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Chapter 4

4-15

Operation

4-6

User Parameters

This section describes the Servo Driver internal user parameters. Even if operating
using the Servo Driver’s front panel switch settings, be sure to understand the kinds of
functions that are set with the parameters.

Note R7A-PR02A Parameter Unit is required to change user parameters. Refer to Operation Manual

(I534) for detailed operation procedures.

4-6-1 Parameter Tables

• The parameters for which each digit number must be set separately are given with the digit number

added to the parameter number. For example, Pn001.0 (i.e., digit 0 of parameter Pn001).

• The default setting for parameters set using 5 digits are given in the table without leading zeros

(e.g., if the default setting is 00080, 80 is given in the table).

Parameter

No.

Parameter name

Description for parameters set with 5 digits

Default

Unit

Setting

range

Restart?

Digit

No.

Name

Setting

Description for parameters

with individually set digits

Pn000

Basic switches 1

0

Reverse rotation
mode

0

CCW direction is taken for posi-
tive command.

0010

–

–

Yes

1

CW direction is taken for posi-
tive command.

1

Control mode
selection

1

Position control by pulse train
command

2

Not used.

0

–

3

Not used.

0

–

Pn001

Basic switches 2

0

Stop selection if
an alarm occurs
when servo is
OFF

0

Servomotor stopped by
dynamic brake.

1002

–

–

Yes

1

Servomotor stopped by
dynamic brake.
Dynamic brake released after
Servomotor stops.

2

Servomotor stopped with free
run.

1

Not used.

0

–

2

Not used.

0

–

3

Not used.

1

–

Pn100

Speed loop gain

Speed loop response adjustment

80

Hz

1 to 2000

–

Pn101

Speed loop inte-
gral time constant

Speed loop integral time constant

2000

×

0.01 ms

15 to 51200 –

Pn102

Position loop gain Adjusts position loop responsiveness.

40

1/s

1 to 2000

–

Pn103

Inertia ratio

The ratio between the machine system inertia and the Servomotor rotor
inertia

300

%

0 to 10000

–

Pn109

Feed-forward
amount

Position control feed-forward compensation

0

%

0 to 100

–

Pn10A

Feed-forward
command filter

The position control feed-forward command filter

0

×

0.01 ms

0 to 6400

–

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Summary of Contents for SMARTSTEP A Series

Page 1: ...Cat No I533 E1 04 USER S MANUAL SMARTSTEP ASERIES MODELS R7M A Servomotors R7D AP Servo Drivers Servomotors Servo Drivers ...

Page 2: ...ough care has been given in documenting the product please contact your OMRON representative if you have any suggestions on improving this manual 4 Assume that anything not specifically described in this manual is not possible 5 Do not allow the Servomotor or Servo Driver to be wired set or operated from a Parameter Unit by anyone that is not a profession electrical engineer or the equivalent 6 We...

Page 3: ...USER S MANUAL SMARTSTEP ASERIES MODELS R7M A Servomotors R7D AP Servo Drivers Servomotors Servo Drivers ...

Page 4: ......

Page 5: ...ct The abbreviation Ch which appears in some displays and on some OMRON products often means word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates inform...

Page 6: ......

Page 7: ...g so may result in electric shock or injury WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF the power supply Doing so may result in electric shock WARNING Do not damage press or put excessive stress or heavy objects on the cables Doing so may result in electric shock WARNING Do not touch the rotating parts of the Servomotor in operation Doing so may r...

Page 8: ...ge and Transportation Precautions Caution Do not hold the product by the cables or motor shaft while transporting it Doing so may result in injury or malfunction Caution Do not place any load exceeding the figure indicated on the product Doing so may result in injury or malfunction Installation and Wiring Precautions Caution Do not step on or place a heavy object on the product Doing so may result...

Page 9: ...s when installing systems in the following locations Failure to do so may result in damage to the product Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Operation and Adjustment Precautions Caution Confirm that no adverse ...

Page 10: ...assemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock Caution Resume operation only after transferring to the new Unit the contents of the data required for operation Not doing so may result in an unexpected operation ...

Page 11: ...Warning Labels Warning labels are pasted on the product as shown in the following illustration Be sure to follow the instructions given there Warning label Example from R7D AP01L Example from R7D AP01L ...

Page 12: ......

Page 13: ... DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY ...

Page 14: ...hat the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government r...

Page 15: ...nfirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and...

Page 16: ......

Page 17: ...t Specifications 2 111 2 9 External Regeneration Resistor Specifications 2 113 2 10 DC Reactors 2 114 Chapter 3 System Design and Installation 3 1 3 1 Installation Conditions 3 3 3 2 Wiring 3 8 3 3 Regenerative Energy Absorption 3 37 Chapter 4 Operation 4 1 4 1 Operational Procedure 4 3 4 2 Switch Settings 4 4 4 3 Preparing for Operation 4 7 4 4 Trial Operation 4 9 4 5 Gain Adjustments 4 11 4 6 Us...

Page 18: ......

Page 19: ...Chapter 1 Introduction 1 1 Features 1 2 System Configuration 1 3 Servo Driver Nomenclature 1 4 Applicable Standards 1 5 System Block Diagrams ...

Page 20: ...otation provides feedback control enabling continuous operation without loss of positioning accuracy even with sudden load changes or sudden acceleration or deceleration Minimal Setting with Servo Driver Front Panel Switches The SMARTSTEP A Series can be operated immediately without time consuming parameter setting The A series Servo Drivers front panel switches enable easier alteration of functio...

Page 21: ...ize thereby making equipment more compact A Wider Selection of Programming Devices Special SMARTSTEP A series Parameter Units and personal computer monitoring software are available The special monitoring software enables performing parameter setting speed and current monitoring speed and current waveform displays I O monitoring autotuning jogging and other operations from a computer It is also po...

Page 22: ... SET MODE SET DATA DATA RESET JOG JOG RUN RUN DRIVER PR DRIVER PR PR DRIVER PR DRIVER READ READ WRITE WRITE R7A PR02A PARAMETER UNIT B B B B INP INP VCMP VCMP TGON TGON REF REF POWER POWER SYSMAC CJ CS C CV Programmable Controller Position Control Units CJ1W NC113 213 413 CJ1W NC133 233 433 CS1W NC113 213 413 CS1W NC133 233 433 C200HW NC113 213 413 C500 NC113 211 R7A PR02A Parameter Unit Hand held...

Page 23: ...4 Control I O connector CN1 Encoder input connector CN2 Main circuit power supply indicator Main circuit power supply input terminals DC reactor connection terminals Control circuit power supply input terminals Servomotor power terminals FG terminals for power supply and servomotor power External regeneration resistance terminals Switch parameter setting enable switch Resolution setting Command pu...

Page 24: ... 1 5 8 9 EN60034 1 9 Rotating electrical equipment EMC Directives AC Servo Drivers and AC Servomotors EN55011 class A group 1 Wireless interference and measure ment methods for radio frequency devices for industry science and medical application EN61000 6 2 Electromagnetic compatibility and immunity standards for industrial environments Standards Product Applicable standards File No Remarks UL AC ...

Page 25: ...p PWM generation Current detection Interface Gate drive overcurrent protection Gate drive Voltage detection Relay drive Fuse DC DC conversion Analog voltage conversion CN4 Analog monitor output CN3 Parameter Unit computer Voltage detection 1 2 L1 L2 L2C L1C R T P1 N1 5 V 16 5 V 5 V 15 V M E CHARGE B1 B2 P2 N2 U V W U V W CN2 CN1 I O CPU ASIC 5 V POWER 0 V See note RS 422 AC Servomotor Alarm code d...

Page 26: ...2 U V W U V W CN2 CN1 I O CPU ASIC 5 V POWER 0 V See note RS 422 AC Servomotor Alarm code display Command pulse processing Note Only on R7D AP04H AP04L AC Servo Driver Ther mistor AC Servomotor Command pulse input Control I O Serial port Speed control Current command processing Position control Command pulse processing Encoder signal processing Digital current amp PWM generation Interface Gate dri...

Page 27: ...imensions 2 3 Servo Driver Specifications 2 4 Servomotor Specifications 2 5 Reduction Gear Specifications 2 6 Cable and Connector Specifications 2 7 Servo Relay Units and Cable Specifications 2 8 Parameter Unit Specifications 2 9 External Regeneration Resistor Specifications 2 10 DC Reactors ...

Page 28: ...ith key 30 W R7M A03030 BS1 50 W R7M A05030 BS1 100 W R7M A10030 BS1 200 W R7M A20030 BS1 400 W R7M A40030 BS1 750 W R7M A75030 BS1 Specifications Model Without brake Straight shaft without key 100 W R7M AP10030 200 W R7M AP20030 400 W R7M AP40030 750 W R7M AP75030 Straight shaft with key 100 W R7M AP10030 S1 200 W R7M AP20030 S1 400 W R7M AP40030 S1 750 W R7M AP75030 S1 With brake Straight shaft ...

Page 29: ...G VRSFPB15B100P 1 25 R7G VRSFPB25C100P 200 W 1 5 R7G VRSFPB05B200P 1 9 R7G VRSFPB09C400P 1 15 R7G VRSFPB15C400P 1 25 R7G VRSFPB25C200P 400 W 1 5 R7G VRSFPB05C400P 1 9 R7G VRSFPB09C400P 1 15 R7G VRSFPB15C400P 1 25 R7G VRSFPB25D400P 750 W 1 5 R7G VRSFPB05C750P 1 9 R7G VRSFPB09D750P 1 15 R7G VRSFPB15D750P 1 25 R7G VRSFPB25E750P Specifications Model Servomotor capacity Reduction gears deceleration rat...

Page 30: ...0 5 m XW2Z 050J A21 1 m XW2Z 100J A21 For CS1W HCP22 1 axis 0 5 m XW2Z 050J A22 1 m XW2Z 100J A22 For CS1W HCP22 2 axes 0 5 m XW2Z 050J A23 1 m XW2Z 100J A23 For 3F88M DRT141 0 5 m XW2Z 050J A25 1 m XW2Z 100J A25 Position Control Unit Cable For CJ1M CPU21 CPU22 CPU23 1 m XW2Z 100J A26 For FQM1 MMP21 for general purpose I O 0 5 m XW2Z 050J A28 1 m XW2Z 100J A28 For CS1W HCP22 V1 for general purpose...

Page 31: ... Encoder Connector CN2 R7A CNA01R Encoder Connector Servomotor end R7A CNA02R Communications Cable 1 m XW2Z 100J C1 2 m XW2Z 200J C1 Specifications Model Hand held with 1 m cable R7A PR02A Specifications Model Resistor 220 W 47 Ω R88A RR22047S Specifications Model For R7D APA3L APA5L APA01L R88A PX5063 For R7D AP02L R88A PX5062 For R7D AP04L R88A PX5061 For R7D APA3H APA5H AP01H R88A PX5071 For R7...

Page 32: ...L 30 W to 200 W Single phase 200 V AC R7D APA3H APA5H AP01H AP02H 30 W to 200 W Wall Mounting Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 55 160 75 130 Two M4 5 5 5 5 160 55 149 5 0 5 17 External dimensions Mounted dimensions 180 195 7 5 7 5 180 0 5 195 7 5 7 5 5 dia 24 5 2 Two M4 168 10 52 6 6 1 5 5 11 5 42 32 5 ...

Page 33: ...D AP04H 400 W Wall Mounting Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 160 149 5 5 5 5 5 dia 5 12 75 75 130 17 Two M4 149 5 0 5 160 5 5 5 75 12 External dimensions Mounted dimensions 24 5 2 5 dia 7 5 5 11 5 42 180 195 7 5 32 5 180 0 5 195 7 5 7 5 Two M4 10 52 1 5 168 6 6 ...

Page 34: ... W Wall Mounting Front Panel Mounting Using Mounting Brackets External dimensions Mounted dimensions 5 dia 90 160 75 180 17 Two M4 149 5 0 5 160 5 5 5 90 27 149 5 5 5 5 External dimensions Mounted dimensions 5 dia 7 5 7 5 5 42 24 5 2 180 195 180 0 5 195 7 5 7 5 Two M4 10 22 5 43 5 52 12 5 168 6 6 ...

