Omron G5 Series User Manual
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Omron G5 Series User Manual

Ac servomotors/servo drives. pulse-train input type
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AC SERVOMOTORS/SERVO DRIVES
G5-series
Pulse-train Input Type
User's Manual
R88D-KE (AC Servomotors)
R88M-KP (AC Servo Drives)
I584-E1-02

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Summary of Contents for Omron G5 Series

  • Page 1 AC SERVOMOTORS/SERVO DRIVES G5-series Pulse-train Input Type User’s Manual R88D-KE (AC Servomotors) R88M-KP (AC Servo Drives) I584-E1-02...
  • Page 2 OMRON Corporation Cat. No. I584-E1-02 Thank you for supporting OMRON and OMRON products. Some mistakes were discovered in the manual listed below. We sincerely apologize for these mistakes. Please mark your manual so that the corrections are noted on the pages concerned, and then securely add any required pages from this Notification to the rear of the manual.
  • Page 3 Page 2-53 For 1,000-r/min Servomotors (900 W to 3 kW) Current Contents Corrected Contents...
  • Page 4 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 5: Introduction

    Introduction Introduction Thank you for purchasing an OMNUC G5-series Servo Drive (Pulse-train Input Type). This User’s Manual describes the installation and wiring methods of the OMNUC G5-series Servo Drives (Pulse- train Input Type) and parameter setting method which is required for the operation, as well as troubleshooting and inspection methods.

  • Page 6: Read And Understand This Manual

    PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted.
  • Page 7 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 8 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.

  • Page 9: Safety Precautions

    Safety Precautions Safety Precautions To ensure that the OMNUC G5-series (Pulse-train Input Type) Servomotor/Servo Drive as well as peripheral equipment are used safely and correctly, be sure to read this Safety Precautions section and the main text before using the product. Learn all items you should know before use, regarding the equipment as well as the required safety information and precautions.
  • Page 10 When using this product, be sure to install the covers and shields as specified and use the product according to this User’s Manual. If the product has been stored for an extended period of time, contact your OMRON sales representative.
  • Page 11 Safety Precautions DANGER Do not place flammable materials near the Servomotor, Servo Drive, or Regeneration Resistor. Fire may result. Install the Servomotor, Servo Drive, and Regeneration Resistor on non-flammable materials such as metals. Fire may result. Do not use the Servomotor with cables submerged in oil or water. Electric shock, injury, or fire may result.
  • Page 12 Safety Precautions Storage and Transportation Caution When transporting the Servo Drive, do not hold it by the cables or Servomotor shaft. Injury or failure may result. Do not overload the Servo Drive or Servomotor. (Follow the instructions on the product label.) Injury or failure may result.
  • Page 13 Safety Precautions Installation and Wiring Caution Do not step on the Servo Drive or place heavy articles on it. Injury may result. Do not block the intake or exhaust openings. Do not allow foreign objects to enter the Servo Drive. Fire may result.
  • Page 14 Safety Precautions Operation and Adjustment Caution Conduct a test operation after confirming that the equipment is not affected. Equipment damage may result. Before operating the Servo Drive in an actual environment, check if it operates correctly based on the parameters you have set. Equipment damage may result.
  • Page 15 Safety Precautions Maintenance and Inspection Caution After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting operation. Equipment damage may result. Never repair the Servo Drive by disassembling it. Electric shock or injury may result. Be sure to turn OFF the power supply when the Servo Drive is not going to be used for a prolonged period of time.
  • Page 16 Safety Precautions Location of Warning Label The Servo Drive bears a warning label at the following location to provide handling warnings. When handling the Servo Drive, be sure to observe the instructions provided on this label. 1 Ø 2 .2 R IA 3 Ø...

  • Page 17: Items To Check After Unpacking

    They must be prepared by the customer. • If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or sales office where you purchased your product.

  • Page 18: Revision History

    Revision History Revision History The manual revision code is a number appended to the end of the catalog number found in the bottom right-hand corner of the front and back covers. Example I584-E1-02 Cat.No. Revision code Revision Revision Date Revised Content Code April 2012 Original production...

  • Page 19: Manual Configuration

    Appendices The appendices provide connection examples with OMRON’s PLC and Position Controller, as well as lists of parameters. OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 20: Manual Structure

    Manual Structure Manual Structure Page Structure and Symbol Icons The following page structure and symbol icons are used in this User’s Manual. 6 Applied Functions Level 1 heading 6-11 Disturbance Observer Function Level 2 heading 6-11-1 Outline of the Function Level 3 heading The disturbance observer function enables you to lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value.
  • Page 21 Manual Structure Special Information Special information in this manual is classified as follows: Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product. Precautions for Correct Use Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance.
  • Page 22 Manual Structure OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 23: Sections In This Manual

    Sections in this Manual Sections in this Manual Features and System Troubleshooting Configuration and Maintenance Models and External Appendices Dimensions Specifications System Design Basic Control Mode Applied Functions Parameter Details Operation Adjustment Functions OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 24: Table Of Contents

    CONTENTS CONTENTS Introduction ....................... 1 Read and Understand this Manual ................2 Safety Precautions ....................5 Items to Check After Unpacking ................13 Revision History ...................... 14 Manual Configuration ..................... 15 Manual Structure ..................... 16 Sections in this Manual ..................19 CONTENTS ......................
  • Page 25 CONTENTS External and Mounting Dimensions ..................2-22 2-4-1 Servo Drive Dimensions ......................2-22 2-4-2 Servomotor Dimensions ......................2-31 2-4-3 Combinations of Servomotors and Decelerators ..............2-40 2-4-4 Decelerator Dimensions ......................2-42 2-4-5 External Regeneration Resistor Dimensions ................2-56 2-4-6 Reactor Dimensions ......................... 2-57 2-4-7 Mounting Bracket (L-brackets for Rack Mounting) Dimensions ..........
  • Page 26 CONTENTS Wiring Conforming to EMC Directives................. 4-20 4-3-1 Wiring Method........................... 4-20 4-3-2 Selecting Connection Components................... 4-26 Regenerative Energy Absorption..................4-39 4-4-1 Calculating the Regenerative Energy..................4-39 4-4-2 Servo Drive Regeneration Absorption Capacity ............... 4-41 4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor....... 4-42 4-4-4 Connecting an External Regeneration Resistor ................
  • Page 27 CONTENTS Sequence I/O Signals ......................6-33 6-9-1 Outline of the Function......................6-33 6-9-2 Input Signals ..........................6-33 6-9-3 Output Signals .......................... 6-36 6-10 Forward and Reverse Drive Prohibition Functions ............6-38 6-10-1 Outline of the Function......................6-38 6-10-2 Parameters Requiring Settings....................6-38 6-11 Disturbance Observer Function...................
  • Page 28 CONTENTS Mode Setting ..........................8-6 8-4-1 Changing the Mode........................8-6 8-4-2 Monitor Mode ..........................8-7 8-4-3 Parameter Setting Mode ......................8-19 8-4-4 Parameter Write Mode ......................8-21 8-4-5 Auxiliary Function Mode......................8-22 Trial Operation ........................8-28 8-5-1 Preparations for Trial Operation ....................8-28 8-5-2 Trial Operation in Position Control Mode...................
  • Page 29 Features and System Configuration This section explains the features of the Servo Drive, name of each part, and applicable EC Directives and UL standards. 1-1 Outline ............1-2 1-1-1 Outline of OMNUC G5-series Servo Drives (Pulse-train Input Type) .

  • Page 30: Outline

    1 Features and System Configuration Outline 1-1-1 Outline of OMNUC G5-series Servo Drives (Pulse-train Input Type) The OMNUC G5-series Servo Drives (Pulse-train Input Type) are AC Servo Drives with the position control and speed control capabilities. The OMNUC G5-series provides a wide portfolio of products, which supports the motor capacity from 50 W to 5 kW and 200 V input power supply, to suit various applications of customers.

  • Page 31: System Configuration

    1 Features and System Configuration System Configuration SYSMAC SYSMAC + Position Control Unit (Pulse-train output Type) + Position Control Unit (Pulse-train output Type) NC41 4 SYNC ERC ERH PA202 SYSMAC POWER CJ1G-CPU44 ERR/ALM PROGRAMMABLE CONTROLLER PRPHL COMM OPEN MAC H MCPWR BUSY AC100...

  • Page 32: Names And Functions

    1 Features and System Configuration Names and Functions 1-3-1 Servo Drive Part Names Display Analog monitor connector (CN5) Operation area USB connector (CN7) Main circuit power supply terminals (L1, L2, and L3) Control circuit power supply terminals (L1C and L2C) Charge Lamp Control I/O connector (CN1) External regeneration resistor...

  • Page 33: Servo Drive Functions

    1 Features and System Configuration 1-3-2 Servo Drive Functions Display A 6-digit 7-segment LED display shows the drive status, alarm numbers, parameters, and other information. Operation Area This area is used to monitor the parameter settings and drive status. Charge Lamp Lights when the main circuit power supply is turned ON.

  • Page 34: System Block Diagram

    1 Features and System Configuration System Block Diagram R88D-KP01H/-KP02H/-KP04H CN B CN A FUSE FUSE Voltage detection FUSE SW power 15 V Relay Regeneration Overcurrent Current detection Gate drive supply main drive control detection circuit control 3.3 V Display and Internal 2.5 V setting circuit...
  • Page 35 1 Features and System Configuration R88D-KP08H/-KP10H/-KP15H CN B CN A FUSE Internal Regeneration Resistor FUSE Voltage detection FUSE SW power 15 V Relay Regeneration Overcurrent Current detection Gate drive supply main control drive detection circuit control 3.3 V Display and Internal 2.5 V setting circuit...
  • Page 36 1 Features and System Configuration R88D-KP20H CN C CN A FUSE Internal Regeneration Resistor FUSE CN B Voltage detection FUSE SW power 15 V Relay Regeneration Overcurrent Current detection Gate drive supply main control drive detection circuit control 3.3 V Display and Internal 2.5 V...
  • Page 37 1 Features and System Configuration R88D-KP30H/-KP50H FUSE Internal Regeneration Resistor FUSE Voltage detection FUSE SW power 15 V Relay Regeneration Overcurrent Current detection Gate drive supply main control drive detection circuit control 3.3 V Display and Internal 2.5 V setting circuit control MPU &...

  • Page 38: Applicable Standards

    1 Features and System Configuration Applicable Standards 1-5-1 EC Directives EC directive Product Applicable standards Low Voltage AC Servo Drives EN61800-5-1 Directive AC Servomotors EN60034-1/-5 EMC Directive AC Servo Drives EN55011 class A group1 IEC61800-3 EN61000-6-2 Note To conform to EMC Directives, the Servomotor and Servo Drive must be installed under the conditions described in 4-3 Wiring Conforming to EMC Directives on page 4-20.

  • Page 39: Models And External Dimensions

    Models and External Dimensions This section explains the models of Servo Drives, Servomotors, Decelerators, and peripheral devices, and provides the external dimensions and mounting dimensions. 2-1 Servo System Configuration ........2-2 2-2 How to Read Model Numbers .

  • Page 40: Servo System Configuration

    2 Models and External Dimensions Servo System Configuration Support Software Support Software CX-One FA Integrated CX-One FA Integrated ● ● Controller Tool Package Tool Package CX-Programmer, (Including CX-Drive) CX-Position, and CX-Motion High-speed type Direct Connection Cable for CJ1W-NC NC414 XW2Z- SYNC ERC ERH SYSMAC...
  • Page 41 2 Models and External Dimensions AC Servomotor AC Servo Drive USB communications Motor power signals Power Cables Global Non-Flexible Cables • Without Brake R88A-CA • With Brake R88A-CA Global Flexible Cables • Without Brake R88A-CA • With Brake R88A-CA Brake Cables (50 to 750 W max.) Global Non-Flexible Cable R88A-CAGA Global Flexible Cable...

  • Page 42: How To Read Model Numbers

    2 Models and External Dimensions How to Read Model Numbers 2-2-1 Servo Drive The Servo Drive model number tells the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc. R88D-KP01H OMNUC G5-series Servo Drive Drive Type P: Pulse-train input type Maximum Applicable Servomotor Capacity 01: 100 W 02: 200 W...

  • Page 43: Servomotor

    2 Models and External Dimensions 2-2-2 Servomotor R88M-KE10030H-BOS2 OMNUC G5-series Servomotor Motor Type E: Economy type Servomotor Capacity : 50 W : 100 W : 200 W : 400 W : 750 W : 900 W : 1 kW : 1.5 kW : 2 kW : 3 kW : 4 kW...

  • Page 44: Decelerator (Backlash: 3 Arcminutes Max.)

    2 Models and External Dimensions 2-2-3 Decelerator (Backlash: 3 Arcminutes max.) R88G-HPG14A05100SBJ Decelerator for G5-Series Servomotor Backlash: 3 Arcminutes max. Flange Size Number 11B: 14A: 20A: 32A: 50A: 65A: Gear Ratio 05: 1/5 09: 1/9 (only for flange number 11A) 11: 1/11 (except for flange number 65A) 20: 1/20 (only for flange number 65A) 21: 1/21 (except for flange number 65A)

  • Page 45: Decelerator (Backlash: 15 Arcminutes Max.)

    2 Models and External Dimensions 2-2-4 Decelerator (Backlash: 15 Arcminutes max.) R88G-VRSF09B100CJ Decelerator for G5-Series Servomotor Backlash: 15 Arcminutes max. Gear Ratio 05: 1/5 09: 1/9 15: 1/15 25: 1/25 Flange Size Number Applicable Servomotor Capacity : 50 W : 100 W : 200 W : 400 W : 750 W...

  • Page 46: Model Tables

    2 Models and External Dimensions Model Tables 2-3-1 Servo Drive Model Table Specifications Model Single-phase/3-phase 200 VAC 100 W R88D-KP01H 200 W R88D-KP02H 400 W R88D-KP04H 750 W R88D-KP08H 1 kW R88D-KP10H 1.5 kW R88D-KP15H 3-phase 200 VAC 2 kW R88D-KP20H 3 kW R88D-KP30H...
  • Page 47 2 Models and External Dimensions With brake Model Specifications With incremental encoder Straight shaft without key Straight shaft with key and tap 200 V 50 W R88M-KE05030H-B R88M-KE05030H-BS2 100 W R88M-KE10030H-B R88M-KE10030H-BS2 200 W R88M-KE20030H-B R88M-KE20030H-BS2 400 W R88M-KE40030H-B R88M-KE40030H-BS2 750 W R88M-KE75030H-B R88M-KE75030H-BS2...
  • Page 48 2 Models and External Dimensions 1,000-r/min Servomotors Without brake Model Specifications With incremental encoder Straight shaft without key Straight shaft with key and tap 200 V 900 W R88M-KE90010H R88M-KE90010H-S2 2 kW R88M-KE2K010H R88M-KE2K010H-S2 3 kW R88M-KE3K010H R88M-KE3K010H-S2 With brake Model Specifications With incremental encoder...

  • Page 49: Servo Drive And Servomotor Combination Tables

    2 Models and External Dimensions 2-3-3 Servo Drive and Servomotor Combination Tables The tables in this section show the possible combinations of OMNUC G5-series (Pulse-train Input Type) Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations.

  • Page 50: Decelerator Model Tables

    2 Models and External Dimensions 2-3-4 Decelerator Model Tables The following tables list the Decelerator models for OMNUC G5-series Servomotors. Select a decelerator based on the Servomotor capacity. Backlash: 3 Arcminutes max. For 3,000-r/min Servomotors Specifications Model Servomotor Gear ratio capacity 50 W R88G-HPG11B05100B...
  • Page 51 2 Models and External Dimensions Specifications Model Servomotor Gear ratio capacity 1 kW R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG50A332K0B 1/45 R88G-HPG50A451K5B 1.5 kW R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG32A211K5B 1/33 R88G-HPG50A332K0B 1/45 R88G-HPG50A451K5B 2 kW R88G-HPG32A052K0B 1/11 R88G-HPG32A112K0B 1/21 R88G-HPG50A212K0B 1/33 R88G-HPG50A332K0B 3 kW...
  • Page 52 2 Models and External Dimensions For 2,000-r/min Servomotors Specifications Model Servomotor Gear ratio capacity 1 kW R88G-HPG32A053K0B 1/11 R88G-HPG32A112K0SB 1/21 R88G-HPG32A211K0SB 1/33 R88G-HPG50A332K0SB 1/45 R88G-HPG50A451K0SB 1.5 kW R88G-HPG32A053K0B 1/11 R88G-HPG32A112K0SB 1/21 R88G-HPG50A213K0B 1/33 R88G-HPG50A332K0SB 2 kW R88G-HPG32A053K0B 1/11 R88G-HPG32A112K0SB 1/21 R88G-HPG50A213K0B 1/33 R88G-HPG50A332K0SB...
  • Page 53 2 Models and External Dimensions For 1,000-r/min Servomotors Specifications Model Servomotor Gear ratio capacity 900 W R88G-HPG32A05900TB 1/11 R88G-HPG32A11900TB 1/21 R88G-HPG50A21900TB 1/33 R88G-HPG50A33900TB 2 kW R88G-HPG32A052K0TB 1/11 R88G-HPG50A112K0TB 1/21 R88G-HPG50A212K0TB 1/25 R88G-HPG65A255K0SB 3 kW R88G-HPG50A055K0SB 1/11 R88G-HPG50A115K0SB 1/20 R88G-HPG65A205K0SB 1/25 R88G-HPG65A255K0SB Note 1 The standard shaft type is a straight shaft.

  • Page 54: Cable And Peripheral Device Model Tables

    2 Models and External Dimensions 2-3-5 Cable and Peripheral Device Model Tables Encoder Cables (Global Non-Flexible Cable) Specifications Model [200 V] R88A-CRGB003C For 3,000-r/min Servomotors of 50 to 750 W R88A-CRGB005C 10 m R88A-CRGB010C 15 m R88A-CRGB015C 20 m R88A-CRGB020C [200 V] R88A-CRGC003N 3,000-r/min Servomotors of 1.0 kW or more...
  • Page 55 2 Models and External Dimensions Encoder Cables (Global Flexible Cable) Specifications Model [200 V] R88A-CRGB003CR For 3,000-r/min Servomotors of 50 to 750 W R88A-CRGB005CR 10 m R88A-CRGB010CR 15 m R88A-CRGB015CR 20 m R88A-CRGB020CR [200 V] R88A-CRGC003NR 3,000-r/min Servomotors of 1.0 kW or more R88A-CRGC005NR For 2,000-r/min Servomotors 10 m...
  • Page 56 2 Models and External Dimensions Analog Monitor Cable Specifications Model Analog Monitor Cable R88A-CMK001S Connectors Specifications Model Motor Connector for Encoder Cable [200 V] R88A-CNG02R For 3,000-r/min of 50 to 750 W Control I/O Connector (CN1) R88A-CNU11C Encoder Connector (CN2) R88A-CNW01R Power Cable Connector (for 750 W max.) R88A-CNG01A...
  • Page 57 2 Models and External Dimensions Servo Relay Unit Cables (Servo Drive) Specifications Model Servo Drive Cable For NC Unit (XW2B- J6- B) XW2Z-100J-B25 For CQM1 (XW2B-20J6-3B) XW2Z-200J-B25 For CJ2M-CPU31/-CPU32/-CPU33/-CPU34/-CPU35 XW2Z-100J-B31 For CJ2M-CPU11/-CPU12/-CPU13/-CPU14/-CPU15 XW2Z-200J-B31 (XW2B-20J6-8A/XW2B-40J6-9A) For FQM1-MMP22 XW2Z-100J-B26 (XW2B-80J7-12A) XW2Z-200J-B26 Servo Relay Unit Cables (Position Control Unit) Specifications Model Position Control...
  • Page 58 2 Models and External Dimensions Control Cables Specifications Model Specified cables for Position Control Unit (for line driver output 1 axis) XW2Z-100J-G9 CJ1W-NC234/-NC434 XW2Z-500J-G9 10 m XW2Z-10MJ-G9 Specified cables for Position Control Unit (for open collector output 1 axis) XW2Z-100J-G13 CJ1W-NC214/-NC414 XW2Z-300J-G13 Specified cables for Position Control Unit (for line driver output 2 axes)
  • Page 59 2 Models and External Dimensions Reactors Specifications Model Reactor type R88D-KP01H (For single-phase input) 3G3AX-DL2002 DC reactor R88D-KP02H (For single-phase input) 3G3AX-DL2004 R88D-KP04H (For single-phase input) 3G3AX-DL2007 R88D-KP08H/-KP10H (For single-phase input) 3G3AX-DL2015 R88D-KP15H (For single-phase input) 3G3AX-DL2022 R88D-KP01H/-KP02H/-KP04H/ 3G3AX-AL2025 AC reactor -KP08H/-KP10H/-KP15H (For 3-phase input) R88D-KP20H/-KP30H 3G3AX-AL2055...

