Page 1 Contact your OMRON representatives if you have any inquiry. NOTICE Before using the product under the following conditions, consult your OMRON representatives, make sure that the ratings and performance characteristics of the product are good enough for the systems, machines, or equipment, and be sure to provide the systems, machines, or equipment with double safety mechanisms.
Page 2 USER’S MANUAL OMNUC FND-X SERIES MODELS FND-Xj (DIO Type) FND-Xj-SRT (CompoBus/S Type) POSITION DRIVERS...
Page 3 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 4 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 5 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 6 OMRON Product References All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product. The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word”...
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 Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
Page 8 Storage and Transportation Precautions Caution Do not hold by the cables or motor shaft while transporting the product. Doing so may result in injury or malfunction. Caution Do not place any load exceeding the figure indicated on the product. Doing so may result in injury or malfunction.
Page 9 Caution Provide an appropriate stopping device on the machine side to secure safety. (A holding brake is not a stopping device for securing safety.) Not doing so may result in injury. Caution Provide an external emergency stopping device that allows an instantaneous stop of operation and power interruption.
Page 10 Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning labels Warning Labels Warning label 1 Warning label 2 Connect to a ground of 100 Ω or less. May cause electric shock.
Page 11 VISUAL INDEX For users who wish to begin operations quickly. - The OMNUC FND-X-series Position Driver allows motor test operation only by wiring the driver and motor without connecting the controller. Read 3-2 Turning ON Power and Checking Dis- play , properly set the motor model code, and then operate the motor according to 3-8-2 System Check Mode .
Page 12 OMNUC FND-X Series Teaching Box CVM1-PRO01 Teaching Box ROM Cassette: CVM1-MP702 (Common for MC Units and Position Drivers) CVM1-MP703 For details refer to Cat. No. W354-E1. RS-422 Teaching Box connections cable OMNUC FND-X-series Position Drivers 5-1 Position Driver Specifications 2-2-3 Wiring Terminal Blocks 3-3-3 Mode Details 6-3 Connecting a CompoBus/S 2-2-2 Control Circuitry...
Page 13: Table Of Contents
Table of Contents Chapter 1. Introduction ........1-1 Functions .
Page 14 Table of Contents 3-9 Making Adjustments ............3-9-1 Auto-tuning .
Page 15 Table of Contents Chapter 7. Appendices ........7-1 Standard Models .
Page 16: Chapter 1. Introduction
Chapter 1 Introduction Functions Nomenclature and Key Operations Supported Standards and Supporting Models...
Page 17: Functions
Chapter 1 Introduction Functions OMRON’s FND-X Position Drivers are servo drivers with built-in positioner functions that control AC servomotors according to positioning data. H FND-X-Series Models There are two types of FND-X Position Drivers, according to the type of control signals used.
Page 18 Chapter 1 Introduction • OMNUC H (50 to 1,100 W) Series (with incremental encoder): R88M-Hjjjjj-j • OMNUC M (60 to 2,200 W) Series (with resolver): R88M-Mjjjjj-j Note H-series and M-series models do not conform to the EC Directives and UL/cUL standards. •...
Page 19 Chapter 1 Introduction Position Driver Applicable AC Servomotor Input power Model Series Model Output Rated r/min supply capacity Three-phase FND-X50H-j R88M-U1K530j 1500 W 3000 r/min 200/240 (170 to R88M-U2K030j 2000 W 264) VAC at 264) VAC at R88M-M2K040 2000 W 4000 r/min 50/60 Hz 50/60 Hz...
Page 20 Chapter 1 Introduction H Servomotor Features and Selection Standards Any FND-X-series Position Driver can be freely selected according to the application. When making the selection, take the following points into consideration. D Servomotor Features U/UE Series S Compact size, high-speed response S High resolution (except for UE type) S Absolute encoder system can be configured (except for UE type).
Page 21 Chapter 1 Introduction D Control Mode The following four types of control modes are available to the Position Driver: PTP control and feeder control modes with the internal point data preset in the Position Driver and these same modes with di- rect I/O signal input.
Page 22 Chapter 1 Introduction D Mechanical Origin Teaching An optional position can be specified as the mechanical origin by moving the position to the mechanical origin and teaching after the completion of origin search. H Motor Control Functions D Motor Type and Capacity Selection by Motor Code A motor type and capacity can be selected by setting UP-02 to the corresponding motor code.
Page 23 Chapter 1 Introduction H Protection and Self-diagnostic Functions D Hardware Protection The Position Driver is protected from overcurrent, overvoltage, low voltage, abnormal power, clock fail- ure, overcurrent (soft), speed amplifier saturation, and overload damage. D Mechanical System Protection The mechanical system is protected from damage resulting from overspeed, error counter overflows, soft limit overflows, coordinate counter overflows, or overrun.
Page 24: Nomenclature And Key Operations
Chapter 1 Introduction Nomenclature and Key Operations D DIO Position Drivers Front View Display (5-digit, 7-segment LEDs) Operation Keys (5 keys) Monitor Output Terminal CN5 (RS-232C) Communications Connector CN1 (CONT) Control Signal Connector Terminal Block CN2 (M.SEN) Motor Sensor Connector Bottom View Radiation Connector...
Page 25 Chapter 1 Introduction D CompoBus/S Position Drivers Front View Display (5-digit, 7-segment LEDs) Operation Keys (5 keys) Monitor Output Terminal CN5 (RS-232C) Communications Connector Node Address Setting Switch CN1 (CONT) Terminal Control Signal Block Connector CN2 (M.SEN) CN4 (LIMIT) Motor Sensor External control Connector signal connector...
Page 26: Supported Standards And Supporting Models
Chapter 1 Introduction Supported Standards and Supporting Models 1-3-1 Standards Supported by Position Drivers Standard Supported standard File No. Remarks UL/cUL UL508C E179149 Electrical power conversion devices Low-voltage Directive EN50178 Industrial product specifications EMC Directive EN55011 class A Radio interference limits and measurement group 1 methods for radio frequency devices for in- dustrial, scientific, and medical applications...
Page 27: Chapter 2. Design And Installation
Chapter 2 Design and Installation Installation Wiring...
Page 28: Installation
Chapter 2 Design and Installation Installation 2-1-1 External Dimensions (Unit: mm) H DIO and CompoBus/S Position Drivers D 200-VAC FND-X06H-j/-X12H-j 100-VAC FND-X06L-j/-X12L-j Mounting Dimensions Three, 6 dia. Three, M5 D 200-VAC FND-X25H-j Mounting Dimensions Three, M5 Three, 6 dia.
Page 29 Chapter 2 Design and Installation D 200-VAC FND-X50H-j Four, 6 dia. Mounting Dimensions Four, M5...
Page 30 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL D 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030HA, R88M-U05030HA, R88M-U10030HA 300±30 Encoder adapter Motor plug 14 dia. 300±30 Four, R3.7 Two, 4.3 dia.
Page 31 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL (Contd.) D 200-W/400-W Standard Models (Without Brakes): R88M-U20030HA, R88M-U40030HA 300±30 Encoder adapter Motor plug 14 dia. 300±30 Four, 5.5 dia. Four, R5.3 70 dia.
Page 32 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to UL/cUL (Contd.) D 750-W Standard Models (Without Brakes): R88M-U75030HA 300±30 Encoder adapter Motor plug 14 dia. 300±30 Four, R8.2 Four, 7 dia. D 750-W Models with Brakes: R88M-U75030HA-B 300±30 Encoder adapter...
Page 33 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives D 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1 14 dia. Four, R3.7 Two, 4.3 dia. D 30-W/50-W/100-W Models with Brakes: R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1 14 dia.
Page 34 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives (Contd.) D 200-W/400-W Standard Models (Without Brakes): R88M-U20030VA-S1, R88M-U40030VA-S1 14 dia. Four, R5.3 Four, 5.5 dia. D 200-W/400-W Models with Brakes: R88M-U20030VA-BS1, R88M-U40030VA-BS1 14 dia.
Page 35 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 30 to 750 W) Conforming to EC Directives (Contd.) D 750-W Standard Models (Without Brakes): R88M-U75030VA-S1 14 dia. Four, R8.2 Four, 7 dia. D 750-W Models with Brakes: R88M-U75030VA-BS1 14 dia.
Page 36 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL D 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030TA, R88M-U05030TA, R88M-U10030TA Encoder adapter Motor plug 14 dia. Four, R3.7 Two, 4.3 dia. 46 dia.
Page 37 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.) D 200-W/400-W Standard Models (Without Brakes): R88M-U20030TA, R88M-U40030TA Encoder adapter Motor plug 14 dia. 14h6 dia. Four, R5.3 Four, 5.5.dia.
Page 38 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.) D 750-W Standard Models (Without Brakes): R88M-U75030TA Encoder adapter Motor plug 14 dia. Four, R8.2 Four, 7 dia. 16h6 dia.
Page 39 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to EC Directives D 30-W/50-W/100-W Standard Models (Without Brakes): R88M-U03030XA-S1, R88M-U05030XA-S1, R88M-U10030XA-S1 14 dia. Four, R3.7 Two, 4.3 dia. 46 dia. D 30-W/50-W/100-W Models with Brakes: R88M-U03030XA-BS1, R88M-U05030XA-BS1, R88M-U10030XA-BS1 14 dia.
Page 40 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 30 to 750 W) Conforming to EC Directives (Contd.) D 200-W/400-W Standard Models (Without Brakes): R88M-U20030XA-S1, R88M-U40030XA-S1 14 dia. Four, 5.5 dia. Four, R5.3 70 dia. D 200-W/400-W Models with Brakes: R88M-U20030XA-BS1, R88M-U40030XA-BS1 14 dia.
Page 41 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS, 30 to 750 W) Conforming to EC Directives (Contd.) D 750-W Standard Models (Without Brakes): R88M-U75030XA-S1 14 dia. Four, R8.2 Four, 7 dia. 90 dia. D 750-W Models with Brakes: R88M-U75030XA-BS1 14 dia.
Page 42 Chapter 2 Design and Installation H U-Series AC Servomotor Shaft Dimensions with Keys (U-INC, U-ABS, 30 to 750 W) Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors with keys are shown below. Motors with keys are indicated by adding “-S1” to the end of the model num- ber.
Page 43 Chapter 2 Design and Installation H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Not Conforming to Any Standards D 100-W Standard Models (Without Brakes): R88M-UE10030H-S1 Encoder adapter Motor plug Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. Four, R3.7 Two, 4.3 dia.
Page 44 Chapter 2 Design and Installation H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) (Contd.) D 200-W/400-W Standard Models (Without Brakes): R88M-UE20030H-S1, R88M-UE40030H-S1 Encoder adapter Motor plug Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. Four, R5.3 Four, 5.5 dia. 70 dia.
Page 45 Chapter 2 Design and Installation H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Not Conforming to Any Standards (Contd.) D 750-W Standard Models (Without Brakes): R88M-UE75030H-S1 Encoder adapter Motor plug Four, R8.2 Four, 7 dia. 90 dia. Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976.
Page 46 Chapter 2 Design and Installation H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives D 100-W Standard Models (Without Brakes): R88M-UE10030V-S1 14 dia. Shaft end dimensions Four, R3.7 Key slot dimensions, conform to JIS B1301-1976. Two, 4.3 dia. 46 dia.
Page 47 Chapter 2 Design and Installation H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives (Contd.) D 200-W/400-W Standard Models (Without Brakes): R88M-UE20030V-S1, R88M-UE40030V-S1 Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. 14 dia. Four, 5.5 dia. Four, R5.3 70 dia.
Page 48 Chapter 2 Design and Installation H OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE) Conforming to EC Directives (Contd.) D 750-W Standard Models (Without Brakes): R88M-UE75030V-S1 Shaft end dimensions Key slot dimensions, conform to JIS B1301-1976. 14 dia. Four, R8.2 Four, 7 dia.
Page 49 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC 1 to 2 kW) D 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes) Not Conforming to Any Standards: R88M-U1K030H/-U1K530H/-U2K030H Conforming to EC Directives: R88M-U1K030V-S1/-U1K530V-S1/-U2K030V-S1 130 dia. 115 dia. Four, 7 dia. D 1.0-kW/1.5-kW/2.0-kW Models With Brakes Not Conforming to Any Standards: R88M-U1K030H-B/-U1K530H-B/-U2K030H-B Conforming to EC Directives: R88M-U1K030V-BS1/-U1K530V-BS1/-U2K030V-BS1...
Page 50 Chapter 2 Design and Installation H OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS 1 to 2 kW) D 1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes) Not Conforming to Any Standards: R88M-U1K030T/-U1K530T/-U2K030T Conforming to EC Directives: R88M-U1K030X-S1/-U1K530X-S1/-U2K030X-S1 130 dia. 115 dia. Four, 7 dia. D 1.0-kW/1.5-kW/2.0-kW Models With Brakes Not Conforming to Any Standards: R88M-U1K030T-B/-U1K530T-B/-U2K030T-B Conforming to EC Directives: R88M-U1K030X-BS1/-U1K530X-BS1/-U2K030X-BS1...
Page 51 Chapter 2 Design and Installation H U-Series AC Servomotor Shaft Dimensions with Keys (U-INC, U-ABS, 1 to 2 kW) Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors with keys are shown below. Motors with keys are indicated by adding “-S1” to the end of the model num- ber.
