Page 1 Cat. No. I531-E2-02 USER’S MANUAL OMNUC W SERIES MODELS R88M-W (AC Servomotors) MODELS R88D-WT (AC Servo Drivers) AC SERVOMOTORS/SERVO DRIVERS (400 VAC type included) 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 1. This manual describes the functions of the product and relations with other products. You should assume that anything not described in this manual is not possible. 2. Although care has been given in documenting the product, please contact your OMRON representative if you have any suggestions on improving this manual.
Page 3 USER’S MANUAL OMNUC W SERIES MODELS R88M-Wj (AC Servomotors) MODELS R88D-WTj (AC Servo Drivers) AC SERVOMOTORS/SERVO DRIVERS 400VAC type included 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 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 OMRON Product References All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product. The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word”...
Page 6 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 Servomotor to a class-3 ground (to 100 Ω...
Page 7 Caution Do not touch the Servo Driver radiator or Servomotor while the power is being sup- plied or soon after the power is turned OFF. Doing so may result in a skin burn due to the hot surface. Storage and Transportation Precautions Caution Do not hold the product by the cables or motor shaft while transporting it.
Page 8 Caution Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction. Caution Install external breakers and take other safety measures against short-circuiting in external wiring.
Page 9 Caution Do not come close to the machine immediately after resetting momentary power in- terruption to avoid an unexpected restart. (Take appropriate measures to secure safety against an unexpected restart.) Doing so may result in injury. Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction.
Page 10 Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning label Example from R88D-WTA3HL Example from R88D-WTA3HL 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 11: Table Of Contents
Table of Contents Chapter 1. Introduction ........1-1 Features .
Page 12 Table of Contents Chapter 6. Appendix ........6-1 Connection Examples .
Page 13: Chapter 1. Introduction
Chapter 1 Introduction 1-1 Features 1-2 System Configuration 1-3 Servo Driver Nomenclature 1-4 Applicable Standards and Models 1-5 System Block Diagrams 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 14: Features
Introduction Chapter 1 Features With their superior performance and fast response, plus a wider selection of models, the OMNUC W-se- ries AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Se- ries. H Faster Response and Rotation Speed The W-series AC Servomotors and Servo Drivers provide faster response than the previous U-se- ries models, with high-frequency responses of 400 Hz (compared to 250 Hz for the U Series).
Page 15 Introduction Chapter 1 H Gain Changes There are two types of gain settings, and the gain can be changed when the load changes during operation. H Control Functions Any one of the following 12 control modes can be selected in the parameter settings, thereby allow- ing various applications with a single Servo Driver.
Page 16 Introduction Chapter 1 H Automatic Adjustment of Command Offsets (Speed and Torque Control) The offsets of the speed command input and torque command input can be adjusted automatically. H Monitor Output The offset and scaling of the analog monitor outputs can be adjusted. H Multi-turn Limit Changes The multi-turn limits for absolute encoders can be changed.
Page 17 Introduction Chapter 1 H Reverse Mode Forward and reverse commands can be switched in the parameters, without changing the wiring to the Servomotor or encoder. H Brake Interlock Output Timing signals interlocked with the Servomotor’s ON/OFF status and rotational speed are output, so the holding brakes of Servomotors with brakes can be operated reliably.
Page 18: System Configuration
Introduction Chapter 1 System Configuration Controller with Voltage Output R88A-PR02W Parameter Unit (Hand-held) Analog voltage SYSMAC CS1-, C-, or C500-NC222-E Posi- Motion Control Unit CV-series tion Control Unit CS1W-MC221/421 Programmable CV500-MC221/421 Controller C200H-MC221 Controller with Pulse Train Output OMNUC W-series AC Servo Driver R88D-WTj Pulse train Position Control Units...
Page 19: Servo Driver Nomenclature
Introduction Chapter 1 Servo Driver Nomenclature Analog Monitor Output Connector (CN5) Rotation speed, torque command values, etc., are output in analog voltage. A special cable is used. Battery holder Holds the backup battery for when a Servomotor with an absolute encoder is used.
Page 20: Applicable Standards And Models
Introduction Chapter 1 Applicable Standards and Models H EC Directives Product Applicable standard Remarks Directive Low voltage AC Servo Drivers EN50178 Safety requirements for electrical equipment for measurement, control, and laboratory use. AC Servomotors IEC60034-1, -5, -8, -9 Rotating electrical machines. EN60034-1, -9 AC Servo Drivers EN55011 class A...
Page 21: System Block Diagrams
Introduction Chapter 1 System Block Diagrams H 200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H 100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL AC Servo Driver Thermistor AC Servomotor Fuse Gate drive Relay overcurrent Voltage Gate protection drive detection drive Interface Voltage detection Current Battery Connector detection (CN8) DC/DC generation conver-...
Page 22 Introduction Chapter 1 H 200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H AC Servo Driver AC Servomotor Fuse Gate drive Thermistor Relay Voltage Gate overcurrent protection drive detection drive 0.5 to 1 kW Interface Voltage detection Current Battery Connector detection (CN8) generation DC/DC conver- Encoder sion Encoder output...
Page 23 Introduction Chapter 1 H 200 V AC: R88D-WT60H Regeneration resistance (optional) AC Servo Driver Thermistor AC Servomotor Fuse Gate drive overcurrent protection isolator Relay Voltage detection driver isolator Gate drive Voltage detection isolator isolator DC/DC Current conver- detection sion Battery Connector generation (CN8) Encoder...
Page 24 Introduction Chapter 1 H 400 V AC: R88D-WT05HF/-WT10HF/-WT15HF/-WT20HF/-WT30HF Three-phase +10% 380 to 480 V B1 B2 B3 - - 15% (50/60Hz) FAN1 AC Servomotor Noise filter CHARGE XX1 XX3 Gate drive overcur- rent protector D1 D2 D3 Voltage Gate drive Relay drive Sensor Control power...
Page 25 Introduction Chapter 1 H 400 V AC: R88D-WT60HF/75HF Regenerative Resistor (option) +10% Three--phase - -15% 380 to 480 V B1 B2 (50/60Hz) FAN1 AC Servomotor Noise filter CHARGE ~ ~ ~ Gate drive over- - current protector RLY2 Voltage Relay drive Gate drive Sensor Voltage...
Page 26 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 27: Chapter 2. Standard Models And Specifications
Chapter 2 Standard Models and Specifications 2-1 Standard Models 2-2 Servo Driver and Servomotor Combinations 2-3 External and Mounted Dimensions 2-4 Servo Driver Specifications 2-5 Servomotor Specifications 2-6 Cable and Connector Specifications 2-7 Servo Relay Units and Cable Specifications 2-8 Parameter Unit and Cable Specifications 2-9 External Regeneration Resistors/Resistance Units 2-10 Absolute Encoder Backup Battery Specifications 2-11 DC Reactors...
Page 28: Standard Models
Standard Models and Specifications Chapter 2 Standard Models H Servo Drivers Specifications Model Single-phase 100 V AC 30 W R88D-WTA3HL 50 W R88D-WTA5HL 100 W R88D-WT01HL 200 W R88D-WT02HL Single-phase 200 V AC 30 W R88D-WTA3H 50 W R88D-WTA5H 100 W R88D-WT01H 200 W R88D-WT02H...
Page 29 Standard Models and Specifications Chapter 2 H Servo Relay Units Specifications Model Servo For C200H-NC112 XW2B-20J6-1B Relay Unit For C200HW-NC113 For C200H-NC211 XW2B-40J6-2B For C500-NC113/211 For C200HW-NC213/413 For CQM1-CPU43-E XW2B-20J6-3B Servo Driver Cable XW2Z-100J-B4 XW2Z-200J-B4 Position For C200H-NC112 0.5 m XW2Z-050J-A1 Control Unit l U i...
Page 30 Standard Models and Specifications Chapter 2 H 1.5 Axis motion controller Specifications Model OMRON Hostlink type R88A-MCW151-E Devicenet type R88A-MCW151-DRT-E H Absolute Encoder Backup Battery Specifications Model 1,000 mAh 3.6 V for servo up to 5 kW R88A-BAT01W 1,000 mAh 3.6 V for servo 6 kW to 15 kW...
Page 31 Standard Models and Specifications Chapter 2 H Encoder Cables (For Incremental or Absolute Encoders) for 230 VAC Servomotors Specifications Model For 3,000-r/min Servomotors 30 to 750 W R88A-CRWA003C(-DE) R88A-CRWA005C(-DE) 10 m R88A-CRWA010C(-DE) 15 m R88A-CRWA015C(-DE) 20 m R88A-CRWA020C(-DE) For 3,000-r/min Servomotors 1 to 5 kW R88A-CRWB003N R88A-CRWB005N...
Page 32 Standard Models and Specifications Chapter 2 • Power Cable for 3,000-r/min Flat-style Servomotors Specifications Model Without brake With brake 100 to R88A-CAWA003S(-DE) R88A-CAWA003B(-DE) 750 W 750 W R88A-CAWA005S(-DE) R88A-CAWA005B(-DE) 10 m R88A-CAWA010S(-DE) R88A-CAWA010B(-DE) 15 m R88A-CAWA015S(-DE) R88A-CAWA015B(-DE) 20 m R88A-CAWA020S(-DE) R88A-CAWA020B(-DE) 1.5 kW R88A-CAWB003S(-DE)
Page 33 Standard Models and Specifications Chapter 2 H IP67 Power Cable for all 400 VAC Servomotors Model Specifications servomotor capacity without brake with brake braking cable only! 450, 850, 1.0 K, 1.3 K, 1.5 K and R88A-CAWC003S-E R88A-CAWC003B-E 2 0 kW 2.0 kW R88A-CAWC005S-E R88A-CAWC005B-E...
Page 34 Standard Models and Specifications Chapter 2 H Servomotors • 3,000-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft Straight shaft with key Straight shaft Straight shaft with key without key (S1) without key (S1) Straight shaft with key Straight shaft with key and tap (S2) and tap (S2)
Page 35 Standard Models and Specifications Chapter 2 • 3,000-r/min Flat-style Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft Straight shaft with key Straight shaft Straight shaft with key without key without key Without 100 V 100 W R88M-WP10030L R88M-WP10030L-S1 R88M-WP10030S R88M-WP10030S-S1...
Page 36 Standard Models and Specifications Chapter 2 • 1,500-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key and tap and tap Without 400 V 450 W R88M-W45015F R88M-W45015F-S2 R88M-W45015C...
Page 37 Standard Models and Specifications Chapter 2 H IP67 (Waterproof) Servomotors • 3,000-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key and tapped and tapped Without 200 V 1 kW R88M-W1K030H-O...
Page 38 Standard Models and Specifications Chapter 2 • 3,000-r/min Flat-style Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft Straight shaft with key Straight shaft Straight shaft with key without key without key With 100 V 100 W R88M-WP10030L-W R88M-WP10030L-WS1 R88M-WP10030S-W R88M-WP10030S-WS1...
Page 39 Standard Models and Specifications Chapter 2 • 1,500-r/min Servomotors Model Specifications With incremental encoder With absolute encoder Straight shaft without Straight shaft with key Straight shaft without Straight shaft with key and tap and tap Without 400 V 450 W R88M-W45015F-O R88M-W45015F-OS2 R88M-W45015C-O...
Page 40: Servo Driver And Servomotor Combinations
Standard Models and Specifications Chapter 2 Servo Driver and Servomotor Combinations The tables in this section show the possible combinations of OMNUC W-series Servo Drivers and Servomotors. The boxes (-j) at the ends of the model numbers are for op- tions such as shaft type, brake, waterproofing and so on.
Page 41 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors and Servo Drivers Servomotor Voltage Servo Driver Rated output With incremental With absolute encoder encoder 100 V 100 W R88M-WP10030L-j R88M-WP10030S-j R88D-WT01HL 200 W R88M-WP20030L-j R88M-WP20030S-j R88D-WT02HL 200 V 100 W R88M-WP10030H-j R88M-WP10030T-j R88D-WT01H...
Page 42 Standard Models and Specifications Chapter 2 H 6,000-r/min Servomotors and Servo Drivers Servomotor Voltage Servo Driver Rated output With incremental encoder 400 V 1 kW R88M-W1K060F-j R88D-WT10HF 1.5 kW R88M-W1K560F-j R88D-WT15HF 3 kW R88M-W3K060F-j R88D-WT30HF 4 kW R88M-W4K060F-j R88D-WT50HF 2-16 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 43: External And Mounted Dimensions
Standard Models and Specifications Chapter 2 External and Mounted Dimensions Dimensions are shown in millimeters. 2-3-1 AC Servo Drivers Single-phase 100 V: R88D-WTA3HL/-WTA5HL/-WT01HL (30 to 100 W) Single-phase 200 V: R88D-WTA3H/-WTA5H/-WT01H/-WT02H (30 to 200 W) D Wall Mounting External dimensions Mounted dimensions Two, M4 D Front Panel Mounting (Using Mounting Brackets)
Page 44 Standard Models and Specifications Chapter 2 H Single-phase 100 V: R88D-WT02HL (200 W) Single-phase 200 V: R88D-WT04H (400 W) D Wall Mounting External dimensions Mounted dimensions 5 dia. Two, M4 D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 5 dia.
Page 45 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT05H/-WT08H/-WT10H (500 W to 1 kW) Single-phase 200 V: R88D-WT08HH (750 W) D Wall Mounting External dimensions Mounted dimensions 5 dia. Two, M4 D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions 5 dia.
Page 46 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT15H (1.5 kW) Three-phase 400 V: R88D-WT05HF/-WT10HF/-WT15HF (0.5 to 1.5 kW) Single-phase 200 V: R88D-WT15HH (1.5 kW) D Wall Mounting External dimensions Mounted dimensions 5 dia. Four, M4 D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Two, 5 dia.
Page 47 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT20H/-WT30H (2 to 3 kW) Three-phase 400 V: R88D-WT20HF/-WT30HF (2 to 3 kW) D Wall Mounting External dimensions Mounted dimensions Four, M4 Two, 6 dia. D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Four, M4...
Page 48 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT50H (5 kW) Three-phase 400 V: R88D-WT50HF (5 kW) D Wall Mounting Four, M4 Two, 6 dia. D Front Panel Mounting (Using Mounting Brackets) External dimensions Mounted dimensions Four, M4 2-22 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 49 Standard Models and Specifications Chapter 2 H Three-phase 200 V: R88D-WT60H (6 kW) D Wall Mounting External dimensions 235 max. 230 max. Mounting dimensions Four, M6 230 max. 2-23 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 50 Standard Models and Specifications Chapter 2 H Three-phase 400 V: R88D-WT60HF (6 kW) Three-phase 400 V: R88D-WT75HF (7.5 kW) Air flow Cooling fan CN10 POWER CHARGE MODE/SET DATA/ BATTERY Name plate Main circuit/ Control circuit terminal Main circuit terminal M5 Control circuit Ground Air flow...
Page 51 Standard Models and Specifications Chapter 2 H Three-phase 400 V: R88D-WT110HF (11 kW) Three-phase 400 V: R88D-WT150HF (15 kW) Air flow Cooling fan CN10 POWER CHARG MODE/ SET BATTER Name plate Main circuit/ Control circuit terminal 24V 0V Main circuit Ground terminal M5 Air flow...
Page 52 Standard Models and Specifications Chapter 2 2-3-2 Parameter Units H Hand-held Parameter Unit: R88A-PR02W Two, 4.5 dia. 2-26 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 53 Standard Models and Specifications Chapter 2 2-3-3 AC Servomotors H 3,000-r/min Servomotors without a Brake D 100 V AC: 30 W/50 W/100 W R88M-W03030L(-S1)/-W05030L(-S1)/-W10030L(-S1) [Incremental] R88M-W03030S(-S1)/-W05030S(-S1)/-W10030S(-S1) [Absolute] D 200 V AC: 30 W/50 W/100 W R88M-W03030H(-S1)(-D)/-W05030H(-S1)(-D)/-W10030H(-S1)(-D) [Incremental] R88M-W03030T(-S1)(-D)/-W05030T(-S1)(-D)/-W10030T(-S1)(-D) [Absolute] D-type (IP67 connector) D-type (IP67 connector) Dimensions of shaft end with key (-S1) Two, 4.3 dia.