  • Page 60: External And Mounting Dimensions

    2 Models and External Dimensions External and Mounting Dimensions 2-4-1 Servo Drive Dimensions Single-phase/3-phase 200 VAC: R88D-KP01H/-KP02H (100 to 200 W) Wall Mounting External Dimensions Mounting dimensions 2-M4 2 - 22 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 61 2 Models and External Dimensions Front Mounting (Using Front Mounting Brackets) External Dimensions Mounting dimensions 19.5 φ5.2 2-M4 Rectangular hole (42)* * Rectangular hole dimensions are reference values. OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 2 - 23...
  • Page 62 2 Models and External Dimensions Single-phase/3-phase 200 VAC: R88D-KP04H (400 W) Wall Mounting External Dimensions Mounting dimensions 2-M4 Front Mounting (Using Front Mounting Brackets) External Dimensions Mounting dimensions 19.5 2-M4 φ5.2 Rectangular hole R2.6 (57)* * Rectangular hole dimensions are reference values. 2 - 24 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 63 2 Models and External Dimensions Single-phase/3-phase 200 VAC: R88D-KP08H (750 W) Wall Mounting External Dimensions Mounting dimensions 2-M4 Front Mounting (Using Front Mounting Brackets) External Dimensions Mounting dimensions 19.5 2-M4 φ5.2 Rectangular hole R2.6 (67)* * Rectangular hole dimensions are reference values. OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 2 - 25...
  • Page 64 2 Models and External Dimensions Single-phase/3-phase 200 VAC: R88D-KP10H/-KP15H (900 W to 1.5 kW) Wall Mounting External Dimensions Mounting dimensions 2-M4 Front Mounting (Using Front Mounting Brackets) External Dimensions Mounting dimensions 19.5 4-M4 φ5.2 φ5.2 Rectangular hole R2.6 R2.6 (88)* * Rectangular hole dimensions are reference values.
  • Page 65 2 Models and External Dimensions 3-phase 200 VAC: R88D-KP20H (2 kW) Wall Mounting External Dimensions 193.5 17.5 φ5.2 42.5 R2.6 R2.6 R2.6 R2.6 φ5.2 42.5 17.5 Mounting dimensions 6-M4 18.5 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 2 - 27...
  • Page 66 2 Models and External Dimensions Front Mounting (Using Front Mounting Brackets) External Dimensions 193.5 17.5 φ5.2 42.5 30.7 R2.6 R2.6 R2.6 R2.6 φ5.2 42.5 17.5 Mounting dimensions 6-M4 Rectangular hole 19.5 (88)* * Rectangular hole dimensions are reference values. 2 - 28 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 67 2 Models and External Dimensions 3-phase 200 VAC: R88D-KP30H/-KP50H (3 to 5 kW) Wall Mounting External Dimensions φ5.2 R2.6 R2.6 R2.6 R2.6 φ5.2 Mounting dimensions 6-M4 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 2 - 29...
  • Page 68 2 Models and External Dimensions Front Mounting (Using Front Mounting Brackets) External Dimensions 40.7 φ5.2 R2.6 R2.6 R2.6 R2.6 φ5.2 Mounting dimensions 6-M4 Rectangular hole (132)* * Rectangular hole dimensions are reference values. 2 - 30 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 69: Servomotor Dimensions

    2 Models and External Dimensions 2-4-2 Servomotor Dimensions 3,000-r/min Servomotors (200 V) 50 W/100 W (without Brake) R88M-KE05030H (-S2)/-KE10030H (-S2) Encoder connector Motor connector (Shaft end specifications with key and tap) ( 27 ) (20 ) 12.5 (Key groove P9) M3 (depth 6) 1.5 min.
  • Page 70 2 Models and External Dimensions 200 W/400 W (without Brake) R88M-KE20030 (-S2)/-KE40030 (-S2) Encoder connector Motor connector 22.5 (Shaft end specifications with key and tap) (36) (30) 20 (200 W) 4h9 (200 W) 4-φ4.5 25 (400 W) 5h9 (400 W) 18 (200 W) 22.5 (400 W) (Key groove P9)
  • Page 71 2 Models and External Dimensions 750 W (without Brake) R88M-KE75030H (-S2) Encoder connector Motor connector 112.2 (Shaft end specifications 25.5 86.7 with key and tap) ( 36 ) (30) 4-φ6 (Key groove P9) M5 depth 10 1.5 min. Note The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
  • Page 72 2 Models and External Dimensions 1 kW/1.5 kW/2 kW (without Brake) R88M-KE1K030H (-S2)/-KE1K530H (-S2)/-KE2K030H (-S2) 1 kW/1.5 kW/2 kW (with Brake) R88M-KE1K030H-B (S2)/-KE1K530H-B (S2)/-KE2K030H-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder connector 4-ø9 M3, through M5 depth 12 Dimensions [mm] Model...
  • Page 73 2 Models and External Dimensions 4 kW/5 kW (without Brake) R88M-KE4K030H (-S2)/-KE5K030H (-S2) 4 kW/5 kW (with Brake) R88M-KE4K030H-B (S2)/-KE5K030H-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder connector 4-ø9 M3, through M8 depth 20 Dimensions [mm] Model R88M-KE4K030...
  • Page 74 2 Models and External Dimensions 2,000-r/min Servomotors (200 V) 1 kW/1.5 kW/2 kW/3 kW (without Brake) R88M-KE1K020H (-S2)/-KE1K520H (-S2)/-KE2K020H (-S2)/-KE3K020H (-S2) 1 kW/1.5 kW/2 kW/3 kW (with Brake) R88M-KE1K020H-B (S2)/-KE1K520H-B (S2)/-KE2K020H-B (S2)/-KE3K020H-B (S2) Motor and brake (Shaft end specifications with key and tap) connector Encoder 45 (1.0 to 2.0 kW)
  • Page 75 2 Models and External Dimensions 4 kW/5 kW (without Brake) R88M-KE4K020H (-S2)/-KE5K020H (-S2) 4 kW/5 kW (with Brake) R88M-KE4K020H-B (S2)/-KE5K020H-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder connector 4-ø13.5 M3, through 10h9 M12 depth 25 Dimensions [mm] Model R88M-KE4K020...
  • Page 76 2 Models and External Dimensions 1,000-r/min Servomotors (200 V) 900 W (without Brake) R88M-KE90010H (-S2) 900 W (with Brake) R88M-KE90010H-B (S2) Motor and brake connector Encoder (Shaft end specifications with key and tap) connector 77.5 4-ø9 M3, through M5 depth 12 Dimensions [mm] Model R88M-KE90010...
  • Page 77 2 Models and External Dimensions 2 kW/3 kW (without Brake) R88M-KE2K010H (-S2)/-KE3K010H (-S2) 2 kW/3 kW (with Brake) R88M-KE2K010H-B (S2)/-KE3K010H-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder connector 4-ø13.5 M3, through 10h9 M12 depth 25 Dimensions [mm] Model R88M-KE2K010...

  • Page 78: Combinations Of Servomotors And Decelerators

    2 Models and External Dimensions 2-4-3 Combinations of Servomotors and Decelerators 3,000-r/min Servomotors Servomotor 1/11 1/21 1/33 1/45 models (1/9 for flange 11) R88M- R88G- R88G- R88G- R88G- R88G- KE05030 HPG11B05100B HPG11B09050B HPG14A21100B HPG14A33050B HPG14A45050B (for both with (Gear ratio 1/9) (for both with R88M-KE10030 ) R88M-KE10030 )
  • Page 79 2 Models and External Dimensions 2,000-r/min Servomotors Servomotor 1/21 1/33 1/11 1/45 models (1/20 for flange 65) (1/25 for flange 65) R88M- R88G- R88G- R88G- R88G- R88G- KE1K020 HPG32A053K0B HPG32A112K0SB HPG32A211K0SB HPG50A332K0SB HPG50A451K0SB (for both with (for both with (for both with R88M-KE3K030 ) R88M-KE2K020 ) R88M-KE2K020 )

  • Page 80: Decelerator Dimensions

    2 Models and External Dimensions 2-4-4 Decelerator Dimensions Backlash: 3 Arcminutes max. For 3,000-r/min Servomotors (50 to 200 W) Dimensions [mm] Outline Model drawing D2 D3 50 W R88G-HPG11B05100B 39.5 46 40 39.5 29 27 R88G-HPG11B09050B 39.5 46 40 39.5 29 27 1/21 R88G-HPG14A21100B 64.0...
  • Page 81 2 Models and External Dimensions Dimensions [mm] Model 20 3.4 M4 x 9 R88G-HPG11B05100B 50 W 20 3.4 M4 x 9 R88G-HPG11B09050B 16 28 5.5 M4 x 10 R88G-HPG14A21100B 1/21 16 28 5.5 M4 x 10 R88G-HPG14A33050B 1/33 16 28 5.5 M4 x 10 R88G-HPG14A45050B 1/45...
  • Page 82 2 Models and External Dimensions For 3,000-r/min Servomotors (400 to 750 W) Dimensions [mm] Outline Model drawing LM LR 400 W R88G-HPG14A05400B 55.5 1/11 R88G-HPG20A11400B ø89 1/21 R88G-HPG20A21400B ø89 1/33 R88G-HPG32A33400B 104 133 120 ø122 12.5 1/45 R88G-HPG32A45400B 104 133 120 ø122 12.5 750 W...
  • Page 83 2 Models and External Dimensions Dimensions [mm] Model 16 28 5.5 M4 x 10 R88G-HPG14A05400B 400 W 25 42 M4 x 10 R88G-HPG20A11400B 1/11 25 42 M4 x 10 R88G-HPG20A21400B 1/21 40 82 11 M4 x 10 R88G-HPG32A33400B 1/33 40 82 11 M4 x 10 R88G-HPG32A45400B 1/45...
  • Page 84 2 Models and External Dimensions For 3,000-r/min Servomotors (1 to 5 kW) Dimensions [mm] Outline Model drawing 1 kW R88G-HPG32A052K0B 110 133 120 ø135 115 115 12.5 1/11 R88G-HPG32A112K0B 110 133 120 ø135 115 115 12.5 1/21 R88G-HPG32A211K5B 110 133 120 ø135 115 115 12.5...
  • Page 85 2 Models and External Dimensions Dimensions [mm] Model 40 82 11 M8 x 10 R88G-HPG32A052K0B 1 kW 40 82 11 M8 x 10 R88G-HPG32A112K0B 1/11 40 82 11 M8 x 10 R88G-HPG32A211K5B 1/21 50 82 14 M8 x 10 R88G-HPG50A332K0B 1/33 50 82 14 M8 x 10...
  • Page 86 2 Models and External Dimensions For 2,000-r/min Servomotors (1 kW) Dimensions [mm] Outline Model drawing LM LR C1 D1 D2 D3 D4 D5 1 kW R88G-HPG32A053K0B 107 133 120 130 135 145 115 114 12.5 1/11 R88G-HPG32A112K0SB 107 133 120 130 135 145 115 114 12.5 1/21 R88G-HPG32A211K0SB...
  • Page 87 2 Models and External Dimensions Dimensions [mm] Model 40 82 11 M8 x 18 R88G-HPG32A053K0B 1 kW 40 82 11 M8 x 18 R88G-HPG32A112K0SB 1/11 40 82 11 M8 x 18 R88G-HPG32A211K0SB 1/21 50 82 14 M8 x 16 R88G-HPG50A332K0SB 1/33 50 82 14 M8 x 16...
  • Page 88 2 Models and External Dimensions For 2,000-r/min Servomotors (1.5 to 5 kW) Dimensions [mm] Outline Model drawing LR C1 D1 D2 D3 D4 D5 R88G-HPG32A053K0B 107 133 120 130 135 145 115 114 12.5 1/11 R88G-HPG32A112K0SB 107 133 120 130 135 145 115 114 12.5 1/21 R88G-HPG50A213K0B 123 156 170...
  • Page 89 2 Models and External Dimensions Dimensions [mm] Model M8 x 18 R88G-HPG32A053K0B M8 x 18 R88G-HPG32A112K0SB 1/11 M8 x 16 R88G-HPG50A213K0B 1/21 M8 x 16 R88G-HPG50A332K0SB 1/33 M8 x 18 R88G-HPG32A053K0B 2 kW M8 x 18 R88G-HPG32A112K0SB 1/11 M8 x 16 R88G-HPG50A213K0B 1/21 M8 x 16...
  • Page 90 2 Models and External Dimensions For 1,000-r/min Servomotors (900 W to 3 kW) Dimensions [mm] Outline Model drawing D2 D3 D4 D5 900 W R88G-HPG32A05900TB 130 135 145 115 114 12.5 35 1/11 R88G-HPG32A11900TB 130 135 145 115 114 12.5 35 1/21 R88G-HPG50A21900TB 130 190 145 165 163 122 103...
  • Page 91 2 Models and External Dimensions Dimensions [mm] Model M8 x 25 R88G-HPG32A05900TB 900 W M8 x 25 R88G-HPG32A11900TB 1/11 M8 x 25 R88G-HPG50A21900TB 1/21 M8 x 25 R88G-HPG50A33900TB 1/33 M12 x 25 R88G-HPG32A052K0TB 2 kW M12 x 25 R88G-HPG50A112K0TB 1/11 M12 x 25 R88G-HPG50A212K0TB 1/21...
  • Page 92 2 Models and External Dimensions Backlash: 15 Arcminutes max. For 3,000-r/min Servomotors Dimensions [mm] Model 50 W R88G-VRSF05B100CJ 67.5 R88G-VRSF09B100CJ 67.5 1/15 R88G-VRSF15B100CJ 78.0 1/25 R88G-VRSF25B100CJ 78.0 100 W R88G-VRSF05B100CJ 67.5 R88G-VRSF09B100CJ 67.5 1/15 R88G-VRSF15B100CJ 78.0 1/25 R88G-VRSF25B100CJ 78.0 200 W R88G-VRSF05B200CJ 72.5 R88G-VRSF09C200CJ...
  • Page 93 2 Models and External Dimensions Dimensions [mm] Model R88G-VRSF05B100CJ 50 W R88G-VRSF09B100CJ R88G-VRSF15B100CJ 1/15 R88G-VRSF25B100CJ 1/25 R88G-VRSF05B100CJ 100 W R88G-VRSF09B100CJ R88G-VRSF15B100CJ 1/15 R88G-VRSF25B100CJ 1/25 R88G-VRSF05B200CJ 200 W R88G-VRSF09C200CJ R88G-VRSF15C200CJ 1/15 R88G-VRSF25C200CJ 1/25 R88G-VRSF05C400CJ 400 W R88G-VRSF09C400CJ R88G-VRSF15C400CJ 1/15 R88G-VRSF25C400CJ 1/25 R88G-VRSF05C750CJ 750 W R88G-VRSF09D750CJ...

  • Page 94: External Regeneration Resistor Dimensions

    2 Models and External Dimensions 2-4-5 External Regeneration Resistor Dimensions R88A-RR08050S/-RR080100S Thermal switch output R88A-RR22047S/-RR22047S1 Thermal switch output R88A-RR50020S 43 25 2 - 56 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 95: Reactor Dimensions

    2 Models and External Dimensions 2-4-6 Reactor Dimensions 3G3AX-DL2002 2-M4 Ground terminal (M4) 4-5.2 × 8 3G3AX-DL2004 2-M4 Ground terminal (M4) 4-5.2 × 8 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 2 - 57...
  • Page 96 2 Models and External Dimensions 3G3AX-DL2007 2-M4 Ground terminal (M4) 4-5.2 × 8 3G3AX-DL2015 2-M4 Ground terminal (M4) 4-5.2 × 8 2 - 58 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 97 2 Models and External Dimensions 3G3AX-DL2022 2-M4 Ground terminal (M4) 4-6 × 9 3G3AX-AL2025/-AL2055 Terminal screw 6-K Ground terminal (M5) Terminal block Ro R So S To T Ro R So S To Connection Diagram 4-φ6 Y±1 X±1 (Cutout) Dimensions [mm] Model 3G3AX-AL2025 3G3AX-AL2055...
  • Page 98 2 Models and External Dimensions 3G3AX-AL2110 Terminal hole 6-φK Ro R So S To T R So S To Connection Diagram X±1 Y±1 4-φ6 W= Terminal width (Cutout) Ground terminal (M6) Dimensions [mm] Model 3G3AX-AL2110 2 - 60 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 99: Mounting Bracket (L-Brackets For Rack Mounting) Dimensions

    2 Models and External Dimensions 2-4-7 Mounting Bracket (L-brackets for Rack Mounting) Dimensions R88A-TK01K Bottom 2-M4 countersunk 2-M4 countersunk 11±0.2 11±0.2 R88A-TK02K Bottom 2-M4 countersunk 2-M4 countersunk 18±0.2 18±0.2 R88A-TK03K Bottom 2-M4 countersunk 2-M4 countersunk 30±0.2 30±0.2 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 2 - 61...
  • Page 100 2 Models and External Dimensions R88A-TK04K Bottom 2-M4 countersunk 2-M4 countersunk 36±0.2 36±0.2 40±0.2 40±0.2 2 - 62 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 101: Specifications

    Specifications This section provides the general specifications, characteristics, connector specifications, and I/O circuits of the Servo Drives as well as the general specifications, characteristics, encoder specifications of the Servomotors and other peripheral devices. 3-1 Servo Drive Specifications........3-2 3-1-1 General Specifications .

  • Page 102: Servo Drive Specifications

    3 Specifications Servo Drive Specifications Select a Servo Drive that matches the Servomotor to be used. Refer to Servo Drive and Servomotor Combination Tables on page 2-11. The OMNUC G5-series AC Servo Drive (Pulse-train Input Type) is a pulse-train input type device whose control mode can be switched depending on the controller in use.

  • Page 103: Characteristics

    3 Specifications 3-1-2 Characteristics 200-VAC Input Models R88D- R88D- R88D- R88D- R88D- R88D- Item KP01H KP02H KP04H KP08H KP10H KP15H Continuous output current (rms) 1.2 A 1.6A 2.6 A 4.1 A 5.9 A 9.4 A Input power Main circuit Power 0.5 KVA 0.5 KVA 0.9 KVA...
  • Page 104 3 Specifications Item R88D-KP20H R88D-KP30H R88D-KP50H Continuous output current (rms) 13.4 A 18.7 A 33.0 A Input power Main circuit Power 3.3 KVA 4.5 KVA 6.0 KVA supply supply capacity Power 3-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply voltage Rated...
  • Page 105 3 Specifications Protective Functions Error detected Description Control Power Supply Undervoltage The DC voltage in the control power supply dropped below the specified value. Overvoltage The DC voltage in the main circuit power supply exceeded the specified value. Main Power Supply Undervoltage The DC voltage in the main circuit power supply dropped below the specified value.

  • Page 106: Main Circuit And Motor Connections

    3 Specifications 3-1-3 Main Circuit and Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KP01H/-KP02H/-KP04H/-KP08H/-KP10H/-KP15H Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power R88D-KP H supply input (50 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz (100 W to 1.5 kW): 3-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz Note Single-phase power supply must be connected to L1 and L3.
  • Page 107 3 Specifications R88D-KP20H Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KP H (2 kW): input 3-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz Note Single-phase power supply must be connected to L1 and L3. Control circuit power R88D-KP H: Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input...
  • Page 108 3 Specifications R88D-KP30H/R88D-KP50H Main Circuit Terminal Block Specifications Symbol Name Function Main circuit power supply R88D-KP H (3 to 5 kW): input 3-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz Control circuit power R88D-KP H: Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input External Regeneration Normally B2 and B3 are shorted.

