Omron SMARTSTEP A Series User Manual
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Omron SMARTSTEP A Series User Manual

Omron SMARTSTEP A Series User Manual

Servomotors/servo drivers
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Cat. No. I533-E1-04
USER'S MANUAL
SMARTSTEP A
SERIES
MODELS R7M-A@ (Servomotors)
R7D-AP@ (Servo Drivers)
Servomotors/Servo Drivers

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  • Page 1 Cat. No. I533-E1-04 USER’S MANUAL SMARTSTEP A SERIES MODELS R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers) Servomotors/Servo Drivers...
  • Page 2 Please keep this manual handy for reference after reading it. 1. To ensure safe and proper use of the OMRON Inverters, please read this USER'S MANUAL (Cat. No. I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual use.
  • Page 3 USER’S MANUAL SMARTSTEP A SERIES MODELS R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers) Servomotors/Servo Drivers...
  • Page 5 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 7 Make sure that these protective covers are on the product before use. Consult your OMRON representative when using the product after a long period of storage. !WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo- tor to a class-3 ground (to 100 Ω...
  • Page 8 !Caution Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight. • Locations subject to temperatures or humidity outside the range specified in the specifications.
  • Page 9 !Caution Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction. !Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to ter- minals.
  • Page 10 Maintenance and Inspection Precautions !WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock. !Caution Resume operation only after transferring to the new Unit the contents of the data required for operation.
  • Page 11 Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning label Example from R7D-AP01L Example from R7D-AP01L...
  • Page 13 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
  • Page 14 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 15 Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

  • Page 17: Table Of Contents

    Table of Contents Chapter 1. Introduction........1-1 Features.

  • Page 19: Chapter 1. Introduction

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

  • Page 20: Features

    Minimal Setting with Servo Driver Front Panel Switches ■ The SMARTSTEP A Series can be operated immediately without time-consuming parameter setting. The A-series Servo Drivers’ front panel switches enable easier alteration of function or positioning resolution settings.
  • Page 21 Cylinder-style and Flat-style Servomotors ■ The SMARTSTEP A Series offers Flanged Cylinder-style Servomotors, with a smaller mounting area, and Flat-style Servomotors, with a shorter overall length. The Flat Servomotor depth dimen- sions are approximately the same as those of stepping motors of the same output capacity. Servo- motors can be selected by size, thereby making equipment more compact.

  • Page 22: System Configuration

    Chapter 1 Introduction System Configuration SYSMAC + Position Control Unit with pulse string output TGON TGON POWER POWER VCMP VCMP R7A–PR02A PARAMETER UNIT SCROLL SCROLL MODE/SET MODE/SET RESET Pulse String Position Control Units SYSMAC CJ/CS/C/CV DATA DATA Programmable Controller CJ1W-NC113/213/413 CJ1W-NC133/233/433 READ READ...

  • Page 23: Servo Driver Nomenclature

    Chapter 1 Introduction Servo Driver Nomenclature Rotary switch for unit No. selection Rotary switch for gain adjustment Function selection switches: • Switch/parameter setting enable switch • Resolution setting • Command pulse input setting • Dynamic braking setting • Online autotuning switch Main-circuit power supply Alarm display indicator...

  • Page 24: Applicable Standards

    Chapter 1 Introduction Applicable Standards EC Directives ■ EC Directives Product Applicable standards Remarks Low Voltage AC Servo Drivers EN50178 Safety requirements for electrical Directive devices for measurement, control, and research facilities AC Servomotors IEC60034-1, -5, -8, -9 Rotating electrical equipment EN60034-1, -9 EMC Directives AC Servo Drivers and EN55011 class A group 1...

  • Page 25: System Block Diagrams

    Chapter 1 Introduction System Block Diagrams 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L/-AP04L ■ AC Servo Driver B1 B2 AC Servomotor Fuse CHARGE (See note.) − Gate drive Voltage Relay overcurrent protection Gate drive detection drive Interface Voltage detection Current detection ∼ ASIC ±5 V generation +16.5 V...
  • Page 26 Chapter 1 Introduction 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H/-AP04H ■ AC Servo Driver B1 B2 AC Servomotor Fuse CHARGE − (See note.) Gate drive Relay overcurrent protection Voltage Gate drive drive detection Interface Voltage detection Current detection ∼ ASIC ±5 V generation +16.5 V DC/DC −...

  • Page 27: Chapter 2. Standard Models And Specifications

    Chapter 2 Standard Models and Specifications Standard Models External and Mounted Dimensions Servo Driver Specifications Servomotor Specifications Reduction Gear Specifications Cable and Connector Specifications Servo Relay Units and Cable Specifications Parameter Unit Specifications External Regeneration Resistor Specifications 2-10 DC Reactors...

  • Page 28: Standard Models

    Chapter 2 Standard Models and Specifications Standard Models Servomotors Servo Drivers ■ ■ Specifications Model Single-phase 30 W R7D-APA3L ● 3,000-r/min Cylinder-style Servomotors 100 V AC 50 W R7D-APA5L Specifications Model 100 W R7D-AP01L Without Straight shaft 30 W R7M-A03030 200 W R7D-AP02L brake...
  • Page 29 Chapter 2 Standard Models and Specifications Reduction Gears (Straight Shaft with Key) ■ ● For Cylinder-style Servomotors ● For Cylinder-style Servomotors (Backlash = 3′ Max.) (Backlash = 45′ Max.) Specifications Model Specifications Model Servomotor Reduction gears Servomotor Reduction gears capacity (deceleration ratio) capacity (deceleration ratio)
  • Page 30 Chapter 2 Standard Models and Specifications Servo Relay Units for CN1 ■ Specifications Model Position For CJ1M-CPU21/ XW2Z-100J-A26 Specifications Model Control CPU22/CPU23 Unit Cable Servo For CS1W-NC113/133 XW2B-20J6-1B For FQM1-MMP21 for 0.5 m XW2Z-050J-A28 Relay Unit CJ1W-NC113/133 general-purpose I/O XW2Z-100J-A28 C200HW-NC113 C200H-NC112 For CS1W-HCP22-V1...
  • Page 31 220 W 47 Ω Resistor R88A-RR22047S DC Reactors ■ Specifications Model For R7D-APA3L/APA5L/APA01L R88A-PX5063 For R7D-AP02L R88A-PX5062 For R7D-AP04L R88A-PX5061 For R7D-APA3H/APA5H/AP01H R88A-PX5071 For R7D-AP02H R88A-PX5070 For R7D-AP04H R88A-PX5069 For R7D-AP08H R88A-PX5061 Front-panel Brackets ■ Specifications Model For the SMARTSTEP A Series R88A-TK01W...

