Page 1 Cat. No. I566-E1-07 USER’S MANUAL OMNUC G SERIES R88M-G (AC Servomotors) R88D-GN-ML2 (AC Servo Drives) AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS...
Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.
Page 3  Personnel in charge of managing FA systems and facilities NOTICE This manual contains information necessary to ensure safe and proper use of the OMNUC G Series and its peripheral devices. Please read this manual thoroughly and understand its contents before using the products.
Page 4 Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
Page 5 Disclaimers  Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Page 6 Precautions for Safe Use  To ensure safe and proper use of the OMNUC G Series and its peripheral devices, read the “Precautions for Safe Use” and the rest of the manual thoroughly to acquire sufficient knowledge of the devices, safety information, and precautions before using the products.
Page 7 Precautions for Safe Use Installation, operation, maintenance, or inspection must be performed by authorized personnel. Not doing so may result in electric shock or injury. Wiring or inspection must not be performed for at least 15 minutes after turning OFF the power supply.
Page 8 Precautions for Safe Use WARNING Do not place any flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Doing so may result in fire. Mount the Servomotor, Servo Drive, and Regeneration Resistor on metal or other non- flammable materials. Failure to do so may result in fire.
Page 9 Precautions for Safe Use  Installation and Wiring Precautions Caution Do not step on or place a heavy object on the product. Doing so may result in injury. Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Page 10 Precautions for Safe Use  Operation and Adjustment Precautions Caution Confirm that no adverse effects will occur in the system before performing the test operation. Not doing so may result in equipment damage. Check the newly set parameters for proper operation before actually running them. Not doing so may result in equipment damage.
Page 11 Precautions for Safe Use  Security Measures WARNING Anti-virus protection Install the latest commercial-quality antivirus software on the computer connected to the control system and maintain to keep the software up-to-date. Security measures to prevent unauthorized access Take the following measures to prevent unauthorized access to our products. •...
Page 12 Precautions for Safe Use  Warning Label Position Warning labels are located on the product as shown in the following illustration. Be sure to follow the instructions given there. Location of warning label (R88D-GN01H-ML2)  Warning Label Contents  Disposing of the Product •...
Page 13: Items To Check When Unpacking
• No connectors or mounting screws are provided. They have to be prepared by the user. • Should you find any problems (missing parts, damage to the Servo Drive, etc.), please contact your local sales representative or OMRON sales office. Connector for main...
Page 14 Items to Check When Unpacking  Understanding Servo Drive Model Numbers The model number provides information such as the Servo Drive type, the applicable Servomotor capacity, and the power supply voltage. R88D-GN01H-ML2 OMNUC G-Series Servo Drive Drive Type N : Network type Applicable Servomotor Capacity A5 : 50 W 01 : 100 W...
Page 15 Items to Check When Unpacking  Understanding Servomotor Model Numbers R88M-GP10030H-BOS2 G-Series Servomotor Motor Type Blank: Cylinder type Flat type Servomotor Capacity 050: 50 W 100: 100 W 200: 200 W 400: 400 W 750: 750 W 900: 900 W 1K0: 1 kW 1K5:...
Page 16 Items to Check When Unpacking  Understanding Decelerator Model Numbers (Backlash = 3' Max.) R88G-HPG14A05100PBJ Decelerator for G-Series Servomotors Backlash = 3’ Max. Flange Size Number :@40 :@60 :@90 :@120 :@170 :@230 Gear Ratio :1/5 :1/9 (only frame number 11A) :1/11 (except frame number 65A) :1/12 (only frame number 65A) :1/20 (only frame number 65A)
Page 17 Items to Check When Unpacking  Understanding Decelerator Model Numbers (Backlash = 15' Max.) R88G-VRXF09B100PCJ Decelerator for G-Series Servomotors Backlash = 15’ Max. Gear Ratio :1/5 :1/9 :1/15 :1/25 Flange Size Number :@52 :@78 :@98 Applicable Servomotor Capacity :50 W, 100 W :200 W :400 W :750 W...
Page 18 Items to Check When Unpacking R88G-VRSF09B100PCJ Decelerator for G-Series Servomotors Backlash = 15’ Max. Gear Ratio :1/5 :1/9 :1/15 :1/25 Flange Size Number :@52 :@78 :@98 Applicable Servomotor Capacity : 50 W :100 W :200 W :400 W :750 W Motor Type Blank :3,000-r/min cylindrical Servomotors...
Page 19: About This Manual
About This Manual About This Manual This manual consists of the following chapters. Refer to this table and chose the required chapters of the manual. Overview Features and System Describes the features and names of parts of the product as well Chapter 1 Configuration as the EC Directives and the UL standards.
Page 20: Table Of Contents
Table of Contents Introduction ..................1 Terms and Conditions Agreement ........... 2 Precautions for Safe Use..............4 Items to Check When Unpacking ............ 11 About This Manual................17 Chapter 1 Features and System Configuration Overview................... 1-1 System Configuration ............... 1-2 Names of Parts and Functions ............
Page 21 Table of Contents 5-10 Electronic Gear ................5-21 5-11 Speed Limit ..................5-22 5-12 Sequence Input Signals ..............5-23 5-13 Sequence Output Signals ..............5-25 5-14 Backlash Compensation ..............5-27 5-15 Overrun Protection ................5-29 5-16 Gain Switching ................. 5-31 5-17 Speed Feed-forward ................
Page 22 Table of Contents...
Page 23 Chapter 1 Features and System Configuration 1-1 Overview ............1-1 Overview ................1-1 Features................1-1 1-2 System Configuration......... 1-2 1-3 Names of Parts and Functions......1-3 Servo Drive Part Names ............1-3 Servo Drive Functions............1-4 Forward and Reverse Motor Rotation ........1-4 1-4 System Block Diagrams ........1-5 1-5 Applicable Standards .........
Page 24: Overview
1-1 Overview 1-1 Overview Overview The OMNUC G Series AC Servo Drives (with built-in MECHATROLINK-II communications support) are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network. When used with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W-NCF71), a sophisticated positioning control system can be made easily with one communications cable connecting the Servo Drive and Controller.
Page 25: System Configuration
1-2 System Configuration 1-2 System Configuration Controller (MECHATROLINK-ll type) MECHATRO LINK-II Programmable Controller Position Control Unit SYSMAC CJ1 CJ1W-NCF71 OMNUC G-Series AC Servo Drive R88D-GN@-ML2 MECHATRO LINK-II Controller (MECHATROLINK-ll type) OMNUC G-Series Programmable Controller Position Control Unit AC Servomotor SYSMAC CS1 CS1W-NCF71 R88M-G@...
Page 26: Names Of Parts And Functions
1-3 Names of Parts and Functions 1-3 Names of Parts and Functions Servo Drive Part Names Display area Rotary switches AC SERVO DRIVE MECHATROLINK-II communications status LED indicator RS-232 communications connector Analog monitor check pins MECHATROLINK-II communications connector CN6A CN6B Main-circuit power terminals (L1, L2, L3) Control-circuit power terminals...
Page 27: Servo Drive Functions
1-3 Names of Parts and Functions Servo Drive Functions  Display Area A 2-digit 7-segment LED display shows the Servo Drive status, alarm codes, parameters, and other information.  Analog Monitor Check Pins (SP, IM, and G) The actual motor speed, command speed, torque, and number of accumulated pulses can be measured based on the analog voltage level by using an oscilloscope.
Page 28: System Block Diagrams
1-4 System Block Diagrams 1-4 System Block Diagrams R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/ -GN02H-ML2/-GN04H-ML2 CN B CN A − Voltage detection FUSE − SW power Regene- Current Relay Over- supply Gate drive rative current detection Main circuit drive control detection control VCC1 Internal control Display/ MPU &...
Page 29 1-4 System Block Diagrams R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2 CN B CN A Internal regeneration resistor − Voltage detection FUSE − SW power Current Regene- Over- Relay supply Gate drive detection current rative Main circuit drive detection control control VCC1 Internal control Display/ MPU & ASIC power ±VCC setting circuits...
Page 30 1-4 System Block Diagrams R88D-GN20H-ML2 Terminals Terminals Internal regeneration resistor − FUSE − SW power Current Relay Regene- supply Voltage Gate drive rative detection Main circuit drive detection control control Internal VCC1 control Display/ MPU & ASIC power ±VCC setting circuits supply Position, speed, and torque processor, PWM control...
Page 31 1-4 System Block Diagrams R88D-GN30H-ML2/GN50H-ML2 Terminals Terminals Internal regeneration resistor − FUSE − SW power Regene- Current Relay, Gate Voltage supply Gate drive rative detection Main circuit drive detection control control Internal VCC1 control Display/ MPU & ASIC power ±VCC setting circuits supply Position, speed, and torque processor,...
Page 32 1-4 System Block Diagrams R88D-GN75H-ML2 Terminals Terminals − FUSE − − SW power Current Regene- Relay, Voltage supply Gate Gate drive rative detection Main circuit drive detection control control VCC1 Internal Display/ control MPU & ASIC setting circuits ±VCC power Position, speed, and torque processor, supply PWM control...
Page 33: Applicable Standards
1-5 Applicable Standards 1-5 Applicable Standards EC Directives EC Direc- Product Applicable standards Comments tives Safety requirements for electrical equipment for AC Servo Drive EN 61800-5-1 Low Voltage measurement, control, or laboratory use Directive AC Servomotors IEC 60034-1/-5 Rotating electrical machines Limits of radio disturbance and measurement EN 55011 Class A Group 1 methods for industrial, scientific, and medical...
Page 34: Korean Radio Regulations (Kc)
1-5 Applicable Standards The Servo Drives and Servomotors comply with UL 508C (file No. E179149) as long as the following installation conditions 1 and 2 are met. Use the Servo Drive in a pollution degree 1 or 2 environment as defined in IEC 60664-1 (example: installation in an IP54 control panel).
Page 35: Chapter 2 Standard Models And Dimensions
Chapter 2 Standard Models and Dimensions 2-1 Standard Models ..........2-1 Servo Drives .................2-1 Servomotors................2-2 Servo Drive-Servomotor Combinations ........2-5 Decelerators................2-7 Accessories and Cables ............2-16 2-2 External and Mounting Hole Dimensions ... 2-25 Servo Drives .................2-25 Servomotors................2-35 Parameter Unit Dimensions ..........2-45 Servomotor and Decelerator Combinations......2-46 Decelerator Dimensions............2-49 External Regeneration Resistor Dimensions ......2-67...
Page 36: Standard Models
2-1 Standard Models 2-1 Standard Models Servo Drives Specifications Model 50 W R88D-GNA5L-ML2 100 W R88D-GN01L-ML2 Single-phase 100 VAC 200 W R88D-GN02L-ML2 400 W R88D-GN04L-ML2 50 W R88D-GN01H-ML2 100 W Single-phase 200 VAC 200 W R88D-GN02H-ML2 400 W R88D-GN04H-ML2 750 W R88D-GN08H-ML2 1 kW R88D-GN10H-ML2...
Page 37 2-1 Standard Models Servomotors  3,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 50 W R88M-G05030H R88M-G05030H-S2 R88M-G05030T R88M-G05030T-S2 100 W R88M-G10030L R88M-G10030L-S2...
Page 38 2-1 Standard Models  3,000-r/min Flat Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 100 W R88M-GP10030L R88M-GP10030L-S2 R88M-GP10030S R88M-GP10030S-S2 100 V 200 W R88M-GP20030L...
Page 39 2-1 Standard Models  1,000-r/min Servomotors Model With absolute encoder Specifications Straight shaft Straight shaft without key with key and tap 900 W R88M-G90010T R88M-G90010T-S2 2 kW R88M-G2K010T R88M-G2K010T-S2 With- 200 V 3 kW R88M-G3K010T R88M-G3K010T-S2 brake 4.5 kW R88M-G4K510T R88M-G4K510T-S2 6 kW R88M-G6K010T R88M-G6K010T-S2...
Page 40 2-1 Standard Models Servo Drive-Servomotor Combinations The tables in this section show the possible combinations of OMNUC G-Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. The box (-) at the end of the model number is for options, such as the shaft type, brake and Decelerators.
Page 41 2-1 Standard Models  2,000-r/min Servomotors and Servo Drives Servomotor Voltage Servo Drive Rated With absolute encoder output Single- 1 kW R88M-G1K020T- R88D-GN10H-ML2 phase/three- 1.5 kW R88M-G1K520T- R88D-GN15H-ML2 phase 200 V 2 kW R88M-G2K020T- R88D-GN20H-ML2 3 kW R88M-G3K020T- R88D-GN30H-ML2 Three-phase 4 kW R88M-G4K020T-...
Page 42 2-1 Standard Models Decelerators The following types of Decelerators are available for OMNUC G-Series Servomotors. Select a Decelerator based on the Servomotor capacity.  Backlash = 3’ Max. Decelerators for 3,000-r/min Servomotors Specifications Model Motor Gear ratio capacity R88G-HPG11B05100B R88G-HPG11B09050B 50 W 1/21 R88G-HPG14A21100B...
Page 43 2-1 Standard Models Specifications Model Motor Gear ratio capacity R88G-HPG32A051K0B 1/11 R88G-HPG32A111K0B 1 kW 1/21 R88G-HPG32A211K0B 1/33 R88G-HPG32A331K0B 1/45 R88G-HPG50A451K0B R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 1.5 kW 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG50A332K0B 1/45 R88G-HPG50A451K5B R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 2 kW 1/21 R88G-HPG50A212K0B 1/33 R88G-HPG50A332K0B R88G-HPG32A053K0B...
Page 44 2-1 Standard Models Decelerators for 2,000-r/min Servomotors Specifications Model Motor Gear ratio capacity R88G-HPG32A053K0B 1/11 R88G-HPG32A112K0SB 1 kW 1/21 R88G-HPG32A211K0SB 1/33 R88G-HPG50A332K0SB 1/45 R88G-HPG50A451K0SB R88G-HPG32A053K0B 1/11 R88G-HPG32A112K0SB 1.5 kW 1/21 R88G-HPG50A213K0B 1/33 R88G-HPG50A332K0SB R88G-HPG32A053K0B 1/11 R88G-HPG32A112K0SB 2 kW 1/21 R88G-HPG50A213K0B 1/33 R88G-HPG50A332K0SB...
Page 45 2-1 Standard Models Decelerators for 1,000-r/min Servomotors Specifications Model Motor Gear ratio capacity R88G-HPG32A05900TB 1/11 R88G-HPG32A11900TB 900 W 1/21 R88G-HPG50A21900TB 1/33 R88G-HPG50A33900TB R88G-HPG32A052K0TB 1/11 R88G-HPG50A112K0TB 2 kW 1/21 R88G-HPG50A212K0TB 1/25 R88G-HPG65A255K0SB R88G-HPG50A055K0SB 1/11 R88G-HPG50A115K0SB 3 kW 1/20 R88G-HPG65A205K0SB 1/25 R88G-HPG65A255K0SB R88G-HPG50A054K5TB...
Page 46 2-1 Standard Models Decelerators for 3,000-r/min Flat Servomotors Specifications Model Motor Gear ratio capacity R88G-HPG11B05100PB 1/11 R88G-HPG14A11100PB 100 W 1/21 R88G-HPG14A21100PB 1/33 R88G-HPG20A33100PB 1/45 R88G-HPG20A45100PB R88G-HPG14A05200PB 1/11 R88G-HPG20A11200PB 200 W 1/21 R88G-HPG20A21200PB 1/33 R88G-HPG20A33200PB 1/45 R88G-HPG20A45200PB R88G-HPG20A05400PB 1/11 R88G-HPG20A11400PB 400 W 1/21 R88G-HPG20A21400PB...
Page 47 2-1 Standard Models  Backlash = 15’ Max. Decelerators for 3,000-r/min Servomotors Specifications Model Motor Gear ratio capacity R88G-VRXF05B100CJ R88G-VRXF09B100CJ 50 W 1/15 R88G-VRXF15B100CJ 1/25 R88G-VRXF25B100CJ R88G-VRXF05B100CJ R88G-VRXF09B100CJ 100 W 1/15 R88G-VRXF15B100CJ 1/25 R88G-VRXF25B100CJ R88G-VRXF05B200CJ R88G-VRXF09C200CJ 200 W 1/15 R88G-VRXF15C200CJ 1/25 R88G-VRXF25C200CJ R88G-VRXF05C400CJ...
Page 48 2-1 Standard Models Decelerators for 3,000-r/min Flat Servomotors Specifications Model Motor Gear ratio capacity R88G-VRXF05B100PCJ R88G-VRXF09B100PCJ 100 W 1/15 R88G-VRXF15B100PCJ 1/25 R88G-VRXF25B100PCJ R88G-VRXF05B200PCJ R88G-VRXF09C200PCJ 200 W 1/15 R88G-VRXF15C200PCJ 1/25 R88G-VRXF25C200PCJ R88G-VRXF05C400PCJ R88G-VRXF09C400PCJ 400 W 1/15 R88G-VRXF15C400PCJ 1/25 R88G-VRXF25C400PCJ For new use of a 15 Arcminutes Max. model, we recommend the successor model VRXF Note Series.
Page 49 2-1 Standard Models Decelerators for 3,000-r/min Servomotors (Straight Shaft with Key) Specifications Model Motor Gear ratio capacity R88G-VRSF05B100CJ R88G-VRSF09B100CJ 50 W 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ R88G-VRSF05B100CJ R88G-VRSF09B100CJ 100 W 1/15 R88G-VRSF15B100CJ 1/25 R88G-VRSF25B100CJ R88G-VRSF05B200CJ R88G-VRSF09C200CJ 200 W 1/15 R88G-VRSF15C200CJ 1/25 R88G-VRSF25C200CJ R88G-VRSF05C400CJ R88G-VRSF09C400CJ...
Page 50 2-1 Standard Models Decelerators for 3,000-r/min Flat Servomotors (Straight Shaft with Key) Specifications Model Motor Gear ratio capacity R88G-VRSF05B100PCJ R88G-VRSF09B100PCJ 100 W 1/15 R88G-VRSF15B100PCJ 1/25 R88G-VRSF25B100PCJ R88G-VRSF05B200PCJ R88G-VRSF09C200PCJ 200 W 1/15 R88G-VRSF15C200PCJ 1/25 R88G-VRSF25C200PCJ R88G-VRSF05C400PCJ R88G-VRSF09C400PCJ 400 W 1/15 R88G-VRSF15C400PCJ 1/25 R88G-VRSF25C400PCJ For new use of a 15 Arcminutes Max.
