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OMNUC FND-X Series Datasheet by Omron Automation and Safety
/
USER’S MANUAL
MODELS FND-Xj (DIO Type)
FND-Xj-SRT (CompoBus/S Type)
POSITION DRIVERS
OMNUC FND-X SERIES
Cat.
No. I524-E1-2
Items to Check After Unpacking
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.
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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
Ω or 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
3-8-2
System
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
If ‘V
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
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
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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
Table of Contents
Chapter 7. Appendices .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-1 Standard Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-2 Parameter Settings Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
||||||||iiiil||
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.
jFND-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-XH/FND-XL
CompoBus/S FND-XH-SRT/FND-XL-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.
jInternational 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.
jApplicable 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-UHA-
With absolute encoders: R88M-UTA-
Servomotors Conforming to EC Directives
With incremental encoders: R88M-UVA-
With absolute encoder: R88M-UXA-
•OMNUC U Series (1 to 2 kW)
Servomotors Not Conforming to Standards
With incremental encoder: R88M-UH-
With absolute encoder: R88M-UT-
Servomotors Conforming to EC Directives
With incremental encoder: R88M-UV-
With absolute encoder: R88M-UX-
•OMNUC U-UE Series (100 to 750 W)
Servomotors Not Conforming to Standards
With incremental encoder: R88M-UEH-
Servomotors Conforming to EC Directives
With incremental encoder: R88M-UEV-
Introduction Chapter
1
ng
01:,“ mm ..
50/60 Hz
1-3
•OMNUC H (50 to 1,100 W) Series (with incremental encoder): R88M-H-
•OMNUC M (60 to 2,200 W) Series (with resolver): R88M-M-
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-UR88M-U03030A 30 W 3,000 r/min
g
200/240 (170 to
264) V
AC at
R88M-U05030A 50 W
,
264
)
V
A
C
at
50/60 Hz
R88M-U10030A 100 W
50/60
Hz
U-UE R88M-UE10030-S1 100 W 3,000 r/min
HR88M-H05030 50 W 3,000 r/min
R88M-H10030 100 W
,
FND-X12H-UR88M-U20030A 200 W 3,000 r/min
R88M-U40030A 400 W
,
U-UE R88M-UE20030-S1 200 W 3,000 r/min
R88M-UE40030-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-UR88M-U75030A 750 W 3,000 r/min
R88M-U1K0301000 W
,
U-UE R88M-UE75030-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
nu,“ mm ..
50/60 Hz
ng
1 07\ mm «N
50/60 Hz
1-4
Position
Driver
Applicable AC Servomotor
Input power
supply Rated r/minOutput
capacity
ModelSeriesModel
Three-phase
200/240 (1 0
FND-X50H-UR88M-U1K5301500 W 3000 r/min
200/240 (170 to
264) V
AC at
R88M-U2K0302000 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-UR88M-U03030A 30 W 3,000 r/min
g
100/115 (85 to
127) V
AC at
R88M-U05030A 50 W
,
127
)
V
A
C
at
50/60 Hz
R88M-U10030A 100 W
50/60
Hz
U-UE R88M-UE10030-S1 100 W 3,000 r/min
HR88M-H05030 50 W 3,000 r/min
R88M-H10030 100 W
,
FND-X12L-U R88M-U20030A 200 W 3,000 r/min
U-UE R88M-UE20030-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
jServomotor 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
Compact size, high-speed response
High resolution (except for UE type)
Absolute encoder system can be configured (except for UE type).
H Series
High resolution
High application load inertia (less than 10 times the rotary inertia)
Usable in systems with comparatively low mechanical rigidity.
M Series
High application load inertia (less than 10 times the rotary inertia)
Usable in systems with comparatively low mechanical rigidity.
High output torque in a low-rotation motor
Up 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.
jPosition 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
1-6
DControl Mode
The
following four types of control modes are available to the Position Driver: PTP
control and feeder
control
modes with the internal point data preset in the Position Driver and these same modes with di
-
rect I/O signal input.
DInternal Point Data
•A maximum of 64 points of data (Pd01 to Pd64) can be set internally in the Position Driver.
•Positions can be set within a range between –39,999,999 to 39,999,999 with the absolute or incre-
mental value specified.
DPositioning Data Instruction by Direct Input
Eight-point
input and input timing signals are used to
input position data and speed data within the fol
-
lowing ranges into the Position Driver.
Position Setting Range: –39,999,999 to 39,999,999 (with incremental or absolute setting)
Speed Setting Range: 1% to 100% (override setting with respect to reference speed)
DPosition Compensation Function
This
function executes
backlash compensation when PTP control is used, and slip compensation when
feeder control is used.
DAcceleration/Deceleration Function
•
Either linear (trapezoidal) acceleration or deceleration time or
S-shaped (primary low-pass filter) ac
-
celeration
or deceleration time can be selected. In addition,
dif
ferent times can be set for acceleration
and deceleration.
•The
S-shaped acceleration/deceleration function makes it possible, for example, to start up convey
-
ors smoothly or achieve feeder control with minimal feeder slippage.
DStop Methods
•The stop method for when the STOP signal is turned OFF can be selected with PP-24.
Free-running stop: Motor power supply turned OFF.
Deceleration stop: Servo-lock
after the operation decelerates to a stop in preset time.
Error counter reset stop: Servo-lock
after an immediate deceleration to a stop with the error
counter reset.
•The
stop method of the Position Driver in the case of overrun or software limit signal detection can be
selected with PP-25.
Overrun: Servo free-running stop with the alarm AL38 turned ON or servo-
lock stop.
Software limit detection: Servo-lock
stop with or without alarms AL34 and AL35 turned ON.
jTeaching Functions
DPosition Teaching
The
Position Driver has a teaching function that enables the Position Driver stop the mechanical axis
with
an external force
by going into servo-free status or JOG operation and to take up the stop position
data automatically as part of PTP data.
Introduction Chapter
1
1-7
DMechanical Origin Teaching
An
optional position can be specified as the mechanical origin by moving the position to the mechanical
origin and teaching after the completion of origin search.
jMotor Control Functions
DMotor Type and Capacity Selection by Motor Code
A motor type and capacity can be selected by setting UP-02 to the corresponding motor code.
DAuto-tuning Function
•The
Position
Driver has an auto-tuning function. If a machine and motor are connected to the Position
Driver,
this function makes it possible
to check the capacity and characteristics of the machine load by
turning
the motor and enables the automatic gain control of
the Position Driver according to the capac
-
ity and characteristics of the machine load.
•The auto-tuning function makes it possible to save system startup time.
jProgramming Devices
DTeaching Box: CVM1-PRO01 + ROM Cassette
The Teaching Box provides for easy operation, including the following:
Position Driver status monitoring
Parameter editing and transfer
Teaching
Jogging
Positioning to specified points
Autotuning
Note Refer to the
CVM1-PRO01 Teaching Box Operation Manual
(W354)
for more information.
DOMNUC FND-X Series Monitoring Software
The
OMNUC
FND-X Series Monitoring Software runs on an IBM PC/A
T or compatible computer and
pro-
vides for easy operation, including the following:
Position Driver status monitoring
Parameter editing and transfer
Speed and current waveform displays
Autotuning
jMonitor Functions
DMonitor Mode
The
motor speed, present value, reference value,
position deviation value, machine speed, motor cur
-
rent,
ef
fective load factor, electronic thermal value, electrical angle, and regenerative absorption rate
can be monitored on the front panel of the Position Driver in this mode.
DCheck Mode
The
I/O
signal status, alarm details, alarm history
, and software version are displayed on the front panel
of the Position Driver in this mode.
Introduction Chapter
1
1-8
jProtection and Self-diagnostic Functions
DHardware Protection
The
Position Driver is protected from overcurrent,
overvoltage, low voltage, abnormal power
, clock fail
-
ure, overcurrent (soft), speed amplifier saturation, and overload damage.
DMechanical System Protection
The
mechanical system is protected from damage resulting
from overspeed, error counter overflows,
soft limit overflows, coordinate counter overflows, or overrun.
DParameter Setting-related Errors
The Position Driver detects parameter setting errors.
DDetector-related Errors
Resolver
wire burnout, resolver failure, encoder wire disconnection, encoder communications
failure,
absolute
encoder backup
failure, absolute encoder checksum failure, absolute encoder battery failure,
absolute encoder absolute failure, absolute encoder overspeed failure, encoder data failure, and en-
coder initialization failure.
DPosition-related Errors
BCD data, indefinite PV, and PTP data non-setting errors.
jTest Functions
DMotor Test Function
The
Position Driver has a motor test function that makes it possible to easily check whether a motor is
connected
to the Position Driver
. When this function is enabled, the motor rotation direction can be con
-
trolled with the operation keys and the motor speed can be set in UP-29. The motor speed is set to
50 r/min before shipping.
DSequential Output Test Function
The
Position Driver has a sequential output test function that makes it possible
to easily check whether a
host controller is connected to the Position Driver. This function makes it possible to turn any output
terminal ON or OFF with the operation keys.
Introduction Chapter
1
1-9
1-2 Nomenclature and Key Operations
DDIO Position Drivers
Front View
Display
(5-digit, 7-segment LEDs)
Operation Keys (5 keys)
Monitor Output Terminal
CN5 (RS-232C)
Communications
Connector
Terminal
Block
CN1 (CONT)
Control Signal
Connector
CN2 (M.SEN)
Motor Sensor
Connector
Bottom View
Radiation
fin CN6
BAT
Connector
jKey Operations
Key Name Main function
Mode Key Changes the Position Driver’s mode.
Shift Key
Shifts the operation column to the left.
DATA Data Key Saves the set data.
Increment Key Increments the parameter address or
data value.
Decrement Key Decrements the parameter address or
data value.
Introduction Chapter
1
gamma *7
~
g
fix? an o ,
1-10
DCompoBus/S Position Drivers
Front View
Display
(5-digit, 7-segment LEDs)
Operation Keys (5 keys)
Monitor Output Terminal
CN5 (RS-232C)
Communications
Connector
Terminal
Block
CN1 (CONT)
Control Signal
Connector
CN2 (M.SEN)
Motor Sensor
Connector
CN4 (LIMIT)
External control
signal connector
Node Address
Setting Switch
Bottom View
Radiation
fin
CN6
BAT Connector
jKey Operations
Key Name Main function
Mode Key Changes the Position Driver’s mode.
Shift Key
Shifts the operation column to the left.
DATA Data Key Saves the set data.
Increment Key Increments the parameter address or
data value.
Decrement Key Decrements the parameter address or
data value.
Introduction Chapter
1
1-11
1-3 Supported Standards and Supporting Models
1-3-1 Standards Supported by Position Drivers
Standard Supported standard File No. Remarks
UL/cUL UL508C E179149 Electrical power conversion devices
EC Low-voltage Directive EN50178 --- Industrial product specifications
EMC Directive EN55011 class A
group 1 --- Radio interference limits and measurement
methods for radio frequency devices for in-
dustrial, scientific, and medical applications
EN61000-4 --- Electromagnetic compatibility and immunity
Note All Position Drivers in the FND-X Series conform to UL/cUL standards and EC directives.
1-3-2 Standards Supported by AC Servomotors
Standard Supported standard File No. Remarks
UL/cUL UL1004 E179189 Electric motors
cUL C22.2 No. 100 E179189 Motors and generators
EC Low-voltage Directive IEC34-1, -5, -8, -9 --- Rotating electric devices
EMC Directive EN55011 class A
group 1 --- Radio interference limits and measurement
methods for radio frequency devices for in-
dustrial, scientific, and medical applications
EN61000-4 --- Electromagnetic compatibility and immunity
jServomotors Conforming to UL/cUL Standards
Power supply AC Servomotors Encoder
200 VAC R88M-U30HA- (30 to 750 W) Incremental encoder
200 VAC R88M-U30TA- (30 to 750 W) Absolute encoder
Note Servomotors manufactured beginning in May 1998 conform to UL/cUL standards.
jServomotors Conforming EC Directives
Power supply AC Servomotors Encoder
200 VAC R88M-U30VA- (30 to 750 W) Incremental encoder
200 VAC R88M-U30XA- (30 to 750 W) Absolute encoder
200 VAC R88M-UE30V- (100 to 750 W) Incremental encoder
200 VAC R88M-U30V- (1 to 2 kW) Incremental encoder
200 VAC R88M-U30X- (1 to 2 kW) Absolute encoder
Note The Servomotors must be wired as described in
2-2 Wiring
to conform to the EMC Directive.
Introduction Chapter
1
Chapter 2
Design and Installation
2-1 Installation
2-2 Wiring
2
2-2
2-1 Installation
2-1-1 External Dimensions (Unit: mm)
DIO and CompoBus/S Position Drivers
j200-VAC FND-X06H-/-X12H-
100-VAC FND-X06L-/-X12L-
Mounting Dimensions
Three,
6 dia.
Three, M5
j200-VAC FND-X25H-
Mounting Dimensions
Three,
6 dia.
Three, M5
Design and Installation Chapter
2
135
_ _
7.
5
n.
mm. WWW". 3
w MHVH ”t“fl.m m
2 W W.“ “z“.
n. n. u
m m
m mm mm 5
m mm mm 7.
E 6
_
VG m?
J g
Dmm
6
mmw
omw
'I'IG
mmm
2-3
j200-VAC FND-X50H-
Mounting Dimensions
Four,
6 dia.
Four
, M5
Design and Installation Chapter
2
2-4
OMNUC U-Series AC Servomotors with Incremental Encoders
(U-INC 30 to 750 W) Conforming to UL/cUL
j30-W/50-W/100-W Standard Models (Without Brakes):
R88M-U03030HA, R88M-U05030HA, R88M-U10030HA
Two,
4.3 dia.
Four, R3.7
6h6 dia.
30h7 dia.
46
dia.
Encoder adapter
Motor plug
14
dia.
300±30
35
6.5 6 300±30
9.5
2.5
5
17
33
LL 25
L
6
18
40
40
j30-W/50-W/100-W Models with Brakes:
R88M-U03030HA-B, R88M-U05030HA-B, R88M-U10030HA-B
Two,
4.3 dia.
Four, R3.7
6h6 dia.
30h7 dia.
46
dia.
Encoder adapter
Motor plug
14
dia.
300±30
17
35
6.5
300±30
9.5
2.55
25LL
L
33 LB
4
21
40
40
Standard Models (Without Brakes)
Model L LL S
R88M-U03030HA 94.5 69.5 6
R88M-U05030HA 102.0 77.0 6
R88M-U10030HA 119.5 94.5 8
Models with Brakes
Model L LL LB S
R88M-U03030HA-B 126 101 31.5 6
R88M-U05030HA-B 133.5 108.5 31.5 6
R88M-U10030HA-B 160 135 40.5 8
Design and Installation Chapter
2
2-5
OMNUC U-Series AC Servomotors with Incremental Encoders
(U-INC 30 to 750 W) Conforming to UL/cUL (Contd.)
j200-W/400-W Standard Models (Without Brakes):
R88M-U20030HA, R88M-U40030HA
Four,
5.5 dia.
Four, R5.3
14h6 dia.
50h7 dia.
70
dia.
Encoder adapter
Motor plug
14
dia.
300±30
17
35
300±30
5.2 7 12
63
34
LL 30
L
21
60
60
j200-W/400-W Models with Brakes:
R88M-U20030HA-B, R88M-U40030HA-B
Four,
5.5
dia.
Four, R5.3
14h6 dia.
50h7 dia.
Encoder adapter
Motor plug
70 dia.
14
dia.
300±30
17
35
5.2 5.5 7 300±30
12
63
34 39.5
LL 30
L
21
60
60
Standard Models (Without Brakes)
Model L LL
R88M-U20030HA 126.5 96.5
R88M-U40030HA 154.5 124.5
Models with Brakes
Model L LL
R88M-U20030HA-B 166 136
R88M-U40030HA-B 194 164
Design and Installation Chapter
2
2-6
OMNUC U-Series AC Servomotors with Incremental Encoders
(U-INC 30 to 750 W) Conforming to UL/cUL (Contd.)
j750-W Standard Models (Without Brakes): R88M-U75030HA
Four,
7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
Encoder adapter
Motor plug
90 dia.
14 dia.
300±30
17
35
300±30
85.2
83
15
35
34
145 40
185
21
80
80
j750-W Models with Brakes: R88M-U75030HA-B
Four,
7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
Encoder adapter
Motor plug
90 dia.
14 dia.
300±30
17
35
300±30
85.2
83
15
35
34 44.5
189.5 40
229.5
21
80
80
Design and Installation Chapter
2
ammo
zoma
/
v5
5 25 5
LL41;
2-7
OMNUC U-Series AC Servomotors with Incremental Encoders
(U-INC 30 to 750 W) Conforming to EC Directives
j30-W/50-W/100-W Standard Models (Without Brakes):
R88M-U03030VA-S1, R88M-U05030VA-S1, R88M-U10030VA-S1
Two,
4.3 dia.
Four, R3.7
Sh6 dia.
30h7 dia.
14 dia.
46 dia.
j30-W/50-W/100-W Models with Brakes:
R88M-U03030VA-BS1, R88M-U05030VA-BS1, R88M-U10030VA-BS1
Two,
4.3 dia.
Four, R3.7
Sh6 dia.
30h7 dia.
14 dia.
46 dia.
Standard Models (Without Brakes)
Model L LL S
R88M-U03030VA-S1 94.5 69.5 6
R88M-U05030VA-S1 102.0 77.0 6
R88M-U10030VA-S1 119.5 94.5 8
Models with Brakes
Model L LL LB S
R88M-U03030VA-BS1 126 101 31.5 6
R88M-U05030VA-BS1 133.5 108.5 31.5 6
R88M-U10030VA-BS1 160 135 40.5 8
Design and Installation Chapter
2
2-8
OMNUC U-Series AC Servomotors with Incremental Encoders
(U-INC 30 to 750 W) Conforming to EC Directives (Contd.)
j200-W/400-W Standard Models (Without Brakes):
R88M-U20030VA-S1, R88M-U40030VA-S1
Four,
5.5 dia.
Four, R5.3
14h6 dia.
50h7 dia.
14 dia.
70 dia.
j200-W/400-W Models with Brakes:
R88M-U20030VA-BS1, R88M-U40030VA-BS1
Four,
5.5 dia.
Four, R5.3
14h6 dia.
50h7 dia.
14 dia.
70 dia.
Standard Models (Without Brakes)
Model L LL
R88M-U20030VA-S1 126.5 96.5
R88M-U40030VA-S1 154.5 124.5
Models with Brakes
Model L LL
R88M-U20030VA-BS1 166 136
R88M-U40030VA-BS1 194 164
Design and Installation Chapter
2
2-9
OMNUC U-Series AC Servomotors with Incremental Encoders
(U-INC 30 to 750 W) Conforming to EC Directives (Contd.)
j750-W Standard Models (Without Brakes): R88M-U75030VA-S1
Four,
7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
14 dia.
90 dia.
j750-W Models with Brakes: R88M-U75030VA-BS1
Four,
7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
14 dia.
90 dia.
Design and Installation Chapter
2
2-10
OMNUC U-Series AC Servomotors with Absolute Encoders
(U-ABS 30 to 750 W) Conforming to UL/cUL
j30-W/50-W/100-W Standard Models (Without Brakes):
R88M-U03030TA, R88M-U05030TA, R88M-U10030TA
Two,
4.3 dia.
Four
, R3.7
46 dia.
14 dia.
Sh6
dia.
30h7 dia.
Encoder adapter
Motor plug
53
dia.
j30-W/50-W/100-W Models with Brakes:
R88M-U03030TA-B, R88M-U05030TA-B, R88M-U10030TA-B
Two,
4.3 dia.
Four
, R3.7
46 dia.
Sh6 dia.
30h7 dia.
14
dia.
Encoder adapter
Motor plug
53
dia.
Standard Models (Without Brakes)
Model L LL S
R88M-U03030TA 117.5 92.5 6
R88M-U05030TA 125 100 6
R88M-U10030TA 142.5 117.5 8
Models with Brakes
Model L LL LB S
R88M-U03030TA-B 149 124 31.5 6
R88M-U05030TA-B 156.5 131.5 31.5 6
R88M-U10030TA-B 183 158 40.5 8
Design and Installation Chapter
2
mm
2-11
OMNUC U-Series AC Servomotors with Absolute Encoders
(U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.)
j200-W/400-W Standard Models (Without Brakes):
R88M-U20030TA, R88M-U40030TA
Four,
R5.3
Four
, 5.5.dia.
70 dia.
14h6 dia.
50h7 dia.
14
dia.
