 14.3
10
Momentary operation range
3.5
3
Power supply voltage
dropped by 10%
(2100) 8.59(2400)
(N • m)
Momentary operation range
• R88M-K1K020F/C (1 kW)
9.55
15.0
11.0
Continuous operation range
6.4
9.55
1000
3000 (r/min)
2000
Power supply voltage
dropped by 10%
(2200) 43.0(2400)
50 43.0
Momentary operation range
25
14.3
28.0
20.0
9.5
14.3
Continuous operation range
1000
0
3000 (r/min)
2000
• R88M-K4K020F/C (4 kW)
• R88M-K5K020F/C (5 kW)
• R88M-K7K515C (7.5 kW)
(N • m)
(N • m)
(N • m)
57.3
(1900) 57.3(2100)
Power supply
voltage dropped
by 10%
50
71.6
70
Momentary operation range
25 19.1
25.0
19.1
Continuous operation range
1000
0
35 23.9
13.0
3000 (r/min)
2000
Power supply
voltage dropped
by 10%
100
Momentary operation range
20.0
50
47.8
23.9
Continuous operation range
1000
0
119.0
(1900) 71.6(2100)
Momentary operation range
3.0
Power supply voltage
dropped by 10%
(1700) 175.0(2000)
(N • m)
175.0
150
Momentary operation range
75
70.0
70.0(1500)
Continuous operation range
0
130.0
Continuous operation range
12.0
1000
3000 (r/min)
2000
• R88M-K15K015C (15 kW)
Power supply voltage
dropped by 10%
224.0(1700)
(N • m)
224.0
(1500)
200 Momentary operation range
95.5
100
52.5
2000 (r/min)
1000
60.0
47.8(1500)
3000 (r/min)
2000
0
• R88M-K11K015C (11 kW)
Power supply voltage
dropped by 10%
(2200) 119.0(2500)
95.5(1500)
0
95.5
57.0
Continuous operation range
2000 (r/min)
1000
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%
0
3-89
Without brake
With brake
• R88M-K7K515T/C (7.5 kW)
Rated torque ratio [%]
Rated torque ratio [%]
100%
100%
90%
85%
10
20
30
Ambient
temperature
40 [°C]
• R88M-K15K015T/C (15 kW)
0
10
20
30
40
90%
90%
Ambient
temperature
[°C]
Ambient
temperature
[°C]
0
10
20
30
40
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
1,000-r/min Servomotors
200 VAC
Model (R88M-)
Item
Unit
K90010H
K2K010H
K3K010H
---
---
K90010T
K2K010T
K3K010T
K4K510T
K6K010T
Rated output *1
W
900
2,000
3,000
4,500
6,000
Rated torque *1
N•m
8.59
19.1
28.7
43.0
57.0
Rated rotation speed
r/min
1,000
Maximum rotation speed
r/min
2,000
Momentary maximum
torque *1
N•m
19.3
47.7
71.7
107.0
143.0
Rated current *1
A (rms)
7.6
17.0
22.6
29.7
38.8
Momentary maximum
current *1
A (0-p)
24
60
80
110
149
Without brake kg • m2
6.70×10-4
30.3×10-4
48.4×10-4
79.1×10-4
101×10-4
kg • m2
7.99×10-4
31.4×10-4
49.2×10-4
84.4×10-4
107×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
0.86
0.88
0.96
1.02
1.04
Power rate Without brake kW/s
*1
With brake
kW/s
110
120
170
233
325
92.4
116
167
219
307
Mechanical Without brake ms
time
With brake
ms
constant
0.66
0.75
0.63
0.55
0.54
0.78
0.78
0.64
0.63
0.57
Electrical time constant
ms
11
18
21
20
23
Allowable radial load *3
N
686
1176
1470
1470
1764
Allowable thrust load *3
N
196
490
490
490
588
Weight Without brake
kg
Approx. 6.7
Approx. 14.0
Approx. 20.0
Approx. 29.4
Approx. 36.4
kg
Approx. 8.2
Approx. 17.5
Approx. 23.5
Approx. 33.3
Approx. 40.4
470 × 440 ×
t30 (AI)
550 × 520 ×
t30 (AI)
With brake
With brake
Radiator plate dimensions
(material)
270 × 260 × t15 (AI)
Brake specifications
Applicable Servo Drives (R88D-)
KT15H
KT30H
KT50H
KT75H
KT75H
Brake inertia
kg • m2
1.35×10-4
4.7×10-4
4.7×10-4
4.7×10-4
4.7×10-4
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
19
31
34
34
34
Current consumption
(at 20°C)
A
0.79±10%
1.3±10%
1.4±10%
1.4±10%
1.4±10%
Static friction torque
N•m
13.7 min.
24.5 min.
58.8 min.
58.8 min.
58.8 min.
Attraction time *5
ms
100 max.
80 max.
150 max.
150 max.
150 max.
Release time *5
ms
50 max. *6
25 max. *7
50 max. *7
50 max.
50 max.
Backlash
±1°
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-90
Specifications
Rotor
inertia
3
3-3 Servomotor Specifications
200 VAC
Model (R88M-)
Brake specifications
Item
Unit
K90010H
K2K010H
K3K010H
---
---
K90010T
K2K010T
K3K010T
K4K510T
K6K010T
Allowable work per
braking
J
1176
1372
1372
1372
1372
Allowable total work
J
1.5×106
2.9×106
2.9×106
2.9×106
2.9×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
5,000
Specifications
3
3-91
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
Unit
K90010F
K2K010F
K3K010F
---
---
K90010C
K2K010C
K3K010C
K4K510C
K6K010C
W
900
2,000
3,000
4,500
6,000
Rated torque *1
N•m
8.59
19.1
28.7
43.0
57.3
Rated rotation speed
r/min
1,000
Maximum rotation speed
r/min
2,000
Momentary maximum
torque *1
N•m
19.3
47.7
71.7
107.0
143.0
Rated current *1
A (rms)
3.8
8.5
11.3
14.8
19.4
Momentary maximum
current *1
A (0-p)
12
30
40
55
74
Without brake kg • m2
6.70×10-4
30.3×10-4
48.4×10-4
79.1×10-4
101×10-4
kg • m2
7.99×10-4
31.4×10-4
49.2×10-4
84.4×10-4
107×10-4
Applicable load inertia
−
10 times the rotor inertia max. *2
Torque constant *1
N • m/A
1.72
1.76
1.92
2.05
2.08
Power rate Without brake kW/s
*1
With brake
kW/s
110
120
170
233
325
92.4
116
167
219
307
Mechanical Without brake ms
time
With brake
ms
constant
0.66
0.76
0.61
0.55
0.54
0.79
0.78
0.62
0.63
0.57
Electrical time constant
ms
11
18
22
20
23
Allowable radial load *3
N
686
1176
1470
1470
1764
Allowable thrust load *3
N
196
490
490
490
588
Weight Without brake
kg
Approx. 6.7
Approx. 14.0
Approx. 20.0
Approx. 29.4
Approx. 36.4
kg
Approx. 8.2
Approx. 17.5
Approx. 23.5
Approx. 33.3
Approx. 40.4
Radiator plate dimensions
(material)
270 × 260 ×
t15 (AI)
470 × 440 × t30 (AI)
470 × 440 ×
t30 (AI)
550 × 520 ×
t30 (AI)
Applicable Servo Drives (R88D-)
KT15F
KT30F
KT50F
KT75F
Rotor
inertia
With brake
With brake
KT50F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3
Specifications
Rated output *1
3-92
3-3 Servomotor Specifications
400 VAC
Model (R88M-)
Item
2
Brake specifications
K2K010F
K3K010F
---
---
K90010C
K2K010C
K3K010C
K4K510C
K6K010C
-4
-4
-4
-4
4.7×10
4.7×10
4.7×10
4.7×10-4
19
31
34
34
34
A
0.79±10%
1.3±10%
1.4±10%
1.4±10%
1.4±10%
Static friction torque
N•m
13.7 min.
24.5 min.
58.8 min.
58.8 min.
58.8 min.
Attraction time *5
ms
100 max.
80 max.
150 max.
150 max.
150 max.
Release time *5
ms
50 max. *6
25 max. *7
50 max. *7
50 max.
50 max.
Brake inertia
kg • m
1.35×10
Excitation voltage *4
V
24 VDC ± 10%
Power consumption
(at 20°C)
W
Current consumption
(at 20°C)
±1°
Backlash
3
Specifications
Unit
K90010F
Allowable work per
braking
J
1176
1372
1372
1372
1372
Allowable total work
J
1.5×106
2.9×106
2.9×106
2.9×106
2.9×106
Allowable angular
acceleration
rad/s2
10,000
Brake limit
−
10 million times min.
Rating
−
Continuous
Insulation class
−
Type F
3-93
5,000
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 ten 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)
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)
(N • m)
20 19.3
Power supply voltage
dropped by 10%
(1600) 19.3(1800)
8.59
8.0
0
2000 (r/min)
1000
• R88M-K4K510T/C (4.5 kW)
(N • m)
107.0
50 47.7
Power supply voltage
dropped by 10%
(1500) 107.0(1700)
0
43.0
43.0
70.0
50.0
Power supply
voltage dropped
by 10%
28.0
19.1
18.0
9.6
1000
2000 (r/min)
(N • m)
143.0
57.3
57.3
2000 (r/min)
71.7(1600)
Momentary operation range
35 28.7
28.7
Continuous operation range
0
1000
Power supply
voltage dropped
by 10%
40.0
20.0
14.0
2000 (r/min)
0
100.0
Continuous operation range
57.3
28.0
1000
2000 (r/min)
22.0
1000
(1400)
Power supply voltage
dropped by 10%
(1500) 143.0(1700)
Momentary operation range
75
Continuous operation range
0
(N • m)
71.7
70
• R88M-K6K010T/C (6 kW)
Momentary operation range
50
47.7(1600)
Continuous operation range
150
100
(1400)
Momentary operation range
25 19.1
4.3
Continuous operation range
• R88M-K3K010H/T/F/C
(3 kW)
(N • m)
14.0
Momentary operation range
10 8.59
• R88M-K2K010H/T/F/C
(2 kW)
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
3-94
3
Specifications
*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.).
3-3 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.
3
Specifications
 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
Number of output
pulses
Phases A and B: 262,144 pulses/rotation
Phase Z:
1 pulse/rotation
Power supply voltage 5 VDC ± 5%
180 mA (max.)
Output signals
+S, −S
Output interface
RS-485 compliant
3
Specifications
Power supply current
Absolute Encoder Specifications
Item
Encoder system
Specifications
Optical encoder
17 bits
Number of output
pulses
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
265 μA (for a maximum of 5 s right after power interruption)
100 μA (for operation during power interruption)
3.6 μA (when power is supplied to the Servo Drive)
Output signals
+S, −S
Output interface
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.
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
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
3
Specifications
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
Outer diameter of
sheath
Length (L)
R88A-CRKA001-5CR-E
1.5 m
R88A-CRKA003CR-E
3m
R88A-CRKA005CR-E
5m
R88A-CRKA010CR-E
10 m
R88A-CRKA015CR-E
15 m
R88A-CRKA020CR-E
20 m
6.9 dia.
Connection configuration and external dimensions
Servo Drive side
(φ6.9)
L
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Symbol Number
Red
E5V
1
Black
E0V
2
Orange
BAT+
3
Orange/White
BAT−
4
Blue
S+
5
Blue/White
S−
6
FG
Shell
Cable
[Servo Drive side connector]
0.34 mm2 × 2C + 0.22 mm2 × 2P
Connector model
or
55100-0670 (Molex Japan)
AWG22 × 2C + AWG24 × 2P
3-97
Servomotor side
Number Symbol
6
E5V
3
E0V
5
BAT+
2
BAT−
7
S+
4
S−
1
FG
[Servomotor side connector]
Angle clamp model
JN6FR07SM1 (Japan Aviation Electronics)
Connector pin model
LY10-C1-A1-1000 (Japan Aviation Electronics)
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)
R88A-CRKC001-5NR-E
1.5 m
R88A-CRKC003NR-E
3m
R88A-CRKC005NR-E
5m
R88A-CRKC010NR-E
10 m
R88A-CRKC015NR-E
15 m
R88A-CRKC020NR-E
20 m
Outer diameter of
sheath
7.6 dia.
3
Connection configuration and external dimensions
(φ7.6)
Servo Drive side
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Symbol Number
Red
E5V
1
Black
E0V
2
Orange
BAT+
3
Orange/White
BAT−
4
Blue
S+
5
Blue/White
S−
6
FG
Shell
Cable
[Servo Drive side connector]
1 mm2 × 2C + 0.22 mm2 × 2P
Connector model
or
55100-0670 (Molex Japan)
AWG17 × 2C + AWG24 × 2P
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Servomotor side
Number Symbol
4
E5V
1
E0V
6
BAT+
5
BAT−
3
S+
7
S−
9
FG
[Servomotor side connector]
Straight plug model
JN2DS10SL2-R (Japan Aviation Electronics)
Contact model
JN1-22-22S-10000 (Japan Aviation Electronics)
3-98
Specifications
L
3-4 Cable and Connector Specifications
Absolute Encoder Battery Cable Specifications
Use the following Cable when using an absolute encoder.
Cable Model
Model
Length (L)
Battery
Weight
R88A-CRGD0R3C
0.3 m
Not included
Approx. 0.1 kg
R88A-CRGD0R3C-BS
0.3 m
R88A-BAT01G 1 included
Approx. 0.1 kg
3
43.5
300
110
90±5
Servomotor side
18.8
R88D-K@
43.5
31
Servo Drive side
18.8
Specifications
Connection Configuration and External Dimensions
t=27.2
Battery holder
t=12
R88M-K@
t=12
Wiring
Servo Drive side
Symbol Number
Red
E5V
1
Black
E0V
2
Orange
BAT+
3
Orange/White
BAT−
4
Blue
S+
5
Blue/White
S−
6
FG
Shell
Connector plug:
55100-0670 (Molex Japan)
Servomotor side
Number
1
2
3
4
5
6
Shell
Symbol
E5V
E0V
BAT+
BAT−
S+
S−
FG
Connector socket:
54280-0609 (Molex Japan)
Battery holder
Symbol Number
1
BAT+
2
BAT−
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
Outer diameter of
sheath
Length (L)
1.5 m
R88A-CAKA003SR-E
3m
R88A-CAKA005SR-E
5m
R88A-CAKA010SR-E
10 m
R88A-CAKA015SR-E
15 m
R88A-CAKA020SR-E
20 m
Specifications
R88A-CAKA001-5SR-E
3
6.7 dia.
Connection configuration and external dimensions
(50)
(φ6.7)
Servo Drive side
L
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Red
White
Blue
Green/Yellow
M4 crimp terminal
Servomotor side
Number Symbol
1
Phase U
2
Phase V
3
Phase W
4
FG
[Servomotor side connector]
Angle plug model
Cable
0.5 mm2 × 4C or AWG20 × 4C
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
3-4 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
3
Outer diameter of
sheath
Length (L)
R88A-CAGB001-5SR-E
1.5 m
R88A-CAGB003SR-E
3m
R88A-CAGB005SR-E
5m
R88A-CAGB010SR-E
10 m
R88A-CAGB015SR-E
15 m
R88A-CAGB020SR-E
20 m
Specifications
12.7 dia.
Connection configuration and external dimensions
(70)
(φ12.7)
L
Servo Drive side
Servomotor side
R88D-K@
R88M-K@
Wiring
Servomotor side
Number Symbol
A
Phase U
B
Phase V
C
Phase W
D
FG
Servo Drive side
Black-1
Black-2
Black-3
Green/Yellow
M4 crimp terminal
Cable
2.5 mm2 × 4C or AWG14 × 4C
[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
Outer diameter of
sheath
Length (L)
R88A-CAGD001-5SR-E
1.5 m
R88A-CAGD003SR-E
3m
R88A-CAGD005SR-E
5m
R88A-CAGD010SR-E
10 m
R88A-CAGD015SR-E
15 m
R88A-CAGD020SR-E
20 m
13.2 dia.
3
Connection configuration and external dimensions
(φ13.2)
Servo Drive side
L
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Black-1
Black-2
Black-3
Green/Yellow
M5 crimp terminal
Servomotor side
Number Symbol
A
Phase U
B
Phase V
C
Phase W
D
FG
[Servomotor side connector]
Cable
4 mm2 × 4C or AWG11 × 4C
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
Specifications
(70)
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
3
Outer diameter of
sheath
Length (L)
R88A-CAGB001-5BR-E
1.5 m
R88A-CAGB003BR-E
3m
R88A-CAGB005BR-E
5m
R88A-CAGB010BR-E
10 m
R88A-CAGB015BR-E
15 m
R88A-CAGB020BR-E
20 m
Specifications
12.5 dia.
Connection configuration and external dimensions
(150)
(φ12.5)
L
Servo Drive side
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
2.5
2.5
2.5
2.5
M4 crimp terminal
Cable
2.5 mm2 × 4C + 0.5 mm2 × 2C
or
AWG14 × 4C + AWG20 × 2C
Servomotor side
Number Symbol
G
Brake
H
Brake
A
NC
F
Phase U
I
Phase V
B
Phase W
E
FG
D
FG
C
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
Outer diameter of
sheath
Length (L)
R88A-CAKF001-5BR-E
1.5 m
R88A-CAKF003BR-E
3m
R88A-CAKF005BR-E
5m
R88A-CAKF010BR-E
10 m
R88A-CAKF015BR-E
15 m
R88A-CAKF020BR-E
20 m
12.5 dia.
3
Specifications
Connection configuration and external dimensions
(150)
(φ12.5)
L
Servo Drive side
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
2.5
2.5
2.5
2.5
M4 crimp terminal
Cable
2.5 mm2 × 4C + 0.5 mm2 × 2C
or
AWG14 × 4C + AWG20 × 2C
Servomotor side
Number Symbol
A
Brake
B
Brake
I
NC
D
Phase U
E
Phase V
F
Phase W
G
FG
H
FG
C
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
3-4 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
Outer diameter of
sheath
Length (L)
R88A-CAGD001-5BR-E
1.5 m
R88A-CAGD003BR-E
3m
R88A-CAGD005BR-E
5m
R88A-CAGD010BR-E
10 m
R88A-CAGD015BR-E
15 m
R88A-CAGD020BR-E
20 m
13.5 dia.
3
Specifications
Connection configuration and external dimensions
(150)
(φ13.5)
L
Servo Drive side
Servomotor side
R88D-K@
R88M-K@
Wiring
Servo Drive side
Black-5
Black-6
0.5
0.5
Black-1
Black-2
Black-3
Green/Yellow
4
4
4
4
M4 crimp terminal
Servomotor side
Number Symbol
A
Brake
B
Brake
I
NC
D
Phase U
E
Phase V
F
Phase W
G
FG
H
FG
C
NC
Cable
4 mm2 × 4C + 0.5 mm2 × 2C [Servomotor side connector]
or
AWG11 × 4C + AWG20 × 2C 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)
Model
Outer diameter of
sheath
Length (L)
R88A-CAKA001-5BR-E
1.5 m
R88A-CAKA003BR-E
3m
R88A-CAKA005BR-E
5m
R88A-CAKA010BR-E
10 m
R88A-CAKA015BR-E
15 m
R88A-CAKA020BR-E
20 m
6.0 dia.
3
L
(φ6.0)
(50)
Servo Drive side
R88D-K@
Servomotor side
R88M-K@
Wiring
Servo Drive side
Black-1
Black-2
0.5
0.5
Cable
0.5 mm2 × 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
Specifications
Connection configuration and external dimensions
3-4 Cable and Connector Specifications
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
52.4
Specifications
3
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.
18.8
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
13
3
2.2
φ13
21
16.6
12.5
8
21.5
4
10
8
JAE
φ19.5
1
7
φ20
3
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
φ15.6
R88A-CNK04R (Servomotor side)
This connector is pressure welded.
For the tools that are required for production,
contact the manufacturer directly.
Specifications
Angle clamp model JN6FR07SM1
(Japan Aviation Electronics)
Connector pin model LY10-C1-A1-10000
(Japan Aviation Electronics)
52
Straight plug model JN2DS10SL2-R
(Japan Aviation Electronics)
Contact model JN1-22-22S-PKG100
(Japan Aviation Electronics)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-108
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 Motor
Power Cable Specifications (P.3-100).
This connector is pressure welded.
For the tools that are required for production,
contact the manufacturer directly.
φ13
32
27.6
22
Specifications
3
17.6
12
13.5
3
R5.5
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
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
29.6
17
2.5
φ11.6
11.8
19
14.3
12.5
12.3
Angle plug model JN4FT02SJ1-R
(Japan Aviation Electronics)
Socket contact model ST-TMH-S-C1B-3500-(A534G)
(Japan Aviation Electronics)
3-109
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
7.1
11.9
18.5
φ6.8 MAX
(10.5)
7.2
Connector plug model
MUF-PK10K-X (J.S.T. Mfg. Co., Ltd.)
3
Pin Arrangement
Specifications
View from Soldered Housing Surface
View from Inserted Portion
3
1
10 9 8 7 6 5 4 3 2 1
2
5
4
7
6
9
10
8
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
(CN4) (P.3-51).
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
7.3
10.7
11
φ6.7
8
2468
1 3 5 77
5.2
1.5
33
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. 3-55).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-110
3-4 Cable and Connector Specifications
Analog Monitor Cable Specifications
Analog Monitor Cable (R88A-CMK001S)
Connection configuration and external dimensions
Symbol
AM1
AM2
GND
Connector housing: 51004-0600 (Molex Japan)
Connector terminal: 50011-8000 (Molex Japan)
Specifications
3
No.
Red
1
White
2
Black
3
4
5
Cable: AWG24 × 3C UL1007
6
1m
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
3
 Cables for 1 axis
Model
Length (L)
1m
R88A-CPG002M1
2m
Weight
Specifications
R88A-CPG001M1
Outer diameter of
sheath
Approx. 0.2 kg
Approx. 0.3 kg
8.3 dia.
R88A-CPG003M1
3m
Approx. 0.4 kg
R88A-CPG005M1
5m
Approx. 0.6 kg
 Cables for 2 axes
Model
Length (L)
R88A-CPG001M2
1m
R88A-CPG002M2
2m
Outer diameter of
sheath
Weight
Approx. 0.3 kg
Approx. 0.5 kg
8.3 dia.
R88A-CPG003M2
3m
Approx. 0.7 kg
R88A-CPG005M2
5m
Approx. 1.0 kg
Connection configuration and external dimensions
 Cables for 1 axis
39
39
L
Motion Control Unit side
52.4
R88D-K@
52.4
Servo Drive side
R88D-K@
52.4
Servo Drive side
43.5
CS1W-MC221/421(-V1)
Servo Drive side
R88D-K@
t = 18
t = 18
 Cables for 2 axes
39
L
39
CS1W-MC221/421(-V1)
43.5
Motion Control Unit side
t = 18
t = 18
t = 18
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-112
3-4 Cable and Connector Specifications
Wiring
 Cables for 1 axis
Motion Control
Unit side
AWG20 Red
Symbol Number
AWG20 Black
+24V
1
DCGND
2
White/Black (1)
3
XALM
Pink/Black (1)
4
XRUN
Yellow/Black (1)
XALMRS
5
Gray/Black (1)
XSGND
8
Gray/Red (1)
XSOUT
9
Orange/Black (2)
X−GND
10
White/Red (1)
11
X−A
White/Black (1)
12
X−A
Yellow/Red (1)
13
X−B
Yellow/Black (1)
14
X−B
Pink/Red (1)
15
X−Z
Pink/Black (1)
16
X−Z
Orange/Red (1)
17
XOUT
Orange/Black (1)
18
XAGND
Specifications
3
+F24V
FDC GND
YALM
YRUN
YALMRS
YSGND
YSOUT
Y−GND
Y−A
Y−A
Y−B
Y−B
Y−Z
Y−Z
YOUT
YAGND
19
20
21
22
23
26
27
28
29
30
31
32
33
34
35
36
Orange/Black (1)
Gray/Black (1)
Cable: AWG26 × 5P + AWG26 × 6C
Servo Drive side
Number Symbol
37
/ALM
RUN
29
31
RESET
SENGND *
13
SEN
20
*
25
ZGND
+A
21
−A
22
+B
49
−B
48
+Z
23
−Z
24
14 REF/TREF1/VLIM Connector plug model
15
AGND
10150-3000PE
FG
Shell
(Sumitomo 3M)
+24VIN Connector case model
7
36 ALMCOM
10350-52A0-008
(Sumitomo 3M)
Connector plug model
10136-3000PE (Sumitomo 3M)
Connector case model
10336-52A0-008 (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
AWG20 Red
Symbol Number
AWG20 Black
1
+24V
2
DCGND
White/Black (1)
3
XALM
Pink/Black (1)
4
XRUN
Yellow/Black (1)
5
XALMRS
Gray/Black (1)
8
XSGND
Gray/Red (1)
9
XSOUT
Orange/Black (2)
10
X−GND
White/Red (1)
11
X−A
White/Black (1)
12
X−A
Yellow/Red (1)
13
X−B
Yellow/Black (1)
14
X−B
Pink/Red (1)
15
X−Z
Pink/Black (1)
16
X−Z
Orange/Red (1)
17
XOUT
Orange/Black (1)
18
XAGND
19
20
Orange/Black (1)
Gray/Black (1)
37
/ALM
29
RUN
31
RESET
13 SENGND *
20
SEN
*
25
ZGND
21
+A
22
−A
49
+B
48
−B
23
+Z
24
−Z
Connector plug model
14 REF/TREF1/VLIM 10150-3000PE
15
AGND
(Sumitomo 3M)
FG
Shell
Connector case model
+24VIN
7
10350-52A0-008
36 ALMCOM
(Sumitomo 3M)
Cable
AWG26 × 5P + AWG26 × 6C
White/Black (1)
21
YALM
Pink/Black (1)
22
YRUN
Yellow/Black (1)
23
YALMRS
Gray/Black (1)
26
YSGND
Gray/Red (1)
27
YSOUT
Orange/Black (2)
28
Y−GND
White/Red (1)
29
Y−A
White/Black (1)
30
Y−A
Yellow/Red (1)
31
Y−B
Yellow/Black (1)
32
Y−B
Pink/Red (1)
33
Y−Z
Pink/Black (1)
34
Y−Z
Orange/Red (1)
35
YOUT
Orange/Black (1)
36
YAGND
Connector plug model
Cable
10136-3000PE (Sumitomo 3M) AWG26 × 5P + AWG26 × 6C
Connector case model
10336-52A0-008 (Sumitomo 3M)
Number Symbol
7
+24VIN
36 ALMCOM
37
/ALM
29
RUN
31
RESET
13
SENGND *
*
20
SEN
25
ZGND
21
+A
22
−A
49
+B
48
−B
Connector plug model
23
+Z
10150-3000PE
24
−Z
(Sumitomo 3M)
14 REF/TREF1/VLIM Connector case model
15
AGND
10350-52A0-008
FG
Shell
(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: -)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-114
3
Specifications
+F24V
FDC GND
Servo Drive side
Number Symbol
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
3
Length
XW2Z-100J-G9
1m
XW2Z-500J-G9
5m
XW2Z-10MJ-G9
10 m
 Cable for open collector output for 1 axis
Specifications
Model
Length
XW2Z-100J-G13
1m
XW2Z-300J-G13
3m
 Cable for line-driver output for 2 axes
Model
Length
XW2Z-100J-G1
1m
XW2Z-500J-G1
5m
XW2Z-10MJ-G1
10 m
 Cable for open collector output for 2 axes
Model
Length
XW2Z-100J-G5
1m
XW2Z-300J-G5
3m
Connection configuration and external dimensions
 Cables for 1 axis
52.4
39
Servo Drive side
R88D-K@
52.4
Position Control
Unit side
CJ1W-NC@@4
L
Servo Drive side
R88D-K@
52.4
16.1
Servo Drive side
R88D-K@
t = 18
t = 6.1
 Cables for 2 axes
16.1
Position Control
Unit side
CJ1W-NC@@4
L
39
t=18
t = 6.1
t = 18
3-115
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 1
24-V GND for output
3
Input common
5
Forward direction pulse output (+) 17
Forward direction pulse output (-) 16
Reverse direction pulse output (+) 19
Reverse direction pulse output (-) 18
Encoder phase A+
21
Encoder phase A−
20
Encoder phase B+
23
Encoder phase B−
22
25
Encoder phase Z+
24
Encoder phase Z−
15
11
10
12
13
7
General-purpose input
6
Alarm input
9
SEN output
Signal ground
26
27
24-V power supply for output 2
4
24-V GND for output
50
Input common
Forward direction pulse output (+) 39
Forward direction pulse output (−) 38
Reverse direction pulse output (+) 37
Reverse direction pulse output (−) 36
Encoder phase A+
35
Encoder phase A−
34
Encoder phase B+
33
Encoder phase B−
32
Encoder phase Z+
31
Encoder phase Z−
30
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
*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.
41
45
44
42
43
49
General-purpose input 48
Alarm input
47
SEN output
Signal ground
29
28
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-116
3
Specifications
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 1 or 3)
10150-3000PE (Sumitomo 3M)
BKIR
11
Brake interlock output
BKIRCOM
10
Reverse pulse (*1)
+CWLD
44
(input for line driver only)
45
−CWLD
46
+CCWLD
Forward pulse (*1)
(input for line driver only)
47
−CCWLD
21
+A
Encoder phase A+output
22
−A
Encoder phase A−output
49
+B
Encoder phase B+output
48
−B
Encoder phase B−output
23
+Z
Encoder phase Z+output
24
−Z
Encoder phase Z−output
7
+24VIN
+24-V power supply for controls
30
ECRST
Error counter reset input
29
RUN
Operation command input
26
DFSEL
Damping filter switching
31
RESET
Alarm reset
27
Torque limit switching
TLSEL
39
INP
Positioning completion
38
output 1
INPCOM
35
READY
Servo ready completed
output
34
REDYCOM
37
/ALM
Alarm output
36
ALMCOM
20
SEN
Sensor ON input
13
SENGND
Frame ground
Shell
FG
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 1
24-V GND for output 3
Input common
5
Forward direction pulse output
16
(with 1.6 kΩ Resistor)
Reverse direction pulse output
18
(with 1.6 kΩ Resistor)
Encoder phase A+
21
Encoder phase A−
20
Encoder phase B+
23
Encoder phase B−
22
Encoder phase Z+
25
Encoder phase Z−
24
Specifications
3
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
9
SEN output
Signal ground
26
27
24-V power supply for output 2
24-V GND for output 4
50
Input common
Forward direction pulse output 38
(with 1.6 kΩ Resistor)
Reverse direction pulse output
(with 1.6 kΩ Resistor)
Encoder phase A+
Encoder phase A−
Encoder phase B+
Encoder phase B−
Encoder phase Z+
Encoder phase Z−
36
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
41
45
44
42
43
49
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
10
BKIRCOM
3
+CW/+PULS/+FA
Reverse pulses,
feed pulses, or phase A (*1)
4 −CW/−PULS/−FA
5 +CCW/+SIGN/+FB
Forward pulse,
6 −CCW/−SIGN/−FB direction signal, or phase B (*1)
21
+A
Encoder phase A+output
22
−A
Encoder phase A−output
49
+B
Encoder phase B+output
48
−B
Encoder phase B−output
23
+Z
Encoder phase Z+output
24
−Z
Encoder phase Z−output
7
+24VIN
+24-V power supply for controls
ECRST
30
Error counter reset input
Operation command input
29
RUN
26
DFSEL
Damping filter switching
31
RESET
Alarm reset
27
TLSEL
Torque limit switching
39
INP
Positioning completion
output 1
38
INPCOM
35
READY
Servo ready completed
output
34
REDYCOM
37
/ALM
Alarm output
36
ALMCOM
20
SEN
Sensor ON input
13
SENGND
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.
35
34
33
32
31
30
General-purpose input 48
3-117
Alarm input
47
SEN output
Signal ground
29
28
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 1
24-V GND for output
3
Input common
5
Forward direction pulse output (+) 17
Forward direction pulse output (−) 16
Reverse direction pulse output (+) 19
Reverse direction pulse output (−) 18
Encoder phase A+
21
Encoder phase A−
20
Encoder phase B+
23
Encoder phase B−
22
Encoder phase Z+
25
Encoder phase Z−
24
15
11
10
12
13
7
General-purpose input
6
Alarm input
9
SEN output
Signal ground
26
27
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−
2
4
50
39
38
37
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
47
SEN output
Signal ground
29
28
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 2 or 4)
10150-3000PE (Sumitomo 3M)
11
BKIR
Brake interlock output
10
BKIRCOM
44
+CWLD
Reverse pulse (*1)
(input for line driver only)
45
−CWLD
46
+CCWLD
Forward pulse (*1)
47
−CCWLD
(input for line driver only)
21
Encoder phase A+output
+A
Encoder phase A−output
22
−A
Encoder phase B+output
49
+B
Encoder phase B−output
48
−B
Encoder phase Z+output
23
+Z
Encoder phase Z−output
24
−Z
+24-V power supply for controls
7
+24VIN
Error counter reset input
30
ECRST
Operation command input
29
RUN
Damping filter switching
26
DFSEL
31
RESET
Alarm reset
Torque limit switching
27
TLSEL
39
INP
Positioning completion
38
INPCOM
output 1
35
READY
Servo ready completed
output
34
REDYCOM
37
/ALM
Alarm output
36
ALMCOM
20
SEN
Sensor ON input
13
SENGND
Frame ground
Shell
FG
*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
Specifications
Error counter reset output
RUN output
General-purpose output
Alarm reset output
Torque limit output
Positioning completed input
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 1 or 3)
10150-3000PE (Sumitomo 3M)
BKIR
11
Brake interlock output
BKIRCOM
10
+CWLD
44
Reverse pulse (*1)
(input for line driver only)
45
−CWLD
46
+CCWLD
Forward pulse (*1)
(input for line driver only)
47
−CCWLD
21
+A
Encoder phase A+output
22
−A
Encoder phase A−output
49
+B
Encoder phase B+output
48
−B
Encoder phase B−output
23
+Z
Encoder phase Z+output
24
−Z
Encoder phase Z−output
7
+24VIN
+24-V power supply for controls
30
ECRST
Error counter reset input
29
RUN
Operation command input
26
DFSEL
Damping filter switching
31
Alarm reset
RESET
27
Torque limit switching
TLSEL
39
INP
Positioning completion
38
output 1
INPCOM
35
READY
Servo ready completed
output
34
REDYCOM
37
/ALM
Alarm output
36
ALMCOM
20
SEN
Sensor ON input
13
SENGND
Frame ground
Shell
FG
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 1
24-V GND for output 3
Input common
5
Forward direction pulse output
16
(with 1.6 kΩ Resistor)
Reverse direction pulse output
18
(with 1.6 kΩ Resistor)
Specifications
3
Encoder phase A+
Encoder phase A−
Encoder phase B+
Encoder phase B−
Encoder phase Z+
Encoder phase Z−
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
9
SEN output
Signal ground
26
27
24-V power supply for output 2
24-V GND for output 4
50
Input common
Forward direction pulse output
38
(with 1.6 kΩ Resistor)
Reverse direction pulse output 36
(with 1.6 kΩ Resistor)
35
Encoder phase A+
Encoder phase A−
34
33
Encoder phase B+
Encoder phase B−
32
Encoder phase Z+
31
Encoder phase Z−
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
47
SEN output
Signal ground
29
28
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
10
BKIRCOM
3
+CW/+PULS/+FA
Reverse pulses, feed pulses,
or phase A (*1)
4 −CW/−PULS/−FA
5 +CCW/+SIGN/+FB Forward pulse, direction signal,
or phase B (*1)
6 −CCW/−SIGN/−FB
21
+A
Encoder phase A+output
22
−A
Encoder phase A−output
49
+B
Encoder phase B+output
48
−B
Encoder
phase B−output
+
23
+Z
Encoder phase Z+output
24
−Z
Encoder phase Z−output
+24-V power supply for controls
7
+24VIN
30
ECRST
Error counter reset input
Operation command input
29
RUN
Damping filter switching
26
DFSEL
Alarm reset
31
RESET
Torque limit switching
27
TLSEL
39
INP
Positioning completion
output 1
38
INPCOM
35
READY
Servo ready completed
output
34
REDYCOM
37
/ALM
Alarm output
36
ALMCOM
20
SEN
Sensor ON input
13
SENGND
Frame ground
Shell
FG
AWG18 twisted pair 1 m
Blue: BKIRCOM
Black: BKIR
Servo Drive side (for axis 2 or 4)
10150-3000PE (Sumitomo 3M)
BKIR
11
Brake interlock output
BKIRCOM
10
+CW/+PULS/+FA
Reverse pulses, feed
3
pulses, or phase A (*1)
4 −CW/−PULS/−FA
+CCW/+SIGN/+FB Forward pulse, direction
5
signal, or phase B (*1)
6 −CCW/−SIGN/−FB
+A
Encoder phase A+output
21
−A
Encoder phase A−output
22
+B
Encoder phase B+output
49
−B
Encoder phase B−output
48
+Z
Encoder phase Z+output
23
−Z
Encoder phase Z−output
24
+24-V power supply for controls
+24VIN
7
ECRST
Error counter reset input
30
Operation command input
RUN
29
DFSEL
Damping filter switching
26
RESET
Alarm reset
31
TLSEL
Torque limit switching
27
Positioning completion
INP
39
output 1
INPCOM
38
READY
35
Servo ready completed
output
REDYCOM
34
/ALM
37
Alarm output
ALMCOM
36
SEN
20
Sensor ON input
13
SENGND
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-CPG001S
Length (L)
Outer diameter of
sheath
Weight
1m
Approx. 0.3 kg
12.8 dia.
R88A-CPG002S
2m
3
Approx. 0.6 kg
L
39
52.4
Controller side
Servo Drive side
R88D-K@
t = 18
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-120
Specifications
Connection configuration and external dimensions
3-4 Cable and Connector Specifications
Wiring
Specifications
3
Number
Wire/Mark color
1
Orange/Red (1)
2
Symbol
Number
Wire/Mark color
+24VCW
27
Pink/Black (3)
SI4
Orange/Black (1)
+24VCCW
28
White/Black (3)
SI5
3
Gray/Red (1)
+CW/+PULS/+FA
29
Yellow/Red (3)
SI6
4
Gray/Black (1)
−CW/−PULS/−FA
30
Pink/Red (3)
SI7
5
White/Red (1)
+CCW/+SIGN/+FB
31
Yellow/Black (3)
SI8
6
White/Black (1)
−CCW/−SIGN/−FB
32
Gray/Black (4)
SI9
7
Yellow/Red (1)
+24VIN
33
Orange/Red (4)
SI10
8
Pink/Red (1)
SI1
34
White/Red (4)
SO2−
9
Pink/Black (1)
SI2
35
White/Black (4)
SO2+
10
Orange/Red (2)
SO1−
36
Yellow/Red (4)
ALMCOM
11
Orange/Black (2)
SO1+
37
Yellow/Black (4)
/ALM
12
Yellow/Black (1)
−−−
38
Pink/Red (4)
SO4−
13
Gray/Black (2)
SENGND
39
Pink/Black (4)
SO4+
14
White/Red (2)
REF/TREF1/VLIM
40
Gray/Red (4)
−−−
15
White/Black (2)
AGND1
41
Orange/Black (4)
−−−
16
Yellow/Red (2)
PCL/TREF2
42
Gray/Red (5)
BAT
17
Yellow/Black (2),
Pink/Black (2)
AGND2
43
18
Pink/Red (2)
NCL
44
White/Red (5)
+CWLD
19
Orange/Red (5)
Z
45
White/Black (5)
−CWLD
20
Gray/Red (2)
SEN
46
Yellow/Red (5)
+CCWLD
21
Orange/Red (3)
+A
47
Yellow/Black (5)
−CCWLD
22
Orange/Black (3)
−A
48
Pink/Black (5)
−B
23
Gray/Red (3)
+Z
49
Pink/Red (5)
+B
24
Gray/Black (3)
−Z
50
−−−
−−−
25
Orange/Black (5)
ZGND
Shell
−−−
FG
26
White/Red (3)
SI3
Gray/Black (5)
Symbol
BATGND
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
Length (L)
XW2Z-100J-B24
Outer diameter of
sheath
1m
Weight
Approx. 0.2 kg
11.2 dia.
XW2Z-200J-B24
2m
Approx. 0.4 kg
Connection configuration and external dimensions
16.1
3
L
39
52.4
Servo Drive side
68.1
XW2B-50G4
XW2B-50G5
XW2D-50G6
t = 6.1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
(CN1 connector)
R88D-K@
t = 18
3-122
Specifications
Connector-terminal block side
3-4 Cable and Connector Specifications
Specifications
3
3-123
Terminal block Connector
Servo Drive side
Number
Number
Number Wire and mark color
1
2
3
4
5
6
7
8
9
10
11
13
20
14
15
16
17
18
12
19
25
21
22
23
24
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
1
2
3
4
5
6
7
8
9
10
11
13
20
14
15
16
17
18
12
19
25
21
22
23
24
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
1
2
3
4
5
6
7
8
9
10
11
13
20
14
15
16
17
18
12
19
25
21
22
23
24
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Shell
Symbol
+24VCW
Blue/Red (1)
• 1 Wires with the same wire color
+24VCCW
Blue/Black (1)
+CW/+PULS/+FA and the same number of marks
Pink/Red (1)
−CW/−PULS/−FA form a twisted pair
Pink/Black (1)
Green/Red (1) +CCW/+SIGN/+FB
Example: Wires with respective
Green/Black (1) −CCW/−SIGN/−FB
wire and mark colors
+24VIN
Orange/Red (1)
of Yellow/Black (1) and
SI1
Gray/Red (1)
Pink/Black (1) form a
SI2
Gray/Black (1)
twisted pair
SO1−
Blue/Red (2)
SO1+
Blue/Black (2)
SENGND
Pink/Red (2)
SEN
Pink/Black (2)
Green/Red (2) REF/TREF1/VLIM
AGND1
Green/Black (2)
PCL/TREF2
Orange/Red(2)
AGND2
Orange/Black (2)
NCL
Gray/Red (1)
−−−
Gray/Black(2)
Z
Blue/Red (3)
ZGND
Blue/Black (3)
+A
Pink/Red (3)
−A
Pink/Black(3)
+Z
Green/Red (3)
−Z
Green/Black (3)
SI3
Orange/Red(3)
SI4
Orange/Black(3)
SI5
Gray/Red (3)
SI6
Gray/Black(3)
SI7
Blue/Red (4)
SI8
Blue/Black (4)
SI9
Pink/Red (4)
SI10
Pink/Black (4)
Servo Drive Connector:
SO2−
Green/Red (4)
Connector plug model
SO2+
Green/Black (4)
ALMCOM
Orange/Red(4)
10150-3000PE (Sumitomo 3M)
/ALM
Orange/Black (4)
Connector case model
SO4−
Gray/Red(4)
10350-52A0-008 (Sumitomo 3M)
SO4+
Gray/Black(4)
−−−
Blue/Red (5)
−−−
Blue/Black (5)
Terminal Block Connector:
BAT
Pink/Red (5)
Connector socket model
BATGND
Pink/Black (5)
+CWLD
Green/Red (5)
XG4M-5030 (OMRON)
−CWLD
Green/Black (5)
Strain relief model XG4T-5004 (OMRON)
+CCWLD
Orange/Red (5)
−CCWLD
Orange/Black (5)
−B
Gray/Red (5)
Cable: AWG28 × 25P UL2464
+B
Gray/Black(5)
−
Orange/Red(1)
FG
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 ConnectorTerminal Block Conversion Unit to the CN1 connector.
XW2B-50G4 (M3 Screw Terminal Block)
3
 Dimensions
Flat cable connector (MIL type plug)
3.5
157.5
3.5
Specifications
15.5
29.5
45
2-φ3.5
5.08
Terminal block
(45.3)
38.1
20.5
 Use 0.3 to 1.25 mm2 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
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)
 Dimensions
Flat cable connector (MIL type plug)
3.5
3.5
247.5
15.5
29.5
3
45
2-φ3.5
Specifications
7
8.5
7.3
Terminal
block
7
43.5 (45.3)
20.5
 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
Fork terminal
φ3.2mm
3.7mm
6.8 mm max.
Applicable crimp terminals
6.8 mm max.
Applicable wires
1.25−3
AWG22-16
(0.3 to 1.25 mm2)
2−3.5
AWG16-14
(1.25 to 2.0 mm2)
1.25Y−3
AWG22-16
(0.3 to 1.25 mm2)
2−3.5
AWG16-14
(1.25 to 2.0 mm2)
Round terminals
Fork terminals
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 A
2 A3
A4
A5 A
6 A7
B1 B
2 B3
A8 A
9 A10
B4 B
5 B6
A11 A
12 A13
B7 B
A14
8 B9
A15 A
B10 B
16 A17
11 B12
A18 A
B13 B
19 A20
14 B15
B16 B
17 B18
B19 B
20
 Dimensions
MIL type connector XG4A
2-φ4.5
184
144
(39.1)
17.6
3
6 40
39
7
(4.5)
Specifications
7
DIN rail lock
5.8
1.2
M3
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
Fork terminal
φ3.2 mm
5.8 mm max.
3.2 mm 5.8 mm max.
Applicable crimp terminals
Applicable wires
Round terminals
1.25−3
AWG22-16
(0.3 to 1.25 mm2)
Fork terminals
1.25Y−3
AWG22-16
(0.3 to 1.25 mm2)
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.
Servo Relay Units Specifications
XW2B-20J6-1B
3
 CJ1W-NC113/-NC133
 CS1W-NC113/-NC133
 C200HW-NC113
13
14
19
9
8
7
6
18
17
16
15
5
4
3
2
1
0
12
11
10
Specifications
This Servo Relay Unit connects to the following OMRON Position Control Units.
Dimensions
Position Control Unit side
135
3.5
7
10
19
0
9
45
29.5
15.5
3.5
7
Servo Drive side
(46)
2
20.5
44.3
2-φ3.5
 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
Emergency
Origin
CW limit CCW limit proximity RUN
10 +24 V stop
ALM
BKIR 19
Common Common Common External
interrupt Common Common RESET ALMCOM
0 0V
X1
X1
FG
9
XB
(*1)
24 VDC
24 VDC
3
Specifications
*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.
27
26
25
19
18
39
17
38
16
37
15
36
14
35
13
34
12
33
11
32
10
31
9
30
8
29
7
28
6
5
4
3
2
24
23
1
0
22
21
20
 CJ1W-NC213/-NC233/-NC413/-NC433
 CS1W-NC213/-NC233/-NC413/-NC433
 C200HW-NC213/-NC413
Dimensions
Position Control Unit side
Y-axis drive side
180
3.5
7
20
39
0
19
45
15.5
29.5
3.5
7
X-axis drive side
(46)
44.3
2
20.5
2-φ3.5
 Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-128
3-5 Servo Relay Units and Cable Specifications
Wiring
X/Y-axis
X-axis
X-axis
20 +24 V emergency X-axis
CW limit CCW limit Origin
X-axis
proximity RUN
stop
0 0V
Y-axis Y-axis
Y-axis Y-axis
CW limit CCW limit Origin
proximity RUN
X-axis X-axis
ALM BKIR
Y-axis
X-axis
Common Common Common External Common Common X-axis X-axis
RESET ALMCOM
interrupt
X1
X1
Common Common External
interrupt
XB
Y-axis Y-axis
ALM BKIR
Common Common Y-axis
Y-axis
ALMCOM
RESET
Y1
Y1
(*1)
FG
19
YB
(*1)
24 VDC
24 VDC
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).
Specifications
XW2B-20J6-3B
This Servo Relay Unit connects to the following OMRON Programmable Controllers.
11
10
 CQM1-CPU43-V1
 CQM1-PLB21
13
14
19
9
8
7
6
18
17
16
15
5
4
3
2
1
0
12
Dimensions
CQM1 side
135
3.5
7
10
19
0
9
45
29.5
15.5
3.5
7
Servo Drive side
(46)
20.5
44.3
2-φ3.5
2
3
39
 Terminal block pitch: 7.62 mm
3-129
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-5 Servo Relay Units and Cable Specifications
Wiring
0
CW
0V
CCW
CW
ECRST
RUN
CCW Common Common
X1
(*1)
INP
ALM
Z
CQM1
Input Unit
10 +24V
(*1)
(*2)
BKIR 19
RESET ALMCOM
X1
FG
9
XB
(*3)
24 VDC
24 VDC
3
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.
13
14
16
17
19
18
9
8
7
6
5
4
3
15
2
1
0
12
11
10
 CJ1M-CPU21/-CPU22/-CPU23 (for 1
axis)
Dimensions
Servo Drive side
CJ1M-CPU21/22/23 side
135
3.5
7
10
19
0
9
45
29.5
15.5
3.5
7
(46)
42.8
2
20.5
2-φ3.5
 Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-130
Specifications
*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.
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.
(*3)
10 +24 V
IN6
0 0V
IN7
IN8
Origin
proximity RUN
Common Common Common
IN9
MING ALM
BKIR 19
Common Common RESET ALMCOM
X1
X1
FG
9
XB
(*2)
CW limit (*1)
CCW limit (*1)
(Contact 2960.06) (Contact 2960.07)
3
24 VDC
24 VDC
Specifications
*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.
27
26
25
19
18
39
17
38
16
37
15
36
14
35
13
34
12
33
11
32
10
31
9
30
8
29
7
28
6
5
4
3
2
24
23
1
0
22
21
20
 CJ1M-CPU21/-CPU22/-CPU23 (for 2
axes)
3
Dimensions
CJ1M-CPU21/22/23 side
180
3.5
7
20
39
0
19
45
15.5
29.5
Y-axis drive side
Specifications
3.5
7
X-axis drive side
(46)
42.8
2
20.5
2-φ3.5
 Terminal block pitch: 7.62 mm
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-132
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.
(*3)
(*3)
20 + 24 V
0
IN6
0V
IN7
X-axis X-axis
Origin
proximity RUN
X-axis X-axis X-axis
MING ALM BKIR
Common Common Common Common Common Common
X-axis
RESET
X-axis
ALMCOM
X1
X1
IN8
IN9
Y-axis Y-axis
Origin
proximity RUN
Y-axis Y-axis Y-axis
MING ALM BKIR
Common Common Common Common Common
XB
Y1
Y-axis Y-axis
RESET ALMCOM
Y1
(*2)
X-axis
CW limit
(Contact
2960.06)
(*1)
24 VDC
FG
19
YB
(*2)
Y-axis
Y-axis
CW limit CCW limit
(Contact (Contact
2960.08) 2960.09)
(*1)
(*1)
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.
Specifications
3
X-axis
CCW limit
(Contact
2960.07)
(*1)
39
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
XW2Z-100J-B31
Length (L)
Outer diameter of
sheath
Weight
1m
Approx. 0.1 kg
8.1 dia.
XW2Z-200J-B31
2m
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.
3
Connection configuration and external dimensions
Servo Drive side
52.4
XW2B-20J6-8A
XW2B-40J6-9A
30
Servo Relay Unit side
R88D-KT@
Wiring
Servo Relay Unit side
Wire and mark color Number
1
Blue/Red (1)
2
Blue/Black (1)
3
Pink/Red (1)
Pink/Black (1)
4
5
Green/Red (1)
6
Green/Black (1)
7
Orange/Red (1)
8
−
9
−
10
Gray/Red (1)
Gray/Black (1)
11
12
Blue/Red (2)
13
Blue/Black (2)
Orange/Black (1)
14
Pink/Red (2)
15
16
Pink/Black (2)
17
Orange/Red (2)
18
Green/Black (2)
Orange/Red (2)
19
20
Any
Servo Drive side
Number
7
38
5
6
3
4
30
10
23
24
39
29
27
31
11
37
36
Shell
[Servo Relay Unit connector]
Connector socket model: XG4M-2030
Strain relief model: XG4T-2004
[Cable]
AWG28 × 10P UL2464
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-134
Specifications
L
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)
Specifications
3
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
Length (L)
XW2Z-050J-A3
Outer diameter of
sheath
Weight
50 cm
Approx. 0.1 kg
3
7.5 dia.
XW2Z-100J-A3
1m
Approx. 0.1 kg
Connection configuration and external dimensions
L
6
CQM1 side
25
32.2
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
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
3-136
Specifications
39
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
Outer diameter of
sheath
Length (L)
XW2Z-050J-A6
50 cm
Weight
Approx. 0.1 kg
8.0 dia.
XW2Z-100J-A6
1m
Approx. 0.1 kg
Connection configuration and external dimensions
3
47
L
6
38
CS1W-NC113
C200HW-NC113
Servo Relay Unit side
83
Specifications
Position Control 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
3-137
Cable: AWG28 × 4P + AWG28 × 10C
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
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-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
Outer diameter of
sheath
Length (L)
XW2Z-050J-A7
50 cm
Weight
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A7
1m
Approx. 0.2 kg
Connection configuration and external dimensions
47
L
Servo Relay Unit side
48
XW2B-40J6-2B
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
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
Cable: AWG28 × 6P + AWG28 × 16C
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-138
Specifications
83
Position Control Unit side
CS1W-NC213
CS1W-NC413
C200HW-NC213
C200HW-NC413
3
6
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A10)
This cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B20J6-1B).
Cable types
Model
Length (L)
XW2Z-050J-A10
Outer diameter of
sheath
Weight
50 cm
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A10
1m
Approx. 0.2 kg
Connection configuration and external dimensions
3
47
L
6
CS1W-NC133
48
Servo Relay Unit side
83
Specifications
Position Control Unit side
t = 11
XW2B-20J6-1B
1000
Wiring
Position Control Unit side
Number
A3
A4
A1
A2
A7
A8
A5
A6
AWG 20Black
AWG 20Red
A10
A16
A14
A24
A12
A21
A23
A22
A19
A20
Crimp
terminal
3-139
Cable: AWG28 × 4P + AWG28 × 10C
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
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-A11)
This cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B40J6-1B).
Cable types
Model
Outer diameter of
sheath
Length (L)
XW2Z-050J-A11
50 cm
Weight
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A11
1m
Approx. 0.2 kg
Connection configuration and external dimensions
47
L
48
83
t =11
XW2B-40J6-1B
1000
Wiring
Position Control Unit side
Number
A3/B3
A4/B4
A1/B1
A2/B2
A7
A8
A5
A6
AWG20 Black
AWG20 Red
Servo Relay Unit side
Number
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
Cable: AWG28 × 6P + AWG28 × 16C
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
3-140
Specifications
Servo Relay Unit side
Position Control Unit side
CS1W-NC233
CS1W-NC433
3
6
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A14)
This cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B20J6-1B).
Cable types
Model
Outer diameter of
sheath
Length (L)
XW2Z-050J-A14
Weight
50 cm
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A14
1m
Approx. 0.2 kg
Connection configuration and external dimensions
3
0
50
CJ1W-NC113
38
Servo Relay Unit side
20J6-1B
Specifications
Position Control Unit side
XW2B-20J6-1B
3
C11
CJ1
W- N
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
3-141
Cable: AWG28 × 4P + AWG28 × 10C
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
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-A15)
This cable connects a Position Control Unit (CJ1W-NC213/NC413) to a Servo Relay Unit
(XW2B-40J6-2B).
Cable types
Model
XW2Z-050J-A15
Outer diameter of
sheath
Length (L)
50 cm
Weight
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A15
1m
Approx. 0.2 kg
Connection configuration and external dimensions
3
0
50
48
40J6 -2B
XW2B-40J6-2B
CJ1
W- N
C21
3/NC
413
CJ1W-NC213
CJ1W-NC413
Servo Relay Unit side
t = 11
L
6
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
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-142
Specifications
Position Control Unit side
3-5 Servo Relay Units and Cable Specifications
Position Control Unit Cable (XW2Z-@J-A18)
This cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B20J6-1B).