  • Page 109: Control I/O Connector Specifications (Cn1)

    3 Specifications 3-1-4 Control I/O Connector Specifications (CN1) Control I/O Signal Connections and External Signal Processing (Position Control) + 24VCW 2.2 kΩ + CW Reverse Pulse BKIR – Brake Interlock Maximum service 220 Ω 500 kpps max. BKIRCOM voltage: 30 VDC + 24VCCW 2.2 kΩ...
  • Page 110 3 Specifications Control Inputs (CN1) Control mode Pin No. Symbol Name Function and interface Position Speed √ +24 VCW 24-V Open-Collector Input These are position command pulse for Command Pulse input terminals for both line driver and +24 VCCW open collector connections. +CW/ Reverse Pulse, They are enabled when Command...
  • Page 111 3 Specifications Control mode Pin No. Symbol Name Function and interface Position Speed √ GESEL1 Electronic Gear Switching 1 This signal switches among the [28] Electronic Gear Ratio Numerators settings. You can switch among up to four Electronic Gear Ratio Numerators settings in conjunction with the Electronic Gear Switching 2 (GESEL2).
  • Page 112 3 Specifications Control mode Pin No. Symbol Name Function and interface Position Speed √ VZERO Zero Speed Designation This signal forcibly sets the speed Input command value to 0. It is enabled when Zero Speed Designation Selection (Pn315) is set to 1 to 3.
  • Page 113 3 Specifications Control mode Pin No. Symbol Name Function and interface Position Speed √ √ /ALM Servo Alarm This output signal turns OFF if an alarm [37] occurs in the Servo Drive. ALMCOM [36] √ INP1 Positioning Completion This output signal turns ON according to [39] Output 1 the condition set in Positioning...
  • Page 114 The functions that are allocated by default are given in parentheses ( ). The default function allocated to each pin indicated with *2 is dependent on the control mode. Refer to 6-9 Sequence I/O Signals on page 6-33 for details about function allocation. Connectors for CN1 (50 Pins) OMRON model Name Model Manufacturer...

  • Page 115: Control Input Circuits

    3 Specifications 3-1-5 Control Input Circuits Position Command Pulse (Line Receiver Input) For line driver and line receiver connections, position command pulses of up to 4 Mpps can be used. (+CWLD: 44, –CWLD: 45, +CCWLD: 46, –CCWLD: 47) Controller 20 k 44,46 –...
  • Page 116 3 Specifications Open Collector Input • When an external 24-V power supply is used without current-limiting resistor (at 200 kpps or lower) (+24VCW: 1, –CW: 4, +24VCCW: 2, –CCW: 6) Controller Servo Drive 2.2 k Vcc 24 V 2.2 k 1000 pF –...

  • Page 117: Control Input Details

    3 Specifications General-purpose Input External power supply 4.7 k +24VIN 12 VDC ± 5% to 24 VDC ± 5% Photocoupler 1.0 k Input current rating input 10 mA max. (per point) 4.7 k Photocoupler Signal level 1.0 k input ON level: 10 V min. OFF level: 3 V max.
  • Page 118 3 Specifications When to Input a Command Pulse (Photocoupler Input) Command pulse mode Detailed timing Forward rotation command Reverse rotation command Feed Pulse/Direction Signal Direction signal Maximum input frequency Line driver: 500 kpps Feed pulse Open collector: τ 200 kpps At 200 kpps At 500 kpps t1 ≤...
  • Page 119 3 Specifications Line Receiver Input Pin 44: + Reverse Pulse (+CW), + Feed Pulse (+PULS), + Phase A (+FA) Pin 45: – Reverse Pulse (–CW), – Feed Pulse (–PULS), – Phase A (–FA) Pin 46: + Forward Pulse (+CCW), + Direction Signal (+SIGN), + Phase B (+FB) Pin 47: –...
  • Page 120 3 Specifications When to Input a Command Pulse (Line Receiver Input) Command pulse mode Detailed timing Forward rotation command Reverse rotation command Feed Pulse/Direction Signal Direction signal Maximum input frequency Line driver: 4 Mpps Feed pulse τ t 1 ≤ 20 ns t 2 >...
  • Page 121 3 Specifications Operation Command (RUN) Pin 29: Operation Command (RUN) This is the default allocation. The logic and allocation of input terminals (CN1 pin 1 to 8, 9, 26 to 33) can be changed using Input Signal Selection 1 to 10 (Pn400 to Pn409). The Operation Command (RUN) must be allocated with a function.
  • Page 122 3 Specifications Error Counter Reset Input (ECRST) Pin 30: Error Counter Reset Input (ECRST) This is the default allocation. The function allocated to the input terminals (CN1 pin 1 to 8, 9, 26 to 33) can be changed using Input Signal Selection 1 to 10 (Pn400 to Pn409). The Error Counter Reset Input (ECRST) must be allocated only to pin 30 (SI7).
  • Page 123 3 Specifications Damping Filter Switching 1 (DFSEL1) and Damping Filter Switching 2 (DFSEL2) Pin 26: Damping Filter Switching 1 (DFSEL1) No allocation: Damping Filter Switching 2 (DFSEL2) This is the default allocation. The logic and allocation of input terminals (CN1 pin 1 to 8, 9, 26 to 33) can be changed using Input Signal Selection 1 to 10 (Pn400 to Pn409).
  • Page 124 3 Specifications Pulse Prohibition Input (IPG) Pin 33: Pulse Prohibition Input (IPG) This is the default allocation. Remember, however, that Command Pulse Prohibition Input Setting (Pn518) is set to 1 (disabled) by default. Before using this signal, change the value set in Pn518 to 0 (enabled).
  • Page 125 3 Specifications Zero Speed Designation (VZERO) No allocation: Zero Speed Designation (VZERO) There is no default allocation. Zero Speed Designation Selection (Pn315) is set to 0 (disabled) by default. The logic and allocation of input terminals (CN1 pin 1 to 8, 9, 26 to 33) can be changed using Input Signal Selection 1 to 10 (Pn400 to Pn409).
  • Page 126 3 Specifications Torque Limit Switching (TLSEL) No allocation: Torque Limit Switching (TLSEL) There is no default allocation. The logic and allocation of input terminals (CN1 pin 1 to 8, 9, 26 to 33) can be changed using Input Signal Selection 1 to 10 (Pn400 to Pn409). Function This input signal switches the torque limit setting.

  • Page 127: Control Output Circuits

    3 Specifications 3-1-7 Control Output Circuits Position Feedback Output Servo Drive Controller R = 120 to 180 Ω +5 V Phase A Phase A –A –A Phase B Phase B –B –B Output line driver AM26C31 or equivalent Phase Z Phase Z –Z –Z...

  • Page 128: Control Output Details

    3 Specifications 3-1-8 Control Output Details Control Output Sequence Control Power Supply (L1C and L2C) Approx. 100 to 300 ms Internal Control Power Supply Approx. 2 s Approx. 1.5 s MPU Initialization Initialization * Completed 0 s min. Main Circuit Power Supply (L1, L2 and L3) Initialization completed, approx.
  • Page 129 3 Specifications Encoder Outputs (Phase A, B and Z) Pin 21: +A, Pin 22: –A, Pin 48: –B, Pin 49: +B, Pin 23: +Z, Pin 24: –Z Function • These pins output the phase-A, phase-B, and phase-Z encoder signals of the Servomotor. •...
  • Page 130 3 Specifications Positioning Completion Output 1 (INP1) and Positioning Completion Output 2 (INP2) Pin 39: Positioning Completion Output 1 (INP1) Pin 38: Positioning Completion Output 1 Common (INP1COM) No allocation: Positioning Completion Output 2 (INP2) No allocation: Positioning Completion Output 2 Common (INP2COM) This is the default allocation.
  • Page 131 3 Specifications Speed Conformity Output Signal (VCMP) No allocation: Speed Conformity Output Signal (VCMP) No allocation: Speed Conformity Output Signal Common (VCMPCOM) This is the default allocation. The allocation of output terminals (CN1 pin 10, 11, 34, 35, 38 and 39) can be changed using Output Signal Selection 1 to 4 (Pn410 to Pn413).

  • Page 132: Encoder Connector Specifications (Cn2)

    Encoder – phase-S input Shell Frame ground Frame ground Connectors for CN2 (6 Pins) Name Model Manufacturer OMRON model number Drive connector 53460-0629 Molex Japan R88A-CNW01R Cable connector 55100-0670 3 - 32 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 133: Analog Monitor Connector Specifications (Cn5)

    3 Specifications 3-1-10 Analog Monitor Connector Specifications (CN5) Monitor Output Signal Table Monitor Output (CN5) Symbol Name Function and interface Analog monitor Outputs the analog signal for the monitor. output 1 Default setting: Motor rotation speed 1 V/(500 r/min) The item and the unit can be changed using Pn416 and Pn417. The output method can be changed using Pn421.

  • Page 134: Usb Connector Specifications (Cn7)

    3 Specifications 3-1-11 USB Connector Specifications (CN7) Connecting the Servo Drive with a computer via the USB connector enables operations such as parameter setting and changing, control status monitoring, alarm status and history checking, and parameter saving and loading. Symbol Name Function and interface VBUS...

  • Page 135: Overload Characteristics (Electronic Thermal Function)3-35

    3 Specifications Overload Characteristics (Electronic Thermal Function) An overload protection function (electronic thermal) is built into the Servo Drive to protect the Servo Drive and Servomotor from overloading. If an overload occurs, first eliminate the cause of the overload and then wait at least 1 minute for the motor temperature to drop before turning ON the power again.

  • Page 136: Servomotor Specifications

    3 Specifications Servomotor Specifications The following types of OMNUC G5-Series AC Servomotors (Pulse-train Input Type) are available. • 3,000-r/min Servomotors • 2,000-r/min Servomotors • 1,000-r/min Servomotors There are various options available, such as models with brake, or different shaft types. Select a Servomotor based on the mechanical system’s load conditions and the installation environment.

  • Page 137: Characteristics

    3 Specifications 3-3-2 Characteristics 3,000-r/min Servomotors Model (R88M-) 200 VAC Item Unit KE05030H KE10030H KE20030H KE40030H Rated output N·m 0.16 0.32 0.64 Rated torque Rated rotation speed r/min 3,000 Maximum rotation speed r/min 5,000 Momentary maximum N·m 0.48 0.95 1.91 torque A (rms) Rated current...
  • Page 138 3 Specifications Brake Specifications Model (R88M-) 200 VAC Item Unit KE05030H KE10030H KE20030H KE40030H Brake inertia kg·m 2 x 10 2 x 10 1.8 x 10 1.8 x 10 24 VDC±5% Excitation voltage Power consumption (at 20°C) Current consumption (at 20°C) 0.36 0.36 Static friction torque...
  • Page 139 3 Specifications Model (R88M-) 200 VAC Item Unit KE75030H KE1K030H KE1K530H 1,000 1,500 Rated output N·m 3.18 4.77 Rated torque Rated rotation speed r/min 3,000 Maximum rotation speed r/min 4,500 5,000 Momentary maximum N·m 9.55 14.3 torque A (rms) Rated current Momentary maximum A (rms) 17.0...
  • Page 140 3 Specifications Brake Specifications Model (R88M-) 200 VAC Unit KE75030H KE1K030H KE1K530H Item Brake inertia kg·m 7.5 x 10 0.33 x 10 0.33 x 10 24 VDC±5% 24 VDC±10% Excitation voltage Power consumption (at 20°C) Current consumption (at 20°C) 0.42 0.81±10% 0.81±10% Static friction torque...
  • Page 141 3 Specifications Model (R88M-) 200 VAC Item Unit KE2K030H KE3K030H KE4K030H KE5K030H 2,000 3,000 4,000 5,000 Rated output N·m 6.37 9.55 12.7 15.9 Rated torque Rated rotation speed r/min 3,000 Maximum rotation speed r/min 5,000 4,500 4,500 Momentary maximum N·m 19.1 28.6 38.2...
  • Page 142 3 Specifications Brake Specifications Model (R88M-) 200 VAC Unit KE2K030H KE3K030H KE4K030H KE5K030H Item Brake inertia kg·m 0.33 x 10 0.33 x 10 1.35 x 10 1.35 x 10 24 VDC±10% Excitation voltage Power consumption (at 20°C) Current consumption (at 20°C) 0.81±10% 0.81±10% 0.90±10%...
  • Page 143 3 Specifications Torque-Rotation Speed Characteristics for 3,000-r/min Servomotors • 3,000-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m global non-flexible cable and a 200-VAC input. • R88M-KE05030H (50 W) • R88M-KE10030H (100 W) • R88M-KE20030H (200 W) Power supply voltage Torque Torque...
  • Page 144 3 Specifications Use the following Servomotors in the ranges shown in the graphs below. Use outside of these ranges may cause the Servomotor to generate heat, which could result in encoder malfunction. • R88M-KE05030H • R88M-KE10030H • R88M-KE20030H (50 W: With oil seal) (100 W: With oil seal) (200 W: With oil seal) * Continuous torque - ambient temperature...
  • Page 145 3 Specifications 2,000-r/min Servomotors Model (R88M-) 200 VAC Item Unit KE1K020H KE1K520H KE2K020H 1,000 1,500 2,000 Rated output N·m 4.77 7.16 9.55 Rated torque Rated rotation speed r/min 2,000 Maximum rotation speed r/min 3,000 Momentary maximum N·m 14.3 21.5 28.6 torque A (rms) 11.5...
  • Page 146 3 Specifications Brake Specifications Model (R88M-) 200 VAC Unit KE1K020H KE1K520H KE2K020H Item Brake inertia kg·m 1.35 x 10 1.35 x 10 1.35 x 10 24 VDC±10% Excitation voltage Power consumption (at 20°C) Current consumption (at 20°C) 0.59±10% 0.79±10% 0.79±10% Static friction torque N·m 4.9 min.
  • Page 147 3 Specifications Model (R88M-) 200 VAC Item Unit KE3K020H KE4K020H KE5K020H 3,000 4,000 5,000 Rated output N·m 14.3 19.1 23.9 Rated torque Rated rotation speed r/min 2,000 Maximum rotation speed r/min 3,000 Momentary maximum N·m 43.0 57.3 71.6 torque A (rms) 17.4 21.0 25.9...
  • Page 148 3 Specifications Brake Specifications Model (R88M-) 200 VAC Unit KE3K020H KE4K020H KE5K020H Item Brake inertia kg·m 1.35 x 10 4.7 x 10 4.7 x 10 24 VDC±10% Excitation voltage Power consumption (at 20°C) Current consumption (at 20°C) 0.90±10% 1.3±10% 1.3±10% Static friction torque N·m 16.2 min.
  • Page 149 3 Specifications Torque-Rotation Speed Characteristics for 2,000-r/min Servomotors • 2,000-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m global non-flexible cable and a 200-VAC input. • R88M-KE1K020H (1 kW) • R88M-KE1K520H (1.5 kW) • R88M-KE2K020H (2 kW) [N·m] [N·m] [N·m]...
  • Page 150 3 Specifications 1,000-r/min Servomotors Model (R88M-) 200 VAC Item Unit KE90010H KE2K010H KE3K010H 2,000 3,000 Rated output N·m 8.59 19.1 28.7 Rated torque Rated rotation speed r/min 1,000 Maximum rotation speed r/min 2,000 Momentary maximum N·m 19.3 47.7 71.7 torque A (rms) 17.0 22.6...
  • Page 151 3 Specifications Brake Specifications Model (R88M-) 200 VAC Unit KE90010H KE2K010H KE3K010H Item Brake inertia kg·m 1.35 x 10 4.7 x 10 4.7 x 10 24 VDC±10% Excitation voltage Power consumption (at 20°C) Current consumption (at 20°C) 0.79±10% 1.3±10% 1.4±10% Static friction torque N·m 13.7 min.
  • Page 152 3 Specifications Torque-Rotation Speed Characteristics for 1,000-r/min Servomotors • 1,000-r/min Servomotors (200 VAC) The following graphs show the characteristics with a 3-m global non-flexible cable and a 200-VAC input. • R88M-KE90010H • R88M-KE2K010H • R88M-KE3K010H (900 W) (2 kW) (3 kW) Power supply voltage [N·m] [N·m]...

  • Page 153: Encoder Specifications

    3 Specifications 3-3-3 Encoder Specifications Incremental Encoder Specifications Item Specifications Encoder system Optical encoder 20 bits Number of output Phases A and B: 262,144 pulses/rotation pulses Phase Z: 1 pulse/rotation Power supply voltage 5 VDC±5% Power supply current 180 mA (max.) Output signal +S, –S Output interface...

  • Page 154: Decelerator Specifications

    3 Specifications Decelerator Specifications The following tables list the Decelerator models for OMNUC G5-series Servomotors. Select an appropriate model based on the Servomotor capacity. 3-4-1 Models and Specifications Backlash: 3 Arcminutes max. For 3,000-r/min Servomotors Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator...
  • Page 155 3 Specifications Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G- 5.66 1,200 16.5 2.07 x 10 HPG14A05400B 1/11 R88G- 11.7 34.3 2,320...
  • Page 156 3 Specifications Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G- 19.1 1,000 57.2 3,542 3.90 x 10 HPG32A052K0B 1/11 R88G- 45.6 136.9 1,126...
  • Page 157 3 Specifications For 2,000-r/min Servomotors Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G- 20.3 60.8 3,542 3.90 x 10 HPG32A053K0B 1/11 R88G- 47.2...
  • Page 158 3 Specifications Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G- 43.5 130.6 3,542 3.80 x 10 HPG32A053K0B 1/11 R88G- 97.7 293.6 1,126...
  • Page 159 3 Specifications For 1,000-r/min Servomotors Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G- 39.9 89.7 3,542 3.80 x 10 HPG32A05900TB 1/11 R88G- 88.8...
  • Page 160 3 Specifications Backlash: 15 Arcminutes max. For 3,000-r/min Servomotors Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G-VRSF05B100CJ 0.52 1,000 1.56 0.55 4.00 x 10...
  • Page 161 3 Specifications Momentary Rated Momentary Allowable Allowable Rated maximum Decelerator rotation Efficiency maximum radial thrust Weight torque rotation inertia Model speed torque load load speed r/min N·m r/min N·m kg·m R88G-VRSF05C400CJ 5.40 1,000 15.6 1.70 3.63 x 10 R88G-VRSF09C400CJ 9.50 27.4 1.70 2.75 x 10...

  • Page 162: Cable And Connector Specifications

    3 Specifications Cable and Connector Specifications The specifications of the cables that connect the Servo Drive with a Servomotor are shown below. The information on the connectors is also provided. Select an appropriate cable for the Servomotor. 3-5-1 Resistance to Bending of Global Flexible Cable If the cable is used in a moving environment, use a global flexible cable.
  • Page 163 3 Specifications Encoder Cables Minimum bending Model radius (R) 45 mm R88A-CRGB 45 mm R88A-CRGC represents a number between 003 and 020. Power Cables without Brake Minimum bending Model radius (R) 45 mm R88A-CAGA 90 mm R88A-CAGB 100 mm R88A-CAGD represents a number between 003 and 020.

  • Page 164: Encoder Cable Specifications

    3 Specifications 3-5-2 Encoder Cable Specifications These cables are used to connect an encoder between the Servo Drive and Servomotor. Select an appropriate cable for the Servomotor. Encoder Cables: Global Non-Flexible Cable (R88A-CRGB C) Cable types (Incremental encoders: For 3,000-r/min Servomotors of 50 to 750 W) Outer diameter of Model Length (L)
  • Page 165 3 Specifications Encoder Cables: Global Non-Flexible Cable (R88A-CRGC N) Cable types (Incremental encoders: For 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, and 1,000-r/min Servomotors of 900 W to 3 kW) Outer diameter of Model Length (L) Weight...
  • Page 166 3 Specifications Encoder Cables: Global Flexible Cable (R88A-CRGB CR) Cable types (Incremental encoders: For 3,000-r/min Servomotors of 50 to 750 W) Outer diameter of Model Length (L) Weight sheath R88A-CRGB003CR 7.5 dia. Approx. 0.2 kg R88A-CRGB005CR Approx. 0.4 kg R88A-CRGB010CR 10 m Approx.
  • Page 167 3 Specifications Encoder Cables: Global Flexible Cable (R88A-CRGC NR) Cable types (Incremental encoders: For 3,000-r/min Servomotors of 1 to 5 kW, 2,000-r/min Servomotors of 1 to 5 kW, and 1,000-r/min Servomotors of 900 W to 3 kW) Outer diameter of Model Length (L) Weight...