Page 35: ...eter Unit R7A PR02A Hand held Parameter Unit SCROLL MODE SET DATA RESET JOG RUN DRIVER PR DRIVER PR PR DRIVER PR DRIVER READ WRITE WRITE R7A PR02A PARAMETER UNIT B B B B INP INP VCMP VCMP TGON TGON REF REF POWER POWER 70 120 1000 42 6 13 2 dia 17 0 8 1 5 4 8 dia ...

Page 36: ...M A03030 69 5 6h6 2 2 1 2 R7M A05030 77 6h6 2 2 1 2 R7M A10030 94 5 8h6 3 3 1 8 Model Dimensions mm LL S b h t1 R7M A03030 B 101 6h6 2 2 1 2 R7M A05030 B 108 5 6h6 2 2 1 2 R7M A10030 B 135 8h6 3 3 1 8 Dimensions of shaft end with key S1 Two 4 3 dia LL 25 40 5 2 5 S dia 30h7 dia 300 30 300 30 40 14 h t1 b 6 dia 7 dia 9 5 19 5 20 11 21 5 5 46 dia Dimensions of shaft end with key BS1 14 Two 4 3 dia L...

Page 37: ...75030 145 40 80 90 70h7 8 7 16h6 30 Model Dimensions mm LL LR C D1 D2 G Z S QK R7M A20030 B 136 30 60 70 50h7 6 5 5 14h6 20 R7M A40030 B 164 30 60 70 50h7 6 5 5 14h6 20 R7M A75030 B 189 5 40 80 90 70h7 8 7 16h6 30 Dimensions of output section of 750 W Servomotors Dimensions of shaft end with key S1 300 30 300 30 S dia D2 dia LL LR G 3 C C Four Z dia QK 2 5 5 3 6 dia 7 dia 20 11 13 9 21 5 D1 dia Di...

Page 38: ...7 14h6 16 5 5 3 R7M AP40030 87 R7M AP75030 86 5 40 120 145 110h7 3 5 10 10 16h6 22 5 5 3 28 38 19 Model Dimensions mm Basic servomotor dimensions With key shaft end dimensions Cable outlet dimensions LL LR C D1 D2 F G Z S QK b h t1 A1 A2 A3 A4 A5 R7M AP10030 B 91 25 60 70 50h7 3 6 5 5 8h6 14 3 3 1 8 9 18 25 21 23 R7M AP20030 B 98 5 30 80 90 70h7 3 8 7 14h6 16 5 5 3 R7M AP40030 B 118 5 R7M AP75030 ...

Page 39: ...G VRSFPB05B200 72 5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2 5 0 72 1 9 R7G VRSFPB09C400 89 5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 1 7 1 15 R7G VRSFPB15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 1 1 25 R7G VRSFPB25C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 1 400 W 1 5 R7G VRSFPB05C400 89 5 50 78 60 70 90 70 62 17 ...

Page 40: ...F05B200 72 5 32 52 60 70 60 50 45 10 3 10 12 20 M5 M5 M4 12 16 4 4 2 5 0 72 1 9 R7G RGSF09C400 89 5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 1 7 1 15 R7G RGSF15C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 1 1 25 R7G RGSF25C400 100 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6 M4 20 22 6 6 3 5 2 1 400 W 1 5 R7G RGSF05C400 89 5 50 78 60 70 90 70 62 17 3 8 19 30 M5 M6...

Page 41: ...100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 2 2 1 25 R7G VRSFPB25C200P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 2 2 400 W 1 5 R7G VRSFPB05C400P 93 5 50 78 80 90 90 70 62 17 3 10 19 30 M6 M6 M4 20 22 6 6 3 5 1 8 1 9 R7G VRSFPB09C400P 93 5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 1 8 1 15 R7G VRSFPB15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30...

Page 42: ... 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 2 2 1 25 R7G RGSF25C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 2 2 400 W 1 5 R7G RGSF05C400P 89 5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 1 8 1 9 R7G RGSF09C400P 89 5 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 M4 20 22 6 6 3 5 1 8 1 15 R7G RGSF15C400P 100 50 78 80 90 90 70 62 17 3 12 19 30 M6 M6 ...

Page 43: ... life of the Servo Driver is 50 000 hours at an average ambient temperature of 40 C at 80 of the rated torque Item Specifications Ambient operating temperature 0 to 55 C Ambient operating humidity 90 max with no condensation Ambient storage temperature 20 to 85 C Ambient storage humidity 90 max with no condensation Storage and operating atmo sphere No corrosive gasses Vibration resistance 10 to 55...

Page 44: ...verter method PWM method based on IGBT PWM frequency 11 7 kHz Maximum applicable fre quency command pulse application 250 kpps Weight Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 0 8 kg Approx 1 1 kg Applicable Servomotor wattage 30 W 50 W 100 W 200 W 400 W Applicable Servomotor R7M Cylinder style A03030 A05030 A10030 A20030 A40030 Flat style AP10030 AP20030 AP40030 Item R7D APA3H R7D APA5H R7...

Page 45: ...ontrol Normally short circuit between 1 and 2 If harmonic control measures are required connect a DC Reactor between 1 and 2 2 Main circuit DC out put Reverse Do not connect anything L1C Control circuits power supply input R7D AP H Single phase 200 230 V AC 170 to 253 V AC 50 60 Hz R7D AP L Single phase 100 115 V AC 85 to 127 V AC 50 60 Hz L2C B1 External regenera tion resistance con nection termi...

Page 46: ... fixed period of time it will automatically reset Maximum operating voltage 30 V DC RUN command Alarm reset Reverse pulse Forward pulse Deviation counter reset Positioning completed output Frame ground Shell 200 Ω 4 5 6 200 Ω 200 Ω CW CW CCW CCW ECRST ECRST 1 2 3 INP 8 OGND BKIR 7 10 18 RESET 3 3 k 14 RUN 13 24VIN 24 V DC FG See note 1 3 3 k ZCOM Z 32 33 ALMCOM ALM 34 35 22 23 TXD TXD 20 RXD 21 RX...

Page 47: ...eviation counter reset Line driver input 7 mA at 3 V Open collector input 7 to 15 mA ON Pulse commands prohibited and deviation counter cleared Note Input for at least 20 µs 6 ECRST 13 24VIN 24 V power supply input for control DC Power supply input terminal 24 V DC for sequence inputs pins 14 and 18 14 RUN RUN command input ON Servo ON Starts power to Servomotor 18 RESET Alarm reset input ON Servo...

Page 48: ...4 6 8 PULS CW A 10 OGND 12 SIGN CCW B 14 ECRST 16 18 1 3 5 7 PULS CW A 9 11 SIGN CCW B 13 15 ECRST 17 28 RXD 29 TXD 33 35 31 ALM ALMCOM RUN feed pulse reverse pulse phase A Output ground common direction signal forward pulse phase B Deviation counter reset feed pulse reverse pulse phase A direction signal forward pulse phase B Reception data Transmission data Alarm output Alarm output ground RUN c...

Page 49: ... Inputs Signal Levels ON level Minimum 24VIN 11 V OFF level Maximum 24VIN 1 V Vcc R 24 V 1 6 to 2 4 kΩ 12 V 750 to 1 1 kΩ 5 V None Controller Servo Driver Applicable line driver AM26LS31A or equivalent Input current 7 mA 3 V 200 Ω Controller Servo Driver Input current 7 to 15 mA 200 Ω Vcc R External power supply 24 V 1 V DC Power supply capacity 50 mA min per Unit To other input circuit GNDs To ot...

Page 50: ... Note Automatic reset fuses are used for output protection If overcurrent causes the fuse to operate current will not flow and after a fixed period of time it will automatically reset To other output circuits Di Diode for preventing surge voltage Use speed diodes External power supply 24 V DC 1 V Maximum operating voltage 30 V DC Maximum output current 50 mA Servo Driver X Di See note Maximum oper...

Page 51: ... 90 Phase Difference Signals Phase B B CN1 pin 4 Direction Signal SIGN Forward Pulse CCW 90 Phase Difference Signals Phase B B Functions The function of these signals depends on the setting of Pn200 0 command pulse mode position control setting 1 Logic Pn200 0 setting Commandpulse mode Input pins Servomotor forward command Servomotor reverse command 0 Feed pulse and direction signal 1 PULS 2 PULS ...

Page 52: ...IGN 4 SIGN 6 Reverse pulse and forward pulse 1 CW 2 CW 3 CCW 4 CCW 7 90 phase differ ence signals 1 1 A 2 A 3 B 4 B 8 90 phase differ ence signals 2 9 90 phase differ ence signals 4 Logic Pn200 0 setting Commandpulse mode Input pins Servomotor forward command Servomotor reverse command Negative L H H H ...

Page 53: ...ference signals Maximum input fre quency 1 Line driver 250 kpps 2 Line driver 250 kpps 4 Line driver 187 5 kpps Direction signals Feed pulses Forward rotation command Reverse rotation command t1 0 1 µs t2 3 0 µs τ 2 0 µs T 4 0 µs τ T 100 50 t1 t1 t2 t2 t2 t1 t1 T τ Reverse pulses Forward pulses Forward rotation command Reverse rotation command t1 0 1 µs t2 3 0 µs τ 2 0 µs T 4 0 µs τ T 100 50 T τ t...

Page 54: ...a tions Alarm Reset 18 RESET This is the external reset signal input for the alarm Remove the cause of the alarm and then restart operation Turn OFF the RUN command before inputting the reset signal It can be dangerous to input the reset signal while the RUN command is ON Control Output Details Control Output Sequence Alarm Output 34 ALM Alarm Output Ground 35 ALMCOM When the Servo Driver detects ...

Page 55: ...Interface 1 2 3 E0V Encoder power supply GND Power supply outlet for encoder 5 V 180 mA 4 5 6 E5V Encoder power supply 5 V 8 S Encoder phase S input Line driver input conforming to EIARS 422A Input impedance 300 Ω 5 9 S Encoder phase S input 10 A Encoder phase A input Line driver input conforming to EIARS 422A Input impedance 300 Ω 5 11 A Encoder phase A input 12 B Encoder phase B input Line drive...

Page 56: ...ontact DF11 2428SCF Hirose Electric Pin No Symbol Signal name Function Interface 1 NM Speed monitor Speed monitor output 1 V per 1 000 r min Forward rotation voltage reverse rotation voltage The output accuracy is approximately 15 2 AM Current monitor Current monitor output 1 V rated torque Forward rotation voltage reverse rotation voltage The output accuracy is approximately 15 3 GND Monitor grou...

Page 57: ...der compound conditions Note 3 The Servomotors cannot be used in misty environments Item Specification Ambient operating temperature 0 to 40 C Ambient operating humidity 20 to 80 with no condensation Storage ambient temperature 20 to 60 C Ambient storage temperature 20 to 80 with no condensation Storage and operating atmo sphere No corrosive gasses Vibration resistance See note 1 10 to 2 500 Hz 0 ...

Page 58: ...5 6 67 10 5 Torque constant N m A 0 255 0 286 0 408 0 355 0 533 0 590 Induced voltage constant mV r min 8 89 9 98 14 0 12 4 18 6 20 6 Power rate kW s 5 31 11 5 28 1 34 1 86 3 85 6 Mechanical time constant ms 1 2 0 8 0 5 0 4 0 2 0 3 Winding resistance Ω 15 8 9 64 6 99 1 34 1 23 0 45 Winding inductance mH 23 1 16 9 13 2 7 2 7 9 5 7 Electrical time con stant ms 1 5 1 8 1 9 5 4 6 4 13 Allowable radial...

Page 59: ... service life of 20 000 hours at normal operating temperatures Note 5 The value indicated for the allowable radial load is for the positions shown in the diagrams following the next table Brake specifications Brake inertia kg m2 GD2 4 8 5 10 7 8 5 10 7 8 5 10 7 6 4 10 6 6 4 10 6 1 71 10 5 Excitation volt age V 24 V DC 10 Power con sumption at 20 C W 6 6 6 7 7 7 7 Current con sumption at 20 C A 0 2...

