Omron OMNUC R88D-UEP Series, User Manual

Page 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Page 2: ...ervomotors MODELS R88D UEPj AC Servo Drivers AC SERVOMOTORS DRIVERS 100 to 750 W Pulse train Inputs OMNUC U SERIES UE Models Cat No I522 E1 3 Artisan Technology Group Quality Instrumentation Guarantee...

Page 3: ...keep replacement products on hand and to consider the operating environment and other conditions affecting the service life 7 Do not set any parameter not described in this manual otherwise the Servom...

Page 4: ...and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear i...

Page 5: ...ARNING Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in an electric shock WARNING Do not touch the rotating part of the Servomotor in operation Doing s...

Page 6: ...tion Caution Keep the specified distance between the Servo Driver and the interior surface of the control panel or any other machine Not doing so may result in a fire or Servomotor malfunction Caution...

Page 7: ...Do not make extreme changes in the settings of the product Doing so may result in unstable operation of the product and injury Caution Confirm the operation of the motor before connecting it to the m...

Page 8: ...o follow the instructions given there Warning labels Warning Labels for Non conforming Models Warning label 1 Warning label 2 Warning Labels for Models Conforming to EC Directives Warning label 1 Warn...

Page 9: ...rogrammable Controller Pulse input Controller Connecting Cable Chapter 5 5 3 1 Position Control Unit 3G2A5 NC111 EV1 C500 NC113 211 Troubleshooting and Remedies Using Displays Chapter 4 section 4 1 Pr...

Page 10: ...er signals Encoder signals Motor Specifications Chapter 5 5 2 OMNUC U series UE Model AC Servomotor Operation Method Chapter 3 3 3 3 4 3 5 Parameter Units Driver Specifications Chapter 5 5 1 3 000 r m...

Page 11: ...er and Confirming the Display 3 3 Using Parameter Units 3 3 1 Parameter Unit Keys and Functions 3 3 2 Modes and Changing Modes 3 3 3 Mode Changes and Display Contents 3 4 Initial Settings Setup Parame...

Page 12: ...cations 5 1 3 I O Specifications 5 1 4 Explanation of User Parameters 5 2 Servomotor Specifications 5 2 1 General Specifications 5 2 2 Performance Specifications 5 2 3 Torque and Rotational Speed Char...

Page 13: ...troduction 1 1 Features 1 2 System Configuration 1 3 Servo Driver Nomenclature 1 4 EC Directives and Applicable Models 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www a...

Page 14: ...fications H Control Functions Controls the position and speed of the Servomotor very precisely with pulse train input signals Any one of the following 3 pulse trains can be selected forward reverse pu...

Page 15: ...same setting is used for both the acceleration and deceleration times and the setting range is 0 to 64 ms H Reverse Mode Forward Reverse commands can be switched in the parameters without changing the...

Page 16: ...Controller OMNUC U series AC Servomotor SYSMAC C200HX HG HE Programmable Controller C200H NC112 C200H NC211 C200HW NC113 213 413 Position Control Unit 3G2A5 NC111 EV1 C500 NC113 211 Position Control U...

Page 17: ...lock CN4 Not used Power supply indicator Alarm indicator CN3 Parameter Unit connector CN1 Control I O connector CN2 Encoder connector PWR ALM Introduction Chapter 1 Artisan Technology Group Quality In...

Page 18: ...rial environment Note Installation under the conditions specified in 2 3 3 Wiring Products Conforming to EMC Direc tives is required to conform to EMC Directives H Applicable Models Power supply Outpu...

Page 19: ...Design and Installation 2 1 Installation 2 2 Wiring Non conforming Products 2 3 Wiring Products Conforming to EC Directives 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 20: ...ly to terminals may result in fires Caution Use the power supply voltages specified in this manual Incorrect voltages may damage the product Caution Take steps to ensure that the rated power supply vo...

Page 21: ...149 R3 Three M4 55 130 5 4 5 45 5 45 6 5 165 149 6 Installation dimensions Two 6 dia D R88D UEP12H 200 VAC 400 W and R88D UEP12L 100 VAC 200 W 5 4 75 130 60 5 5 6 160 165 5 6 149 149 60 R3 Three M4 Tw...

Page 22: ...5L 100 VAC 300 W 160 105 130 90 149 165 90 149 Four M4 Two R3 Two 6 dia 7 8 6 5 6 6 Installation dimensions 3 5 System Design and Installation Chapter 2 Artisan Technology Group Quality Instrumentatio...

Page 23: ...P10W 100 VAC 100 W Two 6 dia Three M4 R3 Installation dimensions D R88D UEP12V 200 VAC 400 W R88D UEP12W 100 VAC 200 W Two 6 dia Three M4 R3 Installation dimensions System Design and Installation Chap...

