Omron R88D-GT series Manuals

Omron R88D-GT series Manuals

Manuals and User Guides for Omron R88D-GT series. We have 1 Omron R88D-GT series manual available for free PDF download: User Manual

Omron R88D-GT series User Manual

Omron R88D-GT series User Manual (511 pages)

OMNUC G series AC SERVOMOTORS/SERVO DRIVES

Brand: Omron | Category: Controller | Size: 16 MB

Table of Contents

Intended Readers
3
Introduction
3
Explanation of Signal Words
6
Precautions for Safe Use
6
Storage and Transportation Precautions
8
Installation and Wiring Precautions
9
Maintenance and Inspection Precautions
10
Operation and Adjustment Precautions
10
Disposing of the Product
11
Warning Label Contents
11
Warning Label Position
11
Accessories Provided with Product
12
Items to Check When Unpacking
12
Understanding Servo Drive Model Numbers
13
Understanding Servomotor Model Numbers
14
Understanding Decelerator Model Numbers (Backlash = 3' Max.)
15
Understanding Decelerator Model Numbers (Backlash = 15' Max.)
16
About this Manual
17
Table of Contents
18
Table of Contents
19
Features and System Configuration
21
Overview of the G Series
22
Features of the G Series
22
Chapter 1 Features and System Configuration

23
- System Configuration
  23
  - Names of Parts and Functions
    24
  - Servo Drive Part Names
    24
  - Forward and Reverse Motor Rotation
    25
  - Servo Drive Functions
    25
  - R88D-Gta5L/-Gt01L/-Gt02L/-Gta5H/-Gt01H/-Gt02H/-Ht04H
    26
  - System Block Diagrams
    26
    
    R88D-Gt04L/-Gt08H/-Gt10H/-Gt15H
    27
    
    R88D-Gt20H
    28
    
    R88D-Gt30H/Gt50H
    29
    
    R88D-Gt75H
    30
  - Applicable Standards
    31
  - EC Directives
    31
  - UL and CSA Standards
    31
  - Korean Radio Regulations (KC)
    32
  - Semi F47
    32
Chapter 2 Standard Models and Dimensions

33
Chapter 3 Specifications

101
- Servo Drive Specifications
  102
- General Specifications
  102
- Characteristics
  103
  - Servo Drives with 100-VAC Input Power
    103
  - Servo Drives with Single-Phase 200-VAC Input Power
    104
  - Servo Drives with Three-Phase 200-VAC Input Power
    105
  - Protective Functions
    106
  - Main Circuit and Servomotor Connections
    107
    
    Main Circuit Connector Specifications (CNA)
    107
    
    R88D-Gta5L/-Gt01L/-Gt02L/-Gt04Lr88D-Gt01H/-Gt02H/-Gt04H/-Gt08H/-Gt10H/-Gt15H
    107
    
    Servomotor Connector Specifications (CNB)
    107
    
    Main Circuit Terminal Block Specifications
    108
    
    R88D-Gt20H/-Gt30H/-Gt50H
    108
    
    Main Circuit Terminal Block Specifications (TB1)
    109
    
    Main Circuit Terminal Block Specifications (TB2)
    109
    
    R88D-Gt75H
    109
  - Control I/O Connector Specifications (CN1)
    110
    
    Control I/O Signal Connections and External Signal Processing for Positioncontrol
    110
    
    Control I/O Signal Connections and External Signal Processing for Speedcontrol
    111
    
    Control I/O Signal Connections and External Signal Processing for Torquecontrol
    112
    
    CN1 Control Inputs
    113
    
    Control I/O Signals
    113
    
    CN1 Control Outputs
    116
    
    CN1 Connectors (50 Pins)
    117
    
    CN1 Pin Arrangement
    117
  - Control Input Circuits
    118
    
    Position Command Pulse Input (Line Receiver Input)
    118
    
    Speed Command/Torque Command Input
    118
    
    Line Driver Input (500 Kpps Maximum)
    119
    
    Open-Collector Input
    119
    
    Position Command Pulse Input (Photocoupler Input)
    119
    
    Sensor Input
    120
    
    Sequence Input
    120
  - Control Input Details
    121
    
    Functions
    121
    
    High-Speed Photocoupler Inputs
    121
    
    Command Pulse Timing for Photocoupler Inputs
    122
    
    Line-Receiver Inputs
    123
    
    Command Pulse Timing for Line-Receiver Inputs
    124
    
    Deviation Counter Reset Input (ECRST)
    125
    
    Reverse Drive Prohibit Input (NOT) and Forward Drive Prohibit Input (POT)
    125
    