Page 52 Chapter 2 Design and Installation H OMNUC H-Series AC Servomotor with Incremental Encoder (H) D 50-W/100-W Standard Models (Without Brakes): R88M-H05030, R88M-H10030 D 50-W/100-W Models with Brakes: R88M-H05030-B, R88M-H10030-B Four, R4 dia. 93 dia. max. 0.009 50 0 63 dia. dia.
Page 53 Chapter 2 Design and Installation H OMNUC H-Series AC Servomotors with Incremental Encoders (H) (Contd.) D 500-W/750-W/1100-W Standard Models (Without Brakes): R88M-H50030, R88M-H75030, R88M-H1K130 D 500-W/750-W/1100-W Models with Brakes: R88M-H50030-B, R88M-H75030-B, R88M-H1K130-B Four, R15 162 dia. max. 110 0 77 dia. dia.
Page 54 Chapter 2 Design and Installation H OMNUC M-Series AC Servomotors with Resolvers (M) D 60-W/120-W (4,000 r/min) Standard Models (Without Brakes): R88M-M06040, R88M-M12040 7.4 dia. … Four, 5 dia. D 60-W/120-W (4,000 r/min) Models with Brakes: R88M-M06040-B, R88M-M12040-B 7.4 dia. °...
Page 55 Chapter 2 Design and Installation H OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.) D 200-W (2,000 r/min) Standard Models (Without Brakes): R88M-M20020 D 200-W/400-W (4,000 r/min) Standard Models: R88M-M20040, R88M-40040 7.4 dia. 100±0.2 dia Four, 7dia. D 200-W (2,000 r/min) Models with Brakes: R88M-M20020-B D 200-W/400-W (4,000 r/min) Models with Brakes: R88M-M20040-B, R88M-M40040-B 7.4 dia.
Page 56 Chapter 2 Design and Installation H OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.) D 200-W/400-W/700-W (1,200 r/min) Standard Models (Without Brakes): R88M-M20012, R88M-M40012, R88M-M70012 D 400-W/700-W/1,100-W (2,000 r/min) Standard Models (Without Brakes): R88M-M40020, R88M-M70020, R88M-M1K120 D 700-W/1,100-W/2,000-W (4,000 r/min) Standard Models (Without Brakes): R88M-70040, R88M-M1K140, R88M-M2K040 145±0.2 dia.
Page 57 Chapter 2 Design and Installation Standard Models Models with Brakes Model Model R88M-M20012 R88M-M20012-B R88M-M40020 R88M-M40020-B R88M-M70040 R88M-M70040-B R88M-M40012 R88M-M40012-B R88M-M70020 R88M-M70020-B R88M-M1K140 R88M-M1K140-B R88M-M70012 R88M-M70012-B R88M-M1K120 R88M-M1K120-B R88M-M2K040 R88M-M2K040-B D Shaft End Directions H OMNUC M-Series AC Servomotors with Resolvers (Contd.) D 1,100-W/1,400-W/1,800-W (1,200 r/min) Standard Models: R88M-M1K112/-M1K412/-M1K812 D 1,800-W/2,200-W (2,000 r/min) Standard Models:...
Page 58 Chapter 2 Design and Installation D 1,100-W/1,400-W/1,800-W (1,200 r/min) Models with Brakes: R88M-M1K112-B/-M1K412-B/-M1K812-B D 1,800-W/2,200-W (2,000 r/min) Models with Brakes: R88M-M1K820-B/-M2K220-B 200±0.3 dia. Four, 14 dia. 230 dia. Standard Models Models with Brakes Model Model 370 291 252 439 360 256 R88M-M1K112 R88M-M1K112-B 370 291 252 439 360 256...
Page 59: Installation Conditions
Chapter 2 Design and Installation 2-1-2 Installation Conditions H Position Driver D Space Around Drivers • Install Position Drivers according to the dimensions shown in the following illustration to ensure prop- er heat dispersion and convection inside the panel. Also install a fan for circulation if Position Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.
Page 60 Chapter 2 Design and Installation D Keeping Foreign Objects Out of Units • Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Position Driver during installation. Be sure to remove the cover after installation is complete.
Page 61 Chapter 2 Design and Installation • Bevel gears will cause a load to be applied in the thrust direction depending on the structural preci- sion, the gear precision, and temperature changes. Bevel gear Provide appropriate backlash or take other mea- sures to ensure that no thrust load is applied which exceeds specifications.
Page 62 Chapter 2 Design and Installation Power Cable Connectors Servomotor Servomotor Connector model Cable clamp model Manufacturer model R88M- Standard U1K030j-j Elbow connectors: Sheath exterior diam- Daiichi Electronic U1K530j-j CE05-8A18-10SD-B- eter of 6.5 to 8.7 mm: Industries Co., U2K030j-j CE3057-10A-3 (D265) Ltd.
Page 63 Chapter 2 Design and Installation • The Servomotor may not produce sufficient torque when moved only a small distance from the point where power is turned ON (a distance equivalent to about ±6 pulses). If only a very small distance is to be moved, move the motor at least ±6 pulses after turning ON the power before starting actual operation.
Page 64: Wiring
Chapter 2 Design and Installation Wiring 2-2-1 Overview Use a general-purpose control cable (purchased separately) to connect the Position Driver to the Pro- grammable Controller. For connecting the Position Driver to an AC Servomotor, use a dedicated Encod- er/Resolver Cable and a Power Cable. (For the M Series there is no dedicated power cable. It must be prepared by the user.) Note Refer to Chapter 5 Specifications for details on connectors and cables.
Page 65 Chapter 2 Design and Installation H Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to UL/cUL or UE Type Not Conforming to Any Standards SYSMAC CV/C-series C200HX/HG/HE or CQM1 SRM1-C01/-C02 Programmable Controller Programmable Controller Master Control Unit CompoBus/S Communications Cable General-purpose (SCA1-4F10 Flat Cable or commer- Control Cable...
Page 66 Chapter 2 Design and Installation H Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to EC Directives or UE Type Conforming to EC Directives SYSMAC CV/C-series C200HX/HG/HE or CQM1 SRM1-C01/-C02 Programmable Controller Programmable Controller Master Control Unit CompoBus/S Communications Cable General-purpose (SCA1-4F10 Flat Cable or commer- Control Cable...
Page 67 Chapter 2 Design and Installation H Using OMNUC U-series AC Servomotors: 1 to 2 kW SRM1-C01/-C02 SYSMAC CV/C-series Master Control Unit Programmable Controller C200HX/HG/HE or CQM1 Programmable Controller General-purpose CompoBus/S Communications Control Cable Cable (SCA1-4F10 Flat Cable FND-CCXjjjS or commercially available VCTF cable) FND-X-series Position Driver FND-X-series Position Driver...
Page 68 Chapter 2 Design and Installation H Using an OMNUC H-series AC Servomotor SYSMAC CV/C-series SYSMAC HX/HG/HE or CQM1 SRM1-C01/-C02 Programmable Controller Programmable Controller Master Control Unit CompoBus/S Communications Cable General-purpose (SCA1-4F10 Flat Cable or commer- Control Cable cially available VCTF cable) FND-CCXjjjS FND-X-series Position Driver FND-X-series Position Driver...
Page 69 Chapter 2 Design and Installation H Using an OMNUC M-series AC Servomotor SYSMAC CV/C-series C200HX/HG/HE or CQM1 SRM1-C01/-C02 Programmable Controller Programmable Controller Master Control Unit CompoBus/S Communications Cable General-purpose (SCA1-4F10 Flat Cable or commer- Control Cable cially available VCTF cable) FND-CCXjjjS FND-X-series Position FND-X-series...
Page 70 Chapter 2 Design and Installation D Wiring Power Cables White Blue Green D Power Cable Wire Sizes Wire size Wire size Model Model R88M- R88M- M20012 1.25 AWG16 M1K820 AWG12 M40012 1.25 AWG16 M2K220 AWG12 M70012 1.25 AWG16 M06040 AWG18 M1K112 AWG14 M12040...
Page 71: Control Circuitry Terminal Wiring
Chapter 2 Design and Installation 2-2-2 Control Circuitry Terminal Wiring DIO Position Drivers H Control Signal Connector (CN1: CONT) Pin Arrangement Output CCWL CCW limit 19 OGND ground input Deceleration CW limit in- STOP stop Brake Origin proximity output 22 READY Ready command Origin...
Page 72 Chapter 2 Design and Installation IN (16 Input Points) I/O allocation Signal Name OUT0 RUN command OUT1 START START OUT2 RESET Alarm reset OUT3 SEARCH Origin search OUT4 +JOG +JOG operation OUT5 –JOG –JOG operation OUT6 TEACH Teach OUT7 STOP (see note 2) Deceleration stop OUT8 P.
Page 73 Chapter 2 Design and Installation H External Control Signal Connectors (CN4: LIMIT) Pin Arrangement Brake CCWL CCW limit output CW limit Origin proximity Deceleration stop STOP (see note) +24-VDC Output power sup- 7 +24 V 14 OGND ground ply input for control D Connectors Used Sumitomo 3M...
Page 74 Chapter 2 Design and Installation H Control I/O Specifications Compo Signal Name Function and interface Internal Bus/S allocation CN1-1 CN4-1 CCWL CCW limit input Inputs the + direction limit signal (sta- IN15 tus enabled) ON: Drive possible OFF: Motor stopped by limit detection when driving in the + direc- tion.
Page 75 Chapter 2 Design and Installation Compo Signal Name Function and interface Internal Bus/S allocation CN1-11 OUT8 P.IN0 Point selection 0/ Positioning data inputs (status en- Position 0 abled) ab ed) When UP-01 = 11 or 12, PTP data No. CN1-12 OUT9 P.IN1 Point selection 1/...
Page 76 Chapter 2 Design and Installation Compo Signal Name Function and interface Internal Bus/S allocation CN1-29 P.OUT0 Point output 0/ When UP-01 = 11 or 12: OUT7 Position selection Outputs (BCD) point No. during wait- ing or execution. CN1-30 P.OUT1 Point output 1/ OUT8 When UP-01 = 13 or 14: Position selection...
Page 77 Chapter 2 Design and Installation H Control Input Details CN1-1 CompoBus/S CN4-1 CCWL CCW limit N.C. condition • Pin No. 1 is the plus (+) direction limit input signal. When this signal is not being input (ON), the motor cannot be rotated in the plus (+) direction. •...
Page 78 Chapter 2 Design and Installation CN1-7 CompoBus/S OUT3 SEARCH Origin search N.O. condition • The pin No. 7 signal input begins an origin search or origin teaching operation. • When this signal is input (turned ON) while RUN is ON, an origin search operation is executed. (The motor rotates in the direction set in PP-19 (origin search direction).
Page 79 Chapter 2 Design and Installation CN1-11 to 18 CompoBus/S OUT8 to 15 P.IN0 to 7 Point selection / Position data N.O. condition D Point Selection 0 to 6 [UP-01 (Control Mode) = 11 or 12] • This is the signal input for selecting positioning data from PTP data. •...
Page 80 Chapter 2 Design and Installation S When the RUN signal has been turned OFF. S When an error shutting OFF the power to the motor has occurred. S When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run stop).
Page 81 Chapter 2 Design and Installation • Operational Sequence Alarm reset (RESET) Alarm (ALM) Power ON Power ON Power to motor Brake output (BO) Note 1 Note 2 Motor operation (speed) UP-28 (brake-ON r/min) Note 1. When the motor is stopped, the brake output turns OFF in approximately 2.4 ms. Note 2.
Page 82 Ne = Motor inductive voltage [mV/(r/min)] r = Motor coil resistance [Ω] R = Resistance [Ω] When using an OMRON LY2-D Relay for XB, use the following table for reference to keep the switching capacity to 10 A or less. Motor model number (R88M-)
Page 83 Chapter 2 Design and Installation • Operational Sequence Alarm reset (RESET) Alarm (ALM) Power ON Power ON Power to motor Brake output (BO) Motor operation (speed) CN1-22 CompoBus/S READY READY • This output turns ON when the input signal processing is completed and the origin search, start, teach, and point selection signal inputs are ready.
Page 84 Chapter 2 Design and Installation • Operational Sequence Alarm reset (RESET) Alarm (ALM) Power ON Power ON Power to motor Brake output (BO) RUN-ON Electromagnetic brake (XB2, See note.) Motor operation (speed) Note The motor’s holding brake may be damaged if it is applied during high-speed operation. Adjust and T so that the speed has been sufficiently reduced before the holding brake is applied.
Page 85 Chapter 2 Design and Installation CN1-26 CompoBus/S RUNON Motor running This output turns ON when the RUN command is input to the motor and power begins to flow to the motor. CN1-27 CompoBus/S Positioning completed • This output turns ON when error counter residual pulses are within the UP-07 (positioning completed range) setting.
Page 86 Chapter 2 Design and Installation H Control I/O Connections and External Signal Processing (DIO Position Drivers) 24 VDC +24 V Brake output CCW limit input Maximum voltage: 24 VDC CW limit input Output current: 40 mA Origin proximity Origin search completed START Origin stop...
Page 87 Chapter 2 Design and Installation H Control I/O Connections and External Signal Processing (CompoBus/S Position Drivers) 24 VDC +24 V Maximum voltage: Brake output 24 VDC CCW limit input Output current: 40 mA CW limit input Output ground Origin proximity Deceleration stop 24 VDC 8 mA Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control...
Page 88 Chapter 2 Design and Installation H Example: Connecting DIO Position Drivers to a Programmable Controller FND-X Position Driver 24 VDC +24 V Programmable Controller Output Unit Brake Programmable Controller Input Unit 2-62...
