Page 1 Cat. No. I561-E1-03 USER’S MANUAL SMARTSTEP 2 SERIES R88M-G@ (Servomotors) R7D-BP@ (Servo Drives) SERVOMOTORS/SERVO DRIVES...
Page 2 OMRON. 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.
Page 3 Introduction Introduction Thank you for choosing the SMARTSTEP 2 Series. This User’s Manual describes installation/wiring methods and parameter setting procedures required for the operation of the SMARTSTEP 2 Series as well as troubleshooting and inspection methods. Intended Readers This manual is intended for the following personnel.
Page 4: Limitations Of Liability
PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
Page 5: Application Considerations
Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
Page 6: Performance Data
Performance data given in this manual 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 users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
Page 7: Safety Precautions
Precautions for Safe Use To ensure safe and proper use of the SMARTSTEP 2 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 8 Precautions for Safe Use Installation, operation, maintenance, or inspection must be performed by authorized personnel only. 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 9 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. Not doing so may result in fire.
Page 10 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/outlet ports and do not let any foreign objects enter the product. Doing so may result in fire.
Page 11 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 that the newly set parameters function properly before the actual operation. Not doing so may result in equipment damage.
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. Warning label (Example of R7D-BP01H) Warning Label Contents Disposing of the Product Dispose of the product as industrial waste.
Page 13 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. Understanding Model Numbers...
Page 14 Items to Check When Unpacking Servomotor Models The model number provides information such as the Servomotor type, Servomotor capacity, rated rotation speed, and options. R88M-GP10030H-BOS2 G-Series Servomotor Motor Type None: Cylinder type P: Flat type Servomotor Capacity 050: 50 W 100: 100 W 200: 200 W 400: 400 W...
Page 15: About This Manual
Describes items to check for troubleshooting, error diagnoses us- ing alarm displays and the countermeasures, error diagnoses Chapter 8 Troubleshooting based on the operation status and the countermeasures, and peri- odic maintenance. Connection Exam- Provides examples of connection with OMRON PLCs and Position Appendix ples Controllers.
Page 16: Table Of Contents
CONTENTS Introduction .................. Precautions for Safe Use............. Items to Check When Unpacking ..........About this Manual ................ Chapter 1 Features and System Configuration Overview ....................1-1 System Configuration................1-2 Names of Parts and Functions..............1-3 System Block Diagrams ................1-5 Applicable Standards ................
Page 17 CONTENTS Chapter 6 Operation Operational Procedure................6-1 Preparing for Operation ................6-2 Using the Parameter Unit ................6-4 Trial Operation ..................6-23 Chapter 7 Adjustment Functions Gain Adjustment ..................7-1 Realtime Autotuning ................7-3 Autotuning....................7-8 Disabling the Automatic Gain Adjustment Function.........7-13 Manual Tuning ..................7-15 Chapter 8 Troubleshooting Error Processing ..................8-1 Alarm Table .....................8-3 Troubleshooting ..................8-5...
Page 19 Chapter 1 Features and System Configuration 1-1 Overview ............. 1-1 Overview of the SMARTSTEP 2 Series ........1-1 Features of the SMARTSTEP 2 Series........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..............
Page 20: Overview
1-1 Overview Overview of the SMARTSTEP 2 Series The SMARTSTEP 2 Series is a series of pulse-string input type Servo Drives for position controlling and it has been designed to function for low-capacity positioning systems. In spite of the compact size, the SMARTSTEP 2 Series features realtime autotuning and adaptive filter functions that automatically perform complicated gain adjustments.
Page 21: System Configuration
1-2 System Configuration 1-2 System Configuration SYSMAC PLC + Position Control Unit with pulse-string output Pulse string Position Control Unit SYSMAC CJ1W-NC113/213/413 CJ1/CS1/C-Series CJ1W-NC133/233/433 Programmable Controller CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 SYSMAC PLC with pulse output functions SYSMAC CJ1M SMARTSTEP 2 Servo Drive R7D-BP@ SYSMAC CP1H/CP1L Flexible Motion Controller with Pulse I/O...
Page 22: Names Of Parts And Functions
1-3 Names of Parts and Functions 1-3 Names of Parts and Functions Servo Drive Part Names Power supply LED indicator Alarm LED indicator (ALM) Communications connector (CN3) Control I/O connector (CN1) Encoder input connector (CN2) Motor connector (CNB) FG terminals for power supply and Main circuit connector (CNA) Servomotor power...
Page 23: Servo Drive Functions
1-3 Names of Parts and Functions Servo Drive Functions Power Supply LED Indicator (PWR) LED Indicator Status Lit green Main power is ON. Flashing orange at A warning has occurred (i.e., an overload, excessive 1-second intervals regenerative energy, or fan speed error). Lit red An alarm has occurred.
Page 24: System Block Diagrams
1-4 System Block Diagrams 1-4 System Block Diagrams VCC1 Voltage detection Regene- Relay Gate drive Current detection 15 V Overcurrent SW power supply rative detection drive control VCC1 Main circuit control VCC2 MPU & ASIC Display circuit Position, speed, and torque processor +VCC Control power supply...
Page 25: Applicable Standards
1-5 Applicable Standards 1-5 Applicable Standards EC Directives EC Directive Product Applicable standards Comments Low Voltage AC Servo Drive EN 50178 Safety requirements for elec- Directive tronic equipment for measure- ment, control, or laboratory use AC Servomotor IEC 60034-1 Rotating electric machines AC Servo Drive and EN 55011 class A Radio disturbance limits and...
Page 27 Chapter 2 Standard Models and Dimensions 2-1 Standard Models ..........2-1 Servo Drives ................2-1 Servomotors................2-1 Parameter Unit................. 2-2 Servo Drive-Servomotor Combinations ........2-2 Decelerators................2-4 Accessories and Cables ............2-8 2-2 External and Mounted Dimensions ....2-13 Servo Drives ................2-13 Servomotors................
Page 28: Standard Models
2-1 Standard Models 2Standard Models and Dimensions 2-1 Standard Models Servo Drives Specifications Model Single-phase 100 VAC 50 W R7D-BPA5L 100 W R7D-BP01L 200 W R7D-BP02L Single-phase/three-phase 50 W R7D-BP01H 200 VAC 100 W 400 W R7D-BP04H Single-phase 200 VAC 200 W R7D-BP02HH Three-phase 200 VAC...
Page 29: Standard Models
2-1 Standard Models 3,000-r/min Flat Servomotors Model Specifications Straight shaft Straight shaft with key and tap 100 V 100W R88M-GP10030L R88M-GP10030L-S2 200W R88M-GP20030L R88M-GP20030L-S2 200 V 100W R88M-GP10030H R88M-GP10030H-S2 200W R88M-GP20030H R88M-GP20030H-S2 400W R88M-GP40030H R88M-GP40030H-S2 100 V 100W R88M-GP10030L-B R88M-GP10030L-BS2 200W R88M-GP20030L-B R88M-GP20030L-BS2...
Page 30 2-1 Standard Models Single-phase 200-VAC Combinations 3,000-r/min Servomotors Rated Servo Drive Servomotor output Pulse-string input Without brake With brake 50 W R88M-G05030H-@ R88M-G05030H-B@ R7D-BP01H 100 W R88M-G10030H-@ R88M-G10030H-B@ 200 W R7D-BP02HH R88M-G20030H-@ R88M-G20030H-B@ 400 W R7D-BP04H R88M-G40030H-@ R88M-G40030H-B@ 3,000-r/min Flat Servomotors Rated Servo Drive Servomotor...
Page 31: Decelerators
2-1 Standard Models Decelerators Backlash = 3’ Max. Decelerators for Cylindrical Servomotors Specifications Model Motor capacity Gear ratio R88G-HPG11B05100B@ R88G-HPG11B09050B@ 50 W 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG14A33050B@ 1/45 R88G-HPG14A45050B@ R88G-HPG11B05100B@ 1/11 R88G-HPG14A11100B@ 100 W 1/21 R88G-HPG14A21100B@ 1/33 R88G-HPG20A33100B@ 1/45 R88G-HPG20A45100B@ R88G-HPG14A05200B@ 1/11 R88G-HPG14A11200B@ 200 W...
Page 32 2-1 Standard Models Decelerator for Flat Servomotors Specifications Model Motor capacity Gear ratio 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@ 1/33...
Page 33 2-1 Standard Models Backlash = 15’ Max. Decelerators for Cylindrical Servomotors Specifications Model Motor capacity Gear ratio 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 34 2-1 Standard Models Decelerators for Flat Servomotors Specifications Model Motor capacity Gear ratio 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 Note 1. The standard models have a straight shaft with a key. Note 2.
Page 35: Accessories And Cables
2-1 Standard Models Accessories and Cables Encoder Cables (for CN2) Specifications Model Standard Cables (connectors attached) R88A-CRGB003C R88A-CRGB005C 10 m R88A-CRGB010C 15 m R88A-CRGB015C 20 m R88A-CRGB020C Robot Cables (connectors attached) R88A-CRGB003CR R88A-CRGB005CR 10 m R88A-CRGB010CR 15 m R88A-CRGB015CR 20 m R88A-CRGB020CR Servomotor Power Cables (for CNB) Specifications...
Page 36: Power Supply Cables
2-1 Standard Models Power Supply Cables Specifications Model Power Supply Input Cable for Single-Phase Power (connectors R7A-CLB002S2 attached) Power Supply Input Cable for Three-Phase Power (connectors R7A-CLB002S3 attached) External Regeneration Resistor Connection Cable R7A-CLB002RG Personal Computer Monitor Cable Specifications Model Personal Computer Monitor Cable R88A-CCG002P2 Connectors...
Page 37 2-1 Standard Models Servo Relay Units (for CN1) Specifications Model For CJ1W-NC133/-NC113 For CS1W-NC133/-NC113 XW2B-20J6-1B For C200HW-NC113 For CJ1W-NC233/-NC433/-NC213/-NC413 For CS1W-NC233/-NC433/-NC213/-NC413 XW2B-40J6-2B For C200HW-NC213/-NC413 Servo Relay Units For CJ1M-CPU21 XW2B-20J6-8A For CJ1M-CPU22 XW2B-40J6-9A For CJ1M-CPU23 (for 2 axes) For FQM1-MMP22 XW2B-80J7-12A For CQM1H-PLB21 XW2B-20J6-3B...
Page 38 2-1 Standard Models Servo Relay Unit Cables for Position Control Units Specifications Model 0.5 m XW2Z-050J-A18 For CJ1W-NC133 XW2Z-100J-A18 0.5 m XW2Z-050J-A19 For CJ1W-NC233/-NC433 XW2Z-100J-A19 0.5 m XW2Z-050J-A10 For CS1W-NC133 XW2Z-100J-A10 0.5 m XW2Z-050J-A11 For CS1W-NC233/-NC433 XW2Z-100J-A11 0.5 m XW2Z-050J-A14 For CJ1W-NC113 XW2Z-100J-A14 0.5 m...
Page 39: Connector-Terminal Block Conversion Units
2-1 Standard Models Connector-Terminal Block Conversion Units Specifications Model M3 screws type XW2B-34G4 M3.5 screws type XW2B-34G5 M3 screws type XW2D-34G6 External Regeneration Resistors Specifications Model Regeneration capacity: 70 W, 47 Ω R88A-RR22047S Regeneration capacity: 20 W, 100 Ω R88A-RR080100S Regeneration capacity: 20 W, 50 Ω...
Page 40: External And Mounted Dimensions
2-2 External and Mounted Dimensions 2-2 External and Mounted Dimensions Servo Drives R7D-BPA5L/-BP01L/-BP01H/-BP02H (50 W/100 W/200 W) Mounting Hole Dimensions Two, M4 2-13...
Page 41 2-2 External and Mounted Dimensions R7D-BP02L/-BP02HH/-BP04H (200 W/400 W) Mounting Hole Dimensions Two, M4 2-14...
Page 42: Servomotors
2-2 External and Mounted Dimensions Servomotors 3,000-r/min 50-/100-W Servomotors R88M-G05030H(-S2)/-G10030L(-S2)/-G10030H(-S2) /-G05030H-B(S2)/-G10030L-B(S2)/-G10030H-B(S2) Brake Connector Encoder Motor Connector Connector (Dimensions of shaft end with key and tap) 40 × 40 12.5 3, height: 9 (depth: 6) Two, 4.3 dia. Model (mm) (mm) R88M-G05030H 26.5 R88M-G05030H-B...
