Omron R88M-K5K030C Manuals

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Omron R88M-K5K030C User Manual

Omron R88M-K5K030C User Manual (458 pages)

Servo system with built-in MECHATROLINK-II

Brand: Omron | Category: Controller | Size: 11 MB

Table of Contents

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

24
- Outline
  24
- System Configuration
  26
- Names and Functions
  27
  - Servo Drive Part Names
    27
  - Servo Drive Functions
    28
- System Block Diagrams
  29
  - System Block Diagrams
    30
- Applicable Standards
  34
  - EC Directives
    34
  - UL and Cul Standards
    34
  - Functional Safety
    34
Chapter 2 Standard Models and External Dimensions

36
- Servo System Configuration
  36
- How to Read Model
  38
  - Servo Drive
    38
  - Servomotor
    39
- Standard Model List
  40
- External and Mounting Dimensions
  56
- EMC Filter Dimensions
  87
  - MECHATROLINK-II Repeater Units
    88
Chapter 3 Specifications

90
- Servo Drive Specifications
  90
  - General Specifications
    90
  - Characteristics
    91
  - Main Circuit and Motor Connections
    97
  - Control I/O Connector Specifications (CN1)
    102
  - Control Input Circuits
    104
  - Control Input Details
    105
  - Control Output Circuits
    107
  - Control Output Details
    108
  - Encoder Connector Specifications (CN2)
    112
  - External Encoder Connector Specifications (CN4)
    112
  - 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
- External Regeneration Resistor Specifications
  166
  - Specifications
    166
  - EMC Filter Specifications
    168
- MECHATROLINK-II Repeater Unit Specifications
  169
  - Specifications
    169
  - Repeater Unit Part Names
    170
  - Connection Method
    171
Chapter 4 System Design

174
Chapter 5 BASIC CONTROL Mode

220
- Position Control
  220
- Speed Control
  223
- Torque Control
  225
- Full Closing Control
  228
Chapter 6 Applied Functions

238
- Sequence I/O Signal
  238
  - Input Signals
    238
  - Output Signals
    241
- Forward and Reverse Drive Prohibition Functions
  243
  - Parameters Requiring Settings
    243
- Overrun Protection
  246
  - Operating Conditions
    246
  - Parameters Requiring Settings
    246
  - Operation Example
    247
- Backlash Compensation
  248
  - Parameters Requiring Settings
    248
- Brake Interlock
  250
  - Parameters Requiring Settings
    250
  - Operating Example
    251
- Electronic Gear Function
  255
  - Parameters Requiring Settings
    255
  - Operation Example
    257
- Torque Limit Switching
  258
  - Operating Conditions
    258
  - Parameters Requiring Settings
    258
- Soft Start
  260
- Gain Switching Function
  262
  - Parameters Requiring Settings
    263
  - Gain Switching Setting for each CONTROL Mode
    264
  - Timing by Gain Switching Setting
    269
  - Gain Switching 3 Function
    273
    
    Operating Conditions
    273
    
    Parameters Requiring Settings
    273
    
    Operation Example
    274
Chapter7 Safety Function

275
- Safe Torque off (STO) Function
  276
  - Functional Safety
    276
  - I/O Signal Specifications
    277
- Operation Example
  279
- Connection Examples
  281
Chapter 8 Parameters Details

284
- Basic Parameters
  284
- Gain Parameters
  291
- Vibration Suppression Parameters
  303
- Analog Control Parameters
  308
- Interface Monitor Setting Parameters
  314
- Extended Parameters
  325
- Special Parameters
  335
Chapter9 Operation

351
- Operational Procedure
  352
- Preparing for Operation
  353
  - Items to Check before Turning on the Power Supply
    353
  - Turning on the Power Supply
    355
  - Checking the Displays
    356
  - Absolute Encoder Setup
    357
- Trial Operation
  358
  - Preparation for Trial Operation
    358
  - Trial Operation by Using the CX-Drive
    358
Chapter 10 Adjustment Functions

360
- Analog Monitor
  360
  - Parameters Requiring Settings
    360
- Gain Adjustment
  363
  - Purpose of the Gain Adjustment
    363
  - Gain Adjustment Methods
    363
  - Gain Adjustment Procedure
    364
- Realtime Autotuning
  365
  - Parameters Requiring Settings
    366
  - Setting Realtime Autotuning
    366
  - Setting Machine Rigidity
    367
- Manual Tuning
  372
- Basic Settings
  372
- Outline of Operation
  380
- Anti-Vibration Control
  380
- Parameters Requiring Settings
  381
- Adaptive Filter
  384
  - Parameters Requiring Settings
    385
  - Operating Procedure
    386
- Notch Filter
  387
  - Parameters Requiring Settings
    388
- Disturbance Observer Function
  390
  - Operating Conditions
    390
  - Parameters Requiring Settings
    391
  - Operating Procedure
    391
- Friction Torque Compensation Function
  392
  - Operating Conditions
    392
  - Parameters Requiring Settings
    392
  - Operation Example
    393
- Hybrid Vibration Suppression Function
  394
  - 10-10Hybrid Vibration Suppression Function
    394
  - Operating Conditions
    394
  - Parameters Requiring Settings
    394
  - Operating Procedure
    394
- Feed-Forward Function
  395
  - 10-11Feed-Forward Function
    395
  - Parameters Requiring Settings
    395
  - Operating Procedure
    396
- Instantaneous Speed Observer Function
  398
  - Operating Conditions
    398
  - Parameters Requiring Settings
    398
  - Operating Procedure
    399
Chapter11 Error And Maintenance

401
- Error Processing
  402
- Warning
  405
  - Warning List
    405
- Alarms
  407
  - Emergency Stop Operation at Alarms
    415
- Troubleshooting
  417
  - Error Diagnosis Using the Alarm Displays
    417
  - Error Diagnosis Using the Operation Status
    429
- Periodic Maintenance
  437

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