Page 24: ...0 VAC 750 W R88D UEP15W 100 VAC 300 W Two 6 dia Four M4 Two R3 Installation dimensions System Design and Installation Chapter 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Page 25: ...8A RG08UA 25 6 15 Dia 6 R3 6 25 50 5 15 160 130 149 18 5 130 149 Two M4 Installation dimensions System Design and Installation Chapter 2 Artisan Technology Group Quality Instrumentation Guaranteed 888...

Page 26: ...its D R88A PR02U 63 50 8 1000 135 125 7 18 5 Two 4 5 dia D R88A PR03U 54 57 5 15 6 9 System Design and Installation Chapter 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 27: ...e is in accordance with JIS B1301 1976 8h6 dia 46 dia D 100 W Models with Brake R88M UE10030H BS1 R88M UE10030L BS1 Two 4 3 dia Four R3 7 46 dia 30h7 dia 8h6 dia Encoder adapter Motor plug Shaft Edge...

Page 28: ...30L BS1 R88M UE30030L BS1 50h7 dia Four R5 3 Four 5 5 dia 14h6 dia Encoder adapter Motor plug 70 dia Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 14h6 dia Standard Models M...

Page 29: ...dance with JIS B1301 1976 16h6 dia D 750 W Models with Brake R88M UE75030H BS1 70h7 dia Four 7 dia Four R8 2 Encoder adapter Motor plug 16h6 dia 90 dia Shaft Edge Dimension The key groove is in accord...

Page 30: ...4 3 dia 46 dia Four R3 7 8h6 dia 14 dia 8h6 dia 30h7 dia D 100 W Models with Brake R88M UE10030V BS1 R88M UE10030W BS1 Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 Two 4 3...

Page 31: ...88M UE30030W BS1 Four R5 3 Four 5 5 dia 70 dia 14 dia 14h6 dia Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 14h6 dia 50h7 dia Standard Models Standard Models Model L LL R88...

Page 32: ...h JIS B1301 1976 16h6 dia 70h7 dia D 750 W Models with Brake R88M UE75030V BS1 90 dia Four 7 dia 14 dia Four R8 2 16h6 dia Shaft Edge Dimension The key groove is in accordance with JIS B1301 1976 16h6...

Page 33: ...Temperature rise in any Unit installed in a closed space such as a control box will cause the ambient temperature to rise inside the entire closed space Use a fan or a air conditioner to prevent the...

Page 34: ...rting it Always use a pulley remover to remove pulleys couplings or other objects from the shaft Secure cables so that there is no impact or load placed on the cable connector areas D Connecting to Me...

Page 35: ...shaft penetration point If the Servomotor is used in an environment in which condensation occurs water may enter inside of the encoder from the end surfaces of cables due to motor temperature changes...

Page 36: ...ts for SYSMAC C series Programmable Controllers 3G2A5 NC111 EV1 C500 NC113 C500 NC211 C200H NC112 C200H NC211 C200HW NC113 C200HW NC213 C200HW NC413 General purpose Control Cable R88A CPU S OMNUC U se...

Page 37: ...for C200H NC112 XW2B 20J6 1B Relay Unit for C200H NC211 XW2B 40J6 2B Connector Cable for Servo Driver XW2Z 100J B5 1 m XW2Z 200J B5 2 m Two cables are required when used in combination with C200H NC2...

Page 38: ...NC112 XW2B 20J6 1B Relay Unit for C200H NC211 XW2B 40J6 2B Connector Cable for Servo Driver XW2Z 100J B5 1 m XW2Z 200J B5 2 m Two cables are required when used in combination with C200HW NC213 2 axes...

Page 39: ...Conversion Unit XW2B 40F5 P Connector Terminal Conversion Unit Controller OMNUC U series UE Model AC Servo Driver Power Cable R88A CAU S R88A CAU B Encoder Cable R88A CRU C OMNUC U series UE Model AC...

Page 40: ...del being used R88D UEP H Single phase 200 230 VAC 170 to 253 V 50 60 Hz R88D UEP L Single phase 100 115 VAC 85 to 127 V 50 60 Hz P Main circuit DC The terminals for connecting Regeneration Units R88A...

Page 41: ...put R88D UEP L Driver model Watts R88D UEP10L 100 W R88D UEP12L 200 W R88D UEP15L 300 W Power supply input current R T 4 5 A 8 0 A 10 0 A Motor output current U V W 2 2 A 2 7 A 3 7 A Power supply inpu...

Page 42: ...ring so that the ground lines are as short as possible If no fuse breakers MCCB are installed at the top and the power supply line is wired from the lower duct use metal tubes for wiring and make sure...

