Table Of Contents - Omron R88D-GT series User Manual

Table of Contents

Introduction3
Intended Readers3
Precautions For Safe Use6
Explanation Of Signal Words6
Storage And Transportation Precautions8
Installation And Wiring Precautions9
Operation And Adjustment Precautions10
Maintenance And Inspection Precautions10
Warning Label Position11
Warning Label Contents11
Disposing Of The Product11
Items To Check When Unpacking12
Accessories Provided With Product12
Understanding Servo Drive Model Numbers13
Understanding Servomotor Model Numbers14
Understanding Decelerator Model Numbers (Backlash = 3' Max.)15
Understanding Decelerator Model Numbers (Backlash = 15' Max.)16
About This Manual17
Table Of Contents18
Features And System Configuration21
Overview Of The G Series22
Features Of The G Series22
System Configuration23
Names Of Parts And Functions24
Servo Drive Part Names24
Servo Drive Functions25
Forward And Reverse Motor Rotation25
System Block Diagrams26
R88D-Gta5L/-Gt01L/-Gt02L/-Gta5H/-Gt01H/-Gt02H/-Ht04H26
R88D-Gt04L/-Gt08H/-Gt10H/-Gt15H27
R88D-Gt20H28
R88D-Gt30H/Gt50H29
R88D-Gt75H30
Applicable Standards31
Ec Directives31
Ul And Csa Standards31
Korean Radio Regulations (Kc)32
Semi F4732
Standard Models And Dimensions33
Standard Models34
Servo Drives34
Servomotors35
3,000-R/Min Servomotors35
3,000-R/Min Flat Servomotors36
2,000-R/Min Servomotors36
1,000-R/Min Servomotors37
Servo Drive-Servomotor Combinations38
3,000-R/Min Servomotors And Servo Drives38
3,000-R/Min Flat Servomotors And Servo Drives38
2,000-R/Min Servomotors And Servo Drives39
1,000-R/Min Servomotors And Servo Drives39
Decelerators40
Decelerators For 3,000-R/Min Servomotors40
Decelerators For 2,000-R/Min Servomotors42
Decelerators For 1,000-R/Min Servomotors43
Decelerators For 3,000-R/Min Flat Servomotors44
Decelerators For 3,000-R/Min Servomotors (Straight Shaft With Key)45
Decelerators For 3,000-R/Min Flat Servomotors (Straight Shaft With Key)46
Accessories And Cables47
Encoder Cables (Standard Cables)47
Servomotor Power Cables (Standard Cables)48
Brake Cables (Standard Cables)50
Encoder Cables (Robot Cables)51
Servomotor Power Cables (Robot Cables)52
Brake Cables (Robot Cables)53
Communications Cable53
Absolute Encoder Battery Cables53
Connectors53
Servo Relay Units (For Cn1)54
Servo Relay Unit Cables For Servo Drives54
Servo Relay Unit Cables For Position Units55
Control Cables56
External Regeneration Resistors56
Reactors56
Mounting Brackets (L Brackets For Rack Mounting)57
Absolute Encoder Backup Battery57
External And Mounting Hole Dimensions58
Single-Phase 100 Vac: R88D-Gta5L/-Gt01L (50 To 100 W)58
Single-Phase 200 Vac: R88D-Gt01H/-Gt02H (50 To 200 W)58
Front Panel Mounting (Using Mounting Brackets)59
Single-Phase 100 Vac: R88D-Gt02L (200 W)60
Single-Phase 200 Vac: R88D-Gt04H (400 W)60
Single-Phase 100 Vac: R88D-Gt04L (400 W)61
Single-Phase/Three-Phase 200 Vac: R88D-Gt08H (750 W)61
Single-Phase/Three-Phase 200 Vac: R88D-Gt10H/-Gt15H (900 W To 1.5 Kw)62
Three-Phase 200 Vac: R88D-Gt20H (2 Kw)63
Three-Phase 200 Vac: R88D-Gt30H/-Gt50H (2 To 5 Kw)65
Three-Phase 200 Vac: R88D-Gt75H (7.5 Kw)67
1,500-R/Min Servomotors75
Parameter Unit Dimensions78
R88A-Pr02G Hand-Held Parameter Unit78
Servomotor And Decelerator Combinations79
Decelerator Dimensions82
Outline Drawings83
External Regeneration Resistor Dimensions96
R88A-Rr08050S/-Rr080100S96
R88A-Rr22047S196
R88A-Rr50020S96
Reactor Dimensions97
3G3Ax-Dl200297
3G3Ax-Dl200497
3G3Ax-Dl200798
3G3Ax-Dl201598
3G3Ax-Dl202299
3G3Ax-Al2025/-Al205599
3G3Ax-Al2110/-Al2220100
Specifications101
Servo Drive Specifications102
General Specifications102
Characteristics103
Servo Drives With 100-Vac Input Power103
Servo Drives With Single-Phase 200-Vac Input Power104
Servo Drives With Three-Phase 200-Vac Input Power105
Protective Functions106
Main Circuit And Servomotor Connections107
