Omron OMNUC U R88M-U Series User manual

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USER’S MANUAL
MODELS R88M-Uj
(AC Servomotors)
MODELS R88D-UPj
(AC Servo Drivers)
AC SERVOMOTORS/DRIVERS (30 to 750-W Pulse-train Inputs)
OMNUC USERIES
Cat. No. I502-E1-05
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Thank you for choosing this OMNUC UP-series product.
This manual provides details on the installation, wiring, troubleshooting, and maintenance of OMNUC
UP-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 Servomotor and Ser-
vo Driver for proper use.
3. The Servomotor and Servo Driver must be wired and the Parameter Unit must be operated by experts in electri-
cal 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 com-
ponents.
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 malfunc-
tion. Contact your OMRON representatives if you have any inquiry.
8. The functions and specifications differ for the various models, as shown below. Be sure to check which models
are being used before proceeding.
SHA/LA/V/W AC Servo Drivers: R88D-UPjjHA, R88D-UPjjLA, R88D-UPjjV, and R88D-UPjjW
SH/L AC Servo Drivers: R88D-UPjjH and R88D-UPjjL
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, vehicles, com-
bustion 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 this manual. 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 product with care.
SRetain this manual for future reference.
SThis manual describes the specifications and functions of the product and relations with other products. Assume that noth-
ing 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 (CCW) is forward and clockwise rotation (CW) is reverse.
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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, of-
ten 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, 1994
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.
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 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 be performed at least 5 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 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. Doing so may
result in fire or damage to the products.
Caution Do not store or install in the following places. Doing so may result in 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.
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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 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 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.
Operation and Adjustment Precautions
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
interruption 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.
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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
required for operation. Not doing so may result in an unexpected operation.
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 for Non-conforming Models
Warning label 1
Warning label 2
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Warning Labels for Models Conforming to EC Directives
Warning label 1
Warning label 2
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VISUAL INDEX
For users who wish to operate soon.
−The following portions of this manual provide the minimum information required for operation.
Be sure you fully understand at least the information in these portions before attempting opera-
tion.
Chapter 2 System Design and Installation, and sections 3-1, 3-2, 3-3, 3-4, 3-5, and 3-6 of Chap-
ter 3 Operation.
Instructions for jog operation using a Parameter Unit are provided in 3-6.
OMNUC U is a series of fully
software-controlled AC servo
drivers built on advanced OM-
RON software servo technol-
ogy. It provides high perfor-
mance, a sensitive man-ma-
chine interface, and economy.
SYSMAC CS1/C/CV
Programmable Controller
Pulse input
Controller Connecting Cable
Chapter 5: 5-3-1
Setting Functions
−Setting User Parameters: Section 3-5-1
−Internally Set Speed Control: Section 3-5-3
−Electronic Gears: Section 3-5-4
−Encoder Dividing: Section 3-5-5
−Bias: Section 3-5-6
−Torque Control: Section 3-5-7
−Brake Interlock: Section 3-5-8
Adjustments and Troubleshooting
−Adjustments: Section 3-7
−Displays: Section 4-1
−Monitor Outputs: Section 4-2
−Protections and Diagnostics: Section 4-3
−Troubleshooting: Section 4-4
Position Control Unit
C200HW-NC113
C200HW-NC213
C200HW-NC413
C200H-NC112
C200H-NC211
C500-NC113
C500-NC211
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OMNUC U Series
OMNUC U-series AC Servo Driver
I/O Operations
Chapter 5: 5-1-3
Cable Specifications
Chapter 5: 5-3-2, 5-3-3
Power
signals
Encoder
signals
Motor Specifications
Chapter 5: 5-2
OMNUC U-series
AC Servomotor
Operation Method
Chapter 3: 3-3, 3-4, 3-5
Parameter Units
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TABLE OF CONTENTS
ix
CHAPTER 1
Introduction 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 Features 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-2 System Configuration 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-3 Servo Driver Nomenclature 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4 Applicable Standards and Models 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-1 UL/cUL Standards 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-4-2 EC Directives 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 2
System Design and Installation 9. . . . . . . . . . . . . . . . . . .
2-1 Installation 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-1 External Dimensions (Unit: mm) 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1-2 Installation Conditions 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2 Wiring Products Conforming to UL/cUL and Wiring Products Not Conforming to Any
Standards 28
2-2-1 Connecting OMRON Servo Controllers 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-2 Connector-Terminal Conversion Unit 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-3 Wiring Servo Drivers 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-4 Wiring for Noise Resistance 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-2-5 Peripheral Device Connection Examples 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3 Wiring Products Conforming to EC Directives 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-1 Connecting Servo Controllers 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-2 Wiring Servo Drivers 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-3-3 Wiring Products Conforming to EMC Directives 45. . . . . . . . . . . . . . . . . . . . . . . . .