  • Page 32: External And Mounted Dimensions

    Chapter 2 Standard Models and Specifications External and Mounted Dimensions 2-2-1 Servo Drivers ■ Single-phase 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L (30 W to 200 W) Single-phase 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H (30 W to 200 W) ● Wall Mounting Mounted dimensions External dimensions Two, M4 (75) ●...
  • Page 33 Chapter 2 Standard Models and Specifications Single-phase 100 V AC: R7D-AP04L (400 W) ■ Single-phase 200 V AC: R7D-AP04H (400 W) ● Wall Mounting Mounted dimensions External dimensions 5 dia. Two, M4 (75) ● Front Panel Mounting (Using Mounting Brackets) Mounted dimensions External dimensions 5 dia.
  • Page 34 Chapter 2 Standard Models and Specifications Single-phase/Three-phase 200 V AC: R7D-AP08H (750 W) ■ ● Wall Mounting External dimensions Mounted dimensions 5 dia. Two, M4 (75) ● Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 5 dia. 24.5 12.5 Two, M4 43.5...
  • Page 35 Chapter 2 Standard Models and Specifications 2-2-2 Parameter Unit R7A-PR02A Hand-held Parameter Unit ■ TGON TGON POWER POWER VCMP VCMP R7A–PR02A PARAMETER UNIT SCROLL MODE/SET RESET J O G DATA RU N READ WRITE WRITE DRIVER DRIVER DRIVER DRIVER 4.8 dia. 13.2 dia.
  • Page 36 Chapter 2 Standard Models and Specifications 2-2-3 Servomotors Cylinder-style Servomotors without a Brake ■ 30 W/50 W/100 W R7M-A03030(-S1)/-A05030(-S1)/-A10030(-S1) ● 300±30 6 dia. 7 dia. 21.5 19.5 300±30 Two, 4.3 dia. Dimensions of shaft end with key (-S1) Model Dimensions (mm) R7M-A03030-@ 69.5 R7M-A05030-@...
  • Page 37 Chapter 2 Standard Models and Specifications Cylinder-style Servomotors without a Brake ■ ● 200 W/400 W/750 W R7M-A20030(-S1)/-A40030(-S1)/-A75030(-S1) 300±30 6 dia. Dimensions of output section of 750-W Servomotors 7 dia. 21.5 300±30 Four, Z dia. Dimensions of shaft end with key (-S1) Model Dimensions (mm) R7M-A20030-@...
  • Page 38 Chapter 2 Standard Models and Specifications Flat-style Servomotors without a Brake ■ ● 100 W/200 W/400 W/750 W R7M-AP10030(-S1)/-AP20030(-S1)/-AP40030(-S1)/AP75030(-S1) 300±30 300±30 Dimensions of shaft end with key (-S1) Four, Z dia. Model Dimensions (mm) Basic servomotor dimensions With key (shaft Cable outlet dimensions end dimensions) A1 A2...
  • Page 39 Chapter 2 Standard Models and Specifications 2-2-4 Reduction Gears ′ For Cylinder-style Servomotors (Backlash = 3 Max.) ■ Model Dimensions (mm) Weight (kg) C2 D1 Key dimensions 50 W R7G-VRSFPB05B50 67.5 32 M4 M5 2.5 0.55 R7G-VRSFPB09B50 67.5 32 M4 M5 2.5 0.55 1/15 R7G-VRSFPB15B50 M4 M5...
  • Page 40 Chapter 2 Standard Models and Specifications ′ For Cylinder-style Servomotors (Backlash = 45 Max.) ■ Model Dimensions (mm) Weight (kg) Key dimensions 50 W R7G-RGSF05B50 67.5 M4 M5 M3 2.5 0.55 R7G-RGSF09B50 67.5 M4 M5 M3 2.5 0.55 1/15 R7G-RGSF15B50 M4 M5 M3 2.5 0.70 1/25...
  • Page 41 Chapter 2 Standard Models and Specifications ′ For Flat-style Servomotors (Backlash = 3 Max.) ■ Model Dimensions (mm) Weight (kg) D3 D4 E3 F Key dimensions 100 W 1/5 R7G-VRSFPB05B100P 72.5 32 45 10 3 10 12 20 M5 M5 2.5 0.72 R7G-VRSFPB09B100P 72.5 32 45 10 3...
  • Page 42 Chapter 2 Standard Models and Specifications ′ For Flat-style Servomotors (Backlash = 45 Max.) ■ Model Dimensions (mm) Weight (kg) D4 E3 Key dimensions 100 W 1/5 R7G-RGSF05B100P 72.5 10 3 M5 M5 M4 2.5 0.72 R7G-RGSF09B100P 72.5 10 3 M5 M5 M4 2.5 0.72 1/15...

  • Page 43: Servo Driver Specifications

    Chapter 2 Standard Models and Specifications Servo Driver Specifications SMARTSTEP A-series R7D-AP@ Servo Drivers ■ Select a Servo Driver to match the Servomotor to be used. 2-3-1 General Specifications Item Specifications 0 to 55 ° C Ambient operating temperature Ambient operating humidity 90% max.
  • Page 44 Chapter 2 Standard Models and Specifications 2-3-2 Performance Specifications Control Specifications ■ 100-V AC Input Type ● Item R7D-APA3L R7D-APA5L R7D-AP01L R7D-AP02L R7D-AP04L Continuous output cur- 0.42 A 0.6 A 0.89 A 2.0 A 2.6 A rent (rms) Momentary maximum out- 1.3 A 1.9 A 2.8 A...
  • Page 45 Chapter 2 Standard Models and Specifications Item R7D- R7D- R7D- R7D- R7D- R7D- APA3H APA5H AP01H AP02H AP04H AP08H Speed feedback 2,000 pulses/revolution, incremental encoder Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Maximum applicable 250 kpps frequency (command pulse application) Weight...
  • Page 46 Chapter 2 Standard Models and Specifications 2-3-4 Control I/O Specifications (CN1) Control I/O and External Signals for Position Control ■ 200 Ω Reverse pulse Positioning completed output −CW Maximum operating 200 Ω (See voltage: 30 V DC +CCW note 2.) BKIR Forward pulse Maximum Output...
  • Page 47 Chapter 2 Standard Models and Specifications Control I/O Signals ■ ● CN1 Control Inputs Signal name Function Contents +PULS/CW/A Feed pulses, reverse Pulse string input terminals for position commands. pulses, or 90 ° phase Line-driver input: 7 mA at 3 V –PULS/CW/A difference pulses Maximum response frequency: 250 kpps...
  • Page 48 Chapter 2 Standard Models and Specifications Interface for RS-422 ● Signal name Function Contents RXD+ Reception data Interface for RS-422A transmission and reception. RXD– TXD+ Transmission data TXD– Terminating resistance terminal Connect to pin 21 (RXD–) on the end Unit. RS-422A ground Ground for RS-422A.
  • Page 49 Chapter 2 Standard Models and Specifications Control Input Circuits ■ ● Position Command Pulse Inputs and Deviation Counter Reset Inputs Line Driver Input Servo Driver Controller 200 Ω Input current: 7 mA, 3 V − − Applicable line driver: AM26LS31A or equivalent Open Collector Input Using External Power Supply Controller...
  • Page 50 Chapter 2 Standard Models and Specifications Control Output Circuits ■ ● Sequence and Alarm Outputs Servo Driver To other output circuits External power supply Maximum operating voltage: 30 V DC 24 V DC ± 1 V Maximum output current: 50 mA −...
  • Page 51 Chapter 2 Standard Models and Specifications Control Input Details ■ ● Feed Pulse/Direction Signal, Reverse Pulse/Forward Pulse, +90° Phase Difference Signals (Phase A/Phase B) CN1 Pin Numbers CN1 pin 1: +Feed Pulse (+PULS), +Reverse Pulse (+CW), +90 ° Phase Difference Signals (Phase A) (+A) CN1 pin 2: –Feed Pulse (–PULS), –Reverse Pulse (–CW), –90 °...
  • Page 52 Chapter 2 Standard Models and Specifications Logic Pn200.0 Command pulse Input pins Servomotor forward Servomotor reverse setting mode command command Feed pulse and 1: +PULS direction signal – PULS 3: +SIGN – SIGN Reverse pulse 1: +CW and forward – pulse 3: +CCW –...
  • Page 53 Chapter 2 Standard Models and Specifications Command Pulse Timing The following wave forms are for positive logic. Conditions are the same for negative logic. Command pulse Timing mode Feed pulse and direc- Forward rotation command Reverse rotation command tion signal Maximum input fre- quency: 250 kpps Direction signals...
  • Page 54 Chapter 2 Standard Models and Specifications ● + Deviation Counter Reset (5: +ECRST) – Deviation Counter Reset (6: –ECRST) The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled. Input the reset signal for 20 µ s minimum. The counter will not be reset if the signal is too short.
  • Page 55 Chapter 2 Standard Models and Specifications ● Positioning Completed Output (8: INP) The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than Pn500 (positioning completed range). Brake Interlock Output (7: BKIR) ● External brake timing signals are output.
  • Page 56 Chapter 2 Standard Models and Specifications 2-3-7 Monitor Output Connector Specifications (CN4) Pin No. Symbol Signal name Function/Interface Speed monitor Speed monitor output: 1 V per 1,000 r/min Forward rotation: – voltage; reverse rotation: + voltage The output accuracy is approximately ± 15%. Current monitor Current monitor output: 1 V / rated torque Forward rotation: –...

  • Page 57: Servomotor Specifications

    Chapter 2 Standard Models and Specifications Servomotor Specifications SMARTSTEP A-series Servomotors (R7M-A@) ■ There are two kinds of SMARTSTEP A-series Servomotor: • 3,000-r/min Cylinder-style Servomotors • 3,000-r/min Flat-style Servomotors These Servomotors also have optional specifications, such as the shaft type, brake, etc. Select the appropriate Servomotor for your system according to the load conditions and installa- tion environment.
  • Page 58 Chapter 2 Standard Models and Specifications 2-4-2 Performance Specifications 3,000-r/min Cylinder-style Servomotors ■ Item Unit R7M- R7M- R7M- R7M- R7M- R7M- A03030 A05030 A10030 A20030 A40030 A75030 Rated output* N ⋅ m Rated torque* 0.095 0.159 0.318 0.637 1.27 2.39 Rated rotation r/min 3,000...
  • Page 59 Chapter 2 Standard Models and Specifications Item Unit R7M- R7M- R7M- R7M- R7M- R7M- A03030 A05030 A10030 A20030 A40030 A75030 Brake inertia kg ⋅ m 8.5 × 10 –7 8.5 × 10 –7 8.5 × 10 –7 6.4 × 10 –6 6.4 ×...
  • Page 60 Chapter 2 Standard Models and Specifications ● 3,000-r/min Cylinder-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers. R7M-A05030 (50 W) R7M-A03030 (30 W) (N·m)
  • Page 61 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors ■ Item Unit R7M- R7M- R7M- R7M- AP10030 AP20030 AP40030 AP75030 Rated output* N ⋅ m Rated torque* 0.318 0.637 1.27 2.39 Rated rotation speed r/min 3,000 Momentary maximum r/min 4,500 rotation speed N ⋅...
  • Page 62 Chapter 2 Standard Models and Specifications Note 1. *The values for items marked by asterisks are the values at an armature winding tempera- ture of 100 ° C, combined with the Servo Driver. Other values are at normal conditions (20 ° C, 65%).
  • Page 63 Chapter 2 Standard Models and Specifications 3,000-r/min Flat-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers, or a 200-V AC input for R7D-AP@H Servo Drivers. R7M-AP20030 (200 W) R7M-AP10030 (100 W) (N·m)
  • Page 64 Chapter 2 Standard Models and Specifications ● Servomotor and Mechanical System Temperature Characteristics • SMARTSTEP A-series Servomotors use rare earth magnets (neodymium-iron magnets). The tem- perature coefficient for these magnets is approximately –0.13%/ ° C. As the temperature drops, the Servomotor’s momentary maximum torque increases, and as the temperature rises the Servomo- tor’s momentary maximum torque decreases.

