Omron R88D-KN ML2 Sries User Manual
  1. Manuals
  2. Brands
  3. Omron Manuals
  4. Servo Drives
  5. R88D-KN ML2 Sries
  6. User manual

Omron R88D-KN ML2 Sries User Manual

Ac servomotors/servo drives with built-in mechatrolink-ii communications
Hide thumbs
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Table Of Contents
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
Table of Contents

Advertisement

Quick Links

Cat. No. I572-E1-04
USER'S MANUAL
OMNUC G5
SERIES
R88M-K
(AC Servomotors)
R88D-KN-ML2
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the R88D-KN ML2 Sries and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Omron R88D-KN ML2 Sries

Summary of Contents for Omron R88D-KN ML2 Sries

  • Page 1 Cat. No. I572-E1-04 USER’S MANUAL OMNUC G5 SERIES R88M-K (AC Servomotors) R88D-KN-ML2 (AC Servo Drives) AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS...
  • Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.
  • Page 3 Introduction Introduction Thank you for purchasing the OMNUC G5 Series. This user's manual explains how to install and wire the OMNUC G5 Series, set parameters needed to operate the G5 Series, and remedies to be taken and inspection methods to be used should problems occur. Intended Readers This manual is intended for the following individuals.
  • Page 4 Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

  • Page 5: Application Considerations

    Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.

  • Page 6: Safety Precautions Document

    Safety Precautions Document Safety Precautions Document So that the OMNUC G5-Series Servomotor and Servo Drive and peripheral equipment are used safely and correctly, be sure to peruse this Safety Precautions document section and the main text before using the product in order to learn all items you should know regarding the equipment as well as all safety information and precautions.
  • Page 7 Safety Precautions Document Explanation of Symbols Example of symbols This symbol indicates danger and caution. The specific instruction is described using an illustration or text inside or near The symbol shown to the left indicates "beware of electric shock". This symbol indicates a prohibited item (item you must not do). The specific instruction is described using an illustration or text inside or near The symbol shown to the left indicates "disassembly prohibited".
  • Page 8 When using this product, be sure to install the covers and shields as specified and use the product according to this manual. If the product has been stored for an extended period of time, contact your OMRON sales representative. DANGER Always connect the frame ground terminals of a 100 V or 200 V type drive and motor to a type-D or higher ground.
  • Page 9 Safety Precautions Document DANGER Do not place flammable materials near the motor, Servo Drive or Regeneration Resistor. Fire may result. Install the motor, Servo Drive and Regeneration Resistor to non-flammable materials such as metals. Fire may result. When you perform a system configuration using the safety function, be sure to fully understand the relevant safety standards and the descriptions in the operation manual, and apply them to the system design.
  • Page 10 Safety Precautions Document Security Measures WARNING Anti-virus protection Install the latest commercial-quality antivirus software on the computer connected to the control system and maintain to keep the software up-to-date. Security measures to prevent unauthorized access Take the following measures to prevent unauthorized access to our products. •...
  • Page 11 Safety Precautions Document Caution Use the motor and Servo Drive in the specified combination. Fire or equipment damage may result. Do not store or install the product in the following environment: Location subject to direct sunlight Location where the ambient temperature exceeds the specified level Location where the relative humidity exceeds the specified level Location subject to condensation due to the rapid temperature change Location subject to corrosive or flammable gases...
  • Page 12 Safety Precautions Document Installation and Wiring Caution Do not step on the product or place heavy articles on it. Injury may result. Do not block the intake or exhaust openings. Do not allow foreign objects to enter the product. Fire may result. Be sure to observe the mounting direction.
  • Page 13 Safety Precautions Document Operation and Adjustment Caution Conduct a test operation after confirming that the equipment is not affected. Equipment damage may result. Before operating the product in an actual environment, check if it operates correctly based on the parameters you have set. Equipment damage may result.
  • Page 14 Safety Precautions Document Location of Warning Label This product bears a warning label at the following location to provide handling warnings. When handling the product, be sure to observe the instructions provided on this label. Warning label display location (R88D-KN02H-ML2) Instructions on Warning Label Disposal ...

  • Page 15: Items To Check After Unpacking

    The safety bypass connector is required when the safety function is not used. To use the safety function, provide a Safety I/O Signal Connector separately.  If any item is missing or a problem is found such as Servo Drive damage, contact the OMRON dealer or sales office where you purchased your product.

  • Page 16: Manual Revision History

    Manual Revision History Manual Revision History The manual revision symbol is an alphabet appended at the end of the manual number found in the bottom left-hand corner of the front or back cover. Example I572-E1-04 Revision symbol Revision Revision date Description of revision and revised page symbol November 2009...

  • Page 17: Structure Of This Document

    Structure of This Document Structure of This Document This manual consists of the following chapters. Read the necessary chapter or chapters referring to below. Outline Features and This chapter explains the features of this product, name of each part, Chapter 1 System and applicable EC directives and UL standards.

  • Page 18: Table Of Contents

    Table Of Contents Introduction ....................1 Terms and Conditions Agreement ............2 Warranty, Limitations of Liability.................. 1-2 Application Considerations ..................1-3 Disclaimers ......................... 1-3 Safety Precautions Document ...............4 Items to Check after Unpacking............13 Manual Revision History ..............14 Structure of This Document ..............15 Chapter1 Features and System Configuration Outline ....................
  • Page 19 Table Of Contents MECHATROLINK-II Repeater Units................2-51 Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) ......2-52 Chapter3 Specifications Servo Drive Specifications..............3-1 General Specifications....................3-1 Characteristics......................3-2 Main Circuit and Motor Connections ................3-8 Control I/O Connector Specifications (CN1).............. 3-13 Control Input Circuits ....................
  • Page 20 Table Of Contents Wiring Method ......................4-21 Selecting Connection Component ................4-29 Conformity to IEC 61800-5-1..................4-45 Regenerative Energy Absorption............4-47 Regenerative Energy Calculation ................4-47 Servo Drive Regeneration Absorption Capacity ............4-50 Regenerative Energy Absorption with an External Regeneration Resistor ....4-51 Connecting an External Regeneration Resistor ............
  • Page 21 Table Of Contents Torque Limit Switching .................6-22 Operating Conditions....................6-22 Parameters Requiring Settings.................. 6-22 Soft Start....................6-24 Parameters Requiring Settings.................. 6-24 Soft Start Acceleration or Deceleration Time ............6-24 S-curve Acceleration or Deceleration Time ............... 6-25 Gain Switching Function...............6-26 Parameters Requiring Settings.................. 6-27 Gain Switching Setting for Each CONTROL mode ...........
  • Page 22 Table Of Contents Parameters Requiring Settings.................. 10-1 10-2 Gain Adjustment .................. 10-4 Purpose of the Gain Adjustment................10-4 Gain Adjustment Methods ..................10-4 Gain Adjustment Procedure ..................10-5 10-3 Realtime Autotuning ................10-6 Parameters Requiring Settings.................. 10-7 Setting Realtime Autotuning ..................10-7 Setting Machine Rigidity ....................
  • Page 23 Table Of Contents 11-3 Alarms ....................11-6 Emergency Stop Operation at Alarms ..............11-12 11-4 Troubleshooting..................11-14 Error Diagnosis Using the Alarm Displays............... 11-14 Error Diagnosis Using the Operation Status............11-28 11-5 Periodic Maintenance .................11-36 Servomotor Life Expectancy..................11-36 Servo Drive Life Expectancy ................... 11-37 Replacing the Absolute Encoder Battery ..............
  • Page 25 Features and System Configuration This chapter explains the features of this product, name of each part, and applicable EC directives and UL standards. 1-1 Outline ................1-1 1-2 System Configuration ..........1-3 1-3 Names and Functions ..........1-4 1-4 System Block Diagrams..........1-6 1-5 Applicable Standards ..........1-11 1-6 Unit Versions...............1-13 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 26: Outline

    1-1 Outline 1-1 Outline Outline of the OMNUC G5 Series The OMNUC G5-Series AC Servo Drives (Built-in MECHATROLINK-II communications support type) are a series of Servo Drives supporting the MECHATROLINK-II high-speed motion field network. When you use it with the MECHATROLINK-II Position Control Unit (CJ1W-NCF71 or CS1W- NCF71), you can create a sophisticated positioning control system.
  • Page 27 1-1 Outline Suppressing Vibration of Low-rigidity Mechanisms during Acceleration/Deceleration The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips tend to vibrate. Two damping filters are provided to enable switching the damping frequency automatically according to the rotation direction and also via an external signal. In addition, the settings can be made easily merely by just setting the damping frequency and filter values.

  • Page 28: System Configuration

    1-2 System Configuration 1-2 System Configuration Controller (MECHATROLINK (MECHATROLINK-II -II Type) Type) MECHATRO LINK-II Position Control Unit Programmable CJ1W-NC Controller OMNUC G5 Series SYSMAC CJ1 AC Servo Drive R88D-KNx-ML2 MECHATRO LINK-II Controller (MECHATROLINK (MECHATROLINK-II Type) Type) OMNUC G5 Series Programmable Controller Position Control Unit AC Servomotor SYSMAC CS1...

  • Page 29: Names And Functions

    1-3 Names and Functions 1-3 Names and Functions This section describes the name and functions of the Servo Drive. Servo Drive Part Names The Servo Drive Part Names are defined as shown below. MECHATROLINK-II status LED indicator Display area Analog monitor connector (CN5) Rotary switches for node address setting MECHATROLINK-II...

  • Page 30: Servo Drive Functions

    1-3 Names and Functions Servo Drive Functions The functions of each part are the followings: Display Area A 2-digit 7-segment LED indicator shows the node address, alarm codes, and other Servo Drive status. Charge Lamp Lits when the main circuit power supply is turned ON. MECHATROLINK-II Status LED Indicator Indicates the communications status of the MECHATROLINK-II.

  • Page 31: System Block Diagrams

    1-4 System Block Diagrams 1-4 System Block Diagrams This is the block diagram of the OMNUC G5-Series AC Servo Drive (Built-in MECHATROLINK-II communications support type). R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2 R88D-KN01H-ML2/-KN02H-ML2/-KN04H-ML2 CN B CN A FUSE FUSE − Voltage detection FUSE − SW power 15 V Relay Regeneration...

  • Page 32: System Block Diagrams

    1-4 System Block Diagrams R88D-KN04L-ML2 R88D-KN08H-ML2/-KN10H-ML2/-KN15H-ML2 CN B CN A FUSE Internal Regeneration Resistor FUSE − Voltage detection FUSE − SW power 15 V Relay Overcurrent Regeneration Current detection supply main Gate drive drive control detection circuit control 3.3 V Internal 2.5 V Display and...
  • Page 33 1-4 System Block Diagrams R88D-KN20H-ML2/-KN30H-ML2/-KN50H-ML2 CN C CN A FUSE Internal Regeneration Resistor FUSE − Voltage detection FUSE − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V Internal 2.5 V Display and setting circuit...
  • Page 34 1-4 System Block Diagrams R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2 CN D CN A FUSE Internal Regeneration Resistor FUSE − CN B CN C Voltage detection FUSE DC-DC − − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive control detection circuit control 3.3 V...
  • Page 35 1-4 System Block Diagrams R88D-KN30F-ML2/-KN50F-ML2 CN D CN A FUSE Internal Regeneration Resistor FUSE − CN B CN C Voltage detection FUSE DC-DC − − SW power 15 V Relay Regeneration Overcurrent Current detection supply main Gate drive drive detection control circuit control 3.3 V...

  • Page 36: Applicable Standards

    1-5 Applicable Standards 1-5 Applicable Standards This section describes applicable EMC Directives. EC Directives Product Applicable standards directive Low voltage AC Servo Drive EN 61800-5-1 command AC Servomotor EN60034-1/-5 AC Servo Drive EN 55011 class A group 1 directives IEC61800-3 EN61000-6-2 Machinery AC Servo Drive...

  • Page 37: Korean Radio Regulations (Kc)

    1-5 Applicable Standards The Servo Drives and Servomotors comply with UL 508C (file No. E179149) as long as the following installation conditions 1 and 2 are met. (1) Use the Servo Drive in a pollution degree 1 or 2 environment as defined in IEC 60664- 1 (example: installation in an IP54 control panel).

  • Page 38: Unit Versions

    1-6 Unit Versions 1-6 Unit Versions The G5-series Servo Drive uses unit versions. Unit versions are used to manage differences in supported functions when product upgrades are made. Confirmation Method The unit version of a G5-series Servo Drive is given on the product's nameplate as shown below.

  • Page 39: Unit Versions

    1-6 Unit Versions 1-14 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 41 Standard Models and External Dimensions This chapter explains the models of Servo Drive, Servomotor, and peripheral equipment, as well as the external dimensions and mounting dimensions. 2-1 Servo System Configuration ........2-1 2-2 How to Read Model............2-3 2-3 Standard Model List .............2-5 2-4 External and Mounting Dimensions......2-18 2-5 EMC Filter Dimensions..........2-50 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 42: Servo System Configuration

    2-1 Servo System Configuration 2-1 Servo System Configuration Support Software Support Software Controller ● CX-One FA Integrated ● CX-One FA Integrated Tool Package Tool Package SYSMAC + Position Control Unit CX-Programmer (Including CX-Drive) ● CX-Drive and CX-Position (Built-in MECHATROLINK-II Communications type) and CX-Motion WS02-DRVC1 Programmable...
  • Page 43 2-1 Servo System Configuration AC Servomotors AC Servo Drive Motor power signals Power Cables ● Standard Cables communications • Without Brake R88A-CAxxxxxS • With Brake R88A-CAxxxxxB ● Robot Cable • Without Brake R88A-CAxxxxxSR • With Brake MECHATROLINK-II R88A-CAxxxxxBR Communications Brake Cables (50 to 750 W max.) ●...

  • Page 44: How To Read Model

    2-2 How to Read Model 2-2 How to Read Model This section describes how to read and understand the model numbers for Servo Drives and Servomotors. Servo Drive The Servo Drive model can be identified by the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc.

  • Page 45: Servomotor

    2-2 How to Read Model Servomotor The model number provides information such as the Servomotor type, applicable motor capacity, rated rotation speed, and power supply voltage. R88M-KP10030H-BOS2 OMNUC G5 Series Servomotor Motor Type Blank : Cylinder type Servomotor Capacity : 50 W : 100 W : 200 W : 400 W...

  • Page 46: Standard Model List

    2-3 Standard Model List 2-3 Standard Model List This section lists the standard models of Servo Drives, Servomotors, Cables, Connectors, and peripheral equipment. Servo Drive Model List The table below lists the Servo Drive models. Specifications Model Single-phase 100 VAC 50 W R88D-KNA5L-ML2 100 W...

  • Page 47: Servomotor Model List

    2-3 Standard Model List Servomotor Model List The table below lists the Servomotor models by rated number of motor rotations. 3,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap...
  • Page 48 2-3 Standard Model List Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 50 W R88M-K05030H-B R88M-K05030H-BS2 R88M-K05030T-B R88M-K05030T-BS2 100 W R88M-K10030L-B R88M-K10030L-BS2 R88M-K10030S-B R88M-K10030S-BS2...
  • Page 49 2-3 Standard Model List 2,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 1 kW R88M-K1K020H R88M-K1K020H-S2 R88M-K1K020T R88M-K1K020T-S2 1.5 kW R88M-K1K520H R88M-K1K520H-S2 R88M-K1K520T...
  • Page 50 2-3 Standard Model List 1,000-r/min Servomotors Model With incremental encoder With absolute encoder Specifications Straight shaft Straight shaft Straight shaft Straight shaft without key with key and tap without key with key and tap 900 kW R88M-K90010H R88M-K90010H-S2 R88M-K90010T R88M-K90010T-S2 200 V 2 kW R88M-K2K010H R88M-K2K010H-S2...

  • Page 51: Servo Drive And Servomotor Combination List

    2-3 Standard Model List Servo Drive and Servomotor Combination List The tables in this section show the possible combinations of OMNUC G5 Series Servo Drives and Servomotors. The Servomotors and Servo Drives can only be used in the listed combinations. -x at the end of the motor model number is for options, such as the shaft type, brake, oil seal and key.
  • Page 52 2-3 Standard Model List 2,000-r/min Servomotors and Servo Drives Servomotor Voltage Servo Drive Rated With incremental With absolute output encoder encoder 1 kW R88M-K1K020H-x R88M-K1K020T-x R88D-KN10H-ML2 Single-phase/ 3-phase 200 V 1.5 kW R88M-K1K520H-x R88M-K1K520T-x R88D-KN15H-ML2 2 kW R88M-K2K020H-x R88M-K2K020T-x R88D-KN20H-ML2 3 kW R88M-K3K020H-x R88M-K3K020T-x...

  • Page 53: Cables And Peripheral Devices Model List

    2-3 Standard Model List Cables and Peripheral Devices Model List The table below lists the models of cables and peripheral devices. The cable include encoder cables, motor power cables, MECHATROLINK-II communications cables, and absolute encoder battery cables. The peripheral devices include External Regeneration Resistors, and reactors.
  • Page 54 2-3 Standard Model List Motor Power Cables (Flexible Cables) Model Specifications For motor without For motor with brake brake [100 V and 200 V] 1.5 m R88A-CAKA001-5SR-E  For 3,000-r/min motors of 50 to 750 W R88A-CAKA003SR-E  R88A-CAKA005SR-E  10 m R88A-CAKA010SR-E ...
  • Page 55 2-3 Standard Model List MECHATROLINK-II Communications Cables Specifications Model MECHATROLINK-II Communications Cable 0.5 m FNY-W6003-A5 FNY-W6003-01 FNY-W6003-03 FNY-W6003-05 10 m FNY-W6003-10 20 m FNY-W6003-20 30 m FNY-W6003-30 MECHATROLINK-II Terminating Resistor FNY-W6022 MECHATROLINK-II Repeater Units Specifications Model MECHATROLINK-II Repeater Unit FNY-REP2000 2-14 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 56 2-3 Standard Model List Absolute Encoder Battery Cables Specifications Model ABS battery cable (battery not supplied) 0.3 m R88A-CRGD0R3C ABS battery cable (R88A-BAT01G battery  1 supplied) 0.3 m R88A-CRGD0R3C-BS Absolute Encoder Backup Battery Specifications Model 2,000 mA•h 3.6 V R88A-BAT01G Analog Monitor Cable Specifications...
  • Page 57 2-3 Standard Model List Control Cables Specifications Model Connector-terminal block cables XW2Z-100J-B34 XW2Z-200J-B34 Connector-terminal block M3 screw type XW2B-20G4 M3.5 screw type XW2B-20G5 M3 screw type XW2D-20G6 External Regeneration Resistors Specifications Model Regeneration process capacity: 20 W, 50  (with 150C thermal sensor) R88A-RR08050S Regeneration process capacity: 20 W, 100 ...
  • Page 58 2-3 Standard Model List Reactors Servo Drive Reactor Number of Model power Model phases R88D-KNA5L-ML2 3G3AX-DL2002 R88D-KN01L-ML2 3G3AX-DL2004 Single-phase R88D-KN02L-ML2 3G3AX-DL2007 R88D-KN04L-ML2 3G3AX-DL2015 Single-phase 3G3AX-DL2002 R88D-KN01H-ML2 3-phase 3G3AX-AL2025 Single-phase 3G3AX-DL2004 R88D-KN02H-ML2 3-phase 3G3AX-AL2025 Single-phase 3G3AX-DL2007 R88D-KN04H-ML2 3-phase 3G3AX-AL2025 Single-phase 3G3AX-DL2015 R88D-KN08H-ML2 3-phase 3G3AX-AL2025...

