Cat. No. I562-E1-03 USER'S MANUAL OMNUC G SERIES R88M-G@ (AC Servomotors) R88D-GT@ (AC Servo Drives) AC SERVOMOTORS/SERVO DRIVES Trademarks and Copyrights * Product names and system names in this manual are trademarks or registered trademarks of their respective companies. OMRON, 2008 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication. Introduction Introduction Thank you for choosing the OMNUC G Series. This User's Manual describes installation/wiring methods and parameter setting procedures required for the operation of the OMNUC G Series as well as troubleshooting and inspection methods. Intended Readers This manual is intended for the following personnel. Those with knowledge of electrical systems (a qualified electrical engineer or the equivalent) as follows: * Personnel in charge of introducing FA equipment * Personnel in charge of designing FA systems * Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the OMNUC G Series and its peripheral devices. Please read this manual thoroughly and understand its contents before using the products. Please keep this manual handy for future reference. Make sure this User's Manual is delivered to the actual end user of the products. 1 Read and Understand This Manual Read and Understand This Manual Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments. Warranty and Limitations of Liability WARRANTY OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS 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. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR. 2 Read and Understand This Manual Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use. The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that 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 regulations. * Systems, machines, and equipment that could present a risk to life or property. Please know and observe all prohibitions of use applicable to the products. NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof. Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change model numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the products may be changed without any notice. When in doubt, special model numbers may be assigned to fix or establish key specifications for your application on your request. Please consult with your OMRON representative at any time to confirm 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. 3 Read and Understand This Manual 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 the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability. ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical, or proofreading errors, or omissions. 4 Precautions for Safe Use Precautions for Safe Use To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the "Precautions for Safe Use" and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety information, and precautions before using the products. Make sure this User's Manual is delivered to the actual end users of the products. Please keep this manual close at hand for future reference. Explanation of Signal Words The precautions indicated here provide important information for safety. Be sure to heed the information provided with the precautions. The following signal words are used to indicate and classify precautions in this manual. WARNING Caution Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage. Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage. Failure to heed the precautions classified as "Caution" may also lead to serious results. Always heed these precautions. Safety Precautions This manual may include illustrations of the product with protective covers or shields removed in order to show the components of the product in detail. Make sure that these protective covers and shields are put in place as specified before using the product. Consult your OMRON representative when using the product after a long period of storage. WARNING Always connect the frame ground terminals of the Servo Drive and the Servomotor to 100 or less. Incorrect grounding may result in electric shock. Do not touch the inside of the Servo Drive. Doing so may result in electric shock. When turning OFF the main circuit power supply, turn OFF the RUN Command Input (RUN) at the same time. Residual voltage may cause the Servomotor to continue rotating and result in injury or equipment damage even if the main circuit power supply is turned OFF externally, e.g., with an emergency stop. Do not remove the front cover, terminal covers, cables, or optional items while the power is being supplied. Doing so may result in electric shock. 5 Precautions for Safe Use Installation, operation, maintenance, or inspection must be performed by authorized personnel. Not doing so may result in electric shock or injury. Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply. Doing so may result in electric shock. Do not damage or pull on the cables, place heavy objects on them, or subject them to excessive stress. Doing so may result in electric shock, stopping product operation, or burning. Do not touch the rotating parts of the Servomotor during operation. Doing so may result in injury. Do not modify the product. Doing so may result in injury or damage to the product. Provide a stopping mechanism on the machine to ensure safety. *The holding brake is not designed as a stopping mechanism for safety purposes. Not doing so may result in injury. Provide an external emergency stopping mechanism that can stop operation and shut off the power supply immediately. Not doing so may result in injury. Do not come close to the machine immediately after resetting momentary power interruption to avoid an unexpected restart. Doing so may result in injury. Take appropriate measures to secure safety against an unexpected restart. Confirm safety after an earthquake has occurred. Failure to do so may result in electric shock, injury, or fire. Do not use external force to drive the Servomotor. Doing so may result in fire. 6 Precautions for Safe Use WARNING Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Doing so may result in fire. Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other nonflammable materials. Failure to do so may result in fire. Do not frequently and repeatedly turn the main power supply ON and OFF. Doing so may result in product failure. Caution Use the Servomotors and Servo Drives in a specified combination. Using them incorrectly may result in fire or damage to the products. Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product. * Locations subject to direct sunlight. * Locations subject to temperatures outside the specified range. * Locations subject to humidity outside the specified range. * Locations subject to condensation as the result of severe changes in temperature. * Locations subject to corrosive or flammable gases. * Locations subject to dust (especially iron dust) or salts. * Locations subject to exposure to water, oil, or chemicals. * Locations subject to shock or vibration. Do not touch the Servo Drive radiator, Servo Drive regeneration resistor, or Servomotor while the power is being supplied or soon after the power is turned OFF. Doing so may result in burn injuries. Storage 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. Do not place any load exceeding the figure indicated on the product. Doing so may result in injury or malfunction. Use the motor eye-bolts only for transporting the Servomotor. Using them for transporting the machinery may result in injury or malfunction. 7 Precautions for Safe Use Installation and Wiring Precautions Caution Do not step on or place a heavy object on the product. Doing so may result in injury. Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product. Covering them or not preventing entry of foreign objects may result in fire. Be sure to install the product in the correct direction. Not doing so may result in malfunction. Provide the specified clearances between the Servo Drive and the control panel or with other devices. Not doing so may result in fire or malfunction. Do not subject Servomotor shaft or Servo Drive to strong impacts. Doing so may result in malfunction. Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction. Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened properly. Incorrect tightening torque may result in malfunction. Use crimp terminals for wiring. Do not connect bare stranded wires directly to the protective ground terminal. Doing so may result in burning. Always use the power supply voltage specified in the User's Manual. An incorrect voltage may result in malfunction or burning. Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in equipment damage. Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning. Take appropriate and sufficient shielding measures 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. Connect an emergency stop cutoff relay in series with the brake control relay. Failure to do so may result in injury or product failure. Do not reverse the polarity of the battery when connecting it. Reversing the polarity may damage the battery or cause it to explode. 8 Precautions for Safe Use Operation and Adjustment Precautions Caution Confirm that no adverse effects will occur in the system before performing the test operation. Not doing so may result in equipment damage. Check the newly set parameters for proper operation before actually running them. Not doing so may result in equipment damage. Do not make any extreme adjustments or setting changes. Doing so may result in unstable operation and injury. Separate the Servomotor from the machine, check for proper operation, and then connect to the machine. Not doing so may cause injury. When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury. Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction. Do not operate the Servomotor connected to a load that exceeds the applicable load moment of inertia. Doing so may result in malfunction. Maintenance and Inspection Precautions Caution Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in equipment damage. Do not attempt to disassemble or repair any of the products. Any attempt to do so may result in electric shock or injury. 9 Precautions for Safe Use Warning Label Position Warning labels are located on the product as shown in the following illustration. Be sure to follow the instructions given there. Location of warning label (R88D-GT01H) Warning Label Contents Disposing of the Product * Dispose of the batteries according to local ordinances and regulations. Wrap the batteries in tape or other insulative material before disposing of them. * Dispose of the product as industrial waste. 10 Items to Check When Unpacking Items to Check When Unpacking Check the following items after removing the product from the package. * Has the correct product been delivered? * Has the product been damaged in shipping? Accessories Provided with Product Safety Precautions document x 1 * No connectors or mounting screws are provided. They have to be prepared by the user. * Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact your local sales representative or OMRON sales office. Understanding Servo Drive Model Numbers The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage. R88D-GT01H OMNUC G-Series Servo Drive Drive Type T: Three-mode type Applicable Servomotor Capacity A5: 50 W 01: 100 W 02: 200 W 04: 400 W 08: 750 W 10: 1 kW 15: 1.5 kW 20: 2 kW 30: 3 kW 50: 5 kW 75: 7.5 kW Power Supply Voltage L : 100 VAC H: 200 VAC 11 Items to Check When Unpacking Understanding Servomotor Model Numbers R88M-GP10030H-BOS2 G-Series Servomotor Motor Type Blank: Cylinder type P: Flat type Servomotor Capacity 050: 100: 200: 400: 750: 900: 1K0: 1K5: 2K0: 3K0: 4K0: 4K5: 5K0: 6K0: 7K5: 50 W 100 W 200 W 400 W 750 W 900 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 4.5 kW 5 kW 6 kW 7.5 kW Rated Rotation Speed 10: 15: 20: 30: 1,000 r/min 1,500 r/min 2,000 r/min 3,000 r/min Applied Voltage H: L: T: S: 200 VAC with incremental encoder specifications 100 VAC with incremental encoder specifications 200 VAC with absolute encoder specifications 100 VAC with absolute encoder specifications Option Blank: Straight shaft B: With brake O: With oil seal S2: With key and tap 12 Items to Check When Unpacking Understanding Decelerator Model Numbers (Backlash = 3' Max.) R88G-HPG14A05100PBJ Decelerator for G-Series Servomotors Backlash = 3' Max. Flange Size Number 11B 14A 20A 32A 50A 65A :@40 :@60 :@90 :@120 :@170 :@230 Gear Ratio 05 09 11 12 20 21 25 33 45 :1/5 :1/9 (only frame number 11A) :1/11 (except frame number 65A) :1/12 (only frame number 65A) :1/20 (only frame number 65A) :1/21 (except frame number 65A) :1/25 (only frame number 65A) :1/33 :1/45 Applicable Servomotor Capacity 050 100 200 400 750 900 1K0 1K5 2K0 3K0 4K0 4K5 5K0 6K0 7K5 : 50 W :100 W :200 W :400 W :750 W :900 W :1 kW :1.5 kW :2 kW :3 kW :4 kW :4.5 kW :5 kW :6 kW :7.5 kW Motor Type Blank :3,000-r/min cylindrical Servomotors P :flat Servomotors S :2,000-r/min Servomotors T :1,000-r/min Servomotors Backlash B :3' max. Option Blank :Straight shaft J :With key and tap 13 Items to Check When Unpacking Understanding Decelerator Model Numbers (Backlash = 15' Max.) R88G-VRSF09B100PCJ Decelerator for G-Series Servomotors Backlash = 15' Max. Gear Ratio 05 09 15 25 :1/5 :1/9 :1/15 :1/25 Flange Size Number B C D :@52 :@78 :@98 Applicable Servomotor Capacity 050 100 200 400 750 : 50 W :100 W :200 W :400 W :750 W Motor Type Blank :3,000-r/min cylindrical Servomotors P :flat Servomotors Backlash C :15' max. Option J 14 :With key About This Manual About This Manual This manual consists of the following chapters. Refer to this table and chose the required chapters of the manual. Overview Chapter 1 Features and System Configuration Describes the features and names of parts of the product as well as the EC Directives and the UL standards. Chapter 2 Standard Models and Dimensions Provides the model numbers, external and mounting hole dimensions for Servo Drives, Servomotors, Decelerators, and peripheral devices. Specifications Provides the general specifications, characteristics, connector specifications, and I/O circuit specifications for Servo Drives, and the general specifications and characteristics for Servomotors, as well as specifications for accessories such as encoders. Chapter 4 System Design Describes the installation conditions for Servo Drives, Servomotors, and Decelerators, EMC conforming wiring methods, calculations of regenerative energy, and performance information on the External Regeneration Resistor. Chapter 5 Operating Functions Describes the control functions, parameter settings, and operation. Chapter 6 Operation Describes operating procedures and operating methods for each mode. Chapter 7 Adjustment Functions Describes gain adjustment functions, setting methods, and precautions. Chapter 8 Troubleshooting Describes items to check for troubleshooting, error diagnoses using alarm LED displays and the countermeasures, error diagnoses based on the operation status and the countermeasures, and periodic maintenance. Chapter 9 Appendix Provides examples of connections with OMRON PLCs and Position Controllers, and the parameter tables. Chapter 3 15 Table of Contents Introduction ...................................................................................... 1 Read and Understand This Manual ................................................. 2 Precautions for Safe Use................................................................. 5 Items to Check When Unpacking .................................................... 11 About This Manual........................................................................... 15 Chapter 1 Features and System Configuration 1-1 1-2 1-3 1-4 1-5 Overview........................................................................................... 1-1 System Configuration ....................................................................... 1-2 Names of Parts and Functions ......................................................... 1-3 System Block Diagrams ................................................................... 1-5 Applicable Standards........................................................................ 1-10 Chapter 2 Standard Models and Dimensions 2-1 2-2 Standard Models .............................................................................. 2-1 External and Mounting Hole Dimensions ......................................... 2-25 Chapter 3 Specifications 3-1 3-2 3-3 3-4 3-5 3-6 3-7 3-8 Servo Drive Specifications................................................................ 3-1 Servomotor Specifications................................................................ 3-32 Decelerator Specifications................................................................ 3-47 Cable and Connector Specifications ................................................ 3-57 Servo Relay Units and Cable Specifications .................................... 3-99 Parameter Unit Specifications .......................................................... 3-129 External Regeneration Resistor Specifications ................................ 3-130 Reactor Specifications...................................................................... 3-131 Chapter 4 System Design 4-1 4-2 4-3 4-4 Installation Conditions ...................................................................... 4-1 Wiring ............................................................................................... 4-11 Wiring Conforming to EMC Directives .............................................. 4-27 Regenerative Energy Absorption...................................................... 4-45 Chapter 5 Operating Functions 5-1 5-2 5-3 5-4 5-5 5-6 5-7 5-8 5-9 16 Position Control ................................................................................ 5-1 Speed Control................................................................................... 5-3 Internally Set Speed Control............................................................. 5-5 Torque Control.................................................................................. 5-8 Switching the Control Mode.............................................................. 5-11 Forward and Reverse Drive Prohibit ................................................ 5-14 Encoder Dividing .............................................................................. 5-15 Electronic Gear................................................................................. 5-16 Overrun Limit .................................................................................... 5-18 Table of Contents 5-10 5-11 5-12 5-13 5-14 5-15 5-16 Brake Interlock ................................................................................. 5-20 Gain Switching ................................................................................. 5-24 Torque Limit ..................................................................................... 5-25 Soft Start .......................................................................................... 5-27 Position Command Filter .................................................................. 5-28 Speed Limit ...................................................................................... 5-29 User Parameters .............................................................................. 5-30 Chapter 6 Operation 6-1 6-2 6-3 6-4 6-5 Operational Procedure ..................................................................... 6-1 Preparing for Operation.................................................................... 6-2 Using the Parameter Unit ................................................................. 6-6 Setting the Mode .............................................................................. 6-7 Trial Operation ................................................................................. 6-28 Chapter 7 Adjustment Functions 7-1 7-2 7-3 7-4 7-5 Gain Adjustment............................................................................... 7-1 Realtime Autotuning ......................................................................... 7-4 Normal Mode Autotuning ................................................................. 7-14 Disabling the Automatic Gain Adjustment Function ......................... 7-19 Manual Tuning ................................................................................. 7-21 Chapter 8 Troubleshooting 8-1 8-2 8-3 8-4 8-5 Error Processing .............................................................................. 8-1 Alarm Table ...................................................................................... 8-3 Troubleshooting ............................................................................... 8-6 Overload Characteristics (Electronic Thermal Function).................. 8-20 Periodic Maintenance....................................................................... 8-21 Chapter 9 Appendix 9-1 9-2 Connection Examples ...................................................................... 9-1 Parameter Tables............................................................................. 9-11 Revision History...................................................................................... R-1 17 Chapter 1 Features and System Configuration 1-1 Overview ............................................................ 1-1 Overview of the G Series ......................................................1-1 Features of the G Series .......................................................1-1 1-2 System Configuration......................................... 1-2 1-3 Names of Parts and Functions ........................... 1-3 Servo Drive Part Names .......................................................1-3 Servo Drive Functions...........................................................1-4 Forward and Reverse Motor Rotation ...................................1-4 1-4 System Block Diagrams ..................................... 1-5 1-5 Applicable Standards ......................................... 1-10 EC Directives ........................................................................1-10 UL and CSA Standards.........................................................1-10 1-1 Overview Features and System Configuration 1 1-1 Overview Overview of the G Series The OMNUC G Series has been developed for a wide range of applications with position control, speed control, and torque control. The Series offers a wide variety of Servomotor capacities, ranging from 50 W to 7.5 kW. Servomotors with 2,500-pulse incremental encoders and highresolution 17-bit absolute/incremental encoders are available as standard models. The OMNUC G Series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments. A notch filter can also be automatically set to suppress machine vibration by reducing mechanical resonance during operation. The damping control function of the OMNUC G Series realizes stable stopping performance in a mechanism which vibrates because of the low rigidity of the load. Features of the G Series The OMNUC G Series has the following features. High-speed Response The G-Series AC Servomotors and Servo Drives have achieved high-speed response capabilities exceeding OMRON's W-Series models, with a high-response frequency of 1 kHz (compared to 400 Hz for the W Series). Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/ Deceleration The damping control function suppresses vibration of low-rigidity mechanisms or devices whose ends tend to vibrate. Two vibration filters are provided to enable switching the vibration frequency automatically according to the direction of rotation and also via an external signal. In addition, the settings can be made easily merely by just setting the vibration frequency and filter values, and you are assured of stable operation even if the settings are inappropriate. High-speed Positioning via Resonance Suppression Control The realtime autotuning function automatically estimates the load inertia of the machine in realtime and sets the optimal gain. The adaptive filter automatically suppresses vibration caused by resonance. Also, two independent notch filters make it possible to reduce vibration of a mechanism with multiple resonance frequencies. Command Control Mode Switching Operation can be performed by switching between two of the following control modes: Position control, speed control (including internal speed) and torque control. Therefore, a variety of applications can be supported by one Servo Drive. Simplified Speed Control with Internal Speed Settings Eight internal speed settings allow you to change the speed easily by using external signals. 1-1 1-2 System Configuration 1-2 System Configuration 1 SYSMAC CS-series Programmable Controller Motion Control Unit CS1W-MC221/421(-V1) Features and System Configuration Controller with Voltage Output Analog voltage Flexible Motion Controller FQM1-MMA22 FQM1-MMP22 Pulse string OMNUC G-Series AC Servo Drive R88D-G@ SYSMAC PLC and Position Control Unit with pulse output functions SYSMAC CJ/CS-series Programmable Controller Position Control Unit CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 INC ABS OMNUC G-Series AC Servomotor R88M-G@ Servomotors with absolute encoders can be used in combination with CS1W-MC221/421(-V1) Motion Control Units. 1-2 1-3 Names of Parts and Functions Features and System Configuration 1 1-3 Names of Parts and Functions Servo Drive Part Names Display area Unit No. switch Settings area Analog monitor 1 check pin (IM) Analog monitor 2 check pin (SP) Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals (L1C, L2C) Check pin (G: GND) RS-485 Communications connector (CN3A) RS-232 Communications connector/ Parameter Unit connector (CN3B) Control I/O connector (CN1) External Regeneration Resistor connection terminals (B1, B2, B3) Servomotor connection terminals (U, V, W) Encoder connector (CN2) Protective ground terminals 1-3 1-3 Names of Parts and Functions Servo Drive Functions 1 Display Area Check Pins (IM, SP, and G) The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope. The type of signal to output and the output voltage level are set in the SP Selection (Pn07) and IM Selection (Pn08) parameters. For details, refer to 5-16 User Parameters on page 5-30. Unit No. Switch The Servo Drive number in serial communications is set to a value from 0 to F. This number is used to identify which Servo Drive the computer is accessing in RS-232/485 communications between multiple Servo Drives and a computer. Forward and Reverse Motor Rotation Reverse (CW) Forward (CCW) When the motor output shaft is viewed from the end, counterclockwise (CCW) rotation is forward and clockwise (CW) rotation is reverse. 1-4 Features and System Configuration A 6-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other information. 1-4 System Block Diagrams 1-4 System Block Diagrams R88D-GTA5L/-GT01L/-GT02L/-GTA5H/-GT01H/-GT02H/-GT04H Voltage detection SW power supply Main circuit control E5V Internal control power supply Relay drive Regenerative control Overcurrent detection Current detection Gate drive Display/ setting circuits MPU & ASIC Position, speed, and torque processor, PWM control Encoder communications interface +E5V Control I/O interface CN1 control I/O connector 1-5 RS485 RS-232 interface RS-485 interface CN3A connector CN3B connector CN2 encoder signal connector Features and System Configuration 1 1-4 System Block Diagrams R88D-GT04L/-GT08H/-GT10H/-GT15H 1 Voltage detection E5V Internal control power supply Relay drive Regenerative control Overcurrent detection Current detection Gate drive Display/ setting circuits MPU & ASIC Position, speed, and torque processor, PWM control Encoder communications interface Cooling fan (except for the R88D-GT04L/-GT08H) +E5V Control I/O interface CN1 control I/O connector RS485 RS-232 interface RS-485 interface CN3A connector CN3B connector CN2 encoder signal connector SW power supply Main circuit control 1-6 Features and System Configuration Internal regeneration resistor 1-4 System Block Diagrams R88D-GT20H Terminals Terminals Internal regeneration resistor SW power supply Main circuit control E5V Internal control power supply Relay drive Regenerative control Voltage detection Current detection Gate drive Display/ setting circuits MPU & ASIC Position, speed, and torque processor, PWM control Encoder communications interface RS485 +E5V Control I/O interface Cooling fan CN1 control I/O connector 1-7 RS-232 interface RS-485 interface CN3A connector CN3B connector CN2 encoder signal connector Features and System Configuration 1 1-4 System Block Diagrams R88D-GT30H/GT50H 1 Terminals Internal regeneration resistor E5V Internal control power supply Relay Gate drive Regenerative control Voltage detection Current detection Gate drive Display/ setting circuits MPU & ASIC Position, speed, and torque processor, PWM control Encoder communications interface Cooling fan +E5V Control I/O interface CN1 control I/O connector RS485 RS-232 interface RS-485 interface CN3A connector CN3B connector CN2 encoder signal connector SW power supply Main circuit control 1-8 Features and System Configuration Terminals 1-4 System Block Diagrams R88D-GT75H Features and System Configuration Terminals Terminals SW power supply Main circuit control E5V Internal control power supply Relay Gate drive Regenerative control Voltage detection Current detection Gate drive Display/ setting circuits MPU & ASIC Position, speed, and torque processor, PWM control Encoder communications interface Cooling fan 1-9 +E5V Control I/O interface CN1 control I/O connector RS485 RS-232 interface RS-485 interface CN3A connector CN3B connector CN2 encoder signal connector 1 1-5 Applicable Standards 1-5 Applicable Standards EC Directives EC Directive Product Applicable standards Comments Safety requirements for electrical equipment for EN 50178 measurement, control, or laboratory use IEC 60034-1/-5 Rotating electrical machines Limits of radio disturbance and measurement EN 55011 Class A Group1 methods for industrial, scientific, and medical radio-frequency equipment Electromagnetic compatibility (EMC) Immunity EN 61000-6-2 standard for industrial environments IEC 61000-4-2 Electrostatic discharge immunity testing IEC 61000-4-3 Radio frequency radiation field immunity testing IEC 61000-4-4 Electrical fast transient burst immunity testing IEC 61000-4-5 Lightning surge immunity testing IEC 61000-4-6 High-frequency conduction immunity testing IEC 61000-4-11 Momentary power interruption immunity testing AC Servo Drive Low Voltage Directive AC Servomotor EMC Directive AC Servo Drive and AC Servomotor Note To conform to EMC Directives, the Servomotor and Servo Drive must be installed under the conditions described in Wiring Conforming to EMC Directives on page 4-27. UL and CSA Standards Standard UL standard CSA standard Product AC Servo Drive AC Servomotor *1 Applicable standards File number UL 508C E179149 UL1004 E179189 Comments Power conversion equipment Electric motor AC Servomotors*1 CSA22.2 No.100 Motor and generator E179189 *1 UL approval is pending for Servomotor capacities of 6 to 7.5 kW. 1-10 Features and System Configuration 1 Chapter 2 Standard Models and Dimensions 2-1 Standard Models ................................................ 2-1 Servo Drives .........................................................................2-1 Servomotors..........................................................................2-2 Servo Drive-Servomotor Combinations ................................2-5 Decelerators..........................................................................2-7 Accessories and Cables .......................................................2-14 2-2 External and Mounting Hole Dimensions ........... 2-25 Servo Drives .........................................................................2-25 Servomotors..........................................................................2-35 Parameter Unit Dimensions ..................................................2-45 Servomotor and Decelerator Combinations ..........................2-46 Decelerator Dimensions........................................................2-49 External Regeneration Resistor Dimensions ........................2-63 Reactor Dimensions..............................................................2-64 2-1 Standard Models 2-1 Standard Models 2 Standard Models and Dimensions Servo Drives Specifications Model 50 W R88D-GTA5L 100 W R88D-GT01L 200 W R88D-GT02L 400 W R88D-GT04L Single-phase 100 VAC 50 W R88D-GT01H 100 W Single-phase 200 VAC Single-phase/three-phase 200 VAC 200 W R88D-GT02H 400 W R88D-GT04H 750 W R88D-GT08H 1 kW R88D-GT10H 900 W 1 kW R88D-GT15H 1.5 kW 2 kW R88D-GT20H 2 kW R88D-GT30H 3 kW 3 kW Three-phase 200 VAC 4 kW R88D-GT50H 4.5 kW 5 kW 6 kW R88D-GT75H 7.5 kW 2-1 2-1 Standard Models Servomotors 3,000-r/min Servomotors 2 Model Straight shaft without key 100 V Without brake With brake Straight shaft without key Straight shaft with key and tap 50 W R88M-G05030H R88M-G05030H-S2 R88M-G05030T R88M-G05030T-S2 100 W R88M-G10030L R88M-G10030L-S2 R88M-G10030S R88M-G10030S-S2 200 W R88M-G20030L R88M-G20030L-S2 R88M-G20030S R88M-G20030S-S2 400 W R88M-G40030L R88M-G40030L-S2 R88M-G40030S R88M-G40030S-S2 50 W R88M-G05030H R88M-G05300H-S2 R88M-G05030T R88M-G05030T-S2 100 W R88M-G10030H R88M-G10030H-S2 R88M-G10030T R88M-G10030T-S2 200 W R88M-G20030H R88M-G20030H-S2 R88M-G20030T R88M-G20030T-S2 400 W R88M-G40030H R88M-G40030H-S2 R88M-G40030T R88M-G40030T-S2 750 W R88M-G75030H R88M-G75030H-S2 R88M-G75030T R88M-G75030T-S2 200 V 1 kW 100 V Straight shaft with key and tap With absolute encoder --- --- R88M-G1K030T R88M-G1K030T-S2 1.5 kW --- --- R88M-G1K530T R88M-G1K530T-S2 2 kW --- --- R88M-G2K030T R88M-G2K030T-S2 3 kW --- --- R88M-G3K030T R88M-G3K030T-S2 4 kW --- --- R88M-G4K030T R88M-G4K030T-S2 5 kW --- --- R88M-G5K030T R88M-G5K030T-S2 50 W R88M-G05030H-B R88M-G05030H-BS2 R88M-G05030T-B R88M-G05030T-BS2 100 W R88M-G10030L-B R88M-G10030L-BS2 R88M-G10030S-B R88M-G10030S-BS2 200 W R88M-G20030L-B R88M-G20030L-BS2 R88M-G20030S-B R88M-G20030S-BS2 400 W R88M-G40030L-B R88M-G40030L-BS2 R88M-G40030S-B R88M-G40030S-BS2 50 W R88M-G05030H-B R88M-G05030H-BS2 R88M-G05030T-B R88M-G05030T-BS2 100 W R88M-G10030H-B R88M-G10030H-BS2 R88M-G10030T-B R88M-G10030T-BS2 200 W R88M-G20030H-B R88M-G20030H-BS2 R88M-G20030T-B R88M-G20030T-BS2 400 W R88M-G40030H-B R88M-G40030H-BS2 R88M-G40030T-B R88M-G40030T-BS2 750 W R88M-G75030H-B R88M-G75030H-BS2 R88M-G75030T-B R88M-G75030T-BS2 200 V 1 kW --- --- R88M-G1K030T-B R88M-G1K030T-BS2 1.5 kW --- --- R88M-G1K530T-B R88M-G1K530T-BS2 2 kW --- --- R88M-G2K030T-B R88M-G2K030T-BS2 3 kW --- --- R88M-G3K030T-B R88M-G3K030T-BS2 4 kW --- --- R88M-G4K030T-B R88M-G4K030T-BS2 5 kW --- --- R88M-G5K030T-B R88M-G5K030T-BS2 Note Models with oil seals are also available. 2-2 Standard Models and Dimensions Specifications With incremental encoder 2-1 Standard Models 3,000-r/min Flat Servomotors Model Specifications 2 Standard Models and Dimensions With incremental encoder Straight shaft without key Without brake With brake Straight shaft with key and tap With absolute encoder Straight shaft without key 100 W R88M-GP10030L R88M-GP10030L-S2 R88M-GP10030S R88M-GP10030S-S2 100 V 200 W R88M-GP20030L R88M-GP20030L-S2 R88M-GP20030S R88M-GP20030S-S2 400 W R88M-GP40030L R88M-GP40030L-S2 R88M-GP40030S R88M-GP40030S-S2 100 W R88M-GP10030H R88M-GP10030H-S2 R88M-GP10030T R88M-GP10030T-S2 200 V 200 W R88M-GP20030H R88M-GP20030H-S2 R88M-GP20030T R88M-GP20030T-S2 400 W R88M-GP40030H R88M-GP40030H-S2 R88M-GP40030T R88M-GP40030T-S2 100 W R88M-GP10030L-B R88M-GP10030L-BS2 R88M-GP10030S-B R88M-GP10030S-BS2 100 V 200 W R88M-GP20030L-B R88M-GP20030L-BS2 R88M-GP20030S-B R88M-GP20030S-BS2 400 W R88M-GP40030L-B R88M-GP40030L-BS2 R88M-GP40030S-B R88M-GP40030S-BS2 100 W R88M-GP10030H-B R88M-GP10030H-BS2 R88M-GP10030T-B R88M-GP10030T-BS2 200 V 200 W R88M-GP20030H-B R88M-GP20030H-BS2 R88M-GP20030T-B R88M-GP20030T-BS2 400 W R88M-GP40030H-B R88M-GP40030H-BS2 R88M-GP40030T-B R88M-GP40030T-BS2 Note Models with oil seals are also available. 2,000-r/min Servomotors Model Specifications With absolute encoder Straight shaft without Straight shaft with key and key tap 1 kW R88M-G1K020T R88M-G1K020T-S2 1.5 kW R88M-G1K520T R88M-G1K520T-S2 2 kW R88M-G2K020T Without 200 V 3 kW R88M-G3K020T brake 4 kW R88M-G4K020T R88M-G2K020T-S2 5 kW R88M-G5K020T R88M-G5K020T-S2 7.5 kW R88M-G7K515T R88M-G7K515T-S2 R88M-G3K020T-S2 R88M-G4K020T-S2 1 kW R88M-G1K020T-B R88M-G1K020T-BS2 1.5 kW R88M-G1K520T-B R88M-G1K520T-BS2 2 kW R88M-G2K020T-B With 200 V 3 kW R88M-G3K020T-B brake 4 kW R88M-G4K020T-B R88M-G2K020T-BS2 5 kW R88M-G5K020T-B R88M-G5K020T-BS2 7.5 kW R88M-G7K515T-B R88M-G7K515T-BS2 R88M-G3K020T-BS2 R88M-G4K020T-BS2 Note 1. Models with oil seals are also available. Note 2. The rated rotation speed for 7.5-kW Servomotors is 1,500 r/min. 2-3 Straight shaft with key and tap 2-1 Standard Models 1,000-r/min Servomotors Straight shaft with key and tap Straight shaft without key 900 W R88M-G90010T R88M-G90010T-S2 2 kW R88M-G2K010T Without 200 V 3 kW R88M-G3K010T brake 4.5 kW R88M-G4K510T R88M-G2K010T-S2 6 kW R88M-G6K010T R88M-G6K010T-S2 900 W R88M-G90010T-B R88M-G90010T-BS2 2 kW R88M-G2K010T-B With 200 V 3 kW R88M-G3K010T-B brake 4.5 kW R88M-G4K510T-B R88M-G2K010T-BS2 6 kW R88M-G6K010T-B R88M-G6K010T-BS2 2 R88M-G3K010T-S2 Standard Models and Dimensions Specifications Model With absolute encoder R88M-G4K510T-S2 R88M-G3K010T-BS2 R88M-G4K510T-BS2 Note Models with oil seals are also available. 2-4 2-1 Standard Models Servo Drive-Servomotor Combinations The tables in this section show the possible combinations of OMNUC G-Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. The box (-@) at the end of the model number is for options, such as the shaft type, brake and Decelerators. 2 Standard Models and Dimensions 3,000-r/min Servomotors and Servo Drives Voltage 100 V Singlephase 200 V Singlephase/threephase 200 V Three-phase 200 V Servomotor Rated output With incremental encoder With absolute encoder Servo Drive 50 W R88M-G05030H-@ R88M-G05030T-@ R88D-GTA5L 100 W R88M-G10030L-@ R88M-G10030S-@ R88D-GT01L 200 W R88M-G20030L-@ R88M-G20030S-@ R88D-GT02L 400 W R88M-G40030L-@ R88M-G40030S-@ R88D-GT04L 50 W R88M-G05030H-@ R88M-G05030T-@ R88D-GT01H 100 W R88M-G10030H-@ R88M-G10030T-@ R88D-GT01H 200 W R88M-G20030H-@ R88M-G20030T-@ R88D-GT02H 400 W R88M-G40030H-@ R88M-G40030T-@ R88D-GT04H 750 W R88M-G75030H-@ R88M-G75030T-@ R88D-GT08H 1 kW --- R88M-G1K030T-@ R88D-GT15H 1.5 kW --- R88M-G1K530T-@ R88D-GT15H 2 kW --- R88M-G2K030T-@ R88D-GT20H 3 kW --- R88M-G3K030T-@ R88D-GT30H 4 kW --- R88M-G4K030T-@ R88D-GT50H 5 kW --- R88M-G5K030T-@ R88D-GT50H 3,000-r/min Flat Servomotors and Servo Drives Voltage 100 V Singlephase 200 V 2-5 Servomotor Rated output With incremental encoder With absolute encoder Servo Drive 100 W R88M-GP10030L-@ R88M-GP10030S-@ R88D-GT01L 200 W R88M-GP20030L-@ R88M-GP20030S-@ R88D-GT02L 400 W R88M-GP40030L-@ R88M-GP40030S-@ R88D-GT04L 100 W R88M-GP10030H-@ R88M-GP10030T-@ R88D-GT01H 200 W R88M-GP20030H-@ R88M-GP20030T-@ R88D-GT02H 400 W R88M-GP40030H-@ R88M-GP40030T-@ R88D-GT04H 2-1 Standard Models 2,000-r/min Servomotors and Servo Drives Single-phase/ three-phase 200 V Three-phase 200 V Servomotor Rated output With absolute encoder Servo Drive 1 kW R88M-G1K020T-@ R88D-GT10H 1.5 kW R88M-G1K520T-@ R88D-GT15H 2 kW R88M-G2K020T-@ R88D-GT20H 3 kW R88M-G3K020T-@ R88D-GT30H 4 kW R88M-G4K020T-@ R88D-GT50H 5 kW R88M-G5K020T-@ R88D-GT50H 7.5 kW R88M-G7K515T-@ R88D-GT75H 2 Standard Models and Dimensions Voltage 1,000-r/min Servomotors and Servo Drives Voltage Single-phase/ three-phase 200 V Three-phase 200 V Servomotor Rated output With absolute encoder Servo Drive 900 W R88M-G90010T-@ R88D-GT15H 2 kW R88M-G2K010T-@ R88D-GT30H 3 kW R88M-G3K010T-@ R88D-GT50H 4.5 kW R88M-G4K510T-@ R88D-GT50H 6 kW R88M-G6K010T-@ R88D-GT75H 2-6 2-1 Standard Models Decelerators The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a Decelerator based on the Servomotor capacity. 2 Backlash = 3' Max. Decelerators for 3,000-r/min Servomotors Standard Models and Dimensions Specifications Model Motor capacity 50 W 100 W 200 W 400 W 750 W 2-7 Gear ratio 1/5 R88G-HPG11B05100B@ 1/9 R88G-HPG11B09050B@ 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@ 1/5 R88G-HPG11B05100B@ 1/11 R88G-HPG14A11100B@ 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 1/45 R88G-HPG20A45100B@ 1/5 R88G-HPG14A05200B@ 1/11 R88G-HPG14A11200B@ 1/21 R88G-HPG20A21200B@ 1/33 R88G-HPG20A33200B@ 1/45 R88G-HPG20A45200B@ 1/5 R88G-HPG14A05400B@ 1/11 R88G-HPG20A11400B@ 1/21 R88G-HPG20A21400B@ 1/33 R88G-HPG32A33400B@ 1/45 R88G-HPG32A45400B@ 1/5 R88G-HPG20A05750B@ 1/11 R88G-HPG20A11750B@ 1/21 R88G-HPG32A21750B@ 1/33 R88G-HPG32A33750B@ 1/45 R88G-HPG32A45750B@ 2-1 Standard Models Specifications 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW Gear ratio Model 1/5 R88G-HPG32A051K0B@ 1/11 R88G-HPG32A111K0B@ 1/21 R88G-HPG32A211K0B@ 1/33 R88G-HPG32A331K0B@ 1/45 R88G-HPG50A451K0B@ 1/5 R88G-HPG32A052K0B@ 1/11 R88G-HPG32A112K0B@ 1/21 R88G-HPG32A211K5B@ 1/33 R88G-HPG50A332K0B@ 1/45 R88G-HPG50A451K5B@ 1/5 R88G-HPG32A052K0B@ 1/11 R88G-HPG32A112K0B@ 1/21 R88G-HPG50A212K0B@ 1/33 R88G-HPG50A332K0B@ 1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG50A113K0B@ 1/21 R88G-HPG50A213K0B@ 1/5 R88G-HPG32A054K0B@ 1/11 R88G-HPG50A115K0B@ 1/5 R88G-HPG50A055K0B@ 1/11 R88G-HPG50A115K0B@ 2 Standard Models and Dimensions Motor capacity Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG11B05100BJ) 2-8 2-1 Standard Models Decelerators for 2,000-r/min Servomotors Specifications Motor capacity 2 Standard Models and Dimensions 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 7.5 kW Gear ratio Model 1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG32A112K0SB@ 1/21 R88G-HPG32A211K0SB@ 1/33 R88G-HPG50A332K0SB@ 1/45 R88G-HPG50A451K0SB@ 1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG32A112K0SB@ 1/21 R88G-HPG50A213K0B@ 1/33 R88G-HPG50A332K0SB@ 1/5 R88G-HPG32A053K0B@ 1/11 R88G-HPG32A112K0SB@ 1/21 R88G-HPG50A213K0B@ 1/33 R88G-HPG50A332K0SB@ 1/5 R88G-HPG32A054K0B@ 1/11 R88G-HPG50A115K0B@ 1/21 R88G-HPG50A213K0SB@ 1/25 R88G-HPG65A253K0SB@ 1/5 R88G-HPG50A054K0SB@ 1/11 R88G-HPG50A114K0SB@ 1/20 R88G-HPG65A204K0SB@ 1/25 R88G-HPG65A254K0SB@ 1/5 R88G-HPG50A055K0SB@ 1/11 R88G-HPG50A115K0SB@ 1/20 R88G-HPG65A205K0SB@ 1/25 R88G-HPG65A255K0SB@ 1/5 R88G-HPG65A057K5SB@ 1/12 R88G-HPG65A127K5SB@ Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG32A053K0BJ) 2-9 2-1 Standard Models Decelerators for 1,000-r/min Servomotors Specifications 900 W 2 kW 3 kW 4.5 kW 6 kW Gear ratio Model 1/5 R88G-HPG32A05900TB@ 1/11 R88G-HPG32A11900TB@ 1/21 R88G-HPG50A21900TB@ 1/33 R88G-HPG50A33900TB@ 1/5 R88G-HPG32A052K0TB@ 1/11 R88G-HPG50A112K0TB@ 1/21 R88G-HPG50A212K0TB@ 1/25 R88G-HPG65A255K0SB@ 1/5 R88G-HPG50A055K0SB@ 1/11 R88G-HPG50A115K0SB@ 1/20 R88G-HPG65A205K0SB@ 1/25 R88G-HPG65A255K0SB@ 1/5 R88G-HPG50A054K5TB@ 1/12 R88G-HPG65A127K5SB@ 1/20 R88G-HPG65A204K5TB@ 1/5 R88G-HPG65A057K5SB@ 1/12 R88G-HPG65A127K5SB@ 2 Standard Models and Dimensions Motor capacity Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG32A05900TBJ) 2-10 2-1 Standard Models Decelerators for 3,000-r/min Flat Servomotors Specifications Model Motor capacity 2 Standard Models and Dimensions 100 W 200 W 400 W Gear ratio 1/5 R88G-HPG11B05100PB@ 1/11 R88G-HPG14A11100PB@ 1/21 R88G-HPG14A21100PB@ 1/33 R88G-HPG20A33100PB@ 1/45 R88G-HPG20A45100PB@ 1/5 R88G-HPG14A05200PB@ 1/11 R88G-HPG20A11200PB@ 1/21 R88G-HPG20A21200PB@ 1/33 R88G-HPG20A33200PB@ 1/45 R88G-HPG20A45200PB@ 1/5 R88G-HPG20A05400PB@ 1/11 R88G-HPG20A11400PB@ 1/21 R88G-HPG20A21400PB@ 1/33 R88G-HPG32A33400PB@ 1/45 R88G-HPG32A45400PB@ Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG11B05100PBJ) 2-11 2-1 Standard Models Backlash = 15' Max. Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key) Specifications Model 2 Gear ratio 1/5 R88G-VRSF05B100CJ 1/9 R88G-VRSF09B100CJ 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ 1/5 R88G-VRSF05B100CJ 1/9 R88G-VRSF09B100CJ 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ 1/5 R88G-VRSF05B200CJ 1/9 R88G-VRSF09C200CJ 1/15 R88G-VRSF15C200CJ 1/25 R88G-VRSF25C200CJ 1/5 R88G-VRSF05C400CJ 1/9 R88G-VRSF09C400CJ 1/15 R88G-VRSF15C400CJ 1/25 R88G-VRSF25C400CJ 1/5 R88G-VRSF05C750CJ 1/9 R88G-VRSF09D750CJ 1/15 R88G-VRSF15D750CJ 1/25 R88G-VRSF25D750CJ Standard Models and Dimensions Motor capacity 50 W 100 W 200 W 400 W 750 W 2-12 2-1 Standard Models Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key) Specifications Model Motor capacity 2 Gear ratio 1/5 R88G-VRSF05B100PCJ 1/9 R88G-VRSF09B100PCJ 1/15 R88G-VRSF15B100PCJ 1/25 R88G-VRSF25B100PCJ 1/5 R88G-VRSF05B200PCJ 1/9 R88G-VRSF09C200PCJ 1/15 R88G-VRSF15C200PCJ 1/25 R88G-VRSF25C200PCJ 1/5 R88G-VRSF05C400PCJ 1/9 R88G-VRSF09C400PCJ 1/15 R88G-VRSF15C400PCJ 1/25 R88G-VRSF25C400PCJ Standard Models and Dimensions 100 W 200 W 400 W 2-13 2-1 Standard Models Accessories and Cables Encoder Cables (Standard Cables) 3,000-r/min Servomotors of 50 to 750 W with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an absolute encoder 3,000-r/min Servomotors of 50 to 750 W with an incremental encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an incremental encoder 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 900 W to 6 kW Model 3m R88A-CRGA003C 5m R88A-CRGA005C 10 m R88A-CRGA010C 15 m R88A-CRGA015C 20 m R88A-CRGA020C 30 m R88A-CRGA030C 40 m R88A-CRGA040C 50 m R88A-CRGA050C 3m R88A-CRGB003C 5m R88A-CRGB005C 10 m R88A-CRGB010C 15 m R88A-CRGB015C 20 m R88A-CRGB020C 30 m R88A-CRGB030C 40 m R88A-CRGB040C 50 m R88A-CRGB050C 3m R88A-CRGC003N 5m R88A-CRGC005N 10 m R88A-CRGC010N 15 m R88A-CRGC015N 20 m R88A-CRGC020N 30 m R88A-CRGC030N 40 m R88A-CRGC040N 50 m R88A-CRGC050N 2 Standard Models and Dimensions Specifications 2-14 2-1 Standard Models Servomotor Power Cables (Standard Cables) Model Specifications For Servomotor without brake Standard Models and Dimensions 2 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W 3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW 2-15 For Servomotor with brake 3m R88A-CAGA003S --- 5m R88A-CAGA005S --- 10 m R88A-CAGA010S --- 15 m R88A-CAGA015S --- 20 m R88A-CAGA020S --- 30 m R88A-CAGA030S --- 40 m R88A-CAGA040S --- 50 m R88A-CAGA050S --- 3m R88A-CAGB003S R88A-CAGB003B 5m R88A-CAGB005S R88A-CAGB005B 10 m R88A-CAGB010S R88A-CAGB010B 15 m R88A-CAGB015S R88A-CAGB015B 20 m R88A-CAGB020S R88A-CAGB020B 30 m R88A-CAGB030S R88A-CAGB030B 40 m R88A-CAGB040S R88A-CAGB040B 50 m R88A-CAGB050S R88A-CAGB050B 3m R88A-CAGC003S R88A-CAGC003B 5m R88A-CAGC005S R88A-CAGC005B 10 m R88A-CAGC010S R88A-CAGC010B 15 m R88A-CAGC015S R88A-CAGC015B 20 m R88A-CAGC020S R88A-CAGC020B 30 m R88A-CAGC030S R88A-CAGC030B 40 m R88A-CAGC040S R88A-CAGC040B 50 m R88A-CAGC050S R88A-CAGC050B 3m R88A-CAGD003S R88A-CAGD003B 5m R88A-CAGD005S R88A-CAGD005B 10 m R88A-CAGD010S R88A-CAGD010B 15 m R88A-CAGD015S R88A-CAGD015B 20 m R88A-CAGD020S R88A-CAGD020B 30 m R88A-CAGD030S R88A-CAGD030B 40 m R88A-CAGD040S R88A-CAGD040B 50 m R88A-CAGD050S R88A-CAGD050B 2-1 Standard Models Model For Servomotor without brake 3m 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW For Servomotor with brake R88A-CAGE003S --- 5m R88A-CAGE005S --- 10 m R88A-CAGE010S --- 15 m R88A-CAGE015S --- 20 m R88A-CAGE020S --- 30 m R88A-CAGE030S --- 40 m R88A-CAGE040S --- 50 m R88A-CAGE050S --- 2 Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W, Flat Servomotors, and Servomotors of 6 kW or higher. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Brake Cable. 2-16 Standard Models and Dimensions Specifications 2-1 Standard Models Brake Cables (Standard Cables) Specifications Standard Models and Dimensions 2 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW 2-17 Model 3m R88A-CAGA003B 5m R88A-CAGA005B 10 m R88A-CAGA010B 15 m R88A-CAGA015B 20 m R88A-CAGA020B 30 m R88A-CAGA030B 40 m R88A-CAGA040B 50 m R88A-CAGA050B 3m R88A-CAGE003B 5m R88A-CAGE005B 10 m R88A-CAGE010B 15 m R88A-CAGE015B 20 m R88A-CAGE020B 30 m R88A-CAGE030B 40 m R88A-CAGE040B 50 m R88A-CAGE050B 2-1 Standard Models Encoder Cables (Robot Cables) 3,000-r/min Servomotors of 50 to 750 W with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an absolute encoder 3,000-r/min Servomotors of 50 to 750 W with an incremental encoder, 3,000-r/min Flat Servomotors of 100 to 400 W with an incremental encoder 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW 1,000-r/min Servomotors of 900 W to 6 kW Model 3m R88A-CRGA003CR 5m R88A-CRGA005CR 10 m R88A-CRGA010CR 15 m R88A-CRGA015CR 20 m R88A-CRGA020CR 30 m R88A-CRGA030CR 40 m R88A-CRGA040CR 50 m R88A-CRGA050CR 3m R88A-CRGB003CR 5m R88A-CRGB005CR 10 m R88A-CRGB010CR 15 m R88A-CRGB015CR 20 m R88A-CRGB020CR 30 m R88A-CRGB030CR 40 m R88A-CRGB040CR 50 m R88A-CRGB050CR 3m R88A-CRGC003NR 5m R88A-CRGC005NR 10 m R88A-CRGC010NR 15 m R88A-CRGC015NR 20 m R88A-CRGC020NR 30 m R88A-CRGC030NR 40 m R88A-CRGC040NR 50 m R88A-CRGC050NR 2-18 2 Standard Models and Dimensions Specifications 2-1 Standard Models Servomotor Power Cables (Robot Cables) Model Specifications Standard Models and Dimensions 2 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, 1,000-r/min Servomotors of 900 W 3,000-r/min Servomotors of 2 kW, 2,000-r/min Servomotors of 2 kW 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 4.5 kW For Servomotor without brake For Servomotor with brake 3m R88A-CAGA003SR --- 5m R88A-CAGA005SR --- 10 m R88A-CAGA010SR --- 15 m R88A-CAGA015SR --- 20 m R88A-CAGA020SR --- 30 m R88A-CAGA030SR --- 40 m R88A-CAGA040SR --- 50 m R88A-CAGA050SR --- 3m R88A-CAGB003SR R88A-CAGB003BR 5m R88A-CAGB005SR R88A-CAGB005BR 10 m R88A-CAGB010SR R88A-CAGB010BR 15 m R88A-CAGB015SR R88A-CAGB015BR 20 m R88A-CAGB020SR R88A-CAGB020BR 30 m R88A-CAGB030SR R88A-CAGB030BR 40 m R88A-CAGB040SR R88A-CAGB040BR 50 m R88A-CAGB050SR R88A-CAGB050BR 3m R88A-CAGC003SR R88A-CAGC003BR 5m R88A-CAGC005SR R88A-CAGC005BR 10 m R88A-CAGC010SR R88A-CAGC010BR 15 m R88A-CAGC015SR R88A-CAGC015BR 20 m R88A-CAGC020SR R88A-CAGC020BR 30 m R88A-CAGC030SR R88A-CAGC030BR 40 m R88A-CAGC040SR R88A-CAGC040BR 50 m R88A-CAGC050SR R88A-CAGC050BR 3m R88A-CAGD003SR R88A-CAGD003BR 5m R88A-CAGD005SR R88A-CAGD005BR 10 m R88A-CAGD010SR R88A-CAGD010BR 15 m R88A-CAGD015SR R88A-CAGD015BR 20 m R88A-CAGD020SR R88A-CAGD020BR 30 m R88A-CAGD030SR R88A-CAGD030BR 40 m R88A-CAGD040SR R88A-CAGD040BR 50 m R88A-CAGD050SR R88A-CAGD050BR Note There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to 750 W and Flat Servomotors. Therefore, when a Servomotor with a brake is used, it will require a Power Cable for a Servomotor without a brake and a Brake Cable. 2-19 2-1 Standard Models Brake Cables (Robot Cables) 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W Model 3m R88A-CAGA003BR 5m R88A-CAGA005BR 10 m R88A-CAGA010BR 15 m R88A-CAGA015BR 20 m R88A-CAGA020BR 30 m R88A-CAGA030BR 40 m R88A-CAGA040BR 50 m R88A-CAGA050BR Communications Cable Specifications RS-232 Communications Cable Model 2m R88A-CCG002P2 0.5 m R88A-CCG0R5P4 1m R88A-CCG001P4 RS-485 Communications Cable Absolute Encoder Battery Cable Specifications Model 0.3 m Absolute Encoder Battery Cable R88A-CRGD0R3C Connectors Specifications Servomotor Connector for Encoder Cable Model Absolute Encoder R88A-CNG01R Incremental Encoder R88A-CNG02R Control I/O Connector (CN1) R88A-CNU11C Encoder Connector (CN2) R88A-CNW01R Power Cable Connector (750 W max.) R88A-CNG01A Brake Cable Connector (750 W max.) R88A-CNG01B 2-20 2 Standard Models and Dimensions Specifications 2-1 Standard Models Servo Relay Units (for CN1) Specifications Standard Models and Dimensions 2 Servo Relay Units Model For CS1W-NC113/-NC133 For CJ1W-NC113/-NC133 For C200HW-NC113 XW2B-20J6-1B For CS1W-NC213/-NC413/-NC233/-NC433 For CJ1W-NC213/-NC413/-NC233/-NC433 For C200HW-NC213/-NC413 XW2B-40J6-2B For CJ1M-CPU21/-CPU22/-CPU23 XW2B-20J6-8A XW2B-40J6-9A For FQM1-MMA22 For FQM1-MMP22 XW2B-80J7-12A For CQM1-CPU43-V1 XW2B-20J6-3B Servo Relay Unit Cables for Servo Drives Specifications For Position Control Unit (XW2B-@J6-@B) For CQM1 (XW2B-20J6-3B) Model 1m XW2Z-100J-B25 2m XW2Z-200J-B25 1m XW2Z-100J-B31 2m XW2Z-200J-B31 1m XW2Z-100J-B27 2m XW2Z-200J-B27 1m XW2Z-100J-B26 2m XW2Z-200J-B26 For CJ1M (XW2B-20J6-8A/XW2B-40J6-9A) Servo Drive Cables For FQM1-MMA22 (XW2B-80J7-12A) For FQM1-MMP22 (XW2B-80J7-12A) 2-21 2-1 Standard Models Servo Relay Unit Cables for Position Control Units Specifications Model 0.5 m XW2Z-050J-A3 1m XW2Z-100J-A3 For CS1W-NC113, C200HW-NC113 (XW2B-20J6-1B) 0.5 m XW2Z-050J-A6 1m XW2Z-100J-A6 For CS1W-NC213/-NC413, C200HW-NC213/ -NC413 (XW2B-20J6-2B) 0.5 m XW2Z-050J-A7 1m XW2Z-100J-A7 0.5 m XW2Z-050J-A10 1m XW2Z-100J-A10 0.5 m XW2Z-050J-A11 1m XW2Z-100J-A11 0.5 m XW2Z-050J-A14 1m XW2Z-100J-A14 0.5 m XW2Z-050J-A15 1m XW2Z-100J-A15 0.5 m XW2Z-050J-A18 1m XW2Z-100J-A18 0.5 m XW2Z-050J-A19 1m XW2Z-100J-A19 0.5 m XW2Z-050J-A33 1m XW2Z-100J-A33 0.5 m XW2Z-050J-A28 1m XW2Z-100J-A28 2m XW2Z-200J-A28 0.5 m XW2Z-050J-A31 1m XW2Z-100J-A31 2m XW2Z-200J-A31 0.5 m XW2Z-050J-A28 1m XW2Z-100J-A28 2m XW2Z-200J-A28 0.5 m XW2Z-050J-A30 1m XW2Z-100J-A30 2m XW2Z-200J-A30 For CQM1-CPU43-V1 (XW2B-20J6-3B) Standard Models and Dimensions 2 For CS1W-NC133 (XW2B-20J6-1B) For CS1W-NC233/-NC433 (XW2B-20J6-2B) For CJ1W-NC113 (XW2B-20J6-1B) For CJ1W-NC213/-NC413 (XW2B-20J6-2B) For CJ1W-NC133 (XW2B-20J6-1B) Position Control Unit Cables For CJ1W-NC233/-NC433 (XW2B-20J6-2B) For CJ1M-CPU21/-CPU22/-CPU23 (XW2B-20J6-8A/XW2B-40J6-9A) General-purpose I/O Cables For FQM1-MMA22 (XW2B-80J7-12A) Special I/O Cables General-purpose I/O Cables For FQM1-MMP22 (XW2B-80J7-12A) Special I/O Cables 2-22 2-1 Standard Models Control Cables Specifications 2 Model Standard Models and Dimensions Motion Control Unit Cables for 1 axis CS1W-MC221-V1/-MC421-V1 Motion Control Unit Cables for 2 axes CS1W-MC221-V1/-MC421-V1 1m R88A-CPG001M1 2m R88A-CPG002M1 3m R88A-CPG003M1 5m R88A-CPG005M1 1m R88A-CPG001M2 2m R88A-CPG002M2 3m R88A-CPG003M2 5m R88A-CPG005M2 1m R88A-CPG001S 2m R88A-CPG002S 1m XW2Z-100J-B24 2m XW2Z-200J-B24 General-purpose Control Cables with Connector on One End Connector-Terminal Block Cables Connector Terminal Block M3 screw type XW2B-50G4 M3.5 screw type XW2B-50G5 M3 screw type XW2D-50G6 External Regeneration Resistors Specifications Model Regeneration capacity: 20 W, 50 (with 150C thermal switch) R88A-RR08050S Regeneration capacity: 20 W, 100 (with 150C thermal switch) R88A-RR080100S Regeneration capacity: 70 W, 47 (with 170C thermal switch) R88A-RR22047S Regeneration capacity: 180 W, 20 (with 200C thermal switch) R88A-RR50020S Reactors Specifications 2-23 Model R88D-GTA5L/-GT01H 3G3AX-DL2002 R88D-GT01L/-GT02H 3G3AX-DL2004 R88D-GT02L/-GT04H 3G3AX-DL2007 R88D-GT04L/-GT08H/-GT10H 3G3AX-DL2015 R88D-GT15H 3G3AX-DL2022 R88D-GT08H/-GT10H/-GT15H 3G3AX-AL2025 R88D-GT20H/-GT30H 3G3AX-AL2055 R88D-GT50H 3G3AX-AL2110 R88D-GT75H 3G3AX-AL2220 2-1 Standard Models Mounting Brackets (L Brackets for Rack Mounting) Model R88D-GTA5L/-GT01L/-GT01H/-GT02H R88A-TK01G R88D-GT02L/-GT04H R88A-TK02G R88D-GT04L/-GT08H R88A-TK03G R88D-GT10H/-GT15H R88A-TK04G 2 Standard Models and Dimensions Specifications Absolute Encoder Backup Battery Specifications 2,000 mA*h 3.6 V Model R88A-BAT01G 2-24 2-2 External and Mounting Hole Dimensions 2-2 External and Mounting Hole Dimensions Servo Drives Single-phase 100 VAC: R88D-GTA5L/-GT01L (50 to 100 W) Single-phase 200 VAC: R88D-GT01H/-GT02H (50 to 200 W) Wall Mounting External Dimensions 40 Mounting Hole Dimensions 70 130 4 Two, M4 AC SERVO DRIVER UNIT No. DATA G 140 SP 6 280.5 40 2-25 5 IM 150 Standard Models and Dimensions 2 2-2 External and Mounting Hole Dimensions Front Panel Mounting (Using Mounting Brackets) External Dimensions Mounting Hole Dimensions (Reference) 4 22 7 8 2.6 1700.5 180 170 150 5.2 dia. 2 Two, M4 Square hole (158)* 21 130 5.2 2.6 6 R2.6 (42)* 7 * The dimensions of the square hole are reference values. Dimensions for front panel mounting are references values that provide leeway. 2-26 Standard Models and Dimensions 70 2-2 External and Mounting Hole Dimensions Single-phase 100 VAC: R88D-GT02L (200 W) Single-phase 200 VAC: R88D-GT04H (400 W) Wall Mounting 2 External Dimensions 70 55 Standard Models and Dimensions Mounting Hole Dimensions 130 4 Two, M4 AC SERVO DRIVER UNIT No. DATA 140 G 150 SP 5 150 IM 6 43 55 Front Panel Mounting (Using Mounting Brackets) External Dimensions Mounting Hole Dimensions (Reference) 70 55 28 130 4 22 7 8 2.6 Two, M4 Square hole R2.6 5.2 2.6 (57)* 7 * The dimensions of the square hole are reference values. Dimensions for front panel mounting are references values that provide leeway. 2-27 (158)* 170 180 170 150 5.2 dia. 2-2 External and Mounting Hole Dimensions Single-phase 100 VAC: R88D-GT04L (400 W) Single-phase/Three-phase 200 VAC: R88D-GT08H (750 W) Wall Mounting 2 External Dimensions Mounting Hole Dimensions 170 4 Two, M4 AC SERVO DRIVER UNIT No. DATA G 5 150 140 SP 150 IM 7.5 50 65 Front Panel Mounting (Using Mounting Brackets) External Dimensions 170 4 22 20 21 Two, M4 Square hole 6 170 180 170 150 2.6 2.6 R2.6 5.2 (158)* 70 65 40 5.2 dia. Mounting Hole Dimensions (Reference) (67)* 20 40 * The dimensions of the square hole are reference values. Dimensions for front panel mounting are references values that provide leeway. 2-28 Standard Models and Dimensions 70 65 2-2 External and Mounting Hole Dimensions Single-phase/Three-phase 200 VAC: R88D-GT10H/-GT15H (900 W to 1.5 kW) Wall Mounting 2 External Dimensions Mounting Hole Dimensions 70 85 170 Standard Models and Dimensions 4 Two, M4 AC SERVO DRIVER UNIT No. DATA 150 140 G 7.5 5 SP 150 IM 70 85 Front Panel Mounting (Using Mounting Brackets) External Dimensions 85 Mounting Hole Dimensions (Reference) 70 170 60 5.2 10 R2.6 170 2.6 11 40 5.2 40 Dimensions for front panel mounting are references values that provide leeway. 2-29 Square hole 6 R2.6 Four, M4 2.6 150 5.2 dia. 4 22 5.2 dia. (158)* 40 170 180 10 (87)* * The dimensions of the square hole are reference values. 2-2 External and Mounting Hole Dimensions Three-phase 200 VAC: R88D-GT20H (2 kW) Wall Mounting 2 External Dimensions 85 70 50 200 3.5 42.5 5.2 5.2 5.2 dia. R2.6 R2.6 AC SERVO DRIVER UNIT No. DATA 5.2 dia. R2.6 198 G 188 SP 168 IM R2.6 5.2 3.5 5.2 42.5 17.5 50 Mounting Hole Dimensions 168 1880.5 Four, M4 17.5 50 85 2-30 Standard Models and Dimensions 17.5 2-2 External and Mounting Hole Dimensions Front Panel Mounting (Using Mounting Brackets) External Dimensions 85 17.5 2 70 50 42.5 32 5.2 Standard Models and Dimensions 5.2 5.2 dia. R2.6 200 2.6 R2.6 AC SERVO DRIVER UNIT No. DATA 5.2 dia. R2.6 198 G 188 SP 168 IM R2.6 5.2 5.2 42.5 17.5 50 Mounting Hole Dimensions (Reference) 6 Square hole 20.5 188 (176)* Four, M4 50 (89)* * The dimensions of the square hole are reference values. Dimensions for front panel mounting are references values that provide leeway. 2-31 2-2 External and Mounting Hole Dimensions Three-phase 200 VAC: R88D-GT30H/-GT50H (2 to 5 kW) Wall Mounting 2 External Dimensions 65 5.2 5.2 dia. R2.6 70 200 3.5 Standard Models and Dimensions 130 100 15 5.2 R2.6 AC SERVO DRIVER UNIT No. DATA 5.2 dia. 5.2 65 R2.6 15 250 G 240 SP 220 IM R2.6 3.5 5.2 100 Mounting Hole Dimensions Six, M4 240 220 50 15 100 130 2-32 2-2 External and Mounting Hole Dimensions Front Panel Mounting (Using Mounting Brackets) External Dimensions 130 100 15 2 65 5.2 5.2 dia. Standard Models and Dimensions R2.6 70 200 32.3 5.2 2.6 R2.6 AC SERVO DRIVER UNIT No. DATA 5.2 dia. 5.2 65 R2.6 250 G 240 SP 220 IM R2.6 5.2 15 100 Mounting Hole Dimensions (Reference) (228)* 6 Square hole 240 Six, M4 50 16 100 (132)* * The dimensions of the square hole are reference values. Dimensions for front panel mounting are references values that provide leeway. 2-33 2-2 External and Mounting Hole Dimensions Three-phase 200 VAC: R88D-GT75H (7.5 kW) Front Panel Mounting (Using Mounting Brackets) 2 External Dimensions 248 90 90 70 90 5.2 5.2 5.2 5.2 5.2 339.3 (4) 45.1 (2.3) 220 235 250 (4) 82.5 5.2 85 Four, 5.2 dia. Mounting Hole Dimensions (Reference) 4.5 (226)* Six, M4 38.5 90 235 Square hole 90 * The dimensions of the square hole are reference values. (250)* Dimensions for front panel mounting are references values that provide leeway. 2-34 Standard Models and Dimensions 37.5 2-2 External and Mounting Hole Dimensions Servomotors 3,000-r/min Servomotors 50 W/100 W 2 R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)/-G05030H-B(S2) INC R88M-G05030T(-S2)/-G10030S(-S2)/-G10030T(-S2)/-G05030T-B(S2) /-G10030S-B(S2)/-G10030T-B(S2) ABS Brake connector Motor connector Encoder connector LL 6 25 3 (Dimensions of shaft end with key and tap) 40 x 40 3 LN 46 Two, 4.3 dia. Model Three, h: 9 1.8 14 12.5 32 30 dia., h: 7 8 dia., h: 6 200 230 Standard Models and Dimensions /-G10030L-B(S2)/-G10030H-B(S2) dia . M3 (depth: 6) Dimensions (mm) LL LN R88M-G05030@ 72 26.5 R88M-G10030@ 92 46.5 R88M-G05030@-B@ 102 26.5 R88M-G10030@-B@ 122 46.5 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-35 2-2 External and Mounting Hole Dimensions 3,000-r/min Servomotors 200 W/400 W/750 W R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2) /-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2) /-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2) 2 INC /-G75030T(-S2)/-G20030S-B(S2)/-G40030S-B(S2) /-G20030T-B(S2)/-G40030T-B(S2)/-G75030T-B(S2) Brake connector Motor connector LR 3 (Dimensions of shaft end with key and tap) CxC Four, Z dia. QK b dia. t1 D1 h D2 dia., h: 7 200 G KL1 LL S dia., h: 6 Encoder connector 220 ABS M(effective depth: L) Model Dimensions (mm) LL R88M-G20030@ 79.5 R88M-G40030@ 99 R88M-G75030@ LR S D1 D2 C 30 11 14 11 R88M-G20030@-B@ 116 R88M-G40030@-B@ 135.5 R88M-G75030@-B@ 149.2 35 19 90 70 80 14 Z 70 50 60 6.5 43 4.5 112.2 35 19 90 70 80 30 G KL1 8 53 6 70 50 60 6.5 43 4.5 8 53 6 QK 18 b h 4h9 4 22.5 5h9 5 22 6h9 6 18 4h9 4 22.5 5h9 5 22 6h9 6 M t1 L M4 2.5 8 M5 3 3.5 M4 2.5 M5 3 3.5 10 8 10 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-36 Standard Models and Dimensions R88M-G20030S(-S2)/-G40030S(-S2)/-G20030T(-S2)/-G40030T(-S2) 2-2 External and Mounting Hole Dimensions 3,000-r/min Servomotors 1 kW/1.5 kW/2 kW R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2) /-G1K530T-B(S2)/-G2K030T-B(S2) 3 45 42 Four, Z dia. Six, h: 9 6 D2 dia., h: 7 84 G (Dimensions of shaft end with key and tap) CxC 3.5 55 ABS KL1 LL 19 dia., h: 6 Servomotor canon plug Encoder canon plug D3 D1 . dia dia . M5 (depth: 12) Dimensions (mm) Model LL D1 D2 R88M-G1K030@ 175 100 80 R88M-G1K530@ 180 R88M-G2K030@ 205 R88M-G1K030@-B@ 200 100 80 R88M-G1K530@-B@ 205 R88M-G2K030@-B@ 230 C D3 90 120 G KL1 7 98 6.6 115 95 100 135 10 103 90 120 7 Z 9 98 6.6 115 95 100 135 10 103 9 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 3,000-r/min Servomotors 3 kW R88M-G3K030T(-S2)/-G3K030T-B(S2) 9 45 41 Eight, h: 9 130 4 dia . 111 3 (Dimensions of the shaft end with key and tap) 120x120 55 12 ABS 162 . dia 7 LL 22 dia., h: 6 110 dia., h: 7 Servomotor/brake connector Encoder connector 84 Standard Models and Dimensions 2 145 dia. M5 (depth: 12) Model Dimensions (mm) LL R88M-G3K030@ 217 R88M-G3K030@-B@ 242 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-37 2-2 External and Mounting Hole Dimensions 3,000-r/min Servomotors 4 kW/5 kW R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2) ABS 2 165 . dia Eight, h: 9 M8 (depth: 20) Dimensions (mm) LL R88M-G4K030@ 240 R88M-G5K030@ 280 R88M-G4K030@-B@ 265 R88M-G5K030@-B@ 305 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-38 Standard Models and Dimensions 51 145 dia. Model 55 4 Four, 9 dia. 118 6 24 dia., h: 6 110 dia., h: 7 12 (Dimensions of shaft end with key and tap) 130x130 65 7 LL 84 Servomotor/brake connector Encoder connector 2-2 External and Mounting Hole Dimensions 3,000-r/min Flat Servomotors 100 W/200 W/400 W INC R88M-GP10030S(-S2)/-GP20030S(-S2)/-GP40030S(-S2)/-GP10030T(-S2) /-GP20030T(-S2)/-GP40030T(-S2)/-GP10030S-B(S2)/-GP20030S-B(S2) /-GP40030S-B(S2)/-GP10030T-B(S2)/-GP20030T-B(S2)/-GP40030T-B(S2) ABS Encoder connector Motor connector Brake connector CxC G F S dia., h: 6 (Dimensions of shaft end with key and tap) Four, Z dia. QK D2 dia., h: 7 KL1 (7) 200 (7) LR h D1 b . dia t1 LL 220 Standard Models and Dimensions 2 R88M-GP10030L(-S2)/-GP20030L(-S2)/-GP40030L(-S2)/-GP10030H(-S2) /-GP20030H(-S2)/-GP40030H(-S2)/-GP10030L-B(S2)/-GP20030L-B(S2) /-GP40030L-B(S2)/-GP10030H-B(S2)/-GP20030H-B(S2)/-GP40030H-B(S2) M (depth: L) Model Dimensions (mm) LL R88M-GP10030L R88M-GP10030H 60.5 R88M-GP10030S R88M-GP10030T 87.5 R88M-GP20030L R88M-GP20030H 67.5 R88M-GP20030S R88M-GP20030T 94.5 R88M-GP40030L R88M-GP40030H 82.5 R88M-GP40030S R88M-GP40030T 109.5 R88M-GP10030L-B@ R88M-GP10030H-B@ 84.5 R88M-GP10030S-B@ R88M-GP10030T-B@ 111.5 R88M-GP20030L-B@ R88M-GP20030H-B@ 100 R88M-GP20030S-B@ R88M-GP20030T-B@ 127 R88M-GP40030L-B@ R88M-GP40030H-B@ 115 R88M-GP40030S-B@ R88M-GP40030T-B@ 142 LR S D1 D2 C F G KL1 25 8 70 60 3 7 50 Z h t1 M L 43 4.5 12.5 3h9 3 1.8 M3 6 18 4h9 4 2.5 M4 8 22.5 5h9 5 3 M5 10 43 4.5 12.5 3h9 3 1.8 M3 6 18 4h9 4 2.5 M4 8 22.5 5h9 5 3 M5 10 11 30 90 70 80 5 8 8 70 50 60 3 7 11 30 90 14 70 80 5 8 b 53 5.5 14 25 QK 53 5.5 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-39 2-2 External and Mounting Hole Dimensions 2,000-r/min Servomotors 1 kW/1.5 kW Four, 9 dia. 45 41 Eight, h: 9 4 6 7 12 2 (Dimensions of shaft end with key and tap) 130 x 130 55 22 dia., h: 6 110 dia., h: 7 118 LL 84 Servomotor/brake connector Encoder connector ABS 165 dia. 145 dia . M5 (depth: 12) Dimensions (mm) Model LL 150 R88M-G1K020@ R88M-G1K520@ 175 R88M-G1K020@-B@ 200 R88M-G1K520@-B@ Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2,000-r/min Servomotors 2 kW/3 kW R88M-G2K020T(-S2)/-G3K020T(-S2)/-G2K020T-B(S2)/-G3K020T-B(S2) Four, 9 dia. LW QK Eight, h: 9 7 110 dia., h: 7 4 6 118 12 (Dimensions of shaft end with key and tap) 130 x 130 LR S dia., h: 6 LL 84 Servomotor/brake connector Encoder connector ABS 165 dia. 145 dia . M (depth: L) Model Dimensions (mm) LL LR S LW QK M L R88M-G2K020@ 200 55 22 45 41 M5 12 R88M-G3K020@ 250 65 24 55 51 M8 20 R88M-G2K020@-B@ 225 55 22 45 41 M5 12 R88M-G3K020@-B@ 275 65 24 55 51 M8 20 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-40 Standard Models and Dimensions R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2) 2-2 External and Mounting Hole Dimensions 2,000-r/min Servomotors 4 kW/5 kW R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2) CxC LR Four, Z dia. QK b h D2 dia., h: 7 t1 3.2 84 18 (Dimensions of shaft end with key and tap) KL1 LL S dia.,h: 6 Servomotor/brake connector Encoder connector Standard Models and Dimensions 2 ABS D3 dia. D1 dia . M (depth: L) Model Dimensions (mm) LL LR S D1 D2 C D3 KL1 Z QK b h t1 M 51 M8 20 R88M-G4K020@ 242 65 28 165 130 150 190 128 11 8h9 7 4 R88M-G5K020@ 225 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25 R88M-G4K020@-B@ 267 65 28 165 130 150 190 128 11 8h9 7 4 R88M-G5K020@-B@ 250 70 35 200 114.3 176 233 143 13.5 50 10h9 8 5 M12 25 51 M8 20 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-41 L 2-2 External and Mounting Hole Dimensions 1,500-r/min Servomotors 7.5 kW R88M-G7K515T(-S2)/-G7K515T-B(S2) ABS Brake connector 96 90 8 233 200 Model 12, h: 9 Four, 13.5 dia. . dia dia . M16 (depth:32) Dimensions (mm) LL R88M-G7K515@ 340.5 R88M-G7K515@-B@ 380.5 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-42 Standard Models and Dimensions 176 x 176 84 24 3.2 42 dia., h: 6 Encoder connector 113 114.3 dia., h: 7 183 LL 2 (Dimensions of shaft end with key and tap) Eye-bolt Nominal diameter: 10 5 Motor connector 2-2 External and Mounting Hole Dimensions 1,000-r/min Servomotors 900 W/2 kW R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2) 2 ABS Encoder connector Servomotor/brake connector LR (Dimensions of shaft end with key and tap) S dia., h: 6 CxC QK Four, Z dia. b h D2 dia., h: 7 t1 KL1 G F 84 D3 . D1 dia . dia M (depth: L) Model R88M-G90010@ Dimensions (mm) LL LR 175 70 S D1 D2 C D3 F G KL1 Z QK b h t1 M L 22 145 110 130 165 6 12 118 9 41 8h9 7 4 M5 12 R88M-G2K010@ 182 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25 R88M-G90010@-B@ 200 70 22 145 110 130 165 8h9 7 4 M5 R88M-G2K010@-B@ 207 80 35 200 114.3 176 233 3.2 18 143 13.5 50 10h9 8 5 M12 25 6 12 118 9 41 12 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 1,000-r/min Servomotors 3 kW R88M-G3K010T(-S2)/-G3K010T-B(S2) LL 80 Model 50 10, h: 9 5 Four, 13.5 dia. 8 114.3 dia., h: 7 18 3.2 176 x 176 143 Encoder connector ABS (Dimensions of shaft end with key and tap) 35 dia., h: 6 Servomotor/brake connector 84 Standard Models and Dimensions LL 233 . dia 200 dia . M12 (depth: 25) Dimensions (mm) LL R88M-G3K010@ 222 R88M-G3K010@-B@ 271 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-43 2-2 External and Mounting Hole Dimensions 1,000-r/min Servomotors 4.5 kW R88M-G4K510T(-S2)/-G4K510T-B(S2) 176 x 176 90 12, h: 9 5 Four, 13.5 dia. 8 143 24 3.2 42 dia., h: 6 Nominal diameter: 10 233 . dia 200 dia . M16 (depth: 32) Dimensions (mm) Model LL R88M-G4K510@ 300.5 R88M-G4K510@-B@ 337.5 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 1,000-r/min Servomotors 6 kW R88M-G6K010T(-S2)/-G6K010T-B(S2) ABS Brake connector (Dimensions of shaft end with key and tap) Eye-bolt Nominal diameter: 10 176 x 176 96 90 114.3 dia., h: 7 Model 12, h: 9 Four, 13.5 dia. 233 200 . 5 42 dia., h: 6 Encoder connector 8 Motor connector dia dia . M16 (depth: 32) Dimensions (mm) LL R88M-G6K010@ 340.5 R88M-G6K010@-B@ 380.5 Note The standard models have a straight shaft. Models with a key and tap are indicated with "S2" at the end of the model number. 2-44 Standard Models and Dimensions 113 Eye-bolt 84 Encoder connector LL 2 (Dimensions of shaft end with key and tap) 114.3 dia., h: 7 Servomotor/brake connector ABS 2-2 External and Mounting Hole Dimensions Parameter Unit Dimensions R88A-PR02G Hand-held Parameter Unit 2 (62) M3 (depth: 5) (114) Standard Models and Dimensions (15) (24) (15) (1500) 2-45 Mini DIN 8-pin MD connector 2-2 External and Mounting Hole Dimensions Servomotor and Decelerator Combinations 3,000-r/min Servomotors 1/5 1/11 (1/9 for flange size No.11) 1/21 1/33 1/45 2 R88MG05030@ R88GR88GHPG11B05100B@ HPG11B09050B@ (Also used with (Gear ratio 1/9) R88M-G10030@) R88GHPG14A21100B@ R88GR88G(Also used with HPG14A33050B@ HPG14A45050B@ R88M-G10030@) R88MG10030@ R88GR88GR88GR88GR88GHPG11B05100B@ HPG14A11100B@ HPG14A21100B@ HPG20A33100B@ HPG20A45100B@ R88MG20030@ R88GR88GR88GR88GR88GHPG14A05200B@ HPG14A11200B@ HPG20A21200B@ HPG20A33200B@ HPG20A45200B@ R88MG40030@ R88GR88GR88GR88GR88GHPG14A05400B@ HPG20A11400B@ HPG20A21400B@ HPG32A33400B@ HPG32A45400B@ R88MG75030@ R88GR88GR88GR88GR88GHPG20A05750B@ HPG20A11750B@ HPG32A21750B@ HPG32A33750B@ HPG32A45750B@ R88MG1K030T R88GR88GR88GR88GR88GHPG32A051K0B@ HPG32A111K0B@ HPG32A211K0B@ HPG32A331K0B@ HPG50A451K0B@ R88MG1K530T R88GHPG32A052K0B@ (Also used with R88M-G2K030T) R88MG2K030T R88GR88GR88GR88G--HPG32A052K0B@ HPG32A112K0B@ HPG50A212K0B@ HPG50A332K0B@ R88MG3K030T R88GR88GR88G--HPG32A053K0B@ HPG50A113K0B@ HPG50A213K0B@ --- R88MG4K030T R88GHPG50A115K0B@ R88G--HPG32A054K0B@ (Also used with R88M-G5K030T) --- --- R88MG5K030T R88GR88G--HPG50A055K0B@ HPG50A115K0B@ --- --- R88GHPG32A112K0B@ R88G(Also used with HPG32A211K5B@ R88M-G2K030T) R88GHPG50A332K0B@ R88G(Also used with HPG50A451K5B@ R88M-G2K030T) 2-46 Standard Models and Dimensions Motor model 2-2 External and Mounting Hole Dimensions 3,000-r/min Flat Servomotors Motor model 2 1/5 1/11 1/21 1/33 1/45 R88GR88GR88GR88GR88GR88MGP10030@ HPG11B05100PB@ HPG14A11100PB@ HPG14A21100PB@ HPG20A33100PB@ HPG20A45100PB@ Standard Models and Dimensions R88MR88GR88GR88GR88GR88GGP20030@ HPG14A05200PB@ HPG20A11200PB@ HPG20A21200PB@ HPG20A33200PB@ HPG20A45200PB@ R88MR88GR88GR88GR88GR88GGP40030@ HPG20A05400PB@ HPG20A11400PB@ HPG20A21400PB@ HPG32A33400PB@ HPG32A45400PB@ 2,000-r/min Servomotors Motor model 1/5 1/11 (1/12 for flange size No.65) 1/21 (1/20 for flange size No.65) 1/33 (1/25 for flange size No.65) 1/45 R88MG1K020T R88GHPG32A053K0B@ (Also used with R88M-G3K030T) R88GHPG32A112K0SB@ R88G(Also used with HPG32A211K0SB@ R88M-G2K020T) R88GHPG50A332K0SB@ R88G(Also used with HPG50A451K0SB@ R88M-G2K020T) R88MG1K520T R88GHPG32A053K0B@ (Also used with R88M-G3K030T) R88GHPG32A112K0SB@ (Also used with R88M-G2K020T) R88GHPG50A213K0B@ (Also used with R88M-G3K030T) R88GHPG50A332K0SB@ --(Also used with R88M-G2K020T) R88MG2K020T R88GHPG32A053K0B@ (Also used with R88M-G3K030T) R88GHPG50A213K0B@ R88GHPG32A112K0SB@ (Also used with R88M-G3K030T) R88G--HPG50A332K0SB@ R88MG3K020T R88GHPG32A054K0B@ (Also used with R88M-G4K030T) R88GHPG50A115K0B@ (Also used with R88M-G5K030T) R88MG4K020T R88GR88GR88GR88G--HPG50A054K0SB@ HPG50A114K0SB@ HPG65A204K0SB@ HPG65A254K0SB@ R88MG5K020T R88GR88GR88GR88G--HPG50A055K0SB@ HPG50A115K0SB@ HPG65A205K0SB@ HPG65A255K0SB@ R88MG7K515T R88GR88G--HPG65A057K5SB@ HPG65A127K5SB@ 2-47 R88GR88G--HPG50A213K0SB@ HPG65A253K0SB@ --- --- 2-2 External and Mounting Hole Dimensions 1,000-r/min Servomotors 1/5 1/11 (1/12 for flange size No.65) 1/21 (1/20 for flange size No.65) 1/33 (1/25 for flange size No.65) R88MG90010T R88GHPG32A05900TB@ R88GHPG32A11900TB@ R88GHPG50A21900TB@ R88GHPG50A33900TB@ R88MG2K010T R88GHPG32A052K0TB@ R88GHPG50A112K0TB@ R88GHPG50A212K0TB@ R88GHPG65A255K0SB@ (Also used with R88MG5K020T) R88MG3K010T R88GHPG50A055K0SB@ (Also used with R88MG5K020T) R88GHPG50A115K0SB@ (Also used with R88MG5K020T) R88GHPG65A205K0SB@ (Also used with R88MG5K020T) R88GHPG65A255K0SB@ (Also used with R88MG5K020T) R88MG4K510T R88GHPG50A054K5TB@ R88GHPG65A127K5SB@ R88G(Also used with R88M- HPG65A204K5TB@ G7K515T) --- R88MG6K010T R88GHPG65A057K5SB@ (Also used with R88MG7K515T) R88GHPG65A127K5SB@ --(Also used with R88MG7K515T) --- 2 Standard Models and Dimensions Motor model 2-48 2-2 External and Mounting Hole Dimensions Decelerator Dimensions Backlash = 3' Max. Decelerators for 3,000-r/min Servomotors 2 Standard Models and Dimensions Model Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 G 1/5 R88G-HPG11B05100B@ 1/9 R88G-HPG11B09050B@ 50 W 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@ 1/5 R88G-HPG11B05100B@ 1/11 R88G-HPG14A11100B@ 100 W 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 39.5 39.5 64.0 64.0 64.0 39.5 64.0 64.0 66.5 42 42 58 58 58 42 58 58 80 1/45 R88G-HPG20A45100B@ 1/5 R88G-HPG14A05200B@ 1/11 R88G-HPG14A11200B@ 200 W 1/21 R88G-HPG20A21200B@ 66.5 64.0 64.0 71.0 80 58 58 80 40 40x40 40 40x40 60 60x60 60 60x60 60 60x60 40 40x40 60 60x60 60 60x60 90 55 dia. 90 55 dia. 60 60x60 60 60x60 90 89 dia. 46 46 70 70 70 46 70 70 46 46 46 46 46 46 46 46 40.0 40.0 56.0 56.0 56.0 40.0 56.0 56.0 39.5 39.5 55.5 55.5 55.5 39.5 55.5 55.5 29 29 40 40 40 29 40 40 27 27 37 37 37 27 37 37 2.2 2.2 2.5 2.5 2.5 2.2 2.5 2.5 15 15 21 21 21 15 21 21 5 5 8 8 8 5 8 8 105 105 70 70 46 46 70 70 85.0 85.0 56.0 56.0 84.0 84.0 55.5 55.5 59 59 40 40 53 53 37 37 7.5 7.5 2.5 2.5 27 27 21 21 10 10 8 8 1/33 R88G-HPG20A33200B@ 71.0 1/45 R88G-HPG20A45200B@ 71.0 80 80 105 90 89 dia. 105 90 89 dia. 105 70 70 70 85.0 84.0 85.0 84.0 85.0 84.0 59 59 59 53 53 53 7.5 7.5 7.5 27 27 27 10 10 10 Dimensions (mm) Model 1/5 1/9 50 W 1/21 1/33 1/45 1/5 1/11 100 W 1/21 1/33 1/45 1/5 1/11 200 W 1/21 1/33 1/45 R88G-HPG11B05100B@ R88G-HPG11B09050B@ R88G-HPG14A21100B@ R88G-HPG14A33050B@ R88G-HPG14A45050B@ R88G-HPG11B05100B@ R88G-HPG14A11100B@ R88G-HPG14A21100B@ R88G-HPG20A33100B@ R88G-HPG20A45100B@ R88G-HPG14A05200B@ R88G-HPG14A11200B@ R88G-HPG20A21200B@ R88G-HPG20A33200B@ R88G-HPG20A45200B@ S T Z1 Z2 AT*1 8 8 16 16 16 8 16 16 25 25 16 16 25 25 25 20 20 28 28 28 20 28 28 42 42 28 28 42 42 42 3.4 3.4 5.5 5.5 5.5 3.4 5.5 5.5 9.0 9.0 5.5 5.5 9.0 9.0 9.0 M4x9 M4x9 M4x10 M4x10 M4x10 M4x9 M4x10 M4x10 M4x10 M4x10 M4x10 M4x10 M4x10 M4x10 M4x10 M3 M3 M3 M3 M3 M3 M3 M3 M4 M4 M4 M4 M4 M4 M4 Key dimensions QK 15 15 25 25 25 15 25 25 36 36 25 25 36 36 36 b 3 3 5 5 5 3 5 5 8 8 5 5 8 8 8 h 3 3 5 5 5 3 5 5 7 7 5 5 7 7 7 t1 1.8 1.8 3 3 3 1.8 3 3 4.0 4.0 3 3 4.0 4.0 4.0 Tap dimensions M L M3 6 M3 6 M4 8 M4 8 M4 8 M3 6 M4 8 M4 8 M6 12 M6 12 M4 8 M4 8 M6 12 M6 12 M6 12 Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG11B05100BJ) 2-49 2-2 External and Mounting Hole Dimensions Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 G 1/5 R88G-HPG14A05400B@ 64.0 58 60 60x60 70 70 56.0 55.5 40 37 2.5 21 8 1/11 R88G-HPG20A11400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 10 400 W 1/21 R88G-HPG20A21400B@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 10 1/33 R88G-HPG32A33400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35 13 1/45 R88G-HPG32A45400B@ 104.0 133 120 122 dia. 135 70 115.0 114.0 84 98 12.5 35 13 1/5 R88G-HPG20A05750B@ 78.0 80 90 80x80 105 90 85.0 84.0 59 53 7.5 27 10 1/11 R88G-HPG20A11750B@ 78.0 80 90 80x80 105 90 85.0 84.0 59 53 7.5 27 10 750 W 1/21 R88G-HPG32A21750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13 1/33 R88G-HPG32A33750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13 1/45 R88G-HPG32A45750B@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 13 Dimensions (mm) Model S T Z1 Z2 Tap dimensions Key dimensions AT*1 QK b h t1 M L 1/5 R88G-HPG14A05400B@ 16 28 5.5 M4x10 M4 25 5 5 3 M4 8 1/11 R88G-HPG20A11400B@ 25 42 9.0 M4x10 M4 36 8 7 4.0 M6 12 400 W 1/21 R88G-HPG20A21400B@ 25 42 9.0 M4x10 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG32A33400B@ 40 82 11.0 M4x10 M4 70 12 8 5.0 M10 20 1/45 R88G-HPG32A45400B@ 40 82 11.0 M4x10 M4 70 12 8 5.0 M10 20 1/5 R88G-HPG20A05750B@ 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 1/11 R88G-HPG20A11750B@ 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 750 W 1/21 R88G-HPG32A21750B@ 40 82 11.0 M5x12 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG32A33750B@ 40 82 11.0 M5x12 M6 70 12 8 5.0 M10 20 1/45 R88G-HPG32A45750B@ 40 82 11.0 M5x12 M6 70 12 8 5.0 M10 20 *1. This is the set bolt. Outline Drawings C1 x C1 Set bolt (AT) E D2 dia. D3 dia.,h: 7 D4 dia. D5 dia. S dia.,h: 7 D1 dia. Four, Z2 T F1 C2 x C2 Four, Z1 dia. F2 LR G LM Set bolt (AT) Four, Z2 Key and Tap Dimensions D2 dia. QK t1 h b M (depth: L) C2 dia. 2-50 2 Standard Models and Dimensions Model 2-2 External and Mounting Hole Dimensions Model 1/5 R88G-HPG32A051K0B@ 1/11 R88G-HPG32A111K0B@ 2 1 kW 1/21 R88G-HPG32A211K0B@ 1/33 R88G-HPG32A331K0B@ 1/45 R88G-HPG50A451K0B@ Standard Models and Dimensions 1/5 R88G-HPG32A052K0B@ 1/11 R88G-HPG32A112K0B@ 1.5 kW 1/21 R88G-HPG32A211K5B@ E F1 F2 98 12.5 35 98 12.5 35 98 12.5 35 122 dia. 104 133 120 135 100 115 114 84 98 12.5 35 123 156 170 170 dia. 190 100 165 163 122 103 12.0 53 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35 1/33 R88G-HPG50A332K0B@ 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53 1/5 R88G-HPG32A053K0B@ 1/21 R88G-HPG50A213K0B@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/5 R88G-HPG32A052K0B@ 1/11 R88G-HPG32A112K0B@ 3 kW 1/11 R88G-HPG50A113K0B@ 5 kW C1 1/21 R88G-HPG50A212K0B@ 1/45 R88G-HPG50A451K5B@ 4 kW LR 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35 110 133 120 135 dia. 135 115 115 114 84 98 12.5 35 123 156 170 170 dia. 190 115 165 163 122 103 12.0 53 1/33 R88G-HPG50A332K0B@ 2 kW Dimensions (mm) C2 D1 D2 D3 D4 D5 104 133 120 122 dia. 135 100 115 114 84 104 133 120 122 dia. 135 100 115 114 84 104 133 120 122 dia. 135 100 115 114 84 LM 1/5 R88G-HPG32A054K0B@ 129 133 120 130x130 135 145 115 114 1/11 R88G-HPG50A115K0B@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 1/5 R88G-HPG50A055K0B@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 1/11 R88G-HPG50A115K0B@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 84 98 12.5 35 Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG32A051K0BJ) 2-51 2-2 External and Mounting Hole Dimensions Dimensions (mm) S T Z1 Z2 AT*1 QK b h t1 Tap dimensions M L 1/5 R88G-HPG32A051K0B@ 13 40 82 11 M6x12 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG32A111K0B@ 13 40 82 11 M6x12 M6 70 12 8 5.0 M10 20 1 kW 1/21 R88G-HPG32A211K0B@ 13 40 82 11 M6x12 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG32A331K0B@ 13 40 82 11 M6x12 M6 70 12 8 5.0 M10 20 1/45 R88G-HPG50A451K0B@ 16 50 82 14 M6x10 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A052K0B@ 13 40 82 11 M8x10 M6 70 12 8 5.0 M10 20 Key dimensions 1/11 R88G-HPG32A112K0B@ 13 40 82 11 M8x10 M6 70 12 8 5.0 M10 20 1.5 kW 1/21 R88G-HPG32A211K5B@ 13 40 82 11 M8x10 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG50A332K0B@ 16 50 82 14 M8x10 M6 70 14 9 5.5 M10 20 1/45 R88G-HPG50A451K5B@ 16 50 82 14 M8x10 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A052K0B@ 13 40 82 11 M8x10 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG32A112K0B@ 13 40 82 11 M8x10 M6 70 12 8 5.0 M10 20 1/21 R88G-HPG50A212K0B@ 16 50 82 14 M8x10 M6 70 14 9 5.5 M10 20 1/33 R88G-HPG50A332K0B@ 16 50 82 14 M8x10 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 3 kW 1/11 R88G-HPG50A113K0B@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/21 R88G-HPG50A213K0B@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 2 kW 4 kW 5 kW 1/5 R88G-HPG32A054K0B@ 13 40 82 11 M8x25 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG50A115K0B@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG50A055K0B@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 1/11 R88G-HPG50A115K0B@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 *1. This is the set bolt. Outline Drawings E Set bolt (AT) Four, Z2 D2 dia. D4 dia. D5 dia. S dia.,h: 7 D1 dia. D3 dia.,h: 7 *2 C1 x C1 F1 T Four, Z1 dia. C2 x C2 F2 G LR LM Set bolt (AT) Four, Z2 Key and Tap Dimensions D2 dia. QK t1 h b M (depth: L) C2 dia. *2. With the R88G-HPG50@, the height tolerance is 8 mm (D3 dia., h: 8). 