  • Page 65: Reduction Gear Specifications

    Chapter 2 Standard Models and Specifications Reduction Gear Specifications Reduction Gears for SMARTSTEP A-series Servomotors (R7G-@) ■ There are two kinds of reduction gears for SMARTSTEP A-series Servomotors: • Reduction gears for 3,000-r/min Cylinder-style Servomotors ′ ′ (Backlash 3 max. and backlash 45 max.) •...
  • Page 66 Chapter 2 Standard Models and Specifications ● Backlash = 45′ Max. Model Rated Rated torque Ratio Maximum Maximum Reduction Allow- Allow- rotation momentary momentary gear inertia able able speed rotation speed torque radial thrust torque torque N ⋅ m N ⋅ m r/min r/min kg ⋅...
  • Page 67 Chapter 2 Standard Models and Specifications Reduction Gears for Flat-style Servomotors ■ ● Backlash = 3′ Max. Model Rated Rated Ratio Maximum Maximum Reduction Allowable Allowable rotation torque momentary momentary gear inertia radial torque thrust torque speed rotation speed torque N ⋅...
  • Page 68 Chapter 2 Standard Models and Specifications Backlash = 45′ Max. ● Model Rated Rated torque Ratio Maximum Maximum Reduction Allow- Allow- rotation momentary momentary gear inertia able able speed rotation speed torque radial thrust torque torque N ⋅ m N ⋅ m r/min r/min kg ⋅...

