Table of Contents
Advertisement
Quick Links
About this Manual:
This guide describes the installation and startup procedures of the Servo System so that it can
be efficiently put in actual operation in a short time.
This guide provides detailed descriptions of key points for efficiently starting up the Servo Sys-
tem as follows:
• Check the wiring by efficiently using the monitor function.
• Perform gain adjustments properly.
• Find the causes of alarms quickly and take the appropriate countermeasures.
• Take appropriate countermeasures for position deviation that might be caused by
noise.
This guide applies to the following OMRON products:
• OMNUC U Series
• OMNUC H Series
• OMNUC M Series
• OMNUC R Series
It is recommended that the following manuals be referred to when actually performing the work.
Item
OMNUC U Series
OMNUC H Series
OMNUC M Series
OMNUC R Series
Finally, please read this guide carefully and be sure you understand the information provided
before attempting to install and startup the Servo System. The guide includes the sections de-
scribed below.
provides a summary of the Servo System and all gains used for the Servo System
Chapter 1
loops.
describes wiring checks, possible system startup errors, and countermeasures
Chapter 2
against position deviation when constructing the Servo System.
describes the probable causes of Servo Driver alarms that may occur and the counter-
Chapter 3
measures required to deal with them.
describes the types and generation of noise and provides countermeasures against
Chapter 4
noise.
The Appendix provides an example of the configuration of the Servo Driver's main circuitry.
WARNING Failure to read and understand the information provided in this manual may
!
Catalog No.
I501
I502
I508
I511
I503
I505
I504
I506
result in personal injury or death, damage to the product, or product failure.
Please read each section in its entirety and be sure you understand the
information provided in the section and related sections before attempting any of
the procedures or operations given.
R88D-UA
Analog Input with Power Supply
R88D-UP
Pulse-train Input with Power Supply
R88D-HT/HS
R88D-MT
R88D-RA
Analog Input with Power Supply
R88D-RP
Pulse-train Input with Power Supply
R88D-RB
Analog Input without Power Supply
R88D-RR
Pulse-train Input without Power Supply
Model
Advertisement
Table of Contents
Related Manuals for Omron R88D-UA
Summary of Contents for Omron R88D-UA
- Page 1 • Find the causes of alarms quickly and take the appropriate countermeasures. • Take appropriate countermeasures for position deviation that might be caused by noise. This guide applies to the following OMRON products: • OMNUC U Series • OMNUC H Series •...
- Page 2 Every precaution has been taken in the preparation of this manual. Never- theless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for dam- ages resulting from the use of the information contained in this publication.
- Page 4 Cat. No. I801-E1-1 TECHNICAL GUIDE Servo System Startup...
-
Page 5: Table Of Contents
Table of Contents Chapter 1. Gain Adjustment ....... . . 1-1 Types and Meanings of Gain . -
Page 6: Chapter 1. Gain Adjustment
Chapter 1 Gain Adjustment Types and Meanings of Gain Gain Adjustment Special Adjustment Parameters... -
Page 7: Types And Meanings Of Gain
Chapter 1 Gain Adjustment Types and Meanings of Gain The word “gain” appears frequently in this technical guide. The gain is one of the indis- pensable parameters of the Servo System. If the gain adjustment of the Servo System is insufficient, the operation of the Servo System will be unsatisfactory, in which case the Servo System will cause machinery vibration and an alarm will result. -
Page 8: Gain
Chapter 1 Gain Adjustment Configuration Example of Servo System Speed gain Current gain Position gain Command pulses Motor Deviation counter (Position command) Current feedback Speed feedback Speed detection Encoder or resolver Feedback pulse (position feedback) Position Control Unit with analog output Servo Driver with analog input Servomotor Position Control Unit with... -
Page 9: Types Of Gains
Chapter 1 Gain Adjustment 1-1-3 Types of Gains The following table describes gains and adjustment parameters that will improve the response charac- teristics of the Servo System. Gain and adjustment Function Parameter name for each series parameter Current loop command The current (torque) response speed U: Torque command filter time constant filter... -
Page 10: Gain Adjustment
Chapter 1 Gain Adjustment Gain Adjustment Gain adjustment is indispensable to the functionality of the Servo System. If the gain adjustment of the Servo System is insufficient, the performance of the Servo System will be unsatisfactory and the Servo System will therefore cause machine vibration or not ensure precise positioning. - Page 11 Chapter 1 Gain Adjustment D Speed Loop Proportional Gain • The response characteristics of the Servo System in all frequency bands change by adjusting this gain. • The compensating force and response characteristics rise if the gain increases. • Increase the gain as much as possible provided that the adjusted gain does not cause machinery vibration.
