Omron R88M-W60010T User Manual
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Omron R88M-W60010T User Manual

Omron R88M-W60010T User Manual

Omnuc w series models r88m-w* (ac servomotors) models r88d-wn*-ml2 (ac servo drivers)
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Cat. No. I544-E1-05
USER'S MANUAL
OMNUC W
SERIES
MODELS R88M-W@
(AC Servomotors)
MODELS R88D-WN@-ML2
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

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Summary of Contents for Omron R88M-W60010T

  • Page 1 Cat. No. I544-E1-05 USER’S MANUAL OMNUC W SERIES MODELS R88M-W@ (AC Servomotors) MODELS R88D-WN@-ML2 (AC Servo Drivers) AC SERVOMOTORS/SERVO DRIVERS WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS...
  • Page 2 3. Copies of this manual and other related manuals must be delivered to the actual end users of the products. 4. Please keep a copy of this manual close at hand for future reference. 5. If a product has been left unused for a long time, please consult with your OMRON sales representative. NOTICE 1.This manual describes the functions of the product and relations with other products.
  • Page 3 USER’S MANUAL OMNUC W SERIES MODELS R88M-W@ (AC Servomotors) MODELS R88D-WN@-ML2 (AC Servo Drivers) AC SERVOMOTORS/SERVO DRIVERS WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS...
  • Page 5 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 7 Make sure that these protective covers are on the product before use. Consult your OMRON representative when using the product after a long period of storage. !WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo- tor to a class-3 ground (to 100 Ω...
  • Page 8 !Caution Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight. • Locations subject to temperatures or humidity outside the range specified in the specifi- cations.
  • Page 9 !Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or malfunction. !Caution Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.
  • Page 10 !Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury. !Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction.
  • Page 11 Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning label Precautions for Safe Use Dispose of the product and batteries according to local ordinances as they apply. Have qualified specialists properly dispose of used batteries as industrial waste.
  • Page 13 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 14 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 15 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 17: Table Of Contents

    Table of Contents Chapter 1. Introduction........1-1 Features.
  • Page 18 Table of Contents Chapter 6. Appendix ........6-1 Connection Examples .

  • Page 19: Chapter 1. Introduction

    Chapter 1 Introduction Features System Configuration Servo Driver Nomenclature Applicable Standards and Models System Block Diagrams...

  • Page 20: Features

    Introduction Chapter 1 Features OMNUC W-series AC Servo Drivers with built-in MECHATROLINK-II Communications are designed specifically for use with the MECHATROLINK-II high-speed motion field network. Combining these Servo Drivers with MECHATROLINK-II-compatible Motion Control Units (CS1W-MCH71 or CJ1W-MCH71) or Position Control Units (CJ1W-NCF71) is an easy way to create a high-speed servo control system with a communications link between the Servo Drivers and the Controllers.
  • Page 21 Chapter 1 Introduction Regenerative Power Processing ■ In addition to the built-in regenerative power processing function using regeneration resistance, external regeneration resistance can also be connected, allowing the W Series to be used for appli- cations with high regenerative energy on vertical axes. Conformity to Standards ■...

  • Page 22: System Configuration

    Introduction Chapter 1 System Configuration Controller (MECHATROLINK-II Type) Controller (MECHATROLINK-II Type) MECHATRO LINK-II CJ1W-NCF71 PA205R POWER SYSMAC CJ1G-CPU44 ERR/ALM PROGRAMMABLE PRPHL CONTROLLER COMM OPEN Position Control Unit MCPWR BUSY AC100-240V INPUT L2/N PERIPHERAL OUTPUT AC240V DC24V PORT R88D-WN@@@-ML2 OMNUC W-series AC SYSMAC CJ1 Servo Driver with built- Programmable Controller...

  • Page 23: Servo Driver Nomenclature

    Chapter 1 Introduction Servo Driver Nomenclature With Top Cover Open Analog Monitor Connector (CN5) Motor rotation speeds, torque command values, etc., can be monitored using a special cable. Panel Display Displays Servomotor status with a 7-segment LED display. DIP Switch POWER Used for MECHATROLINK-II communications settings.

  • Page 24: Applicable Standards And Models

    Chapter 1 Introduction Applicable Standards and Models EC Directives ■ EC Directive Product Applicable standard Remarks Low Voltage AC Servo Drivers EN50178 Safety requirements for electrical equipment for measurement, control, and laboratory use. AC Servomotors IEC60034-8 Rotating electrical machines. EN60034-1, -5, -9 AC Servo Drivers EN55011 class A group 1 Limits and methods for measuring radio distur- and AC Servo-...

  • Page 25: System Block Diagrams

    Introduction Chapter 1 System Block Diagrams 100 V AC: R88D-WNA5L-ML2/WN01L-ML2/-WL02L-ML2/-WN04L-ML2 ■ Single-phase 100 to 115 V +10%/−15% (50/60 Hz) Noise filter Servomotor Varistor Dynamic brake circuit Voltage Relay Voltage Gate Gate drive over- Temperature Current detection current protection drive detection detection detection drive...
  • Page 26 Chapter 1 Introduction 200 V AC: R88D-WN05H-ML2/WN10H-ML2 ■ Three-phase 200 to 230 V +10%/−15% (50/60 Hz) Noise filter Servomotor Varistor Dynamic brake circuit Voltage Relay Voltage Gate Current Gate drive over- Temperature drive detection current protection detection detection detection drive CN10 Varistor ±5 V...
  • Page 27 Chapter 1 Introduction 200 V AC: R88D-WN15H-ML2/-WN20H-ML2/-WN30H-ML2 ■ Three-phase 200 to 230 V +10%/−15% (50/60 Hz) Noise Servomotor filter Varistor Dynamic brake circuit Gate Voltage Relay Voltage Gate drive over- Current current protection drive detection drive detection detection CN10 Varistor ±5 V Analog monitor Control...
  • Page 28 Chapter 1 Introduction 1-10...

  • Page 29: Chapter 2. Standard Models And Specifications

    Chapter 2 Standard Models and Specifications Standard Models Servo Driver and Servomotor Combinations External and Mounted Dimensions Servo Driver Specifications Servomotor Specifications Cable and Connector Specifications External Regeneration Resistor Specifications Absolute Encoder Backup Battery Specifications Reactor Specifications 2-10 MECHATROLINK-II Repeater Specifications...

  • Page 30: Standard Models

    Note In order to use a personal computer to monitor a Servo Driver and set its parame- ters, Computer Monitor Cable and Com- puter Monitor Software are required. Please ask an OMRON representative for details. Absolute Encoder Backup ■ Battery...
  • Page 31 Chapter 2 Standard Models and Specifications Standard Encoder Cables (for Standard Power Cable ■ ■ Incremental and Absolute Encoders) ● Power Cable for 3,000-r/min Servomotors Specifications Model Specifications Model For 3,000-r/ 30 to R88A-CRWA003C min Servomo- 750 W Without brake With brake R88A-CRWA005C tors...
  • Page 32 Standard Models and Specifications Chapter 2 Power Cable for 1,500-r/min ● Specifications Model Servomotors Without brake With brake 1.5 kW R88A-CAWB003S R88A-CAWB003B Specifications Model R88A-CAWB005S R88A-CAWB005B Without brake With brake 10 m R88A-CAWB010S R88A-CAWB010B 450 to R88A-CAWC003S R88A-CAWC003B 1.3 kW 15 m R88A-CAWB015S R88A-CAWB015B R88A-CAWC005S R88A-CAWC005B 20 m R88A-CAWB020S R88A-CAWB020B...
  • Page 33 Chapter 2 Standard Models and Specifications Specifications Model Specifications Model Without brake With brake For 3,000-r/ 100 W R88A-CRWA003CR min Flat-style 3 kW 3 m R88A-CAWD003SR R88A-CAWD003BR R88A-CRWA005CR Servomotors 1.5 kW 5 m R88A-CAWD005SR R88A-CAWD005BR 10 m R88A-CRWA010CR 10 m R88A-CAWD010SR R88A-CAWD010BR 15 m R88A-CRWA015CR 15 m R88A-CAWD015SR R88A-CAWD015BR 20 m R88A-CRWA020CR...
  • Page 34 Chapter 2 Standard Models and Specifications Specifications Model Without brake With brake 1.2 to 3 m R88A-CAWD003SR R88A-CAWD003BR 2 kW 5 m R88A-CAWD005SR R88A-CAWD005BR 10 m R88A-CAWD010SR R88A-CAWD010BR 15 m R88A-CAWD015SR R88A-CAWD015BR 20 m R88A-CAWD020SR R88A-CAWD020BR 30 m R88A-CAWD030SR R88A-CAWD030BR 40 m R88A-CAWD040SR R88A-CAWD040BR 50 m R88A-CAWD050SR R88A-CAWD050BR ●...
  • Page 35 R88M-WP1K530H-BS1 R88M-WP1K530T-B R88M-WP1K530T-BS1 ● 1,000-r/min Servomotors Without 200 V 300 W R88M-W30010H R88M-W30010H-S2 R88M-W30010T R88M-W30010T-S2 brake 600 W R88M-W60010H R88M-W60010H-S2 R88M-W60010T R88M-W60010T-S2 900 W R88M-W90010H R88M-W90010H-S2 R88M-W90010T R88M-W90010T-S2 1.2 kW R88M-W1K210H R88M-W1K210H-S2 R88M-W1K210T R88M-W1K210T-S2 2 kW R88M-W2K010H R88M-W2K010H-S2 R88M-W2K010T R88M-W2K010T-S2...
  • Page 36 1.5 kW R88M-WP1K530H-BW R88M-WP1K530H-BWS1 R88M-WP1K530T-BW R88M-WP1K530T-BWS1 ● 1,000-r/min Servomotors Without 200 V 300 W R88M-W30010H-O R88M-W30010H-OS2 R88M-W30010T-O R88M-W30010T-OS2 brake 600 W R88M-W60010H-O R88M-W60010H-OS2 R88M-W60010T-O R88M-W60010T-OS2 900 W R88M-W90010H-O R88M-W90010H-OS2 R88M-W90010T-O R88M-W90010T-OS2 1.2 kW R88M-W1K210H-O R88M-W1K210H-OS2 R88M-W1K210T-O R88M-W1K210T-OS2 2 kW R88M-W2K010H-O R88M-W2K010H-OS2 R88M-W2K010T-O...
  • Page 37 Chapter 2 Standard Models and Specifications ● 1,500-r/min Servomotors Without 200 V 450 W R88M-W45015TO R88M-W45015T-OS2 brake 850 W R88M-W85015TO R88M-W85015T-OS2 1.3 kW --- R88M-W1K315TO R88M-W1K315T-OS2 1.8 kW --- R88M-W1K815TO R88M-W1K815T-OS2 With 200 V 450 W R88M-W45015T-BO R88M-W45015T-BOS2 brake 850 W R88M-W85015T-BO R88M-W85015T-BOS2 1.3 kW ---...
  • Page 38 Chapter 2 Standard Models and Specifications 1,000-r/min Servomotors Specifications Basic model Gear (deceleration rate) 1/11 1/20 1/21 1/29 1/33 1/45 -G05BJ -G09BJ -G11BJ -G20BJ -G21BJ -G29BJ -G33BJ -G45BJ 200 V 300 W R88M-W30010H/T 600 W R88M-W60010H/T 900 W R88M-W90010H/T 1.2 kW R88M-W1K210H/T 2 kW R88M-W2K010H/T 1,500-r/min Servomotors...
  • Page 39 Standard Models and Specifications Chapter 2 3,000-r/min Flat-style Servomotors Specifications Basic model Gear (deceleration rate) 1/15 1/25 -G05CJ -G09CJ -G15C -G25CJ 200 V 100 W R88M-WP10030H/T 200 W R88M-WP20030H/T 400 W R88M-WP40030H/T 750 W R88M-WP75030H/T 1.5 kW R88M-WP1K530H/T 2-11...
  • Page 40 Standard Models and Specifications Chapter 2 Servomotors with Standard Gears (Straight Shaft with Key) ● 3,000-r/min Servomotors Specifications Model With incremental encoder With absolute encoder Without brake With brake Without brake With brake 200 V 50 W R88M-W05030H-G05BJ R88M-W05030H-BG05BJ R88M-W05030T-G05BJ R88M-W05030T-BG05BJ R88M-W05030H-G09BJ R88M-W05030H-BG09BJ...
  • Page 41 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors Specifications Model With incremental encoder With absolute encoder Without brake With brake Without brake With brake 200 V 100 W R88M-WP10030H-G05BJ R88M-WP10030H-BG05BJ R88M-WP10030T-G05BJ R88M-WP10030T-BG05BJ 1/11 R88M-WP10030H-G11BJ R88M-WP10030H-BG11BJ R88M-WP10030T-G11BJ R88M-WP10030T-BG11BJ 1/21 R88M-WP10030H-G21BJ R88M-WP10030H-BG21BJ R88M-WP10030T-G21BJ R88M-WP10030T-BG21BJ 1/33 R88M-WP10030H-G33BJ R88M-WP10030H-BG33BJ R88M-WP10030T-G33BJ R88M-WP10030T-BG33BJ 200 W...
  • Page 42 R88M-W30010T-BG09BJ 1/20 R88M-W30010H-G20BJ R88M-W30010H-BG20BJ R88M-W30010T-G20BJ R88M-W30010T-BG20BJ 1/29 R88M-W30010H-G29BJ R88M-W30010H-BG29BJ R88M-W30010T-G29BJ R88M-W30010T-BG29BJ 1/45 R88M-W30010H-G45BJ R88M-W30010H-BG45BJ R88M-W30010T-G45BJ R88M-W30010T-BG45BJ 600 W R88M-W60010H-G05BJ R88M-W60010H-BG05BJ R88M-W60010T-G05BJ R88M-W60010T-BG05BJ R88M-W60010H-G09BJ R88M-W60010H-BG09BJ R88M-W60010T-G09BJ R88M-W60010T-BG09BJ 1/20 R88M-W60010H-G20BJ R88M-W60010H-BG20BJ R88M-W60010T-G20BJ R88M-W60010T-BG20BJ 1/29 R88M-W60010H-G29BJ R88M-W60010H-BG29BJ R88M-W60010T-G29BJ R88M-W60010T-BG29BJ 1/45 R88M-W60010H-G45BJ R88M-W60010H-BG45BJ R88M-W60010T-G45BJ...
  • Page 43 Chapter 2 Standard Models and Specifications ● Servomotors with Economy Gears (Straight Shaft with Key) 3,000-r/min Servomotors Specifications Model With incremental encoder With absolute encoder Without brake With brake Without brake With brake 200 V 100 W R88M-W10030H-G05CJ R88M-W10030H-BG05CJ R88M-W10030T-G05CJ R88M-W10030T-BG05CJ R88M-W10030H-G09CJ R88M-W10030H-BG09CJ...

  • Page 44: Servo Driver And Servomotor Combinations

    Voltage Servomotor Servo Driver Rated With incremental With absolute output encoder encoder 200 V 300 W R88M-W30010H-@ R88M-W30010T-@ R88D-WN05H-ML2 600 W R88M-W60010H-@ R88M-W60010T-@ R88D-WN10H-ML2 900 W R88M-W90010H-@ R88M-W90010T-@ R88D-WN10H-ML2 1.2 kW R88M-W1K210H-@ R88M-W1K210T-@ R88D-WN15H-ML2 2 kW R88M-W2K010H-@ R88M-W2K010T-@ R88D-WN20H-ML2 2-16...
  • Page 45 Standard Models and Specifications Chapter 2 1,500-r/min Servomotors and Servo Drivers ■ Voltage Servomotor Servo Driver Rated With incremental With absolute output encoder encoder 200 V 450 W R88M-W45015T-@ R88D-WN05H-ML2 850 W R88M-W85015T-@ R88D-WN10H-ML2 1.3 kW R88M-W1K315T-@ R88D-WN15H-ML2 1.8 kW R88M-W1K815T-@ R88D-WN20H-ML2 2-17...