Page 60: ...ted usage Continuous usage R7M A40030 400 W Repeated usage Continuous usage R7M A75030 750 W Repeated usage Continuous usage 0 1 1000 2000 3000 0 159 0 159 0 107 4000 5000 0 0 2 0 3 0 4 0 5 0 48 0 48 N m r min 0 1 0 2 0 3 1000 2000 3000 0 095 0 095 0 069 4000 5000 0 0 29 0 29 N m r min 0 2 1000 2000 3000 0 96 3600 0 318 0 318 0 91 0 222 4000 5000 0 0 4 0 6 0 8 1 0 0 96 N m r min 0 5 1 0 1 5 1000 2...

Page 61: ... 13 1 04 0 43 Winding inductance mH 20 7 8 4 8 9 7 7 Electrical time con stant ms 3 7 7 4 8 5 18 Allowable radial load N 78 245 245 392 Allowable thrust load N 49 68 68 147 Weight Without brake kg Approx 0 7 Approx 1 4 Approx 2 1 Approx 4 2 With brake kg Approx 0 9 Approx 1 9 Approx 2 6 Approx 5 7 Radiation shield dimensions mate rial t6 250 mm Al t12 300 mm Al Applicable Servo Driver R7D 100 VAC ...

Page 62: ... 2 The brakes are the non excitation operation type released when excitation voltage is ap plied Note 3 The operation time is the measured value reference value with a surge killer CR50500 by Okaya Electric Industries co LTD inserted Note 4 The allowable radial and thrust loads are the values determined for a service life of 20 000 hours at normal operating temperatures Note 5 The value indicated ...

Page 63: ...usage Continuous usage R7M AP40030 400 W Repeated usage Continuous usage R7M AP75030 750 W Repeated usage Continuous usage 0 2 1000 2000 3000 0 96 3725 0 318 0 318 0 800 0 222 4000 5000 0 0 4 0 6 0 8 1 0 0 96 N m r min 0 5 1 0 1 5 1000 2000 3000 1 91 3600 0 637 0 637 1 40 0 452 4000 5000 0 2 0 1 91 N m r min 1 0 2 0 3 0 1000 2000 3000 1 27 1 27 1 77 1 22 0 87 4000 5000 0 4 0 3 82 N m r min 2 0 4 0...

Page 64: ...ce the load torque at normal temperatures Check with a current monitor to see whether over loading is occurring at low temperatures and how much the load torque is Likewise check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures An increase in load friction torque visibly increases load inertia Therefore even if the Servo Driver parameters are adjust...

Page 65: ...m r min N m kg m2 N N 50 W 1 5 R7G VRSFPB05B50 600 0 517 65 900 1 56 4 13 10 6 392 196 1 9 R7G VRSFPB09B50 333 0 93 65 500 2 81 3 53 10 6 441 220 1 15 R7G VRSFPB15B50 200 1 67 70 300 5 04 3 67 10 6 588 294 1 25 R7G VRSFPB25B50 120 2 78 70 180 8 40 3 59 10 6 686 343 100 W 1 5 R7G VRSFPB05B100 600 1 19 75 900 3 60 4 08 10 6 392 196 1 9 R7G VRSFPB09B100 333 2 29 80 500 6 91 3 43 10 6 441 220 1 15 R7G...

Page 66: ...05B100 600 1 19 75 900 3 60 4 08 10 6 392 196 1 9 R7G RGSF09B100 333 2 29 80 500 6 91 3 43 10 6 441 220 1 15 R7G RGSF15B100 200 3 82 80 300 11 5 3 62 10 6 588 294 1 25 R7G RGSF25B100 120 4 02 See note 4 50 180 12 0 See note 4 3 54 10 6 686 343 200 W 1 5 R7G RGSF05B200 600 2 71 85 900 8 10 1 53 10 5 392 196 1 9 R7G RGSF09C400 333 3 78 66 500 11 3 2 68 10 5 931 465 1 15 R7G RGSF15C400 200 6 31 66 30...

Page 67: ...G VRSFPB15B100P 200 3 82 80 300 11 5 3 38 10 6 588 294 1 25 R7G VRSFPB25C100P 120 6 36 80 180 19 2 3 68 10 6 1323 661 200 W 1 5 R7G VRSFPB05B200P 600 2 71 85 900 8 12 1 53 10 5 392 196 1 9 R7G VRSFPB09C400P 333 3 78 66 500 11 3 2 56 10 5 931 465 1 15 R7G VRSFPB15C400P 200 6 31 66 300 18 9 2 71 10 5 1176 588 1 25 R7G VRSFPB25C200P 120 11 1 70 180 33 4 2 67 10 5 1323 661 400 W 1 5 R7G VRSFPB05C400P ...

Page 68: ... 200 3 82 80 300 11 5 3 38 10 6 588 294 1 25 R7G RGSF25B100P 120 4 02 See note 4 50 180 12 0 See note 4 3 78 10 6 686 343 200 W 1 5 R7G RGSF05B200P 600 2 71 85 900 8 10 1 53 10 5 392 196 1 9 R7G RGSF09C400P 333 3 78 66 500 11 3 2 56 10 5 931 465 1 15 R7G RGSF15C400P 200 6 31 66 300 18 9 2 71 10 5 1176 588 1 25 R7G RGSF25C400P 120 11 1 70 180 33 4 2 67 10 5 1323 661 400 W 1 5 R7G RGSF05C400P 600 5 ...

Page 69: ...h no special cable provided or to a controller manufactured by another company wire a connector to match the control ler Note There is one method for connecting to a Controller with no special cable provided and another method for using connector Terminal Block cable and a connector Terminal Block Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath...

Page 70: ...ge Red CW 3 Gray Black CCW 4 Gray Red CCW 5 White Black 6 White Red 7 Yellow Black BKIR 8 Yellow Red INP 9 Pink Black 10 Pink Red 11 Gray Black 12 Gray Red 24VIN 13 Orange Black 24VIN Orange Red RUN 14 White Black 15 White Red 16 Yellow Black 17 Yellow Red 18 Pink Black RESET Wire Mark color No Symbol 27 Yellow Red 28 Pink Black 29 Pink Red 30 Orange Black 31 Orange Red 32 Gray Black Z ALM 33 Gray...

Page 71: ... A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B A B No Servo Driver CW CW CCW CCW BKIR INP 24VIN RUN RESET GND ECRST ECRST OGND 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 27 28 29 30 31 32 Z ALM 33 ZCOM 34 35 ALMCOM Shell FG 20 RXD 21 RXD 22 TXD TXD RT 23 24 25 26 19 Symbol Servo Driver connector Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Termi...

Page 72: ...of times that the Cable can be bent without breaking or other damage occurring that affects the sheath functionality when the conductors inside the cable are conducting electricity The bending durability does not apply to the shield breaking Note 3 Mechanical failure ground faults or other problems may occur due to damaged insulation if the Cable is used with a radius smaller than the minimum bend...

Page 73: ...Configuration and External Dimensions Model Length L Outer diameter of sheath Weight R7A CEA003S 3 m 12 4 dia Approx 0 8 kg R7A CEA005S 5 m Approx 1 2 kg R7A CEA010S 10 m Approx 2 1 kg R7A CEA015S 15 m Approx 3 1 kg R7A CEA020S 20 m Approx 4 0 kg Stroke 320 mm Bending radius R 100 times minute Servo Driver Servomotor R7D AP R7M A 50 39 50 L 80 t 15 7 27 7 27 4 t 12 43 7 21 5 t 12 7 29 5 ...

Page 74: ...2 E0V 3 E5V 4 E5V 5 E5V 6 7 S 8 S 9 A 10 A 11 B 12 B 13 14 FG Shell Symbol No Servomotor 7 E0V 8 E5V 5 6 1 2 3 4 S S A A B B Shell FG AWG22 Black AWG22 Red AWG24 Green AWG24 Green White AWG24 Blue AWG24 Blue White AWG24 Yellow AWG24 Yellow White Symbol No 1 U phase 2 V phase 3 4 W phase FG AWG20 Red AWG20 White AWG20 Blue AWG20 Green Yellow M4 crimp terminal Connector kit 54280 0800 Molex Japan Co...

Page 75: ... 2 3 4 S S A A B B Shell FG AWG22 Black AWG22 Red AWG24 Green AWG24 Green White AWG24 Blue AWG24 Blue White AWG24 Yellow AWG24 Yellow White Symbol No 1 U phase 2 V phase 3 4 W phase FG 5 Brake 6 Brake AWG20 Red AWG20 White AWG20 Blue AWG20 Green Yellow M4 crimp terminal AWG20 Black M4 crimp terminal AWG20 Brown M4 crimp terminal Connector kit 54280 0800 Molex Japan Connector cap 350781 1 Tyco Elec...

Page 76: ...R88A CAWA005S 5 m Approx 0 3 kg R88A CAWA005B 5 m Approx 0 5 kg R88A CAWA010S 10 m Approx 0 6 kg R88A CAWA010B 10 m Approx 0 9 kg R88A CAWA015S 15 m Approx 0 9 kg R88A CAWA015B 15 m Approx 1 3 kg R88A CAWA020S 20 m Approx 1 2 kg R88A CAWA020B 20 m Approx 1 7 kg 50 50 L L 27 4 27 4 Servo Driver Servomotor Servo Driver Servomotor R7D AP R7D AP t 15 7 t 28 4 14 26 7 R7M A R7M A Power Cables for Servo...

Page 77: ...R 5 m Approx 0 4 kg R88A CAWA010SR 10 m Approx 0 7 kg R88A CAWA010BR 10 m Approx 0 9 kg R88A CAWA015SR 15 m Approx 1 0 kg R88A CAWA015BR 15 m Approx 1 3 kg R88A CAWA020SR 20 m Approx 1 3 kg R88A CAWA020BR 20 m Approx 1 7 kg Servo Driver Red White Blue Green Yellow M4 crimp terminal Cable AWG20 x 6C UL2464 Servomotor Symbol U phase V phase W phase FG Brake Brake No 1 2 3 4 5 6 Black Brown Cable sid...

Page 78: ... Approx 0 9 kg R7A CRA015CR 15 m Approx 1 3 kg R7A CRA020CR 20 m Approx 1 7 kg Servo Driver Red White Blue Green Yellow M4 crimp terminal Cable AWG21 x 4C UL2464 Servomotor Symbol U phase V phase W phase FG No 1 2 3 4 Cable side Connector cap 350780 1 Tyco Electronics AMP Connector socket 350689 3 Tyco Electronics AMP Servomotor side Connector plug 350779 1 Tyco Electronics AMP Contact pin 350690 ...

Page 79: ... E0V E5V E5V E5V S S A A B B FG Shell Symbol No Servomotor E0V E5V S S A A B B Shell FG AWG22 Black AWG22 Red AWG24 Green AWG24 Green White AWG24 Blue AWG24 Blue White AWG24 Yellow AWG24 Yellow White Connector kit 54280 0800 Molex Japan Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M Servo Driver Symbol 1 2 3 4 5 6 7 8 9 10 11 12 13 14 7 8 5 6 1 2 3 4 ...

Page 80: ...r connecting monitor outputs to external devices such as measuring instruments Cable Model Connection Configuration and External Dimensions Wiring Model Length L Weight R88A CMW001S 1 m Approx 0 1 kg Servo Driver External device R7D AP 1 7 dia 7 3 L 5 t 6 Connector socket DF11 4DS 2C Hirose Electric Connector contacts DF11 2428SCF Hirose Electric Cable AW24 4C UL1007 Servo Driver Red White Black B...

Page 81: ...er for NEC PC98 notebook computers but not for PC98 desktop computers Cable Models For DOS Computers For NEC PC98 Notebook Computers Connection Configuration and External Dimensions For DOS Personal Computers For NEC PC98 Notebook Computers Model Length L Outer diameter of sheath Weight R7A CCA002P2 2 m 4 2 dia Approx 0 1 kg Model Length L Outer diameter of sheath Weight R7A CCA002P3 2 m 4 2 dia A...

Page 82: ...ray Black Orange Black Orange Red Cable AWG28 3C UL2464 Servo Driver Shell No No 2 1 2 8 3 7 8 5 RXD RXD TXD TXD RTS CTS GND FG GND FG Symbol Case Connector HR212 10P 8P Hirose Electric Computer Symbol Symbol Gray Black Orange Black Orange Red Cable AWG28 3C UL2464 Servo Driver Shell Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52F0 008 Sumitomo 3M No No 1 1 2 8 9 10 4 14 12 RXD RX...