Page 54 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 100 V AC: 30 W/50 W/100 W R88M-W03030L-B(S1)/-W05030L-B(S1)/-W10030L-B(S1) [Incremental] R88M-W03030S-B(S1)/-W05030S-B(S1)/-W10030S-B(S1) [Absolute] D 200 V AC: 30 W/50 W/100 W R88M-W03030H-B(S1)(-D)/-W05030H-B(S1)(-D)/-W10030H-B(S1)(-D) [Incremental] R88M-W03030T-B(S1)(-D)/-W05030T-B(S1)(-D)/-W10030T-B(S1)(-D) [Absolute] D-type (IP67 connector) D-type (IP67 connector) Dimensions of shaft end with key (-BS1) Two, 4.3 dia.
Page 55 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors without a Brake D 100 V AC: 200 W R88M-W20030L(-S1) [Incremental] R88M-W20030S(-S1) [Absolute] D 200 V AC: 200 W/400 W/750 W R88M-W20030H(-S1)(-D)/-W40030H(-S1)(-D)/-W75030H(-S1)(-D) [Incremental] R88M-W20030T(-S1)(-D)/-W40030T(-S1)(-D)/-W75030T(-S1)(-D) [Absolute] D 400 V AC: 300 W/650 W R88M-W30030F(-S1)(-D)/-W30030R(-S1)(-D)/-W65030F(-S1)(-D)/-W65030R(-S1)(-D) [Incremental] R88M-W30030C(-S1)(-D)/-W65030C(-S1)(-D) [Absolute]...
Page 56 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 100 V AC: 200 W R88M-W20030L-B(-S1) [Incremental] R88M-W20030S-B(-S1) [Absolute] D 200 V AC: 200 W/400 W/750 W R88M-W20030H-B(S1)(-D)/-W40030H-B(S1)(-D)/-W75030H-B(S1)(-D) [Incremental] R88M-W20030T-B(S1)(-D)/-W40030T-B(S1)(-D)/-W75030T-B(S1)(-D) [Absolute] D 400 V AC: 300 W/650 W R88M-W30030F-B(S1)(-D)/-W30030R-B(S1)(-D)/-W65030F-B(S1)(-D)/ -W65030R-B(S1)(-D) [Incremental] R88M-W30030C-B(S1)(-D)/-W65030C-B(S1)(-D) [Absolute]...
Page 57 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors without a Brake D 100 V AC: 100 W/200 W R88M-WP10030L(-S1)/-WP20030L(-S1) [Incremental] R88M-WP10030S(-S1)/-WP20030S(-S1) [Absolute] D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H(-S1)(-D)/-WP20030H(-S1)(-D)/-WP40030H(-S1)(-D)/ -WP75030H(-S1)(-D)/-WP1K530H(-S1)(-D) [Incremental] R88M-WP10030T(-S1)(-D)/-WP20030T(-S1)(-D)/-WP40030T(-S1)(-D)/ -WP75030T(-S1)(-D)/-WP1K530T(-S1)(-D) [Absolute] D 400 V AC: 200 W/400 W/750 W/1.5 kW R88M-WP20030F(-S1)(-D)/-WP40030F(-S1)(-D)/-WP75030F(-S1)(-D)/ -WP1K530F(-S1)(-D)/-WP20030R(-S1)(-D)/-WP40030R(-S1)(-D)/-WP75030R(-S1)(-D)/...
Page 58 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors with a Brake D 100 V AC: 100 W/200 W R88M-WP10030L-B(S1)/-WP20030L-B(S1) [Incremental] R88M-WP10030S-B(S1)/-WP20030S-B(S1) [Absolute] D 200 V AC: 100 W/200 W/400 W/750 W/1.5 kW R88M-WP10030H-B(S1)(-D)/-WP20030H-B(S1)(-D)/-WP40030H-B(S1)(-D)/ -WP75030H-B(S1)(-D)/-WP1K530H-B(S1)(-D) [Incremental] R88M-WP10030T-B(S1)(-D)/-WP20030T-B(S1)(-D)/-WP40030T-B(S1)(-D)/ -WP75030T-B(S1)(-D)/-WP1K530T-B(S1)(-D) [Absolute] D 400 V AC: 200 W/400 W/750 W/1.5 kW R88M-WP20030F-B(-S1)(-D)/-WP40030F-B(-S1)(-D)/-WP75030F-B(-S1)(-D)/ -WP1K530F-B(-S1)(-D)/-WP20030R-B(-S1)(-D)/-WP40030R-B(-S1)(-D)/...
Page 59 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors without a Brake D 200 V AC: 1.0 kW/1.5 kW/2.0 kW/3.0 kW/4.0 kW/5.0 kW R88M-W1K030H(-S2)/-W1K5030H(-S2)/-W2K030H(-S2)/-W3K030H(-S2)/ -W4K030H(-S2)/-W5K030H(-S2) [Incremental] R88M-W1K030T(-S2)/-W1K5030T(-S2)/-W2K030T(-S2)/-W3K030T(-S2)/ -W4K030T(-S2)/-W5K030T(-S2) [Absolute] D 400 V AC: 1.0 kW/1.5 kW/2.0 kW/3.0 kW/4.0 kW/5.0 kW R88M-W1K030F(-S2)/-W1K530F(-S2)/-W2K030F(-S2)/W3K030F(-S2)/-W4K030F(-S2)/ -W5K030F(-S2) [Incremental] R88M-W1K030C(-S2)/-W1k530C(-S2)/-W2K030C(-S2)/-W3K030C(-S2)/...
Page 60 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 200 V AC: 1.0 kW/1.5 kW/2.0 kW/3.0 kW/4.0 kW/5.0 kW R88M-W1K030H-B(S2)/-W1K5030H-B(S2)/-W2K030H-B(S2)/-W3K030H-B(S2)/ -W4K030H-B(S2)/-W5K030H-B(S2) [Incremental] R88M-W1K030T-B(S2)/-W1K5030T-B(S2)/-W2K030T(S2)/-W3K030T-B(S2)/ -W4K030T-B(S2)/-W5K030T-B(S2) [Absolute] D1 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-BS2) Shaft Extension (Effective depth: 16) Dimensions (mm)
Page 61 Standard Models and Specifications Chapter 2 H 3,000-r/min Servomotors with a Brake D 400 V AC: 1.0 kW/1.5 kW/2.0 kW/3.0 kW/4.0 kW/5.0 kW R88M-W1K030F-B(S2)/-W1K5030F-B(S2)/-W2K030F-B(-S2)/-W3K030F-B(S2)/ -W4K030F-B(-S2)/-W5K030F-B(-S2) [Incremental] R88M-W1K030C-B(S2)/-W1K5030C-B(S2)/-W2K030C(-S2)/-W3K030C-B(S2)/ -W4K030C-B(-S2)/-W5K030C-B(-S2) [Absolute] D1 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-BS2) Shaft Extension (Effective depth: 16) Dimensions (mm)
Page 62 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors without a Brake D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW R88M-W30010H(-S2)/-W60010H(-S2)/-W90010H(-S2)/-W1K210H(-S2)/ -W2K010H(-S2)/-W3K010H(-S2) [Incremental] R88M-W30010T(-S2)/-W60010T(-S2)/-W90010T(-S2)/-W1K210T(-S2)/ -W2K010T(-S2)/-W3K010T(-S2) [Absolute] Dimensions of output section of 300-W to 900-W Servomotors D1 dia. Dimensions of shaft end with key (-S2) M (Effective depth:...
Page 63 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors with a Brake D 200 V AC: 300 W/600 W/900 W/1.2 kW/2.0 kW/3.0 kW R88M-W30010H-B(S2)/-W60010H-B(S2)/-W90010H-B(S2)/-W1K210H-B(S2)/ -W2K010H-B(S2)/-W3K010H-B(S2) [Incremental] R88M-W30010T-B(S2)/-W60010T-B(S2)/-W90010T-B(S2)/-W1K210T-B(S2)/ -W2K010T-B(S2)/-W3K010T-B(S2) [Absolute] Dimensions of output section of 300-W to 900-W Servomotors D1 dia. Dimensions of shaft end with key (-BS2) D3 dia.
Page 64 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors without a Brake D 200 V AC: 4 kW/5.5 kW R88M-W4K010H(-S2)/-W5K010H(-S2) [Incremental] R88M-W4K010T(-S2)/-W5K010T(-S2) [Absolute] 200 dia. 230 dia. Four, 13.5 dia. Dimensions of shaft end with key (-S2) Shaft Extension M16 (Effective depth: 32) R88M-W1K210j-j R88M-W5K510j-j Model...
Page 65 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors with a Brake D 200 V AC: 4 kW/5.5 kW R88M-W4K010H-B(S2)/-W5K510H-B(S2) [Incremental] R88M-W4K010T-B(S2)/-W5K510T-B(S2) [Absolute] 200 dia. 230 dia. Four, 13.5 dia. Dimensions of shaft end with key (-BS2) M16 (Effective depth: 32) Shaft Extension Dimensions (mm) Model...
Page 66 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors without a Brake D 400 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW/5.5 kW/7.5 kW/11 kW/15 kW R88M-W45015F(-S2)/-W85015F(-S2)/-W1K315F(-S2)/-W1K815F(-S2)/ -W2K915F(-S2)/-W4K415F(-S2)/-W5K515F(-S2)/-W7K515F(-S2)/-W11K015F(-S2)/ -W15K015F(-S2) [Incremental] R88M-W45015C(-S2)/-W85015C(-S2)/-W1K315C(-S2)/1k815C(-S2)/ -W2K915C(-S2)/-W4K415C(-S2)/-W5K515C(-S2)/-W7K515C(-S2)/-W11K015C(-S2)/ -W15K015C(-S2) [Absolute] D1 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-S2) Shaft Extension R88M-W45015j-j...
Page 67 Standard Models and Specifications Chapter 2 Dimensions (mm) Model R88M-W45015j-j 110h7 R88M-W85015j-j R88M-W1K315j-j 114.3h6 R88M-W1K815j-j R88M-W2K915j-j R88M-W4K415j-j 114.3h6 R88M-W5K515j-j R88M-W7K515j-j R88M-W11K015j-j 200h7 R88M-W15K015j-j Model Dimensions (mm) R88M-W45015j-j 19h6 R88M-W85015j-j R88M-W1K315j-j 22h6 13.5 35k4 R88M-W1K815j-j R88M-W2K915j-j R88M-W4K415j-j 13.5 35k4 13.95 3 95 42h6 R88M-W5K515j-j R88M-W7K515j-j...
Page 68 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors with a Brake D 400 V AC: 450 W/850 W/1.3 kW/1.8 kW/2.9 kW/4.4 kW/5.5 kW/7.5 kW/11 kW/15 kW R88M-W45015F-B(S2)/-W85015F-B(S2)/-W1K315F-B(S2)/-W1K815F-B(S2)/ -W2K915F-B(S2)/-W4K415F-B(S2)/-W5K515F-B(S2)/-W7K515F-B(S2)/ -W11K015F-B(S2)/-W15K015F-B(S2) [Incremental] R88M-W45015C-B(S2)/-W85015C-B(S2)/-W1K315C-B(S2)/1k815C-B(S2)/ -W2K915C-B(S2)/-W4K415C-B(S2)/-W5K515C-B(S2)/-W7K515C-B(S2)/ -W11K015C-B(S2)/-W15K015C-B(S2) [Absolute] D1 dia. D3 dia. Four, Z dia. Dimensions of shaft end with key (-BS2) Shaft Extension (Effective depth: 16)
Page 69 Standard Models and Specifications Chapter 2 Dimensions (mm) Model R88M-W45015j-Bj 110h7 R88M-W85015j-Bj R88M-W1K315j-Bj 114.3h6 R88M-W1K815j-Bj R88M-W2K915j-Bj R88M-W4K415j-Bj 114.3h6 R88M-W5K515j-Bj R88M-W7K515j-Bj R88M-W11K015j-Bj 383 200h7 R88M-W15K015j-Bj 519 Model Dimensions (mm) R88M-W45015j-Bj 19h6 R88M-W85015j-Bj R88M-W1K315j-Bj 22h6 13.5 35k4 R88M-W1K815j-Bj R88M-W2K915j-Bj R88M-W4K415j-Bj 13.5 35k4 13.95 3 3 95 3 42h6...
Page 70 Standard Models and Specifications Chapter 2 H 6,000-r/min Servomotors without a Brake D 400 V AC: 1.0 kW/1.5 kW/3.0 kW/4.0 kW R88M-W1K060F(-S2)/-W1K560F(-S2)/-W3K060F(-S2)/-W4K060F(-S2) [Incremental] D1 dia. D3 dia. Four, Z dia. Shaft Extension Dimensions of shaft end with key (-S2) Effective depth: 16 Dimensions (mm) Model 110j6...
Page 71 Standard Models and Specifications Chapter 2 H 6,000-r/min Servomotors with a Brake D 400 V AC: 1.0 kW/1.5 kW/3.0 kW/4.0 kW R88M-W1K060F-B(S2)/-W1K560F-B(S2)/-W3K060F-B(S2)/-W4K060F-B(S2) [Incremental] D1 dia. D3 dia. Four, Z dia. Shaft Extension Dimensions of shaft end with key (-BS2) (Effective depth: 16) Dimensions (mm) Model R88M-W1K060j-Bj...
Page 72: Servo Driver Specifications
Standard Models and Specifications Chapter 2 Servo Driver Specifications H OMNUC W-series AC Servo Drivers (R88D-WTj) Referring to 2-2 Servo Driver and Servomotor Combinations, select a Servo Driver to match the Servomotor that is being used. OMNUC W-series AC Servomotor Drivers can handle either pulse in- puts or analog inputs.
Page 73 Standard Models and Specifications Chapter 2 2-4-2 Performance Specifications H Control Specifications D 100-V AC Input Type Item R88D-WTA3HL R88D-WTA5HL R88D-WT01HL R88D-WT02HL Continuous output current (rms) 0.66 A 0.95 A 2.4 A 3.0 A Momentary maximum output current (rms) 2.0 A 2.9 A 7.2 A 9.0 A...
Page 74 Standard Models and Specifications Chapter 2 D 200-V AC Input Type (Single-phase Input) Item R88D- R88D- R88D- R88D- R88D- R88D- R88D- WTA3H WTA5H WT01H WT02H WT04H WT08HH WT15HH Continuous output current (rms) 0.44 A 0.64 A 0.91 A 2.1 A 2.8 A 4.4A 7.5A...
Page 75 Standard Models and Specifications Chapter 2 Item R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- WT05HF WT10HF WT15HF WT20HF WT30HF WT50HF WT60HF WT75HF WT110HF WT150HF [Incremental] Applicable 1,500-r/min (max. ,500 / W45015F W85015F W1K315F W1K815F W2K915F W4K415F W5K515F W7K515F W11K015F W15K015F Servomotor 3000 / i )
Page 76 Standard Models and Specifications Chapter 2 Error detection function Contents Encoder overheating [Absolute] Improper Encoder temperature rise detected. Speed command input reading error The A/D end signal was not output from the A/D converter within a fixed time. Torque command input reading error The A/D end signal was not output from the A/D converter within a fixed time.
Page 77 Standard Models and Specifications Chapter 2 2-4-3 Terminal Block Specifications Signal Function Condition Main circuits R88D-WTjH (30 to 400 W): power supply input Single-phase 200/230 V AC (170 to 253 V AC) 50/60 Hz R88D-WTjHH (750 W to 1.5 kW): Single-phase 220/230 V AC (187 to 253 V AC) 50/60 Hz V AC ( V AC)
Page 78 Standard Models and Specifications Chapter 2 2-4-4 Control I/O Specifications (CN1) H Control I/O and External Signals for Position Control Reverse Positioning com- pulse Maximum operating pleted output 1 voltage: 30 V DC Maximum output current: 50 mA Forward Motor rotation pulse detection Deviation...
Page 79 Standard Models and Specifications Chapter 2 H Control I/O Signal Connections and External Signal Processing for Speed and Torque Control Speed command Speed conformity Maximum operating voltage: 30 V DC Maximum output Torque converter current: 50 mA command Motor rotation detection Sensor ON Servo ready Backup battery...
Page 80 Standard Models and Specifications Chapter 2 Note 1. Parameter settings (control mode selection) are required for speed and torque control. Note 2. The inputs at pins 40 to 46 and the outputs at pins 25 to 30 can be changed by parameter settings.