  • Page 59: External And Mounting Dimensions

    2-4 External and Mounting Dimensions 2-4 External and Mounting Dimensions This section describes the external dimensions and the mounting dimensions of Servo Drives, Servomotors, and peripheral devices. Servo Drive Dimensions The dimensional description starts with a Servo Drive of the smallest motor capacity, which is followed by the next smallest, and so on.
  • Page 60 2-4 External and Mounting Dimensions Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Square hole 2-19 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 61 2-4 External and Mounting Dimensions Single-phase/3-phase 100 VAC: R88D-KN02L-ML2 (200 W) Single-phase/3-phase 200 VAC: R88D-KN04H-ML2 (400 W) Wall Mounting External dimensions Mounting dimensions φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Square hole R2.6 2-20 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 62 2-4 External and Mounting Dimensions Single-phase/3-phase 100 VAC: R88D-KN04L-ML2 (400 W) Single-phase/3-phase 200 VAC: R88D-KN08H-ML2 (750 W) Wall Mounting External dimensions Mounting dimensions φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Square hole R2.6 2-21 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 63 2-4 External and Mounting Dimensions Single-phase/3-phase 200 VAC: R88D-KN10H-ML2/-KN15H-ML2 (900 W to 1.5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 φ5.2 Square hole R2.6 R2.6 2-22 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 64 2-4 External and Mounting Dimensions 3-phase 200 VAC: R88D-KN20H-ML2 (2 kW) Wall Mounting External dimensions Mounting dimensions 17.5 φ5.2 42.5 φ5.2 R2.6 R2.6 R2.6 R2.6 17.5 φ5.2 42.5 17.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 17.5 φ5.2 42.5 30.7...
  • Page 65 2-4 External and Mounting Dimensions 3-phase 200 VAC: R88D-KN30H-ML2/-KN50H-ML2 (3 to 5 kW) Wall Mounting External dimensions φ5.2 R2.6 R2.6 R2.6 R2.6 φ5.2 Mounting dimensions φ5.2 2-24 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 66 2-4 External and Mounting Dimensions Front Mounting (Using Front Mounting Brackets) External dimensions 40.7 φ5.2 R2.6 R2.6 R2.6 R2.6 φ5.2 Mounting dimensions φ5.2 Square hole 2-25 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 67 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KN06F-ML2/-KN10F-ML2 (600 W to 1.0 kW) 3-phase 400 VAC: R88D-KN15F-ML2 (1.5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 14.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 φ5.2 Square hole...
  • Page 68 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KN20F-ML2 (2 kW) Wall Mounting External dimensions Mounting dimensions 17.5 φ5.2 42.5 φ5.2 R2.6 R2.6 φ5.2 17.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 17.5 φ5.2 30.7 42.5 φ5.2 Square hole R2.6 R2.6...
  • Page 69 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KN30F-ML2/-KN50F-ML2 (3 to 5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 φ5.2 R2.6 R2.6 φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions φ5.2 40.7 φ5.2 Square hole R2.6 R2.6 φ5.2 2-28...

  • Page 70: Servomotor Dimensions

    2-4 External and Mounting Dimensions Servomotor Dimensions In this description, the Servomotors are grouped by rated rotation speed. The description starts with a Servomotor of the smallest capacity, which is followed by the next smallest, and so on. 3,000-r/min Motors (100 V and 200 V) 50 W/100 W (without Brake) R88M-K05030H (-S2)/-K10030L (-S2) R88M-K05030T (-S2)/-K10030S (-S2)
  • Page 71 2-4 External and Mounting Dimensions 50 W/100 W (with Brake) R88M-K05030H-B (S2)/-K10030L-B (S2) R88M-K05030T-B (S2)/-K10030S-B (S2) Encoder connector Brake connector Motor connector 40×40 (Shaft end specifications with key and tap) 12.5 R3.7 M3 (depth 6) 1.5 min. Boss insertion position R4.2 (only for the ones with oil seal) 2−φ4.3...
  • Page 72 2-4 External and Mounting Dimensions 200 W/400 W (without Brake) R88M-K20030x (-S2)/-K40030x (-S2) R88M-K20030x (-S2)/-K40030x (-S2) Encoder connector Motor connector 60×60 (Shaft end specifications with key and tap) 4−φ4.5 30 20 (200 W) 25 (400 W) 4h9 (200 W) 18 (200 W) 5h9 (400 W) 22.5 (400 W) M4, depth 8 (200 W)
  • Page 73 2-4 External and Mounting Dimensions 200 W/400 W (with Brake) R88M-K20030x-B (S2)/-K40030x-B (S2) R88M-K20030x-B (S2)/-K40030x-B (S2) Encoder connector Brake connector Motor connector 60×60 4−ø4.5 (Shaft end specifications with key and tap) 30 20 (200 W) 25 (400 W) 4h9 (200 W) 18 (200 W) 5h9 (400 W) 22.5 (400 W)
  • Page 74 2-4 External and Mounting Dimensions 750 W (without Brake) R88M-K75030H (-S2) R88M-K75030T (-S2) Encoder connector Motor connector 112.2 86.2 80×80 (Shaft end specifications with key and tap) 4−φ6 M5 (depth 10) Note. The standard models have a straight shaft. Models with a key and tap are indicated with S2 at the end of the model number.
  • Page 75 2-4 External and Mounting Dimensions 1 kW/1.5 kW/2 kW (without Brake) R88M-K1K030H (-S2)/-K1K530H (-S2)/-K2K030H (-S2) R88M-K1K030T (-S2)/-K1K530T (-S2)/-K2K030T (-S2) 1 kW/1.5 kW/2 kW (with Brake) R88M-K1K030H-B (S2)/-K1K530H-B (S2)/-K2K030H-B (S2) R88M-K1K030T-B (S2)/-K1K530T-B (S2)/-K2K030T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 100×100 connector...
  • Page 76 2-4 External and Mounting Dimensions 3 kW (without Brake) R88M-K3K030H (-S2) R88M-K3K030T (-S2) 3 kW (with Brake) R88M-K3K030H-B (S2) R88M-K3K030T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) 120×120 Encoder connector 4−φ9 M3, through M5 (depth 12) Dimensions (mm) Model R88M-K3K030x...
  • Page 77 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K030H (-S2)/-K5K030H (-S2) R88M-K4K030T (-S2)/-K5K030T (-S2) 4 kW/5 kW (with Brake) R88M-K4K030H-B (S2)/-K5K030H-B (S2) R88M-K4K030T-B (S2)/-K5K030T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 130×130 connector 4−φ9 M3, through...
  • Page 78 2-4 External and Mounting Dimensions 3,000-r/min Motors (400 V) 750 W/1 kW/1.5 kW/2 kW (without Brake) R88M-K75030F (-S2)/-K1K030F (-S2)/-K1K530F (-S2)/-K2K030F (-S2) R88M-K75030C (-S2)/-K1K030C (-S2)/-K1K530C (-S2)/-K2K030C (-S2) 750 W/1 kW/1.5 kW/2 kW (with Brake) R88M-K75030F-B (S2)/-K1K030F-B (S2)/-K1K530F-B (S2)/-K2K030F-B (S2) R88M-K75030C-B (S2)/-K1K030C-B (S2)/-K1K530C-B (S2)/-K2K030C-B (S2) Motor and brake connector Encoder...
  • Page 79 2-4 External and Mounting Dimensions 3 kW (without Brake) R88M-K3K030F (-S2) R88M-K3K030C (-S2) 3 kW (with Brake) R88M-K3K030F-B (S2) R88M-K3K030C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) 120×120 Encoder connector 4-φ9 M3, through M5 (depth 12) Dimensions (mm) Model R88M-K3K030x...
  • Page 80 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K030F (-S2)/-K5K030F (-S2) R88M-K4K030C (-S2)/-K5K030C (-S2) 4 kW/5 kW (with Brake) R88M-K4K030F-B (S2)/-K5K030F-B (S2) R88M-K4K030C-B (S2)/-K5K030C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 130×130 connector 4−φ9 M3, through...
  • Page 81 2-4 External and Mounting Dimensions 2,000-r/min Motors (200 V) 1 kW/1.5 kW/2 kW/3 kW (without Brake) R88M-K1K020H (-S2)/-K1K520H (-S2)/-K2K020H (-S2)/-K3K020H (-S2) R88M-K1K020T (-S2)/-K1K520T (-S2)/-K2K020T (-S2)/-K3K020T (-S2) 1 kW/1.5 kW/2 kW/3 kW (with Brake) R88M-K1K020H-B (S2)/-K1K520H-B (S2)/-K2K020H-B (S2)/-K3K020H-B (S2) R88M-K1K020T-B (S2)-K1K520T-B (S2)/-K2K020T-B (S2)/-K3K020T-B (S2) Motor and brake connector (Shaft end specifications with key and tap)
  • Page 82 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K020H (-S2)/-K5K020H (-S2) R88M-K4K020T (-S2)/-K5K020T (-S2) 4 kW/5 kW (with Brake) R88M-K4K020H-B (S2)/-K5K020H-B (S2) R88M-K4K020T-B (S2)/-K5K020T-B (S2) Motor and brake connector (Shaft end specifications with key and tap) 176×176 Encoder connector 4−φ13.5 M3, through...
  • Page 83 2-4 External and Mounting Dimensions 2,000-r/min Motors (400 V) 400 W/600 W (without Brake) R88M-K40020F (-S2)/-K60020F (-S2) R88M-K40020C (-S2)/-K60020C (-S2) 400 W/600 W (with Brake) R88M-K40020F-B (S2)/-K60020F-B (S2) R88M-K40020C-B (S2)/-K60020C-B (S2) Motor and brake connector Encoder connector 100×100 (Shaft end specifications with key and tap) M3, through 4−φ9 M5 (depth 12)
  • Page 84 2-4 External and Mounting Dimensions 1 kW/1.5 kW/2 kW/3 kW (without Brake) R88M-K1K020F (-S2)/-K1K520F (-S2)/-K2K020F (-S2)/-K3K020F (-S2) R88M-K1K020C (-S2)/-K1K520C (-S2)/-K2K020C (-S2)/-K3K020C (-S2) 1 kW/1.5 kW/2 kW/3 kW (with Brake) R88M-K1K020F-B (S2)/-K1K520F-B (S2)/-K2K020F-B (S2)/-K3K020F-B (S2) R88M-K1K020C-B (S2)/-K1K520C-B (S2)/-K2K020C-B (S2)/-K3K020C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder...
  • Page 85 2-4 External and Mounting Dimensions 4 kW/5 kW (without Brake) R88M-K4K020F (-S2)/-K5K020F (-S2) R88M-K4K020C (-S2)/-K5K020C (-S2) 4 kW/5 kW (with Brake) R88M-K4K020F-B (S2)/-K5K020F-B (S2) R88M-K4K020C-B (S2)/-K5K020C-B (S2) Motor and brake connector Encoder 176×176 (Shaft end specifications with key and tap) connector 4-φ13.5 M3, through...
  • Page 86 2-4 External and Mounting Dimensions 1,000-r/min Motors (200 V) 900 W (without Brake) R88M-K90010H (-S2) R88M-K90010T (-S2) 900 W (with Brake) R88M-K90010H-B (S2) R88M-K90010T-B (S2) Motor and brake connector Encoder 130×130 (Shaft end specifications with key and tap) connector 77.5 4-ø9 M3, through M5 (depth 12)
  • Page 87 2-4 External and Mounting Dimensions 2 kW/3 kW (without Brake) R88M-K2K010H (-S2)/-K3K010H (-S2) R88M-K2K010T (-S2)/-K3K010T (-S2) 2 kW/3 kW (with Brake) R88M-K2K010H-B (S2)/-K3K010H-B (S2) R88M/-K2K010T-B (S2)/-K3K010T-B (S2) Motor and brake connector 176×176 Encoder (Shaft end specifications with key and tap) connector 4−φ13.5 M3, through...
  • Page 88 2-4 External and Mounting Dimensions 1,000-r/min Motors (400 V) 900 W (without Brake) R88M-K90010F (-S2) R88M-K90010C (-S2) 900 W (with Brake) R88M-K90010F-B (S2) R88M-K90010C-B (S2) Motor and brake connector Encoder 130×130 (Shaft end specifications with key and tap) connector M3, through 4-ø9 M5 (depth 12) Dimensions (mm)
  • Page 89 2-4 External and Mounting Dimensions 2 kW/3 kW (without Brake) R88M-K2K010F (-S2)/-K3K010F (-S2) R88M-K2K010C (-S2)/-K3K010C (-S2) 2 kW/3 kW (with Brake) R88M-K2K010F-B (S2)/-K3K010F-B (S2) R88M-K2K010C-B (S2)/-K3K010C-B (S2) Motor and brake connector (Shaft end specifications with key and tap) Encoder 176×176 connector 4−φ13.5 M3, through...

  • Page 90: External Regeneration Resistor Dimensions

    2-4 External and Mounting Dimensions External Regeneration Resistor Dimensions External Regeneration Resistor R88A-RR08050S/-RR080100S Thermal switch output t1.2 R88A-RR22047S1 Thermal switch output t1.2 R88A-RR50020S 2-49 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 91: Emc Filter Dimensions

    2-5 EMC Filter Dimensions 2-5 EMC Filter Dimensions drive mounts output flexes External dimensions Mount dimensions Filter model R88A-FIK102-RE R88A-FIK104-RE R88A-FIK107-RE R88A-FIK114-RE R88A-FIK304-RE R88A-FIK306-RE R88A-FIK312-RE 2-50 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 92: Mechatrolink-Ii Repeater Units

    2-5 EMC Filter Dimensions MECHATROLINK-II Repeater Units FNY-REP2000 (97) (34) (20) 14 10 Bottom Mounting Back Mounting M4 tap M4 tap 2-51 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 93: Dimensions Of Mounting Brackets (L-Brackets For Rack Mounting)

    2-5 EMC Filter Dimensions Dimensions of Mounting Brackets (L-Brackets for Rack Mounting) R88A-TK01K Top Dimensions Bottom Dimensions Two, M4 countersunk holes Two, M4 countersunk holes 11± 0.2 11± 0.2 R88A-TK02K Top Dimensions Bottom Dimensions Two, M4 countersunk holes Two, M4 countersunk holes 18±0.2 18±0.2 R88A-TK03K...
  • Page 94 2-5 EMC Filter Dimensions R88A-TK04K Top Dimensions Bottom Dimensions Two, M4 countersunk holes Two, M4 countersunk holes 36± 0.2 36± 0.2 40±0.2 40±0.2 2-53 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 95 Specifications This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drives, as well as the general specifications, characteristics, encoder specifications of the Servomotors. 3-1 Servo Drive Specifications ..........3-1 Overload Characteristics (Electronic Thermal Function) ... 3-32 3-3 Servomotor Specifications ........3-33 3-4 Cable and Connector Specifications ......3-58 3-5 External Regeneration Resistor Specifications..3-79...

  • Page 96: Servo Drive Specifications

    3-1 Servo Drive Specifications 3-1 Servo Drive Specifications Select the Servo Drive matching the Servomotor to be used. Refer to "Servo Drive and Servomotor Combination List"(P.2-10). General Specifications Item Specifications 0 to 55C, 90% RH max. (with no condensation) Ambient operating temperature and operating humidity -20 to 65C, 90% RH max.

  • Page 97: Characteristics

    3-1 Servo Drive Specifications Characteristics 100-VAC Input Type R88D- R88D- R88D- R88D- Item KNA5L-ML2 KN01L-ML2 KN02L-ML2 KN04L-ML2 Continuous output current (rms) 1.2 A 1.7 A 2.5 A 4.6 A Input power Main Power supply circuit supply 0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA capacity...
  • Page 98 3-1 Servo Drive Specifications 200-VAC Input Type R88D- R88D- R88D- R88D- R88D- R88D- Item KN01H- KN02H- KN04H- KN08H- KN10H- KN15H- Continuous output current (rms) 1.2 A 1.6 A 2.6 A 4.1 A 5.9 A 9.4 A Input power Main Power supply circuit supply...
  • Page 99 3-1 Servo Drive Specifications R88D- R88D- R88D- Item KN20H-ML2 KN30H-ML2 KN50H-ML2 Continuous output current (rms) 13.4 A 18.7 A 33.0 A Input power Main Power supply circuit supply 3.3 KVA 4.5 KVA 7.5 KVA capacity Power supply 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz voltage Rated 11.8 A...
  • Page 100 3-1 Servo Drive Specifications 400-VAC Input Type R88D- R88D- R88D- R88D- R88D- R88D- Item KN06F- KN10F- KN15F- KN20F- KN30F- KN50F- Continuous output current (rms) 1.5A 2.9 A 4.7 A 6.7 A 9.4 A 16.5 A Main Power circuit supply 3-phase 380 to 480 VAC (323 to 528 V) 50/60 Hz voltage Rated 2.1A...
  • Page 101 3-1 Servo Drive Specifications Protective Functions Error detection Description Control power supply undervoltage The DC voltage of the main circuit fell below the specified value. Overvoltage The DC voltage in the main circuit is abnormally high. Main power supply undervoltage The DC voltage of the main circuit is low.
  • Page 102 3-1 Servo Drive Specifications Error detection Description Absolute encoder status error The rotation of the absolute encoder is higher than the specified value. Encoder phase-Z error A phase Z pulse was not detected regularly. Encoder CS signal error A logic error was detected in the CS signal. An error was detected in external encoder connection and communications External encoder communications error data.

  • Page 103: Main Circuit And Motor Connections

    3-1 Servo Drive Specifications Main Circuit and Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2/-KN01H-ML2/ -KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power R88D-KNxL-ML2 supply input (50 to 400 W) : Single-phase 100 to 115 VAC (85 to 132 V) 50/60 Hz R88D-KNxH-ML2 (100 W to 1.5 kW) : Single-phase: 200 to 240 VAC (170 to 264 V) 50/ 60 Hz...
  • Page 104 3-1 Servo Drive Specifications R88D-KN20H-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KNxH-ML2 (2 kW) : input 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz Note. Single-phase should connect to L1 and L3. Control circuit power R88D-KNx-ML2 : Single-phase 200 to 230 VAC (170 to 253 V) 50/ supply input...
  • Page 105 3-1 Servo Drive Specifications R88D-KN30H-ML2/R88D-KN50H-ML2 Main Circuit Terminal Block Specifications Symbol Name Function Main circuit power supply R88D-KNxH-ML2 (3 to 5 kW): input 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz Control circuit power R88D-KNxH-ML2 : Single-phase 200 to 230 VAC (170 to 253 V) supply input 50/60 Hz External Regeneration...
  • Page 106 3-1 Servo Drive Specifications R88D-KN06F-ML2/-KN10F-ML2/-KN15F-ML2/-KN20F-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KNxF-ML2 input (600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60 Hz Motor Connector Specifications (CNB) Symbol Name Function...
  • Page 107 3-1 Servo Drive Specifications R88D-KN30F-ML2/R88D-KN50F-ML2 Main Circuit Terminal Block Specifications (TB1) Symbol Name Function 24 V Control circuit power 24 VDC ± 15% supply input Main Circuit Terminal Block Specifications (TB2) Symbol Name Function Main circuit power supply R88D-KNxH-ML2 (3 to 5 kW): input 3-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz External Regeneration...

  • Page 108: Control I/O Connector Specifications (Cn1)

    3-1 Servo Drive Specifications Control I/O Connector Specifications (CN1) Control I/O Signal Connections and External Signal Processing +24 VIN 10 Ω 12 to 24 VDC 4.7 kΩ /ALM Alarm output Maximum ALMCOM General-purpose service 1 kΩ input 1 voltage 10 Ω OUTM1 : 30 VDC 4.7 kΩ...
  • Page 109 3-1 Servo Drive Specifications Control I/O Signal List CN1 Control Inputs Signal Symbol CONTROL mode number Name Default The input terminal  of the external power supply (12 Power supply input 12 to 24 VIN 24 VDC. to 24 VDC) for sequence inputs General- Emergency These are the general-purpose inputs.
  • Page 110 To use an absolute encoder, connect a battery to either Pin 14 which is the backup battery input, or 15 which is the battery holder for absolute encoder cable. (Never connect to both.) Connectors for CN1 (Pin 26) OMRON model Name Model...