  • Page 69: Cable And Connector Specifications

    Chapter 2 Standard Models and Specifications Cable and Connector Specifications 2-6-1 Control Cables General Control Cables (R88A-CPU@@@S) ■ A General Control Cable is connected to the Servo Driver’s Control I/O Connector (CN1). There is no connector on the Controller end. When connecting it to a Position Control Unit with no special cable provided, or to a controller manufactured by another company, wire a connector to match the control- ler.
  • Page 70 Chapter 2 Standard Models and Specifications Wiring ● Wire/Mark color Symbol Wire/Mark color Symbol Orange/Black (−) Pink/Red (−−) Connector Pin Arrangement −CW Orange/Red (−) Orange/Black (−−−) RXD+ Gray/Black (−) +CCW Orange/Red (−−−) RXD− −CCW Gray/Red (−) Gray/Black (−−−) TXD+ White/Black (−) +ECRST Gray/Red (−−−) TXD−...
  • Page 71 Chapter 2 Standard Models and Specifications ● Wiring Terminal Block Connector Servo Driver Symbol −CW −CCW −CCW +ECRST −ECRST BKIR OGND +24VIN RESET RXD+ RXD− TXD+ TXD− Servo Driver connector: Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) Terminal block connector Connector plug: FCN-361J040-AU (Fujitsu)
  • Page 72 Note 3. Mechanical failure, ground faults, or other problems may occur due to damaged insulation if the Cable is used with a radius smaller than the minimum bending radius. Contact your OMRON representative if the Cable will be used with a radius smaller than the minimum bending radius.
  • Page 73 Chapter 2 Standard Models and Specifications ● Bending Test Stroke 320 mm Bending radius (R) 100 times/minute 2-6-3 Specifications of Integrated Cables ■ Integrated Cables for Servomotors without Brakes (R7A-CEA@@@S) ● Cable Models Model Length (L) Outer diameter of sheath Weight R7A-CEA003S 12.4 dia.
  • Page 74 Chapter 2 Standard Models and Specifications ● Wiring Servo Driver Symbol Servomotor Symbol AWG22 Black Connector kit: AWG22 Red − 54280-0800 (Molex Japan) AWG24 Green AWG24 Green/White S− S− AWG24 Blue AWG24 Blue/White A− A− AWG24 Yellow AWG24 Yellow/White B− B−...
  • Page 75 Chapter 2 Standard Models and Specifications ● Connection Configuration and External Dimensions Servomotor Servo Driver R7M-A@ R7D-AP@ 43.7 t=12 t=12.7 27.4 t=28.4 Wiring ● Servo Driver Symbol Servomotor Symbol AWG22 Black Connector kit: AWG22 Red − 54280-0800 (Molex Japan) AWG24 Green AWG24 Green/White S−...
  • Page 76 Chapter 2 Standard Models and Specifications 2-6-4 Specifications of Separate Cables Specifications of Standard Power Cables (R88A-CAWA@@@@) ■ Select a Power Cable to match the Servomotor being used. The cable length is 3 to 20 m. (The maximum distance between the Servomotor and the Servo Driver is 20 m.) Power Cables for Servomotors without Brakes Power Cables for Servomotors with Brakes Model...
  • Page 77 Chapter 2 Standard Models and Specifications Power Cables for Servomotors with Brakes Cable side: Servomotor Servo Driver Connector cap: 350781-1 (Tyco Electronics AMP) Symbol U phase Connector socket: 350689-3 (Tyco Electronics AMP) White V phase Servomotor side: Blue W phase Connector plug: 350715-1 (Tyco Electronics AMP) Green/Yellow Contact pin:...
  • Page 78 Chapter 2 Standard Models and Specifications ● Wiring Power Cables for Servomotors without Brakes Cable side: Servomotor Servo Driver Connector cap: 350780-1 (Tyco Electronics AMP) Symbol U phase Connector socket: 350689-3 (Tyco Electronics AMP) White V phase Servomotor side: Blue W phase Connector plug: 350779-1 (Tyco Electronics AMP) Green/Yellow...
  • Page 79 Chapter 2 Standard Models and Specifications ● Connection Configuration and External Dimensions 43.7 Servo Driver Servomotor R7D-AP@ R7M-A@ t=12 t=12.7 ● Wiring Servo Driver Symbol Servomotor Symbol AWG22 Black Connector kit: AWG22 Red − 54280-0800 (Molex Japan) AWG24 Green AWG24 Green/White S−...
  • Page 80 Chapter 2 Standard Models and Specifications 2-6-5 Peripheral Cables and Connector Specifications Analog Monitor Cable (R88A-CMW001S) ■ This is cable for connecting to the Servo Driver’s Monitor Output Connector (CN4). It is required for connecting monitor outputs to external devices such as measuring instruments. ●...
  • Page 81 Chapter 2 Standard Models and Specifications Computer Monitor Cables (R7A-CCA002P@) ■ Computer Monitor Cable and Computer Monitoring Software (run on Windows, Cat. No. SBCE-011) for Servo Drivers are required to use a personal computer for monitoring and setting parameters for a Servo Driver.
  • Page 82 Chapter 2 Standard Models and Specifications ● Wiring For DOS Personal Computers: Servo Driver Computer Symbol Symbol Orange/Black Orange/Red Gray/Black Connector: HR212-10P-8P (Hirose Electric) Shell Case Cable: AWG28 × 3C UL2464 Connector: 17JE-13090-02 (D8A) (DDK Ltd.) For NEC PC98 Notebook Computers Computer Servo Driver Symbol...
  • Page 83 Chapter 2 Standard Models and Specifications Encoder Connector (R7A-CNA0@R) ■ This is the connector for the Encoder Cable. This connector is used when the cable is prepared by the user. It is a soldered-type connector, and the applicable cable is as follows. •...
  • Page 84 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units. Select the models that match the Position Control Unit being used. For details, refer to 3-2-1 Connecting Cable.
  • Page 85 4. The following crimp terminal is applicable: R1.25-3 (round with open end). 24 V DC XW2B-40J6-2B ■ This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are not supported. • CS1W-NC213/-NC233/-NC413/-NC433 • CJ1W-NC213/-NC233/-NC413/-NC433 • C200HW-NC213/-NC413 • C500-NC113/-NC211 •...
  • Page 86 3. The 0 V terminal is internally connected to the common terminals. 4. The following crimp terminal is applicable: R1.25-3 (round with open end). XW2B-20J6-3B ■ This Servo Relay Unit connects to the following OMRON Pro- grammable Controllers. Communications are not supported. • CQM1-CPU43-V1 • CQM1H-PLB21 (Pulse I/O Board for CQM1H-CPU51/-CPU61) •...
  • Page 87 Chapter 2 Standard Models and Specifications ● Wiring +24 V CCW RUN BKIR CCW Com- Com- ECRST RESET ALMCOM (See note 3.) (See (See note 1.) 24 V DC note 1.) (See note 2.) 24 V DC Note 1. If these signals are input, the CQM1 output pulse can be input into the High- speed Counter.
  • Page 88 Chapter 2 Standard Models and Specifications XW2B-40J6-4A ■ This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are supported. • CS1W-NC213/-NC233/-NC413/-NC433 • CJ1W-NC213/-NC233/-NC413/-NC433 ● External Dimensions X-axis Servo Y-axis Servo Position Control Unit connector Driver connector Driver connector 247.5...
  • Page 89 Chapter 2 Standard Models and Specifications XW2B-20J6-8A ■ This Servo Relay Unit connects to the following OMRON Programmable Controllers. Communications are not sup- ported. • CJ1M-CPU21/-CPU22/-CPU23 ● External Dimensions CJ1M-CPU connector Servo Driver connector Two, 3.5 dia. Note Terminal pitch: 7.62 mm ●...
  • Page 90 Chapter 2 Standard Models and Specifications XW2B-40J6-9A ■ This Servo Relay Unit connects to the following OMRON Programmable Controllers. Communications are not sup- ported. • CJ1M-CPU21/-CPU22/-CPU23 External Dimensions ● CJ1M-CPU connector X-axis Servo Driver connector Y-axis Servo Driver connector Two, 3.5 dia.
  • Page 91 The 0 V terminal is internally connected to the common terminals. c) The following crimp terminal is applicable: R1.25-3 (round with open end). XW2B-80J7-1A ■ This Servo Relay Unit connects to the following OMRON Programmable Controllers. • CS1W-HCP22-V1 • FQM1-MMP21...
  • Page 92 Chapter 2 Standard Models and Specifications ● External Dimensions Terminating resistance selector Signal selectors 4.5 dia. Communications support connectors Servo B phase selectors Y-axis Servo Driver Controller general-purpose I/O X-axis Servo Driver Controller special I/O 2-66...
  • Page 93 Chapter 2 Standard Models and Specifications ● Terminal Block Connection 1. RS-422 Connector Connect to an RS-422 line. Pin No. Signal name TXD − TXD+ RXD − RXD+ Shell 2. Screwless Clamp Terminal Blocks Use the screwless clamp terminal blocks to wire controller general-purpose I/O and Servo Driver control signals.
  • Page 94 Chapter 2 Standard Models and Specifications Lower Terminal Block Pin Arrangement Note 1. Used for the pulse output power supply for the FQM1-MMP21. Note 2. IN4 to IN11 and OUT0 to OUT7 are used for the Servo control power supply. Note 3.
  • Page 95 Chapter 2 Standard Models and Specifications 5. Servo Phase-B Selectors (Not Used) Leave these selectors set to INC mode. Servo #2 phase-B Servo #1 phase-B selector servo2 selector servo1 ABS_CW- ABS_CW- Wiring to Screwless Clamp Terminal Blocks ■ Screwless clamp terminal blocks enable wiring without securing the wires with screws. Special fer- rules must be attached to the cables for sensors or external devices if sensors or external devices are also to be connected when wiring the Servo Driver and the control signal.
  • Page 96 Chapter 2 Standard Models and Specifications The following screwdriver can be used to release wires. Recommended Screwdriver Model Manufacturer SZF1 Phoenix Contact Side view Front view 0.6 mm 3.5 mm Servo Relay Unit Wiring Example ■ I/O power is supplied from terminals 20-0, 21-1, and 60-40 when a Servo Relay Unit is used. As shown in the following example, wiring can be performed by simply connecting the signals.
  • Page 97 Chapter 2 Standard Models and Specifications Lower Terminal Block Pin Arrangement 24 V 2-71...
  • Page 98 Chapter 2 Standard Models and Specifications 2-7-2 Cables for Servo Relay Units Servo Driver Cables (XW2Z-@J-B5) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that does not support communications. ●...
  • Page 99 Chapter 2 Standard Models and Specifications Servo Driver Cables (XW2Z-@J-B7) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that supports communications (XW2B-40J6-4A). Cable Models ●...
  • Page 100 Chapter 2 Standard Models and Specifications Servo Driver Cables (XW2Z-@@@J-B12) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. Use these cables to con- nect to a Customizable Counter Unit (CSW-HCP22-V1) or Servo Relay Unit (XW2B-80J7-1A). ●...
  • Page 101 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Servo Driver Symbol +24VIN OGND +CCW −CCW −CW +ECRST −ECRST ZCOM RESET ALMCOM BKIR Connector plug: 10136-3000VE (Sumitomo 3M) Connector case: 10336-52A0-008 (Sumitomo 3M) RXD+ RXD- TXD+ TXD- Shell Cable: AWG28 ×...
