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Omron OMNUC G5 Series Manuals
Manuals and User Guides for Omron OMNUC G5 Series. We have
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Omron OMNUC G5 Series manuals available for free PDF download: User Manual
Omron OMNUC G5 Series User Manual (632 pages)
AC SERVOMOTORS/SERVO DRIVES
Brand:
Omron
| Category:
Servo Drives
| Size: 42.98 MB
Table of Contents
Table of Contents
20
Safety Precautions
8
Items to Check after Unpacking
16
Revision History
17
Structure of this Document
18
Table of Contents
20
Chapter 1 Features and System Configuration
24
Outline
24
Features of OMNUC G5-Series Servo Drives
24
Outline of the OMNUC G5 Series
24
System Configuration
25
Names and Functions
26
Servo Drive Part Names
26
Servo Drive Functions
27
System Block Diagrams
28
Applicable Standards
38
EC Directives
38
UL and Cul Standards
38
Korean Radio Regulations (KC)
39
Semi F47
40
Unit Versions
41
Confirmation Method
41
Standard Models and External Dimensions
43
Chapter 2 Standard Models and External Dimensions
44
Servo System Configuration
44
How to Read Model Numbers
46
Servo Drive
46
Servomotor
47
Standard Model Tables
48
Servo Drive Model Table
48
Servomotor Model Tables
49
Servo Drive and Servomotor Combination Tables
54
Peripheral Equipment and Cable Model Tables
56
External and Mounting Dimensions
68
Servo Drive Dimensions
68
Servomotor Dimensions
86
External Regeneration Resistor Dimensions
113
EMC Filter Dimensions
114
Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
115
Specifications
117
Chapter 3 Specifications
118
Servo Drive Specifications
118
General Specifications
118
Characteristics
119
Main Circuit and Motor Connections
126
Control I/O Connector Specifications (CN1)
135
Control Input Circuits
145
Control Input Details
149
Control Output Circuits
162
Control Output Details
163
Encoder Connector Specifications (CN2)
168
External Encoder Connector Specifications (CN4)
168
Analog Monitor Connector Specifications (CN5)
171
Safety Connector Specifications (CN8)
172
USB Connector Specifications (CN7)
172
Overload Characteristics (Electronic Thermal Function)
175
Overload Characteristics Graphs
175
Servomotor Specifications
176
General Specifications
176
Characteristics
177
Encoder Specifications
213
Cable and Connector Specifications
214
Encoder Cable Specifications
214
Motor Power Cable Specifications
217
Connector Specifications
224
Analog Monitor Cable Specifications
228
Control Cable Specifications
229
Servo Relay Units and Cable Specifications
244
Servo Relay Units and Cable Specifications
246
Position Control Unit-Servo Relay Unit Cable Specifications
253
External Regeneration Resistor Specifications
263
EMC Filter Specifications
265
System Design
267
Chapter 4 System Design
268
Installation Conditions
268
Space Conditions Around Servo Drives
268
Servomotor Installation Conditions
270
Decelerator Installation Conditions
273
Wiring
274
Peripheral Equipment Connection Examples
275
Main Circuit and Motor Connections
285
Wiring Conforming to EMC Directives
300
Wiring Method
300
Selecting Connection Component
308
Regenerative Energy Absorption
320
Regenerative Energy Calculation
320
Servo Drive Regeneration Absorption Capacity
323
Regenerative Energy Absorption with an External Regeneration Resistor
324
Connecting an External Regeneration Resistor
325
Large Load Inertia Adjustment and Dynamic Brake
328
Adjustment When the Load Inertia Is Large
328
Dynamic Brake When the Load Inertia Is Large
328
Using DC Power
329
Connection Examples for DC Power
330
Chapter5 Basic Control Mode
333
Position Control
334
Speed Control
340
Torque Control
347
Internally Set Speed Control
352
Switching Control
356
Fully-Closed Control
359
Chapter6 Applied Functions
369
Damping Control
371
Adaptive Filter
375
Notch Filter
377
Electronic Gear Function
380
Encoder Dividing Function
384
Brake Interlock