Cable types
Model
Outer diameter of
sheath
Length (L)
XW2Z-050J-A18
50 cm
Weight
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A18
1m
Approx. 0.2 kg
Connection configuration and external dimensions
3
0
50
CJ1W-NC133
38
Servo Relay Unit side
20J6-1B
Specifications
Position Control Unit side
XW2B-20J6-1B
3
C13
W- N
CJ1
1000
t = 11
L
6
Wiring
Position Control Unit side
Number
A3
A4
A1
A2
A7
A8
A5
A6
AWG20 Black
AWG20 Red
A9
A14
A12
A20
A11
A17
A19
A18
A15
A16
Crimp
terminal
3-143
Cable: AWG28 × 4P + AWG28 × 10C
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
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 (XW2B40J6-2B).
Cable types
Model
Outer diameter of
sheath
Length (L)
XW2Z-050J-A19
50 cm
Weight
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A19
1m
Approx. 0.2 kg
Connection configuration and external dimensions
3
0
50
Servo Relay Unit side
XW2B-40J6-2B
433
3/NC
C23
W- N
CJ1
1000
t = 11
L
6
Wiring
Position Control Unit side
Number
A3/B3
A4/B4
A1/B1
A2/B2
A7
A8
A5
A6
AWG20 Black
AWG20 Red
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
Cable: AWG28 × 8P + AWG28 × 16C
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-144
Specifications
40J6-2B
48
Position Control Unit side
CJ1W-NC233
CJ1W-NC433
3-5 Servo Relay Units and Cable Specifications
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
Outer diameter of
sheath
Length (L)
XW2Z-050J-A33
50 cm
Weight
Approx. 0.1 kg
10.0 dia.
XW2Z-100J-A33
1m
Approx. 0.2 kg
Connection configuration and external dimensions
3
0
50
6
L
Servo Relay Unit side
43
CJ1M-CPU22/23
56
Specifications
20J6-8A/40J6-9A
CJ1M side
CJ1M-CPU21
CJ1M-CPU22
CJ1M-CPU23
XW2B-20J6-8A
XW2B-40J6-9A
6
Wiring
CJ1M side
Number
37
39
40
32
Servo Relay Unit side
Number
1
2
3
4
5
6
7
8
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
35
3
5
17
6
23
24
34
33
36
9
11
18
12
29
30
2
8
13
14
19
20
25
26
Crimp
terminal
3-145
Cable: AWG28 × 6P + AWG28 × 14C
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
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)
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)
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)
R88A-RR080100S
Model
R88ARR080100S
Regeneration
Resistance Nominal
absorption for 120°C
value
capacity
temperature rise
100 Ω
80 W
20 W
R88A-RR22047S1
Model
R88ARR22047S1
Regeneration
Resistance Nominal
absorption for 120°C
value
capacity
temperature rise
47 Ω
220 W
70 W
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-146
3
Specifications
R88ARR08050S
Regeneration
Resistance Nominal
absorption for 120°C
value
capacity
temperature rise
3-6 External Regeneration Resistor Specifications
R88A-RR50020S
Model
R88ARR50020S
Regeneration
Resistance Nominal
Heat radiation
absorption for 120°C
value
capacity
condition
temperature rise
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)
20 Ω
500 W
180 W
Specifications
3
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
Filter model
Rated current
Leakage
current
Rated voltage
R88A-FIK102-RE
2.4 A
R88D-KT02H
R88D-KT04H
R88A-FIK104-RE
4.1 A
R88D-KT08H
R88A-FIK107-RE
6.6 A
R88D-KT10H
R88A-FIK114-RE
250 VAC single-phase
14.2 A
3
R88D-KT15H
3.5 mA
R88D-KT06F
R88A-FIK304-RE
4A
R88D-KT15F
400 VAC single-phase
R88D-KT20F
R88A-FIK306-RE
R88D-KT30F
R88A-FIK312-RE
6A
12 A
R88D-KT50F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
3-148
Specifications
R88D-KT10F
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.
4-1 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
4-1 Installation Conditions
4-1 Installation Conditions
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.
Fan
100 mm min.
Fan
4
System Design
Servo
Drive
A
Servo
Drive
B
W
40 mm or more
Side
of
Servo
Drive
Servo
Drive
C
W
Air
100 mm min.
Air
W = 10 mm or more
 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: 85% 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 × 2
4
55−25
= 224000 hour
10
Keeping Foreign Objects Out of Units
 Take measures during installation and operation to prevent foreign objects such as metal
particles, oil, machining oil, dust, or water from getting inside of the drives.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2
System Design
 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.
4-1 Installation Conditions
Servomotor Installation Conditions
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/s2.
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.
System Design
4
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.
Ball screw center line
Motor center line
Axial offset
 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 μm max. for a pitch circle diameter of 50 mm).
 If the gear precision is not adequate, allow
backlash to ensure that no radial load is
placed on the motor shaft.
Backlash
Set a structure in which
the distance between
axes can be adjusted.
 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.
4-3
Bevel gear
Set a movable structure.
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)
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
 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
System Design
Oil-water Measures
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
4
System Design
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
System Design
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-6
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
Cable: AWG4 × 4C UL62
M6 crimp terminal
Servomotor side
Number Symbol
A
Phase U
B
Phase V
C
Phase W
D
FG
[Servomotor side connector]
Straight plug model
4
N/MS3106B32-17S (Japan Aviation Electronics)
Cable clamp model
System Design
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)
4-7
D
A
C
B
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 Single-phase 100 to 120 VAC, 50/60 Hz: R88D-KT@@L
Single-phase 200 to 240 VAC, 50/60 Hz: R88D-KT@@H
NFB
1
2
E NF
3
4
Noise filter (*1)
Main circuit power supply
OFF
Main circuit contactor (*1)
X
ON
1MC
Ground to 100 W or less.
4
Surge suppressor (*1)
1MC
X
PL
OMNUC G5-series
AC Servo Drive
CNA
Power cables
(*3)
XB
L1C
OMNUC G5-series
AC Servomotor
B
L2C
CNB
24 VDC
U
1MC
V
M
CNA
W
L1
Reactor
L3
CNB
B1
(*4)
Regeneration Resistor
(*5)
CN2
Ground to 100 Ω or less
B3
Encoder cables
B2
CN1
X
24 VDC
37 /ALM
36 ALMCOM
X
CN1
User-side
control
device
Control cables
CN1
OUTM1 11
(BKIR)
OUTM1
10
COM
XB
(*2)
E
*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
24 VDC 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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-8
System Design
Servo alarm display
4-2 Wiring
R88D-KT01H/-KT02H/-KT04H/-KT08H/-KT10H/-KT15H (3-phase Input)
R S T
3-phase 200 to 240 VAC, 50/60 Hz: R88D-KT@@H
NFB
1
2
3
NF
E
4
5
Noise filter (*1)
Main circuit power supply
6
OFF
X
ON
Main circuit contactor (*1)
1MC
Ground to 100 W or less.
Surge suppressor (*1)
4
1MC
X
PL
System Design
Servo alarm display
OMNUC G5-series
AC Servo Drive
CNA
Power cables
(*3)
XB
L1C
OMNUC G5-series
AC Servomotor
B
CNB
L2C
24 VDC
U
1MC
V
M
CNA
Reactor
W
L1
L2
L3
Ground to 100 Ω or less
CN2
CNB
B1
(*4)
Regeneration
Resistor
Encoder cables
B2
CN1
X
37 /ALM
24 VDC
36 ALMCOM
CN1
OUTM1 11
(BKIR)
X
User-side
control
device
E
B3
CN1
OUTM1 10
COM
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
(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.
Control cables
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
1
2
3
NF
E
4
5
Noise filter (*1)
Main circuit power supply
6
OFF
Main circuit contactor (*1)
ON
X
1MC
Ground to 100 Ω or less.
Surge suppressor (*1)
4
1MC
X
PL
Servo alarm display
Power cables
CNA
XB
OMNUC G5-series
AC Servomotor
(*3)
L1C
B
CNB
L2C
24 VDC
U
1MC
V
M
CNA
Reactor
W
L1
L2
L3
Ground to 100 Ω or less
CN2
CNC
B1
(*4)
Regeneration
Resistor
Encoder cables
B3
B2
CN1
X
24 VDC
37/ALM
36 ALMCOM
CN1
X
BKIR 11
User-side
control
device
E
CN1
BKIRCOM 10
XB
24 VDC
(*2)
*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
(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.
Control cables
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-10
System Design
OMNUC G5-series
AC Servo Drive
4-2 Wiring
R88D-KT30H/-KT50H
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
1
2
3
NF
E
4
5
Noise filter (*1)
Main circuit power supply
6
OFF
Main circuit contactor (*1)
X
ON
1MC
Ground to 100 Ω or less.
Surge suppressor (*1)
4
1MC
X
PL
System Design
Servo alarm display
OMNUC G5-series
AC Servo Drive
TB1
XB
Power cables
(*3)
L1C
OMNUC G5-series
AC Servomotor
B
TB1
L2C
U
1MC
24 VDC
V
M
W
TB1
Reactor
L1
L2
Ground to 100 Ω or less
CN2
L3
B1
(*4)
Regeneration
Resistor
Encoder cables
B3
B2
CN1
X
37/ALM
24 VDC
36 ALMCOM
CN1
X
BKIR 11
User-side
control
device
CN1
XB
(*2)
BKIRCOM 10
E
*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
24 VDC
(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
1
2
3
NF
E
4
5
Noise filter (*1)
Main circuit power supply
6
OFF
ON
Main circuit contactor (*1)
X
1MC
Ground to 100 Ω or less.
2MC
Surge suppressor (*1)
1MC
X
4
PL
Servo alarm display
TB1
XB
Power cables
(*3)
L1C
(*6)
OMNUC G5-series
AC Servomotor
System Design
OMNUC G5-series
AC Servo Drive
(*5)
B
TB1
L2C
U
1MC
24 VDC
V
M
W
TB1
Reactor
L1
L2
CN2
L3
B1
Regeneration
Encoder cables
E
B2
Resistor
CN1
X
24 VDC
37 /ALM
36 ALMCOM
CN1
X
BKIR 11
CN1
User-side
control
device
Control cables
BKIRCOM 10
DB1 DB2 DB3 DB4
Surge suppressor
(*4)
2MC
(*7)
Ground to 100 Ω or less.
*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).
24 VDC *3. There is no polarity on the brakes.
XB
*4. When using an externally connected
(*2)
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-12
4-2 Wiring
R88D-KT150H with AC Power Supply Input
R S T
3-phase 200 to 230 VAC, 50/60 Hz
NFB
1
2
3
Noise filter (*1)
6
Main circuit power supply
OFF
ON
X
NF
E
4
5
Main circuit contactor (*1)
1MC
Ground to 100 Ω or less.
2MC
Surge suppressor (*1)
1MC
X
PL
Servo alarm display
4
OMNUC G5-series
AC Servo Drive
System Design
TB1
XB
Power cables
(*3)
L1C
(*4)
(*5)
OMNUC G5-series
AC Servomotor
B
TB1
L2C
DC24V
U
1MC
V
M
W
TB1
Reactor
L1
L2
Ground to 100 Ω or less.
CN2
L3
B1
Regeneration
Encoder cables
E
B2
Resistor
CN1
X
37 /ALM
24 VDC
36 ALMCOM
CN1
X
BKIR 11
User-side
control
device
CN1
Control cables
Surge suppressor
2MC
BKIRCOM 10
DB1 DB2
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 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
1
2
Noise filter (*1)
3
NF
E
4
5
Main circuit power supply
OFF
ON
X
6
Main circuit contactor (*1)
1MC
Ground to 10 Ω or less.
4
Surge suppressor (*1)
X
1MC
PL
Servo alarm display
CNC
Power cables
(*3)
XB
24 V
0V
24 VDC
1MC
B
CNB
U
24 VDC
V
M
CNA
Reactor
W
L1
L2
L3
CND
Ground to 10 Ω or less
CN2
B1
(*4)
Regeneration
Resistor
Encoder cables
B2
CN1
X
24 VDC
37 /ALM
36 ALMCOM
CN1
OUTM1
11
(BKIR)
X
User-side
control
device
E
B3
CN1
OUTM1
10
COM
XB
(*2)
*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
24 VDC
(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.
Control cables
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-14
System Design
OMNUC G5-series
AC Servomotor
OMNUC G5-series
AC Servo Drive
4-2 Wiring
R88D-KT30F/-KT50F
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
1
2
Noise filter (*1)
3
NF
E
4
5
Main circuit power supply
X
OFF
ON
6
Main circuit contactor (*1)
1MC
Ground to 10 Ω or less.
Surge suppressor (*1)
1MC
X
4
PL
Servo alarm display
System Design
OMNUC G5-series
AC Servo Drive
TB2
OMNUC G5-series
AC Servomotor
XB
Power cables
(*3)
24 V
B
TB1
0V
24 VDC
U
1MC
24 VDC
V
M
W
TB1
Reactor
L1
L2
Ground to 10 Ω or less
CN2
L3
Encoder cables
B1
(*4)
Regeneration
Resistor
B3
B2
CN1
X
37 /ALM
24 VDC
36 ALMCOM
X
CN1
BKIR 11
User-side
control
device
CN1
BKIRCOM 10
XB
(*2)
E
*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
(KT30F and KT50F) connects B2 and B3.
24 VDC
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
4-15
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
1
2
3
Noise filter (*1)
6
Main circuit power supply
OFF
ON
NF
E
4
5
Main circuit contactor (*1)
X
1MC
Ground to 10 Ω or less.
2MC
Surge suppressor (*1)
1MC
X
PL
Servo alarm display
OMNUC G5-series
AC Servo Drive
XB
4
(*6)
OMNUC G5-series
AC Servomotor
Power cables
TB2
(*5)
System Design
(*3)
24 V
B
TB1
0V
24 VDC
U
1MC
24 VDC
V
M
W
TB1
Reactor
L1
L2
CN2
Power supply
(neutral point)
Encoder cables
B1
Regeneration
Resistor
B2
CN1
X
37 /ALM
24 VDC
36 ALMCOM
User-side
control
device
CN1
X
BKIR 11
CN1
Control cables
BKIRCOM 10
DB1 DB2 DB3 DB4
Surge suppressor
(*4)
2MC
(*7)
Ground to 10 Ω or less.
L3
E
*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. When using an externally connected
Dynamic Brake Resistor, remove the short
24 VDC
XB
bar from between DB3 and DB4.
*5. Provide auxiliary contacts to protect the
(*2)
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-16
4-2 Wiring
R88D-KT150F
R S T
3-phase 380 to 480 VAC, 50/60 Hz
NFB
1
2
3
Noise filter (*1)
6
Main circuit power supply
OFF
ON
X
NF
E
4
5
Main circuit contactor (*1)
1MC
Ground to 10 Ω or less.
2MC
Surge suppressor (*1)
1MC
X
PL
4
Servo alarm display
OMNUC G5-series
AC Servo Drive
System Design
TB2
(*4)
(*5)
OMNUC G5-series
AC Servomotor
Power cables
(*3)
XB
24 V
B
TB1
0V
24 VDC
24 VDC
U
1MC
V
M
W
TB1
Reactor
L1
L2
CN2
Power supply
(neutral point)
L3
Encoder cables
B1
Regeneration
Resistor
B2
CN1
X
37 /ALM
24 VDC
36 ALMCOM
User-side
control
device
Ground to 10 Ω or less.
CN1
X
BKIR 11
CN1
Control cables
Surge suppressor
BKIRCOM 10
DB1 DB2
E
*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
24 VDC
XB
Servo ON state will not occur due to
deposition in the Dynamic Brake Resistor.
(*2)
*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
Function
Main circuit power supply
input
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
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
L1
L2
L3
L1C
L2C
Motor Connector Specifications (CNB)
Symbol
Name
Function
External Regeneration
Resistor connection
terminals
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.
B1
B3
B2
U
V
W
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Motor connection
terminals
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
System Design
Name
4-2 Wiring
R88D-KT20H
Main Circuit Connector Specifications (CNA)
Symbol
L1
L2
Name
Function
Main circuit power supply
input
R88D-KT@H (2 kW) :
3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz
Control circuit power
supply input
R88D-KT@H : Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
L3
L1C
L2C
Motor Connector Specifications (CNB)
4
Symbol
U
Function
Motor connection
terminals
V
System Design
Name
Red
White
W
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
Green/
Yellow
This is the ground terminal. Ground to 100 Ω or less.
Frame ground
External Regeneration Resistor Connector Specifications (CNC)
Symbol
B1
B3
Name
Function
External Regeneration
Resistor connection
terminals
B2
NC
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.
Do not connect.
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
Symbol
Name
Function
Main circuit power supply
input
R88D-KT@H (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 V)
50/60 Hz
Control circuit power
supply input
R88D-KT@H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
External Regeneration
Resistor connection
terminals
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.
L1
L2
L3
L1C
L2C
B1
B3
B2
NC
Do not connect.
V
Motor connection
terminals
Frame ground
System Design
W
4
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
U
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
4-2 Wiring
R88D-KT75H
Terminal Block Specifications, Left Terminal Block (TB1)
Symbol
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)
L1
L2
L3
B1
External Regeneration
Resistor connection
terminals
B2
Connect an External Regeneration Resistor between B1 and B2.
Terminal B1 is main circuit DC output (positive).
N (NC)
U
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
V
4
Motor connection
terminals
W
System Design
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
L1C
L2C
DB1
DB2
Name
Function
Control circuit power
supply input
R88D-KT@H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
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.
DB3
Normally DB3 and DB4 are connected. When using an externally
connected Dynamic Brake Resistor, remove the short bar from
between DB3 and DB4.
DB4
This is the ground terminal. Ground to 100 Ω or less.
Frame ground
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
DB1
DB2
Name
Function
Control circuit power
supply input
R88D-KT@H: Single-phase 200 to 230 VAC (170 to 253 V) 50/60
Hz
280 to 325 VDC (238 to 357 VDC)
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)
Symbol
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)
L1
L2
L3
B1
B2
Connect an External Regeneration Resistor between B1 and B2.
Terminal B1 is main circuit DC output (positive).
N (NC)
U
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
V
Motor connection
terminals
W
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
Name
Function
Main circuit power supply
input
R88D-KT@F
(600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60
Hz
L3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-22
System Design
External Regeneration
Resistor connection
terminals
4
4-2 Wiring
Motor Connector Specifications (CNB)
Symbol
U
Name
Function
Motor connection
terminals
V
Red
White
W
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.
Frame ground
Control Circuit Connector Specifications (CNC)
Symbol
24 V
0V
4
Name
Function
Control circuit power
supply input
24 VDC (21.6 to 26.4 V)
External Regeneration Resistor Connector Specifications (CND)
System Design
Symbol
Name
Function
External Regeneration
Resistor connection
terminals
B1
B3
B2
NC
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.
Precautions for Correct Use
Never connect an External Regeneration Resistor between the B1 and NC terminals.
R88D-KT30F/-KT50F
Terminal Block Specifications (TB1)
Symbol
24 V
0V
4-23
Name
Control circuit power
supply input
Function
24 VDC (21.6 to 26.4 V)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
Terminal Block Specifications (TB2)
Symbol
Name
Function
Main circuit power supply
input
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
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.
L1
L2
L3
B1
B3
B2
NC
Do not connect.
U
Red
V
W
White
Motor connection
terminals
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
4
Green/
Yellow
This is the ground terminal. Ground to 10 Ω or less.
System Design
Frame ground
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
4-24
4-2 Wiring
R88D-KT75F
Terminal Block Specifications, Left Terminal Block (TB1)
Symbol
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
Connect an External Regeneration Resistor between B1 and B2.
B2
External Regeneration
Resistor connection
terminals
NC
Do not connect.
L1
L2
L3
B1
U
Red
V
4
White
Motor connection
terminals
W
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
System Design
Green/
Yellow
Terminal Block Specifications, Right Terminal Block (TB2)
Symbol
24 V
0V
DB1
Name
Function
Control circuit power
supply input
24 VDC±15%
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.
DB2
DB3
Normally DB3 and DB4 are connected. When using an externally
connected Dynamic Brake Resistor, remove the short bar from
between DB3 and DB4.
DB4
This is the ground terminal. Ground to 10 Ω or less.
Frame ground
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
24 V
0V
Name
Control circuit power
supply input
DB1
Dynamic brake resistance
control terminals
DB2
Function
24 VDC±15%
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
Name
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.
B2
External Regeneration
Resistor connection
terminals
NC
Do not connect.
4
L1
L2
B1
Red
U
V
W
White
Motor connection
terminals
These are the output terminals to the Servomotor.
Be sure to wire them correctly.
Blue
Green/
Yellow
Frame ground
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-26
System Design
L3
4-2 Wiring
Terminal Block Wire Sizes
100-VAC Input Type Wire Sizes: R88D-KT@@L
Model (R88D-)
Unit
Item
System Design
4
KTA5L
KT01L
KT02L
KT04L
Power supply capacity
kVA
0.4
0.4
0.5
0.9
Main circuit power
supply input (L1
and L3, or L1, L2
and L3)
Rated current
A
1.7
2.6
4.3
7.6
−
AWG 14 to 18
Control circuit
power supply input
(L1C and L2C)
Wire size
−
AWG 18
Motor connection
terminals (U, V, W,
and FG) *1 *2
Rated current
A
1.2
2.5
4.6
Wire size
−
AWG 14 to 18
Frame ground (FG) Wire size
−
AWG 14
Screw size
−
M4
Tightening torque
N·m
1.2
Wire size
1.7
*1. Use the same wire size for B1 and B2.
*2. Connect an OMRON power cable to the motor connection terminals.
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-)
KT01H
KT02H
KT04H
KT08H
KT10H
kVA
0.5
0.5
0.9
1.3
1.8
A
1.6/0.9*1
2.4/1.3
4.1/2.4
6.6/3.6
9.1/5.2
*1
*1
*1
*1
Wire size
−
AWG14 to 18
Screw size
−
−
−
−
−
−
Tightening torque
N·m
−
−
−
−
−
Wire size
−
AWG18
Screw size
−
−
−
−
−
−
Tightening torque
N·m
−
−
−
−
−
Rated current
A
1.2
1.6
2.6
4.1
5.9
Wire size
−
AWG14 to 18
Screw size
−
−
−
−
−
−
Tightening torque
N·m
−
−
−
−
−
Wire size
−
AWG14
Screw size
−
M4
Tightening torque
N·m
1.2
Unit
Item
Power supply capacity
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) *2 *3
AWG14
AWG14
*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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4
System Design
Frame ground (FG)
Rated current
4-28
4-2 Wiring
Model (R88D-)
KT15H
KT20H
KT30H
KT50H
KT75H
KT150H
kVA
2.3
3.3
4.5
7.5
11.0
22.0
A
14.2/
8.1*1
11.8
15.1
21.6
32.0
58.0
Wire size
−
AWG14
AWG10
AWG6
Screw size
−
−
−
M5
N·m
−
−
2.0
Wire size
−
AWG18
Screw size
−
−
−
M5
N·m
−
−
2.0
Rated current
A
9.4
13.4
18.7
Wire size
−
AWG14
Screw size
−
−
−
M5
N·m
−
−
2.0
2.0 to
2.4
2.2 to
2.5
Wire size
−
AWG14
AWG12
AWG6
AWG4
Screw size
−
M4
M5
1.2
2.0
Unit
Item
Power supply capacity
Main circuit power
supply input (L1 and
L3, or L1, L2 and L3)
Rated current
Tightening torque
Control circuit power
supply input (L1C and
L2C)
Tightening torque
Motor connection
terminals (U, V, W,
and FG) *2 *3
4
System Design
Tightening torque
Frame ground (FG)
Tightening torque
Dynamic brake
resistance control
terminals
N·m
Wire size
−
Screw size
−
Tightening torque
N·m
AWG12
M6
2.0 to
2.4
2.2 to
2.5
M4
33.0
AWG12
−
−
1.3 to
1.5
0.7 to
0.8
44.0
66.1
AWG6
AWG4
M6
M6
1.4 to
1.6
2.4 to
2.8
AWG18
M5
M4
1.3 to
1.5
0.7 to
0.8
*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.
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
Model (R88D-)
Main circuit
power supply
input (L1 and
L3, or L1, L2
and L3)
KT06F
KT10F
KT15F
KT20F
KT30F
KT50F
KT75F
KT150F
2.8
3.9
5.9
7.6
12.1
16.0
29.0
AWG10
AWG6
Unit
Item
Rated
current
A
2.1
Wire size
−
AWG14
Screw size
−
−
−
−
−
M5
Tightening
torque
N·m
−
−
−
−
2.0
Wire size
−
AWG20 to 24
Screw size
−
−
−
−
−
M5
Tightening
torque
N·m
−
−
−
−
2.0
Motor
connection
terminals (U,
V, W, and FG)
Rated
current
A
1.5
2.9
4.7
6.7
9.4
Wire size
−
AWG14
*1 *2
Screw size
−
−
−
−
−
M5
Tightening
torque
N·m
−
−
−
−
2.0
2.0 to
2.4
2.2 to
2.5
Wire size
−
AWG14
AWG12
AWG6
AWG4
Screw size
−
M4
M5
Tightening
torque
N·m
1.2
2.0
Wire size
−
−
Screw size
−
Control circuit
power supply
input (L1C
and L2C)
Dynamic
brake
resistance
control
terminals
Tightening
torque
N·m
M6
2.0 to
2.4
2.2 to
2.5
AWG18
AWG12
−
M4
16.5
1.3 to
1.5
0.7 to
0.8
22.0
33.1
AWG6
AWG4
M6
M6
1.4 to
1.6
2.4 to
2.8
AWG18
M5
M4
1.3 to
1.5
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4
4-30
System Design
Frame ground
(FG)
AWG12
4-2 Wiring
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)
Conductive
resistance
(Ω/km)
20
0.5
19/0.18
39.5
6.6
5.6
4.5
−
0.75
30/0.18
26.0
8.8
7.0
5.5
18
0.9
37/0.18
24.4
9.0
7.7
6.0
16
1.25
50/0.18
15.6
12.0
11.0
8.5
14
2.0
7/0.6
9.53
23
20
16
12
3.5
7/0.8
5.41
33
29
24
10
5.5
7/1.0
3.47
43
38
31
8
8.0
7/1.2
2.41
55
49
40
6
14.0
7/1.6
1.35
79
70
57
4
22.0
7/2.0
0.85
99
88
70
AWG size
System Design
4
4-31
Allowable current (A) for ambient
temperature
Nominal crossConfiguration
sectional area
(wires/mm2)
(mm2)
30°C
40°C
50°C
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-2 Wiring
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.
Connector-type
terminal block
(Example of R88D-KT01H)
4
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.
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)
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
System Design
2. Strip off 8 to 9 mm of the covering from the end of each wire.
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.
System Design
4
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
(2)
(1)
FC1
L1
NF
SD
CNA
FC3
U
V
CNB
W
L2
L3
(4)
L1C
FC1
L2C
(6)
SG
CN2
FC1
(5)
(3)
CN1
(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 mm2, 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
Manufacturer
Surge absorber
Okaya Electric
Industries Co., Ltd.
Okaya Electric
Industries Co., Ltd.
NF
Model
Comment
R·A·V-781BXZ-4
3-phase 200 VAC
SUP-EK5-ER-6
Single-phase 100/200 VAC (5 A)
3SUP-HU10-ER-6
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)
FS5559-60-34
3-phase 200 VAC (60 A)
FS5559-80-34
3-phase 200 VAC (80 A)
Noise filter
Schaffner EMC Inc.
SD
Servo Drive
OMRON
−
*1
SM
Servomotor
OMRON
−
*1
FC1
Clamp core
TDK
ZCAT3035-1330
−
FC2
Clamp core
Konno Industry
RJ8035
−
MICROMETALS
T400-61D
For R88D-KT75H/-KT150H
TDK
ZCAT3035-1330
For other models
−
−
−
System Design
RJ8095
FC3
4
Clamp core
−
Controller
*1. A specified combination of Servo Drive and Servomotor must be used.
R88D-KT75H/-KT150H with DC Power Supply Input
(1)
(3)
Three-phase :
FC2
200 VAC
FC1
+
NF
L1
AC/
DC −
SD
CNA
FC3
U
V
CNB
W
L2
L3
L1C
SG*1
FC1
L2C
(6)
(4)
CN2
FC1
(5)
CN1
(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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-34
4-3 Wiring Conforming to EMC Directives
 Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the
ground lines are as short as possible.
 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
Symbol
4
Name
Manufacturer
Model
Comment
SG
Surge absorber
Okaya Electric
Industries Co., Ltd.
R·A·V-781BXZ-4
3-phase 200 VAC
NF
Noise filter
Schaffner EMC Inc. FN258-42-07
SD
Servo Drive
OMRON
−
*1
SM
Servomotor
OMRON
−
*1
FC1
Clamp core
TDK
ZCAT3035-1330
−
FC2
Clamp core
Konno Industry
RJ8095
−
FC3
Clamp core
MICROMETALS
T400-61D
−
−
Controller
−
−
−
3-phase 200 VAC (42 A)
System Design
*1. A specified combination of Servo Drive and Servomotor must be used.
R88D-KT06F/-KT10F/-KT15F/-KT20F/-KT30F/-KT50F/-KT75F/-KT150F
(2) FC2
(1)
L1
NF
L2
SD
L3
FC1
SG
24 V
DC
(6)
(3)
U
CNA
CNB
3-phase:
400 VAC
FC3
V
W
L1C
L2C
FC1
(4)
FC1
CN1
(5)
CN2
(7)
Single-phase :
100 VAC
4-35
(8)
Controller
SM
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
NF
Noise filter
Manufacturer
Model
Okaya Electric
Industries Co., Ltd.
Comment
R·A·V-801BXZ-4
FN258L-16-07
3-phase 400 VAC (16 A)
Schaffner EMC Inc. FN258L-30-07
3-phase 400 VAC (30 A)
FN258-42-07
3-phase 400 VAC (42 A)
SD
Servo Drive
OMRON
−
*1
SM
Servomotor
OMRON
−
*1
FC1
Clamp core
TDK
ZCAT3035-1330
−
FC2
Clamp core
Konno Industry
RJ8035
−
RJ8095
FC3
MICROMETALS
T400-61D
For R88D-KT75F/-KT150F
TDK
ZCAT3035-1330
For other models
−
−
−
Clamp core
−
Controller
Cable Details
Symbol
Supplies from
(1)
Connects to
Cable name
Length
AC power supply Noise filter
Power supply
line
2m
(2)
Noise filter
Servo Drive
Power supply
line
(3)
Servo Drive
Servomotor
(4)
Servo Drive
(5)
Shielded
Ferrite
−
No
No
2m
−
No
Optional
Power cable
20 m
−
No
Optional
Servomotor
Encoder
cable
20 m
−
Yes
Optional
Switch box
Servo Drive
I/O cable
2m
−
No
Optional
(6)
Frame ground
Noise filter
FG line
1.5 m −
No
No
(7)
Frame ground
Servo Drive
FG line
1.5 m −
No
No
(8)
AC power supply Controller
Power supply
line
1.5 m −
No
No
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Comment
4-36
System Design
*1. A specified combination of Servo Drive and Servomotor must be used.
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.
Noise filter for power supply input
Drive
Phase
Model
Rated
current
Leakage current
(60 Hz) max
SUP-EK5-ER-6
5A
1.0mA (at 250 VAC)
3SUP-HU10-ER-6
10A
3.5mA (at 500 VAC)
SUP-EK5-ER-6
5A
1.0mA (at 250 VAC)
3SUP-HU10-ER-6
10A
3.5mA (at 500 VAC)
SUP-EK5-ER-6
5A
1.0mA (at 250 VAC)
3SUP-HU10-ER-6
10A
SUP-EK5-ER-6
5A
3SUP-HU10-ER-6
10A
3.5mA (at 500 VAC) Okaya
Electric
1.0mA (at 250 VAC) Industries
Co., Ltd.
3.5mA (at 500 VAC)
3SUP-HU30-ER-6
30A
3.5mA
(at 500 VAC)
3SUP-HU50-ER-6
50A
3.5mA
(at 500 VAC)
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)
FN258L-16-07
16A
0.8mA
(at 440 VAC/50 Hz)
FN258L-30-07
30A
0.8mA
(at 440 VAC/50 Hz)
FN258-42-07
42A
25.8mA
(at 440 VAC/50 Hz)
Model
Manufacturer
Single-phase R88D-K@A5L@@
R88D-K@01L@@
R88D-K@02L@@
Single-phase R88D-K@04L@@
Single-phase
R88D-K@01H@@
3-phase
Single-phase
R88D-K@02H@@
3-phase
4
Single-phase
R88D-K@04H@@
3-phase
System Design
R88D-K@08H@@
Single or 3phase
R88D-K@10H@@
R88D-K@15H@@
R88D-K@20H@@
R88D-K@30H@@
R88D-K@50H@@
3-phase
R88D-K@06F@@
R88D-K@10F@@
R88D-K@15F@@
Schaffner
EMC Inc.
R88D-K@20F@@
R88D-K@30F@@
R88D-K@50F@@
R88D-K@75F@@
R88D-K@150F@@
 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
The effect of the noise filter is small.
AC output
4
5
6
AC input
1
2
3
NF
E
4
5
6
Ground
Ground
AC output
 Use twisted-pair cables for the power supply cables, or bind the cables.
Twisted-pair cables
Bound cables
Servo Drive
Servo Drive
L1
L1C
L2
L2C
4
L3
Binding
System Design
 Separate power supply lines and signal lines when wiring.
 External Dimensions
SUP-EK5-ER-6
53.1±1.0
115
105
95
5.0
12.0
10.0
50.0
60.0
2.0
70
43
2-φ4.5×6.75
2-φ4.5
6-M4
5.5
Ground
terminal
M4
10
7.0
100±2.0
88.0
75.0
3SUP-HU10-ER-6
11.6
13.0
52
M4
Attachment
screw for
cover M3
Cover
Noise filter
unit
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-38
4-3 Wiring Conforming to EMC Directives
3SUP-HU30-ER-6
3SUP-HL50-ER-6B
145
135
125
286±3.0
270
255±1.0
240
150
5.5
2-φ5.5×7
M6
Ground
terminal
M4
2-φ5.5
13
70
50
10
18
90±1.0
120
M6
Attachment
screw for
cover M3
52
M4
Cover
Noise filter
unit
4
5.5
Ground
terminal
M4
80
90
40
165
136
Attachment
screw for
cover M3
M5
Cover
54
System Design
3SUP-HU50-ER-6
Noise filter
unit
 Circuit Diagram
SUP-EK5-ER-6
L
3SUP-HU10-ER-6/3SUP-HU30-ER-6
3SUP-HU50-ER-6
L
IN
Cy
R
Cx
OUT
Cx
L1
Cy
R
Cx1
Cx1
Cy1
4-39
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
3SUP-HL50-ER-6B
LINE
LOAD
Noise Filter for the Brake Power Supply
 We recommend using a noise filter for the Servo Drive.
Model
SUP-EK5-ER-6
Rated
current
5A
Rated
voltage
250 V
Leakage current
Manufacturer
1.0 mA (at 250 Vrms, 60 Hz)
Okaya Electric
Industries Co., Ltd.
4
Note. Noise can also be reduced by 1.5 turns with the ZCAT3035-1330 (TDK) Clamp Core.
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
System Design
Control Panel Structure
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
Door
A
4
B
Door end
System Design
Oil-resistant gasket
[Control panel]
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.
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.
4-41
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.
Inrush current (A0-p)
Servo Drive model
Main circuit power
supply
Control circuit
power supply
7
14
R88D-KT01L
7
14
R88D-KT02L
7
14
R88D-KT04L
15
14
R88D-KT01H
14
28
R88D-KT02H
14
28
R88D-KT04H
14
28
R88D-KT08H
29
28
R88D-KT10H
29
28
R88D-KT15H
29
28
R88D-KT20H
29
14
R88D-KT30H
22
14
R88D-KT50H
22
14
R88D-KT75H
66
15
R88D-KT150H
66
15
4
System Design
R88D-KTA5L
Inrush current (A0-p)
Servo Drive model
Main circuit power
supply
Control circuit
power supply
R88D-KT06F
28
48
R88D-KT10F
28
48
R88D-KT15F
28
48
R88D-KT20F
32
48
R88D-KT30F
32
48
R88D-KT50F
32
48
R88D-KT75F
32
48
R88D-KT150F
32
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
4-3 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
4
Input power supply
Leakage current
(Cable: 3 m)
Increase per 10 m of
cable
R88D-KTA5L
Single-phase 100 V
0.38 mA
R88D-KT01L
Single-phase 100 V
0.39 mA
R88D-KT02L
Single-phase 100 V
0.41 mA
R88D-KT04L
Single-phase 100 V
0.46 mA
Single-phase 200 V
0.83 mA
3-phase 200 V
1.03 mA
Single-phase 200 V
0.84 mA
3-phase 200 V
1.02 mA
Single-phase 200 V
0.96 mA
3-phase 200 V
1.27 mA
Single-phase 200 V
1.01 mA
3-phase 200 V
1.39 mA
Single-phase 200 V
0.88 mA
3-phase 200 V
1.14 mA
Single-phase 200 V
0.96 mA
3-phase 200 V
1.18 mA
R88D-KT20H
3-phase 200 V
1.53 mA
R88D-KT30H
3-phase 200 V
1.52 mA
R88D-KT50H
3-phase 200 V
1.39 mA
R88D-KT75H
3-phase 200 V
3.50 mA
2.07 mA
R88D-KT150H
3-phase 200 V
5.30 mA
1.13 mA
R88D-KT06F
3-phase 400 V
2.28 mA
R88D-KT10F
3-phase 400 V
2.20 mA
R88D-KT15F
3-phase 400 V
2.55 mA
2.03 mA
R88D-KT20F
3-phase 400 V
2.92 mA
2.4 mA
R88D-KT30F
3-phase 400 V
3.92 mA
3.23 mA
R88D-KT50F
3-phase 400 V
3.54 mA
2.9 mA
R88D-KT75F
3-phase 400 V
6.70 mA
3.73 mA
R88D-KT150F
3-phase 400 V
10.40 mA
2.73 mA
0.1 mA
0.12 mA
R88D-KT01H
System Design
0.23 mA
R88D-KT02H
R88D-KT04H
0.3 mA
R88D-KT08H
1.1 mA
R88D-KT10H
0.93 mA
R88D-KT15H
1.23 mA
1.8 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
Model
Surge immunity
Type
Okaya Electric
Industries Co., Ltd.
R•A•V-781BWZ-4
700 V ± 20%
2500 A
Okaya Electric
Industries Co., Ltd.
R•A•V-781BXZ-4
700 V ± 20%
2500 A
Okaya Electric
Industries Co., Ltd.
R•A•V-801BXZ-4
800 V ± 20%
2500 A
Comment
Single-phase
100/200 VAC
Block
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 μs. If pulses are wide, either
decrease the current or change to a larger-capacity surge absorber.
4
For single-phase (BWZ series)
For 3-phase (BXZ series)
200
200
28.5
28.5
5.5
11
φ4.2
5.5
11
φ4.2
System Design
External Dimensions
4.5
4.5
28
28
1 2 3
1 2
41
41
Equalizing Circuits
For single-phase (BWZ series)
(1)
(2)
For 3-phase (BXZ series)
(1)
(2) (3)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-44
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
Manufacturer
Application
3G3AX-ZCL1 *1
OMRON
For Drive output and power cable
3G3AX-ZCL2 *2
OMRON
For Drive output and power cable
ESD-R-47B *3
NEC TOKIN
For Drive output and power cable
ZCAT3035-1330 *4
TDK
For Encoder cable and I/O cable
RJ8035
Konno Industry
For power lines
RJ8095
Konno Industry
For power lines
T400-61D
MICROMETALS
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.
System Design
4
4-45
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
External Dimensions
3G3AX-ZCL1
3G3AX-ZCL2
130
85
39.5
7
35
80
83±2
78
72
3-M4
50
95
80
26
2-M5
31.5
12.5
180±2
160±2
7×14 Long hole
7 dia.
ESD-R-47B
4
ZCAT3035-1330
17.5
6.5
3.0
30
13
System Design
39
34
51.5
25.5 dia.
34.0
5.1 dia.
33
A
102 dia.
D1 dia.
57.2 dia.
T400-61D
D2 dia.
RJ8035/RJ8095
C
B
E
Model
RJ8035
RJ8095
F
Current
35 A
95 A
A
B
170
200
150
180
C
23
34
Dimensions (unit: mm)
Core
D1
D2
E
thickness
80
53
24
R3.5
130
107
35
R3.5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
F
7
7
4-46
4-3 Wiring Conforming to EMC Directives
Impedance Characteristics
3G3AX-ZCL1
3G3AX-ZCL2
1000
4T
100
Impedance (Ω)
Impedance (Ω)
20
15T
40
60
10
1
80
100
0.1
10
1
100
10
Frequency (kHz)
100
1000
10000
Frequency (kHz)
ESD-R-47B
ZCAT3035-1330
1000
10000
Impedance (Ω)
1000
Impedance (Ω)
System Design
4
0.1
1
100
100
10
1
1
10
100
Frequency (MHz)
4-47
1000
10
10
100
1000
Frequency (MHz)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-3 Wiring Conforming to EMC Directives
RJ8035
RJ8095
1000
1000
100
100
Impedance (Ω)
10000
Impedance (Ω)
10000
10
3T
1
1T
0.1
0.01
10
3T
1T
1
0.1
0.01
1
10
100
1000
1
Frequency (kHz)
10
100
1000
Frequency (kHz)
T400-61D
100
4
1
0.1
System Design
Impedance (Ω)
10
0.01
0.001
0.0001
1
10
100
1,000
10,000
100,000
Frequency (kHz)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-48
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
Feature
Recommended product
Diodes
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.
Use a fast-recovery diode with a short
reverse recovery time.
(e.g., RU2 of Sanken Electric Co., Ltd.).
Thyristors
and varistors
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.
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
Capacitor +
resistor
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.
Okaya Electric Industries Co., Ltd.
XEB12002 0.2 μF-120 Ω
XEB12003 0.3 μF-120 Ω
System Design
4
 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
Product name
Model
Specifications
NEC TOKIN
Clamp core
ESD-SR-250
For cable dia. up to 13 mm
TDK
Clamp core
ZCAT3035-1330
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.
4
External Dimensions
ESD-SR-250
31.6
System Design
to φ13
31.5
38.0
Impedance Characteristics
ESD-SR-250
10000
Impedance (Ω)
1000
100
10
1
1
10
100
1000
Frequency (MHz)
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
4-3 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 1-μF
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.
System Design
4
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
Number of
power
phases
Reactor
Rated
current
Inductance
3G3AX-DL2002
1.6 A
21.4 mH
Approx. 0.8 kg
3G3AX-DL2004
3.2 A
10.7 mH
Approx. 1.0 kg
R88D-KT02L
3G3AX-DL2007
6.1 A
6.75 mH
Approx. 1.3 kg
R88D-KT04L
3G3AX-DL2015
9.3 A
3.51 mH
Approx. 1.6 kg
Single-phase
3G3AX-DL2002
1.6 A
21.4 mH
Approx. 0.8 kg
Three-phase
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Single-phase
3G3AX-DL2004
3.2 A
10.7 mH
Approx. 1.0 kg
Three-phase
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Single-phase
3G3AX-DL2007
6.1 A
6.75 mH
Approx. 1.3 kg
Three-phase
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Single-phase
3G3AX-DL2015
9.3 A
3.51 mH
Approx. 1.6 kg
Three-phase
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Single-phase
3G3AX-DL2015
9.3 A
3.51 mH
Approx. 1.6 kg
Three-phase
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
Single-phase
3G3AX-DL2022
13.8 A
2.51 mH
Approx. 2.1 kg
Three-phase
3G3AX-AL2025
10.0 A
2.8 mH
Approx. 2.8 kg
3G3AX-AL2055
20.0 A
0.88 mH
Approx. 4.0 kg
3G3AX-AL2110
37.0 A
0.35 mH
Approx. 5.0 kg
3G3AX-AL2220
70.0 A
0.18 mH
Approx. 10.0 kg
3G3AX-AL4025
6.0 A
7.7 mH
Approx. 2.7 kg
3G3AX-AL4055
10.0 A
3.5 mH
Approx. 4.0 kg
3G3AX-AL4110
20.0 A
1.3 mH
Approx. 6.0 kg
3G3AX-AL4220
36.0 A
0.74 mH
Approx. 10.0 kg
Model
R88D-KTA5L
R88D-KT01L
Model
Weight
Single-phase
R88D-KT02H
R88D-KT04H
R88D-KT08H
R88D-KT10H
R88D-KT15H
R88D-KT20H
R88D-KT30H
R88D-KT50H
R88D-KT75H
R88D-KT150H
R88D-KT06F
R88D-KT10F
Three-phase
R88D-KT15F
R88D-KT20F
R88D-KT30F
R88D-KT50F
R88D-KT75F
R88D-KT150F
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-52
System Design
R88D-KT01H
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
Capacity (P.4-56).
System Design
4
Regenerative Energy Calculation
The method for calculating regenerative energy on the horizontal axis is indicated below.
+N1
Motor operation
−N2
TD2
Eg2
TD1
Motor output torque
Eg1
t1
t2
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.
N1 , N2
: Rotation speed at start of deceleration [r/min]
TD1 , TD2 : Deceleration torque
[N·m]
t1, t2
[s]
: Deceleration time
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.
+N1
Downward movement
Motor operation
Upward movement
−N2
TD2
Eg21
TL2
Eg22
t2
t3
Motor output torque
TD1
Eg1
t1
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.
Eg21
Eg22
Eg2 Eg21 + Eg22
N 1 , N 2 : Rotation speed at start of deceleration [r/min]
TD1 , TD2 : Deceleration torque
[N·m]
TL2
: Torque during downward movement
[N·m]
t1, t3
: Deceleration time
[s]
t2
: 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
System Design
 The regenerative energy values in each region can be derived from the following equations.
4
4-4 Regenerative Energy Absorption
Determining the Capacity of Regenerative Energy Absorption by Built-in Capacitors
If both the values Eg1 and Eg2 [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 Eg1 or Eg2 [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 g = ( E g1 − E c ) + ( E g2 − E c )
[J]
Pr =
[W]
Eg /T
Pr : Average regeneration power that must be absorbed in 1 cycle of operation [W]
Eg: Regenerative energy that must be absorbed in 1 cycle of operation [J]
Ec : Regenerative energy that can be absorbed by built-in capacitors [J]
T : Operation cycle [s]
Note. If the expression (Eg1 - Ec) result is zero or less, regard it as 0. The expression (Eg2 - Ec) must also
be handled in the same way.
4
System Design
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.
Servo Drive model
Internal regeneration
resistor
Regenerative
energy to be absorbed
by built-in capacitor [J]
Allowable
minimum
regeneration
resistance [Ω]
Average amount of
regenerative energy to
be absorbed [W]
11
−
17
R88D-KT01L
11
−
17
R88D-KT02L
15
−
17
R88D-KT04L
22
17
13
R88D-KT01H
18
−
34
R88D-KT02H
18
−
34
R88D-KT04H
26
−
34
R88D-KT08H
46
12
25
R88D-KT10H
74
18
25
R88D-KT15H
74
18
25
R88D-KT20H
74
72
10
R88D-KT30H
113
60
7
R88D-KT50H
113
60
5
R88D-KT75H
282
−
4
R88D-KT150H
254
−
4
R88D-KT06F
64
21
100
R88D-KT10F
64
21
100
R88D-KT15F
64
21
100
R88D-KT20F
64
29
40
R88D-KT30F
106
60
40
R88D-KT50F
106
60
29
R88D-KT75F
273
−
14
R88D-KT150F
492
−
14
4
System Design
R88D-KTA5L
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.
Model
Main circuit power supply input voltage
R88D-K@@L
100 VAC
R88D-K@@H
200 VAC
R88D-K@@F
400 VAC
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-56
4-4 Regenerative Energy Absorption
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
4
System Design
Model
R88ARR08050S
R88ARR080100S
R88ARR22047S1
R88ARR50020S
4-57
Regeneration
Resistance Nominal
absorption for 120°C
value
capacity
temperature rise
50 Ω
100 Ω
47 Ω
20 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
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)
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)
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)
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)
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
θ>
Thermal switch output
B1
External Regeneration Resistor
B3
B2
4
Precautions for Correct Use
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>
B1
Thermal switch output
External Regeneration Resistor
B3
B2
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
System Design
 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.
4-4 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
θ>
Thermal switch output
B1
B2
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.
System Design
4
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
Model
Resistance value
*2
20 W
40 W
70 W
140 W
R88A-RR08050S
R88A-RR080100S
R88A-RR08050S
R88A-RR080100S
R88A-RR22047S1
R88A-RR22047S1
50 Ω/100 Ω
25 Ω/50 Ω
47 Ω
94 Ω
Connection
method
R
R
R
R
R
R
Regeneration
absorption capacity *1
Model
140 W
280 W
560 W
R88A-RR22047S1
R88A-RR22047S1
R88A-RR22047S1
47 Ω
23.5 Ω
Resistance value *2 23.5 Ω
Regeneration
absorption capacity *1
R
R
R
R
R
R
R
R
R
R
R
R
R
180 W
Model
Resistance value
R
*2
360 W
System Design
Connection
method
4
1440 W
R88A-RR50020S
R88A-RR50020S
R88A-RR50020S
20 Ω
10 Ω
10 Ω
R
R
R
R
R
R
R
R
R
R
R
Connection
method
*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.
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.
4
 When the load has low mechanical rigidity.
System Design
 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 10 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
ω2
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
(Pn506 Stop Selection with Servo OFF)
 When an error occurs
(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
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
4-62
4
System Design
 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.
4-6 Using DC Power
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
4
4
2
3
Noise filter
NF
E
5
Main circuit contactor (*1)
Main circuit power supply
OFF
ON
X
6
1MC
Ground to 100 Ω or less.
2MC
Surge suppressor (*1)
1MC
X
System Design
PL
Servo alarm display
TB1
AC/
DC
−
(*6)
G5-series
AC Servomotor
G5-series
AC Servo Drive
+
(*5)
XB
Power cable
(*3)
L1C
B
TB1
L2C
24 VDC
U
1MC
V
M
W
TB1
+
AC/
DC
L1
L2
−
CN2
L3
B1
Regeneration
Resistor
Encoder cable
B2
CN1
X
24 VDC
37/ALM
36 ALMCOM
CN1
X
BKIR 11
CN1
User-side
control
device
Control cable
(*9)
BKIRCOM 10
DB1 DB2 DB3 DB4
(*8)
(*4)
2MC
24 VDC
4-63
(*7)
Ground to 100 Ω or less.
E
*1.Recommended products are listed in 4-3 Wiring
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
24 VDC
XB
DB4.
*5.Provide auxiliary contacts to protect the system with an
(*2)
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.
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
1
2
3
Noise filter (*1)
NF
E
4
5
Main circuit power supply
6
OFF
ON
Main circuit contactor (*1)
X
1MC
Ground to 100 Ω or less.
2MC
Surge suppressor (*1)
1MC
X
PL
Servo alarm display
XB
(*3)
L1C
System Design
−
4
Power cable
TB1
+
(*5)
G5-series
AC Servomotor
G5-series
AC Servo Drive
AC/
DC
(*4)
B
TB1
L2C
U
1MC
24 VDC
V
M
W
TB1
+
AC/
DC
L1
L2
−
CN2
L3
Encoder cable
B1
Regeneration
Resistor
CN1
37/ALM
24 VDC
36 ALMCOM
CN1
X
BKIR 11
User-side
control
device
CN1
Control cable
(*8)
2MC
(*6)
E
B2
X
24 VDC
Ground to 100 Ω or less.
BKIRCOM 10
DB1 DB2
(*7)
*1.Recommended products are listed in 4-3 Wiring
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 itsrated inductive load is 2 A (24 VDC).
*3.There is no polarity on the brake.
24 VDC *4.Provide auxiliary contacts to protect the system
XB
with an external sequence so that a Servo ON
(*2)
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.
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
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5
5-1 Position Control
5-1 Position Control
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)
Basic Control Mode
5
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
5-1
Drive
OMNUC G5
Pulse train
44
+CWLD Position Control Mode
45
−CWLD
46
+CCWLD
47
Electronic Gear
−CCWLD (Pn008 to Pn010)
3
+CW
4
−CW
5
+CCW
6
−CCW
Motor
OMNUC G5
Numerator
Denominator
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-1 Position Control
Parameters Requiring Settings
Parameter
number
Parameter name
Explanation
Reference
Reference Direction
Select the relation between the reference command and the
rotation direction in the motor.
P.8-1
Pn001
Control Mode Selection
Select the control mode.
P.8-2
Pn005
Command Pulse Input Selection Select the command pulse input terminal.
P.8-3
Command Pulse Rotation
Direction Switching
Selection
Set the count direction for the command pulse input.
Pn006
P.8-3
Pn007
Command Pulse Mode
Selection
Set the count method for the command pulse input.
Pn008
Electronic Gear Integer
Setting
Define the number of command pulses per motor revolution.
If this is zero, Pn009 and Pn010 become active.
P.8-5
Pn009
Electronic Gear Ratio
Numerator 1
Set the numerator of the electronic gear ratio for the
command pulse input.
P.8-5
Pn010
Electronic Gear Ratio
Denominator
Set the denominator of the electronic gear ratio for the
command pulse input.
P.8-6
Pn000
P.8-4
5
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).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-2
Basic Control Mode
Control Mode Selection (Pn001)
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
Explanation
Pn005
Command Pulse
Input Selection
Select the command pulse input
terminal.
0: Photocoupler input (+CW, -CW,
+CCW, -CCW)
1: Input for line driver only (+CWLD,
-CWLD, +CCWLD, -CCWLD)
0 or 1
−
Pn006
Command Pulse
Rotation Direction
Switching
Selection
Set the count direction for the
command pulse input.
0: Command pulse, forward
direction
1: Command pulse, reverse
direction
0 or 1
−
Command Pulse
Mode Selection
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 to 3
−
Basic Control Mode
5
Pn007
5-3
Setting
range
Parameter name
Unit
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-1 Position Control
The settings for command pulse rotation direction and command pulse mode are as follows.
Pn006
Pn007
Command
pulse pattern
Signal
name
CW
0 or 2
90° phase
difference,
2-phase pulse
(phase A
+ phase B)
Forward direction
command
t1
t1
Phase A
Reverse direction
command
t1
t1
0
1
Phase B
CCW
t2
CCW
t2
t5
t5
t4
t4
CCW
CW
H
t6
t1
Phase A
t6
t1
1
1
CW
Phase B is 90° ahead of phase A.
t2
t2
t3
t2
CCW
t2
t5
t5
t4
t4
CCW
t6
Allowable
input
maximum
frequency
t6
L
t6
t6
H
Minimum required duration [μs]
t1
t2
t3
t4
t5
t6
4 Mpps
0.25
0.125
0.125
0.125
0.125
0.125
Line driver
500 kpps
2
1
1
1
1
1
Open collector
200 kpps
5
2.5
2.5
2.5
2.5
2.5
+CWLD, -CWLD, +CCWLD,
-CCWLD
+CW, -CW,
+CCW, -CCW
t1
t1
Phase B
Pulse train
+ Sign
Symbol
t1
CCW
CW
3
t6
L
t1
Phase B is 90° behind phase A.
Forward
direction pulse
train + Reverse
direction pulse
train
t6
t1
t1
5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-4
Basic Control Mode
0 or 2
t2
t2
Pulse train
+ Sign
90° phase
difference, 2phase pulse
(phase A
+ phase B)
Phase B is 90° behind phase A.
t3
CW
CW
3
t1
t1
Phase B is 90° ahead of phase A.
Forward
direction pulse
train + Reverse
direction pulse
train
t1
t1
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
Explanation
Pn008
Electronic Gear
Integer Setting
Set the number of command pulses
corresponding to 1 motor rotation.