Page 51 2-1 Standard Models Accessories and Cables  Encoder Cables (Standard Cables) Specifications Model R88A-CRGA003C R88A-CRGA005C 10 m R88A-CRGA010C 3,000-r/min Servomotors of 50 to 750 W 15 m R88A-CRGA015C with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGA020C with an absolute encoder...
Page 52 2-1 Standard Models  Servomotor Power Cables (Standard Cables) Model Specifications For Servomotor without For Servomotor with brake brake R88A-CAGA003S R88A-CAGA005S 10 m R88A-CAGA010S 3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015S 3,000-r/min Flat Servomotors of 20 m R88A-CAGA020S 100 to 400 W 30 m...
Page 53 2-1 Standard Models Model Specifications For Servomotor without For Servomotor with brake brake R88A-CAGE003S R88A-CAGE005S 10 m R88A-CAGE010S 15 m R88A-CAGE015S 1,500-r/min Servomotors of 7.5 kW, 1,000-r/min Servomotors of 6 kW 20 m R88A-CAGE020S 30 m R88A-CAGE030S 40 m R88A-CAGE040S 50 m R88A-CAGE050S There are separate connectors for power and brakes for 3,000-r/min Servomotors of 50 to...
Page 54 2-1 Standard Models  Brake Cables (Standard Cables) Specifications Model R88A-CAGA003B R88A-CAGA005B 10 m R88A-CAGA010B 15 m R88A-CAGA015B 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020B 30 m R88A-CAGA030B 40 m R88A-CAGA040B 50 m R88A-CAGA050B...
Page 55 2-1 Standard Models  Encoder Cables (Robot Cables) Specifications Model R88A-CRGA003CR R88A-CRGA005CR 10 m R88A-CRGA010CR 3,000-r/min Servomotors of 50 to 750 W 15 m R88A-CRGA015CR with an absolute encoder, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CRGA020CR with an absolute encoder 30 m R88A-CRGA030CR...
Page 56 2-1 Standard Models  Servomotor Power Cables (Robot Cables) Model Specifications For Servomotor without For Servomotor with brake brake R88A-CAGA003SR R88A-CAGA005SR 10 m R88A-CAGA010SR 3,000-r/min Servomotors of 50 to 750 W, 15 m R88A-CAGA015SR 3,000-r/min Flat Servomotors of 20 m R88A-CAGA020SR 100 to 400 W 30 m...
Page 57 2-1 Standard Models  Brake Cables (Robot Cables) Specifications Model R88A-CAGA003BR R88A-CAGA005BR 10 m R88A-CAGA010BR 15 m R88A-CAGA015BR 3,000-r/min Servomotors of 50 to 750 W, 3,000-r/min Flat Servomotors of 100 to 400 W 20 m R88A-CAGA020BR 30 m R88A-CAGA030BR 40 m R88A-CAGA040BR 50 m R88A-CAGA050BR...
Page 58 2-1 Standard Models  Connectors Specifications Model Absolute Encoder R88A-CNG01R Servomotor Connector for Encoder Cable Incremental Encoder R88A-CNG02R Control I/O Connector (CN1) R88A-CNU01C Encoder Connector (CN2) R88A-CNW01R Power Cable Connector (750 W max.) R88A-CNG01A Brake Cable Connector (750 W max.) R88A-CNG01B ...
Page 59 2-1 Standard Models  Mounting Brackets (L Brackets for Rack Mounting) Specifications Model R88D-GNA5L-ML2/-GN01L-ML2/-GN01H-ML2/-GN02H-ML2 R88A-TK01G R88D-GN02L-ML2/-GN04H-ML2 R88A-TK02G R88D-GN04L-ML2/-GN08H-ML2 R88A-TK03G R88D-GN10H-ML2/-GN15H-ML2 R88A-TK04G 2-24...
Page 60: External And Mounting Hole Dimensions
2-2 External and Mounting Hole Dimensions 2-2 External and Mounting Hole Dimensions Servo Drives  Single-phase 100 VAC: R88D-GNA5L-ML2/-GN01L-ML2 (50 to 100 W) Single-phase 200 VAC: R88D-GN01H-ML2/-GN02H-ML2 (50 to 200 W) Wall Mounting External Dimensions Mounting Hole Dimensions Two, M4 AC SERVO DRIVER 2-25...
Page 61 2-2 External and Mounting Hole Dimensions Front Panel Mounting (Using Mounting Brackets) External Dimensions Mounting Dimensions (Reference Values) Two, M4 5.2 dia. AC SERVO DRIVER Square hole R2.6 (42)* Note The dimensions of the square hole are reference values. 2-26...
Page 62 2-2 External and Mounting Hole Dimensions  Single-phase 100 VAC: R88D-GN02L-ML2 (200 W) Single-phase 200 VAC: R88D-GN04H-ML2 (400 W) Wall Mounting External Dimensions Mounting Hole Dimensions Two, M4 AC SERVO DRIVER Front Panel Mounting (Using Mounting Brackets) External Dimensions Mounting Dimensions (Reference Values) Two, M4 5.2 dia.
Page 63 2-2 External and Mounting Hole Dimensions  Single-phase 100 VAC: R88D-GN04L-ML2 (400 W) Single-phase 200/Three phase VAC: R88D-GN08H-ML2 (750 W) Wall Mounting External Dimensions Mounting Hole Dimensions Two, M4 AC SERVO DRIVER Front Panel Mounting (Using Mounting Brackets) External Dimensions Mounting Dimensions (Reference Values) 5.2 dia.
Page 64 2-2 External and Mounting Hole Dimensions  Single-phase/Three-phase 200 VAC: R88D-GN10H-ML2/-GN15H-ML2 (900 W to 1.5 kW) Wall Mounting External Dimensions Mounting Hole Dimensions Two, M4 AC SERVO DRIVER (85) Front Panel Mounting (Using Mounting Brackets) External Dimensions Mounting Dimensions (Reference Values) Four, M4 5.2 dia.
Page 65 2-2 External and Mounting Hole Dimensions  Three-phase 200 VAC: R88D-GN20H-ML2 (2 kW) Wall Mounting External Dimensions 17.5 42.5 R2.6 R2.6 dia. AC SERVO DRIVER R2.6 R2.6 dia. 42.5 17.5 Mounting Hole Dimensions Four, M4 17.5 2-30...
Page 66 2-2 External and Mounting Hole Dimensions Front Panel Mounting (Using Mounting Brackets) External Dimensions 17.5 42.5 32.1 R2.6 R2.6 dia. AC SERVO DRIVER R2.6 R2.6 dia. 42.5 17.5 Mounting Dimensions (Reference Values) Four, M4 Square hole 20.5 (89)* Note The dimensions of the square hole are reference values.
Page 67 2-2 External and Mounting Hole Dimensions  Three-phase 200 VAC: R88D-GN30H-ML2/-GN50H-ML2 (2 to 5 kW) Wall Mounting External Dimensions R2.6 5.2 dia. R2.6 AC SERVO DRIVER R2.6 5.2 dia. R2.6 Mounting Hole Dimensions Six, M4 2-32...
Page 68 2-2 External and Mounting Hole Dimensions Front Panel Mounting (Using Mounting Brackets) External Dimensions 32.3 R2.6 5.2 dia. R2.6 AC SERVO DRIVER 5.2 dia. R2.6 R2.6 Mounting Dimensions (Reference Values) Six, M4 Square hole (132)* Note The dimensions of the square hole are reference values.
Page 69 2-2 External and Mounting Hole Dimensions  Three-phase 200 VAC: R88D-GN75H-ML2 (7.5 kW) Front Panel Mounting (Using Mounting Brackets) External Dimensions 37.5 339.3 82.5 45.1 (2.3) AC SERVO DRIVER L1 L1 L2 L2 L3 L3 Four, 5.2 dia. Mounting Dimensions (Reference Values) Six, M4 Square hole...
Page 70 2-2 External and Mounting Hole Dimensions Servomotors  3,000-r/min Servomotors 50 W/100 W R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2)/-G05030H-B(S2) /-G10030L-B(S2)/-G10030H-B(S2) R88M-G05030T(-S2)/-G10030S(-S2)/-G10030T(-S2)/-G05030T-B(S2) /-G10030S-B(S2)/-G10030T-B(S2) Brake connector Encoder Motor connector connector (Dimensions of shaft end with key and tap) 40 × 40 12.5 Three, h: 9 M3 (depth: 6) Two, 4.3 dia.
Page 71 2-2 External and Mounting Hole Dimensions  3,000-r/min Servomotors 200 W/400 W/750 W R88M-G20030L(-S2)/-G40030L(-S2)/-G20030H(-S2)/-G40030H(-S2) /-G75030H(-S2)/-G20030L-B(S2)/-G40030L-B(S2) /-G20030H-B(S2)/-G40030H-B(S2)/-G75030H-B(S2) R88M-G20030S(-S2)/-G40030S(-S2)/-G20030T(-S2)/-G40030T(-S2) /-G75030T(-S2)/-G20030S-B(S2)/-G40030S-B(S2) /-G20030T-B(S2)/-G40030T-B(S2)/-G75030T-B(S2) Brake connector Encoder Motor connector connector (Dimensions of shaft end with key and tap) Four, Z dia. C × C M (effective depth: L) Dimensions (mm) Model LR S...
Page 72 2-2 External and Mounting Hole Dimensions  3,000-r/min Servomotors 1 kW/1.5 kW/2 kW R88M-G1K030T(-S2)/-G1K530T(-S2)/-G2K030T(-S2)/-G1K030T-B(S2) /-G1K530T-B(S2)/-G2K030T-B(S2) Servomotor (Dimensions of shaft end canon plug C × C with key and tap) Encoder canon plug Four, Z dia. Six, h: 9 M5 (depth: 12) Dimensions (mm) Model LL D1 D2...
Page 73 2-2 External and Mounting Hole Dimensions  3,000-r/min Servomotors 4 kW/5 kW R88M-G4K030T(-S2)/-G5K030T(-S2)/-G4K030T-B(S2)/-G5K030T-B(S2) Servomotor/brake connector 130×130 (Dimensions of shaft end Encoder with key and tap) connector Four, 9 dia. Eight, h: 9 145 dia. M8 (depth: 20) Dimensions (mm) Model R88M-G4K030...
Page 74 2-2 External and Mounting Hole Dimensions  3,000-r/min Flat Servomotors 100 W/200 W/400 W R88M-GP10030L(-S2)/-GP20030L(-S2)/-GP40030L(-S2)/-GP10030H(-S2) /-GP20030H(-S2)/-GP40030H(-S2)/-GP10030L-B(S2)/-GP20030L-B(S2) /-GP40030L-B(S2)/-GP10030H-B(S2)/-GP20030H-B(S2)/-GP40030H-B(S2) R88M-GP10030S(-S2)/-GP20030S(-S2)/-GP40030S(-S2)/-GP10030T(-S2) /-GP20030T(-S2)/-GP40030T(-S2)/-GP10030S-B(S2)/-GP20030S-B(S2) /-GP40030S-B(S2)/-GP10030T-B(S2)/-GP20030T-B(S2)/-GP40030T-B(S2) Encoder connector Motor connector Brake connector C × C (Dimensions of shaft end Four, Z dia. with key and tap) M (depth: L) Dimensions (mm) Model...
Page 75 2-2 External and Mounting Hole Dimensions  2,000-r/min Servomotors 1 kW/1.5 kW R88M-G1K020T(-S2)/-G1K520T(-S2)/-G1K020T-B(S2)/-G1K520T-B(S2) Servomotor/brake (Dimensions of shaft end connector 130 × 130 with key and tap) Encoder connector Four, 9 dia. Eight, h: 9 M5 (depth: 12) Dimensions (mm) Model R88M-G1K020...
Page 76 2-2 External and Mounting Hole Dimensions  2,000-r/min Servomotors 4 kW/5 kW R88M-G4K020T(-S2)/-G5K020T(-S2)/-G4K020T-B(S2)/-G5K020T-B(S2) Servomotor/brake connector C × C (Dimensions of shaft end Encoder with key and tap) connector Four, Z dia. M (depth: L) Dimensions (mm) Model LL LR D3 KL1 R88M-G4K020...
Page 77 2-2 External and Mounting Hole Dimensions  1,500-r/min Servomotors 7.5 kW R88M-G7K515T(-S2)/-G7K515T-B(S2) Brake connector Motor (Dimensions of shaft end Eye-bolt connector with key and tap) Nominal diameter: 10 176 × 176 Encoder 12, h: 9 Four, 13.5 dia. 24 3.2 connector M16 (depth:32) Dimensions (mm)
Page 78 2-2 External and Mounting Hole Dimensions  1,000-r/min Servomotors 900 W/2 kW R88M-G90010T(-S2)/-G2K010T(-S2)/-G90010T-B(S2)/-G2K010T-B(S2) Encoder connector Servomotor/brake connector (Dimensions of shaft end C × C with key and tap) Four, Z dia. M (depth: L) Dimensions (mm) Model LL LR G KL1 R88M-G90010...
Page 79 2-2 External and Mounting Hole Dimensions  1,000-r/min Servomotors 4.5 kW R88M-G4K510T(-S2)/-G4K510T-B(S2) (Dimensions of shaft end Servomotor/brake with key and tap) connector 176 × 176 Eye-bolt Nominal 12, h: 9 24 3.2 diameter: 10 Encoder connector Four, 13.5 dia. M16 (depth: 32) Dimensions (mm) Model R88M-G4K510...
Page 80 2-2 External and Mounting Hole Dimensions Parameter Unit Dimensions  R88A-PR02G Hand-held Parameter Unit (62) (24) M3 (depth: 5) (15) Mini DIN 8-pin (1500) MD connector 2-45...
Page 81 2-2 External and Mounting Hole Dimensions Servomotor and Decelerator Combinations 000-r/min Servomotors 1/11 Motor model (1/9 for flange size 1/21 1/33 1/45 No.11) R88G- R88G- R88G- R88M- HPG11B05100B HPG14A21100B R88G- R88G- HPG11B09050B G05030 (Also used with (Also used with HPG14A33050B HPG14A45050B...
Page 82 2-2 External and Mounting Hole Dimensions 3,000-r/min Flat Servomotors Motor model 1/11 1/21 1/33 1/45 R88M- R88G- R88G- R88G- R88G- R88G-       GP10030 HPG11B05100PB HPG14A11100PB HPG14A21100PB HPG20A33100PB HPG20A45100PB R88M- R88G- R88G- R88G- R88G- R88G-  ...
Page 83 2-2 External and Mounting Hole Dimensions 1,000-r/min Servomotors 1/11 1/21 1/33 Motor model (1/12 for flange size (1/20 for flange size (1/25 for flange size No.65) No.65) No.65) R88M- R88G- R88G- R88G- R88G- G90010T HPG32A05900TB HPG32A11900TB HPG50A21900TB HPG50A33900TB R88G- R88M- R88G- R88G- R88G-...
Page 84 2-2 External and Mounting Hole Dimensions Decelerator Dimensions  Backlash = 3’ Max. Decelerators for 3,000-r/min Servomotors Dimensions (mm) Model  1/5 R88G-HPG11B05100B 39.5 42 40 40 40 46 46 40.0 39.5 29  1/9 R88G-HPG11B09050B 39.5 42 40 40 40 46 46 40.0 39.5 29 ...
Page 85 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model LR C1 D1 D2  1/5 R88G-HPG14A05400B 64.0 58 70 56.0 55.5 2.5 21 1/11 R88G-HPG20A11400B 71.0 80 89 dia. 105 70 85.0 84.0 7.5 27 400 W 1/21 R88G-HPG20A21400B 71.0 80 89 dia.
Page 86 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model 104 133 120 122 dia. 135 100 115 114 1/5 R88G-HPG32A051K0B 98 12.5 35 104 133 120 122 dia. 135 100 115 114 1/11 R88G-HPG32A111K0B 98 12.5 35 104 133 120 122 dia. 135 100 115 114 1 kW 1/21 R88G-HPG32A211K0B...
Page 87 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model Key dimensions dimensions 1/5 R88G-HPG32A051K0B M612 5.0 M10 1/11 R88G-HPG32A111K0B M612 5.0 M10 1 kW 1/21 R88G-HPG32A211K0B M612 5.0 M10 1/33 R88G-HPG32A331K0B M612 5.0 M10 1/45 R88G-HPG50A451K0B M610 5.5 M10 1/5 R88G-HPG32A052K0B M810 5.0 M10 1/11 R88G-HPG32A112K0B...
Page 88 2-2 External and Mounting Hole Dimensions Decelerators for 2,000-r/min Servomotors Dimensions (mm) Model  1/5 R88G-HPG32A053K0B 107 133 120 130 130 135 145 115 114 98 12.5 35  1/11 R88G-HPG32A112K0SB 107 133 120 130 130 135 145 115 114 98 12.5 35 ...
Page 89 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model 1/5 R88G-HPG50A054K0SB 149 156 170 180180 190 165 165 163 122 103 12.0 53 1/11 R88G-HPG50A114K0SB 149 156 170 180180 190 165 165 163 122 103 12.0 53 4 kW 1/20 R88G-HPG65A204K0SB 231 222 230 180180 260 165 220 214 168 165 12.0 57 1/25 R88G-HPG65A254K0SB...
Page 90 2-2 External and Mounting Hole Dimensions Decelerators for 1,000-r/min Servomotors Dimensions (mm) Model 1/5 R88G-HPG32A05900TB 133 120 130130 135 145 115 114 98 12.5 35 1/11 R88G-HPG32A11900TB 133 120 130130 135 145 115 114 98 12.5 35 900 W 1/21 R88G-HPG50A21900TB 156 170 130130 190 145 165 163 122 103 12.0 53 1/33 R88G-HPG50A33900TB...
Page 91 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model Key dimensions dimensions 1/5 R88G-HPG32A05900TB M825 5.0 M10 1/11 R88G-HPG32A11900TB M825 5.0 M10 900 W 1/21 R88G-HPG50A21900TB M825 5.5 M10 1/33 R88G-HPG50A33900TB M825 5.5 M10 1/5 R88G-HPG32A052K0TB 11 M1225 5.0 M10 1/11 R88G-HPG50A112K0TB...
Page 92 2-2 External and Mounting Hole Dimensions Decelerators for 3,000-r/min Flat Servomotors Dimensions (mm) Model D1 D2 R88G-HPG11B05100PB 39.5 42 40 6060 46 70 40.0 39.5 29 1/11 R88G-HPG14A11100PB 64.0 58 60 6060 70 70 56.0 55.5 40 100 W 1/21 R88G-HPG14A21100PB 64.0 58 60 6060 70 70 56.0 55.5 40...