2-52 2 Standard Models and Dimensions G Model 2-2 External and Mounting Hole Dimensions Decelerators for 2,000-r/min Servomotors Dimensions (mm) D1 D2 D3 D4 D5 E 1/5 R88G-HPG32A053K0B@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 1/11 R88G-HPG32A112K0SB@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 1 kW 1/21 R88G-HPG32A211K0SB@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 Model Standard Models and Dimensions 2 1.5 kW 2 kW 3 kW LM LR C1 C2 F1 F2 1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/45 R88G-HPG50A451K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/5 R88G-HPG32A053K0B@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 1/11 R88G-HPG32A112K0SB@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/5 R88G-HPG32A053K0B@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 1/11 R88G-HPG32A112K0SB@ 107 133 120 130x130 135 145 115 114 84 98 12.5 35 1/21 R88G-HPG50A213K0B@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/33 R88G-HPG50A332K0SB@ 123 156 170 170 dia. 190 145 165 163 122 103 12.0 53 1/5 R88G-HPG32A054K0B@ 129 133 120 130x130 135 145 115 114 1/11 R88G-HPG50A115K0B@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 1/21 R88G-HPG50A213K0SB@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 1/25 R88G-HPG65A253K0SB@ 231 222 230 130x130 260 145 220 214 168 165 12.0 57 84 98 12.5 35 Dimensions (mm) G S T Z1 Z2 AT*1 QK b h Tap dimensions t1 M L 1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 Model Key dimensions 1/11 R88G-HPG32A112K0SB@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 1 kW 1/21 R88G-HPG32A211K0SB@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 1/33 R88G-HPG50A332K0SB@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/45 R88G-HPG50A451K0SB@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG32A112K0SB@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 1/21 R88G-HPG50A213K0B@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/33 R88G-HPG50A332K0SB@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A053K0B@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG32A112K0SB@ 13 40 82 11 M8x18 M6 70 12 8 5.0 M10 20 1/21 R88G-HPG50A213K0B@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/33 R88G-HPG50A332K0SB@ 16 50 82 14 M8x16 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A054K0B@ 13 40 82 11 M8x25 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG50A115K0B@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 1/21 R88G-HPG50A213K0SB@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 1/25 R88G-HPG65A253K0SB@ 25 80 130 18 M8x25 M8 110 22 14 9.0 M16 35 1.5 kW 2 kW 3 kW Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG32A053K0BJ) 2-53 2-2 External and Mounting Hole Dimensions 4 kW 5 kW LR C1 Dimensions (mm) D1 D2 D3 D4 C2 D5 E F1 F2 1/5 R88G-HPG50A054K0SB@ 149 156 170 180x180 190 165 165 163 122 103 12.0 53 1/11 R88G-HPG50A114K0SB@ 149 156 170 180x180 190 165 165 163 122 103 12.0 53 1/20 R88G-HPG65A204K0SB@ 231 222 230 180x180 260 165 220 214 168 165 12.0 57 1/25 R88G-HPG65A254K0SB@ 231 222 230 180x180 260 165 220 214 168 165 12.0 57 1/5 R88G-HPG50A055K0SB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 1/11 R88G-HPG50A115K0SB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 1/20 R88G-HPG65A205K0SB@ 231 222 230 180x180 260 200 220 214 168 165 12.0 57 231 222 230 180x180 260 200 220 214 168 165 12.0 57 1/25 R88G-HPG65A255K0SB@ 7.5 kW LM 1/5 R88G-HPG65A057K5SB@ 184.5 222 230 180x180 260 200 220 214 168 165 12.0 57 1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180x180 260 200 220 214 168 165 12.0 57 Dimensions (mm) Model 4 kW 5 kW 7.5 kW G S T Z1 AT*1 Z2 Key dimensions QK b h t1 Tap dimensions M L 1/5 R88G-HPG50A054K0SB@ 16 50 82 14 M10x25 M6 70 14 9 5.5 M10 20 1/11 R88G-HPG50A114K0SB@ 16 50 82 14 M10x25 M6 70 14 9 5.5 M10 20 1/20 R88G-HPG65A204K0SB@ 25 80 130 18 M10x25 M8 110 22 14 9.0 M16 35 1/25 R88G-HPG65A254K0SB@ 25 80 130 18 M10x25 M8 110 22 14 9.0 M16 35 1/5 R88G-HPG50A055K0SB@ 16 50 82 14 M12x25 M6 70 14 9 5.5 M10 20 1/11 R88G-HPG50A115K0SB@ 16 50 82 14 M12x25 M6 70 14 9 5.5 M10 20 1/20 R88G-HPG65A205K0SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/25 R88G-HPG65A255K0SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/5 R88G-HPG65A057K5SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/12 R88G-HPG65A127K5SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 *1. This is the set bolt. Outline Drawings E D1 dia. Set bolt (AT) Four, Z2 D2 dia. D4 dia. D5 dia. S dia.,h: 7 D3 dia.,h: 7 *2 C1 x C1 F1 T Four, Z1 dia. C2 x C2 F2 G LR LM Set bolt (AT) Four, Z2 Key and Tap Dimensions D2 dia. QK t1 h b M (depth: L) C2 dia. *2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8). 2-54 2 Standard Models and Dimensions Model 2-2 External and Mounting Hole Dimensions Decelerators for 1,000-r/min Servomotors LM LR Dimensions (mm) D1 D2 D3 D4 D5 E 1/5 R88G-HPG32A05900TB@ 129 133 120 130x130 135 145 115 114 84 98 12.5 35 1/11 R88G-HPG32A11900TB@ 129 133 120 130x130 135 145 115 114 84 98 12.5 35 1/21 R88G-HPG50A21900TB@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 1/33 R88G-HPG50A33900TB@ 149 156 170 130x130 190 145 165 163 122 103 12.0 53 Model Standard Models and Dimensions 2 900 W 2 kW 3 kW C1 C2 F1 F2 1/5 R88G-HPG32A052K0TB@ 129 133 120 180x180 135 200 115 114 1/11 R88G-HPG50A112K0TB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 1/21 R88G-HPG50A212K0TB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 1/25 R88G-HPG65A255K0SB@ 231 222 230 180x180 260 200 220 214 168 165 12.0 57 1/5 R88G-HPG50A055K0SB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 1/11 R88G-HPG50A115K0SB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 1/20 R88G-HPG65A205K0SB@ 231 222 230 180x180 260 200 220 214 168 165 12.0 57 1/25 R88G-HPG65A255K0SB@ 231 222 230 180x180 260 200 220 214 168 165 12.0 57 1/5 R88G-HPG50A054K5TB@ 149 156 170 180x180 190 200 165 163 122 103 12.0 53 84 98 12.5 35 4.5 kW 1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180x180 260 200 220 214 168 165 12.0 57 1/20 R88G-HPG65A204K5TB@ 254.5 222 230 180x180 260 200 220 214 168 165 12.0 57 1/5 R88G-HPG65A057K5SB@ 184.5 222 230 180x180 260 200 220 214 168 165 12.0 57 1/12 R88G-HPG65A127K5SB@ 254.5 222 230 180x180 260 200 220 214 168 165 12.0 57 6 kW Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG32A05900TBJ) 2-55 2-2 External and Mounting Hole Dimensions Dimensions (mm) 900 W 2 kW 3 kW G S T Z1 Z2 QK b h Tap dimensions t1 M L Key dimensions AT*1 1/5 R88G-HPG32A05900TB@ 13 40 82 11 M8x25 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG32A11900TB@ 13 40 82 11 M8x25 M6 70 12 8 5.0 M10 20 1/21 R88G-HPG50A21900TB@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 1/33 R88G-HPG50A33900TB@ 16 50 82 14 M8x25 M6 70 14 9 5.5 M10 20 1/5 R88G-HPG32A052K0TB@ 13 40 82 11 M12x25 M6 70 12 8 5.0 M10 20 1/11 R88G-HPG50A112K0TB@ 16 50 82 14 M12x25 M6 70 14 9 5.5 M10 20 1/21 R88G-HPG50A212K0TB@ 16 50 82 14 M12x25 M6 70 14 9 5.5 M10 20 1/25 R88G-HPG65A255K0SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/5 R88G-HPG50A055K0SB@ 16 50 82 14 M12x25 M6 70 14 9 5.5 M10 20 1/11 R88G-HPG50A115K0SB@ 16 50 82 14 M12x25 M6 70 14 9 5.5 M10 20 1/20 R88G-HPG65A205K0SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/25 R88G-HPG65A255K0SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/5 R88G-HPG50A054K5TB@ 16 50 5.5 M10 20 4.5 kW 1/12 R88G-HPG65A127K5SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/20 R88G-HPG65A204K5TB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/5 R88G-HPG65A057K5SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 1/12 R88G-HPG65A127K5SB@ 25 80 130 18 M12x25 M8 110 22 14 9.0 M16 35 6 kW 82 14 M12x25 M6 70 14 9 *1. This is the set bolt. Outline Drawings Set bolt (AT) E D3 dia.,h: 7 *2 D4 dia. D5 dia. S dia.,h: 7 C1 x C1 D1 dia. Four, Z2 D2 dia. F1 T Four, Z1 dia. C2 x C2 F2 G LR LM Key and Tap Dimensions QK t1 h b M (depth: L) *2. With the R88G-HPG50@/-HPG65@, the height tolerance is 8 mm (D3 dia., h: 8). 2-56 2 Standard Models and Dimensions Model 2-2 External and Mounting Hole Dimensions Decelerators for 3,000-r/min Flat Servomotors Model LR C1 C2 D1 D2 1/5 R88G-HPG11B05100PB@ 39.5 42 40 60x60 46 70 D3 D4 D5 E F1 F2 40.0 39.5 29 27 2.2 15 1/11 R88G-HPG14A11100PB@ 64.0 58 60 60x60 70 70 56.0 55.5 40 37 2.5 21 100 W 1/21 R88G-HPG14A21100PB@ 64.0 58 60 60x60 70 70 56.0 55.5 40 37 2.5 21 1/33 R88G-HPG20A33100PB@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 1/45 R88G-HPG20A45100PB@ 71.0 80 90 89 dia. 105 70 85.0 84.0 59 53 7.5 27 2 Standard Models and Dimensions Dimensions (mm) LM Dimensions (mm) Model Tap dimensions Key dimensions G S T Z1 Z2 AT*1 QK b h t1 M L 1/5 R88G-HPG11B05100PB@ 5 8 20 3.4 M4x9 M3 15 3 3 1.8 M3 6 1/11 R88G-HPG14A11100PB@ 8 16 28 5.5 M4x10 M3 25 5 5 3.0 M4 8 100 W 1/21 R88G-HPG14A21100PB@ 8 16 28 5.5 M4x10 M3 25 5 5 3.0 M4 8 1/33 R88G-HPG20A33100PB@ 10 25 42 9.0 M4x10 M3 36 8 7 4.0 M6 12 1/45 R88G-HPG20A45100PB@ 10 25 42 9.0 M4x10 M3 36 8 7 4.0 M6 12 LM LR C1 C2 D1 D2 1/5 R88G-HPG14A05200PB@ 65.0 58 60 80x80 70 90 1/11 R88G-HPG20A11200PB@ 78.0 80 90 80x80 105 200 W 1/21 R88G-HPG20A21200PB@ 78.0 80 90 80x80 1/33 R88G-HPG20A33200PB@ 78.0 80 90 80x80 1/45 R88G-HPG20A45200PB@ 78.0 80 90 80x80 Model Dimensions (mm) D3 D4 D5 E F1 F2 56.0 55.5 40 37 2.5 21 90 85.0 84.0 59 53 7.5 27 105 90 85.0 84.0 59 53 7.5 27 105 90 85.0 84.0 59 53 7.5 27 105 90 85.0 84.0 59 53 7.5 27 Dimensions (mm) Model G S T Z1 Z2 AT *1 Tap dimensions Key dimensions QK b h t1 M L 8 16 28 5.5 M5x12 M4 25 5 5 3.0 M4 8 1/11 R88G-HPG20A11200PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 200 W 1/21 R88G-HPG20A21200PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG20A33200PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 1/45 R88G-HPG20A45200PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 1/5 R88G-HPG14A05200PB@ Note 1. The standard models have a straight shaft. Note 2. Models with a key and tap are indicated with "J" at the end of the model number (the suffix shown in the box). (Example: R88G-HPG11B05100PBJ) 2-57 2-2 External and Mounting Hole Dimensions Dimensions (mm) LM LR C1 C2 D1 D2 D3 D4 D5 E F1 F2 1/5 R88G-HPG20A05400PB@ 78.0 80 90 80x80 105 90 85.0 84.0 59 53 7.5 27 1/11 R88G-HPG20A11400PB@ 78.0 80 90 80x80 105 90 85.0 84.0 59 53 7.5 27 400 W 1/21 R88G-HPG20A21400PB@ 78.0 80 90 80x80 105 90 85.0 84.0 59 53 7.5 27 1/33 R88G-HPG32A33400PB@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 1/45 R88G-HPG32A45400PB@ 104.0 133 120 122 dia. 135 90 115.0 114.0 84 98 12.5 35 Dimensions (mm) Model Tap dimensions Key dimensions G S T Z1 Z2 AT*1 QK b h t1 M L 1/5 R88G-HPG20A05400PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 1/11 R88G-HPG20A11400PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 400 W 1/21 R88G-HPG20A21400PB@ 10 25 42 9.0 M5x12 M4 36 8 7 4.0 M6 12 1/33 R88G-HPG32A33400PB@ 13 40 82 11.0 M5x12 M6 70 12 8 5.0 M10 20 1/45 R88G-HPG32A45400PB@ 13 40 82 11.0 M5x12 M6 70 12 8 5.0 M10 20 *1 This is the set bolt. Outline Drawings C1 x C1 Set bolt (AT) E D2 dia. D3 dia.,h: 7 D4 dia. D5 dia. S dia.,h: 7 D1 dia. Four, Z2 T F1 C2 x C2 Four, Z1 dia. F2 LR G LM Set bolt (AT) Four, Z2 Key and Tap Dimensions D2 dia. QK t1 h b M (depth: L) C2 dia. 2-58 2 Standard Models and Dimensions Model 2-2 External and Mounting Hole Dimensions Backlash = 15' Max. Decelerators for 3,000-r/min Servomotors Dimensions (mm) Model 2 100 W 200 W 400 W 750 W LR C1 C2 D1 D2 D3 D4 E3 F G 1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6 1/9 R88G-VRSF09B100CJ 67.5 32 40 52 46 60 50 45 10 3 6 1/15 R88G-VRSF15B100CJ 78.0 32 40 52 46 60 50 45 10 3 6 1/25 R88G-VRSF25B050CJ 78.0 32 40 52 46 60 50 45 10 3 6 1/5 R88G-VRSF05B100CJ 67.5 32 40 52 46 60 50 45 10 3 6 1/9 R88G-VRSF09B100CJ 67.5 32 40 52 46 60 50 45 10 3 6 1/15 R88G-VRSF15B100CJ 78.0 32 40 52 46 60 50 45 10 3 6 1/25 R88G-VRSF25B100CJ 78.0 32 40 52 46 60 50 45 10 3 6 1/5 R88G-VRSF05B200CJ 72.5 32 60 52 70 60 50 45 10 3 10 1/9 R88G-VRSF09C200CJ 89.5 50 60 78 70 90 70 62 17 3 8 1/15 R88G-VRSF15C200CJ 100.0 50 60 78 70 90 70 62 17 3 8 1/25 R88G-VRSF25C200CJ 100.0 50 60 78 70 90 70 62 17 3 8 1/5 R88G-VRSF05C400CJ 89.5 50 60 78 70 90 70 62 17 3 8 1/9 R88G-VRSF09C400CJ 89.5 50 60 78 70 90 70 62 17 3 8 1/15 R88G-VRSF15C400CJ 100.0 50 60 78 70 90 70 62 17 3 8 1/25 R88G-VRSF25C400CJ 100.0 50 60 78 70 90 70 62 17 3 8 1/5 R88G-VRSF05C750CJ 93.5 50 80 78 90 90 70 62 17 3 10 1/9 R88G-VRSF09D750CJ 97.5 61 80 98 90 115 90 75 18 5 10 1/15 R88G-VRSF15D750CJ 110.0 61 80 98 90 115 90 75 18 5 10 1/25 R88G-VRSF25D750CJ 110.0 61 80 98 90 115 90 75 18 5 10 Note The standard models have a straight shaft with a key. Outline Drawings E3 F Four, Z2 (effective depth: L) ia. C1 x C1 G T LM 2-59 LR D3 dia., h: 7 D1 d D4 dia. Four, Z1 S dia., h: 6 Standard Models and Dimensions 50 W LM D2 d ia. C2 x C2 2-2 External and Mounting Hole Dimensions Dimensions (mm) 100 W 200 W 400 W 750 W T Z1 Z2 AT L 1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 1/9 R88G-VRSF09B100CJ 12 20 M4 M5 M3 1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 Key dimensions QK b h t1 12 16 4 4 2.5 12 16 4 4 2.5 12 16 4 4 2.5 1/25 R88G-VRSF25B050CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/5 R88G-VRSF05B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/9 R88G-VRSF09B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/15 R88G-VRSF15B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/25 R88G-VRSF25B100CJ 12 20 M4 M5 M3 12 16 4 4 2.5 1/5 R88G-VRSF05B200CJ 12 20 M4 M5 M4 12 16 4 4 2.5 1/9 R88G-VRSF09C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/15 R88G-VRSF15C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/25 R88G-VRSF25C200CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/5 R88G-VRSF05C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/9 R88G-VRSF09C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/15 R88G-VRSF15C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/25 R88G-VRSF25C400CJ 19 30 M4 M6 M4 20 22 6 6 3.5 1/5 R88G-VRSF05C750CJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/9 R88G-VRSF09D750CJ 24 40 M5 M8 M4 20 30 8 7 4 1/15 R88G-VRSF15D750CJ 24 40 M5 M8 M4 20 30 8 7 4 1/25 R88G-VRSF25D750CJ 24 40 M5 M8 M4 20 30 8 7 4 2 Outline Drawings Set bolt (AT) Key Dimensions b 50 W S Standard Models and Dimensions Model QK t1 h 2-60 2-2 External and Mounting Hole Dimensions Decelerators for 3,000-r/min Flat Servomotors Dimensions (mm) Model 100 W 200 W 400 W LR C1 C2 D1 D2 D3 D4 E3 F G 1/5 R88G-VRSF05B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8 1/9 R88G-VRSF09B100PCJ 67.5 32 60 52 70 60 50 45 10 3 8 1/15 R88G-VRSF15B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8 1/25 R88G-VRSF25B100PCJ 78.0 32 60 52 70 60 50 45 10 3 8 1/5 R88G-VRSF05B200PCJ 72.5 32 80 52 90 60 50 45 10 3 12 1/9 R88G-VRSF09C200PCJ 89.5 50 80 78 90 90 70 62 17 3 12 1/15 R88G-VRSF15C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12 1/25 R88G-VRSF25C200PCJ 100.0 50 80 78 90 90 70 62 17 3 12 1/5 R88G-VRSF05C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12 1/9 R88G-VRSF09C400PCJ 89.5 50 80 78 90 90 70 62 17 3 12 1/15 R88G-VRSF15C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12 1/25 R88G-VRSF25C400PCJ 100.0 50 80 78 90 90 70 62 17 3 12 Note The standard models have a straight shaft with a key. Outline Drawings E3 F Four, Z2 (effective depth: L) ia. D4 dia. D1 d D3 dia., h: 7 Four, Z1 S dia., h: 6 Standard Models and Dimensions 2 LM D2 d ia. C2 x C2 C1 x C1 G T LM 2-61 LR 2-2 External and Mounting Hole Dimensions Dimensions (mm) 200 W 400 W T Z1 Z2 AT L 1/5 R88G-VRSF05B100PCJ 12 20 M4 M5 M3 1/9 R88G-VRSF09B100PCJ 12 20 M4 M5 M3 1/15 R88G-VRSF15B100PCJ 12 20 M4 M5 M3 1/25 R88G-VRSF25B100PCJ Key dimensions QK b h t1 12 16 4 4 2.5 12 16 4 4 2.5 12 16 4 4 2.5 12 20 M4 M5 M3 12 16 4 4 2.5 1/5 R88G-VRSF05B200PCJ 12 20 M5 M5 M4 12 16 4 4 2.5 1/9 R88G-VRSF09C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/15 R88G-VRSF15C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/25 R88G-VRSF25C200PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/5 R88G-VRSF05C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/9 R88G-VRSF09C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/15 R88G-VRSF15C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 1/25 R88G-VRSF25C400PCJ 19 30 M5 M6 M4 20 22 6 6 3.5 2 Outline Drawings Set bolt (AT) Key Dimensions b 100 W S Standard Models and Dimensions Model QK t1 h 2-62 2-2 External and Mounting Hole Dimensions External Regeneration Resistor Dimensions External Regeneration Resistor Thermal switch output 43.5 28 4.2 1.5 dia. (0.3mm2) Standard Models and Dimensions 3 dia. (0.75mm2) R88A-RR08050S/-RR080100S 2 6 t1.2 500 104 20 122 130 Thermal switch output 62 48 4.2 3 dia. (0.75mm2) 1.5 dia. (0.3mm2) R88A-RR22047S 6 t1.2 500 20 200 220 230 25 2-63 43 78 10 360 386 402 40 76 5.2 R88A-RR50020S 2-2 External and Mounting Hole Dimensions Reactor Dimensions 3G3AX-DL2002 Standard Models and Dimensions 72 90 2 Two, M4 56 66 Four, 5.2 x 8 85 98 Ground terminal (M4) 72 90 3G3AX-DL2004 Two, M4 56 66 Four, 5.2 x 8 95 98 Ground terminal (M4) 2-64 2-2 External and Mounting Hole Dimensions 3G3AX-DL2007 72 90 2 Ground terminal (M4) 56 66 Four, 5.2 x 8 98 105 72 90 3G3AX-DL2015 Two, M4 Ground terminal (M4) 56 66 Four, 5.2 x 8 98 Standard Models and Dimensions Two, M4 2-65 115 2-2 External and Mounting Hole Dimensions 80 100 3G3AX-DL2022 2 Ground terminal (M4) 71 86 Standard Models and Dimensions Two, M4 Four, 6 x 9 116 105 3G3AX-AL2025/-AL2055 Ground terminal (M5) Six, M4 terminal screws Terminal block 60 40 92 150 Ro R So S To T Ro R So S To T Connection Diagram Four, 6 dia. 501 (Notch) A Y1 C 9.5 Model Dimensions (mm) A C Y 3G3AX-AL2025 130 82 67 3G3AX-AL2055 140 98 75 2-66 2-2 External and Mounting Hole Dimensions Standard Models and Dimensions 2 2-67 Chapter 3 Specifications 3-1 Servo Drive Specifications ................................. 3-1 General Specifications ..........................................................3-1 Characteristics ......................................................................3-2 Main Circuit and Servomotor Connections ...........................3-6 Control I/O Connector Specifications (CN1) .........................3-9 Control Input Circuits ............................................................3-17 Control Input Details .............................................................3-20 Control Output Circuits..........................................................3-26 Control Output Details...........................................................3-27 Encoder Connector Specifications (CN2) .............................3-30 Parameter Unit Connector Specifications (CN3B) ................3-31 3-2 Servomotor Specifications ................................. 3-32 General Specifications ..........................................................3-32 Characteristics ......................................................................3-33 Encoder Specifications .........................................................3-46 3-3 Decelerator Specifications ................................. 3-47 Standard Models and Specifications.....................................3-47 3-4 Cable and Connector Specifications .................. 3-57 Encoder Cable Specifications ...............................................3-57 Absolute Encoder Battery Cable Specifications....................3-63 Servomotor Power Cable Specifications...............................3-64 Communications Cable Specifications..................................3-84 Connector Specifications ......................................................3-86 Control Cable Specifications.................................................3-89 3-5 Servo Relay Units and Cable Specifications...... 3-99 Servo Relay Units Specifications ..........................................3-99 Servo Drive-Servo Relay Unit Cable Specifications .............3-112 Position Control Unit-Servo Relay Unit Cable Specifications........................................................................3-116 3-6 Parameter Unit Specifications.......................... 3-129 3-7 External Regeneration Resistor Specifications ................................................... 3-130 External Regeneration Resistor Specifications .....................3-130 3-8 Reactor Specifications ..................................... 3-131 3-1 Servo Drive Specifications 3-1 Servo Drive Specifications Select the Servo Drive matching the Servomotor to be used. (For details, refer to Servo DriveServomotor Combinations on page 2-5.) The same OMNUC G-Series Servo Drive can be used for either a pulse string input or analog input. You can change the control mode according to the Controller. (The default setting is for position control with pulse string commands.) Specifications 3 General Specifications Item Ambient operating temperature and operating humidity Ambient storage temperature and storage humidity Storage and operating atmosphere Vibration resistance Impact resistance Insulation resistance Dielectric strength Protective structure EMC Directive InternaLowtional voltage standards Directive UL standards CSA standards EC Directives Specifications 0 to 55C, 90% RH max. (with no condensation) -20 to 65C, 90% RH max. (with no condensation) No corrosive gasses Smaller of either 10 to 60 Hz with double amplitude of 0.1 mm or acceleration of 5.88 m/s2 max. in X, Y, and Z directions. Acceleration of 19.6 m/s2 max. 2 times each in X, Y, and Z directions Between power supply/power line terminals and frame ground: 0.5 M. min. (at 500 VDC) Between power supply/power line terminals and frame ground: 1,500 VAC for 1 min at 50/60 Hz Between each control signal and frame ground: 500 VAC for 1 min Built into panel (IP10). EN 55011 class A group 1 EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11 EN 50178 UL 508C CSA 22.2 No.14 Note 1. The above items reflect individual evaluation testing. The results may differ under compound conditions. Note 2. Never perform withstand-voltage or other megameter tests on the Servo Drive. Doing so may damage the internal elements. Note 3. Depending on the operating conditions, some Servo Drive parts will require maintenance. Refer to 8-5 Periodic Maintenance on page 8-21. Note 4. The service life of the Servo Drive is 28,000 hours at an average ambient temperature of 55C at 100% of the rated torque. 3-1 3-1 Servo Drive Specifications Characteristics Servo Drives with 100-VAC Input Power R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L Continuous output current (rms) 1.3 A 1.8 A 2.4 A 4.9 A Momentary maximum output current (rms) 3.9 A 5.4 A 7.2 A 14.7 A 0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA Power supply capacity Main circuit Input power supply Power supply voltage Rated current Control circuit Power supply voltage Rated current Heat generated 3 Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz 1.4 A 2.2 A 3.7 A Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz 0.09 A 0.09 A 0.09 A Main circuit 10.1 W 14.4 W 18.4 W 41.4 W Control circuit 4.4 W 4.4 W 4.4 W 4.4 W Control method All-digital servo Inverter method IGBT-driven PWM method PWM frequency 12.0 kHz Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg 50 W 100 W 200 W 400 W INC G05030H G10030L G20030L G40030L ABS G05030T G10030S G20030S G40030S INC --- GP10030L GP20030L GP40030L ABS --- GP10030S GP20030S GP40030S 2,000-r/min Servomotors ABS --- --- --- --- 1,000-r/min Servomotors ABS --- --- --- --- 3,000-r/min Servomotors 3,000-r/min Flat Servomotors Speed control range Performance 6.0 kHz Approx. 0.8 kg Maximum applicable motor capacity Applicable Servomotors 6.6 A 0.09 A Weight Specifications Item 1: 5000 Speed variability: Load characteristic 0.01% or less at 0% to 100% (at rated speed) Speed variability: Voltage characteristic 0% at 10% of rated voltage (at rated speed) Speed variability: Temperature characteristic Torque control reproducibility 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) 3-2 3-1 Servo Drive Specifications Servo Drives with Single-phase 200-VAC Input Power R88DGT01H R88DGT02H R88DGT04H R88DGT08H R88DGT10H R88DGT15H Continuous output current (rms) 1.16 A 1.6 A 2.7 A 4.0 A 5.9 A 9.8 A Momentary maximum output current (rms) 3.5 A 5.3 A 7.1 A 14.1 A 21.2 A 28.3 A 0.5 KVA 0.5 KVA 0.9 KVA 1.3 KVA 1.8 KVA 2.3 KVA Item Power supply capacity 3 Input power supply Power supply voltage Rated current Control circuit Heat generated Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 1.3 A Power supply voltage Rated current 2.0 A Single-phase or three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 5.0/3.3 *1 A 7.5/4.1 *1 A 11/8.0 *1 A 3.7 A Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 0.05 A 0.05 A 0.05 A 0.05 A 0.07 A 0.07 A Main circuit 14.3 W 14.8 W 23.6 W 38.7 W 52.9 W 105.9 W Control circuit 4.5 W 4.5 W 4.5 W 4.3 W 6.1 W 6.1 W PWM frequency 12.0 kHz 6.0 kHz Weight Approx. 0.8 kg Approx. 0.8 kg Approx. 1.1 kg Approx. 1.5 kg Approx. 1.7 kg Approx. 1.7 kg Maximum applicable motor capacity 100 W 200 W 400 W 750 W 1kW 1.5 kW 3,000-r/min Servomotors Applicable Servomotors 3,000-r/min Flat Servomotors INC G05030H G20030H G40030H G10030H G75030H --- --- ABS G05030T G10030T G75030T --- G1K030T G1K530T INC GP10030H GP20030H GP40030H --- --- --- ABS GP10030T GP20030T GP40030T --- --- --- G20030T G40030T 2,000-r/min Servomotors ABS --- --- --- --- G1K020T G1K520T 1,000-r/min Servomotors ABS --- --- --- --- --- G90010T Control method All-digital servo Inverter method IGBT-driven PWM method Speed control range Performance Specifications Main circuit 1:5000 Speed variability: Load characteristic 0.01% or less at 0% to 100% (at rated speed) Speed variability: Voltage characteristic 0% at 10% of rated voltage (at rated speed) Speed variability: Temperature characteristic Torque control reproducibility 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) *1. The left value is for single-phase input power and the right value is for three-phase input power. 3-3 3-1 Servo Drive Specifications Servo Drives with Three-phase 200-VAC Input Power R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H Continuous output current (rms) 14.3 A 17.4 A 31.0 A 45.4 A Momentary maximum output current (rms) 45.3 A 63.6 A 84.8 A 170.0 A 3.3 KVA 4.5 KVA 7.5 KVA 11 KVA Power supply capacity Main circuit Input power supply Power supply voltage Rated current Control circuit Power supply voltage Rated current Heat generated Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz 10.2 A 15.2 A 23.7 A 0.1 A 0.12 A 0.12 A 0.14 A Main circuit 112.3 W 219.6 W 391.7 W 376.2 W Control circuit 10.7 W 13.3 W 13.3 W 13.8 W 6.0 kHz Weight Approx. 3.2 kg Approx. 6.0 kg Approx. 6.0 kg Approx. 16.4 kg 2 kW 3 kW 5 kW 7.5 kW INC --- --- --- --- ABS G2K030T G3K030T G4K030T G5K030T --- INC --- --- --- --- ABS --- --- --- --- 2,000-r/min Servomotors ABS G2K020T G3K020T G4K020T G5K020T G7K515T 1,000-r/min Servomotors ABS --- G2K010T G3K010T G4K510T G6K010T Maximum applicable motor capacity 3,000-r/min Servomotors 3,000-r/min Flat Servomotors Control method All-digital servo Inverter method IGBT-driven PWM method Speed control range Performance 35.0 A Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz PWM frequency Applicable Servomotors 3 Specifications Item 1:5000 Speed variability: Load characteristic 0.01% or less at 0% to 100% (at rated speed) Speed variability: Voltage characteristic 0% at 10% of rated voltage (at rated speed) Speed variability: Temperature characteristic Torque control reproducibility 0.1% or less at 0 to 50C (at rated speed) 3% (at 20% to 100% of rated torque) 3-4 3-1 Servo Drive Specifications Protective Functions Error detection Specifications 3 Description Control power supply undervoltage The voltage between P and N in the control voltage converter has dropped below the specified value. Overvoltage The voltage between P and N in the converter has exceeded the specified value. Undervoltage The main power supply between L1-L3 was interrupted for longer than the time set in the Momentary Hold Time (Pn6D) when the Undervoltage Alarm Selection (Pn65) was set to 1. Alternatively, the voltage between P and N in the main power supply converter dropped below the specified value while the Servo Drive was ON. Overcurrent The current flowing to the converter exceeded the specified value. Overheating The temperature of the Servo Drive radiator or power elements exceeded the specified value. Overload The torque command value exceeded the level set in the Overload Detection Level Setting (Pn72), resulting in an overload due to the time characteristics. Regeneration overload The regenerative energy exceeded the capacity of the regeneration resistor. Encoder communications error The disconnection detection function was activated because communications between the encoder and Servo Drive were interrupted for a specified number of times. Encoder communications data error There was an error in the communications data from the encoder. (The encoder is connected, but there is an error in the communications data.) Deviation counter overflow The number of position deviation pulses exceeded the Deviation Counter Overflow Level (Pn70). Overspeed The rotation speed of the Servomotor exceeded the setting of the Overspeed Detection Level Setting (Pn73). Command pulse multiplying error The settings of the gear ratio (Pn48 to Pn4B: Electronic Gear Ratio Numerator 1, Electronic Gear Ratio Numerator 2, Electronic Gear Ratio Numerator Exponent and Electronic Gear Ratio Denominator) are not appropriate. Overrun limit error The allowable range of movement set in the Overrun Limit Setting (Pn26) was exceeded by the Servomotor. EEPROM parameter error The data in the parameter storage area was corrupted when the data was read from EEPROM at power-ON. EEPROM check code error The EEPROM write verification data was corrupted when the data was read from EEPROM at power-ON. Drive prohibit input Both the forward and reverse drive prohibit inputs were open when the Drive Prohibit Input Selection (Pn04) was set to 0 or either the forward or reverse drive prohibit input was open when the Drive Prohibit Input Selection (Pn04) was set to 2. Excessive analog input A voltage exceeding the Speed Command/ Torque Command Input Overflow Level Setting (Pn71) was applied to the Speed Command Input (REF: CN1 pin 14). Absolute encoder system down error ABS The power supply and battery to the absolute encoder went down and the capacitor voltage dropped below the specified value. Absolute encoder counter overflow error ABS The multiturn counter for the absolute encoder has exceeded the specified value. Absolute encoder overspeed error ABS The Servomotor speed exceeded the specified value when the power to the absolute encoder was interrupted and power was supplied only from the battery. Absolute encoder one-turn counter error ABS An error was detected in the one-turn counter for the absolute encoder. Absolute encoder multi-turn counter error ABS An error was detected in the multiturn counter for the absolute encoder. Absolute encoder status error ABS The number of rotations of the encoder exceeded the specified value when the power supply was turned ON. Encoder phase Z error A phase Z pulse was not detected regularly for the serial encoder. Encoder PS signal error A logic error in the PS signal was detected for the serial encoder. PCL input exceeded A voltage exceeding 10 V was applied to the Forward Torque Limit Input (PCL: CN1 pin 16). NCL input exceeded A voltage exceeding 10 V was applied to the Reverse Torque Limit Input (NCL: CN1 pin 18). Motor automatic recognition error The Servomotor and Servo Drive do not match. CPU error The Servo Drive or Servomotor failed. Encoder error The Servo Drive or Servomotor failed. 3-5 3-1 Servo Drive Specifications Main Circuit and Servomotor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures. R88D-GTA5L/-GT01L/-GT02L/-GT04L R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H Main Circuit Connector Specifications (CNA) Symbol Name Function 3 Main circuit power supply input Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz R88D-GT@H (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz (750 W to 1.5 kW): Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz L2 Control circuit power supply input R88D-GT@L: Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz R88D-GT@H: Single-phase 200 to 240 VAC (170 to 264 V) 50/60 Hz L3 L1C L2C Servomotor Connector Specifications (CNB) Symbol Name Function External Regeneration Resistor connection terminals 50 W to 400 W: These terminals normally do not need to be connected. If there is high regenerative energy, connect an External Regeneration Resistor between B1 and B2. 750 W to 1.5 kW: Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2. B1 B2 B3 U Red V W White Servomotor connection terminals Blue These are the output terminals to the Servomotor. Be sure to wire them correctly. Green/ Yellow Frame ground This is the ground terminal. Ground to a 100 or less. 3-6 Specifications R88D-GT@L (50 W to 400 W): L1 3-1 Servo Drive Specifications R88D-GT20H/-GT30H/-GT50H Main Circuit Terminal Block Specifications Symbol Name Function L1 L2 3 R88D-GT@H (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60Hz Control circuit power supply input R88D-GT@H: Single-phase 200 to 230 VAC (170 to 253V), 50/60 Hz External Regeneration Resistor connection terminals 2 to 5 kW: Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2. L3 L1C L2C Specifications Main circuit power supply input B1 B2 B3 U V W Red Servomotor connection terminals White Blue These are the output terminals to the Servomotor. Be sure to wire them correctly. Green/ Yellow Frame ground 3-7 This is the ground terminal. Ground to 100 or less. 3-1 Servo Drive Specifications R88D-GT75H Main Circuit Terminal Block Specifications (TB1) Symbol Name Function L1 Main circuit power supply input L2 R88D-GT75H (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60Hz L3 External Regeneration Resistor connection terminals B2 U 3 6 kW, 7.5 kW: A regeneration resistor is not built in. Connect an External Regeneration Resistor between B1 and B2, if necessary. Specifications B1 Red V Servomotor connection terminals W White Blue These are the output terminals to the Servomotor. Be sure to wire them correctly. Green/ Yellow Frame ground This is the ground terminal. Ground to 100 or less. Main Circuit Terminal Block Specifications (TB2) Symbol Name NC --- L1C L2C Function Do not connect. Control circuit power supply input R88D-GT75H: Single-phase 200 to 230 VAC (170 to 253 V), 50/60Hz Frame ground This is the ground terminal. Ground to 100 or less. NC EX1 EX2 --- Do not connect. EX3 NC FN(+) FN(-) Fan Stop Output Outputs a warning signal when the fan inside the Servo Drive stops. (30 VDC, 50 mA max.) 3-8 3-1 Servo Drive Specifications Control I/O Connector Specifications (CN1) Control I/O Signal Connections and External Signal Processing for Position Control Reverse pulse 3 500 kpps max. Brake Interlock Specifications Forward pulse Servo Ready Output Reverse pulse Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC Alarm Output 2 Mpps max. Forward pulse Positioning Completed Output General-purpose Output 1 12 to 24 VDC RUN Command Input General-purpose Output 2 Vibration Filter Switch Phase-Z Output (open collector output) Gain Switch Input Encoder Phase-A Line driver output Output Conforms to EIA RS-422A (Load resistance: Encoder Phase-B 120 min.) Output Electronic Gear Switch Input Deviation Counter Reset Input Encoder Phase-Z Output Alarm Reset Input 100 20 SEN 1 F Sensor ON 4.7 k 13 SENGND Control Mode Switch Input 42 BAT Pulse Prohibit Input Backup Battery Input *1 43 BATCOM Forward Torque Limit Input Reverse Drive Prohibit Input Reverse Torque Limit Input Forward Drive Prohibit Input Frame ground *1. If a backup battery is connected, a cable with a battery is not required. 3-9 3-1 Servo Drive Specifications Control I/O Signal Connections and External Signal Processing for Speed Control Speed Command Input REF 14 11 BKIR Brake Interlock AGND 15 Forward Torque Limit Input PCL 16 AGND 17 Reverse Torque Limit Input NCL 18 10 BKIRCOM 35 READY Servo Ready Output 34 READYCOM 37 /ALM Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC 3 Alarm Output SEN 20 Sensor ON Input SENGND 13 Specifications 36 ALMCOM 39 TGON Servomotor Rotation Speed Detection Output 38 TGONCOM 12 OUTM1 12 to 24 VDC General-purpose Output 1 7 RUN Command Input RUN 29 40 OUTM2 General-purpose Output 2 41 COM Zero Speed Designation Input VZERO 26 19 Z Phase-Z Output (open collector output) 25 ZCOM Gain Switch Input GSEL 27 21 Internally Set Speed Selection 3 VSEL3 28 Encoder Phase-A Output 22 49 Internally Set Speed Selection 2 VSEL2 30 Encoder Phase-B Output 48 23 Alarm Reset Input Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.) Encoder Phase-Z Output 24 RESET 31 Control Mode Switch Input TVSEL 32 Internally Set Speed Selection 1 VSEL1 33 42 BAT Backup Battery Input *1 43 BATCOM Reverse Drive Prohibit Input NOT 8 Forward Drive Prohibit Input POT 9 50 FG Frame ground *1. If a backup battery is connected, a cable with a battery is not required. 3-10 3-1 Servo Drive Specifications Control I/O Signal Connections and External Signal Processing for Torque Control Torque Command Input or Speed Limit TREF1/VLIM 14 Input 11 BKIR Brake Interlock 10 BKIRCOM AGND 15 3 Torque Command Input Y 35 READY TREF2 16 Servo Ready Output 34 READYCOM AGND 17 Specifications 37 /ALM Alarm Output SEN 20 100 Sensor ON SENGND 13 4.7 k Maximum operating voltage: 30 VDC Maximum output current: 50 mA DC 36 ALMCOM 1F 39 TGON Servomotor Rotation Speed Detection Output 38 TGONCOM 12 OUTM1 12 to 24 VDC General-purpose Output 1 7 RUN Command Input RUN 29 40 OUTM2 General-purpose Output 2 41 COM Zero Speed Designation Input VZERO 26 19 Z Phase-Z Output (open collector output) 25 ZCOM Gain Switch Input GSEL 27 21 Encoder Phase-A Output 22 Alarm Reset Input RESET 31 49 Encoder Phase-B Output 48 Control Mode Switch Input TVSEL 32 Encoder Phase-Z Output 24 Reverse Drive Prohibit Input NOT 8 Forward Drive Prohibit Input 23 42 BAT Backup Battery Input *1 43 BATCOM POT 9 50 FG Frame ground *1. If a backup battery is connected, a cable with a battery is not required. 3-11 Line driver output Conforms to EIA RS-422A (Load resistance: 120 min.) 3-1 Servo Drive Specifications Control I/O Signals CN1 Control Inputs Symbol 1 +24VCW 24-V Open-collector Input for Command Pulse 2 +24VCC W 24-V Open-collector Input for Command Pulse 3 4 Name +CW/ Reverse Pulses Input/ PULS/FA Feed Pulses Input, or 90 Phase Difference -CW/ PULS/FA Pulse Input (Phase A) 5 +CCW/ SIGN/FB 6 -CCW/ SIGN/FB 7 +24VIN 8 9 Forward Pulse Input/ Direction Signal, or 90 Phase Difference Pulse Input (Phase B) Function/Interface Control mode Input terminals for position command pulses. These are selected by setting the Command Pulse Input Selection (Pn40) to 0. Line-Driver input: Maximum response frequency: 500 kpps Open-collector input: Position Maximum response frequency: 200 kpps Any of the following can be selected by using the Pn42 setting: reverse and forward pulses (CW/CCW), feed pulse and direction signal (PULS/SIGN), 90 phase difference (phase A/B) signals (FA/FB). 12 to 24-VDC Power Supply Input Power supply input terminal (+12 to 24 VDC) for sequence inputs. All NOT Reverse Drive Prohibit Input Reverse rotation overtravel input. OFF: Prohibited, ON: Permitted All POT Forward Drive Prohibit Input Forward rotation overtravel input. OFF: Prohibited, ON: Permitted All REF Speed Command Input Analog input terminal for speed commands. *1 Speed TREF1 Torque Command Input Analog input terminal for torque command when Torque Command/Speed Limit Selection (Pn5B) is set to 0. *1 Torque VLIM Speed Limit Input Analog input terminal for speed limit when Torque Command/Speed Limit Selection (Pn5B) is set to 1. *1 Torque AGND Analog Input Ground Analog input ground. All Forward Torque Limit Input Analog input terminal for forward torque limit. *1 Position, speed TREF2 Torque Command Input Analog input terminal for torque command by setting the Control Mode Selection (Pn02) and Torque Command/ Speed Limit Selection (Pn5B). *1 Torque 17 AGND Analog Input Ground Analog input ground. All 18 NCL 20 SEN 14 15 PCL 16 Reverse Torque Limit Input Analog input terminal for reverse torque limit. *1 Sensor ON Input 13 SENGND Position, speed ON: Absolute encoder's multi-turn amount and initial incremental pulses are sent. All Required signal when using an absolute encoder. 3-12 3 Specifications Pin No. 3-1 Servo Drive Specifications Pin No. Symbol Name Control mode Zero Speed Designation Input When the Zero Speed Designation/Speed Command Direction Switch (Pn06) is set to 0, Zero Speed Designation Input is disabled. When the Zero Speed Designation/Speed Command Direction Switch (Pn06) is set to 1, Zero Speed Designation Input is enabled. OFF: Speed Command is regarded as 0. ON: Normal operation. Speed Command Rotation Direction Switch When the Zero Speed Designation/Speed Command Direction Switch (Pn06) is set to 0, Speed Command Direction Switch input is disabled. When the Zero Speed Designation/Speed Command DiSpeed rection Switch (Pn06) is set to 2, it will determine the direction of the speed command. OFF: Forward rotation ON: Reverse rotation Vibration Filter Switch Vibration filter switch input when the Vibration Filter Selection (Pn24) is set to 1. Position OFF: Vibration filter 1 (Pn2B, Pn2C) enabled. ON: Vibration filter 2 (Pn2D, Pn2E) enabled. Gain Switch Gain switch input when the Torque Limit Selection (Pn03) is set to 0 to 2. If the Gain Switching Input Operating Mode Selection (Pn30) is set to 0: OFF: PI (Proportional/Integral) operation ON: P (Proportional) operation When the Gain Switching Input Operating Mode Selection (Pn30) is set to 1, switches between Gain 1 and Gain 2. The selected Gain will differ depending on the settings for Pn31 and Pn36. All TLSEL Torque Limit Switch Torque limit switch input when the Torque Limit Selection (Pn03) is set to 3. OFF: No. 1 Torque Limit (Pn5E) enabled. ON: No. 2 Torque Limit (Pn5F) enabled. All GESEL Electronic Gear Switch Electronic gear switch input. *2 OFF: Electronic Gear Ratio Numerator 1 (Pn48) ON: Electronic Gear Ratio Numerator 2 (Pn49) Position VSEL3 Internally Set Speed Selection 3 Internally set speed selection 3. ON: Internally set speed selection 3 is input. Speed RUN Command ON: Servo ON (Starts power to Servomotor.) *3 All ECRST Deviation Counter Reset Input Deviation counter reset input. *4 ON: The deviation counter is reset (i.e., cleared). Position VSEL2 Internally Set Speed Selection 2 Internally set speed selection 2. ON: Internally set speed selection 2 is input. Speed 31 RESET Alarm Reset Input ON: Servo alarm status is reset. *5 Must be ON for 120 ms min. All 32 TVSEL Control Mode Switch Input The control mode can be switched when the Control Mode Selection (Pn02) is set to 3 to 5. All IPG Pulse Prohibit Input Pulse prohibit input (IPG) when the Command Pulse Prohibited Input (Pn43) is set to 0. OFF: The command pulse is ignored. Position VSEL1 Internally Set Speed Selection 1 Internally set speed selection 1. ON: Internally set speed selection 1 is input. Speed VZERO 3 Specifications Function/Interface 26 PNSEL DFSEL GSEL 27 28 29 RUN Speed, torque 30 33 3-13 3-1 Servo Drive Specifications Symbol 42 BAT 43 BATGND 44 +CWLD 45 -CWLD 46 +CCWLD 47 -CCWLD Name Backup Battery Input Function/Interface ABS Reverse Pulse (input for line driver only) Forward Pulse (input for line driver only) Backup battery connector terminals when the absolute encoder power is interrupted. When a backup battery is connected to this terminal, the battery case is not required. Control mode All Position command pulse input when the Command Pulse Input Selection (Pn40) is set to 1. Line-driver input: Maximum response frequency: 2 Mpps Position Any of the following can be selected by using the Pn42 setting: reverse and forward pulses (CW/CCW), feed pulse and direction signal (PULS/SIGN), 90 phase difference (phase A/B) signals (FA/FB). *1. Do not apply a voltage that exceeds 10 V. *2. Do not input a command pulse within 10 ms before and after switching. *3. Dynamic brake operation and deviation counter clear can be selected using the Stop Selection with Servo OFF (Pn69). *4. Must be ON for 2 ms min. *5. The deviation counter is cleared when the alarm is reset. Some alarms cannot be reset with this input. 3-14 3 Specifications Pin No. 3-1 Servo Drive Specifications CN1 Control Outputs Specifications 3 Pin No. Symbol 10 BKIRCOM Name Outputs holding brake timing signals. Releases the holding brake when ON. All General-purpose Output 1 Used according to the setting of the Generalpurpose Output 1 Selection (Pn0A). All Outputs the encoder phase-Z signal (1 pulse/ revolution). Open-collector output. All Outputs encoder pulses according to the Encoder Dividing Rate Setting (Pn44 and Pn45). This is the line-driver output (equivalent to RS-422). All Servo Ready Output Output signal to indicate that power can be supplied to the Servo Drive. ON if no errors are found after the power is supplied to the main circuit. All Alarm Output The output is OFF when an alarm is generated for the Servo Drive. All BKIR 12 OUTM1 19 Z Phase-Z Output (open collector) 25 ZCOM Phase-Z Output (open collector) common 21 +A Encoder Phase-A + Output 22 -A Encoder Phase-A - Output 48 -B Encoder Phase-B - Output 49 +B Encoder Phase-B + Output 23 +Z Encoder Phase-Z + Output 24 -Z Encoder Phase-Z - Output 35 READY 34 READYCOM 37 /ALM ALMCOM 39 INP Positioning Completed Output 38 INPCOM 39 TGON 38 TGONCOM 40 OUTM2 41 COM Shell FG 3-15 Control mode Brake Interlock Output 11 36 Function/Interface Servomotor Rotation Speed Detection Output General-purpose Output 2 Positioning completed output. ON: The accumulated pulses in the deviation counter are within the setting for Positioning Completion Range (Pn60). Servomotor rotation speed detection output. ON: The number of Servomotor rotations exceeds the value set for Rotation Speed for Motor Rotation Detection (Pn62). Used according to the setting of the General-purpose Output 2 Selection (Pn09). Position Speed, torque All General-purpose Output Common Ground common for sequence outputs. All Frame Ground Connected to the ground terminal inside the Servo Drive. All 3-1 Servo Drive Specifications CN1 Pin Arrangement 4 6 +24VCCW 24-V Opencollector Input for Command Pulse 3 Reverse Pulses Input/ Feed Pulses Input, or 90 Phase Difference Pulse Input (Phase A) 5 Forward Pulses/ -CCW/ Direction Signal, or -SIGN/-FB 90 Phase Difference Pulse Input (Phase B) -CW/ -PULS/-FA 7 8 10 12 NOT BKIRCOM Brake Interlock Output OUTM1 Generalpurpose Output 1 Reverse Torque Limit Input +24VIN 12 to 24-VDC Power Supply Input POT Forward Drive Prohibit Input BKIR Brake Interlock Output SENGND Ground Common 9 11 22 24 SEN -A 13 -Z Encoder Phase-Z Output RUN Command RESET Alarm Reset Input READY /ALM 39 INP/TGON 17 AGND Sensor Input Ground 41 AGND Z Sensor ON Input Encoder Phase-A Output 35 Phase-Z Output (open collector) 45 21 +A +Z 23 COM Sensor Input Ground 43 Encoder Phase-A + Output Encoder Phase-Z + Output 47 BATGN D -CWLD -CCWLD +B 49 25 ZCOM Gain Switch/ Torque Limit Switch RUN 37 19 20 27 GSEL/TLSEL 31 REF/TREF1/ Input/Torque Command Input/ VLIM NCL 26 33 IPG/VSEL1 Speed Limit Input 15 Forward Torque Limit Input/ 16 PCL/TREF2 Torque Command Input 18 24-V Opencollector Input for Command Pulse Reverse Pulses Input/ +CW/ Feed Pulses Input, or +PULS/+FA 90 Phase Difference Pulse Input (Phase A) 29 Forward Pulses/ +CCW/ Direction Signal, or +SIGN/+FB 90 Phase Difference Pulse Input (Phase B) Reverse Drive Prohibit Input Speed Command 14 +24VCW Phase-Z Output (open collector) Common Pulse Prohibit Input/Internally Set Speed Selection 1 VZERO/DF SEL/PNSEL Electronic Gear Switch/ Internally Set Speed Selection 3 Deviation Counter Reset/Internally 30 ECRST/VSEL2 Set Speed Selection 2 28 32 GESEL/ VSEL3 TVSEL 34 READYCO M Servo Ready Output Generalpurpose Output Common Absolute Encoder Backup Battery Input Reverse Pulse (input for line driver only) Forward Pulse (input for line driver only) Encoder Phase-B + Output Servo Ready Output ALMCOM Alarm Output 38 INPCOM/ TGONCOM Positioning Completed Output/Servomotor Rotation Speed Detection Output Common 40 OUTM2 Generalpurpose Output 2 42 BAT Absolute Encoder Backup Battery Input 44 +CWLD Reverse Pulse (input for line driver only) 46 +CCWLD Forward Pulse (input for line driver only) 48 -B Encoder Phase-B - Output 50 * Note Do not connect anything to unused pins (*). CN1 Connectors (50 Pins) Name Model Servo Drive Connector 52986-3679 Cable Plug 10150-3000PE Cable Case (Shell Kit) 10350-52A0-008 3 Control Mode Switch Input 36 Alarm Output Positioning Completed Output/Servomotor Rotation Speed Detection Output Zero Speed Designation Input/Vibration Filter Switch/Speed Command Rotation Direction Switch Manufacturer Molex Japan Sumitomo 3M 3-16 Specifications 2 1 3-1 Servo Drive Specifications Control Input Circuits Speed Command/Torque Command Input REF/TREF1/VLIM 14 3 - + 15 AGND Specifications +3.3 V - + PCL/TREF2 16 17 AGND ADC 2 +3.3 V - + NCL 18 Precautions for Correct Use ADC 1 The maximum allowable input voltage is 10 V for each input. The VR must be 2 k with B characteristics and 1/2 W minimum. R must be 200 and 1/2 W minimum. Position Command Pulse Input (Line Receiver Input) * When connecting with a line driver and a line receiver, up to 2 Mpps will be available. (+CWLD:44, -CWLD:45, +CCWLD:46, -CCWLD:47) Controller Servo Drive 3 k 4.3 k 110 Applicable line driver: GND AM26LS31A or the equivalent Precautions for Correct Use 3-17 3 k AGND 15,17 4.3 k Applicable line driver: AM26LS32A or the equivalent The shielded twisted-pair cable should not exceed 20 m in length. 3-1 Servo Drive Specifications Position Command Pulse Input (Photocoupler Input) Line Driver Input (500 kpps Maximum) (+CW:3, -CW:4, +CCW:5, -CCW:6) Controller Servo Drive Input current: 9 mA, 3 V 3 Precautions for Correct Use Specifications Applicable line driver: AM26LS31A or the equivalent The twisted-pair cable should not exceed 10 m in length. Open-collector Input * External 24-V power supply without a current-limiting resistor (200 kpps maximum) (+24VCW: 1, -CW: 4, +24VCCW: 2, -CCW: 6) Controller Servo Drive Vcc 24 V Precautions for Correct Use The open-collector wiring should not exceed 2 m in length. * External control power supply (200 kpps maximum) (+CW: 3, -CW: 4, +CCW: 5, -CCW: 6) Controller Vcc Servo Drive R Input current: 7 to 15 mA * Select a resistance R value so that the input current will be from 7 to 15 mA. Refer to the following table. VCC R 24 V 2 k (1/2 W) 12 V 1 k (1/2 W) 3-18 3-1 Servo Drive Specifications Sequence Input External power supply: 12 VDC 5% to 24 VDC 5% Power supply capacity: 50 mA min. (per Unit) +24VIN 7 Photocoupler input RUN Minimum ON time: 40 ms To other input circuit ground commons 3 29 To other input circuits Specifications Signal Levels ON level: 10 V min. OFF level: 3 V max. Sensor Input Sensor ON Input ABS Servo Drive SEN 20 When at high level: 4.7 k Approx. 1 mA SENGND 13 7406 or the equivalent 0V Signal Levels High level: 4 V min. Low level: 0.8 V max. Precautions for Correct Use 3-19 A PNP transistor is recommended. Input voltage: 5 VDC - 1 mA 3-1 Servo Drive Specifications Control Input Details Details on the input pins for the CN1 connector are described here. High-speed Photocoupler Inputs: Reverse Pulse/Forward Pulse Inputs, Feed Pulse/Direction Signal Inputs, or 90 Phase Difference Signal Input Pin 3: +Reverse Pulse Input (+CW), +Feed Pulse Input (+PULS), or +Phase A Input (+FA) Pin 4: -Reverse Pulse Input (-CW), -Feed Pulse Input (-PULS), or -Phase A Input (-FA) Pin 5: +Forward Pulse Input (+CCW), +Direction Signal (+SIGN), or +Phase B Input (+FB) Pin 6: -Forward Pulse Input (-CCW), -Direction Signal (-SIGN), or -Phase B Input (-FB) Functions * The functions of these signals depend on the settings of the Command Pulse Rotation Direction Switch (Pn41) and the Command Pulse Mode (Pn42). Pn41 Pn42 setting setting 0/2 0 1 3 Command pulse mode Input pins 90 phase difference signals (multiplier: 4) 3: +FA 4: -FA 5: +FB 6: -FB Reverse pulses/ forward pulses 3: +CW 4: -CW 5: +CCW 6: -CCW Feed pulses/ direction signal 3: +PULS 4: -PULS 5: +SIGN 6: -SIGN Servomotor forward command Servomotor reverse command L L H L * If the Command Pulse Rotation Direction Switch (Pn41) is set to 1, the rotation direction will be reversed. * If the photocoupler LED is turned ON, each signal will go high as shown above. 3-20 Specifications 3 3-1 Servo Drive Specifications Command Pulse Timing for Photocoupler Inputs Command pulse mode Timing Forward command Feed pulses/direction signal Reverse command Direction signal 3 Maximum Input Frequency Line driver: 500 kpps Open collector: 200 kpps t1 t2 t2 t1 t2 Feed pulses t1 t1 Specifications T t1 0.5 s t1 0.1 s t2 > 2.5 s t2 > 1.0 s 2.5 s 1.0 s T 5.0 s T 2.0 s (/T) x 100 50 (%) (/T) x 100 50 (%) Reverse command Forward command Forward pulses/reverse pulses Reverse pulses Maximum Input Frequency Line driver: 500 kpps Open collector: 200 kpps t2 Forward pulses t1 t1 T t1 0.5 s t1 0.1 s t2 > 2.5 s t2 > 1.0 s 2.5 s 1.0 s T 5.0 s T 2.0 s (/T) x 100 50 (%) (/T) x 100 50 (%) Forward command 90 phase difference signals Reverse command Phase-A pulses Maximum Input Frequency Line driver: 500 kpps Open collector: 200 kpps t1 t1 Phase-B pulses T 3-21 t1 0.5 s t1 0.1 s 10 s 4.0 s T 20 s T 8.0 s (/T) x 100 50 (%) (/T) x 100 50 (%) 3-1 Servo Drive Specifications Line-receiver Inputs: Reverse Pulse/Forward Pulse Inputs, Feed Pulse/Direction Signal Inputs, or 90 Phase Difference Signal Inputs Pin 44: +Reverse Pulse Input (+CW), +Feed Pulse Input (+PULS), or +Phase A Input (+FA) Pin 45: -Reverse Pulse Input (-CW), -Feed Pulse Input (-PULS), or -Phase A Input (-FA) Pin 46: +Forward Pulse Input (+CCW), +Direction Signal (+SIGN), or +Phase B Input (+FB) Pin 47: -Forward Pulse Input (-CCW), -Direction Signal (-SIGN), or -Phase B Input (-FB) 3 Functions Pn41 Pn42 setting setting 0/2 0 1 3 Command pulse mode 90 phase difference signals (multiplier: 4) Reverse pulse/ forward pulses Feed pulses/ direction signal Input pins Servomotor forward command Servomotor reverse command 44: +FA 45: -FA 46: +FB 47: -FB 44: +CW 45: -CW 46: +CCW 47: -CCW 44: +PULS 45: -PULS 46: +SIGN 47: -SIGN L L H L * If the Command Pulse Rotation Direction Switch (Pn41) is set to 1, the rotation direction will be reversed. 3-22 Specifications * The functions of these signals depend on the settings of the Command Pulse Rotation Direction Switch (Pn41) and the Command Pulse Mode (Pn42). 3-1 Servo Drive Specifications Command Pulse Timing for Line-receiver Inputs Command pulse mode Timing Forward command Feed pulses/direction signal Reverse command Direction signal Maximum Input Frequency Line driver: 2 Mpps 3 t1 t2 t2 t1 t2 Feed pulses t1 t1 Specifications T t1 20 ns t2 > 500 ns 250 ns T 500 ns (/T) x 100 50 (%) Reverse command Forward command Forward pulses/reverse pulses Reverse pulses Maximum Input Frequency Line driver: 2 Mpps t2 Forward pulses t1 t1 T t1 20 ns t2 > 500 ns 250 ns T 500 ns (/T) x 100 50 (%) Forward command 90 phase difference signals Phase-A pulses Maximum Input Frequency Line driver: 2 Mpps t1 t1 Phase-B pulses T t1 20 ns 4.0 ns T 8.0 ns (/T) x 100 50 (%) 3-23 Reverse command 3-1 Servo Drive Specifications Reverse Drive Prohibit Input (NOT) and Forward Drive Prohibit Input (POT) Pin 8: Reverse Drive Prohibit Input (NOT) Pin 9: Forward Drive Prohibit Input (POT) Functions * These inputs are used to prohibit driving in the forward and reverse directions. 3 * If the Drive Prohibit Input Selection (Pn04) is set to 1, both inputs will be disabled. Specifications * The Stop Selection for Drive Prohibition Input (Pn66) changes the operation when these inputs are enabled. Speed Command Input (REF) or Torque Command Input (TREF1) Pin 14: Speed Command Input (REF) or Torque Command Input (TREF1) Pin 15: Analog Input Ground (AGND) Functions * Speed Control Mode Pin 14 is the Speed Command Input when the Control Mode Selection (Pn02) is set to 1 (Speed Control). Use the Speed Command Scale (Pn50) to set the rotation speed scale for the command input. * Torque Control Mode Pin 14 is the Torque Command Input when the Control Mode Selection (Pn02) is set to 2 (Torque Control). The input gain, polarity, offset, and filters can be set for the torque command. RUN Command Input (RUN) Pin 29: RUN Command Input (RUN) Functions * This input turns ON the power drive circuit for the main circuit of the Servo Drive. If this signal is not input (i.e., servo-OFF status), the Servomotor cannot operate. Deviation Counter Reset Input (ECRST) Pin 30: Deviation Counter Reset Input (ECRST) Functions * Position Control Mode The value of the deviation counter will be reset when the deviation counter reset input turns ON. The condition for resetting is selected in the Deviation Counter Reset Condition Setting (Pn4E). The pulse width of the Deviation Counter Reset Signal must be at least 1 ms. 3-24 3-1 Servo Drive Specifications Alarm Reset Input (RESET) Pin 31: Alarm Reset Input (RESET) Functions * Pin 31 is the external reset signal for Servo Drive alarms. (The alarms are reset when this signal is input.) * The alarm status is reset when RESET is connected to the 24-V power supply ground for +24VIN for 120 ms or longer. * The deviation counter is also reset when alarms are reset. * Eliminate the cause of the alarm before resuming operation. To prevent danger, turn OFF the RUN Command Input first, then input the alarm reset signal. Specifications 3 Control Mode Switch Input (TVSEL) Pin 32: Control Mode Switch Input (TVSEL) Functions * If the Control Mode Selection (Pn02) is set to 3, 4, or 5, the control mode can be switched as given in the following table. Pn02 setting Mode 1 Mode 2 3 Position control Speed control 4 Position control Torque control 5 Speed control Torque control Pulse Prohibit Input (IPG) and Internally Set Speed Selection 1 (VSEL1) Pin 33: Pulse Prohibit Input (IPG) / Internally Set Speed Selection 1 (VSEL1) Functions * Position Control Mode Pin 33 is the Pulse Prohibit Input. When the input is OFF, inputting command pulses will be disabled. The Pulse Prohibit Input can be disabled by setting the Command Pulse Prohibited Input (Pn43). * Speed Control Mode Pin 33 is the Internally Set Speed Selection 1 (VSEL1). This input can be used together with the ECRST/VSEL2 and GESEL/VSEL3 inputs to select any of eight internally set speeds. * Torque Control Mode This input is disabled. 3-25 3-1 Servo Drive Specifications Control Output Circuits Position Feedback Output Servo Drive Controller R = 120 to 180 5V 21 Phase A 22 Phase A R Phase B R Phase Z 3 Phase B 49 the equivalent 23 Phase Z 24 0V 0V GND 25 ZCOM 0 V Applicable line receiver Shell FG FG AM26C32 or the equivalent FG Phase-Z Output (Open-collector Output) Servo Drive Controller 19 Z Maximum operating voltage: 30 VDC 25 ZCOM Maximum output current: 50 mA 0V Sequence Output Servo Drive To other output circuits X Di External power supply 24 VDC 1 V Maximum operating voltage: 30 VDC Maximum output current: 50 mA X Di Di: Diode for preventing surge voltage (Use high-speed diodes.) 3-26 Specifications 48 Output line driver AM26C31 or R 3-1 Servo Drive Specifications Control Output Details Control Output Sequence Control power supply (L1C, L2C) ON OFF Approx. 100 to 300 ms ON 3 Internal control power supply OFF Approx. 2 s ON MPU initialization completed Specifications OFF 0 ms min. Main circuit power supply (L1, L2, L3) Servo Ready Output (READY) Alarm Output (ALM) Positioning Completed Output (INP) ON OFF ON Approx. 10 ms after the main circuit power is turned ON after initialization is completed. OFF ON OFF ON OFF 0 ms min. RUN Command Input (RUN) ON OFF Approx. 2 ms Dynamic brake ON OFF Approx. 40 ms Servomotor power supply OFF Approx. 2 ms Brake Interlock Output (BKIR) ON OFF 100 ms min. Servomotor position, speed, or torque input 3-27 Pn6A ON ON OFF 1 to 5 ms 3-1 Servo Drive Specifications Encoder Outputs (Phases A, B, and Z) Pin 21: +A, 22: -A, 48: -B, 49: +B, 23: +Z, 24: -Z Functions * Pin 21 outputs the phase-A, phase-B, and phase-Z encoder signals for the Servomotor. * The encoder outputs conform to the RS-422 communication method. * The dividing ratio is set in the Encoder Divider Numerator Setting (Pn44) and the Encoder Divider Denominator Setting (Pn45). 3 * The ground for the output circuit line driver is connected to the signal ground (GND). It is not isolated. * The maximum output frequency is 4 Mpps (after multiplying by 4). The output frequency equals the Servomotor encoder resolution x (Pn44/Pn45) x 4 x Servomotor rotation speed (r/min) / 60 * The output phases are shown below. (They are the same for both incremental and absolute encoders.) Phase A Phase A Phase B Phase B Phase Z Phase Z Synched Not synched * If the Servomotor encoder resolution x (Pn44/ * In cases except for the one on the left, phases Pn45) is a multiple of 4, phases Z and A are A and Z are not synchronized. synchronized. 3-28 Specifications * The logical relation of phase B to the phase-A pulse is set in the Encoder Output Direction Switch (Pn46). 3-1 Servo Drive Specifications Brake Interlock Output (BKIR) Pin 11: Brake Interlock Output (BKIR) Functions * Pin 11 outputs an external brake timing signal according to the settings of the Brake Timing When Stopped (Pn6A) and Brake Timing During Operation (Pn6B). Specifications 3 Servo Ready Output (READY) Pin 35: Servo Ready Output (READY) Functions * This output signal indicates that the Servo Drive is turned ON and ready to start operation. * This output will turn ON if no errors occur after the main circuit power supply is turned ON. Alarm Output (/ALM) Pin 37: Alarm Output (/ALM) Functions * The alarm output is turned OFF when the Servo Drive detects an error. * This output is OFF at power-ON, but turns ON when the Servo Drive's initial processing has been completed. Positioning Completed Output (INP) or Servomotor Rotation Speed Detection Output (TGON) Pin 39: Positioning Completed Output (INP) or Servomotor Rotation Speed Detection Output (TGON) Functions * Position Control Mode The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than the Positioning Completion Range (Pn60). The output condition is set in the Positioning Completion Condition Setting (Pn63). * Speed Control or Torque Control Mode The TGON signal turns ON when the speed of the Servomotor exceeds the setting of the Rotation Speed for Motor Rotation Detection (Pn62). 3-29 3-1 Servo Drive Specifications Encoder Connector Specifications (CN2) Pin No. Symbol 1 E5V Encoder power supply +5 V 2 E0V Encoder power supply GND 3 BAT+ Battery + 4 BAT- Battery - 5 PS+ 6 PS- Encoder +phase S input Line-driver input (corresponding with the EIA RS-485 communicaEncoder -phaseS input tions method) Shell FG Shield ground Name Function/Interface Power supply output for the encoder 5.2 V, 180 mA Cable shield ground Connectors for CN2 (6 Pins) Name Model Servo Drive Connector 53460-0629 Cable Connector 55100-0670 Manufacturer Molex Japan Co. 3-30 3 Specifications Backup power supply output for the absolute encoder. 3.6 V, 100 A for operation during power interruption, 265 A for power interruption timer, and 3.6 A when power is supplied to Servo Drive 3-1 Servo Drive Specifications Communications Connector Specifications (CN3A) Pin No. Symbol 4 GND 7 B+ 8 A- Name Function/Interface Ground --- RS-485 communications data Communications data interface between Servo Drives 3 Specifications Connector for CN3A (8 Pins) Name Model Connector MD-S8000-10 Manufacturer J.S.T. Mfg. Co. Parameter Unit Connector Specifications (CN3B) Pin No. Symbol 3 TXD RS-232 send data Send data output to the Parameter Unit or personal computer 4 GND Ground --- 5 RXD RS-232 receive data Receive data input from the Parameter Unit or personal computer 7 B+ Communications data interface between Servo Drives 8 A- RS-485 communications data Name Function/Interface Connector for CN3B (8 Pins) Name Connector 3-31 Model MD-S8000-10 Manufacturer J.S.T. Mfg. Co. 3-2 Servomotor Specifications 3-2 Servomotor Specifications General Specifications 3,000-r/min Flat Servomotors 3,000-r/min Servomotors Item 1 to 5 kW 100 to 400 W 900 W to 5 kW 6 to 7.5 kW Ambient operating temperature and humidity 0 to 40C, 85% RH max. (with no condensation) Ambient storage temperature and humidity -20 to 65C, 85% RH max. (with no condensation) Storage and operating atmosphere No corrosive gases Vibration resistance *1 10 to 2,500 Hz and acceleration of 49 m/s2 max. in the X, Y, and Z directions 10 to 2,500 Hz and acceleration of 24.5 m/s2 max. in the X, Y, and Z directions 10 to 2,500 Hz and acceleration of 49 m/s2 max. in the X, Y, and Z directions 10 to 2,500 Hz and acceleration of 24.5 m/s2 max. in the X, Y, and Z directions Impact resistance Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions Acceleration of 98 m/s2 max. 3 times each in the X, Y, and Z directions Acceleration of 98 m/s2 max. 2 times vertically Insulation resistance 20 M min. at 500 VDC between the power terminals and FG terminal Dielectric strength 1,500 VAC (50 or 60 Hz) for 1 minute between the power terminals and FG terminal Operating position All directions Insulation grade Type B Structure Totally enclosed, self-cooling Protective structure IP65 (excluding the output shaft rotating section and lead wire ends) Vibration grade V-15 Mounting method Flange-mounting International standards 50 to 750 W 1,000-r/min Servomotors 2,000-r/min Servomotors EN 55011 Class A Group 1 EC Directives EMC Directive Low-voltage Directive -20 to 80C, 85% RH max. (with no condensation) Type F Type B Type F EN 61000-6-2, IEC 61000-4-2/-3/-4/-5/-6/-11 IEC 60034-1/-5 UL standards UL 1004 CSA standards CSA 22.2 No.100 UL: pending*2 *1. The amplitude may be amplified by mechanical resonance. Do not exceed 80% of the specified value for extended periods of time. *2. UL application pending for Servomotor sizes from 6 to 7.5 kW. Note 1. Do not use the cable when it is laying in oil or water. Note 2. Do not expose the cable outlet or connections to stress due to bending or the weight of the cable itself. 3-32 3 Specifications The following OMNUC G-Series AC Servomotors are available. * 3,000-r/min Servomotors * 3,000-r/min Flat Servomotors * 2,000-r/min Servomotors * 1,000-r/min Servomotors There are various options available on the Servomotors, such as models with brakes or different shaft types. Select a Servomotor based on the mechanical system's load conditions and the installation environment. 3-2 Servomotor Specifications Characteristics 3,000-r/min Servomotors Model (R88M-) Item Unit Specifications G20030L G40030L G05030T G10030S G20030S G40030S W 50 100 200 400 N*m 0.16 0.32 0.64 1.3 Rated rotation speed Max. momentary rotation speed Max. momentary torque r/min 3000 r/min 5000 *1 Rated current *1 Max. momentary current *1 Rotor inertia Applicable load inertia Torque constant *1 N*m 0.45 0.93 1.78 3.6 A (rms) 1.1 1.7 2.5 4.6 A (rms) 3.4 5.1 7.6 13.9 kg*m2 (GD2/4) 2.5 x 10-6 5.1 x 10-6 1.4 x 10-5 2.6 x 10-5 30 times the rotor inertia max. *2 --N*m/A 0.14 0.19 0.26 0.28 Power rate *1 Mechanical time constant Electrical time constant kW/s 10.4 20.1 30.3 62.5 ms 1.56 1.11 0.72 0.55 ms 0.7 0.8 2.5 2.9 Allowable radial load *3 N 68 68 245 245 Allowable thrust load *3 N 58 58 98 98 kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2 Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7 Weight Without brake With brake kg Radiation shield dimensions (material) Applicable Servo Drives (R88D-) kg*m2 (GD2/4) Brake specifications Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration 3-33 G10030L Rated torque *1 Rated output 3 *1 100 VAC G05030H 100 x 80 x t10 (AI) 130 x 120 x t12 (AI) GTA5L GT01L GT02L GT04L 2 x 10-7 2 x 10-7 1.8 x 10-6 1.8 x 10-6 24 VDC 5% V W 7 7 9 9 A 0.3 0.3 0.36 0.36 N*m 0.29 min. 0.29 min. 1.27 min. 1.27 min. ms 35 max. 35 max. 50 max. 50 max. ms 20 max. 20 max. 15 max. 15 max. 1 (reference value) J 39.2 39.2 137 137 J 4.9 x 103 4.9 x 103 44.1 x 103 44.1 x 103 rad/s2 30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms) Brake life --- 10,000,000 operations Rating --- Continuous Insulation grade --- Type B 3-2 Servomotor Specifications Item Unit Rated output t *1 200 VAC G05030H G10030H G20030H G40030H G75030H G05030T G10030T G20030T G40030T G75030T W 50 100 200 400 750 Rated torque *1 N*m 0.16 0.32 0.64 1.3 2.4 Rated rotation speed Max. momentary rotation speed Max. momentary torque r/min r/min *1 Rotor inertia Power rate *1 0.90 1.78 3.67 7.05 A (rms) 1.1 1.1 1.6 2.6 4 A (rms) 3.4 3.4 4.9 7.9 12.1 kg*m2 (GD2/4) 2.5 x 10-6 5.1 x 10-6 1.4 x 10-5 2.6 x 10-5 8.7 x 10-5 Allowable radial load Allowable thrust load *3 Weight 20 times the rotor inertia max. *2 30 times the rotor inertia max. *2 --N*m/A 0.14 0.19 0.41 0.51 0.64 kW/s 10.4 20.1 30.3 62.5 66 ms 1.56 1.1 0.71 0.52 0.45 ms 0.7 0.79 2.6 3 4.6 N 68 68 245 245 392 Mechanical time constant Electrical time constant *3 4500 0.45 Applicable load inertia Torque constant *1 5000 N*m *1 Rated current *1 Max. momentary current 3000 N 58 58 98 98 147 Without brake kg Approx. 0.3 Approx. 0.5 Approx. 0.8 Approx. 1.2 Approx. 2.3 With brake kg Approx. 0.5 Approx. 0.7 Approx. 1.3 Approx. 1.7 Radiation shield dimensions (material) 100 x 80 x t10 (AI) 130 x 120 x t12 (AI) Approx. 3.1 170 x 160 x t12 (AI) Applicable Servo Drives (R88D-) GT01H GT01H GT02H GT04H GT08H kg*m2 (GD2/4) 2 x 10-7 2 x 10-7 1.8 x 10-6 1.8 x 10-6 7.5 x 10-6 Brake specifications Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration 24 VDC 5% V W 7 7 9 9 10 A 0.3 0.3 0.36 0.36 0.42 N*m 0.29min. 0.29 min. 1.27 min. 1.27 min. 2.45 min. ms 35 max. 35 max. 50 max. 50 max. 70 max. ms 20 max. 20 max. 15 max. 15 max. 20 max. 1 (reference value) J 39.2 39.2 137 137 196 J 4.9 x 103 4.9 x 103 44.1 x 103 44.1 x 103 147 x 103 rad/s2 30,000 max. (Speed of 2,800 r/min or more must not be changed in less than 10 ms) Brake life --- 10,000,000 operations Rating --- Continuous Insulation grade --- Type B 3-34 3 Specifications Model (R88M-) 3-2 Servomotor Specifications 200 VAC Model (R88M-) Item 3 G1K530T G2K030T G3K030T G4K030T G5K030T Rated output *1 W 1000 1500 2000 3000 4000 5000 Rated torque *1 N*m 3.18 4.77 6.36 9.54 12.6 15.8 Rated rotation speed Max. momentary rotation speed Max. momentary torque r/min Rated current *1 Max. momentary current *1 5000 4500 N*m 9.1 12.8 18.4 27.0 36.3 45.1 A (rms) 7.2 9.4 13 18.6 24.7 28.5 A (rms) 21.4 28.5 40 57.1 75 85.7 kg*m2 1.69 x 10-4 2.59 x 10-4 3.46 x 10-4 6.77 x 10-4 1.27 x 10-3 1.78 x 10-3 (GD2/4) Rotor inertia Applicable load inertia Torque constant 3000 r/min *1 Specifications G1K030T Unit *1 Power rate *1 15 times the rotor inertia max. *2 --N*m/A 0.44 0.51 0.48 0.51 0.51 0.57 kW/s 60 88 117 134 125 140 ms 0.78 0.54 0.53 0.46 0.51 0.46 Mechanical time constant Electrical time constant ms 6.7 10 10.8 20 20 20 Allowable radial load *3 N 392 490 490 490 784 784 Allowable thrust load *3 N 147 196 196 196 343 343 Without brake kg Approx. 4.5 Approx. 5.1 Approx. 6.5 Approx. 9.3 Approx. 12.9 Approx. 17.3 With brake kg Approx. 5.1 Approx. 6.5 Approx. 7.9 Approx. 11 Approx. 14.8 Approx. 19.2 Weight 170 x 160 x 320 x 300 x 320 x 300 x t12 (AI) t30 (AI) t20 (AI) Radiation shield dimensions (material) Applicable Servo Drives (R88D-) Brake specifications Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration 3-35 GT15H GT15H GT20H 380 x 350 x t30 (AI) GT30H GT50H GT50H kg*m2 (GD2/4) 2.5 x 10-5 3.3 x 10-5 3.3 x 10-5 3.3 x 10-5 1.35 x 10-4 1.35 x 10-4 V 24 VDC 10% W 18 19 19 19 22 22 A 0.74 0.81 0.81 0.81 0.9 0.9 N*m 4.9 min. 7.8 min. 7.8 min. 11.8 min. 16.1 min. 16.1 min. ms 50 max. 50 max. 50 max. 80 max. 110 max. 110 max. ms 15 max. 15 max. 15 max. 15 max. 50 max. 50 max. 1 (reference value) J 392 392 392 392 1470 1470 J 2.0 x 105 4.9 x 105 4.9 x 105 4.9 x 105 2.2 x 106 2.2 x 106 rad/s2 10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) Brake life --- 10,000,000 operations Rating --- Continuous Insulation grade --- Type F 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia: * The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. * If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. 3 Thrust load Center of shaft (LR/2) *4. This is an OFF brake. (It is reset when excitation voltage is applied). *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Torque-Rotational Speed Characteristics for 3,000-r/min Servomotors * 3,000-r/min Servomotors with 100-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input. R88M-G05030H/T (50 W) R88M-G10030L/S (100 W) (N*m) (N*m) 0.5 R88M-G20030L/S (200 W) 0.48 0.48 0 0.83 (3600) 1.0 0.83 0.75 2.0 1.78 Repetitive usage Repetitive usage 0.25 0.16 0.16 0.5 0.32 0.1 Continuous usage (N*m) 1000 2000 3000 4000 5000 (r/min) Continuous usage 0 1.0 0.32 0.28 1000 2000 3000 4000 5000 (r/min) 0 1.78 (3500) Repetitive usage 0.64 0.64 Continuous usage 0.9 0.6 1000 2000 3000 4000 5000 (r/min) R88M-G40030L/S (400 W) (N*m) 4.0 3.6 3.6 (3000) Repetitive usage 2.0 1.3 1.3 Continuous usage 0 1.3 0.6 1000 2000 3000 4000 5000 (r/min) 3-36 Specifications Radial load 3-2 Servomotor Specifications * 3,000-r/min Servomotors with 200-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-G05030H/T (50 W) R88M-G10030H/T (100 W) (N*m) 0.5 3 0.45 0.1 R88M-G40030H/T (400 W) Continuous usage 2.0 1.78 0.28 R88M-G75030H/T (750 W) Repetitive usage 2.0 1.3 1.3 Continuous usage Continuous usage 0.78 0 1000 2000 3000 4000 5000 (r/min) R88M-G1K530T (1.5 kW) 12.9 (3500) 0 0 (N*m) 30 27.0 18.4 (3600) 1000 2000 3000 4000 5000 (r/min) R88M-G4K030T (4 kW) 1000 2000 3000 4000 5000 (r/min) R88M-G5K030T (5 kW) (N*m) (N*m) 40 36.3 50 45.1 37.9 Continuous usage 47.6 Repetitive usage 25 15.8 15.8 Repetitive usage 20 12.6 12.6 10.0 1000 2000 3000 4000 5000 (r/min) Continuous usage Continuous usage 0 15.0 Continuous usage 0 27.0 (3400) Repetitive usage 15 9.54 9.54 6.0 3.8 1000 2000 3000 4000 5000 (r/min) R88M-G3K030T (3 kW) Repetitive usage 10 6.36 6.36 Continuous usage 4.8 Continuous usage 1.0 1000 2000 3000 4000 5000 (r/min) 20 18.4 Repetitive usage 7.5 4.77 4.77 9.1 (4000) Repetitive usage 5 3.18 3.18 4.0 (N*m) 15 12.9 0.38 1000 2000 3000 4000 5000 (r/min) 10 9.1 R88M-G2K030T (2 kW) (N*m) 0.64 Continuous usage R88M-G1K030T (1 kW) 7.05 (3600) Repetitive usage 4.0 2.4 2.4 1.7 1.5 (N*m) 8.0 7.05 3.6 (3800) 0.64 0 (N*m) 4.0 3.6 1.78 (4500) Repetitive usage 1.0 1000 2000 3000 4000 5000 (r/min) 0 (N*m) 3-37 0.93 Repetitive usage 0.5 0.32 0.32 1000 2000 3000 4000 5000 (r/min) 0 Specifications 1.0 0.93 0.45 Continuous usage 0 (N*m) (N*m) Repetitive usage 0.25 0.16 0.16 0 R88M-G20030H/T (200 W) 1000 2000 3000 4000 5000 (r/min) 0 5.5 1000 2000 3000 4000 5000 (r/min) 3-2 Servomotor Specifications Precautions for Correct Use Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the Servomotor to generate heat, which could result in encoder malfunction. R88M-G05030H/T 50 W (Without Oil Seal) R88M-G05030H/T 50 W (With Oil Seal) Rated Torque (%) With brake Rated Torque (%) 100% 95% R88M-G10030H/T 100 W (Without Oil Seal) Without brake 100% With brake Rated Torque (%) With brake 100% 95% 3 0 10 20 30 40 Ambient temperature R88M-G10030H/T 100 W (With Oil Seal) 10 20 30 40 R88M-G20030H/T 200 W (With Oil Seal) Without brake Rated Torque (%) 0 100% Without brake Rated Torque (%) 20 30 40 20 30 With brake 100% 90% 0 10 20 30 40 Ambient temperature R88M-G1K530T (1.5 kW) 0 10 20 30 With brake 100% Rated Torque (%) 0 10 20 30 40 100% R88M-G3K030T (3 kW) 0 10 20 30 With brake 100% 0 90% 85% 10 20 30 40 40 85% 70% Ambient temperature R88M-G4K030T (4 kW) Ambient temperature 0 10 20 30 40 Ambient temperature R88M-G5K030T (5 kW) Without brake Without brake Rated Torque (%) With brake 100% 85% Ambient temperature Ambient temperature Without brake Rated Torque (%) With brake 75% 40 R88M-G2K030T (2 kW) Without brake Rated Torque (%) 40 80% 70% Ambient temperature R88M-G40030H/T 400 W (With Oil Seal) 10 Rated Torque (%) With brake 75% 70% 10 0 Ambient temperature R88M-G40030H/T 400 W (Without Oil Seal) With brake 100% 0 Ambient temperature Rated Torque (%) With brake 100% 0 90% 85% 10 20 30 40 Ambient temperature Rated Torque (%) With brake 100% 70% 0 10 20 30 40 Ambient temperature 3-38 Specifications 70% 60% 3-2 Servomotor Specifications 3,000-r/min Flat Servomotors Model (R88M-) Item 3 Unit Specifications 200 VAC GP10030L GP20030L GP40030L GP10030H GP20030H G40030H GP10030S GP20030S GP40030S GP10030T GP20030T G40030T Rated output *1 W 100 200 400 100 200 400 Rated torque *1 N*m 0.32 0.64 1.3 0.32 0.64 1.3 Rated rotation speed Max. momentary rotation speed Max. momentary torque r/min Rated current *1 Max. momentary current *1 Rotor inertia Torque constant Power rate *1 3000 5000 4500 5000 N*m 0.84 1.8 3.6 0.86 1.8 3.65 A (rms) 1.6 2.5 4.4 1 1.6 2.5 A (rms) 4.9 7.5 13.3 3.1 4.9 7.5 kg*m2 (GD2/4) 1.0 x 10-5 3.5 x 10-5 6.5 x 10-5 1.0 x 10-5 3.5 x 10-5 6.4 x 10-5 Applicable load inertia *1 3000 r/min *1 20 times the rotor inertia max.*2 --N*m/A 0.21 0.27 0.3 0.34 0.42 0.54 kW/s 10.2 11.7 26.0 10.2 11.5 25.5 ms 0.87 0.75 0.55 1.05 0.81 0.59 2.9 5.6 6.6 Mechanical time constant Electrical time constant ms 3.4 6.7 6.7 *3 N 68 245 245 68 245 245 Allowable thrust load *3 N 58 98 98 58 98 98 Allowable radial load Weight Without brake kg With brake kg Applicable Servo Drives (R88D-) kg*m2 (GD2/4) Brake specifications Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.7 Approx. 1.3 Approx. 1.8 Approx. 0.9 Approx. 2 Approx. 2.5 Approx. 0.9 Approx. 2 Approx. 2.5 130 x 120 x t10 (AI) Radiation shield dimensions (material) 3-39 100 VAC 170 x 160 x t12 (AI) 130 x 120 x t10 (AI) 170 x 160 x t12 (AI) GT01L GT02L GT04L GT01H GT02H GT04H 3 x 10-6 9 x 10-6 9 x 10-6 3 x 10-6 9 x 10-6 9 x 10-6 24 VDC 10% V 24 VDC 10% W 7 10 10 7 10 10 A 0.29 0.41 0.41 0.29 0.41 0.41 N*m 0.29 min. 1.27 min. 1.27 min. 0.29 min. 1.27 min. 1.27 min. ms 50 max. 60 max. 60 max. 50 max. 60 max. 60 max. ms 15 max. 15 max. 15 max. 15 max. 15 max. 15 max. 1 (reference value) 1 (reference value) J 137 196 196 137 196 196 J 44.1 x 103 147 x 103 147 x 103 44.1 x 103 147 x 103 147 x 103 rad/s2 10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) Brake life --- 10,000,000 operations Rating --- Continuous Continuous Insulation grade --- Type B Type B 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia: * The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. * If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. 3 Thrust load Center of shaft (LR/2) *4. This is an OFF brake. (It is reset when excitation voltage is applied). *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Torque-Rotational Speed Characteristics for 3,000-r/min Flat Servomotors * 3,000-r/min Flat Servomotors with 100-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input. R88M-GP10030L/S (100 W) R88M-GP20030L/S (200 W) (N*m) (N*m) (N*m) 1.0 0.84 2.0 1.8 0.84 (3500) 0.32 Repetitive usage 1.0 0.64 0.64 Continuous usage 0.19 Continuous usage 1000 2000 3000 4000 5000 (r/min) 0 4.0 3.6 1.8 (3400) Repetitive usage 0.5 0.32 0.32 0 R88M-GP40030L/S (400 W) 2.0 1.3 0.38 1000 2000 3000 4000 5000 (r/min) 0 3.6 (3300) Repetitive usage 1.3 1.5 Continuous usage 0.78 1000 2000 3000 4000 4500 (r/min) * 3,000-r/min Flat Servomotors with 200-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-GP10030H/T (100 W) R88M-GP20030H/T (200 W) (N*m) (N*m) 1.0 0.86 0.86 Continuous usage (N*m) 1.8 (4500) 2.0 1.8 Repetitive usage 1.0 0.64 0.64 Repetitive usage 0.5 0.32 0.32 0 R88M-GP40030H/T (400 W) Continuous usage 0.19 1000 2000 3000 4000 5000 (r/min) 0 4.0 3.65 3.65 (3600) Repetitive usage 2.0 1.3 1.3 0.38 1000 2000 3000 4000 5000 (r/min) Continuous usage 0 2.0 0.78 1000 2000 3000 4000 5000 (r/min) 3-40 Specifications Radial load 3-2 Servomotor Specifications 2,000-r/min Servomotors Model (R88M-) Unit G1K020T G1K520T G2K020T G3K020T G4K020T W 1000 1500 2000 3000 4000 5000 N*m 4.8 7.15 9.54 14.3 18.8 23.8 Item Rated output *1 Rated torque 3 *1 Rated rotation speed Max. momentary rotation speed Max. momentary torque 7500 48 2000 1500 r/min 3000 2000 N*m 13.5 19.6 26.5 41.2 54.9 70.6 111 5.6 9.4 12.3 17.8 23.4 28 46.6 17.1 28.5 37.1 54.2 71.4 85.7 117.8 kg*m2 6.17 x 10-4 1.12 x 10-3 1.52 x 10-3 2.23 x 10-3 4.25 x 10-3 6.07 x 10-3 9.9 x 10-3 (GD2/4) Rotor inertia Applicable load inertia Torque constant *1 Power rate G5K020T G7K515T r/min A (rms) Rated current *1 Max. momentary current A (rms) *1 *1 10 times the rotor inertia max. *2 --N*m/A 0.88 0.76 0.78 0.81 0.81 0.85 1.03 kW/s 37.3 45.8 60 91.6 83.2 93.5 230 ms 0.7 0.81 0.75 0.72 1 0.9 0.71 Mechanical time constant Electrical time constant ms 18 19 21 20 24 32 34 Allowable radial load *3 N 490 490 490 784 784 784 1176 Allowable thrust load *3 N 196 196 343 490 Without brake kg Approx. 6.8 Approx. 8.5 With brake kg Approx. 8.7 Weight Radiation shield dimensions (material) Attraction time *5 *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration 343 343 Approx. 14.6 Approx. 18.8 Approx. 12.5 Approx. 16.5 Approx. 21.3 380 x 350 x t30 (AI) GT15H GT20H Approx. Approx. 25 41 Approx. 28.5 Approx. 45 470 x 440 x t30 (AI) GT30H 1.35 x 10-4 (GD2/4) Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Release time GT10H kg*m2 Brake inertia Approx. 10.1 196 Approx. 10.6 275 x 260 x t15 (AI) Applicable Servo Drives (R88D-) Brake specifications Specifications *1 200 VAC GT50H GT50H GT75H 4.25 x 10-4 4.7 x 10-4 4.7 x 10-4 24 VDC 10% V W 14 19 19 22 26 31 34 A 0.59 0.79 0.79 0.9 1.1 1.3 1.4 N*m 4.9 min. 13.7 min. 13.7 min. 16.1 min. 21.5 min. 24.5 min. 58.8 min. ms 80 max. 100 max. 100 max. 110 max. 90 max. 80 max. 150 max. ms 70 max. 50 max. 50 max. 50 max. 35 min. 25 min. 50 max. 1372 1372 1 (reference value) J 588 1176 1176 1170 1078 J 7.8 x 105 1.5 x 106 1.5 x 106 2.2 x 106 2.5 x 106 2.9 x 106 2.9 x 106 rad/s2 10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) Brake life --- 10,000,000 operations Rating --- Continuous Insulation grade --- Type F 3-41 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia: * The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. * If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. 3 Thrust load Center of shaft (LR/2) *4. This is an OFF brake. (It is reset when excitation voltage is applied). *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Torque-Rotational Speed Characteristics for 2,000-r/min Servomotors * 2,000-r/min Servomotors with 200-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-G1K020T (1 kW) R88M-G1K520T (1.5 kW) R88M-G2K020T (2 kW) (N*m) (N*m) 13.5 (2200) 15 13.5 5 4.8 Repetitive usage 0 1000 10 7.15 5.5 3.2 4.8 Continuous usage R88M-G3K020T (3 kW) 7.15 Continuous usage 3000 (r/min) 2000 0 1000 2000 4.7 3000 (r/min) Repetitive usage 25 14.3 14.3 70 1000 3000 (r/min) 70.6 (2000) 23.8 Continuous usage 3000 (r/min) 2000 70.6 35 23.8 14.3 9.5 Continuous usage 0 2000 Repetitive usage Repetitive usage Continuous usage 1000 (N*m) 54.9 (2000) 41.2 (2200) 0 13.2 6.3 R88M-G5K020T (5 kW) (N*m) 50 41.2 Repetitive usage 15 9.54 9.54 Continuous usage 14.3 R88M-G4K020T (4 kW) (N*m) 26.5 (2200) 30 26.5 20 Repetitive usage 10 (N*m) 18.5 (2200) 18.5 (r/min) 0 1000 2000 23.0 15.8 3000 (r/min) R88M-G7K520T (7.5 kW) (N*m) 100 111 111 100 Repetitive usage 50 0 48 48 Continuous usage 1000 1500 36 2000 (r/min) 3-42 Specifications Radial load 3-2 Servomotor Specifications 1,000-r/min Servomotors Model (R88M-) Item Rated output *1 Rated torque *1 Rated rotation speed Max. momentary rotation speed Max. momentary torque 3 Specifications *1 Rotor inertia Power rate Allowable thrust load *3 Weight G3K010T G4K510T G6K010T W 900 2000 3000 4500 6000 N*m 8.62 19.1 28.4 42.9 57.2 r/min 1000 r/min 2000 60 101 130 A (rms) 7.6 18.5 24 33 47 A (rms) 17.1 44 57.1 84.2 121.4 kg*m2 (GD2/4) 1.12 x 10-3 3.55 x 10-3 5.57 x 10-3 8.09 x 10-3 9.9 x 10-3 N*m/A 1.13 1 1.1 1.3 1.22 kW/s 66.3 103 145 228 331 ms 0.88 0.97 0.74 0.7 0.65 ms 20 25 30 31 46.2 N 686 1176 1470 1470 1764 N 196 490 490 490 588 Without brake kg Approx. 8.5 Approx. 17.5 Approx. 25 Approx. 34 Approx. 41 With brake kg Approx. 10 Approx. 21 275 x 260 x t15 (AI) Radiation shield dimensions (material) Applicable Servo Drives (R88D-) kg*m2 (GD2/4) Brake specifications Brake inertia Excitation voltage *4 Power consumption (at 20C) Current consumption (at 20C) Static friction torque Attraction time *5 Release time *5 Backlash Allowable work per braking Allowable total work Allowable angular acceleration 3-43 10 times the rotor inertia max. *2 --- Mechanical time constant Electrical time constant Allowable radial load G2K010T 41.5 *1 *3 G90010T 18.4 Applicable load inertia Torque constant *1 Unit N*m *1 Rated current *1 Max. momentary current 200 VAC Approx. 28.5 Approx. 39.5 Approx. 45 470 x 440 x t30 (AI) GT15H GT30H GT50H GT50H GT75H 1.35 x 10-4 4.7 x 10-4 4.7 x 10-4 4.7 x 10-4 4.7 x 10-4 24 VDC 10% V W 19 31 34 34 34 A 0.79 1.3 1.4 1.4 1.4 N*m 13.7 min. 24.5 min. 58.8 min. 58.8 min. 58.8 min. ms 100 max. 80 max. 150 max. 150 max. 150 max. ms 50 max. 25 max. 50 max. 50 max. 50 max. 1 (reference value) J 1176 1372 1372 1372 1372 J 1.6 x 106 2.9 x 106 2.9 x 106 2.9 x 106 2.9 x 106 rad/s2 10,000 max. (Speed of 900 r/min or more must not be changed in less than 10 ms) Brake life --- 10,000,000 operations Rating --- Continuous Insulation grade --- Type F 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia: * The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia. Select an appropriate motor and confirm that operation is possible. * If the dynamic brake is activated frequently with high load inertia, the dynamic brake resistor may burn. Do not repeatedly turn the Servomotor ON and OFF while the dynamic brake is enabled. *3. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures. The allowable radial loads are applied as shown in the following diagram. 