Omron OMNUC G5 User Manual
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Omron OMNUC G5 User Manual

Ac servomotors/servo drives
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Table of Contents

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Cat. No. I571-E1-01
USER'S MANUAL
OMNUC G5
SERIES
R88M-K@
(AC Servomotors)
R88D-KT
(AC Servo Drives)
AC SERVOMOTORS/SERVO DRIVES

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Table of Contents
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Summary of Contents for Omron OMNUC G5

  • Page 1 Cat. No. I571-E1-01 USER’S MANUAL OMNUC G5 SERIES R88M-K@ (AC Servomotors) R88D-KT (AC Servo Drives) AC SERVOMOTORS/SERVO DRIVES...
  • Page 2 © OMRON, 2009 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 permis- sion of OMRON.
  • Page 3 Before using the OMNUC G5 Series, read through this manual and gain a full understanding of the information provided herein. After you finished reading the manual, keep it in a convenient place so that the manual can be referenced at any time.
  • Page 4 Any other application where a high level of safety corresponding to a) to d) above is required (3) If the customer wishes to use this product in any application that may threaten human life or property, be sure to confirm beforehand that the entire system is designed in such a way to...
  • Page 5 When adopting any of these samples, check the function and safety of each equipment or device. (5) Understand all prohibited items and notes on use provided herein, so that this product will be used correctly and that customers or third parties will not suffer unexpected losses.

  • Page 6: 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 Illustrations contained in this manual sometimes depict conditions without covers and safety shields for the purpose of showing the details. When using this product, be sure to install the covers and shields as specified and use the product according to this manual.
  • Page 8 Fire or failure may result. Do not perform wiring or any operation with wet hands. Electric shock, injury or fire may result. Do not touch the key grooves with bare hands if a motor with shaft-end key grooves is being used. Injury may result.
  • Page 9 Safety Precautions Document Storage and Transportation Caution When transporting the product, do not hold it by the cables or motor shaft. Injury or failure may result. Do not overload the products. (Follow the instruction on the product label.) Injury or failure may result.
  • Page 10 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 11 Equipment damage may result. Never repair the product by disassembling it. Electric shock or injury may result. Be sure to turn OFF the power supply when the unit is not going to be used for a prolonged period of time. Injury may result.
  • Page 12 (R88D-KTA5L) Instructions on Warning Label Disposal When disposing of the battery, insulate it using tape, etc. and dispose of it by following the applicable ordinance of your local government. Dispose of the product as an industrial waste. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 13: Items To Check After Unpacking

    Connectors, mounting screws, etc. other than those in the table below are not supplied. They must be prepared by the customer. 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 14: 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 I571-E1-01 Revision symbol Revision Revision date...

  • Page 15: 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 16: Table Of Contents

    Regenerative Energy Absorption............4-37 Chapter5 BASIC CONTROL Mode Position Control .................. 5-1 Speed Control..................5-6 Torque Control..................5-12 Internally Set Speed Control............... 5-17 Switching Control................5-20 Full Closing Control ................5-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 17 Brake Interlock..................6-18 Gain Switching Function..............6-23 Torque Limit..................6-31 Sequence I/O Signal................6-34 6-10 Forward and Reverse Drive Prohibition Functions ......6-40 6-11 Disturbance Observer Function............6-43 6-12 Gain Switching 3 Function..............6-45 6-13 Friction Torque Compensation Function ..........6-46 6-14 Inertia Ratio Switching Function ............
  • Page 18 11-1 Error Processing................. 11-1 11-2 Warning List..................11-4 11-3 Alarm List.................... 11-5 11-4 Troubleshooting.................. 11-9 11-5 Periodic Maintenance ................. 11-20 Chapter12 Appendix 12-1 Connection Examples................. 12-1 12-2 Parameter List ..................12-11 Index OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 19 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 Outline of the OMNUC G5 Series ........... 1-1 Features of the OMNUC G5 Series ..........1-1 1-2 System Configuration ..........1-2...

  • Page 20: Outline

    Safe Torque OFF (STO) Function to Ensure Safety You can cut off the motor current to stop the motor based on a signal from an immediate stop button or other safety equipment. In addition to the conventional stop method based on a control signal, the STO function that permits direct stopping without a need to involve the control circuit provides the immediate stop from 2 systems, thereby enhancing safety.

  • Page 21: System Configuration

    1-2 System Configuration 1-2 System Configuration SYSMAC + Position Control Unit (Pulse Train Output Type) NC41 4 SYNC ERC ERH PA202 POWER SYSMAC ERR/ALM CJ1G-CPU44 PROGRAMMABLE PRPHL CONTROLLER COMM OPEN MAC H MCPWR BUSY AC100 -240V INPUT L2/N PERIPHERAL PORT...

  • Page 22: Names And Functions

    Charge lamp Control I/O connector (CN1) External Regeneration Resistor connection terminals (B1, B2 and B3) Motor connection terminals (U, V and W) External scale connector (CN4) Protective ground terminals Encoder connector (CN2) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 23: Driver Functions

    1-3 Names and Functions Driver Functions Display Area A 6-digit 7-segment LED display shows the driver status, alarm codes, parameters, and other information. Operation Area Monitors the parameter setting and driver condition. Charge Lamp Lits when the main circuit power supply is turned ON.

  • Page 24: System Block Diagrams

    E5 V supply Position, speed and torque calculation control area ±12 V • PWM control Cooling fan R88D-KT10H or more only Control Encoder External Analog Safety interface scale monitor OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 25: Applicable Standards

    EN 55011 class A group 1 directives AC Servomotor IEC61800-3 EN61000-6-2 Note. To conform to EMC directives, the Servo Motor and Servo Drive must be installed under the conditions described in "4-3 Wiring Conforming to EMC Directives" (P.4-21). UL and cUL Standards Standard Product...
  • Page 27 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 Servo Drive ..................2-3 Servomotor ..................

  • Page 28: Servo System Configuration

    SYSMAC + Controller (Analog output type) Control Cables (for Motion Control Unit) R88A-CPG Analog Commands/Feedback Signals Programmable Controller Motion Control Unit (MC) SYSMAC CS1 CS1W-MC221/421 (-V1) Available to build the Absolute System. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 29 (One Battery is included with Servo 3G3AX-AL Drivers with model numbers ending External scale in “BS.”) • External Regeneration Resistors * Not required if a battery is connected to R88A-RR the control connector (CN1). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 30: How To Read Model

    2-2 How to Read Model 2-2 How to Read Model Servo Drive The Servo Drive model can be identified by the Servo Drive type, applicable Servomotor capacity, power supply voltage, etc. R88D-KT01H OMNUC G5 Series Servomotor Driver Type : Pulse/analog type...

  • Page 31: Servomotor

    : 400 VAC (absolute encoder specifications) : 200 VAC (absolute encoder specifications) : 100 VAC (absolute encoder specifications) Options : Straight shaft : With brake : With oil seal : With key OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 32: Standard Model List

    3-phase 200 VAC 2 kW R88D-KT20H 3 kW R88D-KT30H 5 kW R88D-KT50H 3-phase 400 VAC 600 W R88D-KT06F 1 kW R88D-KT10F 1.5 kW R88D-KT15F 2 kW R88D-KT20F 3 kW R88D-KT30F 5 kW R88D-KT50F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 33: Servomotor Model List

    1.5 kW R88M-K1K530F R88M-K1K530F-S2 R88M-K1K530C R88M-K1K530C-S2 400 V 2 kW R88M-K2K030F R88M-K2K030F-S2 R88M-K2K030C R88M-K2K030C-S2 3 kW R88M-K3K030F R88M-K3K030F-S2 R88M-K3K030C R88M-K3K030C-S2 4 kW R88M-K4K030F R88M-K4K030F-S2 R88M-K4K030C R88M-K4K030C-S2 5 kW R88M-K5K030F R88M-K5K030F-S2 R88M-K5K030C R88M-K5K030C-S2 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 34 2 kW R88M-K2K030F-B R88M-K2K030F-BS2 R88M-K2K030C-B R88M-K2K030C-BS2 3 kW R88M-K3K030F-B R88M-K3K030F-BS2 R88M-K3K030C-B R88M-K3K030C-BS2 4 kW R88M-K4K030F-B R88M-K4K030F-BS2 R88M-K4K030C-B R88M-K4K030C-BS2 5 kW R88M-K5K030F-B R88M-K5K030F-BS2 R88M-K5K030C-B R88M-K5K030C-BS2 Note. Models with oil seals are also available. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 35 2 kW R88M-K2K020F-B R88M-K2K020F-BS2 R88M-K2K020C-B R88M-K2K020C-BS2 3 kW R88M-K3K020F-B R88M-K3K020F-BS2 R88M-K3K020C-B R88M-K3K020C-BS2 4 kW R88M-K4K020F-B R88M-K4K020F-BS2 R88M-K4K020C-B R88M-K4K020C-BS2 5 kW R88M-K5K020F-B R88M-K5K020F-BS2 R88M-K5K020C-B R88M-K5K020C-BS2 Note. Models with oil seals are also available. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 36 R88M-K3K010H-BS2 R88M-K3K010T-B R88M-K3K010T-BS2 900 kW R88M-K90010F-B R88M-K90010F-BS2 R88M-K90010C-B R88M-K90010C-BS2 400 V 2 kW R88M-K2K010F-B R88M-K2K010F-BS2 R88M-K2K010C-B R88M-K2K010C-BS2 3 kW R88M-K3K010F-B R88M-K3K010F-BS2 R88M-K3K010C-B R88M-K3K010C-BS2 Note. Models with oil seals are also available. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 37: Servo Drive And Servomotor Combination List

    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. 3,000-r/min Motors and Drivers...
  • Page 38 200 V 3 kW R88M-K3K010H-x R88M-K3K010T-x R88D-KT50H Single- phase/3- 900 W R88M-K90010F-x R88M-K90010C-x R88D-KT15F phase 400 V 2 kW R88M-K2K010F-x R88M-K2K010C-x R88D-KT30F 3-phase 400 V 3 kW R88M-K3K010F-x R88M-K3K010C-x R88D-KT50F 2-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 39: Peripheral Equipment And Cable Model List

    For 1,000-r/min motors 10 m R88A-CRKC010N 15 m R88A-CRKC015N [400 V] For 3,000-r/min motors 20 m R88A-CRKC020N For 2,000-r/min motors 30 m R88A-CRKC030N For 1,000-r/min motors 40 m R88A-CRKC040N 50 m R88A-CRKC050N OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-12...
  • Page 40 Note.There are separate connectors for power and brakes for 100 V and 200 V 3,000-r/min motors of 50 to 750 W. Therefore, when a motor with a brake is used, it will require both a power cable for a motor without a brake and a brake cable.
  • Page 41 For 1,000-r/min motors 10 m R88A-CRKC010NR 15 m R88A-CRKC015NR [400 V] For 3,000-r/min motors 20 m R88A-CRKC020NR For 2,000-r/min motors 30 m R88A-CRKC030NR For 1,000-r/min motors 40 m R88A-CRKC040NR 50 m R88A-CRKC050NR OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-14...
  • Page 42 Note.There are separate connectors for power and brakes for 100 V and 200 V 3,000-r/min motors of 50 to 750 W. Therefore, when a motor with a brake is used, it will require both a power cable for a motor without a brake and a brake cable.
  • Page 43 ABS battery cable (R88A-BAT01G battery × 1 supplied) 0.3 m R88A-CRGD0R3C-BS Analog Monitor Cable Specifications Model Analog monitor cable R88A-CMK001S Absolute Encoder Backup Battery Specifications Model 2,000 mA•h 3.6 V R88A-BAT01G OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-16...
  • Page 44 R88A-CNU11C Encoder connector (CN2) R88A-CNW01R External scale connector (CN4) R88A-CNK41L Safety connector (CN8) R88A-CNK81S Power cable connector (for 750 W max.) R88A-CNK11A Brake cable connector (for 750 W max.) R88A-CNK11B 2-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 45 Servo Relay Unit Cables for Servo Drives Specifications Model Servo Drive cables For PCU (XW2B-xJ6-xB) XW2Z-100J-B25 For CQM1 (XW2B-20J6-3B) XW2Z-200J-B25 For CJM1 XW2Z-100J-B31 (XW2B-20J6-8A/XW2B-40J6-9A) XW2Z-200J-B31 For FQM1-MMA22 XW2Z-100J-B27 (XW2B-80J7-12A) XW2Z-200J-B27 For FQM1-MMP22 XW2Z-100J-B26 (XW2B-80J7-12A) XW2Z-200J-B26 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-18...
  • Page 46 0.5 m XW2Z-050J-A28 (XW2B-80J7-12A) XW2Z-100J-A28 XW2Z-200J-A28 Special I/O 0.5 m XW2Z-050J-A31 XW2Z-100J-A31 XW2Z-200J-A31 For FQM1-MMP22 General I/O 0.5 m XW2Z-050J-A28 (XW2B-80J7-12A) XW2Z-100J-A28 XW2Z-200J-A28 Special I/O 0.5 m XW2Z-050J-A30 XW2Z-100J-A30 XW2Z-200J-A30 2-19 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 47 XW2D-50G6 External Regeneration Resistors Specifications Model Regeneration process capacity: 20 W, 50 Ω (with 150°C thermal sensor) R88A-RR08050S Regeneration process capacity: 20 W, 100 Ω (with 150°C thermal sensor) R88A-RR080100S Regeneration process capacity: 70 W, 47 Ω (with 170°C thermal sensor) R88A-RR22047S Regeneration process capacity: 180 W, 20 Ω...
  • Page 48 R88D-KT01L/-KT02H 3G3AX-DL2004 R88D-KT02L/-KT04H 3G3AX-DL2007 R88D-KT04L/-KT08H/-KT10H 3G3AX-DL2015 R88D-KT15H 3G3AX-DL2022 R88D-KT08H/-KT10H/-KT15H 3G3AX-AL2025 R88D-KT20H/-KT30H 3G3AX-AL2055 R88D-KT50H 3G3AX-AL2110 Mounting Brackets (L-Brackets for Rack Mounting) Specifications Model R88D-KTA5L/-KT01L/-KT01H/-KT02H R88A-TK01K R88D-KT02L/-KT04H R88A-TK02K R88D-KT04L/-KT08H R88A-TK03K R88D-KT10H/-KT15H R88A-TK04K 2-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 49: External And Mounting Dimensions