R88D-Gta5L/-Gt01L/-Gt02L/-Gt04Lr88D-Gt01H/-Gt02H/-Gt04H/-Gt08H/-Gt10H/-Gt15H107
Main Circuit Connector Specifications (Cna)107
Servomotor Connector Specifications (Cnb)107
R88D-Gt20H/-Gt30H/-Gt50H108
Main Circuit Terminal Block Specifications108
Main Circuit Terminal Block Specifications (Tb1)109
Main Circuit Terminal Block Specifications (Tb2)109
Control I/O Connector Specifications (Cn1)110
Control I/O Signal Connections And External Signal Processing For Positioncontrol110
Control I/O Signal Connections And External Signal Processing For Speedcontrol111
Control I/O Signal Connections And External Signal Processing For Torquecontrol112
Control I/O Signals113
Cn1 Control Inputs113
Cn1 Control Outputs116
Cn1 Pin Arrangement117
Cn1 Connectors (50 Pins)117
Control Input Circuits118
Speed Command/Torque Command Input118
Position Command Pulse Input (Line Receiver Input)118
Position Command Pulse Input (Photocoupler Input)119
Line Driver Input (500 Kpps Maximum)119
Open-Collector Input119
Sequence Input120
Sensor Input120
Control Input Details121
High-Speed Photocoupler Inputs121
Functions121
Command Pulse Timing For Photocoupler Inputs122
Line-Receiver Inputs123
Command Pulse Timing For Line-Receiver Inputs124
Reverse Drive Prohibit Input (Not) And Forward Drive Prohibit Input (Pot)125
Speed Command Input (Ref) Or Torque Command Input (Tref1)125
Run Command Input (Run)125
Deviation Counter Reset Input (Ecrst)125
Alarm Reset Input (Reset)126
Control Mode Switch Input (Tvsel)126
Pulse Prohibit Input (Ipg) And Internally Set Speed Selection 1 (Vsel1)126
Control Output Circuits127
Position Feedback Output127
Phase-Z Output (Open-Collector Output)127
Sequence Output127
Control Output Details128
Control Output Sequence128
Encoder Outputs (Phases A, B, And Z)129
Brake Interlock Output (Bkir)130
Servo Ready Output (Ready)130
Alarm Output (/Alm)130
Positioning Completed Output (Inp) Or Servomotor Rotation Speed Detectionoutput (Tgon)130
Encoder Connector Specifications (Cn2)131
Connectors For Cn2 (6 Pins)131
Communications Connector Specifications (Cn3A)132
Parameter Unit Connector Specifications (Cn3B)132
Connector For Cn3A (8 Pins)132
Connector For Cn3B (8 Pins)132
Servomotor Specifications133
Temperature Characteristics Of The Servomotor And Mechanical System146
Encoder Specifications147
Incremental Encoders147
Absolute Encoders147
Decelerator Specifications148
Standard Models And Specifications148
Cable And Connector Specifications158
Encoder Cable Specifications158
Absolute Encoder Battery Cable Specifications164
Servomotor Power Cable Specifications165
Power Cables For Servomotors Without Brakes (Standard Cables)165
Power Cables For Servomotors Without Brakes (Robot Cables)170
Power Cables For Servomotors With Brakes (Standard Cables)174
Power Cables For Servomotors With Brakes (Robot Cables)177
Resistant To Bending Of Robot Cables183
Moving Bend Test184
Communications Cable Specifications185
Computer Monitor Cable185
Connection Configuration And Dimensions185
Wiring185
Communications Cables186
Connector Specifications187
Control I/O Connector (R88A-Cnu11C)187
Encoder Connectors187
Power Cable Connector (R88A-Cng01A)189
Brake Cable Connector (R88A-Cng01B)189
Control Cable Specifications190
Motion Control Unit Cables (R88A-Cpg@M@)190
General-Purpose Control Cables (R88A-Cpg@S)193
Connector Terminal Block Cables (Xw2Z-@J-B24)195
Connector-Terminal Block Conversion Unit197
Xw2B-50G4 (M3 Screw Terminal Block)197
Xw2B-50G5 (M3.5 Screw Terminal Block)198
Xw2D-50G6 (M3 Screw Terminal Block)199
Servo Relay Units And Cable Specifications200
Xw2B-20J6-1B200
Xw2B-40J6-2B201
Xw2B-20J6-3B202
Xw2B-20J6-8A204
Xw2B-40J6-9A206
Xw2B-80J7-12A208
System Configuration Example For The Fqm1209
Terminal Block Connection209
Fqm1-Mma22 Signal Names210
Fqm1-Mmp22 Signal Names211
Wiring Example212
