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Omron OMNUC U Series User Manual
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Omron OMNUC U Series User Manual

Ac servomotors/drivers 100 to 750 w pulse-train inputs
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  • Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
  • Page 2 Cat. No. I522-E1-3 USER’S MANUAL OMNUC U -SERIES UE Models MODELS R88M-UE (AC Servomotors) MODELS R88D-UEP (AC Servo Drivers) AC SERVOMOTORS/DRIVERS (100 to 750 W Pulse-train Inputs) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 3 7. Do not set any parameter not described in this manual, otherwise the Servomotor or Servo Driver may malfunction. Contact your OMRON representatives if you have any inquiry. NOTICE...
  • 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, of- ten 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 Do not touch the internal circuitry of the Servo Driver. Doing so may result in an electric shock.
  • Page 6 Storage and Transportation Precautions Caution Do not carry the Servomotor by the cable or shaft of the Servomotor. Doing so may result in an injury or Servomotor malfunction. Caution Do not pile up the products excessively. Doing so may result in an injury or product malfunction.
  • Page 7 Caution Install safety measures, such as circuit breakers, to protect against shorts in external wiring. Insufficient safety measures may result in fires. Caution Install a safety stop on each machine. Not doing so may result in an injury. A brake is not considered a safety stop.
  • Page 8 Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning labels Warning Labels for Non-conforming Models Warning label 2 Warning label 1 Warning Labels for Models Conforming to EC Directives Warning label 2 Warning label 1 Artisan Technology Group - Quality Instrumentation ...
  • Page 9 VISUAL INDEX For users who wish to operate soon. The following portions of this manual provide the minimum information required for operation. Be sure you fully understand at least the information in these portions before attempting opera- tion. Chapter 2 System Design and Installation, and sections 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6 of Chap- ter 3 Operation.
  • Page 10 OMNUC U Series OMNUC U-series UE Model AC Servo Driver Cable Specifications Chapter 5: 5-3 Encoder Power signals signals Driver Specifications Chapter 5: 5-1 Terminal Block Wiring Chapter 2: 2-2-3 Motor Specifications Chapter 5: 5-2 OMNUC U-series UE Model AC Servomotor...
  • Page 11 2-2-1 Connecting OMRON Servo Controllers ........
  • Page 12 Table of Contents Chapter 4. Application ........4-1 Using Displays .
  • Page 13 Chapter 1 Introduction Features System Configuration Servo Driver Nomenclature EC Directives and Applicable Models Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 14 Chapter 1 Introduction Features OMNUC AC Servo Drivers control the power supplied to AC Servomotors with pulse-train input signals and perform precision position control. There are 5 types of AC Servomotors: 100-W, 200-W, 300-W, 400-W, and 750-W. Motor Output Capacity AC Servomotors with the following output capacities are available.
  • Page 15 Chapter 1 Introduction Electronic Gear Function The number of pulses used to rotate the motor is calculated by multiplying the number of command pulses by the electronic gear ratio. This function is useful in the following kinds of cases. j When you want to finely adjust the position and speed of two lines that need to be synchronized j When you want to increase the control pulse frequency of a controller with a low pulse frequency j When you want to set the movement/pulse to a certain amount, such as 0.01 mm/pulse The electronic gear ratio is set with parameters G1 and G2 (G1=numerator and G2=denominator).
  • Page 16 Chapter 1 Introduction System Configuration SYSMAC C200HX/HG/HE Programmable Controller Parameter Units C200H-NC112 C200H-NC211 C200HW-NC113/213/413 Position Control Unit OMNUC U-series UE Models AC Servo Driver SYSMAC C/CV-series Programmable Controller 3G2A5-NC111-EV1 C500-NC113/211 OMNUC U-series AC Servomotor Position Control Unit Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 17 Chapter 1 Introduction Servo Driver Nomenclature Front View CN4: Not used Power supply indicator Alarm indicator CN3: Parameter Unit connector CN1: Control I/O connector Terminal block CN2: Encoder connector Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 18 Chapter 1 Introduction EC Directives and Applicable Models EC Directives EC Directive Product Directive Remarks Low voltage AC Servo Driver EN61010-1 Safety requirements for electrical equipment for measurement, control, and laboratory use. AC Servomotor IEC34-1, -5, -8, -9 Rotating electrical machines. AC Servo Driver EN55011 class A group 1 Limits and methods of measurement...
  • Page 19 Chapter 2 System Design and Installation Installation Wiring Non-conforming Products Wiring Products Conforming to EC Directives Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 20 Chapter 2 System Design and Installation Installation and Wiring Precautions Caution Do not stand on the product or put heavy objects on the product. Doing so may result in an injury. Caution Make sure that the product is well ventilated and the interior of the product is free of foreign matter.
  • Page 21 Chapter 2 System Design and Installation Installation 2-1-1 External Dimensions (Unit: mm) j AC Servo Drivers, Non-conforming Models R88D-UEP04H/UEP08H (200 VAC, 100, 200 W) R88D-UEP10L (100 VAC, 100 W) Installation dimensions Three, M4 Two, 6 dia. (165) R88D-UEP12H (200 VAC, 400 W) and R88D-UEP12L (100 VAC, 200 W) Installation dimensions Two, 6 dia.
  • Page 22 Chapter 2 System Design and Installation R88D-UEP20H (200 VAC, 750 W) and R88D-UEP15L (100 VAC, 300 W) Two, 6 dia. Two, R3 (165) Installation Four, M4 dimensions Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 23 Chapter 2 System Design and Installation j AC Servo Drivers Conforming to EC Directives R88D-UEP04V/UEP08V (200 VAC, 100, 200 W) R88D-UEP10W (100 VAC, 100 W) Installation dimensions Two, 6 dia. Three, M4 R88D-UEP12V (200 VAC, 400 W) R88D-UEP12W (100 VAC, 200 W) Installation dimensions Two, 6 dia.
  • Page 24 Chapter 2 System Design and Installation R88D-UEP20V (200 VAC, 750 W) R88D-UEP15W (100 VAC, 300 W) Two, 6 dia. Two, R3 Installation dimensions Four, M4 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 25 Chapter 2 System Design and Installation j Regeneration Unit R88A-RG08UA (15) Dia.: 6 Installation dimensions Two, M4 160 130 149 (18.5) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 26 Chapter 2 System Design and Installation j Parameter Units R88A-PR02U 18.5 Two, 4.5 dia. 1000 R88A-PR03U 57.5 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 27 Chapter 2 System Design and Installation j AC Servomotors, Non-conforming Models 100-W Standard Models:1 R88M-UE10030H-S1 R88M-UE10030L-S1 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301-1976. Four, R3.7 Two, 4.3 dia. 46 dia. 100-W Models with Brake: R88M-UE10030H-BS1 R88M-UE10030L-BS1 Encoder adapter...