Page 43: ...a maximum of 50 A for 20 ms when 200 V is input With low speed no fuse breakers a inrush current 7 to 8 times the rated current flows for 0 1 second When mak ing the selection take into consideration...

Page 44: ...through type capacitor D Noise Filters for Motor Output Use noise filters without built in capacitors on the Servomotor output lines Output lines cannot use the same noise filters as the power supply...

Page 45: ...cs Co Matsushita Electric Parts D Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary maxi mum current The Servo Driver inrush current is 50 A a...

Page 46: ...encoder cable in the same duct as power cables and control cables for brakes sole noids clutches and valves j Improving Control I O Signal Noise Resistance Position can be affected if control I O sig...

Page 47: ...d to 100 or less Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U series UE model AC Servo Driver R88D CAU S CAU B Power Cable OMNUC U series UE model AC Servo...

Page 48: ...e External Regenerative Resistor with the short bar attached will result in damage to internal circuitry Note 2 Connect the External Regenerative Resistor between terminals P and RG Note 3 The Regener...

Page 49: ...Controller General purpose Control Cable R88A CPU S OMNUC U series UE Model AC Servo Driver Model conforming to EC Di rectives Power Cable R88A CAU001 R88A CAU01B Encoder Cable R88A CRUD C OMNUC U se...

Page 50: ...D UEP W Single phase 100 115 VAC 85 to 127 V 50 60 Hz Main circuit DC output When there is a high level of regenerative energy in a multi axis system the terminals can be connected together and the te...

Page 51: ...0 A Motor output current U V W 2 2 A 2 7 A 3 7 A Power supply input terminal wire size 0 75 mm2 or AWG 18 min 1 25 mm2 2 mm2 Motor output terminal wire size AWG 20 to AWG 18 Use OMRON standard cable...

Page 52: ...plate Controller Clamp Ferrite core Metal duct or conduit Ferrite core Clamp Note 1 The cable winding for the ferrite core must be 1 5 turns Note 2 Remove the sheath from the cable and ground it dire...

Page 53: ...se Structure Use a metal control panel with welded joints on the top bottom and all sides The case must be electri cally conductive When assembling the control panel remove the coating from all joints...

Page 54: ...al Block Wiring for the power supply input currents for each motor and then add the current consumption for the number of shafts other controllers etc to make the selection The Servo Driver inrush cur...

Page 55: ...c Ind Application Model Rated current Test voltage Insulation resistance Leakage current Attenuation characteristic max Normal MHz Common MHz 200 V 100 W Brake power supply SUP P5H EPR 4 5 A Between t...

Page 56: ...istors Ishizuka Electronics Co Varistors Ishizuka Electronics Co Matsushita Electric Parts D Contactors When selecting contactors take into consideration the circuit s inrush current and the momentary...

Page 57: ...es The following table shows the rec ommended ferrite core models Maker Name Model Tokin EMI core ESD QR 25 1 TDK Clamp filter ZCAT2032 0930 ZCAT3035 1330 ZCAT2035 0930A Do not wire the encoder cable...

Page 58: ...0 Hz R88D UEP W Noise filter Class 3 ground Main circuit power supply Main circuit connector Surge killer Servo error display OMNUC U series UE model AC Servo Driver R88A CAU001 CAU01B Power Cable OMN...

Page 59: ...isplays 3 3 Using Parameter Units 3 4 Initial Settings Setup Parameters 3 5 Setting Functions User Parameters 3 6 Trial Operation 3 7 Making Adjustments 3 8 Regenerative Energy Absorption 3 Artisan Te...

Page 60: ...nexpected motor operation may result in injury Caution If an alarm is ON remedy the cause make sure the system is safe reset the alarm and restart the system Not doing so may result in an injury Cauti...

Page 61: ...er Supply Before turning on the power supply check the necessary items In order to make the initial settings turn on an application power supply Chapter 3 section 3 2 4 Checking Display Status Check b...

Page 62: ...d wire must be properly connected to the terminal block j Checking the Servomotor There should be no load on the Servomotor Do not connect to the mechanical system The power line connectors at the Ser...

Page 63: ...shaft clockwise and counterclockwise and check to be sure that it agrees with the posi tive and negative on the speed display If it does not agree then the encoder signal line may be wired incorrectl...

Page 64: ...e Bit display indicating internal status via indicators Power supply ON display base block positioning completion and rotation detection command pulse input Symbol display indicating internal status v...

Page 65: ...DE SET Key b b c n 0 0 u n 0 0 0 a 0 2 Power ON Display example Status display mode Settings mode Monitor mode Alarm history display mode Operation Chapter 3 Artisan Technology Group Quality Instrumen...