Page 89 Chapter 2 Design and Installation H Example: Connecting DIO Position Drivers to Thumbwheel Switch (Positioning Data Designation by Direct Input) 24 VDC +24 V FND-X Position Driver Note 1. The wiring for position data digits 10 to 10 is omitted, but it is the same as for the other digits.
Page 90: Wiring Terminal Blocks
Chapter 2 Design and Installation 2-2-3 Wiring Terminal Blocks Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks. H Wiring FND-X06j to X25j Terminal Blocks Power supply inputs Regeneration Resistor connection terminals Power cable White Blue or Black Green 2-64...
Page 91 R88A-CAHj Cable (for H-series Servo- motors). motors). Phases C and W motor output Blue OMRON does not provide a cable to con- nect these terminals to OMNUC M-series black Servomotors, so the user must provide an appropriate cable if an M-series Servomo- tor is used.
Page 92 Chapter 2 Design and Installation H Wiring FND-X50j Terminal Blocks Control circuit power Protectively Power cable supply inputs separated Ground (100 Ω or less) Main power Regeneration supply inputs Resistor 2-66...
Page 93 Phases B and V motor output White these terminals with R88A-CAUBj Cable (for U-series Servomotors). OMRON does not provide a cable to con- Phases C and W motor output Blue nect these terminals to OMNUC M-series Servomotors, so the user must provide an...
Page 94 Chapter 2 Design and Installation H Terminal Block Current and Wire Sizes The following table shows the rated effective currents flowing to the Position Driver’s terminal block, and also the sizes of the electrical wires. D Position Drivers with 200-VAC Input (FND-XjjH-j) Driver FND-X06H-j FND-X12H-j...
Page 95: Wiring For Noise Resistance
Chapter 2 Design and Installation 2-2-4 Wiring for Noise Resistance H Wiring Method for FND-X06j to -X25j Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be increased by paying attention to the items described below. (Lightning surge (Noise protection)
Page 96 Chapter 2 Design and Installation • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Twisted Wires Binding Position Position Driver Driver Binding • Separate power supply cables and signal cables when wiring. H Wiring Method for FND-X50H-j Noise resistance will vary greatly depending on the wiring method used.
Page 97 Chapter 2 Design and Installation • Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control panel whenever possible. Right: Separate input and output Wrong: Noise not filtered effectively AC inputs AC inputs AC outputs...
Page 98 Chapter 2 Design and Installation D Surge Absorbers Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal volt- ages, etc. When selecting surge absorbers, take into account the varistor voltage, the amount of surge immunity, and the amount of energy resistance.
Page 99 Chapter 2 Design and Installation D Noise Filters for Servomotor Output • For Servomotor output lines, use a filter type without a built-in capacitor. • The following table shows recommended noise filters for Servomotor output lines. Maker Model Rated current Remarks Tokin LF-310KA...
Page 100 The Position Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors. Maker Model Rated Momentary maxi- Coil voltage current mum current OMRON G6C-2BND 10 A 24 VDC LY2-D 10 A 24 VDC G7L-2A-BUBJ 25 A...
Page 101 Chapter 2 Design and Installation • Be sure to use dedicated encoder and resolver cables. • If lines are interrupted in the middle, be sure to connect them with connectors, making sure that the cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire. •...
Page 102: Wiring Products Conforming To Emc Directives
Chapter 2 Design and Installation D Application Specifications AC Reactor Drivers Model Rated Inductance Loss Weight current 3G3IV-PUZBAB5A2.1MH 2.1 mH 15 W 2.5 kg FND-X06L-j FND-X12L-j FND-X06H-j 3G3IV-PUZBAB2.5A4.2MH 2.5 A 4.2 mH 15 W 2.5 kg FND-X12H-j 3G3IV-PUZBAB5A2.1MH 2.1 mH 15 W 2.5 kg FND-X25H-j 3G3IV-PUZBAB10A1.1MH...
Page 103 Chapter 2 Design and Installation • Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the ground plate to ground it. H Wiring Methods D FND-X06j to X25j Position Drivers Device containing Servomotor Control panel R88M-U conforming Metal plate...
Page 104 Chapter 2 Design and Installation D FND-X50H-j Position Drivers Control panel Device containing Servomotor R88M-U conforming Metal plate to EC Directives Brake pow- er supply Metal Metal duct or duct or AC power Surge conduit Ferrite Contactor conduit supply absorber core Noise filter...
Page 105 Chapter 2 Design and Installation • Wire the noise filter as shown at the left in the following illustrations. Good: Separate input and output NO: Noise not filtered effectively AC outputs AC inputs AC inputs Ground Ground AC outputs • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Twisted Wires Binding Position...
Page 106 Chapter 2 Design and Installation • Remove the sheathes from the control cables and encoder cables at the clamps and ground the shield directly at the clamps. • Ground the metal ducts and conduits with blades • Attach ferrite cores on all cables as near as possible to the Position Driver. Shield Connections Installation panel Installation panel...
Page 107 Chapter 2 Design and Installation • When assembling the control panel, remove the coating from all joints (or mask the joints when coat- ing) to ensure electrical conductivity. • Be sure that no gaps are created when installing the control panel, as gaps can be caused by distortion when tightening screws.
Page 108 Chapter 2 Design and Installation H Selecting Components This section describes standards to be considered when selecting components to be connected to reduce noise. Select components after reviewing characteristics such as capacities, performance, and application ranges. Recommended components are listed below for reference. For further details, con- sult the manufacturer.
Page 109 Chapter 2 Design and Installation NF2010A-PI/NF2015A-PI Dimensions Two, 5-mm dia. 77 max. HF2030A-PI Dimensions Four, 5-mm dia. 2-83...
Page 110 The Position Driver inrush current is 50 A, and the momentary maximum current is approximately twice the rated current. The following table shows the recommended contactors. Maker Model Rated current Coil voltage OMRON LC1D25106 26 A 200 VAC LC1D40116 35 A...
Page 111 Chapter 2 Design and Installation • The following table shows the Servomotor leakage currents for each Position Driver. Driver Leakage current (resistor) Leakage current (resistor-capacitor, (including high-frequency current) in commercial power supply fre- quency range) FND-X06j/X12j 35 mA 2 mA FND-X25j 40 mA 2 mA...
Page 112: Peripheral Device Connection Examples
Chapter 2 Design and Installation 2-2-6 Peripheral Device Connection Examples H Connecting FND-X06j to X25j Position Drivers to Peripheral Devices Single-phase, 200/240 VAC, 50/60 Hz (FND-XjjH) Single-phase, 100/115 VAC, 50/60 Hz (FND-XjjL) Main-circuit power supply Main-circuit connector Surge killer Servo error display OMNUC U-series Power Cable 30 to 750 W AC reactor...
Page 113 Chapter 2 Design and Installation H Connecting FND-X50H-j Position Drivers to Peripheral Devices Three-phase, 200/240 VAC, 50/60 Hz (FND-X50H-j) Main-circuit power supply Main-circuit connector Surge killer Servo error display AC reactor OMNUC U/M-series OMNUC FND-X-series AC Servomotor Position Driver OMNUC U-series (1 to 2 kW) Power Cables R88A-CAUBjjjS R88A-CAUBjjjB...
Page 114: Battery Wiring And Encoder Setup For Absolute Encoder
Chapter 2 Design and Installation 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder When using a U-series Servomotor with an absolute encoder, connect a lithium battery to the BAT con- nector (C6) so that the position data will be retained when the power supply is turned OFF. This section explains how to wire and replace the battery, and how to set up the absolute encoder.
Page 115 Estimated service life Toshiba ER6V 3.6 V 2,000 mASh Approx. 10 years OMRON (made by 3G2A9-BAT08 3.6 V 1,650 mASh Approx. 7 years Hitachi Maxell) Note 1. When power is turned OFF internally at the Position Driver, the battery voltage is not moni- tored.
Page 116 Chapter 2 Design and Installation H Setup Method Perform the following procedure carefully. Mistakes may lead to errors in the setup. 1. Wire the Position Driver, Servomotor, and encoder correctly if they are not already wired correctly. 2. Connect the battery. 3.
Page 117: Chapter 3. Operation
Chapter 3 Operation Operational Procedure Turning ON Power and Checking Displays Using the Display Area Setting Functions: User Parameters (H Parameters) Position Control Settings (PTP Parameters) Setting Positioning Data (PTP Data, Direct Input) Operational Sequence Trial Operation Making Adjustments 3-10 Regenerative Energy Absorption...
Page 118: Operational Procedure
Chapter 3 Operation Operational Procedure After confirming that the system has been correctly installed and wired, make the initial settings for the Position Driver. Then, set the position control functions according to the position control methods. Any incorrect settings in the parameters could cause unexpected motor operation, creating an extremely dangerous situation.
Page 119 Chapter 3 Operation Operation and Adjustment Precautions Caution Confirm that no adverse effect will occur in the system before performing the test operation. Not doing so may result in equipment damage. Caution Check the newly set parameters for proper execution before actually running them. Not doing so may result in equipment damage.
Page 120: Turning On Power And Checking Displays
Chapter 3 Operation Turning ON Power and Checking Displays 3-2-1 Items to Check Before Turning ON the Power H Checking Power Supply Voltage Check to be sure that the power supply voltage is within the ranges shown below. FND-X06H-j/-X12H-j/-X25H-j (single-phase, 200-VAC specifications): Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz FND-X50H-j (three-phase, 200-VAC specifications): Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz...
Page 121: Turning On The Power And Checking The Display
Chapter 3 Operation 3-2-2 Turning ON the Power and Checking the Display H Turning ON the Power Before turning ON the power supply, check carefully to confirm that it is safe. H Checking Displays When the power is turned ON, one of the codes shown below will be displayed. Normal (motor speed display) Error (alarm display) Factory settings...
Page 122 Chapter 3 Operation D U-UE Series Motor model Capacity Code R88M-UE10030H(V)-S1 100 W 1603 R88M-UE20030H(V)-S1 200 W 1604 R88M-UE40030H(V)-S1 400 W 1605 R88M-UE75030H(V)-S1 750 W 1606 D H Series Motor model Capacity Code R88M-H05030 50 W 1007 R88M-H10030 100 W 1008 R88M-H20030 200 W...
Page 123 Chapter 3 Operation Note U-UE-series (U-series, UE-type) and H-series Servomotors can only be used with Position Driver software version 4.01 (September 1997) or later. U-series 1 to 2-kW and M-series 1.1 to 2.2-kW Servomotors can only be used with Position Driver software version 4.04 (April 1999) or later. Example: Procedure for Setting Code 1403 Display Key operation...
Page 124: Using The Display Area
Chapter 3 Operation Using the Display Area 3-3-1 Key Operations H Display Area Layout H Key Functions Key operation Main function The Mode Key changes the mode. The Shift Key shifts to the digit on the left. The Data Key saves data. DATA The Increment Key increments parameter numbers and data.
Page 125: Modes And Mode Changes
Chapter 3 Operation 3-3-2 Modes and Mode Changes H Modes The OMNUC FND-X Series has the following seven modes: Mode Function Monitor Mode Monitors motor speed, present value, reference value, position deviation value, machine speed, motor current, effective load factor, electronic thermal value, electrical angle, and regenerative absorption rate.
Page 126: Mode Details
Chapter 3 Operation 3-3-3 Mode Details The following diagram outlines the contents of each of the modes. Monitor Mode Motor speed Refer to 4-1. Present value DATA Regenerative absorption (Press for at least 5 seconds.) (Double-click) Refer System Check Mode Motor test operation Output signal test 3-8-2...
Page 127: Compobus/S Communications Display And Setting Panel
Chapter 3 Operation 3-3-4 CompoBus/S Communications Display and Setting Panel H Layout of Display and Setting Panel H Rotary Switch The rotary switch is used for setting the node address. Each FND-X Position Driver occupies two con- secutive node addresses, set for IN and OUT respectively by the switch. The OUT Slave Area is allo- cated to the FND-X Position Driver’s input area, and the IN Slave Area is allocated to the FND-X Posi- tion Driver’s output area.
Page 128 Chapter 3 Operation Word 100 OUT Slave 1 OUT Slave 0 Signal name Signal allocation Signal name Signal allocation P. IN7 OUT15 STOP OUT7 P. IN6 OUT14 TEACH OUT6 P. IN5 OUT13 –JOG OUT5 P. IN4 OUT12 +JOG OUT4 P. IN3 OUT11 SEARCH OUT3...
Page 129: Setting Functions: User Parameters (H Parameters)
Chapter 3 Operation Setting Functions: User Parameters (H Parameters) User parameters and H parameters are parameters for selecting the control mode, applicable motor, and so on, which are required for system startup. Match the settings to the system being used. Some of the user parameters go into effect when the power has been turned OFF and then back ON again.
Page 130 Chapter 3 Operation D User Parameters Display Example Parameter number (UP-01) display Rightmost digit Data display (UP-01 contents) flashes. Parameter number (UP-02) display Data display (UP-02 contents) Parameter number (UP-03) display Data display (UP-03 contents) H Setting H Parameters Use the following procedure to set the H parameters. 1.
Page 131: User Parameter And H Parameter Tables
Chapter 3 Operation 3-4-2 User Parameter and H Parameter Tables The following tables list the user parameters (UP-01 to UP-29) and H parameters (HP-33 and HP-46). H User Parameters Name Min. unit Setting Factory Explanation Re-power range setting required? Control mode 00 to Specifies position control mode: 11: Point positioning (PTP)
Page 132 0.0 to Specifies the regeneration regeneration 100.0 absorption resistance value (Ω) resistance * Only valid for FND-X50H-j. value * When using an OMRON External Regeneration Resistor, set to 30.0 (Ω). External 0.01 kW 0.00 to 0.00 Specifies the regeneration regeneration 327.67...