3 Thrust load Center of shaft (LR/2) *4. This is an OFF brake. (It is reset when excitation voltage is applied). *5. The operation time is the value (reference value) measured with a surge suppressor (CR50500 manufactured by Okaya Electric Industries Co., Ltd.). Torque-Rotational Speed Characteristics for 1,000-r/min Servomotors * 1,000-r/min Servomotors with 200-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-G90010T (100 W) (N*m) 20 18.4 R88M-G2K010T (2 kW) 18.4 (1600) (N*m) 50 41.5 Repetitive usage 10 8.62 10.0 Continuous usage 4.31 1000 25 19.1 0 1000 (N*m) 100 Repetitive usage 9.5 38 28.4 Continuous usage 0 1000 14.2 2000 (r/min) 130 (1500) 42.9 1000 Repetitive usage 57.2 40 Continuous usage 0 Repetitive usage 35 28.4 2000 (r/min) 60 (1350) 101 (1300) 100 50 42.9 70 60 R88M-G6K010T (6 kW) 130 (N*m) (N*m) 34.9 19.1 Continuous usage 2000 (r/min) R88M-G4K510T (4.5 kW) 101 41.5 (1600) Repetitive usage 8.62 0 R88M-G3K010T (3 kW) Continuous usage 21.5 2000 (r/min) 71 57.2 50 0 1000 28.6 2000 (r/min) 3-44 Specifications Radial load 3-2 Servomotor Specifications Precautions for Correct Use Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the Servomotor to generate heat, which could result in encoder malfunction. R88M-G4K510 4.5 kW (Without Oil Seal) 3 R88M-G6K010T 6 kW (With Oil Seal) With brake 100% Specifications 85% 70% 0 10 20 Without brake Without brake Rated Torque (%) 30 40 Rated Torque (%) With brake 100% 90% 85% Ambient temperature 0 10 20 30 40 Ambient temperature Temperature Characteristics of the Servomotor and Mechanical System * OMNUC G-Series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approximately -0.13%/C. As the temperature drops, the Servomotor's maximum momentary torque increases, and as the temperature rises, the Servomotor's maximum momentary torque decreases. * The maximum momentary torque rises by 4% at a normal temperature of 20C compared to a temperature of -10C. Conversely, the maximum momentary torque decreases about 8% when the magnet warms up to 80C from the normal temperature. * Generally, when the temperature drops in a mechanical system, the friction torque and the load torque increase. For that reason, overloading may occur at low temperatures. In particular, in systems that use a Decelerator, the load torque at low temperatures may be nearly twice as much as the load torque at normal temperatures. Check whether overloading may occur at low temperature startup. Also check to see whether abnormal Servomotor overheating or alarms occur at high temperatures. * An increase in load friction torque seemingly increases load inertia. Therefore, even if the Servo Drive gains are adjusted at a normal temperature, the Servomotor may not operate properly at low temperatures. Check to see whether there is optimal operation even at low temperatures. 3-45 3-2 Servomotor Specifications Encoder Specifications Incremental Encoders Item Specifications Encoder system Optical encoder No. of output pulses Phases A and B: 2,500 pulses/rotation, Phase Z: 1 pulse/rotation 3 Power supply current 180 mA (max.) Output signals +S, -S Output interface RS-485 compliance Specifications Power supply voltage 5 VDC 5% Absolute Encoders Item Specifications Optical encoder Encoder system 17 bits No. of output pulses Phases A and B: 32,768 pulses/rotation, Phase Z: 1 pulse/rotation Maximum rotations -32,768 to +32,767 rotations or 0 to 65,534 rotations Power supply voltage 5 VDC 5% Power supply current 110 mA (max.) Applicable battery voltage 3.6 VDC Current consumption of battery 265 A for a maximum of 5 s right after power interruption 100 A for operation during power interruption 3.6 A when power is supplied to Servo Drive Output signals +S, -S Output interface RS-485 compliance 3-46 3-3 Decelerator Specifications 3-3 Decelerator Specifications The following Decelerators are available for use with OMNUC G-Series Servomotors. Select a Decelerator matching the Servomotor capacity. 3 Standard Models and Specifications Specifications Backlash = 3' Max. Decelerators for 3,000-r/min Servomotors Model Rated rota- Rated tion torque speed MaxiMaximum Effimum momencienmomentary cy tary rotation torque speed Decelerator inertia Allowable radial load Allowable thrust load Weight r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG11B05100B@ 600 0.50 63 1000 1.42 5.00 x 10-7 135 538 0.29 1/9 R88GHPG11B09050B@ 333 1.12 78 555 3.16 3.00 x 10-7 161 642 0.29 1/21 R88GHPG14A21100B@ 143 2.18 65 238 6.13 5.00 x 10-6 340 1358 1.04 1/33 R88GHPG14A33050B@ 91 3.73 71 151 10.5 4.40 x 10-6 389 1555 1.04 1/45 R88GHPG14A45050B@ 67 5.09 71 111 14.3 4.40 x 10-6 427 1707 1.04 1/5 R88GHPG11B05100B@ 600 1.28 80 1000 3.6 5.00 x 10-7 135 538 0.29 1/11 R88GHPG14A11100B@ 273 2.63 75 454 7.39 6.00 x 10-6 280 1119 1.04 100 R88G1/21 W HPG14A21100B@ 143 5.40 80 238 15.2 5.00 x 10-6 340 1358 1.04 1/33 R88GHPG20A33100B@ 91 6.91 65 151 19.4 6.50 x 10-5 916 3226 2.4 1/45 R88GHPG20A45100B@ 67 9.42 65 111 26.5 6.50 x 10-5 1006 3541 2.4 1/5 R88GHPG14A05200B@ 600 2.49 78 1000 6.93 2.07 x 10-5 221 883 1.02 1/11 R88GHPG14A11200B@ 273 6.01 85 454 16.7 1.93 x 10-5 280 1119 1.09 R88G200 1/21 HPG20A21200B@ W 143 10.2 76 238 28.5 4.90 x 10-5 800 2817 2.9 1/33 R88GHPG20A33200B@ 91 17.0 81 151 47.4 4.50 x 10-5 916 3226 2.9 1/45 R88GHPG20A45200B@ 67 23.2 81 111 64.6 4.50 x 10-5 1006 3541 2.9 50 W 3-47 3-3 Decelerator Specifications MaxiMaxiAllowmum Effimum Decelerator able momencienmomeninertia radial tary cy tary load rotation torque speed Allowable thrust load Weight r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG14A05400B@ 600 5.66 87 1000 16.0 (15.7) 2.07 x 10-5 221 883 1.09 1/11 R88GHPG20A11400B@ 273 11.73 82 454 33.1 (32.5) 5.70 x 10-5 659 2320 2.9 400 R88G1/21 W HPG20A21400B@ 143 23.56 86 238 66.5 (65.2) 4.90 x 10-5 800 2547 2.9 1/33 R88GHPG32A33400B@ 91 34.79 81 151 98.2 (96.3) 6.20 x 10-5 1565 6240 7.5 1/45 R88GHPG32A45400B@ 67 47.44 81 111 133.9 (131.4) 6.10 x 10-5 1718 6848 7.5 1/5 R88GHPG20A05750B@ 600 9.94 83 1000 29.2 6.80 x 10-5 520 1832 2.9 1/11 R88GHPG20A11750B@ 273 23.23 88 454 68.1 6.00 x 10-5 659 2320 3.1 750 R88G1/21 W HPG32A21750B@ 143 42.34 84 238 124.3 3.00 x 10-4 1367 5448 7.8 1/33 R88GHPG32A33750B@ 91 69.70 88 151 204.7 2.70 x 10-4 1565 6240 7.8 1/45 R88GHPG32A45750B@ 67 95.04 88 111 279.2 2.70 x 10-4 1718 6848 7.8 1/5 R88GHPG32A051K0B@ 600 11.5 72 1000 32.9 3.90 x 10-4 889 3542 7.3 1/11 R88GHPG32A111K0B@ 273 28.9 83 454 82.6 3.40 x 10-4 1126 4488 7.8 1/21 R88GHPG32A211K0B@ 143 58.1 87 238 166.1 3.00 x 10-4 1367 5488 7.8 1/33 R88GHPG32A331K0B@ 91 94.3 90 151 270.0 2.80 x 10-4 1565 6240 7.8 1/45 R88GHPG50A451K0B@ 67 124.2 87 100*1 355.4 4.70 x 10-4 4538 15694 19.0 1/5 R88GHPG32A052K0B@ 600 19.1 80 1000 51.3 3.90 x 10-4 889 3542 7.4 1/11 R88GHPG32A112K0B@ 273 45.7 87 454 122.5 3.40 x 10-4 1126 4488 7.9 1/21 R88GHPG32A211K5B@ 143 90.1 90 238 241.9 3.00 x 10-4 1367 5448 7.9 1/33 R88GHPG50A332K0B@ 91 141.5 90 136*1 379.7 4.80 x 10-4 4135 14300 19.0 1/45 R88GHPG50A451K5B@ 67 192.9 90 100*1 517.8 4.70 x 10-4 4538 15694 19.0 1 kW 1.5 kW 3-48 3 Specifications Model Rated rota- Rated tion torque speed 3-3 Decelerator Specifications Model Specifications 3 2 kW 3 kW 4 kW 5 kW MaxiMaxiRated mum Effimum rota- Rated momencienmomention torque tary cy tary rotation speed torque speed Decelerator inertia Allowable radial load Allowable thrust load Weight r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG32A052K0B@ 600 26.7 84 1000 77.4 3.90 x 10-4 889 3542 7.4 1/11 R88GHPG32A112K0B@ 273 62.4 89 454 180.7 3.40 x 10-4 1126 4488 7.9 1/21 R88GHPG50A212K0B@ 143 118.9 89 214*1 343.9 5.80 x 10-4 3611 12486 19.0 1/33 R88GHPG50A332K0B@ 91 191.8 91 136*1 555.0 4.80 x 10-4 4135 14300 19.0 1/5 R88GHPG32A053K0B@ 600 42.0 88 1000 118.9 3.80 x 10-4 889 3542 7.3 1/11 R88GHPG50A113K0B@ 273 92.3 88 409*1 261.4 7.70 x 10-4 2974 10285 19.0 1/21 R88GHPG50A213K0B@ 143 183.0 91 214*1 517.7 5.80 x 10-4 3611 12486 19.0 1/5 R88GHPG32A054K0B@ 600 53.9 90 900*1 163.4 3.80 x 10-4 889 3542 7.9 1/11 R88GHPG50A115K0B@ 273 124.6 90 409*1 359.0 8.80 x 10-4 2974 10285 19.1 1/5 R88GHPG50A055K0B@ 600 69.3 88 900*1 197.8 1.20 x 10-3 2347 8118 17.7 1/11 R88GHPG50A115K0B@ 273 158.4 91 409*1 451.9 8.80 x 10-4 2974 10285 19.1 *1. Keep the maximum Servomotor rotation speed at 4,500 r/min or less. *2. If a cold start is used for the R88G-HPG11B05100B(J) when using a 50-W Servomotor, the efficiency will be reduced slightly. (The is because the viscosity of the lubricant in the Decelerator will increase if the Decelerator is cold, such as when starting after stopping for a period of time. If operation is continued until the temperature of the Decelerator increases, the viscosity of the lubricant will decrease and the efficiency will increase.) Note 1. The values inside parentheses ( ) are for 100-V Servomotors. Note 2. The Decelerator inertia is the Servomotor shaft conversion value. Note 3. The protective structure for Servomotors with Decelerators satisfies IP44. Note 4. The allowable radial load is the value at the LR/2 position. Note 5. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box). 3-49 3-3 Decelerator Specifications Decelerators for 2,000-r/min Servomotors 1 kW 1.5 kW 2 kW MaxiMaxiAllowmum Effimum Decelerator able momencienmomeninertia radial tary cy tary load rotation torque speed Allowable Weight thrust load r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG32A053K0B@ 400 20.4 85 600 57.4 3.80 x 10-4 889 3542 7.3 1/11 R88GHPG32A112K0SB@ 182 47.3 90 273 133.1 3.40 x 10-4 1126 4488 7.8 1/21 R88GHPG32A211K0SB@ 95 92.3 92 143 259.7 2.90 x 10-4 1367 5448 7.8 1/33 R88GHPG50A332K0SB@ 60 144.9 92 91 407.6 4.70 x 10-4 4135 14300 19.0 1/45 R88GHPG50A451K0SB@ 44 197.7 92 67 555.9 4.70 x 10-4 4538 15694 19.0 1/5 R88GHPG32A053K0B@ 400 31.7 89 600 86.8 3.80 x 10-4 889 3542 7.3 1/11 R88GHPG32A112K0SB@ 182 72.1 92 273 197.7 3.40 x 10-4 1126 4488 7.8 1/21 R88GHPG50A213K0B@ 95 137.5 92 143 377.0 5.80 x 10-4 3611 12486 19.0 1/33 R88GHPG50A332K0SB@ 60 219.4 93 91 601.5 4.70 x 10-4 4135 14300 19.0 1/5 R88GHPG32A053K0B@ 400 43.2 91 600 119.9 3.80 x 10-4 889 3542 7.3 1/11 R88GHPG32A112K0SB@ 182 97.4 93 273 270.5 3.40 x 10-4 1126 4488 7.8 1/21 R88GHPG50A213K0B@ 95 185.6 93 143 515.9 5.80 x 10-4 3611 12486 19.0 1/33 R88GHPG50A332K0SB@ 60 270.0*1 93 91 815.0 4.70 x 10-4 4135 14300 19.0 *1. This is the allowable rated output torque for the decelerator only. Do not exceed this value. 3-50 3 Specifications Model Rated rota- Rated tion torque speed 3-3 Decelerator Specifications Model Specifications 3 3 kW 4 kW 5 kW 7.5 kW MaxiRated Allowmum Maximum rota- Rated Effi- momen- momen- Decelerator able tion torque ciency tary inertia radial tary speed load rotation torque speed Allowable Weight thrust load r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG32A054K0B@ 400 66.0 92 600 190.1 3.80 x 10-4 889 3542 7.9 1/11 R88GHPG50A115K0B@ 182 145.2 92 273 418.3 8.80 x 10-4 2974 10285 19.1 1/21 R88GHPG50A213K0SB@ 95 260.0*1 93 143 806.4 6.90 x 10-4 3611 12486 19.1 1/25 R88GHPG65A253K0SB@ 80 322.9 90 120 930.1 3.00 x 10-3 7846 28654 52.0 1/5 R88GHPG50A054K0SB@ 400 85.8 91 600 250.3 1.20 x 10-3 2347 8118 18.6 1/11 R88GHPG50A114K0SB@ 182 192.7 93 273 562.8 8.70 x 10-4 2974 10285 20.1 1/20 R88GHPG65A204K0SB@ 100 342.2 91 150 999.2 3.28 x 10-3 7338 26799 52.0 1/25 R88GHPG65A254K0SB@ 80 430.9 92 120 1258.6 3.24 x 10-3 7846 28654 52.0 1/5 R88GHPG50A055K0SB@ 400 109.8 92 600 325.5 1.10 x 10-3 2347 8118 22.0 1/11 R88GHPG50A115K0SB@ 182 200.0*1 93 273 723.8 8.40 x 10-4 2974 10285 23.5 1/20 R88GHPG65A205K0SB@ 100 438.2 92 150 1300.5 2.85 x 10-3 7338 26799 55.4 1/25 R88GHPG65A255K0SB@ 80 550.9 93 120 1634.4 2.81 x 10-3 7846 28654 55.4 1/5 R88GHPG65A057K5SB@ 300 221.1 92 400 511.2 2.07 x 10-2 4841 17681 48.0 1/12 R88GHPG65A127K5SB@ 125 540.8 94 166 1250.7 2.02 x 10-2 6295 22991 52.0 *1. This is the allowable rated output torque for the decelerator only. Do not exceed this value. Note 1. The Decelerator inertia is the Servomotor shaft conversion value. Note 2. The protective structure for Servomotors with Decelerators satisfies IP44. Note 3. The allowable radial load is the value at the LR/2 position. Note 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box). 3-51 3-3 Decelerator Specifications Decelerators for 1,000-r/min Servomotors 900 W 2 kW 3 kW 4.5 kW 6 kW Allowable Weight thrust load r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG32A05900TB@ 200 39.9 93 400 85.2 3.80 x 10-4 889 3542 7.9 1/11 R88GHPG32A11900TB@ 90 89.0 94 182 190.1 3.40 x 10-4 1126 4488 8.4 1/21 R88GHPG50A21900TB@ 47 169.8 94 95 362.4 7.00 x 10-4 3611 12486 19.1 1/33 R88GHPG50A33900TB@ 30 268.5 94 60 573.2 5.90 x 10-4 4135 14300 19.1 1/5 R88GHPG32A052K0TB@ 200 90.2 95 400 196.1 4.90 x 10-4 889 3542 8.9 1/11 R88GHPG50A112K0TB@ 90 198.4 94 182 430.9 8.40 x 10-4 2974 10285 20.1 1/21 R88GHPG50A212K0TB@ 47 320.0*1 95 95 786.8 6.50 x 10-4 3611 12486 20.1 1/25 R88GHPG65A255K0SB@ 40 446.7 94 80 971.1 2.81 x 10-3 7846 28654 55.4 1/5 R88GHPG50A055K0SB@ 200 133.9 94 400 282.9 1.10 x 10-3 2347 8118 22.0 1/11 R88GHPG50A115K0SB@ 90 246.0*1 95 182 684.0 8.40 x 10-3 2974 10285 23.5 1/20 R88GHPG65A205K0SB@ 50 534.7 94 100 1129.2 2.85 x 10-3 7338 26799 55.4 1/25 R88GHPG65A255K0SB@ 40 669.9 94 80 1411.5 2.81 x 10-3 7846 28654 55.4 1/5 R88GHPG50A054K5TB@ 200 203.5 95 400 479.2 1.20 x 10-3 2347 8118 22.0 1/12 R88GHPG65A127K5SB@ 83 485.6 94 166 1142.9 2.02 x 10-2 6295 22991 52.0 1/20 R88GHPG65A204K5TB@ 50 813.1 95 100 1915.0 1.92 x 10-2 7338 26799 52.0 1/5 R88GHPG65A057K5SB@ 200 268.1 94 400 609.7 2.07 x 10-2 4841 17681 48.0 1/12 R88GHPG65A127K5SB@ 83 650.3 95 166 1477.3 2.02 x 10-2 6295 22991 52.0 *1. This is the allowable rated output torque for the decelerator only. Do not exceed this value. Note 1. The Decelerator inertia is the Servomotor shaft conversion value. Note 2. The protective structure for Servomotors with Decelerators satisfies IP44. Note 3. The allowable radial load is the value at the LR/2 position. Note 4. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box). 3-52 3 Specifications Model MaxiMaxiRated Allowmum mum rota- Rated Effi- momenDecelerator able momention torque ciency inertia radial tary tary speed load rotation torque speed 3-3 Decelerator Specifications Decelerators for 3,000-r/min Flat Servomotors Model Specifications 3 Rated rota- Rated tion torque speed MaxiMaximum Effimum momencienmomentary cy tary rotation torque speed Decelerator inertia Allow- Allowable able Weight radial thrust load load r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GHPG11B05100PB@ 600 1.28 80 1000 3.44 (3.36) 5.00 x 10-7 135 538 0.34 1/11 R88GHPG14A11100PB@ 273 2.63 75 454 7.06 (6.89) 6.00 x 10-6 280 1119 1.04 100 R88G1/21 W HPG14A21100PB@ 143 5.40 80 238 14.5 (14.2) 5.00 x 10-6 340 1358 1.04 1/33 R88GHPG20A33100PB@ 91 6.91 65 151 18.6 (18.1) 4.50 x 10-5 916 3226 2.9 1/45 R88GHPG20A45100PB@ 67 9.42 65 111 25.3 (24.7) 4.50 x 10-5 1006 3541 2.9 1/5 R88GHPG14A05200PB@ 600 2.49 78 1000 7.01 2.07 x 10-5 221 883 0.99 1/11 R88GHPG20A11200PB@ 273 4.75 68 454 13.4 5.80 x 10-5 659 2320 3.1 200 R88G1/21 W HPG20A21200PB@ 143 10.2 76 238 28.8 4.90 x 10-5 800 2817 3.1 1/33 R88GHPG20A33200PB@ 91 17.0 81 151 47.9 4.50 x 10-5 916 3226 3.1 1/45 R88GHPG20A45200PB@ 67 23.2 81 111 65.4 4.50 x 10-5 1006 3541 3.1 1/5 R88GHPG20A05400PB@ 600 4.67 72 1000 (900) 13.1 (12.9) 7.10 x 10-5 520 1832 3.1 1/11 R88GHPG20A11400PB@ 273 11.7 82 454 (409) 32.9 (32.4) 5.80 x 10-5 659 2320 3.1 R88G400 1/21 HPG20A21400PB@ W 143 23.5 86 238 (214) 66.2 (65.2) 4.90 x 10-5 800 2817 3.1 1/33 R88GHPG32A33400PB@ 91 34.7 81 151 (136) 97.6 (96.2) 2.80 x 10-4 1565 6240 7.8 1/45 R88GHPG32A45400PB@ 67 47.4 81 111 (100) 133.0 (131.2) 2.80 x 10-4 1718 6848 7.8 Note 1. The values inside parentheses ( ) are for 100-V Servomotors. Note 2. The Decelerator inertia is the Servomotor shaft conversion value. Note 3. The protective structure for Servomotors with Decelerators satisfies IP44. Note 4. The allowable radial load is the value at the LR/2 position. Note 5. The standard models have a straight shaft. Models with a key and tap are indicated with "J" at the end of the model number (the suffix in the box). 3-53 3-3 Decelerator Specifications Backlash = 15' Max. Decelerators for 3,000-r/min Servomotors MaxiMaximum Effimum mocienmomentary cy mentary rotation torque speed Decelerator inertia Allowable radial load Allowable thrust load Weight 3 r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GVRSF05B100CJ 600 0.52 65 1000 1.46 4.00 x 10-6 392 196 0.55 1/9 R88GVRSF09B100CJ 333 0.93 65 556 2.63 3.50 x 10-6 441 220 0.55 1/15 R88GVRSF15B100CJ 200 1.67 70 333 4.73 3.50 x 10-6 588 294 0.70 1/25 R88GVRSF25B100CJ 120 2.78 70 200 7.88 3.25 x 10-6 686 343 0.70 1/5 R88GVRSF05B100CJ 600 1.19 75 1000 3.38 4.00 x 10-6 392 196 0.55 1/9 R88GVRSF09B100CJ 333 2.29 80 556 6.48 3.50 x 10-6 441 220 0.55 1/15 R88GVRSF15B100CJ 200 3.81 80 333 10.8 3.50 x 10-6 588 294 0.70 1/25 R88GVRSF25B100CJ 120 6.36 80 200 18.0 3.25 x 10-6 686 343 0.70 1/5 R88GVRSF05B200CJ 600 2.70 85 1000 7.57 1.18 x 10-5 392 196 0.72 1/9 R88GVRSF09C200CJ 333 3.77 66 556 10.6 2.75 x 10-5 931 465 1.70 1/15 R88GVRSF15C200CJ 200 6.29 66 333 17.6 3.00 x 10-5 1176 588 2.10 1/25 R88GVRSF25C200CJ 120 11.1 70 200 31.2 2.88 x 10-5 1323 661 2.10 50 W 100 W 200 W 3-54 Specifications Model Rated rota- Rated tion torque speed 3-3 Decelerator Specifications Model Specifications 3 Rated rota- Rated tion torque speed MaxiMaximum Effimum mocienmomentary cy mentary rotation torque speed Decelerator inertia r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GVRSF05C400CJ 600 5.40 85 1000 15.6 (15.3) 3.63 x 10-5 784 392 1.70 1/9 R88GVRSF09C400CJ 333 9.50 83 556 27.4 (26.8) 2.75 x 10-5 931 465 1.70 1/15 R88GVRSF15C400CJ 200 15.8 83 333 45.7 (44.8) 3.00 x 10-5 1176 588 2.10 1/25 R88GVRSF25C400CJ 120 26.4 83 200 76.1 (74.7) 2.88 x 10-5 1323 661 2.10 1/5 R88GVRSF05C750CJ 600 10.7 90 1000 31.7 7.13 x 10-5 784 392 2.10 1/9 R88GVRSF09D750CJ 333 18.2 85 556 53.9 6.50 x 10-5 1176 588 3.40 1/15 R88GVRSF15D750CJ 200 30.4 85 333 89.9 7.00 x 10-5 1372 686 3.80 1/25 R88GVRSF25D750CJ 120 50.7 85 200 149.8 6.80 x 10-5 1617 808 3.80 400 W 750 W Note 1. The values inside parentheses ( ) are for 100-V Servomotors. Note 2. The Decelerator inertia is the Servomotor shaft conversion value. Note 3. The protective structure for Servomotors with Decelerators satisfies IP44. Note 4. The allowable radial load is the value at the LR/2 position. Note 5. The standard models have a straight shaft with a key. 3-55 Allow- Allowable able Weight radial thrust load load 3-3 Decelerator Specifications Decelerators for 3,000-r/min Flat Servomotors Decelerator inertia Allow- Allowable able Weight radial thrust load load r/min N*m % r/min N*m kg*m2 N N kg 1/5 R88GVRSF05B100PCJ 600 1.19 75 1000 3.15 4.00 x 10-6 392 196 0.72 1/9 R88GVRSF09B100PCJ 333 2.29 80 556 6.048 3.50 x 10-6 441 220 0.72 1/15 R88GVRSF15B100PCJ 200 3.81 80 333 10.08 3.50 x 10-6 588 294 0.87 1/25 R88GVRSF25B100PCJ 120 6.36 80 200 16.8 3.25 x 10-6 686 343 0.87 1/5 R88GVRSF05B200PCJ 600 2.70 85 1000 7.65 1.18 x 10-5 392 196 0.85 1/9 R88GVRSF09C200PCJ 333 3.77 66 556 10.692 2.75 x 10-5 931 465 1.80 1/15 R88GVRSF15C200PCJ 200 6.29 66 333 17.82 3.00 x 10-5 1176 588 2.20 1/25 R88GVRSF25C200PCJ 120 11.1 70 200 31.5 2.88 x 10-5 1323 661 2.20 1/5 R88GVRSF05C400PCJ 600 5.40 85 1000 (900) 15.5 (15.3) 3.63 x 10-5 784 392 1.80 1/9 R88GVRSF09C400PCJ 333 9.50 83 556 (500) 27.3 (26.9) 2.75 x 10-5 931 465 1.80 1/15 R88GVRSF15C400PCJ 200 15.8 83 333 (300) 45.4 (44.8) 3.00 x 10-5 1176 588 2.20 1/25 R88GVRSF25C400PCJ 120 26.4 83 200 (180) 75.7 (74.7) 2.88 x 10-5 1323 661 2.20 100 W 200 W 400 W Note 1. The values inside parentheses ( ) are for 100-V Servomotors. Note 2. The Decelerator inertia is the Servomotor shaft conversion value. Note 3. The protective structure for Servomotors with Decelerators satisfies IP44. Note 4. The allowable radial load is the value at the LR/2 position. Note 5. The standard models have a straight shaft with a key. 3-56 3 Specifications Model MaxiMaxiRated mum Effimum rota- Rated momencienmomention torque tary cy tary speed rotation torque speed 3-4 Cable and Connector Specifications 3-4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between a Servo Drive and Servomotor. Select the Encoder Cable matching the Servomotor. 3 Specifications Encoder Cables (Standard Cables) R88A-CRGA@C Cable Models For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath R88A-CRGA003C 3m Approx. 0.2 kg R88A-CRGA005C 5m Approx. 0.3 kg R88A-CRGA010C 10 m R88A-CRGA015C 15 m Approx. 0.9 kg R88A-CRGA020C 20 m Approx. 1.2 kg R88A-CRGA030C 30 m Approx. 2.4 kg R88A-CRGA040C 40 m R88A-CRGA050C 50 m 6.5 dia. 6.8 dia. Weight Approx. 0.6 kg Approx. 3.2 kg Approx. 4.0 kg Connection Configuration and Dimensions Servo Drive R88D-G@ (6.5/6.8 dia.) L Servomotor R88M-G@ Wiring Servo Drive Servomotor No. Signal No. Signal Red 7 E5V 1 E5V Black 8 E0V 2 E0V Orange 1 BAT 3 BAT Orange/White 2 4 Blue 4 S 5 S Blue/White 5 6 Shell 3 FG FG Cable: Servo Drive Connector AWG22 x 2C + AWG24x2P UL20276 (3 to 20 m) Servomotor Connector AWG16 x 2C + AWG26x2P UL20276 (30 to 50 m) Connector: Connector: 3 to 20 m: Crimp-type I/O Connector (Molex Japan) (Tyco Electronics AMP KK) Connector pins: 30 to 50 m: 55100-0670 (Molex Japan) (Tyco Electronics AMP KK) Connector pins: (Tyco Electronics AMP KK) 50639-8028 (Molex Japan) for AWG16 3-57 3-4 Cable and Connector Specifications R88A-CRGB@C Cable Models For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Length (L) Outer diameter of sheath R88A-CRGB003C 3m Approx. 0.2 kg R88A-CRGB005C 5m Approx. 0.3 kg R88A-CRGB010C 10 m R88A-CRGB015C 15 m Approx. 0.9 kg R88A-CRGB020C 20 m Approx. 1.2 kg R88A-CRGB030C 30 m Approx. 2.4 kg R88A-CRGB040C 40 m R88A-CRGB050C 50 m 6.5 dia. 6.8 dia. Weight Approx. 0.6 kg Approx. 3.2 kg Approx. 4.0 kg Connection Configuration and Dimensions Servo Drive R88D-G@ (6.5/6.8 dia.) L Servomotor R88M-G@ Wiring Servo Drive Signal E5V E0V S Servomotor No. No. Signal Red 1 4 E5V Black 2 5 E0V Blue 5 2 S Blue/White 6 3 Shell FG 6 FG Cable Servo Drive Connector AWG22 x 2C + AWG24x2P UL20276 (3 to 20 m) Servomotor Connector AWG16 x 2C + AWG26x2P UL20276 (30 to 50 m) Connector: Connector: 172161-1 (Tyco Electronics AMP KK) 3 to 20 m: Crimp-type I/O Connector (Molex Japan) Connector pins: 30 to 50 m: 55100-0670 (Molex Japan) 170365-1 (Tyco Electronics AMP KK) Connector pins: 171639-1 (Tyco Electronics AMP KK) 50639-8028 (Molex Japan) for AWG16 3-58 3 Specifications Model 3-4 Cable and Connector Specifications R88A-CRGC@N Cable Models For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, and 1,000-r/min Servomotors of 900 W to 6 kW Specifications 3 Model Length (L) Outer diameter of sheath R88A-CRGC003N 3m Approx. 0.3 kg R88A-CRGC005N 5m Approx. 0.4 kg R88A-CRGC010N 10 m R88A-CRGC015N 15 m Approx. 1.0 kg R88A-CRGC020N 20 m Approx. 1.5 kg R88A-CRGC030N 30 m Approx. 2.5 kg R88A-CRGC040N 40 m R88A-CRGC050N 50 m 6.5 dia. 6.8 dia. Weight Approx. 0.7 kg Approx. 3.3 kg Approx. 4.1 kg Connection Configuration and Dimensions (6.5/6.8 dia.) L Servo Drive R88D-G@ Servomotor R88M-G@ Wiring Servo Drive Signal E5V E0V BAT S FG No. 1 2 3 4 5 6 Shell Red Black Orange Orange/White Blue Blue/White Servomotor Signal No. H E5V G E0V T BAT S K S L J FG Cable: Servo Drive Connector AWG22 x 2C + AWG24x2P UL20276 (3 to 20 m) Servomotor Connector AWG16 x 2C + AWG26x2P UL20276 (30 to 50 m) Connector: Straight plug: 3 to 20 m: Crimp-type I/O Connector (Molex Japan) N/MS3106B20-29S 30 to 50 m: 55100-0670 (Molex Japan) (Japan Aviation Electronics) Connector pins: Cable clamp: 50639-8028 (Molex Japan) N/MS3057-12A (Japan Aviation Electronics) 3-59 3-4 Cable and Connector Specifications Encoder Cables (Robot Cables) R88A-CRGA@CR Cable Models For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) R88A-CRGA003CR 3m Approx. 0.2 kg R88A-CRGA005CR 5m Approx. 0.4 kg R88A-CRGA010CR 10 m R88A-CRGA015CR 15 m Approx. 1.1 kg R88A-CRGA020CR 20 m Approx. 1.5 kg R88A-CRGA030CR 30 m Approx. 2.8 kg R88A-CRGA040CR 40 m R88A-CRGA050CR 50 m 7.5 dia. 8.2 dia. Weight Approx. 0.8 kg Approx. 3.7 kg Approx. 4.6 kg Connection Configuration and Dimensions (7.5/ 8.2 dia.) L Servo Drive Servomotor R88D-G@ R88M-G@ Wiring (3 to 20 m) Servo Drive Signal No. E5V 1 E0V BAT+ BAT- S+ S- FG 2 3 4 5 6 Shell Blue/Red Blue/Black Pink /Red Pink/Black Green/Red Green/Black Orange/Red Orange/Black Cable: Servo Drive Connector AWG24x4P UL20276 Connector: Crimp-type I/O Connector (Molex Japan) Connector pins: 50639-8028 (Molex Japan) Servomotor No. Signal 7 E5V 8 1 2 4 5 3 E0V BAT+ BAT- S+ S- FG Servomotor Connector Connector: 172161-1(Tyco Electronics AMP KK) Connector pins: 170365-1(Tyco Electronics AMP KK) Wiring (30 to 50 m) Servo Drive No. Signal E5V 1 E0V BAT+ BAT- S+ S- FG 2 3 4 5 6 Shell Blue White Yellow Brown Green Black Red Grey Purple Orange Blue Brown Cable Servo Drive Connector AWG25 x 6P UL2517 Connector: Crimp-type I/O Connector (Molex Japan) Connector pins: 50639-8028 (Molex Japan) Servomotor No. Signal 7 E5V 8 1 2 4 5 3 3 E0V BAT+ BAT- S+ S- FG Servomotor Connector Connector: 172161-1 (Tyco Electronics AMP KK) Connector pins: 170365-1 (Tyco Electronics AMP KK) 3-60 Specifications Outer diameter of sheath 3-4 Cable and Connector Specifications R88A-CRGB@CR Cable Models For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CRGB003CR 3m Approx. 0.2 kg R88A-CRGB005CR 5m Approx. 0.4 kg R88A-CRGB010CR 10 m R88A-CRGB015CR 15 m Approx. 1.1 kg R88A-CRGB020CR 20 m Approx. 1.5 kg R88A-CRGB030CR 30 m Approx. 2.8 kg R88A-CRGB040CR 40 m R88A-CRGB050CR 50 m Approx. 0.8 kg 7.5 dia. Approx. 3.7 kg 8.2 dia. Approx. 4.6 kg Connection Configuration and Dimensions (7.5/ 8.2 dia.) L Servo Drive Servomotor R88M-G@ R88D-G@ Wiring (3 to 20 m) Servo Drive No. Signal E5V 1 E0V S+ S- FG 2 5 6 Shell Servomotor No. Signal 4 E5V Blue/Red Blue/Black Pink /Red Pink/Black 5 2 3 6 Orange/Red Orange/Black Cable: Servo Drive Connector AWG24x4P UL20276 Connector: Crimp-type I/O Connector (Molex Japan) Connector pins: 50639-8028 (Molex Japan) E0V S+ S- FG Servomotor Connector Connector: 172160-1(Tyco Electronics AMP KK) Connector pins: 170365-1(Tyco Electronics AMP KK) Wiring (30 to 50 m) Servo Drive Signal No. E5V 1 E0V S+ S- FG 2 5 6 Shell Blue White Yellow Brown Green Black Red Grey Blue Brown Cable Servo Drive Connector AWG25 x 6P UL2517 Connector: Crimp-type I/O Connector (Molex Japan) Connector pins: 50639-8028 (Molex Japan) 3-61 Servomotor Signal No. 4 E5V 5 2 3 6 E0V S+ S- FG Servomotor Connector Connector: 172160-1 (Tyco Electronics AMP KK) Connector pins: 170365-1 (Tyco Electronics AMP KK) 3-4 Cable and Connector Specifications R88A-CRGC@NR Cable Models For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,000-r/min Servomotors of 900 W to 4.5 kW Length (L) Outer diameter of sheath R88A-CRGC003NR 3m Approx. 0.4 kg R88A-CRGC005NR 5m Approx. 0.5 kg R88A-CRGC010NR 10 m R88A-CRGC015NR 15 m Approx. 1.3 kg R88A-CRGC020NR 20 m Approx. 1.6 kg R88A-CRGC030NR 30 m Approx. 2.9 kg R88A-CRGC040NR 40 m R88A-CRGC050NR 50 m 7.5 dia. 8.2 dia. Weight Approx. 0.9 kg Approx. 3.8 kg Approx. 4.7 kg Connection Configuration and Dimensions (7.5/ 8.2 dia.) L Servo Drive Servomotor R88D-G@ R88M-G@ Wiring (3 to 20 m) Servo Drive No. Signal E5V 1 E0V BAT+ BAT- S+ S- FG 2 3 4 5 6 Shell Servomotor No. Signal H E5V Blue/Red Blue/Black Pink /Red Pink/Black G T S K L J Green/Red Green/Black Orange/Red Orange/Black Cable: Servo Drive Connector AWG24x4P UL20276 Connector: Crimp-type I/O Connector (Molex Japan) Connector pins: 50639-8028 (Molex Japan) E0V BAT+ BAT- S+ S- FG Servomotor Connector Straight plug: N/MS3106B20-29S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) Wiring (30 to 50 m) Servo Drive No. Signal E5V 1 E0V BAT+ BAT- S+ S- FG 2 3 4 5 6 Blue White Yellow Brown Green Black Red Grey Purple Orange Blue Brown Cable Servo Drive Connector AWG25 x 6P UL2517 Connector: Crimp-type I/O Connector (Molex Japan) Connector pins: 50639-8028 (Molex Japan) Servomotor No. Signal H E5V G T S K L J E0V BAT+ BAT- S+ S- FG Servomotor Connector Connector: N/MS3106B20-29S (Japan Aviation Electronics) Connector pins: N/MS3057-12A (Japan Aviation Electronics) 3-62 3 Specifications Model 3-4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications ABS Cable Models Model Length (L) R88A-CRGD0R3C 0.3 m 3 Connection Configuration and Dimensions 300 43.5 18.8 Servomotor 18.8 Specifications 43.5 Servo Drive R88D- GN@- ML2 t=12 Battery holder R88M-G@ t=12 Wiring Servo Drive No. Signal E5V E0V BAT + BAT- S+ S- FG 1 2 3 4 5 6 Red Black Orange Orange/White Blue Blue/White Shell Battery holder Signal No. 1 BAT + BAT- 2 Connector plug: 55100-0670 (Molex Japan) 3-63 Servomotor Signal No. 1 2 3 4 5 6 Shell E5V E0V BAT + BAT- S+ S- FG Connector socket: 54280-0609 (Molex Japan) 3-4 Cable and Connector Specifications Servomotor Power Cable Specifications These cables connect the Servo Drive and Servomotor. Select the cable matching the Servomotor. Precautions for Correct Use Use a robot cable if the Servomotor is to be used on moving parts. 3 Power Cables for Servomotors without Brakes (Standard Cables) Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CAGA003S 3m Approx. 0.2 kg R88A-CAGA005S 5m Approx. 0.3 kg R88A-CAGA010S 10 m Approx. 0.6 kg R88A-CAGA015S 15 m Approx. 0.9 kg 6.2 dia. R88A-CAGA020S 20 m Approx. 1.2 kg R88A-CAGA030S 30 m Approx. 1.8 kg R88A-CAGA040S 40 m Approx. 2.4 kg R88A-CAGA050S 50 m Approx. 3.0 kg Connection Configuration and Dimensions (50) (6.2 dia.) Servo Drive R88D-G@ (50) L Servomotor R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG20 x 4C UL2464 M4 crimp terminals Servomotor Signal No. 1 2 3 4 Phase U Phase V Phase W FG Servomotor Connector Connector: (Tyco Electronics AMP KK) Connector pins: (Tyco Electronics AMP KK) (Tyco Electronics AMP KK) 3-64 Specifications R88A-CAGA@S 3-4 Cable and Connector Specifications R88A-CAGB@S Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGB003S 3m Approx. 0.7 kg R88A-CAGB005S 5m Approx. 1.0 kg R88A-CAGB010S 10 m Approx. 2.0 kg R88A-CAGB015S 15 m Approx. 2.9 kg Specifications 10.4 dia. R88A-CAGB020S 20 m Approx. 3.8 kg R88A-CAGB030S 30 m Approx. 5.6 kg R88A-CAGB040S 40 m Approx. 7.4 kg R88A-CAGB050S 50 m Approx. 9.2 kg Connection Configuration and Dimensions (70) Servo Drive R88D-G@ 37.3 dia. (10.4 dia.) L Servomotor R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG14 x 4C UL2463 M4 crimp terminals 3-65 Servomotor Signal No. A Phase U B Phase V C Phase W D FG Servomotor Connector Straight plug: N/MS3106B20-4S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-4 Cable and Connector Specifications R88A-CAGC@S Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGC003S 3m Approx. 0.7 kg R88A-CAGC005S 5m Approx. 1.0 kg R88A-CAGC010S 10 m Approx. 2.0 kg R88A-CAGC015S 15 m 3 Approx. 2.9 kg R88A-CAGC020S 20 m Approx. 3.8 kg R88A-CAGC030S 30 m Approx. 5.6 kg R88A-CAGC040S 40 m Approx. 7.4 kg R88A-CAGC050S 50 m Approx. 9.2 kg Connection Configuration and Dimensions (70) Servo Drive R88D-G@ 37.3 dia. (10.4 dia.) L Servomotor R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG14 x 4C UL2463 M5 crimp terminals Servomotor Signal No. Phase U A Phase V B Phase W C FG D Servomotor Connector Straight plug: N/MS3106B20-4S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-66 Specifications 10.4 dia. 3-4 Cable and Connector Specifications R88A-CAGD@S Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGD003S 3m Approx. 1.3 kg R88A-CAGD005S 5m Approx. 2.1 kg R88A-CAGD010S 10 m Approx. 4.0 kg R88A-CAGD015S 15 m Approx. 6.0 kg Specifications 14.7 dia. R88A-CAGD020S 20 m Approx. 8.0 kg R88A-CAGD030S 30 m Approx. 11.9 kg R88A-CAGD040S 40 m Approx. 15.8 kg R88A-CAGD050S 50 m Approx. 19.7 kg Connection Configuration and Dimensions (70) (14.7 dia.) Servomotor 40.5 dia. Servo Drive L R88D-G@ R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG10 x 4C UL2463 M5 crimp terminals 3-67 Servomotor Signal No. A B C D Phase U Phase V Phase W FG Servomotor Connector Straight plug: N/MS3106B22-22S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-4 Cable and Connector Specifications R88A-CAGE@S Cable Models For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGE003S 3m Approx. 4.0 kg R88A-CAGE005S 5m Approx. 6.5 kg R88A-CAGE010S 10 m Approx. 12.6 kg R88A-CAGE015S 15 m 3 Approx. 18.8 kg R88A-CAGE020S 20 m Approx. 24.9 kg R88A-CAGE030S 30 m Approx. 37.2 kg R88A-CAGE040S 40 m Approx. 49.5 kg R88A-CAGE050S 50 m Approx. 61.8 kg Connection Configuration and Dimensions (70) Servo Drive 56.4 dia. (28.5 dia.) L R88D-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG6 x 4C UL62 M5 crimp terminals Servomotor R88M-G@ Servomotor Signal No. A Phase U B Phase V C Phase W D FG Servomotor Connector Straight plug: N/MS3106B32-17S (Japan Aviation Electronics) Cable clamp: N/MS3057-20A (Japan Aviation Electronics) 3-68 Specifications 28.5 dia. 3-4 Cable and Connector Specifications Power Cables for Servomotors without Brakes (Robot Cables) R88A-CAGA@SR Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGA003SR 3m Approx. 0.2 kg R88A-CAGA005SR 5m Approx. 0.3 kg R88A-CAGA010SR 10 m Approx. 0.7 kg R88A-CAGA015SR 15 m R88A-CAGA020SR 20 m R88A-CAGA030SR 30 m Approx. 1.9 kg R88A-CAGA040SR 40 m Approx. 2.6 kg R88A-CAGA050SR 50 m Approx. 3.2 kg Approx. 1.0 kg 6.9 dia. Approx. 1.3 kg Connection Configuration and Dimensions (50) (6.9 dia.) Servo Drive (50) L Servomotor R88D-G@ R88M-G@ Wiring Servo Drive Red White Black Green/Yellow Cable: AWG20x4C UL2464 M4 crimp terminals Servomotor Signal No. 1 Phase U 2 Phase V 3 Phase W 4 FG Servomotor Connector Connector: 172159-1(Tyco Electronics AMP KK) Connector pins: 170362-1(Tyco Electronics AMP KK) 170366-1(Tyco Electronics AMP KK) 3-69 3-4 Cable and Connector Specifications R88A-CAGB@SR Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Model Length (L) Outer diameter of sheath Weight R88A-CAGB003SR 3m Approx. 0.8 kg R88A-CAGB005SR 5m Approx. 1.3 kg R88A-CAGB010SR 10 m Approx. 2.4 kg R88A-CAGB015SR 15 m R88A-CAGB020SR 20 m R88A-CAGB030SR 30 m Approx. 6.9 kg R88A-CAGB040SR 40 m Approx. 9.2 kg R88A-CAGB050SR 50 m Approx. 11.4 kg Approx. 3.5 kg 12.7 dia. 37.3 dia. (12.7 dia.) Servo Drive L R88D-G@ Servomotor R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG14x4C UL2501 M4 crimp terminals Servomotor No. Signal A Phase U B Phase V C Phase W D FG Servomotor Connector Straight plug: N/MS3106B20-4S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-70 Specifications Approx. 4.6 kg Connection Configuration and Dimensions (70) 3 3-4 Cable and Connector Specifications R88A-CAGC@SR Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGC003SR 3m Approx. 0.8 kg R88A-CAGC005SR 5m Approx. 1.3 kg R88A-CAGC010SR 10 m Approx. 2.4 kg R88A-CAGC015SR 15 m R88A-CAGC020SR 20 m R88A-CAGC030SR 30 m Approx. 6.9 kg R88A-CAGC040SR 40 m Approx. 9.2 kg R88A-CAGC050SR 50 m Approx. 11.4 kg Approx. 3.5 kg 12.7 dia. Approx. 4.6 kg Connection Configuration and Dimensions (70) (12.7 dia.) Servomotor 37.3 dia. Servo Drive L R88D-G@ R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow Cable: AWG14x4C UL2501 M5 crimp terminals 3-71 Servomotor No. Signal A Phase U B Phase V C Phase W D FG Servomotor Connector Straight plug: N/MS3106B20-4S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-4 Cable and Connector Specifications R88A-CAGD@SR Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGD003SR 3m Approx. 1.4 kg R88A-CAGD005SR 5m Approx. 2.2 kg R88A-CAGD010SR 10 m Approx. 4.2 kg R88A-CAGD015SR 15 m R88A-CAGD020SR 20 m R88A-CAGD030SR 30 m Approx. 12.4 kg R88A-CAGD040SR 40 m Approx. 16.5 kg R88A-CAGD050SR 50 m Approx. 20.5 kg Approx. 6.3 kg 15.6 dia. (15.6 dia.) L Servomotor 40.5 dia. Servo Drive R88D-G@ R88M-G@ Wiring Servo Drive Red White Blue Green/Yellow M5 crimp terminals Servomotor Signal No. A Phase U B Phase V C Phase W D FG Cable: AWG10x4C UL2501 Servomotor Connector Straight plug: N/MS3106B22-22S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-72 Specifications Approx. 8.3 kg Connection Configuration and Dimensions (70) 3 3-4 Cable and Connector Specifications Power Cables for Servomotors with Brakes (Standard Cables) R88A-CAGB@B Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGB003B 3m Approx. 0.8 kg R88A-CAGB005B 5m Approx. 1.3 kg R88A-CAGB010B 10 m Approx. 2.4 kg R88A-CAGB015B 15 m Approx. 3.5 kg 10.4/5.4 dia. R88A-CAGB020B 20 m Approx. 4.6 kg R88A-CAGB030B 30 m Approx. 6.8 kg R88A-CAGB040B 40 m Approx. 9.1 kg R88A-CAGB050B 50 m Approx. 11.3 kg Connection Configuration and Dimensions (70) (10.4 dia.) L Servomotor R88M-G@ (5.4 d ia.) Servo Drive R88D-G@ L (70) Wiring Servo Drive Servomotor Signal No. Black Brown Red White Blue Green/Yellow M4 crimp terminals Cable: AWG20 x 2C UL2464 Cable: AWG14 x 4C UL2463 G H A F I B E D C Brake Brake NC Phase U Phase V Phase W Ground Ground NC Servomotor Connector Straight plug: N/MS3106B20-18S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-73 3-4 Cable and Connector Specifications R88A-CAGC@B Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGC003B 3m Approx. 0.8 kg R88A-CAGC005B 5m Approx. 1.3 kg R88A-CAGC010B 10 m Approx. 2.4 kg R88A-CAGC015B 15 m 3 Approx. 3.5 kg R88A-CAGC020B 20 m Approx. 4.6 kg R88A-CAGC030B 30 m Approx. 6.8 kg R88A-CAGC040B 40 m Approx. 9.1 kg R88A-CAGC050B 50 m Approx. 11.3 kg Connection Configuration and Dimensions (70) (5.4 d ia.) Servo Drive R88D-G@ 37.3 dia. (10.4 dia.) L Servomotor R88M-G@ L 70) ( Wiring Servo Drive M4 M5 Black Brown Red White Blue Green/Yellow Crimp terminals Cable: AWG20 x 2C UL2464 Cable: AWG14 x 4C UL2463 Servomotor Signal No. G Brake H Brake A NC Phase U F Phase V I Phase W B E Ground D Ground C NC Servomotor Connector Straight plug: N/MS3106B20-18S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-74 Specifications 10.4/5.4 dia. 3-4 Cable and Connector Specifications R88A-CAGD@B Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGD003B 3m Approx. 1.5 kg R88A-CAGD005B 5m Approx. 2.4 kg R88A-CAGD010B 10 m Approx. 4.5 kg R88A-CAGD015B 15 m Approx. 6.7 kg Specifications 14.7/5.4 dia. R88A-CAGD020B 20 m Approx. 8.8 kg R88A-CAGD030B 30 m Approx. 13.1 kg R88A-CAGD040B 40 m Approx. 17.4 kg R88A-CAGD050B 50 m Approx. 21.8 kg Connection Configuration and Dimensions (70) (5.4 d ia.) Servo Drive R88D-G@ 43.7 dia. (14.7 dia.) L Servomotor R88M-G@ L ) (70 Wiring Servo Drive M4 M5 Black Brown Red White Blue Green/Yellow Crimp terminals Cable: AWG20 x 2C UL2464 Cable: AWG10 x 4C UL2463 Servomotor Signal No. A B C D E F G H I Brake Brake NC Phase U Phase V Phase W Ground Ground NC Servomotor Connector Straight plug: N/MS3106B24-11S (Japan Aviation Electronics) Cable clamp: N/MS3057-16A (Japan Aviation Electronics) 3-75 3-4 Cable and Connector Specifications Power Cables for Servomotors with Brakes (Robot Cables) R88A-CAGB@BR Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Length (L) Outer diameter of sheath R88A-CAGB003BR 3m Approx. 0.9 kg R88A-CAGB005BR 5m Approx. 1.5 kg R88A-CAGB010BR 10 m Approx. 2.8 kg R88A-CAGB015BR 15 m R88A-CAGB020BR 20 m R88A-CAGB030BR 30 m Approx. 8.2 kg R88A-CAGB040BR 40 m Approx. 10.9 kg R88A-CAGB050BR 50 m Approx. 13.6 kg 12.7/6.1 dia. Weight Approx. 4.2 kg Approx. 5.5 kg Connection Configuration and Dimensions (70) (12.7 dia.) L Servo Drive Servomotor R88D-G@ (6.a1.) di R88M-G@ L (70) Wiring Servo Drive Black White Red White Blue Green/Yellow M4 crimp terminals Cable: AWG20 x 2C UL2464 Cable: AWG14 x 4C UL2501 Servomotor Signal No. G Brake H Brake NC A F Phase U I Phase V B Phase W E Ground D Ground C NC Servomotor Connector Straight plug: N/MS3106B20-18S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-76 3 Specifications Model 3-4 Cable and Connector Specifications R88A-CAGC@BR Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGC003BR 3m Approx. 0.9 kg R88A-CAGC005BR 5m Approx. 1.5 kg R88A-CAGC010BR 10 m Approx. 2.8 kg R88A-CAGC015BR 15 m R88A-CAGC020BR 20 m R88A-CAGC030BR 30 m Approx. 8.2 kg R88A-CAGC040BR 40 m Approx. 10.9 kg R88A-CAGC050BR 50 m Approx. 13.6 kg Approx. 4.2 kg 12.7/6.1 dia. Approx. 5.5 kg Connection Configuration and Dimensions (70) (12.7 dia.) L Servomotor 37.3 dia. Servo Drive (6.a1.) di R88D-G@ R88M-G@ L ) (70 Wiring Servo Drive M4 M5 Black White Red White Blue Green/Yellow Crimp terminals 3-77 Cable: AWG20 x 2C UL2464 Cable: AWG14 x 4C UL2501 Servomotor No. Signal G Brake H Brake A NC F Phase U I Phase V B Phase W E Ground D Ground C NC Servomotor Connector Straight plug: N/MS3106B20-18S (Japan Aviation Electronics) Cable clamp: N/MS3057-12A (Japan Aviation Electronics) 3-4 Cable and Connector Specifications R88A-CAGD@BR Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW Model Length (L) Outer diameter of sheath R88A-CAGD003BR 3m Approx. 1.6 kg R88A-CAGD005BR 5m Approx. 2.5 kg R88A-CAGD010BR 10 m Approx. 4.7 kg R88A-CAGD015BR 15 m R88A-CAGD020BR 20 m R88A-CAGD030BR 30 m Approx. 13.7 kg R88A-CAGD040BR 40 m Approx. 18.2 kg R88A-CAGD050BR 50 m Approx. 22.7 kg Approx. 7.0 kg Approx. 9.2 kg Connection Configuration and Dimensions (70) (15.6 dia.) L Servomotor 43.7 dia. Servo Drive (6.a1.) di R88D-G@ R88M-G@ L ) (70 Wiring Servo Drive M4 M5 Black White Red White Blue Green/Yellow Crimp terminals Cable: AWG20 x 2C UL2464 Cable: AWG10 x 4C UL2501 3 Servomotor Signal No. A Brake B Brake C NC D Phase U E Phase V F Phase W G Ground H Ground I NC Servomotor Connector Straight plug: N/MS3106B24-11S (Japan Aviation Electronics) Cable clamp: N/MS3057-16A (Japan Aviation Electronics) 3-78 Specifications 15.6/6.1 dia. Weight 3-4 Cable and Connector Specifications Brake Cables (Standard Cables) R88A-CAGA@B Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGA003B 3m Approx. 0.1 kg R88A-CAGA005B 5m Approx. 0.2 kg R88A-CAGA010B 10 m Approx. 0.4 kg R88A-CAGA015B 15 m Approx. 0.6 kg 5.4 dia. R88A-CAGA020B 20 m Approx. 0.8 kg R88A-CAGA030B 30 m Approx. 1.2 kg R88A-CAGA040B 40 m Approx. 1.6 kg R88A-CAGA050B 50 m Approx. 2.1 kg Connection Configuration and Dimensions (50) (50) (5.4 dia.) L Servo Drive Servomotor R88D-G@ R88M-G@ Wiring Servo Drive Black Brown M4 crimp terminals Cable: AWG20 x 2C UL2464 Servomotor Signal No. A Brake B Brake Servomotor Connector Connector: 172157-1 (Tyco Electronics AMP KK) Connector pins: 170362-1 (Tyco Electronics AMP KK) 170366-1 (Tyco Electronics AMP KK) 3-79 3-4 Cable and Connector Specifications R88A-CAGE@B Cable Models For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGE003B 3m Approx. 0.2 kg R88A-CAGE005B 5m Approx. 0.3 kg R88A-CAGE010B 10 m Approx. 0.5 kg R88A-CAGE015B 15 m 3 Approx. 0.7 kg R88A-CAGE020B 20 m Approx. 0.9 kg R88A-CAGE030B 30 m Approx. 1.3 kg R88A-CAGE040B 40 m Approx. 1.7 kg R88A-CAGE050B 50 m Approx. 2.1 kg Connection Configuration and Dimensions (70) (5.4 dia.) Servo Drive R88D-G@ L Servomotor R88M-G@ Wiring Servo Drive Black Brown Cable: AWG20 x 2C UL2464 M4 crimp terminals Servomotor Signal No. A Brake B Brake Servomotor Connector Straight plug: N/MS3106B14S-2S (Japan Aviation Electronics) Cable clamp: N/MS3057-6A (Japan Aviation Electronics) 3-80 Specifications 5.4 dia. 3-4 Cable and Connector Specifications Brake Cables (Robot Cables) R88A-CAGA@BR Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Specifications 3 Model Length (L) Outer diameter of sheath Weight R88A-CAGA003BR 3m Approx. 0.1 kg R88A-CAGA005BR 5m Approx. 0.2 kg R88A-CAGA010BR 10 m Approx. 0.4 kg R88A-CAGA015BR 15 m R88A-CAGA020BR 20 m R88A-CAGA030BR 30 m Approx. 1.3 kg R88A-CAGA040BR 40 m Approx. 1.8 kg R88A-CAGA050BR 50 m Approx. 2.2 kg Approx. 0.7 kg 6.1 dia. Approx. 0.9 kg Connection Configuration and Dimensions (50) (50) (6.1 dia.) L Servo Drive Servomotor R88D-G@ R88M-G@ Wiring Servo Drive Black White M4 crimp terminals Cable: AWG20 x 2C UL2464 Servomotor No. Signal A Brake B Brake Servomotor Connector Connector: 172157-1 (Tyco Electronics AMP KK) Connector pins: 170362-1 (Tyco Electronics AMP KK) 170366-1 (Tyco Electronics AMP KK) 3-81 3-4 Cable and Connector Specifications Resistant to Bending of Robot Cables Use Robot Cable that can withstand at least 20 million bends to the minimum bending radius (R) given below or larger. Note 1. The service life data for resistant to bending is based on test data. Use it for reference only, and provide sufficient allowance. Note 2. This value is the number of bends when electricity is conducted through the conductors that will not result in cracking or damage to an extent that would affect the functionality of the sheath. Broken shield strands may occur. Encoder Cables Model Minimum bending radius (R) R88A-CAGA@@@CR 45 mm R88A-CAGACR*1 50 mm R88A-CAGB@@@CR 45 mm R88A-CAGBCR*1 50 mm R88A-CAGC@@@CR 45 mm R88A-CAGCCR*1 50 mm @@@: 003 to 020 : 030 to 050 Power Cables for Servomotors without Brakes Model Minimum bending radius (R) R88A-CAGA@@@SR 45 mm R88A-CAGB@@@SR 90 mm R88A-CAGC@@@SR 90 mm R88A-CAGD@@@SR 100 mm @@@: 003 to 050 Power Cables for Servomotors with Brakes Model 3 Specifications Note 3. If a bending radius smaller than the minimum bending radius is used, it may result in mechanical damage or ground fault damage due to insulation breakdown. If it is necessary to use a bending radius smaller than the minimum bending radius, consult with your OMRON representative. Minimum bending radius (R) Power cable 90 mm Brake Cables 45 mm Power cable 90 mm Brake Cables 45 mm Power cable 100 mm Brake Cables 45 mm R88A-CAGB@@@BR R88A-CAGC@@@BR R88A-CAGD@@@BR @@@: 003 to 050 3-82 3-4 Cable and Connector Specifications Brake Cables Model Minimum bending radius (R) R88A-CAGA@@@BR 45 mm @@@: 003 to 050 Moving Bend Test 3 Specifications Stroke: 750 mm Bending radius (R) 30 times/min *1. Encoder cable: 30 to 50 m only Stroke: 550 mm, 50 times/min 3-83 3-4 Cable and Connector Specifications Communications Cable Specifications Computer Monitor Cable Cable Models Cables for RS-232 Communications Model Length (L) Outer diameter of sheath Weight R88A-CCG002P2 2m 4.2 dia. Approx. 0.1 kg Connection Configuration and Dimensions 38 2000 Servo Drive R88D-G@ Personal computer Wiring Personal computer No. Signal RTS 7 CTS 8 RXD 2 GND 5 TXD 3 FG Shell Servo Drive Signal No. 3 4 5 Shell TXD GND RXD FG Cable: AWG28 x 3C UL20276 PC Connector 17JE-13090-02 (D8A) (DDK Ltd.) Precautions for Correct Use * Communications with the Host Device After confirming the startup of the Servo Drive, initiate communications with the host device. Note that irregular signals may be received from the host interface during startup. For this reason, take appropriate initialization measures such as clearing the receive buffer. 3-84 Specifications 3 3-4 Cable and Connector Specifications Communications Cables Cable Models Cables for RS-485 Communications Specifications 3 Model Length (L) R88A-CCG0R5P4 0.5 m R88A-CCG001P4 1m Outer diameter of sheath Weight 4.2 dia. Approx. 0.1 kg Connection Configuration and Dimensions L Wiring Servo Drive Signal No. GND RS485 RS485 FG Servo Drive Signal No. 4 7 8 Shell 4 7 8 Shell Cable: AWG28 x 3C UL20276 3-85 GND RS485 RS485 FG 3-4 Cable and Connector Specifications Connector Specifications Control I/O Connector (R88A-CNU11C) This connector connects to the control I/O connector (CN1) on the Servo Drive. Use this connector when preparing a control cable yourself. Dimensions 39 Specifications 52.4 3 Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) t = 18 Encoder Connectors These connectors are used for encoder cables. Use them when preparing an encoder cable yourself. Dimensions R88A-CNW01R (for Servo Drive's CN2 Connector) This connector is a soldering type. Use the following cable. * Applicable wire: AWG16 max. * Insulating cover outer diameter: 2.1 mm dia. max. * Outer diameter of sheath: 6.7 dia. 0.5 mm 18.8 43.5 Connector plug: 55100-0670 (Molex Japan Co.) t = 12 3-86 3-4 Cable and Connector Specifications ABS R88A-CNG01R (for Servomotor Connector) Use the following cable. * Applicable wire: AWG22 max. * Outer diameter of sheath: 1.75mm dia. max. (2.28) 23.70.4 (4) 160.4 Panel Mounting Hole 19.1 14.55 4.2 8.4 (8.8) *1 2.8 3.35 2.8 Specifications 8.4 4.2 140.15 3 4.6 1.6 5.35 14.55 140.15 Connector housing: 172161-1 (Tyco Electronics AMP KK) Contact socket: 170365-1 (Tyco Electronics AMP KK) *1. Applicable panel thickness: 0.8 to 2.0 mm INC * Applicable wire: AWG22 max. * Outer diameter of sheath: 1.75 mm dia. max. (2.28) 23.70.4 19.1 14.55 140.15 4.2 2.8 8.4 (4) 11.80.4 Panel Mounting Hole 3.35 R88A-CNG02R (for Servomotor Connector) Use the following cable. 4.2 2.8 9.80.15 Connector housing: 172160-1 (Tyco Electronics AMP KK) Contact socket: 170365-1 (Tyco Electronics AMP KK) 3-87 *1 (8.8) 2.5 1.6 5.35 10.35 *1. Applicable panel thickness: 0.8 to 2.0 mm 3-4 Cable and Connector Specifications Power Cable Connector (R88A-CNG01A) This connector is used for power cables. Use it when preparing a power cable yourself. 14.9 3 4.2 2.5 (8.8) 2.8 1.6 9.80.15 Connector housing: 172159-1 (Tyco Electronics AMP KK) Contact socket: 170366-1 (Tyco Electronics AMP KK) Specifications 2.8 4.2 9.80.15 (4) (2.28) 23.70.4 10.35 11.80.4 3.35 Panel Mounting Hole 5.35 10.35 Applicable panel thickness: 0.8 to 2.0 mm Brake Cable Connector (R88A-CNG01B) This connector is used for brake cables. Use it when preparing a brake cable yourself. 3.35 2.8 10.7 (2.28) 23.70.4 6.15 (4) 5.60.15 Panel Mounting Hole 4.2 2.8 9.80.15 Connector housing: 172157-1 (Tyco Electronics AMP KK) Contact socket: 170366-1 (Tyco Electronics AMP KK) (8.8) 2.5 1.6 5.35 10.35 Applicable panel thickness: 0.8 to 2.0 mm 3-88 3-4 Cable and Connector Specifications Control Cable Specifications Motion Control Unit Cables (R88A-CPG@M@) Use this cable to connect to the Motion Control Units in OMRON SYSMAC Programmable Controllers. Cables are available for either one axis or two axes. The following Motion Control Units can be used. CS1W-MC221/421(-V1) 3 Cable Models Specifications * Cables for One Axis Model Length (L) R88A-CPG001M1 1m R88A-CPG002M1 2m Outer diameter of sheath Weight Approx. 0.2 kg Approx. 0.3 kg 8.3 dia. R88A-CPG003M1 3m Approx. 0.4 kg R88A-CPG005M1 5m Approx. 0.6 kg * Cables for Two Axes Model Length (L) R88A-CPG001M2 1m R88A-CPG002M2 2m Outer diameter of sheath Weight Approx. 0.3 kg Approx. 0.5 kg 8.3 dia. R88A-CPG003M2 3m Approx. 0.7 kg R88A-CPG005M2 5m Approx. 1.0 kg Connection Configuration and Dimensions * Cables for One Axis 39 43.5 Motion Control Unit L 52.4 39 Servo Drive R88D- G@ t = 18 t = 18 * Cables for Two Axes 39 43.5 Motion Control Unit Servo Drive R88D- G@ Servo Drive R88D- G@ t = 18 t = 18 t = 18 3-89 52.4 L 52.4 39 3-4 Cable and Connector Specifications Wiring * Cables for One Axis +F24V FDC GND YALM YRUN YALMRS YSGND YSOUT YOUT YAGND Orange/Black (1) 19 Gray/Black (1) 20 21 Cable: AWG26 x 5P + AWG26 x 6C 22 23 26 27 28 29 30 31 32 33 Connector plug: 34 10136-3000PE (Sumitomo 3M) 35 Connector case: 36 10336-52A0-008 (Sumitomo 3M) Servo Drive No. Signal 37 /ALM RUN 29 31 RESET 13 SENGND SEN 20 25 ZCOM +A 21 22 +B 49 48 +Z 23 24 14 REF/TREF1/VLIM 15 AGND FG Shell 7 +24VIN 36 ALMCOM 3 * * Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) * The Motion Control Unit signals are the DRVX and DRVY connector signals. For the DRVZ and DRVU connectors, X and Y are indicated as Z and U, respectively. * Pins marked with asterisks are for absolute encoders. * Connect 24 VDC to the two lines (red and black) extending from the Motion Control Unit connector (red: +24 V, black: -). 3-90 Specifications Motion Control Unit AWG20 Red Signal No. AWG20 Black 1 +24V 2 DCGND White/Black (1) 3 XALM Pink/Black (1) 4 XRUN Yellow/Black (1) XALMRS 5 Gray/Black (1) 8 XSGND Gray/Red (1) 9 XSOUT Orange/Black (2) 10 White/Red (1) 11 White/Black (1) 12 Yellow/Red (1) 13 Yellow/Black (1) 14 Pink/Red (1) 15 Pink/Black (1) 16 Orange/Red (1) 17 XOUT Orange/Black (1) XAGND 18 3-4 Cable and Connector Specifications * Cables for Two Axes Motion Control Unit AWG20 Red Signal No. AWG20 Black 1 +24V 2 DCGND White/Black (1) 3 XALM Pink/Black (1) 4 XRUN Yellow/Black (1) XALMRS 5 Gray/Black (1) 8 XSGND Gray/Red (1) 9 XSOUT Orange/Black (2) 10 White/Red (1) 11 White/Black (1) 12 Yellow/Red (1) 13 Yellow/Black (1) 14 Pink/Red (1) 15 Pink/Black (1) 16 Orange/Red (1) 17 XOUT Orange/Black (1) XAGND 18 Servo Drive No. Signal 37 /ALM RUN 29 31 RESET 13 SENGND SEN 20 ZCOM 25 +A 21 22 +B 49 48 23 +Z 24 14 REF/TREF1/VLIM 15 AGND FG Shell Orange/Black (1) 7 19 +F24V +24VIN Gray/Black (1) 36 ALMCOM FDC GND 20 Cable: AWG26 x 5P + AWG26 x 6C Specifications 3 YALM YRUN YALMRS YSGND YSOUT YOUT YAGND 21 22 23 26 27 28 29 30 31 32 33 34 35 36 White/Black (1) Pink/Black (1) Yellow/Black (1) Gray/Black (1) Gray/Red (1) Orange/Black (2) White/Red (1) White/Black (1) Yellow/Red (1) Yellow/Black (1) Pink/Red (1) Pink/Black (1) Orange/Red (1) Orange/Black (1) Cable: AWG26 x 5P + AWG26 x 6C Connector plug: 10136-3000PE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) No. Signal 7 +24VIN 36 ALMCOM 37 /ALM RUN 29 31 RESET 13 SENGND SEN 20 ZCOM 25 +A 21 22 +B 49 48 +Z 23 24 14 REF/TREF1/VLIM 15 AGND FG Shell * * Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) * * Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) * The Motion Control Unit signals are the DRVX and DRVY connector signals. For the DRVZ and DRVU connectors, X and Y are indicated as Z and U, respectively. * Pins marked with asterisks are for absolute encoders. * Connect 24 VDC to the two lines (red and black) extending from the Motion Control Unit connector (red: +24 V, black: -). 3-91 3-4 Cable and Connector Specifications General-purpose Control Cables (R88A-CPG@S) A General-purpose Control Cable connects to the Servo Drive's control I/O connector (CN1). The connector for the controller is not provided. When connecting to a Position Control Unit which doesn't have a specified cable or connecting to another company's controller, prepare wiring suited for the controller to be connected. * When connecting to a controller which doesn't have a specified cable, either use a Generalpurpose Control Cable or a Connector Terminal Block Cable and a Connector Terminal Block. Cable Models 3 Length (L) R88A-CPG001S 1m Outer diameter of sheath Weight Approx. 0.3 kg 12.8 dia. R88A-CPG002S 2m Approx. 0.6 kg Connection Configuration and Dimensions 39 52.4 L Controller Servo Drive R88D-G@ t = 18 3-92 Specifications Model 3-4 Cable and Connector Specifications Wiring Specifications 3 No. Wire/mark color Signal No. Wire/mark color Signal 1 Orange/Red (1) +24VCW 27 Pink/Black (3) GSEL/TLSEL 2 Orange/Black (1) +24VCCW 28 White/Black (3) GESEL/VSEL3 3 Gray/Red (1) +CW/+PULS/+FA 29 Yellow/Red (3) RUN 4 Gray/Black (1) -CW/-PULS/-FA 30 Pink/Red (3) ECRST/VSEL2 5 White/Red (1) +CCW/+SIGN/+FB 31 Yellow/Black (3) RESET 6 White/Black (1) -CCW/-SIGN/-FB 32 Gray/Black (4) TVSEL 7 Yellow/Red (1) +24VIN 33 Orange/Red (4) IPG/VSEL1 8 Pink/Red (1) NOT 34 White/Red (4) READYCOM 9 Pink/Black (1) POT 35 White/Black (4) READY 10 Orange/Red (2) BKIRCOM 36 Yellow/Red (4) ALMCOM 11 Orange/Black (2) BKIR 37 Yellow/Black (4) /ALM 12 Yellow/Black (1) OUTM1 38 Pink/Red (4) INPCOM/TGONCOM 13 Gray/Black (2) GND 39 Pink/Black (4) INP/TGON 14 White/Red (2) REF/TREF1/VLIM 40 Gray/Red (4) OUTM2 15 White/Black (2) AGND 41 Orange/Black (4) COM 16 Yellow/Red (2) PCL/TREF2 42 Gray/Red (5) BAT 17 Yellow/Black (2), Pink/Black (2) AGND 43 Gray/Black (5) BATGND 18 Pink/Red (2) NCL 44 White/Red (5) +CWLD 19 Orange/Red (5) Z 45 White/Black (5) -CWLD 20 Gray/Red (2) SEN 46 Yellow/Red (5) +CCWLD 21 Orange/Red (3) +A 47 Yellow/Black (5) -CCWLD 22 Orange/Black (3) -A 48 Pink/Black (5) -B 23 Gray/Red (3) +Z 49 Pink/Red (5) +B 24 Gray/Black (3) -Z 50 --- --- 25 Orange/Black (5) ZCOM Shell --- FG 26 White /Red (3) VZERO/DFSEL/ PNSEL Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) Cable: AWG24 x 25P UL20276 * Wires with the same wire color and the same number of marks form a twisted pair. Example: An orange/red (1) wire and orange/black (1) wire form are a twisted pair. 3-93 3-4 Cable and Connector Specifications Connector Terminal Block Cables (XW2Z-@J-B24) This Cable is for the connector terminal block of the Servo Drive's control I/O connector (CN1). All of the pins in the control I/O connector (CN1) can be converted to terminals on the terminal block. Cable Models Length (L) XW2Z-100J-B24 1m Outer diameter of sheath Weight Approx. 0.2 kg 11.2 dia. XW2Z-200J-B24 2m Approx. 0.4 kg Connection Configuration and Dimensions 16.1 L 39 68.1 52.4 Connector terminal block t = 6.1 Servo Drive R88D-G@ t = 18 3-94 3 Specifications Model 3-4 Cable and Connector Specifications Specifications 3 3-95 Terminal block Connector No. No. 1 2 3 4 5 6 7 8 9 10 11 13 20 14 15 16 17 18 12 19 25 21 22 23 24 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 1 2 3 4 5 6 7 8 9 10 11 13 20 14 15 16 17 18 12 19 25 21 22 23 24 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Servo Drive No. Wire/mark color 1 2 3 4 5 6 7 8 9 10 11 13 20 14 15 16 17 18 12 19 25 21 22 23 24 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 Shell Blue/Red (1) Blue/Black (1) Pink/Red (1) Pink/Black (1) Green/Red (1) Green/Black (1) Orange/Red (1) Gray/Red (1) Gray/Black (1) Blue/Red (2) Blue/Black (2) Pink/Red (2) Pink/Black (2) Green/Red (2) Green/Black (2) Orange/Red (2) Orange/Black (2) Gray/Red (2) Gray/Black (2) Blue/Red (3) Blue/Black (3) Pink/Red (3) Pink/Black (3) Green/Red (3) Green/Black (3) Orange/Red (3) Orange/Black (3) Gray/Red (3) Gray/Black (3) Blue/Red (4) Blue/Black (4) Pink/Red (4) Pink/Black (4) Green/Red (4) Green/Black (4) Orange/Red (4) Orange/Black (4) Gray/Red (4) Gray/Black (4) Blue/Red (5) Blue/Black (5) Pink/Red (5) Pink/Black (5) Green/Red (5) Green/Black (5) Orange/Red (5) Orange/Black (5) Gray/Red (5) Gray/Black (5) Orange/Black (1) Signal +24VCW +24VCCW +CW/+PULS/+FA CW/ PULS/-FA +CCW/+SIGN/+FB CCW/ SIGN/-FB +24VIN NOT POT BKIRCOM BKIR SENGND SEN REF/TREF1/VLIM AGND PCL/TRE /TREF2 F AGND NCL OUTM1 Z ZCOM +A A +Z Z VZERO/DFSEL/PNSEL GSEL/TLSEL GESEL/VSEL3 RUN ECRST/VSEL2 RESET TVSEL IPG/VSEL1 READYCOM READY ALMCOM /ALM INPCOM/TGONCOM INP/TGON OUTM2 COM BAT BATGND +CWLD CWLD +CCWLD CCWLD B +B FG Wires with the same wire color and the same number of marks form a twisted pair. Example: A yellow/black (1) wire and pink/black (1) wire form a twisted pair. Servo Drive Connector Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) Terminal Block Connector Connector socket: XG4M-5030 (OMRON) Strain relief: XG4T-5004 (OMRON) Cable AWG28 x 25P UL2464 3-4 Cable and Connector Specifications Connector-Terminal Block Conversion Unit The Connector-Terminal Block Conversion Unit can be used along with a Connector Terminal Block Cable (XW2Z-@J-B24) to convert the Servo Drive's control I/O connector (CN1) to a terminal block. XW2B-50G4 (M3 screw terminal block) Specifications 3 * Dimensions Flat cable connector (MIL plug) 157.5 3.5 3.5 15.5 29.5 45 Two, 3.5 dia. 5.08 Terminal block 38.1 20.5 Precautions for Correct Use (45.3) * Use 0.30 to 1.25 mm2 wire (AWG22 to AWG16). * The wire inlet is 1.8 mm (height) x 2.5 mm (width). * Strip the insulation from the end of the wire for 6 mm as shown below. 6 mm 3-96 3-4 Cable and Connector Specifications XW2B-50G5 (M3.5 Screw Terminal Block) 3 * Dimensions Flat cable connector (MIL plug) Specifications 3.5 3.5 247.5 15.5 29.5 45 Two, 3.5 dia. 7 8.5 7.3 Terminal block 7 43.5 (45.3) 20.5 Precautions for Correct Use * When using crimp terminals, use crimp terminals with the following dimensions. * When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.59 N*m. Round Crimp Terminals Fork Terminals 3.7-mm dia. 6.8 mm max. 3.7 mm Applicable Crimp Terminals 6.8 mm max. Applicable Wires 1.25-3 AWG22-16 (0.3 to 1.25 mm2) 2-3.5 AWG16-14 (1.25 to 2.0 mm2) 1.25Y-3 AWG22-16 (0.3 to 1.25 mm2) 2-3.5 AWG16-14 (1.25 to 2.0 mm2) Round Crimp Terminals Fork Terminals 3-97 3-4 Cable and Connector Specifications XW2D-50G6 (M3 Screw Terminal Block) A1 A 2 A3 A 4 A 5 A6 B1 B A7 2 B3 A8 A 9 A1 B4 B 0 5 B 6 B7 B8 B 9 B1 3 0 Specifications * Dimensions XG4A MIL Connector Two, 4.5 dia. 184 144 (39.1) 17.6 6 40 7 DIN Track lock 39 7 (4.5) 5.8 1.2 M3 7 Precautions for Correct Use * When using crimp terminals, use crimp terminals with the following dimensions. * When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N*m. Round Crimp Terminals Fork Terminals 3.2-mm dia. 5.8 mm max. 3.2 mm 5.8 mm max. Applicable Crimp Terminals Applicable Wires Round Crimp Terminals 1.25-3 AWG22-16 (0.3 to 1.25 mm2) Fork Terminals 1.25Y-3 AWG22-16 (0.3 to 1.25 mm2) 3-98 3-5 Servo Relay Units and Cable Specifications 3-5 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and Cables used for connecting to Position Control Units for OMRON Programmable Controllers (SYSMAC). Select the models that match the Position Control Unit to be used. Servo Relay Units Specifications XW2B-20J6-1B This Servo Relay Unit connects to the following OMRON Position Control Units. 13 14 15 17 19 9 8 7 6 18 5 4 16 3 2 1 0 12 11 10 * CJ1W-NC113/-NC133 * CS1W-NC113/-NC133 * C200HW-NC113 Dimensions Position Control Unit connector Servo Drive connector 135 3.5 7 10 19 0 9 45 29.5 15.5 3.5 7 * Terminal Block pitch: 7.62 mm. 3-99 2 (46) 44.3 Two, 3.5 dia. 20.5 Specifications 3 3-5 Servo Relay Units and Cable Specifications Wiring Emer10 +24 V gency stop 0 Origin CCW proxRUN limit imity CW limit ALM BKIR 19 Common Common Common External interrupt Common Common RESET ALMCOM 0V X1 X1 FG 9 XB (*1) 3 Specifications 24 VDC 24 VDC *1. The XB contacts are 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). XW2B-40J6-2B This Servo Relay Unit connects to the following OMRON Position Control Units. 27 26 25 19 18 39 17 38 16 37 15 36 14 35 13 34 12 33 11 32 10 31 9 30 8 29 7 28 6 5 4 3 2 24 23 1 0 22 21 20 * CJ1W-NC213/-NC233/-NC413/-NC433 * CS1W-NC213/-NC233/-NC413/-NC433 * C200HW-NC213/-NC413 Dimensions Position Control Unit connector 180 3.5 7 20 39 0 19 45 15.5 29.5 3.5 7 X-axis Servo Y-axis Servo Drive connector Drive connector (46) 44.3 2 20.5 Two, 3.5 dia. * Terminal Block pitch: 7.62 mm 3-100 3-5 Servo Relay Units and Cable Specifications Wiring 20 +24 V X-axis X-axis X-axis X-axis X-axis X-axis CCW origin ALM BKIR proximity RUN limit X-axis X-axis X-axis Common Common Common external Common Common RESET ALMCOM interrupt X/Y-axis emergency CW stop limit 0 0V X1 X1 Y-axis Y-axis Y-axis Y-axis Y-axis Y-axis CW CCW origin ALM BKIR proximity RUN limit limit Y-axis Y-axis Y-axis Common Common external Common Common RESET ALMCOM interrupt XB Y1 Y1 (*1) 3 FG YB (*1) 24 VDC Specifications 39 24 VDC 24 VDC *1. The XB contacts and YB contacts are 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). XW2B-20J6-3B This Servo Relay Unit connects to the following OMRON Programmable Controller. 13 14 16 17 19 18 9 8 7 6 5 4 3 15 2 1 0 12 11 10 * CQM1-CPU43-V1 Dimensions CQM1 connector 135 3.5 7 10 19 0 9 45 29.5 15.5 3.5 7 Servo Drive connector * Terminal Block pitch: 7.62 mm. 3-101 (46) 44.3 2 20.5 Two, 3.5 dia. 19 3-5 Servo Relay Units and Cable Specifications Wiring 0V CCW CW RUN INP CCW Common Common X1 (*1) ECRST (*1) ALM Z (*2) BKIR 19 RESET ALMCOM X1 FG 9 XB (*3) 3 24 VDC 24 VDC *1. If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter. *2. Input this output signal to a CQM1 Input Unit. *3. The XB contacts are used to turn ON/OFF the electromagnetic brake. *4. The phase-Z output is an open-collector output. *5. Do not connect unused terminals. *6. The 0 V terminal is internally connected to the common terminals. *7. The following crimp terminal is applicable: R1.25-3 (round with open end). 3-102 Specifications 0 CW CQM1 Input Unit 10 +24 V 3-5 Servo Relay Units and Cable Specifications XW2B-20J6-8A This Servo Relay Unit connects to the following OMRON Programmable Controllers. 13 14 16 17 19 18 8 7 6 5 4 3 15 2 1 0 12 11 10 * CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis) 9 Dimensions CJ1M-CPU21/22/23 connector Servo Drive connector 135 3.5 7 10 19 0 9 45 29.5 15.5 3.5 7 * Terminal Block pitch: 7.62 mm. 3-103 2 (46) 42.8 Two, 3.5 dia. 20.5 Specifications 3 3-5 Servo Relay Units and Cable Specifications Wiring The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block. (*3) 0 IN6 0V IN7 IN8 Common Common Common IN9 MING ALM BKIR 19 Common Common RESET ALMCOM X1 X1 FG 9 XB 3 (*2) CW limit (*1) (CIO 2960.06) CCW limit (*1) (CIO 2960.07) 24 VDC 24 VDC *1. CW and CCW limit input signals can also be input through Input Units. The bits for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW: A541.08, CCW: A541.09 for pulse output 1. For example, the flag for the CW limit input (A540.08) can be controlled with an output from the ladder diagram using a bit allocated to the actual input (CIO 2960.06) on the Input Unit, as shown below. Example: 2960.06 A540.08 *2. The XB contacts are used to turn ON/OFF the electromagnetic brake. *3. Connection to the MING input terminal is invalid. *4. Do not connect unused terminals. *5. The 0 V terminal is internally connected to the common terminals. *6. The following crimp terminal is applicable: R1.25-3 (round with open end). 3-104 Specifications 10 +24 V Origin proximity RUN 3-5 Servo Relay Units and Cable Specifications XW2B-40J6-9A This Servo Relay Unit connects to the following OMRON Programmable Controllers. 26 27 Dimensions CJ1M-CPU21/22/23 connector X-axis Servo Y-axis Servo Drive connector Drive connector 180 3.5 7 20 39 0 19 45 15.5 29.5 3.5 7 * Terminal Block pitch: 7.62 mm. 3-105 2 (46) 42.8 Two, 3.5 dia. 20.5 Specifications 19 18 39 17 38 16 37 15 36 14 35 13 34 12 33 11 3 32 10 31 9 30 8 29 7 28 6 5 4 3 25 2 24 23 1 0 22 21 20 * CJ1M-CPU21/-CPU22/-CPU23 (for 2 axes) 3-5 Servo Relay Units and Cable Specifications Wiring The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block. (*3) 0 0V IN6 IN7 X-axis X-axis origin RUN proximity (*3) X-axis X-axis X-axis MING ALM BKIR Common Common Common Common Common Common IN8 X-axis X-axis RESET ALMCOM X1 X1 IN9 Y-axis Y-axis origin proximity RUN Y-axis Y-axis Y-axis MING ALM BKIR Common Common Common Common Common XB Y1 Y-axis Y-axis RESET ALMCOM Y1 FG X-axis CCW limit (CIO 2960.07) (*1) 24 VDC Y-axis CW limit (CIO 2960.08) (*1) 19 3 YB (*2) X-axis CW limit (CIO 2960.06) (*1) 39 (*2) Y-axis CCW limit (CIO 2960.09) (*1) 24 VDC 24 VDC *1. CW and CCW limit input signals can also be input through Input Units. The bits for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW: A541.08, CCW: A541.09 for pulse output 1. For example, the flag for the CW limit input (A540.08) can be controlled with an output from the ladder diagram using a bit allocated to the actual input (CIO 2960.06) on the Input Unit, as shown below. Example: 2960.06 A540.08 *2. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake. *3. Connection to the MING input terminal is invalid. *4. Do not connect unused terminals. *5. The 0 V terminal is internally connected to the common terminals. *6. The following crimp terminal is applicable: R1.25-3 (round with open end). 3-106 Specifications 20 +24 V 3-5 Servo Relay Units and Cable Specifications XW2B-80J7-12A This Servo Relay Unit connects to the following OMRON Programmable Controllers. * FQM1-MMA22 * FQM1-MMP22 Specifications 3 Dimensions Signal selection switch 160 4.5 dia. Servo Drive phase B selection switch 100 90 Controller general-purpose I/O Y-axis Servo Drive Controller special I/O 41.7 15.9 3-107 X-axis Servo Drive 30.7 3-5 Servo Relay Units and Cable Specifications System Configuration Example for the FQM1 FQM1-MMP22 Motion Control Module FQM1 Flexible Motion Controller CM002 PA202 RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL MMP22 RDY RUN ERR ON 12 FLEXIBLE MOTION CONTROLLER POWER 1 OFF IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 2 L1 AC100 -240V INPUT 0 1 2 3 4 5 6 7 MMA22 A1 B1 A2 B2 1 RDY RUN ERR IN 2 A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 1 2 L2/N 26 25 26 CN1 PORT 3 25 CN2 CN2 CN1 CN1 NC RS422 39 40 2 39 1 40 XW2Z-@J-A28 General-purpose I/O Connecting Cable 2 1 39 Specifications NC 40 XW2Z-@ J-A30 Special I/O Connecting Cable XW2B-80J7-12A Servo Relay Unit XW2Z-@J-B26 Servo Relay Unit Cables AC SERVO DRIVE UNIT No. R88D-GT@ OMNUC G-Series Servo Drives AC SERVO DRIVE UNIT No. DATA IM SP DATA G IM SP G R88M-G@ OMNUC G-Series Servomotors Terminal Block Connection * The terminal block signal names are different depending on the Controller to be connected. * A total of 80 terminals are provided (terminal numbers 0 to 79). * Signal names and standard connections are listed in the following table. 60 79 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 0 1 2 3 4 5 6 7 8 9 Upper terminal block Lower terminal block 0 19 3-108 3-109 *4. Connected to 0 V at pin 0. *5. Connected to 0 V at pin 1. IN10 IN11 10 11 12 IN10 Common (0 V)*4 IN11 Common (0 V)*4 - OUT3 - - Servo #1 phase-Z LD+ Voltage input (+) Servo #1 ALM Servo #1 BKIR IN4 IN5 IN6 IN7 - Servo #1 RUN Servo #1 RESET Servo #1 ECRST Servo #1 GSEL/TLSEL - - 72 73 74 75 *3. Use as a power supply for IN0 to IN3 (interrupt inputs) or latch inputs. 76 13 14 15 16 17 18 19 - OUT2 30 OUT1 29 OUT0 28 - 27 IN7 Common (0 V)*4 26 IN6 Common (0 V)*4 IN5 Common (0 V)*4 25 FG IN9 9 IN9 Common (0 V)*4 IN4 Common (0 V)*4 24 71 FG IN8 8 IN8 Common (0 V)*4 Common (0 V)*4 Servo #1 phase-B LD+ 70 - Servo #2 BKIR 7 Common (0 V)*4 Servo #1 READY Servo #1 phase-A LD+ 69 Servo #2 GSEL/TLSEL Servo #2 ALM 6 Servo #2 READY Voltage input (-) Latch signal 2 input 68 OUT7 - 5 - Servo #1 phase-Z LD- Latch signal 1 input 67 Servo #2 ECRST IN3 4 IN3 Common (0 V)*5 Servo #1 phase-B LD- 22 23 66 OUT6 IN2 3 IN2 Common (0 V)*5 Servo #1 phase-A LD- 21 65 Servo #2 RESET IN1 2 IN1 Common (0 V)*5 Latch signal 2 common (0 V)*5 No. 20 64 OUT5 IN0 1 IN0 Common (0 V)*5 Latch signal 1 common (0 V)*5 5 V (*1) Signal name 62 63 Servo #2 RUN +24 V *3 0 0V 0V 3 61 OUT4 +24 V *2 No. 0V Signal name No. 60 - Signal name Signal name Specifications 3-5 Servo Relay Units and Cable Specifications FQM1-MMA22 Signal Names 77 78 79 No. 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 31 32 33 34 35 36 37 38 39 *1. Use as a power supply for FQM1-MMA22 pulse outputs, or as a power supply for the SEN output for an Absolute Encoder Servo Drive. *2. Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals. Signal name +24 V *2 +24 V *3 IN0 IN1 IN2 IN3 No. 0 1 2 3 4 5 0V 0V IN0 Common (0 V)*5 IN1 Common (0 V)*5 IN2 Common (0 V)*5 IN3 Common (0 V)*5 - - FG 14 15 16 17 18 19 FG - - 69 70 71 72 73 74 75 76 77 78 79 Signal name Latch signal 1 input Latch signal 2 input Servo #1 phase-A LD+ Servo #1 ALM Servo #1 BKIR IN4 IN5 IN6 IN7 - Servo #1 RUN Servo #1 RESET - 41 42 43 47 48 49 54 55 Servo #1 phase-B LD+ Servo #1 phase-Z LD+ - Servo #1 GSEL/TLSEL 57 58 59 - Servo #1 ECRST 56 31 32 33 34 35 36 37 38 39 *1. Use as a power supply for FQM1-MMP22 pulse outputs, or as a power supply for the SEN output for an Absolute Encoder Servo Drive. *2. Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals. *3. Use as a power supply for IN0 to IN3 (interrupt inputs) or latch inputs. *4. Connected to 0 V at pin 0. *5. Connected to 0 V at pin 1. 3-110 Specifications OUT3 68 53 - Servo #2 GSEL/TLSEL 13 OUT7 30 OUT2 29 OUT1 28 OUT0 27 - 26 Servo #2 ECRST 12 - 25 IN7 Common (0 V)*4 67 52 OUT6 IN11 11 IN11 Common (0 V)*4 24 IN6 Common (0 V)*4 66 51 Servo #2 RESET IN10 10 IN10 Common (0 V)*4 IN5 Common (0 V)*4 65 50 OUT5 IN9 9 IN9 Common (0 V)*4 IN4 Common (0 V)*4 64 46 Servo #2 RUN IN8 8 IN8 Common (0 V)*4 Common (0 V)*4 62 63 45 OUT4 Servo #2 BKIR 7 Common (0 V)*4 Servo #1 INP 61 5 V (*1) No. 60 44 - Servo #2 ALM 6 Servo #2 INP Servo #1 phase-A LD- 22 23 - Latch signal 2 common (0 V)*5 21 Servo #1 phase-Z LD- Latch signal 1 common (0 V)*5 No. 20 Servo #1 phase-B LD- 0V Signal name No. 40 - Signal name 3-5 Servo Relay Units and Cable Specifications FQM1-MMP22 Signal Names 3 3-5 Servo Relay Units and Cable Specifications Wiring Example Servo Drive signals 3 FQM1 signals #1 #2 RUN 74 34 54 OUT0 14 OUT4 ECRST 76 36 56 OUT2 16 OUT6 INP 47 7 69 IN4 29 IN8 For Servo Drive #1 For Servo Drive #2 /ALM 67 27 70 IN5 30 IN9 BKIR 68 28 71 IN6 31 IN10 Specifications Terminal block No. 20 +24 V XB 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 0 3-111 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 3-5 Servo Relay Units and Cable Specifications Servo Drive-Servo Relay Unit Cable Specifications Servo Drive Cable (XW2Z-@J-B25) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-1B/-3B, XW2B-40J6-2B). Cable Models Model Length (L) XW2Z-100J-B25 1m XW2Z-200J-B25 2m Outer diameter of sheath Weight Approx. 0.1 kg 3 8.1 dia. Connection Configuration and Dimensions L 52.4 Servo Drive 30 Servo Relay Unit XW2B-20J6-1B XW2B-40J6-2B XW2B-20J6-3B R88D-GT@ Wiring Servo Relay Unit Wire/mark color Blue/Red (1) Blue/Black (1) Pink/Red (1) Pink/Black (1) Green/Red (1) Green/Black (1) Orange/Red (1) - Orange/Black (1) Gray/Red (1) Gray/Black (1) Blue/Red (2) Blue/Black (2) - Pink/Red (2) Pink/Black (2) Green/Red (2) Green/Black (2) Orange/Red (2) Not specified Servo Drive No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 No. 7 38 5 6 3 4 30 10 23 24 39 29 27 31 11 37 36 Shell Servo Relay Unit Connector Connector socket: XG4M-2030 Strain relief: XG4T-2004 Cable AWG28 x 10P UL2464 Servo Drive Connector Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) 3-112 Specifications Approx. 0.2 kg 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-@J-B26) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-80J7-12A). Use this Cable only with the FQM1-MMP22 Motion Control Module. Cable Models Length (L) XW2Z-100J-B26 1m Outer diameter of sheath Weight Approx. 0.1 kg 9.1 dia. XW2Z-200J-B26 2m Approx. 0.2 kg Connection Configuration and Dimensions L Servo Drive XW2B-80J7-12A 52.4 Servo Relay Unit 48 Specifications 3 Model Wiring Servo Relay Unit Wire/mark color Blue/Red (1) Blue/Black (1) Pink/Red (1) Pink/Black (1) Green/Red (1) Green/Black (1) Orange/Red (1) Orange/Black (1) Gray/Red (1) Gray/Black (1) Blue/Red (2) Blue/Black (2) - - Pink/Red (2) Pink/Black (2) Green/Red (2) - Orange/Red (2) Orange/Black (2) Gray/Red (2) Gray/Black (2) Blue/Red (3) Blue/Black (3) Pink/Red (3) - - - - Not specified 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 Servo Drive No. 7 38 5 6 3 4 30 23 24 39 29 31 11 37 36 13 20 21 22 49 48 27 34 10 Shell Servo Relay Unit Connector Connector socket: XG4M-3030 Strain relief: XG4T-3004 Cable AWG28 x 13P UL2464 Servo Drive Connector Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) 3-113 R88D-GT@ 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-@J-B27) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-80J7-12A). Use this Cable only with the FQM1-MMA22 Motion Control Module. Cable Models Length (L) XW2Z-100J-B27 1m Outer diameter of sheath Weight Approx. 0.1 kg 9.1 dia. XW2Z-200J-B27 2m Approx. 0.2 kg Connection Configuration and Dimensions L Servo Drive 48 XW2B-80J7-12A 52.4 Servo Relay Unit R88D-GT@ Wiring Servo Relay Unit Wire/mark color Blue/Red (1) Blue/Black (1) Pink/Red (1) Pink/Black (1) - - - - Green/Red (1) Green/Black (1) Orange/Red (1) Orange/Black (1) Gray/Red (1) Gray/Black (1) Blue/Red (2) Blue/Black (2) Pink/Red (2) - Green/Red (2) Green/Black (2) Orange/Red (2) Orange/Black (2) Gray/Red (2) Gray/Black (2) Blue/Red (3) - - - - Not specified Servo Drive 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 No. 7 38 14 15 23 24 35 29 16 17 31 11 37 36 13 20 21 22 49 48 27 34 10 Shell Servo Relay Unit Connector Connector socket: XG4M-3030 Strain relief: XG4T-3004 Cable AWG28 x 13P UL2464 Servo Drive Connector Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) 3-114 3 Specifications Model 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-@J-B31) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A). Cable Models Model Length (L) XW2Z-100J-B31 1m Outer diameter of sheath Weight Approx. 0.1 kg 8.1 dia. XW2Z-200J-B31 2m Approx. 0.2 kg Connection Configuration and Dimensions L Servo Drive XW2B-20J6-8A XW2B-40J6-9A 52.4 Servo Relay Unit 30 Specifications 3 Wiring Servo Relay Unit Wire/mark color Blue/Red (1) Blue/Black (1) Pink/Red (1) Pink/Black (1) Green/Red (1) Green/Black (1) Orange/Red (1) - - Gray/Red (1) Gray/Black (1) Blue/Red (2) Blue/Black (2) Orange/Black (1) Pink/Red (2) Pink/Black (2) Green/Red (2) Green/Black (2) Orange/Red (2) Not specified Servo Drive No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Servo Relay Unit Connector Connector socket: XG4M-2030 Strain relief: XG4T-2004 Cable AWG28 x 10P UL2464 Servo Drive Connector Connector plug: 10150-3000PE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) 3-115 No. 7 38 5 6 3 4 30 10 23 24 39 29 27 31 11 37 36 Shell R88D-GT@ 3-5 Servo Relay Units and Cable Specifications Position Control Unit-Servo Relay Unit Cable Specifications Position Control Unit Cable (XW2Z-@J-A3) This Cable connects a Programmable Controller (CQM1-CPU43-V1) to a Servo Relay Unit (XW2B20J6-3B). Cable Models Model Length (L) XW2Z-050J-A3 50 cm Outer diameter of sheath 3 Weight Approx. 0.1 kg XW2Z-100J-A3 1m Approx. 0.1 kg Connection Configuration and Dimensions 39 L 6 CQM1 CQM1-CPU43-V1 25 32.2 Servo Relay Unit XW2B-20J6-3B t = 15 Wiring CQM1 No. 15 12 13 14 1 3 4 5 6 Hood cover Cable: AWG28 x 4P + AWG28 x 4C Servo Relay Unit No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 3-116 Specifications 7.5 dia. 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A6) This Cable connects a Position Control Unit (CS1W-NC113) to a Servo Relay Unit (XW2B-20J61B). Cable Models Length (L) XW2Z-050J-A6 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 8.0 dia. XW2Z-100J-A6 1m Approx. 0.1 kg Connection Configuration and Dimensions 47 L 6 Servo Relay Unit 38 Position Control Unit 83 Specifications 3 Model CS1W-NC113 XW2B-20J6-1B t = 11 Wiring Position Control Unit No. A1 A2 A8 A6 A10 A16 A14 A24 A12 A21 A23 A22 A19 A20 Crimp terminal Cable: AWG28 x 4P + AWG28 x 10C 3-117 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 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A7) This Cable connects a Position Control Unit (C1W-NC213 or CS1W-NC413) to a Servo Relay Unit (XW2B-40J6-2B). Cable Models Length (L) XW2Z-050J-A7 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A7 1m Approx. 0.2 kg Connection Configuration and Dimensions 47 L 6 Position Control Unit 48 Servo Relay Unit 83 CS1W-NC213 CS1W-NC413 XW2B-40J6-2B t = 11 Wiring Position Control Unit No. A1/B1 A2/B2 A8 A6 A10 A16 A14 A24/B24 A19 A21 A12 A23 A22 A20/B20 B8 B6 B10 B16 B14 B23 B22 B21 B19 B12 Crimp terminal Cable: AWG28 x 6P + AWG28 x 16C 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 31 32 33 34 3-118 3 Specifications Model 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A10) This Cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B-20J61B). Cable Models Length (L) XW2Z-050J-A10 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A10 1m Approx. 0.2 kg Connection Configuration and Dimensions 47 L 6 Servo Relay Unit CS1W-NC133 48 Position Control Unit 83 Specifications 3 Model t = 11 1000 Wiring Position Control Unit No. A3 A4 A1 A2 A7 A8 A5 A6 AWG20, black AWG20, red A10 A16 A14 A24 A12 A21 A23 A22 A19 A20 Crimp terminal Cable: AWG28 x 4P + AWG28 x 10C 3-119 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 XW2B-20J6-1B 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A11) This Cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B40J6-2B). Cable Models Length (L) XW2Z-050J-A11 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A11 1m Approx. 0.2 kg Connection Configuration and Dimensions 47 L 6 83 CS1W-NC233 CS1W-NC433 Servo Relay Unit 48 Position Control Unit t = 11 XW2B-40J6-2B 1000 Wiring Position Control Unit No. A3/B3 A4/B4 A1/B1 A2/B2 A7 A8 A5 A6 AWG20, black AWG20, red A10 A16 A14 A24/B24 A19 A21 A12 A23 A22 A20/B20 B7 B8 B5 B6 B10 B16 B14 B23 B22 B21 B19 B12 Crimp terminal Cable: AWG28 x 6P + AWG28 x 16C 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 31 32 33 34 3-120 3 Specifications Model 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A14) This Cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B-20J61B). Cable Models Length (L) XW2Z-050J-A14 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A14 1m Approx. 0.2 kg Connection Configuration and Dimensions 0 50 Position Control Unit Servo Relay Unit 38 Specifications 3 Model CJ1W-NC113 t = 11 L 6 Wiring Position Control Unit No. A1 A2 A8 A6 A9 A14 A12 A20 A11 A17 A19 A18 A15 A16 Crimp terminal Cable: AWG28 x 4P + AWG28 x 10C 3-121 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 XW2B-20J6-1B 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A15) This Cable connects a Position Control Unit (CJ1W-NC213/NC413) to a Servo Relay Unit (XW2B40J6-2B). Cable Models Length (L) XW2Z-050J-A15 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A15 1m Approx. 0.2 kg Connection Configuration and Dimensions 0 50 Position Control Unit Servo Relay Unit 48 CJ1W-NC213 CJ1W-NC413 XW2B-40J6-2B t = 11 L 6 Wiring Position Control Unit No. A1/ B1 A2/ B2 A8 A6 A9 A14 A12 A20/ B20 A15 A17 A11 A19 A18 A16/ B16 B8 B6 B9 B14 B12 B19 B18 B17 B15 B11 Crimp terminal Cable: AWG28 x 8P + AWG28 x 16C 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 31 32 33 34 3-122 3 Specifications Model 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A18) This Cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B-20J61B). Cable Models Length (L) XW2Z-050J-A18 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A18 1m Approx. 0.2 kg Connection Configuration and Dimensions 0 50 Position Control Unit Servo Relay Unit 38 Specifications 3 Model CJ1W-NC133 1000 t = 11 L 6 Wiring Position Control Unit No. A3 A4 A1 A2 A7 A8 A5 A6 AWG20, black AWG20, red A9 A14 A12 A20 A11 A17 A19 A18 A15 A16 Crimp terminal Cable: AWG28 x 4P + AWG28 x 10C 3-123 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 XW2B-20J6-1B 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A19) This Cable connects a Position Control Unit (CJ1W-NC233/NC433) to a Servo Relay Unit (XW2B40J6-2B). Cable Models Length (L) XW2Z-050J-A19 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A19 1m Approx. 0.2 kg Connection Configuration and Dimensions 0 50 Position Control Unit Servo Relay Unit 48 CJ1W-NC233 CJ1W-NC433 XW2B-40J6-2B 1000 t = 11 L 6 Wiring Position Control Unit No. A3/ B3 A4/ B4 A1/ B1 A2/ B2 A7 A8 A5 A6 AWG20, black AWG20, red A9 A14 A12 A20/ B20 A15 A17 A11 A19 A18 A16/ B16 B7 B8 B5 B6 B9 B14 B12 B19 B18 B17 B15 B11 Crimp terminal Cable: AWG28 x 8P + AWG28 x 16C 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 31 32 33 34 3-124 3 Specifications Model 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A33) This Cable connects a Programmable Controller (CJ1M-CPU21/CPU22/CPU23) to a Servo Relay Unit (XW2B-20J6-8A or XW2B-40J6-9A). Cable Models Length (L) XW2Z-050J-A33 50 cm Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. XW2Z-100J-A33 1m Approx. 0.2 kg Connection Configuration and Dimensions 0 50 6 L Servo Relay Unit 43 CJ1M-CPU22/23 56 CJ1M CJ1M-CPU21 CJ1M-CPU22 CJ1M-CPU23 20J6-8A/40J6-9A Specifications 3 Model 6 Wiring CJ1M Servo Relay Unit No. 1 2 3 4 5 6 7 8 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 No. 37 39 40 32 31 35 5 17 6 23 24 34 33 36 9 11 18 12 29 30 2 8 13 14 19 20 25 26 Crimp terminal 3-125 Cable: AWG28 x 6P + AWG28 x 14C XW2B-20J6-8A XW2B-40J6-9A 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A28) This Cable connects the general-purpose I/O connector of a Flexible Motion Control Module (FQM1-MMP22/-MMA22) to a Servo Relay Unit (XW2B-80J7-12A). Cable Models Length (L) XW2Z-050J-A28 50 cm XW2Z-100J-A28 1m XW2Z-200J-A28 2m Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. Approx. 0.2 kg Approx. 