    RUN Command Input (RUN)
    125
    
    Speed Command Input (REF) or Torque Command Input (TREF1)
    125
    
    Alarm Reset Input (RESET)
    126
    
    Control Mode Switch Input (TVSEL)
    126
    
    Pulse Prohibit Input (IPG) and Internally Set Speed Selection 1 (VSEL1)
    126
  - Control Output Circuits
    127
    
    Phase-Z Output (Open-Collector Output)
    127
    
    Position Feedback Output
    127
    
    Sequence Output
    127
  - Control Output Details
    128
    
    Control Output Sequence
    128
    
    Encoder Outputs (Phases A, B, and Z)
    129
    
    Alarm Output (/ALM)
    130
    
    Brake Interlock Output (BKIR)
    130
    
    Positioning Completed Output (INP) or Servomotor Rotation Speed Detectionoutput (TGON)
    130
    
    Servo Ready Output (READY)
    130
    
    Connectors for CN2 (6 Pins)
    131
  - Encoder Connector Specifications (CN2)
    131
    
    Communications Connector Specifications (CN3A)
    132
    
    Connector for CN3A (8 Pins)
    132
    
    Connector for CN3B (8 Pins)
    132
  - Parameter Unit Connector Specifications (CN3B)
    132
  - General Specifications
    133
  - Servomotor Specifications
    133
  - Characteristics
    134
    
    Temperature Characteristics of the Servomotor and Mechanical System
    146
    
    Absolute Encoders
    147
  - Encoder Specifications
    147
  - Incremental Encoders
    147
  - Decelerator Specifications
    148
  - Standard Models and Specifications
    148
  - Cable and Connector Specifications
    158
  - Encoder Cable Specifications
    158
    
    Encoder Cables (Standard Cables)
    158
    
    Encoder Cables (Robot Cables)
    161
  - Absolute Encoder Battery Cable Specifications
    164
  - Power Cables for Servomotors Without Brakes (Standard Cables)
    165
  - Servomotor Power Cable Specifications
    165
    
    Power Cables for Servomotors Without Brakes (Robot Cables)
    170
    
    Power Cables for Servomotors with Brakes (Standard Cables)
    174
    
    Power Cables for Servomotors with Brakes (Robot Cables)
    177
    
    Brake Cables (Standard Cables)
    180
    
    Brake Cables (Robot Cables)
    182
    
    Resistant to Bending of Robot Cables
    183
    
    Moving Bend Test
    184
  - Communications Cable Specifications
    185
    
    Computer Monitor Cable
    185
    
    Connection Configuration and Dimensions
    185
    
    Wiring
    185
    
    Communications Cables
    186
  - Connector Specifications
    187
    
    Control I/O Connector (R88A-CNU11C)
    187
    
    Encoder Connectors
    187
    
    Brake Cable Connector (R88A-CNG01B)
    189
    
    Power Cable Connector (R88A-CNG01A)
    189
  - Control Cable Specifications
    190
    
    Motion Control Unit Cables (R88A-CPG@M@)
    190
    
    General-Purpose Control Cables (R88A-CPG@S)
    193
    
    Connector Terminal Block Cables (XW2Z-@J-B24)
    195
    
    Connector-Terminal Block Conversion Unit
    197
    
    XW2B-50G4 (M3 Screw Terminal Block)
    197
    
    XW2B-50G5 (M3.5 Screw Terminal Block)
    198
    
    XW2D-50G6 (M3 Screw Terminal Block)
    199
  - Servo Relay Units and Cable Specifications
    200
    
