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Omron SMARTSTEP Junior R7D-ZP User Manual

Servomotors/servo drivers
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Cat. No. I553-E1-01
Servomotors/Servo Drivers
MODELS R7M-Z @ @ (Servomotors)
R7D-ZP @ @ (Servo Drivers)
SMARTSTEP Junior
USER´S MANUAL

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Summary of Contents for Omron SMARTSTEP Junior R7D-ZP

  • Page 1 Cat. No. I553-E1-01 Servomotors/Servo Drivers MODELS R7M-Z @ @ (Servomotors) R7D-ZP @ @ (Servo Drivers) SMARTSTEP Junior USER´S MANUAL...
  • Page 2  OMRON, 2006 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

  • Page 4: Read And Understand This Manual

    WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...

  • Page 5: Application Considerations

    The following are some examples of applications for which particular attention must be given. This is not intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses listed may be suitable for the products: •...

  • Page 6: Disclaimers

    PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements.

  • Page 7: General Warnings

    To ensure safe and proper use of SMARTSTEP Junior Servomotors and Servo Drivers, read the general warnings provided below along with the rest of this manual to gain sufficient knowledge of the devices, safety information, and precautions before actual use.
  • Page 8 • This manual may include illustrations of the product with protective covers or shields removed in order to describe the components of the product in detail. Make sure that these protective covers and shields are on the product before use.
  • Page 9 Use the Servomotors and Servo Drivers in a specified combination. Using them incorrectly may result in fire or damage to the products. Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product •...
  • Page 10 Installation and Wiring Precautions CAUTION Do not step on or place a heavy object on the product. Doing so may result in injury. Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
  • Page 11 When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation. Not doing so may result in injury. Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in malfunction.
  • Page 12 General Warnings Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning label Example from R7D-ZP01H Warning Label Contents...

  • Page 13: Items To Check When Unpacking

    2. Safety Precautions document × 1 No connectors or mounting screws are provided. Obtain these separately. If something is missing, the Servo Driver is damaged, or some other fault exists, please contact the point of purchase or your OMRON representative.
  • Page 14 Section 1 Features and System Configuration Section 2 Standard Models and Dimensions Section 3 Specifications Section 4 System Design Section 5 Operation Section 6 Troubleshooting Appendix...

  • Page 15: Table Of Contents

    Servo Drivers ........................ 2-5 2-2-2 Servomotors........................2-7 2-2-3 Decelerator Dimensions ....................2-9 Section 3 Specifications Servo Driver Specifications ................3-2 3-1-1 General Specifications ....................3-2 3-1-2 Characteristics ......................3-3 3-1-3 Main Circuit and Servomotor Connector Specifications (CNA and CNB) ....3-3...
  • Page 16 4-2-2 Selecting Connecting Cables..................4-7 4-2-3 Peripheral Device Connection Examples ..............4-8 4-2-4 Wiring the Main Circuit and Servomotor Connections..........4-9 4-2-5 Conforming to EMC Directives ................... 4-11 Regenerative Energy Absorption ..............4-21 4-3-1 Calculating the Regenerative Energy ................. 4-21 4-3-2 Servo Driver Regenerative Energy Absorption Capacity..........
  • Page 17 5-2-2 Switch Functions......................5-3 Preparing for Operation.................. 5-5 5-3-1 Turning ON the Power and Checking Indicators ............5-5 Trial Operation ....................5-7 5-4-1 Preparing for Trial Operation ..................5-7 5-4-2 Trial Operation ......................5-7 Operating Functions..................5-9 5-5-1 Brake Interlock ......................5-9...

  • Page 18: Features And System Configuration

    Section 1 Features and System Configuration...

  • Page 19: Introduction

    No parameter settings are required for setup, so you can start using the Servo Driver immediately simply by removing it from the box and wiring it. If it is necessary to set the positioning resolution or reference pulse method, these settings can be set or changed easily with the rotary switches on the front of the Servo Driver.

  • Page 20: System Configuration

    1-2 System Configuration 1-2 System Configuration SYSMAC PLC + Position Control Unit with pulse-string output Pulse string Position Control Unit SYSMAC CJ1/CS1/C-series Programmable Controller SYSMAC PLC with pulse output functions SMARTSTEP Junior Servo Driver R7D-ZP@ Flexible Motion Controller with pulse I/O...

