EIS OMNUC W Series User manual

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Datasheet of R88D-WT01H - SERVO DRV 200V 1PH 100W
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Excellent Integrated System Limited
Excellent Integrated System Limited
Stocking Distributor
Stocking Distributor
Click to view price, real time Inventory, Delivery & Lifecycle Information:
Click to view price, real time Inventory, Delivery & Lifecycle Information:
Omron Automation & Safety
Omron Automation & Safety
R88D-WT01H
R88D-WT01H
For any questions, you can email us directly:
For any questions, you can email us directly:
[email protected]
[email protected]
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USER'S MANUAL
OMNUC W SERIES
MODELS R88M-W@
(AC Servomotors)
MODELS R88D-WT@
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS
Cat. No. I531-E1-03
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Notice:
OMRON products are manufactured for use according to proper procedures by a qualified
operator and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual.
Always heed the information provided with them. Failure to heed precautions can result in
injury to people or damage to property.
DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death
or serious injury.
WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death
or serious injury.
Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor
or moderate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when
it refers to an OMRON product, regardless of whether or not it appears in the proper name
of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products,
often means “word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PC” means Programmable Controller and is not used as an abbreviation
for anything else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different
types of information.
Note Indicates information of particular interest for efficient and convenient operation of the product.
OMRON, 2000
All rights reserved. No part of this publication may be reproduced, stored in a retrieval sys-
tem, or transmitted, in any form, or by any means, mechanical, electronic, photocopying,
recording, or otherwise, without the prior written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein.
Moreover, because OMRON is constantly striving to improve its high-quality products, the
information contained in this manual is subject to change without notice. Every precaution
has been taken in the preparation of this manual. Nevertheless, OMRON assumes no re-
sponsibility for errors or omissions. Neither is any liability assumed for damages resulting
from the use of the information contained in this publication.
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General Warnings
Observe the following warnings when using the OMNUC Servomotor and Servo Driver and
all connected or peripheral devices.
This manual may include illustrations of the product with protective covers removed in order
to describe the components of the product in detail. Make sure that these protective covers
are on the product before use.
Consult your OMRON representative when using the product after a long period of storage.
WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor
to a class-3 ground (to 100 Ωor less). Not connecting to a class-3 ground may result
in electric shock.
WARNING Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
WARNING Do not remove the front cover, terminal covers, cables, Parameter Units, or optional
items while the power is being supplied. Doing so may result in electric shock.
WARNING Installation, operation, maintenance, or inspection must be performed by authorized
personnel. Not doing so may result in electric shock or injury.
WARNING Wiring or inspection must not be performed for at least five minutes after turning OFF
the power supply. Doing so may result in electric shock.
WARNING Do not damage, press, or put excessive stress or heavy objects on the cables. Doing
so may result in electric shock.
WARNING Do not touch the rotating parts of the Servomotor in operation. Doing so may result in
injury.
WARNING Do not modify the product. Doing so may result in injury or damage to the product.
Caution Use the Servomotors and Servo Drivers in a specified combination. Using them in-
correctly may result in fire or damage to the products.
Caution Do not store or install the product in the following places. Doing so may result in fire ,
electric shock, or damage to the product.
SLocations subject to direct sunlight.
SLocations subject to temperatures or humidity outside the range specified in the
specifications.
SLocations subject to condensation as the result of severe changes in temperature.
SLocations subject to corrosive or flammable gases.
SLocations subject to dust (especially iron dust) or salts.
SLocations subject to shock or vibration.
SLocations subject to exposure to water, oil, or chemicals.
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Caution Do not touch the Servo Driver radiator or Servomotor while the power is being sup-
plied or soon after the power is turned OFF. Doing so may result in a skin burn due to
the hot surface.
Storage and Transportation Precautions
Caution Do not hold the product by the cables or motor shaft while transporting it. Doing so
may result in injury or malfunction.
Caution Do not place any load exceeding the figure indicated on the product. Doing so may
result in injury or malfunction.
Caution Use the motor eye-bolts only for transporting the Motor. Using them for transporting
the machinery may result in injury or malfunction.
Installation and Wiring Precautions
Caution Do not step on or place a heavy object on the product. Doing so may result in injury.