Page 83: ... a soldered type connector and the applicable cable is as follows Applicable cable AWG16 max Outer diameter of coating 2 1 mm dia max Outer diameter of sheath 6 7 0 5 mm dia External Dimensions R7A CNA01R Servo Driver CN2 R7A CNA02R Servomotor 29 5 39 t 12 7 Connector plug 10114 3000VE Sumitomo 3M Connector case 10314 52A0 008 Sumitomo 3M t 12 43 7 21 5 Connector kit 54280 0800 Molex Japan ...

Page 84: ...cting Cable All dimensions are in millimeters unless otherwise specified 2 7 1 Servo Relay Units XW2B 20J6 1B This Servo Relay Unit connects to the following OMRON Position Control Units Communications are not supported CS1W NC113 NC133 CJ1W NC113 NC133 C200HW NC113 C200H NC112 3F88M DRT141 External Dimensions 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 Position Control Unit connec...

Page 85: ...nally connected to the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end Emergency stop CW limit CCW limit Origin proximity Com mon External interrupt See note 1 24 V 0 V RUN ALM BKIR 10 0 19 9 RESET ALMCOM FG X1 XB 24 V DC X1 24 V DC Com mon Com mon Com mon Com mon 0 1 2 3 4 5 6 7 8 9 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 2 0 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2...

Page 86: ...rnal interrupt X axis RESET X axis ALMCOM Y axis external interrupt Y axis RESET Y axis ALMCOM Note 1 The XB contact is used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The 0 V terminal is internally connected to the common terminals 4 The following crimp terminal is applicable R1 25 3 round with open end 24 V 0 V 20 0 39 19 FG 24 V DC X1 XB 24 V DC See note 1 Y1 Y...

Page 87: ...these signals are input the CQM1 output pulse can be input into the High speed Counter Note 2 Input this output signal to the CQM1 Input Unit Note 3 The XB contact is used to turn ON OFF the electromagnetic brake Note 4 Phase Z is an open collector output Note 5 Do not connect unused terminals Note 6 The 0 V terminal is internally connected to the common terminals Note 7 The following crimp termin...

Page 88: ...s CW limit X axis CCW limit X axis origin proximity X axis RUN X axis ALM X axis BKIR Y axis CW limit Y axis CCW limit Y axis origin proximity Y axis RUN Y axis ALM Y axis BKIR X axis external interrupt X axis RESET X axis ALMCOM Y axis external interrupt Y axis RESET Y axis ALMCOM Note 1 The XB contact is used to turn ON OFF the electromagnetic brake 2 Do not connect unused terminals 3 The 0 V te...

Page 89: ...W limit See note 1 CIO 2960 06 CCW limit See note 1 CIO 2960 07 Example 2960 06 A540 08 XB X1 Note1 The CW limit input signal and CCW limit input signal can be input through an Input Unit The following flags function as the CW CCW limit input signals in the CJ1M Pulse Output 0 CW A540 08 CCW A540 09 Pulse Output 1 CW A541 08 CCW A541 09 Program the actual inputs from the Input Unit to control thes...

Page 90: ...rvo Relay Unit connects to the following OMRON Programmable Controllers Communications are not sup ported CJ1M CPU21 CPU22 CPU23 CJ1M CPU connector X axis Servo Driver connector 180 3 5 7 3 5 7 Two 3 5 dia 45 15 5 46 44 3 2 20 5 29 5 Y axis Servo Driver connector Note Terminal pitch 7 62 mm ...

Page 91: ...is CCW limit See note 1 CIO 2960 09 Note1 The CW limit input signal and CCW limit input signal can be input through an Input Unit The follow ing flags function as the CW CCW limit input signals in the CJ1M Pulse Output 0 CW A540 08 CCW A540 09 Pulse Output 1 CW A541 08 CCW A541 09 Program the actual inputs from the Input Unit to control these flags as ladder program outputs as shown below Note2 Th...

Page 92: ...xternal Dimensions Signal selectors Communications support connectors 160 Controller general purpose I O Controller special I O Servo B phase selectors 4 5 dia 100 41 7 Terminating resistance selector 90 15 9 30 7 Y axis Servo Driver X axis Servo Driver ...

Page 93: ...8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 Signal name Signal name 5 V See note 1 Latch signal input 1 Latch signal input 2 CNT1 A phase LD input CNT1 B phase LD input Servo Driver 1 Z phase LD output Voltage input Servo Driver 1 ALM IN4 IN5 IN6 IN7 Servo Driver 1 RUN Servo Driver 1 RESET Servo Driver 1 ECRST TXD RXD No No 60 61 62 63 Latch signal 1 common ...

Page 94: ... SER_B Not used TER_B Connects phase A of an external encoder to the CNT1 phase B of the controller CNT1 SER_Z SER_Z Connects phase Z of Servo Driver 1 to the CNT1 phase Z of the control ler TER_Z Outputs the phase Z output of Servo Driver 1 from the terminals DA2 Not used Always set to the Y axis AD Not used Signal name Signal name 24 V See note 2 24 V See note 3 Servo Driver 2 ALM Servo Driver 2...

Page 95: ...ollowing ferrules are applicable Wiring Procedure Inserting a Wire Fully insert the ferrule all the way into the desired terminal hole Releasing a Wire Insert a small flathead screwdriver into the release button above the terminal hole and pull out the wire while pressing the button Manufacturer Model Applicable wire Phoenix Contact AI 0 5 10 0 5 mm2 20 AWG AI 0 75 10 0 75 mm2 18 AWG AI 1 5 10 1 2...

Page 96: ...0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 5 V 24 V 5 V Latch signal input 1 Latch signal input 2 CNT1 A phase LD input CNT1 B phase LD input Servo Driver 1 Z phase LD output Servo Driver 1 ALM IN4 IN5 IN6 IN7 Servo Driver 1 RUN Servo Driver 1 RESET Servo Driver 1 ECRST TXD RXD 60 61 62 63 Latch signal...

Page 97: ...o Driver 2 RUN Servo Driver 2 RESET Servo Driver 2 ECRST 20 21 22 23 Common 0 V Servo Driver 2 INP Common 0 V Common 0 V Common 0 V Common 0 V FG OUT6 OUT7 OUT4 OUT5 0 V 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 0 V Common 0 V Common 0 V Common 0 V Common 0 V IN0 IN1 IN2 IN3 FG 24 V ...

Page 98: ...Wiring Model Length L Outer diameter of sheath Weight XW2Z 100J B5 1 m 8 0 dia Approx 0 1 kg XW2Z 200J B5 2 m Approx 0 2 kg Servo Relay Unit Servo Driver R7D AP XW2B 20J6 1B XW2B 40J6 2B XW2B 20J6 3B 43 6 30 39 L 6 t 18 Servo Relay Unit Symbol Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Cable AWG28 4P AWG28 9C Servo Driver Shell No 1 2 3 4 5 6 7 8 9 10 11 12 1...

Page 99: ...r diameter of sheath Weight XW2Z 100J B7 1 m 8 0 dia Approx 0 1 kg XW2Z 200J B7 2 m Approx 0 2 kg Servo Relay Unit XW2B 40J60 4A Servo Driver R7D AP 43 6 30 39 L 6 t 18 No Servo Relay Unit 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 21 22 23 24 25 26 20 Symbol No Servo Driver 13 24VIN OGND 10 CCW 3 CCW 4 1 CW 2 CW ECRST 6 ECRST 5 33 ZCOM 32 Z INP 8 14 RUN 15 18 RESET 7 BKIR 34 ALM 35 ALMCOM 20...

Page 100: ...t Use these cables to con nect to a Customizable Counter Unit CSW HCP22 V1 or Servo Relay Unit XW2B 80J7 1A Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 100J B12 1 m 8 0 dia Approx 0 1 kg XW2Z 200J B12 2 m Approx 0 2 kg Servo Relay Unit XW2B 80J7 1A Servo Driver R7D AP 43 6 48 39 L 6 ...

Page 101: ...QM1 MMP21 or Servo Relay Unit XW2B 80J7 1A Servo Relay Unit Symbol Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Cable AWG28 6P AWG28 9C Servo Driver Shell No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 No 13 24VIN OGND 10 CCW 3 CCW 4 1 CW 2 CW ECRST 6 ECRST 5 33 ZCOM 32 Z INP 8 14 RUN 18 RESET 7 BKIR 34 ALM 35 ALMCOM FG 20 21 22 23 RXD RXD TXD TXD 21 22 ...

Page 102: ...vo Relay Unit XW2B 80J7 1A Servo Driver R7D AP 43 6 48 39 L 6 Servo Relay Unit Symbol Connector plug 10136 3000VE Sumitomo 3M Connector case 10336 52A0 008 Sumitomo 3M Cable AWG28 6P AWG28 9C Servo Driver Shell No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 No 13 24VIN OGND 10 CCW 3 CCW 4 1 CW 2 CW ECRST 6 ECRST 5 33 ZCOM 32 Z INP 8 14 RUN 18 RESET 7 BKIR 34 ALM 35 ALMCOM FG 20 21 22 23 RXD...

Page 103: ...Servo Relay Unit Cable Models Connection Configuration and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A3 50 cm 7 5 dia Approx 0 1 kg XW2Z 100J A3 1 m Approx 0 1 kg CQM1 CQM1 CPU43 V1 CQM1H PLB21 L Servo Relay Unit XW2B 20J6 3B 25 6 39 32 2 t 15 Servo Relay Unit Cable AWG28 4P AWG28 4C No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 No CQM1 15 12 13 14 3 1 4 5 6 H...

Page 104: ...and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A1 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A1 1 m Approx 0 1 kg Position Control Unit C200H NC112 Servo Relay Unit XW2B 20J6 1B 8 L 6 69 5 38 Position Control Unit Cable AWG28 4P AWG28 15C Servo Relay Unit No A1 A5 A3 A4 A6 A7 A8 B8 A9 B9 A10 B10 A12 B12 A13 B13 A19 B19 A20 B20 A11 B11 No 1 2 3 4 5 6 7 8 9 10 11 ...

Page 105: ...C500 NC211 Posi tion Control Unit and an XW2B 40J6 2B Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A5 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A5 1 m Approx 0 2 kg Position Control Unit Servo Relay Unit C200H NC211 C500 NC113 C500 NC211 XW2B 40J6 2B 40 5 L 6 52 3 38 t 18 ...

Page 106: ...s Wiring Position Control Unit Cable AWG28 6P AWG28 19C Servo Relay Unit No 1 23 13 2 4 5 9 11 22 6 7 8 17 18 19 15 24 26 27 31 33 20 21 29 28 30 10 32 12 No 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 34 33 ...

Page 107: ...ation and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A8 50 cm 8 0 dia Approx 0 1 kg XW2Z 100J A8 1 m Approx 0 1 kg Position Control Unit CS1W NC113 C200HW NC113 Servo Relay Unit XW2B 20J6 1B 38 L 6 47 83 t 11 Position Control Unit Cable AWG28 4P AWG28 9C Servo Relay Unit Crimp terminal No A1 A2 A8 A6 A10 A24 A12 A21 A23 A22 A19 A20 No 1 2 3 4 5 6 7 8 9 10 1...

Page 108: ...Position Control Unit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A9 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A9 1 m Approx 0 2 kg Position Control Unit CS1W NC213 CS1W NC413 C200HW NC213 C200HW NC413 Servo Relay Unit XW2B 40J6 2B XW2B 40J6 4A 48 L 6 47 83 t 11 ...

Page 109: ...ntrol Unit Cable AWG28 6P AWG28 17C Servo Relay Unit Crimp terminal No 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 34 33 No A1 B1 A2 B2 A8 A6 A10 A14 A24 B24 A19 A21 A12 A23 A22 A20 B20 B8 B6 B10 B14 B23 B22 B21 B19 B12 A15 B15 ...

Page 110: ...ensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A12 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A12 1 m Approx 0 2 kg Position Control Unit CS1W NC133 Servo Relay Unit XW2B 20J6 1B 48 L 6 47 83 t 11 1000 Servo Relay Unit Cable AWG28 4P AWG28 9C No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 No Position Control Unit A1 A2 A7 A8 A5 A6 A10 A24 A12 A21 A23 A15 A14...

Page 111: ...ition Control Unit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A13 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A13 1 m Approx 0 2 kg Position Control Unit CS1W NC233 CS1W NC433 Servo Relay Unit XW2B 40J6 2B XW2B 40J6 4A 48 L 6 47 83 t 11 1000 ...