  • Page 168: Motor Power Cable Specifications

    3 Specifications 3-5-3 Motor Power Cable Specifications These cables are used to connect the Servo Drive and Servomotor. Select an appropriate cable for the Servomotor. Precautions for Correct Use Precautions for Correct Use If the cable is used in a moving environment, use a global flexible cable. Power Cables without Brake: Global Non-Flexible Cable (R88A-CAGA S) Cable types...
  • Page 169 3 Specifications Power Cables without Brake: Global Non-Flexible Cable (R88A-CAGB S) Cable types 200 V: (For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min Servomotors of 900 W) Outer diameter of Model Length (L) Weight sheath R88A-CAGB003S...
  • Page 170 3 Specifications Power Cables without Brake: Global Non-Flexible Cable (R88A-CAGD S) Cable types (For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 3 kW) Outer diameter of Model Length (L) Weight sheath R88A-CAGD003S...
  • Page 171 3 Specifications Power Cables without Brake: Global Flexible Cable (R88A-CAGA SR) Cable types For 3,000-r/min Servomotors of 50 to 750 W Outer diameter of Model Length (L) Weight sheath R88A-CAGA003SR 6.9 dia. Approx. 0.2 kg R88A-CAGA005SR Approx. 0.3 kg R88A-CAGA010SR 10 m Approx.
  • Page 172 3 Specifications Power Cables without Brake: Global Flexible Cable (R88A-CAGB SR) Cable types 200 V: (For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min Servomotors of 900 W) Outer Minimum bending Model Length (L) diameter of Weight radius (R)
  • Page 173 3 Specifications Power Cables without Brake: Global Flexible Cable (R88A-CAGD SR) Cable types (For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 3 kW) Outer Minimum bending Model Length (L) diameter of Weight radius (R)
  • Page 174 3 Specifications Power Cables with Brake: Global Non-Flexible Cable (R88A-CAGB B) Cable types 200 V: (For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min Servomotors of 900 W) Outer diameter of Model Length (L) Weight sheath R88A-CAGB003B...
  • Page 175 3 Specifications Power Cables with Brake: Global Non-Flexible Cable (R88A-CAGD B) Cable types (For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 3 kW) Outer diameter of Model Length (L) Weight sheath R88A-CAGD003B...
  • Page 176 3 Specifications Power Cables with Brake: Global Flexible Cable (R88A-CAGB BR) Cable types 200 V: (For 3,000-r/min Servomotors of 1 to 2 kW, 2,000-r/min Servomotors of 1 to 2 kW, 1,000-r/min Servomotors of 900 W) Outer Minimum bending Model Length (L) diameter of Weight radius (R)
  • Page 177 3 Specifications Power Cables with Brake: Global Flexible Cable (R88A-CAGD BR) Cable types (For 3,000-r/min Servomotors of 3 to 5 kW, 2,000-r/min Servomotors of 3 to 5 kW, 1,000-r/min Servomotors of 2 to 3 kW) Outer Minimum bending Model Length (L) diameter of Weight radius (R)
  • Page 178 3 Specifications Brake Cables: Global Non-Flexible Cable (R88A-CAGA B) Cable types For 3,000-r/min Servomotors of 50 to 750 W Outer diameter of Model Length (L) Weight sheath R88A-CAGA003B 5.4 dia. Approx. 0.1 kg R88A-CAGA005B Approx. 0.2 kg R88A-CAGA010B 10 m Approx.
  • Page 179 3 Specifications Brake Cables: Global Flexible Cable (R88A-CAGA BR) Cable types For 3,000-r/min Servomotors of 50 to 750 W Outer diameter of Model Length (L) Weight sheath R88A-CAGA003BR 6.1 dia. Approx. 0.1 kg R88A-CAGA005BR Approx. 0.2 kg R88A-CAGA010BR 10 m Approx.

  • Page 180: Connector Specifications

    3 Specifications 3-5-4 Connector Specifications Control I/O Connector (R88A-CNU11C) This connector is connected to the Servo Drive’s control I/O connector (CN1). Use this connector when preparing a control cable by yourself. For wiring methods, refer to Control Cable Specifications on page 3-84. This connector is soldered.
  • Page 181 3 Specifications R88A-CNG02R (Servomotor side) Use the following cable. • Applicable wire: AWG22 max. • Insulating cover outer diameter: 1.75 mm dia. max. Panel mounting hole ±0.4 ±0.4 11.8 23.7 5.35 ( 8.8 ) 10.35 ±0.15 Connector housing model *1 The applicable panel thickness is 0.8 to 2.0 mm.
  • Page 182 3 Specifications Power Cable Connector (R88A-CNG01A) This connector is used for power cables. Use it when preparing a power cable by yourself. Panel mounting hole ±0.4 ±0.4 11.8 23.7 5.35 ( 8.8 ) 10.35 ±0.15 Connector housing model The applicable panel thickness is 0.8 to 2.0 mm.

  • Page 183: Analog Monitor Cable Specifications

    3 Specifications 3-5-5 Analog Monitor Cable Specifications Analog Monitor Cable (R88A-CMK001S) Connection configuration and external dimensions Symbol White Black Cable: AWG24 x 3C UL1007 Connector housing: 51004-0600 (Molex Japan) Connector terminal: 50011-8000 (Molex Japan) OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 3 - 83...

  • Page 184: Control Cable Specifications

    CJ1W-NC These cables are used to connect to the Position Control Unit (Model: CJ1W-N 4) for OMRON SYSMAC CJ-series Programmable Controllers. There are two types of cables: 1-axis type and 2-axis type. The applicable Position Control Unit models are as follows.
  • Page 185 Red: 24 VDC AWG18 twisted-pair cable, 1 m Black: 24 VDC GND Blue: BKIRCOM NC Unit side Black: BKIR XG4M-5030-T (OMRON) Servo Drive side (for Axis 1 or 3) 10150-3000PE (Sumitomo 3M) 24-V Power Supply for Output 24-V GND for Output BKIR...
  • Page 186 AWG18 twisted-pair cable, 1 m Red: 24 VDC Blue: BKIRCOM Black: 24 VDC GND Black: BKIR NC Unit side XG4M-5030-T (OMRON) Servo Drive side (for Axis 1 or 3) 10150-3000PE (Sumitomo 3M) 24-V Power Supply for Output BKIR Brake Interlock...
  • Page 187 Red: 24 VDC AWG18 twisted-pair cable, 1 m Black: 24 VDC GND Blue: BKIRCOM Black: BKIR NC Unit side XG4M-5030-T (OMRON) Servo Drive side (for Axis 1 or 3) 10150-3000PE (Sumitomo 3M) 24-V Power Supply for Output 24-V GND for Output BKIR...
  • Page 188 AWG18 twisted-pair cable, 1 m Red: 24 VDC Blue: BKIRCOM Black: 24 VDC GND Black: BKIR NC Unit side XG4M-5030-T (OMRON) Servo Drive side (for Axis 1 or 3) 10150-3000PE (Sumitomo 3M) 24-V Power Supply for Output BKIR Brake Interlock...
  • Page 189 This cable has a connector to be connected to the Servo Drive’s control I/O connector (CN1). The connector for the controller is not provided. To connect the Servo Drive with a non-OMRON controller, or a Position Control Unit which does not have a specified cable, wire and prepare an appropriate connector for the controller to be connected.
  • Page 190 3 Specifications Wiring Color of wire/ Color of wire/ Symbol Symbol mark mark Orange/Red (1) +24VCW Pink/Black (3) Orange/Black (1) +24VCCW White/Black (3) Gray/Red (1) +CW/+PULS/+FA Yellow/Red (3) Gray/Black (1) –CW/–PULS/–FA Pink/Red (3) White/Red (1) +CCW/+SIGN/+FB Yellow/Black (3) White/Black (1) –CCW/–SIGN/–FB Gray/Black (4) Yellow/Red (1)
  • Page 191 3 Specifications Connector Terminal Block Cables (XW2Z- J-B24) This connector terminal block cable is connected to the Servo Drive’s control I/O connector (CN1). All of the pins in the control I/O connector (CN1) can be converted to terminals on the terminal block. Cable types Outer diameter of Model...
  • Page 192 Connector terminal block connector Gray/Red (4) SO3– Gray/Black (4) Connector socket model: SO3+ Blue/Red (5) – – – XG4M-5030 (OMRON) – – – Blue/Black (5) Pink/Red (5) – – – Strain relief model: – – – Pink/Black (5) Green/Red (5)
  • Page 193 3 Specifications Connector Terminal Block Conversion Unit The Connector Terminal Block Conversion Unit is used in combination with a Connector Terminal Block Cable (Model: XW2Z- J-B24) to convert the Servo Drive’s control I/O connector (CN1) to the terminal block. XW2B-50G4 (M3 Screw Terminal Block) •...
  • Page 194 3 Specifications XW2B-50G5 (M3.5 Screw Terminal Block) • External Dimensions Flat cable connector (MIL-type plug) 247.5 15.5 29.5 2-φ3.5 Terminal block (45.3) 43.5 20.5 • When using crimp terminals, use crimp terminals with the following dimensions. • When connecting wires and crimp terminals to a terminal block, tighten them to a torque of 0.59 N·m.
  • Page 195 3 Specifications XW2D-50G6 (M3 Screw Terminal Block) • External Dimensions MIL-type connector XG4A 2-φ4.5 (39.1) 17.6 6 40 (4.5) DIN rail lock • When using crimp terminals, use crimp terminals with the following dimensions. • When connecting wires and crimp terminals to a terminal block, tighten them to a torque of 0.7 N·m.

  • Page 196: Servo Relay Unit And Cable Specifications

    Position Control Unit. 3-6-1 Servo Relay Unit Specifications XW2B-20J6-1B Below are the specifications of the Servo Relay Unit for connecting the following OMRON Position Control Unit models. • CJ1W-NC113/-NC133 • CS1W-NC113/-NC133 •...
  • Page 197 2 0V and common terminals are connected internally. 3 The applicable crimp terminal is R1.25-3 (round or fork type). XW2B-40J6-2B Below are the specifications of the Servo Relay Unit for connecting the following OMRON Position Control Unit models. • CJ1W-NC213/-NC233/-NC413/-NC433 •...
  • Page 198 2 0V and common terminals are connected internally. 3 The applicable crimp terminal is R1.25-3 (round or fork type). XW2B-20J6-3B Below are the specifications of the Servo Relay Unit for connecting the following OMRON Programmable Controller model. • CQM1-CPU43-V1 External Dimensions...
  • Page 199 3 Specifications Wiring +24V CW CCW RUN ECRST INP ALM BKIR RESET ALMCOM FG Common Common Ground to 100 Ω or less (*3) (*1) (*1) (*2) 24 VDC 24 VDC *1 Use this signal to loop-back and input CQM1’s output pulses into a high-speed counter. *2 Input this output signal to CQM1 input unit.
  • Page 200 3 Specifications XW2B-20J6-8A Below are the specifications of the Servo Relay Unit for connecting the following OMRON Programmable Controller models. • CJ2M-CPU31/-CPU32/-CPU33/-CPU34/-CPU35 (for 1 axis) • CJ2M-CPU11/-CPU12/-CPU13/-CPU14/-CPU15 (for 1 axis) External Dimensions CJ2M-CPU31/-CPU32/-CPU33/-CPU34/-CPU35 side CJ2M-CPU11/-CPU12/-CPU13/-CPU14/-CPU15 side Servo Drive side 2-φ3.5 •...
  • Page 201 3 Specifications Wiring The Servo Drive phase Z output signal is wired to the origin signal in this terminal block. (*3) Origin +24V MING ALM BKIR proximity Common Common Common Common Common RESET ALMCOM FG Ground to 100 Ω or less (*2) CW limit (*1) CCW limit (*1)
  • Page 202 3 Specifications XW2B-40J6-9A Below are the specifications of the Servo Relay Unit for connecting the following OMRON Programmable Controller models. • CJ2M-CPU31/-CPU32/-CPU33/-CPU34/-CPU35 (for 2 axes) • CJ2M-CPU11/-CPU12/-CPU13/-CPU14/-CPU15 (for 2 axes) External Dimensions CJ2M-CPU31/-CPU32/-CPU33/-CPU34/-CPU35 side CJ2M-CPU11/-CPU12/-CPU13/-CPU14/-CPU15 side X-axis Servo Drive side Y-axis Servo Drive side 2-φ3.5...
  • Page 203 3 Specifications Wiring The Servo Drive phase Z output signal is wired to the origin signal in this terminal block. (*3) (*3) X-axis Y-axis Y-axis X-axis X-axis X-axis X-axis Y-axis Y-axis Y-axis Origin Origin +24V MING BKIR MING BKIR proximity proximity X-axis X-axis...
  • Page 204 3 Specifications XW2B-80J7-12A Below are the specifications of the Servo Relay Unit for connecting the following OMRON controller model. • FQM1-MMP22 External Dimensions Signal selection switch φ4.5 Servo Drive phase B selection switch 100 90 Controller-side Y-axis Servo Drive X-axis Servo Drive...
  • Page 205 3 Specifications System Configuration Example (for FQM1) Motion control module Flexible Motion Controller FQM1-MMP22 FQM1 PA202 CM002 MMP22 MMA22 FLEXIBLE POWER MOTION CONTROLLER PRPHL COMM1 COMM2 PERIPHERAL AC100 -240V INPUT L2/N PORT RS422 General-purpose I/O Special I/O connection cable connection cable XW2Z- J-A30 XW2Z- J-A28 Servo Relay Unit...
  • Page 206 3 Specifications Signal Allocation for FQM1-MMP22 No. 60 61 62 63 67 68 69 70 72 73 77 78 No. 40 41 42 43 47 48 49 50 52 53 57 58 No. 20 21 22 23 27 28 29 30 32 33 37 38 12 13...
  • Page 207 3 Specifications Wiring Example Servo-side signal FQM1-side signal #1 #2 For Servo #1 For Servo #2 OUT0 OUT4 ECRST OUT2 OUT6 /ALM BKIR 68 28 IN10 Terminal block No.20 +24 V 60 61 62 63 64 65 66 67 69 70 71 72 73 74 75 76 77 78 79 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19...

  • Page 208: Servo Drive Relay Unit Cable Specifications

    3 Specifications 3-6-2 Servo Drive Relay Unit Cable Specifications Servo Drive Cables (XW2Z- J-B25) Below are the specifications of the cable that connects the Servo Drive with a Servo Relay Unit (Model: XW2B-20J6-1B/-3B, XW2B-40J6-2B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B25 8.1 dia.
  • Page 209 3 Specifications Servo Drive Cables (XW2Z- J-B26) Below are the specifications of the cable that connects the Servo Drive with a Servo Relay Unit (Model: XW2B-80J7-12A). This cable is used only for FQM1-MMP22. Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B26 9.1 dia.
  • Page 210 3 Specifications Servo Drive Cables (XW2Z- J-B31) Below are the specifications of the cable that connects the Servo Drive with a Servo Relay Unit (Model: XW2B-20J6-8A, XW2B-40J6-9A). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B31 8.1 dia. Approx.

  • Page 211: Position Control Unit Relay Unit Cable Specifications

    3 Specifications 3-6-3 Position Control Unit Relay Unit Cable Specifications Position Control Unit Cables (XW2Z- J-A6) Below are the specifications of the cable that connects a Position Control Unit (Model: CS1W-NC113, C200HW-NC113) with a Servo Relay Unit (Model: XW2B-20J6-1B). Cable types Model Length (L) Outer diameter of sheath...
  • Page 212 3 Specifications Position Control Unit Cables (XW2Z- J-A7) Below are the specifications of the cable that connects a Position Control Unit (Model: CS1W-NC213/ 413, C200HW-NC213/413) with a Servo Relay Unit (Model: XW2B-40J6-2B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A7 50 cm...
  • Page 213 3 Specifications Position Control Unit Cables (XW2Z- J-A10) Below are the specifications of the cable that connects a Position Control Unit (Model: CS1W-NC133) with a Servo Relay Unit (Model: XW2B-20J6-1B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A10 50 cm 10.0 dia.
  • Page 214 3 Specifications Position Control Unit Cables (XW2Z- J-A11) Below are the specifications of the cable that connects a Position Control Unit (Model: CS1W-NC233/ 433) with a Servo Relay Unit (Model: XW2B-40J6-1B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A11 50 cm...
  • Page 215 3 Specifications Position Control Unit Cables (XW2Z- J-A14) Below are the specifications of the cable that connects a Position Control Unit (Model: CJ1W-NC113) with a Servo Relay Unit (Model: XW2B-20J6-1B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A14 50 cm 10.0 dia.
  • Page 216 3 Specifications Position Control Unit Cables (XW2Z- J-A15) Below are the specifications of the cable that connects a Position Control Unit (Model: CJ1W-NC213/ NC413) with a Servo Relay Unit (Model: XW2B-40J6-2B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A15 50 cm...
  • Page 217 3 Specifications Position Control Unit Cables (XW2Z- J-A18) Below are the specifications of the cable that connects a Position Control Unit (Model: CJ1W-NC133) with a Servo Relay Unit (Model: XW2B-20J6-1B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A18 50 cm 10.0 dia.
  • Page 218 3 Specifications Position Control Unit Cables (XW2Z- J-A19) Below are the specifications of the cable that connects a Position Control Unit (Model: CJ1W-NC233/ 433) with a Servo Relay Unit (Model: XW2B-40J6-2B). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A19 50 cm...
  • Page 219 3 Specifications Position Control Unit Cables (XW2Z- J-A33) Below are the specifications of the cable that connects a Programmable Controller (Model: CJ2M- CPU31/-CPU32/-CPU33/-CPU34/-CPU35, CJ2M-CPU11/-CPU12/-CPU13/-CPU14/-CPU15) with a Servo Relay Unit (Model: XW2B-20J6-8A, XW2B-40J6-9A). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A33 50 cm...
  • Page 220 3 Specifications Position Control Unit Cables (XW2Z- J-A28) Below are the specifications of the cable that connects the general-purpose I/O connector for the Flexible Motion Controller (Model: FQM1-MMP22) with a Servo Relay Unit (Model: XW2B-80J7-12A). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A28...
  • Page 221 3 Specifications Position Control Unit Cables (XW2Z- J-A30) Below are the specifications of the cable that connects the special I/O connector for the Flexible Motion Controller (Model: FQM1-MMP22) with a Servo Relay Unit (Model: XW2B-80J7-12A). Cable types Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A30...

  • Page 222: External Regeneration Resistor Specifications

    3 Specifications External Regeneration Resistor Specifications 3-7-1 External Regeneration Resistor Specifications R88A-RR08050S Regeneration absorption for Heat Resistance Nominal Thermal switch output Model 120°C radiation value capacity specifications temperature condition rise 50 Ω R88A- 80 W 20 W Aluminum Operating temperature: 150°C ± 5°C RR08050S 350 x 350, NC contact...
  • Page 223 3 Specifications R88A-RR22047S1 Regeneration absorption for Heat Resistance Nominal Thermal switch output Model 120°C radiation value capacity specifications temperature condition rise 47 Ω R88A- 220 W 70 W Aluminum Operating temperature: 150°C ± 5°C RR22047S1 350 x 350, NC contact Thickness: Rated output (resistive load) 250 VAC, 0.2 A max.

  • Page 224: Reactor Specifications

    3 Specifications Reactor Specifications Connect a Reactor to the Servo Drive for reduction of harmonic current. Select an appropriate Reactor according to the Servo Drive model. Specifications Reactor Servo Drive model Rated Reactor Model Inductance Weight current type R88D-KP01H (For single-phase input) 3G3AX-DL2002 1.6 A 21.4 mH...

  • Page 225: System Design

    System Design This section explains the installation conditions, wiring methods which include wiring conforming to EMC directives, and regenerative energy calculation methods for the Servo Drives, Servomotors, and Decelerators. It also explains the performance of External Regeneration Resistors. 4-1 Installation Conditions ......... . 4-2 4-1-1 Servo Drive Installation Conditions.

  • Page 226: Installation Conditions

    4 System Design Installation Conditions 4-1-1 Servo Drive Installation Conditions Space Conditions around Servo Drives • Install the Servo Drives according to the dimensions shown in the following illustration to ensure proper dispersion of heat from inside the drives and convection inside the panel. If the drives are installed side by side, install a fan for air circulation to prevent uneven temperatures inside the panel.

  • Page 227: Servomotor Installation Conditions

    4 System Design Ambient Temperature Control • Operation in an environment in which there is minimal temperature rise is recommended to maintain a high level of reliability. • When the drive is installed in a closed space, such as a box, the ambient temperature may rise due to temperature rise in each unit.
  • Page 228 4 System Design Connecting to Mechanical Systems • For the allowable axial loads for motors, refer to 3-1-2 Characteristics on page 3-3. If an axial load Ball screw center line greater than that specified is applied to a motor, it may reduce the limit of the motor bearings and may break the motor shaft.
  • Page 229 4 System Design Oil-water Measures Use the Servomotor with an oil seal if you are using it in an environment where oil drops can adhere to the through-shaft part. The operating conditions of the Servomotor with an oil seal are as follows: •...