Caution Do not cover the inlet or outlet ports and prevent any foreign objects from entering
the product. Doing so may result in fire.
Caution Be sure to install the product in the correct direction. Not doing so may result in mal-
function.
Caution Provide the specified clearances between the Servo Driver and the control panel or
with other devices. Not doing so may result in fire or malfunction.
Caution Do not apply any strong impact. Doing so may result in malfunction.
Caution Be sure to wire correctly and securely. Not doing so may result in motor runaway,
injury, or malfunction.
Caution Be sure that all the mounting screws, terminal screws, and cable connector screws
are tightened to the torque specified in the relevant manuals. Incorrect tightening
torque may result in malfunction.
Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to termi-
nals. Connection of bare stranded wires may result in burning.
Caution Always use the power supply voltage specified in the User’s Manual. An incorrect
voltage may result in malfunction or burning.
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Caution Take appropriate measures to ensure that the specified power with the rated voltage
and frequency is supplied. Be particularly careful in places where the power supply
is unstable. An incorrect power supply may result in malfunction.
Caution Install external breakers and take other safety measures against short-circuiting in
external wiring. Insufficient safety measures against short-circuiting may result in
burning.
Caution Provide an appropriate stopping device on the machine side to secure safety. (A
holding brake is not a stopping device for securing safety.) Not doing so may result in
injury.
Caution Provide an external emergency stopping device that allows an instantaneous stop of
operation and power interruption. Not doing so may result in injury.
Caution Take appropriate and sufficient countermeasures when installing systems in the fol-
lowing locations:
SLocations subject to static electricity or other forms of noise.
SLocations subject to strong electromagnetic fields and magnetic fields.
SLocations subject to possible exposure to radioactivity.
SLocations close to power supplies.
Caution Do not reverse the polarity of the battery when connecting it. Reversing the polarity
may damage the battery or cause it to explode.
Operation and Adjustment Precautions
Caution Confirm that no adverse effects will occur in the system before performing the test
operation. Not doing so may result in equipment damage.
Caution Confirm that no adverse effects will occur in the system before performing the test
operation. Not doing so may result in equipment damage.
Caution Check the newly set parameters for proper execution before actually running them.
Not doing so may result in equipment damage.
Caution Do not make any extreme adjustments or setting changes. Doing so may result in
unstable operation and injury.
Caution Separate the Servomotor from the machine, check for proper operation, and then
connect to the machine. Not doing so may cause injury.
Caution When an alarm occurs, remove the cause, reset the alarm after confirming safety,
and then resume operation. Not doing so may result in injury.
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Caution Do not come close to the machine immediately after resetting momentary power in-
terruption to avoid an unexpected restart. (Take appropriate measures to secure
safety against an unexpected restart.) Doing so may result in injury.
Caution Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may
result in malfunction.
Maintenance and Inspection Precautions
WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may
result in malfunction, fire, or electric shock.
Caution Resume operation only after transferring to the new Unit the contents of the data re-
quired for operation. Not doing so may result in an unexpected operation.
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Warning Labels
Warning labels are pasted on the product as shown in the following illustration. Be sure to
follow the instructions given there.
Warning label
Example from R88D-WTA3HL
Example from R88D-WTA3HL
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Table of Contents
Chapter 1. Introduction 1-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 Features 1-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration 1-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Servo Driver Nomenclature 1-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4 Applicable Standards and Models 1-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-5 System Block Diagrams 1-9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2. Standard Models and Specifications 2-1. . . . . . . . . . . . . . . . .
2-1 Standard Models 2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Servo Driver and Servomotor Combinations 2-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3 External and Mounted Dimensions 2-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-4 Servo Driver Specifications 2-61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-5 Servomotor Specifications 2-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-6 Cable and Connector Specifications 2-118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-7 Servo Relay Units and Cable Specifications 2-139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-8 Parameter Unit and Cable Specifications 2-160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-9 External Regeneration Resistors/Resistance Units 2-163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-10 Absolute Encoder Backup Battery Specifications 2-165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-11 DC Reactors 2-166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 3. System Design and Installation 3-1. . . . . . . . . . . . . . . . . . . . . .
3-1 Installation Conditions 3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 Wiring 3-9................................................................. . . .