Page 133: User Parameter And H Parameter Details
Chapter 3 Operation Note If the positioning completed signal (READY) is input to the Programmable Controller (PC), make sure that the set value is large enough so that the PC will be able to respond. Set value y PC cycle time × 2 + PC input delay time + 1 ms With CompoBus/S-type Position Drivers, use the following formula for the Programmable Con- troller’s input circuit delay time: PC input circuit delay time = (Communications cycle time) x 2...
Page 134 Chapter 3 Operation D U Series (With Incremental Encoder) Motor model Capacity Code R88M-U03030HA(VA) 30 W 1401 R88M-U05030HA(VA) 50 W 1402 R88M-U10030HA(VA) 100 W 1403 R88M-U20030HA(VA) 200 W 1404 R88M-U40030HA(VA) 400 W 1405 R88M-U75030HA(VA) 750 W 1406 R88M-U1K030H(V) 1 kW 1607 R88M-U1K530H(V) 1.5 kW...
Page 135 Chapter 3 Operation D M Series (1,200 r/min) Motor model Capacity Code R88M-M20012 200 W 0105 R88M-M40012 400 W 0106 R88M-M70012 700 W 0107 R88M-M1K112 1100 W 0108 R88M-M1K412 1400 W 0109 R88M-M1K812 1800 W 010A D M Series (2,000 r/min) Motor model Capacity Code...
Page 136 Chapter 3 Operation PRM No. Parameter name Setting range Unit Factory setting UP-07 In-position width 1 to 32,767 Pulse • This parameter specifies, by the number of motor sensor pulses, the position deviation for outputting the positioning completed signal (INP). •...
Page 137 Note 1. This parameter is only valid for the FND-X50H-j. Ω). Note 2. When using an OMRON External Regeneration Resistor, set to 30.0 ( Note 3. After this parameter has been set, it will become valid when the power supply is turned OFF (check that the display has been cleared) and ON again.
Page 138 Chapter 3 Operation PRM No. Parameter name Setting range Unit Factory setting UP-31 External regeneration 0.00 TO 0.00 resistance capacity 327.67 • When attaching an External Regeneration Resistor, this parameter specifies its capacity (kW). • This parameter is used for calculating the regeneration absorption rate. (The regeneration absorption rate is displayed in Monitor Mode.) Note 1.
Page 139: Position Control Settings (Ptp Parameters)
Chapter 3 Operation Position Control Settings (PTP Parameters) PTP parameters are the parameters required for setting position data such as the mini- mum setting unit, pulse rate, reference speed, and so on. Some of the user parameters go into effect when the power has been turned OFF and then back ON again.
Page 140: Ptp Parameters (Pp-01 To Pp-26)
Chapter 3 Operation D PTP Parameter Display Example Parameter number (PP-01) display Rightmost Data display (PP-01 contents) digit flashes. Parameter number (PP-02) display Data display (PP-02 contents) Parameter number (PP-03) display Data display (PP-03 contents) 3-5-2 PTP Parameters (PP-01 to PP-26) Name Min.
Page 141 Chapter 3 Operation Name Min. Setting Factory Explanation Re-power unit range setting required? Reverse soft- (PP-01) –9,999 –9,999 Specifies software limit position in ware limit (left- (See the reverse direction. note 1.) most digits) 9,999 * The software limit overflow in the The software limit overflow in the Reverse soft- 0 to...
Page 142 Chapter 3 Operation Name Min. Setting Factory Explanation Re-power unit range setting required? Deceleration 1 ms 0 to Specifies time spent in decelerating time 0 9,999 reference speed to a stop. * This value is used as deceleration time for the Position Driver in origin search operation, JOG operation, point positioning operation, and direct positioning operation.
Page 143: Ptp Parameter Details (Pp-01 To Pp-26)
Chapter 3 Operation 3-5-3 PTP Parameter Details (PP-01 to PP-26) PRM No. Parameter name Setting range Unit Factory setting PP-01 Minimum setting unit 0.0001 to 1 Machine axis 0.0001 movement • This parameter specifies the basic unit for movement and speed value setting and display. •...
Page 144 Chapter 3 Operation Motor sensor resolution: OMNUC U Series 30 to 750 W with incremental encoder: 8,192 pulses/rotation OMNUC U Series 30 to 750 W with absolute encoder: 4,096 pulses/rotation OMNUC U Series 1 to 2 kW with incremental encoder: 16,384 pulses/rotation OMNUC U Series 1 to 2 kW with absolute encoder: 32,768 pulses/rotation...
Page 145 Chapter 3 Operation • The following diagram provides an example of backlash compensation during operation. Backlash compensation Slip Compensation • Set slip compensation if slippage occurs in the mechanical system during feeding. • Set these parameters to compensate for the amount of slippage that occurs when feeding for just the amount set for pulse rate 2.
Page 146 Chapter 3 Operation • These parameters set limits on mechanical system movement. • The decimal point location is set by PP-01 (minimum setting unit). • When a software limit is detected, the motor is placed in servo-lock and stopped. The alarm output status at that time is determined by the PP-25 (alarm selection) setting.
Page 147 Chapter 3 Operation This parameter specifies the direction for beginning an origin search operation. Set value Description Begins origin search in the positive direction (incrementing the present value). Begins origin search in the negative direction (decrementing the present value). PRM No. Parameter name Setting range Unit...
Page 148 Chapter 3 Operation PRM No. Parameter name Setting range Unit Factory setting PP-24 Deceleration stop mode 0, 1, 2 This parameter selects the stop method for when the deceleration stop (STOP) signal is OFF. Set value Description Free-running stop. (Servo OFF) Stop in deceleration time specified by positioning data during operation.
Page 149 Chapter 3 Operation • Be sure to set enough time for the Programmable Controller (PC) to respond when the position and speed data selections are received by the PC. Set value y PC cycle time × 2 + PC input delay time + 1 ms With CompoBus/S-type Position Drivers, use the following formula for the Programmable Controller’s input circuit delay time: PC input circuit delay time = (Communications cycle time) x 2...
Page 150: Setting Positioning Data (Ptp Data, Direct Input)
Chapter 3 Operation Setting Positioning Data (PTP Data, Direct Input) Positioning data includes the following data settings: position, speed, acceleration/de- celeration, and operation mode. (The acceleration/deceleration and operation mode selection settings are not made for position control by direct input.) Go to the User Parameter Edit Mode.
Page 151: Setting Direct Input (When Up-01 Is 13 Or 14)
Chapter 3 Operation D PTP Data Display Example Parameter number (Pd01H) display Data display (Pd01H contents) Rightmost digit flashes. Indicates incremental value designation. Parameter number (Pd01L) display Data display (Pd01L contents) When PP-01 (minimum setting unit) is set to “0.0001,” zeroes following Parameter number (Pd01F) display the decimal point are not displayed.
Page 152 Chapter 3 Operation D Direct Input Positioning Data Position data range: –39,999,999 to 39,999,999 (with incremental or absolute setting) Speed data range: 0 to 99 (100%, 1 to 99%) Input Output signal signal Name Position selection 1 Position selection 2 Position selection 3 Position selection 4 Speed selection...
Page 153: Ptp Data (Pd01Jj To Pd64J)
Chapter 3 Operation Direct Input Data (Signal) Settings Position data: “A + 01000000” (x 0.001 mm) = 81000000 Position selection 1 Speed data: 50 (%) Position selection 2 Position selection 3 Position selection 4 Input signal Output signal Name Position selection 1 Position selection 2 Position selection 3 Position selection 4...
Page 154: Ptp Data Details (Pdjjj)
Chapter 3 Operation Pd02j to Pd63j are the same as Pd01j in data except for the point number. 64H Point No. 64 posi- (PP-01) (I/A) (I) 0 Same as point No. 1. tion data (leftmost –3,999 digits) 3,999 Point No. 64 posi- (PP-01) 0 to tion data (right-...
Page 155 Chapter 3 Operation • The decimal point location is determined by the PP-01 (minimum setting unit) setting. If, for example, you want to move to a position (incremental value) of 1,000 mm from the present position, with the mechanical system set for 10 mm of movement per motor rotation and a minimum feed amount of 1 µm, then make the following settings.
Page 156 Chapter 3 Operation PRM No. Parameter name Setting range Unit Factory setting PdjjA Acceleration/deceleration 00 to 11 selection This data specifies the acceleration time and deceleration time for positioning. Set value Description Selects deceleration time 0 (set in PP-22). Selects deceleration time 1 (set in PP-23). Selects acceleration time 0 (set in PP-20).
Page 157 Chapter 3 Operation Continuous Operation Mode • In this mode, the Position Driver stays in continuous operation without being stopped in servo-lock. • Until the continuous operation mode specification is canceled (i.e., until the mode changes into inde- pendent operation mode or automatic incremental mode), the Position Driver continues operating and refreshing the present point number.
Page 158: Operational Sequence
Chapter 3 Operation Operational Sequence 3-7-1 Origin Search H Function • When a motor with an incremental encoder/resolver is used, an operation to establish the mechanical origin after the power has been turned ON is required. This operation is called “origin search.” •...
Page 159 Chapter 3 Operation H PTP Parameters The following PTP parameter settings are related to origin search. Make the settings according to the mechanical system. Name Min. Setting Factory Explanation unit range setting Reference speed 0 to Specifies machine axis reference speed per second.
Page 160 Chapter 3 Operation Origin Search Pattern 1: Starting Between CWL Signal and Origin Proximity Signal 1. Positioning begins in the origin search direction at the origin search high speed. 2. Positioning changes to the origin search low speed when the origin proximity signal turns ON (rising edge).
Page 161 Chapter 3 Operation Origin Search Pattern 2: Starting With Origin Proximity Input Signal ON 1. Positioning begins in the origin search direction at the origin search low speed. 2. The origin is established by the first Z-phase signal that is received after the origin proximity signal turns OFF (falling edge).
Page 162 Chapter 3 Operation Origin Search Pattern 3: Starting Between Origin Proximity Signal and CCWL Signal 1. Positioning begins in the origin search direction at the origin search high speed. 2. The direction of movement is reversed when the CCWL signal turns OFF. 3.
Page 163 Chapter 3 Operation Summary of Origin Search Operation Origin search direction: + direction Limit input Origin proximity Z-phase Speed Origin search Position pattern 1 Speed Origin search Position pattern 2 Speed Origin search Position pattern 3 3-47...
Page 164 Chapter 3 Operation H Origin Search Example Program (SYSMAC C200H-HX/HG/HE) The following ladder program example (for SYSMAC C200H-HX/HG/HE) is provided for reference D Word Allocation In this program example, the I/O signals are allocated to the input and output words as follows: Output Unit: Word 0 Bit number Position Driver signal name...
Page 165: Origin Teaching
Chapter 3 Operation IR Area Word 30 in the IR area is used. D Ladder Program • For this example program it is assumed that limit input signals (CCWL and CWL) and origin proximity signals used for origin search operations are directly input from the sensors. •...
Page 166 Chapter 3 Operation • The amount of movement at this time is taken by the PTP parameters (PP-06, PP-07) as the origin compensation, and in subsequent origin search operations this value is used to move to the origin teaching position (the mechanical origin) to complete the origin search. Note Origin teaching cannot be executed if the origin is not established.
Page 167: Teaching
Chapter 3 Operation 3-7-3 Teaching H Function • The teaching operation takes the motor’s present value as the position data in the specified PTP data. • Teaching is only enabled when the control mode is set for point positioning (UP-01: 11 or 12). •...
Page 168: Point Positioning (Up-01: 11 Or 12)
Chapter 3 Operation 4. When the teaching completed signal (T.COM) turns ON, turn OFF the teaching (TEACH) input. RUN command (RUN) +JOG operation (+JOG) Teaching (TEACH) Point selection Point No. n (P.INP0 to 6) READY Positioning completed (INP) Teaching completed (T.COM) Point output Point No.
Page 169 Chapter 3 Operation 4. The ready signal will be turned ON again upon completion of the positioning. RUN command (RUN) Start (START) Point selection Point no. m Point no. n (P.IN0 to P.IN6) READY Positioning completion (INP) Point output Point no. m Point no.
Page 170 Chapter 3 Operation Bit number Position Driver signal name P.IN3 Point selection 3 / Position 3 P.IN4 Point selection 4 / Position 4 P.IN5 Point selection 5 / Position 5 P.IN6 Point selection 6 / Position 6 P.IN7 Position 7 Input Unit: Word 8 Bit number Position Driver signal name...
Page 171 Chapter 3 Operation D Ladder Program RUN switch 0807 (Alarm output) 0000 (RUN) RUN command signal output 3300 (DECELERATION STOP switch) (STOP) (See note 3.) 0007 Point No. setting switch DIFU(013)3100 3100 3102 3101 3101 3101 0801 (READY) MOVD(083)D0000 Outputs point number to #0210 leftmost 8 bits of word 00.
Page 172: Direct Positioning (Up-01: 13 Or 14)
Chapter 3 Operation Note 1. The point number setting switch is a contact for taking the point number (DM 00) into the Posi- tion Driver. Note 2. Turn ON the point number check switch (3106) and the START switch when “point number setting completed”...
