Omron R88M-W User Manual
  1. Manuals
  2. Brands
  3. Omron Manuals
  4. Servo Drives
  5. R88M-W
  6. User manual

Omron R88M-W User Manual

Hide thumbs Also See for R88M-W:
1
2
3
4
5
6
7
8
9
10
11
12
13
Table Of Contents
14
15
16
17
18
19
20
21
22
23
24
25
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
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
Table of Contents

Advertisement

Quick Links

Cat. No. I531-E1-09
USER'S MANUAL
OMNUC W
SERIES
MODELS R88M-Wj
(AC Servomotors)
MODELS R88D-WTj
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS

Advertisement

Table of Contents
loading

Related Manuals for Omron R88M-W

Summary of Contents for Omron R88M-W

  • Page 1 Cat. No. I531-E1-09 USER’S MANUAL OMNUC W SERIES MODELS R88M-Wj (AC Servomotors) MODELS R88D-WTj (AC Servo Drivers) AC SERVOMOTORS/SERVO DRIVERS...
  • Page 2 4. Please keep a copy of this manual close at hand for future reference. 5. If a product has been left unused for a long time, please consult with your OMRON sales representative. NOTICE 1. This manual describes the functions of the product and relations with other products. You should as- sume that anything not described in this manual is not possible.
  • Page 3 USER’S MANUAL OMNUC W SERIES MODELS R88M-Wj (AC Servomotors) MODELS R88D-WTj (AC Servo Drivers) AC SERVOMOTORS/SERVO DRIVERS...
  • Page 4 OMRON Product References All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product. The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word”...
  • Page 5 Make sure that these protective covers are on the product before use. Consult your OMRON representative when using the product after a long period of storage. WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor to a class-3 ground (to 100 Ω...
  • Page 6 Caution Do not touch the Servo Driver radiator, regeneration resistors or Servomotor while the power is being supplied or soon after the power is turned OFF. Doing so may result in a burn injury due to the hot surface. Storage and Transportation Precautions Caution Do not hold the product by the cables or motor shaft while transporting it.
  • Page 7 Caution 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 malfunction. Caution Install external breakers and take other safety measures against short-circuiting in external wiring.
  • Page 8 Caution Do not come close to the machine immediately after resetting momentary power in- terruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury. Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may Caution result in malfunction.
  • Page 9 Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning label Example from R88D-WTA3HL Example from R88D-WTA3HL Precautions for Safe Use Dispose of the product and batteries according to local ordinances as they apply. Have qualified specialists properly dispose of used batteries as industrial waste.
  • Page 10 Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á In no event shall the responsibility of OMRON for any act exceed the individual price of the product on Á...
  • Page 11 Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to Á...
  • Page 12 Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á Á does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users Á...

  • Page 14: Table Of Contents

    Table of Contents Chapter 1. Introduction ........1-1 Features .
  • Page 15 Table of Contents 3-2-3 Terminal Block Wiring ..........3-17 3-2-4 Wiring for Noise Resistance .
  • Page 16 Table of Contents 4-8-8 Speed Feedback Compensation (Position, Speed, Internally-set Time Control) ..4-117 4-8-9 Speed Feedback Filter (Position, Speed, Internally-set Speed Control) ... 4-118 4-8-10 P Control Switching (Position, Speed, Internally-set Speed Control) .

  • Page 17: Chapter 1. Introduction

    Chapter 1 Introduction Features System Configuration Servo Driver Nomenclature Applicable Standards and Models System Block Diagrams...

  • Page 18: Features

    Introduction Chapter 1 Features With their superior performance and fast response, plus a wider selection of models, the OMNUC W-se- ries AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Se- ries. H Faster Response and Rotation Speed The W-series AC Servomotors and Servo Drivers provide faster response than the previous U-se- ries models, with high-frequency responses of 400 Hz (compared to 250 Hz for the U Series).
  • Page 19 Introduction Chapter 1 H Gain Changes There are two types of gain settings, and the gain can be changed when the load changes during operation. H Control Functions Any one of the following 12 control modes can be selected in the parameter settings, thereby allow- ing various applications with a single Servo Driver.
  • Page 20 Introduction Chapter 1 H Monitor Output The offset and scaling of the analog monitor outputs can be adjusted. H Multi-turn Limit Changes The multi-turn limits for absolute encoders can be changed. H Electronic Gear (Position Control) This function turns the Servomotor by the number of pulses obtained by applying the gear ratio to the number of command pulses.
  • Page 21 The Servo Driver can be incorporated as a Slave in a MECHATROLINK network by installing the Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number: FNY-NS115) on the Servo Driver. This enables the Servo Driver to be used as a network Servo Driver.
  • Page 22 For details, refer to the SYSMAC CS-series CS1W-MCH71 Motion Control Unit Operation Manual (Cat. No. W426) and the JUSP-NS115 MECHATROLINK-II Application Module Operation Manual (This manual can be obtained from a Yaskawa Electric sales representative or downloaded from the OMRON website).

  • Page 23: System Configuration

    3F88M-DRT141 Controller (MECHATROLINK-II Compatible) [Incremental] [Absolute] MECHATROLINK-II Option Unit JUSP-NS115 OMNUC W-series AC (OMRON model Servomotor number: FNY-NS115) R88M-Wj Programmable Controller Motion Control Unit SYSMAC CS Series CS1W-MCH71 Note 1. Servomotors with absolute encoders can be used in combination with CS1W-...
  • Page 24 Introduction Chapter 1 Note 2. The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of r.0014 or later. Note 3. The MECHATROLINK-II Option Unit is supported when using MECHATROLINK-II Option Unit software version VER.***03 (indicated on the nameplate on the side of the Unit) in com- bination with a W-series Servo Driver with software version r.0039 or later.

  • Page 25: Servo Driver Nomenclature

    Introduction Chapter 1 Servo Driver Nomenclature Analog Monitor Output Connector (CN5) Rotation speed, torque command values, etc., are output in analog voltage. A special cable is used. Battery holder Holds the backup battery for when a Servomotor with an absolute encoder is used.

  • Page 26: Applicable Standards And Models

    Introduction Chapter 1 Applicable Standards and Models H EC Directives Product Applicable standard Remarks Directive Low voltage AC Servo Drivers EN50178 Safety requirements for electrical equipment for measurement, control, and laboratory use. AC Servomotors IEC60034-8 Rotating electrical machines. EN60034-1, -5, -9 AC Servo Drivers EN55011 class A Limits and methods for measuring radio...

  • Page 27: System Block Diagrams

    Introduction Chapter 1 System Block Diagrams H 200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H 100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL AC Servo Driver Thermistor AC Servomotor Fuse Gate drive overcurrent Relay Voltage Gate protection drive detection drive Interface Voltage detection Current Battery Connector detection (CN8) DC/DC generation conver-...
  • Page 28 Introduction Chapter 1 H 200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H AC Servo Driver AC Servomotor Fuse Gate drive Thermistor Relay overcurrent Voltage Gate protection drive detection drive 0.5 to 1 kW Interface Voltage detection Current Battery Connector detection (CN8) generation DC/DC conver- Encoder sion Encoder output...
  • Page 29 Introduction Chapter 1 H 200 V AC: R88D-WT60H/-WT75H/-WT150H AC Servo Driver Regeneration resistance (optional) Thermistor AC Servomotor Fuse Gate drive overcurrent protection isolator Relay Voltage detection driver isolator Gate drive Voltage detection isolator isolator DC/DC Current conver- detection sion Battery Connector generation (CN8) Encoder...

  • Page 30: Chapter 2. Standard Models And Specifications

    Chapter 2 Standard Models and Specifications Standard Models Servo Driver and Servomotor Combinations External and Mounted Dimensions Servo Driver Specifications Servomotor Specifications Cable and Connector Specifications Servo Relay Units and Cable Specifications Parameter Unit and Cable Specifications External Regeneration Resistors/Resistance Units 2-10 Absolute Encoder Backup Battery Specifica- tions...

  • Page 31: Standard Models

    Standard Models and Specifications Chapter 2 Standard Models H Servo Drivers H Peripheral Cables and Connectors Specifications Model Specifications Model Single-phase 100 V 30 W R88D-WTA3HL Analog Monitor Cable (CN5) R88A-CMW001S 50 W R88D-WTA5HL Computer Monitor R88A-CCW002P2 Cable (CN3) 100 W R88D-WT01HL Control I/O Connector (CN1) R88A-CNU11C...
  • Page 32 Standard Models and Specifications Chapter 2 H Servo Relay Units H Parameter Units Specifications Model Specifications Model Hand-held (with 1-m cable) R88A-PR02W Servo For CJ1W-NC113/133 XW2B-20J6-1B Parameter Unit Cable (2 m) R88A-CCW002C Relay For CS1W-NC113/133 Unit For C200HW-NC113 Note 1. A Parameter Unit is required for operating and monitor- For 3F88M-DRT141 ing the Servo Driver at a remote location or with a control For CJ1W-NC213/233/413/433...
  • Page 33 Standard Models and Specifications Chapter 2 H Encoder Cables (For Incremental or H Power Cables Absolute Encoders) • Power Cable for 3,000-r/min Servomotors Specifications Model Specifications Model For 3,000-r/min 30 to 750 W R88A-CRWA003C Without brake With brake Servomotors 30 to 750 W 3 m R88A-CRWA005C R88A-CAWA003S R88A-CAWA003B...
  • Page 34 Standard Models and Specifications Chapter 2 • Power Cable for 3,000-r/min Flat-style Servomotors • Power Cable for 1,000-r/min Servomotors Specifications Model Specifications Model Without brake With brake Without brake With brake 300 to 100 to R88A-CAWA003S R88A-CAWA003B R88A-CAWC003S R88A-CAWC003B 750 W 750 W 900 W 900 W...
  • Page 35 Standard Models and Specifications Chapter 2 • Power Cable for 1,500-r/min Servomotors H Encoder Cables for Robot Cables (For Incremental or Absolute Encoders) Specifications Model Without brake With brake Specifications Model 450 to R88A-CAWC003S R88A-CAWC003B For 3,000-r/min 30 to R88A-CRWA003CR 1 3 kW 1.3 kW Servomotors...
  • Page 36 Standard Models and Specifications Chapter 2 H Power Cables for Robot Cables • Power Cable for 1,000-r/min Servomotors • Power Cable for 3,000-r/min Servomotors Specifications Model Specifications Model Without brake With brake 300 to R88A-CAWC003SR R88A-CAWC003BR Without brake With brake 900 W 900 W 30 to...
  • Page 37 Standard Models and Specifications Chapter 2 H Servomotors • 3,000-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key Without 100 V 30 W R88M-W03030L R88M-W03030L-S1 R88M-W03030S R88M-W03030S-S1 brake...
  • Page 38 Standard Models and Specifications Chapter 2 • 3,000-r/min Flat-style Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key Without 100 V 100 W R88M-WP10030L R88M-WP10030L-S1 R88M-WP10030S R88M-WP10030S-S1 brake 200 W...
  • Page 39 Standard Models and Specifications Chapter 2 • 1,500-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key Without 200 V 450 W R88M-W45015T R88M-W45015T-S2 brake 850 W R88M-W85015T R88M-W85015T-S2 1.3 kW...
  • Page 40 Standard Models and Specifications Chapter 2 H IP67 (Waterproof) Servomotors • 3,000-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key Without 200 V 1 kW R88M-W1K030H-O R88M-W1K030H-OS2 R88M-W1K030T-O...
  • Page 41 Standard Models and Specifications Chapter 2 • 1,000-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key Without 200 V 300 W R88M-W30010H-O R88M-W30010H-OS2 R88M-W30010T-O R88M-W30010T-OS2 brake 600 W R88M-W60010H-O...
  • Page 42 Standard Models and Specifications Chapter 2 H Servomotors with Gears D Combination Table for Servomotors with Standard Gears Standard Gears are highly accurate gears, with a maximum backlash of 3 degrees. The standard shaft is a straight shaft with a key. (Models without keys can also be manufactured for 3,000-r/min motors from 30 to 750 W and for 3,000-r/min flat-style motors.
  • Page 43 Standard Models and Specifications Chapter 2 • 1,000-r/min Servomotors Gear (deceleration rate) Specifications Basic model 1/11 1/20 1/21 1/29 1/33 1/45 -G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ 200 V 300 W R88M-W30010H/T 600 W R88M-W60010H/T 900 W R88M-W90010H/T 1.2 kW R88M-W1K210H/T 2 kW...
  • Page 44 Standard Models and Specifications Chapter 2 • 3,000-r/min Servomotors Gear (deceleration rate) Specifications Basic model 1/15 1/25 -G05CJ -G09CJ -G15CJ -G25CJ 100 V 30 W R88M-W03030L/S 50 W R88M-W05030L/S 100 W R88M-W10030L/S 200 W R88M-W20030L/S 200 V 30 W R88M-W03030H/T 50 W R88M-W05030H/T 100 W...
  • Page 45 Standard Models and Specifications Chapter 2 D Servomotors with Standard Gears (Straight Shaft with Key) • 3,000-r/min Servomotors Model Specifications Spec ca o s With incremental encoder With absolute encoder Without brake With brake Without brake With brake 100 V 30 W R88M-W03030L-G05BJ R88M-W03030L-BG05BJ...
  • Page 46 Standard Models and Specifications Chapter 2 Specifications Specifications Specifications Model With incremental encoder With absolute encoder Without brake With brake Without brake With brake 200 V 2 kW R88M-W2K030H-G05BJ R88M-W2K030H-BG05BJ R88M-W2K030T-G05BJ R88M-W2K030T-BG05BJ R88M-W2K030H-G09BJ R88M-W2K030H-BG09BJ R88M-W2K030T-G09BJ R88M-W2K030T-BG09BJ 1/20 R88M-W2K030H-G20BJ R88M-W2K030H-BG20BJ R88M-W2K030T-G20BJ R88M-W2K030T-BG20BJ 1/29 R88M-W2K030H-G29BJ...
  • Page 47 Standard Models and Specifications Chapter 2 • 1,000-r/min Servomotors Specifications Model Spec ca o s With incremental encoder With absolute encoder Without brake With brake Without brake With brake 200 V 300 W R88M-W30010H-G05BJ R88M-W30010H-BG05BJ R88M-W30010T-G05BJ R88M-W30010T-BG05BJ R88M-W30010H-G09BJ R88M-W30010H-BG09BJ R88M-W30010T-G09BJ R88M-W30010T-BG09BJ 1/20 R88M-W30010H-G20BJ...
  • Page 48 Standard Models and Specifications Chapter 2 • 1,500-r/min Servomotors Model Specifications Spec ca o s With incremental encoder With absolute encoder Without brake With brake Without brake With brake 200 V 450 W R88M-W45015T-G05BJ R88M-W45015T-BG05BJ R88M-W45015T-G09BJ R88M-W45015T-BG09BJ 1/20 R88M-W45015T-G20BJ R88M-W45015T-BG20BJ 1/29 R88M-W45015T-G29BJ R88M-W45015T-BG29BJ...
  • Page 49 Standard Models and Specifications Chapter 2 D Servomotors with Economy Gears (Straight Shaft with Key) • 3,000-r/min Servomotors Specifications Spec ca o s Model With incremental encoder With absolute encoder Without brake With brake Without brake With brake 100 V 100 W R88M-W10030L-G05CJ R88M-W10030L-BG05CJ...
  • Page 50 Standard Models and Specifications Chapter 2 • 3,000-r/min Flat-style Servomotors Model Specifications Spec ca o s With incremental encoder With absolute encoder Without brake With brake Without brake With brake 100 V 100 W R88M-WP10030L-G05CJ R88M-WP10030L-BG05CJ R88M-WP10030S-G05CJ R88M-WP10030S-BG05CJ R88M-WP10030L-G09CJ R88M-WP10030L-BG09CJ R88M-WP10030S-G09CJ R88M-WP10030S-BG09CJ 1/15...

  • Page 51: Servo Driver And Servomotor Combinations

    Standard Models and Specifications Chapter 2 Servo Driver and Servomotor Combinations The tables in this section show the possible combinations of OMNUC W-series Servo Drivers and Servomotors. The boxes (-j) at the ends of the model numbers are for op- tions such as shaft type, brake, waterproofing, decelerator, and so on.
  • Page 52 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors and Servo Drivers Servomotor Voltage Servo Driver Rated output With incremental With absolute encoder encoder 200 V 300 W R88M-W30010H-j R88M-W30010T-j R88D-WT05H 600 W R88M-W60010H-j R88M-W60010T-j R88D-WT08H 900 W R88M-W90010H-j R88M-W90010T-j R88D-WT10H 1.2 kW R88D-WT15H...

  • Page 53: External And Mounted Dimensions

    Standard Models and Specifications Chapter 2 External and Mounted Dimensions Dimensions are shown in millimeters. 2-3-1 AC Servo Drivers Single-phase 100 V: R88D-WTA3HL/-WTA5HL/-WT01HL (30 to 100 W) Single-phase 200 V: R88D-WTA3H/-WTA5H/-WT01H/-WT02H (30 to 200 W) D Wall Mounting External dimensions Mounted dimensions Two, M4 D Front Panel Mounting (Using Mounting Brackets)
  • Page 54 Standard Models and Specifications Chapter 2 H Single-phase 100 V: R88D-WT02HL (200 W) Single-phase 200 V: R88D-WT04H (400 W) D Wall Mounting External dimensions Mounted dimensions 5 dia. Two, M4 D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 5 dia.
  • Page 55 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT05H/-WT08H/-WT10H (500 W to 1 kW) D Wall Mounting External dimensions Mounted dimensions Two, M4 5 dia. D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 5 dia. Two, M4 2-26...
  • Page 56 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT15H (1.5 kW) D Wall Mounting External dimensions Mounted dimensions 5 dia. Four, M4 D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Two, 5 dia. Four, M4 2-27...
  • Page 57 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT20H/-WT30H (2 to 3 kW) D Wall Mounting External dimensions Mounted dimensions Four, M5 Two, 6 dia. D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Four, M5 2-28...
  • Page 58 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT50H (5 kW) D Wall Mounting External dimensions Mounted dimensions Two, 5.7 dia. Four, M5 D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Four, M5 2-29...
  • Page 59 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT60H/-WT75H (6 to 7.5 kW) D Wall Mounting External dimensions Two, 7 dia. 235 max. 230 max. Mounting dimensions Four, M6 180±0.5 230 max. 2-30...
  • Page 60 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT150H (15 kW) D Wall Mounting External dimensions Two, 7 dia. Mounting dimensions Four, M6 200±5 2-31...

  • Page 61: Parameter Units

    Standard Models and Specifications Chapter 2 2-3-2 Parameter Units H Hand-held Parameter Unit: R88A-PR02W Two, 4.5 dia. 2-32...

