Omron ACCURAX G5 SERVO DRIVE Datasheet page 4

General specifications (for MECHATROLINK-II servo drives)
Control mode
Performance Frequency characteristics
Speed zero clamp
soft start time setting
Command input MECHATROLINK-II
communication
Sequence input signal
Sequence output signal
USB Interface
communications
Communications standard
Function
MECHATROLINK- Communications protocol
II communications
Station address
Tranmission speed
Transmission cycle
Data length
Automatic load inertia detection
Dynamic brake (DB)
Regenerative processing
Overtravel (OT) prevention function
Encoder divider function
Protective functions
Analog monitor functions for supervision
Panel operator Display functions
Switches
CHARGE lamp
Safety terminal Functions
Conformed standards
External encoder feedback
General specifications (for analog/pulse servo drives)
Control mode
Performance Frequency characteristics
Speed zero clamp
Soft start time setting
Speed control Speed reference voltage
Torque limit
Preset speed control
Torque control Torque reference voltage
Speed limit
Command Input pulse type
pulse
Input pulse frequency
Command pulse scaling
(Electronic Gear)
Command Input pulse type
pulse
Input pulse frequency
Command pulse scaling
(Electronic Gear)
External encoder scaling
Position signal output
Sequence input signal
Sequence output signal
64
Position control, velocity control, torque control, full-closed control.
2 kHz
Preset velocity command can be clamped to zero by the speed zero clamp input.
0 to 10 s (acceleration, deceleration can be set separately).
MECHATROLINK-II commands (for sequence, motion, data setting/reference, monitor, adjustment and other
commands)
- Multi-function input x 8 by parameter setting (forward/reverse drive prohibition, emergency stop, external latch,
origin proximity, forward/reverse torque limit, general purpose monitor input).
It is possible to output three types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
warning, position command status, speed limit detection, alarm ouput, speed command status.
Personal computer/ Connector mini-USB
Compliant with USB 2.0 standard
Parameter setting and status monitoring
MECHATROLINK-II
41H to 51 FH (max. number of slaves: 30)
10 Mbps
1, 2 & 4 ms
32 bytes
Automatic motor parameter setting. One parameter rigidity setting.
Built-in. Operates during main power OFF, servo alarm, servo OFF or overtravel.
Internal resistor included in models from 600 W to 5 kW. Regenerative resistor externally mounted (option).
DB stop, deceleration stop or coast to stop during P-OT, N-OT operation
Optional division possible
Overcurrent, overvoltage, undervoltage, overspeed, overload, encoder error, overheat...
Analog monitor of motor speed, speed reference, torque reference, command following error, analog input...
The monitoring signals to output and their scaling can be specified with parameters.
Number of channels: 2 (Output voltage: ±10V DC)
2-digit 7-segment LED display shows the drive status, alarm codes, parameters...
MECHATROLINK-II communications status LED indicator (COM)
2 x rotary switches for setting the MECHATROLINK-II node address
Lits when the main circuit power supply is turned ON.
Safety Torque OFF function to cut off the motor current and stop the motor. Output signal for failure monitoring
function.
EN ISO13849-1:2008 (PL- d, Performance Level d), IEC61800-5 -2:2007 (function STO, Safe Torque OFF),
EN61508:2001 (Safety Integrity Level 2, SIL2), EN954-1:1996 (CAT3).
Serial signal and line-driver A-B-Z encoder for full-close control
7 modes selectables by parameter: (1) position control, (2) velocity control, (3) torque control, (4) position/velocity
control, (5) position/torque control, (6) velocity/torque control and (7) full-closed control.
2 kHz
Preset velocity command can be clamped to zero by the speed zero clamp input.
0 to 10 s (acceleration, deceleration can be set separately). S-curve acceleration/deceleration is also available.
6 VDC at rated speed: set at delivery (the scale and polarity can be set by parameters)
3 VDC at rated torque (torque can be limited separately in positive/negative direction).
Preset speed is selectable from 8 internal settings by digital inputs.
3 VDC at rated torque: set at delivery (the scale and polarity can be set by parameters).
Speed limit can be set by parameter.
Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
4 Mpps max. (200 Kpps max. at open collector).
Applicable scaling ratio: 1/1000 - 1000
30
Any value of 1-2 can be set for numerator (encoder resolution) and denominator (command pulse resolution
per motor revolution). The combination has to be within the range shown above.
Sign + pulse train, 90° phase displacement 2-phase pulse (A-phase+ B-phase) or CCW/CW pulse train
4 Mpps max. (200 Kpps max. at open collector).
Applicable scaling ratio: 1/1000 - 1000
30
Any value of 1-2 can be set for numerator (encoder resolution) and denominator (command pulse resolution).
The combination has to be within the range shown above.
Applicable scaling ratio: 1/20 - 160
30
Any value of 1-2 can be set for numerator (encoder resolution) and denominator (external encoder resolution
per motor revolution). The combination has to be within the range shown above.
A-phase, B.phase, Z-phase line driver output and Z-phase open-collector output.
- Multi-function input x 10 by parameter setting (servo ON, control mode switching, forward/reverse drive prohi-
bition, vibration filter switching, gain switching, electronic gear switching, error counter reset, pulse prohibition,
alarm reset, internal speed selection, torque limit switching, zero speed, emergency stop, inertia ratio switching,
velocity/torque command sign).
- Dedicated input x 1 (SEN: sensor ON, ABS data request).
It is possible to output four types of signal form incl.: brake release, servo ready, servo alarm, positioning com-
plete, motor rotation speed detection, torque limit detection, zero speed detection, speed coincidence detection,
warning, position command status, speed limit detection, speed command status.
AC servo systems