0 to 220
Pulse
Pn009
Electronic Gear
Set the numerator of the electronic
Ratio Numerator 1 gear ratio for the command pulse
input.
0 to 230
−
Pn010
Electronic Gear
Ratio
Denominator
1 to 230
−
Set the denominator of the electronic
gear ratio for the command pulse
input.
Setting
range
Unit
 For details on the electronic gear function, refer to "6-4 Electronic Gear Function"(P.6-10).
Basic Control Mode
5
Related Functions
Parameter
number
Parameter name
Explanation
Reference
Pn008
Electronic Gear Integer
Setting
Set the number of command pulses corresponding to 1
motor rotation.
P.8-5
Pn011
Encoder Dividing
Numerator
Set the pulse output resolution using the numbers of output
pulses per rotation for phase A and phase B, respectively.
P.8-6
Pn012
Encoder Output Direction
Switching Selection
Set the phase-B logic and output source for pulse output.
Pn222
Position Command Filter
Time Constant
Set the time constant of the first-order lag filter for the
position command.
P.8-23
Pn223
Smoothing Filter Time
Constant
Set the time constant of the FIR filter for the position
command.
P.8-24
Pn431
Positioning Completion
Range 1
Set the threshold of position error for output of the positioning
completion signal.
P.8-42
Pn432
Positioning Completion
Condition Selection
Select the condition under which the positioning completion
signal is output.
P.8-43
Pn433
Positioning Completion
Hold Time
Set the INP signal output time.
Encoder Dividing
Denominator
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.
P.8-47
Pn517
Error Counter Reset
Condition Selection
Set the reset condition under which the error counter reset
input signal.
P.8-54
Pn518
Command Pulse
Prohibition Input Setting
Set whether to enable or disable the command pulse
prohibition input.
P.8-55
Pn503
5-5
P.8-6
P.8-42
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Encoder
pulse output
A
B
Z
Pn011 : 1 Rotation
Pn012 : Reverse
Numerator/Denominator
Pn503 : Denominator
Pulse regeneration
Electronic gear
reverse conversion
−
+
−
+
−
+
Encoder
Motor speed
Speed control
Pn101 : Speed Gain 1
Pn102 : Integral Time Constant 1
Pn106 : Speed Gain 2
Pn107 : Integral Time Constant 2
Pn004 : Inertia Ratio
Pn612 : Switching Selection
Pn613 : Inertia Ratio 2
Motor
Speed detection
Main
power
supply
+
+
Torque command
Pn623 : Gain
Pn624 : Filter
Disturbance observer
Current control
Pn611 : Response Setting
+
+
+
Pn607 : Offset value
Pn608 : Forward Direction
Pn609 : Reverse Direction
Friction compensation
Gain switching
Pn200 : Adaptive Filter Selection
Pn201 : Frequency 1
Pn204 : Frequency 2
Pn207 : Frequency 3
Pn210 : Frequency 4
Pn202 : Notch 1 Width
Pn205 : Notch 2 Width
Pn208 : Notch 3 Width
Pn211 : Notch 4 Width
Pn203 : Notch 1 Depth
Pn206 : Notch 2 Depth
Pn209 : Notch 3 Depth
Pn212 : Notch 4 Depth
Notch filter
Pn114 : Setting 2
Pn115 : Mode
Pn116 : Delay Time
Pn117 : Level
Pn118 : Hysteresis
Pn119 : Switching Time
Pn605 : Setting 3
Pn606 : Ratio
Torque limit
Pn521 : Torque Limit Selection
Pn013 : No. 1 Torque Limit
Pn522 : No. 2 Torque Limit
Torque filter
Pn104 : Torque Filter 1
Pn109 : Torque Filter 2
Internal position command speed
Damping control
Pn213 : Switching Selection 1
Pn214 : Frequency 1
Pn215 : Frequency 2
Pn216 : Frequency 3
Pn217 : Frequency 4
Pn218 : Filter 1
Pn219 : Filter 2
Pn220 : Filter 3
Pn221 : Filter 4
Pn103 : Speed Feedback Filter Time Constant
Pn108 : Speed Feedback Filter Time Constant 2
Pn610 : Function Expansion Setting
Speed detection filter
+
+
Speed control command
Feedback pulse accumulation
Encoder position error
Position control
Pn100 : Loop Gain 1
Pn105 : Loop Gain 2
Pn110 : Gain
Pn111 : Filter
Speed
feed-forward
Torque feed
forward
Pn112 : Gain
Pn113 : Filter
Pn222 : FIR
Pn223 : First-order Lag
Pn008 : 1 Rotation
Pn500 : Numerator 2
Pn009 : Numerator
Pn501 : Numerator 3
Pn010 : Denominator Pn502 : Numerator 4
Position command error
Smoothing filter
Electronic gear setting
Position command speed
Basic Control Mode
Pulse Input condition setting
Pn005 : Input Setting
train
Pn006 : Rotation Direction
Pn007 : Mode
Command pulse accumulation
5-1 Position Control
Parameter Block Diagram for Position Control Mode
5-6
5
5-2 Speed Control
5-2 Speed Control
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).
Drive
OMNUC G5
Controller
(analog voltage output type)
Basic Control Mode
5
Motion Control Unit
CS1W-MC221/421(−V1)
Speed Control Mode
Analog voltage
(speed command)
Speed Command Scale
(Pn302)
Motor
OMNUC G5
r/min
14
REF
15
AGND
V
Parameters Requiring Settings
Parameter
number
Parameter name
Explanation
Reference
Pn000
Reference direction
Select the relation between the reference command and the
rotation direction in the motor.
P.8-2
Pn001
Control Mode Selection
Select the control mode.
P.8-2
Pn300
Command Speed
Selection
Select the speed command input method.
Pn301
Speed Command
Direction Selection
Set the method for designating the forward or reverse
direction for the speed command.
P.8-25
Pn302
Speed Command Scale
Set the input gain for the analog speed command input.
P.8-27
Analog Speed Command
Rotation Direction
Switching
Inverts the polarity of the analogue speed command.
Pn303
Pn312
Soft Start Acceleration
Time
Set the acceleration time for internally set speed control. Set
the time until 1,000 r/min is reached.
P.8-28
Pn313
Soft Start Deceleration
Time
Set the deceleration time for internally set speed control. Set
the time until 1,000 r/min is reached.
P.8-29
Pn314
S-curve Acceleration/
Set the S-curve time in the time width centered on the
Deceleration Time Setting inflection points for acceleration and deceleration.
5-7
P.8-25
P.8-27
P.8-29
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
Setting
range
Parameter name
Explanation
Command Speed
Selection
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
0 to 3
−
Pn301
Speed Command
Direction
Selection
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
0 or 1
−
Pn302
Speed Command
Scale
Set the input gain for the analog
speed command input.
10 to 2000
(r/min)/V
Analog Speed
Command
Rotation Direction
Switching
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 or 1
−
Pn300
5
Basic Control Mode
Pn303
Unit
The conversion of analog speed command is explained below.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-8
5-2 Speed Control
Command
Speed
Selection
(Pn300)
Analog
Speed
Speed
Command Command
Direction
Rotation
Selection Direction
(Pn301)
Switching
(Pn303)
Analog speed
command
(REF)
Speed
command
sign
selection
(VSIGN)
Speed
command
direction*1
+ Voltage (0 to 10 V)
Forward
direction
- Voltage (-10 to 0 V)
Reverse
direction
0
Figure A
0
Not affected
+ Voltage (0 to 10 V)
Reverse
direction
- Voltage (-10 to 0 V)
Forward
direction
1
0
Figure B
+ Voltage (0 to 10 V)
1
Conversion
graph
Not
affected
5
OFF
Forward
direction
ON
Reverse
direction
- Voltage (-10 to 0 V)
Figure C
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined
Basic Control Mode
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
Speed command
−10
Figure A
5000
5000
3000
3000
−6
6
6
Figure B
Speed command
−10
10
Input voltage
−6
Input voltage
−3000
−3000
−5000
−5000
Speed command
5000
10
Figure C
Speed command
5
3000
−6
6
10
Input voltage
−10
−6
6
Basic Control Mode
−10
10
Input voltage
−3000
−5000
VSIGN
OFF
VSIGN
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
ON
5-10
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
Parameter
name
Explanation
Setting
range
Unit
Pn312
Soft Start
Acceleration Time
Set the acceleration time for acceleration process
with respect to the speed command input.
0 to 10000
ms/(1,000 r/
min)
Pn313
Soft Start
Deceleration Time
Set the deceleration processing deceleration
time for speed command inputs.
0 to 10000
ms/(1,000 r/
min)
Pn314
S-curve Acceleration/
Set the S-curve acceleration/
Deceleration Time Setting deceleration time.
0 to 1000
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
5
A speed command that is input in steps
A speed command after the
acceleration/deceleration processing
Basic Control Mode
Speed [r/min]
1000 r/min
Time
Pn313×1 ms
Pn312×1 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
Speed [r/min]
Target speed
(Vc)
ts
A speed command after the
acceleration/deceleration processing
ts
ts
Time
ta
5-11
td
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-2 Speed Control
Related Functions
Parameter
number
Parameter name
Explanation
Reference
Pn315
Zero Speed Designation
Selection
Set the zero speed designation.
Pn316
Position Lock Level
Setting
Set the threshold for transition to the servo lock state under
position control.
P.8-31
Pn435
Speed Conformity
Detection Range
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.
P.8-44
Pn436
Rotation Speed for Motor
Rotation 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.
P.8-44
Pn422
Analog Input 1 Offset
Set the analog input 1 offset.
P.8-40
Pn423
Analog Input 1 Filter Time
Constant
Set the filter for analog input 1.
5
P.8-41
Basic Control Mode
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
P.8-30
5-12
5-13
Encoder
pulse output
A
B
Z
Pn011 : 1 Rotation
Pn012 : Reverse
Numerator/Denominator
Pn503 : Denominator
Pulse regeneration
Speed control command
Acceleration/deceleration
Pn312 : Acceleration time
Pn313 : Deceleration time
Pn314 : S-curve time
Scaling
Pn302 : Gain
Pn303 : Reverse
Encoder
Motor speed
Motor
Speed detection
+
+
Main
power
supply
+
+
+
Pn607 : Offset Value
Pn608 : Forward Direction
Pn609 : Reverse Direction
Friction compensation
Torque command
Pn623 : Gain
Pn624 : Filter
Disturbance observer
Current control
Pn611 : Response Setting
Pn103 : Speed Feedback Filter Time Constant
Pn108 : Speed Feedback Filter Time Constant 2
Pn610 : Function Expansion Setting
Speed detection filter
−
+
Speed control
Pn101 : Speed Gain 1
Pn102 : Integral Time Constant 1
Pn106 : Speed Gain 2
Pn107 : Integral Time Constant 2
Pn004 : Inertia Ratio
Pn612 : Switching Selection
Pn613 : Inertia Ratio 2
Pn112 : Gain
Pn113 : Filter
Torque feed
forward
5
Feedback pulse accumulation
Speed command selection
Pn300 : Command type
Pn301 : Direction source
Analog input compensation
Pn422 : Offset
Pn423 : Filter
Internally set speed
Pn201 : Speed 1
Pn202 : Speed 2
Pn204 : Speed 3
Pn205 : Speed 4
Pn207 : Speed 5
Pn208 : Speed 6
Pn210 : Speed 7
Pn211 : Speed 8
Analog input
16-bit A/D
AI1 input voltage
Basic Control Mode
Torque limit
Pn521 : Torque Limit Selection
Pn013 : No. 1 Torque Limit
Pn522 : No. 2 Torque Limit
Torque filter
Pn104 : Torque Filter 1
Pn109 : Torque Filter 2
Pn200 : Adaptive Filter Selection
Pn201 : Frequency 1
Pn204 : Frequency 2
Pn207 : Frequency 3
Pn210 : Frequency 4
Pn202 : Notch 1 Width
Pn205 : Notch 2 Width
Pn208 : Notch 3 Width
Pn211 : Notch 4 Width
Pn203 : Notch 1 Depth
Pn206 : Notch 2 Depth
Pn209 : Notch 3 Depth
Pn212 : Notch 4 Depth
Notch filter
Pn114 : Setting 2
Pn120 : Mode
Pn121 : Delay Time
Pn122 : Level
Pn123 : Hysteresis
Gain switching
5-2 Speed Control
Parameter Block Diagram for Speed Control Mode
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
(analog voltage output type) (torque command)
Drive
OMNUC G5
Torque Control Mode
Torque Command Scale
(Pn319)
*None of OMRON
controllers is a torque
command voltage
output type.
Torque
15
TREF1
/VLIM
AGND
16
TREF2
V
17
AGND
14
Motor
OMNUC G5
5
 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.
Parameters Requiring Settings
Parameter
number
Parameter name
Explanation
Reference
Pn001
Control Mode Selection
Select the control mode.
P.8-2
Pn317
Torque Command/Speed
Limit Selection
Select the input location for the torque command and speed
limit.
P.8-31
Pn318
Torque Command
Direction Selection
Select the rotation direction of the torque command.
Pn319
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.
Pn320
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
P.8-32
P.8-34
P.8-34
5-14
Basic Control Mode
Precautions for Correct Use
5-3 Torque Control
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
Basic Control Mode
5
Setting
range
Parameter name
Explanation
Unit
Pn317
Torque
Command/Speed
Limit Selection
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
0 to 2
−
Pn318
Torque Command
Direction
Selection
Select the method for selecting the
direction for the torque command.
0: Use the sign
1: Use TVSIGN
0 or 1
−
Pn319
Torque Command
Scale
Set the input gain for analog torque
command input.
10 to 100
0.1 V/100%
Pn320
Analog Torque
Command
Rotation Direction
Switching
Reverse the polarity of the torque
command input.
0: Forward operation
1: Reverse operation
0 or 1
−
Torque
command
direction*1
Conversion
graph
The conversion of analog torque command is explained below.
Torque
Command /
Speed
Limit
Selection
(Pn317)
Analog
Torque
Command
Rotation
Direction
Switching
(Pn320)
Torque
Command
Direction
Selection
(Pn318)
Analog torque
command
(TREF)
Torque
command
sign
selection
(TSIGN)
+Voltage (0 to 10 V)
Forward
direction
-Voltage (-10 to 0 V)
Reverse
direction
0
Figure A
Not
affected
0
0
+Voltage (0 to 10 V)
Reverse
direction
-Voltage (-10 to 0 V)
Forward
direction
1
1
Figure B
Not affected
OFF
Forward
direction
ON
Reverse
direction
Not affected
Figure C
*1. The motor rotation direction (CW, CCW) specified by the command direction is determined
by the setting of Pn000.
5-15
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 A
Torque command
−10
Torque command
333
333
200
200
−6
6
−10
10
Input voltage
−6
6
Figure B
10
Input voltage
−200
−200
Torque command
Figure C
Torque command
5
333
200
−6
6
10
Input voltage
−10
−6
6
Basic Control Mode
−10
10
Input voltage
−200
−333
TSIGN OFF
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
TSIGN ON
5-16
5-3 Torque Control
Related Functions
Basic Control Mode
5
Parameter
number
Parameter name
Pn315
Zero Speed
Designation
Selection
Pn321
Speed Limit Value
Setting
Pn322
Reverse Direction
Speed Limit Value
Setting
Set this if you want to change the speed limit value
depending on whether the direction is forward or reverse.
Pn422
Analog Input 1
Offset
Set the offset for analog input 1.
Analog Input 1
Filter Time
Constant
Set the filter for analog input 1.
Pn423
Pn425
Analog Input 2
Offset
Set the offset for analog input 2.
Analog Input 2
Filter Time
Constant
Set the filter for analog input 2.
Pn426
5-17
Explanation
Reference
Set the zero speed designation function.
P.8-30
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.
P.8-34
P.8-34
P.8-40
P.8-41
P.8-41
P.8-41
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Analog input compensation
Pn425 : Offset
Pn426 : Filter
Encoder
pulse output Pulse regeneration
Pn011 : 1 Rotation
A
Pn012 : Reverse
B
Numerator/Denominator
Z
Pn503 : Denominator
Sign
Encoder
Motor speed
Speed control command
Speed Torque Limit Selection
Pn317 : Command speed
Scaling
(Speed command)
Pn302 : Gain
Pn303 : Reverse
Scaling
(Torque command)
Pn319 : Gain
Pn320 : Reverse
Torque command selection
Pn317 : Command Selection
Pn318 : Direction Designation
Scaling
Pn319 : Gain
Pn320 : Reverse
Feedback pulse accumulation
Internal speed limit
Pn321 : Limit Value 1
Pn322 : Limit Value 2
AI1 input voltage
Pn422 : Offset
Pn423 : Filter
Analog input 1
16-bit A/D
Analog input compensation
Torque command input 1
(TREF1: CN1 pin 14)
Analog input 2
12-bit A/D
AI2 input voltage
Speed detection filter
Motor
Speed detection
Main
power
supply
Current control
Pn611 : Response Setting
Pn103 : Speed Feedback Filter Time Constant
Pn108 : Speed Feedback Filter Time Constant 2
Pn610 : Function Expansion Setting
−
+
Speed control
Pn101 : Speed Gain 1
Pn102 : Integral Time Constant 1
Pn106 : Speed Gain 2
Pn107 : Integral Time Constant 2
Pn004 : Inertia Ratio
Pn612 : Switching Selection
Pn613 : Inertia Ratio 2
Absolute
Basic Control Mode
Torque command input 2
(TREF2: CN1 pin 16)
Torque command
Gain switching
Torque limit
Pn521 : Torque Limit Selection
Pn013 : No. 1 Torque Limit
Pn522 : No. 2 Torque Limit
Torque filter
Pn104 : Torque Filter 1
Pn109 : Torque Filter 2
Pn200 : Adaptive Filter Selection
Pn201 : Frequency 1
Pn204 : Frequency 2
Pn207 : Frequency 3
Pn210 : Frequency 4
Pn202 : Notch 1 Width
Pn205 : Notch 2 Width
Pn208 : Notch 3 Width
Pn211 : Notch 4 Width
Pn203 : Notch 1 Depth
Pn206 : Notch 2 Depth
Pn209 : Notch 3 Depth
Pn212 : Notch 4 Depth
Notch filter
Pn114 : Setting 2
Pn124 : Mode
Pn125 : Delay Time
Pn126 : Level
Pn127 : Hysteresis
5-3 Torque Control
Parameter Block Diagram for Torque Control Mode
5-18
5
5-4 Internally Set Speed Control
5-4 Internally Set Speed Control
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).
Drive
OMNUC G5
Controller
Internally set speed control
* Internally set
speed control can Speed selection command
be executed using
only the digital I/O
Basic Control Mode
5
VSEL1
VSEL2
No. 1 to 8 Internally
Set Speed
(Pn304 to 311)
Motor
OMNUC G5
VSEL3
signals.
Parameters Requiring Settings
Parameter
number
Parameter name
Explanation
Pn001
Control Mode Selection
Select the control mode for internally set speed control.
(Set values: 1, 3 and 5)
Pn300
Command Speed
Selection
Pn304
Select the speed command input method.
Pn306
No. 1 Internally Set Speed Set the internally set speeds (r/min).
The settings can be made from -20,000 to 20,000 r/min. Be
No. 2 Internally Set Speed
sure to set the speeds within the allowable range of
No. 3 Internally Set Speed rotation speed of the motor.
Pn307
No. 4 Internally Set Speed
Pn308
No. 5 Internally Set Speed
Pn309
No. 6 Internally Set Speed
Pn310
No. 7 Internally Set Speed
Pn311
No. 8 Internally Set Speed
Pn305
Reference
P.8-2
P.8-25
P.8-27
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
Number
VSEL1
VSEL2
VSEL3
Set speed
0
OFF
OFF
Disabled
Pn304
1
ON
OFF
Disabled
Pn305
2
OFF
ON
Disabled
Pn306
3
ON
ON
Disabled
Pn307
Pn300 = 2
Number
VSEL1
VSEL2
VSEL3
Set speed
OFF
OFF
Disabled
Pn304
1
ON
OFF
Disabled
Pn305
2
OFF
ON
Disabled
Pn306
3
ON
ON
Disabled
*1
*1. The mode will be analog speed control.
Input the proper current to REF.
Pn300 = 3
Number
VSEL1
VSEL2
VSEL3
Set speed
0
OFF
OFF
OFF
Pn304
1
ON
OFF
OFF
Pn305
2
OFF
ON
OFF
Pn306
3
ON
ON
OFF
Pn307
4
OFF
OFF
ON
Pn308
5
ON
OFF
ON
Pn309
6
OFF
ON
ON
Pn310
7
ON
ON
ON
Pn311
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
5-20
5
Basic Control Mode
0
5-4 Internally Set Speed Control
Operation Example
 Internally set speed control with 4 speed changes when Pn300 = 1
Operation command (RUN)
Servo ON
Zero speed designation (VZERO)
Stop
Internally set speed selection 1 (VSEL1)
Drive
Open
Internally set speed selection 2 (VSEL2)
Open
Close
Open
Close
Open
Close
Close
Speed 2
Speed
Speed 1
Speed 4
Speed 3
(*1)
Time
*1. The acceleration time, deceleration time, and S-curve acceleration/deceleration time can be set using
parameters (Pn312, Pn313, and Pn314).
5
Precautions for Correct Use
Basic Control Mode
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
No. 1 Internally Set
Speed
Set the speed 1 internally set speed.
-20,000 to
20,000
r/min
Pn305
No. 2 Internally Set
Speed
Set the speed 2 internally set speed.
-20,000 to
20,000
r/min
Pn306
No. 3 Internally Set
Speed
Set the speed 3 internally set speed.
-20,000 to
20,000
r/min
Pn307
No. 4 Internally Set
Speed
Set the speed 4 internally set speed.
-20,000 to
20,000
r/min
Pn308
No. 5 Internally Set
Speed
Set the speed 5 internally set speed.
-20,000 to
20,000
r/min
Pn309
No. 6 Internally Set
Speed
Set the speed 6 internally set speed.
-20,000 to
20,000
r/min
Pn310
No. 7 Internally Set
Speed
Set the speed 7 internally set speed.
-20,000 to
20,000
r/min
Pn311
No. 8 Internally Set
Speed
Set the speed 8 internally set speed.
-20,000 to
20,000
r/min
Explanation
Unit
5-22
5
Basic Control Mode
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Setting
range
5-5 Switching Control
5-5 Switching Control
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).
Drive
OMNUC G5
Controller
Analog voltage (speed command)
Pulse train
Basic Control Mode
5
Switching control (Example of switching
between position control and speed control)
14
REF
15
AGND
3
+CW
4
−CW
5
+CCW
6
−CCW
32
TVSEL
Motor
OMNUC G5
Speed control
Position control
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
P.8-2
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
TVSEL
OFF
ON
3
Position control
Speed control
4
Position control
Torque control
5
Speed 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)
10 ms or more
ON
OFF
Control mode
switching input (TVSEL)
+V
Speed command input (REF)
−V
10 ms or more
ON
OFF
Pulse command
Positioning completion output (INP) ON
Motor rotation speed detection
OFF
output (TGON)
+r/min
5
Motor operation
−r/min
Position and Torque Control Switching Example (Pn001 = 4)
10 ms or more
ON
Control mode
switching input (TVSEL)
OFF
+V
Torque command input (TREF)
−V
Pulse command
ON
(Forward)
10 ms or more
(Reverse)
OFF
Positioning completion
ON
output (INP)
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
Basic Control Mode
 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.)
5-5 Switching Control
Speed and Torque Control Switching Example (Pn001 = 5)
ON
OFF
Control mode switching
input (TVSEL)
+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.
Basic Control Mode
5
 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)
45
Fully-closed Control Mode
+CWLD
Electronic gear
(Pn008
to Pn010)
−CWLD
46
+CCWLD
47
−CCWLD
3
+CW
4
−CW
5
+CCW
6
−CCW
+EXS
External Encoder Dividing Ratio
(Pn324 to Pn325)
−EXS
CN1
44
Pulse train
Motor
OMNUC G5
Numerator
Denominator
5
Basic Control Mode
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
Drive
OMNUC G5
CN4
+EXA
−EXA
Numerator
Denominator
+EXB
Position
detection
−EXB
External
encoder
+EXZ
−EXZ
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
5-6 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 μm
 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 μm will be performed for the external encoder.
100 command units × 1/1 (gear ratio) × 0.1 μm = 10 μm
 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 μm will be performed for the external encoder.
200 command units × 1/2 (gear ratio) × 0.1 μm = 10 μm
5
Basic Control Mode
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
Parameter name
Explanation
Reference
Pn000
Rotation Direction
Switching
Set the relation between the command direction and the
motor rotation direction.
P.8-1
Pn001
Control Mode Selection
Select the control mode.
P.8-2
Pn005
Command Pulse Input
Selection
Select the command pulse input.
Pn006
Command Pulse Rotation
Direction Switching Selection
Set the count direction for the command pulse input.
Pn007
Command Pulse Mode
Selection
Set the count method for the command pulse input.
Pn008
Electronic Gear Integer
Setting
Set the number of command pulses corresponding to 1
motor rotation.
P.8-5
Pn009
Electronic Gear Ratio
Numerator 1
Set the numerator of the electronic gear ratio for the
command pulse input.
P.8-5
Pn010
Electronic Gear Ratio
Denominator
Use this parameter to set the denominator of the
electronic gear ratio for the command pulse input.
P.8-6
Pn011
Encoder Dividing
Numerator
Set the number of phase A and phase B output pulses,
respectively per motor rotation.
P.8-6
Pn012
Encoder Output Direction
Switching Selection
Select the phase B logic for pulse regeneration output and
the output source.
P.8-6
Pn323
External Feedback Pulse
Type Selection
Select the external encoder type.
Pn324
External Feedback Pulse
Dividing Numerator
Set the numerator of the external encoder divider setting.
Pn325
External Feedback Pulse
Dividing Denominator
Set the denominator of the external encoder divider
setting.
Pn326
External Feedback Pulse
Direction Switching
Set the polarity of the external encoder feedback pulse.
External Feedback Pulse
Phase-Z Setting
Set whether to enable or disable the disconnection
detection function of phase Z when a 90° phase difference
output type external encoder is used.
Pn328
Internal/External Feedback
Pulse Error Counter
Overflow Level
Set the threshold of A250 "internal/external feedback
pulse error counter overflow" in the command unit.
Pn329
Internal/External Feedback
Pulse Error Counter Reset
The hybrid error becomes 0 every time the motor rotates
by the set value.
P.8-36
Pn503
Encoder Dividing
Denominator
Set the denominator when the number of pulses per motor
rotation in pulse regeneration is not an integer.
P.8-47
Pn620
External Encoder Phase-Z
Setting
Set the external encoder phase-Z output width.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
P.8-3
P.8-4
5
Basic Control Mode
Pn327
P.8-3
P.8-34
P.8-35
P.8-35
P.8-35
P.8-36
P.8-36
P.8-63
5-28
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.
5
Basic Control Mode
Parameter
number
Setting
range
Parameter name
Explanation
Pn005
Command Pulse
Input Selection
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)
0 or 1
−
Pn006
Command Pulse
Rotation Direction
Switching
Selection
Set the count direction for the
command pulse input.
0: Command pulse, forward
direction
1: Command pulse, reverse
direction
0 or 1
−
Command Pulse
Mode Selection
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 to 3
−
Pn007
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
Explanation
Setting
range
Pn008
Electronic Gear
Integer Setting
Set the number of command pulses
corresponding to 1 motor rotation.
0 to 220
Pulse
Pn009
Electronic Gear
Set the numerator of the electronic
Ratio Numerator 1 gear ratio for the command pulse
input.
0 to 230
−
Pn010
Electronic Gear
Ratio
Denominator
1 to 230
−
Set the denominator of the electronic
gear ratio for the command pulse
input.
Unit
 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.
Pn011
Parameter name
Explanation
Setting
range
Encoder Dividing
Numerator
Set the number of phase A and
phase B output pulses, respectively
per motor rotation.
1 to 262144
Pulse/r
Encoder Output
Direction
Switching
Selection
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.
0 to 3
−
0 and
1 to 262144
−
Set
value
Pn012
0
1
2
3
Encoder Dividing
Denominator
Pn503
Output
source
Encoder
External
encoder
Phase B
logic
Unit
Non-reverse
Reverse
Non-reverse
Reverse
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.
 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
Basic Control Mode
Parameter
number
5-6 Fully-closed Control
External Feedback Pulse Type Selection (Pn323, Pn326)
Set the external encoder output type and direction.
Parameter
number
Parameter name
Explanation
External
Feedback Pulse
Type Selection
Select the type of the external encoder to be
used.
Set value
Pn323
Pn326
5
External
Feedback Pulse
Direction
Switching
Setting
range
Unit
External encoder type
0
90° phase difference output
type
1
Incremental encoder with serial
communications
2
Reserved (Do not use this
setting.)
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 to 2
−
0 or 1
−
Basic Control Mode
<
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
0
90° phase difference
output type*1
90° phase difference output type external
encoder
1
Incremental encoder with
serial communications
Sony Manufacturing Systems Corporation
0 to 400 Mpps
SR75, SR85
2
Reserved (Do not use this setting.)
Corresponding external encoder
examples
Maximum input
frequency *2
0 to 4 Mpps
(After × 4)
*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
EXB
5
t2
*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 μm is used for
the serial communication type is 0.01 μm × (400 × 106) pps = 4.00 m/s.
An overspeed error protection is generated, however, if the motor shaft rotation speed exceeds the
maximum speed.
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
Basic Control Mode
EXB is 90° ahead of EXA.
t1>0.25 μs
t2>1.0 μs
t2
EXB is 90° behind EXA.
t1>0.25 μs
t2>1.0 μs
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
Setting
range
Parameter name
Explanation
Unit
Pn324
External Feedback
Pulse Dividing
Numerator
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.
0 to 220
-
Pn325
External Feedback
Pulse Dividing
Denominator
Set the denominator of the external
encoder divider setting. Normally, set the
number of external encoder output
pulses per motor rotation.
1 to 220
-
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.
5
Pn324
Number of encoder output pulses per motor rotation
=
Basic Control Mode
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 μm
 Encoder resolution: 20 bits
Servomotor
encoder resolution: 20 bits/rotation
10 mm
1 Rotation
Ball screw
Ball screw pitch 10 mm
External encoder
resolution: 0.1 μm
Encoder Output Pulses per Motor Rotation (Pn324)
20 bits = 1,048,576
External Encoder Output Pulse Per Motor Rotation (Pn325)
10 [mm] / 0.1 [μm/pulse] = 100,000 [pulses]
Pn324
Number of encoder output pulses per motor rotation
=
Pn325
5-33
1,048,576
=
Number of external encoder output pulses per motor rotation
100,000
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
Explanation
Setting
range
Unit
Pn328
Internal/External
Feedback Pulse
Error Counter
Overflow Level
Set the allowable difference (hybrid error)
between the encoder-detected position
and external encoder-detected position
in command units.
1 to 227
Command
units
Pn329
Internal/External
Feedback Pulse
Error Counter
Reset
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.
0 to 100
Rotations
Pn329: Internal/External Feedback Pulse Error Counter Reset
Amount of internal/external feedback pulse error
[command unit]
Error detected
Pn328 Internal/External Feedback Pulse Error Counter Overflow Level
Cleared to 0
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Pn329
Internal/External Feedback
Pulse Error Counter Reset
Cleared to 0
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
Basic Control Mode
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.
5-35
Encoder pulse
Pulse regeneration
output
Pn011 : 1 Rotation
A
Pn012 : Reverse
B
Numerator/Denominator
Z
Pn503 : Denominator
External
encoder
External encoder
Pulse Output Pulse regeneration
EXA
Pn011 : Numerator
EXB
Pn503 : Denominator
EXZ
Pn012 : Reverse
Pn620 : Phase-Z Width
Pn622 : Output Method
Electronic gear
reverse conversion
−
+
Damping control
+
+
+
Main
power
supply
Motor
External encoder
Torque command
Pn623 : Gain
Pn624 : Filter
Disturbance observer
Current control
Pn611 : Response Setting
+
+
Pn607 : Offset Value
Pn608 : Forward Direction
Pn609 : Reverse Direction
Friction compensation
Pn213 : Switching Selection 1
Pn214 : Frequency 1
Pn215 : Frequency 2
Pn216 : Frequency 3
Pn217 : Frequency 4
Pn218 : Filter 1
Pn219 : Filter 2
Pn220 : Filter 3
Pn221 : Filter 4
Pn103 : Speed Feedback Filter Time Constant
Pn108 : Speed Feedback Filter Time Constant 2
Pn610 : Function Expansion Setting
External encoder reverse dividing
Speed detection
Pn325 : Denominator
Pn324 : Numerator
Motor speed
Encoder
Amount of internal/external
feedback pulse error
−
+
Speed control
Pn101 : Speed Gain 1
Pn102 : Integral Time Constant 1
Pn106 : Speed Gain 2
Pn107 : Integral Time Constant 2
Pn004 : Inertia Ratio
Pn612 : Switching Selection
Pn613 : Inertia Ratio 2
Pn112 : Gain
Pn113 : Filter
Torque feed
forward
Speed detection filter
+
+
Speed control command
Total external encoder feedback pulses
Fully-closed error
Position control
Pn100 : Loop Gain 1
Pn105 : Loop Gain 2
Pn110 : Gain
Pn111 : Filter
Speed
feed-forward
Position command error
Pn222 : FIR
Pn223 : First-order Lag
Input Setting
Pn323 : Type
Pn326 : Reverse
Pn327 : Phase Z disabled
−
+
−
+
Smoothing filter
Electronic gear setting
Pn008 : 1 Rotation
Pn500 : Numerator 2
Pn009 : Numerator 1 Pn501 : Numerator 3
Pn010 : Denominator Pn502 : Numerator 4
Position command speed
5
Pulse Input condition setting
train
Pn005 : Input Setting
Pn006 : Rotation Direction
Pn007 : Mode
Command pulse accumulation
Basic Control Mode
Torque limit
Pn521 : Torque Limit Selection
Pn013 : No. 1 Torque Limit
Pn522 : No. 2 Torque Limit
Torque filter
Pn104 : Torque Filter 1
Pn109 : Torque Filter 2
Notch filter
Pn200 : Adaptive Filter Selection
Pn201 : Frequency 1
Pn204 : Frequency 2
Pn207 : Frequency 3
Pn210 : Frequency 4
Pn202 : Notch 1 Width
Pn205 : Notch 2 Width
Pn208 : Notch 3 Width
Pn211 : Notch 4 Width
Pn203 : Notch 1 Depth
Pn206 : Notch 2 Depth
Pn209 : Notch 3 Depth
Pn212 : Notch 4 Depth
Gain switching
Pn114 : Setting 2
Pn115 : Mode
Pn116 : Delay Time
Pn117 : Level
Pn118 : Hysteresis
Pn119 : Switching Time
Pn605 : Setting 3
Pn606 : Ratio
External encoder dividing
Pn324: Numerator
Pn325: Denominator
Internal position command speed
5-6 Fully-closed Control
Parameter Block Diagram for Fully-closed Control Mode
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
Operation ...................................................................................... 6-20
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
6-11 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
Operation ...................................................................................... 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
6
Outline of Operation ...................................................................... 6-51
Parameters Requiring Settings ..................................................... 6-51
Operating Procedure..................................................................... 6-52
Applied Functions
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.
The end vibrates
Position Controller
Servo Drive
The damping
frequency changes
based on the position.
6
Movement
Applied Functions
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-1
6-1 Damping Control
Parameters Requiring Settings
Parameter
number
Parameter name
Reference
Control Mode
Selection
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
P.8-2
Pn213
Damping Filter
Selection
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
P.8-21
Pn214
Damping
Frequency 1
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.
P.8-22
Pn215
Damping Filter 1
Setting
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.
P.8-22
Pn216
Damping
Frequency 2
The function is the same with Pn214.
Pn217
Damping Filter 2
Setting
The function is the same with Pn215.
Pn218
Damping
Frequency 3
The function is the same with Pn214.
Pn219
Damping Filter 3
Setting
The function is the same with Pn215.
Pn220
Damping
Frequency 4
The function is the same with Pn214.
Pn221
Damping Filter 4
Setting
The function is the same with Pn215.
Pn001
6
Applied Functions
Explanation
P.8-22
P.8-22
P.8-23
P.8-23
P.8-23
P.8-23
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
6-2
Conditions under which the effect of damping control is inhibited
Control mode
- Speed Control Mode or Torque Control Mode
Load condition
- 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.
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
 The damping frequency in the figure is calculated with
the following formula:
Position error
Calculate the
damping frequency.
f (Hz) =
1
T (s)
Damping cycle T
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.
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
Applied Functions
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.
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.
Set value
Switching mode
0
Damping filter 1 and 2 enabled
1
Switching by external input (DFSEL1)
Open: Damping filter 1 or 3 enabled
Shorted: Damping filter 2 or 4 enabled
2
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
3
Switching with command direction
Forward: Damping filters 1 and 3 enabled
Reverse: Damping filters 2 and 4 enabled
Applied Functions
6
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 effect
Position and
speed command
Applied Functions
Adaptive filter disabled
Filter frequency setting completed
Position and
speed control
Adaptive
filter
Torque command Current loop
control
SM
Resonance frequency
estimation
Load inertia estimation
Speed feedback
RE
Realtime autotuning
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-5
6-2 Adaptive Filter
Parameters Requiring Settings
Parameter
number
Pn200
Parameter name
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
P.8-20
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.
6
Applied Functions
Item
Conditions under which the adaptive filter not operates properly
Control mode
· 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
6
Frequency Hz
Applied Functions
Cut-off frequency Fc
If machine resonance occurs, use this notch filter to eliminate resonance.
Machine resonance
Characteristics
after filtering
Notch filter
Notch filter 1
Notch filter 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7
6-3 Notch Filter
Parameters Requiring Settings
Parameter
number
Parameter name
Explanation
Pn201
Notch 1 Frequency
Setting
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.
P.8-20
Pn202
Notch 1 Width
Setting
Select the width of the notch filter 1 frequency.
Increasing the value widens the notch width.
(Setting range: 0 to 20)
P.8-20
Pn203
Notch 1 Depth
Setting
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)
P.8-20
Pn204
Notch 2 Frequency
Setting
Set the center frequency of the notch filter 2.
The details are the same with the notch filter 1 frequency.
P.8-20
Pn205
Notch 2 Width
Setting
Select the width of the notch filter 2 frequency.
The details are the same with the notch filter 1 width.
P.8-20
Pn206
Notch 2 Depth
Setting
Select the depth of the notch filter 2 center frequency.
The details are the same with the notch filter 1 depth.
P.8-21
Pn207
Notch 3 Frequency
Setting *1
Set the center frequency of the notch filter 3.
The details are the same with the notch filter 1 frequency.
P.8-21
Pn208
Notch 3 Width
Setting *1
Select the width of the notch filter 3 frequency.
The details are the same with the notch filter 1 width.
P.8-21
Pn209
Notch 3 Depth
Setting *1
Select the depth of the notch filter 3 center frequency.
The details are the same with the notch filter 1 depth.
P.8-21
Pn210
Notch 4 Frequency
Setting *1
Set the center frequency of the notch filter 4.
The details are the same with the notch filter 1 frequency.
P.8-21
Pn211
Notch 4 Width
Setting *1
Select the width of the notch filter 4 frequency.
The details are the same with the notch filter 1 width.
P.8-21
Pn212
Notch 4 Depth
Setting *1
Select the depth of the notch filter 4 center frequency.
The details are the same with the notch filter 1 depth.
P.8-21
Applied Functions
6
Reference
*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 CXDrive 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.
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.
Width
Set value
Depth
Bandwidth/center frequency
Set value
I/O ratio (%)
Damping factor (dB)
0
0.50
0
0 (Cut off)
−∞
1
0.59
1
1
−40.0
2
0.71
2
2
−34.0
3
0.84
3
3
−30.5
4
1.00
4
4
−28.0
5
1.19
5
5
−26.0
6
1.41
10
10
−20.0
7
1.68
15
15
−16.5
8
2.00
20
20
−14.0
2.38
25
25
−12.0
2.83
30
30
−10.5
11
3.36
35
35
−9.1
12
4.00
40
40
−8.0
13
4.76
45
45
−6.9
14
5.66
50
50
−6.0
15
6.73
60
60
−4.4
16
8.00
70
70
−3.1
17
9.51
80
80
−1.9
18
11.31
90
90
−0.9
19
13.45
100
100 (Passed)
0.0
20
16.00
Applied Functions
9
10
6
Notch filter frequency characteristics
10
5
Gain [dB]
0
−3[dB]
−5
Depth 0, width 4
Depth 50, width 4
Depth 0, width 8
−10
−15
−20
−25
−30
10
100
Frequency [Hz]
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1000
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.
Parameters Requiring Settings
Parameter
number
Applied Functions
Explanation
Electronic Gear Integer
Setting
Set the number of command pulses corresponding to 1
motor rotation.
Pn009
Electronic Gear Ratio
Numerator 1
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
Pn010
Electronic Gear Ratio
Denominator
Set the denominator of the electronic gear ratio.
Pn500
Electronic Gear Ratio
Numerator 2 *1
Set the numerator of the electronic gear ratio 2.
Pn501
Electronic Gear Ratio
Numerator 3 *1
Set the numerator of the electronic gear ratio 3.
Pn502
Electronic Gear Ratio
Numerator 4 *1
Set the numerator of the electronic gear ratio 4.
Pn008
6
Parameter name
Reference
P.8-5
*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
Applicable parameters
OFF
OFF
Electronic Gear Ratio Numerator 1
(Pn009)
ON
OFF
Electronic Gear Ratio Numerator 2
(Pn500)
OFF
ON
Electronic Gear Ratio Numerator 3
(Pn501)
ON
ON
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
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).
1 to
1048576
−
−
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).
0
Command pulse input
Position
command
Position command pulse = Encode resolution / Electronic
Gear Ratio Denominator (Pn010)
1 to
1073741824
0
1 to
1073741824
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-11
Applied Functions
Encoder resolution *
Electronic Gear Ratio Denominator (Pn010)
6
6-4 Electronic Gear Function
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
Encoder resolution
1,048,576 pulses
Electronic Gear Integer Setting (Pn008)
1,048,576
=
2000
1-rotation (1,048,576 pulses)
6
When the Electronic Gear Integer Setting (Pn008) = 0 and the Electronic Gear Ratio Numerator = 0
Applied Functions
 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
Encoder resolution
1,048,576 pulses
Electronic gear ratio denominator (Pn010)
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 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
Electronic gear ratio numerator 1 (Pn009)
1,048,576 pulses
Electronic gear ratio denominator (Pn010)
=
512
1
=
1,048,576
2048
1-rotation (1,048,576 pulses)
6-12
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 9-4 Setting the
Mode.
6
Applied Functions
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 μm/pulse on mechanical systems that travel 10 mm per
motor rotation.
Parameters Requiring Settings
6
Applied Functions
Parameter
number
Explanation
Reference
Pn011
Encoder Dividing
Numerator
Set the number of phase-A and phase-B output
pulses, respectively per motor rotation.
Pn012
Encoder Output
Direction Switching
Selection
Select the phase B logic for pulse regeneration
output and the output source.
Pn503
Encoder Dividing
Denominator
Set the denominator when the number of pulses
per motor rotation in pulse regeneration is not an
integer.
P.8-47
Pn533
Pulse Regeneration
Output Limit Setting
Set whether to enable or disable the detection of
Alarm 28.0 "pulse regeneration error."
0: Disabled, 1: Enabled
P.8-59
External Encoder
Phase-Z Setting
Set the external encoder phase-Z output width.
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.
P.8-63
0: Without signal regeneration.
1: With signal regeneration for phase-A and
phase-B. Without signal regeneration for phase-Z.
Pn620
Pn622
6-14
Parameter name
P.8-6
P.8-6
P.8-63
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
Output pulse from
the drive
Pn011 set value × 4
Encoder resolution
Encoder pulse
Number of pulse output per rotation = Encoder Dividing Numerator (Pn011)
×4
0
When the output source is the external encoder
When Encoder Dividing Denominator (Pn503) = 0
The dividing ratio is 1:1.
1
External encoder pulse
Output pulse from
the drive
6
1
1 to
262144
1 to
262144
Encoder pulse or
external encoder pulse
Pn011 set value
Pn503 set value
Number of pulse output per rotation =
Output pulse from
the drive
Encoder Dividing Numerator (Pn011)
× encoder resolution
Encoder Dividing Denominator (Pn503)
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
A
B
B
Z
Z
Synchronous
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Asynchronous
6-15
Applied Functions
When Encoder Dividing Denominator (Pn503) ≠ 0
The output pulse will be as follows based on Encoder Dividing Numerator
(Pn011) and Encoder Dividing Denominator (Pn503).
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
0
Output
source
Phase B
logic
Encoder
2
External
encoder
1
Encoder
Nonreverse
Reverse
3
External
encoder
CCW direction operation
CW direction operation
Phase
A
Phase
A
Phase
B
Phase
B
Phase
A
Phase
A
Phase
B
Phase
B
External Encoder Pulse Regeneration Function
Serial Incremental External Encoder
6
Applied Functions
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 position of external encoder*1
Operating direction
*2
Phase Z
Operating direction
*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)
Operating direction
Phase-Z output for pulse regeneration
(after time extension)
Pn620 External Encoder Phase-Z Setting
6
Operating direction
Pn620 External Encoder Phase-Z Setting
Applied Functions
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-17
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
0.25 μs or more
Phase B
- 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.
Applied Functions
6
Phase A
Phase A
Phase B
Phase B
Phase Z
Phase Z
When the dividing ratio is multiple of 4
*Will not be synchronized
with phase A.
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
Pn437
Explanation
Brake Timing when
Stopped
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.
P.8-45
Brake Timing
During Operation
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.
P.8-45
To set the speed threshold for run time mechanical brake
output determination.
P.8-46
Pn438
Pn439
Brake Clear Speed
Setting
Reference
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
Applied Functions
Parameter name
6-6 Brake Interlock
Operation
Servo ON/OFF Operation Timings <when Motor Is Stopped>
ON
Operation command (RUN)
Servo OFF
*1
Servo ON
Servo OFF
OFF
Approx. 2 ms
Released
Dynamic brake
DB engaged
DB Released
DB engaged*2
Engaged
Approx. 60 ms
Pn437
ON
Motor power supply
No power supply
Power supply
No power supply
OFF
Approx. 4 ms
Brake release request
from servo control *3
6
Brake interlock
output (BKIR) *3
Release request
OFF
ON
Release request
OFF
Applied Functions
Attraction time
Holding brake operation
1 to 6 ms
ON
Release time
Released
Brake released
Held
*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).
Note:The brake application time and release time vary depending on the Servomotor brake. For details, refer to "3-3
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
Servo OFF
*1
Servo ON
Servo OFF
Approx. 2 ms
1 to 5 ms
OFF
Released
Dynamic brake
DB Released
DB engaged
DB Released*2
Engaged
Approx. 60 ms
ON
Motor power supply
No power supply
Power supply
No power supply
OFF
Approx. 4 ms
t1*4
Pn438
ON
Brake release request
from servo control *3
OFF
Brake held
Release request
When the Pn438 set value is early
Approx. +30 r/min
Pn439 set value
6
BKIR
Motor rotation speed
Servo ON enabled
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-21
Applied Functions
Approx. −30 r/min
Release request
When the Pn439 set value is early
6-6 Brake Interlock
Operation Timings when Alarm Generates (Servo ON)
OFF
Alarm generation
Normal
Alarm output
ON
0.5 to 5 ms
ON
Motor power supply
Power supply
No power supply
DB Released
DB engaged*1
OFF
Dynamic brake
Released
Engaged
Servo ready
output (READY)
Alarm output (ALM)
ON
READY
OFF
ON
Alarm
OFF
t1
6
Brake interlock
output (BKIR) *2
Pn438
ON
Release request
Brake held
OFF
Applied Functions
Rotation speed A
When the Pn438
setting is early
Pn439 set value
BKIR
Brake interlock
output (BKIR) *2
Release request
Rotation speed B
Pn439 set value
Brake held
When the timing of
reaching the Pn439 set
value or lower is early
*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.
ON
Alarm reset
Reset
OFF
120 ms
ON
Servo ready
output (READY)
READY
OFF
ON
Alarm output (ALM)
Alarm
Alarm Released
OFF
0 ms or more
Operation command (RUN)
ON
*1
Servo OFF
Servo ON
OFF
2 ms or more
Dynamic brake
Released
DB engaged
DB Released
Engaged
6
Approx. 60 ms
Motor power supply
ON
No power supply
Power supply
OFF
Brake interlock
output (BKIR) *2
Release request
Brake held
OFF
100 ms or more
ON
Operation command input
Input prohibited
Input allowed
OFF
*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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-23
Applied Functions
4 ms
ON
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).
Applied Functions
6
6-24
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-7 Gain Switching Function
Parameters Requiring Settings
Parameter
number
Pn114
Parameter name
Explanation
Gain Switching Input
Operating Mode Selection
Set whether to enable or disable the gain switching function.
Reference
P.8-12
Position Control Mode
Pn115
Switching Mode in
Position Control
Set the condition for switching between Gain 1 and Gain 2.
Pn116
Gain Switching Delay
Time in Position Control
Set the time to return from Gain 2 to Gain 1.
(Unit: 0.1 ms)
P.8-14
Pn117
Gain Switching Level in
Position Control
Set the judgment level for switching between Gain 1 and
Gain 2.
P.8-15
Pn118
Gain Switching Hysteresis
in Position Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level (Pn117).
P.8-15
Pn119
Position Gain Switching
Time
Set the number of phased switches from low to high gain.
(Unit: 0.1 ms)
P.8-15
P.8-13
6
Speed Control mode
Pn120
Switching Mode in Speed
Control
Set the condition for switching between Gain 1 and Gain 2.
Pn121
Gain Switching Delay
Time in Speed Control
Set the time to return from Gain 2 to Gain 1. (Unit: 0.1 ms)
Pn122
Gain Switching Level in
Speed Control
Set the judgment level for switching between Gain 1 and
Gain 2.
P.8-17
Pn123
Gain Switching Hysteresis
in Speed Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level (Pn122).
P.8-18
Applied Functions
P.8-16
P.8-17
Torque Control Mode
Pn124
Switching Mode in Torque
Control
Set the condition for switching between Gain 1 and Gain 2.
Pn125
Gain Switching Delay
Time in Torque Control
Set the time to return from Gain 2 to Gain 1.
(Unit: 0.1 ms)
P.8-19
Pn126
Gain Switching Level in
Torque Control
Set the judgment level for switching between Gain 1 and
Gain 2.
P.8-19
Pn127
Gain Switching Hysteresis
in Torque Control
Set the hysteresis width to be provided in the judgment level
set in Gain Switching Level (Pn126).
P.8-19
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
P.8-18
6-25
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
Mode" (P.6-30).
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
6
Gain 2
Gain 1
Applied Functions
Gain 1
Gain switching instruction
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 μs.
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 μs.)
Speed command
Torque command
Pn127
Pn126
Torque change
amount
Pn127
Applied Functions
Pn127
Pn126
Pn127
Pn125
Gain 1
2
1
Pn125
2
Pn125
Gain 1
2
1
Pn125
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
Pn118, Pn123
Pn117, Pn122
Pn116, Pn121
Gain 1
6
Gain 2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Gain 1
6-27
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.
6
Applied Functions
Position command
Pn116
Gain 1
Gain 2
Gain 1
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
INP1 OFF
INP1 ON
Pn116
Cancelled because the time conditions are not met
Gain 1
6-28
Gain 2
Gain 1
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
Pn116
Gain 1
Pn121
Gain 1
Gain 2
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.
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)
Position Gain
Switching Time [ms]
(Pn119)
Gain 1 (Pn100)
Result of switching
1
2
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
1
6-29
Applied Functions
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.
6
6-7 Gain Switching Function
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)
Pn115 set
value
6
Gain
Switching
Level
(Pn117)
Gain
Switching
Hysteresis
(Pn118)
Position
Gain
Switching
Time (Pn119)
0
Always gain 1
−
−
−
−
1
Always gain 2
−
−
−
−
2
Switching from gain
switching (GSEL)
−
−
−
√
3
Torque command change
amount
√
√
[× 0.05%]
√
[× 0.05%]
√
4
Always gain 1
−
−
−
−
Command speed
√
√
[r/min]
√
[r/min]
√
Amount of position error
√
√
[pulse]
√
[pulse]
√
5
6
Applied Functions
Switching conditions
Gain
Switching
Delay Time
(Pn116)
7
Position command received √
−
−
√
8
Positioning completion
signal (INP1) OFF
√
−
−
√
Actual motor speed
√
√
[r/min]
√
[r/min]
√
Combination of position
command received and speed
√
√
√
√
9
10
Speed Control Mode
In the Speed Control Mode, it varies as follows according to switching mode in Speed Control
(Pn120).
(√: Enabled, − : Disabled)
Pn120 set
value
Gain Switching
Delay Time
(Pn121)
Gain Switching
Level (Pn122)
Gain Switching
Hysteresis
(Pn123)
0
Always gain 1
−
−
−
1
Always gain 2
−
−
−
2
Switching from gain
switching (GSEL)
−
−
−
3
Torque command change
amount
√
√
[× 0.05%]
√
[× 0.05%]
4
Amount of change in speed
command
−
−
−
Speed command
√
√
[r/min]
√
[r/min]
5
6-30
Switching conditions
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)
Pn124 set
value
Switching conditions
Gain Switching
Delay Time
(Pn125)
Gain Switching
Level (Pn126)
Gain Switching
Hysteresis
(Pn127)
0
Always Gain 1
−
−
−
1
Always Gain 2
−
−
−
2
Switching from gain
switching (GSEL)
−
−
−
3
Torque command change
amount
√
√
[× 0.05%]
√
[× 0.05%]
6
Applied Functions
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).
Parameters Requiring Settings
Parameter
number
Applied Functions
6
Parameter name
Explanation
Reference
Pn521
Torque Limit Selection
Select the torque limit based on the various
parameters and input signals.
P.8-56
Pn013
No. 1 Torque Limit
Set the No. 1 motor output torque limit value.
P.8-7
Pn522
No. 2 Torque Limit
Set the No. 2 motor output torque limit value.
P.8-56
Pn523
Torque Limit Switching
Setting 1
Set the rate of change (fluctuate) when switching
from the No. 1 torque limit to No. 2 torque limit.
P.8-57
Pn524
Torque Limit Switching
Setting 2
Set the rate of change (fluctuate) when switching
from the No. 2 torque limit to No. 1 torque limit.
P.8-57
Pn525
Forward External Torque
Limit
Set the forward torque limit for a network signal.
P.8-57
Pn526
Reverse External Torque
Limit
Set the reverse torque limit for a network signal.
P.8-57
Pn527
Analog Torque Limit Scale
Set the gain for conversion for the analog torque
limit input.
P.8-57
Pn425
Analog Input 2 Offset
Set the offset adjustment value for the voltage
applied to analog input 2.
P.8-41
Pn426
Analog Input 2 Filter Time
Constant
Set the time constant of the first-order lag filter for
the voltage applied to analog input 2.
P.8-41
Pn428
Analog Input 3 Offset
Set the offset adjustment value for the voltage
applied to analog input 3.
P.8-42
Pn429
Analog Input 3 Filter Time
Constant
Set the time constant of the first-order lag filter for
the voltage applied to analog input 3.
P.8-42
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
Forward operation: Set by PCL (0 to 10 V)
Reverse operation: Set by NCL (−10 to 0 V)
1
Limit in both forward and reverse operation: Set by Pn013
2
Forward operation: Set by Pn013
Reverse operation: Set by Pn522
3
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
4
Forward operation: Set by PCL (0 to 10 V)
Reverse operation: Set by NCL (0 to 10 V)
5
Limit in both forward and reverse operation: Set by PCL (0 to 10 V)
6
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
6
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-33
Applied Functions
 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
(NCL)" (P. 3-37).