389
Gain Switching Function
394
Torque Limit
402
Sequence I/O Signal
405
Forward and Reverse Drive Prohibition Functions
411
Disturbance Observer Function
414
Gain Switching 3 Function
416
Friction Torque Compensation Function
417
Inertia Ratio Switching Function
419
Hybrid Vibration Suppression Function
420
Feed-Forward Function
421
Instantaneous Speed Observer Function
425
Chapter7 Safety Function
427
Safe Torque off (STO) Function
428
Operation Example
431
Connection Example
433
Chapter8 Parameter Details
435
Basic Parameters
436
Gain Parameters
444
Vibration Suppression Parameters
455
Analog Control Parameters
460
Interface Monitor Setting Parameters
472
Extended Parameters
482
Special Parameters
495
Chapter9 Operation
504
Operational Procedure
504
Preparing for Operation
505
Using the Front Display
509
Setting the Mode
510
Trial Operation
536
Chapter10 Adjustment Functions
541
Gain Adjustment
542
Realtime Autotuning
544
Manual Tuning
551
Chapter11 Troubleshooting And Maintenance
559
Troubleshooting
560
Warning List
563
Alarm List
564
Troubleshooting
569
Periodic Maintenance
586
Chapter12 Appendix
591
Connection Examples
592
Parameter List
602
Advertisement
Omron OMNUC G5 Series User Manual (634 pages)
AC SERVOMOTORS/SERVO DRIVES
Brand:
Omron
| Category:
Servo Drives
| Size: 9.31 MB
Table of Contents
Safety Precautions
8
Items to Check after Unpacking
19
Revision History
20
Structure of this Document
21
Chapter1
21
Table of Contents
22
Outline
26
Outline of the OMNUC G5 Series
26
Features of OMNUC G5-Series Servo Drives
26
System Configuration
27
Names and Functions
28
Servo Drive Part Names
28
Servo Drive Functions
29
System Block Diagrams
30
Applicable Standards
40
EC Directives
40
UL and Cul Standards
40
Korean Radio Regulations (KC)
41
Semi F47
42
Unit Versions
43
Confirmation Method
43
Servo System Configuration
46
How to Read Model Numbers
48
Servo Drive
48
Servomotor
49
Standard Model Tables
50
Servo Drive Model Table
50
Servomotor Model Tables
51
Servo Drive and Servomotor Combination Tables
56
Peripheral Equipment and Cable Model Tables
58
External and Mounting Dimensions
70
Servo Drive Dimensions
70
Servomotor Dimensions
88
External Regeneration Resistor Dimensions
115
EMC Filter Dimensions
116
Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
117
Servo Drive Specifications
120
General Specifications
120
Characteristics
121
Main Circuit and Motor Connections
128
Control I/O Connector Specifications (CN1)
137
Control Input Circuits
147
Control Input Details
151
Control Output Circuits
164
Control Output Details
165
Encoder Connector Specifications (CN2)
170
External Encoder Connector Specifications (CN4)
170
Analog Monitor Connector Specifications (CN5)
173
USB Connector Specifications (CN7)
174
Safety Connector Specifications (CN8)
174
Overload Characteristics (Electronic Thermal Function)
177
Overload Characteristics Graphs
177
Servomotor Specifications
178
General Specifications
178
Characteristics
179
Encoder Specifications
215
Cable and Connector Specifications
216
Encoder Cable Specifications
216
Motor Power Cable Specifications
219
Connector Specifications
226
Analog Monitor Cable Specifications
230
Control Cable Specifications
231
Servo Relay Units and Cable Specifications
246
Servo Relay Units Specifications
246
Position Control Unit-Servo Relay Unit Cable Specifications
255
External Regeneration Resistor Specifications
265
EMC Filter Specifications
267
Installation Conditions
270
Space Conditions Around Servo Drives
270
Servomotor Installation Conditions
272
Decelerator Installation Conditions
275
Wiring
276
Peripheral Equipment Connection Examples
277
Main Circuit and Motor Connections
287
Wiring Conforming to EMC Directives
302
Wiring Method
302
Selecting Connection Component
310
Regenerative Energy Absorption
322
Regenerative Energy Calculation
322
Servo Drive Regeneration Absorption Capacity
325