    2-4 External and Mounting Dimensions Servo Drive Dimensions Single-phase 100 VAC: R88D-KTA5L/-KT01L (50 to 100 W) Single-phase/3-phase 200 VAC: R88D-KT01H/-KT02H (100 to 200 W) Wall Mounting External dimensions Mounting dimensions φ5.2 ±0.5 (40) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-22...
  • Page 50 2-4 External and Mounting Dimensions Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Square hole (40) 2-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 51 Single-phase/3-phase 200 VAC: R88D-KT04H (400 W) Wall Mounting External dimensions Mounting dimensions φ5.2 ±0.5 (55) Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 Square hole R2.6 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-24...
  • Page 52 Single-phase/3-phase 200 VAC: R88D-KT08H (750 W) Wall Mounting External dimensions Mounting dimensions φ5.2 ±0.5 (65) Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 19.5 φ5.2 φ5.2 ±0.5 Square hole R2.6 2-25 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 53 2-4 External and Mounting Dimensions Single-phase/3-phase 200 VAC: R88D-KT10H/-KT15H (900 W to 1.5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 (85) ±0.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions (86) 19.5 φ5.2 φ5.2 φ5.2 Square hole R2.6...
  • Page 54 2-4 External and Mounting Dimensions 3-phase 200 VAC: R88D-KT20H (2 kW) Wall Mounting External dimensions (86) 193.5 17.5 φ5.2 42.5 R2.6 R2.6 R2.6 R2.6 φ5.2 42.5 17.5 Mounting dimensions ±0.5 φ5.2 ±0.5 17.5 (86) 2-27 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 55 2-4 External and Mounting Dimensions Front Mounting (Using Front Mounting Brackets) External dimensions (86) 193.5 17.5 φ5.2 42.5 30.7 R2.6 R2.6 R2.6 R2.6 φ5.2 42.5 17.5 Mounting dimensions ±0.5 φ5.2 Square hole ±0.5 17.5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-28...
  • Page 56 2-4 External and Mounting Dimensions 3-phase 200 VAC: R88D-KT30H/-KT50H (3 to 5 kW) Wall Mounting External dimensions φ5.2 R2.6 R2.6 R2.6 R2.6 φ5.2 Mounting dimensions 6-M4 ±0.5 ±0.5 2-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 57 2-4 External and Mounting Dimensions Front Mounting (Using Front Mounting Brackets) External dimensions φ5.2 40.7 R2.6 R2.6 R2.6 R2.6 φ5.2 Mounting dimensions 6-M4 ±0.5 Square hole ±0.5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-30...
  • Page 58 2-4 External and Mounting Dimensions 3-phase 400 VAC: R88D-KT06F/-KT10F/-KT15F (600 W to 1.5 kW) Wall Mounting External dimensions Mounting dimensions φ5.2 ±0.5 14.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions (92) 19.5 φ5.2 φ5.2 φ5.2 Square hole R2.6...
  • Page 59 R2.6 R2.6 ±0.5 φ5.2 (94) 17.5 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions 193.5 17.5 φ5.2 30.7 42.5 φ5.2 ±0.5 Square hole R2.6 R2.6 ±0.5 φ5.2 17.5 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-32...
  • Page 60 Mounting dimensions φ5.2 ±0.5 φ5.2 R2.6 ±0.5 (130) R2.6 φ5.2 Front Mounting (Using Front Mounting Brackets) External dimensions Mounting dimensions φ5.2 ±0.5 φ5.2 40.7 Square hole R2.6 ±0.5 R2.6 φ5.2 2-33 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 61: Servomotor Dimensions

    Dimensions (mm) Model R88M-K05030x R88M-K10030x 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-34...
  • Page 62 Dimensions (mm) Model R88M-K05030x-Bx R88M-K10030x-Bx 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. 2-35 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 63 R88M-K20030x 79.5 56.5 R88M-K40030x 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. 200 W/400 W (with Brake) R88M-K20030x-B (S2)/-K40030x-B (S2) R88M-K20030x-B (S2)/-K40030x-B (S2)
  • Page 64 (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. 750 W (with Brake)
  • Page 65 R88M-K2K030x-Bx 205.5 161.5 103.5 183.5 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-38...
  • Page 66 Dimensions (mm) Model R88M-K3K030x R88M-K3K030x-Bx 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. 2-39 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 67 Model R88M-K4K030x R88M-K5K030x R88M-K4K030x-Bx R88M-K5K030x-Bx 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-40...
  • Page 68 R88M-K2K030x-Bx 205.5 161.5 100.5 183.5 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. 2-41 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 69 Dimensions (mm) Model R88M-K3K030x R88M-K3K030x-Bx 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-42...
  • Page 70 Model R88M-K4K030x R88M-K5K030x R88M-K4K030x-Bx R88M-K5K030x-Bx 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. 2-43 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 71 136.5 77.5 158.5 R88M-K2K020x-Bx R88M-K3K020x-Bx 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-44...
  • Page 72 Model R88M-K4K020x R88M-K5K020x R88M-K4K020x-Bx R88M-K5K020x-Bx 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. 2-45 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 73 158.5 114.5 53.5 136.5 R88M-K60020x-Bx 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-46...
  • Page 74 136.5 74.5 158.5 R88M-K2K020x-Bx R88M-K3K020x-Bx 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. 2-47 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 75 Model R88M-K4K020x R88M-K5K020x R88M-K4K020x-Bx R88M-K5K020x-Bx 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-48...
  • Page 76 133.5 R88M-K90010x-Bx 180.5 136.5 158.5 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. 2-49 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 77 R88M-K3K010x-Bx 234.5 190.5 128.5 212.5 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-50...
  • Page 78 R88M-K90010x-Bx 180.5 136.5 74.5 158.5 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. 2-51 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 79 R88M-K3K010x-Bx 234.5 190.5 128.5 212.5 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. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-52...

  • Page 80: 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-RR22047S Thermal switch output t1.2 R88A-RR50020S 2-53 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 81: 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 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 2-54...
  • Page 83 Specifications This chapter explains the general specifications, characteristics, connector specifications and I/O circuits of the Servo Drive, general specifications, characteristics, encoder specifications of the Servomotor, and all other specifications including those of peripheral devices. 3-1 Driver Specifications ............3-1 General Specifications ..............3-1 Characteristics ................

  • Page 84: Driver Specifications

    Note 1.The above items reflect individual evaluation testing. The results may differ under compound conditions. Note 2.Never perform dielectric strength or other megameter tests on the Servo Drive. Failure to follow this guideline may result in damaging the internal elements.

  • Page 85: Characteristics

    Power supply circuit supply 0.4 KVA 0.4 KVA 0.5 KVA 0.9 KVA capacity Power supply Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz voltage Rated 1.4 A 2.6 A 4.3 A 7.6 A current Control Power circuit...
  • Page 86 − − − K90010T Control method All-digital servo Inverter method IGBT-driven PWM method *1. The left value is for single-phase input power and the right value is for 3-phase input power. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 87 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 15.1 A 21.6 A current Control Power circuit supply Single-phase 200 to 230 VAC (170 to 253 V) 50/60 Hz...
  • Page 88 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 Input power Rated 2.8 A 2.8 A 4.7 A 5.9 A 7.6 A 12.1 A...
  • Page 89 Absolute encoder system down error The voltage supplied to the absolute encoder is lower than the specified value. Absolute encoder counter overflow error The multi-rotation counter of the absolute encoder exceeds the specified value. Absolute encoder overspeed error The motor rotation speed exceeds the specified value when only the battery power supply of the absolute encoder is used.
  • Page 90 External scale communications error data. External scale status error An external scale error code was detected. An error was generated for connection of phases A, B, and Z of external Phases-A, B and Z connection error scale. Motor non-conformity The combination of the Servomotor and Servo Drive is not appropriate.

  • Page 91: Main Circuit And Motor Connections

    Be sure to wire them correctly. Phase V Phase W Precautions for Correct Use Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 92 Resistor between B1 and B2. Do not connect. Precautions for Correct Use Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 93 Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3). Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 94 Control circuit power 24 VDC ± 15% supply input Precautions for Correct Use Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5). 3-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 95 Tighten the fixing screw of the terminal block cover to the torque of 0.2 N•m (M3). Tighten the ground screws to the torque of 0.7 to 0.8 N•m (M4) or 1.4 to 1.6 N•m (M5). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 96: Control I/O Connector Specifications (Cn1)

    *1. If a backup battery is connected, a cable with a battery is not required. Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.
  • Page 97 *1. If a backup battery is connected, a cable with a battery is not required. Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.
  • Page 98 *1. If a backup battery is connected, a cable with a battery is not required. Note 1. The inputs of pins 8, 9 and 26 to 33, and outputs of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings.
  • Page 99 Use the Speed Command Scale (Pn302) to change the rotation speed scale for the command input. Torque command input Provides a torque command input (set value: 0 or 2) according to the setting of Torque Command/Speed Limit √ TREF1 Selection (Pn317).
  • Page 100 (12 to 24 V). Sequence input signal These allocate the following function and logics according to the SI1 to SI10 settings of Input Signal Selection 1 to 10 (Pn400 to 409). Reverse drive This performs the drive prohibition input prohibition input in the reverse direction.
  • Page 101 Pn120 for speed control, or √ √ √ √ GSEL [27] Pn124 for torque control). When the signal is OFF and ON, gain 1 and gain 2 change to enable, respectively. Electronic gear Switches the numerator for electronic switching 1 gear ratio.
  • Page 102 Error counter reset input (ECRST): Pin 30 only Command pulse input prohibition input (IPG): Pin 33 only The number in brackets indicates the pin number (allocation) at default setting. (The allocations vary according to each CONTROL mode.) CN1 Control Outputs...
  • Page 103 √ control). Open-collector output Encoder phase-Z ZCOM output common Sequence output signal These signals allocate the following functions according to the SO1 to SO4 settings of Output Signal Selections 1 to 4 (Pn410 to 413). BKIR [11] Brake interlock output Outputs the timing signal for operating the electromagnetic brake on a motor.
  • Page 104 √ input. CMDCOM You cannot change the allocation for servo alarm output (/ALM). (The allocation is fixed.) The number in brackets indicates the pin number (allocation) at default setting. (The allocations vary according to each CONTROL mode.) 3-21...
  • Page 105 The alarm output (/ALM) is fixed to general-purpose output 3. To use an absolute encoder, connect a battery to either Pin 42 which is the backup battery input, or 43 which is the battery holder for absolute encoder cable. (Never connect to both.)

  • Page 106: Control Input Circuits

    10 kΩ ±12 V The maximum allowable input voltage is ± 10 V for each input. The VR must be 2 kΩ with B characteristics and 1/2 W minimum. R must be 200 Ω and 1/2 W minimum. Position Command Pulse (Line Receiver Input) When connecting with a line driver and a line receiver, up to 4 Mpps will be available.
  • Page 107 Controller Driver 2.2 kΩ 1000 pF − − Applicable line driver 220 Ω AM26LS31A or equivalent Precautions for Correct Use The twisted-pair cable should not exceed 10 m in length. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-24...
  • Page 108 3-1 Driver Specifications Open Collector Input External 24-V power supply without a Current Limit Resistor (200 kpps maximum) (+24 VCW: 1, −CW: 4, +24 VCCW: 2, −CCW: 6) Controller Driver 2.2 kΩ Vcc 24 V 2.2 kΩ 1000 pF −...
  • Page 109 Approx. 1 mA 7406 or equivalent SENGND SENGND A PNP transistor is recommended. The signal level is as follows. H level: 2.0 V or more, L level: 0.8 V or less OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-26...

  • Page 110: Control Input Details

    6: −SIGN Note 1. If the Command Pulse Rotation Direction Switching Selection (Pn006) is set to 1, the rotation direction will be reversed. Note 2. If the photocoupler LED is turned ON, each signal will go high as shown above.
  • Page 111 ≤ 0.1 μs τ ≥ 10 μs τ ≥ 4.0 μs T ≥ 20 μs T ≥ 8.0 μs (τ/T) × 100 ≤ 50 (%) (τ/T) × 100 ≤ 50 (%) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-28...
  • Page 112 Feed pulse/ 45: −PULS direction 46: +SIGN signal 47: −SIGN Note 1. If the Command Pulse Rotation Direction Switching Selection (Pn006) is set to 1, the rotation direction will be reversed. 3-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 113 Phase-A pulse Maximum input frequency Line driver: 4 Mpps Phase-B pulse τ t1 ≤ 20 ns τ ≥ 4.0 μs T ≥ 8.0 μs (τ/T) × 100 ≤ 50 (%) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-30...
  • Page 114 During torque control This signal provides either a torque command input (set value: 0 or 2) or speed limit input (set value: 1) according to the setting of Torque Command/Speed Limit Selection (Pn317). In the case of torque command input 1 (TREF1), you can use Torque Command Scale (Pn319) to change the rotation speed scale relative to the command input.
  • Page 115 Pin 29: Operation command (RUN) This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
  • Page 116 This is the allocation at default setting. You can change the functions for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409). You can only allocate the error counter reset input (ECRST) to pin 30 (SI7). Allocating to any other terminal generates an error counter reset signal allocation error (A332).
  • Page 117 Pin 27: Gain switching (GSEL) This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
  • Page 118 (set value: 1). To use this, change Pn518 to enable (set value: 0). You can change the functions for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).
  • Page 119 There is no allocation at default setting. Also, Speed Command Direction Selection (Pn301) is set to disable (set value: 0). You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409). Function You can use this input to designate the rotation direction relative to the speed command.
  • Page 120 There is no allocation at default setting. Also, Torque Command Direction Selection (Pn318) is set to disable (set value: 0). You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409). Function You can use this input to designate the rotation direction relative to the torque command.
  • Page 121 No allocation: Inertia ratio switching input (JSEL) This is the allocation at default setting. You can change the logics and allocations for input terminals (CN1 to 8, 9 and 26 to 33) according to the settings of Input Signal Selection 1 to 10 (Pn400 to 409).

  • Page 122: Control Output Circuits

    10 Ω External power supply 12 to 24 VDC Maximum service voltage: 30 VDC or less Maximum output current: 50mA max. − Di: Surge voltage prevention diode (Use a high-speed diode.) 3-39 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 123: Control Output Details

    *1. In this section, the hardware inputs the servo ON signal, but the signal is not accepted. *2. The servo ready completed output turns ON the moment the conditions of MPU initialization completed and main circuit power supply establishment are both satisfied.
  • Page 124 You can use External Feedback Pulse Dividing Numerator Setting (Pn324) and External Feedback Pulse Dividing Denominator Setting (Pn325) to set the dividing ratio. The logical relation of phase B to the phase A pulse and the output source are set in the External Feedback Pulse Direction Switching (Pn326).
  • Page 125 Pin 10: Brake interlock output common (BKIRCOM) This is the allocation at default setting. You can change the allocations of output terminals (CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413).
  • Page 126 Pin 39: Speed conformity output common (TGONCOM) This is the allocation at default setting. You can change the allocations of output terminals (CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413). Function It turns ON when the speed of the Servomotor exceeds the set value of the Rotation Speed for Motor Rotation Detection (Pn436).
  • Page 127 No allocation: Position command status output common (P-CMDCOM) This is the allocation at default setting. You can change the allocations of output terminals (CN1 to 10, 11, 34, 35, 38 and 39) according to the settings of Output Signal Selections 1 to 4 (Pn410 to 413).

  • Page 128: Encoder Connector Specifications (Cn2)

    Connects to the external encoder. Symbol Name Function and interface number Use at 5.2 V ± 5% and at or below 250 mA. External encoder power supply This is connected to the control circuit ground connected to output connector CN1.
  • Page 129 (Phases A, B and Z) multiplier) −EXA +EXB −EXB +EXZ t1>0.25 μs −EXZ t2>1.0 μs Connect external encoder signals to the serial interface (+EXS/−EXS) or 90° phase difference input according to the encoder type. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-46...
  • Page 130 1.0 kΩ −EXB +EXZ 4.7 kΩ Phase Z Photocoupler input 1.0 kΩ −EXZ Shell Serial Communications Type, Incremental Encoder Specifications (Pn323 = 1) Magnescale incremental by Sony Driver side (CN4) Manufacturing Systems Corporation SR75/SR85 E0V 2 +EXS −EXS Serial number Shell...
  • Page 131 3-1 Driver Specifications Serial Communications Type, Absolute Encoder Specifications (Pn323 = 2) Absolute encoder by Mitutoyo Corporation Driver side (CN4) ABS ST771A/ST773A +5 V 3 • 4 • 11 E0V 2 1 • 2 • 13 +EXS REQ/ −REQ/ −...

  • Page 132: Monitor Connector Specifications (Cn5)

    Analog monitor output 1 Outputs the analog signal for the monitor. Default setting: Motor rotation speed 1 V/(1,000 r/min) You can use Pn416 and Pn417 to change the item and unit. You can use Pn421 to change the output method.