Page 112: ...G28 17C No 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 34 33 No Position Control Unit A1 B1 A2 B2 A8 A7 A6 A5 A10 A14 A24 B24 A19 A21 A12 A23 A22 A20 B20 B8 B6 B7 B5 B10 B14 B23 B22 B21 B19 B12 A15 B15 Crimp terminal A3 B3 A4 B4 AWG20 Black AWG20 Red ...

Page 113: ...Position Control Unit and an XW2B 20J6 1B Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A16 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A16 1 m Approx 0 2 kg Position Control Unit CJ1W NC113 Servo Relay Unit XW2B 20J6 1B 20J6 1B C J 1 W N C 1 1 3 L 6 38 t 11 500 ...

Page 114: ...s and Specifications Wiring Position Control Unit Cable AWG28 4P AWG28 9C Servo Relay Unit Crimp terminal No A1 A2 A8 A6 A9 A20 A11 A17 A19 A18 A15 A16 A13 A12 No 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 ...

Page 115: ...nit and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A17 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A17 1 m Approx 0 2 kg Position Control Unit CJ1W NC213 CJ1W NC413 XW2B 40J6 2B XW2B 40J6 4A L 6 t 11 500 40J6 2B C J 1 W N C 2 1 3 N C 4 1 3 48 Servo Relay Unit ...

Page 116: ...ion Control Unit Cable AWG28 6P AWG28 17C Servo Relay Unit Crimp terminal No A1 B1 A2 B2 A8 A6 A9 A20 B20 A15 A17 A11 A19 A18 B8 A16 B16 No 1 2 3 4 5 6 7 8 11 12 13 14 15 16 17 18 19 20 21 22 23 24 27 30 28 31 32 34 33 29 A12 B6 B9 B12 B19 B18 B17 B15 B11 A13 B13 ...

Page 117: ...sition Control Unit and an XW2B 20J6 1B Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A20 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A20 1 m Approx 0 2 kg Position Control Unit CJ1W NC133 Servo Relay Unit XW2B 20J6 1B L 6 38 t 11 500 20J6 1B C J 1 W N C 1 3 3 1000 ...

Page 118: ...ons Wiring Position Control Unit Cable AWG28 4P AWG28 9C Servo Relay Unit Crimp terminal No A1 A2 A8 A6 A7 A5 A9 A20 A11 A17 A19 A18 A15 A16 A13 A12 No 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 A3 A4 AWG20 Black AWG20 Red ...

Page 119: ...t and an XW2B 40J6 2B or XW2B 40J6 4A Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A21 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A21 1 m Approx 0 2 kg Position Control Unit CJ1W NC233 CJ1W NC433 XW2B 40J6 2B XW2B 40J6 4A C J 1 W N C 2 3 3 N C 4 3 3 40J6 2B L 6 t 11 500 48 1000 Servo Relay Unit ...

Page 120: ...AWG28 6P AWG28 17C Servo Relay Unit Crimp terminal No A3 B3 A4 B4 A1 B1 A2 B2 A8 A6 A7 A5 A9 A20 B20 A15 A17 A11 A19 A18 B8 A16 No 1 2 3 4 5 6 7 8 11 12 13 14 15 16 17 18 19 20 21 22 23 24 27 30 28 31 32 34 33 29 A12 B6 B7 B5 B9 B12 B19 B18 B17 B15 B11 A13 B13 B16 AWG20 Black AWG20 Red ...

Page 121: ...Configuration and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 050J A22 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A22 1 m Approx 0 2 kg Position Control Unit CS1W HCP22 Servo Relay Unit XW2B 20J6 3B 20J6 3B C S 1 W H C P 2 2 L 6 25 t 11 500 Position Control Unit Cable AWG28 4P AWG28 4C Servo Relay Unit Crimp terminal No A19 A20 A18 A16 A15 A17 No 1 2 3 4 5 6 7 8 9 10...

Page 122: ...ion Control Unit and an XW2B 20J6 3B Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A23 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A23 1 m Approx 0 2 kg Position Control Unit CS1W HCP22 Servo Relay Unit XW2B 20J6 3B 20J6 3B C S 1 W H C P 2 2 20J6 3B L 6 25 25 t 11 500 ...

Page 123: ...osition Control Unit Cable AWG28 4P AWG28 4C Servo Relay Unit Crimp terminal No A19 A20 A18 A16 A15 A17 No 1 2 3 4 5 6 7 8 9 10 11 12 13 B2 A1 B4 A3 No 1 2 3 4 5 6 7 8 9 10 11 12 13 B19 B20 B18 B16 B15 B17 B8 A7 B10 A9 Cable AWG28 4P AWG28 4C Servo Relay Unit ...

Page 124: ...e shaft Positioner for DeviceNet and an XW2B 20J6 1B Servo Relay Unit Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A25 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A25 1 m Approx 0 2 kg Position Control Unit 3F88M DRT141 Servo Relay Unit XW2B 20J6 1B 38 L 6 47 83 t 11 20J6 1B 500 1 5 0 ...

Page 125: ... Position Control Unit Cable AWG28 8P AWG28 16C Servo Relay Unit Crimp terminal Round No No A24 B24 B21 B22 A21 A22 A20 B20 A1 B10 A16 B16 A10 B9 A9 B8 B2 A11 B11 B19 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 Crimp terminal Y type ...

Page 126: ...J1M CPU21 CPU22 CPU23 and a Servo Relay Unit XW2B 20J6 8A and XW2B 40J6 9A Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 100J A26 1 m 10 0 dia Approx 0 1 kg 500 L 56 6 CJ1M CPU Unit CJ1M CPU21 CJ1M CPU22 CJ1M CPU23 CJ1M CPU22 23 6 48 20J6 8A 40J6 9A Servo Relay Unit XW2B 20J6 8A XW2B 40J6 9A ...

Page 127: ...fications Wiring Cable AWG28 6P AWG28 17C Servo Relay Unit No 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 FG CJ1M CPU Unit No 37 39 40 32 31 35 5 17 6 1 23 24 34 33 36 11 18 12 7 29 30 2 8 13 14 19 20 25 26 ...

Page 128: ...le Counter Unit CS1W HCP22 V1 and a Servo Relay Unit XW2B 80J7 1A Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A32 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A32 1 m Approx 0 2 kg Customizable Counter Unit L t 11 6 Servo Relay Unit 55 500 C S 1 W H C P 2 2 80J7 1A CS1W HCP22 V1 XW2B 80J7 1A ...

Page 129: ...Cable AWG28 6P AWG28 17C Servo Relay Unit No No B1 A1 B3 A3 B5 A5 A19 A13 B6 A16 A18 A20 B7 A7 B9 A9 B11 A11 B19 1 2 3 4 5 6 8 9 10 14 16 19 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 40 FG Customizable Counter Unit Crimp terminals B12 B14 B13 B16 B18 B20 ...

Page 130: ...t CS1W HCP22 V1 and the general purpose I O of a Servo Relay Unit XW2B 80J7 1A Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A29 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A29 1 m Approx 0 2 kg Customizable Counter Unit L t 11 6 Servo Relay Unit 55 500 C S 1 W H C P 2 2 80J7 1A CS1W HCP22 V1 XW2B 80J7 1A ...

Page 131: ...iring Cable AWG28 6P AWG28 17C Servo Relay Unit No No B1 B2 B3 B4 B5 A11 B9 B8 B10 A12 B11 B12 A1 A2 A3 A4 A5 A10 A6 2 4 6 8 10 12 14 16 18 20 22 24 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 FG Customizable Counter Unit Crimp terminals A7 A8 A9 B6 B7 33 ...

Page 132: ...Module FQM1 MMP21 and the special I O of a Servo Relay Unit XW2B 80J7 1A Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A30 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A30 1 m Approx 0 2 kg Motion Control Module L 6 Servo Relay Unit 55 80J7 1A FQM1 MMP21 XW2B 80J7 1A 55 6 FQM1 MMP21 ...

Page 133: ...vo Relay Unit No No 3 5 9 11 15 17 21 23 13 27 31 35 4 6 10 16 1 2 3 4 5 6 8 9 10 11 13 14 15 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 40 FG Motion Control Module 20 22 24 26 28 34 7 12 16 17 18 19 20 21 Crimp terminals 19 25 29 33 12 18 14 30 32 36 37 38 39 ...

Page 134: ...odule FQM1 MMP21 and the general purpose I O of a Servo Relay Unit XW2B 80J7 1A Cable Models Connection Configuration and External Dimensions Model Length L Outer diameter of sheath Weight XW2Z 050J A28 50 cm 10 0 dia Approx 0 1 kg XW2Z 100J A28 1 m Approx 0 2 kg Motion Control Module L 6 Servo Relay Unit 48 80J7 1A FQM1 MMP21 XW2B 80J7 1A 38 6 FQM1 MMP21 ...

Page 135: ...and Specifications Wiring Servo Relay Unit No No 1 3 5 7 9 11 15 17 19 23 4 6 10 16 1 2 3 4 5 6 8 9 10 11 22 23 24 25 26 27 28 29 30 31 32 33 34 FG Motion Control Module 20 22 24 7 12 17 18 19 20 21 Crimp terminals 13 21 2 8 12 18 14 ...

Page 136: ...tions Unit or Board Cable Models Connection Configuration and External Dimensions Wiring Model Length L Outer diameter of sheath Weight XW2Z 100J C1 1 m 10 0 dia Approx 0 1 kg XW2Z 200J C1 2 m Approx 0 2 kg 39 L 32 2 t 15 39 t 15 32 2 Symbol No Symbol No Shell 2 1 8 6 Shell SDB SDA RDB RDA FG FG Connector XM2A 0901 OMRON Connector Hood XM2S 0911 OMRON 2 1 8 6 SDB SDA RDB RDA Connector XM2A 0901 OM...

Page 137: ...ondensation Storage and operating atmo sphere No corrosive gasses Vibration resistance 10 to 55 Hz 0 1 mm double amplitude or 9 8 m s2 max acceleration whichever is smallest in X Y and Z directions Impact resistance 19 6 m s2 max acceleration three times each in X Y and Z directions Model Standards Type Hand held Cable length 1 m Connectors HR212 10P 8P 8 pins Hirose Electric Display 17 digit 5 se...

Page 138: ...ameter settings Monitor display Displaying all monitor data Function Mode Executing functions Alarm displays Displaying alarms Parameter copying Reading and saving parameters from the Servo Driver to the Parameter Unit writing parameters from the Parameter Unit to the Servo Driver and comparing Servo Driver and Parameter Unit parameters ...

Page 139: ...he Servomotor s re generative energy is excessive remove the short bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2 Note 2 Refer to Surge Absorbers for External Regeneration Resistor selection details R88A RR22047S External Regeneration Resistor Specifications External Dimensions All dimensions are in millimeters R88A RR22047S External Regeneration Resistor Mod...

Page 140: ...L APA5L AP01L R88A PX5063 1 8 10 0 Approx 0 6 R7D AP02L R88A PX5062 3 5 4 7 Approx 0 9 R7D AP04L R88A PX5061 4 8 2 0 Approx 0 5 200 V R7D APA3H APA5H AP01H R88A PX5071 0 85 40 0 Approx 0 5 R7D AP02H R88A PX5070 1 65 20 0 Approx 0 8 R7D AP04H R88A PX5069 3 3 10 0 Approx 1 0 R7D AP08H R88A PX5061 4 8 2 0 Approx 0 5 Model A B C D E F G H R88A PX5061 35 52 80 95 35 45 50 4 R88A PX5062 40 59 100 120 40...

Page 141: ...Chapter 3 System Design and Installation 3 1 Installation Conditions 3 2 Wiring 3 3 Regenerative Energy Absorption ...

Page 142: ...ghtening torque may result in malfunction Caution Use crimp terminals for wiring Do not connect bare stranded wires directly to ter minals Connection of bare stranded wires may result in burning Caution Always use the power supply voltages specified in the this manual An incorrect voltage may result in malfunctioning or burning Caution Take appropriate measures to ensure that the specified power w...

Page 143: ...e following conditions Ambient operating temperature 0 to 55 C Take into account temperature rises in the individual Servo Drivers themselves Ambient operating humidity 90 max with no condensation Atmosphere No corrosive gases Ambient Temperature Servo Drivers should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability Temperature rise in a...

