Omron OMNUC U Series Technical Manual
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- Page 1 Cat. No. I801-E1-1 TECHNICAL GUIDE Servo System Startup AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr...
- Page 2 · Find the causes of alarms quickly and take the appropriate countermeasures. · Take appropriate countermeasures for position deviation that might be caused by noise. This guide applies to the following OMRON products: · OMNUC U Series · OMNUC H Series ·...
- Page 3 Every precaution has been taken in the preparation of this manual. Never- theless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for dam- ages resulting from the use of the information contained in this publication.
- Page 4 AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr...
- Page 5 Cat. No. I801-E1-1 TECHNICAL GUIDE Servo System Startup AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr...
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Page 6: Table Of Contents
Table of Contents Chapter 1. Gain Adjustment ....... . . 1-1 Types and Meanings of Gain . -
Page 7: Chapter 1. Gain Adjustment
Chapter 1 Gain Adjustment Types and Meanings of Gain Gain Adjustment Special Adjustment Parameters AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr... -
Page 8: Types And Meanings Of Gain
Gain Adjustment Chapter 1 Types and Meanings of Gain The word “gain” appears frequently in this technical guide. The gain is one of the indis- pensable parameters of the Servo System. If the gain adjustment of the Servo System is insufficient, the operation of the Servo System will be unsatisfactory, in which case the Servo System will cause machinery vibration and an alarm will result. -
Page 9: Gain
Gain Adjustment Chapter 1 Configuration Example of Servo System Speed gain Current gain Position gain Command pulses Motor Deviation counter (Position command) Current feedback Speed feedback Speed detection Encoder or resolver Feedback pulse (position feedback) Position Control Unit with analog output Servo Driver with analog input Servomotor Position Control Unit with... -
Page 10: Types Of Gains
Gain Adjustment Chapter 1 1-1-3 Types of Gains The following table describes gains and adjustment parameters that will improve the response charac- teristics of the Servo System. Gain and adjustment Function Parameter name for each series parameter Current loop command The current (torque) response speed U: Torque command filter time constant filter... -
Page 11: Gain Adjustment
Gain Adjustment Chapter 1 Gain Adjustment Gain adjustment is indispensable to the functionality of the Servo System. If the gain adjustment of the Servo System is insufficient, the performance of the Servo System will be unsatisfactory and the Servo System will therefore cause machine vibration or not ensure precise positioning. - Page 12 Gain Adjustment Chapter 1 D Speed Loop Proportional Gain · The response characteristics of the Servo System in all frequency bands change by adjusting this gain. · The compensating force and response characteristics rise if the gain increases. · Increase the gain as much as possible provided that the adjusted gain does not cause machinery vibration.
- Page 13 Gain Adjustment Chapter 1 Adjustment Example 2 · Refer to the following for the adjustment of the Servo System that has a strong machine resonance point in a high-frequency band. In this condition, the motor may continue buzzing or vibrate at high frequency if the gains are low.
- Page 14 Gain Adjustment Chapter 1 Speed Loop Proportional Gain vs. Response Characteristics Motor Speed loop proportional gain is high. speed (Machine vibration will result if gain is too high.) Speed loop proportional gain is low. Time Speed Loop Integral Gain vs. Response Characteristics Motor speed Speed loop integral gain is high.
- Page 15 Gain Adjustment Chapter 1 · If an oscilloscope is not available, visually inspect the operation of the motor shaft or machine system. If there is undershooting, the shaft will perform positioning in the opposite direction of the rotating direction before the shaft stops as shown in the following illustration. Starts rotating Rotating Stop...
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Page 16: Special Adjustment Parameters
Gain Adjustment Chapter 1 Special Adjustment Parameters Gains and adjustment parameters for all OMRON Servo Drivers are described below. The auto-tuning function incorporated by the U Series allows easy automatic gain ad- justment according to the machine system. H Auto-tuning Function (U Series) ·... - Page 17 Gain Adjustment Chapter 1 H Feed-forward Function (U Series: Feed-forward Value; H Series: Position Loop Feed-forward Gain) · The feed-forward function is enabled at the time of pulse-train input. · This function adds the frequency of pulse-train input to the speed loop. ·...