0.3 kg Connection Configuration and Dimensions 0 50 FQM1 17 L 48 FQM1-MMA22 38 Servo Relay Unit 80J7-12A FQM1-MMP22 FQM1-MMA22 XW2B-80J7-12A 17 Wiring FQM1 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 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 Crimp terminal 3 33 34 Cable: AWG28 x 24C 3-126 Specifications Model 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A30) This Cable connects the special I/O connector of a Flexible Motion Control Module (FQM1-MMP22) to a Servo Relay Unit (XW2B-80J7-12A). Cable Models Length (L) XW2Z-050J-A30 50 cm XW2Z-100J-A30 1m XW2Z-200J-A30 2m Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. Approx. 0.2 kg Approx. 0.3 kg Connection Configuration and Dimensions Servo Relay Unit FQM1-MMP22 48 FQM1-MMP22 0 17 L 17 Wiring FQM1 Servo Relay Unit No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 No. 3 5 9 11 15 17 19 21 23 13 25 27 29 31 33 35 4 6 10 12 16 18 20 22 24 14 26 28 30 32 34 36 Crimp terminal 3-127 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 40 Cable: AWG28 x 14P + AWG28 x 4C 56 50 FQM1 80J7-12A Specifications 3 Model XW2B-80J7-12A 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A31) This Cable connects the special I/O connector of a Flexible Motion Control Module (FQM1-MMA22) to a Servo Relay Unit (XW2B-80J7-12A). Cable Models Length (L) XW2Z-050J-A31 50 cm XW2Z-100J-A31 1m XW2Z-200J-A31 2m Outer diameter of sheath Weight Approx. 0.1 kg 10.0 dia. Approx. 0.2 kg Approx. 0.3 kg Connection Configuration and Dimensions 0 50 17 L 55 FQM1-MMA22 Servo Relay Unit 80J7-12A FQM1-MMA22 55 FQM1 XW2B-80J7-12A 17 Wiring FQM1 Servo Relay Unit No. 1 2 3 4 5 6 7 8 9 11 12 15 16 17 18 No. 3 5 9 11 15 17 19 21 23 25 27 37 39 33 35 4 6 10 12 16 18 20 22 24 38 40 34 Crimp terminal 3 21 22 23 24 25 26 27 28 29 35 36 37 40 Cable: AWG28 x 18P 3-128 Specifications Model 3-6 Parameter Unit Specifications 3-6 Parameter Unit Specifications R88A-PR02G Hand-held Parameter Unit The Parameter Unit is required to operate the Servo Drive from a distance away from the Servo Drive, or to operate and monitor the Servo Drive from a control panel. The cable connected to the Parameter Unit is 1.5 m long. Item Specifications General Specifications Specifications Ambient operating temperature and humidity 0 to 55C, 90% RH max. (with no condensation) Ambient storage temperature and humidity -20 to 80C, 90% RH max. (with no condensation) Operating and storage atmosphere No corrosive gases Vibration resistance 5.9 m/s2 max. Performance Specifications Item Specifications Hand-held Cable length 1.5 m Connectors Mini DIN 8-pin MD connector Display 7-segment LED Dimensions 62 (W) x 114 (H) x 15 (D) mm Weight Approx. 0.1 kg (including cable) Communications specifications Type Standard RS-232 Communications method Asynchronous (ASYNC) Baud rate 9,600 bps Start bits 1 bit Data 8 bits Parity None Stop bits 1 bit 3 3-129 3-7 External Regeneration Resistor Specifications 3-7 External Regeneration Resistor Specifications R88A-RR08050S Model R88ARR08050S Resistance 50 Regeneration Nominal absorption for 120C capacity temperature rise 80 W 20 W Heat radiation condition Thermal switch output specifications Aluminum 250 x 250, Thickness: 3.0 Operating temperature: 150C5%, NC contact, Rated output: 30 VDC, 50 mA max. Heat radiation condition Thermal switch output specifications Aluminum 250 x 250, Thickness: 3.0 Operating temperature: 150C 5%, NC contact, Rated output: 30 VDC, 50 mA max. Heat radiation condition Thermal switch output specifications Aluminum 350 x 350, Thickness: 3.0 Operating temperature: 170C 7%, NC contact, Rated output: 250 VAC, 0.2 A max. Heat radiation condition Thermal switch output specifications Aluminum, 600 x 600, Thickness: 3.0 Operating temperature: 200C 7C, NC contact Rated output: 250 VAC, 0.2 A max. 24 VDC, 0.2 A max. R88A-RR080100S Model R88ARR080100S Resistance 100 Regeneration Nominal absorption for 120C capacity temperature rise 80 W 20 W R88A-RR22047S Model R88ARR22047S Resistance 47 Regeneration Nominal absorption for 120C capacity temperature rise 220 W 70 W R88A-RR50020S Model R88ARR50020S Resistance 20 Regeneration Nominal absorption for 120C capacity temperature rise 500 W 180 W 3-130 Specifications 3 External Regeneration Resistor Specifications 3-8 Reactor Specifications 3-8 Reactor Specifications Connect a Reactor to the Servo Drive as a harmonic current control measure. Select a model matching the Servo Drive to be used. Specifications Servo Drive Model Rated current Inductance Weight Reactor type R88D-GTA5L R88D-GT01H 3G3AX-DL2002 1.6 A 21.4 mH Approx. 0.8 kg Singlephase R88D-GT01L R88D-GT02H 3G3AX-DL2004 3.2 A 10.7 mH Approx. 1.0 kg Singlephase R88D-GT02L R88D-GT04H 3G3AX-DL2007 6.1 A 6.75 mH Approx. 1.3 kg Singlephase R88D-GT04L R88D-GT08H R88D-GT10H 3G3AX-DL2015 9.3 A 3.51 mH Approx. 1.6 kg Singlephase R88D-GT15H 3G3AX-DL2022 13.8 A 2.51 mH Approx. 2.1 kg Singlephase R88D-GT08H R88D-GT10H R88D-GT15H 3G3AX-AL2025 10.0 A 2.8 mH Approx. 2.8 kg Threephase R88D-GT20H R88D-GT30H 3G3AX-AL2055 20.0 A 0.88 mH Approx. 4.0 kg Threephase R88D-GT50H 3G3AX-AL2110 34.0 A 0.35 mH Approx. 5.0 kg Threephase R88D-GT75H 3G3AX-AL2220 67.0 A 0.18 mH Approx. 10.0 kg Threephase 3-131 Specifications 3 Reactor Chapter 4 System Design 4-1 Installation Conditions ........................................ 4-1 Servo Drives .........................................................................4-1 Servomotors..........................................................................4-3 Decelerators..........................................................................4-7 4-2 Wiring ................................................................. 4-11 Connecting Cables................................................................4-11 Selecting Connecting Cables................................................4-12 Peripheral Device Connection Examples..............................4-17 Main Circuit and Servomotor Connections ...........................4-21 4-3 Wiring Conforming to EMC Directives................ 4-27 Wiring Method.......................................................................4-27 Selecting Connection Components.......................................4-32 4-4 Regenerative Energy Absorption ....................... 4-45 Calculating the Regenerative Energy ...................................4-45 Servo Drive Regenerative Energy Absorption Capacity .......4-48 Absorbing Regenerative Energy with an External Regeneration Resistor ..........................................................4-49 Connecting an External Regeneration Resistor ....................4-49 4-1 Installation Conditions 4-1 Installation Conditions Servo Drives Space around Drives * Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. If the Servo Drives are installed side by side, install a fan for air circulation to prevent uneven temperatures from developing inside the panel. System Design 4 Fan Servo Drive Servo Drive W 40 mm min. 100 mm min. Fan Servo Drive W W = 10 mm min. Air Side panel 100 mm min. Air Mounting Direction * Mount the Servo Drives in a direction (perpendicular) so that the model number can be seen properly. Operating Environment * The environment in which Servo Drives are operated must meet the following conditions. Servo Drives may malfunction if operated under any other conditions. Ambient operating temperature: 0 to 55C (Take into account temperature rises in the individual Servo Drives themselves.) Ambient operating humidity: 90% RH max. (with no condensation) Atmosphere: No corrosive gases. Altitude: 1,000 m max. Ambient Temperature Control * Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability. * Temperature rise in any Unit installed in a closed space, such as a control box, will cause the Servo Drive's ambient temperature to rise. Use a fan or air conditioner to prevent the Servo Drive's ambient temperature from exceeding 55C. * Servo Drive surface temperatures may rise to as much as 30C above the ambient temperature. Use heat-resistant materials for wiring, and keep its distance from any devices or wiring that are sensitive to heat. * The service life of a Servo Drive is largely determined by the temperature around the internal electrolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrostatic capacity and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements. 4-1 4-1 Installation Conditions * If a Servo Drive is always operated at the ambient temperature of 55C and with 100% of the rated torque and rated rotation speed, its service life is expected to be approximately 28,000 hours (excluding the axial-flow fan). A drop of 10C in the ambient temperature will double the expected service life. Keeping Foreign Objects Out of Units * Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Units during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, Servo Drive's heat dissipation is blocked, which may result in malfunction. * Take measures during installation and operation to prevent foreign objects such as metal particles, oil, machining oil, dust, or water from getting inside of Servo Drives. System Design 4 4-2 4-1 Installation Conditions Servomotors Operating Environment * The environment in which the Servomotor is operated must meet the following conditions. Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor. Ambient operating temperature: 0 to 40C (See note.) Ambient operating humidity: 85% RH max. (with no condensation) Atmosphere: No corrosive gases. Note The ambient temperature is the temperature at a point 5 cm from the Servomotor. Impact and Load * The Servomotor is resistant to impacts of up to 98 m/s2. Do not apply heavy impacts or loads during transport, installation, or removal. System Design 4 * When transporting, hold the Servomotor body itself, and do not hold the encoder, cable, or connector areas. Doing so may damage the Servomotor. * Always use a pulley remover to remove pulleys, couplings, or other objects from the shaft. * Secure cables so that there is no impact or load placed on the cable connector areas. Connecting to Mechanical Systems * The axial loads for Servomotors are specified in Characteristics on page 3-33. If an axial load greater than that specified is applied to a Servomotor, it will reduce the service life of the motor bearings and may break the motor shaft. Servomotor shaft * When connecting to a load, use couplings center line that can sufficiently absorb mechanical eccentricity and declination. * For spur gears, an extremely large radial load may be applied depending on the gear precision. Use spur gears with a high degree of precision (for example, JIS class 2: normal Backlash line pitch error of 6 m max. for a pitch circle diameter of 50 mm). * If the gear precision is not adequate, allow backlash to ensure that no radial load is placed on the motor shaft. * Bevel gears will cause a load to be applied in the thrust direction depending on the structural precision, the gear precision, and temperature changes. Provide appropriate backlash or take other measures to ensure Make that a thrust load larger than the specified movable. level is not applied. * Do not put rubber packing on the flange surface. If the flange is mounted with rubber packing, the motor flange may crack under the tightening force. 4-3 Ball screw center line Do not offset center lines. Structure in which the distance between shafts adjustable. Bevel gear 4-1 Installation Conditions * When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension. * A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications to be placed on the motor shaft. If an excessive radial load is applied, the motor shaft and bearings may be damaged. * Set up a movable pulley between the motor shaft and the load shaft so that the belt tension can be adjusted. Pulley Tension adjustment (Make adjustable.) 4 Belt Water and Drip Resistance * The protective structure for the Servomotors is as follows: IP65 (except for through-shaft parts and cable outlets) Countermeasures against Oil When using the Servo Motor in an environment in which the shaft through-hole is exposed to oil spray, use a Servomotor with an oil seal. The operating conditions for a Servomotor with an oil seal are as follows: Keep the oil level below the lip of the oil seal. Set up good lubricating conditions so that any oil spray falls on the oil seal. If the Servomotor is used with the shaft pointing upwards, be careful to not allow oil to accumulate at the lip of the oil seal. Radiator Plate Installation Conditions When the Servomotor is installed in a small space, the Servomotor temperature may rise unless sufficient surface area is provided to allow heat dissipation from the Servomotor mounting surface. Take measures such as inserting a radiator plate between the Servomotor mounting surface and the flange. If radiator plates are not inserted, the motor may be damaged by increased temperatures. For radiator plate specifications, refer to 3-2 Servomotor Specifications. Servomotor heating will depend on the material of the mounting surface and on the installation environment. Be sure to check the Servomotor temperature under actual operating conditions. The Servomotor temperature may rise sharply if the Servomotor is installed in an environment such as near a heat source. Take the following countermeasures as required by the installation environment. Reduce the load ratio. Modify the Servomotor's heat dissipation conditions. Forcibly cool the Servomotor by installing a cooling fan. Radiator plate 4-4 System Design Tension 4-1 Installation Conditions Oil Seal The Servomotor oil seal dimensions are given below. The expected service life of an oil seal is approximately 5,000 hours. The actual life depends on the application conditions and environment. Oil seal installation and replacement are treated as repair work. For inquiries, consult your OMRON representative. System Design 4 Motor model Shaft diameter (mm) Outer diameter (mm) Width (mm) R88M-G05030@ 8.9 17 4 R88M-G10030@ 8.9 17 4 R88M-G20030@ 14 28 4 R88M-G40030@ 14 28 4 R88M-G75030@ 19.8 30 4 R88M-GP10030@ 8.9 22 4 R88M-GP20030@ 14 28 4 R88M-GP40030@ 14 28 4 R88M-G1K030@ 20 35 7 R88M-G1K530@ 20 35 7 R88M-G2K030@ 20 35 7 R88M-G3K030@ 24 38 7 R88M-G4K030@ 24 38 7 R88M-G5K030@ 24 38 7 R88M-G1K020@ 24 38 7 R88M-G1K520@ 24 38 7 R88M-G2K020@ 24 38 7 R88M-G3K020@ 24 38 7 R88M-G4K020@ 30 45 7 R88M-G5K020@ 40 58 7 R88M-G7K515@ 45 62 9 R88M-G90010@ 24 38 7 R88M-G2K010@ 40 58 7 R88M-G3K010@ 40 58 7 R88M-G4K510@ 45 62 9 R88M-G6K010@ 45 62 9 When using the Servomotor in an environment where the Servomotor shaft will be exposed to oil, select a Servomotor with an oil seal. Precautions Keep the oil level below the oil seal. If there is no oil at all on the oil seal, the oil seal, which is made of rubber, will be glazed. Use the Servomotor in an environment with a suitable amount of oil. Install the Servomotor so that oil does not accumulate around the oil seal. 4-5 4-1 Installation Conditions Other Precautions * Take measures to protect the shaft from corrosion. The shafts are coated with anti-corrosion oil when shipped, but anti-corrosion oil or grease should also be applied when connecting the shaft to a load. WARNING Do not apply commercial power directly to the Servomotor. Doing so may result in fire. 4 System Design Do not dismantle or repair the product. Doing so may result in electric shock or injury. 4-6 4-1 Installation Conditions Decelerators Installing Decelerators Installing an R88G-HPG@@@ (Backlash = 3' Max.) Use the following procedure to install the Decelerator on the Servomotor. 1. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap. 2. Apply sealant to the installation surface on the Servomotor (recommended sealant: Loctite 515). 3. Gently insert the Servomotor into the Decelerator. 4 System Design As shown in the figures on the next page, stand the Decelerator upright and slide the Servomotor shaft into the input shaft joint while making sure it does not fall over. If the Decelerator cannot be stood upright, tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt. 4. Bolt together the Servomotor and the Decelerator flanges. Bolt Tightening Torque for Aluminum Allen head bolt size M4 M5 M6 M8 M10 M12 Tightening torque (N*m) 3.2 6.3 10.7 26.1 51.5 89.9 5. Tighten the input joint bolt. Bolt Tightening Torque for Duralumin Allen head bolt size M4 M5 M6 M8 M10 M12 Tightening torque (N*m) 2.0 4.5 15.3 37.2 73.5 128 Note Always use the torque given in the table above. The Servomotor may slip or other problems may occur if the specified torque level is not satisfied. The R88G-HPG11@ uses two set screws for the connecting section. Allen head bolt size M3 Tightening torque (N*m) 0.69 6. Mount the supplied rubber cap to complete the installation procedure. (For the R88G-HPG11@, mount two screws with gaskets.) 4-7 4-1 Installation Conditions D A C B 4 System Design F E Installing the Decelerator When installing the R88G-HPG@@@, first make sure that the mounting surface is flat and that there are no burrs on the tap sections, and then bolt on the mounting flanges. Mounting Flange Bolt Tightening Torque for Aluminum R88G-HPG 11 14 20 32 50 65 Number of bolts 4 4 4 4 4 4 Bolt size M3 M5 M8 M10 M12 M16 Mounting PCD (mm) 46 70 105 135 190 260 Tightening torque (N*m) 1.4 6.3 26.1 51.5 103 255 4-8 4-1 Installation Conditions Installing an R88G-VRSF@@@ (Backlash = 15' Max.) Use the following procedure to install the Decelerator to the Servomotor. 1. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap. Make sure the set bolts are loose. 2. Gently insert the Servomotor into the Decelerator. As shown in the figures below, stand the Decelerator upright and slide the Servomotor shaft into the input shaft joint while making sure it does not fall over. If the Decelerator cannot be stood upright, tighten each bolt evenly little by little to ensure that the Servomotor is not inserted at a tilt. 4 3. Bolt together the Servomotor and the Decelerator flanges. System Design Bolt Tightening Torque Allen head bolt size M4 M5 M6 Tightening torque (N*m) 3.0 5.8 9.8 4. Tighten the input joint bolt. Bolt Tightening Torque for Duralumin Allen head bolt size M3 M4 M5 Tightening torque (N*m) 1.5 4.5 7.1 Note Always use the torque given in the table above. Sliding or other problems may occur if the specified torque level is not satisfied. 5. Mount the supplied rubber cap to complete the installation procedure. C E D A 4-9 B 4-1 Installation Conditions Installing the Decelerator When installing the R88G-VRSF@@@, first make sure that the mounting surface is flat and that there are no burrs on the tap sections, and then bolt on the mounting flanges. Mounting Flange Bolt Tightening Torque for Aluminum B frame C frame D frame 4 4 4 Bolt size M5 M6 M8 Mounting PCD (mm) 60 90 115 Tightening torque (N*m) 5.8 9.8 19.6 Number of bolts 4 Using Another Company's Decelerator (Reference Information) If the system configuration requires another company's decelerator to be used in combination with an OMNUC G-Series Servomotor, select the decelerator so that the load on the motor shaft (i.e., both the radial and thrust loads) is within the allowable range. (Refer to Characteristics on page 3-33 for details on the allowable loads for the motors.) Also, select the decelerator so that the allowable input rotation speed and allowable input torque of the decelerator are not exceeded. 4-10 System Design R88G-VRSF 4-2 Wiring 4-2 Wiring Connecting Cables This section shows the types of connecting cables used in an OMNUC G-Series servo system. A wide selection of cables are available when configuring a servo system with an OMRON SYSMAC Motion Control Unit or Position Unit, which makes wiring easy. 4 System Configuration Motion Control Unit 1 Motion Control Unit Cable For 1 axis For 2 axes Position Control Unit Servo Relay Unit Cable Servo Drive Servo Drive Cable Position Control Unit Cable Terminal block 0 1 2 3 4 CN2 (Encoder Connector) 7 6 5 17 16 15 14 13 12 11 10 Position Control Unit with a pulse-string output 2 CN1 (Control I/O Connector) 981198 System Design Controller Servo Relay Unit CPU Units with Pulse-string Outputs 5 6 Power Cable Encoder Cable 1 Other Controllers 3 Connector Terminal Block and Cable Connector Terminal Block 4 4-11 Power Cable (Robot Cables) 1 7 Encoder Cable (Robot Cables) Cable for Connector Terminal Block CPU Units with Pulse-string Outputs Flexible Motion Controllers 7 1 Use a robot cable when the cable must be flexible. General-purpose Control Cable and Control I/O Connector Servomotor 4-2 Wiring Selecting Connecting Cables Encoder Cables (Standard Cables) Select an Encoder Cable matching the Servomotor to be used. 3,000-r/min Servomotors Encoder Cable 50 to 750 W ABS R88A-CRGA@@@C 50 to 750 W INC R88A-CRGB@@@C 1 to 5 kW R88A-CRGC@@@N 100 to 400 W ABS R88A-CRGA@@@C 100 to 400 W INC R88A-CRGB@@@C 3,000-r/min Flat Servomotors 2,000-r/min Servomotors (1,500-r/min Servomotors) 1,000-r/min Servomotors 1 to 7.5 kW R88A-CRGC@@@N 900 W to 6 kW R88A-CRGC@@@N Comments The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, or 50 m). Example model number for a 3-m cable: R88A-CRGA003C 4-12 4 System Design Servomotor type 4-2 Wiring Power Cables (Standard Cables) Select a Power Cable matching the Servomotor to be used. Power Cables for Servomotors Without Brakes Power Cables for Servomotors With Brakes 50 to 750 W R88A-CAGA@@@S R88A-CAGA@@@S (For Power Connector) R88A-CAGA@@@B (For Brake Connector) 1 to 1.5 kW R88A-CAGB@@@S R88A-CAGB@@@B 2 kW R88A-CAGC@@@S R88A-CAGC@@@B 3 to 5 kW R88A-CAGD@@@S R88A-CAGD@@@B 100 to 400 W R88A-CAGA@@@S R88A-CAGA@@@S (For Power Connector) R88A-CAGA@@@B (For Brake Connector) 1 to 1.5 kW R88A-CAGB@@@S R88A-CAGB@@@B 2 kW R88A-CAGC@@@S R88A-CAGC@@@B 3 to 5kW R88A-CAGD@@@S R88A-CAGD@@@B 7.5 kW R88A-CAGE@@@S R88A-CAGE@@@S (For Power Connector) R88A-CAGE@@@B (For Brake Connector) 900 W R88A-CAGB@@@S R88A-CAGB@@@B 2 to 4.5 kW R88A-CAGD@@@S R88A-CAGD@@@B R88A-CAGE@@@S R88A-CAGE@@@S (For Power Connector) R88A-CAGE@@@B (For Brake Connector) Servomotor type 3,000-r/min Servomotors 4 System Design 3,000-r/min Flat Servomotors 2,000-r/min Servomotors (1,500-r/min Servomotors) 1,000-r/min Servomotors 6 kW Note 1. The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, or 50 m). Example model number for a 3-m cable: R88A-CAGA003S Note 2. For 50 to 750 W (3,000-r/min) Servomotors, Flat Servomotors, and 6-kW and higher Servomotors, there are separate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Brake Cable. Encoder Cables (Robot Cables) Use a robot cable when the encoder cable must be flexible. Servomotor type 3,000-r/min Servomotors Encoder Cable 50 to 750 W ABS R88A-CRGA@@@CR 50 to 750 W INC R88A-CRGB@@@CR 1 to 5 kW 3,000-r/min Flat Servomotors R88A-CRGC@@@NR 100 to 400 W ABS R88A-CRGA@@@CR 100 to 400 W INC R88A-CRGB@@@CR 2,000-r/min Servomotors 1 to 5 kW R88A-CRGC@@@NR 1,000-r/min Servomotors 900 W to 4.5 kW R88A-CRGC@@@NR 4-13 Comments The @@@ digits in the model number indicate the cable length. (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, or 50 m). Example model number for a 3m cable: R88A-CRGA003CR 4-2 Wiring Power Cables (Robot Cables) Use a robot cable when the power cable must be flexible. 3,000-r/min Servomotors 3,000-r/min Flat Servomotors 50 to 750 W R88A-CAGA@@@SR R88A-CAGA@@@SR (For Power Connector) R88A-CAGA@@@BR (For Brake Connector) 1 to 1.5 kW R88A-CAGB@@@SR R88A-CAGB@@@BR 2 kW R88A-CAGC@@@SR R88A-CAGC@@@BR 3 to 5 kW R88A-CAGD@@@SR R88A-CAGD@@@BR 100 to 400 W R88A-CAGA@@@SR R88A-CAGA@@@SR (For Power Connector) R88A-CAGA@@@BR (For Brake Connector) 1 to 1.5 kW R88A-CAGB@@@SR R88A-CAGB@@@BR 2 kW R88A-CAGC@@@SR R88A-CAGC@@@BR 3 to 5 kW R88A-CAGD@@@SR R88A-CAGD@@@BR 900 W R88A-CAGB@@@SR R88A-CAGB@@@BR 2 to 4.5 kW R88A-CAGD@@@SR R88A-CAGD@@@BR 2,000-r/min Servomotors 1,000-r/min Servomotors Power Cables for Servomotors with Brakes 4 System Design Power Cables for Servomotors without Brakes Servomotor type Note 1.The @@@ digits in the model number indicate the cable length (3 m, 5 m, 10 m, 15 m, 20 m, 30 m, 40 m, or 50 m). Example model number for a 3-m cable: R88A-CAGA003SR Note 2. For 50 to 750 W (3,000-r/min) Servomotors and Flat Servomotors, there are separate connectors for power and brakes. Therefore, when a Servomotor with a brake is used, it will require both a Power Cable for a Servomotor without a brake and a Brake Cable. Computer Monitor Cable A Computer Monitor Cable and the Computer Monitor Software for Servo Drives (CX-Drive) are required to set Servo Drive parameters and perform monitoring with a personal computer. Name/specifications Computer Monitor Cable Model 2m R88A-CCG002P2 Remarks Only a 2-meter cable is available. 4-14 4-2 Wiring RS-485 Communications Cable Multiple Servo Drives can be connected by connecting one Servo Drive to a computer or a host controller using RS-232 communications and by connecting the other Servo Drives together with RS-485 communications. Name/specifications RS-485 Communications Cable Model Remarks R88A-CCG@@@P4 The @@@ digits in the model number indicate the cable length. RS-485 Communications Cables come in two lengths: 0.5 m and 1 m. 4 System Design Servo Relay Units and Cables Select the Servo Relay Unit and Cable according to the model of the Position Control Unit to be used. Position Control Unit CQM1-CPU43-V1 CS1W-NC113 C200HW-NC113 Position Control Unit Cable Servo Relay Unit XW2Z-@@@J-A3 XW2B-20J6-3B XW2Z-@@@J-A6 XW2B-20J6-1B XW2Z-@@@J-A7 XW2B-40J6-2B XW2Z-@@@J-A10 XW2B-20J6-1B XW2Z-@@@J-A11 XW2B-40J6-2B XW2Z-@@@J-A14 XW2B-20J6-1B XW2Z-@@@J-A15 XW2B-40J6-2B XW2Z-@@@J-A18 XW2B-20J6-1B XW2Z-@@@J-A19 XW2B-40J6-2B XW2Z-100J-A33 XW2B-20J6-8A XW2B-40J6-9A Servo Drive Cable CS1W-NC213 CS1W-NC413 C200HW-NC213 C200HW-NC413 CS1W-NC133 CS1W-NC233 CS1W-NC433 CJ1W-NC113 CJ1W-NC213 CJ1W-NC413 CJ1W-NC133 CJ1W-NC233 CJ1W-NC433 XW2Z-@@@J-B25 CJ1M-CPU21 CJ1M-CPU22 XW2Z-@@@J-B31 CJ1M-CPU23 FQM1-MMP22 FQM1-MMA22 XW2Z-@@@J-A28 XW2Z-@@@J-A30 XW2Z-@@@J-A28 XW2Z-@@@J-A31 XW2Z-@@@J-B26 XW2B-80J7-12A XW2Z-@@@J-B27 Note 1. The cable length is indicated in the boxes of the model number (@@@). Position Control Unit cables come in two lengths: 0.5 m and 1 m (example for 0.5-m cable: XW2Z-050J-A3). Servo Drive Cables also come in two lengths: 1 m and 2 m (example for 1-m cable: XW2Z-100J-B25). Note 2. Two Servo Drive Cables are required if 2-axis control is performed using one Position Control Unit. 4-15 4-2 Wiring Motion Control Unit Cable There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected. Motion Control Unit Cable Remarks For 1 axis R88A-CPG@@@M1 For 2 axes R88A-CPG@@@M2 CS1W-MC221/421(-V1) The @@@ digits in the model number indicate the cable length. Motion Control Unit Cables come in four lengths: 1 m, 2 m, 3 m, and 5 m. Example model number for 2-m 1-axis cable: R88A-CPG002M1 4 These cables and connector are used when connecting to Controllers for which no specific cable is available, and the cable for the Servo Drive's control I/O connector (CN1) is prepared by the user. Name Model Remarks General-purpose Control Cable R88A-CPG@@@S A cable for the control I/O connector (CN1) The @@@ digits in the model number indicate the cable length (either 1 m or 2 m). Example model number for 1-m cable: R88A-CPG001S Control I/O Connector R88A-CNU11C This is the connector for connecting to the Control I/O Connector (CN1). (This item is a connector only.) Connector-Terminal Blocks and Cables These are for connecting to Controllers for which no specific cable is available, and are used to convert the Servo Drive's control I/O Connector (CN1) signals to a terminal block. Connector Terminal Block XW2B-50G4 XW2B-50G5 XW2D-50G6 Cable XW2Z-@@@J-B24 Remarks The @@@ digits in the model number indicate the cable length. There are two cable lengths: 1 m and 2 m. Example model number for 2-m cable: XW2Z-200J-B24 4-16 System Design General-purpose Control Cable and Control I/O Connector 4-2 Wiring Peripheral Device Connection Examples R88D-GTA5L/-GT01L/-GT02L/-GT04L R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H R T Single-phase 100 to 115 VAC, 50/60 Hz: R88D-GT@@L Single-phase 200 to 240 VAC, 50/60 Hz: R88D-GT@@H NFB 1 4 2 NF E System Design 3 4 Main-circuit contactor (*1) Noise filter (*1) Main-circuit power supply OFF ON 1MC 2MC 2MC 1MC (Ground to 100 or less.) Surge killer (*1) 1MC X 2MC X PL Servo error display OMNUC G-Series AC Servo Drive Power Cable CNA XB OMNUC G-Series AC Servomotor (*3) L1C B L2C CNB 1MC 24 VDC U V 2MC M CNA W L1 Reactor L3 CNB B1 Regeneration resistor (*5) (*4) CN2 (Ground to 100 or less.) B3 Encoder Cable B2 E CN1 X 24 VDC *1. Recommended products are listed in 4-3 37 /ALM 36 ALMCOM CN1 X User control device BKIR 11 CN1 BKIRCOM 10 XB (*2) 24 VDC *2. *3. Control Cable *4. *5. 4-17 Wiring Conforming to EMC Directives. Also, to ensure safety (i.e., to ensure that the power supply can be shut OFF) for contactor welding, we recommend using two magnetic contactors (MC). Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to all G-Series Servomotors with brakes. The brake is not affected by the polarity of the power supply. Connect B2-B3 for the models with a built-in regeneration resistor (GT04L, GT08H, GT10H, and GT15H).If the amount of regeneration is large,disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. The models GTA5L to GT02L and GT01H to GT04H do not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2. 4-2 Wiring R88D-GT08H/-GT10H/-GT15H R S T Three-phase 200 to 240 VAC, 50/60 Hz NFB 1 2 3 NF E 4 5 6 Main-circuit contactor (*1) Noise filter (*1) 2MC Main-circuit power supply OFF ON 1MC 2MC 1MC (Ground to 100 or less.) 4 Surge killer (*1) 1MC X 2MC X System Design PL Servo error display OMNUC G-Series AC Servo Drive CNA XB Power Cable (*3) L1C OMNUC G-Series AC Servomotor B CNB L2C U 1MC 24 VDC V 2MC M CNA W L1 Reactor L2 L3 CN2 CNB B1 (*4) Regeneration resistor Encoder Cable *1. Recommended products are listed in 4-3 CN1 X 37 /ALM 36 ALMCOM CN1 X BKIR 11 User control device CN1 Control Cable E B3 B2 24 VDC (Ground to 100 or less.) BKIRCOM 10 Wiring Conforming to EMC Directives. Also, to ensure safety (i.e., to ensure that the power supply can be shut OFF) for contactor welding, we recommend using two magnetic contactors (MC). 24 VDC *2. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's rated inductive load is 2 A at 24 VDC and XB applicable to all G-Series Servomotors with (*2) brakes. *3. The brake is not affected by the polarity of the power supply. *4. Connect B2-B3 for the models with a built-in regeneration resistor (GT08H to GT15H). If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. 4-18 4-2 Wiring R88D-GT20H/-GT30H/-GT50H R S T Three-phase 200 to 230 VAC 50/60 Hz NFB 1 2 3 NF E 4 5 6 Main-circuit contactor (*1) Noise filter (*1) 2MC Main-circuit power supply OFF ON 1MC 2MC 1MC 4 (Ground to 100 or less.) Surge killer (*1) 1MC X 2MC X System Design PL Servo error display OMNUC G-Series AC Servo Drive TB1 OMNUC G-Series AC Servomotor XB Power Cable (*3) L1C B TB1 L2C U 1MC V 24 VDC M 2MC W TB1 L1 Reactor L2 CN2 L3 B1 (*4) Regeneration resistor Encoder Cable *1. Recommended products are listed in 4-3 CN1 X 37 /ALM 36 ALMCOM CN1 X BKIR 11 User control device CN1 Control Cable 4-19 E B3 B2 24 VDC (Ground to 100 or less.) BKIRCOM 10 Wiring Conforming to EMC Directives. Also, to ensure safety (i.e., to ensure that the power supply can be shut OFF) for contactor welding, we recommend using two magnetic contactors (MC). *2. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 24 VDC Relay's rated inductive load is 2 A at 24 XB VDC and applicable to all G-Series Servomotors with brakes. (*2) *3. The brake is not affected by the polarity of the power supply. *4. Connect B2-B3 for the models with a built-in regeneration resistor (GT20H to GT50H). If the amount of regeneration is large, disconnect B2-B3 and connect an External Regeneration Resistor to B1-B2. 4-2 Wiring R88D-GT75H R S T Three-phase 200 to 230 VAC 50/60 Hz NFB 1 2 3 NF E 4 5 6 Main-circuit contactor (*1) Noise filter (*1) 2MC Main-circuit power supply OFF ON 1MC 2MC 1MC (Ground to 100 or less.) 4 Surge killer (*1) 1MC X 2MC X System Design PL Servo error display OMNUC G-Series AC Servo Drive TB2 XB Power Cable (*3) L1C OMNUC G-Series AC Servomotor B TB1 L2C 24 VDC U 1MC V M W 2MC TB1 Reactor L1 L2 CN2 (Ground to 100 or less.) L3 Regeneration resistor (*4) Encoder Cable B1 B2 TB2 FN (+) CN1 X FN( - ) 37 /ALM 24 VDC 36 ALMCOM CN1 X BKIR 11 User control device CN1 Control Cable BKIRCOM 10 E *1. Recommended products are listed in 4-3 Wiring Conforming to EMC Directives. Also, to ensure safety (i.e., to ensure that FAN Stop the power supply can be shut OFF) for contactor welding, we recommend using two magnetic contactors (MC). *2. Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 Relay's 24 VDC rated inductive load is 2 A at 24 VDC and XB applicable to all G-Series Servomotors with (*2) brakes. *3. The brake is not affected by the polarity of the power supply. *4. The model GT75H does not have a built-in regeneration resistor. If the amount of regeneration is large, an External Regeneration Resistor must be connected to B1-B2. 4-20 4-2 Wiring Main Circuit and Servomotor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures. R88D-GTA5L/-GT01L/-GT02L/-GT04L R88D-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/-GT15H Main Circuit Connector Specifications (CNA) Symbol Name R88D-GT@L (50 W to 400 W): L1 4 L2 Main circuits power supply input System Design L2C R88D-GT@H (50 W to 1.5 kW): R88D-GT@H (750 W to 1.5 kW): L3 L1C Description Control circuit power supply input Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz R88D-GT@L: Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz R88D-GT@H: Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Servomotor Connector Specifications (CNB) Symbol Name Description External Regeneration Resistor connection terminals 50 W to 400 W: These terminals normally do not need to be connected. If there is high regenerative energy, connect an External Regeneration Resistor between B1 and B2. 750 W to 1.5 kW:Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2. B1 B2 B3 U V W Red White Servomotor connection terminals Blue These are the output terminals to the Servomotor. Be sure to wire them correctly. Green/ Yellow Frame ground 4-21 This is the ground terminal. Ground to a 100 or less. 4-2 Wiring R88D-GT20H/-GT30H/-GT50H Main Circuit Terminal Block Specifications Symbol Name Function L1 L2 Main circuit power supply input R88D-GT@H (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60Hz Control circuit power supply input R88D-GT@H: Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz External Regeneration Resistor connection terminals 2 to 5 kW: Normally B2 and B3 are connected. If there is high regenerative energy, remove the short-circuit bar between B2 and B3 and connect an External Regeneration Resistor between B1 and B2. L3 L2C B1 B2 B3 U V W Red Servomotor connection terminals White Blue These are the output terminals to the Servomotor. Be sure to wire them correctly. Green/ Yellow Frame ground 4 System Design L1C This is the ground terminal. Ground to 100 or less. 4-22 4-2 Wiring R88D-GT75H Main Circuit Terminal Block Specifications (TB1) Symbol Name Function L1 Main circuit power supply input L2 R88D-GT75H (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60Hz L3 B1 External Regeneration Resistor connection terminals B2 4 U Red V System Design 6 kW, 7.5 kW: A regeneration resistor is not built in. Connect an External Regeneration Resistor between B1 and B2, if necessary. Servomotor connection terminals W White Blue These are the output terminals to the Servomotor. Be sure to wire them correctly. Green/ Yellow Frame ground This is the ground terminal. Ground to 100 or less. Main Circuit Terminal Block Specifications (TB2) Symbol Name NC --- L1C Control circuit power supply input R88D-GT75H: Single-phase 200 to 230 VAC (170 to 253 V), 50/60Hz Frame ground This is the ground terminal. Ground to 100 or less. L2C Function Do not connect. NC EX1 EX2 --- Do not connect. EX3 NC FN(+) FN(-) 4-23 Fan Stop Output Outputs a warning signal when the fan inside the Servo Drive stops. (30 VDC, 50 mA max). 4-2 Wiring Terminal Block Wire Sizes 100-VAC Input: R88D-GT@@L Model (R88D-) GTA5L GT01L GT02L GT04L kVA 0.4 0.4 0.5 0.9 1.4 2.2 3.7 6.6 Unit Power supply capacity Main circuit power supply input (L1 and L3, or L1, L2, and L3) *1 Rated current A Wire size --- Control circuit power supply input (L1C and L2C) Rated current A Wire size --- Servomotor connection terminals (U, V, W, and GR) *2 Rated current A Wire size --- AWG18 Wire size --- AWG14 Screw size --- M4 Nm 1.2 Frame ground (GR) Torque AWG18 0.09 AWG16 0.09 0.09 4 0.09 AWG18 1.2 1.7 2.5 4.6 System Design Item 200-VAC Input: R88D-GT@@H Model (R88D-) GT01H GT02H GT04H GT08H GT10H kVA 0.5 0.5 0.9 1.3 1.8 Rated current A 1.3 2.0 3.7 Wire size --- Screw size --- --- --- --- --- --- Nm --- --- --- --- --- Rated current A 0.05 0.05 0.05 0.05 0.07 Wire size --- Screw size --- --- --- --- --- --- Nm --- --- --- --- --- Rated current A 1.2 1.6 2.6 4.0 5.8 Wire size --- Screw size --- --- --- --- --- --- Nm --- --- --- --- --- Item Unit Power supply capacity Main circuit power supply input (L1 and L3, or L1, L2, and L3) *1 Torque Control circuit power supply input (L1C and L2C) Torque Servomotor connection terminals (U, V, W, and GR) *2 Torque Wire size Frame ground (GR) Screw size Torque 5.0/3.3 *1 7.5/4.1 *1 AWG18 AWG16 AWG18 AWG18 AWG16 --- AWG14 --- M4 Nm 1.2 4-24 4-2 Wiring Model (R88D-) GT15H GT20H GT30H GT50H GT75H kVA 2.3 3.3 4.5 7.5 11 Rated current A 11.0/8.0 *1 10.2 15.2 23.7 35.0 Wire size --- Screw size --- --- M5 Nm --- 2.0 Rated current A 0.07 Wire size --- Screw size --- --- M5 Nm --- 2.0 Rated current A 9.4 Wire size --- Screw size --- --- M5 Nm --- 2.0 Wire size --- AWG14 Screw size --- M4 M5 Nm 1.2 2.0 Item Unit Power supply capacity Main circuit power supply input (L1 and L3, or L1, L2, and L3) *1 Torque 4 System Design Control circuit power supply input (L1C and L2C) Torque Servomotor connection terminals (U, V, W, and GR) *2 Torque Frame ground (GR) Torque AWG12 AWG10 AWG14 0.1 0.12 AWG8 0.12 0.14 18.6 33.0 47.0 AWG12 AWG8 AWG6 AWG18 13.4 AWG14 AWG12 AWG8 *1. The left value is for single-phase input power, and the right value is for three-phase input power. *2. Use the same wire sizes for B1 and B2. *3. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals. Wire Sizes and Allowable Current (Reference) The following table shows the allowable current when there are three power supply wires. Use a current below these specified values. 600-V Heat-resistant Vinyl Wire (HIV) Nominal cross-sectional area (mm2) Configuration (wires/ mm2) Conductive resistance (/km) 20 0.5 19/0.18 --- 0.75 18 AWG size 4-25 Allowable current (A) for ambient temperature 30C 40C 50C 39.5 6.6 5.6 4.5 30/0.18 26.0 8.8 7.0 5.5 0.9 37/0.18 24.4 9.0 7.7 6.0 16 1.25 50/0.18 15.6 12.0 11.0 8.5 14 2.0 7/0.6 9.53 23 20 16 12 3.5 7/0.8 5.41 33 29 24 10 5.5 7/1.0 3.47 43 38 31 8 8.0 7/1.2 2.41 55 49 40 6 14.0 7/1.6 1.35 79 70 57 4-2 Wiring Terminal Block Wiring Procedure Connector-type Terminal Blocks are used for Servo Drives of 1.5 kW or less (R88D-GTA5L to GT15H). The procedure for wiring these Terminal Blocks is explained below. Connector-type Terminal Block 4 System Design (Example: R88D-GT01H) 1. Remove the Terminal Block from the Servo Drive before wiring. The Servo Drive will be damaged if the wiring is done with the Terminal Block in place. 2. Strip off 8 to 9 mm of the covering from the end of each wire. Refer to Terminal Block Wire Sizes on page 4-24 for applicable wire sizes. 8 to 9 mm 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 Drive (as in Fig. A). * Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the screwdriver, and press down firmly to open the slot (as in Fig. B). Fig. A Fig. B 4. With the slot held open, insert the end of the wire. After inserting the wire, let the slot close by releasing the pressure from the lever or the screwdriver. 5. Mount the Terminal Block to the Servo Drive. After all of the terminals have been wired, return the Terminal Block to its original position on the Servo Drive. 4-26 4-3 Wiring Conforming to EMC Directives 4-3 Wiring Conforming to EMC Directives Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2 (EMS)) can be ensured by wiring under the conditions described below. These conditions are for conformance of OMNUC G-Series products to the EMC Directives. EMC-related performance of these products, however, depends on the configuration, wiring, and other conditions of the equipment in which the products are installed. The EMC conformance of the system as a whole must be confirmed by the customer. The following are the requirements for EMC Directive conformance. * The Servo Drive must be installed in a metal case (control panel). (The Servomotor does not, however, have to be covered with a metal plate.) * Noise filters and surge absorbers must be installed on power supply lines. * Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, mild steel wires for the shielding.) * All cables, I/O wiring, and power lines connected to the Servo Drive must have clamp filters installed. * The shields of all cables must be directly connected to a ground plate. System Design 4 Wiring Method R88D-GTA5L/-GT01L/-GT02L/-GT04L/-GT01H/-GT02H/-GT04H/-GT08H/-GT10H/ -GT15H/-GT20H/-GT30H/-GT50H Single-phase: 100 VAC Three-phase: 200 VAC B A FC L1 NF SV CNA FC U V CNB W L2 L3 L1C SG FC L2C F D CN2 FC E C CN1 G SM Single-phase: 100 VAC H TB Controller *1. For models with a single-phase power supply input (R88D-GTA5L/-GT01L/-GT02L/-GT04L/GT01H/-GT02H/-GT04H/-GT08H), the main circuit power supply input terminals are L1 and L3. * Ground the motor's frame to the machine ground when the motor is on a movable shaft. * Use a ground plate for the frame ground for each Unit, as shown in the above diagrams, and ground to a single point. * Use ground lines with a minimum thickness of 3.5 mm2, and arrange the wiring so that the ground lines are as short as possible. 4-27 4-3 Wiring Conforming to EMC Directives * No-fuse breakers, surge absorbers, and noise filters should be positioned near the input terminal block (ground plate), and I/O lines should be separated and wired at the shortest distance. R88D-GT75H FC SV L1 NF L2 U CNA CNB L3 Three-phase: 200 VAC V 4 W L1C SG FC L2C System Design FC FC CN1 CN2 Single-phase: 100 VAC SM TB Controller Unit Details Symbol SG NF Name Surge absorber Noise filter Manufacturer Okaya Electric Industries Co., Ltd. Model Remarks RAV781BWZ-4 Single-phase 100 VAC RAV781BXZ-4 Three-phase 200 VAC SPU-EK5-ER-6 Single-phase 100/200 VAC (5 A) 3SUP-HQ10-ER-6 Three-phase 200 VAC (10 A) 3SUP-HU30-ER-6 Three-phase 200 VAC (30 A) 3SUP-HL50-ER-6B Three-phase 200 VAC (50 A) Okaya Electric Industries Co., Ltd. SV Servo Drive OMRON Corp. --- *1 SM Servomotor OMRON Corp. --- *1 FC Clamp core TDK TB Controller ZACT305-1330 --- --- --Switch box *1. A specified combination of Servo Drive and Servomotor must be used. 4-28 4-3 Wiring Conforming to EMC Directives Cable Details Symbol System Design 4 Supplies from Connects to Cable name Length Remarks Shielded Ferrite AC power supply Noise filter Power supply line 2m Threephase 200 VAC No No Noise filter Servo Drive Power supply line 2m --- No Yes Servo Drive Servomotor Power cable 20 m --- Yes Yes Servo Drive Servomotor Encoder cable 20 m --- No Yes Switch box Servo Drive I/O cable 2m --- No Yes Frame ground Noise filter Frame ground line 1.5 m --- No No Frame ground Noise filter Frame ground line 1.5 m --- No No AC power supply Switch box Power supply line 1.5 m --- No No Noise Filters for Power Supply Input Use the following noise filters for the Servo Drive power supply Noise Filter Servo Drive model Rated current Phases Maximum leakage current (60 Hz) SUP-EK5-ER-6 5A Single 1.0 mA (at 250 VAC) 3SUP-HQ10-ER-6 10 A Three 3.5 mA (at 500 VAC) SUP-EK5-ER-6 5A Single 1.0 mA (at 250 VAC) Model Manufacturer R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L R88D-GT01H R88D-GT02H R88D-GT04H R88D-GT08H 3SUP-HQ10-ER-6 10 A Three 3.5 mA (at 500 VAC) 3SUP-HU30-ER-6 30 A Three 3.5 mA (at 500 VAC) 3SUP-HL50-ER-6B 50 A Three 8.0 mA (at 500 VAC) R88D-GT10H R88D-GT15H R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H 4-29 Okaya Electric Industries Co., Ltd. 4-3 Wiring Conforming to EMC Directives * If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring. If input and output lines are wired together, noise resistance will decrease. * Wire the noise filter as shown at the left in the following illustration. The noise filter must be installed as close as possible to the entrance of the control box. Correct: Separate input and output AC input 1 2 3 NF E 4 5 6 AC output Wrong: Noise not filtered effectively AC input 1 2 3 NF E 4 5 6 4 Ground Ground System Design AC output * Use twisted-pair cables for the power supply cables, or bind the cables. Correct: Properly twisted Correct: Cables are bound. Servo Drive Servo Drive L1 L1C L2 L2C L3 Binding * Separate power supply cables and signal cables when wiring. Control Panel Structure Openings in the control panel, such as holes for cables, operating panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this, observe the recommendations described below when designing or selecting a control panel. Case Structure * Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces will be electrically conductive. * If assembly is required, strip the paint off the joint areas (or mask them during painting), to make them electrically conductive. * The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws. * Do not leave any conductive part unconnected. * Ground all Units within the case to the case itself. 4-30 4-3 Wiring Conforming to EMC Directives Door Structure 4 Case System Design * Use a metal door. * Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams on the next page.) * Use a conductive gasket between the door and the case. (Refer to the diagrams on the next page.) * Strip the paint off the sections of the door and case that will be in contact with the conductive gasket (or mask them during painting), so that they will be electrically conductive. * The panel may warp and gaps may appear when screws are tightened. Be sure that no gaps appear when tightening screws. A Door B Door Oil-resistant gasket Control panel Cross-sectional view of A-B Oil-resistant gasket Conductive gasket Door (interior view) 4-31 Conductive gasket 4-3 Wiring Conforming to EMC Directives Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance. Understand each component's characteristics, such as its capacity, performance, and applicable conditions when selecting the components. For more details, contact the manufacturers directly. No-fuse Breakers (NFB) When selecting a no-fuse breaker, consider the maximum input current and the inrush current. Maximum Input Current: Inrush Current: * The following table lists the Servo Drive inrush currents. * With low-speed no-fuse breakers, an inrush current 10 times the rated current can flow for 0.02 second. * When multiple Servo Drives are turned ON simultaneously, select a no-fuse-breaker with a 20-ms allowable current that is greater than the total inrush current, shown in the following table. Inrush current (Ao-p) Servo Drive model Main circuit power supply Control circuit power supply R88D-GTA5L 7 14 R88D-GT01L 7 14 R88D-GT02L 7 14 R88D-GT04L 30 14 R88D-GT01H 14 28 R88D-GT02H 14 28 R88D-GT04H 14 28 R88D-GT08H 60 28 R88D-GT10H 29 28 R88D-GT15H 29 28 R88D-GT20H 29 14 R88D-GT30H 22 14 R88D-GT50H 22 14 R88D-GT75H 88 66 4-32 4 System Design * The Servo Drive's maximum momentary output is approximately three times the rated output, and can be output for up to three seconds. Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the rated current. General-purpose and low-speed no-fuse breakers are generally suitable. * Select a no-fuse-breaker with a rated current greater than the total effective load current of all the Servomotors. The rated current of the power supply input for each Servomotor is provided in Main Circuit and Servomotor Connections on page 4-21. * Add the current consumption of other controllers, and any other components, when selecting the NFB. 4-3 Wiring Conforming to EMC Directives Leakage Breakers * Select leakage breakers designed for protection against grounding faults. * Because switching takes place inside the Servo Drives, high-frequency current leaks from the switching elements of the Servo Drive, the armature of the motor, and the cables. High-frequency breakers with surge withstand capability do not detect high-frequency current, preventing the breaker from operating with high-frequency leakage current. When using a general-purpose leakage breaker, use three times the sum of the leakage current given in the following table as a reference value. * When selecting leakage breakers, remember to add the leakage current from devices other than the Servomotor, such as machines using a switching power supply, noise filters, inverters, and so on. To prevent malfunction due to inrush current, we recommend using a leakage breaker of ten times the total of all current values. * The leakage breaker is activated at 50% of the rated current. Allow leeway when selecting a leakage breaker. * For details on leakage breakers, refer to the manufacturer's catalog. * The following table shows the Servomotor leakage current for each Servo Drive model. System Design 4 Leakage current (mA) Servo Drive model Input power Resistance method Resistor plus capacitor Motor cable length: 3m Clamping method (Measurement filter ON at H10K13283) Motor cable length: 3m Per meter of motor cable R88D-GTA5L Single-phase 100 V 0.42 mA 0.33 mA 0.003 mA R88D-GT01L Single-phase 100 V 0.45 mA 0.35 mA 0.002 mA R88D-GT02L Single-phase 100 V 0.46 mA 0.35 mA 0.002 mA R88D-GT04L Single-phase 100 V 0.48 mA 0.35 mA 0.002 mA R88D-GT01H Single-phase 200 V 0.92 mA 1.04 mA 0.016 mA R88D-GT02H Single-phase 200 V 0.94 mA 1.06 mA 0.013 mA R88D-GT04H Single-phase 200 V 1.15 mA 1.13 mA 0.013 mA R88D-GT08H Single-phase 200 V 1.27 mA 1.09 mA 0.014 mA R88D-GT10H Single-phase 200 V 1.27 mA 1.19 mA 0.015 mA R88D-GT15H Single-phase 200 V 1.51 mA 1.20 mA 0.015 mA R88D-GT08H Three-phase 200 V 1.62 mA 0.98 mA 0.009 mA R88D-GT10H Three-phase 200 V 1.77 mA 1.03 mA 0.008 mA R88D-GT15H Three-phase 200 V 2.18 mA 1.04 mA 0.003 mA R88D-GT20H Three-phase 200 V 2.88 mA 1.08 mA 0.008 mA R88D-GT30H Three-phase 200 V 2.83 mA 1.15 mA 0.011 mA R88D-GT50H Three-phase 200 V 3.07 mA 1.14 mA 0.011 mA R88D-GT75H Three-phase 200 V 6.32 mA 1.23 mA 0.013 mA Note 1. The above leakage current is for cases when Servomotor power cable length is 3 meters or shorter. (The leakage current depends on the power cable length and the insulation.) Note 2. The resistor plus capacitor method provides a yardstick to measure the leakage current that may flow through the human body when the Servomotor or Servo Drive is not grounded correctly. The above leakage current is for normal temperature and humidity. (The leakage current depends on the temperature and humidity.) 4-33 4-3 Wiring Conforming to EMC Directives Surge Absorbers * Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines. * When selecting surge absorbers, take into account the varistor voltage, the allowable surge current and the energy. * For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V. * The surge absorbers shown in the following table are recommended. Manufacturer Model Surge immunity Type Okaya Electric Industries Co., Ltd. R*A*V-781BWZ-4 700 V 20% 2500 A Okaya Electric Industries Co., Ltd. R*A*V-781BXZ-4 700 V 20% 2500 A Remarks Single-phase 100/200 VAC Block Three-phase 200 VAC 4 Note 2. The surge immunity is for a standard impulse current of 8/20 s. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber. Dimensions Single-phase BWZ Series 5.5 11 4.2 dia. 200 200 28.5 28.5 1 2 41 28 4.5 28 1 2 3 4.5 4.2 dia. 5.5 11 Three-phase BXZ Series 41 Equalizing Circuits Single-phase BWZ Series Three-phase BXZ Series 4-34 System Design Note 1. Refer to the manufacturers' documentation for operating details. 4-3 Wiring Conforming to EMC Directives Noise Filters for the Power Supply Input * Use the following noise filters for the Servo Drive's power supply. Noise filter for the power supply Input Servo Drive model Model Rated current Max. leakage current (60 Hz) SUP-EK5-ER-6 5A 1 mA (at 250 VAC) 3SUP-HQ10-ER-6 10 A 3.5 mA (at 500 VAC) SUP-EK5-ER-6 5A 1 mA (at 250 VAC) Manufacturer R88D-GTA5L R88D-GT01L R88D-GT02L R88D-GT04L 4 R88D-GT01H R88D-GT02H System Design R88D-GT04H R88D-GT08H 3SUP-HQ10-ER-6 10 A 3.5 mA (at 500 VAC) 3SUP-HU30-ER-6 30 A 3.5 mA (at 500 VAC) 3SUP-HL50-ER-6B 50 A 8 mA (at 500 VAC) Okaya Electric Industries Co., Ltd. R88D-GT10H R88D-GT15H R88D-GT20H R88D-GT30H R88D-GT50H R88D-GT75H Dimensions SUP-EK5-ER-6 53.12.0 115 105 95 5.0 10.0 50.0 60.0 2.0 10 M4 70 43 Two, 4.5 x 6.75 dia. Two, 4.5 dia. Six, M4 5.5 Ground terminal 12.0 7.0 1002.0 88.0 75.0 3SUP-HQ10-ER-6 Cover mounting screw M3 11.6 13.0 52 M4 Cover Noise Filter 4-35 4-3 Wiring Conforming to EMC Directives 3SUP-HU30-ER-6 3SUP-HL50-ER-6B Two, 5.5 x 7 dia. 5.5 Ground terminal M4 Two, 5.5 dia. M6 M6 13 43 10 18 901.0 120 95 70 2863.0 270 2551.0 240 150 115 105 Cover mounting screw M3 M4 52 4 Noise Filter Circuit Diagrams SUP-EK5-ER-6 3SUP-HQ10-ER-6 L L IN Cy R Cx OUT L1 Cx Cy R Cx1 Cx1 Cy1 3SUP-HU30-ER-6 3SUP-HL50-ER-6B LINE IN LOAD OUT L1 R Cx1 Cx1 Cy1 Noise Filter for the Brake Power Supply * Use the following noise filter for the brake power supply. Model SUP-EK5-ER-6 Rated current Rated voltage 5A 250 V Leakage current Manufacturer 1.0 mA (at 250 Vrms, 60 Hz) Okaya Electric Industries Co., Ltd. Note Noise can also be reduced by using 1.5 turns with the ZCAT3035-1330 (TDK) Radio Noise Filter. 4-36 System Design Cover 4-3 Wiring Conforming to EMC Directives Radio Noise Filters and Emission Noise Prevention Clamp Cores Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal oscillation circuit. Model Manufacturer Application 3G3AX-ZCL1 *1 OMRON Servo Drive output and power cable 3G3AX-ZCL2 *2 OMRON Servo Drive output and power cable NEC TOKIN Servo Drive output and power cable TDK Encoder cable and I/O cable ESD-R-47B *3 ZCAT3035-1330 *4 *1. Generally used for 1.5 W or higher. 4 *2. Generally used for 1.5 W or lower. The maximum number of windings is three turns. *3. Generally used for 50/100 W. The maximum number of windings is two turns. *4. Also used on the Servo Drive output power lines to comply with the EMC Directives. Only a System Design clamp is used. This clamp can also be used to reduce noise current on a frame ground line. Dimensions 3G3AX-ZCL1 3G3AX-ZCL2 130 85 39.5 7 35 80 832 78 72 Three, M4 50 95 80 31.5 7 x 14 oval hole 34.0 6.5 ZCAT 3035-1330 3.0 51.5 25.5 dia. Two, M5 7 dia. ESD-R-47B 4-37 26 12.5 1802 1602 17.5 5.1 dia. 39 34 30 13 4-3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX-ZCL1 3G3AX-ZCL2 1000 4T 100 Impedance () Impedance () 20 15T 40 60 10 4 1 100 0.1 0.1 1 10 1 100 10 100 1000 10000 Frequency (kHz) Frequency (kHz) ESD-R-47B ZCAT 3035-1330 1000 10000 Impedance () Impedance () 1000 100 10 1 1 10 100 Frequency (MHz) 1000 100 10 10 100 1000 Frequency (MHz) 4-38 System Design 80 4-3 Wiring Conforming to EMC Directives Surge Suppressors * Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. * The following table shows the types of surge suppressors and recommended products. Type Features Recommended products Diode Diodes are used for relatively small loads when the reset time is not an issue, such as relays. At power shutoff the surge voltage is the lowest, but the rest time takes longer. Used for 24/48-VDC systems. Use a fast-recovery diode with a short reverse recovery time (e.g. RU2 of Sanken Electric Co., Ltd.). Thyristor or varistor Thyristors and varistors are used for loads when induction coils are large, as in electromagnetic brakes, solenoids, etc., and when reset time is an issue. The surge voltage at power shutoff is approximately 1.5 times the varistor voltage. Select the varistor voltage as follows: 24 VDC system: 39 V 100 VDC system: Varistor V. 200 V 100 VAC system: Varistor V. 270 V 200 VAC system: Varistor V. 470 V Capacitor + resistor The capacitor plus resistor combination is Okaya Electric Industries Co., Ltd. used to absorb vibration in the surge at power shutoff. The reset time can be XEB12002 0.2 F - 120 shortened by selecting the appropriate ca- XEB12003 0.3 F - 120 pacitance and resistance. System Design 4 * Thyristors and varistors are made by the following companies. Refer to manufacturers' documentation for details on these components. Thyristors: Ishizuka Electronics Co. Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co. Contactors * Select contactors based on the circuit's inrush current and the maximum momentary phase current. * The Servo Drive inrush current is covered in the preceding explanation of no-fuse breaker selection, and the maximum momentary phase current is approximately twice the rated current. * The following table shows the recommended contactors. Manufacturer Model Rated current Coil voltage J7L-09-22200 11 A 200 VAC J7L-12-22200 13 A 200 VAC J7L-18-22200 18 A 200 VAC J7L-32-22200 26 A 200 VAC J7L-40-22200 35 A 200 VAC J7L-50-22200 50 A 200 VAC J7L-65-22200 65 A 200 VAC J7L-75-22200 75 A 200 VAC OMRON 4-39 4-3 Wiring Conforming to EMC Directives Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder's noise resistance. * Always use the specified Encoder Cables. * If cables are joined midway, be sure to use connectors and do not remove more than 50 mm of the cable insulation. In addition, always use shielded cables. * Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and cause malfunctions. Always use cables fully extended. * When installing noise filters for Encoder Cables, use clamp filters. * The following table shows the recommended clamp filters. Product name Model Specifications NEC TOKIN Clamp Filters ESD-SR-250 For cable diameter up to 13 mm TDK Clamp Filters ZCAT3035-1330 For cable diameter up to 13 mm * Do not place the Encoder Cable with the following cables in the same duct: Control Cables for brakes, solenoids, clutches, and valves. Dimensions 31.6 ESD-SR-250 ~13 dia. 31.5 38.0 Impedance Characteristics ESD-SR-250 10000 Impedance() 1000 100 10 1 1 10 100 1000 Frequency (MHz) 4-40 4 System Design Manufacturer 4-3 Wiring Conforming to EMC Directives Improving Control I/O Signal Noise Resistance Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise. * Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply. In particular, do not connect the two power supply ground wires. * Install a noise filter on the primary side of the control power supply. * If Servomotors with brakes are being used, do not use the same 24-VDC power supply for both the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the ground wires may cause I/O signal errors. * Keep the power supply for pulse commands and deviation counter reset input lines separated from the control power supply as far as possible. In particular, do not connect the two power supply ground lines. * We recommend using line drivers for the pulse command and deviation counter reset outputs. * Always use twisted-pair shielded cable for the 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-F laminated ceramic capacitors between the control power supply and ground at the Servo Drive input section or the controller output section. * For open-collector specifications, keep the length of wires to within two meters. System Design 4 Reactors to Reduce Harmonic Current Harmonic Current Countermeasures * The Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes in electric currents. * The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components requires that manufacturers take appropriate measures to suppress harmonic current emissions onto power supply lines. * Select the proper Reactor model according to the Servo Drive to be used. Reactor specifications Servo Drive 4-41 Model number Rated current Inductance R88D-GTA5L R88D-GT01H 3G3AX-DL2002 1.6 A 21.4 mH R88D-GT01L R88D-GT02H 3G3AX-DL2004 3.2 A 10.7 mH R88D-GT02L R88D-GT04H 3G3AX-DL2007 6.1 A 6.75 mH R88D-GT04L R88D-GT08H R88D-GT10H 3G3AX-DL2015 9.3 A 3.51 mH R88D-GT15H 3G3AX-DL2022 13.8 A 2.51 mH R88D-GT08H R88D-GT10H R88D-GT15H 3G3AX-AL2025 10.0 A 2.8 mH R88D-GT20H R88D-GT30H 3G3AX-AL2055 20.0A 0.88 mH R88D-GT50H 3G3AX-AL2110 34.0 A 0.35 mH R88D-GT75H 3G3AX-AL2220 67.0A 0.18 mH 4-3 Wiring Conforming to EMC Directives Selecting Other Parts for Noise Resistance This section explains the criteria for selecting other connection components required to improve noise resistance. Understand each component's characteristics, such as its capacity, performance, and applicable conditions when selecting the components. For more details, contact the manufacturers directly. Noise Filters for the Power Supply Input Manufacturer Model Rated current GT-2050 5A GT-2100 10 A GT-2150 15 A GT-2150 20 A HFP-2153 15 A Applicable standards Remarks UL, CSA, VDE, TUV Singlephase UL, CSA, TUV Threephase UL, cUL, TUV Singlephase UL, TUV Threephase UL, CSA, NEMKO Singlephase UL, CSA, NEMKO Threephase NEC TOKIN Okaya Electric Industries Co., ltd. TDK HFP-2303 30 A SUP-EK10-ER-6 10 A SUP-EK15-ER-6 15 A SUP-EK20-ER-6 20 A SUP-EK30-ER-6 30 A SUP-HL10-ER-6 10 A SUP-H15-ER-6 15 A 3SUP-HL30-ER-6 30 A 3SUP-HL75-ER-6 75 A 3SUP-HL100-ER-6 100 A ZRCS2006-00S 6A ZRCS2010-00S 10 A ZRCS2020-00S 20 A ZRCS2030-00S 30 A ZRCT5050-MF 50 A ZRCT5080-MF 80 A ZRCT5100-MF 100 A 4 System Design * Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Drive. * Select a noise filter with a rated current that is at least two times greater than the effective load current (the rated current of the main circuit power supply input given in Main Circuit and Servomotor Connections on page 4-21). Note 1. To attenuate noise at low frequencies below 200 kHz, use an isolation transformer and a noise filter. Note 2. To attenuate noise at high frequencies over 30 MHz, use a ferrite core and a high-frequency noise filter with a feed-through capacitor. Note 3. If multiple Servo Drives are connected to a single noise filter, select a noise filter with a rated current at least two times the total rated current of all the Servo Drives. 4-42 4-3 Wiring Conforming to EMC Directives Noise Filters for Servomotor Output * Use noise filters without built-in capacitors on the Servomotor output lines. * Select a noise filter with a rated current at least two times the Servo Drive's continuous output current. * The following table shows the noise filters that are recommended for Servomotor output. Model Rated current 3G3AX-NF001 6A 3G3AX-NF002 12 A 3G3AX-NF003 25 A 3G3AX-NF004 50 A 3G3AX-NF005 75 A 3G3AX-NF006 100 A Manufacturer 4 Remarks System Design OMRON For inverter output Note 1. Servomotor output lines cannot use the same noise filters for power supplies. Note 2. Typical general-purpose noise filters are made for power supply frequencies of 50/60 Hz. If these noise filters are connected to the PWM output of the Servo Drive, a very large (about 100 times larger) leakage current will flow through the noise filter's condenser and the Servo Drive could be damaged. Dimensions 3G3AX-NF001/-NF002 E F G Four, M J C B A P M4 H Dimensions (mm) Model 4-43 A B C E F G H J M P 3G3AX-NF001 140 125 110 70 95 22 50 20 4.5 dia. 156 3G3AX-NF002 160 145 130 80 110 30 70 25 5.5 dia. 176 4-3 Wiring Conforming to EMC Directives 3G3AX-NF003/-NF004/-NF005/-NF006 Six, O 30 P F E 50 Two, N 4 J H Four, 6.5 dia. System Design C B A 50 Dimensions (mm) Model A B C E F H J N O P 3G3AX-NF003 160 145 130 80 112 120 --- --- M4 154 3G3AX-NF004 200 180 160 100 162 150 120 M5 M5 210 3G3AX-NF005 220 200 180 100 182 170 140 M6 M6 230 3G3AX-NF006 220 200 180 100 182 170 140 M8 M8 237 4-44 4-4 Regenerative Energy Absorption 4-4 Regenerative Energy Absorption The Servo Drives have internal regenerative energy absorption circuitry, which absorbs the regenerative energy produced during Servomotor deceleration and prevents the DC voltage from increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the Servomotor is too large. If this occurs, measures must be taken to reduce the regenerative energy by changing operating patterns, or to increase the regenerative energy absorption capacity by connecting an External Regeneration Resistor. System Design 4 Calculating the Regenerative Energy Horizontal Axis +N1 Servomotor operation -N2 TD2 Eg2 Servomotor output torque TD1 Eg1 t1 t2 T * 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 each region can be derived from the following equations. E g1 = 1 2 * 60 * N 1 * T D1 * t1 [J] 2 E g2 = 1 2 * 60 * N 2 * T D2 * t2 [J] 2 N1, N2: Rotation speed at beginning of deceleration [r/min] TD1, TD2: Deceleration torque [N*m] t1, t2: Deceleration time [s] Note Due to the loss of winding resistance and PWM, the actual regenerative energy will be approximately 90% of the values derived from these equations. 4-45 4-4 Regenerative Energy Absorption * For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e., models of 400 W or less), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Drive's regenerative energy absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.) * For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy (i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be calculated, and this value must be lower than the Servo Drive's regenerative energy absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.) The average regeneration power (Pr) is the regeneration power produced in one cycle of operation. Pr 4 = (Eg1 + Eg2) / T [W] System Design T: Operation cycle [s] 4-46 4-4 Regenerative Energy Absorption Vertical Axis +N1 Falling Servomotor operation Rising -N2 TD2 4 Eg2 TL2 Servomotor output torque TD1 Eg1 System Design Eg3 t t 1 2 t 3 T * In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and acceleration in the negative direction (falling) is shown as negative. * The regenerative energy values in each region can be derived from the following equations. N1, N2: Rotation speed at beginning of deceleration [r/min] TD1, TD2: Deceleration torque [N*m] Torque when falling [N*m] TL2: t1, t3: Deceleration time [s] t2: Constant-velocity travel time when falling [s] Note Due to the loss of winding resistance, the actual regenerative energy will be approximately 90% of the values derived from these equations. * For Servo Drive models with internal capacitors used for absorbing regenerative energy (i.e., models of 400 W or less.), the values for both Eg1 or Eg2 + Eg3 (unit: J) must be lower than the Servo Drive's regenerative energy absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.) * For Servo Drive models with an internal regeneration resistor used for absorbing regenerative energy (i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be calculated, and this value must be lower than the Servo Drive's regenerative energy absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48.) The average regeneration power (Pr) is the regeneration power produced in one cycle of operation [W]. P r = ( E g1 + E g2 + E g2 ) / T [W] T: Operation cycle [s] 4-47 4-4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity Amount of Internal Regeneration Absorption in Servo Drives The OMNUC G-Series Servo Drives absorb regenerative energy internally with built-in capacitors. If the regenerative energy is too large to be processed internally, an overvoltage error occurs and operation cannot continue. The following table shows the regenerative energy (and amount of regeneration) that each Servo Drive can absorb. If these values are exceeded, take the following measures. * Connect an External Regeneration Resistor (to improve the regeneration processing capacity). Internal regeneration resistance Servo Drive Regenerative energy (J) that can be absorbed by internal capacitor Average amount of regeneration that can be absorbed (W) Resistance () Minimum value of regeneration resistance () R88D-GTA5L 12 --- --- 18 R88D-GT01L 12 --- --- 18 R88D-GT02L 18 --- --- 18 R88D-GT04L 27 12 50 13 R88D-GT01H 16 --- --- 35 R88D-GT02H 16 --- --- 35 R88D-GT04H 25 --- --- 35 R88D-GT08H 43 12 100 27 R88D-GT10H 70 20 30 27 R88D-GT15H 70 20 30 18 R88D-GT20H 70 40 15 11 R88D-GT30H 70 40 15 11 R88D-GT50H 105 80 10 7 R88D-GT75H 250 --- --- 4 Note These are the values at 100 VAC for 100-VAC models, and at 200 VAC for 200-VAC models. 4-48 4 System Design * Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.) * Lengthen the deceleration time (to decrease the regenerative energy produced per time unit). * Lengthen the operation cycle, i.e., the cycle time (to decrease the average regeneration power). 4-4 Regenerative Energy Absorption Absorbing Regenerative Energy with an External Regeneration Resistor If the regenerative energy exceeds the absorption capacity of the Servo Drive, connect an External Regeneration Resistor. Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive. Double-check the terminal names when connecting the resistor because the Servo Drive may be damaged by burning if connected to the wrong terminals. The External Regeneration Resistor will heat up to approximately 120C. Do not place it near equipment and wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions. External Regeneration Resistor 4 Performance Specifications System Design Model Resistance R88ARR08050S 50 R88ARR080100S 100 R88ARR22047S 47 R88ARR50020S 20 Nominal capacity 80 W 80 W 220 W 500 W Regeneration absorption at 120C Heat radiation condition Thermal switch output specifications 20 W Operating temperature: Aluminum, 150C 5% 250 x 250, NC contact Thickness: 3.0 Rated output: 30 VDC, 50 mA max. 20 W Operating temperature: Aluminum, 150C 5% 250 x 250, NC contact Thickness: 3.0 Rated output: 30 VDC, 50 mA max. 70 W Operating temperature: 170C 7% Aluminum, NC contact 350 x 350, Thickness: 3.0 Rated output: 250 VAC, 0.2 A max. 180 W Operating temperature: 200C 7C Aluminum, NC contact 600 x 600, Rated output: Thickness: 3.0 250 VAC, 0.2 A max. 24 VDC, 0.2 A max. Connecting an External Regeneration Resistor R88D-GTA5L/-GT01L/-GT02L/-GT01H/-GT02H/-GT04H If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the diagram below. Servo Drive > Thermal Switch Output B1 B2 Precautions for Correct Use 4-49 External Regeneration Resistor Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open. The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch. 4-4 Regenerative Energy Absorption R88D-GT04L/-GT08H/-GT10H/-GT15H/-GT20H/-GT30H/-GT50H If an External Regeneration Resistor is necessary, remove the short-circuit bar between B2 and B3, and then connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below. Servo Drive > B1 Thermal Switch Output External Regeneration Resistor B3 B2 Remove the short-circuit bar between B2 and B3. Precautions for Correct Use Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open. When using multiple External Regeneration Resistors, connect each thermal switch in series. The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch. R88D-GT75H If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the diagram below. Servo Drive > Thermal Switch Output B1 B2 Precautions for Correct Use External Regeneration Resistor Connect the thermal switch output so that the main circuit power supply is shut OFF when the contacts open. When using multiple External Regeneration Resistors, connect each thermal switch in series. The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch. 4-50 System Design 4 4-4 Regenerative Energy Absorption Combining External Regeneration Resistors Regeneration absorption capacity *1 Model Resistance *2 20 W 40 W 70 W 140 W R88A-RR08050S R88A-RR080100S R88A-RR08050S R88A-RR080100S R88A-RR22047S R88A-RR22047S 50 /100 25 /50 47 94 R Connection method 4 R R R R System Design R Regeneration absorption capacity *1 Model 140 W 280 W 560 W R88A-RR22047S R88A-RR22047S R88A-RR22047S 23.5 47 23.5 Resistance *2 Connection method Regeneration absorption capacity *1 Model R R R R R R R R R R R R R R 180 W 360 W 1440 W R88A-RR50020S R88A-RR50020S R88A-RR50020S 20 10 10 Resistance*2 Connection method R R R R R R R R R R R *1. Select a combination that has an absorption capacity greater than the average regeneration power (Pr). *2. Do not use a combination with resistance values lower than the minimum external regeneration resistance of each Servo Drive. For information on the minimum external regeneration resistance, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-48. Precautions for Correct Use 4-51 Surface temperatures on regeneration resistors can reach 200C. Do not place objects that tend to catch fire near the resistors. To prevent people from touching them, install a type of cover that enables heat dissipation. Chapter 5 Operating Functions 5-1 5-2 5-3 5-4 5-5 5-6 5-7 5-8 5-9 5-10 5-11 5-12 5-13 5-14 5-15 5-16 Position Control.................................................. 5-1 Speed Control .................................................... 5-3 Internally Set Speed Control .............................. 5-5 Torque Control ................................................... 5-8 Switching the Control Mode ............................... 5-11 Forward and Reverse Drive Prohibit .................. 5-14 Encoder Dividing ................................................ 5-15 Electronic Gear .................................................. 5-16 Overrun Limit...................................................... 5-18 Brake Interlock ................................................... 5-20 Gain Switching ................................................... 5-24 Torque Limit ....................................................... 5-25 Soft Start ............................................................ 5-27 Position Command Filter .................................... 5-28 Speed Limit ........................................................ 5-29 User Parameters ................................................ 5-30 Setting and Checking Parameters ........................................5-30 Parameter Tables .................................................................5-32 Parameters Details ...............................................................5-50 5-1 Position Control 5-1 Position Control Function * Perform control using the pulse-string input from CN1 pins 3 to 6. * The Servomotor rotates using the value of the pulse-string input multiplied by the Electronic Gear Ratio (Pn48 to Pn4B). Controller with pulse-string output Operating Functions 5 Position Control Unit CJ1W-NC113/133 CJ1W-NC213/233 CJ1W-NC413/433 CS1W-NC113/133 CS1W-NC213/233 CS1W-NC413/433 CPU Units with built-in pulse I/O CJ1M-CPU21/22/23 CP1H-X/XA/Y CP1L-M/L Flexible Motion Controller FQM1-MMP22 OMNUC G-Series Servo Drive Pulse string 44 +CWLD 45 -CWLD 46 +CCWLD 47 -CCWLD 3 +CW 4 -CW 5 +CCW 6 -CCW Position Control Mode Electronic Gear Ratio (Pn48 to Pn4B) OMNUC G-Series Servomotor Numerator x Ratio Denominator Parameters Requiring Settings Parameter No. Explanation Reference page Pn02 Control Mode Selection Select the control mode for position control (setting: 0, 3, or 4). 5-52 Pn40 Command Pulse Input Selection Select using a photocoupler input or a line-driver input as the command pulse input. 5-73 Pn41 Command Pulse Rotation Direction Switch Set to match the command pulse form of the controller. Pn42 Pn48 to Pn4B 5-1 Parameter name 5-73 Command Pulse Mode Electronic Gear Ratio 5-74 Set the pulse rate for command pulses and Servomotor travel amount. 5-77 5-1 Position Control Related Functions * The main functions related to position control are as follows: Function Reference page Explanation Position command filter function Sets the soft start for the command pulse. 5-28 Feed-forward function Adds the command pulse differential to the speed loop to reduce the positioning time. 5-60 Torque limit function Limits the Servomotor's torque output. 5-25 Parameter Block Diagram for Position Control Mode CCW Input Condition Setting Pn40: Input Selection Pn41: Rotation Direction Pn42: Mode Electronic Gear Pn48: Numerator G1 Pn49: Numerator G2 Pn4A: Numerator Exponent Pn4B: Denominator Pn4D: Smoothing Filter Setting Vibration Filter Speed FF Pn2B: Frequency 1 Pn2C: Filter 1 Pn2D: Frequency 2 Pn2E: Filter 2 Pn15: FF Amount Pn16: FF Command Filter Speed PI Processor + - + Deviation Counter + + Pn10: Loop Gain 1 Pn18: Loop Gain 2 - Speed Command Monitor Position Deviation Monitor Phase A, B, Z Divider Setting Pn44: Numerator Pn45: Denominator Pn46: Direction Switch Notch Filter *1 5 Pn4C: Position Command Filter Pn1D: Filter 1 Frequency Pn1E: Filter 1 Width Pn28: Filter 2 Frequency Pn29: Filter 2 Width Pn2A: Notch Filter 2 Depth Pn2F: Adaptive Filter Pn11: Speed Gain 1 Pn12: Integration Time Constant 1 Pn19: Speed Gain 2 Pn1A: Integration Time Constant 2 Pn20: Inertia Ratio *1 Speed Detection Filter Pn13: Filter 1 Pn1B: Filter 2 Actual Speed Monitor Receive Encoder Signal RE Torque Command/Limit Pn14: Filter Pn1C: Filter 2 Pn5E: No.1 Torque Limit Pn5F: No.2 Torque Limit + - Torque PI Processor SM Current Feedback Torque Command Monitor Torque Limit PCL Torque Limit Input 3 V/100 % Torque Limit NCL 5-2 Operating Functions CW 5-2 Speed Control 5-2 Speed Control Function * Performs Servomotor speed control using analog voltage input from the speed command (REF: CN1 pins 14 and 15). You can also perform speed control by combining with a controller that has a position control function. * You can change the relation between the speed command and the rotation speed by setting the Speed Command Scale (Pn50). Controller with analog voltage output Operating Functions OMNUC G-Series Servo Drive 5 Motion Control Unit CS1W-MC221/421 (-V1) Speed Control Mode Speed Command Scale (Pn50) Analog voltage (speed command) OMNUC G-Series Servomotor r/min Flexible Motion Controller FQM1-MMA22 14 REF 15 AGND V Parameters Requiring Settings Parameter No. Pn02 Parameter name Control Mode Selection Explanation Set the control mode for speed control (Settings: 1, 3, 5) Reference page 5-52 Set the REF (speed command input) voltage for operating at the rated rotation speed. Rotation speed (r/min.) Rated rotation Pn50 Speed Command Scale 5-80 Default slope -10 -6 2 4 6 8 10 Speed command voltage (V) Rated rotation speed 5-3 5-2 Speed Control Related Functions * The main functions related to speed control are as follows: Function Explanation Reference page Soft start function Sets the soft start for the speed command. 5-27 Torque limit function Limits the Servomotor's torque output. 5-25 Parameter Block Diagram for Speed Control Mode Internally Set Speed Setting Pn53: No.1 Speed Pn55: No.3 Speed Pn74: No.5 Speed Pn76: No.7 Speed 5 Speed Command Monitor Speed PI Processor Pn05: Command Speed Selection Soft Start Setting Pn58: Acceleration Time Pn59: Deceleration Time Pn5A: S-curve Acceleration/ Deceleration + - Pn11: Speed Gain 1 Pn12: Integration Time Constant 1 Pn19: Speed Gain 2 Pn1A: Integration Time Constant 2 Pn20: Inertia Ratio *1 Speed Detection Filter Actual Speed Monitor Phase A, B, Z Notch Filter *1 Pn13: Filter 1 Pn1B: Filter 2 Divider Setting Pn44: Numerator Pn45: Denominator Pn46: Direction Switch Pn1D: Filter 1 Frequency Pn1E: Filter 1 Width Pn28: Filter 2 Frequency Pn29: Filter 2 Width Pn2A: Notch Filter 2 Depth Pn2F: Adaptive Filter Receive Encoder Signal RE Torque Command/Limit Pn14: Filter Pn1C: Filter 2 Pn5E: No.1 Torque Limit Pn5F: No.2 Torque Limit + - Torque PI Processor SM Current Feedback Torque Command Monitor Torque Limit PCL Torque Limit Input 3 V/100 % Torque Limit NCL 5-4 Operating Functions Speed Speed Input Setting Command Pn50: Speed Scale REF Pn51: Rotation Direction Pn52: Offset Pn57: Filter Time Constant Pn54: No.2 Speed Pn56: No.4 Speed Pn75: No.6 Speed Pn77: No.8 Speed 5-3 Internally Set Speed Control 5-3 Internally Set Speed Control Function * Performs Servomotor speed control using the speeds set in the No. 1 to 8 Internally Set Speeds. * Select the internally set speed using the Internally Set Speed Selection 1 to 3 of the control input terminals (VSEL1: CN1 pin 33, VSEL2: CN1 pin 30, VSEL3: CN1 pin 28). Controller OMNUC G-Series Servo Drive Internally set speed control Operating Functions 5 *Internally set speed control can be performed using only digital I/O signals. Speed selection command 28 VSEL3 30 VSEL2 33 VSEL1 No. 1 to 8 Internally Set Speeds (Pn53 to Pn56, Pn74 to Pn77) OMNUC G-Series Servomotor Parameters Requiring Settings Parameter No. Parameter name Explanation Reference page Pn02 Control Mode Selection Select the control mode for internally set speeds (setting: 1, 3, or 5). 5-52 Pn05 Command Speed Selection Make a setting to use the internally set speeds (setting: 1, 2, or 3). 5-53 Pn53 No. 1 Internally Set Speed Pn54 No. 2 Internally Set Speed Pn55 No. 3 Internally Set Speed Pn56 No. 4 Internally Set Speed Pn74 No. 5 Internally Set Speed Pn75 No. 6 Internally Set Speed Pn76 No. 7 Internally Set Speed Pn77 No. 8 Internally Set Speed Pn58 Soft Start Acceleration Time Set the acceleration time for internally set speed control. Set the time (setting x 2 ms) until 1,000 r/min is reached. 5-82 Pn59 Soft Start Deceleration Time Set the deceleration time for internally set speed control. Set the time (setting x 2 ms) until 1,000 r/min is reached. 5-82 Pn5A S-curve Acceleration/ Deceleration Time Setting Set the S-curve time width (setting x 2 ms) centered on the inflection points for acceleration and deceleration. 5-82 Set the internally set speeds (r/min). The settings can be made from -20,000 to 20,000 r/min. Be sure to set the speeds within the allowable range of rotation speed of the Servomotor. 5-81 Selecting the Internally Set Speeds The following tables show the internally set speeds that are set with VSEL1, VSEL2, and VSEL3 (Internally Set Speed Selection 1, 2, and 3 Inputs). 5-5 5-3 Internally Set Speed Control Pn05 = 1 No. VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF Pn56 4 OFF OFF ON Pn53 5 ON OFF ON Pn54 6 OFF ON ON Pn55 7 ON ON ON Pn56 5 No. VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF *1 4 OFF OFF ON Pn53 5 ON OFF ON Pn54 6 OFF ON ON Pn55 7 ON ON ON *1 Operating Functions Pn05 = 2 *1. The mode will be analog speed control. Input the proper current to REF. Pn05 = 3 No. VSEL1 VSEL2 VSEL3 Set speed 0 OFF OFF OFF Pn53 1 ON OFF OFF Pn54 2 OFF ON OFF Pn55 3 ON ON OFF Pn56 4 OFF OFF ON Pn74 5 ON OFF ON Pn75 6 OFF ON ON Pn76 7 ON ON ON Pn77 Operation Example * Internally Set Speed Control with Four Speed Changes When Pn05 = 1 5-6 5-3 Internally Set Speed Control RUN Command (RUN) Zero Speed Designation (VZERO) Internally Set Speed Selection1 (VSEL1) Servo ON Stop Drive Open Internally Set Speed Selection 2 (VSEL2) Open Closed Open Open Closed Closed Closed Speed 2 Speed Speed 1 Speed 3 Speed 4 (*1) Time *1. The acceleration time, deceleration time, and S-curve acceleration/deceleration time can be set using parameters (Pn58, Pn59, and Pn5A). Operating Functions 5 5-7 5-4 Torque Control 5-4 Torque Control Function * Controls the Servomotor output torque using analog voltage input from the torque command (TREF: CN1 pins 14 to 17). * You can change the relation between the torque command and output torque using the Torque Command Scale (Pn5C) setting. * The setting procedure depends on the control mode. Controller with analog voltage output Analog voltage (torque command) 5 OMNUC G-Series Servo Drive Torque Command Scale (Pn5C) OMRON controllers are not available with torque command voltage output. Torque 15 TREF1 /VLIM AGND 16 TREF2 V 17 AGND 14 OMNUC G-Series Servomotor Parameters Requiring Settings Pn02 = 2 or 4 (Torque Control, Torque/Position Switch Control) Pn5B = 0 Pn5B = 1 TREF1/ VLIM pin 14 Torque command input. Set the gain, polar- Analog speed limit input. To set the gain, ity, offset, and filter for the torque command offset, and filter for the speed limit, use by using Pn5C, Pn5D, Pn52, and Pn57. Pn50, Pn52, and Pn57, respectively. TREF2 pin 16 This input is disabled. The speed limit will be the No. 4 Internally Set Speed (Pn56). Torque command input. Set the gain and polarity for the torque command by using Pn5C and Pn5D. Offsets and filters cannot be used. Note Servomotor rotation speed in torque control varies according to the Servomotor load conditions (e.g., friction, external power, inertia). Take safety measures on the machine device side to prevent Servomotor runaway. 