  • Page 21: Nomenclature And Functions

    Motor connector (CNB) Main circuit connector (CNA) Rotary Switch for Setting Command Pulse (PULSE) Always turn OFF the power supply before setting the rotary switch. (The switch is factory-set to 0.) Command pulse Command pulse connection Setting...
  • Page 22 1-3 Nomenclature and Functions 1-3-1 Servo Driver Nomenclature and Functions Rotary Switch for Setting Command Filter (FIL) This switch does not need to be set if the machine is not subject to vibration. (The switch is factory-set to 0.) Filter Acceleration/deceleration Approx.

  • Page 23: System Block Diagrams

    1-4 System Block Diagrams 1-4-1 Pulse-string Input Servo Driver 1-4 System Block Diagrams 1-4-1 Pulse-string Input Servo Driver +VCC +A,-A 15V2 SW power Relay supply +B,-B VCC2 drive Main circuit Phase U +VCC Gate control Current Overcurrent Phase V drive...

  • Page 24: Applicable Standards

    Electromagnetic compatibility EN 61000-6-2 (EMC): Immunity standard for industrial environments Note: To conform to EMC Directives, the Units must be installed under the conditions described in 4-2-5 Conforming to EMC Directives. 1-5-2 UL and cUL Standards Applicable Standard...
  • Page 25 1-5 Applicable Standards 1-5-2 UL and cUL Standards...

  • Page 26: Standard Models And Dimensions

    Section 2 Standard Models and Dimensions...

  • Page 27: Standard Models

    Pulse string input 100 W R7M-Z10030-S1 R7M-Z10030-BS1 R7D-ZP01H 200 W R7M-Z20030-S1 R7M-Z20030-BS1 R7D-ZP02H 400 W R7M-Z40030-S1 R7M-Z40030-BS1 R7D-ZP04H 750 W R7M-Z75030-S1 R7M-Z75030-BS1 R7D-ZP08H Note: Only the Servomotor and Servo Driver combinations listed here can be used. Do not use other combinations.

  • Page 28: Decelerators (Straight Shaft With Key)

    2-1 Standard Models 2-1-4 Decelerators (Straight Shaft with Key) 2-1-4 Decelerators (Straight Shaft with Key) Backlash: 3 Arcminutes Max. Specifications Model Motor capacity Gear ratio R7G-VRSFPB05B100 R7G-VRSFPB09B100 100 W 1/15 R7G-VRSFPB15B100 1/25 R7G-VRSFPB25C100 R7G-VRSFPB05B200 R7G-VRSFPB09C400 200 W 1/15 R7G-VRSFPB15C400 1/25...

  • Page 29: Accessories And Cables

    R7A-CRZ005C 10 m R7A-CRZ010C Cable Only (in 1-m increments) R7A-CRZ001 Connectors Specifications Model Main Circuit Connector (CNA) with Ejector Levers R7A-CNZ01P Servomotor Connector (CNB) R7A-CNZ01A Control Input Connector (CN1) R7A-CNA01R Encoder Input Connector (CN2) R7A-CNZ01R Servomotor Connector for Encoder Cable...

  • Page 30: External And Mounted Dimensions

    2-2 External and Mounted Dimensions 2-2-1 Servo Drivers 2-2 External and Mounted Dimensions 2-2-1 Servo Drivers R7D-ZP01H/-ZP02H (100 W/200 W) Mounting Hole Dimensions 4.5-dia. hole Two, M4 screw holes Footprint R7D-ZP04H (400 W) Mounting Hole Dimensions 4.5-dia. hole Two, M4 screw holes...
  • Page 31 2-2 External and Mounted Dimensions 2-2-1 Servo Drivers R7D-ZP08H (750 W) Mounting Hole Dimensions Two, M4 screw holes 4.5-dia. hole Exterior...