Page 93 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model LR C1 D1 D2 F1 F2 R88G-HPG20A05400PB 78.0 80 90 8080 105 90 85.0 84.0 59 53 7.5 27 1/11 R88G-HPG20A11400PB 78.0 80 90 8080 105 90 85.0 84.0 59 53 7.5 27 400 W 1/21 R88G-HPG20A21400PB...
Page 94 2-2 External and Mounting Hole Dimensions  Backlash = 15’ Max. Decelerators for 3,000-r/min Servomotors Dimensions (mm) Model R88G-VRXF05B100CJ 67.5 R88G-VRXF09B100CJ 67.5 50 W 1/15 R88G-VRXF15B100CJ 78.0 1/25 R88G-VRXF25B100CJ 78.0 R88G-VRXF05B100CJ 67.5 R88G-VRXF09B100CJ 67.5 100 W 1/15 R88G-VRXF15B100CJ 78.0 1/25 R88G-VRXF25B100CJ 78.0 R88G-VRXF05B200CJ...
Page 95 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model Key dimensions R88G-VRXF05B100CJ R88G-VRXF09B100CJ 50 W 1/15 R88G-VRXF15B100CJ 1/25 R88G-VRXF25B100CJ R88G-VRXF05B100CJ R88G-VRXF09B100CJ 100 W 1/15 R88G-VRXF15B100CJ 1/25 R88G-VRXF25B100CJ R88G-VRXF05B200CJ R88G-VRXF09C200CJ 200 W 1/15 R88G-VRXF15C200CJ 1/25 R88G-VRXF25C200CJ R88G-VRXF05C400CJ R88G-VRXF09C400CJ 400 W 1/15 R88G-VRXF15C400CJ 1/25 R88G-VRXF25C400CJ...
Page 96 2-2 External and Mounting Hole Dimensions Decelerators for 3,000-r/min Flat Servomotors Dimensions (mm) Model R88G-VRXF05B100PCJ 67.5 15.5 R88G-VRXF09B100PCJ 67.5 15.5 100 W 1/15 R88G-VRXF15B100PCJ 83.5 15.5 1/25 R88G-VRXF25B100PCJ 83.5 15.5 R88G-VRXF05B200PCJ 77.5 21.5 R88G-VRXF09C200PCJ 94.5 21.5 200 W 1/15 R88G-VRXF15C200PCJ 105.0 21.5 1/25...
Page 97 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model Key dimensions R88G-VRXF05B100PCJ R88G-VRXF09B100PCJ 100 W 1/15 R88G-VRXF15B100PCJ 1/25 R88G-VRXF25B100PCJ R88G-VRXF05B200PCJ R88G-VRXF09C200PCJ 200 W 1/15 R88G-VRXF15C200PCJ 1/25 R88G-VRXF25C200PCJ R88G-VRXF05C400PCJ R88G-VRXF09C400PCJ 400 W 1/15 R88G-VRXF15C400PCJ 1/25 R88G-VRXF25C400PCJ Outline Drawings Set bolt (AT) Key Dimensions m (depth l) 2-62...
Page 98 2-2 External and Mounting Hole Dimensions Decelerators for 3,000-r/min Servomotors Dimensions (mm) Model LR C1 C2 D4 E3 R88G-VRSF05B100CJ 67.5 32 R88G-VRSF09B100CJ 67.5 32 50 W 1/15 R88G-VRSF15B100CJ 78.0 32 1/25 R88G-VRSF25B100CJ 78.0 32 R88G-VRSF05B100CJ 67.5 32 R88G-VRSF09B100CJ 67.5 32 100 W 1/15 R88G-VRSF15B100CJ 78.0 32...
Page 99 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model Key dimensions R88G-VRSF05B100CJ 20 M4 M5 M3 12 R88G-VRSF09B100CJ 20 M4 M5 M3 12 50 W 1/15 R88G-VRSF15B100CJ 20 M4 M5 M3 12 1/25 R88G-VRSF25B100CJ 20 M4 M5 M3 12 R88G-VRSF05B100CJ 20 M4 M5 M3 12 R88G-VRSF09B100CJ 20 M4 M5 M3 12...
Page 100 2-2 External and Mounting Hole Dimensions Decelerators for 3,000-r/min Flat Servomotors Dimensions (mm) Model LR C1 C2 D1 D2 D3 D4 E3 R88G-VRSF05B100PCJ 67.5 32 R88G-VRSF09B100PCJ 67.5 32 100 W 1/15 R88G-VRSF15B100PCJ 78.0 32 1/25 R88G-VRSF25B100PCJ 78.0 32 R88G-VRSF05B200PCJ 72.5 32 R88G-VRSF09C200PCJ 89.5 50 200 W...
Page 101 2-2 External and Mounting Hole Dimensions Dimensions (mm) Model Key dimensions R88G-VRSF05B100PCJ 20 M4 R88G-VRSF09B100PCJ 20 M4 100 W 1/15 R88G-VRSF15B100PCJ 20 M4 1/25 R88G-VRSF25B100PCJ 20 M4 R88G-VRSF05B200PCJ 20 M5 R88G-VRSF09C200PCJ 30 M5 200 W 1/15 R88G-VRSF15C200PCJ 30 M5 1/25 R88G-VRSF25C200PCJ 30 M5 R88G-VRSF05C400PCJ 30 M5...
Page 102 2-2 External and Mounting Hole Dimensions External Regeneration Resistor Dimensions  External Regeneration Resistor R88A-RR08050S/-RR080100S Thermal switch output t1.2 R88A-RR22047S1 Thermal switch output t1.2 R88A-RR50020S t1.6 2-67...
Page 103 2-2 External and Mounting Hole Dimensions Reactor Dimensions  3G3AX-DL2002 Two, M4 Ground terminal (M4) Four, 5.2 × 8  3G3AX-DL2004 Two, M4 Ground terminal (M4) Four, 5.2 × 8 2-68...
Page 104 2-2 External and Mounting Hole Dimensions  3G3AX-DL2007 Two, M4 Ground terminal (M4) Four, 5.2 × 8  3G3AX-DL2015 Two, M4 Ground terminal (M4) Four, 5.2 × 8 2-69...
Page 105 2-2 External and Mounting Hole Dimensions  3G3AX-DL2022 Two, M4 Ground terminal (M4) Four, 6 × 9  3G3AX-AL2025/-AL2055 Ground terminal (M5) Six, M4 terminal screws Terminal block Ro R So S To T Ro R So S To Connection Diagram Four, 6 dia.
Page 106 2-2 External and Mounting Hole Dimensions  3G3AX-AL2110/-AL2220 Terminal holes: Six, K dia. Ro R So S To R So S To Connection Diagram X±1 Y±1 Four, 6 dia. W=Terminal width (Notch) Ground terminal (M6) Dimensions (mm) Model 3G3AX-AL2110 150 103 70 170 108 60 80 5.3 3G3AX-AL2220 180 113 75 190 140 90...
Page 107 2-2 External and Mounting Hole Dimensions MECHATROLINK-II Repeater Dimensions  FNY-REP2000 Dimensions (97) (34) (20) 14 10 Dimensions Bottom Mounting Back Mounting M4 tap M4 tap 2-72...
Page 109 Chapter 3 Specifications 3-1 Servo Drive Specifications ......... 3-1 General Specifications ............3-1 Characteristics ..............3-2 Main Circuit and Servomotor Connector Specifications..3-7 Control I/O Connector Specifications (CN1) ......3-10 Control Input Circuits ............3-14 Control Output Circuits............3-14 Control Sequence Timing .............3-15 Encoder Connector Specifications (CN2) ......3-16 Parameter Unit Connector Specifications (CN3) ....3-16 3-2 Servomotor Specifications .........
Page 110: Servo Drive Specifications
3-1 Servo Drive Specifications 3-1 Servo Drive Specifications Select the Servo Drive matching the Servomotor to be used. (For details, refer to Servo Drive- Servomotor Combinations on page 2-5.) OMNUC G-series Servo Drives are designed specifically for use with MECHATROLINK-II communication.
Page 111 3-1 Servo Drive Specifications Characteristics  Servo Drives with 100-VAC Input Power R88D-GNA5L- R88D-GN01L- R88D-GN02L- R88D-GN04L- Item Continuous output current (rms) 1.3 A 1.8 A 2.4 A 4.9 A Momentary maximum output current (rms) 3.9 A 5.4 A 7.2 A 14.7 A Power supply...
Page 112 3-1 Servo Drive Specifications  Servo Drives with Single-phase 200-VAC Input Power R88D- R88D- R88D- R88D- R88D- R88D- Item GN01H- GN02H- GN04H- GN08H- GN10H- GN15H- Continuous output current (rms) 1.16 A 1.6 A 2.7 A 4.0 A 5.9 A 9.8 A Momentary maximum output current (rms) 3.5 A 5.3 A...
Page 113 3-1 Servo Drive Specifications  Servo Drives with Three-phase 200-VAC Input Power R88D-GN20H- R88D-GN30H- R88D-GN50H- R88D-GN75H- Item Continuous output current (rms) 14.3 A 17.4 A 31.0 A 45.4 A Momentary maximum output current (rms) 45.3 A 63.6 A 84.8 A 170.0 A Power supply...
Page 114 3-1 Servo Drive Specifications  Protective Functions Error detection Description The voltage between P and N in the control voltage converter has dropped Control power supply undervoltage below the specified value. The voltage between P and N in the converter has exceeded the specified Overvoltage value.
Page 115 3-1 Servo Drive Specifications Error detection Description Encoder phase Z error A phase Z pulse was not detected regularly for the serial encoder. Encoder PS signal error A logic error in the PS signal was detected for the serial encoder. The rotary switch for setting the node address of the Servo Drive was out Node address setting error of range when the control power was turned ON.
Page 116: Servo Drive Specifications
3-1 Servo Drive Specifications Main Circuit and Servomotor Connector Specifications When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.  R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2 R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/ -GN15H-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function R88D-GNL-ML2 (50 to 400 W): Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz Main circuit...
Page 117 3-1 Servo Drive Specifications  R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2 Main Circuit Terminal Block Specifications Symbol Name Function Main circuit power R88D-GNH-ML2 (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz supply input Control circuit R88D-GNH-ML2: Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz power supply input External 2 to 5 kW: Normally B2 and B3 are shorted.
Page 118 3-1 Servo Drive Specifications  R88D-GN75H-ML2 Main Circuit Terminal Block Specifications (TB1) Symbol Name Function Main circuit power R88D-GN75H-ML2 (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V), supply input 50/60 Hz External 6 to 7.5 kW: A regeneration resistor is not built in. Regeneration Connect an External Regeneration Resistor between B1 and B2, Resistor...
Page 119: Control I/O Connector Specifications (Cn1)
3-1 Servo Drive Specifications Control I/O Connector Specifications (CN1)  Control I/O Signal Connections and External Signal Processing 24VIN 4.7k: 12 to 24 VDC /ALM Alarm Output Emergency Stop STOP External ALMCOM 4.7k: power supply: 12 VDC 5% to OUTM1 24 VDC 5% External Latch 3...
Page 120 3-1 Servo Drive Specifications  Control I/O Signals CN1 Control Input Signals Symbol Name Function/Interface 12 to 24-VDC Power Power supply input terminal (12 to 24 VDC) for sequence +24VIN Supply Input inputs. Input for emergency stop. When this signal is enabled and pin 1 is not connected to pin 2, an Emergency Stop Input error (alarm code 87) oc- STOP Emergency Stop Input...
Page 121 3-1 Servo Drive Specifications CN1 Control Output Signals Symbol Name Function/Interface /ALM The output is OFF when an alarm is generated in the Ser- Alarm Output vo Drive. ALMCOM OUTM2 General-purpose Output 2 (READY) OUTM2COM This is a general-purpose output. The function for this OUTM3 General-purpose output is selected by changing the parameter.
Page 122 3-1 Servo Drive Specifications  CN1 Pin Arrangement 12 to 24-VDC Forward Drive +24VIN Power Supply Prohibit Input Input Emergency Reverse Drive STOP Stop Input Prohibit Input External Latch Origin Proximity EXT3 External Signal 3 Input External Latch EXT2 General-purpose Signal 2 External Input 0...
Page 123: Control Input Circuits
3-1 Servo Drive Specifications Control Input Circuits  Control Inputs For the relay contact, use either a switch, or a transistor with an open-collector output. External power supply: 4.7: 12 VDC r5% to +24VIN 24 VDC r5% Power supply capacity: Photocoupler input 50 mA min.
Page 124: Control Sequence Timing
3-1 Servo Drive Specifications Control Sequence Timing  Power ON operation timing Control power supply (L1C, L2C) Approx. 100 to 300 ms Internal control power supply Approx. 2 s MPU initialization completed Initialize*2 0 ms min. Main circuit power supply (L1, L2, L3) Approx.
Page 125: Encoder Connector Specifications (Cn2)
3-1 Servo Drive Specifications Encoder Connector Specifications (CN2) Symbol Name Function/Interface Encoder power supply +5 V Power supply output for the encoder 5.2 V, 180 mA Encoder power supply BAT+ Battery + Backup power supply output for the absolute encoder. ...
Page 126: Servomotor Specifications
3-2 Servomotor Specifications 3-2 Servomotor Specifications The following OMNUC G-Series AC Servomotors are available. 3,000-r/min Servomotors 3,000-r/min Flat Servomotors 2,000-r/min Servomotors 1,000-r/min Servomotors There are various options available on the Servomotors, such as models with brakes or different shaft types. Select a Servomotor based on the mechanical system’s load conditions and the installation environment.
Page 127 3-2 Servomotor Specifications Characteristics  3,000-r/min Servomotors 100 VAC Model (R88M-) G05030H G10030L G20030L G40030L G05030T G10030S G20030S G40030S Item Unit Rated output Rated torque N·m 0.16 0.32 0.64 Rated rotation speed r/min 3000 Max. momentary rotation r/min 5000 speed Max.
Page 128 3-2 Servomotor Specifications 200 VAC Model (R88M-) G05030H G10030H G20030H G40030H G75030H G05030T G10030T G20030T G40030T G75030T Item Unit Rated output Rated torque N·m 0.16 0.32 0.64 Rated rotation speed r/min 3000 Max. momentary rotation r/min 5000 4500 speed Max. momentary torque N·m 0.45 0.90...
Page 129 3-2 Servomotor Specifications 200 VAC Model (R88M-) G1K030T G1K530T G2K030T G3K030T G4K030T G5K030T Item Unit Rated output 1000 1500 2000 3000 4000 5000 Rated torque N·m 3.18 4.77 6.36 9.54 12.6 15.8 Rated rotation speed r/min 3000 Max. momentary rotation r/min 5000 4500...
Page 130 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia  The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
Page 131 3-2 Servomotor Specifications  3,000-r/min Servomotors with 200-VAC Power Input The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input.  R88M-G05030H/T (50 W)  R88M-G10030H/T (100 W)  R88M-G20030H/T (200 W) (N·m) (N·m) (N·m) 1.0 0.93 0.93 2.0 1.78...
Page 132 3-2 Servomotor Specifications  Use the following Servomotors in the ranges shown in the graphs below. Precautions Using outside of these ranges may cause the Servomotor to generate for Correct Use heat, which could result in encoder malfunction.  R88M-G05030H/T ...
Page 133 3-2 Servomotor Specifications  3,000-r/min Flat Servomotors 100 VAC 200 VAC Model (R88M-) GP10030L GP20030L GP40030L GP10030H GP20030H G40030H GP10030S GP20030S GP40030S GP10030T GP20030T G40030T Item Unit Rated output Rated torque N·m 0.32 0.64 0.32 0.64 Rated rotation speed r/min 3000 3000 Max.
Page 134 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia  The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
Page 135 3-2 Servomotor Specifications  2,000-r/min Servomotors 200 VAC Model (R88M-) G1K020T G1K520T G2K020T G3K020T G4K020T G5K020T G7K515T Item Unit Rated output 1000 1500 2000 3000 4000 5000 7500 Rated torque N·m 7.15 9.54 14.3 18.8 23.8 Rated rotation speed r/min 2000 1500 Max.
Page 136 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia  The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
Page 137 3-2 Servomotor Specifications  1,000-r/min Servomotors 200 VAC Model (R88M-) G90010T G2K010T G3K010T G4K510T G6K010T Item Unit Rated output 2000 3000 4500 6000 Rated torque N·m 8.62 19.1 28.4 42.9 57.2 Rated rotation speed r/min 1000 Max. momentary rotation r/min 2000 speed Max.
Page 138 3-2 Servomotor Specifications *1. These are the values when the Servomotor is combined with a Servo Drive at room temperature (20C, 65%). The maximum momentary torque indicates the standard value. *2. Applicable Load Inertia  The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity.
Page 139 3-2 Servomotor Specifications  Use the following Servomotors in the ranges shown in the graphs below. Precautions Using outside of these ranges may cause the Servomotor to generate for Correct Use heat, which could result in encoder malfunction.  R88M-G4K510 ...
Page 140: Encoder Specifications
3-2 Servomotor Specifications Encoder Specifications  Incremental Encoders Item Specifications Encoder system Optical encoder Phases A and B: 2,500 pulses/rotation No. of output pulses Phase Z: 1 pulse/rotation Power supply voltage 5 VDC 5% Power supply current 180 mA (max.) ...
Page 141: Decelerator Specifications
3-3 Decelerator Specifications 3-3 Decelerator Specifications The following Decelerators are available for use with OMNUC G-Series Servomotors. Select a Decelerator matching the Servomotor capacity. Standard Models and Specifications  Backlash = 3’ Max. Decelerators for 3,000-r/min Servomotors Maxi- Maxi- Rated Allow- Allow- Effi-...
Page 142 3-3 Decelerator Specifications Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 16.0 2.07 10 5.66 1000 1.09...
Page 143 3-3 Decelerator Specifications Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 3.90 10 26.7 1000 77.4...
Page 144 3-3 Decelerator Specifications Decelerators for 2,000-r/min Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- rota- Rated momen- Decelerator able able cien- momen- Weight tion torque tary inertia radial thrust Model tary speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 3.80 10...
Page 145 3-3 Decelerator Specifications Maxi- Rated Maximum Allow- Allow- rota- Rated Effi- momen- momen- Decelerator able able Weight tion torque ciency tary tary inertia radial thrust Model speed rotation torque load load speed r/min N·m r/min N·m kg·m R88G- 3.80 10 66.0 190.1 3542...
Page 146 3-3 Decelerator Specifications Decelerators for 1,000-r/min Servomotors Maxi- Maxi- Rated Allow- Allow- rota- Rated Effi- momen- Decelerator able able momen- Weight tion torque ciency tary inertia radial thrust Model tary speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 3.80 10...
Page 147 3-3 Decelerator Specifications Decelerators for 3,000-r/min Flat Servomotor Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G-...