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)
Torque Limit Switching
Setting 1 (Pn523)
No. 1 Torque
Limit (Pn013)
No. 2 Torque
Limit (Pn522)
Torque Limit Switching
Setting 2 (Pn524)
Applied Functions
6
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
6-34
Applicable
Servomotor
Maximum torque limit [%]
R88D-KT15@
R88M-K90010@
225
R88D-KT30@
R88M-K2K010@
250
R88D-KT50@
R88M-K3K010@
250
R88M-K4K510@
263
R88D-KT75@
R88M-K6K010@
272
R88D-KT75H
R88M-K7K515T
265
R88D-KT75F
R88M-K7K515C
267
R88D-KT150@
R88M-K11K015@
265
R88M-K15K015@
253
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
Input
signals
Factory
default
setting (hex)
Position control or
fully-closed
control
Speed control
Torque control
Signal
name
Logic
Signal
name
Logic
Signal
name
Logic
Pn400
SI1 input
00828282h
(8553090)
NOT
NC
NOT
NC
NOT
NC
Pn401
SI2 input
00818181h
(8487297)
POT
NC
POT
NC
POT
NC
Pn402
SI3 input
0091910Ah
(9539850)
DFSEL1
NO
VZERO
NC
VZERO
NC
Pn403
SI4 input
00060606h
(394758)
GSEL
NO
GSEL
NO
GSEL
NO
Pn404
SI5 input
0000100Ch
(4108)
GESEL1
NO
VSEL3
NO
−
−
Pn405
SI6 input
00030303h
(197379)
RUN
NO
RUN
NO
RUN
NO
Pn406
SI7 input
00000f07h
(3847)
ECRST
NO
VSEL2
NO
−
−
Pn407
SI8 input
00040404h
(263172)
RESET
NO
RESET
NO
RESET
NO
Pn408
SI9 input
00050505h
(328965)
TVSEL
NO
TVSEL
NO
TVSEL
NO
Pn409
SI10 input
00000E88h
(3720)
IPG
NC
VSEL1
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
Applied Functions
Default setting state
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
Applied Functions
6
Parameter name
Explanation
Reference
Pn400
Set the SI1 input function allocation. This
parameter is based on the hex display
Input Signal Selection 1
standard. (The display on the front panel is
based on decimal.)
P.8-37
Pn401
Input Signal Selection 2 Set the SI2 input function allocation.
P.8-37
Pn402
Input Signal Selection 3 Set the SI3 input function allocation.
P.8-37
Pn403
Input Signal Selection 4 Set the SI4 input function allocation.
P.8-37
Pn404
Input Signal Selection 5 Set the SI5 input function allocation.
P.8-37
Pn405
Input Signal Selection 6 Set the SI6 input function allocation.
P.8-37
Pn406
Input Signal Selection 7 Set the SI7 input function allocation.
P.8-37
Pn407
Input Signal Selection 8 Set the SI8 input function allocation.
P.8-37
Pn408
Input Signal Selection 9 Set the SI9 input function allocation.
P.8-37
Pn409
Input Signal Selection
10
P.8-37
Set the SI10 input function allocation.
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:
Internally set speed selection 1 for contact NC (8Eh)
Torque control:
Disabled (00h)
00008E0Ch
Position control/fully-closed control
Speed control
Torque control
6-36
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:
Set value
Signal name
Symbol
NO
NC
−
00h
Setting not available
Forward drive prohibition input
POT
01h
81h
Reverse drive prohibition input
NOT
02h
82h
Operation command *1
RUN
03h
83h
Alarm reset input
RESET
04h
Setting not available
Control mode switching input
TVSEL
05h
85h
Gain switching
GSEL
06h
86h
Error counter reset input *2
ECRST
07h
Setting not available
Pulse prohibition input *3
IPG
08h
88h
Torque limit switching
TLSEL
09h
89h
Damping filter switching 1
DFSEL1
0Ah
8Ah
Damping filter switching 2
DFSEL2
0Bh
8Bh
Electronic gear switching input 1 GESEL1
0Ch
8Ch
Electronic gear switching input 2 GESEL2
0Dh
8Dh
Internally set speed selection 1
VSEL1
0Eh
8Eh
Internally set speed selection 2
VSEL2
0Fh
8Fh
Internally set speed selection 3
VSEL3
10h
90h
Zero speed designation input
VZERO
11h
91h
Speed command sign input
VSIGN
12h
92h
Torque command sign input
TSIGN
13h
93h
Emergency stop input
STOP
14h
94h
Inertia ratio switching input
J-SEL
15h
95h
6
Applied Functions
Disabled
*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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-37
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.
Applied Functions
6
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
Speed control
Torque control
Signal name
Signal name
Signal name
Pn410
SO1
output
00030303h
(197379)
BKIR
BKIR
BKIR
Pn411
SO2
output
00020202h
(131586)
READY
READY
READY
Pn412
SO3
output
*1
ALM
ALM
ALM
Pn413
SO4
output
00050504h
(328964)
INP
TGON
TGON
*1 Alarm output signal allocations cannot be changed.
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
Reference
Pn410
Set the SO1 output function allocation. This
parameter is set in hexadecimal standard.
Output Signal Selection 1
Refer to the output signal function number
table for details.
P.8-37
Pn411
Output Signal Selection 2 Set the SO2 output function allocation.
P.8-37
Pn412
Set the SO3 output function allocation. This
Output Signal Selection 3 parameter is always fixed to the alarm output
signals.
P.8-37
Pn413
Output Signal Selection 4 Set the SO4 output function allocation.
P.8-37
Output Signal Allocation Method
Input the setting for each control mode in any of the parameters of Pn410 to Pn413 to allocate
signals.
00******h
Position control/fully-closed control
Speed control
Torque control
Example:
Position control or fully-closed control: Speed conformity output (08h)
Speed control:
Motor rotation speed detection output (05h)
Torque control:
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-39
Applied Functions
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.
6
6-9 Sequence I/O Signal
Function Number Table
The set values to be used for allocations are as follows:
Signal name
Applied Functions
6
Symbol
Set value
Disabled
−
00h
Servo ready completed output
READY
02h
Brake interlock output
BKIR
03h
Positioning completion output
INP
04h
Motor rotation speed detection output
TGON
05h
Torque limiting signal
TLC
06h
Zero speed detection output
ZSP
07h
Speed conformity output
VCMP
08h
Warning output 1
WARN1
09h
Warning output 2
WARN2
0Ah
Position command status output
P-CMD
0Bh
Positioning completion output 2
INP2
0Ch
Output during speed limit
V-LIMIT
0Dh
Alarm attribute output
ALM-ATB
0Eh
Speed command status output
V-CMD
0Fh
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
Parameter name
Explanation
Pn400 to
Pn409
Input Signal Selection 1
to 10
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)
Reference
6
Drive Prohibition Input
Selection
Set the operation to be performed upon forward
and reverse drive prohibition input.
Pn505
Stop Selection for Drive
Prohibition Input
Set the deceleration and stop methods upon
forward and reverse drive prohibition input.
Applied Functions
Pn504
Input Signal Selection Function (Default setting: Pn400, Pn401)
In the default setting, the allocations are as follows.
Default setting
Parameter
number
Parameter
name
Set value
Position Control
or fully-closed
control
Speed control
Torque
control
Pn400
Input Signal
Selection 1
00828282h
(8553090)
NOT (NC)
NOT (NC)
NOT (NC)
Pn401
Input Signal
Selection 2
00818181h
(8487297)
POT (NC)
POT (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
6-10 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)
Applied Functions
6
Explanation
0
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.
1
Forward and reverse drive prohibition input disabled.
2
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
Error counter
Dynamic brake
Torque command in driveprohibited direction = 0
Held
Free-run
(Torque command = 0 for drive
prohibition direction)
Torque command in driveprohibited direction = 0
Held
Immediate stop
Servo lock
Clear before and
after deceleration.
Stop Selection for Drive
Prohibition Input (Pn505)
Deceleration method
Decelerate with dynamic brake
Stop status
Servo unlocked
0
POT (NOT) is turned OFF.
1
2
Decelerate in the free-run status
Decelerate with Immediate
Stop Torque (Pn511)
Servo locked
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).
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
Applied Functions
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.
6-11 Disturbance Observer Function
6-11 Disturbance Observer Function
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
6
+
Motor+load
+
Torque command
+
Motor speed
−
Applied Functions
Load model
Gain
Setting with
Pn623
Filter
Setting with Pn623
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
Parameter name
Explanation
Reference
Pn610
Function Expansion Setting
Set the bits related to the disturbance observer.
P.8-60
Pn623
Disturbance Torque
Compensation Gain
Set the compensation gain for the disturbance
torque.
P.8-63
Pn624
Disturbance Observer Filter
Setting
Set the filter time constant for disturbance torque
compensation.
P.8-63
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
6
2. Set the Disturbance Observer Filter Setting (Pn624).
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6-45
Applied Functions
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.
6-12 Gain Switching 3 Function
6-12 Gain Switching 3 Function
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
6
Parameter name
Explanation
Reference
Pn605
Gain 3 Effective Time
Set effective time of gain 3.
P.8-60
Pn606
Gain 3 Ratio Setting
Set gain 3 as a multiple of gain 1.
P.8-60
Applied Functions
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]
Pn605×0.1ms
Gain 2
Gain 3
Pn105 to Pn109
Gain 1
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.
6-46
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
Explanation
Pn607
Torque Command Value
Offset
Set the unbalanced load compensation value that
is always added to the torque command in the
control mode other than torque control.
P.8-60
Pn608
Forward Direction Torque
Offset
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.
P.8-60
Pn609
Reverse Direction Torque
Offset
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.
P.8-60
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Reference
6
Applied Functions
Parameter name
6-47
6-13 Friction Torque Compensation Function
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.
Command speed
Pn607
(Torque command
value offset)
Forward direction
Pn608
(Forward direction torque offset)
Pn609
(Reverse direction
torque offset)
Time
6
Applied Functions
Reverse direction
Motor
de-energized
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
Parameter name
Explanation
Reference
Function Expansion
Setting
Set the bits related to inertia ratio switching.
P.8-60
Pn004
Inertia Ratio
Set the inertia ratio 1.
P.8-3
Pn613
Inertia Ratio 2
Set the inertia ratio 2.
P.8-61
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)
Inertia ratio switching
input (JSEL)
When bit 3 = 0: Inertia ratio
switching is disabled
OFF
When bit 3 = 1: Inertia ratio
switching is enabled
OFF
ON
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
Applied Functions
Pn610
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
Parameters Requiring Settings
Parameter
number
6
Applied Functions
Pn634
Pn635
Parameter name
Explanation
Hybrid Vibration
Suppression Gain
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
Set the hybrid vibration suppression filter.
Reference
P.8-66
P.8-66
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
Parameter name
Explanation
Reference
Speed Feed-forward
Amount
Pn111
Speed Feed-forward
Command Filter
Set the time constant for the first-order lag filter that
is applied to speed feed-forward input.
P.8-12
Pn112
Torque Feed-forward
Amount
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.
P.8-12
Pn113
Torque Feed-forward
Command Filter
Set the time constant for the first-order lag filter that
is applied to torque feed-forward input.
P.8-12
Pn600
Analog Torque Feedforward Gain Setting
Set the input gain of analog torque feed-forward.
0 to 9 will be disabled.
P.8-60
Pn610
Function Expansion Setting Set the bits related to inertia ratio switching.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
P.8-12
Applied Functions
Pn110
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.
6
P.8-60
6-51
6-16 Feed-forward Function
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
Position error
Speed feed-forward gain
6
Motor speed
0 [%]
Applied Functions
Command
speed
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
Speed feed-forward amount = fixed to 100 [%]
Position error
Command
speed
Torque
feed-forward amount
0 [%]
6
50 [%]
Time
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
Applied Functions
100 [%]
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
6
10 Input voltage [V]
−200
6
Applied Functions
−333
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
Torque
command
Speed command
Speed control
Speed estimation
value
Current
control
Motor
current
Motor
Load
Instantaneous
speed observer
Load model
Motor
position
To position control
6
(Total inertia)
Encoder
Parameters Requiring Settings
Parameter
number
Parameter name
Pn610
Function
Expansion Setting
Set whether to enable or disable the instantaneous
observer function.
P.8-60
Pn004
Inertia Ratio
Set the inertia ratio 1.
P.8-3
Pn100
Position Loop Gain
Set the position loop gain.
P.8-9
Pn101
Speed Loop Gain
Set the speed loop gain.
P.8-10
Speed Feedback
FIlter Time
Constant
Set six filter time constants.
Pn103
Speed Feedback
FIlter Time
Constant 2
Set six filter time constants.
Pn108
Explanation
Reference
P.8-11
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
P.8-11
6-55
Applied Functions
Servo amplifier
6-17 Instantaneous Speed Observer Function
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.
Applied Functions
6
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
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7
7-1 Safe Torque OFF (STO) Function
7-1 Safe Torque OFF (STO) Function
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)
Safety Function
7
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.
Control mode
Pin
Symbol
number
Signal name
Safety input 1
Safety input 2
SF+
CN8-4
SF−
CN8-3
SF2+
CN8-6
SF2−
CN8-5
Description
• The upper arm drive signal of the
power transistor inside the Servo
Drive is cut off.
• The lower arm drive signal of the
power transistor inside the Servo
Drive is cut off.
Position Speed Torque
Fullyclosed
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
√
 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
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
Within 5 ms
Normal operation
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
STO status
7-2
Safety Function
 L-pulses for self-diagnosis of safety equipment
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.
Control mode
Signal name
Symbol
Pin
number
Description
EDM output
EDM+
CN8-8
EDM−
CN8-7
• A monitor signal is output to
detect a safety function failure.
* This is not a safety output.
Position Speed Torque
Fullyclosed
√
√
√
√
√
√
√
√
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.
7
 Either or both safety inputs 1 and 2 are ON, but the EDM output circuit signal is ON.
Safety Function
Signal name
Symbol
Signal status
Safety input 1
SF1
ON
ON
OFF
OFF
Safety input 2
SF2
ON
OFF
ON
OFF
EDM output
EDM
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
7-2 Operation Example
Operation Timings to a Safety Status
Operation command (RUN) Servo ON
Servo OFF
Safety input 1
Safety input 2 *3
STO status
Normal status
Response time = 5 ms max.
Motor power is supplied.
Power supply
No power supply
Response time = 6 ms max.
EDM output
ON
OFF
0.5 to 5 ms
Dynamic brake relay *2
DB released
DB engaged
Servo ready completed output (READY) READY
Alarm output (ALM)
Normal
7
Alarm
Pn438 set value
Brake interlock output (BKIR) Brake released
Safety Function
Brake held
t1 *1
Pn439
set value
When the Pn438
set value is early
Pn438
set value
Brake held
Brake released
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
7-4
7-2 Operation Example
Timing of Return from the Safety Status
Operation command
(RUN) *1
Safety input 1
Safety input 2
Servo OFF command
STO status
Servo ON
Normal status
No power supply
Motor power
is supplied.
Response time = 6 ms max.
EDM output
Dynamic
brake relay
OFF
ON
DB released/engaged *2
DB released/engaged *3
Alarm occurrence status
Servo OFF
READY
Servo ready completed
output (READY)
Reset
Alarm reset
input (RESET) *1
7
Alarm output
(ALM)
Safety Function
Brake interlock
output (BKIR)
Follow the normal
servo ON/OFF
operation timing
diagram upon input
of the operation
command (RUN).
For details, refer to
"6-6 Brake
Interlock."
Normal
Alarm
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)
Servo Drive
Safety output 1
SF1+
Safety input
SF1−
M
Safety output 2
SF2+
SF2−
0V
Test output
EDM+
Safety input
EDM−
EDM input EDM output
7
Safety Function
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
8-2
8-3
8-4
8-5
8-6
8-7
Basic Parameters..........................................................8-1
Gain Parameters ...........................................................8-9
Vibration Suppression Parameters...........................8-20
Analog Control Parameters .......................................8-25
Interface Monitor Setting Parameters.......................8-37
Extended Parameters .................................................8-47
Special Parameters.....................................................8-60
8
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
8-1 Basic Parameters
Pn000
Rotation Direction Switching
Setting
range
0 or 1
All
Unit
−
Default
setting
1
Power OFF
and ON
Yes
Explanation of Set Values
This object switches the motor rotation direction for a position, speed, or torque command.
Set
value
Description
0
A forward direction command sets the motor rotation direction to CW.
1
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.
Parameter Details
8
8-1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Pn001
Control Mode Selection
Setting
range
0 to 6
All
Default
setting
−
Unit
0
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
Description
0
Position control (pulse train command)
1
Speed control (analog command)
2
Torque control (analog command)
3
Mode 1: Position control, Mode 2: Speed control
4
Mode 1: Position control, Mode 2: Torque control
5
Mode 1: Speed control, Mode 2: Torque control
6
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.
Control mode
switching input
Open
Close
Open
1
2
1
8
10 ms or more
Realtime Autotuning Mode Selection
Setting
range
0 to 6
Unit
All
Default
setting
−
1
Power OFF
and ON
−
Explanation of Set Values
Set
value
Description
0
Disabled
1
This mode focuses on stability.
2
This mode focuses on positioning.
3
Used when an unbalanced load is present such as a vertical axis.
4
Used when friction is large (unbalanced load also calculated).
5
Used only for estimating load characteristics.
6
Used when customizing Realtime Autotuning Mode.
 Refer to "10-2 Realtime Autotuning" (P.10-3) for details on the settings
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2
Parameter Details
Pn002
10 ms or more
8-1 Basic Parameters
Pn003
Realtime Autotuning Machine Rigidity Setting
Setting
range
0 to 31
Unit
All
Default
setting
−
13 *
Power OFF
and ON
−
 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 ←Machine rigidity→ High
Pn003
Low ←Servo gain→ High
0.1 - - - - - - - - - - - - - - - 31
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.
Pn004
Inertia Ratio
Setting
range
0 to 10,000
Unit
Default
setting
%
250
Power OFF
and ON
−
 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.
8
Parameter Details
All
Pn005
Command Pulse Input Selection
Setting
range
0 or 1
Unit
Position Fully-closed
Default
setting
−
0
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
Description
0
Photocoupler input (+PULS: CN1 pin 3, -PULS: CN1 pin 4, +SIGN: CN1 pin 5, -SIGN: CN1
pin 6)
1
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).
Pn006
Command Pulse Rotation Direction Switching Selection
Setting
range
0 or 1
8-3
Unit
−
Position Fully-closed
Default
setting
0
Power OFF
and ON
Yes
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Explanation of Set Values
Set
value
Description
0
The motor rotates in the direction specified by the command
pulse.
1
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.
Pn007
Command Pulse Mode Selection
Setting
range
0 to 3
Unit
Position Fully-closed
Default
setting
−
Power OFF
and ON
1
Yes
 Set the count method for the command pulse input.
Command
Pulse
Rotation
Direction
Switching
Selection
(Pn006)
Command
Pulse Mode
Setting
(Pn007)
Command
pulse mode
0 or 2
90° phase
difference
(phases A and
B) signal
inputs
Motor forward
command
Phase
A
Motor reverse
command
t1
t1
t1
t1
t1
t1
t1
t1
Phase
B
8
Line driver: t1 ≥ 2 μs Open collector: t1 ≥ 5 μs
Parameter Details
t2
t3
t2
0
1
Reverse pulse/
forward pulse
t2
t2
Line driver: t2 ≥ 1 μs Open collector: t2 ≥ 2.5 μs
t5
t5
t4
t4
3
Feed pulse/
direction signal
t6
H
t6
t6
L
t6
Line driver: t2 ≥ 1 μs Open collector: t2 ≥ 2.5 μs
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4
8-1 Basic Parameters
Command
Pulse
Rotation
Direction
Switching
Selection
(Pn006)
Command
Pulse Mode
Setting
(Pn007)
Command
pulse mode
0 or 2
90° phase
difference
(phases A and
B) signal
inputs
Motor forward
command
Phase
A
t1
Motor reverse
command
t1
t1
t1
t1
t1
t1
t1
Phase
B
Line driver: t1 ≥ 2 μs Open collector: t1 ≥ 5 μs
t2
t2
1
1
Reverse pulse/
forward pulse
t3
t2
t2
Line driver: t2 ≥ 1 μs Open collector: t2 ≥ 2.5 μs
t5
t5
t4
t4
3
Feed pulse/
direction signal
8
t6
L
t6
t6
t6
H
Line driver: t2 ≥ 1 μs Open collector: t2 ≥ 2.5 μs
 Set the form of the pulse inputs sent as command to the drive from a Position Controller.
Parameter Details
 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).
Pn008
Electronic Gear Integer Setting
Setting
range
0 to 220
Unit
Position Fully-closed
pulse
Default
setting
10000
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.
Pn009
Setting
range
8-5
Position
Electronic Gear Ratio Numerator 1
0 to 230
Unit
−
Default
setting
0
Power OFF
and ON
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-1 Basic Parameters
Pn010
Electronic Gear Ratio Denominator
Setting
range
1 to 230
Position
Default
setting
−
Unit
10000
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
Numerator 1 (Pn009)
*1 Numerator 2 (Pn500)
*1 Numerator 3 (Pn501)
*1 Numerator 4 (Pn502)
Internal
+
command
F
−
To error
counter
Denominator (Pn010)
Feedback
counts
(resolution)
220 count/rev
or
217 count/rev
*1. Numerator 2 to 4 is selected using the electronic gear switching (GESEL1 and GESEL2).
GESEL1
GESEL2
Selected numerator
OFF
Electronic Gear Ratio Numerator 1
ON
OFF
Electronic Gear Ratio Numerator 2
OFF
ON
Electronic Gear Ratio Numerator 3
ON
ON
Electronic Gear Ratio Numerator 4
8
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.
Pn011
Encoder Dividing Numerator
Setting
range
1 to 262,144
All
Unit
P/r
Default
setting
2500
Power OFF
and ON
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)
→ Output pulse
Encoder resolution
Pn012
Encoder Output Direction Switching Selection
Setting
range
0 to 3
Unit
−
All
Default
setting
0
Power OFF
and ON
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
Parameter Details
OFF
8-1 Basic Parameters
Explanation of Set Values
Pn012 set
value
0
Output
source
Phase B
logic
Encoder
2
External
encoder
1
Encoder
Nonreverse
Reverse
External
encoder
3
Pn013
No. 1 Torque Limit
Setting
range
0 to 500
CCW direction operation
CW direction operation
Phase
A
Phase
A
Phase
B
Phase
B
Phase
A
Phase
A
Phase
B
Phase
B
All
Unit
Default
setting
%
Power OFF
and ON
500
−
 Set the No. 1 limit value for the output torque of the motor.
Pn014
Error Counter Overflow Level
Setting
range
0 to 227
Unit
Position Fully-closed
Command unit
Default
setting
100000
Power OFF
and ON
−
 Set the range of the error counter overflow level.
Pn015
Operation Switch when Using Absolute Encoder
Setting
range
0 to 2
Parameter Details
8
Unit
−
Position Fully-closed
Default
setting
1
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
Description
0
Use as absolute encoder.
1
Use as incremental encoder.
2
Use as absolute encoder but ignore multi-rotation counter overflow.
 Set the operating method for the 17-bit absolute encoder.
Pn016
Regeneration Resistor Selection
Setting
range
0 to 3
Unit
All
−
Default
setting
3*
Power OFF
and ON
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
Explanation of Set Values
Set
value
Description
0
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).
1
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%.
2
Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, but regeneration overload (Alarm No. 18) will
not occur.
3
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.
Pn017
External Regeneration Resistor Setting
Setting
range
0 to 4
Unit
All
Default
setting
−
0
Power OFF
and ON
Yes
8
Explanation of Set Values
Description
0
Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor
is 10%.
1
Reserved
2
Reserved
3
Reserved
4
Reserved
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-8
Parameter Details
Set
value
8-2 Gain Parameters
8-2 Gain Parameters
Pn100
Position Loop Gain
Setting
range
0 to 30,000
Position Fully-closed
Unit
Default
setting
0.1/s
480 *
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:
Position loop gain (Kp) =
Command pulse frequency (pulses/s)
Error counter accumulated pulse (pulse)
(0.1/s)
Response when the position loop gain is operated
8
Position loop gain is high.
Parameter Details
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.
2
Kp
Motor speed Position
command
Motor operation
Time
3
Kp
8-9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
Pn101
Speed Loop Gain
Setting
range
1 to 32,767
All
Unit
0.1 Hz
Default
setting
270 *
Power OFF
and ON
−
 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.
Overshooting occurs if the speed loop gain is high.
(Vibration occurs if the gain is too high.)
Motor speed
Speed loop gain is low.
Time
Pn102
Speed Loop Integral Time Constant
Setting
range
1 to 10,000
Unit
All
0.1 ms
Default
setting
210 *
Power OFF
and ON
−
8
 The default setting is 310 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
When the speed loop integral time constant is changed, the response is as shown in the
following diagram.
Overshooting occurs if the speed loop integral
Motor speed
time constant is small.
Speed loop integral
time constant is large.
Time
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-10
Parameter Details
 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.
8-2 Gain Parameters
Pn103
Speed Feedback Filter Time Constant
Setting
range
0 to 5
Unit
−
All
Default
setting
Power OFF
and ON
0
−
 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.
Pn104
Setting
range
Torque Command Filter Time Constant
0 to 2,500
Unit
0.01 ms
All
Default
setting
Power OFF
and ON
84 *
−
 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.
Pn105
Position Loop Gain 2
Setting
range
1 to 30,000
Position Fully-closed
Unit
0.1/s
Default
setting
570 *
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.
Pn106
Speed Loop Gain 2
Setting
range
1 to 32,767
Unit
0.1 Hz
Default
setting
1*
Power OFF
and ON
−
 The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo Drives.
8
Parameter Details
All
Set the responsiveness of the second speed loop.
Pn107
Speed Loop Integral Time Constant 2
Setting
range
1 to 10,000
Unit
0.1 ms
All
Default
setting
10000
Power OFF
and ON
0
Power OFF
and ON
−
 Set the second speed loop integral time constant.
Pn108
Setting
range
Speed Feedback Filter Time Constant 2
0 to 5
Unit
−
All
Default
setting
−
 Set the second speed feedback filter.
Pn109
Torque Command Filter Time Constant 2
Setting
range
0 to 2,500
Unit
0.01 ms
All
Default
setting
84 *
Power OFF
and ON
−
 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
Speed Feed-forward Amount
Setting
range
0 to 1,000
Unit
Position Fully-closed
Default
setting
0.1%
300
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.
Pn111
Speed Feed-forward Command Filter
Setting
range
0 to 6,400
Unit
Position Fully-closed
Default
setting
0.01 ms
50
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.
Pn112
Torque Feed-forward Amount
Setting
range
0 to 1,000
Unit
Position Speed Fully-closed
Default
setting
0.1%
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.
Pn113
Torque Feed-forward Command Filter
Setting
range
0 to 6,400
Unit
Position Speed Fully-closed
Default
setting
0.01 ms
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
Setting
range
0 or 1
Unit
All
Default
setting
−
1
Power OFF
and ON
−
Explanation of Set Values
Set
value
Description
0
Gain 1 (PI/P switching enabled)
1
Gain 1/gain 2 switching available
 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
Speed loop operation
GSEL OFF
PI operation
GSEL ON
P operation
 For information on switching conditions between gain 1 and gain 2, refer to "6-7 Gain Switching
Function" (P.6-24).
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
Parameter Details
Pn114
8
8-2 Gain Parameters
Pn115
Switching Mode in Position Control
Setting
range
0 to 10
Unit
Position Fully-closed
Default
setting
−
Power OFF
and ON
0
−
Explanation of Settings
(√: Enabled, −: Disabled)
Explanation
Set
value
Parameter Details
8
Gain switching conditions
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
0
Always Gain 1 (Pn100 to Pn104)
−
−
−
1
Always Gain 2 (Pn105 to Pn109)
−
−
−
2
Switching using gain switching
input (GSEL) for CN1 pin 27
−
−
−
3
Torque command variation (Refer
to Figure A)
√
√ *3
(× 0.05%)
√ *3
(× 0.05%)
4
Always Gain 1 (Pn100 to Pn104)
−
−
−
5
Command speed (Refer to Figure
B)
√
√ (r/min)
√ (r/min)
6
Amount of position error (Refer to
Figure C)
√
√ *4 (pulse)
√ *4 (pulse)
7
Command pulses received (Refer
to Figure D)
√
−
−
8
Positioning completion signal (INP)
OFF (Refer to Figure E)
√
−
−
9
Actual motor speed (Refer to
Figure B)
√
√ (r/min)
√ (r/min)
10
Combination of command pulse
√
input and speed (Refer to Figure F)
√ *5 (r/min)
√ *5 (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
Accumulated pulses
H
L
Level
Torque T
Time
Gain 1
Gain 2
1
ΔT
H
L
Level
L
H
Figure D
Command
speed S
Time
1
2
2
Gain 1
2
1
2
1
Time
Gain 1
Gain 2
1
1
Figure B
Speed V
H
L
Level
Figure E
Actual
speed N
Time
Gain 1
Gain 2
Gain 1
INP
8
Time
Gain 1
Gain 2
1
Parameter Details
Figure F
Command speed S
Actual speed N
H Level
L
Time
Gain 1
Gain 2
Gain 1
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn116
Gain Switching Delay Time in Position Control
Setting
range
0 to 10,000
Unit
0.1 ms
Position Fully-closed
Default
setting
50
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
Pn117
Gain Switching Level in Position Control
Setting
range
0 to 20,000
Unit
Position Fully-closed
Default
setting
−
50
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).
Pn118
Gain Switching Hysteresis in Position Control
Setting
range
0 to 20,000
Unit
Position Fully-closed
Default
setting
−
33
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).
Pn119
Position Gain Switching Time
Setting
range
0 to 10,000
Parameter Details
8
Unit
Position Fully-closed
Default
setting
0.1 ms
33
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
Position Gain
Switching Time [ms]
(Pn119)
Pn100
Results of switching
8-15
Gain in
Pn100
Gain in Pn105
Gain in
Pn100
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-2 Gain Parameters
Pn120
Switching Mode in Speed Control
Setting
range
0 to 5
Unit
Speed
Default
setting
−
Power OFF
and ON
0
−
Explanation of Settings
(√: Enabled, −: Disabled)
Explanation
Set
value
Gain switching conditions
Gain
Switching
Delay Time in
Speed Control
(Pn121) *1
Gain
Switching
Level in Speed
Control
(Pn122)
Gain Switching
Hysteresis in
Speed Control
(Pn123) *2
0
Always the Gain 1 (Pn100 to Pn104)
−
−
−
1
Always the Gain 2 (Pn105 to Pn109)
−
−
−
2
Switching using gain switching input
(GSEL) for CN1 pin 27
−
−
−
3
Torque command variation (Refer to
Figure A)
√
√ *3
(0.05%)
√ *3
(0.05%)
4
Speed command variation (Refer to
Figure B)
√
√ *4
(10 r/min/s)
√ *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.
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
Parameter Details
*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
8-2 Gain Parameters
Figure A
Figure B
Speed V
H
L
Level
Speed V
Time
Gain 1
Gain 2
Gain 1
Torque T
Figure C
Speed V
ΔT
H
L
Level
Accumulated pulse
L
H
H
L
Level
Time
1
2
2
Gain 1
1
2
2
1
Time
1
Gain 1
Gain 2
1
Figure D
Command speed S
Actual speed N
H Level
L
Time
Gain 1
8
Gain 2
Gain 1
Parameter Details
Gain 2 only for the speed loop integral time constant
Gain 1 for all others
Pn121
Gain Switching Delay Time in Speed Control
Setting
range
0 to 10,000
Unit
0.1 ms
Speed
Default
setting
0
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.
Pn122
Gain Switching Level in Speed Control
Setting
range
0 to 20,000
Unit
−
Speed
Default
setting
0
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
Gain Switching Hysteresis in Speed Control
Setting
range
0 to 20,000
Unit
Speed
Default
setting
−
0
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).
Pn122
Pn123
0
Gain 2
Gain 1
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).
Pn124
Switching Mode in Torque Control
Setting
range
0 to 3
Unit
Torque
Default
setting
−
0
Power OFF
and ON
−
Explanation of Settings
Explanation
Gain switching conditions
Gain
Gain
Switching
Switching
Delay Time in
Level in
Torque Control Torque Control
(Pn125) *1
(Pn126)
Gain Switching
Hysteresis in
Torque Control
(Pn127) *2
8
Parameter Details
Set
value
0
Always Gain 1 (Pn100 to Pn104)
−
−
−
1
Always Gain 2 (Pn105 to Pn109)
−
−
−
2
Switching using gain switching input
(GSEL) for CN1 pin 27
−
−
−
3
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.
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
Figure A
Speed V
Torque T
ΔT
H
L
Level
L
H
Time
1
2
2
Gain 1
2
1
Pn125
Gain Switching Delay Time in Torque Control
Setting
range
0 to 10,000
Unit
2
1
1
0.1 ms
Torque
Default
setting
0
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.
Parameter Details
8
Pn126
Gain Switching Level in Torque Control
Setting
range
0 to 20,000
Unit
Torque
Default
setting
−
0
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).
Pn127
Gain Switching Hysteresis in Torque Control
Setting
range
0 to 20,000
Unit
Torque
Default
setting
−
0
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
Position Speed Fully-closed
Adaptive Filter Selection
0 to 4
Unit
Default
setting
−
0
Power OFF
and ON
−
Explanation of Set Values
Set value
Description
0
Disabled. The current values are held for the parameters related to notch filters 3 and 4.
1
One adaptive filter is enabled. The parameter related to notch filter 3 is updated based on the
applicable result.
2
Two adaptive filter is enabled. The parameters related to notch filters 3 and 4 are updated
based on the applicable result.
3
The resonance frequency is measured. The measurement result can be checked using CXDrive. The current values are held for the parameters related to notch filters 3 and 4.
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.
Pn201
Notch 1 Frequency Setting
Setting
range
50 to 5,000
All
Unit
Hz
Default
setting
5000
Power OFF
and ON
−
 Set the frequency of resonance suppression notch filter 1.
 The notch filter function will be disabled if this parameter is set to 5,000.
Notch 1 Width Setting
Setting
range
0 to 20
All
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.
Pn203
Notch 1 Depth Setting
Setting
range
0 to 99
All
Unit
−
Default
setting
0
Power OFF
and ON
−
 Set the notch depth of resonance suppression notch filter 1.
 Increasing the set value shortens the notch depth and the phase lag.
Pn204
Notch 2 Frequency Setting
Setting
range
50 to 5,000
All
Unit
Hz
Default
setting
5000
Power OFF
and ON
−
 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.
Pn205
Notch 2 Width Setting
Setting
range
0 to 20
All
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-20
Parameter Details
Pn202
8
8-3 Vibration Suppression Parameters
Pn206
Notch 2 Depth Setting
Setting
range
0 to 99
All
Unit
−
Default
setting
0
Power OFF
and ON
−
 Set the notch depth of resonance suppression notch filter 2.
 Increasing the set value shortens the notch depth and the phase lag.
Pn207
Notch 3 Frequency Setting
Setting
range
50 to 5,000
All
Unit
Hz
Default
setting
5000
Power OFF
and ON
−
 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.
Pn208
Notch 3 Width Setting
Setting
range
0 to 20
All
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.
Pn209
Notch 3 Depth Setting
Setting
range
0 to 99
All
Unit
−
Default
setting
0
Power OFF
and ON
−
 Set the notch depth of resonance suppression notch filter 3.
 Increasing the set value shortens the notch depth and the phase lag.
Parameter Details
8
Pn210
Notch 4 Frequency Setting
Setting
range
50 to 5,000
All
Unit
Hz
Default
setting
5000
Power OFF
and ON
−
 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.
Pn211
Notch 4 Width Setting
Setting
range
0 to 20
All
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.
Pn212
Notch 4 Depth Setting
Setting
range
0 to 99
All
Unit
−
Default
setting
0
Power OFF
and ON
−
 Set the notch depth of resonance suppression notch filter 4.
 Increasing the set value shortens the notch depth and the phase lag.
Pn213
Setting
range
8-21
Position
Damping Filter Selection
0 to 3
Unit
−
Default
setting
0
Power OFF
and ON
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-3 Vibration Suppression Parameters
Explanation of Set Values
Set
value
Description
0
Damping filter 1 and 2 enabled
1
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
2
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
3
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
Damping Frequency 1
Setting
range
0 to 2,000
Position
Unit
0.1 Hz
Default
setting
0
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.
Pn215
Damping Filter 1 Setting
Setting
range
0 to 1,000
Position
Unit
0.1 Hz
Default
setting
0
Power OFF
and ON
Damping Frequency 2
Setting
range
0 to 2,000
Position
Unit
0.1 Hz
Default
setting
0
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.
Pn217
Damping Filter 2 Setting
Setting
range
0 to 1,000
Position
Unit
0.1 Hz
Default
setting
0
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
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-22
Parameter Details
 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.
Pn216
8
−
8-3 Vibration Suppression Parameters
Refer to "6-1 Damping Control" (P.6-1) for more information on settings.
Pn218
Damping Frequency 3
Setting
range
0 to 2,000
Position
Unit
0.1 Hz
Default
setting
0
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.
Pn219
Damping Filter 3 Setting
Setting
range
0 to 1,000
Position
Unit
0.1 Hz
Default
setting
0
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.
Pn220
Damping Frequency 4
Setting
range
0 to 2,000
Unit
0.1 Hz
Default
setting
0
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.
8
Parameter Details
Position
Pn221
Damping Filter 4 Setting
Setting
range
0 to 1,000
Position
Unit
0.1 Hz
Default
setting
0
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.
Pn222
Position Command Filter Time Constant
Setting
range
0 to 10,000
Unit
0.1 ms
Position Fully-closed
Default
setting
0
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
8-3 Vibration Suppression Parameters
Position command after
the smoothing filter process
Input position command
Speed
Target speed Vc
Vc×0.632*1
Vc×0.368*1
Time
tf
tf
tf = (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.
Pn223
Smoothing Filter Time Constant
Setting
range
0 to 10,000
Unit
Position Fully-closed
Default
setting
0.1 ms
0
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
8
Position command after the FIR filter process
Parameter Details
Speed
tf
tf
tf = (Pn223×0.1 ms)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-24
8-4 Analog Control Parameters
8-4 Analog Control Parameters
Pn300
Command Speed Selection
Setting
range
0 to 3
Speed
Unit
−
Default
setting
0
Power OFF
and ON
−
Explanation of Set Values
Set value
Description
0
Analog speed command
1
No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn304 to Pn307)
2
No. 1 Internally Set Speed to No. 3 Internally Set Speed (Pn304 to Pn306), analog speed command
3
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).
Pn301
Setting
range
Speed
Speed Command Direction Selection
0 or 1
Unit
−
Default
setting
0
Power OFF
and ON
−
Explanation of Set Values
Set value
8
Description
0
Use the sign of the speed command: Example: +: Forward, −: Reverse
1
Use the speed command sign selection (VSIGN); Example: OFF: Forward, ON: Reverse
Parameter Details
 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)
Analog
Speed
Speed
Command Command
Direction
Rotation
Selection Direction
(Pn301)
Switching
(Pn303)
Speed
command
sign
selection
(VSIGN)
Analog speed
command
(REF)
Speed
command
direction*1
+ Voltage (0 to 10 V)
Forward
direction
- Voltage (-10 to 0 V)
Reverse
direction
0
Conversion
graph
Figure A
0
Not affected
+ Voltage (0 to 10 V)
Reverse
direction
- Voltage (-10 to 0 V)
Forward
direction
1
0
Figure B
+ Voltage (0 to 10 V)
Not
affected
1
OFF
Forward
direction
ON
Reverse
direction
- Voltage (-10 to 0 V)
Figure C
+ Voltage (0 to 10 V)
- Voltage (-10 to 0 V)
*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
Speed command
−10
Speed command
10
Input voltage
VSIGN
10
Input voltage
−10
OFF
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Figure C
10
Input voltage
VSIGN
ON
8-26
Parameter Details
−10
8-4 Analog Control Parameters
Pn302
Speed Command Scale
Setting
range
10 to 2,000
Speed Torque
Unit
Default
setting
(r/min)/V
500
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
Pn303
Analog Speed Command Rotation Direction Switching
Setting
range
0 or 1
Unit
−
Speed
Default
setting
1
Power OFF
and ON
−
Explanation of Set Values
Set value
Description
0
Rotation direction is changed by analog speed command (REF) voltage.
+Voltage: Forward direction
-Voltage: Reverse direction
1
Rotation direction is changed by analog speed command voltage.
+Voltage: Reverse direction
-Voltage: Forward direction
Pn304
No. 1 Internally Set Speed
Setting
range
−20,000 to 20,000
Pn305
No. 2 Internally Set Speed
Setting
range
−20,000 to 20,000
Pn306
No. 3 Internally Set Speed
Setting
range
−20,000 to 20,000
Pn307
No. 4 Internally Set Speed
Setting
range
−20,000 to 20,000
Pn308
No. 5 Internally Set Speed
Setting
range
−20,000 to 20,000
Pn309
No. 6 Internally Set Speed
Setting
range
−20,000 to 20,000
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
Parameter Details
8
8-27
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn310
No. 7 Internally Set Speed
Setting
range
−20,000 to 20,000
Pn311
No. 8 Internally Set Speed
Setting
range
−20,000 to 20,000
Speed
Unit
r/min
Default
setting
0
Power OFF
and ON
−
Speed
Unit
r/min
Default
setting
0
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).
Pn312
Soft Start Acceleration Time
Setting
range
0 to 10,000
Speed
Unit
ms/(1,000 r/min)
Default
setting
0
Power OFF
and ON
−
8
Parameter Details
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-28
8-4 Analog Control Parameters
Pn313
Soft Start Deceleration Time
Setting
range
0 to 10,000
Speed
Unit
ms/(1,000 r/min)
Default
setting
0
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
Acceleration Time
Pn314
Setting
range
Deceleration time
Speed
S-curve Acceleration/Deceleration Time Setting
0 to 1,000
Unit
Default
setting
ms
0
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.
Speed
8
Parameter Details
ts
ts
ta
ts
ts
td
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
8-29
ta
td
> ts, and
> ts
2
2
as settings.
Use
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn315
Zero Speed Designation Selection
Setting
range
0 to 3
Unit
Speed Torque
Default
setting
−
0
Power OFF
and ON
−
Explanation of Set Values
Set
value
Description
0
Zero speed designation function is disabled.
1
Speed command becomes 0 upon zero speed designation input. (Refer to Figure A)
2
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)
3
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
Speed Command Acceleration/
Deceleration Setting
(Pn312, Pn313, Pn314)
Zero speed designation input
ON
OFF
ON
8
Speed control
 When the zero speed designation input is turned ON, the speed command is forcibly set to 0.
Actual motor speed
Figure B
Pn316
Speed command
Speed Command Acceleration/
Deceleration Setting
(Pn312, Pn313, Pn314)
Zero speed designation input
ON
Position control
OFF
Speed control
ON
Position control
 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
Parameter Details
 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).
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
Pn316
Speed command
Zero speed designation input
ON
Position control
Speed control
Position control
 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
Setting
range
10 to 20,000
Speed Torque
Unit
r/min
Default
setting
30
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.
Parameter Details
8
Pn316
Forward operation
Speed
(Pn316)r/min
(Pn316)r/min
Reverse operation
Speed
control
Speed
control
Servo lock
Pn317
Torque Command/Speed Limit Selection
Setting
range
0 to 2
8-31
Unit
−
Torque
Default
setting
0
Power OFF
and ON
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Explanation of Set Values
Set
value
Torque command
Speed limit
0
Analog input 1 (TREF1)
Pn321
1
Analog input 2 (TREF2)
Analog input 1 (VLIM)
2
Analog input 1 (TREF1)
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
-10
-5
5
10
Input voltage [V]
Pn318
Torque Command Direction Selection
Setting
range
0 or 1
Unit
Torque
Default
setting
−
0
Power OFF
and ON
−
Parameter Details
Explanation of Set Values
Set
value
Description
0
The direction is specified by the sign of the torque command
1
The direction is specified by the torque command sign input (TSIGN)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8
8-32
8-4 Analog Control Parameters
Torque
Command
/ Speed
Limit
Selection
(Pn317)
Analog
Torque
Command
Rotation
Direction
Switching
(Pn320)
Torque
Command
Direction
Selection
(Pn318)
Analog torque
command
(TREF)
Torque
command
sign
selection
(TSIGN)
Torque
command
direction*1
+Voltage (0 to 10 V)
Forward
direction
-Voltage (-10 to 0 V)
Reverse
direction
0
Figure A
Not
affected
0
0
+Voltage (0 to 10 V)
Reverse
direction
-Voltage (-10 to 0 V)
Forward
direction
1
1
Conversion
graph
Figure B
Not affected
OFF
Forward
direction
ON
Reverse
direction
Not affected
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
8
−10
−10
Parameter Details
10
Input voltage
Torque command
−10
8-33
Torque command
10
Input voltage
TSIGN OFF
10
Input voltage
−10
Figure C
10
Input voltage
TSIGN ON
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Pn319
Setting
range
Torque
Torque Command Scale
10 to 100
Unit
Default
setting
0.1 V/100%
30
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
Analog Torque Command Rotation Direction Switching
Setting
range
0 to 1
Unit
Torque
Default
setting
−
0
Power OFF
and ON
−
Explanation of Set Values
Set
value
Description
0
Direction of motor torque: The +command indicates the forward direction as viewed from the shaft end.
1
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).
Pn321
Speed Limit Value Setting
Setting
range
0 to 20,000
Pn322
Reverse Direction Speed Limit Value Setting
Setting
range
Torque
Unit
0 to 20,000
Unit
Default
setting
r/min
0
Power OFF
and ON
0
Power OFF
and ON
−
Torque
Default
setting
r/min
−
0
2
Speed
Limit
Value
Setting
(Pn321)
Reverse
Direction
Speed Limit
Value Setting
(Pn322)
0 to 20,000 Not affected
Zero Speed
Designation
Selection
(Pn315)
Zero speed
clamp
0
Not affected
1 to 3
OFF
ON
Not affected
0 to 20,000 1 to 20,000
1 to 3
OFF
0 to 20,000 1 to 20,000
1 to 3
ON
Setting
range
0 to 2
Unit
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Pn321 set value
0
0
External Feedback Pulse Type Selection
Speed limit
value
Pn321 set value
Not affected
0 to 20,000 0 to 20,000
Pn323
Analog torque
command
direction
Forward direction Pn321 set value
Reverse direction
Pn322 set value
Forward direction Pn321 set value
Reverse direction
Pn322 set value
Not affected
0
Fully-closed
Default
setting
0
Power OFF
and ON
Yes
8-34
Parameter Details
 Corresponding speed limit values during torque control is shown in the table below.
Torque
Command/
Speed Limit
Selection
(Pn317)
8
8-4 Analog Control Parameters
Explanation of Set Values
Set value
Description
0
90° phase difference output type *1
1
Incremental encoder with serial communications
2
Reserved (Do not use this setting.)
*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
t1
Count-up direction
t1
EXA
EXA
EXB
EXB
t2
EXB is 90° behind EXA.
t1 > 0.25 μs
t2 > 1.0 μs
EXB is 90° ahead of EXA.
t1 > 0.25 μs
t2 > 1.0 μs
 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.
8
Parameter Details
t2
Pn324
External Feedback Pulse Dividing Numerator
Setting
range
0 to 220
Pn325
External Feedback Pulse Dividing Denominator
Setting
range
1 to 220
Unit
Unit
−
−
Fully-closed
Default
setting
0
Power OFF
and ON
Yes
Fully-closed
Default
setting
10000
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
Encoder resolution per motor rotation [pulses]
=
Pn325 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.
Pn326
External Feedback Pulse Direction Switching
Setting
range
0 or 1
8-35
Unit
−
Fully-closed
Default
setting
0
Power OFF
and ON
Yes
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-4 Analog Control Parameters
Explanation of Set Values
Set
value
Description
0
External encoder feedback pulse count direction not reversed
1
External encoder feedback pulse count direction reversed
Pn327
External Feedback Pulse Phase-Z Setting
Setting
range
0 or 1
Unit
Fully-closed
Default
setting
−
0
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
Set
value
Description
0
Phase-Z disconnection detection enabled
1
Phase-Z disconnection detection disabled
Pn328
Internal/External Feedback Pulse Error Counter Overflow Level
Setting
range
1 to 227
Unit
Command unit
Default
setting
Fully-closed
16000
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
Setting
range
0 to 100
Unit
Fully-closed
Default
setting
Rotation
0
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
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
Parameter Details
Pn329
8
8-5 Interface Monitor Setting Parameters
8-5 Interface Monitor Setting Parameters
Pn400
Input Signal Selection 1
Setting range 0 to 00FFFFFFh
Pn401
8
Parameter Details
Unit
−
Default setting 394758
All
Unit
−
Default setting 4108
Power OFF and ON Yes
Unit
−
Default setting 197379
Power OFF and ON Yes
All
All
Unit
−
Default setting 3847
Power OFF and ON Yes
Unit
−
Default setting 263172
Power OFF and ON Yes
All
All
Unit
−
Default setting 328965
Power OFF and ON Yes
Unit
−
Default setting 3720
Power OFF and ON Yes
All
All
Unit
−
Default setting 197379
Power OFF and ON Yes
Unit
−
Default setting 131586
Power OFF and ON Yes
All
All
Unit
−
Default setting -
Output Signal Selection 4
Setting range 0 to 00FFFFFFh
Power OFF and ON Yes
All
Not used
Setting range −
Pn413
Default setting 9539850 Power OFF and ON Yes
Output Signal Selection 2
Setting range 0 to 00FFFFFFh
Pn412
−
Output Signal Selection 1
Setting range 0 to 00FFFFFFh
Pn411
Unit
Input Signal Selection 10
Setting range 0 to 00FFFFFFh
Pn410
All
Input Signal Selection 9
Setting range 0 to 00FFFFFFh
Pn409
All
Input Signal Selection 8
Setting range 0 to 00FFFFFFh
Pn408
Default setting 8487297 Power OFF and ON Yes
Input Signal Selection 7
Setting range 0 to 00FFFFFFh
Pn407
−
Input Signal Selection 6
Setting range 0 to 00FFFFFFh
Pn406
Unit
Input Signal Selection 5
Setting range 0 to 00FFFFFFh
Pn405
Default setting 8553090 Power OFF and ON Yes
Input Signal Selection 4
Setting range 0 to 00FFFFFFh
Pn404
−
Input Signal Selection 3
Setting range 0 to 00FFFFFFh
Pn403
Unit
Input Signal Selection 2
Setting range 0 to 00FFFFFFh
Pn402
All
Power OFF and ON −
All
Unit
−
Default setting 328964
Power OFF and ON Yes
Refer to "6-9 Sequence I/O Signal" (P.6-35)for more information on settings.
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
All
Unit
−
Power OFF and ON −
Default setting 0
Explanation of Set Values
Explanation
Set
value
Monitor type
Output gain when
Pn417 = 0
Unit
Motor speed
r/min
500
1
Position command speed * 3
r/min
500
2
Internal position command speed * 3 r/min
500
3
Speed control command
r/min
500
4
Torque command
% (rated torque ratio)
33
5
Position command error * 4
pulse (command units)
3,000
6
Encoder position error * 4
pulse (encoder units)
3,000
7
Fully-closed error * 4
pulse (external encoder
units)
3,000
8
Hybrid Error
pulse (command units)
3,000
9
P-N voltage
V
80
10
Regeneration load ratio
%
33
11
Overload load ratio
%
33
12
Forward direction torque limit
% (rated torque ratio)
33
13
Reverse direction torque limit
% (rated torque ratio)
33
14
Speed limit value
r/min
500
15
Inertia ratio
%
500
16
Analog input 1 * 2
V
1
17
Analog input 2 * 2
V
1
18
Analog input 3 * 2
V
1
19
Encoder temperature
°C
10
20
Drive temperature
°C
10
21
Encoder 1-rotation data * 1
pulse (encoder units)
110,000
8
Parameter Details
0
*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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-38
8-5 Interface Monitor Setting Parameters
Command pulse speed
[r/min]
Command
dividing multiplier
process
Command
pulse input
Internal command speed
[r/min]
+
Command
filter
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.
Encoder position error (encoder unit)
/feedback pulse error (external encoder unit)
Command
pulse input
+
−
Command
filter
+
Position control
−
Encoder feedback
/external encoder feedback
Command dividing
multiplier reverse
conversion
Position command error (command unit)
/command feedback pulse error (command unit)
8
Parameter Details
Command
dividing
multiplier
Pn417
Analog Monitor 1 Scale Setting
Setting
range
0 to 214,748,364
Unit
All
−
Default
setting
0
Power OFF
and ON
−
 Set output gain for analog monitor 1.
Pn418
Analog Monitor 2 Selection
Setting
range
0 to 21
All
Unit
−
Default
setting
4
Power OFF
and ON
−
 Select the type of analog monitor 2.
The set value for this parameter is same as Analog Monitor 1 Type (Pn416).
Pn419
Analog Monitor 2 Scale Setting
Setting
range
0 to 214,748,364
Unit
All
−
Default
setting
0
Power OFF
and ON
−
 Set the output gain for analog monitor 2.
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
All
Default
setting
−
0
Power OFF
and ON
−
 Select the analog monitor output voltage direction.
Set
value
Output range
Data output
Output voltage [V]
10 V
0
−10 to 10 V
0V
−5,000
Motor
speed
5,000 [r/min]
−10 V
Output voltage [V]
10 V
1
Motor
speed
0 to 10 V
−5,000 0 V
5,000 [r/min]
−10 V
8
Output voltage [V]
10 V
Motor
speed
0V
0 2,500 [r/min]
−2,500
0 to 10 V
−10 V
 When monitor type is motor speed and gain of conversion is 500 (1 V = 500 r/min)
Pn422
Setting
range
Analog Input 1 Offset
−5,578 to 5,578
All
Unit
0.359 mV
Default
setting
0
Power OFF
and ON
−
 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
Parameter Details
5V
2
8-5 Interface Monitor Setting Parameters
Pn423
Analog Input 1 Filter Time Constant
Setting
range
0 to 6,400
Unit
All
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).
Pn424
Excessive Analog Input 1
Setting
range
0 to 100
All
Unit
0.1 V
Default
setting
0
Power OFF
and ON
−
 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
All
Unit
5.86 mV
Default
setting
0
Power OFF
and ON
−
 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.
Parameter Details
8
 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
Analog Input 2 Filter Time Constant
Setting
range
0 to 6,400
Unit
All
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).
Pn427
Excessive Analog Input 2
Setting
range
0 to 100
All
Unit
0.1 V
Default
setting
0
Power OFF
and ON
−
 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
Analog Input 3 Offset
−342 to 342
All
Unit
5.86 mV
Default
setting
0
Power OFF
and ON
−
 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.
Pn429
Analog Input 3 Filter Time Constant
Setting
range
0 to 6,400
Unit
All
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).
Pn430
Excessive Analog Input 3
Setting
range
0 to 100
All
Unit
Default
setting
0.1 V
0
Power OFF
and ON
−
Pn431
Positioning Completion Range 1
Setting
range
0 to 262,144
Unit
Position Fully-closed
Command unit
Default
setting
10
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
INP
ON
Pn431
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-42
8
Parameter Details
 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.
8-5 Interface Monitor Setting Parameters
Pn432
Positioning Completion Condition Selection
Setting
range
0 to 3
Unit
−
Position Fully-closed
Default
setting
0
Power OFF
and ON
−
Explanation of Set Values
Set
value
Description
0
Positioning completion output (INP1) turns ON when the position error is within the
Positioning Completion Range 1 (Pn431).