  • Page 32: Servomotors

    2-2 External and Mounted Dimensions 2-2-2 Servomotors 2-2-2 Servomotors 100-W Servomotor without a Brake R7M-Z10030-S1 Key groove 46 dia. Two, 4.3 dia. 100-W Servomotor with Brake R7M-Z10030-BS1 Key groove 46 dia. Two, 4.3 dia.
  • Page 33 2-2 External and Mounted Dimensions 2-2-2 Servomotors 200-W/400-W/750-W Servomotors without Brakes R7M-Z20030-S1/Z40030-S1/Z75030-S1 Output Section on 750-W Servomotor Key groove Output Model (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) Four, R7M-Z20030-S1 125.5 95.5 50h8 14h6 5.5 dia.

  • Page 34: Decelerator Dimensions

    1/25 R7G-VRSFPB25D400 104 R7G-VRSFPB05C750 93.5 R7G-VRSFPB09D750 97.5 1/15 R7G-VRSFPB15D750 110 1/25 R7G-VRSFPB25E750 135 135 110 M6 M10 Note: AT is the size of the set bolt. Outline Drawings Four, Z2 (Effective depth: l) Four, Z1 D2 dia. D1 dia. Set bolt (AT)
  • Page 35 R7G-RGSF09C400 89.5 1/15 R7G-RGSF15C400 400 W R7G-RGSF05C400 89.5 R7G-RGSF09C400 89.5 1/15 R7G-RGSF15C400 Note: AT is the size of the set bolt. Outline Drawings Four, Z2 (Effective depth: l) Four, Z1 D1 dia. D2 dia. Key dimensions Set bolt (AT) 2-10...

  • Page 36: Specifications

    Section 3 Specifications...

  • Page 37: Servo Driver Specifications

    3-1 Servo Driver Specifications 3-1-1 General Specifications 3-1 Servo Driver Specifications Select the Servo Driver in combination with the Servomotor being used. (For details, refer to 2-1-3 Servo Driver-Servomotor Combinations.) 3-1-1 General Specifications Item Specifications Ambient operating temperature 0 to 55 C Ambient operating humidity 90% max.

  • Page 38: Characteristics

    Momentary maximum output current 2.5 A 3.3 A 6.0 A 11.1 A (rms) Input power supply Single-phase 200 to 230 VAC (170 to 253 V), 50/60 Hz (For main circuit and control circuit) Main circuit 16 W 27 W Heat generated Control circuit...
  • Page 39 3-1 Servo Driver Specifications 3-1-3 Main Circuit and Servomotor Connector Specifications (CNA and CNB) R7A-CNZ01A (CNB) Servomotor Connector Specifications CNB Connector Servomotor Connector (CNB) Pin Arrangement Terminal Pin No. Name Function label Servomotor These are the output terminals to the...

  • Page 40: Control I/O Specifications (Cn1)

    3-1 Servo Driver Specifications 3-1-4 Control I/O Specifications (CN1) 3-1-4 Control I/O Specifications (CN1) Control I/O Signal Connections and External Signal Processing Reverse Phase Z pulse Forward pulse Alarm output Maximum operating voltage: 30 V DC Maximum Output Deviation Current: 50 mA DC...
  • Page 41 ZCOM When the Servo Driver generates an alarm, the output turns OFF. Alarm output Note: OFF for approx. 2 s after the power is turned ON. Outputs the holding brake timing signals. Release the holding Brake interlock output BKIR brake when this signal is ON.

  • Page 42: Control Input Circuits

    Open Collector Input Controller Servo Driver Input current: 7 to 15 mA Note: Select a value for resistance R so that the input current will be from 7 to 15 mA. 24 V 1.6 to 2.2 kΩ 12 V 750 to 1 kΩ...

  • Page 43: Control Input Details

    –Direction Signal (–SIGN), –Forward Pulse (–CCW) Signal Functions The functions of these signals depend on the setting of the command pulse rotary switch (PULSE) on the front of the Servo Driver. Turn OFF the Servo Driver’s power before setting the PULSE Switch. The factory setting is 0.
  • Page 44 • The value of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be disabled. • Input the reset signal for 20 µs minimum. The counter will not be reset if the signal is too short.