Page 66: ...on deviation counter u n 0 9 Input pulse counter Settings mode c n 0 0 System check mode Jog operation page 3 20 Clear alarm history data page 4 11 Motor parameters check page 4 7 Auto tuning page 3 2...

Page 67: ...r that can be set is displayed It can be checked whether the bit information is 0 not lit or 1 lit according to the 7 segment display vertical bar To change the set value first set the bit number in t...

Page 68: ...d 5 1 Not used 6 1 Not used 7 1 Not used Abnormal stop 8 0 0 The dynamic brake decelerates to stop the Servomotor at the time of overtraveling 1 The maximum torque decelerates to stop the Servomotor a...

Page 69: ...e only after power is reset Confirm that the indicators go out before turning power back on Check to see that the LED display has gone off 3 4 3 Important Setup Parameters Cn 01 and Cn 02 This section...

Page 70: ...Down Keys Mounted type Save the data in memory MODE SET and DATA Keys 3 5 1 Setting and Checking User Parameters Cn 04 to 26 j Displaying User Parameters Perform the following procedures on the Param...

Page 71: ...d to set other parameters Note 1 Settings can also be made by pressing only the Up and Down Keys in stead of using steps 1 and 2 This will enable setting digits higher than the one that is blinking Us...

Page 72: ...osition command accel eration deceleration time constant 0 0 1 ms 0 to 640 Sets the setting number for smoothing Note 1 Cn 04 speed loop gain is factory set for three times the load inertia Therefore...

Page 73: ...aster 1 000 pulses 4 096 pulses Driver Electronic gear G1 G2 4 096 1 000 Motor One revolution 4 096 pulses 3 5 4 Brake Interlock For Motors with Brakes j Magnetic Brakes The magnetic brakes for Servom...

Page 74: ...to be held after the brake power supply has been turned off When using it for the vertical shaft take this delay into account and set brake timing 1 Cn 12 so that the Servomotor will not receive power...

Page 75: ...il the dynamic brake operates the Servomotor rotates by momentum Note 2 If the motor rotational speed falls to 100 r min or below or if 500 ms elapse after power to the Servomotor is interrupted the b...

Page 76: ...witch can be turned off or the Run command used to stop the motor immedi ately in case of trouble D Connecting a Parameter Unit Connect a Parameter Unit to the CN3 connector on the front of the Servo...

Page 77: ...items Is the emergency stop operating correctly Are the limit switches operating correctly Is the operating direction of the machinery correct Are the operating sequences correct Are there any abnorm...

Page 78: ...ameter number 00 System check mode 4 Press the DATA Key to display the setting of Cn 00 5 Using the Up and Down Keys set the parameter to 00 Jog operation 6 Press the MODE SET Key to shift to the jog...

Page 79: ...eter number 00 System check mode 4 Press the DATA Key to display the setting of Cn 00 5 Using the Up and Down Keys set the parameter to 05 Auto tuning 6 Press the MODE SET Key to switch to the mechani...

Page 80: ...ted Be sure there is plenty of room for the machine to operate If the auto tuning is not complete after three operation operations will be repeat as long as the key is held down The motor speed for au...

Page 81: ...op integra tion time constant to a value where hunting doesn t occur in servo lock Does hunting vibration occur when the motor is operated Run the motor and monitor its opera tion Increase Cn 1A posit...

Page 82: ...dity Adjustment Parameters j Adjusting Speed Loop Gain PRM No Parameter name Factory setting Unit Setting range Explanation Cn 04 Speed loop gain 80 Hz 1 to 2 000 Adjusts the speed loop response As th...

Page 83: ...hen speed loop integral time constant is short When speed loop integral time constant is long PRM No Parameter name Factory setting Unit Setting range Explanation Cn 17 Torque command filter time cons...

Page 84: ...Factory setting Unit Setting range Explanation Cn 1b Positioning comple tion range 3 Com mand units 0 to 250 Sets the range for the positioning comple tion signal output Generally set according to th...

Page 85: ...pulse mode Positioning completion range Deviation counter Position loop gain Speed loop Current loop Encoder Z phase output Speed detection M E 4 Cn 1b Cn 26 Cn 1A Cn 24 25 Cn 04 05 Cn 17 Electronic...

Page 86: ...e energy is absorbed at the Servo Driver only Eg must not exceed the amount of re generative energy that can be absorbed at the Servo Driver In addition the average regenerative pow er when a Regenera...

Page 87: ...e formula The maximum regenerative energy for the Servo Driver s internal capacitors only can be found by means of the following formula Eg is the larger of Eg1 Eg2 Eg3 When regenerative energy is abs...

Page 88: ...re of the rotation speed Lengthen the deceleration time Reduce the amount of regenerative energy per unit time When using multiple axes the terminals can be connected together and the terminals can be...