  • Page 133: Usb Connector Specifications (Cn7)

    3-1 Driver 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...

  • Page 134: Safety Connector Specifications (Cn8)

    Do not connect. − SF1− Safety input 1 Inputs 1 and 2 for operating the STO function, which are 2 independent circuits. This input turns OFF the power SF1+ transistor drive signals in the Servo Drive to cut off the current output to the motor.
  • Page 135 External power supply 12 to 24 VDC Maximum service voltage: 30 VDC or less 8 +EDM Maximum output current: 50 mA max. Di: Surge voltage prevention diode (Use a high-speed diode.) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-52...

  • Page 136: Overload Characteristics (Electronic Thermal Function)

    An overload protection function (electronic thermal) is built into the driver to protect the driver 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 137: Motor Specifications

    CSA22.2 No. 100 *1. The amplitude may be amplified by machine resonance. Do not exceed 80% of the specified value for extended periods of time. Note 1. Do not use the cable when it is laying in oil or water.

  • Page 138: Characteristics

    50 max. Release time * 20 max. 20 max. 15 max. 20 max. Backlash 1° (reference value) Allowable work per 39.2 39.2 braking Allowable total work 4.9×10 4.9×10 44.1×10 44.1×10 3-55 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 139 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. − Rating Continuous Insulation class − Type B...
  • Page 140 Allowable total work 4.9×10 4.9×10 44.1×10 44.1×10 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. − Rating Continuous − Insulation class...
  • Page 141 Allowable work per braking Allowable total work 4.9×10 4.9×10 4.9×10 Allowable angular 10,000 rad/s acceleration − Brake limit 10 million times min. − Rating Continuous − Insulation class Type B Type F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-58...
  • Page 142 Allowable work per braking Allowable total work 4.9×10 4.9×10 4.9×10 4.9×10 Allowable angular rad/s 10,000 acceleration − Brake limit 10 million times min. − Rating Continuous − Insulation class Type F 3-59 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 143 Allowable work per 1470 1470 braking Allowable total work 4.9×10 2.2×10 2.2×10 Allowable angular rad/s 10,000 acceleration − Brake limit 10 million times min. − Rating Continuous − Insulation class Type F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-60...
  • Page 144 3-3 Motor Specifications *1. These are the values when the motor is combined with a driver 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.
  • Page 145 3-3 Motor 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 (N •...
  • Page 146 3-3 Motor 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 147 3-3 Motor 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-K05030H/T • R88M-K05030L/S/H/T • R88M-K10030L/S/H/T (50 W: Without oil seal)
  • Page 148 Attraction time * 80 max. 100 max. 100 max. Release time * 70 max. * 50 max. * 50 max. * Backlash 1 (reference value) Allowable work per 1,176 1,176 braking 3-65 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 149 With brake Approx. 12.6 Approx. 18.7 Approx. 21.8 Radiator plate dimensions 380 × 350 × t30 (AI) 470 × 440 × t30 (AI) (material) Applicable drivers (R88D-) KT30H KT50H KT50H OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-66...
  • Page 150 1470 1372 1372 braking Allowable total work 2.2×10 2.9×10 2.9×10 Allowable angular rad/s 10,000 acceleration − Brake limit 10 million times min. − Rating Continuous − Insulation class Type F 3-67 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 151 Allowable work per 1176 braking Allowable total work 4.9×10 4.9×10 7.8×10 1.5×10 Allowable angular rad/s 10,000 acceleration − Brake limit 10 million times min. − Rating Continuous − Insulation class Type F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-68...
  • Page 152 Approx. 21.8 275 × 260 × t15 380 × 350 × t30 Radiator plate dimensions 470 × 440 × t30 (AI) (material) (AI) (AI) Applicable drivers (R88D-) KT20F KT30F KT50F KT50F 3-69 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 153 1372 1372 braking Allowable total work 1.5×10 2.2×10 2.9×10 2.9×10 Allowable angular rad/s 10,000 acceleration − Brake limit 10 million times min. − Rating Continuous − Insulation class Type F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-70...
  • Page 154 3-3 Motor Specifications *1. These are the values when the motor is combined with a driver 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.
  • Page 155 3-3 Motor 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 156 13.7 min. 24.5 min. 58.8 min. Attraction time * 100 max. 80 max. 150 max. Release time * 50 max. * 25 max. * 50 max. * Backlash 1 (reference value) 3-73 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 157 With brake Approx. 8.2 Approx. 17.5 Approx. 23.5 Radiator plate dimensions 270 × 260 × t15 (AI) 470 × 440 × t30 (AI) (material) Applicable drivers (R88D-) KT15F KT30F KT50F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-74...
  • Page 158 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 − Insulation class Type F 3-75 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 159 3-3 Motor Specifications *1. These are the values when the motor is combined with a driver 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.

  • Page 160: Encoder Specifications

    Power supply current 110 mA (max.) Applicable battery 3.6 VDC voltage 265 μA (for a maximum of 5 s right after power interruption) Current consumption 100 μA (for operation during power interruption) of battery 3.6 μA (when power is supplied to driver) +S, −S...

  • Page 161: Cable And Connector Specifications

    3-4 Cable and Connector Specifications Encoder Cable Specifications These cables are used to connect the encoder between a driver and a motor. Select the cable matching the motor. All cables and motors listed are flexible, shielded and have IP67 protection.
  • Page 162 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...

  • Page 163: Motor Power Cable Specifications

    3-4 Cable and Connector Specifications Motor Power Cable Specifications These cables connect the driver 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)
  • Page 164 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...
  • Page 165 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 166 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)
  • Page 167 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...
  • Page 168 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 169: Connector Specifications

    3-4 Cable and Connector Specifications Connector Specifications Control I/O Connector (R88A-CNU11C) This is the connector to be connected to the driver's control I/O connector (CN1). Use this connector when preparing a control cable by yourself. Dimensions Connector plug model 10150-3000PE (Sumitomo 3M)
  • Page 170 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. Outer diameter of sheath: 5 ± 0.5 mm dia. 12.5 21.5 Angle clamp model JN6FR07SM1 (Japan Aviation Electronics)
  • Page 171 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 (Japan Aviation Electronics) Socket contact model ST-TMH-S-C1B-3500-(A534G)

  • Page 172: Analog Monitor Cable Specifications

    Analog Monitor Cable (R88A-CMK001S) Connection configuration and external dimensions Symbol Black White Cable: AWG24 × 3C UL1007 Connector housing: 51004-0600 (Molex Japan) Connector terminal: 50011-8100 (Molex Japan) 1,000 mm (1 m) 3-89 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 173 3-4 Cable and Connector Specifications External Scale Connector (R88A-CNK41L) Use this connector to connect to an external scale 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.

  • Page 174: Control Cable Specifications

    Control Cable Specifications Specified Cables for Motion Control Unit (R88A-CPGxMx) Use this cable to connect to the Motion Control Units for OMRON Programmable Controllers (SYSMAC). Cables are available for either 1 axis or 2 axes. The following Motion Control Units can be used.
  • Page 175 DRVU connectors, X and Y are indicated as Z and U, respectively. Terminals marked with asterisks are for absolute encoders. Connect 24 VDC to the 2 lines (red and black) extending from the connector on the controller side. (red: +24 V, black: -)
  • Page 176 DRVU connectors, X and Y are indicated as Z and U, respectively. Terminals marked with asterisks are for absolute encoders. Connect 24 VDC to the 2 lines (red and black) extending from the connector on the controller side. (red: +24 V, black: -)
  • Page 177 Specified Cables for Position Control Unit (Specified Cables for CJ1W-NCxx4) This cable is for connecting Position Control Units (CJ1W-NCxx4) for OMRON Programmable Controller SYSMAC CJ Series. Cables are available for either 1 axis or 2 axes. The following types of Position Control Units are supported.
  • Page 178 24-V power supply for output 24-V GND for output Input common Forward direction pulse output (+) *1 Since the PCU handles forward direction commands as Forward direction pulse output (−) CW-direction/phase-A advance pulses (selectable by the Reverse direction pulse output (+) output pulse direction selection parameter), connect the wires Reverse direction pulse output (−)
  • Page 179 Shell Frame ground 24-V power supply for output 24-V GND for output *1 Since the PCU handles forward direction commands as Input common CW-direction/phase-A advance pulses (selectable by the Forward direction pulse output output pulse direction selection parameter), connect the wires (with 1.6 kΩ...
  • Page 180 SENGND Frame ground Shell *1 Since the PCU handles forward direction commands as CW-direction/phase-A advance pulses (selectable by the output pulse direction selection parameter), connect the wires as shown here. 3-97 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 181 Signal ground Shell Frame ground *1 Since the PCU handles forward direction commands as CW-direction/phase-A advance pulses (selectable by the output pulse direction selection parameter), connect the wires as shown here. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 182 3-4 Cable and Connector Specifications General Control Cables (R88A-CPGxS) This is a cable attached to the connector to be connected to the driver's control I/O connector (CN1). The connector for the controller is not provided. When connecting to a Position Control Unit which does not have a specified cable or connecting to another company's controller, prepare wiring suited for the controller to be connected.
  • Page 183 • Wires with the same wire color and the same number of marks form a twisted pair. Example: Wires with respective wire and mark colors of orange/red (1) and orange/black (1) form a twisted pair. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 184 3-4 Cable and Connector Specifications Connector-Terminal Block Cables (XW2Z-xJ-B24) This cable is for the connector-terminal block of the driver's control I/O connector (CN1). All of the pins in the CN1 control I/O signal can be converted to the terminal block.
  • Page 185 Green/Red (5) XG4M-5030 (OMRON) −CWLD Green/Black (5) Strain relief model XG4T-5004 (OMRON) +CCWLD Orange/Red (5) −CCWLD Orange/Black (5) −B × Gray/Red (5) Cable: AWG28 25P UL2464 Gray/Black(5) − Orange/Red(1) Shell OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-102...
  • Page 186 Use 0.3 to 1.25 mm wire (AWG22 to 16). The wire inlet is 1.8 mm (height) × 2.5 mm (width). Strip the insulation from the end of the wire for 6 mm as shown below. 6 mm 3-103 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 187 (45.3) 43.5 20.5 When using crimp terminals, use crimp terminals with the following dimensions. When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.59 N•m. Round terminal Fork terminal φ3.2mm 3.7mm 6.8 mm max.
  • Page 188 6 40 (4.5) DIN rail lock When using crimp terminals, use crimp terminals with the following dimensions. When connecting wires and crimp terminals to a terminal block, tighten them with a tightening torque of 0.7 N•m. Round terminal Fork terminal φ3.2mm...

  • Page 189: Servo Relay Units And Cable Specifications

    3-5 Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Unit and cables used for connecting to Position Control Units for OMRON Programmable Controllers (SYSMAC). Select the models that match the Position Control Unit to be used.
  • Page 190 *1. The XB contacts are used to turn ON/OFF the electromagnetic brake. Note 1. Do not connect unused terminals. Note 2. The 0 V terminal is internally connected to the common terminals. Note 3. The applicable crimp terminal is R1.25-3 (round with open end).
  • Page 191 24 VDC 24 VDC 24 VDC *1. The XB and YB contacts are used to turn ON/OFF the electromagnetic brake. Note 1. Do not connect unused terminals. Note 2. The 0 V terminal is internally connected to the common terminals.
  • Page 192 (*2) 24 VDC *1. If this signal is input, the output pulse from the CQM1 will be input to the high-speed counter. *2. Input this output signal to a CQM1 Input Unit. *3. The XB contacts are used to turn ON/OFF the electromagnetic brake.
  • Page 193 3-5 Servo Relay Units and Cable Specifications XW2B-20J6-8A This Servo Relay Unit connects to the following OMRON Programmable Controllers. CJ1M-CPU21/-CPU22/-CPU23 (for 1 axis) Dimensions CJ1M-CPU21/22/23 side Driver side 2-φ3.5 Terminal block pitch: 7.62 mm OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 194 (Contact 2960.07) 24 VDC *1. CW and CCW limit input signals can also be input through Input Units. The signal for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW: A541.08, CCW: A541.09 for pulse output 1.
  • Page 195 3-5 Servo Relay Units and Cable Specifications XW2B-40J6-9A This Servo Relay Unit connects to the following OMRON Programmable Controllers. CJ1M-CPU21/-CPU22/-CPU23 (for 2 axes) Dimensions CJ1M-CPU21/22/23 side X-axis driver side Y-axis driver side 2-φ3.5 Terminal block pitch: 7.62 mm OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 196 (*1) 24 VDC *1. CW and CCW limit input signals can also be input through Input Units. The signal for the CW/CCW limit inputs in the CJ1M are as follows: CW: A540.08, CCW: A540.09 for pulse output 0 and CW: A541.08, CCW: A541.09 for pulse output 1.
  • Page 197 3-5 Servo Relay Units and Cable Specifications XW2B-80J7-12A This Servo Relay Unit connects to the following OMRON Programmable Controllers. FQM1-MMA22 FQM1-MMP22 Dimensions Signal selection switch φ4.5 Servo phase-B selection switch 100 90 Controller side general I/O Y-axis Servo Drive X-axis Servo Drive Controller side special I/O 41.7...
  • Page 198 R88M-Kx Terminal Block Connection The terminal block signal names are different depending on the controller to be connected. A total of 80 terminals are provided (terminal No. 0 to 79). Signal names and standard connections are listed in the following table.
  • Page 199 12 13 17 18 *1. Use as a power supply for FQM1-MMA22 pulse outputs, or as a power supply for the SEN output for an absolute encoder driver. *2. Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals.
  • Page 200 12 13 17 18 *1. Use as a power supply for FQM1-MMP22 pulse outputs, or as a power supply for the SEN output for an absolute encoder driver. *2. Use as a power supply for IN4 to IN11, OUT0 to OUT7, or Servo Drive control signals.
  • Page 201 69 70 71 72 73 74 75 76 77 78 79 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39...

  • Page 202: Servo Drive-Servo Relay Unit Cable Specifications

    3-5 Servo Relay Units and Cable Specifications Servo Drive-Servo Relay Unit Cable Specifications Servo Drive Cable (XW2Z-xJ-B25) This cable connects the driver to a Servo Relay Unit (XW2B-20J6-1B/-3B, XW2B-40J6-2B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-100J-B25 Approx.
  • Page 203 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-xJ-B26) This cable connects the driver to a Servo Relay Unit (XW2B-80J7-12A). Use this cable only with the FQM1-MMP22. Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-100J-B26 Approx.
  • Page 204 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-xJ-B27) This cable connects the driver to a Servo Relay Unit (XW2B-80J7-12A). Use this cable only with the FQM1-MMA22. Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-100J-B27 Approx.
  • Page 205 3-5 Servo Relay Units and Cable Specifications Servo Drive Cable (XW2Z-xJ-B31) This cable connects the driver to a Servo Relay Unit (XW2B-20J6-8A, XW2B-40J6-9A). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-100J-B31 Approx. 0.1 kg 8.1 dia. XW2Z-200J-B31 Approx.