  • Page 45: Control Output Circuits

    Servo Driver Maximum operating voltage: 30 V DC Maximum output current: 50 mA External power supply: 24 V DC ±1 V Di: Diode for preventing surge voltage (Use speed diodes.) 3-1-8 Control Output Details Control Output Sequence Power supply input (L1 and L2) Approx.

  • Page 46: Encoder Connector Specifications (Cn2)

    Function • The alarm output is turned OFF when the Servo Driver detects an error. • This output is OFF at startup and turns ON when the initial processing has been completed. (Approx. 2 s is required for initial processing.) Brake Interlock Output (BKIR) Pin No.13: Brake Interlock output (BKIR)
  • Page 47 3-1 Servo Driver Specifications 3-1-9 Encoder Connector Specifications (CN2) Crimped (Solderless) Connector Name Model Maker Plug, Cable, and Cover Set 54559-1005 Plug Housing 51209-1001 Molex Japan Co. Crimp Terminal 59351-8187 (Loose wire) Crimping Tool 57401-5300 3-12...

  • Page 48: Servomotor Specifications

    3-2 Servomotor Specifications 3-2-1 General Specifications 3-2 Servomotor Specifications Select a Servomotor based on the mechanical system’s load conditions and the installation environment. There are various options available on the Servomotors, such as brakes. 3-2-1 General Specifications Item Specifications Ambient operating temperature 0 to 40°C...

  • Page 49: Characteristics

    4: The operation time is the measured value (reference value) with a varistor installed as a surge suppressor. 5. The allowable radial and thrust loads are the values determined for a service life of 20,000 hours at normal operating temperatures.
  • Page 50 3-2 Servomotor Specifications 3-2-2 Characteristics Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable and a 200-V AC input. R7M-Z10030-S1 R7M-Z20030-S1 Repetitive usage Repetitive usage Continuous usage Continuous usage R7M-Z40030-S1 R7M-Z75030-S1 Repetitive usage...

  • Page 51: Encoder Specifications

    • Generally, when the temperature drops in a mechanical system, the friction torque and the load torque increase. For that reason, overloading may occur at low temperatures. In particular, in systems that use a Decelerator, the load torque at low temperatures may be nearly twice the load torque at normal temperatures.

  • Page 52: Decelerator Specifications

    1029 Note 1. The Decelerator inertia is the Servomotor shaft conversion value. The enclosure rating for Servomotors with Decelerators is IP44. The allowable radial load is the value at the center of the shaft. Backlash: 45 Arcminutes Max. Maximum Maximum...

  • Page 53: Cable And Connector Specifications

    (CN1). There is no connector on the controller end. Wire a connector to match the controller if you are connecting to a Position Control Unit and a compatible cable is not available or connecting to a controller manufactured by another company.

  • Page 54: Servomotor Power Cable Specifications

    CNB Connector and Servomotor Power Cables without a connector (Cable Only). Select the Cable to match the Servomotor being used. Note: When connecting to moving parts, use robot cable and make a custom cable. Power Cables with CNB Connector for Servomotors without Brakes...
  • Page 55 Approx. 0.1 kg Note 1. The maximum distance between the Servo Driver and Servomotor is 20 meters. Cables are sold in 1-m increments. It is cut to the specified length. Power Cables with CNB Connector for Servomotors with Brakes Cable Models...

  • Page 56: Encoder Cable Specifications

    The Encoder Cable connects the encoder between the Servo Driver and Servomotor. Encoder Cables are available in two forms: Encoder Cables with an attached CN2 Connector and plain cable only. Note: When connecting to moving parts, use robot cable to make a custom cable. Encoder Cable (CN2 Connector Attached) Cable Models...

  • Page 57: Connector Specifications

    7.1 dia. Approx. 0.1 kg Note 1. The maximum distance between the Servo Driver and Servomotor is 20 meters. Cable are sold in 1-m increments. It is cut to the specified length. 3-4-4 Connector Specifications Main Circuit Connector (R7A-CNZ01P) The Main Circuit Connector connects to the Servo Driver’s Main Circuit Connector (CNA).
  • Page 58 3-4 Cable and Connector Specifications 3-4-4 Connector Specifications Servomotor Connector (R7A-CNZ01A) The Servomotor Connector connects to the Servo Driver’s Servomotor Connector (CNB). Dimensions Servomotor Connector 04JFAT-SAYGF-N (JST Mfg. Co., Ltd.) 3-23...