  • Page 102 Chapter 2 Standard Models and Specifications ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-B10 8.0 dia. Approx. 0.1 kg XW2Z-200J-B10 Approx. 0.2 kg ● Connection Configuration and External Dimensions Servo Relay Unit Servo Driver XW2B-80J7-1A R7D-AP@ ●...
  • Page 103 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A3) ■ These Position Control Unit Cables connect a CQM1-CPU43-V1 or CQM1H-PLB21 Programma- ble Controller and an XW2B-20J6-3B Servo Relay Unit. ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A3 50 cm...
  • Page 104 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A4) ■ These Position Control Unit Cables connect a C200H-NC112 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A1 50 cm...
  • Page 105 Chapter 2 Standard Models and Specifications Position Control Unit Cable (XW2Z-@J-A5) ■ These Position Control Unit Cables connect a C200H-NC211, C500-NC113, or C500-NC211 Posi- tion Control Unit and an XW2B-40J6-2B Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A5 50 cm...
  • Page 106 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit Cable: AWG28 × 6P + AWG28 × 19C 2-80...
  • Page 107 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A8) ■ These Position Control Unit Cables connect a CS1W-NC113 or C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A8 50 cm...
  • Page 108 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A9) ■ These Position Control Unit Cables connect a CS1W-NC213, CS1W-NC413, C200HW-NC213 or C200HW-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A9...
  • Page 109 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit A1/B1 A2/B2 A24/B24 A20/B20 A15/B15 Cable: AWG28 × 6P + AWG28 ×17C Crimp terminal 2-83...
  • Page 110 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A12) ■ These Position Control Unit Cables connect a CS1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A12 50 cm...
  • Page 111 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A13) ■ These Position Control Unit Cables connect a CS1W-NC233 or CS1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A13 50 cm...
  • Page 112 Chapter 2 Standard Models and Specifications ● Wiring Position Control Unit Servo Relay Unit AWG20 Black A3/B3 AWG20 Red A4/B4 A1/B1 A2/B2 A24/B24 A20/B20 A15/B15 Cable: AWG28 × 6P + AWG28 × 17C Crimp terminal 2-86...
  • Page 113 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z@J-A16) ■ These Position Control Unit Cables connect a CJ1W-NC113 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A16 50 cm...
  • Page 114 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit Cable: AWG28 × 4P + AWG28 × 9C Crimp terminal 2-88...
  • Page 115 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z@J-A17) ■ These Position Control Unit Cables connect a CJ1W-NC213 or CJ1W-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A17 50 cm...
  • Page 116 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit A1/B1 A2/B2 A20/B20 A16/B16 A13/B13 Cable: AWG28 × 6P + AWG28 × 17C Crimp terminal 2-90...
  • Page 117 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A20) ■ These Position Control Unit Cables connect a CJ1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A20 50 cm...
  • Page 118 Chapter 2 Standard Models and Specifications ● Wiring Position Control Unit Servo Relay Unit AWG20 Black AWG20 Red Cable: AWG28 × 4P + AWG28 × 9C Crimp terminal 2-92...
  • Page 119 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A21) ■ These Position Control Unit Cables connect a CJ1W-NC233 or CJ1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A21 50 cm...
  • Page 120 Chapter 2 Standard Models and Specifications ● Wiring Position Control Unit Servo Relay Unit AWG20 Black A3/B3 AWG20 Red A4/B4 A1/B1 A2/B2 A20/B20 A13/B13 Cable: AWG28 × 6P + AWG28 × 17C Crimp terminal 2-94...
  • Page 121 Chapter 2 Standard Models and Specifications Position Control Unit Cable (XW2Z-@J-A22) ■ These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit. Cable Models ● Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A22 50 cm...
  • Page 122 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A23) ■ These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit. ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A23 50 cm...
  • Page 123 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit Cable: AWG28 × 4P + AWG28 × 4C Servo Relay Unit Cable: AWG28 × 4P + AWG28 × 4C Crimp terminal 2-97...
  • Page 124 Chapter 2 Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A25) ■ These Position Control Unit Cables connect a 3F88M-DRT141 Single-shaft Positioner (for DeviceNet) and an XW2B-20J6-1B Servo Relay Unit. ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A25 50 cm...
  • Page 125 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Position Control Unit A16/B16 Cable: AWG28 × 8P + AWG28 ×16C Crimp terminal Crimp terminal (Y-type) (Round) 2-99...
  • Page 126 Chapter 2 Standard Models and Specifications CJ1M-CPU Unit Cables (XW2Z-100J-A26) ■ These CJ1M-CPU Unit Cables connect a CJ1M Unit with built-in pulse I/O (CJ1M-CPU21/-CPU22/- CPU23) and a Servo Relay Unit (XW2B-20J6-8A and XW2B-40J6-9A). ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-100J-A26 10.0 dia.
  • Page 127 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit CJ1M-CPU Unit Cable: AWG28 × 6P + AWG28 ×17C 2-101...
  • Page 128 Chapter 2 Standard Models and Specifications Customizable Counter Unit Cables for Special I/O ■ These Customizable Counter Unit Cables connect a Customizable Counter Unit (CS1W-HCP22-V1) and a Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A32 50 cm...
  • Page 129 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Customizable Counter Unit Cable: AWG28 × 6P + AWG28 ×17C Crimp terminals 2-103...
  • Page 130 Chapter 2 Standard Models and Specifications Customizable Counter Unit Cables for General-purpose I/O ■ These Customizable Counter Unit Cables a Customizable Counter Unit (CS1W-HCP22-V1) and the general-purpose I/O of a Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A29...
  • Page 131 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Customizable Counter Unit Crimp terminals Cable: AWG28 × 6P + AWG28 ×17C 2-105...
  • Page 132 Chapter 2 Standard Models and Specifications Motion Controller Cables for Special I/O ■ These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the special I/ O of a Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A30...
  • Page 133 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Motion Control Module Crimp terminals 2-107...
  • Page 134 Chapter 2 Standard Models and Specifications Motion Controller Cable for General-purpose I/O ■ These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the general- purpose I/O of a Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model Length (L) Outer diameter of sheath Weight XW2Z-050J-A28...
  • Page 135 Chapter 2 Standard Models and Specifications ● Wiring Servo Relay Unit Motion Control Module Crimp terminals 2-109...
  • Page 136 10.0 dia. Approx. 0.1 kg XW2Z-200J-C1 Approx. 0.2 kg ● Connection Configuration and External Dimensions t=15 t=15 ● Wiring Symbol Symbol Shell Shell Cable: AWG28×2P UL2464 Connector: Connector: XM2A-0901 (OMRON) XM2A-0901 (OMRON) Connector Hood: Connector Hood XM2S-0911 (OMRON) XM2S-0911 (OMRON) 2-110...
  • Page 137 Chapter 2 Standard Models and Specifications Parameter Unit Specifications R7A-PR02A Hand-held Parameter Unit ■ A Parameter Unit is required for setting parameters to operate and control the Servo Driver, for copying Servo Driver parameters, and for other func- TGON TGON POWER POWER VCMP...
  • Page 138 Chapter 2 Standard Models and Specifications Function Specifications ■ Model Standards Parameter setting Displaying and changing parameter settings Monitor display Displaying all monitor data Function Mode Executing functions Alarm displays Displaying alarms Parameter copying Reading and saving parameters from the Servo Driver to the Parameter Unit;...
  • Page 139 Chapter 2 Standard Models and Specifications External Regeneration Resistor Specifications If the Servomotor’s regenerative energy is excessive, connect an External Regeneration Resistor. Note 1. External Regeneration Resistors cannot be connected to Servo Drivers of between 30 to 200 W. Connection to a 400-W Servo Driver is usually not required. If the Servomotor’s regenerative energy is excessive, connect an External Regeneration Resistor between B1 and B2.
  • Page 140 Chapter 2 Standard Models and Specifications 2-10 DC Reactors Connect a DC Reactor to the Servo Driver’s DC Reactor connection terminal as a harmonic current control measure. Select a model to match the Servo Driver being used. R88A-PX@ DC Reactors ■...
  • Page 141 Chapter 3 System Design and Installation Installation Conditions Wiring Regenerative Energy Absorption...
  • Page 142 Chapter 3 System Design and Installation Installation and Wiring Precautions !Caution Do not step on or place a heavy object on the product. Doing so may result in injury. !Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
  • Page 143 Chapter 3 System Design and Installation Installation Conditions 3-1-1 Servo Drivers Space around Drivers ■ • Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also install a fan for circulation if Servo Drivers are installed side by side to prevent uneven temperatures from developing inside the panel.
  • Page 144 Chapter 3 System Design and Installation • The service life of a Servo Driver is largely determined by the temperature around the internal elec- trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol- ume and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning due to noise, and damage to individual elements.
  • Page 145 Chapter 3 System Design and Installation Connecting to Mechanical Systems ■ • The axial loads for Servomotors are specified in 2- 4-2 Performance Specifications. If an axial load Ball screw center line greater than that specified is applied to a Servo- motor, it will reduce the service life of the motor bearings and may damage the motor shaft.
  • Page 146 Chapter 3 System Design and Installation Other Precautions ■ • Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous AC and use permanent magnets. Applying commercial power directly will burn out the motor coils. • Take measures to prevent the shaft from rusting. The shafts are coated with anti-rust oil when shipped, but anti-rust oil or grease should also be applied when connecting the shaft to a load.