Page 81 Standard Models and Specifications Chapter 2 Signal Function Contents Control name mode 40 to RUN [40] RUN command input ON: Servo ON (Starts power to Servomotor.) MING [41] Gain reduction input ON: Switches speed loop to P control and reduces Position, speed gain.
Page 82 Standard Models and Specifications Chapter 2 Signal name Function Contents Command mode +ABS Absolute encoder Outputs absolute encoder data. All [absolute] signal + output Line driver output (conforming to RS-422A). Line driver output (conforming to RS-422A). --ABS Absolute encoder signal + output When an alarm is generated for the Servo Driver, the ALO1 Alarm code output 1...
Page 83 Standard Models and Specifications Chapter 2 H CN1: Pin Arrangement Positioning Ground com- completed out- 26 INP1COM put ground Motor rotation (See note 1.) SENGND Sensor ON TGON detection output [absolute] input ground Motor rotation (See note 1.) Open-collector detection out- PCOM TGONCOM command...
Page 84 Standard Models and Specifications Chapter 2 D CN1 Connectors (50P) Servo Driver receptacle 10250--52A2JL (Sumitomo 3M) Cable solder plug 10150--3000VE (Sumitomo 3M) Cable case 10350--52A0--008 (Sumitomo 3M) H Control Input Circuits D Speed and Torque Command Inputs Servo Driver 470 Ω (1/2 W max.) Speed command Input impedance: Approx.
Page 85 Standard Models and Specifications Chapter 2 Using External Power Supply Controller Servo Driver Input current: 7 to 15 mA Note Select a value for resistance R so that the input current will be from 7 to 15 mA. 24 V 2.2 kΩ...
Page 86 Standard Models and Specifications Chapter 2 H Control Output Circuits D Position Feedback Output Servo Driver Controller for user R = 220 to 470 Ω Phase A Phase A Output line driver SN75ALS174NS Phase B Phase B or equivalent Phase Z Phase Z Applicable line receiver SN75175/MC3486...
Page 87 Standard Models and Specifications Chapter 2 H Control Input Details (CN1) D 5: Speed Command Input (REF); 6: Speed Command Input Ground (AGND) Speed Control This is the input for speed commands. The scale of the rotation speed for REF voltage can be changed by means of user parameter Pn300 (speed command scale).
Page 88 Standard Models and Specifications Chapter 2 Note The output torque is limited by the lowest limit value of the following torque limits: The analog torque limit according to TREF voltage, Pn402 (forward torque limit), Pn403 (reverse torque limit), Pn404 (forward rotation external current limit), and Pn405 (reverse rotation external current limit). The limit value for analog torque limit Pn402 or Pn403 (Pn002.0 = 1) are always enabled.
Page 89 Standard Models and Specifications Chapter 2 Pn200 Command pulse Input pins Servomotor forward Servomotor reverse Logic .0 set- mode command command ting Feed pulse and 7: +PULS direction signal 8: --PULS 11: +SIGN 12: --SIGN Reverse pulse and 7: +CW forward pulse 8: --CW 11: +CCW...
Page 90 Standard Models and Specifications Chapter 2 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 Forward rotation command Reverse rotation command direction signal Maximum input Direction signals frequency: Line driver: 500 kpps...
Page 91 Standard Models and Specifications Chapter 2 D + Deviation Counter Reset (15: +ECRST) - - Deviation Counter Reset (14: - -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. Pn200.1 (position control setting 1: deviation counter reset) can be used to set either a status signal (high or low) or a differential signal (low to high or high to low).
Page 92 Standard Models and Specifications Chapter 2 Note 2. With the default allocation, the function for pin 41 is changed to MING, PLOCK, TVSEL, RDIR, or IPG according to the Pn000.1 (control mode selection) setting and the control mode in op- eration.
Page 93 Standard Models and Specifications Chapter 2 When another torque limit function besides Pn404/Pn405 is enabled, the output torque is limited to the lower of the values. Note 1. This is the default allocation. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1.
Page 94 Standard Models and Specifications Chapter 2 D Control Mode Switch (41: TVSEL) This signal is enabled when Pn000.1 (function selection basic switch: control mode selection) is set to any of the settings from 7 to 9. The control mode is changed as shown in the following table. TVSEL Control mode setting Pn000.1 = 7...
Page 95 Standard Models and Specifications Chapter 2 Note The GSEL signal is not allocated by default. Input terminal allocations (CN1 pins 40 to 46) can be changed by setting Pn50A.0 (input signal selection mode) to 1. The GSEL signal is allocated by Pn50d.2.
Page 96 Standard Models and Specifications Chapter 2 The following diagram shows the output phases. (The phases are the same for both absolute and incre- mental encoders.) Forward Rotation Side Reverse Rotation Side Phase A Phase A Phase B Phase B Phase Z Phase Z Note Phase Z is synchronous with phase A, but the pulse width may be less than for phase A.
Page 97 Standard Models and Specifications Chapter 2 D Motor Rotation Detection Output (27: TGON) The TGON signal turns ON when the motor rotation speed exceeds the value set for Pn502 (rotation speed for motor rotation detection). Note This is the default allocation. The TGON signal is allocated by Pn50E.2. D Servo Ready Output (29: READY) Servo Ready Output Common (30: READYCOM) The READY signal turns ON if no errors are detected after the main circuits are powered up.
Page 98 Standard Models and Specifications Chapter 2 2-4-5 Encoder Input Specifications (CN2) Pin No. Symbol Signal name Function/Interface Encoder power supply +5 V Power supply outlet for encoder: 5 V, 180 mA pp y Encoder power supply GND Backup power output for encoder BAT+ Battery + [absolute] (3 6 V 20 µA for backup or when stopped;...
Page 99 Standard Models and Specifications Chapter 2 D CN5 Connectors Used (4P) Pin header at Servo Driver DF11-4DP-2DS (Hirose Electric ) Cable connector socket DF11-4DS-2C (Hirose Electric ) Cable connector contact DF11-2428SCF (Hirose Electric ) D Monitored Items and Scaling Changes Monitored items can be changed by means of Pn003 (function selection application switch 3).
Page 100: Servomotor Specifications
Standard Models and Specifications Chapter 2 Servomotor Specifications H OMNUC W-series AC Servomotors (R88M-Wj) There are five kinds of OMNUC W-Series AC Servo- motors, as follows: • 6,000 r/min Servomotors • 3,000 r/min Servomotors • 3,000 r/min Flat-style Servomotors • 1,500 r/min Servomotors •...
Page 101 Standard Models and Specifications Chapter 2 2-5-1 General Specifications 3,000-r/min Servomotors Item 3,000-r/min 1,000-r/min 1,500-r/min 6,000-r/min Flat-style Flat-style Servo- Servo- Servo- motors 30 to 750 W 1 to 5 kW motors Ambient operating temperature 0 to 40°C Ambient operating humidity 20% to 80% (with no condensation) Storage ambient temperature --20 to 60°C...
Page 102 Standard Models and Specifications Chapter 2 2-5-2 Performance Specifications H 3,000-r/min Servomotors D Performance Specifications Table Item Unit 100 V AC 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W03030L -W05030L -W10030L -W20030L -W03030H -W05030H -W10030H -W20030H R88M R88M R88M...
Page 103 Standard Models and Specifications Chapter 2 Item Item Item Unit Unit Unit 100 V AC 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W03030L -W05030L -W10030L -W20030L -W03030H -W05030H -W10030H -W20030H R88M R88M R88M R88M R88M R88M R88M R88M -W03030S...
Page 104 Standard Models and Specifications Chapter 2 200 V AC Item Unit R88M R88M R88M R88M R88M R88M R88M R88M -W40030H -W75030H -W1K030H -W1K530H -W2K030H -W3K030H -W4K030H -W5K030H R88M R88M R88M R88M R88M R88M R88M R88M -W40030T -W75030T -W1K030T -W1K530T -W2K030T -W3K030T -W4K030T -W5K030T...
Page 105 Standard Models and Specifications Chapter 2 D Performance Specifications Table 400 V AC Item Unit R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- W1K030F W1K530F W2K030F W3K030F W30030F W65030F W4K030F W5K030F Rated output* 0.30 0.65 Rated torque* 3.18 6.36 0.955 2.07 12.6 15.8...
Page 106 Standard Models and Specifications Chapter 2 H 1,500-r/min Servomotors D Performance Specifications Table 400 V AC Item Unit R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- W45015F W85015F W1K315F W1K815F W2K915F W4K415F W5K515F W7K515F W11K015F W15K015F Rated output* 0.45 0.85 Rated torque*...
Page 107 Standard Models and Specifications Chapter 2 H 6,000-r/min Servomotors D Performance Specifications Table Item Unit 400 VAC R88M-W1K060F R88M-W1K560F R88M-W3K060F R88M-W4K060F Rated output* Rated torque* 1.59 2.45 Rated rotation speed r/min 6000 Momentary maximum speed r/min 6000 Momentary maximum torque* 21.5 29.0 Rated current*...
Page 108 Standard Models and Specifications Chapter 2 Note 5. The value indicated for the allowable radial load is for the positions shown in the following diagrams. Radial load Radial load Thrust load Thrust load 5 mm End of Servomotor shaft (Models of 1 kW or more) (Models of 750 W or less) D Torque and Rotation Speed Characteristics 3,000-r/min Servomotors (100 V AC)
Page 109 Standard Models and Specifications Chapter 2 3,000-r/min Servomotors (200 V AC and 400 V AC) The following graphs show the characteristics with a 3-m standard cable and 200-V AC or 400-V AC input. R88M-W03030H/T (30 W) R88M-W05030H/T (50 W) R88M-W10030H/T (100 W) Repeated usage Repeated usage Repeated usage...
Page 110 Standard Models and Specifications Chapter 2 1,500-r/min Servomotors (400 V AC) The following graphs show the characteristics with a 3-m standard cable and 400-V AC input. R88M-W45015F R88M-W85015F (N.m) (N.m) 8.92 13.8 Repeated usage Repeated usage 2.84 5.39 Continuous usage Continuous usage (r/min) (r/min)
Page 111 Standard Models and Specifications Chapter 2 6,000-r/min Servomotors (400 V AC) The following graphs show the characteristics with a 3-m standard cable and 400-V AC input. R88M-W1K560F R88M-W1K060F (N.m) (N.m) Repeated usage Repeated usage 1.59 2.45 Continuous usage (r/min) Continuous usage (r/min) 1000 2000...
Page 112 Standard Models and Specifications Chapter 2 ing is occurring at low temperatures, and how much the load torque is. Likewise, check to see whether there abnormal Servomotor overheating or alarms are occurring at high temperatures. • An increase in load friction torque visibly increases load inertia. Therefore, even if the Servo Driver parameters are adjusted at a normal temperature, there may not be optimal operation at low temper- atures.
Page 113 Standard Models and Specifications Chapter 2 H 3,000-r/min Flat-style Servomotors D Performance Specifications Table 100 V AC 200 V AC 400 V AC Item Unit R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- WP10030 WP20030 WP10030 WP20030 WP40030 WP75030 WP1K530...
Page 114 Standard Models and Specifications Chapter 2 100 V AC 200 V AC 400 V AC Item Unit R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- R88M- WP10030 WP20030 WP10030 WP20030 WP40030 WP75030 WP1K530 WP20030 WP40030 WP75030 WP1K530 R88M- R88M- R88M- R88M-...
Page 115 Standard Models and Specifications Chapter 2 D Torque and Rotation Speed Characteristics 3,000-r/min Flat-style Servomotors (100 V AC) The following graphs show the characteristics with a 3-m standard cable and 100-V AC input. R88M-WP10030L/S (100 W) R88M-WP20030L/S (200 W) Repeated usage Repeated usage Continuous usage Continuous usage...
Page 116 Standard Models and Specifications Chapter 2 3,000-r/min Flat-style Servomotors (400 V AC) The following graphs show the characteristics with a 3-m standard cable and 400-V AC input. D Servomotor and Mechanical System Temperature Characteristics • W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approximately -0.13%/°C.
Page 117 Standard Models and Specifications Chapter 2 H 1,000-r/min Servomotors D Performance Specifications Table Item Unit 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W30010H -W60010H -W90010H -W1K210 -W2K010 -W3K010 -W4K010 -W5K510 R88M R88M R88M R88M R88M R88M R88M R88M -W30010T...
Page 118 Standard Models and Specifications Chapter 2 Item Item Item Unit Unit Unit 200 V AC R88M R88M R88M R88M R88M R88M R88M R88M -W30010H -W60010H -W90010H -W1K210 -W2K010 -W3K010 -W4K010 -W5K510 R88M R88M R88M R88M R88M R88M R88M R88M -W30010T -W60010T -W90010T -W1K210...
Page 119 Standard Models and Specifications Chapter 2 D Torque and Rotation Speed Characteristics 1,000-r/min Servomotors (200 V AC) The following graphs show the characteristics with a 3-m standard cable and 200-V AC input. R88M-W30010H/T (300 W) R88M-W60010H/T (600 W) R88M-W90010H/T (900 W) Repeated usage Repeated usage Repeated usage...
Page 120 Standard Models and Specifications Chapter 2 D Servomotor and Mechanical System Temperature Characteristics • W-series AC Servomotors use rare earth magnets (neodymium-iron magnets). The temperature coefficient for these magnets is approximately -0.13%/°C. As the temperature drops, the Servomo- tor’s momentary maximum torque increases, and as the temperature rises the Servomotor’s momentary maximum torque decreases.
Page 121 Standard Models and Specifications Chapter 2 2-5-3 Encoder Specifications H Incremental Encoder Specifications 3,000-r/min Servomotors Item 3,000-r/min 1,000/1,500/ Flat style Flat-style 6 000 r/min 6,000-r/min 30 to 750 W 1 to 5 kW Servomotors Servomotors Encoder method Optical encoder 13 bits 17 bits 13 bits 17 bits...
Page 122: Cable And Connector Specifications
2-6-1 Control Cables H Motion Control Unit Cables (R88A-CPWjMj) for MC221/421 These are special cables for connecting to Motion Control Units used with OMRON Programmable Controllers. There are two types, for one or two axes. Note The following Motion Control Units are available.
Page 123 Standard Models and Specifications Chapter 2 Cables for Two Axes Servo Driver Motion Control Unit R88D-WTj CS1W-MC221/421 CV-500-MC221/421 Servo Driver C200H-MC221 R88D-WTj D Wiring Cables for One Axis Motion Control Unit Servo Driver AWG20 Red Signal Signal AWG20 Black White/Black -- Pink/Black -- Yellow/Black -- Gray/Black --...
Page 124 Standard Models and Specifications Chapter 2 Note 1. The Controller’s symbols are the DRVX-Y connector’s symbols. In a DRVZ-U connector, X → Z and Y → U. Note 2. The terminals marked with asterisks are for use with absolute encoders. Note 3.
Page 125 + and black is --.) H MC402-E Motion Control Unit Terminal Block and Cables To connect the servo driver to Omron 4 axis motion control unit C200HW-MC402-E, the following com- ponents can be used. D Terminal block and cables...
Page 126 Standard Models and Specifications Chapter 2 Axis connector cable and I/O connector cable wiring Please refer to MC402-E manual (cat. no. W903-E2). H General Control Cables (R88A-CPWjS) A General Control Cable is connected to the Servo Driver’s Control I/O Connector (CN1). There is no connector on the Controller end.
Page 127 Standard Models and Specifications Chapter 2 D Wiring Wire/mark color e/ a co o Signal name Pulse Analog Yellow/Black (-- -- --) Pink/Black (-- -- -- --) SENGND SENGND Yellow/Red (-- -- -- -- --) PCOM Pink/Red (-- -- -- --) Orange/Red (--) Orange/Black (--) AGND...