  • Page 62: Ac Servomotors

    Standard Models and Specifications Chapter 2 2-3-3 AC Servomotors H 3,000-r/min Servomotors without a Brake D 100 V AC: 30 W/50 W/100 W R88M-W03030L(-S1)/-W05030L(-S1)/-W10030L(-S1) [Incremental] R88M-W03030S(-S1)/-W05030S(-S1)/-W10030S(-S1) [Absolute] D 200 V AC: 30 W/50 W/100 W R88M-W03030H(-S1)/-W05030H(-S1)/-W10030H(-S1) [Incremental] R88M-W03030T(-S1)/-W05030T(-S1)/-W10030T(-S1) [Absolute] Dimensions of shaft end with key (-S1) 6 dia.
  • Page 63 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 100 V AC: 30 W/50 W/100 W R88M-W03030L-B(S1)/-W05030L-B(S1)/-W10030L-B(S1) [Incremental] R88M-W03030S-B(S1)/-W05030S-B(S1)/-W10030S-B(S1) [Absolute] D 200 V AC: 30 W/50 W/100 W R88M-W03030H-B(S1)/-W05030H-B(S1)/-W10030H-B(S1) [Incremental] R88M-W03030T-B(S1)/-W05030T-B(S1)/-W10030T-B(S1) [Absolute] Dimensions of shaft end with key (-BS1) 7 dia.
  • Page 64 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors without a Brake D 100 V AC: 200 W R88M-W20030L(-S1) [Incremental] R88M-W20030S(-S1) [Absolute] D 200 V AC: 200 W/400 W/750 W R88M-W20030H(-S1)/-W40030H(-S1)/-W75030H(-S1) [Incremental] R88M-W20030T(-S1)/-W40030T(-S1)/-W75030T(-S1) [Absolute] Dimensions of output section of 750-W Servomotors 6 dia.
  • Page 65 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 100 V AC: 200 W R88M-W20030L-B(S1) [Incremental] R88M-W20030S-B(S1) [Absolute] D 200 V AC: 200 W/400 W/750 W R88M-W20030H-B(S1)/-W40030H-B(S1)/-W75030H-B(S1) [Incremental] R88M-W20030T-B(S1)/-W40030T-B(S1)/-W75030T-B(S1) [Absolute] Dimensions of output section of 750-W Servomotors 6 dia.
  • Page 66 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors without a Brake D 200 V AC: 1 kW/1.5 kW/2 kW/3 kW/4.0 kW/5.0 kW R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2)/ -W4K030H(-S2)/-W5K030H(-S2) [Incremental] R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2)/ -W4K030T(-S2)/-W5K030T(-S2) [Absolute] D1 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-S2) Effective depth: 16 Model Dimensions (mm)
  • Page 67 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 200 V AC: 1 kW/1.5 kW/2 kW/3 kW/4.0 kW/5.0 kW R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2)/ -W4K030H-B(S2)/-W5K030H-B(S2) [Incremental] R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T-B(S2)/-W3K030T-B(S2)/ -W4K030T-B(S2)/-W5K030T-B(S2) [Absolute] D1 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-BS2) (Effective depth: 16) Model Dimensions (mm)
  • Page 68 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors without a Brake D 100 V AC: 100 W/200 W R88M-WP10030L(-S1)/-WP20030L(-S1) [Incremental] R88M-WP10030S(-S1)/-WP20030S(-S1) [Absolute] D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H(-S1)/-WP20030H(-S1)/-WP40030H(-S1)/-WP75030H(-S1)/ -WP1K530H(-S1) [Incremental] R88M-WP10030T(-S1)/-WP20030T(-S1)/-WP40030T(-S1)/-WP75030T(-S1)/ -WP1K530T(-S1) [Absolute] Dimensions of shaft end Dimensions of shaft end with key and tap (-jS2)
  • Page 69 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors with a Brake D 100 V AC: 100 W/200 W R88M-WP10030L-B(S1)/-WP20030L-B(S1) [Incremental] R88M-WP10030S-B(S1)/-WP20030S-B(S1) [Absolute] D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H-B(S1)/-WP20030H-B(S1)/-WP40030H-B(S1)/-WP75030H-B(S1)/ -WP1K530H-B(S1) [Incremental] R88M-WP10030T-B(S1)/-WP20030T-B(S1)/-WP40030T-B(S1)/-WP75030T-B(S1)/ -WP1K530T-B(S1) [Absolute] Dimensions of shaft end Dimensions of shaft end with key (-BjS1)
  • Page 70 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors without a Brake D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/ -W2K010H(-S2)/-W3K010H(-S2) [Incremental] R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/ -W2K010T(-S2)/-W3K010T(-S2) [Absolute] Dimensions of output section of 300-W to 900-W Servomotors D1 dia. Dimensions of shaft end with key (-S2) M (Effective depth: )
  • Page 71 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors with a Brake D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW R88M-W30010H-B(S2)/-W60010H-B(S2)/-W90010H-B(S2)/-W1K210H-B(S2)/ -W2K010H-B(S2)/-W3K010H-B(S2) [Incremental] R88M-W30010T-B(S2)/-W60010T-B(S2)/-W90010T-B(S2)/-W1K210T-B(S2)/ -W2K010T-B(S2)/-W3K010T-B(S2) [Absolute] Dimensions of output section of 300-W to 900-W Servomotors D1 dia. Dimensions of shaft end with key (-BS2) D3 dia.
  • Page 72 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors without a Brake D 200 V AC: 4 kW/5.5 kW R88M-W4K010H(-S2)/-W5K010H(-S2) [Incremental] R88M-W4K010T(-S2)/-W5K010T(-S2) [Absolute] 200 dia. 230 dia. Four, 13.5 dia. Dimensions of shaft end with key (-S2) M16 (Effective depth: 32) Dimensions (mm) Model R88M-W4K010j-j...
  • Page 73 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors with a Brake D 200 V AC: 4 kW/5.5 kW R88M-W4K010H-B(S2)/-W5K510H-B(S2) [Incremental] R88M-W4K010T-B(S2)/-W5K510T-B(S2) [Absolute] 200 dia. 230 dia. Four, 13.5 dia. Dimensions of shaft end with key (-BS2) M16 (Effective depth: 32) Dimensions (mm) Model R88M-W4K010j-Bj...
  • Page 74 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors without a Brake D 200 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW R88M-W45015T(-S2)/-W85015T(-S2)/-W1K315T(-S2)/-W1K815T(-S2)/-W2K915T(-S2))/ -W4K415T(-S2) [Absolute] Dimensions of output section of 450-W to 1.3-kW Servomotors D1 dia. Dimensions of shaft end with key (-S2) D3 dia.
  • Page 75 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors with a Brake D 200 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW R88M-W45015T-B(S2)/-W85015T-B(S2)/-W1K315T-B(S2)/-W1K815T-B(S2)/ -W2K915T-B(S2)/-W4K415T-B(S2) [Absolute] Dimensions of output section of 450-W to 1.3-kW Servomotors D1 dia. Dimensions of shaft end with key (-BS2) D3 dia.
  • Page 76 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors without a Brake D 200 V AC: 5.5 kW/7.5 kW/11 kW/15 kW R88M-W5K515T(-S2)/-W7K515T(-S2)/-W11K015T(-S2)/-W15K015T(-S2) [Absolute] Dimensions of output section of 11-kW and D1 dia. 15-kW Servomotors 15 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-S2) M (Effective depth: )
  • Page 77 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors with a Brake D 200 V AC: 5.5 kW/7.5 kW/11 kW/15 kW R88M-W5K515T-B(S2)/-W7K515T-B(S2)/-W11K015T-B(S2)/-W15K015T-B(S2) [Absolute] Dimensions of output section of 11-kW and 15-kW Servomotors D1 dia. 15 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-BS2) M (Effective depth: )

  • Page 78: Ac Servomotors With Gears

    Standard Models and Specifications Chapter 2 2-3-4 AC Servomotors with Gears H AC Servomotors with Standard Gears D 3,000-r/min Servomotors (30 to 750 W) with Standard Gears Model Dia- Dimensions (mm) gram WOB* 30 W R88M-W03030j-jG05BJ 1, 1-1 69.5 55.5 R88M-W03030j-jG09BJ 69.5 55.5...
  • Page 79 Standard Models and Specifications Chapter 2 Dimensions (mm) Model Key dimensions 30 W R88M-W03030j-jG05BJ R88M-W03030j-jG09BJ 1/21 R88M-W03030j-jG21BJ 1/33 R88M-W03030j-jG33BJ 50 W R88M-W05030j-jG05BJ R88M-W05030j-jG09BJ 1/21 R88M-W05030j-jG21BJ 1/33 R88M-W05030j-jG33BJ 100 W R88M-W10030j-jG05BJ 1/11 R88M-W10030j-jG11BJ 1/21 R88M-W10030j-jG21BJ 1/33 R88M-W10030j-jG33BJ 200 W R88M-W20030j-jG05BJ 1/11 R88M-W20030j-jG11BJ 1/21 R88M-W20030j-jG21BJ...
  • Page 80 Standard Models and Specifications Chapter 2 D 3,000-r/min Servomotors (1 to 5 kW) with Standard Gears Dimensions (mm) Model Dia- gram WOB* 1 kW R88M-W1K030j-jG05BJ R88M-W1K030j-jG09BJ 1/20 R88M-W1K030j-jG20BJ – 1/29 R88M-W1K030j-jG29BJ – 1/45 R88M-W1K030j-jG45BJ – 1.5 kW R88M-W1K530j-jG05BJ R88M-W1K530j-jG09BJ – 1/20 R88M-W1K530j-jG20BJ –...
  • Page 81 Standard Models and Specifications Chapter 2 Dimensions (mm) Model Key dimensions – 1 kW R88M-W1K030j-jG05BJ – R88M-W1K030j-jG09BJ 1/20 R88M-W1K030j-jG20BJ 1/29 R88M-W1K030j-jG29BJ 1/45 R88M-W1K030j-jG45BJ – 1.5 kW R88M-W1K530j-jG05BJ R88M-W1K530j-jG09BJ 1/20 R88M-W1K530j-jG20BJ 1/29 R88M-W1K530j-jG29BJ 1/45 R88M-W1K530j-jG45BJ 2 kW – R88M-W2K030j-jG05BJ R88M-W2K030j-jG09BJ 1/20 R88M-W2K030j-jG20BJ 1/29 R88M-W2K030j-jG29BJ...
  • Page 82 Standard Models and Specifications Chapter 2 D 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW) with Standard Gears Dimensions (mm) Model Dia- gram WOB* 100 W R88M-WP10030j-jG05BJ (92) 64.5 1/11 (92) 64.5 R88M-WP10030j-jG11BJ 1/21 (120) R88M-WP10030j-jG21BJ 1/33 (120) R88M-WP10030j-jG33BJ 200 W 98.5 (120) R88M-WP20030j-jG05BJ...
  • Page 83 Standard Models and Specifications Chapter 2 Dimensions (mm) Model Key dimensions 100 W R88M-WP10030j-jG05BJ 1/11 R88M-WP10030j-jG11BJ 1/21 R88M-WP10030j-jG21BJ 1/33 R88M-WP10030j-jG33BJ 200 W R88M-WP20030j-jG05BJ 1/11 R88M-WP20030j-jG11BJ 1/21 R88M-WP20030j-jG21BJ 1/33 R88M-WP20030j-jG33BJ 400 W R88M-WP40030j-jG05BJ 1/11 R88M-WP40030j-jG11BJ 1/21 R88M-WP40030j-jG21BJ 12.5 1/33 R88M-WP40030j-jG33BJ 750 W R88M-WP75030j-jG05BJ 1/11 R88M-WP75030j-jG11BJ...
  • Page 84 Standard Models and Specifications Chapter 2 D 1,000-r/min Servomotors (300 to 3 kW) with Standard Gears Dimensions (mm) Model Dia- gram WOB* 300 W R88M-W30010j-jG05BJ R88M-W30010j-jG09BJ 1/20 R88M-W30010j-jG20BJ 1/29 R88M-W30010j-jG29BJ – 1/45 R88M-W30010j-jG45BJ – 600 W R88M-W60010j-jG05BJ R88M-W60010j-jG09BJ 1/20 R88M-W60010j-jG20BJ –...
  • Page 85 Standard Models and Specifications Chapter 2 Dimensions (mm) Model Key dimensions 300 W – R88M-W30010j-jG05BJ – R88M-W30010j-jG09BJ – 1/20 R88M-W30010j-jG20BJ 1/29 R88M-W30010j-jG29BJ 1/45 R88M-W30010j-jG45BJ 600 W – R88M-W60010j-jG05BJ – R88M-W60010j-jG09BJ 1/20 R88M-W60010j-jG20BJ 1/29 R88M-W60010j-jG29BJ 1/45 R88M-W60010j-jG45BJ 900 W – R88M-W90010j-jG05BJ R88M-W90010j-jG09BJ 1/20 R88M-W90010j-jG20BJ...
  • Page 86 Standard Models and Specifications Chapter 2 D 1,500-r/min Servomotors (450 W to 4.4 kW) with Standard Gears Dimensions (mm) Model Dia- gram WOB* 450 W R88M-W45015T-jG05BJ R88M-W45015T-jG09BJ 1/20 R88M-W45015T-jG20BJ – 1/29 R88M-W45015T-jG29BJ – 1/45 R88M-W45015T-jG45BJ – 850 W R88M-W85015T-jG05BJ R88M-W85015T-jG09BJ 1/20 R88M-W85015T-jG20BJ –...
  • Page 87 Standard Models and Specifications Chapter 2 Dimensions (mm) Model Key dimensions 450 W – R88M-W45015T-jG05BJ – R88M-W45015T-jG09BJ 1/20 R88M-W45015T-jG20BJ 1/29 R88M-W45015T-jG29BJ 1/45 R88M-W45015T-jG45BJ – 850 W R88M-W85015T-jG05BJ – R88M-W85015T-jG09BJ 1/20 R88M-W85015T-jG20BJ 1/29 R88M-W85015T-jG29BJ 1/45 R88M-W85015T-jG45BJ 1.3 kW R88M-W1K315T-jG05BJ R88M-W1K315T-jG09BJ 1/20 R88M-W1K315T-jG20BJ 1/29 R88M-W1K315T-jG29BJ...
  • Page 88 Standard Models and Specifications Chapter 2 H AC Servomotors with Economy Gears D 3,000-r/min Servomotors (100 to 750 W) with Economy Reduction Gears Model Model Dimensions (mm) Key dimensions WOB* 100 W R88M-W10030j 94.5 67.5 -jG05CJ R88M-W10030j 94.5 67.5 -jG09CJ 1/15 R88M-W10030j 94.5...
  • Page 89 Standard Models and Specifications Chapter 2 Diagram 2 Key dimensions Four, Z dia. (Effective depth: ) D2 dia. 2-60...
  • Page 90 Standard Models and Specifications Chapter 2 D 3,000-r/min Flat-style Servomotors (100 to 750 W) with Economy Gears Model Model Dimensions (mm) Key dimensions WOB* 100 W R88M-WP10030 72.5 j-jG05CJ R88M-WP10030 72.5 j-jG09CJ 1/15 R88M-WP10030 j-jG15CJ 1/25 R88M-WP10030 j-jG25CJ 200 W R88M-WP20030 98.5 72.5...

  • Page 91: Servo Driver Specifications

    Standard Models and Specifications Chapter 2 Servo Driver Specifications H OMNUC W-series AC Servo Drivers (R88D-WTj) Referring to 2-2 Servo Driver and Servomotor Combinations, select a Servo Driver to match the Servomotor that is being used. OMNUC W-series AC Servomotor Drivers can handle either pulse in- puts or analog inputs.

  • Page 92: Performance Specifications

    Standard Models and Specifications Chapter 2 2-4-2 Performance Specifications H Control Specifications D 100-V AC Input Type Item R88D-WTA3HL R88D-WTA5HL R88D-WT01HL R88D-WT02HL Continuous output current (rms) 0.66 A 0.95 A 2.4 A 3.0 A Momentary maximum output current (rms) 2.0 A 2.9 A 7.2 A 9.0 A...
  • Page 93 Standard Models and Specifications Chapter 2 D 200-V AC Input Type (Single-phase Input) Item R88D- R88D- R88D- R88D- R88D- WTA3H WTA5H WT01H WT02H WT04H Continuous output current (rms) 0.44 A 0.64 A 0.91 A 2.1 A 2.8 A Momentary maximum output current (rms) 1.3 A 2.0 A 2.8 A...
  • Page 94 Standard Models and Specifications Chapter 2 Item R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- WT05H WT08H WT10H WT15H WT20H WT30H WT50H WT60H WT75H WT150H Speed control 1:5,000 Perfor- mance a ce range Load fluctuation 0.01% max. at 0% to 100% (at rated rotation speed) rate Voltage fluctua- 0% at rated voltage ±10% (at rated rotation speed)
  • Page 95 Standard Models and Specifications Chapter 2 Error detection function Contents Overspeed error [Absolute] Servomotor rotation speed exceeded 200 r/min when Encoder power was turned ON. Encoder overheating [Absolute] Improper Encoder temperature rise detected. Speed command input reading error The A/D end signal was not output from the A/D converter within a fixed time.

  • Page 96: Terminal Block Specifications

    Standard Models and Specifications Chapter 2 2-4-3 Terminal Block Specifications Signal Function Condition Main circuits pow- R88D-WTjH (30 to 400 W): er supply input er supply input Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz Single phase 200/230 V AC (170 to 253 V AC) 50/60 Hz R88D-WTjH (500 W to 6 kW): Three-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz Three phase 200/230 V AC (170 to 253 V AC) 50/60 Hz...

