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OMRON R88D-GNA5L-ML2 User Manual

OMRON R88D-GNA5L-ML2 User Manual (438 pages)

AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Brand: OMRON | Category: Engine | Size: 24.36 MB

Table of Contents

Table of Contents

18
- Items to Check When Unpacking
  13
- About this Manual
  17
  - Table of Contents
    18
- Chapter 1 Features and System Configuration
  22
- Features
  22
- Overview
  22
- System Configuration
  23
- Names of Parts and Functions
  24
- Servo Drive Part Names
  24
- Servo Drive Functions
  25
- System Block Diagrams
  26
- Applicable Standards
  31
- EC Directives
  31
- UL and CSA Standards
  31
Chapter 2 Standard Models and Dimensions

33
- Standard Models
  34
- Servomotors
  38
- Standard Models
  38
- Decelerators
  40
- Accessories and Cables
  47
- External and Mounting Hole Dimensions
  56
- Servo Drives
  56
- Servomotors
  66
- Parameter Unit Dimensions
  76
- Servomotor and Decelerator Combinations
  77
- Decelerator Dimensions
  80
- External Regeneration Resistor Dimensions
  94
- Reactor Dimensions
  95
- Chapter 3 Specifications
  99
- Servo Drive Specifications
  100
- Servomotor Specifications
  116
- Decelerator Specifications
  131
- Cable and Connector Specifications
  141
- Parameter Unit Specifications
  177
- External Regeneration Resistor Specifications
  178
- Reactor Specifications
  179
Chapter 4 System Design

181
- Installation Conditions
  182
  - Servo Drives
    182
  - Servomotors
    184
  - Decelerators
    188
- Wiring
  192
- Wiring Conforming to EMC Directives
  207
  - Wiring Method
    207
  - Selecting Connection Components
    212
- Regenerative Energy Absorption
  225
Chapter 5 Operating Functions

233
- Position Control
  234
  - Position Control
    235
- Speed Control
  237
  - Speed Control
    238
- Torque Control
  240
  - Torque Control
    242
- Forward and Reverse Drive Prohibit
  243
- Brake Interlock
  244
- Torque Limit
  249
  - Torque Limit
    250
- Soft Start
  251
- Acceleration/Deceleration Time Settings
  252
- Moving Average Time
  253
- Electronic Gear
  254
- Speed Limit
  255
- Sequence Input Signals
  256
- Sequence Output Signals
  258
- Backlash Compensation
  260
- Overrun Protection
  262
- Gain Switching
  264
- Speed Feed-Forward
  271
- Torque Feed-Forward
  272
- Speed Feedback Filter Selection
  273
- P Control Switching
  274
- Torque Command Filter Time Constant
  275
- Notch Filter
  276
- Adaptive Filter
  278
- Instantaneous Speed Observer
  281
- Damping Control
  283
  - Damping Control
    284
- User Parameters
  288
  - Setting and Checking Parameters
    288
    
    Parameter Tables
    294
- Details on Important Parameters
  319
Chapter 6 Operation

331
- Operational Procedure
  332
- Preparing for Operation
  333
  - Items to Check before Turning on the Power
    333
    
    Turning on Power
    335
    
    Checking the Displays
    336
    
    Absolute Encoder Setup
    337
- Using the Parameter Unit
  339
  - Names of Parts and Functions
    339
- Setting the Mode
  340
  - Changing the Mode
    340
    
    Monitor Mode
    341
    
    Parameter Setting Mode
    348
    
    Parameter Write Mode
    354
    
    Normal Mode Autotuning
    355
    
    Auxiliary Function Mode
    356
    
    Copy Mode
    359
- Trial Operation
  362
  - Preparation for Trial Operation
    362
    
    Trial Operation with CX-Drive
    362
Chapter 7 Adjustment Functions

363
- Gain Adjustment
  364
  - Purpose of the Gain Adjustment
    364
    
    Gain Adjustment Methods
    365
    
    Gain Adjustment Procedure
    365
- Realtime Autotuning
  366
  - Realtime Autotuning Setting Method
    367
    
    Machine Rigidity Setting Method
    367
7-2 Realtime Autotuning

370
- Normal Mode Autotuning
  372
  - Setting the Parameters
    372
- Manual Tuning
  377
  - Basic Settings
    377
  - Parameter no
    380
    
    Parameter Name
    380
  - Pn010 Position Loop Gain
    380
  - Pn011 Speed Loop Gain
    380
    
    Speed Loop Integration Time Constant
    380
    
    Constant
    380
    
    Torque Command Filter Time Constant *1
    380
  - Pn018 Position Loop Gain
    381
  - Setting
    383
Chapter 8 Troubleshooting

385
- Error Processing
  386
  - Preliminary Checks When a Problem Occurs
    386
- Precautions When Troubleshooting
  387
- Replacing the Servomotor and Servo Drive
  387
- Alarm Table
  388
- Troubleshooting
  392
  - Error Diagnosis Using the Displayed Alarm Codes
    392
- Error Diagnosis Using the Displayed Warning Codes
  399
- Overload Characteristics (Electronic Thermal Function)
  405
  - Overload Characteristics Graphs
    405
- Periodic Maintenance
  406
  - Servomotor Service Life
    406
- Servo Drive Service Life
  407
- Replacing the Absolute Encoder Battery
  408
- Chapter 9 Appendix
  411
- Parameter Tables
  412

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