  • Page 206: Position Control Unit-Servo Relay Unit Cable Specifications

    3-5 Servo Relay Units and Cable Specifications Position Control Unit-Servo Relay Unit Cable Specifications Position Control Unit Cable (XW2Z-xJ-A3) This cable connects a Programmable Controller (CQM1H-PLB21) to a Servo Relay Unit (XW2B-20J6-3B). Cable types Outer diameter of Model Length (L)
  • Page 207 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A6) This cable connects a Position Control Unit (CS1W-NC113 and C200HW-NC113) to a Servo Relay Unit (XW2B-20J6-1B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A6 50 cm Approx.
  • Page 208 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A7) This cable connects a Position Control Unit (CS1W-NC213/NC413 and C200HW-NC213/ NC413) to a Servo Relay Unit (XW2B-40J6-2B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A7 50 cm Approx.
  • Page 209 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A10) This cable connects a Position Control Unit (CS1W-NC133) to a Servo Relay Unit (XW2B- 20J6-1B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A10 50 cm Approx.
  • Page 210 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A11) This cable connects a Position Control Unit (CS1W-NC233/433) to a Servo Relay Unit (XW2B- 40J6-1B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A11 50 cm Approx.
  • Page 211 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A14) This cable connects a Position Control Unit (CJ1W-NC113) to a Servo Relay Unit (XW2B- 20J6-1B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A14 50 cm Approx.
  • Page 212 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A15) This cable connects a Position Control Unit (CJ1W-NC213/NC413) to a Servo Relay Unit (XW2B-40J6-2B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A15 50 cm Approx. 0.1 kg 10.0 dia.
  • Page 213 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A18) This cable connects a Position Control Unit (CJ1W-NC133) to a Servo Relay Unit (XW2B- 20J6-1B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A18 50 cm Approx.
  • Page 214 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A19) This cable connects a Position Control Unit (CJ1W-NC233/433) to a Servo Relay Unit (XW2B- 40J6-2B). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A19 50 cm Approx.
  • Page 215 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A33) This cable connects a Programmable Controller (CJ1M-CPU21/CPU22/CPU23) to a Servo Relay Unit (XW2B-20J6-8A or XW2B-40J6-9A). Cable types Outer diameter of Model Length (L) Weight sheath XW2Z-050J-A33 50 cm Approx.
  • Page 216 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A28) This cable connects the general I/O connector of a Flexible Motion Controller (FQM1-MMP22/ -MMA22) to a Servo Relay Unit (XW2B-80J7-12A). Cable types Outer diameter of Model Length (L)
  • Page 217 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A30) This cable connects the special I/O connector of a Flexible Motion Controller (FQM1-MMP22) to a Servo Relay Unit (XW2B-80J7-12A). Cable types Outer diameter of Model Length (L) Weight...
  • Page 218 3-5 Servo Relay Units and Cable Specifications Position Control Unit Cable (XW2Z-xJ-A31) This cable connects the special I/O connector of a Flexible Motion Controller (FQM1-MMA22) to a Servo Relay Unit (XW2B-80J7-12A). Cable types Outer diameter of Model Length (L) Weight...

  • Page 219: External Regeneration Resistor Specifications

    Operating temperature: 170°C ± 7°C Aluminum R88A- 47 Ω 350 × 350, 220 W 70 W NC contact RR22047S Thickness: 3.0 Rated output: 250 VAC, 0.2 A max. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-136...
  • Page 220 200°C ± 7°C Aluminum R88A- NC contact 20 Ω 600 × 600, 500 W 180 W RR50020S Rated output: 250 VAC, Thickness: 3.0 0.2 A max. 24 VDC, 0.2 A max. 3-137 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 221: Emc Filter Specifications

    4.1 A 250 VAC single-phase R88D-KT08H R88A-FIK107-RE 6.6 A R88D-KT10H R88A-FIK114-RE 14.2 A R88D-KT15H 3.5 mA R88D-KT06F R88A-FIK304-RE R88D-KT10F R88D-KT15F 400 VAC single-phase R88D-KT20F R88A-FIK306-RE R88D-KT30F R88A-FIK312-RE 12 A R88D-KT50F OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 3-138...
  • Page 223 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 Servo Drive Installation Conditions ..........

  • Page 224: Installation Conditions

    When the driver is installed in a closed space, such as a box, ambient temperature will rise due to temperature rise in each unit. Use a fan or air conditioner to prevent the driver's ambient °...
  • Page 225 Place a cover over the driver or take other preventative measures to prevent foreign objects, such as drill filings, from getting into the driver during installation. Be sure to remove the cover after installation is complete. If the cover is left on during operation, driver's heat dissipation is blocked, which may result in malfunction.

  • Page 226: Servomotor Installation Conditions

    Operating humidity: 85% RH max. (with no condensation) Operating atmosphere: No corrosive gases. *1. The operating ambient temperature is the temperature at a point 5 cm from the motor. Impact and Load The motor is resistant to impacts of up to 98 m/ .
  • Page 227 If an excessive radial load is applied, the motor shaft and bearings may be damaged. Set up a movable pulley in the middle of the motor shaft and the load shaft so that the belt tension can be adjusted.
  • Page 228 4-1 Installation Conditions Other Precautions Take measures to protect the motor shaft from corrosion. The motor shafts are coated with anti- corrosion oil when shipped, but anti-corrosion oil or grease should also be applied when connecting the components which apply load to the shaft.

  • Page 229: Gearbox Installation Conditions

    If the system configuration requires another company's Gearbox to be used in combination with an OMNUC G5-Series motor, select the Gearbox so that the load on the motor shaft (i.e., both the radial and thrust loads) is within the allowable range. (Refer to "Characteristics"(P.3- 2) for details on the allowable loads for the motors.)

  • Page 230: Wiring

    24 VDC *2. Recommended relay: MY relay by OMRON (24-V type) For example, ALMCOM MY2 relay by OMRON can be used with all G5-series motors with brakes because its rated induction load is 2 A (24 VDC). 24 VDC BKIR *3.
  • Page 231 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 BKIR *3. There is no polarity on the brakes. (*2) *4.
  • Page 232 24 VDC relay by OMRON can be used with all G5-series motors with brakes because ALMCOM its rated induction load is 2 A (24 VDC). *3. There is no polarity on the brakes. 24 VDC BKIR *4. The Regeneration Resistor built-in type (*2) (KT30H and KT50H) shorts B2 and B3.
  • Page 233 (KT06F to KT15F) connects B2 and B3. User-side BKIRCOM When the amount of regeneration is control large, remove the connection between B2 device and B3 and connect the Regeneration Control cables Resistor between B1 and B2. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-10...
  • Page 234 ALMCOM relay by OMRON can be used with all G5-series motors with brakes because 24 VDC its rated induction load is 2 A (24 VDC). BKIR *3. There is no polarity on the brakes. (*2) *4. There is no Internal Regeneration Resistor...
  • Page 235 *4. There is no Internal Regeneration User-side BKIRCOM Resistor with KT30F and KT50F. When contro the amount of regeneration is large, device connect the necessary Regeneration Control cables Resistor between B1 and B2. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-12...

  • Page 236: Main Circuit And Motor Connections

    Symbol Name Function R88D-KTxL (50 to 400 W) : Single-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz (200 to 400 W): 3-phase 100 to 115 VAC (85 to 127 V) 50/60 Hz Main circuit power supply R88D-KTxH input (100 W to 1.5 kW) : Single-phase 200 to 240 VAC (170 to 264 V)
  • Page 237 Main circuit power supply R88D-KTxH (2 kW) : input 3-phase: 200 to 230 VAC (170 to 253 V) 50/60 Hz Control circuit power R88D-KTxH : Single-phase 200 to 230 VAC (170 to 253 V) 50/60 supply input Motor Connector Specifications (CNB) Symbol Name...
  • Page 238 Symbol Name Function Main circuit power supply R88D-KTxF input (600 W to 2 kW) : 3-phase: 380 to 480 VAC (323 to 528 V) 50/60 Motor Connector Specifications (CNB) Symbol Name Function Motor connection These are the output terminals to the Servomotor.
  • Page 239 R88D-KT30F/-KT50F Terminal Block Specifications (TB1) Symbol Name Function Main circuit power supply R88D-KTxF (3 to 5 kW): 3-phase 380 to 480 VAC (323 to 528 V) input 50/60 Hz External Regeneration A Regeneration Resistor is not built in. Resistor connection...
  • Page 240 (L1C and L2C) Motor connection Rated current terminals (U, V, W, Wire size − AWG14 to 18 and FG) − Frame ground (FG) Wire size AWG14 − Screw size Tightening torque N•m 4-17 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 241 N•m *1. Use the same wire sizes for B1 and B2. Note 1. The left value is for single-phase input and the right value is for 3-phase input. Note 2. Connect an OMRON power cable to the motor connection terminals.
  • Page 242 N•m *1. Use the same wire sizes for B1 and B2. Note 1. The left value is for single-phase input and the right value is for 3-phase input. Note 2. Connect an OMRON power cable to the motor connection terminals.
  • Page 243 Pry the slot open using the lever that comes with the Servo Drive. (Figure A) Insert a flat-blade screwdriver (end width: 3.0 to 3.5 mm) into the opening for the driver of the terminal block, and press down firmly to open the slot. (Figure B)

  • Page 244: Wiring Conforming To Emc Directives

    Ground the motor's frame to the machine ground when the motor is on a movable shaft. Use a ground plate for the frame ground for each unit, as shown in the above diagrams, and ground to a single point. Use ground lines with a minimum thickness of 3.5 mm , and arrange the wiring so that the ground lines are as short as possible.
  • Page 245 3-phase 200 VAC (50 A) − Servo Drive OMRON − Servomotor OMRON − Clamp core ZACT305-1330 − − Controller Switch box *1. A specified combination of Servo Drive and Servomotor must be used. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-22...
  • Page 246 AC power supply Switch box line For operations, 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 or make sure that there is adequate distance between the input lines and the internal wiring.
  • Page 247 Case Structure Use a metal control panel with welded joints at the top, bottom, and sides so that the surfaces will be electrically conductive. If assembly is required, strip the paint off the joint areas (or mask them during painting), to make them electrically conductive.

  • Page 248: Selecting Connection Component

    General and low-speed no-fuse breakers are generally suitable. Select a no-fuse breaker with a rated current greater than the total effective load current of all the motors (when multiple drivers are used). (The rated current of the power supply input for each motor is provided in "Main Circuit and Motor Connections"(P.4-13).)
  • Page 249 High-frequency, surge-resistant leakage breakers, because they do not detect high-frequency current, can prevent operation with high-frequency leakage current. When using a general leakage breaker, use 3 times the total of the leakage current given in the following table as a reference value.
  • Page 250 Ltd. Note 1. Refer to the manufacturers' catalog for operating details. Note 2. The surge immunity is for a standard impulse current of 8/20 μs. If pulses are wide, either decrease the current or change to a larger-capacity surge absorber.
  • Page 251 *3. Generally used for 50/100 W. The maximum number of windings is 2 turns. *4. Also used on the driver output power lines to comply with the EMC directives. Only a clamp is used. This clamp can also be used to reduce noise current on a FG line.
  • Page 252 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 4-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 253 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) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-30...
  • Page 254 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...
  • Page 255 Always use the specified encoder cables. If cables are joined midway, be sure to use connectors. And do not remove more than 50 mm of the cable insulation. In addition, always use shielded cables. Do not coil cables. If cables are long and are coiled, mutual induction and inductance will increase and cause malfunctions.
  • Page 256 Install a noise filter on the primary side of the control power supply. If motors with brakes are being used, do not use the same 24-VDC power supply for both the brakes and the control I/O. Additionally, do not connect the ground wires. Connecting the ground wires may cause I/O signal errors.
  • Page 257 Reactor to Reduce Harmonic Current Harmonic Current Measures The Reactor is used for suppressing 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 258 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 driver, a very large (about 100 times larger) leakage current will flow through the noise filter's capacitor and the driver could be damaged.
  • Page 259 4-3 Wiring Conforming to EMC Directives 3G3AX-NF003/-NF004/-NF005/-NF006 6−O 2−N 4−φ6.5 Dimensions (mm) Model − − 3G3AX-NF003 3G3AX-NF004 3G3AX-NF005 3G3AX-NF006 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 4-36...

  • Page 260: Regenerative Energy Absorption

    For driver models with an Internal Regeneration Resistor used for absorbing regenerative energy (i.e., models of 500 W or more), the average amount of regeneration Pr (unit: W) must be calculated, and this value must be lower than the driver's regeneration absorption capacity. (The capacity depends on the model.For details, refer to the next section.) The average regeneration power (Pr) is the regeneration power produced in 1 cycle of operation [W].
  • Page 261 : Deceleration time : Constant-speed driving time during downward movement [s] Note. Due to the loss of winding resistance, the actual regenerative energy will be approx. 90% of the values derived from these equations. For driver models with internal capacitors used for absorbing regenerative energy (i.e., models of...

  • Page 262: Driver Regeneration Absorption Capacity

    If these values are exceeded, take the following processes. Connect an External Regeneration Unit. (Regeneration process capacity improves.) Reduce the operating rotation speed. (The amount of regeneration is proportional to the square of the rotation speed.) Lengthen the deceleration time. (Regenerative energy per unit time decreases.) Lengthen the operation cycle, i.e., the cycle time.

  • Page 263: Regenerative Energy Absorption With An External Regeneration Resistor

    The External Regeneration Resistor will heat up to approx. 120°C. Do not place it near equipment and wiring that is easily affected by heat. Attach radiator plates suitable for the heat radiation conditions.

  • Page 264: Connecting An External Regeneration Resistor

    When using multiple External Regeneration Resistors, connect each thermal switch in series. The resistor may be damaged by burning, or cause fire if it is used without setting up a power supply shutoff sequence using the output from the thermal switch.
  • Page 265 *1. Select a combination that has an absorption capacity greater than the average regeneration power (Pr). *2. Do not use a combination with resistance values lower than the minimum external regeneration resistance of each driver. For information on the minimum external regeneration resistance, refer to "Driver Regeneration Absorption Capacity"(P.4-39).
  • Page 267 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 Outline of Operation................ 5-1 Parameters Requiring Settings ............5-2 Related Functions ................5-4 Parameter Block Diagram for POSITION CONTROL mode... 5-5 5-2 Speed Control ...............5-6...

  • Page 268: Position Control

    5-1 Position Control Outline of Operation Position control is performed based on the pulse train input received from the controller. The motor rotates using the value of the pulse train input multiplied by the Electronic Gear (Pn008 to Pn010). Controller...

  • Page 269: Parameters Requiring Settings

    CCW) and input 2 system (+CWLD, -CWLD, +CCWLD, -CCWLD). If the position command output is a line-driver output, set input 1. If it is an open collector output, set input 2. Although input 2 can also be used for a line-driver output, the allowable maximum input frequency will become lower than when input 1 is selected.
  • Page 270 5-1 Position Control The settings for command pulse rotation direction and COMMAND PULSE mode are as follows. Command Signal Forward direction Reverse direction Pn006 Pn007 pulse pattern name command command PULS 90° phase Phase A difference, 0 or 2 2-phase pulse...

  • Page 271: Related Functions

    5-1 Position Control Electronic Gear Function (Pn008, Pn009, Pn010) This function uses as 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.

  • Page 272: Parameter Block Diagram For Position Control Mode

    5-1 Position Control Parameter Block Diagram for POSITION CONTROL mode OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 273: Speed Control

    Outline of Operation Motor speed control is performed based on the analog voltage input from the controller. You can also perform position control by combining with a controller that has a position control function. You can change the relation between the speed command and the rotation speed by setting the Speed Command Scale (Pn302).
  • Page 274 CONTROL mode Selection (Pn001) Select the speed control (Set values: 1, 3 or 5). Analog Speed Command Input Process (Pn300, Pn301, Pn302, Pn303) Convert the voltage input by an analog input to a speed command to control the motor. Parameter Setting...
  • Page 275 5-2 Speed Control Example) When Speed Command Scale (Pn302) = 500 Speed limit value = Speed Command Scale (Pn302) × input voltage Figure A Figure B Speed command Speed command 5000 5000 3000 3000 −10 −6 −10 −6 Input voltage Input voltage −3000...
  • Page 276 S-curve Acceleration/Deceleration Time Setting (Pn314) Set the S-curve time in the time width centered on the inflection points in acceleration/deceleration relative to the acceleration or deceleration time set in Soft Start Acceleration Time (Pn312) or Soft Start Deceleration Time (Pn313).

