Omron OMNUC G5 Series Servomotor/Drive Manuals

Manuals and User Guides for Omron OMNUC G5 Series Servomotor/Drive. We have 7 Omron OMNUC G5 Series Servomotor/Drive 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 MB

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
- 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

Omron OMNUC G5 Series User Manual (634 pages)

AC SERVOMOTORS/SERVO DRIVES

Brand: Omron | Category: Servo Drives | Size: 9 MB

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

Omron OMNUC G5 Series User Manual (484 pages)

AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN EtherCAT COMMUNICATIONS

Brand: Omron | Category: Servo Drives | Size: 12 MB

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
- 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
- External and Mounting Dimensions
  58
- EMC Filter Dimensions
  88
Chapter 3 Specifications

90
- Servo Drive Specifications
  90
- 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
- External Regeneration Resistor Specifications
  169
  - External Regeneration Resistor Specifications
    170
- EMC Filter Specifications
  171
Chapter 4 System Design

174
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
- Trial Operation
  384
  - Preparations for Trial Operation
    384
  - Test Operation Via USB Communications from the CX-Drive
    385

OMRON OMNUC G5 Series User Manual (550 pages)

AC SERVOMOTORS/SERVO DRIVES

Brand: OMRON | Category: Computer Hardware | Size: 39 MB

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 MB

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 MB

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
- 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
- External and Mounting Dimensions
  52
- EMC Filter Dimensions
  70
Chapter 3 Specifications

72
Chapter 4 System Design

138
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
- 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 MB

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Omron OMNUC G5 Series User Manual (438 pages)

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