Page 144: ...plete If the cover is left on during operation heat buildup may damage the 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 Servo Drivers 3 1 2 Servomotors Operating Environment The environment in which the Servomotor is operated must meet the following conditions Operating the Servomotor...

Page 145: ...hich exceeds specifications Do not put rubber packing on the flange surface If the flange is mounted with rubber packing the motor flange may separate due to the tightening strength When connecting to a V belt or timing belt consult the maker for belt selection and tension A radial load twice the belt tension will be placed on the motor shaft Do not allow a radial load exceeding specifications to ...

Page 146: ...reductions gears or Servomotor may result in a reduction in the service life of the motor bearings The dimensions of the Servomotor mounting flange on the reduction gears differ for each Servomo tor Do not install reduction gears on a Servomotor other than the one specified Use a Servomotor with a straight shaft and without a key when installing reduction gears Install reduction gears on the Servo...

Page 147: ...ith a reduction gear from another company select the reduction gear so that the loads on the motor shaft i e both the radial and thrust loads are with the allowable values Refer to 2 4 2 Performance Specifications for details on the allowable loads for motors Also control the motor speed and output torque so that the allowable input speed and allowable input torque of the reduction gear is not exc...

Page 148: ...213 233 CS1W NC413 433 C200HW NC113 C200HW NC213 C200HW NC413 C500 NC113 C500 NC211 C200H NC112 C200H NC211 2 3 1 R7D AP R7M A 5 6 CN4 Note A 1 meter cable is provided with the Parameter Unit SCROLL SCROLL MODE SET MODE SET DATA RESET JOG JOG RUN RUN DRIVER PR DRIVER PR PR DRIVER PR DRIVER READ WRITE WRITE R7A PR02A PARAMETER UNIT B B B B INP INP VCMP VCMP TGON TGON REF REF POWER POWER Position Co...

Page 149: ...ed to the Servo Driver Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Driver Cable CQM1 CPU43 V1 XW2Z J A3 XW2B 20J6 3B XW2Z J B5 CQM1H PLB21 C200H NC112 XW2Z J A4 XW2B 20J6 1B C200H NC211 XW2Z J A5 XW2B 40J6 2B C500 NC113 C500 NC211 CS1W NC113 XW2Z J A8 XW2B 20J6 1B C200HW NC113 CS1W NC213 XW2Z J A9 XW2B 40J6 2B CS1W NC413 C200HW NC213 C200HW NC413 CS1W NC133 XW2Z J A12 ...

Page 150: ... cable length can be 1 or 2 meters long For example XW2Z 100J C1 is 1 meter long 2 Connector Terminal Block and Cables These cables are used for connecting to Controllers for which no special cable is provided The cables and terminal block convert the Servo Driver s Control I O Connector CN1 signals to terminal block connections Position Control Unit Position Control Unit Cable Servo Relay Unit Se...

Page 151: ...PU001S is 1 meter long Control I O Connector R88A CNU01C This is the connector for connecting to the Con trol I O Connector CN1 This item is a con nector only Specifications Cable model number Remarks Cable for Servomotors with out brakes both Cylinder style and Flat style R7A CEA S Insert the cable length in the of the model number There are five cable lengths 3 m 5 m 10 m 15 m and 20 m Model num...

Page 152: ... and Flat style R7A CRA C Insert the cable length in the of the model number There are five cable lengths 3 m 5 m 10 m 15 m and 20 m Model number example R7A CRA003C for a 3 m cable Robot Cable for Servomotors with or without brakes both Cylinder style and Flat style R7A CRA CR Insert the cable length in the of the model number There are four cable lengths 3 m 5 m 15 m and 20 m Model number exam p...

Page 153: ...Y Relay 24 V by OMRON 3 For 400 W and 750 W Servo Drivers an R88A RR22047S External Regeneration Resistor may be connected Connect if the regenerative energy exceeds the individual Servo Driver s regenerative capacity Also connect a thermal switch output so that the power supply will be turned OFF when open 4 If an External Regeneration Resistor is to be connected to a 750 W Servo Driver remove th...

Page 154: ... connected Connect if the regenerative energy exceeds the individual Servo Driver s regenerative capacity Also connect the thermal switch output so that the power supply will be turned OFF when open 4 If an External Regeneration Resistor is to be connected remove the short bar between B2 and B3 5 When either the main circuit power supply or the control circuit power supply is OFF the dynamic brake...

Page 155: ...connect anything to this terminal L1C Control circuit power supply input R7D AP H Single phase 200 230 V AC 170 to 253 V 50 60 Hz R7D AP L Single phase 100 115 V AC 85 to 127 V 50 60 Hz L2C B1 External regener ation resistance connection termi nals 30 to 200 W An External Regeneration Resistor cannot be connected to these terminals 400 W These terminals normally do not need to be connected If ther...

Page 156: ... 2 Main circuit power supply input L1 L2 See note 1 Effective current A rms 1 64 2 2 4 0 6 8 11 Wire size mm2 1 25 1 25 1 25 2 2 Control circuit power supply input L1C L2C Effective current A rms 0 13 0 13 0 13 0 13 0 13 Wire size mm2 1 25 1 25 1 25 1 25 1 25 Effective current A rms 0 42 0 6 0 89 2 0 2 6 Wire size mm2 1 25 1 25 1 25 1 25 1 25 Wire size mm2 2 2 2 2 2 Screw size M4 M4 M4 M4 M4 Torqu...

Page 157: ... 2 2 Control circuit power supply input L1C L2C Effective current A rms 0 1 0 1 0 1 0 1 0 1 0 1 Wire size mm2 1 25 1 25 1 25 1 25 1 25 1 25 Effective current A rms 0 42 0 6 0 89 2 0 2 6 4 4 Wire size mm2 1 25 1 25 1 25 1 25 1 25 2 Wire size mm2 2 2 2 2 2 2 Screw size M4 M4 M4 M4 M4 M4 Torque N m 1 2 1 2 1 2 1 2 1 2 1 2 No fuse breaker or fuse capacity A rms 4 4 4 4 8 11 AWG size Nominal cross sect...

Page 158: ... the wires Prepare wires of the right sizes according to the tables provided under Terminal Block Wire Sizes above and strip off 8 or 9 mm of the covering from the end of each wire 3 Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots as follows Pry the slot open using the lever that comes with the Servo Driver as in Fig A Insert a flat blade scr...

Page 159: ...al position on the Servo Driver 3 2 4 Wiring for Noise Resistance System noise resistance will vary greatly depending on the wiring method used This section explains how to reduce noise through proper wiring Wiring Method Single phase Power Supply Input NFB AC power supply Surge absorber Noise filter Contactor X1 Metal duct Fuse Class D ground Class 3 ground 100 Ω or less Controller power supply T...

Page 160: ... the input termi nal block ground plate and I O lines should be isolated and wired using the shortest distance pos sible Insert a fuse for short circuit failure protection if a surge absorber is installed As a guideline select a fuse with three times the maximum instantaneous current Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at th...

Page 161: ...Block Wir ing shows the rated power supply input currents for each Servomotor Select a no fuse breaker with a rated current greater than the total effective load current when multiple Servomotors are used When making the selection add in the current consumption of other controllers and so on Servo Driver inrush current With low speed no fuse breakers an inrush current 10 times the rated current fl...

Page 162: ...Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver Select a noise filter with a load current of at least twice the rated current The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz Single phase 200 APA3H 30 W 0 82 90 1 025 NF30 SW 10A 200 APA5H 50 W 1 1 90 1 375 NF30 SW 10A 200 AP01H 100 W 2 90 2 5 NF30 S...

Page 163: ...illers for loads that have induction coils such as relays solenoids brakes clutches etc The following table shows types of surge killers and recommended products Three phase LF 315K 15 A Tokin LF 325K 25 A LF 335K 35 A ZCW2210 01 10 A TDK ZCW2220 01 20 A ZCW2230 01 30 A ZCW2240 01 40 A Maker Model Rated current Remarks Tokin LF 310KA 10 A Three phase block noise filter LF 320KA 20 A Type Features ...

Page 164: ...nt When selecting leakage breakers remember to also add the leakage current from devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For details on leakage breakers refer to the manufacturer s catalog The following table shows the Servomotor leakage current for each Servo Driver model Note 1 The above leakage current is for cases wher...

Page 165: ...ng sure that the cable insulation is not peeled off for more than 50 mm In addition always use shielded cable Do not coil cables If cables are long and are coiled mutual induction and inductance will increase and will cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filter models D...

Page 166: ... nated ceramic capacitors between the control power supply and ground at the Servo Driver input section or the controller output section For open collector specifications keep the length of wires to within two meters 3 2 5 Conforming to EMC Directives Conformance to EMC Directives EN55011 class A group 1 EMI and EN61000 6 2 EMS can be ensured by wiring under the conditions described below These co...

Page 167: ...ground Class 3 ground 100 Ω or less Noise filter Brake power supply Noise filter Contactor Ground plate Controller power supply Ferrite core Ferrite core Clamp Ferrite core Clamp Ferrite core Controller Metal duct or conduit Installationincorporating Servo Motor Ferrite core Ferrite core Note 1 The cable wiring for the ferrite core must be 1 5 turns Note 2 Remove the sheath from the cable and grou...

Page 168: ...ground plate and I O lines should be isolated and wired using the shortest distance pos sible Wire the noise filter as shown at the left in the following illustration The noise filter should be installed at the entrance to the control box whenever possible NFB L1 L2 U V W CN2 CN1 R7D A E M B R7M A L3 L1C L2C 2 m max 2 m max Control panel Metal plate AC power supply Metal duct or conduit Surge abso...

Page 169: ...embling the control panel remove the coating from all joints or mask the joints when coating to ensure electrical conductivity Be sure that no gaps are created when installing the control panel as gaps can be caused by dis tortion when tightening screws Be sure there are not any electrically conductive parts that are not in electrical contact Ground all Units mounted in the control panel to the pa...

Page 170: ...aximum output for a Servo Driver is approximately three times that of the rated output and a maximum output of three seconds can be executed Therefore select no fuse breakers with an operating time of at least five seconds at 300 of the rated maximum output General pur pose and low speed no fuse breakers are generally suitable The table in 3 2 3 Terminal Block Wir ing shows the rated power supply ...

Page 171: ...ise filter from among those in the following table for the Servo Driver power supply Note The last 2 digits in the noise filter s model number indicate the type of connection terminals used 07 indicates lead wire terminals There are also models with soldered faston terminals 06 and screw terminals 08 Use the appropriate noise filter for the application For details contact the manufacturer Servo Dr...

Page 172: ...oise filters with different types of terminals contact the manufacturer For single phase input FN2070 6 07 FN2070 10 07 For single phase input FN2070 16 07 Model A B C FN2070 6 07 94 mm 103 mm 113 6 mm FN2070 10 07 130 5 mm 143 mm 156 mm 45 4 56 57 5 18 0 9 8 4 140 5 0 140 5 0 A B C 6 4 4 57 6 140 5 0 1 2 8 6 84 5 85 5 140 5 0 98 5 51 66 4 4 109 119 7 4 ...

Page 173: ...oise filter for the brake power supply Dimensions Noise filter for brake power supply SUP P5H EPR Model Rated current Rated voltage Leakage current Manufacturer SUP P5H EPR 5 A 250 V 0 6 mA at 250 Vrms 60 Hz Okaya Electric Industries Co Ltd 275 300 10 290 305 142 M5 30 6 5 55 38 1 63 5 1 74 7 1 84 1 100 2 50 8 1 24 1 Five M4 Two 4 8 dia ...

Page 174: ...om devices other than the Servomotor such as machines using a switching power supply noise filters inverters and so on For details on leakage breakers refer to the manufacturer s catalog Type Features Recommended products Diode Diodes are relatively small devices such as relays used for loads when reset time is not an issue The reset time is increased because the surge voltage is the lowest when p...

Page 175: ...crease and will cause malfunctions Always use cables fully extended When installing noise filters for Encoder Cables use clamp filters The following table shows the recommended clamp filter models Do not place the Encoder Cable in the same duct as Control Cables for brakes solenoids clutches and valves Improving Control I O Signal Noise Resistance Positioning can be affected and I O signals can er...