3-3 Regenerative Energy Absorption 3-36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 4. Operation 4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 Operational Procedure 4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2 Preparing for Operation 4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 Trial Operation 4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 User Parameters 4-16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Operation Functions 4-72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-6 Trial Operation Procedure 4-98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-7 Making Adjustments 4-100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-8 Advanced Adjustment Functions 4-108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-9 Using Displays 4-119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-10 Using Monitor Output 4-126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-11 System Check Mode 4-129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 5. Troubleshooting 5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1 Measures when Trouble Occurs 5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Alarms 5-5................................................................. . . .
5-3 Troubleshooting 5-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-4 Overload Characteristics (Electron Thermal Characteristics) 5-19. . . . . . . . . . . . . . . . . . . . . . . . .
5-5 Periodic Maintenance 5-20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6 Replacing the Absolute Encoder Battery (ABS) 5-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Table of Contents
Chapter 6. Appendix 6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-1 Connection Examples 6-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 Encoder Dividing Rate for Servo Controllers 6-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-3 Single-phase Power for 3,000-r/min (750-W) Servomotors 6-12. . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4 Parameter Setting Tables 6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index I-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Revision History R-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Chapter 1
Introduction
1-1 Features
1-2 System Configuration
1-3 Servo Driver Nomenclature
1-4 Applicable Standards and Models
1-5 System Block Diagrams
1
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1-2
1-1 Features
With their superior performance and fast response, plus a wider selection of models, the OMNUC W-se-
ries AC Servomotors and Servo Drivers inherit the features of and surpass the previous OMNUC U Se-
ries.
HFaster Response and Rotation Speed
The W-series AC Servomotors and Servo Drivers provide faster response than the previous U-se-
ries models, with high-frequency responses of 400 Hz (compared to 250 Hz for the U Series). More-
over, the 3,000-r/min Servomotors provide rotation speeds of up to 5,000 r/min, as compared to
4,500 r/min for the U Series, for even faster positioning.
HWider Selection
In addition to 3,000-r/min (30-W to 5-kW) Servomotors, the W-series product line offers 1,000-r/min
(300-W to 5.5-kW) models and 1,500-r/min (450-W to 15-kW) models to choose from. They are
ideal for applications requiring high torque. Included among the 3,000-r/min models are Flat-style
(100-W to 1.5-kW) Servomotors that are ideal for applications requiring installation in tight spaces.
HIP67 (Waterproof) Servomotors
The 3,000-r/min (1- to 5-kW), 1,000 r/min (300 W to 5.5 kW), and 1,500 r/min (450 W to 15 kW)
Servomotors have an enclosure rating of IP67 (waterproof, except for through-shaft parts). The
3,000-r/min (100 W to 1.5-kW) Flat-style Servomotors are also available with IP67 enclosure rat-
ings that include waterproofing for through-shaft parts. Therefore, the W-series Servomotors can
be used even in places where they may be exposed to water. (The standard cables, however, can-
not be used with IP67 models, and the appropriate cables must be provided by the user.)
HConformity to Standards
The W Series conforms to EC Directives (both low-voltage and EMC) as well as to UL and cUL,
thereby assisting the user in meeting required standards.
HBuilt-in Regenerative Power Processing
In addition to the built-in regenerative power processing function using regeneration resistance, ex-
ternal regeneration resistance can also be connected, allowing the W Series to be used for applica-
tions with high regenerative energy on vertical axis.
HHarmonic Current Control Measures
Terminals for DC Reactor connections are provided to assist with harmonic current control.
HOnline Autotuning
Autotuning is possible during normal operation with no need to switch to a special autotuning mode,
making it easy to set the gain correctly.
Introduction Chapter 1
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1-3
HGain Changes
There are two types of gain settings, and the gain can be changed when the load changes during
operation.
HControl Functions
Any one of the following 12 control modes can be selected in the parameter settings, thereby allow-
ing various applications with a single Servo Driver.