5-8 Operating Functions Torque Control Mode 5-4 Torque Control Parameter No. Parameter name (function) Explanation Reference page Pn52 Speed Command Offset Adjustment The speed command input will be offset by approximately the set value times 0.3 mV. 5-80 Pn57 Speed Command Filter Time Constant Set the time constant for the first-order lag filter. 5-81 Set the TREF (torque command input) voltage to output the rated torque. Output torque (rated torque ratio) 300[%] Default setting 200 Pn5C 5 Torque Command Scale 100 -9V -6 5-83 -3 3 Operating Functions 100 6 9V Command input voltage 200 300[%] Pn5D Torque Output Direction Switch Reverse the polarity of the torque command input. 5-83 Pn02 = 5 (Torque/Speed Switch Control) Pn5B = 0 Pn5B = 1 TREF1/ VLIM pin 14 This input is disabled. The speed limit will be the No. 4 Internally Set Speed (Pn56). Analog speed limit input. To set the gain, offset, and filter for the speed limit, use Pn50, Pn52, and Pn57, respectively. TREF2 pin 16 Torque command input. The gain, polarity, offset, and filter for the torque command can be set using Pn5C and Pn5D. Offsets and filters cannot be used. Related Functions Functions related to torque control are as follows: Function Explanation Torque limit function This function limits the Servomotor's torque output. Speed limit function 5-9 This function controls the Servomotor rotation speed so that it does not become too high. Reference page 5-25 5-29 5-4 Torque Control Parameter Block Diagram for Torque Control Mode Speed Command Monitor Speed PI Processor Sign () Pn11: Speed Gain 1 Pn12: Integration Time Constant 1 Pn19: Speed Gain 2 Pn1A: Integration Time Constant 2 Pn20: Inertia Ratio + X - Internally Set Speed Limit Pn56: Speed Limit *1 Torque Limit 5 Speed Detection Filter Actual Speed Monitor Phase A, B, Z Divider Setting Pn44: Numerator Pn45: Denominator Pn46: Direction Switch Notch Filter *1 Pn1D: Filter 1 Frequency Pn1E: Filter 1 Width Pn28: Filter 2 Frequency Pn29: Filter 2 Width Pn2A: Notch Filter 2 Depth Pn2F: Adaptive Filter Pn13: Filter 1 Pn1B: Filter 2 Receive Encoder Signal RE Torque Command/Limit Pn14: Filter Pn1C: Filter 2 Pn5E: No.1 Torque Limit Pn5F: No.2 Torque Limit + - Torque PI Processor SM Current Feedback Torque Command Monitor 5-10 Operating Functions Torque Command TREF1/ Torque Input Setting TREF2 Pn5C: Torque Scale Pn5D: Output Direction (Pn52: Offset) Speed Limit (Pn57: Filter Time VLIM Constant) 5-5 Switching the Control Mode 5-5 Switching the Control Mode Function * This function controls the Servomotor by switching between two control modes via external inputs. * The control mode switching is performed at the Control Mode Switch Input (TVSEL: CN1 pin 32). Controller OMNUC G-Series Servo Drive Analog voltage (speed command) 5 14 15 Operating Functions Pulse string 3 Switching control (Example: Between position control and speed control) REF Speed control AGND +CW 4 5 OMNUC G-Series Servomotor +CCW Position control 6 32 TVSEL Parameters Requiring Settings Parameter No. Pn02 Parameter name Explanation Control Mode Selection Select control mode for switching control (Settings: 3, 4, 5) Reference page 5-52 Control Mode Selected at TVSEL (Control Mode Switch Input) * The following table shows the relation between TVSEL (Control Mode Switch Input) and the control mode selected. Control Mode Selection (Pn02) setting TVSEL OFF ON 3 Position control Speed control 4 Position control Position control 5 Speed control Torque control Note Use caution when switching control modes. Operation may change suddenly depending on the control mode settings. 5-11 5-5 Switching the Control Mode Operation Examples Position and Speed Control Switching Example (Pn02 = 3) Control Mode Switch Input (TVSEL) 10 ms min. ON OFF +V Speed Command Input (REF) 10 ms min. ON OFF Positioning Completed ON Output (INP) OFF Motor Rotation Speed Detection Output (TGON) +r/min 5 Servomotor operation * There is a maximum delay of 10 ms in reading the input signal. * When switching from speed control to position control, turn OFF the Control Mode Switch Input (TVSEL) and wait at least 10 ms after the Positioning Completed Output (INP) turns ON before inputting the pulse command. The pulses input before INP turns ON will be ignored. * The shaded areas for the Positioning Completed Output (INP) in the time chart show that the signal is turned ON as the Servomotor Rotation Detection Output (TGON). (The meaning of the signal depends on the control mode.) Position and Torque Control Switching Example (Pn02 = 4) Control Mode Switch Input (TVSEL) 10 ms min. ON OFF +V Torque Command Input (TREF) Pulse commands ON (Forward operation) 10 ms min. (Reverse operation) OFF Positioning Completed Output (INP) ON OFF +r/min Servomotor operation Impact * This time chart shows an example of torque thrust. * There is a maximum delay of 10 ms in reading the input signal. * When switching from torque control to position control, turn OFF the Control Mode Switch Input (TVSEL) and wait at least 10 ms after the Positioning Completed Output (INP) turns ON before inputting the pulse command. The pulses input before INP turns ON will be ignored. 5-12 Operating Functions Pulse commands 5-5 Switching the Control Mode Speed and Torque Control Switching Example (Pn02 = 5) Control Mode Switch Input (TVSEL) ON OFF +V Speed Command Input (REF) +V Torque Command Input (TREF) +r/min Operating Functions 5 *1 *2 Servomotor operation Torque Control Mode *1. Deceleration for the torque command. *2. Deceleration due to load inertia energy and load friction torque. * There is a maximum delay of 10 ms in reading the input signal. * Servomotor operation in Torque Control Mode changes according to the Servomotor load conditions (e.g., friction, external power, inertia). Take safety measures on the machine side to prevent Servomotor runaway. Related Functions Refer to the related functions for each control mode. 5-13 5-6 Forward and Reverse Drive Prohibit 5-6 Forward and Reverse Drive Prohibit Function * When the Forward Drive Prohibit Input (POT: CN1 pin 9) and Reverse Drive Prohibit Input (NOT: CN1 pin 8) are turned OFF, the Servomotor will stop rotating. * You can stop the Servomotor from rotating beyond the device's operating range by connecting limit inputs. Parameter No. Parameter name Pn04 Drive Prohibit Input Selection Enable or disable the Forward/Reverse Drive Prohibit Inputs. 5-53 Pn66 Stop Selection for Drive Prohibition Input Set the operation for decelerating to a stop after the Forward/Reverse Drive Prohibit Input turns OFF. Set whether to use the dynamic brake to stop or free-running. 5-87 Explanation Reference page Operation Stopping Methods When Forward/Reverse Drive Prohibit Is OFF Stop Selection for Drive Prohibition Input (Pn66) 0 POT (NOT) turns OFF. 1 Deceleration Method Dynamic brake Stopped Status Disables torque in drive prohibited direction Free run 2 Emergency Stop Torque (Pn6E) Servo locked While the Forward Drive Prohibit Input (POT) is OFF, the Servomotor cannot be driven in the forward direction, but it can be driven in the reverse direction. Conversely, while the Reverse Drive Prohibit Input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction. With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive prohibit input. To prevent this, it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066), and that stopping in the servo-lock state be set (set value: 2). 5-14 Operating Functions 5 Parameters Requiring Settings 5-7 Encoder Dividing 5-7 Encoder Dividing Function * The number of pulses can be set for the encoder signals output from the Servo Drive. Parameters Requiring Settings Operating Functions 5 Parameter No. Parameter name Explanation Reference page Pn44 Encoder Divider Numerator Setting Set the number of pulses to be output in combination with the Encoder Divider Denominator Setting (Pn45). 5-75 Pn45 Encoder Divider Denominator Setting Set the number of pulses to be output in combination with the Encoder Divider Numerator Setting (Pn44). 5-75 Pn46 Encoder Output Direction Switch Set the phase-B logic and output source for the pulse output (CN1 -B: pin 48, CN1 +B: pin 49) 5-76 Operation * Incremental pulses are output from the Servo Drive through a frequency divider. Encoder Servo Drive S E Processing circuit Frequency divider Phase A Phase B Phase Z * The output phases of the encoder signal output from the Servo Drive are as shown below. Reverse Rotation Forward Rotation 5-15 Phase A Phase A Phase B Phase B Phase Z Phase Z 5-8 Electronic Gear 5-8 Electronic Gear Function * The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio. * This function is effective 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 low command pulse frequency. * When you want to set the machine travel distance per pulse, to 0.01 mm for example. 5 Parameter No. Parameter name Explanation Pn48 Electronic Gear Ratio Numerator 1 *1 Set the pulse rate for command pulses and Servomotor travel distance. Pn49 Electronic Gear Ratio Numerator 2 *1 Electronic Gear Ratio Numerator 1 (Pn48) Pn4A Electronic Gear Ratio Numerator Exponent or x2 Electronic Gear Ratio Numerator 2 (Pn49) Reference page Electronic Gear Ratio Numerator Exponent (Pn4A) Electronic Gear Ratio Denominator (Pn4B) The upper limit of the gear ratio numerator is determined by the following formulas. * Electronic Gear Ratio Numerator 1 Pn48 x 2 Pn4A 4,194,304/(Pn4D+1) * Electronic Gear Ratio Numerator 2 Pn49 x 2 Pn4A 4,194,304/(Pn4D+1) Pn4B Electronic Gear Ratio Denominator 5-77 Pn48: Electronic Gear Ratio Numerator 1 Pn49: Electronic Gear Ratio Numerator 2 Pn4A: Electronic Gear Ratio Numerator Exponent Pn4D: Smoothing Filter Setting Any higher setting will be invalid, and the numerator will be 4,194,304/(Pn4D+1). If the numerator is 0, the encoder resolution will be automatically set to the value of the numerator and the number of command pulses per rotation can be set in Pn4B. *1. The Electronic Gear Switch Input (GESEL) is used to switch between Electronic Gear Ratio Numerator 1 (Pn48) and Electronic Gear Ratio Numerator 2 (Pn49). Operation Calculation Method * The following equation shows the relation between the number of internal command pulses (F) multiplied by the electronic gear ratio and the number of command pulses (f) per Servomotor 5-16 Operating Functions Parameters Requiring Settings 5-8 Electronic Gear rotation. Pn4A F=f x Pn46 x 2 Pn4B * When an encoder with a resolution of 2,500 pulses/rotation is used, the number of internal command pulses (F) in the Servo Drive will be 10,000 pulses/rotation (2,500 pulses/rotation x 4). * Given the conditions above, the relation between the number of command pulses per Servomotor rotation (f) and the electronic gear ratio is as follows: Pn4A F 10000 Pn48 x 2 = = f f Pn4B Calculation Examples (For a 2,500 pulses/rotation encoder) * Make the following settings to operate with 2,000 pulses/rotation. 10000 (Pn48) x 2 0 (Pn4A) 5 Operating Functions 2000 (Pn4B) * Similarly, make the following settings to operate with 1,000 pulses/rotation. 10000 (Pn48) x 2 0 (Pn4A) 1000 (Pn4B) * Conversely, make the following settings to increase the resolution per rotation and operate with 40,000 pulses/rotation. 10000 40000 = 2500 (Pn48) x 20 (Pn4A) 10000 (Pn4B) The setting ranges for Pn48, Pn49, and Pn4B are from 1 to 10,000, so reduction is required in the settings. Calculation Example (For a 17-bit encoder) * Use the following setting to operate at 5,000 pulses/rotation: 1 (Pn48) x217 (Pn4A) 5000 (Pn4B) Related Parameter The main function provided by the parameter related to the electronic gear is given in the following table. Parameter No. Pn40 5-17 Parameter name Command Pulse Input Selection Explanation Reference page The command pulses are multiplied by a factor of 2 or 4 when using 90 phase difference signal inputs is selected as the input format for the command pulse in the Command Pulse Mode (Pn42). 5-73 5-9 Overrun Limit 5-9 Overrun Limit Function * The Servomotor can be stopped with an alarm for an overrun limit error (alarm code 34) if the Servomotor exceeds the allowable operating range set in the Overrun Limit Setting (Pn26) with respect to the position command input. * This can be used to prevent impact on the edges of the machine because of Servomotor oscillation. 5 Parameter No. Pn26 Parameter name Explanation Reference page Overrun Limit Setting Set the Servomotor's allowable operating range for the position command input range. An overrun limit error (alarm code 34) will occur if the set value is exceeded. 5-64 Operating Conditions * The overrun limit will operate under the following conditions. Conditions under which the overrun limit will operate Position Control Mode is used. Pn02 = 0: Position control Operating mode Pn02 = 3: First control mode for position/speed control Pn02 = 4: First control mode for position/torque control Others 1.The servo is ON. 2.The Overrun Limit Setting (Pn26) is not 0. 3.The allowable operating range for both forward and reverse is within 2147483647 after the position command input range is cleared to zero. If the condition 1 above is not met, the Overrun Limit Setting will be disabled until the conditions for clearing the position command input range are satisfied, as described below. If the conditions 1 and 2 above are not met, the position command input range will be cleared to zero. Conditions for Clearing the Position Command Input Range The position command input range will be cleared to zero under the following conditions. * The power supply is turned ON. * The position deviation is cleared. (The deviation counter clearing is enabled and drive prohibit input is enabled by setting the Stop Selection for Drive Prohibition Input (Pn66) to 2.) * Normal Mode Autotuning starts or ends. 5-18 Operating Functions Parameters Requiring Settings 5-9 Overrun Limit Operating Examples No Position Command Input (Servo ON) No position command is input, and so the Servomotor's allowable operating range for both sides will be the range of the travel distance set in Pn26. An overrun limit error will occur if the load enters the range for generating alarm code 34 (range of slanted lines) due to oscillation. Servomotor Load Pn26 Pn26 Operating Functions 5 Servomotor's allowable operating range Range for generating alarm code 34 Range for generating alarm code 34 Right Side Operation (Servo ON) When the position command to the right is input, the Servomotor's allowable operating range will increase by the input position command and will be the range with the rotations set in Pn26 added on both sides of the position command input range. Servomotor Load Pn26 Range for generating alarm code 34 Position command input range Pn26 Servomotor's allowable operating range Range for generating alarm code 34 Left Side Operation (Servo ON) When the position command to the left is input, the position command input range will further increase. Servomotor Load Pn26 Position command input range Range for generating alarm code 34 5-19 Pn26 Servomotor's allowable operating range Range for generating alarm code 34 5-10 Brake Interlock 5-10 Brake Interlock Precautions for Using the Electromagnetic Brake * The electromagnetic brake on a Servomotor with a brake is a nonexcitation brake designed for holding. Set the parameter to first stop the Servomotor, and then turn OFF the power supply to the brake. * If the brake is applied while the Servomotor is rotating, the brake disk may become damaged due to friction, damaging the Servomotor. * You can set the Brake Interlock Output (BKIR) timing to turn ON and OFF the electromagnetic brake. Parameters Requiring Settings Parameter No. Parameter name Explanation Reference page Pn6A Brake Timing when Stopped 5-89 Pn6B Brake Timing during Operation Use this parameter to set the output timing of the Brake Interlock Output (BKIR). Pn6A: Delay time setting from BKIR OFF until servo OFF. Pn6B: Wait time setting from servo OFF until BKIR OFF. 5-90 5-20 Operating Functions 5 Function 5-10 Brake Interlock Operation RUN Command Timing (When Servomotor Is Stopped) ON RUN Command (RUN) OFF Approx. 42 ms Brake Interlock (BKIR) 1 to 5 ms ON OFF Approx. 2 ms ON Brake power supply OFF Operating Functions 5 100 ms max. 200 ms max. ON Brake operation OFF +V Speed command (or pulse command) (*1) Approx. 2 ms (*3) Dynamic brake Released Engaged Approx. 42 ms Pn6A (*2) Energized Deenergized Servomotor *1. The time from turning ON the brake power supply to the brake being released is 200 ms max. Take this delay into account and be sure the brake has been released before providing a speed command (pulse command). *2. The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged. *3. The Servo ON status will not occur until the Servomotor drops to 30 r/min or less. Power Supply OFF Timing (When Servomotor Is Stopped) Power supply ON OFF Brake Interlock (BKIR) ON OFF Servomotor Energized 25 to 35 ms Pn6A (*1) Deenergized *1. The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If using the Servomotor on a vertical axis, take this delay into account and set the Brake Timing when Stopped (Pn6A) so that the Servomotor is deenergized after the brake has engaged. 5-21 5-10 Brake Interlock RUN Command, Errors, and Power Supply OFF Timing (When Servomotor Is Rotating) ON OFF Power supply 25 to 35 ms Servo Ready (READY) ON OFF RUN Command (RUN) ON OFF Alarm Output (/ALM) ON OFF Brake Interlock (BKIR) ON OFF 5 Approx. 1 to 5 ms Released Engaged Energized Servomotor Deenergized Approx. 10 ms (*1) Servomotor rotation speed Braking using dynamic brake *1. After the Servomotor is deenergized, it will rotate by inertia for approximately 10 ms until the dynamic brake operates. *2. The Brake Interlock (BKIR) signal will turn OFF when the Servomotor's rotation speed is 30 r/min. or lower, or the time set in the Brake Timing during Operation (Pn6B) has elapsed. 5-22 Operating Functions Dynamic brake (Pn6B *2) 5-10 Brake Interlock Alarm Clear (When Servo Is ON) 120 ms min. ON Alarm Reset (RESET) OFF Approx. 2 ms Dynamic brake Servomotor Released Engaged Approx. 40 ms Energized Deenergized 5 Approx. 2 ms Brake Interlock Output (BKIR) ON Operating Functions OFF Servo Ready Output (READY) ON OFF ON Alarm Output (ALM) OFF 220 ms min. Servo position, speed, or torque input ON OFF 5-23 5-11 Gain Switching 5-11 Gain Switching Function Note When No. 2 gain has been selected (i.e., GSEL ON), realtime autotuning will not operate normally. If using the gain switching function, set the Realtime Autotuning Mode Selection (Pn21) to 0 (not used). Parameters Requiring Settings Parameter No. Parameter name Explanation Reference page Pn18 Position Loop Gain 2 Set the responsiveness of the position control system when gain 2 is selected. 5-60 Pn19 Speed Loop Gain 2 Set the responsiveness of the speed loop when gain 2 is selected. 5-60 Pn1A Speed Loop Integration Time Constant 2 Set the integration time constant of the speed loop when gain 2 is selected. 5-61 Pn30 Gain Switching Input Operating Mode Selection Set switching between PI and P operation for speed control or switching between gain 1 and gain 2. This parameter can be set if 0 to 2 is set for the Torque Limit Selection (Pn03) (setting: 1). 5-67 Pn31 Control Gain Switch 1 Setting If 1 is set for the Gain Switching Input Operating Mode Selection (Pn30), set the switching conditions for gain 1 and gain 2 (setting: 0). If a composite mode is set, the setting of this parameter is valid when the first control mode is used. 5-68 Pn36 Control Gain Switch 2 Setting Select the conditions for switching between gain 1 and gain 2 when the second control mode is used. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). 5-72 Note Adjust Pn18, Pn19, and Pn1A with GSEL turned ON according to 7-5 Manual Tuning on page 7-21. The Realtime Autotuning Machine Rigidity Selection (Pn22) cannot be applied to gain 2. Set the default values for adjustment referring to the table on page 7-16. 5-24 5 Operating Functions * This function switches the speed loop and position loop gain. Enabled when Pn30 is set to 1 and Pn31 is not set to 1, 2, or 4, or when Pn36 is not set to 0 or 1 under Speed Control. * If GSEL (gain switching) signal is not input, perform control using the Speed Loop Gain (Pn11), Speed Loop Integration Time Constant (Pn12), and Position Loop Gain (Pn10). If GSEL is input, perform control using the Speed Loop Gain 2 (Pn19), Speed Loop Integration Time Constant 2 (Pn1A), and Position Loop Gain 2 (Pn18). * If the mechanical system inertia fluctuates too much, or if you want different responsiveness during operation and stoppage, you can perform applicable control using gain switching. * If realtime autotuning is not effective (under the conditions shown below), the gain switching function will be useful. * When the load inertia fluctuates in 200 ms or less. * When rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the rated torque. * When external force is constantly applied, as with a vertical axis. 5-12 Torque Limit 5-12 Torque Limit Function * The torque output by the Servomotor can be limited. * This function is effective in the following cases: * Pressing a moving part of a machine (such as a bending machine) against a workpiece with constant force. * Protecting the Servomotor and mechanical system from excessive force or torque. * The torque limit method depends on the setting of Pn03. 5 Operating Functions Parameters Requiring Settings Pn03 = 0 During operation, the torque is limited to the torque specified with the analog voltage or the torque set in the parameter, whichever is smaller. * If a positive voltage between 0 and 10 V is applied to PCL (forward torque limit input), the torque will be limited for forward operation (+3 V/100%). * If a negative voltage between 0 and -10 V is applied to NCL (reverse torque limit input), the torque will be limited for reverse operation (-3 V/100%). For the parameter setting, the maximum torque is limited by Pn5E for both forward and reverse operation. PCL (forward torque limit input) Pn5E = 300% Torque output limit NCL (reverse torque limit input) Pn5E = 300% Torque output limit 300[%] Torque command input voltage 100 -9 V -3 3 9V Torque command input voltage -9 V -3 3V 9V 100 300[%] Pn5E = 100% Torque output limit Pn5E = 100% Torque output limit 300[%] 300[%] 100 -9 V -3 3 9V Torque command input voltage -9 V 100 -3 Torque command input voltage 3 100 300[%] 5-25 9V 5-12 Torque Limit Pn03 = 1 Torque is limited during operation to a constant torque (parameter settings). For both forward and reverse operation, use Pn5E to limit the maximum torque. Pn03 = 2 Torque is limited during operation to a constant torque (parameter settings). To limit the maximum torque, use Pn5E for forward operation, and Pn5F for reverse operation. Pn03 = 3 The torque limit setting is switched by turning pin 27 ON and OFF. * For both forward and reverse operation, use Pn5E to limit the maximum torque when pin 27 is OFF, and use Pn5F when pin 27 is ON. Torque Limit Settings Servo Drive Applicable Servomotor Maximum torque limit R88D-GT15H R88M-G90010T 225 R88D-GT30H R88M-G2K010T 230 R88M-G3K010T 235 R88M-G4K510T 255 R88M-G6K010T 256 R88M-G7K515T 250 5 Operating Functions * The setting range for the torque limit is 0 to 300 and the standard default setting is 300 except for the following combinations of Servo Drives and Servomotors. R88D-GT50H R88D-GT75H 5-26 5-13 Soft Start 5-13 Soft Start Function * This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times. * You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve. * The soft start processes speed command input (REF) or internally set speed control switching to reduce impact during acceleration and deceleration. * This function is effective for simple positioning and speed switching operations. * Do not use this function for a position controller with an acceleration/deceleration function. Operating Functions 5 Parameters Requiring Settings Parameter No. Parameter name Explanation Reference page Pn58 Soft Start Acceleration Time Set the time using the following formula. Setting = Acceleration time (setting x 2 ms) from 0 r/min to 1,000 r/min. 5-82 Pn59 Soft Start Deceleration Time Set the time using the following formula. Setting = Deceleration time (setting x 2 ms) from 1,000 r/min to 0 r/min. 5-82 * If the soft start function is not used, set this parameter to 0 (default setting). * The actual acceleration and deceleration time is as follows: Speed command ta = Pn58 x 2 ms/(1000 r/min) td = Pn59 x 2 ms/(1000 r/min) Speed ta 5-27 td 5-14 Position Command Filter 5-14 Position Command Filter Function * Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate. * Select the filter characteristics using the Position Command Filter Time Constant Setting (Pn4C). * This function is effective in the following cases: * There is no acceleration/deceleration function in the command pulse (controller). * The command pulse frequency changes abruptly, causing the machinery to vibrate during acceleration and deceleration. * The electronic gear setting is high (G1/G2 10) 5 Parameter Parameter name No. Pn4C Position Command Filter Time Constant Setting Explanation Reference page This is a first-order lag filter for the command pulse input section. If the command pulses change abruptly, this filter can be used to reduce the stepping movement of the Servomotor. The larger the setting, the larger the time constant (setting range: 0 to 7). 5-78 Operation Example * 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. Acceleration: 2/Kp (s); Deceleration: 3/Kp (s); Kp: Position loop gain Primary Filter Speed Command pulse input frequency Input frequency x 0.63 Input frequency x 0.37 Time Time constant Time constant Note The time constant will be as follows according to the setting of Pn4C. Pn4C Time constant (ms) 0 Disabled 1 0.2 2 0.6 3 1.3 4 2.6 5 5.3 6 10.6 7 21.2 5-28 Operating Functions Parameters Requiring Settings 5-15 Speed Limit 5-15 Speed Limit Function * This function limits Servomotor rotation speed when torque control is used. * Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the mechanical system. * Outside of the speed limit range, a torque in proportion to the difference from the speed limit value is generated to slow down the Servomotor rotation speed. In such cases the number of Servomotor rotations does not necessarily match the speed limit value. (The number of Servomotor rotations varies depending on the load.) * There are two methods that can be used for limiting the speed: * Apply a constant fixed speed limit in Torque Control Mode (parameter settings). The speed is limited using the No. 4 Internally Set Speed (Pn56). * Limit the speed with an analog voltage. Use the Speed Command Input (REF) as an Analog Speed Limit Input (VLIM). Operating Functions 5 Parameters Requiring Settings Limiting the Speed to a Constant Speed in Torque Control Mode * The speed will be limited according to the following parameter setting if the Torque Command/ Speed Limit Selection (Pn5B) is set to 0. Parameter No. Parameter name Pn56 No. 4 Internally Set Speed Explanation Set the speed limit when torque control is used (setting range: -20,000 to 20,000 (r/min.)) Reference page 5-81 Limiting the Speed with Analog Voltage * The Speed Command Input (REF) will be the Analog Speed Limit Input terminal if the Torque Command/Speed Limit Selection (Pn5B) is set to 1. Therefore, the speed can be limited on multiple levels. Parameter No. Parameter name Explanation Reference page Set the relation between the command input voltage and the rotation speed by using the slope. Rotation speed (r/min.) Rated rotation Pn50 Speed Command Scale Default slope -10 -6 5-80 2 4 6 8 10 Speed command voltage (V) Rated rotation speed The default setting for Pn50 is 300, so the speed will be 3,000 r/min for an input of 10 V. 5-29 5-16 User Parameters 5-16 User Parameters Set and check the user parameters in Parameter Setting Mode. Fully understand what the parameters mean and the setting procedures, and set the parameters according to the control system. Some parameters are enabled by turning the power OFF and then ON again. After changing these parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON the power again. Setting and Checking Parameters Overview *Go to Parameter Setting Mode. Press the Data key, and then press the Mode key once. *Set the parameter number (Pn@@) using the Increment and Decrement keys. *Display the parameter setting by pressing the Data key. *Change the parameter setting using the Increment, Decrement, and Shift keys. *Save the changed setting to memory and return to the parameter number display by pressing the Data key. Operating Procedures Displaying Parameter Setting Mode PR02G keys Front panel keys Display example Explanation rk k k k k0 The default display is displayed. Uknk_k5kpkd. Press the Data key to display Monitor Mode. pknk_krk0k0. Press the Mode key to display Parameter Setting Mode. Setting the Parameter Number PR02G keys Front panel keys Display example pknk_k k0k7. Explanation Set the number of the parameter to be set or checked. 5-30 Operating Functions 5 Use the following procedure to set or check parameters. 5-16 User Parameters Displaying Parameter Settings PR02G keys Front panel keys Display example pknk_k k0k7. k k k k k3. Explanation The parameter number will be displayed. Press the Data key. The setting of the parameter will be displayed. Changing Parameter Settings * The following operation is not required if you are only checking a parameter setting. Operating Functions 5 PR02G keys Front panel keys Display example k k k k k3. k k k k k5. Explanation The present setting will be displayed. Use the Shift, Increment, and Decrement keys to change the setting. The Shift key is used to change the digit. Saving the New Setting to Memory and Returning to the Parameter Number Display * The following operation is not required if you are only checking a parameter setting. PR02G keys Front panel keys Display example k k k k k5. 5-31 Explanation Press the Data key. The new parameter setting will be saved and the parameter number will be displayed again. 5-16 User Parameters Parameter Tables * Some parameters are enabled by turning the power OFF and then ON again. (Those parameters are indicated in the table.) After changing these parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON the power again. * Do not change the parameters or settings marked "Reserved". Function Selection Parameters Parameter name 00 Unit No. Setting Setting Explanation Set the unit number. Default setting Unit Setting range Power OFF ON 1 --- 0 to 15 Yes Set the data to display on the Parameter Unit when the power supply is turned ON. 01 Default Display 5 0 Position deviation Pulses 1 Servomotor rotation speed 2 Torque output % 3 Control mode --- 4 I/O signal status --- 5 Alarm code and history --- 6 Software version --- 7 Warning display r/min --1 8 Regeneration load ratio % 9 Overload load ratio % 10 Inertia ratio % 11 Total feedback pulses Pulses 12 Total command pulses Pulses 13 Reserved --- 14 Reserved --- 15 Automatic Servomotor recognition display --- 16 Analog input value --- 17 Reason for no rotation --- 0 to 17 Yes 0 to 6 Yes Set the control mode to be used. 02 Control Mode Selection 0 Position 1 Speed 2 Torque 3 Position/speed 4 Position/torque 5 Speed/torque 6 Reserved 0 --- 5-32 Operating Functions Pn No. 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 1 --- 0 to 3 --- 1 --- 0 to 2 Yes 0 --- 0 to 3 --- 0 --- 0 to 2 --- Set the torque limit method for forward and reverse operation. 03 Torque Limit Selection Use PCL and NCL as analog torque limit inputs. 1 Use Pn5E as the limit value for forward and reverse operation. 2 Forward: Use Pn5E, Reverse: Use Pn5F. 3 GSEL/TLSEL input is open: Use Pn5E, Input is closed: Use Pn5F. You can stop the Servomotor from rotating beyond the device's travel distance range by setting limit inputs. 5 04 Operating Functions 0 Drive Prohibit Input Selection 0 POT input and NOT input enabled. 1 POT input and NOT input disabled. 2 POT input and NOT input enabled (alarm code 38 appears). Select the speed command when using speed control. 05 0 Speed command input (REF) 1 No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn53 to Pn56) 2 No. 1 Internally Set Speed to No. 3 Internally Set Speed (Pn53 to Pn55) and External Speed Command (REF) 3 No. 1 Internally Set Speed to No. 8 Internally Set Speed (Pn53 to Pn56 and Pn74 to Pn77) Command Speed Selection Set the function of the Zero-speed Designation Input (VZERO). 06 5-33 Zero Speed Designation/ Speed Command Direction Switch 0 The zero-speed designation input will be ignored, and a zero-speed designation will not be detected. 1 The zero-speed designation input will be enabled, and the speed command will be assumed to be zero when the connection between the input and common is open. 2 Used as the speed command sign. 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 3 --- 0 to 9 --- Select the relation between the output voltage level and the speed. SP Selection Actual Servomotor speed: 6 V/47 r/min 1 Actual Servomotor speed: 6 V/188 r/min 2 Actual Servomotor speed: 6 V/750 r/min 3 Actual Servomotor speed: 6 V/3000 r/min 4 Actual Servomotor speed: 1.5 V/3000 r/min 5 Command speed: 6 V/47 r/min 6 Command speed: 6 V/188 r/min 7 Command speed: 6 V/750 r/min 8 Command speed: 6 V/3000 r/min 9 Command speed: 1.5 V/3000 r/min 5 Operating Functions 07 0 Select the relation between the output voltage level and the torque or number of pulses. 08 IM Selection 0 Torque command: 3 V/rated (100%) torque 1 Position deviation: 3 V/31 pulses 2 Position deviation: 3 V/125 pulses 3 Position deviation: 3 V/500 pulses 4 Position deviation: 3 V/2000 pulses 5 Position deviation: 3 V/8000 pulses 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Torque command: 3 V/200% torque 12 Torque command: 3 V/400% torque 0 --- 0 to 12 --- 5-34 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 8 --- 1 --- 0 to 8 --- 0 --- 0 to 2 Yes 2 --- 0 to 5 Yes Assign the function of General-purpose Output 2 (OUTM2). 09 Generalpurpose Output 2 Selection Operating Functions 5 0 Output during torque limit 1 Zero speed detection output 2 Warning output for regeneration overload, overload, absolute encoder battery, or fan lock. 3 Regeneration overload warning output 4 Overload warning 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output Assign the function of General-purpose Output 1 (OUTM1). 0A Generalpurpose Output 1 Selection 0 Output during torque limit 1 Zero speed detection output 2 Warning output for regeneration overload, overload, absolute encoder battery, or fan lock. 3 Regeneration overload warning output 4 Overload warning 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output Set the operating method for the 17-bit absolute encoder. 0B Operation Switch When Using Absolute Encoder 0 Use as absolute encoder. 1 Use as incremental encoder. 2 Use as absolute encoder but ignore multi-turn counter overflow. Select the baud rate for the RS-232 port. 0C 5-35 RS-232 Baud Rate Setting 0 2,400 bps 1 4,800 bps 2 9,600 bps 3 19,200 bps 4 38,400 bps 5 57,600 bps 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 2 --- 0 to 5 Yes 0 --- 0 to 1 Yes --- --- --- --- Select the baud rate for RS-485 communications. 0E 0F RS-485 Baud Rate Setting Front Key Protection Setting Reserved 2,400 bps 1 4,800 bps 2 9,600 bps 3 19,200 bps 4 38,400 bps 5 57,600 bps Front panel key operation can be limited to Monitor Mode. 0 All enabled 1 Limited to Monitor Mode (Do not change setting.) 5-36 5 Operating Functions 0D 0 5-16 User Parameters Gain Parameters Default setting Unit Setting range Power OFF ON Set to adjust position control system responsiveness. 40 1/s 0 to 3000 --- Speed Loop Gain Set to adjust speed loop responsiveness. 50 Hz 1 to 3500 --- 12 Speed Loop Integration Time Constant Set to adjust the speed loop integration time constant. 20 ms 1 to 1000 --- 13 Speed Feedback Filter Time Constant The encoder signal is converted to the speed signal via the low pass filter. 0 --- 0 to 5 --- 14 Torque Command Filter Time Constant Set to adjust the first-order lag filter time constant for the torque command section. 80 0.01 ms 0 to 2500 --- 15 Feed-forward Amount Set the position control feed-forward compensation value. 300 0.1% -2000 to 2000 --- 16 Feed-forward Command Filter Set the time constant of the first-order lag filter used in the speed feed-forward section. 100 0.01 ms 0 to 6400 --- 17 Reserved (Do not change setting.) --- --- --- --- 18 Position Loop Gain 2 Set to adjust position control system responsiveness. 20 1/s 0 to 3000 --- 19 Speed Loop Gain 2 Set to adjust speed loop responsiveness. 80 Hz 1 to 3500 --- 1A Speed Loop Integration Time Constant 2 Set to adjust the speed loop integration time constant. 50 ms 1 to 1000 --- 1B Speed The encoder signal is converted to the speed signal Feedback Filter via the low pass filter. Time Constant 2 0 --- 0 to 5 --- 1C Torque Set to adjust the first-order lag filter time constant for Command Filter the torque command section. Time Constant 2 100 0.01 ms 0 to 2500 --- 1D Notch Filter 1 Frequency Set the notch frequency of the resonance suppression notch filter. 1500 Hz 100 to 1500 --- 1E Notch Filter 1 Width Set the width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. 2 --- 0 to 4 --- 1F Reserved (Do not change setting.) --- --- --- --- 20 Inertia Ratio Set the ratio between the mechanical system inertia and the Servomotor rotor inertia. 300 % 0 to 10000 --- Pn No. Parameter name 10 Position Loop Gain 11 Operating Functions 5 5-37 Setting Explanation 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 7 --- 2 --- 0 to F --- 0 --- 0 to 2 --- 0 --- 0 to 2 --- Set the operating mode for realtime autotuning. 22 Realtime Autotuning Mode Selection Realtime Autotuning Machine Rigidity Selection Realtime autotuning is not used. 1 Realtime autotuning is used in normal mode. Use this setting if there are almost no changes in load inertia during operation. 2 Realtime autotuning is used in normal mode. Use this setting if there are gradual changes in load inertia during operation. 3 Realtime autotuning is used in normal mode. Use this setting if there are sudden changes in load inertia during operation. 4 Realtime autotuning is used in vertical axis mode. Use this setting if there are almost no changes in load inertia during operation. 5 Realtime autotuning is used in vertical axis mode. Use this setting if there are gradual changes in load inertia during operation. 6 Realtime autotuning is used in vertical axis mode. Use this setting if there are sudden changes in load inertia during operation. 7 Set to use realtime autotuning without switching the gain. Set the machine rigidity to one of 16 levels during realtime autotuning. The higher the machine rigidity, the greater the setting needs to be. The higher the setting, the higher the responsiveness. When the Parameter Unit is used, 0 cannot be set. Enable or disable the adaptive filter. 23 Adaptive Filter Selection 0 Adaptive filter disabled. 1 Adaptive filter enabled. Adaptive operation performed. 2 Adaptive filter enabled. Adaptive operation will not be performed (i.e., it will be held). Vibration filters 1 and 2 can be switched. 24 Vibration Filter Selection 0 No switching. (Both filter 1 and filter 2 are enabled.) 1 Switching with the DFSEL/PNSEL input. Open: Vibration filter 1 Closed: Vibration filter 2 2 Switching with command direction. Forward: Vibration filter 1 Reverse: Vibration filter 2 5-38 5 Operating Functions 21 0 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 7 --- 10 0.1 rotation 0 to 1000 --- 0 --- 0 to 1 --- 1500 Hz 100 to 1500 --- Set the operating pattern for normal mode autotuning. 25 Autotuning Operation Setting 0 Rotation direction: Forward to reverse, two rotations 1 Rotation direction: Reverse to forward, two rotations 2 Rotation direction: Forward to forward, two rotations 3 Rotation direction: Reverse to reverse, two rotations 4 Rotation direction: Forward to reverse, one rotation 5 Rotation direction: Reverse to forward, one rotation 6 Rotation direction: Forward to forward, one rotation 7 Rotation direction: Reverse to reverse, one rotation Operating Functions 5 26 Overrun Limit Setting 27 Instantaneous Speed Observer Setting Set the allowable operating range for the Servomotor. The overrun limit function is disabled if the parameter is set to 0. Set the instantaneous speed observer. 0 Disabled 1 Enabled 28 Notch Filter 2 Frequency Set the notch frequency of the resonance suppression notch filter. 29 Notch Filter 2 Width Set the notch filter width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. 2 --- 0 to 4 --- 2A Notch Filter 2 Depth Set the depth of the resonance suppression notch filter. 0 --- 0 to 99 --- 2B Vibration Frequency 1 Set vibration frequency 1 to suppress vibration at the end of the load in damping control. 0 0.1 Hz 0 to 2000 --- 2C Vibration Filter 1 Setting Set vibration filter 1 to suppress vibration at the end of the load in damping control. 0 0.1 Hz -200 to 2000 --- 2D Vibration Frequency 2 Set vibration frequency 2 to suppress vibration at the end of the load in damping control. 0 0.1 Hz 0 to 2000 --- 2E Vibration Filter 2 Setting Set vibration filter 2 to suppress vibration at the end of the load in damping control. 0 0.1 Hz -200 to 2000 --- 2F Adaptive Filter Table Number Display Displays the table entry number corresponding to the frequency for the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled (i.e., if Realtime Autotuning Mode Selection (Pn21) is 1 to 3 or 7). 0 --- 0 to 64 --- 5-39 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 1 --- 0 to 1 --- Enable or disable gain switching. If gain switching is enabled, the setting of the Control Gain Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2. Gain Switching Input Operating Mode Selection 0 Disabled. The gain set in Pn10 to Pn14 is used, and the Gain Switching Input (GSEL) will be used to switch between PI operation and P operation. 1 Enabled. The gain will be switched between gain 1 (Pn10 to Pn14) and gain 2 (Pn18 to Pn1C). Select the condition for switching between gain 1 and gain 2. The details depend on the control mode. If a composite mode is set, the setting of this parameter is valid when the first control mode is used. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). 31 Control Gain Switch 1 Setting 0 Always gain 1 1 Always gain 2 2 Switching using Gain Switching Input (GSEL) 3 Amount of change in torque command 4 Always gain 1 5 Command speed 6 Amount of position deviation 7 Command pulses received 8 Positioning Completed Signal (INP) OFF 9 Actual Servomotor speed 10 Combination of command pulse input and speed 5 0 --- 0 to 10 --- Gain Switch 1 Time This parameter is enabled when the Control Gain Switch 1 Setting (Pn31) is 3 to 10. Set the delay time from the moment the condition set in the Control Gain Switch 1 Setting (Pn31) is not met until returning to gain 1. 30 166 s 0 to 10000 --- 33 Gain Switch 1 Level Setting This parameter is enabled when the Control Gain Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2. The unit for the setting depends on the condition set in the Control Gain Switch 1 Setting (Pn31). 600 --- 0 to 20000 --- 34 Gain Switch 1 Hysteresis Setting Set the hysteresis width above and below the judgment level set in the Gain Switch 1 Level Setting (Pn33). 50 --- 0 to 20000 --- 35 Position Loop Gain Switching Time When switching between gain 1 and gain 2 is enabled, set the phased switching time only for the position loop gain at gain switching. 20 166 s 0 to 10000 --- 32 5-40 Operating Functions 30 5-16 User Parameters Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 5 --- Select the condition for switching between gain 1 and gain 2 in the second control mode. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). 36 5 0 Always gain 1 1 Always gain 2 2 Switching using gain switching input (GSEL) 3 Amount of change in torque command 4 Amount of change in speed command 5 Command speed Gain Switch 2 Time This parameter is enabled when Control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the delay time for returning from gain 2 to gain 1. 30 166 s 0 to 10000 --- 38 Gain Switch 2 Level Setting This parameter is enabled when Control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the setting of Control Gain Switch 2 Setting (Pn36). 0 --- 0 to 20000 --- 39 Gain Switch 2 Hysteresis Setting Set the hysteresis width above and below the judgment level set in the Gain Switch 2 Level Setting (Pn38). The unit depends on the setting of the Control Gain Switch 2 Setting (Pn36). 0 --- 0 to 20000 --- 3A Reserved (Do not change setting.) --- --- --- --- 3B Reserved (Do not change setting.) --- --- --- --- 3C Reserved (Do not change setting.) --- --- --- --- 3D Jog Speed Set the speed for jogging. 200 r/min 0 to 500 --- 3E Reserved (Do not change setting.) --- --- --- --- 3F Reserved (Do not change setting.) --- --- --- --- 37 Operating Functions Control Gain Switch 2 Setting 5-41 5-16 User Parameters Position Control Parameters Pn No. Parameter name 40 Command Pulse Input Selection Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 1 Yes 0 --- 0 to 1 Yes Selects whether to use photocoupler or line-driver-only input for the command pulse input. 0 Photocoupler 1 Input for line driver only Set the Servomotor rotation direction for the command pulse input. Command Pulse Rotation Direction Switch 0 The Servomotor rotates in the direction specified by the command pulse. 1 The Servomotor rotates in the opposite direction from the direction specified by the command pulse. 5 Set the form of the pulse inputs sent as command to the Servo Drive from a position controller. 42 43 44 Command Pulse Mode Command Pulse Prohibited Input Setting Encoder Divider Numerator Setting 45 Encoder Divider Denominator Setting 46 Encoder Output Direction Switch 0 90 phase difference (phase A/B) signal inputs 1 Forward pulse and reverse pulse inputs 2 90 phase difference (phase A/B) signal inputs 3 Feed pulses and forward/reverse signal input 1 --- 0 to 3 Yes 1 --- 0 to 1 --- 2500 --- 1 to 32767 Yes 0 --- 0 to 32767 Yes 0 --- 0 to 1 Yes --- --- --- --- Enable or disable the pulse disable input (IPG). 0 Enabled 1 Disabled Set the number of encoder pulses (+A, -A, -B, +B) output from the Servo Drive for each Servomotor rotation. Set the phase-B logic for pulse output (-B, +B). 47 Reserved 0 Phase-B output: Not reversed. 1 Phase-B output: Reversed. (Do not change setting.) 5-42 Operating Functions 41 5-16 User Parameters Pn No. Parameter name 48 Electronic Gear Ratio Numerator 1 49 Electronic Gear Ratio Numerator 2 4A Electronic Gear Ratio Numerator Exponent 4B Electronic Gear Ratio Denominator 4C Position Command Filter Time Constant Setting 4D Smoothing Filter Setting Operating Functions 5 Default setting Unit Setting range Power OFF ON 0 --- 0 to 10000 --- Set the pulse rate for command pulses and Servomotor travel distance. If Pn48 or Pn49 is 0, the encoder resolution is set to a numerator. 0 --- 0 to 10000 --- Electronic Gear Ratio Electronic Gear Ratio Numerator 1 (Pn48) or x 2 Numerator Exponent (Pn4A) Electronic Gear Ratio Numerator 2 (Pn49) 0 --- 0 to 17 --- 10000 --- 1 to 10000 --- Set the time constant for the first-order lag filter for the command pulse input. If the parameter is set to 0, the filter will not function. The larger the setting, the larger the time constant. 0 --- 0 to 7 --- Select the FIR filter time constant used for the command pulse input. The higher the setting, the smoother the command pulses. 0 --- 0 to 31 Yes 1 --- 0 to 2 --- --- --- --- --- Setting Explanation Electronic Gear Ratio Denominator (Pn4B) Set the deviation counter reset conditions. 4E 4F 5-43 Deviation Counter Reset Condition Setting Reserved 0 Clears the deviation counter when the signal is closed for 100 s or longer. 1 Clears the deviation counter on the falling edge of the signal (open and then closed for 100 s or longer). 2 Disabled (Do not change setting.) 5-16 User Parameters Speed and Torque Control Parameters Power Setting OFFO range N Default setting Unit Set the relation between the voltage applied to the Speed Speed Command Input (REF) and the Servomotor Command Scale speed. 300 (r/min) /V 10 to 2000 --- Set to reverse the polarity of the speed command input Command Speed (REF). 51 Rotation 0 Forward Direction Switch 1 Reverse 0 --- 0 to 1 --- 0 0.3 mV -2047 to 2047 --- 50 52 Speed Command Offset Adjustment Explanation Set to adjust the offset of the Speed Command Input (REF). 53 No. 1 Internally Set the No. 1 internally set rotation speed. Set Speed 100 r/min -20000 to 20000 --- 54 No. 2 Internally Set the No. 2 internally set rotation speed. Set Speed 200 r/min -20000 to 20000 --- 55 No. 3 Internally Set the No. 3 internally set rotation speed. Set Speed 300 r/min -20000 to 20000 --- 56 No. 4 Internally Set the No. 4 internally set rotation speed. Set Speed For torque control (when Pn5B = 0), set the speed limit. 50 r/min -20000 to 20000 --- 74 No. 5 Internally Set the No. 5 internally set rotation speed. Set Speed 500 r/min -20000 to 20000 --- 75 No. 6 Internally Set the No. 6 internally set rotation speed. Set Speed 600 r/min -20000 to 20000 --- 76 No. 7 Internally Set the No. 7 internally set rotation speed. Set Speed 700 r/min -20000 to 20000 --- 77 No. 8 Internally Set the No. 8 internally set rotation speed. Set Speed 800 r/min -20000 to 20000 --- 57 Speed Set the first-order lag filter time constant in the Speed Command Filter Command Input (REF: CN1 pin 14). Time Constant 0 0.01 ms 0 to 6400 --- 58 Soft Start Acceleration Time Set the acceleration time for the speed command. 0 2 ms (1000 r/min) 0 to 5000 --- 59 Soft Start Deceleration Time Set the deceleration time for the speed command. 0 2 ms (1000 r/min) 0 to 5000 --- 5-44 5 Operating Functions Pn Parameter name Setting No. 5-16 User Parameters Pn Parameter name Setting No. Default setting Unit Power Setting OFFO range N 5A S-curve Acceleration/ Deceleration Time Setting Set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable smooth operation. 0 2 ms 0 to 500 --- 5B Torque Command/ Speed Limit Selection Select the input for the torque command and speed limit. For the settings and control mode, refer to the description of the Torque Command/Speed Limit Selection on page 5-83. 0 --- 0 to 1 --- Set the relation between the voltage applied to the Torque torque command input (TREF1 or TREF2) and the SerCommand Scale vomotor's output torque. 30 0.1 V/ 100% 10 to 100 --- 0 --- 0 to 1 --- 5C 5 5D Operating Functions Explanation Torque Output Direction Switch Set to reverse the polarity of the Torque Command Input (REF/TREF1 or PCL/TREF2). 0 Forward 1 Reverse 5E No. 1 Torque Limit Set the limit to the Servomotor's maximum torque. 300 % 0 to 500 --- 5F No. 2 Torque Limit Set the limit to the Servomotor's maximum torque. 100 % 0 to 500 --- 5-45 5-16 User Parameters Sequence Parameters Pn Parameter name Setting No. Explanation Default setting Unit Setting range Power OFF ON 60 Positioning Completion Range Set the range for the Positioning Completed Output (INP). 25 Pulse 0 to 32767 --- 61 Zero Speed Detection Set the rotation speed to output for the general-purpose output (zero speed detection output or speed coincidence output). 20 r/min 10 to 20000 --- 62 Rotation Speed for Motor Rotation Detection Set the rotation speed for the Servomotor Rotation Detection Output (TGON) for Internally Set Speed Control. 50 r/min 10 to 20000 --- 5 63 64 0 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60). 1 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. 2 Positioning completion output turns ON when the zero speed detection signal is ON and the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. 3 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. The ON status will then be held until the next position command is received. Positioning Completion Condition Setting Reserved (Do not change setting.) 0 --- 0 to 3 --- --- --- --- --- 1 --- 0 to 1 --- Select whether to activate the main power supply undervoltage function (alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D) during Servo ON. 65 Undervoltage Alarm Selection 0 A main power supply undervoltage alarm (alarm code 13) is not generated and the Servomotor turns OFF. When the main power supply turns ON again, the Servo ON status returns. 1 An error is generated for a main power supply undervoltage alarm (alarm code 13). 5-46 Operating Functions Set the operation for positioning completion output (INP). 5-16 User Parameters Pn Parameter name Setting No. Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 2 Yes 0 --- 0 to 9 --- Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) has been received. 66 Stop Selection for Drive Prohibition Input 0 The torque in the drive prohibit direction is disabled, and the dynamic brake is activated. 1 The torque in the drive prohibit direction is disabled, and free-run deceleration is performed. 2 The torque in the drive prohibit direction is disabled, and an emergency stop is performed. Set one of the following operations to be performed after the main power supply is cut off if the Undervoltage Alarm Selection (Pn65) is set to 0. Operation during deceleration and after stopping Clearing the deviation counter Operating Functions 5 67 5-47 Stop Selection with Main Power OFF 0 During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Clear 1 During deceleration: Free run After stopping: Dynamic brake Deviation counter: Clear 2 During deceleration: Dynamic brake After stopping: Servo free Deviation counter: Clear 3 During deceleration: Free run After stopping: Servo free Deviation counter: Clear 4 During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Hold 5 During deceleration: Free run After stopping: Dynamic brake Deviation counter: Hold 6 During deceleration: Dynamic brake After stopping: Servo free Deviation counter: Hold 7 During deceleration: Free run After stopping: Servo free Deviation counter: Hold 8 During deceleration: Emergency stop After stopping: Dynamic brake Deviation counter: Clear 9 During deceleration: Emergency stop After stopping: Servo free Deviation counter: Clear 5-16 User Parameters Pn Parameter name Setting No. Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 3 --- Set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs. 69 6A 6B Stop Selection for Alarm Generation During deceleration: Dynamic brake After stopping: Dynamic brake 1 During deceleration: Free run After stopping: Dynamic brake 2 During deceleration: Dynamic brake After stopping: Servo free 3 During deceleration: Free run After stopping: Servo free 5 Stop Selection with Servo OFF Set the operation to be performed after the Servomotor turns OFF (i.e., RUN ON to OFF). The relation between set values, operation, and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF (Pn67). 0 --- 0 to 9 --- Brake Timing when Stopped When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Brake Interlock Signal (BKIR) will turn OFF, and the Servomotor will turn OFF after waiting for the time period set for this parameter (i.e., setting x 2 ms). 10 2 ms 0 to 100 --- When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce rotation speed, and the Brake InBrake Timing terlock Signal (BKIR) will turn OFF after the set time for during Operation the parameter (i.e., setting x 2 ms) has elapsed. BKIR will also turn OFF if the speed drops to 30 r/min or lower before the set time elapses. 50 2 ms 0 to 100 --- 0 --- 0 to 3 Yes 35 2 ms 35 to 1000 Yes Set whether to use a built-in resistor or to add an External Regeneration Resistor. 6C 6D Regeneration Resistor Selection Momentary Hold Time 0 Regeneration resistor used: Built-in resistor The regeneration processing circuit will operate and the regeneration overload (alarm code 18) will be enabled according to the internal resistance (with approximately 1% duty). 1 Regeneration resistor used: External resistor The regeneration processing circuit will operate, and regeneration overload (alarm code 18) will cause a trip when the operating rate of the regeneration resistor exceeds 10%. 2 Regeneration resistor used: External resistor The regeneration processing circuit will operate, but regeneration overload (alarm code 18) will not occur. 3 Regeneration resistor used: None The regeneration processing circuit and regeneration overload (alarm code 18) will not operate, and all regenerative energy will be processed by the built-in capacitor. Set the amount of time required until shutoff is detected if the main power supply continues to shut off. 5-48 Operating Functions 68 0 5-16 User Parameters Default setting Unit Setting range Power OFF ON Set the torque limit for the following cases. Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input (Pn66) set to 2. Deceleration with the Stop Selection with Main Power OFF (Pn67) set to 8 or 9. Deceleration with the Stop Selection with Servo OFF (Pn69) set to 8 or 9. 0 % 0 to 500 --- (Do not change setting.) --- --- --- --- 100 x 256 pulses 0 to 32767 --- Pn Parameter name Setting No. 6E Emergency Stop Torque 6F Reserved 70 Deviation Counter Overflow Level Set the deviation counter overflow level. 71 Speed Command/ Torque Command Input Overflow Level Setting Set the overflow level for Speed Command Input (REF) or Torque Command Input (TREF) using voltage after offset adjustment. 0 0.1 V 0 to 100 --- 72 Overload Detection Level Setting Set the overload detection level. 0 % 0 to 500 --- 73 Overspeed Detection Level Setting Set the overspeed detection level. 0 r/min 0 to 20000 --- 78 Reserved (Do not change setting.) --- --- --- --- 79 Reserved (Do not change setting.) --- --- --- --- 7A Reserved (Do not change setting.) --- --- --- --- 7B Reserved (Do not change setting.) --- --- --- --- 7C Reserved (Do not change setting.) --- --- --- --- 7D Reserved (Do not change setting.) --- --- --- --- 7E Reserved (Do not change setting.) --- --- --- --- 7F Reserved (Do not change setting.) --- --- --- --- 5 Operating Functions Explanation 5-49 5-16 User Parameters Parameters Details * This section provides an explanation for all parameters. Be sure to fully understand the meanings of parameters before making changes to the parameter settings. Do not change the parameters marked "Reserved". Do not change the settings marked "Reserved". Function Selection Parameters (Pn00 to Pn0F) Unit No. Setting Setting range 0 to 15 All modes Unit --- Default setting 1 Power OFFON Yes * If communications with a computer or other host controller are used by multiple Units via RS-232 or RS-485, it is necessary to identify which Unit the host is accessing. With this parameter, the unit number can be confirmed using alphanumeric characters. * The unit number is determined by the unit number switch setting on the front panel when the power supply is turned ON. This number is the unit number when using serial communications. * The setting of this parameter has no effect on Servomotor operation. * The setting of this parameter can be changed only by using the unit number switch on the front panel. 5-50 5 Operating Functions Pn00 5-16 User Parameters Pn01 Default Display Pn01 Default Display Setting range 0 to 17 All modes Unit --- Default setting 1 Power OFFON Yes Explanation of Settings Setting Operating Functions 5 Explanation 0 Position deviation 1 Servomotor rotation speed 2 Torque output 3 Control mode 4 I/O signal status 5 Alarm code and history 6 Software version 7 Warning display 8 Regeneration load ratio 9 Overload load ratio 10 Inertia ratio 11 Total feedback pulses 12 Total command pulses 13 Reserved 14 Reserved 15 Automatic Servomotor recognition display 16 Analog input value 17 Reason for no rotation * Select the data to be displayed on the 7-segment display on the front panel after the power supply is turned ON. * For information on the display, refer to 6-4 Setting the Mode on page 6-7. 5-51 5-16 User Parameters Pn02 Control Mode Selection Setting range 0 to 6 All modes Unit --- Default setting 0 Power OFFON Yes Explanation of Settings Explanation 0 Position Control Mode (pulse-string command) 1 Speed Control Mode (analog command) 2 Torque Control Mode (analog command) 3 Mode 1: Position Control Mode, Mode 2: Speed Control Mode 4 Mode 1: Position Control Mode, Mode 2: Torque Control Mode 5 Mode 1: Speed Control Mode, Mode 2: Torque Control Mode 6 Reserved 5 * Use this parameter to set the control mode. * If composite modes are set (settings 3 to 5), Mode 1 or Mode 2 can be selected using the Control Mode Switch Input (TVSEL). * Open the Control Mode Switch Input to select Mode 1. * Close the Control Mode Switch Input to select Mode 2. * Do not input a command within 10 ms before or after switching. Control Mode Switch Input Closed Open Mode 1 Mode 1 Mode 2 10 ms min. Pn03 Open 10 ms min. Torque Limit Selection Setting range 0 to 3 Position Speed Unit --- Default setting 1 Power OFFON --- Explanation of Settings Setting Explanation 0 Use PCL (CN1 pin 16) as the limit value for forward operation and NCL (CN1 pin 18) as the limit value for reverse operation. 1 Use Pn5E as the limit value for forward and reverse operation. 2 Use Pn5E as the limit value for forward operation and Pn5F as the limit value for reverse operation. 3 Use Pn5E as the value when the GSEL/TLSEL input is open and use Pn5F as the value when the GSEL/TLSEL input is closed. * Use this parameter to set the torque limit method for forward and reverse operation. * If this parameter is set to 0, the torque limit input for forward and reverse operation will be limited by the No.1 Torque Limit (Pn5E). * When using torque control, the No.1 Torque Limit (Pn5E) will be the limit value for forward and reverse operation regardless of the setting of this parameter. 5-52 Operating Functions Setting 5-16 User Parameters Pn04 Drive Prohibit Input Selection Setting range 0 to 2 Unit All modes --- Default setting 1 Power OFFON Yes Explanation of Settings Setting Explanation 0 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled. 1 Forward Drive Prohibit Input and Reverse Drive Prohibit Input disabled. 2 Forward Drive Prohibit Input and Reverse Drive Prohibit Input enabled. * Install limit switches at both ends of the axis to prohibit the Servomotor from traveling in the direction specified by the switch. This can be used to prevent the workpiece from traveling too far and thus prevent damage to the machine. * Operation will be as follows if 0 is set. * Connection between Forward Drive Prohibit Input (POT: CN1 pin 9) and COM closed: Forward limit switch not operating and status normal. * Connection between Forward Drive Prohibit Input (POT: CN1 pin 9) and COM open: Forward drive prohibited and reverse drive permitted. * Connection between Reverse Drive Prohibit Input (NOT: CN1 pin 8) and COM closed: Reverse limit switch not operating and status normal. * Connection between Reverse Drive Prohibit Input (NOT: CN1 pin 8) and COM open: Reverse drive prohibited and forward drive permitted. Operating Functions 5 * If this parameter is set to 0, the Servomotor will decelerate and stop according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn66). For details, refer to the explanation for Stop Selection for Drive Prohibition Input (Pn66) on page 5-87. * If this parameter is set to 0 and the forward and reverse prohibit inputs are both open, an error will be detected in the Servo Drive, and a drive prohibit input error (alarm code 38) will occur. * If this parameter is set to 2, a drive prohibit input error (alarm code 38) will occur when the connection between either the forward or reverse prohibit input and COM is open. * If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward torque will be eliminated, and there may be repeated vertical movement of the workpiece. If this occurs, set the Stop Selection for Drive Prohibition Input (Pn66) to 2 or limit operation using the host controller rather than using this parameter. Pn05 Command Speed Selection Setting range 0 to 3 Unit Speed --- Default setting 0 Power OFFON --- Explanation of Settings Setting Explanation 0 Speed Command Input (REF: CN1 pin 14) 1 No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn53 to Pn56) 2 No. 1 Internally Set Speed to No. 3 Internally Set Speed (Pn53 to Pn55) and Speed Command Input (REF) 3 No. 1 Internally Set Speed to No. 8 Internally Set Speed (Pn53 to Pn56 and Pn74 to Pn77) * Use this parameter to select the speed command when using speed control. The Servo Drive has internally set speeds that can be used to easily achieve speed control by using contact inputs. * For details on internally set speeds, refer to 5-3 Internally Set Speed Control on page 5-5. 5-53 5-16 User Parameters Pn06 Zero Speed Designation/Speed Command Direction Switch Setting range 0 to 2 Unit --- Default setting Speed Torque 0 Power OFFON --- Explanation of Settings Setting Explanation 0 The zero-speed designation input will be ignored, and a zero-speed designation will not be detected. 1 The zero-speed designation input will be enabled, and the speed command will be assumed to be zero when the connection between the input and common is open. 2 Speed mode: Use as the speed command sign. The rotation direction is forward when the connection between the input and common is open and reverse when the connection between the input and common is closed. Torque mode: The zero-speed designation input will be ignored, and a zero-speed designation will not be detected. 5 Pn07 SP Selection Setting range 0 to 9 All modes Unit --- Default setting 3 Power OFFON --- Explanation of Settings Setting Explanation 0 Actual Servomotor speed: 6 V/47 r/min 1 Actual Servomotor speed: 6 V/188 r/min 2 Actual Servomotor speed: 6 V/750 r/min 3 Actual Servomotor speed: 6 V/3000 r/min 4 Actual Servomotor speed: 1.5 V/3000 r/min 5 Command speed: 6 V/47 r/min 6 Command speed: 6 V/188 r/min 7 Command speed: 6 V/750 r/min 8 Command speed: 6 V/3000 r/min 9 Command speed: 1.5 V/3000 r/min 5-54 Operating Functions * Use this parameter to set the function of the Zero-speed Designation Input (VZERO: CN1 pin 26). 5-16 User Parameters Pn08 IM Selection Setting range 0 to 12 All modes Unit --- Default setting 0 Power OFFON --- Explanation of Settings Setting Operating Functions 5 Pn09 Explanation 0 Torque command: 3 V/rated (100%) torque 1 Position deviation: 3 V/31 pulses 2 Position deviation: 3 V/125 pulses 3 Position deviation: 3 V/500 pulses 4 Position deviation: 3 V/2000 pulses 5 Position deviation: 3 V/8000 pulses 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Torque command: 3 V/200% torque 12 Torque command: 3 V/400% torque General-purpose Output 2 Selection Setting range 0 to 8 Unit All modes --- Default setting 0 Power OFFON --- Explanation of Settings Setting Explanation 0 Output during torque limit 1 Zero speed detection output 2 Warning output for over regeneration, overload, absolute encoder battery, or fan lock 3 Over regeneration warning output 4 Overload warning output 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output * Use this parameter to assign the function of General-purpose Output 2 (OUTM2: CN1 pin 40). 5-55 5-16 User Parameters Pn0A General-purpose Output 1 Selection Setting range 0 to 8 Unit All modes --- Default setting 1 --- Power OFFON Explanation of Settings Setting Explanation 0 Output during torque limit 1 Zero speed detection output 2 Warning output for over regeneration, overload, absolute encoder battery, or fan lock 3 Over regeneration warning output 4 Overload warning output 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output * Use this parameter to assign the function of General-purpose Output 1 (OUTM1: CN1 pin 12). Pn0B Operation Switch When Using Absolute Encoder Setting range 0 to 2 Unit --- All modes Default setting 0 Power OFFON Yes Explanation of Settings Setting Explanation 0 Use as absolute encoder. 1 Use as incremental encoder. 2 Use as absolute encoder but ignore multi-turn counter overflow. * Use this parameter to set the operating method for the 17-bit absolute encoder. * The setting of this parameter is disabled if a 5-core 2,500-pulse/revolution incremental encoder is used. 5-56 Operating Functions 5 5-16 User Parameters Pn0C RS-232 Baud Rate Setting Setting range 0 to 5 All modes Unit --- Default setting 2 Power OFFON Yes Explanation of Settings Setting Operating Functions 5 Explanation 0 2,400 bps 1 4,800 bps 2 9,600 bps 3 19,200 bps 4 38,400 bps 5 57,600 bps * Use this parameter to select the baud rate for RS-232 communications. * Baud rate error: 0.5%. Pn0D RS-485 Baud Rate Setting Setting range 0 to 5 All modes Unit --- Default setting 2 Power OFFON Yes Explanation of Settings Setting Explanation 0 2,400 bps 1 4,800 bps 2 9,600 bps 3 19,200 bps 4 38,400 bps 5 57,600 bps * Use this parameter to select the baud rate for RS-485 communications. * Baud rate error: 0.5%. Pn0E Front Key Protection Setting Setting range 0 to 1 Unit All modes --- Default setting 0 Power OFFON Yes Explanation of Settings Setting Explanation 0 All enabled 1 Limited to Monitor Mode * Front panel key operations can be limited to Monitor Mode. This function can be used to prevent unintended changes to parameters because of incorrect key operations. * Even if this parameter is set to 1, parameters can be changed by using communications. * Use communications to return this parameter to 0. 5-57 5-16 User Parameters Pn0F Reserved Setting range --- Unit --- Default setting --- --- Power OFFON Gain Parameters (Pn10 to Pn3D) Position Loop Gain Setting range Position 0 to 3000 Unit 1/s Default setting 40 --- Power OFFON * Use this parameter to adjust the position loop response to suit the mechanical rigidity. * The responsiveness of the servo system is determined by the position loop gain. Servo systems with a high loop gain have a high responsiveness and fast positioning. To increase the position loop gain, you must improve mechanical rigidity and increase the specific oscillation frequency. This should be 50 to 70 (1/s) for ordinary machine tools, 30 to 50 (1/s) for general-use and assembly machines, and 10 to 30 (1/s) for industrial robots. The default position loop gain is 40 (1/s), so be sure to lower the setting for machines with low rigidity. * Increasing the position loop gain in systems with low mechanical rigidity or systems with low specific oscillation frequencies may cause machine resonance, resulting in an overload alarm. * If the position loop gain is low, you can shorten the positioning time using feed forward. * This parameter is automatically changed by executing realtime autotuning. To set it manually, set the Realtime Autotuning Mode Selection (Pn21) to 0. Position loop gain is generally expressed as follows: Position loop gain (Kp) = Command pulse frequency (pulses/s) (1/s) Deviation counter accumulated pulses (pulses) When the position loop gain is changed, the response is as shown in the following diagram. When position loop gain is high. Servomotor speed When speed loop gain is low. Time * If the speed loop gain and position loop gain are optimally set, the Servomotor operation for the command will be delayed 2/Kp at acceleration and delayed 3/Kp at deceleration. Servomotor speed 2 Kp Position command Servomotor operation Time 3 Kp 5-58 5 Operating Functions Pn10 5-16 User Parameters Pn11 Speed Loop Gain Setting range 1 to 3500 All modes Unit Hz Default setting 50 Power OFFON --- * Use this parameter to determine speed loop responsiveness. * The setting for the Speed Loop Gain must be increased to increase the Position Loop Gain and improve the responsiveness of the entire servo system. Setting the Speed Loop Gain too high, however, may result in oscillation. * The setting unit for Pn11 will be Hz if the Inertia Ratio (Pn20) is set correctly. When the speed loop gain is changed, the response is as shown in the following diagram. Overshoots when speed loop gain is high. (Oscillates when gain is too high.) Servomotor speed 5 Operating Functions When speed loop gain is low. Time Pn12 Speed Loop Integration Time Constant Setting range 1 to 1000 Unit All modes ms Default setting 20 Power OFFON --- * Use this parameter to set the speed loop integration time constant. * The smaller the setting, the faster the deviation will come close to 0 when stopping. If 1000 is set, the integral will be ineffective. When the speed loop integration time constant is changed, the response is as shown in the following diagram. Overshoots when speed loop integration time constant is small. Servomotor speed When speed loop integration time constant is large. Time 5-59 5-16 User Parameters Pn13 Speed Feedback Filter Time Constant Setting range 0 to 5 All modes Unit --- Default setting 0 --- Power OFFON * Use this parameter to set the time constant for the low-pass filter (LPF) after speed detection to one of six value (0 to 5). * Increasing the setting increases the time constant and decreases the noise generated by the Servomotor. Responsiveness, however, also decreases. * Normally, use the default setting. Torque Command Filter Time Constant Setting range 0 to 2500 Unit All modes 0.01ms Default setting 80 --- Power OFFON * Use this parameter to set the time constant for the first-order lag filter inserted into the torque command. * This parameter may be effective in suppressing oscillation due to torsion resonance. Pn15 Feed-forward Amount Setting range -2000 to 2000 5 Position Unit 0.10% Default setting 300 Power OFFON --- * Use this parameter to set the feed-forward amount in Position Control Mode. * Increasing the setting decreases the position deviation and increases the responsiveness. Overshooting, however, will occur more easily. Pn16 Feed-forward Command Filter Setting range 0 to 6400 Unit Position 0.01ms Default setting 100 Power OFFON --- * Use this parameter to set the time constant for the first-order lag filter inserted into the feedforward. * Setting the Feed-forward Command Filter may improve operation if speed overshooting occurs or the noise during operation is large when the feed forward is set high. Pn17 Reserved Setting range Pn18 --- Unit --- Default setting --- Position Loop Gain 2 Setting range 1 to 3000 Power OFFON --- Position Unit 1/s Default setting 20 Power OFFON --- * Use this parameter to set the responsiveness of the position control system for the second position loop. Pn19 Speed Loop Gain 2 Setting range 1 to 3500 All modes Unit Hz Default setting 80 Power OFFON --- * Use this parameter to set the responsiveness of the second speed loop. 5-60 Operating Functions Pn14 5-16 User Parameters Pn1A Speed Loop Integration Time Constant 2 Setting range 1 to 1000 Unit ms All modes Default setting 50 Power OFFON --- * Use this parameter to set the second speed loop integration time constant. Pn1B Speed Feedback Filter Time Constant 2 Setting range 0 to 5 Unit All modes --- Default setting 0 Power OFFON --- * Use this parameter to set the second speed feedback filter time constant. Pn1C Operating Functions 5 Torque Command Filter Time Constant 2 Setting range 0 to 2500 Unit 0.01 ms All modes Default setting 100 Power OFFON --- * Use this parameter to set the second torque command filter time constant. * The parameters from Pn18 to Pn1C are the gain and time constants to be selected when gain switching is enabled in the Gain Switching Input Operating Mode Selection (Pn30). * The gain is switched according to the condition set in the Control Gain Switch 1 Setting (Pn31). * If the mechanical system inertia changes greatly or if you want to change the responsiveness when the Servomotor is rotating and when it is being stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions, and switch them according to the condition. * These parameters are automatically changed by executing realtime autotuning. To set them manually, set the Realtime Autotuning Mode Selection (Pn21) to 0. * Gain switching is enabled only for position control. Pn1D Notch Filter 1 Frequency Setting range 100 to 1500 All modes Unit Hz Default setting 1500 Power OFFON --- * Use this parameter to set the frequency of notch filter 1 for resonance suppression. * The notch filter function will be disabled if this parameter is set to 1500. Pn1E Notch Filter 1 Width Setting range 0 to 4 All modes Unit --- Default setting 2 Power OFFON --- * Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels. * Increasing the setting increases the notch width. Normally, use the default setting. Pn1F Setting range 5-61 Reserved --- Unit --- Default setting --- Power OFFON --- 5-16 User Parameters Pn20 Inertia Ratio Setting range All modes 0 to 10000 Unit % Default setting 300 --- Power OFFON * Use this parameter to set the load inertia as a percentage of the Servomotor rotor inertia. * Pn20 = (Load inertia / Rotor inertia) x 100% * When normal mode autotuning is executed, the load inertia will be automatically estimated after the specified operation, and this parameter will be updated with the result. * When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in EEPROM every 30 min. * If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn11) and Speed Loop Gain 2 (Pn19) will be Hz. * If the Inertia Ratio (Pn20) is set larger than the actual value, the setting for speed loop gain will increase. If the inertia ratio is set smaller than the actual value, the setting for speed loop gain will decrease. 5 Realtime Autotuning Mode Selection Setting range 0 to 7 Unit All modes --- Default setting 0 --- Power OFFON Explanation of Settings Setting Explanation 0 Realtime autotuning is disabled. 1 Normal mode: There is almost no change. 2 Normal mode: There are gradual changes. 3 Normal mode: There are sudden changes. 4 Vertical axis mode: There is almost no change. 5 Vertical axis mode: There are gradual changes. 6 Vertical axis mode: There are sudden changes. 7 No gain switching: There is almost no change. * Use this parameter to set the operating mode for realtime autotuning. * The higher the value that is set (e.g., 3 or 6), the faster the response is for a change in inertia during operation. Operation, however, may be unstable depending on the operating pattern. Normally, set the parameter to 1 or 4. * Use a setting of 4 to 6 if a vertical axis is used. * Use setting 7 if vibration is caused by gain switching. Pn22 Realtime Autotuning Machine Rigidity Selection Setting range 0 to F Unit --- All modes Default setting 2 --- Power OFFON * Use this parameter to set the machine rigidity to one of 16 levels when realtime autotuning is enabled. Pn22 Machine rigidity Low High Low High Servo gain 0*1 - - - - - - - - - - - - - - - E*F Low Responsiveness High * If the setting is changed suddenly by a large amount, the gain will change rapidly, subjecting the machine to shock. Always start by making small changes in the setting, and gradually increase the setting while monitoring machine operation. 5-62 Operating Functions Pn21 5-16 User Parameters Pn23 Adaptive Filter Selection Setting range 0 to 2 Position Speed Unit --- Default setting 0 Power OFFON Yes Explanation of Settings Setting 0 Adaptive filter disabled. 1 Adaptive filter enabled. 2 Hold (The adaptive filter frequency when the setting was changed to 2 will be held.) * Use this parameter to set the operation of the adaptive filter. * The Adaptive Filter Table Number Display (Pn2F) will be reset to 0 when the adaptive filter is disabled. * The adaptive filter is normally disabled in the torque control mode. 5 Operating Functions Explanation Pn24 Vibration Filter Selection Setting range 0 to 2 Position Unit --- Default setting 0 Power OFFON --- Explanation of Settings Setting Pn25 Explanation 0 No switching. (Both filter 1 and filter 2 are enabled.) 1 Filter 1 or filter 2 can be selected using vibration filter switching (DFSEL). DFSEL open: Vibration filter 1 (Pn2B and Pn2C) is selected. DFSEL closed: Vibration filter 2 (Pn2D and Pn2E) is selected. 2 Switching with position command direction. Forward: Vibration filter 1 (Pn2B and Pn2C) is selected. Reverse: Vibration filter 2 (Pn2D and Pn2E) is selected. Autotuning Operation Setting Setting range 0 to 7 Unit All modes --- Default setting Explanation of Settings Setting Rotation direction 0 Forward to reverse 1 Reverse to forward 2 Forward to forward 3 Reverse to reverse 4 Forward to reverse 5 Reverse to forward 6 Forward to forward 7 Reverse to reverse Number of rotations Two rotations One rotation * Set the operating pattern for normal mode autotuning. 5-63 0 Power OFFON --- 5-16 User Parameters Pn26 Overrun Limit Setting Setting range 0 to 1000 Position Unit 0.1 revolution Default setting 10 Power OFFON --- * Use this parameter to set the Servomotor's allowable operating range for the position command input range. * An overrun limit error (alarm code 34) will occur if the setting is exceeded. * The function will be disabled if the setting is 0. * For details, refer to Overrun Limit on page 5-18. Instantaneous Speed Observer Setting Setting range 0 to 1 Unit Position Speed --- Default setting 0 Power OFFON --- Explanation of Settings 5 Setting Explanation 0 Disabled 1 Enabled * The instantaneous speed observer can both increase the responsiveness and reduce vibration at stopping by improving the speed detection accuracy for devices with high rigidity. * The Inertia Ratio (Pn20) must be set correctly. * The Instantaneous Speed Observer Setting (Pn27) will be 0 (disabled) if the Realtime Autotuning Mode Selection (Pn21) is not set to 0 (enabled). Pn28 Notch Filter 2 Frequency Setting range 100 to 1500 All modes Unit Hz Default setting 1500 Power OFFON --- * Use this parameter to set the notch frequency of notch filter 2 for resonance suppression. * The notch filter will be disabled if the setting is 1500. Pn29 Notch Filter 2 Width Setting range 0 to 4 All modes Unit --- Default setting 2 Power OFFON --- * Use this parameter to set the notch width of notch filter 2 for resonance suppression. * Increasing the setting will increase the notch width. Normally, use the default setting. Pn2A Notch Filter 2 Depth Setting range 0 to 99 All modes Unit --- Default setting 0 Power OFFON --- * Use this parameter to set the notch depth of notch filter 2 for resonance suppression. * Increasing the setting will decrease the notch depth and the phase lag. Pn2B Vibration Frequency 1 Setting range 0 to 2000 Position Unit 0.1 Hz Default setting 0 Power OFFON --- * Use this parameter to set vibration frequency 1 for damping control to suppress vibration at the end of the load. * Measure the frequency at the end of the load and make the setting in units of 0.1 Hz. * Setting frequency: 10.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 9.9 Hz. * Refer to Damping Control on page 7-35 for more information. 