  • Page 28 Chapter 2 System Design and Installation 200-W/300-W/400-W Standard Models: R88M-UE20030H-S1, R88M-UE40030H-S1, R88M-UE20030L-S1, R88M-UE30030L-S1 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301-1976. Four, 5.5 dia. Four, R5.3 70 dia. 200-W/300-W/400-W Models with Brake: R88M-UE20030H-BS1, R88M-UE40030H-BS1, R88M-UE20030L-BS1, R88M-UE30030L-BS1 Encoder adapter...
  • Page 29 Chapter 2 System Design and Installation 750-W Standard Models: R88M-UE75030H-S1 Encoder adapter Motor plug Shaft Edge Dimension The key groove is in accordance with JIS B1301-1976. Four, R8.2 Four, 7 dia. 750-W Models with Brake: R88M-UE75030H-BS1 Encoder adapter Shaft Edge Dimension Motor plug The key groove is in accordance with JIS B1301-1976.
  • Page 30 Chapter 2 System Design and Installation j AC Servomotors Conforming to EC Directives 100-W Standard Models: R88M-UE10030V-S1, R88M-UE10030W-S1 Shaft Edge Dimension The key groove is in accordance with JIS B1301-1976. 14 dia. Two, Four, R3.7 8h6 dia. 4.3 dia. 46 dia. 100-W Models with Brake: R88M-UE10030V-BS1, R88M-UE10030W-BS1 Shaft Edge Dimension The key groove is in accordance with...
  • Page 31 Chapter 2 System Design and Installation 200-W/300-W/400-W Standard Models: R88M-UE20030V-S1, R88M-UE40030V-S1 R88M-UE20030W-S1, R88M-UE30030W-S1 Shaft Edge Dimension The key groove is in accordance with 14 dia. JIS B1301-1976. Four, Four, R5.3 5.5 dia. 14h6 dia. 70 dia. 200-W/300-W/400-W Models with Brake: R88M-UE20030V-BS1, R88M-UE40030V-BS1, R88M-UE20030W-BS1, R88M-UE30030W-BS1 Shaft Edge Dimension The key groove is in accordance with...
  • Page 32 Chapter 2 System Design and Installation 750-W Standard Models: R88M-UE75030V-S1 Shaft Edge Dimension The key groove is in accordance with JIS B1301-1976. 16h6 dia. 14 dia. Four, 7 dia. Four, R8.2 90 dia. 750-W Models with Brake: R88M-UE75030V-BS1 Shaft Edge Dimension The key groove is in accordance with JIS B1301-1976.
  • Page 33 Chapter 2 System Design and Installation 2-1-2 Installation Conditions j AC Servo Drivers 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 34 Chapter 2 System Design and Installation Keeping Foreign Objects Out of Units Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Units during installation. Be sure to remove the cover after installa- tion is complete.
  • Page 35 Chapter 2 System Design and Installation Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci- sion, the gear precision, and temperature changes. Bevel gear Provide appropriate backlash or take other mea- sures to ensure that no thrust load is applied which exceeds specifications.

  • Page 36: Table Of Contents

    Wiring Non-conforming Products 2-2-1 Connecting OMRON Servo Controllers Use general-purpose control cables (purchased separately) to connect U-series UE model AC Servomotors and Servo Drivers to OMRON Servo Controllers. j Connecting SYSMAC C-series Position Control Units Position Control Units for SYSMAC...

  • Page 37: Encoder Cable R88A-Cruc

    Chapter 2 System Design and Installation j Connecting SYSMAC C-series Position Control Units Using Relay Units Position Control Unit for C200H Programmable Controllers Position Control Unit for C200H C200H-NC211 (2 axes) Programmable Controllers Position Control Unit for C500 C200H-NC112 (1 axis) Programmable Controllers C500-NC113 (1 axis) C500-NC211 (2 axes)
  • Page 38 Chapter 2 System Design and Installation j Connecting SYSMAC C200HX/HG/HE Position Control Units Using Relay Units Position Control Unit for Position Control Unit for C200HX/HG/HE C200HX/HG/HE Programmable Programmable Controllers Controllers C200HW-NC113 (1 axis) C200HW-NC213 (2 axis) C200HW-NC413 (4 axis) Connector Cable for Position Connector Cable for Control Unit Position Control Unit...
  • Page 39 Chapter 2 System Design and Installation 2-2-2 Connector–Terminal Conversion Unit The AC Servo Driver can be easily connected to the Connector–Terminal Conversion Unit through a special cable without soldering. Controller XW2B-40F5-P Connector–Terminal Conversion Unit R88A-CTU Connector Cable for Connector–Terminal Conversion Unit OMNUC U-series UE Model AC Servo Driver...
  • Page 40 Chapter 2 System Design and Installation 2-2-3 Wiring Servo Drivers Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks. j Wiring Terminal Blocks Power supply input terminals Main-circuit DC output terminals To Motor White Blue Green Power Cable R88A-CAU R88A-CAU...
  • Page 41 AWG 20 AWG 20 (see note) to AWG 18 terminal wire size Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18. Ground terminal Use 2.0-mm external ground wires. Use the same wire as used for the motor output.
  • Page 42 Chapter 2 System Design and Installation 2-2-4 Wiring for Noise Resistance j Wiring Method Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below. Servo Driver Servomotor R88D- R88M-...
  • Page 43 Chapter 2 System Design and Installation Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Driver Driver Binding Separate power supply cables and signal cables when wiring. j Selecting Components This section describes the standards used to select components required to increase noise resistance. Select these components based on their capacities, performances, and applicable ranges.
  • Page 44 Chapter 2 System Design and Installation Note 1. The (W) Matsushita models are UL and CSA certified. Note 2. Refer to manufacturers documentation for operating details. 3. The surge immunity is for a standard impulse current of 8/20 µs. If pulses are wide, either decrease the Note current or change to a larger-capacity surge absorber.
  • Page 45 The Servo Driver inrush current is 50 A, and the momentary maximum current is approxi- mately twice the rated current. The following table shows the recommended contactors. Maker Model Rated current Momentary maxi- Coil voltage mum current OMRON G6C-2BND 10 A 24 VDC LY2-D 10 A 24 VDC G7L-2A-BUBJ...
  • Page 46 Chapter 2 System Design and Installation Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change depending on the length of power cables and the insulation. Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will change depending on the temperature and humidity.

  • Page 47: General-Purpose Control Cable

    Chapter 2 System Design and Installation 2-2-5 Peripheral Device Connection Examples j Connecting to Peripheral Devices Single-phase, 200/230 VAC, 50/60 Hz (R88D-UEP Single-phase, 100/115 VAC, 50/60 Hz (R88D-UEP MCCB Noise filter Main-circuit Main-circuit connector power supply Class-3 ground (to 100 Ω or less) Surge killer Servo error display R88D-CAU...
  • Page 48 Chapter 2 System Design and Installation j Connecting a Regeneration Unit Single-phase 200/230 VAC 50/60 Hz: 88D-UEP Single-phase 100/115 VAC 50/60 Hz: 88D-UEP OMNUC U-series AC Servo Driver (UE model) 12 to 24 VDC External Regenerative Resistor Short bar Regeneration Unit R88A-RG08UA Note 1.