1
Positioning completion output turns ON when the position error is within the Positioning
Completion Range 1 (Pn431) and there is no position command.
2
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.
3
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).
Pn433
Positioning Completion Hold Time
Setting
range
0 to 30,000
Parameter Details
8
Unit
Position Fully-closed
1 ms
Default
setting
0
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
Zero Speed Detection
Setting
range
10 to 20,000
All
Unit
r/min
Default
setting
50
Power OFF
and ON
−
 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
(Pn434−10)r/min
Reverse operation
OUTM1
8-43
ON
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn435
Speed Conformity Detection Range
Setting
range
10 to 20,000
Unit
Speed
Default
setting
r/min
50
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 command
Pn435
Speed Conformity Detection Range
A speed command after the acceleration
/deceleration processing
Speed [r/min]
Pn435
Speed Conformity
Detection Range
Motor speed
Time
Pn435
Speed Conformity Detection Range
Speed conformity
output
ON
OFF
ON
Pn436
Rotation Speed for Motor Rotation Detection
Setting
range
10 to 20,000
Unit
OFF
Speed
Default
setting
r/min
1000
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.
Motor speed
Pn436+10
Pn436−10
Time
− (Pn436−10)
− (Pn436+10)
Motor rotation speed
OFF
detection output
ON
OFF
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
ON
8-44
Parameter Details
Speed [r/min]
8
8-5 Interface Monitor Setting Parameters
Pn437
Setting
range
Brake Timing when Stopped
0 to 10,000
All
Unit
Default
setting
1 ms
0
Power OFF
and ON
−
 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)
Brake interlock
(BKIR)
Released
Actual brake
Released
Motor power
is supplied.
Held
tb
Power
supply
Held
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).
Parameter Details
8
Pn438
Brake Timing During Operation
Setting
range
0 to 10,000
Unit
All
Default
setting
1 ms
0
Power OFF
and ON
−
 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)
Brake interlock
(BKIR)
Released
Motor power
is supplied.
Power
supply
Motor speed
Held
TB
No power
supply
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).
8-45
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-5 Interface Monitor Setting Parameters
Pn439
Brake Release Speed Setting
Setting
range
30 to 3,000
Unit
All
Default
setting
r/min
30
Power OFF
and ON
−
Pn438 set value
Engaged (OFF)
Released (ON)
*1
t1
Motor rotation speed
Pn439 set value
When the motor
takes longer than
Pn438 ms to reach
Pn439 rpm
Pn438 set value
Released (ON)
Engaged (OFF)
*1
t1
Motor rotation speed
Pn439 set value
Pn440
Warning Output Selection 1
Setting
range
0 to 10
When the motor takes
less than Pn438 ms to
reach Pn439 rpm
All
Unit
Default
setting
−
0
Power OFF
and ON
−
Explanation of Set Values
Set
value
Description
An OR output of all alarm status
1
Overload warning
2
Excessive regeneration warning
3
Battery warning
4
Fan warning
5
Encoder communications warning
6
Encoder overheating warning
7
Vibration detection warning
8
Service life detection warning
9
External encoder error warning
10
External encoder communications error warning
8
Parameter Details
0
 Refer to "11-2 Warning List" (P.11-4) for more information on settings.
Pn441
Warning Output Selection 2
Setting
range
0 to 7
All
Unit
−
Default
setting
0
Power OFF
and ON
−
 The set values for this parameter are same as Warning Output Selection 1 (Pn440).
Pn442
Positioning Completion Range 2
Setting
range
0 to 262,144
Unit
Position Fully-closed
Command unit
Default
setting
10
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
8-6 Extended Parameters
8-6 Extended Parameters
Pn500
Electronic Gear Ratio Numerator 2
Setting
range
0 to 230
Pn501
Electronic Gear Ratio Numerator 3
Setting
range
0 to 230
Pn502
Electronic Gear Ratio Numerator 4
Setting
range
0 to 230
Pn503
Encoder Dividing Denominator
Setting
range
0 to 262,144
Unit
Unit
Unit
Unit
Position
Default
setting
−
0
Power OFF
and ON
−
Position
Default
setting
−
0
Power OFF
and ON
−
Position
Default
setting
−
0
Power OFF
and ON
−
All
Default
setting
−
0
Power OFF
and ON
Yes
 If encoder dividing denominator ≠ 0, division is performed at the rate according to the formula
below.
Encoder FB pulse →
Pn011
→ Output pulse
Pn503
8
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
Parameter Details
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 output source is the encoder and
the pulse dividing ratio is a multiple of 4. the pulse dividing ratio is not a multiple of 4.
A
A
B
B
Z
Z
Synchronous
8-47
Asynchronous
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Pn504
Drive Prohibition Input Selection
Setting
range
0 to 2
Unit
All
Default
setting
−
1
Power OFF
and ON
Yes
Explanation of Set Values
Set value
Description
0
Forward drive prohibition input and reverse drive prohibition input enabled.
1
Forward drive prohibition input and reverse drive prohibition input disabled.
2
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.
Pn505
Stop Selection for Drive Prohibition Input
Setting
range
0 to 2
Unit
All
Default
setting
−
0
Power OFF
and ON
Yes
Explanation of Set Values
Set value
Description
0
During deceleration: Dynamic brake operation
After stop: Torque command is 0 for drive prohibition direction
Error counter: Held
1
During deceleration: Torque command is 0 for drive prohibition direction
After stop: Torque command is 0 for drive prohibition direction
Error counter: Held
2
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-48
8
Parameter Details
 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.
8-6 Extended Parameters
The dynamic brake is designed only for emergency stopping. Design the system to stop within
about ten minutes after the dynamic brake operates.
Pn506
Stop Selection with Servo OFF
Setting
range
0 to 9
Unit
All
Default
setting
−
0
Power OFF
and ON
−
Explanation of Set Values
Set
value
Explanation
During deceleration *
3
After stopping
Error counter
0
Dynamic brake operation
Dynamic brake operation
Clear * 4
1
Free-run
Dynamic brake operation
Clear * 4
2
Dynamic brake operation
Servo free
Clear * 4
3
Free-run
Servo free
Clear * 4
4
Dynamic brake operation
Dynamic brake operation
Hold * 2
5
Free-run
Dynamic brake operation
Hold * 2
6
Dynamic brake operation
Servo free
Hold * 2
7
Free-run
Servo free
Hold * 2
8
Immediate stop * 1
Dynamic brake operation
Clear * 4
9
Immediate stop * 1
Servo free
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).
8
The dynamic brake is designed only for emergency stopping. Design the system to stop within
about ten minutes after the dynamic brake operates.
Parameter Details
*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
Stop Selection with Main Power Supply OFF
Setting
range
0 to 9
Unit
All
Default
setting
−
0
Power OFF
and ON
−
Explanation of Set Values
Explanation
Set
value
During deceleration * 3
After stopping
Error counter
0
Dynamic brake operation
Dynamic brake operation
Clear * 4
1
Free-run
Dynamic brake operation
Clear * 4
2
Dynamic brake operation
Servo free
Clear * 4
3
Free-run
Servo free
Clear * 4
4
Dynamic brake operation
Dynamic brake operation
Hold * 2
5
Free-run
Dynamic brake operation
Hold * 2
6
Dynamic brake operation
Servo free
Hold * 2
7
Free-run
Servo free
Hold * 2
8
Immediate stop * 1
Dynamic brake operation
Clear * 4
9
Immediate stop * 1
Servo free
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 ten minutes after the dynamic brake operates.
Pn508
Undervoltage Alarm Selection
Setting
range
0 or 1
Unit
All
Default
setting
−
1
Power OFF
and ON
−
Explanation of Set Values
Set value
Description
0
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.
1
Alarm 13.1 "main power supply undervoltage" will occur and a trip will be caused.
Pn509
Momentary Hold Time
Setting
range
70 to 2,000
All
Unit
1 ms
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default
setting
70
Power OFF
and ON
Yes
8-50
8
Parameter Details
*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.
8-6 Extended Parameters
 Set main power supply alarm detection time.
 The main power supply OFF detection will be disabled if this is set to 2,000.
Pn510
Stop Selection for Alarm Detection
Setting
range
0 to 7
Unit
All
−
Default
setting
0
Power OFF
and ON
−
Explanation of Set Values
Set
value
8
Explanation
During deceleration * 3
After stopping
Error counter
0
Dynamic brake operation
Dynamic brake operation
Clear * 1
1
Free-run
Dynamic brake operation
Clear * 1
2
Dynamic brake operation
Servo free
Clear * 1
3
Free-run
Servo free
Clear * 1
4
Operation A: Immediate stop * 2
Operation B: Dynamic brake
operation
Dynamic brake operation
Clear * 1
5
Operation A: Immediate stop * 2
Operation B: Free-run
Dynamic brake operation
Clear * 1
6
Operation A: Immediate stop * 2
Operation B: Dynamic brake
operation
Servo free
Clear * 1
7
Operation A: Immediate stop * 2
Operation B: Free-run
Servo free
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.
Parameter Details
The dynamic brake is designed only for emergency stopping. Design the system to stop within
about ten 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
Torque limit
Normal torque limit
An alarm that supports
immediate stop is generated.
Normal torque limit
Pn511 immediate Stop Torque
(Measure to lessen the impact at an immediate stop)
Overspeed protection
threshold
Normal operation
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.
Normal operation (command from the host)
Immediate stop
undefined
Immediate stop time
Alarm status (Operation after the stop:
Dynamic brake/free-run)
 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
Immediate Stop Torque
Setting
range
0 to 500
All
Unit
%
Default
setting
0
Power OFF
and ON
−
 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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-52
Parameter Details
 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.
8
8-6 Extended Parameters
Pn512
Overload Detection Level Setting
Setting
range
0 to 500
All
Unit
Default
setting
%
0
Power OFF
and ON
−
 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.
Pn513
Overspeed Detection Level Setting
Setting
range
0 to 20,000
All
Unit
Default
setting
r/min
0
Power OFF
and ON
−
 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
Pn514
Overrun Limit Setting
Setting
range
0 to 1,000
Position Fully-closed
Unit
Default
setting
0.1 rotation
10
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.
8
Parameter Details
When position command is not input
Load
Motor
Pn514 Pn514
Alarm generation range
Servomotor's allowable
Alarm generation range
operating range
When position command is input
Load
Motor
Pn514
Servomotor's allowable
operating range
Alarm generation range
Pn515
Control Input Signal Read Setting
Setting
range
0 to 3
8-53
Position command
input range
Unit
Pn514
Alarm generation range
All
−
Default
setting
0
Power OFF
and ON
Yes
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Explanation of Set Values
Set
value
Description
0
0.166 ms
1
0.333 ms
2
1 ms
3
1.666 ms
 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.
Pn516
Alarm Reset Condition Selection
Setting
range
0 or 1
Unit
All
Default
setting
−
0
Power OFF
and ON
Yes
Explanation of Set Values
Set value
Description
0
120 ms
1
Follow the Control Input Signal Read Setting (Pn515).
 Select the signal confirmation time for alarm reset input signal (RESET).
Pn517
Error Counter Reset Condition Selection
Setting
range
0 to 4
Unit
Position Fully-closed
Default
setting
−
3
Power OFF
and ON
−
8
Explanation of Set Values
Description
Disabled
1
Clears the error counter at level when the signal is shorted for 500 μs or longer.
2
Clears the error counter at level when the signal is shorted for 1 ms or longer.
3
Clears the error counter at edge when the signal changes from open to shorted for 100 μs or longer.
4
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
Set value 1: 500 μs 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 μs 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
Parameter Details
Set value
0
8-6 Extended Parameters
Pn518
Command Pulse Prohibition Input Setting
Setting
range
0 or 1
Unit
Position Fully-closed
Default
setting
−
1
Power OFF
and ON
−
Explanation of Set Values
Set value
Description
0
Enabled
1
Disabled
 Enable or disable the pulse prohibition input signal (IPG).
When command pulse prohibition input is enabled, command pulse input count process is force stopped.
Pn519
Command Pulse Prohibition Input Read Setting
Setting
range
0 to 3
Unit
Position Fully-closed
Default
setting
−
0
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
Parameter Details
8
Description
0
0.166 ms
1
0.333 ms
2
1 ms
3
1.666 ms
4
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.
Pn520
Position Setting Unit Selection
Setting
range
0 or 1
Unit
Position Fully-closed
−
Default
setting
0
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
Description
0
Command units
1
Encoder units
 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
Torque Limit Selection
Setting
range
0 to 6
Position Speed Fully-closed
Default
setting
−
Unit
Power OFF
and ON
1
−
Explanation of Set Values
Torque
Limit
Selection
(Pn521)
Torque
limit
switching
input
(TLSEL)
Torque Limit
Switching
Setting (Pn523
and 524)
0
Forward
torque limit
input (PCL)
Reverse
torque limit
input (NCL)
Forward
direction
torque
limit
Reverse
direction
torque
limit
0 to 10 V
-10 to 0 V
PCL
NCL
1
−
−
Pn013
2
−
−
Pn013
OFF
Enabled
Pn013
ON
Enabled
Pn522
Pn522
3
4
0 to 10 V
0 to 10 V
PCL
NCL
5
0 to 10 V
Not affected
PCL
PCL
OFF
−
Pn013
Pn522
ON
−
Pn525
Pn526
6
 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
Setting
range
0 to 500
Position Speed Fully-closed
Unit
Default
setting
%
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)
Speed
100
(rated) (maximum)
200
300
Reverse
Refer to "5-3 Torque Control" (P.5-14) for more information on torque limits and the torque limit selection.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-56
Parameter Details
Pn522
8
8-6 Extended Parameters
Pn523
Torque Limit Switching Setting 1
Setting
range
0 to 4,000
Unit
Position Speed Fully-closed
ms/100%
Default
setting
0
Power OFF
and ON
−
 Set the rate of change from torque limit 1 to torque limit 2
When set to 0, switching takes place immediately.
Torque Limit
undefined
(TLSEL)
No.1
Torque Limit
(Pn013)
Torque Limit
Switching Setting 1 (Pn523)
No.2
Torque Limit
(Pn522)
Torque Limit
Switching Setting 2 (Pn524)
Pn524
Torque Limit Switching Setting 2
Setting
range
0 to 4,000
Unit
Position Speed Fully-closed
ms/100%
Default
setting
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
Parameter Details
8
Pn525
Forward External Torque Limit
Setting
range
0 to 500
Unit
Position Speed Fully-closed
%
Default
setting
500
Power OFF
and ON
−
 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.
Pn526
Reverse External Torque Limit
Setting
range
0 to 500
Unit
Position Speed Fully-closed
%
Default
setting
500
Power OFF
and ON
−
 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.
Pn527
Analog Torque Limit Scale
Setting
range
10 to 100
Position Speed Fully-closed
Unit
0.1 V/100%
Default
setting
30
Power OFF
and ON
−
 Set the gain for conversion for the analog torque limit input.
Pn528
Default Display
Setting
range
0 to 35
8-57
All
Unit
−
Default
setting
1
Power OFF
and ON
Yes
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-6 Extended Parameters
Explanation of Set Values
Set value
Description
0
Position command error
1
Motor speed
2
Position command speed
3
Speed control command
4
Torque command
5
Total encoder pulses
6
Total command pulses
8
Total external encoder feedback pulses
9
Control mode
10
I/O signal status
11
Analog input value
12
Alarm factor, history
13
Warning number
14
Regeneration resistance load ratio
15
Overload load ratio
16
Inertia ratio
17
Reason for no rotation
18
Display of the number of I/O signal changes
20
Absolute encoder data
21
Absolute external encoder position
22
Monitor for the number of encoder communications errors
23
Display of axis numbers for communication
24
Position error (encoder unit)
25
External encoder error (external encoder unit)
26
Hybrid error
27
P-N voltage
28
Soft version
29
Drive serial number
30
Motor serial number
31
Accumulative operation time
32
Automatic motor recognition function
33
Temperature information
35
Safety status monitor
8
Parameter Details
 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).
Pn531
Axis Number
Setting
range
0 to 127
All
Unit
−
Default
setting
1
Power OFF
and ON
Yes
 Set the axis number for USB communications. Normally, do not change the set value.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-58
8-6 Extended Parameters
Pn532
Command Pulse Input Maximum Setting
Setting
range
250 to 4,000
Unit
Position Fully-closed
Default
setting
kpps
4000
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
Digital filter
250 to 499
200 ns × 2 readings
500 to 999
100 ns × 2 readings
1,000 to 4,000
None (through)
Pn533
Pulse Regeneration Output Limit Setting
Setting
range
0 or 1
Unit
All
Default
setting
−
0
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
8
Description
0
Error detection disabled
1
Error detection enabled
Parameter Details
Set the detection of Alarm 28.0 "pulse regeneration error".
Pn535
Front Key Protection Setting
Setting
range
0 or 1
All
Unit
Default
setting
−
0
Power OFF
and ON
Yes
Explanation of Set Values
Set
value
Description
0
Front panel operation not blocked
1
Front panel operation blocked
 Set the operation limitation from the front panel.
 The operation limits depend on the mode. The operation limits are as follows.
Mode
8-59
Operation limits
Monitor Mode
All monitor data can be checked.
Parameter Setting Mode
Parameters cannot be changed. However, parameter set values can
be checked.
EEPROM Write Mode
Cannot be executed. (Will not be displayed)
Auxiliary Function Mode
Operations other than the release of the front key protection setting
cannot be executed. (Will not be displayed)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
8-7 Special Parameters
Pn600
Position Speed Fully-closed
Analog Torque Feed-forward Gain Setting
Setting range 0 to 100
Unit
0.1 V/100%
Power OFF and ON −
Default setting 0
 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
All
r/min
Power OFF and ON −
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.
Pn604
Jog Speed
Setting range 0 to 500
All
Unit
r/min
Power OFF and ON −
Default setting 300
 Set the command speed during JOG trial operation (speed control).
Pn605
Position Fully-closed
Gain 3 Effective Time
Setting range 0 to 10,000
Unit
0.1 ms
Power OFF and ON −
Default setting 0
 Set effective time of gain 3 of 3-step gain switching.
Pn606
Position Fully-closed
Gain 3 Ratio Setting
Setting range 100 to 1,000
Unit
%
Default setting 100
Power OFF and ON −
 Set gain 3 as a multiple of gain 1.
Pn607
Torque Command Value Offset
Setting range −100 to 100
Unit
All
%
Default setting 0
Power OFF and ON −
This object is set as a percentage of the rated torque.
Forward Direction Torque Offset
Setting range −100 to 100
Unit
All
%
Default setting 0
Power OFF and ON −
 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.
Pn609
Reverse Direction Torque Offset
Setting range −100 to 100
Unit
All
%
Default setting 0
Power OFF and ON −
 Set offset torque to add to torque command for reverse direction operation.
This object is set as a percentage of the rated torque.
Pn610
Function Expansion Setting
Setting range 0 to 63
Position
Unit
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Default setting 0
Power OFF and ON −
8-60
Parameter Details
 Set offset torque to add to torque command.
Pn608
8
8-7 Special Parameters
 Set the functions by bit.
Bit
Set value
Function
0
1
bit 0
Instantaneous speed observer function Disabled
Enabled
bit 1
Disturbance observer function
Enabled
bit 2
Disturbance observer operation setting Always enabled
Only when gain 1 is selected
bit 3
Inertia ratio switching function
Disabled
Enabled
bit 4
Electric current response improvement function
Disabled
Enabled
bit 5
Analog Torque Feed-forward
Disabled
Enabled
Disabled
 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.
Pn611
Electric Current Response Setting
Setting
range
50 to 100
Unit
All
%
Default
setting
100
Power OFF
and ON
−
 Make fine adjustment to electric current response. The default setting is 100%.
Parameter Details
8
Pn613
Inertia Ratio 2
Setting
range
0 to 10,000
All
Unit
%
Default
setting
250
Power OFF
and ON
−
 Set the second load inertia as a percentage of the motor rotor inertia.
Pn614
Alarm Detection Allowable Time Setting
Setting
range
0 to 1,000
Unit
ms
All
Default
setting
200
Power OFF
and ON
−
 Set the allowable time required until the motor stops by an emergency stop due to an alarm.
 When the time exceeds the set value, the operation forcibly turns to an alarming state.
 When the parameter is set to 0, the protection by allowable time does not function.
 Refer to the "Stop Selection for Alarm Detection" (Pn510) (P.8-51).
8-61
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
Pn615
Overspeed Detection Level Setting at Immediate Stop
Setting
range
0 to 20,000
Unit
All
Default
setting
r/min
0
Power OFF
and ON
−
 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.
Pn616
Absolute Interface Function Selection
Setting
range
0 or 1
Unit
All
Default
setting
−
1
Power OFF
and ON
Yes
Explanation of Set Values
Set value
Explanation
0
Disabled
1
Enabled
 Set this parameter to 1.
Pn617
Front Panel Parameter Write Selection
Setting
range
0 or 1
Unit
All
Default
setting
−
0
Power OFF
and ON
Yes
8
Explanation of Set Values
Explanation
0
EEPROM write not performed when a parameter is changed from the front panel
1
EEPROM write performed at the same time
 Set the EEPROM write conditions when the front panel parameter is changed.
Pn618
Power Supply ON Initialization Time
Setting
range
0 to 100
Unit
All
0.1 s
Default
setting
0
Power OFF
and ON
Yes
 Set initialization time after power supply ON to the standard 1.5 seconds plus some.
Pn619
Encoder Phase-Z Setting
Setting
range
0 to 32,767
All
Unit
Pulse
Default
setting
0
Power OFF
and ON
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])
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-62
Parameter Details
Set value
8-7 Special Parameters
Pn620
External Encoder Phase-Z Setting
Setting
range
0 to 400
Unit
Fully-closed
Default
setting
μs
0
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
90° Phase Difference Output Type External Encoder Phase-AB Regeneration Method Selection
Setting
range
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
Explanation
0
Without signal regeneration
1
With signal regeneration *1,*2
*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.
8
Pn623
Disturbance Torque Compensation Gain
Setting
range
−100 to 100
Unit
Position Fully-closed
Default
setting
%
0
Power OFF
and ON
−
Parameter Details
 Set the compensation gain for the disturbance torque.
Pn624
Disturbance Observer Filter Setting
Setting
range
10 to 2,500
Unit
Position Fully-closed
0.01 ms
Default
setting
53
Power OFF
and ON
−
 Set the filter time constant for disturbance torque compensation.
Pn627
Warning Latch Hold Time Selection
Setting
range
0 to 10
Unit
All
s
Default
setting
5
Power OFF
and ON
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
8-63
Explanation
0
The warning state is held even after the cause of the warning is cleared.
To clear the warning state, execute the alarm clear.
1 to 10
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
Pn628
Not used
Setting
range
−
Pn631
Realtime Autotuning Estimated Speed Selection
Setting
range
0 to 3
All
Unit
Unit
Default
setting
−
−
Power OFF
and ON
−
All
Default
setting
−
1
Power OFF
and ON
Yes
Explanation of Set Values
Set value
Explanation
0
Finalize estimated results when load estimation becomes stable.
1
Estimates every minute from the load characteristic changes.
2
Estimates every second from the load characteristic changes.
3
Estimates the optimum speed from the load characteristic changes.
Pn632
Realtime Autotuning Customization Mode Setting
Setting
range
−32,768 to 32,767
Unit
−
All
Default
setting
0
Power OFF
and ON
−
 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.
8
Explanation of Set Values
Bits
2 or 3
4 to 6
7
Explanation
Load characteristics
estimation *1
Enable or disable load characteristics change, the estimation.
0: Disabled
1: Enabled
Change inertia ratio
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
Torque compensation
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.
Rigidity setting
Enable or disable the basic gain settings for the Realtime
Autotuning Machine Rigidity Selection (Pn003).
0: Disabled
1: Enabled
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-64
Parameter Details
0 or 1
Name
8-7 Special Parameters
Bits
Name
8
Fixed parameter setting
Enable or disable the normally fixed parameters.
0: Use the current settings
1: Set to fixed values
Gain switching setting
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
9 to 10
Explanation
*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 24
× 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.
20 × 1 + 22 × 1 + 24 × 3 + 27 × 1 + 28 × 1 + 29 × 2 = 1461
Parameter Details
8
8-65
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
8-7 Special Parameters
Pn633
Absolute Encoder Initial Pulse Regeneration Speed
Setting
range
1,000 to 3,000
Unit
r/min
All
Default
setting
1000
Power OFF
and ON
−
 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
Pn633
CJ1W-NC@@4
1000
CS1W-MC@@@
1000
CV500-MC@@@
C200H-MC@@@
3000
3F88M-DRT141
1500
*1. You can set the timeout setting time on the controller side.
Pn634
Hybrid Vibration Suppression Gain
Setting
range
0 to 30,000
Unit
Fully-closed
0.1/s
Default
setting
0
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
Setting
range
0 to 6,400
Unit
Fully-closed
0.01 ms
Default
setting
10
Power OFF
and ON
−
Set the hybrid vibration suppression filter.
Pn637
Vibration Detection Threshold
Setting
range
0 to 1,000
Unit
All
0.1%
Default
setting
0
Power OFF
and ON
−
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.
Pn638
Warning Mask Setting
Setting
range
−32,768 to 32,767
All
Unit
−
Default
setting
4
Power OFF
and ON
Yes
 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.
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
Parameter Details
Pn635
8
8-7 Special Parameters
Parameter Details
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
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
Operation
Reference
Mounting and
installation
Install the motor and drive according to the installation
conditions.(Do not connect the motor to the mechanical system
before checking no-load operation.)
Chapter 4, 4-1
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.
Chapter 4, 4-2
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.
Chapter 9, 9-2
Function
settings
By means of the user parameters, set the functions according to the
operating conditions.
Chapter 8
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.
Chapter 9, 9-5
Adjustment
Manually adjust the gain if necessary.
Further adjust the various functions to improve the control
performance.
Chapter 10
Operation
Operation can now be started.
If any problems should occur, refer to "Chapter 11, Troubleshooting
and Maintenance".
Chapter 11
9
9-1
Contents
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
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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-2
9
Operation
 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.
9-2 Preparing for Operation
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.)
Operation
9
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
9
A1 automatic offset
A2 automatic offset
Operation
A3 automatic offset
Motor trial operation
Absolute encoder clear
Parameter initialization
Front panel lock
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
9-2 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.
Operation
9
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
Operation
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-6
9-4 Setting the Mode
9-4 Setting the Mode
Auxiliary
function
Parameter
write
Parameter
setting
Front panel
default display*1
Monitor
Changing the Mode
Operation
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
I/O signal change count display
Motor speed
Absolute encoder data
Position command speed
Absolute external encoder position
Speed control command
Monitor for the count of encoder
communications errors
Communication axis
number display
Torque command
Total encoder
pulses
Position error (encoder unit)
Total command pulses
External encoder error
(external encoder unit)
Total external encoder
feedback pulses
Hybrid error
Control mode
P-N voltage
I/O signal status
Soft version
Analog input value
Drive serial number
Alarm factor, history
Motor serial number
Operation
Warning number
9
Accumulative operation time
Regeneration resistance
load ratio
Automatic motor
recognition function
Overload load ratio
Drive temperature,
encoder temperature
Inertia ratio
Safety status monitor
Reason for no rotation
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).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-8
9-4 Setting the Mode
Position Command Error
Position command error [command unit]
Lower (L)
Higher (H)
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
9
Operation
 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
9-4 Setting the Mode
Total Encoder Pulses
Total encoder pulses [encoder pulse]
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
Total Command Pulses
Total command pulses [command pulse]
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
9
Operation
Total External Encoder Feedback Pulses
Total external encoder feedback pulses
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-10
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
9
...Output
 Displays the status of the control input and output signals connected to CN1.
Operation
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.
Press
9-11
to select the signal you want to monitor.
(Last input signal number)
(Last output signal number)
(First input 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
9
Alarm code
(
if no alarm is present)
...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.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-12
Operation
...Present alarm
9-4 Setting the Mode
Alarm Codes and Meanings
Alarm
codes
Contents
Alarm
codes
Contents
11
Control power supply undervoltage
36
Parameter error
12
Overvoltage
37
Parameters destruction
13
Main power supply undervoltage
38
Drive prohibition input error
14
Overcurrent
39
Excessive analog input
Servo Drive overheat
15
Absolute encoder system down
40
Overload
ABS
Absolute encoder counter overflow
16
18
error
41
Regeneration overload
42
Encoder communications error
21
ABS
Absolute encoder overspeed error
ABS
Absolute encoder 1-rotation counter
44
Encoder communications data error
23
error
error
ABS
Absolute encoder multi-rotation counter
45
error
ABS
24
Error counter overflow
46
Encoder error 1
26
Overspeed
47
Absolute encoder status error
27
Electronic gear setting error
48
Encoder phase-Z error
34
Overrun limit error
49
Encoder CS signal error
ABS
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
Operation
9
9-13
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Warning Number
...Warning status
,
...No warning status
Warning number
Press
to display the occurrence status of each warning.
Regeneration Load Ratio
 Displays the regeneration resistance load ratio as a percentage when the detection level for the
regeneration overload is 100%.
9
Overload Load Ratio
Operation
 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
Reasons for No Rotation
A number is displayed to indicate the reason the motor does not rotate.
Control
mode
Number
Flashing
0
...Position control
...Torque control
...Speed control
...Fully-closed control
Reason
number
Item
Alarm or warning has
occurred
No reason
Relevant
control
mode
All
All
No reason has been detected. The motor operation should be
possible.
Main power supply
interrupted
All
2
No RUN input
All
The operation command (RUN) is not connected to COM.
All
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.
All
The currently effective torque limit set value, Pn013 (No. 1 Torque
Limit) or Pn522 (No. 2 Torque Limit), is less than 5% of the rated
torque.
P, S
When Pn527 = 0 (analog torque limit scale):
· The forward analog torque limit input is negative and the speed
command is in the forward direction.
· The reverse analog torque limit input is positive and the speed
command is in the reverse direction.
P
Pn518 = 0 (command pulse prohibition input enabled) and the IPG
input is open.
P
· The command pulse is not input correctly.
· The input selected in Pn005 is not connected correctly.
· The type of input selected in Pn006 or Pn007 is not correct.
The position command per control cycle is 1 pulse or less and the
above are some of the possible causes.
P
Pn517 = 0 (Error counter reset at the level) and the error counter
reset input (ECRST) is connected to COM.
S, T
Pn315 = 1 (zero speed designation enabled) and the zero speed
designation input (VZERO) is open.
3
Low torque limit setting
4
Operation
An alarm has occurred. Warning has occurred.
1
Drive prohibition input is
enabled.
9
Description
Analog torque limit input is
enabled.
5
6
IPG input is enabled.
Frequency of command
pulse input is low.
7
8
9
ECRST input is enabled.
VZERO input is enabled.
The main power supply to the drive is not turned ON.
10
External speed command
is low.
S
The analog speed command is 0.06 V or lower when the analog
speed command is selected.
11
Internal speed command
is 0.
S
The internal speed command is 30 r/min or less when the internal
speed command is selected.
T
The analog torque command input (REF or PCL) is 5% or less of the
rated torque.
T
· Pn317 = 0 (speed limit with No. 4 internally set speed) and the
No. 4 Internally Set Speed (Pn307) is 30 r/min or lower.
· Pn317 = 1 (speed limit with REF input) and the analog speed
command input (REF) is 0.06 V or lower.
12
Torque command is low
Speed limit is low
13
9-15
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Number
Relevant
control
mode
Item
Other reasons
14
Description
Reasons 1 to 13 do not apply, but the motor is rotating at 20 r/min or
lower. (Low command, heavy, locked, or crashed load, faulty drive
or motor, etc.)
All
Note.The motor may rotate even if a reason number other than 0 is displayed.
Display of the Number of I/O Signal Changes
I/O signal change count
Pin number
...Input signal
...Output signal
If the decimal point is on the right side of the pin number,
the pin number can be changed.
Use
to move the flashing decimal point.
If the decimal point is between the pin numbers,
you can switch between input and output.
Press
to switch between input and output.
9
 Display the number of transitions in one input since last power-on.
Operation
Absolute Encoder Data
Encoder data
...1-rotation data, lower (L)
...1-rotation data, higher (H)
...Multi-rotation data
Press
to select the data you want to display.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-16
9-4 Setting the Mode
Absolute External Encoder Position
Encoder data
...Absolute external encoder position, lower (L)
...Absolute external encoder position, higher (H)
Press
to switch between Lower (L) and Higher (H).
Monitor for the Number of Encoder
and External Encoder Communications Error
Communications error count
...Encoder
9
to switch between encoder and external encoder.
Operation
Press
...External encoder
Display of Axis Numbers for Communication
The value set by the Axis Number (Pn531) is displayed.
9-17
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Encoder Position Error
Encoder position error [encoder unit]
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
External Encoder Position Error
External encoder error [external encoder unit]
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
9
Operation
Hybrid Error
Hybrid error [command unit]
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-18
9-4 Setting the Mode
P-N Voltage
P-N voltage [V] is displayed.
Soft Version
 Displays the soft version of the drive. (Display example: Ver. 1.23)
Drive Serial Number
Amplifier serial number
...Amplifier serial number, lower (L)
Press
9
...Amplifier serial number, higher (H)
to switch between Lower (L) and Higher (H).
Operation
Display example) When serial number is 09040001
Motor Serial Number
Motor serial number
...Motor serial number, lower (L)
Press
...Motor serial number, higher (H)
to switch between Lower (L) and Higher (H).
Display example) When serial number is 09040001
9-19
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Accumulative Operation Time
Accumulative operation time [h] is displayed.
Lower (L)
Higher (H)
Press
to switch between Lower (L) and Higher (H).
Automatic Motor Recognition Function
Automatic recognition enabled
Automatic recognition disabled
Drive Temperature and Encoder Temperature
9
Amplifier temperature [°C] is displayed.
or
Operation
Press
to switch to the item to be monitored.
Note: Encoder temperature information is displayed only for an incremental
encoder. “0” will be displayed for an absolute encoder.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-20
9-4 Setting the Mode
Safety Status
SAFEty
SrVoFF
SrVon
ALArM
: Safety status
: Servo OFF
: Servo ON
: Alarm status
+ Dot information
Servo ready
OFF: The dot is not lit.
ON: The dot is lit.
Press
Flash display
Status that allows
normal changes
to switch between monitors you want to display.
...Input photocoupler OFF
...Input photocoupler ON
...Input photocoupler OFF
...Input photocoupler ON
...Output photocoupler OFF
...Output photocoupler ON
Operation
9
9-21
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Parameter Setting Mode
1. Displaying Parameter Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn528) is displayed.
Press the
Press
key to display Monitor Mode.
key to display Parameter Setting Mode.
2. Setting the parameter number
Key
operation
Display example
Explanation
Use
keys to set the parameter number.
· Press
to move "." to the left and change the digit to be set.
· Press
to increase the value of the digit with ".".
· Press
to decrease the value of the digit with ".".
3. Displaying parameter set values
Key
operation
9
Display example
Explanation
key to display the set value.
Operation
Press the
4. Changing the parameter set value
Key
operation
Display example
Explanation
Use the
keys to change the value.
· Press
to move "." to the left and change the digit to be set.
· Press
to increase the value of the digit with ".".
· Press
to decrease the value of the digit with ".".
Press the
key to save the new set value.
· To cancel the change, instead of pressing
return to the display in procedure 2.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
, press
to
9-22
9-4 Setting the Mode
5. Returning to Parameter Setting Mode
Key
operation
Display example
Explanation
Press the
key to return to Parameter Setting Mode.
Precautions for Correct Use
 Some parameters will be displayed with an "r" before the number when the display returns to the
Parameter Setting Mode. To enable the set values that have been changed for these parameters,
you must turn the power supply OFF and ON after saving the parameters to the EEPROM.
 If the Front Panel Parameter Write Selection (Pn617) is set to 1, the parameter set value is
automatically written to EEPROM when changed.
 When the set value for a parameter is saved, the new setting will be used for control. Make gradual
changes instead of changing the large numbers at once, when changing values for parameters
that greatly affect motor operation (speed loop gain, position loop gain, etc. in particular).
 For details on parameters, refer to "Chapter 8, Parameter Details".
Operation
9
9-23
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Parameter Write Mode
Set values changed in Parameter Setting Mode must be saved to EEPROM. To do so, the
following operation must be performed.
1. Saving changed set values
Key
operation
Display example
Explanation
Press the
key to display Parameter Write Mode.
Press the
key to enter Parameter Write Mode.
Press and hold the
key for 5 seconds or longer until
is displayed.
The bar indicator will increase.
Writing will start. (This display will appear only momentarily.)
This indicates a normal completion. In addition to this display,
either
or
may be displayed. If
is
displayed, writing has been completed normally, but some of the
changed parameters will be valid only after the power supply has
been turned OFF and ON again. Turn OFF the drive power
supply and then turn it ON again.
will be displayed if there is a write alarm. Write the
data again.
9
2. Returning to Parameter Write Mode
Display example
Operation
Key
operation
Explanation
Press the
key to return to Parameter Write Mode.
Precautions for Correct Use
 If a write alarm occurs, write the data again. If write alarms continue to occur, there may be a fault
in the drive.
 Do not turn OFF the power supply while writing to EEPROM. Incorrect data may be written if the
power supply is turned OFF. If the power supply is turned OFF, perform the settings again for all
parameters, and write the data again.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-24
9-4 Setting the Mode
Auxiliary Function Mode
Auxiliary Function Mode includes the alarm clear, analog input automatic offset adjustment,
absolute encoder reset, jog operation, parameter initialization, and front panel lock/release.
Displaying Auxiliary Function Mode
Key
operation
Display example
Explanation
The item set for the Default Display (Pn528) is displayed.
Press the
key to display Monitor Mode.
Press the
key 3 times to display Auxiliary Function Mode.
Alarm Clear
This releases the alarm generation status.
Some alarms cannot be released. Refer to "11-3 Alarm List" (P.11-5) for details.
1. Execute alarm clear
Key
operation
Display example
9
Explanation
Press the
key to enter Alarm Clear Mode.
Press and hold the
key for 5 seconds or longer until
Operation
is displayed.
The bar indicator will increase.
Alarm clear will start.
This indicates a normal completion.
will be displayed if the alarm could not be cleared.
Reset the power supply to clear the alarm.
2. Returning to Auxiliary Function Mode display
Key
operation
Display example
Explanation
Press the
9-25
key to return to Auxiliary Function Mode.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Analog Input Automatic Offset Adjustment
This performs automatic adjustment on the Offset Values (Pn422, Pn425 and Pn428) of
Analog Inputs 1 to 3 (AI1 to AI3).
Do not perform this operation if a position loop has been configured with the host system.
1. Execute automatic offset adjustment
Key
operation
Display example
or
Explanation
Press the
key to display the Analog Input Automatic Offset
Adjustment Mode from the alarm clear display in the Auxiliary
Function Mode.
or
or
Press the
key to enter the Automatic Offset Adjustment
Mode of the analog input number to be set.
or
Press and hold the
key for 5 seconds or longer until
is displayed.
or
or
9
The bar indicator will increase.
Automatic offset adjustment will start.
will be displayed if the automatic offset adjustment
could not be performed. Set a valid control mode or make the
setting so that the offset value does not exceed the range for the
Speed Command Offset Value (Pn422, Pn425, or Pn428), and
then execute the procedure again.
2. Returning to Auxiliary Function Mode display
Key
operation
Display example
Explanation
Press the
key to return to Auxiliary Function Mode.
or
or
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-26
Operation
This indicates a normal completion.
9-4 Setting the Mode
Precautions for Correct Use
 Automatic offset adjustment function cannot be performed in Position Control Mode.
 Data is not written to the EEPROM simply by performing automatic offset adjustment. The data
must be written to the EEPROM for the results to be saved.
Jog Operation
You can perform a trial operation of the motor with no load without wiring the control I/O
connector (CN1).
1. Prepare for a jog operation
Key
operation
Display example
Explanation
Press the
key to display the Jog Operation Mode from the
alarm clear display in Auxiliary Function Mode.
Press the
key to enter Jog Operation Mode.
Press and hold the
key for 5 seconds or longer until
is displayed.
The bar indicator will increase.
This completes preparations for jog operation.
will be displayed if the servo is not ready.
9
Press and hold the
key for 5 seconds or longer until
is displayed.
Operation
The decimal point will move to the left.
The Servo will turn ON.
2. Execute jog operation
Key
operation
Display example
Explanation
Forward direction operation will be performed while the
key is
pressed, and reverse direction operation will be performed while
the
key is pressed. The motor will stop when the key is
released. The rotation speed at this time will be the speed set for
the Jog Speed (Pn604).
will be displayed if the servo is not ready.
9-27
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
3. Returning to Auxiliary Function Mode display
Key
operation
Display example
Explanation
Press the
key to return to Auxiliary Function Mode. The servo
lock will be released and the servo will be unlocked.
Precautions for Correct Use
 When performing a jog operation, be sure to first disconnect the motor from any load and remove
the control I/O connector (CN1).
 When performing a jog operation, set the parameter related to gains to an appropriate value to
avoid any troubles, such as vibration. Set the Inertia Ratio (Pn004) to 0.
 The motor operates in the Speed Control Mode during a jog operation. Set each of the various
settings so that the motor operates correctly for speed control.
 If the operation command (RUN) is turned ON during a jog operation,
will be displayed,
and the jog operation will be cancelled and a normal operation through an external command will
be performed.
Absolute Encoder Reset ABS
This resets the multi-rotation data and alarms of the absolute encoder.
1. Execute absolute encoder reset
Key
operation
Display example
Explanation
Press the
key to display the Absolute Encoder Reset Mode
from the alarm clear display in Auxiliary Function Mode.
Press the
key to enter Absolute Encoder Reset Mode.
Operation
Press and hold the
key for 5 seconds or longer until
is displayed.
The bar indicator will increase.
Absolute encoder reset will start.
This indicates a normal completion.
will be displayed if the absolute encoder reset could not
be performed. Check whether an unsupported encoder is
connected, and then execute the procedure again.
2. Returning to Auxiliary Function Mode display
Key
operation
Display example
Explanation
Press the
9
key to return to Auxiliary Function Mod.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-28
9-4 Setting the Mode
Precautions for Correct Use
 The absolute encoder reset function can be used only with systems that use an absolute encoder.
Parameter Initialization
This initializes the parameters.
1. Execute the initialization of the parameter.
Key
operation
Display example
Explanation
Press the
key to enter Parameter Initialization Mode.
Press and hold the
key for 5 seconds or longer until
is displayed.
The bar indicator will increase.
The initialization of the parameter will start.
This indicates a normal completion.
will be displayed if the parameter could not be
initialized. Turn OFF the drive power supply and then execute
again.
2. Returning to Auxiliary Function Mode display
9
Key
operation
Display example
Explanation
Operation
Press the
key to return to Auxiliary Function Mode.
Precautions for Correct Use
 If Alarm No. 11 (power supply undervoltage), 36 (parameter error) or 37 (parameter destruction)
is displayed, the parameter cannot be initialized.
Front Panel Lock
This locks the front panel.
1. Displaying Parameter Mode
Key
operation
Display example
Explanation
Press the
Press
9-29
key to display Monitor Mode.
key to display Parameter Setting Mode.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
2. Setting the parameter number
Key
operation
Display example
Explanation
Use the
keys to set to Pn535.
· Press
to move "." to the left and change the digit to be set.
· Press
to increase the value of the digit with ".".
· Press
to decrease the value of the digit with ".".
3. Displaying parameter set values
Key
operation
Display example
Explanation
Press the
key to display the set value.
4. Changing the parameter set value
Key
operation
Display example
Explanation
Use the
keys to change the value.
· Press
to move "." to the left and change the digit to be set.
· Press
to increase the value of the digit with ".".
· Press
to decrease the value of the digit with ".".
Press the
key to save the new set value.
· To cancel the change, instead of pressing
return to the display in procedure 2.
, press
to
Key
operation
Display example
Operation
5. Returning to Parameter Setting Mode
Explanation
Press the
key to return to Parameter Setting Mode.
6. Saving changed set values
Key
operation
Display example
Explanation
Press the
key to display Parameter Write Mode.
Press the
key to enter Parameter Write Mode.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9
9-30
9-4 Setting the Mode
Key
operation
Display example
Explanation
Press and hold the
key for 5 seconds or longer until
is displayed.
The bar indicator will increase.
Writing will start. (This display will appear only momentarily.)
This indicates a normal completion. In addition to this display,
either
or
may be displayed.
If
is displayed, writing has been completed normally,
but some of the changed parameters will be valid only after the
power supply has been turned OFF and ON again. Turn OFF the
drive power supply and then turn it ON again.
will be displayed if there is a write alarm. Write the
data again.
7. Returning to Parameter Write Mode
Key
operation
Display example
Explanation
Press the
key to return to Parameter Write Mode.
8. Restart the power supply to the drive
Precautions for Correct Use
9
Operation
 The items that are limited depend on the mode.
 If the Front Panel Parameter Write Selection (Pn617) is set to 1, the parameter set value is
automatically written to EEPROM when changed.
 Refer to the Front Key Protection Setting (Pn535) in "8-6 Extended Parameters" (P.8-47) for
details on the front panel lock function.
9-31
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-4 Setting the Mode
Front Panel Lock Release
This releases the front panel lock.
1. Release the front panel lock
Key
operation
Display example
Explanation
Press the
key to display the Front Panel Lock Mode from the
alarm reset display in Auxiliary Function Mode.
Press the
key to enter Front Panel Lock Mode.
Press and hold the
key for 5 seconds or longer until
is displayed.
The bar indicator will increase.
The front panel lock will be released.
This indicates a normal completion.
will be displayed if the front panel lock is not released.
Turn OFF the drive power supply and then execute again.
2. Returning to Auxiliary Function Mode display
Key
operation
Display example
Explanation
Press the
key to return to Auxiliary Function Mode.
9
Operation
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-32
9-5 Trial Operation
9-5 Trial Operation
When you have finished installation, wiring, and switch settings, and have confirmed that
status is normal after turning ON the power supply, perform trial operation. The main purpose
of trial operation is to confirm that the servo system is electrically correct.
If an error occurs during the trial operation, refer to "Chapter 11, Troubleshooting and
Maintenance" to eliminate the cause. Then check for safety, and then retry the trial operation.
Preparation for Trial Operation
Inspections before Trial Operation
Check the following items.
Wiring
 Make sure that there is no error (especially the power supply input and motor output).
 Make sure that there are no short-circuits. (Check the ground for short circuits as well.)
 Make sure that there are no loose connections.
Power Supply Voltage
 Make sure that the voltage corresponds to the rated voltage.
Motor Installation
 Make sure that the Servomotor is securely installed.
Disconnection from Mechanical System
9
 If necessary, make sure that the motor has been disconnected from the mechanical system.
Brake Released
Operation
 Make sure that the brake has been released.
9-33
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-5 Trial Operation
Trial Operation in Position Control Mode
1. Use the Connector CN1.
2. Turn ON the Servo Drive power.
3. Confirm that the parameters are set to the standard set values.
4. Set to the output from the host device that agrees using the Command Pulse Input
Mode (Pn007).
5. Write the parameters to EEPROM and then turn OFF the power supply and turn it ON
again.
6. Apply 12 to 24 VDC between the operation command input (RUN: CN1 pin 29) and
+24VIN (CN1 pin 7). Servo ON status will be entered and the Servomotor will be
activated.
7. Input a low-frequency pulse signal from the host device to start low-speed
operation.
Check to see if the motor is rotating at the set speed and to see if the motor stops when the
command (pulses) are stopped.
9
Operation
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-34
9-5 Trial Operation
Trial Operation in Speed Control Mode
1. Use the Connector CN1.
2. Turn ON the Servo Drive power.
3. Confirm that the parameters are set to the standard set values.
4. Apply 12 to 24 VDC between the operation command input (RUN: CN1 pin 29) and
+24VIN (CN1 pin 7). Servo ON status will be entered and the Servomotor will be
activated.
5. Gradually vary the DC voltage between the speed command input (REF, CN1 pin 14)
and AGND1 (CN1 pin 15) from 0 V in the positive and negative directions. Check to
see if the Servomotor rotates.
Check to see if the motor is rotating at the set speed and to see if the motor stops when the
command are stopped.
Use the following parameters to change the motor rotation speed or direction.
 Pn302: Speed Command Scale
 Pn303: Command Speed Rotation Direction Switching
Operation
9
9-35
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-5 Trial Operation
Trial Operation in Torque Control Mode
1. Use the Connector CN1.
2. Turn ON the Servo Drive power.
3. Confirm that the parameters are set to the standard set values.
4. Set the Speed Limit Value Setting (Pn321) to a low value.
5. Apply 12 to 24 VDC between the operation command input (RUN: CN1 pin 29) and
+24VIN (CN1 pin 7). Servo ON status will be entered and the Servomotor will be
activated.
6. Apply a positive or negative DC voltage between the torque command input TREF1
(CN1 pin 14) and AGND1 (CN1 pin 15). Check to see if the motor rotates according
to the direction (forward/reverse) set in Pn307.
Use the following parameters to change the amount of the torque, direction of the torque, or
speed limit value for the command voltage.
 Pn321: Speed Limit Value Setting (default set value: 0 r/min)
 Pn319: Torque Command Scale
 Pn320: Torque Output Direction Switching
9
Operation
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
9-36
9-5 Trial Operation
Trial Operation in Fully-closed Control Mode
1. Use the Connector CN1.
2. Turn ON the Servo Drive power.
3. Turn ON the power supply to the Servo Drive.
4. Confirm that the parameters are set to the standard set values.
5. Set the outputs from the host device to agree with the Command Pulse Mode
(Pn005).
6. Write the parameters to EEPROM and then turn OFF the power supply and turn it ON
again.
7. Apply 12 to 24 VDC between the operation command input (RUN: CN1 pin 29) and
+24VIN (CN1 pin 7). Servo ON status will be entered and the Servomotor will be
activated.
8. Input a low-frequency pulse signal from the host device to start low-speed
operation.
Check to see if the motor is rotating at the set speed and to see if the motor stops when the
command (pulses) are stopped.
Operation
9
9-37
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Adjustment Functions
This chapter explains the functions, setting methods, and items to note regarding
various gain adjustments.
10-1 Gain Adjustment .........................................................10-1
Purpose of the Gain Adjustment ................................................... 10-1
Gain Adjustment Methods............................................................. 10-1
Gain Adjustment Procedure.......................................................... 10-2
10-2 Realtime Autotuning...................................................10-3
Setting Realtime Autotuning ......................................................... 10-4
Setting Machine Rigidity ............................................................... 10-4
10-3 Manual Tuning ..........................................................10-10
Basic Settings ............................................................................. 10-10
10
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-1 Gain Adjustment
10-1 Gain Adjustment
OMNUC G5-series Servo Drives provide a realtime autotuning function.
With this function, gain adjustments can be made easily even by those using a servo system
for the first time. If you cannot obtain the desired responsiveness with autotuning, use manual
tuning.
Purpose of the Gain Adjustment
The Servo Drive must operate the motor in response to commands from the host system with
minimal time delay and maximum reliability. The gain is adjusted to bring the actual operation
of the motor as close as possible to the operation specified by the commands, and to maximize
the performance of the machine.
Example: Ball screw
Gain setting: Low
[r/min]
+2000
Gain setting: High + feed-forward setting
Gain setting: High
0
Actual motor speed
Command speed
−2000
0.0
125
250
Position loop gain
Speed loop gain
Speed loop integral time
Speed feed-forward
Inertia ratio
375
0.0
: 3.0
: 2.5
: 190.0
:
30
: 300
125
250
Position loop gain
Speed loop gain
Speed loop integral time
Speed feed-forward
Inertia ratio
375
: 251.0
: 140.0
: 6.0
:
30
: 300
0.0
125
250
Position loop gain
Speed loop gain
Speed loop integral time
Speed feed-forward
Inertia ratio
375
: 251.0
: 140.0
: 6.0
: 100
: 300
10
Adjustment Functions
Gain Adjustment Methods
Automatic
adjustment
Function
Description
Reference
page
Realtime autotuning
Realtime autotuning estimates the load inertia of the
machine in realtime and automatically sets the optimal gain
according to the estimated load inertia.
P.10-3
Manual adjustment is performed if autotuning cannot be
executed due to restrictions on the control mode or load
conditions or if ensuring that the maximum responsiveness
matches each load is required.
P.10-10
Position Control/Fully-closed Control Mode adjustment
P.10-11
Speed Control Mode adjustment
P.10-12
Torque Control Mode adjustment
P.10-17
Manual tuning
Manual
adjustment
Basic procedure
Note 1.Take sufficient measures to ensure safety.
Note 2.If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn OFF the servo.
10-1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-1 Gain Adjustment
Gain Adjustment Procedure
Start adjustment.
Automatic
adjustment?
No
Yes
Realtime
autotuning setting
Realtime autotuning
Operation OK?
Yes
No
(Default setting)
Manual tuning
Operation OK?
No
10
Yes
Write to EEPROM.
Gain Adjustment and Machine Rigidity
To improve machine rigidity:
 Install the machine on a secure base so that it does not have any play.
 Use couplings that have a high rigidity, and that are designed for servo systems.
 Use a wide timing belt. And use a tension within the range of allowable axial load for the motor or
Decelerator output.
 Use gears with small backlash.
The specific vibration (resonance frequencies) of the mechanical system has a large impact on
the gain adjustment of the servo. The servo system responsiveness cannot be set high for
machines with a low resonance frequency (low machine rigidity).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-2
Adjustment Functions
Consult OMRON.
Adjustment completed.
10-2 Realtime Autotuning
10-2 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime, and operates the
machine by automatically setting the gain according to the estimated load inertia. At the same
time, it can lower the resonance and vibration if the adaptive filter is enabled.
Realtime autotuning is enabled for any control to adjust the speed loop PI control.
Speed command
Position
command
Pn101
Pn102
Pn100
Position
control
Speed
PI control
Pn004
Inertia
Torque
command
Pn104
Current loop
control
SM
Load
Estimate load
inertia.
Speed feedback
RE
Position feedback
Precautions for Correct Use
 Realtime autotuning may not function properly under the conditions described in the following
table. In such cases, use manual tuning.
Conditions under which realtime autotuning does not operate properly
Adjustment Functions
10
Load inertia
 If the load inertia is too small or too large compared with the rotor inertia (less than
3 times, more than 20 times, or more than the applicable load inertia ratio).
 If the load inertia changes quickly. (in less than 10 s)
Load
 If the machine rigidity is extremely low.
 If there is backlash or play in the system.
Operation
pattern
 If the speed continues at below 100 r/min.
 If the acceleration/deceleration is below 2,000 r/min in 1 s.
 If the acceleration/deceleration torque is too small compared with the unbalanced
load and the viscous friction torque.
 If either a speed of 100 r/min or higher, or an acceleration/deceleration of 2,000 r/
min/s does not last for at least 50 ms.
 With realtime autotuning, each parameter is fixed to the value in the machine rigidity table at the
time the machine rigidity is set. By estimating the load inertia from the operation pattern, the
operation coefficient for the speed loop gain and the integral time constant are altered. Doing this
for each pattern can cause vibration, so the estimation value is set conservatively.
10-3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-2 Realtime Autotuning
Setting Realtime Autotuning
1. When setting realtime autotuning, turn the servo OFF.
2. Set Realtime Autotuning Mode Selection (Pn002) depending on the load.
Normally, set the parameter to 1 or 2. When using a vertical axis, set the parameter to 3 or 4.
A setting of 5 is used in combination with a software tool. Do not set the parameter to 5 for
normal operation.
The gain switching function is enabled for set values 2 to 4. If Pn002 is set to 2 to 4, the
Switching Mode in Position Control (Pn115) must be set to 10 (Combination of command pulse
input and speed). The gain is switched according to this switching condition setting. Refer to
page "Gain Switching Setting for Each Control Mode" (P.6-30) for details on setting the
Switching Mode in Position Control (Pn115).