Encoder adapter
Motor plug
j200-W/400-W Models with Brakes:
R88M-U20030TA-B, R88M-U40030TA-B
Four,
R5.3
Four
, 5.5.dia.
70 dia.
14h6 dia.
50h7 dia.
14
dia.
Encoder adapter
Motor plug
Standard Models (Without Brakes)
Model L LL
R88M-U20030TA 147.5 117.5
R88M-U40030TA 175.5 145.5
Models with Brakes
Model L LL
R88M-U20030TA-B 187 157
R88M-U40030TA-B 215 185
Design and Installation Chapter
2
2-12
OMNUC U-Series AC Servomotors with Absolute Encoders
(U-ABS 30 to 750 W) Conforming to UL/cUL (Contd.)
j750-W Standard Models (Without Brakes): R88M-U75030TA
Four,
R8.2
Four
, 7 dia.
90 dia.
16h6 dia.
70h7 dia.
14
dia.
Encoder adapter
Motor plug
j750-W Models with Brakes: R88M-U75030TA-B
Four,
R8.2
Four
, 7 dia.
90 dia.
16h6 dia.
70h7 dia.
14
dia.
Encoder adapter
Motor plug
Design and Installation Chapter
2
100:”
2-13
OMNUC U-Series AC Servomotors with Absolute Encoders
(U-ABS 30 to 750 W) Conforming to EC Directives
j30-W/50-W/100-W Standard Models (Without Brakes):
R88M-U03030XA-S1, R88M-U05030XA-S1, R88M-U10030XA-S1
Two,
4.3 dia.
Four, R3.7
Sh6 dia.
30h7 dia.
46 dia.
14 dia.
53
dia.
j30-W/50-W/100-W Models with Brakes:
R88M-U03030XA-BS1, R88M-U05030XA-BS1, R88M-U10030XA-BS1
Two,
4.3 dia.
Four, R3.7
Sh6 dia.
30h7 dia.
46 dia.
14 dia.
53
dia.
Standard Models (Without Brakes)
Model L LL S
R88M-U03030XA-S1 117.5 92.5 6
R88M-U05030XA-S1 125 100 6
R88M-U10030XA-S1 142.5 117.5 8
Models with Brakes
Model L LL LB S
R88M-U03030XA-BS1 149 124 31.5 6
R88M-U05030XA-BS1 156.5 131.5 31.5 6
R88M-U10030XA-BS1 183 158 40.5 8
Design and Installation Chapter
2
same
E
«man
ss
2-14
OMNUC U-Series AC Servomotors with Absolute Encoders
(U-ABS 30 to 750 W) Conforming to EC Directives (Contd.)
j200-W/400-W Standard Models (Without Brakes):
R88M-U20030XA-S1, R88M-U40030XA-S1
Four,
5.5 dia.
Four, R5.3
14h6 dia.
50h7 dia.
70 dia.
14 dia.
j200-W/400-W Models with Brakes:
R88M-U20030XA-BS1, R88M-U40030XA-BS1
Four,
5.5 dia.
Four, R5.3
14h6 dia.
50h7 dia.
70 dia.
14 dia.
Standard Models (Without Brakes)
Model L LL
R88M-U20030XA-S1 147.5 117.5
R88M-U40030XA-S1 175.5 145.5
Models with Brakes
Model L LL
R88M-U20030XA-BS1 187 157
R88M-U40030XA-BS1 215 185
Design and Installation Chapter
2
2-15
OMNUC U-Series AC Servomotors with Absolute Encoders
(U-ABS, 30 to 750 W) Conforming to EC Directives (Contd.)
j750-W Standard Models (Without Brakes): R88M-U75030XA-S1
Four,
7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
90 dia.
14 dia.
j750-W Models with Brakes: R88M-U75030XA-BS1
Four,
7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
90 dia.
14 dia.
Design and Installation Chapter
2
2-16
U-Series AC Servomotor Shaft Dimensions with Keys
(U-INC, U-ABS, 30 to 750 W)
Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors
with
keys are shown below
. Motors with keys are indicated by adding “-S1” to the end of
the model num
-
ber. Key slots are based on JIS B1301-1976.
j30-W/50-W Models
Standard: R88M-U03030-S1, R88M-U05030-S1
With Brakes: R88M-U03030-BS1, R88M-U05030-BS1
14 1.2
Dia.:
6h6
2
2
j100-W Models
Standard: R88M-U10030-S1
With Brakes: R88M-U10030-BS1
1.8
Dia.:
8h6
14
3
3
j200-W/400-W Models
Standard: R88M-U20030-S1, R88M-U40030-S1
With Brakes: R88M-U20030-BS1, R88M-U40030-BS1
Dia.:
14h6
20
3
5
5
j750-W Models
Standard: R88M-U75030-S1
With Brakes: R88M-U75030-BS1
30 Dia.:
16h6
3
5
5
Design and Installation Chapter
2
mm
mun
H ‘1 < s="" 25="" ‘a="" ,="" ,="" 33="" an="" as="" 25="" m:="" m="" shavl="" and="" mmensmns="" snau="" em="" mmensmns="">2-17
OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)
Not Conforming to Any Standards
j100-W Standard Models (Without Brakes): R88M-UE10030H-S1
46 dia.
Two, 4.3 dia. Four, R3.7
Encoder adapter
Motor plug
8h6 dia.
30h7 dia.
8h6 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
j100-W Models with Brakes: R88M-UE10030H-BS1
Two, 4.3 dia.
46 dia.
Four, R3.7
Encoder adapter
Motor plug
8h6 dia.
30h7 dia.
8h6 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
Design and Installation Chapter
2
2-18
OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)
(Contd.)
j200-W/400-W Standard Models (Without Brakes):
R88M-UE20030H-S1, R88M-UE40030H-S1
Four, 5.5 dia.
70 dia.
Four, R5.3
14h6 dia.
50h7 dia.
14h6 dia.
Encoder adapter
Motor plug
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
j200-W/400-W Models with Brakes:
R88M-UE20030H-BS1, R88M-UE40030H-BS1
70 dia.
Four, 5.5 dia. Four, R5.3
14h6 dia.
50h7 dia.
14h6 dia.
Encoder adapter
Motor plug
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
Standard Models (Without Brakes)
Model L LL
R88M-UE20030H-S1 126.5 96.5
R88M-UE40030H-S1 154.5 124.5
Models with Brakes
Model L LL
R88M-UE20030H-BS1 166 136
R88M-UE40030H-BS1 194 164
Design and Installation Chapter
2
2-19
OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)
Not Conforming to Any Standards (Contd.)
j750-W Standard Models (Without Brakes): R88M-UE75030H-S1
90 dia.
Four, 7 dia.
Four, R8.2
16h6 dia.
70h7 dia.
16h6 dia.
Encoder adapter
Motor plug
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
j750-W Models with Brakes: R88M-UE75030H-BS1
Four, R8.2
Four, 7 dia.
90 dia.
16h6 dia.
70h7 dia.
16h6 dia.
Encoder adapter
Motor plug
Shaft end dimensions
Key slot dimensions, conform to
JIS B1301-1976.
Design and Installation Chapter
2
2-20
OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)
Conforming to EC Directives
j100-W Standard Models (Without Brakes): R88M-UE10030V-S1
46 dia.
Two, 4.3 dia.
Four, R3.7
8h6 dia.
30h7 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
14 dia.
j100-W Models with Brakes: R88M-UE10030V-BS1
46 dia.
Two, 4.3 dia. Four, R3.7
8h6 dia.
30h7 dia.
8h6 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
14 dia.
Design and Installation Chapter
2
%}
3%
y
41
2-21
OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)
Conforming to EC Directives (Contd.)
j200-W/400-W Standard Models (Without Brakes):
R88M-UE20030V-S1, R88M-UE40030V-S1
Four, 5.5 dia. Four, R5.3
14h6 dia.
50h7 dia.
14h6 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
14 dia.
70 dia.
j200-W/400-W Models with Brakes:
R88M-UE20030V-BS1, R88M-UE40030V-BS1
Four, 5.5 dia. Four, R5.3
14h6 dia.
50h7 dia.
14h6 dia.
Shaft end dimensions
Key slot dimensions, conform to
JIS B1301-1976.
14 dia.
70 dia.
Standard Models (Without Brakes)
Model L LL
R88M-UE20030V-S1 126.5 96.5
R88M-UE40030V-S1 154.5 124.5
Models with Brakes
Model L LL
R88M-UE20030V-BS1 166 136
R88M-UE40030V-BS1 194 164
Design and Installation Chapter
2
2-22
OMNUC U-UE-Series AC Servomotors with Incremental Encoders (UE)
Conforming to EC Directives (Contd.)
j750-W Standard Models (Without Brakes): R88M-UE75030V-S1
Four, 7 dia. Four, R8.2
16h6 dia.
70h7 dia.
16h6 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
14 dia.
90 dia.
j750-W Models with Brakes: R88M-UE75030V-BS1
Four, 7 dia. Four, R8.2
16h6 dia.
70h7 dia.
16h6 dia.
Shaft end dimensions
Key slot dimensions, conform to JIS B1301-1976.
14 dia.
90 dia.
Design and Installation Chapter
2
2-23
OMNUC U-Series AC Servomotors with Incremental Encoders (U-INC
1 to 2 kW)
j1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes)
Not Conforming to Any Standards: R88M-U1K030H/-U1K530H/-U2K030H
Conforming to EC Directives: R88M-U1K030V-S1/-U1K530V-S1/-U2K030V-S1
Four, 7 dia.
24h6 dia.
95h7 dia.
115 dia.
130 dia.
j1.0-kW/1.5-kW/2.0-kW Models With Brakes
Not Conforming to Any Standards: R88M-U1K030H-B/-U1K530H-B/-U2K030H-B
Conforming to EC Directives: R88M-U1K030V-BS1/-U1K530V-BS1/-U2K030V-BS1
Four, 7 dia.
24h6 dia.
95h7 dia.
115 dia.
130 dia.
Standard Models (Without Brakes)
Model L LL
R88M-U1K030194 149
R88M-U1K530220 175
R88M-U2K030243 198
Models with Brakes
Model L LL
R88M-U1K030-B238 193
R88M-U1K530-B264 219
R88M-U2K030-B287 242
Note Servomotors with model numbers ending in “S1” have straight shafts with keys. Refer to
page
2-25
U-Series AC Servomotor Shaft Dimensions with Keys
for key dimensions.
Design and Installation Chapter
2
2-24
OMNUC U-Series AC Servomotors with Absolute Encoders (U-ABS
1 to 2 kW)
j1.0-kW/1.5-kW/2.0-kW Standard Models (Without Brakes)
Not Conforming to Any Standards: R88M-U1K030T/-U1K530T/-U2K030T
Conforming to EC Directives: R88M-U1K030X-S1/-U1K530X-S1/-U2K030X-S1
Four, 7 dia.
24h6 dia.
95h7 dia.
115 dia.
130 dia.
j1.0-kW/1.5-kW/2.0-kW Models With Brakes
Not Conforming to Any Standards: R88M-U1K030T-B/-U1K530T-B/-U2K030T-B
Conforming to EC Directives: R88M-U1K030X-BS1/-U1K530X-BS1/-U2K030X-BS1
Four, 7 dia.
24h6 dia.
95h7 dia.
115 dia.
130 dia.
Standard Models (Without Brakes)
Model L LL
R88M-U1K030208 163
R88M-U1K530234 189
R88M-U2K030257 212
Models with Brakes
Model L LL
R88M-U1K030-B252 207
R88M-U1K530-B278 233
R88M-U2K030-B301 256
Note Servomotors with model numbers ending in “S1” have straight shafts with keys. Refer to
page
2-25 U-Series AC Servomotor Shaft Dimensions with Keys
for key dimensions.
Design and Installation Chapter
2
2-25
U-Series AC Servomotor Shaft Dimensions with Keys
(U-INC, U-ABS, 1 to 2 kW)
Standard U-series AC Servomotors do not have keys on the shafts. The shaft dimensions of motors
with
keys are shown below
. Motors with keys are indicated by adding “-S1” to the end of
the model num
-
ber. Key slots are based on JIS B1301-1976.
j1.0-kW/1.5-kW/2.0-kW Models
Standard: R88M-U1K030-S1, R88M-U1K530-S1, R88M-U2K030-S1
With Brakes: R88M-U1K030-BS1, R88M-U1K530-BS1, R88M-U2K030-BS1
M8 with effective
depth of 16
24h6 dia.
Design and Installation Chapter
2
44.5
cv
!
5&2
ans
4 n i
‘E- . 57am;
L20 2 H 3
245—— a
7!
Is M
2-26
OMNUC H-Series AC Servomotor with Incremental Encoder (H)
j50-W/100-W Standard Models (Without Brakes): R88M-H05030, R88M-H10030
j50-W/100-W Models with Brakes: R88M-H05030-B, R88M-H10030-B
63 dia.
Four, R4
Four, 5 dia.
80±0.2 dia.
93 dia. max.
50 0
0.025dia.
80
0.009dia.
66 66±0.4
Standard Models (Without Brakes)
Model L1 L2 L3
R88M-H05030 (50 W) 53.5 99 45.5
R88M-H10030 (100 W) 63.5 109 45.5
Models With Brakes
Model L1 L2 L3
R88M-H05030-B (50 W) 84.5 130 45.5
R88M-H10030-B (100 W) 94.5 140 45.5
j200-W/300-W Standard Models (Without Brakes): R88M-H20030, R88M-H30030
j200-W/300-W Models with Brakes: R88M-H20030-B, R88M-H30030-B
Four, R10
Four, 6 dia.
90±0.2 dia.
107 dia. max.
14 0
0.011dia.
77 dia. 70 0
0.03dia.
80 80±0.4
Standard Models (Without Brakes)
Model L1 L2 L3
R88M-H20030 (200 W) 77 123.5 46.5
R88M-H30030 (300 W) 89 135.5 46.5
Models With Brakes
Model L1 L2 L3
R88M-H20030-B (200 W) 107.5 154 46.5
R88M-H30030-B (300 W) 119.5 166 46.5
Design and Installation Chapter
2
?
Ei Sign—7 ‘
i
30 2 a 3
as
‘Lgus
no.5
5-3csfi
30 2 35
35
2|.5Ag‘5
2-27
OMNUC H-Series AC Servomotors with Incremental Encoders (H)
(Contd.)
j500-W/750-W/1100-W Standard Models (Without Brakes):
R88M-H50030, R88M-H75030, R88M-H1K130
j500-W/750-W/1100-W Models with Brakes:
R88M-H50030-B, R88M-H75030-B, R88M-H1K130-B
Four, R15
130±0.2 dia.
Four, 9 dia.
162 dia. max.
110 0
0.035dia.
19 0
0.013dia.
16 0
0.011dia.
77 dia.
Shaft
Dimensions
R88M-H50030/-H50030-B
R88M-H75030/-H75030-B
Shaft Dimensions
R88M-H1K130/-H1K130-B
Standard Models (Without Brakes)
Model L1 L2 L3
R88M-H50030 (500 W) 107.5 154.0 46.5
R88M-H75030 (750 W) 126.0 172.5 46.5
R88M-H1K130 (1100 W) 144.5 191.0 46.5
Models With Brakes
Model L1 L2 L3
R88M-H50030-B (500 W) 148.5 195.0 46.5
R88M-H75030-B (750 W) 167.0 213.5 46.5
R88M-H1K130-B (1100 W) 185.5 232.0 46.5
Design and Installation Chapter
2
2-28
OMNUC M-Series AC Servomotors with Resolvers (M)
j60-W/120-W (4,000 r/min) Standard Models (Without Brakes): R88M-M06040,
R88M-M12040
Four,
5 dia.
…
50h7 dia.
8h6 dia.
7.4 dia.
j60-W/120-W (4,000 r/min) Models with Brakes: R88M-M06040-B, R88M-M12040-B
Four,
5 dia.
°
°
8h6 dia.
50h7 dia.
7.4 dia.
Standard Models (Without Brakes)
Model L LL LM
R88M-M06040 150 120 85
R88M-M12040 175 145 110
Models with Brakes
Model LX LY LM
R88M-M06040-B 184 154 85
R88M-M12040-B 209 179 110
jShaft End Dimensions
Design and Installation Chapter
2
”mu
2-29
OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.)
j200-W (2,000 r/min) Standard Models (Without Brakes): R88M-M20020
j200-W/400-W (4,000 r/min) Standard Models: R88M-M20040, R88M-40040
80h7 dia.
14h6 dia.
Four, 7dia.
7.4 dia.
100±0.2 dia
j200-W (2,000 r/min) Models with Brakes: R88M-M20020-B
j200-W/400-W (4,000 r/min) Models with Brakes: R88M-M20040-B, R88M-M40040-B
80h7 dia.
14h6 dia.
Four, 7dia.
7.4 dia.
100±0.2 dia
Standard Models (Without Brakes)
Model L LL LM
R88M-M20040 166 131 92
R88M-M20020 196 161 122
R88M-M40040
Models with Brakes
Model LX LY LM
R88M-M20040-B 196 161 92
R88M-M20020-B 226 191 122
R88M-M40040-B
jShaft End Dimensions
Design and Installation Chapter
2
2-30
OMNUC M-Series AC Servomotors with Resolvers (M) (Contd.)
j200-W/400-W/700-W (1,200 r/min)
Standard Models (Without Brakes): R88M-M20012, R88M-M40012, R88M-M70012
j400-W/700-W/1,100-W (2,000 r/min) Standard Models (Without Brakes):
R88M-M40020, R88M-M70020, R88M-M1K120
j700-W/1,100-W/2,000-W (4,000 r/min) Standard Models (Without Brakes):
R88M-70040, R88M-M1K140, R88M-M2K040
Four, 9 dia.
145±0.2 dia.
1
10h7 dia.
19h6 dia.
j200-W/400-W/700-W (1,200 r/min)
Models with Brakes: R88M-M20012-B, R88M-M40012-B, R88M-M70012-B
j400-W/700-W/1,100-W (2,000 r/min) Models with Brakes: R88M-M40020-B,
R88M-M70020-B, R88M-M1K120B
j700-W/1,100-W/2,000-W (4,000 r/min) Models with Brakes: R88M-M70040-B,
R88M-M1K140-B, R88M-M2K040-B
1
10h7 dia.
19h6 dia.
145±0.2 dia.
Four, 9 dia.
165
dia.
Design and Installation Chapter
2
35
E
I].
§
m
2-31
Standard Models
Model L LL LM
R88M-M20012 240 195 156
R88M-M40020
R88M-M70040
R88M-M40012 275 230 191
R88M-M70020
R88M-M1K140
R88M-M70012 345 300 261
R88M-M1K120
R88M-M2K040
Models with Brakes
Model LX LY LM
R88M-M20012-B 282 237 156
R88M-M40020-B
R88M-M70040-B
R88M-M40012-B 317 272 191
R88M-M70020-B
R88M-M1K140-B
R88M-M70012-B 387 342 261
R88M-M1K120-B
R88M-M2K040-B
jShaft End Directions
OMNUC M-Series AC Servomotors with Resolvers (Contd.)
j1,100-W/1,400-W/1,800-W (1,200 r/min) Standard Models:
R88M-M1K112/-M1K412/-M1K812
j1,800-W/2,200-W (2,000 r/min) Standard Models:
R88M-M1K820/-M2K220
114.3h7
35 dia.
200±0.3 dia.
Four, 14 dia.
230
dia.
+0.01
0
180 x 180
Design and Installation Chapter
2
5%}
2-32
j1,100-W/1,400-W/1,800-W (1,200 r/min) Models with Brakes:
R88M-M1K112-B/-M1K412-B/-M1K812-B
j1,800-W/2,200-W (2,000 r/min) Models with Brakes:
R88M-M1K820-B/-M2K220-B
114.3h7
200±0.3 dia.
Four, 14 dia.
230
dia.
35 dia.
+0.01
0
180 x 180
Standard Models
Model L LL LM LX LY LZ
R88M-M1K112 370 291 252 439 360 256
R88M-M1K820
R88M-M1K412 400 321 282 469 390 286
R88M-M2K220
R88M-M1K812 460 381 342 529 450 346
Models with Brakes
Model L LL LM LX LY LZ
R88M-M1K112-B 370 291 252 439 360 256
R88M-M1K820-B
R88M-M1K412-B 400 321 282 469 390 286
R88M-M2K220-B
R88M-M1K812-B 460 381 342 529 450 346
jShaft End Directions
10h9
C1
R5
60 8
4.5
Design and Installation Chapter
2
SS
2-33
2-1-2 Installation Conditions
Position Driver
jSpace Around Drivers
•Install
Position Drivers according to the dimensions shown in the following illustration
to ensure prop
-
er
heat dispersion and convection inside the panel. Also install a fan
for circulation if Position Drivers
are installed side by side to prevent uneven temperatures from developing inside the panel.