Page 148 3-3 Decelerator Specifications  Backlash = 15’ Max. Decelerators for 3,000-r/min Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated able able cien- Weight tion torque mentary radial thrust Model mentary inertia speed rotation load load torque speed r/min N·m r/min N·m...
Page 149 3-3 Decelerator Specifications Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated able able cien- Weight tion torque mentary radial thrust Model mentary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 16.15 5 3.7  10 5.72 1000 1.70...
Page 150 3-3 Decelerator Specifications Decelerators for 3,000-r/min Flat Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G-...
Page 151 3-3 Decelerator Specifications Decelerators for 3,000-r/min Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 4.00 10...
Page 152 3-3 Decelerator Specifications Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G- 15.6 3.63 10 5.40 1000 1.70...
Page 153 3-3 Decelerator Specifications Decelerators for 3,000-r/min Flat Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight tion torque tary radial thrust Model tary inertia speed rotation load load torque speed r/min N·m r/min N·m kg·m R88G-...
Page 154: Cable And Connector Specifications
3-4 Cable and Connector Specifications 3-4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between a Servo Drive and Servomotor. Select the Encoder Cable matching the Servomotor.  Encoder Cables (Standard Cables) R88A-CRGAC Cable Models For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W...
Page 155 3-4 Cable and Connector Specifications R88A-CRGBC Cable Models For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CRGB003C Approx. 0.2 kg R88A-CRGB005C Approx.
Page 156 3-4 Cable and Connector Specifications R88A-CRGCN Cable Models For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,500-r/min Servomotors of 7.5 kW, and 1,000-r/min Servomotors of 900 W to 6 kW Model Length (L) Outer diameter of sheath...
Page 157 3-4 Cable and Connector Specifications  Encoder Cables (Robot Cables) R88A-CRGACR Cable Models For absolute encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CRGA003CR Approx.
Page 158 3-4 Cable and Connector Specifications R88A-CRGBCR Cable Models For incremental encoders: 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CRGB003CR Approx. 0.2 kg R88A-CRGB005CR Approx.
Page 159 3-4 Cable and Connector Specifications R88A-CRGCNR Cable Models For both absolute encoders and incremental encoders: 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, 1,000-r/min Servomotors of 900 W to 4.5 kW Model Length (L) Outer diameter of sheath Weight R88A-CRGC003NR...
Page 160: Absolute Encoder Battery Cable Specifications
3-4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications Cable Models Model Length (L) R88A-CRGD0R3C 0.3 m Connection Configuration and Dimensions 43.5 43.5 Servo Drive Servomotor R88D− R88M−G@ GN@− t=12 t=12 Battery holder Wiring Servo Drive Servomotor Signal Signal Connector socket: Black 54280-0609...
Page 161: Servomotor Power Cable Specifications
3-4 Cable and Connector Specifications Servomotor Power Cable Specifications These cables connect the Servo Drive and Servomotor. Select the cable matching the Servomotor. Precautions  Use a robot cable if the Servomotor is to be used on moving parts. for Correct Use ...
Page 162 3-4 Cable and Connector Specifications R88A-CAGBS Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Model Length (L) Outer diameter of sheath Weight R88A-CAGB003S Approx. 0.7 kg R88A-CAGB005S Approx.
Page 163 3-4 Cable and Connector Specifications R88A-CAGCS Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGC003S Approx. 0.7 kg R88A-CAGC005S Approx. 1.0 kg R88A-CAGC010S 10 m Approx. 2.0 kg R88A-CAGC015S 15 m Approx.
Page 164 3-4 Cable and Connector Specifications R88A-CAGDS Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGD003S Approx.
Page 165 3-4 Cable and Connector Specifications R88A-CAGES Cable Models For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGE003S Approx. 4.0 kg R88A-CAGE005S Approx. 6.5 kg R88A-CAGE010S 10 m Approx. 12.6 kg R88A-CAGE015S 15 m Approx.
Page 166 3-4 Cable and Connector Specifications  Power Cables for Servomotors without Brakes (Robot Cables) R88A-CAGASR Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CAGA003SR Approx.
Page 167 3-4 Cable and Connector Specifications R88A-CAGBSR Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Model Length (L) Outer diameter of sheath Weight R88A-CAGB003SR Approx. 0.8 kg R88A-CAGB005SR Approx.
Page 168 3-4 Cable and Connector Specifications R88A-CAGCSR Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGC003SR Approx. 0.8 kg R88A-CAGC005SR Approx. 1.3 kg R88A-CAGC010SR 10 m Approx. 2.4 kg R88A-CAGC015SR 15 m Approx.
Page 169 3-4 Cable and Connector Specifications R88A-CAGDSR Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGD003SR Approx.
Page 170 3-4 Cable and Connector Specifications  Power Cables for Servomotors with Brakes (Standard Cables) R88A-CAGBB Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Model Length (L) Outer diameter of sheath Weight R88A-CAGB003B...
Page 171 3-4 Cable and Connector Specifications R88A-CAGCB Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGC003B Approx. 0.8 kg R88A-CAGC005B Approx. 1.3 kg R88A-CAGC010B 10 m Approx. 2.4 kg R88A-CAGC015B 15 m Approx.
Page 172 3-4 Cable and Connector Specifications R88A-CAGDB Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGD003B Approx.
Page 173 3-4 Cable and Connector Specifications  Power Cables for Servomotors with Brakes (Robot Cables) R88A-CAGBBR Cable Models For 3,000-r/min Servomotors of 1 to 1.5 kW, 2,000-r/min Servomotors of 1 to 1.5 kW, and 1,000-r/min Servomotors of 900 W Model Length (L) Outer diameter of sheath Weight R88A-CAGB003BR...
Page 174 3-4 Cable and Connector Specifications R88A-CAGCBR Cable Models For 3,000-r/min Servomotors of 2 kW and 2,000-r/min Servomotors of 2 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGC003BR Approx. 0.9 kg R88A-CAGC005BR Approx. 1.5 kg R88A-CAGC010BR 10 m Approx. 2.8 kg R88A-CAGC015BR 15 m Approx.
Page 175 3-4 Cable and Connector Specifications R88A-CAGDBR Cable Models For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, and 1,000-r/min Servomotors of 2 to 4.5 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGD003BR Approx.
Page 176 3-4 Cable and Connector Specifications  Brake Cables (Standard Cables) R88A-CAGAB Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CAGA003B Approx. 0.1 kg R88A-CAGA005B Approx.
Page 177 3-4 Cable and Connector Specifications R88A-CAGEB Cable Models For 1,500-r/min Servomotors of 7.5 kW and 1,000-r/min Servomotors of 6 kW Model Length (L) Outer diameter of sheath Weight R88A-CAGE003B Approx. 0.2 kg R88A-CAGE005B Approx. 0.3 kg R88A-CAGE010B 10 m Approx. 0.5 kg R88A-CAGE015B 15 m Approx.
Page 178 3-4 Cable and Connector Specifications  Brake Cables (Robot Cables) R88A-CAGABR Cable Models For 3,000-r/min Servomotors of 50 to 750 W and 3,000-r/min Flat Servomotors of 100 to 400 W Model Length (L) Outer diameter of sheath Weight R88A-CAGA003BR Approx. 0.1 kg R88A-CAGA005BR Approx.
Page 179 Note3. If a bending radius smaller than the minimum bending radius is used, it may result in mechanical damage or ground fault damage due to insulation breakdown. If it is necessary to use a bending radius smaller than the minimum bending radius, consult with your OMRON representative. Encoder Cables Model Minimum bending radius (R) R88A-CRGACR...
Page 180 3-4 Cable and Connector Specifications Brake Cables Model Minimum bending radius (R) R88A-CAGABR 45 mm : 003 to 050 Moving Bend Test Stroke: 750 mm Bending radius (R) 30 times/min *1. Encoder cable: 30 to 50 m only Stroke: 550 mm, 50 times/min 3-71...
Page 181: Communications Cable Specifications
3-4 Cable and Connector Specifications Communications Cable Specifications  Computer Monitor Cable Cable Models Cables for RS-232 Communications Model Length (L) Outer diameter of sheath Weight R88A-CCG002P2 5.2 dia. Approx. 0.12 kg Connection Configuration and Dimensions 2000 Personal computer Servo Drive R88D-GN@ Wiring Personal computer...
Page 182: Connector Specifications
3-4 Cable and Connector Specifications Connector Specifications  Control I/O Connector (R88A-CNU01C) This connector connects to the control I/O connector (CN1) on the Servo Drive. Use this connector when preparing a control cable yourself. Dimensions Connector plug: 10136-3000PE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) t=18...
Page 183 3-4 Cable and Connector Specifications R88A-CNG01R (for Servomotor Connector) Use the following cable.  Applicable wire: AWG22 max.  Outer diameter of sheath: 1.75 mm dia. max. Panel Mounting Hole ±0.4 ±0.4 23.7 5.35 ( 8.8 ) 14.55 ±0.15 Connector housing: *1.
Page 184 3-4 Cable and Connector Specifications  Power Cable Connector (R88A-CNG01A) This connector is used for power cables. Use it when preparing a power cable yourself. Panel Mounting Hole ±0.4 ±0.4 11.8 23.7 5.35 ( 8.8 ) 10.35 ±0.15 Connector housing: Applicable panel thickness: 172159-1 (Tyco Electronics AMP KK) 0.8 to 2.0 mm...
Page 185: Mechatrolink-Ii Communications Cable Specifications
3-4 Cable and Connector Specifications MECHATROLINK-II Communications Cable Specifications  MECHATROLINK Communications Cable (With Connectors and ferrite cores on both ends) (FNY-W6003-) Cable Models Model Model Length (L) FNY-W6003-A5 0.5 m FNY-W6003-01 FNY-W6003-03 MECHATROLINK-II cable FNY-W6003-05 FNY-W6003-10 10 m FNY-W6003-20 20 m FNY-W6003-30 30 m...
Page 186 3-4 Cable and Connector Specifications Wiring The diagram below shows a typical connection between a host device and the Servo Drive using a MECHATROLINK-II communications cable. NC Unit Termination resistor Note1. Cable length between nodes (L1, L2, ... Ln) should be 0.5 m or longer. ...
Page 187: Control Cable Specifications
10336-52A0-008 (Sumitomo 3M) Pink/Red (2) EXT3 EXT3 Green/Red (2) BATCOM BATCOM Terminal Block Connector Green/Black (2) Connector socket: XG4M-2030 OUTM1COM Orange/Red (2) OUTM1COM (OMRON) Orange/Black (2) OUTM1 OUTM1 Strain relief: XG4T-2004 Gray/Red (2) ALMCOM ALMCOM Gray/Black (2) (OMRON) /ALM /ALM Shell Cable ×...
Page 188 3-4 Cable and Connector Specifications  Connector-Terminal Block Conversion Unit The Connector-Terminal Block Conversion Unit can be used along with a Connector Terminal Block Cable (XW2Z-J-B33) to convert the Servo Drive's control I/O connector (CN1) to a terminal block. XW2B-20G4 (M3 screw terminal block) ...
Page 189 3-4 Cable and Connector Specifications XW2B-20G5 (M3.5 screw terminal block)  Dimensions Flat cable connector (MIL connector) 112.5 Two, 3.5 dia. Terminal block  Terminal block pitch: 8.5 mm  When using crimp terminals, use crimp terminals with the following Precautions dimensions.
Page 190 3-4 Cable and Connector Specifications XW2D-20G6 (M3 screw terminal block)  Dimensions (39.1) 17.6 Two, 4.5 dia.  When using crimp terminals, use crimp terminals with the following Precautions dimensions. for Correct Use  When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N·m.
Page 191 3-4 Cable and Connector Specifications  Terminal Block Wiring Example (common for XW2B-20G4/-20G5, XW2D-20G6) +24V +24V +24V STOP POT EXT1 EXT3 BAT OUTM1 /ALM EXT2 BAT OUTM1 24 VDC 24 VDC *1. Absolute encoder backup battery 3.6 to 4.5 V *2.
Page 192: Parameter Unit Specifications
3-5 Parameter Unit Specifications 3-5 Parameter Unit Specifications  R88A-PR02G Hand-held Parameter Unit The Parameter Unit is required to operate the Servo Drive from a distance away from the Servo Drive, or to operate and monitor the Servo Drive from a control panel. The cable connected to the Parameter Unit is 1.5 m long.
Page 193: External Regeneration Resistor Specifications
3-6 External Regeneration Resistor Specifications 3-6 External Regeneration Resistor Specifications External Regeneration Resistor Specifications  R88A- RR08050S Regeneration Nominal Heat radiation Thermal switch Model Resistance absorption for 120°C capacity condition output specifications temperature rise Operating temperature: 150C  5% NC contact Aluminum, Rated output (resistive R88A-...
Page 194 3-6 External Regeneration Resistor Specifications  R88A-RR50020S Regeneration Nominal Heat radiation Thermal switch Model Resistance absorption for 120°C capacity condition output specifications temperature rise Operating temperature: 200C  7C NC contact Aluminum, Rated output (resistive R88A- 20  600  600, 500 W 180 W load):...
Page 195: Reactor Specifications
3-7 Reactor Specifications 3-7 Reactor Specifications Connect a Reactor to the Servo Drive as a harmonic current control measure. Select a model matching the Servo Drive to be used.  Specifications Reactor specifications Servo Drive Model Rated Reactor Model Inductance Weight current type...
Page 196: Mechatrolink-Ii Repeater Specifications
3-8 MECHATROLINK-II Repeater Specifications 3-8 MECHATROLINK-II Repeater Specifications A MECHATROLINK-II Repeater is required to extend the MECHATROLINK-II connection distance.  FNY-REP2000 Item Specifications Between Controller and Repeater: 50 m max. Cable length Between Repeater and Terminator: 50 m max. Between Controller and Repeater: 14 over 50 m or 15 over 30 m Between Repeater and terminating resistance: 15 over 50 m or 16 over 30 m Maximum number of The total number of nodes on both sides of the Repeater cannot exceed the...
Page 197 3-8 MECHATROLINK-II Repeater Specifications Connection Method The following diagram shows an example of connections between a host Controller, Servo Drives, and a Repeater. MECHATROLINK-II MECHATROLINK-II 30 m or less: 15 nodes max. 30 m or less: 16 nodes max. 30 to 50 m: 14 nodes max. 30 to 50 m: 15 nodes max.
Page 199 Chapter 4 System Design 4-1 Installation Conditions ........4-1 Servo Drives .................4-1 Servomotors................4-3 Decelerators................4-7 4-2 Wiring ..............4-13 Connecting Cables..............4-13 Selecting Connecting Cables..........4-14 Peripheral Device Connection Examples......4-18 Main Circuit and Servomotor Connector Specifications..4-22 4-3 Wiring Conforming to EMC Directives....4-28 Wiring Method...............4-28 Selecting Connection Components........4-33 Conformity to IEC 61800-5-1 ..........4-46...
Page 200: Installation Conditions
4-1 Installation Conditions 4-1 Installation Conditions Servo Drives  Space around Drives  Install Servo Drives according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. If the Servo Drives are to be installed side by side, install a fan for air circulation to prevent uneven temperatures from developing inside the panel.
Page 201 4-1 Installation Conditions  If a Servo Drive is always operated at the ambient temperature of 55C and with 100% of the rated torque and rated rotation speed, its service life is expected to be approximately 28,000 hours (excluding the axial-flow fan). A drop of 10C in the ambient temperature will double the expected service life.
Page 202: Servomotors
4-1 Installation Conditions Servomotors  Operating Environment  The environment in which the Servomotor is operated must meet the following conditions. Operating the Servomotor outside of the following ranges may result in malfunction of the Servomotor. Ambient operating temperature: 0 to 40C (See note.) Ambient operating humidity: 85% RH max.
Page 203 4-1 Installation Conditions  When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.  A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications to be placed on the motor shaft.
Page 204 The Servomotor oil seal dimensions are given below. The expected service life of an oil seal is approximately 5,000 hours. The actual life depends on the application conditions and environment. Oil seal installation and replacement are treated as repair work. For inquiries, consult your OMRON representative.
Page 205 4-1 Installation Conditions  Other Precautions  Take measures to protect the shaft from corrosion. The shafts are coated with anti-corrosion oil when shipped, but anti-corrosion oil should be removed when connecting the shaft to a load. WARNING Do not apply commercial power directly to the Servomotor. Doing so may result in fire.
Page 206: Decelerators
4-1 Installation Conditions Decelerators  Installing Decelerators Installing an R88G-HPG (Backlash = 3’ Max.) Use the following procedure to install the Decelerator on the Servomotor. 1. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap.
Page 207 4-1 Installation Conditions Installing the Decelerator When installing the R88G-HPG, first make sure that the mounting surface is flat and that there are no burrs on the tap sections, and then bolt on the mounting flanges. Mounting Flange Bolt Tightening Torque for Aluminum R88G-HPG Number of bolts Bolt size...
Page 208 4-1 Installation Conditions Installing an R88G-VRXF (Backlash = 15’ Max.) Use the following procedure to install the Decelerator to the Servomotor. 1. Turn the input joint and align the head of the bolt that secures the shaft with the cap. Check that the set bolt is loose.
Page 209 4-1 Installation Conditions Installing Decelerator into the Machine When you install the R88G-VRXF into the machine, confirm that the mounting surface is flat and there are no burrs on the tap sections, and fix the mounting flange with bolts. Bolt tightening torque on the mounting flange (for aluminum) R88G-VRXF Number of bolts Size of bolts...
Page 210 4-1 Installation Conditions Installing an R88G-VRSF (Backlash = 15’ Max.) Use the following procedure to install the Decelerator on the Servomotor. 1. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap. Make sure the set bolts are loose.
Page 211 4-1 Installation Conditions Installing the Decelerator When installing the R88G-VRSF, first make sure that the mounting surface is flat and that there are no burrs on the tap sections, and then bolt on the mounting flanges. Mounting Flange Bolt Tightening Torque for Aluminum R88G-VRSF B frame C frame...
Page 212: Wiring
4-2 Wiring 4-2 Wiring Connecting Cables This section shows the types of connecting cables used in an OMNUC G-Series servo system.  System Configuration CN6A/CN6B (MECHATROLINK-II Communications Controller Controller Connector) MECHATROLINK-II Cable Motion Control Unit (Control I/O Connector) CJ1W-NCF71 Servo Drive Servo Drive Connector Terminal Block and Cable R88D-GN@-ML2...
Page 213: Selecting Connecting Cables
4-2 Wiring Selecting Connecting Cables  Encoder Cables (Standard Cables) Select an Encoder Cable matching the Servomotor to be used. Servomotor type Encoder Cable Comments 50 to 750 W R88A-CRGAC 000-r/min Servomotors R88A-CRGBC 50 to 750 W The  digits in the model 1 to 5 kW R88A-CRGCN number indicate the cable...
