Omron OMNUC H Series, Technical Manual

Page 1: ...TECHNICAL GUIDE Servo System Startup Cat No I801 E1 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 2: ...I506 R88D RR Pulse train Input without Power Supply Finally please read this guide carefully and be sure you understand the information provided before attempting to install and startup the Servo Syst...

Page 3: ...n 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...

Page 4: ...AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 5: ...TECHNICAL GUIDE Servo System Startup Cat No I801 E1 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 6: ...System Startup Errors 2 4 2 3 Countermeasures Against Position Deviation 2 9 Chapter 3 Servo Driver Errors 3 1 3 1 Alarms and Countermeasures 3 2 Chapter 4 Countermeasures Against Noise 4 1 4 1 Genera...

Page 7: ...tment 1 1 Types and Meanings of Gain 1 2 Gain Adjustment 1 3 Special Adjustment Parameters 1 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr...

Page 8: ...tion loop is used to let the rotation angle of the motor reach the desired position i e the de sired rotation angle that was externally designated The speed command is output from the position loop to...

Page 9: ...back pulses both from which the position deviation per time unit is calculated The deviation counter totals all the per time unit position deviations to obtain the position deviation of the Servo Syst...

Page 10: ...ortional gain M Inertia ratio R AC gain See note 1 Speed loop integral gain The response characteristics of the Servo System in slow operation will change by adjusting this gain Use this gain to adjus...

Page 11: ...sufficient gains If the machine system has a slow positioning operation or does not stop vibrating adjust the filter time constant of the current loop 2 Position Loop Adjustment S Position loop propor...

Page 12: ...ge command changes will be made less extreme and will then be provided to the current loop The adjustment of the current comment filter will be effective if machinery vibration does not stop with the...

Page 13: ...machine resonance point in a low frequency band In this condition the motor may vibrate at low frequency if the gains are low Adjust the proportional gain and then integral gain To avoid the resonanc...

Page 14: ...after adjusting the speed loop Good response characteristics are obtained by increasing the position loop proportional gain provided that the overshooting or undershooting of the Servo System does not...

Page 15: ...g Rotating Stop The shaft makes a stop in the opposite rotating direction The amount of overshooting or undershooting varies with the rotational speed of the motor Usually the higher the rotational sp...

Page 16: ...ion Machine system with low rigidity H Semi auto tuning Function H Series The semi auto tuning function makes it possible to adjust the speed loop proportional gain and inte gral gain by just setting...

Page 17: ...speed loop The command is output to the speed loop before position deviation pulses are accumulated thus re ducing the deviation counter value and saving positioning time Feed forward adjustment will...

Page 18: ...Control Unit 2 1 Wiring Check 2 2 System Startup Errors 2 3 Countermeasures Against Position Deviation 2 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http...

Page 19: ...H and M Series incorporate an I O monitor function Wiring mistakes can be easily found by using this function The contents of I O monitor vary with the Series Refer to the respective operation manual...

Page 20: ...erminals if the output transistor is ON The reading of the multime ter will be 0 V if the output transistor is OFF Output Power supply Input Multimeter Voltage is ON Output transistor ON 0 V Output tr...

Page 21: ...startup signal is ON for too short a time Note 2 The remote communications cycle time is different in timing from the program cycle time The startup signal therefore may not be detected in remote comm...

Page 22: ...signal output terminal is damaged The deviation counter does not work even though the encoder signal continues turning ON and OFF The encoder signal input terminal is damaged Correct the cable wiring...

Page 23: ...s or noise may be a cause of the abnormal motor operation If the motor is in abnormal operation the cause may be determined by determining the operat ing status of the motor at the time of servo lock...

Page 24: ...roximity signal is not input while the NC Unit is set for detecting the origin proximity signal The origin proximity signal can be ignored if origin search mode 0 is selected for the NC Unit The origi...

Page 25: ...ol Unit stops The set value of positioning completion width is too small Adjust the gains Adjust the zero adjustment of the speed command Increase the set value of posi tioning completion width Deviat...

Page 26: ...er the machine origin will be a or b If the sensor is a proximity sensor the origin varies with the sensing distance and ambient temperature Move the position of the origin proximity sensor for a dist...

Page 27: ...viates A joint of the machine system especially a section where parts are connected with friction devi ates Such a section can be easily found by marking it Increase the joint strength The pulse frequ...

Page 28: ...Chapter 3 Servo Driver Errors 3 1 Alarms and Countermeasures 3 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 29: ...an alarm occurs turn off the Servo Driver immediately after checking the mean ing of the alarm take full countermeasures and then turn on the Servo Driver Errors that may damage the Servo Driver and t...