•Mount the Position Drivers vertically (so that the model number and writing can be read).
50
mm min.
50 mm min.
WW
30 mm min.
Fan Fan
Position Driver
W = 10 mm min.
Side of Driver
Position Driver
Position Driver
jOperating Environment
Be sure that the environment in which Position Drivers are operated meets the following conditions.
•Ambient operating temperature: 0°C to +55°C
•Ambient operating humidity: 35% to 90% (RH, with no condensation)
•Atmosphere: No corrosive gases.
jAmbient Temperature
•Position
Drivers should be
operated in environments in which there is minimal temperature rise to
maintain a high level of reliability.
•Temperature
rise in any Position Driver installed in a closed space, such as a control box, will cause
the
ambient temperature to rise inside the entire closed space. Use a fan or a air conditioner to pre
-
vent the ambient temperature of the Position Driver from exceeding 55°C.
•Position
Driver surface temperatures may rise to as much as 40
°
C above the ambient temperature.
Use
heat-resistant materials for wiring,
and keep separate any devices or wiring that are sensitive to
heat.
•The
service life of
a Position Driver is largely determined by the temperature around the internal elec
-
trolytic
capacitors. The service life of an electrolytic capacitor is af
fected by a drop in electrolytic vol
-
ume
and an increase in internal resistance, which can result in overvoltage alarms, malfunctioning
due
to noise, and damage to individual elements. If a Position Driver is always operated at the maxi
-
mum ambient temperature of 35°C, then a service life of approximately 50,000 hours can be ex-
pected.
A drop of 10
°
C in the ambient temperature will approximately double the expected service
life.
Design and Installation Chapter
2
2-34
jKeeping Foreign Objects Out of Units
•Place
a cover over the Units or take other preventative measures to prevent foreign objects, such as
drill
filings, from getting into the Position Driver during installation.
Be sure to remove the cover after
installation is complete. If the
cover
is left on during operation, heat buildup may damage the Driver
.
•Take
measures during installation and operation to
prevent foreign objects such as metal particles,
oil, machining oil, dust, or water from getting inside of the Position Driver.
AC Servomotors
jOperating Environment
Be sure that the environment in which the Servomotor is operated meets the following conditions.
•Ambient operating temperature: 0°C to +40°C
•Ambient operating humidity: OMNUC U Series: 20% to 80% (RH, with no condensation)
OMNUC U-UE Series: 20% to 80% (RH, with no condensation)
OMNUC H Series: 35% to 85% (RH, with no condensation)
OMNUC M Series: 35% to 85% (RH, with no condensation)
•Atmosphere: No corrosive gases.
jImpact and Load
•The Servomotor is resistant to impacts of up to
98 m/s2
{10 G}. Do not subject it to
heavy impacts or
loads
during transport, installation,
or positioning. In
addition, do not hold onto the encoder/resolver
area,
cable, or connector areas when transporting it.
•Always use a pulley remover to remove pulleys,
couplings, or other objects from the shaft.
•Secure cables so that there is no impact or load placed on the cable connector areas.
jConnecting to Mechanical Systems
•The
axial loads for Servomotors are specified in sec
-
tion
5-2 Servomotor Specifications
. If an axial load
greater than that specified is applied to a Servomo-
tor,
it will reduce the service life of the motor bearings
and
may damage the motor shaft. When connecting
to a load, use couplings that can sufficiently absorb
mechanical eccentricity and variation.
Recommended Coupling
Name Maker
Oldham coupling Myghty Co., Ltd
•For spur gears, an extremely large radial load may
be applied depending on the gear precision. Use
spur
gears with a high
degree of accuracy (for exam
-
ple,
JIS class 2: normal line pitch error of 6
µ
m max.
for
a pitch circle diameter of 50 mm). If the gear
preci
-
sion is not adequate, allow backlash to ensure that
no radial load is placed on the motor shaft.
Ball screw center line
Motor shaft center line Shaft core
displacement
Backlash
Adjust backlash
by adjusting the
distance between
shafts.
Design and Installation Chapter
2
A .
2-35
•Bevel gears will cause a load to be applied in the
thrust direction depending on the structural preci-
sion, the gear precision, and temperature changes.
Provide appropriate backlash or take other mea-
sures to ensure that no thrust load is applied which
exceeds specifications.
•Do not put rubber packing on the flange surface. If
the
flange is mounted with rubber packing, the motor
flange may separate due to the tightening strength.
•When
connecting to a V
-belt or timing belt, consult the maker for belt selection and
tension. A radial
load twice the belt tension will be placed on the motor shaft. Do not allow a radial load exceeding
specifications
to be placed on the motor shaft due to belt tension. If an excessive radial load is ap
-
plied,
the motor shaft may be damaged. Set up
the structure so that the radial load can be adjusted. A
large
radial load may also be applied as a result of belt vibration. Attach a brace and adjust
Position
Driver gain so that belt vibration is minimized.
Tension Motor shaft
Make adjustable.
Load shaft
Pulley
Belt
jWater and Drip Resistance
•The
Servomotor does not have a
water-proof structure. Except for the connector areas, the protec
-
tive
structure meets the following JEM (The Japan Electrical Manufacturers’ Association) standards:
U
Series, 30 to 750 W Conforming to
UL/cUL and UE T
ype Not Conforming to Any Standards: IP-42
U
Series, 30 to 750 W Conforming to EC Directives and UE T
ype Conforming to EC Directives: IP-44
(except shaft penetration point)
U Series, 1 to 2 kW Not Conforming to Any Standards: IP-65 (except shaft penetration point)
U Series, 1 to 2 kW Conforming to EC Directives: IP-55 (including shaft penetration point)
H Series: IP-52
M Series: IP-42
Note Protective
Structure: Indicated as IP-
(IP:
Protection rating symbol,
: rating class) ac-
cording to the IEC standard (IEC529: 1989-11).
•If
the Servomotor is used in an environment in which condensation occurs, water may enter inside of
the
encoder/resolver from the end surfaces
of cables due to motor temperature changes. Either take
measures to ensure that water cannot penetrate in this way, or use water-proof connectors. Even
when
machinery is not in use, water penetration can be avoided by taking measures, such as keep
-
ing the motor in servo-lock status, to minimize temperature changes.
•If
machining oil with surfactants (e.g., coolant fluids) or their spray penetrate inside of the motor
, in
-
sulation defects or short-circuiting may occur
. T
ake measures to prevent machining oil
penetration.
•The
water
and drip resistance of the standard cables for U-Series Servomotors of 1 to 2 kW is equiv
-
alent to IP-30. Use water-resistance cables for the power cables and encoder cables in locations
subject
to contact with water
. Use the following recommended products for power cable and encoder
cable connectors when the device is to meet EC directives.
Make moveable.
Bevel gear
Design and Installation Chapter
2
2-36
Power Cable Connectors
Servomotor Servomotor
model
R88M-
Connector model Cable clamp model Manufacturer
Standard U1K030-
U1K530-
U2K030-
Elbow connectors:
CE05-8A18-10SD-B-
BAS
Straight connectors:
CE05-6A18-10SD-B-
BSS
Sheath exterior diam-
eter of 6.5 to 8.7 mm:
CE3057-10A-3 (D265)
Sheath exterior diam-
eter of 8.5 to 11 mm:
CE3057-10A-2 (D265)
Sheath exterior diam-
eter of 10.5 to
14.1 mm:
CE3057-10A-1 (D265)
Daiichi Electronic
Industries Co.,
Ltd.
With Brakes U1K030-B
U1K530-B
U2K030-B
Elbow connectors:
JL04V-8A20-15SE-EB
Straight connectors:
JL04V-6A20-15SE-EB
Sheath exterior diam-
eter of 6.5 to 9.5:
JL04-2022CK (09)
Sheath exterior diam-
eter of 9.5 to 13:
JL04-2022CK (12)
Sheath exterior diam-
eter of 12.9 to 15.9:
JL04-2022CK (14)
Japan Aviation
Electronics Indus-
try, Ltd.
Encoder Cable Connectors
Servomotor Connector model Cable clamp model Manufacturer
All models Elbow connectors:
JA08A-20-29S-J1-EB
Straight connectors:
JA06A-20-29S-J1-EB
Sheath exterior diameter
of 6.5 to 9.5 mm:
JL04-2022CKE (09)
Sheath exterior diameter
of 9.5 to 13 mm:
JL04-2022CKE (12)
Sheath exterior diameter
of 12.9 to 16 mm:
JL04-2022CKE (14)
Japan Aviation Electron-
ics Industry, Ltd.
jOther Precautions
•Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous
AC and use permanent magnets. Applying 3-phase power will burn out the motor coils.
•Do
not carry the Servomotor by
its cable, otherwise the cable may become disconnected or the cable
clamp may become damaged.
•The
shafts are coated with anti-rust oil when shipped. Apply anti-rust oil or grease to the shaft if nec
-
essary.
When anti-rust oil or grease is applied, connections such as couplings to the load shaft may
slip
causing dislocations. Therefore, pay careful attention to the connections after applying anti-rust
oil or grease.
•Absolutely
do not remove the encoder/resolver cover or take the motor apart. The magnet and
the
encoder/resolver
are aligned in the Servomotor
. If they become misaligned, the motor will not oper
-
ate.
Design and Installation Chapter
2
2-37
•The
Servomotor may not produce suf
ficient torque when moved only a small distance from the point
where
power is turned ON (a distance equivalent to about
±
6 pulses). If only a very small distance is
to be moved, move the motor at least ±6 pulses after turning ON the power before starting actual
operation.
Design and Installation Chapter
2
2-38
2-2 Wiring
2-2-1 Overview
Use
a general-purpose control cable (purchased separately) to connect the Position Driver to the Pro
-
grammable
Controller
. For connecting the Position Driver to an AC Servomotor
, use a dedicated Encod
-
er/Resolver
Cable and a Power Cable. (For the M Series there is no dedicated power cable. It must be
prepared by the user.)
Note Refer to
Chapter 5 Specifications
for details on connectors and cables.
Design and Installation Chapter
2
2-39
Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to
UL/cUL or UE Type Not Conforming to Any Standards
SYSMAC CV/C-series
Programmable Controller
General-purpose
Control Cable
FND-CCXS
Power Cable
R88A-CAUS
R88A-CAUB
OMNUC U-Series AC Servomotor
Conforming to UL/cUL or
U-UE-Series AC Servomotor Not
Conforming to Any Standards
Encoder Cable
R88A-CRUC
(for incremental encoder)
R88A-CSUC
(for absolute encoder)
C200HX/HG/HE or CQM1
Programmable Controller SRM1-C01/-C02
Master Control Unit
CompoBus/S Communications Cable
(SCA1-4F10 Flat Cable or commer-
cially available VCTF cable)
FND-X-series Position Driver
(DIO Type) FND-X-series Position Driver
(CompoBus/S Type)
Backup Battery
Connect when using a
Servomotor with an abso-
lute encoder.
Note Refer to
Chapter 5 Specifications
for connector and cable specifications.
Design and Installation Chapter
2
2-40
Using OMNUC U-series AC Servomotors: 30 to 750 W Conforming to
EC Directives or UE Type Conforming to EC Directives
SYSMAC CV/C-series
Programmable Controller
Power Cable
R88A-CAU001
R88A-CAU01B
OMNUC U-Series AC Servomotor
Conforming to EC Directives or
U-UE-Series AC Servomotor Con-
forming to EC Directives
Encoder Cable
R88A-CRUDC
(for incremental encoder)
R88A-CSUDC
(for absolute encoder)
C200HX/HG/HE or CQM1
Programmable Controller SRM1-C01/-C02
Master Control Unit
FND-X-series Position Driver
(DIO Type) FND-X-series Position Driver
(CompoBus/S Type)
Backup Battery
Connect when using a
Servomotor with an abso-
lute encoder.
CompoBus/S Communications Cable
(SCA1-4F10 Flat Cable or commer-
cially available VCTF cable)
General-purpose
Control Cable
FND-CCXS
Note Refer to
Chapter 5 Specifications
for connector and cable specifications.
Design and Installation Chapter
2
2-41
Using OMNUC U-series AC Servomotors: 1 to 2 kW
SYSMAC CV/C-series
Programmable Controller
General-purpose
Control Cable
FND-CCXS
Power Cable
R88A-CAUBN
R88A-CAUBB
OMNUC U-series AC
Servomotor: 1 to 2 kW
Encoder Cable
R88A-CRUBN
(for incremental encoder/
absolute encoder)
C200HX/HG/HE or CQM1
Programmable Controller
SRM1-C01/-C02
Master Control Unit
FND-X-series Position Driver
(DIO Type) FND-X-series Position Driver
(CompoBus/S Type)
Backup Battery
CompoBus/S Communications
Cable (SCA1-4F10 Flat Cable
or commercially available VCTF
cable)
Connect when using a
Servomotor with an abso-
lute encoder.
Note 1. Refer to
Chapter 5 Specifications
for connector and cable specifications.
Note 2. To perform mounting in accordance with EC Directives, use a Servomotor that conforms to
EC
Directives. In addition, replace the connectors for the power
cable and the encoder cable
at the Servomotor with the recommended Connectors listed under
Water and Drip Resist-
ance
in
2-1-2 Installation Conditions.
Design and Installation Chapter
2
2-42
Using an OMNUC H-series AC Servomotor
SYSMAC CV/C-series
Programmable Controller
General-purpose
Control Cable
FND-CCXS
FND-X-series Position Driver
(DIO Type)
Power Cable
R88A-CAHS
R88A-CAHB
OMNUC H-series AC
Servomotor
Conversion Cable
R88A-CRH0R5T
SYSMAC HX/HG/HE or CQM1
Programmable Controller SRM1-C01/-C02
Master Control Unit
FND-X-series Position Driver
(CompoBus/S Type)
Encoder Cable
R88A-CRHC
CompoBus/S Communications Cable
(SCA1-4F10 Flat Cable or commer-
cially available VCTF cable)
Note Refer to
Chapter 5 Specifications
for connector and cable specifications.
Design and Installation Chapter
2
2-43
Using an OMNUC M-series AC Servomotor
General-purpose
Control Cable
FND-CCXS
FND-X-series
Position Driver
(DIO Type)
SYSMAC CV/C-series
Programmable Controller C200HX/HG/HE or CQM1
Programmable Controller SRM1-C01/-C02
Master Control Unit
FND-X-series Position
Driver (CompoBus/S Type)
Power Cable
(Prepared by user.)
Conversion Cable
R88A-CRM0R5T
OMNUC M-series
AC Servomotor
Resolver Cable
R88A-CRMN
CompoBus/S Communications Cable
(SCA1-4F10 Flat Cable or commer-
cially available VCTF cable)
Note Refer to
Chapter 5 Specifications
for connector and cable specifications.
Design and Installation Chapter
2
FND~X RBBM—M
2-44
jWiring Power Cables
Red
White
Blue
Green
jPower Cable Wire Sizes
Model
R88M
Wire size
R88M- mm2AWG
M20012 1.25 AWG16
M40012 1.25 AWG16
M70012 1.25 AWG16
M1K112 2 AWG14
M1K412 2 AWG14
M1K812 2 AWG14
M20020 0.9 AWG18
M40020 1.25 AWG16
M70020 1.25 AWG16
M1K120 1.25 AWG16
Model
R88M
Wire size
R88M- mm2AWG
M1K820 3.5 AWG12
M2K220 3.5 AWG12
M06040 0.9 AWG18
M12040 0.9 AWG18
M20040 0.9 AWG18
M40040 0.9 AWG18
M70040 1.25 AWG16
M1K140 1.25 AWG16
M2K040 3.5 AWG12
Design and Installation Chapter
2
Chm DBMS/S nnmmunir‘atinne nablne BA
2-45
2-2-2 Control Circuitry Terminal Wiring
DIO Position Drivers
Control Signal Connector (CN1: CONT) Pin Arrangement
2 CWL
4 RUN
8
10 TEACH
1 CCWL
3 ORG
7 SEARCH
9
20
22 READY
24 ORGSTP
19 OGND
21
25 T.COM
23 S.COM
6 RESET
5START
26 RUNON
28 ALM
27 INP
CW
limit in
-
put
RUN
command
Alarm
reset
Origin
proximity
Start
CCW limit
input
Origin
search
Ready
Origin
stop
Motor
running
Alarm
Origin
search
completed
Teaching
completed
Positioning
completed
+JOG
–JOG
STOP
BO
+JOG
operation
Deceleration
stop Brake
output
12 P.IN1
14 P.IN3
18
16 P.IN5
Point
selection
1
/Position 1
P.IN7 Position 7
11 P.IN0
13 P.IN2
17 P.IN6
15 P.IN4
Teach
30
32 P.OUT3
34 P.OUT5
36 +24V
Point output
5
+24-VDC
power sup-
ply input for
control
P.OUT1 Point
output
1/ Position
selection
2
Output
ground
29 P.OUT0
31
35 P.OUT6
33 P.OUT4
P.OUT2
Point
selection 3
/Position 3
Point
selection 5
/Position 5
Point
selection 0
/Position 0
Point
selection 2
/Position 2
Point
selection 4
/Position 4
Point
selection 6
/Position 6
–JOG
operation
Point
output
3/ Position
selection
4
Point
output
0/ Position
selection
1
Point
output
2/ Position
selection
3
Point
output
4/ Speed
selection
Point output
6
jConnectors Used
Sumitomo 3M Receptacle at Position Driver 10236-6202JL
Soldered plug at cable side 10136-3000VE
Case at cable side 10336-52A0-008
CompoBus/S Position Drivers
CompoBus/S Communications Terminal Block (CN1: CONT) Pin
Arrangement
Signal Name Functions
BD H CompoBus/S serial line (+) These are the terminals for connecting
Com
p
oBus/S communications cables Be
BD L
CompoBus/S serial line (–)
C
ompo
B
us
/S
commun
i
cat
i
ons ca
bl
es.
B
e
careful to connect the polarities correctly.
jI/O Allocation
The FND-X has 16 input points and 16 output points.
Design and Installation Chapter
2
2-46
IN (16 Input Points)
I/O allocation Signal Name
OUT0 RUN RUN command
OUT1 START START
OUT2 RESET Alarm reset
OUT3 SEARCH Origin search
OUT4 +JOG +JOG operation
OUT5 –JOG –JOG operation
OUT6 TEACH Teach
OUT7 STOP (see note 2) Deceleration stop
OUT8 P. IN0 Point selection 0/Position 0
OUT9 P. IN1 Point selection 1/Position 1
OUT10 P. IN2 Point selection 2/Position 2
OUT11 P. IN3 Point selection 3/Position 3
OUT12 P. IN4 Point selection 4/Position 4
OUT13 P. IN5 Point selection 5/Position 5
OUT14 P. IN6 Point selection 6/Position 6
OUT15 P. IN7 Position 7
OUT (16 Output Points)
I/O allocation Signal Name
IN0 BO Brake output
IN1 READY READY
IN2 S.COM Origin search completed
IN3 ORGSTP Origin stop
IN4 T.COM Teaching completed
IN5 RUNON Motor running
IN6 INP Positioning completed
IN7 ALM Alarm
IN8 P. OUT0 Point output 0/Position selection 1
IN9 P. OUT1 Point output 1/Position selection 2
IN10 P. OUT2 Point output 2/Position selection 3
IN11 P. OUT3 Point output 3/Position selection 4
IN12 P. OUT4 Point output 4/Speed selection
IN13 P. OUT5 Point output 5
IN14 P. OUT6 Point output 6
IN15 --- Not used
Note 1. The I/O allocation indicates the word allocation for the Master Unit.
Note 2. The
Servomotor cannot be driven if the deceleration stop signal is OFF for the external control
input (CN4-4) or the CompoBus/S input (OUT7).
Design and Installation Chapter
2
2-47
External Control Signal Connectors (CN4: LIMIT) Pin Arrangement
2 CWL
4STOP
8
1 CCWL
3 ORG
7 +24 V
9
11
13
8BO
10
14 OGND
12
6
5
CW limit
Deceleration
stop
(see note)
Origin
proximity
CCW limit
Output
ground
+24-VDC
power sup-
ply input for
control
Brake
output
jConnectors Used
Sumitomo 3M Receptacle at Position Driver 10214-6202JL
Soldered plug at cable side 10114-3000VE
Case at cable side 10314-52A0-008
Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control
input (CN4-4) or the CompoBus/S input (OUT7).