5-64 Operating Functions Pn27 5-16 User Parameters Pn2C Vibration Filter 1 Setting Setting range -200 to 2000 Position Unit 0.1 Hz Default setting 0 Power OFFON --- * First set the Vibration Frequency 1 (Pn2B). Then reduce the setting of Pn2C if torque saturation occurs or increase the setting of Pn2C to increase operation speed. Normally, use a setting of 0. * Other than the setting range, the following restriction also applies: 10.0 Hz - Pn2B Pn2C Pn2B. * Refer to Damping Control on page 7-35 for more information. Pn2D Vibration Frequency 2 Setting range Unit 0.1 Hz Default setting 0 Power OFFON --- * Use this parameter to set the vibration frequency 2 for damping control to suppress vibration at the end of the load. * Measure the frequency at the end of the load and make the setting in units of 0.1 Hz. * Setting frequency: 10.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 9.9 Hz. * Refer to Damping Control on page 7-35 for more information. 5 Operating Functions 0 to 2000 Position Pn2E Vibration Filter 2 Setting Setting range -200 to 2000 Position Unit 0.1 Hz Default setting 0 Power OFFON --- * First set the Vibration Frequency 2 (Pn2D). Then reduce the setting of Pn2E if torque saturation occurs or increase the setting of Pn2E to increase operation speed. Normally, use a setting of 0. * Other than the setting range, the following restriction also applies: 10.0 Hz - Pn2D Pn2E Pn2D * Refer to Damping Control on page 7-35 for more information. 5-65 5-16 User Parameters Pn2F Adaptive Filter Table Number Display Setting range 0 to 64 Unit Position Speed --- Default setting 0 Power OFFON --- Explanation of Settings Displayed Notch Filter 1 value Frequency (Hz) Displayed value Notch Filter 1 Frequency (Hz) 0 Disabled 22 766 44 326 1 Disabled 23 737 45 314 2 Disabled 24 709 46 302 3 Disabled 25 682 47 290 4 Disabled 26 656 48 279 5 1482 27 631 49 269 (Disabled when Pn22 F) 6 1426 28 607 50 258 (Disabled when Pn22 F) 7 1372 29 584 51 248 (Disabled when Pn22 F) 8 1319 30 562 52 239 (Disabled when Pn22 F) 9 1269 31 540 53 230 (Disabled when Pn22 F) 10 1221 32 520 54 221 (Disabled when Pn22 E) 11 1174 33 500 55 213 (Disabled when Pn22 E) 12 1130 34 481 56 205 (Disabled when Pn22 E) 13 1087 35 462 57 197 (Disabled when Pn22 E) 14 1045 36 445 58 189 (Disabled when Pn22 E) 15 1005 37 428 59 182 (Disabled when Pn22 D) 16 967 38 412 60 Disabled 17 930 39 396 61 Disabled 18 895 40 381 62 Disabled 19 861 41 366 63 Disabled 20 828 42 352 64 Disabled 21 796 43 339 5 * This parameter displays the table entry number corresponding to the frequency of the adaptive filter. * This parameter is set automatically and cannot be changed if the adaptive filter is enabled (if the Adaptive Filter Selection (Pn23) is not 0). * When the adaptive filter is enabled, data will be saved in EEPROM every 30 min. If the adaptive filter is enabled the next time the power supply is turned ON, adaptive operation will start with the data saved in EEPROM as the default value. * To clear this parameter and reset the adaptive operation, disable the adaptive filter by setting the Adaptive Filter Selection (Pn23) to 0, and then enable it again. 5-66 Operating Functions Displayed Notch Filter 1 value Frequency (Hz) 5-16 User Parameters Pn30 Gain Switching Input Operating Mode Selection Setting range 0 or 1 Unit --- All modes Default setting 1 Power OFFON --- Explanation of Settings Setting Explanation 0 Gain 1 (PI/P switching enabled) 1 Gain 1/gain 2 switching enabled * Use this parameter to select whether to switch between PI and P operation or to switch between gain 1 and gain 2 in Speed Control Mode. * PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed, however, if the Torque Limit Selection (Pn03) is set to 3. 5 Operating Functions Gain input Speed loop operation COM open PI operation COM connection P operation * For information on conditions for switching between gain 1 and gain 2, refer to Gain Switching Function on page 7-26. 5-67 5-16 User Parameters Pn31 Control Gain Switch 1 Setting Setting range 0 to 10 Unit All modes --- Default setting 0 --- Power OFFON Explanation of Settings ({: Enabled, x: Disabled) Position Control Mode Explanation Gain switching conditions Gain Switch 1 Time (Pn32) *1 Gain Switch 1 Level Setting (Pn33) Gain Switch 1 Hysteresis Setting (Pn34) *2 0 Always gain 1 (Pn10 to Pn14) x x x 1 Always gain 2 (Pn18 to Pn1C) x x x 2 Switching using Gain Switch Input (GSEL) for CN1 pin 27 x x x 3 Amount of change in torque command (Figure A) { { *3 (x 0.05%) { *3 (x 0.05%) 4 Always gain 1 (Pn10 to Pn14) x x x 5 Command speed (Figure B) { { (r/min) { (r/min) 6 Amount of position deviation (Figure C) { { *4 (Pulse) { *4 (Pulse) 7 Command pulses received (Figure D) { x x 8 Positioning Completed Signal (INP) OFF (Figure E) { x x 9 Actual Servomotor speed (Figure B) { { (r/min) { (r/min) 10 Combination of command pulse input and speed (Figure F) { *5 { (r/min) 5 { *5 (r/min) Speed Control Mode Explanation Setting Gain switching conditions Gain Switch Time (Pn32, 37) *1 Gain Switch Level Setting (Pn33, 38) Gain Switch Hysteresis Setting (Pn34, 39) *2 0 Always gain 1 (Pn10 to Pn14) x x x 1 Always gain 2 (Pn18 to Pn1C) x x x 2 Switching using Gain Switch Input (GSEL) for CN1 pin 27 x x x 3 Amount of change in torque command (Figure A) { { *3 (0.05%/166 s) { *3 (0.05%/166 s) 4 Amount of change in speed command (Figure B) { { *5 (10 r/min/s) { *5 (10 r/min/s) 5 Command speed (Figure C) { { (r/min) { (r/min) 5-68 Operating Functions Setting 5-16 User Parameters Torque Control Mode Explanation Setting Gain switching conditions Gain Switch Time (Pn32, 37) *1 Gain Switch Level Setting (Pn33, 38) Gain Switch Hysteresis Setting (Pn34, 39) *2 0 Always gain 1 (Pn10 to Pn14) x x x 1 Always gain 2 (Pn18 to Pn1C) x x x 2 Switching using Gain Switch Input (GSEL) for CN1 pin 27 x x x 3 Amount of change in torque command (Figure A) { { *3 (0.05%/166 s) { *3 (0.05%/166 s) * Use this parameter to select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input Operation Mode Selection (Pn30) is set to 1. * The gain is always gain 1 regardless of the gain input if the Control Gain Switch 1 Setting (Pn31) is 2 and the Torque Limit Selection (Pn03) is 3. * If the Control Mode Setting (Pn02) is set to a composite mode (3, 4, or 5), the setting of this parameter is valid when the first control mode is used. Operating Functions 5 *1. The Gain Switch 1 Time (Pn32) is used when returning from gain 2 to gain 1. *2. The Gain Switch 1 Hysteresis Setting (Pn34) is defined as shown in the following figure. Pn33 Pn34 0 Gain 1 Gain 2 Gain 1 Pn32 *3. The amount of change is the value within 166 s. Example: When the condition is a 10% change in torque in 166 s, the set value is 200. *4. This is the encoder resolution. *5. The meanings of the Gain Switch Time, Gain Switch Level Setting, and Gain Switch Hysteresis Setting are different from normal if this parameter is set to 10. (Refer to Figure F.) 5-69 5-16 User Parameters Figure C Figure A Speed V Speed V Accumulated pulses H L Level Torque T Gain 1 Time Gain 2 Gain 1 T H L Level Figure D Command speed S L H Time 2 2 Gain 1 1 2 2 5 Time 1 Gain 1 Gain 1 Gain 2 1 Figure B Speed V H L Level Operating Functions 1 Figure E Actual speed N Time Gain 1 Gain 2 Gain 1 INP Gain 1 Time Gain 2 Gain 1 Figure F Command speed S Actual speed N H Level L Time Gain 1 Gain 1 Gain 2 Gain 2 is used only during the Speed Loop Integration Time Constant. Gain 1 is used at other times. Pn32 Gain Switch 1 Time Setting range 0 to 10000 All modes Unit x 166 s Default setting 30 Power OFFON --- * For Position Control Mode, use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 or 5 to 10. * For Speed Control Mode, use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3 to 5. * For Torque Control Mode, use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 1 Setting (Pn31) is 3. 5-70 5-16 User Parameters Pn33 Gain Switch 1 Level Setting Setting range 0 to 20000 All modes Unit --- Default setting 600 Power OFFON --- * For Position Control Mode, use this parameter to set the judgment level for switching between gain 1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, 5, 6, 9, or 10, Pn33 is enabled. The unit depends on the Control Gain Switch 1 Setting (Pn31). * For Speed Control Mode, use this parameter to set the judgment level for switching between gain 1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3 to 5. Pn33 is enabled. The unit depends on the Control Gain Switch 1 Setting (Pn31). * For Torque Control Mode, use this parameter to set the judgment level for switching between gain 1 and gain 2. If the Control Gain Switch 1 Setting (Pn31) is set to 3, Pn33 is enabled. The unit depends on the Control Gain Switch 1 Setting (Pn31). 5 Pn34 Gain Switch 1 Hysteresis Setting Setting range 0 to 20000 All modes Unit --- Default setting 50 Power OFFON --- Operating Functions * Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 1 Level Setting (Pn33). The unit depends on the Control Gain Switch 1 Setting (Pn31). The following shows the definitions for the Gain Switch 1 Time (Pn32), Gain Switch 1 Level Setting (Pn33), and Gain Switch 1 Hysteresis Setting (Pn34). Pn33 Pn34 0 Gain 2 Gain 1 Gain 1 Pn32 * The settings for the Gain Switch 1 Level Setting (Pn33) and the Gain Switch 1 Hysteresis Setting (Pn34) are effective as absolute values (positive/negative). Pn35 Position Loop Gain Switching Time Setting range 0 to 10000 Position x 166 s Unit Default setting 20 Power OFFON * When switching between gain 1 and gain 2 is enabled, set the phased switching time only for position loop gain at gain switching. Example: Kp1 (Pn10) Pn35= 0 166 166 166 Kp1 (Pn10) > Kp2 (Pn18) 3 2 1 0 Bold solid line 1 2 3 Thin solid line Kp2 (Pn18) Gain 1 5-71 Gain 2 Gain 1 --- 5-16 User Parameters Pn36 Control Gain Switch 2 Setting Setting range 0 to 5 Unit Speed Torque --- Default setting 0 Power OFFON --- Explanation of Settings Explanation 0 Always gain 1 1 Always gain 2 2 Gain 2 is selected when the Gain Switching Input (GSEL: CN1 pin 27) is ON. (The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1.) 3 Gain 2 is selected as the amount of change in the torque command increases. 4 Gain 2 is selected as the amount of change in speed command (i.e., acceleration) increases. 5 Gain 2 is selected as the command speed increases. 5 * If the Control Mode Setting (Pn02) is set to a composite mode (3, 4, or 5), the setting of this parameter is valid when the second control mode is used. * Use this parameter to select the conditions for switching between gain 1 and gain 2 if the second control mode is used when the Gain Switching Input Operating Mode Selection (Pn30) is set to 1. * If 2 is selected, the Control Gain Switch 1 Setting (Pn31) is set to 2 and the Torque Limit Selection (Pn03) is set to 3, the gain is always gain 1 regardless of the gain input. * For information on switching levels and timing, refer to Gain Switching Function on page 7-26. Pn37 Gain Switch 2 Time Setting range 0 to 10000 Speed Torque Unit x 166 s Default setting 30 Power OFFON --- * Use this parameter to set the delay time when returning from gain 2 to gain 1 if the Control Gain Switch 2 Setting (Pn36) is 3 to 5. Pn38 Gain Switch 2 Level Setting Setting range 0 to 20000 Unit Speed Torque --- Default setting 0 Power OFFON --- * Use this parameter to set the judgment level for switching between gain 1 and gain 2 when the Control Gain Switch 2 Setting (Pn36) is set to 3 to 5. The unit depends on the setting for the Control Gain Switch 2 Setting (Pn36). Pn39 Gain Switch 2 Hysteresis Setting Setting range 0 to 20000 Unit Speed Torque --- Default setting 0 Power OFFON --- * Use this parameter to set the hysteresis width for the judgment level set in the Gain Switch 2 Level setting (Pn38). The unit depends on the Control Gain Switch 2 Setting (Pn36). The following shows the definitions for the Gain Switch 2 Time (Pn37), Gain Switch 2 Level Setting (Pn38), and Gain Switch 2 Hysteresis Setting (Pn39). Pn38 Pn39 0 Gain 1 Gain 2 Gain 1 Pn37 * The settings for the Gain Switch 2 Level Setting (Pn38) and the Gain Switch 2 Hysteresis Setting 5-72 Operating Functions Setting 5-16 User Parameters (Pn39) are effective as absolute values (positive/negative). Pn3D Jog Speed Setting range All modes 0 to 500 Unit r/min Default setting 200 Power OFFON --- * Use this parameter to set the speed for jog operation. * Before use, refer to Jog Operation on page 6-24. Position Control Parameters (Pn40 to Pn4E) Pn40 Position Command Pulse Input Selection Setting range 0 or 1 Unit --- Default setting 0 Power OFFON Yes Explanation of Settings 5 Operating Functions Setting Explanation 0 Photocoupler input (+PULS: CN1 pin 3, -PULS: CN1 pin 4, +SIGN: CN1 pin 5, -SIGN: CN1 pin 6) 1 Line driver input (+CWLD: CN1 pin 44, -CWLD: CN1 pin 45, +CCWLD: CN1 pin 46, -CCWLD: CN1 pin 47) * Use this parameter to select whether to use photocoupler or line-driver input for the command pulse input. Pn41 Command Pulse Rotation Direction Switch Setting range 0 or 1 Unit --- Position Default setting 0 Power OFFON Yes Explanation of Settings Setting Explanation 0 The Servomotor rotates in the direction specified by the command pulse. 1 The Servomotor rotates in the opposite direction from the direction specified by the command pulse. * Use this parameter to set the Servomotor rotation direction used for the command pulse input. 5-73 5-16 User Parameters Pn42 Command Pulse Mode Setting range 0 to 3 Position Unit --- Default setting 1 Power OFFON Yes Explanation of Settings Setting Command pulse mode Servomotor forward command Servomotor reverse command 0 or 2 90 phase difference (phases A and B) signal inputs Phase A Phase B Line driver: t1 2 s Open collector: t1 5 s Operating Functions 1 5 Reverse pulse and forward pulse inputs Line driver: t2 1 s Open collector: t2 2.5 s 3 Feed pulse input and forward/reverse signal input Line driver: t2 1 s Open collector: t2 2.5 s * Use this parameter to set the form of the pulse inputs sent as commands to the Servo Drive from the position controller. Pn43 Command Pulse Prohibited Input Setting range 0 or 1 Unit Position --- Default setting 1 Power OFFON --- Explanation of Settings Setting Explanation 0 Enabled 1 Disabled * Use this parameter to enable or disable the Pulse Prohibit Input (IPG: CN1 pin 33). * Command pulse inputs will be prohibited when the connection between the IPG input and COM is open. * Set this parameter to 1 when the IPG input is not used. This will eliminate the necessity to externally connect the IPG input (CN1 pin 33) and COM (CN1 pin 41). 5-74 5-16 User Parameters Pn44 Encoder Divider Numerator Setting Setting range Pn45 0 to 32767 All modes Unit --- Default setting 2500 Encoder Divider Denominator Setting Setting range 0 to 32767 Power OFFON Yes All modes Unit --- Default setting 0 Power OFFON Yes * Use this parameter to set the number of encoder pulses output from the pulse outputs (+A: CN1 pin 21, -A: CN1 pin 22, -B: CN1 pin 48, +B: CN1 pin 49) * If the Encoder Divider Denominator Setting (Pn45) is 0, the number of output pulses for one Servomotor rotation can be set for A and B using the Encoder Divider Numerator Setting (Pn44). The resolution of the pulse output after multiplication by 4 will be as follows: Pulse output resolution per rotation = Encoder Divider Numerator Setting (Pn44) x 4 5 Operating Functions * If the Encoder Divider Denominator Setting (Pn45) is not 0, the pulse output resolution per rotation can be set using the following encoder divider equation. Pulse output resolution per rotation = Pn44 (Encoder Divider Numerator Setting) x Encoder resolution Pn45 (Encoder Divider Denominator Setting) * The encoder resolution for a 17-bit absolute encoder is 131,072 pulses/rotation and a 2,500-pulse/ rotation, 5-core incremental encoder is 10,000 pulses/rotation. * The pulse output resolution per rotation will never exceed the encoder resolution. (If the above settings are used, the pulse output resolution per rotation will be equal to the encoder resolution.) * One phase-Z signal is output for each rotation of the Servomotor. * If the value from the above equation is a multiple of 4, phases Z and A are synchronized. In all other cases, the output width of phase Z will coincide with the encoder resolution, so phases A and Z will not be synchronized. Encoder resolution x Pn44 : Multiple of 4 Pn45 Encoder resolution x A A B B Z Pn44 : Not multiple of 4 Pn45 Z Synched Not synched * Refer to 5-7 Encoder Dividing on page 5-15 for more information on the encoder divider. 5-75 5-16 User Parameters Encoder Output Direction Switch Setting range 0 or 1 Unit Setting Phase --- Phase A 0 Non-inverted phase B 1 Inverted phase B All modes --- Default setting Forward motor operation 0 Power OFFON Yes Reverse motor operation 5 Explanation of Settings Setting Explanation 0 Phase-B output: Not inverted, Output source: Encoder position 1 Phase-B output: Inverted, Output source: Encoder position * Use this parameter to set the phase-B logic for pulse output (-B: CN1 pin 48, +B: CN1 pin 49). * This parameter can be used to invert the output direction of the phase-B pulse to reverse the relation of the phase-B pulse to the phase-A pulse. 5-76 Operating Functions Pn46 5-16 User Parameters Pn48 Electronic Gear Ratio Numerator 1 Setting range Pn49 0 to 10000 --- Default setting 0 Power OFFON Electronic Gear Ratio Numerator 2 Setting range Pn4A 0 to 10000 Unit Pn4B 0 to 17 --- Unit Default setting 0 Power OFFON --- 0 to 10000 Unit --- Position Default setting 0 Power OFFON Electronic Gear Ratio Denominator Setting range --- Position Electronic Gear Ratio Numerator Exponent Setting range --- Position --- Default setting 10000 Power OFFON --- * Use these parameters to set the electronic gear. * The electronic gear can be used for the following: * To set the amount of Servomotor rotation or movement per input command pulse. * To increase the nominal command pulse frequency by using a multiplier when the desired Servomotor speed cannot be achieved due to the limited pulse oscillation capability of the host controller. Operating Functions 5 Unit Position * Electronic Gear Block Diagram Command pulses Exponent (Pn4A) *1 Numerator 1 (Pn48) x2 *1 Numerator 2 (Pn49) f Denominator (Pn4B) Internal + command F - Feedback pulses (resolution) To deviation counter 10,000 pulses/rev or 217 pulses/rev *1. Numerator 1 or Numerator 2 is selected using the Electronic Gear Switch Input (GESEL: CN1 pin 28). GESEL input open Numerator 1 (Pn48) selected. GESEL input connected to COM Numerator 2 (Pn49) selected. * The gear ratio is set using the following equations. If the numerator equals 0, the following value is set automatically. Numerator ((Pn48 or Pn49) x 2Pn4A) = Encoder resolution In this case, the number of command pulses per revolution can be set in Pn4B. Electronic gear ratio = Encoder resolution Number of command pulses per Servomotor rotation (Pn4B) If the numerator does not equal 0, the gear ratio is as follows: Electronic gear ratio numerator exponent (Pn4A) Electronic gear ratio = Electronic gear ratio numerator (Pn48 or Pn49) x 2 Electronic gear ratio denominator (Pn4B) The upper limit of the calculated numerator ((Pn48 or Pn49) x 2Pn4A) is 4,194,304/ (Pn4D setting + 1). 5-77 5-16 User Parameters Pn4C Position Command Filter Time Constant Setting Setting range 0 to 7 Unit --- Position Default setting 0 Power OFFON --- Explanation of Settings Explanation 0 No filter 1 Time constant: 0.2 ms 2 Time constant: 0.6 ms 3 Time constant: 1.3 ms 4 Time constant: 2.6 ms 5 Time constant: 5.3 ms 6 Time constant: 10.6 ms 7 Time constant: 21.2 ms 5 * The position command filter is the first-order lag filter for the command pulse input. * The time constant of the position command filter can be set to one of eight values. * The position command filter can be used for the following: * If the command pulses change abruptly, the filter can be used to reduce the stepping movement of the Servomotor. * The following are examples of when the command pulses can change abruptly: The electronic gear setting is high (10 times or higher). The command pulse frequency is low. 5-78 Operating Functions Setting 5-16 User Parameters Pn4D Smoothing Filter Setting Setting range 0 to 31 Position Unit --- Default setting 0 Power OFFON Yes * Use this parameter to select the FIR filter time constant used for the command pulses (FIR: Finite impulse response). * The higher the setting, the smoother the command pulses. Input position command Command Position command after smoothing filter processing 5 Operating Functions Position command after FIR filter processing tf tf Time tf = (Pn4E + 1) x Control cycle * If the setting is 0, the control cycle will be (0 + 1) x 166 = 166 s. If the setting is 1, the control cycle will be (1 + 1) x 166 = 332 s. Likewise, if the setting is 31, the control cycle will be (31 + 1) x 166 = 5,312 s. Response with position loop gain Response with position loop gain tf Pn4E tf Deviation Counter Reset Condition Setting Setting range 0 to 2 Unit --- Position Default setting 1 Power OFFON --- Explanation of Settings Setting Explanation 0 Clears the deviation counter when the signal is closed for 100 s or longer. 1 Clears the deviation counter on the falling edge of the signal (open and then closed for 100 s or longer). 2 Disabled * If Pn4E is set to 0, the minimum time width of the ECRST signal will be as follows: ECRST (pin 30) 5-79 100 s min. 5-16 User Parameters Speed and Torque Control Parameters (Pn50 and Higher) Pn50 Speed Command Scale Setting range 10 to 2000 Speed Torque Unit (r/min)/V Default setting 300 --- Power OFFON * Use this parameter to set the relation between the voltage applied to the Speed Command Input (REF: CN1 pin 14) and the Servomotor speed. * Refer to 5-2 Speed Control on page 5-3 for information on speed control. * Refer to 5-4 Torque Control on page 5-8 for information on torque control. Command Speed Rotation Direction Switch Setting range 0 or 1 Unit --- Speed Default setting 0 --- Power OFFON Explanation of Settings 5 Setting Explanation 0 Direction of motor rotation: Clockwise (forward) for positive commands when viewing the end of the shaft 1 Direction of motor rotation: Counterclockwise (reverse) for positive commands when viewing the end of the shaft * Use this parameter to reverse the polarity of the Speed Command Input (REF: CN1 pin 14) to change the Servomotor rotation direction without reversing the polarity of the commands from the host controller. * This parameter is set to 0 by default (counterclockwise (reverse) for positive commands) for compatibility with all OMNUC W-Series Servo Drives. * This parameter is disabled if the Zero Speed Designation/Speed Command Direction Switch (Pn06) is set to 2. * The operation of the Servomotor may be abnormal if the polarity of the speed command signal from the Position Control Unit does not agree with the setting of this parameter when the Servo Drive is in Speed Control Mode and the Servo Drive is used in combination with an external Position Control Unit. Pn52 Speed Command Offset Adjustment Setting range -2047 to 2047 Unit Speed Torque 0.3 mV Default setting 0 Power OFFON --- * Use this parameter to adjust the offset of the Speed Command Input (REF: CN1 pin 14). * The offset amount is approximately the set value times 0.3 mV. * There are two ways to adjust the offset. * Manually * Automatically * The manual adjustment is as follows: * To adjust the offset for individual Servo Drives, accurately input 0 V to the Speed/Torque Command Input (REF/TREF1) (or connect REF/TREF1 to the signal ground), and then set this parameter so that the Servomotor does not rotate. * If you use a position loop in the host controller, set this parameter so that there are no accumulated pulses at servo lock status. * The automatic adjustment is as follows: * This parameter will be automatically set when automatic offset adjustment is executed. Refer to Automatic Offset Adjustment on page 6-22 for the procedure. 5-80 Operating Functions Pn51 5-16 User Parameters Pn53 No. 1 Internally Set Speed Setting range -20000 to 20000 Pn54 No. 2 Internally Set Speed Setting range -20000 to 20000 Pn55 No. 3 Internally Set Speed Setting range -20000 to 20000 Pn56 5 Speed Unit r/min Default setting 100 -20000 to 20000 --- Speed Unit r/min Default setting 200 Power OFFON --- Speed Unit r/min Default setting 300 No. 4 Internally Set Speed Setting range Power OFFON Power OFFON --- Torque Speed Unit r/min Default setting 50 Power OFFON --- Operating Functions * Pn56 is also the Speed Limit in Torque Control Mode. The Torque Command/Speed Limit Selection (Pn5B) can be used to switch to an external analog limit. Pn74 No. 5 Internally Set Speed Setting range -20000 to 20000 Pn75 No. 6 Internally Set Speed Setting range -20000 to 20000 Pn76 No. 7 Internally Set Speed Setting range -20000 to 20000 Pn77 No. 8 Internally Set Speed Setting range -20000 to 20000 Speed Unit r/min Default setting 500 Power OFFON --- Speed Unit r/min Default setting 600 Power OFFON --- Speed Unit r/min Default setting 700 Power OFFON --- Speed Unit r/min Default setting 800 Power OFFON --- * If internally set speed settings are enabled in the Command Speed Selection (Pn05), set the number 1 to 4 internal speeds in Pn53 to Pn56 and the number 5 to 8 internal speeds in Pn74 to Pn77. Set the speed in r/min. * The polarity of the settings indicates the polarity of the internal command speed. + Clockwise (forward) when viewing the end of the shaft - Counterclockwise (reverse) when viewing the end of the shaft * The absolute value of the internally set speed is limited by the Overspeed Detection Level Setting (Pn73). Pn57 Speed Command Filter Time Constant Setting range 0 to 6400 Unit 0.01 ms Speed Torque Default setting 0 Power OFFON --- * Use this parameter to set the first-order lag filter time constant in the Speed Command Input (REF: CN1 pin 14). 5-81 5-16 User Parameters Pn58 Soft Start Acceleration Time Setting range Pn59 0 to 5000 Speed Unit 2 ms/ (1000 r/min) Default setting 0 Soft Start Deceleration Time Setting range 0 to 5000 Power OFFON --- Speed Unit 2 ms/ (1000 r/min) Default setting 0 Power OFFON --- * Use these parameters to set acceleration and deceleration times for the speed command inside the Servo Drive. * A soft start can be set when inputting speed commands of stepping movement or when using internally set speed. * Do not set acceleration and deceleration times when using the Servo Drive in combination with an external position loop. (Set both Pn58 and Pn59 to 0.) * Refer to 5-13 Soft Start on page 5-27 for more information on the soft start function. 5 Internally Set Speed ta Pn5A td S-curve Acceleration/Deceleration Time Setting Setting range 0 to 500 Unit 2 ms Speed Default setting 0 Power OFFON --- * Use this parameter to set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable smooth operation. This parameter is useful for applications where impact may occur due to a large change in acceleration or deceleration when starting or stopping with linear acceleration or deceleration. Speed ts ts ta ts ts td 1. Set the linear acceleration and deceleration times in Pn58 and Pn59. 2. Set the time width for the S-curve portion centered on the inflection points for acceleration and deceleration in Pn5A (unit: 2 ms). ta: Pn58 td: Pn59 ts: Pn5A Set as follows: ta > ts and 2 td > ts 2 Pn5B Torque Command/Speed Limit Selection 5-82 Operating Functions 1000 r/min Speed 5-16 User Parameters Pn5B Torque Command/Speed Limit Selection Setting range 0 or 1 Unit Torque --- Default setting 0 Power OFFON --- Explanation of Settings Setting Control mode Torque command Torque control in Position Control/Torque Control Mode TREF1 (CN1 pin 14) Torque control 0 Torque control in Speed Control/Torque Control Mode Speed limit Pn5b TREF2 (CN1 pin 16) Torque control 1 5 Torque control in Position Control/Torque Control Mode TREF2 (CN1 pin 16) VLIM (CN1 pin 14) Torque control in Speed Control/Torque Control Mode Operating Functions * The use of this parameter depends on the control mode. Pn5C Torque Command Scale Setting range 10 to 100 Torque Unit 0.1 V/100% Default setting 30 Power OFFON --- * Use this parameter to set the relation between the voltage applied to the torque command input (TREF1: CN1 pin 14 or TREF2: CN1 pin 16) and the Servomotor's output torque. * Refer to 5-4 Torque Control on page 5-8 for information on torque command scaling. Pn5D Torque Output Direction Switch Setting range 0 or 1 Unit Torque --- Default setting 0 Power OFFON --- Explanation of Settings Setting Explanation 0 Direction of motor torque: Clockwise (forward) for positive commands when viewing the end of the shaft 1 Direction of motor torque: Counterclockwise (reverse) for positive commands when viewing the end of the shaft * Use this parameter to reverse the polarity of the Torque Command Input (REF/TREF1: CN1 pin 14 or PCL/TREF2: CN1 pin 16). 5-83 5-16 User Parameters Pn5E No. 1 Torque Limit Setting range Pn5F 0 to 500 All modes Unit % Default setting 300 No. 2 Torque Limit Setting range 0 to 500 --- Power OFFON Position Speed Unit % Default setting 100 --- Power OFFON * Use these parameters to set the limit value for the output torque (Pn5E: No. 1 Torque Limit, Pn5F: No. 2 Torque Limit) of the Servomotor. * Refer to information on the Torque Limit Selection (Pn03) to select the torque limits. * The maximum torque in the forward and reverse directions is limited in Torque Control Mode, and the settings of the Torque Limit Selection (Pn03) and No. 2 Torque Limit (Pn5F) are ignored. * Make the settings as a percentage of the rated torque. Example: Maximum torque is limited to 150% Torque (%) 5 Forward Pn5E, Pn5F = 150 Operating Functions 300 (max.) 200 100 (rated) Speed 100 (Rated) (Maximum) 200 300 Reverse * Refer to 5-12 Torque Limit on page 5-25 for information on torque limits and the torque limit selection. 5-84 5-16 User Parameters Pn60 Positioning Completion Range Setting range 0 to 32767 Unit Position Pulse Default setting 25 Power OFFON --- * Use this parameter in combination with the Positioning Completion Condition Setting (Pn63) to set the timing to output the Positioning Completed Output (INP: CN1 pin 39). The Positioning Completed Output (INP) will turn ON when command pulse input is completed, the Servomotor (workpiece) movement stops, and the number of the accumulated pulses in the deviation counter is less than the setting of this parameter. * For position control, set the number of encoder pulses. * The basic unit for accumulated pulses is the encoder resolution. The encoder resolutions are as follows: * 17-bit encoder: 217 = 131,072 * 2,500-pulse/revolution encoder: 4 x 2500 = 10000 * If this parameter is set to a very small value, the time required for the INP signal to turn ON will increase and the output may chatter. The setting of the Positioning Completion Range does not affect the precision of the final position. 5 Operating Functions Accumulated pulses Pn60 ON INP Pn61 Pn60 Zero Speed Detection Setting range All modes 10 to 20000 Unit r/min Default setting 20 Power OFFON --- * Use this parameter to set the rotation speed threshold at which to output a zero speed detection output or speed coincidence output from the general-purpose output (OUTM1: CN1 pin 12 or OUTM2: CN1 pin 40). * If a speed detection output is assigned, an output will be made when the speed of the motor is lower than the value set for this parameter. * If a speed coincidence output is assigned, an output will be made when difference between the speed command and the speed of the motor is lower than the value set for this parameter. * The setting of this parameter is valid for both forward and reverse operation regardless of the Servomotor rotation direction. This setting has a hysteresis of 10 r/min. Forward Speed (Pn61 + 10) r/min (Pn61 - 10) r/min Reverse OUTM1 5-85 ON 5-16 User Parameters Pn62 Rotation Speed for Motor Rotation Detection Setting range 10 to 20000 Unit Speed Torque r/min Default setting 50 --- Power OFFON * Use this parameter to set the rotation speed (r/min) at which to output the Servomotor Rotation Detection Output (TGON: CN1 pin 39, TGONCOM: CN1 pin 38). * The Servomotor Rotation Detection Output (TGON) will turn ON when the Servomotor speed exceeds the setting of this parameter. * The setting of this parameter is valid for both forward and reverse operation regardless of the Servomotor direction. This setting has a hysteresis of 10 r/min. Speed (Pn62 + 10) r/min Forward Reverse (Pn62 - 10) r/min TGON Pn63 OFF ON Positioning Completion Condition Setting Setting range 0 to 3 Unit Position --- Default setting 0 --- Power OFFON Explanation of Settings Setting Explanation 0 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60). 1 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. 2 Positioning completion output turns ON when the zero speed detection signal is ON, the position deviation is within the Positioning Completion Range (Pn60), and there is no position command. 3 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. The ON status will be maintained until the next position command is received. * Use this parameter in combination with the Positioning Completion Range (Pn60) to set the operation for Positioning Completed Output (INP: CN1 pin 39). 5-86 Operating Functions 5 5-16 User Parameters Pn65 Undervoltage Alarm Selection Setting range 0 or 1 Unit All modes --- Default setting 1 Power OFFON --- Explanation of Settings Setting 0 When the main power supply is interrupted during Servo ON status, a main power supply undervoltage alarm (alarm code 13) does not occur and the Servo OFF status is entered. When the main power supply turns ON again, the Servo ON status is reset. 1 When the main power supply is interrupted during Servo ON status, an error occurs for a main power supply undervoltage (alarm code 13). * Use this parameter to select whether to activate the main power supply undervoltage function (alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D). * If the Momentary Hold Time (Pn6D) is set to 1,000, Pn65 is disabled. * If the setting of Momentary Hold Time (Pn6D) is too long and the voltage between P and N in the main power supply converter drops below the specified value before a main power supply interruption is detected, a main power supply undervoltage (alarm code 13) will occur regardless of the setting of Pn65. 5 Operating Functions Explanation Pn66 Stop Selection for Drive Prohibition Input Setting range 0 to 2 Unit --- All modes Default setting 0 Power OFFON Yes Explanation of Settings Setting Explanation 0 During deceleration: The dynamic brake is activated. After stopping: The torque command in the drive prohibit direction is set to 0. Deviation counter contents: Held 1 During deceleration: The torque command in the drive prohibit direction is set to 0. After stopping: The torque command in the drive prohibit direction is set to 0. Deviation counter contents: Held 2 During deceleration: An emergency stop is performed. After stopping: The servo is locked. Deviation counter contents: Cleared before and after deceleration. * Use this parameter to set the drive conditions during deceleration or after stopping after the Forward Drive Prohibit Input (POT: CN1 pin 9) or Reverse Drive Prohibit Input (NOT: CN1 pin 8) is enabled. * If this parameter is set to 2, the Emergency Stop Torque (Pn6E) will be used to limit the torque during deceleration. * With a vertical axis, there is a risk that the load may drop when drive is prohibited by the drive prohibit input. To prevent this, it is recommended that the deceleration method be set to use emergency stop torque in the Drive Prohibit Input Stop Selection parameter (Pn066), and that stopping in the servo-lock state be set (set value: 2). 5-87 5-16 User Parameters Pn67 Stop Selection with Main Power OFF Setting range 0 to 9 Unit All modes --- Default setting 0 Power OFFON --- Explanation of Settings Explanation Setting During deceleration After stopping Deviation counter 0 Dynamic brake Dynamic brake Cleared 1 Free run Dynamic brake Cleared 2 Dynamic brake Servo free Cleared 3 Free run Servo free Cleared 4 Dynamic brake Dynamic brake Held 5 Free run Dynamic brake Held 6 Dynamic brake Servo free Held 7 Free run Servo free Held 8 Emergency stop Dynamic brake Cleared 9 Emergency stop Servo free Cleared * Use this parameter to set the operation to be performed after the main power supply is shut off if the Undervoltage Alarm Selection (Pn65) is set to 0. * Operation during deceleration and after stopping * Clearing the deviation counter * If this parameter is set to 8 or 9, the Emergency Stop Torque (Pn6E) will be used to limit the torque during deceleration. Pn68 Stop Selection for Alarm Generation Setting range 0 to 3 Unit All modes --- Default setting 0 Power OFFON --- Explanation of Settings Explanation Setting During deceleration After stopping Deviation counter 0 Dynamic brake Dynamic brake Held 1 Free run Dynamic brake Held 2 Dynamic brake Servo free Held 3 Free run Servo free Held * Use this parameter to set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs. * The deviation counter is cleared when an alarm is cleared. 5-88 Operating Functions 5 5-16 User Parameters Pn69 Stop Selection with Servo OFF Setting range 0 to 9 All modes Unit --- Default setting 0 Power OFFON --- * Use this parameter to set the operation to be performed after Servo OFF status is entered (i.e., after RUN (CN1 pin 29) changes from ON to OFF). * Operation during deceleration and after stopping * Clearing the deviation counter * The relations between set values, operation, and deviation counter processing for this parameter are the same as for the Stop Selection with Main Power OFF (Pn67). Pn6A Brake Timing When Stopped Setting range 5 0 to 100 All modes Unit 2 ms Default setting 10 Power OFFON --- Operating Functions * Use this parameter to set the brake timing from when the Brake Interlock Output (BKIRCOM: CN1 pin 10, BKIR: CN1 pin 11) turns OFF (i.e., braking held) until the Servomotor is deenergized (servo free) when Servo OFF status is entered while the Servomotor is stopped. * When the RUN Command Input is turned OFF while the Servomotor is stopped, the Brake Interlock Signal (BKIR) will turn OFF, and the Servo will turn OFF after the time set for this parameter (setting x 2 ms) elapses. RUN Command (RUN) Brake Interlock (BKIR) Actual brake Servomotor ON/OFF status Hold Released Released tb ON Hold OFF Pn6A * Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the delay in the brake operation (tb). Brake timing when stopped (setting x 2 ms) tb * Refer to 5-10 Brake Interlock on page 5-20 for more information. 5-89 5-16 User Parameters Pn6B Brake Timing during Operation Setting range 0 to 100 All modes Unit 2 ms Default setting 50 Power OFFON --- * Use this parameter to set the brake timing from when the RUN Command Input (RUN: CN1 pin 29) is detected to be OFF until the Brake Interlock Output (BKIRCOM: CN1 pin 10, BKIR: CN1 pin 11) turns OFF when Servo OFF status is entered while the Servomotor is operating. When the RUN Command Input is turned OFF while the Servomotor is operating, the Servomotor will decelerate reducing the number of rotations, and the Brake Interlock Signal (BKIR) will turn OFF after the time set for this parameter has elapsed (setting x 2 ms). RUN Command (RUN) Hold Released 5 TB Servomotor ON/OFF status ON OFF Servomotor speed 30 r/min "TB" in the above figure is the brake timing during operation (setting x 2 ms) or the time until the speed of the Servomotor falls to 30 r/min or lower, whichever is shorter. * Refer to 5-10 Brake Interlock on page 5-20 for more information. 5-90 Operating Functions Brake Interlock (BKIR) 5-16 User Parameters Pn6C Regeneration Resistor Selection Setting range 0 to 3 Unit All modes --- Default setting 0 Power OFFON Yes Explanation of Settings Operating Functions 5 Setting Explanation 0 Regeneration resistor used: Built-in resistor The regeneration processing circuit will operate and the regeneration overload (alarm code 18) will operate according to the internal resistor (with approximately 1% duty). 1 Regeneration resistor used: External resistor The regeneration processing circuit will operate, and regeneration overload (alarm code 18) will cause a trip when the operating rate of the regeneration resistor exceeds 10%. 2 Regeneration resistor used: External resistor The regeneration processing circuit will operate, but regeneration overload (alarm code 18) will not. 3 Regeneration resistor used: None The regeneration processing circuit and regeneration overload (alarm code 18) will not operate, and all regenerative energy will be processed by the built-in capacitor. * Do not touch the External Regeneration Resistor. It can be very hot and may cause burns. * Always provide a temperature fuse or other protective measure when using an External Regeneration Resistor. Regardless of whether the regeneration overload is enabled or disabled, the External Regeneration Resistor can become extremely hot and may cause burning. * Set this parameter depending on whether the built-in regeneration resistor is used, or the built-in regeneration resistor is disconnected and an External Regeneration Resistor is connected. (The External Regeneration Resistor is connected between B1 and B2.) * To use the built-in regeneration resistor, always set this parameter to 0. Pn6D Momentary Hold Time Setting range 35 to 1000 All modes Unit 2 ms Default setting 35 Power OFFON Yes * Use this parameter to set the amount of time required until shutoff is detected if the main power supply remains shut off. * The main power OFF detection will be disabled if this parameter is set to 1000. Pn6E Emergency Stop Torque Setting range 0 to 500 All modes Unit % Default setting 0 Power OFFON --- * Use this parameter to set the torque limit for the following cases. * Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input (Pn66) set to 2. * Deceleration with the Stop Selection with Main Power OFF (Pn67) set to 8 or 9. * Deceleration with the Stop Selection with Servo OFF (Pn69) set to 8 or 9. * The normal torque limit will be used if this parameter is set to 0. Pn70 Deviation Counter Overflow Level Setting range 0 to 32767 Unit 256 x resolution Default setting 100 * Use this parameter to set the deviation counter overflow level. * The set value is calculated using the following formula. Set value = Deviation counter overflow detection pulses [pulses]/256 5-91 Power OFFON --- 5-16 User Parameters * If the positioning loop gain is small and the setting of this parameter is too small, a deviation counter overflow (alarm code 24) may be detected even during normal operation. * Deviation counter overflow (alarm code 24) will not be detected if this parameter is set to 0. Pn71 Speed Command/Torque Command Input Overflow Level Setting Setting range 0 to 100 Unit 0.1 V Default setting Speed Torque 0 --- Power OFFON * Use this parameter to set the overflow level for Speed Command Input (REF: CN1 pin 14) or Torque Command Input (TREF1: CN1 pin 14) using voltage after offset adjustment. * Excessive analog input (alarm code 39) will not be detected if this parameter is set to 0. Overload Detection Level Setting Setting range 0 to 500 Unit All modes % Default setting 0 Power OFFON --- * Use this parameter to set the overload detection level. * The overload detection level will be 115% if this parameter is set to 0. * This parameter should normally be set to 0. The setting should be changed only when it is necessary to reduce the overload detection level. * The setting of this parameter is limited to 115% of the Servomotor rating. Pn73 Overspeed Detection Level Setting Setting range 0 to 20000 Unit All modes r/min Default setting 0 Power OFFON --- * Use this parameter to set the overspeed detection level. * The overspeed detection level will be 1.2 times the maximum Servomotor rotation speed if this parameter is set to 0. * This parameter should normally be set to 0. The setting should be changed only when it is necessary to reduce the overspeed detection level. * The setting of this parameter is limited to 1.2 times the maximum Servomotor rotation speed. * The detection margin of error for the setting is 3 r/min for a 7-core absolute encoder and 36 r/min for a 5-core incremental encoder. 5-92 5 Operating Functions Pn72 Chapter 6 Operation 6-1 Operational Procedure ....................................... 6-1 6-2 Preparing for Operation...................................... 6-2 Items to Check Before Turning ON the Power......................6-2 Turning ON Power ................................................................6-3 Checking Displays ................................................................6-3 Absolute Encoder Setup .......................................................6-5 6-3 Using the Parameter Unit................................... 6-6 Names of Parts and Functions..............................................6-6 6-4 Setting the Mode ................................................ 6-7 Changing the Mode...............................................................6-7 Monitor Mode ........................................................................6-8 Parameter Setting Mode .......................................................6-17 Parameter Write Mode ..........................................................6-19 Normal Mode Autotuning ......................................................6-20 Auxiliary Function Mode........................................................6-21 Copy Mode............................................................................6-25 6-5 Trial Operation ................................................... 6-28 Preparation for Trial Operation .............................................6-28 Trial Operation in Position Control Mode ..............................6-28 Trial Operation in Speed Control Mode ................................6-29 Trial Operation in Torque Control Mode ...............................6-29 6-1 Operational Procedure 6-1 Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and Servo Drive. Then make the function settings as required according to the use of the Servomotor and Servo Drive. If the parameters are set incorrectly, there is a risk of an unpredictable Servomotor operation. Set the parameters according to the instructions in this manual. Item Mounting and installation Reference 4-1 Installation Conditions Wiring and connections Connect the Servomotor and Servo Drive to the power supply and peripheral devices. Specified installation and wiring requirements must be satisfied, particularly for models conforming to the EC Directives. Preparing for operation Check the necessary items and then turn ON the power supply. Check on the display to see whether there are any internal errors in 6-2 Preparing for the Servo Drive. Operation If using a Servomotor with an absolute encoder, first set up the absolute encoder. 6 Operation Contents Install the Servomotor and Servo Drive according to the installation conditions. (Do not connect the Servomotor to the mechanical system before checking the no-load operation.) Setting functions By means of the user parameters, set the functions according to the operating conditions. 4-2 Wiring 5-16 User Parameters First, test operation without a load connected to the motor. Then turn the power OFF and connect the mechanical system to the motor. If using a Servomotor with an absolute encoder, set up the absolute encoder and set the Motion Control Unit's initial parameters. Turn ON the power, and check to see whether protective functions, 6-5 Trial OperaTrial operation tion such as the emergency stop and operational limits, work properly. Check operation at both low speed and high speed using the system without a workpiece, or with dummy workpieces. Even without a load, the Servomotor may vibrate. If the Inertia Ratio (Pn20) is set low, adjust the gain as required for operation. Adjustments Operation 6-1 Manually adjust the gain if necessary. Further adjust the various functions to improve the control performance. Chapter 7 Adjustment Functions Operation can now be started. If any problems should occur, refer to Chapter 8 TrouChapter 8 Troubleshooting. bleshooting 6-2 Preparing for Operation 6-2 Preparing for Operation This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the Servomotor and Servo Drive. It explains what you need to check both before and after turning ON the power. It also explains the setup procedure required if using a Servomotor with an absolute encoder. Items to Check Before Turning ON the Power Checking Power Supply Voltage * Check to be sure that the power supply voltage is within the ranges shown below. R88D-GT@L (single-phase 100 VAC input) Main-circuit power supply: Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz Control-circuit power supply: Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz R88D-GT20H/30H/50H/75H (three-phase 200 VAC input) Main-circuit power supply: Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz Control-circuit power supply: Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz Checking Terminal Block Wiring * The main-circuit power supply input lines (L1/L3 or L1/L2/L3) must be properly connected to the terminal block. * The control-circuit power supply inputs (L1C/L2C) must be properly connected to the terminal block. * The Servomotor's red (U), white (V), and blue (W) power lines and the green/yellow ground wire ( ) must be properly connected to the terminal block. Checking the Servomotor * There should be no load on the Servomotor. (Do not connect the mechanical system.) * The Servomotor's power lines and the power cables must be securely connected. Checking the Encoder Connectors * The Encoder Cable must be securely connected to the Encoder Connector (CN2) at the Servo Drive. * The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor. Checking the Control I/O Connectors * The Control Cable must be securely connected to the Control I/O Connector (CN1). * The RUN Command Input (RUN) must be OFF. Checking Parameter Unit Connections * When using the Parameter Unit (R88A-PR02G), the enclosed cable must be securely connected to the CN3B connector. 6-2 6 Operation R88D-GT01H/02H/04H/08H/10H/15H (single-phase or single-phase/three-phase 200 VAC input) Main-circuit power supply: Single-phase or single-phase/three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz Control-circuit power supply: Single-phase or single-phase/three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz 6-2 Preparing for Operation Turning ON Power * First carry out the preliminary checks, and then turn ON the control-circuit power supply. It makes no difference whether or not the main-circuit power supply is turned ON. * The alarm (/ALM) output will take approximately 2 seconds to turn ON after the power has been turned ON. Do not attempt to detect an alarm using the Host Controller during this time (if power is turned ON while the Host Controller is connected). Checking Displays Displays on the Servo Drive * The following will appear on the display on the Servo Drive when the power supply is turned ON. 8.8.8.8.8.8. Approx. 2 s 6 . . . . . . Approx. 0.6 s Operation 8k8k8k8k8k8k Approx. 0.6 s display (Determined rk k k k k0k ...Default by the setting of parameter Pn01.) 6-3 6-2 Preparing for Operation Displays on the Parameter Unit * Connect the Parameter Unit to the Servo Drive and turn ON the power to the Servo Drive, or alternatively, connect the Parameter Unit to the Servo Drive when power to the Servo Drive is already ON. The following displays will appear. 0.6 s 8.8.8.8.8.8. 8.8. 0.6 s . . . . . . . . 0.6 s 8k8k8k8k8k8k 8k8kk * The Parameter Unit is initialized. The display will flash every 0.6 s. Servo Drive with unit number 0 Communicating via RS-232 Only Communicating with Other Drives connected via RS-485 The Parameter Unit version is displayed. The dot will flash if RS-485 is connected. Set the unit number of the Drive to connect to using the Increment and Decrement keys. Ukekrk1.0k0k k1 The microcomputer version is displayed. (The numbers depend on the microcomputer version.) The Drive's unit number set in parameter Pn00 is displayed. 1s rk k k k k0k k1 Default Display (Determined by the setting of parameter Pn01.) Ukekrk1.0k0k k0. The Parameter Unit version is displayed. Ukekrk1.0k0k k3. The specified unit number is displayed. Press the Data key. (0.6 s later) rk k k k k0k k3. Default Display The specified unit number is displayed. 6-4 6 Operation Servo Drive with unit number other than 0 6-2 Preparing for Operation Absolute Encoder Setup ABS You must set up the absolute encoder if using a Servomotor with an absolute encoder. The setup is also required if an absolute encoder system down error (alarm code 40) occurs when you turn ON the power supply for the first time or if the encoder cable is disconnected and then connected again. When using an absolute encoder, set Pn0B to 0 or 2 and set Pn45 to 0. Absolute Encoder Setup Procedure 1. Turn ON the power supply and align the origin. Turn ON the power supply, perform the origin alignment operation, and move the machine to the origin position. 2. Go to Auxiliary Function Mode. Press the Data key and Mode key on the Servo Drive. Auxiliary Function Mode will be displayed. 3. Go to Absolute Encoder Clear Mode. Press the Data key again. Absolute Encode Clear Mode will be displayed. Auxiliary Function Mode 6 Select mode. Operation fknk_kokfk5. fknk_kjkokg. fknk_kakckl. fknk_keknkc. Execute. Automatic Offset Adjustment Mode Motor Trial Operation Mode Alarm Clear Mode Absolute Encoder Clear Mode okfk5k jkokgk akcklk eknkck k k k k k-. k-. k-. k-. 4. Start clearing the absolute encoder. Hold down the Increment key. Clearing the absolute encoder will be started. Hold down the Increment key for approx. 3 seconds. The number of dashes on the display will increase. eknkck k k-.k eknkck k-k-.k -k-k-k-k-k-.k Clearing the absolute encoder will be started. Clearing will be finished almost immediately. sktkakrktk k fkiknkikskh.k ekrkrkokrk .k Note: If you attempt to clear an incremental encoder, "Error" will be displayed. 5. Restart the Servo Drive. Turn OFF the control power supply to the Servo Drive and then turn it back ON. 6-5 6-3 Using the Parameter Unit 6-3 Using the Parameter Unit Names of Parts and Functions Connector Parameter Unit Cable Display area Operating area Operation 6 LED Display (6 Digits) If an error occurs, all digits will flash and the display will switch to the error display. 8.8.8.8.8.8. 8.8 Unit No. Display (2 Digits) Displays the selected Servo Drive's unit number set in the Unit No. Setting (Pn00). In Parameter Setting Mode, displays the 2-digit parameter number. Mode Key Switches between the following six modes. * Monitor Mode * Normal Mode Autotuning * Parameter Setting Mode * Auxiliary Function Mode * Parameter Write Mode * Copy Mode Increment/Decrement Key Increases or decreases parameter numbers or set values. Shift Key Shifts the digit being changed to the left. Data Key Switches between the parameter and setting displays, saves settings, etc. 6-6 6-4 Setting the Mode 6-4 Setting the Mode Monitor Changing the Mode Parameter Setting Parameter Unit default display Copy Auxiliary Function Normal Mode Autotuning Parameter Write Operation 6 6-7 6-4 Setting the Mode Monitor Mode Position deviation Position deviation: 8 pulses Servomotor speed 1000r/min Torque output: 100% Torque output Control mode Position control display I/O signal status Input signal No. 0 enabled No current errors Software version Software version 0.23 Warning display No current warnings Regeneration load ratio 30% of allowable regeneration energy Overload load ratio 6 Operation Alarm history Overload load ratio: 30% Inertia ratio: 100% Inertia ratio Total feedback pulses Total feedback pulses: 50 Total command pulses Total command pulses: 10 Not used. Not used. Automatic Servomotor recognition enabled/ disabled display Automatic Servomotor recognition enabled Communications method display RS-232 communications (Note: Front panel displays.) Communications selected. Parameter Unit Analog input value Reason for no rotation Front Panel REF input +10.00 V No servo ON input 6-8 6-4 Setting the Mode * The Servomotor speed will be displayed the first time the power is turned ON after purchase. To change the initial display when the power is turned ON, change the setting for the Default Display (Pn01). For details, refer to Pn01 Default Display on page 5-51. Position Deviation * Displays the number of accumulated pulses in the deviation counter (unit: pulse). * Accumulated pulses in reverse rotation are displayed with "-". Servomotor Speed * Displays the Servomotor speed (unit: r/min). * Speeds in reverse rotation are displayed with "-". Operation 6 Torque Output * Displays the percentage of Servomotor torque output. * When the rated toque output for the Servomotor is used, "100%" is displayed. * Torque outputs in reverse rotation are displayed with "-". Control Mode Position Control Mode Speed Control Mode Torque Control Mode * Displays whether position control, speed control, or torque control is being used. 6-9 6-4 Setting the Mode I/O Signal Status Input signal No. 00 ON Output signal No. 1A OFF or disabled ON OFF or disabled Signal No. display (0 to 1F hex) Input Output * Displays the status of the control input and output signals connected to CN1. Input Signals 6 CN1 Abbreviation 00 RUN 01 RESET 02 Name Pin No. RUN command 29 Alarm reset 31 NOT Reverse drive prohibit 8 03 POT Forward drive prohibit 9 04 TVSEL Control mode switch 32 05 VZERO Zero speed designation 26 06 GESEL Electronic gear switch 28 08 IPG Pulse disable 33 09 GSEL Gain switch 27 0A ECRST Deviation counter reset 30 0C VSEL1 Internally set speed selection 1 33 0D VSEL2 Internally set speed selection 2 30 13 DFSEL Vibration filter switch 26 14 VSEL3 Internally set speed selection 3 28 15 TLSEL Torque limit switch 27 Operation Signal No. 6-10 6-4 Setting the Mode Output Signals CN1 Signal No. Abbreviation 00 READY Servo Ready 35 01 /ALM Alarm Output 37 02 INP Positioning Completion Output 39 03 BKIR Brake Interlock 11 04 OUTM1 Zero Speed Detection 12 05 OUTM2 Torque Limiting 40 06 --- 09 TGON Name Speed Conformity Servomotor Rotation Speed Detection Pin No. 12/40 39 6 Operation Switching between Input Signals and Output Signals If the decimal point is at the right of the signal number, the signal number can be changed. Move the flashing decimal point with the Shift key. If the decimal point is at the right of the input/output indication, you can switch between inputs and outputs. Switches between inputs and outputs. The following procedure can also be used to switch between inputs and outputs. Press the Increment or Decrement key to select the signal number to be monitored. (Lowest input signal number) (Highest input signal number) (Lowest output signal number) (Highest output signal number) 6-11 6-4 Setting the Mode Alarm History Alarm code ("- -" is displayed if no alarms have occurred.) : Current alarm : Alarm 0 (newest alarm) : Alarm 13 (oldest alarm) * Up to the most recent 14 alarms, including the current one, can be viewed in the alarm history. * The display will flash when an alarm occurs. * If an alarm that is recorded in the history occurs, the alarm code for the current alarm and for alarm 0 will be the same. Operation 6 6-12 6-4 Setting the Mode Alarm Codes and Meanings Alarm codes Operation 6 Alarm codes Meaning 11 Control power supply undervoltage 45 Multi-turn counter error 12 Overvoltage 46 Encoder error 1 13 Undervoltage 47 Absolute encoder status error 14 Overcurrent 48 Encoder phase Z error 15 Servo Drive overheat 49 Encoder PS signal error 16 Overload 58 CPU error 1 18 Regeneration overload 60 CPU error 2 21 Encoder disconnection detected 61 CPU error 3 23 Encoder communications error 62 CPU error 4 24 Deviation counter overflow 63 CPU error 5 26 Overspeed 65 Excessive analog input 2 27 Electronic gear setting error 66 Excessive analog input 3 34 Overrun limit error 73 CPU error 6 36 Parameter error 77 CPU error 7 37 Parameter corruption 81 CPU error 8 38 Drive prohibit input error 94 Encoder error 2 39 Excessive analog input 1 95 Servomotor non-conformity 40 Absolute encoder system down error ABS 96 CPU error 9 Absolute encoder counter overflow error ABS 97 CPU error 10 42 Absolute encoder overspeed error ABS 99 CPU error 11 44 One-turn counter error 41 Note The following alarms are not recorded in the history. 11: Control power supply undervoltage 13: Undervoltage 36: Parameter error 37: Parameter corruption 38: Drive prohibit input error 95: Servomotor non-conformity Software Version * Displays the software version of the Servo Drive. 6-13 Meaning ABS 6-4 Setting the Mode Warning Display : No warning, : Warning Over-regeneration: 85% or more of the alarm level for regeneration overload. The alarm level will be 10% of the operating ratio of the regeneration resistance if the Regeneration Resistor Selection (Pn6C) is set to 1. Overload: 85% or more of the alarm level for overload. Absolute encoder battery voltage dropped to 3.2 V or less Fan lock: Abnormal cooling fan speed. Not used. Regeneration Load Ratio * Displays the regeneration resistance load ratio as a percentage of the detection level for the regeneration load. Overload Load Ratio * Displays the load ratio as a percentage of the rated load. Inertia Ratio Displays the inertia ratio as a percentage. Total Feedback Pulses and Total Command Pulses * Displays the total number of pulses after the power supply is turned ON. * The display on the front panel will overflow as shown in the following figure. 2,147,483,647 pulses 0 -2,147,483,647 pulses -2,147,483,647 pulses Power ON Forward Reverse * The display on the Parameter Unit will be as shown in the following figure. * Use the Shift key to switch the display between the upper and lower digits of the total number of pulses. Upper digits Lower digits Hk-k2k1kk4k7 4k8k3k6k4k7 * Hold down the Data key for 5 s or longer to reset the total pulses to 0. 6-14 Operation 6 6-4 Setting the Mode Automatic Servomotor Recognition Automatic recognition enabled (Always this indication is displayed.) Analog Input Value Display (Front Panel Operation) Input signal Input voltage (V) Press the Increment or Decrement key to select the signal to monitor. The REF analog input value (V) after offset adjustment is displayed. 6 The PCL analog input value (V) is displayed. Operation The NCL analog input value (V) is displayed. Note: The displayed value will not be accurate if the voltage exceeds 10 V. 6-15 6-4 Setting the Mode Reason for No Rotation Display (Front Panel Operation) A number is displayed to indicate the reason the Servomotor does not rotate. : Position control : Torque control : Speed control No. Reason Flash- Error or warning has ing occurred Reason number Relevant control modes Description All An error or warning has occurred. 0 No reason All No reason has been detected. The motor operation should be possible. 1 Main power supply interrupted All The main power supply to the Servo Drive is not turned ON. 2 No RUN input All The RUN command is not connected to COM. 3 Drive prohibit input is enabled All When Pn04 = 0 (drive prohibit input enabled): The Forward Drive Prohibit Input (POT) is open and the speed command is in the forward direction. The Reverse Drive Prohibit Input (NOT) is open and the speed command is in the reverse direction. 4 Low torque limit All The currently effective torque limit, Pn5E (No. 1 Torque Limit) or Pn5F (No. 2 Torque Limit), is less than 5% of the rated torque. 5 Analog torque limit input is enabled 6 IPG input is disabled P, S 6 When Pn03=0 (analog torque limit input): The forward analog torque limit input is negative and the speed command is in the forward direction. The reverse analog torque limit input is positive and the speed command is in the reverse direction. P Pn43 = 0 (Command Pulse Prohibited Input Enabled) and the IPG input is open. 7 Frequency of command pulse input is low P The position command per control cycle is 1 pulse or less and the following are some of the possible causes. The command pulse is not input correctly. The input specified in Pn40 is not connected correctly. The type of input specified in Pn41 or Pn42 is not correct. 8 ECRST input is enabled P Pn4E = 0 (Clear deviation counter when signal is closed for 100 s or longer) and the deviation counter reset input (ECRST) is connected to COM. 9 VZERO input is enabled S, T Pn06 = 1 (zero-speed designation input enabled) and the Zero-speed Designation Input (VZERO) is open. 10 External speed command is low S The analog speed command is 0.06 V or smaller when the analog speed command is selected. 11 Internal speed command is zero S The internal speed command is 30 r/min or less when the internal speed command is selected. 12 Torque command is low T The analog torque command input (REF or PCL) is 5% or less of the rated torque. 13 Speed limit is low T Pn5B = 0 (limit speed with No. 4 Internally Set Speed) and the No. 4 Internally Set Speed (Pn56) is 30 r/min or lower. Pn5B = 1 (limit speed with REF input) and the analog speed command input (REF) is 0.06 V or lower. 14 Other All Reasons 1 to 13 do not apply, but the motor is rotating at 20 r/min or lower. (Command is low, load is heavy, load is locked, load has hit something, Servo Drive is faulty, Servomotor is faulty, etc.) Note The Servomotor may rotate even if a reason number other than 0 is displayed. 6-16 Operation Control mode 6-4 Setting the Mode Parameter Setting Mode 1. Displaying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. Press the Data key to display Monitor Mode. Press the Mode key to display Parameter Setting Mode. 2. Setting the Parameter Number Key operation Display example Use the Shift, Increment, and Decrement keys to set the parameter number. If the parameter number is large, the setting can be made more quickly by using the Shift key to change the digit that is being set. The decimal point will flash for the digit that can be set. 6 Operation Explanation 3. Displaying the Parameter Setting Key operation Display example 4k0 Explanation Press the Data key to display the setting. 4. Changing the Parameter Setting Key operation Display example Explanation Use the Shift, Increment, and Decrement key to change the setting. The decimal point will flash for the digit that can be set. Press the Data key to save the new setting. 6-17 6-4 Setting the Mode 5. Returning to Parameter Setting Mode Display example Explanation Press the Data key to return to Parameter Setting Mode. Precautions for Correct Use Some parameters will be displayed with an "r" before the number when the display returns to the Parameter Setting Mode Display. To enable the settings that have been changed for these parameters, you must turn the power supply OFF and ON after saving the parameters to the EEPROM. When the setting for a parameter is saved, the new setting will be used for control. Make gradual rather than large changes when changing values for parameters that greatly affect motor operation. This is particularly true for the speed loop gain and position loop gain. For details on parameters, refer to Parameters Details on page 5-50. 6 Operation Key operation 6-18 6-4 Setting the Mode Parameter Write Mode Settings changed in Parameter Setting Mode must be saved to EEPROM. To do so, the following procedure must be performed. 1. Saving Changed Settings Key operation Display example Explanation Press the Mode key to display Parameter Write Mode. Press the Data key to enter Parameter Write Mode. Press the Increment key for 5 s or longer. The bar indicator will increase. Writing will start. (This display will appear only momentarily.) 6 Operation This display indicates a normal completion. In addition to the "Finish," either "Reset" or "Error" may be displayed. If "Reset" is displayed, writing has been completed normally, but some of the changed parameters will be enabled only after the power has been turned OFF and ON again. Turn OFF the Servo Drive power supply and then turn it ON again. "Error" is displayed if there is a writing error. Write the data again. 2. Returning to Parameter Write Mode Key operation Display example Explanation Press the Data key to return to Parameter Write Mode. Precautions for Correct Use 6-19 If a write error occurs, write the data again. If write errors continue to occur, there may be a fault in the Servo Drive. Do not turn OFF the power supply while writing to EEPROM. Incorrect data may be written if the power supply is turned OFF. If the power supply is turned OFF, perform the settings again for all parameters, and write the data again. Do not disconnect the Parameter Unit from the Servo Drive during the time from writing start ("Start") to writing completion ("Finish" or "Reset"). If the Parameter Unit is disconnected, repeat the procedure from the beginning. 6-4 Setting the Mode Normal Mode Autotuning For details on normal mode autotuning, refer to Normal Mode Autotuning on page 7-16. This section describes only the operating procedure. 1. Displaying Normal Mode Autotuning Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. Press the Data key to display Monitor Mode. Press the Mode key three times to display Normal Mode Autotuning. 2. Executing Normal Mode Autotuning Key operation Display example 6 Explanation Press and hold the Increment key until "Start" is displayed. The bar indicator will increase when the key is pressed for 5 s or longer. The bar indicator will increase. The Servomotor will start, and normal mode autotuning will begin. This display indicates a normal completion. "Error" will be displayed if a tuning error has occurred. 3. Returning to Normal Mode Autotuning Key operation Display example Explanation Press the Data key to return to Normal Mode Autotuning. Precautions for Correct Use For details on normal mode autotuning, refer to Normal Mode Autotuning on page 7-16. This section describes only the operating procedure. Always save each gain value changed with normal mode autotuning in the EEPROM so that the data is not lost when the power is turned OFF or for some other reason. If a tuning error occurs, the values for each gain will return to the values before executing the tuning. 6-20 Operation Press the Data key to enter Normal Mode Autotuning. 6-4 Setting the Mode Auxiliary Function Mode Auxiliary Function Mode includes the alarm reset, automatic offset adjustment, absolute encoder reset, and jog operation. Displaying Auxiliary Function Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. Press the Data key to display Monitor Mode. Press the Mode key four times to display Auxiliary Function Mode. 6 Alarm Reset Operation 1. Executing Alarm Reset Key operation Display example Explanation Press the Data key to enter Alarm Reset Mode. Press and hold the Increment key until "Start" is displayed. The bar indicator will increase when the key is pressed for 5 s or longer. The bar indicator will increase. Alarm reset will start. This display indicates a normal completion. "Error" will be displayed if the alarm could not be reset. Reset the power supply to clear the error. 2. Returning to Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode. 6-21 6-4 Setting the Mode Automatic Offset Adjustment 1. Executing Automatic Offset Adjustment Key operation Display example okfksk k k-.k okfksk k-k-.k Explanation Press the Data key to enter Automatic Offset Adjustment Mode. Press and hold the Increment key until "Start" is displayed. The bar indicator will increase when the key is pressed for 5 s or longer. The bar indicator will increase. Automatic offset adjustment will start. This display indicates a normal completion. "Error" will be displayed if the automatic offset adjustment could not be performed. Set a valid control mode or make the setting so that the offset value does not exceed the range for the Speed Command Offset Adjustment (Pn52), and then perform the procedure again. 6 Note Do not perform this operation if a position loop has been configured with the host system. Key operation Display example fknk_kokfksk Precautions for Correct Use Operation 2. Returning to Auxiliary Function Mode Explanation Press the Data key to return to Auxiliary Function Mode. Automatic offset adjustment cannot be performed in Position Control Mode. Data is not written to the EEPROM simply by performing automatic offset adjustment. The data must be written to the EEPROM for the results to be saved. 6-22 6-4 Setting the Mode Absolute Encoder Reset ABS 1. Executing Absolute Encoder Reset Key operation Display example Explanation eknkck k k-. eknkck k-k-. Press the Data key to enter Absolute Encoder Reset Mode. Press and hold the Increment key until "Start" is displayed. The bar indicator will increase when the key is pressed for 5 s or longer. The bar indicator will increase. Absolute encoder reset will start. This display indicates a normal completion. "Error" will be displayed if the absolute encoder reset could not be performed. Check whether an unsupported encoder is connected, and then perform the procedure again. 6 Operation 2. Returning to Auxiliary Function Mode Key operation Display example Explanation fknk_keknkc Precautions for Correct Use 6-23 Press the Data key to return to Auxiliary Function Mode. The absolute encoder can be reset only with systems that use an absolute encoder. Do not disconnect the Parameter Unit from the Servo Drive until resetting the absolute encoder has completed. If the Parameter Unit is disconnected, reconnect it and make the settings from the beginning. 6-4 Setting the Mode Jog Operation 1. Executing Jog Operation Key operation Display example Explanation Press the Increment key to display the Jog Operation Mode from the alarm reset display in Auxiliary Function Mode. Press the Data key to enter Jog Operation Mode. Press and hold the Increment key until "Ready" is displayed. The bar indicator will increase when the key is pressed for 5 s or longer. The bar indicator will increase. This completes preparations for jog operation. The Servo will turn ON. Forward operation will be performed while the Increment key is pressed, and reverse operation will be performed while the Decrement key is pressed. The Servomotor will stop when the key is released. The speed set for the Jog Speed (Pn3D) will be used for jogging. 2. Returning to Auxiliary Function Mode Key operation Display example Explanation Press the Data key to return to Auxiliary Function Mode. The Servo lock will be released. 6-24 6 Operation Press and hold the Shift key until "Sev_on" is displayed. The decimal point will move to the left when the key is pressed for 3 s or longer. 6-4 Setting the Mode Copy Mode In Copy Mode, user parameters set in the Servo Drive can be copied to the Parameter Unit, and user parameters stored in the Parameter Unit can be copied to the Servo Drive. This function can be used to easily set the same user parameters for more than one Servo Drive. Copying from the Servo Drive to the Parameter Unit 1. Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. Press the Data key to display Monitor Mode. Press the Mode key five times to display Copy Mode. 6 Operation 2. Executing Copying Key operation Display example Explanation Press the Data key to enter Copy Mode. Press and hold the Increment key until "EEPCLR" is displayed. The bar indicator will increase when the key is pressed for 3 s or longer. The bar indicator will increase. ekekpkcklkr -k- Initialization of the EEPROM in the Parameter Unit will start. This display indicates a normal completion. 3. Returning to Copy Mode Key operation Display example Explanation Press the Data key to return to Copy Mode. Precautions for Correct Use 6-25 If "Error" is displayed before completion, repeat the procedure from the beginning. Press the Data key to clear the error. Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed. If the Parameter Unit is disconnected, connect it and then repeat the procedure from the beginning. If errors are repeatedly displayed, the following may be the cause: cable disconnection, connector contact failure, incorrect operation due to noise, or EEPROM fault in the Parameter Unit. 6-4 Setting the Mode Copying from the Parameter Unit to the Servo Drive 1. Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. Press the Data key to display Monitor Mode. Press the Mode key five times to display Copy Mode. Press the Increment key to switch to the copy display for copying from the Parameter Unit to the Servo Drive. 2. Checking the Servo Drive Model Code Key operation Display example 6 Explanation Press and hold the Increment key until "EEP_CH" is displayed. "DIFFER" will be displayed if a different model code is entered. The bar indicator will increase when the key is pressed for 3 s or longer. The bar indicator will increase. The Servo Drive model code is being checked. If a different model code has been entered, refer to 3. Different Model Codes below to perform the procedure. If the model codes match, the display will proceed to the display in 4. Executing Copying. 3. Different Model Codes Key operation Display example Explanation The decimal point will move to the left when the Shift key is pressed for 3 s or longer. The model codes are being matched. Press the Data key to cancel copying before completion. 6-26 Operation Press the Data key to enter Copy Mode. 6-4 Setting the Mode 4. Executing Copying Key operation Display example Explanation ekekpk_kckh -k- Writing user parameters to the EEPROM of the Servo Drive will start. This display indicates a normal completion. 5. Returning to Copy Mode Key operation Display example Explanation Press the Data key to return to Copy Mode. 6 Operation Precautions for Correct Use 6-27 If "Error" is displayed before completion, repeat the procedure from the beginning. Press the Data key to clear the error. If errors are repeatedly displayed, the following may be the cause: cable disconnection, connector contact failure, incorrect operation due to noise, or EEPROM fault in the Parameter Unit. Do not disconnect the Parameter Unit from the Servo Drive while copying is being performed. If the Parameter Unit is disconnected, incorrect data may be written and the data may be corrupted. Copy the user parameters again from the source Servo Drive to the Parameter Unit, and then copy the user parameters from the Parameter Unit to the other Servo Drive. 6-5 Trial Operation 6-5 Trial Operation When you have finished installation, wiring, and switch settings and have confirmed that status is normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system is electrically correct. If an error occurs during the trial operation, refer to Chapter 8 Troubleshooting to eliminate the cause. Then check for safety, and then retry the trial operation. Preparation for Trial Operation Checks before Trial Operation Check the following items before starting trial operation. Wiring * Make sure that all wiring is correct, especially the power supply input and motor output. * Make sure that there are no short-circuits. Check the ground for short-circuits as well. * Make sure that there are no loose connections. Operation 6 Power Supply Voltage * Make sure that the voltage corresponds to the rated voltage. Motor Installation * Make sure that the Servomotor has been securely installed. Disconnection from Mechanical System * If necessary, make sure that the Servomotor has been disconnected from the mechanical system. Brake * Make sure that the brake has been released. Trial Operation in Position Control Mode 1. Connect connector CN1. 2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM). 3. Turn ON the power supply to the Servo Drive. 4. Confirm that the parameters are set to the standard settings. 5. Set the outputs from the host device to agree with the Command Pulse Mode (Pn42). 6. Write the parameters to EEPROM and then turn OFF the power supply and turn it ON again. 7. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41). Servo ON status will be entered and the Servomotor will be activated. 8. Input a low-frequency pulse signal from the host device to start low-speed operation. 9. Check the Servomotor rotation speed in Monitor Mode. Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops when the command pulses are stopped. 6-28 6-5 Trial Operation Trial Operation in Speed Control Mode 1. Connect connector CN1. 2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM). 3. Turn ON the power supply to the Servo Drive. 4. Confirm that the parameters are set to the standard settings. 5. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41). Servo ON status will be entered and the Servomotor will be activated. 6. Close the Zero-speed Designation Input (VZERO) and gradually increase the DC voltage across the Speed Command Input (REF: CN1 pin 14) and AGND (CN1 pin 15) from 0 V. Check to see if the Servomotor rotates. 7. Check the Servomotor rotation speed in Monitor Mode. Check to see if the Servomotor is rotating at the specified speed and to see if the Servomotor stops when the command pulses are stopped. Use the following parameters to change the Servomotor rotation speed or direction. * Pn50: Speed Command Scale * Pn51: Command Speed Rotation Direction Switch 6 Trial Operation in Torque Control Mode Operation 1. Connect connector CN1. 2. Input power (12 to 24 VDC) for the control signals (+24VIN, COM). 3. Turn ON the power supply to the Servo Drive. 4. Confirm that the parameters are set to the standard settings. 5. Set a low speed in the No. 4 Internally Set Speed (Pn56). 6. Connect the RUN Command Input (RUN: CN1 pin 29) to COM (CN1 pin 41). Servo ON status will be entered and the Servomotor will be activated. 7. Apply a positive or negative DC voltage across the Torque Command Input (TREF1: CN1 pin 14) and AGND (CN1 pin 15). Check to see if the Servomotor rotates according to the direction (forward/reverse) set in Pn56. Use the following parameters to change the amount of the torque, direction of the torque, or speed limit for the command voltage. * Pn56: No. 4 Internally Set Speed (default value: 50 r/min) * Pn5C: Torque Command Scale * Pn5D: Torque Output Direction Switch 6-29 Chapter 7 Adjustment Functions 7-1 Gain Adjustment................................................. 7-1 Purpose of the Gain Adjustment ...........................................7-1 Gain Adjustment Methods.....................................................7-2 Gain Adjustment Procedure..................................................7-3 7-2 Realtime Autotuning........................................... 7-4 Realtime Autotuning Setting Method ....................................7-5 Operating Procedure.............................................................7-6 Fit Gain Function...................................................................7-7 Adaptive Filter .......................................................................7-11 Automatically Set Parameters...............................................7-12 7-3 Normal Mode Autotuning ................................... 7-14 Normal Mode Autotuning Setting Method .............................7-15 Automatically Set Parameters...............................................7-16 7-4 Disabling the Automatic Gain Adjustment Function ............................................................. 