  • Page 230: Decelerator Installation Conditions

    4 System Design 4-1-3 Decelerator Installation Conditions Installing the Decelerator Installing the R88G-HPG (Backlash: 3 Arcminutes max.) Follow the instructions bellow to install the Decelerator and the Servomotor. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap.
  • Page 231 4 System Design Installing the Decelerator When installing the R88G-HPG , first make sure that the mounting surface is flat and that there are no burrs on the tap sections, and then fix the mounting flanges with bolts. Bolt tightening torque on the mounting flange (for aluminum) R88G-HPG Number of bolts Size of bolts...
  • Page 232 4 System Design Installing the R88G-VRSF (Backlash: 15 Arcminutes max.) Follow the instructions bellow to install the Decelerator and the Servomotor. Turn the input joint and align the head of the bolt that secures the shaft with the rubber cap. Confirm the set bolts are loose.
  • Page 233 Slipping does not occur. Using a Non-OMRON Decelerator (Reference) If the system configuration requires a non-OMRON decelerator to be used in combination with an OMNUC G5-series (Pulse-train Input Type) Servomotor, select the decelerator so that the loads on the motor shaft (i.e., both the radial and thrust loads) are within the allowable ranges. (Refer to 3-1-2 Characteristics on page 3-3 for details on the allowable loads for the motors.)

  • Page 234: Wiring

    Confirming to EMC Directives. 24 VDC *2. Recommended relay: MY relay by OMRON (24-V) ALMCOM For example, MY2 relay by OMRON can be used with all G5-series motors with brake because its 24 VDC OUTM1 rated inductive load is 2 A (24 VDC).
  • Page 235 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example MY2 relay /ALM by OMRON can be used with all 24 VDC G5-series motors with brake because its ALMCOM rated inductive load is 2 A (24 VDC).
  • Page 236 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 /ALM relay by OMRON can be used with all 24 VDC G5-series motors with brake because ALMCOM its rated inductive load is 2 A (24 VDC).
  • Page 237 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by OMRON (24-V) For example, MY2 /ALM relay by OMRON can be used with all 24 VDC G5-series motors with brake because ALMCOM its rated inductive load is 2 A (24 VDC).

  • Page 238: Main Circuit And Motor Connections

    4 System Design 4-2-2 Main Circuit and Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KP01H/-KP02H/-KP04H/-KP08H/-KP10H/-KP15H Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power R88D-KP H supply input (100 W to 1.5 kW): Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz (100 W to 1.5 kW): 3-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz Control circuit power R88D-KP H: Single-phase 200 to 240 VAC (170 to 264 VAC) 50/60 Hz...
  • Page 239 4 System Design R88D-KP20H Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KP H (2 kW): input 3-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz Control circuit power R88D-KP H: Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input Motor Connector Specifications (CNB) Symbol...
  • Page 240 4 System Design R88D-KP30H/-KP50H Terminal Block Specifications Symbol Name Function Main circuit power supply R88D-KP H (3 to 5 kW): 3-phase 200 to 230 VAC input (170 to 253 VAC) 50/60 Hz Control circuit power R88D-KP H: Single-phase 200 to 230 VAC (170 to 253 VAC) 50/60 Hz supply input External Regeneration Normally B2 and B3 are shorted.
  • Page 241 *1 The first value is for single-phase input power and the second value is for 3-phase input power. *2 Use the same wire size for B1 and B2. *3 Connect an OMRON power cable to the motor connection terminals. OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 242 4 System Design Wire Sizes and Allowable Current (Reference) The following table shows the allowable current when there are 3 power supply wires. Use a current below these specified values. 600-V Heat-resistant Vinyl Wire (HIV) Allowable current [A] for Nominal cross- Conductive Configuration ambient temperature...
  • Page 243 4 System Design Terminal Block Wiring Procedure On a Servo Drive with 2.0 kW or less, connector-type terminal blocks are used. The procedure for wiring these terminal blocks is explained below. Connector-type terminal blocks (Example: R88D-KP01H) Remove the terminal block from the Servo Drive before wiring. The Servo Drive may be damaged if the wiring is done with the terminal block in place.

  • Page 244: Wiring Conforming To Emc Directives

    4 System Design Wiring Conforming to EMC Directives Conformance to the EMC Directives (EN 55011 Class A Group 1 (EMI) and EN 61000-6-2 (EMS)) can be ensured by wiring under the conditions described in this section. These conditions are for conformance of OMNUC G5-series (Pulse-train Input Type) products to the EMC directives.
  • Page 245 3-phase 200 VAC (30 A) 3SUP-HL50-ER-6B 3-phase 200 VAC (50 A) Schaffner EMC Inc. FS5559-60-34 3-phase 200 VAC (60 A) FS5559-80-34 3-phase 200 VAC (80 A) Servo Drive OMRON – Servomotor OMRON – Clamp core ZCAT3035-1330 – Clamp core Konno Industry RJ8035 –...
  • Page 246 4 System Design Noise filter for power supply input We recommend using a noise filter listed below for the Servo Drive. Drive Noise filter for power supply input Phase of Rated Leakage current (60 Hz) power Model Model Manufacturer current max.
  • Page 247 4 System Design External Dimensions SUP-EK5-ER-6/3SUP-HQ10-ER-6 100±2.0 53.1±2.0 88.0 75.0 Ground terminal Attachment screw for cover M3 11.6 13.0 Cover Unit 3SUP-HU30-ER-6/3SUP-HL50-ER-6B ±3.0 ±1.0 2-φ5.5 2-φ5.5×7 Ground terminal Attachment screw for cover M3 Cover Unit OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 4 - 23...
  • Page 248 4 System Design Circuit Diagram SUP-EK5-ER-6 3SUP-HQ10-ER-6 3SUP-HU30-ER-6 3SUP-HL50-ER-6B LINE LOAD Noise Filter for Brake Power Supply • Use the following noise filter for the brake power supply. Rated Rated Model Leakage current Manufacturer current voltage SUP-EK5-ER-6 250 V 1.0 mA Okaya Electric (at 250 Vrms 60 Hz) Industries Co., Ltd.
  • Page 249 4 System Design Door Structure • Use a metal door. • Use a water-draining structure where the door and case fit together, and leave no gaps. (Refer to the diagrams.) • Use a conductive gasket between the door and the case. (Refer to the diagrams.) •...

  • Page 250: Selecting Connection Components

    4 System Design 4-3-2 Selecting Connection Components This section explains the criteria for selecting the connection components required to improve noise resistance. Understand each component’s characteristics, such as its capacity, performance, and applicable range when selecting the connection components. For more details, contact the manufacturers directly. No-fuse Breaker (NFB) When selecting a no-fuse breaker, consider the maximum input current and the inrush current.
  • Page 251 4 System Design Leakage Breaker • Select a leakage breaker for high frequencies and surge resistance. • When selecting leakage breakers, remember to add the leakage current from devices other than the motor, such as devices using a switching power supply, noise filters, inverters, and so on. To prevent malfunction due to inrush current, we recommend using a leakage breaker of 10 times the total of all current values.
  • Page 252 4 System Design Surge Absorber • Use surge absorbers to absorb lightning surge voltage and abnormal voltage from power supply input lines. • When selecting surge absorbers, take into account the varistor voltage, the surge immunity and the energy tolerated dose. •...
  • Page 253 Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit. Model Manufacturer Application OMRON For Drive output and power cable 3G3AX-ZCL1 OMRON For Drive output and power cable...
  • Page 254 4 System Design External Dimensions 3G3AX-ZCL1 3G3AX-ZCL2 3-M4 180±2 2-M5 160±2 ESD-R-47B ZCAT3035-1330 17.5 φ5.1 RJ8035/RJ8095 T400-61D Dimensions (unit: mm) Current Model Core value thickness RJ8035 R3.5 RJ8095 R3.5 4 - 30 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 255 4 System Design Impedance Characteristics 3G3AX-ZCL1 3G3AX-ZCL2 1,000 1,000 10,000 Frequency [kHz] Frequency [kHz] ESD-R-47B ZCAT3035-1330 1,000 10,000 1,000 1,000 1,000 Frequency [MHz] Frequency [MHz] OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual 4 - 31...
  • Page 256 4 System Design RJ8035 RJ8095 10,000 10,000 1,000 1,000 0.01 0.01 1,000 1,000 Frequency [kHz] Frequency [kHz] T400-61D 0.01 0.001 0.0001 1,000 10,000 100,000 Frequency [kHz] 4 - 32 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 257 4 System Design Surge Suppressors • Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. • The following table shows the types of surge suppressors and recommended products. Type Feature Recommended product Diodes Diodes are used for relatively small loads such Use a fast-recovery diode with a short reverse as relays when the reset time is not a critical...
  • Page 258 4 System Design Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder’s noise resistance. • Always use the specified encoder cables. • If cables are joined midway, be sure to use connectors. And do not remove more than 50 mm of the cable insulation.
  • Page 259 4 System Design Improving Control I/O Signal Noise Resistance Positional deviation and I/O signal errors can occur if control I/O is influenced by noise. • Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply.
  • Page 260 4 System Design Reactor to Reduce Harmonic Current Harmonic Current Measures • Use a Reactor to suppress harmonic currents. The Reactor functions to suppress sudden and quick changes in electric currents. • Select the proper Reactor model according to the Servo Drive to be used. Reactor Servo Drive model Rated...
  • Page 261 • Select a noise filter with a rated current at least twice the Servo Drive’s continuous output current. • The following table shows the noise filters that are recommended for motor output lines. Rated Manufacturer Model Comment current OMRON 3G3AX-NF001 For inverter output 3G3AX-NF002 12 A 3G3AX-NF003 25 A...
  • Page 262 4 System Design 3G3AX-NF003/-NF004/-NF005/-NF006 4-φ6.5 Dimensions [mm] Model 3G3AX-NF003 – – 3G3AX-NF004 3G3AX-NF005 3G3AX-NF006 4 - 38 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 263: Regenerative Energy Absorption

    4 System Design Regenerative Energy Absorption The Servo Drives have internal regeneration process circuitry, which absorbs the regenerative energy produced during motor deceleration and prevents the DC voltage from increasing. An overvoltage error occurs, however, if the amount of regenerative energy from the motor is too large. If this occurs, remedies must be taken to reduce the regenerative energy by changing operating patterns, or to increase the regeneration process capacity by connecting an External Regeneration Unit.
  • Page 264 4 System Design Vertical Axis Downward movement Motor operation Upward movement – N Motor output torque • In the output torque graph, acceleration in the forward direction (rising) is shown as positive (+), and acceleration in the reverse direction (falling) is shown as negative (–). •...

  • Page 265: Servo Drive Regeneration Absorption Capacity

    4 System Design 4-4-2 Servo Drive Regeneration Absorption Capacity Amount of Internal Regeneration Absorption in Servo Drives This Servo Drive absorbs regenerative energy internally with built-in capacitors. If the regenerative energy is too large to be processed internally, an overvoltage error occurs and operation cannot continue.

  • Page 266: Regenerative Energy Absorption With An External Regeneration Resistor

    4 System Design 4-4-3 Regenerative Energy Absorption with an External Regeneration Resistor If the regenerative energy exceeds the regeneration absorption capacity of the Servo Drive, connect an External Regeneration Resistor. Connect the External Regeneration Resistor between B1 and B2 terminals on the Servo Drive. Double-check the terminal names when connecting the resistor because the drive may be damaged if connected to the wrong terminals.

  • Page 267: Connecting An External Regeneration Resistor

    4 System Design 4-4-4 Connecting an External Regeneration Resistor R88D-KP01H/-KP02H/-KP04H Normally B2 and B3 are open. If an External Regeneration Resistor is necessary, connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below. Servo Drive Thermal switch output θ>...
  • Page 268 4 System Design Combining External Regeneration Resistors Regeneration absorption 20 W 40 W 70 W 140 W capacity Model R88A-RR08050S R88A-RR08050S R88A-RR22047S R88A-RR22047S R88A-RR080100S R88A-RR080100S R88A-RR22047S1 R88A-RR22047S1 50 Ω /100 Ω 25 Ω /50 Ω 47 Ω 94 Ω Resistance value Connection method...
  • Page 269 Basic Control Mode This section provides the outline of functions and settings for each control mode. 5-1 Position Control ..........5-2 5-1-1 Outline of the Function .

  • Page 270: Position Control

    5 Basic Control Mode Position Control 5-1-1 Outline of the Function • The position control function performs position control according to the pulse-train input from the controller. • The motor rotates based on the value of the pulse-train input multiplied by the electronic gear setting (Pn008 to Pn010).

  • Page 271: Parameters Requiring Settings

    5 Basic Control Mode 5-1-2 Parameters Requiring Settings Parameter . Name Description Reference Pn001 Control Mode Selection Select the control mode. P.7-3 Pn005 Command Pulse Input Select the command pulse input terminal. P.7-4 Selection Pn006 Command Pulse Rotation Set the count direction for the command pulse input. P.7-4 Direction Switching Selection...
  • Page 272 5 Basic Control Mode Command Pulse Rotation Direction Switching Selection and Command Pulse Mode Selection settings are as follows. Command pulse Forward direction Reverse direction Pn006 Pn007 Signal pattern command command 0 or 2 90° phase PULS difference Phase 2-phase pulse (Phase A and SIGN Phase B)

  • Page 273: Related Functions

    5 Basic Control Mode Electronic Gear Function (Pn008, Pn009, Pn010) The electronic gear function enables to multiply the pulse command input from the host controller by the specified gear ratio to determine the position command to the position control. Parameter Setting Name Description...

  • Page 274: Parameter Block Diagram For Position Control Mode

    5 Basic Control Mode 5-1-4 Parameter Block Diagram for Position Control Mode • This timing chart shows an example of push-motion operation with a constant force (torque). 5 - 6 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 275: Internally Set Speed Control

    5 Basic Control Mode Internally Set Speed Control 5-2-1 Outline of the Function • The Internally Set Speed Control function controls the speed of the Servomotor based on the speeds set in the No. 1 to 8 Internally Speed Settings. •...
  • Page 276 5 Basic Control Mode Internally Set Speed Selection The following tables show the internally set speeds that are set with VSEL1, VSEL2 and VSEL3 (internally set speed selection 1, 2 and 3). Pn300 =1 VSEL1 VSEL2 VSEL3 Set speed Disabled Pn304 Disabled Pn305...
  • Page 277 5 Basic Control Mode Precautions for Correct Use Precautions for Correct Use If more than one internally set speed selection signal is switched at the same time (e.g., as when switching from Speed 2 to Speed 3), an internally set speed signal in the process of switching may be temporarily selected.
  • Page 278 5 Basic Control Mode Speed Command Acceleration/Deceleration Setting Function (Pn312, Pn313, Pn314) With a step speed command, the speed command can be changed based on the setting to reduce the shock caused by change in acceleration. Parameter Setting Name Description Unit range Pn312...

  • Page 279: Related Functions

    5 Basic Control Mode S-curve Acceleration/Deceleration Time Setting (Pn314) Set the S-curve time in the time width centered on the inflection points in acceleration/deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time (Pn312) or Soft Start Deceleration Time (Pn313).

  • Page 280: Parameter Block Diagram For Speed Control Mode

    5 Basic Control Mode 5-2-4 Parameter Block Diagram for Speed Control Mode 5 - 12 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 281: Switching Control

    5 Basic Control Mode Switching Control 5-3-1 Outline of the Function • The switching control function controls the motor by switching between two control modes via external inputs. • Control mode switching is performed by the control mode switching input (TVSEL: CN1 pin 32). AC Servo Drive OMNUC G5-series (Pulse-train Input Type)

  • Page 282: Related Functions

    5 Basic Control Mode Operation Example When Switching between Position Control and Speed Control (Pn001 = 3) 10 ms or more Control Mode Switching Input (TVSEL) +r/min Internally Set Speed Control –r/min 10 ms or more Pulse Command Positioning Completion Signal (INP) Motor Rotation Speed Detection Output (TGON)

  • Page 283: Applied Functions

    Applied Functions This section provides the outline and settings of the applied functions, such as damping control, electronic gear, gain switching, and disturbance observer. 6-1 Damping Control ..........6-3 6-1-1 Outline of the Function .
  • Page 284 6 Applied Functions 6-10 Forward and Reverse Drive Prohibition Functions....6-38 6-10-1 Outline of the Function ......... . . 6-38 6-10-2 Parameters Requiring Settings .

  • Page 285: Damping Control

    6 Applied Functions Damping Control 6-1-1 Outline of the Function If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration. This is effective on vibration generated by a low-rigidity machine. The applicable frequencies are from 1 to 200 Hz.
  • Page 286 6 Applied Functions Precautions for Correct Use Precautions for Correct Use • Stop operation before changing the parameters or switching with DFSEL. • Damping control may not function properly or have a poor effect under the following conditions. Item Conditions that interfere with the effect of damping control Control mode •...
  • Page 287 6 Applied Functions Make the damping filter settings. Make damping filter settings (1: Pn215, 2: Pn217, 3: Pn219, 4: Pn221). First, set to 0. The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure. Set a range that will not cause torque saturation under actual operation conditions.

  • Page 288: Adaptive Filter

    6 Applied Functions Adaptive Filter 6-2-1 Outline of the Function The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the torque command. The automatically set notch filter frequency is applied to the Notch 3 (Pn207 to Pn209) and Notch 4 settings.

  • Page 289: Parameters Requiring Settings

    6 Applied Functions 6-2-2 Parameters Requiring Settings Parameter Name Description Reference Pn200 Adaptive Filter Set the number of resonance frequencies to be estimated by the P.7-20 Selection adaptive filter and the operation to be performed after estimation. 0: Adaptive filter disabled 1: One adaptive filter enabled 2: Two adaptive filters enabled 3: Resonance frequency measurement mode...

  • Page 290: Notch Filters

    6 Applied Functions Notch Filters 6-3-1 Outline of the Function Four notch filters can be set for the torque command. If a ball screw or other controlled device causes resonance at a specific location, you can set the resonance frequency using a notch filter to eliminate resonance. A notch filter is used to eliminate a specified frequency component.

  • Page 291: Parameters Requiring Settings

    6 Applied Functions 6-3-2 Parameters Requiring Settings Parameter Name Description Reference Pn201 Notch 1 Frequency Setting Set the center frequency P.7-20 of notch filter 1. The notch filter is enabled at 50 to 4,999 Hz, and disabled at 5,000 Hz. Pn202 Notch 1 Width Setting Select the width of the notch filter 1 frequency.
  • Page 292 6 Applied Functions Notch Filter Width and Depth Width Setting This is the ratio of the frequency bandwidth at a damping factor of –3 [dB] relative to the center frequency when the depth is 0. This value should conform to the left column in the table below. Depth Setting This is the I/O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100.

  • Page 293: Electronic Gear Function

    6 Applied Functions Electronic Gear Function 6-4-1 Outline of the Function • The electronic gear function enables the Servomotor to rotate at the number of pulses calculated by multiplying the position command value by the electronic gear ratio. • This function is enabled in position control mode. 6-4-2 Parameters Requiring Settings Parameter...
  • Page 294 6 Applied Functions Gear Ratio Setting (Pn008, Pn009, and Pn010) Electronic Electronic Electronic Gear Integer Gear Ratio Gear Ratio Description Setting Numerator 1 Denominator (Pn008) (Pn009) (Pn010) 1 to 1,058,576 – – When Electronic Gear Integer Setting (Pn008) is not 0, the processing is performed based on the values set in Electronic Gear Integer Setting (Pn008), regardless of the values set in Electronic Gear Ratio Numerator 1 (Pn009)

  • Page 295: Operation Example

    6 Applied Functions 6-4-3 Operation Example • Example of a motor with a 20-bit encoder (1,048,576 pulses/rotation). When Electronic Gear Integer Setting (Pn008) is not 0 • If Pn008 is set to 2,000, the operation is the same as that of the 2,000 (pulses/rotation) Servomotor. Servo Drive Servomotor Encoder Resolution: 20 bits...
  • Page 296 6 Applied Functions Precautions for Correct Use Precautions for Correct Use • Set the parameters so that the result calucurated by multiplying the command pulse by the electronic gear ratio does not exceed 175 Mpps If it exceeds 175 Mpps , Alarm No.

