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Omron SMARTSTEP Junior User manual

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Servomotors/Servo Drivers
USER’S MANUAL
SMARTSTEP Junior
MODELS R7M-Z@(Servomotors)
R7D-ZP@(Servo Drivers)
Cat. No. I553-E1-01
69109
SMARTSTEP Junior
Supplemental Information On Wiring
OMRON Corporation Cat. No. I553-E1-01
Thank you for your continued support of OMRON products.
The information provided in this document is being provided to supplement the information on wiring via a
XW2B-series Terminal Block Conversion Unit when connecting a SMARTSTEP Junior Servo Driver to a
Controller. The original information is insufficient, so please use this document along with the manual.
Using a Terminal Block Conversion Unit
A Terminal Block Conversion Unit can be used when connecting to a general-purpose Controller. This
document describes the Unit models and provides cable specifications and wiring examples.
SMARTSTEP Junior
General-purpose
Cable
Controller
Terminal Block Conversion Unit
Be sure to correctly match
the connector pins and the
terminal block terminals.
Conversion Unit Models
Any of the following three models of 20-pole Conversion Units can be used as required by the application.
XW2B-20G5 XW2D-20G6
XW2B-20G4
Cable Specifications
Use one of the following cables to connect the Connector Terminal Block Unit to the control I/O
connector (CN1) on the Servo Driver.
Model Length (L) Outer diameter of
sheath
Weight
XW2Z-100J-B19 1 m Approx. 0.1 kg
XW2Z-200J-B19 2 m 8 dia. Approx. 0.2 kg
XW2B-20G4
XW2B-20G5
XW2D-20G6
R7D-ZP@
Servo Driver
C
onnec
t
or
T
erm
i
na
l
Bl
oc
k
U
n
it
Servo Driver Wiring
The following diagram shows the correspondences between signal names and terminal numbers.
Symbol No.
+24VIN 1
2
+24VIN 3
4
+24VIN 5
6
+CW/PULS 7
-CW/PULS 8
+CCW/SIGN 9
-CCW/SIGN 10
+ECRST 11
-ECRST 12
Z 13
ZCOM 14
RUN 15
0GND 16
BKIR 17
INP 18
ALM 19
Shield 20
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
No. Wire/mark colors Symbol
5 Blue/Red(-)+24VIN
1 Pink/Red(-)+CW/PULS
2 Pink/Black(-)-CW/PULS
3 Green/Red(-)+CCW/SIGN
4 Green/Black(-)-CCW/SIGN
8 Orange/Red(-)+ECRST
9 Orange/Black(-)-ECRST
10 Gray/Red(-)Z
11 Gray/Black(-)ZCOM
6 Blue/Red(--)RUN
7 Blue/Black(--)0GND
13 Pink/Red(--)BKIR
14 Pink/Black(--)INP
12 Green/Red(--)ALM
Shell Shield FG
Terminal block Connector Servo Driver
Connector at Terminal Block Conversion Unit
Connector Socket: X4GM-2030
Strain Relief: XG4T-5004
Cable
AWG28 × 10P, UL 20276
Servo Driver Connector
Connector plug: 10114-3000PE (Sumitomo 3M)
Connector case: 10314-52A0-008 (Sumitomo 3M)
Controller Wiring (XW2B-20G4/20G5 and XW2D-20G6)
FG
Note 1. The XB contact is used to turn the electromagnetic
brake ON and OFF.
• Using Line-driver Position Command Pulse and Deviation Counter Reset Inputs
+24VIN +24VIN +24VIN +CW
/PULS
+CW
/SIGN +ECRST Z RUN BKIR ALM
0V 0V 0V
−CW
/PULS
−CCW
/SIGN −ECRST ZCOM 0GND INP
24 VDC 24 VDC
X1
X1XXBX
*1
•Using Open-collector Position Command Pulse and Deviation Counter Reset Inputs
V cc
R
Note 1. The XB contact is used to turn the electromagnetic brake ON and OFF.