  • Page 46: External And Mounted Dimensions

    Chapter 2 Standard Models and Specifications External and Mounted Dimensions 2-3-1 AC Servo Drivers Single-phase 100 V: R88D-WNA5L-ML2/-WN01L-ML2/-WN02L-ML2 ■ (50 to 200 W) Single-phase 200 V: R88D-WNA5H-ML2/-WN01H-ML2/-WN02H-ML2 (50 to 200 W) ● Wall Mounting External dimensions Mounted dimensions Mounting Holes Two M-4 holes (4.5) CHARGE...
  • Page 47 Chapter 2 Standard Models and Specifications ● Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 22.5 2 105.5 Mounting Holes (7.5) (4.5) Two M-4 holes 19.5 (25.5) 5 dia. CHARGE B1/ + Terminal Block Ground Nameplate terminals (18) Two M4 screws 19.5...
  • Page 48 Chapter 2 Standard Models and Specifications ● Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 24.5 Mounting Holes (15.5) 18.5 Two M-4 holes 36.5 (33.5) 5 dia. Air flow Terminal Block Air flow Nameplate Cooling fan Air flow 75 ) Ground terminals 36.5...
  • Page 49 Standard Models and Specifications Chapter 2 ● Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Mounting Holes (7.5) 22.5 2 105.5 21.5 (25.5) 39.5 Two M-4 holes 5 dia. Terminal Block Nameplate Ground terminals (18) Two M4 (25.5) screws 39.5 (75)
  • Page 50 Standard Models and Specifications Chapter 2 Front Panel Mounting (Using Mounting Brackets) ● External dimensions Mounted dimensions 24.5 Mounting Holes (15.5) 18.5 (33.5) 36.5 Two M-4 holes 5 dia. Air flow Terminal Block Air flow Nameplate Cooling fan Air flow Ground terminals (33.5) 36.5...
  • Page 51 Chapter 2 Standard Models and Specifications ● Front Panel Mounting (Using Mounting Brackets) Mounted Dimensions External Dimensions Mounting Holes Air flow Four M-4 holes Two, 5 dia. CHARGE B1/ + Terminal blocks Ground terminals Two M4 screws Nameplate 50 ±0.5 (20) 24.5 Air flow...
  • Page 52 Standard Models and Specifications Chapter 2 Front Panel Mounting (Using Mounting Brackets) ● Mounted dimensions External dimensions Mounting Holes Two, 5 dia. Four M-4 holes Air flow 24.5 Terminal CHARGE Block Nameplate Air flow 50 ±0.5 (25) 27.2 (75) Ground terminals (Mounting pitch) Two M4 screws 102.2...
  • Page 53 Chapter 2 Standard Models and Specifications 2-3-2 AC Servomotors 3,000-r/min Servomotors without a Brake ■ ● 200 V AC: 50 W/100 W R88M-W05030H(-S1)/-W10030H(-S1) [Incremental] R88M-W05030T(-S1)/-W10030T(-S1) [Absolute] Dimensions (mm) 300 ±30 Model R88M-W05030@-@ M2.5 R88M-W10030@-@ 94.5 Dimensions of shaft end with key (-S1) 6 dia.
  • Page 54 Chapter 2 Standard Models and Specifications 3,000-r/min Servomotors without a Brake ■ ● 200 V AC: 200 W/400 W/750 W R88M-W20030H(-S1)/-W40030H(-S1)/-W75030H(-S1) [Incremental] R88M-W20030T(-S1)/-W40030T(-S1)/-W75030T(-S1) [Absolute] Dimensions (mm) 300 ±30 Model R88M-W20030@-@ 96.5 50h7 14h6 R88M-W40030@-@ 124.5 50h7 14h6 R88M-W75030@-@ 70h7 16h6 Dimensions of output section of 750-W Servomotors 6 dia.
  • Page 55 Standard Models and Specifications Chapter 2 3,000-r/min Servomotors with a Brake ■ ● 200 V AC: 200 W/400 W/750 W R88M-W20030H-B(S1)/-W40030H-B(S1)/-W75030H-B(S1) [Incremental] R88M-W20030T-B(S1)/-W40030T-B(S1)/-W75030T-B(S1) [Absolute] Dimensions (mm) 300 ±30 Model R88M-W20030@-B@ 50h7 14h6 R88M-W40030@-B@ 50h7 14h6 R88M-W75030@-B@ 189.5 70h7 16h6 Dimensions of output section of 750-W Servomotors 6 dia.
  • Page 56 Chapter 2 Standard Models and Specifications 3,000-r/min Servomotors without a Brake ■ ● 200 V AC: 1 kW/1.5 kW/2 kW/3 kW R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2) [Incremental] R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2) [Absolute] Four, Z dia. Dimensions of shaft end with key (-S2) Dimensions (mm) (effective depth: 16) Model R88M-W1K030@-@ R88M-W1K530@-@...
  • Page 57 Chapter 2 Standard Models and Specifications 3,000-r/min Servomotors with a Brake ■ ● 200 V AC: 1 kW/1.5 kW/2 kW/3 kW R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2) [Incremental] R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T-B(S2)/-W3K030T-B(S2) [Absolute] Four, Z dia. Dimensions of shaft end with key (-BS2) Dimensions (mm) (effective depth: 16) Model R88M-W1K030@-B@ R88M-W1K530@-B@...
  • Page 58 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors without a Brake ■ ● 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H(-S1)/-WP20030H(-S1)/-WP40030H(-S1)/-WP75030H(-S1)/ -WP1K530H(-S1) [Incremental] R88M-WP10030T(-S1)/-WP20030T(-S1)/-WP40030T(-S1)/-WP75030T(-S1)/ -WP1K530T(-S1) [Absolute] Model Dimensions (mm) With key (shaft Waterproof type Basic servomotor dimensions Cable lead-in section end dimensions) (flange dimensions)
  • Page 59 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors with a Brake ■ ● 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H-B(S1)/-WP20030H-B(S1)/-WP40030H-B(S1)/-WP75030H-B(S1)/ -WP1K530H-B(S1) [Incremental] R88M-WP10030T-B(S1)/-WP20030T-B(S1)/-WP40030T-B(S1)/-WP75030T-B(S1)/ -WP1K530T-B(S1) [Absolute] Model Dimensions (mm) With key (shaft Waterproof type Basic servomotor dimensions Cable lead-in section end dimensions) (flange dimensions)
  • Page 60 Chapter 2 Standard Models and Specifications 1,000-r/min Servomotors without a Brake ■ ● 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/-W2K010H(-S2) [Incremental] R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/-W2K010T(-S2) [Absolute] Dimensions of output section of 300-W to 900-W Servomotors Dimensions of shaft end with key (-S2) M (Effective depth: l) Four, Z dia.
  • Page 61 Chapter 2 Standard Models and Specifications 1,000-r/min Servomotors with a Brake ■ ● 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW R88M-W30010H-B(S2)/-W60010H-B(S2)/-W90010H-B(S2)/-W1K210H-B(S2)/ -W2K010H-B(S2) [Incremental] R88M-W30010T-B(S2)/-W60010T-B(S2)/-W90010T-B(S2)/-W1K210T-B(S2)/ -W2K010T-B(S2) [Absolute] Dimensions of output section of 300-W to 900-W Servomotors Dimensions of shaft end with key (-BS2) M (Effective depth: l) Four, Z dia.
  • Page 62 Chapter 2 Standard Models and Specifications 1,500-r/min Servomotors without a Brake ■ ● 200 V AC: 450 W/850 W/1.3 kW/1.8 kW R88M-W45015T(-S2)/-W85015T(-S2)/-W1K315T(-S2)/-W1K815T(-S2) [Absolute] Dimensions of output section of 450-W to 1.3-kW Servomotors Dimensions of shaft end with key (-S2) M (Effective depth: l) Four, Z dia.
  • Page 63 Chapter 2 Standard Models and Specifications 1,500-r/min Servomotors with a Brake ■ ● 200 V AC: 450 W/850 W/1.3 kW/1.8 kW R88M-W45015T-B(S2)/-W85015T-B(S2)/-W1K315T-B(S2)/-W1K815T-B(S2) [Absolute] Dimensions of output section of 450-W to 1.3-kW Servomotors Dimensions of shaft end with key (-BS2) M (Effective depth: l) Four, Z dia.
  • Page 64 Chapter 2 Standard Models and Specifications 2-3-3 AC Servomotors with Gears AC Servomotors with Standard Gears ■ 3,000-r/min Servomotors (30 to 750 W) with Standard Gears ● Model Dia- Dimensions (mm) gram WOB* 50 W R88M-W05030@-@G05BJ 1, 1-1 108.5 55.5 R88M-W05030@-@G09BJ 108.5 64.5...
  • Page 65 Chapter 2 Standard Models and Specifications Note WOB and WB mean “without brake” and “with brake” respectively. Dimensions (mm) Model Key dimensions R88M-W05030@-@G05BJ 50 W R88M-W05030@-@G09BJ R88M-W05030@-@G21BJ 1/21 R88M-W05030@-@G33BJ 1/33 R88M-W10030@-@G05BJ 100 W R88M-W10030@-@G11BJ 1/11 R88M-W10030@-@G21BJ 1/21 R88M-W10030@-@G33BJ 1/33 R88M-W20030@-@G05BJ 200 W R88M-W20030@-@G11BJ 1/11...
  • Page 66 Chapter 2 Standard Models and Specifications ● 3,000-r/min Servomotors (1 to 5 kW) with Standard Gears Model Dia- Dimensions (mm) gram WOB* 1 kW R88M-W1K030@-@G05BJ R88M-W1K030@-@G09BJ 1/20 R88M-W1K030@-@G20BJ 1/29 R88M-W1K030@-@G29BJ 1/45 R88M-W1K030@-@G45BJ 1.5 kW 1/5 R88M-W1K530@-@G05BJ R88M-W1K530@-@G09BJ 1/20 R88M-W1K530@-@G20BJ 1/29 R88M-W1K530@-@G29BJ 1/45 R88M-W1K530@-@G45BJ...
  • Page 67 Chapter 2 Standard Models and Specifications Note WOB and WB mean “without brake” and “with brake” respectively. Dimensions (mm) Model Key dimensions R88M-W1K030@-@G05BJ 1 kW R88M-W1K030@-@G09BJ R88M-W1K030@-@G20BJ 1/20 R88M-W1K030@-@G29BJ 1/29 R88M-W1K030@-@G45BJ 1/45 R88M-W1K530@-@G05BJ 1.5 kW R88M-W1K530@-@G09BJ R88M-W1K530@-@G20BJ 1/20 R88M-W1K530@-@G29BJ 1/29 R88M-W1K530@-@G45BJ 1/45 R88M-W2K030@-@G05BJ...
  • Page 68 Chapter 2 Standard Models and Specifications ● 3,000-r/min Flat-style Servomotors (100 W to 1.5 kW) with Standard Gears Model Dia- Dimensions (mm) gram WOB* 100 W R88M-WP10030@-@G05BJ 1 (92) 64.5 1/11 R88M-WP10030@-@G11BJ (92) 64.5 1/21 R88M-WP10030@-@G21BJ (120) 1/33 R88M-WP10030@-@G33BJ (120) 200 W R88M-WP20030@-@G05BJ 1 98.5...
  • Page 69 Standard Models and Specifications Chapter 2 Note WOB and WB mean “without brake” and “with brake” respectively. Dimensions (mm) Model Key dimensions R88M-WP10030@-@G05BJ 1/5 100 W R88M-WP10030@-@G11BJ 1/11 R88M-WP10030@-@G21BJ 1/21 R88M-WP10030@-@G33BJ 1/33 R88M-WP20030@-@G05BJ 1/5 200 W R88M-WP20030@-@G11BJ 1/11 R88M-WP20030@-@G21BJ 1/21 R88M-WP20030@-@G33BJ 1/33 R88M-WP40030@-@G05BJ 1/5 400 W...
  • Page 70 Standard Models and Specifications Chapter 2 1,000-r/min Servomotors (300 to 3 kW) with Standard Gears ● Model Dia- Dimensions (mm) gram WOB* 300 W R88M-W30010@-@G05BJ R88M-W30010@-@G09BJ 1/20 R88M-W30010@-@G20BJ 1/29 R88M-W30010@-@G29BJ 1/45 R88M-W30010@-@G45BJ 600 W R88M-W60010@-@G05BJ R88M-W60010@-@G09BJ 1/20 R88M-W60010@-@G20BJ 1/29 R88M-W60010@-@G29BJ 1/45 R88M-W60010@-@G45BJ 900 W...
  • Page 71 Chapter 2 Standard Models and Specifications Note WOB and WB mean “without brake” and “with brake” respectively. Dimensions (mm) Model Key dimensions R88M-W30010@-@G05BJ 300 W R88M-W30010@-@G09BJ R88M-W30010@-@G20BJ 1/20 R88M-W30010@-@G29BJ 1/29 R88M-W30010@-@G45BJ 1/45 R88M-W60010@-@G05BJ 600 W R88M-W60010@-@G09BJ R88M-W60010@-@G20BJ 1/20 R88M-W60010@-@G29BJ 1/29 R88M-W60010@-@G45BJ 1/45 R88M-W90010@-@G05BJ...
  • Page 72 Standard Models and Specifications Chapter 2 1,500-r/min Servomotors (450 W to 4.4 kW) with Standard Gears ● Model Dia- Dimensions (mm) gram WOB* 450 W R88M-W45015T-@G05BJ R88M-W45015T-@G09BJ 1/20 R88M-W45015T-@G20BJ 1/29 R88M-W45015T-@G29BJ 1/45 R88M-W45015T-@G45BJ 850 W R88M-W85015T-@G05BJ R88M-W85015T-@G09BJ 1/20 R88M-W85015T-@G20BJ 1/29 R88M-W85015T-@G29BJ 1/45 R88M-W85015T-@G45BJ...
  • Page 73 Chapter 2 Standard Models and Specifications Note WOB and WB mean “without brake” and “with brake” respectively. Dimensions (mm) Model Key dimensions R88M-W45015T-@G05BJ 450 W R88M-W45015T-@G09BJ R88M-W45015T-@G20BJ 1/20 R88M-W45015T-@G29BJ 1/29 R88M-W45015T-@G45BJ 1/45 R88M-W85015T-@G05BJ 850 W R88M-W85015T-@G09BJ R88M-W85015T-@G20BJ 1/20 R88M-W85015T-@G29BJ 1/29 R88M-W85015T-@G45BJ 1/45 R88M-W1K315T-@G05BJ...
  • Page 74 Chapter 2 Standard Models and Specifications AC Servomotors with Economy Gears ■ ● 3,000-r/min Servomotors (100 to 750 W) with Economy Reduction Gears Model Dia- Dimensions (mm) gram WOB* 100 W R88M-W10030@-@G05CJ 94.5 67.5 R88M-W10030@-@G09CJ 94.5 67.5 1/15 R88M-W10030@-@G15CJ 94.5 1/25 R88M-W10030@-@G25CJ 94.5...
  • Page 75 Standard Models and Specifications Chapter 2 Diagram 1 Key dimensions Four, Z dia. (Effective depth: l) C1 × C1 Diagram 2 Key dimensions Four, Z dia. (Effective depth: l) C1 × C1 2-47...
  • Page 76 Chapter 2 Standard Models and Specifications ● 3,000-r/min Flat-style Servomotors (100 to 750 W) with Economy Gears Model Dimensions (mm) WOB* 100 W R88M-WP10030@-@G05CJ 62 72.5 R88M-WP10030@-@G09CJ 62 72.5 1/15 R88M-WP10030@-@G15CJ 62 1/25 R88M-WP10030@-@G25CJ 62 200 W R88M-WP20030@-@G05CJ 67 98.5 72.5 R88M-WP20030@-@G09CJ 67 98.5...
  • Page 77 Chapter 2 Standard Models and Specifications Diagram Key dimensions Four, Z dia. (Effective depth: l) C1 × C1 2-49...