Set
value
Realtime autotuning
Description
0
Disabled
Realtime autotuning is disabled.
1
Focus on stability (default
setting)
No unbalanced load, friction compensation, or gain
switching.
2
Focus on position control
Used when unbalanced load and friction are small. Gain
switching is set.
3
Vertical axis
Used when an unbalanced load is present, such as a
vertical axis.
4
Friction compensation and
vertical axis
Used when a vertical axis or other unbalanced load is
present and when friction is large.
5
Load characteristic estimation
Used only for estimating load characteristics.
6
Customization
Used to customize the Realtime Autotuning Mode.
10
Setting Machine Rigidity
Start from the lower machine rigidity number and check the operation.
Machine configuration and drive method
Realtime Autotuning
Machine Rigidity Selection (Pn003)
Ball screw direct coupling
12 to 24
Ball screw and timing belt
8 to 20
Timing belt
4 to 16
Gears, rack and pinion drives
4 to 16
Other machines with low rigidity
1 to 8
Stacker cranes
Perform manual tuning.
2. Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response.
If vibration occurs, enable the adaptive filter and operate. If already enabled, lower the machine
rigidity number.
 The adaptive filter can be left enabled even when disabling realtime autotuning after completing
adjustments. Even if the adaptive filter is disabled, the set values of notch filters 3 and 4 will be maintained.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-4
Adjustment Functions
1. Set the Realtime Autotuning Machine Rigidity Selection (Pn003) according to the
table below.
10-2 Realtime Autotuning
Precautions for Correct Use
 Unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter
stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning
Machine Rigidity Selection (Pn003) is increased. This is not an error if it disappears right away. If
the unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the
following measures in any order you can.
 Write the parameters used during normal operation to the EEPROM.
 Lower the Realtime Autotuning Machine Rigidity Selection (Pn003).
 Manually set the notch filter.
 Once unusual noise or vibration occurs, Inertia Ratio (Pn004), Torque Command Value Offset
(Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset (Pn609)
may have changed to an extreme value. In this case, also take the measures described above.
 Out of the results of realtime autotuning, the Inertia Ratio (Pn004), Torque Command Value Offset
(Pn607), Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609)
are automatically saved to the EEPROM every 30 minutes. Realtime autotuning will use this
saved data as the default setting when the power supply is turned OFF and turned ON again.
 The parameter will automatically be set based on the Realtime Autotuning Machine Rigidity
Setting (Pn003) if realtime autotuning is enabled.
Realtime Autotuning (RTAT) Parameter Table
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
0
Adjustment Functions
10
10-5
1
2
3
4
5
6
7
Pn004
Inertia Ratio
Estimated load inertia ratio
Pn100
Position Loop Gain
20
25
30
40
45
55
75
95
Pn101
Speed Loop Gain
15
20
25
30
35
45
60
75
Pn102
Speed Loop Integral Time Constant
3700
2800
2200
1900
1600
1200
900
700
Pn103
Speed Feedback Filter Time Constant
0
0
0
0
0
0
0
0
Pn104
Torque Command Filter Time Constant 1*1 1500
1100
900
800
600
500
400
300
Pn105
Position Loop Gain 2
25
30
40
45
55
70
95
120
Pn106
Speed Loop Gain 2
15
20
25
30
35
45
60
75
Pn107
Speed Loop Integral Time Constant 2*2
10000 10000 10000 10000 10000 10000 10000 10000
Pn108
Speed Feedback Filter Time Constant 2
0
Pn109
Torque Command Filter Time Constant 2*1
1500
1100
900
800
600
500
400
300
Pn110
Speed Feed-forward Amount
300
300
300
300
300
300
300
300
0
0
0
0
0
0
0
Pn111
Speed Feed-forward Command Filter
50
50
50
50
50
50
50
50
Pn112
Torque Feed-forward Amount
0
0
0
0
0
0
0
0
Pn113
Torque Feed-forward Command Filter
0
0
0
0
0
0
0
0
Pn114
Gain Switching Input Operating Mode
Selection
1
1
1
1
1
1
1
1
Pn115
Switching Mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
Pn116
Gain Switching Delay Time in Position Control 30
30
30
30
30
30
30
30
Pn117
Gain Switching Level in Position Control
50
50
50
50
50
50
50
50
Pn118
Gain Switching Hysteresis in Position
Control
33
33
33
33
33
33
33
33
Pn119
Position Gain Switching Time
33
33
33
33
33
33
33
33
Pn120
Switching Mode in Speed Control
0
0
0
0
0
0
0
0
Pn121
Gain Switching Delay Time in Speed Control
0
0
0
0
0
0
0
0
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-2 Realtime Autotuning
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
0
1
2
3
4
5
6
7
Pn122
Gain Switching Level in Speed Control
0
0
0
0
0
0
0
0
Pn123
Gain Switching Hysteresis in Speed Control 0
0
0
0
0
0
0
0
Pn124
Switching Mode in Torque Control
0
0
0
0
0
0
0
0
Pn125
Gain Switching Delay Time in Torque
Control
0
0
0
0
0
0
0
0
Pn126
Gain Switching Level in Torque Control
0
0
0
0
0
0
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
0
0
0
0
0
0
0
0
Pn605
Gain 3 Effective Time
0
0
0
0
0
0
0
0
Pn606
Gain 3 Ratio Setting
100
100
100
100
100
100
100
100
Pn607
Torque Command Value Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn608
Forward Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn609
Reverse Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn610.0,
Pn610.3
Function Expansion Setting
0
0
0
0
0
0
0
0
Pn611
Electric Current Response Setting
100
100
100
100
100
100
100
100
Pn613
Inertia Ratio 2
0
0
0
0
0
0
0
0
Pn623
Disturbance Torque Compensation Gain
0
0
0
0
0
0
0
0
Pn624
Disturbance Observer Filter Setting
0
0
0
0
0
0
0
0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
8
Pn004
9
10
11
12
13
14
15
Estimated load inertia ratio
Pn100
Position Loop Gain
115
140
175
320
390
480
630
720
Pn101
Speed Loop Gain
90
110
140
180
220
270
350
400
Pn102
Speed Loop Integral Time Constant
600
500
400
310
250
210
160
140
Pn103
Speed Feedback Filter Time Constant
0
0
0
0
0
0
0
0
*1
Pn104
Torque Command Filter Time Constant 1
300
200
200
126
103
84
65
57
Pn105
Position Loop Gain 2
140
175
220
380
460
570
730
840
Pn106
Speed Loop Gain 2
90
110
140
180
220
270
350
400
Pn107
Speed Loop Integral Time Constant 2*2
10000 10000 10000 10000 10000 10000 10000 10000
Pn108
Speed Feedback Filter Time Constant 2
0
0
0
0
0
0
0
0
Pn109
Torque Command Filter Time Constant 2*1 300
200
200
126
103
84
65
57
Pn110
Speed Feed-forward Amount
300
300
300
300
300
300
300
300
Pn111
Speed Feed-forward Command Filter
50
50
50
50
50
50
50
50
Pn112
Torque Feed-forward Amount
0
0
0
0
0
0
0
0
Pn113
Torque Feed-forward Command Filter
0
0
0
0
0
0
0
0
Pn114
Gain Switching Input Operating Mode
Selection
1
1
1
1
1
1
1
1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-6
Adjustment Functions
Inertia Ratio
10
10-2 Realtime Autotuning
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
8
10
9
10
11
12
13
14
15
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
Pn115
Switching Mode in Position Control
Pn116
Gain Switching Delay Time in Position Control 30
30
30
30
30
30
30
30
Pn117
Gain Switching Level in Position Control
50
50
50
50
50
50
50
50
Pn118
Gain Switching Hysteresis in Position
Control
33
33
33
33
33
33
33
33
Pn119
Position Gain Switching Time
33
33
33
33
33
33
33
33
Pn120
Switching Mode in Speed Control
0
0
0
0
0
0
0
0
Pn121
Gain Switching Delay Time in Speed Control
0
0
0
0
0
0
0
0
Pn122
Gain Switching Level in Speed Control
0
0
0
0
0
0
0
0
Pn123
Gain Switching Hysteresis in Speed Control 0
0
0
0
0
0
0
0
Pn124
Switching Mode in Torque Control
0
0
0
0
0
0
0
0
Pn125
Gain Switching Delay Time in Torque
Control
0
0
0
0
0
0
0
0
Pn126
Gain Switching Level in Torque Control
0
0
0
0
0
0
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
0
0
0
0
0
0
0
0
Pn605
Gain 3 Effective Time
0
0
0
0
0
0
0
0
Pn606
Gain 3 Ratio Setting
100
100
100
100
100
100
100
100
Pn607
Torque Command Value Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn608
Forward Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn609
Reverse Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn610.0,
Pn610.3
Function Expansion Setting
0
0
0
0
0
0
0
0
Pn611
Electric Current Response Setting
100
100
100
100
100
100
100
100
Pn613
Inertia Ratio 2
0
0
0
0
0
0
0
0
Pn623
Disturbance Torque Compensation Gain
0
0
0
0
0
0
0
0
Pn624
Disturbance Observer Filter Setting
0
0
0
0
0
0
0
0
Adjustment Functions
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
16
10-7
17
18
19
20
21
22
23
1620
2060
2510
3050
3770
900
1150
1400
1700
2100
90
80
70
60
50
40
0
0
0
0
0
0
Pn004
Inertia Ratio
Estimated load inertia ratio
Pn100
Position Loop Gain
900
1080
1350
Pn101
Speed Loop Gain
500
600
750
Pn102
Speed Loop Integral Time Constant
120
110
Pn103
Speed Feedback Filter Time Constant
0
0
*1
Pn104
Torque Command Filter Time Constant 1
45
38
30
25
20
16
13
11
Pn105
Position Loop Gain 2
1050
1260
1570
1880
2410
2930
3560
4400
Pn106
Speed Loop Gain 2
500
600
750
900
1150
1400
1700
2100
Pn107
Speed Loop Integral Time Constant 2*2
10000 10000 10000 10000 10000 10000 10000 10000
Pn108
Speed Feedback Filter Time Constant 2
0
0
0
0
0
0
0
0
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-2 Realtime Autotuning
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
16
17
18
19
20
21
22
23
Pn109
Torque Command Filter Time Constant 2*1
45
38
30
25
20
16
13
11
Pn110
Speed Feed-forward Amount
300
300
300
300
300
300
300
300
Pn111
Speed Feed-forward Command Filter
50
50
50
50
50
50
50
50
Pn112
Torque Feed-forward Amount
0
0
0
0
0
0
0
0
Pn113
Torque Feed-forward Command Filter
0
0
0
0
0
0
0
0
Pn114
Gain Switching Input Operating Mode
Selection
1
1
1
1
1
1
1
1
Pn115
Switching Mode in Position Control
Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
Pn116
Gain Switching Delay Time in Position Control 30
30
30
30
30
30
30
30
Pn117
Gain Switching Level in Position Control
50
50
50
50
50
50
50
50
Pn118
Gain Switching Hysteresis in Position
Control
33
33
33
33
33
33
33
33
Pn119
Position Gain Switching Time
33
33
33
33
33
33
33
33
Pn120
Switching Mode in Speed Control
0
0
0
0
0
0
0
0
Pn121
Gain Switching Delay Time in Speed Control
0
0
0
0
0
0
0
0
Pn122
Gain Switching Level in Speed Control
0
0
0
0
0
0
0
0
Pn123
Gain Switching Hysteresis in Speed Control 0
0
0
0
0
0
0
0
Pn124
Switching Mode in Torque Control
0
0
0
0
0
0
0
0
Pn125
Gain Switching Delay Time in Torque
Control
0
0
0
0
0
0
0
0
Pn126
Gain Switching Level in Torque Control
0
0
0
0
0
0
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
0
0
0
0
0
0
0
0
Gain 3 Effective Time
0
0
0
0
0
0
0
0
Pn606
Gain 3 Ratio Setting
100
100
100
100
100
100
100
100
Pn607
Torque Command Value Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn608
Forward Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn609
Reverse Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn610.0,
Pn610.3
Function Expansion Setting
0
0
0
0
0
0
0
0
Pn611
Electric Current Response Setting
100
100
100
100
100
100
100
100
Pn613
Inertia Ratio 2
0
0
0
0
0
0
0
0
Pn623
Disturbance Torque Compensation Gain
0
0
0
0
0
0
0
0
Pn624
Disturbance Observer Filter Setting
0
0
0
0
0
0
0
0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
24
25
26
27
28
29
30
31
6600
7200
8100
9000
Pn004
Inertia Ratio
Estimated load inertia ratio
Pn100
Position Loop Gain
4490
5000
5600
Pn101
Speed Loop Gain
2500
2800
3100
3400
3700
4000
4500
5000
Pn102
Speed Loop Integral Time Constant
40
35
30
30
25
25
20
20
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
6100
10-8
10
Adjustment Functions
Pn605
10-2 Realtime Autotuning
Parameter
number
AT Machine Rigidity Setting (Pn003)
Parameter name
24
Adjustment Functions
10
25
26
27
28
29
30
31
Pn103
Speed Feedback Filter Time Constant
0
0
0
0
0
0
0
0
Pn104
Torque Command Filter Time Constant 1*1 9
8
7
7
6
6
5
5
Pn105
Position Loop Gain 2
5240
5900
6500
7100
7700
8400
9400
10500
Pn106
Speed Loop Gain 2
2500
2800
3100
3400
3700
4000
4500
5000
Pn107
Speed Loop Integral Time Constant 2*2
10000 10000 10000 10000 10000 10000 10000 10000
Pn108
Speed Feedback Filter Time Constant 2
0
Pn109
Torque Command Filter Time Constant 2*1
9
8
7
7
6
6
5
5
Pn110
Speed Feed-forward Amount
300
300
300
300
300
300
300
300
0
0
0
0
0
0
0
Pn111
Speed Feed-forward Command Filter
50
50
50
50
50
50
50
50
Pn112
Torque Feed-forward Amount
0
0
0
0
0
0
0
0
Pn113
Torque Feed-forward Command Filter
0
0
0
0
0
0
0
0
Pn114
Gain Switching Input Operating Mode
Selection
1
1
1
1
1
1
1
1
Pn115
Switching Mode in Position Control
Gain Switching Enable Mode: 10
GAIN Switching Disable Mode: 0
Pn116
Gain Switching Delay Time in Position Control 30
30
30
30
30
30
30
30
Pn117
Gain Switching Level in Position Control
50
50
50
50
50
50
50
50
Pn118
Gain Switching Hysteresis in Position
Control
33
33
33
33
33
33
33
33
Pn119
Position Gain Switching Time
33
33
33
33
33
33
33
33
Pn120
Switching Mode in Speed Control
0
0
0
0
0
0
0
0
Pn121
Gain Switching Delay Time in Speed Control
0
0
0
0
0
0
0
0
Pn122
Gain Switching Level in Speed Control
0
0
0
0
0
0
0
0
Pn123
Gain Switching Hysteresis in Speed Control 0
0
0
0
0
0
0
0
Pn124
Switching Mode in Torque Control
0
0
0
0
0
0
0
0
Pn125
Gain Switching Delay Time in Torque
Control
0
0
0
0
0
0
0
0
Pn126
Gain Switching Level in Torque Control
0
0
0
0
0
0
0
0
Pn127
Gain Switching Hysteresis in Torque
Control
0
0
0
0
0
0
0
0
Pn605
Gain 3 Effective Time
0
0
0
0
0
0
0
0
Pn606
Gain 3 Ratio Setting
100
100
100
100
100
100
100
100
Pn607
Torque Command Value Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn608
Forward Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn609
Reverse Direction Torque Offset
If Pn002 = 3 or 4, this is the estimated offset for the torque
command.
Pn610.0,
Pn610.3
Function Expansion Setting
0
0
0
0
0
0
0
0
Pn611
Electric Current Response Setting
100
100
100
100
100
100
100
100
Pn613
Inertia Ratio 2
0
0
0
0
0
0
0
0
Pn623
Disturbance Torque Compensation Gain
0
0
0
0
0
0
0
0
Pn624
Disturbance Observer Filter Setting
0
0
0
0
0
0
0
0
*1. This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.
*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis
mode, the value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque
command value offset, and forward/reverse direction torque offset) is completed. The value will
change to 10000 after the load characteristic estimation is completed.
 The parameters Pn103, Pn108, Pn110 to Pn127, Pn605, Pn606, Pn610, Pn611, Pn613, Pn623
and Pn624 are set to fixed values.
10-9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-3 Manual Tuning
10-3 Manual Tuning
Basic Settings
As described before, the OMNUC G5-series Servo Drives have a realtime autotuning function.
Readjustment, however, is required if realtime autotuning cannot adjust the gain properly for
same reasons: there is a restriction by load conditions, or a necessity to ensue optimum
responsiveness and stability for each load.
This section describes how to perform manual tuning for each control mode and function.
Before Manual Setting
More reliable adjustment can be performed quickly by using waveform monitoring with the data
tracing function of the CX-Drive or by measuring the analog voltage waveform with the monitor
function.
Analog Monitor Output
The actual motor speed, command speed, torque, and number of accumulated pulses can be
measured in the analog voltage level using an oscilloscope or other device. The type of signal
to output and the output voltage level are set with Analog Monitor 1 Selection (Pn416) and
Analog Monitor 2 Selection (Pn418) settings. For details, refer to "12-2 Parameter List" (P.1211).
The refresh period of the analog monitor is 1 ms.
CX-Drive Data Tracing Function
Commands to the motor and motor operation (speed, torque command, and position error) can
be displayed on a computer as waveforms. Refer to the CX-Drive Operation Manual (Cat. No.
W453).
10
USB communications cable
Adjustment Functions
Connect to CN7.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-10
10-3 Manual Tuning
Position Control/Fully-closed Control Mode Adjustment
Use the following procedure to perform the adjustment in position control for the Servo Drive.
Start adjustment.
Never adjust or set parameters to extreme values,
because it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the
gain while checking the motor operation.
Set the realtime autotuning to disabled (Pn002 = 0)
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
No
Yes
Adjustment completed.
Increase Speed Loop Gain (Pn101) to the extent
that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102) to the extent
that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
No
Yes
Decrease Speed Loop Gain (Pn101).
Increase position loop gain to the extent
that overshooting does not occur.
Increase Speed Loop Integral Time Constant (Pn102).
Write to the EEPROM in the Parameter Write Mode.
10
Adjustment Functions
Adjustment completed.
If vibration persists after repeated adjustments
or the positioning is slow:
Increase Torque Command Filter Time Constant (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207) or
Notch 4 Frequency Setting (Pn210).
10-11
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-3 Manual Tuning
Speed Control Mode Adjustment
Adjustments in speed control for the OMNUC G5 Series are very similar to Position Control
Mode adjustment.
Use the following procedure to perform the adjustment.
Never adjust or set parameters to extreme values,
because it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the
gain while checking the motor operation.
Start adjustment.
Set the realtime autotuning to disabled (Pn002 = 0)
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the speed responsiveness and other performances satisfied?
Yes
No
Adjustment completed.
Increase Speed Loop Gain (Pn101) to the extent
that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102) to the extent
that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
No
Yes
Decrease Speed Loop Gain (Pn101).
Write to the EEPROM in the Parameter Write Mode.
Increase Speed Loop Integral Time Constant (Pn102).
10
Adjustment completed.
Increase Torque Command Filter Time Constant (Pn104).
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207) or
Notch 4 Frequency Setting (Pn210).
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-12
Adjustment Functions
If vibration persists after repeated adjustments
or the positioning is slow:
10-3 Manual Tuning
Servo Manual Tuning Method
The following 4 parameters are the basic servo adjustment parameters.
If desired operation characteristics are obtained by adjusting the following 4 parameters, the
adjustments of other parameters are not necessary.
Parameter
number
Parameter name
Default setting
Parameter number 2
Pn100
Position Loop Gain
48.0 [1/s]
Pn105
Pn101
Speed Loop Gain
27.0 Hz
Pn106
Pn102
Speed Loop Integral Time
Constant
21.0 ms
Pn107
Pn104
Torque Command Filter Time
Constant
0.84 ms
Pn109
Adjustment of Each Parameter
The control loop for the servo consists of, from the outside, a position loop, speed loop and
current loop.
The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop.
What determines the default setting includes the structure and the rigidity of the machine, and
the inertia ratio.
Guide of each parameter for different applications is as follows.
Parameter Settings for Different Applications
Inertia Rigidity
Position
loop gain
[1/s]
Speed
loop gain
[Hz]
Speed loop
integral time
constant
Torque command
filter time constant
[x 0.01 ms]
Ball screw horizontal
Large
20
140
35
160
Ball screw horizontal
Medium Medium 40
80
20
100
Ball screw horizontal
Small
High
80
60
15
80
Ball screw vertical
Large
Low
20
160
45
160
Ball screw vertical
Medium Medium 40
80
30
120
Ball screw vertical
Small
High
60
60
20
100
Ball screw nut rotation horizontal Large
Low
Application name
Adjustment Functions
10
Low
20
140
40
160
Ball screw nut rotation horizontal Medium Medium 40
100
30
120
Ball screw nut rotation vertical
Large
20
160
45
160
Ball screw nut rotation vertical
Medium Medium 40
120
25
120
Timing belt
Large
20
160
60
160
Timing belt
Medium Medium 30
120
40
120
Rack and pinion drives
Large
Low
20
160
60
160
Rack and pinion drives
Large
Medium 30
120
40
120
Rack and pinion drives
Medium Medium 40
100
20
100
Index table
Large
Medium 40
120
25
120
Index table
Small
High
80
120
20
100
Robot arm cylinder
Large
Low
15
160
60
160
Robot arm cylinder
Medium Medium 25
120
40
120
Other general-purpose
Medium Medium 30
100
30
150
Low
Low
 Inertia Ratio (Pn004) is when fixed at 300%.
10-13
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-3 Manual Tuning
Inertia guide
The inertia is small.
5 times the rotor inertia max.
The inertia is medium.
5 to 10 times the rotor inertia max.
The inertia is large.
10 to 20 times the rotor inertia max.
Pn100 and Pn105 Position Loop Gain
This loop controls the number of pulses from encoder to be the designated number of pulses.
This is called an error counter, and when the pulse is equal to or lower than the specified value,
positioning is completed and the signal is output.
The ratio of maximum speed used and error counter is called a position loop gain.
Position loop gain [1/s] =
Command maximum speed [pps]
Error counter accumulated pulse (P)
For the position loop gain, use the inverse of Speed Loop Integral Time Constant (Pn102) as
a guide for setting. Setting Pn102 to 100 ms results in 10 [1/s].
There will be no overshooting under this condition. To quicken positioning, increase the value
of position loop gain. If the value is too large, overshooting or vibration will occur. In such
cases, set the value smaller.
If the speed loop or the current loop is vibrating, adjusting the position loop does not eliminate
the vibration.
Response to the position loop gain adjustment is illustrated below.
 If the position loop gain is high, an overshooting occurs.
Command operation pattern
Actual operation
Speed
(r/min)
10
Adjustment Functions
Time t
 If the position loop gain is low, positioning completion speed becomes slow.
Command operation pattern
Actual operation
Speed
(r/min)
Time t
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-14
10-3 Manual Tuning
Pn101 and Pn106 Speed Loop Gain
The speed loop gain determines the responsiveness of the servo.
This value becomes the response frequency if the Inertia Ratio (Pn004) is set correctly.
Increasing the value of the speed loop gain improves the responsiveness and quickens
positioning, but vibration is more likely to occur. Adjustment must be made so vibration will not
occur.
This is related to Speed Loop Integral Time Constant (Pn102), and by increasing the integral
time constant, the speed loop gain value can be increased.
 If the speed loop gain is low, the speed response becomes slow and a large overshooting occurs.
In such case, increase the speed loop gain.
Command operation pattern
Actual operation
Speed
(r/min)
Time t
 If the speed loop gain is high, vibrations are more likely to occur. Vibration or resonance may not
disappear.
In such case, decrease the speed loop gain.
Command operation pattern
Speed
(r/min)
Adjustment Functions
10
Actual operation
Time t
10-15
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-3 Manual Tuning
Pn102 and Pn107 Speed Loop Integral Time Constant
The speed loop integral time constant also determines the responsiveness of the servo.
 If the speed loop integral time constant is low, vibration or resonance occurs.
In such case, increase the speed loop integral time constant.
Command operation pattern
Speed
(r/min)
Actual operation
Time t
 If the speed loop integral time constant is high, the response is delayed. The servo rigidity
becomes weak.
In such case, decrease the speed loop integral time constant.
Command operation pattern
Speed
(r/min)
Actual operation
Time t
10
The torque command filter applies a filter so the current command from the speed loop
becomes smooth. The result is a smooth current flow which suppresses vibration.
The default setting of the filter time constant is 84 (0.84 ms).
Increase the value to reduce vibration. Increasing the value slows the response.
As a guide, aim for about 1/25 of the Speed Loop Integral Time Constant (Pn102).
Also, the torque command filter reduces vibration due to the machine rigidity.
This is related to Speed Loop Gain (Pn101), and if Pn101 is too large, increasing the torque
command filter time constant does not reduce vibration.
If there is machine resonance such as with the ball screw, vibration is reduced by using notch
filters such as Pn201, Pn204, Pn207 and Pn210. Or, enable the adaptive filter.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
10-16
Adjustment Functions
Pn104 and Pn109 Torque Command Filter Time Constant (Current Loop Input
Adjustment)
10-3 Manual Tuning
Other Adjustments
If the torque loop is saturated because the acceleration time is short or the load torque is large,
an overshooting occurs for the speed response. In such case, increase the acceleration time
to prevent the torque from saturating.
Command operation pattern
Acceleration torque required to
accelerate according to
the command pattern
Overshooting occurs
by the delay from
the command.
Momentary maximum torque at
which motor output is possible
Torque Control Mode Adjustment
This is a torque control based on the speed control loop where the speed limit is the speed limit
value from Speed Limit (Pn304, Pn305, Pn306 or Pn307). This section describes the settings
for these speed limit values.
Setting Speed Limit Values
 If Torque Command/Speed Limit Selection (Pn317) is 0, speed limit is the value set by Speed
Limit Value Setting (Pn321) and Reverse Direction Speed Limit Value Setting (Pn322). If Torque
Command/Speed Limit Selection (Pn317) is 1, the speed limit is the value obtained by converting
the voltage applied to analog input 1 with Torque Command Scale (Pn319).
 When the motor speed approaches the speed limit value, the speed control switches to that using
Speed Limit Value Setting (Pn321) and Reverse Direction Speed Limit Value Setting (Pn322) as
commands.
 To have a stable operation while the speed is limited, the parameter should be set according to
"Speed Control Mode Adjustment".
 The torque may not be produced as specified by the torque command because the input to the
torque limit section is small, when the speed limit values in Speed Limit Value Setting (Pn321) and
Reverse Direction Speed Limit Value Setting (Pn322) are too low, when the speed loop gain is too
low, or when the speed loop integral time constant is 10,000 (disabled).
Adjustment Functions
10
10-17
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Troubleshooting and Maintenance
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.
11-1 Troubleshooting .........................................................11-1
Preliminary Checks When a Problem Occurs............................... 11-1
Precautions When a Problem Occurs........................................... 11-2
Replacing the Servomotor or Servo Drive .................................... 11-3
11-2 Warning List ................................................................11-4
11-3 Alarm List ....................................................................11-5
11-4 Troubleshooting .......................................................11-10
Error Diagnosis Using the Alarm Displays .................................. 11-10
Troubleshooting Using the Operation Status .............................. 11-23
11-5 Periodic Maintenance...............................................11-27
Servomotor Life Expectancy ....................................................... 11-27
Servo Drive Life Expectancy....................................................... 11-28
Replacing the Absolute Encoder Battery .................................... 11-29
11
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-1 Troubleshooting
11-1 Troubleshooting
Preliminary Checks When a Problem Occurs
This section explains the preliminary checks required to determine the cause of a problem if
one occurs.
Checking the Power Supply Voltage
 Check the voltage at the power supply input terminals.
Main Circuit Power Supply Input Terminals (L1, L2, L3)
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
(750 W to 1.5 kW) : 3-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz
(2 to 15 kW)
: 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KT@F
(750 W to 15 kW) : 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz
Control Circuit Power Supply Input Terminals (L1C, L2C)
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
(2 to 15 kW)
: Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz
R88D-KT@F
(750 W to 15 kW) : 24 VDC (21.6 to 26.4 V)
If the voltage is out of range, there is a risk of operation failure. Be sure that the power supply is
within the specified range.
 Check the voltage of the sequence input power supply (+24 VIN terminal (CN1 pin 7)).
It must be between 11 and 25 VDC.
If the voltage is out of range, there is a risk of operation failure. Be sure that the power supply is
within the specified range.
Checking Whether an Alarm Has Occurred
 Make an analysis using the 7-segment LED display area in the front of the Servo Drive and using
the Operation keys.
 When an alarm has occurred
… Check the alarm display that is displayed (@@) and make an analysis based on the alarm that is
indicated.
Troubleshooting and Maintenance
11
 When an alarm has not occurred
… Make an analysis according to the error conditions.
 In either case, refer to "11-4 Troubleshooting" (P.11-10) for details.
11-1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-1 Troubleshooting
Precautions When a Problem Occurs
When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly
start to operate or suddenly stop, so always take the following precautions.
You should assume that anything not described in this manual is not possible with this product.
Precautions
 Disconnect the wiring before checking for cable breakage. If you test conduction with the cable
connected, test results may not be accurate due to conduction via bypassing circuit.
 If the encoder signal is lost, the motor may run away, or an alarm may occur. Be sure to disconnect
the motor from the mechanical system before checking the encoder signal.
 When measuring the encoder output, perform the measurement based on the SENGND (CN1 pin
13).
When an oscilloscope is used for measurement, it will not be affected by noise if measurements
are performed using the differential between CH1 and CH2.
 When performing tests, first check that there are no persons in the vicinity of the equipment, and
that the equipment will not be damaged even if the motor runs away.
Before performing the tests, verify that you can immediately stop the machine using an emergency
stop even if it runs away.
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-2
11-1 Troubleshooting
Replacing the Servomotor or Servo Drive
Use the following procedure to replace the Servomotor or Servo Drive.
Replacing the Servomotor
1. Replace the motor.
2. Perform origin adjustment (for position control).
 When the motor is replaced, the motor's origin position (phase Z) may deviate, so origin
adjustment must be performed.
 Refer to the position controller's manual for details on performing origin adjustment.
3. Set up the absolute encoder.
 If a motor with an absolute encoder is used, the absolute value data in the absolute encoder is
cleared when the motor is replaced, so setup is again required.
The multi-rotation data will be different from before it was replaced, so initialize the Motion Control
Unit settings.
 For details, refer to "Absolute Encoder Setup"(P.9-4).
Replacing the Servo Drive
1. Copy the parameters.
Use a software tool such as the CX-Drive to read and save all parameter settings from the
Servo Drive.
2. Replace the Servo Drive.
3. Reset the parameters.
Use a software tool such as the CX-Drive to set and transfer all parameter settings to the Servo
Drive.
4. Set up the absolute encoder.
 If a motor with an absolute encoder is used, the absolute value data in the absolute encoder is
cleared when the Servo Drive is replaced, so setup is again required.
 The multi-rotation data will be different from before it was replaced, so initialize the Motion Control
Unit settings.
 For details, refer to "Absolute Encoder Setup"(P.9-4).
Troubleshooting and Maintenance
11
11-3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-2 Warning List
11-2 Warning List
This is a function to output a warning signal before the protective function operates to notify the overload and other statuses in advance.
Set the warning output type to Warning Output Selection 1 (Pn440) and Waning Output Selection 2 (Pn441).
Precautions for Correct Use
 Each warning automatically returns to the status before it occurred once the system recovers from the error.
However, for the time set in the Warning Latch Hold Time Selection (Pn627), the warning status will be held.
To clear the warning during the latch hold time, do so by performing the same procedures as alarm clear.
Warning List
Warning
number
Warning name
A0
Overload
warning
√
The load ratio is 85% or
1
more of the protection level.
bit 7
A1
Excessive
regeneration
warning
√
The regeneration load
ratio is 85% or more of
the protection level.
2
bit 5
Always
Battery voltage is 3.2 V
fixed with
or less.
no time limit
3
bit 0
Battery warning
A2
A3
A4
Fan warning
Encoder
communications
warning
Latch*1
Warning condition
Warning Output Selection Warning Mask
(Pn440, Pn441) *2
Setting (Pn638)
√
The fan stops for 1
second.
4
bit 6
√
Encoder communications
errors occurred in series
more than the specified
value.
5
bit 4
The encoder
temperature exceeded
the specified value.
6
bit 3
Encoder
overheating
warning
√
A6
Vibration
detection
warning
√
7
bit 9
Life expectancy
warning
The life expectancy of
Always
the capacitor or the fan
fixed with
is shorter than the
no time limit
specified value.
8
bit 2
External encoder
error warning
√
The external encoder
detected a warning.
9
bit 8
√
The external encoder has
more communications errors
in series than the specified
value.
10
bit 10
A7
A8
A9
External encoder
communications
warning
Vibration is detected.
11
*1. The "√" fields can be set to 1 to 10 s in the Warning Latch Hold Time Selection (Pn627) or to the notime limit setting. However, the battery warning is fixed with no time limit.
*2. Select the type of warning to be output in warning output 1 (WARN1) and warning output 2 (WARN2)
in the Warning Output Selection 1 (Pn440) and Warning Output Selection 2 (Pn441).If you set this to
0, all warning types will be output.Do not set it to a value other than above.
*3. Each warning detection can be masked using the Warning Mask Setting (Pn638). The corresponding
bits are shown in the table.
The warning detection is masked when the bit = 1.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4
Troubleshooting and Maintenance
A5
11-3 Alarm List
11-3 Alarm List
If the drive detects an error, the alarm output (ALM) will turn ON, the power drive circuit in the
drive will turn OFF, and the alarm code will be displayed.
Precautions for Correct Use
 Refer to "Error Diagnosis Using the Alarm Displays"(P.11-10) for appropriate alarm measures.
 Reset the alarm using one of the following methods. Remove the cause of the alarm first.
· Input the alarm reset input (RESET) signal.
· Turn OFF the power supply, then turn it ON again.
· Reset the alarm from the CX-Drive.
However, some alarms can only be reset by turning the power supply OFF then ON again. Refer
to the next item "Alarm List".
 If you reset an alarm while the operation command (RUN) is turned ON, the Servo Drive will start
operation as soon as the alarm is released, which is dangerous. Be sure to turn OFF the RUN
before clearing the alarm.
If the RUN is always ON, first check safety sufficiently before clearing the alarm.
 When an alarm occurs, the servo drive latches the status of the servo drive just before the alarm
occurrence. Those latched values can be read with the software tool for diagnostics. Refer to the
CX-Drive Operation Manual (Cat. No. W453) for details.
 The stop mode in case of an alarm may vary depending on the “Immediate stop” attribute in each
alarm.
Troubleshooting and Maintenance
11
11-5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-3 Alarm List
Alarm List
Alarm
number
Attribute
Error detection function
Main
Sub
11
0
12
0
Detection details and probable
cause
History
Can be Immediate
cleared stop *1
Control power supply
undervoltage
The DC voltage of the control circuit is
below the specified value.
−
√
−
Overvoltage
The DC voltage in the main circuit is
abnormally high.
√
√
−
0
Main power supply undervoltage
(Insufficient voltage between P
and N)
The DC voltage of the main circuit is
low.
−
√
−
1
Main power supply
undervoltage
(AC cut-off detection)
A location was detected where the
main circuit AC power supply is cut off. −
√
−
0
Overcurrent
Overcurrent flowed to the IGBT.
√
−
−
1
IPM error
Motor power line ground fault or short circuit. √
−
−
Servo Drive overheat
The temperature of the Servo Drive
√
radiator exceeded the specified value.
−
√
Overload
Operation was performed with torque
significantly exceeding the rating for several
seconds to several tens of seconds.
√
√
−
The regenerative energy exceeds the
processing capacity of the
Regeneration Resistor.
√
−
√
Regeneration Tr error
An error was detected in a Servo Drive
regeneration drive Tr.
√
−
−
0
Encoder communications
disconnection error
The encoder wiring is disconnected.
√
−
−
1
Encoder communications
error
An encoder communications error
was detected.
√
−
−
Encoder communications
data error
Communications cannot be performed
between the encoder and the Servo
Drive.
√
−
−
Error counter overflow
The error counter accumulated pulse
exceeds the set value for the Error
Counter Overflow Level (Pn014).
√
√
√
The difference between the internal
position command speed and the
actual speed (i.e., the speed error)
exceeded the Excessive Speed Error
Setting (Pn602).
√
√
√
During fully-closed control, difference
between position of load from external
encoder and position of motor due to
encoder was larger than the pulse number
set by Excessive Hybrid Error Setting
(Pn332).
√
−
√
13
14
15
0
16
0
Regeneration overload
0
18
1
21
23
0
Excessive speed error
24
1
Excessive hybrid error
25
0
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-6
Troubleshooting and Maintenance
0
11
11-3 Alarm List
Alarm
number
Attribute
Error detection function
Main
Detection details and probable
cause
Sub
History
Can be Immediate
cleared stop *1
Overspeed
The motor rotation speed exceeded the value
set on the Overspeed Level set (Pn513).
√
√
√
Overspeed 2
The motor rotation speed exceeded the value
set on the Overspeed Level set 2 (Pn615).
√
√
−
0
Command pulse
frequency error
A command pulse frequency error was
detected.
√
√
√
2
Command pulse multiplier
error
The command pulse divider or
multiplier is not suitable.
√
√
√
Pulse regeneration error
The pulse regeneration output
frequency exceeded the limit.
√
√
√
Error counter overflow
Error counter value based on the
encoder pulse reference exceeded
229 (536,870,912).
√
√
−
0
26
1
27
28
0
29
0
30
(st)
0
Safety input error
Safety input signal turned OFF.
−
√
−
0
Interface input duplicate
allocation error 1
A duplicate setting for the interface
input signals was detected.
√
−
−
1
Interface input duplicate
allocation error 2
√
−
−
2
Interface input function
number error 1
√
−
−
3
Interface input function
number error 2
√
−
−
4
Interface output function
number error 1
An undefined number was detected in
√
the interface output signal allocations.
−
−
5
Interface output function
number error 2
√
−
−
6
Counter reset allocation
error
The counter reset function was allocated
to something other than input signal SI7.
√
−
−
7
Command pulse
prohibition input allocation
error
The command pulse prohibition input
function was allocated to something
other than input signal SI10.
√
−
−
Overrun limit error
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.
−
√
−
33
Troubleshooting and Maintenance
11
11-7
34
0
36
0 to
2
37
0 to
2
38
0
Parameter error
Parameters destruction
Drive prohibition input
error
An undefined number was detected in
the interface input signal allocations.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-3 Alarm List
Alarm
number
Attribute
Error detection function
Main
History
Can be Immediate
cleared stop *1
√
√
√
√
√
√
√
√
√
The voltage supplied to the absolute
encoder is lower than the specified value.
√
√
−
The multi-rotation counter of the absolute
encoder exceeds the specified value.
√
−
−
Absolute encoder
overspeed error ABS
The motor rotation speed exceeds the
specified value when only the battery power
supply of the absolute encoder is used.
√
√
−
Encoder initialization error
An encoder initialization error was
detected.
√
−
−
Absolute encoder 1rotation counter error
A 1-turn counter error was detected.
√
−
−
A multi-rotation counter error or
phase-AB signal error was detected.
√
−
−
Absolute encoder status
error ABS
The rotation of the absolute encoder is
higher than the specified value.
√
−
−
Encoder phase-Z error
A serial incremental encoder phase Z
pulse irregularity was detected.
√
−
−
Encoder CS signal error
A logic error was detected in the CS
signal for serial incremental encoder.
√
−
−
0
External encoder
connection error
An error was detected in external
encoder connection.
√
−
−
1
External encoder
An error was detected in external
communications data error encoder communications data.
√
−
−
0
External encoder status
error 0
√
−
−
1
External encoder status
error 1
√
−
−
2
External encoder status
error 2
√
−
−
3
External encoder status
error 3
√
−
−
4
External encoder status
error 4
√
−
−
5
External encoder status
error 5
√
−
−
Sub
0
39
Detection details and probable
cause
1
2
Excessive analog input 1
Excessive analog input 2
Excessive analog input 3
Absolute encoder system
40
0
41
0
42
0
43
0
44
0
A current exceeding the Speed
Command/Torque Command Input
Overflow Level Setting (Pn424, Pn427
or Pn430) was applied to the analog
command input (pin 14).
down error
ABS
Absolute encoder counter
overflow error
ABS
ABS
45
0
Absolute encoder multirotation counter error
ABS
47
0
48
0
49
0
11
50
51
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-8
Troubleshooting and Maintenance
An external encoder alarm code was
detected.
11-3 Alarm List
Alarm
number
Attribute
Error detection function
Main
Sub
0
55
Detection details and probable
cause
1
2
87
0
95
0 to
4
99
0
Other
numbers
History
Can be Immediate
cleared stop *1
Phase-A connection error
An error was detected in the external
encoder phase A connection.
√
−
−
Phase-B connection error
An error was detected in the external
encoder phase B connection.
√
−
−
Phase-Z connection error
An error was detected in the external
encoder phase Z connection.
√
−
−
Emergency stop input
error
An emergency stop input signal
(STOP) was input.
−
√
−
Motor non-conformity
The combination of the Servomotor
and Servo Drive is not appropriate.
−
−
−
Other errors
 The control circuit malfunctioned due
to excess noise or some other
problem.
 An alarm clear operation was
performed when safety input 1 or
safety input 2 was not in the normal
status (i.e., when the input
photocoupler was not ON).
√
−
−
*1. An immediate stop means an alarm causing an immediate stop when the Pn510 "Stop Selection for
Alarm Detection" is set to 4 to 7. For details, refer to "Stop Selection for Alarm Detection"(P.8-51).
Troubleshooting and Maintenance
11
11-9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
11-4 Troubleshooting
If an error occurs in the machine, determine the error conditions from the alarm displays and
operation status, identify the cause of the error, and take appropriate measures.
Error Diagnosis Using the Alarm Displays
Alarm
number
Main
11
Name
Cause
Measures
Control power supply
undervoltage
The voltage between the positive and
negative terminals in the control
power supply converter dropped
below the specified value.
100-V models: Approx. 70 VDC
(approx. 50 VAC)
200-V models: Approx. 145 VDC
(approx. 100 VAC)
400-V models: Approx. 15 VDC
· The power supply voltage is low. A
momentary power interruption
occurred.
· Insufficient power supply capacity:
The power supply voltage dropped
because there was inrush current
when the main power supply was
turned ON.
· The Servo Drive has failed (circuit
failure).
Measure the voltage between the
L1C and L2C lines on the connector
and the terminal block.
· Increase the power supply
voltage. Change the power
supply.
· Increase the power supply
capacity.
· Replace the Servo Drive.
Sub
0
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-10
11-4 Troubleshooting
Alarm
number
Main
12
Name
Cause
Measures
The power supply voltage exceeded
the allowable input voltage range,
causing the voltage between the
positive and negative terminals in the
converter to exceed the specified
value. The power supply voltage is
high. The voltage was suddenly
increased by the phase advance
capacitor or the uninterruptible power
supply (UPS).
100-V models: Approx. 200 VDC
(approx. 140 VAC)
200-V models: Approx. 400 VDC
(approx. 280 VAC)
400-V models: Approx. 800 VDC
(approx. 560 VAC)
· The regeneration resistor wiring is
broken.
· The External Regeneration
Resistor is inappropriate and
cannot absorb all of the
regenerative energy. The load
inertia is too large, gravitational
torque on the vertical axis is too
large, or there is some other
problem in absorbing the
regenerative energy.
· The Servo Drive has failed (circuit
failure).
Measure the voltage between the L1,
L2, and L3 lines on the connector and
the terminal block. Input the correct
voltage. Remove the phase advance
capacitor.
· Use a tester to measure the
resistance of the external resistor
between the B1 and B2 terminals
on the Servo Drive. If the
resistance is infinite, the wiring is
broken. Replace the External
Regeneration Resistor.
· Change the regeneration
resistance and wattage to the
specified values. (Calculate the
regenerative energy and connect
an External Regeneration
Resistor with the required
regeneration absorption capacity.
Reduce the descent speed.)
· Replace the Servo Drive.
Sub
0
Overvoltage
Troubleshooting and Maintenance
11
11-11
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Alarm
number
Main
Name
Cause
Measures
If the Undervoltage Error Selection
(Pn508) is set to 1, a momentary
power interruption occurred between
L1 and L3 for longer than the value
specified for the Momentary Hold
Time (Pn509). Or, the voltage
between the positive and negative
terminals in the control power supply
converter dropped below the
specified value while the Servo was
ON.
100-V models: Approx. 80 VDC
(approx. 55 VAC)
200-V models: Approx. 110 VDC
(approx. 75 VAC)
400-V models: Approx. 180 VDC
(approx. 125 VAC)
· The power supply voltage is low.
· A momentary power interruption
occurred.
· Insufficient power supply capacity:
The power supply voltage
dropped because there was
inrush current when the main
power supply was turned ON.
· Phase loss: A Servo Drive with 3phase input specification was
operated with a single-phase
power supply.
· The Servo Drive has failed (circuit
failure).
Measure the voltage between the L1,
L2, and L3 lines on the connector and
the terminal block.
· Increase the power supply voltage
capacity. Change the power
supply.
· Eliminate the cause of the failure
of the electromagnetic contactor
on the main circuit power supply,
and then turn ON the power again.
· Check the setting of the
Momentary Hold Time (Pn509).
Correctly set the phases of the
power supply.
· Increase the power supply
capacity. Refer to Servo Drive and
Servomotor Combination Tables
on page 2-11 for information on
the power supply capacity.
· Connect the phases (L1, L2, L3) of
the power supply correctly. Use L1
and L3 for single-phase 100 V and
single-phase 200 V.
· Replace the Servo Drive.
Sub
0
Main power supply
undervoltage
(insufficient voltage
between P and N)
1
Main power supply
undervoltage (AC cutoff detection)
13
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-12
11-4 Troubleshooting
Alarm
number
Main
Name
0
Overcurrent
1
IPM error
11
Troubleshooting and Maintenance
11-13
Measures
The current flowing between P and N
of the converter exceeded the
specified value.
· The Servo Drive is faulty (faulty
circuit, faulty IGBT part, etc.).
· The Servomotor cable is shortcircuited between phases U, V,
and W.
· The Servomotor cable is groundfaulted.
· Motor windings are burned out.
· The Servomotor wiring contact is
faulty.
· The relay for the dynamic brake
has been welded due to frequent
servo ON/OFF operations.
· The command pulse input timing
is the same as or earlier than the
servo ON timing.
· Disconnect the Servomotor cable,
and turn ON the servo. If the
problem immediately recurs,
replace the Servo Drive with a new
one.
· Check to see if the Servomotor
cable is short-circuited between
phases U, V and W by checking
for loose wire strands on the
connector leads. Connect the
Servomotor cable correctly.
· Check the insulation resistance
between phases U, V, and W of
the Servomotor cable and the
grounding wire of the Servomotor.
If the insulation is faulty, replace
the Servomotor.
· Check the balance between the
resistance of each wire of the
Servomotor. If resistance is
unbalanced, replace the
Servomotor.
· Check for missing connector pins
in Servomotor connections U, V,
and W. If any loose or missing
connector pins are found, secure
them firmly.
· Replace the Servo Drive.
Do not turn ON the Servo for at
least ten minutes after using the
dynamic brake.
· Wait at least 100 ms after the
Servo is turned ON, then input
commands.
The temperature of the Servo Drive
radiator or power elements exceeded
the specified value.
· The ambient temperature of the
Servo Drive exceeded the
specified value.
· Overload
· Improve the ambient temperature
and the cooling conditions of the
Servo Drive.
· Increase the capacities of the
Servo Drive and the Servomotor.
Set longer acceleration and
deceleration times. Reduce the
load.
Sub
14
15
Cause
0
Servo Drive overheat
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Alarm
number
Main
16
Name
Cause
Measures
When the feedback value for torque
command exceeds the overload level
specified in the Overload Detection
Level Setting (Pn512), overload
protection is performed according to
the overload characteristics.
· The load was heavy, the effective
torque exceeded the rated torque,
and operation continued too long.
· Vibration or hunting occurred due
to faulty gain adjustment. The
Servomotor vibrates or makes
unusual noise. The Inertia Ratio
(Pn004) setting is incorrect.
· The Servomotor wiring is incorrect
or broken.
· The machine load suddenly
became heavy, e.g., the machine
hit an object. The machine was
distorted.
· The electromagnetic brake
remained ON.
· When multiple machines were
wired, the wiring was incorrect and
the Servomotor cable was
connected to a Servomotor for
another axis.
Use the analog output or CX-Drive
and check to confirm that the torque
(current) waveform oscillates and
make sure that is does not oscillate
excessively vertically. Check the
overload warning display and the load
rate through communications.
· Increase the capacities of the
Servo Drive and the Servomotor.
Set longer acceleration and
deceleration times. Reduce the
load.
· Readjust the gain.
· Connect the Servomotor cable as
shown in the wiring diagram.
Replace the cable.
· Remove the distortion from the
machine. Reduce the load.
· Release the brake.
· Wire the Servomotor and the
encoder correctly so that the
wiring matches the axes.
Sub
0
Overload
Refer to 3-2 Overload Characteristics (Electronic Thermal Function) for
information on overload characteristics.
The connected external regeneration resistance is lower than the minimum
allowable value (for the minimum allowable value, refer to page 4-56)
Connect a regeneration resistance with a suitable resistance value (for
external regeneration resistance combinations and resistance values, refer to
P.4-59)
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-14
11-4 Troubleshooting
Alarm
number
Main
Name
Cause
Measures
The regenerative energy exceeds the
processing capacity of the
Regeneration Resistor.
· The regenerative energy during
deceleration caused by a large
load inertia increased the voltage
between P and N of the converter,
and then insufficient energy
absorption by the Regeneration
Resistor further increased the
voltage.
· The Servomotor rotation speed is
too high to absorb the
regenerative energy within the
specified deceleration time.
· The operating limit of the external
resistor is limited to a 10% duty.
Check the load rate of the
Regeneration Resistor through CXDrive. This Regeneration Resistor
cannot be used for continuous
regenerative braking.
· Check the operation pattern
(speed monitor). Check the load
rate of the Regeneration Resistor
and check for the excessive
regeneration warning display.
Increase the capacities of the
Servo Drive and the Servomotor,
and lengthen the deceleration
time. Use an External
Regeneration Resistor.
· Check the operation pattern
(speed monitor). Check the load
rate of the Regeneration Resistor
and check for the excessive
regeneration warning display.
Increase the capacities of the
Servo Drive and the Servomotor,
and lengthen the deceleration
time. Reduce the Servomotor
rotation speed. Use an External
Regeneration Resistor.
· Set the Regeneration Resistor
Selection (Pn016) to 2.
Sub
0
Regeneration overload
18
Precautions for Correct Use
 Always install a thermal switch when setting the
Regeneration Resistor Selection (Pn016) to 2. Otherwise,
the Regeneration Resistor will not be protected, may
generate excessive heat, and may be burnt.
Troubleshooting and Maintenance
11
21
11-15
1
Regeneration Tr error
The Servo Drive regeneration drive Tr
is faulty.
Replace the Servo Drive.
0
Encoder
communications
disconnection error
A disconnection was detected
because communications between
the encoder and the Servo Drive were
stopped more frequently than the
specified value.
Wire the encoder correctly as shown
in the wiring diagram. Correct the
connector pin connections.
1
Encoder
communications error
There was a communications error in
data from the encoder. There was a
data error mainly due to noise. The
encode cable is connected, but a
communications data error occurred.
· Provide the required encoder
power supply voltage of 5 VDC
±5% (4.75 to 5.25 V). Be careful
especially when the encode cable
is long.
· If the Servomotor cable and the
encoder cable are bundled
together, separate them.
· Connect the encoder cable
correctly.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Alarm
number
Main
23
Name
Cause
Measures
No communications error occurred
with the data from the encoder, but
there is an error in the contents of the
data. There was a data error mainly
due to noise. The encode cable is
connected, but a communications
data error occurred.
· Provide the required encoder
power supply voltage of 5 VDC
±5% (4.75 to 5.25 V). Be careful
especially when the encode cable
is long.
· If the Servomotor cable and the
encoder cable are bundled
together, separate them.
· Connect the encoder cable
correctly.
Position error pulses exceeded the
setting of the Error Counter Overflow
Level (Pn014).
· Motor operation does not follow
the command.
· The value of the Error Counter
Overflow Level (Pn014) is small.
· Check to see if the Servomotor
rotates according to the position
command pulse. Check on the
torque monitor to see if the output
torque is saturated. Adjust the
gain. Set the No. 1 Torque Limit
(Pn013) or No. 2 Torque Limit
(Pn522) is set to the maximum
value. Connect the encoder cable
correctly. Lengthen the
acceleration and deceleration
times. Reduce the load and the
speed.
· Increase the set value for the Error
Counter Overflow Level (Pn014).
Sub
0
0
Encoder
communications data
error
Error counter overflow
24
1
Excessive speed error
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
· Increase the set value of the
Excessive Speed Error Setting
(Pn602).
· Lengthen the acceleration time of
the internal position command
speed. Alternatively, improve the
tracking (following) performance
by adjusting the gain.
· Disable the Excessive Speed
Deviation Setting. (Pn602 = 0)
11
Troubleshooting and Maintenance
The difference between the internal
position command speed and the
motor speed (i.e., the speed error)
exceeded the Excessive Speed Error
Setting (Pn602).
Note: When the internal position
command speed is forced to 0
for an immediate stop due to a
command pulse prohibition
input (IPG) or forward/reverse
drive prohibition input, the
speed deviation immediately
increases. The speed
deviation also increases at the
start of the internal position
command speed. Therefore,
provide enough margin when
making the settings.
11-16
11-4 Troubleshooting
Alarm
number
Main
25
Name
Cause
Measures
During fully-closed control, the
difference between the position of
load from the external encoder and
the position of the motor due to the
encoder was larger than the number
of pulses set for the Internal/External
Feedback Pulse Error Counter
Overflow Level (Pn328).
· Check the motor and load
connections. Check the external
encoder and drive connection.
· When moving the load, check to
see if the change in the
Servomotor position (total
encoder pulses) has the same
sign as the change in the load
position (total external encoder
feedback pulses). Check to see if
the External Feedback Pulse
Dividing Numerator and
Denominator (Pn324 and Pn325),
and External Feedback Pulse
Direction Switching (Pn326) are
set correctly.
Overspeed
The Servomotor rotation speed
exceeded the value set for the
Overspeed Detection Level Setting
(Pn513).
1
Overspeed 2
The Servomotor rotation speed
exceeded the value set for the
Overspeed Detection Level Setting at
Immediate Stop (Pn615).
· Do not give excessive speed
commands.
· Check the input frequency,
dividing ratio, and multiplication
ratio of the command pulse.
· If overshooting occurred due to
faulty gain adjustment, adjust the
gain.
· Connect the encoder cable
correctly.
0
Command pulse
frequency error
The command pulse input frequency
exceeded 1.2 multiplied by the
Command Pulse Input Maximum
Setting (Pn532).
Check the command pulse input.
Command pulse
multiplier error
The command pulse frequency or
electronic gear ratio parameters are
not set correctly. The number of
command pulses per 0.167 ms
multiplied by the electronic gear ratio
exceeded approximately 3 Gpps (or
approx. 175 Kpps for software
versions lower than V1.10). The
command pulse input frequency
varies greatly. Counting errors are
resulting from noise on the command
pulse input.
· Set the electronic gear ratio to the
lower possible value between 1/
1,000 and 1,000.
· Check the command pulse input.
· If possible, use a line driver
interface.
· Set the Command Pulse Input
Maximum Setting (Pn532) to less
than 1,000 to enable a digital filter.