  • Page 59: Regeneration Resistance Unit

    Note 1. If an error is detected, an alarm is output from the Regeneration Resistance Unit. Set up a sequence so that the power to the Servo Driver (L1 and L2) is turned OFF when an alarm occurs. When an error is detected and the Servo Driver’s power is turned OFF, the Regeneration Resistance Unit will not reset normally unless the Servo Driver’s power is OFF for 2 to 3...
  • Page 60 3-5 Regeneration Resistance Unit 3-5-1 Regeneration Resistance Unit (R88A-RG08UA) Specifications Dimensions Mounting Hole 6 dia. Dimensions Two, M4 3-25...

  • Page 61: Ac Reactors

    3-6 AC Reactors 3-6-1 AC Reactor Specifications 3-6 AC Reactors An AC Reactor can be connected to the Servo Driver to suppress harmonic currents. Select a model to match the Servo Driver being used. 3-6-1 AC Reactor Specifications Specifications AC Reactor...

  • Page 62: System Design

    Section 4 System Design...

  • Page 63: Installation Conditions

    • Temperature rise in any Unit installed in a closed space, such as a control box, will cause the Servo Driver’s ambient temperature to rise. Use a fan or air conditioner to prevent the Servo Driver’s ambient temperature from exceeding 55°C.

  • Page 64: Servomotors

    4-1-2 Servomotors Keeping Foreign Objects Out of Units • Place a cover over the Units or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the Units during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, heat buildup may damage the Units.
  • Page 65 • When connecting to a V-belt or timing belt, consult the maker for belt selection and tension. • A radial load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding specifications to be placed on the motor shaft due to belt tension.

  • Page 66: Decelerators

    SMARTSTEP Junior Servomotor, select the decelerator so that the load on the motor shaft (i.e., both the radial and thrust loads) is with the allowable values. (Refer to 3-2-2 Characteristics for details on the allowable loads for motors.) Also, select the decelerator so that the allowable input speed and allowable input torque of the decelerator is not exceeded.

  • Page 67: Wiring

    4-2 Wiring 4-2-1 Connecting Cables This section shows the types of connecting cables used in a SMARTSTEP Junior system. A wide selection of cables are available for OMRON SYSMAC Position Control Units, making it easy to wire a servo system.

  • Page 68: Selecting Connecting Cables

    4-2-2 Selecting Connecting Cables General-purpose Control Cables If you are connecting to a controller that does not have a standard cable available, use General-purpose Control Cable to assemble a cable to connect to the Servo Driver’s Control I/O Connector (CN1).

  • Page 69: Peripheral Device Connection Examples

    4-2 Wiring 4-2-3 Peripheral Device Connection Examples 4-2-3 Peripheral Device Connection Examples R7D-ZP01H/-ZP02H/-ZP04H/-ZP08H Single-phase 200 to 230 VAC, 50/60 Hz: R7D-ZP@ Noise filter (See note 1.) Class D ground (Class 3 ground: 100 Ω or less) Main-circuit power supply Linear reactor Main-circuit contactor (See note 1.)

  • Page 70: Wiring The Main Circuit And Servomotor Connections

    No-fuse breaker or fuse capacity Note: Connect an OMRON Servomotor Cable to the Servomotor connection terminals. Wire Size and Allowable Current (Reference) The following table shows the allowable current when there are three power supply wires. Use a current below these specified values.
  • Page 71 2. Strip the covering off the ends of the wires. Prepare wires of the right sizes, according to the tables provided under Terminal Block Wire Sizes above, and strip off 9 to 10 mm of the covering from the end of each wire. 9 to 10 mm 3.

