Table Of Contents - Omron SMARTSTEP R7D-AP Series User Manual

Table of Contents

General Warnings7
Storage And Transportation Precautions8
Installation And Wiring Precautions8
Operation And Adjustment Precautions9
Maintenance And Inspection Precautions10
Warning Labels11
Table Of Contents17
Chapter 1. Introduction19
Features20
Faster Response And Rotation Speed20
Constant Accuracy20
Resolution Settings20
Cylinder-Style And Flat-Style Servomotors21
A Wider Selection Of Programming Devices21
System Configuration22
Servo Driver Nomenclature23
Applicable Standards24
Ec Directives24
Ul And Cul Standards24
System Block Diagrams25
200 V Ac: R7D-Apa3H/-Apa5H/-Ap01H/-Ap02H/-Ap04H26
200 V Ac: R7D-Ap08H26
Chapter 2. Standard Models And Specifications27
Standard Models28
Servomotors28
Servo Drivers28
3,000-R/Min Flat-Style Servomotors28
Reduction Gears (Straight Shaft With Key)29
Servo Relay Units For Cn130
Control Cables For Cn130
Integrated Servomotor Cables30
Separate Servomotor Cables30
Peripheral Cable Connectors31
Parameter Units31
External Regeneration Resistors31
Dc Reactors31
External And Mounted Dimensions32
Single-Phase/Three-Phase 200 V Ac: R7D-Ap08H (750 W)34
Wall Mounting34
Front Panel Mounting (Using Mounting Brackets)34
Parameter Unit35
R7A-Pr02A Hand-Held Parameter Unit35
Cylinder-Style Servomotors Without A Brake36
Cylinder-Style Servomotors With A Brake36
Flat-Style Servomotors Without A Brake38
Flat-Style Servomotors With A Brake38
Reduction Gears39
Servo Driver Specifications43
General Specifications43
Performance Specifications44
Terminal Block Specifications45
Control I/O Specifications (Cn1)46
Control I/O And External Signals For Position Control46
Control I/O Signals47
Cn1 Control Inputs47
Cn1 Control Outputs47
Interface For Rs-42248
Cn1: Pin Arrangement48
Cn1 Connectors (36P)48
Control Input Circuits49
Position Command Pulse Inputs And Deviation Counter Reset Inputs49
Sequence Inputs49
Control Output Circuits50
Sequence And Alarm Outputs50
Phase-Z Output50
Control Input Details51
Command Pulse Timing53
Run Command Input (14: Run)54
Alarm Reset (18: Reset)54
Control Output Details54
Control Output Sequence54
Encoder Input Connector Specifications (Cn2)55
Communications Connector Specifications (Cn3)55
Positioning Completed Output (8: Inp)55
Cn3 Connectors Used (8P)55
Monitor Output Connector Specifications (Cn4)56
Cn4 Connectors Used (4P)56
Servomotor Specifications57
3,000-R/Min Cylinder-Style Servomotors58
3,000-R/Min Cylinder-Style Servomotors: Torque And Rotation Speed Characteristics60
3,000-R/Min Flat-Style Servomotors: Torque And Rotation Speed Characteristics63
Servomotor And Mechanical System Temperature Characteristics64
Encoder Specifications64
Reduction Gear Specifications65
Reduction Gears For Smartstep A-Series Servomotors (R7G-@)65
Reduction Gears For Cylinder-Style Servomotors65
Reduction Gears For Flat-Style Servomotors67
Cable And Connector Specifications69
Control Cables69
General Control Cables (R88A-Cpu@@@S)69
Connection Configuration And External Dimensions69
Connector Terminal Block Cables (R88A-Ctu@@@N)70
Servomotor Cables72
Robot Cable Bending Durability72
Power Cables72
Encoder Cables72
Specifications Of Integrated Cables73
Integrated Cables For Servomotors Without Brakes (R7A-Cea@@@S)73
Specifications Of Separate Cables76
Specifications Of Standard Power Cables (R88A-Cawa@@@@)76
Specifications Of Robot Power Cables (R88A-Cawa@@@R)77
Power Cables For Servomotors Without Brakes78
Power Cables For Servomotors With Brakes78
Specifications Of Standard Encoder Cables (R7A-Cra@@@C)78
Specifications Of Robot Encoder Cables (R7A-Cra@@@Cr)78
Peripheral Cables And Connector Specifications80
Analog Monitor Cable (R88A-Cmw001S)80
Computer Monitor Cables (R7A-Cca002P@)81
Encoder Connector (R7A-Cna0@R)83