The pulse regeneration output
frequency exceeded the limit.
· Check the set values of the
Encoder Dividing Numerator
(Pn011) and Encoder Dividing
Denominator (Pn503).
· To disable detection, set the Pulse
Regeneration Output Limit Setting
(Pn533) to 0.
Sub
0
0
Excessive hybrid error
26
11
27
Troubleshooting and Maintenance
2
28
11-17
0
Pulse regeneration
error
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Alarm
number
Main
Name
Cause
Measures
Sub
29
0
Error counter overflow
The position error for the encoder
feedback pulse reference exceeded
±229 (536,870,912).
· Check that the motor rotates
according to the position
command.
· Check on the torque monitor that
the output torque is not saturated.
· Adjust the gain.
· Set the No. 1 Torque Limit
(Pn013) or No. 2 Torque Limit
(Pn522) is set to the maximum
value.
· Connect the encoder cable
correctly.
30
(st)
0
Safety input error
At least one of the input
photocouplers for safety inputs 1 and
2 turned OFF.
Check the input wiring of safety inputs
1 and 2.
0
Interface input
duplicate allocation
error 1
There is a duplicate setting in the
input signal (IN1, IN2, IN3, IN4, and
IN5) function allocations.
1
Interface input
duplicate allocation
error 2
There is a duplicate setting in the
input signal (IN6, IN7, IN8, IN9, and
IN10) function allocations.
2
Interface input function
number error 1
There is an undefined number
specification in the input signal (IN1,
IN2, IN3, IN4, and IN5) function
allocations.
3
Interface input function
number error 2
There is an undefined number
specification in the input signal (IN6,
IN7, IN8, IN9, and IN10) function
allocations.
4
Interface output
function number error
1
There is an undefined number
specification in the output signal (SO1
and SO2) function allocations.
5
Interface output
function number error
2
There is an undefined number
specification in the output signal
(SO4) function allocation.
6
Counter reset
allocation error
The error counter reset input
(ECRST) was allocated to something
other than input signal SI7.
7
Command pulse
prohibition input
allocation error
The pulse prohibition input (IPG) was
allocated to something other than
input signal SI10.
Overrun limit error
The Servomotor exceeded the
allowable operating range set in the
Overrun Limit Setting (Pn514) with
respect to the position command
input range.
· The gain is not suitable.
· The set value of Pn514 is too
small.
33
0
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11
Check the gain (the balance between
position loop gain and speed loop
gain) and the inertia ratio.
· Increase the set value of Pn514.
Alternatively, set Pn514 to 0 to
disable the protection function.
11-18
Troubleshooting and Maintenance
34
Allocate the functions to the
connector pins correctly.
11-4 Troubleshooting
Alarm
number
Main
Name
Cause
Measures
Parameter error
Data in the Parameter Save area was
corrupted when the power supply was
turned ON and data was read from
the EEPROM.
· Reset all parameters.
· If this error occurs repeatedly, the
Servo Drive may be faulty. In this
case, replace the Servo Drive.
Return the Servo Drive to the
dealer that it was purchased from.
Parameters
destruction
EEPROM write verification data was
corrupted when the power supply was
turned ON and data was read from
the EEPROM.
The Servo Drive is faulty. Replace the
Servo Drive. Return the Servo Drive
to the dealer that it was purchased
from.
0
Drive prohibition input
error
When the Drive Prohibition Input
Selection (Pn504) was set to 0, both
the Forward Drive Prohibition Input
(POT) and the Reverse Drive
Prohibition Input (NOT) turned ON.
When Pn504 was set to 2, either the
Forward Drive Prohibition input or the
Reverse Drive Prohibition input
turned ON.
Check for any problems with the
switches, wires, and power supplies
that are connected to the forward
drive prohibition input or the reverse
drive prohibition input. In particular,
check to see if the external DC power
supply (12 to 24 VDC) for sequence
inputs turned ON too slowly.
0
Excessive analog input
1
A voltage that exceeded the value set
for the Excessive Analog Input 1
(Pn424) was applied to analog input
1.
· Set the Pn424 correctly. Check
the connections to CN1.
· Set Pn424 to 0 to disable alarm
detection.
1
Excessive analog input
2
A voltage that exceeded the value set
for the Excessive Analog Input 2
(Pn427) was applied to analog input
2.
· Set the Pn427 correctly. Check
the connections to CN1.
· Set Pn427 to 0 to disable alarm
detection.
2
Excessive analog input
3
A voltage that exceeded the value set
for the Excessive Analog Input 3
(Pn430) was applied to analog input
3.
· Set the Pn430 correctly. Check
the connections to CN1.
· Set Pn430 to 0 to disable alarm
detection.
The voltage of the built-in capacitor
dropped below the specified value
because the power supply to the
encoder or the battery power supply
was down.
Connect the battery power supply,
and then clear the absolute encoder.
Unless the absolute encoder is
cleared, the error cannot be reset.
The multi-rotation counter of the
encoder exceeded the specified
value.
· Set the Operation Switch when
Using Absolute Encoder (Pn015)
to an appropriate value.
· Make sure that the traveling
distance from the origin of the
machine is no more than 32,767
revolutions.
The Servomotor rotation speed
exceeded the specified value when
only the battery power supply was
used during a power interruption.
· Check the power supply voltage (5
VDC ± 5%) at the encoder.
· Check the connections to
connector CN2. Unless the
absolute encoder is cleared, the
error cannot be reset.
Sub
0
1
36
2
0
37
1
2
38
39
11
40
0
Absolute encoder
system down error
Troubleshooting and Maintenance
ABS
41
0
Absolute encoder
counter overflow error
ABS
42
0
Absolute encoder
overspeed error
ABS
43
11-19
0
Encoder initialization
error
An encoder initialization error was
detected.
Replace the Servomotor.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Alarm
number
Main
Sub
44
0
Name
Absolute encoder 1rotation counter error
Cause
Measures
The encoder detected a 1-rotation
counter error.
Replace the Servomotor.
ABS
45
0
Absolute encoder
multi-rotation counter
error ABS
The encoder detected a multi-rotation
counter error.
Replace the Servomotor.
47
0
Absolute encoder
status error
The rotation of the encoder was
higher than the specified value when
the power supply was turned ON.
Do not let the Servomotor move when
the power supply is turned ON.
ABS
48
0
A missing serial incremental encoder
Encoder phase-Z error phase-Z pulse was detected. The
encoder is faulty.
Replace the Servomotor.
49
0
Encoder CS signal
error
A logic error was detected in the CS
signal for serial incremental encoder.
The encoder is faulty.
Replace the Servomotor.
External encoder
connection error
A disconnection was detected
because communications between
the external encoder and the Servo
Drive were interrupted more than the
specified number of times.
Wire the external encoder correctly
as shown in the connection diagram.
Correct the connector pin
connections.
· Provide the required external
encoder power supply voltage or 5
VDC ±5% (4.75 to 5.25 V). Be
careful especially when the
external encoder connection cable
is long.
· If the Servomotor cable and the
external encoder connection cable
are bundled together, separate
them.
· Wire the external encoder cable
correctly. Refer to the external
encoder connection diagram.
0
50
External encoder
communications data
error
0
External encoder
status error 0
Bit 0 of the external encoder error
code (ALMC) was set to 1. Check the
external encoder specifications.
1
External encoder
status error 1
Bit 1 of the external encoder error
code (ALMC) was set to 1. Check the
external encoder specifications.
2
External encoder
status error 2
Bit 2 of the external encoder error
code (ALMC) was set to 1. Check the
external encoder specifications.
3
External encoder
status error 3
Bit 3 of the external encoder error
code (ALMC) was set to 1. Check the
external encoder specifications.
4
External encoder
status error 4
Bit 4 of the external encoder error
code (ALMC) was set to 1. Check the
external encoder specifications.
5
External encoder
status error 5
Bit 5 of the external encoder error
code (ALMC) was set to 1. Check the
external encoder specifications.
51
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Eliminate the cause of the error and
then clear the external encoder error
from the front panel. Then, cycle the
control power supply.
11-20
11
Troubleshooting and Maintenance
1
There was a communications error in
data from external encoder. There
was a data error mainly due to noise.
The external encoder connection
cable is connected, but a
communications data error occurred.
11-4 Troubleshooting
Alarm
number
Name
Cause
Measures
0
Phase-A connection
error
An error such as broken wiring was
detected in the external encoder
phase-A connection.
Check the external encoder phase-A
connection.
1
Phase-B connection
error
An error such as broken wiring was
detected in the external encoder
phase-B connection.
Check the external encoder phase-B
connection.
2
Phase-Z connection
error
An error such as broken wiring was
detected in the external encoder
phase-Z connection.
Check the external encoder phase-Z
connection.
87
0
Emergency stop input
error
An emergency stop input (STOP) was
input.
Check the emergency stop input
(STOP) wiring.
95
0 to
4
Motor non-conformity
The Servomotor does not match the
Servo Drive.
Replace the Servomotor with a
Servomotor that matches the Servo
Drive.
· An alarm was reset when safety
input 1 or 2 was not normal (one of
the input photocouplers is not
ON). *1
· The control circuit malfunctioned
due to excess noise or some other
problem.
· The self-diagnosis function of the
Servo Drive was activated, and an
error occurred in the Servo Drive.
· Reset the alarm when safety
inputs 1 and 2 are normal (both
input photocouplers are ON). *2
· Turn OFF the power once, and
turn it ON again.
· If the alarm is displayed even after
the power is turned ON again, the
system may be faulty. Stop using
the system, and replace the
Servomotor and/or the Servo
Drive. Return the Servo Drive to
the dealer that it was purchased
from and ask for investigation and
repair.
· The control circuit malfunctioned
due to excess noise or some other
problem.
· The self-diagnosis function of the
Servo Drive was activated, and an
error occurred in the Servo Drive.
· A voltage of ±11 V or higher was
applied to analog input 2 or analog
input 3.
· Turn OFF the power once, and
turn it ON again.
· If the alarm is displayed even after
the power is turned ON again, the
system may be faulty. Stop using
the system, and replace the
Servomotor and/or the Servo
Drive.
Return the Servo Drive to the
dealer that it was purchased from
and ask for investigation and
repair.
· Adjust the voltage applied to
analog input 2 or analog input 3 to
a suitable value.
Main
55
99
Sub
0
Other errors
11
Troubleshooting and Maintenance
Other
numbers
*1. This alarm may occur due to the timing between safety input 1/2 and alarm clear input. For details,
refer to Alarm No. 99.0 on page 11-22.
*2. For the alarm reset input timing, refer to Operation Timings to a Safety Status on page 7-4.
11-21
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Alarm No. 99.0
Alarm No. 99.0 may occur due to the timing between safety input 1/2 and alarm clear input.
This alarm will occur if both of the following conditions are met:
 An alarm was cleared when at least one of the input photocouplers for safety inputs 1 and 2 was
OFF (which means that a Safety Input Error (Alarm No. 30.0) had occurred).
 At least one of the input photocouplers for safety inputs 1 and 2 was turned from OFF to ON in a
specific period during the alarm clear process (See below).
*1
Specified period
Approx. 1 ms
Safety input 1
Safety input 2
Approx. 120 ms
Alarm reset
input (RESET)
Alarm
Alarm No. 30.0
Alarm No. 99.0
occurred
occurred
*1. Alarm No. 99.0 will occur if at least one of the input photocouplers for safety inputs 1 and 2 is turned
from OFF to ON.
Precautions for Correct Use
Be sure to clear the alarm after turning ON the photocouplers for safety inputs 1 and 2 again.
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-22
11-4 Troubleshooting
Troubleshooting Using the Operation Status
Symptom
Probable cause
Items to check
Measures
The PWR LED
The power supply cable is wired Check to see if the power supply input is Supply the correct power supply
indicator does not
incorrectly.
within the allowed power supply voltage voltage.
light when the power
range.
supply is turned ON.
Check to see if the power supply input is Wire correctly.
wired correctly.
The motor does not
rotate even if
commands are input
from the controller.
(Continued on next
page)
The operation command (RUN) In Monitor Mode, check whether the RUN
is OFF.
signal is ON or OFF.
· Turn ON the operation
command (RUN).
· Wire correctly.
The Forward or Reverse Drive In Monitor Mode, check whether the POT
Prohibition Input (POT or NOT) signal and NOT signal are ON or OFF.
is OFF.
· Turn ON the POT and NOT
signals.
· Disable them in the settings when the
POT and NOT signals are not used.
The control mode does not
conform to the command.
Check the control mode Selection
(Pn001).
Set the control mode according to
the command.
The error counter reset
(ECRST) is ON.
In Monitor Mode, check whether the
ECRST signal is ON or OFF.
· Turn OFF the ECRST signal.
· Wire correctly.
Command Pulse Mode
Check the controller's command pulse
Selection (Pn007) is selection is type and the Servo Drive's command
incorrect.
pulse type.
Set the Servo Drive's pulse type
to match the controller's
command pulse type.
The zero speed designation
(VZERO) is OFF.
In Monitor Mode, check whether the
VZERO signal is ON or OFF.
· Turn ON the VZERO signal.
· Wire correctly.
The internally set speeds are not set.
Check the set value of Pn304 to Pn311.
Set the desired speeds.
The No. 1 Torque Limit (Pn013) Check the set value of Pn013 and Pn522. Return the set value to the default
or No. 2 Torque Limit (Pn522) is
setting.
set to 0.
The Servomotor power cable is Check the wiring.
wired incorrectly.
Wire correctly.
The encoder cable is wired
incorrectly.
11
Troubleshooting and Maintenance
The control I/O connector (CN1) Check the command pulse's wiring.
is wired incorrectly.
Check the command pulse type.
Check the command pulse's voltage.
Power is not supplied.
The speed command is
disabled.
11-23
Wire correctly.
Set the Servo Drive's pulse type
to match the controller's
command pulse type.
Connect a resistor that matches
the voltage.
Check whether the power supply is ON and Turn ON the power supply.
check the PWR LED indicator.
Check the voltage across the power
supply terminals.
Wire the power-ON circuit
correctly.
Check if the speed command method is
correct.
· Set the external analog
command correctly.
· Set the internal speed correctly.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Symptom
The motor does not
rotate even if
commands are input
from the controller.
(Continued from
previous page)
Probable cause
Items to check
Measures
The torque command is
disabled.
Check if the torque command input
method is correct.
Set the torque command
correctly.
The CW input and CCW input
are ON at the same time.
Check the command pulse's wiring.
· Input the pulse signal either to the
CW input or CCW input.
· Always turn OFF the terminal
that is not input to.
The Servo Drive has broken
down.
−
Replace the Servo Drive.
The Servomotor
The Servomotor power cable is Check the wiring of the Servomotor
operates
wired incorrectly.
power cable's phases U, V, and W.
momentarily, but then
The encoder cable is wired incorrectly.
Check the encoder cable's wiring.
it does not operate
after that.
Wire correctly.
The Servomotor
rotates without a
command.
The command pulse input is
incorrect.
Check the command pulse type.
Set the correct command pulse input.
Check the command pulse's voltage.
Connect a resistor that matches
the voltage.
The Servo Drive has broken
down.
−
Replace the Servo Drive.
Check the controller's command pulse
type and the Servo Drive's command
pulse type.
Connect the CW pulse signal to
the CW input and the CCW pulse
signal to the CCW input.
The Servomotor rotates The CW input and CCW input
in the reverse direction connections are reversed.
from the command.
Motor rotation is
unstable.
The Servomotor power cable or Check the wiring of the Servomotor
encoder cable is wired
power cable's phases U, V, and W and
incorrectly.
check the encoder cable's wiring.
Wire correctly.
The coupling system between the
motor shaft and the mechanical
system has eccentricity or loose
screws, or the load torque is
fluctuating due to engagement
between pulleys or gears.
Check the mechanical system's coupling Review and adjust the machine.
section.
The load's moment of inertia
exceeds the Servo Drive's
allowable value.
Try rotating the motor without a load.
(Disconnect it from the mechanical
system.)
The pulse signal line's
connections are loose.
Check the pulse signal line's wiring at the Wire correctly.
controller and Servo Drive.
Try rotating the motor without a load.
(Disconnect it from the mechanical
system.)
· Reduce the load.
· Replace the Servomotor and
Servo Drive with higher
capacity models.
Check the controller's command pulse
type and the Servo Drive's command
pulse type.
Set the Servo Drive's pulse type
to match the controller's
command pulse type.
The gain is wrong.
−
Perform manual tuning.
The CN1 input signal is
chattering.
Check the operation command (RUN), error Wire correctly so that there is no
counter reset (ECRST), zero speed
chattering.
designation (VZERO), internally set speed
selection 1 (VSEL1) and internally set speed
selection 2 (VSEL2).
The ambient temperature is too Check that the ambient temperature
high.
around the motor is 40°C or less.
Lower the ambient temperature
around the Servomotor to 40°C or
less. (Use a fan or air conditioner.)
Ventilation is obstructed.
Improve ventilation.
Check to see whether anything is
blocking ventilation.
The Servomotor is overloaded.
Try rotating the motor without a load.
(Disconnect it from the mechanical
The Servomotor vibrates during
system.)
rotation.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
· Reduce the load.
· Replace the Servomotor and
Servo Drive with higher
capacity models.
11-24
11
Troubleshooting and Maintenance
The Servomotor is
overheating.
Wire correctly.
11-4 Troubleshooting
Symptom
Probable cause
Items to check
Measures
The Servomotor
holding brake is
ineffective.
Power is supplied to the holding Check whether power is supplied to the
brake.
holding brake.
Configure a circuit that cuts power
supply to the holding brake when the
motor stops and the load is held by
the holding brake.
The motor does not
stop or is hard to stop
even if the operation
command (RUN) is
turned OFF while the
motor is rotating.
The load inertia is too large.
Check the following:
·Is the load too large?
·Is the motor rotation speed too high?
Review the load conditions, and
replace the Servomotor and Servo
Drive with appropriate models.
The stop circuit failed.
−
Replace the Servo Drive.
Check to see if the Servomotor's
mounting screws are loose.
Retighten the mounting screws.
The motor is
There are problems with the
producing unusual
machine's installation.
noises or the
machine is vibrating.
(Continued on next
page)
Check whether the axes are misaligned in Align the coupling.
the coupling.
Check whether the coupling is unbalanced.
Adjust the coupling's balance.
There is a problem with the
bearings.
Check for noise or vibration around the
bearings.
Contact your OMRON dealer or
sales office.
The gain is wrong.
−
Perform manual tuning.
The Speed Feedback Filter Time
Constant (Pn103) is wrong.
Check the value set in Pn103.
Return the set to 0 (default set) or
increase the set value.
Noise is entering into the control
Check to see if the cable is a twisted-pair Use a control I/O signal cable that
I/O signal cable because the cable cable or shielded twisted-pair cable with meets specifications.
does not meet specifications.
core wires that are at least 0.08 mm dia.
Noise is entering into the control I/O
signal cable because the cable is
longer than the specified length.
Check the length of the control I/O signal Shorten the control I/O signal
cable.
cable to 3 m or less.
Noise is entering into the cable
Check to see if it is a shielded twisted-pair Use an encoder cable that meets
because the encoder cable does cable with core wires that are at least 0.12 specifications.
not meet specifications.
mm dia.
Noise is entering into the encoder
cable because the cable is longer
than the specified length.
Check the length of the encoder cable.
Noise is entering into the signal
Check the encoder cable for damage.
lines because the encoder cable is
stuck or the sheath is damaged.
Troubleshooting and Maintenance
11
Shorten the encoder cable to less
than 50 m.
Correct the encoder cable's
pathway.
Excessive noise on encoder
cable.
Check to see if the encoder cable is
Install the encoder cable where it
bound together with or too close to high- won't be subjected to surges.
current lines.
The FG's potential is fluctuating
due to devices near the
Servomotor, such as welding
machines.
Check for ground problems (loss of
ground or incomplete ground) at
equipment such as welding machines
near the Servomotor.
Ground the equipment properly
and prevent current from flowing
to the encoder FG.
Errors are being caused by
There are problems with mechanical
Reduce the mechanical vibration
excessive vibration or shock on vibration or Servomotor installation (such or correct the Servomotor's
the encoder.
as the precision of the mounting surface, installation.
attachment, or axial offset).
The motor is
The machine and the motor are Check to see if the machine is resonating. · Readjust the torque command
producing unusual
resonating.
filter time constant.
noises or the
· If there is resonance, set the
machine is vibrating.
Notch Filter 1 Frequency
(Continued from
(Pn201), Notch Filter 1 Width
previous page)
(Pn202), and Notch Filter 1
Depth (Pn203).
11-25
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-4 Troubleshooting
Symptom
Probable cause
Items to check
Measures
Vibration is occurring Inductive noise is occurring.
at the same
frequency as the
power supply.
Check to see if the drive control signal
lines are too long.
Shorten the control signal lines.
Check to see if the control signal lines
and power supply lines are not bound
together.
· Separate control signal lines
from power supply lines.
· Use a low-impedance power
supply for control signals.
The position is
There is an error in the coupling
misaligned.
of the mechanical system and
(Position
the Servomotor.
misalignment occurs
without an alarm
being output.)
Check to see if the coupling of the
mechanical system and the Servomotor
is misaligned.
Correct the coupling between the
mechanical system and the
Servomotor.
Check to see if the control signal lines
and power supply lines are bound
together.
Separate the control signal lines
from the power lines or take other
measures against noise.
· Noise is entering on the error
counter reset (ECRST)
input.
· Noise is entering on the
position command pulse
(CW and CCW) inputs.
The gain is wrong.
Check to see if it is a shielded twisted-pair Use a control I/O signal cable that
cable with core wires that are at least 0.08 meets specifications.
mm dia.
Check the length of the control I/O signal Do not allow the length of the
cables.
control I/O signal cables to
exceed 10 m for a line driver input
and 3 m for an open-connector
input.
−
Perform manual tuning.
Inspect the following.
· Is the load too large?
· Is the motor rotation speed too high?
· Adjust the gain.
· Review the load conditions,
and replace the Servomotor
and Servo Drive with
appropriate models.
The load inertia is large.
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-26
11-5 Periodic Maintenance
11-5 Periodic Maintenance
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.
Servomotors and Servo Drives contain many components and will operate properly only when
each of the individual components is operating properly.
Some of the electrical and mechanical components require maintenance depending on
application conditions. Periodic inspection and replacement are necessary to ensure proper
long-term operation of Servomotors and Servo Drives. (Quoted from The Recommendation for
Periodic Maintenance of a General-purpose Inverter published by JEMA.)
The periodic maintenance cycle depends on the installation environment and application
conditions of the Servomotors and Servo Drives.
Recommended maintenance times are listed below for Servomotors and Servo Drives. Use
these for reference in periodic maintenance.
Servomotor Life Expectancy
 The lifetimes for the different motor parts are listed below.
Bearings:
20,000 hours
Oil seal:
5,000 hours
Encoder:
30,000 hours
These values presume an ambient motor operating temperature of 40°C, within the allowable
axial load, rated operation (rated torque and rated rotation speed), and proper installation as
described in this manual.
The bearings, reducer, oil seal, and encoder can be replaced for repair work.
Troubleshooting and Maintenance
11
 The radial load during Servomotor operation on timing pulleys and other components contacting
belts is two or more times the static load or more. Consult with the belt and pulley manufacturers
and adjust designs and system settings so that the motor allowable axial load is not exceeded
even during operation. If a motor is used under a shaft load exceeding the allowable limit, the
motor shaft can break and the bearings can be damaged.
11-27
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-5 Periodic Maintenance
Servo Drive Life Expectancy
 The lifetimes for the different drive parts are listed below.
Aluminum electrolytic capacitors: 28,000 hours
(at an ambient drive operating temperature of 55°C, constant output of rated torque, constant
output of rated rotation speed, and installation as described in this manual)
Axial-flow fan: 10,000 to 30,000 hours (The limit depends on the operating conditions.)
Inrush current prevention relay: Approx. 20,000 operations (The limit depends on the operation
conditions.)
 When using the Servo Drive in continuous operation, use fans or air conditioners to maintain the
ambient temperature below 40°C.
 We recommend that ambient temperature and the power supply ON time be reduced as much the
possible to lengthen the service life of the Servo Drive.
 The limit of aluminum electrolytic capacitors is greatly affected by the ambient operating
temperature. Generally, an increase of 10°C in the operating ambient temperature will reduce
capacitor service life by 50%. Following equation shows an example for 25°C: .
Lifetime 25°C = Lifetime 55°C × 2
55−25
= 224000 hour
10
 The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no
power supplied. If the Servo Drive is not used for a long time, we recommend periodic inspection
and a part replacement period of 5 years.
 If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under
conditions worse than those described above, a periodic inspection period of 5 years is
recommended.
 Upon request, OMRON will examine the Servo Drive and Servomotor and determine if part
replacement is required.
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-28
11-5 Periodic Maintenance
Replacing the Absolute Encoder Battery
ABS
If an Absolute Encoder System Down Error (Alarm No. 40) occurs, replace the battery.
Battery Life
Examples of calculating the life of the absolute encoder battery are given below for robot
operation.
A battery capacity of 2,000 mAh is used in the calculations.
The calculations only estimate the life of the battery. The actual life may vary.
Precautions for Correct Use
Only the current consumption is included in the following calculations. They do not consider
deterioration of the battery due to fluid leakage or other factors. The battery life will be reduced
depending on ambient conditions.
1. Example for Two Operations per Day
Monday to Saturday (313 days per year)
Sunday (52 days per year)
24 h
24 h
10 h
2h
10 h
2h
a
bc
a
bc
ON
Power supply
OFF
c
a: Current consumption in normal mode: 3.6 μA
b: Current consumption in power-OFF timer mode: 180 μA
* In power-OFF timer mode, response up to the maximum
speed is possible even when the power is turned OFF (5 s).
c: Current consumption in power-OFF mode:80 μA
11
Consumed capacity in 1 year
(10 hr × a + 0.0014 hr × b + 2 hr × c) × 2 × 313 days+ 24 hr × c × 52 days = 222.7 mAh
Battery life = 2,000 mAh/222.7 mAh/year = 9.0 (8.9809) years
Troubleshooting and Maintenance
2. Example for One Operation per Day
An example of calculating the battery life is given below for when the second operation in the
first example given above is not performed.
Consumed capacity in 1 year
(10 hr × a + 0.0014 hr × b + 14 hr × c) × 313 days+ 24 hr × c × 52 days = 461.7 mAh
Battery life = 2,000 mAh/461.7 mAh/year = 4.3 (4.3314) years
11-29
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-5 Periodic Maintenance
Replacement Battery Model and Specifications
Item
Specifications
Name
Absolute Encoder Backup Battery Unit
Model
R88A-BAT01G
Battery model
ER6V (Toshiba)
Battery voltage
3.6 V
Current
capacity
2,000 mA·h
Mounting the Backup Battery Unit
Mounting the Battery Unit for the First Time
Connect the Absolute Encoder Backup Battery Unit to the motor, then set up the absolute
encoder. Refer to "Absolute Encoder Setup"(P.9-4).
After the Absolute Encoder Battery Unit is attached, it is recommended that the control power
supply be turned ON and OFF once a day to refresh the battery.
If you neglect to refresh the battery, battery warning will occur due to voltage delays in the
battery.
Replacing the Battery Unit
If a battery warning occurs, the Absolute Encoder Backup Battery Unit must be replaced.
Replace the Battery Unit with the control power supply of the Servo Drive turned ON. If the
Battery Unit is replaced with the control power supply of the Servo Drive turned OFF, data held
in the encoder will be lost.
The Battery Warning will occur after you replace the Absolute Encoder Backup Battery Unit.
Use one of the following methods to clear it.
 Use the alarm reset input signal of CN1 control inputs.
 Use the front panel to perform the alarm clear (refer to page 9-25).
 Use the absolute encoder setting in the CX-Drive.
Note: If the absolute encoder is cleared using the front panel or communications, all alarms
and multi-rotation data will be lost and the absolute encoder must be set up again. Refer
to "Absolute Encoder Setup"(P.9-4).
11
Troubleshooting and Maintenance
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
11-30
11-5 Periodic Maintenance
Battery Unit Mounting Method
1. Prepare the replacement Battery Unit (R88A-BAT01G).
R88A-BAT01G
2. Remove the Battery Unit box cover.
Raise the tabs and remove the cover.
3. Put the Battery Unit into the battery box.
Troubleshooting and Maintenance
11
Insert the Battery Unit.
Plug in the connector.
4. Close the cover to the battery box.
Close the battery box cover
by making sure the connector
wires are not pinched.
11-31
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Appendix
This chapter provides connection examples using OMRON's PLC and Position
Controller, as well as a list of parameters.
12-1 Connection Examples ................................................12-1
12-2 Parameter List...........................................................12-11
12
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-1 Connection Examples
12-1 Connection Examples
Connection Example 1: Connecting to SYSMAC CJ1W-NC133/233/433
NFB
3-phase 200 to 240 VAC 50/60 Hz
S
T
Ground to
100 Ω or less
CJ1W-NC133/233/433
Description
5-V power supply for pulse output
5-V ground for pulse output
24-V power supply for output
No.
A4
A3
A1
0-V power supply for output
CCW (+) output
X-axis
CCW (−) output
pulse
CW (+) output
output
CW (−) output
A2
A7
A8
A5
A6
X
1MC
R88D-KT@
CN1
5 VDC
CNA
L1C
L2C
L1
L2
L3
surge
suppressor
Reactor
1MC
*5
*6
*3
*4
X-axis error counter reset output A9
+CCW
−CCW
+CW
−CW
30 ECRST
23
+Z
−Z
24
39
INP
38 INPCOM
X-axis origin line-driver input A14
X-axis origin common A12
X-axis positioning completed input A11
Input common
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
7
A20
24 VDC
X1
X-axis external interrupt input A15
X-axis origin proximity input A17
X-axis CCW limit input A19
X-axis CW limit input A18
X-axis immediate stop input A16
X1
24 VDC
XB
+24VIN
29
RUN
31 RESET
10 BKIRCOM
36 ALMCOM
37 /ALM
11 BKIR
Shell
FG
CNB
B1
B3
B2
U
V
W
CN2
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
Encoder cables
E
Brake cables
XB
B
24 VDC
12
Precautions for Correct Use
Appendix
 The wiring for the pins with * is the same as it is when a Servo Relay Unit Cable is used. Set Pn005
(Command Pulse Input Selection) to 0 (photocoupler input).
 The example shows a 3-phase, 200-VAC input to the drive for the main circuit power supply. Be
sure to provide a power supply and wiring conforming to the power supply specifications for the
drive in use.
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use mode 2 for origin search.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
 Make the setting so that the servo can be turned ON/OFF with the RUN signal.
12-1
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-1 Connection Examples
Connection Example 2: Connecting to SYSMAC CJ1W-NC113/213/413
NFB
3-phase 200 to 240 VAC 50/60 Hz
Description
24-V power supply for output
S
T
Ground to
100 Ω or less
CJ1W-NC113/213/413
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
X
1MC
R88D-KT@
CN1
No.
A1
24 VDC
0-V power supply for output A2
CCW (With resistance)
X-axis
CCW (Without resistance)
pulse
CW (With resistance)
output
CW (Without resistance)
*5
*6
*3
*4
A8
A7
A6
A5
30 ECRST
23
+Z
24
−Z
39
INP
38 INPCOM
X-axis error counter reset output A9
X-axis origin line-driver input A14
X-axis origin common A12
X-axis positioning completed input A11
Input common
+CCW
−CCW
+CW
−CW
7
A20
X1
X-axis external interrupt input A15
X-axis origin proximity input A17
X-axis CCW limit input A19
X-axis CW limit input A18
X-axis immediate stop input A16
X1
24 VDC
XB
CNA
L1C
L2C
L1
L2
L3
surge
suppressor
Reactor
1MC
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
+24VIN
29
RUN
31 RESET
10 BKIRCOM
36 ALMCOM
37 /ALM
11 BKIR
Shell
FG
CN2
Encoder cables
E
Brake cables
XB
B
24 VDC
Precautions for Correct Use
 The wiring for the pins with * is the same as it is when a Servo Relay Unit Cable is used. Set Pn005
(Command Pulse Input Selection) to 0 (photocoupler input).
12
 The example shows a 3-phase, 200-VAC input to the drive for the main circuit power supply. Be
sure to provide a power supply and wiring conforming to the power supply specifications for the
drive in use.
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use mode 2 for origin search.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
 Make the setting so that the servo can be turned ON/OFF with the RUN signal.
Appendix
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-2
12-1 Connection Examples
Connection Example 3: Connecting to SYSMAC CS1W-NC133/233/433
NFB
3-phase 200 to 240 VAC 50/60 Hz
S
T
Ground to
100 Ω or less
CS1W-NC133/233/433
Description
No.
5-V power supply for pulse output A4
5-V ground for pulse output A3
24-V power supply for output A1
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
X
1MC
R88D-KT@
CN1
5 VDC
24 VDC
0-V power supply for output
CCW (+) output
X-axis
CCW (−) output
pulse
CW (+) output
output
CW (−) output
*5
*6
*3
*4
+CCW
−CCW
+CW
−CW
30 ECRST
23
+Z
24
−Z
39
INP
38 INPCOM
X-axis origin line-driver input A16
X-axis origin common A14
X-axis positioning completed input A12
A24
Reactor
1MC
A2
A7
A8
A5
A6
X-axis error counter reset output A10
Input common
CNA
L1C
L2C
L1
L2
L3
surge
suppressor
7
24 VDC
X1
X-axis external interrupt input A19
X-axis origin proximity input A21
X-axis CCW limit input A23
X-axis CW limit input A22
X-axis immediate stop input A20
X1
24 VDC
XB
+24VIN
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
29
RUN
31 RESET
10 BKIRCOM
36 ALMCOM
37
/ALM
11 BKIR
Shell
FG
E
Brake cables
XB
B
24 VDC
12
 The wiring for the pins with * is the same as it is when a Servo Relay Unit Cable is used. Set Pn005
(Command Pulse Input Selection) to 0 (photocoupler input).
Appendix
Precautions for Correct Use
 The example shows a 3-phase, 200-VAC input to the drive for the main circuit power supply. Be
sure to provide a power supply and wiring conforming to the power supply specifications for the
drive in use.
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use mode 2 for origin search.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
 Make the setting so that the servo can be turned ON/OFF with the RUN signal.
12-3
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-1 Connection Examples
Connection Example 4: Connecting to SYSMAC CS1W-NC113/213/413 or C200HW-NC113/213/413
NFB
3-phase 200 to 240 VAC 50/60 Hz
S
T
Ground to
100 Ω or less
CS1W-NC113/213/413
C200HW-NC113/213/413
Description
24-V power supply for output
No.
A1
0-V power supply for output
A2
X-axis CCW (With resistance)
pulse CCW (Without resistance)
output CW (With resistance)
CW (Without resistance)
A8
A7
A6
A5
X
1MC
R88D-KT@
CN1
*5
*6
*3
*4
+CCW
−CCW
+CW
−CW
30 ECRST
23
+Z
−Z
24
39
INP
38 INPCOM
X-axis error counter reset output A10
X-axis origin line-driver input A16
X-axis origin common A14
X-axis positioning completed input A12
Input common
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
A24
7
24 VDC
X1
X-axis external interrupt input A19
X-axis origin proximity input A21
X-axis CCW limit input A23
X-axis CW limit input A22
X-axis immediate stop input A20
X1
24 VDC
XB
CNA
L1C
L2C
L1
L2
L3
surge
suppressor
Reactor
1MC
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
+24VIN
29
RUN
31 RESET
10 BKIRCOM
36 ALMCOM
37
/ALM
11 BKIR
FG
Shell
CN2
Encoder cables
E
Brake cables
XB
B
24 VDC
Precautions for Correct Use
 The wiring for the pins with * is the same as it is when a Servo Relay Unit Cable is used. Set Pn005
(Command Pulse Input Selection) to 0 (photocoupler input).
12
 The example shows a 3-phase, 200-VAC input to the drive for the main circuit power supply. Be
sure to provide a power supply and wiring conforming to the power supply specifications for the
drive in use.
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use mode 2 for origin search.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
 Make the setting so that the servo can be turned ON/OFF with the RUN signal.
Appendix
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-4
12-1 Connection Examples
Connection Example 5: Connecting to a SYSMAC Motion Control Unit
NFB
3-phase 200 to 240 VAC 50/60 Hz
CS1W-MC221/421 (−V1)
DRV connector
Description
No.
1
24-V input
2
24-V input ground
3
X-axis alarm input
X-axis operation command output 4
5
X-axis alarm reset output
X-axis SEN signal ground 8
X-axis SEN signal output 9
10
X-axis feedback ground
11
X-axis phase-A Input
12
X-axis phase-A Input
13
X-axis phase-B Input
14
X-axis phase-B Input
15
X-axis phase-Z Input
16
X-axis phase-Z Input
X-axis speed command 17
X-axis speed command ground 18
24-V output
24-V output ground
I/O connector
Description
24-V input
X-axis CW limit input
X-axis CCW limit input
X-axis immediate stop input
X-axis origin proximity input
24-V input ground
Noise filter
R
S
T
Ground to
100 Ω or less
R88D-KT@
CN1
24 VDC
19
20
No.
1
2
4
6
10
14
Main circuit power supply
Main circuit contactor
OFF ON
24 VDC
XB
37
/ALM
29
RUN
31 RESET
13 SENGND *
20
SEN *
25 ZGND
21
+A
22
−A
49
+B
48
−B
23
+Z
−Z
24
14
REF
15 AGND
FG
Shell
7 +24VIN
36 ALMCOM
10 BKIRCOM
11 BKIR
1MC
X
1MC
CNA
L1C
L2C
L1
L2
L3
surge
suppressor
Reactor
1MC
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
E
24 VDC
Battery*
2.8 to 4.5 VDC
CN1
42
BAT *
43 BATGND *
Brake cables
XB
B
24 VDC
Precautions for Correct Use
 The example shows a 3-phase, 200-VAC input to the drive for the main circuit power supply. Be
sure to provide a power supply and wiring conforming to the power supply specifications for the
drive in use.
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Connect terminals and wiring marked with an asterisk (*) when using an absolute encoder.
 This wiring diagram is an example of X-axis wiring only. For other axes, connections must be
made in the same way with the drive.
 Always short unused NC input terminals at the Motion Control Unit I/O connectors.
 Make the setting so that the servo can be turned ON/OFF with the RUN signal.
Appendix
12
12-5
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-1 Connection Examples
Connection Example 6: Connecting to SYSMAC CP1H-Y@@DT-D
NFB
3-phase 200 to 240 VAC 50/60 Hz
CP1H-Y20DT-D
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
S
T
Ground to
100 Ω or less
X
X1
R88-KT@
CN1
1MC
surge suppressor
PL
CNA
Reactor
Output terminal block
CW0+
Pulse CW0−
Output CCW0+
0
CCW0−
3
4
5
6
30
Origin search 0 (101 word, bit 02)
24-VDC input terminal (+)
24-VDC input terminal (−)
COM (for 101 word, bit 00 to 03)
Input terminal block
Pulse 0 origin input signal (0 word, bit 00)
COM(0CH)
24 VDC
Pulse 0 origin proximity input signal (0 word, bit 01)
+CW
−CW
+CCW
−CCW
ECRST
39
INP
25 ZGND
Z
19
7 +24VIN
X1
29
RUN
L1
L2
L3
1MC
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
X1
10 BKIRCOM
36 ALMCOM
37 /ALM
XB
11
BKIR
Shell
FG
E
24 VDC
Brake cables
XB
B
24 VDC
Precautions for Correct Use
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-6
12
Appendix
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
12-1 Connection Examples
Connection Example 7: Connecting to SYSMAC CP1H-X@@DT-D/CP1L-@@@DT-D
NFB
S
3-phase 200 to 240 VAC 50/60 Hz
CP1H-X40DT-D
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
T
Ground to
100 Ω or less
1MC
X
X1
R88-K@
CN1
1MC
surge suppressor
PL
CNA
Reactor
1 +24VCW
−CW
4
2 +24VCCW
6 −CCW
Output terminal block
CW0 (100 word, bit 00)
Pulse COM (for 100 word, bit 00)
Output CCW0 (100 word, bit 01)
0 COM (for 100 word, bit 01)
30
Origin search 0 (101 word, bit 02)
24-VDC input terminal (+)
24-VDC input terminal (−)
COM (for 101 word, bit 00 to 03)
Input terminal block
Pulse 0 origin input signal (0 word, bit 00)
ECRST
25 ZGND
Z
19
7 +24VIN
COM (0 word)
24 VDC
X1
Pulse 0 origin proximity input signal (0 word, bit 01)
29
RUN
L1
L2
L3
1MC
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
X1
36 ALMCOM
10 BKIRCOM
37 /ALM
XB
11
BKIR
Shell
FG
E
24 VDC
Brake cables
XB
B
24 VDC
Precautions for Correct Use
12
Appendix
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
12-7
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-1 Connection Examples
Connection Example 8: Connecting to SYSMAC CJ1M
NFB
3-phase 200 to 240 VAC 50/60 Hz
Noise filter
R
S
T
Ground to
100 Ω or less
CJ1M
Main circuit power supply
Main circuit contactor
OFF ON
1MC
X
X1
R88-KT@
CN1
Description
No.
Output power supply input 37
Pulse
Output
0
Origin
input signal
Positioning
completion signal
Origin proximity
input signal
CW output
39
1 +24VCW
−CW
4
2 +24VCCW
6 −CCW
31
CCW output 32
24 VDC
0V/LD−
24 VDC
0V/LD−
24 VDC
0V/LD−
surge suppressor
PL
CNA
Reactor
24 VDC
Output COM
1MC
30 ECRST
25 ZGND
19
Z
35
1
5
13
17
2
6
INP
39
38 INPCOM
7 +24VIN
X1
29
RUN
10 BKIRCOM
36 ALMCOM
X1
37
/ALM
XB
11
BKIR
Shell
FG
L1
L2
L3
1MC
CNB
B1
B3
B2
U
V
W
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
E
24 VDC
Brake cables
XB
B
24 VDC
Precautions for Correct Use
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-8
12
Appendix
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use mode 2 for origin search.
 Use the power supply for command pulse (24 VDC) as a dedicated power supply.
 Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
12-1 Connection Examples
Connection Example 9:
Connecting to a SYSMAC CS1W-HCP22-V1 Customizable Counter Unit
NFB
3-phase 200 to 240 VAC 50/60 Hz
CS1W-HCP22-V1
Special I/O connector
Description
No.
Output power supply 24 VDC A19
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
S
T
Ground to
100 Ω or less
X
1MC
R88D-KT@
CN1
24 VDC
A20
Common
CCW (1.6 kΩ)
Pulse
Output CW (1.6 kΩ)
1
Phase-Z LD+
Phase-Z LD−
I/O connector
Output 24 V
Error counter clear *1
Output common
Positioning completion signal *1
A16
5
6
3
4
+CCW
−CCW
+CW
−CW
B5
A5
23
24
+Z
−Z
A18
A1
B3
B1
B7
B5
Servo ON *1
B4
Alarm reset *1
Origin proximity input signal *1 B12
CCW limit input signal *1 B8
CW limit input signal *1 B9
A10
Input common *1
30 ECRST
39
7
X1
X1
24
VDC
XB
CNA
L1C
L2C
L1
L2
L3
11 BKIR
10 BKIRCOM
FG
Shell
Reactor
1MC
CNB
B1
B3
B2
U
V
W
INP
+24VIN
29
RUN
31 RESET
28 INPCOM
36 ALMCOM
/ALM
37
surge
suppressor
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
E
Brake cables
XB
B
24 VDC
*1. The I/O signals for the HCP22 depend on the memory allocations in the Internal Memory area.
Change the wiring according to the allocations.
12
Precautions for Correct Use
Appendix
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use the power supply for command pulse (24 VDC) as a dedicated power supply.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
 Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
12-9
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-1 Connection Examples
Connection Example 10:
Connecting to a SYSMAC CS1W-HCA12/22-V1 Customizable Counter Unit
NFB
3-phase 200 to 240 VAC 50/60 Hz
CS1W-HCA12/22-V1
Special I/O connector
Description
Phase-A LD+
Phase-A LD−
Phase-B LD+
Phase-B LD−
Phase-Z LD+
Phase-Z LD−
Analog output 1 (+)
Analog output 1 (−)
Analog output 2 (+)
Analog output 2 (−)
S
T
Ground to
100 Ω or less
X
1MC
R88D-KT@
CN1
No.
B1
A1
B3
A3
B5
A5
A19
A20
B19
B20
24 VDC
I/O connector
Origin proximity input signal *1 B12
CCW limit input signal *1 B8
CW limit input signal *1 B9
A10
Input common *1
B5
Servo ON *1
B4
Alarm reset *1
1MC
Noise filter
R
Main circuit power supply
Main circuit contactor
OFF ON
21
22
49
48
23
24
14
15
16
17
7
X1
24
VDC
+24VIN
RUN
RESET
Reactor
1MC
CNB
B1
B3
B2
U
V
W
36 ALMCOM
/ALM
37
29
31
XB
+A
−A
+B
−B
+Z
−Z
REF
AGND
TREF2
AGND
CNA
L1C
L2C
L1
L2
L3
surge
suppressor
R88M-K@
Red Motor power cables
White
Blue
Green/Yellow
M
CN2
Encoder cables
E
11 BKIR
10 BKIRCOM
Shell
FG
Brake cables
XB
B
24 VDC
*1. The I/O signals for the HCA12/22 depend on the allocations in the Internal Memory area. Change the
wiring according to the allocations.
12
Precautions for Correct Use
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-10
Appendix
 Incorrect signal wiring can cause damage to units and the drive.
 Leave unused signal lines open and do not wire them.
 Use the power supply for command pulse (24 VDC) as a dedicated power supply.
 The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the
equivalent.
 Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls.
12-2 Parameter List
12-2 Parameter List
 Some parameters are enabled by turning the power supply OFF and then ON again. (Those
parameters are indicated in the table.) After changing these parameters, turn OFF the power
supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply
again.
 Do not change the parameters marked "Reserved". Do not change the settings marked
"Reserved".
Parameter
name
Setting
Pn number
Basic Setting Parameters
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Set the relation between the command
direction and the motor rotation direction.
Rotation
000 Direction
Switching
0
A forward direction command sets the
direction to CW as viewed from the shaft end 1
1
A forward direction command sets the
direction to CCW as viewed from the shaft
end
−
0 or 1
Yes
0
−
0 to 6
Yes
1
−
0 to 6
−
See
Note 1
−
0 to 31
−
250
%
0 to
10,000
−
Select the Servo Drive control mode.
001
Control Mode
Selection
12
0
Position control (pulse train command)
1
Speed control (analog command)
2
Torque control (analog command)
3
No. 1: Position control
No. 2: Speed control
4
No. 1: Position control
No. 2: Torque control
5
No. 1: Speed control
No. 2: Torque control
6
Fully-closed control
Appendix
Set the operation mode for realtime autotuning.
0
Disabled
1
Emphasizes stability
2
Emphasizes positioning
Realtime
3
002 Autotuning
Mode Selection
4
If there is an unbalanced load like in a
vertical axis.
Used when friction is large.
5
Used when there is an unbalanced load,
such as a vertical axis, and friction is large.
6
Used to customize the Realtime
Autotuning Mode.
Realtime
Set the machine rigidity for executing
003 Autotuning Machine
realtime autotuning.
Rigidity Setting
004 Inertia Ratio
12-11
Set the load inertia as a percentage of the
motor rotor inertia.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Command
005 Pulse Input
Selection
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the command pulse input.
0
Photocoupler input
1
Input for line driver only
Command Pulse Set the command pulse count direction.
Rotation Direction
0 Forward direction
006
Switching
Selection
1 Reverse direction
0
−
0 or 1
Yes
0
−
0 or 1
Yes
1
−
0 to 3
Yes
10000
Pulses 0 to 220
Set the command pulse mode.
Command
007 Pulse Mode
Selection
008
0
90° differential-phase (A/B) inputs
1
Forward pulse/reverse pulse
2
90° differential-phase (A/B) inputs
3
Feed pulse and direction signal
Electronic Gear Set the number of command pulses per
Integer Setting motor rotation.
Yes
Electronic Gear Set the electronic gear ratio.
009 Ratio
If Pn009 = 0, the encoder resolution is set as 0
Numerator 1
the numerator.
−
0 to 230
−
Electronic Gear
010 Ratio
Denominator
−
1 to 230
−
P/r
1 to
262,144
Yes
−
0 to 3
Yes
011
Electronic gear ratio numerator 1 (Pn009)
10000
Electronic gear ratio denominator (Pn010)
Encoder Dividing Set the number of phase A and phase B
2500
Numerator
output pulses, respectively per motor rotation.
Select the phase B logic for pulse
regeneration output and the output source.
0
Encoder Output
Direction
012
1
Switching
Selection
2
3
Phase B logic: Not reversed
Output source: Encoder
Phase B logic: Reversed
Output source: Encoder
0
Phase B logic: Not reversed
Output source: External encoder
12
Phase B logic: Reversed
Output source: External encoder
−
014
Set the range of the error counter overflow
Error Counter
level. Detection of error counter overflow
Overflow Level
level error is disabled if the set value is 0.
100000
Command
0 to 227
units
−
1
−
Yes
%
Select the absolute encoder usage method.
0
Operation
Switch when
1
015
Using Absolute
Encoder
2
Used as an absolute encoder.
Used as an incremental encoder.
0 to 2
Used as an absolute encoder.
(Multi-rotation counter overflows are
ignored.)
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-12
Appendix
0 to 500
013 No. 1 Torque Limit Set the No. 1 limit value for the output torque of the motor. 500
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the Regeneration Resistor used.
Regeneration
016 Resistor
Selection
0
Use the Built-in Resistor.
Triggering of regeneration overload
protection (Alarm No. 18) depends on
the Built-in Resistor (with approx. 1%
duty).
1
Use an External Resistor.
The regeneration processing circuit
operates and regeneration overload
protection (Alarm No. 18) is triggered
when the operating rate of the
Regeneration Resistor exceeds 10%.
2
Use an External Resistor.
Regeneration overload protection
(Alarm No. 18) does not operate.
3
No Regeneration Resistor
All regeneration power is processed
with built-in capacitors.
See
Note 2
−
0 to 3
Yes
0
−
0 to 4
Yes
Select the type of load ratio calculation for
the External Regeneration Resistor.
0
Regeneration load ratio is 100% when
operating rate of the External
Regeneration Resistor is 10%.
External
017 Regeneration
Resistor Setting 1
Reserved
2
Reserved
3
Reserved
4
Reserved
Note 1: The default setting is 11 for 200-V Servo Drives of 1 kW or higher and 400-V Servo Drives.
Note 2: 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.
Appendix
12
12-13
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-2 Parameter List
Gain Parameters
100 Position Loop Gain Set the position loop gain 1.
See
Note 1
0.1/s
0 to 30,000 −
101 Speed Loop Gain Set the speed loop gain 1.
See
Note 2
0.1 Hz 1 to 32,767 −
See
Note 3
0.1 ms
1 to
10,000
−
Setting
Unit
Power
Setting supply
range OFF to
ON
Pn number
Default
setting
Parameter
name
Description
102
Speed Loop Integral
Set the speed loop integral time constant 1.
Time Constant
103
Speed Feedback
The speed feedback filter 1 can be set to one
0
Filter Time Constant of 6 values.
−
0 to 5
−
104
Torque Command
See
Set the time constant for the torque filter 1.
Filter Time Constant
Note 4
0.01
ms
0 to
2,500
−
105 Position Loop Gain 2 Set the position loop gain 2.
See
Note 5
0.1/s
0 to 30,000 −
106 Speed Loop Gain 2 Set the speed loop gain 2.
See
Note 6
0.1 Hz 1 to 32,767 −
Speed Loop
107 Integral Time
Constant 2
10000
0.1 ms
1 to
10,000
−
Speed
Feedback Filter The speed feedback filter 2 can be set to one
108
0
Time Constant of 6 values.
2
−
0 to 5
−
Torque
Command Filter
See
109
Set the time constant for the torque filter 2.
Time Constant
Note 7
2
0.01
ms
0 to
2,500
−
Set the speed loop integral time constant 2.
Speed FeedSet the speed feed-forward amount.
forward Amount
300
0.1%
0 to
1,000
−
Speed FeedSet the speed feed-forward filter time
111 forward
constant.
Command Filter
50
0.01
ms
0 to
6,400
−
−
110
12
0
0.1%
0 to
1,000
Torque Feed113 forward
Set the torque feed-forward filter.
Command Filter
0
0.01
ms
0 to
6,400
−
Execute optimum tuning using the gain
Gain Switching switching function.
114 Input Operating
0 Gain 1 (PI/P switching enabled)
Mode Selection
1 Gain 1 and gain 2 switching available
1
−
0 or 1
−
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-14
Appendix
Torque Feed112
Set the torque feed-forward amount.
forward Amount
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the gain switching condition for
position control.
It is necessary that Pn114 be set to 1.
0
Always gain 1
1
Always gain 2
2
Switching using gain switching input (GSEL)
Switching Mode 3
115 in Position
4
Control
5
Torque command change amount
Always gain 1
0
−
0 to 10
−
0.1 ms
0 to
10,000
−
Command speed
6
Amount of position error
7
Command pulses received
8
Positioning completion signal (INP) OFF
9
Actual motor speed
10 Combination of command pulse input and speed
Gain Switching
Set the delay time for switching from gain 2
116 Delay Time in
50
to gain 1.
Position Control
Gain Switching Level
Set the gain switching level.
in Position Control
50
−
0 to
20,000
−
Gain Switching
118 Hysteresis in
Set the hysteresis for gain switching.
Position Control
33
−
0 to
20,000
−
0.1 ms
0 to
10,000
−
−
0 to 5
−
Gain Switching
Set the delay time for switching from gain 2
121 Delay Time in
0
to gain 1.
Speed Control
0.1 ms
0 to
10,000
−
Gain Switching
122 Level in Speed Set the gain switching level.
Control
0
−
0 to
20,000
−
Gain Switching
123 Hysteresis in
Set the hysteresis for gain switching.
Speed Control
0
−
0 to
20,000
−
117
119
Position Gain
Set the position gain switching time for gain
33
Switching Time switching.
Select the gain switching condition for speed
control.
It is necessary that Pn114 be set to 1.
Appendix
12
12-15
0
Always gain 1
Switching Mode 1
120 in Speed
Control
2
Always gain 2
Switching using gain switching input
(GSEL)
3
Torque command change amount
4
Speed command change amount
5
Command speed
0
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the gain switching condition for
torque control.
It is necessary that Pn114 be set to 1.
Switching Mode 0
124 in Torque
1
Control
Always gain 1
−
0 to 3
−
Gain Switching
Set the delay time for switching from gain 2
125 Delay Time in
0
to gain 1.
Torque Control
0.1 ms
0 to
10,000
−
Gain Switching
126 Level in Torque Set the gain switching level.
Control
0
−
0 to
20,000
−
Gain Switching
127 Hysteresis in
Set the hysteresis for gain switching.
Torque Control
0
−
0 to
20,000
−
Always gain 2
2
Switching using gain switching input
(GSEL)
3
Torque command change amount
0
Note 1: The default setting is 320 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
Note 2: The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
Note 3: The default setting is 310 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
Note 4: The default setting is 126 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
Note 5: The default setting is 380 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
Note 6: The default setting is 180 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
Note 7: The default setting is 126 for 200-V Servo Drives of 1 kW or higher, and 400-V Servo
Drives.
12
Appendix
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-16
12-2 Parameter List
Parameter
name
Setting
Pn number
Vibration Suppression Function Parameters
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Set the operation of the adaptive filter.
200
Adaptive Filter
Selection
Notch 1
201 Frequency
Setting
1
One enabled. Frequency limited after
adaptation.
2
Two enabled. Frequency limited after
adaptation.