Regenerative Energy Absorption with an External Regeneration Resistor
326
Connecting an External Regeneration Resistor
327
Large Load Inertia Adjustment and Dynamic Brake
330
Adjustment When the Load Inertia Is Large
330
Dynamic Brake When the Load Inertia Is Large
330
Using DC Power
331
Connection Examples for DC Power
332
Chapter5 Basic Control Mode
335
Position Control
336
Speed Control
342
Torque Control
349
Internally Set Speed Control
354
Switching Control
358
Fully-Closed Control
361
Chapter6 Applied Functions
371
Damping Control
373
Adaptive Filter
377
Notch Filter
379
Electronic Gear Function
382
Encoder Dividing Function
386
Brake Interlock
391
Gain Switching Function
396
Torque Limit
404
Sequence I/O Signal
407
Forward and Reverse Drive Prohibition Functions
413
Disturbance Observer Function
416
Gain Switching 3 Function
418
Friction Torque Compensation Function
419
Inertia Ratio Switching Function
421
Hybrid Vibration Suppression Function
422
Feed-Forward Function
423
Instantaneous Speed Observer Function
427
Chapter7 Safety Function
429
Safe Torque off (STO) Function
430
Omron OMNUC G5 Series User Manual (484 pages)
AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS
Brand:
Omron
| Category:
Servo Drives
| Size: 12.37 MB
Table of Contents
Items to Check after Unpacking
13
Revision History
14
Structure of this Document
15
Table of Contents
16
Chapter 1 Features and System Configuration
24
Outline
24
Outline of the OMNUC G5 Series
24
Features of OMNUC G5-Series Servo Drives
24
What Is Ethercat
25
Object Dictionary
25
System Configuration
26
Names and Functions
27
Servo Drive Part Names
27
Servo Drive Functions
28
System Block Diagram
29
Applicable Standards
34
EC Directives
34
UL and Cul Standards
35
Chapter 2 Models and External Dimensions
38
Servo System Configuration
38
How to Read Model Numbers
40
Servo Drive
40
Servomotors
41
Model Tables
42
Servo Drive Model Table
42
Servomotor Model Tables
43
Servo Drive and Servomotor Combination Tables
47
Cable and Peripheral Device Model Tables
49
External and Mounting Dimensions
58
Servo Drive Dimensions
58
Servomotor Dimensions
68
External Regeneration Resistor Dimensions
87
EMC Filter Dimensions
88
Chapter 3 Specifications
90
Servo Drive Specifications
90
General Specifications
90
Characteristics
91
Ethercat Communications Specifications
95
Main Circuit and Motor Connections
96
Ethercat Communications Connector Specifications (RJ45)
101
Control I/O Connector Specifications (CN1)
102
Control Input Circuits
105
Control Input Details
106
Control Output Circuits
108
Control Output Details
109
Encoder Connector Specifications (CN2)
112
External Encoder Connector Specifications (CN4)
112
Analog Monitor Connector Specifications (CN5)
116
USB Connector Specifications (CN7)
117
Safety Connector Specifications (CN8)
118
Overload Characteristics (Electronic Thermal Function)
120
Overload Characteristics Graphs
120
Servomotor Specifications
121
General Specifications
121
Characteristics
122
Encoder Specifications
145
Cable and Connector Specifications
146
Encoder Cable Specifications
146
Absolute Encoder Battery Cable Specifications
148
Motor Power Cable Specifications
149
Connector Specifications
156
Ethercat Communications Cable Specifications
159
Analog Monitor Cable Specifications
162
Control Cable Specifications
164
External Regeneration Resistor Specifications
169
External Regeneration Resistor Specifications
170
EMC Filter Specifications
171
Chapter 4 System Design
174
Installation Conditions
174
Servo Drive Installation Conditions
174
Servomotor Installation Conditions
175
Decelerator Installation Conditions
178
Wiring
179
Peripheral Equipment Connection Examples
179
Main Circuit and Motor Connections
185
Wiring Conforming to EMC Directives
193
Wiring Method
193
Selecting Connection Component
200
Regenerative Energy Absorption
214
Calculating the Regenerative Energy
214