- Page 12 Chapter 1 Gain Adjustment Adjustment Example 2 • Refer to the following for the adjustment of the Servo System that has a strong machine resonance point in a high-frequency band. In this condition, the motor may continue buzzing or vibrate at high frequency if the gains are low.
- Page 13 Chapter 1 Gain Adjustment Speed Loop Proportional Gain vs. Response Characteristics Motor Speed loop proportional gain is high. speed (Machine vibration will result if gain is too high.) Speed loop proportional gain is low. Time Speed Loop Integral Gain vs. Response Characteristics Motor speed Speed loop integral gain is high.
- Page 14 Chapter 1 Gain Adjustment • If an oscilloscope is not available, visually inspect the operation of the motor shaft or machine system. If there is undershooting, the shaft will perform positioning in the opposite direction of the rotating direction before the shaft stops as shown in the following illustration. Starts rotating Rotating Stop...
-
Page 15: Special Adjustment Parameters
Chapter 1 Gain Adjustment Special Adjustment Parameters Gains and adjustment parameters for all OMRON Servo Drivers are described below. The auto-tuning function incorporated by the U Series allows easy automatic gain ad- justment according to the machine system. H Auto-tuning Function (U Series) •... - Page 16 Chapter 1 Gain Adjustment H Feed-forward Function (U Series: Feed-forward Value; H Series: Position Loop Feed-forward Gain) • The feed-forward function is enabled at the time of pulse-train input. • This function adds the frequency of pulse-train input to the speed loop. •...
-
Page 17: Chapter 2. Connection To Position Control Unit
Chapter 2 Connection to Position Control Unit Wiring Check System Startup Errors Countermeasures Against Position Deviation... -
Page 18: Wiring Check
Chapter 2 Connection to Position Control Unit Wiring Check Care must be taken for Position Control Unit and Servo Driver connection, which needs a comparatively large number of wires. Be sure that all lines connecting the Position Control Unit and Servo Driver are wired correctly. It will be difficult to find wiring mistakes after completing the Servo System construction. -
Page 19: Wiring Check Without I/O Monitor
Chapter 2 Connection to Position Control Unit 2-1-2 Wiring Check without I/O Monitor • If no I/O monitor is available, use a multimeter and check the voltage as shown in the following dia- gram. • There will be a voltage between the terminals if the output transistor is ON. The reading of the multime- ter will be 0 V if the output transistor is OFF. -
Page 20: System Startup Errors
Chapter 2 Connection to Position Control Unit System Startup Errors The Position Control Unit may malfunction due to incorrect wiring, setting, or sequence when power is supplied to the Position Control Unit or while the Position Control Unit is operating. Probable causes of system startup errors and countermeasures are de- scribed below. - Page 21 Chapter 2 Connection to Position Control Unit Line Disconnection, Reverse Wiring, or Out-of-control Errors Occur • The Position Control Unit with analog output will be out of control if the polarity of the speed command does not coincide with that of the encoder signal. •...
- Page 22 Position Control Unit output or Servo Driver input offset. Refer to Chapter 4 Countermeasures Against Noise if noise is the cause of the problem. Note 2. Some of the OMRON Position Control Units incorporate a line disconnection detecting func- tion.
- Page 23 Chapter 2 Connection to Position Control Unit Note 3. If a signal line or connector disconnection is detected, the cable may be, however, in a fully conducting state. When there is no encoder signal or speed command signal, check the resis- tance of the cable by pulling or bending the cable.