  • Page 78: Servo Driver Specifications

    Chapter 2 Standard Models and Specifications Servo Driver Specifications R88D-WN@-ML2/OMNUC W-series AC Servo Drivers (with Built-in ■ MECHATROLINK-II Communications) Referring to 2-2 Servo Driver and Servomotor Combinations, select a Servo Driver to match the Ser- vomotor that is being used. 2-4-1 General Specifications Item Specifications...
  • Page 79 Chapter 2 Standard Models and Specifications Note 3. Depending on the operating conditions, some Servo Driver parts will require maintenance. Refer to 5-5 Periodic Maintenance for details. Note 4. The service life of the Servo Driver is 50,000 hours at an average ambient temperature of 40 °...
  • Page 80 Chapter 2 Standard Models and Specifications ● 200-V AC Input Type (Single-phase Input) Item Model R88D- WNA5H-ML2 WN01H-ML2 WN02H-ML2 WN04H-ML2 WN08H-ML2 Continuous output current (rms) 0.66 A 0.91 A 2.1 A 2.8 A 5.5 A Momentary maximum output cur- 2.1 A 2.8 A 6.5 A 8.5 A...
  • Page 81 Chapter 2 Standard Models and Specifications ● 200-V AC Input Type (Three-phase Input) Item Model R88D- WN05H-ML2 WN10H-ML2 WN15H-ML2 WN20H-ML2 WN30H-ML2 Continuous output current (rms) 3.8 A 7.6 A 11.6 A 18.5 A 18.9 A Momentary maximum output cur- 11.0 A 17.0 A 28.0 A 42.0 A...
  • Page 82 Chapter 2 Standard Models and Specifications Protective and Diagnostic Functions ■ Error detection function Contents Parameter checksum error 1 The Servo Driver's internal parameter data is abnormal. Parameter format error 1 The Servo Driver's internal parameter data is abnormal. System parameter checksum The Servo Driver's internal parameter data is abnormal.
  • Page 83 Chapter 2 Standard Models and Specifications Error detection function Contents Encoder overspeed The encoder rotated at high speed when the power was ON. Encoder overheat The encoder's internal temperature is too high. Current detection error 1 The phase-U current detector is in error. Current detection error 2 The phase-V current detector is in error.
  • Page 84 Chapter 2 Standard Models and Specifications Error detection function Contents DRV alarm 0 Servo Driver DRV error 0 occurred. DRV alarm 1 Servo Driver DRV error 1 occurred. DRV alarm 2 Servo Driver DRV error 2 occurred. Internal command error A command error occurred in the Servo Driver.
  • Page 85 Repeater not required Repeater required 17 to 30 Repeater required Repeater required Maximum transmission OMRON model number Yaskawa Electric model number distance Communications Repeater FNY-REP2000 JEPMC-REP2000 System Configuration ■ The following diagram shows the basic system configuration. For details on the number of devices that can be connected, refer to Transmission Time below.
  • Page 86 Chapter 2 Standard Models and Specifications ● Connection Example: Connecting to a SYSMAC CS1W-MCH71, CJ1W-MCH71, or CJ1W-NCF71 Host Servo Driver Servo Driver Servomotor Servomotor MECHATROLINK-II Communications Setup ■ This section describes the required switch settings for MECHATROLINK-II communications. ● Communications Specifications MECHATROLINK-II communications specifications are set using DIP switch SW2.
  • Page 87 Chapter 2 Standard Models and Specifications Transmission time and number of connectable devices Number of Transmission time connectable 0.25 ms 0.5 ms 1.0 ms 1.5 ms 2.0 ms 2.5 ms 3.0 ms 3.5 ms 4.0 ms devices (See note 1.) Note 1.
  • Page 88 Chapter 2 Standard Models and Specifications 2-4-5 I/O Signal Specifications (CN1) External Signal Processing ■ Servo Driver 3.3 k 24 VDC +24VIN Alarm output ALMCOM Forward rotation See note 4. drive prohibit 3.3 k SO1+ Maximum Brake interlock 3.3 k operating voltage: SO1−...
  • Page 89 Chapter 2 Standard Models and Specifications Control I/O Signals ■ ● CN1 Control Inputs Pin No. Signal name Function Contents Control mode 7 to 9 DEC (9) [SI3] Origin return This is the deceleration input for origin return. deceleration switch signal POT (7) [SI1] Forward drive pro- Forward rotation overtravel input.
  • Page 90 Chapter 2 Standard Models and Specifications ● CN1 Control Outputs Pin No. Signal name Function Contents Control mode Alarm output When an alarm is generated for the Servo Driver, the output is OFF. ALMCOM 1 to 2 INP1 Positioning com- ON when the position deviation is within the Position 23 to 26...
  • Page 91 Chapter 2 Standard Models and Specifications CN1: Pin Arrangement ■ Brake inter- Backup bat- lock output BKIR(SO1+) tery + input [absolute] Backup bat- Brake inter- (See note 1.) (See note 3.) BKIRCOM BATGND tery − input lock output [absolute] (SO1−) (See note 1.) (See note 3.) Servo alarm...
  • Page 92 Chapter 2 Standard Models and Specifications Control Output Circuits ■ ● Position Feedback Output Servo Driver R = 220 to 470 Ω +5 V Phase A Phase A −A −A Output line driver Phase B SN75ALS174NS Phase B −B −B or equivalent Phase Z Phase Z...
  • Page 93 Chapter 2 Standard Models and Specifications Forward Drive Prohibit (7: POT) ■ Reverse Drive Prohibit (8: NOT) Note This is the default allocation. For either signal, the drive prohibition is normally disabled. This setting can be changed by Pn50A.3/Pn50B.0. • These two signals are the inputs for forward and reverse drive prohibit (overtravel). •...
  • Page 94 Chapter 2 Standard Models and Specifications Speed command Origin return approach speed 1 (Pn817) Origin return approach speed 2 (Pn818) Origin return final travel distance (Pn819) Latch signal External latch signal 1 (10: EXT1) ■ External latch signal 2 (11: EXT2) External latch signal 3 (12: EXT3) Note This is the default allocation.
  • Page 95 Chapter 2 Standard Models and Specifications Note These outputs are always OFF when the control mode is any mode other than position control. Speed Conformity Output (VCMP) ■ Note As the default setting, the VCMP signal is not allocated. It is allocated in Pn50E.1. •...
  • Page 96 Chapter 2 Standard Models and Specifications Speed Limit Detection Output (VLIMT) ■ Note As the default setting, the VLIMT signal is not allocated. It is allocated in Pn50F.1. • The VLIMT signal is turned ON in either of the following two cases. •...
  • Page 97 Chapter 2 Standard Models and Specifications ● CN2 Connectors Used (6P) Receptacle at Servo Driver 53460-0611 (Molex Japan Co., Ltd.) Cable plug 55100-0670 (Molex Japan Co., Ltd.) 2-4-7 Personal Computer Monitor Connector Specifications (CN3) Pin No. Symbol Signal name Function/Interface 1, 8 TXD+ Transmission data +...
  • Page 98 Chapter 2 Standard Models and Specifications ● Monitored Items and Scaling Changes Monitored item Monitor output specifications Pn006, Pn007 setting 1 V per 1,000 r/min; forward rotation: − voltage; reverse rotation: + Servomotor rotation speed voltage 1 V per 1,000 r/min; forward command: − voltage; reverse com- Speed command mand: + voltage 1 V per 100% of rated torque;...

  • Page 99: Servomotor Specifications

    Standard Models and Specifications Chapter 2 Servomotor Specifications OMNUC W-series AC Servomotors (R88M-W@) ■ There are three kinds of OMNUC W-Series AC Servomotors, as follows: • 3,000-r/min Servomotors • 3,000-r/min Flat-style Servomotors • 1,000-r/min Servomotors • 1,500-r/min Servomotors These Servomotors also have optional specifications, such as shaft type, with or without brake, waterproofing, with or without reduction gears, and so on.
  • Page 100 Standard Models and Specifications Chapter 2 Item 3,000-r/min Servomotors 3,000-r/min Flat- 1,000-r/min and style 1,500-r/min 50 to 750 W 1 to 3 kW Servomotors Servomotors Run position All directions Insulation grade Type B Type F Type B Type F Structure Totally-enclosed self-cooling Vibration grade V-15...
  • Page 101 Chapter 2 Standard Models and Specifications 2-5-2 Performance Specifications 3,000-r/min Servomotors ■ ● Performance Specifications Table 200 V AC Model (R88M-) W05030H W10030H W20030H W40030H W75030H Item Unit W05030T W10030T W20030T W40030T W75030T Rated output* Rated torque* N·m 0.159 0.318 0.637 1.27 2.39...
  • Page 102 Standard Models and Specifications Chapter 2 200 VAC Model (R88M-) W1K030H W1K530H W2K030H W3K030H Item Unit W1K030T W1K530T W2K030T W3K030T Rated output* 1,000 1,500 2,000 3,000 Rated torque* N·m 3.18 6.36 Rated rotation speed r/min 3,000 Momentary maximum rota- r/min 5,000 tion speed Momentary maximum...
  • Page 103 Chapter 2 Standard Models and Specifications Note 5. The value indicated for the allowable radial load is for the positions shown in the following diagrams. Radial load Radial load Thrust load Thrust load 5 mm End of Servomotor shaft (Models of 750 W or less) (Models of 1 kW or more) Note 6.
  • Page 104 Chapter 2 Standard Models and Specifications 3,000-r/min Servomotors (With a 200-VAC Servo Driver) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W05030H/T (50 W) R88M-W10030H/T (100 W) R88M-W20030H/T (200 W) • • • 0.955 1.91 0.477...
  • Page 105 Standard Models and Specifications Chapter 2 • Generally, in a mechanical system, when the temperature drops the friction torque increases and the load torque becomes larger. For that reason, overloading may occur at low temperatures. In particular, in systems which use deceleration devices, the load torque at low temperatures may be nearly twice the load torque at normal temperatures.
  • Page 106 Chapter 2 Standard Models and Specifications 200 V AC Model (R88M-) WP10030H WP20030H WP40030H WP75030H WP1K530H Item Unit WP10030T WP20030T WP40030T WP75030T WP1K530T Allowable thrust load Weight Without brake Approx. 0.7 Approx. 1.4 Approx. 2.1 Approx. 4.2 Approx. 6.6 With brake Approx.
  • Page 107 Chapter 2 Standard Models and Specifications ● Torque and Rotation Speed Characteristics 3,000-r/min Flat-style Servomotors (With a 100-VAC Servo Driver) The following graphs show the characteristics with a 3-m standard cable and 100-V AC input. R88M-WP10030H/T (100 W) R88M-WP20030H/T (200 W) R88M-WP40030H/T (400 W) •...
  • Page 108 Chapter 2 Standard Models and Specifications ● Servomotor and Mechanical System Temperature Characteristics • W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approximately − 0.13%/ ° C. As the temperature drops, the Servomo- tor's momentary maximum torque increases, and as the temperature rises the Servomotor's momentary maximum torque decreases.
  • Page 109 Chapter 2 Standard Models and Specifications 200 V AC Model (R88M-) W30010H W60010H W90010H W1K210H W2K010H Item Unit W30010T W60010T W90010T W1K210T W2K010T Brake Brake inertia 2.1 × 10 2.1 × 10 2.1 × 10 8.5 × 10 8.5 × 10 kg·m specifi- cations...
  • Page 110 Chapter 2 Standard Models and Specifications ● Torque and Rotation Speed Characteristics 1,000-r/min Servomotors (With a 200-VAC Servo Driver) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W30010H/T (300 W) R88M-W60010H/T (600 W) R88M-W90010H/T (900 W) •...
  • Page 111 Chapter 2 Standard Models and Specifications !Caution Do not use 900-W or 2-kW Servomotors within the shaded portions of the follow- ing diagrams. If used in these regions, the Servomotor may heat, causing the encoder to malfunction. R88M-W90010@ (900 W) R88M-W2K010@ (2 kW) •...
  • Page 112 Chapter 2 Standard Models and Specifications 200 V AC Model (R88M-) W45015T W85015T W1K315T W1K815T Item Unit Brake Brake inertia 2.1 × 10 2.1 × 10 2.1 × 10 8.5 × 10 kg·m specifi- cations 24 V DC ± 10% Excitation voltage Power consump- 18.5...
  • Page 113 Chapter 2 Standard Models and Specifications ● Torque and Rotation Speed Characteristics 1,500-r/min Servomotors (With a 200-VAC Servo Driver) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W45015T (450 W) R88M-W85015T (850 W) R88M-W1K315T (1.3 kW) •...
  • Page 114 Chapter 2 Standard Models and Specifications !Caution Do not use 1.3-kW Servomotors within the shaded portions of the following dia- grams. If used in these regions, the Servomotor may overheat, causing the encoder to malfunction. R88M-W1K315T (1.3 kW) • Effective torque (N 8.34 7.50 Ambient temperature (°C)
  • Page 115 Chapter 2 Standard Models and Specifications Model Rated Rated Ratio Maxi- Maxi- Reduction Allow- Allow- Weight rotation torque gear able able Without With speed momen- momen- inertia radial thrust brake brake tary tary load load rotation torque speed r/min N·m r/min N·m kg·m...
  • Page 116 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors with Standard Reduction Gears ■ (100 W to 1.5 kW) Model Rated Rated Effi- Maxi- Maxi- Reduction Allow- Allow- Weight rotation torque ciency gear inertia able able Without With speed momen- momen- radial thrust...
  • Page 117 Chapter 2 Standard Models and Specifications Model Rated Rated Effi- Maxi- Maxi- Reduction Allow- Allow- Weight rotation torque ciency gear able able Without With speed momen- momen- inertia radial thrust brake brake tary tary load load rotation torque speed r/min N·m r/min N·m...
  • Page 118 Chapter 2 Standard Models and Specifications Model Rated Rated Effi- Maxi- Maxi- Reduction Allow- Allow- Weight rotation torque ciency gear able able Without With speed momen- momen- inertia radial thrust brake brake tary tary load load rotation torque speed r/min N·m r/min N·m...
  • Page 119 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors with Economy Reduction Gears ■ (100 to 750 W) Model Rated Rated Effi- Maxi- Maxi- Reduction Allow- Allow- Weight rotation torque ciency gear able able Without With speed momen- momen- inertia radial thrust brake...
  • Page 120 Chapter 2 Standard Models and Specifications Item 3,000-r/min Servomotors 3,000-r/min Flat- 1,000-r/min style Servomotors Servomotors 50 to 750 W 1 to 3 kW Maximum rotation 5,000 r/min speed +S, − S Output signals Output impedance Conforming to EIA RS-422A. Output based on LTC1485CS or equivalent. Serial communica- Position data, poll sensor, U, V, W phase, encoder alarm, Servomotor data tions data...