Servo Relay Units And Cable Specifications84
Xw2B-40J6-2B85
Xw2B-20J6-3B86
Xw2B-40J6-4A88
Xw2B-20J6-8A89
Xw2B-40J6-9A90
Terminal Block Connection93
Servo Phase-B Selectors (Not Used)95
Wiring To Screwless Clamp Terminal Blocks95
Inserting A Wire95
Releasing A Wire95
Servo Relay Unit Wiring Example96
Upper Terminal Block Pin Arrangement96
Recommended Screwdriver96
Lower Terminal Block Pin Arrangement97
Cables For Servo Relay Units98
Servo Driver Cables (Xw2Z-@J-B5)98
Servo Driver Cables (Xw2Z-@J-B7)99
Servo Driver Cables (Xw2Z-@@@J-B12)100
Position Control Unit Cables (Xw2Z-@J-A3)103
Position Control Unit Cables (Xw2Z-@J-A4)104
Position Control Unit Cable (Xw2Z-@J-A5)105
Position Control Unit Cables (Xw2Z-@J-A8)107
Position Control Unit Cables (Xw2Z-@J-A9)108
Position Control Unit Cables (Xw2Z-@J-A12)110
Position Control Unit Cables (Xw2Z-@J-A13)111
Position Control Unit Cables (Xw2Z@J-A16)113
Position Control Unit Cables (Xw2Z@J-A17)115
Position Control Unit Cables (Xw2Z-@J-A20)117
Position Control Unit Cables (Xw2Z-@J-A21)119
Position Control Unit Cable (Xw2Z-@J-A22)121
Position Control Unit Cables (Xw2Z-@J-A23)122
Position Control Unit Cables (Xw2Z-@J-A25)124
Cj1M-Cpu Unit Cables (Xw2Z-100J-A26)126
Customizable Counter Unit Cables For Special I/O128
Customizable Counter Unit Cables For General-Purpose I/O130
Motion Controller Cables For Special I/O132
Motion Controller Cable For General-Purpose I/O134
Communications Cables (Xw2Z-@J-C1)136
Parameter Unit Specifications137
External Regeneration Resistor Specifications139
R88A-Rr22047S External Regeneration Resistor139
R88A-Px@ Dc Reactors140
Chapter 3. System Design And Installation141
Installation Conditions143
Space Around Drivers143
Ambient Temperature143
Operating Environment144
Impact And Load144
Keeping Foreign Objects Out Of Units144
Connecting To Mechanical Systems145
Water And Drip Resistance145
Wiring148
Connecting Cable148
Selecting Connecting Cables149
Servo Relay Unit Cables149
Selecting Connecting Cables Without Communications Support149
Selecting Connecting Cables With Communications Support150
Connector-Terminal Block And Cables150
General Control Cables And Control I/O Connecto151
Integrated Cables151
Separate Cables151
Computer Monitor Cable152
Analog Monitor Cable152
Peripheral Device Connection Examples153
Three-Phase Input: R7D-Ap08H154
Terminal Block Wiring155
Terminal Block Names And Functions155
Terminal Block Wire Sizes156
200V Ac Input (R7D-Ap@H)157
Wire Sizes And Allowable Current157
600-V Heat-Resistant Vinyl Wiring (Hiv) (Reference Values)157
Terminal Block Wiring Procedure158
Wiring For Noise Resistance159
Single-Phase Power Supply Input159
Three-Phase Power Supply Input (R7D-Ap08H)160
Selecting Components161
No-Fuse Breakers (Nfb)161
Maximum Input Current161
Servo Driver Inrush Current161
Surge Absorbers162
Noise Filters For Power Supply Input162
Noise Filters For Servomotor Output163
Surge Killers163
Contactors164
Leakage Breakers164
Leakage Breaker Connection Example164
Harmonic Current Countermeasures (Dc Reactor)165
Improving Encoder Cable Noise Resistance165
Improving Control I/O Signal Noise Resistance166
Conforming To Emc Directives166
Wiring Method167
Control Panel Structure169
Case Structure169
Cover Structure169
Noise Filter For Brake Power Supply173
Regenerative Energy Absorption177
Regenerative Energy Calculation177
Horizontal Axis177
Vertical Axis178
Servo Driver Regenerative Energy Absorption Capacity179
Amount Of Internal Regeneration Resistance In Servo Drivers179
Regenerative Energy Absorption By External Regeneration Resistance180
Combining External Regeneration Resistors181
Servo Driver Minimum Connection Resistance And External Regeneration Resistor Combinations181
Wiring External Regeneration Resistance182
Chapter 4. Operation183