Servo Drive-Servo Relay Unit Cable Specifications213
Servo Drive Cable (Xw2Z-@J-B25)213
Servo Drive Cable (Xw2Z-@J-B26)214
Servo Drive Cable (Xw2Z-@J-B27)215
Servo Drive Cable (Xw2Z-@J-B31)216
Position Control Unit-Servo Relay Unit Cable Specifications217
Position Control Unit Cable (Xw2Z-@J-A3)217
Position Control Unit Cable (Xw2Z-@J-A6)218
Position Control Unit Cable (Xw2Z-@J-A7)219
Position Control Unit Cable (Xw2Z-@J-A10)220
Position Control Unit Cable (Xw2Z-@J-A11)221
Position Control Unit Cable (Xw2Z-@J-A14)222
Position Control Unit Cable (Xw2Z-@J-A15)223
Position Control Unit Cable (Xw2Z-@J-A18)224
Position Control Unit Cable (Xw2Z-@J-A19)225
Position Control Unit Cable (Xw2Z-@J-A33)226
Position Control Unit Cable (Xw2Z-@J-A28)227
Position Control Unit Cable (Xw2Z-@J-A30)228
Position Control Unit Cable (Xw2Z-@J-A31)229
Parameter Unit Specifications230
Performance Specifications230
External Regeneration Resistor Specifications231
R88A-Rr08050S231
R88A-Rr080100S231
Reactor Specifications233
System Design235
Connection Examples235
Installation Conditions236
Space Around Drives236
Operating Environment236
Keeping Foreign Objects Out Of Units237
Impact And Load238
Connecting To Mechanical Systems238
Water And Drip Resistance239
Countermeasures Against Oil239
Radiator Plate Installation Conditions239
Oil Seal240
Other Precautions241
Installing Decelerators242
Using Another Company's Decelerator (Reference Information)245
Connecting Cables246
Selecting Connecting Cables247
Rs-485 Communications Cable250
Servo Relay Units And Cables250
Motion Control Unit Cable251
General-Purpose Control Cable And Control I/O Connector251
Connector-Terminal Blocks And Cables251
Peripheral Device Connection Examples252
R88D-Gt08H/-Gt10H/-Gt15H253
Terminal Block Wire Sizes259
Wire Sizes And Allowable Current (Reference)260
Terminal Block Wiring Procedure261
Wiring Conforming To Emc Directives262
Wiring Method262
Noise Filters For Power Supply Input264
Control Panel Structure265
Door Structure266
Selecting Connection Components267
No-Fuse Breakers (Nfb)267
Leakage Breakers268
Surge Absorbers269
Noise Filters For The Power Supply Input270
Noise Filter For The Brake Power Supply271
Radio Noise Filters And Emission Noise Prevention Clamp Cores272
Surge Suppressors274
Contactors274
Improving Encoder Cable Noise Resistance275
Improving Control I/O Signal Noise Resistance276
Reactors To Reduce Harmonic Current276
Selecting Other Parts For Noise Resistance277
Regenerative Energy Absorption280
Calculating The Regenerative Energy280
Horizontal Axis280
Vertical Axis282
Servo Drive Regenerative Energy Absorption Capacity283
Amount Of Internal Regeneration Absorption In Servo Drives283
Absorbing Regenerative Energy With An External Regeneration Resistor284
Connecting An External Regeneration Resistor284
External Regeneration Resistor284
R88D-Gta5L/-Gt01L/-Gt02L/-Gt01H/-Gt02H/-Gt04H284
R88D-Gt04L/-Gt08H/-Gt10H/-Gt15H/-Gt20H/-Gt30H/-Gt50H285
Combining External Regeneration Resistors286
Operating Functions287
Position Control288
Parameters Requiring Settings288
Related Functions289
Parameter Block Diagram For Position Control Mode289
Speed Control290
Parameter Block Diagram For Speed Control Mode291
Internally Set Speed Control292
Torque Control295
Parameter Block Diagram For Torque Control Mode297
Switching The Control Mode298
Control Mode Selected At Tvsel (Control Mode Switch Input)298
Operation Examples299
Forward And Reverse Drive Prohibit301
Encoder Dividing302
Electronic Gear303
Overrun Limit306
Operating Conditions306
No Position Command Input (Servo On)307
Right Side Operation (Servo On)307
Left Side Operation (Servo On)307
Brake Interlock308
Precautions For Using The Electromagnetic Brake308
Run Command Timing (When Servomotor Is Stopped)309
Power Supply Off Timing (When Servomotor Is Stopped)309