Page 173 Chapter 3 Operation 7. The ready signal is turned ON again upon completion of the positioning operation. RUN command (RUN) Teaching (TEACH) Start (START) Position data (P.IN0 to P.IN7) Teaching completed (T.COM) READY (READY) Positioning completed (INP) Position selection 1 (P.OUT0) Position selection 2 (P.OUT1)
Page 174 Chapter 3 Operation H Direct Positioning Program Example (C200H-HX/HG/HE) The following direct positioning ladder program example (for SYSMAC C200H-HX/HG/ HE) is provided for reference. D Word Allocation In this program example, the I/O signals are allocated to the input and output words as follows: Output Unit: Word 0 Bit number Position Driver signal name...
Page 175 Chapter 3 Operation DM Area DM number Data contents Input signal Output signal Positioning data (rightmost digits) Positioning data (leftmost digits) Speed data Indirect table for positioning data Digit transfer control data table IR Area Word 30 in the IR area is used. Note 1.
Page 176 Chapter 3 Operation D Ladder Program (Alarm output) RUN switch 0807 0000 (RUN) RUN command signal output 3300 (DECELERATION STOP switch) (STOP) (See note 3.) 0007 Data input switch DIFU(013)3100 3100 3102 3101 3101 0801 (READY) 3101 0006 (TEACH) 0006 0808(P.OUT0) 0808(P.OUT0) MOV(021)#0010...
Page 177 Chapter 3 Operation 0808 ANDW(034)00 Releases control #00FF 0809 inputs to DM 01. D0001 MOVD(083) *D0020 0810 Transfers positioning data in 8-bit units to D0021 the leftmost 8 bits of D0002 DM 02. 0811 ANDW(034)D0002 Positioning data settings 0812 #FF00 Clears rightmost 8 bits of DM 02.
Page 178: Trial Operation
Chapter 3 Operation Trial Operation After the wiring is complete and the parameter settings have been made, conduct a trial operation. First, in system check mode, check the motor’s rotation direction without con- necting a load (i.e., without connecting the mechanical system), and check to be sure that the I/O signals are correctly wired.
Page 179 Chapter 3 Operation Note 1. The factory setting for the speed loop proportional gain (AJ2.) is 1.0 (multiple). Note 2. In the Adjustment Parameters Edit Mode, the set value is re-written at the point where the number is changed by pressing the Increment Key and Decrement Key. (2) Testing the Motor (Refer to 3-8-2 System Check Mode .) •...
Page 180: System Check Mode
Chapter 3 Operation (8) Readjusting the Gain • If the gain could not be adjusted completely using auto-tuning, perform the procedure in 3-9 Making Adjustments to adjust the gain manually. 3-8-2 System Check Mode The System Check Mode is used to conduct the motor test, output signal test, and auto-tuning. To enter this mode, use the following procedure: 1.
Page 181 Chapter 3 Operation D Auto-tuning • With auto-tuning, the size and characteristics of the load (the mechanical system) can be checked, and the gain can be automatically adjusted and set accordingly. • There are three kinds of gain to be set: position loop gain (AJ.4), speed loop proportional gain (AJ.2), and speed loop integral gain (AJ.3).
Page 182 Chapter 3 Operation H Output Signal Test Operating Procedure Display example Key operation Press the Mode Key to enter Monitor Mode. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five seconds to enter System Check Mode. Press the Shift Key to bring up the output signal test display.
Page 183: Making Adjustments
Chapter 3 Operation Making Adjustments 3-9-1 Auto-tuning Auto-tuning is a function for automatically operating the motor to adjust the position loop gain, speed loop proportional gain, and speed loop integral gain. If adjustments cannot be made by auto-tuning, refer to 3-9-2 Manually Adjusting Gain . When using auto-tuning, the limit inputs and deceleration stop input must be connected.
Page 184 Chapter 3 Operation Note 1. The reciprocating operation is performed twice during auto-tuning. Check the mechanical operating range and set the reciprocating rotation range accordingly. Note 2. Set the maximum rotation speed to the maximum speed for actual operation. Reciprocating rotation width Maximum rotation speed Time...
Page 185 Chapter 3 Operation H Operating Procedure Example In this auto-tuning example, it is assumed that the reciprocating rotation range is set to 5 (revolutions), the target response frequency is set to 50 (Hz), and the maximum rotation speed is set to 2,000 (r/min). Display example Key operation Press the Mode Key to enter Monitor Mode.
Page 186 Chapter 3 Operation H Notes on Auto-tuning Settings • The reciprocating operation is performed twice during auto-tuning, so pay careful attention to the mechanical operating range. • The amount of movement to one side in reciprocating operation during auto-tuning is the value set in the “Auto1”...
Page 187: Manually Adjusting Gain
Chapter 3 Operation 3-9-2 Manually Adjusting Gain H Gain Adjustment Flowchart WARNING Perform auto-tuning to match the rigid- Do not make extreme adjustment or setting ity of the mechanical system. changes as they cause unstable operation and may result in injury. Perform gain adjustment by changing the value The motor hunts when servo-locked.
Page 188: Adjustment Parameter Details
Chapter 3 Operation 3-9-3 Adjustment Parameter Details PRM No. Parameter name Setting range Unit Factory setting AJ2. Speed loop proportional 0.0 to 100.0 Multiple gain • This parameter adjusts the speed loop response. • As the gain is increased, the servo rigidity is strengthened. The greater the inertia rate, the higher this is set.
Page 189 Chapter 3 Operation Response When Speed Loop Integral Gain is Adjusted When speed loop integral gain is high Motor speed When speed loop integral gain is low Time PRM No. Parameter name Setting range Unit Factory setting AJ4. Position loop gain 1 to 200 rad/s •...
Page 190 Chapter 3 Operation PRM No. Parameter name Setting range Unit Factory setting AJ7. Interrupt gain suppression 0 to 10,000 • If any value other than “0” is set for this parameter, the speed loop integral gain will be disabled when stopped, and the speed loop proportional gain will be suppressed.
Page 191: Regenerative Energy Absorption
Chapter 3 Operation 3-10 Regenerative Energy Absorption Regenerative energy produced at times such as Servomotor deceleration is absorbed by the Position Driver’s internal capacitors, thereby preventing an increase in DC volt- age. If the regenerative energy from the Servomotor becomes too large, however, an overvoltage error will occur.
Page 192 Chapter 3 Operation The maximum regenerative energy (E ) occurring in any operational section can be found by means of the following formula: [Unit: J] is the larger of E and E The average regenerative power per cycle of operation can be found by means of the following formula: [Unit: W] = (E )/T [W]...
Page 193: Position Driver Absorbable Regenerative Energy
Chapter 3 Operation The maximum regenerative energy (E ) occurring in any operational section can be found by means of the following formula: [Unit: J] is the largest of E The average regenerative power per cycle of operation can be found by means of the following formula: [Unit: W] = (E )/T [W]...
Page 194: Regenerative Energy Absorption By Regeneration Resistor
Chapter 3 Operation 3-10-3 Regenerative Energy Absorption by Regeneration Resistor If the Position Driver alone cannot absorb the regenerative energy, connect a Regeneration Resistor. The Regeneration Resistor connects between the P and J terminals at the Position Driver’s terminal block. Caution Be careful when connecting the Regeneration Resistor.
Page 195 Chapter 3 Operation H Wiring the Regeneration Resistor As shown in the following diagram, connect the Regeneration Resistor between the P and J terminals at the Position Driver’s terminal block. Position Driver terminal block 2.0 mm Regeneration Resistor Note With the FND-X50H-j, connect a Regeneration Resistor between P and JP1. In this case, remove the short bar between JP1 and JP2.
Page 196 Chapter 4 Application Monitor Mode Check Mode Monitor Output Protection and Diagnosis Troubleshooting Periodic Maintenance...
Page 197: Monitor Mode
Chapter 4 Application Monitor Mode The following ten items can be monitored in Monitor Mode: motor speed, present value, reference value, position deviation, mechanical speed, motor current, effective load fac- tor, electrothermal value, electrical angle, and regenerative absorption rate. The Monitor Mode is entered when the Position Driver’s power supply is turned ON. The various items to be monitored can be displayed one at a time by pressing the Increment Key and Decrement Key.
Page 198 Chapter 4 Application H Monitor Details Display Monitored item Unit Explanation Motor speed r/min Displays the actual rotation speed of the motor shaft. A’ Present value Mechanical axis Calculates and displays the present value of the movement o e e t mechanical axis based on feedback from the ec a ca a s based o eedbac...
Page 199: Check Mode
Chapter 4 Application Check Mode The following four items can be displayed in Check Mode: I/O signal status, alarm details, alarm history, and software version To enter the Check Mode, press the Mode Key while in Monitor Mode. Also, the Check Mode’s alarm display is brought up automatically when an alarm is generated.
Page 200 Chapter 4 Application H Check Mode Display Details Display Contents Explanation I/O signal status Displays the ON/OFF status of control I/O signals. Alarm details Displays details regarding alarms that are generated. (The example display at the left indicates that no alarm has been generated.
Page 201: I/O Signal Status
Chapter 4 Application 4-2-1 I/O Signal Status With the I/O signal status display, the ON/OFF status of control I/O signals is indicated by the turning ON and OFF of 7-segment display LED bits. H I/O Signal Bit Allocation The vertical LEDs show the ON/OFF status of inputs (1 to 20) and the horizontal LEDs show the ON (lit)/OFF (not lit) status of outputs ((1) to (15)).
Page 202 Chapter 4 Application H Output Signal Allocation Bit No. Signal Name DIO type CompoBus/S type Brake output CN1-21 IN0, CN4-8 READY Ready CN1-22 S.COM Origin search completed CN1-23 ORGSTP Origin stop CN1-24 T.COM Teaching completed CN1-25 RUNON Motor running CN1-26 Positioning completed CN1-27 Alarm...
Page 203: Monitor Output
Chapter 4 Application Monitor Output The Position Driver outputs (analog) a voltage proportional to the motor’s rotation speed and current. The monitor voltage is output from the monitor output terminal on the front panel of the Position Driver. This analog output can be used to install a meter in the con- trol panel or to provide more precise gain adjustments.
Page 204 Chapter 4 Application H User Parameter Setting Name Min. Setting Factory Explanation unit range setting Monitor output 000 to Specifies the output terminal function. selection Voltage polarity 0: Not reversed 1: Reversed Speed/Current selection 0: Current 1: Speed...
Page 205: Protection And Diagnosis
Chapter 4 Application Protection and Diagnosis 4-4-1 Alarms The Position Driver has the error detection functions shown below. When an error is detected the output signal ALM (CN1-28) turns OFF and the alarm is displayed. The following table shows the alarm codes that are displayed on the Position Driver’s front panel, and it provides explanations of each of their meanings.
Page 206 Chapter 4 Application Display Error detection Meaning of code and probable cause Motor current function A.L38 Overrun The limit input signal in the direction of Servo OFF movement turned OFF. A.L40 Encoder An encoder disconnection or short-circuit Servo OFF disconnection was detected.
Page 207: Countermeasures To Alarms
Chapter 4 Application 4-4-2 Countermeasures to Alarms Alarm dis- Error content Condition when Probable cause Countermeasures play error occurred A.L01 Overcurrent Occurred when Control board defective. Replace Driver. power was turned Occurred when Replace Driver. Current feedback circuit error Servo was turned Main circuit transistor module error •...
Page 208 Chapter 4 Application Alarm dis- Error content Condition when Probable cause Countermeasures play error occurred • For 200-VAC input specifi- A.L03 Voltage drop Occurred during The power supply voltage fell operation. below the prescribed value. cations, use a 170 to 264-VAC power supply.
Page 209 Chapter 4 Application Alarm dis- Error content Condition when Probable cause Countermeasures play error occurred A.L17 Motor overload Occurred during The mechanical system is Correct the places that are [The electrother- operation. locked. locked. mal value The power lines are wired Correct the wiring.
Page 210 Chapter 4 Application Alarm dis- Error content Condition when Probable cause Countermeasures play error occurred A.L32 Resolver error Occurred when The resolver cable is discon- Connect any disconnected power was turned nected. places. The resolver cable wiring is Correct the wiring. incorrect.
Page 211 Chapter 4 Application Alarm dis- Error content Condition when Probable cause Countermeasures play error occurred A.L42 Absolute encoder Occurred when The absolute encoder’s Perform the absolute encoder backup error power was turned backup voltage dropped (even setup. if the encoder was being used When this error is cleared for for the first time).
Page 212 Chapter 4 Application 4-4-3 CompoBus/S-type Position Driver Protective and Diagnostic Functions With the CompoBus/S Master Unit (C200HW-SRM21 is used here as an example) and the CompoBus/S-type Position Driver (FND-Xj-SRT), the communications status can be checked using the LED indicators. H FND-Xj-SRT D Diagnosis Using LED Indicator Status Indicator status Probable cause of error...
Page 213: Overload Characteristics
Chapter 4 Application 4-4-4 Overload Characteristics An overload protection function (electrothermal) is built into the Position Driver to protect against Posi- tion Driver or Servomotor overload. If a motor overload (A.L17) or temporary overload (A.L18) 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 214 Chapter 4 Application • U-series (30 to 750 W) Servomotors Motor model Wattage T (min) R88M-U03030j 30 W R88M-U05030j 50 W R88M-U10030j 100 W R88M-U20030j 200 W R88M-U40030j 400 W R88M-U75030j 750 W • U-UE-series Servomotors Motor model Wattage T (min) R88M-UE10030j 100 W R88M-UE20030j...