Control mode
Speed control (analog commands)
Position control (pulse train commands) [Default setting]
Torque control (analog commands)
Internal speed control settings
Internal speed control settings ←→ Speed control (analog commands)
Internal speed control settings ←→ Position control (pulse train commands)
Internal speed control settings ←→ Torque control (analog commands)
Position control (pulse train commands) ←→ Speed control (analog commands)
Position control (pulse train commands) ←→ Torque control (analog commands)
Speed control (analog commands) ←→ Torque control (analog commands)
Speed control (analog commands) with position-lock stop
Position control (pulse train commands) with pulse prohibit
HPassword
A password can be required in order to make parameter changes.
HParameter Initialization
Parameters can be returned to their default settings.
HMonitoring
The Servo Driver’s operating status is displayed. The following items can be monitored: Speed
feedback, speed commands, torque commands, number of pulses from the origin, electrical angle,
I/O signals, command pulse speed, position deviation, motor load rate, regenerative load rate, dy-
namic resistance load rate, input pulse counter, and feedback pulse counter.
HJogging
The Servomotor can be set for either forward or reverse rotation, and the rotation speed can be set
in the parameters.
HServomotor Origin Search
The origin search function can be used to find the Servomotor’s origin (Z phase).
HAutomatic Adjustment of Command Offsets (Speed and Torque
Control)
The offsets of the speed command input and torque command input can be adjusted automatically.
Introduction Chapter 1
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1-4
HMonitor Output
The offset and scaling of the analog monitor outputs can be adjusted.
HMulti-turn Limit Changes
The multi-turn limits for absolute encoders can be changed.
HElectronic Gear (Position Control)
This function turns the Servomotor by the number of pulses obtained by applying the gear ratio to
the number of command pulses. It can be effectively used in the following situations.
SWhen fine tuning positions and speeds while synchronizing two lines.
SWhen using a controller with a short command pulse frequency.
SWhen setting the mechanical movement per pulse to amounts such as 0.01 mm.
The electronic gear ratio is set in parameters (numerator: G1; denominator: G2). The setting range
for G1 and G2 is 1 to 65,535, with 0.01 (G1/G2) 100.
HEncoder Dividing Function
The encoder signal output from the Servo Driver can be set to the desired number of pulses.
HSoft Start Function (Speed Control, Internally Set Speed Control
Settings)
This function causes the Servomotor to be started and stopped at the preset acceleration/decelera-
tion times, allowing a simple position control system to be constructed without a Positioner or Host
Controller.
The acceleration and deceleration times are set separately, and the setting range is 0 to 10 s for
each.
HPosition Acceleration/Deceleration Function
Applying acceleration and deceleration to command pulses enables smooth tracking of commands
for rapid startups. Either primary delay or linear acceleration/decelerations can be selected for posi-
tioning.
HWarning Output
Overload and regeneration overload warnings are output. When a warning is output, taking mea-
sures, such as shortening the operation cycle, can prevent an alarm from being generated.
HPositioning Completed Output
The positioning completed range can be set in two stages, allowing peripheral device operations to
begin sooner.
HReverse Mode
Forward and reverse commands can be switched in the parameters, without changing the wiring to
the Servomotor or encoder.
Introduction Chapter 1
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1-5
HBrake Interlock Output
Timing signals interlocked with the Servomotor’s ON/OFF status and rotational speed are output,
so the holding brakes of Servomotors with brakes can be operated reliably.
HOutput Signal Selection
Any three output signals can be selected for output from among the following: Positioning com-
pleted 1/2, speed conformity, Servomotor rotation detection, servo preparation completed, current
limit detection, speed limit detection, brake interlock, overload warning, and warning output signals.
It is also possible to allocate multiple outputs to the same pin number. For example, the positioning
completed 1 signal and the speed conformity signal could both be allocated to pin number 1.
HOvertravel Sequence
An overtravel sequence suitable for the system can be selected. There are three deceleration meth-
ods available: Dynamic brake deceleration, free-run deceleration, and emergency-stop torque de-
celeration (parameter setting).
HFeed-forward Function and Bias (Position Control)
These functions reduce the position control time.
SFeed-forward Function
Reduces the position control time by reducing the number of pulses accumulated in the deviation
counter.
SBias
Reduces the positioning time by adding the bias revolutions to the speed command when the devi-
ation counter value exceeds the bias addition range.