  • Page 121: Cable And Connector Specifications

    Chapter 2 Standard Models and Specifications Cable and Connector Specifications 2-6-1 MECHATROLINK-II Communications Cable Specifications MECHATROLINK Communications Cable (With Connectors at Both ■ Ends and a Core) (FNY-W6003-@@) ● Cable Models Name Model Length (L) MECHATROLINK-II Cable FNY-W6003-A5 0.5 m FNY-W6003-01 1.0 m FNY-W6003-03...
  • Page 122 Chapter 2 Standard Models and Specifications ● Wiring The following example shows the MECHATROLINK-II Communications Cable connections between a host device and Servo Drivers. Position Control Unit 200 V R88D-WN01H-ML2 200 V 200 V R88D-WN01H-ML2 R88D-WN01H-ML2 AC SERVO DRIVER AC SERVO DRIVER AC SERVO DRIVER POWER POWER...
  • Page 123 10326-52A0-008 (Sumitomo 3M) EXT1 EXT2 EXT2 Connector on Connector-Terminal EXT3 EXT3 Block Conversion Unit BATGND BATGND Connector Socket Model XG4M-2030 (OMRON) BKIRCOM BKIRCOM Strain Relief Model BKIR BKIR XG4T-2004 (OMRON) ALMCOM ALMCOM Cable AWG28 × 3P + AWG28 × 7C, UL2464 Shell Note Set and use the signal names listed above for the Servo Driver connectors.
  • Page 124 Chapter 2 Standard Models and Specifications Connector-Terminal Block Conversion Unit (XW2B-20G@) ■ Control input signals from WN-series Servo Drivers (CN1) can be converted to a terminal block by using the Connector-Terminal Block Conversion Unit with the XW2Z-@J-B16 Cable for Connector- Terminal Block Conversion Units.
  • Page 125 Chapter 2 Standard Models and Specifications ● Terminal Block Model XW2B-20G5 The XW2B-20G5 is a Connector-Terminal Block Conversion Unit with a M3.5 screw terminal block. ● External Dimensions Flat cable connector (MIL plug) 112.5 Two, 3.5-dia. holes Terminal block Note The terminal pitch is 8.5 mm. Precautions •...
  • Page 126 Chapter 2 Standard Models and Specifications ● Terminal Blocks XW2D-20G6 The XW2D-20G6 is an M3 screw terminal block. ● External Dimensions (39.1) 17.6 Two, 4.5-dia. holes Precautions • When using crimp terminals, use crimp terminals with the following dimensions. Round Crimp Terminals Fork Crimp Terminals 3.2 mm dia.
  • Page 127 Note 3. Note: If Robot Cables are used at a bending radius smaller than the minimum bending radi- us, mechanical malfunctions, ground faults, and other problems may occur due to insulation breakdown. Contact your OMRON representative if you need to use a Robot Cable with a bending radius smaller than the minimum bending radius.
  • Page 128 Chapter 2 Standard Models and Specifications ● Power Cables Model Minimum bending radius (R) Without brake R88A-CAWA@@@SR 55 mm With brake R88A-CAWA@@@BR 55 mm Without brake R88A-CAWB@@@SR 96 mm With brake R88A-CAWB@@@BR 96 mm Without brake R88A-CAWC@@@SR 96 mm With brake R88A-CAWC@@@BR 96 mm Without brake...
  • Page 129 Chapter 2 Standard Models and Specifications Standard Encoder Cable Specifications Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.) ●...
  • Page 130 Chapter 2 Standard Models and Specifications ● Wiring R88A-CRWA@C Cable: AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m) Servo Driver Servomotor AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m) Signal Signal Black Cable Connector socket: Orange...
  • Page 131 Chapter 2 Standard Models and Specifications ● Wiring R88A-CRWC0R3C Servo Driver Servomotor Signal Signal E 5V E 5V Black Cable E 0V E 0V Connector socket: Orange BAT+ BAT+ 54280-0609 (Molex Japan) White/Orange Servomotor BAT− BAT− Open Connector plug: 55102-0600 (Molex Japan) Open/White S−...
  • Page 132 Chapter 2 Standard Models and Specifications For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CRWA003B 3 m 7.4 dia. Approx. 0.3 kg R88A-CRWA005B 5 m Approx. 0.5 kg R88A-CRWA010B 10 m Approx. 0.9 kg R88A-CRWA015B 15 m Approx.
  • Page 133 Chapter 2 Standard Models and Specifications For Servomotors with Brakes Servo Driver Servomotor Symbol Cable Phase-U Connector cap: 350781-1 (Tyco Electronics AMP KK) White Connector socket: 350689-3 (Tyco Electronics AMP KK) Phase-V Blue Servomotor Phase-W Connector plug: 350715-1 (Tyco Electronics AMP KK) Green/Yellow Connector pins 1 to 3, 5, 6: 350690-3 (Tyco Electronics AMP KK) Black...
  • Page 134 Chapter 2 Standard Models and Specifications ● Connection Configuration and External Dimensions For Servomotors without Brakes 27.4 Servo Driver Servomotor R88D-WN@-ML2 R88M-W@ t = 15.7 For Servomotors with Brakes 27.4 Servo Driver Servomotor R88D-WN@-ML2 R88M-W@ t = 28.4 ● Wiring For Servomotors without Brakes Servo Driver Servomotor...
  • Page 135 Chapter 2 Standard Models and Specifications R88A-CAWC@ ■ The R88A-CAWC@ Cables are for 3,000-r/min Servomotors (1 to 2 kW), 1,000-r/min Servomotors (300 to 900 W), and 1,500-r/min Servomotors (450 W to 1.3 kW). Cable Models ● For Servomotors without Brakes Model Length (L) Outer diameter of sheath...
  • Page 136 Chapter 2 Standard Models and Specifications ● Wiring For Servomotors without Brakes Servo Driver Servomotor Symbol Cable Straight plug: N/MS3106B18-10S (JAE Ltd.) Phase-U White Cable clamp: N/MS3057-10A (JAE Ltd.) Phase-V Servomotor Blue Phase-W Receptacle: MS3102A18-10P (DDK Ltd.) Green/Yellow Cable: AWG14 × 4C UL2463 M4 crimp terminals For Servomotors with Brakes...
  • Page 137 Chapter 2 Standard Models and Specifications For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWD003B 3 m 17.8 dia. Approx. 1.9 kg R88A-CAWD005B 5 m Approx. 3.0 kg R88A-CAWD010B 10 m Approx. 5.8 kg R88A-CAWD015B 15 m Approx.
  • Page 138 Chapter 2 Standard Models and Specifications For Servomotors with Brakes Servo Driver Servomotor Symbol Cable Straight plug: N/MS3106B24-10S (JAE Ltd.) Phase-U White Cable clamp: N/MS3057-16A (JAE Ltd.) Phase-V Servomotor Blue Phase-W Receptacle: MS3102A24-10P (DDK Ltd.) Green/Yellow Black Brake Brown Brake Cable: AWG10 ×...
  • Page 139 Standard Models and Specifications Chapter 2 ● Connection Configuration and External Dimensions R88A-CRWA@CR 43.5 43.5 Servo Driver Servomotor R88D-WN@-ML2 R88M-W@ t = 12 t = 12 R88A-CRWB@NR 43.5 69.1 Servo Driver Servomotor R88D-WN@-ML2 R88M-W@ t = 12 ● Wiring R88A-CRWA@CR Cable: AWG22 ×...
  • Page 140 Standard Models and Specifications Chapter 2 Robot Cable Power Cable Specifications Select a Power Cable to match the Servomotor being used. The cables range in length from 3 to 50 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.) R88A-CAWA@R ■...
  • Page 141 Chapter 2 Standard Models and Specifications For Servomotors with Brakes 27.4 Servo Driver Servomotor R88D-WN@-ML2 R88M-W@ t = 28.4 Wiring ● For Servomotors without Brakes Servo Driver Servomotor Symbol Cable Connector cap: 350780-1 (Tyco Electronics AMP KK) Phase-U White Connector socket: 350689-3 (Tyco Electronics AMP KK) Phase-V Servomotor Blue...
  • Page 142 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWB003BR 3 m 11.5 dia. Approx. 0.7 kg R88A-CAWB005BR 5 m Approx. 1.1 kg R88A-CAWB010BR 10 m Approx. 2.2 kg R88A-CAWB015BR 15 m Approx.
  • Page 143 Chapter 2 Standard Models and Specifications For Servomotors with Brakes Servo Drivers Servomotors Symbol Cable Connector plug: 350781-1 (Tyco Electronics AMP KK) Phase-U White Connector socket: Phase-V Pins 1 to 3: 350550-6 (Tyco Electronics AMP KK) Blue Phase-W Pins 4 to 6: 350550-3 (Tyco Electronics AMP KK) Green/Yellow Servomotor Black...
  • Page 144 Chapter 2 Standard Models and Specifications ● Connection Configuration and External Dimensions For Servomotors without Brakes 65.9 Servo Driver Servomotor R88D-WN@-ML2 R88M-W@ For Servomotors with Brakes 69.1 Servo Driver Servomotor R88M-W@ R88D-WN@-ML2 ● Wiring For Servomotors without Brakes Servo Driver Servomotor Symbol Cable...
  • Page 145 Standard Models and Specifications Chapter 2 R88A-CAWD@R ■ The R88A-CAWD@R Cables are for 3,000-r/min Servomotors (3 to 5 kW), 1,000-r/min Servomotors (1.2 to 3 kW), and 1,500-r/min Servomotors (1.8 to 4.4 kW). ● Cable Models For Servomotors without Brakes Model Length (L) Outer diameter of sheath Weight...
  • Page 146 Chapter 2 Standard Models and Specifications ● Wiring For Servomotors without Brakes Servo Driver Servomotor Symbol Cable Straight plug: N/MS3106B22-22S (JAE Ltd.) Phase-U White Cable clamp: N/MS3057-12A (JAE Ltd.) Phase-V Servomotor Blue Phase-W Receptacle: MS3102A22-22P (DDK Ltd.) Green/Yellow Cable: AWG11 × 4C UL2586 M5 crimp terminals For Servomotors with Brakes...
  • Page 147 Chapter 2 Standard Models and Specifications ● Wiring Servo Driver Symbol White Black Black Cable: AWG24 × 4C UL1007 Connector socket: DF11-4DS-2C (Hirose Electric) Connector contacts: DF11-2428SCF (Hirose Electric) Computer Monitor Cables (R88A-CCW002P2) ■ In order to set Servo Driver parameters and monitor a Servo Driver from a personal computer, the Computer Monitor Software and Computer Monitor Cable are required.
  • Page 148 Chapter 2 Standard Models and Specifications Control I/O Connector (R88A-CNW01) ■ This is the connector for connecting to the Servo Driver's Control I/O Connector (CN1). This connec- tor is used when the cable is prepared by the user. ● External Dimensions Connector plug: 10126-3000VE (Sumitomo 3M) Connector case: 10326-52A0-008 (Sumitomo 3M) t = 14...

  • Page 149: External Regeneration Resistor Specifications

    Standard Models and Specifications Chapter 2 External Regeneration Resistor Specifications If the Servomotor's regenerative energy is excessive, connect an External Regeneration Resistor. R88A-RR22047S External Regeneration Resistor ■ Specifications ■ Model Resistance Nominal Regeneration Heat Thermal switch absorption for 120 ° C capacity radiation output...

  • Page 150: Absolute Encoder Backup Battery Specifications

    Standard Models and Specifications Chapter 2 Absolute Encoder Backup Battery Specifications A backup battery is required when using a Servomotor with an absolute encoder. Install the Battery Unit in the battery holder for the Absolute Encoder Battery Cable (R88A-CRWC0R3C, 0.3 m), and connect the provided connector to the connector in the battery holder.
  • Page 151 Chapter 2 Standard Models and Specifications Installation ■ R88A-CRWC0R3C Absolute Encoder Battery Cable Battery holder Servo Driver connector Install an R88A-BAT01W Battery. ■ Manufacturing Code The manufacturing code gives the manufacturing date as shown below. Day of month, one alphanumeric character Month, one alphanumeric character Year, one alphanumeric character The alphanumeric characters have the following meanings.

  • Page 152: Reactor Specifications

    Standard Models and Specifications Chapter 2 Reactor Specifications Connect a DC Reactor to the Servo Driver's DC Reactor connection terminal as a harmonic current control measure. Select a model to match the Servo Driver being used. R88A-PX@ AC/DC Reactors ■ Specifications ■...
  • Page 153 Chapter 2 Standard Models and Specifications Model H dia. I dia. R88A-PX5052 R88A-PX5053 R88A-PX5054 R88A-PX5056 R88A-PX5059 R88A-PX5060 R88A-PX5061 2-125...

  • Page 154: Mechatrolink-Ii Repeater Specifications

    Chapter 2 Standard Models and Specifications 2-10 MECHATROLINK-II Repeater Specifications The MECHATROLINK-II Repeater is required to extend the MECHATROLINK-II connection distance. FNY-REP2000 ■ Item Specification Cable lengths Controller to Repeater: 50 m max. Repeater to terminating resistance: 50 m max. Maximum number of 14 stations over 50 m or 15 stations over 30 m from Controller to Repeater stations...
  • Page 155 Standard Models and Specifications Chapter 2 MECHATROLINK-II Repeater Dimensions FNY-REP2000 ■ Dimensions (97) (34) (20) 14 10 Dimensions Mounting on Bottom Mounting on Back M4 tap M4 tap 2-127...
  • Page 156 Chapter 2 Standard Models and Specifications Connections An example of connections between the host controller, servo drives, and a Repeater is shown below. R88D -WN0 1H-M R88D -WN0 1H-M R88D -WN0 1H-M R88D -WN0 1H-M 200V 200V 200V 200V AC SERVO DRIVER AC SERVO DRIVER AC SERVO DRIVER AC SERVO DRIVER...

  • Page 157: Chapter 3. System Design And Installation

    Chapter 3 System Design and Installation Installation Conditions Wiring Regenerative Energy Absorption Adjustments and Dynamic Braking When Load Inertia Is Large...
  • Page 158 Chapter 3 System Design and Installation Installation and Wiring Precautions !Caution Do not step on or place a heavy object on the product. Doing so may result in injury. !Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

  • Page 159: Installation Conditions

    Chapter 3 System Design and Installation Installation Conditions 3-1-1 Servo Drivers Space Around Drivers ■ • Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.
  • Page 160 Chapter 3 System Design and Installation • The service life of a Servo Driver is largely determined by the temperature around the internal elec- trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol- ume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements.
  • Page 161 Chapter 3 System Design and Installation Connecting to Mechanical Systems ■ • The axial loads for Servomotors are specified in 2-5- 2 Performance Specifications. If an axial load greater than that specified is applied to a Servomotor, it will Ball screw center line reduce the service life of the motor bearings and may damage the motor shaft.
  • Page 162 Chapter 3 System Design and Installation Connectors Conforming to EC Directives ■ The Power Cable and Encoder Cable connectors listed in the following table are recommended for conforming to EC Directives. Note The connectors for the Servomotor models not listed below, i.e., 3,000-r/min Servomotors (50 to 750 W) and all 3,000-r/min Flat-style Servomotor models, already conform to EC Directives and do not need to be changed.
  • Page 163 Chapter 3 System Design and Installation For Encoder Cables Servomotor type Servomotor model Connector model Cable clamp model Maker 3,000-r/min R88M-W1K030@-@ to Angled type For sheath external diam- Japan Avia- (1 to 3 kW) R88M-W3K030@-@ JA08A-20-29S-J1-EB eter of 6.5 to 9.5 dia.: tion Electron- JL04-2022CKE (09) ics Industry,...

  • Page 164: Wiring

    Chapter 3 System Design and Installation Wiring 3-2-1 Connecting Cable This section shows the types of connecting cable used in an OMNUC W-series Servo System. The wide selection of cables provided for configuring a Servo System using a Motion Control Unit or Position Unit makes wiring simple. ■...
  • Page 165 Chapter 3 System Design and Installation ● 1. MECHATROLINK-II Cable Special MECHATROLINK-II Cables Use the following cables to connect to MECHATROLINK-II devices. Unit Cable model Length CJ1W-NCF71 FNY-W6003-A5 0.5 m CJ1W-MCH71 FNY-W6003-01 1.0 m CS1W-MCH71 FNY-W6003-03 3.0 m FNY-W6003-05 5.0 m FNY-W6003-10 10 m FNY-W6003-20...
  • Page 166 Chapter 3 System Design and Installation ● 4. Encoder Cable Select an Encoder Cable to match the Servomotor that is to be used. Servomotor type Encoder Cable Remarks 3,000-r/min Servomotors 30 to 750 W R88A-CRWA@@@C The empty boxes in the model numbers are for cable length.
  • Page 167 Chapter 3 System Design and Installation ● 6. Computer Monitor Cable A Computer Monitor Cable and Computer Monitor Software are required to set or monitor parame- ters from a personal computer. Name/specifications Model Remarks Computer Monitor For DOS personal R88A-CCW002P2 Only 2-meter cables are available. Cable computers ●...
  • Page 168 Directives. User- (See note 1.) Note 3. Recommended relay: MY Relay controlled (24 V), by OMRON. For example, device an MY2 Relay outputs to a 2-A in- ductive load at 24 VDC, making it MECHATROLINK-II applicable to all W-series Motors Cable with Brakes.
  • Page 169 24 V DC BKIR to EMC Directives. Note 3. Recommended relay: MY Relay (See note 3.) BKIRCOM (24 V), by OMRON. For exam- ple, an MY2 Relay outputs to a (See note 1.) User- controlled 2-A inductive load at 24 VDC,...
  • Page 170 Conformity to EMC Directives. BKIRCOM Note 3. Recommended relay: MY Re- User- (See note 1.) lay (24 V), by OMRON. For ex- controlled ample, an MY2 Relay outputs device to a 2-A inductive load at 24 VDC, making it applicable to all MECHATROLINK-II W-series Motors with Brakes.
  • Page 171 Chapter 3 System Design and Installation 3-2-3 Terminal Block Wiring When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures. Terminal Block Names and Functions ■ Terminal Name Function label Main circuit power sup- R88D-WN@H-ML2 (50 to 400 W) ply input Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz (There is no L3...
  • Page 172 Non-fuse breaker or fuse capacity A (rms) 4 − 2 − 1 Note 1. Use the same wire sizes for , B1, and B2. Note 2. Connect special OMRON Power Cable to the Servomotor connection terminals. 200-V AC Input (R88D-WT@H-ML2) ● Model (R88D-) WNA5H-...
  • Page 173 − 1 Note 1. Use the same wire sizes and tightening torques for , B1, B2, and B3. Note 2. Connect special OMRON Power Cable to the Servomotor connection terminals. Wire Sizes and Allowable Current ■ The following table shows the allowable current for when there are three wires.
  • Page 174 Chapter 3 System Design and Installation 2.Strip the covering off the ends of the wires. Prepare wires of the right sizes, according to the tables provided under Terminal Block Wire Sizes above, and strip off 8 or 9 mm of the covering from the end of each wire. 8 to 9 mm 3.Open the wire insertion slots in the Terminal Block There are two ways to open the wire insertion slots, as follows:...
  • Page 175 Chapter 3 System Design and Installation 3-2-4 Wiring for Noise Resistance System noise resistance will vary greatly depending on the wiring method used. This section explains how to reduce noise through proper wiring. Wiring Method ■ ● R88D-WNA5L-ML2 to R88D-WN04L-ML2, R88D-WNA5H-ML2 to R88D-WN04H-ML2, and R88D-WN08H-ML2 Servo Drivers (Single-phase Power Supply Input) R88D-WN@-ML2 R88M-W@...
  • Page 176 Chapter 3 System Design and Installation • Use ground lines with a minimum thickness of 3.5 mm , and arrange the wiring so that the ground lines are as short as possible. • 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 and make sure that there is adequate distance between the input lines and the internal wiring.
  • Page 177 Chapter 3 System Design and Installation Power supply Model Capacity Rated current Inrush current (main From rated voltage A (rms) circuit) A (0-p) current (*125%) Single- WNA5L 50 W 14.3 phase WN01L 100 W 14.3 WN02L 200 W 14.3 5.875 WN04L 400 W 14.3...
  • Page 178 Chapter 3 System Design and Installation • The following table shows the noise filters that are recommended for Servomotor output. Maker Model Rated current Remarks NEC TOKIN LF-310KA 10 A Three-phase block noise filter LF-320KA 20 A LF-350KA 50 A LF-3110KB 110 A Note 1.
  • Page 179 Chapter 3 System Design and Installation AC Reactor Connection Example DC Reactor Connection Example Servo Driver Servo Driver Power supply AC Reactor DC Reactor R88D-WNA5@-ML2 to WN04@-ML2 R88D-WN05H-ML2 to WN30H-ML2 3-2-5 Wiring for Conformity to EMC Directives When the wiring conditions provided in this section are satisfied, the wiring will conform to EMC Directives (EN55011 Class A Group 1 (EMI), EN61000-6-2 (EMS)).
  • Page 180 Chapter 3 System Design and Installation Wiring Method ■ Control box Metal plate 2 m max. Motor built-in device Brake Noise power filter supply R88M-W@ Metal Metal duct or duct or R88D-WN@-ML2 Ferrite Ferrite AC power conduit conduit See note 3. Surge absorber Contactor core...
  • Page 181 Chapter 3 System Design and Installation Correct: Separate input and output WRONG: Noise not filtered effectively AC input AC output AC input Ground Ground AC output • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Correct: Properly twisted Correct: Cables are bound.
  • Page 182 Chapter 3 System Design and Installation • Be careful not to let gaps be opened in the control box while tightening down screws. Case Door Door Oil-proof packing Conductive packing Control box Cross-sectional view of A-B Oil-proof packing Conductive packing Door (interior view) Selecting Components ■...
  • Page 183 Chapter 3 System Design and Installation • When making the selection, add in the current consumption of other controllers, and so on. Servo Driver Inrush Current: The Servo Driver inrush currents are listed in the following table. • With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 sec- ond.
  • Page 184 Chapter 3 System Design and Installation ● Noise Filters for Power Supply Input Use the following noise filters for the Servo Driver power supply. Servo Driver model Noise Filter Model Rated Rated Leakage current Maker current voltage R88D-WNA5L-ML2 FN2070-6/07 250 V 0.40 mA (at 230 Vrms, 50 Hz) Schaffner R88D-WN01L-ML2...
  • Page 185 Chapter 3 System Design and Installation Model Dimensions (mm) FN2070-6/07 113.5 57.5 45.4 32.4 FN2070-10/07 130.5 143 FN2070-16/07 85.5 57.6 98.5 • FN258L-7/07, -16/07, -30/07 Noise Filters (by Schaffner) Side View Top and Side Views 7 A to 55 A Models Model Dimensions (mm) FN258L-7/07...
  • Page 186 • The Servo Driver inrush current is covered in the preceding explanation of no-fuse-breaker selec- tion, and the maximum momentary current is approximately twice the rated current. • The following table shows the recommended contactors. Maker Model Rated current Coil voltage OMRON LC1D09106 11 A 200 V AC LC1D25106 26 A LC1D40116...
  • Page 187 Chapter 3 System Design and Installation Note 2. The installation conditions of the power cable and the measurement methods greatly affect these values. Use these values only for reference. The values differ by a factor of approxi- mately 3 between standard breakers and inverter breakers. Leakage Breaker Connection Example AC power Leakage...