  • Page 49: R88A-Cpus

    Wiring Products Conforming to EC Directives 2-3-1 Connecting Servo Controllers Use general-purpose control cables (purchased separately) to connect U-series UE Model AC Servomotors and Servo Drivers to OMRON Servo Controllers. j Connecting to a Servo Controller Servo Controller General-purpose Control Cable...
  • Page 50 Chapter 2 System Design and Installation 2-3-2 Wiring Servo Drivers Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks. j Wiring Terminal Blocks Power supply input terminals Main-circuit DC output terminals To Motor White Blue Power Cable R88A-CAU001 R88A-CAU01B (with brake) Green...
  • Page 51 Motor output terminal wire size 0.5 mm or AWG AWG 20 (see note) to AWG 18 Use OMRON standard cable. The applicable wire size for motor connectors is AWG22 to AWG18. Protective earth terminal wire size Use 2.0-mm external ground wires. Use the same wire as used for the motor output.
  • Page 52 Chapter 2 System Design and Installation the connected devices, wiring, and other conditions cannot be made to fulfill the installation and wiring conditions when the product is incorporated into a machine, the compliance of the overall machine must be confirmed. The following conditions must be met to conform to EMC Directives.
  • Page 53 Chapter 2 System Design and Installation Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control panel whenever possible. Good: Separate input and output NO: Noise not filtered effectively AC input AC output AC input...
  • Page 54 Chapter 2 System Design and Installation Be sure that no gaps are created when installing the cover, as can be cause by distortion when tighten- ing screws. Case Case Cover Conductive Oil-proof Control panel packing packing Oil-proof packing Conductive packing Case (inside) j Selecting Components No-fuse Breakers (MCCB)
  • Page 55 Chapter 2 System Design and Installation Maker Model Max. limit Surge Type Remarks voltage immunity Okaya Block R A V-781BYZ-2 783 V 1,000 A For power supply line Electric Ind. i I d R A V-781BXZ-4 783 V 1,000 A For power supply line ground Note...
  • Page 56 The following table shows the recommended contactors. Maker Model Rated current Momentary maxi- Coil voltage mum current OMRON J7AN-E3 15 A 120 A 24 VDC Leakage Breakers Select leakage breakers designed for inverters. Since switching operations take place inside the Servo Driver, high-frequency current leaks from the armature of the Servomotor.
  • Page 57 Chapter 2 System Design and Installation Note 1. Leakage current values shown above are for motor power lines of 10 m or less. The values will change depending on the length of power cables and the insulation. Note 2. Leakage current values shown above are for normal temperatures and humidity. The values will change depending on the temperature and humidity.
  • Page 58 Chapter 2 System Design and Installation 2-3-4 Peripheral Device Connection Examples j Connecting to Peripheral Devices Single-phase, 200/230 VAC, 50/60 Hz (R88D-UEP Single-phase, 100/115 VAC, 50/60 Hz (R88D-UEP MCCB Noise filter Main-circuit Main-circuit connector power supply Class-3 ground Surge killer Servo error display R88A-CAU001 (-CAU01B)
  • Page 59 Chapter 3 Operation 3-1 Operational Procedure 3-2 Turning On Power and Checking Displays 3-3 Using Parameter Units 3-4 Initial Settings: Setup Parameters 3-5 Setting Functions: User Parameters 3-6 Trial Operation 3-7 Making Adjustments 3-8 Regenerative Energy Absorption Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 60 Chapter 3 Operation Operation and Adjustment Precautions Caution Confirm the settings of all parameters to be sure they are correct before starting ac- tual operation. Incorrect parameters may damage the product. Caution Do not make extreme changes in the settings of the product. Doing so may result in unstable operation of the product and injury.
  • Page 61 Chapter 3 Operation Operational Procedure 3-1-1 Beginning Operation Before beginning operation, be sure to make the initial settings for the Servo Driver. Make function settings as required according to the use of the Servomotor. Any incorrect settings in the parameters could cause unexpected motor operation, creating an extremely dangerous situation.
  • Page 62 Chapter 3 Operation Turning On Power and Checking Displays 3-2-1 Items to Check Before Turning On Power j Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below. R88D-UEP H (200 VAC specifications): Single-phase 200/230 VAC (170 to 253 V) 50/60 Hz R88D-UEP L (100 VAC specifications):...
  • Page 63 Chapter 3 Operation j Checking Displays When the power is turned on, one of the codes shown below will be displayed. Normal (Base block) Error (Alarm Display) Note 1. “Base block” means that the Servomotor is not receiving power. Note 2.
  • Page 64 Chapter 3 Operation Using Parameter Units The key operations for the Hand-held R88A-PR02U Parameter Unit and the Mounted R88A-PR03U Parameter Unit vary depending on the functions used. 3-3-1 Parameter Unit Keys and Functions Hand-held Mounted PR02U PR03U Function Parameter Unit Parameter Unit Alarm reset R88A-PR02U...
  • Page 65 Chapter 3 Operation j Changing Modes To change modes, press the MODE/SET Key. Status display Alarm history Power ON Settings mode Monitor mode mode display mode a.0 2 (Display example) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 66 Chapter 3 Operation 3-3-3 Mode Changes and Display Contents Power ON Bit Displays (page 4-4) Power ON Base block (motor not receiving power) Status display Positioning completion mode Command pulse input (Display example) Motor rotation detected Symbol Displays Base block r U n In operation (running) p % t...
  • Page 67 Chapter 3 Operation Initial Settings: Setup Parameters Setup parameters are parameters that are essential for starting up the system. They in- clude I/O signal function changes, selection of processing for momentary stops and er- rors, command pulse modes, and so on. Set them to match the user system. Once the parameters have been set, they become effective when the power supply is turned on again after having been turned off.
  • Page 68 Chapter 3 Operation 3. Repeat steps 1 and 2 above as required. 4. Save the data in memory by pressing the DATA Key. 5. With this, the parameter setting operation is complete. Pressing the DATA Key at this point will bring back the parameter number display.
  • Page 69 Chapter 3 Operation j Setup Parameter No. 2 (Cn-02) Item Factory Setting Explanation setting Reverse rotation mode CCW direction is taken as forward rotation. CCW direction is taken as reverse rotation. Not used. Not used. Command pulse mode 5, 4, 3 0, 0, 1 0, 0, 0 Feed pulse / Forward/reverse signal...
  • Page 70 Chapter 3 Operation j Overtraveling Servomotor Deceleration to Stop (Bit 08 of Cn-01) Select either one of the following methods of motor deceleration to stop at the time of overtraveling. Deceleration method Stop condition Decelerate by dynamic brake. Servo free (dynamic brake OFF) Bit 8 Overtravel occurs.
  • Page 71 Chapter 3 Operation Displaying with Mounted-type (R88A-PR03U) 1. Press the MODE/SET Key to go into settings mode (cn 2. Press the Up and Down Keys to display the desired user parameter number. The number will be incremented or decremented each time the Up or Down Key is pressed. 3.
