Omron R88M-W60010T User manual

Cat. No. I544-E1-05
USER’S MANUAL
OMNUC WSERIES
MODELS R88M-W@
(AC Servomotors)
MODELS R88D-WN@-ML2
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

Thank you for choosing this OMNUC W-series product. Proper use and handling of the prod-
uct will ensure proper product performance, will length product life, and may prevent possible
accidents.
Please read this manual thoroughly and handle and operate the product with care.
1.To ensure safe and proper use of your OMRON Servomotors and Servo Drivers, please read this manual
(Cat. No. I544-E1) to gain sufficient knowledge of the products, safety information, and precautions before
actual use.
2.The products are illustrated without covers and shieldings to enable showing better detail in this manual.
For actual use of the products, make sure to use the covers and shieldings as specified.
3.Copies of this manual and other related manuals must be delivered to the actual end users of the products.
4.Please keep a copy of this manual close at hand for future reference.
5.If a product has been left unused for a long time, please consult with your OMRON sales representative.
Items to Check After Unpacking
1.Check the following items after removing the product from the package:
• Has the correct product been delivered (i.e., the correct model number and specifications)?
• Has the product been damaged in shipping?
• Are any screws or bolts loose?
NOTICE
1.This manual describes the functions of the product and relations with other products. You
should assume that anything not described in this manual is not possible.
2.Although care has been given in documenting the product, please contact your
OMRON representative if you have any suggestions on improving this manual.
3.The product contains dangerous high voltages inside. Turn OFF the power and wait for at least
five minutes to allow power to discharge before handling or working with the product. Never
attempt to disassemble the product.
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.
• Precautions on the dangers of high-voltage equipment.
• Precautions 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.Specifications and functions may be changed without notice in order to improve product per-
formance.
6.Positive and negative rotation of AC Servomotors described in this manual are defined as look-
ing at the end of the output shaft of the motor as follows: counterclockwise rotation is positive
and clockwise rotation is negative.
7.Do not perform withstand-voltage or other megameter tests on the product. Doing so may
damage internal components.
8.Servomotors and Servo Drivers have a finite service life. Be sure to keep replacement prod-
ucts on hand and to consider the operating environment and other conditions affecting the ser-
vice life.
9.The OMNUC W Series can control both incremental and absolute encoders. Differences in
functions or specifications according to the encoder type are indicated in this manual. Be sure
to check the model that is being used, and follow the relevant specifications.
• Servomotors with incremental encoders: R88M-W@H-@
• Servomotors with absolute encoders: R88M-W@T- @

USER’S MANUAL
OMNUC WSERIES
MODELS R88M-W@
(AC Servomotors)
MODELS R88D-WN@-ML2
(AC Servo Drivers)
AC SERVOMOTORS/SERVO DRIVERS
WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS

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 dam-
age to property.
!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in
death or serious injury. Additionally, there may be severe property damage.
!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury. Additionally, there may be severe property damage.
!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, 2004
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o
r
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o
f
OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con-
stantly 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 responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.

General Warnings
Observe the following warnings when using the OMNUC Servomotor and Servo Driver and all con-
nected 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 Servomo-
tor 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 autho-
rized 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.
!WARNING 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.
!WARNING Provide an external emergency stopping device that allows an instantaneous stop
of operation and power interruption. Not doing so may result in injury.
!WARNING 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 Use the Servomotors and Servo Drivers in a specified combination. Using them
incorrectly 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.
• Locations subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified in the specifi-
cations.
• Locations subject to condensation as the result of severe changes in temperature.
• Locations subject to corrosive or flammable gases.
• Locations subject to dust (especially iron dust) or salts.
• Locations subject to shock or vibration.
• Locations subject to exposure to water, oil, or chemicals.
!Caution Do not touch the Servo Driver radiator, regeneration resistor, or Servomotor while
the power is being supplied or soon after the power is turned OFF. Doing so may
result in a skin burn due to the hot surfaces.
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 transport-
ing 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
malfunction.
!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 ter-
minals. 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.
!Caution Take appropriate measures to ensure that the specified power with the rated volt-
age 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 Take appropriate and sufficient countermeasures when installing systems in the
following locations:
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields and magnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
!Caution Do not reverse the polarity of the battery when connecting it. Reversing the polar-
ity 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 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 use the built-in brake of the Servomotor for ordinary braking. Doing so may
result in malfunction.
Maintenance and Inspection Precautions
!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.
!Caution Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so
may result in malfunction, fire, or electric shock.