Page 89: ...be applied Range for Absorbing Regenerative Energy The relationship between rotational speed and the load inertia that can be absorbed by a Servo Driver alone is shown in the diagrams below If a Servo...

Page 90: ...m2 2 15 Rotational speed r min j R88D UEP12H UEP12V 400 W R88D UEP15L UEP15W 300 W Applicable load inertia 10 4kg m2 300 400W 3 8 10 4kg m2 1 9 Rotational speed r min UEP15L UEP15W UEP12H UEP12V Oper...

Page 91: ...stroy the Re generation Unit so connect the resistor carefully The Regeneration Unit does not con form to EC Directives The external regeneration resistor will heat to approximately 120 C Do not insta...

Page 92: ...bar from between the RG and JP terminals on the Regeneration Unit and connect the resistor s between the P and RG terminals External regeneration resistor Short bar Note The thermal switch output must...

Page 93: ...is 1 Axis 2 Axis 3 Note 1 Do not open or close the connections between the or terminals while power is being sup plied The Units may be destroyed Note 2 Do not connect Servo Drivers that are using dif...

Page 94: ...Application 4 1 Using Displays 4 2 Protective and Diagnostic Functions 4 3 Troubleshooting 4 4 Periodic Maintenance 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti...

Page 95: ...nd another is for alarms Symbol Name Function PWR Power supply indicator Lit when AC power supply is normal ALM Alarm indicator Lit when error occurs If the alarm indicator is lit connect a Parameter...

Page 96: ...y indicating internal status via indicators Power supply ON display base block positioning completed rotation detection and command pulse input Symbol display indicating internal status via 3 digit 7...

Page 97: ...ol display j Bit Data Display Contents Bit data Contents Power supply ON Lit when Servo Driver power supply is ON Base block Lit during base block no power to motor dimmed when servo is ON Positioning...

Page 98: ...onverted to a fre quency r min 08 Position deviation deviation count er Pulses Displays the pulse count position deviation remaining on the deviation counter in command units based on input pulses 09...

Page 99: ...there is a signal 13 PU Poll sensor U phase 14 PV Poll sensor V phase 15 PW Poll sensor W phase 16 RUN Lit when run command is ON 17 MING Lit when the gain is reduced 18 POT Lit when forward drive pro...

Page 100: ...wn Keys change the setting to 04 Servomotor parameter check 5 Press the MODE SET Key and check the Servomotor parameters in order 6 Press the MODE SET Key to display special specifications in hexadeci...

Page 101: ...ue exceeds120 of the rated torque a c1 OFF Runaway detected Faulty power or encoder wiring a c2 OFF Phase error detected Connector not properly connected Encoder not properly wired a c3 OFF Encoder A...

Page 102: ...e alarm reset signal RESET Toggle the power supply Press the Reset Key on the Parameter Unit Overcurrent alarms A 10 however cannot be cleared by toggling the power supply Operation will start as soon...

Page 103: ...oon the Servomotor coil may be damaged j Overload Characteristic Graph The characteristic between the load ratio and the electronic thermal operating time is shown in the fol lowing graph Load ratio O...

Page 104: ...e less recent the alarm is j Clearing Alarm History Data Alarm history data initialization is executed in the system check mode The items in parentheses in the following explanation indicate operation...

Page 105: ...the deviation counter reset signal in monitor mode internal status bit display Turn OFF the ECRST sig nal Correct the wiring An error occurred with the RESET signal ON Check the RESET signal s ON and...

Page 106: ...here are unusual noises The machinery is vibrating Inspect the machinery to see whether there are any for eign objects in the movable parts or whether there is any damage deformation or looseness Fix...

Page 107: ...e dam aged Measure the winding resis tance If the coil are dam aged replace the Servomo tor Overheating Occurred during operation Occurred even though pow er was on If t i t d ft The ambient temperatu...

Page 108: ...High speed rotation oc curred when command was input The rotational speed ex ceeded 4 950 r min due to overshooting Adjust the gain Lower the maximum speed of the command Encoder is wired incorrectly...

Page 109: ...t any disconnected lines Insert connectors correct ly Encoder lines wired incor rectly Correct the wiring Encoder defective Replace the Servomotor Servo Driver defective Replace Servo Driver a f3 Mome...

Page 110: ...ation rotation on timing pulleys and other components contacting belts is twice the still load Consult with the belt and pulley manufacturers and adjust designs and system set tings so that the allowa...

Page 111: ...2 Servomotor Specifications 5 3 Cable Specifications 5 4 Parameter Unit Specifications 5 5 Regeneration Unit Specifications 5 6 Front mounting Bracket Specifications 5 Artisan Technology Group Quality...