  • Page 72 Chapter 3 Operation 3-5-2 User Parameter Chart Parameter name Factory Unit Setting Explanation setting range Cn-00 System check mode Refer to system check mode explanation. Cn-01 Setup parameter no. 1 Refer to setup parameter no. 1 explanation. Cn-02 Setup parameter no. 2 Refer to setup parameter no.
  • Page 73 Chapter 3 Operation Target pulse count = Command pulse count x G1/G2 If G1/G2 = 1, the motor will turn once for every 4,096 command pulses (driver running at a factor of 4X). One pulse for the position deviation (deviation counter) display and positioning completion range will be equivalent to one input pulse (here the unit is said to be the command).
  • Page 74 Chapter 3 Operation j Operation Timing for Run Command (RUN) (When Servomotor is Stopped) Run instruction 25 to 35 ms Approx. 6 ms Brake interlock signal BKIR Brake power supply 200 ms max. 100 ms max. Cancelled Brake operation Maintained (See note 1) Pulse train command...
  • Page 75 Chapter 3 Operation Timing for Run Command (RUN), Errors, Power Supply: Servomotor Stopped Power supply Run command Alarm output (See note 2) Brake interlock signal BKIR Power on Power to motor Power off Approx. 10 ms (See note 1) Motor rotational speed Braking by dynamic brake 100 r/min...
  • Page 76 Chapter 3 Operation Trial Operation After the wiring is complete and the parameter settings have been made, conduct a trial operation. First, check with rotation of the motor without connecting a load (i.e., without connecting the mechanical system). Then, connect the mechanical system, auto-tune the system, and confirm that the correct operation pattern is performed.
  • Page 77 Chapter 3 Operation 7. Press the DATA Key again to return to the parameter number display. (2) Jog Operations (See 3-6-2 Jog Operations .) Perform jog operations using the Parameter Unit and confirm the following: Does the motor turn in the correct direction? Is there any unusual sound or vibration? Do any error occur? If an error occurs, refer to Chapter 4 Application for troubleshooting.
  • Page 78 Chapter 3 Operation 3-6-2 Jog Operations Jog operations rotate the Servomotor in a forward or reverse direction using the Parameter Unit. Jog operations are made possible when system check mode Cn-00 is set to “00.” The items in parentheses in the following explanation indicate operations using the Handy-type Parameter Unit. DATA Indicates settings mode.
  • Page 79 Chapter 3 Operation Making Adjustments 3-7-1 Auto-tuning Auto-tuning rotates the Servomotor with a load connected (mechanical system), and au- tomatically adjusts the position loop gain, the speed loop gain, and the speed loop in- tegration time constant. When adjustments cannot be made by auto-tuning, refer to 3-7-2 Manually Adjusting Gain .
  • Page 80 Chapter 3 Operation 11. Release the key. The data display will return. 12. Press the DATA Key to return to the settings mode. j Selecting Mechanical Rigidity Select the set value to match the rigidity of the mechanical system. Response Position loop gain Representative applications value...
  • Page 81 Chapter 3 Operation 3-7-2 Manually Adjusting Gain Gain Adjustment Flowchart Caution Do not make large adjustments. Doing so will result in unstable operation and may lead to injury. Based on the Gain Adjustment Standards below, change settings a little at a time while checking motor operation. Perform auto-tuning to match the rigid- ity of the mechanical system.
  • Page 82 Chapter 3 Operation j Gain Adjustment Standards The following table shows reference values for gain adjustment. Adjustments can be made quickly if these values are used as standards. Make the initial gain setting based on the load inertia. Load inertia Speed loop gain Speed loop Position loop gain...
  • Page 83 Chapter 3 Operation j Adjusting the Speed Loop Integration Time Constant Parameter name Factory Unit Setting Explanation setting range Cn-05 Speed loop integra- 1 ms 2 to Speed loop integration constant. tion constant 10,000 As the constant is increased, the response is shortened and the resiliency toward ex- ternal force is weakened.
  • Page 84 Chapter 3 Operation j Position Loop Gain Adjust the position loop gain according to the rigidity of the machine. The responsiveness of the servo system is determined by the position loop gain. When a servo system has high position loop gain, the responsiveness is greater and positioning can be faster. In order for position loop gain to be raised, the mechanical rigidity and the characteristic frequency must be in- creased.
  • Page 85 Chapter 3 Operation the positioning completion output is not adversely affected (e.g., turn repeatedly ON and OFF) and so that the speed does not overshoot. Parameter name Factory Unit Setting Explanation setting range Cn-26 Position command 0.1 ms 0 to 640 Sets the time constant for smoothing (posi- acceleration/decel- tion command soft start function).
  • Page 86 Chapter 3 Operation Horizontal Axle Motor operation Motor output torque Note In the output torque graph, when the rotation direction and the torque direction match it is shown as positive. The regenerative energy for each section can be found by means of the following formulas: –2 = 1/2 N 1.027...
  • Page 87 Chapter 3 Operation Vertical Axle Rising Motor operation Falling Motor output torque Note In the output torque graph, when the rotation direction and the torque direction match it is shown as positive. The regenerative energy for each section can be found by means of the following formulas: –2 = 1/2 N 1.027...
  • Page 88 Chapter 3 Operation Connect an external regeneration resistor when the regeneration processing power of the Regenera- tion Unit (12 W) is exceeded. Refer to 3-8-3 Absorption of Regenerative Energy with the External Re - generation Resistor for details on external regeneration resistors. 3-8-2 Servo Driver Absorbable Regenerative Energy Regenerative Energy Absorbed Internally The Servo Driver absorbs regenerative energy by means of an internal capacitor.
  • Page 89 Chapter 3 Operation j 100-VAC Input Type Model Absorptive regen- Maximum applicable Remarks (see note *3) eration energy (J) load inertia –4 (x10 kg m R88D-UEP10L/UEP10W 13.3 Rotor inertia 30, 4,500 r/min (100 W) R88D-UEP12L/UEP12W 23.9 3.69 Rotor inertia 30, 3,000 r/min (200 W) R88D-UEP15L/UEP15W 99.5...
  • Page 90 Chapter 3 Operation j R88D-UEP08H/UEP08V (200 W) R88D-UEP12L/UEP12W (200 W) Applicable load inertia –4 ( 10 kg m –4 200W 3.69 kg m 2.15 Rotational speed (r/min) j R88D-UEP12H/UEP12V (400 W) R88D-UEP15L/UEP15W (300 W) Applicable load inertia –4 ( 10 kg m –4 300, 400W 3.8...
  • Page 91 Chapter 3 Operation j R88D-UEP20H/UEP20V (750 W) Applicable load inertia –4 ( 10 kg m –4 700W 13.4 kg m Rotational speed (r/min) 3-8-3 Absorption of Regenerative Energy with the External Regeneration Resistor Connect one or more external regeneration resistors when a Regeneration Unit (R88A- RG08UA) cannot absorb all of the regenerative energy.