  • Page 188: Regenerative Energy Absorption

    Chapter 3 System Design and Installation Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing. An overcurrent error is generated, however, if the amount of regenerative energy from the Servomotor is too large.
  • Page 189 Chapter 3 System Design and Installation Note There is some loss due to winding resistance, so the actual regenerative energy will be approx- imately 90% of the values derived from these equations. • For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of 400 W or less.), the values for both E or E (unit: J) must be lower than the Servo Driver's regen-...
  • Page 190 Chapter 3 System Design and Installation : Rotation speed at beginning of deceleration [r/min] : Deceleration torque [N·m] : Torque when falling [N·m] : Deceleration time [s] : Constant-velocity travel time when falling [s] Note There is some loss due to winding resistance, so the actual regenerative energy will be approx- imately 90% of the values derived from these equations.
  • Page 191 Chapter 3 System Design and Installation • Lengthen the operation cycle, i.e., the cycle time (to decrease the average regenerative power). Servo Driver Regenerative energy (J) Internal regeneration resistance that can be absorbed by Resistance ( Ω ) Average amount of internal capacitor regeneration that can be (See note.)
  • Page 192 Chapter 3 System Design and Installation External Regeneration Resistors ■ ● Specifications Model Resistance Nominal Regeneration Heat Thermal switch absorption at 120 ° C capacity radiation output 47 Ω ± 5% t1.0 × @350 R88A-RR22047S 220 W 70 W Operating temper- ature: 170 °...
  • Page 193 Chapter 3 System Design and Installation Servo Driver Minimum Connection Resistance and External ■ Regeneration Resistor Combinations Servo Driver Minimum Connection External Regeneration Resistance ( Ω ) Resistor Combinations R88D-WNA5L-ML2 to WN01L-ML2 R88D-WN02L-ML2 to WN04L-ML2 1, 2 R88D-WNA5H-ML2 to WN01H-ML2 R88D-WN02H-ML2 to WN04H-ML2 1, 2 R88D-WN05H-ML2 to WN10H-ML2...

  • Page 194: Adjustments And Dynamic Braking When Load Inertia Is Large

    Chapter 3 System Design and Installation Adjustments and Dynamic Braking When Load Inertia Is Large The value that is given for the Servomotor's applicable load inertia is the value that will not damage the Servo Driver's internal circuits (dynamic brake circuit, regenerative circuit, etc.) when control is basically stable and the operating status is normal.
  • Page 195 Chapter 3 System Design and Installation Servomotor Load inertia ratio 3,000-r/min Servomotors, 30 to 400 W 3,000% max. 3,000-r/min Servomotors, 750 W 2,000% max. 3,000-r/min Servomotors, 1 k to 3 kW 1,000% max. 3,000-r/min Flat-type Servomotors, 100 W 2,500% max. 3,000-r/min Flat-type Servomotors, 200 W or 400 W 1,500% max.
  • Page 196 Chapter 3 System Design and Installation 3-40...

  • Page 197: Chapter 4. Operation

    Chapter 4 Operation Operational Procedure Preparing for Operation User Parameters Operation Functions Trial Operation Procedure Making Adjustments Advanced Adjustment Functions Using Displays Using Monitor Output...
  • Page 198 Operation Chapter 4 Precautions !Caution Confirm that there will be no effect on the equipment, and then perform a test operation. Not doing so may result in equipment damage. !Caution Check the newly set parameters for proper execution before actually running them.

  • Page 199: Operational Procedure

    Chapter 4 Operation Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and Servo Driver. Then make the function settings as required according to the use of the Servomotor and Servo Driver. If the parameters are set incorrectly, there is a risk of an unforeseen Servomotor operation.

  • Page 200: Preparing For Operation

    Operation Chapter 4 Preparing for Operation This section explains the procedure following installation and wiring of the Servomotor and Servo Driver, to prepare the mechanical system for operation. It explains what you need to check both before and after turning ON the power. It also explains the setup procedure required if using a Servomotor with an absolute encoder.
  • Page 201 Chapter 4 Operation ● Checking the MECHATROLINK-II Connections • The MECHATROLINK-II Connector must be securely connected to the MECHATROLINK-II Con- nector at the host controller. • The MECHATROLINK-II Cable must be securely connected to the MECHATROLINK-II Connector (CN6) at the Servo Driver. •...
  • Page 202 Chapter 4 Operation • Code Display Code Details Forward rotation drive prohibited (POT is OFF) or the forward software limit has been exceeded. Reverse rotation drive prohibited (NOT is OFF) or the reverse software limit has been exceeded. Alarm display (Refer to 5-2 Alarms.) •...
  • Page 203 Operation Chapter 4 Note If no alarm occurs after the Battery Unit has been replaced, there is no need to execute the setup again or to initialize the Motion Control Unit settings. For details on the Battery Units service life and replacement method, refer to 5-6 Replacing the Absolute Encoder Battery (ABS).