  • Page 72: Conforming To Emc Directives

    (JST Mfg. Co. Ltd.) 4. Insert the wire into the slot. With the slot held open, insert the end of the wire. Then let the slot close by releasing the pressure from the lever or the screwdriver. 5. Mount the Terminal Block to the Servo Driver.
  • Page 73 (ground plate), and I/O lines should be isolated and wired using the shortest distance possible. • If no-fuse breakers are installed at the top and the power supply line is wired from the lower duct, use metal tubes for wiring and make sure that there is adequate distance between the input lines and the internal wiring.
  • Page 74 Case Structure • Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces will be electrically conductive. • During assembly, strip the paint off of joint areas (or mask them during painting), to make them electrically conductive.
  • Page 75 Fuses Always install a fuse at each Servo Driver to prevent fire or burn damage. We recommend the following fuses, based on the rated current, current at the maximum momentary torque, and inrush current when the power is turned ON.
  • Page 76 • The Servo Driver’s maximum momentary output is approximately three times the rated output, and can be output for up to three seconds. Therefore, select no-fuse breakers with an operating time of at least five seconds at 300% of the rated maximum output. General-purpose and low-speed no-fuse breakers are generally suitable.
  • Page 77 250 V 0.4 mA/ phase Note: The last two digits of the noise filter model number indicate the type of terminal connection. The /07 models have lead wires, the /06 models have fast-on connections that can be soldered, and the /08 models have screw terminals. Select the appropriate version for your application.
  • Page 78 • Noise Filter for the Brake Power Supply (SUP-P5H-EPR) Two, 4.8 dia. Five, M4 Surge Suppressors • Install surge suppressors for loads that have induction coils, such as relays, solenoids, brakes, clutches, etc. • The following table shows types of surge killers and recommended products. Type...
  • Page 79 Noise filter supply side breaker absorber breaker Servo Driver side Radio Noise Filters Use a radio noise filter to reduce the Servo Driver’s PWM noise. The following table shows some available radio noise filters. Maker Model number RN603620M FDK Corporation RN80UD...
  • Page 80 For cable diameter up to 13 mm ZCAT2035-0930A For cable diameter up to 9 mm • Do not place the Encoder Cable in the same duct as Control Cables for brakes, solenoids, clutches, and valves. 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.
  • Page 81 • Use a noise filter to attenuate external noise and reduce noise emitted from the Servo Driver. • Select a noise filter with a rated current that is at least two times greater than the effective load current (the rated current of the main circuit power supply input shown in the table in 4-2-4 Wiring the Main Circuit and Servomotor Connections).

  • Page 82: Regenerative Energy Absorption

    Servomotor deceleration and prevents the DC voltage from increasing. An overvoltage error is generated, however, if the amount of regenerative energy from the Servomotor is too large. If this occurs, measures must be taken to reduce the regenerative energy produced by changing operating patterns, or to increase the regenerative energy absorption capacity by connecting external regeneration resistance.
  • Page 83 4-3 Regenerative Energy Absorption 4-3-1 Calculating the Regenerative Energy • Since there is an internal capacitor to absorb regenerative energy, the value for Eg1 a Eg2 (unit: J) must be lower than the Servo Driver’s regenerative energy absorption capacity. (The capacity varies depending on the model. For details, refer to 4-3-2 Serv Driver Regenerative E nergy Absorption Capacity.)

  • Page 84: Servo Driver Regenerative Energy Absorption Capacity

    4-3 Regenerative Energy Absorption 4-3-2 Servo Driver Regenerative Energy Absorption Capacity • Since there is an internal capacitor to absorb regenerative energy, the value for Eg1 an (unit: J) must be lower than the Servo Driver’s regenerative energy absorption capacity. (The capacity varies depending on the model. For details, refer to 4-3-2 Serv Driver Regenerative E nergy Absorption Capacity.)
  • Page 85 Regeneration absorption capacity 70 W 280 W Resistor configurations Note: Select a combination that has an absorption capacity greater than the average regeneration power (Pr). Dimensions Thermal switch output Wiring the External Regeneration Resistor When installing an External Regeneration Resistor, remove the shorting bar between the RG-JP terminals and connect the resistor to the P-RG terminals.

  • Page 86: Operation

    Section 5 Operation...

  • Page 87: Operational Procedure

    Section 4-2 Note: Specified installation and wiring requirements must be satisfied, connections particularly for models conforming to the EC Directives. Make sure that the power supply is turned OFF, and set the Servo Driver’s Switch settings Section front panel switches.