Page 43 2-2 External and Mounted Dimensions 3,000-r/min 200-/400-W Servomotors R88M-G20030L(-S2)/-G20030H(-S2)/-G40030H(-S2) /-G20030L-B(S2)/-G20030H-B(S2)/-G40030H-B(S2) (Dimensions of shaft end with key and tap) Brake connector Encoder Servomotor connector connector M (depth: L) Four, 4.5 dia. 60 × 60 Dimensions for models with key and tap Model (mm) (mm)
Page 44 2-2 External and Mounted Dimensions 3,000-r/min 100-/200-/400-W Flat Servomotors R88M-GP10030L(-S2)/-GP10030H(-S2)/-GP20030L(-S2)/-GP20030H(-S2) /-GP40030H(-S2) R88M-GP10030L-B(S2)/-GP10030H-B(S2)/-GP20030L-B(S2)/-GP20030H-B(S2) /-GP40030H-B(S2) Encoder connector Servomotor connector Break connector C × C Four, (Dimensions of shaft end Z-dia. with key and tap) M (depth: L) Model (mm) (mm) (mm) (mm) (mm) (mm) (mm)
Page 45: Parameter Unit Dimensions
2-2 External and Mounted Dimensions Parameter Unit Dimensions R88A-PR02G (62) (24) M3, depth: 5 (15) Mini DIN 8-pin (1500) MD connector 2-18...
Page 46: Decelerator Dimensions
2-2 External and Mounted Dimensions Decelerator Dimensions Backlash = 3’ Max. Decelerators for Cylindrical Servomotors Dimensions (mm) Model (R88G-) 40 × 40 39.5 40.0 39.5 HPG11B05100B 40 × 40 39.5 40.0 39.5 HPG11B09050B 60 × 60 50 W 1/21 HPG14A21100B 64.0 56.0 55.5...
Page 47 2-2 External and Mounted Dimensions Dimensions (mm) Key and tap dimensions (mm) Weight (kg) 0.29 0.29 1.04 1.04 1.04 0.29 1.04 1.04 1.02 1.09 1.09 12.5 11.0 12.5 11.0 *1. This is the set bolt. Key and Tap Dimensions M (depth: L) 2-20...
Page 48 2-2 External and Mounted Dimensions Decelerators for Flat Servomotors Dimensions (mm) Model (R88G-) 60 × 60 HPG11B05100PB@ 39.5 40.0 39.5 60 × 60 1/11 HPG14A11100PB@ 64.0 56.0 55.5 60 × 60 100 W 1/21 64.0 56.0 55.5 HPG14A21100PB@ 1/33 71.0 89 dia.
Page 49 2-2 External and Mounted Dimensions Dimensions (mm) Key and tap dimensions (mm) Weight (kg) 0.34 1.04 1.04 0.99 12.5 11.0 12.5 11.0 *1. This is the set bolt. Key and Tap Dimensions M (depth: L) 2-22...
Page 50 2-2 External and Mounted Dimensions Backlash = 15’ Max. Decelerators for Cylindrical Servomotors Dimensions (mm) Model (R88G-) VRSF05B100CJ 67.5 VRSF09B100CJ 67.5 50 W 78.0 1/15 VRSF15B100CJ 78.0 1/25 VRSF25B100CJ 67.5 VRSF05B100CJ VRSF09B100CJ 67.5 100 W 1/15 VRSF15B100CJ 78.0 1/25 VRSF25B100CJ 78.0 72.5 VRSF05B200CJ...
Page 51 2-2 External and Mounted Dimensions Dimensions (mm) Key dimensions (mm) Weight Model (kg) (R88G-) 0.55 VRSF05B100CJ 0.55 VRSF09B100CJ 50 W 0.70 VRSF15B100CJ 1/15 0.70 VRSF25B100CJ 1/25 0.55 VRSF05B100CJ 0.55 VRSF09B100CJ 100 W 0.70 VRSF15B100CJ 1/15 0.70 VRSF25B100CJ 1/25 0.72 VRSF05B200CJ 1.70 VRSF09C200CJ 200 W...
Page 52 2-2 External and Mounted Dimensions Decelerators for Flat Servomotors Dimensions (mm) Model (R88G-) VRSF05B100PCJ 67.5 VRSF09B100PCJ 67.5 100 W 78.0 1/15 VRSF15B100PCJ 78.0 1/25 VRSF25B100PCJ 72.5 VRSF05B200PCJ 89.5 VRSF09C200PCJ 200 W 1/15 VRSF15C200PCJ 100.0 1/25 VRSF25C200PCJ 100.0 VRSF05C400PCJ 89.5 89.5 VRSF09C400PCJ 400 W 100.0...
Page 53 2-2 External and Mounted Dimensions Dimensions (mm) Key dimensions (mm) Weight Model (kg) (R88G-) 0.72 VRSF05B100PCJ 0.72 VRSF09B100PCJ 100 W 0.87 VRSF15B100PCJ 1/15 0.87 VRSF25B100PCJ 1/25 0.85 VRSF05B200PCJ 1.80 VRSF09C200PCJ 200 W 2.20 VRSF15C200PCJ 1/15 2.20 VRSF25C200PCJ 1/25 1.80 VRSF05C400PCJ 1.80 VRSF09C400PCJ 400 W...
Page 54: External Regeneration Resistor Dimensions
2-2 External and Mounted Dimensions External Regeneration Resistor Dimensions External Regeneration Resistor R88A-RR08050S/R88A-RR080100S Thermal switch output t1.2 R88A-RR22047S Thermal switch output t1.2 2-27...
Page 55: Reactor Dimensions
2-2 External and Mounted Dimensions Reactor Dimensions 3G3AX-DL2002/-DL2004 Two, M4 Ground terminal (M4) Four, 5.2 × 8 Dimension (mm) Model 3G3AX-DL2002 3G3AX-DL2004 3G3AX-DL2007 Two, M4 Ground terminal (M4) Four, 5.2 × 8 2-28...
Page 56: Din Rail Mounting Unit Dimensions
2-2 External and Mounted Dimensions 3G3AX-AL2025 Ground terminal (M5) Six, M4 terminal screws Connections Ro R So S To T R So S To Four, 6 dia. 50±1 67±1 DIN Rail Mounting Unit Dimensions R7A-DIN01B Two, M4 mounting screws*1 Mounting panel Rail stopper *1.
Page 57 Chapter 3 Specifications 3-1 Servo Drive Specifications........ 3-1 General Specifications ............. 3-1 Characteristics ................. 3-2 Main Circuit and Servomotor Connector Specifications (CNA and CNB) ............... 3-3 Control I/O Connector Specifications (CN1) ......3-4 Control Input Circuits ............... 3-8 Control Input Details ..............3-9 Control Output Circuits............
Page 58: Servo Drive Specifications
3-1 Servo Drive Specifications 3Specifications 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 2-2.) General Specifications Item Specifications Ambient operating temperature 0 to 55°C, 90% RH max. (with no condensation) Ambient operating humidity Ambient storage temperature −20 to 65°C, 90% RH max.
Page 59: Characteristics
3-1 Servo Drive Specifications Characteristics Control Specifications Servo Drive model Item R7D- R7D- R7D- BPA5L BP01L BP02L Continuous output current 1.0 A 1.6 A 2.5 A (rms) Momentary maximum output 3.3 A 5.1 A 7.5 A current (rms) Power supply capacity 0.16 KVA 0.25 KVA 0.42 KVA...
Page 60: Main Circuit And Servomotor Connector Specifications (Cna And Cnb)
3-1 Servo Drive Specifications Main Circuit and Servomotor Connector Specifications (CNA and CNB) R7A-CNB01P Main Circuit Connector (CNA) Specifications CNA Connector Main Circuit Connector (CNA) Pin Arrangement Symbol Pin No. Name Function For three-phase 200 V, connect to L1 (pin 10), L2 Main circuit power (pin 8), and L3 (pin 6).
Page 61: 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 /ALM Reverse Alarm Output pulse 220 Ω −CW Forward +CCW Positioning pulse 220 Ω −CCW Completed Output BKIR Maximum operating voltage: 30 VDC Brake Interlock Maximum Output Current: 50 mA DC...
Page 62 3-1 Servo Drive Specifications Control I/O Signals Control Inputs (CN1) Signal Name Function/Interface name DC power supply Power supply input terminal (12 to 24 VDC) for sequence +24VIN input for control input (pin 1). RUN Command ON: Servo ON (Starts power to Servomotor.) Input ON: Servo alarm status is reset.
Page 63 3-1 Servo Drive Specifications Signal Name Function/Interface name +CW/ Reverse Pulses Input terminals for position command pulses. PULS/FA Input, Feed Pulses Input, or 90° Phase Line-driver input: −CW/ Difference Pulses Maximum response frequency: 500 kpps PULS/FA (Phase A) Open-collector input: Maximum response frequency: 200 kpps +CCW/ Forward Pulses,...
Page 64 3-1 Servo Drive Specifications Control I/O Signal (CN1) Pin Arrangement 12 to 24 VDC Ground power supply +24VIN Common input for Encoder control Command Phase-A + Input Output Encoder Alarm Reset −A Phase-A − RESET Deviation Encoder Input Output Counter Reset/ ECRST/ −B Phase-B −...
Page 65: Control Input Circuits
3-1 Servo Drive Specifications Control Input Circuits Position Command Pulse Inputs Line Driver Input Controller Servo Drive 2.2 kΩ Input current: 6.8 mA, 3 V 220 Ω Applicable line driver: AM26LS31A or equivalent Precautions The twisted-pair cable should not exceed 10 m in length. for Correct Use Open-collector Input Controller...
Page 66: Control Input Details
3-1 Servo Drive Specifications Control Input Details Details on the input pins for the CN1 connector are described here. RUN Command Input (RUN) Pin 2: RUN Command Input (RUN) Function This input turns ON the power drive circuit for the main circuit of the Servo Drive. The Servomotor cannot operate without the input of this signal (i.e., servo-OFF status).
Page 67 3-1 Servo Drive Specifications Gain Switch/Zero Speed Designation/Torque Limit Switch Input Pin 5: Gain Switch/Zero Speed Designation/Torque Limit Switch Input (GSEL/VZERO/TLSEL) Function: Gain Switch Pin 5 is the Gain Switch Input (GSEL) when Pn02 is set to 0 or 2 (Position Control Mode) and the Zero Speed Designation/Torque Limit Switch (Pn06) is set to anything other than 2.
Page 68 3-1 Servo Drive Specifications Function: Internally Set Speed Selection 1 Pin 6 is the Internally Set Speed Selection 1 Input (VSEL1) in Internal Speed Control Mode (when Pn02 is set to 1). Four speeds can be selected by using pin 6 in combination with the Internally Set Speed Selection 2 Input (VSEL2).
Page 69: Control Output Circuits
3-1 Servo Drive Specifications Control Output Circuits Position Feedback Output Servo Drive Controller R = 120 to 220 Ω +5 V Phase A Phase A −A −A Output line driver AM26C31 or Phase B Phase B −B −B equivalent Phase Z Phase Z −Z −Z...
Page 70: Control Output Details
3-1 Servo Drive Specifications Control Output Details The details of the output pins for the CN1 connector are described as follows. Control Output Sequence Power supply input (L1 and L2) 30 s max. Approx. 2 s Alarm Output (/ALM) Positioning Completed Output (INP) Brake Interlock Output (BKIR)
Page 71: Warning Output
3-1 Servo Drive Specifications Brake Interlock Output Pin 11: Brake Interlock Output (BKIR) Function The external brake timing signal is output. This output is turned ON to release the external brake. Warning Output Pin 12: Warning Output (WARN) Function Pin 12 outputs the warning signal selected in the Warning Output Selection (Pn09). Feedback Output Pin 15: Encoder Phase A+ Output (+A) Pin 16: Encoder Phase A−...
Page 72: Encoder Connector Specifications (Cn2)
3-1 Servo Drive Specifications Encoder Connector Specifications (CN2) Pin No. Signal name Name Function/Interface Encoder power supply +5 V Power supply output for the encoder 5 V, 70 mA Encoder power supply GND Do not connect anything to these pins. Encoder + phase S I/O RS-485 line-driver I/O Encoder −...
Page 73: Servomotor Specifications
3-2 Servomotor Specifications 3-2 Servomotor Specifications Select a Servomotor based on the mechanical system’s load conditions and the installation environment. There are various options available on the Servomotors, such as models with brakes. General Specifications Item Specifications Ambient operating temperature 0 to 40°C, 85% RH max.
Page 74: Characteristics
3-2 Servomotor Specifications Characteristics 3,000-r/min Cylindrical Servomotors R88M- R88M- R88M- Item Unit G05030H G10030L G20030L Rated output Rated torque N·m 0.16 0.32 0.64 Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque N·m 0.48 0.95 1.78 Rated current A(rms) Max.