2. Select resistance R so that the input current will be from 7 to 15 mA.
1.6
k
Ωto 2.2 kΩ
750 Ωto 1.0 kΩ
180 Ω
FG
+24VI +24VI +24VI +CW
/PUL
S
+CW
/SIGN +ECRS
Z
RUN BKI
R
ALM
0V 0V 0V
−CW
/PULS
−CCW
/SIGN
−ECRS ZCOM 0GND INP
X1
24 VDC 24 VDC
X1XXBX
*1
R R R
*2 *2 *2
Vcc
24 V
12 V
5 V
Wiring to a CP1H-series Controller
Connecting to the SYSMAC CP1H-X20DT-D
XW2B-20G@
Shield
Servo Driver
Connector
Pin
Numbers
Output Terminal Bloc
k
Symbol
Pulse output 0 (CW0)
Pulse output 0 (CCW0)
Origin search 0
101.00 to 03
COM
24-VDC input
terminal (+)
24-VDC input
terminal ( −
)
Input Terminal Bloc
k
Pulse 0 origin
input signal
Pulse 0 origin
proximity input signal
1.6 kΩ
+CW/PLUS
−CW/PLUS
+CCW/SIGN
−CCW/SIGN
+ECRST
−ECRST
Shell
CP1H-20D
T
-D
1.6 kΩ
1.6 kΩ
No.
100
00
COM
100
01
COM
100.00 COM
100.01 COM
101
02
COM
COM
COM
000
00
COM
000CH
COM
000
01
24 VDC
24 VDC
X1
XB
X1
7
8
9
10
11
12
18
14
13
13.5
15
16
19
17
20
1
2
3
4
8
9
14
11
10
5
6
7
12
13
INP
ZCOM
Z
+24VIN
RUN
0GND
ALM
BKIR
FG
XW2B-20G@
Connecting to the SYSMAC CP1H-Y20D
T
-D Servo Driver
Connector
Pin
Numbers
Shield
Output Terminal Block
Pulse
output 0
CW0+
CW0
−
CCW0+
CCW0
−
Origin search 0 (CIO 101, bit 02)
24-VDC input terminal (+)
24-VDC input terminal ( −
)
COM (101CH)
Input Terminal Bloc
k
Pulse 0 ori
g
in input si
g
nal (CIO 0, bit 00)
COM (101CH)
Pulse 0 origin proximity input signal
(CIO 0, bit 01)
+CW
−CW
+CCW
−CCW
+ECRST
−ECRST
Shell
CP1H-Y20D
T
-D
1.6 kΩ
24 VDC
24 VDC
X1
7
8
9
10
11
12
18
14
13
1.3.5
15
16
19
17
20
1
2
3
4
8
9
14
11
10
5
6
7
12
13
INP
ZCOM
Z
+24VIN
RUN
OGND
ALM
BKIR
FG
X1
XB
Using Servo Relay Units
A Servo Relay Unit can be used when connecting to the Controllers listed in the following table. Refer to
this table to select the Controller Cable. If there is more than one terminal block plate (the nameplate
with the signal names) provided with the Servo Relay Unit, use the one for SMARTSTEP and wire the
terminals correctly.
Controller Cable connecting to the
Controller
Servo Relay Unit Cable connecting to the
Servo Driver
C200H-NC112 XW2Z-@@@J-A4
C200HW-NC113
CS1W-NC113
XW2Z-@@@J-A8
CS1W-NC133 XW2Z-@@@J-A12
CJ1W-NC113 XW2Z-@@@J-A16
CJ1W-NC133 XW2Z-@@@J-A20
3F88M-DRT141 XW2Z-@@@J-A25
XW2B-20J6-1B
C200H-NC211 XW2Z-@@@J-A5
C200HW-NC213/413
CS1W-NC213/413
XW2Z-@@@J-A9
CS1W-NC233/433 XW2Z-@@@J-A13
CJ1W-NC213/413 XW2Z-@@@J-A17
CJ1W-NC233/433 XW2Z-@@@J-A21
XW2B-40J6-2B
CQM1-CPU43-V1
CQM1H-PLB21
XW2Z-@@@J-A3 XW2B-20J6-3B
XW2B-20J6-8A
CJIM-CPU21
CJIM-CPU22
CJIM-CPU23
XW2Z-@@@J-A26
XW2B-40J6-9A
(for 2-axis connection)
XW2Z-@@@J-B17
Thank you for choosing this SMARTSTEP Junior product.