  • Page 88: Switch Settings

    5-2 Switch Settings Switch Names 5-2-1 Switch Settings With SMARTSTEP Junior Servo Drivers, the settings required for operation can be made simply by setting the front panel switches. Set the switches appropriately according to the system configuration. 5-2-1 Switch Names...
  • Page 89 5-2 Switch Settings 5-2-2 Switch Functions Rotary Switch for Command Filter Setting (FIL) This switch does not need to be set if the machine is not subject to vibration. (The switch is factory-set to 0.) Filter Acceleration/deceleration Approx. time from end of...

  • Page 90: Preparing For Operation

    If the command indicator is orange, turn ON the RUN command input (RUN) and check that the indicator changes from orange to green. If the indicator does not change to green or one of the alarm indicators is lit (AL1 to AL3), refer to Section 6 Troubleshooting and correct the error.
  • Page 91 5-3 Preparing for Operation 5-3-1 Turning ON the Power and Checking Indicators Check that the command indicator is lit orange or green.

  • Page 92: Trial Operation

    First no-load operation and then loaded operation is checked. Note 1. If an error occurs during the trial operation, refer to Section 6 Troubleshooting to eliminate the cause. Then check for safety, reset the alarm, and then retry the trial operation.
  • Page 93 If anything abnormal occurs, refer to Section 6 Troubleshooting and apply the appropriate countermeasures. If the machine vibrates when starting or stopping, refer to 5-2-2 Switch Functions and adjust the command filter rotary switch setting (FIL). 4) Operation under Actual Conditions Operate the Servomotor in a regular pattern and check the following items.

  • Page 94: Operating Functions

    Take this delay into account when sending the pulse command, so that the pulse command is sent after the brake has been released. In addition, there is some delay between a change in the BKIR signal and the brake power switching, so check the relay’s response time.
  • Page 95 Servomotor speed Note 1. The Servomotor will continue to rotate due to its momentum for about 15 ms after the Servomotor de-energizes until the dynamic brake operates. The BKIR (brake interlock) signal will be turned OFF if the Servomotor rotation speed falls below 100 r/min or 500 ms has elapsed since the Servo went OFF.

  • Page 96: Troubleshooting

    Section 6 Troubleshooting...

  • Page 97: Error Processing

    Main-circuit Power Supply Input Terminals (L1, L2) Single-phase 200/230 V AC (170 to 253 V) 50/60 Hz If the voltage is outside of this range, there is a risk of incorrect operation, so be sure that the power supply is correct.

  • Page 98: Precautions When Troubleshooting

    Precautions • Disconnect any cables before checking whether they are broken or damaged. Even if you have checked the conduction of the wiring, there is a risk of conduction due to the return circuit. • If the encoder signal is lost, the Servomotor may overrun, or an error may be generated.

  • Page 99: Alarm Table

    6-2-1 Alarm Table Alarm Table If the Servo Driver detects an error, ALM (alarm output) will be output, the power drive circuit in the Servo Driver will be turned OFF, and the alarm code will be displayed. Refer to 6-3-1 Error Diagnosis using the Alarm Indicators for details on appropriate alarm countermeasures.

  • Page 100: Troubleshooting

    6-3 Troubleshooting 6-3-1 Error Diagnosis using the Alarm Indicators Troubleshooting If an error occurs in the machinery, determine the error conditions from the alarm indicators and operating status, identify the cause of the error, and take appropriate countermeasures. 6-3-1 Error Diagnosis using the Alarm Indicators...
  • Page 101 6-3 Troubleshooting 6-3-1 Error Diagnosis using the Alarm Indicators Status when error Error Cause of error Countermeasure Indicators occurs Overload Occurs during normal Operated while the holding brake was Measure the voltage at the brake (Continued) operation. engaged. terminals and release the brake.
  • Page 102 Error Cause of error Countermeasure Indicators occurs Overcurrent Occurs when the The U phase, V phase, W phase, or Rewire correctly. power is turned GR wires are wired incorrectly or the ON or during connections are loose. operation. The GR terminal is linked to another terminal.