Page 214 4-2 Wiring  Power Cables (Standard Cables) Select a Power Cable matching the Servomotor to be used. Power Cables for Servomotors Power Cables for Servomotors Servomotor type Without Brakes With Brakes R88A-CAGAS (For Power Connector) 50 to 750 W R88A-CAGAS R88A-CAGAB (For Brake Connector) 000-r/min Servomotors...
Page 215 4-2 Wiring  Power Cables (Robot Cables) Use a robot cable when the power cable must be flexible. Power Cables for Servomotors Power Cables for Servomotors Servomotor type without Brakes with Brakes R88A-CAGASR (For Power Connector) 50 to 750 W R88A-CAGASR R88A-CAGABR (For Brake Connector)
Page 216 4-2 Wiring  Connector-Terminal Blocks and Cables These are used to convert the Servo Drive's control I/O Connector (CN1) signals to a terminal block. Connector Terminal Block Cable Comments The  digits in the model number XW2B-20G4 indicate the cable length (1 m and XW2B-20G5 XW2Z-J-B33 2 m).
Page 217: Peripheral Device Connection Examples
Recommended products are listed in 24 VDC 4-3 Wiring Conforming to EMC Directives. ALMCOM Recommended relay: MY Relay (24 V), by OMRON. For example, the MY2 24 VDC Relay's rated inductive load is 2 A at 24 BKIR VDC and applicable to all G-Series...
Page 218 4-3 Wiring Conforming to EMC Directives. /ALM Recommended relay: MY Relay 24 VDC (24 V), by OMRON. For example, ALMCOM the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to 24 VDC all G-Series Servomotors with brakes.
Page 219 Recommended products are listed in 4-3 Wiring Conforming to EMC Directives. Recommended relay: MY Relay /ALM (24 V), by OMRON. For example, 24 VDC the MY2 Relay's rated inductive ALMCOM load is 2 A at 24 VDC and applicable to all G-Series Servomotors with brakes.
Page 220 Fan Stop to EMC Directives. /ALM Recommended relay: MY Relay 24 VDC (24 V), by OMRON. For example, ALMCOM the MY2 Relay's rated inductive load is 2 A at 24 VDC and applicable to 24 VDC all G-Series Servomotors with brakes.
Page 221: Main Circuit And Servomotor Connector Specifications
4-2 Wiring Main Circuit and Servomotor Connector Specifications When wiring the main circuit, use proper wire sizes, grounding systems, and anti-noise measures.  R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN04L-ML2 R88D-GN01H-ML2/-GN02H-ML2/-GN04H-ML2/-GN08H-ML2/-GN10H-ML2/ -GN15H-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function R88D-GNL-ML2 (50 to 400 W): Single-phase 100 to 115 VAC (85 to 127 V), 50/60 Hz Main circuit R88D-GNH-ML2 (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 V),...
Page 222 4-2 Wiring  R88D-GN20H-ML2/-GN30H-ML2/-GN50H-ML2 Main Circuit Terminal Block Specifications Symbol Name Function Main circuit power R88D-GNH-ML2 (2 to 5 kW): Three-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz supply input Control circuit R88D-GNH-ML2 : Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz power supply input External 2 to 5 kW: Normally B2 and B3 are shorted.
Page 223 4-2 Wiring  R88D-GN75H-ML2 Main Circuit Terminal Block Specifications (TB1) Symbol Name Function Main circuit power R88D-GN75H-ML2 (6 to 7.5 kW): Three-phase 200 to 230 VAC (170 to 253 V), supply input 50/60 Hz External 6 to 7.5 kW: A regeneration resistor is not built in. Regeneration Connect an External Regeneration Resistor between B1 and B2, if Resistor...
Page 224 4-2 Wiring  Terminal Block Wire Sizes 100-VAC Input: R88D-GNL-ML2 Model (R88D-) GNA5L- GN01L- GN02L- GN04L- Item Unit Power supply capacity Main circuit power Rated current supply input (L1 and L3 or Wire size AWG18 AWG16 L1, L2, and L3) Control circuit Rated current 0.09...
Page 225 *1. The left value is for single-phase input power, and the right value is for three-phase input power. 2. Use the same wire sizes for B1 and B2. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals.  Wire Sizes and Allowable Current (Reference) The following table shows the allowable current when there are three power supply wires.
Page 226 4-2 Wiring  Terminal Block Wiring Procedure Connector-type Terminal Blocks are used for Servo Drives of 1.5 kW or less (R88D-GNA5L-ML2 to GN15H-ML2). The procedure for wiring these Terminal Blocks is explained below. Connector-type Terminal Block (Example: R88D-GN01H-ML2) 1. Remove the Terminal Block from the Servo Drive before wiring. The Servo Drive will be damaged if the wiring is performed with the Terminal Block in place.
Page 227: Wiring Conforming To Emc Directives
4-3 Wiring Conforming to EMC Directives Wiring Conforming to EMC Directives Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2 (EMS)) can be ensured by wiring under the conditions described below. These conditions are for conformance of OMNUC G-Series products to the EMC Directives. EMC- related performance of these products, however, depends on the configuration, wiring, and other conditions of the equipment in which the products are installed.
Page 228 Noise filter Industries Co., Ltd. Three-phase 200 VAC 3SUP-HU30-ER-6 (30 A) Three-phase 200 VAC 3SUP-HL50-ER-6B (50A) Servo Drive OMRON Servomotor OMRON Clamp core ZCAT3035-1330 Controller Switch box *1. A specified combination of Servo Drive and Servomotor must be used. 4-29...
Page 229 4-3 Wiring Conforming to EMC Directives Cable Details Symbol Supplies from Connects to Cable name Length Remarks Shielded Ferrite Three- AC power supply Noise filter Power supply line phase 200 VAC Noise filter Servo Drive Power supply line Servo Drive Servomotor Power cable 20 m...
Page 230 4-3 Wiring Conforming to EMC Directives  If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring or make sure that there is adequate distance between the input lines and the internal wiring.
Page 231 4-3 Wiring Conforming to EMC Directives Case Door Door Oil-resistant gasket Conductive gasket Control panel Cross-sectional view of A–B Oil-resistant gasket Conductive gasket Door (interior view) 4-32...
Page 232: Selecting Connection Components
4-3 Wiring Conforming to EMC Directives Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance. Understand each component's characteristics, such as its capacity, performance, and applicable conditions when selecting the components. For more details, contact the manufacturers directly.
Page 233 4-3 Wiring Conforming to EMC Directives  Leakage Breakers  Select leakage breakers designed for protection against grounding faults.  Because switching takes place inside the Servo Drives, high-frequency current leaks from the switching elements of the Servo Drive, the armature of the motor, and the cables. High-frequency breakers with surge withstand capability do not detect high-frequency current, preventing the breaker from operating with high-frequency leakage current.
Page 234 4-3 Wiring Conforming to EMC Directives  Surge Absorbers  Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines.  When selecting surge absorbers, take into account the varistor voltage, the allowable surge current and the energy.
Page 235 4-3 Wiring Conforming to EMC Directives  Noise Filters for the Power Supply Input  Use the following noise filters for the Servo Drive's power supply. Noise filter for the Power Supply Input Servo Drive model Rated Max. leakage Model Manufacturer current current (60 Hz)
Page 236 4-3 Wiring Conforming to EMC Directives 3SUP-HU30-ER-6 3SUP-HL50-ER-6B ±3.0 Two, ±1.0 Two, 5.5 × 7 5.5 dia. dia. Ground terminal Cover mounting screw Cover Noise Filter Circuit Diagrams SUP-EK5-ER-6 3SUP-HQ10-ER-6 3SUP-HU30-ER-6 3SUP-HL50-ER-6B LINE LOAD  Noise Filter for the Brake Power Supply ...
Page 237 Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal oscillation circuit. Model Manufacturer Application 3G3AX-ZCL1 OMRON Servo Drive output and power cable 3G3AX-ZCL2 OMRON Servo Drive output and power cable ESD-R-47B...
Page 238 4-3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX-ZCL1 3G3AX-ZCL2 1000 1000 10000 Frequency (kHz) Frequency (kHz) ESD-R-47B ZCAT 3035-1330 1000 10000 1000 1000 1000 Frequency (MHz) Frequency (MHz) 4-39...
Page 239 J7L-09-22200 11 A 200 VAC J7L-12-22200 13 A 200 VAC J7L-18-22200 18 A 200 VAC J7L-32-22200 26 A 200 VAC OMRON J7L-40-22200 35 A 200 VAC J7L-50-22200 50 A 200 VAC J7L-65-22200 65 A 200 VAC J7L-75-22200 75 A 200 VAC...
Page 240 4-3 Wiring Conforming to EMC Directives  Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder's noise resistance.  Always use the specified Encoder Cables.  Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and cause malfunctions.
Page 241 4-3 Wiring Conforming to EMC Directives  Improving Control I/O Signal Noise Resistance Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.  Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply.
Page 242 4-3 Wiring Conforming to EMC Directives  Selecting Other Parts for Noise Resistance This section explains the criteria for selecting other connection components required to improve noise resistance. Understand each component's characteristics, such as its capacity, performance, and applicable conditions when selecting the components. For more details, contact the manufacturers directly.
Page 243 Manufacturer Model Remarks current 3G3AX-NF001 3G3AX-NF002 12 A 3G3AX-NF003 25 A OMRON For inverter output 3G3AX-NF004 50 A 3G3AX-NF005 75 A 3G3AX-NF006 100 A Note1. Servomotor output lines cannot use the same noise filters for power supplies. Note2. Typical general-purpose noise filters are made for power supply frequencies of 50/60 Hz. If...
Page 244 4-3 Wiring Conforming to EMC Directives 3G3AX-NF003/-NF004/-NF005/-NF006 Six, O Two, N Four, 6.5 dia. Dimensions (mm) Model 3G3AX-NF003 3G3AX-NF004 3G3AX-NF005 3G3AX-NF006 4-45...
Page 245: Conformity To Iec 61800-5-1
4-3 Wiring Conforming to EMC Directives Conformity to IEC 61800-5-1  Ground fault protection G-series servo drive do not have ground fault protection function. Install a circuit breaker (MCCB) or a leakage circuit breaker (ELCB) in the wiring, according to the grounding system. The conditions for ground fault protection by the cercuit breakers are as follows: The requirements of EN 60364-4-41 are met under these conditions.
Page 246 4-3 Wiring Conforming to EMC Directives For TT system ELCB Acceptable Voltage maximum rated Rated Model to earth fault loop sensitivity current Type name Manufacturer impedance current [Ω] [mA] R88D-G*A5L* BW50RAGU Fuji Electric Fuji Electric R88D-G*01L* BW50RAGU Fuji Electric R88D-G*01H* BW50RAGU Fuji Electric R88D-G*02H*...
Page 247: Regenerative Energy Absorption
4-4 Regenerative Energy Absorption 4-4 Regenerative Energy Absorption The Servo Drives have internal regenerative energy absorption circuitry, which absorbs the regenerative energy produced during Servomotor deceleration and prevents the DC voltage from increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the Servomotor is too large.
Page 248 4-4 Regenerative Energy Absorption  For Servo Drive models with internal capacitors used for absorbing regenerative energy, the values for both E or E (unit: J) must be lower than the Servo Drive’s regenerative energy absorption capacity. (The capacity depends on the model. For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-51.) ...
Page 249 4-4 Regenerative Energy Absorption  Vertical Axis Falling Servomotor Rising operation −N Servomotor output torque  In the output torque graph, acceleration in the positive direction (rising) is shown as positive, and acceleration in the negative direction (falling) is shown as negative. ...
Page 250: Servo Drive Regenerative Energy Absorption Capacity
4-4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity  Amount of Internal Regeneration Absorption in Servo Drives The OMNUC G-Series Servo Drives absorb regenerative energy internally with built-in capacitors. If the regenerative energy is too large to be processed internally, an overvoltage error occurs and operation cannot continue.
Page 251: Absorbing Regenerative Energy With An External Regeneration Resistor
4-4 Regenerative Energy Absorption Absorbing Regenerative Energy with an External Regeneration Resistor If the regenerative energy exceeds the absorption capacity of the Servo Drive, connect an External Regeneration Resistor. Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive. Double-check the terminal names when connecting the resistor because the Servo Drive may be damaged by burning if connected to the wrong terminals.
Page 252: Connecting An External Regeneration Resistor
4-4 Regenerative Energy Absorption Connecting an External Regeneration Resistor  R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/-GN02H-ML2/ -GN04H-ML2 If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the diagram below. Servo Drive θ> Thermal Switch Output External Regeneration Resistor ...
Page 253 4-4 Regenerative Energy Absorption  R88D-GN75H-ML2 If an External Regeneration Resistor is necessary, connect it between B1 and B2 as shown in the diagram below. Servo Drive θ> Thermal Switch Output External Regeneration Resistor  Connect the thermal switch output so that the main circuit power supply is Precautions shut OFF when the contacts open.
Page 254 4-4 Regenerative Energy Absorption Combining External Regeneration Resistors Regeneration absorption 20 W 40 W 70 W 140 W capacity R88A-RR08050S R88A-RR08050S Model R88A-RR22047S1 R88A-RR22047S1 R88A-RR080100S R88A-RR080100S 50 / 100  25 / 50  47  94  Resistance Connection method Regeneration absorption...
Page 255 Chapter 5 Operating Functions 5-1 Position Control..........5-1 5-2 Speed Control ............ 5-4 5-3 Torque Control ........... 5-7 5-4 Forward and Reverse Drive Prohibit ....5-10 5-5 Brake Interlock ........... 5-11 5-6 Torque Limit ............5-16 5-7 Soft Start ............5-18 5-8 Acceleration/Deceleration Time Settings ...
Page 256: Position Control
5-1 Position Control 5-1 Position Control Function Performs position control using commands from the Position Control Units for MECHATROLINK-II, CJ1W-NCF71/CS1W-NCF71. The Servomotor rotates using the value of the position command (position command units) multiplied by the Electronic Gear Ratio (Pn205/Pn206). Host Controller OMNUC G-Series Servo Drive (MECHATROLINK-II compatible)
Page 257: Position Control
5-1 Position Control Related Functions  The main functions related to position control are as follows: Function Explanation Reference page This function issues direct speed commands without going Speed Feed-forward through the deviation counter. 5-38 Sets the speed command ratio (%). Sets the vibration frequencies 1, 2 and vibration filters 1,2 Damping Control 5-50...
Page 258 5-1 Position Control Parameter Block Diagram for Position Control Mode Speed Command Speed FF [VFF] MECHATRO LINK-II Vibration Filter Generate Pn02B: Position Command Frequency 1 Speed Speed FF Target Pn02C: PI Processor Position Pn015: Filter 1 [TPOS] MECHATRO FF Amount Target Pn011: Pn02D:...
Page 259: Speed Control
5-2 Speed Control 5-2 Speed Control Function  Performs speed control using commands from the Position Control Units for MECHATROLINK-II, CJ1W-NCF71/CS1W-NCF71. The Servomotor rotates at the command speed.  The current feedback value is divided by the Electronic Gear Ratio (Pn205/Pn206) and expressed in the commanded units.
Page 260: Speed Control
5-2 Speed Control Related Functions  The main functions related to speed control are as follows: Function Explanation Reference page This function issues direct torque commands Torque Feed-forward without performing speed PI calculations. 5-39 Sets the torque command ratio (%). Sets the soft acceleration and deceleration for Soft Start 5-18...
Page 261 5-2 Speed Control Parameter Block Diagram for Speed Control Mode Speed Command Speed FF [VFF] Speed Command Unit Conversion Speed MECHATRO Target Speed LINK-II PI Processor [VREF/TSPD] Pn011: Command Speed Speed Gain 1 Monitor Pn012: [CSPD] Integration Time Constant 1 MECHATRO Pn019: LINK-II...
Page 262: Torque Control
5-3 Torque Control 5-3 Torque Control Function  Performs torque control using commands from the Position Control Units for MECHATROLINK-II, CJ1W-NCF71/CS1W-NCF71. The Servomotor operates with the commanded torque output. The current feedback value is divided by the Electronic Gear Ratio (Pn205/Pn206) and expressed in the commanded units.
Page 263 5-3 Torque Control Related Functions Functions related to torque control are as follows: Function Explanation Reference page Torque Command Filter Time Increase to decrease machine resonance. 5-42 Constant Notch Filter Sets the machine specific resonance frequency. 5-43 Speed Limit Limits the Servomotor speed during torque control. 5-22 Torque Limit Limits the maximum output torque during torque control.
Page 264: Torque Control
5-3 Torque Control Parameter Block Diagram for Torque Control Mode Absolute Torque Command Value TQRFF [%] Speed Limit Selection Sign MECHATRO Unit Conversion Speed LINK-II PI Processor Pn053: Internal Value Pn05B: Selection Setting Pn011: Absolute Speed Gain 1 Value − Pn012: Speed Limit Value Integration...
Page 265: Forward And Reverse Drive Prohibit
5-4 Forward and Reverse Drive Prohibit 5-4 Forward and Reverse Drive Prohibit Function  This function sets the Forward Drive Prohibit Input (POT) and Reverse Drive Prohibit Input (NOT) operation at the control I/O connector CN1 on the Servo Drive. ...
Page 266: Brake Interlock
5-5 Brake Interlock 5-5 Brake Interlock Function  This function sets the output timing of the Brake Interlock (BKIR) signal used to activate the holding brake during servo ON, alarms, and servo OFF. Parameters Requiring Settings Parameter Parameter name Explanation Reference page Sets the delay time from the Servo OFF command to the Brake Timing when...
Page 267 5-5 Brake Interlock  Operation timing during Servo ON or OFF (when Servomotor is stopped) Servo OFF Servo ON Servo OFF Run Command (RUN) Approx. 2 ms Dynamic Brake DB Engaged DB Released DB Engaged *2 Relay Approx. 40 ms Pn06A Servomotor Deenergized...
Page 268 5-5 Brake Interlock  Operation timing during Servo ON or OFF (when Servomotor is rotating) Regenerative energy occurs when the Servomotor is stopped on an alarm under this operation timing. For this reason, the operation cannot be repeated. Wait at least 10 minutes before the Servomotor cools down.
Page 269 5-5 Brake Interlock  Operation timing during alarms (during Servo ON) Alarm Normal Alarm output 0.5 to 5 ms Servomotor Energized Deenergized Approx. 2 ms Dynamic Brake DB Released DB Engaged *1 Relay Servo Ready READY Output (READY) Alarm Output (ALM) Alarm Pn06B Brake Interlock...