Page 112: ...en power line terminals and case 1 000 VAC for 1 min 20 mA max at 50 60 Hz Models Conforming to EC Directives Between power line terminals and case 1 500 VAC for 1 min at 50 60 Hz Protective structure...

Page 113: ...to 64 0 ms The same setting is used for acceleration and decel eration Input sig nals Position command pulse input see note TTL line driver input with photoisolation input current 6 mA at 3 V Feed pu...

Page 114: ...eleration Input signals Position command pulse input see note TTL line driver input with photoisolation input current 6 mA at 3 V Feed pulse and direction signal forward pulse and reverse pulse or 90...

Page 115: ...s The same setting is used for acceleration and decel eration Input sig nals Position command pulse input see note TTL line driver input with photoisolation input current 6 mA at 3 V Feed pulse and di...

Page 116: ...and deceleration Input signals Position command pulse input see note TTL line driver input with photoisolation input current 6 mA at 3 V Feed pulse and direction signal forward pulse and reverse pulse...

Page 117: ...rvomotor output and power supply input j Terminal Block Specifications Models Conforming to EC Directives Signal Function Condition L1 L2 Power supply in put R88D UEP V 200 VAC Units Single phase 200...

Page 118: ...ration can be switched between a status signal high level and a differential signal rising edge us ing bit A in setup parameter Cn 02 11 Do not connect 12 13 24VIN 12 to 24 V power supply input for co...

Page 119: ...er Z phase output ground when Z phase is detected Open collector output 30 VDC 10 mA 34 ALM Alarm output When an alarm is generated for the Servo Driver h i OFF O ll 35 ALMCOM Alarm output GND g the o...

Page 120: ...sed Encoder Z phase out put ground Alarm output GND ECRST ECRST deviation counter re set deviation counter re set Not used Not used Not used Not used Not used Not used Not used Not used Not used Not u...

Page 121: ...the setting of bit no 8 of setup parameter no 1 Cn 01 Alarm status will not be generated at the Driver When drive prohibition is not used clear the function by connecting the respective signal to the...

Page 122: ...CW A Feed Pulse Reverse Pulse 90 Differential Pulse A Phase CN1 2 PULS CW A Direction Signal Forward Pulse 90 Differential Pulse B Phase CN1 3 SIGN CCW B Direction Signal Forward Pulse 90 Differentia...

Page 123: ...frequency 200 kpps t1 t2 T t1 t2 t2 t1 t1 Pulse t1 0 1 s 2 5 s t2 3 0 s T 5 0 s Direction Forward commands Reverse commands Reverse pulse and forward pulse Maximum frequency 200 kpps T CW CCW t1 t1 t2...

Page 124: ...pprox 10 s R88D UEP04H UEP08H UEP12H R88D UEP10L UEP12L R88D UEP04V UEP08V UEP12V R88D UEP10W UEP12W Approx 15 s R88D UEP20H UEP15L R88D UEP20V UEP15W 6 ms 25 to 35 ms 6 ms D Brake Interlock 7 BKIR Th...

Page 125: ...power up processing is completed D Encoder Z phase Output 32 and 33 Z and ZCOM The encoder Z phase signal is output from the Servomotor The output i e 20 mA open collector out put at 30 VDC is OFF wh...

Page 126: ...output Maximum op erating voltage 30 VDC Maximum out put current 50 mA Encoder Z phase output Frame ground see note Reverse pulse Forward pulse Deviation counter reset Positioning completion 12 to 24...

Page 127: ...shield to the connector plug and ground it directly using a clamp D Connectors Used 20P Tyco Electronics AMP Receptacle at Servo Driver 178239 2 Sumitomo 3M Soldered plug at cable side 10120 3000VE Ca...

Page 128: ...for a Parameter Unit 6 RT1 Termination resistance enabled disabled This is the termination resistance terminal for the line receiver For 1 to 1 communications or 7 RT2 enabled disabled the line recei...

Page 129: ...interlock output BKIR will also turn OFF if power is not supplied to the motor for 500 ms even if the motor speed is greater than 100 r min This setting is used to prevent destroying the holding brak...

Page 130: ...2 The setting range for both G1 and G2 is 65 535 and the settings are restricted as follows 1 100 x G1 G2 x 100 The factory setting is G1 4 G2 1 i e an electronic gear ratio of 4 1 At the factory sett...

Page 131: ...nals and case 1 500 VAC for 1 min 10 mA max at 50 60 Hz JEC 2121 Run position All directions Insulation grade Type B JIS C4004 Structure Totally enclosed self cooling Protective structure Non conformi...