  • Page 92 Chapter 3 Operation j Combining External Regeneration Resistors Regeneration absorption capacity Item 70 W 280 W Combining external regeneration resistors Note Use a combination with an absorption capacity larger than the average regenerative power (P j Dimensions (Unit: mm) Thermal switch output 1.5 dia.
  • Page 93 Chapter 3 Operation 3-8-4 Processing Regenerative Energy with Multiple Axes (Models Conforming to EC Directives) When using multiple axes, the + terminals on the Servo Drivers can be connected to- gether and the – terminals can be connected together to use regenerative energy as the drive energy for the other axes, thus absorbing the energy.
  • Page 94 Chapter 4 Application Using Displays Protective and Diagnostic Functions Troubleshooting Periodic Maintenance Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 95 Using Displays 4-1-1 Display Functions OMRON U-series AC Servomotors have unique servo software that enables quantita- tive monitoring in real time, on digital displays, of changes in a variety of characteristics. Use these displays for checking the various characteristics during operation.
  • Page 96 Chapter 4 Application j Parameter Unit Key Functions The contents displayed by the Parameter Unit can be changed by key operations. Handy-type Mounted Function Parameter Unit Parameter Unit R88A-PR02U R88A-PR03U Alarm reset RESET Mode switching; data memory Servo ON/OFF during jog operations SERVO DATA Switching between parameter display and data display;...
  • Page 97 Chapter 4 Application j Changing the Mode Use the MODE/SET Key to change from one mode to another. Status display Alarm history Power ON Settings mode Monitor mode mode display mode a.0 2 (Display example) 4-1-2 Status Display Mode The status display mode is entered when powering up or by means of the MODE/SET Key. In the status display mode, Servo Driver status is displayed in two ways: bit data and symbols.
  • Page 98 Chapter 4 Application 4-1-3 Monitor Mode (Un-) j Types of Monitoring In monitor mode, nine types of monitoring can be carried out. Monitor no. Monitor contents Unit Explanation Speed feedback r/min Displays actual rotational speed of motor. Torque command The command to the current loop is displayed as 100% of the rated torque.
  • Page 99 Chapter 4 Application j Internal Status Bit Display (Un-05, Un-06) Internal status is displayed by 7-segment bit lighting. The bit number allocation is shown in the following diagram. Monitor Bit no. Symbol Contents Un-05 Lit when alarm is generated. DBON Lit during dynamic brake operation.
  • Page 100 Chapter 4 Application j Servomotor Parameter Checking Operation The items in parentheses in the following explanation indicate operations using the Handy-type Param- eter Unit. DATA Indicates settings mode. System check mode Data 1. Press the MODE/SET Key to switch to the settings mode. 2.
  • Page 101 Chapter 4 Application Protective and Diagnostic Functions 4-2-1 Alarm Displays and Alarm Code Outputs The Servo Driver has the error detection functions shown below. When an error is de- tected, the alarm output (ALM ) is output, the Servo Driver’s internal power drive circuit is turned off, and the alarm is displayed.
  • Page 102 Chapter 4 Application j Timing Chart Power input (R, T) Run command (RUN) Error Error occurrence 6 ms min. Alarm reset (RESET) Approx. 2 s 6 ms max. Alarm output (ALM) Approx. 350 ms 25 to 35 ms Power to motor j Alarm Output Circuit Alarm output...
  • Page 103 Chapter 4 Application 4-2-3 Overload Characteristics (Electron Thermal Characteristics) An overload protection function (electron thermal) is built into the Servo Driver to protect against Servo Driver or Servomotor overload. If an overload (A.70) 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 104 Chapter 4 Application 4-2-4 Alarm History Display Mode The Servo Driver stores the history of the 10 most recent alarms that have been gener- ated. The alarm history can be displayed by going into the alarm history display mode and using the Up and Down Keys. To clear the alarm history, set the system check mode to “02”...
  • Page 105 Chapter 4 Application Troubleshooting When an error occurs, check the error contents by means of the operating status and alarm display, investigate the cause and apply the appropriate countermeasures. j Error Diagnosis by Means of Operating Status Symptom Probable cause Items to check Countermeasures The power supply indicator...
  • Page 106 Chapter 4 Application Symptom Probable cause Items to check Countermeasures Servomotor is overheating. The ambient temperature is Check to be sure that the Lower the ambient tempera- too high. ambient temperature around ture to 40 C or lower. (Use a the Servomotor is no higher cooler or fan.) than 40 C.
  • Page 107 Chapter 4 Application j Error Diagnosis by Means of Alarm Display (Parameter Unit) Alarm Error content Condition when error oc- Probable cause Countermeasures display curred a.02 Parameter cor- Occurred when power was Internal memory error Replace Servo Driver. ruption turned on. a.04 Parameter set- Occurred when power was...
  • Page 108 Chapter 4 Application Alarm Error content Condition when error oc- Probable cause Countermeasures display curred Overvoltage Occurred when power was The power supply voltage is The supply voltage must turned on. outside of the allowable be 170 to 253 VAC when range.
  • Page 109 Chapter 4 Application Alarm Error content Condition when error oc- Probable cause Countermeasures display curred Encoder A, B Some movement occurred Encoder lines discon- Correct any disconnected phase wire dis- at the beginning of opera- nected. lines. connection. tion. Connector contact faulty. Insert connectors correct- Encoder lines wired incor- Correct the wiring.
  • Page 110 It is recommended that the Servo Driver and Regeneration Unit be inspected at five-year intervals if they are used under conditions worse than the above or not used over a long time of time. Contact your OMRON representative for inspection and the necessity of any component replacement. 4-17...
  • Page 111 Chapter 5 Specifications Servo Driver Specifications Servomotor Specifications Cable Specifications Parameter Unit Specifications Regeneration Unit Specifications Front-mounting Bracket Specifications Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 112 Chapter 5 Specifications Servo Driver Specifications 5-1-1 General Specifications Item Specifications Operating ambient temperature 0 C to 50 C Operating ambient humidity 35% to 85% RH (with no condensation) Storage ambient temperature –10 C to 75 C Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating atmo- No corrosive gasses.
  • Page 113 Chapter 5 Specifications 5-1-2 Performance Specifications j 200-VAC Input Servo Drivers, Non-conforming Models Item R88D R88D R88D R88D -UEP04H -UEP08H -UEP12H -UEP20H Continuous output current (0-P) 1.2 A 2.8 A 3.7 A 6.2 A Momentary max. output current (0-P) 4.0 A 8.5 A 11.3 A 19.7 A...
  • Page 114 Chapter 5 Specifications j 100-VAC Input Servo Drivers, Non-conforming Models Item R88D-UEP10L R88D-UEP12L R88D-UEP15L Continuous output current (0-P) 3.1 A 3.8 A 4.8 A Momentary max. output current 10 A 12 A 15 A (0-P) Input power supply Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Control method All-digital servo Speed feedback...