Page 75 3-2 Servomotor Specifications R88M- R88M- R88M- R88M- Item Unit G05030H G10030H G20030H G40030H Rated output Rated torque N·m 0.16 0.32 0.64 Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque N·m 0.48 0.95 1.78 3.60 Rated current A(rms) Max.
Page 76 3-2 Servomotor Specifications Radial load Thrust load Center of shaft (LR/2) 3,000-r/min Flat Servomotors R88M- R88M- Item Unit GP10030L GP20030L Rated output Rated torque N·m 0.32 0.64 Rated rotation speed r/min 3,000 Max. rotation speed r/min 5,000 Max. momentary torque N·m 0.85 1.86...
Page 77 3-2 Servomotor Specifications R88M- R88M- R88M- Item Unit GP10030H GP20030H GP40030H Rated output Rated torque N·m 0.32 0.64 Rated rotation speed r/min 3000 Max. rotation speed r/min 5000 Max. momentary torque N·m 0.90 1.82 3.60 Rated current A(rms) Max. momentary current A(0-p) 18.6 −6...
Page 78: Torque And Rotation Speed Characteristics
3-2 Servomotor Specifications Radial load Thrust load Center of shaft (LR/2) Torque and Rotation Speed Characteristics 3,000-r/min Cylindrical Servomotors The following graphs show the characteristics with a 3-m standard cable and a 100-VAC input. R88M-G05030H R88M-G10030L (N·m) (N·m) 0.95 0.95 0.48 (3000) 0.77...
Page 79 3-2 Servomotor Specifications The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-G10030H R88M-G20030H (N·m) (N·m) 1.82 1.82 (4300) 0.95 1.65 Repetitive usage Repetitive usage 0.64 0.64 0.32 0.32 0.19 0.36 Continuous usage Continuous usage (r/min) (r/min) 1000 2000 3000 4000 5000...
Page 80 3-2 Servomotor Specifications The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. R88M-GP10030H R88M-GP20030H (N·m) (N·m) 1.82 1.82 (4700) 0.90 0.90 1.75 Repetitive usage Repetitive usage 0.64 0.64 0.32 0.32 Continuous usage 0.16 0.28 Continuous usage (r/min) (r/min)
Page 81 3-2 Servomotor Specifications Use Cylindrical Servomotors in the ranges shown in the following graphs. Precautions Using outside of these ranges may cause the Servomotor to generate for Correct Use heat, which could result in encoder malfunction. 50 W (Without Oil Seal) 50 W (With Oil Seal) Rated Torque Ratio (%) Rated Torque Ratio (%)
Page 82: Applicable Load Inertia
3-2 Servomotor Specifications 200 W (With Oil Seal) Rated Torque Ratio (%) Without brake With brake Ambient temperature 400 W (Without Oil Seal) 400 W (With Oil Seal) Rated Torque Ratio (%) Rated Torque Ratio (%) With brake With brake Ambient temperature Ambient temperature Applicable Load Inertia...
Page 83: 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 Cylindrical Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera-...
Page 84 3-3 Decelerator Specifications Decelerator for Flat Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight Model tion torque tary radial thrust tary inertia (R88G-) speed rotation load load torque speed r/min N·m r/min N·m kg·m −7...
Page 85 3-3 Decelerator Specifications Backlash = 15’ Max. Decelerators for Cylindrical Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able cien- momen- Weight Model tion torque tary radial thrust tary inertia (R88G-) speed rotation load load torque speed r/min N·m...
Page 86 3-3 Decelerator Specifications Decelerator for Flat Servomotors Maxi- Maxi- Rated Allow- Allow- Effi- Decelera- rota- Rated momen- able able Weight cien- momen- Model tion torque tary radial thrust tary inertia (R88G-) speed rotation load load torque speed r/min N·m r/min N·m kg·m 3.38...
Page 87: 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 the Servo Drive and Servomotor. Encoder Cables with connectors for CN2 are available. Precautions Use robot cables for applications with moving parts. for Correct Use Standard Cables for Encoders Cable Models...
Page 88: Robot Cables For Encoders
3-4 Cable and Connector Specifications Robot Cables for Encoders Cable Models Model Length (L) Outer diameter of sheath Weight R88A-CRGB003CR Approx. 0.2 kg R88A-CRGB005CR Approx. 0.4 kg R88A-CRGB010CR 10 m 7.5 dia. Approx. 0.8 kg R88A-CRGB015CR 15 m Approx. 1.1 kg R88A-CRGB020CR 20 m Approx.
Page 89: Servomotor Power Cable Specifications
3-4 Cable and Connector Specifications Servomotor Power Cable Specifications These are the cables connecting between the Servo Drive and Servomotor. Servomotor Power Cables with connectors for the CNB are available. When using Cables for a Servomotor with a brake, a Brake Cable is also required. Brake cables are also available as standard cables and robot cables.
Page 90 3-4 Cable and Connector Specifications Robot Cables for Servomotor Power (with CNB Connector) Cable Models Model Length (L) Outer diameter of sheath Weight R7A-CAB003SR Approx. 0.2 kg R7A-CAB005SR Approx. 0.3 kg R7A-CAB010SR 10 m dia. Approx. 0.7 kg R7A-CAB015SR 15 m Approx.
Page 91: Standard Cables For Brakes
3-4 Cable and Connector Specifications Standard Cables for Brakes Cable Models Model Length (L) Outer diameter of sheath Weight R88A-CAGA003B Approx. 0.1 kg R88A-CAGA005B Approx. 0.2 kg R88A-CAGA010B 10 m dia. Approx. 0.4 kg R88A-CAGA015B 15 m Approx. 0.6 kg R88A-CAGA020B 20 m Approx.
Page 92: Robot Cables For Brakes
3-4 Cable and Connector Specifications Robot Cables for Brakes Cable Models Model Length (L) Outer diameter of sheath Weight R88A-CAGA003BR Approx. 0.1 kg R88A-CAGA005BR Approx. 0.2 kg dia. R88A-CAGA010BR 10 m Approx. 0.4 kg R88A-CAGA015BR 15 m Approx. 0.7 kg R88A-CAGA020BR 20 m Approx.
Page 93 Note 3. 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...
Page 94: Power Cable Specifications
3-4 Cable and Connector Specifications Power Cable Specifications This is the Cable that supplies power to the Servo Drive. Power Cables are available in two forms: single-phase and three-phase. Select the Cable matching the Servo Drive to be used. When connecting an External Regeneration Resistor, use an External Regeneration Resistor Cable.
Page 95 3-4 Cable and Connector Specifications Three-phase Power Cable (with CNA Connector) Cable Models Model Length (L) Outer diameter of sheath Weight R7A-CLB002S3 6.4 dia. Approx. 0.1 kg Connection Configuration and External Dimensions 2000 Power supply end Servo Drive end Three-phase R7D-BP@ 200 VAC Wiring...
Page 96 3-4 Cable and Connector Specifications External Regeneration Resistor Connection Cable (with Crimp Pins) Cable Models Model Length (L) Outer diameter of sheath Weight R7A-CLB002RG 6.1 dia. Approx. 0.1 kg Connection Configuration and External Dimensions 2000 External Regeneration Resistor Servo Drive end R88A-RR22047S R88A-RR080100S R7D-BP@...
Page 97: Communications Cable Specifications
3-4 Cable and Connector Specifications Communications Cable Specifications Personal Computer Monitor Cable Cable Models Model Length (L) Outer diameter of sheath Weight R88A-CCG002P2 4.2 dia. Approx. 0.1 kg Connection Configuration and External Dimensions Personal computer end Servo Drive end R7D-BP@ Wiring Personal computer Signal...
Page 98: Connector Specifications
3-4 Cable and Connector Specifications Connector Specifications Main Circuit Connector (R7A-CNB01P) The Main Circuit Connector connects to the Servo Drive’s Main Circuit Connector (CNA). Dimensions 11.6 Connector pins: 5556PBTL (Molex Japan) Connector case: 5557-10R-210 (Molex Japan) 16.8 22.2 3-41...
Page 99 3-4 Cable and Connector Specifications Servomotor Connector (R7A-CNB01A) The Servomotor Connector connects to the Servo Drive’s Servomotor Connector (CNB). Dimensions 11.6 Connector pins: 5556PBTL (Molex Japan) Connector case: 5557-06R-210 (Molex Japan) 13.8 Control I/O Connector (R88A-CNW01C) This Connector connects to the Control I/O Connector (CN1) of the Servo Drive. Use this Connector when preparing a control cable yourself.
Page 100: Encoder Connectors
3-4 Cable and Connector Specifications Encoder Connectors These Connectors are used for Encoder Cables. Use them when preparing an encoder cable yourself. R88A-CNW01R (CN2 Servo Drive Connector) This connector is soldering type. Use the following cable. Applicable wire: AWG16 max. Insulating cover outer diameter: 2.1 mm max.
Page 101 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. ±0.4 ±0.4 11.8 23.7 5.35 ( 8.8 ) 10.35 ±0.15 Connector housing: 172159-1 (Tyco Electronics AMP KK) Contact socket: 170366-1 (Tyco Electronics AMP KK) Applicable panel thickness: 0.8 to 2.0 mm Brake Cable Connector (R88A-CNG01B)
Page 102: Control Cable Specifications
3-4 Cable and Connector Specifications Control Cable Specifications General-purpose Control Cables A General-purpose Control Cable connects to the Servo Drive's Control I/O Connector (CN1). Do not wire the pins that have no signals allocated. Cable Models Model Length (L) Outer diameter of sheath Weight R7A-CPB001S Approx.
Page 103 3-4 Cable and Connector Specifications Wiring Wire color (mark color) Signal Orange (Red 1) +24VIN Orange (Black 1) Gray (Red 1) RESET Gray (Black 1) ECRST/VSEL2 White (Red 1) GSEL/VZERO/TLSEL White (Black 1) GESEL/VSEL1 Yellow (Red 1) Yellow (Black 1) Pink (Red 1) /ALM Pink (Black 1)
Page 104 3-4 Cable and Connector Specifications Connector Terminal Block Cables (XW2Z-@@@J-B28) This Cable is for the Connector Terminal Block of the Servo Drive's Control I/O Connector (CN1). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B28 Approx. 0.1 kg 9.1 dia.
Page 105: Connector-Terminal Block Conversion Unit
3-4 Cable and Connector Specifications Connector-Terminal Block Conversion Unit By using the Connector-Terminal Block Conversion Unit in combination with a Connector Terminal Block Cable (XW2Z-@J-B28), the Servo Drive's Control I/O Connector (CN1) can be converted to a terminal block. XW2B-34G4 (M3 screw terminal block) Dimensions Flat cable connector (MIL plug) 112.5...
Page 106 3-4 Cable and Connector Specifications XW2B-34G5 (M3.5 screw terminal block) Dimensions Flat cable connector (MIL plug) Two, 3.5 dia. Terminal block 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 0.59 N·m.
Page 107 3-4 Cable and Connector Specifications XW2D-34G6 (M3 screw terminal block) Dimensions Flat cable connector (MIL plug) Two, (39.1) 4.5 dia. 17.6 (4.5) DIN Track lock 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 108 3-4 Cable and Connector Specifications Terminal Block Wiring Example (for XW2B-34G4, XW2B-34G5, and XW2D-34G6) Line-driver Connections −CW −CCW GSEL − −PULS −SIGN RESET VZERO /ALM BKIR OGND −FA −FB TLSEL +CCW ECRST GESEL − − WARN +PULS +SIGN TGON VSEL2 VSEL1 (*1) 24 VDC...
Page 109 3-4 Cable and Connector Specifications Terminal Block Signal Names Signal +24VIN RESET ECRST/VSEL2 GSEL/VZERO/TLSEL SESEL/VSEL1 /ALM INP/TGON BKIR WARN OGND −A −B −Z +CW/+PULS/+FA −CW/−PULS/−FA +CCW/+SIGN/+FB −CCW/−SIGN/−FB 3-52...
Page 110: Servo Relay Units And Cable Specifications
This section provides the specifications for the Servo Relay Units and Cables used for connecting to Position Control Units for OMRON Programmable Controllers (SYSMAC). Select the models that match the Position Control Unit to be used. For details, refer to Selecting Connecting Cables on page 4-11.
Page 111 *2. Do not connect unused terminals. *3. The 0 V terminal is internally connected to the common terminals. *4. Applicable crimp terminal: R1.25-3 (round with open end). XW2B-40J6-2B This Servo Relay Unit connects to the following OMRON Position Control Units. CJ1W-NC213/-NC233/-NC413/-NC433 CS1W-NC213/-NC233/-NC413/-NC433 C200HW-NC213/-NC413...