Page 215 Chapter 4 Application • M-series Servomotors (2,000 r/min) Motor model Wattage T (min) R88M-M20020 200 W R88M-M40020 400 W R88M-M70020 700 W R88M-M1K120 1,100 W R88M-M1K820 1,800 W R88M-M2K220 2,200 W • M-series Servomotors (4,000 r/min) Motor model Wattage T (min) R88M-M06040 60 W R88M-M12040...
Page 216: Alarm Output And Clearing Alarms
Chapter 4 Application 4-4-5 Alarm Output and Clearing Alarms This chapter describes the timing of alarm outputs when power is turned ON and when alarms occur. The method used to clear alarms is also described. H Timing Chart Power input (R, S) command (RUN)
Page 217: Troubleshooting
Chapter 4 Application Troubleshooting 4-5-1 Preliminary Inspection This section describes the preliminary inspections and monitoring devices that are required to locate and clear the cause of an error. H Power Supply Voltage Check • Check that the voltage at the AC power supply terminals is within the following range: 100-VAC-input type 85 to 127 VAC 200-VAC-input type...
Page 218: Precautions
Chapter 4 Application For details on the operating procedures for this device type, refer to the T eaching Box (For Position Drivers) Operating Manual (W354) . 4-5-2 Precautions When performing checks of the inputs and outputs following error generation, there is a possibility that the Position Driver will operate unexpectedly or suddenly stop.
Page 219 Chapter 4 Application Procedure for Origin Teaching a) After replacement, perform origin search with the new Position Driver. b) Move to the original position of the origin by moving the mechanical system by hand in a servo- free state, or by moving the mechanical system using JOG operations. c) Turn OFF the Position Driver run command (RUN), and after turning the origin search input (SEARCH) ON, turn ON the teaching input (TEACH).
Page 220: Troubleshooting
Chapter 4 Application 4-5-4 Troubleshooting When an error occurs, check the error contents by means of the operating status and alarm display, investigate the cause and apply the appropriate countermeasures. H Error Diagnosis by Means of Operating Status (DIO, CompoBus/S) Symptom Probable cause Items to check...
Page 221 Chapter 4 Application Symptom Probable cause Items to check Countermeasures • Input the RUN signal. The motor does The RUN signal is OFF. Use the Check Mode to check not operate the RUN signal’s ON/OFF sta- • Correct the wiring. even when the tus.
Page 222 Chapter 4 Application Symptom Probable cause Items to check Countermeasures The position is The point number input is incor- Use the Check Mode to check Correctly set the point number slipping. rect. the point number input. input. The position data (Pdjj) set- Check the position data Correctly set the position data ting is incorrect.
Page 223 Chapter 4 Application Symptom Probable cause Items to check Countermeasures Motor is over- The ambient temperature is too Check to be sure that the ambi- Lower the ambient temperature heating. high. ent temperature around the to 40°C or lower. (Use a cooler motor is no higher than 40°C.
Page 224 Chapter 4 Application H Error Diagnosis by Means of Operating Status (CompoBus/S Only) Symptom Probable cause Items to check Countermeasures There is an error in the com- The node address is over- Check the node address Correctly set the node munications data.
Page 225: Periodic Maintenance
• It is recommended that the Position Driver be inspected at five-year intervals if they are used under conditions worse than the above or not used over a long time of time. Contact your OMRON represen- tative for inspection and the necessity of any component replacement.
Page 226 Chapter 4 Application H Lithium Battery • When using a U-series Servomotor with absolute encoder, periodic maintenance will be required for the lithium battery. For details about battery lifetimes and replacement methods, refer to 2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder . 4-31...
Page 227: Chapter 5. Specifications
Chapter 5 Specifications Position Driver Specifications Servomotor Specifications Cable Specifications...
Page 228: Position Driver Specifications
Chapter 5 Specifications Position Driver Specifications 5-1-1 General Specifications (Common to DIO, CompoBus/S) Item Specifications Power supply voltage Single-phase 200-VAC (FND-X06H/-X12H/-X25H-j): Single-phase 200/240 VAC, –15% to +10%, at 50/60 Hz Three-phase 200-VAC (FND-X50H-j): Three-phase 200/240 VAC, –15% to +10%, at 50/60 Hz Single-phase 100-VAC (FND-X06L/-X12L-j): Single-phase 100/115 VAC, –15% to +10%, at 50/60 Hz Ambient operating temperature...
Page 229: Performance Specifications
Chapter 5 Specifications 5-1-2 Performance Specifications H DIO Position Drivers Item FND-X06L FND-X12L FND-X06H FND-X12H FND-X25H FND-X50H Continuous output current 2.0 A 3.0 A 2.0 A 4.8 A 8.0 A 20 A (0-P) Momentary maximum output 6.0 A 12 A 6.0 A 12 A 25 A...
Page 230 Chapter 5 Specifications Item FND-X06L FND-X12L FND-X06H FND-X12H FND-X25H FND-X50H Positioning completion width 1 to 32,767 (pulses) U Series (INC): 8,192 pulses/revolution; U Series (ABS): 4,096 pulses/revolution; U-UE Series: 4,096 pulses/revolution; H Series: 8,000 pulses/revolution M Series 24,000 pulses/revolution Acceleration/Deceleration 0 to 9,999 (ms);...
Page 231 Chapter 5 Specifications Item FND-X06L FND-X12L FND-X06H FND-X12H FND-X25H FND-X50H -SRT -SRT -SRT -SRT -SRT -SRT Position/ U Series 30 to 750 W: Optical Incremental encoder, 2,048 pulses/revolution speed feed- (INC) 1 to 2 kW: Optical Incremental encoder, 4,096 pulses/revolution back U Series 30 to 750 W: Optical Absolute encoder, 1,024 pulses/revolution...
Page 232: I/O Specifications
OMNUC Servomotors can be connected to phase output these terminals with R88A-CAUj Cable (for U/U-UE-series Servo- motors) or R88A-CAHj Cable (for H-series Servomotors). OMRON Servomotor’s B- White does not provide a dedicated cable to connect these terminals to...
Page 233 OMNUC Servomotors can be connected to phase and U- these terminals with R88A-CAUBj Cable (for U-series Servomo- phase output tors). OMRON does not provide a dedicated cable to connect these Servomotor’s B- White terminals to OMNUC M-series Servomotors, so the user must pro- phase and V- vide an appropriate cable if an M-series Servomotor is used.
Page 234 Chapter 5 Specifications H CN2 (M.SEN) Motor Sensor Connectors (DIO, CompoBus/S) Pin No. Signal name Name I/O interface Encoder power supply ground Power supply output for encoder: 5 V, 120 mA SIN excitation winding Resolver excitation signal output SIN excitation winding Resolver excitation signal output Encoder power supply, +5 V Power supply outlet for encoder: 5 V, 120 mA...
Page 235 Chapter 5 Specifications H CN2 (Motor Sensor Connector) Pin Arrangement Encoder Resolver power supply cable shield ground ground SIN excitation +BAT Battery + winding SIN excitation –BAT Battery – winding Encoder+S/ Encoder +Z-phase power 14 S+/Z+ input Encoder–S/ supply, +5V –Z-phase 15 S–/Z–...
Page 236 Chapter 5 Specifications H CN5 (Communications Connector) Pin Arrangement Transmission Transmission TXD– data data – Transmission/ Reception reception-ca- data pable output Reception- capable in- Reception- capable 11 +5V +5 output output Reception Shield RXD+ 12 FG data + ground Shield Reception RXD–...
Page 237 Chapter 5 Specifications H CN1 (CONT) Control Signal Connectors (DIO Position Drivers Only) D Control Inputs Pin No. Signal Name CCWL CCW limit input CW limit input Origin proximity RUN command START START RESET Alarm reset SEARCH Origin search +JOG +JOG operation –JOG –JOG operation...
Page 238 Chapter 5 Specifications D Connectors Used Receptacle at Position Driver 10236-6202JL (Sumitomo 3M) Soldered plug at cable side 10136-3000VE (Sumitomo 3M) Case at cable side 10336-52A0-008 (Sumitomo 3M) Note 1. The control input interface is a photocoupler input of 24 VDC at 8 mA. ±...
Page 239 Chapter 5 Specifications H CN1 (CONT) CompoBus/S Communications Terminals Signal Name Function BD H CompoBus/S serial line (+) These are the terminals for connecting CompoBus/S communications cable When wiring them be careful with the communications cable. When wiring them, be careful with the BD L CompoBus/S serial line (–) polarity.
Page 240 Chapter 5 Specifications H CN4 (LIMIT) External Control Signal Connectors (CompoBus/S Only) Pin No. Signal Name CCWL CCW limit input CW limit input Origin proximity STOP Deceleration stop +24V +24-V power supply input for control Brake output 0GND Ground D Connectors Used Receptacle at Position Driver 10214-6202JL (Sumitomo 3M)
Page 241: Servomotor Specifications
Chapter 5 Specifications Servomotor Specifications 5-2-1 U-series 30-W to 750-W Servomotors (INC/ABS) H General Specifications Item Specifications Ambient operating temperature 0 to 40°C Ambient operating humidity 20% to 80% RH (with no condensation) Ambient storage temperature –10 to 75°C Ambient storage humidity 20% to 85% RH (with no condensation) Storage and operating atmo- No corrosive gasses.
Page 242 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M -U03030HA/ -U05030HA/ -U10030HA/ -U20030HA/ -U40030HA/ -U75030HA/ -U03030VA -U05030VA -U10030VA -U20030VA -U40030VA -U75030VA Rated rotation r/min 3,000 speed Momentary maxi- r/min 4,500 mum rotation speed Momentary maxi- 0.29 0.48 0.96 1.91 3.82 7.10...
Page 243 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M -U03030HA/ -U05030HA/ -U10030HA/ -U20030HA/ -U40030HA/ -U75030HA/ -U03030VA -U05030VA -U10030VA -U20030VA -U40030VA -U75030VA –5 –5 –5 Brake Brake kgSm 0.09 x 10 0.58 x 10 1.40 x 10 speci- inertia fica- 24 VDC ±10% (No polarity) Excita-...
Page 244 Chapter 5 Specifications H Performance Specifications with an Absolute Encoder Item Unit R88M R88M R88M R88M R88M R88M -U03030TA/ -U05030TA/ -U10030TA/ -U20030TA/ -U40030TA/ -U75030TA/ -U03030XA -05030XA -U10030XA -U20030XA -U40030XA -U75030XA Rated output (See note.) Rated torque 0.095 0.159 0.318 0.637 1.27 2.39 (See note.)
Page 245 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M -U03030TA/ -U05030TA/ -U10030TA/ -U20030TA/ -U40030TA/ -U75030TA/ -U03030XA -05030XA -U10030XA -U20030XA -U40030XA -U75030XA Applicable 200-V X06H-j X12H-j X25H-j Position Driver input (FND ) (FND-) 100-V X06L-j X12L-j input –5 –5 –5 Brake Brake...
Page 246 Chapter 5 Specifications H Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200/100-VAC Input) R88M-U03030HA/TA R88M-U05030HA/TA R88M-U10030HA/TA R88M-U03030VA/XA R88M-U05030VA/XA R88M-U10030VA/XA Repeated used area Repeated Repeated used area used area Continuous op- Continuous op- Continuous op- eration area eration area eration area R88M-U20030HA/TA R88M-U40030HA/TA...
Page 247 Chapter 5 Specifications H Incremental Encoder Specifications Item Standards Encoder method Optical incremental encoder Number of output pulses A, B phase: 2,048 pulses/revolution, Z phase: 1 pulse/revolution Power supply voltage 5 VDC±5% DC, 350 mA (for load resistance of 220 Ω) Power supply current 50% ±10% Pulse duty characteristics...
Page 248: U-Ue-Series Servomotors
Chapter 5 Specifications 5-2-2 U-UE-series Servomotors H General Specifications Item Specifications Ambient operating temperature 0°C to 40°C Ambient operating humidity 20% to 80% RH (with no condensation) Ambient storage temperature –10°C to 75°C Ambient storage humidity 20% to 85% RH (with no condensation) Storage and operating atmo- No corrosive gasses.
Page 249 Chapter 5 Specifications Item Unit R88M R88M R88M R88M -UE10030H-S1/ -UE20030H-S1/ -UE40030H-S1/ -UE75030H-S1/ -UE10030V-S1 -UE20030V-S1 -UE40030V-S1 -UE75030V-S1 0.40 × 10 1.23 × 10 1.91 × 10 6.71 × 10 –5 –5 –5 –5 Rotor inertia kgSm Torque constant NSm/A 0.408 0.355 0.533 0.590...
Page 250 Chapter 5 Specifications Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by Okaya Electric Industrial Co.) installed. Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load...
Page 251 Chapter 5 Specifications H Servomotor and Mechanical System Temperature Characteristics • U-UE-series AC Servomotors use rare earth magnets (neodymium–iron magnets). The tempera- ture coefficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servo- motor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s mo- mentary maximum torque decreases.
Page 252: U-Series 1-Kw To 2-Kw Servomotors (Inc/Abs)
Chapter 5 Specifications 5-2-3 U-series 1-kW to 2-kW Servomotors (INC/ABS) H General Specifications Item Specifications Ambient operating temperature 0 to 40°C Ambient operating humidity 20% to 80% RH (with no condensation) Ambient storage temperature –20 to 60°C Ambient storage humidity 20% to 80% RH (with no condensation) Storage and operating atmo- No corrosive gasses.