  • Page 111: Control Input Circuits

    3-1 Servo Drive Specifications Control Input Circuits External power supply 4.7 kΩ +24VIN 12 VDC ± 5% to 24 VDC ± 5% 1.0 kΩ Photocoupler input Input current specification 10 mA max. (per point) 4.7 kΩ Signal level 1.0 kΩ Photocoupler input ON level: 10 V or more OFF level: 3 V or less...

  • Page 112: Control Input Details

    3-1 Servo Drive Specifications Control Input Details This is the detailed information about the CN1 Connector input pins. General-purpose Inputs (IN1 to IN8) Pin 5 : General-purpose Input 1 (IN1) [Emergency Input (STOP)] Pin 7 : General-purpose Input 2 (IN2) [Forward Drive Prohibition Input (POT)] Pin 8 : General-purpose Input 3 (IN3)
  • Page 113 3-1 Servo Drive Specifications Forward Drive Prohibition Input (POT) and Reverse Drive Prohibition Input (NOT)  The two signals are the inputs to prohibit forward and reverse rotation (over-travel inputs).  When one input is ON, the Servo Drive can rotate in the specified direction. ...

  • Page 114: Control Output Circuits

    3-1 Servo Drive Specifications Monitor Inputs (MON0, MON1 and MON2)  They are the monitor inputs.  They do not give any influences to the operation. Only the host controller can monitor them.  In factory setting, the MON0 is allocated to Pin 13. Forward External Torque Limit Input (PCL) and Reverse External Torque Limit Input (NCL) ...

  • Page 115: Control Output Details

    3-1 Servo Drive Specifications Control Output Details The chart below illustrates the timings of the command inputs after the control power-on. Enter the Servo ON, and the position, speed or torque command in the correct timing as shown in the chart. Control Output Sequence Control power supply (L1C and L2C)
  • Page 116 3-1 Servo Drive Specifications Alarm Output (/ALM) Pin 3: Alarm Output (/ALM) Pin 4: Alarm output common (ALMCOM) Function The output is turned OFF when the drive detects an error. This output is OFF at power supply ON, but turns ON when the drive's initial processing has been completed.
  • Page 117 3-1 Servo Drive Specifications Motor Rotation Speed Detection Output (TGON)  It turns on when the motor rotation speed exceeds the value set by the Rotation Speed for Motor Rotation Detection (Pn436).  The output is effective both in forward and reverse directions regardless the actual direction that the motor rotates.
  • Page 118 3-1 Servo Drive Specifications Speed Conformity Output (VCMP)  The output turns ON when the motor rotation speed fills into the range set by the Speed Conformity Detection Range (Pn435).  It is determined to be conforming when the difference between the commanded speed before acceleration or deceleration process inside the Drive and the motor rotation speed is within the set range of Speed Conformity Detection Range (Pn435).

  • Page 119: Encoder Connector Specifications (Cn2)

    PS input Shell Frame ground Frame ground Connectors for CN2 (6 Pins) Name Model Manufacturer OMRON model number Drive connector 53460-0629 Molex Japan  Cable connector 55100-0670 R88A-CNW01R External Encoder Connector Specifications (CN4) These are the specifications of the connector that connect with the external encoder.
  • Page 120 3-1 Servo Drive Specifications External Encoder Input Signals List External encoder I/O (CN4) Symbol Name Function and interface number External encoder power supply 5.2 VDC  5%, 250 External encoder power supply output mA max. If the above capacity is to be exceeded, provide a separate power supply.
  • Page 121 3-1 Servo Drive Specifications Example of Connection with External Encoder  90 Phase Difference Output Type (Pn323 = 0) Servo Drive side (CN4) External encoder side 5.2V±5% 250mAmax Power supply area 20 kΩ 2 kΩ +EXA PULS Phase A 120Ω -EXA 2 kΩ...
  • Page 122 3-1 Servo Drive Specifications  Serial Communications Type, Absolute Encoder Specifications (Pn323 = 2) Absolute Linear Scale by Mitutoyo Corporation AT573A/ST770A/ST770AL Magnescale by Magnescale Co., Ltd Servo Drive side (CN4) Scale Unit SR77/SR87 E0V 2 680Ω +REQ/+SD +EXS 120Ω -REQ/+SD -EXS Serial signal 680Ω...

  • Page 123: Monitor Connector Specifications (Cn5)

    3-1 Servo Drive Specifications Monitor Connector Specifications (CN5) Monitor Output Signals List Monitor output (CN5) Symbol Name Function and interface Number Analog monitor output 1 Outputs the analog signal for the monitor. Default setting: Motor rotation speed 1 V/(500 r/min) You can use Pn416 and Pn417 to change the item and unit.

  • Page 124: Usb Connector Specifications (Cn7)

    3-1 Servo Drive Specifications USB Connector Specifications (CN7) Through the USB connection with computer, operations such as parameter setting and changing, monitoring of control status, checking error status and error history, and parameter saving and loading can be performed. Symbol Name Function and interface number...

  • Page 125: Safety Connector Specifications (Cn8)

    A monitor signal is output to detect a safety function failure. EDM Shell Frame ground Connected to the ground terminal inside the Servo Drive. Connector for CN8 (8 pins) OMRON model Name Model Manufacturer number Industrial Mini I/O 2013595-1 Tyco Electronics AMP...
  • Page 126 3-1 Servo Drive Specifications Safety Input Circuit Servo Drive SF1+ 4.7 kΩ External power supply Photocoupler 12 VDC ± 5% to 1.0 kΩ input 24 VDC ± 5% SF1− 4.7 kΩ SF2+ Signal level Photocoupler ON level: 10 V or more 1.0 kΩ...

  • Page 127: Overload Characteristics (Electronic Thermal Function)

    3-2 Overload Characteristics (Electronic Thermal Function) Overload Characteristics (Electronic Thermal Function) An overload protection function (electronic thermal) is built into the Servo Drive to protect the drive and motor from overloading. If an overload does occur, first eliminate the cause of the error and then wait at least 1 minute for the motor temperature to drop before turning ON the power again.

  • Page 128: Servomotor Specifications

    3-3 Servomotor Specifications 3-3 Servomotor Specifications The following OMNUC G5-Series AC Servomotors are available.  3,000-r/min motors  2,000-r/min motors  1,000-r/min motors There are various options available, such as models with brakes, or different shaft types. Select a Servomotor based on the mechanical system's load conditions and the installation environment.

  • Page 129: Characteristics

    3-3 Servomotor Specifications Characteristics 3,000-r/min Motors 100 VAC Model (R88M-) K05030H K10030L K20030L K40030L K05030T K10030S K20030S K40030S Item Unit Rated output * Rated torque * N • m 0.16 0.32 0.64 Rated rotation speed r/min 3,000 Momentary maximum r/min 6,000 rotation speed Momentary maximum...
  • Page 130 3-3 Servomotor Specifications 100 VAC Model (R88M-) K05030H K10030L K20030L K40030L K05030T K10030S K20030S K40030S Item Unit Allowable angular 30,000 max. rad/s acceleration (Speed of 2,800 r/min or more must not be changed in less than 10 ms.) Brake limit 10 million times min.
  • Page 131 3-3 Servomotor Specifications 200 VAC Model (R88M-) K05030H K10030H K20030H K40030H Item Unit K05030T K10030T K20030T K40030T Rated output * Rated torque * N • m 0.16 0.32 0.64 Rated rotation speed r/min 3,000 Momentary maximum r/min 6,000 rotation speed Momentary maximum N •...
  • Page 132 3-3 Servomotor Specifications 200 VAC Model (R88M-) K75030H K1K030H K1K530H Item Unit K75030T K1K030T K1K530T Rated output * 1000 1500 Rated torque * N • m 3.18 4.77 Rated rotation speed r/min 3,000 Momentary maximum r/min 6,000 5,000 rotation speed Momentary maximum N •...
  • Page 133 3-3 Servomotor Specifications AC200V Model (R88M-) K2K030H K3K030H K4K030H K5K030H Item Unit K2K030T K3K030T K4K030T K5K030T Rated output * 2000 3000 4000 5000 Rated torque * N • m 6.37 9.55 12.7 15.9 Rated rotation speed r/min 3000 Momentary maximum r/min 5000 4500...
  • Page 134 3-3 Servomotor Specifications 400 VAC Model (R88M-) K75030F K1K030F K1K530F K2K030F Item Unit K75030C K1K030C K1K530C K2K030C Rated output * 1000 1500 2000 Rated torque * N • m 2.39 3.18 4.77 6.37 Rated rotation speed r/min 3,000 Momentary maximum r/min 5,000 rotation speed...
  • Page 135 3-3 Servomotor Specifications 400 VAC Model (R88M-) K3K030F K4K030F K5K030F Item Unit K3K030C K4K030C K5K030C Rated output * 3000 4000 5000 Rated torque * N • m 9.55 12.7 15.9 Rated rotation speed r/min 3,000 Momentary maximum r/min 5,000 4,500 rotation speed Momentary maximum N •...
  • Page 136 3-3 Servomotor Specifications *1. These are the values when the motor is combined with a drive at normal temperature (20C, 65%). The momentary maximum torque indicates the standard value. *2. Applicable load inertia.  The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia.
  • Page 137 3-3 Servomotor Specifications  3,000-r/min motor (200 VAC) The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. • R88M-K05030H/T (50 W) • R88M-K10030H/T (100 W) • R88M-K20030H/T (200 W) Power supply voltage Power supply voltage Power supply voltage (N •...
  • Page 138 3-3 Servomotor Specifications  3,000-r/min motor (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input. • R88M-K75030F/C (750 W) • R88M-K1K030F/C (1 kW) • R88M-K1K530F/C (1.5 kW) Power supply voltage Power supply voltage Power supply voltage (N •...
  • Page 139 3-3 Servomotor Specifications Use the following Servomotors in the ranges shown in the graphs below. Using outside of these ranges may cause the motor to generate heat, which could result in encoder malfunction. • R88M-K05030L/S/H/T • R88M-K10030L/S/H/T • R88M-K20030L/SH/T (50 W: With oil seal) (100 W: With oil seal) (200 W: With oil seal) Rated torque ratio [%]...
  • Page 140 3-3 Servomotor Specifications 2,000-r/min Motors 200 VAC Model (R88M-) K1K020H K1K520H K2K020H K1K020T K1K520T K2K020T Item Unit Rated output * 1,000 1,500 2,000 Rated torque * N • m 4.77 7.16 9.55 Rated rotation speed r/min 2,000 Momentary maximum r/min 3,000 rotation speed Momentary maximum...
  • Page 141 3-3 Servomotor Specifications 200 VAC Model (R88M-) K1K020H K1K520H K2K020H K1K020T K1K520T K2K020T Item Unit Allowable total work 7.810 1.510 1.510 Allowable angular rad/s 10,000 acceleration Brake limit  10 million times min. Rating Continuous  Insulation class Type F ...
  • Page 142 3-3 Servomotor Specifications 200 VAC Model (R88M-) K3K020H K4K020H K5K020H K3K020T K4K020T K5K020T Item Unit Brake inertia kg • m 1.3510 4.710 4.710 24 VDC  10% Excitation voltage * Power consumption (at 20C) Current consumption 0.9010% 1.310% 1.310% (at 20C) Static friction torque N •...
  • Page 143 3-3 Servomotor Specifications 400 VAC Model (R88M-) K40020F K60020F K1K020F K1K520F K40020C K60020C K1K020C K1K520C Item Unit Rated output * 1,000 1,500 Rated torque * N • m 1.91 2.86 4.77 7.16 Rated rotation speed r/min 2,000 Momentary maximum r/min 3,000 rotation speed Momentary maximum...
  • Page 144 3-3 Servomotor Specifications 400 VAC Model (R88M-) K2K020F K3K020F K4K020F K5K020F Item Unit K2K020C K3K020C K4K020C K5K020C Rated output * 2,000 3,000 4,000 5,000 Rated torque * N • m 9.55 14.3 19.1 23.9 Rated rotation speed r/min 2,000 Momentary maximum r/min 3,000 rotation speed...
  • Page 145 3-3 Servomotor Specifications 400 VAC Model (R88M-) K2K020F K3K020F K4K020F K5K020F Item Unit K2K020C K3K020C K4K020C K5K020C Brake inertia kg • m 1.3510 1.3510 4.710 4.710 24 VDC  10% Excitation voltage * Power consumption (at 20C) Current consumption 0.7910% 0.9010% 1.310% 1.310%...
  • Page 146 3-3 Servomotor Specifications *1. These are the values when the motor is combined with a drive at normal temperature (20C, 65%). The momentary maximum torque indicates the standard value. *2. Applicable load inertia.  The operable load inertia ratio (load inertia/rotor inertia) depends on the mechanical configuration and its rigidity. For a machine with high rigidity, operation is possible even with high load inertia.
  • Page 147 3-3 Servomotor Specifications  2,000-r/min motor (400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 400-VAC input. • R88M-K40020F/C (400 W) • R88M-K60020F/C (600 W) • R88M-K1K020F/C (1 kW) Power supply voltage Power supply voltage Power supply voltage (N •...
  • Page 148 3-3 Servomotor Specifications 1,000-r/min Motors 200 VAC Model (R88M-) K90010H K2K010H K3K010H K90010T K2K010T K3K010T Item Unit Rated output * 2,000 3,000 Rated torque * N • m 8.59 19.1 28.7 Rated rotation speed r/min 1,000 Momentary maximum r/min 2,000 rotation speed Momentary maximum N •...
  • Page 149 3-3 Servomotor Specifications 200 VAC Model (R88M-) K90010H K2K010H K3K010H Item Unit K90010T K2K010T K3K010T Allowable work per 1176 1372 1372 braking Allowable total work 1.510 2.910 2.910 Allowable angular rad/s 10,000 acceleration Brake limit  10 million times min. Rating Continuous ...
  • Page 150 3-3 Servomotor Specifications 400 VAC Model (R88M-) K90010F K2K010F K3K010F Item Unit K90010C K2K010C K3K010C Brake inertia kg • m 1.3510 4.710 4.710 Excitation voltage * 24 VDC ± 10% Power consumption (at 20C) Current consumption 0.7910% 1.310% 1.410% (at 20C) Static friction torque N •...
  • Page 151 3-3 Servomotor Specifications Torque-Rotation Speed Characteristics for 1,000-r/min Motors  1,000-r/min motor (200/400 VAC) The following graphs show the characteristics with a 3-m standard cable and a 200-VAC input. • R88M-K90010H/T/F/C • R88M-K2K010H/T/F/C • R88M-K3K010H/T/F/C (900 W) (2 kW) (3 kW) Power supply voltage Power supply voltage Power supply voltage...

  • Page 152: Encoder Specifications

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

  • Page 153: Cable And Connector Specifications

    3-4 Cable and Connector Specifications 3-4 Cable and Connector Specifications This section specifies the cables and connectors that are used to connect the Servo Drive and the Servomotor. Select ones in accordance with the Servomotor specifications. Encoder Cable Specifications These cables are used to connect the encoder between a drive and a motor. Select the cable matching the motor.
  • Page 154 3-4 Cable and Connector Specifications R88A-CRKCxNR Cable types (For both absolute encoders and incremental encoders: [100 V and 200 V] For 3,000-r/min motors of 1 kW or more, [400 V] 3,000-r/min motors, 2,000-r/min motors and 1,000-r/min motors) Outer diameter of Model Length (L) Weight...

  • Page 155: Absolute Encoder Battery Cable Specifications

    3-4 Cable and Connector Specifications Absolute Encoder Battery Cable Specifications Use the following Cable when using an absolute encoder. Cable Model Model Length (L) Battery Weight R88A-CRGD0R3C 0.3 m Not included Approx. 0.1 kg R88A-CRGD0R3C-BS 0.3 m R88A-BAT01G 1 included Approx.

  • Page 156: Motor Power Cable Specifications

    3-4 Cable and Connector Specifications Motor Power Cable Specifications These cables connect the drive and motor. Select the cable matching the motor. All cables and connectors listed are flexible, shielded and have IP67 protection. Power Cables without Brakes (Flexible Cables) R88A-CAKAxSR-E Cable types [100 V and 200 V] (For 3,000-r/min motors of 50 to 750 W)
  • Page 157 3-4 Cable and Connector Specifications R88A-CAGBxSR-E Cable types 200 V: (For 3,000-r/min motors of 1 to 2 kW, 2,000-r/min motors of 1 to 2 kW, 1,000-r/min motors of 900 W) 400 V: (For 3,000-r/min motors of 750W to 2 kW, 2,000-r/min motors of 400 W to 2 kW, 1,000-r/min motors of 900 W) Outer diameter of Model...
  • Page 158 3-4 Cable and Connector Specifications R88A-CAGDxSR-E Cable types (For 3,000-r/min motors of 3 to 5 kW, 2,000-r/min motors of 3 to 5 kW, 1,000-r/min motors of 2 to 3 kW) Outer diameter of Model Length (L) Weight sheath R88A-CAGD001-5SR-E 1.5 m Approx.
  • Page 159 3-4 Cable and Connector Specifications Power Cables with Brakes (Flexible Cables) R88A-CAGBxBR-E Cable types 200 V: (For 3,000-r/min motors of 1 to 2 kW, 2,000-r/min motors of 1 to 2 kW, 1,000-r/min motors of 900 W) Outer diameter of Model Length (L) Weight sheath...
  • Page 160 3-4 Cable and Connector Specifications R88A-CAKFxBR-E Cable types 400 V: (For 3,000-r/min motors of 750W to 2 kW, 2,000-r/min motors of 400 W to 2 kW, 1,000-r/min motors of 900 W) Outer diameter of Model Length (L) Weight sheath R88A-CAKF001-5BR-E 1.5 m Approx.
  • Page 161 3-4 Cable and Connector Specifications R88A-CAGDxBR-E Cable types (For 3,000-r/min motors of 3 to 5 kW, 2,000-r/min motors of 3 to 5 kW, 1,000-r/min motors of 2 to 3 kW) Outer diameter of Model Length (L) Weight sheath R88A-CAGD001-5BR-E 1.5 m Approx.

  • Page 162: Connector Specifications

    3-4 Cable and Connector Specifications Connector Specifications Control I/O Connector (R88A-CNW01C) This is the connector to be connected to the drive's control I/O connector (CN1). Use this connector when preparing a control cable by yourself. Dimensions Connector plug model 10150-3000PE (Sumitomo 3M) Connector case model 10350-52A0-008 (Sumitomo 3M) t = 18...
  • Page 163 3-4 Cable and Connector Specifications R88A-CNK02R (motor side) Adaptive motors 100-V, 3,000-r/min motors of 50 to 400 W Use the following cable. 200-V, 3,000-r/min motors of 50 to 750 W  Applicable wire: AWG22 max.  Insulating cover outer diameter: 1.3 mm dia. max. ...
  • Page 164 3-4 Cable and Connector Specifications Power Cable Connector (R88A-CNK11A) This connector is used for power cables. Use it when preparing a power cable by yourself. 17.6 R5.5 14.7 28.8 Angle plug model JN8FT04SJ1 The cable direction from the angle plug (Japan Aviation Electronics) can be reversed.

  • Page 165: Analog Monitor Cable Specifications

    3-4 Cable and Connector Specifications Analog Monitor Cable Specifications Analog Monitor Cable (R88A-CMK001S) Connection configuration and external dimensions Symbol White Black Cable: AWG24 × 3C UL1007 Connector housing: 51004-0600 (Molex Japan) Connector terminal: 50011-8000 (Molex Japan) 3-70 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 166 3-4 Cable and Connector Specifications External Encoder Connector (R88A-CNK41L) Use this connector to connect to an external encoder in full closing control. (42.5) 13.6 (10.5) 10.4 Connector plug model MUF-PK10K-X (J.S.T. Mfg. Co., Ltd.) Safety I/O Signal Connector (R88A-CNK81S) Use this connector to connect to safety devices. φ6.7 Note:For information on wiring, refer to "Safety Connector Specifications (CN8)"(P.3-30).