Design and Installation Chapter
2
2-48
Control I/O Specifications
DIO Compo
Bus/S Signal Name Function and interface Internal
allocation
CN1-1 CN4-1 CCWL CCW limit input Inputs the + direction limit signal (sta-
tus enabled)
ON: Drive possible
OFF: Motor stopped by limit
detection when driving in the + direc-
tion.
IN15
CN1-2 CN4-2 CWL CW limit input Inputs the – direction limit signal (sta-
tus enabled)
ON: Drive possible
OFF: Motor stopped by limit detection
when driving in – direction.
IN16
CN1-3 CN4-3 ORG Origin proximity Signal for mechanical origin setting IN17
CN1-4 OUT0 RUN RUN command Command for beginning power on to
motor (status enabled)
When OFF, error counter is cleared.
ON: Power ON to motor
OFF: Power OFF to motor
IN0
CN1-5 OUT1 START START Begins positioning operation (rising
edge enabled)
ON: START
IN1
CN1-6 OUT2 RESET Alarm reset Alarm reset signal (rising edge en-
abled) IN2
CN1-7 OUT3 SEARCH Origin search When RUN is ON (rising edge en-
abled):
ON: Origin search begins
When RUN is OFF (status enabled):
ON: Origin teaching awaited
IN3
CN1-8 OUT4 +JOG +JOG operation +JOG operation (status enabled) ON:
Rotate IN4
CN1-9 OUT5 –JOG –JOG operation –JOG operation (status enabled) ON:
Rotate IN5
CN1-10 OUT6 TEACH Teach When ORIGIN SEARCH is OFF (sta-
tus enabled):
When UP-01 = 11 or 12, motor’s pres-
ent position is taken for PTP data
when this bit turns ON.
When UP-01 = 13 or 14, P.IN0 to
P.IN7 is taken as positioning data
when this bit turns ON.
When RUN is OFF and ORIGIN
SEARCH is ON (status enabled):
Motor’s present position is taken for
origin compensation amount.
IN6
Design and Installation Chapter
2
abled)
‘4, ing
2-49
DIO Internal
allocation
Function and interfaceNameSignal
Compo
Bus/S
CN1-11 OUT8 P.IN0 Point selection 0/
Position 0 Positioning data inputs (status en-
abled) IN7
CN1-12 OUT9 P.IN1 Point selection 1/
Position 1
abled)
When UP-01 = 11 or 12, PTP data No.
is input as positioning data. Range: 1
to 64 BCD input
IN8
CN1-13 OUT10 P.IN2 Point selection 2/
Position 2
to 64, BCD input.
When UP-01 = 13 or 14, positioning
d t i i t R 1 t 99 BCD i
IN9
CN1-14 OUT11 P.IN3 Point selection 3/
Position 3
,g
data is input. Range: 1 to 99, BCD in-
put. IN10
CN1-15 OUT12 P.IN4 Point selection 4/
Position 4
Taken in order, two digits at a time,
from the rightmost digits. IN11
CN1-16 OUT13 P.IN5 Point selection 5/
Position 5 IN12
CN1-17 OUT14 P.IN6 Point selection 6/
Position 6 IN13
CN1-18 OUT15 P.IN7 Position 7 IN14
CN1-20 CN4-4
OUT7 STOP Deceleration stop Stops according to deceleration stop
mode (falling edge enabled)
ON: Motor driven
OFF: Motor stopped
IN18
CN1-36 CN4-7 +24V +24-VDC power
supply input for
control
Power supply input terminal for control
input. ---
CN1-19 CN4-14 OGND Output ground
common Output ground common for control in-
put. ---
CN1-21 CN4-8
IN0 BO Brake output External brake timing signal output.
Output OFF when brake is operating. OUT14
CN1-22 IN1 READY Ready Outputs ready status for receiving
ORIGIN SEARCH, ST
ART, TEACH, or
point selection signal input. Output
turns ON when positioning data is re-
ceived or when motor rotation is com-
pleted.
OUT0
CN1-23 IN2 S.COM Origin search
completed Output turns ON when motor’s present
position is established. OUT1
CN1-24 IN3 ORGSTP Origin stop Output turns ON when positioning is
stopped at mechanical origin position. OUT2
CN1-25 IN4 T.COM Teaching com-
pleted Output turns ON when teaching input
processing is completed. OUT3
CN1-26 IN5 RUNON Motor running Output turns ON when power is turned
ON to the motor. OUT4
CN1-27 IN6 INP Positioning com-
pleted Output turns ON when error counter
residual pulses are within the UP-07
(positioning completed range) setting.
OUT5
CN1-28 IN7 ALM Alarm Output indicates error occurrence at
the driver or motor. Output OFF when
an alarm occurs.
OUT6
Design and Installation Chapter
2
”9
csitiom‘ng data (position and speed).
2-50
DIO Internal
allocation
Function and interfaceNameSignal
Compo
Bus/S
CN1-29 IN8 P.OUT0 Point output 0/
Position selection
1
When UP-01 = 11 or 12:
Outputs (BCD) point No. during wait-
ing or execution.
OUT7
CN1-30 IN9 P.OUT1 Point output 1/
Position selection
2
g
When UP-01 = 13 or 14:
Outputs request signal for receiving
positioning data (position and speed).
OUT8
CN1-31 IN10 P.OUT2 Point output 2/
Position selection
3
ositioning
data
( osition
and
s eed).
The output ON time is set for PP-26
(selection signal output time).
OUT9
CN1-32 IN11 P.OUT3 Point output 3/
Position selection
4
OUT10
CN1-33 IN12 P.OUT4 Point output 4/
Speed selection OUT11
CN1-34 IN13 P.OUT5 Point output 5 OUT12
CN1-35 IN14 P.OUT6 Point output 6 OUT13
Note The “internal allocations” are the numbers allocated in the CPU Unit.
Design and Installation Chapter
2
2-51
Control Input Details
DIO CN1-1 CompoBus/S CN4-1
CCWL CCW limit N.C. condition
•Pin
No. 1 is the plus (+) direction limit input signal. When this signal is not being input (ON), the motor
cannot be rotated in the plus (+) direction.
•If
this signal turns OFF during motor rotation in the plus (+)
direction, the motor will be stopped accord
-
ing to the PP-25 (alarm selection) setting.
DIO CN1-2 CompoBus/S CN4-2
CWL CW limit N.C. condition
•Pin
No. 2 is the minus (–) direction limit input signal. When this signal is not being input (ON), the motor
cannot be rotated in the minus (–) direction.
•If
this signal turns OFF during motor rotation in the minus (–) direction, the motor will be stopped ac
-
cording to the PP-25 (alarm selection) setting.
DIO CN1-3 CompoBus/S CN4-3
ORG Origin proximity N.O. condition
•Pin No. 3 is the input for determining the mechanical origin.
•When
an origin search is executed, operation stops
at the motor
’
s Z-phase position and the origin is
determined
after the origin proximity signal turns from
ON to OFF during motor rotation in the direction
set by PP-19 (origin search direction).
•When PP-06 and PP-07 (leftmost and rightmost digits for the origin compensation amount) are set,
positioning
will be executed from this position by the amount set for origin compensation, and then that
compensated position will be taken as the mechanical origin.
DIO CN1-4 CompoBus/S OUT0
RUN RUN command N.O. condition
The pin No. 4 signal input turns ON the power to drive the motor and begins motor operation. If this
signal is not input (turned ON), the motor cannot be driven.
DIO CN1-5 CompoBus/S OUT1
START START N.O. condition
•The pin No. 5 signal input executes the specified positioning (point No. input or direct input).
•When
this signal is input (turned ON), the motor is operated
and positioning is executed based on the
positioning data.
DIO CN1-6 CompoBus/S OUT2
RESET Alarm reset N.O. condition
•This is the alarm’s external reset signal.
•When this signal is input (turned ON), the alarm is cleared and the alarm output is turned ON. (The
alarm will not be cleared, however, if the alarm condition remains in effect.)
•If
this signal is input under normal conditions (i.e., when no alarm is generated), the motor is deceler
-
ated to a stop according to the deceleration time.
•When positioning is being executed according to PTP data, the point number is taken again.
•When an alarm is generated, remove the cause of the alarm before beginning operation again. For
safety’s sake, turn OFF the RUN command before inputting the alarm reset signal.
Design and Installation Chapter
2
2-52
DIO CN1-7 CompoBus/S OUT3
SEARCH Origin search N.O. condition
•The pin No. 7 signal input begins an origin search or origin teaching operation.
•When
this signal is input (turned ON) while RUN is ON, an origin search operation is executed. (The
motor rotates in the direction set in PP-19 (origin search direction).
•When
this signal is input (turned ON) while RUN is OFF
, an origin teaching operation is executed. If the
teaching
(TEACH) signal is turned ON while the origin search signal is ON, the position at that time will
be
automatically taken into PP-06/PP-07 (origin compensation
amount) as the origin compensation
amount.
DIO CN1-8 CompoBus/S OUT4
+JOG +JOG operation N.O. condition
•The pin No. 8 signal input rotates the motor in the + JOG direction at the JOG speed.
•While this signal is being input (i.e., while it is ON), the motor rotates in the forward direction at the
speed set in PP-16 (JOG speed).
DIO CN1-9 CompoBus/S OUT5
–JOG –JOG operation N.O. condition
•The pin No. 9 signal input rotates the motor in the – JOG direction at the JOG speed.
•While this signal is being input (i.e., while it is ON), the motor rotates in the reverse direction at the
speed set in PP-16 (JOG speed).
DIO CN1-10 CompoBus/S OUT6
TEACH Teach N.O. condition
jTeaching [Origin established, UP-01 (Control Mode) = 11 or 12, Origin search
signal OFF]
•This is the signal input for automatically taking the PTP data’s position data.
•When
this signal is
input (turned ON), the motor
’
s present value is taken as an absolute value to the
position data for the PTP data (Pd-) selected by the point selection signal.
jTaking Direct Positioning Data [Origin established, UP-01 (Control Mode) = 13 or
14, RUN command OFF, origin search signal OFF]
•This is the signal input for taking the positioning data (position, speed) from the control input.
•When this signal is input (turned ON), the position and speed data are taken sequentially from the
positioning data inputs (P.IN 0 to 7), two digits at a time, beginning from the rightmost digits.
•The position and speed selection signals (P.OUT 0 to 4) are output as data request signals.
jOrigin Teaching [Origin established, RUN command OFF, origin search signal ON]
•This is the input signal for automatically taking the origin compensation amount.
•When this signal is input (turned ON), the motor’s present value is taken into PP-06/PP-07 (origin
compensation
amount) as the origin compensation amount, at the encoder/resolver resolution con
-
version.
Design and Installation Chapter
2
2-53
DIO CN1-11 to 18 CompoBus/S OUT8 to 15
P.IN0 to 7 Point selection / Position data N.O. condition
jPoint Selection 0 to 6 [UP-01 (Control Mode) = 11 or 12]
•This is the signal input for selecting positioning data from PTP data.
•The range of data is 1 to 64, in BCD.
•Point
selections 0 to 3 become the data input for digit 10
0
, and point selections 4 to 6 become the data
input for digit 101.
Example: When point No. 12 is set.
0010010
6543210
0: OFF, 1: ON
Point selection
jPositions 0 to 7 [UP-01 (Control Mode) = 13 or 14]
•This is the positioning data signal input.
•The
range of data is 0 to 99, in
BCD (up to a maximum of “F9,” for the position’
s leftmost digits only).
•The
32 bits for the position data and the 8 bits for the speed data are taken eight bits at a time. At
this
time
the position and speed selection signals (P
.OUT 0 to 4) are output as data request signals. Re
-
fresh the input data according to the data request signals.
•If the speed is set to “0,” it will be taken as 100%.
DIO CN1-20 CompoBus/S CN4-4 / OUT7
STOP Deceleration stop N.C. condition
•This is the signal input for forcibly stopping motor rotation.
•While this signal is not being input (ON), the motor cannot be driven.
•With
the
CompoBus/S Position Drivers, the motor cannot be driven unless the external control signal
input (CN4-4) and the CompoBus/S input (OUT7) are both input.
•The method for stopping the motor depends on the set value for PP-24 (deceleration stop mode).
Control Output Details
DIO CN1-21 CompoBus/S CN4-8 / IN0
BO Brake output
•When
UP-16 (brake mode) is set to 1, 2, or 3 (brake retention), the timing signal for applying the elec
-
tromagnetic
brake is output. If the motor
’
s rotation speed falls below the UP-28 (brake-ON r/min) set
value
under the following circumstances, the output will be turned OFF and the electromagnetic brake
will be operated.
When the RUN signal has been turned OFF.
When an error shutting OFF the power to the motor has occurred.
When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run
stop).
•When
UP-16 is set to 0 (dynamic brake), the timing signal for applying the dynamic brake is output.
Under the following circumstances the output is turned OFF and the dynamic brake is operated.
Design and Installation Chapter
2
FNDrX
CN1 (CONT) 21
BO X5
19
OGND
TB
A
B
c
@
M
I OFF ON OFF ON
N
_._.._105ms 2.4ms ._..
I OFF ON OFF | ON OFF W
2.4ms .—
2-54
When the RUN signal has been turned OFF.
When an error shutting OFF the power to the motor has occurred.
When a deceleration stop turns OFF while PP-24 (deceleration stop mode) is set to 0 (free-run
stop).
Electromagnetic Brake Wiring and Operational Sequence
•Wiring
24 VDC 24 VDC
AC Servomotor
Brake
(See note)
Protectively
separated
Note With
the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and
OGND (CN4 to 14) are provided. For controlling brake drive bits, use the CN4 to CN8 pin out
-
puts.
•Operational Sequence
RUN
Alarm reset (RESET)
Alarm (ALM)
Power to motor
Brake output (BO)
Motor operation (speed)
UP-28 (brake-ON r/min)
Power ON Power ON
Note
1
Note 2
Note 1. When the motor is stopped, the brake output turns OFF in approximately 2.4 ms.
Note 2. When the motor is stopped, the brake output turns OFF in approximately 0.8 ms.
Design and Installation Chapter
2
FND-X
0N1 (CONT)
21
I OFF ON OFF ON
J ‘
\ OFF 0
:l
I 0N ‘ ' IOFF o
_._.._28ms
W .
_.._.._105ms 105ms—.—.— _.._.._133ms
°|
2
I OFF ‘ 0” OFF > ON OFF
2Ams.._.. ‘——2,4ms 2.4ms.—.— —.—«-0.8ms —~——34ms
.
2-55
Dynamic Brake Wiring and Operational Sequence
•Wiring
24 VDC
AC Servomotor
(See note)
Protectively
separated
Note With
the CompoBus/S Position Drivers, outputs are made to CN4 (LIMIT). BO (CN4 to 8) and
OGND
(CN4
to 14) are provided. For controlling dynamic brake drive bits, use the CN4 to CN8
pin outputs.
•Operational Sequence
RUN
Alarm reset (RESET)
Alarm (ALM)
Power to motor
Brake output (BO)
Motor operation (speed)
Power ON Power ON
DIO CN1-22 CompoBus/S IN1
READY READY
•This
output turns ON when the input signal processing is completed and the origin search, start, teach,
and point selection signal inputs are ready.
•The
output turns
OFF when position data is taken and positioning begins, and turns ON when the pro
-
cessing is completed. The time set for HP-46 (positioning completed timer) must be OFF.
•While this signal is OFF, any START signal that is input will be invalid.
Design and Installation Chapter
2
2-56
DIO CN1-23 CompoBus/S IN2
S.COM Origin search completed
•This output turns ON when the mechanical origin is established.
•The output conditions are as follows:
When
a motor with an absolute-value encoder is connected, the signal turns ON when the power
supply is input.
When a motor with an incremental encoder or resolver is connected:
When
UP-01 (control mode) is 1
1 or 13, the signal turns ON after origin search is completed.
When
UP-01 (control mode) is 12 or 14, the signal turns ON when the power supply is
input.
DIO CN1-24 CompoBus/S IN3
ORGSTP Origin stop
The output turns ON when the motor is stopped at the mechanical origin.
DIO CN1-25 CompoBus/S IN4
T.COM Teaching completed
•This output turns ON when the teaching input processing is completed.
•The output turns OFF when the teaching input turns OFF.
DIO CN1-26 CompoBus/S IN5
RUNON Motor running
This output turns ON when the RUN command is input to the motor and power begins to flow to the
motor.
DIO CN1-27 CompoBus/S IN6
INP Positioning completed
•This
output turns ON
when error counter residual pulses are within the UP-07 (positioning completed
range) setting.
•The output turns OFF when positioning begins.
•After positioning is completed, the
output remains ON until the time set for HP-46 (positioning com
-
pleted timer) elapses.
DIO CN1-28 CompoBus/S IN7
ALM Alarm
•This output turns OFF when the driver detects an error.
•The
output is OFF when the power supply is turned ON, and the output turns ON when the initial pro
-
cessing is completed.
DIO CN1-29 to 35 CompoBus/S IN8 to 14
P.OUT0 to 6 Point output /
Position selection, speed selection
jPoint Outputs 0 to 6 [UP-01 (Control Mode) = 11 or 12]
•The PTP data number that is waiting or being executed is output.
•The range of output data is 0 to 64, in BCD. (0: When point selection not input.)
Design and Installation Chapter
2
2-57
•Point outputs 0 to 3 become the data output for digit 100, and point outputs 4 to 6 become the data
output for digit 101.
Example: When point No. 12 is selected.
0010010
6543210
0: OFF, 1: ON
Point output
jPosition Selection 1 to 4 [UP-01 (Control Mode) = 13 or 14]
•This is the request signal output for obtaining positioning data.
•Refresh the data for positions 0 to 7 (P.IN 0 to 7) according to the data request signals.
•The
output ON time can be set by PP-26 (selection
signal output time). Adjust this parameter when
inputting data from a source such as a Programmable Controller.
Design and Installation Chapter
2
CCWL 1
)-’VW-
3k
CWL 2 ‘
>—._.—)—’V\/\r
3k
_ one a
>—o (2 MM.
3k ,
_ HUN 4
>—o o—H/w
3k -
#5" START 5
0—.—
3k
_ RESET 6
>—o o—ywv
o
x
._ SEARCH 7
»—o o—H/w
3k -
_ +JOG 8
>—o o———>—vwv
3k -
A... -JOG 9
>—o o—)—Wv-
3k
v TEACH 10
>—o 0 HM
3k
_ P.|N0 11
»—o
; 3k
_ P.|N7 13
>—0 0 HM
3k
STOP 20
5':
FlEADY
READY
S.COM
ORGSTP
T.COM
RUNON
INF
P.0UTO
P.0UT6
OGND
J
2-58
Control I/O Connections and External Signal Processing (DIO Position
Drivers)
+24
V
24 VDC
24 VDC 8 mA
CCW
limit input
CW limit input
Origin proximity
RUN
START
Alarm reset
Origin search
+JOG operation
–JOG operation
Teach
Position 7
Point selection 0/ Position 0
STOP
Brake output
Origin search
completed
Origin stop
Teaching
completed
Motor running
Positioning
completed
Alarm
Point output 0
/ Position
selection 1
Point output 6
Output ground
Maximum voltage:
24 VDC
Output
current:
40 mA
Note 1. The
wiring for control inputs P
.IN 1 to 6 is omitted. The input circuitry is the same as for P
.IN0.
Note 2. The
wiring for control inputs P
.OUT 1 to 5 is omitted. The output circuitry is the same as for
P.OUT 0.
Design and Installation Chapter
2
2-59
Control I/O Connections and External Signal Processing (CompoBus/S
Position Drivers)
+24
V
24 VDC
24 VDC 8 mA
CCW
limit input
CW limit input
Origin proximity
Deceleration stop
Brake output
Output ground
Maximum voltage:
24 VDC
Output
current:
40 mA
8
14
7
Note The Servomotor cannot be driven if the deceleration stop signal if OFF for the external control
input (CN4-4) or the CompoBus/S input (OUT7).
Design and Installation Chapter
2
CCWL
CWL
ORG
STOP
+JOG
*JOG
RUN
START
RESET
SEARCH
TEACH
PJND
P.IN‘
PJNZ
PJN3
P.IN4
PJNS
PJN6
P.IN7
LoToJ
BO
READY
S‘COM
DRGSTP
T.COM
RUNON
INP
W
PDUTD
PDUTV
PVOUTZ
ROUTE
FDUTAS
P.0UT5
ROUTE
OGND
2-60
Example: Connecting DIO Position Drivers to a Programmable
Controller
24 VDC +24 V
Programmable
Controller Output
Unit
Programmable
Controller Input
Unit
FND-X Position Driver
Brake
Design and Installation Chapter
2
\lmulbwmgmw
6
w
3
a
2
a
Nan
2-61
Example: Connecting DIO Position Drivers to Thumbwheel Switch
(Positioning Data Designation by Direct Input)
Position
data
100
digit
Position data
101
digit
Position data
106
digit
Position data
107
digit
Sign +/–
INC/ABS
Speed data
100
digit
Speed data
101
digit
FND-X Position Driver
+24 V
24 VDC
Note 1. The
wiring for position data
digits
10
2
to 10
5 is omitted,
but
it is the same as for
the
other digits.