  • Page 97: Control I/O Specifications (Cn1)

    Standard Models and Specifications Chapter 2 2-4-4 Control I/O Specifications (CN1) H Control I/O and External Signals for Position Control Reverse Positioning completed pulse Maximum oper- output 1 ating voltage: 30 V DC Maximum out- (See note 2.) Forward put current: Motor rotation pulse 50 mA...
  • Page 98 Standard Models and Specifications Chapter 2 H Control I/O Signal Connections and External Signal Processing for Speed and Torque Control Speed command Speed conformity Maximum operating voltage: Torque (See note 4.) converter 30 V DC command Maximum Motor rotation detection output current: 50 mA...
  • Page 99 Standard Models and Specifications Chapter 2 Note 2. The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings. The settings in the diagram are the defaults. Note 3. Pins 2, 4, 21, and 22 are for use with an absolute encoder. Note 4.
  • Page 100 Standard Models and Specifications Chapter 2 Signal Function Contents Control name mode 40 to RUN [40] RUN command input ON: Servo ON (Starts power to Servomotor.) MING [41] Gain reduction input ON: Switches speed loop to P control and reduces Position, speed gain.
  • Page 101 Standard Models and Specifications Chapter 2 Signal name Function Contents Command mode Outputs encoder phase-Z signals (1 pulse/revolution). Encoder phase-Z + output Line driver output (conforming to RS-422A). Line driver output (conforming to RS-422A). –Z Encoder phase-Z – output Outputs absolute encoder data. All [abso- +ABS Absolute encoder...
  • Page 102 Standard Models and Specifications Chapter 2 Note 1. Function allocations for pin 25 to 30 sequence outputs can be set by means of user parame- ters Pn50E to Pn510. In this table, the numbers enclosed in brackets indicate the default pin numbers (allocations).
  • Page 103 Standard Models and Specifications Chapter 2 Note 1. Function allocations for pin 40 to 46 sequence inputs and pin 25 to 30 sequence outputs can be set by means of user parameters Pn50A to Pn50D, Pn513, and Pn50E to Pn510, respec- tively.
  • Page 104 Standard Models and Specifications Chapter 2 Using External Power Supply Controller Servo Driver Input current: 7 to 15 mA Note Select a value for resistance R so that the input current will be from 7 to 15 mA. 24 V 2.2 kΩ...
  • Page 105 Standard Models and Specifications Chapter 2 H Control Output Circuits D Position Feedback Output Servo Driver Controller for user R = 220 to 470 Ω Phase A Phase A Output line driver SN75ALS174NS Phase B Phase B or equivalent Phase Z Phase Z Applicable line receiver SN75175/MC3486...
  • Page 106 Standard Models and Specifications Chapter 2 D Alarm Code Outputs Servo Driver side External power supply 24 V DC ± 1 V Maximum operating voltage: 30 V DC Di: Diode for preventing surge voltage (Use Maximum output current: 20 mA speed diodes.) H Control Input Details (CN1) D 5: Speed Command Input (REF);...
  • Page 107 Standard Models and Specifications Chapter 2 The scale of the torque limit value or the feed forward torque for TREF voltage can be changed by means of user parameter Pn400 (torque command scale). The default setting is for the rated torque for an input of 3 V.
  • Page 108 Standard Models and Specifications Chapter 2 Pn200.0 Command pulse Input pins Servomotor forward Servomotor reverse Logic setting mode command command Feed pulse and 7: +PULS direction signal 8: –PULS 11: +SIGN 12: –SIGN Reverse pulse and 7: +CW forward pulse 8: –CW 11: +CCW 12: –CCW...
  • Page 109 Standard Models and Specifications Chapter 2 Command Pulse Timing The following wave forms are for positive logic. Conditions are the same for negative logic. Command pulse Timing mode Feed pulse and Forward rotation command Reverse rotation command direction signal Maximum input Direction signals frequency: Line driver: 500 kpps...
  • Page 110 Standard Models and Specifications Chapter 2 D + Deviation Counter Reset (15: +ECRST) – Deviation Counter Reset (14: –ECRST) The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled. Pn200.1 (position control setting 1: deviation counter reset) can be used to set either a status signal (high or low) or a differential signal (low to high or high to low).
  • Page 111 Standard Models and Specifications Chapter 2 Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR, or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op- eration.
  • Page 112 Standard Models and Specifications Chapter 2 When another torque limit function besides Pn404/Pn405 is enabled, the output torque is limited to the lower of the values. Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1.
  • Page 113 Standard Models and Specifications Chapter 2 SPD1: OFF SPD1: ON Control mode TVSEL setting SPD2: OFF SPD2: ON SPD2: OFF SPD2: ON Pn000.1 = 3 Stop by speed No. 1 internal No. 3 internal No. 2 internal Internally set loop. speed setting speed setting speed setting...
  • Page 114 Standard Models and Specifications Chapter 2 Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR, or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op- eration.
  • Page 115 Standard Models and Specifications Chapter 2 H Control Output Details D Control Output Sequence Power supply input (L1C, LC2, L1, L2, (L3)) Approx. 2 s 300 ms Alarm output (ALM) 60ms 200 ms (See note.) Servo ready output (READY) Positioning completed output 1, 2 (INP1, INP2) Brake interlock output (BKIR)
  • Page 116 Standard Models and Specifications Chapter 2 The following diagram shows the output phases. (The phases are the same for both absolute and incre- mental encoders.) Forward Rotation Side Reverse Rotation Side Phase A Phase A Phase B Phase B Phase Z Phase Z Note 1.
  • Page 117 Standard Models and Specifications Chapter 2 rotation speed is between 2,950 and 3,050 r/min. This signal is always OFF when the control mode is any mode other than the speed control mode. Note 1. These are the default allocations. The VCMP signal is allocated by Pn50E.1. Note 2.

  • Page 118: Encoder Input Specifications (Cn2)

    Standard Models and Specifications Chapter 2 D Brake Interlock Output (Not Allocated: BKIR) External brake timing signals are output according to the settings in Pn506 (brake timing 1), Pn507 (brake command speed), and Pn508 (brake timing 2). Note 1. The BKIR signal is not allocated by default. It is allocated by Pn50F.2. Note 2.

  • Page 119: Parameter Unit Input Specifications (Cn3)

    Standard Models and Specifications Chapter 2 D CN2 Connectors Used (6P) Receptacle at Servo Driver 53460-0611 (Molex Japan Co., Ltd.) Cable plug 55100-0670 (Molex Japan Co., Ltd.) 2-4-6 Parameter Unit Input Specifications (CN3) Pin No. Symbol Signal name Function/Interface 1, 8 TXD+ Transmission data + This is data transmitted to a Parameter Unit (or...

  • Page 120: Battery Connector Specifications (Cn8)

    Standard Models and Specifications Chapter 2 Monitored item Monitor output specifications Pn003.0, Pn003.1 setting Servomotor rotation 1 V per 1,000 r/min; forward rotation: – voltage; reverse speed (speed monitor) rotation: + voltage 1 V per 250 r/min; forward rotation: – voltage; reverse rotation: + voltage 1 V per 125 r/min;...

  • Page 121: Servomotor Specifications

    Standard Models and Specifications Chapter 2 Servomotor Specifications H OMNUC W-series AC Servomotors (R88M-Wj) There are three kinds of OMNUC W-Series AC Servo- motors, as follows: • 3,000-r/min Servomotors • 3,000-r/min Flat-style Servomotors • 1,000-r/min Servomotors • 1,500-r/min Servomotors These Servomotors also have optional specifications, such as shaft type, with or without brake, waterproof- ing, with or without reduction gears, and so on.

  • Page 122: General Specifications

    Standard Models and Specifications Chapter 2 2-5-1 General Specifications 3,000-r/min Servomotors Item 3,000-r/min 1,000-r/min Flat-style Flat style Servomotors Servomotors Servomotors 1,500-r/min 30 to 750 W 1 to 5 kW Servomotors Ambient operating temperature 0 to 40°C Ambient operating humidity 20% to 80% (with no condensation) Storage ambient temperature –20 to 60°C Ambient storage temperature...
  • Page 123 Standard Models and Specifications Chapter 2 3,000 r/min Servomotors 30 to 750 W 1 to 5 kW Ordinary type IP55 (Excluding through-shaft IP67 (Excluding through-shaft portion) portion) (See note.) Oil-seal type IP55 (Excluding through-shaft IP67 (Excluding through-shaft portion) portion) (See note.) 3,000 r/min Flat-style Servomotors Ordinary type IP55 (Excluding through-shaft...

  • Page 124: Performance Specifications

    Standard Models and Specifications Chapter 2 2-5-2 Performance Specifications H 3,000-r/min Servomotors D Performance Specifications Table 100 V AC 200 V AC Item Unit R88M R88M R88M R88M R88M R88M R88M R88M -W03030L -W05030L -W10030L -W20030L -W03030H -W05030H -W10030H -W20030H R88M R88M R88M...
  • Page 125 Standard Models and Specifications Chapter 2 Item Item Item Unit Unit Unit 100 V AC 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W03030L -W05030L -W10030L -W20030L -W03030H -W05030H -W10030H -W20030H R88M R88M R88M R88M R88M R88M R88M R88M -W03030S...
  • Page 126 Standard Models and Specifications Chapter 2 200 V AC Item Unit R88M R88M R88M R88M R88M R88M R88M R88M -W40030H -W75030H -W1K030H -W1K530H -W2K030H -W3K030H -W4K030H -W5K030H R88M R88M R88M R88M R88M R88M R88M R88M -W40030T -W75030T -W1K030T -W1K530T -W2K030T -W3K030T -W4K030T -W5K030T...
  • Page 127 Standard Models and Specifications Chapter 2 Item Item Item Unit Unit Unit 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W40030H -W75030H -W1K030H -W1K530H -W2K030H -W3K030H -W4K030H -W5K030H R88M R88M R88M R88M R88M R88M R88M R88M -W40030T -W75030T -W1K030T -W1K530T...
  • Page 128 Standard Models and Specifications Chapter 2 Note 5. The value indicated for the allowable radial load is for the positions shown in the following diagrams. Radial load Radial load Thrust load Thrust load 5 mm End of Servomotor shaft (Models of 1 kW or more) (Models of 750 W or less) Note 6.
  • Page 129 Standard Models and Specifications Chapter 2 3,000-r/min Servomotors (200 V AC) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W03030H/T (30 W) R88M-W05030H/T (50 W) R88M-W10030H/T (100 W) Repeated usage Repeated usage Repeated usage Continuous usage Continuous usage Continuous usage...
  • Page 130 Standard Models and Specifications Chapter 2 D Servomotor and Mechanical System Temperature Characteristics • W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature co- efficient for these magnets is approximately –0.13%/°C. As the temperature drops, the Servomo- tor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s mo- mentary maximum torque decreases.
  • Page 131 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors D Performance Specifications Table 100 V AC 200 V AC Item Unit R88M R88M R88M R88M R88M R88M R88M -WP10030 -WP20030 -WP10030 -WP20030 -WP40030 -WP75030 -WP1K530 R88M R88M R88M R88M R88M R88M R88M...
  • Page 132 Standard Models and Specifications Chapter 2 Item Item Item Unit Unit Unit 100 V AC 200 V AC R88M R88M R88M R88M R88M R88M R88M -WP10030 -WP20030 -WP10030 -WP20030 -WP40030 -WP75030 -WP1K530 R88M R88M R88M R88M R88M R88M R88M -WP10030 -WP20030 -WP10030 -WP20030...
  • Page 133 Standard Models and Specifications Chapter 2 D Torque and Rotation Speed Characteristics 3,000-r/min Flat-style Servomotors (100 V AC) The following graphs show the characteristics with a 3-m standard cable and 100-V AC input. R88M-WP10030L/S (100 W) R88M-WP20030L/S (200 W) Repeated usage Repeated usage Continuous usage Continuous usage...
  • Page 134 Standard Models and Specifications Chapter 2 maximum torque decreases. When the normal temperature of 20°C and –10°C are compared, the momentary maximum torque increases by approximately 4%. Conversely, when the magnet warms up to 80°C from the normal temperature of 20°C, the momentary maximum torque decreases by approximately 8%.
  • Page 135 Standard Models and Specifications Chapter 2 H 1,000-r/min Flat-style Servomotors D Performance Specifications Table 200 V AC Item Unit R88M R88M R88M R88M R88M R88M R88M R88M -W30010H -W60010H -W90010H -W1K210 -W2K010 -W3K010 -W4K010 -W5K510 R88M R88M R88M R88M R88M R88M R88M R88M...
  • Page 136 Standard Models and Specifications Chapter 2 Item Item Item Unit Unit Unit 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W30010H -W60010H -W90010H -W1K210 -W2K010 -W3K010 -W4K010 -W5K510 R88M R88M R88M R88M R88M R88M R88M R88M -W30010T -W60010T -W90010T -W1K210...
  • Page 137 Standard Models and Specifications Chapter 2 D Torque and Rotation Speed Characteristics 1,000-r/min Servomotors (200 V AC) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W30010H/T (300 W) R88M-W60010H/T (600 W) R88M-W90010H/T (900 W) Repeated usage Repeated usage Repeated usage...
  • Page 138 Standard Models and Specifications Chapter 2 D Servomotor and Mechanical System Temperature Characteristics • W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature co- efficient for these magnets is approximately –0.13%/°C. As the temperature drops, the Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases.
  • Page 139 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors D Performance Specifications Table 200 V AC Item Unit R88M R88M R88M R88M R88M R88M R88M R88M R88M R88M -W45015T -W85015T -W1K315T -W1K815T -W2K915T -W4K415T -W5K515T -W7K515T -W11K015T -W15K015T Rated output* 1,300 1,800 2,900...
  • Page 140 Standard Models and Specifications Chapter 2 Item Item Unit Unit 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M R88M R88M -W45015T -W85015T -W1K315T -W1K815T -W2K915T -W4K415T -W5K515T -W7K515T -W11K015T -W15K015T Brake Brake in- 2.1 × 2.1 × 2.1 ×...
  • Page 141 Standard Models and Specifications Chapter 2 D Torque and Rotation Speed Characteristics 1,500-r/min Servomotors (200 V AC) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W1K315T (1.3 kW) R88M-W85015T (850 W) R88M-W45015T (450 W) Repeated usage Repeated usage Repeated usage...
  • Page 142 Standard Models and Specifications Chapter 2 D Servomotor and Mechanical System Temperature Characteristics • W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature co- efficient for these magnets is approximately –0.13%/°C. As the temperature drops, the Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases.

  • Page 143: Specifications For Servomotors With Reduction Gears

    Standard Models and Specifications Chapter 2 2-5-3 Specifications for Servomotors with Reduction Gears H 3,000-r/min Servomotors with Standard Reduction Gears (30 W to 5 kW) Weight Model Model Rated Rated Rated Rated Ratio Ratio Maximum Maximum Maximum Maximum Reduction Reduction Allowable Allowable Allowable...
  • Page 144 Standard Models and Specifications Chapter 2 Note 1. The reduction gear inertia indicates the Servomotor shaft conversion value. Note 2. The enclosure rating for Servomotors with reduction gears is IP55 for 30- to 750-W models, and IP44 for 1- to 5-kW models. Note 3.
  • Page 145 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors with Standard Reduction Gears (300 W to 3 kW) Weight Model Model Rated Rated Rated Rated Effi- Effi Maximum Maximum Maximum Maximum Reduction Reduction Allowable Allowable Allowable Allowable rotation t ti torque ciency momentary...
  • Page 146 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors with Standard Reduction Gears (450 W to 4.4 kW) Weight Model Model Rated Rated Rated Rated Effi- Effi Maximum Maximum Maximum Maximum Reduction Reduction Allowable Allowable Allowable Allowable rotation t ti torque ciency momentary...
  • Page 147 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with Economy Reduction Gears (100 to 750 W) Weight Model Model Rated Rated Rated Rated Effi- Effi Maximum Maximum Maximum Maximum Reduction Reduction Allowable Allowable Allowable Allowable rotation t ti torque ciency momentary momentary...

  • Page 148: Encoder Specifications

    Standard Models and Specifications Chapter 2 2-5-4 Encoder Specifications H Incremental Encoder Specifications 3,000-r/min Servomotors Item 3,000-r/min 1,000-r/min Flat-style Flat-style Servomotors Servomotors 30 to 750 W 1 to 5 kW Servomotors Encoder method Optical encoder 13 bits 17 bits 13 bits 17 bits Number of output pulses A, B phase:...

  • Page 149: Cable And Connector Specifications

    2-6-1 Control Cables H Motion Control Unit Cables (R88A-CPWjMj) These are special cables for connecting to Motion Control Units used with OMRON Programmable Controllers. There are two types, for one or two axes. Note The following Motion Control Units are available.
  • Page 150 Standard Models and Specifications Chapter 2 Cables for Two Axes Servo Driver Motion Control Unit R88D-WTj CS1W-MC221/421(-V1) CV-500-MC221/421 Servo Driver C200H-MC221 R88D-WTj D Wiring Cables for One Axis Motion Control Unit Servo Driver AWG20 Red Signal Signal AWG20 Black White/Black – Pink/Black –...
  • Page 151 Standard Models and Specifications Chapter 2 Note 1. The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X → Z and Y → U. Note 2. The terminals marked with asterisks are for use with absolute encoders. Note 3.
  • Page 152 Standard Models and Specifications Chapter 2 Note 3. Supply 24 V DC to the two wires (black and red) that are taken out from the Controller’s connector. (Red is + and black is –.) H General Control Cables (R88A-CPWjS) A General Control Cable is connected to the Servo Driver’s Control I/O Connector (CN1). There is no connector on the Controller end.
  • Page 153 Standard Models and Specifications Chapter 2 D Wiring Signal name Signal name Wire/mark color e/ a co o Wire/mark color e/ a co o Pulse Analog Pulse Analog Yellow/Black (– – –) White/Red (– –) TGON TGON Pink/Black (– – – –) SENGND SENGND White/Black (–...
  • Page 154 Yellow/Red (– – –) Pink/Red (– – –) Terminal Block Connector Pink/Black (– – –) Connector socket: Orange/Red (– – – –) XG4M-5030 (OMRON) Orange/Black (– – – –) Strain relief: Gray/Black (– – – –) XG4T-5004 (OMRON) White/Red (– – – –) White/Black (–...
  • Page 155 Servo Driver Connector Connector plug: 10150-3000VE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) EXT1 EXT2 EXT3 Terminal Block Connector BATGND Connector socket: XG4M-2030 (OMRON) Strain relief: BKIRCOM XG4T-2004 (OMRON) BKIR ALMCOM Cable × × AWG28 3P+AWG28 7C UL2464...
  • Page 156 Standard Models and Specifications Chapter 2 H Connector Terminal Blocks (XW2B-20Gj) Three models of Connector Terminal Block are available. Select an appropriate model depending on wiring methods and screw sizes. D Terminal Blocks XW2B-20G4 The XW2B-20G4 is an M3 screw terminal block. D External Dimensions Flat cable connector (MIL connector)
  • Page 157 Standard Models and Specifications Chapter 2 • Strip the sheath as shown in the following diagram. 6 mm D Terminal Blocks XW2B-20G5 The XW2B-20G5 is an M3.5 screw terminal block. D External Dimensions Flat cable connector (MIL connector) Two, 3.5 dia. Note The terminal pitch is 8.5 mm.
  • Page 158 Standard Models and Specifications Chapter 2 Precautions • When using crimp terminals, use crimp terminals with the following dimensions. Round Crimp Terminals Fork Crimp Terminals Dia: 3.7 mm 6.8 mm max. 3.7 mm 6.8 mm max. Applicable Crimp Terminals Applicable Wires Round Terminals 2 to 3.5 AWG16 to AWG14 (1.25 to 2.0 mm...
  • Page 159 Standard Models and Specifications Chapter 2 Precautions • When using crimp terminals, use crimp terminals with the following dimensions. Round Crimp Terminals Fork Crimp Terminals Dia: 3.2 mm 5.8 mm max. 3.2 mm 5.8 mm max. Applicable Crimp Terminals Applicable Wires Round Terminals 1.25 to 3 AWG22 to AWG16 (0.30 to 1.25 mm...