- Page 24 Chapter 2 Connection to Position Control Unit The Next Positioning Operation is Not Performed. The Rising Edge of the Positioning Completion Signal is Not Detected. • The next positioning step will be usually taken after the confirmation of the present positioning completion signal.
-
Page 25: Countermeasures Against Position Deviation
Chapter 2 Connection to Position Control Unit Countermeasures Against Position Deviation Origin Search Position Deviates • There are some reasons for position deviation after origin search completion. • Position deviation will occur whenever the origin is searched if any coupling or joint of the machine system has a problem. - Page 26 Chapter 2 Connection to Position Control Unit Moving Distance is Insufficient/Excessive. Rotation Speed is Too Slow/Fast. • Actual moving distance and rotation speed are different from specified moving distance and rotation speed. Probable cause Item to check Countermeasure • The pulse rate set value is differ- •...
-
Page 27: Chapter 3. Servo Driver Errors
Chapter 3 Servo Driver Errors Alarms and Countermeasures... -
Page 28: Alarms And Countermeasures
Chapter 3 Servo Driver Errors Alarms and Countermeasures This chapter describes probable causes of alarms that may go off while the Servo Driver is in operation and countermeasures to be taken. In some cases, the built-in circuitry of the Servo Driver may be damaged if alarms are reset without taking proper countermea- sures. - Page 29 Chapter 3 Servo Driver Errors Main Circuit Overcurrent If any of the following errors result, turn off the Servo Driver immediately. Do not turn on the Servo Driver until the causes are checked and countermeasures are taken. Do not replace the Servo Driver or motor without finding out the cause of the error. The built-in circuitry of the Servo Driver may be completely damaged if the Servo Driver is turned on without taking proper countermeasures.
- Page 30 Chapter 3 Servo Driver Errors Main Circuit Overvoltage • An alarm goes off if an excessive voltage is imposed on the main circuitry of the Servo Driver. • The excessive voltage may be imposed from the power supply side or motor side due to power feedback to the capacitor.
- Page 31 Chapter 3 Servo Driver Errors Note 2. The regeneration is calculated from the terminal voltage of the External Regeneration Resis- tor. The External Regeneration Resistor must withstand regeneration that is three to five times larger than the regeneration calculated from the following. Terminal volt- age of External Regeneration time...
- Page 32 Chapter 3 Servo Driver Errors Main Circuit Voltage Drop Probable cause Item to check Countermeasure • There is no 200 VAC output be- • Replace the Servo Driver. The fuse of the power supply for the main circuit contactor was tween terminals B and O.
- Page 33 Chapter 3 Servo Driver Errors Overload Probable cause Item to check Countermeasure • The machine system does not • Perform machine maintenance. The motor shaft is locked. operate smoothly. • Repair the machine system. • The machine system came to a halt after colliding with some ob- ject.
- Page 34 Chapter 3 Servo Driver Errors Overspeeding • An alarm will go off if the rotation speed of the motor is abnormal, as in the following cases: The rotation speed has exceeded the maximum allowable rotation speed. The rotation signal is not returned from the motor in response to a command from the Servo Driver. A command is input for the motor to run at a speed exceeding the maximum allowable rotation speed.
- Page 35 Chapter 3 Servo Driver Errors Note 1. In many cases, signal cable errors will be detected together with encoder or resolver discon- nection errors. Note 2. If the cable contact is improper, the resistance of the cable will vary slightly. To check a slight difference in resistance in such a case, use a multimeter that has a mΩ...
- Page 36 Chapter 3 Servo Driver Errors Deviation Counter Overflow • An alarm will result if the deviation counter overflows. • This error results with the Servo Driver with pulse-train input. • The deviation counter will overflow if the motor cannot carry out the command. Alarm Indication U Series: A.
- Page 37 Chapter 3 Servo Driver Errors Servo Driver Overheating An alarm will go off if the internal temperature (i.e., heat sink temperature) of the Servo Driver exceeds 90°C. Alarm Indication U Series: A. 10 H Series: E21 M Series: A. L-8, A. L-9 R Series: OH Probable cause Item to check...