  • Page 167: Mechatrolink-Ii Communications Cable Specifications

    3-4 Cable and Connector Specifications MECHATROLINK-II Communications Cable Specifications The MECHATROLINK-II Communications Cable is equipped with a connector on each end and a core. Cable Types Name Model Length (L) FNY-W6003-A5 0.5 m FNY-W6003-01 FNY-W6003-03 MECHATROLINK-II Communications FNY-W6003-05 Cable FNY-W6003-10 10 m FNY-W6003-20 20 m...
  • Page 168 3-4 Cable and Connector Specifications Wiring This is an example to connect a host controller and the Servo Drive by the MECHATROLINK- II Communications Cable. NC Unit Terminating Resistor Note 1.The cable between the two nodes (L1, L2 ... or Ln) must be 0.5 m or longer. Note 2.The total length of the cable (L1 ...

  • Page 169: Control Cable Specifications

    Connector case: EXT3 EXT3 10326-52A0-008 (Sumitomo 3M) EXT2 EXT2 EXT1 EXT1 [Terminal Block Connector] BATGND BATGND Connector socket: XG4M-2030 (OMRON) BKIRCOM BKIRCOM Strain relief: BKIR BKIR XG4T-2004 (OMRON) ALMCOM ALMCOM [Cable] AWG28 × 3P + AWG28 × 8C UL2464 Shell * Before you use, confirm that the signals of Servo Drive connector are set as shown above.
  • Page 170 3-4 Cable and Connector Specifications Connector-Terminal Block Conversion Unit (XW2B-20Gx) The Unit is used with a Connector Terminal Block Cable (XW2Z-xJ-B34). They convert the control input signal (CN1) of the G5-series Servo Drive into a terminal block. Terminal Block Models Model Description XW2B-20G4...
  • Page 171 3-4 Cable and Connector Specifications XW2B-20G5 Dimensions Flat cable connector (MIL type plug) 112.5 φ Terminal block Note The pitch of terminals is 8.5 mm. Precautions for Correct Use  When using crimp terminals, use crimp terminals with the following dimensions. Fork terminal Round terminal φ3.7 mm...
  • Page 172 3-4 Cable and Connector Specifications XW2D-20G6 Dimensions (39.1) 17.6 2- φ 4.5 Precautions for Correct Use  When using crimp terminals, use crimp terminals with the following dimensions. Round terminal Fork terminal φ3.2mm 5.8 mm max. 5.8 mm max. 3.2 mm Applicable crimp terminals Applicable wires Round terminals...
  • Page 173 3-4 Cable and Connector Specifications Terminal Block Wiring Example The example is common for XW2B-20G4, -20G5, and XW2D-20G6. +24 V +24 V +24 V STOP EXT3 EXT1 BKIR EXT2 BATGND BKIRCOM ALMCOM 24 VDC 24 VDC *1. Assign the brake interlock output (BKIR) to CN1-1 pin. *2.

  • Page 174: External Regeneration Resistor Specifications

    3-5 External Regeneration Resistor Specifications 3-5 External Regeneration Resistor Specifications External Regeneration Resistor Specifications R88A-RR08050S Regeneration Resistance Nominal Heat radiation Thermal switch Model absorption for 120C value capacity condition output specifications temperature rise Operating temperature 150C  5% NC contact Aluminum Rated output (resistive R88A-...

  • Page 175: External Regeneration Resistor Specifications

    3-5 External Regeneration Resistor Specifications R88A-RR50020S Regeneration Resistance Nominal Heat radiation Thermal switch Model absorption for 120C value capacity condition output specifications temperature rise Operating temperature 200C  7C NC contact Aluminum R88A- Rated output (resistive 20  500 W 180 W 600...

  • Page 176: Reactor Filter Specifications

    3-6 Reactor Filter Specifications 3-6 Reactor Filter Specifications Use reactors to suppress harmonic currents. Connect it to a Servo Drive. Select the proper reactor model according to the Servo Drive to be used. Specifications Servo Drive Reactor Number of Rated Model power Model...

  • Page 177: Mechatrolink-Ii Repeater Unit Specifications

    3-7 MECHATROLINK-II Repeater Unit Specifications 3-7 MECHATROLINK-II Repeater Unit Specifications The MECHATROLINK-II Repeater Units are necessary to extend the MECHATROLINK-II connection distance. Specifications FNY-REP2000 Item Description Between a Controller and a Repeater Unit: 50 m max Cable length Between a Repeater Unit and a Terminating Resistor: 50 m max Between a Controller and a Repeater Unit: 14 nodes in every 50 m, or 15 nodes in every 30 m, Between a Repeater Unit and a Terminating Resistor: 15 nodes in every 50 m, or...

  • Page 178: Repeater Unit Part Names

    3-7 MECHATROLINK-II Repeater Unit Specifications Repeater Unit Part Names Power-on LED (POWER) DIP switches (SW) CN1: transmitting (TX1) * Keep all pins off while use. CN2: communicating (TX2) MECHATROLINK-II communications connector (CN1 and CN2) Control power terminal (24-VDC and 0-VDC) Protective ground terminal Connection Method This is an example to connect a Host Controller, a Repeater Unit and plural Servo Drives.
  • Page 179 System Design This chapter explains the installation conditions, wiring methods including wiring conforming to EMC directives and regenerative energy calculation methods regarding the Servo Drive, Servomotor, as well as the performance of External Regeneration Resistors, and so on. 4-1 Installation Conditions ..........4-1 4-2 Wiring................4-7 4-3 Wiring Conforming to EMC Directives......4-21 4-4 Regenerative Energy Absorption......4-47...

  • Page 180: Installation Conditions

    4-1 Installation Conditions 4-1 Installation Conditions Servo Drive Installation Conditions Dimension Conditions around Equipment  Install drives according to the dimensions shown in the following illustration to ensure proper heat dispersion inside the drive and convection inside the panel. If the drives are installed side by side, install a fan for air circulation to prevent uneven temperatures inside the panel.
  • Page 181 4-1 Installation Conditions Ambient Temperature Control  To operate in environments in which there is minimal temperature rise is recommended to maintain a high level of reliability.  When the drive is installed in a closed space, such as a box, ambient temperature may rise due to temperature rise in each unit.

  • Page 182: Servomotor Installation Conditions

    4-1 Installation Conditions Servomotor Installation Conditions Environment Operating Conditions  The environment in which the motor is operated must meet the following conditions. Operating the motor out of the following ranges may result in malfunction of the motor. Operating ambient temperature: 0 to 40C Operating humidity: 85% RH max.
  • Page 183 4-1 Installation Conditions  When connecting to a V-belt or timing belt, consult the manufacturer for belt selection and tension.  A radial load twice as large as the belt tension can be placed on the motor shaft. Do not allow the allowable radial load or more to be placed on the motor shaft.
  • Page 184 4-1 Installation Conditions Radiator Plate Installation Conditions  When you mount a Servomotor onto a small device, be sure to provide enough radiation space on the mounting area. Otherwise the Servomotor temperature rises too high to break. One of the preventive measures is to install a radiator plate between the motor attachment area and the motor flange.

  • Page 185: Decelerator Installation Conditions

    4-1 Installation Conditions Decelerator Installation Conditions Using Another Company's Decelerator (Reference) If the system configuration requires another company's decelerator to be used in combination with an OMNUC G5-Series motor, select the decelerator so that the load on the motor shaft (i.e., both the radial and thrust loads) is within the allowable range.

  • Page 186: Wiring

    Confirming to EMC Directives. 24 VDC *2. Recommended relay: MY relay by OMRON (24-V type) ALMCOM For example, MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated 24 VDC OUTM1 induction load is 2 A (24 VDC).
  • Page 187 *2. Recommended relay: MY relay by /ALM OMRON (24-V type) For example, MY2 24 VDC relay by OMRON can be used with all ALMCOM G5-series motors with brakes because its rated induction load is 2 A (24 VDC). 24 VDC OUTM1 *3.
  • Page 188 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V type) For example, MY2 24 VDC relay by OMRON can be used with all ALMCOM G5-series motors with brakes because its rated induction load is 2 A (24 VDC). OUTM1 24 VDC *3.
  • Page 189 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V type) For example, MY2 24 VDC relay by OMRON can be used with all ALMCOM G5-series motors with brakes because its rated induction load is 2 A (24 VDC). OUTM1 24 VDC *3.
  • Page 190 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V type) For example, MY2 24 VDC relay by OMRON can be used with all ALMCOM G5-series motors with brakes because its rated induction load is 2 A (24 VDC). OUTM1 24 VDC *3.
  • Page 191 Wiring Confirming to EMC Directives. *2. Recommended relay: MY relay by /ALM OMRON (24-V type) 24 VDC For example, MY2 relay by OMRON ALMCOM can be used with all G5-Series motors with brakes because its rated induction OUTM1 24 VDC load is 2 A (24 VDC).

  • Page 192: Main Circuit And Motor Connections

    4-2 Wiring Main Circuit and Motor Connections When wiring the main circuit, use proper wire sizes, grounding systems, and noise resistance. R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN04L-ML2/-KN01H-ML2/ -KN02H-ML2/-KN04H-ML2/-KN08H-ML2/-KN10H-ML2/-KN15H-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function R88D-KNxL-ML2 (50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz Main circuit power supply R88D-KNxH-ML2 input...
  • Page 193 4-2 Wiring R88D-KN20H-ML2 Main Circuit Connector Specifications (CNA) Symbol Name Function Main circuit power supply R88D-KN20H-ML2 (2 kW) : input 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz Control circuit power R88D-KN20H-ML2 : supply input Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz Motor Connector Specifications (CNB) Symbol Name...
  • Page 194 4-2 Wiring R88D-KN30H-ML2/-KN50H-ML2 Terminal Block Specifications Symbol Name Function Main circuit power supply R88D-KNxH-ML2 (3 to 5 kW): 3-phase 200 to 230 VAC (170 to 253 input V) 50/60 Hz R88D-KNxH-ML2: Single-phase 200 to 230 VAC (170 to 253 V) 50/ Control circuit power 60 Hz supply input...
  • Page 195 4-2 Wiring Control Circuit Connector Specifications (CNC) Symbol Name Function 24 V Control circuit power 24 VDC (21.6 to 26.4 V) supply input External Regeneration Resistor Connector Specifications (CND) Symbol Name Function External Regeneration Normally B2 and B3 are connected. Do not short B1 and B2. Resistor connection Doing so may cause malfunctions.
  • Page 196 AWG14  Screw size  Tightening torque N•m *1. Connect OMRON Power Cables to the motor connection terminals. *2. Use the same wire sizes for B1 and B2. 4-17 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 197 Tightening torque N•m *1. The left value is for single-phase input and the right value is for 3-phase input. *2. Connect an OMRON power cable to the motor connection terminals. *3. Use the same wire sizes for B1 and B2. 4-18...
  • Page 198  Tightening torque N•m *1. Connect OMRON Power Cables to the motor connection terminals. *2. Use the same wire sizes for B1 and B2. Wire Sizes and Allowable Current (Reference) The following table shows the allowable current when there are 3 power supply wires. Use a current below these specified values.
  • Page 199 4-2 Wiring Terminal Block Wiring Procedure On a Servo Drive with 2.0 kW or less, a connector-type terminal block is used. The procedure for wiring these terminal blocks is explained below. Connector-type terminal block (Example of R88D-KN02H-ML2) 1. Remove the terminal block from the Servo Drive before wiring. The Servo Drive may be damaged if the wiring is done with the terminal block in place.

  • Page 200: Wiring Conforming To Emc Directives

    4-3 Wiring Conforming to EMC Directives 4-3 Wiring Conforming to EMC Directives Conformance to the EMC directives (EN55011 Class A Group 1 (EMI) and EN61000-6-2 (EMS)) can be ensured by wiring under the conditions described in this section. These conditions are for conformance of OMNUC G5-Series products to the EMC directives. EMC-related performance of these products, however, may be influenced by the configuration, wiring, and other conditions of the equipment in which the products are installed.
  • Page 201 3SUP-HU10-ER-6 3-phase 200 VAC (10 A) Noise filter Industries Co., Ltd. 3SUP-HU30-ER-6 3-phase 200 VAC (30 A) 3SUP-HL50-ER-6B 3-phase 200 VAC (50 A)  Servo Drive OMRON Servomotor OMRON   Clamp core ZCAT3035-1330 Clamp core Konno Industry RJ8035 For R88D-KN20H-ML2/...
  • Page 202 R•A•V-801BXZ-4 Surge absorber Industries Co., Ltd. FN258L-16-07 3-phase 400 VAC (16 A) Noise filter Schaffner EMC Inc. FN258L-30-07 3-phase 400 VAC (30 A)  Servo Drive OMRON Servomotor OMRON   Clamp core ZCAT3035-1330 Clamp core ZCAT3035-1330 For R88D-KN06F-ML2/ -KN10F-ML2/-KN15F-ML2...
  • Page 203 4-3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend you to use the noise filter for the Servo Drive. Drive Noise filter for power supply input Rated Leakage current Manufactur Model Model Phase current (60 Hz) max Single- R88D-KA5L...
  • Page 204 4-3 Wiring Conforming to EMC Directives Separate the input and output. The effect of the noise filter is small. AC input AC output AC input Ground Ground AC output  Use twisted-pair cables for the power supply cables, or bind the cables. Twisted-pair cables Bound cables Servo Drive...
  • Page 205 4-3 Wiring Conforming to EMC Directives 3SUP-HU30-ER-6 3SUP-HL50-ER-6B ±3.0 ±1.0 2-φ5.5 2-φ5.5×7 Ground terminal Attachment screw for cover M3 Cover Noise filter unit 3SUP-HU50-ER-6 Ground terminal Attachment screw for cover M3 Cover Noise filter unit 4-26 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 206 4-3 Wiring Conforming to EMC Directives Circuit Diagram SUP-EK5-ER-6 3SUP-HU10-ER-6/3SUP-HU30-ER-6 3SUP-HU50-ER-6 3SUP-HL50-ER-6B LINE LOAD 4-27 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 207 4-3 Wiring Conforming to EMC Directives Control Panel Structure Openings in the control panel, such as holes for cables, panel mounting holes, and gaps around the door, may allow electromagnetic waves into the panel. To prevent this, observe the recommendations described below when designing or selecting a control panel. Case Structure ...

  • Page 208: Selecting Connection Component

    4-3 Wiring Conforming to EMC Directives Selecting Connection Component This section explains the criteria for selecting the connection components required to improve noise resistance. Understand each component's characteristics, such as its capacity, performance, and applicable range when selecting the connection components. For more details, contact the manufacturers directly.
  • Page 209 4-3 Wiring Conforming to EMC Directives Inrush current (A0-p) Drive model Main circuit Control circuit power supply power supply R88D-KN06F-ML2 R88D-KN10F-ML2 R88D-KN15F-ML2 R88D-KN20F-ML2 R88D-KN30F-ML2 R88D-KN50F-ML2 Leakage Breaker  Select leakage breakers designed for protection against ground faults.  When selecting leakage breakers, remember to add the leakage current from devices other than the motor, such as devices using a switching power supply, noise filters, inverters, and so on.
  • Page 210 4-3 Wiring Conforming to EMC Directives Leakage current Increase per 10 m Servo Drive model Input power supply (Cable: 3 m) of cable R88D-KN20H-ML2 3-phase 200 V 1.53 mA R88D-KN30H-ML2 3-phase 200 V 1.52 mA 1.23 mA R88D-KN50H-ML2 3-phase 200 V 1.39 mA R88D-KN06F-ML2 3-phase 400 V...
  • Page 211 4-3 Wiring Conforming to EMC Directives External Dimensions For single-phase (BWZ series) For 3-phase (BXZ series) φ4.2 φ4.2 1 2 3 Equalizing Circuits For 3-phase (BXZ series) For single-phase (BWZ series) (2) (3) 4-32 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 212 4-3 Wiring Conforming to EMC Directives Noise Filter for Power Supply Input We recommend you to use the noise filter for the Servo Drive. Drive Noise filter for power supply input Rated Leakage current Model Model Manufacturer Phase current (60 Hz) max Single- R88D-KA5L...
  • Page 213 4-3 Wiring Conforming to EMC Directives External Dimensions SUP-EK5-ER-63SUP-HQ10-ER-6 100±2.0 53.1±2.0 88.0 75.0 Ground terminal 11.6 Attachment 13.0 screw for cover M3 Cover Noise filter unit 3SUP-HU30-ER-63SUP-HL50-ER-6B ±3.0 ±1.0 2-φ5.5 2-φ5.5×7 Ground terminal Attachment screw for cover M3 Cover Noise filter unit 4-34 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 214 4-3 Wiring Conforming to EMC Directives Circuit Diagram SUP-EK5-ER-6 3SUP-HQ10-ER-6 3SUP-HU30-ER-6 3SUP-HL50-ER-6B LINE LOAD Noise Filter for the Brake Power Supply  Use the following noise filter for the brake power supply. Rated Rated Model Leakage current Manufacturer current voltage Okaya Electric SUP-EK5-ER-6 250 V...
  • Page 215 Use one of the following filters to prevent switching noise of PWM of the Servo Drive and to prevent noise emitted from the internal clock circuit. Model Manufacturer Application 3G3AX-ZCL1 OMRON For Drive output and power cable 3G3AX-ZCL2 OMRON For Drive output and power cable ESD-R-47B...
  • Page 216 4-3 Wiring Conforming to EMC Directives External Dimensions 3G3AX-ZCL1 3G3AX-ZCL2 3-M4 180±2 2-M5 160±2 ESD-R-47B ZCAT3035-1330 17.5 φ5.1 RJ8035 Dimensions (unit: mm) Model Current Core thickness RJ8035 35 A R3.5 4-37 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 217 4-3 Wiring Conforming to EMC Directives Impedance Characteristics 3G3AX-ZCL1 3G3AX-ZCL2 1000 1000 10000 Frequency (kHz) Frequency (kHz) ESD-R-47B ZCAT3035-1330 1000 10000 1000 1000 1000 Frequency (MHz) Frequency (MHz) RJ8035 10000 1000 0.01 1000 Frequency (kHz) 4-38 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 218 4-3 Wiring Conforming to EMC Directives Surge Suppressor  Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc.  The following table shows the types of surge suppressors and recommended products. Type Feature Recommended product Diodes Diodes are used for relatively small loads...
  • Page 219 4-3 Wiring Conforming to EMC Directives Improving Encoder Cable Noise Resistance Take the following steps during wiring and installation to improve the encoder's noise resistance.  Always use the specified encoder cables.  Do not roll cables. If cables are long and are rolled, mutual induction and inductance will increase and cause malfunctions.
  • Page 220 4-3 Wiring Conforming to EMC Directives Improving Control I/O Signal Noise Resistance Positioning can be affected and I/O signal errors can occur if control I/O is influenced by noise.  Use completely separate power supplies for the control power supply (especially 24 VDC) and the external operation power supply.
  • Page 221 4-3 Wiring Conforming to EMC Directives Reactor to Reduce Harmonic Current Harmonic Current Measures  Use a Reactor to suppress harmonic currents. The Reactor functions to suppress sudden and quick changes in electric currents.  The Guidelines for Suppressing Harmonic Currents in Home Appliances and General Purpose Components require that manufacturers take appropriate remedies to suppress harmonic current emissions onto power supply lines.
  • Page 222 Manufacturer Model Comment current 3G3AX-NFO01 3G3AX-NFO02 12 A 3G3AX-NFO03 25 A OMRON For inverter output 3G3AX-NFO04 50 A 3G3AX-NFO05 75 A 3G3AX-NFO06 100 A Note 1. Motor output lines cannot use the same noise filters for power supplies. Note 2. General noise filters are made for power supply frequencies of 50/60 Hz. If these noise filters are connected to the PWM output of the Servo Drive, a very large (about 100 times larger) leakage current may flow through the noise filter's capacitor and the Servo Drive could be damaged.
  • Page 223 4-3 Wiring Conforming to EMC Directives 3G3AX-NFO03/-NFO04/-NFO05/-NFO06 6−O 2−N 4−φ6.5 Dimensions (mm) Model  3G3AX-NFO03  3G3AX-NFO04 3G3AX-NFO05 3G3AX-NFO06 4-44 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 224: Conformity To Iec 61800-5-1

    4-3 Wiring Conforming to EMC Directives Conformity to IEC 61800-5-1 Ground fault protection G5 series servo drives do not have ground fault protection function. Install a circuit breaker (MCCB) or a leakage circuit breaker (ELCB) in the wiring, according to the grounding system. The conditions for ground fault protection by the cercuit breakers are as follows: The requirements of EN 60364-4-41 are met under these conditions.
  • Page 225 4-3 Wiring Conforming to EMC Directives For TT system ELCB Acceptable Voltage maximum rated Rated Model to earth fault loop sensitivity current Type name Manufacturer impedance current [Ω] [mA] R88D-K*A5L-* BW50RAGU Fuji Electric Fuji Electric R88D-K*01L-* BW50RAGU Fuji Electric R88D-K*02L-* BW50RAGU Fuji Electric R88D-K*04L-*...