Note 2. The
wiring for control
output
pins 21 to 28 is omitted.
Note 3. Do
not remove the reverse-
current prevention diodes
even when outputting the
position and speed data
from PLC Output Units.
Design and Installation Chapter
2
2-62
2-2-3 W
iring T
erminal Blocks
Provide proper wire diameters, ground systems, and noise resistance when wiring terminal blocks.
Wiring FND-X06 to X25 Terminal Blocks
Power supply inputs
Regeneration Resistor
connection terminals
Power cable
Red
White
Blue or Black
Green
Design and Installation Chapter
2
FNDVX Hr :Singlerphase 200/240 VAC (170
Regenerative Resistor connection terminals
R88A RR40030 Regenerative Resistor, which will
nec
motors).
2-63
Terminal
label Name Function
RPower supply input The commercial power supply input terminals for
the main circuit and the control circuits.
FND-X
H-
: Sin
g
le-phase 200/240 VAC
(
170
S
FND-XH-:
Single- hase
200/240
VAC
(170
to 264 V) 50/60 Hz
FND-XL-: Single-phase 100/115 VAC (85 to
127 V) 50/60 Hz
PMain circuit DC output
Regenerative Resistor connection terminals Connector terminals for the R88A-RR20030 or
R88A-RR40030 Regenerative Resistor, which will
J
Regenerative
Resistor
connection
terminals
R88A RR40030
Regenerative
Resistor,
which
will
be required if there is excessive regenerative ener-
gy. (see note)
N Main circuit DC output Main circuit DC output terminal.
A Phases A and U motor output Red These are the output terminals to the Ser-
vomotor. Be careful to wire them correctly.
OMNUC Servomotors can be connected
h i l i h R88A CAU
B Phases B and V motor output White to these terminals with R88A-CAU
Cable (for U-series Servomotors) or
R88A-CAH Cable (for H-series Servo-
motors
)
.
C Phases C and W motor output Blue
or
black
motors)
.
OMRON does not provide a cable to con-
nect these terminals to OMNUC M-series
Servomotors, so the user must provide an
appropriate cable if an M-series Servomo-
tor is used.
Frame ground Green Ground (to 100 Ω or less). This terminal is
used for both motor output and power sup-
ply input.
Note Refer
to
3-10 Regenerative Energy Absorption
for the methods to calculate regenerative energy
.
Design and Installation Chapter
2
msowcouflwm
RSYPFQMNQ
WM
2-64
Wiring FND-X50 Terminal Blocks
Protectively
separated
Control circuit power
supply inputs Power cable
Red
White
Blue or Black
Green
Regeneration
Resistor Ground (100 Ω or less)
Main power
supply inputs
Design and Installation Chapter
2
the control circuits.
Ronnnara‘iun Rasistnr r-nnmaminn [Arminak
R88A7RR40030 Ronanarafiva Racism whirh will
ny ng‘
OMNUC SMWMW, Mn bA MMM.ed M
2-65
Terminal
label Name Function
R0 Control circuit power supply input The commercial power supply input terminals for
the control circuits.
S0
the
control
circuits
.
Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz
RMain power supply input The commercial power supply input terminals for
hiii
S
y
y
the main circuits.
TThree-phase 200/240 VAC (170 to 264 V) 50/60 Hz
PMain circuit DC output
Regenerative Resistor connection terminals
Connector terminals for the R88A-RR20030 or
R88A
-
RR40030 Regenerative Resistor which will
J1
R
egenera
ti
ve
R
es
i
s
t
or connec
ti
on
t
erm
i
na
l
s
R88A
-
RR40030
R
egenera
ti
ve
R
es
i
s
t
or, w
hi
c
h
w
ill
be required if there is excessive regenerative ener-
I thi th h t b b t JP1
J2 gy. In this case, remove the short bar between JP1
and JP2. (see note)
N Main circuit DC output Main circuit DC output terminal.
MC Not used. Do not connect anything to these terminals and do
h h b b BI d BI
COM
yg
not remove the short bar between BI1 and BI2.
BO
BI1
BI2
A Phases A and U motor output Red These are the output terminals to the Ser-
vomotor. Be careful to wire them correctly.
OMNUC Servomotors can be connected to
B Phases B and V motor output White
OMNUC
S
ervomotors can
b
e connecte
d
to
these terminals with R88A-CAUB Cable
(for U-series Servomotors).
OO
C Phases C and W motor output Blue
or
black
OMRON does not provide a cable to con-
nect these terminals to OMNUC M-series
Servomotors, so the user must provide an
appropriate cable if an M-series Servomo-
tor is used.
Frame ground Green Ground (to 100 Ω or less). This terminal is
used for both motor output and power sup-
ply input.
Note Refer
to
3-10 Regenerative Energy Absorption
for the methods to calculate regenerative energy
.
Design and Installation Chapter
2
put terminals
2-66
Terminal Block Current and Wire Sizes
The
following table shows the rated ef
fective currents flowing to the Position Driver
’
s terminal block, and
also the sizes of the electrical wires.
jPosition Drivers with 200-VAC Input (FND-XH-)
Driver FND-X06H-FND-X12H-FND-X25H-FND-X50H-
Main power sup-
li i
Effective current 2.1 A 4.9 A 10.1 A 16 A
ply input termi-
nals (R S T)
Wire size 0.75 mm21.25 mm2
nals
(
R,
S
, T
)
Tightening torque 1.3 N⋅m
Control circuit
power supply in
Effective current --- 0.35 A
power supply in-
p
ut
te
rmin
a
l
s
Wire size --- 0.75 mm2
ut
terminals
(R0, S0) Tightening torque --- 1.3 N⋅m
Motor output ter-
minals (A B C
Effective current 1.4 A 3.4 A 5.7 A 14.1 A
minals (A, B, C,
PE
)
Wire size 0.75 mm21.25 mm22.0 mm2
PE)
Tightening torque 1.3 N⋅m
Frame ground
i l (PE)
Wire size 0.75 mm21.25 mm22.0 mm2
g
terminal (PE) Tightening torque 1.3 N⋅m
jPosition Drivers with 100-VAC Input (FND-XL-)
Driver FND-X06L-FND-X12L-
Main power supply in-
i l (R S)
Effective current 2.9 A 3.3 A
y
put terminals (R, S) Wire size 0.75 mm2
Tightening torque 1.3 N⋅m
Motor output terminals
(A B C PE)
Effective current 1.4 A 2.1 A
(A, B, C, PE)
Wire size 0.75 mm2
Tightening torque 1.3 N⋅m
Frame ground terminal
(PE)
Wire size 0.75 mm2
g
(PE) Tightening torque 1.3 N⋅m
Wire Sizes and Allowable Current
The
following table shows allowable currents when there are three electrical wires. Use values equal to
or lower than the specified values.
jHeat-resistant Vinyl Wiring, UL1007, Rated Temperature 80°C (Reference Value)
AWG size Nominal cross-
sectional area
(2)
Configuration
(wires/mm2)Conductive
resistance
(Ω/k )
Allowable current (A) for
ambient temperature
(mm2)
( )
(Ω/km) 40°C 50°C 60°C
20 0.5 19/0.18 39.5 6.6 5.6 4.5
--- 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
16 1.25 50/0.18 15.6 12.0 11.0 8.5
14 2.0 7/0.6 9.53 23 20 16
12 3.5 7/0.8 5.41 33 29 24
10 5.5 7/1.0 3.47 43 38 31
Design and Installation Chapter
2
4__ Thick pogver line
(E‘ecmc shack nmse r M
pvmecuun) ‘ ' ‘ 4. \
‘Ground plate 4:. E ‘ e
V ‘ Conlrol board Controller power supply ‘ Machine
ground
2-67
2-2-4 Wiring for Noise Resistance
jWiring Method for FND-X06 to -X25
Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be
increased by paying attention to the items described below.
R
S
A
B
C
CN2
M
NFB
3.5mm22
mm
2 min.
1
2
3
4
NF
E
X1 TB TB
AC power supply
(Lightning surge
protection)
Contactor
Metal
duct
Fuse
(Electric
shock noise
protection) Ground
plate
Control
board
ground
Controller power supply
Thick power line
(3.5 mm2)
Machine
ground
No-fuse
breaker FND-X R88M-U/H/M
(Faulty
grounding, short-
circuit protection)
(Noise
protection)
(Electrical shock,
noise protection)
Surge
absorber
(Noise
protection)
Noise
filter
Ground
(to 100
Ω
or less)
•Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
•Use
a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a
single point.
•Use
ground lines with a minimum thickness of 3.5 mm
2
, and arrange the wiring so that the ground lines
are as short as possible.
•If
no-fuse breakers are installed at the top and the power supply line
is wired from the lower duct, use
metal
tubes for wiring and make sure that there is adequate distance between the input
lines and the
internal wiring. If input and output lines are wired together, noise resistance will decrease.
•No-fuse
breakers,
surge absorbers, and noise filters (NF) should be positioned near the input terminal
block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.
•Wire
the noise filter as shown at the left in the following illustration. The noise filter should be installed
at the entrance to the control panel whenever possible.
1
2
3
4
NF E
1
2
3
4
NF E
Right: Separate input and output
AC input
Ground
AC output
Wrong: Noise not filtered effectively
AC input
Ground
AC output
Design and Installation Chapter
2
F p ‘A
\/ \1 v
x r
/ ‘ f ‘ ‘ "X /_R88M—U/M
2-68
•Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
Position
Driver
Binding
R
S
or Position
Driver
Twisted Wires Binding
•Separate power supply cables and signal cables when wiring.
jWiring Method for FND-X50H-
Noise resistance will vary greatly depending on the wiring method used. Resistance to noise can be
increased by paying attention to the items described below.
AC power supply
(Lightning
surge
protection)
Contactor Metal
duct
Fuse
(Electric
shock
noise
protection)
Ground
plate Control
board
ground
Controller power supply
Thick power line
(3.5 mm2)
Machine
ground
No-fuse
breaker
(Faulty
grounding,
short-circuit
protection)
(Noise
protection)
(Electrical shock,
noise protection)
Surge
absorber
(Noise
protection)
Noise
filter
Ground
(to 100
Ω
or less)
Protectively
separated
CN2
(M.SEN)
•Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
•Use
a grounding plate for the frame ground for each Unit, as shown in the illustration, and ground to a
single point.
•Use
ground lines with a minimum thickness of 3.5 mm
2
, and arrange the wiring so that the ground lines
are as short as possible.
•If
no-fuse breakers are installed at the top and the power supply line
is wired from the lower duct, use
metal
tubes for wiring and make sure that there is adequate distance between the input
lines and the
internal wiring. If input and output lines are wired together, noise resistance will decrease.
•No-fuse
breakers,
surge absorbers, and noise filters (NF) should be positioned near the input terminal
block (ground plate), and I/O lines should be isolated and wired using the shortest means possible.
Design and Installation Chapter
2
R0
2-69
•Wire
the noise filter as shown at the left in the following illustration. The noise filter should be installed
at the entrance to the control panel whenever possible.
Right: Separate input and output Wrong: Noise not filtered effectively
AC inputs
Ground
AC outputs AC inputs
Ground
AC outputs
•Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
Position
Driver Position
Driver
Binding
Twisted Wires Binding
•Separate power supply cables and signal cables when wiring.
jSelecting Components
This section explains the standards for selecting the required components for improving noise resis-
tance.
When selecting
components, it is necessary to understand characteristics such as the capacity
,
performance, applicable range, and so on. For details regarding any of the recommended products
listed in the tables below, contact their respective makers.
DNo-fuse Breakers
When
selecting no-fuse breakers, take into consideration the maximum output current and the inrush
current. The momentary maximum output for a servo system is approximately three times that of the
rated output, and a maximum output of three seconds can be executed. Therefore, select no-fuse
breakers
with an operating time of at least five seconds at 300% of the rated maximum output. General-
purpose
and low-speed no-fuse breakers are generally suitable. Refer to the table in
2-2-3 W
iring T
er-
minal
Blocks
for the power supply input currents for each motor
, and then add the current consumption
for the number of shafts, other controllers, etc., to make the selection.
The
Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is
input. With low-
speed
no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1
second. When mak
-
ing the selection, take into consideration the entire inrush current for the system.
Design and Installation Chapter
2
Ind‘ “715‘
ay
Ind‘ Mna‘
2-70
DSurge Absorbers
Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal volt-
ages,
etc. When selecting surge absorbers, take into account the varistor
voltage, the amount of surge
immunity,
and the amount of energy resistance. For 200-V
AC systems, use a varistor voltage of 470
V
.
The surge absorbers shown in the following table are recommended.
Maker Model Varistor
voltage Max. limit
voltage Surge
immunity Energy
resistance Fuse
capacity Type
Matsushita
El i
ERZC10DK471 (W) 470 V 775 V 1,250 A 45J 3 to 5 A Tester
Electric
Industrial
ERZC14DK471 (W) 470 V 775 V 2,500 A 80J 3 to 10 A
I
n
d
ustr
i
a
l
ERZC20DK471 (W) 470 V 775 V 4,000 A 150J 5 to 15 A
ERZC20EK471 (W) 470 V 775 V 5,000 A 150J --- Block
Ishizuka
El i
Z10L471 470 V 773 V 1,000 A 15Ws 3 to 5 A Tester
Electric Z15L471 470 V 738 V 1,250 A 20Ws 3 to 5 A
Z21L471 470 V 733 V 3,000A 30Ws 5 to 10 A
Z25M471S 470 V 810 V 10,000 A 235J --- Block
Okaya
El i
RAV-781 BWZ-2A --- 783 V 1,000 A --- --- Block
y
Electric
Industrial
RAV-781 BXZ-2A --- 783 V 1,000 A --- ---
I
n
d
ustr
i
a
l
R-A-V-401-621BYR-2 --- 620 V 1,000 A --- ---
Note 1. The
“(W)” for the Matsushita Electric Industrial products
indicates that they are UL- and CSA-
approved products.
Note 2. Refer to manufacturers documentation for operating details.
Note 3. The
surge immunity is for
a standard impulse current of 8/20
µ
s. If pulses are wide, either de
-
crease the current or change to a larger-capacity surge absorber.
Note 4. The
energy resistance is the value at 2 ms. At 700 V or less, high-energy pulses may not be
avoidable. In that case, use an insulated transformer or reactor for surge absorption.
DNoise Filters for Power Supply Input
•Use
a noise filter for external noise attenuation and for the reduction of radiation noise
from the Posi
-
tion Driver.
•Select a noise filter with a rated current of at least double that of the Driver’s input current.
•The noise filters shown in the following table can be used for 40-dB attenuation of noise between
200 kHz and 30 MHz.
Maker Model Rated current Remarks
Tokin LF-210N 10 A For single phase
LF-215N 15 A
g
LF-220N 20 A
LF-315K 15 A For three phase
LF-325K 25 A
Note 1.
For attenuating noise in a low-frequency band of less than 200
kHz, use an insulated trans
-
former and a noise filter.
Note 2. For
attenuating noise in a high-frequency band of more than 30
MHz, use a ferrite core and a
high-frequency noise filter employing a through-type capacitor.
Design and Installation Chapter
2
!
2-71
DNoise Filters for Servomotor Output
•For Servomotor output lines, use a filter type without a built-in capacitor.
•The following table shows recommended noise filters for Servomotor output lines.
Maker Model Rated current Remarks
Tokin LF-310KA 10 A 3-phase block noise filter
LF-320KA 20 A
ESD-R-47B --- EMI core for radiation
noise
Fuji Electrochemical RN80UD --- 10 turns for radiation
noise
Note The same noise filter cannot be used for Servomotor output lines as for the power supply.
Caution Ordinary
noise filters are created for a power supply frequency
of 50/60 Hz, so con
-
necting
an output of 10 kHz (the Position Driver
’
s PWM frequency)
can generate an
extremely
high (approximately 100 time the normal) leakage current flow to the ca
-
pacitor in the noise filter and cause damage to the Position Driver.
DSurge Killers
Install
surge killers for loads
that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows types of surge killers and recommended products.
Type Features Recommended products
Diode Diodes are relatively small devices such as relays used
for loads when reset time is not an issue. The reset time
is increased because the surge voltage is the lowest
when power is cut OFF. Used for 24/48-VDC systems.
Use a fast-recovery diode with a
short reverse recovery time.
Fuji Electric Co., ERB44-06 or equiv-
alent
Thyristor
or
Varistor
Thyristor and varistor are used for loads when induction
coils are large, as in electromagnetic brakes, solenoids,
etc., and when reset time is an issue. The surge voltage
when power is cut OFF is approximately 1.5 times that
of the varistor.
Select varistor voltage as follows:
24-VDC system varistor: 39 V
100-VDC system varistor: 200 V
100-VAC system varistor: 270 V
200-VAC system varistor: 470 V
Capacitor
+ resistor Use capacitors and resistors for vibration absorption of
surge when power is cut OFF. The reset time can be
shortened by proper selection of the capacitor or resis-
tor.
Okaya Electric Industrial Co.
CR-50500 0.5 µF-50 Ω
CRE-50500 0.5 µF-50 Ω
S2-A-0 0.2 µF-500 Ω
Note Thyristors
and varistors are made by the following companies. Refer to manufacturers documen
-
tation for operating details.
Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Industrial Co.
Design and Installation Chapter
2
WAOVP
Arms
2-72
DContactors
When
selecting contactors, take into consideration the circuit’
s inrush current and the momentary
maxi
-
mum current. The Position Driver inrush current is 50 A, and the momentary maximum current is
approximately twice the rated current. The following table shows the recommended contactors.
Maker Model Rated
current Momentary maxi-
mum current Coil voltage
OMRON G6C-2BND 10 A --- 24 VDC
LY2-D 10 A --- 24 VDC
G7L-2A-BUBJ 25 A --- 24 VDC, 200 to 240 VAC
J7AN-E3 15 A 120 A 24 VDC
LC1D25106 26 A --- 200 VAC
LP1D25106 26 A --- 24 VDC
DLeakage Breakers
•Select leakage breakers designed for inverters.
•Since switching operations take place inside the Position Driver, high-frequency current leaks from
the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not de-
tected, preventing the breaker from operating due to leakage current.
•When
selecting leakage breakers, also remember to add the leakage current from devices other than
the
Servomotor
, such as machines using a switching power supply
, noise filters, inverters, and so on.
•For detailed information on how to select leakage breakers, refer to the catalogs provided by the
manufacturers.
•The following table shows the Servomotor leakage currents for each Driver model.
Driver model Leakage current (direct)
(including high-frequency current) Leakage current (resistor-capacitor,
in commercial power supply fre-
quency range)
FND-X06/X1235 mA0-P 2 mArms
FND-X2540 mA0-P 2 mArms
FND-X50H 120 mA0-P 3 mArms
Note 1. Leakage
current values shown above are for
motor power lines of 10 m or less. The values will
change depending on the length of power cables and the insulation.
Note 2. Leakage
current values shown above are for normal temperatures and humidity
. The values
will change depending on the temperature and humidity.
jImproving Encoder and Resolver Cable Noise Resistance
Signals
from the encoder are A-phase,
B-phase, or S-phase. The A-phase and B-phase frequency is
154 kHz, and the S-phase baud rate is 616K bits/s.
Signals from the resolver are analog voltage signals.
Follow the wiring methods outlined below to improve encoder/resolver noise resistance.
•Be sure to use dedicated encoder and resolver cables.
•If
lines are interrupted in the middle, be sure to connect them with connectors, making sure that the
cable insulation is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.
Design and Installation Chapter
2
2-73
•Do
not coil cables. If cables are long and are coiled,
mutual induction and inductance will increase and
will cause malfunctions. Be sure to use cables fully extended.
•When
installing noise filters for
encoder cables, use clamp filters. The following table shows the rec
-
ommended clamp filter models. (Do not use the clamp filters for resolver cables.)
Maker Name Model
Tokin EMI core ESD-QR-25-1
TDK Clamp filter ZCAT2032-0930
ZCAT3035-1330
ZCAT2035-0930A
•Do not wire the encoder or resolver cable in the same duct as power cables and control cables for
brakes, solenoids, clutches, and valves.
jImproving Control I/O Signal Noise Resistance
Position
can be af
fected if control I/O signals
are influenced by noise. Follow the methods outlined be
-
low for the power supply and wiring.