  • Page 160: Motor Cable Specifications

    Note 3. If Robot Cables are used at a bending radius smaller than the minimum bending radius, me- chanical malfunctions, ground faults, and other problems may occur due to insulation break- down. Contact your OMRON representative if you need to use a Robot Cable with a bending radius smaller than the minimum bending radius.
  • Page 161 Standard Models and Specifications Chapter 2 D Power Cables Model Minimum bending radius (R) Without brake R88A-CAWAjjjSR 55 mm With brake R88A-CAWAjjjBR 55 mm Without brake 96 mm R88A-CAWBjjjSR With brake R88A-CAWBjjjBR 96 mm Without brake R88A-CAWCjjjSR 96 mm 96 mm With brake R88A-CAWCjjjBR Without brake...
  • Page 162 Standard Models and Specifications Chapter 2 Standard Encoder Cable Specifications Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.) H Cable Models R88A-CRWAjC Model...
  • Page 163 Standard Models and Specifications Chapter 2 H Wiring R88A-CRWAjC Cable: Servo Driver Servomotor AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m) AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m) Signal Signal Black Orange Cable Connector socket:...
  • Page 164 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWA003B 7.4 dia. Approx. 0.3 kg R88A-CAWA005B Approx. 0.5 kg R88A-CAWA010B 10 m Approx. 0.9 kg R88A-CAWA015B 15 m Approx. 1.3 kg R88A-CAWA020B 20 m Approx.
  • Page 165 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Driver Servomotor Cable Symbol Connector cap: Phase-U White 350781-1 (Tyco Electronics AMP KK) Phase-V Connector socket: Blue Phase-W 350689-3 (Tyco Electronics AMP KK) Green/Yellow Black Servomotor Brake Connector plug: Brown Brake 350715-1 (Tyco Electronics AMP KK)
  • Page 166 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions For Servomotors without Brakes Servomotor Servo Driver R88D-WTj R88M-Wj For Servomotors with Brakes Servomotor Servo Driver R88M-Wj R88D-WTj D Wiring For Servomotors without Brakes Servo Driver Servomotor Symbol Cable Phase-U Connector cap:...
  • Page 167 Standard Models and Specifications Chapter 2 H R88A-CAWCj The R88A-CAWCj Cables are for 3,000-r/min Servomotors (1 to 2 kW), 1,000-r/min Servomotors (300 to 900 W), and 1,500-r/min Servomotors (450 W to 1.3 kW). D Cable Models For Servomotors without Brakes Model Length (L) Outer diameter of sheath...
  • Page 168 Standard Models and Specifications Chapter 2 D Wiring For Servomotors without Brakes Servo Driver Servomotor Cable Symbol Straight plug: Phase-U White N/MS3106B18-10S (JAE Ltd.) Phase-V Blue Cable clamp: Phase-W N/MS3057-10A (JAE Ltd.) Green/Yellow Cable: AWG14 × 4C UL2463 Servomotor Receptacle: M4 crimp MS3102A18-10P (DDK Ltd.) terminals...
  • Page 169 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWD003B 17.8 dia. Approx. 1.9 kg R88A-CAWD005B Approx. 3.0 kg R88A-CAWD010B 10 m Approx. 5.8 kg R88A-CAWD015B 15 m Approx. 8.6 kg R88A-CAWD020B 20 m Approx.
  • Page 170 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Driver Servomotor Cable Symbol Straight plug: Phase-U N/MS3106B24-10S (JAE Ltd.) White Phase-V Cable clamp: Blue Phase-W N/MS3057-16A (JAE Ltd.) Green/Yellow Servomotor Black Brake Receptacle: Brown Brake MS3102A24-10P (DDK Ltd.) Cable: AWG10 ×...
  • Page 171 Standard Models and Specifications Chapter 2 Note For 4-kW (1,000-r/min) Servomotors and 5.5-kW (1,500-r/min) Servomotors , there are separate connectors for power and brakes. Therefore, whenever a Servomotor with a brake is used, it is necessary to use both Power Cable for Servomotors without brakes (R88A-CAWEjS) and Pow- er Cable for Servomotors with brakes (R88A-CAWEjB).
  • Page 172 Standard Models and Specifications Chapter 2 D Cable Models For Servomotors without Brakes Model Length (L) Outer diameter of sheath Weight 28.5 dia. R88A-CAWF003S Approx. 4.0 kg R88A-CAWF005S Approx. 6.5 kg R88A-CAWF010S 10 m Approx. 12.6 kg R88A-CAWF015S 15 m Approx.
  • Page 173 Standard Models and Specifications Chapter 2 Robot Cable Encoder Cable Specifications Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.) D Cable Models R88A-CRWAjCR Model...
  • Page 174 Standard Models and Specifications Chapter 2 D Wiring R88A-CRWAjCR Cable: Servo Driver Servomotor AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m) AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m) Signal Signal Black Orange Cable Orange/White...
  • Page 175 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWA003BR 7.0 dia. Approx. 0.2 kg R88A-CAWA005BR Approx. 0.4 kg R88A-CAWA010BR 10 m Approx. 0.8 kg R88A-CAWA015BR 15 m Approx. 1.1 kg R88A-CAWA020BR 20 m Approx.
  • Page 176 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Drivers Servomotors Cable Symbol Connector cap: Phase-U White 350781-1 (Tyco Electronics AMP KK) Phase-V Connector socket: Blue Phase-W 350689-3 (Tyco Electronics AMP KK) Green/Yellow Servomotor Black Brake Connector plug: Brown Brake 350715-1 (Tyco Electronics AMP KK)
  • Page 177 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight 11.5 dia. R88A-CAWB003BR Approx. 0.7 kg R88A-CAWB005BR Approx. 1.1 kg R88A-CAWB010BR 10 m Approx. 2.2 kg R88A-CAWB015BR 15 m Approx. 3.3 kg R88A-CAWB020BR 20 m Approx.
  • Page 178 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Servo Drivers Servomotors Cable Symbol Connector cap: Phase-U White 350781-1 (Tyco Electronics AMP KK) Phase-V Connector socket: Blue Phase-W Pins 1 to 3: Green/Yellow 350550-6 (Tyco Electronics AMP KK) Black Pins 4 to 6: Brake Brown...
  • Page 179 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions For Servomotors without Brakes Servo Driver Servomotor R88M-Wj R88D-WTj For Servomotors with Brakes Servo Driver Servomotor R88M-Wj R88D-WTj D Wiring For Servomotors without Brakes Servo Driver Servomotor Symbol Cable Connector plug: Phase-U...
  • Page 180 Standard Models and Specifications Chapter 2 H R88A-CAWDjR The R88A-CAWDjR Cables are for 3,000-r/min Servomotors (3 to 5 kW), 1,000-r/min Servomotors (1.2 to 3 kW), and 1,500-r/min Servomotors (1.8 to 4.4 kW). D Cable Models For Servomotors without Brakes Model Length (L) Outer diameter of sheath Weight...

  • Page 181: Peripheral Cables And Connector Specifications

    Standard Models and Specifications Chapter 2 For Servomotors without Brakes Servo Driver Servomotor Symbol Cable Connector plug: Phase-U White MS3106B22-22S (DDK Ltd.) Phase-V Blue Cable clamp: Phase-W MS3057-12A (DDK Ltd.) Green/Yellow Servomotor Cable: AWG11 × 4C UL2586 Receptacle: M5 crimp MS3102A22-22P (DDK Ltd.) terminals For Servomotors with Brakes...
  • Page 182 Standard Models and Specifications Chapter 2 D Wiring Servo Driver Symbol White Black Black Cable: AWG24 × 4C UL1007 Connector socket: DF11-4DS-2C (Hirose Electric) Connector contacts: DF11-2428SCF (Hirose Electric) H Computer Monitor Cables (R88A-CCW002jP) Computer Monitor Cable and computer monitoring software (run on Windows95) for OMNUC W-series Servo Drivers are required in order to use a personal computer for monitoring and setting parameters for a Servo Driver.
  • Page 183 Standard Models and Specifications Chapter 2 D Wiring For DOS/V Computers Computer Servo Driver Symbol Symbol Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: Shell Shell 10314-52A0-008 (Sumitomo 3M) Cable: AWG26 × 3C UL2464 Connector: 17JE-13090-02 (D8A) (DDK Ltd.) For NEC PC98 Notebook Computers Computer Servo Driver Symbol...
  • Page 184 Standard Models and Specifications Chapter 2 • Wire size: AWG16 max. • Stripped outer diameter: 2.1 mm max. • Outer diameter of sheath: 6.7 ± 0.5 mm D External Dimensions R88A-CNW01R (For Driver’s CN2 Connector) Connector Plug Model Number 55100-0670 (Molex) R88A-CNW02R (For Motor Connector) Connector Plug Model Number 54280-0609 (Molex)

  • Page 185: Servo Relay Units And Cable Specifications

    Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units. Select the models that match the Position Control Unit being used. For details, refer to 3-2-1 Connecting Cable.
  • Page 186 4. The following crimp terminal is applicable: R1.25-3 (round with open end). 5. Allocate BKIR (Braking Lock) to CN1 pin 24 V DC H XW2B-40J6-2B This Servo Relay Unit connects to the following OMRON Posi- tion Control Units. • C200H-NC211 • C500-NC113/NC211 • C200HW-NC213/-NC413...
  • Page 187 4. The following crimp terminal is applicable: R1.25-3 (round with open end). 5. Allocate BKIR (Braking Lock) to CN1 pin 27. H XW2B-20J6-3B This Servo Relay Unit connects to the following OMRON Pro- grammable Controllers. • CQM1-CPU43-V1 • CQM1H-PLB21 (Pulse I/O Board for CQM1H-CPU51 or CQM1H-CPU61) •...

  • Page 188: Cable For Servo Relay Units

    Standard Models and Specifications Chapter 2 D Wiring (See note 8) Note 1. If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter. CQM1 Input 2. Input this output signal to a CQM1 Input (See note 3) Unit Unit.
  • Page 189 Standard Models and Specifications Chapter 2 D Wiring Servo Relay Unit Servo Driver Symbol Connector plug: 10150-3000VE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) Shell Cable: AWG28 × 4P + AWG28 × 9C H Position Control Unit Cable (XW2Z-jJ-A2) This is the cable for connecting between a C200H-NC211, C500-NC113, or C500-NC211 Position Con- trol Unit and an XW2B-40J6-2B Servo Relay Unit.
  • Page 190 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 8P + AWG28 ×16C H Position Control Unit Cable (XW2Z-jJ-A3) This is the cable for connecting between a CQM1-CPU43-V1 or CQM1H-PLB21 Programmable Con- troller and an XW2B-20J6-3B Servo Relay Unit.
  • Page 191 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit Servo Relay Unit CQM1-CPU43-V1 XW2B-20J6-3B CQM1H-PLB21 D Wiring Position Control Unit Servo Relay Unit Hood cover Cable: AWG28 × 4P + AWG28 ×4C H Position Control Unit Cable (XW2Z-jJ-A6) This is the cable for connecting between a CS1W-NC113 or C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.
  • Page 192 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 4P + AWG28 ×10C Crimp terminal H Position Control Unit Cable (XW2Z-jJ-A7) This is the cable for connecting between a CS1W-NC213, CS1W-NC413, C200HW-NC213 or C200HW-NC413 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit.
  • Page 193 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 8P + AWG28 ×16C Crimp terminal H Position Control Unit Cable (XW2Z-jJ-A10) This is the cable for connecting between a CS1W-NC133 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.
  • Page 194 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit XW2B-20J6-1B CS1W-NC133 Servo Relay Unit D Wiring Position Control Unit Servo Relay Unit AWG20, black AWG20, red Crimp terminal Cable: AWG28 × 4P + AWG28 ×10C H Position Control Unit Cable (XW2Z-jJ-A11) This is the cable for connecting between a CS1W-NC233/433 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit.
  • Page 195 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit CS1W-NC233 XW2B-40J6-2B CS1W-NC433 Servo Relay Unit D Wiring Position Control Unit Servo Relay Unit AWG20, black AWG20, red Cable: AWG28 × 8P + AWG28 ×16C Crimp terminal 2-166...
  • Page 196 Standard Models and Specifications Chapter 2 H Position Control Unit Cable (XW2Z-jJ-A14) This is the cable for connecting between a CJ1W-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit. D Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A14 50 cm...
  • Page 197 Standard Models and Specifications Chapter 2 H Position Control Unit Cable (XW2Z-jJ-A15) This is the cable for connecting between a CJ1W-NC213/NC413 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit. D Cable Models Model Length (L) Outer diameter of sheath Weight 10.0 dia.
  • Page 198 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 8P + AWG28 ×16C Crimp terminal H Position Control Unit Cable (XW2Z-jJ-A18) This is the cable for connecting between a CJ1W-NC133 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.
  • Page 199 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit XW2B-20J6-1B CS1W-NC133 Servo Relay Unit D Wiring Position Control Unit Servo Relay Unit AWG20, black AWG20, red Crimp terminal Cable: AWG28 × 4P + AWG28 ×10C H Position Control Unit Cable (XW2Z-jJ-A19) This is the cable for connecting between a CJ1W-NC233/NC433 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit.
  • Page 200 Standard Models and Specifications Chapter 2 D Cable Models Model Length (L) Outer diameter of sheath Weight 10.0 dia. XW2Z-050J-A19 50 cm Approx. 0.1 kg XW2Z-100J-A19 Approx. 0.2 kg D Connection Configuration and External Dimensions Position Control Unit CS1W-NC233 XW2B-40J6-2B CS1W-NC433 Servo Relay Unit 2-171...
  • Page 201 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit AWG20, black AWG20, red Cable: AWG28 × 8P + AWG28 ×16C Crimp terminal H Position Control Unit Cable (XW2Z-jJ-A22) This is the cable for connecting between a CS1W-HCP22-V1 Position Control Unit and an XW2B-20J6-3B Servo Relay Unit.
  • Page 202 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit XW2B-20J6-3B CS1W-HCP22-V1 Servo Relay Unit D Wiring Position Control Unit Servo Relay Unit Crimp terminal Cable: AWG28 × 4P + AWG28 ×4C H Position Control Unit Cable (XW2Z-jJ-A23) This is the cable for connecting between a CS1W-HCP22-V1 Position Control Unit and an XW2B-20J6-3B Servo Relay Unit.
  • Page 203 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit XW2B-20J6-3B CS1W-HCP22-V1 Servo Relay Unit D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 4P + AWG28 ×4C Servo Relay Unit Cable: AWG28 × 4P + AWG28 ×4C Crimp terminal 2-174...
  • Page 204 Standard Models and Specifications Chapter 2 H Position Control Unit Cable (XW2Z-jJ-A24) This is the cable for connecting between a 3F88M-DRT141 DeviceNet Single-axis Positioner and an XW2B-20J6-1B Servo Relay Unit. D Cable Models Model Length (L) Outer diameter of sheath Weight 10.0 dia.
  • Page 205 Standard Models and Specifications Chapter 2 D Wiring Single-axis Positioner Servo Relay Unit Cable: AWG28 × 4P + AWG28 ×10C Crimp terminal (round) Crimp terminal (Y-shape) 2-176...

  • Page 206: Parameter Unit And Cable Specifications

    Standard Models and Specifications Chapter 2 Parameter Unit and Cable Specifications All dimensions are in millimeters unless otherwise specified. 2-8-1 Parameter Unit H R88A-PR02W Hand-held Parameter Unit Parameter Units are required for operation and monitoring the Servo Driver at a remote location or with a control panel. Note A 1-meter cable is provided with the Parameter Unit.

  • Page 207: Parameter Unit Cable (R88A-Ccw002C)

    Standard Models and Specifications Chapter 2 H Performance Specifications Model Standards Type Hand-held Accessory cable Connectors 7910-7500SC (10 pins) Display 7-segment LED External dimensions 63 × 135 × 18.5 mm (W × H × D) Weight Approx. 0.2 kg (including 1-m cable that is provided) Communications Standard RS-232C...
  • Page 208 Standard Models and Specifications Chapter 2 D Wiring Parameter Unit Servo Driver Symbol Symbol Shell Connector socket: Cable: AWG26 × 7C UL2464 D8410-4501 (Sumitomo 3M) Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: D79004-3210 (Sumitomo 3M) Connector case: 10314-52A0-008 (Sumitomo 3M) Contacts: 3690-1000 (Sumitomo 3M) 2-179...

  • Page 209: External Regeneration Resistors/Resistance Units

    Standard Models and Specifications Chapter 2 External Regeneration Resistors/Resistance Units If the Servomotor’s regenerative energy is excessive, connect an External Regenera- tion Resistor or an External Regeneration Resistance Unit. H R88A-RR22047S External Regeneration Resistor R88A-RR88006 External Regeneration Resistance Unit H Specifications Model Resistance Nominal...
  • Page 210 Standard Models and Specifications Chapter 2 D R88A-RR88006 External Regeneration Resistance Unit Four, 6 dia. Terminal arrangement 2-181...

  • Page 211: Absolute Encoder Backup Battery Specifications

    Standard Models and Specifications Chapter 2 2-10 Absolute Encoder Backup Battery Specifications A backup battery is required when using a Servomotor with an absolute encoder. Install the Battery Unit in the Servo Driver’s battery holder, and connect the provided connector to the Battery Connector (CN8).
  • Page 212 Standard Models and Specifications Chapter 2 H Manufacturing Code A manufacturing date is indicated on the side surface of the Battery using the following code. Manufacturing day of month: One alphanumeric character Manufacturing month: One alphanumeric character Manufacturing year: One alphanumeric character The following alphanumeric characters are used to indicate the year, month, and day of month.

  • Page 213: Dc Reactors

    Standard Models and Specifications Chapter 2 2-11 DC Reactors Connect a DC Reactor to the Servo Driver’s DC Reactor connection terminal as a har- monic current control measure. Select a model to match the Servo Driver being used. (The R88D-WT60H to R88D-WT150H models are not provided with a DC Reactor.) H R88A-PXj DC Reactors H Specifications DC Reactor...

  • Page 214: Chapter 3. System Design And Installation

    Chapter 3 System Design and Installation Installation Conditions Wiring Regenerative Energy Absorption Adjustments and Dynamic Braking When Load Inertia Is Large...
  • Page 215 System Design and Installation Chapter 3 Installation and Wiring Precautions Caution Do not step on or place a heavy object on the product. Doing so may result in injury. Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

  • Page 216: Installation Conditions

    System Design and Installation Chapter 3 Installation Conditions 3-1-1 Servo Drivers H Space Around Drivers • Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.

  • Page 217: Servomotors

    System Design and Installation Chapter 3 • The service life of a Servo Driver is largely determined by the temperature around the internal elec- trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol- ume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements.
  • Page 218 System Design and Installation Chapter 3 H Connecting to Mechanical Systems • The axial loads for Servomotors are specified in Ball screw center line 2-5-2 Performance Specifications. If an axial load greater than that specified is applied to a Servomo- tor, it will reduce the service life of the motor bearings and may damage the motor shaft.
  • Page 219 System Design and Installation Chapter 3 D Recommended Connectors For Power Cables Servomotor type Servomotor model Connector model Cable clamp model Maker With- 3,000-r/min 1 kW Angled type For sheath external diame- DDK Ltd. R88M-W1K030j-j CE05 8A18 10SD B BAS CE05-8A18-10SD-B-BAS ter of 6.5 to 8.7 dia.: f 6 5 t 8 7 di...
  • Page 220 System Design and Installation Chapter 3 Servomotor type Servomotor model Connector model Cable clamp model Maker With 3,000-r/min 1 kW R88M-W1K030j-Bj Angled type For sheath external diame- Japan Avi- brake JL04V 8A20 15SE EB JL04V-8A20-15SE-EB ter of 6.5 to 9.5 dia.: f 6 5 t 9 5 di ation Elec- 1.5 kW...
  • Page 221 System Design and Installation Chapter 3 3,000-r/min Servomotors (1 to 5 kW): IP67 (except for through-shaft parts). Models are also avail- able with IP67 ratings that include through-shaft parts. 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW): IP55 (except for through-shaft parts). Mod- els are also available with IP67 ratings that include through-shaft parts.

  • Page 222: Wiring

    System Design and Installation Chapter 3 Wiring 3-2-1 Connecting Cable This section shows the types of connecting cable used in an OMNUC W-series servo system. The wide selection of cables provided for configuring a servo system using a Motion Control Unit or Position Unit makes wiring simple. H Servo System Configuration Parameter Unit Cable Parameter Unit...
  • Page 223 System Design and Installation Chapter 3 H Selecting Connecting Cables 1. 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 CS1W-MC221/421(-V1)
  • Page 224 System Design and Installation Chapter 3 3. Connector-Terminal Block Cables These cables are used for connecting to Controllers for which no special cable is provided. The cables and terminal block convert the Servo Driver’s Control I/O Connector (CN1) signals to terminal block connections.
  • Page 225 System Design and Installation Chapter 3 Servomotor type Power Cables for Servomotors Power Cables for Servomotors Without Brakes With Brakes 1,500-r/min 450 W to 1.3 kW R88A-CAWCjjjS R88A-CAWCjjjB Servomotors 1.8 to 4.4 kW R88A-CAWDjjjS R88A-CAWDjjjB 5.5 kW R88A-CAWEjjjS R88A-CAWEjjjS (For Power Connector) R88A-CAWEjjjB (For Brake Connector) 7.5 to 11 kW...
  • Page 226 System Design and Installation Chapter 3 • Encoder Cables Motor Encoder Cable Remarks 3,000-r/min Servomo- 30 to 750 W R88A-CRWAjjjCR The “jjj” in the model number indi- tors cates the cable length. bl l 1 to 5 kW R88A-CRWBjjjNR There are 8 cable lengths: 3 m, 5 m, 3,000-r/min Flat-style 100 to 1.5 kW R88A-CRWAjjjCR...
  • Page 227 System Design and Installation Chapter 3 10. Analog Monitor Cable This is the cable for connecting to the Servo Driver’s Analog Monitor Connector (CN5). It is required for connecting analog monitor outputs to an external device (such as a measuring instrument). Name/specifications Model Remarks...