This manual provides information on installation, wiring, and switch setting for the SMARTSTEP Junior
Servomotors and Servo Drivers. For information about troubleshooting, refer to the SMARTSTEP Junior
User’s Manual (Cat. No. I553).
Intended Audiences
This manual is intended for the following personnel, who must also have knowledge of
electrical systems (an electrical engineer or the equivalent).
•Personnel in charge of installing FA systems
•Personnel in charge of designing FA systems
•Personnel in charge of managing FA systems and facilities
NOTICE
This manual contains information necessary for the operation of the SMARTSTEP Junior
Servomotors and Servo Drivers. Please read this manual thoroughly and understand its
contents before attempting to operate the product. Please keep this manual handy for
future reference after reading it.
Be sure that this manual accompanies the product to its final user.
OMRON, 2006
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. 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.
2
Read and Understand this Manual
Please read and understand this manual before using the product. Please consult your OMRON
representative if you have any questions or comments.
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.
3
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.
4
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.
5
General Warnings
To ensure safe and proper use of SMARTSTEP Junior Servomotors and Servo Drivers, read the general
warnings provided below along with the rest of this manual to gain sufficient knowledge of the devices, safety
information, and precautions before actual use.
This OPERATION MANUAL is to be delivered to the actual end users of the products.
Please keep this manual close at hand for future reference.
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.
Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury. Additionally, there may be severe property damage.
Indicates a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or property damage.
6
General Warnings
•This manual may include illustrations of the product with protective covers or shields removed in order
to describe the components of the product in detail. Make sure that these protective covers and shields
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.
Do not touch the inside of the Servo Driver. Doing so may result in electric shock.
Do not remove the front cover, terminal covers, cables, or optional items while the power is
being supplied. Doing so may result in electric shock.
Installation, operation, maintenance, or inspection must be performed by authorized
personnel. Not doing so may result in electric shock or injury.
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.
Do not damage, press, or put excessive stress or heavy objects on the cables.
Doing so may result in electric shock.
Do not touch the rotating parts of the Servomotor in operation. Doing so may result in injury.
Do not modify the product. Doing so may result in injury or damage to the product.
Provide a stopping mechanism on the machine to ensure safety. The holding brake is not
designed as a stopping mechanism for safety purposes.
Provide an external emergency stopping mechanism that can stop operation and shutting
off the power supply immediately. Not doing so may result in injury.
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.
7
General Warnings
CAUTION
Use the Servomotors and Servo Drivers in a specified combination. Using them incorrectly
may result in fire or damage to the products.
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
specifications.
•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.
Do not touch the Servo Driver radiator, Servo Driver 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 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.
Do not place any load exceeding the figure indicated on the product. Doing so may result in
injury or malfunction.
8
General Warnings
Installation and Wiring Precautions
CAUTION
Do not step on or place a heavy object on the product. Doing so may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Doing so may result in fire.
Be sure to install the product in the correct direction. Not doing so may result in malfunction.
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.
Do not apply any strong impact. Doing so may result in malfunction.
Be sure to wire correctly and securely. Not doing so may result in motor runaway, injury, or
malfunction.
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.
Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals.
Connection of bare stranded wires may result in burning.
Always use the power supply voltage specified in the User’s Manual. An incorrect voltage may
result in malfunction or burning.
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.
Install external breakers and take other safety measures against short-circuiting in external
wiring. Insufficient safety measures against short-circuiting may result in burning.
Take appropriate and sufficient countermeasures when installing systems in the following
locations. Failure to do so may result in damage to the product.
•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.
9
General Warnings
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.
Check the newly set parameters and switches for proper execution before actually running
them. Not doing so may result in equipment damage.
Do not make any extreme adjustments or setting changes. Doing so may result in unstable
operation and injury.
Separate the Servomotor from the machine, check for proper operation, and then connect to
the machine. Not doing so may cause injury.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then
resume operation. Not doing so may result in injury.
Do not use the built-in brake of the Servomotor for ordinary braking. Doing so may result in
malfunction.