  • Page 297: Encoder Dividing Function

    6 Applied Functions Encoder Dividing Function 6-5-1 Outline of the Function • The encoder dividing function enables you to adjust the number of output pulses from the Servo Drive. • The number of output pulses per motor rotation can be set in the range of 1 to the number of encoder resolution pulses.
  • Page 298 6 Applied Functions Encoder Dividing Ratio Setting (Pn011 and Pn503) Encoder Encoder Dividing Dividing Description Numerator Denominator (Pn011) (Pn503) 1 to 262,144 [Output source: Encoder] When Encoder Dividing Denominator (Pn503) is 0: The number of output pulses is calculated based on Encoder Dividing Numerator (Pn011) as follows.
  • Page 299 6 Applied Functions Encoder Output Direction Switching Selection (Pn012) The scale corresponding to each output type is as follows. Encoder Output Direction Phase-B When operating in forward When operating in reverse Output source Switching logic direction direction Selection (Pn012) Encoder Non- reverse Phase A...

  • Page 300: Brake Interlock

    6 Applied Functions Brake Interlock 6-6-1 Outline of the Function • This function enables you to set the output timing for the Brake Interlock Output (BKIR) signal that activates the holding brake when the servo is turned ON, an alarm occurs, or the servo is turned OFF. 6-6-2 Parameters Requiring Settings Parameter...

  • Page 301: Operation

    6 Applied Functions 6-6-4 Operation Servo ON/OFF Operation Timing (When Motor is Stopped) Operaton command Servo OFF Servo ON Servo OFF (RUN) Approx. 2 ms Released Dynamic brake DB engaged DB released DB engaged Engaged Approx. 60 ms Pn437 No power Motor power supply No power supply Power supply...
  • Page 302 6 Applied Functions Servo ON/OFF Operation Timing (When Motor is Rotating) Based on these operation timings, regenerative energy is produced if the motor rotation stops abnormally. Accordingly, repeated operation cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.

  • Page 303: Operation

    6 Applied Functions Operation Timing When an Alarm Occurs (Servo ON) Alarm occurs Normal Alarm output 0.5 to 5 ms Motor power supply Power supply No power supply Released Dynamic brake DB released DB released* Engaged Servo ready READY completed output (READY) Alarm output (ALM) Alarm...
  • Page 304 6 Applied Functions Operation Timing When an Alarm is Reset Reset alarms by turning OFF and then ON the power supply. The alarm reset input recognition time can be changed in Alarm Reset Condition Setting (Pn516). The default setting is 120 ms. Alarm reset Reset 120 ms...

  • Page 305: Gain Switching Function

    6 Applied Functions Gain Switching Function 6-7-1 Outline of the Function • The gain switching function switches the position and speed loop gain. • Select “enable” or “disable” in Gain Switching Input Operating Mode Selection (Pn114). Set the switching condition using the gain switching setting. •...

  • Page 306: Parameters Requiring Settings

    6 Applied Functions 6-7-2 Parameters Requiring Settings Parameter Name Description Reference Pn114 Gain Switching Input Set to enable or disable the gain switching function. P.7-13 Operating Mode Selection Position control mode Pn115 Switching Mode in Position Set the condition for switching between Gain 1 and Gain 2. P.7-14 Control Pn116...
  • Page 307 6 Applied Functions Timing of Gain Switching by Gain Switch Setting Switching between the Gain 1 (Pn100 to Pn104) and Gain 2 (Pn105 to Pn109) occurs at the following timing. For the position loop gain, switching occurs based on the value set in Pn119. For information of each gain, refer to Section 7 Parameter Details.
  • Page 308 6 Applied Functions Gain Switching Mode = 3: Switching by Amount of Change in Torque Command Set the amount of change in torque command (angular acceleration and deceleration command) in units of 0.05%/166 µ If the amount of change fluctuates and the switching time is not met, switching is cancelled. To switch when the amount of change reaches 4% in 2 ms (0.33%/166 s), set the value to µ...
  • Page 309 6 Applied Functions Gain Switching Mode (Pn031) = 6: Switching by Amount of Position Error Gain switching is performed based on the accumulated pulse in the error counter. Amount of position error Pn118 Pn118 Pn117 Pn116 Gain 1 Gain 1 Gain 2 Gain Switching Mode = 7: Switching by Position Command Input Gain switching is performed when a position command corresponding to 1 command unit or more is...
  • Page 310 6 Applied Functions Gain Switching Mode = 8: Switching by Positioning Completion Signal OFF Switching to the Gain 2 is performed when the accumulated pulse in the error counter exceeds Positioning Completion Range 1 (Pn431). Amount of accumulated pulse in the error counter INP1 ON INP1 ON INP1 OFF...
  • Page 311 6 Applied Functions Timing of Gain Switching by Position Gain Switching Time (Pn119) When using the position control, setting Gain Switching Time helps prevent the rapid increase of the position loop gain if the values set in Position Loop Gain (Pn100) and Position Loop Gain 2 (Pn105) differ significantly.
  • Page 312 6 Applied Functions Gain Switching Setting for Each Control Mode The available gain switching condition settings vary depending on the control mode to be used. Set parameters for each control mode. Position Control Mode In the position control mode, the available settings depend on the value set in Switching Mode in Position Control (Pn115).

  • Page 313: Torque Limit

    6 Applied Functions Torque Limit 6-8-1 Outline of the Function • The torque limit function limits the output torque of the Servomotor. • This function is used in the following conditions. • When push-motion operation, such as pressing, is performed. •...
  • Page 314 6 Applied Functions Rate of Change Setting at Switching (Pn521 = 3) When Torque Limit Selection (Pn521) is set to 3, you can set the rate of change with a fluctuation during switching. This function is disabled with other settings. How to Set the Rate of Change (Slope) Set the following parameter according to the switching type.

  • Page 315: Sequence I/O Signals

    6 Applied Functions Sequence I/O Signals 6-9-1 Outline of the Function • You can set sequences in various operating conditions. • For the connection of I/O signals and processing of external signals, refer to 3-1-4 Control I/O Connector Specifications (CN1) on page 3-9. 6-9-2 Input Signals You can allocate any functions to the input pins of the control I/O connector (CN1).
  • Page 316 6 Applied Functions Parameters That can be Allocated Use the following parameters when changing the input signal allocations. For the setting method, refer to Input Signal Allocation Method on page 6-34. Parameter Name Description Reference Pn400 Input Signal Selection 1 Set the SI1 input function allocation.
  • Page 317 6 Applied Functions Function Number Table The set values to be used for allocations are as follows: Set value Signal Symbol Disabled – 00 hex Setting not available Forward Drive Prohibition Input 01 hex 81 hex Reverse Drive Prohibition Input 02 hex 82 hex 03 hex...

  • Page 318: Output Signals

    6 Applied Functions • The functions that are used by more than one control mode (such as Operation Command and Alarm Reset Input) must be allocated to the same pin with the same logic. If they are not set correctly, Interface Input Duplicate Allocation Error 1 (Alarm No. 33.0) or Interface Input Duplicate Allocation Error 2 (Alarm No.
  • Page 319 6 Applied Functions Output Signal Allocation Method Input the setting in each control mode to any of the parameters from Pn410 to Pn413 to allocate the signal. The parameters must be set in hexadecimal notation, in the same method as for the input signal allocations.

  • Page 320: Forward And Reverse Drive Prohibition Functions

    6 Applied Functions 6-10 Forward and Reverse Drive Prohibition Functions 6-10-1 Outline of the Function • If the Forward Drive Prohibition Input (POT) or Reverse Drive Prohibition Input (NOT) is turned OFF, the motor will stop rotating. • You can thus prevent the Servomotor from rotating outside of the operating range of the device by using limit inputs from the device connected to the Servo Drive.
  • Page 321 6 Applied Functions Drive Prohibition Input Selection (Pn504) Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch. This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine.
  • Page 322 6 Applied Functions Stop Selection for Drive Prohibition Input (Pn505) Set the deceleration and stop methods used when the Forward/Reverse Drive Prohibition Input signal turns ON. Stop Selection for Drive Deceleration method After stopping Error counter Prohibition Input (Pn505) Dynamic brake Torque command = 0 for drive Held prohibition direction...

  • Page 323: Disturbance Observer Function

    6 Applied Functions 6-11 Disturbance Observer Function 6-11-1 Outline of the Function The disturbance observer function enables you to lower the effect of the disturbance torque and reduce vibration by using the estimated disturbance torque value. You can use the disturbance observer for position control or speed control in the following situations. •...

  • Page 324: Parameters Requiring Settings

    6 Applied Functions 6-11-2 Parameters Requiring Settings Parameter Name Description Reference Pn610 Function Expansion Setting Set the bits related to the disturbance observer. P.7-56 Pn623 Disturbance Torque Set the compensation gain for the disturbance torque. P.7-58 Compensation Gain Pn624 Disturbance Observer Filter Set the filter time constant for disturbance torque P.7-58 Setting...

  • Page 325: Gain 3 Switching Function

    6 Applied Functions 6-12 Gain 3 Switching Function 6-12-1 Outline of the Function You can newly set Gain 3 right before stopping to the gain switching function in Gain Switching Input Operating Mode Selection (Pn114). You can use the Gain 3 switching function for position control in the following situations. •...

  • Page 326: Friction Torque Compensation Function

    6 Applied Functions 6-13 Friction Torque Compensation Function 6-13-1 Outline of the Function The friction torque compensation function reduces the influence of friction. You can set unbalanced load compensation that offsets the constantly applied unbalance torque and dynamic friction compensation that changes the offset direction in accordance with the operating direction. You can use the friction torque compensation function in the following situations.

  • Page 327: Operation Example

    6 Applied Functions 6-13-3 Operation Example Torque Command Value Offset (Pn607) reduces the variations of positioning operations due to the movement directions when a certain amount of unbalanced load torque is always applied to the motor at the vertical axis by setting the torque command value. By setting the friction torque for each rotation direction in Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609), you can reduce the deterioration of and inconsistencies in the positioning stabilization time due to dynamic friction for loads that require a large amount of dynamic...

  • Page 328: Inertia Ratio Switching Function

    6 Applied Functions 6-14 Inertia Ratio Switching Function 6-14-1 Outline of the Function You can switch between the inertia ratio 1 and 2 using Inertia Ratio Switching Input (JSEL). This function is effective if it is used when the load inertia changes in 2 levels. You can use the inertia ratio switching function in the following situations.

  • Page 329: Feed-Forward Function

    6 Applied Functions 6-15 Feed-forward Function 6-15-1 Outline of the Function The feed-forward function comes in 2 types: speed feed-forward and torque feed-forward. Speed feed-forward can minimize the position error and improve the responsiveness in the position control mode by calculating the speed control command required for operation from the internal position command and then adding it to the speed command calculated by comparison with the position feedback value.

  • Page 330: Operating Procedure

    6 Applied Functions 6-15-3 Operating Procedure Speed Feed-forward Operating Method Set Speed Feed-forward Command Filter (Pn111). Set this to approximately 50 (0.5 ms). Adjust Speed Feed-forward Amount (Pn110). Gradually increase the value set in Speed Feed-forward Amount (Pn110) and finely adjust it to avoid overshooting during acceleration/deceleration.
  • Page 331 6 Applied Functions Torque Feed-forward Operating Method Set Inertia Ratio 1 (Pn004). Set the inertia ratio as correctly as possible. • If the inertia ratio is calculated for the selected motor, input the calculated value. • If the inertia ratio is not known, perform autotuning and set the inertia ratio. Set Torque Feed-forward Command Filter (Pn113).

  • Page 332: Instantaneous Speed Observer Function

    6 Applied Functions 6-16 Instantaneous Speed Observer Function 6-16-1 Outline of the Function The instantaneous speed observer function uses a load inertia to estimate the motor speed. This improves the speed detection accuracy and can provide both high responsiveness and minimum vibration when stopping.

  • Page 333: Operating Procedure

    6 Applied Functions 6-16-3 Operating Procedure Set Inertia Ratio 1 (Pn004). Set the inertia ratio as correctly as possible. • If Inertia Ratio 1 (Pn004) is obtained in realtime auto gain tuning, use the set value as is. • If the inertia ratio is calculated for the selected motor, input the calculated value. •...
  • Page 334 6 Applied Functions 6 - 52 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 335: Parameter Details

    Parameter Details This section explains the set value and setting details of each parameter. 7-1 Basic Parameters ..........7-2 7-2 Gain Parameters .

  • Page 336: Basic Parameters

    7 Parameter Details Basic Parameters Pn000 Rotation Direction Switching Setting 0 to 1 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description Forward direction command sets the motor rotation direction to CW. Forward direction command sets the motor rotation direction to CCW.
  • Page 337 7 Parameter Details Pn001 Control Mode Selection Setting 0 to 6 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description Position control (Pulse-train command) Speed control (Internally set speed control) Reserved (Do not set.) Mode 1: Position control, Mode 2: Speed control (Internally set speed control) Reserved (Do not set.) Reserved (Do not set.)
  • Page 338 7 Parameter Details Pn003 Realtime Autotuning Machine Rigidity Setting Setting 0 to 31 Unit – Default Cycle the – range setting power supply *1 The default setting is 11 for a Servo Drive with 200 V and 1 kW or more. •...
  • Page 339 7 Parameter Details Pn007 Command Pulse Mode Selection Position Setting 0 to 3 Unit – Default Cycle the Required range setting power supply • Set the count method for the command pulse input. Command Pulse Command Command Rotation Direction Pulse Mode pulse Motor forward command Motor reverse command...
  • Page 340 7 Parameter Details Command Pulse Command Command Rotation Direction Pulse Mode pulse Motor forward command Motor reverse command Switching Selection Selection mode (Pn006) (Pn007) 0 or 2 90° phase difference Phase (A/B) signal input Phase Line driver: t1 ≥ 2 µs Open collector: t1 ≥...
  • Page 341 Electronic Gear Ratio Numerator 3 Electronic Gear Ratio Numerator 4 Although Pn008, Pn009, and Pn010 can be set to any value within the setting range, OMRON will not guarantee that the function operates as intended with any extreme electronic gear ratio setting. It is recommended that the electronic gear ratio be used between 1/1,000 and 1,000.
  • Page 342 7 Parameter Details Pn011 Encoder Dividing Numerator Setting 1 to 262,144 Unit Default 2,500 Cycle the Required range setting power supply • When Encoder Dividing Denominator (Pn503) is set to 0, the encoder resolution is used as the denominator for dividing the pulse output. Pn011 x 4 (if host system uses quadruple process) Encoder pulse →...
  • Page 343 7 Parameter Details Pn016 Regeneration Resistor Selection Setting 0 to 3 Unit – Default Cycle the Required range setting power supply *1 The default setting is 0 for a Servo Drive with 200 V and 750 W or more. Explanation of Set Values Set value Description Regeneration Resistor used: Built-in Resistor...

  • Page 344: Gain Parameters

    7 Parameter Details Gain Parameters Pn100 Position Loop Gain Position Setting 0 to 30,000 Unit 0.1/s Default Cycle the – range setting power supply *1 The default setting is 320 for a Servo Drive with 200 V and 1 kW or more. •...
  • Page 345 7 Parameter Details Pn101 Speed Loop Gain Setting 1 to 32,767 Unit 0.1 Hz Default Cycle the – range setting power supply *1 The default setting is 180 for a Servo Drive with 200 V and 1 kW or more. •...
  • Page 346 7 Parameter Details Pn104 Torque Command Filter Time Constant Setting 0 to 2,500 Unit 0.01 ms Default Cycle the – range setting power supply *1 The default setting is 126 for a Servo Drive with 200 V and 1 kW or more. •...
  • Page 347 7 Parameter Details Pn110 Speed Feed-forward Amount Position Setting 0 to 1,000 Unit 0.1% Default Cycle the – range setting power supply • Set the feed-forward amount. Increasing the set value decreases the position error and increases the responsiveness. Overshooting, however, will occur more easily. Pn111 Speed Feed-forward Command Filter Position...
  • Page 348 7 Parameter Details Pn115 Switching Mode in Position Control Position Setting 0 to 10 Unit – Default Cycle the – range setting power supply Explanation of Settings (√: Enabled, –: Disabled) Description Gain Switching Gain Switching Gain Switching Delay Time in Hysteresis in value Gain switching conditions...
  • Page 349 7 Parameter Details *5 When the set value is 10, the meanings of Gain Switching Delay Time in Position Control, Gain Switching Level in Position Control, and Gain Switching Hysteresis in Position Control differ from the normal case. (Refer to Figure F.) Figure A Figure C...
  • Page 350 7 Parameter Details Pn117 Gain Switching Level in Position Control Position Setting 0 to 20,000 Unit – Default Cycle the – range setting power supply • This parameter is enabled when Switching Mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets the judgment level for switching between Gain 1 and Gain 2.
  • Page 351 7 Parameter Details Pn120 Switching Mode in Speed Control Speed Setting 0 to 5 Unit – Default Cycle the – range setting power supply Explanation of Settings (√: Enabled, –: Disabled) Description Gain Switching Gain Switching Gain Switching Delay Time in Hysteresis in value Gain switching conditions...
  • Page 352 7 Parameter Details Figure A Figure B Speed V Level Speed V Time Gain 1 Gain 2 Gain 1 Torque T Figure C Speed V Level Accumulated pulse Level Time Gain 1 Time Gain 1 Gain 2 Gain 1 Figure D Command speed S Actual speed N Level...
  • Page 353 7 Parameter Details Pn123 Gain Switching Hysteresis in Speed Control Speed Setting 0 to 20,000 Unit – Default Cycle the – range setting power supply • Set the hysteresis width above and below the judgment level set in Gain Switching Level in Speed Control (Pn122).

  • Page 354: Vibration Suppression Parameters

    7 Parameter Details Vibration Suppression Parameters Pn200 Adaptive Filter Selection Position Speed Setting 0 to 4 Unit – Default Cycle the – range setting power supply Explanation of Set Values Set value Description Disabled. The parameters related to notch filters 3 and 4 hold the current values. One filter enabled.
  • Page 355 7 Parameter Details Pn205 Notch 2 Width Setting Setting 0 to 20 Unit – Default Cycle the – range setting power supply • Select the notch width of the second resonance suppression notch filter. • Increasing the setting value widens the notch width. Normally, use the default set value. Pn206 Notch 2 Depth Setting Setting...
  • Page 356 7 Parameter Details Pn213 Damping Filter Selection Position Setting 0 to 3 Unit – Default Cycle the – range setting power supply Explanation of Set Values Set value Description Damping filters 1 and 2 enabled Either damping filters 1 and 3 or 2 and 4 can be selected via the external input (DFSEL1). •...
  • Page 357 7 Parameter Details Pn217 Damping Filter 2 Setting Position Setting 0 to 1,000 Unit 0.1 Hz Default Cycle the – range setting power supply • When Damping Frequency 2 (Pn216) is set, reduce this value if torque saturation occurs or increase this value to improve the operation speed.
  • Page 358 7 Parameter Details Pn222 Position Command Filter Time Constant Position Setting 0 to 10,000 Unit 0.1 ms Default Cycle the – range setting power supply • Position Command Filter Time Constant is the first-order lag filter that is inserted after the electronic gear ratio for the command pulse input.
  • Page 359 7 Parameter Details Pn223 Smoothing Filter Time Constant Position Setting 0 to 10,000 Unit 0.1 ms Default Cycle the – range setting power supply • Set the time constant for the FIR filter applied to the command pulses. (FIR: Finite Impulse Response) •...

  • Page 360: Analog Control Parameters

    7 Parameter Details Analog Control Parameters Pn300 Command Speed Selection Speed Setting 1 to 3 Unit – Default Cycle the – range setting power supply Explanation of Set Values Description value Reserved (Do not set.) No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn304 to Pn307) Reserved (Do not set.) No.
  • Page 361 7 Parameter Details Pn302 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn303 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn304 Speed No. 1 Internally Set Speed Setting –20,000 to 20,000 Unit...
  • Page 362 7 Parameter Details Pn311 No. 8 Internally Set Speed Speed Setting –20,000 to 20,000 Unit r/min Default Cycle the – range setting power supply • If you enabled a range of Internally Set Speed settings in Command Speed Selection (Pn300), set in units of r/min the first to fourth internally set speeds in Pn304 to Pn307 or the fifth to eighth internally set speeds in Pn308 to Pn311.
  • Page 363 7 Parameter Details Pn315 Zero Speed Designation Selection Speed Setting 0 to 3 Unit – Default Cycle the – range setting power supply Explanation of Set Values Set value Description The Zero Speed Designation Input function is disabled. The speed command is 0 when Zero Speed Designation is input. (Refer to Figure A.) The speed command is 0 when Zero Speed Designation is input.
  • Page 364 7 Parameter Details Figure C Pn316 Speed command Zero speed designation input Position control Speed control Position control • When the zero speed designation input is turned ON, if the speed command is equal to or less than the Position Lock Level Setting (Pn316), the control mode switches to position control and the servo is locked.
  • Page 365 7 Parameter Details Pn320 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn321 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn322 Reserved Setting Unit –...