Page 112 *3. The 0 V terminal is internally connected to the common terminals. *4. Applicable crimp terminal: R1.25-3 (round with open end). XW2B-20J6-3B This Servo Relay Unit connects to the following OMRON Programmable Controllers. CQM1H-PLB21 (Pulse I/O Board for CQM1H-CPU51/CPU61) CQM1-CPU43-V1...
Page 113 *5. Do not connect unused terminals. *6. The 0 V terminal is internally connected to the common terminals. *7. Applicable crimp terminal: R1.25-3 (round with open end). XW2B-20J6-8A This Servo Relay Unit connects to the following OMRON Programmable Controllers. CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis) 3-56...
Page 114 3-5 Servo Relay Units and Cable Specifications Dimensions CJ1M-CPU21/22/23 connector Servo Drive connector Two, 3.5 dia. Terminal Block pitch: 7.62 mm Wiring The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block. (*3) Origin +24 V MING...
Page 115 3-5 Servo Relay Units and Cable Specifications XW2B-40J6-9A This Servo Relay Unit connects to the following OMRON Programmable Controllers. CJ1M-CPU21/-CPU22/-CPU23 (for 2 axes) Dimensions X-axis Servo Y-axis Servo Drive connector Drive connector CJ1M-CPU21/22/23 connector Two, 3.5 dia. Terminal Block pitch: 7.62 mm Wiring The Servo Drive phase-Z output signal is wired to the origin proximity signal in this Terminal Block.
Page 116 *4. Do not connect unused terminals. *5. The 0 V terminal is internally connected to the common terminals. *6. Applicable crimp terminal: R1.25-3 (round with open end). XW2B-80J7-12A This Servo Relay Unit connects to the following OMRON Programmable Controller. FQM1-MMP22 Dimensions Signal selection switch 4.5 dia.
Page 117: System Configuration Example
3-5 Servo Relay Units and Cable Specifications System Configuration Example Motion Control Module FQM1-MMP22 Flexible Motion Controller FQM1 PA202 CM002 MMP22 MMA22 FLEXIBLE POWER MOTION CONTROLLER PRPHL COMM1 COMM2 PERIPHERAL AC100 -240V INPUT L2/N PORT RS422 General-purpose I/O Connecting Cable Special I/O Connecting Cable XW2Z-@J-A28 XW2Z-@ J-A30...
Page 118 3-5 Servo Relay Units and Cable Specifications FQM1-MMP22 Signal Names 62 63 72 73 77 78 42 43 52 53 57 58 No. 20 21 22 32 33 37 38 12 13 17 18 *1: Use as a power supply for FQM1-MMP22 pulse outputs, or for the SEN output for an Absolute Encoder Servo Drive.
Page 119 3-5 Servo Relay Units and Cable Specifications Wiring Example Servo Drive signals FQM1 signals #1 #2 For Servo Drive #1 For Servo Drive #2 OUT0 OUT4 ECRST OUT2 OUT6 /ALM BKIR IN10 Terminal block No. 20 +24 V 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19...
Page 120: Servo Drive-Servo Relay Unit Cable Specifications
3-5 Servo Relay Units and Cable Specifications Servo Drive-Servo Relay Unit Cable Specifications Servo Drive Cable (XW2Z-@J-B29) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-1B/-3B, XW2B-40J6-2B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B29 Approx.
Page 121 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-@J-B30) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-80J7-12A). Use this Cable for the FQM1-MMP22. Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B30 Approx.
Page 122 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-@J-B32) This Cable connects the Servo Drive to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B32 Approx. 0.1 kg 8.1 dia. XW2Z-200J-B32 Approx.
Page 123: Position Control Unit-Servo Relay Unit Cable Specifications
3-5 Servo Relay Units and Cable Specifications Position Control Unit-Servo Relay Unit Cable Specifications Position Control Unit Cable (XW2Z-@J-A3) This Cable connects a Programmable Controller (CQM1H-PLB21, CQM1-CPU43-V1) to a Servo Relay Unit (XW2B-20J6-3B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A3 50 cm...
Page 124 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A6) This Cable connects a Position Control Unit (CS1W-NC113, C200HW-NC113) to a Servo Relay Unit (XW2B-20J6-1B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A6 50 cm Approx.
Page 125 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A7) This Cable connects a Position Control Unit (CS1W-NC213/413, C200HW-NC213/413) to a Servo Relay Unit (XW2B-40J6-2B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A7 50 cm Approx.
Page 126 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A10) This Cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B-20J6- 1B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A10 50 cm Approx.
Page 127 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A11) This Cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B- 40J6-2B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A11 50 cm Approx.
Page 128 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A14) This Cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B-20J6- 1B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A14 50 cm Approx.
Page 129 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A15) This Cable connects a Position Control Unit (CJ1W-NC213/413) to a Servo Relay Unit (XW2B- 40J6-2B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A15 50 cm Approx.
Page 130 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A18) This Cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B-20J6- 1B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A18 50 cm Approx.
Page 131 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A19) This Cable connects a Position Control Unit (CJ1W-NC233/433) to a Servo Relay Unit (XW2B- 40J6-2B). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A19 50 cm Approx.
Page 132 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A33) This Cable connects a Programmable Controller (CJ1M-CPU21/CPU22/CPU23) to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A33 50 cm Approx. 0.1 kg 10.0 dia.
Page 133 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A28) This Cable connects the general-purpose I/O connector of a Flexible Motion Controller (FQM1- MMP22) to a Servo Relay Unit (XW2B-80J7-12A). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A28 50 cm...
Page 134 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-@J-A30) This Cable connects the special I/O connector of a Flexible Motion Controller (FQM1-MMP22) to a Servo Relay Unit (XW2B-80J7-12A). Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A30 50 cm...
Page 135: Parameter Unit Specifications
3-6 Parameter Unit Specifications 3-6 Parameter Unit Specifications The Parameter Unit is required for parameter setting and monitoring for the Servo Drive. R88A-PR02G Hand-held Parameter Unit General Specifications Item Specifications Operating ambient temperature 0 to 55°C Operating ambient humidity 90% RH max. (with no condensation) −20 to 80°C Storage ambient temperature Storage ambient humidity...
Page 136: External Regeneration Resistors Specifications
3-7 External Regeneration Resistors Specifications 3-7 External Regeneration Resistors Specifications Refer to 4-4 Regenerative Energy Absorption to ensure correct use of External Regeneration Resistors. R88A-RR08050S/-RR080100S/-RR22047S Specifications Regeneration Heat Resis- Nominal absorption for Thermal switch output Model radiation tance capacity 120°C specifications condition temperature rise...
Page 137: Reactor Specifications
3-8 Reactor Specifications 3-8 Reactor Specifications A Reactor is connected to the Servo Drive as a harmonic current control measure. Select a model matching the Servo Drive to be used. Specifications Specifications Reactor type Model Rated current (A) Inductance (mH) Weight (kg) 3G3AX-DL2002 1.6 A...
Page 139 Chapter 4 System Design 4-1 Installation Conditions ........4-1 Servo Drives ................4-1 Servomotors................4-3 Decelerators................4-6 4-2 Wiring ..............4-10 Connecting Cables..............4-10 Selecting Connecting Cables..........4-11 Peripheral Device Connection Examples....... 4-14 Main Circuit Wiring ..............4-16 4-3 Wiring Conforming to EMC Directives ... 4-18 Wiring Method................
Page 140: Installation Conditions
4-1 Installation Conditions 4System Design 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. Also if the Servo Drives are installed side by side, install a fan for air circulation to prevent uneven temperatures from developing inside the panel.
Page 141 4-1 Installation Conditions Ambient Temperature Control Servo Drives should be operated in environments in which there is minimal temperature rise to maintain a high level of reliability. Temperature rise in any Unit installed in a closed space, such as a control box, will cause the Servo Drive’s ambient temperature to rise.
Page 142: 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 Ambient operating humidity: 85% RH max.
Page 143 4-1 Installation Conditions When connecting to a V-belt or timing belt, consult the maker 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. If an excessive radial load is applied, the motor shaft and bearings may be damaged.
Page 144: Other Precautions
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 145: Decelerators
4-1 Installation Conditions Decelerators Installing Decelerators Use only the specified combinations of Servomotors and Decelerators. (Refer to Decelerator Specifications on page 3-26.) The service life of the motor bearings may be shortened if you use a combination that is not specified, another company’s decelerator, or another company’s servomotor.
Page 146 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 Number of Mounting PCD Tightening torque...
Page 147 4-1 Installation Conditions Installing an R88G-VRSF@ (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 rubber cap. Make sure the set bolts are loosened.
Page 148 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 Decelerator model Number of Mounting PCD...
Page 149: Wiring
Connecting Cables This section shows the types of connecting cables used in a SMARTSTEP 2 system. A wide selection of cables are available when using Position Control Units for OMRON SYSMAC PLCs, making it easy to wire a servo system.
Page 150: Selecting Connecting Cables
4-2 Wiring Selecting Connecting Cables Encoder Cables (CN2) Name Model Comments The @@@ digits in the model number indicate the Standard Cables cable length (3 m, 5 m, 10 m, 15 m, or 20 m). R88A-CRGB@@@C for Encoders Example model number for a 3-m cable: R88A-CRGB003C The @@@ digits in the model number indicate the Robot Cables...
Page 151 4-2 Wiring Servo Relay Units and Cables Select the Servo Relay Unit and Cable according to the model of the Position Control Unit to be used. Position Control Position Control Unit Cable Servo Relay Unit Servo Drive Cable Unit CJ1W-NC133 XW2Z-@@@J-A18 XW2B-20J6-1B CJ1W-NC233...
Page 152 4-2 Wiring Connector-Terminal Block Conversion Units and Cables These Conversion Units and Cables are used for connecting to Controllers for which no specific cable is available. The Cables and Connector-Terminal Block Unit convert the Servo Drive's control I/O Connector (CN1) signals to a terminal block. Name Model Comments...
Page 153: Peripheral Device Connection Examples
We recommend that you install two contactors to help prevent accidents that may occur due to contact welding or other factors. *2. Recommended Relay: OMRON G7T Relay (24-VDC model) *3. An External Regeneration Resistor can be connected. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Page 154 We recommend that you install two contactors to help prevent accidents that may occur due to contact welding or other factors. *2. Recommended Relay: OMRON G7T Relay (24-VDC model) *3. An External Regeneration Resistor can be connected. Connect this resistor if the regenerative energy exceeds regeneration absorption capacity in the Servo Drive.
Page 155: Main Circuit Wiring
1.2 to 1.4 No-fuse breaker or fuse A(rms) capacity *1. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals. *2. Use a no fuse breaker or a surge withstand fuse. The maximum inrush current is 20 A. 4-16...
Page 156 *1. Values in parentheses ( ) are for using single-phase 200 V. *2. Connect an OMRON Servomotor Power Cable to the Servomotor connection terminals. *3. Use a no fuse breaker or a surge withstand fuse. The maximum inrush current is 20 A.
Page 157: Wiring Conforming To Emc Directives
4-3 Wiring Conforming to EMC Directives Wiring Conforming to EMC Directives Conformance to the EMC Directives (EN55011 class A group 1 (EMI) and EN61000-6-2 (EMS)) can be ensured by wiring under the conditions described below. These conditions are for conformance of the SMARTSTEP-2 products to the EMC Directives.
Page 158: Unit Details
RAV781BXZ-4 Three-phase 200 VAC Okaya Electric 3SUP-HQ10-ER-6 Single-phase Noise filter Industries Co., Ltd. 100/200 VAC R7D-BP02L Single-phase 100 VAC Servo Drive OMRON Corp. R7D-BP04H Three-phase 200 VAC R88M-G20030L 100 VAC Servomotor OMRON Corp. R88M-G40030H 200 VAC Clamp core ZACT305-1330 Switch box...
Page 159: Control Panel Structure
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 160 4-3 Wiring Conforming to EMC Directives Door Structure Use a metal door. Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams below.) Use a conductive gasket between the door and the case, as shown in the diagrams below. (Refer to the diagrams below.) Strip the paint off the sections of the door and case that will be in contact with the conductive gasket (or mask them during painting), so that they will be electrically conductive.
Page 161: 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 162: Leakage Breakers
4-3 Wiring Conforming to EMC Directives Leakage Breakers The leakage current for the Servomotor and Servo Drive combinations are given in the following table. Resistor + capaci- Clamp leak tester (measurement filter tor measurement ON with HIOKI 3283) R7D-BP Series 5-m power cable 5-m power cable 20-m power cable...