Page 128 Standard Models and Specifications Chapter 2 Signal name Wire/mark color e/ a co o Pulse Analog White/Red (-- --) TGON TGON White/Black (-- --) TGONCOM TGONCOM Yellow/Red (-- --) READY READY Yellow/Black (-- --) READYCOM READYCOM Pink/Red (-- --) Pink/Black (-- --) ALMCOM ALMCOM Orange/Red (-- -- --)
Page 129 Yellow/Red (-- -- --) Pink/Red (-- -- --) Terminal Block Connector Pink/Black (-- -- --) Connector socket: Orange/Red (-- -- -- --) XG4M-5030 (OMRON) Orange/Black (-- -- -- --) Strain relief: Gray/Black (-- -- -- --) XG4T-5004 (OMRON) White/Red (-- -- -- --)
Page 130 Standard Models and Specifications Chapter 2 2-6-2 Encoder Cable Select an Encoder Cable to match the Servomotor being used. The cables range in length from 3 to 20 meters. (The maximum distance between the Servomotor and Servo Driver is 50 meters.) H Cable Models R88A-CRWAjC Model...
Page 131 Standard Models and Specifications Chapter 2 R88A-CRWAjC-DE Servo Driver Servomotor R88M-Wj-D R88D-WTj R88A-CRWBjN-E 43.5 Servo Driver Servomotor R88M-Wj R88D-WTj H Wiring R88A-CRWAjC Cable: Servo Driver Servomotor AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m) AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m) Signal Signal Black...
Page 132 Standard Models and Specifications Chapter 2 R88A-CRWAjC-DE R88A-CRWBjN-E Cable: AWG22 × 2C + AWG24 × 2P UL20276 (3 to 20 m) Servomotor Servo Driver AWG16 × 2C + AWG26 × 2P UL20276 (30 to 50 m) Signal Signal Cable Connector plug: Black MS3106B20-29S (DDK Ltd.) Orange...
Page 133 Standard Models and Specifications Chapter 2 D Cable Models For Servomotors without Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWA003S 6.2 mm dia. Approx. 0.2 kg R88A-CAWA005S Approx. 0.3 kg R88A-CAWA010S 10 m Approx. 0.6 kg R88A-CAWA015S 15 m Approx.
Page 134 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions For Servomotors without Brakes R88A-CAWAjjjS Servo Driver Servomotor R88D-WTj R88M-Wj R88A-CAWAjjjS-DE Servomotor Servo Driver R88D-WTj R88M-Wj-D For Servomotors with Brakes R88A-CAWAjjjB Servomotor Servo Driver R88D-WTj R88M-Wj R88A-CAWAjjjB-DE Servo Driver Servomotor R88D-WTj R88M-Wj-D...
Page 135 Standard Models and Specifications Chapter 2 D Wiring For Servomotors without Brakes R88A-CAWAjjjS cable connection Servo Driver Servomotor Symbol Cable Connector cap: Phase-U White 350780-1 (AMP (Japan) Ltd, company) Phase-V Connector socket: Blue Phase-W 350689-3 (AMP (Japan) Ltd, company) Green/Yellow Servomotor Cable: AWG20 ×...
Page 136 Standard Models and Specifications Chapter 2 For Servomotors with Brakes R88A-CAWAjjjB cable connection Servo Driver Servomotor Cable Symbol Connector cap: Phase-U White 350781-1 (AMP (Japan) Ltd, company) Phase-V Connector socket: Blue Phase-W 350689-3 (AMP (Japan) Ltd, company) Green/Yellow Black Servomotor Brake Connector plug: Brown...
Page 137 Standard Models and Specifications Chapter 2 For Servomotors with Brakes Model Length (L) Outer diameter of sheath Weight R88A-CAWB003B 14.5 mm dia. Approx. 1.0 kg R88A-CAWB005B Approx. 1.6 kg R88A-CAWB010B 10 m Approx. 3.2 kg R88A-CAWB015B 15 m Approx. 4.8 kg R88A-CAWB020B 20 m Approx.
Page 138 Standard Models and Specifications Chapter 2 For Servomotors with Brakes R88A-CAWBjjjB Servomotor Servo Driver R88M-Wj R88D-WTj R88A-CAWBjjjB-DE Servo Driver Servomotor R88M-Wj-D R88D-WTj D Wiring For Servomotors without Brakes R88A-CAWBjjjS cable connection Servo Driver Servomotor Symbol Cable Phase-U Connector cap: White 350780-1 (AMP (Japan) Ltd, company) Phase-V Blue...
Page 139 Standard Models and Specifications Chapter 2 For Servomotors with Brakes R88A-CAWBjjjB cable connection Servo Drivers Servomotors Cable Symbol Connector plug: Phase-U 350781-1 (AMP (Japan) Ltd, company) White Phase-V Connector socket: Blue Phase-W 350550-6 (AMP (Japan) Ltd, company) Green/Yellow Servomotor Black Brake Connector plug: Brown...
Page 140 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions For Servomotors without Brakes R88A-CAWCjjjS-E Servo Driver Servomotor R88D-WTj R88M-Wj For Servomotors with Brakes (only 230 VAC type Servomotor) R88A-CAWCjjjB Servomotor Servo Driver R88D-WTj R88M-Wj D Wiring For Servomotors without Brakes R88A-CAWCjjjS-E cable connection Servo Driver Servomotor...
Page 141 Standard Models and Specifications Chapter 2 D 400 VAC Servomotor braking cable only Model Length (L) R88A-CAWC003B-E R88A-CAWC005B-E R88A-CAWC010B-E 10 m R88A-CAWC015B-E 15 m R88A-CAWC020B-E 20 m H R88A-CAWDj The R88A-CAWDj Cables are for 1,000-r/min Servomotors (1.2 to 3 kW),1,500-r/min Servomotors (1.8 to 2.9 kW), 3,000-r/min Servomotors (3 to 5 kW) and 6,000-r/min Servomotors (3 and 4 kW) D Cable Models For Servomotors without Brakes...
Page 142 Standard Models and Specifications Chapter 2 D Wiring For Servomotors without Brakes R88A-CAWDjjjS-E Servo Driver Servomotor Cable Symbol Connector plug: Phase-U Straight: MS3106B22-22S (DDK Ltd.) White Phase-V Angled: MS3108E22-22S Blue Phase-W Cable clamp: Green/Yellow MS3057-12A (DDK Ltd.) Cable: AWG10 × 4C UL2463 Servomotor M5 crimp Receptacle:...
Page 143 Standard Models and Specifications Chapter 2 For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required. Brake cable only!!! Model Length (L) Outer diameter of sheath Weight R88A-CAWE003B 5.4 dia. Approx. 0.1 kg R88A-CAWE005B Approx.
Page 144 Standard Models and Specifications Chapter 2 For Brake Connector R88A-CAWEjjjB Servo Driver Servomotor (Brake Connector) Cable Symbol Black Connector plug: Brake Brown MS3106A10SL-3S (DDK Ltd.) Brake Cable clamp: Cable: AWG20 × 2C UL2464 MS3057-4A (DDK Ltd.) M4 crimp Servomotor terminals Receptacle: MS3102A10SL-3P (DDK Ltd.) H R88A-CAWFjS...
Page 145 Standard Models and Specifications Chapter 2 D Wiring (for Power Connector) Servo Driver Servomotor (Power Connector) Symbol Cable Connector plug: M6 crimp Phase-U White MS3106B32-17S (DDK Ltd.) terminals for Phase-V Blue Cable clamp: red, white, and Phase-W MS3057-20A (DDK Ltd.) blue;...
Page 146 Standard Models and Specifications Chapter 2 D Cable Models For Servomotors without Brakes Model Length (L) R88A-CAWG003S-E R88A-CAWG005S-E R88A-CAWG010S-E 10 m R88A-CAWG015S-E 15 m R88A-CAWG020S-E 20 m For Servomotors with Brakes For Servomotors with brake is a combination of a powercable and a separate brakecable required. Brake cable only!!! Model Length (L)
Page 147 Standard Models and Specifications Chapter 2 Brake cable only!!! Model Length (L) R88A-CAWC003B-E R88A-CAWC005B-E R88A-CAWC010B-E 10 m R88A-CAWC015B-E 15 m R88A-CAWC020B-E 20 m D Wiring (for Power Connector) Symbol Connector Blue MS3108E32-17S (DDK Ltd.) Crimp Phase-U Brown terminal Phase-V Black hole M5 Phase-W Yellow/Green...
Page 148 Standard Models and Specifications Chapter 2 H R88A-CAWKj The R88A-CAWKj Cables are for 3,000-r/min, 400 V Servomotors (300, 650 W and flat-style motors). D Cable Models For Servomotors without Brakes Model Length (L) R88A-CAWK003S-E R88A-CAWK005S-E R88A-CAWK010S-E 10 m R88A-CAWK015S-E 15 m R88A-CAWK020S-E 20 m For Servomotors with Brakes...
Page 149 Standard Models and Specifications Chapter 2 H R88A-CAWKj The R88A-CAWKj Cables are for 3,000-r/min, 400 V Servomotors (300, 650 W and flat-style motors). For Servomotors without Brakes Model Length (L) R88A-CAWK003S-DE R88A-CAWK005S-DE R88A-CAWK010S-DE 10 m R88A-CAWK015S-DE 15 m R88A-CAWK020S-DE 20 m For Servomotors with Brakes Model Length (L)
Page 150 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions External device Servo Driver R88D-WTj D Wiring Servo Driver Symbol White Black Black Cable: AW24 × 4C UL1007 Connector socket: DF11-4DS-2C (Hirose Electric) Connector contacts: DF11-2428SCF (Hirose Electric) H Computer Monitor Cables (R88A-CCW002jP) Computer Monitor Cable and computer monitoring software (run on Windows95) for OMNUC W-series Servo Drivers are required in order to use a personal computer for monitoring and setting parameters...
Page 151 Standard Models and Specifications Chapter 2 For NEC PC98 Notebook Computers Servo Driver Notebook R88D-WTj computer (NEC PC98) D Wiring For DOS/V Computers Computer Servo Driver Symbol Symbol Orange/Red -- Gray/Red -- Gray/Black -- Connector plug: 10114-3000VE (Sumitomo 3M) White/Red -- Connector case: Shell Shell...
Page 152: Servo Relay Units And Cable Specifications
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 153 4. The following crimp terminal is applicable: R1.25-3 (round with open end). 5. Allocate BKIR (Braking Lock) to CN1 pin 24 V DC H XW2B-40J6-2B This Servo Relay Unit connects to the following OMRON Posi- tion Control Units. • C200H-NC211 • C500-NC113/NC211 • C200HW-NC213/-NC413...
Page 154 Standard Models and Specifications Chapter 2 D Wiring X-axis origin X/Y-axis Y-axis origin proximity emergency stop (See note 5) (See note 5) proximity Y-axis Y-axis X-axis X-axis X-axis X-axis X-axis Y-axis Y-axis Y-axis Y-axis X-axis MING BKIR MING BKIR limit limit limit limit...
Page 155 Standard Models and Specifications Chapter 2 D Wiring Servo Relay Unit Servo Driver Symbol Connector plug: 10150-3000VE (Sumitomo 3M) Connector case: 10350-52A0-008 (Sumitomo 3M) Shell Cable: AWG28 × 4P + AWG28 × 9C H Position Control Unit Cable (XW2Z-jJ-A1) This is the cable for connecting between a C200H-NC112 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.
Page 156 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 4P + AWG28 ×15C H Position Control Unit Cable (XW2Z-jJ-A2) This is the cable for connecting between a C200H-NC211, C500-NC113, or C500-NC211 Position Con- trol Unit and an XW2B-40J6-2B Servo Relay Unit.
Page 157 Standard Models and Specifications Chapter 2 D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 8P + AWG28 ×16C H Position Control Unit Cable (XW2Z-jJ-A6) This is the cable for connecting between a C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit.
Page 158 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions C200HW-NC113 XW2B-20J6-1B Position Control Servo Relay Unit Unit D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 4P + AWG28 ×10C Crimp terminal H Position Control Unit Cable (XW2Z-jJ-A7) This is the cable for connecting between a C200HW-NC213 or C200HW-NC413 Position Control Unit and an XW2B-40J6-2B Servo Relay Unit.
Page 159 Standard Models and Specifications Chapter 2 D Connection Configuration and External Dimensions Position Control Unit C200HW-NC213 XW2B-40J6-2B C200HW-NC413 Servo Relay Unit D Wiring Position Control Unit Servo Relay Unit Cable: AWG28 × 8P + AWG28 ×16C Crimp terminal 2-133 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 160: Parameter Unit And Cable Specifications
Standard Models and Specifications Chapter 2 Parameter Unit and Cable Specifications All dimensions are in millimeters unless otherwise specified. 2-8-1 Parameter Unit H R88A-PR02W Hand-held Parameter Unit Parameter Units are required for operation and monitoring the Servo Driver at a remote location or with a control panel. Note A 1-meter cable is provided with the Parameter Unit.
Page 161 Standard Models and Specifications Chapter 2 H Performance Specifications Model Standards Type Hand-held Accessory cable Connectors 7910-7500SC (10 pins) Display 7-segment LED External dimensions 63 × 135 × 18.5 mm (W × H × D) Weight Approx. 0.2 kg (including 1-m cable that is provided) Communications Standard RS-232C...
Page 162: External Regeneration Resistors/Resistance Units
Standard Models and Specifications Chapter 2 D Wiring Parameter Unit Servo Driver Symbol Symbol Orange/Red (--) Orange/Black (--) Gray/Red (--) Gray/Black (--) White/Red (--) Yellow/Black (--) Pink/Red (--) Shell Connector socket: Cable: AWG26 × 7C UL2464 D8410-4501 (Sumitomo 3M) Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: D79004-3210 (Sumitomo 3M)
Page 163 Standard Models and Specifications Chapter 2 H External Dimensions All dimensions are in millimeters. D R88A-RR22047S External Regeneration Resistor Thermal switch output D R88A-RR88006 External Regeneration Resistance Unit Four, 6 dia. 2-137 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 164: 2-10 Absolute Encoder Backup Battery Specifications
Standard Models and Specifications Chapter 2 2-10 Absolute Encoder Backup Battery Specifications A backup battery is required when using a Servomotor with an absolute encoder. Install the Battery Unit in the Servo Driver’s battery holder, and connect the provided connector to the Battery Connector (CN8).
Page 165: 2-11 Dc Reactors
Standard Models and Specifications Chapter 2 2-11 DC Reactors Connect a DC Reactor to the Servo Driver’s DC Reactor connection terminal as a har- monic current control measure. Select a model to match the Servo Driver being used. (There is no DC Reactor for the R88D-WT60H.) H R88A-PXj DC Reactors H Specifications DC Reactor...
Page 166 Standard Models and Specifications Chapter 2 H External Dimensions Model R88A-PX5059 R88A-PX5060 R88A-PX5061 R88A-PX5062 R88A-PX5063 R88A-PX5068 R88A-PX5069 R88A-PX5070 R88A-PX5071 R88A-PX5074 R88A-PX5075 R88A-PX5076 R88A-PX5077 R88A-PX5078 R88A-PX5079 Four, H dia. 2-140 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 167: Chapter 3. System Design And Installation
Chapter 3 System Design and Installation 3-1 Installation Conditions 3-2 Wiring 3-3 Regenerative Energy Absorption 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 168 System Design and Installation Chapter 3 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 169: Installation Conditions
System Design and Installation Chapter 3 Installation Conditions 3-1-1 Servo Drivers H 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 170 System Design and Installation Chapter 3 • 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 171 System Design and Installation Chapter 3 H Connecting to Mechanical Systems • The axial loads for Servomotors are specified in Ball screw center line 2-5-2 Performance Specifications. If an axial load greater than that specified is applied to a Servomo- tor, it will reduce the service life of the motor bearings and may damage the motor shaft.
Page 172 System Design and Installation Chapter 3 D Recommended Connectors For Power Cables Servomotor type Servomotor model Connector model Cable clamp model Maker With- 3,000-r/min 1 kW R88M-W1K030j-j Angled type For sheath external diame- DDK Ltd. CE05 8A18 10SD B BAS CE05-8A18-10SD-B-BAS ter of 6.5 to 8.7 dia.: f 6 5...
Page 173 System Design and Installation Chapter 3 Servomotor type Servomotor model Connector model Cable clamp model Maker With 3,000-r/min 1 kW Angled type For sheath external diame- Japan Avi- R88M-W1K030j-Bj 230 VAC 230 VAC brake brake JL04V 8A20 15SE EB JL04V-8A20-15SE-EB ter of 6 5 to 9 5 dia : ter of 6.5 to 9.5 dia.: ation Elec...