  • Page 366: Interface Monitor Setting Parameters

    7 Parameter Details Interface Monitor Setting Parameters Pn400 Input Signal Selection 1 Setting 0 to 00FFFFFF hex Unit – Default 8,553,090 Cycle the Required range setting power supply Pn401 Input Signal Selection 2 Setting 0 to 00FFFFFF hex Unit – Default 8,487,297 Cycle the...
  • Page 367 7 Parameter Details Pn411 Output Signal Selection 2 Setting 0 to 00FFFFFF hex Unit – Default 131,586 Cycle the Required range setting power supply Pn412 Not used Setting – Unit – Default – Cycle the – range setting power supply Pn413 Output Signal Selection 4 Setting...
  • Page 368 7 Parameter Details Description Set value Output gain when Monitor type Unit Pn417 = 0 Encoder temperature – – Drive temperature °C Pulses (encoder units) 110,000 Encoder 1-rotation data *1 The forward or reverse direction in monitor data depends on the direction set in Pn000. For an incremental encoder, the normal value after the initial phase-Z input will be output.
  • Page 369 7 Parameter Details Pn419 Analog Monitor 2 Scale Setting Setting 0 to 214,748,364 Unit Pn418 monitor unit/V Default Cycle the – range setting power supply • Set the output gain of the analog monitor 2. Pn421 Analog Monitor Output Setting Setting 0 to 2 Unit...
  • Page 370 7 Parameter Details Pn424 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn425 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn426 Reserved Setting Unit –...
  • Page 371 7 Parameter Details Pn431 Positioning Completion Range 1 Position Setting 0 to 262,144 Unit Command units Default Cycle the – range setting power supply • Use this parameter in combination with Positioning Completion Condition Selection (Pn432) to set the output timing of the positioning completion output. The positioning completion output (INP) will be output if, after command pulse input, the Servomotor (workpiece) completes its movement and the number of pulses in the error counter falls within the range defined as “±(set value).”...
  • Page 372 7 Parameter Details Pn434 Zero Speed Detection Setting 10 to 20,000 Unit r/min Default Cycle the – range setting power supply • Set the general-purpose output timing as rotation speed [r/min]. • The general-purpose output 1 (ZSP) turns ON when the motor speed is lower than the set value of this parameter.
  • Page 373 7 Parameter Details Pn436 Rotation Speed for Motor Rotation Detection Speed Setting 10 to 20,000 Unit r/min Default 1,000 Cycle the – range setting power supply • Motor rotation speed detection output signal is output when the motor speed reaches the speed set as the achieved speed.
  • Page 374 7 Parameter Details Pn438 Brake Timing during Operation Setting 0 to 10,000 Unit 1 ms Default Cycle the – range setting power supply • Set the time required for the Brake Interlock Output (BKIR: CN1 pin 10) to turn OFF after the Operation Command (RUN: CN1 pin 29) is detected to be OFF, when servo OFF status is entered while the Servomotor is operating.
  • Page 375 7 Parameter Details Pn439 Brake Release Speed Setting Setting 30 to 3,000 Unit r/min Default Cycle the – range setting power supply Pn438 set value Applied (OFF) Released (ON) Motor rotation speed Pn439 set value When the set time in Pn438 comes earlier.

  • Page 376: Extended Parameters

    7 Parameter Details Extended Parameters Pn500 Electronic Gear Ratio Numerator 2 Position Setting Unit – Default Cycle the – 0 to 2 range setting power supply Pn501 Electronic Gear Ratio Numerator 3 Position Setting Unit – Default Cycle the – 0 to 2 range setting...
  • Page 377 7 Parameter Details Pn504 Drive Prohibition Input Selection Setting 0 to 2 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description Forward/Reverse Drive Prohibition Input enabled Forward/Reverse Drive Prohibition Input disabled Forward/Reverse Drive Prohibition Input enabled •...
  • Page 378 7 Parameter Details • Set the drive conditions during deceleration and after stopping, when the Forward Prohibition Input (POT: CN1 pin 9) or Reverse Drive Prohibition Input (NOT: CN1 pin 8) is enabled. • When set to 2, the torque limit during deceleration is limited by the value set in Immediate Stop Torque (Pn511).
  • Page 379 7 Parameter Details Pn507 Stop Selection with Main Power Supply OFF Setting 0 to 9 Unit – Default Cycle the – range setting power supply Explanation of Set Values Description value After stopping Error counter During deceleration Dynamic brake operation Dynamic brake operation Clear Free-run...
  • Page 380 7 Parameter Details Pn509 Momentary Hold Time Setting 70 to 2,000 Unit 1 ms Default Cycle the Required range setting power supply • Set the Main Power Supply Alarm detection time. • When set to 2,000, the main power supply OFF detection is disabled. Pn510 Stop Selection for Alarm Detection Setting...
  • Page 381 7 Parameter Details Immediate Stop Operation when an Alarm that Supports Immediate Stop Occurred Speed [r/min] Motor speed Speed command Speed at which Servomotor is judged as stopped (30 r/min) Time Alarm No alarm generation An alarm that supports immediate stop occurred Torque Limit Normal torque limit Normal torque limit...
  • Page 382 7 Parameter Details Pn512 Overload Detection Level Setting Setting 0 to 500 Unit Default Cycle the – range setting power supply • Set the overload detection level. • The value is regarded as 115% if set to 0. • The value is regarded as 115% also if set to more than 115. •...
  • Page 383 7 Parameter Details Pn515 Control Input Signal Read Setting Setting 0 to 3 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description 0.166 ms 0.333 ms 1 ms 1.666 ms • Select the signal read cycle for control signals. Pn516 Alarm Reset Condition Setting Setting...
  • Page 384 7 Parameter Details Pn518 Command Pulse Prohibition Input Setting Position Setting 0 to 1 Unit – Default Cycle the – range setting power supply Explanation of Set Values Set value Description Enabled Disabled • Select whether to enable or disable the Pulse Prohibition Input (IPG). The command pulse input counting process will be force-stopped when the Command Pulse Prohibition input is enabled.
  • Page 385 7 Parameter Details Pn521 Torque Limit Selection Position Speed Setting 0 to 6 Unit – Default Cycle the – range setting power supply Explanation of Set Values Torque Limit Torque Limit Torque Limit Forward direction Reverse direction Selection Switching Setting Switching (TLSEL) torque limit torque limit...
  • Page 386 7 Parameter Details Pn523 Torque Limit Switching Setting 1 Position Speed Setting 0 to 4,000 Unit ms/100% Default Cycle the – range setting power supply • Set the rate of change when switching from No.1 Torque Limit to No.2 Torque Limit. •...
  • Page 387 7 Parameter Details Pn528 Default Display Setting 0 to 35 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description Position command error Motor speed Position command speed Speed control command Torque command Total encoder pulses Total command pulses Reserved (Do not set.)
  • Page 388 7 Parameter Details • For details about the display, refer to 8-4 Mode Setting on page 8-6. Pn531 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn532 Command Pulse Input Maximum Setting Position Setting 250 to 4,000...

  • Page 389: Special Parameters

    7 Parameter Details Special Parameters Pn600 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn602 Excessive Speed Error Setting Setting 0 to 20,000 Unit r/min Default Cycle the – range setting power supply •...
  • Page 390 7 Parameter Details Pn610 Function Expansion Setting Position Setting 0 to 63 Unit – Default Cycle the – range setting power supply • Enable or disable the extended function allocated to each bit. Set value Function bit 0 Instantaneous speed observer function Disabled Enabled bit 1...
  • Page 391 7 Parameter Details Pn614 Alarm Detection Allowable Time Setting Setting 0 to 1,000 Unit Default Cycle the – range setting power supply • Set the time required for the Brake Interlock Output (BKIR: CN1 pin 10) to turn OFF after the Operation Command (RUN: CN1 pin 29) is detected to be OFF, when servo OFF status is entered while the Servomotor is operating.
  • Page 392 7 Parameter Details Pn617 Front Panel Parameter Write Selection Setting 0 to 1 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description Writing to the EEPROM is not performed simultaneously with parameter changes. Writing to the EEPROM is performed simultaneously with parameter changes.
  • Page 393 7 Parameter Details Pn627 Warning Latch Hold Time Selection Setting 0 to 10 Unit – Default Cycle the Required range setting power supply Explanation of Set Values Set value Description Latch time infinite 1 to 10 Latch time 1 to 10 seconds Pn628 Not used Setting...
  • Page 394 7 Parameter Details Name Description 4 to 6 Torque compensation Select whether to update the values set in Torque Command Value Offset (Pn607), Forward Direction Torque Offset (Pn608), and Reverse Direction Torque Offset (Pn609) with the load characteristic estimation result. 0: Use the present set value.
  • Page 395 7 Parameter Details Pn633 Reserved Setting 1,000 Unit – Default 1,000 Cycle the – range setting power supply • Do not set. Pn634 Reserved Setting Unit – Default Cycle the – range setting power supply • Do not set. Pn635 Reserved Setting Unit...
  • Page 396 7 Parameter Details 7 - 62 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 397: Operation

    Operation This section gives the operational procedure and explains how to operate in each mode. 8-1 Operational Procedure ......... . 8-2 8-2 Preparing for Operation .

  • Page 398: Operational Procedure

    8 Operation Operational Procedure Turn ON the power supply after correct installation and wiring and check the operation of the Servomotor and Servo Drive individually. Then make the function settings as required according to the use of the Servomotor and Servo Drive. If user parameters are set incorrectly, there is a risk of unexpected motor operation, which can be dangerous.

  • Page 399: Preparing For Operation

    8 Operation Preparing for Operation This section explains the procedure to prepare the Servomotor and Servo Drive for operation on completion of installation and wiring. It explains items to check both before and after turning ON the power supply. 8-2-1 Items to Check Before Turning ON the Power Supply Checking Power Supply Voltage •...

  • Page 400: Turning On The Power Supply

    8 Operation 8-2-2 Turning ON the Power Supply • Turn ON the control circuit power after you conduct the pre-power-ON checking. You can turn ON the main circuit power, but it is not a requirement. • It will take approximately 2 seconds until the Alarm Output (/ALM) turns ON after the power supply is turned ON.

  • Page 401: Using The Front Panel Display

    8 Operation Using the Front Panel Display LED display (6-digit) When an alarm occurs, all LED flashes and then alarm screen is displayed. Mode key Switch between 4 modes. ● Monitor Mode ● Parameter Setting Mode ● Auxiliary Function Mode ●...

  • Page 402: Mode Setting

    8 Operation Mode Setting 8-4-1 Changing the Mode Default display on the front panel* *1 The display is based on Default Display (Pn528) setting after the power supply is turned ON. 8 - 6 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 403: Monitor Mode

    8 Operation 8-4-2 Monitor Mode Display of the Number of Position Command Error I/O Signal Changes Motor Rotation Speed Reserved Position Command Speed Reserved Monitor for the Number of Speed Control Command Encoder Communications Errors Torque Command Reserved Total Encoder Pulses Position Error (encoder units) Total Command Pulses Reserved...
  • Page 404 8 Operation Position Command Error Position Command Error [command units] Lower (L) Higher (H) Press to switch Lower (L) and Higher (H). Motor Rotation Speed • This indicates the motor rotation speed (unit: r/min). • The minus (–) sign means that the Servomotor is operates in the reverse rotation. Position Command Speed •...
  • Page 405 8 Operation Total Encoder Pulses Total Encoder Pulses [Encoder Pulse] Lower (L) Higher (H) Press to switch Lower (L) and Higher (H). Total Command Pulses Total Command Pulses [Command Pulse] Lower (L) Higher (H) Press to switch Lower (L) and Higher (H). Reserved Do not set.
  • Page 406 8 Operation Control Mode Position control mode Speed control mode Reserved (Do not set any value.) Reserved (Do not set any value.) This indicates which control mode is in use: position control or speed control. I/O Signal Status Input signal (Pin No.8) ON Output signal (Pin No.10) OFF or Disabled.
  • Page 407 8 Operation Reserved Do not set. Alarm Factor, History Alarm cord indicates no alarm) ... Current alarm ... History 0 (Latest) ... History 13 (Oldest) • The alarm history function enables you to trace the history of up to 14 most recent alarms including the current alarm.
  • Page 408 8 Operation Alarm Codes and Description Alarm Alarm Description Description code code Control Power Supply Undervoltage Overspeed Overvoltage Electronic Gear Setting Error Main Power Supply Undervoltage Overrun Limit Error Overcurrent Parameter Error Servo Drive Overheat Parameter Destruction Overload Drive Prohibition Input Error Regeneration Overload Encoder 1-rotation Counter Error Encoder Communications Error...
  • Page 409 8 Operation Warning Number ... Warning occurs ... No warning Warning number Press to display the occurrence status of each warning. Regeneration Load Ratio • This indicates the regeneration resistance load ratio as a percentage when the detection level for the regeneration overload is 100%.
  • Page 410 8 Operation Reasons for No Rotation A number is displayed to indicate the cause why the motor does not rotate. … Position control … Reserved … Reserved … Speed control Control Cause mode number Related Item control Description mode Flashing An alarm or warning An alarm or warning occurred.
  • Page 411 8 Operation Display of the Number of I/O Signal Changes Number of I/O signal changes Pin No..Input signal ... Output signal It is possible to change the pin number if the decimal point is located on the right of the pin number. Press to move the flashing decimal point.
  • Page 412 8 Operation Reserved Do not set. Encoder Position Error Encoder position error [encoder units] Lower (L) Higher (H) Press to switch Lower (L) and Higher (H). Reserved Do not set. Reserved Do not set. P-N Voltage P-N Voltage [V] is displayed. Software Version •...
  • Page 413 8 Operation Drive Serial Number Amplifier Serial Number ... Amplifier Serial Number ... Amplifier Serial Number Lower (L) Higher (H) Press to switch Lower (L) and Higher (H). Display example: For serial number 09040001 Motor Serial Number Motor Serial Number ...
  • Page 414 8 Operation Accumulative Operation Time Accumulative Operation Time [h] is displayed. Lower (L) Higher (H) Press to switch Lower (L) and Higher (H). Automatic Motor Recognition Function Automatic Recognition Enabled Automatic Recognition Disabled Drive Temperature and Encoder Temperature The temperature [°C] is displayed. Press to switch the desired monitor.

  • Page 415: Parameter Setting Mode

    8 Operation 8-4-3 Parameter Setting Mode Change to the parameter mode display. Display example Description operation The display is based on Default Display (Pn528) setting. Press key to change to the monitor mode display. Press key to change to the parameter setting mode display. Set the parameter number.
  • Page 416 8 Operation Return to the parameter setting mode display. Display example Description operation Press key to return to the parameter setting mode display. Precautions for Correct Use Precautions for Correct Use • Some parameters will be displayed with an “r” before the number when the display returns to the parameter setting mode.

  • Page 417: Parameter Write Mode

    8 Operation 8-4-4 Parameter Write Mode The following operation must be performed so that set values changed in Parameter Setting Mode are saved to EEPROM. Save the changed setting to memory. Display example Description operation Press key to switch to the parameter write mode display. Press key to switch to the parameter write mode display.

  • Page 418: Auxiliary Function Mode

    8 Operation 8-4-5 Auxiliary Function Mode The auxiliary function mode provides the alarm clear, jog operation, parameter initialization, and front panel lock/unlock functions. Change to the auxiliary function mode display. Display example Description operation The display is based on Default Display (Pn528) setting. Press key to change to the monitor mode display.
  • Page 419 8 Operation Reserved Do not set. Jog Operation Trial operation can be performed with no-load, i.e., without connecting the control I/O connector (CN1) to the Servomotor. Preparations for jog operation Display example Description operation From the auxiliary function mode alarm clear display, press the key to switch to the jog operation mode display.
  • Page 420 8 Operation Precautions for Correct Use Precautions for Correct Use • Before performing jog operation, be sure to disconnect the load from the Servomotor and remove the wires connected to the control I/O connector (CN1). • To prevent problems such as vibration during jog operation, set the parameter related to gains to correct values.
  • Page 421 8 Operation Front Panel Lock Use the following procedure to lock the front panel. Change to the parameter mode display. Display example Description operation Press key to change to the monitor mode display. Press key to change to the parameter setting mode display. Set the parameter number.
  • Page 422 8 Operation Save the changed setting to memory. Display example Description operation Press key to switch to the parameter write mode display. Press key to switch to the parameter write mode display. Press and hold key for 5 seconds or more (until appears).
  • Page 423 8 Operation Front Panel Unlock Use the following procedure to unlock the front panel. Unlock the front panel lock. Display example Description operation From the auxiliary function mode alarm reset display, press key to switch to the front panel lock mode display. Press key to switch to the front panel lock mode display.

  • Page 424: Trial Operation

    8 Operation Trial Operation When you finished installation, wiring, and switch settings, and confirmed that the status was normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system operates in an electrically correct method. If an error occurs during trial operation, refer to Section 10 Troubleshooting and Maintenance to eliminate the cause.

  • Page 425: Trial Operation In Position Control Mode

    8 Operation 8-5-2 Trial Operation in Position Control Mode Use the Connector CN1. Turn ON the Servo Drive power supply. Check the standard parameter values. Set Command Pulse Mode Selection (Pn007) to a value that matches the output pattern of the host system. Write the parameter data to the EEPROM and turn OFF and then ON the power supply.
  • Page 426 8 Operation 8 - 30 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...

  • Page 427: Adjustment Functions

    Adjustment Functions This section explains the functions, setting methods, and items to note regarding various gain adjustments. 9-1 Gain Adjustment ..........9-2 9-1-1 Purpose of the Gain Adjustment.

  • Page 428: Gain Adjustment

    9 Adjustment Functions Gain Adjustment OMNUC G5-series (Pulse-train Input Type) Servo Drives provide a realtime autotuning function. With this function, gain adjustments can be made easily even by those who use a servo system for the first time. If you cannot obtain the desired responsiveness with autotuning, use manual tuning. 9-1-1 Purpose of the Gain Adjustment The Servo Drive must operate the motor in response to commands from the host system with minimal...

  • Page 429: Gain Adjustment Procedure

    Operation OK? (Default setting) Manual tuning Operation OK? Write to EEPROM. Consult OMRON. Adjustment completed. Gain Adjustment and Machine Rigidity To improve machine rigidity: • Install the machine on a secure base so that it does not have any play.

  • Page 430: Realtime Autotuning

    9 Adjustment Functions Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime, and operates the machine by automatically setting the gain according to the estimated load inertia. At the same time, it can lower the resonance and vibration if the adaptive filter is enabled. Realtime autotuning is enabled for any control to adjust the speed loop PI control.

  • Page 431: Setting Realtime Autotuning

    9 Adjustment Functions 9-2-1 Setting Realtime Autotuning When setting realtime autotuning, turn the servo OFF. Set Realtime Autotuning Mode Selection (Pn002) depending on the load. Normally, set this parameter to 1 or 2. Use a setting of 3 or 4 when a vertical axis is used. A setting of 5 is used in combination with a software tool.
  • Page 432 9 Adjustment Functions Precautions for Correct Use Precautions for Correct Use • After startup, immediately after the first servo ON, or when the value set in Realtime Autotuning Machine Rigidity Setting (Pn003) is increased, unusual noise or vibration may occur until the load inertia is estimated or the adaptive filter stabilizes. This is not an error if it disappears right away.
  • Page 433 9 Adjustment Functions Realtime Autotuning (RTAT) Parameter Table Autotuning Machine Rigidity Setting (Pn003) Parameter Name Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain Pn101 Speed Loop Gain Pn102 Speed Loop Integral Time Constant 3,700 2,800 2,200 1,900 1,600 1,200 Pn103 Speed Feedback Filter Time Constant Pn104...
  • Page 434 9 Adjustment Functions Autotuning Machine Rigidity Setting (Pn003) Parameter Name Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain Pn101 Speed Loop Gain Pn102 Speed Loop Integral Time Constant Pn103 Speed Feedback Filter Time Constant Pn104 Torque Command Filter Time Constant Pn105 Position Loop Gain 2 Pn106...
  • Page 435 9 Adjustment Functions Autotuning Machine Rigidity Setting (Pn003) Parameter Name No.. Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain 1,080 1,350 1,620 2,060 2,510 3,050 3,770 Pn101 Speed Loop Gain 1,150 1,400 1,700 2,100 Pn102 Speed Loop Integral Time Constant Pn103 Speed Feedback Filter Time Constant Pn104...
  • Page 436 9 Adjustment Functions Autotuning Machine Rigidity Setting (Pn003) Parameter Name Pn004 Inertia Ratio 1 Estimated load inertia ratio Pn100 Position Loop Gain 4,490 5,000 5,600 6,100 6,600 7,200 8,100 9,000 Pn101 Speed Loop Gain 2,500 2,800 3,100 3,400 3,700 4,000 4,500 5,000 Pn102 Speed Loop Integral Time Constant Pn103...