  • Page 147 Chapter 3 System Design and Installation Using Reduction Gears from Other Companies (Reference Information) ■ If the system configuration requires that a SMARTSTEP A-series Motor be used in combination with a reduction gear from another company, select the reduction gear so that the loads on the motor shaft (i.e., both the radial and thrust loads) are with the allowable values.
  • Page 148 Chapter 3 System Design and Installation Wiring 3-2-1 Connecting Cable This section shows the types of connecting cable used in a SMARTSTEP A-series system. The wide selection of cables provided for configuring a servo system using a Position Control Unit makes wiring simple. System Configuration Parameter Unit Note: A 1-meter cable is provided...
  • Page 149 Chapter 3 System Design and Installation Selecting Connecting Cables ■ 1. Servo Relay Unit Cables Select a Servo Relay Unit and Cable to match the Position Control Unit that is to be used. ● Selecting Connecting Cables without Communications Support Position Control Unit Position Control Unit Cable Servo Relay Unit...
  • Page 150 Chapter 3 System Design and Installation ● Selecting Connecting Cables with Communications Support Position Control Unit Position Control Unit Cable Servo Relay Unit Servo Driver Cable CS1W-NC213 XW2Z-@@@J-A9 XW2B-40J6-4A XW2Z-@@@J-B7 CS1W-NC413 CS1W-NC233 XW2Z-@@@J-A13 CS1W-NC433 CJ1W-NC213 XW2Z-@@@J-A17 CJ1W-NC413 CJ1W-NC233 XW2Z-@@@J-A21 CJ1W-NC433 C200HW-NC213 XW2Z-@@@J-A9 C200HW-NC413...
  • Page 151 Chapter 3 System Design and Installation 3. General Control Cables and Control I/O Connector These cables and connector are used for connecting to Controllers for which no special cable is pro- vided, and when the cable for the Servo Driver’s control I/O connector is prepared by the user. Name Cable Remarks...
  • Page 152 Chapter 3 System Design and Installation Encoder Cables Specifications Cable model number Remarks Cable for Servomotors with R7A-CRA@@@C Insert the cable length in the @@@@ of the or without brakes (both Cylin- model number. There are five cable lengths: 3 der-style and Flat-style) m, 5 m, 10 m, 15 m, and 20 m.
  • Page 153 24 V DC ALMCOM Note 1. Recommended product in 3-2-4 Wiring for Noise Resistance. BKIR 2. Recommended relay: MY Relay (24 V), by OMRON. 24 V DC (See note 2.) 3. For 400-W and 750-W Servo Drivers, an R88A-RR22047S OGND External Regeneration Resistor may be connected.
  • Page 154 ALMCOM Note 1. Recommended product in 3-2-4 Wiring for Noise Resistance. BKIR 24 V DC 2. Recommended relay: MY Relay (24 V), by OMRON. (See note 2.) 3. An R88A-RR22047S External Regeneration Resistor may be connected. OGND Connect if the regenerative energy exceeds the individual Servo Driver's regenerative capacity.
  • Page 155 Chapter 3 System Design and Installation 3-2-3 Terminal Block Wiring When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures. Terminal Block Names and Functions ■ Terminal Name Function label Main circuit R7D-AP@H: power supply Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz input R7D-AP@L:...
  • Page 156 Frame ground Screw – size N ⋅ m Torque No-fuse breaker or fuse A (rms) capacity Note 1. Use the same wire sizes for 2, B1, and B2. Note 2. Connect an OMRON Servomotor Cable to the Servomotor connection terminals. 3-16...
  • Page 157 Note 1. Use the same wire sizes and tightening torques for 1, 2, B1, and B2. Note 2. Connect an OMRON Servomotor Cable to the Servomotor connection terminals. Wire Sizes and Allowable Current ■ The following table shows the allowable current for when there are three wires.
  • Page 158 Chapter 3 System Design and Installation Terminal Block Wiring Procedure ■ Connector-type Terminal Blocks are used for SMARTSTEP A-series Servo Drivers. The procedure for wiring these Terminal Blocks is explained below. Connector-type Terminal Block (Example: R7D-AP01L) 1. Remove the Terminal Block from the Servo Driver. !Caution The Terminal Block must be removed from the Servo Driver before being wired.
  • Page 159 Chapter 3 System Design and Installation 4. Insert the wire into the slot. With the slot held open, insert the end of the wire. Then let the slot close by releasing the pressure from the lever or the screwdriver. 5. Mount the Terminal Block to the Servo Driver. After all of the terminals have been wired, return the Terminal Block to its original position on the Servo Driver.
  • Page 160 Chapter 3 System Design and Installation ● Three-phase Power Supply Input (R7D-AP08H) R7D-AP@ R7M-A@ Contactor AC power Noise filter Metal duct Surge absorber supply Fuse 2 mm 3.5 mm Thick power line (3.5 mm Class D ground (Class 3 ground: 100 Ω...
  • Page 161 Chapter 3 System Design and Installation Correct: Cables are bound. Correct: Properly twisted Driver Driver Binding • Separate power supply cables and signal cables when wiring. Selecting Components ■ This section explains the criteria for selecting the connection components required for improving noise resistance.
  • Page 162 Chapter 3 System Design and Installation Smart Power Servo Capacity Rated Inrush 125% of NFB model Servo supply Driver current current rated Driver voltage model circuit current A (rms) (R7D-) A (0-p) Single- APA3H 30 W 0.82 1.025 NF30-SW 10A phase APA5H 50 W...
  • Page 163 Chapter 3 System Design and Installation Type Model Rated current Maker Three-phase LF-315K 15 A Tokin LF-325K 25 A LF-335K 35 A ZCW2210-01 10 A ZCW2220-01 20 A ZCW2230-01 30 A ZCW2240-01 40 A Note 1. To attenuate noise at frequencies of 200 kHz or less, use an insulated transformer and a noise filter.
  • Page 164 The Servo Driver inrush current is covered in the preceding explanation of no- fuse-breaker selection, and the maximum momentary current is approximately twice the rated cur- rent. The following table shows the recommended contactors. Maker Model Rated current Coil voltage OMRON LC1-D093A60 11 A 200 V AC LC1D25106 26 A LC1D40116...
  • Page 165 Chapter 3 System Design and Installation ● Harmonic Current Countermeasures (DC Reactor) The DC Reactor is used for suppressing harmonic currents. It suppresses sudden and quick changes in electric currents. In September 1994, the Ministry of International Trade and Industry established guidelines for the suppression of harmonic waves emitted from home and general electric appliances.
  • Page 166 Chapter 3 System Design and Installation Improving Control I/O Signal Noise Resistance ■ Positioning can be affected and I/O signals can error if control I/O is influenced by noise. Follow the methods outlined below for the power supply and wiring. •...
  • Page 167 Chapter 3 System Design and Installation Wiring Method ■ ● Single-phase Power Supply Input Control panel Metal plate Installation incorporating 2 m max. Servo Motor Brake Noise power filter supply R7M-A@ Metal Metal duct or Surge R7D-A@ duct or power Ferrite Ferrite Contactor...
  • Page 168 Chapter 3 System Design and Installation ● Three-phase Power Supply Input (R7D-AP08H) Control panel Metal plate Installation incorporating 2 m max. Servo Motor Brake Noise power filter supply R7M-A@ Metal Metal duct or Surge R7D-A@ duct or power Ferrite Ferrite conduit Contactor absorber...
  • Page 169 Chapter 3 System Design and Installation • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Correct: Cables are bound. Correct: Properly twisted Driver Driver Binding • Separate power supply cables and signal cables when wiring. ■...
  • Page 170 Chapter 3 System Design and Installation • Be sure that no gaps are created when installing the cover, as gaps can be caused by distortion when tightening screws. Case Cover Cover Oil-proof packing Conductive packing Control Panel A-B Cross-section Oil-proof packing Conductive packing Case (Inside) ■...
  • Page 171 Chapter 3 System Design and Installation Servo Driver inrush current: With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 sec- onds. For a simultaneous inrush for multiple Servo Drivers, select a no-fuse-breaker with a 20-ms allowable current greater than the total inrush current shown in the following table for the applicable Servomotor models.
  • Page 172 Chapter 3 System Design and Installation Dimensions (The dimensions given below are for noise filters with lead-wire terminals. For the dimensions of noise filters with different types of terminals, contact the manufacturer.) For single-phase input (FN2070-6/07, FN2070-10/07) 45.4 Model FN2070-6/07 94 mm 103 mm 113.6 mm...
  • Page 173 Chapter 3 System Design and Installation For three-phase input (FN258L-16/07) 300±10 ● Noise filter for brake power supply Use the following noise filter for the brake power supply. Model Rated current Rated voltage Leakage current Manufacturer SUP-P5H-EPR 250 V 0.6 mA (at 250 Vrms, 60 Hz) Okaya Electric Industries Co., Ltd.
  • Page 174 The Servo Driver inrush current is covered in the preceding explanation of no- fuse-breaker selection, and the maximum momentary current is approximately twice the rated cur- rent. The following table shows the recommended contactors. Maker Model Rated current Coil voltage OMRON LC1-D093A60 11 A 200 V AC LC1D25106 26 A LC1D40116...
  • Page 175 Chapter 3 System Design and Installation The following table shows the Servomotor leakage current for each Servo Driver model. Driver Leakage current (direct measurement) (including high-frequency current) R7D-APA3L to -AP04L 29 mA R7D-APA3H to -AP04H 14 mA R7D-AP08H 16 mA Note 1.
  • Page 176 Chapter 3 System Design and Installation • If Servomotors with brakes are used, do not share the 24-V DC power supply for brakes with the 24-V DC power supply for control I/O. Additionally, do not connect ground wires. Connecting ground wires may cause I/O signal errors.
  • Page 177 Chapter 3 System Design and Installation Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing. An overvoltage error is generated, however, if the amount of regenerative energy from the Servomotor is too large.
  • Page 178 Chapter 3 System Design and Installation Note There is some loss due to winding resistance, so the actual regenerative energy will be approx- imately 90% of the values derived from these equations. • For Servo Driver models with internal capacitors for absorbing regenerative energy (i.e., models of 400 W or less.), the values for both Eg1 or Eg2 (unit: J) must be lower than the Servo Driver’s regenerative energy absorption capacity.
  • Page 179 Chapter 3 System Design and Installation 2π • E • • N • T • t [J ] = 0.0524 • N • T • t g1 = 2π • E • N • T • t [J ] = 0.105 • N •...