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Page 18: Chapter 2. Connection To Position Control Unit
Chapter 2 Connection to Position Control Unit Wiring Check System Startup Errors Countermeasures Against Position Deviation AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr... -
Page 19: Wiring Check
Connection to Position Control Unit Chapter 2 Wiring Check Care must be taken for Position Control Unit and Servo Driver connection, which needs a comparatively large number of wires. Be sure that all lines connecting the Position Control Unit and Servo Driver are wired correctly. It will be difficult to find wiring mistakes after completing the Servo System construction. -
Page 20: Wiring Check Without I/O Monitor
Connection to Position Control Unit Chapter 2 2-1-2 Wiring Check without I/O Monitor · If no I/O monitor is available, use a multimeter and check the voltage as shown in the following dia- gram. · There will be a voltage between the terminals if the output transistor is ON. The reading of the multime- ter will be 0 V if the output transistor is OFF. -
Page 21: System Startup Errors
Connection to Position Control Unit Chapter 2 System Startup Errors The Position Control Unit may malfunction due to incorrect wiring, setting, or sequence when power is supplied to the Position Control Unit or while the Position Control Unit is operating. Probable causes of system startup errors and countermeasures are de- scribed below. - Page 22 Connection to Position Control Unit Chapter 2 Line Disconnection, Reverse Wiring, or Out-of-control Errors Occur · The Position Control Unit with analog output will be out of control if the polarity of the speed command does not coincide with that of the encoder signal. ·...
- Page 23 Position Control Unit output or Servo Driver input offset. Refer to Chapter 4 Countermeasures Against Noise if noise is the cause of the problem. Note 2. Some of the OMRON Position Control Units incorporate a line disconnection detecting func- tion.
- Page 24 Connection to Position Control Unit Chapter 2 Note 3. If a signal line or connector disconnection is detected, the cable may be, however, in a fully conducting state. When there is no encoder signal or speed command signal, check the resis- tance of the cable by pulling or bending the cable.
- Page 25 Connection to Position Control Unit Chapter 2 The Next Positioning Operation is Not Performed. The Rising Edge of the Positioning Completion Signal is Not Detected. · The next positioning step will be usually taken after the confirmation of the present positioning completion signal.
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Page 26: Countermeasures Against Position Deviation
Connection to Position Control Unit Chapter 2 Countermeasures Against Position Deviation Origin Search Position Deviates · There are some reasons for position deviation after origin search completion. · Position deviation will occur whenever the origin is searched if any coupling or joint of the machine system has a problem. - Page 27 Connection to Position Control Unit Chapter 2 Moving Distance is Insufficient/Excessive. Rotation Speed is Too Slow/Fast. · Actual moving distance and rotation speed are different from specified moving distance and rotation speed. Probable cause Item to check Countermeasure Pulse rate setting mistake. ·...
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Page 28: Chapter 3. Servo Driver Errors
Chapter 3 Servo Driver Errors Alarms and Countermeasures AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr... -
Page 29: Alarms And Countermeasures
Servo Driver Errors Chapter 3 Alarms and Countermeasures This chapter describes probable causes of alarms that may go off while the Servo Driver is in operation and countermeasures to be taken. In some cases, the built-in circuitry of the Servo Driver may be damaged if alarms are reset without taking proper countermea- sures. - Page 30 Servo Driver Errors Chapter 3 Main Circuit Overcurrent If any of the following errors result, turn off the Servo Driver immediately. Do not turn on the Servo Driver until the causes are checked and countermeasures are taken. Do not replace the Servo Driver or motor without finding out the cause of the error. The built-in circuitry of the Servo Driver may be completely damaged if the Servo Driver is turned on without taking proper countermeasures.
- Page 31 Servo Driver Errors Chapter 3 Main Circuit Overvoltage · An alarm goes off if an excessive voltage is imposed on the main circuitry of the Servo Driver. · The excessive voltage may be imposed from the power supply side or motor side due to power feedback to the capacitor.
- Page 32 Servo Driver Errors Chapter 3 Note 2. The regeneration is calculated from the terminal voltage of the External Regeneration Resis- tor. The External Regeneration Resistor must withstand regeneration that is three to five times larger than the regeneration calculated from the following. Terminal volt- age of External Regeneration time...
- Page 33 Servo Driver Errors Chapter 3 Main Circuit Voltage Drop Probable cause Item to check Countermeasure The fuse of the power supply for · There is no 200 VAC output be- · Replace the Servo Driver. the main circuit contactor was the main circuit contactor was tween terminals B and O.
- Page 34 Servo Driver Errors Chapter 3 Overload Probable cause Item to check Countermeasure The motor shaft is locked. · The machine system does not · Perform machine maintenance. operate smoothly. · Repair the machine system. · The machine system came to a halt after colliding with some ob- ject.
- Page 35 Servo Driver Errors Chapter 3 Overspeeding · An alarm will go off if the rotation speed of the motor is abnormal, as in the following cases: The rotation speed has exceeded the maximum allowable rotation speed. The rotation signal is not returned from the motor in response to a command from the Servo Driver. A command is input for the motor to run at a speed exceeding the maximum allowable rotation speed.
- Page 36 Servo Driver Errors Chapter 3 Note 1. In many cases, signal cable errors will be detected together with encoder or resolver discon- nection errors. Note 2. If the cable contact is improper, the resistance of the cable will vary slightly. To check a slight difference in resistance in such a case, use a multimeter that has a mW range.