2-3-4 Peripheral Device Connection Examples 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 3
Operation 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1 Operational Procedure 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2 Turning On Power and Checking Displays 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-1 Items to Check Before Turning On Power 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-2-2 Turning On Power and Confirming the Display 56. . . . . . . . . . . . . . . . . . . . . . . . . .
3-3 Using Parameter Units 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-1 Parameter Unit Keys and Functions 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-2 Modes and Changing Modes 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-3-3 Mode Changes and Display Contents 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4 Initial Settings: Setup Parameters 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-1 Setting and Checking Setup Parameters (Cn-01, 02) 61. . . . . . . . . . . . . . . . . . . . . .
3-4-2 Setup Parameter Contents 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4-3 Important Setup Parameters (Cn-01 and Cn-02) 65. . . . . . . . . . . . . . . . . . . . . . . . . .
3-5 Setting Functions: User Parameters 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-1 Setting and Checking User Parameters (Cn-04 to 29) 67. . . . . . . . . . . . . . . . . . . . . .
3-5-2 User Parameter Chart 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-3 Internal Speed Control Settings 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-4 Electronic Gear Function: Position Control 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-5 Encoder Dividing Function 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-6 Bias Function: Position Control 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-7 Torque Limit Function 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-5-8 Brake Interlock (For Motors with Brakes) 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6 Trial Operation 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-6-1 Preparations for Trial Operation 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3-6-2 Jog Operations 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7 Making Adjustments 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-1 Auto-tuning 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-7-2 Manually Adjusting Gain 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8 Regenerative Energy Absorption 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-1 Calculating Regenerative Energy 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-2 Servo Driver Absorbable Regenerative Energy 95. . . . . . . . . . . . . . . . . . . . . . . . . . .
3-8-3 Absorption of Regenerative Energy with the External Regeneration Resistor (Models Conforming
to UL/cUL Standards and Models Not Conforming to Any Standards) 98. . . . . . . .
3-8-4 Processing Regenerative Energy with Multiple Axes (Models Conforming to EC
Directives) 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 4
Application 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 Using Displays 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-1 Display Functions 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-2 Status Display Mode 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-3 Monitor Mode (Un-) 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1-4 Checking Servomotor Parameters (Cn-00 Set to 04) 107. . . . . . . . . . . . . . . . . . . . . .
4-2 Using the Monitor Output 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3 Protective and Diagnostic Functions 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-1 Alarm Displays and Alarm Code Outputs 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-2 Alarm Output 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-3-3 Overload Characteristics (Electron Thermal Characteristics) 113. . . . . . . . . . . . . . . .
4-3-4 Alarm History Display Mode 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4 Troubleshooting 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-5 Periodic Maintenance 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 5
Specifications 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1 Servo Driver Specifications 124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-1 General Specifications 124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-2 Performance Specifications 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-3 I/O Specifications 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-1-4 Explanation of User Parameters 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2 Servomotor Specifications 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-1 General Specifications 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-2 Performance Specifications 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-3 Torque and Rotational Speed Characteristics 154. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-4 Allowable Loads on Servomotor Shafts 156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2-5 Encoder Specifications 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3 Cable Specifications 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-1 Controller Connecting Cables 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-2 Encoder Cables 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-3-3 Power Cable 165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-4 Parameter Unit Specifications 170. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-5 Regeneration Unit Specifications 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-6 Front-surface Mounting Bracket Specifications 172. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHAPTER 6
Supplementary Materials 177. . . . . . . . . . . . . . . . . . . . . . . .
6-1 Connection Examples 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-2 Servo Connector Terminal Connection Unit 185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
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6-3 OMNUC U-series Standard Models 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-4 Parameter Setting Forms 194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index 199. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
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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
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1-1 Features
OMNUC AC Servo Drivers control the power supplied to AC Servomotors with pulse-train input signals
and perform precision position control. There are 7 types of AC Servomotors: 30-W, 50-W, 100-W,
200-W, 300-W, 400-W, and 750-W.
HMotor Output Capacity
AC Servomotors with the following output capacities are available.
SFor 200/230-VAC (170 to 253 V) single-phase, 50/60-Hz Input
30 W, 50 W, 100 W, 200 W, 400 W, and 750 W
SFor 100/115-VAC (85 to 127 V) single-phase, 50/60-Hz Input
30 W, 50 W, 100 W, 200 W, and 300 W
The Servomotors also come with and without brakes, and with and without keys on the straight
shaft. Servomotors that conform to EC Directives, however, are available only with keys on the
shaft.
HModels Conforming to UL/cUL Standards Available (UL/cUL Markings)
AC Servomotors and Servo Drivers that conform to UL/cUL Standards are now available. Their per-
formance, functionality, and appearance are the same as the conventional U-series (HA/LA) mod-
els. They are useful for obtaining approvals required for specific applications.
Models conforming to UL/cUL Standards have the same product names as conventional U-series
(HA/LA) models. As shown in the following table, they are distinguished by the manufacturing date.