Page 174 System Design and Installation Chapter 3 Servomotor type Servomotor model Connector model Cable clamp model Maker 3 kW 6,000 / R88M W3K060j j (For brake connector) For sheath external diame- DDK Ltd. 400 VAC type Angled type ter of 5 to 8 dia.: Plug: CE05-8A10SL-3SC-B-BAS- CE3057-4A-1 (D265) Straight type...
Page 175 System Design and Installation Chapter 3 H Oil Seals If the Servomotor is to be used in a location where it may be exposed to oil or grease, select an IP67-rated Servomotor or a Servomotor with an oil seal. H Other Precautions •...
Page 176: Wiring
System Design and Installation Chapter 3 Wiring 3-2-1 Connecting Cable This section shows the types of connecting cable used in an OMNUC W-series servo system. The wide selection of cables provided for configuring a servo system using a Motion Control Unit or Position Unit makes wiring simple. H Servo System Configuration Parameter Unit Parameter Unit Cable...
Page 177 System Design and Installation Chapter 3 H Selecting Connecting Cables 1. Motion Control Unit Cable There are special cables for 1-axis and 2-axis Motion Control Unit operation. Select the appropriate cable for the number of axes to be connected. Motion Control Unit Cable Remarks CS1W-MC221/421...
Page 178 System Design and Installation Chapter 3 Name Cable Remarks General Control Cable R88A-CPWjjjS The cable is attached to a connector that connects to the Control I/O Connector (CN1). The empty boxes in the model numbers are for cable length. The cables can be 1 or 2 meters long.
Page 179 System Design and Installation Chapter 3 Servomotor type Power Cables for Power Cables for Servomotors Without Brakes Servomotors With Brakes 6,000-r/min 1 to 1.5 kW R88A-CAWCjjjS-E R88A-CAWCjjjB-E Servomotors 400 V AC Se o o o s 00 (brake cable only) 3 kW R88A--CAWDjjjS-E R88A-CAWCjjjB-E...
Page 180 System Design and Installation Chapter 3 8. Computer Monitor Cable A Computer Monitor Cable and the OMNUC W-series Computer Monitor Software for Servo Drivers (run on Windows) are required to make Servo Driver parameter settings and perform monitoring from a personal computer.
Page 181 Recommended product in 3- -2- -4 Wiring for Noise Resistance. For Confirmity to EC Directives, refer to 3- -2- -5 Winning for Conformity to EMC Directives. Recommended relay: My relay (24V), by OMRON R88D-WT08HH and R88D-WT15HH servodrivers have changed from three-phase specifications to single-phase power supply specifications. Main circuit connection terminals (L1, L2, L3) remain.
Page 182 Control cable 3-2-5 Wiring for Conformity to EMC Directives. 3. Recommended relay: MY relay (24 V), by OMRON 3-16 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 183 System Design and Installation Chapter 3 3-2-3 Terminal Block Wiring When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures. H Terminal Block Names and Functions Terminal Name Function label Main circuit R88D-WTjH(H) (30 to 1500 W) power supply Single-phase 200/230 V AC (170 to 253 V), 50/60 Hz input...
Page 184 Wire size Screw size Torque Note 1. Use the same wire sizes for ¨1, ¨2, B1, and B2. Note 2. Connect special OMRON Power Cable to the Servomotor connection terminals. D 200-V AC Input (R88D-WTjH(H,L)) Item Model R88D- R88D- R88D-...
Page 185 System Design and Installation Chapter 3 D 400-V AC Input (R88D-WTjHF) Item Model R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- R88D- 05HF 10HF 15HF 20HF 30HF 50HF 60HF 75HF 110HF 150HF Unit Power supply capacity 14.9 12.4 15.4 22.6 30.9 Main circuit power...
Page 186 System Design and Installation Chapter 3 H Terminal Block Wiring Procedure Connector-type Terminal Blocks are used for Servo Drivers of 1.5 kW or less (R88D-WTA3Hj to R88D- WT15Hj). The procedure for wiring these Terminal Blocks is explained below. Connector-type Terminal Block (Example: R88D-WT01H) 1.
Page 187 System Design and Installation Chapter 3 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 188 System Design and Installation Chapter 3 • Ground the motor’s frame to the machine ground when the motor is on a movable shaft. • Use a grounding plate for the frame ground for each Unit, as shown in the above diagrams, and ground to a single point.
Page 189 System Design and Installation Chapter 3 D No-fuse Breakers (NFB) When selecting no-fuse breakers, take into consideration the maximum output current and the inrush current. Maximum input current: The momentary maximum output for a Servo Driver is approximately three times that of the rated out- put, and a maximum output of three seconds can be executed.
Page 190 System Design and Installation Chapter 3 D Noise Filters for Power Supply Input Use a noise filter to attenuate extraneous noise and to diminish noise radiation from the Servo Driver. Select a noise filter with a load current of at least twice the rated current. The following table shows noise filters that reduce by 40 dB noise between 200 kHz and 30 MHz.
Page 191 Coil Voltage Rated current Order number Maker 110 V AC 20 A J7K-BM 110 V 50 Hz OMRON 230 V AC 20 A J7K-BM 230 V 50 Hz 35 A J7K-CM 230 V 50 Hz 50 A J7K-DM 230 V 50 Hz...
Page 192 System Design and Installation Chapter 3 D Leakage Breakers Select leakage breakers designed for inverters. Since switching takes place inside the Servo Drivers, harmonic current leaks from the armature of the motor. With inverter leakage breakers, harmonic current is not detected, preventing the breaker from operating due to leakage current.
Page 193 R88D-WTA3j to R88D-WT50H H Improving Encoder Cable Noise Resistance The OMNUC W Series uses serial encoders, with phase-S signals from the encoder. The phase-S com- munications speed is 4 Mbits/s. In order to improve the encoder’s noise resistance, take the following measures for wiring and installa- tion.
Page 194 System Design and Installation Chapter 3 • When installing noise filters for Encoder Cables, use clamp filters. The following table shows the rec- ommended clamp filter models. Maker Name Model Tokin EMI core ESD-QR-25-1 Clamp filter ZCAT2032-0930 ZCAT3035-1330 ZCAT2035-0930A • Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes, solenoids, clutches, and valves.
Page 195 System Design and Installation Chapter 3 • Noise filters and surge absorbers must be inserted in power supply lines. • Shielded cable must be used for I/O signal cables and encoder cables. (Use tinned soft steel wire.) • Cables leading out from the control box must be enclosed within metal ducts or conduits with blades. (It is not necessary to enclose the 30-cm power cable, encoder cable, or connectors in a metal duct or conduit.) •...
Page 196 System Design and Installation Chapter 3 • Wire the noise filter as shown at the left in the following illustration. The noise filter should be installed at the entrance to the control box whenever possible. Correct: Separate input and output WRONG: Noise not filtered effectively AC output AC input...
Page 197 System Design and Installation Chapter 3 • Be careful not to let gaps be opened in the control box while tightening down screws. Case Door Door Oil-proof packing Conductive packing Control box Cross-sectional view of A- -B Oil-proof packing Conductive packing Door (interior view) H Selecting Components This section explains the criteria for selecting the connection components required for...
Page 198 System Design and Installation Chapter 3 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. Inrush current (Ao-p) Servo Driver Control-circuit power supply Main-circuit power supply...
Page 199 System Design and Installation Chapter 3 D Noise Filters for Power Supply Input Use the following noise filters for the Servo Driver power supply Servo Driver Noise Filter model Model Rated Rated Leakage current Maker current voltage R88D-WTA3HL to SUP-P5H-EPR 250 VAC 0.6 mA at 250 V Okaya Electric...
Page 200 System Design and Installation Chapter 3 External Dimensions • • • • SUP-PjH-EPR Noise Filters (by Okaya Electric Industries Co., Ltd.) Two, 4.8 dia. Five, M4 • • • • FN351-j Noise Filters (by Schaffner) Dimensions (mm) Model FN351-8/29 FN351-16/29 FN351-25/29 FN351-36/33 FN351-50/33...
Page 201 System Design and Installation Chapter 3 • R88A-FIW Noise Filters R88A-FIW104-E R88A-FIW107-E 3-35 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 202 System Design and Installation Chapter 3 R88A-FIW115-E R88A-FIW125-E 3-36 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 203 System Design and Installation Chapter 3 R88A-FIW4006-E R88A-FIW4010-E 3-37 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 204 System Design and Installation Chapter 3 R88A-FIW4020-SE R88A-FIW4030-SE 3-38 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 205 System Design and Installation Chapter 3 R88A-FIW4055-SE • Noise Filter for Brake Power Supply Use the following noise filter for the brake power supply. (Refer to the SUP-PjH-EPR diagram above for dimensions.) Model Rated current Rated voltage Leakage current Maker SUP-P5H-EPR 250 V 0.6 mA (at 250 Vrms, 60 Hz)
Page 206 The following table shows the recommended contactors. Magnetic Contactors for the W-series Coil Voltage Rated current Order number Maker OMRON 110 V AC 20 A J7K-BM 110 V 50 Hz 230 V AC 20 A J7K-BM 230 V 50 Hz...
Page 207 H Improving Encoder Cable Noise Resistance The OMNUC W Series uses serial encoders, with phase-S signals from the encoder. The phase-S com- munications speed is 4 Mbits/s. In order to improve the encoder’s noise resistance, take the following measures for wiring and installa- tion.
Page 208 System Design and Installation Chapter 3 • When installing noise filters for Encoder Cables, use clamp filters. The following table shows the rec- ommended clamp filter models. Maker Name Model Tokin EMI core ESD-SR-25 Clamp filter ZCAT2032-0930 ZCAT3035-1330 ZCAT2035-0930A • Do not place the Encoder Cable in the same duct as Power Cables and Control Cables for brakes, solenoids, clutches, and valves.
Page 209: Regenerative Energy Absorption
System Design and Installation Chapter 3 Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing. An overcurrent error is generated, how- ever, if the amount of regenerative energy from the Servomotor is too large.
Page 210 System Design and Installation Chapter 3 • 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 regen- erative energy absorption capacity.
Page 211 System Design and Installation Chapter 3 Note There is some loss due to winding resistance, so the actual regenerative energy will be approxi- mately 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 regen- erative energy absorption capacity.
Page 212 System Design and Installation Chapter 3 Servo Driver Regenerative energy (J) gy ( ) Internal regeneration resistance that can be absorbed by Average amount of Resistance Min. internal capacitor (See regeneration that (Ω) allowable note 1.) can be absorbed resistance (Ω) R88D-WTA3HL R88D-WTA5HL...
Page 213 System Design and Installation Chapter 3 3-3-3 Regenerative Energy Absorption by External Regeneration Resistance If the regenerative energy exceeds the absorption capacity of the Servo Driver by itself, then external regeneration resistance must be connected. That resistance can be pro- vided by either an External Regeneration Resistor or an External Regeneration Resist- ance Unit.
Page 214 System Design and Installation Chapter 3 D Combining External Regeneration Resistors (R88D-RR22047S) Note A combination cannot be used if the resistance is less than the minimum connection resistance for any given Servo Driver. Refer to the following table for the minimum connection resistance values for each Servo Driver, and select a suitable combination.
Page 215 System Design and Installation Chapter 3 H Servo Driver Minimum Connection Resistance and External Regeneration Resistor Combinations Servo Driver Minimum External Regeneration Resistor Combinations Connection Resistance (Ω) R88D-WTA3HL R88D-WTA5HL R88D-WT01HL R88D-WT02HL 1, 2 R88D-WTA3H R88D-WTA5H R88D-WT01H R88D-WT02H 1, 2 R88D-WT04H 1, 2 R88D-WT08HH 1, 2, 3...
Page 216 System Design and Installation Chapter 3 H Wiring External Regeneration Resistance D R88D-WTA3HL/-WTA5HL/-WT01HL/--WT02HL/-WTA3H/-WTA4H/-WTA5H/-WT01H/-W T02H/-WT04H 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 217: Chapter 4. Operation
Chapter 4 Operation Operational Procedure Preparing for Operation Trial Operation User Parameters Operation Functions Trial Operation Procedure Making Adjustments Advanced Adjustment Functions Using Displays 4-10 Using Monitor Output 4-11 System Check Mode 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 218 Operation Chapter 4 Precautions Confirm that there will be no defect on the equipment, and then perform a test opera- Caution tion. Not doing so may result in equipment damage. Caution Check the newly set parameters for proper execution before actually running them. Not doing so may result in equipment damage.
Page 219: Operational Procedure
Operation Chapter 4 Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Ser- vomotor and Servo Driver. Then make the function settings as required according to the use of the Servomotor and Servo Driver. If the parameters are set incorrectly, there is a risk of an unforeseen Servomotor operation.
Page 220: Preparing For Operation
Operation Chapter 4 Preparing for Operation This section explains the procedure following installation and wiring of the Servomotor and Servo Driver, to prepare the mechanical system for operation. It explains what you need to check both before and after turning ON the power. It also explains the setup pro- cedure required if using a Servomotor with an absolute encoder.
Page 221 Operation Chapter 4 • The power lines at the Servomotor must be securely connected. D Checking the Encoder Connectors • The Encoder Cable must be securely connected to the Encoder Connector (CN2) at the Servo Driv- • The Encoder Cable must be securely connected to the Encoder Connector at the Servomotor. D Checking the Control Connectors •...
Page 222 Operation Chapter 4 PR02W Front panel Display example Explanation operation key operation (Baseblock display) Press the MODE/SET Key to change to System Check Mode. Press the MODE/SET Key once again to change to Setting Mode. Press the MODE/SET Key once again to change to Monitor Mode.
Page 223 Operation Chapter 4 D Absolute Encoder Setup (Fn008) in System Check Mode Absolute encoder setup in PGCL1 displayed. System Check Mode 1 s min. PGCL5 set. Setup operation Flashing donE displayed (setup complete). (1 s later) Returns to PGCL5. 1 s min. D Operation Procedure PR02W Front panel...
Page 224: Trial Operation
Operation Chapter 4 H Additional Setup Operations D Trial Operation Setup • The preceding setup is necessary to check the Servomotor and Servo Driver operations (without a load). When connecting the Servomotor and mechanical system for a trial operation, the absolute encoder may rotate excessively.
Page 225 Operation Chapter 4 • If a Parameter Unit is connected, the indicators (7-segment LEDs) on the front panel will flash, and the settings keys cannot be used. H Keys and Functions Parameter Unit Servo Driver front panel PR02W Front panel Function settings area keys...
Page 226 Operation Chapter 4 H Mode Changes and Display Contents S Use the MODE/SET Key to change modes. S Use the Up and Down Keys to change parameter and monitor numbers. See 4-9-2 Status Display Mode. Bit Displays Status Display Mode Control-circuit power ON Main-circuit power ON Base block (Servomotor not receiving power)
Page 227 Operation Chapter 4 H Basic Operations in Each Mode Status Display Mode Status display Status Display Mode displays all information that can be displayed in this mode using 5-digit 7-segment LEDs. Consequently, there are no Key operations in this mode. Function code System Check Mode Function contents...
Page 228 Operation Chapter 4 Note 1. The “ ” mark beneath a display example indicates the numbers are flashing. (Digits that can be changed flash). Note 2. In this manual, when Parameter Unit keys and front panel keys are shown together, the Pa- rameter Unit key is given first, and the front panel key is given in parentheses as follows: Note 3.
Page 229 Operation Chapter 4 D Operation Procedure PR02W Front panel Display example Explanation key operation Press the MODE SET Key to change to System Check Mode. Select function code Fn002 using the Up or Down Key. The digits you can operate will flash. Press the DATA Key (front panel: DATA Key for 1 s min.).
Page 230 Operation Chapter 4 D Operation Procedure PR02W Front panel Display example Explanation key operation (System Check Mode) Press the MODE/SET Key to change to Setting Mode. Press the Up or Down Key to set parameter number Pn304. (See note 1.) Press DATA Key (front panel: DATA Key for 1 s min.).
Page 231 Operation Chapter 4 Note 1. There is no right shift function for the front panel keys. Note 2. Press the DATA Key on the front panel for less than 1 s. Pressing the Key for 1 s or more causes the Unit to recognize the Key as the DATA Key. Less Less than 1 s...
Page 232: User Parameters
Operation Chapter 4 User Parameters Set and check the user parameters using the Setting Mode. Make sure you fully under- stand the parameter meanings and how to set them before setting user parameters in the system. Some parameters are enabled by turning OFF the Unit, then turning it ON again.