  • Page 226: Regenerative Energy Absorption

    4-4 Regenerative Energy Absorption 4-4 Regenerative Energy Absorption A Servo Drive uses its built-in capacitors to absorb the regenerative energy produced during motor deceleration. If the amount of regenerative energy is too much for the built-in capacitors to absorb, it also uses an Internal Regeneration Resistor. An overvoltage error occurs, however, if the amount of regenerative energy from the Servomotor is too large.
  • Page 227 4-4 Regenerative Energy Absorption  For models with internal capacitors used for absorbing regenerative energy (i.e., Servo Drive Servo Drive models of 400 W or less), the values for both Eg or Eg (unit: J) must be lower than the drive's regeneration absorption capacity. (The capacity depends on the model.For details, refer to the next section.) ...
  • Page 228 4-4 Regenerative Energy Absorption Determining the Capacity of Regenerative Energy Absorption by Built-in Capacitors If both the values E and E [J] mentioned above are equal to or less than the value of the Servo Drive’s regenerative energy that can be absorbed by built-in capacitors Ec [J], the Servo Drive can process regenerative energy only by its built-in capacitors.

  • Page 229: Servo Drive Regeneration Absorption Capacity

    4-4 Regenerative Energy Absorption Servo Drive Regeneration Absorption Capacity The following table shows the regenerative energy (and amount of regeneration) that each Servo Drive can absorb. If these values are exceeded, take the processes above. Internal regeneration Allowable resistor Regenerative energy minimum Servo Drive model absorbable by built-in...

  • Page 230: Regenerative Energy Absorption With An External Regeneration Resistor

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

  • Page 231: Connecting An External Regeneration Resistor

    4-4 Regenerative Energy Absorption Connecting an External Regeneration Resistor R88D-KNA5L-ML2/-KN01L-ML2/-KN02L-ML2/-KN01H-ML2/-KN02H-ML2/-KN04H-ML2 Normally B2 and B3 are open. If an External Regeneration Resistor is necessary, connect the External Regeneration Resistor between B1 and B2 as shown in the diagram below. Servo Drive θ...
  • Page 232 4-4 Regenerative Energy Absorption Combining External Regeneration Resistors Regeneration absorption 20 W 40 W 70 W 140 W capacity R88A-RR08050S R88A-RR08050S R88A-RR22047S1 R88A-RR22047S1 Model R88A-RR080100S R88A-RR080100S Resistance 50 /100  25 /50  47  94  value Connection method Regeneration 140 W 280 W...

  • Page 233: Large Load Inertia Adjustment And Dynamic Brake

    4-5 Large Load Inertia Adjustment and Dynamic Brake 4-5 Large Load Inertia Adjustment and Dynamic Brake The applicable load inertia of the Servomotor is the value of the load inertia at which the Servo Drive circuit is not destroyed in normal usage conditions. Use the Servomotor at or below the applicable load inertia, and note the cautions below regarding adjustment and dynamic braking.
  • Page 234 4-5 Large Load Inertia Adjustment and Dynamic Brake  Main circuit power supply OFF (Pn507 Stop Selection with Main Power Supply OFF)  When the Servo is OFF (Pn506 Stop Selection with Servo OFF)  When an error occurs (Pn510 Stop Selection for Alarm Detection) ...
  • Page 235 BASIC CONTROL Mode This chapter explains an outline of operations available in various CONTROL modes and explains the contents of setting. 5-1 Position Control............5-1 5-2 Speed Control ...............5-4 5-3 Torque Control..............5-6 5-4 Full Closing Control .............5-9 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 236: Position Control

    5-1 Position Control 5-1 Position Control The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the position control commands. The Servo Drive uses the commands and rotates the motor in the values obtained by multiplying the command by the Electronic Gear Ratio (determined by the settings in Pn009 or Pn010) Servo Drive Host Controller...

  • Page 237: Related Functions

    5-1 Position Control Related Functions Parameter Parameter name Explanation Reference number Position Command Filter Set the time constant of the first-order lag filter for the Pn222 P.8-23 Time Constant position command. Positioning Completion Set the threshold of position error for output of the positioning Pn431 P.8-35 Range 1...

  • Page 238: Parameter Block Diagram For Position Control Mode

    5-1 Position Control Parameter Block Diagram for POSITION CONTROL mode OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 239: Speed Control

    5-2 Speed Control 5-2 Speed Control The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the speed control commands. The Servo Drive uses the commands and rotates the motor in the commanded speed output. The present value to be fed back from the Servo Drive to the Controller is the values obtained by dividing the command by the Electronic Gear Ratio (determined by the settings in Pn009 or Pn010).

  • Page 240: Parameter Block Diagram For Speed Control Mode

    5-2 Speed Control Parameter Block Diagram for SPEED CONTROL mode OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 241: Torque Control

    5-3 Torque Control 5-3 Torque Control The CJ1W- and CS1W-NCx71 Position Control Units for MECHATROLINK-II issue the torque control commands. The Servo Drive uses the commands and rotates the motor in the commanded torque output. The present value to be fed back from the Drive to the Controller is the values obtained by dividing the command by the Electronic Gear Ratio (determined by the settings in Pn009 or Pn010).

  • Page 242: Related Functions

    5-3 Torque Control Related Functions Parameter Parameter name Explanation Reference number Set the speed limit value applicable during torque control. Speed Limit Value Pn321 During torque control, the speed is controlled so as not to P.8-26 Setting exceed the level set by the speed limit value. OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 243: Parameter Block Diagram For Torque Control Mode

    5-3 Torque Control Parameter Block Diagram for TORQUE CONTROL mode OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 244: Full Closing Control

    5-4 Full Closing Control 5-4 Full Closing Control An externally provided scale is used to directly detect the position of the control target and feedback the detected machine position to perform position control. This way, controls become possible that is not affected by ball screw error, temperature change, etc. You can achieve highly accurate positioning by configuring a full closing control system.

  • Page 245: Parameters Requiring Settings

    5-4 Full Closing Control Parameters Requiring Settings Parameter Parameter name Explanation Reference number Rotation Direction Set the relation between the command direction and the motor Pn000 P.8-1 Switching rotation direction. CONTROL mode Select the CONTROL mode. Pn001 P.8-1 Selection Electronic Gear Set the numerator of the electronic gear ratio for the command Pn009 P.8-4...
  • Page 246 5-4 Full Closing Control Electronic Gear Function (Pn009, Pn010) This function sets the position command for the position control part a value calculated by multiplying the pulse command input from the Host Controller with the set electronic gear ratio. Parameter Setting Parameter name Explanation...
  • Page 247 5-4 Full Closing Control Supportive Scales The corresponding scale for each output type is as follows. Pn323 Maximum input External encoder type Corresponding scale examples frequency * value  90 phase difference External encoder of 90 phase difference 0 to 4 Mpps *2*3 output type output type...
  • Page 248 5-4 Full Closing Control Reference Maximum Input Frequency  For example, the maximum speed when an external encoder with a resolution of 0.01 m is used for the serial communication type is 0.01 m  (400  10 ) pps = 4.00 m/s. An overspeed error protection is generated, however, if the motor shaft rotation speed exceeds the maximum speed.
  • Page 249 5-4 Full Closing Control  Setting Examples  Ball screw pitch 10 mm  External encoder resolution 0.1 m  Encoder resolution 20 bits Servomotor 1 Rotation encoder resolution: 20 bits/rotation 10 mm Ball screw Ball screw pitch 10 mm External encoder Encoder Output Pulses per Motor Rotation (Pn324) resolution: 0.1 μm...
  • Page 250 5-4 Full Closing Control External Feedback Pulse Error Setting (Pn328, Pn329) The difference between the encoder position and external encoder position is detected, and if the difference exceeds the value of Internal/External Feedback Pulse Error Counter Overflow Level (Pn328), an error occurs. Parameter Setting Parameter name...

  • Page 251: Parameter Block Diagram For Full Closing Control Mode

    5-4 Full Closing Control Parameter Block Diagram for FULL CLOSING CONTROL mode 5-16 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 253 Applied Functions This chapter gives outline of applied functions such as electronic gears, gain switching and soft start, and explains the setting contents. 6-1 Sequence I/O Signal .............6-1 6-2 Forward and Reverse Drive Prohibition Functions ...6-6 6-3 Overrun Protection .............6-10 6-4 Backlash Compensation ..........6-12 6-5 Brake Interlock............6-14 6-6 Electronic Gear Function ...........6-19...

  • Page 254: Sequence I/O Signal

    6-1 Sequence I/O Signal 6-1 Sequence I/O Signal You can set a sequence in various operating conditions. For the connection of I/O signals and processing of external signals, refer to "Control I/O Connector Specifications (CN1)" (P.3-13). Input Signals You can allocate any function of input signals to the input pins for the control I/O connector (CN1).
  • Page 255 6-1 Sequence I/O Signal Parameters that Can Be Allocated Use the following parameters when changing the input signal allocation to use. For the setting method, refer to "Input Signal Allocation Method" (P.6-2). Parameter Parameter name Explanation Reference number Set the IN1 input function allocation. This parameter is based on the hex display Pn400 Input Signal Selection 1...
  • Page 256 6-1 Sequence I/O Signal Function Number Table The set values to be used for allocations are as follows. Set value Signal name Symbol  Disabled Setting not available Forward drive prohibition input Reverse drive prohibition input Emergency Stop Input STOP External Latch Input 1 EXT1 Setting not available...

  • Page 257: Output Signals

    6-1 Sequence I/O Signal Output Signals You can allocate any function of output signals to the output pins for the control I/O connector (CN1). If the G Series is being replaced, set the unit to the default setting before using it. Output Signal Default Setting The allocation of the default input signals is as follows.
  • Page 258 6-1 Sequence I/O Signal 00 ****** h Position control/full closing control Speed control Torque control Example: Position control or full closing control: Speed conformity output (08h) Speed control: Motor rotation speed detection output (05h) Torque control: Zero speed detection signal (07h) 00070508h Position control/full closing control Speed control...

  • Page 259: Forward And Reverse Drive Prohibition Functions

    6-2 Forward and Reverse Drive Prohibition Functions 6-2 Forward and Reverse Drive Prohibition Functions When the forward drive prohibition input (POT) and the reverse drive prohibition input (NOT) are turned OFF, the motor stops rotating. You can stop the motor from rotating beyond the device's operating range by connecting limit inputs.
  • Page 260 6-2 Forward and Reverse Drive Prohibition Functions Drive Prohibition Input Selection (Pn504) Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition Input (NOT). Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch.
  • Page 261 6-2 Forward and Reverse Drive Prohibition Functions Stop Selection for Drive Prohibition Input (Pn505) Set the deceleration and stop methods upon a forward or reverse drive prohibition is input. Decelerating After stopping Pn504 set Pn505 Error Error value set value Deceleration method Operation after stop counter...
  • Page 262 6-2 Forward and Reverse Drive Prohibition Functions Reference While the Forward Drive Prohibition Input (POT) is OFF, the Servomotor cannot be driven in the forward direction, but it can be driven in the reverse direction. Conversely, while the reverse drive prohibition input (NOT) is OFF, the Servomotor cannot be driven in the reverse direction, but it can be driven in the forward direction.

  • Page 263: Overrun Protection

    6-3 Overrun Protection 6-3 Overrun Protection The function detects an overrun limit error (Alarm No.34.0) and stops the Servomotor if the motor exceeds the allowable operating range set by the Overrun Limit Setting (Pn514) with respect to the position command input. The function can also prevent the Servomotor clash into the machine edge due to its vibration.

  • Page 264: Operation Example

    6-3 Overrun Protection Operation Example No Position Command Input (Servo-ON) No position command is entered. The Servomotor's allowable operating range is the range set by Pn514 in both right and left. An overrun limit error occurs (Alarm No.34.0) if the load enters the alarming range, or the shaded area in the drawing below, due to the oscillation.

  • Page 265: Backlash Compensation

    6-4 Backlash Compensation 6-4 Backlash Compensation The function compensates backlashes at position controls and full closing controls. Parameters Requiring Settings Parameter Parameter name Description Reference page number Backlash Select whether to enable or disable the backlash Pn704 Compensation compensation during position control. P.8-60 Selection Set the compensation direction.
  • Page 266 6-4 Backlash Compensation Precautions for Correct Use  The backlash compensation status is retained when you switch from position control to speed control or to torque control. When you switch back to position control, the backlash compensation resumes the status retained during the previous position control. ...

  • Page 267: Brake Interlock

    6-5 Brake Interlock 6-5 Brake Interlock This function lets you set the output timing for the brake interlock output (BKIR) that activates the holding brake when the servo is turned ON, an alarm generates, or the servo is turned OFF. Parameters Requiring Settings Parameter Parameter name...

  • Page 268: Operating Example

    6-5 Brake Interlock Operating Example Servo ON/OFF Operation Timings when Motor Is Stopped Operation command (RUN) Servo OFF Servo ON Servo OFF Approx. 2 ms Dynamic brake relay DB engaged DB released DB engaged Approx. 60 ms Pn437 Motor power supply No power supply Power supply No power supply...
  • Page 269 6-5 Brake Interlock Servo ON/OFF Operation Timings When Motor Is Rotating Based on these operation timings, regenerative energy is produced if the motor rotation stops abnormally. Accordingly, repeated operations cannot be performed. Provide a wait time of at least 10 minutes for the motor to cool down.
  • Page 270 6-5 Brake Interlock Operation Timings when Alarm Generates (Servo ON) Alarm generation Normal Alarm output 0.5 to 5 ms Motor power supply Power supply No power supply Dynamic brake relay DB Released DB engaged Servo ready READY output (READY) Alarm output (ALM) Alarm When the Pn438 setting is early...
  • Page 271 6-5 Brake Interlock Operation Timings at Alarm Reset Reset Alarm reset command 16 ms or more Servo ready READY output (READY) Alarm output (ALM) Alarm Alarm Released 0 ms or more Operation command (RUN) Servo ON Servo OFF 2 ms or more Dynamic brake relay Brake Engaged Brake Released...

  • Page 272: Electronic Gear Function

    6-6 Electronic Gear Function 6-6 Electronic Gear Function This function controls the position by using the value multiplied the position command entered on the Host Controller by the preset electronic gear ratio. The functions is used in the POSITION CONTROL and FULL CLOSING CONTROL modes. In speed or torque control, the number of encoder pulses from the motor is divided by the electronic gear and converted to the command unit for feedback.
  • Page 273 6-6 Electronic Gear Function Electronic Gear Ratio Setting (Pn009, Pn010) Electronic Electronic gear ratio Gear Ratio Description numerator Denominator (Pn006) (Pn010) When the Electronic Gear Ratio Numerator (Pn009) is 0, The processing changes with the set value of Electronic Gear Ratio Denominator (Pn010).

  • Page 274: Operation Example

    6-6 Electronic Gear Function Operation Example The example uses a motor with a 20- bit encoder (1048576 pulses per rotation) When the Electronic Gear Ratio Numerator (Pn009) is set to 0  If you set Pn010 = 2,000, the operation is the same as the 2,000 (pulses/rotation) Servomotor. Servo Drive Servomotor encoder resolution: 20 bits...

  • Page 275: Torque Limit Switching

    6-7 Torque Limit Switching 6-7 Torque Limit Switching The function switches the torque limit by the operation directions, and depending on the Forward External Torque Limit (PCL), the Reverse External Torque Limit (NCL), and the Forward/Reverse Torque Limit Input Commands from MECHATROLINK-II communications.
  • Page 276 6-7 Torque Limit Switching Torque Limits in POSITION, SPEED, TORQUE, and FULL CLOSING CONTROL Modes The term Torque FF refers to torque feed forward function. Position Control / Full Closing Control Speed Control Forward Reverse Forward Torque Reverse Torque Torque Limit Torque Limit Limit Limit...

  • Page 277: Soft Start

    6-8 Soft Start 6-8 Soft Start This function is used to control the rotation speed. It sets the acceleration and deceleration against the rotation speed command in the Servo Drive. The function can be used for step rotation speed commands, and allows soft starts. The S- curve Acceleration and Deceleration function is used to reduce any impacts by acceleration changes.

  • Page 278: S-Curve Acceleration Or Deceleration Time

    6-8 Soft Start S-curve Acceleration or Deceleration Time The function sets the S-curve time for the acceleration and deceleration time set by the Soft Start Acceleration Time (Pn312) and the Soft Start Deceleration Time (Pn313). The S-curve time is a duration around an inflection point during acceleration and deceleration. Rotation speed [r/min] Target speed...

  • Page 279: Gain Switching Function

    6-9 Gain Switching Function 6-9 Gain Switching Function This function switches the position loop and speed loop gain. Select enable or disable using GAIN SWITCHING INPUT OPERATING mode Selection (Pn114). Set the switching condition using gain switching setting. If the load inertia changes or you want to change the responsiveness depending on whether the motor is stopping and operating, you can perform an optimal control by gain switching.

  • Page 280: Parameters Requiring Settings

    6-9 Gain Switching Function Parameters Requiring Settings Parameter Parameter name Explanation Reference number GAIN SWITCHING INPUT Set whether to enable or disable gain switching function. Pn114 OPERATING mode P.8-10 Selection POSITION CONTROL mode and FULL CLOSING CONTROL mode SWITCHING mode in Set the condition for switching between gain 1 and gain 2.

  • Page 281: Gain Switching Setting For Each Control Mode

    6-9 Gain Switching Function Gain Switching Setting for Each CONTROL mode The settable switching conditions vary depending on the CONTROL mode used. Set the parameters for each CONTROL mode. Refer to “Chapter 8 Parameters Details” for explanation of each gain. Position Control Mode and Full Closing Control Mode In the POSITION CONTROL mode and FULL CLOSING CONTROL MODE, it varies as follows according to SWITCHING mode in Position Control (Pn115).
  • Page 282 6-9 Gain Switching Function *4.The variation means the change amount in a millisecond (ms). E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond. *5.The unit (pulse) of hysteresis is the resolution of the encoder in position control. It is the resolution of the external encoder in full closing control.
  • Page 283 6-9 Gain Switching Function SPEED CONTROL mode In the SPEED CONTROL mode, it varies as follows according to SWITCHING mode in Speed Control (Pn120). Description Gain Gain Pn120 Gain Switching Switching Switching Hysteresis in Gain switching conditions Delay Time in Level in Speed value Speed Control...
  • Page 284 6-9 Gain Switching Function *5.When the set value is 10, meanings of the Gain switching delay time in speed control, the Gain switching level in speed control, and the Gain switching hysteresis in speed control differ from the normal case. (Refer to Figure D). Rotation Figure B Figure A...
  • Page 285 6-9 Gain Switching Function TORQUE CONTROL mode In the TORQUE CONTROL mode, it varies as follows according to SWITCHING mode in Torque Control (Pn124). Description Gain Gain Pn124 Gain Switching Switching Switching Hysteresis in Gain switching conditions Delay Time in Level in value Torque Control...