7-19 Disabling Realtime Autotuning..............................................7-19 Disabling the Adaptive Filter .................................................7-20 7-5 Manual Tuning ................................................... 7-21 Basic Settings .......................................................................7-21 Gain Switching Function .......................................................7-26 Machine Resonance Control.................................................7-30 Automatic Gain Setting .........................................................7-32 Instantaneous Speed Observer ............................................7-33 Damping Control ...................................................................7-35 7-1 Gain Adjustment 7-1 Gain Adjustment OMNUC G-Series Servo Drives provide realtime autotuning and normal mode autotuning functions. With these functions, gain adjustments can be made easily even by those who use a servo system for the first time. If you cannot obtain desired responsiveness with autotuning, use manual tuning. Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the host system with minimal time delay and maximum reliability. The gain is adjusted to bring the actual operation of the Servomotor as close as possible to the operations specified by the commands, and to maximize the performance of the machine. Example: Ball screw (r/min) +2000 Low Gain Setting High Gain Setting and Feed-forward Setting High Gain Setting 0 Actual Servomotor speed Command speed 7 -2000 0.0 125 250 Adjustment Functions Position Loop Gain: Speed Loop Gain: Speed Loop Integration Time Constant: Speed feed-forward Inertia Ratio: 7-1 375 20 40 50 0 300 0.0 125 250 Position Loop Gain: Speed Loop Gain: Speed Loop Integration Time Constant: Speed feed-forward Inertia Ratio: 375 0.0 70 50 Position Loop Gain: Speed Loop Gain: Speed Loop Integration Time Constant: Speed feed-forward Inertia Ratio: 30 0 300 125 250 375 100 80 20 500 300 7-1 Gain Adjustment Gain Adjustment Methods Realtime autotuning Fit gain function Automatic adjustAdaptive filter ment Normal Mode Autotuning Automatic gain adjustment reset Manual tuning (basic) Basic procedure Manual adjustment Explanation Realtime autotuning estimates the load inertia of the mechanical system in realtime and automatically sets the optimal gain according to the estimated load inertia. The fit gain function automatically searches for the appropriate rigidity setting by repeating input of an operation with a specified pattern to automatically make the rigidity setting for realtime autotuning when position control is performed. The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation and automatically sets the coefficient of the notch filter, which removes the resonance component from the torque command. Normal mode autotuning automatically sets the appropriate gain by operating the Servomotor with the command pattern automatically generated by the Servo Drive and estimating the load inertia from the torque required at that time. This function disables the default settings for realtime autotuning and the adaptive filter. Manual tuning is performed if autotuning cannot be executed due to restrictions on the control mode or load conditions or if ensuring the maximum responsiveness to match each load is required. Reference page 7-4 7-7 7-11 7-14 7-19 7 Position control mode adjustment 7-22 Speed control mode adjustment 7-24 Torque control mode adjustment Gain switching can be used with internal data or external signals to perform such actions as reducing vibration at stopGain switching ping, shortening stabilization time, and improving command follow-up. It is sometimes not possible to set the gain high because of vibration or sound due to resonance caused by shaft contorMachine resonance suppression tion when the machine rigidity is low. In these cases, two types of filters can be used to suppress resonance. This function initializes control parameters and gain switching parameters to settings that match the normal mode autoAutomatic gain setting tuning rigidity parameters before manual tuning is performed. The following application functions can be used to further Manual tuning (application) improve performance if the specifications cannot be satisfied using basic adjustment. The instantaneous speed observer both increases responsiveness and reduces vibration at stopping by estimating the Instantaneous speed observer Servomotor speed using a load model and improving the speed detection accuracy. Damping control reduces vibration by removing the vibration Damping control frequency component from the command when the end of mechanisms or devices vibrates. 7-25 7-26 7-30 7-32 7-33 7-35 Note 1. Take sufficient care for safety. Note 2. If oscillation occurs (e.g., abnormal sound or vibration), immediately turn OFF the power supply or let the servo OFF status occur. 7-2 Adjustment Functions Function 7-1 Gain Adjustment Gain Adjustment Procedure Start of adjustment Use automatic adjustment? No Yes Is command input possible? No Yes Realtime autotuning setting Normal mode autotuning Realtime autotuning Will rigidity also be set automatically? Yes No 7 Fit gain function Is operation OK? Adjustment Functions No Yes Is operation OK? Yes No Reset of automatic adjustment function (Default setting) Manual tuning Reset of automatic adjustment function Is operation OK? No Yes Writing in EEPROM End of adjustment Consult your OMRON representative. Gain Adjustment and Machine Rigidity Do the following to increase the machine rigidity: * Install the machine on a secure base so that it does not wobble. * Use couplings that have a high rigidity, and that are designed for servo systems. * Use a wide timing belt, and use a tension within the allowable axial load for the Servomotor. * Use gears with small backlash. The specific vibration (resonance frequency) of the mechanical system has a large impact on the gain adjustment. The servo system responsiveness cannot be set high for machines with a low resonance frequency (low machine rigidity). 7-3 7-2 Realtime Autotuning 7-2 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime, and automatically sets the optimal gain according to the estimated load inertia. Realtime autotuning can be applied to all control modes. Automatic gain adjustment Position/speed command Operation commands for actual conditions of use Automatic filter adjustment Position/speed control Adaptive filter Torque command Servomotor Current current control Servomotor Estimated resonance frequency Estimated load inertia Realtime autotuning Servo Drive Precautions for Correct Use Servomotor speed Encoder * Realtime autotuning may not function properly under the conditions described in the following table. If realtime autotuning does not function properly, use normal mode autotuning or manual tuning. 7 Load inertia Load Operating pattern * If the load inertia is too small or too large compared with the rotor inertia (i.e., less than 3 times, more than 20 times, or more than the applicable load inertia ratio). * If the load inertia changes quickly, i.e., in less than 10 seconds. * If the machine rigidity is extremely low. * If there is backlash or play in the system. * If the speed is continuously run at a low speed below 100 r/min. * If the acceleration/deceleration gradually changes at less than 2,000 r/min in 1 s. * If the acceleration/deceleration torque is too small compared with the unbalanced load and the viscous friction torque. * If a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not continue for at least 50 ms. 7-4 Adjustment Functions Conditions under which realtime autotuning does not function properly 7-2 Realtime Autotuning Realtime Autotuning Setting Method 1. Stop the Servomotor (i.e., turn the servo OFF). 2. Set the Realtime Autotuning Mode Selection (Pn21) to 1 to 7. The default setting is 1. Setting Realtime Autotuning Degree of change in load inertia during operation 0 Not used --- 1 2 No change in load inertia Normal mode Gradual changes in load inertia 3 Sudden changes in load inertia 4 No change in load inertia 5 Vertical axis mode 6 7 Gradual changes in load inertia Sudden changes in load inertia No gain switching mode No change in load inertia When the degree of load inertia change is high, set the value to 3 or 6. Use a setting of 4 to 6 when the vertical axis is used. Use setting 7 if vibration occurs due to gain switching. 7 Adjustment Functions 3. Set the Realtime Autotuning Machine Rigidity Selection (Pn22) to 0 or a low value. 4. Turn the servo ON, and operate the machine as normally. 5. To increase system responsiveness, gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection (Pn22). If the machine produces unusual noise or oscillation, return the Realtime Autotuning Machine Rigidity Selection to a low value (e.g., 0 to 3) immediately. 6. Write data to the EEPROM if the results are to be saved. 7-5 7-2 Realtime Autotuning Operating Procedure Insert the Parameter Unit connector into CN3B of the Servo Drive and turn ON the Servo Drive power supply. rk k k k k0k Setting Parameter Pn21 Press the key. Press the key. Select the number of the parameter to be set by using the and keys. Uknk_kskpkdk pknk_k k0k0. pknk_k k2k1. (Pn21 is selected in this example.) Press the 1. key. Change the value by using the Press the and keys. pknk_k k2k1. key. Setting Parameter Pn22 Press the key. pknk_k k2k2. key. Increase the value by using the key. Decrease the value by using the key. Press the 7 4 (Default setting) Adjustment Functions Select Pn22 by using the key. Writing to EEPROM Press the key. Press the key. The bars as shown in the figure on the right will increase when the key is pressed down for approx. 5 s. ekek_kskekt. ekekpk k k-. ekekpk k-k-. -k-k-k-k-k-. Writing will start (momentary display). sktkakrktk End fkiknkikskh. rkekskektk . ekrkrkokrkkkk. Writing completed. Writing error occurred. 7-6 7-2 Realtime Autotuning Fit Gain Function OMNUC G-Series products include a a fit gain function that automatically sets the rigidity to match the device when realtime autotuning is used at position control. A fully automatic search is performed for the optimal rigidity setting by repeating a specified reciprocating operation with position control. Position command (reciprocating command for trapezoidal speed waveform) + Position deviation - Position/ speed control ServoTorque motor Adaptive command Current current filter control Servomotor Estimated resonance frequency Estimated load inertia Servomotor speed Realtime autotuning (Stabilization Automatic setting of rigidity and gain table time) (Vibration detection) Encoder Fit gain function Servo Drive Precautions for Correct Use 7 * To be applicable, this function must satisfy the following conditions in addition to the conditions for realtime autotuning. Adjustment Functions Conditions under which the fit gain functions properly Realtime autotuning operation * The realtime autotuning operates normally. * The Servo is ON. * Pn21= 1 to 6. (Operation is not possible if Pn21 is 0 or 7.) Adaptive filter * The adaptive filter is enabled. Pn23 = 1: Enabled Control mode * The control mode is position control. Pn02 = 0: Position control Pn02 = 3: First control mode for position/speed control Pn02 = 4: First control mode for position/torque control * The position command is for reciprocating operation. * The time per position command is at least 50 ms. * The minimum frequency for the position command is 1 kpps. (Required to determine the start and end of the command.) Operating pattern Acceleration/deceleration (3,000 r/min/0.1 s) 1 s min. Command waveform ON Positioning completed 50 ms min. OFF 1 s min. * In addition to the precautions for realtime autotuning, be aware of the following conditions under which operation may not be performed correctly. If that occurs, use normal realtime autotuning. Conditions under which the fit gain does not function properly Operating pattern 7-7 * One position command is too short, i.e., less than two revolutions. * Positioning is not completed after the position command is completed and before the next position command starts. * The acceleration/deceleration is sudden, i.e., 3,000 r/min/0.1 s. 7-2 Realtime Autotuning Before starting the fit gain function, make the following settings using the fit gain window on the front panel, parameter setting mode, the Parameter Unit, or CX-Drive. Parameter Setting Realtime Autotuning Mode Selection (Pn21) Make one of the following settings. 1: Normal mode (almost no change) 2: Normal mode (gradual change) 3: Normal mode (sudden change) 4: Vertical axis mode (almost no change) 5: Vertical axis mode (gradual change) 6: Vertical axis mode (sudden change) Realtime Autotuning Machine Rigidity Selection (Pn22) 0: Realtime rigidity No. 0 Adaptive Filter Selection (Pn23) 1: Enabled Positioning Completion Range (Pn60) 17-bit encoder: 20 pulses min. 2,500 P/r encoder: 10 pulses min. Remarks The parameters at the left can also be set using the execution display in the fit gain window on the front panel. Operating Procedure 7 1. Set the front panel display to the execution display of the fit gain window. 2. With the dot at the far right flashing, decrease the rigidity to 0, and press the Decrement key on the front panel for 3 s min. to start the fit gain function. 3. Input a position command that satisfies the operating pattern conditions given in Precautions for Correct Use under Fit Gain Function on page 7-7. If the fit gain is completed normally, if it is completed with an error. (The will be displayed, and will be displayed display can be cleared using the keys.) * Time is required for the change to be made for fit gain operation. It may take approximately 2 or 3 min. depending on the equipment configuration, which may require up to approximately 50 reciprocating operations. Normally, the fit gain will be completed when the optimal realtime rigidity number is found. * will be displayed in the following cases. * The INP signal becomes unstable, or a realtime rigidity number without small vibration is not found. * The keys on the front panel are used while fit gain is operating or the applicable conditions are not satisfied. 7-8 Adjustment Functions (Refer to the Front Panel Display Example on page 7-9 for information on using the front panel.) 7-2 Realtime Autotuning Operating Procedure Front Panel Display Example Selection display Execution display Fit gain window Execution display in fit gain window aktk_kfkikt fk k1k-k1k0. (Pn23 = 1) Value set for Pn21 Perform the servo lock and set the rigidity to 0, and then press the key for 3 s while the dot ( ) at the far right is flashing as shown in the display above. Adjustment Functions 7 The front panel display will change to 000.000. 0k0k0.0k0k0 The front panel display will change along with the machine operation. Time is required before the change is made. 0k0k0.1k0k0 Fit gain will start. 4k0k0.4k0k0 fkiknkikskh. ekrkrkokrkkkk. Completed normally. Error occurred. Fit Gain Results If fit gain is completed normally, will be displayed, and will be displayed if it is completed with an error. To apply the results obtained from fit gain after resetting the power supply, write the data to the EEPROM. (Refer to the following description.) f. k1k-k1k4k . Move the dot ( ) to this point using the key, and press the key for 3 s min. to write the present settings to the EEPROM. 7-9 7-2 Realtime Autotuning Automatically Set Parameters The following parameters are set automatically. Parameter No. Parameter name Pn10 Position Loop Gain Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn1B Speed Feedback Filter Time Constant 2 Pn1C Torque Command Filter Time Constant 2 Pn20 Inertia Ratio Pn22 Realtime Autotuning Machine Rigidity Selection 7 Parameter No. Parameter name Set value Pn15 Feed-forward Amount 300 Pn16 Feed-forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 1 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 Pn36 Control Gain Switch 2 Setting 0 Precautions for Correct Use Adjustment Functions The following parameters are set automatically. (The settings will not change even if realtime autotuning is executed.) * Some degree of noise or vibration may occur during fit gain operation, but this is normally not a problem because the gain is lowered automatically. If the noise or vibration continues, however, press any key on the front panel to cancel the fit gain operation. 7-10 7-2 Realtime Autotuning Adaptive Filter The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation, and automatically sets the coefficient of the notch filter. This removes the resonance component from the torque command. Automatic gain adjustment Position/speed command Operation commands for actual conditions of use Automatic filter adjustment Position/speed control Torque command Current control Adaptive filter Servomotor current Servomotor Estimated resonance frequency Estimated load inertia Servomotor speed Realtime autotuning Encoder Servo Drive Precautions for Correct Use 7 * The adaptive filter operates under the following conditions. Conditions under which the adaptive filter operates Control mode * The control mode is not torque control. Adjustment Functions * The adaptive filter may not operate correctly under the following conditions. If it does not, take measures against resonance by following the manual adjustment procedure using Notch Filter 1 (Pn1D/1E) or Notch Filter 2 (Pn28 to 2A). * Refer to Machine Resonance Control on page 7-30 for details on notch filters. * Adaptive filter may not operate correctly under the following conditions. Conditions under which the adaptive filter does not function properly Resonance points * If the resonance frequency is 300 Hz or lower. * If the resonance peak or control gain is low, and the Servomotor speed is not affected by it. * If there are multiple points of resonance. Load * If the Servomotor speed with high-frequency components changes due to backlash or other non-linear elements. Command pattern * If the acceleration/deceleration suddenly changes, i.e. 3,000 r/min or more in 0.1 s. Operating Procedure 1. Set the Adaptive Filter Selection (Pn23) to 1. The adaptive filter will be enabled. Setting Adaptive filter Adaptive operation 0 Disabled --- 1 Yes Enabled 2 Yes (hold) Set the Adaptive Filter Selection to 2 if the resonance point may not have changed when the adaptive operation is completed (i.e., Pn2F does not change). 2. Write the data to the EEPROM if the results are to be saved. 7-11 7-2 Realtime Autotuning Precautions for Correct Use * An unusual noise or vibration may occur until the adaptive filter stabilizes after startup, immediately after the first servo ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn22) is increased, but this is not a problem if it disappears right away. If the unusual noise or vibration, however, continues for three or more reciprocating operations, take one or more of the following measures. * Write the parameters used during normal operation to the EEPROM. * Lower the Realtime Autotuning Machine Rigidity Selection (Pn22). * Disable the adaptive filter by setting the Adaptive Filter Selection (Pn23) to 0 (resetting the inertia estimation and the adaptive operation). * Manually set the notch filter. * Once unusual noise or vibration occurs, the Adaptive Filter Table Number Display (Pn2F) may have changed to an extreme value. In this case, also take the measures described above. * The Adaptive Filter Table Number Display (Pn2F) is written to the EEPROM every 30 minutes, and when the power supply is turned OFF and turned ON again, this data is used as the initial values for the adaptive operation. * The adaptive filter is normally disabled when torque control is performed, but the adaptive filter frequency used in the control mode before switching will be held if torque control has been selected by setting the Control Mode Selection (Pn02) to 4 or 5. Adjustment Functions 7 Automatically Set Parameters The following parameters are set automatically. Parameter No. Parameter name Pn10 Position Loop Gain Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn1B Speed Feedback Filter Time Constant 2 Pn1C Torque Command Filter Time Constant 2 Pn20 Inertia Ratio 7-12 7-2 Realtime Autotuning The settings for the following parameters are automatically set and cannot be changed. (The settings will not change even if realtime autotuning is executed.) Parameter No. Parameter name Set value Pn15 Feed-forward Amount 300 Pn16 Feed-forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting 10 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 Pn36 Control Gain Switch 2 Setting 0 Note 1. Parameters that are automatically set cannot be changed if realtime autotuning is enabled. Note 2. Pn31 is 10 when position control is used and the Realtime Autotuning Mode Selection (Pn21) is set to 1 to 6. Otherwise, it is 0. 7 Adjustment Functions Precautions for Correct Use 7-13 * Unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes after startup, immediately after the first servo turns ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn22) is increased. This is not a problem if it disappears right away. If the unusual noise or vibration, however, continues for three or more reciprocating operations, take the following measures in any order you can. * Write the parameters used during normal operation to the EEPROM. * Lower the Realtime Autotuning Machine Rigidity Selection (Pn22). * Manually set the notch filter. * Once unusual noise or vibration occurs, the Inertia Ratio (Pn20) may have changed to an extreme value. In this case, also take the measures described above. * Out of the results of realtime autotuning, the Inertia Ratio (Pn20) is automatically saved to the EEPROM every 30 minutes. Realtime autotuning will use this saved data as the default value when the power is turned OFF and turned ON again. * The Instantaneous Speed Observer Setting (Pn27) will automatically be disabled (0) if realtime autotuning is enabled. 7-3 Normal Mode Autotuning 7-3 Normal Mode Autotuning Normal mode autotuning operates the Servomotor according to command patterns automatically created in the Servo Drive, then estimates the load inertia based on the torque required at that time and automatically sets the appropriate gain. Position command Motor acceleration Normal mode autotuning Estimated load inertia Internal position command generation Automatic Torque gain adjustment command Position/ speed control Servomotor Current current control Servomotor Servomotor torque Servomotor speed Precautions for Correct Use Encoder 7 * Normal mode autotuning operates under the following conditions. Conditions under which normal mode autotuning operates Control mode Others All control modes can be used. * The servo is ON. * The deviation counter reset signal is not input. Note Set the Torque Limit Selection (Pn03) to 1. Operation may be incorrect if the setting is not 1. * Normal mode autotuning may not function properly under the conditions described in the following table. If normal mode autotuning does not function properly, use manual tuning. Conditions under which normal mode autotuning does not function properly Load inertia Load * If the load inertia is too small or too large compared with the rotor inertia (i.e., less than 3 times, more than 20 times, or more than the applicable load inertia ratio). * If the load inertia changes. * If the machine rigidity is extremely low. * If there is backlash or play in the system. Note 1. A tuning error will occur if an error occurs, the servo turns OFF, the main power supply is turned OFF, drive prohibit is enabled, or a deviation counter reset occurs while normal mode autotuning is in operation. Note 2. If normal mode autotuning is executed, and the load inertia cannot be estimated, the gain will remain the same as it was before normal mode autotuning. Note 3. When normal mode autotuning is being executed, the Servomotor output torque can be output to the maximum set in the No. 1 Torque Limit (Pn5E) parameter. Note 4. Take sufficient care to ensure safety. If vibration occurs, immediately turn OFF the power supply or the servo and return the gain to the default by using the parameter settings. 7-14 Adjustment Functions Servo Drive 7-3 Normal Mode Autotuning Normal Mode Autotuning Operation * Normal mode autotuning sets the responsiveness with the machine rigidity number. Machine Rigidity Numbers The degree of rigidity for the machine used is set to a number from 0 to F. The higher the rigidity of the machine, the higher the rigidity number and gain that can be set. Normally, start with a low rigidity number, increase the number in sequence while repeating normal mode autotuning, and stop before oscillation, unusual noise, or vibration occurs. * The operating pattern set in the Autotuning Operation Setting (Pn25) is repeated for up to five cycles. The operating acceleration doubles each cycle starting with the third cycle. Depending on the load, operation may end before completing five cycles or the operating acceleration may not change. This is not an error. Normal Mode Autotuning Setting Method 1. Set the operating pattern using the Autotuning Operation Setting (Pn25) parameter. 2. Move the load to a safe position even if the Servomotor performs the operating pattern set in Pn25. 3. Prohibit the command. 4. Turn the servo ON. 5. Start normal mode autotuning. 7 Start normal mode autotuning from the front panel or by using CX-Drive. Refer to Front Panel Display Example on page 7-9 for information on using the front panel. Adjustment Functions 6. Adjust the machine rigidity for the desired responsiveness at a level where vibration does not occur. 7. If there are no problems with the results, write the data to the EEPROM. 7-15 7-3 Normal Mode Autotuning Automatically Set Parameters Normal Mode Autotuning Parameter name Rigidity No. 0 1 2 3 4 5 6 7 8 9 A B C D E F Pn10 Position Loop Gain 12 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557 Pn11 Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant *2 Feed-forward Amount Feed-forward Command Filter Position Loop Gain 2 Speed Loop Gain 2 Speed Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2 Torque Command Filter Time Constant 2 *2 Inertia Ratio Instantaneous Speed Observer Setting Gain Switching Input Operating Mode Selection Control Gain Switch 1 Setting *1 Gain Switch 1 Time Gain Switch 1 Level Setting Gain Switch 1 Hysteresis Setting Position Loop Gain Switching Time Control Gain Switch 2 Setting 9 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310 62 31 25 21 16 14 12 11 9 8 7 6 5 4 4 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10 Pn12 Pn13 Pn14 Pn15 Pn16 Pn18 Pn19 Pn1A Pn1B Pn1C Pn20 Pn27 Pn30 Pn31 Pn32 Pn33 Pn34 Pn35 Pn36 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 50 50 50 50 50 50 50 19 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649 9 18 22 27 35 40 50 50 60 50 75 50 50 50 50 50 50 50 90 115 140 1170 210 250 310 7 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 999 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 253 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10 Estimated load inertia ratio 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 * The parameters Pn15, Pn16, Pn1A, Pn30, and Pn32 to Pn36 are set to fixed values. For normal mode autotuning, the default rigidity is 2. *1. The value is 10 for position control and 0 for speed and torque control. *2. The lower limit is set to 10 if a 17-bit encoder is used and to 25 if a 2,500-pulse/revolution encoder is used. 7-16 Adjustment Functions Parameter No. 7-3 Normal Mode Autotuning Front Panel Operating Procedure 1. Switch to the Normal Mode Autotuning from the Monitor Mode. Press the Data key and then press the Mode key three times to change the mode. For details, refer to Normal Mode Autotuning on page 6-20. rkkkkkkkkkkkkkkkk0 Servomotor rotation speed display (default display) 2. Input the machine rigidity number using the Increment and Decrement keys. Cannot be set to 0 when using the Parameter Unit. aktk_knkok0. Machine rigidity No. aktk_knkokf. Machine rigidity No.: High Press the key to move in the direction of the arrow. Press the key to move in the opposite direction of the arrow. 7 Adjustment Functions aktk_knkok0. Machine rigidity No.: Low Drive system Machine rigidity No. Ball screw direct coupling 6 to C Ball screw and timing belt 4 to A Timing belt 2 to 8 Gears, rack and pinion drives 2 to 8 Machines with low rigidity, etc. 0 to 4 3. Press the Data key to enter the Monitor/Run Mode. 4. Press and hold the Increment key until the display changes to The Servo will be ON for pin 29 of connector CN1. 7-17 . 7-3 Normal Mode Autotuning 5. Press the Increment key for approx. 3 s. The bar indicator will increase as shown in the following figure. The Servomotor will start to rotate. For a period of approximately 15 s, the Servomotor will make two revolutions in the forward/reverse direction, which will comprise one cycle and will be repeated up to five times. There is no problem if operation ends before five cycles have been completed. aktkuk k k-. aktkuk k-k-. -k-k-k-k-k-. sktkakrktk fkiknkikskh. ekrkrkokrkkkk. Tuning completed normally. Tuning error occurred. 6. Write the data to the EEPROM so that the gain values are not lost when the power supply is shut off. * Do not perform normal mode autotuning with the Servomotor or Servo Drive alone. The Inertia Ratio (Pn20) will become 0. Precautions for Correct Use Problem Likely cause Countermeasures An alarm has occurred, the servo is OFF, or the deviation counter is reset. * Do not operate the Servomotor near the Limit Switches or Origin Proximity Sensor. * Turn the servo ON. * Release the deviation counter reset. Values for Pn10 or other parameters related to gain are the same as before execution. The load inertia cannot be estimated. * Lower Pn10 to 10 and Pn11 to 50, and then execute again. * Make the adjustment manually. (Input the calculated load inertia.) The Servomotor does not rotate. The ECRST (pin 30) of CN1 is input. * Turn OFF the ECRST (pin 30) of CN1. An error is displayed. 7-18 Adjustment Functions 7 7-4 Disabling the Automatic Gain Adjustment Function 7-4 Disabling the Automatic Gain Adjustment Function This section provides precautions for disabling realtime autotuning and the adaptive filter. These functions are enabled by default. Precautions for Correct Use * When disabling the automatic adjustment function, the RUN Command Input (RUN) must be turned OFF. Disabling Realtime Autotuning By setting the Realtime Autotuning Mode Selection (Pn21) to 0, the automatic estimation of the Inertia Ratio (Pn20) will stop, and realtime autotuning will be disabled. However, the estimated Inertia Ratio (Pn20) will remain. If the Pn20 value is obviously incorrect, perform normal mode autotuning or calculate and set the appropriate value manually. 7 Adjustment Functions Precautions for Correct Use 7-19 * To enable the Realtime Autotuning Mode Selection (Pn21), turn OFF the RUN Command Input (RUN), and then turn it back ON. 7-4 Disabling the Automatic Gain Adjustment Function Disabling the Adaptive Filter The adaptive filter function, which performs automatic tracking in response to the load resonance, can be disabled by setting the Adaptive Filter Selection (Pn23) to 0. If the adaptive filter is disabled when it is correctly operating, suppressed resonance will become apparent, and noise or vibration may occur. Therefore, before disabling the adaptive filter, perform copying function to the Notch Filter 1 Frequency (Pn1D) of the Adaptive Filter Table Number Display (Pn2F) from the Fit Gain Window on the front panel (refer to Front Panel Display Example on page 7-9) or manually set the Notch Filter 1 Frequency (Pn1D) based on the Adaptive Filter Table Number Display (Pn2F) in the following tables. Pn2F Notch Filter 1 Frequency (Hz) Pn2F Notch Filter 1 Frequency (Hz) 0 (Disabled) 22 766 44 326 1 (Disabled) 23 737 45 314 2 (Disabled) 24 709 46 302 3 (Disabled) 25 682 47 290 4 (Disabled) 26 656 48 279 5 1482 27 631 49 269 (Disabled when Pn22 F) 6 1426 28 607 50 258 (Disabled when Pn22 F) 7 1372 29 584 51 248 (Disabled when Pn22 F) 8 1319 30 562 52 239 (Disabled when Pn22 F) 9 1269 31 540 53 230 (Disabled when Pn22 F) 10 1221 32 520 54 221 (Disabled when Pn22 E) 11 1174 33 500 55 213 (Disabled when Pn22 E) 12 1130 34 481 56 205 (Disabled when Pn22 E) 13 1087 35 462 57 197 (Disabled when Pn22 E) 14 1045 36 445 58 189 (Disabled when Pn22 E) 15 1005 37 428 59 182 (Disabled when Pn22 D) 16 967 38 412 60 (Disabled) 17 930 39 396 61 (Disabled) 18 895 40 381 62 (Disabled) 19 861 41 366 63 (Disabled) 20 828 42 352 64 (Disabled) 21 796 43 339 * Set the Notch Filter 1 Frequency (Pn1D) to 1,500 when disabling the adaptive filter using the above table. 7-20 7 Adjustment Functions Pn2F Notch Filter 1 Frequency (Hz) 7-5 Manual Tuning 7-5 Manual Tuning Basic Settings As described before, the OMNUC G-Series Servo Drives have an autotuning function. Depending on load conditions or other restrictions, however, readjustment may be required if the gain cannot be properly adjusted when autotuning is performed or the optimum responsiveness or stability is required to match each load. This section describes how to perform manual tuning for each control mode and function. Before Manual Setting The front panel or the Parameter Unit can be used to adjust the Servomotor (machine) while monitoring the operation or noise, but more reliable adjustment can be performed quickly by using waveform monitoring with the data tracing function of CX-Drive or by measuring the analog voltage waveform with the monitor function. Analog Monitor Output The actual Servomotor speed, command speed, torque, and number of accumulated pulses can be measured in the analog voltage level using an oscilloscope or other device. Set the type of signal to be output and the output voltage level by setting the SP Selection (Pn07) and IM Selection (Pn08). For details, refer to Control I/O Connector Specifications (CN1) on page 3-9 and Parameter Tables on page 5-32. Adjustment Functions 7 CX-Drive Data Tracing Commands to the Servomotor and Servomotor operation (e.g., speed, torque commands, and position deviation) can be displayed on a computer as waveforms. Refer to the CX-Drive Operation Manual (Cat. No. W453). RS-232 connection cable Connect to CN3B. (Do not connect to CN3A.) 7-21 7-5 Manual Tuning Position Control Mode Adjustment Use the following procedure to make adjustments in position control for the OMNUC G Series. Start of adjustment Never make extreme adjustment or changes to settings. Doing so will result in unstable operation and may lead to injuries. Adjust the gain in small increments while checking Servomotor operation. Disable realtime autotuning (Pn21 = 0 or 7). Set each parameter to the values in Table 1. Set the Inertia Ratio (Pn20) (value calculated at motor selection). Operate with a normal operating pattern and load. Positioning time and other operation performance satisfactory? No Yes End of adjustment Increase the Speed Loop Gain (Pn11), but not so much that it causes hunting when the servo is locked. Reduce the Speed Loop Integration Time Constant (Pn12), but not so much that it causes hunting when the servo is locked. Yes No Reduce the Speed Loop Gain (Pn11). Increase the Position Loop Gain (Pn10), but not so much that it causes overshooting. Increase the Speed Loop Integration Time Constant (Pn12). Write the data to EEPROM in the parameter write mode. End of adjustment If vibration does not stop no matter how many times you perform adjustments, or if positioning is slow: Increase the Torque Command Filter Time Constant (Pn14). 7-22 Adjustment Functions Does hunting (vibration) occur when the Servomotor is rotated? 7 7-5 Manual Tuning Set the following parameters. Table 1: Parameter Adjustment Values Parameter No. Adjustment Functions 7 Parameter name Guideline Pn10 Position Loop Gain 30 Pn11 Speed Loop Gain 50 Pn12 Speed Loop Integration Time Constant 40 Pn13 Speed Feedback Filter Time Constant 0 Pn14 Torque Command Filter Time Constant 160 Pn15 Feed-forward Amount 0 Pn16 Feed-forward Command Filter 0 Pn18 Position Loop Gain 2 30 Pn19 Speed Loop Gain 2 50 Pn1A Speed Loop Integration Time Constant 2 40 Pn1B Speed Feedback Filter Time Constant 2 0 Pn1C Torque Command Filter Time Constant 2 160 Pn1D Notch Filter 1 Frequency 1500 Pn1E Notch Filter 1 Width 2 Pn20 Inertia Ratio *1 *1. Input the Inertia Ratio (Pn20). The inertia ratio can be measured with normal mode autotuning or set to a calculated value. When the inertia ratio is unknown, enter 300 as the inertia ratio. 7-23 7-5 Manual Tuning Speed Control Mode Adjustment With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for the position control mode. Use the following procedure to adjust parameters except for setting the Position Loop Gain and Speed Feed-forward. Start of adjustment Never make extreme adjustment or changes to settings. Doing so will result in unstable operation and may lead to injuries. Adjust the gain in small increments while checking Servomotor operation. Disable realtime autotuning (Pn21 = 0 or 7). Set each parameter to the values in Table 1 (Pn11, Pn12, and Pn14 only). Set the Inertia Ratio (Pn20) (value calculated at motor selection). Operate with a normal operating pattern and load. Yes No End of adjustment Increase the Speed Loop Gain (Pn11), but not so much that it causes hunting when the servo is locked. 7 Reduce the Speed Loop Integration Time Constant (Pn12), but not so much that it causes hunting when the servo is locked. Does hunting (vibration) occur when the Servomotor is rotated? No Yes Reduce the Speed Loop Gain (Pn11). Write the data to EEPROM in the parameter write mode. Increase the Speed Loop Integration Time Constant (Pn12). End of adjustment If vibration does not stop no matter how many times you perform adjustments, or if positioning is slow: Increase the Torque Command Filter Time Constant (Pn14). 7-24 Adjustment Functions Speed responsiveness and other operational performance satisfactory? 7-5 Manual Tuning Torque Control Mode Adjustment Torque control is based on a speed control loop using the No. 4 Internally Set Speed (Pn56) or the Speed Command Input/Torque Command Input as the speed limit. This section describes the settings for these speed limit values. Setting Speed Limit Values Set the speed limit value in the No.4 Internally Set Speed (Pn56) (if the Torque Command/Speed Limit Selection (Pn5B) is set to 0) or input the speed limit value to the Speed Command Input/ Torque Command Input (REF/TREF1) (if the Torque Command/Speed Limit Selection (Pn5B) is set to 1). * When the Servomotor nears the speed limit, it will switch from torque control following the analog torque command to speed control commanded with speed limit values determined by the No. 4 Internally Set Speed (Pn56) or the Speed Command Input/Torque Command Input (REF/TREF1). * Parameters must be set according to the procedure given in Speed Control Mode Adjustment to perform stable operation when the speed is limited. * The input to the torque limit section will be small and the torque may not be produced as specified by the analog torque command if the No.4 Internally Set Speed (Pn56) or the Speed Command Input/Torque Command Input (REF/TREF1) is too small or if the Speed Loop Gain is too low or the Speed Loop Integration Time Constant is 1000 (disabled). Adjustment Functions 7 7-25 7-5 Manual Tuning Gain Switching Function With manual tuning, Gain 1 and Gain 2 can be set manually. The gain can be switched according to the operation. Switching from Gain 1 to Gain 2 can be used for the following applications. * To increase responsiveness by increasing the gain during operation. * To increase servo lock rigidity by increasing the gain when operation is stopped. * To switch to an optimal gain according to the operating mode. * To reduce the gain to suppress vibration when operation is stopped. Operation Status Gain Command speed Stop (Servo lock) Low gain (Gain 1) Drive High gain (Gain 2) 1 ms Stop (Servo lock) Low gain (Gain 1) Time 2 ms Vibration is suppressed by lowering the gain. Application Example Parameter No. Parameter name Perform manual tuning without gain switching. Set Gain 2 (Pn18 to Pn1C) to the same values as Gain 1 (Pn10 to Pn14). Pn10 Position Loop Gain 60 Pn11 Speed Loop Gain 50 Pn12 Speed Loop Integration Time Constant 16 Pn13 Speed Feedback Filter Time Constant 0 Pn14 Torque Command Filter Time Constant 50 Pn15 Feed-forward Amount 300 Pn16 Feed-forward Command Filter 50 Pn18 Position Loop Gain 2 60 Pn19 Speed Loop Gain 2 50 Pn1A Speed Loop Integration Time Constant 2 16 Pn1B Speed Feedback Filter Time Constant 2 0 Pn1C Torque Command Filter Time Constant 2 60 Set gain switching conditions (Pn30 to Pn35). Adjust Pn11 and Pn14 (for Gain 1) when stopped. 30 85 7-26 7 Adjustment Functions The example is for a case where noise is a problem when the Servomotor is stopped (servo lock), and the noise is reduced by switching to a lower gain setting after the Servomotor has stopped. Refer to Normal Mode Autotuning on page 7-16 for information on making adjustments. 7-5 Manual Tuning Parameter No. Pn20 Adjustment Functions Name Set gain switching conditions (Pn30 to Pn35). Inertia Ratio Pn31 Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting Gain Switch 1 Hysteresis Setting Position Loop Gain Switching Time 0 Pn34 Pn35 Adjust Pn11 and Pn14 (for Gain 1) when stopped. * Enter the value for load calculation if already known. * Perform normal mode autotuning and measure the inertia ratio. * The default is 300. Gain Switching Input Operating Mode Selection Control Gain Switch 1 Setting Pn30 7 Set Gain 2 (Pn18 to Pn1C) to the same values as Gain 1 (Pn10 to Pn14). Perform manual tuning without gain switching. 0 1 7 0 0 Setting Gain Switching Conditions Position Control Mode ({: Relevant parameter enabled, ---: Disabled) Gain Switch Setting Conditions for switching to Pn31 gain 2 Setting parameters for position control mode Figure Gain Switch Time *1 Gain Switch Level Setting Gain Switch Hysteresis Setting *2 Pn32 Pn33 Pn34 0 Always gain 1 --- --- --- --- 1 Always gain 2 --- --- --- --- 2 Switching using Gain Switch Input (GSEL) --- --- --- --- 3 Amount of change in torque command --- { { *3 (0.05%/166 s) { *3 (0.05%/166 s) 4 Always gain 1 A --- --- --- 5 Command speed --- { { (r/min) { (r/min) { *4 (pulse) 6 Amount of position deviation C { 7 Command pulses received D { --- --- 8 Positioning Completed Output F { --- --- 9 Actual Servomotor speed C { { (r/min) { (r/min) 10 Combination of command pulse input and speed G { { (r/min) *6 { (r/min) *6 7-27 { *4 (pulse) 7-5 Manual Tuning Speed Control Mode Gain Switch Setting Conditions for switching to Pn31 gain 2 Setting parameters for speed control mode Figure Gain Switch Time *1 Gain Switch Level Setting Gain Switch Hysteresis Setting *2 Pn32, 37 Pn33, 38 Pn34, 39 0 Always gain 1 --- --- --- --- 1 Always gain 2 --- --- --- --- 2 Switching using Gain Switch Input (GSEL) --- --- --- --- 3 Amount of change in torque command A { { *3 (0.05%/166 s) { *3 (0.05%/166 s) 4 Amount of change in speed command B { { *5 (10 r/min/s) { *5 (10 r/min/s) 5 Command speed C { { (r/min) { (r/min) Torque Control Mode Conditions for switching to Pn31 gain 2 Setting parameters for torque control mode Figure Gain Switch Time *1 Gain Switch Level Setting Gain Switch Hysteresis Setting *2 Pn32, 37 Pn33, 38 Pn34, 39 0 Always gain 1 --- --- --- --- 1 Always gain 2 --- --- --- --- 2 Switching using Gain Switch Input (GSEL) --- --- --- --- 3 Amount of change in torque command --- { { *3 (0.05%/166 s) { *3 (0.05%/166 s) *1. The Gain Switch Time (Pn32, Pn37) is used when returning from gain 2 to gain 1. *2. The Gain Switch Hysteresis Setting (Pn34, Pn39) is defined as shown in the following figure. *3. A setting of 200 is used for a 10% change in torque over a period of 166 s. 10%/166 s = setting of 200 x (0.05%/166 s). *4. Specify the encoder resolution based on the control mode. *5. The setting is 1 given the condition of a change in speed of 10 r/min. over a period of 1 s. *6. The delay, level, and hysteresis have different meanings when Pn31 = 10. (Refer to figure F.) Pn33 Pn34 0 Gain 1 Gain 2 Gain 1 Pn32 7-28 7 Adjustment Functions Gain Switch Setting 7-5 Manual Tuning Figure A Figure C Speed V Speed V Accumulated pulses H L Level Torque T Time Gain 1 T H L Level 1 Gain 2 Command speed S Figure D L H Time 1 2 2 Gain 1 1 2 1 Gain 1 Gain 2 1 1 Figure B H L Speed V Level 7 Time 2 Actual speed N Figure E Time Adjustment Functions Gain 1 Gain 2 Gain 1 INP Time Gain 1 1 Gain 2 Figure F Command speed S Actual speed N H Level L Time Gain 1 Gain 2 Gain 1 Gain 2 only for Speed Loop Integration Time Constant. Gain 1 for others. 7-29 7-5 Manual Tuning Machine Resonance Control When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus not allowing the gain to be set to a high value. In this case, the resonance can be suppressed by using the two filter types. Torque Command Filter (Pn14, Pn1C) The filter time constant is set to attenuate the resonance frequency. The cut-off frequency can be calculated using the following equation. Cut-off frequency (Hz) fc = 1 2T = 1 2 x parameter setting x 10-5 Notch Filter * Adaptive Filter (Pn23, Pn2F) The OMNUC G-Series Servo Drives use an adaptive filter to control vibration for loads that are difficult to handle with the previous notch filters and torque filters, such as when each device has a different resonance point. The adaptive filter is enabled by setting the Adaptive Filter Selection (Pn23) to 1. Pn23 Pn2F Parameter name Explanation Adaptive Filter Selection 1: The adaptive filter is enabled. Adaptive Filter Table Number Display Displays the table number corresponding to the frequency for the adaptive filter. The setting of this parameter cannot be changed. 7 * Notch Filters 1 and 2 (Pn1D, Pn1E, Pn28, Pn29, and Pn2A) The OMNUC G-Series Servo Drives provide two normal notch filters. Notch Filter 1 can be used to adjust the frequency and width, and Notch Filter 2 can be used to adjust frequency, width, and depth with parameters. Parameter No. Parameter name Explanation Pn1D Notch Filter 1 Frequency Set 10% lower. Pn1E Notch Filter 1 Width Set according to the characteristics of the resonance points. Pn28 Notch Filter 2 Frequency Set 10% lower. Pn29 Notch Filter 2 Width Pn2A Notch Filter 2 Depth Set according to the characteristics of the resonance points. 7-30 Adjustment Functions Parameter No. 7-5 Manual Tuning Torque Command Filter Notch Filter Characteristics Machine characteristics at resonance Machine characteristics at resonance Resonance Gain Anti-resonance Notch Filter Characteristics Frequency Torque command filter characteristics Frequency -3dB Gain Notch f f Frequency Adjust a bit lower (approx. 0.9 f). Cut-off frequency No more resonance peak Frequency Resonance peak falls. Anti-resonance Anti-resonance 7 Frequency Frequency Adjustment Functions Examples of applicable devices Gain Gain Gain Frequency Frequency Frequency Speed response Devices that have a resonance point that changes due to individual differences and age deterioration Instantaneous Suppression Tracking the Resonance Point Devices that have a resonance point with a frequency that does not change Suppression of Large Resonance Point with a Frequency that Does not Change Devices that have a resonance peak in a frequency range separated from the speed response Lowering All Resonance Peaks in a High Frequency Range Width -3dB Torque command Automatic frequency tracking Adaptive filter 7-31 Frequency Cut-off frequency Notch filter Toque filter Torque command after filter 7-5 Manual Tuning Automatic Gain Setting Automatic gain setting initializes the control parameters and the gain switching parameters to gain settings for normal mode autotuning to match the rigidity before manual tuning is performed. Precautions for Correct Use * Stop operation before making changes when executing the automatic gain setting function. Operating Procedure Refer to Front Panel Display Example on page 7-9. 1. Stop operation. 2. Start the automatic gain setting function in the fit gain window on the front panel. If the fit gain is completed normally, will be displayed, and if it is completed with an error. (The display can be cleared using the keys.) will be displayed 3. Write data to the EEPROM if the results are to be saved. Automatically Set Parameters The following parameters are set automatically. Parameter name Pn10 Position Loop Gain Pn11 Speed Loop Gain Pn12 Speed Loop Integration Time Constant Pn13 Speed Feedback Filter Time Constant Pn14 Torque Command Filter Time Constant Pn18 Position Loop Gain 2 Pn19 Speed Loop Gain 2 Pn1A Speed Loop Integration Time Constant 2 Pn1B Speed Feedback Filter Time Constant 2 Pn1C Torque Command Filter Time Constant 2 7 Adjustment Functions Parameter No. Settings for the following parameters are set automatically. Parameter No. Parameter name Set value Pn15 Feed-forward Amount 300 Pn16 Feed-forward Command Filter 50 Pn27 Instantaneous Speed Observer Setting 0 Pn30 Gain Switching Input Operating Mode Selection 1 Pn31 Control Gain Switch 1 Setting Pn32 Gain Switch 1 Time 30 Pn33 Gain Switch 1 Level Setting 50 Pn34 Gain Switch 1 Hysteresis Setting 33 Pn35 Position Loop Gain Switching Time 20 Pn36 Control Gain Switch 2 Setting 0 10 *1 *1. The setting is 10 for position control and 0 for speed and torque control. 7-32 7-5 Manual Tuning Instantaneous Speed Observer The instantaneous speed observer improves speed detection accuracy, increases responsiveness, and reduces vibration at stopping by estimating the Servomotor speed using a load model. Speed command Torque command Current control Speed control Estimated speed Servomotor current Servomotor Load Instantaneous Speed Observer Load model (Total inertia) Feedback pulse To position control Encoder Servo Drive Precautions for Correct Use * The instantaneous speed observer cannot be used unless the following conditions are satisfied. Conditions under which the instantaneous speed observer operates 7 Adjustment Functions Control mode Encoder * Position control or speed control is used. Pn02 = 0: Position control Pn02 = 1: Speed control Pn02 = 3: Position/speed control Pn02 = 4: Position control only Pn02 = 5: Speed control only * A 7-core absolute encoder is used. * The instantaneous speed observer may not function properly or the effect may not be apparent under the following conditions. Conditions under which the instantaneous speed observer does not function properly Load Others 7-33 * If the margin of error with the actual device is too large for the inertia load of the Servomotor and load combined. Example : If there is a large resonance point at the frequency of 300 Hz or lower. : There is a non-linear element, such as large backlash. * If the load inertia changes. * If a large disturbance torque with high-frequency elements is applied. * If the stabilization range for positioning is extremely small. 7-5 Manual Tuning Operating Procedure 1. Set the Inertia Ratio (Pn20). Set the inertia ratio as correctly as possible. * Use the Pn20 setting if the Inertia Ratio (Pn20) is found using realtime autotuning that can be used in normal position control. * Input the calculated value if it is already known by load calculation. * If the inertia ratio is not known, perform normal mode autotuning and measure the inertia. 2. Perform adjustments for normal position control. * Refer to Position Control Mode Adjustment on page 7-22. 3. Set the Instantaneous Speed Observer Setting (Pn27). * Set the Instantaneous Speed Observer Setting (Pn27) to 1. The speed detection method will switch to Instantaneous Speed Observer. * If the change in torque waveform or the operation noise is large, return the setting to 0 and check the precautions above as well as the Inertia Ratio (Pn20) again. * If the change in torque waveform or the operation noise is small, make small adjustments in the Inertia Ratio (Pn20) to find the setting that makes the smallest change while monitoring the position deviation waveform and the actual speed waveform. If the Position Loop Gain or Speed Loop Gain is changed, the optimal setting for the Inertia Ratio (Pn20) may have changed, so set it again by making small adjustments. Adjustment Functions 7 7-34 7-5 Manual Tuning Damping Control When the machine end vibrates, damping removes the vibration frequency from the commands, reducing vibration. Vibrating end Vibration measured with Displacement Sensor Set the frequency of the vibrating end. Servo Drive Servomotor Position controller Position command Control filter Position/ speed control Torque command Current control Movement Ball screw Coupling Moving body Servomotor Machine table Load Feedback pulse Encoder Servo Drive Precautions for Correct Use * The following conditions must be met to use damping control. 7 Adjustment Functions Conditions under which damping control operates Control Mode * The Position Control Mode must be used. Pn02 = 0: Position control Pn02 = 3: Control mode 1 for position/speed control Pn02 = 4: Control mode 1 for position/torque control * Stop operation before changing the parameters or switching with DFSEL/PNSEL. * Under the following conditions, damping control may not operate properly or may have no effect. Conditions under which the effect of damping control is inhibited Load 7-35 * If forces other than commands, such as external forces, cause vibration. * If the ratio of the resonance frequency to anti-resonance frequency is large. * If the vibration frequency is outside the range of 10.0 to 200.0 Hz. 7-5 Manual Tuning Operating Procedure 1. Setting the Vibration Frequency (Frequency 1: Pn2B, Frequency 2: Pn2D) Measure the vibration frequency at the end of the machine. When the end vibration can be measured directly using a laser displacement sensor, read the vibration frequency f (Hz) from the waveform measurement and set it as the Vibration Frequency (Pn2B, Pn2D). If no measurement device is available, use CX-Drive data tracing function, and read the residual vibration frequency (Hz) from the position deviation waveform as shown in the following figure. * The following gives the vibration frequency in the figure. Position deviation Command speed Calculation of vibration frequency f (Hz) = 1 T(s) (Pn2B, Pn2D) = 10 x f * Example: When the vibration cycle is 100 ms and 20 ms, the vibration frequency is 10 Hz and 40 Hz, therefore set Pn2B = 100, Pn2D = 400. Vibration cycle T 2. Setting the Vibration Filter (Filter 1: Pn2C, Filter 2: Pn2E) Vibration filter setting appropriate Vibration filter setting too large Torque saturation Torque command * The vibration filter setting is restricted by the following equation. 10.0 Hz - Vibration frequency Vibration filter setting Vibration frequency 3. Set the Vibration Filter Selection (Pn24). Vibration filters 1 and 2 can be switched according to the conditions of the machine vibration. Pn24 Switching mode 0 No switching (1 and 2 both enabled) 1 Switching with DFSEL/PNSEL input Open: Vibration filter 1 Closed: Vibration filter 2 2 Switching with command direction Forward operation: Vibration filter 1 Reverse operation: Vibration filter 2 7 Adjustment Functions First, set the Vibration Filter (Pn2C, Pn2E) to 0. The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure. Set a range that will not cause torque saturation under actual operation conditions. The effects of vibration suppression will be lost if torque saturation occurs. 7-36 Chapter 8 Troubleshooting 8-1 Error Processing ................................................ 8-1 Preliminary Checks When a Problem Occurs .......................8-1 Precautions When Troubleshooting......................................8-2 Replacing the Servomotor and Servo Drive..........................8-2 8-2 Alarm Table........................................................ 8-3 8-3 Troubleshooting ................................................. 8-6 Error Diagnosis Using the Displayed Alarm Codes ..............8-6 Error Diagnosis Using the Operating Status .........................8-15 8-4 Overload Characteristics (Electronic Thermal Function) ............................ 8-20 Overload Characteristics Graphs ..........................................8-20 8-5 Periodic Maintenance......................................... 8-21 Servomotor Service Life........................................................8-21 Servo Drive Service Life .......................................................8-22 Replacing the Absolute Encoder Battery ..............................8-23 8-1 Error Processing 8-1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical tools required to determine the cause of a problem if one occurs. Checking the Power Supply Voltage * Check the voltage at the power supply input terminals. Main-circuit Power Supply Input Terminals (L1, L2, and L3) R88D-GT@L (50 W to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz R88D-GT@H (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz (750 W to 1.5 kW) : Three-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz (2 kW to 7.5 kW) : Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz Control Circuit Power Supply Input Terminals (L1C and L2C) R88D-GT@L (50 W to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz R88D-GT@H (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V), 50/60 Hz (2 kW to 7.5 kW) : Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz If the voltage is outside of this range, there is a risk of operation failure, so be sure that the power supply is correct. Troubleshooting 8 * Check the voltage of the sequence input power supply. (+24 VIN Terminal (CN1 pin 7)) Within the range of 11 to 25 VDC If the voltage is outside of this range, there is a risk of operation failure, so be sure that the power supply is correct. Checking Whether an Alarm Has Occurred * Evaluate the problem using the 7-segment LED display on the front panel and using the operation keys. You can also evaluate the problem by using the R88A-PR02G Parameter Unit. * When an alarm has occurred: Check the alarm code that is displayed (@@) and evaluate the problem based on the alarm that is indicated. * When an alarm has not occurred: Make an analysis according to the problem. * In either case, refer to 8-3 Troubleshooting for details. 8-1 8-1 Error Processing Precautions When Troubleshooting When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop, so always take the following precautions. You should assure that anything not described in this manual is not possible with this product. Precautions * Disconnect the cable before checking for wire breakage. Even if you test conduction with the cable connected, test results may not be accurate due to conduction via bypassing circuit. * If the encoder signal is lost, the Servomotor may run away, or an error may occur. Be sure to disconnect the Servomotor from the mechanical system before checking the encoder signal. * When measuring the encoder output, perform the measurement based on the SENGND (CN1 pin 13). When an oscilloscope is used for measurement, it will not be affected by noise if measurements are performed using the differential between CH1 and CH2. * When performing tests, first check that there are no persons in the vicinity of the equipment, and that the equipment will not be damaged even if the Servomotor runs away. Before performing the tests, verify that you can immediately stop the machine using an emergency stop even if the Servomotor runs away. Replacing the Servomotor and Servo Drive Use the following procedure to replace the Servomotor or Servo Drive. Replacing the Servomotor 1. Replace the Servomotor. 2. Perform origin position alignment (for position control). * When the Servomotor is replaced, the Servomotor's origin position (phase Z) may deviate, so origin alignment must be performed. * Refer to the Position Controller's manual for details on performing origin alignment. 3. Set up the absolute encoder. * If a Servomotor with an absolute encoder is used, the absolute value data in the absolute encoder will be cleared when the Servomotor is replaced, so setup is again required. The rotation data will be different from before the Servomotor was replaced, so reset the initial Motion Control Unit parameters. * For details, refer to Absolute Encoder Setup Procedure on page 6-5. Replacing the Servo Drive 1. Copy the parameters. Use the Parameter Unit or the operation keys on the Servo Drive to write down all the parameter settings. 2. Replace the Servo Drive. 3. Set the parameters. Use the Parameter Unit or the operation keys on the Servo Drive to set all the parameters. 4. Set up the absolute encoder. * If a Servomotor with an absolute encoder is used, the absolute value data in the absolute encoder will be cleared when the Servo Drive is replaced, so setup is again required. The rotation data will be different from before the Servo Drive was replaced, so reset the initial Motion Control Unit parameters. * For details, refer to Absolute Encoder Setup Procedure on page 6-5. 8-2 Troubleshooting 8 8-2 Alarm Table 8-2 Alarm Table If the Servo Drive detects an error, the Alarm Output (ALM) will turn ON, the power drive circuit in the Servo Drive will turn OFF, and the alarm code will be displayed. Precautions for Correct Use Troubleshooting 8 8-3 * Refer to Error Diagnosis Using the Displayed Alarm Codes on page 8-6 for appropriate alarm countermeasures. * Reset the alarm using one of the following methods. Remove the cause of the alarm first. * Turn ON the Alarm Reset Input (RESET). * Turn OFF the power supply, then turn it ON again. * Reset the alarm on the Parameter Unit. Note, however, that some alarms can only be cleared by recycling the power (turn ON OFF ON). Refer to the Alarms table on the next page. * If you clear an alarm while the RUN Command Input (RUN) is turned ON, the Servo Drive will start operation as soon as the alarm is cleared, which is dangerous. Be sure to turn OFF the RUN Command Input (RUN) before clearing the alarm. If the RUN Command Input (RUN) is always ON, first check safety sufficiently before clearing the alarm. 8-2 Alarm Table Alarms Error detection function Detection details and cause of error Alarm reset possible 11 Control power supply undervoltage The DC voltage of the main circuit fell below the specified value. Yes 12 Overvoltage The DC voltage in the main circuit is abnormally high. Yes 13 Main power supply undervoltage The DC voltage of the main circuit is low. Yes 14 Overcurrent Overcurrent flowed to the IGBT. Servomotor power line ground fault or short circuit. No 15 Servo Drive overheating The temperature of the Servo Drive radiator exceeded the specified value. No 16 Overload Operation was performed with torque significantly exceeding the rating for several seconds to several tens of seconds. Yes 18 Regeneration overload The regeneration energy exceeds the processing capacity of the regeneration resistor. No 21 Encoder communications error The encoder wiring is disconnected. No 23 Encoder communications data error Communications cannot be performed between the Encoder and the Servo Drive. No 24 Deviation counter overflow The number of accumulated pulses in the deviation counter exceeded the setting for the Deviation Counter Overflow Level (Pn70). Yes 26 Overspeed The Servomotor exceeded the maximum number of rotations. Yes 27 Electronic gear setting error The setting for the electronic gear ratio (Pn48 to 4B) is not appropriate. Yes Overrun limit error The Servomotor exceeded the allowable operating range set in the Overrun Limit Setting (Pn26) with respect to the position command input. Yes 36 Parameter error Data in the parameter save area was corrupted when the power supply was turned ON and data was read from the EEPROM. No 37 Parameter corruption The checksum for the data read from the EEPROM when the power supply was turned ON does not match. No 38 Drive prohibit input error The forward drive prohibit and reverse drive prohibit inputs are both turned OFF. Yes 39 Excessive analog input 1 A voltage exceeding the Speed Command/ Torque Command Input Overflow Level Setting (Pn71) was applied to the Speed Command Input (REF: CN1 pin 14). Yes 40 Absolute encoder system down error ABS The voltage supplied to the absolute encoder is lower than the specified value. Yes 41 Absolute encoder counter overflow error ABS The multi-turn counter of the absolute encoder exceeds the specified value. No 34 8 8-4 Troubleshooting Alarm code 8-2 Alarm Table Alarm code Error detection function The Servomotor rotation speed exceeds the specified value when only the battery power supply of the absolute encoder is used. Yes 42 44 Absolute encoder one-turn counter error A one-turn counter error was detected. No 45 An absolute encoder multi-turn counter or Absolute encoder multi-turn counter error incremental encoder phase-AB signal error was detected. No 46 Encoder error 1 The Servomotor is faulty. No 47 Absolute encoder status error The rotation of the absolute encoder is higher than the specified value. Yes 48 Encoder phase Z error A phase-Z pulse was not detected regularly. No 49 Encoder PS signal error A logic error was detected in the PS signal. No 58 CPU error 1 The Servo Drive is faulty. No 60 CPU error 2 The Servo Drive is faulty. No 61 CPU error 3 The Servo Drive is faulty. No 62 CPU error 4 The Servo Drive is faulty. No 63 CPU error 5 The Servo Drive is faulty. No Excessive analog input 2 A voltage exceeding the Speed Command/ Torque Command Input Overflow Level Setting (Pn71) was applied to the analog command input (CN1 pin 16). Yes 66 Excessive analog input 3 A voltage exceeding the Speed Command/ Torque Command Input Overflow Level Setting (Pn71) was applied to the analog command input (CN1 pin 18). Yes 73 CPU error 6 The Servo Drive is faulty. No 77 CPU error 7 The Servo Drive is faulty. No 81 CPU error 8 The Servo Drive is faulty. No 94 Encoder error 2 The Servomotor is faulty. No 95 Servomotor non-conformity The combination of the Servomotor and Servo Drive is not appropriate. The encoder was not connected when the power supply was turned ON. No 96 CPU error 9 The Servo Drive is faulty. No 97 CPU error 10 The Servo Drive is faulty. No 99 CPU error 11 The Servo Drive is faulty. No 65 Troubleshooting Alarm reset possible Absolute encoder overspeed error 8 8-5 Detection details and cause of error ABS ABS 8-3 Troubleshooting 8-3 Troubleshooting If an error occurs in the machine, determine the error conditions from the alarm indicator and operating status, identify the cause of the error, and take appropriate countermeasures. Error Diagnosis Using the Displayed Alarm Codes 11 Error Power supply undervoltage Status when error occurs Occurs when the power supply is turned ON. Cause Countermeasure * The power supply voltage is low. * Momentary power interruption occurred. * Power supply capacity is insufficient. * The power supply voltage is reduced because the main power supply is OFF. * The main power supply is not input. * Increase the power supply capacity. * Change the power supply. * Turn ON the power supply. * Power supply capacity is insufficient. * Increase the power supply capacity. * Phase loss. * Connect the phases (L1, L2, L3) of the power supply voltage correctly. * For single-phase, connect to L1 and L3 correctly. * The main circuit power supply is damaged. * Control PCB error. * Replace the Servo Drive. 8 8-6 Troubleshooting Alarm code 8-3 Troubleshooting Alarm code Error Status when error occurs Occurs when power supply is turned ON. Cause * Main circuit power supply voltage is outside allowable range. * Change the main circuit power supply voltage to within allowable range. * Load inertia is too great. * Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity. * Extend the deceleration time. * Main circuit power supply voltage is outside allowable range. * Change main circuit power supply voltage to within allowable range. * Gravitational torque is too large. * Add a counterbalance to the machine to lower gravitational torque. * Slow the descent speed. * Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity. * The power supply voltage is low. * Momentary power interruption occurred. * Power supply capacity is insufficient. * The power supply voltage is reduced because the main power supply is OFF. * The main power supply is not input. * Check the power supply capacity. * Change the power supply. * Turn ON the power supply. * Extend the Momentary Hold Time (Pn6D). * Phase loss. * Correctly connect the phases of the power supply voltage. Occurs when Servomotor is decelerating. 12 Overvoltage Occurs during descent (vertical axis). Troubleshooting 8 Occurs when the Servo Drive is turned ON. 13 Main power supply undervoltage * Correctly connect the single phase. Occurs when power supply is turned ON. * The main circuit power supply is damaged. * Control PCB error. 8-7 Countermeasure * Replace the Servo Drive. 8-3 Troubleshooting 14 15 Error Overcurrent Servo Drive overheating Status when error occurs Occurs when the Servo Drive is turned ON. Occurs during operation. Cause Countermeasure * Control PCB error * Replace the Servo Drive. * Servomotor power line is short-circuited or ground-faulted between phases. * Repair the short-circuited or ground-faulted wire. * Measure the insulation resistance at the Servomotor and, if there is a shortcircuit, replace the Servomotor. * Miswiring between phase U, phase V, phase W, and ground. * Correct the wiring. * Servomotor winding is burned out. * Measure the winding resistance, and if the winding is burned out, replace the Servomotor. * The relay for the dynamic brake has been consequently welded. * Do not frequently input the RUN Command Input. * Do not operate the system by turning the servo ON and OFF. * Servomotor non-conformity * Use a Servomotor that is appropriate for use with the Servo Drive. * The pulse input timing is too fast. * Wait 100 ms min. before inputting pulses after turning ON the RUN Command Input (RUN). * The resistor in the Servo Drive is abnormally overheating. * Reduce the ambient temperature of the Servo Drive to 55C or lower. * If the relay doesn't click when the power supply is turned ON, replace the Servo Drive. * The ambient temperature is too high. * The load is too large. * Lower the ambient temperature. * Increase the capacity of the Servo Drive and Servomotor. * Lighten the load. * Extend the acceleration and deceleration times. 8-8 8 Troubleshooting Alarm code 8-3 Troubleshooting Alarm code Error Status when error occurs Occurs when the Servo Drive is turned ON. 16 Overload Occurs during operation. Troubleshooting 8 8-9 Cause Countermeasure * There is an error in the Servomotor wiring (e.g., the wiring or the contacts are faulty). * Wire the Servomotor power cable correctly. * The electromagnetic brake is ON. * Turn OFF the brake. * The Servo Drive is faulty. * Replace the Servo Drive. * The actual torque exceeds the rated torque. * The starting torque exceeds the maximum torque. * Review the load conditions and operating conditions. * Review the Servomotor capacity. * An unusual noise, oscillation, or vibration is caused by faulty gain adjustment. * Adjust the gain correctly. * The Servo Drive is faulty. * Replace the Servo Drive. 8-3 Troubleshooting Error Status when error occurs Occurs when the Servomotor is decelerating. 18 Regeneration overload Cause * Load inertia is too great. * Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity. * Extend the deceleration time. * The deceleration time is too short. * The Servomotor rotation speed is too high. * Reduce the Servomotor rotation speed. * Extend the deceleration time. * Calculate the regenerative energy, and connect an External Regeneration Resistor with the required regeneration absorption capacity. * The operating limit of the External Regeneration Resistor is limited to 10%. * Set Pn6C to 2. For details, refer to Parameters Details on page 5-50. * Gravitational torque is too large. * Add a counterbalance to the machine to lower gravitational torque. * Reduce the descent speed. * Calculate the regenerative energy and connect an External Regeneration Resistor with the required regeneration absorption capacity. * The operating limit of the External Regeneration Resistor is limited to 10%. * Set Pn6C to 2. For details, refer to Parameters Details on page 5-50. * The encoder is disconnected. * Connector contacts are faulty. * Fix the locations that are disconnected. * Correct the wiring. * The encoder wiring is incorrect. * Correct the wiring * The encoder is damaged. * Replace the Servomotor. * The Servo Drive is faulty. * Replace the Servo Drive. * The Servomotor is mechanically being held. * If the Servomotor shaft is held by external force, release it. Occurs during descent (vertical axis) 21 Encoder communications error Occurs during operation. Countermeasure 8-10 8 Troubleshooting Alarm code 8-3 Troubleshooting Alarm code 23 Error Encoder communications data error Status when error occurs Occurs when the power supply is turned ON or during operation. Occurs when the Servomotor does not rotate even when command pulses are input. 8 Occurs during high-speed rotation. Troubleshooting 24 Deviation counter overflow Occurs when a long string of command pulses is given. Occurs during operation. 8-11 Cause Countermeasure * The encoder signal wiring is incorrect. * Correct the wiring. * Noise on the encoder wiring causes incorrect operation. * Take measures against noise on the encoder wiring. * The power supply voltage for the encoder has dropped (especially when the cable is long.) * Provide the required encoder power supply voltage (5 VDC5%). * The Servomotor power wiring or the encoder wiring is incorrect. * Correct the wiring. * The Servomotor is mechanically being held. * If the Servomotor shaft is held by external force, release it. * Release the electromagnetic brake. * Control PCB error. * Replace the Servo Drive. * The Servomotor power wiring or the encoder wiring is incorrect. * Correct the wiring. * Gain adjustment is insufficient. * Adjust the gain. * The acceleration and deceleration rapid. * Extend the acceleration and deceleration times. * The load is too large. * Reduce the load. * Select a suitable Servomotor. * The setting for the Deviation Counter Overflow Level (Pn70) was exceeded. * Increase the setting of Pn70. * Reduce the rotation speed. * Lighten the load. * Extend the acceleration and deceleration times. 8-3 Troubleshooting Error Status when error occurs Occurs during highspeed rotation. 26 Overspeed Occurs when torque limit switching is used. 27 34 36 37 Electronic gear setting error Overrun limit error Overrun limit error Parameter corruption 38 Drive prohibit input error 39 Excessive analog input 1 Occurs when command signal is input or command is input. Occurs during operation. Occurs when the power supply is turned ON. Occurs when the power supply is turned ON. Occurs when the Servo Drive is turned ON or during operation. Occurs during operation. Cause Countermeasure * The speed command input is too large. * Set the command pulse frequency to 500 kpps max. * The setting for the Electronic Gear Ratio Numerator (Pn48 or Pn49) is not appropriate. * Set Pn48 and Pn49 so that the command pulse frequency is 500 kpps max. * The maximum number of rotations is exceeded due to overshooting. * Adjust the gain. * Reduce the maximum command speed. * The encoder wiring is incorrect. * Correct the wiring * The Overspeed Detection Level Setting (Pn73) has been exceeded. * If torque limit switching is used, correctly set the allowable operating speed for Pn73. * The setting for the Electronic Gear Ratio Numerator (Pn48 or Pn49) is not appropriate. * Set Pn48 and Pn49 so that the command pulse frequency is 500 kpps max. * The Overrun Limit Setting (Pn26) is exceeded during operation. * Adjust the gain. * Increase the setting for Pn26. * Set Pn26 to 0 to disable the function. * There are data errors in the parameters that were read. * Reset all parameters. * The Servo Drive is faulty. * Replace the Servo Drive. * The parameters that were read are corrupt. * Replace the Servo Drive. * The Forward Drive Prohibit Input (POT) and Reverse Drive Prohibit Input (NOT) were both OFF at the same time. * Correct the wiring. * Replace the limit sensor. * Check whether the power supply for control is input correctly. * Check whether the setting for Drive Prohibit Input Selection (Pn04) is correct. * The voltage input to pin 14 is too high. * Lower the input voltage. * Change the value for Pn71. 8 8-12 Troubleshooting Alarm code 8-3 Troubleshooting Alarm code 40 Error Absolute encoder system down error ABS 41 Absolute encoder counter overflow error Status when error occurs Absolute encoder overspeed error ABS * Set up the absolute encoder. * Connect the battery power supply. Occurs during operation. * The multi-turn counter of the absolute encoder exceeds the specified value. * Properly set the Operation Switch when Using Absolute Encoder (Pn0B). Occurs when the power supply is turned ON. * The Servomotor rotation speed exceeds the specified value when the battery power supply is turned ON. * The wiring is incorrect. * Lower the Servomotor rotation speed and supply power. * Check the wiring. * The encoder is faulty. * Replace the Servomotor. * The encoder is faulty. * Replace the Servomotor. * The Servomotor is faulty. * Replace the Servo Drive. * Replace the Servomotor. * The Servomotor was moving when the power supply was turned ON. * Do not let the Servomotor move when the power supply is turned ON. 44 Absolute encoder one-turn counter error Occurs when the power supply is turned ON. 45 Absolute encoder multi-turn counter error Occurs when the power supply is turned ON. 46 Encoder error 1 Occurs when the power supply is turned ON 47 Absolute encoder status error Troubleshooting 8 ABS Countermeasure * The voltage supplied to the absolute encoder is low. Occurs when the power supply is turned ON or during operation. ABS 42 Cause Occurs when the power supply is turned ON. 48 Encoder phase Z error Occurs during operation. * A phase-Z pulse from the encoder was not detected regularly. * Replace the Servomotor. 49 Encoder PS signal error Occurs during operation. * A logic error was detected in the PS signal from the encoder. * Replace the Servomotor. 58 CPU error 1 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 60 CPU error 2 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 61 CPU error 3 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 62 CPU error 4 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 63 CPU error 5 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 65 Excessive analog input 2 * The voltage input to pin 16 is too high. * Reduce the input voltage. * Change the value for Pn71. 8-13 Occurs during operation. 8-3 Troubleshooting Error Status when error occurs Countermeasure * The voltage input to pin 18 is too high. * Reduce the input voltage. * Change the value for Pn71. Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. CPU error 7 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. CPU error 8 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. Encoder error 2 Occurs when the power supply is turned ON. * The Servomotor is faulty. * Replace the Servo Drive. * Replace the Servomotor. * The Servomotor and Servo Drive combination is incorrect. * Use a correct combination. * The encoder wiring is disconnected. * Wire the encoder. * Fix the locations that are disconnected. 66 Excessive analog input 3 Occurs during operation. 73 CPU error 6 77 81 94 Cause 95 Servomotor non-conformity Occurs when the power supply is turned ON. 96 CPU error 9 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 97 CPU error 10 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 99 CPU error 11 Occurs when the power supply is turned ON. * The Servo Drive is faulty. * Replace the Servo Drive. 8-14 8 Troubleshooting Alarm code 8-3 Troubleshooting Error Diagnosis Using the Operating Status Symptom The power LED indicator (PWR) does not light when the power supply is turned ON. Probable cause The power supply cable is wired incorrectly. Items to check Check whether the power supply input is within the allowed voltage range. Supply the correct voltage. Check whether the power supply input is wired correctly. Correct the wiring. The RUN Command Input is OFF. In monitor mode, check whether the RUN signal is ON or OFF. * Turn ON the RUN Command Input. * Correct the wiring. The Forward Drive Prohibit Input (POT) and Reverse Drive Prohibit Input (NOT) are OFF. In monitor mode, check whether the POT input and NOT input are ON or OFF. * Turn ON the POT and NOT inputs. * If the POT and NOT inputs are not used, disabled them. The control mode is not correct. Check the Control Mode Selection (Pn02). Set the control mode to match the command type. The Deviation Counter Reset Input (ECRST) is ON. In monitor mode, check whether the ECRST Input is ON or OFF. * Turn the ECRST Input OFF. * Correct the wiring. The Command Pulse Mode (Pn42) is incorrect. Check the Controller's command pulse type and the Servo Drive's command pulse type. 8 Troubleshooting The Zero Speed Designa- In monitor mode, check whether the tion Input (VZERO) is OFF. VZERO Input is ON or OFF. The Servomotor does not rotate even if commands are input from the Controller. (Continued on next page.) Countermeasures Set the Servo Drive's pulse type to match the Controller's command pulse type. * Turn ON the VZERO Input. * Correct the wiring. The internally set speeds are not set. Check the settings for Pn53 to Pn56 or Pn74 to Pn77. Set the desired speeds. No. 1 Torque Limit (Pn5E) or No. 2 Torque Limit (Pn5F) is set to 0. Check the setting for Pn5E or Pn5F. Return the setting to the default. Check the wiring. Correct the wiring. The Servomotor Power Cable is wired incorrectly. The Encoder Cable is wired incorrectly. Check the command pulse's wiring. Correct the wiring. The Control I/O Connector CN1) is wired incorrectly. The power supply is not ON. The speed command is disabled. 8-15 Check the command pulse type. Set the Servo Drive's pulse type to match the Controller's command pulse type. Check the command pulse's voltage. Connect a resistor that matches the voltage. Check whether the power supply is ON and check the PWR LED indicator. Turn ON the power supply. Check the voltage across the power supply terminals. Wire the power supply's ON circuit correctly. Check if the speed command procedure is correct. * Correctly set the external analog command. * Correctly set the internal speed. 8-3 Troubleshooting Probable cause The torque command is disabled. The Servomotor does not rotate even if commands are input from the Controller. The Servomotor operates momentarily, but then it does not operate after that. The Servomotor rotates without a command. The Servomotor rotates in the opposite direction from the command. Items to check Check if the torque command input procedure is correct. Countermeasures Correctly set the torque command. * Input the pulse signal either to the CW Input or CCW Input to the pulse signal. * Always turn OFF the terminal that is not being input to. The CW Input and CCW Input are ON at the same time. Check the command pulse's wiring. Servo Drive is faulty. --- The Servomotor Power Cable is wired incorrectly. Check the wiring of the Servomotor Wire correctly. Power Cable's phases U, V, and W. The Encoder Cable is wired incorrectly. Check the Encoder Cable's wiring. Wire correctly. Check the command pulse type. Set the correct command pulse input. Check the command pulse's voltage. Connect a resistor that matches the voltage. Servo Drive is faulty. --- Replace the Servo Drive. The CW input and CCW input connections are reversed. Check the Controller's command pulse type and the Servo Drive's command pulse type. Connect the CW pulse signal to the CW Input and the CCW pulse signal to the CCW Input. The command pulse input is incorrect. Replace the Servo Drive. 