•Use completely separate power supplies for the control power supply (especially 24 VDC) and the
external operation power supply. In particular, be careful not to connect two power supply ground
wires. Install a noise filter on the primary side of the control power supply.
•If
the control power supply wiring
is long, noise resistance can be improved by adding 1-
µ
F laminated
ceramic
capacitors between the control power supply and ground at the Position Driver input
section
and the controller output section.
•Use
shielded cable for the control cables, and connect the shield to the connector frame at the Driver
.
2-2-5 Wiring Products Conforming to EMC Directives
Position
Drivers will meet the requirements of the EMC Directives if they are connected to a U-Series
Servomotor
that conforms to the EC directives and
are wired under the conditions described in this sec
-
tion.
If the connected devices, wiring, and other conditions cannot be made to fulfill the installation and
wiring conditions when the product is incorporated into a machine, the compliance of the overall ma-
chine must be confirmed.
The following conditions must be met to conform to EMC Directives.
•The Position Driver must be installed in a metal case (control panel).
•Noise filters and surge absorbers must be installed on all power supply lines.
•Shielded cables must be used for all I/O signal lines and encoder lines. (Use tin-plated, soft copper
wires for the shield weaving.)
•All cables leaving the control panel must be wired in metal ducts or conduits with blades.
•Ferrite cores must be attached to the shielded cable and the shield must be clamped directly to the
ground plate to ground it.
Design and Installation Chapter
2
2-74
jWiring Methods
DFND-X06 to X25 Position Drivers
DIO:
5 m max.
CompoBus/S: 100 m max.
0.5 m
max.
AC power
supply Contactor
Metal
duct or
conduit
Ground (100 Ω
max.)
Metal plate
Control panel
Brake
power
supply
Noise
filter
Surge
absorber
Controller
power
supply
Controller
Grounding plate
Controller
Clamp
Ferrite
core
Metal
duct or
conduit
Ferrite
core
Clamp
Note 1. The cable winding for the ferrite core must be 1 turn.
Note 2. Remove
the sheathes from the cables at the clamps and ground them directly to the metal
plate at the clamps.
Note 3. For
DIO Position
Drivers, remove the sheath from control cables and connect the shield
directly to the metal plate. For CompoBus/S Position Drivers, place the
control cables in
metal ducts or conduits and connect the duct or conduit directly to the metal plate.
Clamp
Driver FG
Device containing Servomotor
R88M-U conforming
to EC Directives
NFB
0.5 m
max.
0.5 m
max.
Ferrite
core
Protectively
separated
Design and Installation Chapter
2
2-75
DFND-X50H- Position Drivers
DIO:
5 m max.
CompoBus/S: 100 m max.
0.5 m
max.
AC power
supply Contactor
Metal
duct or
conduit
Ground (100 Ω
max.)
Metal plate
Control panel
Brake pow-
er supply
Noise
filter
Surge
absorber
Controller
power
supply
Controller
Grounding plate
Controller
Clamp
Ferrite
core
Metal
duct or
conduit
Ferrite
core
Clamp
Note 1. The cable winding for the ferrite core must be 1 turn.
Note 2. Remove
the sheathes from the cables at the clamps and ground them directly to the metal
plate at the clamps.
Note 3. For
DIO Position
Drivers, remove the sheath from control cables and connect the shield
directly to the metal plate. For CompoBus/S Position Drivers, place the
control cables in
metal ducts or conduits and connect the duct or conduit directly to the metal plate.
Clamp
Driver FG
Device containing Servomotor
NFB
0.5 m
max.
0.5 m
max.
Ferrite
core
R88M-U conforming
to EC Directives
Protectively
separated
DAll Position Drivers
•Ground the motor’s frame to the machine ground when the motor is on a movable shaft.
•Connect
the
frame ground for each Unit as shown in the diagram and using ground lines as short as
possible.
•
If no-fuse breakers (MCCB) are installed at the top and the power supply line is wired from the
lower
duct,
use metal
tubes for wiring or make sure that there is adequate distance between the input lines
and the internal wiring. If input and output lines are wired together, noise resistance will decrease.
•No-fuse
breakers (MCCB), surge absorbers, and noise filters (NF) should
be positioned near the input
terminal block (ground plate), and I/O lines should be isolated and wired using the shortest means
possible.
jNoise Filters
•Remove
the coating (or mask when coating) from the panel area to which the Position Driver and noise
filters are mounted to improve electrical conductivity.
•Locate
noise filters as close to the Position Driver as possible and keep the wiring distance between
the noise filters and Position Driver as short as possible.
Design and Installation Chapter
2
2-76
•Wire the noise filter as shown at the left in the following illustrations.
1
2
4
6
NF 5
1
3
4
6
NF 5
Good: Separate input and output
AC inputs
Ground
AC outputs
NO: Noise not filtered effectively
AC inputs
Ground
AC outputs
2
E
2
E
•Use twisted-pair cables for the power supply cables whenever possible, or bind the cables.
Position
Driver
Binding
R0
S0
Position
Driver
S
T
Twisted Wires Binding R
•Separate power supply cables and signal cables when wiring.
FND-X06
to X25
Position Drivers
FND-X50H-
Position Drivers
Installation panel
AC power
Contactor
Primary
Noise filter
Secondary
Main power supply and
control circuit power
supply
0.5 m max.
FND-X
Do not coat mount
-
ing surface.
Installation panel
AC power
Contactor
Primary
Noise filter
Secondary
Main power
supply
0.5 m max.
FND-X
Do not coat mount
-
ing surface.
Control circuit
power supply
jConnecting Cables
•Used shielded cables for control cables and encoder cables.
•All cables leaving the control panel must be wired in metal ducts or conduits with blades.
•All power cables and encoder cables to the Servomotors must be 20 m or less.
Design and Installation Chapter
2
2-77
•Remove
the sheathes from the control cables and encoder cables
at the clamps and ground the shield
directly at the clamps.
•Ground the metal ducts and conduits with blades
•Attach ferrite cores on all cables as near as possible to the Position Driver.
Shield Connections
Installation
panel
Installation panel
0.5 m max.
0.5 m max.0.5 m max.
Clamp Clamp
Clamp
Host controller
Do not coat or
plate mounting
surface.
Detail at Clamps
FND-X
jControl Panel Structure
Any gaps in the cable entrances, mounting screws, cover, or other parts of a control panel can allow
electric
waves to leak from or enter the control panel. The items described in this section must be abided
by in panel design and selection to ensure that electric waves cannot leak or enter the control panel.
DCase Structure
•Use
a metal control panel with welded
joints on the top, bottom, and all sides. The case must be electri
-
cally conductive.
Design and Installation Chapter
2
2-78
•When
assembling the control panel, remove the coating from all joints (or mask the joints when coat
-
ing) to ensure electrical conductivity.
•Be
sure that no
gaps are created when installing the control panel, as gaps can be caused by distortion
when tightening screws.
•Be sure there are not any electrically conductive parts that are not in electrical contact.
•Ground all Units mounted in the control panel to the panel case.
•Never open holes in the control panel that are any larger than necessary. Open smaller individual
holes
(e.g., for individual cables, cooling fans, etc.). Large holes will allow allow electric waves to leak
from or enter the control panel.
•Be
sure that the panels to check the Position
Driver and other Units are mounted are electrically con
-
ductive with the control panel.
Control panel case
Mounting panel
Do not coat or
plate.
Top
Side
Do not coat
or plate.
DDoor Structure
•Use a metal door.
•Connect
the door and the control
panel with short wires at several locations to ensure electrical con
-
ductivity.
•Be
sure that no gaps are created when installing the cover
, as
gaps can be caused by distortion when
tightening screws.
Weld screws or other conductive objects to
the door and case and connect with ground
wires to ensure electrical conductivity.
Control
panel case
Door
Design and Installation Chapter
2
ay
2-79
jSelecting Components
This section describes standards to be considered when selecting components to be connected to
reduce
noise. Select components after reviewing characteristics
such as capacities, performance, and
application
ranges. Recommended components are listed below for reference. For further details, con
-
sult the manufacturer.
DNo-fuse Breakers (MCCB)
When
selecting no-fuse breakers, take into consideration the maximum output current and the inrush
current.
The
momentary maximum output for a servo system is approximately three times that of the rated
out
-
put,
and a maximum output of three seconds can be executed. Therefore, select no-fuse breakers with
an
operating time of at least five seconds at 300% of the rated maximum output. General-purpose and
low-speed
no-fuse breakers are generally suitable. Refer to the table in
2-2-3 W
iring T
erminal Blocks
for
the
power supply input currents for each motor
. Be sure to add the current consumption for the number
of shafts, other controllers, etc., to make the selection.
The
Position Driver inrush current flows at a maximum of 50 A for 20 ms when 200 V is
input. With low-
speed
no-fuse breakers, a inrush current 7 to 8 times the rated current flows for 0.1
second. When mak
-
ing the selection, take into consideration the entire inrush current for the system.
DSurge Absorbers
Use surge absorbers to absorb surges from power supply input lines due to lightning, abnormal volt-
ages,
etc. When selecting surge absorbers, take into account the varistor
voltage, the amount of surge
immunity,
and the amount of energy resistance. For 200-V
AC systems, use a varistor voltage of 470
V
.
The surge absorbers shown in the following table are recommended.
Maker Model Max. limit
voltage Surge
immunity Type Remarks
Okaya
El i I d
R.A.V-781BYZ-2 783 V 1,000 A Block For power supply line
y
Electric Ind. R.A.V-781BXZ-4 783 V 1,000 A For power supply line
ground
Note 1. Refer to manufacturer’s documentation for operating details.
Note 2. The
surge immunity is for a standard impulse current of 8/20
µ
s. If pulses are wide, either decrease the
current or change to a larger-capacity surge absorber.
DFerrite Cores
Maker Model
TDK ZCAT305-1330
DPower Supply Input Noise Filters
Maker Motor capacity Model Remarks
Soshin Electric Co., Ltd. 30 to 500 W NF2010A-PI Single-phase, 10 A
,
750 to 1,000 W NF2015A-PI Single-phase, 15 A
1.5 to 2 kW HF3010A-PI Three-phase, 10 A
Design and Installation Chapter
2
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2-80
NF2010A-PI/NF2015A-PI Dimensions
Two, 5-mm dia.
77 max.
77 max.
HF2030A-PI Dimensions
Four, 5-mm dia.
Design and Installation Chapter
2
2-81
DSurge Killers
Install
surge killers for loads
that have induction coils, such as relays, solenoids, brakes, clutches, etc.
The following table shows types of surge killers and recommended products.
Type Features Recommended products
Diode Diodes are relatively small devices such as relays used
for loads when reset time is not an issue. The reset time
is increased because the surge voltage is the lowest
when power is cut off. Used for 24/48-VDC systems.
Use a fast-recovery diode with a
short reverse recovery time.
Fuji Electric Co., ERB44-06 or equiv-
alent
Thyristor
or
Varistor
Thyristor and varistor are used for loads when induction
coils are large, as in electromagnetic brakes, solenoids,
etc., and when reset time is an issue. The surge voltage
when power is cut off is approximately 1.5 times that of
the varistor.
Select varistor voltage as follows:
24-VDC system varistor: 39 V
100-VDC system varistor: 200 V
100-VAC system varistor: 270 V
200-VAC system varistor: 470 V
Capacitor
+ resistor Use capacitors and resistors for vibration absorption of
surge when power is cut off. The reset time can be
shortened by proper selection of the capacitor or resis-
tor.
Okaya Electric Ind.
CR-50500 0.5 µF-50 Ω
CRE-50500 0.5 µF-50 Ω
S2-A-0 0.2 µF-500 Ω
Note Thyristors
and varistors are made by the following companies. Refer to manufacturer
’
s documentation for
operating details. Thyristors: Ishizuka Electronics Co.
Varistors: Ishizuka Electronics Co., Matsushita Electric Parts
DContactors
When
selecting contactors, take into consideration the circuit’
s inrush current and the momentary
maxi
-
mum current. The Position Driver inrush current is 50 A, and the momentary maximum current is
approximately twice the rated current. The following table shows the recommended contactors.
Maker Model Rated current Coil voltage
OMRON LC1D25106 26 A 200 VAC
LC1D40116 35 A
LC1D50116 50 A
LC1D80116 80 A
LP1D25106 26 A 24 VDC
LP1D40116 35 A
LP1D50116 50 A
LP1D80116 80 A
DLeakage Breakers
•Select leakage breakers designed for inverters.
•Switching operations take place inside the Position Driver, causing high-frequency current to leak
from the armature of the Servomotor. With inverter leakage breakers, high-frequency current is not
detected, preventing the breaker from operating due to leakage current.
•When
selecting leakage breakers, also remember to add the leakage current from devices other than
the
Servomotor
, such as machines using a switching power supply
, noise filters, inverters, and so on.
•For
detailed information
about the selection methods of leakage breakers, refer to catalogs provided
by manufacturers.
Design and Installation Chapter
2
WAOVP
Arms
2-82
•The following table shows the Servomotor leakage currents for each Position Driver.
Driver Leakage current (resistor)
(including high-frequency current) Leakage current (resistor-capacitor,
in commercial power supply fre-
quency range)
FND-X06/X1235 mA0-P 2 mArms
FND-X2540 mA0-P 2 mArms
FND-X50H 120 mA0-P 3 mArms
Note 1. Leakage
current values shown above are for motor power lines of 10 m or less. The
values will change
depending on the length of power cables and the insulation.
Note 2. Leakage
current values shown above are for room temperature and humidity
. The values will change
depending on the temperature and humidity.
jImproving Encoder/Resolver Cable Noise Resistance
Signals
from the encoder are either A, B, or S phase. The frequency for A- or B-phase signals is 154 kHz
and the
transmission
speed for S-phase signals is 616 kbps. The Resolvers use analog voltage signals.
Follow the wiring methods outlined below to improve encoder/resolver noise resistance.
•Be sure to use dedicated encoder/resolver cables.
•If
lines are interrupted in the middle, connect them with connectors, making
sure that the cable insula
-
tion is not peeled off for more than 50 mm. In addition, be sure to use shielded wire.
•Do
not coil cables. If cables are long and are coiled,
mutual induction and inductance will increase and
will cause malfunctions. Be sure to use cables fully extended.
•When
installing noise filters for
encoder cables, use clamp filters. The following table shows the rec
-
ommended clamp filter models. Do not use these with resolver cables.
•Do not wire the encoder/resolver cable in the same duct as power cables and control cables for
brakes, solenoids, clutches, and valves.
jImproving Control I/O Signal Noise Resistance
Position
can be af
fected if control I/O signals
are influenced by noise. Follow the methods outlined be
-
low for the power supply and wiring.
•Use completely separate power supplies for the control power supply (especially 24 VDC) and the
external operation power supply. In particular, be careful not to connect two power supply ground
wires. Install a noise filter on the primary side of the control power supply.
•If
the control power supply wiring
is long, noise resistance can be improved by adding 1-
µ
F laminated
ceramic
capacitors between the control power supply and ground at the Position Driver input
section
and the controller output section.
•Use
twisted-pair shielded cables for control
cables, and the shield wire to the connector frame at the
Position Driver.
Design and Installation Chapter
2
2-83
jHarmonic Current Suppression
•An AC Reactor that controls steep current changes is used for suppressing harmonic current.
•Guidelines
issued by MITI in September 1994
regarding countermeasures for harmonic suppression
of
domestic or general-purpose electric
appliances require measures that control the flow of harmonic
current to the power supply line.
•Select an appropriate AC Reactor depending on the Position Driver to be used.
•When
using a single-phase power supply
, one connection terminal will become open. Be sure to insu
-
late this terminal with insulation tape, etc.
DConnection Example
FND-X06 to -X25
AC Reactor
FND-X50
AC Reactor
FND-X FND-X
DApplication Specifications
Drivers AC Reactor
Model Rated
current Inductance Loss Weight
FND-X06L-3G3IV-PUZBAB5A2.1MH
5 A
2.1 mH 15 W 2.5 kg
FND-X12L-
g
FND-X06H-3G3IV-PUZBAB2.5A4.2MH 2.5 A 4.2 mH 15 W 2.5 kg
FND-X12H-3G3IV-PUZBAB5A2.1MH
5 A
2.1 mH 15 W 2.5 kg
FND-X25H-3G3IV-PUZBAB10A1.1MH 10 A 1.1 mH 25 W 3 kg
FND-X50H-3G3IV-PUZBAB20A0.53MH 20 A 0.53 mH 35 W 3 kg
Design and Installation Chapter
2
2-84
DDimensions
Model
3G3IV PUZBAB
Drawing Dimensions (mm)
3G3IV-PUZBAB
g
A B B1 C D E F H J K L M
2.5A4.2MH 1120 71 --- 120 40 50 105 20 M6 10.5 7 M4
5A2.1MH 120 71 --- 120 40 50 105 20 M6 10.5 7 M4
10A1.1MH 2130 88 --- 130 50 65 130 22 M6 11.5 7 M4
20A0.53MH 130 88 114 105 50 65 130 22 M6 11.5 7 M5
Drawing
1
Drawing 2
M: Terminal
Nameplate
Details of mounting hole
Mounting bolt Mounting bolt
Details of mounting hole
Nameplate
M: Terminal
Design and Installation Chapter
2
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2-85
2-2-6 Peripheral Device Connection Examples
jConnecting FND-X06 to X25 Position Drivers to Peripheral Devices
Connect
an external Regen
-
erative Resistor if the regen
-
eration capacity in the Position
Driver is not suf
ficient.
The external Regenerative
Resistor can heat to 120
°C.
Install the Resistor so that heating will
not cause adverse af
fects.
Remove the short bar from between JP1
and JP2 when connecting an external Re
-
generative Resistor
.
R
SA
B
C
CN2 (M.SEN)
NFB
PL
1MC
X
M
ON
1MC X
CN1 (CONT)
24 VDC
OFF
CN1
(CONT)
28 ALM
RS Single-phase, 200/240 VAC, 50/60 Hz (FND-XH)
Single-phase, 100/115 VAC, 50/60 Hz (FND-XL)
Main-circuit
power supply Main-circuit connector
Surge killer
Servo error display
OMNUC FND-X-series
Position Driver
OMNUC U-series Power Cable
30 to 750 W
R88A-CAUS
R88A-CAUB
1 to 2 kW
R88A-CAUBS
R88A-CAUBB
EC Directives
R88A-CAU001
R88A-CAU01B
OMNUC H-series Power Cable
R88A-CAHS
R88A-CAHB
OMNUC
U/H/M-series
AC Servomotor
Ground (to 100 Ω
or less)
OMNUC U-series Encoder Cable
30 to 750 W
R88A-CRUC (Incremental)
R88A-CSUC (Absolute)
1 to 2 kW (Incremental and Absolute)
R88A-CRUBN
EC Directives
R88A-CRUDC (Incremental)
R88A-CSUDC (Absolute)
OMNUC H-series Encoder Cable
R88A-CRHC + R88A-CRH0R5T
OMNUC M-series Resolver Cable
R88A-CRMN + R88A-CRM0R5T
X
1MC
19 OGND
TB
TB
(See note)
Regenerative Resistor
100W
: R88A-RR20030
200 W
: R88A-RR40030
DIO Position Drivers:FND-CCXS
General-purpose Control Cable
CompoBus/S Position Drivers: Communications Cable
(SCA1-4F10 Flat Cable or commercially available VCTF
cable (VCTF JIS C3306 2-core 0.75mm2))
User’s
control
device
P
JP1
TB
JP2
R
Short bar
Protectively
separated
Note When
using the CompoBus/S Position Drivers, create the same sequence using the ALM
bit.
Design and Installation Chapter
2
-- NFB
OFF ON
_|_ m
lJ.‘ O C ' w '
Lg—m ADJ l—IZI—I
0—0
X A
|_r PL
U
l 2 3
i— “F
TE
0 no
0 SO TB
(M‘SEN)
Incrememm 0! Absolute
CNI
(CONT)
2-86
jConnecting FND-X50H- Position Drivers to Peripheral Devices
24 VDC
Main-circuit
power supply Main-circuit connector
Surge killer
Servo
error display
OMNUC FND-X-series
Position Driver
OMNUC
U-series (1 to 2 kW)
Power Cables
OMNUC U/M-series
AC Servomotor
Ground (to 100 Ω
or less)
User’s control device
DIO Position Drivers:FND-CCXS
General-purpose Control Cable
CompoBus/S Position Drivers: Communications Cable
(SCA1-4F10 Flat Cable or commercially available VCTF cable (VCTF JIS C3306 2-core 0.75mm2))
R88A-CAUBS
R88A-CAUBB
(See note)
Three-phase, 200/240 VAC, 50/60 Hz (FND-X50H-)
Protectively
separated
Regenerative Resistor
100W
: R88A-RR20030
200 W
: R88A-RR40030
Connect
an external Regenerative
Resistor if the regeneration capacity
in the Position Driver is not suf
ficient.