  • Page 228: Peripheral Device Connection Examples

    3-2-5 Wiring for Conformity to EMC Directives. 3. Recommended relay: MY Relay (24 V), by OMRON. For example, an MY2 Relay outputs to a 2-A inductive load at 24 V DC, making it applicable to all W-series Motors with Brakes.
  • Page 229 Resistance. For conformity to EC Directives, refer to Control cable 3-2-5 Wiring for Conformity to EMC Directives. 3. Recommended relay: MY relay (24 V), by OMRON. For example, an MY2 Relay outputs to a 2-A inductive load at 24 V DC, making it applicable to all W-series Motors with Brakes.

  • Page 230: Terminal Block Wiring

    System Design and Installation Chapter 3 3-2-3 Terminal Block Wiring When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures. H Terminal Block Names and Functions Terminal Name Function label Main circuit R88D-WTjH (30 to 400 W) power supply pp y Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz...
  • Page 231 Wire size Screw size – Torque Note 1. Use the same wire sizes for 1, 2, B1, and B2. Note 2. Connect special OMRON Power Cable to the Servomotor connection terminals. D 200-V AC Input (R88D-WTjH) Item Model R88D- R88D- R88D-...
  • Page 232 System Design and Installation Chapter 3 H Wire Sizes and Allowable Current The following table shows the allowable current for when there are three wires. D 600-V Heat-resistant Vinyl Wiring (HIV) (Reference Values) Allowable current (A) for AWG size Nominal cross- Configuration Conductive sectional area...
  • Page 233 System Design and Installation Chapter 3 3. Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots, as follows: S Pry the slot open using the lever that comes with the Servo Driver (as in Fig. A). S Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for Servo Driver installa- tion, and press down firmly to open the slot (as in Fig.

  • Page 234: Wiring For Noise Resistance

    System Design and Installation Chapter 3 Note 2. For Servomotors with brakes, there are separate connectors for power and brakes. There- fore, whenever a Servomotor with a brake is used, a separate R88A CAWEjB Power Cable is required. R88A CAWEjB Power Cable is used for wiring (2-core) the brake line only. 3-2-4 Wiring for Noise Resistance System noise resistance will vary greatly depending on the wiring method used.
  • Page 235 System Design and Installation Chapter 3 • Use ground lines with a minimum thickness of 3.5 mm , and arrange the wiring so that the ground lines are as short as possible. • 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 and make sure that there is adequate distance between the input lines and the internal wiring.
  • Page 236 System Design and Installation Chapter 3 D No-fuse Breakers (NFB) When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. Maximum input current: The momentary maximum output for a Servo Driver is approximately three times that of the rated out- put, and a maximum output of three seconds can be executed.
  • Page 237 System Design and Installation Chapter 3 Maker Model Varistor Max. limit Surge Energy Type voltage voltage immunity resistance Matsushita Electric ERZC20EK471(W) 470 V 775 V 5,000 A 150 J Block ERZC25EK471(W) 470 V 775 V 10,000 A 225 J ERZC32EK471(W) 470 V 775 V 20,000 A...
  • Page 238 System Design and Installation Chapter 3 Maker Model Rated Remarks current NEC TOKIN LF-310KA 10 A Three-phase block noise filter LF-320KA 20 A LF-350KA 50 A LF-3110KA 110 A Note 1. Servomotor output lines cannot use the same noise filters used for power supplies. Note 2.
  • Page 239 System Design and Installation Chapter 3 Maker Model Rated current Coil voltage OMRON 200 V AC J7L-09 11 A J7L-32 26 A J7L-40 35 A J7L-50 50 A J7L-85 80 A J7L-12 24 V DC Two poles 12 A Three poles...
  • Page 240 System Design and Installation Chapter 3 Leakage Breaker Connection Example AC power No-fuse Surge Leakage Noise Servo Driver supply side breaker absorber breaker filter side D Harmonic Current Countermeasures (AC Reactor) The AC Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes in electric currents.

  • Page 241: Wiring For Conformity To Emc Directives

    System Design and Installation Chapter 3 H Improving Encoder Cable Noise Resistance The OMNUC W Series uses serial encoders, with phase-S signals from the encoder. The phase-S com- munications speed is 4 Mbits/s. In order to improve the encoder’s noise resistance, take the following measures for wiring and installa- tion.
  • Page 242 System Design and Installation Chapter 3 conditions were stipulated when EMC Directive approval was obtained for the W Series. They will be affected by the installation and wiring conditions resulting from the con- nected devices and wiring when the W Series is built into the system. Therefore, the en- tire system must be checked for conformity.
  • Page 243 System Design and Installation Chapter 3 • Use ground lines with a minimum thickness of 3.5 mm , and arrange the wiring so that the ground lines are as short as possible. • 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 and make sure that there is adequate distance between the input lines and the internal wiring.
  • Page 244 System Design and Installation Chapter 3 • Connect to the case all Units inside of the case. D Door Structure • Construct the door of metal. • Use a water draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams below.) •...
  • Page 245 System Design and Installation Chapter 3 D No-fuse Breakers (NFB) When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. Maximum input current: The momentary maximum output for a Servo Driver is approximately three times that of the rated out- put, and a maximum output of three seconds can be executed.
  • Page 246 System Design and Installation Chapter 3 D Noise Filters for Power Supply Input Use the following noise filters for the Servo Driver power supply Noise Filter Servo Driver model Model Rated Rated Leakage current (See note.) Maker current voltage 250 V 0.6 mA (at 250 Vrms, 60 Hz) Okaya R88D-WTA3HL to...
  • Page 247 System Design and Installation Chapter 3 w FN351-j Noise Filters (by Schaffner) Dimensions (mm) Model FN351-8/29 FN351-16/29 FN351-25/33 FN351-36/33 • FMAC-j Noise Filters (by Timonta) Dimensions (mm) Model FMAC-0934-5010 FMAC-0953-6410 • FS5559-150-35 Noise Filters (by Schaffner) 3-34...
  • Page 248 The Servo Driver inrush current is covered in the preceding explanation of no-fuse- breaker selection, and the maximum momentary current is approximately twice the rated current. The following table shows the recommended contactors. Maker Model Rated current Coil voltage OMRON 200 V AC LC1D09106 11 A LC1D25106 26 A LC1D40116...
  • Page 249 System Design and Installation Chapter 3 H Leakage Current and Leakage Breakers Use a surge-resistant leakage breaker designed for Inverters that will not operate for high-frequency currents. The detection current of a leakage breaker is set to approximately 60% of the normal rated current.
  • Page 250 System Design and Installation Chapter 3 • Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and will cause malfunctions. Always use cables fully extended. • When installing noise filters for Encoder Cables, use clamp filters. The following table shows the rec- ommended clamp filter models.

  • Page 251: Regenerative Energy Absorption

    System Design and Installation Chapter 3 Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing. An overcurrent error is generated, how- ever, if the amount of regenerative energy from the Servomotor is too large.
  • Page 252 System Design and Installation Chapter 3 erative energy absorption capacity. (The capacity varies depending on the model. For details, refer to 3-3-2 Servo Driver Regenerative Energy Absorption Capacity.) • For Servo Driver models with internal regeneration resistance for absorbing regenerative energy (i.e., models of 500 W or more), the average amount of regeneration P (unit: W) must be calculated, and this value must be lower than the Servo Driver’s regenerative energy absorption capacity.

  • Page 253: Servo Driver Regenerative Energy Absorption Capacity

    System Design and Installation Chapter 3 • For Servo Driver models with internal capacitors 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 Driver’s regenerative energy absorption capacity.

  • Page 254: Regenerative Energy Absorption By External Regeneration Resistance

    System Design and Installation Chapter 3 Internal regeneration resistance Servo Driver Regenerative energy (J) h (J) that can be Average amount of Resistance (Ω) absorbed by internal regeneration that can capacitor (See note 1.) be absorbed (W) R88D-WTA3HL – – R88D-WTA5HL 15.7 –...
  • Page 255 System Design and Installation Chapter 3 Note 2. The External Regeneration Resistance Unit is for use with R88D-WT60H to R88D-WT150H Servo Drivers only. It cannot be connected to other Servo Drivers. Note 3. For external dimensions, refer to 2-9 External Regeneration Resistors/Resistance Units. H External Regeneration Resistors and External Regeneration Resistance Units D Specifications...
  • Page 256 System Design and Installation Chapter 3 H Servo Driver Minimum Connection Resistance and External Regeneration Resistor Combinations Servo Driver Minimum External Regeneration Resistor Combinations Connection Resistance (Ω) R88D-WTA3HL to R88D-WT01HL R88D-WT02HL 1, 2 R88D-WTA3H to R88D-WT01H R88D-WT02H/-WT04H 1, 2 R88D-WT05H to 1, 2, 3 R88D-WT10H R88D-WT15H...
  • Page 257 System Design and Installation Chapter 3 Note The R88D-WT60H to R88D-WT150H models do not have built-in regeneration processing circuitry, so ex- ternal resistance must be connected. External Regeneration Resistor or External Regeneration Resistance Unit Note 1. When using the R88A-RR22047S, connect the Servo Driver R1 (See R2 (See...
  • Page 258 System Design and Installation Chapter 3 H Setting Pn600 (Regeneration Resistor Capacity) for an External Regeneration Resistor Pn600 (Regeneration Resistor Capacity) must be set correctly when using an external regeneration resistor. The regenerative energy in the Servo Driver is calculated based on the assumption that the regeneration resistance that is built into the Servo Driver is connected.

  • Page 259: Adjustments And Dynamic Braking When Load Inertia Is Large

    System Design and Installation Chapter 3 Adjustments and Dynamic Braking When Load Inertia Is Large The value that is given for the Servomotor’s applicable load inertia is the value that will not damage the Servo Driver’s internal circuits (dynamic brake circuit, regenerative cir- cuit, etc.) when control is basically stable and the operating status is normal.
  • Page 260 System Design and Installation Chapter 3 Servomotor Load inertia Application conditions ratio 3,000-r/min Servomotors, 30 to 400 W 3,000% max. Maximum speed of 5,000 r/min 3,000-r/min Servomotors, 750 W 2,000% max. Maximum speed of 5,000 r/min 3,000-r/min Servomotors, 1 k to 2 kW 1,000% max.

  • Page 261: Chapter 4. Operation

    Chapter 4 Operation 4-1 Operational Procedure 4-2 Preparing for Operation 4-3 Trial Operation 4-4 User Parameters 4-5 Operation Functions 4-6 Trial Operation Procedure 4-7 Making Adjustments 4-8 Advanced Adjustment Functions 4-9 Using Displays 4-10 Using Monitor Output 4-11 System Check Mode...
  • Page 262 Operation Chapter 4 Precautions Caution Confirm that there will be no effect on the equipment, and then perform a test opera- tion. Not doing so may result in equipment damage. Caution Check the newly set parameters for proper execution before actually running them. Not doing so may result in equipment damage.

  • Page 263: Operational Procedure

    Operation Chapter 4 Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Ser- vomotor and Servo Driver. Then make the function settings as required according to the use of the Servomotor and Servo Driver. If the parameters are set incorrectly, there is a risk of an unforeseen Servomotor operation.

  • Page 264: Preparing For Operation

    Operation Chapter 4 Preparing for Operation This section explains the procedure following installation and wiring of the Servomotor and Servo Driver, to prepare the mechanical system for operation. It explains what you need to check both before and after turning ON the power. It also explains the setup pro- cedure required if using a Servomotor with an absolute encoder.
  • Page 265 Operation Chapter 4 D Checking Parameter Unit Connections • The Parameter Unit (R88A-PR02W) must be securely connected to the CN3 connector. H 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 also turned ON.

  • Page 266: Absolute Encoder Setup And Battery Changes

    Operation Chapter 4 Note 1. If using the operation keys on the front panel, press and hold the DATA Key for one second or longer. Note 2. Refer to 4-3-1 Operation Details for details of operations. Forward/reverse Servomotor rotation Reverse rotation Seen from the Servomotor output shaft, counterclockwise (CCW) is forward rotation, and clockwise (CW) is reverse rota- Forward rotation...
  • Page 267 Operation Chapter 4 D Operation Procedure PR02W Front panel Display example Explanation operation key operation Status Display Mode. (See note.) Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to select function Fn008. Press the DATA Key (front panel: DATA Key for 1 s min.) to enter the absolute encoder setup functions.

  • Page 268: Trial Operation

    Operation Chapter 4 D Setup when Replacing Battery Unit • If an alarm (A.81) occurs after replacing the Battery Unit, repeat the setup from the start. • When connecting to the CV500-MC221/421 or C200H-MC221 Motion Control Unit, carry out the set- up close to the mechanical origin (This limitation does not apply to the CS1W-MC221/MC241 Motion Control Unit).
  • Page 269 Operation Chapter 4 H Keys and Functions Parameter Unit Servo Driver front panel PR02W Front panel Function settings area keys Alarm reset Mode switching Data memory Servo ON/OFF during jog op- erations Switching between parameter display and data display; data memory Increments parameter numbers and data values.
  • Page 270 Operation Chapter 4 H Mode Changes and Display Contents S Use the MODE/SET Key to change modes. S Use the Up and Down Keys to change parameter and monitor numbers. See 4-9-2 Status Display Mode. Bit Displays Status Display Mode Control-circuit power ON Main-circuit power ON Base block (Servomotor not receiving power)
  • Page 271 Operation Chapter 4 H Basic Operations in Each Mode Status Display Mode Status display Status Display Mode displays all information that can be displayed in this mode using 5-digit 7-segment LEDs. Consequently, there are no Key operations in this mode. Function code Function contents System Check Mode...

  • Page 272: Jog Operation

    Operation Chapter 4 Note 1. The “ ” mark beneath a display example indicates the numbers are flashing. (Digits that can be changed flash). Note 2. In this manual, when Parameter Unit keys and front panel keys are shown together, the Pa- rameter Unit key is given first, and the front panel key is given in parentheses as follows: Note 3.
  • Page 273 Operation Chapter 4 D Operation Procedure PR02W Front panel Display example Explanation key operation Press the MODE SET Key to change to System Check Mode. Select function code Fn002 using the Up or Down Key. The digits you can operate will flash. Press the DATA Key (front panel: DATA Key for 1 s min.).
  • Page 274 Operation Chapter 4 D Operation Procedure PR02W Front panel Display example Explanation key operation (System Check Mode) Press the MODE/SET Key to change to Setting Mode. Press the Up or Down Key to set parameter number Pn304. (See note 1.) Press DATA Key (front panel: DATA Key for 1 s min.).
  • Page 275 Operation Chapter 4 Note 1. There is no right shift function for the front panel keys. Note 2. Press the DATA Key on the front panel for less than 1 s. Pressing the Key for 1 s or more causes the Unit to recognize the Key as the DATA Key. Less Less than 1 s...

  • Page 276: User Parameters

    Operation Chapter 4 User Parameters Set and check the user parameters using the Setting Mode. Make sure you fully under- stand the parameter meanings and how to set them before setting user parameters in the system. Some parameters are enabled by turning OFF the Unit, then turning it ON again.
  • Page 277 Operation Chapter 4 there are no Pn006 to Pn099). For this reason, if, for example, you change Pn000 to Pn207 using the Shift Key, you can perform the operation more quickly by making the change starting from the leftmost digit side (i.e., digit No. 2). D Displaying Parameter Settings PR02W Front panel...

  • Page 278: Parameter Tables

    Operation Chapter 4 Example of an n. + 4 Digits Parameter Setting PR02W Front panel Display example Explanation operation key operation (Present setting) Digit No. 3 Digit No. 0 Set the digit No. to be operated using the Left Key (front panel: DATA Key for less than 1 s) or Right Key.
  • Page 279 Operation Chapter 4 H Function Selection Parameters (From Pn000) Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? name Pn000 Function Reverse 0010 CCW direction is taken for positive selec- rotation command tion ba- CW direction is taken for positive command switch...
  • Page 280 Operation Chapter 4 Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? name Pn002 Function Torque Not used. 0000 selec- selec- com- com- Use TREF as analog torque limit tion ap- mand input plication input switch 2...
  • Page 281 Operation Chapter 4 H Servo Gain Parameters (From Pn100) Explanation (See note 1.) Default Unit Setting Restart Param- Parameter setting range power? eter name Name Explanation (See note 2.) Digit Set- ting Pn100 Speed Adjusts speed loop responsiveness. 1 to 2000 loop gain Pn101 Speed...
  • Page 282 Operation Chapter 4 Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Param- Param- Parameter Parameter setting setting range range power? power? eter eter name name Name Explanation (See note 2.) Digit Set- ting Pn10C P control Sets level of torque command to switch from PI control to P 0 to 800 switching...
  • Page 283 Operation Chapter 4 Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Param- Param- Parameter Parameter setting setting range range power? power? eter eter name name Name Explanation (See note 2.) Digit Set- ting Pn124 Automatic Sets the switching delay after conditions have been met, 1 to gain when the automatic gain switching function is used...
  • Page 284 Operation Chapter 4 H Position Control Parameters (From Pn200) Explanation (See note 1.) Default Unit Setting Restart Param- Parameter setting range power? eter name Name Explanation (See note 2.) Digit Set- ting Pn200 Position Command Feed pulse forward/reverse 1011 control pulse mode signal: Positive logic setting 1...