Page 270 5-5 Brake Interlock  Operation timing at alarm reset Perform an alarm reset from CX-Drive, host controller via MECHATROLINK-II, or the Parameter Unit. (Alarms can also be reset by recycling the power.) Reset Alarm Reset 120 ms Servo Ready READY Output (READY) Alarm Output (ALM) Alarm...
Page 271: Torque Limit
5-6 Torque Limit 5-6 Torque Limit Function  This function limits the torque output by the Servomotor.  The function can be used for: · pressing in press machine applications · protecting a mechanical system by suppressing torque at start-up and deceleration ...
Page 272: Torque Limit
5-6 Torque Limit  Torque limit during position and speed control Pn003 Explanation Settings Set the limit values for forward and reverse operations in Pn05E. Forward: Use Pn05E. Reverse: Use Pn05F. Switch limits by torque limit values and input signals from the network. Limit in forward direction: PCL is OFF = Pn05E, PCL is ON = Pn05F Limit in reverse direction:...
Page 273: Soft Start
5-7 Soft Start 5-7 Soft Start Function  Set the acceleration and deceleration time for speed command values from the host controller.  Set the acceleration and deceleration time for the maximum rotation speed of each Servomotor. Parameters Requiring Settings Parameter Parameter name Explanation...
Page 274: Acceleration/Deceleration Time Settings
5-8 Acceleration/Deceleration Time Settings Acceleration/Deceleration Time Settings Function  Set the angular acceleration to reach the target speed and angular deceleration to stop for position commands.  10,000 [command units/s  Units of setting is Parameters Requiring Settings Parameter Parameter name Explanation Reference page Sets the acceleration speed for positioning...
Page 275: Moving Average Time
5-9 Moving Average Time 5-9 Moving Average Time Function  This function applies the Moving Average Filter (FIR) to the linear acceleration and deceleration time for position commands.  This function can reduce vibration and impact during acceleration and deceleration. ...
Page 276: Electronic Gear
5-10 Electronic Gear 5-10 Electronic Gear Function  The Servomotor rotates at the value (the number of pulses) of the position command multiplied by the electronic gear ratio.  During speed and torque control, the pulses from the Servomotor encoder are divided by the electronic gear ratio and converted into command units before being fed back.
Page 277: Speed Limit
5-11 Speed Limit 5-11 Speed Limit Function  Set the Servomotor rotation speed limit when using torque control.  The speed limit value can be set by the internal parameter (Pn053) or from a host controller. Parameters Requiring Settings Parameter Parameter name Explanation Reference page...
Page 278: Sequence Input Signals
5-12 Sequence Input Signals 5-12 Sequence Input Signals Function  Input signals for controlling the Servo Drive operation. Enable or disable the connections and functions as necessary. Parameters Requiring Settings Parameter Parameter name Explanation Reference page Emergency Stop Enables or disables the emergency stop input. The default Pn041 5-73 Input Setting...
Page 279 5-12 Sequence Input Signals  CN1 Control Input Signal Connection Diagram OMNUC G-Series Servo Drive 4.7kΩ 12 to 24 VDC +24VIN Emergency Stop 1kΩ STOP 4.7kΩ 1kΩ External Latch 3 EXT3 4.7kΩ External Latch 2 1kΩ EXT2 4.7kΩ 1kΩ External Latch 1 EXT1 4.7kΩ...
Page 280: Sequence Output Signals
5-13 Sequence Output Signals 5-13 Sequence Output Signals Function  Sequence output signals that output the Servo Drive status. Parameters Requiring Settings Parameter Parameter name Explanation Reference page General-purpose Pn112 Output 1 Function Selects the function for general-purpose output 1 (OUTM1). 5-83 Selection General-purpose...
Page 281 5-13 Sequence Output Signals Output Signal Assignment Details Pn112 (General-purpose Output 1 Function Selection) OUTM1 (General-purpose Output 1) Pn113 (General-purpose OUTM2 (General-purpose Output 2) Output 2 Function Selection) OUTM3 (General-purpose Output 3) Pn114 (General-purpose Output 3 Function Selection) No output. Always OFF. assigned Positioning Completed 1 output assignment.
Page 282: Backlash Compensation
5-14 Backlash Compensation 5-14 Backlash Compensation Function  Compensates the position error caused by backlash in the machine.  The specified amount of command units is compensated when the operation direction changes. Note1. The backlash compensation status will be retained when you switch from position control to speed control or torque control.
Page 283 5-14 Backlash Compensation  Compensation in the forward direction OMNUC G-Series Servomotor Pn101  Compensation in the reverse direction OMNUC G-Series Servomotor Pn101 5-28...
Page 284: Overrun Protection
5-15 Overrun Protection 5-15 Overrun Protection Function  The Servomotor can be stopped with an alarm for an overrun limit error (alarm code 34) if the Servomotor exceeds the allowable operating range set in the Overrun Limit Setting (Pn026) with respect to the position command input.
Page 285 5-15 Overrun Protection Operating Examples  No Position Command Input (Servo ON) No position command is input, and so the Servomotor’s allowable operating range for both sides will be the range of the travel distance set in Pn026. An overrun limit error will occur if the load enters the range for generating alarm code 34 (range of slanted lines) due to oscillation.
Page 286: Gain Switching
5-16 Gain Switching 5-16 Gain Switching Function  This function switches the position loop and speed loop gain.  Select between enable or disable with the Gain Switching Operating Mode Selection (Pn030). Set the switching conditions with the Gain Switch Setting (Pn031). ...
Page 287 5-16 Gain Switching Parameters Requiring Settings Parameter Parameter name Explanation Reference page Gain Switching Pn030 Operating Mode Enable or disable gain switching. 5-72 Selection Gain Switch Sets the condition for switching between gain 1 and gain 2. Pn031 5-72 Setting The conditions depend on the control mode.
Page 288 5-16 Gain Switching  Timings for Gain Switch Setting (Pn031) Switching between gain 1 and gain 2 will be performed as illustrated below. Note that Position Loop Gain will be switched according to the setting for Pn035. Gain Switch Setting (Pn031) = 2: Switching from Network Gain switches instantly when commanded from the network.
Page 289 5-16 Gain Switching Gain Switch Setting (Pn031) = 5, 9: Switching by the Speed Command or Actual Servomotor Speed Speed command or actual Servomotor speed Pn034 Pn034 Pn033 Pn032 Gain 1 Gain 2 Gain 1 Gain Switch Setting (Pn031) = 6: Switching by the Position Deviation Switches the gain based on the accumulated value in the deviation counter.
Page 290 5-16 Gain Switching Gain Switch Setting (Pn031) = 8: Switching when the positioning completed signal turns OFF Switches to gain 2 when the accumulated pulses in the deviation counter exceed Positioning Completion Range 1 (Pn060). Amount of accumulated pulses in the deviation counter INP1 ON INP1 ON INP1 OFF...
Page 291 5-16 Gain Switching  Gain switching in position control mode In position control mode the Gain Switch Setting (Pn031) changes as follows. (O: Supported, : Not supported) Gain Switch Gain Switch Position Loop Pn031 Gain Switch Switching condition Level Setting Hysteresis Gain Switching setting...
Page 292 5-16 Gain Switching  Gain switching in torque control mode In torque control mode the Gain Switch Setting (Pn031) changes as follows. (O: Supported, : Not supported) Gain Switch Gain Switch Pn031 Gain Switch Switching condition Level Setting Hysteresis setting Time (Pn032) (Pn033) Setting (Pn034)
Page 293: Speed Feed-Forward
5-17 Speed Feed-forward 5-17 Speed Feed-forward Function This function shortens positioning time by adding the amount of change in position command value directly to the speed loop without passing it through the deviation counter. Performing feed-forward compensation effectively increases the position loop gain and improves responsiveness.
Page 294: Torque Feed-Forward
5-18 Torque Feed-forward 5-18 Torque Feed-forward Function In speed commanded control, using the torque feed-forward command reduces the delay caused by the speed loop integration time and thereby makes acceleration and deceleration faster. For a vertical axis, torque feed-forward can compensate heavy loads to eliminate the difference (up and down) in the torque command amount by the speed command calculation.
Page 295: Speed Feedback Filter Selection
5-19 Speed Feedback Filter Selection 5-19 Speed Feedback Filter Selection Function Selects the speed feedback filter. Normally, use a setting of 0. This is used when the speed loop gain cannot be raised any more due to vibration in the machine. Increasing the value reduces the noise of the Servomotor but also reduces its responsiveness.
Page 296: P Control Switching
5-20 P Control Switching 5-20 P Control Switching Function This function switches speed loop control from PI control to P control. Switching to P control reduces the servo rigidity and eliminates vibration. The absence of the integration time results in greater speed and position deviations due to external forces and load torques.
Page 297: Torque Command Filter Time Constant
5-21 Torque Command Filter Time Constant 5-21 Torque Command Filter Time Constant Function Set the primary filter applied to the torque command. The 1st and 2nd filter is switched by gain switching. The torque command filter can suppress machine vibration that occurs when a servo loop is configured.
Page 298: Notch Filter
5-22 Notch Filter 5-22 Notch Filter Function Two notch filters can be set for torque commands. When resonance occurs at a ball screw or a specific location, set the resonance frequency to eliminate the resonance. Parameters Requiring Settings Parameter Parameter name Explanation Reference page Notch Filter 1...
Page 299 5-22 Notch Filter A notch filter is a filter that eliminates a designated component of a frequency. Width fw 0 db -3 db Depth = Fc/fw Frequency Hz Cut-off frequency Fc A notch filter is used to eliminate resonance occurring in a machine. Machine resonance Characteristics Notch Filter...
Page 300: Adaptive Filter
5-23 Adaptive Filter 5-23 Adaptive Filter Function The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the Servomotor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the torque command.
Page 301 5-23 Adaptive Filter  The adaptive filter may not function properly under the following Precautions for Correct Use conditions. Conditions under which the adaptive filter does not function properly  In Torque Control Mode. (Operates in position and speed control modes) Control Mode ...
Page 302 5-23 Adaptive Filter Disabling the Adaptive Filter The adaptive filter function, which performs automatic tracking in response to the load resonance, can be disabled by setting the Adaptive Filter Selection (Pn023) to 0. If the adaptive filter is disabled when it is operating correctly, the resonance that has been suppressed will reappear, and noise or vibration may occur.
Page 303: Instantaneous Speed Observer
5-24 Instantaneous Speed Observer 5-24 Instantaneous Speed Observer Function The instantaneous speed observer improves speed detection accuracy, increases responsiveness, and reduces vibration at stopping by estimating the speed of the Servomotor using a load model (load inertia). This function does not work for machines with resonance or insufficient rigidity. This function can be used in the position and speed control modes.
Page 304 5-24 Instantaneous Speed Observer Operating Procedure 1. Set the Inertia Ratio (Pn020). Set the inertia ratio as accurately as possible. Input the calculated inertia ratio if it has already been calculated when selecting a Servomotor. If the inertia ratio is not known, perform normal mode autotuning and set the inertia ratio. Use the Pn020 setting if the Inertia Ratio (Pn020) is obtained using realtime autotuning that can be used in normal position control.
Page 305: Damping Control
5-25 Damping Control 5-25 Damping Control Function Damping control is used to reduce vibration when the end of the machine exhibits vibration. This function is effective on vibration in machines with low rigidity. The normal type is suitable for frequencies from 10 to 200 Hz, the low-pass type is for 1 to 200 Hz. The adaptive filter (300 Hz or more) can be used for the normal type, but not for the low-pass type.
Page 306: Damping Control
5-25 Damping Control Parameters Requiring Settings Parameter Parameter name Setting Explanation Reference page Selects the vibration filter type and switching mode based on the status of the equipment. (See Note 1) Filter type Switching mode No switching (Both 1 and 2 are enabled) Normal type Vibration Filter...
Page 307 5-25 Damping Control Note Details on the vibration filter settings are as follows. Vibration Filter Mode Selection Description of setting Selection Vibration frequency setting range 10.0 to 200.0 Hz Normal type (Disabled when set to 0 to 99) Adaptive filter can be used Filter type selection Vibration frequency setting range 1.0 to 200.0 Hz...
Page 308 5-25 Damping Control If no measurement device is available, use the CX-Drive data tracing function, and read the residual vibration frequency (Hz) from the position deviation waveform as shown in the following figure.  The following gives the vibration frequency in the Position deviation figure.
Page 309 5-25 Damping Control 4. Set the Vibration Filter Selection (Pn024). Select the vibration filter type and vibration filter switching mode depending on the status of the machine. Setting Filter type Switching mode No switching (Both filter 1 and filter 2 are Normal type enabled) Switching with command direction...
Page 310: User Parameters
5-26 User Parameters 5-26 User Parameters Set and check the user parameters in Parameter Setting Mode. Fully understand what the parameters mean and the setting procedures, and set the parameters according to the system. Some parameters are enabled by turning the power OFF and then ON again. After changing these parameters, turn OFF the power, confirm that the power indicator has gone OFF, and then turn ON the power again.
Page 311 5-26 User Parameters 3. Switching to the Parameter Setting Display Display example Explanation operation pknk_krk0k0.k Press the key to go to the Parameter Setting Display. Press the key to return to the Parameter Type Selection Display. 4. Setting the Parameter Number Display example Explanation operation...
Page 312 5-26 User Parameters  Operating Procedures for 32-bit Positioning Parameters 1. Displaying Parameter Setting Mode Display example Explanation operation The default display is displayed. Press the key to display Monitor Mode. Uknk_k5kpkd Press the key to display Parameter Setting Mode. 1k6kbkiktkp 2.
Page 313 5-26 User Parameters 6. Changing the Parameter Setting  The following operation is not required if you are only checking a parameter setting. Display example Explanation operation k1k0k0k0k0 Use the keys to change the setting. The decimal point will flash for the digit that can be set. Hk k k k k k1k0k0k0k0 Press the...
Page 314 5-26 User Parameters  Operating Procedures for Servo Parameters 1. Displaying Parameter Setting Mode Display example Explanation operation The default display is displayed. Press the key to display Monitor Mode. Uknk_k5kpkd Press the key to display Parameter Setting Mode. 1k6kbkiktkp 2.
Page 315 5-26 User Parameters 6. Changing the Parameter Setting  The following operation is not required if you are only checking a parameter setting. Display example Explanation operation k k1k0k0k0 Use the keys to change the setting. The decimal point will flash for the digit that can be set. k k1k0k0k0 Press the key to save the new setting.
Page 316: Parameter Tables
5-26 User Parameters Parameter Tables The Servo Drive has various parameters for setting the characteristics and functions of the Servomotor. The function and purpose of each parameter is explained here. Understand the parameters to optimize the Servomotor to your operating conditions. Servo Drive parameters are categorized by function as follows.
Page 317 5-26 User Parameters User parameters are set and checked on CX-Drive or the Parameter Unit (R88A-PR02G).  Parameter Tables Default Setting Parameter name Setting Explanation Unit setting range Reserved Do not change. Selects the data to be displayed on the 7-segment LED display on the front panel.
Page 318 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Selects the torque limit function, or the torque feed-forward function during speed control.  Torque Limit Selection For torque control, always select Pn05E. For position control and speed control, select the torque limit as follows.
Page 319 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the function for the Forward and Reverse Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin 20) Decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn066) when both POT and NOT inputs are enabled.
Page 320 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Controls errors and warnings for MECHATROLINK-II communications. Note Use with this parameter set to 0. Program to stop immediately if using a value other than 0. Set the Consecutive Communications Error Detection Count in COM_ERR (bit 8 to 11).
Page 321 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Selects the output to the Analog Speed Monitor (SP on the front panel). Note This monitor output has a delay due to filtering. The Operating Direction Setting (Pn043) does not affect this monitor output.
Page 322 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Allows/prohibits parameter changes via the network. Allows parameter changes from the host controller Prohibit via the network. Parameter Prohibits parameter changes from the host 0 to 1 Changes via controller via the network.
Page 323 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Torque Adjusts the first-order lag filter time constant for the torque  Command 0.01 command section. 0 to 2500 Filter Time The torque filter setting may reduce machine vibration. Constant (RT) Speed Feed- Sets the speed feed-forward amount.
Page 324 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the operating mode for realtime autotuning. A setting of 3 or 6 will provide faster response to changes in inertia during operation. Operation, however, may be unstable depending on the operating pattern. Normally, use a setting of 1 or 4.
Page 325 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Selects the vibration filter type and switching mode.  Filter type selection  Normal type: Vibration frequency setting range 10.0 to 200.0 Hz  Low-pass type: Vibration frequency setting range 1.0 to 200.0 Hz ...
Page 326 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range The Instantaneous Speed Observer improves speed de- tection accuracy, thereby improving responsiveness and reducing vibration when stopping. When the instantaneous speed observer is enabled, both Speed Feedback Filter Time Constant (Pn013) and Speed Instantaneous Feedback Filter Time Constant 2 (Pn01B) are disabled.
Page 327 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range  Vibration Filter 2 200 to 2000 B Same function as Pn02C. Setting Displays the table entry number corresponding to the frequency of the adaptive filter. This parameter is set automatically when the adaptive filter is enabled (i.e., when the Adaptive Filter Selection (Pn023) is set to a value other than 0), and cannot be changed.
Page 328 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the judgment level to switch between Gain 1 and Gain Switch Level Gain 2 when the Gain Switch Setting (Pn031) is set to 3, 0 to 20000 Setting (RT) 5, 6, 9, or 10.
Page 329 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the relationship between polarity of operation data sent over the network and the direction of Servomotor rotation. Note In RS-232C communications and on the analog monitor (SP, IM) on the front panel, forward Operating direction is always positive (+), and reverse 0 to 1...
Page 330 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Selects the speed limit for torque control mode. Use the Speed Limit (Pn053) Speed Limit 0 to 1 Selection Use the speed limit value via MECHATROLINK-II or the Speed Limit (Pn053), whichever is smaller.
Page 331 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Enables or disables the offset component readjustment function of the Motor Phase Current Detector (CT) for Servo ON command inputs. The readjustment is made when control power is turned ON. Motor Phase Note This adjustment is inaccurate if the offset is...
Page 332 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is enabled. After During stopping Deviation counter deceleration (30 r/min or less)
Page 333 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the operation to be performed during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection (Pn065) set to 0. The deviation counter will be reset when the power OFF is detected.
Page 334 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range When the run command (RUN) is turned OFF during the Servomotor rotation, the Servomotor will decelerate re- ducing the rotation speed and the Brake Interlock Signal (BKIR) will turn OFF after the time set by this parameter has elapsed.