  • Page 277: Related Functions

    Zero Speed Designation Set the zero speed designation. Pn315 P.8-29 Selection Set the threshold for transition to the servo lock state under Pn316 Speed Lock Level Setting P.8-30 position control. Set the detection threshold for speed conformity output. If...

  • Page 278: Parameter Block Diagram For Speed Control Mode

    5-2 Speed Control Parameter Block Diagram for SPEED CONTROL mode 5-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 279: Torque Control

    TREF2 AGND Precautions for Correct Use If the motor speed is limited by the speed limit, the motor speed will be limited and will not reach the speed corresponding to the analog torque command. Parameters Requiring Settings Parameter...
  • Page 280 CONTROL mode Selection (Pn001) Select the torque control (Set values: 2, 4 or 5). Analog Torque Command Input Process (Pn317, Pn318, Pn319, Pn320) Convert the voltage input by an analog input to a torque command to control the motor. Parameter Setting...
  • Page 281 5-3 Torque Control Example) When the torque command scale is 30 Torque command = 100 × Input voltage / (Torque Command Scale (Pn302) × 0.1) Figure A Figure B Torque command Torque command −10 −6 −10 −6 Input voltage Input voltage −200...

  • Page 282: Related Functions

    P.8-29 Selection 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.8-32 Setting exceed the level set by the speed limit value. Reverse Direction Set this if you want to change the speed limit value...

  • Page 283: Parameter Block Diagram For Torque Control Mode

    5-3 Torque Control Parameter Block Diagram for TORQUE CONTROL mode OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 5-16...

  • Page 284: Internally Set Speed Control

    5-4 Internally Set Speed Control Outline of Operation Performs motor speed control using the speeds set in the No. 1 to 8 Internally Speed Settings. Select the internally set speed using Internally Set Speed Selections 1 to 3 of the control input terminals (VSEL1: CN-1 to 33 pins, VSEL2: CN-1 to 30 pins, VSEL3: CN-1 to 28 pins).
  • Page 285 5-4 Internally Set Speed Control Selecting the Internally Set Speeds The following tables show the internally set speeds that are set with VSEL1, VSEL2 and VSEL3 (internally set speed selection 1, 2 and 3). Pn300 = 1 Number VSEL1 VSEL2...
  • Page 286 (Pn312, Pn313, and Pn314). Internal Speed Command (Pn304 to 311) Control the motor speed according to the internal speed command value set by a parameter. The internally set speed becomes valid when the setting of Speed Setting Internal/External Switching is 1 to 3.

  • Page 287: Switching Control

    5-5 Switching Control 5-5 Switching Control Outline of Operation This function controls the motor by switching between 2 CONTROL modes via external inputs. The CONTROL mode switching is performed by the CONTROL mode switching input (TVSEL: CN-1 to 32 pins).
  • Page 288 The pulses input before INP turns ON will be ignored. The shaded areas for the positioning completion output (INP) in the time chart show that the signal is turned ON as the motor rotation speed detection output (TGON). (The meaning of the signal depends on the CONTROL mode.)

  • Page 289: Related Functions

    Take safety measures on the machine side to prevent motor runaway. Adjust the torque command using Analog Input 2 Offset (Pn425) and Analog Input 2 Filter Time Constant (Pn426) because the torque command input is analog input 2.

  • Page 290: Full Closing Control

    −EXZ Precautions for Correct Use If the electronic gear ratio is 1 : 1, 1 command pulse from the encoder constitutes 1 external scale pulse. Since the electronic gear ratio is set differently than in the POSITION CONTROL mode, set the external scale dividing ratio correctly.

  • Page 291: Full Closing Control

    Set the threshold of A250 "internal/external feedback pulse Pn328 Feedback Pulse Error error counter overflow" in the command unit. P.8-34 Counter Overflow Level Internal/External The hybrid error becomes 0 every time the motor rotates by the Pn329 Feedback Pulse set value. P.8-35 Error Counter Reset Encoder Dividing...
  • Page 292 CCW) and input 2 system (+CWLD, -CWLD, +CCWLD, -CCWLD). If the position command output is a line-driver output, set input 1. If it is an open collector output, set input 2. Although input 2 can also be used for a line-driver output, the allowable maximum input frequency will become lower than when input 1 is selected.
  • Page 293 5-6 Full Closing Control Electronic Gear Function (Pn008, Pn009, Pn010) This function uses as 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.
  • Page 294 Direction encoder total feedback pulses do not − Pn326 Switching match, set the reversal of the 0 to 1 external scale feedback pulse direction. 0: Not reversed, 1: Reversed 5-27 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 295 Check the external scale operation manual for its maximum output frequency. For example, the maximum speed when an external scale with a resolution of 0.01 μm is used for the serial communication type is 0.01 μm × (400 × 10 ) pps = 4.00 m/s.
  • Page 296 Denominator rotation. Check the number of encoder feedback pulses and the number of external scale output pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (Pn324) and External Feedback Pulse Dividing Denominator (Pn325) so that the following formula works out.
  • Page 297 Precautions for Correct Use An internal/external feedback pulse error counter overflow level error occurs when the external scale is abnormal, connection is wrong, or connection point between the motor and load is loose, among others. Accordingly, check these items when an error occurs.

  • Page 298: Parameter Block Diagram For Full Closing Control Mode

    5-6 Full Closing Control Parameter Block Diagram for FULL CLOSING CONTROL mode 5-31 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 299: Chapter6 Applied Functions

    Applied Functions This chapter gives outline of applied functions such as damping control, electronic gears, gain switching and disturbance observer, and explains the contents of setting. 6-1 Damping Control............6-1 Outline of Operation................ 6-1 Parameters Requiring Settings ............6-2 6-2 Adaptive Filter...............6-5 Outline of Operation................
  • Page 300 Outline of Operation ..............6-50 Parameters Requiring Settings ............. 6-50 Operating Procedure..............6-51 6-17 Instantaneous Speed Observer Function....6-54 Outline of Operation ..............6-54 Parameters Requiring Settings ............. 6-54 Operating Procedure..............6-55 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 301: Damping Control

    6-1 Damping Control 6-1 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 302 Precautions for Correct Use Stop operation before changing the parameters or switching with DFSEL. It may not function properly or the effect may not be apparent under the following conditions. Item Conditions under which the effect of damping control is inhibited CONTROL •...
  • Page 303 The stabilization time can be reduced by setting a large value; however, torque ripple will increase at the command change point as shown in the following figure. Set a range that will not cause torque saturation under actual operation conditions. The effects of vibration suppression will be lost if torque saturation occurs.
  • Page 304 Reverse direction: Vibration filter 2 or 4 enabled Vibration Filter Selection (Pn213) is a parameter that becomes effective when the power is turned on. After setting this parameter, turn OFF the control power supply and then turn it ON again.

  • Page 305: Adaptive Filter

    The automatically set notch filter frequency is set in Notch 3 (Pn207 to Pn209) or Notch 4 (Pn210 to Pn212). Refer to "6-3 Notch Filter" (P.6-7) for information on notch filter.
  • Page 306 • If the resonance frequency is 300 Hz or lower. Resonance • If the resonance peak or control gain is low, and the motor speed is not affected by it. points • If there are three or more resonance points.

  • Page 307: Notch Filter

    Outline of Operation You can set up to 4 notch filters for the torque command. If the ball screw, etc. cause resonation at the specific location, you can set the resonance frequency using a notch filter to eliminate resonance. A notch filter is used to eliminate a specified frequency component.
  • Page 308 Precautions for Correct Use Identify the resonance frequency using the frequency characteristics measurement function, resonance frequency monitor or operation waveform of the waveform graphics function of CX- Drive and set the identified frequency as the notch filter frequency. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 309 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. If the indication unit is [dB], this value should conform to the right column in the table below.

  • Page 310: Electronic Gear Function

    Set the numerator of the electronic gear ratio 4. Electronic Gear Ratio Pn502 Numerator 4 *1. Switching among Electronic Gear Ratio Numerators 2 to 4 (Pn500 to Pn502) is performed using the electronic gear switching input (GESEL1/GESEL2). The settings of GESEL1 and GESEL2 are as follows. GESEL1...
  • Page 311 Numerator 1 (Pn009) / Electronic Gear Ratio Denominator (Pn010) The encoder resolution is set as the numerator for full closing control. The command pulse is the external scale reference for full closing control. Accordingly, please be cautious that the Pn008 set value will not be the number of command pulses per motor rotation.
  • Page 312 1-rotation (1,048,576 pulses) When the Electronic Gear Integer Setting (Pn008) = 0 and the Electronic Gear Ratio Numerator ≠ 0 If you set Pn009 and Pn010 = 1,048,576 and 2,048, respectively, it will operate the same as the 2,048 (pulses/rotation) Servomotor.

  • Page 313: Encoder Dividing Function

    Outline of Operation The number of pulses can be set for the encoder signals output from the driver. You can set the number of pulses per motor rotation in the range of 1 to (the number of encoder resolution pulses).
  • Page 314 1 phase-Z signal is output by 1 pulse per motor rotation.When the Encoder Dividing Denominator (Pn503) ≠ 0, and if the pulse output resolution per rotation is not a multiple of 4, phase-Z and phase-A outputs are not synchronized.The output will be made as an encoder resolution, resulting in narrower width.
  • Page 315 *1.Phase-Z position and its relationship with phases A and B vary depending on the scale. *2.Phase Z is regenerated for 1 pulse.If the width is narrow, the output time can be extended by the External Scale Phase Z Setting (Pn620).
  • Page 316 • Take not that if the encoder is used as the output source and the pulse output resolution per rotation is not a multiple of 4, phase Z and phase A are not synchronized, and the width may be narrow.
  • Page 317 When the dividing ratio is not multiple of 4 Note: When Pn503 = 0 and the output resolution is set to Pn011, the dividing ratio is always a multiple of 4. When en encoder with the incremental specifications is used, the first phase Z output after the power supply is turned ON may not always be within the above pulse width.When you are using...

  • Page 318: Brake Interlock

    6-6 Brake Interlock Outline of Operation This function lets you set the output timing for the brake interlock (BKIR) signal that activates the holding brake when the servo is turned ON, an alarm generates, or the servo is turned OFF.
  • Page 319 *2. The dynamic brake operation when the servo is OFF depends on Stop Selection with Servo OFF (Pn506). *3. The brake interlock (BKIR) signal is output upon a release request from servo control. The BKIR signal is allocated to a CN1 general-purpose output to be used.
  • Page 320 In the above example, no release request is received from the network. *4. t1 is the set value of Brake Timing during Operation (Pn438), or the time needed for the motor rotation speed to drop to 30 r/min or below, whichever occurs first.
  • Page 321 *1. The dynamic brake operation when an alarm generates depends on Stop Selection with Servo OFF (Pn506). *2. t1 is the set value of Brake Timing during Operation (Pn438), or the time needed for the motor rotation speed to drop to 30 r/min or below, whichever occurs first.
  • Page 322 CN1 general-purpose output to be used. Note:After the alarm has been reset, the system enters the servo OFF state (motor not excited). To turn the servo ON, issue a servo ON command again after resetting the alarm, according to the above timings.

  • Page 323: Gain Switching Function

    • When external force is constantly applied, as with a vertical axis. Note. When the gain 2 has been selected, realtime autotuning will not operate normally. If using the gain switching, set the Realtime Autotuning to "not use" (Pn002 = 0).
  • Page 324 Set the condition for switching between gain 1 and gain 2. Pn115 P.8-13 Position Control Gain Switching Delay Set the time to return from the gain 2 to gain 1. Pn116 P.8-14 Time in Position Control (Unit: 0.1 ms) Gain Switching Level in...
  • Page 325 6-7 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 326 If the amount of change fluctuates and the switching time is not met, the switching will be cancelled. In the case of switching due to a change amount of 4% over 2 ms, a value of approx. 6 will apply. (Change of 0.33% per 166 μs.)
  • Page 327 Pn116 Gain 1 Gain 1 Gain 2 GAIN SWITCHING mode = 7: Switching by Position Command Received Gain switching occurs when a position command corresponding to 1 command unit or more is received. Position command Pn116 Gain 1 Gain 1...
  • Page 328 The switching time is set in units of 166 μs according to the internal cycle. Set 20 in Pn035. If the position loop gain is to be raised from 30 to 50 [1/s], increment the gain by 166 μs at a time.
  • Page 329 √ √ √ √ command received and speed SPEED CONTROL mode In the SPEED CONTROL mode, it varies as follows according to GAIN SWITCHING mode in Speed Control (Pn120). (√: Enabled, − : Disabled) Gain Switching Gain Switching Pn120 set...
  • Page 330 6-7 Gain Switching Function TORQUE CONTROL mode In the TORQUE CONTROL mode, it varies as follows according to GAIN SWITCHING mode in Torque Control (Pn124). (√: Enabled, − : Disabled) Gain Switching Gain Switching Pn124 set Gain Switching Switching conditions...

  • Page 331: Torque Limit

    This function is used in the following conditions. • When push-motion operation, such as pressing, is performed. • When the torque at startup and during deceleration should be suppressed to protect the mechanical system, etc. Various methods are available according to Torque Control Selection (Pn521).
  • Page 332 Forward operation: Pn525 Reverse operation: Pn526 For the torque limit in torque control, always select No. 1 Torque Limit (Pn013). The torque limit under torque feed-forward selection is enable only during speed control when the set value is 1 to 3. 6-32...
  • Page 333 6-8 Torque Limit Rate of Change Setting at Switching (Pn521 = 3) If 3 is set in Torque Limit Selection (Pn521), you can add fluctuate the change at the time of switching. This function is disabled in any other setting.

  • Page 334: Sequence I/O Signal

    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). In addition, you can change logics. However, refer to "Input Signal Allocation Method" (P.6-35) for more information because some signals have an allocation limit.
  • Page 335 Input Signal Selection 10 Set the SI10 input function allocation. P.8-36 Input Signal Allocation Method Input the setting for each CONTROL mode in any of the parameters of Pn400 to Pn409 to allocate signals. Set the parameters based on the hex display standard.
  • Page 336 *1 The operation command (RUN) always needs to be allocated. Servo cannot be turned ON if it is not allocated. *2 Allocate this to Input Signal Selection 7 (Pn406). An error will occur if it is allocated to anything other than that.
  • Page 337 6-9 Sequence I/O Signal and alarm reset input) to the same pin, and do the same for the logic. If this is not set correctly, interface input duplicate allocation error 1 (Err33.0) or interface input duplicate allocation error 2 (Err33.1) will occur.
  • Page 338 6-9 Sequence I/O Signal Output Signal Allocation Method Input the setting for each CONTROL mode in any of the parameters of Pn410 to Pn413 to allocate signals. Set up the parameters based on the hex display standard in the same manner as the input signal allocation method.
  • Page 339 You can allocate the same function to multiple output signals. You cannot change the output signal logic. When the function is disabled (OFF), signal input is open with COM−, and when the function is enabled (ON), signal input is shorted with COM−.