Page 163: Surge Absorbers
4-3 Wiring Conforming to EMC Directives Surge Absorbers Use surge absorbers to absorb lightning surge voltage or abnormal voltage from power supply input lines. When selecting surge absorbers, take into account the varistor voltage, the allowable surge current, and the energy. For 200-VAC systems, use surge absorbers with a varistor voltage of 620 V.
Page 164 4-3 Wiring Conforming to EMC Directives Noise Filter for the Power Supply Input Use the following noise filter for the Servo Drive’s power supply. Noise filter Max. leakage Servo Drive model Rated Rated Model current Maker current voltage (60 Hz) Okaya Electric R7D-BP Series 3SUP-HU10-ER-6...
Page 165 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 Maker Application 3G3AX-ZCL2 OMRON Servo Drive output and power cable ESD-R-47B NEC TOKIN Servo Drive output and power cable ZCAT3035-1330 Encoder cable and I/O cable *1.
Page 166 4-3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX-ZCL2 ESD-R-47B 1000 10000 1000 1000 10000 1000 Frequency (MHz) Frequency (kHz) ZCAT 3035-1330 1000 1000 Frequency (MHz) 4-27...
Page 167: Surge Suppressors
4-3 Wiring Conforming to EMC Directives Surge Suppressors Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. The following table shows the types of surge suppressors and recommended products. Type Features Recommended products Diodes are used for relatively small loads when the reset time is not an issue, such as Use a fast-recovery diode with a short...
Page 168 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. If cables are joined midway, be sure to use connectors and do not remove more than 50 mm of the cable insulation.
Page 169 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 for the external operation power supply.
Page 170: Noise Filters For Servomotor Output
Maker Model Rated current Remarks 3G3AX-NF001 OMRON For inverter output 3G3AX-NF002 12 A Note 1. Servomotor output lines cannot use the same noise filters for power supplies. Note 2. Typical noise filters are made for power supply frequencies of 50/60 Hz. If these noise filters are connected to the PWM output of the Servo Drive, an extremely large (about 100 times larger) leakage current will flow through the noise filter’s condenser and the Servo Drive...
Page 171 4-3 Wiring Conforming to EMC Directives Dimensions Four, M Nameplate Dimensions (mm) Model 3G3AX-NF001 3G3AX-NF002 Measures against Brake Line Noise To reduce the noise from the brake line of the Servomotor, use a clamp filter of the same type used for the Encoder Cable.
Page 172: 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 173 4-4 Regenerative Energy Absorption Since an internal capacitor absorbs regenerative energy, the value for E (unit: J) must be lower than the Servo Drive’s regenerative energy absorption capacity. (For details, refer to Servo Drive Regenerative Energy Absorption Capacity on page 4-35.) If an External Regeneration Resistor is connected, be sure that the average regeneration power (Pr) does not exceed the External Regeneration Resistor’s regenerative energy absorption capacity (12 W).
Page 174: Servo Drive Regenerative Energy Absorption Capacity
4-4 Regenerative Energy Absorption Servo Drive Regenerative Energy Absorption Capacity The SMARTSTEP 2 Servo Drives absorb regenerative energy internally with built-in capacitors. If the regenerative energy is too large to be processed internally, an overvoltage error (AL12) occurs and operation cannot continue. The following table shows the regenerative energy (and amount of regeneration) that each Servo Drive can absorb.
Page 175 4-4 Regenerative Energy Absorption Wiring Method Connect the External Regeneration Resistor between terminals P and B1. θ> Thermal Switch Output Servo Drive External Regeneration Resistor Connect the thermal switch output so that the power supply is shut OFF Precautions when the contacts open. Configure a sequence to shut OFF the power via for Correct Use the thermal output.
Page 177 Chapter 5 Operating Functions 5-1 Position Control ..........5-1 High-Response Position Control vs. Advanced Position Control ..................5-1 Parameters Requiring Settings ..........5-1 Related Parameters ..............5-2 Parameter Block Diagram for Position Control Mode ....5-3 5-2 Internally Set Speed Control ......5-4 Parameters Requiring Settings ..........
Page 178: Position Control
5-1 Position Control 5Operating Functions 5-1 Position Control Positioning can be performed according to the pulses input into the pulse-string inputs (CN1-22 to 25). The Servomotor rotates using the value of the pulse-string inputs multiplied by the value of the electronic gear (Pn46, Pn47, Pn4A, and Pn4B).
Page 179 5-1 Position Control Reference The Control Mode Selection (Pn02) is set as follows. Setting Control mode High-Response Position Control Internally Set Speed Control Advanced Position Control To perform position control, select 0 (high-response position control) or 2 (advanced position control) for the control mode. Related Parameters The main functions provided by the parameters related to position control are described in the following table.
Page 180: Parameter Block Diagram For Position Control Mode
5-1 Position Control Parameter Block Diagram for Position Control Mode Electronic Gear Setting Command Pulse Input Pn46: Electronic Gear Conditions Setting Ratio Numerator 1 Pn40: Command Pulse Pn47: Electronic Gear Multiplying Setting Ratio Numerator 2 Pn41: Command Pulse Pn4E: Pn4C: Pn4A: Electronic Gear Rotation Direction Smoothing...
Page 181: Internally Set Speed Control
5-2 Internally Set Speed Control 5-2 Internally Set Speed Control The speed of the Servomotor can be controlled using the speeds set in the No. 1 to 4 Internal Speed Setting parameters. After the RUN Command Input (RUN) is turned ON and then the Zero Speed Designation Input (VZERO) is turned ON, the Servomotor will accelerate according to the Soft Start Acceleration Time (Pn58).
Page 182: Selecting The Internally Set Speeds
5-2 Internally Set Speed Control Selecting the Internally Set Speeds The four internally set speeds are switched by using the Internally Set Speed Selection 1 Input (VSEL1) and Internally Set Speed Selection 2 Input (VSEL2). Internally Set Speed Selection 1 Internally Set Speed Selection 2 Internally set speed Input (VSEL1) (CN1-6)
Page 183: Parameter Block Diagram For Internally Set Speed Control Mode
5-2 Internally Set Speed Control Parameter Block Diagram for Internally Set Speed Control Mode Speed PI Processor Pn11: Speed Loop Gain Internally Set Speed Setting Acceleration/Deceleration Pn12: Speed Loop Integration Pn53: No.1 Internally Time Setting Time Constant Set Speed Pn58: Soft Start −...
Page 184: Forward And Reverse Drive Prohibit
5-3 Forward and Reverse Drive Prohibit 5-3 Forward and Reverse Drive Prohibit When the Forward Drive Prohibit Input (POT: CN1-8) and Reverse Drive Prohibit Input (NOT: CN1-7) are turned OFF, the Servomotor will stop rotating. You can prevent the Servomotor from rotating beyond the device's travel range by connecting limit inputs.
Page 185: Encoder Dividing
5-4 Encoder Dividing 5-4 Encoder Dividing The number of pulses can be set for the encoder signals output from the Servo Drive. The number of pulses per Servomotor rotation can be set within a range of 1 to 2,500 pulses/ rotation.
Page 186: Electronic Gear
5-5 Electronic Gear 5-5 Electronic Gear The Servomotor can be rotated for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio. This function is effective in the following cases: When fine-tuning the position and speed of two lines that are to be synchronous. When using a position controller with a low command pulse frequency.
Page 187: Related Parameter
5-5 Electronic Gear Calculation Examples To operate with 2,000 pulses/rotation: 0 (Pn4A) 10000 (Pn46) × 2 2000 (Pn4B) To operate with 1,000 pulses/rotation: 0 (Pn4A) 10000 (Pn46) × 2 1000 (Pn4B) Conversely, to increase the resolution per rotation and operate with 40,000 pulses/rotation: 0 (Pn4A) 10000 (Pn46) ×...
Page 188: Brake Interlock
5-6 Brake Interlock 5-6 Brake Interlock You can set the Brake Interlock Signal (BKIR) timing to turn ON and OFF the electromagnetic brake. The electromagnetic brake of a Servomotor with a brake is a non- Precautions excitation brake designed for holding. Set the parameter to first stop the for Correct Use Servomotor, and then turn OFF the power supply to the brake.
Page 189 5-6 Brake Interlock RUN Command, Errors, and Power Supply Timing (When Servomotor Is Rotating) Power supply RUN command Alarm output (/ALM) Bbrake interlock (BKIR) Approx. 1 to 5 ms Supplied Servomotor power supply Not supplied *1. This time is the shorter value of either the setting for the Brake Timing during Operation (Pn6B) or the time it takes until the Servomotor rotation speed drops to 30 r/min or lower.
Page 190: Gain Switching
5-7 Gain Switching 5-7 Gain Switching In Position Control Mode, you can switch between PI (proportional and integral) operation and P (proportional) operation, or between gain 1 and gain 2. With PI/P operation switching, the repulsion to external forces applied to the load can be weakened by eliminating the integral of the speed deviation (i.e., the difference between the speed command and speed feedback).
Page 191: Related Parameters
5-7 Gain Switching Related Parameters Parameter Parameter name Explanation Reference Set the position control system responsiveness. The higher Pn10 Position Loop Gain Page 5-36 the setting, the shorter the positioning time. Pn11 Speed Loop Gain Set the speed loop responsiveness. Page 5-37 Speed Loop The integration constant is included in the speed loop.
Page 192: Torque Limit
5-8 Torque Limit 5-8 Torque Limit This function limits the output torque of the Servomotor. This function is effective in the following cases: Pressing a moving part of a machine (such as a bending machine) against a workpiece with a constant force.
Page 193: Overrun Limit
5-9 Overrun Limit 5-9 Overrun Limit The overrun limit function is enabled only in Position Control Mode. The overrun limit is used to stop operation via an alarm if the Servomotor's allowable operating range set in Overrun Limit Setting (Pn26) is exceeded. The overrun limit is effective in the following case: Preventing impact on the edges of the machine because of Servomotor oscillation.
Page 194: User Parameters
5-10 User Parameters 5-10 User Parameters A Parameter Unit (R88A-PR02G) is required to set and change parameters. For information on operating procedures, refer to 6-3 Using the Parameter Unit. Set and check the user parameters in Parameter Setting Mode. Fully understand the parameter meanings and setting procedures before setting user parameters according to your system.
Page 195 5-10 User Parameters Operating Procedures 1. Displaying Parameter Setting Mode Key opera- Display example Explanation tion The item set for the Default Display (Pn01) is displayed. rk k k k k0k Press the Data key to display Monitor Mode. Uknk_kskpkd. Press the Mode key to display Parameter Setting Mode.
Page 196 5-10 User Parameters 5. Saving the New Setting to Memory Key operation Display example Explanation Press the Mode key to display Parameter Write Mode. ekek_kskektk Press the Data key to move on to Parameter Write Mode. ekekpk k k-. Press the Increment key for at least 5 s. ekekpk k-k-.
Page 197: Parameter List
5-10 User Parameters Parameter List Some parameters are enabled by turning the power OFF and then ON again. When changing these parameters, turn OFF the power, check that the power LED indicator has gone OFF, and then turn ON the power again. Do not make any settings for parameters marked “Not used.”...
Page 198 5-10 User Parameters Parameter Setting Explanation Default Unit Setting Power name setting range OFF→ Zero Speed Select the function of the Zero Speed Designation Designation/ Input (VZERO) and Torque Limit Switch Input Torque Limit (TLSEL). Switch 0 to 2 Both inputs disabled. Zero-speed designation enabled.
Page 199 5-10 User Parameters Servo Gain Parameters Power Parameter Default Setting Explanation Unit OFF→ name setting range Position Loop Set to adjust the position control system respon- 0 to Gain siveness. 32767 Speed Loop Set to adjust the speed loop responsiveness. 1 to Gain 3500...
Page 200 5-10 User Parameters Power Parameter Default Setting Explanation Unit OFF→ name setting range Realtime Set the operating mode for realtime autotuning. Autotuning Realtime autotuning is not used. Mode Selection The adaptive filter is disabled. Realtime autotuning is used. Use this setting if there are almost no changes in load inertia during operation.
Page 201 5-10 User Parameters Power Parameter Default Setting Explanation Unit OFF→ name setting range Autotuning Set the operating pattern for autotuning. Operation Rotation direction: CCW → CW, two Setting rotations Rotation direction: CW → CCW, two rotations Rotation direction: CCW → CCW, two rotations Rotation direction: CW →...
Page 202 5-10 User Parameters Power Parameter Default Setting Explanation Unit OFF→ name setting range Gain Switch Select the condition for switching between gain 1 Setting and gain 2 in one of the position control modes. The Gain Switching Input Operating Mode Selec- tion(Pn30) must be set to 1 (enabled).