Page 335 5-26 User Parameters Default Setting Parameter name Setting Explanation Unit setting range Sets the overspeed detection level. The overspeed detection level is 1.2 times the maximum Servomotor rotation speed when the parameter is set to 0. Overspeed Normally, use a setting of 0, and set the level only when Detection r/min 0 to 20000...
Page 336 5-26 User Parameters  16-bit Positioning Parameters: Parameter No. 100 to 13F Set- Default Setting Parameter name Explanation Unit ting setting range Enables or disables the backlash compensation for position control, and sets the compensation direction. Disabled Backlash Compensation 0 to 2 Compensates in the initial positive direction after Selection the Servo ON.
Page 337 5-26 User Parameters Set- Default Setting Parameter name Explanation Unit ting setting range  Sets the acceleration for positioning operations. 1000 A setting of "0" is regarded as "1". Linear 32768 to The setting will be handled after conversion to an Acceleration [com- unsigned 16-bit data (0 to 65535).
Page 338 5-26 User Parameters Set- Default Setting Parameter name Explanation Unit ting setting range Selects the function for general-purpose output 1 (OUTM1). Always OFF INP1 output. Turn ON when position deviation is equal to or less than Pn060 for position control. Undefined when not using position control.
Page 339 5-26 User Parameters  32-bit Positioning Parameters: Parameter No. 200 to 21F Set- Default Parameter name Explanation Unit Setting range ting setting 1073741823 Sets the offset amount for the encoder position and the Com- Absolute mechanical coordinate system position when mand Origin Offset using an absolute encoder.
Page 340 5-26 User Parameters Set- Default Parameter name Explanation Unit Setting range ting setting Sets the distance from the latch signal input position to the origin when performing origin return. The operation after detecting the latch signal input position will be determined by the origin return direction and this parameter as follows.
Page 341: Details On Important Parameters
5-27 Details on Important Parameters 5-27 Details on Important Parameters  This section provides an explanation for the particularly important parameters. Be sure to fully understand the meanings of these parameters before making changes to the parameter settings.  Do not set or change the default values for user parameters listed as "Reserved". ...
Page 342 5-27 Details on Important Parameters Setting Default Pn No. Parameter name Unit Attribute range setting Pn003 Torque Limit Selection 1 to 5  Selects torque limit function, or torque feed-forward function during speed control. Torque Limit Selection Select the torque limit for position control or speed control as follows. Setting Explanation Use Pn05E as the limit value for forward and reverse operations.
Page 343 5-27 Details on Important Parameters Setting Default Pn No. Parameter name Unit Attribute range setting Drive Prohibit Input Selection Pn004 0 to 2 Sets the function for the Forward and Reverse Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin 20). Setting Explanation Decelerates and stops according to the sequence set in the Stop Selection for Drive...
Page 344 5-27 Details on Important Parameters [bits 4-7] MECHATROLINK-II Communications Warnings Mask (MSK COM WARNG) [bit4] 0: Data setting warning (warning code 94h) enabled 1: Data setting warning (warning code 94h) disabled [bit5] 0: Command warning (warning code 95h) enabled 1: Command warning (warning code 95h) disabled [bit6] 0: ML-II communications warning (warning code 96h) enabled 1: ML-II communications warning (warning code 96h) disabled Setting...
Page 345 5-27 Details on Important Parameters Realtime Autotuning (RTAT) Parameter Tables AT Machine Rigidity Selection (Pn022) Parameter AT Mode Selection Parameter name (Pn021) Pn010 Position Loop Gain 900 1080 Pn011 Speed Loop Gain Speed Loop Integration Time Pn012 Constant Speed Feedback Filter Time Pn013 Constant Torque Command...
Page 346 5-27 Details on Important Parameters AT Machine Rigidity Selection (Pn022) Parameter AT Mode Selection Parameter name (Pn021) Pn010 Position Loop Gain 1350 1620 2060 2510 3050 3770 4490 5570 Pn011 Speed Loop Gain 900 1150 1400 1700 2100 2500 3100 Speed Loop Integration Time Pn012 Constant...
Page 347 5-27 Details on Important Parameters Setting Default Pn No. Parameter name Unit Attribute range setting Pn023 Adaptive Filter Selection 0 to 2 Enables or disables the adaptive filter. The adaptive filter is enabled during realtime autotuning and manual tuning. The adaptive filter reduces resonance point vibration in the Servomotor response by estimating the resonance frequency from the vibration component that appears in the Servomotor speed, and automatically sets the frequency of the notch filter which removes the resonance component from the torque command.
Page 348 5-27 Details on Important Parameters Switching mode selection  No switching: Both 1 and 2 are enabled  Switch with command direction: Selects Vibration Frequency 1 in forward direction (Pn02B, Pn02C) Selects Vibration Frequency 2 in reverse direction (Pn02D, Pn02E) Setting Filter type Switching mode...
Page 349 5-27 Details on Important Parameters Adaptive Filter Table Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency Pn02F Notch Filter 1 Frequency (Disabled) (Disabled) (Disabled) (Disabled) (Disabled)  1482 269 (Disabled when Pn022  1426 258 (Disabled when Pn022 ...
Page 350 5-27 Details on Important Parameters Setting Default Pn No. Parameter name Unit Attribute range setting Pn066 Stop Selection for Drive Prohibition Input 0 to 2 Sets the deceleration stop operation to be performed after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is enabled.
Page 351 5-27 Details on Important Parameters Setting Default Pn No. Parameter name Unit Attribute range setting Pn067 Stop Selection with Main Power OFF 0 to 7 Sets the operational conditions during deceleration and after stopping after the main power supply is turned OFF with the Undervoltage Alarm Selection (Pn065) set to 0.
Page 352 5-27 Details on Important Parameters Setting Default Pn No. Parameter name Unit Attribute range setting Pn06C Regeneration Resistor Selection 0 to 3 Sets the regeneration resistor operation and the regeneration overload (alarm code 18) operation. Set this parameter to 0 if using the built-in regeneration resistor. If using an external regeneration resistor, be sure to turn OFF the main power when the built-in thermal switch is activated.
Page 353 Chapter 6 Operation 6-1 Operational Procedure ........6-1 6-2 Preparing for Operation........6-2 Items to Check Before Turning ON the Power......6-2 Turning ON Power ..............6-4 Checking the Displays ............6-5 Absolute Encoder Setup ............6-6 6-3 Using the Parameter Unit ........6-8 Names of Parts and Functions..........6-8 6-4 Setting the Mode ..........
Page 354: Operational Procedure
6-1 Operational Procedure 6-1 Operational Procedure After mounting and wiring, connect a power supply, and check the operation of the Servomotor and Servo Drive individually. Then make the function settings as required according to the use of the Servomotor and Servo Drive.
Page 355: Preparing For Operation
6-2 Preparing for Operation 6-2 Preparing for Operation This section explains the procedure for preparing the mechanical system for operation following installation and wiring of the Servomotor and Servo Drive. It explains what you need to check both before and after turning ON the power. It also explains the setup procedure required for using a Servomotor with an absolute encoder.
Page 356 6-2 Preparing for Operation  Servo Drive Display and Settings The display for the Servo Driver R88D-GN is illustrated below. The display shows the node address setting for MECHATROLINK-II, alarm display for the Servo Drive, and the communications status. Rotary switches for setting a node address 7-segment LED (2 digits)
Page 357: Turning On Power
6-2 Preparing for Operation  MECHATROLINK-II Status LED Indicator The display status of the MECHATROLINK-II status LED indicator (COM) is described below. LED Display Description No communications Flashing green Asynchronous communications established Lit green Synchronous communications established Recoverable MECHATROLINK-II communications alarm ...
Page 358: Checking The Displays
6-2 Preparing for Operation Checking the Displays  7-segment LED The display of the 7-segment LED on the front panel is shown below. When the power is turned ON, the node address set with the rotary switch is displayed, followed by the display content set by the Default Display (Pn001) parameter.
Page 359: Absolute Encoder Setup
6-2 Preparing for Operation Absolute Encoder Setup When the power is turned OFF, multi-turn data for the absolute value data will be retained using the battery for the absolute encoder. Hence, when turning ON the machine for the first time after loading the battery, you will need to clear the encoder at the origin and set the multi-turn data to 0.
Page 360 6-2 Preparing for Operation 4. Start clearing the absolute encoder. Hold down . Clearing the absolute encoder will be started. Hold down the Increment eknkck k k-.k key for approx. 3 seconds. The number of dashes on the display will increase. eknkck k-k-.k -k-k-k-k-k-.k Clearing the absolute...
Page 361: Using The Parameter Unit
6-3 Using the Parameter Unit 6-3 Using the Parameter Unit Names of Parts and Functions Connector Parameter Unit Cable Display area Operating area LED Display (6 Digits) If an error occurs, all digits will flash and the display will switch to the error display. Unit No.
Page 362: Setting The Mode
6-4 Setting the Mode 6-4 Setting the Mode Changing the Mode Parameter Unit default display pknk_krk0k0.k 1k6kbkikktkp...
Page 363: Monitor Mode
6-4 Setting the Mode Monitor Mode Position deviation Position deviation: 8 pulses Servomotor speed 1000 r/min Torque output: 100% Torque output Control mode Position control display I/O signal status Input signal No. 0 enabled No current errors Alarm history Software version Software version 1.01 Warning display No current warnings...
Page 364 6-4 Setting the Mode  The Servomotor speed will be displayed the first time the power is turned ON after purchase. To change the initial display when the power is turned ON, change the setting for the Default Display (Pn001). For details, refer to Default Display on page 5-62. ...
Page 365 6-4 Setting the Mode  I/O Signal Status Input signal No. 00 ON Output signal No. 1A OFF or disabled OFF or disabled Signal No. display (0 to 1F hex) Input Output  Displays the status of the control input and output signals connected to CN1. Input Signals Signal Abbreviation...
Page 366 6-4 Setting the Mode Output Signals Signal Abbreviation Name READY Servo Ready /ALM Alarm Output INP1 Positioning Completed 1 Output BKIR Brake Interlock ZSPD Zero Speed Detection TLIM Torque Limiting VCMP Speed Conformity Servomotor Rotation Speed TGON Detection INP2 Positioning Completed 2 Output Switching between Input and Output Signals If the decimal point is at the right of the signal number, the signal number can be changed.
Page 367 6-4 Setting the Mode  Alarm History Alarm code ("- -" is displayed if no alarms have occurred.) : Current alarm : Alarm 0 (newest alarm) : Alarm 13 (oldest alarm)  Up to the most recent 14 alarms, including the current one, can be viewed in the alarm history. ...
Page 368 6-4 Setting the Mode Alarm Codes and Meanings Alarm Alarm Meaning Meaning Codes Codes Absolute encoder system Control power supply undervoltage down error Absolute encoder counter Overvoltage overflow error Absolute encoder Main power supply undervoltage overspeed error Absolute encoder one-turn counter er- Overcurrent Absolute encoder multi-turn counter Servo Drive overheat...
Page 369 6-4 Setting the Mode  Warning Display : Warning : No warning, Overload: 85% or more of the alarm level for overload. Over-regeneration: 85% or more of the alarm level for regeneration overload. The alarm level will be 10% of the operating ratio of the regeneration resistance if the Regeneration Resistor Selection (Pn06C) is set to 1.
Page 370: Parameter Setting Mode
6-4 Setting the Mode Parameter Setting Mode  16-bit Positioning Parameters 1. Displaying Parameter Setting Mode Display example Explanation operation The item set for the Default Display (Pn001) is displayed. Press the key to display Monitor Mode. Uknk_k5kpkd Press the key to display Parameter Setting Mode.
Page 371 6-4 Setting the Mode 5. Displaying the Parameter Setting Display example Explanation operation k k k k k0 Press the key to display the setting. The selected parameter number appears in the sub window. 6. Changing the Parameter Setting Display example Explanation operation k k k k k3...
Page 372 6-4 Setting the Mode  32-bit Positioning Parameters 1. Displaying Parameter Setting Mode Display example Explanation operation The item set for the Default Display (Pn001) is displayed. Press the key to display Monitor Mode. Uknk_k5kpkd Press the key to display Parameter Setting Mode. 1k6kbkiktkp 2.
Page 373 6-4 Setting the Mode 5. Displaying the Parameter Setting Display example Explanation operation k k6k3k2k8. Press the key to display the setting. The selected parameter number appears in the sub window. 32-bit parameters have many digits and thus displayed on two displays. Hk k k k k Press the key to change the display.
Page 374 6-4 Setting the Mode  Servo Parameters 1. Displaying Parameter Setting Mode Display example Explanation operation The item set for the Default Display (Pn001) is displayed. Press the key to display Monitor Mode. Uknk_k5kpkd Press the key to display Parameter Setting Mode. 1k6kbkiktkp 2.
Page 375 6-4 Setting the Mode 5. Displaying the Parameter Setting Display example Explanation operation k k k4k0k0 Press the key to display the setting. The selected parameter number appears in the sub window. 6. Changing the Parameter Setting Display example Explanation operation k k1k0k0k0 Use the...
Page 376: Parameter Write Mode
6-4 Setting the Mode Parameter Write Mode Settings changed in the Parameter Setting Mode must be saved to the EEPROM. To do so, the following procedure must be performed. 1. Saving Changed Settings Display example Explanation operation Press the key to display Parameter Write Mode. Press the key to switch to Parameter Write Mode.
Page 377: Normal Mode Autotuning
6-4 Setting the Mode Normal Mode Autotuning For details on normal mode autotuning, refer to 7-3 Normal Mode Autotuning on page 7-9. This section describes the operating procedure only. 1. Displaying Normal Mode Autotuning Display example Explanation operation The item set for the Default Display (Pn001) is displayed. Press the key to display Monitor Mode.
Page 378: Auxiliary Function Mode
6-4 Setting the Mode Auxiliary Function Mode Auxiliary Function Mode includes alarm reset, absolute encoder reset, and jog operation. Displaying Auxiliary Function Mode Display example Explanation operation The item set for the Default Display (Pn001) is displayed. Press the key to display Monitor Mode. Uknk_k5kpkd Press the key four times to display Auxiliary Function Mode.
Page 379 6-4 Setting the Mode  Absolute Encoder Reset 1. Executing Absolute Encoder Reset Display example Explanation operation Press the key to switch to Absolute Encoder Reset Mode. eknkck k k-. Press and hold the key until is displayed. sktkakrktk k eknkck k-k-.
Page 380 6-4 Setting the Mode  Jog Operation 1. Executing Jog Operation Display example Explanation operation Press the key to display Jog Operation Mode from the alarm reset display in Auxiliary Function Mode. Press the key to switch to Jog Operation Mode. Press and hold the key until “Ready”...
Page 381: Copy Mode
6-4 Setting the Mode Copy Mode In Copy Mode, user parameters set in the Servo Drive can be copied to the Parameter Unit, and user parameters stored in the Parameter Unit can be copied to the Servo Drive. This function can be used to easily set the same user parameters for more than one Servo Drive. All parameters (Servo, 16-bit, and 32-bit) will be copied collectively.
Page 382 6-4 Setting the Mode 3. Returning to Copy Mode Display example Explanation operation Press the key to return to Copy Mode.  If is displayed before completion, repeat the procedure from the Precautions beginning. Press the key to clear the error. for Correct Use ...
Page 383 6-4 Setting the Mode 3. Different Model Codes Display example Explanation operation The decimal point will move to the left when the key is pressed for 3 s or longer. The model codes are being matched. Press the key to cancel copying before completion. 4.
Page 384: Trial Operation
6-5 Trial Operation 6-5 Trial Operation When you have finished installation, wiring, and switch settings and have confirmed that status is normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system is electrically correct. If an error occurs during the trial operation, refer to Chapter 8 Troubleshooting to eliminate the cause.
Page 385 Chapter 7 Adjustment Functions 7-1 Gain Adjustment..........7-1 Purpose of the Gain Adjustment ...........7-1 Gain Adjustment Methods.............7-1 Gain Adjustment Procedure..........7-2 7-2 Realtime Autotuning........... 7-3 Realtime Autotuning Setting Method ........7-4 Machine Rigidity Setting Method ..........7-4 7-3 Normal Mode Autotuning ........7-9 Setting the Parameters ............7-9 7-4 Manual Tuning ...........
Page 386: Gain Adjustment
7-1 Gain Adjustment 7-1 Gain Adjustment OMNUC G-Series Servo Drives provide realtime autotuning and normal mode autotuning functions. With these functions, gain adjustments can be made easily even by those who use a servo system for the first time. Use manual tuning if autotuning does not provide the desired response. Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the host system with minimal time delay and maximum reliability.
Page 387: Gain Adjustment Procedure
Is operation OK? (Default setting) Manual tuning Is operation OK? Writing in EEPROM Consult your OMRON End of adjustment representative.  Gain Adjustment and Machine Rigidity Do the following to increase the machine rigidity:  Install the machine on a secure base so that it does not wobble.
Page 388: Realtime Autotuning
7-2 Realtime Autotuning 7-2 Realtime Autotuning Realtime autotuning estimates the load inertia of the mechanical system in realtime and operates the system by automatically setting the gain according to the estimated load inertia. By executing autotuning with the adaptive filter enabled, you can also reduce vibration and resonance. Realtime autotuning adjusts the PI control for the speed loop, and is thus effective for all controls.
Page 389: Realtime Autotuning Setting Method
7-2 Realtime Autotuning Realtime Autotuning Setting Method 1. Turn the servo OFF before setting realtime autotuning. 2. Set the Realtime Autotuning Mode Selection (Pn021) according to the load. Setting the parameter to 3 or 6 will allow the system to respond faster to inertia changes during operation.
Page 390 7-2 Realtime Autotuning  Unusual noise or vibration may occur until the load inertia is estimated or Precautions the adaptive filter stabilizes after startup, immediately after the first servo for Correct Use ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn022) is increased.
Page 391 7-2 Realtime Autotuning Operating Procedure rk k k k k0k Insert the Parameter Unit connector into CN3 of the Servo Drive and turn ON the Servo Drive power supply. Setting Parameter Pn021 Uknk_kskpkd. Press the key. Press the key. 1k6kbkiktkp skekrkUkokpk Press the key.
Page 392 7-2 Realtime Autotuning Realtime Autotuning (RTAT) Parameter Tables AT Machine Rigidity Selection (Pn022) Parameter AT Mode Selection Parameter name (Pn021) Pn010 Position Loop Gain 900 1080 Pn011 Speed Loop Gain Speed Loop Integration Time Pn012 Constant Speed Feedback Filter Time Pn013 Constant Torque Command...