    Xw2B-20J6-1B
    200
    
    Xw2B-40J6-2B
    201
    
    Xw2B-20J6-3B
    202
    
    Xw2B-20J6-8A
    204
    
    Xw2B-40J6-9A
    206
    
    Xw2B-80J7-12A
    208
    
    System Configuration Example for the FQM1
    209
    
    Terminal Block Connection
    209
    
    FQM1-MMA22 Signal Names
    210
    
    FQM1-MMP22 Signal Names
    211
    
    Wiring Example
    212
    
    Servo Drive Cable (XW2Z-@J-B25)
    213
  - Servo Drive-Servo Relay Unit Cable Specifications
    213
    
    Servo Drive Cable (XW2Z-@J-B26)
    214
    
    Servo Drive Cable (XW2Z-@J-B27)
    215
    
    Servo Drive Cable (XW2Z-@J-B31)
    216
    
    Position Control Unit Cable (XW2Z-@J-A3)
    217
  - Position Control Unit-Servo Relay Unit Cable Specifications
    217
    
    Position Control Unit Cable (XW2Z-@J-A6)
    218
    
    Position Control Unit Cable (XW2Z-@J-A7)
    219
    
    Position Control Unit Cable (XW2Z-@J-A10)
    220
    
    Position Control Unit Cable (XW2Z-@J-A11)
    221
    
    Position Control Unit Cable (XW2Z-@J-A14)
    222
    
    Position Control Unit Cable (XW2Z-@J-A15)
    223
    
    Position Control Unit Cable (XW2Z-@J-A18)
    224
    
    Position Control Unit Cable (XW2Z-@J-A19)
    225
    
    Position Control Unit Cable (XW2Z-@J-A33)
    226
    
    Position Control Unit Cable (XW2Z-@J-A28)
    227
    
    Position Control Unit Cable (XW2Z-@J-A30)
    228
    
    Position Control Unit Cable (XW2Z-@J-A31)
    229
    
    General Specifications
    230
  - Parameter Unit Specifications
    230
    
    Performance Specifications
    230
    
    R88A-PR02G Hand-Held Parameter Unit
    230
  - External Regeneration Resistor Specifications
    231
    
    R88A-Rr080100S
    231
    
    R88A-Rr08050S
    231
    
    R88A-Rr22047S1
    231
  - External Regeneration Resistor Specifications
    232
  - R88A-Rr50020S
    232
  - Reactor Specifications
    233
Chapter 4 System Design

235
Chapter 9 Appendix

235
- Connection Examples
  235
  - Installation Conditions
    236
  - Operating Environment
    236
  - Servo Drives
    236
    
    Space Around Drives
    236
    
    Keeping Foreign Objects out of Units
    237
    
    Connecting to Mechanical Systems
    238
    
    Impact and Load
    238
  - Servomotors
    238
    
    Countermeasures against Oil
    239
    
    Radiator Plate Installation Conditions
    239
    
    Water and Drip Resistance
    239
    
    Oil Seal
    240
    
    Other Precautions
    241
  - Decelerators
    242
    
    Installing Decelerators
    242
    
    Using Another Company's Decelerator (Reference Information)
    245
  - Connecting Cables
    246
  - System Configuration
    246
  - Wiring
    246
  - Selecting Connecting Cables
    247
    
    RS-485 Communications Cable
    250
    
    Servo Relay Units and Cables
    250
    
    Connector-Terminal Blocks and Cables
    251
    
    General-Purpose Control Cable and Control I/O Connector
    251
    
    Motion Control Unit Cable
    251
  - Peripheral Device Connection Examples
    252
  - R88D-Gt08H/-Gt10H/-Gt15H
    253
  - Main Circuit and Servomotor Connections
    256
    
    Terminal Block Wire Sizes
    259
    
    Wire Sizes and Allowable Current (Reference)
    260
    
    Terminal Block Wiring Procedure
    261
  - Wiring Conforming to EMC Directives
    262
  - Wiring Method
    262
    