HComputer Monitoring
The special Servo Driver Communications Software enables performing parameter setting, speed
and current monitoring, speed and current waveform displays, I/O monitoring, autotuning, jogging,
and other operations from a computer. It is also possible to perform multiple-axis communications
that set the parameters and monitor operations for multiple Servo Drivers. For details, refer to user
documentation on the Servo Driver Communications Software.
HDeviceNet Option Unit
A Servo Driver can function as a slave on a DeviceNet network if a DeviceNet Option Unit
(R88A-NCW152-DRT) is mounted to it, enabling application of the Servo Driver as a network driver.
Commands can be sent via DeviceNet communications to the DeviceNet Option Unit to produce
outputs to the driver. Outputting positioning commands to the driver through the option unit connec-
tor enables positioning operations without a controller. Refer to the OMNUC W-series DeviceNet
Option Unit User’s Manual (Cat. No. I538) for details.
Note The DeviceNet Option Unit is supported by W-series Servo Drivers with a software version of
14 or later.
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Datasheet of R88D-WT01H - SERVO DRV 200V 1PH 100W
Contact us: [email protected] Website: www.integrated-circuit.com
1-6
1-2 System Configuration
Position Control Unit
CJ1W-NC113/213/413
CJ1W-NC133/233/433
CS1W-NC113/213/413
CS1W-NC133/233/433
C200HW-NC113/213/413
C500-NC113/211
Motion
Control
Unit
CS1W-MC221/421
CV500-MC221/421
C200H-MC221
C500-NC222-E
Position Control
Unit
Controller with Voltage Output
Controller with Pulse Train Output
R88A-PR02W Parameter Unit
(Hand-held)
OMNUC W-series
AC Servo Driver
R88D-WTj
OMNUC W-series AC Servomotor
R88M-Wj
SYSMAC CS1-, C-, or
CV-series
Programmable
Controller
[Incremental] [Absolute]
Analog voltage
Pulse train
SYSMAC CJ1, CS1-, C-,
or CV-series
Programmable
Controller
Single-axis Positioner with Pulse String Output
DeviceNet Single-axis Positioner
3F88M-DRT141
DeviceNet Option
Unit
R88A-NCW152-DRT
Note Servomotors with absolute encoders can be used in combination with CS1W-MC221/421,
CV500-MC221/421 or C200H-MC221 Motion Control Units or with the 3F88M-DRT141 Device-
Net Single-axis Positioner.
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Distributor of Omron Automation & Safety: Excellent Integrated System Limited
Datasheet of R88D-WT01H - SERVO DRV 200V 1PH 100W
Contact us: [email protected] Website: www.integrated-circuit.com
1-7
1-3 Servo Driver Nomenclature
Control I/O Connector (CN1)
Encoder Connector (CN2)
Charge indicator
Parameter Unit Connector (CN3)
Battery holder
Holds the backup battery for when a
Servomotor with an absolute encoder is
used.
Top cover (See note.)
Lit when the main-circuit is powered. Even
after the power is turned OFF, it remains lit
as long as an electric charge remains in
the main-circuit capacitor, so do not touch
the Servo Driver’s terminals during this
period.
Main-circuit power terminals
These are the input terminals for the
main-circuit power supply.
Control-circuit power terminals
These are the connection terminals for the
control-circuit power supply and the
external regenerative energy resistance.
Servomotor connection terminals
These are the connection terminals for the
Servomotor power lines.
Protective ground terminals
These are the ground terminals for preventing
electric shock. Ground to 100 Ωor less.
Battery Connector (CN8)
Connects the backup battery for the
absolute encoder.
Analog Monitor Output Connector (CN5)
Rotation speed, torque command values,
etc., are output in analog voltage. A special
cable is used.
Display Area
Displays Servo Driver status, alarm
signals, parameters, etc., in five digits,
7-segment LED.
Settings Area
Used for setting parameters and
monitoring Servo Driver status.
Power indicator
Lit when the control power is being
supplied.
Used for connecting the Parameter Unit or
for communicating with a computer.
Note: On the R88D-WT60H (6 kW), this
connector is located to the left of the
Display and Settings Areas.
Used for control I/O signals.
Connects the encoder provided with the
Servomotor.
(With top cover opened)
Used for connecting a DeviceNet Option
Unit.