  • Page 437: Manual Tuning

    9 Adjustment Functions Manual Tuning 9-3-1 Basic Settings As described before, the OMNUC G5-series Servo Drives (Pulse-train Input Type) have a realtime autotuning function. Readjustment, however, is required if realtime autotuning cannot adjust the gain properly for some reasons: there is a restriction by load conditions, or a necessity to ensue optimum responsiveness and stability for each load.
  • Page 438 9 Adjustment Functions Position Control Mode Adjustment Use the following procedure to perform the adjustment in position control for the OMNUC G5-series Servo Drive (Pulse-train Input Type). Start adjustment. Never adjust or set parameters to extreme values, as it will make the operation unstable. Disable realtime autotuning (Pn002 = 0).
  • Page 439 9 Adjustment Functions Internally Set Speed Control Mode Adjustment The speed control adjustment procedure for OMNUC G5-series Servo Drives (Pulse-train Input Type) is similar to the position control mode adjustment procedure. Use the following adjustment procedure. Never adjust or set parameters to extreme Start adjustment.
  • Page 440 9 Adjustment Functions Servo Manual Tuning Method There are four basic servo adjustment parameters as shown in the table below. If the intended operation characteristics are obtained by adjusting the following 4 parameters, the adjustments of other parameters are not necessary. Parameter No.
  • Page 441 9 Adjustment Functions Inertia Guideline Inertial is small 5 times the rotor inertia max. Inertial is medium 5 to 10 times the rotor inertia max. Inertia is large 10 to 20 times the rotor inertia max. Position Loop Gain (Pn100, 105) This loop controls the number of pulses from encoder to be the designated number of pulses.
  • Page 442 9 Adjustment Functions Speed Loop Gain (Pn101, Pn106) The speed loop gain determines the responsiveness of a Servo Drive. When Inertia Ratio 1 (Pn004) is set correctly, the values set in these parameters are the response frequency. Increasing the value of the speed loop gain improves the responsiveness and quickens positioning, but vibration is more likely to occur.
  • Page 443 9 Adjustment Functions Speed Loop Integral Time Constant (Pn102, 107) The speed loop integral time constant also determines the responsiveness of a Servo Drive. • If the speed loop integral time constant is low, vibration or resonance occurs. In such case, increase the speed loop integral time constant. Command operation pattern Speed [r/min]...
  • Page 444 9 Adjustment Functions Other Adjustments Overshooting may appear in the speed response if a torque loop is saturated due to reasons such as a short acceleration time and a large load torque. If overshooting occurs, increase the acceleration time to prevent saturation of the torque loop. Command operation pattern.

  • Page 445: Troubleshooting And Maintenance

    Troubleshooting and Maintenance This section explains the items that must be checked when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance. 10-1 Actions for Problems ......... . 10-2 10-1-1 Preliminary Checks When a Problem Occurs.

  • Page 446: Actions For Problems

    10 Troubleshooting and Maintenance 10-1 Actions for Problems 10-1-1 Preliminary Checks When a Problem Occurs This section explains the preliminary checks and analytical software required to determine the cause of a problem if one occurs. Checking the Power Supply Voltage •...

  • Page 447: Precautions When A Problem Occurs

    10 Troubleshooting and Maintenance 10-1-2 Precautions When a Problem Occurs When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop, so always take the following precautions. You should assume that anything not described in this manual is not possible with this product. Precautions •...

  • Page 448: Replacing The Servomotor Or Servo Drive

    10 Troubleshooting and Maintenance 10-1-3 Replacing the Servomotor or Servo Drive Use the following procedure to replace the Servomotor or Servo Drive. Replacing the Servomotor Replace the motor. Perform origin adjustment (for position control). • When the motor is replaced, the motor’s origin position (phase Z) may deviate, so origin adjustment must be performed.

  • Page 449: Warning List

    10 Troubleshooting and Maintenance 10-2 Warning List The warning function outputs a warning signal and notifies state such as an overload before activation of a protective function. Set what types of warning you want the Servo Drive to output in Warning Output Selection 1 (Pn440) and Warning Output Selection 2 (Pn441).

  • Page 450: Alarm List

    10 Troubleshooting and Maintenance 10-3 Alarm List If the Servo Drive detects an error, it outputs an alarm (ALM), turns OFF the power drive circuit, and displays the corresponding alarm code. Precautions for Correct Use Precautions for Correct Use • Refer to 10-4-1 Error Diagnosis with Alarm Displays on page 10-10 for appropriate alarm measures.
  • Page 451 10 Troubleshooting and Maintenance Alarm List Alarm No. Attribute Error detection function Description and error cause Immediate Can be Main Sub History cleared stop √ Control Power Supply The DC voltage of the main circuit fell – – Undervoltage below the specified value. √...
  • Page 452 10 Troubleshooting and Maintenance Alarm No. Attribute Error detection function Description and error cause Immediate Can be Main Sub History cleared stop √ √ Error Counter Overflow Error counter value based on the encoder – pulse reference exceeded 2 (536,870,912). √...
  • Page 453 10 Troubleshooting and Maintenance Alarm No. Attribute Error detection function Description and error cause Immediate Can be Main Sub History cleared stop √ Emergency Stop Input An emergency stop input signal (STOP) – – Error was input. Motor Non-conformity The combination of the Servomotor and –...

  • Page 454: Troubleshooting

    10 Troubleshooting and Maintenance 10-4 Troubleshooting If an error occurs in the machine, determine the error conditions from the alarm display and operation state, identify the cause of the error, and take appropriate measures. 10-4-1 Error Diagnosis with Alarm Displays Alarm No.
  • Page 455 10 Troubleshooting and Maintenance Alarm No. Name Cause Measures Main Main Power Supply If Undervoltage Alarm Selection (Pn508) Measure the voltage across the L1, L2, Undervoltage is set to 1, a momentary power and L3 lines on the connectors and the (insufficient voltage interruption occurred between L1 and L3 terminal block.
  • Page 456 10 Troubleshooting and Maintenance Alarm No. Name Cause Measures Main Servo Drive Overheat The temperature of the Servo Drive • Improve the ambient temperature and radiator or power elements exceeded the the cooling conditions of the Servo specified value. Drive. •...
  • Page 457 10 Troubleshooting and Maintenance Alarm No. Name Cause Measures Main Encoder A disconnection was detected because Wire the encoder correctly as shown in Communications communications between the encoder the wiring diagram. Correct the Disconnection Error and the Servo Drive were stopped more connector pin connections.
  • Page 458 10 Troubleshooting and Maintenance Alarm No. Name Cause Measures Main Command Pulse The command pulse input frequency Check the command pulse input. Frequency Error exceeded the value set in Command Pulse Input Maximum Setting (Pn532) x 1.2. Command Pulse The parameter setting for the command •...
  • Page 459 10 Troubleshooting and Maintenance Alarm No. Name Cause Measures Main Overrun Limit Error The Servomotor exceeded the allowable Check the gain (the balance between the operating range set in Overrun Limit position loop gain and the speed loop Setting (Pn514) with respect to the gain) and the inertia ratio.
  • Page 460 10 Troubleshooting and Maintenance *1 For the overload characteristics, refer to 3-2 Overload Characteristics (Electronic Thermal Function) on page 3-35. *2 Always install a thermal switch when setting the Regeneration Resistor Selection (Pn016) value to 2. Otherwise, the Regeneration Resistor will not be protected, generate excessive heat, and be burned out. *3 When the Internal Position Command Speed is force-set to 0 during an immediate stop due to the Pulse Prohibition Input (IPG) or Forward/Reverse Drive Prohibition Input, the speed deviation immediately increases.

  • Page 461: Error Diagnosis Using The Operation State

    10 Troubleshooting and Maintenance 10-4-2 Error Diagnosis Using the Operation State Symptom Probable cause Check items Measures The PWR indicator The power supply wiring is Check to see if the power supply input Supply the correct power does not light incorrect.
  • Page 462 10 Troubleshooting and Maintenance Symptom Probable cause Check items Measures The Servomotor The Servomotor power Check the wiring of the Servomotor Wire correctly. operates cable is wired incorrectly. power cable phases U, V, and W. momentarily, but The encoder cable is wired Check the encoder cable wiring.
  • Page 463 Check to see if the coupling is Adjust the coupling balance. unbalanced. There is a problem with the Check for noise or vibration around Contact the OMRON dealer or bearings. the bearings. sales office. The gain setting is –...
  • Page 464 10 Troubleshooting and Maintenance Symptom Probable cause Check items Measures The Servomotor There is a resonance Check to see if there is a mechanical • Readjust the Torque generates between the machine and resonance. Command Filter Time abnormal noise or the motor.

  • Page 465: Periodic Maintenance

    10 Troubleshooting and Maintenance 10-5 Periodic Maintenance Caution After replacing the Servo Drive, transfer to the new Servo Drive all data needed to resume operation, before restarting operation. Equipment damage may result. Never repair the Servo Drive by disassembling it. Electric shock or injury may result.

  • Page 466: Servo Drive Life Expectancy

    • If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection period of 5 years is recommended. • Upon request, OMRON will inspect the Servo Drive and Servomotor and determine if part replacement is required. 10 - 22...

  • Page 467: Appendices

    Appendices The appendices provide connection examples with OMRON’s PLC and Position Controller, as well as lists of parameters. A-1 Connection Examples......... . . A-2 A-2 Parameter List .
  • Page 468 Appendices Connection Examples Example 1: Connection with SYSMAC CJ1W-NC133/233/433 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz Ground to CJ1W-NC133/233/433 R88D-KP 100 Ω or Less Description 5 VDC 5-V Power Supply for Pulse Output Reactor 5-V GND for Pulse Output 24-V Power Supply for Output...
  • Page 469 Appendices Example 2: Connection with SYSMAC CJ1W-NC113/213/413 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz Ground to CJ1W-NC113/213/413 R88D-KP 100 Ω or Less Description 24-V Power Supply for Output Reactor 24 VDC 0 V Power Supply for Output +CCW...
  • Page 470 Appendices Example 3: Connection with SYSMAC CS1W-NC133/233/433 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz MC1 MC2 Ground to CS1W-NC133/233/433 R88D-KP 100 Ω or Less Description 5 VDC 5-V Power Supply for Pulse Output Reactor 5-V GND for Pulse Output 24-V Power Supply for Output...
  • Page 471 Appendices Example 4: Connection with SYSMAC CS1W-NC113/213/413, C200HW-NC113/213/413 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz CS1W-NC113/213/413 Ground to C200HW-NC113/213/413 R88D - KP 100 Ω or Less Description 24-V Power Supply for Output Reactor 0 V Power Supply for Output +CCW...
  • Page 472 Appendices Example 5: Connection with SYSMAC CP1H-Y DT-D Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz Servo Error Display Ground to CP1H-Y20DT-D R88-KP 100 Ω or Less Reactor Output Terminal Block +CCW CW0 + Pulse...
  • Page 473 Appendices Example 6: Connection with SYSMAC CP1H-X DT-D/CP1L- DT-D Main Circuit Power Supply MC1MC2 Main Circuit Contactor Surge Suppressor X1 MC1 Servo Error Display Ground to CP1H-X40DT-D R88-KP 100 Ω or Less Reactor Output Terminal Block +24VCW CW0 (word 100, bit 00) –CW Pulse COM (for word 100, bit 00)
  • Page 474 Appendices Example 7: Connection with SYSMAC CJ2M-CPU3 /-CPU1 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz Servo Error Display Ground to CJ2M R88-KP 100 Ω or Less Description Reactor Input for Output Power Supply 24 VDC Output COM + 24VCW...
  • Page 475 Appendices Example 8: Connection with SYSMAC Customizable Counter Unit CS1W-HCP22-V1 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz Ground to CS1W-HCP22-V1 R88D-KP 100 Ω or Less Special I/O Connector Description 24 VDC Power Supply for Output Reactor 24 VDC...
  • Page 476 Appendices Example 9: Connection with SYSMAC Customizable Counter Unit CS1W-HCA12/22-V1 Main Circuit Power Supply MC1 MC2 Main Circuit Contactor Surge Suppressor 3-phase 200 to 240 VAC 50/60 Hz Ground to CS1W-HCA12/22-V1 R88D-KP 100 Ω or Less Special I/O Connector Description A Phase LD+ Reactor A Phase LD–...

  • Page 477: Parameter List

    Appendices Parameter List • Some parameters are enabled by cycling the power supply (shown in the tables below). After changing these parameters, turn OFF the power supply, confirm that the power supply indicator is not lit, and then turn ON the power supply again to restart the system. •...
  • Page 478 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 005 Command Pulse Select the command pulse input mode. – 0 to 1 Required Input Selection Photocoupler input Input for line driver only 006 Command Select the command pulse count direction. –...
  • Page 479 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 016 Regeneration Select the Regeneration Resistor to be used. – 0 to 3 Required Resistor Uses the Built-in Resistor. Selection The Regeneration Overload Protection (Alarm No.18) is enabled according to the Built-in Resistor (with approx.
  • Page 480 Appendices Gain Adjustment Parameters Cycle the Default Setting Name Setting Description Unit power setting range supply 100 Position Loop Set the first position loop gain. 0.1/s 0 to – Gain 30,000 101 Speed Loop Set the first speed loop gain. 0.1 Hz 1 to –...
  • Page 481 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 115 Switching Select the conditions for switching the position – 0 to 10 – Mode in control gain. Position Control Pn114 must be set to 1. Always Gain 1 Always Gain 2 Switching using gain switching input (GSEL)
  • Page 482 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 125 Reserved Do not set. – – 126 Reserved Do not set. – – 127 Reserved Do not set. – – *1 The default setting is 320 for a Servo Drive with 200 V and 1 kW or more. *2 The default setting is 180 for a Servo Drive with 200 V and 1 kW or more.
  • Page 483 Appendices Vibration Suppression Function Parameters Cycle the Default Setting Name Setting Description Unit power setting range supply 200 Adaptive Filter Set the operation of the adaptive filter. – 0 to 4 – Selection Disabled One filter enabled. Frequency limit applied when enabled. Two filters enabled.
  • Page 484 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 213 Damping Filter Set the switching method for damping filters. – 0 to 3 – Selection Enabled When DF-SEL1 input is open: Damping filters 1 and 3 enabled When DF-SEL1 input is shorted: Damping filters 2 and 4 enabled When both DF-SEL1 and DF-SEL2...
  • Page 485 Appendices Speed Control Parameters Cycle the Default Setting Name Setting Description Unit power setting range supply 300 Command Select the speed command in the speed control – 1 to 3 – Speed mode. Selection Disabled No. 1 Internally Set Speed to No. 4 Internally Set Speed (Pn304 to Pn307) Reserved...
  • Page 486 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 315 Zero Speed Select the zero speed designation input – 0 to 3 – Designation (ZEROSPD) function. Selection Disabled Sets the speed command value to 0. Sets the speed command value to 0 and causes a servo lock if the actual speed reaches 0 or less.
  • Page 487 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 406 Input Signal Set the function and logic of input signal 7. 3,847 – 0 to Required Selection 7 00FFFFFF 407 Input Signal Set the function and logic of input signal 8. 263,172 –...
  • Page 488 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 418 Analog Monitor Select the type of analog monitor 2. – 0 to 21 – 2 Selection The set values for this parameter are the same as those of Analog Monitor 1 Selection (Pn416). 419 Analog Monitor Select the output gain of the analog monitor 2.
  • Page 489 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 433 Positioning Set the positioning completion hold time. 1 ms 0 to – Completion 30,000 Hold Time 434 Zero Speed Set the threshold for the zero speed detection r/min 10 to –...
  • Page 490 Appendices Expansion Setting Parameters Cycle the Default Setting Name Setting Description Unit power setting range supply 500 Electronic Gear Set the electronic gear ratio. – – 0 to 2 Ratio If Pn500, Pn501, or Pn502 = 0, the encoder Numerator 2 resolution is set in the numerator.
  • Page 491 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 506 Stop Selection Set the stop operation to be performed when – 0 to 9 – with Servo OFF the servo is OFF. During deceleration: Dynamic brake After stopping: Dynamic brake Error counter: Clear During deceleration: Free-run...
  • Page 492 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 510 Stop Selection Set the operation sequence in case of an alarm. – 0 to 7 – for Alarm During deceleration: Dynamic brake Detection After stopping: Dynamic brake During deceleration: Free-run After stopping: Dynamic brake During deceleration: Dynamic brake...
  • Page 493 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 517 Error Counter Set the condition for clearing the Error Counter – 0 to 4 – Reset Reset Input signal. Condition Disabled Selection Clear the error counter with the level. (Shorted for 500 µs or longer) Clear the error counter with the level.
  • Page 494 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 523 Torque Limit Set the rate of change (fluctuation) when 0 to – Switching switching from No. 1 Torque Limit to No. 2 100% 4,000 Setting 1 Torque Limit.
  • Page 495 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 528 Default Display Drive serial number – 0 to 35 Required Motor serial number – Accumulative operation time Automatic motor recognition function – Temperature information °C Reserved (Do not set.) –...
  • Page 496 Appendices Special Setting Parameters Cycle the Default Setting Name Setting Description Unit power setting range supply 600 Reserved Do not set. – – 602 Excessive Set the detection level for the speed deviation, r/min 0 to – Speed Error which is the difference between the internal 20,000 Setting position command speed and the actual speed.
  • Page 497 Appendices Cycle the Default Setting Name Setting Description Unit power setting range supply 622 Reserved Do not set. – – 623 Disturbance Set the compensation gain for the disturbance –100 to – Torque torque. Compensation Gain 624 Disturbance Set the filter time constant for disturbance 0.01 10 to –...
  • Page 498 Appendices A - 32 OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual...
  • Page 499 Index OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual Index-1...
  • Page 500 Index Index Numerics Connection Examples ...........A-2 Connector specifications ..........3-62 Connector Terminal Block ........... 2-20 1,000-r/min Servomotors ..........3-50 Connector Terminal Block Cables ...... 2-20, 3-91 2,000-r/min Servomotors ........2-9, 3-45 Connector Terminal Block Conversion Unit ....3-93 3,000-r/min Servomotors ........2-8, 3-37 Connectors ..............
  • Page 501 Index Gain Switching Level in Speed Control (Pn122) ..7-18 Electronic Gear Ratio Denominator (Pn010) ....7-7 Electronic Gear Ratio Numerator 1 (Pn009) ....7-7 General Servo Drive specifications ........3-2 Electronic Gear Ratio Numerator 2 (Pn500) ....7-42 General Servomotor specifications ......3-36 Electronic Gear Ratio Numerator 3 (Pn501) ....
  • Page 502 Index Position Command Pulse ..........3-15 Motor power cable ............3-68 Motor Power Cables (Global Flexible Cable) ....2-17 Position Command Status Output (P-CMD) ....3-31 Motor Power Cables (Global Non-Flexible Cable) ..2-16 Position Control ............. 5-2 Motor Rotation Speed Detection Output (TGON) ..3-30 Position Control Mode Adjustment ......
  • Page 503 Index Switching Mode in Speed Control (Pn120) ....7-17 Rotation speed characteristics System Block Diagram ...........1-6 (2,000-r/min Servomotors) ........3-49 Rotation speed characteristics System Configuration ............1-3 (3,000-r/min Servomotors) ........3-43 Rotation Speed for Motor Rotation Detection (Pn436) ..............7-39 Terminal Block Specifications ........4-16 Terminal Block Wiring ..........4-19 Torque Command Filter Time Constant (Pn104) ..7-12 S-curve Acceleration/Deceleration Time Setting...
  • Page 506 The Netherlands IL 60173-5302 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2012 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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