Omron Omnus FND-X Series User manual

Thank you for choosing this OMNUC FND-X-series product.
This manual provides details on the installation, wiring, troubleshooting, and maintenance of
OMNUC
FND-X-series products along with parameter settings for the operation of the products.
General Instructions
1. Refer to Precautions first and carefully read and be sure to understand the information provided.
2. Familiarize
yourself with this manual and understand the functions and performance of the Servo -
motor and Servo Driver for proper use.
3. The Servomotor and Servo Driver must be wired and operated by experts in electrical engineering.
4. We recommend that you add the following precautions to any instruction manuals you prepare for
the system into which the product is being installed.
SPrecautions on the dangers of high-voltage equipment.
SPrecautions on touching the terminals of the product even after power has been turned OFF.
(These terminals are live even with the power turned OFF.)
5. Do not perform withstand voltage or other megameter tests on the product. Doing so may damage
internal components.
6. Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement products on
hand and to consider the operating environment and other conditions affecting the service life.
7. Do not set any parameter not described in this manual, otherwise the Servomotor or Servo Driver
may malfunction. Contact your OMRON representatives if you have any inquiry.
NOTICE
Before using the product under the following conditions, consult your OMRON representatives, make
sure that the ratings and performance characteristics of the product are good enough for the systems,
machines, or equipment, and be sure to provide the systems, machines, or equipment with double safety
mechanisms.
1. Conditions not described in the manual.
2. The application of the product to nuclear control systems, railroad systems, aviation systems, ve-
hicles, combustion systems, medical equipment, amusement machines, or safety equipment.
3. The
application of the product to systems, machines, or equipment that may have a serious influence
on human life and property if they are used improperly.
Items to Check After Unpacking
Check the following items after removing the product from the package:
SHas the correct product been delivered (i.e., the correct model number and specifications)?
SHas the product been damaged in shipping?
The product is provided with Safety Precautions Sheets. No connectors or mounting screws are
provided.
SMake sure that actual users of this product will read this manual thoroughly and handle and operate the prod -
uct with care.
SRetain this manual for future reference.
SThis manual describes the specifications and functions of the product and relations with other products. As -
sume that nothing described in this manual is possible.
SSpecifications and functions may change without notice to improve product performance.
SForward
and reverse rotation of AC Servomotors described in this manual are defined as looking at the end of
the output shaft of the motor as follows: counterclockwise rotation is forward and clockwise rotation is reverse.

USER’S MANUAL
MODELS FND-Xj(DIO Type)
FND-Xj-SRT (CompoBus/S Type)
POSITION DRIVERS
OMNUC FND-XSERIES

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No. 6182
OMRON Corporation
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.
Read and Understand this Manual
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-
INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

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No. 6182
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED
FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.

No. 6182
3
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other
reasons.
It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

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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. Al-
ways heed the information provided with them. Failure to heed precautions can result in inju-
ry 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, 1998
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, 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. Never-
theless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for dam -
ages resulting from the use of the information contained in this publication.

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General Precautions
Observe the following precautions when using the OMNUC Position Drivers and 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 Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
WARNING Always connect the frame ground terminals of the Servo Driver and the Servomotor
to a class-3 ground (to 100 Ω or less). Not connecting to a class-3 ground 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 Operation, maintenance, or inspection must be performed by authorized personnel.
Not doing so may result in operation stoppage, burning of the product, electric
shock, or injury.
WARNING Wiring or inspection must be performed at least 1 minute after turning of f the power
supply. Doing so may result in electric shock.
WARNING Do not damage, pull on, apply stress to, place heavy objects on, or pinch the cables.
Doing so may result in electric shock.
WARNING Do not touch the rotating parts of the Servomotor under 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. Not doing so
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 elec -
tric shock, fire 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.
Caution Do not touch the Servo Driver radiator, regenerative resistor, or Servomotor while
the
power is being supplied or soon after the power is turned of f. Doing so may result
in a skin burn due to the hot surface.