  • Page 204: User Parameters

    Chapter 4 Operation User Parameters Set and check the user parameters using the Setting Mode. Make sure you fully understand the parameter meanings and how to set them before setting user parameters in the system. Some parameters are enabled by turning OFF the Unit, then turning it ON again.
  • Page 205 Chapter 4 Operation Param- Parame- Digit Name Setting Explanation Default Unit Setting Restart eter No. setting range power? name Pn002 Func- Torque com- Do not use option command value. 0000 tion mand input Use option command value 1 as the selec- change (dur- torque limit value.
  • Page 206 Chapter 4 Operation Param- Parame- Digit Name Setting Explanation Default Unit Setting Restart eter No. setting range power? name Pn007 Func- 0 to 1 Analog moni- Servomotor rotation speed: 0000 tion tor 2 (NM) 1V/1000 r/min selec- signal selec- Speed command: 1 V/1000 r/min tion tion applica-...
  • Page 207 Operation Chapter 4 Param- Parameter Explanation (See note 1.) Default Unit Setting Restart eter No. name setting range power? Digit Name Setting Explanation (See note 2.) Pn108 Bias addi- Sets the position control bias operation start using deviation counter Command 0 to 250 --- tion band pulse width.
  • Page 208 Operation Chapter 4 Param- Parameter Explanation (See note 1.) Default Unit Setting Restart eter No. name setting range power? Digit Name Setting Explanation (See note 2.) Pn12C Not used. (Do not change setting.) 2000 Pn12D Not used. (Do not change setting.) Pn12E Not used.
  • Page 209 Chapter 4 Operation Param- Parameter Explanation (See note 1.) Default Unit Setting Restart eter No. name setting range power? Digit Name Setting Explanation (See note 2.) Pn1A1 Servo rigid- Adjusts the Servo rigidity for the No. 2 gain. 1 to 500 --- ity 2 ×...
  • Page 210 Operation Chapter 4 Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation Pn207 Position Not used. (Do not change setting.) 0010 control Not used. (Do not change setting.) settings 2 Backlash Disabled compensa- Compensates to forward rota-...
  • Page 211 Chapter 4 Operation Param- Parameter Explanation Default Unit Setting Restart eter No. name setting range power? Digit Name Setting Explanation Pn307 Not used. (Do not change setting.) × 0.01 ms Pn308 Speed feed- Sets constant during filter of speed feedback. 0 to back filter 65535...
  • Page 212 Chapter 4 Operation Param- Parameter Explanation Default Unit Setting Restart eter No. name setting range power? Digit Name Setting Explanation × 0.01 Pn40D Notch filter Sets Q value of notch filter 2. 50 to 2 Q value 1000 Pn40F 2nd step Sets the filter frequency for internal torque commands.
  • Page 213 Operation Chapter 4 Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation Pn50A Input sig- Not used. (Do not change setting.) 1881 nal selec- Not used. (Do not change setting.) tions 1 Not used.
  • Page 214 Chapter 4 Operation Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation Pn50E Output INP1 (posi- Not used. 0000 signal tioning com- Allocated to CN1 pins 1, 2 selec- pleted 1) tions 1 signal out- Allocated to CN1 pins 23, 24...
  • Page 215 Chapter 4 Operation Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation Pn511 Input sig- DEC signal Allocated to CN1, pin 13: Valid 6543 nal selec- input termi- for low input tions 5 nal alloca- Allocated to CN1, pin 7: Valid for...
  • Page 216 Chapter 4 Operation Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation Pn512 Output Output sig- Not reversed. 0000 signal nal reverse Reversed. reverse for CN1 pins 1, 2 Output sig- Not reversed.
  • Page 217 Operation Chapter 4 Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation (Waiting time Pn535 → Forward Pn530 Program Program 0000 movement Pn531) × Number of JOG oper- JOG operat- ation ing pattern movement operations Pn536 related...
  • Page 218 Operation Chapter 4 Other Parameters (from Pn600) ■ Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation × 10 W Pn600 Regener- Setting for regeneration resistance load ratio monitoring calcula- 0 to (varies by ation tions model) (See...
  • Page 219 Chapter 4 Operation Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation × 10000 Pn80A First step Sets the step 1 acceleration for when two-step acceleration is 1 to 65535 linear used.
  • Page 220 Operation Chapter 4 Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? Digit Name Setting Explanation − 1073741823 Pn819 Final Sets the distance from the latch signal input position to the origin, Command travel dis- for when origin search is executed.
  • Page 221 Chapter 4 Operation Reverse Rotation Mode Settings (Pn000.0) ■ Pn000.0 Function selection basic switches -- Reverse rotation (All operation modes) Setting 0, 1 Unit Default Restart range setting power? Setting Explanation Setting Explanation CCW direction is taken for positive command (counterclockwise seen from the Servomotor out- put shaft) CW direction is taken for positive command (clockwise seen from the Servomotor output shaft) •...
  • Page 222 I/O Signal Allocation (Pn50A, Pn50B, Pn50E to Pn512) ■ • With the OMNUC W Series, you can freely change the I/O signal allocation. • If using an OMRON position controller (Position Control Unit or Motion Control Unit), you do not need to change the default settings. 4-26...
  • Page 223 Operation Chapter 4 • The default allocations are as follows: CN1, pin Signal name Condition Input POT (Forward drive prohibit input) Enabled when the CN1-7 input signal turns ON signal (L level). NOT (Reverse drive prohibit input) Enabled when the CN1-8 input signal turns ON (L level).
  • Page 224 Chapter 4 Operation Setting Explanation Setting Explanation Allocated to CN1-13 pin: enabled using L input Allocated to CN1-7 pin: enabled using L input Allocated to CN1-8 pin: enabled using L input Allocated to CN1-9 pin: enabled using L input Allocated to CN1-10 pin: enabled using L input Allocated to CN1-11 pin: enabled using L input Allocated to CN1-12 pin: enabled using L input Always ON...
  • Page 225 Chapter 4 Operation Pn50B.3 Input signal selections 2 -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn511.0 Input signal selections 5 -- DEC (origin return deceleration LS) signal input terminal allocation (All operation modes) Setting 0 to F Unit...
  • Page 226 Chapter 4 Operation • Settings are the same as for Pn511.1. • When “7” (always enabled) is set, the deceleration switch is always enabled. • When “0 to 3” or “8 to C” (always disabled) is set, the deceleration switch is always disabled. ●...
  • Page 227 Chapter 4 Operation Pn50F.2 Output signal selections 2 -- BKIR (brake interlock) signal output terminal allocation (All opera- tion modes) Setting 0 to 3 Unit Default Restart range setting power? Pn50F.3 Output signal selections 2 -- WARN (warning) signal output terminal allocation (All operation modes) Setting 0 to 3...
  • Page 228 Chapter 4 Operation 4-3-3 Parameter Details This section explains all user parameters not already explained in 4-3-2 Important Parameters. Make sure you fully understand the meaning of each parameter before making any changes to parameter settings. Be sure not to change parameters designated “Not used.”, and digit No.
  • Page 229 Chapter 4 Operation Pn001.1 Function selection application switches 1 -- Stop selection when drive prohibited is input (Posi- tion, speed) Setting 0 to 2 Unit Default Restart range setting power? Note Refer to 4-3-2 Important Parameters. Pn001.2 Function selection application switches 1 -- AC/DC power input selection (All operation modes) Setting 0, 1 Unit...
  • Page 230 Chapter 4 Operation ● Function Selection Application Switches 2 (Pn002: Default Setting 0000) Pn002.0 Function selection application switches 2 -- Torque command input change (Speed) Setting 0 to 3 Unit Default Restart range setting power? Setting Explanation Setting Explanation Function not used. Option command value used as torque limit value.
  • Page 231 Chapter 4 Operation Setting Explanation Setting Explanation Use as an absolute encoder. Use as an incremental encoder. • When 1 is set, the absolute encoder operates as an incremental encoder (backup battery not nec- essary). Pn002.3 Function selection application switches 2 -- Not used. Setting Unit Default...
  • Page 232 Chapter 4 Operation Pn006.2 Function selection application switches 6 -- Analog monitor 1 signal multiplier selection (All operation modes) Setting 0 to 4 Unit Default Restart range setting power? Setting Explanation Setting Explanation 100x 1/10x 1/100x Pn006.3 Not used. Setting Unit Default Restart...
  • Page 233 Chapter 4 Operation Pn007.2 Function selection application switches 7: Analog monitor 2 signal multiplier selection (All oper- ation modes) Setting 0 to 4 Unit Default Restart range setting power? Setting Explanation Setting Explanation 100x 1/10x 1/100x Pn007.3 Not used. Setting Unit Default Restart...
  • Page 234 Chapter 4 Operation • When 1 (warnings not detected) is set, the following warnings are not detected. A.900, A.901, A.910, A.911, A.920, A.930 Pn008.3 Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Gain Parameters (from Pn100) ■...
  • Page 235 Chapter 4 Operation Pn102 Position loop gain (Position) × 0.1/s Setting 10 to 20000 Unit Default Restart range setting power? • Adjust the position loop response to suit the mechanical rigidity. • Servo system response is determined by the position loop gain. Servo systems with a high loop gain have a high response, and positioning is fast.
  • Page 236 Chapter 4 Operation Pn106 Position loop gain 2 (Position) × 0.1/s Setting 10 to 20000 Unit Default Restart range setting power? • These parameters are gain and time constants selected when using gain switching under the fol- lowing conditions. • When automatic gain switching is set, and the switching conditions are met. →...
  • Page 237 Operation Chapter 4 Pn109 Feed-forward amount (Position) Setting 0 to 100 Unit Default Restart range setting power? • Sets the feed-forward compensation value during positioning. • When performing feed-forward compensation, the effective Servo gain rises, improving response. There is almost no effect, however, on systems where the position loop gain is sufficiently high. •...
  • Page 238 Operation Chapter 4 • If the setting is made from 0 to 3 (i.e., if P control switching is used), set the switching condition to Pn10C to Pn10F. Note Setting Pn10B.1 (speed control loop switching) to 1 (IP control) changes the parameter to switch from IP control to P control.
  • Page 239 Chapter 4 Operation • You must set Pn10D if you set Pn10B.0 (P control switching condition) to 1 (switching by speed command). • Set the speed to switch to P control. • The Servo switches to P control if the speed command exceeds the setting level. Pn10E P control switching (acceleration command) (Position, speed) Setting...
  • Page 240 Operation Chapter 4 Note Do not change setting. Pn110.3 Normal autotuning switches -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn111 Speed feedback compensating gain (Position, speed) Setting 1 to 500 Unit Default Restart range setting...
  • Page 241 Chapter 4 Operation ● Unused Gain Parameters (Pn12B to Pn130) Note Do not change the settings of the following parameters. Pn12B Not used. Setting Unit Default Restart range setting power? Pn12C Not used. Setting Unit Default 2000 Restart range setting power? Pn12D Not used.
  • Page 242 Chapter 4 Operation • The following diagram shows the relation between the gain switching waiting time and the gain switching time constant. In this example, the gain is switched from position loop gain (Pn102) to No. 2 position loop gain (Pn106) in automatic gain switching pattern 1, in which the turning ON of the positioning completed signal (INP1) is taken as the switching condition.
  • Page 243 Operation Chapter 4 Setting Explanation Setting Explanation Positioning completed output 1 (INP1) ON Positioning completed output 1 (INP1) OFF Positioning completed output 2 (INP2) ON Positioning completed output 2 (INP2) OFF The position command filter output is 0, and also the position command input is 0. The position command input is not 0.
  • Page 244 Chapter 4 Operation Pn150.2 Predictive control selection switches -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn150.3 Predictive control selection switches -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn151 Predictive control acceleration/deceleration gain (Position) Setting...
  • Page 245 Chapter 4 Operation Position error Predictive control weighting ratio (Pn152) increased. Time ● Less-deviation Control Parameters (Pn1A0 to Pn1AC) Pn1A0 Servo rigidity (Position) Setting 1 to 500 Unit Default Restart range setting power? Pn1A1 Servo rigidity 2 (Position) Setting 1 to 500 Unit Default Restart...
  • Page 246 Chapter 4 Operation Pn1A7.1 Utility control switches -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn1A7.2 Utility control switches -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn1A7.3 Utility control switches -- Not used.
  • Page 247 Chapter 4 Operation Note Do not change setting. Pn205 Absolute encoder multi-turn limit setting (All operation modes, absolute) Setting 0 to 65535 Unit Rotation Default 65535 Restart range setting power? • Sets the amount of multi-turn rotation when using a Servomotor with an absolute encoder. •...
  • Page 248 Chapter 4 Operation Note Do not change setting. Pn207.2 Position control function 2 -- Backlash compensation selection (Position) Setting 0 to 2 Unit Default Restart range setting power? Setting Explanation Setting Explanation Disabled Compensates to forward rotation side. Compensates to reverse rotation side. •...
  • Page 249 Chapter 4 Operation • When G1/G2 is 1, inputting (encoder resolution × 4) pulses will rotate the Servomotor once. (The Servo Driver operates internally at a multiple of 4.) • Set within a range of 0.001 ≤ G1/G2 ≤ 1,000. Note For details on the electronic gear function, refer to 4-4-9 Electronic Gear Function (Position).
  • Page 250 Chapter 4 Operation Pn281 Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Speed Control Parameters (from Pn300) ■ Pn300 Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn301 Not used.
  • Page 251 Chapter 4 Operation • Sets the acceleration and deceleration time for soft start using speed control. • Set the acceleration time from Servomotor rotation speed = 0 (r/min.) to the maximum rotation speed in Pn305, and set the deceleration time from the maximum rotation speed to the Servomotor rotation speed = 0 (r/min.) in Pn306.
  • Page 252 Chapter 4 Operation Pn310.3 Vibration detection switches -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn311 Vibration detection sensitivity (All operation modes) Setting 50 to 500 Unit Default Restart range setting power? Pn312 Vibration detection level (All operation modes) Setting 0 to 5000...
  • Page 253 Chapter 4 Operation Note Do not change setting. Pn401 1st step 1st torque command filter time constant (All operation modes) × 0.01 ms Setting 0 to 65535 Unit Default Restart range setting power? • Sets the (primary) filter time constant for the internal torque command. •...
  • Page 254 Chapter 4 Operation Pn406 Emergency stop torque (Position, speed) Setting 0 to 800 Unit Default Restart range setting power? • Set the deceleration torque if overtravel occurs using the ratio (%) of the Servomotor rated torque. Note This parameter is enabled when Pn001.1 (stop selection when drive prohibited is input) is set to 1 or 2 (i.e., stop using Pn406).
  • Page 255 Chapter 4 Operation Setting Explanation Setting Explanation Notch filter 2 function not used. Notch filter 2 used in torque commands. (Set the frequency using Pn40B, and set the Q value in Pn40C.) • Set whether or not to use notch filter 2 for internal torque commands (current loop commands). •...
  • Page 256 Chapter 4 Operation • Enabled when Pn408.2 (notch filter 2 function selection) is set to 1. • Set the Q value for notch filter 2. Note For details on notch filters, refer to 4-7-10 Torque Command Filter (All Operating Modes). Pn40F 2nd step 2nd torque command filter frequency (All operation modes) Setting...
  • Page 257 Chapter 4 Operation Pn456 Sweep torque command amplitude Setting 1 to 800 Unit Default Restart range setting power? Note Detection accuracy tends to increase with a higher command amplitude, but mechanical vibra- tion and noise are temporarily increased. When changing the command amplitude, increase the amplitude value little by little while observing the conditions.
  • Page 258 Chapter 4 Operation • This parameter sets the BKIR (brake interlock output) timing to control the electromagnetic brake ON/OFF when a Servomotor with a brake is used. • This setting prevents damage to the machinery and the Servomotor holding brake. •...
  • Page 259 Chapter 4 Operation Pn50F Output signal selection 2 (All operation Default set- 0100 Restart modes) ting power? Pn510 Output signal selection 3 (All operation Default set- 0000 Restart modes) ting power? Pn511 Input signal selection 5 (All operation Default set- 6543 Restart modes)
  • Page 260 Chapter 4 Operation Pn522 Positioning completed range 1 (Position) Setting 0 to Unit Command Default Restart range 1073741823 unit setting power? • Set the deviation counter value for outputting INP1 (positioning completed 1) during position con- trol. • INP1 turns ON when the accumulated pulses in the deviation counter fall below the set value. Note Related parameters: Pn50E.0 (INP1 signal output terminal allocation), Pn524 (Positioning completed range 2) Pn524...
  • Page 261 Chapter 4 Operation Pn52A Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn52F Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Program JOG: Pn530 to Pn536 ■ Pn530.0 Program JOG operation related switches -- Program JOG operating pattern (All operation modes) Setting...
  • Page 262 Chapter 4 Operation Note Do not change setting. Pn531 Program JOG movement distance (All operation modes) Setting 1 to Unit Command Default 32768 Restart range 1073741824 unit setting power? Pn533 Program JOG movement speed (All operation modes) Setting 1 to 10000 Unit r/min Default...
  • Page 263 Chapter 4 Operation • If using an External Regeneration Resistor or External Regeneration Resistance Unit, set the regeneration absorption amount. Set the regeneration absorption amount for when the temperature rises above 120 ° C, not the nominal amount. (Refer to 3-3-3 Regenerative Energy Absorption by External Regeneration Resistance for details.) •...
  • Page 264 Chapter 4 Operation • When connecting to the CJ1W-NCF71 or CS1W-NCF71, always use the default setting (4) or a set- ting of 0. Pn800.2 Communications control -- Communications error count at single transmission (All operation modes) Setting 0 to F Unit Default Restart...
  • Page 265 Chapter 4 Operation Setting Explanation Setting Explanation No software limit check using reference Software limit check using reference • Sets whether or not the software limit check will be in effect when position commands are input. If the software limit is reached or exceeded when the target position is input, the specified target value is decelerated to a stop at the software limit's set position.
  • Page 266 Chapter 4 Operation • The settings are shown below. To take the machine coordinate system origin (0) as the encoder position (X), set Pn808 to − X. Origin Machine coordinate system position (APOS) Pn808 Encoder position × Encoder position Encoder position: origin ●...
  • Page 267 Operation Chapter 4 Pn80F Deceleration parameter switching speed (Position) × 100 Com- Setting 0 to 65535 Unit Default Restart range mand unit/s setting power? • This parameter sets the switching speed for the step 1 and step 2 deceleration when two-step deceleration is executed.
  • Page 268 Operation Chapter 4 Setting Explanation Setting Explanation Forward Reverse • Sets the direction for executing origin search. Pn816.1 Zero point return mode settings -- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn816.2 Zero point return mode settings -- Not used. Setting Unit Default...
  • Page 269 Chapter 4 Operation Note Do not change setting. Pn81C Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn81D Not used. Setting Unit Default Restart range setting power? Note Do not change setting. ● Input Signal Monitor Parameter (Pn81E) Pn81E Not used.
  • Page 270 Operation Chapter 4 Note Do not change setting. Pn825 Not used. Setting Unit Default 0000 Restart range setting power? • If the Servo Driver is used with the CJ1W-MCH71 or CS1W-MCH71, this parameter will be set to 0024. If parameters are edited with the WMON-ML2 connected, this parameter will set to 0000. If this happens, you must reset this parameter to 0024 from the CJ1W-MCH71 or CS1W-MCH71.

  • Page 271: Operation Functions

    Chapter 4 Operation Operation Functions 4-4-1 Position Control (Position) Functions ■ • Position control is performed according to commands from MECHATROLINK-II. • The motor is rotated by the command value multiplied by the gear ratio (Pn20E, Pn210). Controller OMNUC W-series Servo Driver (MECHATROLINK-II Model) Motion Control Unit Position Control Mode...
  • Page 272 Chapter 4 Operation Applicable Controller Commands ■ Controller Commands and instructions CJ1W-NCF71 According to absolute and relative move commands. CS1W-MCH71 According to axis move instructions (MOVE, MOVL, MOVEC, etc.). CJ1W-MCH71 Note For details on commands and instructions, refer to the manual for the specific Unit. 4-4-2 Speed Control (Speed) ■...
  • Page 273 Operation Chapter 4 4-4-3 Torque Control (Torque) Function ■ • Torque control is performed according to commands from MECHATROLINK-II. Controller OMNUC W-series Servo Driver (MECHATROLINK-II Model) Motion Control Unit Torque Control Mode CS1W-MCH71 CJ1W-MCH71 OMNUC W-series Servomotor Torque command Position Control Unit CJ1W-NCF71 ■...
  • Page 274 Chapter 4 Operation 4-4-4 Forward and Reverse Drive Prohibit (All Operating Modes) Functions ■ • When forward drive prohibit (POT: CN1-7) and reverse drive prohibit (NOT: CN1-8) are OFF, stops the Servomotor rotating (Pin No. is allocated in the default settings). •...
  • Page 275 Chapter 4 Operation POT (forward → Forward direction drive prohibited) Position NOT (reverse Reverse direction ← drive prohibited) Position Only forward drive allowed Both forward and reverse Only reverse drive allowed drive allowed Note 1. When a command to travel in a prohibited direction within the drive prohibit area is input, the Servomotor is stopped using the method set in Pn001.1.
  • Page 276 Chapter 4 Operation • For Servomotors with encoders of 17-bit resolution (32,768 encoder pulses/rotation) or greater, set the value at the increments shown below when the encoder divider rate (Pn212) is set. Conforming Encoder divider rate Pn212 setting conditions Servomotor rotation encoder Pn212 (Pulses/revolution) speed upper limit (r/min)
  • Page 277 Chapter 4 Operation • When the encoder divider rate is set to other than 2 (16,384, 8,192, 4,096, 2,048, 1,024, etc.), the phase difference for phases A and B is not 90 ° , but scatters for time T. (See the diagram below.) Phase A t 1 = n T, t2 = (n + 1) T Phase B...
  • Page 278 Chapter 4 Operation Operation ■ ● RUN Timing (When Servomotor Is Stopped) 0 to 35 ms Approx. 2 ms BKIR (brake interlock) Brake power supply 200 ms max. 100 ms max. Brake operation Speed command See note 1. or pulse command −V Pn506 (See note 2.) Servomotor...
  • Page 279 Chapter 4 Operation ● RUN, Error, and Power Supply Timing (When Servomotor Is Stopped) Main circuit power supply ALM (alarm output) (See note 2.) BKIR (brake interlock) Energized Servomotor energized Deenergized Approx. 10 ms (See note 1.) Braking using dynamic brake Servomotor rotation speed (when Pn001.0 = 0) PN507 (brake command speed)
  • Page 280 Chapter 4 Operation • There are four methods that can be used to limit the torque (pin No. is allocated at the factory): Function CJ1W-NCF71 CS1W-MCH71 CJ1W-MCH71 Limiting steady torque during opera- Limit the steady force applied during normal operation with user tion with user parameters (all operation parameters Pn402 (forward torque limit) and Pn403 (reverse torque modes)
  • Page 281 Chapter 4 Operation ● Limiting Operation with External Signals (All Operating Modes) (CJ1W-NCF71 Only) Parameter Parameter name Explanation Reference Pn404 Forward rotation exter- Set the output torque limit when the forward 4-3-3 Parameter nal current limit rotation current limit designation is ON as a per- Details centage of the Servomotor rated torque (setting range: 0% to 800%).
  • Page 282 Chapter 4 Operation 4-4-8 Soft Start Function (Speed) Functions ■ • This function accelerates and decelerates the Servomotor in the set acceleration and deceleration times. • You can set the acceleration and deceleration independently of each other using the trapezoidal acceleration and deceleration curve.
  • Page 283 Chapter 4 Operation 4-4-9 Electronic Gear Function (Position) Functions ■ • This function rotates the Servomotor for the number of pulses obtained by multiplying the command pulses by the electronic gear ratio. • This function is enabled under the following conditions. When fine-tuning the position and speed of two lines that are to be synchronous.
  • Page 284 Chapter 4 Operation 4-4-10 Speed Limit Function (Torque) Functions ■ • This function limits Servomotor rotation speed when torque control is used. • Set a limit so that the Servomotor rotation speed does not exceed the maximum speed of the mechanical system.
  • Page 285 Chapter 4 Operation 4-4-11 Acceleration/Deceleration Function (Position) Functions ■ • This function sets the speed during acceleration and deceleration to two levels. • The setting is made by a host device from MECHATROLINK-II. Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn80A...
  • Page 286 Chapter 4 Operation Operation ■ Speed Pn80B Pn80C Pn80E Pn80F Pn80A Pn80D Time 4-4-12 Sequence Input Signals (All Operating Modes) ■ Functions • These are sequence input signals for controlling Servo Driver operation. They must be connected as required. • Used for purposes such as latching the feedback position. Parameters Requiring Settings ■...
  • Page 287 Chapter 4 Operation Servo Driver +24-V voltage +24 V 3.3 kΩ +24VIN Photocoupler Host device EXT1 EXT2 EXT3 4-4-13 Program JOG Operation This is an auxiliary function that enables continuous automatic operation, determined by preset oper- ating patterns, movement distances, movement speeds, acceleration/deceleration times, and num- bers of repeat operations, to be executed using a Digital Operator.
  • Page 288 Chapter 4 Operation Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn530.0 Program JOG opera- Set the program JOG operating pattern. 4-3-3 Parameter tion related switches -- Details Program JOG operat- ing pattern Pn531 Program JOG move- Set the program JOG movement distance. 4-3-3 Parameter ment distance Setting range: 1 to 1,073,741,824 (command...
  • Page 289 Chapter 4 Operation Program Operating Patterns ■ Pn530.0: 0 (Waiting time Pn535 → Forward movement Pn531) × Number of movement operations Pn536 Speed line dia- Number of travel operations Pn536 gram Pn531 Pn531 Pn531 Travel speed Travel Travel Travel Pn533 distance distance distance...
  • Page 290 Chapter 4 Operation Pn530.0: 2 (Waiting time Pn535 → Forward movement Pn531) × Number of movement operations Pn536 (Waiting time Pn535 → Reverse movement Pn531) × Number of movement operations Pn536 Speed line dia- Number of travel operations Pn536 Number of travel operations Pn536 gram Acceleration/ deceleration...
  • Page 291 Chapter 4 Operation Pn530.0: 4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Forward movement Pn531) × Number of movement operations Pn536 Speed line dia- Number of travel operations Pn536 gram Pn531 Travel speed Travel Pn533 distance Speed 0 Travel speed...