  • Page 285: Position Control (Position)

    Operation Chapter 4 Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Param- Param- Parameter Parameter setting setting range range power? power? eter eter name name Name Explanation (See note 2.) Digit Set- ting Pn205 Absolute Sets the limit to the number of rotations when using a Servo 65535 rotations 0 to...
  • Page 286 Operation Chapter 4 H Speed Control Parameters (From Pn300) Parameter Parameter Explanation Default Unit Setting Restart name setting range power? Pn300 Speed Sets the speed command voltage (REF) 1000 0.01 v/No. 150 to 3000 command rated scale rotations Pn301 No. 1 Number of rotations for No.
  • Page 287 Operation Chapter 4 H Torque Control Parameters (From Pn400) Explanation (See note 1.) Parameter Default Unit Setting Restart Parame- name setting range power? ter No. Name Set- Explanation (See note 2.) Digit ting Pn400 Torque Sets the torque command voltage (TREF) to output the 0.1 V/ 10 to 100 command...
  • Page 288 Operation Chapter 4 H Sequence Parameters (From Pn500) Explanation Parameter Default Unit Setting Restart Parame- name setting range power? ter No. Name Set- Explanation Digit ting Pn500 Positioning Sets the range of positioning completed output 1 (INP1). Com- 0 to 250 completion mand unit range 1...
  • Page 289 Operation Chapter 4 Parameter Parameter Explanation Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation Digit ting Pn50A Input signal Input signal 8100 Sets the sequence input signal selection 1 allocation allocation to the same as...
  • Page 290 Operation Chapter 4 Parameter Parameter Explanation Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation Digit ting Pn50b Input signal 6548 NOT signal 0 to F Same as Pn50A.1.
  • Page 291 Operation Chapter 4 Parameter Parameter Explanation Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation Digit ting Pn50E Output INP1 signal 3211 No output signal signal (positioning...
  • Page 292 Operation Chapter 4 Parameter Parameter Explanation Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation Digit ting Pn512 Output Output 0000 Not reversed. signal signal reverse reverse...
  • Page 293 Operation Chapter 4 H Reverse Rotation Mode Settings (Pn000.0) Pn000.0 Function selection basic switch –– Reverse rotation mode (All operation modes) Setting 0, 1 Unit Default Restart range setting power? Setting Explanation Setting Explanation CCW direction is taken for positive command (counterclockwise seen from the Servomotor output shaft) CW direction is taken for positive command (clockwise seen from the Servomotor output shaft)
  • Page 294 Operation Chapter 4 H Alarm Stop Selection (Pn001.0) Pn001.0 Function selection application switch 1 –– Stop selection for alarm generation with servo OFF (All operation modes) Setting 0 to 2 Unit Default Restart range setting power? Setting Explanation Setting Explanation Stop Servomotor using dynamic brake (dynamic brake stays ON after Servomotor has stopped).
  • Page 295 Operation Chapter 4 H Overtravel Stop Selection (Pn001.1) Pn001.1 Function selection application switch 1 –– Stop selection for drive prohibition input (Position, speed, internally-set speed control) Setting 0 to 2 Unit Default Restart range setting power? Setting Explanation Setting Explanation Stop according to the setting of Pn001.0 (servo released after Servomotor has stopped) Stop the Servomotor using the torque set in Pn406 (emergency stop torque), then locks the servo.
  • Page 296 • With the OMNUC W series, you can freely change the I/O signal allocation. • If using an OMRON position controller (Position Control Unit or Motion Control Unit), you do not need to change the default settings. The various special Control Cables are also based on the default al- locations.
  • Page 297 Operation Chapter 4 CN1, pin No. Signal name Condition Input MING (gain When Pn000.1 is 0 (speed control) or 1 (position control) signal reduction input) When Pn000.1 is 3, 4, or 5 (internal speed control setting), and SPD1 and SPD2 are both OFF RDIR (rotation When Pn000.1 is 3, 4, 5, or 6 (internal speed control setting), direction...
  • Page 298 Operation Chapter 4 D Input Signal Selection (Pn50A to Pn50d, Pn513) Pn50A.0 Input signal selection 1 –– Input signal allocation mode (All operation modes) Setting 0, 1 Unit Default Restart range setting power? Setting Explanation Setting Explanation Sets the sequence input signal allocation to the same as R88D-UT User-defined sequence input signal allocation •...
  • Page 299 Operation Chapter 4 • When set to 7, the servo turns ON after the power has been turned ON. You cannot use the jog opera- tion with this setting. Pn50A.2 Input signal selection 1 –– MING signal (gain reduction) input terminal allocation (Position, speed, internally-set speed control) Setting 0 to F...
  • Page 300 Operation Chapter 4 • Do not set 7 (always ON). • If setting 8 (always OFF), when the alarm is cancelled, turn ON the power or reset the alarm using the operation keys. Pn50b.2 Input signal selection 2 –– PCL signal (forward rotation current limit) input terminal allocation (All operation modes) Setting 0 to F...
  • Page 301 Operation Chapter 4 • Settings are the same as for Pn50A.1. • If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled. • To change the pin number, set Pn50A.0 to 1. Pn50d.0 Input signal selection 4 ––...
  • Page 302 Operation Chapter 4 Setting Explanation Setting Explanation No output Allocated to pins CN1-25 and 26 (pin 26 is the COM port) Allocated to pins CN1-27 and 28 (pin 28 is the COM port) Allocated to pins CN1-29 and 30 (pin 30 is the COM port) Pn50E.1 Output signal selection 1 ––...
  • Page 303 Operation Chapter 4 Pn512.0 Output signal reverse –– Pins CN1-25 and 26 output signal reverse (All operation modes) Setting 0, 1 Unit Default Restart range setting power? Setting Explanation Setting Explanation Not reversed. Reversed. • Select the characteristics of the output signal allocated to pins CN1-25 and 26. •...
  • Page 304 Operation Chapter 4 Pn000.1 Function selection basic switch –– Control mode selection (All operation modes) Setting 0 to b Unit Default Restart range setting power? Note Refer to 4-4-3 Important Parameters. Pn000.2 Function selection basic switch –– Unit No. setting (All operation modes) Setting 0 to F Unit...
  • Page 305 Operation Chapter 4 Main circuit power supply: Supply DC power as follows: positive voltage to +1 terminal, and ground to – terminal. External regeneration resistance terminals: Remove the short bar from between B2 and B3 so that B1, B2, and B3 are open. (For Servo Drivers without B3, open B1 and B2.) Make sure input voltage is 120 to 179 V DC for 100 V input type, and 240 to 357 V DC for 200 V input type.
  • Page 306 Operation Chapter 4 • Set 1 to limit the output torque to the same value for both forward and reverse regardless of TREF voltage polarity (read as an absolute value). • Set 2 to calculate torque corresponding to TREF voltage in the current loop (TREF voltage polarity enabled).
  • Page 307 Operation Chapter 4 Setting Explanation Setting Explanation Fully-closed encoder is not used. Fully-closed encoder is used without phase Z. Fully-closed encoder is used with phase Z. Fully-closed encoder is used in reverse rotation mode without phase Z. Fully-closed encoder is used in reverse rotation mode with phase Z. •...
  • Page 308 Operation Chapter 4 Note 1. Displays status without offset adjustment and scaling changes. (Perform offset adjustment and scaling changes using System Check Mode.) Note 2. The maximum analog monitor output voltage is $8 V. Exceeding this voltage may result in a wrong output.
  • Page 309 Operation Chapter 4 Pn101 Speed loop integration constant (Position, speed, internally-set speed control) Setting 15 to 51200 Unit x 0.01 ms Default 2000 Restart range setting power? • Sets the speed loop integral time constant. • The higher the setting, the lower the response, and the lower the resiliency to external force. There is a risk of oscillation if the setting is too low.
  • Page 310 Operation Chapter 4 When the position loop gain is manipulated, the response is as shown in the diagram below. When position loop gain is high Servomotor speed When position loop gain is low Time Pn103 Inertia ratio (Position, speed, internally-set speed control) Setting 0 to 20000 Unit...
  • Page 311 Operation Chapter 4 • We recommend using Racks on which online auto-tuning cannot be set to be always enabled. Online auto-tuning cannot be set to be always enabled under the following conditions. S When using torque feed-forward function. S When load inertia fluctuates by 200 ms maximum. S During operations where rotation speed does not exceed 500 r/min., or output torque does not exceed 50% of the rated torque.
  • Page 312 Operation Chapter 4 Pn109 Feed-forward amount (Position) Setting 0 to 100 Unit Default Restart range setting power? • Sets the feed-forward compensation value during positioning. • When performing feed-forward compensation, the effective servo gain rises, improving responsive- ness. There is almost no effect, however, on systems where the position loop gain is sufficiently high. •...
  • Page 313 Operation Chapter 4 Note Setting Pn10b.1 (speed control loop switching) to 1 (IP control) changes the parameter to switch from IP control to P control. Pn10b.1 Speed control setting –– Speed control loop switching (Position, speed, internally-set speed control) Setting 0, 1 Unit Default...
  • Page 314 Operation Chapter 4 • You must set Pn10C if you set Pn10b.0 (P control switching condition) to 0 (switching by internal torque command). • Set the condition to switch to P control using Servomotor rated torque ratio (%). • The servo switches to P control if the internal torque command exceeds the setting level. Pn10d P control switching (speed command) (Position, speed, internally-set speed control) Setting...
  • Page 315 Operation Chapter 4 S Using torque feed-forward function (Pn002.0 = 2) S Using speed feedback compensation function (Pn110.1 = 0) Note Refer to 4-7-1 Online Auto-tuning for details. Pn110.0 Online auto-tuning setting –– Online auto-tuning selection (Position, speed, internally-set speed control) Setting 0 to 2 Unit...
  • Page 316 Operation Chapter 4 • If 0 (function ON) is set, set Pn111 (speed feedback compensating gain). Note If using online auto-tuning, set this parameter to 1 (function OFF). If using speed feedback com- pensation function, online auto-tuning is disabled. Pn110.2 Online auto-tuning function ––...
  • Page 317 Operation Chapter 4 Pn112 Not used. Default setting Pn113 Not used. Default setting 1000 Pn114 Not used. Default setting Pn115 Not used. Default setting Pn116 Not used. Default setting Pn117 Not used. Default setting Pn118 Not used. Default setting Pn119 Not used.
  • Page 318 • Sets input conditions under which ECRST (deviation counter reset input, CN1-15: +ECRST, CN1-14: –ECRST) is enabled. • If using an OMRON Position Control Unit, do not change the default setting. Pn200.2 Position control setting 1 –– Deviation counter reset when servo is OFF and an alarm occurs...
  • Page 319 Note 2. If you set a value greater than the encoder resolution, the resolution setting will taken to be the encoder resolution. Note 3. If using an OMRON Position Control Unit (analog voltage output type) or Motion Control Unit, the upper limit of the encoder dividing rate is the rotation speed used. Refer to Encoder Divid- ing Rate and Rotations Using OMRON Servo Controllers for details.
  • Page 320 Operation Chapter 4 • Sets the command pulse soft start. The soft start property is the primary filter (exponentiation func- tion). Note 1. The soft start properties also include linear acceleration and deceleration. (Set the time con- stant using Pn208.) Select the filter you want to use using Pn207.0 (position command filter selection).
  • Page 321 REF voltage to the speed loop command. This can shorten positioning time. • You can change the REF voltage scale using Pn300 (speed control scale). (Default setting: 10 V/rated rotations.) • If using an OMRON Positioning Unit (pulse train output type), set this parameter to 0 (function not used). 4-61...
  • Page 322 Operation Chapter 4 Note Refer to 4-8-4 Speed Feed-forward Function for details. Pn207.2 Position control function 2 –– Not used. Setting Unit Default Restart range setting power? Note Do not change the setting. Pn207.3 Position control function 2 –– Not used. Setting Unit Default...
  • Page 323 Operation Chapter 4 Setting Explanation Setting Explanation Function not used. Rotates Servomotor using the command pulse multiplied by the factor set in Pn217. • Selects whether command pulse factor switching is used. • When 1 is selected, set appropriate values for Pn217 (command pulse factor), Pn513 (PSEL signal input terminal allocation), and Pn510.2 (PSON signal output terminal allocation).
  • Page 324 Operation Chapter 4 Pn302 No. 2 internal speed setting Setting 0 to 10000 Unit r/min. Default Restart range setting power? Pn303 No. 3 internal speed setting Setting 0 to 10000 Unit r/min. Default Restart range setting power? • These parameters set the speed when using internally-set speed control. •...
  • Page 325 Operation Chapter 4 • Sets the filter time constant (primary filter) for speed feedback. • Set this parameter if the speed loop gain cannot be raised due to factors such as mechanical system vibration. Note When speed feedback filter is set, online auto-tuning does not operate normally. Pn309 Not used.
  • Page 326 Operation Chapter 4 Pn403 Reverse torque limit (All operation modes) Setting 0 to 800 Unit Default Restart range setting power? • Set Pn402 (forward torque limit) and Pn403 (reverse torque limit) using the ratio (%) of the Servomo- tor rated torque for each. Note These following torque limit functions are available: Analog torque limit (Pn002.0 = 1 or 3), Pn402 (forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external current lim- it), and Pn405 (reverse rotation external current limit).
  • Page 327 Operation Chapter 4 Setting Explanation Setting Explanation Notch filter 1 function not used. Notch filter 1 used in torque commands. (Set the frequency using Pn409, and set the Q value using Pn40A). • Set whether or not to use notch filter 1 for internal torque commands (current loop commands). •...
  • Page 328 Operation Chapter 4 Note For details on notch filters, refer to 4-8-7 Notch Filter (Position, Speed, Internally-set Speed Con- trol. Pn40A Notch filter 1 Q value Setting 50 to 400 Unit x0.01 Default Restart range setting power? • Enabled when Pn408.0 (notch filter 1 function selection) is set to 1. •...
  • Page 329 Operation Chapter 4 • When the Servomotor rotation speed is below the set value and PLOCK (position lock command in- put) is input, the operation mode switches from speed control to position control, and the Servomotor is locked. • Use Pn102 (position loop gain) to adjust servolock force. Note Related parameters: Pn50A.0 (input signal allocation mode), and Pn50d.0 (PLOCK signal input terminal allocation).
  • Page 330 Operation Chapter 4 Pn507 Brake command speed Setting 0 to 10000 Unit r/min. Default Restart range setting power? Pn508 Brake timing 2 (all operation modes) Setting 10 to 100 Unit x 10 ms Default Restart range setting power? • This parameter sets the BKIR (brake interlock output) timing to control the electromagnetic brake ON/ OFF when a Servomotor with a brake is used.
  • Page 331 Operation Chapter 4 Pn510 Output signal selection 3 (All Default 0000 Restart operation modes) setting power? Pn512 Output signal reverse (All operation Default 0000 Restart modes) setting power? Note Refer to 4-4-3 Important Parameters. Pn511 Not used. Setting Unit Default 8888 Restart range...
  • Page 332 Operation Chapter 4 Pn51E Deviation counter overflow warning level (Position) Setting 0 to 100 Unit Default Restart range setting power? • Set the deviation counter overflow warning detection level using the ratio (%) for Pn505 (deviation counter overflow level). • When the deviation counter residual pulses exceed the set value, a deviation counter overflow warn- ing (A.90) will occur.
  • Page 333 Operation Chapter 4 Operation Functions 4-5-1 Position Control (Position) H Functions • Perform position control using the pulse train input from CN1-7,8 for CW and CN1-11,12 for CCW. • The Servomotor rotates using the value of the pulse train input multiplied by the electronic gear (Pn202, Pn203).

  • Page 334: Speed Control (Speed)

    Operation Chapter 4 H Related Functions • The main functions related to position control that can be used during position control are as follows: Function name Explanation Reference Position command filter function Sets the soft start for the command pulse. 4-5-13 Position Command Filter Function...
  • Page 335 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn000.1 Function Set the control mode for speed control (Settings: 0, 4-4-3 Important selection basic 4, 7, 9, A) Parameters switch 1 Pn300 Speed command Set the REF (speed command input) voltage for 4-4-4 Parameter scale operating at the rated rotation speed.

  • Page 336: Torque Control (Torque)

    (analog voltage output type) Torque Control Mode Analog voltage (torque command) Torque com- mand scale OMNUC W-series (Pn400) Note OMRON does not Servomotor manufacture torque command voltage out- Torque put type controllers. H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn000.1...

  • Page 337: Internally-Set Speed Control

    Operation Chapter 4 H Related Functions • Functions related to torque control that can be used during torque control are as follows: Function name Explanation Reference Torque limit function This function limits the Servomotor’s torque output. 4-5-10 Torque Limit Function Speed limit function This function limits the Servomotor rotation speed from 4-5-15 Speed Limit...
  • Page 338 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn000.1 Function selection Select the control mode for the internally-set 4-4-3 Important basic switch 1 speed control (Settings: 3, 4, 5, 6) Parameters Control mode selection Pn50C Input signal You must set Pn50C.0 (RDIR signal selection), 4-4-3 Important selection 3...
  • Page 339 Operation Chapter 4 H Internally-set Speed Selection • The following table shows the relationship between SPD1 and SPD2 (speed selection commands 1 and 2), and the internally-set speeds that are selected. SPD1: OFF SPD1: ON Control mode TVSEL setting SPD2: OFF SPD2: ON SPD2: OFF SPD2: ON...
  • Page 340 Operation Chapter 4 Note 1. There is a maximum delay of 2 ms in reading the input signal. Note 2. If the position lock function is not used, the servo will stop using the speed loop (i.e., internal speed command 0 r/min.) Note 3.
  • Page 341 Operation Chapter 4 mand inputs can be received in this status. The pulse command is input after INP1 is turned ON. Until INP1 is turned ON, pulse inputs are ignored. Note 2. After INP1 has turned ON, turn ON the speed selection command in the same way as when switching from position control to internally-set speed control.

  • Page 342: Switching The Control Mode (Switching Control)

    Operation Chapter 4 4-5-5 Switching the Control Mode (Switching Control) H Functions • This function controls the Servomotor by switching between two control modes by means of external inputs. • The control mode switching is executed at the control mode switching control input terminal (TVSEL: CN1-41).
  • Page 343 Operation Chapter 4 H Control Mode Selected Using TVSEL (Control Mode Switching) • The following table shows the relationship between TVSEL (control mode switching) and the control mode selected. TVSEL Control mode setting Pn000.1 = 4 (between internally-set Internally-set speed control Speed control speed control and speed control) Pn000.1 = 5 (between internally-set...
  • Page 344 Operation Chapter 4 Note 1. There is a maximum delay of 2 ms in reading the input signal. Note 2. When switching from speed control to position control, input the pulse command after TVSEL (control mode switching) has turned OFF, INP1 (positioning completed output 1) signal has turned ON, and 2 ms has elapsed.

  • Page 345: Forward And Reverse Drive Prohibit (All Operating Modes)

    Operation Chapter 4 D Speed and Torque Control Switching Example (Pn000.1 = 9) Control mode switching TVSEL Speed command input Torque command input TREF Servomotor op- Torque Control Mode eration Note 1. There is a maximum delay of 2 ms in reading the input signal. Note 2.
  • Page 346 Operation Chapter 4 H Parameters Requiring Setting Parameter No. Parameter name Explanation Reference Pn50A.3 Input signal selection 1: You must allocate both POT 4-4-3 Important Parameters Pn50b.0 POT signal selection and NOT. (See note.) Input signal selection 2: NOT signal selection Pn001 Function selection switch 1 Set the stop method when...

  • Page 347: Encoder Dividing Function (All Operating Modes)

    Operation Chapter 4 Note 1. When a command to travel in a prohibited direction within the drive prohibit area is input, the Servomotor is stopped using the method set in Pn001.1. If a command to travel in the oppo- site direction is input, the Servomotor automatically resumes operation. Note 2.

  • Page 348: Brake Interlock (All Operating Modes)

    Operation Chapter 4 • The output phases of the encoder signal output from the Servo Driver are as shown below (when divid- er ratio Pn201 = encoder resolution). Forward rotation side Reverse rotation side Phase A Phase A Phase B Phase B Phase Z Phase Z...
  • Page 349 Operation Chapter 4 H Parameters Requiring Setting Parameter No. Parameter name Explanation Reference Pn50F.2 Output signal Be sure to allocate BKIR. 4-4-3 Important selection 2: BKIR (See note.) Parameters signal selection Pn506 Brake timing 1 This parameter sets the BKIR 4-4-4 Parameter Details output timing.

  • Page 350: Gain Reduction (Position, Speed, Internally-Set Speed Control)

    Operation Chapter 4 D Power Supply Timing (When Servomotor is Stopped) Power supply 25 to 35 ms BKIR (brake interlock) Pn506 (See note.) Energized Servomotor energized Deenergized Note 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, set Pn506 (brake timing 1) so that the Servomotor deenergizes after the brake has engaged, in consideration of this delay.