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Storage and Transportation Precautions
Caution Do not hold by the cables or motor shaft while transporting the product. 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 Servomotor . Using them for trans -
porting 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 to firmly tighten the screws fixing the product, the terminal block, and cables.
Not doing so may result in malfunction.
Caution Use crimp terminals for wiring. Do not connect bare stranded wires directly to the
terminal block. Doing so may result in fire.
Caution Use
the power supply voltages specified in this manual. Not doing so may result in
burning.
Caution Take
appropriate measures to ensure that the specified power with the rated voltage
is supplied. Be particularly careful in places where the power supply is unstable. Not
doing so may result in damage to the product.
Caution Install
external breakers and take other safety measures against short-circuiting in
external wiring. Not doing so may result in fire.

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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 suf ficient countermeasures when installing systems in the fol -
lowing locations. Not doing so may result in equipment damage.
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.
Operation and Adjustment Precautions
Caution Confirm that no adverse effect 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.
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 take the Unit apart or repair. Doing either of these may result in
electrical shock or injury.
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 equipment damage.

Warning Labels
Warning labels are pasted on the product as shown in the following illustration. Be sure to
follow the instructions given there.
Warning labels
Warning Labels
Warning label 1 W arning label 2
May cause electric shock.
Connect to a ground of 100 Ωor less.

VISUAL INDEX
For users who wish to begin operations quickly.
-The
OMNUC FND-X-series Position Driver allows motor test operation only by wiring the driver
and motor without connecting the controller. Read 3-2 Turning ON Power and Checking Dis-
play , properly set the motor model code, and then operate the motor according to 3-8-2System
Check Mode .
Do not connect any load (machines) when performing test operation. Perform test operation
only after confirming that no adverse effects will be caused by test operation.
Initial Operation (Starting)
-3-1 Operation Procedure
-3-2Turning ON Power and Checking Displays
Function Settings (Parameter Settings)
-3-4 Setting Functions: User Parameters (H Parameters)
-3-5 Position Control Settings (PTP Parameters)
-3-6 Setting Positioning Data (PTP Data, Direct Input)
Trial Operation and Adjustments
-3-8-1 Trial Operation Procedure
-3-8-2 System Check Mode
-3-9-1 Auto-tuning
-3-9-2 Manually Adjusting Gain
Troubleshooting
-4-4 Protection and Diagnosis
-4-5 Troubleshooting
SYSMAC C/CV
Programmable Controller 5-3-1 General Control
Cable Specifications
I/O signals
SYSMAC C200H-HX/HG/HE
or CQM1 Programmable
Controller Section 6 CompoBus/S Specifications
CompoBus/S signals
SRM1-C01/-C02
Master Controller

OMNUC FND-X Series
OMNUC FND-X-series Position Drivers
2-2-2 Control Circuitry
Terminal Wiring
5-1 Position Driver Specifications
2-2-3 Wiring Terminal Blocks
3-3-3 Mode Details
5-3 Cable Specifications
Encoder/Resolver signalsPower signals
OMNUC M-series
AC Servomotors OMNUC U-series AC Servomotors
1200 r/min: 200 to 1.8 kW with Resolver
2000 r/min: 200 to 2.2 kW with Resolver
4000 r/min: 60 to 2 kW with Resolver
3000 r/min: 30 to 2 kW with
Incremental Encoder
3000 r/min: 30 to 2 kW with
Absolute Encoder
DIO Type
200 V: FND-XjjH
100 V: FND-XjjL
CompoBus/S Type
200 V: FND-XjjH-SRT
100 V: FND-XjjL-SRT
OMNUC U-UE-series
AC Servomotors OMNUC H-series AC Servomotors
3000 r/min: 100 to 750 W with
Incremental Encoder
3000 r/min: 50 to 1 100 W with
Incremental Encoder
6-3 Connecting a CompoBus/S
System
Teaching Box
CVM1-PRO01 Teaching Box
ROM Cassette:
CVM1-MP702
(Common for MC Units and
Position Drivers)
CVM1-MP703
For details refer to Cat. No. W354-E1.
RS-422 Teaching Box connections cable