    Noise Filters for Power Supply Input
    264
    
    Control Panel Structure
    265
    
    Door Structure
    266
    
    No-Fuse Breakers (NFB)
    267
  - Selecting Connection Components
    267
    
    Leakage Breakers
    268
    
    Surge Absorbers
    269
    
    Noise Filters for the Power Supply Input
    270
    
    Noise Filter for the Brake Power Supply
    271
    
    Radio Noise Filters and Emission Noise Prevention Clamp Cores
    272
    
    Contactors
    274
    
    Surge Suppressors
    274
    
    Improving Encoder Cable Noise Resistance
    275
    
    Improving Control I/O Signal Noise Resistance
    276
    
    Reactors to Reduce Harmonic Current
    276
    
    Selecting Other Parts for Noise Resistance
    277
  - Calculating the Regenerative Energy
    280
  - Horizontal Axis
    280
  - Regenerative Energy Absorption
    280
    
    Vertical Axis
    282
    
    Amount of Internal Regeneration Absorption in Servo Drives
    283
  - Servo Drive Regenerative Energy Absorption Capacity
    283
  - Absorbing Regenerative Energy with an External Regeneration Resistor
    284
  - Connecting an External Regeneration Resistor
    284
    
    External Regeneration Resistor
    284
    
    R88D-Gta5L/-Gt01L/-Gt02L/-Gt01H/-Gt02H/-Gt04H
    284
    
    R88D-Gt04L/-Gt08H/-Gt10H/-Gt15H/-Gt20H/-Gt30H/-Gt50H
    285
    
    Combining External Regeneration Resistors
    286
    
    Operating Functions
    287
    
    Parameters Requiring Settings
    288
  - Position Control
    288
    
    Parameter Block Diagram for Position Control Mode
    289
    
    Related Functions
    289
  - Speed Control
    290
  - Parameter Block Diagram for Speed Control Mode
    291
  - Internally Set Speed Control
    292
  - Torque Control
    295
    
    Parameter Block Diagram for Torque Control Mode
    297
    
    Control Mode Selected at TVSEL (Control Mode Switch Input)
    298
  - Switching the Control Mode
    298
  - Operation Examples
    299
  - Forward and Reverse Drive Prohibit
    301
  - Encoder Dividing
    302
  - Electronic Gear
    303
  - Operating Conditions
    306
  - Overrun Limit
    306
    
    Left Side Operation (Servo ON)
    307
    
    No Position Command Input (Servo ON)
    307
    
    Right Side Operation (Servo ON)
    307
  - Brake Interlock
    308
    
    Precautions for Using the Electromagnetic Brake
    308
    
    Power Supply off Timing (When Servomotor Is Stopped)
    309
    
    RUN Command Timing (When Servomotor Is Stopped)
    309
    
    RUN Command, Errors, and Power Supply off Timing (When Servomotor Isrotating)
    310
    
    Alarm Clear (When Servo Is ON)
    311
  - Gain Switching
    312
  - Torque Limit
    313
  - Torque Limit Settings
    314
  - Soft Start
    315
  - Position Command Filter
    316
  - Speed Limit
    317
  - Displaying Parameter Setting Mode
    318
  - Setting and Checking Parameters
    318
  - Setting the Parameter Number
    318
  - User Parameters
    318
    
    Changing Parameter Settings
    319
    
    Displaying Parameter Settings
    319
    
    Saving the New Setting to Memory and Returning to the Parameter Number Display
    319
    
    Function Selection Parameters
    320
  - Parameter Tables
    320
    
    Gain Parameters
    325
    
    Position Control Parameters
    330
    
    Speed and Torque Control Parameters
    332
    
    Sequence Parameters
    334
  - Parameters Details
    338
  - Function Selection Parameters (Pn00 to Pn0F)
    338
  - Gain Parameters (Pn10 to Pn3D)
    346
  - Position Control Parameters (Pn40 to Pn4E)
    361
  - Speed and Torque Control Parameters (Pn50 and Higher)
    368
  - Operation
    381
Chapter 5 Operating Functions