3
One enabled. Adaptation performed at all
times.
4
Two enabled. Adaptation performed
with 1 filter at all times.
0
−
0 to 4
−
Set the notch frequency of resonance
suppression notch filter 1.
5000
Hz
50 to
5,000
−
Notch 1 Width
Setting
Set the notch width of the resonance
suppression notch filter 1.
2
−
0 to 20
−
203
Notch 1 Depth
Setting
Set the notch depth of resonance
suppression notch filter 1.
0
−
0 to 99
−
Set the notch frequency of resonance
suppression notch filter 2.
5000
Hz
50 to
5,000
−
205
Notch 2 Width
Setting
Set the notch width of the resonance
suppression notch filter 2.
2
−
0 to 20
−
206
Notch 2 Depth
Setting
Set the notch depth of resonance
suppression notch filter 2.
0
−
0 to 99
−
Notch 3
207 Frequency
Setting
Set the notch frequency of resonance
suppression notch filter 3.
This is set automatically when an adaptive
notch is enabled.
5000
Hz
50 to
5,000
−
Notch 3 Width
208
Setting
Set the notch width of the resonance
suppression notch filter 3.
This is set automatically when an adaptive
notch is enabled.
2
−
0 to 20
−
Notch 3 Depth
209
Setting
Set the notch depth of resonance
suppression notch filter 3.
This is set automatically when an adaptive
notch is enabled.
0
−
0 to 99
−
Notch 4
210 Frequency
Setting
Set the notch frequency of resonance
suppression notch filter 4.
This is set automatically when an adaptive
notch is enabled.
5000
Hz
50 to
5,000
−
Notch 4 Width
211
Setting
Set the notch width of the resonance
suppression notch filter 4.
This is set automatically when an adaptive
notch is enabled.
2
−
0 to 20
−
12
Appendix
Disabled
202
Notch 2
204 Frequency
Setting
12-17
0
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Notch 4 Depth
212
Setting
Setting
Pn number
12-2 Parameter List
Description
Set the notch depth of resonance
suppression notch filter 4.
This is set automatically when an adaptive
notch is enabled.
Default
setting
Unit
Power
Setting supply
range OFF to
ON
−
0 to 99
−
−
0 to 3
−
Set the damping frequency 1. The function is
0
enabled if the set value is 10 (= 1 Hz) or greater.
0.1 Hz
0 to
2,000
−
Finely adjust damping control function 1. If
torque saturation occurs, lower this setting;
0
to increase responsiveness, raise this
setting.
0.1 Hz
0 to
1,000
−
Set the damping frequency 2. The function is
0
enabled if the set value is 10 (= 1 Hz) or greater.
0.1 Hz
0 to
2,000
−
Finely adjust damping control function 2. If
torque saturation occurs, lower this setting;
0
to increase responsiveness, raise this
setting.
0.1 Hz
0 to
1,000
−
Set the damping frequency 3. The function is
enabled if the set value is 10 (= 1 Hz) or
0
greater.
0.1 Hz
0 to
2,000
−
Finely adjust damping control function 3. If
torque saturation occurs, lower this setting;
0
to increase responsiveness, raise this
setting.
0.1 Hz
0 to
1,000
−
Set the damping frequency 4. The function is
enabled if the set value is 10 (= 1 Hz) or
0
greater.
0.1 Hz
0 to
2,000
−
Finely adjust damping control function 4. If
torque saturation occurs, lower this setting;
0
to increase responsiveness, raise this
setting.
0.1 Hz
0 to
1,000
−
0
Select the damping filter switching method.
213
214
Damping
Frequency 1
Damping
Frequency 2
Damping Filter
217
2 Setting
Damping
Frequency 3
Damping Filter
219
3 Setting
220
1
When DF-SEL1 input open:
Damping filter 1 and 3 enabled
When DF-SEL1 input shorted:
Damping filter 2 and 4 enabled
2
When DF-SEL1 open and DF-SEL2 open:
Damping filter 1 enabled
When DF-SEL1 shorted and DF-SEL2 open:
0
Damping filter 2 enabled
When DF-SEL1 open and DF-SEL2
shorted:
Damping filter 3 enabled
When DF-SEL1 shorted and DF-SEL2
shorted:
Damping filter 4 enabled
3
Forward direction:
Damping filter 1 and 3 enabled
Reverse direction:
Damping filter 2 and 4 enabled
Damping
Frequency 4
Damping Filter
221
4 Setting
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-18
12
Appendix
218
Enabled
Damping Filter
Selection
Damping Filter
215
1 Setting
216
0
Parameter
name
Default
setting
Unit
Power
Setting supply
range OFF to
ON
0
0.1 ms
0 to
10,000
−
Set the time constant of the FIR filter for the
0
position command.
0.1 ms
0 to
10,000
−
Setting
Pn number
12-2 Parameter List
Description
Position
Set the time constant of the first-order lag
222 Command Filter
filter for the position command.
Time Constant
Smoothing
223 Filter Time
Constant
Parameter
name
Setting
Pn number
Speed, Torque Control, and Fully-Closed Control Parameters
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the speed command when using speed control.
Command
300 Speed
Selection
Speed
Command
301
Direction
Selection
302
Analog speed command
1
No. 1 Internally Set Speed to No. 4
Internally Set Speed (Pn304 to Pn307)
2
No. 1 Internally Set Speed to No. 4
Internally Set Speed (Pn304 to Pn306),
analog speed command
3
No. 1 Internally Set Speed to No. 8
Internally Set Speed (Pn304 to Pn311)
0
−
0 to 3
−
0
−
0 or 1
−
500
(r/min)/ 10 to
V
2,000
−
1
−
−
Select the method for designating the direction for the
speed command
0
Specified with the sign
1
Specified with VSIGN
Speed Command Set the input gain for the analog speed
Scale
command input.
Analog Speed
Command
303 Rotation
Direction
Switching
Set the polarity for analog speed commands.
0
+Voltage: Forward direction
-Voltage: Reverse direction
1
+Voltage: Reverse direction
-Voltage: Forward direction
0 or 1
Appendix
12
0
12-19
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
304
No. 1 Internally Set the No. 1 internal speed command
Set Speed
value.
0
r/min
−
305
No. 2 Internally Set the No. 2 internal speed command
Set Speed
value.
0
r/min
−
306
No. 3 Internally Set the No. 3 internal speed command
Set Speed
value.
0
r/min
−
307
No. 4 Internally Set the No. 4 internal speed command
Set Speed
value.
0
r/min
308
No. 5 Internally Set the No. 5 internal speed command
Set Speed
value.
0
r/min
−
309
No. 6 Internally Set the No. 6 internal speed command
Set Speed
value.
0
r/min
−
310
No. 7 Internally Set the No. 7 internal speed command
Set Speed
value.
0
r/min
−
311
No. 8 Internally Set the No. 8 internal speed command
Set Speed
value.
0
r/min
−
-20,000
to 20,000
−
Soft Start
312 Acceleration
Time
Set the acceleration processing acceleration
0
time for speed commands.
ms/
0 to
(1,000 r/
10,000
min)
−
Soft Start
313 Deceleration
Time
Set the deceleration processing
deceleration time for speed commands.
0
ms/
0 to
(1,000 r/
10,000
min)
−
S-curve
Acceleration/
314
Deceleration
Time Setting
Set the acceleration/deceleration
processing S-curve time for speed
commands.
0
ms
0 to
1,000
−
−
0 to 3
−
30
r/min
10 to
20,000
−
0
−
0 to 2
−
Select the function of the zero speed
designation input (ZEROSPD).
Zero Speed
315 Designation
Selection
Position Lock
Level Setting
Disabled
1
The speed command is 0.
2
If the speed command is 0 and the
0
actual speed is less than the zero speed
designation, the servo lock is applied.
3
When the speed command is equal to or
less than the Position Lock Level Setting
(Pn316) minus 10 r/min, the servo lock is
applied.
Set the threshold for position lock moving.
Select the torque command and speed limit value.
Torque
Command/
317
Speed Limit
Selection
0
Torque command: Analog input 1
Speed limit: Pn321 set value
1
Torque command: Analog input 2
Speed limit: Analog input 1
2
Torque command: Analog input 1
Speed limit: Pn321 and Pn322 set values
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-20
12
Appendix
316
0
Parameter
name
Torque
Command
318
Direction
Selection
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the method for selecting the direction
for the torque command.
0
−
0 or 1
30
0.1 V/
100%
10 to 100 −
−
0 or 1
−
0
r/min
0 to
20,000
−
Reverse Direction
Switch the speed limit value according to the
0
322 Speed Limit
direction.
Value Setting
r/min
0 to
20,000
−
0
−
0 to 2
Yes
External Feedback
Set the external feedback pulse dividing
324 Pulse Dividing
numerator.
Numerator
0
−
0 to 220
Yes
External Feedback
Set the external feedback pulse dividing
325 Pulse Dividing
denominator.
Denominator
10000
−
1 to 220
Yes
−
0 or 1
Yes
−
0 or 1
Yes
319
0
Specified with the sign
1
Specified with VSIGN
Torque
Set the input gain for analog torque
Command Scale command input.
Set the analog torque command input polarity.
Analog Torque
Command
320
0 Forward operation
0
Rotation Direction
Switching
1 Reverse operation
321
Speed Limit
Value Setting
Set the speed limit value.
−
Select the external feedback pulse type.
0
External
323 Feedback Pulse
Type Selection 1
2
90° phase difference output type
Incremental encoder with serial
communications
Reserved (Do not use this setting.)
Reverse the external feedback pulse count
External
direction by changing the setting.
Feedback Pulse
326
0
Direction
0 Count direction not reversed
Switching
1 Count direction reversed
12
Appendix
Set disconnection detection in the phase-Z
unconnected state when the external
feedback pulse of a 90° phase difference
External
327 Feedback Pulse output type is used.
0
Phase-Z Setting
0 Enabled
1
Disabled
Internal/External
Feedback Pulse Set the threshold for feedback pulse
328
Error Counter
deviation errors.
Overflow Level
16000
Internal/External
Clear to 0 the feedback pulse error value for
329 Feedback Pulse
0
each set rotation speed.
Error Counter Reset
12-21
Command
1 to 227
units
Yes
Rotations 0 to 100
Yes
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-2 Parameter List
Parameter
name
Setting
Pn number
Interface Monitor Setting Parameters
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
400
Input Signal
Selection 1
Set the input signal 1 function and logic.
855309
−
0
0 to
Yes
00FFFFFFh
401
Input Signal
Selection 2
Set the input signal 2 function and logic.
848729
−
7
0 to
Yes
00FFFFFFh
402
Input Signal
Selection 3
Set the input signal 3 function and logic.
953985
−
0
0 to
Yes
00FFFFFFh
403
Input Signal
Selection 4
Set the input signal 4 function and logic.
394758 −
0 to
Yes
00FFFFFFh
404
Input Signal
Selection 5
Set the input signal 5 function and logic.
4108
−
0 to
Yes
00FFFFFFh
405
Input Signal
Selection 6
Set the input signal 6 function and logic.
197379 −
0 to
Yes
00FFFFFFh
406
Input Signal
Selection 7
Set the input signal 7 function and logic.
3847
−
0 to
Yes
00FFFFFFh
407
Input Signal
Selection 8
Set the input signal 8 function and logic.
263172 −
0 to
Yes
00FFFFFFh
408
Input Signal
Selection 9
Set the input signal 9 function and logic.
328965 −
0 to
Yes
00FFFFFFh
409
Input Signal
Selection 10
Set the input signal 10 function and logic.
3720
−
0 to
Yes
00FFFFFFh
410
Output Signal
Selection 1
Set the output signal 1 function allocation.
197379 −
0 to
Yes
00FFFFFFh
411
Output Signal
Selection 2
Set the output signal 2 function allocation.
131586 −
0 to
Yes
00FFFFFFh
Do not change the set value.
-
Set the output signal 4 function allocation.
328964 −
412 Not used
413
Output Signal
Selection 4
−
−
−
0 to
Yes
00FFFFFFh
12
Appendix
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-22
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the type for analog monitor 1.
0
Motor speed
1
Position command speed
2
Internal position command speed
3
Speed Control Command
4
Torque command
5
Position command error
6
Encoder Position Error
7
Fully-closed Error
8
Hybrid Error
9 P-N voltage
Analog Monitor
416
10 Regeneration load ratio
1 Selection
11 Overload load ratio
0
−
0 to 21
−
12 Forward direction torque limit
13 Reverse direction torque limit
14 Speed limit value
15 Inertia Ratio
16 Analog input 1
17 Analog input 2
18 Analog input 3
19 Encoder temperature
20 Drive temperature
21 Encoder 1-rotation data
Appendix
12
417
Analog Monitor
Set the output gain for analog monitor 1.
1 Scale Setting
0
−
0 to
−
214,748,364
418
Select the type for analog monitor 2.
Analog Monitor
The set values for this parameter are the
2 Selection
same as Analog Monitor 1 Type (Pn416).
4
−
0 to 21
419
Analog Monitor
Select the output gain for analog monitor 2. 0
2 Scale Setting
−
0 to
−
214,748,364
0
−
0 to 2
−
422 Analog Input 1 Offset Set the analog input 1 offset.
0
0.359 mV
-5,578 to
5,578
−
Analog Input 1 Filter
Set the analog input 1 filter.
Time Constant
0
0.01
ms
0 to
6,400
−
−
Select the analog monitor output voltage method.
0
421
Analog Monitor
Output Setting 1
2
423
12-23
Output range: -10 to 10 V
Data output: Positive, negative
Output range: 0 to 10 V
Data output: Positive, negative
Output range: 0 to 10 V
Data output: Positive, negative
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-2 Parameter List
0
0.1 V
0 to 100
425 Analog Input 2 Offset Set the analog input 2 offset.
0
5.86 mV -342 to 342 −
426
Analog Input 2 Filter
Set the analog input 2 filter.
Time Constant
0
0.01
ms
0 to
6,400
−
427
Excessive
Analog Input 2
0
0.1 V
0 to 100
−
428 Analog Input 3 Offset Set the analog input 3 offset.
0
5.86 mV -342 to 342 −
429
Analog Input 3 Filter
Set the analog input 3 filter.
Time Constant
0
0.01
ms
0 to
6,400
−
430
Excessive
Analog Input 3
Set the voltage after offset for the excess
level of analog input 3 input voltage.
0
0.1 V
0 to 100
−
431
Positioning
Set the allowed number of pulses for the
Completion Range 1 positioning completion range.
10
Command 0 to
units
262,144
−
−
0 to 3
−
1 ms
0 to
30,000
−
50
r/min
10 to
20,000
−
Speed
Set the detection threshold for speed conformity
output (VCMP) with the difference between the 50
435 Conformity
Detection Range speed command and the actual speed.
r/min
10 to
20,000
−
Rotation Speed
Set the detection threshold for the motor
436 for Motor Rotation
rotation speed detection output (TGON).
Detection
1000
r/min
10 to
20,000
−
424
Excessive
Analog Input 1
Setting
Unit
Power
Setting supply
range OFF to
ON
Pn number
Default
setting
Parameter
name
Description
Set the voltage after offset for the excess
level of analog input 1 input voltage.
Set the voltage after offset for the excess
level of analog input 2 input voltage.
−
Set the judgment conditions for positioning completion output.
Positioning
Completion
432
Condition
Selection
433
0
Positioning completion output turns ON
when the position error is within the
Positioning Completion Range 1 (Pn431).
1
Positioning completion output turns ON when the
position error is within the Positioning Completion
Range 1 (Pn431) and there is no position command.
2
Positioning completion output turns ON when the 0
zero speed detection signal is ON, the position
error is within the Positioning Completion Range
1 (Pn431), and there is no position command.
3
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 will then be
held until the next position command is received.
Positioning Completion
Set the positioning completion hold time.
Hold Time
Zero Speed
434
Detection
Set the detection threshold for zero speed
(ZSP).
0
Brake Timing
when Stopped
Set the operation time for the mechanical
brake at stop.
0
1 ms
0 to
10,000
−
438
Brake Timing
Set the operation time for the mechanical
During Operation brake during operation.
0
1 ms
0 to
10,000
−
439
Brake Release
Speed Setting
30
r/min
30 to
3,000
−
Set the speed threshold for mechanical
brake output judgment during operation.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-24
Appendix
437
12
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Select the warning type to be output by
Warning Output 1.
0
An OR output of all alarm status
1
Overload warning
2
Excessive regeneration warning
3
Battery warning
Warning Output 4
Selection 1
5
Fan warning
0
−
0 to 10
−
Select the warning type to be output by
Warning Output Warning Output 2.
441
0
Selection 2
The relationships among the set values for this parameter
are the same as for Warning Output Selection 1 (Pn440).
−
0 to 10
−
Command 0 to
units
262,144
−
440
442
Encoder communications warning
6
Encoder overheating warning
7
Vibration detection warning
8
Service life detection warning
9
External encoder error warning
10
External encoder communications error
warning
Positioning
Set the allowable number of pulses for the
Completion Range 2 second positioning completion range.
10
Parameter
name
Setting
Pn number
Expansion Parameters
Description
Electronic Gear
Set the electronic gear ratio.
Ratio Numerator 2 If Pn500, Pn501, Pn502 = 0, the encoder
resolution is set as the numerator.
Electronic Gear
501
Electronic Gear Ratio Numerator 2 (Pn500)
Ratio Numerator 3
or
Electronic Gear Ratio Numerator 3 (Pn501)
or
Electronic Gear
502
Electronic Gear Ratio Numerator 4 (Pn502)
Ratio Numerator 4
Electronic Gear Ratio Denominator (Pn010)
Appendix
503
Unit
Power
Setting supply
range OFF to
ON
0
−
0 to 230
−
0
−
0 to 230
−
0
−
0 to 230
−
Encoder Dividing Set the denominator when the number of pulses per
0
Denominator
motor rotation in pulse regeneration is not an integer.
−
0 to
262,144
Yes
−
0 to 2
Yes
500
12
Default
setting
Set the operation to be performed upon forward/
reverse direction drive prohibition input.
0
Drive
504 Prohibition
Input Selection 1
2
12-25
Forward or reverse direction drive
prohibition input enabled
1
Forward or reverse direction drive
prohibition input disabled
Forward or reverse direction drive
prohibition input enabled
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Make the setting upon drive prohibition input.
Stop Selection
for Drive
505
Prohibition
Input
0
The torque in the drive prohibit direction is
disabled, and the dynamic brake is activated.
1
0
The torque in the drive prohibit direction is
disabled, and free-run deceleration is performed.
2
The torque in the drive prohibit direction is
disabled, and an emergency stop is performed.
−
0 to 2
Yes
−
0 to 9
−
Set the stop operation when the servo is turned OFF.
506
Stop Selection
with Servo OFF
During deceleration: Dynamic brake
After stopping: Dynamic brake
Error counter: Clear
1
During deceleration: Free-run
After stopping: Dynamic brake
Error counter: Clear
2
During deceleration: Dynamic brake
After stopping: Servo free
Error counter: Clear
3
During deceleration: Free-run
After stopping: Servo free
Error counter: Clear
4
During deceleration: Dynamic brake
After stopping: Dynamic brake
Error counter: Hold
During deceleration: Free-run
After stopping: Dynamic brake
Error counter: Hold
6
During deceleration: Dynamic brake
After stopping: Servo free
Error counter: Hold
7
During deceleration: Free-run
After stopping: Servo free
Error counter: Hold
8
During deceleration: Emergency stop
After stopping: Dynamic brake
Error counter: Clear
9
During deceleration: Emergency stop
After stopping: Servo free
Error counter: Clear
12
−
0 to 9
−
Undervoltage
Select whether to trip the LV or turn OFF the
1
Alarm Selection servo if there is a main power supply alarm.
−
0 or 1
−
1 ms
70 to 2,000 Yes
509 Momentary Hold Time Set the main power supply alarm detection time. 70
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-26
Appendix
5
0
Set the stop operation when the main power
supply is turned OFF.
0
The set values for this parameter are the same
as Stop Selection with Servo OFF (Pn506).
Stop Selection
with Main
507
Power Supply
OFF
508
0
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Set the alarm sequence.
Stop Selection
510 for Alarm
Detection
0
During deceleration: Dynamic brake
After stopping: Dynamic brake
1
During deceleration: Free-run
After stopping: Dynamic brake
2
During deceleration: Dynamic brake
After stopping: Servo free
3
During deceleration: Free-run
After stopping: Servo free
4
During Emergency stop alarm
deceleration: Emergency stop
During deceleration: Dynamic brake
After stopping: Dynamic brake
0
−
0 to 7
−
511 Immediate Stop Torque Set the torque limit for immediate stops.
0
%
0 to 500
−
512
Overload Detection
Set the overload detection level.
Level Setting
0
%
0 to 500* −
513
Overspeed Detection
Set the overspeed error detection level.
Level Setting
0
r/min
0 to
20,000
−
514
Overrun Limit
Setting
10
0.1
0 to
Rotations 1,000
−
0
−
0 to 3
Yes
0
−
0 or 1
Yes
12
5
During Emergency stop alarm
deceleration: Emergency stop
During deceleration: Free-run
After stopping: Dynamic brake
6
During Emergency stop alarm
deceleration: Emergency stop
During deceleration: Dynamic brake
After stopping: Servo free
7
During Emergency stop alarm
deceleration: Emergency stop
During deceleration: Free-run
After stopping: Servo free
Set the motor over-travel distance for
position commands.
Select from one of 4 values for the IF read cycle.
Appendix
Control Input
515 Signal Read
Setting
Alarm Reset
516 Condition
Setting
0
0.166 ms
1
0.333 ms
2
1 ms
3
1.666 ms
Set the alarm clear input detection method.
0
120 ms
1
Follow the Control Input Signal Read Setting (Pn515).
* For example, if you set 115 or higher, the resolution will be 115%.
12-27
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
Set the clear condition for the error counter reset
input signal.
0
Disabled
1
Clears the error counter with the level.
(Shorted for 500 μs or longer)
Error Counter
517 Reset Condition
2
Selection
Command
Pulse
518
Prohibition
Input Setting
Clears the error counter with the level.
(Shorted for 1 ms or longer)
3
Clears the error counter with the edge. (Change
from open to shorted for 100 μs or longer)
4
Clears the error counter with the edge.
(Change from open to shorted 1 ms or longer)
0
−
0 to 4
−
1
−
0 or 1
−
0
−
0 to 4
Yes
0
−
0 or 1
Yes
Enable or disable the command pulse
prohibition input signals (INH).
0
Enabled
1
Disabled
Select the signal read cycle for the command pulse prohibition input.
Command
Pulse
519 Prohibition
Input Read
Setting
0
0.166 ms
1
0.333 ms
2
1 ms
3
1.666 ms
4
0.166 ms
Select the positioning completion range and
error counter overflow level setting unit.
520
Position Setting
Unit Selection 0
1
Command unit
Encoder unit
Set the forward or reverse direction torque
limit selection method.
Torque Limit
Selection
Use P-ATL and N-ATL as analog torque limit inputs.
1
Pn013 is the limit value for both forward
and reverse directions.
2
Forward operation: Set by Pn013,
Reverse operation: Set by Pn522.
3
1
When TL-SEL input is open: Use Pn013.
When TL-SEL input is shorted: Use Pn522.
4
Use P-ATL and N-ATL as analog torque limit inputs.
5
Use P-ATL and N-ATL as analog torque limit inputs.
6
When TL-SEL input is open: Forward direction,
use Pn013; Reverse direction, use Pn522.
When TL-SEL input is shorted: Forward direction,
use Pn525; Reverse direction, use Pn526.
522 No. 2 Torque Limit Set the No. 2 limit value for the motor output torque. 500
523
Torque Limit
Set the change rate (fluctuate) for when the
0
Switching Setting 1 torque limit is switched from No. 1 to No. 2.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12
−
0 to 6
−
%
0 to 500
−
ms/
100%
0 to
4,000
−
12-28
Appendix
521
0
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
Unit
Power
Setting supply
range OFF to
ON
524
Torque Limit
Set the change rate (fluctuate) for when the
0
Switching Setting 2 torque limit is switched from No. 2 to No. 1.
ms/
100%
0 to
4,000
−
525
Forward External Set the forward direction torque limit for TL-SEL
500
Torque Limit
input when Pn521 Torque Limit Selection is set to 6.
%
0 to 500
−
526
Reverse External Set the reverse direction torque limit for TL-SEL
500
Torque Limit
input when Pn521 Torque Limit Selection is set to 6.
%
0 to 500
−
527
Analog Torque
Limit Scale
0.1 V/
100%
10 to 100 −
Set the gain of conversion for analog torque
30
limit input.
Select the data to be displayed on the 7-segment LED
initially when the control power supply is turned ON.
Position command error
Command
units
1
Motor speed
r/min
2
Position command speed
r/min
3
Speed Control Command
r/min
4
Torque command
%
5
Total encoder pulses
Pulses
6
Total command pulses
Pulses
8
Total External Encoder Feedback
Pulses
Pulses
9
Control mode
−
10 I/O signal status
−
11 Analog input value
V
12 Alarm factor, history
−
0
528 Default Display 13 Warning number
Appendix
12
−
14 Regeneration resistance load ratio
%
15 Overload load ratio
%
16 Inertia Ratio
%
17 Reason for no rotation
−
18 Display of the number of I/O signal changes
times
20 Absolute encoder data
−
21 Absolute external encoder position
−
22 Monitor for the number of encoder communications errors
times
23 Display of axis numbers for communication
−
24 Position error (encoder unit)
−
25
26
12-29
1
External encoder error (external
encoder unit)
−
Hybrid error
Command
units
27 P-N voltage
V
28 Soft version
−
0 to 35
Yes
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Default
setting
29 Drive serial number
−
30 Motor serial number
−
31 Accumulative operation time
528 Default Display
531 Axis Number
Front Key
535 Protection
Setting
h
1
32 Automatic Motor Recognition Function
−
33 Temperature Information
°C
35 Safety status monitor
−
Set the axis number for USB
communications. Normally, do not change
the set value.
Command Pulse Set the maximum command pulse input.
532 Input Maximum
Setting
Pulse
Regeneration
533
Limit Output
Setting
Unit
Power
Setting supply
range OFF to
ON
0 to 35
Yes
1
−
0 to 127
Yes
4000
kpps
250 to
4,000
Yes
0
−
0 or 1
Yes
0
−
0 or 1
Yes
Set the detection of pulse regeneration limit error.
0
Disabled
1
Enabled
Set the operation limit for the front panel.
0
Operation not blocked
1
Operation blocked
12
Appendix
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-30
12-2 Parameter List
12
Parameter
name
Setting
Pn number
Special Setting Parameters
Description
Unit
Power
Setting supply
range OFF to
ON
Analog Torque
600 Feed-forward
Gain Setting
Set the input gain for analog torque feedforward.
0 to 9 will be disabled.
0
0.1 V/
100%
0 to 100
−
Excessive
602 Speed Error
Setting
Set the detection level between the internal
position command speed and the actual
0
speed (i.e., the speed error).
r/min
0 to
20000
−
604 Jog Speed
Set the command speed during JOG trial
operation (speed control).
300
r/min
0 to 500
−
605
Gain 3 Effective Set effective time of gain 3 of 3-step gain
Time
switching.
0
0.1 ms
0 to
10,000
−
606
Gain 3 Ratio
Setting
100
%
50 to
1,000
−
607
Torque Command
Set offset torque to add to torque command. 0
Value Offset
%
-100 to
100
−
608
Forward Direction Set the value to add to a torque command
Torque Offset
for forward direction operation.
0
%
-100 to
100
−
609
Reverse Direction Set the value to add to a torque command
Torque Offset
for reverse direction operation.
0
%
-100 to
100
−
610
Function
Set the function expansion. The setting
Expansion Setting contents vary depending on the function.
0
−
0 to 63
−
611
Electric Current
Make fine adjustment to electric current
Response Setting response. The default setting is 100%.
100
%
50 to 100 −
Set gain 3 as a multiple of gain 1.
613 Inertia Ratio 2
Set the inertia ratio switching.
250
%
0 to
10,000
−
Alarm Detection
614 Allowable Time
Setting
Set the allowable time until stopping when
an emergency stop is actuated upon alarm 200
detection.
ms
0 to
1,000
−
0
r/min
0 to
20,000
−
1
−
0 or 1
Yes
0
−
0 or 1
Yes
0.1 s
0 to 100
Yes
Overspeed Detection During an emergency stop upon alarm
615 Level Setting at
detection, if the motor speed exceeds this
Immediate Stop
set value, this is an overspeed 2 error.
Absolute
Interface
616
Function
Selection
Appendix
Default
setting
Select the absolute encoder data transfer.
0
Disabled
1
Enabled
Select the EEPROM write specifications
when a parameter is changed.
Front Panel
617 Parameter
0
Write Selection
1
618
12-31
Writing not to be performed when a
parameter is changed.
Writing to be performed when a
parameter is changed.
Power Supply ON Set initialization time after power supply ON
0
Initialization Time to the standard 1.5 s plus some.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-2 Parameter List
Pulses
0 to
32,767
Yes
External Encoder
Set the external encoder phase-Z output
620 Phase-Z
width.
Expansion Setting
μs
0 to 400
Yes
Serial Absolute
Set the phase-Z regeneration position when
External
621
0
Encoder Phase- the serial absolute external encoder is used.
Z Setting
Pulses 0 to 228
Yes
Select the regeneration method of pulse
90° Phase
Difference Output outputs A and B when a 90° phase difference
output type external encoder is used.
Type External
622
0
Encoder Phase0 Without signal regeneration
AB Regeneration
Method Selection 1 With signal regeneration
−
0 or 1
Yes
Setting
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
Encoder Phase619
multiple of 4) due to the encoder dividing
0
Z Setting
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])
Pn number
Unit
Power
Setting supply
range OFF to
ON
Parameter
name
Description
Default
setting
0
623
Disturbance Torque Set the compensation gain for the
Compensation Gain disturbance torque.
0
%
-100 to
100
−
624
Disturbance Observer Set the filter time constant for disturbance
Filter Setting
torque compensation.
53
0.01
ms
10 to
2,500
−
5
s
0 to 10
Yes
−
−
−
−
0
−
0 to 3
−
0
−
-32,768
−
to 32,767
Select the warning latch time.
Warning Latch
627 Hold Time
Selection
0
Latch time infinite
628 Not used
Do not change the setting.
1
to Latch time of 1 to 10 s
10
12
Set the load characteristics estimated speed
when realtime autotuning is enabled.
Realtime
Autotuning
632
Customization
Mode Setting
0
Finalize estimated results when load
estimation becomes stable.
1
Estimates every minute from the load
characteristic changes.
2
Estimates every second from the load
characteristic changes.
3
Estimates the optimum speed from the load
characteristic changes.
Set the Customization Mode detail for
realtime autotuning.
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
12-32
Appendix
Realtime
Autotuning
631 Estimated
Speed
Selection
Parameter
name
Setting
Pn number
12-2 Parameter List
Description
Unit
Power
Setting supply
range OFF to
ON
r/min
1,000 to
3,000
−
Default
setting
Absolute Encoder
Set the pulse regeneration speed when the
Initial Pulse
633
1000
initial pulse is output.
Regeneration
Speed
634
Hybrid Vibration Set the hybrid vibration suppression gain
Suppression Gain during fully-closed control.
0
0.1/s
0 to
30,000
−
635
Hybrid Vibration Set the hybrid vibration suppression filter
Suppression Filter time constant during fully-closed control.
10
0.01
ms
0 to
6,400
−
Vibration
637 Detection
Threshold
Set the vibration detection threshold.
If torque vibration that exceeds this setting is
0
detected, the vibration detection warning will
occur.
0.1%
0 to
1,000
−
Warning Mask
638
Setting
Set a mask for warning detection. If you set
the corresponding bit to 1, the
4
corresponding warning detection will be
disabled.
−
-32,768
Yes
to 32,767
Precautions for Correct Use
Parameters between Pn700 and Pn800 are not used. Do not change the settings.
Appendix
12
12-33
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Index
I
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Index
Numerics
C
1,000-r/min Servomotors ............................ 2-10, 3-90
2,000-r/min Servomotors .............................. 2-8, 3-76
3,000-r/min Servomotors .............................. 2-6, 3-60
Cable specifications.............................................. 3-97
Changing the mode ................................................ 9-7
characteristics......................................................... 3-2
Clamp core ........................................................... 4-45
Command Pulse Input Maximum Setting
(Pn532) .............................................................. 8-59
Command Pulse Input Selection (Pn005) .............. 8-3
Command Pulse Mode Selection (Pn007) ............. 8-4
Command Pulse Prohibition Input Read Setting
(Pn519) .............................................................. 8-55
Command Pulse Prohibition Input Setting
(Pn518) .............................................................. 8-55
Command Pulse Rotation Direction Switching
Selection (Pn006) ................................................ 8-3
Command Speed Selection (Pn300) .................... 8-25
Communications connector specifications
(CN3A)............................................................... 3-55
Connection examples ........................................... 12-1
Connector specifications ...................................... 3-97
Connectors ........................................................... 2-20
Connector-terminal block...................................... 2-23
Connector-terminal block cables .............. 2-23, 3-122
Connector-terminal Block Conversion Unit......... 3-124
Contactor .............................................................. 4-49
Control cable specifications.................................. 3-97
Control cables....................................................... 2-23
Control circuit connector specifications (CND) ..... 4-23
Control I/O connector ......................................... 3-107
Control I/O connector specifications..................... 3-18
Control input circuits ............................................. 3-28
Control input signal............................................... 3-21
Control Input Signal Read Setting (Pn515) .......... 8-53
Control Mode Selection (Pn001) ............................ 8-2
Control Mode Switching (TVSEL)......................... 3-38
Control output circuits........................................... 3-45
Control output sequence ...................................... 3-46
A
Absolute encoder.................................................. 3-96
Absolute encoder backup battery ......................... 2-20
Absolute encoder battery cable ............................ 2-20
Absolute Encoder Initial Pulse Regeneration
Speed (Pn633)................................................... 8-66
Absolute encoder reset......................................... 9-28
Absolute encoder setup .......................................... 9-4
Absolute Interface Function Selection (Pn616) .... 8-62
Adaptive filter .......................................................... 6-5
Adaptive Filter Selection (Pn200) ......................... 8-20
Alarm clear............................................................ 9-25
Alarm clear attribute output (ALM-ATB)................ 3-50
Alarm Generation Allowable Time Setting
(Pn614) .............................................................. 8-61
Alarm list ............................................................... 11-6
Alarm output (/ALM).............................................. 3-48
Alarm Reset Condition Selection (Pn516) ............ 8-54
Alarm reset input (RESET) ................................... 3-38
Allowable current .................................................. 4-31
Analog Input 1 Filter Time Constant (Pn423) ....... 8-41
Analog Input 1 Offset (Pn422) .............................. 8-40
Analog Input 2 Filter Time Constant (Pn426) ....... 8-41
Analog Input 2 Offset (Pn425) .............................. 8-41
Analog Input 3 Filter Time Constant (Pn429) ....... 8-42
Analog Input 3 Offset (Pn428) .............................. 8-42
Analog input automatic offset adjustment............. 9-26
Analog Monitor 1 Scale Setting (Pn417)............... 8-39
Analog Monitor 1 Selection (Pn416) ..................... 8-38
Analog Monitor 2 Scale Setting (Pn419)............... 8-39
Analog Monitor 2 Selection (Pn418) ..................... 8-39
Analog monitor cable ............................................ 2-20
Analog monitor connector specifications (CN5).... 3-54
Analog Monitor Output Selection (Pn421) ............ 8-40
Analog Speed Command Rotation Direction
Switching (Pn303).............................................. 8-27
Analog Torque Command Rotation Direction
Switching (Pn320).............................................. 8-34
Analog Torque Limit Scale (Pn527)...................... 8-57
Applicable standards ............................................ 1-15
Axis Number (Pn531) ........................................... 8-58
I
B
Backup battery input (BAT)................................... 3-36
Brake cable connector ....................................... 3-109
Brake cables (robot cables) .................................. 2-19
Brake cables (standard cables) .................. 2-15, 2-17
Brake interlock ...................................................... 6-19
Brake interlock output (BKIR) ............................... 3-48
Brake Release Speed Setting (Pn439)................. 8-46
Brake Timing During Operation (Pn438) .............. 8-45
Brake Timing when Stopped (Pn437)................... 8-45
Index-2
D
Damping control ..................................................... 6-1
Damping Filter 3 Setting (Pn219) ......................... 8-23
Damping Filter 4 Setting (Pn221) ......................... 8-23
Damping Filter Selection (Pn213)......................... 8-21
Damping filter switching 1 (DFSEL1).................... 3-39
Damping filter switching 2 (DFSEL2).................... 3-39
Damping Frequency 1 (Pn214) ............................ 8-22
Damping Frequency 2 (Pn216) ............................ 8-22
Damping Frequency 3 (Pn218) ............................ 8-23
Damping Frequency 4 (Pn220) ............................ 8-23
Default Display (Pn528)........................................ 8-57
Disturbance Observer Filter Setting (Pn624)........ 8-63
Disturbance Torque Compensation Gain
(Pn623) .............................................................. 8-63
Drive Prohibition Input Selection (Pn504)............. 8-48
Drive Regeneration absorption capacity............... 4-56
Index
E
G
EC directive.......................................................... 1-15
Electric Current Response Setting (Pn611) ......... 8-61
Electronic gear function........................................ 6-10
Electronic Gear Integer Setting (Pn008) ................ 8-5
Electronic Gear Ratio Denominator (Pn010).......... 8-6
Electronic Gear Ratio Numerator 1 (Pn009) .......... 8-5
Electronic Gear Ratio Numerator 2 (Pn500) ........ 8-47
Electronic Gear Ratio Numerator 3 (Pn501) ........ 8-47
Electronic Gear Ratio Numerator 4 (Pn502) ........ 8-47
Electronic gear switching 1 (GESEL1) ................. 3-39
Electronic gear switching 2 (GESEL2) ................. 3-39
Emergency stop input (STOP) ............................. 3-44
Encoder cable ...................................................... 3-97
Encoder cables (robot cables) ................... 2-18, 3-97
Encoder Cables (Standard Cables) ........... 2-13, 2-15
Encoder connector specifications (CN2).............. 3-51
Encoder connectors ........................................... 3-107
Encoder Dividing Denominator (Pn503)............... 8-47
Encoder Dividing Numerator (Pn011) .................... 8-6
Encoder Output Direction Switching Selection
(Pn012)................................................................ 8-6
Encoder outputs (Phases A, B and Z).................. 3-47
Encoder specifications ......................................... 3-96
Error Counter Overflow Level (Pn014)................... 8-7
Error Counter Reset Condition Selection
(Pn517).............................................................. 8-54
Error counter reset input (ECRST)....................... 3-38
Error diagnosis using the alarm displays ........... 11-10
Error diagnosis using the operation status......... 11-23
Excessive Analog Input 1 (Pn424) ....................... 8-41
Excessive Analog Input 2 (Pn427) ....................... 8-41
Excessive Analog Input 3 (Pn430) ....................... 8-42
External dimensions............................................. 2-25
External encoder connector specifications
(CN4)................................................................. 3-51
External Feedback Pulse Direction Switching
(Pn326).............................................................. 8-35
External Feedback Pulse Dividing Denominator
(Pn325).............................................................. 8-35
External Feedback Pulse Dividing Numerator
(Pn324).............................................................. 8-35
External Feedback Pulse Phase-Z Setting
(Pn327).............................................................. 8-36
External Feedback Pulse Type Selection
(Pn323).............................................................. 8-34
External Regeneration Resistor ........................... 2-23
External Regeneration Resistor
connector specifications (CNC)............... 4-19, 4-23
External Regeneration Resistor dimensions ........ 2-70
External Regeneration Resistor Setting (Pn017) ... 8-8
External Regeneration Resistor specifications... 3-146
Gain 3 Effective Time (Pn605)............................. 8-60
Gain 3 Ratio Setting (Pn606) ............................... 8-60
Gain adjustment................................................... 10-1
Gain switching (GSEL) ........................................ 3-39
Gain Switching 3 Function ................................... 6-46
Gain Switching Delay Time in Position Control
(Pn116) ............................................................. 8-14
Gain Switching Delay Time in Speed Control
(Pn121) ............................................................. 8-17
Gain Switching Delay Time in Torque Control
(Pn125) ............................................................. 8-19
Gain switching function ........................................ 6-24
Gain Switching Hysteresis in Position Control
(Pn118) ............................................................. 8-15
Gain Switching Hysteresis in Speed Control
(Pn123) ............................................................. 8-18
Gain Switching Hysteresis in Torque Control
(Pn127) ............................................................. 8-19
Gain Switching Input Operating Mode Selection
(Pn114) ............................................................. 8-12
Gain Switching Level in Position Control (Pn117) 8-15
Gain Switching Level in Speed Control (Pn122).. 8-17
Gain Switching Level in Torque Control
(Pn126) ............................................................. 8-19
General control cable............................... 2-23, 3-120
general specifications ............................................. 3-1
General-purpose input ......................................... 3-31
F
Forward Direction Torque Offset (Pn608) ............ 8-60
Forward drive prohibition input (POT) .................. 3-37
Forward External Torque Limit (Pn525) ............... 8-57
Forward torque limit input (PCL) .......................... 3-37
Front Panel Parameter Write Selection (Pn617).. 8-62
Fully-closed Control Mode adjustment............... 10-11
Function Expansion Setting (Pn610).................... 8-60
H
Harmonic current measures ................................ 4-52
Hybrid vibration suppression filter........................ 8-66
Hybrid vibration suppression gain........................ 8-66
I
Improving Control I/O Signal Noise Resistance... 4-51
Improving encoder cable noise resistance .......... 4-50
Incremental encoder ............................................ 3-96
Inertia Ratio (Pn004)............................................... 8-3
Inertia Ratio 2 (Pn613)......................................... 8-61
Inertia ratio switching input (JSEL) ...................... 3-44
Input Signal Selection 1 (Pn400) ......................... 8-37
Input Signal Selection 10 (Pn409) ....................... 8-37
Input Signal Selection 2 (Pn401) ......................... 8-37
Input Signal Selection 3 (Pn402) ......................... 8-37
Input Signal Selection 4 (Pn403) ......................... 8-37
Input Signal Selection 5 (Pn404) ......................... 8-37
Input Signal Selection 6 (Pn405) ......................... 8-37
Input Signal Selection 7 (Pn406) ......................... 8-37
Input Signal Selection 8 (Pn407) ......................... 8-37
Input Signal Selection 9 (Pn408) ......................... 8-37
Internal/External Feedback Pulse Error
Counter Overflow Level (Pn328)....................... 8-36
Internal/External Feedback Pulse Error Counter
Reset (Pn329)................................................... 8-36
Internally set speed control .................................. 5-19
Internally set speed selection 1, 2 and 3
(VSEL1, 2 and 3) .............................................. 3-40
Index-3
I
Index
J
Jog operation ........................................................ 9-27
Jog Speed (Pn604)............................................... 8-60
K
Korean Radio Regulations (KC) ........................... 1-16
L
Leakage Breaker .................................................. 4-42
M
Main circuit connector specifications (CNA)
........................... 3-9, 3-10, 3-14, 4-18, 4-19, 4-22
Main circuit terminal block specifications .... 3-11, 3-15
Maintenance ...................................................... 11-27
Manual tuning .................................................... 10-10
Momentary Hold Time (Pn509)............................. 8-50
Monitor Mode.......................................................... 9-8
Motion Control Unit Cable.................................. 3-112
Motor characteristics............................................. 3-60
Motor connector specifications (CNB)
........................... 3-9, 3-10, 3-14, 4-18, 4-19, 4-23
Motor connector specifications (CNC) ........ 3-10, 3-14
Motor connector specifications (CND) .................. 3-14
Motor general specifications ................................. 3-59
Motor power cable ............................................. 3-100
Motor power cables (robot cables) ....................... 2-18
Motor power cables (standard cables)........ 2-14, 2-16
Mounting brackets (L-brackets for rack mounting)
........................................................................... 2-24
Mounting dimensions............................................ 2-25
N
I
No. 1 Internally Set Speed (Pn304) ...................... 8-27
No. 1 Torque Limit (Pn013) .................................... 8-7
No. 2 Internally Set Speed (Pn305) ...................... 8-27
No. 2 Torque Limit (Pn522) .................................. 8-56
No. 3 Internally Set Speed (Pn306) ...................... 8-27
No. 4 Internally Set Speed (Pn307) ...................... 8-27
No. 5 Internally Set Speed (Pn308) ...................... 8-27
No. 6 Internally Set Speed (Pn309) ...................... 8-27
No. 7 Internally Set Speed (Pn310) ...................... 8-28
No. 8 Internally Set Speed (Pn311) ...................... 8-28
No-fuse breaker (NFB) ......................................... 4-41
Noise filter................................................... 4-40, 4-45
Noise filters for brake power supply............ 4-37, 4-40
Notch 1 Depth Setting (Pn203)............................. 8-20
Notch 1 Frequency Setting (Pn201) ..................... 8-20
Notch 1 Width Setting (Pn202) ............................. 8-20
Notch 2 Depth Setting (Pn206)............................. 8-21
Notch 2 Frequency Setting (Pn204) ..................... 8-20
Notch 2 Width Setting (Pn205) ............................. 8-20
Notch 3 Depth Setting (Pn209)............................. 8-21
Notch 3 Frequency Setting (Pn207) ..................... 8-21
Notch 3 Width Setting (Pn208) ............................. 8-21
Notch 4 Depth Setting (Pn212)............................. 8-21
Notch 4 Frequency Setting (Pn210) ..................... 8-21
Index-4
Notch 4 Width Setting (Pn211) ............................. 8-21
O
Operation command (RUN).................................. 3-37
Operation Switching when Using Absolute
Encoder (Pn015).................................................. 8-7
Operational procedure............................................ 9-1
Output during speed limit (V-LIMIT) ..................... 3-50
Output Signal Selection 1 (Pn410) ....................... 8-37
Output Signal Selection 2 (Pn411) ....................... 8-37
Output Signal Selection 3 (Pn412) ....................... 8-37
Output Signal Selection 4 (Pn413) ....................... 8-37
Overload Detection Level Setting (Pn512) ........... 8-53
Overrun Limit Setting (Pn514) .............................. 8-53
Overspeed Detection Level Setting (Pn513) ........ 8-53
Overspeed Detection Level Setting
at Immediate Stop (Pn615)................................ 8-62
P
Parameter list ..................................................... 12-11
Parameter Setting Mode....................................... 9-22
Parameter Write Mode ......................................... 9-24
Periodic maintenance ......................................... 11-27
Phase-Z output (open collector output) ................ 3-45
Pin arrangement ................................................... 3-27
Position Command Filter Time Constant
(Pn222) .............................................................. 8-23
Position command pulse ............................ 3-28, 3-29
Position command status output (P-CMD) ........... 3-50
Position control ....................................................... 5-1
Position Control Mode adjustment...................... 10-11
Position Control Unit-Servo
Relay Unit cable specifications ........................ 3-136
Position feedback output ...................................... 3-45
Position Gain Switching Time (Pn119) ................. 8-15
Position Lock Level Setting (Pn316)..................... 8-31
Position Loop Gain (Pn100) ................................... 8-9
Position Loop Gain 2 (Pn105) .............................. 8-11
Position Setting Unit Selection (Pn520)................ 8-55
Positioning Completion Condition Selection
(Pn432) .............................................................. 8-43
Positioning Completion Hold Time (Pn433).......... 8-43
Positioning completion output 1 (INP1) ................ 3-48
Positioning completion output 2 (INP2) ................ 3-48
Positioning Completion Range 1 (Pn431) ............ 8-42
Positioning Completion Range 2 (Pn442) ............ 8-46
Power cable connector ....................................... 3-109
Power cables with brakes (robot cables)............ 3-103
Power cables without brakes (robot cables)....... 3-100
Power Supply ON Initialization Time (Pn618) ...... 8-62
Preparing for operation........................................... 9-2
Protective functions ................................................ 3-7
Pulse prohibition input (IPG)................................. 3-40
Pulse Regeneration Output Limit Setting
(Pn533) .............................................................. 8-59
R
Radio noise filter................................................... 4-45
Reactor ..................................................... 3-148, 4-52
Reactor to reduce harmonic current ..................... 4-52
Index
Realtime autotuning ............................................. 10-3
Realtime Autotuning Customization Mode
Setting (Pn632) ................................................. 8-64
Realtime Autotuning Estimated Speed
Selection (Pn631).............................................. 8-64
Realtime Autotuning Machine Rigidity Setting
(Pn003)................................................................ 8-3
Realtime Autotuning Mode Selection (Pn002) ....... 8-2
Regeneration Resistor Selection (Pn016).............. 8-7
Regenerative energy absorption .......................... 4-53
Regenerative energy with an External
Regeneration Resistor....................................... 4-57
Replacement method ............................... 11-3, 11-29
Replacing the absolute encoder battery............. 11-29
Replacing the battery ......................................... 11-29
Replacing the Servo Drive ................................... 11-3
Replacing the Servomotor.................................... 11-3
Reverse Direction Speed Limit Value Setting
(Pn322).............................................................. 8-34
Reverse Direction Torque Offset (Pn609)............ 8-60
Reverse drive prohibition input (NOT).................. 3-37
Reverse External Torque Limit (Pn526)............... 8-57
Reverse torque limit input (NCL).......................... 3-37
Rotation Direction Switching (Pn000) .................... 8-1
Rotation speed characteristics
(1,000-r/min Servomotors) ............................... 3-94
Rotation speed characteristics
(2,000-r/min Servomotors) ............................... 3-88
Rotation speed characteristics
(3,000-r/min Servomotors) ............................... 3-72
Rotation Speed for Motor Rotation Detection
(Pn436).............................................................. 8-44
S
Safety connector specifications (CN8) ................. 3-55
S-curve Acceleration/Deceleration Time
Setting (Pn314) ................................................. 8-29
Sensor input ......................................................... 3-31
Sensor ON input (SEN)........................................ 3-36
Sequence output .................................................. 3-45
Servo Drive and Servomotor combination list ...... 2-11
Servo Drive functions ............................................. 1-4
Servo Drive installation conditions ......................... 4-1
Servo Drive limit ................................................. 11-28
Servo Drive models................................................ 2-5
Servo Drive part names ......................................... 1-3
Servo ready completed output (READY) ............. 3-48
Servo Relay Unit ...................................... 2-21, 3-127
Servo Relay Unit cables for Servo Drives ............ 2-21
Servo Relay Unit cables for
Position Control Units........................................ 2-22
Servomotor installation conditions .................. 4-3, 4-6
Servomotor limit ................................................. 11-27
Servomotor models ................................................ 2-6
Setting the mode .................................................... 9-7
Smoothing Filter Time Constant (Pn223)............. 8-24
Soft Start Acceleration Time (Pn312)................... 8-28
Soft Start Deceleration Time (Pn313) .................. 8-29
Speed Command Direction Selection (Pn301) .... 8-25
Speed command input (REF)..................... 3-28, 3-36
Speed Command Scale (Pn302) ......................... 8-27
Speed command sign input (VSIGN) ................... 3-42
Speed command status output (V-CMD) ............. 3-50
Speed Conformity Detection Width (Pn435) ........ 8-44
Speed conformity output (TGON) ........................ 3-49
Speed conformity output signal (VCMP).............. 3-49
Speed control.......................................................... 5-7
Speed Control Mode Adjustment ....................... 10-12
Speed Feedback Filter Time Constant (Pn103) .. 8-11
Speed Feedback Filter Time Constant 2
(Pn108) ............................................................. 8-11
Speed Feed-forward Command Filter (Pn111).... 8-12
Speed Feed-forward Gain (Pn110)...................... 8-12
Speed limit input (VLIM) ............................ 3-28, 3-36
Speed limit value ............................................... 10-17
Speed Limit Value Setting (Pn321)...................... 8-34
Speed Loop Gain (Pn101) ................................... 8-10
Speed Loop Gain 2 (Pn106) ................................ 8-11
Speed Loop Integral Time Constant (Pn102) ...... 8-10
Speed Loop Integral Time Constant 2 (Pn107) ... 8-11
Stop Selection for Alarm Generation (Pn510) ..... 8-51
Stop Selection for Drive Prohibition Input
(Pn505) ............................................................. 8-48
Stop Selection with Main Power Supply OFF
(Pn507) ............................................................. 8-50
Stop Selection with Servo OFF (Pn506) .............. 8-49
Surge absorber .................................................... 4-44
Surge suppressor ................................................ 4-49
Switching control.................................................. 5-23
Switching Mode in Position Control (Pn115) ....... 8-13
Switching Mode in Speed Control (Pn120) .......... 8-16
Switching Mode in Torque Control (Pn124) ......... 8-18
System block diagrams........................................... 1-5
System configuration .............................................. 1-2
T
Terminal block specifications
........................ 3-12, 3-13, 4-20, 4-21, 4-22, 4-23
Terminal Block Wire Sizes ................................... 4-27
Terminal block wiring ........................................... 4-32
Torque Command Direction Selection (Pn318) ... 8-32
Torque Command Filter Time Constant
(Pn104) ............................................................ 8-11
Torque Command Filter Time Constant 2
(Pn109) ............................................................ 8-11
Torque command input (TREF1) ......................... 3-36
Torque command input 1 (TREF1) ...................... 3-28
Torque command input 2 (TREF2) ...................... 3-37
Torque Command Scale (Pn319) ........................ 8-34
Torque command sign input (TSIGN) .................. 3-43
Torque Command Value Offset (Pn607) ............. 8-60
Torque Command/Speed Limit Selection
(Pn317) ............................................................ 8-31
Torque control...................................................... 5-14
Torque Control Mode adjustment ...................... 10-17
Torque Feed-forward Amount (Pn112) ................ 8-12
Torque Feed-forward Command Filter (Pn113)... 8-12
Torque limit .......................................................... 6-32
Torque Limit Selection (Pn521) ........................... 8-56
Torque limit switching (TLSEL) ............................ 3-43
Torque Limit Switching Setting 1 (Pn523) ........... 8-57
Torque Limit Switching Setting 2 (Pn524) ........... 8-57
Torque limiting signal (TLIMT) ............................. 3-49
Trial operation ...................................................... 9-33
Troubleshooting ....................................... 11-1, 11-10
Index-5
I
Index
U
UL and cUL standards .......................................... 1-15
Undervoltage Alarm Selection (Pn508) ................ 8-50
USB connector specifications (CN7) .................... 3-55
V
Vibration detection threshold ................................ 8-66
W
Warning Latch Hold Time Selection (Pn627)........ 8-63
Warning mask setting ........................................... 8-66
Warning output 1 (WARN1) .................................. 3-49
Warning output 2 (WARN2) .................................. 3-49
Warning Output Selection 1 (Pn440) .................... 8-46
Warning Output Selection 2 (Pn441) .................... 8-46
Wire sizes ............................................................. 4-31
Wiring conforming to EMC directives.................... 4-33
Z
Zero speed designation (VZERO) ........................ 3-41
Zero Speed Designation Selection (Pn315) ......... 8-30
Zero Speed Detection (Pn434) ............................. 8-43
Zero speed detection signal (ZSP) ....................... 3-49
I
Index-6
OMRON Corporation Industrial Automation Company
Kyoto, JAPAN
Authorized Distributor:
Contact : www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: (31) 2356-81-300 Fax: (31) 2356-81-388
OMRON ELECTRONICS LLC
2895 Greenspoint Parkway, Suite 200
Hoffman Estates, IL 60169 U.S.A.
Tel: (1) 847-843-7900 Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD.
438B Alexandra Road, #08-01/02 Alexandra
Technopark, Singapore 119968
Tel: (65) 6835-3011 Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222 Fax: (86) 21-5037-2200
©OMRON Corporation 2009-2022 All Rights Reserved.
In the interest of product improvement,
specifications are subject to change without notice.
Cat. No. I571-E1-07
0922
">