Page 393 7-2 Realtime Autotuning AT Machine Rigidity Selection (Pn022) Parameter AT Mode Selection Parameter name (Pn021) Pn010 Position Loop Gain 1350 1620 2060 2510 3050 3770 4490 5570 Pn011 Speed Loop Gain 900 1150 1400 1700 2100 2500 3100 Speed Loop Integration Time Pn012 Constant Speed Feedback Filter Time...
Page 394: Normal Mode Autotuning
7-3 Normal Mode Autotuning 7-3 Normal Mode Autotuning Normal mode autotuning is used to estimate the load inertia of the machine. Position data generated within the Servo Drive is used to operate the machine for the estimation, thereby achieving greater accuracy in estimating the load inertia. Normal mode autotuning can be used from the Parameter Unit or CX-Drive.
Page 395 7-3 Normal Mode Autotuning The following graph shows the speed operating pattern when the set value is 0. The operating pattern starts with 3 or 4 reciprocating operations, followed by up to 3 cycles of 2 reciprocations, with each cycle accelerated twice as much as the previous cycle. The acceleration will stop changing, as it is limited by the No.
Page 396 7-3 Normal Mode Autotuning 2. Select the machine rigidity. Press to select machine rigidity No. aktk_knkok0. k Machine rigidity No.: Low aktk_knkok1. kk aktk_knkokf. Machine rigidity No.: High 3. Switch to Normal Mode Autotuning. After selecting the machine rigidity number, press the key to switch to Normal Mode Autotuning.
Page 397 7-3 Normal Mode Autotuning  When using normal mode autotuning with a Servomotor with a brake, Precautions connect the brake interlock (BKIR) output signal to allow the brake to be for Correct Use released.  If the Positioning Completion Range 1 (Pn060) is too narrow, it will cause an error.
Page 398 7-3 Normal Mode Autotuning Normal Mode Autotuning (AT) Parameter Tables AT Machine Rigidity Selection (Pn022) Parameter Parameter name Position Loop Pn010 120 320 390 480 630 720 900 1080 1350 1620 2060 2510 3050 3770 4490 5570 Gain Speed Loop Pn011 180 220 270 350 400 500 600 750 900 1150 1400 1700 2100 2500 3100 Gain...
Page 399: Manual Tuning
7-4 Manual Tuning 7-4 Manual Tuning Basic Settings As described before, the OMNUC G-Series Servo Drives have an autotuning function. Depending on load conditions or other restrictions, however, readjustment may be required if the gain cannot be properly adjusted when normal mode autotuning is performed or the optimum responsiveness or stability is required to match each load.
Page 400 7-4 Manual Tuning  Position Control Mode Adjustment Use the following procedure to make adjustments in position control for the OMNUC G Series. Start of adjustment Never make extreme adjustment or Disable realtime autotuning (Pn021 = 0). changes to settings. Doing so will result in unstable operation and may lead to injuries.
Page 401 7-4 Manual Tuning  Speed Control Mode Adjustment With the OMNUC G Series, adjustments for speed control are almost the same as adjustments for the position control mode. Use the following procedure to adjust parameters. Start of adjustment Never make extreme adjustment or Disable realtime autotuning (Pn021 = 0).
Page 402 7-4 Manual Tuning  Servo Drive Manual Tuning Procedure There are four basic adjustment parameters for the Servo Drive. If the desired operating characteristics can be achieved by adjusting the following four parameters, you do not need to adjust any other parameter. Parameter No.
Page 403 7-4 Manual Tuning Inertial Estimations Small inertia 5 times the rotor inertia or less Medium inertia 5 to 10 times the rotor inertia or less Large inertial 10 to 20 times the rotor inertia or less Pn010, Pn018 Position Loop Gain This loop controls the pulse count from the encoder so that the count will become a specified value.
Page 404 7-4 Manual Tuning Pn011, Pn019 Speed Loop Gain The Speed Loop Gain determines the responsiveness of the Servo Drive. If the Inertia Ratio (Pn020) is set correctly, this setting will be used as the response frequency. Increasing the Speed Loop Gain will improve the response and speed up the positioning process, but will also increase the likelihood of vibration.
Page 405 7-4 Manual Tuning Pn012, Pn01A Speed Loop Integration Time Constant The Speed Loop Integration Time Constant also determines the responsiveness of the Servo Drive.  Low Speed Loop Integration Time Constant causes vibration and resonance.  Increase the Speed Loop Integration Time Constant. Commanded operation pattern Speed (r/min)
Page 406 7-4 Manual Tuning Other Adjustments If the Torque Loop is saturated because of short acceleration time, large load torque, or other causes, overshooting occurs in the speed response. In such a case, increase the acceleration time to prevent torque saturation. Commanded operation pattern Overshooting occurs for the amount of delay in command.
Page 407: Chapter 8 Troubleshooting
Chapter 8 Troubleshooting 8-1 Error Processing ..........8-1 Preliminary Checks When a Problem Occurs .......8-1 Precautions When Troubleshooting........8-2 Replacing the Servomotor and Servo Drive......8-2 8-2 Alarm Table............8-3 8-3 Troubleshooting ..........8-7 Error Diagnosis Using the Displayed Alarm Codes ....8-7 Error Diagnosis Using the Displayed Warning Codes ..8-15 Error Diagnosis Using the Operating Status ......8-16 8-4 Overload Characteristics...
Page 408: Error Processing
8-1 Error Processing 8-1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical tools required to determine the cause of a problem.  Checking the Power Supply Voltage  Check the voltage at the power supply input terminals. Main Circuit Power Supply Input Terminals (L1, L3) R88D-GNL-ML2 (50 W to 400 W): Single-phase, 100 to 115 VAC (85 to 127 V), 50/60 Hz R88D-GNH-ML2 (100 W to 1.5 kW): Single-phase, 200 to 240 VAC (170 to 264 V), 50/60 Hz...
Page 409 8-1 Error Processing Precautions When Troubleshooting When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop, so always take the following precautions. You should assume that anything not described in this manual is not possible with this product. ...
Page 410: Alarm Table
8-2 Alarm Table 8-2 Alarm Table  Protective Functions The Servo Drive has built-in protective functions. When a protective function is activated, the Servo Drive turns OFF the alarm output signal (ALM) and switches to the Servo OFF status. The alarm code will be displayed on the front panel. Alarm type Description Protective function that allows the alarm to be reset, and leaves record in the...
Page 411 8-2 Alarm Table  Alarms Alarm Alarm Error Detection Function Detection Details and Cause of Error Display Type The DC voltage of the main circuit has Control power supply undervoltage dropped below the specified value. The DC voltage of the main circuit is Overvoltage abnormally high.
Page 412 8-2 Alarm Table Alarm Alarm Error Detection Function Detection Details and Cause of Error Display Type Absolute encoder The rotation of the absolute encoder is higher status error than the specified value. A phase-Z pulse was not detected Encoder phase Z error regularly.
Page 413 8-2 Alarm Table  Warnings Warning Warning Detection Priority Warning Details Code Function · Command argument setting is out of the range. · Data setting warning Parameter write failure. · High Command settings are wrong, and others. · Command output conditions are not satisfied. ·...
Page 414: Troubleshooting
8-3 Troubleshooting 8-3 Troubleshooting If an error occurs in the machine, determine the error conditions from the alarm indicator and operating status, identify the cause of the error, and take appropriate countermeasures. Error Diagnosis Using the Displayed Alarm Codes Alarm Alarm Name Cause Countermeasure...
Page 415 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code The current on the inverter circuit 1 If the alarm is triggered exceeded the specified value. immediately when the Servo Drive 1 The Servo Drive has failed. is turned ON with the Servomotor (Failure of circuit, IGBT parts, etc.) lines disconnected, replace the 2 Short circuit on Servomotor lines U,...
Page 416 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code The effective values of the torque Check that the torque (current) wave- commands have exceeded the over- form is not oscillating, and that it is not load level set by the Overload Detec- fluctuating significantly in the vertical tion Level Setting (Pn072).
Page 417 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code  Check that the encoder power supply Communications error occurred for the voltage is within the range of 4.75 to data from the encoder. Mainly a data 5.25 VDC. (If the encoder line is error due to noise.
Page 418 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code The value of the internal deviation Check that the speed monitor and counter (internal control unit) exceeded torque monitor values are indicated as (134217728). commanded by the Servo Drive. Check that torque is not saturated. Check that the No.
Page 419 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code The multi-turn counter of the encoder Check the setting for the Operation exceeded the specified value. Switch When Using Absolute Encoder Absolute encoder (Pn00B). counter overflow error Set the travel distance from the me- chanical origin within 32767 rotations.
Page 420 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code Data received during each Check that commands are being sent MECHATROLINK-II communications from the master node to the slave cycle repeatedly failed, exceeding the node. number of times set by the Communi- Check the MECHATROLINK-II cations Control (Pn005).
Page 421 8-3 Troubleshooting Alarm Alarm Name Cause Countermeasure code  The combination of the Servomotor  Use the Servomotor and Servo Drive Servomotor and Servo Drive is not appropriate. in the correct combination. non-conformity CPU error 9 The Servo Drive is faulty. Replace the Servo Drive.
Page 422 8-3 Troubleshooting Error Diagnosis Using the Displayed Warning Codes Warning Error Cause Countermeasure Code  Command argument setting is out of  Check the setting range.  Check the control power supply the range.  Parameter write failure. voltage. Data setting warning ...
Page 423 8-3 Troubleshooting Error Diagnosis Using the Operating Status Symptom Probable cause Items to check Countermeasure Check that the control power supply Ensure that power is voltage is within the specified supplied properly. 7-segment range. No control power supply. LED is not lit. Check that the power supply input Wire correctly.
Page 424 8-3 Troubleshooting Symptom Probable cause Items to check Countermeasure Set the Servo lock command Check the response of Not Servo locked. bit on the host controller the NCF71 Servo lock bit. again. The power cable is Check the wiring of the Servomotor Wire the Servomotor power not properly connected.
Page 425 8-3 Troubleshooting Symptom Probable cause Items to check Countermeasure Set the speed command to There is a small input for Check that there is no input 0, or switch to position con- speed command mode. for speed command mode. The Servomotor trol mode.
Page 426 8-3 Troubleshooting Symptom Probable cause Items to check Countermeasure  Re-tighten the coupling. Problem with the coupling Check that the coupling of the Ser-  Replace with a tight between the Servomotor vomotor and the machine is not coupling. axis and the machine. misaligned.
Page 427 8-3 Troubleshooting Symptom Probable cause Items to check Countermeasure The Torque Command Increase the Torque Com- Filter Time Constant Review the Torque Command Filter mand Filter Time Constant (Pn014) does not match Time Constant (Pn014). (Pn014) to stop the vibration. the load.
Page 428: Overload Characteristics (Electronic Thermal Function)
8-4 Overload Characteristics (Electronic Thermal Function) 8-4 Overload Characteristics (Electronic Thermal Function) An overload protection (electronic thermal) function is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading. If an overload does occur, first eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again.
Page 429: Periodic Maintenance
8-5 Periodic Maintenance 8-5 Periodic Maintenance Caution Resume operation only after transferring to the new Unit the contents of the data required for operation. Not doing so may result in equipment damage. Do not attempt to disassemble or repair any of the products. Any attempt to do so may result in electric shock or injury.
Page 430  If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recommended.  Upon request, OMRON will examine the Servo Drive and Servomotor and determine if a replacement is required. 8-23...
Page 431 8-5 Periodic Maintenance Replacing the Absolute Encoder Battery Replace the Absolute Encoder Backup Battery if it has been used for more than three years or if an absolute encoder system down error (alarm code 40) has occurred.  Replacement Battery Model and Specifications Item Specifications Name...
Page 432 8-5 Periodic Maintenance Battery Mounting Procedure 1. Prepare the R88A-BAT01G replacement battery. R88A-BAT01G 2. Remove the battery box cover. Raise the hooks to remove the cover. 3. Put the battery into the battery box. Insert the battery. Attach the connector. 4.
Page 433: Chapter 9 Appendix
Chapter 9 Appendix 9-1 Parameter Tables..........9-1...
Page 434: Parameter Tables
9-1 Parameter Tables 9-1 Parameter Tables The attribute indicates when the changed setting for the parameter will be enabled. Always enabled after change Change prohibited during Servomotor operation and command issuance. (It is not known when changes made during Servomotor operation and command issuance will be enabled.) Enabled when the control power supply is reset, or when a CONFIG command is executed via the network (MECHATROLINK-II communications).
Page 435 9-1 Parameter Tables User parameters are set and checked on CX-Drive or the Parameter Unit (R88A-PR02G).  Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Reserved Do not change. Selects the data to be displayed on the 7-segment LED display on the front panel.
Page 436 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Selects the torque limit function, or the torque feed- forward function during speed control.  Torque Limit Selection For torque control, always select Pn05E. For position control and speed control, select the torque limit as follows.
Page 437 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Selects the function for the Forward and Reverse Drive Prohibit Inputs (CN1 POT: pin 19, NOT: pin 20). Decelerates and stops according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn066) when both Drive Prohibit POT and NOT inputs are enabled.
Page 438 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Selects the output to the Analog Torque Monitor (IM on the front panel). Forward rotation is always positive (+), and reverse rotation is always negative (). Torque command: 100%/3 V Position deviation: 31 pulses/3 V Position deviation: 125 pulses/3 V Position deviation: 500 pulses/3 V...
Page 439 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Sets the speed loop responsiveness.  If the Inertia Ratio (Pn020) is set correctly, this Speed Loop Gain 1 to parameter is set to the Servomotor response 30000 (RT) frequency.
Page 440 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Sets the operating mode for realtime autotuning. Realtime Degree of change Autotuning in load inertia Disabled Almost no change Horizontal axis Realtime Gradual changes mode Autotuning Mode 0 to 7 Sudden changes Selection...
Page 441 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Sets the operating pattern for normal mode autotuning. Number of Rotation direction rotations Forward and Reverse (Alternating) Reverse and Forward Repeat cycles of Normal Mode (Alternating) 2 rotations Autotuning 0 to 7 Forward only...
Page 442 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Enables or disables gain switching. When enabled, the setting of the Gain Switch Setting (Pn031) is used as the condition for switching between gain 1 and gain 2. Gain Switching Disabled.
Page 443 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Reserved Do not change. Enables the Emergency Stop Input (STOP). Emergency Stop Input Disabled 0 to 1 Setting Enabled (alarm code 87 issued on OPEN) Sets the logic for the Origin Proximity Input (DEC). Origin Proximity N.C contact (origin proximity detected on Input Logic...
Page 444 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Sets the speed limit for torque control mode. Use the Speed Limit (Pn053) Speed Limit 0 to 1 Use the speed limit value via Selection MECHATROLINK-II or the Speed Limit (Pn053), whichever is smaller.
Page 445 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Sets the deceleration stop operation to be per- formed after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is enabled. After During de- stopping Deviation celeration...
Page 446 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Sets the duration from Servo OFF to when the Brake Timing Brake Interlock (BKIR) signal is turned OFF. during 2 ms 0 to 1000 B BKIR is also turned OFF when the speed drops to Operation 30 r/min or less before the set time elapses.
Page 447 9-1 Parameter Tables Default Setting Parameter name Setting Explanation Unit Setting Range value Reserved Do not change. Reserved Do not change. Reserved Do not change. Reserved Do not change. Reserved Do not change. 9-14...
Page 448 9-1 Parameter Tables  16-bit Positioning Parameters: Parameter Numbers 100 to 13F Set- Default Setting Parameter name Explanation Unit ting Setting Range value Enables or disables the backlash compensation for position control, and sets the compensation direction. Backlash Disabled Compensation 0 to 2 Compensates in the initial forward Selection...
Page 449 9-1 Parameter Tables Set- Default Setting Parameter name Explanation Unit ting Setting Range value  Sets the deceleration for positioning operations. 1000 A setting of "0" is regarded as "1". Linear 32768 to The setting will be handled after conversion to Deceleration [Com- an unsigned 16-bit data (0 to 65535).
Page 450 9-1 Parameter Tables Set- Default Setting Parameter name Explanation Unit ting Setting Range value Selects the function for general-purpose output 1 (OUTM1). Always OFF INP1 output. Turn ON when position deviation is equal to or less than Pn060 for position control. VCMP output.
Page 451 9-1 Parameter Tables  32-bit Positioning Parameters: Parameter Numbers 200 to 21F Set- Default Set val- Parameter name Description Unit Setting Range ting Setting 1073741823 Sets the offset amount for the encoder posi- Com- Absolute Origin tion and the mechanical coordinate system mand Offset position when using an absolute encoder.
Page 452 9-1 Parameter Tables Set- Default Set val- Parameter name Description Unit Setting Range ting Setting Sets the distance from the latch signal input position to the origin when performing origin return. The operation after detecting the latch signal input position will be determined by the origin return direction and this parameter as follows.
Page 454 Index 6-28 Numerics Copy Mode ............. 3-28 1,000-r/min Servomotors ........ 3-11 5-50 12 to 24-VDC Power Supply Input (+24VIN) ..Damping Control............. 5-81 9-15 2-49 16-bit Positioning Parameters ...... Decelerator dimensions.......... 3-26 2,000-r/min Servomotors ........ Decelerator installation conditions......3-24 3-32 3,000-r/min Flat Servomotors ......
Page 455 Index Motor Phase Current Offset Re-adjustment Setting 5-76 (Pn064)..............2-24 Mounting Brackets (L brackets for rack mounting) . 5-68 Feed-forward Filter Time Constant (Pn016) ... 2-25 mounting hole dimensions........Final Distance for External Input Positioning (Pn203) 5-20 Moving Average Time..........5-84 ................
Page 456 Index 4-16 3-17 Power Cables (Robot Cables) ........ Servomotor general specifications ......4-15 Power Cables (Standard Cables) ......Servomotor installation conditions......Power Cables for Servomotors with Brakes Servomotor models ..........3-64 (Robot Cables) ............3-52 Servomotor power cable......... Power Cables for Servomotors with Brakes 2-21 Servomotor Power Cables (Robot Cables) ....
Page 457 Index 5-71 4-26 Vibration Filter 1 Setting (Pn02C)......Wire Sizes .............. 5-72 4-28 Vibration Filter 2 Setting (Pn02E) ......wiring conforming to EMC Directives...... 5-70 5-92 Vibration Filter Selection (Pn024)....5-71 Vibration Frequency 1 (Pn02B) ......5-71 Vibration Frequency 2 (Pn02D) ......Index-4...
Page 458 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the man- ual. Cat. No. I566-E1-07 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 460 Hoffman Estates, IL 60169 U.S.A. Tel: (31) 2356-81-300 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 ©OMRON Corporation 2008-2023 All Rights Reserved. OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. In the interest of product improvement, 438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, specifications are subject to change without notice.

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