-
Page 38: Chapter 4. Countermeasures Against Noise
Chapter 4 Countermeasures Against Noise Generation and Types of Noise Noise Suppression... -
Page 39: Generation And Types Of Noise
Chapter 4 Countermeasures Against Noise Generation and Types of Noise The elimination of noise influence on the Servo System is indispensable for increasing the reliability of the Servo System. If the protection of the Servo System from noise is insufficient, the Units in the system will be damaged in the worst case. Even if the Units are not damaged, the Servo System will not be able to fulfill its functions, e.g., the rota- tion of the motor may be unstable or correct positioning may not be possible with the Servo System. -
Page 40: Noise Transmission Paths
Chapter 4 Countermeasures Against Noise H Types of Noise and Typical Noise Sources Kind Generation Machine or component Signal waveform Coil surge A coil generates a surge Relay when the voltage Solenoid imposed on the coil is Contactor turned on and off. Time Capacitor charge current A high-charge current Built-in power supply... - Page 41 Chapter 4 Countermeasures Against Noise D Conductive Path Noise signals with radical changes are transmitted from a power line to another line or control equip- ment through the FG (frame ground) or conductive cable. Noise may be transmitted through the FG or conductive cable after the noise is transmitted to the FG or conductive cable through the other noise transmission paths.
- Page 42 Chapter 4 Countermeasures Against Noise D Radio Transmission Path Noise signals with radical changes are radiated from signals lines working as antennas. The Servo Sys- tem may leak noise from the cable lines as shown in the illustration below. Effects Radio and TV interference.
-
Page 43: Noise Suppression
Chapter 4 Countermeasures Against Noise Noise Suppression Noise is generated from equipment and transmitted through unexpected transmission paths. Noise suppression means the prevention of the generation of noise from such noise sources and block the transmission of noise through noise transmission paths. 4-2-1 Countermeasures The following four items are essential for noise suppression. - Page 44 Chapter 4 Countermeasures Against Noise H Capacitive Coupling Path Countermeasure Purpose Precautions Wiring Separation of signal lines Reduction of capacitive Keep signal lines at least coupling 10 cm away from each other. 10 to 30 cm Ideally, the signal lines are kept 30 cm away from each other.
-
Page 45: Other Countermeasures
Chapter 4 Countermeasures Against Noise H Radio Transmission Path Countermeasure Purpose Precautions Wiring Noise filter Attenuation of The section not Servo Driver high-frequency energy attenuating high-frequency noise should be made as short Short in distance as possible. Shielding with conductive Reduction of capacitive Be sure to connect the materials... - Page 46 Chapter 4 Countermeasures Against Noise Shielding the pulse signal. If positioning point deviation results after power supply separation, connect both ends of the shield of the command pulse signal lines (twisted-pair shield wires) on the Position Control Unit and Servo Driver sides to the FG (frame ground).
-
Page 47: Noise Suppression Example
Chapter 4 Countermeasures Against Noise D Motor Vibration (M Series Only) Error The resolver signal is subjected to noise interference and the motor vibrates because the electric poten- tial of the FG (frame ground) of the motor is unstable. Countermeasures Connect the motor frame and the FG of the Servo Driver with a cable of 2.0 mm or more in thickness. - Page 48 Chapter 4 Countermeasures Against Noise [e] Command Pulse Signal Lines • Use twisted-pair shield wires for the command pulse signal lines. • The wires must not be longer than 1 m. • Keep the wires approximately 30 cm away from other signal or power lines. Lay out the wires sepa- rately from other signal or power lines.
-
Page 49: Chapter 5. Appendix
Chapter 5 Appendix Configuration of Main Circuitry... -
Page 50: Configuration Of Main Circuitry
Chapter 5 Appendix Configuration of Main Circuitry The following is an example of the configuration of the Servo Driver’s main circuitry. If an error should result, use this circuit diagram along with the information in 3-1 Alarms and Counter- measures to determine which part of the circuit is the cause of the error. Rectification Main circuit circuit... -
Page 51: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I801-E1-1 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.