Servo Drive Regeneration Absorption Capacity
216
Regenerative Energy Absorption with an External Regeneration Resistor
217
Connecting an External Regeneration Resistor
218
Chapter 5 Ethercat Communications
222
Display Area and Settings
222
Node Address Setting
222
Status Indicators
223
Structure of the CAN Application Protocol over Ethercat
224
Ethercat State Machine
225
Process Data Objects (Pdos)
226
PDO Mapping Settings
226
Sync Manager PDO Assignment Settings
227
Fixed PDO Mapping
227
Service Data Objects (Sdos)
228
Abort Codes
228
Synchronization with Distributed Clocks
229
Communications Cycle (DC Cycle)
229
Emergency Messages
230
Chapter 6 Drive Profile
232
Controlling the State Machine of the Servo Drive
232
State Machine
232
Modes of Operation
235
Cyclic Synchronous Position Mode
236
Block Diagram for Position Control Mode
238
Torque Limit
239
Related Objects
239
Touch Probe Function (Latch Function)
240
Related Objects
240
Trigger Signal Settings
240
Fully-Closed Control
243
Outline of Operation
243
Objects Requiring Settings
244
Parameter Block Diagram for Fully-Closed Control Mode
249
Object Description Format
251
Communication Objects
252
PDO Mapping Objects
258
Sync Manager Communication Objects
260
Manufacturer Specific Objects
264
Servo Drive Profile Object
267
Reserved Objects
283
Connecting with OMRON Controllers
284
Related Objects
284
Chapter 7 Applied Functions
286
Sequence I/O Signals
286
Input Signals
286
Output Signals
289
Forward and Reverse Drive Prohibition Functions
291
Objects Requiring Settings
291
Overrun Protection
294
Operating Conditions
294
Objects Requiring Settings
294
Operation Example
295
Backlash Compensation
296
Objects Requiring Settings
296
Brake Interlock
298
Objects Requiring Settings
298
Operation Timing
299
Electronic Gear Function
303
Objects Requiring Settings
303
Operation Example
305
Torque Limit Switching
306
Operating Conditions
306
Objects Requiring Settings
306
Gain Switching Function
308
Objects Requiring Settings
309
Gain Switching
310
Diagrams of Gain Switching Setting
312
Gain Switching 3 Function
315
Operating Conditions
315
Objects Requiring Settings
315
Operation Example
316
Chapter 8 Safety Function
317
Safe Torque off Function
318
I/O Signal Specifications
319
Operation Example
321
Connection Examples
323
Chapter 9 Details on Servo Parameter Objects
326
Basic Settings
326
Gain Settings
331
Vibration Suppression Settings
340
Analog Control Objects
346
Interface Monitor Settings
349
Extended Objects
357
Special Objects
363
Reserved Objects
375
Chapter 10 Operation
378
Operational Procedure
378
Preparing for Operation
379
Items to Check before Turning on the Power Supply
379
Turning on the Power Supply
380
Checking the Displays
381
Absolute Encoder Setup
383
Setting up an Absolute Encoder from the CX-Drive
383
Trial Operation
384
Preparations for Trial Operation
384
Test Operation Via USB Communications from the CX-Drive
385
Advertisement
OMRON OMNUC G5 Series User Manual (550 pages)
AC SERVOMOTORS/SERVO DRIVES
Brand:
OMRON
| Category:
Computer Hardware
| Size: 39.02 MB
Table of Contents
Table of Contents
16
Safety Precautions Document
6
Items to Check after Unpacking
13
Manual Revision History
14
Structure of this Document
15
Table of Contents
16
Chapter 1 Features and System Configuration
20
Outline
20
Features of the OMNUC G5 Series
20
Outline of the OMNUC G5 Series
20
System Configuration
21
Names and Functions
22
Driver Part Names
22
Driver Functions
23
System Block Diagrams
24
Applicable Standards
25
EC Directives
25
Functional Safety
25
UL and Cul Standards
25
Standard Models and External Dimensions
27
Chapter 2 Standard Models and External Dimensions
28
Servo System Configuration
28
How to Read Model
30
Servo Drive
30
Servomotor
31
Standard Model List
32
Servo Drive Model List
32
Servomotor Model List
33
Servo Drive and Servomotor Combination List
37