  • Page 340: Forward And Reverse Drive Prohibition Functions

    Input Signal Pn401 00818181 POT (contact b) POT (contact b) POT (contact b) Selection 2 Refer to "6-9 Sequence I/O Signal" (P.6-34) for details on input signal selections 1 to 10. 6-40 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 341 Install limit switches at both ends of the axis to prohibit the Servomotor from driving in the direction specified by the switch. This can be used to prevent the workpiece from driving too far and thus prevent damage to the machine. Set the operation to be performed upon forward and reverse drive prohibition input.
  • Page 342 Precautions for Correct Use A load on the vertical axis and so forth may fall due to its own weight in the drive prohibition input state. To prevent the load from falling, set immediate stop torque for deceleration and servo lock for stop (set value: 2) in Stop Selection for Drive Prohibition Input (Pn505), or limit the operation using the Host Controller rather than using this function.

  • Page 343: Disturbance Observer Function

    6-11 Disturbance Observer Function Outline of Operation You can lower the effect of the disturbance torque and reduce the vibration using the estimated disturbance torque value. You can use the disturbance observer in the following situations for position control or speed control.
  • Page 344 Set Disturbance Torque Compensation Gain (Pn623) to a small value, and then change the value of Disturbance Observer Filter Setting (Pn624) from a large value to a small value. And set to the set value in which the effectiveness of suppressing the impact of disturbance and the operating noise level are balanced.

  • Page 345: Gain Switching 3 Function

    Precautions for Correct Use If gain 3 is not used, set the Gain 3 Effective Time (Pn605) to 0 and Gain 3 Ratio Setting (Pn606) to 0. Only the position loop gain and the speed loop gain are treated as gain 3 in the gain 3 region, and the gain 1 setting is applied to all other gains.

  • Page 346: Friction Torque Compensation Function

    6-13 Friction Torque Compensation Function Outline of Operation As a function to reduce the effect of friction, you can set the unbalanced load compensation that always compensates the constantly working offset torque, and the dynamic friction compensation that changes its direction depending on the operating direction.
  • Page 347 Forward Direction Torque Offset (Pn608) and Reverse Direction Torque Offset (Pn609) are loads that require a large amount of dynamic friction torque due to the radial load, such as the belt drive axis. By setting the friction torque for each rotation direction for all parameters, you can reduce the deterioration and inconsistencies of positioning stabilization time due to dynamic friction.

  • Page 348: Inertia Ratio Switching Function

    Be sure that the motor is stopped when using the inertia ratio switching function. If the difference between inertia ratio 1 and inertia ratio 2 is large, a vibration may occur even if the motor is stopped. Use it upon confirming that there is no problem with vibration on the actual machine.

  • Page 349: Hybrid Vibration Suppression Function

    Precautions for Correct Use This function is effective when the amount of torsion between the motor shaft and the load is large.This may be less effective when the amount of torsion is small. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 350: Feed-Forward Function

    The torque feed forward can increase the responsiveness during speed control by calculating the torque command that is required for the operation based on the speed control command, and adding it to the torque command that is calculated based on the comparison with the speed feedback.
  • Page 351 Gradually increase the value of Speed Feed-forward Amount (Pn110) and finely adjust it to avoid overshooting during acceleration/deceleration. If the speed feed-forward amount is set to 100%, the position error will be 0 in terms of calculation. However, a large overshooting will occur during acceleration/deceleration.
  • Page 352 Since the position error during acceleration/deceleration at a certain speed can be brought close to 0, it can be brought almost to 0 throughout the entire operation range during a trapezoidal speed pattern drive under ideal conditions where no disturbance torque is working.
  • Page 353 The analog torque feed forward is enabled when bit 5 of the Setting of Each Function (Pn610) is set to 1. In addition, if analog input 3 is used by another function (for example, analog torque limit), this function is disabled.

  • Page 354: Instantaneous Speed Observer Function

    Outline of Operation Estimating the motor speed using a load inertia increases responsiveness and reduces vibration at stopping and improves the speed detection accuracy. This function can be used for position control. The instantaneous speed observer function can be used in the following situations.
  • Page 355 If the machine operation noise or vibration, or a change in the torque monitor waveform is significant enough to cause any problem, return the setting to 0 and make sure that the inertia ratio or the adjustment parameters are correct.

  • Page 357: 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 Outline of Operation................ 7-1 I/O Signal Specifications ..............

  • Page 358: Safe Torque Off (Sto) Function

    • The power supply to the motor is cut off by the STO function, but the power supply to the driver will not be cut off nor electrically insulated. For driver maintenance, cut off the power supply to the driver through another means.
  • Page 359 L-pulse for self-diagnosis, a filter that can remove the L pulse for self-diagnosis is built in with the safety input circuit. If the OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as OFF.
  • Page 360 Signal status Safety input 1 Safety input 2 EDM output The maximum delay time is 6 ms after the safety input signal is input and until the EDM output signal is output. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 361: Operation Example

    Pn439 set value or lower is early *1. t1 is the set value of the Brake Timing during Operation (Pn438), or the time needed for the motor rotation speed to drop to or below the Brake Release Speed Setting (Pn439), whichever occurs first.
  • Page 362 (BKIR) *1. Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and 2 to ON. Alarm clear must be performed because alarms will occur. Be sure to execute the alarm clear when both safety inputs 1 and 2 are returned to the ON status.

  • Page 363: Connection Examples

    EDM input EDM− EDM output Connection Example 3: Connection with a Safety Controller EDM input Safety Driver Controller SF1+ Safety input SF1− G9SX-AD SF2+ SF2− EDM+ EDM− EDM output Safety output (source) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 365: Chapter8 Parameters Details

    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 ............8-9 8-3 Vibration Suppression Parameters......8-20 8-4 Analog Control Parameters ........8-25 8-5 Interface Monitor Setting Parameters.......8-36 8-6 Extended Parameters ..........8-46 8-7 Special Parameters.............8-59...

  • Page 366: Basic Parameters

    Full closing control Set the CONTROL mode to be used. If COMPOSITE modes are set (set values: 3 to 5), mode 1 or mode 2 can be selected using the CONTROL mode switching input (TVSEL). • When the CONTROL mode switching input is open: Select mode 1.
  • Page 367 When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in EEPROM every 30 minutes. If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain (Pn101) and Speed Loop Gain 2 (Pn106) is Hz.
  • Page 368 Photocoupler input (+PULS: CN1 pin 3, -PULS: CN1 pin 4, +SIGN: CN1 pin 5, -SIGN: CN1 pin 6) Input for line driver only (+CWLD: CN1 pin 44, -CWLD: CN1 pin 45, +CCWLD: CN1 pin 46, -CCWLD: CN1 pin 47) Selects whether to use photocoupler or input for line driver only for the command pulse input.
  • Page 369 Line driver: t2 ≥ 1 μs Open collector: t2 ≥ 2.5 μs Set the form of the pulse inputs sent as command to the driver from a Position Controller. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 370 ON Set the number of command pulses corresponding to 1 motor rotation. If the set value is 0, Electronic Gear Ratio Numerator 1 (Pn009) and Electronic Gear Ratio Denominator (Pn010) become valid. Pn009 Position Electronic Gear Ratio Numerator 1...
  • Page 371 0 to 3 Unit range setting and ON Always set the output source to an encoder or an external scale except during full closing control. Explanation of Set Values Set value Phase B logic Output source Motor forward command Motor reverse command...
  • Page 372 Explanation of Set Values Explanation value Use as absolute encoder. Use as incremental encoder. Use as absolute encoder but ignore multi-rotation counter overflow. Set the operating method for the 17-bit absolute encoder. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 373 Regeneration Resistor used: External Resistor The regeneration processing circuit will operate, and regeneration overload (alarm display No. 18) will cause a trip when the operating rate of the Regeneration Resistor exceeds 10%. Regeneration Resistor used: External Resistor The regeneration processing circuit will operate, but regeneration overload (alarm display No.

  • Page 374: Gain Parameters

    This should be 500 to 700 (0.1/s) for ordinary machine tools, 300 to 500 (0.1/s) for general-use and assembly machines, and 100 to 300 (0.1/s) for industrial robots. The default position loop gain is 400 (0.1/s), so be sure to lower the set value for machines with low machine rigidity.
  • Page 375 ON Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5). Increasing the set value increases the time constant and decreases the noise generated by the motor. Responsiveness, however, also decreases.
  • Page 376 GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is enabled. The gain switching condition is switched according to the condition set in the GAIN SWITCHING mode (Pn115, Pn120 and Pn124). If the mechanical system inertia changes greatly or if you want to change the responsiveness depending on whether the motor is rotating or being stopped, you can achieve the appropriate control by setting the gains and time constants beforehand for each of these conditions, and switching them according to the condition.
  • Page 377 Gain 1/gain 2 switching available Select either PI/P operation switching or gain 1/gain 2 switching. PI/P operation switching is performed using gain switching (GSEL: CN1 pin 27). PI is not changed, however, if the Torque Limit Selection (Pn521) is set to 3.
  • Page 378 Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is set to 1. The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Position Control (Pn115) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
  • Page 379 ON Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Position Control (Pn115) is set to 3 or 5 to 10. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 380 ON This is enabled when the SWITCHING mode in Position Control (Pn115) is set to 3, 5, 6, 9 or 10. It sets the judgment level for switching between gain 1 and gain 2. The unit depends on the SWITCHING mode in Position Control (Pn115).
  • Page 381 Select the conditions for switching between gain 1 and gain 2 when the GAIN SWITCHING INPUT OPERATING mode Selection (Pn114) is set to 1. The gain is always gain 1 regardless of the gain input if the SWITCHING mode in Speed Control (Pn120) is 2 and the Torque Limit Selection (Pn521) is 3 or 6.
  • Page 382 In SPEED CONTROL mode, this is enabled when the SWITCHING mode in Speed Control (Pn120) is set to 3 to 5. Set the judgment level for switching between gain 1 and gain 2. The unit depends on the SWITCHING mode in Speed Control (Pn120).
  • Page 383 ON Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed Control (Pn122). The unit depends on the setting of the SWITCHING mode in Speed Control (Pn120). The following shows the definitions for the Gain Switching Delay Time in Speed Control (Pn121), Gain Switching Level in Speed Control (Pn122), and Gain Switching Hysteresis in Speed Control (Pn123).
  • Page 384 Unit 0.1 ms range setting and ON Set the delay time when returning from gain 2 to gain 1 if the SWITCHING mode in Torque Control (Pn124) is set to 3. Pn126 Torque Gain Switching Level in Torque Control Setting...

  • Page 385: Vibration Suppression Parameters

    Drive.The current values are held for the parameters related to notch filters 3 and 4. Adaptive result is cleared.Parameters related to notch filters 3 and 4 are disabled and the adaptive result is cleared. Set the operation of the adaptive filter.
  • Page 386 Unit 5,000 range setting and ON Set the notch frequency of resonance suppression notch filter 3. The notch filter function will be disabled if this parameter is set to 5,000. Pn208 Notch 3 Width Setting Setting Default Power OFF −...
  • Page 387 Set vibration frequency 1 to suppress vibration at the end of the load in damping control. Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz. Setting frequency is 1.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 0.9 Hz.
  • Page 388 Set vibration frequency 3 to suppress vibration at the end of the load in damping control. Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz. Setting frequency is 1.0 to 200.0 Hz. The function will be disabled if the setting is 0 to 0.9 Hz.
  • Page 389 The position command filter time constant can be used for the following: • If the command pulses change abruptly, the filter can be used to reduce the stepping movement of the motor. • The following are examples of when the command pulses can change abruptly: The electronic gear ratio setting is high (10 times or higher).

  • Page 390: Analog Control Parameters

    The operation of the Servomotor may be abnormal if the polarity of the speed command signal from the Position Control Unit does not agree with the setting of this parameter when the Servo Drive system is comprised of the combination of the Servo Drive set to the SPEED CONTROL mode and an external Position Control Unit.
  • Page 391 (r/min)/V range setting and ON Set the relation between the voltage applied to the speed command input (REF: CN1 pin 14) and the motor speed. For details on speed control, refer to "5-2 Speed Control" (P.5-6). Pn303 Speed Analog Speed Command Rotation Direction Switching...
  • Page 392 If internal speed settings are enabled in the Command Speed Selection (Pn300), set the No. 1 to 4 internally set speed in Pn304 to Pn307 and the No. 5 to 8 internally set speed in Pn308 to Pn311. Set the speed in r/min.
  • Page 393 ON Control the speed by setting acceleration/deceleration to the speed command inside the driver. A soft start can be set when inputting speed commands of stepping movement or when using internal speed setting. Do not set acceleration/deceleration time settings when using the driver in combination with an external position loop.
  • Page 394 Speed control Position control When the zero speed designation input is tuned ON, the speed command is forcibly set to 0. When the actual motor speed is less than the Position Lock Level Setting (Pn316), the operation switches to position control and servo locks. In addition, when the zero speed designation input is turned OFF, the operation switches to speed control.
  • Page 395 Use this parameter when the CONTROL mode Selection (Pn001) is set to 1 (speed control). This may not operate correctly if the CONTROL mode Setting (Pn001) is set to 3 (position or speed control) or 4 (position or torque control).
  • Page 396 Motor rotation direction: The +command indicates the reverse direction as viewed from the shaft end. The default setting for this parameter is 0. By rotating to the reverse direction with the +command keeps the compatibility with all OMNUC W-Series Servo Drives.
  • Page 397 0.1 V/100% range setting and ON Set the relation between the voltage applied to the speed limit input (VLIM: CN1 pin 14) and the motor speed. Refer to "5-3 Torque Control" (P.5-12) for more information on torque command scale. Pn320...
  • Page 398 For the external scale connection direction, set the direction so that count-up occurs when the motor shaft is rotating in the CCW direction, and count-down occurs when the motor shaft is rotating in the CW direction If the connection direction cannot be selected due to installation conditions, etc., the count direction can be reversed using External Feedback Pulse Direction Switching (Pn326).
  • Page 399 Unit range setting and ON Check the number of encoder pulses per motor rotation and number of external scale pulses per motor rotation, and set External Feedback Pulse Dividing Numerator (Pn324) and External Feedback Pulse Dividing Denominator (Pn325). Pn324 Encoder resolution per motor rotation [pulse]...
  • Page 400 When using feedback pulse error reset, make sure the feedback pulse error reset setting is set to a proper value. In the case of an extremely small value, it may not function as a protection against error operations caused by erroneous connection of external scale.

  • Page 401: Interface Monitor Setting Parameters

    Pn413 Output Signal Selection 4 − Setting range 0 to 00FFFFFFh Unit Default setting Power OFF and ON Yes Refer to "6-9 Sequence I/O Signal" (P.6-34)for more information on settings. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-36...
  • Page 402 (encoder unit) 110,000 *1. Forward and reverse directions of monitor data are the direction set in Pn000. However, CCW will be the forward direction for the absolute encoder 1-rotation data. A normal value is output from the incremental encoder after the first phase Z is input.
  • Page 403 Encoder feedback /external scale feedback *4. Position error and feedback pulse error come in 2 types, encoder unit/external scale unit and command unit. Encoder unit/external scale unit will be an error of position control input section and command unit will be an error of command pulse input.
  • Page 404 The manual adjustment is as follows: • To adjust the offset for individual drivers, accurately input 0 V to the speed command input/torque command input (REF/TREF1) (or connect to the signal ground), and then set this parameter so that the motor does not rotate.
  • Page 405 (REF/TREF1) (or connect to the signal ground), and then set this parameter so that the motor does not rotate. • If you use a position loop in the host device, set this parameter so that there are no accumulated pulses at servo lock stop status.
  • Page 406 Selection (Pn520). However, note that unit for error counter overflow level will be changed as well. If this parameter is set to a very small value, the time required for the INP signal to be output will increase and the chattering may occur during output. The setting of the positioning completion range does not affect the precision of the final positioning.
  • Page 407 ON General-purpose output timing is set by rotation speed r/min. General-purpose output 1 (ZSP) will be turned ON when the speed of the motor is lower than the setting of this parameter. The setting of this parameter is valid for both forward and reverse direction regardless of the motor rotation direction.
  • Page 408 10 to 20,000 Unit r/min range setting and ON Speed reached output signal is output when the motor speed reaches the speed set as the achieved speed. This setting has a hysteresis of 10 r/min for detection. Speed [r/min] Motor speed Pn436+10 Pn436−10...
  • Page 409 Motor speed 30 r/min TB in the above figure is the brake timing during operation (set value × 1 ms) or the time until the motor rotation speed falls to 30 r/min or lower, whichever is shorter. For details, refer to "6-6 Brake Interlock" (P.6-18).
  • Page 410 Encoder overheating warning External scale error warning External scale communications error warning Do not set it to a value other than a number 0 to 5, and 8 to 10. Refer to "11-2 Warning List" (P.11-4) for more information on settings. Pn441...