Page 176: ...rly careful not to connect the two power supply ground lines It is recommended that a line driver be used for pulse command and deviation counter reset out puts Always use twisted pair shielded cable for pulse command and deviation counter reset signal lines and connect both ends of the shield to frame grounds If the control power supply wiring is long noise resistance can be improved by adding 1 ...

Page 177: ...ating patterns and so on or to improve the regenerative energy absorption capacity by connecting external regeneration resistance 3 3 1 Regenerative Energy Calculation Horizontal Axis Note In the output torque graph acceleration in the positive direction is shown as positive and acceleration in the negative direction is shown as negative The regenerative energy values for Eg1 and Eg2 are derived f...

Page 178: ... for absorbing regenerative energy i e models of 750 W the average amount of regeneration Pr unit W must be calculated and this value must be lower than the Servo Driver s regenerative energy absorption capacity For details refer to 3 3 2 Servo Driver Regenerative Energy Absorption Capacity The average amount of regeneration Pr is the power consumed by regeneration resistance in one cycle of opera...

Page 179: ...r Regenerative Energy Absorption Capacity Amount of Internal Regeneration Resistance in Servo Drivers SMARTSTEP A series Servo Drivers absorb regenerative energy by means of internal capacitors or resistors If the regenerative energy is more than can be processed internally an overvoltage error is generated and operation cannot continue The following table shows the regenerative energy and amount ...

Page 180: ...e Unit between the Servo Driver s B1 and B2 terminals Check the terminal names carefully when connecting to the terminals If the Resistor or Unit is connected to the wrong terminals it will damage the Servomotor Note 1 The External Regeneration Resistor can reach a temperature of approximately 120 C so install it at a distance from heat sensitive devices and wiring In addition a radiation shield m...

Page 181: ...s less than the minimum connection resistance for any given Servo Driver Refer to the following table for the minimum connection resistance values for each Servo Driver and select a suitable combination Servo Driver Minimum Connection Resistance and External Regeneration Resistor Combinations Model Resistance Nominal capacity Regeneration absorption at 120 C Heat radiation Thermal switch output R8...

Page 182: ...nal Regeneration Resistor between the B1 and B2 terminals Servo Driver External Regeneration Resistor Note When using the R88A RR22047S connect the thermal switch output so that the power supply will be shut off when open B1 B2 Note 1 The short circuit wiring between B2 and B3 must be removed 2 When using the R88A RR22047S connect the thermal switch output so that the power supply will be shut off...

Page 183: ...Chapter 4 Operation 4 1 Operational Procedure 4 2 Switch Settings 4 3 Preparing for Operation 4 4 Trial Operation 4 5 Gain Adjustments 4 6 User Parameters 4 7 Operating Functions ...

Page 184: ...uipment dam age Caution Do not make any extreme adjustments or setting changes Doing so may result in unstable operation and injury Caution Separate the Servomotor from the machine check for proper operation and then connect to the machine Not doing so may cause injury Caution When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Not doing so may r...

Page 185: ...ls conforming to the EC Directives Refer to 3 2 Wiring 3 Switch settings Make sure that the power supply is turned OFF and set the Servo Driver s front panel switches Refer to 4 2 Switch Settings 4 Preparing for operation After checking the necessary items turn ON the Unit s power supply Check to see whether there are any internal errors in the Servo Driver Refer to 4 3 Preparing for Operation 5 T...

Page 186: ... rotary switch adjusts the response of the Servomotor To reduce slow down the Servomotor s response set the gain adjustment rotary switch to a low value To increase speed up the Servomotor s response set the gain adjustment rotary switch to a high value Note If the gain adjustment rotary switch is set to 0 the Servomotor will operate according to the Servo Driver s internal parameter Function Swit...

Page 187: ...e for every 1 000 pulses that are input Note At 5 000 pulses rotation 3 000 r min at 250 kpps command pulses At 10 000 pulses rotation 1 500 r min at 250 kpps command pulses Command Pulse Input Setting Switch 3 Switch 3 sets whether the command pulse input uses 2 pulses forward CCW and reverse CW pulses or a 1 pulse feed pulse PULS and a forward reverse signal SIGN Note Set according to the pulse ...

Page 188: ...line Autotuning Switch The online autotuning switch function adjusts the gain automatically during operation Note Operation of the online autotuning switch is described in 4 5 Gain Adjustments Switch 2 Dynamic brake setting OFF Dynamic braking is disabled When the RUN command is turned OFF or when an alarm occurs the Servomotor will coast to a stop ON Dynamic braking is enabled Switch 1 Online aut...

Page 189: ...le phase 200 230 V AC 170 to 253 V 50 60 Hz R7D AP08H Three phase input Main circuit power supply Three phase 200 230 V AC 170 to 253 V 50 60 Hz Control circuit power supply Single phase 200 230 V AC 170 to 253 V 50 60 Hz Checking Terminal Block Wiring The main circuit power supply inputs L1 L2 or L1 L2 L3 and the control circuit power supply inputs L1C L2C must be properly connected to the termin...

Page 190: ...ON one of the codes shown below will appear on the alarm display Note 1 When connecting a flat style Servomotor when the power is turned on P will be displayed and after approximately two seconds will be displayed shows that the servo is OFF When the RUN command is input and the servo turns ON the display will disappear Note 2 The alarm code the number displayed when an error occurs changes depend...

Page 191: ...h Settings After turning OFF the power supply set the following switches Gain adjustment rotary switch Set to 1 to prevent Servomotor vibration Online autotuning switch function switch 6 Set to OFF Turning OFF the Servomotor Set up the system so that the power and the RUN command can be turned OFF so that the Ser vomotor can be immediately turned OFF if an abnormality occurs in the system Trial Op...

Page 192: ...the gain 4 Operation under Actual Conditions Operate the Servomotor in a regular pattern and check the following items Is the operating speed correct Use the speed feedback monitor Is the load torque roughly equivalent to the measured value Use the torque command monitor and the accumulated load monitor Are the positioning points correct When an operation is repeated is there any discrepancy in po...

Page 193: ...et speed loop gain and position loop gain Note Autotuning is disabled in the following cases In these cases or if online autotuning does not operating properly during autotuning procedures do not use online autotuning but adjust using only the gain adjustment rotary switch Refer to 4 5 2 Manual Tuning When the load inertia fluctuates below 200 ms When the rotation speed does not exceed 500 r min o...

Page 194: ...meter then operate with the online autotuning turned OFF Turn ON the online autotuning switch Set the gain adjustment rotary switch Refer to the next page for setting the gain adjustment rotary switch Turn ON the power Run the operation with a normal operating pattern and load If an error occurs reset the gain adjustment rotary switch and perform the operation again Start N Y Turn OFF the power Y ...

Page 195: ...luctuates below 200 ms or less When the rotation speed does not exceed 500 r min or when the output torque does not ex ceed 50 of the rated torque When an external force is always imposed such as with a vertical axis When the load rigidity is low or when the adhesive friction is high Response Switch setting Position loop gain s 1 Speed loop gain Hz Speed loop integral time constant 0 01 ms Torque ...

Page 196: ... the operation with a normal operating pattern and load If an error occurs reset the gain adjustment rotary switch and perform the operation again Start N Y Turn OFF the power Y N If no errors occur stop operation End Do not perform extreme adjustment and setting changes as they may destablize the operation Adjust the gain a little at a time while checking the Servomotor operation Operating proper...

Page 197: ...ameters with individually set digits Pn000 Basic switches 1 0 Reverse rotation mode 0 CCW direction is taken for posi tive command 0010 Yes 1 CW direction is taken for posi tive command 1 Control mode selection 1 Position control by pulse train command 2 Not used 0 3 Not used 0 Pn001 Basic switches 2 0 Stop selection if an alarm occurs when servo is OFF 0 Servomotor stopped by dynamic brake 1002 Y...

Page 198: ...alarms and when servo is turned OFF 0 Deviation counter reset when an alarm occurs and when Ser vomotor is OFF 1 Deviation counter not reset when an alarm occurs nor when Servomotor is OFF 2 Deviation counter reset only when an alarm occurs 3 Not used 1 Pn202 Electronic gear ratio G1 numera tor The pulse rate for the command pulses and Servo Servomotor travel dis tance 0 01 G1 G2 100 4 1 to 65535 ...

Page 199: ...0 Pn505 Deviation counter overflow level The detection level for a deviation counter overflow alarm 1024 256 com mand units 1 to 32767 Pn600 Regeneration resistor capacity Setting for regeneration resistance load ratio monitoring calculations Note If using an External Regeneration Resistor set the regeneration capacity for when the temperature rises above 120 C If not using an External Regeneratio...

Page 200: ...he response and the lower the resilience to external force There is a risk of vibration if the setting is too low When the speed loop integral time constant is manipulated the response changes as shown in the following diagram Note This parameter is enabled only if the gain adjustment rotary switch has been set to 0 Pn100 Speed loop gain Settings 1 to 2000 Unit Hz Default 80 Restart Pn101 Speed lo...

Page 201: ...ng feed forward You can also shorten the positioning time using the bias function Position loop gain is generally expressed as follows When the position loop gain is manipulated the response is as shown in the following diagram Note This parameter is enabled only if the gain adjustment rotary switch has been set to 0 Set the mechanical system inertia load inertia for Servomotor shaft conversion us...

Page 202: ... power is turned ON execute autotuning and when the load inertia calculations are complete use the data for control Thereafter do not perform autotuning again whenever the power is turned ON Make this setting if load inertia fluctuation is small 1 Constantly refresh the load inertia calculation data and constantly store the responses Make this setting if load inertia fluctuates constantly 2 Do not...

Page 203: ... 3 command pulse input setting is used Pn110 2 Online autotuning function Adhesive friction compensation selection Settings 0 to 2 Unit Default 0 Restart Setting Explanation 0 No friction compensation when adhesive friction for rated revolutions is 10 max of rated torque 1 Small ratio between friction compensation and rated torque when adhesive friction for rated rota tion speed is 10 to 30 of rat...

Page 204: ...r Function for details Note 2 If function switch 6 is OFF to enable the function switch settings this parameter is ignored and the setting on function switches 4 and 5 resolution setting is used Pn200 1 Position control setting 1 Deviation counter reset Settings 0 to 3 Unit Default 1 Restart Yes Setting Explanation 0 Reset deviation counter on signal high level status signal 1 Reset deviation coun...

Page 205: ...istic is for linear acceleration and deceleration Note 1 The soft start characteristics also include the primary filter the time constant set by Pn204 Select the filter you want to use using Pn207 0 position command filter selection Note 2 Refer to 4 7 5 Position Command Filter Function for details Sets the speed for jogging Note 1 If a value that exceeds the maximum Servomotor rotation speed is s...

Page 206: ...t the deviation counter to output INP positioning completed output during position control INP turns ON when the deviation counter residual pulses reaches Pn500 or less Set the deviation counter overload alarm detection level during position control The servo alarm is turned ON when the deviation counter residual pulse setting is exceeded Set the deviation counter overflow level to the number of c...

Page 207: ...ty Refer to 3 3 3 Regenerative Energy Absorption by External Regeneration Resistance for details Un00A regeneration load monitor calculations and detection of A 92 regeneration overload warn ing and A 32 regeneration overload alarm are based on Pn600 Note If an External Regeneration Resistor or External Regeneration Resistance Unit is not con nected set Pn600 to 0 Pn600 Regeneration resistor capac...

Page 208: ...s Function Switch 6 Turned ON Function switch Explanation Command pulse input setting switch 3 Set to match the Controller command pulse type Resolution setting switches 4 and 5 Set to 500 1 000 5 000 or 10 000 Parameter No Parameter name Explanation Pn200 0 Position control setting 1 Command pulse mode Set to match the controller command pulse status Pn202 Electronic gear ratio G1 numerator Set t...

Page 209: ...e power supply to the brake being released is 200 ms max Set the speed command pulse command to be given after the brake has been re leased taking this delay into account Note 2 The time from turning OFF the brake power supply to the brake engaging is 100 ms max Power Supply Timing Servomotor Stopped Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max RUN BKIR...