Page 203 5-10 User Parameters Position Control Parameters Power Parameter Default Setting Explanation Unit OFF→ name setting range Command The command pulses are multiplied by a factor of 2 ° Pulse or 4 when using 90 phase difference signal inputs Multiplying is selected as the input format for the command Setting pulses in the Command Pulse Mode (Pn42).
Page 204 5-10 User Parameters Power Parameter Default Setting Explanation Unit OFF→ name setting range Electronic Gear Set the pulse rate for command pulses and Servo- Ratio motor travel distance. 0 to 17 Numerator Exponent Electronic Gear Ratio Numerator 1 (Pn46) Electronic Gear Ratio Numerator Exponent (Pn4A) Electronic Gear 1 to Electronic Gear Ratio Numerator 2 (Pn47)
Page 205 5-10 User Parameters Internally Set Speed Control Parameters Power Parameter Default Setting OFF → Explanation Unit name setting range Not used. (Do not change setting.) Not used. (Do not change setting.) Not used. (Do not change setting.) −20000 No. 1 Internally Set the No.
Page 206 5-10 User Parameters Sequence Parameters Power Parameter Default Setting Setting Explanation Unit OFF→ name setting range Positioning Set the range for the Positioning Completed Output 0 to Completion Pulses (INP). 32767 Range Zero Speed Set the rotation speed for the Warning Output for 0 to r/min Detection...
Page 207 5-10 User Parameters Power Parameter Default Setting Setting Explanation Unit OFF→ name setting range Set the operation to use during deceleration and af- ter stopping and set the deviation counter status when the RUN Command Input (RUN) is turned OFF. During deceleration: Dynamic brake After stopping: Dynamic brake Deviation counter: Cleared...
Page 208 5-10 User Parameters Power Parameter Default Setting Setting Explanation Unit OFF→ name setting range an external gener- Set this parameter to 1 or 2 if ation resistor is mounted. The external regeneration processing cir- cuit will not operate. Regenerative energy will be processed with the built-in capaci- tor.
Page 209: Parameter Details
5-10 User Parameters Parameter Details This section describes the user parameters in detail. Be sure to fully understand the meanings of the parameters and change them properly. Do not change settings of the parameters marked “Not used.” Function Selection Parameters Unit No.
Page 210 5-10 User Parameters Control Mode Selection Pn02 All modes Power OFF → ON Setting range 0 to 2 Unit Default setting Set the control mode to be used. Explanation of Settings Setting Explanation High-response Position Control Internally Set Speed Control Advanced Position Control Differences between High-response Position Control and Advanced Position Control Realtime Autotun-...
Page 211 5-10 User Parameters Pn05 Not used. (Do not change setting.) Zero Speed Designation/Torque Limit Switch Pn06 All modes Setting range 0 to 2 Unit Default setting Power OFF → ON Use this parameter to select whether to use the Zero Speed Designation Input (VZERO) or Torque Limit Switch Input (TLSEL) as the function of pin CN1-5.
Page 212 5-10 User Parameters Pn0A Not used. (Do not change setting.) Pn0B Not used. (Do not change setting.) Pn0C Not used. (Do not change setting.) Pn0D Not used. (Do not change setting.) Pn0E Not used. (Do not change setting.) Pn0F Not used. (Do not change setting.) 5-35...
Page 213 5-10 User Parameters Gain Parameters Position Loop Gain Pn10 Position Power OFF → ON Setting range 0 to 32767 Unit Default setting Set this parameter to adjust the position loop response according to the mechanical rigidity. The responsiveness of the servo system is determined by the position loop gain. Servo systems with a high loop gain have a high response and can make positioning faster.
Page 214 5-10 User Parameters Speed Loop Gain Pn11 All modes Power OFF → ON Setting range 1 to 3500 Unit Default setting This gain adjusts the speed loop response. Increase the gain to increase servo rigidity. Generally, the greater the inertia ratio, the higher the setting.
Page 215 5-10 User Parameters Torque Command Filter Time Constant Pn14 All modes × 0.01 ms Power OFF → ON Setting range 0 to 2500 Unit Default setting Set this parameter to adjust the primary lag filter time constant for the torque command. This parameter is automatically changed by executing realtime autotuning function.
Page 216 5-10 User Parameters Position Loop Gain 2 Pn18 Position Power OFF → ON Setting range 0 to 32767 Unit Default setting Speed Loop Gain 2 Pn19 All modes Setting range 1 to 3500 Unit Default setting Power OFF → ON Speed Loop Integration Time Constant 2 Pn1A All modes...
Page 217 5-10 User Parameters Inertia Ratio Pn20 All modes Power OFF → ON Setting range 0 to 10000 Unit Default setting Set the mechanical system inertia (load inertia at the Servomotor shaft) as a percentage of the Servomotor rotor inertia. This parameter is automatically changed by executing autotuning. This parameter is automatically changed by executing realtime autotuning function.
Page 218 5-10 User Parameters Realtime Autotuning Machine Rigidity Selection Pn22 All modes Power OFF → ON Setting range 0 to 15 Unit Default setting Set the machine rigidity to one of 16 levels for executing realtime autotuning. The greater the machine rigidity, the higher the setting. The higher the setting, the higher the responsiveness.
Page 219 5-10 User Parameters Vibration Frequency Pn2B Position × 0.1 Hz Power OFF → ON Setting range 0 to 5000 Unit Default setting Set vibration frequency for damping control to suppress vibration at the end of the load. The minimum frequency that can be set is 100 (10.0 Hz). The parameter will be disabled if it is set to 0 to 99.
Page 220 5-10 User Parameters Adaptive Filter Table Number Display Pn2F Advanced position Power OFF → ON Setting range 0 to 64 Unit Default setting This parameter displays the table entry number corresponding to the frequency of the adaptive filter. This parameter is set automatically and cannot be changed if the adaptive filter is enabled in the Realtime Autotuning Mode Selection (Pn21).
Page 221 5-10 User Parameters Gain Switching Input Operating Mode Selection Pn30 Position Power OFF → ON Setting range 0 or 1 Unit Default setting Set this parameter to enable or disable gain switching. If gain switching is disabled, the gain switching input can be used to switch between PI operation and P operation.
Page 222 5-10 User Parameters *1. The Gain Switch Time (Pn32) is used when returning from gain 2 to gain 1. *2. The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure. Pn33 Pn34 Gain 2 Gain 1 Gain 1 Pn32 *3.
Page 223 5-10 User Parameters Gain Switch Time Pn32 Position × 166 µs Power OFF → ON Setting range 0 to 10000 Unit Default setting This parameter is enabled when the Gain Switch Setting (Pn31) is set to 3, or 5 to 10. Set the delay time from the moment the condition set in the Gain Switch Setting (Pn31) is not met until returning to gain 1.
Page 224 5-10 User Parameters Position Loop Gain Switching Time Pn35 Position (Setting + 1) Setting range 0 to 10000 Unit Default setting Power OFF → ON (× 166 µs) If the Gain Switching Input Operating Mode Selection (Pn30) is set to 1 (gain switching enabled), set the phased switching time only for position loop gain at gain switching.
Page 225 5-10 User Parameters Position Control Parameters Command Pulse Multiplying Setting Pn40 Position Power OFF → ON Setting range 1 to 4 Unit Default setting ° The command pulses are multiplied by a factor of 2 or 4 when 90 phase difference signal inputs are selected as the input format for the command pulses in the Command Pulse Mode (Pn42).
Page 226 5-10 User Parameters Command Pulse Mode Pn42 Position Power OFF → ON Setting range 0 to 3 Unit Default setting Set the input format of the pulse inputs sent as commands to the Servo Drive from the position controller. Explanation of Setting Setting Command pulse mode Servomotor forward command...
Page 227 5-10 User Parameters Encoder Output Direction Switch Pn45 All modes Power OFF → ON Setting range 0 or 1 Unit Default setting This parameter can be used to reverse the logic of the encoder pulses output from the Servo Drive. Phase Z is synchronized with phase A.
Page 228 5-10 User Parameters Electronic Gear Ratio Numerator Exponent Pn4A Position Power OFF → ON Setting range 0 to 17 Unit Default setting Electronic Gear Ratio Denominator Pn4B Position Setting range 1 to 10000 Unit Default setting 2500 Power OFF → ON Set the pulse rate for command pulses and Servomotor travel distance along with Pn46 and Pn47 Electronic Gear Ratio Numerator 1 (Pn46) Electronic Gear Ratio Numerator Exponent (Pn4A)
Page 229 5-10 User Parameters Smoothing Filter Setting Pn4E Position Power OFF → ON Setting range 0 to 31 Unit Default setting Select the FIR filter time constant used for the command pulses (FIR: Finite impulse response). The higher the setting, the smoother the command pulses. Input position command Position command after smoothing filter processing...
Page 230 5-10 User Parameters Internally Set Speed Control Parameters Pn50 Not used. (Do not change setting.) Pn51 Not used. (Do not change setting.) Pn52 Not used. (Do not change setting.) No. 1 Internally Set Speed Pn53 Internally set speed −20000 to 20000 Power OFF →...
Page 231 5-10 User Parameters Pn5A Not used. (Do not change setting.) Pn5B Not used. (Do not change setting.) Pn5C Not used. (Do not change setting.) Pn5D Not used. (Do not change setting.) Torque Limit Pn5E All modes Power OFF → ON Setting range 0 to 500 Unit...
Page 232 5-10 User Parameters Sequence Parameters Positioning Completion Range Pn60 Position Power OFF → ON Setting range 0 to 32767 Unit Pulse Default setting Set the deviation counter value for the Positioning Completed Output (INP). The Positioning Completed Output (INP) turns ON when the accumulated pulses in the deviation counter fall below the setting of this parameter.
Page 233 5-10 User Parameters Rotation Speed for Servomotor Rotation Detection Pn62 Internally set speed Power OFF → ON Setting range 0 to 20000 Unit r/min Default setting Set the number of rotations for the Servomotor Rotation Speed Detection Output (TGON) during Internally Set Speed Control.
Page 234 5-10 User Parameters Stop Selection for Drive Prohibit Input Pn66 All modes Power OFF → ON Setting range 0 to 2 Unit Default setting Set the operation to be used to decelerate to a stop after the Forward Drive Prohibit Input (POT) or Reverse Drive Prohibit Input (NOT) is turned ON.
Page 235 5-10 User Parameters Stop Selection with Servo OFF Pn69 All modes Power OFF → ON Setting range 0 to 7 Unit Default setting Set the operation during deceleration and after stopping as well as the deviation counter status when the RUN Command Input (RUN) turns OFF. Explanation of Settings Explanation Setting...
Page 236 5-10 User Parameters Brake Timing during Operation Pn6B All modes × 2 ms Power OFF → ON Setting range 0 to 100 Unit Default setting When the RUN Command Input is turned OFF while the Servomotor is operating, the Servomotor will decelerate, the number of rotations will drop, and the Brake Interlock Signal (BKIR) will turn OFF after ×...
Page 237 5-10 User Parameters Pn6F Not used. (Do not change setting.) Overspeed Detection Level Setting Pn70 All modes Power OFF → ON Setting range 0 to 6000 Unit r/min Default setting Set the No. 1 overspeed detection level when torque limit switching is enabled in the setting of the Zero Speed Designation/Torque Limit Switch (Pn06).
Page 239 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 ..............6-2 Checking Displays ..............6-3 6-3 Using the Parameter Unit ........6-4 Names of Parts and Functions..........6-4 Display When Power Is Turned ON .........
Page 240: Operational Procedure
6-1 Operational Procedure 6Operation 6-1 Operational Procedure After installation and wiring, turn ON the power and check the operation of the Servomotor and Servo Drive. Then make the function settings as required according to the use of the Servomotor and Servo Drive. If the parameters are set incorrectly, there is a danger of the Servomotor operating in an unpredictable manner.
Page 241: Preparing For Operation
6-2 Preparing for Operation 6-2 Preparing for Operation This section explains the procedure to prepare the mechanical system for trial operation after the installation and wiring of the Servomotor and Servo Drive are completed. It also explains the items that need to be checked before and after turning ON the power. Items to Check Before Turning ON the Power Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below.
Page 242: Checking Displays
6-2 Preparing for Operation Checking Displays After turning ON the power, confirm that the Servo Drive's power supply LED indicator (PWR) is lit green. When the power is turned ON, one of the following will appear on the Parameter Unit display. Normal Error (alarm display) rk k k k k0k...