  • Page 180 Chapter 3 System Design and Installation Note External Regeneration Resistors cannot be connected to 30- to 200-W Servo Drivers. Servo Driver Regenerative energy (J) Internal regeneration resistance that can be absorbed by Resistance ( Ω ) Average amount of internal capacitor (See regeneration that can note 1.) be absorbed (W)
  • Page 181 Chapter 3 System Design and Installation External Regeneration Resistors ■ ● Specifications Model Resistance Nominal Regeneration Heat radiation Thermal switch capacity absorption at output 120 ° C 47 Ω ± 5% t1.0 × @350 R88D-RR22047S 220 W 70 W Operating tem- perature: 170 °...
  • Page 182 Chapter 3 System Design and Installation Wiring External Regeneration Resistance ■ ● R7D-AP04L and R7D-AP04H Connect an External Regeneration Resistor between the B1 and B2 terminals. External Regeneration Resistor Note When using the R88A-RR22047S, connect the Servo Driver thermal switch output so that the power supply will be shut off when open.
  • Page 183 Chapter 4 Operation Operational Procedure Switch Settings Preparing for Operation Trial Operation Gain Adjustments User Parameters Operating Functions...
  • Page 184 Chapter 4 Operation Precautions !Caution Confirm that there will be no effect on the equipment, and then perform a test operation. Not doing so may result in equipment damage. !Caution Check the newly set parameters and switches with their switches for proper exe- cution before actually running them.
  • Page 185 Chapter 4 Operation Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and Servo Driver. This section describes operating methods using the Servo Driver’s front panel switches only. Note For operating and adjustment methods using an R7A-PR02A Parameter Unit, refer to the Parameter Unit Operation Manual (Cat.
  • Page 186 Chapter 4 Operation Switch Settings With SMARTSTEP A-series Servo Drivers, operation settings can be performed simply by using the front panel switches. Set the switches appropriately according to the system configuration. 4-2-1 Switch Nomenclature and Functions Unit No. rotary switch. (Default setting: 0.) Gain adjustment rotary switch.
  • Page 187 Chapter 4 Operation Turning Function Switches ON and OFF ■ The default setting for all function switches is OFF. Use a thin-blade non-conductive ceramic screw- driver or equivalent to turn the switches ON and OFF. In the following diagrams, the left diagram shows a switch turned OFF, and the right diagram a switch turned ON.
  • Page 188 Chapter 4 Operation Dynamic Brake Setting (Switch 2) ■ Switch 2 sets dynamic brake operation. When dynamic braking is enabled, the Servomotor is stopped rapidly when the RUN command is turned OFF or when an alarm occurs. Switch 2 Dynamic brake setting Dynamic braking is disabled.
  • Page 189 Chapter 4 Operation Preparing for Operation This section explains the procedure following installation, wiring, and switch setting of the Servomotor and Servo Driver, to prepare the mechanical system for trial operation. It explains what you need to check both before and after turning ON the power. 4-3-1 Turning Power ON and Checking Indicators Items to Check Before Turning ON the Power ■...
  • Page 190 Chapter 4 Operation Turning ON Power ■ • First carry out the preliminary checks, and then turn ON the control-circuit power supply. It makes no difference whether or not the main-circuit power supply is also turned ON. • The ALM output will take approximately 2 seconds to turn ON after the power has been turned ON. Do not attempt to detect an alarm using the Host Controller during this time (when power is being supplied with the Host Controller connected).
  • Page 191 Chapter 4 Operation Trial Operation Once mounting, wiring, switch setting, and connecting a power supply have been finished and normal status has been confirmed, perform trial operation. The main purpose of trial operation is to confirm that the servo system is operating correctly electrically.
  • Page 192 Chapter 4 Operation 3. Loaded Low-speed Operation • Send a low-speed command from the Host Controller to rotate the Servomotor. (The definition of low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5 of the normal operating speed.) •...
  • Page 193 Chapter 4 Operation Gain Adjustments The SMARTSTEP A-series Servo Driver is equipped with an online autotuning function. Use this function to easily adjust the gain even if using a servo system for the first time. 4-5-1 Online Autotuning What Is Online Autotuning? ■...
  • Page 194 Chapter 4 Operation Online Autotuning Procedure ■ Start Turn OFF the power. Do not perform extreme adjustment and setting changes as they may Set the gain adjustment rotary switch. destablize the operation. Adjust the (Refer to the next page for setting the gain adjustment rotary switch.) gain a little at a time while checking the Servomotor operation.
  • Page 195 Chapter 4 Operation Setting the Gain Adjustment Rotary Switch during Online Autotuning ■ • Setting the gain adjustment rotary switch during online autotuning sets the servo system’s target speed loop gain and position loop gain. • Select a switch setting from the following 10 levels (switches A to F are the same setting) to suit the mechanical system.
  • Page 196 Chapter 4 Operation Manual Tuning Procedure ■ Start Turn OFF the power. Do not perform extreme adjustment and setting changes as they may Set the gain adjustment rotary switch. destablize the operation. Adjust the (Refer to the previous page for setting the gain adjustment rotary switch.) gain a little at a time while checking the Servomotor operation.
  • Page 197 Chapter 4 Operation User Parameters This section describes the Servo Driver internal user parameters. Even if operating using the Servo Driver’s front panel switch settings, be sure to understand the kinds of functions that are set with the parameters. Note R7A-PR02A Parameter Unit is required to change user parameters. Refer to Operation Manual (I534) for detailed operation procedures.
  • Page 198 Chapter 4 Operation Parameter Parameter name Description for parameters set with 5 digits Default Unit Setting Restart? range Digit Name Setting Description for parameters with individually set digits Pn110 Online autotuning Online autotun- Autotunes initial operations only 0012 – – setting ing selection after power is turned ON.
  • Page 199 Chapter 4 Operation Parameter Parameter name Description for parameters set with 5 digits Default Unit Setting Restart? range Digit Name Setting Description for parameters with individually set digits Pn402 Forward torque Forward rotation output torque limit (rated torque ratio) 0 to 800 –...
  • Page 200 Chapter 4 Operation Pn100 Speed loop gain Settings 1 to 2000 Unit Default Restart? • This gain adjusts the speed loop response. • Increase the setting (i.e., increase the gain) to increase servo rigidity. Generally, the greater the inertia ratio, the higher the setting. There is a risk of vibration, however, if the gain is too high. When the speed loop gain is manipulated, the response will change as shown in the following dia- gram.
  • Page 201 Chapter 4 Operation Pn102 Position loop gain Settings 1 to 2000 Unit Default Restart? • Adjust the position loop response to suit the mechanical rigidity of the system. • Servo system response is determined by the position loop gain. Servo systems with a high loop gain have a high response, and positioning is fast.
  • Page 202 Chapter 4 Operation Pn109 Feed-forward amount Settings 0 to 100 Unit Default Restart? • Sets the feed-forward compensation value during positioning. • When performing feed-forward compensation, the effective servo gain increases, improving respon- siveness. There is almost no effect, however, on systems where the position loop gain is sufficiently high.
  • Page 203 Chapter 4 Operation Pn110.2 Online autotuning function – Adhesive friction compensation selection Settings 0 to 2 Unit Default Restart? Setting Explanation Setting Explanation No friction compensation (when adhesive friction for rated revolutions is 10% max. of rated torque) Small ratio between friction compensation and rated torque (when adhesive friction for rated rota- tion speed is 10% to 30% of rated torque) Large ratio between friction compensation and rated torque (when adhesive friction for rated rota- tion speed is 30% to 50% of rated torque)
  • Page 204 • Sets input conditions under which ECRST (deviation counter reset input, CN1-5: +ECRST, CN1-6: –ECRST) is effective. • If using an OMRON Position Control Unit, do not change the default setting. Pn200.2 Position control setting 1 –Deviation counter reset for servo OFF and alarms...
  • Page 205 Chapter 4 Operation Pn204 Position command filter time constant 1 (primary filter) × 0.01 ms Settings 0 to 6400 Unit Default Restart? • Sets the soft start for the command pulses. The soft start characteristic is for a primary filter (expo- nentiation function).
  • Page 206 Chapter 4 Operation Pn401 Torque command filter time constant × 0.01 ms Settings 0 to 65535 Unit Default Restart? • Sets the (primary) filter time constant for the internal torque command. • When the mechanical resonance frequency is within the response frequency of the servo loop, Ser- vomotor vibration will occur.
  • Page 207 Chapter 4 Operation Pn600 Regeneration resistor capacity × 10W Settings 0 to max. for Unit Default Restart? model • If using an External Regeneration Resistor or External Regeneration Resistance Unit, set the regeneration absorption capacity. Set the regeneration absorption capacity for when the tempera- ture rises above 120 °...
  • Page 208 Chapter 4 Operation Operating Functions 4-7-1 Position Control Functions ■ • Perform position control using the pulse train input from CN1-1,2 for CW and CN1-3,4 for CCW. • The Servomotor rotates using the value of the pulse train input multiplied by the electronic gear ratio (Pn202, Pn203).
  • Page 209 Chapter 4 Operation 4-7-2 Brake Interlock Precautions for Using Electromagnetic Brake ■ • The electromagnetic brake Servomotor with a brake is a non-excitation brake especially for holding. If the brake is applied while the Servomotor is operating, the brake disk may become damaged or malfunction due to friction, causing damage to the Servomotor.
  • Page 210 Chapter 4 Operation ● RUN, Error, and Power Supply Timing (Servomotor Rotating) ALM (alarm output) (See note 2.) BKIR (brake interlock) Energized Servomotor Deenergized energized Approx. 10 ms (See note 1.) Servomotor rotation speed Braking using dynamic brake (when Pn001.0 = 0) 100 r/min Note 1.