  • Page 286: Timing By Gain Switching Setting

    6-9 Gain Switching Function Timing by Gain Switching Setting Switching between Gain 1 (Pn100 to Pn104) and Gain 2 (Pn105 to Pn109) occurs at the following timings. Take note that, in the case of position loop gains, switching occurs based on the setting of Pn119.
  • Page 287 6-9 Gain Switching Function GAIN SWITCHING mode = 3: Switching by Torque Command Change Amount Torque command change amount (angular acceleration and deceleration speed command) is set in units of 0.05%/166 s. If the amount of change fluctuates and the switching time is not met, the switching is cancelled. In the case of switching due to a change amount of 4% over 2 ms, a value of approx.
  • Page 288 6-9 Gain Switching Function GAIN SWITCHING mode (Pn031) = 6: Switching by Amount of Position Error Gain switching is performed based on the accumulated count in the error counter. Amount of position error Pn118 Pn118 Pn117 Pn116 Gain 1 Gain 1 Gain 2 GAIN SWITCHING mode = 7: Switching by Position Command Received Gain switching is performed when a position command corresponding to 1 command unit or...
  • Page 289 6-9 Gain Switching Function GAIN SWITCHING mode = 10: Switching by Combination of Position Command Received and Speed Switching to the gain 2 occurs when a position command is received. If no position command is issued for the period of Gain Switching Delay Time in Speed Control (Pn121) and the speed also becomes the same as or less than the result of Gain Switching Level (Pn122) - Gain Switching Hysteresis (Pn123) [r/min], switching to the Gain 1 occurs.

  • Page 290: Gain Switching 3 Function

    6-10 Gain Switching 3 Function 6-10 Gain Switching 3 Function The function adds a new setting to the gain switching function of the GAIN SWITCHING INPUT OPERATING mode Selection (Pn114). It switches the gain right before a stop. The positioning time can be reduced by keeping the gain immediately before the stop at a higher level for a certain period of time.

  • Page 291: Operation Example

    6-10 Gain Switching 3 Function Operation Example When the conventional gain switching function works correctly, set a time to use the Gain 3 into the Gain 3 Effective Time (Pn605), and the magnification of Gain 3 against Gain 1 into the Gain 3 Ratio Setting (Pn606).

  • Page 293: Chapter7 Safety Function

    Safety Function This function stops the motor based on a signal from a Safety Controller or safety sensor. An outline of the function is explained together with operation and connection examples. 7-1 Safe Torque OFF (STO) Function........7-1 7-2 Operation Example ............7-4 7-3 Connection Examples ..........7-6 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 294: Safe Torque Off (Sto) Function

    7-1 Safe Torque OFF (STO) Function 7-1 Safe Torque OFF (STO) Function The safe torque OFF (hereinafter referred to as STO) function is used to cut off the motor current and stop the motor through the input signals from a safety equipment, such as a Safety Controller or safety sensor, that is connected to the safety connector (CN8).

  • Page 295: I/O Signal Specifications

    7-1 Safe Torque OFF (STO) Function I/O Signal Specifications Safety Input Signal There are 2 types of safety input circuits to operate the STO function. CONTROL mode Signal name Symbol Description number Full Position Speed Torque closing Safety input 1 SF...
  • Page 296 7-1 Safe Torque OFF (STO) Function External Device Monitor (EDM) Output Signal This is a monitor output signal that is used to monitor the status of safety input signals using an external device. Connect a safety equipment, such as a safety controller or a safety sensor, to the external device monitoring terminal.

  • Page 297: Operation Example

    7-2 Operation Example 7-2 Operation Example Operation Timings to a Safety Status Operation command (RUN) Servo ON Servo OFF STO status Safety input 1 Normal status Safety input 2 max 5 ms Motor power is supplied. Power supply No power supply max 6 ms EDM output 0.5 to 5 ms...
  • Page 298 7-2 Operation Example Timings of Return from the Safety Status Operation command Servo OFF command Servo ON (RUN) Follow the normal Safety input 1 Normal status STO status servo ON/OFF Safety input 2 operation timing diagram upon input Motor power No power supply of the operation is supplied.

  • Page 299: Connection Examples

    7-3 Connection Examples 7-3 Connection Examples Connection Example 1: Connection with a Safety Switch 24 V Safety switch Drive Contact output SF1+ Safety input SF1− SF2+ Safety input SF2− EDM+ EDM output EDM− Connection Example 2: Connection with a Safety Sensor Safety sensor Safety output Drive...
  • Page 301 Parameters Details This chapter explains the set value and contents of setting of each parameter. 8-1 Basic Parameters............8-1 8-2 Gain Parameters ............8-7 8-3 Vibration Suppression Parameters......8-19 8-4 Analog Control Parameters ........8-24 8-5 Interface Monitor Setting Parameters.......8-30 8-6 Extended Parameters ..........8-41 8-7 Special Parameters.............8-52 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 302: Basic Parameters

    8-1 Basic Parameters 8-1 Basic Parameters  Some parameters are enabled when the power is turned ON after it is turned OFF. They are indicated in the table below. Ensure you turn off the power, confirm that the power indicator goes off, and turn on the power again, after you change the settings of these parameters.
  • Page 303 8-1 Basic Parameters Pn002 REALTIME AUTOTUNING mode Selection Setting Default Data  0 to 6 Unit range setting attribute  Set the OPERATING mode for realtime autotuning.  Refer to "10-3 Realtime Autotuning (P.10-6)". Explanation of Set Values Description value Disabled This mode focuses on stability.
  • Page 304 8-1 Basic Parameters Pn004 Inertia Ratio Setting Default Data 0 to 10,000 Unit range setting attribute  Set the load inertia as a percentage of the motor rotor inertia.  Pn004 = (Load inertia / Rotor inertia)  100%  When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in EEPROM every 30 minutes.
  • Page 305 8-1 Basic Parameters Pn009 Electronic Gear Ratio Numerator Position Full closing Setting Default Data  0 to 1073741824 Unit range setting attribute Pn010 Electronic Gear Ratio Denominator Position Full closing Setting Default Data  1 to 1073741824 Unit range setting attribute ...
  • Page 306 8-1 Basic Parameters Forward Torque [%] direction 300 (max) If Pn013 and Pn522 = 150. 100 (rating) Speed (rating) (max) Reversed direction Refer to "6-7 Torque Limit Switching (P.6-22)" for the torque control and the torque limit selection. Pn014 Error Counter Overflow Level Full closing Position Setting...
  • Page 307 8-1 Basic Parameters Pn016 Regeneration Resistor Selection Setting Default Data  0 to 3 Unit range setting attribute *1 It is 0 for a Drive with 100 V and 400 W, with 200 V and 750 W or greater, or with 400 V. The setting is different whether the Regeneration Resistor built in the Drive is directly used, or it is removed and replaced by an external regeneration resistor.

  • Page 308: Gain Parameters

    8-2 Gain Parameters 8-2 Gain Parameters Refer to "10-2 Gain Adjustment (P.10-4)" for the settings for gain adjustment. Pn100 Position Loop Gain 1 Position Full closing Setting Default Data 0 to 30000 Unit 0.1/s range setting attribute *1.It is 320 for a Drive with 200 V and 1 kW or greater, or with 400 V. ...
  • Page 309 8-2 Gain Parameters Pn101 Speed Loop Gain 1 Setting Default Data 1 to 32767 Unit 0.1 Hz range setting attribute *1.It is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.  Determine speed loop responsiveness. ...
  • Page 310 8-2 Gain Parameters Pn104 Torque Command Filter Time Constant 1 Setting Default Data 0 to 2500 Unit 0.01 ms range setting attribute *1.It is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V. ...
  • Page 311 8-2 Gain Parameters Pn110 Speed Feed-forward Amount Full closing Position Setting Default Data 0 to 1000 Unit 0.1% range setting attribute Set the feed-forward amount. Increasing the set value decreases the position error and increases the responsiveness. Overshooting, however, will occur more easily. Refer to "10-11 Feed-forward Function (P.10-36)".
  • Page 312 8-2 Gain Parameters Pn115 SWITCHING mode in Position Control Position Full closing Setting Default Data  0 to 10 Unit range setting attribute  Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is set to 1.
  • Page 313 8-2 Gain Parameters *6. When the set value is 10, meanings of the Gain switching delay time in position control, the Gain switching level in position control, and the Gain switching hysteresis in position control differ from the normal case. (Refer to Figure F). Figure A Figure C Speed V...
  • Page 314 8-2 Gain Parameters Pn117 Gain Switching Level in Position Control Position Full closing Setting Default Data  0 to 20000 Unit range setting attribute  This is enabled when the SWITCHING mode in Position Control (Pn115) is 3, 5, 6, 9 or 10. It sets the judgment level for switching between gain 1 and gain 2.
  • Page 315 8-2 Gain Parameters Pn120 SWITCHING mode in Speed Control Speed Setting Default Data  0 to 5 Unit range setting attribute  Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is set to 1. ...
  • Page 316 8-2 Gain Parameters *5. When the set value is 10, meanings of the Gain switching delay time in speed control (Pn121), the Gain switching level in speed control (Pn122), and the Gain switching hysteresis in speed control (Pn123) differ from the normal case. (Refer to Figure D). Figure B Figure A Speed V...
  • Page 317 8-2 Gain Parameters Pn123 Gain Switching Hysteresis in Speed Control Speed Setting Default Data  0 to 20000 Unit range setting attribute  Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed Control (Pn122).
  • Page 318 8-2 Gain Parameters *2. The Gain Switching Hysteresis in Torque Control (Pn127) is defined in the drawing below.. Pn126 Pn127 Gain 1 Gain 2 Gain 1 Pn125 *3. When the Gain switching command of MECHATROLINK-II communications is 0, the gain switches to Gain 1.
  • Page 319 8-2 Gain Parameters Pn125 Gain Switching Delay Time in Torque Control Torque Setting Default Data 0 to 10000 Unit 0.1 ms range setting attribute  Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Torque Control (Pn124) is set to 3.

  • Page 320: Vibration Suppression Parameters

    8-3 Vibration Suppression Parameters 8-3 Vibration Suppression Parameters Pn200 Adaptive Filter Selection Position Speed Full closing Setting Default Data  0 to 4 Unit range setting attribute  Set the operation of the adaptive filter.  The adaptive filter is normally disabled in the TORQUE CONTROL mode. ...
  • Page 321 8-3 Vibration Suppression Parameters Pn205 Notch 2 Width Setting Setting Default Data  0 to 20 Unit range setting attribute  Select the notch width of resonance suppression notch filter 2.  Increasing the setting value widens the notch width. Normally, use the default set value. ...
  • Page 322 8-3 Vibration Suppression Parameters Pn211 Notch 4 Width Setting Setting Default Data  0 to 20 Unit range setting attribute  Select the notch width of resonance suppression notch filter 4.  Increasing the setting value widens the notch width. Normally, use the default set value. ...
  • Page 323 8-3 Vibration Suppression Parameters Pn215 Damping Filter 1 Setting Position Full closing Setting Default Data 0 to 1000 Unit 0.1 Hz range setting attribute  First set the Frequency 1 (Pn214). Then reduce the setting if torque saturation occurs or Damping increase the setting to increase operation speed.
  • Page 324 8-3 Vibration Suppression Parameters Pn220 Damping Frequency 4 Position Full closing Setting Default Data 0 to 2000 Unit 0.1 Hz range setting attribute  Set the Damping Frequency 4 to suppress vibration at the end of the load in damping control. ...

  • Page 325: Analog Control Parameters

    8-4 Analog Control Parameters 8-4 Analog Control Parameters Pn300 Unused Setting Default Data    Unit range setting attribute Pn301 Unused Setting Default Data   Unit  range setting attribute Pn302 Unused Setting Default Data   Unit ...
  • Page 326 8-4 Analog Control Parameters Pn311 Unused Setting Default Data   Unit  range setting attribute Pn312 Soft Start Acceleration Time Speed Setting ms/maximum motor Default Data 0 to 10000 Unit range speed setting attribute Pn313 Soft Start Deceleration Time Speed Setting ms/maximum motor...
  • Page 327 8-4 Analog Control Parameters Pn315 Unused Setting Default Data   Unit  range setting attribute Pn316 Unused Setting Default Data   Unit  range setting attribute Pn317 Speed Limit Selection Torque Setting Default Data  0 to 1 Unit range setting...
  • Page 328 8-4 Analog Control Parameters Pn323 External Feedback Pulse Type Selection Full closing Setting Default Data  0 to 2 Unit range setting attribute  Select the external encoder type. Ensure that the setting conforms to the external encoder type which is actually used. Refer to "5-4 Full Closing Control (P.5-9)".
  • Page 329 8-4 Analog Control Parameters Pn324 External Feedback Pulse Dividing Numerator Full closing Setting Default Data  0 to 1048576 Unit range setting attribute Pn325 External Feedback Pulse Dividing Denominator Full closing Setting Default Data  1 to 1048576 Unit 10000 range setting attribute...
  • Page 330 8-4 Analog Control Parameters Pn327 External Feedback Pulse Phase-Z Setting Full closing Setting Default Data  0 to 1 Unit range setting attribute  Set to enable or disable the Phase-Z disconnection detection when an external encoder of 90 phase difference output type is used. Explanation of Set Values Explanation value...

  • Page 331: Interface Monitor Setting Parameters

    8-5 Interface Monitor Setting Parameters 8-5 Interface Monitor Setting Parameters Pn400 Input Signal Selection 1 Setting range 0 to 00FFFFFFh Unit Default setting 00949494h Data attribute  Set the function and logic for the general-purpose input 1 (IN1). Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1 Sequence I/O Signal (P.6-1)".
  • Page 332 8-5 Interface Monitor Setting Parameters Pn407 Input Signal Selection 8  Setting range 0 to 00FFFFFFh Unit Default setting 002E2E2Eh Data attribute Set the function and logic for the general-purpose input 8 (IN8). Refer to the Details of Control Inputs in "3-1 Servo Drive Specifications (P.3-1)", as well as "6-1 Sequence I/O Signal (P.6-1)".
  • Page 333 8-5 Interface Monitor Setting Parameters Pn416 Analog Monitor 1 Selection Setting range 0 to 21 Unit  Default setting Data attribute Analog signals of various monitors can be output from the analog monitor connector on the front panel. The monitor type to output and the scaling (or output gain) are selective. They can be set by parameters.
  • Page 334 8-5 Interface Monitor Setting Parameters Pn419 Analog Monitor 2 Scale Setting Setting Default Data  0 to 214748364 Unit range setting attribute  Set output gain for analog monitor 2.  Refer to the Analog Monitor 1 Scale Setting (Pn417) for the method to set this parameter. Pn420 Unused Setting...
  • Page 335 8-5 Interface Monitor Setting Parameters Pn422 Unused Setting Default Data    Unit  range setting attribute Pn423 Unused Setting Default Data    Unit  range setting attribute Pn424 Unused Setting Default Data    Unit ...
  • Page 336 8-5 Interface Monitor Setting Parameters Pn431 Positioning Completion Range 1 Full closing Position Setting Default Data 0 to 262144 Unit Command unit range setting attribute  Use this parameter in combination with the Positioning Completion Condition Selection (Pn432) to set the timing to output the positioning completion output (INP1).
  • Page 337 8-5 Interface Monitor Setting Parameters Pn433 Positioning Completion Hold Time Full closing Position Setting Default Data 0 to 30000 Unit 1 ms range setting attribute  Set the hold time for the case when the Positioning Completion Condition Selection (Pn432) is set to 3.
  • Page 338 8-5 Interface Monitor Setting Parameters Pn435 Speed Conformity Detection Range Speed Setting Default Data 10 to 20000 Unit r/min range setting attribute  It outputs the Speed conformity output (VCMP) when the speed command conforms to the motor speed.  It is regarded as conformed when the difference between the speed command before the acceleration or deceleration process inside the Drive and the motor speed is smaller than the set value on the Speed Conformity Detection Range (Pn435).
  • Page 339 8-5 Interface Monitor Setting Parameters Pn437 Brake Timing when Stopped Setting Default Data 0 to 10000 Unit 1 ms range setting attribute  Set the time required for the Servomotor to be de-energized (servo free) after the brake interlock output (BKIR) turns ON (i.e., brake held), when servo OFF status is entered while the Servomotor is stopped.
  • Page 340 8-5 Interface Monitor Setting Parameters Pn439 Brake Release Speed Setting Setting Default Data 30 to 3000 Unit r/min range setting attribute  Set the number of motor rotations from when the OFF of Run command (RUN) is detected to when the Brake interlock output (BKIR) becomes off, in case when the servo off occurs during the motor rotation.
  • Page 341 8-5 Interface Monitor Setting Parameters Pn440 Warning Output Selection 1 Setting Default Data  0 to 13 Unit range setting attribute  Select the warning type to be output by the Warning Output 1.  Refer to "11-2 Warning (P.11-4)". Explanation of Set Values Description value...

  • Page 342: Extended Parameters

    8-6 Extended Parameters 8-6 Extended Parameters Pn500 Unused Setting Default Data    Unit  range setting attribute Pn501 Unused Setting Default Data    Unit  range setting attribute Pn502 Unused Setting Default Data    Unit ...
  • Page 343 8-6 Extended Parameters Reference  If this parameter is set to 0 and the forward and reverse prohibition inputs are both open, a drive prohibition input error (Alarm No.38) occurs because it is taken that Servo Drive is in error condition.
  • Page 344 8-6 Extended Parameters Pn506 Stop Selection with Servo OFF Setting Default Data  0 to 9 Unit range setting attribute  Set the states during deceleration and after stopping, which follow the Servo-OFF.  The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates.
  • Page 345 8-6 Extended Parameters Pn507 Stop Selection with Main Power Supply OFF Setting Default Data  0 to 9 Unit range setting attribute  Set the states during deceleration and after stopping, which follow the main power off.  The dynamic brake is rated for short-term operation. Use it only for emergency stopping. Design the system to stop for at least three minutes after the dynamic brake operates.
  • Page 346 8-6 Extended Parameters Pn508 Undervoltage Alarm Selection Setting Default Data  0 to 1 Unit range setting attribute  Select either to let the servo off or to stop the alarm when a main power alarm occurs. Explanation of Set Values Set value Explanation Servo is turned OFF based on the setting of the Stop Selection with Main Power Supply OFF...
  • Page 347 8-6 Extended Parameters Pn510 Stop Selection for Alarm Detection Setting Default Data  0 to 7 Unit range setting attribute  Select the stopping method at an alarm.  Refer to the Emergency Stop Operation at Alarms in "11-3 Alarms (P.11-6)". ...
  • Page 348 8-6 Extended Parameters Pn512 Overload Detection Level Setting Setting Default Data 0 to 500 Unit range setting attribute  Set the overload detection level.  When the parameter is set to 0, the setting is 115%.  Internally there is a limit of 115%, so higher values are limited to 115%. ...
  • Page 349 8-6 Extended Parameters Pn516 Unused Setting Default Data    Unit  range setting attribute Pn517 Unused Setting Default Data    Unit  range setting attribute Pn518 Unused Setting Default Data    Unit  range setting attribute Pn519...
  • Page 350 8-6 Extended Parameters Pn521 Torque Limit Selection Position Speed Full closing Setting Default Data  0 to 6 Unit range setting attribute  Select the method to set the forward and reverse torque limits, and the torque feed forward function during speed control. ...
  • Page 351 8-6 Extended Parameters Pn522 No. 2 Torque Limit Position Speed Full closing Setting Default Data 0 to 500 Unit range setting attribute  Set the limit value for the output torque (Pn013: No. 1 Torque Limit, Pn522: No. 2 Torque Limit) of the motor. ...
  • Page 352 8-6 Extended Parameters Pn528 Unused Setting Default Data    Unit  range setting attribute Pn529 Unused Setting Default Data    Unit  range setting attribute Pn530 Unused Setting Default Data    Unit  range setting attribute Pn531...