Page 243: Using The Parameter Unit
6-3 Using the Parameter Unit 6-3 Using the Parameter Unit This section describes the basic operation of the Parameter Unit, the jog operation with just the Servomotor and Servo Drive, and the Parameter Unit's copy function. Names of Parts and Functions Parameter Unit Names LED Display (6 Digits) Unit No.
Page 244: Display When Power Is Turned On
6-3 Using the Parameter Unit Display When Power Is Turned ON Turn ON the power with the Parameter Unit connected to the Servo Drive, or connect the Parameter Unit to the Servo Drive with Servo Drive power already turned ON. Then the following indications appear on the display.
Page 245: Changing The Mode
6-3 Using the Parameter Unit Changing the Mode Uknk_kskpkd. rk k k k k0 rk k k k k0 Uknk_kikdkc. rksk-k2k3k2 Parameters Unit default display pknk_krk0k0. k k k k k1. pknk_k k7kf. k k k k k0. ekek_kskekt ekekpk k k-. aktk_knkok1.
Page 246: Monitor Mode
6-3 Using the Parameter Unit Monitor Mode Position deviation Uknk_kekpks.k pk k k k k8k Position deviation: 8 pulses Uknk_kskpkd.k rk k1k0k0k0k Servomotor rotation 1000 r/min speed Torque output Uknk_ktkrkq.k tk k1k0k0.0k Torque output: 100% Uknk_kcknkt.k pkokskcknktk Control mode Position control display Uknk_k kiko.k iknk0k0.
Page 247 6-3 Using the Parameter Unit Position Deviation pk k k k k8k Displays the number of accumulated pulses in the deviation counter (unit: pulse). Accumulated pulses during reverse rotation are displayed with “-”. Servomotor Rotation Speed rk k1k0k0k0k Displays the Servomotor rotation speed (unit: r/min). Rotation speeds during reverse rotation are displayed with “-”.
Page 248 6-3 Using the Parameter Unit I/O Signal Status iknk0k0. ka Input signal No. 00 ON Output signal No. 09 OFF or disabled oktk0k9. k-k : ON : 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.
Page 249 6-3 Using the Parameter Unit Input Signals Function Signal Symbol Name If the RUN signal turns ON, a Servo lock oc- RUN Command curs, and is displayed. If the RESET signal turns ON, the alarm is re- RESET Alarm Reset set, and is displayed.
Page 250 6-3 Using the Parameter Unit Output Signals Function Signal Symbol Name Not used. If an alarm occurs, the /ALM signal turns /ALM Alarm OFF, and is displayed. When a workpiece is positioned within the set- Positioning ting range, the Positioning Completion Range Completed (Pn60), INP turns ON and is displayed.
Page 251 6-3 Using the Parameter Unit Press the Increment or Decrement key to select the signal number to be monitored. iknk0k0. k (Lowest input signal number) iknk1kf. kk (Highest input signal number) oktk0k0. k (Lowest output signal number) (Highest output signal number) oktk1kf.
Page 252 6-3 Using the Parameter Unit Alarm Codes and Meanings Alarm Alarm Meaning Meaning codes codes Power supply undervoltage Deviation counter overflow Overvoltage Overrun limit error Overcurrent Parameter error Built-in resistor overheat Parameter corruption Overload Drive prohibit input error Regeneration overload Encoder phase Z error Encoder disconnection detection Encoder CS signal error...
Page 253 6-3 Using the Parameter Unit Overload Load Ratio oklk k2k8.0 Displays the percentage of the load ratio as a percentage of the rated load. Inertia Ratio jk k k1k0k0 Displays the inertia ratio as a percentage. Total Feedback Pulses/Total Command Pulses k k k1k0k0 Displays the total number of pulses after the power supply is turned ON.
Page 254: Parameter Setting Mode
6-3 Using the Parameter Unit Parameter Setting Mode 1. Displaying Parameter Setting Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. rk k k k k0k Press the Data key to display Monitor Mode. Uknk_kskpkd.
Page 255: Parameter Write Mode
6-3 Using the Parameter Unit Parameter Write Mode Settings changed in the Parameter Setting Mode must be saved in EEPROM. To do so, the following procedure must be performed. 1. Saving Changed Settings Key operation Display example Explanation Press the Mode key to display Parameter Write Mode. ekek_kskektk Press the Data key to enter Parameter Write Mode.
Page 256: Autotuning Mode
6-3 Using the Parameter Unit Autotuning Mode For details on autotuning, refer to 7-3 Autotuning. This section describes only the operating procedure. 1. Displaying Autotuning Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. rk k k k k0k Press the Data key to display Monitor Mode.
Page 257: Auxiliary Function Mode
6-3 Using the Parameter Unit Auxiliary Function Mode The Auxiliary Function Mode includes the alarm reset and jog operation. Displaying Auxiliary Function Mode Key operation Display example Explanation The items set for the Default Display (Pn01) is displayed. rk k k k k0k Press the Data key to display Monitor Mode.
Page 258: Jog Operation
6-3 Using the Parameter Unit Jog Operation 1. Executing Jog Operation Key operation Display example Explanation Press the Increment key to display the Jog Operation Mode on the alarm fknk_kjkokg. reset display in Auxiliary Function Mode. Press the Data key to enter Jog Operation Mode. jkokgk k k-.
Page 259: Copy Mode
6-3 Using the Parameter Unit 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. Copying from the Servo Drive to the Parameter Unit 1.
Page 260 6-3 Using the Parameter Unit Copying from the Parameter Unit to the Servo Drive 1. Displaying Copy Mode Key operation Display example Explanation The item set for the Default Display (Pn01) is displayed. rk k k k k0k Press the Data key to display Monitor Mode. Uknk_kskpkd.
Page 261 6-3 Using the Parameter Unit 5. Returning to the Display of Copy Mode Key operation Display example Explanation Press the Data key to return to the Copy Mode Display. ckfk_kck2ka. If “Error” is displayed before completion, repeat the procedure from the Precautions beginning.
Page 262: Trial Operation
6-4 Trial Operation 6-4 Trial Operation When you have finished installation, wiring, Servomotor/Servo Drive jog operation, and user parameter setting, perform trial operation. The main purpose of trial operation is to confirm that the servo system operates electrically correctly. Make sure that the host position controller and all peripheral devices are connected, and turn ON the power.
Page 263 6-4 Trial Operation c) Are the operating sequences correct? d) Are there any abnormal sounds or vibration? If vibration occurs when starting or stopping the machine, refer to Chapter 7 Adjustment Functions, and adjust the gain. e) Is any error (or alarm) generated? If anything abnormal occurs, refer to Chapter 8 Troubleshooting and take the appropriate countermeasures.
Page 265: Gain Adjustment
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 ........7-3 Operating Procedures.............. 7-4 Adaptive Filter ................7-5 Automatically Set Parameters..........
Page 266: Gain Adjustment
7-1 Gain Adjustment 7Adjustment Functions 7-1 Gain Adjustment SMARTSTEP 2-Series Servo Drive has realtime autotuning and autotuning functions. With these functions, gain adjustments can be made easily even by those who use a servo system for the first time. If autotuning cannot be used, use manual tuning. Purpose of the Gain Adjustment The Servomotor must operate in response to commands from the Servo Drive with minimal time delay and maximum reliability.
Page 267: Realtime Autotuning
Turn OFF automatic Basic adjustment adjustment Machine resonance suppression Damping control Operation OK? Contact OMRON Write in EEPROM Adjustment completed Reference Gain Adjustment and Machine Rigidity The specific vibration (resonance frequency) of the mechanical system has a large impact on the gain adjustment. The servo system responsiveness cannot be set high for machines with a low resonance frequency (low machine rigidity).
Page 268: Realtime Autotuning
7-2 Realtime Autotuning 7-2 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime, and automatically sets the optimal gain according to the estimated load inertia. The adaptive filter automatically suppresses vibration caused by resonance. In the default settings realtime autotuning is disabled. Refer to the following procedures to enable realtime autotuning.
Page 269: Operating Procedures
7-2 Realtime Autotuning 4. Machine Rigidity Selection To increase responsiveness, gradually increase the setting of the Realtime Autotuning Machine Rigidity Selection (Pn22). If the machine produces an unusual noise or resonates, lower the setting. 5. Saving Gain Adjustment Values To save the gain setting, change to Parameter Write Mode and save the parameters in EEPROM. (For operation details, refer to Parameter Write Mode on page 6-16.) The setting of the Realtime Autotuning Mode Selection is changed when Precautions...
Page 270: Adaptive Filter
7-2 Realtime Autotuning Writing in EEPROM ekek_kskekt. Press the Mode key. Press the Data key. ekekpk k k-. Press the Increment key for at least 5 s. ekekpk k-k-. The bars will increase as shown in the diagram on the right. -k-k-k-k-k-.
Page 271: Automatically Set Parameters
7-2 Realtime Autotuning Automatically Set Parameters When realtime autotuning is enabled, the following parameters will be set automatically. Parameters that are set automatically cannot be changed manually. Parameter No. Parameter name (Pn No.) Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Position Loop Gain 2...
Page 272: Autotuning
7-2 Realtime Autotuning An unusual noise or resonance may occur right after turning ON the first Precautions RUN Command Input (RUN) after the power ON, or when the setting of the for Correct Use Realtime Autotuning Machine Rigidity Selection (Pn22) is increased. Usually, the noise or resonance may continue until the load inertia is estimated, or the adaptive filter stabilizes.
Page 273: Autotuning
7-3 Autotuning 7-3 Autotuning Autotuning operates the Servomotor according to command patterns created automatically in the Servo Drive, estimates the load inertia from the required torque and automatically sets the optimal gain. Autotuning may not function properly under the conditions described in the Precautions following table.
Page 274 7-3 Autotuning aktk_knkok1. Autotuning Mode Display Machine rigidity No. 4. Selecting Machine Rigidity Press the Increment or Decrement key to select the machine rigidity number. aktk_knkok0. Lowest machine rigidity aktk_knkok1. kk aktk_knkokf. Highest machine rigidity The machine rigidity number sets the machine rigidity, and can be set to a value from 0 to F hex. The greater the machine rigidity, the higher the machine rigidity number is.
Page 275 7-3 Autotuning both forward and reverse for approximately 15 seconds. This will be repeated up to 5 cycles. It is not an error if the Servomotor stops before cycling 5 times. Repeat step 4 (Selecting Machine Rigidity) to step 7 (Executing Autotuning) until satisfactory responsiveness can be obtained.
Page 276: Automatically Set Parameters
7-3 Autotuning Automatically Set Parameters The following parameters will be set automatically according to the autotuning machine rigidity number selected. Parameter name Machine Rigidity No. Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Position Loop Gain 2 Speed Loop Gain 2...
Page 277 7-3 Autotuning The following parameters are set automatically. (The settings will not be changed even if realtime autotuning is executed.) Parameter name Machine Rigidity No. 0 to F Feed-forward Amount Feed-forward Command Filter Gain Switching Input Operating Mode Selection Gain Switch Setting Gain Switch Time Gain Switch Level Setting Gain Switch Hysteresis Setting...
Page 278: Disabling The Automatic Gain Adjustment Function
7-4 Disabling the Automatic Gain Adjustment Function 7-4 Disabling the Automatic Gain Adjustment Function This section explains how to disable realtime autotuning and the adaptive filter. These functions are enabled by default. When disabling the automatic adjustment function, the RUN Command Precautions for Correct Use Input (RUN) must be turned OFF.
Page 279: Disabling The Adaptive Filter
7-4 Disabling the Automatic Gain Adjustment Function Disabling the Adaptive Filter Setting the Realtime Autotuning Mode Selection (Pn21) to 0 or 4 to 6 will disable the adaptive filter which automatically adjusts for load resonance. If the properly functioning adaptive filter is disabled, the effect of the suppressed resonance may appear, and noise and vibration may occur.
Page 280: Manual Tuning
7-5 Manual Tuning 7-5 Manual Tuning Use manual tuning to adjust the gain when adjustments cannot be made properly with autotuning (described in the previous section) due to load conditions or other restrictions, or when loads that have been adjusted with autotuning need to be readjusted individually to achieve optimal response and stability.
Page 281: Basic Adjustment Procedures
7-5 Manual Tuning Basic Adjustment Procedures Adjustment in Position Control Mode Start adjustment Do not perform extreme adjustment and setting changes. Disable realtime autotuning. (Pn21 = 0 or 7) They may destabilize operation, possibly resulting in injury. Set the parameters to the values shown in table 1. Adjust the gain a little at a time while checking the Servomotor operation.
Page 282 7-5 Manual Tuning Adjustment in Internally Set Speed Control Mode The following parameters are adjustable: Speed Loop Gain (Pn11 and Pn19), Speed Loop Integration Time Constant (Pn12 and Pn1A), and Torque Command Filter Time Constant (Pn14 and Pn1C). Start adjustment Do not perform extreme adjustment and setting changes.