  • Page 115 Chapter 5 Specifications j 200-VAC Input Servo Drivers, Models Conforming to EC Directives Item R88D R88D R88D R88D -UEP04V -UEP08V -UEP12V -UEP20V Continuous output current (0-P) 1.2 A 2.8 A 3.7 A 6.2 A Momentary max. output current (0-P) 4.0 A 8.5 A 11.3 A 19.7 A...
  • Page 116 Chapter 5 Specifications j 100-VAC Input Servo Drivers, Models Conforming to EC Directives Item R88D-UEP10W R88D-UEP12W R88D-UEP15W Continuous output current (0-P) 3.1 A 3.8 A 4.8 A Momentary max. output current 10 A 12 A 15 A (0-P) Input power supply Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz Control method All-digital servo...
  • Page 117 Chapter 5 Specifications 5-1-3 I/O Specifications j Terminal Block Specifications, Non-conforming Models Signal Function Condition Power supply in- R88D-UEP H (200-VAC Units): Single-phase 200/230 VAC (170 to 253 VAC) 50/60 Hz R88D-UEP L (100-VAC Units): Single-phase 100/115 VAC (85 to 127 VAC) 50/60 Hz Main circuit DC These are the connection terminals for the Regeneration Unit...
  • Page 118 Chapter 5 Specifications j CN1: Control I/O Specifications CN1: Control Input Pin No. Signal name Function Contents +PULS/CW/A Feed pulse, reverse pulse, Line driver input: 6 mA at 3V 90 differential phase 90 differential phase Open collector input: 15 mA at –5V Open collector input: 15 mA at –5V –PULS/CW/A pulse (A phase)
  • Page 119 Chapter 5 Specifications CN1: Control Output Pin No. Signal name Function Contents BKIR Brake interlock output Outputs external brake interlock signal. Positioning competed out- Turned ON when the pulse count remaining in the deviation counter is equal to or less than the posi- tioning completed range set in user parameter Cn-1b.
  • Page 120 Chapter 5 Specifications Pin Arrangement +feed pulse, +PULS 19 --- Not used. reverse pulse, /CW/A –feed pulse, A phase –PULS reverse pulse, 20 --- Not used. +direction /CW/A A phase +SIGN/ signal, for- Not used. CCW/B –direction ward pulse, B phase –SIGN/ signal, for- Not used.
  • Page 121 Chapter 5 Specifications rameter Cn-01, bit no. 0, this signal can be bypassed. In that case, the servo will be turned on after the power is turned on. Gain Reduction (15: MING) Input this signal to lower the loop gain for the control loop, and to weaken servo rigidity (repellant force with respect to external force).
  • Page 122 Chapter 5 Specifications Open-collector Input When connected with open collector output, insert a current limit resistor as shown below. Controller side Servo Driver side 220 Ω – – When Vcc = 5 V: R = 0 When Vcc = 12 V:R = 750 Ω When Vcc = 24 V:R = 1.6 kΩ...
  • Page 123 Chapter 5 Specifications Logic Bits Input Command Input pins Forward motor Reverse motor factor factor p lse pulse commands commands commands commands mode Positive Forward 1: +PULS pulse and 2: –PULS direction 3: +SIGN “L” “H” signal 4: –SIGN Reverse 1: +CW “L”...
  • Page 124 Chapter 5 Specifications j Control Output Interface The output circuit for the control I/O connector (CN1) is as shown in the following diagram. To other output circuits External power supply 12- to 24-VDC Maximum operating voltage: 30 VDC Maximum output current: 50 mA max.
  • Page 125 Chapter 5 Specifications Alarm Output/Alarm Output Ground (34/35: ALM/ALMCOM) When the Servo Driver detects an error, outputs are turned OFF. At that time, an alarm code (see below) is output according to the contents of the error. This output is OFF at the time of powering up, and turns ON when the power-up processing is completed.
  • Page 126 Chapter 5 Specifications j Control I/O Signal Connections and External Signal Processing Reverse pulse Brake interlock Forward pulse Maximum op- erating voltage: Positioning completion 30 VDC Maximum out- Output ground put current: Deviation counter reset common 50 mA Do not connect Alarm output these pins.
  • Page 127 Chapter 5 Specifications j CN2: Encoder Input Specifications Pin No. Signal name Function Interface 1, 2, 3 Encoder power supply GND Power supply outlet for encoder: 5 V, 350 mA 4, 5, 6 Encoder power supply +5 V Not used Do not connect.
  • Page 128 Dai-ichi Denshi Kogyo Socket at Servo Driver 17LE-13090-27 (D2BC) Soldered plug at cable side 17JE-23090-02 (D1) Cover at cable side 17JE-09H-15 OMRON Soldered plug at cable side XM2A-0901 Cover at cable side XM2S-0912 j CN4: Not Used 5-18 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 129 Chapter 5 Specifications 5-1-4 Explanation of User Parameters Refer to 3-4-2 Setup Parameter Contents and 3-5-2 User Parameter Chart for a table of user parame- ters and setup parameters. Speed Loop Gain: Cn-04 This is the proportional gain for the speed controller. The adjustable range is 1 to 2,000 Hz (the response frequency when equivalent inertia is used).
  • Page 130 Chapter 5 Specifications The setting range is 1 to 500 (1/s), and the factory setting is 40 (1/s). Positioning Completed Range: Cn-1b This sets the deviation counter value for outputting the positioning completed output (INP). When the deviation counter value falls below this setting, the positioning completed output turns ON. The setting range is 0 to 250 (command units), and the factory setting is 3 (command units).
  • Page 131 Chapter 5 Specifications Servomotor Specifications 5-2-1 General Specifications Item Specifications Operating ambient temperature 0 C to 40 C Operating ambient humidity 20% to 80% RH (with no condensation) Storage ambient temperature –10 C to 75 C Storage ambient humidity 20% to 85% RH (with no condensation) Storage and operating atmo- No corrosive gasses.
  • Page 132 Chapter 5 Specifications 5-2-2 Performance Specifications j 200 VAC Servomotors Item Unit R88M R88M R88M R88M -UE10030H-S1 -UE20030H-S1 -UE40030H-S1 -UE75030H-S1 -UE10030V-S1 -UE20030V-S1 -UE40030V-S1 -UE75030V-S1 Rated output (see note) Rated torque (see note) 0.318 0.637 1.27 2.39 Rated rotational speed r/min 3,000 3,000 3,000...
  • Page 133 Chapter 5 Specifications j 100 VAC Servomotors Item Unit R88M R88M R88M -UE10030L-S1 -UE20030L-S1 -UE30030L-S1 -UE10030W-S1 -UE20030W-S1 -UE30030W-S1 Rated output (see note) Rated torque (see note) 0.318 0.637 0.954 Rated rotational speed r/min 3,000 3,000 3,000 Momentary maximum rotational r/min 4,500 4,500 4,500...
  • Page 134 Chapter 5 Specifications Specifications for AC Servomotors With Brakes (Specifications in Common for 100 and 200 VAC) Item Unit R88M R88M R88M R88M R88M -UE10030 -BS1 -UE20030 -BS1 -UE30030 -BS1 -UE40030 -BS1 -UE75030 -BS1 –5 –5 –5 –5 –5 Rotor inertia kg m 0.40 1.23...