Peripheral Equipment and Cable Model List
39
External and Mounting Dimensions
49
Servo Drive Dimensions
49
Servomotor Dimensions
61
External Regeneration Resistor Dimensions
80
EMC Filter Dimensions
81
Specifications
83
Chapter 3 Specifications
84
Driver Specifications
84
General Specifications
84
Characteristics
85
Main Circuit and Motor Connections
91
Control I/O Connector Specifications (CN1)
96
Control Input Circuits
106
Control Input Details
110
Control Output Circuits
122
Control Output Details
123
Encoder Connector Specifications (CN2)
128
External Encoder Connector Specifications (CN4)
128
Monitor Connector Specifications (CN5)
132
USB Connector Specifications (CN7)
133
Safety Connector Specifications (CN8)
134
Overload Characteristics (Electronic Thermal Function)
136
Overload Characteristics Graphs
136
Motor Specifications
137
General Specifications
137
Characteristics
138
Encoder Specifications
160
Cable and Connector Specifications
161
Encoder Cable Specifications
161
Motor Power Cable Specifications
163
Connector Specifications
169
Analog Monitor Cable Specifications
172
Control Cable Specifications
174
Servo Relay Units and Cable Specifications
189
Servo Relay Units Specifications
189
Servo Drive-Servo Relay Unit Cable Specifications
202
Position Control Unit-Servo Relay Unit Cable Specifications
206
External Regeneration Resistor Specifications
219
EMC Filter Specifications
221
System Design
223
Chapter 4 System Design
224
Installation Conditions
224
Servo Drive Installation Conditions
224
Servomotor Installation Conditions
226
Gearbox Installation Conditions
229
Wiring
230
Peripheral Equipment Connection Examples
230
Main Circuit and Motor Connections
236
Wiring Conforming to EMC Directives
244
Wiring Method
244
Selecting Connection Component
248
Regenerative Energy Absorption
260
Calculating the Regenerative Energy
260
Driver Regeneration Absorption Capacity
262
Regenerative Energy Absorption with an External Regeneration Resistor
263
Connecting an External Regeneration Resistor
264
Basic Control Mode
267
Chapter 5 BASIC CONTROL Mode
268
Position Control
268
Outline of Operation
268
Parameters Requiring Settings
269
Related Functions
271
Parameter Block Diagram for POSITION CONTROL Mode
272
Speed Control
273
Outline of Operation
273
Parameters Requiring Settings
273
Related Functions
277
Parameter Block Diagram for SPEED CONTROL Mode
278
Torque Control
279
Outline of Operation
279
Parameters Requiring Settings
279
Related Functions
282
Parameter Block Diagram for TORQUE CONTROL Mode
283
Internally Set Speed Control
284
Outline of Operation
284
Parameters Requiring Settings
284
Switching Control
287
Outline of Operation
287
Parameters Requiring Settings
287
Related Functions
289
Full Closing Control
290
Full Closing Control
291
Parameters Requiring Settings
291
Parameter Block Diagram for FULL CLOSING CONTROL Mode
298
Chapter6 Applied Functions
299
Damping Control
301
Adaptive Filter
305
Notch Filter
307
Electronic Gear Function
310
Encoder Dividing Function
313
Brake Interlock
318
Gain Switching Function
323
Torque Limit
331
Sequence I/O Signal
334
Forward and Reverse Drive Prohibition Functions
340
Disturbance Observer Function
343
Gain Switching 3 Function
345
Friction Torque Compensation Function
346
Inertia Ratio Switching Function
348
Hybrid Vibration Suppression Function
349
Feed-Forward Function
350
Instantaneous Speed Observer Function
354
Chapter7 Safety Function
357
Safe Torque off (STO) Function
358
Operation Example
361
Connection Examples
363
Chapter8 Parameters Details
365
Basic Parameters
366
Gain Parameters
374
Vibration Suppression Parameters
385
Analog Control Parameters
390
Interface Monitor Setting Parameters
401
Extended Parameters
411
Special Parameters
424
Chapter9 Operation
431
Operational Procedure
432
Preparing for Operation
433
Using the Front Display
437
Setting the Mode
438
Trial Operation
464