Model Manufacturing date Type Remarks
Models not conforming to
any standards Before April 1998 H/L, HA/LA Production of H/L models discontinued.
Models conforming to
UL/cUL Standards After May 1998 HA/LA UL/cUL markings are attached to products.
HEC Directives (CE Markings)
AC Servomotors and Servo Drivers that conform to EC low-voltage and EMC directives are now
available. These provide the same performance and functions as the rest of the U Series (HA/LA),
and will aid in obtaining specifications.
HControl Functions
Any one of the following 4 control modes can be selected in the parameter settings.
SPosition Control (Factory Setting)
Controls the position and speed of the Servomotor very precisely with pulse-train input signals.
Any one of the following 3 pulse trains can be selected: forward/reverse pulses, feed pulses/
directional signals, or 90_differential phase (A/B phases) signals.
SPosition Control with Pulse Stop Input Enabled (HA/LA/V/W Models)
Turning ON the Pulse Stop Input (IPG) prevents the control signals from being read by the Unit
during position control.
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SInternal Speed Control Settings
The speed of the motor is controlled with the three speeds (No. 1, No. 2, and No. 3 internal speed
settings) set in the parameters. This mode is effective for simple position control or speed-
switching operation.
SInternal Speed Control Setting + Position Control (HA/LA/V/W Models)
Speed control can be performed with the internal speed settings and position control can be per-
formed with pulse-train inputs.
HAuto-tuning
The gain can be adjusted automatically when the responsiveness has been selected to match the
rigidity of the mechanical system. The auto-tuning feature automatically finds the optimum adjust-
ment to match the load, with no need for difficult operations.
HMonitor
Displays the driver’s operating status on the Parameter Unit.
The following items can be monitored: speed feedback, speed commands, torque commands,
number of pulses from the U-phase edge, electrical angle, internal status (bit display), command
pulse’s speed, position deviation, and the input pulse counter.
HJog Operation
Forward/Reverse motor operation can be controlled from the Parameter Unit. Rotational speed can
be set in the parameters.
HElectronic Gear Function (Position Control)
The number of pulses used to rotate the motor is calculated by multiplying the number of command
pulses by the electronic gear ratio. This function is useful in the following kinds of cases.
SWhen you want to finely adjust the position and speed of two lines that need to be synchronized
SWhen you want to increase the control pulse frequency of a controller with a low pulse frequency
SWhen you want to set the movement/pulse to a certain amount, such as 0.01 mm/pulse
The electronic gear ratio is set with parameters G1 and G2 (G1=numerator and G2=denominator).
The setting range for parameters G1 and G2 is 1 to 65,535. The setting range for the gear ratio is
0.01 to 100, i.e., 0.01 ≤G1/G2 ≤100.
HEncoder Resolution Function
This function allows the encoder signal output from the driver to be set anywhere from 16 to 2,048
pulses/revolution.
HSoftware Start Function (Internal Speed Control Settings)
This function causes the motor to be started/stopped in the preset acceleration/deceleration 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.
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4
HPulse Smoothing Function (Position Control)
Even high-frequency commands can be executed smoothly by including acceleration/deceleration
in the command pulses. The same setting is used for both the acceleration and deceleration times,
and the setting range is 0 to 64 ms.
HReverse Mode
Forward/Reverse commands can be switched in the parameters, without changing the wiring to the
motor or encoder.
HBrake Interlock Output
Outputs a timing signal interlocked with the motor’s ON/OFF status and rotational speed. The hold-
ing brake of a motor with a brake can be operated reliably.
HOvertravel Sequence
An overtravel sequence compatible with the system can be selected. There are three deceleration
methods available: dynamic brake deceleration, free-run deceleration, and emergency-stop torque
deceleration (parameter setting).
HFeed-forward and Bias Functions (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 Function
Reduces the position control time by adding the bias revolutions to the speed control when the
deviation counter value exceeds the position completion range.
HComputer Monitor Software (HA/LA/V/W Models)
The special Servo Driver Communications Software allows parameter setting, speed and current
monitoring, I/O monitoring, auto-tuning, and jog operations to be performed from a personal com-
puter. It is also possible to perform multiple-axis communications that set the parameters and moni-
tor the operation of several drivers. Refer to the Computer Monitor Software Instruction Manual
(I513) for OMNUC U-series Servo Drivers for more details.
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5
1-2 System Configuration
Parameter Units
OMNUC U-series
AC Servo Driver
OMNUC U-series
AC Servomotor
SYSMAC CS1/C/CV
Programmable Controller
C200HW-NC113
C200HW-NC213
C200HW-NC413
C200H-NC112
C200H-NC211
C500-NC113
C500-NC211
Position Control Unit
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1-3 Servo Driver Nomenclature
HFront View
Terminal block
CN4: Connector for monitor output
Power supply indicator
Alarm indicator
CN3: Parameter Unit connector
CN1: Control I/O connector
CN2: Encoder connector
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