  • Page 135 Chapter 5 Specifications 5-2-3 Torque and Rotational Speed Characteristics j Torque Characteristics (With 3-m Standard Cable and 200-VAC Input) R88M-UE10030H-S1 R88M-UE20030H-S1 R88M-UE40030H-S1 -UE10030V-S1 -UE20030V-S1 -UE40030V-S1 Frequent use Frequent use Frequent use Continuous use Continuous use Continuous use R88M-UE75030H-S1 -UE75030V-S1 Frequent use Continuous use j Torque Characteristics (With 3-m Standard Cable and 100-VAC Input) R88M-UE10030L-S1...
  • Page 136 Chapter 5 Specifications momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary 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 137 Chapter 5 Specifications Note 6. Make sure that the radial load is within the allowable range when there is a radial load applied. If the Servomotor is operated at more than the allowable radial load, the shaft may suffer dam- age due to fatigue.
  • Page 138 Chapter 5 Specifications Cable Specifications 5-3-1 Controller Connecting Cable j Connector–Terminal Block Conversion Unit Cables Types of Cable Model Length (L) Outer diameter of sheath 9.9 dia. R88A-CTU001N R88A-CTU002N Connection Configuration XW2B-40F5-P Connector-Terminal Conversion Unit OMNUC U-Series UE model AC Servomotor Driver 5-28 Artisan Technology Group - Quality Instrumentation ...
  • Page 139 Chapter 5 Specifications Wiring Signal –CW +CWW –CWW +ECRST –ECRST BKIR 0GND +24 VIN MIGN RESET ZCOM ALMCOM Shell Connector plug Cable: AWG24 Sumitomo 3M’s 10136-3000VE Connector cover Sumitomo 3M’s 10336-52A0-008 Connector plug: Fujitsu’s FCN-361J040-AU Connector cover: Fujitsu’s FCN-360C040-B 5-29 Artisan Technology Group - Quality Instrumentation ...
  • Page 140 Chapter 5 Specifications j General-purpose Control Cable Types of Cable Model Length (L) Outer diameter of sheath 9.9 dia. R88A-CPU001S R88A-CPU002S Connection Configuration Position Control Unit mounted on a SYSMAC C/CV-series PC OMNUC U-Series UE model AC Servomotor Driver 5-30 Artisan Technology Group - Quality Instrumentation ...
  • Page 141 Chapter 5 Specifications Wiring Connector Pin Insulation Dot mark Dot mark Signal name Arrangement color color Orange – Black Orange – –CW Gray – Black +CCW Gray – –CCW White – Black +ECRST White – –ECRST Yellow – Black BKIR Yellow –...
  • Page 142 Chapter 5 Specifications 5-3-2 Encoder Cable j Encoder Cables for Non-conforming Models Types of Cable Model Length (L) Outer diameter of sheath R88A-CRU003C 8 dia. R88A-CRU005C R88A-CRU010C 10 m R88A-CRU015C 15 m R88A-CRU020C 20 m (Up to a maximum of 20 m between the Monitor and the Servo Driver.) Connection Configuration OMNUC U-Series UE model AC Servomotor...
  • Page 143 Chapter 5 Specifications Motor Side Connector plug model: 172169-1 (Tyco Electronics AMP) Connector pin contact model: 170359-1 (Tyco Electronics AMP) j Encoder Cables for Models Conforming to EC Directives Types of Cable Model Length (L) Outer diameter of sheath R88A-CRUD003C 3 m 8 dia.
  • Page 144 Chapter 5 Specifications Cable Side Connector model: 17J E 13090-02D8A (DDK) Connector plug model: 10120-3000VE (Sumitomo 3M) Connector case model: 10320-52A0-008 (Sumitomo 3M) 5-3-3 Power Cable j Power Cable for Servomotors Without Brakes, Non-conforming Models Types of Cable Model Length (L) Outer diameter of sheath 5.8 dia.
  • Page 145 Chapter 5 Specifications Crimping tool: 724651-1 Pulling tool: 724668-2 Motor Side Connector plug model: 172167-1 (Tyco Electronics AMP) Connector pin contact model: 170359-1 (Tyco Electronics AMP) for 100-W use 170360-1 (Tyco Electronics AMP) for 200 to 750-W use j Power Cable for Servomotors With Brakes, Non-conforming Models Types of Cable Model Length (L)
  • Page 146 Chapter 5 Specifications Cable Side Connector housing model: 172160-1 (Tyco Electronics AMP) Connector socket contact model: 170366-1 (Tyco Electronics AMP) Crimping tool: 724651-1 Pulling tool: 724668-2 Motor Side Connector plug model: 172168-1 (Tyco Electronics AMP) Connector pin contact model: 170359-1 (Tyco Electronics AMP) for 100-W use 170360-1 (Tyco Electronics AMP) for 200 to 750-W use j Power Cable for Servomotors Without Brakes, Models Conforming to EC Directives...
  • Page 147 Chapter 5 Specifications j Power Cable for Servomotors With Brakes, Models Conforming to EC Directives Model Length (L) Outer diameter of sheath R88A-CAU01B 6.8 dia. Note 1. Power cables will be cut to the specified length in 1-m increments. Note 2. The maximum distance between the Servomotor and the Servo Driver is 20 m. Connection Configuration OMNUC U-Series UE model AC Servomotor...
  • Page 148 Chapter 5 Specifications Parameter Unit Specifications j General Specifications Item Standards Operating ambient temperature 0 C to 55 C Storage ambient temperature –10 C to 75 C Operating ambient humidity 35% to 85% RH (with no condensation) Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating No corrosive gasses.
  • Page 149 Chapter 5 Specifications Regeneration Unit Specifications j R88A-RG08UA Regeneration Unit General Specifications Item Standards Operating ambient temperature 0 C to 55 C Storage ambient temperature –10 C to 75 C Operating ambient humidity 35% to 85% RH (with no condensation) Storage ambient humidity 35% to 85% RH (with no condensation) Storage and operating...
  • Page 150 Chapter 5 Specifications Front-mounting Bracket Specifications The Front-surface Mounting Brackets (R88A-TK01U/TK02U) are used to mount a Ser- vo Driver from the front surface. The model of the Bracket depends on the model of the Servo Driver. These Mounting Brackets cannot be used with models conforming to EC Directives. j Combinations Servo Driver Front-surface Mounting Bracket...
  • Page 151 Chapter 5 Specifications Bottom Mounting Bracket Two, 3.6-dia. pan-head screws R88A-TK02U Top Mounting Bracket Two, 3.6-dia. pan-head screws 6 dia. 5-41 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 152 Chapter 5 Specifications Bottom Mounting Bracket Two, 3.6-dia. pan-head screws j Mounting Dimensions R88A-TK01U R88A-TK02U Two, M5 Three, M5 5-42 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 153 Chapter 6 Supplementary Materials Connection Examples Relay Units for Servo Drivers OMNUC U-Series Standard Models Parameter Setting Forms Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 154 Chapter 6 Supplementary Materials Connection Examples j Connecting to SYSMAC C200H-NC112 Position Control Unit with 5-VDC Power Supply MCCB Main circuit power supply Main circuit contact R88D-UEP 100/115 VAC, 50/60 Hz Surge killer R88D-UEP Servo error display 200/230 VAC, 50/60 Hz C200H-NC112 R88D-UEP AC Servomotor Driver...