Chapter10 Adjustment Functions
469
Gain Adjustment
470
Realtime Autotuning
472
Manual Tuning
479
Chapter11 Error And Maintenance
487
Error Processing
488
Warning List
491
Alarm List
492
Troubleshooting
496
Periodic Maintenance
507
Chapter12 Appendix
511
Connection Examples
512
Parameter List
522
Index
543
Omron OMNUC G5 Series User Manual (484 pages)
AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS
Brand:
Omron
| Category:
Servo Drives
| Size: 6.59 MB
Table of Contents
Application Considerations
5
Disclaimers
5
Safety Precautions Document
6
Items to Check after Unpacking
15
Manual Revision History
16
Outline
17
Structure of this Document
17
System Configuration
17
Table of Contents
18
Features of the OMNUC G5 Series
26
Outline
26
Outline of the OMNUC G5 Series
26
System Configuration
28
Names and Functions
29
Servo Drive Part Names
29
Servo Drive Functions
30
System Block Diagrams
31
System Block Diagrams
32
Applicable Standards
36
EC Directives
36
UL and Cul Standards
36
Korean Radio Regulations (KC)
37
Semi F47
37
Confirmation Method
38
Unit Versions
38
Unit Versions
39
Servo System Configuration
42
How to Read Model
44
Servo Drive
44
Servomotor
45
Servo Drive Model List
46
Standard Model List
46
Servomotor Model List
47
Servo Drive and Servomotor Combination List
51
Cables and Peripheral Devices Model List
53
External and Mounting Dimensions
59
Servo Drive Dimensions
59
Servomotor Dimensions
70
External Regeneration Resistor Dimensions
90
EMC Filter Dimensions
91
EMC Filter Dimensions
92
MECHATROLINK-II Repeater Units
92
Dimensions of Mounting Brackets (L-Brackets for Rack Mounting)
93
General Specifications
96
Servo Drive Specifications
96
Characteristics
97
Main Circuit and Motor Connections
103
Control I/O Connector Specifications (CN1)
108
Control Input Circuits
111
Control Input Details
112
Control Output Circuits
114
Control Output Details
115
Encoder Connector Specifications (CN2)
119
External Encoder Connector Specifications (CN4)
119
Monitor Connector Specifications (CN5)
123
USB Connector Specifications (CN7)
124
Safety Connector Specifications (CN8)
125
Overload Characteristics (Electronic Thermal Function)
127
Overload Characteristics Graphs
127
General Specifications
128
Servomotor Specifications
128
Characteristics
129
Encoder Specifications
152
Cable and Connector Specifications
153
Encoder Cable Specifications
153
Absolute Encoder Battery Cable Specifications
155
Motor Power Cable Specifications
156
Connector Specifications
162
Analog Monitor Cable Specifications
165
MECHATROLINK-II Communications Cable Specifications
167
Control Cable Specifications
169
External Regeneration Resistor Specifications
174
External Regeneration Resistor Specifications
175
Reactor Filter Specifications
176
Specifications
176
MECHATROLINK-II Repeater Unit Specifications
177
Specifications
177
Connection Method
178
Repeater Unit Part Names
178
Installation Conditions
180
Servo Drive Installation Conditions
180
Servomotor Installation Conditions
182
Decelerator Installation Conditions
185
Peripheral Equipment Connection Examples
186
Wiring
186
Main Circuit and Motor Connections
192
Wiring Conforming to EMC Directives
200
Wiring Method
200
Selecting Connection Component
208
Conformity to IEC 61800-5-1
224
Regenerative Energy Absorption
226
Regenerative Energy Calculation
226
Servo Drive Regeneration Absorption Capacity
229
Regenerative Energy Absorption with an External Regeneration Resistor
230
Connecting an External Regeneration Resistor
231
Adjustment When the Load Inertia Is Large
233
Dynamic Brake When the Load Inertia Is Large
233
Large Load Inertia Adjustment and Dynamic Brake
233
Parameters Requiring Settings
236
Position Control
236
Related Functions
237
Parameter Block Diagram for POSITION CONTROL Mode
238
Parameters Requiring Settings
239
Related Functions
239
Speed Control
239
Parameter Block Diagram for SPEED CONTROL Mode