Page 283 7-5 Manual Tuning Table 1 :Parameter Adjustment Guidelines Pn No. Parameter name Guideline Position Loop Gain Speed Loop Gain Speed Loop Integration Time Constant Speed Feedback Filter Time Constant Torque Command Filter Time Constant Feed-forward Amount Feed-forward Command Filter Position Loop Gain 2 Speed Loop Gain 2 Speed Loop Integration Time Constant 2 Speed Feedback Filter Time Constant 2...
Page 284: Gain Switching Function
7-5 Manual Tuning Gain Switching Function With manual tuning, gain 1 and gain 2 can be set manually. For example, the gain can be switched according to the following conditions. To increase responsiveness by increasing the gain during operation. To increase servo lock rigidity by increasing the gain when operation is stopped. To switch to an optimal gain according to the Operating Mode.
Page 285 7-5 Manual Tuning *2. The Gain Switch Hysteresis Setting (Pn34) is defined as shown in the following figure. Pn33 Pn34 Gain 2 Gain 1 Gain 1 Pn32 *3. The amount of change is the value within 166 µs. Example: When the condition is a 10% change in torque in 166 µs, the set value is 200. *4.
Page 286: Machine Resonance Control
7-5 Manual Tuning Machine Resonance Control When machine rigidity is low, shaft torsion may cause resonance, leading to vibration or noise, thus not allowing the gain to be set high. In this case, the resonance can be suppressed by using the two filter types.
Page 287 7-5 Manual Tuning Notch Filter Function Torque Command Filter Function Machine Characteristics at Resonance Machine Characteristics at Resonance Notch Filter Characteristics Torque Command Filter Characteristics −3 dB Notch Cut-off frequency Adjust approximately 0.9 f lower Anti-resonance Anti-resonance Example of an Adaptive Machine Gain Gain Gain...
Page 288: Damping Control
7-5 Manual Tuning Damping Control When the machine end vibrates, damping control removes the vibration frequency component from the command and suppresses vibration. Vibrating end Position change sensor monitors vibration Sets end vibration frequency Driver Motor Movement Position controller Machine stand Ball screw Position Torque...
Page 289 7-5 Manual Tuning Operating Procedure 1. Setting the Vibration Frequency (Pn2B) Measure the vibration frequency at the end of the machine. If the end vibration can be measured directly using a laser displacement sensor, read the vibration frequency (Hz) from the measured waveform and set it in the Vibration Frequency (Pn2B).
Page 291 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 Alarm Indicator on the Servo Drive .......... 8-3 Alarm List ................. 8-4 8-3 Troubleshooting..........
Page 292: Error Processing
8-1 Error Processing 8Troubleshooting 8-1 Error Processing This section explains preliminary checks required to determine the cause of problems that might occur and cautions for the problems. Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical tools required to determine the cause of problems that might occur.
Page 293: Precautions When Troubleshooting
8-1 Error Processing Precautions When Troubleshooting When checking and verifying I/O after a problem has occurred, the Servomotor/Servo Drive may suddenly start to operate or stop, so always use the following precautions. You should assume that anything not described in this manual is not possible with this product. Precautions Disconnect the cable before checking for wire breakage.
Page 294: Alarm Table
8-2 Alarm Table 8-2 Alarm Table If the Servo Drive detects an error, the Alarm Output (ALM) will turn ON, the power drive circuit will turn OFF, and the alarm code will be displayed. If a warning is detected (torque limit imposed, zero speed detection, over regeneration, overload, or fan rotation speed error), the Warning Output (WARN) will turn ON, and the warning will be displayed.
Page 295: Alarm List
8-2 Alarm Table Alarm List Alarm Alarm Error detection function Detection details and cause of error reset code possible Power supply The DC voltage of the main circuit fell below the specified value. undervoltage Overvoltage The DC voltage of the main circuit is abnormally high. Overcurrent flowed to the IGBT.
Page 296: 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. Points to Check Is the power supply LED indicator (PWR) lit red or orange? Is the connector disconnected?
Page 297: Error Diagnosis Using The Displayed Alarm Codes
8-3 Troubleshooting Error Diagnosis Using the Displayed Alarm Codes Alarm Status when error Error Cause Countermeasure code occurs • The power supply volt- • Increase the power sup- Power supply Occurs when the power undervoltage supply is turned ON or age is low.
Page 298 8-3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs • Control PCB error • Replace the Servo Drive. Overcurrent Occurs when the Servo Drive is turned ON. • Servomotor power line is • Repair the short-circuited short-circuited or ground- or ground-faulted wire.
Page 299 8-3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs • Load inertia is too large. • Calculate the regenera- Regeneration Occurs when the Ser- overload vomotor is decelerat- tive energy, and connect ing. an External Regenera- tion Resistor with the re- quired regeneration absorption capacity.
Page 300 8-3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs • The encoder signal wir- • Correct the wiring. Encoder data error Occurs when the power supply is turned ON or ing is incorrect. during operation. • Noise on the encoder •...
Page 301 8-3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs • The setting for the Elec- • Set Pn46 and Pn47 so Electronic gear Occurs when com- setting error mand pulses are given. tronic Gear Ratio Numer- that the command pulse ator (Pn46 or Pn47) is not frequency is 500 kpps appropriate.
Page 302 8-3 Troubleshooting Alarm Status when error Error Cause Countermeasure code occurs • The Servomotor and • Use a correct combina- Servomotor Occurs when the power non-conformity supply is turned ON. Servo Drive combination tion. is incorrect. • The encoder wiring is •...
Page 303: Error Diagnosis Using The Operating Status
8-3 Troubleshooting Error Diagnosis Using the Operating Status Symptom Probable cause Items to check Countermeasures The power LED The power supply cable is Check whether the power supply Supply the correct voltage. indicator (PWR) wired incorrectly. input is within the allowed voltage does not light range.
Page 304 8-3 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor The Servomotor Power Check the wiring of the Servomotor Wire correctly. operates mo- Cable is wired incorrectly. Power Cable’s phases U, V, and W. mentarily, but it The Encoder Cable is Check the Encoder Cable’s wiring.
Page 305 Check whether the coupling is un- Adjust the coupling’s bal- balanced. ance. There is a problem with the Check for noise or vibration around Contact your OMRON repre- bearings. the bearings. sentative. • Use autotuning. The gain is doesn’t match.
Page 306 8-3 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor The FG’s potential is fluc- Check for grounding problems (fail- Ground the equipment prop- is producing tuating due to devices near ure to ground or incomplete erly and prevent currents unusual noises the Servomotor, such as a grounding) at devices such as a...
Page 307: 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, 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 308: Periodic Maintenance
8-5 Periodic Maintenance 8-5 Periodic Maintenance The Servomotor and Servo Drive contain many components and will function fully only when each of the individual components operates properly. Some of the electrical and mechanical components require maintenance depending on application conditions. Periodic inspection and part replacement are necessary to ensure the proper long-term operation of the Servomotor and Servo Drive.
Page 309: Servo Drive Service Life
Servo Drive Service Life The service life of the Servo Drive is provided below. Consult with your OMRON representative to determine whether or not components need to be replaced. Aluminum electrolytic capacitors: 50,000 hours, at an ambient Servo Drive operating temperature of 40°C, 80% of the rated operation output (rated torque), installed as described in this manual.
Page 311 Appendix Connection Examples ......... Appendix-1...
Page 312 Appendix Appendix Connection Examples Connection Example 1: Connecting to SYSMAC CJ1W-NC133/233/433 Position Control Units Main circuit power supply Main circuit contactor Surge suppressor 3-phase 200/240 VAC 50/60 Hz Servo error display (Ground to 100 Ω or less.) CJ1W-NC133/233/433 R7D-BP@ Reactor R7A-CPB@S Contents 5-VDC power supply (for pulse output)
Page 313 Connection Example 2: Connecting to SYSMAC CJ1W-NC113/213/413 Position Control Units Main circuit power supply Main circuit contactor Surge suppressor 3-phase 200/240 VAC 50/60 Hz Servo error display CJ1W-NC113/213/413 R7D-BP@ Reactor Contents R7A-CPB@S 24-V power supply for outputs 24 VDC 0-V input (for output) −CW CW (with a resistor) Connect External Regeneration...
Page 314 Connection Example 3: Connecting to SYSMAC CS1W-NC133/233/433 Position Control Units Main circuit power supply Main circuit contactor Surge suppressor 3-phase 200/240 VAC 50/60 Hz Servo error display CS1W-NC133/233/433 R7D-BP@ Reactor R7A-CPB@S Contents 5-VDC power supply (for pulse output) 5 VDC 5-V GND (for pulse output) CW (output (+)) −CW...
Page 315 Connection Example 4: Connecting to SYSMAC CS1W-NC113/213/413, C200HW- NC113/213/413 Position Control Units Main circuit power supply Main circuit contactor 3-phase 200/240 VAC 50/60 Hz Surge suppressor Servo error display CS1W-NC113/213/413 C200HW-NC113/213/413 R7D-BP@ Reactor Contents R7A-CPB@S 24-V power supply for outputs 24 VDC 0-V power supply for output −CW...
Page 316 Connection Example 5: Connecting to SYSMAC CP1H-Y20DT-D Main circuit power supply Main circuit contactor 3-phase 200/240 VAC 50/60 Hz Surge suppressor Servo error display CP1H-Y20DT-D R7D-BP@ Reactor R7A-CPB@S Output terminal block CW0+ − − Connect External Regeneration +CCW CCW0+ Resistor when required. −...
Page 317 Connection Example 6: Connecting to SYSMAC CP1H-X40DT-D/CP1L-@@@DT-@ Main circuit power supply Main circuit contactor 3-phase 200/240 VAC 50/60 Hz Surge suppressor Servo error display CP1H-X40DT-D R7D-BP@ Reactor R7A-CPB@S 2 kΩ Output terminal block − CW0 (CIO 0100.00) 2 kΩ +CCW COM (for CIO 0100.00) Connect External Regeneration −...
Page 318 Connection Example 7: Connecting to SYSMAC CJ1M Main circuit power supply Main circuit contactor 3-phase 200/240 VAC 50/60 Hz Surge suppressor Servo error display R7D-BP@ CJ1M Reactor R7A-CPB@S Contents Input for the output power supply 24 VDC Output COM 2 kΩ Connect External Regeneration CW output −...
Page 319 Connection Example 8: Connecting to FQM1-MMP21 Flexible Motion Controller Main circuit power supply Main circuit contactor Surge suppressor 3-phase 200/240 VAC 50/60 Hz Servo error display R7D-BP@ FQM1-MMP21 Reactor R7A-CPB@S Contents 5-VDC power supply (for pulse output) 5 VDC 5-V GND Connect External Regeneration −...
Page 320 Connection Example 9: Connecting to SYSMAC CPM2C CPU Unit with 10 inputs and outputs An example of a transistor output (sink model). Main circuit power supply Main circuit contactor Surge suppressor 3-phase 200/240 VAC 50/60 Hz Servo error display R7D-BP@ CPM2C-10C@DTC-D Reactor R7A-CPB@S...
Page 322 Index Numerics Electronic Gear Switch ..........3-10 EMC Directives............4-18 Encoder Cables ........2-8, 3-30, 4-29 3,000-r/min Flat Servomotors ........2-2 Encoder Connectors..........3-15 3,000-r/min Servomotors ........... 2-1 encoder dividing ..........5-8, 5-49 90-degree Phase Difference Signal......3-11 Encoder Input Connector (CN2) ........ 2-9 encoder specifications ..........
Page 323 Index Standard Cables for Encoders ........ 4-11 Standard Cables for Servomotor Power....4-11 surge absorbers............4-24 Parameter Unit .......... 2-2, 3-78, 6-4 surge suppressors ........... 4-28 dimensions............2-18 specifications ........... 3-78 Personal Computer Monitor Cables ....2-9, 3-40 phase-Z output ............3-14 position control ............
Page 325: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. Cat. No. I561-E1-03 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 328 The Netherlands IL 60173-5302 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 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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R7d-bp R88m-g Smartstep 2 r88m-g series Smartstep 2 r7d-bp series

Omron SMARTSTEP 2 SERIES User Manual

Table of Contents

Chapter 2 Standard Models and Dimensions

Chapter 3 Specifications

Chapter 4 System Design

Chapter 5 Operating Functions

Chapter 6 Operation

Chapter 7 Adjustment Functions

Chapter 8 Troubleshooting

Quick Links

Chapters

Troubleshooting

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