  • Page 211 Chapter 4 Operation 4-7-3 Torque Limiting Functions ■ • The torque limit function limits the Servomotor’s output torque. • This function can be used to protect the Servomotor and mechanical system by preventing exces- sive force or torque on the mechanical system when the machine (moving part) pushes against the workpiece with a steady force, such as in a bending machine.
  • Page 212 Chapter 4 Operation Parameters Requiring Settings ■ Parameter No. Parameter name Explanation Pn202 Electronic gear ratio Set the pulse rate for the command pulse and Servomotor travel dis- tance. When G1/G2 = 1, if the pulse (encoder resolution × 4) is G1 (numerator) input, the Servomotor will rotate once (i.e., the internal driver will Pn203...
  • Page 213 Chapter 4 Operation 4-7-5 Position Command Filter Function Functions ■ • Perform soft start processing for the command pulses using the selected filter to gently accelerate and decelerate. • Select the filter characteristics using Pn207.0 (position command filter selection). • When Pn204 (position command filter time constant 1) is selected, acceleration and deceleration are performed using the primary filter (exponentiation function).
  • Page 214 Chapter 4 Operation ● Linear Acceleration and Deceleration Speed Command pulse input frequency Time Pn208 Pn208 4-32...
  • Page 215 Chapter 5 Troubleshooting Measures when Trouble Occurs Alarms Troubleshooting Overload Characteristics (Electron Thermal Char- acteristics) Periodic Maintenance...
  • Page 216 Chapter 5 Troubleshooting Measures when Trouble Occurs 5-1-1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of troubles if they occurs. Check the Power Supply Voltage ■ • Check the voltage to the power supply input terminals. Main-circuit Power Supply Input Terminals (L1, L2, (L3)) R7D-AP@H: Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz Using R7D-AP08H with three-phase input: Three-phase 200/230 V AC (170 to 253 V) 50/60 Hz...
  • Page 217 Chapter 5 Troubleshooting Computer Monitor Software • Install and use the SMARTSTEP A-series Servo Driver Computer Monitor Software for Win- dows version 2.0 (WMON Win Ver. 2.0) (Cat. No.: SBCE-011). The following three items are required: A Windows-compatible computer, the Computer Monitor Software, and a Connecting Cable (R7A-CCA002P@).
  • Page 218 Chapter 5 Troubleshooting 5-1-3 Replacing the Servomotor and Servo Driver Perform the following procedure to replace the Servomotor or Servo Driver. Replacing the Servomotor ■ 1. Replace the Servomotor. 2. Perform origin teaching. • When replacing the Servomotor, the Servomotor’s specific origin position (Z-phase) may slip, so be sure to perform origin teaching.
  • Page 219 Chapter 5 Troubleshooting Alarms If the Servo Driver detects an error, ALM (alarm output) will be output, the power drive circuit in the Servo Driver will turn OFF, and the alarm will be displayed. If the Servo Driver detects a warning (e.g., overload warning or regenerative overload warning), a warning code will be displayed, but operation will continue.) Note 1.
  • Page 220 Chapter 5 Troubleshooting Alarm Table ■ Code Error detection function Cause of error Alarm A.04 Parameter setting error The Servomotor does not match the Servo Driver. A.10 Overcurrent Overcurrent detected, or improper radi- ation shield temperature rise detected. A.30 Regeneration error Regeneration circuit damaged due to large amount of regenerative energy.
  • Page 221 Chapter 5 Troubleshooting Troubleshooting If an error occurs in the machinery, check the type of error using the alarm indicators and operation status, verify the cause, and take appropriate countermeasures. 5-3-1 Error Diagnosis Using Alarm Display Display Error Status when Cause of error Countermeasures error occurs...
  • Page 222 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Regeneration Occurs during Regenerative energy Calculate the regenerative overload operation. exceeds tolerance. energy, and connect an exter- nal Regeneration Resistor with the required regeneration absorption capacity. Setting error in Pn600 Set Pn600 correctly.
  • Page 223 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overspeed Occurs when the Encoder signal between Rewire correctly. servo is ON. controllers is wired incor- rectly. Servomotor power line is Rewire correctly. wired incorrectly. Occurs along with Position command input Input command values cor- high-speed rota-...
  • Page 224 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Overheat Occurs when the Control panel error Replace the Servo Driver. control circuit power supply only is turned ON. Occurs during Ambient Servo Driver tem- Lower the Servo Driver’s ambi- perature exceeds 55 °...
  • Page 225 Chapter 5 Troubleshooting Display Error Status when Cause of error Countermeasures error occurs Deviation Servomotor will Servomotor power or Rewire correctly. counter over- not rotate even encoder line is wired incor- flow when command rectly. pulses are input. Locked mechanically Repair if the Servomotor shaft is locked Control panel error...
  • Page 226 Chapter 5 Troubleshooting Parameter Unit Alarms ■ Display Error Status when error Cause of error Countermeasures occurs OPERATOR ERR ROM error Occurs when power Internal element mal- Turn OFF the power supply, ROM CHECK ERR supply is turned function. then ON again. Internal element is Replace the Parameter Unit.
  • Page 227 Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures The Servomotor The RUN signal is OFF. Check the RUN signal’s ON and Input the RUN signal. does not oper- OFF operation. Correct the wiring. ate even when a The deviation counter Check the ON/OFF status of the Turn OFF the ECRST sig- command is...
  • Page 228 Chapter 5 Troubleshooting Symptom Probable cause Items to check Countermeasures Servomotor is The ambient temperature Check to be sure that the ambient Lower the ambient temper- ature to 40 ° C or less. (Use overheating. is too high. temperature around the Servomo- tor is no higher than 40 °...
  • Page 229 Chapter 5 Troubleshooting Overload Characteristics (Electron Thermal Characteristics) An overload protection (electron thermal) function is built into the Servo Driver to protect against Servo Driver or Servomotor overload. If an overload (A.70) does occur, first clear the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again.
  • Page 230 Chapter 5 Troubleshooting Periodic Maintenance Maintenance and Inspection Precautions !WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock. !Caution Resume operation only after transferring to the new Unit the contents of the data required for operation.
  • Page 231 • If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recom- mended. Please consult with OMRON to determine whether or not components need to be replaced.
  • Page 233 Chapter 6 Appendix Connection Examples...
  • Page 234 Chapter 6 Appendix Connection Examples Connection Example 1: Connecting to SYSMAC CS1W-NC113/213/413 ■ or C200HW-NC113/213/413 Position Control Units Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz CS1W-NC113/213/413 Class D ground C200HW-NC113/213/413...
  • Page 235 Chapter 6 Appendix Connection Example 2: Connecting to SYSMAC CS1W-NC133/233/433 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground CS1W-NC133/233/433 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 236 Chapter 6 Appendix Connection Example 3: Connecting to SYSMAC CJ1W-NC113/213/413 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground CJ1W-NC113/213/413 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 237 Chapter 6 Appendix Connection Example 4: Connecting to SYSMAC CJ1W-NC133/233/433 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground CJ1W-NC133/233/433 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 238 Chapter 6 Appendix Connection Example 5: Connecting to SYSMAC CS1W-HCP22 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground CS1W-HCP22 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 239 Chapter 6 Appendix Connection Example 6: Connecting to 3F88M-DRT141 Single-axis ■ Positioner for DeviceNet Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground 3F88M-DRT141 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 240 Chapter 6 Appendix Connection Example 7: Connecting to SYSMAC C200H-NC112 ■ Main-circuit power supply Main-circuit contact Surge Killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground C200H-NC112 (Class 3 ground: R7D-AP@ 100 Ω...
  • Page 241 Chapter 6 Appendix Connection Example 8: Connecting to SYSMAC C500-NC113/211 or ■ C200H-NC211 Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz C500-NC113/211 Class D ground C200H-NC211 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 242 Chapter 6 Appendix Connection Example 9: Connecting to Oriental XG8200S ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground XG8200S (Oriental) R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 243 Chapter 6 Appendix Connection Example 10: Connecting to Oriental SG8030J ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground SG8030J (Oriental) R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 244 Chapter 6 Appendix Connection Example 11: Connecting to Keyence HC-50 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground HC-50 (Keyence) (Class 3 ground: R7D-AP@ 100 Ω...
  • Page 245 Chapter 6 Appendix Connection Example 12: Connecting to Melec C-870V1 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground C-870V1 (Melec) R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 246 Chapter 6 Appendix Connection Example 13: Connecting to SYSMAC CQM1H-PLB21 ■ Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground CQMIH-PLB21 R7D-AP@ (Class 3 ground: 100 Ω...
  • Page 247 Chapter 6 Appendix Connection Example 14: Connecting to SYSMAC CPM2C ■ This diagram shows an example using a 10-point CPU Unit with transistor outputs (sinking). Main-circuit power supply Main-circuit contact Surge killer Single-phase 200/230 V AC 50/60 Hz Servo error display Single-phase 100/115 V AC 50/60 Hz Class D ground CPM2C...
  • Page 249 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I533-E1-04 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 250 Revision History...
  • Page 251 Shiga, 525-0035 Japan Tel: (81) 77-565-5223/Fax: (81) 77-565-5568 Regional Headquarters OMRON (CHINA) CO., LTD. © OMRON Corporation 2001 All Rights Reserved. OMRON EUROPE B.V. Room 2211, Bank of China Tower, In the interest of product improvement, Wegalaan 67-69-2132 JD Hoofddorp...

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