Page 210: ...ate due to its momentum Note 2 If the Servomotor rotation speed falls below 100 r min the BKIR brake interlock signal is turned OFF Note 3 When the main circuit power supply or control circuit power supply is turned OFF the Ser vomotor will be stopped using dynamic braking regardless of the setting of the parameter ALM alarm output Servomotor energized See note 2 Braking using dynamic brake when P...

Page 211: ...mum momentary torque will become the set limit 4 7 4 Electronic Gear Function Functions This function rotates the Servomotor for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio This function is enabled under the following conditions When fine tuning the position and speed of two lines that are to be synchronous When using a position controller with a lo...

Page 212: ...ulse make one input pulse This is called a command unit Operation When set to G1 G2 8 000 1 000 operation is the same as for a 1 000 pulses rotation Servomotor Parameter No Parameter name Explanation Pn202 Electronic gear ratio G1 numerator Set the pulse rate for the command pulse and Servomotor travel dis tance When G1 G2 1 if the pulse encoder resolution 4 is input the Servomotor will rotate onc...

Page 213: ...Parameters Requiring Settings Note If not using the position command filter function set each to 0 i e the default setting Operation The characteristics for each filter are shown below Servomotor acceleration and deceleration are delayed further than the characteristics shown below due to position loop gain delay Acceleration 2 Kp s Deceleration 3 Kp s Kp Position loop gain Pn102 Primary Filter Pa...

Page 214: ...Chapter 4 4 32 Operation Linear Acceleration and Deceleration Speed Command pulse input frequency Time Pn208 Pn208 ...

Page 215: ...Chapter 5 Troubleshooting 5 1 Measures when Trouble Occurs 5 2 Alarms 5 3 Troubleshooting 5 4 Overload Characteristics Electron Thermal Char acteristics 5 5 Periodic Maintenance ...

Page 216: ...de of this range there is a risk of malfunction so make sure that the power supply is correct Make sure that the voltage of the sequence input power supply 24 VIN Terminal pin CN1 13 is within the range 23 to 25 VDC If the voltage falls outside of this range there is a risk of malfunc tion so make sure that the power supply is correct Selecting Analysis Tools Check Whether an Alarm Has Occurred If...

Page 217: ...o take precautions Also do not attempt operations not specified in this manual Precautions Disconnect any cables before checking if they have burned out Even if you have checked the con duction of the wiring there is a risk of conduction due to the return circuit If the encoder signal is lost the Servomotor may run away or an error may be generated Make sure the Servomotor is disconnected from the...

Page 218: ...copy function You can also use the Parameter Unit and write down all of the parameter settings If using Computer Monitor Software start the program and transfer and save all the parame ters in the Servo Driver to the computer 2 Replace the Servo Driver 3 Match the switch settings Set the new Servo Driver s switches Unit No selection rotary switch gain adjustment rotary switch and function switches...

Page 219: ...put a RESET alarm reset signal Turn OFF the power supply then turn it ON again Reset the alarm using the Parameter Unit keys The following alarms can only be cancelled by turning OFF and ON the power supply A 04 A 10 A bF A C2 and A C3 Note 3 If an alarm is canceled while RUN is turned ON the Servo Driver will start as soon as the alarm is cleared which is dangerous Be sure to turn OFF the RUN com...

Page 220: ...Inrush resistance over load Inrush current exceeded the inrush resistance during power supply inrush A 7A OFF Overheat Abnormal temperature rise detected in radiation shield A bF OFF System error A control circuit system error was detected A C1 OFF Runaway detected The Servomotor rotated in the opposite direction from the command A C2 OFF Phase error detected The Servomotor s electrical angle was ...

Page 221: ... Main circuit transistor mod ule error Replace the Servo Driver Servomotor power line is short circuited or grounded between phases Repair the short circuited or grounded wire Measure the insulation resis tance at the Servomotor and if there is a short circuit replace the Servomotor Miswiring between U phase V phase W phase and ground Correct the wiring Servomotor winding is burned out Measure the...

Page 222: ...ng Calculate the regenerative energy and connect an exter nal Regeneration Resistor with the required regeneration absorption capacity Main circuit power supply voltage exceeds tolerance range Reduce main circuit power supply voltage to within toler ance range Occurs during descent vertical axis Gravitational torque is too large Add a counterbalance to the machinery to lower gravita tional torque ...

Page 223: ...nd deceleration times Adjust the gain Power supply voltage has fallen Check the power supply volt age and lower to within toler ance range Servomotor winding is burned out Check the winding resistance Replace the Servomotor if the winding is burned out Servo Driver is burned out Replace the Servo Driver Dynamic brake over load Occurs when the servo is turned OFF after operat ing Energy required fo...

Page 224: ...here is a slight movement upon startup Encoder is wired incor rectly Servomotor power line is wired incorrectly Correct the wiring Servo turned ON when the Servomotor was rotated from the outside Adjust servo ON timing Servo Driver is burned out Replace the Servo Driver Phase error detected Occurs when there is a slight movement upon startup Encoder is wired incor rectly Faulty Connector contact R...

Page 225: ...deviation counter overflow level setting is too large Reset the parameter correctly Resolution setting switch switches 4 and 5 setting is too low Reset the switches correctly Pn202 and Pn203 elec tronic gear ratio setting is too large Reset the parameters correctly Parameter Unit transmis sion error 1 Occurs when power supply is turned ON Faulty Connector contact Plug the Connector in securely Int...

Page 226: ...l element is faulty Replace the Parameter Unit OPERATOR ERR DATA SEND ERR Send oper ation error Occurs during Parameter Unit use Internal element mal function Turn OFF the power supply then ON again Internal element is faulty Replace the Parameter Unit Symptom Probable cause Items to check Countermeasures The power sup ply indicator POWER does not light even when the power supply is turned ON Powe...

Page 227: ...d Check the Controller s command pulse type and the Servo Driver s command pulse mode Set the mode to match the Controller s command pulse type Servomotor power lines are incorrectly wired Check Servomotor power lines Rewire correctly Command pulse is incor rectly wired Check the command pulse wiring Rewire correctly Check the command pulse volt age Connect a resistor match ing the voltage The Ser...

Page 228: ...pondence between the Servo Driver and the Servomotor is incorrect Check the models Combine models that corre spond correctly There are unusual noises The machinery is vibrat ing Inspect the machinery to see whether there are any foreign objects in the movable parts or whether there is any damage deformation or looseness Fix any problems causing vibration Pn100 speed loop gain is insufficient Use o...

Page 229: ...ristics are shown in the following table If for example a current of three times the Servomotor s rated current flows continuously it will be detected after approximately five seconds Note 1 The load ratio is the ratio of the motor current to the rated motor current as a percentage Load ratio 100 Note 2 For example if a current of three times the rated motor current flows continuously an over load...

Page 230: ...rmining actual maintenance schedules Servomotors Recommended Periodic Maintenance Bearings 20 000 hours Reduction gear 20 000 hours Oil seal 5 000 hours Application Conditions Ambient Servomotor operating temperature of 40 C within allowable shaft load rated operation rated torque and r min installed as described in operation manual The radial loads during operation rotation on timing pulleys and ...

Page 231: ... of 10 C in the ambient operating temperature will reduce capacitor life by 50 We recommend that ambient operating temperature be lowered and the power supply time be reduced as much as possible to lengthen the maintenance times for Servo Drivers If the Servomotor or Servo Driver is not to be used for a long time or if they are to be used under conditions worse than those described above a periodi...

Page 232: ......

Page 233: ...Chapter 6 Appendix 6 1 Connection Examples ...

Page 234: ...ut a resistor CW with a resistor CW without a resistor X axis dev cntr reset output X axis origin input 24 V X axis origin common X axis positioning completed input Input common X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input A2 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW C...

Page 235: ...s origin input 24 V X axis origin common X axis positioning completed input Input common X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input A3 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell L1C L2C L1 L2 B1 B2 U V W 2 CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z A5 A6 A7 A8 A11 A15 A14 A12 A24 A19 A21 A23...

Page 236: ...resistor X axis dev cntr reset output X axis origin input 24 V X axis origin common X axis positioning completed input Input common X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input A2 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND AL...

Page 237: ... axis positioning completed input Input common X axis external interrupt input X axis origin proximity input X axis CCW limit input X axis CW limit input X axis emerg stop input A3 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell L1C L2C L1 L2 B1 B2 U V W 1 2 CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z A10 A13 A12 A11 A20 A15 A17 A19 A18 A16 X axis pulse output CN2 M E X1 XB 5 V DC 24...

Page 238: ...S1W HCP22 R7D AP R7M A Contents No CN1 TB 24 V input for output A19 Common CCW 1 6 kΩ CW 1 6 kΩ A20 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z A18 A16 Pulse output 1 CN2 M E X1 XB 24 V DC 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 11...

Page 239: ...er supply for Unit CCW pulse CCW pulse CW pulse CW pulse Power supply for origin 24 V Deviation counter reset Deviation counter reset Origin sensor input Driver in position 24 V power supply for general input Origin proximity Limit input Limit input Emergency stop B24 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND...

Page 240: ...N RESET OGND ALMCOM ALM FG Z CN2 M E X1 XB 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz MC MC SUP NFB ON OFF X1 X1 MC Main circuit power supply Main circuit contact Servo error display Surge Killer X1 DC reactor PL B 24 V DC XB BKIR R88A CPU S Contents No 24 V DC input for output 5 V DC input for output CCW with a resist...

Page 241: ...GND ALMCOM ALM FG Z CN2 M E X1 XB 24 V DC 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz MC MC SUP NFB ON OFF X1 X1 MC Main circuit power supply Main circuit contact Servo error display Surge killer X1 24 V DC DC reactor PL B 24 V DC XB BKIR R88A CPU S Contents No 24 V DC input for output 1 0 V input for output CCW with a ...

Page 242: ...CW PULSE CW PULSE CCR COM ZSG END COM CWLS CCWLS HOMELS 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z B 2 A 2 A 3 B 6 A 4 B 5 B 8 A 7 B 7 A 6 Pulse output CN2 M E X1 XB 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz MC MC ...

Page 243: ...irection CW pulse pulse Operation mode switching HOMELS Start M0 CW scan M1 CCW scan Emergency stop 2 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z 8 7 1 5 6 10 11 9 CN2 M E X1 XB 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 6...

Page 244: ...ZER ZERV TIM STP ELS ELS 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z 25 COM1 26 24 21 COIN 19 22 ZER 23 OLS 29 30 31 27 28 Pulse output CN2 M E X1 XB 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 115 V AC 50 60 Hz MC MC SUP NFB ON OFF X1 X1 ...

Page 245: ...ORG XZORG XDEND EXTV EXTVGND XNORG XCWLM XCCWLM FSSTOP 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z 19 20 17 18 22 XDRSTCOM 21 29 30 23 14 15 64 65 1 3 2 48 X axis pulse output CN2 M E X1 XB 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50 60 Hz Single phase 100 1...

Page 246: ...ts No CN1 TB 24 V input for output 15 0 V input for output CCW with a resistor CCW without a resistor CW with a resistor CW without a resistor 12 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z 13 5 14 6 CN2 M E X1 XB 24 V DC 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 ...

Page 247: ... power supply for the 24 V DC control power CPM2C R7D AP R7M A Contents No CN1 TB 24 V A10 COM OUT01 CCW pulse output OUT00 CW pulse output A9 4 1 2 5 6 33 32 8 13 14 18 10 35 34 7 Shell 3 CCW L1C L2C L1 L2 B1 B2 U V W 1 2 CCW CW CW ECRST ECRST ZCOM INP 24VIN RUN RESET OGND ALMCOM ALM FG Z A2 A1 CN2 M E X1 XB 24 V DC 24 V DC Red White Blue Green Yellow Noise filter R T Single phase 200 230 V AC 50...

Page 248: ......

Page 249: ... Separate Servomotor Cables Pages 2 12 to 2 15 Diagrams corrected including adding set bolt diagrams dimensions corrected and set bolt AT dimensions added Pages 2 31 and 2 34 Applicable load inertia row deleted Pages 2 38 to 2 41 Reduction gear inertias corrected Page 2 45 First paragraph replaced and expanded Following heading changed Page 2 47 Section added Page 2 56 2 58 and 2 81 Sections added...

Page 250: ...R 2 Revision History ...

Page 251: ...urg IL 60173 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 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 Control Devices Division H Q Motion Control Dep...

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