Table of Contents
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 Nomenclature and Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Supported Standards and Supporting Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3-1 Standards Supported by Position Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3-2 Standards Supported by AC Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 2. Design and Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-1 External Dimensions (Unit: mm) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-2 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-2 Control Circuitry Terminal Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-3 Wiring Terminal Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-4 Wiring for Noise Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-5 Wiring Products Conforming to EMC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-6 Peripheral Device Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder . . . . . . . . . . . . . . . . . . . . . .
Chapter 3. Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 Turning ON Power and Checking Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-1 Items to Check Before Turning ON the Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-2 Turning ON the Power and Checking the Display . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3 Using the Display Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-1 Key Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-2 Modes and Mode Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-3 Mode Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-4 CompoBus/S Communications Display and Setting Panel . . . . . . . . . . . . . . . . . . . . .
3-4 Setting Functions: User Parameters (H Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-1 Setting User Parameters and H Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-2 User Parameter and H Parameter Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-3 User Parameter and H Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5 Position Control Settings (PTP Parameters) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-1 Setting PTP Parameters (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-2 PTP Parameters (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-3 PTP Parameter Details (PP-01 to PP-26) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6 Setting Positioning Data (PTP Data, Direct Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-1 Setting PTP Data (When UP-01 is 11 or 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-2 Setting Direct Input (When UP-01 is 13 or 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-3 PTP Data (Pd01jj to Pd64j) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-4 PTP Data Details (Pdjjj) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7 Operational Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-1 Origin Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-2 Origin Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-3 Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-4 Point Positioning (UP-01: 11 or 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-5 Direct Positioning (UP-01: 13 or 14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-1 Trial Operation Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-2 System Check Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents
3-9 Making Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-9-1 Auto-tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-9-2 Manually Adjusting Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-9-3 Adjustment Parameter Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-10 Regenerative Energy Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-10-1 Calculating Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-10-2 Position Driver Absorbable Regenerative Energy . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-10-3 Regenerative Energy Absorption by Regeneration Resistor . . . . . . . . . . . . . . . . . . . .
Chapter 4. Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2 Check Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-2-1 I/O Signal Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 Monitor Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 Protection and Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4-1 Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4-2 Countermeasures to Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4-3 CompoBus/S-type Position Driver Protective and Diagnostic Functions . . . . . . . . . .
4-4-4 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4-5 Alarm Output and Clearing Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-1 Preliminary Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-2 Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-3 Replacing the Position Driver and the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5-4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-6 Periodic Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 5. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1 Position Driver Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-1 General Specifications (Common to DIO, CompoBus/S) . . . . . . . . . . . . . . . . . . . . . .
5-1-2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-3 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Servomotor Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-1 U-series 30-W to 750-W Servomotors (INC/ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-2 U-UE-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-3 U-series 1-kW to 2-kW Servomotors (INC/ABS) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-4 H-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-5 M-series Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3 Cable Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-1 General Control Cables (DIO Position Drivers Only) . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-2 Connector Terminal Board Conversion Unit Cables (DIO Position Drivers Only) . . .
5-3-3 External Control Signal Connecting Cables (CompoBus/S Position Drivers Only) . .
5-3-4 Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-5 Resolver Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-6 Power Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 6. CompoBus/S Specifications . . . . . . . . . . . . . . . . . . . . . . . . .
6-1 CompoBus/S Configuration Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 CompoBus/S Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-3 Connecting a CompoBus/S System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents
Chapter 7. Appendices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-1 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2 Parameter Settings Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1
Introduction
1-1 Functions
1-2 Nomenclature and Key Operations
1-3 Supported Standards and Supporting Models
1