Page 30: ...lone Replace the cable Repair the cable The power cable had a ground fault A power line and the FG frame ground are short circuited Check the resistance of the cable alone Replace the cable Repair the...

Page 31: ...licable to the U and H Se ries A disconnection or a wiring mistake of the External Regeneration Resistor There is a wiring mistake of the External Regeneration Resistor Wire the External Regeneration...

Page 32: ...s A L 3 R Series OC Probable cause Item to check Countermeasure Abnormal power supply voltage The power lines are discon nected Connect the power lines correct ly The power supply voltage is not withi...

Page 33: ...not turn on the power until the causes are checked and countermeasures are taken If the power is turned on without taking countermeasures the motor coil may burn out An alarm will go off if the outpu...

Page 34: ...do not touch together The motor shaft bearing is rusty Replace the motor Abnormal motor current phase angle The output current with servo lock is more than 110 of the rated current without influence o...

Page 35: ...ing The encoder dividing ratio set ting for pulse output is too small Applicable to analog input Fix the number of output pulses The electronic gear ratio is too large Applicable to pulse train input...

Page 36: ...ures as those against motor overload Encoder or resolver malfunctions Do not turn any output signal of the encoder on and off if the volt age of the output signal between the output terminal and the p...

Page 37: ...input is too high The frequency of the command pulse input is higher than the fre quency corresponding to the maximum allowable rotation speed Decrease the command speed The motor shaft is locked The...

Page 38: ...heck the regeneration from the voltage waveform obtained from the terminals of the regeneration resistor Refer to Main Circuit Overvoltage on page 3 4 Connect the External Regenera tion Resistor Insuf...

Page 39: ...untermeasures Against Noise 4 1 Generation and Types of Noise 4 2 Noise Suppression 4 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email i...

Page 40: ...on or artificially from machine equipment Most types of noise are generated artificially and transmitted through unex pected transmission paths to other signal lines Other lines Space unexpected trans...

Page 41: ...ge changes by intermittently turning the voltage on and off with short intervals 4 1 3 Noise Transmission Paths Noise is transmitted through the following four paths D Capacitive Coupling Path Noise s...

Page 42: ...lectromagnetic Inductive Path Noise with radical changes creates magnetic fields around the noise Such magnetic fields induce elec tromotive force from signal lines close to the magnetic fields Such i...

Page 43: ...may leak noise from the cable lines as shown in the illustration below Effects Radio and TV interference Radio sensor malfunctions Power supply Servo Driver Servo motor Countermeasures Against Noise C...

Page 44: ...o the FG frame ground and check the possibility of noise transmission through radio transmission electromagnetic induction and capacitive coupling paths Cancellation of Countermeasures at Last Stage D...

Page 45: ...te control and power lines Power supply Control equipment Servo Driver H Electromagnetic Inductive Path Countermeasure Purpose Precautions Wiring Separation of signal lines Reduction of magnetic force...

Page 46: ...filter Power supply Control equipment Servo Driver Ground with a short thick wire Purging leakage current quickly to reduce voltage changes Use wire of 2 0 mm2 or more The wiring distance must be as...

Page 47: ...n Control Unit and Servo Driver at a resistance of less than 100 W Incorrect grounding has a worse influence on the Servo System Applicable Models C500 NC103 NC222 E D Speed Error R Series Only Error...

Page 48: ...ot be able to fulfill its functions because of such poor operating conditions 4 2 4 Noise Suppression Example D Phenomena Positioning deviation results in a system in which the C200H NC112 Position Co...

Page 49: ...ower lines AC power supply Surge absorber AC power supply input Metal conduit Ground plate Ground at a resistance of less than 100 W AC Servo Driver R88D UP Power supply for command pulse use Machine...

Page 50: ...Chapter 5 Appendix 5 1 Configuration of Main Circuitry 5 AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr Email info audin fr...

Page 51: ...in 3 1 Alarms and Counter measures to determine which part of the circuit is the cause of the error Power supply Rectification circuit Main circuit capacitor Main circuit transistor Regenera tion resi...

Page 52: ...1 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 1 March 1997 Original pro...

Page 53: ...ote Specifications subject to change without notice Authorized Distributor Printed in Japan AUDIN 7 bis rue de Tinqueux 51100 Reims France Tel 03 26 04 20 21 Fax 03 26 04 28 20 Web http www audin fr E...