240
Parameters Requiring Settings
241
Torque Control
241
Related Functions
242
Parameter Block Diagram for TORQUE CONTROL Mode
243
Full Closing Control
244
Outline of Operation
244
Parameters Requiring Settings
245
Parameter Block Diagram for FULL CLOSING CONTROL Mode
251
Input Signals
254
Sequence I/O Signal
254
Output Signals
257
Forward and Reverse Drive Prohibition Functions
259
Parameters Requiring Settings
259
Operating Conditions
263
Overrun Protection
263
Parameters Requiring Settings
263
Operation Example
264
Backlash Compensation
265
Parameters Requiring Settings
265
Brake Interlock
267
Parameters Requiring Settings
267
Operating Example
268
Electronic Gear Function
272
Parameters Requiring Settings
272
Operation Example
274
Operating Conditions
275
Parameters Requiring Settings
275
Torque Limit Switching
275
Parameters Requiring Settings
277
Soft Start
277
Soft Start Acceleration or Deceleration Time
277
S-Curve Acceleration or Deceleration Time
278
Gain Switching Function
279
Parameters Requiring Settings
280
Gain Switching Setting for each CONTROL Mode
281
Timing by Gain Switching Setting
286
Gain Switching 3 Function
290
Operating Conditions
290
Parameters Requiring Settings
290
Operation Example
291
Chapter7 Safety Function
293
Safe Torque off (STO) Function
294
I/O Signal Specifications
295
Operation Example
297
Connection Examples
299
Basic Parameters
302
Gain Parameters
308
Vibration Suppression Parameters
320
Analog Control Parameters
325
Interface Monitor Setting Parameters
331
Extended Parameters
342
Special Parameters
353
Chapter9 Operation
369
Operational Procedure
370
Preparing for Operation
371
Items to Check before Turning on the Power Supply
371
Turning on the Power Supply
373
Checking the Displays
374
Absolute Encoder Setup
375
Trial Operation
376
Preparation for Trial Operation
376
Trial Operation by Using the CX-Drive
376
Omron OMNUC G5 Series User Manual (438 pages)
AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS
Brand:
Omron
| Category:
Servo Drives
| Size: 16.86 MB
Table of Contents
Items to Check after Unpacking
14
Revision History
15
Structure of this Document
16
Table of Contents
18
Chapter 1 Features and System Configuration
26
Outline
26
Outline of the OMNUC G5 Series
26
Features of OMNUC G5-Series Servo Drives
26
What Is Ethercat
27
Object Dictionary
27
System Configuration
28
Names and Functions
29
Servo Drive Part Names
29
Servo Drive Functions
30
System Block Diagram
31
Applicable Standards
32
EC Directives
32
UL and Cul Standards
32
Functional Safety
32
Chapter 2 Models and External Dimensions
34
Servo System Configuration
34
How to Read Model Numbers
36
Servo Drive
36
Servomotors
37
Model Tables
38
Servo Drive Model Table
38
Servomotor Model Tables
39
Servo Drive and Servomotor Combination Tables
41
Cable and Peripheral Device Model Tables
43
External and Mounting Dimensions
52
Servo Drive Dimensions
52
Servomotor Dimensions
58
External Regeneration Resistor Dimensions
69
EMC Filter Dimensions
70
Chapter 3 Specifications
72
Servo Drive Specifications
72
General Specifications
72
Characteristics
73
Ethercat Communications Specifications
76
Main Circuit and Motor Connections
77
Ethercat Communications Connector Specifications (RJ45)
79
Control I/O Connector Specifications (CN1)
80
Control Input Circuits
83
Control Input Details
84
Control Output Circuits
86
Control Output Details
87
Encoder Connector Specifications (CN2)
90
External Encoder Connector Specifications (CN4)
90
Monitor Connector Specifications (CN5)
94
USB Connector Specifications (CN7)
95
Safety Connector Specifications (CN8)
96
Overload Characteristics (Electronic Thermal Function)
98
Overload Characteristics Graphs
98
Servomotor Specifications
99
General Specifications
99
Characteristics
100
Encoder Specifications
112
Cable and Connector Specifications
113
Encoder Cable Specifications
113