1-2
1-1 Functions
OMRON’s FND-X Position Drivers are servo drivers with built-in positioner functions
that control AC servomotors according to positioning data.
HFND-X-Series Models
There are two types of FND-X Position Drivers, according to the type of control signals used.
Control signals Model
DIO FND-XjjH/FND-XjjL
CompoBus/S FND-XjjH-SRT/FND-XjjL-SRT
Up to eight CompoBus/S Position Drivers can be connected to one Master Unit for 128 input and 128
output points. Two-wire communications are used, reducing system wiring. High-speed communica-
tions are also achieved, with a communications cycle time of 0.5 or 0.8 ms.
Note Only the high-speed communications mode is available with the FND-X.
HInternational Standards: EC Directives and UL/cUL Standards
Position Drivers manufactured beginning April 1999 are available that conform to EC directives and
UL/cUL standards, making it easier to conform to these standards in the overall system. When con -
forming to directives/standards, use U-series Servomotors that also conform to the require direc-
tives/standards.
HApplicable Servomotor Models
The following AC Servomotors can be connected to FND-X-series Position Drivers.
•OMNUC U Series (30 to 750 W)
Servomotors Conforming to UL/cUL Standards
With incremental encoders: R88M-UjjjjjHA-j
With absolute encoders: R88M-UjjjjjTA-j
Servomotors Conforming to EC Directives
With incremental encoders: R88M-UjjjjjVA-j
With absolute encoder: R88M-UjjjjjXA-j
•OMNUC U Series (1 to 2 kW)
Servomotors Not Conforming to Standards
With incremental encoder: R88M-UjjjjjH-j
With absolute encoder: R88M-UjjjjjT-j
Servomotors Conforming to EC Directives
With incremental encoder: R88M-UjjjjjV-j
With absolute encoder: R88M-UjjjjjX-j
•OMNUC U-UE Series (100 to 750 W)
Servomotors Not Conforming to Standards
With incremental encoder: R88M-UEjjjjjH-j
Servomotors Conforming to EC Directives
With incremental encoder: R88M-UEjjjjjV-j
Introduction Chapter 1

1-3
•OMNUC H (50 to 1,100 W) Series (with incremental encoder): R88M-Hjjjjj-j
•OMNUC M (60 to 2,200 W) Series (with resolver): R88M-Mjjjjj-j
Note H-series and M-series models do not conform to the EC Directives and UL/cUL standards.
•The
following models are available with dif ferent output capacities, and are arranged according to in -
put power supply.
DPosition Driver and AC Servomotor Combinations
Position Driver Applicable AC Servomotor
Input power
supply Model Series Model Output capacity Rated r/min
Single-phase
/(
FND-X06H-jUR88M-U03030jA 30 W 3,000 r/min
g
200/240 (170 to
264) V AC at
R88M-U05030jA 50 W
,
264
)
V A
C
at
50/60 Hz
R88M-U10030jA 100 W
50/60 Hz
U-UE R88M-UE10030j-S1 100 W 3,000 r/min
HR88M-H05030 50 W 3,000 r/min
R88M-H10030 100 W
,
FND-X12H-jUR88M-U20030jA 200 W 3,000 r/min
R88M-U40030jA 400 W
,
U-UE R88M-UE20030j-S1 200 W 3,000 r/min
R88M-UE40030j-S1 400 W
,
HR88M-H20030 200 W 3,000 r/min
R88M-H30030 300 W
,
MR88M-M06040 60 W 4,000 r/min
R88M-M12040 120 W
,
R88M-M20040 200 W
R88M-M40040 400 W
R88M-M20020 200 W 2,000 r/min
R88M-M40020 400 W
,
R88M-M20012 200 W 1,200 r/min
R88M-M40012 400 W
,
FND-X25H-jUR88M-U75030jA 750 W 3,000 r/min
R88M-U1K030j1000 W
,
U-UE R88M-UE75030j-S1 750 W 3,000 r/min
HR88M-H50030 500 W 3,000 r/min
R88M-H75030 750 W
,
R88M-H1K130 1100 W
MR88M-M70040 700 W 4,000 r/min
R88M-M1K140 1100 W
,
R88M-M70020 700 W 2,000 r/min
R88M-M1K120 1100 W
,
R88M-M70012 700 W 1,200 r/min
Introduction Chapter 1