382
Chapter 6 Operation

382
- Operational Procedure
  382
- Preparing for Operation
  383
  - Items to Check before Turning on the Power
    383
  - Turning on Power
    384
  - Checking Displays
    384
  - Absolute Encoder Setup
    386
- Using the Parameter Unit
  387
- Names of Parts and Functions
  387
- Setting the Mode
  388
  - Changing the Mode
    388
  - Monitor Mode
    389
  - Alarm History
    393
  - Alarm Codes and Meanings
    394
  - Reason for no Rotation Display (Front Panel Operation)
    397
  - Parameter Setting Mode
    398
  - Parameter Write Mode
    400
  - Normal Mode Autotuning
    401
  - Auxiliary Function Mode
    402
  - Absolute Encoder Reset
    404
  - Copy Mode
    406
  - Copying from the Servo Drive to the Parameter Unit
    406
  - Copying from the Parameter Unit to the Servo Drive
    407
- Trial Operation
  409
Chapter 7 Adjustment Functions

412
- Gain Adjustment
  412
  - Purpose of the Gain Adjustment
    412
  - Gain Adjustment Methods
    413
  - Gain Adjustment Procedure
    414
- Realtime Autotuning
  415
  - Realtime Autotuning Setting Method
    416
  - Operating Procedure
    417
  - Fit Gain Function
    418
  - Automatically Set Parameters
    421
  - Adaptive Filter
    422
  - Automatically Set Parameters
    423
- Normal Mode Autotuning
  425
- Disabling the Automatic Gain Adjustment Function
  430
  - Disabling Realtime Autotuning
    430
  - Disabling the Adaptive Filter
    431
- Manual Tuning
  432
  - Basic Settings
    432
  - Position Control Mode Adjustment
    433
  - Parameter Adjustment Values
    434
  - Speed Control Mode Adjustment
    435
  - Torque Control Mode Adjustment
    436
  - Setting Speed Limit Values
    436
  - Gain Switching Function
    437
  - Setting Gain Switching Conditions
    438
  - Speed Control Mode
    439
  - Torque Control Mode
    439
  - Machine Resonance Control
    441
  - Torque Command Filter (Pn14, Pn1C)
    441
  - Notch Filter
    441
  - Automatic Gain Setting
    443
  - Instantaneous Speed Observer
    444
  - Damping Control
    446
  - Troubleshooting
    449
Chapter 8 Troubleshooting

450
- Error Processing
  450
- Alarm Table
  452
- Alarms
  453
- Troubleshooting
  455
  - Error Diagnosis Using the Displayed Alarm Codes
    455
  - Error Diagnosis Using the Operating Status
    464
- Overload Characteristics (Electronic Thermal Function)
  469
- Periodic Maintenance
  470
  - Servomotor Service Life
    470
  - Servo Drive Service Life
    471
  - Replacing the Absolute Encoder Battery
    472
  - Replacement Battery Model and Specifications
    472
  - Mounting the Backup Battery
    472
  - Battery Mounting Procedure
    473
Appendix

475
- Connection Examples
  476
- Connecting to SYSMAC CJ1W-NC133/233/433
  476
- Connecting to SYSMAC CJ1W-NC113/213/413
  477
- Connecting to SYSMAC CS1W-NC133/233/433
  478
- Connecting to SYSMAC CS1W-NC113/213/413 Orc200Hw-NC113/213/413
  479
- Connecting to a SYSMAC Motion Control Unit
  480
- Connecting to SYSMAC CP1H-Y@@DT-D
  481
- Connecting to SYSMAC CP1H-X@@DT-D/CP1L-@@@DT-D
  482
- Connecting to SYSMAC CJ1M
  483
- Connecting to a SYSMAC CS1W-HCP22-V1 Customizablecounter Unit
  484
- Connecting to a SYSMAC CS1W-HCA12/22-V1Customizable Counter Unit
  485
- Parameter Tables
  486
- Function Selection Parameters
  486
- Gain Parameters
  491
- Position Control Parameters
  496
- Speed and Torque Control Parameters
  498
- Sequence Parameters
  500
- Index
  504
- Revision History
  508

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