Option Unit Connector (CN10)
Note The R88D-WT60H to R88D-WT150H models do not have a top cover. The Analog Monitor Out-
put Connector (CN5), the Battery Connector (CN8), and the battery holder are all located to the
right of the display and operation areas. Also, the Terminal Block (for the control circuit, main cir-
cuit, and Servomotor) is mounted to the bottom of the Servo Driver.
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Distributor of Omron Automation & Safety: Excellent Integrated System Limited
Datasheet of R88D-WT01H - SERVO DRV 200V 1PH 100W
Contact us: [email protected] Website: www.integrated-circuit.com
1-8
1-4 Applicable Standards and Models
HEC Directives
EC
Directive Product Applicable standard Remarks
Low voltage AC Servo Drivers EN50178 Safety requirements for electrical
equipment for measurement, control, and
laboratory use.
AC Servomotors IEC60034-8
EN60034-1, -5, -9 Rotating electrical machines.
EMC AC Servo Drivers
and AC
Servomotors
EN55011 class A
group 1 Limits and methods for measuring radio disturbance characteristics of industrial,
scientific, and medical (ISM)
radio-frequency equipment.
EN61000-6-2 Electromagnetic compatibility generic
immunity standard in industrial
environments
Note Installation under the conditions specified in 3-2-5 Wiring Conditions Satisfying EMC Directives is
required to conform to EMC Directives.
HUL/cUL Standards
Standards Product Applicable standard File No. Remarks
UL AC Servo Drivers UL508C E179149 Power conversion equipment
AC Servomotors UL1004 E179189 Electric motors
cUL AC Servo Drivers cUL C22.2 No. 14 E179149 Industrial control equipment
AC Servomotors cUL C22.2 No. 100 E179189 Motors and generators
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Datasheet of R88D-WT01H - SERVO DRV 200V 1PH 100W
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1-9
1-5 System Block Diagrams
H200 V AC: R88D-WTA3H/-WTA5H/-WT01H/-WT02H/-WT04H
100 V AC: R88D-WTA3HL/-WTA5HL/-WT01HL/-WT02HL
AC Servo Driver
Thermistor
AC Servomotor
Battery Connector
(CN8)
Encoder output
Command pulse
input
Speed/torque
command input
Control I/O
Serial port
Speed
control
Current
command
processing Position
control
Command
pulse
processing
Divider
Encoder signal
processing
Digital
current amp
PWM
generation
Current
detection
Interface
Gate drive
overcurrent
protection
Gate
drive
Voltage
detection
Relay
drive
Fuse
DC/DC
conver-
sion
Analog voltage
conversion
Display/Settings Areas
CN5
Analog monitor output CN3
Parameter Unit/computer
Voltage
detection
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1-10
H200 V AC: R88D-WT05H/-WT08H/-WT10H/-WT15H
AC Servo Driver
Thermistor
AC Servomotor
Fuse
0.5 to 1 kW
Interface
Gate drive
overcurrent
protection
Gate
drive
Voltage
detection
Relay
drive
Serial port
Speed
control
Current
command
processing Position
control
Command
pulse
processing
Divider
Encoder
signal
processing
Digital
current amp
PWM
generation
CN5
Analog monitor output CN3
Parameter Unit/computer
Battery Connector
(CN8)
Encoder output
Command pulse
input
Speed/torque
command input
Control I/O
DC/DC
conver-
sion
Analog voltage
conversion
Display/Settings Area
Voltage
detection
Current
detection
H200 V AC: R88D-WT20H/-WT30H/-WT50H
AC Servo Driver
AC Servomotor
Battery Connector
(CN8)
Encoder output
Command pulse
input
Speed/torque
command input
Control I/O
CN5
Analog monitor output CN3
Parameter Unit/computer
Display/Settings Area Serial port
Speed
control
Current
command
processing Position
control
Command
pulse
processing
Divider
Encoder signal
processing
Digital
current amp
PWM
generation
Fuse
Gate
drive
Voltage
detection
Relay
drive
DC/DC
con-
version
Voltage
detection Interface
Gate drive
overcurrent
protection
Current
detection
Gate
drive
Analog
voltage
conversion
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