Page 233 Operation Chapter 4 there are no Pn006 to Pn099). For this reason, if, for example, you change Pn000 to Pn207 using the Shift Key, you can perform the operation more quickly by making the change starting from the leftmost digit side (i.e., digit No. 2). D Displaying Parameter Settings PR02W Front panel...
Page 234 Operation Chapter 4 Example of an n. + 4 Digits Parameter Setting PR02W Front panel Display example Explanation operation key operation (Present setting) Digit No. 3 Digit No. 0 Set the digit No. to be operated using the Left Key (front panel: DATA Key for less than 1 s) or Right Key.
Page 235 Operation Chapter 4 H Function Selection Parameters (From Pn000) Para- Para- Digit Name Setting Explanation Default Default Unit Setting Restart meter meter setting setting range power? name 100/200 V 400 V Pn000 Func- Reverse CCW direction is taken for positive 0010 0000 tion...
Page 236 Operation Chapter 4 Para- Para- Digit Name Setting Explanation Default Default Unit Setting Restart meter meter setting setting range power? name 100/200 V 400 V Pn002 Func- Torque 0000 0000 Not used. tion tion com- com- Use TREF as analog torque limit selec- mand input...
Page 237 Operation Chapter 4 Para- Para- Digit Name Setting Explanation Default Default Unit Setting Restart meter meter setting setting range power? name 100/200 V 400 V Pn004 (Do not change setting.) 0000 0000 used. Pn005 (Do not change setting.) 0000 0000 used.
Page 238 Operation Chapter 4 Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- Parameter Parameter setting setting setting setting range range power? power? meter meter name name Explanation (See Name Digit Setting 100/200 V 100/200 V 400 V 400 V...
Page 239 Operation Chapter 4 Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- Parameter Parameter setting setting setting setting range range power? power? meter meter name name Explanation (See Name Digit Setting 100/200 V 100/200 V 400 V 400 V...
Page 240 Operation Chapter 4 Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- Parameter Parameter setting setting setting setting range range power? power? meter meter name name Explanation (See note Name Digit Set- 100/200 V 100/200 V 400 V 400 V...
Page 241 Operation Chapter 4 Para- Parameter Explanation Default Default Unit Setting Restart meter name setting setting range power? 100/200 V 400 V Pn303 No. 3 internal Number of rotations for No. 3 internal setting r/min 0 to speed setting 10000 Pn304 Jog speed Sets rotation speed during jog operation.
Page 242 Operation Chapter 4 H Sequence Parameters (From Pn500) Explanation (See note 1.) Parameter Default Default Unit Setting Restart Para- name setting setting range power? meter Name Set- Explanation (See note 2.) Digit 100/200 V 400 V ting Pn500 Positioning Sets the range of positioning completed output 1 Command 0 to 250 --- completion...
Page 243 Operation Chapter 4 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 244 Operation Chapter 4 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 245 Operation Chapter 4 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 246 Operation Chapter 4 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 247 Operation Chapter 4 Setting Explanation Setting Explanation CCW direction is taken for positive command (counterclockwise seen from the Servomotor output shaft) CW direction is taken for positive command (clockwise seen from the Servomotor output shaft) • This parameter sets the Servomotor’s direction of rotation. •...
Page 248 Operation Chapter 4 • Select the stopping process for when the servo is turned OFF or an alarm occurs. H Overtravel Stop Selection (Pn001.1) Pn001.1 Function selection application switch 1 --- Stop selection for drive prohibition input (Position, speed, internally-set speed control) Setting 0 to 2 Unit...
Page 249 • With the OMNUC W series, you can freely change the I/O signal allocation. • If using an OMRON position controller (Position Control Unit or Motion Control Unit), you do not need to change the default settings. The various special Control Cables are also based on the default al- locations.
Page 250 Operation Chapter 4 CN1, pin No. Signal name Condition POT (forward Set to always OFF (i.e., drive prohibition is disabled). drive prohibit input) NOT (reverse Set to always OFF (i.e., drive prohibition is disabled). drive prohibit input) RESET (alarm reset input) PCL (forward When Pn000.1 is 0 to 2, or 7, 8, 9, A, or b.
Page 251 Operation Chapter 4 number are input. For example, if switching between speed control and position control, when the gain is lowered using speed control, if both TVSEL (control mode switch input) and MING (gain reduction input) are allocated to the same pin number, switching to speed control and gain reduction will be per- formed as one signal.
Page 252 Operation Chapter 4 • Settings are the same as for Pn50A.1. • If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 42 enabled by L input. Settings 7 and 8 are both enabled. •...
Page 253 Operation Chapter 4 • Settings are the same as for Pn50A.1. • If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to 6 and 9 to F are disabled, and all are set to CN1, pin 46 enabled by L input. Settings 7 and 8 are both enabled. •...
Page 254 Operation Chapter 4 • Settings are the same as for Pn50A.1. • If Pn50A.0 is set to 0, you cannot change the pin number. Settings 0 to F are all disabled. • To change the pin number, set Pn50A.0 to 1. Pn50d.2 Input signal selection 4 --- GSEL signal (gain switching) input terminal allocation (Position, speed, internally-set speed control)
Page 255 Operation Chapter 4 Pn50F.1 Output signal selection 2 --- VLIMT signal (speed limit detection) output terminal allocation (Torque) Setting 0 to 3 Unit Default Restart range setting power? Pn50F.2 Output signal selection 2 --- BKIR signal (brake interlock) output terminal signal (All operation modes) Setting 0 to 3...
Page 256 Operation Chapter 4 4-4-4 Parameter Details This section explains all user parameters not already explained in 4-4-3 Important Pa- rameters. Make sure you fully understand the meaning of each parameter before mak- ing any changes to parameter settings. Be sure not to change parameters designated “Not used.”, and digit No.
Page 257 Operation Chapter 4 Note Refer to 4-4-3 Important Parameters. Pn001.2 Function selection application switch 1 --- AC/DC power supply input selection (All operation modes) Setting 0, 1 Unit Default Restart range setting power? Setting Explanation Setting Explanation AC power supply: AC power supplied from L1, L2, (L3) terminals DC power supply: DC power from +1, -- terminals •...
Page 258 Operation Chapter 4 Setting Explanation Setting Explanation Function not used. TREF used as analog torque limit. TREF used as torque feed-forward input. TREF used as analog torque limit when PCL and NCL are ON. • Set TREF (torque command input) function when using position control and speed control. •...
Page 259 Operation Chapter 4 • When 1 is set, the absolute encoder operates as an incremental encoder (backup battery not neces- sary). Note If encoder resolution greater than 2,048 pulses/rotation is required with a 30- to 750-W Servomo- tor (including Flat-style) at 3,000 r/min., you can use a Servomotor with an absolute encoder (16,384 pulses/rotation) as a Servomotor with an incremental encoder.
Page 260 Operation Chapter 4 Pn003.2 Function selection application switch 2 --- Not used. Setting Unit Default Restart range setting power? Note Do not change setting. Pn003.3 Function selection application switch 2 --- Not used. Setting Unit Default Restart range setting power? Note Do not change setting.
Page 261 Operation Chapter 4 • Sets the speed loop integral time constant. • The higher the setting, the lower the response, and the lower the resiliency to external force. There is a risk of oscillation if the setting is too low. Overshoots when speed loop integration constant is short.
Page 262 Operation Chapter 4 Pn103 Inertia ratio (Position, speed, internally-set speed control) Setting 0 to 10000 Unit Default Restart range setting power? • Set the mechanical system inertia (load inertia for Servomotor shaft conversion) using the ratio (%) of the Servomotor rotor inertia. If the inertia ratio is set incorrectly, the Pn103 (inertia ratio) value will also be incorrect.
Page 263 Operation Chapter 4 Note 1. Set Pn107 to 0 if not using bias function. Note 2. If the bias rotation speed is too great, the Servomotor operation may become unstable. The optimum value will vary depending on the load, gain, and bias addition range, so check and adjust the Servomotor response.
Page 264 Operation Chapter 4 • Sets the speed control loop switching function from PI control to P control. • Normally, using the speed loop gain and the position loop gain set by means of the auto-tuning opera- tion will provide adequate control. (Consequently, there is normally no need to change the setting.) •...
Page 265 Operation Chapter 4 • Set the condition to switch to P control using Servomotor rated torque ratio (%). • The servo switches to P control if the internal torque command exceeds the setting level. Pn10d P control switching (speed command) (Position, speed, internally-set speed control) Setting 0 to 10000 Unit...
Page 266 Operation Chapter 4 Pn110.0 Online auto-tuning setting --- Online auto-tuning selection (Position, speed, internally-set speed control) Setting 0 to 2 Unit Default Restart range setting power? Setting Explanation Setting Explanation After the power is turned ON, auto-tuning is only performed for the initial operation. Auto-tuning is always performed.
Page 267 Operation Chapter 4 Pn110.2 Online auto-tuning function --- Adhesive friction compensation function selection (Position, speed, internally-set speed control) Setting 0 to 2 Unit Default Restart range setting power? Setting Explanation Setting Explanation Friction compensation: None (when adhesive friction for rated revolutions is 10% max. of rated torque) Friction compensation: Rated torque ratio: Small (when adhesive friction for rated rotation speed is 10% to 30% of rated torque)
Page 268 Operation Chapter 4 Pn114 Not used. Default setting Pn115 Not used. Default setting Pn116 Not used. Default setting Pn117 Not used. Default setting Pn118 Not used. Default setting Pn119 Not used. Default setting Pn11A Not used. Default setting 1000 Pn11b Not used.
Page 269 • Sets input conditions under which ECRST (deviation counter reset input, CN1-15: +ECRST, CN1-14: --ECRST) is enabled. • If using an OMRON Position Control Unit, do not change the default setting. Pn200.2 Position control setting 1 --- Deviation counter reset when servo is OFF and an alarm occurs...
Page 270 Note 2. If you set a value greater than the encoder resolution, the resolution setting will taken to be the encoder resolution. Note 3. If using an OMRON Position Control Unit (analog voltage output type) or Motion Control Unit, the upper limit of the encoder dividing rate is the rotation speed used. Refer to Encoder Divid- ing Rate and Rotations Using OMRON Servo Controllers for details.
Page 271 Operation Chapter 4 • With the default setting (Pn205 = 65535), the Servomotor multi-turn data will be as follows: Forward Reverse Multi-turn data Servomotor rotations • With the default settings changed (i.e., Pn205 ≠ 65535), the Servomotor multi-turn data will be as follows: Reverse Forward...
Page 272 • You can change the REF voltage scale using Pn300 (speed control scale). (Default setting: 10 V/rated rotations.) • If using an OMRON Positioning Unit (pulse train output type), set this parameter to 0 (function not used). Note Refer to 4-8-4 Speed Feed-forward Function for details.
Page 273 Operation Chapter 4 • This parameter sets the relationship between REF (speed command input) voltage and Servomotor rotation speed. • Set REF voltage for operating at the rated rotation speed. • The default setting is for the rated rotation speed at an REF voltage of 10 V. Note REF voltage functions as the input voltage shown below using control mode and parameter set- tings.
Page 274 Operation Chapter 4 • Set both Pn305 and Pn306 to 0 if using a position controller with acceleration and deceleration func- tions, or if not using speed control and internally-set speed control. Note Refer to 4-5-11 Soft Start Function for details. Pn307 Speed command filter time constant (All operation modes) Setting...
Page 275 Operation Chapter 4 fc (Hz) = 1 / (2 = Filter time constant (s), fc: cut-off frequency. Τ Τ Π Set the cut-off frequency to below the mechanical resonance frequency. • Also make this setting if the Servomotor rotation speed is fluctuating in Torque Control Mode due to TREF voltage noise.
Page 276 Operation Chapter 4 D Torque Command Setting (Pn408: Default Setting 0000) Pn408.0 Torque command setting (All operation modes) Setting 0, 1 Unit Default Restart range setting power? Setting Explanation Setting Explanation Notch filter function not used. Notch filter used in torque commands. (Set the frequency using Pn409). •...
Page 277 Operation Chapter 4 • Set the number of position lock speed during speed control. • When the Servomotor rotation speed is below the set value and PLOCK (position lock command in- put) is input, the operation mode switches from speed control to position control, and the Servomotor is locked.
Page 278 Operation Chapter 4 Pn507 Brake command speed Setting 0 to 10000 Unit r/min. Default Restart range setting power? Pn508 Brake timing 2 (all operation modes) Setting 10 to 100 Unit x 10 ms Default Restart range setting power? • This parameter sets the BKIR (brake interlock output) timing to control the electromagnetic brake ON/ OFF when a Servomotor with a brake is used.
Page 279 Operation Chapter 4 Pn510 Output signal selection 3 (All Default 0000 Restart operation modes) setting power? Pn512 Output signal reverse (All operation Default 0000 Restart modes) setting power? Note Refer to 4-4-3 Important Parameters. Pn511 Not used. Setting Unit Default 8888 Restart range...
Page 280: Operation Functions
Operation Chapter 4 Operation Functions 4-5-1 Position Control (Position) H Functions • Perform position control using the pulse train input from CN1-7,8 for CW and CN1-11,12 for CCW. • The Servomotor rotates using the value of the pulse train input multiplied by the electronic gear (Pn202, Pn203).
Page 281 Operation Chapter 4 H Related Functions • Functions related to position control that can be used during position control are as follows: Function name Explanation Reference Position command filter function Sets the soft start for the command pulse. 4-5-13 Position Command Filter Function Torque feed-forward function...
Page 282 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn000.1 Function Set the control mode for speed control (Settings: 0, 4-4-3 Important selection basic 4, 7, 9, A) Parameters switch 1 Pn300 Speed command Set the REF (speed command input) voltage for 4-4-4 Parameter scale operating at the rated rotation speed.
Page 283 (analog voltage output type) Torque Control Mode Analog voltage (torque command) Torque com- mand scale OMNUC W-series (Pn400) Note OMRON does not Servomotor manufacture torque command voltage out- Torque put type controllers. H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn000.1...
Page 284 Operation Chapter 4 H Related Functions • Functions related to speed control that can be used during speed control are as follows: Function name Explanation Reference Torque limit function This function limits the Servomotor’s torque output. 4-5-10 Torque Limit Function Speed limit function This function limits the Servomotor rotation speed from 4-5-15 Speed Limit...
Page 285 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn000.1 Function selection Select the control mode for the internally-set 4-4-3 Important basic switch 1 speed control (Settings: 3, 4, 5, 6) Parameters Control mode selection Pn50C Input signal You must set Pn50C.0 (RDIR signal selection), 4-4-3 Important selection 3...
Page 286 Operation Chapter 4 H Internally-set Speed Selection • The following table shows the relationship between SPD1 and SPD2 (speed selection commands 1 and 2), and the internally-set speeds that are selected. Control mode SPD1: OFF SPD1: ON setting SPD2: OFF SPD2: ON SPD2: OFF SPD2: ON...
Page 287 Operation Chapter 4 D Internally-set Speed Control + Speed Control (Pn000.1 = 4) Speed selection command 1 SPD1 Speed selection command 2 SPD2 Rotation direction command RDIR Speed command input Speed 3 Speed 2 Speed 1 REF speed Servomotor op- Speed Control Mode eration Speed 1...
Page 288 Operation Chapter 4 Note 3. There is a maximum delay of 2 ms in reading the input signal. Note 4. The shaded areas in the time chart for the positioning completed signal (INP1) indicate the places where the signal is turned ON as the VCMP (speed compare) signal. (The meaning of the signal differs according to the control mode.) D Internally-set Speed Control + Torque Control (Pn000.1 = 6) Speed selection...
Page 289 Operation Chapter 4 4-5-5 Switching the Control Mode (Switching Control) H Functions • This function controls the Servomotor by switching between two control modes by means of external inputs. • The control mode switching is executed at the control mode switching control input terminal (TVSEL: CN1-41).
Page 290 Operation Chapter 4 H Control Mode Selected Using TVSEL (Control Mode Switching) • The following table shows the relationship between TVSEL (Control mode switching) and the control mode selected. TVSEL Control mode setting Pn000.1 = 7 (between position Position control Speed control control and speed control) Pn000.1 = 8 (between position...