  • Page 411: Extended Parameters

    1 phase-Z signal is output for each rotation of the motor. If the pulse output resolution per rotation from the above equation is a multiple of 4, phases Z and A are output in synchronization. In all other cases, the output width of phase Z will be output as the encoder resolution, resulting to be narrower than phase A.
  • Page 412 If this is set to 0, the Servomotor will decelerate and stop according to the sequence set in the Stop Selection for Drive Prohibition Input (Pn505) For details, refer to explanation for Stop Selection for Drive Prohibition Input (Pn505).
  • Page 413 *3. Decelerating refers to a period between when the motor is running and when the motor speed reaches 30 r/min or less. Once the motor reaches a speed of 30 r/min or less and moves to the after stop status, follow the subsequent operation based on the after stop status regardless of the motor speed.
  • Page 414 At that time, the torque command value is restricted by the Immediate Stop Torque (Pn511). *2. If the position command is given or the motor runs continuously when the main power supply is turned OFF, the position error accumulates and Err24.0, "error counter overflow," may occur. In addition, if servo is turned ON when the position error or external scale error is a large value, the motor may operate abruptly to perform a control operation to bring the error to 0.
  • Page 415 *3. Decelerating refers to a period between when the motor is running and when the motor speed reaches 30 r/min or less. Once the motor reaches a speed of 30 r/min or less and moves to the after stop status, follow the subsequent operation based on the after stop status regardless of the motor speed.
  • Page 416 Immediate stop time If the actual speed is not 30 r/min or less after the time set by the Alarm Generation Allowable Time Setting (Pn614) elapses, an immediate alarm status will occur. In addition, if an alarm that does not support immediate stop occurs inside the driver at immediate stop, an immediate alarm status will occur.
  • Page 417 The set value of this parameter is limited to 1.2 times the maximum motor rotation speed. The detection margin of error for the set value is ±3 r/min for a 7-core absolute encoder and ±36 r/min for a 5-core incremental encoder.
  • Page 418 Clears the error counter at level when the signal is shorted for 1 ms or longer. Clears the error counter at edge when the signal changes from open to shorted for 100 μs or longer. Clears the error counter at edge when the signal changes from open to shorted for 1 ms or longer.
  • Page 419 0.166 ms (No judgment of multiple matches) Select the signal read cycle for the pulse prohibition input signal (IPG). The signal status is updated when the signal status in each signal read cycle that has been set matches multiple times.
  • Page 420 Pn526 Set the torque limit method for forward and reverse direction. If this parameter is set to 0, the forward and reverse torque limit input will be limited by the No. 1 Torque Limit (Pn013). When using torque control, the No. 1 Torque Limit (Pn013) will be the limit value for forward and reverse operation regardless of the setting of this parameter.
  • Page 421 − 0 to 4,000 Unit ms/100% range setting and ON Set values for this parameter are same as those for Torque Limit Switching Setting 1 (Pn523). Position Speed Full closing Pn525 Forward External Torque Limit Setting Default Power OFF −...
  • Page 422 Automatic motor recognition function Driver temperature Safety status monitor Select the data to be displayed on the 7-segment LED on the front panel after the power supply is turned ON. For information on the display, refer to "9-4 Setting the Mode" (P.9-7). Pn531...
  • Page 423 Front panel operation not limited Front panel operation limited Set the operation limits for the front panel. The operation limits depend on the mode. The operation limits are as follows. Mode Operation limits MONITOR mode All monitor data can be checked.

  • Page 424: Special Parameters

    − Setting range 0 to 100 Unit 0.1 V/100% Default setting Power OFF and ON Set the input gain for analog torque feed forward.0 to 9 will be disabled. Pn604 Jog Speed − Setting range 0 to 500 Unit r/min...
  • Page 425 Motor speed 30 r/min TB in the above figure is the brake timing during operation or the time until the motor rotation speed falls to 30 r/min or lower, whichever is shorter. For details, refer to "6-6 Brake Interlock" (P.6-18).
  • Page 426 Set the external scale phase-Z regeneration width with time. You can output the phase-Z signal at least for the period of time that has been set if the phase-Z signal width is too short for detection due to the travel distance from the external scale.
  • Page 427 *1. Through outputs are always made for phase Z without signal regeneration. *2. If the signal regeneration setting is selected, the duties of OA and OB are regenerated on the amplifier side and disturbance of waveforms can be suppressed.Take note, however, that this causes delays in phase Z.
  • Page 428 0.1/s range setting and ON Set the hybrid vibration suppression gain. In general, set it to the same value as the position loop gain, and finely adjust it based on the situation. Full closing Pn635 Hybrid Vibration Suppression Filter Setting...
  • Page 429 −32,768 to 32,767 − Unit range setting and ON Set the warning detection mask setting. If you set the corresponding bit to 1, the corresponding warning detection will be disabled. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 8-64...

  • Page 431: 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 Items to Check Before Turning ON the Power Supply....9-2 Turning ON Power Supply .............. 9-3 Checking Displays ................9-3 Absolute Encoder Setup ..............

  • Page 432: 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 driver. Then make the function settings as required according to the use of the motor and driver.

  • Page 433: 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 driver. 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 434 It makes no difference whether or not the main circuit power supply is turned ON. The alarm output (/ALM) will take approx. 2 seconds to turn ON after the power supply has been turned ON. Do not attempt to detect an alarm using the Host Controller during this time. (If power supply is turned ON while the Host Controller is connected.)
  • Page 435 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 display No.
  • Page 436 5. Restart the driver. Turn OFF the control power supply to the driver and then turn it back ON. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 437: Using The Front Display

    9-3 Using the Front Display 9-3 Using the Front Display LED display (6 digits) All LEDs will flash when an error occurs and the window switches to the error display. Mode key Switches between the following 4 modes. • MONITOR mode •...

  • Page 438: Setting The Mode

    9-4 Setting the Mode 9-4 Setting the Mode Changing the Mode Front panel default display *1. The display will be based on the Default Display (Pn528) setting after the power supply is turned ON. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 439 The motor rotation speed will be displayed the first time the power supply is turned ON after purchase. To change the initial display when the power supply is turned ON, change the setting for the Default Display (Pn528).
  • Page 440 Torque Command Displays the percentage of driver torque command. When the rated torque output for the driver is used, "100%" is displayed. Torque outputs in reverse operation are displayed with "-". OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 441 Lower (L) and Higher (H). Total External Scale Feedback Pulses Total external scale feedback pulses Lower (L) Higher (H) Press to switch between Lower (L) and Higher (H). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-10...
  • Page 442 POSITION CONTROL mode SPEED CONTROL mode TORQUE CONTROL mode FULL CLOSING CONTROL mode Displays which CONTROL mode is being used: position control, speed control, torque control, or full closing control. I/O Signal Status Input signal (pin 8) ON Output signal (pin 10) OFF or disabled ...ON...
  • Page 443 ...History 0 (latest history) ...History 13 (oldest history) Up to the most recent 14 alarms, including the current one, can be viewed in the reason of error. The display area will flash when an alarm occurs. If an alarm that is recorded in the history occurs, the alarm code for the current alarm and for history 0 will be the same.
  • Page 444 Electronic gear setting error Encoder phase-Z error Overrun limit error Encoder CS signal error Note. The following alarms are not recorded in the history. 11: Control power supply undervoltage 13: Main power supply undervoltage 36: Parameter error 37: Parameters destruction...
  • Page 445 Press to display the occurrence status of each warning. Regeneration Load Ratio Displays the regeneration resistance load ratio as a percentage when the detection level for the regeneration overload is 100%. Overload Load Ratio Displays the position command speed (unit: r/min).
  • Page 446 Low torque limit setting The currently effective torque limit set value, Pn013 (No. 1 Torque Limit) or Pn522 (No. 2 Torque Limit), is less than 5% of the rated torque. Analog torque limit input is When Pn527 = 0 (analog torque limit scale): enabled.
  • Page 447 Description mode Other reasons Reasons 1 to 13 do not apply, but the motor is rotating at 20 r/min or lower. (Low command, heavy, locked, or crashed load, faulty driver or motor, etc.) Note. The motor may rotate even if a reason number other than 0 is displayed.
  • Page 448 Encoder data ...Absolute external scale position, lower (L) ...Absolute external scale position, higher (H) Press to switch between Lower (L) and Higher (H). Monitor for the Number of Encoder and External Scale Communications Error Communications error count ...Encoder ...External scale Press to switch between encoder and external scale.
  • Page 449 Higher (H) Press to switch between Lower (L) and Higher (H). Hybrid Error Hybrid error [command unit] Lower (L) Higher (H) Press to switch between Lower (L) and Higher (H). OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-18...
  • Page 450 9-4 Setting the Mode P-N Voltage P-N voltage [V] is displayed. Soft Version Displays the soft version of the driver. (Display example: Ver. 1.23) Driver Serial Number Amplifier serial number ...Amplifier serial number, lower (L) ...Amplifier serial number, higher (H) Press to switch between Lower (L) and Higher (H).
  • Page 451 Lower (L) Higher (H) Press to switch between Lower (L) and Higher (H). Automatic Motor Recognition Function Automatic recognition enabled Automatic recognition disabled Driver Temperature Amplifier temperature [°C] is displayed. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 9-20...
  • Page 452 ON: The dot is lit. normal changes Press to switch between monitors you want to display..Input photocoupler OFF ...Input photocoupler ON ...Input photocoupler OFF ...Input photocoupler ON ...Output photocoupler OFF ...Output photocoupler ON 9-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 453 Explanation operation keys to set the parameter number. • Press to move "." to the left and change the digit to be set. • Press to increase the value of the digit with ".". • Press to decrease the value of the digit with ".".
  • Page 454 If the Front Panel Parameter Write Selection (Pn617) is set to 1, the parameter set value is automatically written to EEPROM when changed. When the set value for a parameter is saved, the new setting will be used for control. Make gradual changes instead of changing the large numbers at once, when changing values for parameters that greatly affect motor operation (speed loop gain, position loop gain, etc.
  • Page 455 PARAMETER WRITE mode. Precautions for Correct Use If a write error occurs, write the data again. If write errors continue to occur, there may be a fault in the driver. Do not turn OFF the power supply while writing to EEPROM. Incorrect data may be written if the power supply is turned OFF.
  • Page 456 Press the key 3 times to display AUXILIARY FUNCTION mode. Alarm Clear This releases the alarm generation status. Some alarms cannot be released. Refer to "11-3 Alarm List" (P.11-5) for details. 1. Execute alarm clear Display example Explanation operation Press the key to enter ALARM CLEAR mode.
  • Page 457 This performs automatic adjustment on the Offset Values (Pn422, Pn425 and Pn428) of Analog Inputs 1 to 3 (AI1 to AI3). Do not perform this operation if a position loop has been configured with the host system. 1. Execute automatic offset adjustment...
  • Page 458 Data is not written to the EEPROM simply by performing automatic offset adjustment. The data must be written to the EEPROM for the results to be saved. Jog Operation You can perform a trial operation of the motor with no load without wiring the control I/O connector (CN1). 1. Prepare for a jog operation...
  • Page 459 Precautions for Correct Use When performing a jog operation, be sure to first disconnect the motor from any load and remove the control I/O connector (CN1). When performing a jog operation, set the parameter related to gains to an appropriate value to avoid any troubles, such as vibration.
  • Page 460 9-4 Setting the Mode Precautions for Correct Use The absolute encoder reset function can be used only with systems that use an absolute encoder. Parameter Initialization This initializes the selected parameter. 1. Execute the initialization of the parameter. Display example...
  • Page 461 Use the keys to set to Pn535. • Press to move "." to the left and change the digit to be set. • Press to increase the value of the digit with ".". • Press to decrease the value of the digit with ".".
  • Page 462 Precautions for Correct Use The items that are limited depend on the mode. If the Front Panel Parameter Write Selection (Pn617) is set to 1, the parameter set value is automatically written to EEPROM when changed. Refer to the Front Key Protection Setting (Pn535) in "8-6 Extended Parameters" (P.8-46) for details on the front panel lock function.
  • Page 463 The front panel lock will be released. This indicates a normal completion. will be displayed if the front panel lock is not released. Turn OFF the driver power supply and then execute again. 2. Returning to AUXILIARY FUNCTION mode display...

  • Page 464: 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.
  • Page 465 9. Check the motor rotation speed in MONITOR mode. Check to see if the motor is rotating at the set speed and to see if the motor stops when the command (pulses) are stopped. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 466 15) from 0 V. Check to see if the motor rotates. 7. Check the motor rotation speed in MONITOR mode. Check to see if the motor is rotating at the set speed and to see if the motor stops when the command (pulses) are stopped.
  • Page 467 Servo ON status will be entered and the motor will be activated. 7. Apply a positive or negative DC voltage between the torque command input TREF1 (CN1 pin 14) and AGND1 (CN1 pin 15). Check to see if the motor rotates according to the direction (forward/reverse) set in Pn307.
  • Page 468 9. Input a low-frequency pulse signal from the host device to start low-speed operation. 10. Check the motor rotation speed in MONITOR mode. Check to see if the motor is rotating at the set speed and to see if the motor stops when the command (pulses) are stopped. 9-37...

  • Page 469: Chapter10 Adjustment Functions

    Adjustment Functions This chapter explains the functions, setting methods and items to note regarding various gain adjustments. 10-1 Gain Adjustment ............10-1 Purpose of the Gain Adjustment ........... 10-1 Gain Adjustment Methods............. 10-1 Gain Adjustment Procedure............10-2 10-2 Realtime Autotuning...........10-3 Setting Realtime Autotuning ............10-4 Setting Machine Rigidity ...............

  • Page 470: Gain Adjustment

    TORQUE CONTROL mode adjustment P.10-17 Note 1. Take sufficient care for safety. Note 2. If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or let the servo OFF status occur. 10-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 471 Install the machine on a secure base so that it does not cause any play. Use couplings that have a high rigidity, and that are designed for servo systems. Use a wide timing belt. And use a tension within the range of allowable axial load for the motor or Decelerator output.