  • Page 292: Trial Operation Procedure

    Chapter 4 Operation Trial Operation Procedure When you have finished installation, wiring, verifying Servomotor and Servo Driver operations (i.e., jog operation), and setting the user parameters, perform a trial operation. The main purpose of a trial operation is to confirm that the Servo System is operating correctly electrically.
  • Page 293 Chapter 4 Operation 2.Low-speed Operation • Send a low speed command from the host controller to rotate the Servomotor. (The definition of low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5 normal operating speed.) •...

  • Page 294: Making Adjustments

    Chapter 4 Operation Making Adjustments The OMNUC R88D-WN@@@-ML2 Series is equipped with a responsive auto-tuning function. When auto-tuning cannot be used, make adjustments manually. 4-6-1 Adjustment Methods The Servo gain can be adjusted either using auto-tuning for simple adjustment or using manual adjustment.
  • Page 295 Chapter 4 Operation Note Advanced auto-tuning cannot be used in the following cases. • When the load inertia fluctuates at 200 ms or less. • When the load rigidity is low and mechanisms (such as belt drive inputs) tends to vibrate, or viscosity friction is high.
  • Page 296 Chapter 4 Operation 4-6-4 Manual Tuning Rigidity Settings During Tuning ■ • If the gain is adjusted as an initial setting using manual tuning, tuning can be performed compara- tively quickly. Therefore it is recommended that the rigidity be set first. •...
  • Page 297 Chapter 4 Operation Response Rigidity Position Speed loop Speed loop 1st step 1st Representative setting loop gain gain integration torque applications (mechanical − 1 (Hz) constant command system) Pn100 (ms) filter time Pn102 Pn101 constant (ms) Pn401 High 60.0 60.0 4.50 0.70 Ball screws (direct cou-...
  • Page 298 Chapter 4 Operation Position control loop Speed control loop Move com- Servomotor Speed Speed pattern mand Position Speed Current Power Deviation loop gain Speed control unit conver- conver- counter KV, Ti sion unit sion unit com- Time mand Speed loop Current loop Position loop Encoder...

  • Page 299: Advanced Adjustment Functions

    Chapter 4 Operation Advanced Adjustment Functions 4-7-1 Bias Function (Position) Functions ■ • The bias function shortens positioning time by adding bias revolutions to speed commands (i.e., commands to the speed control loop). • If the residual pulses in the deviation counter exceed the setting in Pn108 (bias addition band), the speed set in Pn107 (bias rotational speed) is added to the speed command, and when the residual pulses in the deviation counter are within the setting in Pn108, adding to the number of bias rota- tions stops.
  • Page 300 Chapter 4 Operation Operation ■ Speed command When bias is set No bias Bias addition band Bias (Pn108) (Pn107) Position error pulses Bias (Pn107) Bias addition band (Pn108) 4-7-2 Feed-forward Function (Position) Functions ■ • This function shortens positioning time by automatically, in the Servo Driver, adding the position command value differential to the speed loop.
  • Page 301 Chapter 4 Operation Operation ■ Pn109 Pn10A Differential Speed command Position command Position loop gain (Kp) − Encoder feedback 4-7-3 Torque Feed-forward Function (Speed) ■ Functions • The torque feed-forward function reduces the acceleration time by adding the torque feed-forward command value to the current loop.
  • Page 302 Chapter 4 Operation Operation ■ Speed command value Torque feed-forward command value − Without the torque feed-forward function Servomotor output torque − Without the torque feed-forward function +r/min Servomotor operation Note If torque feed-forward is input when the Servomotor's rotation speed is fixed, the rotation speed won't match the speed command.
  • Page 303 Chapter 4 Operation ● Gain Switching Combinations Switched Speed loop gain Speed loop integral Position loop gain Torque command gain time constant filter No. 1 gain Pn100 Speed loop Pn101 Speed loop Pn102 Position loop Pn401 1st step 1st gain integration gain torque com-...
  • Page 304 Chapter 4 Operation Waiting time Switching time Pn135 Pn131 Pn102 Position loop gain Pn106 No. 2 position loop gain INP1 Switching condition A met. • Automatic gain switching is also possible with less-deviation control, in addition to the standard PI and I-P control.
  • Page 305 Chapter 4 Operation Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn139.0 Automatic gain Set Pn139.0 to 1 (Automatic switching pattern 4-3-3 Parameter changeover related 1) in order to use the automatic gain switching Details switches 1 -- Gain function.
  • Page 306 Chapter 4 Operation Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn110.1 Normal autotuning To use the speed feedback compensation func- 4-3-3 Parameter switches -- Speed tion, set Pn110.1 to 0 (speed feedback com- Details feedback compensa- pensation function ON). tion function selection Pn111 Speed feedback com-...
  • Page 307 Operation Chapter 4 2.Gradually raise the speed loop gain (Pn100) with PI control, while lowering the speed loop inte- gration constant (Pn101). At this time, equalize the set values for the speed loop gain (Pn100) and the position loop gain (Pn102). The relationship between the speed loop gain and the integral time constant is shown in the equation below.
  • Page 308 Operation Chapter 4 • Set the primary delay filter for the speed loop speed feedback. The feedback speed will be evened out and vibration will be reduced. If a large value is entered, it will contribute to delay and response will be reduced.
  • Page 309 Chapter 4 Operation Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn10B.0 Speed control setting - Sets the condition for switching the speed loop 4-3-3 Parameter - P control switching from PI control to P control. Use Pn10C to Details condition Pn10F to make the switching level settings.
  • Page 310 Operation Chapter 4 P Control Switching Condition Taken as Speed Command (Pn10B.0 = 1) ● • When the speed command is equal to or greater than the speed set in the user constant (Pn10D), the speed loop is switched to P control. Speed command Speed Servomotor...
  • Page 311 Chapter 4 Operation ● P Control Switching Condition Taken as Position Deviation Pulses (Pn10B.0 = 3) • When the Servomotor position deviation pulses are equal to or greater than the number of pulses set in the user constant (Pn10F), the speed loop is switched to P control. Command Servomotor speed Speed...
  • Page 312 Chapter 4 Operation Predictive control position response Position Position command (host command) Predictive control used. Predictive control not used. Time Predictive control position deviation response Position deviation Predictive control used. Predictive control not used. Time Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference...
  • Page 313 Operation Chapter 4 • Predictive control for positioning (Pn150.1 = 1) This function operates by anticipating future position commands. It starts operation simultaneous- ly with a command and is effective in shortening positioning time. The tracking is different from the command tracking shape. With machinery that is prone to vibra- tion, the vibration may increase when stopping.
  • Page 314 Chapter 4 Operation Predictive control weighting Position deviation ratio (Pn152) is raised. Time Procedure for Adjusting Predictive Control ■ • Use the following procedure for adjusting predictive control. 1.Adjust by normal control. Functions such as one-parameter tuning or auto-tuning can be used. 2.Change the predictive control selection switches.
  • Page 315 Chapter 4 Operation Start operation with the predictive Related parameters control OFF (Pn150.0 = 0), and adjust Pn150: Predictive control selection the parameters such as the Kp and Ky switch One-parameter tuning Pn151: Predictive control filters. Advanced auto-tuning can be used. acceleration/deceleration gain Pn152: Predictive control weighting ratio Pn102: Position loop gain...
  • Page 316 Chapter 4 Operation 4-7-9 Less-deviation Control (Position) Less-deviation control is a method for shortening the settling time and lowering tracking deviation by reducing as much as possible the deviation during movement in position control mode. Using less- deviation one-parameter tuning makes it easy to perform adjustments. Also, when even higher per- formance is required, user adjustment constants for less-deviation control can be used to make minute adjustments.
  • Page 317 Operation Chapter 4 Parameter Parameter name Explanation Reference Pn1A9 Utility integral gain Adjust the auxiliary integral gain. 4-3-3 Parameter Setting range: 0 to 500 (Hz) Details Pn1AA Position proportional Adjust the position proportional gain. 4-3-3 Parameter gain Setting range: 0 to 500 (Hz) Details Pn1AB Speed integral gain...
  • Page 318 Operation Chapter 4 Start Set the inertia ratio. Manually set Pn103 or use the inertia calculation function. Set the notch filter. Measure the frequency and set the notch filter if required. Set the no-deviation con- trol selection (Pn10B.2 = Turn ON the power. Execute less-deviation one-parameter tuning.
  • Page 319 Chapter 4 Operation Less-deviation Gain Switching ■ • For details on gain switching when using less-deviation control, refer to the information on Auto- matic Gain Switching Combinations for Less-deviation Control in 4-7-4 Automatic Gain Switching (Position). Function Limitations when Less-deviation Control is Used ■...
  • Page 320 Operation Chapter 4 Torque Command Filter ■ ● Functions If vibration thought to be caused by the Servo Driver occurs in the machinery, adjusting the torque command filter time constant may cause the vibration to subside. The lower the value is set, the bet- ter the response of the control that can be achieved.
  • Page 321 Chapter 4 Operation ● Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn408.0 Torque command set- When using notch filter 1, set Pn408.0 to 1 4-3-3 Parameter ting -- Selects notch fil- (Notch filter 1 used). Details ter 1 function Pn409 Notch filter 1 frequency Set the machine resonance frequency.
  • Page 322 Chapter 4 Operation Q value = 0.7 Q value = 1.0 Notch filter Notch filter Gain Gain −100 −100 (db) (db) −200 −200 −300 −300 Frequency (Hz) Frequency (Hz) Notch filter Notch filter −100 −100 −200 −200 Unit Unit (deg) (deg) −300 −300...
  • Page 323 Operation Chapter 4 4-7-11 Vibration Suppression when Stopping (Position) Functions ■ When the Servo gain is increased, there may be vibration (such as the limit cycle) while stopped, even though there is no vibration while moving. It was previously necessary to lower the response to a gain where vibration while stopped subsided, sacrificing response during movement.
  • Page 324 Chapter 4 Operation 4-7-12 Backlash Compensation (Position) Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn207.2 Position control set- To execute backlash compensation in the for- 4-3-3 Parameter tings 2 -- Backlash ward command direction, set Pn207.2 to 1 (For- Details compensation selec- ward compensation).
  • Page 325 Chapter 4 Operation 4-7-13 Position Integration (Position) Parameters Requiring Settings ■ Parameter Parameter name Explanation Reference Pn11F Position integral time Set the integral time constant for the position 4-3-3 Parameter constant loop. Details Setting range: 0 to 50,000 ( × 0.1 ms) Note Effective for synchronous operations such as electronic cam and electronic shift.

  • Page 326: Using Displays

    Chapter 4 Operation Using Displays OMNUC C-series AC Servomotors have unique Servo software that enables quantitative monitoring in real time, on digital displays, of changes in a variety of characteristics. Use these displays for checking the various characteristics during operation. 4-8-1 Power, Charge, and COM Indicators •...
  • Page 327 Chapter 4 Operation 4-8-2 Status Display Mode • The Status Display Mode indicates the internal status of the driver using bit display (LED ON/OFF), and symbol display (7-segment LEDs). • Status Display Mode is the mode in which the Servo Driver starts when the power supply is first turned ON.

  • Page 328: Using Monitor Output

    Chapter 4 Operation Using Monitor Output OMNUC W-series AC Servo Drivers output in analog form the Servomotor rotation speed, torque command, position difference, and other proportional voltage amounts from the Analog Monitor Output Connector (CN5). This function can be used in situations such as making fine gain adjustments or when a meter is attached to the control panel.
  • Page 329 Chapter 4 Operation Analog Monitor Output Circuit ■ Servo Driver 47 Ω CN5-1 NM (analog monitor 2) 47 Ω CN5-2 AM (analog monitor 1) CN5-3 GND (analog monitor ground) CN5-4 GND (analog monitor ground) Analog Monitor Cable (R88A-CMW001S) ■ Use this cable to connect the Servo Driver's Analog Monitor Connector (CN5) 1000 Servo Driver External devices...
  • Page 330 Chapter 4 Operation Setting Explanation Setting Explanation Servomotor rotation speed: 1 V/1000 r/min Speed command: 1 V/1000 r/min Torque command -- Gravity compensation torque (Pn422): 1 V/100% or rated torque Position deviation (See note.): 0.05 V/1 command Position amp deviation (See note.): 0.05 V/ encoder pulse unit Position command speed (Rotation speed calculation): 1 V/1,000 r/min Not used.
  • Page 331 Chapter 4 Operation • When Pn006 = 0102, Pn422 = 100 [%], and Pn550 =3.0 [V] Analog monitor 1 = Torque command = {( − 1) × (Torque command [%] − 10%) × 10} + 3 [V] If the torque here is 52% = {( −...
  • Page 332 Chapter 4 Operation 4-136...

  • Page 333: Chapter 5. Troubleshooting

    Chapter 5 Troubleshooting Measures when Trouble Occurs Alarms Troubleshooting Overload Characteristics (Electronic Thermal Characteristics) Periodic Maintenance Replacing the Absolute Encoder Battery (ABS)

  • Page 334: Measures When Trouble Occurs

    Chapter 5 Troubleshooting Measures when Trouble Occurs 5-1-1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of trouble when it occurs. Check the Power Supply Voltage ■ • Check the voltage to the power supply input terminals. Main-circuit Power Supply Input Terminals (L1, L2, (L3)) R88D-WN@H-ML2 (50 to 400 W, 750W): Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz...
  • Page 335 Chapter 5 Troubleshooting Computer Monitor Software • Install and use the Computer Monitor Software. The following three items are required: A Windows 95/98-compatible computer, Computer Monitor Software, and R88A-CCW002P@ Connecting Cable. • Refer to the Computer Monitor Software for operation details. 5-1-2 Precautions When checking and verifying I/O after trouble has occurred, the Servo Driver may suddenly start to operate or suddenly stop, so take precautions.
  • Page 336 Chapter 5 Troubleshooting ● Controller Storage Area Controller Storage variable/bit name Storage data Motion Control Unit System variable Stored as detailed codes for the error CS1W-MCH71 Error log log. CJ1W-MCH71 Position Control Unit Input Area for individual axis operation Stored as error codes for errors occur- CJ1W-NCF71 Axis alarm codes ring for individual axes.
  • Page 337 Chapter 5 Troubleshooting • If using Computer Monitor Software, transfer all of the parameters saved in the host to the Ser- vo Driver. Refer to the manuals for the host for operating procedures. 4.Set up the absolute encoder (ABS). • If using a Servomotor with an absolute encoder, when replacing the Servomotor, the absolute data in the absolute encoder will be cleared, so you need to reset the data.

  • Page 338: Alarms

    Chapter 5 Troubleshooting Alarms If the Servo Driver detects an error, ALM (alarm output) and ALO1 to ALO3 (alarm codes) are output, the power drive circuit in the Servo Driver turns OFF, and the alarm is displayed. If the Servo Driver detects a warning (e.g., overload warning or regenerative overload warning), WARN (warning output) and ALO1 to ALO3 (warning codes) are output, and the warning is displayed.
  • Page 339 Chapter 5 Troubleshooting Display Error detection function Cause of error Stopping Alarm reset method at possible? alarm Dividing pulse output set- The encoder divider rate setting is DB stop a.041 ting error out of range or the set conditions are not satisfied. a.042 Parameter combination A combination of multiple parame-...
  • Page 340 Chapter 5 Troubleshooting Display Error detection function Cause of error Stopping Alarm reset method at possible? alarm a.810 Encoder backup error The encoder power supply was DB stop completely down, and position data was cleared. Encoder checksum error The encoder memory checksum DB stop a.820 results are in error.
  • Page 341 Chapter 5 Troubleshooting Display Error detection function Cause of error Stopping Alarm reset method at possible? alarm Multi-turn limit discrepancy The multi-turn limits for the encoder DB stop a.cc0 and the Servo Driver do not match. Deviation counter overflow Position deviation pulses exceeded DB stop a.d00 the level set for Pn520.
  • Page 342 Chapter 5 Troubleshooting Display Error detection function Cause of error Stopping Alarm reset method at possible? alarm a.ed0 Internal command error A command error occurred in the Zero-speed Servo Driver. stop Missing phase detected One phase from the three-phase Zero-speed a.f10 main circuit power supply is not stop...
  • Page 343 Chapter 5 Troubleshooting Note 1. When Pn008.2 is set to 1 (Warnings not detected), the following warnings are not detected. A.900, A.901, A.910, A.911, A.920, A.930 Note 2. Depending on the setting for Pn800.1 (Warning check mask), A.94@, A.95@, and A.96@ warnings may not be detected.