Do not operate the Servomotor connected to a load that exceeds the applicable load moment
of inertia. Doing so may result in malfunction.
Maintenance and Inspection Precautions
CAUTION
Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result
in malfunction, fire, or electric shock.
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.
10
General Warnings
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 R7D-ZP01H
Warning Label Contents
11
Items to Check When Unpacking
Check the following items after removing the product from the package.
Item Method
Has the correct product been delivered? Check the model number on the nameplate on the side of
the product.
Has the product been damaged in
shipping?
Inspect the outside of the product and carefully check that
there has been no damage during shipping.
•Accessories
1. Special screw driver for setting the rotary switch ×1
2. Safety Precautions document ×1
No connectors or mounting screws are provided. Obtain these separately.
If something is missing, the Servo Driver is damaged, or some other fault exists, please
contact the point of purchase or your OMRON representative.
•Interpreting the Model Number
The model number provides information such as the Servo Driver type, the applicable
Servomotor capacity, and the power supply voltage.
R7D-ZP01H
SMARTSTEP Junior
Servo Driver
Driver Type
P: Pulse string input
Applicable Servomotor Capacity
01: 100 W
02: 200 W
04: 400 W
08: 750 W
Power Supply Voltage
H: 200 VAC
•Servo Driver and Servomotor Combinations
Servomotor Servo Driver
Rated
output Without brake With brake Pulse string input
100 W R7M-Z10030-S1 R7M-Z10030-B S1 R7D-ZP01H
200 W R7M-Z20030-S1 R7M-Z20030-B S1 R7D-ZP02H
400 W R7M-Z40030-S1 R7M-Z40030-B S1 R7D-ZP04H
750 W R7M-Z75030-S1 R7M-Z75030-B S1 R7D-ZP08H
12
13
Section 1 Features and System Configuration
Section 2 Standard Models and Dimensions
Section 3 Specifications
Section 4 System Design
Section 5 Operation
Section 6 Troubleshooting
Appendix
Contents
Read and Understand this Manual................................................................................. 3
Warranty and Limitations of Liability............................................................................... 3
Application Considerations............................................................................................. 4
Disclaimers .................................................................................................................... 5
General Warnings.......................................................................................................... 6
Items to Check When Unpacking ................................................................................. 12
Contents ..................................................................................................................... 14
Section 1 Features and System Configuration
1-1 Introduction.................................................................................................... 1-2
1-1-1 Introduction ................................................................................................................... 1-2
1-1-2 SMARTSTEP Junior Features...................................................................................... 1-2
1-2 System Configuration..................................................................................... 1-3
1-3 Nomenclature and Functions .........................................................................1-4
1-3-1 Servo Driver Nomenclature and Functions................................................................... 1-4
1-4 System Block Diagrams................................................................................. 1-6
1-4-1 Pulse-train Input Servo Driver....................................................................................... 1-6
1-5 Applicable Standards ..................................................................................... 1-7
1-5-1 EC Directives ................................................................................................................ 1-7
1-5-2 UL and cUL Standards ................................................................................................. 1-7
Section 2 Standard Models and Dimensions
2-1 Standard Models............................................................................................ 2-2
2-1-1 Servo Drivers ................................................................................................................ 2-2
2-1-2 Servomotors.................................................................................................................. 2-2
2-1-3 Servo Driver-Servomotor Combinations ....................................................................... 2-2
2-1-4 Decelerators (Straight Shaft with Key).......................................................................... 2-3
2-1-5 Accessories and Cables ............................................................................................... 2-4
2-2 External and Mounted Dimensions ................................................................2-5
2-2-1 Servo Drivers ................................................................................................................ 2-5
2-2-2 Servomotors.................................................................................................................. 2-7
2-2-3 Decelerator Dimensions ............................................................................................... 2-9
Section 3 Specifications
3-1 Servo Driver Specifications ............................................................................ 3-2
3-1-1 General Specifications .................................................................................................. 3-2
3-1-2 Characteristics .............................................................................................................. 3-3
3-1-3 Main Circuit and Servomotor Connector Specifications (CNA and CNB) .................... 3-3
14

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