  • Page 353: Special Parameters

    8-7 Special Parameters 8-7 Special Parameters Pn600 Unused Data   Setting range Unit Default setting   attribute Pn601 Unused Data    Setting range Unit Default setting  attribute Pn602 Unused Data  Setting range Unit Default setting ...
  • Page 354 8-7 Special Parameters Pn609 Reverse Direction Torque Offset Data 100 to 100 Setting range Unit Default setting attribute  Set offset torque to add to torque command for reverse direction operation.  Refer to "10-9 Friction Torque Compensation Function (P.10-33)". ...
  • Page 355 8-7 Special Parameters Pn614 Alarm Detection Allowable Time Setting Setting Default Data 0 to 1000 Unit range setting attribute  Set the allowable time required until the motor stops by an emergency stop due to an alarm.  When he time exceeds the set value, the operation forcibly turns to an alarming state. ...
  • Page 356 8-7 Special Parameters Pn622 Unused Setting Default Data    Unit  range setting attribute Pn623 Disturbance Torque Compensation Gain Speed Position Setting Default Data 100 to 100 Unit range setting attribute  Set compensation gain for disturbance torque. ...
  • Page 357 8-7 Special Parameters Pn631 Realtime Autotuning Estimated Speed Selection Setting Default Data  0 to 3 Unit range setting attribute  Set the speed to estimate the load characteristic while the realtime autotuning is enabled.  The higher the set value is, the earlier the load characteristic change is followed. But the estimated variation against the disturbance becomes greater.
  • Page 358 8-7 Special Parameters Name Description Select to enable or disable the basic gain setting by the Realtime Autotuning Machine Rigidity Setting (Pn003). Rigidity setting 0: Disable 1: Enable Select whether to allow changes on the parameters which normally are fixed. Fixed parameter setting 0: Use the present setting.
  • Page 359 8-7 Special Parameters Pn635 Hybrid Vibration Suppression Filter Full closing Setting Default Data 0 to 6400 Unit 0.01 ms range setting attribute  Set the hybrid vibration suppression filter.  Refer to "10-10 Hybrid Vibration Suppression Function (P.10-35)". Pn636 Unused Setting Default Data...
  • Page 360 8-7 Special Parameters Pn700 Default Display Setting Default Data  0 to 32767 Unit range setting attribute  Select a data type to display on the 7-segment LED indicator on the front panel. Explanation of Set Value Set value Indicated item Description Normal state Indicates ""...
  • Page 361 8-7 Special Parameters Pn703 Torque Limit Flag Output Setting Torque Setting range 0 to 1 Unit  Default setting Data Attribute  Set the condition for torque limit output during torque control. Explanation of Set Value Set value Description On by the torque limit value including the torque command value. On by the torque limit value excluding the torque command value.
  • Page 362 8-7 Special Parameters Pn710 MECHATROLINK-II Communication I/O Monitor Setting Setting range 0 to 1 Unit  Default setting Data Attribute  Select whether to reflect the inputs to the I/O monitor of MECHATROLINK-II communications, when either the forward or reverse drive prohibition input is assigned to the input signal, and the Drive Prohibition Input Selection (Pn504) is set to 1 (Disabled).
  • Page 363 8-7 Special Parameters Pn801 Soft Limit  Setting range 0 to 3 Unit Default setting Data Attribute  Select whether to enable or disable the Soft Limit. When it is enabled, set the soft limit values on the Forward Software Limit (Pn804) and the Reverse Software Limit (Pn806).
  • Page 364 8-7 Special Parameters Pn808 Absolute Encoder Origin Offset 1073741823 to Command Setting range Unit Default setting Data Attribute 1073741823 units  Set the offset volume between the encoder or external encoder position and the mechanical coordinate position, when an absolute encoder or an absolute external encoder is used. Pn809 Unused ...
  • Page 365 8-7 Special Parameters Pn818 Position Command FIR Filter Time Constant Position Full closing Setting range 0 to 10000 Unit 0.1 ms Default setting Data Attribute  Set the time constant of FIR filter for the position command.  The Position command FIR filter can be selected to enable or disable, by the position command filer switch input via MECHATROLINK-II communications.
  • Page 366 8-7 Special Parameters Pn822 Origin Return Mode Setting Position Full closing  Setting range 0 to 1 Unit Default setting Data Attribute  Set the direction for origin return. Explanation of Set Values Set value Description Positive direction Negative direction Pn823 Origin Return Approach Speed 1 Position Full closing...
  • Page 367 8-7 Special Parameters Pn828 Unused     Setting range Unit Default setting Data Attribute Pn829 Unused     Setting range Unit Default setting Data Attribute Pn830 Unused     Setting range Unit Default setting Data Attribute Pn831 Unused...

  • Page 369: Chapter9 Operation

    Operation This chapter explains the operating procedures and how to operate in each mode. 9-1 Operational Procedure ..........9-1 9-2 Preparing for Operation ..........9-2 9-3 Trial Operation ..............9-7 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 370: Operational Procedure

    9-1 Operational Procedure 9-1 Operational Procedure Turn ON the power supply after the correct installation and wiring to check the operation of the individual motor and drive. Then make the function settings as required according to the use of the motor and drive. If the user parameters are set incorrectly, there is a risk of an unpredictable motor operation, which is dangerous.

  • Page 371: Preparing For Operation

    9-2 Preparing for Operation 9-2 Preparing for Operation This section explains the procedure to prepare the mechanical system for operation following installation and wiring of the motor and drive. It explains items to check both before and after turning ON the power supply. It also explains the setup procedure required if using a motor with an absolute encoder.
  • Page 372 9-2 Preparing for Operation Display Area and Setting on Drives This is the display area of R88D-KNx Servo Drive. There are the rotary switches to set the MECHATROLINK-II communication node address, the Drive alarm indicator, and the MECHATROLINK-II communications status LED indicator. MECHATROLINK-II communications status LED indicator (COMM) Rotary switches for...

  • Page 373: Turning On The Power Supply

    9-2 Preparing for Operation MECHATROLINK-II Communications Status LED Indicator The table below shows the LED indication status and the corresponding conditions of the communications. LED status Communications status Unlit No communication is established. Green Flash Asynchronous communications is established. Green Light Synchronous communications is established.

  • Page 374: Checking The Displays

    9-2 Preparing for Operation Checking the Displays 7-Segment LED Indicator The 7-segment LED indicator is on the front panel. When the power is turned on, it shows the node address that is set by the rotary switches. Then the indication changes in accordance with the setting on the Default Display (Pn700). If any alarming error occurs, it indicates the error number (Alarm No.xx) as the alarm code.

  • Page 375: Absolute Encoder Setup

    9-2 Preparing for Operation Absolute Encoder Setup You must set up the absolute encoder if using a motor with an absolute encoder. The setup is required when you turn ON the power supply for the first time, when an absolute encoder system down error (Alarm No.40) occurs, or when the encoder cable is disconnected and then connected again.

  • Page 376: Trial Operation

    9-3 Trial Operation 9-3 Trial Operation When you have finished installation, wiring, and switch settings and have confirmed that status is normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is to confirm that the servo system is electrically correct. If an error occurs during the trial operation, refer to "Chapter 11, Error and Maintenance"...

  • Page 377: Chapter10 Adjustment Functions

    Adjustment Functions This chapter explains the functions, setting methods and items to note regarding various gain adjustments. 10-1 Analog Monitor ............10-1 10-2 Gain Adjustment ............10-4 10-3 Realtime Autotuning...........10-6 10-4 Manual Tuning ............10-13 10-5 Damping Control............10-21 10-6 Adaptive Filter............10-25 10-7 Notch Filter..............10-28 10-8 Disturbance Observer Function ......10-31 10-9 Friction Torque Compensation Function ....10-33 10-10Hybrid Vibration Suppression Function ....10-35...

  • Page 378: Analog Monitor

    10-1 Analog Monitor 10-1 Analog Monitor Two types of analog signals can be output from the Analog Monitor Connector on the front panel. They are used when the monitoring is required for adjustment. A monitor type and a scale (output gain) can be set by the following parameters. The refresh period of the analog monitor is 1 ms.
  • Page 379 10-1 Analog Monitor Pn416 Description Output gain when Pn417 Pn418 Monitoring item Unit and Pn419 are set to 0 set value Reverse direction torque limit Speed limit value r/min Inertia ratio   16 to 18 Reserved C Encoder temperature C Servo Drive temperature Encoder 1-rotation data...
  • Page 380 10-1 Analog Monitor Analog Monitor Output Setting (Pn421) Select the direction for analog monitor output voltage. These are the output voltage range and the output direction when the Analog Monitor 1 Selection (Pn416) or the Analog Monitor 2 Selection (Pn418) is set to 0 (i.e., motor speed), and the Analog Monitor 1 Scale Setting (Pn417) or the Analog Monitor 2 Scale Setting (Pn419) is set to 0 (i.e., 1V ...

  • Page 381: Gain Adjustment

    10-2 Gain Adjustment 10-2 Gain Adjustment OMNUC G5-Series Servo Drives provide the realtime autotuning function. With this function, gain adjustments can be made easily even by those who use a servo system for the first time. If you cannot obtain desired responsiveness with autotuning, use manual tuning.

  • Page 382: Gain Adjustment Procedure

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

  • Page 383: Realtime Autotuning

    10-3 Realtime Autotuning 10-3 Realtime Autotuning Realtime autotuning estimates the load inertia of the machine in realtime and operates the machine by automatically setting the gain according to the estimated load inertia. At the same time, it can lower the resonance and vibration if operated with the adaptive filter enabled. Refer to "10-6 Adaptive Filter"...

  • Page 384: Parameters Requiring Settings

    10-3 Realtime Autotuning Parameters Requiring Settings Parameter Parameter name Explanation Reference number REALTIME AUTOTUNING Set the operation mode for the realtime autotuning. Pn002 P.8-2 mode Selection Realtime Autotuning Set the responsiveness when the realtime autotuning is Pn003 P.8-2 Machine Rigidity Setting enabled.

  • Page 385: Setting Machine Rigidity

    10-3 Realtime Autotuning Setting Machine Rigidity 1. Set the Realtime Autotuning Machine Rigidity Selection (Pn003) according to the table below. Start from the lower machine rigidity number and check the operation. Realtime Autotuning Machine configuration and drive method Machine Rigidity Selection (Pn003) Ball screw direct coupling 12 to 24 Ball screw and timing belt...
  • Page 386 10-3 Realtime Autotuning Realtime Autotuning (RTAT) Parameter Table AT Machine Rigidity Setting (Pn003) Parameter Parameter name number Pn004 Inertia Ratio Estimated load inertia ratio Pn100 Position Loop Gain 1 Pn101 Speed Loop Gain 1 Pn102 Speed Loop Integral Time Constant 1 3700 2800 2200...
  • Page 387 10-3 Realtime Autotuning AT Machine Rigidity Setting (Pn003) Parameter Parameter name number Pn004 Inertia Ratio Estimated load inertia ratio Pn100 Position Loop Gain 1 Pn101 Speed Loop Gain 1 Pn102 Speed Loop Integral Time Constant 1 Pn103 Speed Feedback Filter Time Constant 1 Pn104 Torque Command Filter Time Constant 1 Pn105...
  • Page 388 10-3 Realtime Autotuning AT Machine Rigidity Setting (Pn003) Parameter Parameter name number Pn004 Inertia Ratio Estimated load inertia ratio Pn100 Position Loop Gain 1 1080 1350 1620 2060 2510 3050 3770 Pn101 Speed Loop Gain 1 1150 1400 1700 2100 Pn102 Speed Loop Integral Time Constant 1 Pn103...
  • Page 389 10-3 Realtime Autotuning AT Machine Rigidity Setting (Pn003) Parameter Parameter name number Pn004 Inertia Ratio Estimated load inertia ratio Pn100 Position Loop Gain 1 4490 5000 5600 6100 6600 7200 8100 9000 Pn101 Speed Loop Gain 1 2500 2800 3100 3400 3700 4000...

  • Page 390: Manual Tuning

    10-4 Manual Tuning 10-4 Manual Tuning As described before, the OMNUC G5 Series have a realtime autotuning function. However, when the gain cannot be properly adjusted due to restrictions such as load conditions even if realtime autotuning is performed, or when the optimum responsiveness or stability is required to match each load, readjustment maybe required.
  • Page 391 10-4 Manual Tuning POSITION CONTROL/FULL CLOSING CONTROL Mode Adjustment Use the following procedure to perform the adjustment in position control for the OMNUC G5 Series. Start adjustment. Never adjust or set parameters to extreme values, as it will make the operation unstable. Set the realtime autotuning to disabled (Pn002 = 0) Failure to follow this guideline may result in injury.
  • Page 392 10-4 Manual Tuning SPEED CONTROL Mode Adjustment Adjustments in speed control for the OMNUC G5 Series are very similar to POSITION CONTROL mode adjustment. Use the following procedure to perform the adjustment. Never adjust or set parameters to extreme values, Start adjustment.
  • Page 393 10-4 Manual Tuning Servo Manual Tuning Method The following 4 parameters are the basic servo adjustment parameters. If desired operation characteristics are obtained by adjusting the following 4 parameters, the adjustments of other parameters are not necessary. Parameter Parameter name Default setting Parameter number 2 number...
  • Page 394 10-4 Manual Tuning Inertia guide The inertia is small. 5 times the rotor inertia max. The inertia is medium. 5 to 10 times the rotor inertia max. The inertia is large. 10 to 20 times the rotor inertia max. Pn100, Pn105 Position Loop Gain This loop controls the number of pulses from encoder to be the designated number of pulses.
  • Page 395 10-4 Manual Tuning Pn101, Pn106 Speed Loop Gain The speed loop gain determines the responsiveness of the servo. This value becomes the response frequency if the Inertia Ratio (Pn004) is set correctly. Increasing the value of the speed loop gain improves the responsiveness and quickens positioning, but vibration is more likely to occur.
  • Page 396 10-4 Manual Tuning Pn102, Pn107 Speed Loop Integral Time Constant The speed loop integral time constant also determines the responsiveness of the servo.  If the speed loop integral time constant is low, vibration or resonance occur. In such case, increase the speed loop integral time constant. Command operation pattern Speed (r/min)
  • Page 397 10-4 Manual Tuning Other Adjustments If the torque loop is saturated because the acceleration time is short or the load torque is large, an overshooting occurs for the speed response. In such case, increase the acceleration time to prevent the torque from saturating. Command operation pattern Overshooting occurs by the delay from...

  • Page 398: Damping Control

    10-5 Damping Control 10-5 Damping Control Outline of Operation If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration. This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are from 1 to 200 Hz.

  • Page 399: Parameters Requiring Settings

    10-5 Damping Control Parameters Requiring Settings Parameter Parameter name Description Reference number Set to the POSITION or FULL CLOSING CONTROL mode. CONTROL mode Pn001 0 to 5: Switch control P.8-1 Selection 6: Full closing control Select the DAMPING FILTER SWITCHING mode Damping Filter according to the condition of the unit.
  • Page 400 10-5 Damping Control Operating Procedure 1. Adjust the position loop gain and speed loop gain. Adjust Position Loop Gain 1 (Pn100), Speed Loop Gain 1 (Pn101), Speed Loop Integral Time Constant 1 (Pn102) and Torque Command Filter Time Constant 1 (Pn104). If no problem occurs in realtime autotuning, you can continue to use the settings.
  • Page 401 10-5 Damping Control 4. Set the Damping Filter Selection (Pn213). Damping filters 1 to 4 can be switched according to the conditions of the machine vibration. Set value SWITCHING mode Damping filter 1 or 2 enabled Switching by external input (DFSEL1) Damping Open: filter 1 or 3 enabled...

  • Page 402: Adaptive Filter

    10-6 Adaptive Filter 10-6 Adaptive Filter The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the vibration component that appears in the motor speed during actual operation and automatically sets the frequency of the notch filter, which removes the resonance component from the torque command.

  • Page 403: Parameters Requiring Settings

    10-6 Adaptive Filter Parameters Requiring Settings Parameter Parameter name Description Reference number Set the number of resonance frequencies to be estimated by the adaptive filter and the operation to be performed after estimation. 0: Adaptive filter disabled 1: One adaptive filter enabled 2: Two adaptive filters enabled Adaptive Filter 3: RESONANCE FREQUENCY MEASUREMENT mode...

  • Page 404: Operating Procedure

    10-6 Adaptive Filter Operating Procedure 1. Set the Adaptive Filter Selection (Pn200). Select an adaptive filter from 1 to 4 on the Adaptive Filter Selection (Pn200). 2. Start an actual operation. Enter an operation command and start the actual operation. 3.

  • Page 405: Notch Filter

    10-7 Notch Filter 10-7 Notch Filter When the machine rigidity is low, axis torsion may produce resonance which results in vibration and noise. Thus you may not be able to set a high gain. The notch filter can restrict the resonance peak, and allows a high gain setting and vibration reduction.

  • Page 406: Parameters Requiring Settings

    10-7 Notch Filter Parameters Requiring Settings Parameter Parameter name Description Reference number Set the center frequency of the notch filter 1. Notch 1 Frequency Pn201 The notch filter is enabled at 50 to 4,999 Hz, and disabled P.8-19 Setting at 5,000 Hz. Select the width of the notch filter 1 frequency.
  • Page 407 10-7 Notch Filter Notch Filter Width and Depth Width Setting Ratio of the frequency bandwidth at a damping factor of -3 [dB] relative to the center frequency when the depth is 0. This value should conform to the left column in the table below. Depth Setting I/O ratio at which the center frequency input is completely cut off at a set value of 0 and completely passed at a set value of 100.

  • Page 408: Disturbance Observer Function

    10-8 Disturbance Observer Function 10-8 Disturbance Observer Function You can lower the effect of the disturbance torque and reduce the vibration using the estimated disturbance torque value. Disturbance torque − Torque command Motor+load Add to the direction that Torque command Motor speed negates the disturbance...

  • Page 409: Parameters Requiring Settings

    10-8 Disturbance Observer Function Parameters Requiring Settings Parameter Parameter name Description Reference number Pn610 Function Expansion Setting Set the bits related to the disturbance observer. P.8-53 Disturbance Torque Set the compensation gain for disturbance Pn623 P.8-55 Compensation Gain torque. Disturbance Observer Filter Set the filter time constant for disturbance torque Pn624 P.8-55...

  • Page 410: Friction Torque Compensation Function

    10-9 Friction Torque Compensation Function 10-9 Friction Torque Compensation Function Two types of friction torque compensations can be set to reduce influence of mechanical frictions. One is the unbalanced load compensation that offsets the constantly applied unbalance torque. The other is the dynamic friction compensation that changes the offset direction in accordance with the operating direction.

  • Page 411: Operation Example

    10-9 Friction Torque Compensation Function Operation Example The friction torque compensation is applied to the input direction of the position command as shown in the drawing below. Command speed Forward direction Pn608 (Forward direction torque offset) Pn607 Pn609 (Reverse direction (Torque command torque offset) value offset)

  • Page 412: Hybrid Vibration Suppression Function

    10-10 Hybrid Vibration Suppression Function 10-10 Hybrid Vibration Suppression Function This function suppresses the vibrations that are caused by the amount of the torsion between the motor and the load in the FULL CLOSING CONTROL mode.You can use this function to raise the gain setting.

  • Page 413: Feed-Forward Function

    10-11 Feed-forward Function 10-11 Feed-forward Function The feed-forward function come in 2 types: speed feed forward and torque feed forward. The speed feed forward can minimize the position error and increase the responsiveness by calculating the speed control command that is required for the operation based on the internal positioning command during position or full closing control, and adding it to the speed command that is calculated based on the comparison with the position feedback.