Motor Power Cable Specifications
115
Connector Specifications
120
Ethercat Communications Cable Specifications
123
Analog Monitor Cable Specifications
126
Control Cable Specifications
128
External Regeneration Resistor Specifications
133
External Regeneration Resistor Specifications
134
EMC Filter Specifications
135
Chapter 4 System Design
138
Installation Conditions
138
Servo Drive Installation Conditions
138
Servomotor Installation Conditions
139
Decelerator Installation Conditions
142
Wiring
143
Peripheral Equipment Connection Examples
143
Main Circuit and Motor Connections
146
Wiring Conforming to EMC Directives
151
Wiring Method
151
Selecting Connection Component
155
Regenerative Energy Absorption
169
Calculating the Regenerative Energy
169
Servo Drive Regeneration Absorption Capacity
171
Regenerative Energy Absorption with an External Regeneration Resistor
172
Connecting an External Regeneration Resistor
173
Chapter 5 Ethercat Communications
176
Display Area and Settings
176
Node Address Setting
176
Status Indicators
177
Structure of the CAN Application Protocol over Ethercat
178
Ethercat State Machine
179
Process Data Objects (Pdos)
180
PDO Mapping Settings
180
Sync Manager PDO Assignment Settings
181
Fixed PDO Mapping
181
Service Data Objects (Sdos)
182
Abort Codes
182
Synchronization with Distributed Clocks
183
Communications Cycle (DC Cycle)
183
Response Time
183
Emergency Messages
184
Chapter 6 Drive Profile
186
Controlling the State Machine of the Servo Drive
186
State Machine
186
Modes of Operation
189
Cyclic Synchronous Position Mode
190
Block Diagram for Position Control Mode
192
Torque Limit
193
Related Objects
193
Touch Probe Function (Latch Function)
194
Related Objects
194
Trigger Signal Settings
194
Fully-Closed Control
197
Outline of Operation
197
Objects Requiring Settings
198
Parameter Block Diagram for Fully-Closed Control Mode
203
Object Description Format
205
Communication Objects
206
PDO Mapping Objects
212
Sync Manager Communication Objects
214
Manufacturer Specific Objects
218
Servo Drive Profile Object
221
Reserved Objects
237
Connecting with OMRON Controllers
238
Related Objects
238
Chapter 7 Applied Functions
240
Sequence I/O Signals
240
Input Signals
240
Output Signals
243
Forward and Reverse Drive Prohibition Functions
245
Objects Requiring Settings
245
Overrun Protection
248
Operating Conditions
248
Objects Requiring Settings
248
Operation Example
249
Backlash Compensation
250
Objects Requiring Settings
250
Brake Interlock
252
Objects Requiring Settings
252
Operation Timing
253
Electronic Gear Function
257
Objects Requiring Settings
257
Operation Example
259
Torque Limit Switching
260
Operating Conditions
260
Objects Requiring Settings
260
Gain Switching Function
262
Objects Requiring Settings
263
Gain Switching
264
Diagrams of Gain Switching Setting
266
Gain Switching 3 Function
269
Operating Conditions
269
Objects Requiring Settings
269
Operation Example
270
Chapter 8 Safety Function (Application Pending)
271
Safe Torque off Function
272
I/O Signal Specifications
273
Operation Example
275
Connection Examples
277
Chapter 9 Details on Servo Parameter Objects
280
Basic Settings
280
Gain Settings
285
Vibration Suppression Settings
294
Analog Control Objects
300
Interface Monitor Settings
303
Extended Objects
311
Special Objects
317
Reserved Objects
329
Chapter 10 Operation
332
Operational Procedure
332
Preparing for Operation
333
Items to Check before Turning on the Power Supply
333
Turning on the Power Supply
334
Checking the Displays
335
Absolute Encoder Setup
337
Setting up an Absolute Encoder from the CX-Drive
337
Trial Operation
338
Preparations for Trial Operation
338
Test Operation Via USB Communications from the CX-Drive
339
Omron OMNUC G5 Series User Manual (4 pages)
AC Servomotors/AC Servo Drives
Brand:
Omron
| Category:
Servo Drives
| Size: 0.22 MB
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