  • Page 472: Realtime Autotuning

    • If a speed of 100 r/min or an acceleration/deceleration of 2,000 r/min/s does not continue for at least 50 ms. With realtime autotuning, each parameter is fixed to the value in the machine rigidity table at the time the machine rigidity is set. By estimating the load inertia from the operation pattern, the operation coefficient for the speed loop gain and the integration time constant are altered.
  • Page 473 2. Set REALTIME AUTOTUNING mode Selection (Pn002) depending on the load. When the value is set to 3 or 5, the response is fast for a change in inertia during operation. Operation, however, may be unstable depending on the operating pattern. Normally, set the parameter to 1 or 4.
  • Page 474 ON, or when the Realtime Autotuning Machine Rigidity Selection (Pn003) is increased. This is not an error if it disappears right away. If the unusual noise or vibration, however, continues for 3 or more reciprocating operations, take the following measures in any order you can.
  • Page 475 Inertia Ratio 2 Pn623 Disturbance Torque Compensation Gain Pn624 Disturbance Observer Filter Setting *1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 10-6...
  • Page 476 Inertia Ratio 2 Pn623 Disturbance Torque Compensation Gain Pn624 Disturbance Observer Filter Setting *1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used. 10-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 477 Inertia Ratio 2 Pn623 Disturbance Torque Compensation Gain Pn624 Disturbance Observer Filter Setting *1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 10-8...
  • Page 478 Pn624 Disturbance Observer Filter Setting *1. This is limited at the minimum value of 10 if a 17-bit absolute encoder is used. The parameters Pn103, Pn108, Pn110 to Pn127, Pn605, Pn606, Pn610, Pn611, Pn613, Pn623 and Pn624 are set to fixed values.

  • Page 479: 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 480 10-3 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.
  • Page 481 10-3 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 482 The control loop for the servo consists of, from the outside, a position loop, speed loop and current loop. The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop. What determines the default setting includes the structure and the rigidity of the machine, and the inertia ratio.
  • Page 483 This loop controls the number of pulses from encoder to be the designated number of pulses. This is called an error counter, and when the pulse is equal to or lower than the specified value, positioning is completed and the signal is output.
  • Page 484 Command operation pattern Actual operation Speed (r/min) Time t If the speed loop gain is high, vibrations are more likely to occur. Vibration or resonance may not disappear. In such case, decrease the speed loop gain. Command operation pattern Speed...
  • Page 485 As a guide, aim for about 1/25 of the Speed Loop Integral Time Constant (Pn102). Also, the torque command filter reduces vibration due to the machine rigidity. This is related to Speed Loop Gain (Pn101), and if Pn101 is too large, increasing the torque command filter time constant does not reduce vibration.
  • Page 486 TORQUE CONTROL Mode Adjustment This is a torque control based on the speed control loop where the speed limit is the speed limit value from Speed Limit (Pn304, Pn305, Pn306 or Pn307). This section describes the settings for these speed limit values.

  • Page 487: 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 Preliminary Checks When a Problem Occurs....... 11-1 Precautions When a Problem Occurs...........

  • Page 488: Error Processing

    (750 W to 5 kW) : 24 VDC (21.6 to 26.4 V) If the voltage is out of this range, there is a risk of operation failure, so be sure that the power supply is correct. Check the voltage of the sequence input power supply. (+24 VIN terminal (CN1 pin 7)) Within the range of 11 to 25 VDC.
  • Page 489 If the encoder signal is lost, the motor may run away, or an error may occur. Be sure to disconnect the motor from the mechanical system before checking the encoder signal.
  • Page 490 Refer to the Position Controller's manual for details on performing origin adjustment. 3. Set up the absolute encoder. If a motor with an absolute encoder is used, the absolute value data in the absolute encoder will be cleared when the motor is replaced, so setup is again required.

  • Page 491: Warning List

    *1. The "√" fields can be set to 1 to 10 s in the Warning Latch Hold Time Selection (Pn627) or to the no- time limit setting. However, the battery warning is fixed with no time limit.

  • Page 492: Alarm List

    11-3 Alarm List 11-3 Alarm List If the driver detects an error, the alarm output (ALM) will turn ON, the power drive circuit in the driver will turn OFF, and the alarm code will be displayed. Precautions for Correct Use Refer to "Error Diagnosis Using the Alarm Displays"(P.11-9) for appropriate alarm measures.
  • Page 493 Overspeed Level set 2 (Pn615). Command pulse A command pulse frequency error was √ √ √ detected. Pulse regeneration error The pulse regeneration output √ √ √ frequency exceeded the limit. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 11-6...
  • Page 494 Absolute encoder The motor rotation speed exceeds the √ √ − specified value when only the battery power overspeed error supply of the absolute encoder is used. 11-7 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 495 ON. *1. An immediate stop means an error causing an immediate stop when the Pn510 "Stop Selection for Alarm Generation" is set to 4 to 7. For details, refer to "Stop Selection for Alarm Generation"(P.8-50).

  • Page 496: 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 Status when error...
  • Page 497 • The resistor in the driver to 55°C or lower. driver is abnormally • If the relay does not overheating. click when the power supply is turned ON, replace the driver. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 11-10...
  • Page 498 Resistor with the required regeneration absorption capacity. • The operating limit of the • Set Pn016 to 2. External Regeneration For details, refer to Resistor is limited to 10% duty. "Parameters Details". 11-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 499 • Wire correctly. Encoder incorrectly. Occurs during operation. communications error • The encoder is damaged. • Replace the motor. • The driver is faulty. • Replace the driver. • The motor is • If the motor shaft is mechanically held.
  • Page 500 • There is a mistake in the • Allocate to SI7. counter function allocation. • There is a mistake in the command pulse prohibition • Allocate to SI10. input function allocation. 11-13 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 501 • Replace the motor. detected regularly. • A logic error was Encoder PS signal error Occurs during operation. detected in the PS • Replace the motor. signal from the encoder. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 11-14...
  • Page 502 Occurs when the power Motor non-conformity • Wire the encoder wiring. supply is turned ON. • The encoder wiring is • Fix the locations that disconnected. are disconnected. 11-15 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 503 VZERO signal is ON or OFF. • Wire correctly. The internally set speeds are not set. Check the set value of Pn304 to Pn311. Set the desired speeds. The No. 1 Torque Limit Check the set value of Pn013 and Return the set value to the (Pn013) or No.
  • Page 504 Wire correctly. momentarily, but wired incorrectly. cable's phases U, V, and W. then it does not The encoder cable is wired incorrectly. Check the encoder cable's wiring. Wire correctly. operate after that. The motor rotates The command pulse input is Check the command pulse type.
  • Page 505 Align the coupling. machine is misaligned in the coupling. vibrating. (Continued on next Check whether the coupling is unbalanced. Adjust the coupling's balance. page) There is a problem with the Check for noise or vibration around Contact your OMRON dealer bearings.
  • Page 506 Frequency (Pn201), Notch previous page) Filter 1 Width (Pn202), and Notch Filter 1 Depth (Pn203). Vibration is Inductive noise is occurring. Check whether the driver control Shorten the control signal occurring at the signal lines are too long. lines. same frequency as Check whether the control signal •...

  • Page 507: Periodic Maintenance

    If a motor is used under a shaft load exceeding the allowable limit, the motor shaft can break, and the bearings can burn out.
  • Page 508 5 years. 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.
  • Page 509 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 display No. 40) has occurred. Replacement Battery Model and Specifications...
  • Page 510 3. Put the battery into the battery box. Insert the battery. Plug in the connector. 4. Close the cover to the battery box. Close the battery box cover by making sure the connector wires are not pinched. 11-23 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 511: Chapter12 Appendix

    Appendix This chapter provides connection examples using OMRON's PLC and Position Controller, as well as a list of parameters. 12-1 Connection Examples ..........12-1 12-2 Parameter List............12-11 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...

  • Page 512: Connection Examples

    24 VDC Precautions for Correct Use The example shows a 3-phase, 200-VAC input to the driver for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the driver in use.
  • Page 513 24 VDC Precautions for Correct Use The example shows a 3-phase, 200-VAC input to the driver for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the driver in use.
  • Page 514 24 VDC Precautions for Correct Use The example shows a 3-phase, 200-VAC input to the driver for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the driver in use.
  • Page 515 24 VDC Precautions for Correct Use The example shows a 3-phase, 200-VAC input to the driver for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the driver in use.
  • Page 516 24 VDC Precautions for Correct Use The example shows a 3-phase, 200-VAC input to the driver for the main circuit power supply. Be sure to provide a power supply and wiring conforming to the power supply specifications for the driver in use.
  • Page 517 Leave unused signal lines open and do not wire them. Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the equivalent.
  • Page 518 Leave unused signal lines open and do not wire them. Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the equivalent.
  • Page 519 Use the power supply for command pulse (24 VDC) as a dedicated power supply. Do not share the power supply for brakes (24 VDC) with the 24-VDC power supply for controls. The diode recommended for surge absorption is the RU 2 (Sanken Electric Co., Ltd.) or the equivalent.
  • Page 520 Brake cables Shell 24 VDC *1. The I/O signals for the HCP22 depend on the memory allocations in the Internal Memory area. Change the wiring according to the allocations. Precautions for Correct Use Incorrect signal wiring can cause damage to units and the driver.
  • Page 521 Shell Brake cables 24 VDC *1. The I/O signals for the HCA12/22 depend on the allocations in the Internal Memory area. Change the wiring according to the allocations. Precautions for Correct Use Incorrect signal wiring can cause damage to units and the driver.

  • Page 522: Parameter List

    Some parameters are enabled by turning the power supply OFF and then ON again. (Those parameters are indicated in the table.) 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 523 Phase B logic: Reversed Output source: External scale − 013 No. 1 Torque Limit Set the No. 1 limit value for the output torque of the motor. 0 to 500 Set the range of the error counter overflow Error Counter Command −...
  • Page 524 Set the time constant for the torque filter 1. Filter Time Constant 2,500 − 105 Position Loop Gain 2 Set the position loop gain 2. 0.1/s 0 to 30,000 − 106 Speed Loop Gain 2 Set the speed loop gain 2.
  • Page 525 Default Setting supply Explanation Unit name setting range OFF to Speed Feedback Filter The speed feedback filter 2 can be set to one − − 0 to 5 Time Constant of 6 values. Torque Command Filter 0.01 0 to −...
  • Page 526 Unit name setting range OFF to Select the gain switching condition for speed control. It is necessary that Pn114 be set to 1. 0 Always gain 1 SWITCHING 1 Always gain 2 − − mode in Speed 0 to 5...
  • Page 527 Set the notch depth of resonance Notch 4 Depth suppression notch filter 4. − − 0 to 99 Setting This is set automatically when an adaptive notch is enabled. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 12-16...
  • Page 528 Set the vibration frequency 1. The function is 0 to − 0.1 Hz Frequency 1 enabled if the set value is 10 (= 1 Hz) or greater. 2,000 Finely adjust damping control function 1. If Vibration Filter torque saturation occurs, lower this setting;...
  • Page 529 0 to − Acceleration (1,000 time for speed commands. 10,000 Time r/min) Soft Start Set the deceleration processing acceleration 0 to − Deceleration (1,000 time for speed commands. 10,000 Time r/min) OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 12-18...
  • Page 530 If the speed command is 0 and the Selection actual speed is less than the zero speed designation, the servo is locked. If the speed command is less than the zero speed designation level, the speed command becomes 0 and the servo is locked. Position Lock 10 to −...
  • Page 531 Command 1 to 2 Error Counter deviation errors. unit Overflow Level Internal/External Clear to 0 the feedback pulse error value for Feedback Pulse Rotation 0 to 100 each set rotation speed. Error Counter Reset Interface Monitor Setting Parameters Power Parameter...
  • Page 532 0 to 21 2 Selection same as Analog Monitor 1 Type (Pn416). Analog Monitor 0 to − − Select the output gain for analog monitor 2. 2 Scale Setting 214,748,364 12-21 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 533 Output Setting Data output: Positive, negative Output range: 0 to 10 V Data output: Positive, negative -5,578 to − 422 Analog Input 1 Offset Set the analog input 1 offset. 0.359 mV 5,578 Analog Input 1 Filter 0.01 0 to −...
  • Page 534 Warning Output − − The relationships among the set values for this parameter 0 to 10 Selection 2 are the same as for Warning Output Selection 1 (Pn440). Positioning Set the allowable number of pulses for the Command 0 to −...
  • Page 535 Input The torque in the drive prohibit direction is disabled, and an immediate stop is performed. Set the stop operation when the servo is turned OFF. During deceleration: Dynamic brake After stopping: Dynamic brake Error counter: Clear...
  • Page 536 − 0 to 1 Alarm Selection servo if there is a main power supply alarm. 509 Momentary Hold Time Set the main power supply alarm detection time. 1 ms 70 to 2,000 Set the alarm sequence. During deceleration: Dynamic brake...
  • Page 537 When TL-SEL input is shorted: Forward direction, use Pn525; Reverse direction, use Pn526. − 522 No. 2 Torque Limit Set the No. 2 limit value for the motor output torque. 0 to 500 Torque Limit Set the change rate (fluctuate) for when the 0 to −...
  • Page 538 Forward External Set the forward direction torque limit for TL-SEL − 0 to 500 Torque Limit input when Pn521 Torque Limit Selection is set to 6. Reverse External Set the reverse direction torque limit for TL-SEL − 0 to 500 Torque Limit input when Pn521 Torque Limit Selection is set to 6.
  • Page 539 0 to 1 Limit Output Setting 1 Enabled Set the operation limit for the front panel. Front Key − Protection 0 Operation not limited 0 to 1 Setting 1 Operation limits OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 12-28...
  • Page 540 Finely adjust the encoder phase-Z width when Encoder Phase- 0 to the number of output pulses per motor rotation Pulse Z Setting 32,767 after the division of pulse output is not an integer. 12-29 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 541 For load characteristics change, the estimation − − Estimated 0 to 3 is made at time constant of approx. 7 minutes. Speed Selection For load characteristics change, the estimation is made at time constant of approx. 4 seconds. For load characteristics change, the estimation is made at time constant of approx.

  • Page 543: Index

    Index OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL...
  • Page 544 8-54 Command Pulse Prohibition Input Read Setting (Pn519)..3-55 3,000-r/min motors ......... 8-53 Command Pulse Prohibition Input Setting (Pn518) ... Command Pulse Rotation Direction Switching Selection (Pn006) ... 8-25 Command Speed Selection (Pn300) ...... 3-51 Communications connector specifications (CN3A)..3-77 Absolute encoder............
  • Page 545 External Regeneration Resistor specifications ..5-17 Internally set speed control........3-45 External scale connector specifications (CN4) ..3-35 Internally set speed selection 1, 2 and 3 (VSEL1, 2 and 3) ..8-59 Forward Direction Torque Offset (Pn608) ....9-27 Jog operation............3-32 Forward drive prohibition input (POT) ....
  • Page 546 Reverse torque limit input (NCL) ......8-52 Overspeed Detection Level Setting (Pn513) ..Rotation Direction Switching (Pn000)....... 8-60 Overspeed Detection Level Setting at Immediate Stop (Pn615) ... 3-76 Rotation speed characteristics (1,000-r/min motors)... 3-71 Rotation speed characteristics (2,000-r/min motors)... 3-61 Rotation speed characteristics (3,000-r/min motors)...
  • Page 547 2-18 8-12 Servo Relay Unit cables for Servo Drives ....Torque Feed-forward Command Filter (Pn113) ..2-19 6-31 Servo Relay Unit cables for Position Control Units ..Torque limit............. 8-55 Servomotor installation conditions....Torque Limit Selection (Pn521) ......11-20 3-37 Servomotor limit............
  • Page 548 Index Index-5...
  • Page 550 Automation & Drive Division Automation Department 1 OMRON ASIA PACIFIC PTE. LTD. Shiokoji Horikawa, Shimogyo-ku, No. 438A Alexandra Road # 05-05/08 (Lobby 2), Kyoto, 600-8530 Japan Alexandra Technopark, Singapore 119967 Tel: (81) 75-344-7084/Fax: (81) 75-344-7149 Tel: (65) 6835-3011/Fax: (65) 6835-2711 Regional Headquarters OMRON (CHINA) CO., LTD.

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