  • Page 414: Operating Procedure

    10-11 Feed-forward Function Operating Procedure Speed Feed-forward Operating Method 1. Set the Speed Feed-forward Command Filter (Pn111). Set it to 50 (0.5 ms) or so. 2. Adjust the Speed Feed-forward Amount (Pn110). Gradually increase the value of Speed Feed-forward Amount (Pn110) and finely adjust it to avoid overshooting during acceleration/deceleration.
  • Page 415 10-11 Feed-forward Function Torque Feed-forward Operating Method 1. Set the Inertia Ratio (Pn004). Set the inertia ratio as correctly as possible.  If the inertia ratio is calculated for the selected motor, input the calculated value.  If the inertia ratio is not known, perform autotuning and set the inertia ratio. 2.

  • Page 416: Instantaneous Speed Observer Function

    10-12 Instantaneous Speed Observer Function 10-12 Instantaneous Speed Observer Function Estimating the motor speed using a load inertia increases responsiveness and reduces vibration at stopping and improves the speed detection accuracy. Torque Motor Speed command command current Current Motor Load Speed control control Speed estimation...

  • Page 417: Operating Procedure

    10-12 Instantaneous Speed Observer Function Operating Procedure 1. Set the Inertia Ratio (Pn004). Set the inertia ratio as correctly as possible.  If the Inertia Ratio (Pn004) is obtained in a realtime auto gain tuning, use the set value.  If the inertia ratio is calculated for the selected motor, input the calculated value. ...

  • Page 419: Chapter11 Error And Maintenance

    Error and Maintenance This chapter explains the items to check when problems occur, error diagnosis using the alarm LED display and measures, error diagnosis based on the operating condition and measures, and periodic maintenance. 11-1 Error Processing............11-1 11-2 Warning ...............11-4 11-3 Alarms................11-6 11-4 Troubleshooting ............11-14 11-5 Periodic Maintenance..........11-36...

  • Page 420: Error Processing

    11-1 Error Processing 11-1 Error Processing Preliminary Checks When a Problem Occurs This section explains the preliminary checks required to determine the cause of a problem if one occurs. Checking the Power Supply Voltage  Check the voltage at the power supply input terminals. Main circuit power supply input terminal (L1, L2, L3) R88D-KNxL-ML2 (50 to 400 W) : Single-phase 100 to 120 VAC (85 to 132 V) 50/60 Hz...

  • Page 421: Precautions When A Problem Occurs

    11-1 Error Processing Precautions When a Problem Occurs When checking and verifying I/O after a problem has occurred, the Servo Drive may suddenly start to operate or suddenly stop, so always take the following precautions. You should assure that anything not described in this manual is not possible with this product. Precautions ...

  • Page 422: Replacing The Servomotor And Servo Drive

    11-1 Error Processing Replacing the Servomotor and Servo Drive Use the following procedure to replace the Servomotor or Servo Drive. Replacing the Servomotor 1. Replace the motor. 2. Perform origin adjustment (for position control).  When the motor is replaced, the motor's origin position (phase Z) may deviate, so origin adjustment must be performed.

  • Page 423: Warning

    11-2 Warning 11-2 Warning This function outputs a warning signal and notifies the erroneous state such as overload before an alarm starts to operate. Set the warning output type to Warning Output Selection 1 (Pn440) and Waning Output Selection 2 (Pn441). Refer to the description about the Warning Output Selection 1 (Pn440) and the Warning Output Selection 2 (Pn441) in Section 8-5 Interface Monitor Setting Parameter, and those about the Warning Mask Setting (Pn638) and the Communications Control (Pn800) in “8-7 Special...
  • Page 424 11-2 Warning Warnings related to MECHATROLINK-II Communications Warning Output Communications Warning Warning name Warning occurrence condition Selection Control number (Pn440, Pn441) (Pn800) Data setting warning • The set value on the command argument is out of the specified range. bit4 •...

  • Page 425: Alarms

    11-3 Alarms 11-3 Alarms If the Servo Drive detects an error, it outputs an alarm (ALM), turns off the power drive circuit, and displays the error number on the front panel. Precautions for Correct Use  Refer to "Error Diagnosis Using the Alarm Displays" (P.11-14) for appropriate alarm measures. ...
  • Page 426 11-3 Alarms Alarm Attribute number Detection details and Error detection function probable cause Can be Emergency Main History reset stop *1 Regeneration overload The regenerative energy exceeds the   processing capacity of the  Regeneration Resistor. Regeneration Tr error An error was detected in a Servo Drive ...
  • Page 427 11-3 Alarms Alarm Attribute number Detection details and Error detection function probable cause Can be Emergency Main History reset stop *1 Internal error counter During the initialization of position data, overflow 1 after the control power is turned on in absolute value mode or after CONFIG operation, the value that is obtained by ...
  • Page 428 11-3 Alarms Alarm Attribute number Detection details and Error detection function probable cause Can be Emergency Main History reset stop *1 Drive prohibition input Both the Forward Drive Prohibition error 1 Input (POT) and the Reverse Drive Prohibition Input (NOT) were turned on while the Drive Prohibition Input Selection (Pn504) was set to 0.
  • Page 429 11-3 Alarms Alarm Attribute number Detection details and Error detection function probable cause Can be Emergency Main History reset stop *1 External encoder An error was detected in external    connection error encoder connection. External encoder An error was detected in external ...
  • Page 430 11-3 Alarms Alarm Attribute number Detection details and Error detection function probable cause Can be Emergency Main History reset stop *1 Transmission cycle setting Transmission cycle has a setting error    error when the MECHATROLINK-II CONNECT command is received. CONNECT error In the standby state for a MECHATROLINK-II communications...

  • Page 431: Emergency Stop Operation At Alarms

    11-3 Alarms Emergency Stop Operation at Alarms The emergency stop function controls the motor and stop it immediately, if an alarm that supports for emergency stop occurs. Related Parameters Parameter Parameter name Explanation Reference number Stop Selection for Set the states during deceleration and after stop, when Pn510 P.8-46 Alarm Detection...
  • Page 432 11-3 Alarms Emergency Stop Operation Speed [r/min] Motor speed Speed command Speed deemed as stop [30 r/min] Time Alarm Alarm not occurred An alarm that needs an emergency stop occurred Torque limit Normal torque limit Normal torque limit Emergency Stop Torque (Pn511) (a measure to absorb the shock due to the emergency stop) Overspeed Normal operation...

  • Page 433: Troubleshooting

    11-4 Troubleshooting 11-4 Troubleshooting If an error occurs in the machine, determine the error conditions from the alarm displays and operation status, identify the cause of the error, and take appropriate measures. Error Diagnosis Using the Alarm Displays Alarm number Name Cause Measures...
  • Page 434 11-4 Troubleshooting Alarm number Name Cause Measures Main If the Undervoltage Alarm Selection Measure the voltage between the (Pn508) is set to 1, a momentary connector (L1, L2, and L3) lines. power interruption occurred between Main power supply L1 and L3 for longer than the value undervoltage specified for the Momentary Hold (Insufficient voltage...
  • Page 435 11-4 Troubleshooting Alarm number Name Cause Measures Main The current flowing through the converter exceeded the specified value. • The Servo Drive is faulty (faulty • Disconnect the Servomotor cable, circuit, faulty IGBT part, etc.). and turn ON the servo. If the problem immediately occurs, replace the Servo Drive with a new Overcurrent...
  • Page 436 11-4 Troubleshooting Alarm number Name Cause Measures Main When the feedback value for torque Check if torque (current) waveforms command exceeds the overload level oscillate or excessively oscillates specified in the Overload Detection vertically during analog output or Level Setting (Pn512), overload communications.
  • Page 437 11-4 Troubleshooting Alarm number Name Cause Measures Main The regenerative energy exceeds the Check the load rate of the processing capacity of the Regeneration Resistor through Regeneration Resistor. communications. This Regeneration Resistor cannot be used for continuous regenerative braking. • The regenerative energy during •...
  • Page 438 11-4 Troubleshooting Alarm number Name Cause Measures Main Position error pulses exceeded the setting of the Error Counter Overflow Level (Pn014). • Motor operation does not follow the • Check to see if the Servomotor command. rotates according to the position command pulse.
  • Page 439 11-4 Troubleshooting Alarm number Name Cause Measures Main The multi-rotation counter for the • Check to see if the multi-rotation absolute encoder was cleared during counter for the absolute encoder USB communications by the CX- Absolute value cleared was cleared during USB Drive.
  • Page 440 11-4 Troubleshooting Alarm number Name Cause Measures Main There is a duplicate setting in the input Interface input duplicate signal (IN1, IN2, IN3, and IN4) function allocation error 1 allocations. There is a duplicate setting in the input Interface input duplicate signal (IN5, IN6, IN7, and IN8) function allocation error 2 allocations.
  • Page 441 11-4 Troubleshooting Alarm number Name Cause Measures Main When the Drive Prohibition Input Selection (Pn504) was set to 0, both the Forward Drive Prohibition Input (POT) and the Reverse Drive Drive prohibition input Prohibition Input (NOT) turned ON. error 1 When object Pn504 was set to 2, Check for any problems with the either the Forward Drive Prohibition...
  • Page 442 11-4 Troubleshooting Alarm number Name Cause Measures Main A disconnection was detected Wire the external encoder correctly as because communications between shown in the connection diagram. External encoder the external encoder and the Servo Correct the connector pin connection error Drive were interrupted more than the connections.
  • Page 443 11-4 Troubleshooting Alarm number Name Cause Measures Main Failures to correctly receive the data • Check if there is a broken to be received in the MECHATROLINK-II MECHATROLINK-II communications communications cable or a wiring cycle continued in series more often problem.
  • Page 444 11-4 Troubleshooting Alarm number Name Cause Measures Main An error occurred in the • Check if there is excessive noise synchronization data that was on the MECHATROLINK-II exchanged between the host communications cable. Review the controller and Servo Drive every routing of the MECHATROLINK-II MECHATROLINK-II communications communications cable and the FG...
  • Page 445 11-4 Troubleshooting Alarm number Name Cause Measures Main Electronic gear ratio exceeded the Check the Parameter settings. The Parameter setting error allowable range. electronic gear ratio must be set between 1/1000 and 1000. External encoder ratio exceeded the Check the Parameter settings. The Parameter setting error allowable range.
  • Page 446 11-4 Troubleshooting Alarm No. 99.0 Alarm No. 99.0 may occur due to the timing between safety input 1/2 and alarm clear input. This alarm will occur if both of the following conditions are met:  An alarm was cleared when at least one of the input photocouplers for safety inputs 1 and 2 was OFF (which means that a Safety Input Error (Alarm No.

  • Page 447: Error Diagnosis Using The Operation Status

    11-4 Troubleshooting Error Diagnosis Using the Operation Status Symptom Probable cause Items to check Measures The 7-segment LED The control power is not Check whether the power Supply the correct power indicator does not light. supplied. supply input is within the supply voltage.
  • Page 448 11-4 Troubleshooting Symptom Probable cause Items to check Measures Servo Lock state does not The power cable is not Check that the motor power Wire the cable correctly. occur. connected correctly. cable is connected properly. The motor power is not on. Check the main circuit wiring Input the correct power and power voltage.
  • Page 449 11-4 Troubleshooting Symptom Probable cause Items to check Measures The Servomotor does not The host controller does not If it is the position command, Enter a position and rotate in the Servo lock give a command. check that the speed and speed data.
  • Page 450 11-4 Troubleshooting Symptom Probable cause Items to check Measures The motor rotates without There are inputs of small Check if there is any inputs in Set the speed command a command. values in speed control speed control mode. to 0. mode.
  • Page 451 11-4 Troubleshooting Symptom Probable cause Items to check Measures The motor is overheating. The ambient temperature is Check the ambient • Lower the ambient too high. temperature around the motor temperature around is not over 40C. the motor to 40C or less.
  • Page 452 Alternatively, measure the resonance frequency and set the Notch Filter 1 and 2. There is a problem with the Check for noise or vibration Contact your OMRON bearings. around the bearings. dealer or sales office.  The gain is wrong.
  • Page 453 11-4 Troubleshooting Symptom Probable cause Items to check Measures Noise is applied to the Check the length of the control Shorten the control I/O control I/O signal cable I/O signal cable. signal cable to 3 m or because the cable is longer less.
  • Page 454 11-4 Troubleshooting Symptom Probable cause Items to check Measures The position is There is an error in the Check whether the coupling of Correct the coupling misaligned. (Position coupling of the mechanical the mechanical system and between the mechanical misalignment occurs system and the Servomotor.

  • Page 455: Periodic Maintenance

    11-5 Periodic Maintenance 11-5 Periodic Maintenance Caution After replacing the unit, transfer to the new unit all data needed to resume operation, before restarting the operation. Equipment damage may result. Never repair the product by disassembling it. Electric shock or injury may result. Servomotors and Servo Drives contain many components and will operate properly only when each of the individual components is operating properly.

  • Page 456: Servo Drive Life Expectancy

     If the Servomotor or Servo Drive is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of 5 years is recommended.  Upon request, OMRON will examine the Servo Drive and Servomotor and determine if a replacement is required. 11-37...

  • Page 457: Replacing The Absolute Encoder Battery

    11-5 Periodic Maintenance Replacing the Absolute Encoder Battery Replace the absolute encoder backup battery if it has been used for more than 3 years or if an absolute encoder system down error (Alarm No.40) has occurred. Replacement Battery Model and Specifications Item Specifications Name...
  • Page 458 11-5 Periodic Maintenance Battery Mounting Method 1. Prepare the replacement battery (R88A-BAT01G). R88A-BAT01G 2. Remove the battery box cover. Raise the tabs and remove the cover. 3. Put the battery into the battery box. Insert the battery. Plug in the connector. 4.
  • Page 459 Appendix This chapter provides connection examples using OMRON's PLC and Position Controller, as well as a list of parameters. A-1 Parameter List.............. A-1 OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)

  • Page 460: Appendix A-1 Parameter List

    A-1 Parameter List A-1 Parameter List  Some parameters are enabled by turning the power supply OFF and then ON again. After changing these parameters, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then turn ON the power supply again. ...
  • Page 461 A-1 Parameter List Parameter Default Setting Data Explanation Unit name setting range attribute Electronic Gear Set the electronic gear ratio. Ratio If Pn009 = 0, the encoder resolution is set as  0 to 2 Numerator the numerator. Electronic Gear Electronic gear ratio numerator (Pn009) Ratio ...
  • Page 462 A-1 Parameter List Gain Parameters Default Setting Data Parameter name Function and description Unit setting range attribute Position Loop 320/ Set the position loop gain 1. 0.1/s 0 to 30000 Gain 1 Speed Loop Gain 180/ Set the speed loop gain 1. 0.1 Hz 1 to 32767 Speed Loop Integral Set the speed loop integration time constant...
  • Page 463 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Select the gain switching condition for position control. It is necessary that Pn114 be set to 1. 0: Always gain 1 1: Always gain 2 2: Gain switching command input via MECHATROLINK-II communications SWITCHING...
  • Page 464 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Gain Switching Set the delay time for switching from gain 2 0 to Delay Time in 0.1 ms to gain 1. 10000 Torque Control Gain Switching 0 to ...
  • Page 465 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Set the notch frequency of resonance Notch 4 suppression notch filter 4. 50 to Frequency 5000 This is set automatically when an adaptive 5000 Setting notch is enabled.
  • Page 466 A-1 Parameter List Analog Control Parameters Parameter Default Setting Data Function and description Unit name setting range attribute ms/Motor Soft Start Set the acceleration processing acceleration Max. 0 to Acceleration time for speed commands. rotation 10000 Time speed ms/Motor Soft Start Set the deceleration processing Max.
  • Page 467 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Internal/External Feedback Pulse Clear to 0 the feedback pulse error value for Rotation 0 to 100 Error Counter each set rotation speed. Reset Interface Monitor Setting Parameters Parameter Default Setting...
  • Page 468 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Analog Monitor Set the output gain for analog monitor 0 to  1 Scale Setting 214748364 Select the type for analog monitor 2. Analog Monitor The set values for this parameter are ...
  • Page 469 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Speed Set the detection range for the speed conformity Conformity 10 to output (VCMP). Set the difference between the r/min Detection 20000 speed command and the actual speed. Range Rotation Speed Set the number of motor rotation for the...
  • Page 470 A-1 Parameter List Expansion Parameters Parameter Default Setting Data Function and description Unit name setting range attribute Set the operation to be performed upon forward/reverse direction drive prohibition input. Drive 0: Enable the Forward and Reverse drive Prohibition prohibition inputs. ...
  • Page 471 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Select the stopping method at an alarm. 0: During deceleration: Dynamic brake After stopping: Dynamic brake 1: During deceleration: Free-run After stopping: Dynamic brake 2: During deceleration: Dynamic brake After stopping: Servo free 3: During deceleration: Free-run After stopping: Servo free...
  • Page 472 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Reverse Set the reverse external toque limit when the External Torque 0 to 500 torque limit switch input is given. Limit Set the axis number for USB 531 Axis Number communications.
  • Page 473 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Set the load characteristics estimated speed when realtime autotuning is enabled. 0: Fixes estimated results at the time load Realtime estimation becomes stable. Autotuning 1: Estimates in every minute from the load Estimated 0 to 3 ...
  • Page 474 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute Set the condition for torque limit output during torque control. Torque Limit 0: On by the torque limit value including the Flag Output 0 to 1 ...
  • Page 475 A-1 Parameter List Parameter Default Setting Data Function and description Unit name setting range attribute 1073741823 Reverse Set the reverse soft limit. Command 500000 Software Limit unit 1073741823 Set the offset volume between the encoder 1073741823 Absolute or external encoder position and the Command Encoder Origin mechanical coordinate position, when an...
  • Page 477 Index OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
  • Page 478 Index Numerics 4-36 1,000-r/min motor Clamp Core .............. 8-61 Model list..............Communications Control (Pn800) ......3-56 2-15 Rotation Speed Characteristics ......Connector Model list..........2-11 Servo Drives ............Connector-terminal block 2,000-r/min motor 2-16 Cables..............Model list..............2-16 Model list.............. 3-51 Rotation Speed Characteristics ......
  • Page 479 Index 3-57 8-13 Specifications............Level (Pn117) ............Encoder cable GAIN SWITCHING INPUT OPERATING mode Selection 8-10 3-67 (Pn114)..............Connector specifications........3-17 Flexible cable General input ............2-12 3-21 Model list............General-purpose Output (OUTM1 and OUTM2) ..3-58 Specifications..........4-40 Noise Resistance..........Error Counter Overflow Level (Pn014) ......
  • Page 480 Index 8-45 Momentary Hold Time (Pn509) ........ 3-28 Monitor Connector Specifications (CN5) ....3-19 Monitor Input............. Parameter List ............3-28 Monitor output circuit ..........11-36 Periodic Maintenance ..........3-28 Monitor Output Signals List ........8-23 Position Command Filter Time Constant (Pn222) ..Motor connector specifications 8-64 Position Command FIR Filter Time Constant (Pn818)..
  • Page 481 Index 8-43 Sequence I/O signal Stop Selection with Servo OFF (Pn506)....4-31 Input Signals ............Surge Absorber ............4-39 Output Signals ............Surge Suppressor............. 3-19 8-11 Sequence Output............SWITCHING mode in Position Control (Pn115) ..Servo Drive System Block Diagrams ..........Characteristics System Configuration ..........
  • Page 484 Hoffman Estates, IL 60169 U.S.A. Tel: (31) 2356-81-300 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 ©OMRON Corporation 2009-2023 All Rights Reserved. OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. In the interest of product improvement, 438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, specifications are subject to change without notice.

This manual is also suitable for:

R88m-k seriesOmnuc g5 series

Table of Contents