  • Page 351: Torque Limit Function (All Operating Modes)

    Operation Chapter 4 • If controlling the position without adding a position control loop, the position may slip due to tempera- ture drift from the A/D converter, etc. In this case, when MING (gain reduction) is input, the speed loop gain will fall, and the amount of drift will be lowered.
  • Page 352 Operation Chapter 4 H Parameters Requiring Settings D Limiting the Steady Force Applied During Normal Operation with User Parameters (All Operating Modes) Parameter No. Parameter Explanation Reference name Pn402 Forward torque Set the output torque limit for the forward direction 4-4-4 Parameter limit as a percentage of the rated torque (setting range:...

  • Page 353: Soft Start Function (Speed, Internally-Set Speed Control)

    Operation Chapter 4 Parameter No. Parameter Explanation Reference name Pn002.0 Torque Set Pn002.0 to 1. (Use TREF as analog torque 4-4-4 Parameter command input limit.) Details switching Pn400 Torque control Set TREF voltage when using rated torque. (See scale note.) Note The default setting is 30 (x 0.1 V/rated torque).

  • Page 354: Electronic Gear Function (Position)

    Operation Chapter 4 H Parameters Requiring Settings Parameter No. Parameter name Explanation Reference 4-4-4 Pn305 Soft start Set the acceleration time from 0 (r/min.) to the Parameter acceleration time maximum rotation speed (setting range: 0 to 10,000 (ms)). Details Pn306 Soft start Set the deceleration time from maximum rotation deceleration time...

  • Page 355: Position Command Filter Function (Position)

    Operation Chapter 4 H Parameters Requiring Settings Parameter No. Parameter Explanation Reference name Pn202 Electronic gear Set the pulse rate for the command pulse and 4-4-4 Parameter Servomotor travel distance. When G1/G2 = 1, if Details ratio G1 the pulse (encoder resolution x 4) is input, the (denominator) Servomotor will rotate once (i.e., the internal driver Pn203...
  • Page 356 Operation Chapter 4 • Select the filter characteristics using Pn207.0 (position command filter selection). • When Pn204 (position command filter time constant 1) is selected, acceleration and deceleration are performed using the primary filter (exponentiation function). • When Pn208 (position command filter time constant 2) is selected, acceleration and deceleration are linear.

  • Page 357: Position Lock Function (Speed, Internally-Set Speed Control)

    Operation Chapter 4 D Linear acceleration and deceleration Speed Command pulse in- put frequency Time 4-5-14 Position Lock Function (Speed, Internally-set Speed Control) H Functions • If controlling the position without adding a position control loop, the position may slip due to tempera- ture drift from the A/D converter, etc.

  • Page 358: Speed Limit Function (Torque)

    Operation Chapter 4 H Operation (speed command in- put) PLOCK (position lock command) Servomotor operation Pn501 (Position lock rota- tion speed) Pn501 (Position lock rota- tion speed) Position lock status 4-5-15 Speed Limit Function (Torque) H Functions • This function limits Servomotor rotation speed when torque control is used. •...

  • Page 359: Trial Operation Procedure

    Operation Chapter 4 D Limiting the Speed with Analog Voltage • When Pn002.1 (speed command input switching) is set to 1, REF (speed command input) becomes the analog speed limit input terminal, so you can limit the speed on multiple levels. The speed limit value can be calculated from the following equation: •...
  • Page 360 Operation Chapter 4 Turning OFF the Servomotor In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machinery, set up the system so that the power and the RUN command can be turned OFF. H Trial Operation 1.

  • Page 361: Making Adjustments

    Operation Chapter 4 Making Adjustments The OMNUC W-series AC Servo Driver is equipped with an online auto-tuning function. Use this function to easily adjust the gain even if you are using a servo system for the first time. If you cannot use the online auto-tuning function, adjust the gain manually. 4-7-1 Online Auto-tuning H What Is Online Auto-tuning?
  • Page 362 Operation Chapter 4 H Online Auto-tuning Procedure • Use the following procedure when using the online auto-tuning function. Note If the online auto-tuning is set to be always enabled, the Servomotor may become unstable due to extreme vibration when the load fluctuates. It is recommended that you perform online auto-tun- ing once, write the results (inertia ratio) to the user parameters, then run the operation with the online auto-tuning turned OFF.
  • Page 363 Operation Chapter 4 H Selecting Mechanical Rigidity During Online Auto-tuning (Fn001) • Setting the rigidity during online auto-tuning sets the servo system’s target speed loop gain and posi- tion loop gain. • Select the rigidity setting (Fn001) from the following 10 levels to suit the mechanical system. Response Rigidity Position...

  • Page 364: Manual Tuning

    Operation Chapter 4 H Online Auto-tuning Related User Parameters Explanation Param- Default Unit Setting Restart Param- eter setting range power eter Digit Name Setting Explanation name Pn100 Speed Adjusts speed loop responsiveness. 1 to loop 2000 gain Pn101 Speed loop integration time constant 2000 15 to Speed...
  • Page 365 Operation Chapter 4 Response Rigidity Position Speed loop Speed loop Torque Representative setting loop gain gain integration command applications –1 Fn001 (Hz) time filter time (mechanical Pn102 Pn100 constant constant system) (d.00jj) (x 0.01 ms) (x 0.01 ms) Pn101 Pn401 6000 Articulated robots,...
  • Page 366 Operation Chapter 4 H Manual Tuning Procedure (During Position Control) • Use the following procedure to perform operation with position control (pulse train input). Note Turn OFF online auto-tuning (Pn110.0 = 2). Start Note Do not perform extreme adjustment and setting changes as they may destabilize the operation.
  • Page 367 Operation Chapter 4 H Manual Tuning Procedure (During Speed Control) • Use the following procedure to perform operation with speed control (speed command voltage input). Note Set the online auto-tuning to be always OFF (Pn110.0 = 2). Start Turn OFF online auto-tuning (Pn110.0 = 2). Note Do not perform extreme adjustment and setting changes as they may destabilize the operation.
  • Page 368 Operation Chapter 4 H Position Loop Block Diagram (Reference) Electronic Feed-forward Feed-forward Command Bias rotational gear ratio command filter amount pulse factor speed (G1/G2) Bias addition band Command Position com- Electronic pulses Command Position loop Speed Command Deviation Current mand filter time gear ratio pulse mode gain...

  • Page 369: Advanced Adjustment Functions

    Operation Chapter 4 Advanced Adjustment Functions 4-8-1 Bias Function (Position) H Functions • The bias function shortens positioning time by adding bias revolutions to speed commands (i.e., com- mands to the speed control loop). • If the residual pulses in the deviation counter exceed the setting in Pn108 (bias addition band), the speed set in Pn107 (bias rotational speed) is added to the speed command, and when the residual pulses in the deviation counter are within the setting in Pn108, adding to the number of bias rotations stops.

  • Page 370: Feed-Forward Function (Position)

    Operation Chapter 4 4-8-2 Feed-forward Function (Position) H Functions • This function shortens the positioning time by automatically adding the command pulse input (CW/ CCW) differential value to the speed loop in the Servo Driver. • Perform feed-forward compensation to increase servo gain efficiency, thus improving responsive- ness.
  • Page 371 Operation Chapter 4 Torque Feed-forward Function Block Diagram Host Controller Servo Driver Torque com- Torque feed-forward Differ- mand scale ential Position command Speed command Current Speed Speed com- loop loop mand scale Current Speed detection detection Encoder output Encoder dividing rate H Parameters Requiring Settings Parameter No.

  • Page 372: Speed Feed-Forward Function (Position)

    Operation Chapter 4 Note 2. A torque will be generated that accelerates the Servomotor in the forward direction if torque feed-forward is applied with a positive (+) voltage. Be sure that the polarity is correct because errors such as reverse Servomotor rotation or oscillation will occur if the feed-forward is ap- plied with a polarity opposing the acceleration direction.

  • Page 373: Gain Switching (Position, Speed, Internally-Set Speed Control)

    Operation Chapter 4 H Operation Position command REF (speed feed- forward input Without the feed-forward function Servomotor operation Note When a positive voltage speed feed-forward is added, a command to rotate the Servomotor for- wards is added. If a reverse feed-forward command is added to the pulse train, positioning time will be lengthened, so check the polarity carefully.

  • Page 374: Automatic Gain Switching (Position Control)

    Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn50A.0 Input signal GSEL signal is not allocated in the default settings. 4-4-3 Important Parameters selection 1 Set Pn50A.0 to 1 (user-defined settings). Input signal selection mode Pn50d.2 Input signal Allocate GSEL signal.

  • Page 375: Notch Filter (Position, Speed, Internally-Set Speed Control)

    Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn10b.2 Speed control Set the conditions for gain switching in Pn10b.2 4-4-4 Parameter setting –– 1: Switches using position commands Details Automatic gain 2: Switches using position deviation switching 3: Switches using position commands and position selection...
  • Page 376 Operation Chapter 4 • Use the notch filter to prevent mechanical resonance. This function can be used to raise the speed loop gain and to shorten positioning time. • With W series AC Servo Drivers, two notch filters can be set: notch filter 1 and notch filter 2. Note 1.

  • Page 377: Speed Feedback Compensation (Position, Speed, Internally-Set Time Control)

    Operation Chapter 4 H Setting Procedure • Measure the torque vibration frequency by increasing the Pn100 (speed loop gain) with the machinery vibrating slightly. Use the OMNUC W-series Servo Driver Computer Monitoring Software to measure the analog monitor (torque command monitor) output. •...

  • Page 378: Speed Feedback Filter (Position, Speed, Internally-Set Speed Control)

    Operation Chapter 4 • After completing tuning, lower Pn111 to 10, and adjust Pn100, Pn101, Pn102, and Pn401 in the same way. 4-8-9 Speed Feedback Filter (Position, Speed, Internally-set Speed Control) H Functions • This function sets the primary filter for the speed feedback gain. •...
  • Page 379 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn10b.0 Speed control Sets the condition for switching the speed loop from PI 4-4-4 setting control to P control. Use Pn10C to Pn10F to make the Parameter Details switching level settings.

  • Page 380: Using Displays

    Operation Chapter 4 D Switching Using Speed Command • You can switch to P control when the speed command value exceeds the setting in Pn10d to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high-speed area.

  • Page 381: Power Supply Indicator And Charge Indicator

    Operation Chapter 4 4-9-1 Power Supply Indicator and Charge Indicator • There are two LED indicators on the Servo Driver itself. One is for the power supply, and the other is a charge indicator. Charge indicator Power supply indicator H Indicators Symbol Name Color...
  • Page 382 Operation Chapter 4 H Bit Data Display Contents Command pulses being input (during position control) Speed commands being input Rotation detected (during position control) Positioning completed 1 (during position control) Speed conformity (during speed control) Base block Control-circuit power supply ON Main-circuit power supply ON Deviation counter reset signal being input (position control) Torque commands being input (torque control)

  • Page 383: Monitor Mode (Unjjj)

    Operation Chapter 4 4-9-3 Monitor Mode (Unjjj) H Operations Using Monitor Mode • After switching to Monitor Mode, set the monitor number, and press the DATA Key (front panel: DATA Key for 1 s min.) to display the monitor value. D Switching to Monitor Mode Status Display Mode System Check Mode...
  • Page 384 Operation Chapter 4 Operating Procedure Example: Displaying Monitor Value of Electrical Angle (Un.004) PR02W Front panel Display Explanation operation key operation (Status Display Mode) Press the MODE SET Key to switch to Monitor Mode. Set monitor No. Un004 using the Up or Down Key. (See note.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display monitor value for Un004 (electrical angle).
  • Page 385 Operation Chapter 4 H Types of Monitoring • In Monitor Mode, 14 types of monitoring can be carried out. Display Monitor contents Unit Explanation (monitor No.) Speed feedback (all r/min Displays actual rotation speed of Servomotor. output modes) Speed command r/min Displays speed command voltage calculated in (speed)
  • Page 386 Operation Chapter 4 D Input Signal Monitor Contents (Un005) OFF (high level) ON (low level) (top is lit) (bottom is lit) LED No. Indicator No. Input terminal Signal name (default) CN1-40 RUN (RUN command) CN1-41 MING (gain reduction), RDIR (rotation direction command), TVSEL (control mode switching), PLOCK (position lock command), IPG (pulses prohibited) CN1-42...

  • Page 387: Using Monitor Output

    Operation Chapter 4 • These monitor values can also be cleared (i.e., set to zero) in Monitor Mode. Feedback pulse counter monitor Feedback pulse value (upper 16-bit part, dis- counter 1 s min. played as “H.jjjj“) Feedback pulse counter monitor value (lower16-bit part, displayed as “L.jjjj“) 1 s min.
  • Page 388 Operation Chapter 4 H Analog Monitor Output Connector (CN5) • The Analog Monitor Output Connector (CN5) is located inside the top cover of the Servo Driver. Note There is no top cover on models R88D-WT60H to R88D-WT150H (6 to 15 kW). Instead, CN5 is to the right of the display and settings area.
  • Page 389 Operation Chapter 4 H Analog Monitor Cable (R88A-CMW001S) Use this cable to connect the Servo Driver’s Analog Monitor Connector (CN5) Servo Driver External devices R88D-WTj 1.7 dia. Servo Driver Symbol Connector socket model White DF11-4DS-2C (Hirose) Black Connector socket model Black DF11-2428SCF (Hirose) Cable: AWG24 x 4C UL1007...

  • Page 390: System Check Mode

    Operation Chapter 4 H Analog Monitor Output Adjustment: System Check Mode Offset Adjustment (Fn00C), Scaling (Fn00d) • The following two types of analog monitor output adjustment can be performed using System Check Mode. • Analog monitor output offset manual adjustment (Fn00C). •...

  • Page 391: Alarm History

    Operation Chapter 4 Display Function name Reference (function code) Absolute encoder multi-turn setting (ABS) change: If you 4-11-11 Changing Absolute change user parameter setting Pn205 (absolute encoder Encoder Rotation Setting multi-turn limit setting), the new value is automatically written to the encoder. Option Unit detection results clear: If an Option Unit is 4-11-12 Clearing Option removed, an A.E7 alarm (option detection error) will be...
  • Page 392 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. If a function code other than Fn000 is displayed, press the Up or Down Key to set function code Fn000. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.).

  • Page 393: Online Auto-Tuning Functions

    Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn006. (See note.) Press DATA Key (front panel: DATA Key for 1 s min.) to display “trCLr.”...
  • Page 394 Operation Chapter 4 Note 2. When you set the rigidity, the user parameters given in the above table will change automati- cally. Note 3. If you enable auto-tuning without setting the rigidity, tuning is performed using the user param- eter settings (Pn102, Pn100, Pn101, and Pn401) as the target values. System Check Mode Displays rigidity setting Rigidity setting during auto-...

  • Page 395: Servomotor Origin Search

    Operation Chapter 4 • Store the online auto-tuning results if you want to use the results as the initial value when the power supply is next turned ON again. Performing this operation writes the results to Pn103 (inertia ratio). System Check Mode Tuning results (inertia ratio) dis- Online auto-tuning results played (d.jjjj displayed)
  • Page 396 Operation Chapter 4 Note 3. While the Servomotor origin search is being executed, the POT (forward drive prohibited) and NOT (reverse drive prohibited) inputs are disabled. Note 4. The Servomotor origin search rotation speed is 60 r/min. System Check Mode Servomotor origin search display (servo is OFF) Servomotor origin...

  • Page 397: User Parameter Initialization

    Operation Chapter 4 4-11-4 User Parameter Initialization H User Parameter Initialization (Fn005) • Initialize the user parameters to return the user parameters to the default settings. Note 1. You cannot perform initialization while the servo is ON. First turn OFF the servo, then perform the operation.

  • Page 398: Command Offset Adjustment

    Operation Chapter 4 4-11-5 Command Offset Adjustment • When operating in the Speed Control and Torque Control Modes, the Servomotor may rotate slightly even if an analog command voltage of 0 V (command value zero) is input. This is due to small offset amounts (in the order of mV) in the Host Controller and external circuits command voltage.
  • Page 399 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn009. (See note.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “rEF_o.”...
  • Page 400 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn00A. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “SPd.”...
  • Page 401 Operation Chapter 4 H Torque Command Offset Manual Adjustment (Fn00b) • Adjust the torque command manually while checking the Servomotor shaft movement with the RUN signal ON. • The torque command offset setting range is –9,999 to 9,999 (x 0.0058 mV). (For Servo Drivers with software version r.0014 or earlier, the torque command offset setting range is –128 to 127 (x 14.7 mV).) Note Adjust the torque command offset manually using torque command mode.

  • Page 402: Analog Monitor Output Adjustment

    Operation Chapter 4 Note 3. Check the offset amount to stop the Servomotor in both forward direction and reverse direc- tion, and then set the center value accordingly. 4-11-6 Analog Monitor Output Adjustment • The following two types of analog monitor output adjustment can be performed using System Check Mode.
  • Page 403 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn00C. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Ch1_o”...
  • Page 404 Operation Chapter 4 H Analog Monitor Output Scaling (Fn00d) • Use this function to set the analog monitor output scale. You can set the two monitor outputs separate- • The analog monitor output scale setting range is –128 to 127 (x 0.4%). •...

  • Page 405: Servomotor Current Detection Offset Adjustment

    Operation Chapter 4 Operation Procedure PR02W Front panel Explanation Display operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn00d. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Ch1_G”...
  • Page 406 Operation Chapter 4 Note Automatic adjustment can be performed only when the power supply to the main circuits is turned ON, and the power supply to the servo is OFF. Offset automatic ad- System Check Mode justment display Servomotor current (“Cur_o”...
  • Page 407 Operation Chapter 4 Note If adjusting the Servomotor current detection offset, first try performing automatic adjustment (Fn00E). Only attempt manual adjustment if the torque ripple is still large after performing auto- matic adjustment. 1 s min. Phase selection (Cu2 Phase selection (Cu1 = V phase) = U phase) System Check Mode...
  • Page 408 Operation Chapter 4 Note 2. Perform rough adjustments in units of 10°, and fine adjustments in units of 1°. (You can also perform intermediate adjustments in units of 5°.) Note 3. Do not greatly adjust either U phase or V phase alone. Operation Procedure PR02W Front panel...

  • Page 409: Password Setting

    Operation Chapter 4 4-11-8 Password Setting H Password Setting (Fn010) • This function prevents the user parameter settings and System Check Mode settings and adjustments being overwritten unintentionally. • When a write-prohibited password is set, from the next power-up onwards it becomes impossible to make parameter settings or to make settings or adjustments in System Check Mode.

  • Page 410: Checking Servomotor Parameters

    Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn010. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display the password “P.jjjj.”...
  • Page 411 Operation Chapter 4 Servomotor Voltage and Servomotor Type Servomotor voltage Servomotor type Servomotor type Data Voltage Data Servomotor Type Servomotor voltage 3,000 r/min. (30 to 750 W) 100 V AC 3,000 r/min. Flat-style 200 V AC 3,000 r/min. (1 to 5 kW) 1,500 r/min.

  • Page 412: Checking The Version

    Operation Chapter 4 4-11-10 Checking the Version H Version Check (Fn012) • You can use this function to check the Servo Driver and encoder software versions. System Check Mode Servo Driver software ver- Version check sion displayed. 1 s min. Encoder software ver- sion displayed.

  • Page 413: Changing Absolute Encoder Rotation Setting (Abs)

    Operation Chapter 4 4-11-11 Changing Absolute Encoder Rotation Setting (ABS) H Changing Absolute Encoder Multi-turn Setting (Fn013) • When you change the setting for user parameter Pn205 (absolute encoder multi-turn limit setting), and turn OFF the power supply to the Servo Driver and then back ON again, an A.CC (multi-turn limit nonconformity) alarm occurs.