Page 132: ...ical time constant ms 0 5 0 4 0 3 0 3 Winding resistance 6 99 1 34 1 23 0 45 Winding impedance mH 13 2 7 2 7 9 5 7 Electrical time constant ms 1 9 5 4 6 4 13 Weight kg Approx 0 5 Approx 1 1 Approx 1 7...

Page 133: ...d with the Servo Driver Other values are at normal conditions 20 C 65 The maximum momentary torque is a reference value D AC Servomotor Heat Radiation Conditions When an AC Servomotor is continuously...

Page 134: ...3 Magnetized voltage V 24 VDC 10 No polarity Power con sumption W at 20 C 6 6 5 6 Current con sumption A at 20 C 0 25 0 27 0 25 Static friction torque N m 0 34 min 1 5 min 2 5 min Absorption time see...

Page 135: ...With 3 m Standard Cable and 100 VAC Input R88M UE10030L S1 UE10030W S1 Frequent use Continuous use R88M UE20030L S1 UE20030W S1 R88M UE30030L S1 UE30030W S1 Frequent use Continuous use Frequent use Co...

Page 136: ...operation at low temperatures too 5 2 4 Allowable Loads on Servomotor Shafts The allowable loads on Servomotor shafts are shown in the following table Operate the Servomotor at no more than the allowa...

Page 137: ...ulse revolution Power supply voltage 5 VDC 5 Power supply current DC 350 mA for load resistance of 220 Phase characteristics 90 43 2 Phase relationship For rotation in the CW direction A phase is adva...

Page 138: ...Cable Model Length L Outer diameter of sheath R88A CTU001N 1 m 9 9 dia R88A CTU002N 2 m D Connection Configuration XW2B 40F5 P Connector Terminal Conversion Unit L OMNUC U Series UE model AC Servomoto...

Page 139: ...18 A 19 B 19 A B 20 B 10 B 5 35 Connector plug Sumitomo 3M s 10136 3000VE Connector cover Sumitomo 3M s 10336 52A0 008 1 2 3 4 5 6 7 8 9 10 12 13 14 15 16 17 18 19 21 22 23 24 25 26 27 28 29 30 31 32...

Page 140: ...h R88A CPU001S 1 m 9 9 dia R88A CPU002S 2 m D Connection Configuration L Position Control Unit mounted on a SYSMAC C CV series PC OMNUC U Series UE model AC Servomotor Driver Specifications Chapter 5...

Page 141: ...0 Orange Black 21 Orange Red 22 Gray Black 23 Gray Red 24 White Black 25 White Red 26 Yellow Black 27 Yellow Red 28 Pink Black 29 Pink Red 30 Orange Black 31 Orange Red 32 Gray Black Z 33 Gray Red ZCO...

Page 142: ...E0V 7 E5V 8 FG 9 16 17 18 19 14 15 1 4 20 A A B B S S E0V E5V FG AWG24 blue AWG24 white blue AWG24 yellow AWG24 white yellow AWG24 green AWG24 white green AWG22 black AWG22 red AWG22 green yellow Symb...

Page 143: ...m between the Monitor and the Servo Driver D Connection Configuration L OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver D Wiring A 1 A 2 B 3 B 4 S 5 S 6 E0V 7 E5V 8...

Page 144: ...CAU020S 20 m Up to a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver D Wiring U p...

Page 145: ...U003B 3 m 6 8 dia R88A CAU005B 5 m R88A CAU010B 10 m R88A CAU015B 15 m R88A CAU020B 20 m Up to a maximum of 20 m between the Monitor and the Servo Driver D Connection Configuration OMNUC U Series UE m...

Page 146: ...tives D Types of Cable Model Length L Outer diameter of sheath R88A CAU001 1 m 5 8 dia Note 1 Power cables will be cut to the specified length in 1 m increments Note 2 The maximum distance between the...

Page 147: ...rvo Driver is 20 m D Connection Configuration OMNUC U Series UE model AC Servomotor OMNUC U Series UE model AC Servomotor Driver D Wiring U V W Red White Blue Green Yellow Black Red AWG20 Red AWG20 Wh...

Page 148: ...ors Accessory connectors 7910 7500SC 10 pins D sub connector 9 pins Display 7 segment LED 5 digits External dimensions 63 135 18 5 W H D 54 57 5 15 W H D Commu i i Standard RS 232C RS 422A nications s...

Page 149: ...C drive possible External dimensions 55 160 130 W H D D Indicator LED Specifications Name Specifications POWER Lit while power flows between P and N terminals REGEN Lit during regeneration operation A...

Page 150: ...ont surface Mounting Bracket d l Model Supply voltage Power g model R88D UEP04H 200 V 100 W R88A TK01U R88D UEP08H 200 W R88D UEP12H 400 W R88D UEP20H 750 W R88A TK02U R88D UEP10L 100 V 100 W R88A TK0...