  • Page 344: Troubleshooting

    Chapter 5 Troubleshooting Troubleshooting If an error occurs in the machinery, check the type of error using the alarm indicators and operation status, verify the cause, and take appropriate countermeasures. 5-3-1 Error Diagnosis Using Alarm Display Display Error Status when Cause of error Countermeasures error occurs...
  • Page 345 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.02a Parameter check- Occurs when the • The control voltage drops • Correct the power supply sum error 2 control circuit to a range of 30 to 60 V and initialize the parame- power supply is ters.
  • Page 346 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Parameter combi- Occurs when pow- • Due to the change in the • Lower the value for the a.042 nation error ering up again electronic gear ratio electronic gear ratio after changing the (Pn20E, Pn210) or the...
  • Page 347 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.100 Overcurrent or Occurs when the • An overload alarm has • Change the alarm reset overheating of control circuit been reset several times method. radiation shield power supply is by turning OFF the turned ON.
  • Page 348 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overcurrent or Occurs when main • The DB has frequent use. • Replace the Servo a.100 overheating of circuit power sup- (A DB overload alarm Driver. radiation shield ply is turned ON, occurred.) (Reduce the frequency of...
  • Page 349 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.300 Regeneration error Occurs when the • The Servo Driver board is • Replace the Servo control circuit defective. Driver. power supply is turned ON. Occurs when the •...
  • Page 350 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Regeneration Occurs when the • The Servo Driver board is • Replace the Servo a.320 overload control circuit defective. Driver. power supply is turned ON. Occurs when the •...
  • Page 351 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.400 Overvoltage Occurs when the • The Servo Driver board is • Replace the Servo control circuit defective. Driver. power supply is turned ON. Occurs when the •...
  • Page 352 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Low voltage Occurs when the • The Servo Driver board is • Replace the Servo a.410 control circuit defective. Driver. power supply is turned ON. Occurs when the •...
  • Page 353 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.510 Overspeed Occurs when the • The Servo Driver board is • Replace the Servo control circuit defective. Driver. power supply is turned ON. Occurs when the •...
  • Page 354 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overload (momen- Occurs when the • The Servo Driver board is • Replace the Servo a.710 tary maximum control circuit defective. Driver. load) power supply is turned ON. Occurs when the •...
  • Page 355 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.740 Inrush resistance Occurs when the • The Servo Driver board is • Replace the Servo overload control circuit defective. Driver. power supply is turned ON. Occurs at times •...
  • Page 356 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overheat Occurs when the • Servo Driver is defective. • Replace the Servo a.7a0 control circuit Driver. power supply is • An overload alarm has • Change the alarm reset turned ON.
  • Page 357 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.810 Encoder backup Occurs when the • The Servo Driver board is • Replace the Servo error control circuit defective. (When abso- Driver. power supply is lute values are used turned ON.
  • Page 358 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Encoder data error Occurs when the • The encoder is malfunc- • If the problem continues a.840 control circuit tioning. to occur frequently after power supply is the encoder power is turned ON.
  • Page 359 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.b33 Current detection Occurs when the • The current detection cir- • Replace the Servo error 3 Servo is turned cuit is defective. Driver. • The Servomotor’s main •...
  • Page 360 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Encoder communi- Occurs when the • The encoder cable is • Correct the cable installa- a.c91 cations position control circuit crimped, and deteriora- tion. data error power supply is tion of the insulation is turned ON or dur- allowing noise to affect...
  • Page 361 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.cb0 Encoder echo- Occurs when the • The encoder wiring is • Correct the encoder wir- back error control circuit incorrect or the contact is ing. power supply is faulty.
  • Page 362 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Deviation counter Occurs when the • The Servo Driver board is • Replace the Servo a.d00 overflow control circuit defective. Driver. power supply is turned ON. Occurs during •...
  • Page 363 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.d02 Deviation counter Occurs during Ser- • The Servo turned ON • Set so that the Servomo- overflow alarm by vomotor drive. with position deviation tor does not operate with speed limit at pulses accumulated, and the Servo OFF.
  • Page 364 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs MECHATROLINK- Occurs during • The MECHATROLINK-II • Eliminate the cause of a.e61 II transmission MECHATROLINK- transmission cycle fluctu- fluctuation in the host cycle error II communications. ated. device transmission cycle.
  • Page 365 Chapter 5 Troubleshooting 5-3-2 Error Diagnosis Using Warning Indicators Display Error Status when Cause of error Countermeasures error occurs Deviation counter Occurs during nor- • The Servo Driver board is • Replace the Servo a.900 overflow mal operation. defective. Driver. •...
  • Page 366 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overload Occurs when the • Servomotor wiring is • Correct the Servomotor a.910 Servo is turned incorrect (faulty wiring or wiring. connections). • Encoder wiring is incor- •...
  • Page 367 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs a.920 Regeneration Occurs when the • The Servo Driver board is • Replace the Servo overload control circuit defective. Driver. power supply is turned ON. Occurs during nor- •...
  • Page 368 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Data setting warn- Occurs when a • An attempt was made to • Set a value in the setting a.94b ing 2 (out of range) MECHATROLINK- set a value outside of the range.
  • Page 369 Chapter 5 Troubleshooting 5-3-3 Troubleshooting by Means of Operating Status Symptom Probable cause Items to check Countermeasures The Servomotor The control power supply • Check the voltage between • Correct the control power does not start. is not ON. the control power supply supply ON circuit.
  • Page 370 • If there are any abnormali- bearings. vibration around the bear- ties, please contact an ings. OMRON representative. The source of vibration is • Have any foreign objects • Consult with the maker of in another machine. gotten into the movable the machine.
  • Page 371 Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor is There is interference due • Check for machine vibra- • Lower machine vibration or making strange to the encoder being sub- tion or faulty Servomotor correct Servomotor mount- noises.
  • Page 372 Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures Absolute encoder Noise is carried because • Check whether the cable is • Make sure that the encoder position displace- the encoder cable specifi- twisted-pair wire or twisted- cable conforms to the spec- ment error (The cations are incorrect.
  • Page 373 Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures Overtravel (OT) The forward/reverse drive • Is the voltage correct for • Use a +24-V external (Travelling outside prohibit input signal does the external power supply power supply. of the zone speci- not change.
  • Page 374 Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures Overtravel (OT) The FG is fluctuating due • What is the grounding sta- • Ground the machinery to (Travelling outside to influence from machin- tus of equipment such as prevent branching to the of the zone speci- ery (such as welders) in welding machines near the...

  • Page 375: Overload Characteristics (Electronic Thermal Characteristics)

    Chapter 5 Troubleshooting Overload Characteristics (Electronic Thermal Characteristics) An overload protection (electronic thermal) function is built into the Servo Driver to protect against Servo Driver or Servomotor overload. If an overload (A.710 to A.720) does occur, first clear 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 376 Chapter 5 Troubleshooting Interpreting the Graph If a current that is equivalent to the maximum torque is applied continuously to a Servomotor equiva- lent to B in the above graph, an overload will be detected in approximately 5 s. 5-44...

  • Page 377: Periodic Maintenance

    Chapter 5 Troubleshooting Periodic Maintenance Maintenance and Inspection Precautions !WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock. !Caution Resume operation only after transferring to the new Unit the contents of the data required for operation.
  • Page 378 • If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recom- mended. Please consult with OMRON to determine whether or not components need to be replaced.

  • Page 379: Replacing The Absolute Encoder Battery (Abs)

    Chapter 5 Troubleshooting Replacing the Absolute Encoder Battery (ABS) Replace the absolute encoder backup battery if it has been used for at least five years, or if an A.930 (battery warning) warning or an A.830 (battery error) alarm occurs. ■ Battery Model and Specifications Item Specification...
  • Page 380 Chapter 5 Troubleshooting 5-48...

  • Page 381: Chapter 6. Appendix

    Chapter 6 Appendix Connection Examples Parameter Setting Tables Restrictions...

  • Page 382: Connection Examples

    Chapter 6 Appendix Connection Examples Connection Example: Connecting to SYSMAC CS1W-MCH71, CJ1W- ■ MCH71, CJ1W-NCF71 Position Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60Hz Surge killer CJ1W-NCF71 CJ1W-MCH71 Class-3 ground CS1W-MCH71 R88D-WN@-ML2 (100 Ω or less) MECHATROLINK-II Communications Cable CN6A/B...

  • Page 383: Parameter Setting Tables

    Chapter 6 Appendix Parameter Setting Tables Function Selection Parameters (from Pn000) ■ Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? value name Pn000 Func- Reverse rota- CCW direction is taken for posi- 0000 0@0@ tion...
  • Page 384 Chapter 6 Appendix Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? value name Pn004 Func- Not used. (Do not change setting.) 0110 011@ tion Not used. (Do not change setting.) selec- tion Not used.
  • Page 385 Chapter 6 Appendix Param- Param- Digit Name Setting Explanation Default Unit Setting Restart eter No. eter setting range power? value name Pn007 Func- 0 to 1 Analog moni- Servomotor rotation speed: 0000 0@@@ tion tor 2 (NM) 1V/1000 r/min selec- signal selec- Speed command: 1 V/1000 r/min tion...
  • Page 386 Chapter 6 Appendix Param- Parameter Explanation (See note 1.) Default Unit Setting Restart eter No. name setting range power? value Digit Name Setting Explanation (See note 2.) Pn107 Bias rota- Sets position control bias. r/min 0 to 450 --- tional speed Pn108 Bias addi- Sets the position control bias operation start using deviation...
  • Page 387 Chapter 6 Appendix Param- Parameter Explanation (See note 1.) Default Unit Setting Restart eter No. name setting range power? value Digit Name Setting Explanation (See note 2.) × 0.1 ms Pn11F Position Position loop integral time constant 0 to integral time 50000 constant Pn12B...
  • Page 388 Chapter 6 Appendix Param- Parameter Explanation (See note 1.) Default Unit Setting Restart eter No. name setting range power? value Digit Name Setting Explanation (See note 2.) Pn151 Predictive Adjusts acceleration and deceleration response for predic- 0 to 300 --- control tive control.
  • Page 389 Chapter 6 Appendix Position Control Parameters (from Pn200) ■ Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn200 Not used. Not used. (Do not change setting.) 0100 0100 Not used. (Do not change setting.) Not used.
  • Page 390 Chapter 6 Appendix Speed Control Parameters (from Pn300) ■ Param- Parameter Explanation Default Unit Setting Restart eter No. name setting range power? value Digit Name Setting Explanation Pn300 Not used. (Do not change setting.) Pn301 Not used. (Do not change setting.) Pn302 Not used.
  • Page 391 Chapter 6 Appendix Param- Parameter Explanation Default Unit Setting Restart eter No. name setting range power? value Digit Name Setting Explanation Pn407 Speed limit Sets the speed limit in torque control mode. 3000 r/min 0 to 10000 Pn408 Torque com- Selects notch Notch filter 1 not used.
  • Page 392 Chapter 6 Appendix Sequence Parameters (from Pn500) ■ Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn501 Not used. (Do not change setting.) Pn502 Rotation Sets the number of rotations for the Servomotor rotation r/min 1 to 10000 speed for...
  • Page 393 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn50B Input sig- 0 to F Same as Pn50A.3. 8882 888@ nal selec- (reverse NOT (reverse drive pro- tions 2 drive prohib- hibited) signal allocation...
  • Page 394 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn510 Output INP2 (posi- 0 to 3 Same as Pn50E.0. 0000 000@ signal tioning com- INP2 (positioning com- selec- pleted 2) pleted 2) signal alloca-...
  • Page 395 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn511 Input sig- DEC signal Allocated to CN1, pin 13: 6543 @@@@ nal selec- input termi- Valid for low input tions 5 nal alloca- Allocated to CN1, pin 7:...
  • Page 396 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn512 Output Output sig- Not reversed. 0000 0@@@ signal nal reverse Reversed. reverse for CN1 pins 1, 2 Output sig- Not reversed.
  • Page 397 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation (Waiting time Pn535 → Pn530 Program Program 0000 000@ JOG oper- JOG operat- Forward movement Pn531) × Number of ation ing pattern related...
  • Page 398 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn535 Program Sets the delay time from the program JOG operation start 0 to 10000 JOG wait- input until operation starts. ing time Pn536 Number of...
  • Page 399 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation Pn801 Function Software Software limit enabled. 0003 0@0@ selection limit function Forward software limit applica- disabled. tion 6 (software Reverse software limit disabled.
  • Page 400 Chapter 6 Appendix Param- Parame- Explanation Default Unit Setting Restart eter No. ter name setting range power? value Digit Name Setting Explanation × 0.1 ms Pn811 Exponen- Sets the time constant for when an exponential filter is 0 to 5100 tial accel- used for the position command filter.

  • Page 401: Restrictions

    Chapter 6 Appendix Restrictions This section describes the restrictions for the following functions of the Computer Monitor Software. If these restrictions are violated, a COM2 alarm (A.E02) may occur. 1.Advanced auto-tuning 2.Online vibration monitor 3.Easy FFT 4.Tracing Functions that cannot be used together with the above functions are listed in the following table. Use the default settings for any functions that cannot be used together with the above functions.
  • Page 402 Chapter 6 Appendix 6-22...

  • Page 403: Index

    Index brake interlock 4-81 Brake Interlock Output (BKIR) 2-68 Absolute Encoder Backup Battery Brake Interlock Output Common (BKIRCOM) 2-68 dimensions 2-122 replacing 5-47 specifications 2-122 Absolute Encoder Battery Cable cables specifications 2-102 2-112 Analog Monitor Cable 2-118 absolute encoders Computer Monitor Cables 2-119 setup models...
  • Page 404 Index control outputs pin arrangement 2-63 feed-forward function 4-104 Current Limit Detection Output (CLIMT) 2-67 Forward Drive Prohibit (POT) 2-65 4-78 function selection parameters (from Pn000) 4-32 DEC (Origin Return Deceleration Switch Signal) 2-65 deceleration 4-89 gain adjustment 4-102 dimensions Absolute Encoder Backup Battery 2-122 gain parameters (from Pn100)
  • Page 405 Index MECHATROLINK-II Terminating Resistors 2-93 stop selection when drive prohibited is input (Pn001.1) 4-25 models function selection application switches 2 operation switch when using an absolute encoder (Pn002.2) 4-34 speed command input change (Pn002.1) 4-34 NFB (no-fuse breakers) 3-20 3-26 torque command input change (Pn002.0) 4-34 function selection application switches 6...
  • Page 406 Index EXT1 (external latch signal 1) signal (Pn511.1) 4-29 notch filter 1 Q value (Pn40A) 4-59 EXT2 (external latch signal 2) signal (Pn511.2) 4-29 notch filter 2 frequency (Pn40C) 4-59 EXT3 (external latch signal 3) signal (Pn511.3) 4-29 notch filter 2 Q value (Pn40D) 4-59 origin search parameters (Pn816 to Pn819) 4-71...
  • Page 407 Index regenerative energy 3-32 communications 2-57 absorption capacity 3-34 connectors 2-93 external regeneration resistance 3-35 DC Reactor 2-124 Encoder Cables 2-101 2-110 replacing External Regeneration Resistor 2-121 Absolute Encoder Backup Battery (ABS) 5-47 incremental encoders 2-91 Servomotor and Servo Driver MECHATROLINK-II Cables 2-93 Reverse Drive Prohibit (NOT)
  • Page 408 Index using warning indicators 5-33 tuning 4-98 VCMP (Speed Conformity Output) 2-67 vibration suppression when stopping 4-127 VLIMT (Speed Limit Detection Output) 2-68 WARN (Warning Output) 2-68 warning labels Warning Output (WARN) 2-68 warnings table 5-10 troubleshooting 5-33 wiring conforming to EMC Directives 3-23 for noise resistance 3-19...

  • Page 409: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I544-E1-05 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 410 Revision History Revision Date Revised content code March 2007 Back of front cover: Added general precautionary information above NOTICE. Under Warning Labels at front of manual: Added precautionary information about battery disposal. Page 2-3: Changed table titles and modified power cable capacity. Page 2-4: Added specifications for robot cables.
  • Page 411 Buyer indemnifies Omron against all related costs or expenses. rights of another party. 10. Force Majeure. Omron shall not be liable for any delay or failure in delivery 16. Property; Confidentiality. Any intellectual property in the Products is the exclu-...
  • Page 412 Schaumburg, IL USA • 847.843.7900 • 800.556.6766 • www.omron247.com OMRON CANADA, INC. • HEAD OFFICE OMRON ARGENTINA • SALES OFFICE Toronto, ON, Canada • 416.286.6465 • 866.986.6766 • www.omron.ca Cono Sur • 54.11.4787.1129 OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE OMRON CHILE •...

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