8 Troubleshooting Symptom 8-16 8-3 Troubleshooting Symptom Servomotor rotation is unstable. Probable cause Items to check The Servomotor Power Cable or Encoder Cable is wired incorrectly. Check the wiring of the Servomotor Power Cable's phases U, V, and W and check the Encoder Cable's wiring. The coupling system between the Servomotor shaft and the mechanical system has eccentricity or loose screws, or the torque is fluctuating due to engagement between pulleys or gears. Check the mechanical system's coupling section. The load's moment of inertia exceeds the Servo Drive's allowed value. Try rotating the Servomotor without a load. (Disconnect it from the mechanical system.) The pulse signal line's connections are loose. 8-17 Troubleshooting * Lighten the load. * Replace the Servomotor and Servo Drive with higher capacity models. Check the pulse signal wiring at the Controller and Servo Drive. Wire correctly. Check the Controller's command pulse type and the Servo Drive's command pulse type. Set the Servo Drive's pulse type to match the Controller's command pulse type. * Use normal mode autotuning. * Adjust the gain manually. The CN1 input signal is chattering. Check the RUN Command Input (RUN), Deviation Counter Reset Input (ECRST), Zero Speed Designation Input (VZERO), Internally set Speed Selection 1 Input (VSEL1) and Internally Set Speed Selection 2 Input (VSEL2). Correct the wiring so that there is no chattering. The ambient temperature is too high. Check that the ambient temperature around the Servomotor is below 40C. Lower the ambient temperature to 40C or less. (Use a cooler or fan.) Ventilation is obstructed. Check to see whether anything is blocking ventilation. Improve ventilation. The Servomotor is vibrating. The Servomotor does not stop or is hard to stop even if the RUN Command Input (RUN) is turned OFF while the Servomotor is rotating. Review and adjust the machine. --- The Servomotor is overloaded. The holding brake is ineffective. Wire correctly. The gain is wrong. 8 The Servomotor is overheating. Try rotating the Servomotor without a load. (Disconnect it from the mechanical system.) Countermeasures Power is supplied to the holding brake. Try rotating the Servomotor without a load. (Disconnect it from the mechanical system.) * Reduce the load. * Replace the Servomotor and Servo Drive with higher capacity models. Check whether power is supplied to the holding brake. Configure a circuit that cuts power to the holding brake when the motor stops and the load is held by the holding brake. Check the following: * Is the load too large? The load inertia is too large. * Is the Servomotor speed too high? Re-evaluate the load conditions and replace the Servomotor/Servo Drive with appropriate models if necessary. The stop circuit failed. Replace the Servo Drive. --- 8-3 Troubleshooting Probable cause Countermeasures Check whether the Servomotor's mounting screws are loose. Tighten the mounting screws. Check whether the axes are misaligned in the mechanical coupling system. Align the mechanical couplings. Check whether the coupling is unbalanced. Adjust the coupling's balance. There is a problem with the bearings. Check for noise or vibration around the bearings. Contact your OMRON representative. The gain is wrong. --- The Speed Feedback Filter Time Constant (Pn13) is wrong. Check the setting of Pn13. Return the setting to 0 (default) or increase the setting. Noise is entering the Control I/O Cable because the cable does not meet specifications. Check that the cable wire is a twisted-pair wire or shielded twisted-pair cable with wires of at least 0.08 mm2. Use Control I/O Cable that meets specifications. Noise is entering the Control I/O Cable because the cable is longer than the specified length. Check the length of the Control I/O Cable. Shorten the Control I/O Cable to 3 m or less. Noise is entering the cable because the Encoder Cable does not meet specifications. Check that the cable wires are shielded twisted-pair wires that are at least 0.12 mm2. Use Encoder Cable that meets specifications. Noise is entering the Encoder Cable because the cable is longer than the specified length. Check the length of the Encoder Cable. Shorten the Encoder Cable to less than 50 m. Noise is entering the signal wires because the Encoder Cable is stuck or the sheath is damaged. Check the Encoder Cable for cuts or other damage. Correct the Encoder Cable's pathway to prevent damage. Too much noise is entering the Encoder Cable. Separate the Encoder Cables far from high-current lines or check whether the lines are too close. Install the Encoder Cable where it won't be subjected to surges. The FG's potential is fluctuating due to devices near the Servomotor, such as welding machines. Check for ground problems (loss of ground or incomplete ground) at equipment such as welding machines near the Servomotor. Ground the equipment properly and prevent currents from flowing to the encoder FG. Errors are being caused by excessive vibration or shock on the encoder. There are problems with mechanical vibration or motor installation (such as the mounting surface, attachment, or axial offset). Reduce the mechanical vibration or correct the Servomotor's installation. There are problems with the machine's installation. The Servomotor is producing unusual noises or the machine is vibrating. Items to check The machine and the Check whether the machine is Servomotor are resonating. resonating. * Use normal mode autotuning. * Adjust the gain manually. 8 * Readjust the Torque Command Filter Time Constant. * If there is resonance, set the Notch Filter 1 Frequency (Pn1D) and Notch Filter 1 Width (Pn1E). 8-18 Troubleshooting Symptom 8-3 Troubleshooting Symptom Probable cause Items to check Check whether the Servo Drive control signal lines are too long. Vibration is occurring at the same frequency as the power supply. Inductive noise is occurring. There is an error in the coupling of the mechanical system and the Servomotor. The position is misaligned. (Position misalignment occurs without an alarm being output.) Check to see whether control signal lines and power supply lines are bundled together. Check whether the coupling of the mechanical system and the Servomotor is misaligned. Correct the coupling between the mechanical system and the Servomotor. --- Check the following: * Check whether the load is too large. The load inertia is too large. * Check whether the rotation speed of the Servomotor is too high. Troubleshooting 8 8-19 Shorten the control signal lines. * Separate control signal lines from power supply lines. * Use a low-impedance power supply for control signals. Noise is entering the Devia- Check whether the control signal tion Counter Reset Input lines and power supply lines are (ECRST). bundled together. The gain is wrong. Countermeasures Separate the control signal lines from the power supply lines or take other measures against noise. * Perform normal mode autotuning. * Perform manual tuning. * Adjust the gain. * Review the load conditions, and replace the Servomotor and Servo Drive with appropriate models. 8-4 Overload Characteristics (Electronic Thermal Function) 8-4 Overload Characteristics (Electronic Thermal Function) An overload protection (electronic thermal) function is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading. If an overload does occur, first eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning ON the power again. If the power is turned ON again repeatedly at short intervals, the Servomotor windings may burn out. Overload Characteristics Graphs The following graphs show the characteristics of the load rate and electronic thermal function's operation time. Time (s) 100 50 W 100 W (100 V) 100 W (200 V) 200 W 400 W 750 W 10 8 0.1 115 100 150 200 250 Troubleshooting 1 300 Torque (%) Time (s) 100 R88M-G@10T R88M-G@20T R88M-G@15T R88M-G@30T R88M-GP@ 10 900 W to 6 kW 1 kW to 5 kW 7.5 kW 1 kW to 5 kW 100 W to 400 W 1 0.1 115 100 150 200 250 300 Torque (%) When the torque command = 0, and a constant torque command is continuously applied after three or more times the overload time constant has elapsed, the overload time t [s] will be: t [s] = - Overload time constant [s] x loge (1 - Overload level [%] / Torque command [%]) 2 (The overload time constant [s] depends on the Servomotor. The standard overload level is 115%.) Precautions for Correct Use * Overload (alarm code 16) cannot be reset for approximately 10 seconds after its occurrence. 8-20 8-5 Periodic Maintenance 8-5 Periodic Maintenance Caution Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in equipment damage. Do not attempt to disassemble or repair any of the products. Any attempt to do so may result in electric shock or injury. Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly. Some of the electrical and mechanical components require maintenance depending on application conditions. Periodic inspection and part replacement are necessary to ensure proper long-term operation of Servomotors and Servo Drives. (quotes from "The Recommendation for Periodic Maintenance of a General-purpose Inverter" published by JEMA) The periodic maintenance cycle depends on the installation environment and application conditions of the Servomotor or Servo Drive. Recommended maintenance times are listed below for Servomotors and Servo Drives. Use these for reference in determining actual maintenance schedules. Troubleshooting 8 Servomotor Service Life * The service life for components is listed below. Bearings: 20,000 hours Decelerator: 20,000 hours Oil seal: 5,000 hours Encoder: 30,000 hours These values presume an ambient Servomotor operating temperature of 40C, shaft loads within the allowable range, rated operation (rated torque and rated r/min), and proper installation as described in this manual. The oil seal can be replaced. * The radial loads during operation (rotation) on timing pulleys and other components contacting belts is twice the still load. Consult with the belt and pulley manufacturers and adjust designs and system settings so that the allowable shaft load is not exceeded even during operation. If a Servomotor is used under a shaft load exceeding the allowable limit, the Servomotor shaft can break, the bearings can burn out, and other problems can occur. 8-21 8-5 Periodic Maintenance Servo Drive Service Life * Details on the service life of the Servo Drive are provided below. Aluminum electrolytic capacitors: 28,000 hours (at an ambient Servo Drive operating temperature of 55C, the rated operation output (rated torque), installed as described in this manual.) Axial fan: 10,000 to 30,000 hours Inrush current prevention relay: Approx. 20,000 operations (The service life depends on the operating conditions.) * When using the Servo Drive in continuous operation, use fans or air conditioners to maintain an ambient operating temperature below 40C. * We recommend that ambient operating temperature and the power ON time be reduced as much as possible to lengthen the service life of the Servo Drive. * The life of aluminum electrolytic capacitors is greatly affected by the ambient operating temperature. Generally speaking, an increase of 10C in the ambient operating temperature will reduce capacitor life by 50%. * The aluminum electrolytic capacitors deteriorate even when the Servo Drive is stored with no power supplied. If the Servo Drive is not used for a long time, we recommend a periodic inspection and part replacement schedule of five years. * If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recommended. * Upon request, OMRON will examine the Servo Drive and Servomotor and determine if a replacement is required. Troubleshooting 8 8-22 8-5 Periodic Maintenance Replacing the Absolute Encoder Battery ABS Replace the Absolute Encoder Backup Battery if it has been used for more than three years or if an absolute encoder system down error (alarm code 40) has occurred. Replacement Battery Model and Specifications Item Specifications Name Absolute Encoder Backup Battery Model R88A-BAT01G Battery model ER6V (Toshiba) Battery voltage 3.6 V Current capacity 2000 mA*h Mounting the Backup Battery Mounting the Battery for the First Time Connect the absolute encoder battery to the Servomotor, and then set up the absolute encoder. Refer to Absolute Encoder Setup Procedure on page 6-5. Once the absolute encoder battery is attached, it is recommended that the control power supply be turned ON and OFF once a day to refresh the battery. If you neglect to refresh the battery, battery errors will occur due to voltage delay in the battery. 8 Replacing the Battery Troubleshooting If a battery alarm occurs, the absolute encoder battery must be replaced. Replace the battery with the control power supply of the Servo Drive ON. If the battery is replaced with the control power supply of the Servo Drive OFF, data held in the encoder will be lost. Once the absolute encoder battery has been replaced, clear the battery alarm from the front panel. Refer to Alarm Reset on page 6-21 for information on clearing alarms. Note If the absolute encoder is cleared using the front panel or the absolute values are cleared using communications, all error and rotation data will be lost and the absolute encoder must be set up. Refer to Absolute Encoder Setup Procedure on page 6-5. 8-23 8-5 Periodic Maintenance Battery Mounting Procedure 1. Prepare the R88A-BAT01G replacement battery. R88A-BAT01G 2. Remove the battery box cover. 8 Raise the hooks to remove the cover. Troubleshooting 3. Put the battery into the battery box. Insert the battery. Attach the connector. 4. Close the cover to the battery box. Make sure that the connector wiring does not get caught when closing the cover to the battery box. 8-24 Chapter 9 Appendix 9-1 Connection Examples ........................................ 9-1 9-2 Parameter Tables............................................... 9-11 9-1 Connection Examples 9-1 Connection Examples Connection Example 1: Connecting to SYSMAC CJ1W-NC133/233/433 Main circuit power supply OFF ON MC1 MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T CJ1W-NC133/233/433 (Ground to 100 or less.) Contents MC1 SUP Main circuit contact Surge killer MC1 MC2 X1 R88D-GT@ 5 VDC 5-VDC power supply (for pulse output) MC2 Reactor 5-V GND (for pulse output) 24-V power supply for outputs MC1 MC2 0-V power supply for output X-axis pulse output CCW (output (+)) CW (output (+)) Servomotor Power Cable Red R88A-CAG@ White Blue X-axis dev. cntr. reset output X-axis origin line driver input X-axis origin common Green/ Yellow X-axis positioning complete input 9 X-axis external interrupt input M Encoder Cable R88A-CRG@ Input common 24 VDC R88M-G@ X1 E Appendix X-axis origin proximity input X-axis CCW limit input X-axis CW limit input X-axis emerg. stop input X1 24 VDC XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B B 24 VDC Precautions for Correct Use 9-1 * The example shows a three-phase, 200-VAC input to the Servo Drive for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use. * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use mode 2 for origin search. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. * Make the setting so that the Servo can be turned ON and OFF with the RUN signal. 9-1 Connection Examples Connection Example 2: Connecting to SYSMAC CJ1W-NC113/213/413 3-phase 200 to 240 VAC 50/60 Hz CJ1W-NC113/213/413 (Ground to 100 or less.) Noise filter Main circuit power supply OFF ON MC1 MC2 MC2 MC1 SUP Main circuit contact Surge killer MC1 MC2 X1 R88D-GT@ Contents Reactor 24-V power supply for outputs 24 VDC 0-V power supply for output MC1 MC2 X-axis pulse output CCW (with a resistor) CCW (without a resistor) CW (with a resistor) CW (without a resistor) Servomotor Power Cable X-axis dev. cntr. reset output X-axis origin line driver input R88M-G@ Red R88A-CAG@ White Blue X-axis origin common X-axis positioning complete input Green/ Yellow Input common Encoder Cable R88A-CRG@ 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 24 VDC Shell Brake Cable R88A-CAGA@B R88A-CAGE@B 9 XB Precautions for Correct Use * The example shows a three-phase, 200-VAC input to the Servo Drive for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use. * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use mode 2 for origin search. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. * Make the setting so that the Servo can be turned ON and OFF with the RUN signal. 9-2 Appendix 24 VDC 9-1 Connection Examples Connection Example 3: Connecting to SYSMAC CS1W-NC133/233/433 Main circuit power supply OFF ON MC1 MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T (Ground to 100 or less.) CJ1W-NC133/233/433 No. 5-VDC power supply (for pulse output) A4 5-V GND (for pulse output) A3 24-V power supply for outputs A1 Contents R88D-GT@ CN1 5 VDC 24 VDC 0-V power supply for output X-axis pulse output CCW (with a resistor) CCW (without a resistor) CW (with a resistor) CW (without a resistor) X-axis positioning complete input Input common A24 X-axis origin line driver input X-axis origin 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 MC1 SUP Main circuit contact Surge killer MC1 MC2 X1 TB L1C L2C L1 L2 L3 Reactor MC1 MC2 A2 A7 A8 A5 A6 A10 A16 A14 A12 X-axis dev. cntr. reset output MC2 5 6 3 4 30 23 24 39 38 24 VDC A19 A21 A23 A22 A20 7 X1 X1 24 VDC 9 XB 29 31 10 36 37 11 Shell TB B1 B3 B2 U V W CN2 Servomotor Power Cable R88M-G@ Red R88A-CAG@ White Blue Green/ Yellow M Encoder Cable R88A-CRG@ E Brake Cable R88A-CAGA@B R88A-CAGE@B XB B Appendix 24 VDC Precautions for Correct Use 9-3 * The example shows a three-phase, 200-VAC input to the Servo Drive for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use. * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use mode 2 for origin search. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. * Make the setting so that the Servo can be turned ON and OFF with the RUN signal. 9-1 Connection Examples Connection Example 4: Connecting to SYSMAC CS1W-NC113/213/413 or C200HW-NC113/213/413 Main circuit power supply OFF ON MC1 MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T CS1W-NC113/213/413 C200HW-NC113/213/413 Contents (Ground to 100 or less.) No. A1 0-V power supply for output A2 CCW (with a resistor) A8 A7 A6 A5 CCW (without a resistor) CW (with a resistor) CW (without a resistor) X-axis dev. cntr. reset output X-axis origin line driver input X-axis origin common X-axis positioning complete input MC1 SUP Main circuit contact Surge killer MC1 MC2 X1 R88D-GT@ Reactor MC1 MC2 Servomotor Power Cable A10 A16 A14 A12 White Blue Green/ Yellow Input common A24 X-axis external interrupt input A19 A21 A23 A22 A20 24 VDC X-axis origin proximity input X-axis CCW limit input X-axis CW limit input X-axis emerg. stop input R88M-G@ Red R88A-CAG@ X1 M Encoder Cable R88A-CRG@ E X1 24 VDC XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B XB 9 B 24 VDC Precautions for Correct Use * The example shows a three-phase, 200-VAC input to the Servo Drive for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use. * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use mode 2 for origin search. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. * Make the setting so that the Servo can be turned ON and OFF with the RUN signal. 9-4 Appendix X-axis pulse output 24-V power supply for outputs MC2 9-1 Connection Examples Connection Example 5: Connecting to a SYSMAC Motion Control Unit Main circuit power supply OFF ON MC1MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T CS1W-MC221/421 (-V1) DRV connector No. Contents 24 V input 1 24 V input ground 2 X-axis alarm input 3 X-axis RUN command output 4 X-axis alarm reset output 5 X-axis SEN signal ground 8 X-axis SEN signal output 9 X-axis feedback ground 10 X-axis phase A input 11 X-axis phase A input 12 X-axis phase B input 13 X-axis phase B input 14 X-axis phase Z input 15 X-axis phase Z input 16 X-axis speed command 17 X-axis speed command ground 18 (Ground to 100 or less.) MC2 MC1 SUP Main circuit contact Surge killer MC1 MC2 R88D-GT@ 24 VDC Reactor MC1 MC2 Servomotor Power R88M-G@ Cable Red R88A-CAG@ White Blue M Green/ Yellow Shell 24 V output 24 V output ground I/O connector Contents 9 24 V input X-axis CW limit input X-axis CCW limit input X-axis emerg. stop input X-axis origin proximity input 24 V input ground Encoder Cable R88A-CRG@ 19 20 No. 1 2 4 6 10 14 24 VDC E XB 24 VDC Battery* 2.8 to 4.5 V DC Brake Cable R88A-CAGA@B R88A-CAGE@B XB B Appendix 24 VDC Precautions for Correct Use 9-5 * The example shows a three-phase, 200-VAC input to the Servo Drive for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the Servo Drive in use. * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Connect terminals and wiring marked with an asterisk (*) when using an Absolute Encoder. * This wiring diagram is an example of X-axis wiring only. For other axes, connections must be made in the same way with the Servo Drive. * Always close unused NC input terminals at the Motion Control Unit's I/O connectors. * Make the setting so that the Servo can be turned ON and OFF with the RUN signal. 9-1 Connection Examples Connection Example 6: Connecting to SYSMAC CP1H-Y@@DT-D Main circuit power supply OFF ON MC1 MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T CP1H-Y20DT-D MC2 SUP Main circuit contact Surge killer PL Servo error display MC1 X1 MC1 MC2 X1 R88-GT@ Reactor Pulse output 0 Output terminal block MC1 MC2 CW0+ CCW0+ Origin search 0 (CIO 0101.02) 24-VDC input terminal (+) 24-VDC input ter Red White Blue COM (CIO 0101.00 to CIO 0101.03) Input terminal block Servomotor Power Cable R88A-CAG@ Green/ Yellow Pulse 0 origin input signal (CIO 0001.03) R88M-G@ M COM (CIO 0000) 24 VDC X1 Encoder Cable R88A-CRG@ Pulse 0 origin proximity input signal (CIO 0001.05) E X1 24 VDC XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B XB 9 B Precautions for Correct Use * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. 9-6 Appendix 24 VDC 9-1 Connection Examples Connection Example 7: Connecting to SYSMAC CP1H-X@@DT-D/ CP1L-@@@DT-D Main circuit power supply OFF ON MC1MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S MC2 SUP Main circuit contact Surge killer PL Servo error display MC1 X1 MC1 MC2 X1 T CP1H-X40DT-D R88-GT@ Reactor Pulse output 0 Output terminal block CW0 (CIO 0100.00) COM (for CIO 0100.00) CCW0 (CIO 0100.01) COM (for CIO 0100.01) MC1 MC2 Servomotor Power Cable Red R88A-CAG@ Origin search 0 (CIO 0101.02) 24-VDC input terminal (+) 24-VDC input ter COM (CIO 0101.00 to 0101.03) White Blue Input terminal block Green/ Yellow Pulse 0 origin input signal (CIO 0001.03) R88M-G@ M COM (CIO 0000) 24 VDC Pulse 0 origin proximity input signal (CIO 0000.01) X1 Encoder Cable R88A-CRG@ E X1 24 VDC 9 XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B XB B Appendix 24 VDC Precautions for Correct Use 9-7 * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. 9-1 Connection Examples Connection Example 8: Connecting to SYSMAC CJ1M Main circuit power supply OFF ON MC1 MC2 NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T (Ground to 100 or less.) CJ1M Contents Input for the output power supply MC2 SUP Main circuit contact Surge killer PL Servo error display MC1 X1 MC1 MC2 X1 R88-GT@ No. 37 Reactor 24 VDC Output COM 39 MC1 MC2 CCW output 32 Pulse output 0 31 CW output Origin input signal DC24V Positioning completed output Origin proximity input signal DC24V DC24V 35 1 5 13 17 2 6 Red White Blue Servomotor Power Cable R88A-CAG@ Green/ Yellow X1 R88M-G@ M Encoder Cable R88A-CRG@ E X1 24 VDC XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B XB 9 B Precautions for Correct Use * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use mode 2 for origin search. * Use the 24-VDC power supply for command pulse signals as a dedicated power supply. * Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. 9-8 Appendix 24 VDC 9-1 Connection Examples Connection Example 9: Connecting to a SYSMAC CS1W-HCP22-V1 Customizable Counter Unit NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T CS1W-HCP22-V1 Special I/O connector Contents No. 24-VDC power supply (for output) A19 Main circuit power supply OFF ON MC1 MC2 (Ground to 100 or less.) MC2 MC1 SUP Main circuit contact Surge killer MC1 MC2 X1 R88-GT@ Reactor 24 VDC A20 Pulse output 1 Common CCW (1.6 kW) A18 CW (1.6 kW) A16 Phase-Z LD+ Phase-Z LD I/O connector 24 V (for output) MC1 MC2 B5 A5 Servomotor Power Cable Red R88A-CAG@ A1 White Blue Deviation counter clear *1 B3 Common (for output) Deviation positioning completed signal *1 B1 B7 B5 B4 Origin proximity input signal *1 B12 CCW limit input signal *1 B8 CW limit input signal *1 B9 Common (for input) *1 A10 Green/ Yellow X1 Servo ON*1 Alarm reset *1 9 R88M-G@ Encoder Cable R88A-CRG@ M E X1 24 VDC XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B XB B Appendix 24 VDC *1. The I/O bits for the CS1W-HCP22 depend on the memory allocations in the CIO Area. Change the wiring according to the allocations. Precautions for Correct Use 9-9 * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use the 24-VDC power supply for command pulse signals as a dedicated power supply. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. * Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. 9-1 Connection Examples Connection Example 10: Connecting to a SYSMAC CS1W-HCA12/22-V1 Customizable Counter Unit NFB Noise filter R 3-phase 200 to 240 VAC 50/60 Hz S T CS1W-HCA12/22-V1 Special I/O connector Contents Phase-A LD+ Phase-A LD Phase-B LD+ Phase-B LD Phase-Z LD+ Phase-Z LD Analog output 1 (+) Analog output 1 ( ) Analog output 2 (+) Analog output 2 ( ) Main circuit power supply OFF ON MC1 MC2 (Ground to 100 or less.) MC1 SUP Main circuit contact Surge killer MC1 MC2 X1 R88-GT@ No. B1 A1 B3 A3 B5 A5 A19 A20 B19 B20 I/O connector MC2 Reactor MC1 MC2 Servomotor Power Cable Red R88A-CAG@ 24 VDC B12 CCW limit input signal *1 B8 CW limit input signal *1 B9 A10 Common (for input) B5 Servo ON*1 B4 Alarm reset *1 White Blue Origin proximity input signal *1 Green/ Yellow R88M-G@ M X1 24 VDC Encoder Cable R88A-CRG@ E XB Shell Brake Cable R88A-CAGA@B R88A-CAGE@B XB 9 *1. The I/O bits for the CS1W-HCA12/22 depend on the memory allocations in the CIO Area. Change the wiring according to the allocations. Precautions for Correct Use * Incorrect signal wiring can cause damage to Units and the Servo Drive. * Leave unused signal lines open and do not wire them. * Use the 24-VDC power supply for command pulse signals as a dedicated power supply. * The diode recommended for surge absorption is the RU 2 manufactured by Sanken Electric or the equivalent. * Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. 9-10 Appendix B 24 VDC 9-2 Parameter Tables 9-2 Parameter Tables * Some parameters are enabled by turning the power OFF and then ON again. (Those parameters are indicated in the table.) After changing these parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON the power again. * Do not change the parameters or settings marked "Reserved". Function Selection Parameters Pn No. Parameter name 00 Unit No. Setting Setting Explanation Set the unit number. Default setting Unit Setting range Power OFF ON 1 --- 0 to 15 Yes 0 to 17 Yes Set the data to display on the Parameter Unit when the power supply is turned ON. 9 Appendix 01 9-11 Default Display 0 Position deviation Pulses 1 Servomotor rotation speed 2 Torque output % 3 Control mode --- 4 I/O signal status --- 5 Alarm code and history --- 6 Software version --- 7 Warning display r/min --1 8 Regeneration load ratio % 9 Overload load ratio % 10 Inertia ratio % 11 Total feedback pulses Pulses 12 Total command pulses Pulses 13 Reserved --- 14 Reserved --- 15 Automatic Servomotor recognition display --- 16 Analog input value --- 17 Reason for no rotation --- 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 6 Yes 1 --- 0 to 3 --- 1 --- 0 to 2 Yes 0 --- 0 to 3 --- 0 --- 0 to 2 --- Set the control mode to be used. 02 Control Mode Selection 0 Position 1 Speed 2 Torque 3 Position/speed 4 Position/torque 5 Speed/torque 6 Reserved Set the torque limit method for forward and reverse operation. 03 Torque Limit Selection 0 Use PCL and NCL as analog torque limit inputs. 1 Use Pn5E as the limit value for forward and reverse operation. 2 Forward: Use Pn5E, Reverse: Use Pn5F. 3 GSEL/TLSEL input is open: Use Pn5E, Input is closed: Use Pn5F. You can stop the Servomotor from rotating beyond the device's travel distance range by setting limit inputs. Drive Prohibit Input Selection 0 POT input and NOT input enabled. 1 POT input and NOT input disabled. 2 POT input and NOT input enabled (alarm code 38 appears). Select the speed command when using speed control. 05 0 Speed command input (REF) 1 No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn53 to Pn56) 2 No. 1 Internally Set Speed to No. 3 Internally Set Speed (Pn53 to Pn55) and External Speed Command (REF) 3 No. 1 Internally Set Speed to No. 8 Internally Set Speed (Pn53 to Pn56 and Pn74 to Pn77) Command Speed Selection Set the function of the Zero-speed Designation Input (VZERO). 06 Zero Speed Designation/ Speed Command Direction Switch 0 The zero-speed designation input will be ignored, and a zero-speed designation will not be detected. 1 The zero-speed designation input will be enabled, and the speed command will be assumed to be zero when the connection between the input and common is open. 2 Used as the speed command sign. 9 Appendix 04 9-12 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 3 --- 0 to 9 --- 0 --- 0 to 12 --- Select the relation between the output voltage level and the speed. 07 SP Selection 0 Actual Servomotor speed: 6 V/47 r/min 1 Actual Servomotor speed: 6 V/188 r/min 2 Actual Servomotor speed: 6 V/750 r/min 3 Actual Servomotor speed: 6 V/3000 r/min 4 Actual Servomotor speed: 1.5 V/3000 r/min 5 Command speed: 6 V/47 r/min 6 Command speed: 6 V/188 r/min 7 Command speed: 6 V/750 r/min 8 Command speed: 6 V/3000 r/min 9 Command speed: 1.5 V/3000 r/min Select the relation between the output voltage level and the torque or number of pulses. 9 Appendix 08 9-13 IM Selection 0 Torque command: 3 V/rated (100%) torque 1 Position deviation: 3 V/31 pulses 2 Position deviation: 3 V/125 pulses 3 Position deviation: 3 V/500 pulses 4 Position deviation: 3 V/2000 pulses 5 Position deviation: 3 V/8000 pulses 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 Torque command: 3 V/200% torque 12 Torque command: 3 V/400% torque 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 8 --- 1 --- 0 to 8 --- 0 --- 0 to 2 Yes 2 --- 0 to 5 Yes Assign the function of General-purpose Output 2 (OUTM2). 09 Generalpurpose Output 2 Selection 0 Output during torque limit 1 Zero speed detection output 2 Warning output for regeneration overload, overload, absolute encoder battery, or fan lock. 3 Regeneration overload warning output 4 Overload warning 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output Assign the function of General-purpose Output 1 (OUTM1). Generalpurpose Output 1 Selection Output during torque limit 1 Zero speed detection output 2 Warning output for regeneration overload, overload, absolute encoder battery, or fan lock. 3 Regeneration overload warning output 4 Overload warning 5 Absolute encoder battery warning output 6 Fan lock warning output 7 Reserved 8 Speed conformity output Set the operating method for the 17-bit absolute encoder. 0B Operation Switch When Using Absolute Encoder 0 Use as absolute encoder. 1 Use as incremental encoder. 2 Use as absolute encoder but ignore multi-turn counter overflow. Select the baud rate for the RS-232 port. 0C RS-232 Baud Rate Setting 0 2,400 bps 1 4,800 bps 2 9,600 bps 3 19,200 bps 4 38,400 bps 5 57,600 bps 9 Appendix 0A 0 9-14 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 2 --- 0 to 5 Yes 0 --- 0 to 1 Yes --- --- --- --- Select the baud rate for RS-485 communications. 0D 0E 0F Appendix 9 9-15 RS-485 Baud Rate Setting Front Key Protection Setting Reserved 0 2,400 bps 1 4,800 bps 2 9,600 bps 3 19,200 bps 4 38,400 bps 5 57,600 bps Front panel key operation can be limited to Monitor Mode. 0 All enabled 1 Limited to Monitor Mode (Do not change setting.) 9-2 Parameter Tables Gain Parameters Unit Setting range Power OFF ON Set to adjust position control system responsiveness. 40 1/s 0 to 3000 --- Speed Loop Gain Set to adjust speed loop responsiveness. 50 Hz 1 to 3500 --- 12 Speed Loop Integration Time Constant Set to adjust the speed loop integration time constant. 20 ms 1 to 1000 --- 13 Speed Feedback Filter Time Constant The encoder signal is converted to the speed signal via the low pass filter. 0 --- 0 to 5 --- 14 Torque Command Filter Time Constant Set to adjust the first-order lag filter time constant for the torque command section. 80 0.01 ms 0 to 2500 --- 15 Feed-forward Amount Set the position control feed-forward compensation value. 300 0.1% -2000 to 2000 --- 16 Feed-forward Command Filter Set the time constant of the first-order lag filter used in the speed feed-forward section. 100 0.01 ms 0 to 6400 --- 17 Reserved (Do not change setting.) --- --- --- --- 18 Position Loop Gain 2 Set to adjust position control system responsiveness. 20 1/s 0 to 3000 --- 19 Speed Loop Gain 2 Set to adjust speed loop responsiveness. 80 Hz 1 to 3500 --- 1A Speed Loop Integration Time Constant 2 Set to adjust the speed loop integration time constant. 50 ms 1 to 1000 --- 1B Speed The encoder signal is converted to the speed signal Feedback Filter via the low pass filter. Time Constant 2 0 --- 0 to 5 --- 1C Torque Set to adjust the first-order lag filter time constant for Command Filter the torque command section. Time Constant 2 100 0.01 ms 0 to 2500 --- 1D Notch Filter 1 Frequency Set the notch frequency of the resonance suppression notch filter. 1500 Hz 100 to 1500 --- 1E Notch Filter 1 Width Set the width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. 2 --- 0 to 4 --- 1F Reserved (Do not change setting.) --- --- --- --- 20 Inertia Ratio Set the ratio between the mechanical system inertia and the Servomotor rotor inertia. 300 % 0 to 10000 --- Parameter name 10 Position Loop Gain 11 Setting Explanation 9-16 9 Appendix Default setting Pn No. 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 7 --- 2 --- 0 to F --- 0 --- 0 to 2 --- 0 --- 0 to 2 --- Set the operating mode for realtime autotuning. 21 Appendix 9 22 Realtime Autotuning Mode Selection Realtime Autotuning Machine Rigidity Selection 0 Realtime autotuning is not used. 1 Realtime autotuning is used in normal mode. Use this setting if there are almost no changes in load inertia during operation. 2 Realtime autotuning is used in normal mode. Use this setting if there are gradual changes in load inertia during operation. 3 Realtime autotuning is used in normal mode. Use this setting if there are sudden changes in load inertia during operation. 4 Realtime autotuning is used in vertical axis mode. Use this setting if there are almost no changes in load inertia during operation. 5 Realtime autotuning is used in vertical axis mode. Use this setting if there are gradual changes in load inertia during operation. 6 Realtime autotuning is used in vertical axis mode. Use this setting if there are sudden changes in load inertia during operation. 7 Set to use realtime autotuning without switching the gain. Set the machine rigidity to one of 16 levels during realtime autotuning. The higher the machine rigidity, the greater the setting needs to be. The higher the setting, the higher the responsiveness. When the Parameter Unit is used, 0 cannot be set. Enable or disable the adaptive filter. 23 Adaptive Filter Selection 0 Adaptive filter disabled. 1 Adaptive filter enabled. Adaptive operation performed. 2 Adaptive filter enabled. Adaptive operation will not be performed (i.e., it will be held). Vibration filters 1 and 2 can be switched. 24 9-17 Vibration Filter Selection 0 No switching. (Both filter 1 and filter 2 are enabled.) 1 Switching with the DFSEL/PNSEL input. Open: Vibration filter 1 Closed: Vibration filter 2 2 Switching with command direction. Forward: Vibration filter 1 Reverse: Vibration filter 2 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 7 --- 10 0.1 rotation 0 to 1000 --- 0 --- 0 to 1 --- 1500 Hz 100 to 1500 --- Set the operating pattern for normal mode autotuning. Autotuning Operation Setting 26 Overrun Limit Setting 27 Instantaneous Speed Observer Setting Rotation direction: Forward to reverse, two rotations 1 Rotation direction: Reverse to forward, two rotations 2 Rotation direction: Forward to forward, two rotations 3 Rotation direction: Reverse to reverse, two rotations 4 Rotation direction: Forward to reverse, one rotation 5 Rotation direction: Reverse to forward, one rotation 6 Rotation direction: Forward to forward, one rotation 7 Rotation direction: Reverse to reverse, one rotation Set the allowable operating range for the Servomotor. The overrun limit function is disabled if the parameter is set to 0. Set the instantaneous speed observer. 0 Disabled 1 Enabled 9 28 Notch Filter 2 Frequency Set the notch frequency of the resonance suppression notch filter. 29 Notch Filter 2 Width Set the notch filter width to one of five levels for the resonance suppression notch filter. Normally, use the default setting. 2 --- 0 to 4 --- 2A Notch Filter 2 Depth Set the depth of the resonance suppression notch filter. 0 --- 0 to 99 --- 2B Vibration Frequency 1 Set vibration frequency 1 to suppress vibration at the end of the load in damping control. 0 0.1 Hz 0 to 2000 --- 2C Vibration Filter 1 Setting Set vibration filter 1 to suppress vibration at the end of the load in damping control. 0 0.1 Hz -200 to 2000 --- 2D Vibration Frequency 2 Set vibration frequency 2 to suppress vibration at the end of the load in damping control. 0 0.1 Hz 0 to 2000 --- 2E Vibration Filter 2 Setting Set vibration filter 2 to suppress vibration at the end of the load in damping control. 0 0.1 Hz -200 to 2000 --- 2F Adaptive Filter Table Number Display Displays the table entry number corresponding to the frequency for the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled (i.e., if Realtime Autotuning Mode Selection (Pn21) is 1 to 3 or 7). 0 --- 0 to 64 --- 9-18 Appendix 25 0 9-2 Parameter Tables Default setting Unit Setting range Power OFF ON 1 --- 0 to 1 --- 0 --- 0 to 10 --- Gain Switch 1 Time This parameter is enabled when the Control Gain Switch 1 Setting (Pn31) is 3 to 10. Set the delay time from the moment the condition set in the Control Gain Switch 1 Setting (Pn31) is not met until returning to gain 1. 30 166 s 0 to 10000 --- 33 Gain Switch 1 Level Setting This parameter is enabled when the Control Gain Switch 1 Setting (Pn31) is 3 to 6, 9, or 10. Set the judgment level for switching between gain 1 and gain 2. The unit for the setting depends on the condition set in the Control Gain Switch 1 Setting (Pn31). 600 --- 0 to 20000 --- 34 Gain Switch 1 Hysteresis Setting Set the hysteresis width above and below the judgment level set in the Gain Switch 1 Level Setting (Pn33). 50 --- 0 to 20000 --- 35 Position Loop Gain Switching Time When switching between gain 1 and gain 2 is enabled, set the phased switching time only for the position loop gain at gain switching. 20 166 s 0 to 10000 --- Pn No. Parameter name Setting Explanation Enable or disable gain switching. If gain switching is enabled, the setting of the Control Gain Switch Setting (Pn31) is used as the condition for switching between gain 1 and gain 2. 30 Gain Switching Input Operating Mode Selection 0 Disabled. The gain set in Pn10 to Pn14 is used, and the Gain Switching Input (GSEL) will be used to switch between PI operation and P operation. 1 Enabled. The gain will be switched between gain 1 (Pn10 to Pn14) and gain 2 (Pn18 to Pn1C). Select the condition for switching between gain 1 and gain 2. The details depend on the control mode. If a composite mode is set, the setting of this parameter is valid when the first control mode is used. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). 31 Control Gain Switch 1 Setting Appendix 9 32 9-19 0 Always gain 1 1 Always gain 2 2 Switching using Gain Switching Input (GSEL) 3 Amount of change in torque command 4 Always gain 1 5 Command speed 6 Amount of position deviation 7 Command pulses received 8 Positioning Completed Signal (INP) OFF 9 Actual Servomotor speed 10 Combination of command pulse input and speed 9-2 Parameter Tables Pn No. Parameter name Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 5 --- Select the condition for switching between gain 1 and gain 2 in the second control mode. The Gain Switching Input Operating Mode Selection (Pn30) must be set to 1 (enabled). 0 Always gain 1 1 Always gain 2 2 Switching using gain switching input (GSEL) 3 Amount of change in torque command 4 Amount of change in speed command 5 Command speed Gain Switch 2 Time This parameter is enabled when Control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the delay time for returning from gain 2 to gain 1. 30 166 s 0 to 10000 --- 38 Gain Switch 2 Level Setting This parameter is enabled when Control Gain Switch 2 Setting (Pn36) is 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the setting of Control Gain Switch 2 Setting (Pn36). 0 --- 0 to 20000 --- 39 Gain Switch 2 Hysteresis Setting Set the hysteresis width above and below the judgment level set in the Gain Switch 2 Level Setting (Pn38). The unit depends on the setting of the Control Gain Switch 2 Setting (Pn36). 0 --- 0 to 20000 --- 3A Reserved (Do not change setting.) --- --- --- --- 3B Reserved (Do not change setting.) --- --- --- --- 3C Reserved (Do not change setting.) --- --- --- --- 3D Jog Speed Set the speed for jogging. 200 r/min 0 to 500 --- 3E Reserved (Do not change setting.) --- --- --- --- 3F Reserved (Do not change setting.) --- --- --- --- 37 9-20 9 Appendix 36 Control Gain Switch 2 Setting 9-2 Parameter Tables Position Control Parameters Pn No. Parameter name 40 Command Pulse Input Selection Setting Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 1 Yes 0 --- 0 to 1 Yes 1 --- 0 to 3 Yes 1 --- 0 to 1 --- 2500 --- 1 to 32767 Yes 0 --- 0 to 32767 Yes 0 --- 0 to 1 Yes --- --- --- --- Selects whether to use photocoupler or line-driver-only input for the command pulse input. 0 Photocoupler 1 Input for line driver only Set the Servomotor rotation direction for the command pulse input. 41 Command Pulse Rotation Direction Switch 0 The Servomotor rotates in the direction specified by the command pulse. 1 The Servomotor rotates in the opposite direction from the direction specified by the command pulse. Set the form of the pulse inputs sent as command to the Servo Drive from a position controller. 42 9 Appendix 43 44 Command Pulse Mode Command Pulse Prohibited Input Setting Encoder Divider Numerator Setting 45 Encoder Divider Denominator Setting 46 Encoder Output Direction Switch 0 90 phase difference (phase A/B) signal inputs 1 Forward pulse and reverse pulse inputs 2 90 phase difference (phase A/B) signal inputs 3 Feed pulses and forward/reverse signal input Enable or disable the pulse disable input (IPG). 0 Enabled 1 Disabled Set the number of encoder pulses (+A, -A, -B, +B) output from the Servo Drive for each Servomotor rotation. Set the phase-B logic for pulse output (-B, +B). 47 9-21 Reserved 0 Phase-B output: Not reversed. 1 Phase-B output: Reversed. (Do not change setting.) 9-2 Parameter Tables Pn No. Parameter name 48 Electronic Gear Ratio Numerator 1 49 Electronic Gear Ratio Numerator 2 4A Electronic Gear Ratio Numerator Exponent 4B Electronic Gear Ratio Denominator 4C Position Command Filter Time Constant Setting 4D Smoothing Filter Setting Default setting Unit Setting range Power OFF ON 0 --- 0 to 10000 --- Set the pulse rate for command pulses and Servomotor travel distance. If Pn48 or Pn49 is 0, the encoder resolution is set to a numerator. 0 --- 0 to 10000 --- Electronic Gear Ratio Electronic Gear Ratio Numerator 1 (Pn48) or x 2 Numerator Exponent (Pn4A) Electronic Gear Ratio Numerator 2 (Pn49) 0 --- 0 to 17 --- 10000 --- 1 to 10000 --- Set the time constant for the first-order lag filter for the command pulse input. If the parameter is set to 0, the filter will not function. The larger the setting, the larger the time constant. 0 --- 0 to 7 --- Select the FIR filter time constant used for the command pulse input. The higher the setting, the smoother the command pulses. 0 --- 0 to 31 Yes 1 --- 0 to 2 --- Setting Explanation Electronic Gear Ratio Denominator (Pn4B) Set the deviation counter reset conditions. 4F Reserved 0 Clears the deviation counter when the signal is closed for 100 s or longer. 1 Clears the deviation counter on the falling edge of the signal (open and then closed for 100 s or longer). 2 Disabled (Do not change setting.) 9 --- --- --- --- 9-22 Appendix 4E Deviation Counter Reset Condition Setting 9-2 Parameter Tables Speed and Torque Control Parameters Pn Parameter name Setting No. Appendix 9 Explanation 50 Set the relation between the voltage applied to the Speed Speed Command Input (REF) and the Servomotor Command Scale speed. 51 Set to reverse the polarity of the speed command input (REF). Command Speed Rotation 0 Forward Direction Switch 1 Reverse Default setting Unit Setting range Power OFF ON 300 (r/min) /V 10 to 2000 --- 0 --- 0 to 1 --- 0 0.3 mV -2047 to 2047 --- 52 Speed Command Offset Adjustment 53 No. 1 Internally Set Speed Set the No. 1 internally set rotation speed. 100 r/min -20000 to 20000 --- 54 No. 2 Internally Set Speed Set the No. 2 internally set rotation speed. 200 r/min -20000 to 20000 --- 55 No. 3 Internally Set Speed Set the No. 3 internally set rotation speed. 300 r/min -20000 to 20000 --- 56 No. 4 Internally Set Speed Set the No. 4 internally set rotation speed. For torque control (when Pn5B = 0), set the speed limit. 50 r/min -20000 to 20000 --- 74 No. 5 Internally Set Speed Set the No. 5 internally set rotation speed. 500 r/min -20000 to 20000 --- 75 No. 6 Internally Set Speed Set the No. 6 internally set rotation speed. 600 r/min -20000 to 20000 --- 76 No. 7 Internally Set Speed Set the No. 7 internally set rotation speed. 700 r/min -20000 to 20000 --- 77 No. 8 Internally Set Speed Set the No. 8 internally set rotation speed. 800 r/min -20000 to 20000 --- 57 Speed Set the first-order lag filter time constant in the Speed Command Filter Command Input (REF: CN1 pin 14). Time Constant 0 0.01 ms 0 to 6400 --- Set to adjust the offset of the Speed Command Input (REF). 58 Soft Start Acceleration Time Set the acceleration time for the speed command. 0 2 ms (1000 r/min) 0 to 5000 --- 59 Soft Start Deceleration Time Set the deceleration time for the speed command. 0 2 ms (1000 r/min) 0 to 5000 --- 9-23 9-2 Parameter Tables Pn Parameter name Setting No. Explanation Default setting Unit Setting range Power OFF ON 5A S-curve Acceleration/ Deceleration Time Setting Set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable smooth operation. 0 2 ms 0 to 500 --- 5B Torque Command/ Speed Limit Selection Select the input for the torque command and speed limit. For the settings and control mode, refer to the description of the Torque Command/Speed Limit Selection on page 5-83. 0 --- 0 to 1 --- Torque Set the relation between the voltage applied to the Command Scale Speed Limit Input (VLIM) and the Servomotor speed. 30 0.1 V/ 100% 10 to 100 --- 0 --- 0 to 1 --- 5C 5D Torque Output Direction Switch Set to reverse the polarity of the Torque Command Input (REF/TREF1 or PCL/TREF2). 0 Forward 1 Reverse 5E No. 1 Torque Limit Set the limit to the Servomotor's maximum torque. 300 % 0 to 500 --- 5F No. 2 Torque Limit Set the limit to the Servomotor's maximum torque. 100 % 0 to 500 --- Appendix 9 9-24 9-2 Parameter Tables Sequence Parameters Pn Parameter name Setting No. Explanation Default setting Unit Setting range Power OFF ON 60 Positioning Completion Range Set the range for the Positioning Completed Output (INP). 25 Pulse 0 to 32767 --- 61 Zero Speed Detection Set the rotation speed to output for the general-purpose output (zero speed detection output or speed coincidence output). 20 r/min 10 to 20000 --- 62 Rotation Speed for Motor Rotation Detection Set the rotation speed for the Servomotor Rotation Detection Output (TGON) for Internally Set Speed Control. 50 r/min 10 to 20000 --- 0 --- 0 to 3 --- --- --- --- --- 1 --- 0 to 1 --- Set the operation for positioning completion output (INP). 63 0 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60). 1 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. 2 Positioning completion output turns ON when the zero speed detection signal is ON and the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. 3 Positioning completion output turns ON when the position deviation is within the Positioning Completion Range (Pn60) and there is no position command. The ON status will then be held until the next position command is received. Positioning Completion Condition Setting Appendix 9 64 Reserved (Do not change setting.) Select whether to activate the main power supply undervoltage function (alarm code 13) if the main power supply is interrupted for the Momentary Hold Time (Pn6D) during Servo ON. 65 9-25 Undervoltage Alarm Selection 0 A main power supply undervoltage alarm (alarm code 13) is not generated and the Servomotor turns OFF. When the main power supply turns ON again, the Servo ON status returns. 1 An error is generated for a main power supply undervoltage alarm (alarm code 13). 9-2 Parameter Tables Pn Parameter name Setting No. Explanation Default setting Unit Setting range Power OFF ON 0 --- 0 to 2 Yes Set the operation used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) has been received. 66 Stop Selection for Drive Prohibition Input 0 The torque in the drive prohibit direction is disabled, and the dynamic brake is activated. 1 The torque in the drive prohibit direction is disabled, and free-run deceleration is performed. 2 The torque in the drive prohibit direction is disabled, and an emergency stop is performed. Set one of the following operations to be performed after the main power supply is cut off if the Undervoltage Alarm Selection (Pn65) is set to 0. Operation during deceleration and after stopping Clearing the deviation counter Stop Selection with Main Power OFF During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Clear 1 During deceleration: Free run After stopping: Dynamic brake Deviation counter: Clear 2 During deceleration: Dynamic brake After stopping: Servo free Deviation counter: Clear 3 During deceleration: Free run After stopping: Servo free Deviation counter: Clear 4 During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Hold 5 During deceleration: Free run After stopping: Dynamic brake Deviation counter: Hold 6 During deceleration: Dynamic brake After stopping: Servo free Deviation counter: Hold 7 During deceleration: Free run After stopping: Servo free Deviation counter: Hold 8 During deceleration: Emergency stop After stopping: Dynamic brake Deviation counter: Clear 9 During deceleration: Emergency stop After stopping: Servo free Deviation counter: Clear 9 0 --- 0 to 9 --- 9-26 Appendix 67 0 9-2 Parameter Tables Default setting Unit Setting range Power OFF ON 0 --- 0 to 3 --- Stop Selection with Servo OFF Set the operation to be performed after the Servomotor turns OFF (i.e., RUN ON to OFF). The relation between set values, operation, and deviation counter processing for this parameter is the same as for the Stop Selection with Main Power OFF (Pn67). 0 --- 0 to 9 --- Brake Timing when Stopped When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Brake Interlock Signal (BKIR) will turn OFF, and the Servomotor will turn OFF after waiting for the time period set for this parameter (i.e., setting x 2 ms). 10 2 ms 0 to 100 --- When the Servomotor is stopped and the RUN Command Input (RUN) is turned OFF, the Servomotor will decelerate to reduce rotation speed, and the Brake InBrake Timing terlock Signal (BKIR) will turn OFF after the set time for during Operation the parameter (i.e., setting x 2 ms) has elapsed. BKIR will also turn OFF if the speed drops to 30 r/min or lower before the set time elapses. 50 2 ms 0 to 100 --- 0 --- 0 to 3 Yes 35 2 ms 35 to 1000 Yes Pn Parameter name Setting No. Explanation Set the operation to be performed after stopping or during deceleration when any protective function of the Servo Drive operates and an error occurs. 68 69 6A 6B 9 Stop Selection for Alarm Generation 0 During deceleration: Dynamic brake After stopping: Dynamic brake 1 During deceleration: Free run After stopping: Dynamic brake 2 During deceleration: Dynamic brake After stopping: Servo free 3 During deceleration: Free run After stopping: Servo free Appendix Set whether to use a built-in resistor or to add an External Regeneration Resistor. 6C 6D 9-27 Regeneration Resistor Selection Momentary Hold Time 0 Regeneration resistor used: Built-in resistor The regeneration processing circuit will operate and the regeneration overload (alarm code 18) will be enabled according to the internal resistance (with approximately 1% duty). 1 Regeneration resistor used: External resistor The regeneration processing circuit will operate, and regeneration overload (alarm code 18) will cause a trip when the operating rate of the regeneration resistor exceeds 10%. 2 Regeneration resistor used: External resistor The regeneration processing circuit will operate, but regeneration overload (alarm code 18) will not occur. 3 Regeneration resistor used: None The regeneration processing circuit and regeneration overload (alarm code 18) will not operate, and all regenerative energy will be processed by the built-in capacitor. Set the amount of time required until shutoff is detected if the main power supply continues to shut off. 9-2 Parameter Tables Unit Setting range Power OFF ON Set the torque limit for the following cases. Drive prohibit deceleration with the Stop Selection for Drive Prohibition Input (Pn66) set to 2. Deceleration with the Stop Selection with Main Power OFF (Pn67) set to 8 or 9. Deceleration with the Stop Selection with Servo OFF (Pn69) set to 8 or 9. 0 % 0 to 500 --- (Do not change setting.) --- --- --- --- 100 x 256 pulses 0 to 32767 --- Explanation 6E Emergency Stop Torque 6F Reserved 70 Deviation Counter Overflow Level Set the deviation counter overflow level. 71 Speed Command/ Torque Command Input Overflow Level Setting Set the overflow level for Speed Command Input (REF) or Torque Command Input (TREF) using voltage after offset adjustment. 0 0.1 V 0 to 100 --- 72 Overload Detection Level Setting Set the overload detection level. 0 % 0 to 500 --- 73 Overspeed Detection Level Setting Set the overspeed detection level. 0 r/min 0 to 20000 --- 78 Reserved (Do not change setting.) --- --- --- --- 79 Reserved (Do not change setting.) --- --- --- --- 7A Reserved (Do not change setting.) --- --- --- --- 7B Reserved (Do not change setting.) --- --- --- --- 7C Reserved (Do not change setting.) --- --- --- --- 7D Reserved (Do not change setting.) --- --- --- --- 7E Reserved (Do not change setting.) --- --- --- --- 7F Reserved (Do not change setting.) --- --- --- --- 9-28 9 Appendix Default setting Pn Parameter name Setting No. Index Numerics 1,000-r/min Servomotors ................................... 2-4, 3-43 12 to 24-VDC Power Supply Input (24VIN) .............. 3-12 2,000-r/min Servomotors ................................... 2-3, 3-41 24-V Open-collector Input for Command Pulse (+24VCW)................................................................. 3-12 3,000-r/min Flat Servomotors ............................ 2-3, 3-39 3,000-r/min Servomotors ................................... 2-2, 3-33 90-degree Phase Difference Pulse Input (Phase A) (FA).......................................................... 3-12 90-degree Phase Difference Pulse Input (Phase B) (FB).......................................................... 3-12 A Absolute Encoder Battery Cable ..................... 2-20, 3-63 Absolute Encoder Reset Mode................................. 6-23 absolute encoder setup .............................................. 6-5 absolute encoders .................................................... 3-46 adaptive filter ............................................................ 7-11 Adaptive Filter Selection (Pn23) ............................... 5-63 Adaptive Filter Table Number Display (Pn2F) .......... 5-66 Alarm Output (/ALM)........................................ 3-15, 3-29 Alarm Reset Input (RESET) ............................ 3-13, 3-25 Alarm Reset Mode.................................................... 6-21 alarm table.................................................................. 8-4 allowable current ...................................................... 4-25 Analog Input Ground (AGND)................................... 3-12 applicable standards................................................. 1-10 Automatic Offset Adjustment Mode .......................... 6-22 Autotuning Operation Setting (Pn25)........................ 5-63 autotuning table ........................................................ 7-16 B Backup Battery Input (BAT)...................................... 3-14 Brake Cables ............................................................ 3-79 Brake Cables (Robot Cables).......................... 2-20, 3-81 Brake Cables (Standard Cables).............................. 2-17 brake interlock .......................................................... 5-20 Brake Interlock Output (BKIR) .................................. 3-15 Brake Timing during Operation (Pn6B) .................... 5-90 Brake Timing When Stopped (Pn6A) ....................... 5-89 C cable specifications .................................................. 3-57 changing the mode ..................................................... 6-7 check pins................................................................... 1-4 clamp cores .............................................................. 4-37 Command Pulse Input Selection (Pn40) .................. 5-73 Command Pulse Mode (Pn42) ................................. 5-74 Command Pulse Prohibited Input (Pn43) ................. 5-74 Command Speed Rotation Direction Switch (Pn51). 5-80 Command Speed Selection (Pn05) .......................... 5-53 Communications Cables......................... 2-20, 3-84, 3-85 communications connector specifications (CN3A) ... 3-31 Computer Monitor Cables................................ 3-84, 4-14 connecting cables..................................................... 4-11 connection examples.................................................. 9-1 connector specifications ........................................... 3-57 Connector Terminal Block Cables ................... 2-23, 3-94 Connector Terminal Blocks ...................................... 2-23 Index-1 Connectors ............................................................... 2-20 Connector-Terminal Block Conversion Unit ............. 3-96 Connector-Terminal Blocks and Cables ................... 4-16 contactors ................................................................. 4-39 control cable specifications....................................... 3-57 Control Cables.......................................................... 2-23 Control Gain Switch 1 Setting (Pn31)....................... 5-68 Control Gain Switch 2 Setting (Pn36)....................... 5-72 control I/O connector specifications............................ 3-9 control I/O connectors .............................................. 3-86 control input circuits.................................................. 3-17 control input signals.................................................. 3-12 Control Mode Selection (Pn02) ................................ 5-52 Control Mode Switch Input (TVSEL)................ 3-13, 3-25 control mode switching ............................................. 5-11 control output circuits................................................ 3-26 control output sequence ........................................... 3-27 Copy Mode ............................................................... 6-24 D damping control ........................................................ 7-35 Decelerator dimensions............................................ 2-49 Decelerator installation conditions.............................. 4-7 Decelerator specifications ........................................ 3-47 Decelerators ............................................................... 2-7 Decelerators for 1,000-r/min Servomotors (Backlash = 3' Max.)........................................ 2-55, 3-52 Decelerators for 2,000-r/min Servomotors (Backlash = 3' Max.)........................................ 2-53, 3-50 Decelerators for 3,000-r/min Flat Servomotors (Backlash = 15' Max.)...................................... 2-61, 3-56 Decelerators for 3,000-r/min Flat Servomotors (Backlash = 3' Max.)........................................ 2-57, 3-53 Decelerators for 3,000-r/min Servomotors (Backlash = 15' Max.)...................................... 2-59, 3-54 Decelerators for 3,000-r/min Servomotors (Backlash = 3' Max.)........................................ 2-49, 3-47 Default Display (Pn01).............................................. 5-51 Deviation Counter Overflow Level (Pn70) ................ 5-91 Deviation Counter Reset Condition Setting (Pn4E).. 5-79 Deviation Counter Reset Input (ECRST)......... 3-13, 3-24 Direction Signal (SIGN) ..........................3-12, 3-20, 3-22 disabling adaptive filter ............................................. 7-20 disabling realtime autotuning.................................... 7-19 disabling the automatic gain adjustment function..... 7-19 Drive Prohibit Input Selection (Pn04) ....................... 5-53 E EC Directives............................................................ 1-10 electronic gear .......................................................... 5-16 Electronic Gear Ratio Denominator (Pn4B).............. 5-77 Electronic Gear Ratio Numerator 1 (Pn48)............... 5-77 Electronic Gear Ratio Numerator 2 (Pn49)............... 5-77 Electronic Gear Ratio Numerator Exponent (Pn4A) . 5-77 Electronic Gear Switch (GESEL).............................. 3-13 electronic thermal function........................................ 8-20 Emergency Stop Torque (Pn6E) .............................. 5-91 encoder cable noise resistance ................................ 4-40 Encoder Cables ........................................................ 3-57 Encoder Cables (Robot Cables).............2-18, 3-60, 4-13 Encoder Cables (Standard Cables)........2-14, 3-57, 4-12 encoder connector specifications (CN2)................... 3-30 Index encoder connectors .................................................. 3-86 Encoder Divider Denominator Setting (Pn45) .......... 5-75 Encoder Divider Numerator Setting (Pn44) .............. 5-75 encoder dividing ....................................................... 5-15 Encoder Output Direction Switch (Pn46).................. 5-76 encoder outputs (phases A, B, and Z)...................... 3-28 Encoder Phase-A - Output (-A) ................................ 3-15 Encoder Phase-A + Output (+A)............................... 3-15 Encoder Phase-B - Output (-B) ................................ 3-15 Encoder Phase-B + Output (+B)............................... 3-15 Encoder Phase-Z - Output (-Z)................................. 3-15 Encoder Phase-Z + Output (+Z) ............................... 3-15 encoder specifications .............................................. 3-46 error diagnosis using the displayed alarm codes ....... 8-6 error diagnosis using the operating status................ 8-15 error processing.......................................................... 8-1 external dimensions.................................................. 2-25 External Regeneration Resistor Dimensions............ 2-63 External Regeneration Resistor specifications ....... 3-130 External Regeneration Resistors.............................. 2-23 F Feed Pulse (PULS)................................. 3-12, 3-20, 3-22 Feed-forward Amount (Pn15) ................................... 5-60 Feed-forward Command Filter (Pn16)...................... 5-60 fit gain function ........................................................... 7-7 Forward Drive Prohibit.............................................. 5-14 Forward Drive Prohibit Input (POT) ................. 3-12, 3-24 Forward Pulse (CCW) ............................ 3-12, 3-20, 3-22 Forward Pulse (CCWLD).......................................... 3-14 Forward Torque Limit Input (PCL) ............................ 3-12 Frame Ground (FG).................................................. 3-15 Front Key Protection Setting (Pn0E) ........................ 5-57 G gain adjustment .......................................................... 7-1 Gain Switch (GSEL) ................................................. 3-13 Gain Switch 1 Hysteresis Setting (Pn34).................. 5-71 Gain Switch 1 Level Setting (Pn33).......................... 5-71 Gain Switch 1 Time (Pn32)....................................... 5-70 Gain Switch 2 Hysteresis Setting (Pn39).................. 5-72 Gain Switch 2 Level Setting (Pn38).......................... 5-72 Gain Switch 2 Time (Pn37)....................................... 5-72 gain switching ........................................................... 5-24 gain switching function ............................................. 7-26 Gain Switching Input Operating Mode Selection (Pn30)....................................................................... 5-67 General-purpose Control Cables............ 2-23, 3-92, 4-16 General-purpose Output 1 (OUTM1)........................ 3-15 General-purpose Output 1 Selection (Pn0A)............ 5-56 General-purpose Output 2 (OUTM2)........................ 3-15 General-purpose Output 2 Selection (Pn09) ............ 5-55 General-purpose Output Common (COM) ............... 3-15 H harmonic current countermeasures.......................... 4-41 I IM Selection (Pn08) .................................................. 5-55 incremental encoders ............................................... 3-46 Inertia Ratio (Pn20) .................................................. 5-62 instantaneous speed observer ................................. 7-33 Instantaneous Speed Observer Setting (Pn27)........ 5-64 internally set speed control......................................... 5-5 Internally Set Speed Selection 1 (VSEL1)................ 3-13 Internally Set Speed Selection 2 (VSEL2)................ 3-13 Internally Set Speed Selection 3 (VSEL3)................ 3-13 J Jog Operation Mode ................................................. 6-24 Jog Speed (Pn3D) .................................................... 5-73 L leakage breakers ...................................................... 4-33 M machine resonance control ...................................... 7-30 machine rigidity numbers.......................................... 7-15 main circuit connector................................................. 3-6 Main Circuit Connector Specifications (CNA).... 3-6, 4-21 Main Circuit Terminal Block Specifications ...........................................................3-7, 3-8, 4-22, 4-23 manual tuning ........................................................... 7-21 Momentary Hold Time (Pn6D).................................. 5-91 Monitor Mode.............................................................. 6-8 Motion Control Unit Cables.............................. 3-89, 4-16 Mounting Brackets (L brackets for rack mounting) ... 2-24 mounting hole dimensions........................................ 2-25 N No. 1 Internally Set Speed (Pn53)............................ 5-81 No. 1 Torque Limit (Pn5E)........................................ 5-84 No. 2 Internally Set Speed (Pn54)............................ 5-81 No. 2 Torque Limit (Pn5F) ........................................ 5-84 No. 3 Internally Set Speed (Pn55)............................ 5-81 No. 4 Internally Set Speed (Pn56)............................ 5-81 No. 5 Internally Set Speed (Pn74)............................ 5-81 No. 6 Internally Set Speed (Pn75)............................ 5-81 No. 7 Internally Set Speed (Pn76)............................ 5-81 No. 8 Internally Set Speed (Pn77)............................ 5-81 no-fuse breakers....................................................... 4-32 noise filters ....................................4-35, 4-36, 4-37, 4-43 noise filters for brake power supply .......................... 4-36 noise filters for power supply input ........................... 4-35 noise filters for Servomotor output............................ 4-43 Normal mode autotuning ................................. 6-20, 7-14 Notch Filter 1 Frequency (Pn1D).............................. 5-61 Notch Filter 1 Width (Pn1E)...................................... 5-61 Notch Filter 2 Depth (Pn2A) ..................................... 5-64 Notch Filter 2 Frequency (Pn28) .............................. 5-64 Notch Filter 2 Width (Pn29) ...................................... 5-64 O oil seal ........................................................................ 4-5 Operation Switch When Using Absolute Encoder (Pn0B) ...................................................................... 5-56 operational procedure................................................. 6-1 overload characteristics............................................ 8-20 Overload Detection Level Setting (Pn72) ................. 5-92 overrun limit .............................................................. 5-18 Overrun Limit Setting (Pn26) .................................... 5-64 Overspeed Detection Level Setting (Pn73) .............. 5-92 Index-2 Index P parameter details...................................................... 5-50 Parameter Setting Mode........................................... 6-17 parameter tables.............................................. 5-32, 9-11 Parameter Unit Connector specifications (CN3B) .... 3-31 Parameter Unit dimensions ...................................... 2-45 Parameter Unit specifications................................. 3-129 Parameter Write Mode ............................................. 6-19 periodic maintenance ............................................... 8-21 phase-Z output (open-collector output) .................... 3-26 Phase-Z Output (Z)................................................... 3-15 Phase-Z Output Common (ZCOM)........................... 3-15 pin arrangement ....................................................... 3-16 position command filter............................................. 5-28 Position Command Filter Time Constant Setting (Pn4C) ...................................................................... 5-78 Position Command Pulse ................................ 3-17, 3-18 position control ........................................................... 5-1 Position Control Mode .............................................. 7-22 Position Control Unit-Servo Relay Unit Cable specifications .......................................................... 3-116 position feedback output........................................... 3-26 Position Loop Gain (Pn10) ....................................... 5-58 Position Loop Gain 2 (Pn18) .................................... 5-60 Position Loop Gain Switching Time (Pn35) .............. 5-71 Positioning Completed Output (INP) ............... 3-15, 3-29 Positioning Completion Condition Setting (Pn63)..... 5-86 Positioning Completion Range (Pn60) ..................... 5-85 Power Cables (Robot Cables) .................................. 4-14 Power Cables (Standard Cables) ............................. 4-13 Power cables for Servomotors with brakes (Robot Cables) ......................................................... 3-76 power cables for Servomotors with brakes (Standard Cables) .................................................... 3-73 Power cables for Servomotors without brakes (Robot Cables) ......................................................... 3-69 power cables for Servomotors without brakes (Standard Cables) .................................................... 3-64 preparing for operation ............................................... 6-2 protective functions..................................................... 3-5 Pulse Prohibit Input (IPG)................................ 3-13, 3-25 R radio noise filters ...................................................... 4-37 Reactor dimensions.................................................. 2-64 Reactors ............................................... 2-23, 3-131, 4-41 Realtime Autotuning Machine Rigidity Selection (Pn22)....................................................................... 5-62 Realtime Autotuning Mode Selection (Pn21)............ 5-62 Regeneration Resistor Selection (Pn6C).................. 5-91 regenerative energy.................................................. 4-45 regenerative energy (External Regeneration Resistors) ........................... 4-49 regenerative energy absorption................................ 4-48 replacement procedure...................................... 8-2, 8-23 replacing the Absolute Encoder Battery ................... 8-23 replacing the Servo Drive ........................................... 8-2 replacing the Servomotor ........................................... 8-2 Reverse Drive Prohibit.............................................. 5-14 Reverse Drive Prohibit Input (NOT)................. 3-12, 3-24 Reverse Pulse (CW)................................................. 3-12 Index-3 Reverse Pulse (CWLD) ............................................ 3-14 Reverse Torque Limit Input (NCL)............................ 3-12 Rotation Speed for Motor Rotation Detection (Pn62)....................................................................... 5-86 rotational speed characteristics for 1,000-r/min Servomotors ............................................................. 3-44 rotational speed characteristics for 2,000-r/min Servomotors ............................................................. 3-42 rotational speed characteristics for 3,000-r/min Flat Servomotors ............................................................. 3-40 rotational speed characteristics for 3,000-r/min Servomotors ............................................................. 3-36 RS-232 Baud Rate Setting (Pn0C)........................... 5-57 RS-485 Baud Rate Setting (Pn0D)........................... 5-57 RS-485 communications cables ............................... 4-15 RUN Command (RUN) .................................... 3-13, 3-24 S S-curve Acceleration/Deceleration Time Settings (Pn5A) ...................................................................... 5-82 sensor input .............................................................. 3-19 Sensor ON Input (SEN) ............................................ 3-12 Sequence Input ........................................................ 3-19 Sequence Output...................................................... 3-26 Servo Drive characteristics......................................... 3-2 Servo Drive dimensions............................................ 2-25 Servo Drive functions ................................................. 1-4 Servo Drive general specifications ............................. 3-1 Servo Drive installation conditions.............................. 4-1 Servo Drive models .................................................... 2-1 Servo Drive part names.............................................. 1-3 Servo Drive service life............................................. 8-22 Servo Drive-Servo Relay Unit Cables .................... 3-112 Servo Drive-Servomotor combinations....................... 2-5 Servo Ready Output (READY) ........................ 3-15, 3-29 Servo Relay Unit Cables for Position Control Units.. 2-22 Servo Relay Unit Cables for Servo Drives................ 2-21 Servo Relay Units..................................................... 2-21 Servomotor and Decelerator Combinations ............. 2-46 Servomotor characteristics ....................................... 3-33 Servomotor connector specifications (CNB)...... 3-6, 4-21 Servomotor general specifications ........................... 3-32 Servomotor installation conditions.............................. 4-3 Servomotor models .................................................... 2-2 Servomotor Power Cables (Robot Cables) .............. 2-19 Servomotor Power Cables (Standard Cables) ......... 2-15 Servomotor Rotation Speed Detection Output (TGON)............................................................ 3-15, 3-29 Servomotor service life ............................................. 8-21 setting the mode ......................................................... 6-7 Smoothing Filter Setting (Pn4D)............................... 5-79 soft start.................................................................... 5-27 Soft Start Acceleration Time (Pn58) ......................... 5-82 Soft Start Deceleration Time (Pn59)......................... 5-82 SP Selection (Pn07) ................................................. 5-54 Speed Command Filter Time Constant (Pn57) ........ 5-81 Speed Command Input (REF) ................3-12, 3-17, 3-24 Speed Command Offset Adjustment (Pn52) ............ 5-80 Speed Command Rotation Direction Switch (PNSEL) ................................................................... 3-13 Speed Command Scale (Pn50)................................ 5-80 Index Speed Command/Torque Command Input Overflow Level Setting (Pn71).................................. 5-92 speed control .............................................................. 5-3 speed control mode adjustment ............................... 7-24 Speed Feedback Filter Time Constant (Pn13) ......... 5-60 Speed Feedback Filter Time Constant 2 (Pn1B)...... 5-61 speed limit ................................................................ 5-29 Speed Limit Input (VLIM).......................................... 3-12 speed limit values ..................................................... 7-25 Speed Loop Gain (Pn11).......................................... 5-59 Speed Loop Gain 2 (Pn19)....................................... 5-60 Speed Loop Integration Time Constant (Pn12) ........ 5-59 Speed Loop Integration Time Constant 2 (Pn1A)..... 5-61 Stop Selection for Alarm Generation (Pn68) ............ 5-88 Stop Selection for Drive Prohibition Input (Pn66) ..... 5-87 Stop Selection with Main Power OFF (Pn67) ........... 5-88 Stop Selection with Servo OFF (Pn69)..................... 5-89 surge absorbers........................................................ 4-34 surge suppressors .................................................... 4-39 Switching the Control Mode...................................... 5-11 system block diagrams ............................................... 1-5 system configuration................................................... 1-2 Z Zero Speed Designation Input (VZERO) .................. 3-13 Zero Speed Designation/Speed Command Direction Switch (Pn06) ............................................ 5-54 Zero Speed Detection (Pn61)................................... 5-85 T terminal block wire sizes........................................... 4-24 terminal block wiring ................................................. 4-26 Torque Command Filter Time Constant (Pn14) ....... 5-60 Torque Command Filter Time Constant 2 (Pn1C).... 5-61 Torque Command Input (TREF1)............................. 3-12 Torque Command Input (TREF2)............................. 3-12 Torque Command Scale (Pn5C) .............................. 5-83 Torque Command/Speed Limit Selection (Pn5B)..... 5-83 torque control.............................................................. 5-8 torque control mode adjustment ............................... 7-25 torque limit ................................................................ 5-25 Torque Limit Selection (Pn03) .................................. 5-52 Torque Limit Switch (TLSEL).................................... 3-13 Torque Output Direction Switch (Pn5D) ................... 5-83 trial operation............................................................ 6-28 troubleshooting ........................................................... 8-6 U UL and CSA standards............................................. 1-10 Undervoltage Alarm Selection (Pn65) ...................... 5-87 Unit No. Setting (Pn00)............................................. 5-50 unit No. switch ............................................................ 1-4 user parameters ....................................................... 5-30 using the Parameter Unit............................................ 6-6 V Vibration Filter 1 Setting (Pn2C)............................... 5-65 Vibration Filter 2 Setting (Pn2E) ............................... 5-65 Vibration Filter Selection (Pn24)............................... 5-63 Vibration Filter Switch (DFSEL)................................ 3-13 Vibration Frequency 1 (Pn2B) .................................. 5-64 Vibration Frequency 2 (Pn2D) .................................. 5-65 W wire sizes.................................................................. 4-25 wiring conforming to EMC Directives........................ 4-27 Index-4 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. Cat. No. I562-E1-03 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version. Revision code 01 02 Date February 2008 July 2008 03 October 2009 R-1 Revised content and pages Original production Changes were made throughout the manual to add information, and make minor corrections. Changes were made throughout the manual to add information, and make minor corrections. Terms and Conditions of Sale 1. Offer; Acceptance. These terms and conditions (these "Terms") are deemed part of all quotes, agreements, purchase orders, acknowledgments, price lists, catalogs, manuals, brochures and other documents, whether electronic or in writing, relating to the sale of products or services (collectively, the "Products") by Omron Electronics LLC and its subsidiary companies ("Omron"). 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Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. OMRON ELECTRONICS LLC * THE AMERICAS HEADQUARTERS Schaumburg, IL USA * 847.843.7900 * 800.556.6766 * www.omron247.com OMRON CANADA, INC. * HEAD OFFICE OMRON ARGENTINA * SALES OFFICE Toronto, ON, Canada * 416.286.6465 * 866.986.6766 * www.omron247.com Cono Sur * 54.11.4783.5300 OMRON ELETRONICA DO BRASIL LTDA * HEAD OFFICE OMRON CHILE * SALES OFFICE Sao Paulo, SP, Brasil * 55.11.2101.6300 * www.omron.com.br Santiago * 56.9.9917.3920 OMRON ELECTRONICS MEXICO SA DE CV * HEAD OFFICE OTHER OMRON LATIN AMERICA SALES Apodaca, N.L. * 52.811.156.99.10 * 001.800.556.6766 * mela@omron.com 54.11.4783.5300 Cat. No. I562-E1-03 10/09 (c) 2009 Omron Electronics LLC Specifications are subject to change without notice. Printed in U.S.A.