Page 253 Chapter 5 Specifications Item Unit R88M R88M R88M -U1K030H/ -U1K530H/ -U2K030H/ -U1K030V -U1K530V -U2K030V Rated current (See note.) A (rms) 12.0 Momentary maximum cur- A (rms) 35.4 rent (See note.) 1.74 × 10 2.47 × 10 3.19 × 10 –4 –4 –4 Rotor inertia...
Page 254 Chapter 5 Specifications Note 4. The allowable radial load indicates the value at a location 5 mm from the end of the shaft. (See the diagram below.) Radial load Thrust load 5 mm Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 20,000 hours at normal usage as the standard.
Page 255 Chapter 5 Specifications Item Unit R88M R88M R88M -U1K030T/ -U1K530T/ -U2K030T/ -U1K030X -U1K530X -U2K030X –4 Brake spec- Brake inertia kgSm 0.33 x 10 ifications 24 VDC ±10% (No polarity) Excitation volt- W (at 20°C) Power con- sumption Current con- A (at 20°C) 0.29 sumption Static friction...
Page 256 Chapter 5 Specifications H Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200-VAC Input) R88M-U1K030H/T R88M-U1K530H/T R88M-U2K030H/T R88M-U1K030V/X R88M-U1K530V/X R88M-U2K030V/X Short-term op- Short-term op- eration area Short-term op- eration area (within 1 s) eration area (within 1 s) (within 1 s) Continuous op- Continuous op- Continuous op-...
Page 257 Chapter 5 Specifications Caution Do not use a 2-kW Servomotor in the shaded range in the following graph. Heat gen- erated by the Motor may cause the Encoder to malfunction. R88M-U2K030j (2 kW) Effective torque (NSm) 6.36 Í Í Í Í Í Í Í 5.72 Í...
Page 258: H-Series Servomotors
Chapter 5 Specifications H Absolute Encoder Specifications Item Standards Encoder method Optical absolute encoder Number of output pulses A, B phase: 8,192 pulses/revolution, Z phase: 1 pulse/revolution ±99,999 revolution Maximum rotational amount Power supply voltage 5 VDC±5% DC, 400 mA (for load resistance of 220 Ω) Power supply current Applicable battery voltage 3.6 VDC...
Page 259 Chapter 5 Specifications H Performance Characteristics Item Unit R88M R88M R88M R88M R88M R88M R88M -H05030 -H10030 -H20030 -H30030 -H50030 -H75030 -H1K130 Rated output 1100 (See note.) Rated torque 0.16 0.32 0.64 0.95 1.59 2.39 3.50 (See note.) Rated rotation r/min 3,000 speed...
Page 260 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M R88M -H05030 -H10030 -H20030 -H30030 -H50030 -H75030 -H1K130 Applicable 200-V X06H-j X12H-j X25H-j Position Driver input (FND ) (FND-) 100-V X06L-j X12L-j input –4 –4 –4 Brake Brake kgSm 0.02 x 10 0.05 x 10 0.5 x 10...
Page 261 Chapter 5 Specifications H Torque and Rotation Speed Characteristics (Standard Cable: 3 m; 200/100-VAC Input) R88M-H05030 (50 W) R88M-H10030 (100 W) R88M-H20030 (200 W) Short-term op- Short-term op- eration area eration area (within 1 s) (within 1 s) Short-term opera- tion area (within 1 s) Continuous op- Continuous op-...
Page 262: M-Series Servomotors
Chapter 5 Specifications H Encoder Specifications Item Standards Encoder method A, B, Z phase: Magnetic incremental encoder with MR elements Number of output pulses A, B phase: 2,000 pulses/revolution, Z phase: 1 pulse/revolution Power supply voltage 5 VDC±5% 50% ±10% Pulse duty characteristics 90°...
Page 263 Chapter 5 Specifications H Performance Characteristics D 1,200 r/min Item Unit R88M R88M R88M R88M R88M R88M -M20012 -M40012 -M70012 -M1K112 -M1K412 -M1K812 Rated output 1,100 1,400 1,800 (See note.) Rated torque 1.59 3.18 5.57 8.75 11.1 14.3 (See note.) Rated rotation r/min 1,200...
Page 264 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M -M20012 -M40012 -M70012 -M1K112 -M1K412 -M1K812 Applicable Posi- 200-V in- X12H-j X25H-j X50H-j tion Driver (FND ) (FND-) 100-V in- X12L-j –5 –5 –5 –4 –4 Brake Brake kgSm 1.9 x 10 3.2 x 10 6.8 x 10...
Page 265 Chapter 5 Specifications D 2,000 r/min Item Unit R88M R88M R88M R88M R88M R88M -M20020 -M40020 -M70020 -M1K120 -M1K820 -M2K220 Rated output 1,100 1,800 2,200 (See note.) Rated torque 0.955 1.91 3.34 5.25 8.58 10.5 (See note.) Rated rotation r/min 2,000 speed Momentary maxi-...
Page 266 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M -M20020 -M40020 -M70020 -M1K120 -M1K820 -M2K220 Applicable Posi- 200-V in- X12H-j X25H-j X50H-j tion Driver (FND-) Applicable Posi- 100-V in- X12L-j tion Driver (FND-) –4 –5 –5 –5 –4 Brake Brake kgSm...
Page 267 Chapter 5 Specifications Note 6. M-series 2,000-r/min 1,100 to 2,200-W Servomotors can be used only with Position Driver software version 4.04 (April 1999) or later. D 4,000 r/min Item Unit R88M R88M R88M R88M R88M R88M R88M -M06040 -M12040 -M20040 -M40040 -M70040 -M1K140...
Page 268 Chapter 5 Specifications Item Unit R88M R88M R88M R88M R88M R88M R88M -M06040 -M12040 -M20040 -M40040 -M70040 -M1K140 -M2K040 t15 x j250 t20 x j300 Radiation shield Material: dimensions FE (See note 4.) Applicable Posi- 200-V in- X12H-j X25H-j X50H-j tion Driver (FND ) (FND-)
Page 269 Chapter 5 Specifications Note 5. The allowable radial load and the allowable thrust load are the values determined by taking a service life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in parentheses). Note 6.
Page 270 Chapter 5 Specifications D 2,000 r/min R88M-M20020 R88M-M40020 R88M-M70020 Short-term Short-term operation operation area (with- area (with- Short-term in 1 s) in 1 s) operation area (with- in 1 s) Continuous Continuous operation area Continuous operation area operation area (r/min) (r/min) (r/min) R88M-M1K120...
Page 271 Chapter 5 Specifications D 4,000 r/min R88M-M06040 R88M-M12040 R88M-M20040 Short-term op- eration area Short-term op- Short-term op- (within 1 s) eration area eration area (within 1 s) (within 1 s) Continuous Continuous Continuous operation area operation area operation area (r/min) (r/min) (r/min) R88M-M40040...
Page 272: Cable Specifications
Chapter 5 Specifications Cable Specifications 5-3-1 General Control Cables (DIO Position Drivers Only) D Cable Models Model Length (L) Outer diameter of sheath FND-CCX001S 11.8 dia. FND-CCS002S D Connection Configuration t=18 SYSMAC C-series Programmable Controller FND-X-series Position Driver 5-46...
Page 273 Chapter 5 Specifications D Wiring Connector Pin Insulation Dot mark Dot mark color Signal name Arrangement color Light brown – Black CCWL Light brown – Yellow – Black Yellow – Light green – Black START Light green – RESET Gray –...
Page 274: Connector Terminal Board Conversion Unit Cables (Dio Position Drivers Only)
Chapter 5 Specifications 5-3-2 Connector Terminal Board Conversion Unit Cables (DIO Position Drivers Only) D Cable Models Model Length (L) Outer diameter of sheath 9.9 dia. R88A-CTU001N R88A-CTU002N D Connection Configuration XW2B-40F5-P Connector Terminal Board FND-X-series Position Driver 5-48...
Page 275 Chapter 5 Specifications D Wiring +24V Shell Cable: Connector plug model: 10114-3000VE (Sumitomo 3M) AWG24X18P, UL2464 Connector case model: 10314-52A0-008 (Sumitomo 3M) Connector plug model: FCN-361J040-AU (Fujitsu) Connector case model: FCN-36C040-B (Fujitsu) 5-49...
Page 276: External Control Signal Connecting Cables (Compobus/S Position Drivers Only)
16.1 2,000 t=12.7 t=6.1 XW2B-20G4 or XW2B-20G5 Connector–Terminal Block FND-X-series Position Driver D Wiring Connector Terminal block Signal +24 V CCWL STOP OGND Connector model: XG4M-2030-T (OMRON) Contact plug model: 10114-3000VE (Sumitomo 3M) Contact case model: 10314-52A0-008 (Sumitomo 3M) 5-50...
Page 277: Encoder Cables
Chapter 5 Specifications 5-3-4 Encoder Cables H Encoder Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards and U-UE-series Servomotors not Conforming to Any Standards With Incremental Encoder D Cable Models Model Length (L) Outer diameter of sheath 8 dia.
Page 278 Chapter 5 Specifications For Cable Connector housing model: 172161-1 (Tyco Electronics AMP K.K.) Contact plug model: 10120-3000VE (Sumitomo 3M) Connector socket contact model: 170365-1 (Tyco Electronics AMP K.K.) Contact case model: 10320-52A0-008 (Sumitomo 3M) Crimping tool: 724649-1 Pulling tool: 724668-2 For Motor Contact plug model: 172169-1 (Tyco Electronics AMP K.K.)
Page 279 Chapter 5 Specifications D Wiring Signal Signal AWG24 Blue AWG24 White/Blue A– A– AWG24 Yellow AWG24 White/Yellow B– B– AWG24 Green AWG24 White/Green Z– Z– AWG22 Black AWG22 Red AWG24 Purple ABS+ ABS+ AWG24 White/Purple ABS– ABS– AWG24 White/Gray Reset (Reset) AWG24 White/Orange BAT–...
Page 280 Chapter 5 Specifications D Connection Configuration U-series 30-W to 750-W AC Servo- motor conforming to EC Directives FND-X-series Position Driver U-UE-series AC Servomotor con- forming to EC Directives with incre- mental encoder D Wiring Signal Signal AWG24 Blue AWG24 White/Blue A–...
Page 281 Chapter 5 Specifications D Connection Configuration U-series 30-W to 750-W AC Ser- vomotor conforming to EC Direc- FND-X-series Position Driver tives with absolute encoder D Wiring Signal Signal AWG24 Blue AWG24 White/Blue A– A– AWG24 Yellow AWG24 White/Yellow B– B– AWG24 Green AWG24 White/Green Z–...
Page 282 Chapter 5 Specifications H Encoder Cables for U-series 1-kW to 2-kW Servomotors with Incremental or Absolute Encoders Note To conform to EC Directives, use the recommended connectors (refer to 2-1-2 Installation Condi - tions ). D Cable Models Model Length (L) Outer diameter of sheath 10.3 dia.
Page 283 Chapter 5 Specifications D Wiring Signal Signal AWG24 Blue AWG24 White/Blue AWG24 Yellow AWG24 White/Yellow AWG24 Green AWG24 White/Green AWG22 Black AWG22 Red AWG22 Purple Not used. Not used. AWG24 White/Purple Not used. Not used. AWG24 White/Gray Reset Reset AWG24 White/Orange AWG24 Orange AWG22 Green/Yellow Shell...
Page 284 Cable: AWG22 × 3P + 3C UL2589 For Cable Plug housing model: SMP-10V-NC (J.S.T. Mfg. Co., Ltd.) Contact plug model: XM2A-1501 (OMRON) Contact socket model: BHF-001GI-0.8BS (J.S.T. Mfg. Co., Ltd.) Contact case model: XM2S-1511 (OMRON) Crimping tool: YC-12 Pulling tool:...
Page 285: Resolver Cables
S– Cable: AWG22 × 4P Contact cover model: XM2S-1511 (OMRON) Contact plug model: 10120-3000VE (Sumitomo 3M) Contact socket model: XM2D-1501 (OMRON) Contact case model: 10320-52A0-008 (Sumitomo 3M) Fixture model: XM2Z-0001 (OMRON) 5-3-5 Resolver Cables H Resolver and Conversion Cables for M-series Servomotors...
Page 286 Chapter 5 Specifications D Wiring Signal Signal Red/White Yellow/White Shield Black Shield Yellow Blue Shield Cable: AWG24 x 3P Connector Model For Cable Socket: JRC-16WPQ-7S (Hirose Electric) Connector plug model: MR-20F (Honda Tsushin Kogyo Co., Ltd.) Plug: JRC-16WPQ-CP10 (Hirose Electric) Connector case model: MR-20L (Honda Tsushin Kogyo Co., Ltd.) For Motor Receptacle:...
Page 287 Chapter 5 Specifications H Resolver Cables for M-series Servomotors D Cable Models Model Length (L) Outer diameter of sheath 8.2 dia. R88M-CRMA003N R88M-CRMA005N R88M-CRMA010N 10 m R88M-CRMA015N 15 m R88M-CRMA020N 20 m R88M-CRMA030N 30 m R88M-CRMA040N 40 m R88M-CRMA050N 50 m Note The maximum distance between the Servomotor and the Position Driver is 20 m.
Page 288: Power Cables
Chapter 5 Specifications 5-3-6 Power Cables H Power Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards and U-UE-series Servomotors not Conforming to Any Standards without Brake D Cable Models Model Length (L) Outer diameter of sheath 5.8 dia. R88A-CAU003S R88A-CAU005S R88A-CAU010S...