The external Regenerative Resistor
can heat to 120
°
C. Install the Resistor
so that heating will not cause adverse
affects.
19 OGND
28 ALM
P
J
TB
OMNUC
U-series (1 to 2 kW) Encoder Cable
(Incremental or Absolute
)
R88A-CRUBN
OMNUC M-series Resolver Cable
R88A-CRMN + R88A-CRM0RST
CN1
(CONT)
R
Note When
using the CompoBus/S Position Drivers, create the same sequence using the ALM
bit.
Design and Installation Chapter
2
HHH
0N6
1FG
3 EATGND
1 FG
2 BAT
3 BATGND
2-87
2-2-7 Battery Wiring and Encoder Setup for Absolute Encoder
When
using a U-series Servomotor with an absolute encoder
, connect a lithium battery to the BA
T con
-
nector (C6) so that the position data will be retained when
the
power supply is turned OFF
. This section
explains how to wire and replace the battery, and how to set up the absolute encoder.
Use one of the following methods.
1. Obtain an OTS-BAT01 Battery with Connector and Cable.
2. Obtain
a lithium battery and connector and prepare the battery so that it can be connected to CN6.
(The C500-BAT08 Battery cannot be connected directly. The connector must be replaced with a
recommend connector and the battery must be prepared for connection.)
The
rest of this section describes the battery wiring and replacement methods and the absolute encoder
setup.
jBAT Connector (CN6)
Driver rear panel
BAT connector
(CN6)
Pin arrangement
jBattery Wiring
Lithium battery
Pin No. Symbol Name and contents
1 FG Frame ground
2 BAT Backup battery + input: connects 2.8 to 4.5-VDC battery.
3 BATGND Backup battery – input: ground for backup battery.
Design and Installation Chapter
2
r2
2-88
jLithium Battery (Recommended Products)
With an absolute encoder, a battery must be used in order to retain position data when the power is
turned OFF.
Maker Model Voltage Electrical capacity Estimated service life
Toshiba ER6V 3.6 V 2,000 mAh Approx. 10 years
OMRON (made by
Hitachi Maxell) 3G2A9-BAT08 3.6 V 1,650 mAh Approx. 7 years
Note 1. When power is turned OFF internally at the Position Driver, the battery voltage is not moni-
tored.
Be careful not to let the voltage drop below 2.8 V
. If necessary
, install a battery voltage-
drop detection circuit or a monitor in the system.
Note 2. Use
one battery for
one Position Driver
. (The estimated battery service life is calculated based
on this condition.)
Note 3. The
T
oshiba lithium battery does not have a connector for BA
T connections. It is necessary to
separately purchase and attach a connector for BAT connections.
jReplacing the Battery
The
following method can be used to replace the battery while retaining the absolute encoder
’s
rotation
data.
1. Turn
ON the Position Driver
’
s power supply and leave it ON for three minutes. This will charge
the
capacitor in the encoder.
2. Turn
OFF the Position Driver
’
s power supply and leave it OFF while replacing the battery
. Connect
the battery between pins 2 and 3 of the Position Driver’s BAT connector (CN6).
Note 1. After step 1 above has been implemented, the encoder will operate normally even with the
battery removed for up to two days (at 0°C to 40°C).
Note 2. While replacing the battery, be careful not to short-circuit the plus and minus terminals.
Note 3. When
disconnecting the lead wires, disconnect the plus and minus terminals separately
. Dis
-
connecting them at the same time can cause them to short-circuit and create sparks.
Note 4. Be
sure to use the prescribed
method for disposing of used batteries. In particular
, do not un
-
der any circumstances dispose of them in a fire. Doing so may cause them to explode.
jSetting up the Absolute Encoder
Setup
is required to set the amount of machine rotation to zero for trial operation of the Servomotor or
when
the absolute encoder has been left disconnected from the battery for more than two days. (This is
because
the voltage of the capacitor inside the absolute encoder will drop if a battery is left unconnected
for more than two days, possibly interfering with the proper operation of internal elements.)
Design and Installation Chapter
2
EE
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jSetup Method
Perform the following procedure carefully. Mistakes may lead to errors in the setup.
1. Wire
the Position Driver
, Servomotor
, and encoder correctly
if they are not already wired correctly
.
2. Connect the battery.
3. Turn ON power to the Position Driver.
4. Leave the power ON for three minutes.
Note An alarm may be generated, but it can be cleared with the following procedure.
5. Perform the following steps for 30-W to 750-W models.
a) Turn OFF the power to the Position Driver.
b) Remove the encoder connector.
c) Reset
the data by shorting between encoder connector terminals 13 and 14 (on the motor side)
for one or two seconds. (See the following diagram.)
Models conforming to UL/cUL Models conforming
to EC Directives
1-kW/2-kW models
6. Perform the following steps for 1-kW to 2-kW models.
a) Turn OFF the power to the Position Driver.
b) Remove the encoder connector.
c) Reset
the data by shorting between
encoder connector terminals R and S (on the motor side) for
two minutes. (See the above diagram.)
d) Remove the short between R and S.
e) Confirm that the voltage between R and S is 0.4 V or less. The S terminal is ground.
f) If
the voltage is greater than 0.4 V
, reconnect the terminals until the voltage drops to 0.4 V or less.
7. Restore the wiring to its original state.
8. Turn the power back ON to the Position Driver.
9. If no error occurs, the setup has been completed.
10. If an alarm (A.L41, 42 or 43) occurs, repeat this procedure from the beginning.
Design and Installation Chapter
2
I‘ll"
"III
Chapter 3
Operation
3-1 Operational Procedure
3-2 Turning ON Power and Checking Displays
3-3 Using the Display Area
3-4 Setting Functions: User Parameters
(H Parameters)
3-5 Position Control Settings (PTP Parameters)
3-6 Setting Positioning Data
(PTP Data, Direct Input)
3-7 Operational Sequence
3-8 Trial Operation
3-9 Making Adjustments
3-10 Regenerative Energy Absorption
3
3-2
3-1 Operational Procedure
After
confirming that the system has been correctly installed
and wired, make the initial
settings for the Position Driver
. Then, set the position control functions according to
the
position control methods.
Any incorrect settings in the parameters could cause unexpected motor operation,
creating
an extremely dangerous situation. Use the procedures provided
in this chapter
to carefully set all parameters.
jStartup Procedure
1. Mounting and installation
Install
the Servomotor and Driver according to the installation conditions. Refer to
2-1 Installation
.
2. Wiring and connections
Connect to power supply and peripheral devices. Refer to
2-2 Wiring
.
3. Turning ON power supply
Before
turning ON the power supply
, check the necessary items. In order to make the initial settings,
turn ON the applicable power supply. Refer to
3-2-1 Items to Check Before Turning ON Power
.
4. Checking display status
Check
by
means of the displays to see whether there are any internal errors in the Driver
. Refer to
3-2-2 Turning ON Power and Confirming the Display
.
5. Function settings
Set
the user parameters for operation. Refer to
3-4 Setting Functions: User Parameters (H Parame
-
ters)
.
6. Position control settings
Set the PTP parameters according to the position control methods. Refer to
3-5 Position Control
Settings (PTP Parameters)
.
7. Position data settings
Set
the data for executing positioning with PTP data or direct input. Refer to
3-6 Setting Positioning
Data (PTP Data, Direct Input)
.
8. Trial operation
Before
performing trial operation, turn the power supply of
f and then back on so that any parameters
that
have been set will be valid. Check to see whether protective
functions such as emergency stop
and operational limits are working reliably. Check operation at both low speed and high speed.
Refer to
3-8 Trial Operation
.
9. Adjustments
Execute auto-tuning. Manually adjust the gain as required. Refer to
3-9 Making Adjustments
.
10. Operation
Operation can now begin. Should any trouble occur, refer to
Chapter 4 Application
.
Operation Chapter
3
AAAAAA
A_
!
!
!
!
!
!
!
3-3
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
interruption
to avoid an unexpected restart. (T
ake 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.
Operation Chapter
3
3-4
3-2 Turning ON Power and Checking Displays
3-2-1 Items to Check Before Turning ON the Power
jChecking Power Supply Voltage
Check to be sure that the power supply voltage is within the ranges shown below.
FND-X06H-/-X12H-/-X25H- (single-phase, 200-VAC specifications):
Single-phase 200/240 VAC (170 to 264 V) 50/60 Hz
FND-X50H- (three-phase, 200-VAC specifications):
Three-phase 200/240 VAC (170 to 264 V) 50/60 Hz
FND-X L- (single-phase, 100-VAC specifications):
Single-phase 100/115 VAC (85 to 127 V) 50/60 Hz
jChecking Terminal Block Wiring
•Power
supply inputs (models with single-phase inputs: R and S, models with three-phase inputs: R,
S, T, R0, S0) must be properly connected to the terminal block.
•The Servomotor’s red (A/U), white (B/V), and blue/black (C/W) power lines and the green ground
wire ( ) must be properly connected to the terminal block.
jChecking the Servomotor Wiring
•There should be no load on the Servomotor. (Do not connect to the mechanical system.)
•The power line connectors at the Servomotor must be securely connected.
jChecking Encoder and Resolver Connectors Wiring
•Encoder
and resolver cables
must be securely connected to the motor sensor connectors (CN2) at
the Driver.
•Encoder
and resolver cables must be securely connected to the encoder/resolver
connectors at the
Servomotor.
jChecking Control Signal Connector Wiring
•Be
sure that the control signal connectors or the CompoBus/S terminals and external control signal
connectors are firmly connected.
•The RUN command must be OFF.
Operation Chapter
3
Em.
3/.
3-5
3-2-2 Turning ON the Power and Checking the Display
jTurning ON the Power
Before turning ON the power supply, check carefully to confirm that it is safe.
jChecking Displays
When the power is turned ON, one of the codes shown below will be displayed.
Normal (motor speed display) Error (alarm display) Factory settings
(parameter setting error)
0r 40.a.l 26.a.l
Note The
alarm code (the number shown in the alarm
display) changes depending on the contents of
the error.
If the power is turned ON with the factory settings in place, a parameter setting error (A.L 26) will be
displayed.
This is because the applicable motor parameter (UP-02)
factory setting is “0000.” Referring
to
the following tables and example procedure,
set in UP-02 the model code for the motor that is to be
used.
DU Series (With Incremental Encoder)
Motor model Capacity Code
R88M-U03030HA(VA) 30 W 1401
R88M-U05030HA(VA) 50 W 1402
R88M-U10030HA(VA) 100 W 1403
R88M-U20030HA(VA) 200 W 1404
R88M-U40030HA(VA) 400 W 1405
R88M-U75030HA(VA) 750 W 1406
R88M-U1K030H(V)
1 KW
1607
R88M-U1K530H(V) 1.5 kW 1608
R88M-U2K030H(V) 2 kW 1609
Note The motor code for R88M-U1K315H(V) is 160D.
DU Series (With Absolute Encoder)
Motor model Capacity Code
R88M-U03030TA(XA) 30 W 1501
R88M-U05030TA(XA) 50 W 1502
R88M-U10030TA(XA) 100 W 1503
R88M-U20030TA(XA) 200 W 1504
R88M-U40030TA(XA) 400 W 1505
R88M-U75030TA(XA) 750 W 1506
R88M-U1K030T(X)
1 KW
1507
R88M-U1K530T(X) 1.5 kW 1508
R88M-U2K030T(X) 2 kW 1509
Note The motor code for R88M-U1K315X is 1513.
Operation Chapter
3
3-6
DU-UE Series
Motor model Capacity Code
R88M-UE10030H(V)-S1 100 W 1603
R88M-UE20030H(V)-S1 200 W 1604
R88M-UE40030H(V)-S1 400 W 1605
R88M-UE75030H(V)-S1 750 W 1606
DH Series
Motor model Capacity Code
R88M-H05030 50 W 1007
R88M-H10030 100 W 1008
R88M-H20030 200 W 1009
R88M-H30030 300 W 1010
R88M-H50030 500 W 1011
R88M-H75030 750 W 1012
R88M-H1K130 1100 W 1013
DM Series (1,200 r/min)
Motor model Capacity Code
R88M-M20012 200 W 0105
R88M-M40012 400 W 0106
R88M-M70012 700 W 0107
R88M-M1K112 1100 W 0108
R88M-M1K412 1400 W 0109
R88M-M1K812 1800 W 010A
DM Series (2,000 r/min)
Motor model Capacity Code
R88M-M20020 200 W 0205
R88M-M40020 400 W 0206
R88M-M70020 700 W 0207
R88M-M1K120 1100 W 0208
R88M-M1K820 1800 W 0217
R88M-M2K220 2200 W 0218
DM Series (4,000 r/min)
Motor model Capacity Code
R88M-M06040 60 W 0405
R88M-M12040 120 W 0406
R88M-M20040 200 W 0407
R88M-M40040 400 W 0408
R88M-M70040 700 W 0409
R88M-M1K140 1100 W 040A
R88M-M2K040 2000 W 040B
Operation Chapter
3
3. 3.
U U
D
0 Chapter 4
3-7
Note U-UE-series
(U-series, UE-type) and H-series Servomotors can only be used with Position
Driver
software
version 4.01 (September 1997) or later
. U-series 1 to 2-kW and M-series 1.1 to 2.2-kW
Servomotors can only be used with Position Driver software version 4.04 (April 1999) or later.
Example: Procedure for Setting Code 1403
Display Key operation
a.l
26.
Parameter setting error (A.L 26) displayed. (The “.” in the rightmost digit flashes.)
up01. Press the Mode Key twice to display the user parameters.
0000. Press the Increment Key three times to display the contents of UP-02 (applicable
motor).
0000.Press the Data Key and the Shift Key simultaneously to enable data to be
changed.
0003.Press the Increment Key three times to enter “3” for the rightmost digit.
0003. Press the Shift Key twice. The “100” digit (the third digit from the right) will flash.
0403. Press the Increment Key four times to enter “4” for the “100” digit.
1403. In the same way, press the Shift Key again so that the “1,000” digit (the leftmost
digit) flashes, and then press the Increment Key to enter “1” for that digit.
1403. Finally, press the Data Key to set the data.
Note After setting the parameters, turn OFF the power and check to be sure that the displays have
turned
OFF before turning the power back ON again. (The values set for UP-02 will go into ef
fect
when the power is turned back ON.)
If the display is normal (motor speed display) after the power is turned ON, rotate the motor shaft by
hand
in both the forward and reverse directions and check to make sure that the positive and negative
signs
in the display match the direction of rotation. If they do
not match, check the encoder and resolver
cables to make sure they are connected correctly.
Reverse
rotation
Forward rotation
Display example
r
3 8Forward
rotation
Reverse rotation
r
2
5
Flashing
If
an error
message (A.L
) is displayed when the power is turned ON, refer to
Chapter
4 Application
and take the necessary countermeasures.
Operation Chapter
3
3-8
3-3 Using the Display Area
3-3-1 Key Operations
jDisplay Area Layout
jKey Functions
Key operation Main function
The Mode Key changes the mode.
The Shift Key shifts to the digit on the left.
DATA The Data Key saves data.
The Increment Key increments parameter numbers and data.
The Decrement Key decrements parameter numbers and data.
+DATA The Increment Key and Data Key together increment the parameter number by 10 (or 2
for PTP data).
+DATA The Decrement Key and Data Key together decrement the parameter number by 10 (or 2
for PTP data).
DATA +The Data Key and Shift Key together enable data to be changed.
Operation Chapter
3
r3803 FrEE
HQ E5
IE]
9J3.
1E!
LIP-Ell HP—33
lg EI+EI+I1|
lPP-G’.’
1a
3-9
3-3-2 Modes and Mode Changes
jModes
The OMNUC FND-X Series has the following seven modes:
Mode Function
Monitor Mode Monitors motor speed, present value, reference value, position deviation
value, machine speed, motor current, effective load factor, electronic
thermal value, electrical angle, and regenerative absorption rate.
Check Mode Displays the I/O signal status, alarm details, alarm history, and software
version.
Adjustment Parameter Edit Mode Displays and sets the adjustment parameters.
User Parameter Edit Mode Displays and sets the user parameters and H parameters.
PTP Parameter Edit Mode Displays and sets the PTP parameters.
PTP Data Edit Mode Displays and sets the PTP data.
System Check Mode Used for motor test operation, output signal testing, and auto-tuning.
jChanging Modes
To
change modes, press the Mode Key
. The System Check Mode and H parameter editing, however
,
require special operations.
Monitor
Mode
Check Mode
Adjustment
Parameter Edit Mode
User Parameter Edit Mode
PTP Parameter Edit Mode
(Press for at least 5 seconds)
System Check Mode
(Double-click)
H Parameter Edit
(Displayed only when UP-01 is 11 or 12.)
Power
supply ON
PTP Data Edit Mode
Operation Chapter
3
BED
EB
EE
ES
BED
EB
‘II
EB
EB
E
T
3-10
3-3-3 Mode Details
The following diagram outlines the contents of each of the modes.
Monitor
Mode
(Press for at
least 5 seconds.)
(Double-click)
System Check Mode
Check Mode
Motor speed
Present value
Regenerative absorption
Motor test operation
Output signal test
Auto-tuning
Input signal display
Alarm display
Alarm history display
Adjustment Parameter Edit Mode AJ2 Speed loop proportional gain
AJ3 Speed loop integral gain
AJ4 Position loop gain
AJ7 Interrupt gain suppression
AJ8 Feed forward gain
AJ9 Current reference filter
User Parameter Edit Mode UP-01 Control mode
UP-02 Motor code
UP-31 External regeneration resistance capacity
To monitor
mode
(Double-click)
H Parameter Edit HP-33 Load rate time
HP-46 In-position
PTP Parameter Edit Mode PP-01 Minimum Setting Unit
PP-02 Pulse rate 1
PP-26 Selection signal output time
PTP Data Edit Mode Pd01H Point No. 1 Position data (leftmost)
Pd01L Point No. 1 Position data (rightmost)
Pd01F Point No. 1 Speed data
Pd01A Point No. 1 Acceleration/deceleration selection
Pd01r Point No. 1 Operation mode selection
Pd64H Point No. 64 Position data (leftmost)
Pd64L Point No. 64 Position data (rightmost)
Pd64F Point No. 64 Speed data
Pd64A Point No. 64 Acceleration/deceleration selection
Pd64r Point No. 64 Operation mode selection
DATA
++
DATA
++
Software version display
Refer
to
4-1.
Refer
to
3-8-2
and
3-9.
Refer
to
4-2.
Refer
to
3-9.
Refer
to
3-4.
Refer
to
3-4.
Refer
to
3-5.
Refer
to
3-6.
Operation Chapter
3
O O O
PM new m
NODE
ADDRESS
3-11
3-3-4 CompoBus/S Communications Display and Setting Panel
jLayout of Display and Setting Panel
jRotary Switch
The
rotary switch is used for setting the node address. Each FND-X Position Driver occupies two con
-
secutive
node addresses, set for IN and
OUT respectively by the switch. The OUT Slave Area is allo
-
cated
to the FND-X Position Driver
’
s input area, and the IN Slave Area is allocated to the FND-X Posi
-
tion Driver’s output area. The node addresses are allocated by the switch settings as follows:
Switch setting Output signals Input signals
0/1 IN Slave 0, IN Slave 1 OUT Slave 0, OUT Slave 1
2/3 IN Slave 2, IN Slave 3 OUT Slave 2, OUT Slave 3
4/5 IN Slave 4, IN Slave 5 OUT Slave 4, OUT Slave 5
6/7 IN Slave 6, IN Slave 7 OUT Slave 6, OUT Slave 7
8/9 IN Slave 8, IN Slave 9 OUT Slave 8, OUT Slave 9
A/B IN Slave 10, IN Slave 11 OUT Slave 10, OUT Slave 11
C/D IN Slave 12, IN Slave 13 OUT Slave 12, OUT Slave 13
E/F IN Slave 14, IN Slave 15 OUT Slave 14, OUT Slave 15
The
procedure when the C200HW
-SRM21 is used for the Master Unit is provided here as an
example.