Run Command, Errors, And Power Supply Off Timing (When Servomotor Isrotating)310
Alarm Clear (When Servo Is On)311
Gain Switching312
Torque Limit313
Torque Limit Settings314
Soft Start315
Position Command Filter316
Speed Limit317
User Parameters318
Setting And Checking Parameters318
Displaying Parameter Setting Mode318
Setting The Parameter Number318
Displaying Parameter Settings319
Changing Parameter Settings319
Saving The New Setting To Memory And Returning To The Parameter Number Display319
Parameter Tables320
Function Selection Parameters320
Gain Parameters325
Position Control Parameters330
Speed And Torque Control Parameters332
Sequence Parameters334
Parameters Details338
Function Selection Parameters (Pn00 To Pn0F)338
Gain Parameters (Pn10 To Pn3D)346
Position Control Parameters (Pn40 To Pn4E)361
Speed And Torque Control Parameters (Pn50 And Higher)368
Operation381
Operational Procedure382
Preparing For Operation383
Items To Check Before Turning On The Power383
Turning On Power384
Checking Displays384
Absolute Encoder Setup386
Using The Parameter Unit387
Setting The Mode388
Changing The Mode388
Monitor Mode389
Alarm History393
Alarm Codes And Meanings394
Reason For No Rotation Display (Front Panel Operation)397
Parameter Setting Mode398
Parameter Write Mode400
Normal Mode Autotuning401
Auxiliary Function Mode402
Absolute Encoder Reset404
Copy Mode406
Copying From The Servo Drive To The Parameter Unit406
Copying From The Parameter Unit To The Servo Drive407
Trial Operation409
Preparation For Trial Operation409
Trial Operation In Position Control Mode409
Checks Before Trial Operation409
Trial Operation In Speed Control Mode410
Trial Operation In Torque Control Mode410
Adjustment Functions411
Gain Adjustment412
Purpose Of The Gain Adjustment412
Gain Adjustment Methods413
Gain Adjustment Procedure414
Realtime Autotuning415
Realtime Autotuning Setting Method416
Operating Procedure417
Fit Gain Function418
Automatically Set Parameters421
Adaptive Filter422
Normal Mode Autotuning Setting Method426
Front Panel Operating Procedure428
Precautions For Correct Use429
Disabling The Automatic Gain Adjustment Function430
Disabling Realtime Autotuning430
Disabling The Adaptive Filter431
Manual Tuning432
Basic Settings432
Position Control Mode Adjustment433
Parameter Adjustment Values434
Speed Control Mode Adjustment435
Torque Control Mode Adjustment436
Setting Speed Limit Values436
Gain Switching Function437
Setting Gain Switching Conditions438
Speed Control Mode439
Torque Control Mode439
Machine Resonance Control441
Torque Command Filter (Pn14, Pn1C)441
Notch Filter441
Automatic Gain Setting443
Instantaneous Speed Observer444
Damping Control446
Troubleshooting449
Error Processing450
Preliminary Checks When A Problem Occurs450
Checking The Power Supply Voltage450
Checking Whether An Alarm Has Occurred450
Precautions When Troubleshooting451
Replacing The Servomotor And Servo Drive451
Alarm Table452
Alarms453
Error Diagnosis Using The Displayed Alarm Codes455
Error Diagnosis Using The Operating Status464
Overload Characteristics (Electronic Thermal Function)469
Periodic Maintenance470
Servomotor Service Life470
Servo Drive Service Life471
Replacing The Absolute Encoder Battery472
Replacement Battery Model And Specifications472
Mounting The Backup Battery472
Battery Mounting Procedure473
Appendix475
Connecting To Sysmac Cj1W-Nc133/233/433476
Connecting To Sysmac Cj1W-Nc113/213/413477
Connecting To Sysmac Cs1W-Nc133/233/433478
Connecting To Sysmac Cs1W-Nc113/213/413 Orc200Hw-Nc113/213/413479
Connecting To A Sysmac Motion Control Unit480
Connecting To Sysmac Cp1H-Y@@Dt-D481
Connecting To Sysmac Cp1H-X@@Dt-D/Cp1L-@@@Dt-D482
Connecting To Sysmac Cj1M483
Connecting To A Sysmac Cs1W-Hcp22-V1 Customizablecounter Unit484
Connecting To A Sysmac Cs1W-Hca12/22-V1Customizable Counter Unit485
Index504
Revision History508