- Page 37 Servo Driver Errors Chapter 3 Deviation Counter Overflow · An alarm will result if the deviation counter overflows. · This error results with the Servo Driver with pulse-train input. · The deviation counter will overflow if the motor cannot carry out the command. Alarm Indication U Series: A.
- Page 38 Servo Driver Errors Chapter 3 Servo Driver Overheating An alarm will go off if the internal temperature (i.e., heat sink temperature) of the Servo Driver exceeds 90°C. Alarm Indication U Series: A. 10 H Series: E21 M Series: A. L-8, A. L-9 R Series: OH Probable cause Item to check...
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Page 39: Chapter 4. Countermeasures Against Noise
Chapter 4 Countermeasures Against Noise Generation and Types of Noise Noise Suppression AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr... -
Page 40: Generation And Types Of Noise
Countermeasures Against Noise Chapter 4 Generation and Types of Noise The elimination of noise influence on the Servo System is indispensable for increasing the reliability of the Servo System. If the protection of the Servo System from noise is insufficient, the Units in the system will be damaged in the worst case. Even if the Units are not damaged, the Servo System will not be able to fulfill its functions, e.g., the rota- tion of the motor may be unstable or correct positioning may not be possible with the Servo System. -
Page 41: Noise Transmission Paths
Countermeasures Against Noise Chapter 4 H Types of Noise and Typical Noise Sources Kind Generation Machine or component Signal waveform Coil surge A coil generates a surge Relay when the voltage Solenoid imposed on the coil is Contactor turned on and off. Time Capacitor charge current A high-charge current Built-in power supply... - Page 42 Countermeasures Against Noise Chapter 4 D Conductive Path Noise signals with radical changes are transmitted from a power line to another line or control equip- ment through the FG (frame ground) or conductive cable. Noise may be transmitted through the FG or conductive cable after the noise is transmitted to the FG or conductive cable through the other noise transmission paths.
- Page 43 Countermeasures Against Noise Chapter 4 D Radio Transmission Path Noise signals with radical changes are radiated from signals lines working as antennas. The Servo Sys- tem may leak noise from the cable lines as shown in the illustration below. Effects Radio and TV interference.
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Page 44: Noise Suppression
Countermeasures Against Noise Chapter 4 Noise Suppression Noise is generated from equipment and transmitted through unexpected transmission paths. Noise suppression means the prevention of the generation of noise from such noise sources and block the transmission of noise through noise transmission paths. 4-2-1 Countermeasures The following four items are essential for noise suppression. - Page 45 Countermeasures Against Noise Chapter 4 H Capacitive Coupling Path Countermeasure Purpose Precautions Wiring Separation of signal lines Reduction of capacitive Keep signal lines at least coupling 10 cm away from each other. 10 to 30 cm Ideally, the signal lines are kept 30 cm away from each other.
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Page 46: Other Countermeasures
Countermeasures Against Noise Chapter 4 H Radio Transmission Path Countermeasure Purpose Precautions Wiring Noise filter Attenuation of The section not Servo Driver high-frequency energy attenuating high-frequency noise should be made as short Short in distance as possible. Shielding with conductive Reduction of capacitive Be sure to connect the materials... - Page 47 Countermeasures Against Noise Chapter 4 Shielding the pulse signal. If positioning point deviation results after power supply separation, connect both ends of the shield of the command pulse signal lines (twisted-pair shield wires) on the Position Control Unit and Servo Driver sides to the FG (frame ground).
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Page 48: Noise Suppression Example
Countermeasures Against Noise Chapter 4 D Motor Vibration (M Series Only) Error The resolver signal is subjected to noise interference and the motor vibrates because the electric poten- tial of the FG (frame ground) of the motor is unstable. Countermeasures Connect the motor frame and the FG of the Servo Driver with a cable of 2.0 mm or more in thickness. - Page 49 Countermeasures Against Noise Chapter 4 [e] Command Pulse Signal Lines · Use twisted-pair shield wires for the command pulse signal lines. · The wires must not be longer than 1 m. · Keep the wires approximately 30 cm away from other signal or power lines. Lay out the wires sepa- rately from other signal or power lines.
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Page 50: Chapter 5. Appendix
Chapter 5 Appendix Configuration of Main Circuitry AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr... -
Page 51: Configuration Of Main Circuitry
Appendix Chapter 5 Configuration of Main Circuitry The following is an example of the configuration of the Servo Driver’s main circuitry. If an error should result, use this circuit diagram along with the information in 3-1 Alarms and Counter- measures to determine which part of the circuit is the cause of the error. Rectification Main circuit circuit... -
Page 52: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I801-E1-1 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version. - Page 53 Authorized Distributor: Cat. No. I801-E1-1 Note: Specifications subject to change without notice. Printed in Japan AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France - Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : info@audin.fr...
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