Operational Procedure185
Switch Settings186
Switch Nomenclature And Functions186
Unit No. Rotary Switch: Unit No. (Rs-422/485)186
Gain Adjustment Rotary Switch: Gain186
Setting Function Switches187
Turning Function Switches On And Off187
Switch/Parameter Switch (Switch 6)187
Resolution Setting (Switches 4 And 5)187
Dynamic Brake Setting (Switch 2)188
Online Autotuning Switch188
Preparing For Operation189
Turning Power On And Checking Indicators189
Items To Check Before Turning On The Power189
Checking Power Supply Voltage189
Turning On Power190
Checking Displays190
Trial Operation191
Preparing For Trial Operation191
Turning Off The Servomotor191
No-Load Operation191
Loaded Low-Speed Operation192
Operation Under Actual Conditions192
Completing The Trial Operation192
Gain Adjustments193
Online Autotuning193
What Is Online Autotuning?193
Online Autotuning Procedure194
Setting The Gain Adjustment Rotary Switch During Online Autotuning195
Manual Tuning195
Manual Tuning Procedure196
User Parameters197
Parameter Tables197
Parameter Details199
Setting Explanation199
Speed Loop Gain200
Speed Loop Integral Time Constant200
Position Loop Gain201
Inertia Ratio201
Feed-Forward Amount202
Feed-Forward Command Filter202
Online Autotuning Setting – Online Autotuning Selection202
Online Autotuning Function – Adhesive Friction Compensation Selection203
Position Control Setting 1 –- Command Pulse Mode (Position)203
Position Control Setting 1 – Deviation Counter Reset204
Position Control Setting 1 –Deviation Counter Reset For Servo Off And Alarms204
Electronic Gear Ratio G1 (Numerator)204
Electronic Gear Ratio G2 (Denominator)204
Position Command Filter Time Constant 1 (Primary Filter)205
Position Control Setting 2 – Position Command Filter Selection205
Position Command Filter Time Constant 2 (Trapezoidal Acceleration And Deceleration)205
Jog Speed205
Torque Command Filter Time Constant206
Forward Torque Limit206
Reverse Torque Limit206
Positioning Completed Range206
Regeneration Resistor Capacity207
Operating Functions208
Position Control208
Using Function Switches (Function Switch 6 Turned Off)208
Using Parameters (Function Switch 6 Turned On)208
Brake Interlock209
Precautions For Using Electromagnetic Brake209
Run Timing (Servomotor Stopped)209
Power Supply Timing (Servomotor Stopped)209
Run, Error, And Power Supply Timing (Servomotor Rotating)210
Power Supply Timing (Servomotor Rotating)210
Torque Limiting211
Electronic Gear Function211
Limiting The Steady Force Applied During Normal Operation211
Parameters Requiring Settings212
Position Command Filter Function213
Primary Filter213
Linear Acceleration And Deceleration214
Chapter 5. Troubleshooting215
Measures When Trouble Occurs216
Preventive Checks Before Trouble Occurs216
Check The Power Supply Voltage216
Selecting Analysis Tools216
Precautions217
Computer Monitor Software217
Replacing The Servomotor And Servo Driver218
Replacing The Servomotor218
Replacing The Servo Driver218
Alarms219
Servo Driver Alarm Display219
Alarm Table220
Error Diagnosis Using Alarm Display221
Troubleshooting221
Troubleshooting By Means Of Operating Status226
Overload Characteristics (Electron Thermal Characteristics)229
Periodic Maintenance230
Chapter 6. Appendix233
Connection Examples234
Connecting To Sysmac Cs1W-Nc133/233/433235
Connecting To Sysmac Cj1W-Nc113/213/413236
Connecting To Sysmac Cj1W-Nc133/233/433237
Connecting To Sysmac Cs1W-Hcp22238
Connecting To 3F88M-Drt141 Single-Axis Positioner For Devicenet239
Connecting To Sysmac C200H-Nc112240
Connecting To Sysmac C500-Nc113/211 Or C200H-Nc211241
Connecting To Oriental Xg8200S242
Connecting To Oriental Sg8030J243
Connecting To Keyence Hc-50244
Connecting To Melec C-870V1245
Connecting To Sysmac Cqm1H-Plb21246
Connecting To Sysmac Cpm2C247
Revision History249