Page 289 Chapter 5 Specifications H Power Cables for U-series 30-W to 750-W Servomotors Conforming to UL/cUL Standards and U-UE-series Servomotors not Conforming to Any Standards With Brake D Cable Models Model Length (L) Outer diameter of sheath R88A-CAU003B 6.8 dia. R88A-CAU005B R88A-CAU010B 10 m R88A-CAU015B...
Page 290 Chapter 5 Specifications H Power Cables for U-series 30-W to 750-W and U-UE-series Servomotors D Cable Models Model Length (L) Outer diameter of sheath Remarks R88A-CAU001 5.8 dia. For models without brake R88A-CAU01B 6.8 dia. For models with brake Note 1. The power cable comes in units of 1 m. Cut the cable as required to make the specified length. Note 2.
Page 291 Chapter 5 Specifications R88A-CAU01B AC Servomotor Position Driver AWG20 Red U-phase White AWG20 White V-phase Blue AWG20 Blue W-phase Green AWG20 Green /Yellow AWG20 Black Brake Black AWG20 Black Brake 24 VDC ±10% (no polarity) AWG20 × 4C Cable: UL2517 H Power Cables for U-series 1-kW to 2-kW Servomotors Without Brake Note To conform to EC Directives, use the recommended connectors (refer to 2-1-2 Installation Condi - tions ).
Page 292 Chapter 5 Specifications D Wiring Signal AWG12 U-phase White AWG12 V-phase Black AWG12 W-phase Green AWG12 Cable: AWG12 × 4C V5.5-4 Crimp terminals For Cable Connector plug model: MS3106B18-10S Cable clamp model: MS3057-10A For Motor Receptacle MS3102A18-10P H Power Cables for U-series 1-kW to 2-kW Servomotors With Brake Note To conform to EC Directives, use the recommended connectors (refer to 2-1-2 Installation Condi - tions ).
Page 293 Chapter 5 Specifications D Wiring Signal AWG12 U-phase AWG12 White V-phase AWG12 Black W-phase AWG12 Green AWG12 Brown Brake AWG12 Yellow Brake Cable: AWG12 × 6C V5.5-4 Crimp terminals For Cable Connector plug model: MS3106B20-15S Cable clamp model: MS3057-12A For Motor Receptacle model: MS3102A20-15P H Power Cables for H-series Servomotors Without Brake D Cable Models...
Page 294 Chapter 5 Specifications D Wiring Signal A-phase White B-phase Blue C-phase Green AWG18 × 4 Cable: M4 Crimp terminals AWG16 x 4 UL2517 For Cable Plug housing model: LP-04-1 (J.S.T. Mfg. Co., Ltd.) Contact socket model: LLF-61T-2.0 (J.S.T. Mfg. Co., Ltd.) Crimping tool: YC-9 Pulling tool:...
Page 295 Chapter 5 Specifications D Wiring Signal A-phase White B-phase Blue C-phase Green Black Brake Black Brake AWG18 × 6 Cable: M4 Crimp terminals AWG16 x 4 + AWG20 x 2 UL2517 For Cable Plug housing model: LP-06-1 (J.S.T. Mfg. Co., Ltd.) Contact socket model: LLF-61T-2.0 (J.S.T.
Page 296: Chapter 6. Compobus/S Specifications
Chapter 6 CompoBus/S Specifications CompoBus/S Configuration Requirements CompoBus/S Communications Specifications Connecting a CompoBus/S System...
Page 297: Compobus/S Configuration Requirements
Chapter 6 CompoBus/S Specifications CompoBus/S Configuration Requirements The CompoBus/S is configured as shown in the following diagram. Special flat cable Terminating resistance Master Slave Slave Slave Communications power supply Slave Slave Slave Main line T: T-branch method M: Multi-drop method Branch line Power supply cable Masters...
Page 298 Chapter 6 CompoBus/S Specifications H Types of Connection-related Devices Aside from Masters and Slaves, the following devices are used with a CompoBus/S System. D Cable Types The following table shows the two cable types and their specifications. Type Specifications VCTF (commercially available) Vinyl cord, VCTF, JIS C 3306 Two-core nominal cross-sectional area: 0.75 mm (signal line x 2)
Page 299: Compobus/S Communications Specifications
Chapter 6 CompoBus/S Specifications CompoBus/S Communications Specifications This section provides details for CompoBus/S communications. H Communications Specifications Item Specifications Communications Special CompoBus/S protocol method Communications 750,000 baud baud rate Modulation method Baseband method Coding method Manchester coding method Error control checks Manchester code check, frame length check, parity check Cable used Vinyl cord, VCTF, JIS C 3306: Two-core nominal cross-sectional area: 0.75 mm...
Page 300 Chapter 6 CompoBus/S Specifications Item Specifications Maximum number When a C200HW-SRM21 or SRM1-C01/02 Master Unit is Used (for C200HX/HG/HE, of I/O Points, maxi- o /O o ts, C200HS) mum number of Max. number of I/O Maximum number Communications connected Slaves, points of Slaves cycle time...
Page 301: Connecting A Compobus/S System
Chapter 6 CompoBus/S Specifications Connecting a CompoBus/S System This manual only explains the CompoBus/S wiring related to FND-X-series Position Drivers. For more information on connecting communications cables, wiring, Slaves, and so on, refer to the CompoBus/S Operation Manual (W266) . H Preparing Communications Cables When connecting CompoBus/S cable to the Position Driver, follow the procedure shown below to pre- pare the cable.
Page 302 A normal screwdriver which is thin only at the end will not fit all the way in. Small flat-head screwdriver of uniform thickness Note The XW4Z-00C Screwdriver is available from OMRON especially for this task. Shape of screwdriver’s head Side view Front view 0.6 mm...
Page 303 Chapter 6 CompoBus/S Specifications Note Connect the cable with enough room so that it will not be pulled or bent. Also be sure not to place heavy objects on the cable cord, or it may cause short circuiting. 5. Use a flat-head screwdriver to fasten the two screws that were loosened in step 1 to a torque of 0.2 NSm.
Page 304 Chapter 7 Appendices Standard Models Parameter Settings Tables...
Page 305 Chapter 7 Appendices Standard Models H Position Drivers Specifications Model DIO Type 200-VAC input FND-X06H 12 A FND-X12H 25 A FND-X25H 50 A FND-X50H 100-VAC input FND-X06L 12 A FND-X12L CompoBus/S Type 200-VAC input FND-X06H-SRT 12 A FND-X12H-SRT 25 A FND-X25H-SRT 50 A FND-X50H-SRT...
Page 306 Chapter 7 Appendices H Cable, Conversion Unit, Connector for External Control Signals Specification Model Connector-Terminal Block FND-CTX002N Conversion Unit Cable Connector-Terminal Block M3 screws XW2B-20G4 Conversion Unit M3.5 screws XW2B-20G5 External Control Signal (CN4) Connector R88A-CNX01C Note When wiring the external control signal (C4) for the CompoBus/S type, either use the Unit in com- bination with a Connector-Terminal Block Conversion Unit and Cable, or prepare a cable yourself for the CN4 connector.
Page 307 Chapter 7 Appendices H U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards with U-series Absolute Encoder Specifications Model Straight shafts with Standard (without 3,000 r/min 30 W R88M-U03030TA no keys b k ) brake) 50 W R88M-U05030TA 100 W R88M-U10030TA 200 W R88M-U20030TA...
Page 308 Chapter 7 Appendices H U-series 30 to 750-W AC Servomotors Conforming to EC Directives with Absolute Encoder Specifications Model Straight shafts with Standard (without 3,000 r/min 30 W R88M-U03030XA-S1 no keys b k ) brake) 50 W R88M-U05030XA-S1 100 W R88M-U10030XA-S1 200 W R88M-U20030XA-S1...
Page 309 Chapter 7 Appendices H U-series 1 to 2-kW AC Servomotors Not Conforming to Any Standards with Incremental Encoder Specifications Model Straight shafts with Standard (without 3,000 r/min 1 kW R88M-U1K030H no keys b k ) brake) 1.5 kW R88M-U1K530H 2 kW R88M-U2K030H Standard (with 3,000 r/min...
Page 310 Chapter 7 Appendices H H-series AC Servomotors with Incremental Encoder Specifications Model Straight shafts with Standard (without 3,000 r/min 50 W R88M-H05030 keys b k ) brake) 100 W R88M-H10030 200 W R88M-H20030 300 W R88M-H30030 500 W R88M-H50030 750 W R88M-H75030 1100 W R88M-H1K130...
Page 311 Chapter 7 Appendices H M-series AC Servomotors with Resolver Specifications Model Straight shafts with Standard (without 1,200 r/min 200 W R88M-M20012 keys b k ) brake) 400 W R88M-M40012 700 W R88M-M70012 1100 W R88M-M1K112 1400 W R88M-M1K412 1800 W R88M-M1K812 2,000 r/min 200 W...
Page 312 Chapter 7 Appendices H Encoder Cable for U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards Specifications Model For Servomotors with incremental encoders. R88A-CRU003C R88A-CRU005C (With connectors on both sides.) (With connectors on both sides.) 10 m R88A-CRU010C 15 m R88A-CRU015C 20 m R88A-CRU020C...
Page 313 Chapter 7 Appendices H Encoder Cable for U-UE-series AC Servomotors Conforming to EC Directives Specifications Model For Servomotors with incremental encoders. R88A-CRUD003C R88A-CRUD005C (With connectors on both sides.) (With connectors on both sides.) 10 m R88A-CRUD010C 15 m R88A-CRUD015C 20 m R88A-CRUD020C Cable only 1-m units...
Page 314 Chapter 7 Appendices H Power Cable for U-series 30 to 750-W AC Servomotors Conforming to UL/cUL Standards Specifications Model Cable with connector on both sides for Servomotor R88A-CAU003S without brake R88A-CAU005S 10 m R88A-CAU010S 15 m R88A-CAU015S 20 m R88A-CAU020S Cable only 1-m units R88A-CAU001...
Page 315 Chapter 7 Appendices H Power Cable for U-UE-series AC Servomotors Conforming to EC Directives Specifications Model For Servomotor without brake 1-m units R88A-CAU001 For Servomotor with brake 1-m units R88A-CAU01B Note The above models are for the Cable only. H Power Cable for U-series 1 to 2-kW AC Servomotors Specifications Model Cable with connector on both sides for Servomotor...
Page 316 Chapter 7 Appendices Parameter Settings Tables H User Parameters (UP-01 to UP-29) Name Min. unit Setting Factory Explanation Re-power range setting required? value Control mode --- 00 to Specifies position control mode: 11: Point positioning (PTP) 12: Point positioning (feeder) 13: Direct positioning (PTP) 14: Direct positioning (feeder) Motor code...
Page 317 0.0 to Specifies the regeneration regeneration 100.0 absorption value (Ω). resistance * Only valid for FND-X50H-j. value * When using an OMRON- made external Regeneration Resistor, set to 30.0 (Ω). External 0.01 kW 0.00 to 0.00 Specifies the regeneration regeneration 327.67...
Page 318 Chapter 7 Appendices H H Parameters (HP-33, HP-46) Name Min. Setting Factory Explanation Re-power unit range setting required? value Load rate 1 to 60 Specifies interval for effective time load factor calculation to value obtained from machine cycle time multiplied by integer. In-position 3.2 ms 3.2 to...
Page 319 Chapter 7 Appendices H PTP Parameters (PP-01 to PP-26) Name Min. Setting Factory Explanation Re-power unit range setting required? value Minimum set- 0.0001 0.0001 Specifies basic unit for move- ting unit to 1 ment and speed value setting and display. Pulse rate 1 1 revo- 1 to...
Page 320 Chapter 7 Appendices Name Min. Setting Factory Explanation Re-power unit range setting required? value JOG speed 1 to Specifies motor r/min in JOG operation as override value based on reference speed. Origin search 1 to Specifies origin proximity high speed search speed in origin search operation as override value based on reference speed.
Page 321 Chapter 7 Appendices Name Min. Setting Factory Explanation Re-power unit range setting required? value Deceleration 1 ms 0 to Specifies time spent in deceler- time 1 9,999 ating reference speed to a stop. * This value is valid if the Posi- tion Driver is in point position- ing operation.
Page 322 Chapter 7 Appendices H PTP Data (Pd01j to Pd64j) D Explanation of Settings Name Minimum Setting Factory Description setting range setting unit Specifies point No. jj position data. Point No. jj (PP-01) (I/A) (I) 0 A value between –39,999,999 and 39,999,999 position data –3,999 (leftmost digits)
Page 323 Chapter 7 Appendices Position data Speed data Speed data Acceleration/ Acceleration/ Operation Operation deceleration deceleration mode (r) mode (r) (I/A) Leftmost (H) Rightmost (L) selection (A) selection (A) 7-20...
Page 324 Chapter 7 Appendices Position data Speed data Speed data Acceleration/ Acceleration/ Operation Operation deceleration deceleration mode (r) mode (r) (I/A) Leftmost (H) Rightmost (L) selection (A) selection (A) H Adjustment Parameters (AJ2 to AJ9) Parameter name Min. unit Setting Factory Explanation Set val- range...
Page 325 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I524-E1-4 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.

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Chapter 1. Introduction

Chapter 2. Design and Installation

Chapter 3. Operation

Chapter 4 . Application

Chapter 5. Specifications

Chapter 6. Compobus/S Specifications

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