Page 291 Operation Chapter 4 D Position and Torque Control Switching Example (Pn000.1 = 8) 2 ms min. Control mode switching TVSEL Torque command input TREF (Reverse operation) (Forward operation) 2 ms min. Pulse commands Positioning com- pleted signal INP1 Servomotor op- eration Impact Note 1.
Page 292 Operation Chapter 4 4-5-6 Forward and Reverse Drive Prohibit (All Operating Modes) H Functions • When forward drive prohibit (POT: CN1-42) and reverse drive prohibit (NOT: CN1-43) are OFF, stops the Servomotor rotating (Pin No. is allocated in the default settings). •...
Page 293 Operation Chapter 4 Note 2. The position method used during torque control depends on Pn001.0 setting (the P001.1 set- ting is unrelated). POT (forward Forward direction drive prohibited) Position NOT (reverse Reverse direction drive prohibited) Position Only forward drive Both forward and reverse Only reverse drive allowed drive allowed...
Page 294 Operation Chapter 4 H Operation • Incremental pulses are output from the Servo Driver through a frequency divider. Encoder Driver Phase A Frequency Processing divider Phase B circuitry Phase Z • The output phases of the encoder signal output from the Servo Driver are as shown below (when divid- er ratio Pn201 = encoder resolution).
Page 295 Operation Chapter 4 H Parameters Requiring Setting Parameter No. Parameter name Explanation Reference Pn50F.2 Output signal Be sure to allocate BKIR. 4-4-3 Important selection 2: BKIR (See note.) Parameters signal selection Pn506 Brake timing 1 This parameter sets the BKIR 4-4-4 Parameter Details output timing.
Page 296 Operation Chapter 4 D Power Supply Timing (When Servomotor is Stopped) Power supply 25 to 35 ms BKIR (brake interlock) Pn506 (See note.) Energized Servomotor energized Deenergized Note The time from turning OFF the brake power supply to the brake engaging is 100 ms max. If using the Servomotor on a vertical axis, set Pn506 (brake timing 1) so that the Servomotor deenergizes after the brake has engaged, in consideration of this delay.
Page 297 Operation Chapter 4 • If controlling the position without adding a position control loop, the position may slip due to tempera- ture drift from the A/D converter, etc. In this case, when MING (gain reduction) is input, the speed loop gain will fall, and the amount of drift will be lowered.
Page 298 Operation Chapter 4 H Parameters Requiring Settings D Limiting the Steady Force Applied During Normal Operation with User Parameters (All Operating Modes) Parameter No. Parameter Explanation Reference name 4-4-4 Parameter Pn402 Forward torque Set the output torque limit for the forward direction Details limit as a percentage of the rated torque (setting range:...
Page 299 Operation Chapter 4 D Limiting Operation with External Signals (All Operating Modes) Parameter No. Parameter name Explanation Reference Pn50b.2 Input signal selection 2 You must allocate PCL and NCL. (See note 1.) 4-4-3 Important Pn50b.3 Parameters PCL signal selection NCL signal selection Pn404 Forward torque limit Set the output torque limit when PCL is ON as...
Page 300 Operation Chapter 4 D Limiting Analog Voltage with External Signals (Position, Speed, Internally-set Speed Control) • If Pn002.0 (torque command input switching) is set to 3, when PCL and NCL are ON, TREF (torque command input) becomes the analog torque limit input terminal. •...
Page 301 Operation Chapter 4 Note 1. If not using the soft start function, set this parameter to 0 (default setting). Note 2. The actual acceleration and deceleration time is as follows: speed command (r/min.) Actual acceleration (deceleration time) = x soft start acceleration (deceleration) time maximum No.
Page 302 Operation Chapter 4 Note 2. These parameters become effective when the power is turned ON again after having been turned OFF. (Check to see that the LED display has gone OFF.) Note 3. With the default setting (G1/G2 = 4), the Servomotor will rotate once when the encoder resolu- tion pulses are input.
Page 303 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn207.0 Select position Select either primary filter (setting: 0), or linear 4-4-4 control filter acceleration and deceleration (setting: 1). Parameter a a e e Details Pn204 Position control Enabled when Pn207.0 = 0.
Page 304 Operation Chapter 4 4-5-14 Position Lock Function (Speed, Internally-set Speed Control) H Functions • If controlling the position without adding a position control loop, the position may slip due to tempera- ture drift from the A/D converter, etc. In this case, this function stops the position loop by using an ex- ternal signal to switch from Speed Control Mode to Position Control Mode.
Page 305 Operation Chapter 4 H Operation (speed command in- put) PLOCK (position lock command) Servomotor operation Pn501 (Position lock rota- tion speed) Pn501 (Position lock rota- tion speed) Position lock status 4-5-15 Speed Limit Function (Torque) H Functions • This function limits Servomotor rotation speed when torque control is used. •...
Page 306: Trial Operation Procedure
Operation Chapter 4 D Limiting the Speed with Analog Voltage • When Pn002.1 (speed command input switching) is set to 1, REF (speed command input) becomes the analog speed limit input terminal, so you can limit the speed on multiple levels. The speed limit value can be calculated from the following equation: •...
Page 307 Operation Chapter 4 Turning OFF the Servomotor In order that the Servomotor can be immediately turned OFF if an abnormality occurs in the machinery, set up the system so that the power and the RUN command can be turned OFF. H Trial Operation 1.
Page 308: Making Adjustments
Operation Chapter 4 Making Adjustments The OMNUC W-series AC Servo Driver is equipped with an online auto-tuning function. Use this function to easily adjust the gain even if you are using a servo system for the first time. If you cannot use the online auto-tuning function, adjust the gain manually. (All de- fault settings are 100/200 V settings.
Page 309 Operation Chapter 4 H Online Auto-tuning Procedure • Use the following procedure when using the online auto-tuning function. Note If the online auto-tuning is set to be always enabled, the Servomotor may become unstable due to extreme vibration when the load fluctuates. It is recommended that you perform online auto-tun- ing once, write the results (inertia ratio) to the user parameters, then run the operation with the online auto-tuning turned OFF.
Page 310 Operation Chapter 4 H Selecting Mechanical Rigidity During Online Auto-tuning (Fn001) • Setting the rigidity during online auto-tuning sets the servo system’s target speed loop gain and posi- tion loop gain. • Select the rigidity setting (Fn001) from the following 10 levels to suit the mechanical system. Response Rigidity Position...
Page 311 Operation Chapter 4 H Online Auto-tuning Related User Parameters Explanation Param- Default Unit Setting Restart Param- eter setting range power eter Digit Name Setting Explanation name Pn100 Speed Adjusts speed loop responsiveness. 1 to loop 2000 gain Pn101 Speed loop integration time constant 2000 15 to Speed...
Page 312 Operation Chapter 4 Response Rigidity Position Speed loop Speed loop Torque Representative setting loop gain gain integration command applications - -1 Fn001 (Hz) time filter time (mechanical Pn102 Pn100 constant constant system) (d.00jj) (x 0.01 ms) (x 0.01 ms) Pn101 Pn401 6000 Articulated...
Page 313 Operation Chapter 4 H Manual Tuning Procedure (During Position Control) • Use the following procedure to perform operation with position control (pulse train input). Note Turn OFF online auto-tuning (Pn110.0 = 2). Start Note Do not perform extreme adjustment and setting changes Turn OFF online auto-tuning (Pn110.0 = 2) as they may destabilize the operation.
Page 314 Operation Chapter 4 H Manual Tuning Procedure (During Speed Control) • Use the following procedure to perform operation with speed control (speed command voltage input). Note Set the online auto-tuning to be always OFF (Pn110.0 = 2). Start Turn OFF online auto-tuning (Pn110.0 = 2). Note Do not perform extreme adjustment and setting changes as they may destabilize the operation.
Page 315 Operation Chapter 4 H Position Loop Block Diagram (Reference) Electronic Feed-forward Feed-forward com- Bias rotational gear ratio amount mand filter speed (G1/G2) Bias addition band Command pulses Position com- Command Electronic gear Deviation Position loop Speed Current mand filter time ratio (G1/G2) pulse mode counter...
Page 316: Advanced Adjustment Functions
Operation Chapter 4 Advanced Adjustment Functions 4-8-1 Bias Function (Position) H Functions • The bias function shortens positioning time by adding bias revolutions to speed commands (i.e., com- mands to the speed control loop). • If the residual pulses in the deviation counter exceed the setting in Pn108 (bias addition band), the speed set in Pn107 (bias rotational speed) is added to the speed command, and when the residual pulses in the deviation counter are within the setting in Pn108, adding to the number of bias rotations stops.
Page 317 Operation Chapter 4 4-8-2 Feed-forward Function (Position) H Functions • This function shortens the positioning time by automatically adding the command pulse input (CW/ CCW) differential value to the speed loop in the Servo Driver. • Perform feed-forward compensation to increase servo gain efficiency, thus improving responsive- ness.
Page 318 Operation Chapter 4 Torque Feed-forward Function Block Diagram Host Controller Servo Driver Torque com- Torque feed-forward Differ- mand scale ential Position command Speed command Current Speed Speed com- loop loop mand scale Current Speed detection detection Encoder output Encoder dividing rate H Parameters Requiring Settings Parameter No.
Page 319 Operation Chapter 4 Note 2. A torque will be generated that accelerates the Servomotor in the forward direction if torque feed-forward is applied with a positive (+) voltage. Be sure that the polarity is correct because errors such as reverse Servomotor rotation or oscillation will occur if the feed-forward is ap- plied with a polarity opposing the acceleration direction.
Page 320 Operation Chapter 4 H Operation Position command REF (speed feed- forward input Without the feed-forward function Servomotor operation Note When a positive voltage speed feed-forward is added, a command to rotate the Servomotor for- wards is added. If a reverse feed-forward command is added to the pulse train, positioning time will be lengthened, so check the polarity carefully.
Page 321 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference 4-4-3 Important Pn50A.0 Input signal GSEL signal is not allocated in the default settings. Parameters selection 1 Set Pn50A.0 to 1 (user-defined settings). Input signal selection mode Pn50d.2 Input signal Allocate GSEL signal.
Page 322 Operation Chapter 4 • Set the measured frequency using Pn409 (notch filter frequency). • Adjust the value of Pn409 slightly to minimize output torque vibration. • When the vibration is minimal, adjust Pn100 (speed loop gain), Pn101 (speed loop integration con- stant), Pn102 (position loop gain), and Pn401 (torque command filter time constant) once again, ac- cording to 4-7-2 Manual Tuning.
Page 323 Operation Chapter 4 4-8-8 Speed Feedback Filter (Position, Speed, Internally-set Speed Control) H Functions • This function sets the primary filter for the speed feedback gain. • Use the filter function when you cannot raise the speed loop feedback due to mechanical system vibration, etc.
Page 324 Operation Chapter 4 H Parameters Requiring Settings Parameter Parameter name Explanation Reference Pn10b.0 Speed control Sets the condition for switching the speed loop from PI 4-4-4 setting control to P control. Use Pn10C to Pn10F to make the Parameter switching level settings. Details P control switching condition...
Page 325: Using Displays
Operation Chapter 4 D Switching Using Speed Command • You can switch to P control when the speed command value exceeds the setting in Pn10d to suppress speed overshoot and undershoot and so shorten positioning time by reducing gain in the high-speed area.
Page 326 Operation Chapter 4 4-9-1 Power Supply Indicator and Charge Indicator • There are two LED indicators on the Servo Driver itself. One is for the power supply, and the other is a charge indicator. Charge indicator Power supply indicator H Indicators Symbol Name Color...
Page 327 Operation Chapter 4 H Bit Data Display Contents Command pulses being input (during position control) Speed commands being input Rotation detected (during position control) Positioning completed 1 (during position control) Speed conformity (during speed control) Base block Control-circuit power supply ON Main-circuit power supply ON Deviation counter reset signal being input (position control) Torque commands being input (torque control)
Page 328 Operation Chapter 4 D Switching to Monitor Mode Status Display Mode System Check Mode Setting Mode Note Switch to Monitor Mode (Un.jjj) using the MODE/SET Monitor Mode Key. D Operations in Monitor Mode Speed feedback moni- Speed feedback 1 s min. tor value Speed command moni- Speed command...
Page 329 Operation Chapter 4 H Types of Monitoring • In Monitor Mode, 14 types of monitoring can be carried out. Display Monitor contents Unit Explanation (monitor No.) Speed feedback (all r/min. Displays actual rotation speed of Servomotor. output modes) Speed command (all r/min.
Page 330 Operation Chapter 4 D Input Signal Monitor Contents (Un005) OFF (high level) ON (low level) (top is lit) (bottom is lit) LED No. Indicator No. Input terminal Signal name (default) CN1-40 RUN (RUN command) CN1-41 MING (gain reduction), RDIR (rotation direction command), TVSEL (control mode switching), PLOCK (position lock command), IPG (pulses prohibited) CN1-42...
Page 331: 4-10 Using Monitor Output
Operation Chapter 4 • These monitor values can also be cleared (i.e., set to zero) in Monitor Mode. Feedback pulse counter monitor Feedback pulse value (upper 16-bit part, dis- counter 1 s min. played as “H.jjjj“) Feedback pulse counter monitor value (lower16-bit part, displayed as “L.jjjj“) 1 s min.
Page 332 Operation Chapter 4 H Analog Monitor Output Connector (CN5) • The Analog Monitor Output Connector (CN5) is located inside the top cover of the Servo Driver. Note There is no top cover on model R88D-WT60H (6kW). Instead, CN5 is to the right of the display and settings area.
Page 333 Operation Chapter 4 H Analog Monitor Cable (R88A-CMW001S) Use this cable to connect the Servo Driver’s Analog Monitor Connector (CN5) Servo Driver External devices R88D-WTj 1.7 dia. Servo Driver Symbol Connector socket model White DF11-4DS-2C (Hirose) Black Connector socket model Black DF11-2428SCF (Hirose) Cable: AWG24 x 4C UL1007...
Page 334: 4-11 System Check Mode
Operation Chapter 4 H Analog Monitor Output Adjustment: System Check Mode Offset Adjustment (Fn00C), Scaling (Fn00d) • The following two types of analog monitor output adjustment can be performed using System Check Mode. • Analog monitor output offset manual adjustment (Fn00C). •...
Page 335 Operation Chapter 4 Display Function name Reference (function code) Absolute encoder multi-turn setting (ABS) change: If you 4-11-11 Changing Absolute change user parameter setting Pn205 (absolute encoder Encoder Rotation Setting multi-turn limit setting), the new value is automatically written to the encoder. (For manufacturer management: Do not use.) 4-11-1 Alarm History •...
Page 336 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. If a function code other than Fn000 is displayed, press the Up or Down Key to set function code Fn000. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.).
Page 337 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn006. (See note.) Press DATA Key (front panel: DATA Key for 1 s min.) to display “trCLr.”...
Page 338 Operation Chapter 4 Note 2. When you set the rigidity, the user parameters given in the above table will change automati- cally. Note 3. If you enable auto-tuning without setting the rigidity, tuning is performed using the user param- eter settings (Pn102, Pn100, Pn101, and Pn401) as the target values. System Check Mode Displays rigidity setting Rigidity setting during auto-...
Page 339 Operation Chapter 4 • Store the online auto-tuning results if you want to use the results as the initial value when the power supply is next turned ON again. Performing this operation writes the results to Pn103 (inertia ratio). System Check Mode Tuning results (inertia ratio) dis- Online auto-tuning results played (d.jjjj displayed)
Page 340 Operation Chapter 4 Note 3. While the Servomotor origin search is being executed, the POT (forward drive prohibited) and NOT (reverse drive prohibited) inputs are disabled. Note 4. The Servomotor origin search rotation speed is 60 r/min. System Check Mode Servomotor origin search display (servo is OFF) Servomotor origin...
Page 341 Operation Chapter 4 4-11-4 User Parameter Initialization H User Parameter Initialization (Fn005) • Initialize the user parameters to return the user parameters to the default settings. Note 1. You cannot perform initialization while the servo is ON. First turn OFF the servo, then perform the operation.
Page 342 Operation Chapter 4 4-11-5 Command Offset Adjustment • When operating in the Speed Control and Torque Control Modes, the Servomotor may rotate slightly even if an analog command voltage of 0 V (command value zero) is input. This is due to small offset amounts (in the order of mV) in the Host Controller and external circuits command voltage.