Page 151: ...Bracket Two 3 6 dia pan head screws D R88A TK02U Top Mounting Bracket 6 dia Two 3 6 dia pan head screws Specifications Chapter 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOUR...

Page 152: ...g Bracket Two 3 6 dia pan head screws j Mounting Dimensions D R88A TK01U D R88A TK02U Two M5 Three M5 Specifications Chapter 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE...

Page 153: ...Materials 6 1 Connection Examples 6 2 Relay Units for Servo Drivers 6 3 OMNUC U Series Standard Models 6 4 Parameter Setting Forms 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Page 154: ...5 VDC Pulse output CCW without resistance 0 V Deviation counter reset output 0 V Origin input Positioning completed input Position proximity input CCW limit input External interrupt input CW limit in...

Page 155: ...output 0 V Origin input Positioning completed input Position proximity input CCW limit input External interrupt input CW limit input Emergency stop input Main circuit contact OFF ON Main circuit powe...

Page 156: ...axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW without resistance R88A CPU S General purpose Cable 24 VDC 24 VDC 5 VDC M RE 6 17 FG 12 ALMCOM 34 Shell...

Page 157: ...s CW limit input X Y axis emergency stop input X Y axis input common Output power supply 0 V CCW with resistance CCW without resistance R88A CPU S General purpose Cable 24 VDC 24 VDC M RE 6 17 FG 12 A...

Page 158: ...Incorrect signal wiring can cause damage to Units and the Servo Driver Note 2 Leave unused signal lines open and do not wire them Note 3 ERB44 02 diodes by Fuji Electric or equivalent are recommended...

Page 159: ...esistance CCW without resistance R88A CPU S General purpose Cable 24 VDC 24 VDC 5 VDC M RE ALMCOM 34 FG 12 to 24 VDC NFB Red White Blue Green X axis origin input X axis origin common R88D UEP L 100 11...

Page 160: ...common A1 A2 A6 A5 A8 A7 A11 A12 A15 A14 A24 A19 A21 A23 A22 A20 36 R88D UEP AC Servomotor Driver Main circuit contact OFF ON Main circuit power supply SUP Surge killer X1 Servo error display MC PL M...

Page 161: ...Common External interrupt Common Common 24 VDC 24 VDC See note 1 Note 1 The XB contact is used for ON OFF of the electromagnetic brake Note 2 Do not connect unused terminals Note 3 The 0 V terminal a...

Page 162: ...mon Common X axis External interrupt X axis RESET X axis ALMCOM Y axis External interrupt Y axis RESET Y axis ALMCOM 24 VDC See note 1 24 VDC 24 VDC Two 3 5 dia See note 1 Note 1 The XB contact is use...

Page 163: ...a high speed ring counter Note 2 Input these output signals into the CQM1 Input Unit Note 3 The XB contact is used for ON OFF of the electromagnetic brake Note 4 Open collector output is used for Z p...

Page 164: ...L BS1 200 W R88M UE20030L BS1 300 W R88M UE30030L BS1 D Servo Drivers with Pulse train Inputs Specification Model Pulse train input 200 VAC 100 W R88D UEP04H 200 W R88D UEP08H 400 W R88D UEP12H 750 W...

Page 165: ...8A CPU001S controllers connector at one end 2 m R88A CPU002S D Relay Units for Servo Motors Specification Model Connector Cable for Servo Driver 1 m XW2Z 100J B5 2 m XW2Z 200J B5 Relay Unit for C200H...

Page 166: ...k 200 VAC 100 W R88M UE10030V S1 g keys brake 200 W R88M UE20030V S1 400 W R88M UE40030V S1 750 W R88M UE75030V S1 100 VAC 100 W R88M UE10030W S1 200 W R88M UE20030W S1 300 W R88M UE30030W S1 With br...

Page 167: ...2S 6 4 Parameter Setting Forms j User Parameters PRM No Parameter name Factory setting Unit Setting range Setting Cn 04 Speed loop gain see note 1 80 Hz 1 to 2 000 Cn 05 Speed loop integration constan...

Page 168: ...or less Note 2 After the settings Cn 24 Electronic gear ratio G1 numerator or Cn 25 Electronic gear ratio G2 denominator have been made they become effective when the power is turned on again after h...

Page 169: ...ction 1 Stops the motor using maximum torque for overtra vel 9 0 Not used 9 0 Deviation counter with A 0 0 Clears the counter when the servo shuts off or when an error occur A counter with Servo OFF 1...

Page 170: ...1 0 Clears the deviation counter when the signal is high level A 1 Clears the deviation counter on the rising edge of the signal b 0 Not used b 0 Torque command filter i C 0 0 Primary filter C q time...

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