  • Page 414: Clearing Option Unit Detection Results

    Operation Chapter 4 4-11-12 Clearing Option Unit Detection Results H Option Unit Detection Results Clear (Fn014) • If an Option Unit is removed and then the power supply is turned ON, an A.E7 alarm (option detection error) will occur. This is because the Servo Driver has determined that an error exists because the Option Unit cannot be detected.

  • Page 415: Chapter 5. Troubleshooting

    Chapter 5 Troubleshooting Measures when Trouble Occurs Alarms Troubleshooting Overload Characteristics (Electron Thermal Characteristics) Periodic Maintenance Replacing the Absolute Encoder Battery (ABS)

  • Page 416: Measures When Trouble Occurs

    Troubleshooting Chapter 5 Measures when Trouble Occurs 5-1-1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of trouble when it occurs. H Check the Power Supply Voltage • Check the voltage to the power supply input terminals. Main-circuit Power Supply Input Terminals (L1, L2, (L3)) R88D-WTjH (30 to 400 W): Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz...

  • Page 417: Precautions

    Troubleshooting Chapter 5 Computer Monitor Software S Install and use the OMNUC W-series Servo Driver Computer Monitor Software (for Windows 95). The following three items are required: An IBM PC/AT or compatible with Windows 95, the Com- puter Monitor Software, and Connecting Cable (R88A-CCW002Pj). S Refer to the Computer Monitor Software for operation details.
  • Page 418 Troubleshooting Chapter 5 S Also, if you have changed the setting in Pn205 (absolute encoder multi-turn limit setting), an A.CC (rotation speed mismatch) alarm will occur, so change the rotation limit setting (Fn013) using sys- tem check mode. H Replacing the Servo Driver 1.

  • Page 419: Alarms

    Note 2. If an Option Unit is installed, an Option Unit error code may be output. For details, also refer to the operation manual for the Option Unit. When a Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number: FNY-NS115) is mounted to the Servo Driver, there are other Option Board alarms and warn- ings in addition to those listed below.
  • Page 420 Troubleshooting Chapter 5 Display Display Alarm code Error detection Error detection Cause of error Cause of error function function ALO1 ALO2 ALO3 Main-circuit power The setting of Pn001.2 (AC/DC input selec- supply setting error tion) and the AC/DC wiring method of the (See note 3.) main circuit power supply are not the same.
  • Page 421 Troubleshooting Chapter 5 Display Display Alarm code Error detection Error detection Cause of error Cause of error function function ALO1 ALO2 ALO3 Motor-load deviation The error for a fully-closed or semi-closed over (See note 3.) encoder is greater than or equal to the number of command units set in Pn51A.
  • Page 422 Troubleshooting Chapter 5 Note 4. This warning is supported for Servo Drivers with a software version of “r.0014” or later. Note 5. This warning is supported for Servo Drivers with a software version of “r.0037” or later.

  • Page 423: Troubleshooting

    Troubleshooting Chapter 5 Troubleshooting If an error occurs in the machinery, check the type of error using the alarm indicators and operation status, verify the cause, and take appropriate countermeasures. 5-3-1 Error Diagnosis Using Alarm Display Note 1. If an Option Unit is installed, an Option Unit error code may be output. For details, also refer to the operation manual for the Option Unit.
  • Page 424 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Overcurrent Occurs when power Control panel error Replace the Servo Driver. supply is turned ON. Main circuit transis- tor module error Occurs when servo Current feedback Replace the Servo Driver. is turned ON.
  • Page 425 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Main-circuit power Occurs when the The setting of Correct the setting of supply setting error* main circuit power Pn001.2 (AC/DC in- Pn001.2. supply is turned ON. put selection) and Correct the wiring.
  • Page 426 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Overspeed Occurs when the Encoder signal be- Rewire correctly. servo is ON. tween controllers is wired incorrectly. Servomotor power Rewire correctly. line is wired incor- rectly. Occurs along with Position and speed Input command values high-speed rotation...
  • Page 427 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Inrush resistance Occurs when the Inrush current when Reduce the frequency by overload main circuit power the main circuit pow- which the main circuit supply is turned ON. er supply is turned power supply is turned ON exceeds inrush...
  • Page 428 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Encoder overheat- Occurs when the Encoder is defec- Replace the Servomotor ing (ABS) control circuit power tive. supply is turned ON. Occurs during op- Ambient Servomotor Lower the ambient tem- eration.
  • Page 429 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Multi-turn limit mis- Occurs when the Pn205 (absolute en- Perform absolute encod- match (ABS) control circuit power coder rotation limit er rotation limit setting supply is turned ON. pp y setting) changed.
  • Page 430 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Option detection er- Occurs when the Option Unit has Mount the Option Unit ror* control circuit power been removed. properly. supply is turned ON. Initialize the user param- eters by executing Fn005, and clear the Op- tion Unit detection results...
  • Page 431 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Motor conduction er- Occurs when servo Servomotor power Correct the wiring. ror** is ON. line is not con- nected. Servomotor power Check the Servomotor line is wired incor- power line and correct rectly or the connec- the wiring.

  • Page 432: Troubleshooting By Means Of Operating Status

    Troubleshooting Chapter 5 5-3-2 Troubleshooting by Means of Operating Status Symptom Probable cause Items to check Countermeasures Control mode The power sup- Power supply lines are in- Check the power supply Correct the power supply. All modes ply indicator correctly wired. voltage.
  • Page 433 Troubleshooting Chapter 5 Symptom Probable cause Items to check Countermeasures Control mode Servomotor op- The Servomotor power lines Check the Servomotor pow- Correct the wiring. All modes eration is unsta- or encoder lines are wired er line U, V, and W phases, ble.

  • Page 434: Overload Characteristics (Electron Thermal Characteristics)

    Troubleshooting Chapter 5 Overload Characteristics (Electron Thermal Characteristics) An overload protection (electron thermal) function is built into the Servo Driver to protect against Servo Driver or Servomotor overload. If an overload (A.71 to A.72) does occur, first clear the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again.

  • Page 435: Periodic Maintenance

    Troubleshooting Chapter 5 Periodic Maintenance Maintenance and Inspection Precautions WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock. Caution Resume operation only after transferring to the new Unit the contents of the data required for operation.
  • Page 436 • If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under condi- tions worse than those described above, a periodic inspection schedule of five years is recom- mended. Please consult with OMRON to determine whether or not components need to be replaced. 5-22...

  • Page 437: Replacing The Absolute Encoder Battery (Abs)

    Troubleshooting Chapter 5 Replacing the Absolute Encoder Battery (ABS) Replace the absolute encoder backup battery if it has been used for at least five years, or if an A.93 (battery warning) warning or an A.83 (battery error) alarm occurs. H Battery Model and Specifications Item Specification Name...

  • Page 438: Chapter 6. Appendix

    Chapter 6 Appendix Connection Examples Encoder Dividing Rate for Servo Controllers Single-phase Power for 3,000-r/min (750-W) Servomotors Parameter Setting Tables Alarms and Warnings when a JUSP-NS115 MECHATROLINK-II Option Unit is Mounted...

  • Page 439: Connection Examples

    Appendix Chapter 6 Connection Examples H Connection Example 1: Connecting to SYSMAC CJ1W-NC113/213/413 Position Control Units Main circuit power supply Main circuit contact Surge killer 3-phase 200/230 V AC 50/60Hz Class-3 ground CJ1W-NC113/213/413 R88D-WTj Contents 24-V DC input (for output) 24 V DC 0-V input (for output) CCW (with a resistor)
  • Page 440 Appendix Chapter 6 H Connection Example 2: Connecting to SYSMAC CJ1W-NC133/233/433 Position Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60Hz Surge killer Class-3 ground CJ1W-NC133/233/433 R88D-WTj Contents 5 V DC 5-V DC power supply (for pulse output) 5-V GND (for pulse output) 24-V DC input (for output) 24 V DC...
  • Page 441 Appendix Chapter 6 H Connection Example 3: Connecting to SYSMAC CS1W-NC113/213/413 or C200HW-NC113/213/413 Position Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60Hz Surge killer CS1W-NC113/213/413 C200H-NC113/213/413 R88D-WTj Class-3 ground Contents 24-V DC input (for output) 24 V DC 0-V input (for output) CCW (with a resistor)
  • Page 442 Appendix Chapter 6 H Connection Example 4: Connecting to SYSMAC CS1W-NC133/233/433 Position Control Units Main circuit power supply Main circuit contact Surge killer 3-phase 200/230 V AC 50/60Hz Class-3 ground R88D-WTj CS1W-NC133/233/433 Contents 5 V DC 5-V DC power supply (for pulse output) 5-V GND (for pulse output) 24-V DC input (for output) 24 V DC...
  • Page 443 Appendix Chapter 6 H Connection Example 5: Connecting to 3F88M-DRT141 DeviceNet Single-axis Positioner Main circuit power supply Main circuit contact Surge killer 3-phase 200/230 V AC 50/60Hz Class-3 ground R88D-WTj 3F88M-DRT141 Contents 24 V DC +24-V power supply (power supply for Unit) VDD ground (power supply for Unit) CCW pulse (+) CCW pulse (–)
  • Page 444 Appendix Chapter 6 H Connection Example 6: Connecting to SYSMAC C200H-NC112 Position Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60Hz Surge killer C200H-NC112 Class-3 ground R88D-WTj Contents 24-V DC input (for output) 24 V DC 5-V DC input (for output) CCW (with a resistor) CCW (without a resistor)
  • Page 445 Appendix Chapter 6 H Connection Example 7: Connecting to SYSMAC C200H-NC211/C500-NC113/211 Position Control Units Main circuit power supply Main circuit contact 200/230 V AC 50/60Hz Surge killer C200H-NC211 Class-3 ground R88D-WTj C500-NC113/211 Contents 24-V DC input (for output) 24 V DC 0-V DC power (for output) CW (with a resistor) DC reactor...
  • Page 446 Appendix Chapter 6 H Connection Example 8: Connecting to SYSMAC C500-NC222-E Position Control Units Main circuit power supply Main circuit contact Surge killer 200/230 V AC 50/60Hz C500-NC222-E Class-3 ground R88D-WTj MD Connector Name Signal X axis + A-phase input X axis –...
  • Page 447 Appendix Chapter 6 H Connection Example 9: Connecting to SYSMAC Motion Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60 Hz Surge killer CS1W-MC221/421(-V1) CV500-MC221/421 C200H-MC221 R88D-WTj Class-3 ground DRV connector Name 24 V DC 24 V input 24 V input ground X-axis alarm input...
  • Page 448 Appendix Chapter 6 H Connection Example 10: Connecting to a SYSMAC CS1W-HCP22-V1 Customizable Counter Unit Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60 Hz Surge killer Class-3 ground CS1W-HCP22-V1 R88D-WTj Special I/O connector Name 24-VDC power supply (for output) Common CCW (1.6 kΩ) Pulse...
  • Page 449 Appendix Chapter 6 H Connection Example 11: Connecting to a SYSMAC CS1W-HCA12/22-V1 Customizable Counter Unit Main circuit power supply Main circuit contact Surge killer 3-phase 200/230 V AC 50/60 Hz CS1W-HCA12/22-V1 R88D-WTj Class-3 ground Special I/O connector Name Phase-A LD+ Phase-A LD–...

  • Page 450: Encoder Dividing Rate For Servo Controllers

    Appendix Chapter 6 Encoder Dividing Rate for Servo Controllers Encoder output pulses for OMNUC W-Series AC Servo Drivers can be set within a range of 16 to 16,384 pulses/revolution by setting the encoder dividing rate. Depending on the Controller’s encoder input maximum response frequency limits, however, the maximum numbers of revolutions are limited as shown in the following tables.

  • Page 451: Single-Phase Power For 3,000-R/Min (750-W) Servomotors

    Appendix Chapter 6 Single-phase Power for 3,000-r/min (750-W) Servomotors When using 3000-r/min (750-W) Servomotors, normally three-phase, 200-VAC power is required, but these Servomotors can also be operated using single-phase power if the following conditions are met. This section describes wiring methods and precautions when using the 3000-r/min (750-W) Servomotors with a single-phase power supply H Applicable Servomotors •...

  • Page 452: Parameter Setting Tables

    Appendix Chapter 6 Parameter Setting Tables Note 1. Parameters marked with one asterisk are for the DeviceNet Option Unit. Do not change the settings of these parameters unless a DeviceNet Option Unit is mounted. Note 2. Parameters marked with two asterisks are supported for Servo Drivers with a software ver- sion of “r.0037.”...
  • Page 453 Appendix Chapter 6 Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? name Pn001 Function Select Servomotor stopped by dynamic 1002 selec- stop if brake. tion ap- tion ap- Servomotor stopped by dynamic plication alarm brake, and then dynamic brake...
  • Page 454 Appendix Chapter 6 Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? name Pn003 Function Analog Servomotor rotation speed: 0002 selec- monitor 1 V/1000 r/min tion ap- 1 (AM) 1 (AM) Speed command: 1 V/1000 r/min plication plication alloca-...
  • Page 455 Appendix Chapter 6 Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Param- Param- Parameter Parameter setting setting range range power? power? eter eter name name Name Explanation (See note 2.) Digit Set- ting Pn108 Bias Sets the position control bias operation start using deviation Command 0 to 250 addition...
  • Page 456 Appendix Chapter 6 Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Param- Param- Parameter Parameter setting setting range range power? power? eter eter name name Name Explanation (See note 2.) Digit Set- ting Pn110 Online Selects 0012 Auto-tunes initial operations only auto-tun-...
  • Page 457 Appendix Chapter 6 H Position Control Parameters (From Pn200) Explanation (See note 1.) Default Unit Setting Restart Param- Parameter setting range power? eter name Name Explanation (See note 2.) Digit Set- ting Pn200 Position Command Feed pulse forward/reverse 1011 control pulse mode signal: Positive logic setting 1...
  • Page 458 Appendix Chapter 6 Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Param- Param- Parameter Parameter setting setting range range power? power? eter eter name name Name Explanation (See note 2.) Digit Set- ting Pn204 Position Sets soft start for command pulse. (Soft start characteristics x 0.01 ms 0 to 6400 command...
  • Page 459 Appendix Chapter 6 H Speed Control Parameters (From Pn300) Parameter Parameter Explanation Default Unit Setting Restart name setting range power? Pn300 Speed Sets the REF (speed command input) voltage for 1000 0.01 V/No. 150 to 3000 command operating at the rated rotation speed. of rated scale rotations...
  • Page 460 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation (See note 2.) Digit ting Pn408 Torque Selects 0000...
  • Page 461 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation (See note 2.) Digit ting Pn50A Input signal Input signal 8100...
  • Page 462 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation (See note 2.) Digit ting Pn50C Input signal 8888 RDIR signal...
  • Page 463 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation (See note 2.) Digit ting Pn50F Output 0000 CLIMT...
  • Page 464 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Unit Unit Setting Setting Restart Restart Parame- Parame- name name setting setting range range power? power? ter No. ter No. Name Set- Explanation (See note 2.) Digit ting Pn51C Not used.

  • Page 465: Alarms And Warnings When A Jusp-Ns115 Mechatrolink-Ii Option Unit Is Mounted

    Alarms and Warnings when a JUSP-NS115 MECHATROLINK-II Option Unit is Mounted When a Yaskawa JUSP-NS115 MECHATROLINK-II Option Unit (OMRON model number: FNY- NS115) is mounted to the Servo Driver, the following Option Board alarms and warnings are added to those listed in 5-2 Alarms.
  • Page 466 Appendix Chapter 6 Display Display Alarm code Error detected Error detected Cause of error and countermeasures Cause of error and countermeasures AL01 AL02 AL03 A.E2 Option WDC error Communications with the host controller were interrupted. • Turn the power OFF and back ON again for both the host controller and the Servo Driv- er.
  • Page 467 Appendix Chapter 6 H Warnings Alarm code Display Error detection func- Cause of error and countermeasures tion AL01 AL02 AL03 A.94 Data setting warning A value was set out of range using MECHATROLINK-II communications. • Check whether a data address or the data specified by the host controller (with the host Support Software) was set out of range.
  • Page 468 Index Numbers bias addition band (Pn108), 4-51 bias function, 4-109 90_ phase difference pulse, 2-78 bias rotational speed (Pn107), 4-51 bit display, 4-121 BKIR, 2-89 BKIR signal output terminal allocation (Pn50F.2), 4-42 A/B, 2-78 brake command speed (Pn507), 4-70 A/B/Z, 2-86 brake interlock, 4-88 ABS, 2-86 brake interlock output, 2-89...
  • Page 469 Index control mode switch, 2-83 control mode switching input terminal allocation (Pn50C.3), 4-40 feed pulse, 2-78 feed-forward amount (Pn109), 4-52 control output circuits, 2-76 feed-forward command filter (Pn10A), 4-52 details, 2-86 feed-forward function, 4-110 sequence, 2-86 Fnjjj (System Check Mode), 4-130 countermeasures, 5-2 forward drive prohibit, 2-82, 4-85 current limit detection output, 2-88...
  • Page 470 Index jog speed (Pn304), 4-64 operational procedure, 4-3 Option Unit detection results clear (Fn014), 4-154 leakage breakers, 3-26, 3-36 output signal reverse (Pn512), 4-43 overload characteristics, 5-20 overtravel stop selection (Pn001.1), 4-34 manual tuning, 4-104 MING, 2-81 MING signal input terminal allocation (Pn50A.2), 4-39 P control switching, 4-118 mode changes and display contents, 4-10 acceleration command (Pn10E), 4-54...
  • Page 471 Index positioning completed output 2 terminal allocation (Pn510.0), 4-42 positioning completion range 2, 4-69 SEN, 2-81 POT, 2-82 sensor ON input, 2-81 POT signal input terminal allocation (Pn50A.3), 4-39 Servo Drivers combining with Servomotors, 2-22 power cable, 2-134 dimensions, 2-24 installation conditions, 3-3 power supply indicator, 4-121 performance specifications, 2-63...
  • Page 472 Index Servomotors, 2-93 System Check Mode, 4-130 Servomotors with gears, 2-114 system configuration, 1-7 terminal block, 2-67 speed and torque command offset manual adjustment (Fn009), 4-138 speed command filter time constant (Pn307), 4-64 terminal block speed command input, 2-77 specifications, 2-67 speed command input switching for position control (Pn207.1), wiring, 3-17 4-61...

  • Page 473: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I531-E1-09 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 474 Revision History Revision Date Revised content code March 2003 Page 1-2, 1-7, 1-8: Features and standards of new W-series models added. Page 2-3: Information added after table. Page 2-6: Information added after table. Page 2-13: Information added for 1,500-r/min Servomotors. Page 2-64, 2-65: New functions added for software version “r.0037.”...
  • Page 475 Revision History Revision Date Revised content code May 2005 The abbreviation for Programmable Controller changed from PC to PLC throughout the manual. General Warnings: Last caution changed. Precautions: ”regenerative resistors” changed to ”regeneration resistors.” Page 1-5: Note at bottom of page altered. Page 1-6: Additions to graphic and text at bottom of page altered.
  • Page 476 Revision History Revision Date Revised content code December 2005 “CS1” was globally changed to “CS” for the PLC Series designation and “Series” added. “(–V1)” was added for the CS1W–MC221/421. Inside Front Cover: Precautions added. “Notice” Page: Sentence added to signal word definitions. Pages 2–46 and 2–47: Output section dimensions added.

This manual is also suitable for:

R88d-wtOmnuc w series

Table of Contents