Page 343 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn009. (See note.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “rEF_o.”...
Page 344 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn00A. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “SPd.”...
Page 345 Operation Chapter 4 H Torque Command Offset Manual Adjustment (Fn00b) • Adjust the torque command manually while checking the Servomotor shaft movement with the RUN signal ON. • The torque command offset setting range is --124 to 127 (x 14.7 mV). Note Adjust the torque command offset manually using torque command mode.
Page 346 Operation Chapter 4 4-11-6 Analog Monitor Output Adjustment • The following two types of analog monitor output adjustment can be performed using System Check Mode. • Analog monitor output offset manual adjustment (Fn00C). • Analog monitor output scaling (Fn00d) Note 1. Set the monitor items to be output from the analog monitor using Pn003.0 (analog monitor 1 (AM) allocation), and Pn003.1 (analog monitor 2 (NM) allocation).
Page 347 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn00C. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Ch1_o”...
Page 348 Operation Chapter 4 H Analog Monitor Output Scaling (Fn00d) • Use this function to set the analog monitor output scale. You can set the two monitor outputs separate- • The analog monitor output scale setting range is --128 to 127 (x 0.4%). •...
Page 349 Operation Chapter 4 Operation Procedure PR02W Front panel Explanation Display operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn00d. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display “Ch1_G”...
Page 350 Operation Chapter 4 Note Automatic adjustment can be performed only when the power supply to the main circuits is turned ON, and the power supply to the servo is OFF. Offset automatic ad- System Check Mode justment display Servomotor current (“Cur_o”...
Page 351 Operation Chapter 4 Note If adjusting the Servomotor current detection offset, first try performing automatic adjustment (Fn00E). Only attempt manual adjustment if the torque ripple is still large after performing auto- matic adjustment. 1 s min. Phase selection (Cu2 Phase selection (Cu1 = V phase) = U phase) System Check Mode...
Page 352 Operation Chapter 4 Note 2. Perform rough adjustments in units of 10°, and fine adjustments in units of 1°. (You can also perform intermediate adjustments in units of 5°.) Note 3. Do not greatly adjust either U phase or V phase alone. Operation Procedure PR02W Front panel...
Page 353 Operation Chapter 4 4-11-8 Password Setting H Password Setting (Fn010) • This function prevents the user parameter settings and System Check Mode settings and adjustments being overwritten unintentionally. • When a write-prohibited password is set, from the next power-up onwards it becomes impossible to make parameter settings or to make settings or adjustments in System Check Mode.
Page 354 Operation Chapter 4 Operation Procedure PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn010. (See note 1.) Press the DATA Key (front panel: DATA Key for 1 s min.) to display the password “P.jjjj.”...
Page 355 Operation Chapter 4 Servomotor Voltage and Servomotor Type Servomotor voltage Servomotor type Servomotor type Data Voltage Data Servomotor Type Servomotor voltage 3,000 r/min. (30 to 750 W) 100 V AC 3,000 r/min. Flat-style 200 V AC 3,000 r/min. (1 to 5 kW) 400 V AC 1,000 r/min.
Page 356 Operation Chapter 4 Operation Procedures PR02W Front panel Display Explanation operation key operation Press the MODE/SET Key to change to System Check Mode. Press the Up or Down Key to set function code Fn011. (See note.) Press the DATA Key (front panel: DATA Key for 1 s min.).
Page 357 Operation Chapter 4 Note The digits you can manipulate will flash. 4-141 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 358 Operation Chapter 4 4-11-11 Changing Absolute Encoder Rotation Setting (ABS) H Changing Absolute Encoder Multi-turn Setting Change (Fn013) • When you change the setting for user parameter Pn205 (absolute encoder multi-turn limit setting), and turn OFF the power supply to the Servo Driver and then back ON again, an A.CC (multi-turn limit nonconformity) alarm occurs.
Page 359: Chapter 5. Troubleshooting
Chapter 5 Troubleshooting 5-1 Measures when Trouble Occurs 5-2 Alarms 5-3 Troubleshooting 5-4 Overload Characteristics (Electron Thermal Characteris- tics) 5-5 Periodic Maintenance 5-6 Replacing the Absolute Encoder Battery (ABS) 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 360: Measures When Trouble Occurs
Troubleshooting Chapter 5 Measures when Trouble Occurs 5-1-1 Preventive Checks Before Trouble Occurs This section explains the preventive checks and analysis tools required to determine the cause of trouble when it occurs. H Check the Power Supply Voltage • Check the voltage to the power supply input terminals. Main-circuit Power Supply Input Terminals (L1, L2, (L3)) R88D-WTjHF (450 to 3 kW): Three-phase 380/480 V AC (323 to 528 V) 50/60 Hz...
Page 361 Troubleshooting Chapter 5 Computer Monitor Software S Install and use the OMNUC W-series Servo Driver Computer Monitor Software (for Windows 95). The following three items are required: An IBM PC/AT or compatible with Windows 95, the Com- puter Monitor Software, and Connecting Cable (R88A-CCW002Pj). S Refer to the Computer Monitor Software for operation details.
Page 362 Troubleshooting Chapter 5 S Also, if you have changed the setting in Pn205 (absolute encoder multi-turn limit setting), an A.CC (rotation speed mismatch) alarm will occur, so change the rotation limit setting (Fn013) using sys- tem check mode. 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 363 Troubleshooting Chapter 5 H Replacing the Servo Driver 1. Make a note of the parameters. S If using Computer Monitor Software, start the program, and transfer and save all the parameters in the Servo Driver to the personal computer. S If not using Computer Monitor Software, write all of the parameter settings using Parameter Unit or Servo Driver operation keys.
Page 364: Alarms
Troubleshooting Chapter 5 Alarms If the Servo Driver detects an error, ALM (alarm output) and ALO1 to ALO3 (alarm codes) are output, the power drive circuit in the Servo Driver turns OFF, and the alarm is displayed. If the Servo Driver detects a warning (e.g., overload warning or regenerative overload warning), WARN (warning output) and ALO1 to ALO3 (warning codes) are out- put, and the warning is displayed.
Page 365 Troubleshooting Chapter 5 Display Display Alarm code Error detection Error detection Cause of error Cause of error function function ALO1 ALO2 ALO3 Low voltage Main circuit DC voltage below the allowable range. Overspeed Servomotor rotation speed exceeded the maximum speed. Overload Output torque exceeded 245% of rated torque.
Page 366 Troubleshooting Chapter 5 Display Display Alarm code Error detection Error detection Cause of error Cause of error function function ALO1 ALO2 ALO3 Option detection error Detects an error if an option board is not connected. Missing phase de- Main-circuit power supply missing phase or tected.
Page 367: Troubleshooting
Troubleshooting Chapter 5 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 error Cause of error Countermeasures occurs...
Page 368 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Overcurrent Occurs when power Control panel error Replace the Servo Driver. supply is turned ON. Main circuit transis- tor module error Occurs when servo Current feedback Replace the Servo Driver. is turned ON.
Page 369 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Main circuit Power Occurs when servo Wiring wrong Re-wire power supply. Supply Setting is turned on. Pn001.2 setting Change setting Pn001.2 wrong Overvoltage Occurs when power Main circuit power Change the main circuit supply is turned ON.
Page 370 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Overspeed Occurs when the Encoder signal be- Rewire correctly. servo is ON. tween controllers is wired incorrectly. Servomotor power Rewire correctly. line is wired incor- rectly. Occurs along with Position and speed Input command values high-speed rotation...
Page 371 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Inrush resistance Occurs when the Inrush current when Reduce the frequency by overload main circuit power the main circuit pow- which the main circuit supply is turned ON. er supply is turned power supply is turned ON exceeds inrush...
Page 372 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Encoder overheat- Occurs when the Encoder is defec- Replace the Servomotor ing (ABS) control circuit power tive. supply is turned ON. Occurs during op- Ambient Servomotor Lower the ambient tem- eration.
Page 373 Troubleshooting Chapter 5 Display Error Status when error Cause of error Countermeasures occurs Rotation speed mis- Occurs when the Pn205 (absolute en- Perform absolute encod- match (ABS) control circuit power coder rotation limit er rotation limit setting supply is turned ON. pp y setting) changed.
Page 374 Troubleshooting Chapter 5 5-3-2 Troubleshooting by Means of Operating Status Symptom Probable cause Items to check Countermeasures Control mode The power sup- Power supply lines are in- Check the power supply Correct the power supply. All modes ply indicator correctly wired. voltage.
Page 375 Troubleshooting Chapter 5 Symptom Probable cause Items to check Countermeasures Control mode Servomotor op- The Servomotor power lines Check the Servomotor pow- Correct the wiring. All modes eration is unsta- or encoder lines are wired er line U, V, and W phases, ble.
Page 376: Overload Characteristics (Electron Thermal Characteristics)
Troubleshooting Chapter 5 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.71 to A.72) 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 377: Periodic Maintenance
Troubleshooting Chapter 5 Periodic Maintenance Maintenance and Inspection Precautions WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock. Caution Resume operation only after transferring to the new Unit the contents of the data required for operation.
Page 378 • If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under condi- tions 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. 5-20...
Page 379: Replacing The Absolute Encoder Battery (Abs)
Troubleshooting Chapter 5 Replacing the Absolute Encoder Battery (ABS) Replace the absolute encoder backup battery if it has been used for at least five years, or if an A.83 (battery error) alarm occurs. H Battery Model and Specifications Item Specification Model and name R88A-BAT01W (up to 5 kW), R88A-BAT02W (6 kW to 15 kW) (Absolute Encoder Backup Battery Unit)
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Page 381 Chapter 6 Appendix 6-1 Connection Examples 6-2 Encoder Dividing Rate for Servo Controllers 6-3 Parameter Setting Tables 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 382 Appendix Chapter 6 Connection Examples H Connection Example 1: Connecting to SYSMAC C200HW-NC113/213/413 Position Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60Hz Surge killer Class-3 ground C200H-NC113/213/413 R88D-WTj Contents 24 V DC 24-V DC input (for output) 0-V input (for output) CCW (with a resistor) DC reactor...
Page 383 Appendix Chapter 6 H Connection Example 2: Connecting to SYSMAC C200H-NC112 Position Control Units Main circuit power supply Main circuit contact Surge killer 3-phase 200/230 V AC 50/60Hz Class-3 ground C200H-NC112 R88D-WTj Contents 24-V DC input (for output) 24 V DC 5-V DC input (for output) CCW (with a resistor) DC reactor...
Page 384 Appendix Chapter 6 H Connection Example 3: Connecting to SYSMAC C200H-NC211/C500-NC113/211 Position Control Units Main circuit power supply Main circuit contact Surge killer 200/230 V AC 50/60Hz C200H-NC211 Class-3 ground R88D-WTj C500-NC113/211 Contents 24-V DC input (for output) 24 V DC 0-V DC power (for output) CW (with a resistor) DC reactor...
Page 385 Appendix Chapter 6 H Connection Example 4: Connecting to SYSMAC C500-NC222-E Position Control Units Main circuit power supply Main circuit contact 200/230 V AC 50/60Hz Surge killer Class-3 ground R88D-WTj C500-NC222-E MD Connector Name Signal X axis + A-phase input X axis -- A-phase input DC reactor X axis + B-phase input...
Page 386 Appendix Chapter 6 H Connection Example 5: Connecting to SYSMAC Motion Control Units Main circuit power supply Main circuit contact 3-phase 200/230 V AC 50/60 Hz Surge killer CS1W-MC221/421 CV500-MC221/421 Class-3 ground C200H-MC221 R88D-WTj DRV connector Name 24 V DC 24 V input 24 V input ground X-axis alarm input...
Page 387 Note 3. Leave unused signal lines open and do not wire them. Note 4. This wiring diagram is an example of axis 0 of the Omron C200HW-MC402-E (4-axis control- ler). To control more than one axis, connect other pins and servo system in a similar way. For a complete pin assignment of MC402-E, please refer to MC402-E manual (cat.
Page 388 Appendix Chapter 6 Encoder Dividing Rate for Servo Controllers Encoder output pulses for OMNUC W-Series AC Servo Drivers can be set within a range of 16 to 16,384 pulses/revolution by setting the encoder dividing rate. Depending on the Controller’s encoder input maximum response frequency limits, however, the maximum numbers of revolutions are limited as shown in the following tables.
Page 389 Appendix Chapter 6 Parameter Setting Tables H Function Selection Parameters (From Pn000) Para- Para- Digit Name Setting Explanation Default Default Unit Setting Restart meter meter setting setting range power? name 100/200 V 400 V Pn000 Func- Reverse CCW direction is taken for positive 0010 0000 tion...
Page 390 Appendix Chapter 6 Para- Para- Digit Name Setting Explanation Default Default Unit Setting Restart meter meter setting setting range power? name 100/200 V 400 V Pn001 Func- Select 1002 0000 Servomotor stopped by dynamic tion stop if brake. selec- tion ap- alarm Dynamic brake OFF after plica-...
Page 391 Appendix Chapter 6 Para- Para- Digit Name Setting Explanation Default Default Unit Setting Restart meter meter setting setting range power? name 100/200 V 400 V Pn003 Func- Analog 0002 0002 Servomotor rotation speed: tion monitor 1V/1000 r/min selec- 1 (AM) 1 (AM) Speed command: 1 V/1000 r/min tion ap-...
Page 392 Appendix Chapter 6 Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- Parameter Parameter setting setting setting setting range range power? power? meter meter name name Explanation (See Name Digit Setting 100/200 V 100/200 V 400 V 400 V...
Page 393 Appendix Chapter 6 Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- Parameter Parameter setting setting setting setting range range power? power? meter meter name name Explanation (See Name Digit Setting 100/200 V 100/200 V 400 V 400 V...
Page 394 Appendix Chapter 6 H Position Control Parameters (From Pn200) Explanation (See note 1.) Default Default Unit Setting Restart Para- Parameter setting setting range power? meter name Name Explanation (See note Digit Set- 100/200 V 400 V ting Pn200 Position Command Feed pulse 1011 0000...
Page 395 Appendix Chapter 6 Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- Parameter Parameter setting setting setting setting range range power? power? meter meter name name Explanation (See note Name Digit Set- 100/200 V 100/200 V 400 V 400 V...
Page 396 Appendix Chapter 6 Para- Parameter Explanation Default Default Unit Setting Restart meter name setting setting range power? 100/200 V 400 V Pn307 Speed com- Sets constant during filter of speed command x 0.01 ms 0 to mand filter time voltage input (REF). 65535 constant Pn308...
Page 397 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 398 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 399 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 400 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 401 Appendix Chapter 6 Parameter Parameter Explanation (See note 1.) Default Default Default Default Unit Unit Setting Setting Restart Restart Para- Para- name name setting setting setting setting range range power? power? meter meter Name Set- Explanation (See note 2.) Digit 100/200 V 100/200 V 400 V...
Page 402 Appendix Chapter 6 H Functional Parameters User Constant Function Fn000 Alarm traceback data display. Fn001 Rigidity setting during online autotuning. Fn002 JOG mode operation. Fn003 Zero-point search mode. Fn004 (Fixed constant) Fn005 User constant settings initialization. Fn006 Alarm traceback data clear. Fn007 Writing to EEPROM inertia ratio data obtained from online autotuning.
Page 403 Appendix Chapter 6 H Monitoring Parameters User Content of Display Unit Remarks Constant Un000 Actual motor speed r/min Un001 Input speed reference r/min Un002 Internal torque reference Value for rated torque Un003 Rotation angle 1 pulse Number of pulses from the origin Un004 Rotation angle 2 Angle from the origin (electrical angle)
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Page 405 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No.I531-E2-02 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 406 Revision History 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 407 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 408 Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69 NL - 2132 JD Hoofddorp The Netherlands Tel.: +31 (0)23 56 81 300 Fax: +31 (0)23 56 81 388 Website: www.eu.omron.com Authorized Distributor: Cat. No. I531-E2-02 Note: Specifications subject to change without notice.

Omron OMNUC W Series User Manual

Chapter 1. Introduction

Chapter 2. Standard Models and Specifications

Chapter 3. System Design and Installation

Chapter 4. Operation

Chapter 5. Troubleshooting

Quick Links

Troubleshooting

Related Manuals for Omron OMNUC W Series

Summary of Contents for Omron OMNUC W Series

Table of Contents