  • Page 155 Chapter 6 Supplementary Materials j Connecting to SYSMAC C200H-NC112 Position Control Unit with 24-VDC Power Supply MCCB Main circuit power supply R88D-UEP Main circuit contact 100/115 VAC, 50/60 Hz Surge killer R88D-UEP 200/230 VAC, 50/60 Hz Servo error display R88D-UEP AC Servomotor Driver Class-3 ground C200H - NC112...
  • Page 156 Chapter 6 Supplementary Materials j Connecting to SYSMAC C200H-NC211/C500-NC113/211 Position Control Unit with 5-VDC Power Supply MCCB Main circuit power supply Main circuit contact R88D-UEP 100/115 VAC, 50/60 Hz Surge killer R88D-UEP 200/230 VAC, 50/60 Hz Servo error display R88D-UEP AC Servomotor Driver Class-3 ground C200H - NC211...
  • Page 157 Chapter 6 Supplementary Materials j Connecting to SYSMAC C200H-NC211/C500-NC113/211 Position Control Unit with 24-VDC Power Supply MCCB Main circuit power supply R88D-UEP Main circuit contact 100/115 VAC, 50/60 Hz Surge killer R88D-UEP 200/230 VAC, 50/60 Hz Servo error display R88D-UEP AC Servomotor Driver Class-3 ground C200H - NC211...
  • Page 158 Chapter 6 Supplementary Materials j Connecting to SYSMAC 3G2A5-NC111-EV1 Position Control Unit Main circuit power supply MCCB R88D-UEP Main circuit contact 100/115 VAC, 50/60 Hz Surge killer R88D-UEP 200/230 VAC, 50/60 Hz Servo error display R88D-UEP AC Servomotor Driver Class-3 ground 3G2A5-NC111-EV1 Terminal Contents...
  • Page 159 Chapter 6 Supplementary Materials j Connecting to SYSMAC C200HW-NC113/213/413 Position Control Unit with 5-VDC Power Supply Main circuit power supply R88D-UEP Main circuit contact 100/115 VAC, 50/60 Hz Surge killer R88D-UEP 200/230 VAC, 50/60 Hz Servo error display R88D-UEP AC Servomotor Driver Class-3 ground C200HW - NC113/213/413 CN 1...
  • Page 160 Chapter 6 Supplementary Materials j Connecting to SYSMAC C200HW-NC113/213/413 Position Control Unit with 24-VDC Power Supply Main circuit power supply R88D-UEP Main circuit contact 100/115 VAC, 50/60 Hz Surge killer R88D-UEP 200/230 VAC, 50/60 Hz Servo error display R88D-UEP AC Servomotor Driver Class-3 ground C200HW-NC113/213/413 CN 1...
  • Page 161 Chapter 6 Supplementary Materials Relay Units for Servo Drivers j XW2B-20J6-1B Relay Unit for C200H-NC112 Connect to C200H-NC112 Connect to Servo Driver Two, 3.5 dia. The pitch of the terminal block is 7.62 mm. Emer- Origin gency proximity limit limit stop External Common Common...
  • Page 162 Chapter 6 Supplementary Materials j XW2B-40J6-2B Relay Unit for C200H-NC211 Connect to Servo Connect to Servo Driver, X axis Driver, Y axis Connect to C200H-NC211 Two, 3.5 dia. The pitch of the terminal block is 7.62 mm. X/Y axis X axis X axis Y axis Y axis...
  • Page 163 Chapter 6 Supplementary Materials j XW2B-20J6-3B Relay Unit for CQM1-CPU43-V1, CQM1H-PLB21 Connect to CQM1 Connect to Servo Driver Two, 3.5 dia. The pitch of the terminal block is 7.62 mm. Common Common (See note 3.) (See (See note 1.) note 1.) 24 VDC (See note 2.) 24 VDC...
  • Page 164 Chapter 6 Supplementary Materials OMNUC U-Series Standard Models j Non-conforming Models Servomotors Specification Model Straight shafts with Standard (no 200 VAC 100 W R88M-UE10030H-S1 keys b k ) brake) 200 W R88M-UE20030H-S1 400 W R88M-UE40030H-S1 750 W R88M-UE75030H-S1 100 VAC 100 W R88M-UE10030L-S1 200 W...
  • Page 165 Chapter 6 Supplementary Materials Encoder Cables Specification Model Connectors at both ends R88A-CRU003C R88A-CRU005C 10 m R88A-CRU010C 15 m R88A-CRU015C 20 m R88A-CRU020C Cable only 1-m units R88A-CRU001 Power Cables Specification Model For standard Connector at one R88A-CAU003S motors (no brake) b k ) R88A-CAU005S 10 m...
  • Page 166 Chapter 6 Supplementary Materials Connectors and Terminal Blocks Specification Model Control cable connector R88A-CNU01C Connector terminal block XW2B-40F5-P Connection cable for R88A-CTU001N connector terminal block l bl R88A-CTU002N Front-surface Mounting Brackets Specification Model For the following Servo Drivers R88A-TK01U 200 VAC: 100 to 400 W 100 VAC: 100, 200 W For the following Servo Drivers R88A-TK02U...
  • Page 167 Chapter 6 Supplementary Materials Parameter Units Specification Model Handy type R88A-PR02U Mounted type R88A-PR03U Encoder Cables Specification Model Connectors at both ends R88A-CRUD003C R88A-CRUD005C 10 m R88A-CRUD010C 15 m R88A-CRUD015C 20 m R88A-CRUD020C Cable only 1-m units R88A-CRU001 Power Cables (Cables Only) Specification Model For standard motor (no brake)
  • Page 168 Chapter 6 Supplementary Materials Note 1. Cn-04 (speed loop gain) is factory-set for three times the load inertia. Therefore, if the load inertia is extremely small, some oscillation may occur. If it does, then lower Cn-04 to 20 or less. Note 2.
  • Page 169 Chapter 6 Supplementary Materials j Setup Parameters No. 1 (Cn-01) Item Bit No. Factory Setting Explanation Setting setting Sequence input Servo turned ON or OFF by Run command (exter- nally input). signal switching signal switching Servo always ON. No used. 1 = 0 Enables forward drive prohibit input (POT).
  • Page 170 Chapter 6 Supplementary Materials j Setup Parameters No. 2 (Cn-02) Item Bit no. Factory Setting Explanation Setting setting Reverse rotation mode CCW direction is taken as forward rotation. CCW direction is taken as reverse rotation. No used. 1 = 0 Not used.
  • Page 171 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...

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