  • Page 103: Error Diagnosis Using The Operating Status

    Check the voltage across the Set up the power supply’s ON circuit power supply terminals. correctly. • Input either the CW input or CCW The CW input and CCW Check the command pulse’s input to the pulse signal. input are ON at the same wiring.
  • Page 104 6-3 Troubleshooting 6-3-2 Error Diagnosis using the Operating Status Problem Likely cause Items to check Countermeasures Servomotor operation The Servomotor Power Check the wiring of the Servomotor Wire correctly. is unstable. Cable or Encoder Cable is Power Cable’s U, V, and W phases and check the Encoder Cable’s...
  • Page 105 6-3 Troubleshooting 6-3-2 Error Diagnosis using the Operating Status Problem Likely cause Items to check Countermeasures The Servomotor is There are problems with the Check whether the Tighten the mounting screws. producing unusual machinery’s installation. Servomotor’s mounting screws noises or the machinery are loose.

  • Page 106: Overload Characteristics (Electronic Thermal Function)

    Servo Driver and Servomotor from overloading. If an overload does occur, first eliminate the cause of the error and then wait at least one minute for the Servomotor temperature to drop before turning on the power again. If the power is turned ON again repeatedly at short intervals, the Servomotor windings may burn out.

  • Page 107: Periodic Maintenance

    6-5-1 Servomotor Maintenance Periodic Maintenance Servomotors and Servo Drivers contain many components and will operate properly only when each of the individual components is operating properly. Some of the electrical and mechanical components require maintenance depending on application conditions. Periodic inspection and part replacement are necessary to ensure proper long-term operation of Servomotors and Servo Drivers.

  • Page 108: Servo Driver Maintenance

    • If the Servomotor or Servo Driver is not to be used for a long time, or if they are to be used under conditions worse than those described above, a periodic inspection schedule of five years is recommended.
  • Page 109 6-5 Periodic Maintenance 6-5-3 Replacing the Cooling Fan 6-14...

  • Page 110: Appendix

    Appendix...

  • Page 111: Connection Examples

    A-1 Connection Examples A-1 Connection Examples Example 1: Connecting to SYSMAC CJ1W-NC133/233/433 Position Control Units Main circuit power supply Main circuit contact Surge suppressor 3-phase 200/230 VAC, 50/60Hz Servo error indicator Linear reactor Ground to 100 Ω CJ1W-NC133/233/433 R7D-ZP@ Fuse or less.
  • Page 112 A-1 Connection Examples Example 3: Connecting to a SYSMAC CJ1M PLC Main circuit power supply Main circuit contact Surge suppressor 3-phase 200/230 VAC, 50/60Hz Servo error indicator Linear reactor CJ1M Ground to 100 Ω R7D-ZP@ Fuse or less. R7A-CPZ@S Signal...
  • Page 113 A-1 Connection Examples Example 5: Connecting to SYSMAC CS1W-NC133/233/433 Position Control Units Main circuit power supply Main circuit contact Surge suppressor 3-phase 200/230 VAC, 50/60Hz Servo error indicator Linear reactor Ground to 100 Ω CS1W-NC133/233/433 R7D-ZP@ Fuse or less. Signal...
  • Page 114 A-1 Connection Examples Example 7: Connecting to a SYSMAC C200H-NC112 Position Control Unit Main circuit power supply Main circuit contact Surge suppressor 3-phase 200/230 VAC, 50/60Hz Servo error indicator Linear reactor C200H-NC112 Ground to 100 Ω R7D-ZP@ Fuse or less.
  • Page 115 A-1 Connection Examples Example 9: Connecting to an FQM1-MMP21 Motion Controller Main circuit contact Surge suppressor 3-phase 200/230 VAC, 50/60Hz Servo error indicator Linear reactor FQM1-MMP21 Ground to 100 Ω R7D-ZP@ Fuse or less. R7A-CPZ@S Signal 5-VDC power supply input for pulse outputs...

  • Page 116: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. I553-E1-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 117 Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS LLC 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel: (1)847-843-7900/Fax: (1)847-843-8568 OMRON ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square,...
  • Page 118 Authorized Distributor: Cat. No. I553-E1-01 Note: Specifications subject to change without notice. Printed in Japan This manual is printed on 100% recycled paper.

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