1-4
Position Driver Applicable AC Servomotor
Input power
supply Rated r/minOutput capacity
ModelSeriesModel
Three-phase
/(
FND-X50H-jUR88M-U1K530j1500 W 3000 r/min
200/240 (170 to
264) V AC at
R88M-U2K030j2000 W
264
)
V A
C
at
50/60 Hz
MR88M-M2K040 2000 W 4000 r/min
50/60 Hz
R88M-M1K820 1800 W 2000 r/min
R88M-M2K220 2200 W
R88M-M1K112 1100 W 1200 r/min
R88M-M1K412 1400 W
R88M-M1K812 1800 W
Single-phase
/(
FND-X06L-jUR88M-U03030jA 30 W 3,000 r/min
g
100/115 (85 to
127) V AC at
R88M-U05030jA 50 W
,
127
)
V A
C
at
50/60 Hz
R88M-U10030jA 100 W
50/60 Hz
U-UE R88M-UE10030j-S1 100 W 3,000 r/min
HR88M-H05030 50 W 3,000 r/min
R88M-H10030 100 W
,
FND-X12L-jU R88M-U20030jA 200 W 3,000 r/min
U-UE R88M-UE20030j-S1 200 W 3,000 r/min
H R88M-H20030 200 W 3,000 r/min
MR88M-M06040 60 W 4,000 r/min
R88M-M12040 120 W
,
R88M-M20040 200 W
R88M-M20020 200 W 2,000 r/min
R88M-M20012 200 W 1,200 r/min
Note 1. Even when a U-series or U-UE-series Servomotor is used in combination with a100-V AC-in-
put
Position Driver , a 200-V AC Servomotor must be used. A 100-V AC Servomotor cannot be
connected.
Note 2. Straight-axis servomotors are available either with or without a key or brake. In the above
table, the Servomotors have the following features.
U-series Straight axis without brake, without key
U-series UE models Straight axis without brake, with key (not available without key)
H-series Straight axis without brake, with key
M-series Straight axis without brake, with key (“A” cut for small-capacity)
Note 3. Motor control is enabled by setting the user parameter UP-02 of the Position Driver.
Note 4. U-series
UE-type and H-series Servomotors can be used only with Position Driver software
version 4.01 (September 1997) or later.
U-series 1-kW to 2-kW Servomotors and M-series 1.1-kW to 2.2-kW Servomotors can be
used only with Position Driver software version 4.04 (April 1999) or later.
Introduction Chapter 1

1-5
HServomotor Features and Selection Standards
Any FND-X-series Position Driver can be freely selected according to the application. When making the
selection, take the following points into consideration.
DServomotor Features
U/UE Series
SCompact size, high-speed response
SHigh resolution (except for UE type)
SAbsolute encoder system can be configured (except for UE type).
H Series
SHigh resolution
SHigh application load inertia (less than 10 times the rotary inertia)
SUsable in systems with comparatively low mechanical rigidity.
M Series
SHigh application load inertia (less than 10 times the rotary inertia)
SUsable in systems with comparatively low mechanical rigidity.
SHigh output torque in a low-rotation motor
SUp to a maximum of 50 meters between Servomotor and Servo Driver.
DMotor Selection Standards (Reference)
Drive system type Low inertia High inertia
Ball screw direct connection U, U-UE, H, M U, U-UE, H, M
Turntable direct connection U, U-UE, H, M U, U-UE, H, M
Feeder (direct connection) U, U-UE, H, M U, U-UE, H, M
Harmonic drive U, U-UE, H, M H, M
Chain drive U, U-UE, H, M H, M
Belt drive U, U-UE, H, M H, M
Rack & pinion U, U-UE, H, M H, M
Note “Low inertia” means that the motor axis conversion inertia is approximately 0 to 5 times the rotary
inertia for H-series and M-series Servomotors, and approximately 0 to 15 times the rotary inertia
for U-series and U-series UE-type Servomotors.
“High inertia” means that the motor axis conversion inertia is approximately 5 to 10 times the
rotary
inertia for H-series and M-series Servomotors, and approximately 15 to 30 times the rotary
inertia for U-series and U-series UE-type Servomotors.
HPosition Control Functions
DPulse Rate Setting Function
Pulse rate setting makes it possible to set positioning data (i.e., positions and speeds) according to the
mechanical axis.
Introduction Chapter 1