Example: Master Unit Unit Number set to 0, Position Driver Node Address set to 0
When
the Master Unit number is 0, the starting word for the CPU Bus Unit area of the Programmable
Controller
that is allocated to the Programmable Controller will be set
to word 100. Also, when the node
address
of the Position Driver is set to 0, the Slave areas of IN Slave 0 and 1 and OUT Slave 0 and 1 will
be
allocated to the Position Driver
. The control I/Os of the Position Driver are allocated to the Special I/O
Unit area of the Programmable Controller as shown in the following tables.
Operation Chapter
3
3-12
Word 100
OUT Slave 1
Bit Signal name Signal allocation
15 P. IN7 OUT15
14 P. IN6 OUT14
13 P. IN5 OUT13
12 P. IN4 OUT12
11 P. IN3 OUT11
10 P. IN2 OUT10
9 P. IN1 OUT9
8 P. IN0 OUT8
OUT Slave 0
Bit Signal name Signal allocation
7 STOP OUT7
6 TEACH OUT6
5 –JOG OUT5
4 +JOG OUT4
3 SEARCH OUT3
2 RESET OUT2
1 START OUT1
0 RUN OUT0
Word 108
IN Slave 1
Bit Signal name Signal allocation
15 --- IN15
14 P. OUT6 IN14
13 P. OUT5 IN13
12 P. OUT4 IN12
11 P. OUT3 IN11
10 P. OUT2 IN10
9 P. OUT1 IN9
8 P. OUT0 IN8
IN Slave 0
Bit Signal name Signal allocation
7 ALM IN7
6 INP IN6
5 RUNON IN5
4 T.COM IN4
3 ORGSTP IN3
2 S.COM IN2
1 READY IN1
0 BO IN0
Note 1.
When using
the CQM1-SRM21 as the Master Unit, be sure to set the number of points allo
-
cated
to one node address to 8-point mode. If used in 4-point mode, an area overlap error will
be occur.
Note 2. For
details regarding Master Unit word allocation, refer to
the Master Unit operation manual.
jCompoBus/S Communication Status Indicators
Indicator Name Color Status Meaning
PWR Power supply Green Lit The power is turned ON.
y
Not lit The power is turned OFF.
COMM Communicating Yellow Lit Communications are being executed nor-
mally.
Not lit There is a communications error or com-
munications are being awaited.
ERR Communications error Red Lit A communications error has occurred.
Not lit Communications are being executed nor-
mally or communications are being
awaited.
Note For
details on diagnosis
using the communication status indicators, refer to
4-4-3 CompoBus/S-
type Position Driver Protective and Diagnostic Functions
.
Operation Chapter
3
3-13
3-4 Setting Functions: User Parameters (H Parameters)
User parameters and H parameters are parameters for selecting the control mode,
applicable
motor
, and so on, which are required for system startup. Match the settings to
the system being used.
Some
of the user parameters go into ef
fect when
the power has been turned OFF and
then back ON again. (Check to be sure that the display has turned OFF.) Those user
parameters
that need to have the power turned OFF and ON again are indicated in
the
tables in
3-4-2 User Parameter and H Parameter Tables
.
Use the following procedure to set the user parameters:
Go to the User Parameter Edit Mode. Mode Key.
. . . . . . .
Display the pertinent parameter number. Increment Key, Decrement Key,.
. . . .
Increment Key +Data Key, Decre-
ment Key + Data Key
Display the parameter contents (data). Increment Key.
. . . . . .
Enable the data change. Data Key + Shift Key.
. . . . . . . . . . . . . . . . . .
Change the data. Increment Key, Decrement Key,.
. . . . . . . . . . . . . . . . . . . . . . . .
Shift Key
Save the data in memory. Data Key.
. . . . . . . . . . . . . . . . .
3-4-1 Setting User Parameters and H Parameters
jSetting User Parameters
Use the following procedure to set the user parameters.
1. Press the Mode Key to go to the Users Parameter Edit Mode (UP-01).
2. Use the Up and Decrement Keys to display the parameter number (UP- ) desired.
3. Press the Increment Key to display the parameter data.
4. Press
the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will
flash.
5. Use the Up and Decrement Keys to change the data. The flashing numeral can be changed. To
move to the next digit, press the Shift Key.
6. Press the Data Key to save the changed data in memory.
Operation Chapter
3
uP—g:
I1 1. ENE
S: ta fl
UP—fl
5; t9 5+
3330 I m 3339
El 1E E
H -03
a: IE m+
5 I m g
a; 19 @
UP-c:
lE+E+E
HP~33
.1 TE] EH3
32:2: 33
a: 19 a
HP-HE
a: 19 m+
as I m 33
3-14
DUser Parameters Display Example
Parameter number (UP-01) display
Data display (UP-01 contents)
Parameter number (UP-02) display
Data display (UP-02 contents)
Parameter number (UP-03) display
Data display (UP-03 contents)
Rightmost digit
flashes.
jSetting H Parameters
Use the following procedure to set the H parameters.
1. Press the Mode Key to go to the Users Parameter Edit Mode (UP-01).
2. Press the Increment Key, Decrement Key, and Shift Key simultaneously to display H parameter
HP-33.
3. Use the Up and Decrement Keys to display the parameter number (HP- ) desired.
4. Press the Increment Key to display the parameter data.
5. Press
the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will
flash.
6. Use the Up and Decrement Keys to change the data. The flashing numeral can be changed. To
move to the next digit, press the Shift Key.
7. Press the Data Key to save the changed data in memory.
8. Double-click the Mode Key to go from H Parameter Edit to the Monitor Mode.
DH Parameters Display Example
Parameter number (HP-33) display
Data display (HP-33 contents) Rightmost digit
flashes.
User parameter display
Parameter number (HP-46) display
Data display (HP-46 contents)
Operation Chapter
3
3-15
3-4-2 User Parameter and H Parameter Tables
The
following tables list the user parameters (UP-01 to UP-29) and H parameters (HP-33 and HP-46).
jUser Parameters
No.
UP- Name Min. unit Setting
range Factory
setting Explanation Re-power
required?
01 Control mode --- 00 to
FF 11 Specifies position control mode:
11: Point positioning (PTP)
12: Point positioning (feeder)
13: Direct positioning (PTP)
14: Direct positioning (feeder)
Yes
02 Motor code --- 0000 to
FFFF 0000 Motor model code Yes
03 Resolver cable
length 1 m 1 to
120 5 Sets the resolver cable length for
when M-series motor is used. (Valid
only for M-series motors.)
No
07 In-position
width 1 pulse 1 to
32,767 3 Outputs positioning completed sig-
nal (INP) according to number of
motor sensor pulses set as posi-
tioning deviation.
OMNUC U Series (30 to 750 W)
with incremental encoder:
8,192 pulses/rotation
OMNUC U Series (30 to 650 W)
with absolute encoder:
4,096 pulses/rotation
OMNUC U Series (1 to 2 kW) with
incremental encoder:
16,384 pulses/rotation
OMNUC U Series (1 to 2 kW) with
absolute encoder: 32,768 pulses/
rotation
OMNUC U-UE Series:
4,096 pulses/rotation
OMNUC H Series: 8,000 pulses/
rotation
OMNUC M Series: 24,000 pulses/
rotation
No
11 Current limit 0.1% 0.0 to
100.0 100.0 Specifies rate based on maximum
motor current as 100%. No
14 S-curve
acceleration/
deceleration
time
0.01 s 0.00 to
32.76 0.00 Sets the time until 90% of the target
speed is obtained.
“0.00“ sets trapezoidal acceleration
and deceleration.
No
16 Brake mode --- 0 to 3 0 0: Dynamic brake
1: On-hold brake (stops in decel-
eration time)
2: On-hold brake (stops after rota-
tion according to error counter’s
accumulated number of pulses)
3: On-hold brake (free-running
stop)
Yes
Operation Chapter
3
3-16
No.
UP- Re-power
required?
ExplanationFactory
setting
Setting
range
Min. unitName
25 Monitor output --- 000 to
011 010 Specifies monitor output function.
0 Positive voltage
0: Not reversed
1: Reversed
Speed/Current selection
0: Current
1: Speed
No
26 Motor rotation
direction --- 0, 1 0 Specifies motor rotation direction.
0: Forward rotation
1: Reverse direction
No
28 Brake ON
speed 0.1% 0.0 to
100.0 1.0 Specifies r/min to turn OFF break
output in on-hold brake mode.
Specifies rate based on rated motor
r/min as 100%.
* The brake may be damaged if the
on-hold brake mode is selected
for motors rotating at high speed.
No
29 Motor test
speed 1 r/min 1 to
8,000 50 Specifies r/min for motors for test-
ing.
* When testing a motor, make sure
that the set value is less than the
rated motor r/min.
No
30 External
regeneration
resistance
value
0.1 Ω0.0 to
100.0 0.0 Specifies the regeneration
absorption resistance value (Ω)
* Only valid for FND-X50H-.
* When using an OMRON External
Regeneration Resistor, set to 30.0
(Ω).
Yes
31 External
regeneration
resistance
capacity
0.01 kW 0.00 to
327.67 0.00 Specifies the regeneration
absorption resistance capacity
(kW).
* Only valid for FND-X50H-.
Yes
jH Parameters (HP-33, HP-46)
No.
HP- Name Min.
unit Setting
range Factory
setting Explanation Re-power
required?
33 Load rate time 1 s 1 to 60 30 Specifies interval for effective load
factor calculation to value obtained
from machine cycle time multiplied
by an integer.
No
46 In-position timer 3.2 ms 3.2 to
320.0 3.2 Specifies minimum positioning
completion ON time and minimum
ready signal OFF time.
No
Operation Chapter
3
3-17
Note If
the positioning completed signal (READY) is input to the Programmable Controller (PC), make
sure that the set value is large enough so that the PC will be able to respond.
Set value y PC cycle time × 2 + PC input delay time + 1 ms
With CompoBus/S-type Position
Drivers, use the following formula for the Programmable Con
-
troller’s input circuit delay time:
PC input circuit delay time = (Communications cycle time) x 2
3-4-3 User Parameter and H Parameter Details
jUser Parameters
PRM No. Parameter name Setting range Unit Factory setting
UP-01 Control mode 00 to FF --- 11
This parameter specifies the positioning control mode.
Set value Description
11 Point positioning (PTP)
•Executes position control according to positioning data set for internal point data (PTP data:
Pd ).
•The
maximum number of points is 64. For the point number to be executed, select from control
inputs
P
.IN0 to 6 (point selection 0 to 6).
•Used for positioning between points, such as pick-and-place.
12 Point positioning (feeder)
•Executes position control according to positioning data set for internal point data (PTP data:
Pd ).
•The
maximum number of points is 64. For the point number to be executed, select from control
inputs
P
.IN0 to 6 (point selection 0 to 6).
•Present position is cleared at startup. Used for feed control such as sheet feeding.
13 Direct positioning (PTP)
•Executes
position control
according to position and speed data entered for control inputs P
.IN0
to 7 (position data 0 to 7).
•Used for positioning between points, such as pick-and-place.
14 Direct positioning (feeder)
•Executes
position control
according to position and speed data entered for control inputs P
.IN0
to 7 (position data 0 to 7).
•Present position is cleared at startup. Used for feed control such as sheet feeding.
Note After setting this parameter, turn OFF the power and check to be sure that the displays have
turned
OFF before turning the power back ON again. (The new settings will
go into ef
fect when the
power is turned back ON.)
PRM No. Parameter name Setting range Unit Factory setting
UP-02 Motor code 0000 to FFFF --- 0000
•This parameter specifies the motor model code.
•If
the power is turned ON with
the factory settings in place, a parameter setting error (A.L 26) will be
displayed. Refer to the following tables and set in UP-02 the model code for the motor that is to be
used.
Operation Chapter
3
3-18
DU Series (With Incremental Encoder)
Motor model Capacity Code
R88M-U03030HA(VA) 30 W 1401
R88M-U05030HA(VA) 50 W 1402
R88M-U10030HA(VA) 100 W 1403
R88M-U20030HA(VA) 200 W 1404
R88M-U40030HA(VA) 400 W 1405
R88M-U75030HA(VA) 750 W 1406
R88M-U1K030H(V) 1 kW 1607
R88M-U1K530H(V) 1.5 kW 1608
R88M-U2K030H(V) 2 kW 1609
Note The motor code for R88M-U1K315H(V) is 160D.
DU Series (With Absolute Encoder)
Motor model Capacity Code
R88M-U03030TA(XA) 30 W 1501
R88M-U05030TA(XA) 50 W 1502
R88M-U10030TA(XA) 100 W 1503
R88M-U20030TA(XA) 200 W 1504
R88M-U40030TA(XA) 400 W 1505
R88M-U75030TA(XA) 750 W 1506
R88M-U1K030T(X) 1 kW 1507
R88M-U1K530T(X) 1.5 kW 1508
R88M-U2K030T(X) 2 kW 1509
Note The motor code for R88M-U1K315X is 1513.
DU-UE Series
Motor model Capacity Code
R88M-UE10030H(V)-S1 100 W 1603
R88M-UE20030H(V)-S1 200 W 1604
R88M-UE40030H(V)-S1 400 W 1605
R88M-UE75030H(V)-S1 750 W 1606
DH Series
Motor model Capacity Code
R88M-H05030 50 W 1007
R88M-H10030 100 W 1008
R88M-H20030 200 W 1009
R88M-H30030 300 W 1010
R88M-H50030 500 W 1011
R88M-H75030 750 W 1012
R88M-H1K130 1100 W 1013
Operation Chapter
3
3-19
DM Series (1,200 r/min)
Motor model Capacity Code
R88M-M20012 200 W 0105
R88M-M40012 400 W 0106
R88M-M70012 700 W 0107
R88M-M1K112 1100 W 0108
R88M-M1K412 1400 W 0109
R88M-M1K812 1800 W 010A
DM Series (2,000 r/min)
Motor model Capacity Code
R88M-M20020 200 W 0205
R88M-M40020 400 W 0206
R88M-M70020 700 W 0207
R88M-M1K120 1100 W 0208
R88M-M1K820 1800 W 0217
RR88M-M2K220 2200 W 0218
DM Series (4,000 r/min)
Motor model Capacity Code
R88M-M06040 60 W 0405
R88M-M12040 120 W 0406
R88M-M20040 200 W 0407
R88M-M40040 400 W 0408
R88M-M70040 700 W 0409
R88M-M1K140 1100 W 040A
R88M-M2K040 2000 W 040B
Note After setting this parameter, turn OFF the power and check to be sure that the displays have
turned
OFF before
turning the power back ON again. (The new setting will go into ef
fect when the
power is turned back ON.)
PRM No. Parameter name Setting range Unit Factory setting
UP-03 Resolver cable length 1 to 120 m 5
•This
parameter specifies
the resolver cable length for when M-series AC Servomotors are connected.
•Be
sure to make this setting correctly
. If
the set value dif
fers from the actual cable length, the motor
’s
torque will be reduced.
•This parameter is not valid for motors other than M-series AC Servomotors.
Operation Chapter
3
3-20
PRM No. Parameter name Setting range Unit Factory setting
UP-07 In-position width 1 to 32,767 Pulse 3
•This
parameter specifies, by the number of motor sensor pulses,
the position deviation for outputting
the positioning completed signal (INP).
•OMNUC U Series 30 to 750 W with incremental encoder: 8,192 pulses/rotation
OMNUC U Series 30 to 750 W with absolute encoder: 4,096 pulses/rotation
OMNUC U Series 1 to 2 kW with incremental encoder: 16,384 pulses/rotation
OMNUC U Series 1 to 2 kW with absolute encoder: 32,768 pulses/rotation
OMNUC U-UE Series with incremental encoder: 4,096 pulses/rotation
OMNUC H Series with incremental encoder: 8,000 pulses/rotation
OMNUC M Series with resolver: 24,000 pulses/rotation
(absolute
precision: 0.18
°
; ambient temperature:
25
°C)
•Match this setting to the mechanical precision.
PRM No. Parameter name Setting range Unit Factory setting
UP-11 Current limit value 0.0 to 100.0 % 100.0
•This parameter specifies the maximum current provided to the motor, with the motor’s momentary
maximum current as 100%.
•Use this parameter to limit the torque added to the mechanical system.
PRM No. Parameter name Setting range Unit Factory setting
UP-14 S-curve acceleration/de-
celeration time 0.0 to 32.76 s 0.00
•This parameter specifies the S-curve (filter characteristic) for the acceleration/deceleration time
(PP-20 to PP-23).
•Use
this parameter to suppress the impact to
the mechanical system during acceleration and decel
-
eration.
•If the acceleration/deceleration time is 0, this will become the time until 90% of the target speed is
obtained.
•When
this
parameter is set to “0.00,” the S-shaped acceleration/deceleration will be invalidated and a
trapezoidal
curve will be employed according to the acceleration/deceleration time (PP-20 to PP-23).
PRM No. Parameter name Setting range Unit Factory setting
UP-16 Brake mode 0 to 3 --- 0
This
parameter specifies the brake output (BO) function and the method
for stopping the motor when
the RUN command is OFF.
Set value Description
0 Brake output: dynamic brake; stop method: free-running stop
1 Brake output: on-hold brake; stop method: stop in deceleration time during execution
2 Brake output: on-hold brake; stop method: stop after rotation according to error counter’s
accumulated number of pulses
3 Brake output: on-hold brake; stop method: free-running stop
Note After setting this parameter, turn OFF the power and check to be sure that the displays have
turned
OFF before
turning the power back ON again. (The new setting will go into ef
fect when the
power is turned back ON.)
Operation Chapter
3
!
3-21
PRM No. Parameter name Setting range Unit Factory setting
UP-25 Monitor output 000 to 011 --- 010
This parameter specifies the analog monitor output data and the output polarity.
Set value Description
000 Current monitor output; output not reversed (positive voltage for forward torque)
001 Current monitor output; output reversed (negative voltage for forward torque)
010 Speed monitor output; output not reversed (positive voltage for forward motor rotation)
011 Speed monitor output; output reversed (negative voltage for forward motor rotation)
PRM No. Parameter name Setting range Unit Factory setting
UP-26 Motor rotation direction 0, 1 --- 0
This parameter specifies the direction of motor rotation.
Set value Description
0 Rotation in forward direction with + direction command
1 Rotation in reverse direction with + direction command
Note “+direction”
indicates the present value addition direction, and “– direction” indicates the present
value subtraction direction.
PRM No. Parameter name Setting range Unit Factory setting
UP-28 Brake ON speed 0.0 to 100.0 % 1.0
•When
the on-hold brake (1, 2, 3) is set for the brake mode (UP-16), this parameter specifies the r/min
for turning OFF the brake output (BO).
•Set the motor’s rated r/min as 100%.
Caution If
the on-hold brake is operated during high-speed motor
rotation it will cause dam
-
age to the brake.
PRM No. Parameter name Setting range Unit Factory setting
UP-29 Motor test speed 1 to 8,000 r/min 50
•This parameter specifies the r/min for motor test operation.
•Set the motor test r/min to a value no higher than than the motor’s rated r/min.
PRM No. Parameter name Setting range Unit Factory setting
UP-30 External regeneration
resistance value 0.0 to 100.0 Ω0.0
•When
attaching
an External Regeneration Resistor
, this parameter specifies its resistance value (
Ω).
•This
parameter is used for calculating the regeneration absorption rate. (The regeneration absorption
rate is displayed in Monitor Mode.)
Note 1. This parameter is only valid for the FND-X50H-.
Note 2. When using an OMRON External Regeneration Resistor, set to 30.0 (Ω).
Note 3. After
this parameter has been set, it will become valid when the
power supply is turned OFF
(check that the display has been cleared) and ON again.
Operation Chapter
3
3-22
PRM No. Parameter name Setting range Unit Factory setting
UP-31 External regeneration
resistance capacity 0.00 TO
327.67 kW 0.00
•When attaching an External Regeneration Resistor, this parameter specifies its capacity (kW).
•This
parameter is used for calculating the regeneration absorption rate. (The regeneration absorption
rate is displayed in Monitor Mode.)
Note 1. This parameter is only valid for the FND-X50H-.
Note 2. After
this parameter has been set, it will become valid when the
power supply is turned OFF
(check that the display has been cleared) and ON again.
jH Parameters
PRM No. Parameter name Setting range Unit Factory setting
HP-33 Load rate time 1 to 60 s 30
•This parameter specifies the time interval for the effective load factor calculation.
•Set the integer multiple for the machine cycle time.
•The effective load factor is displayed in Monitor Mode.
PRM No. Parameter name Setting range Unit Factory setting
HP-46 In-position timer 3.2 to 320.0 ms 3.2
•This
parameter specifies the minimum ON time for
the positioning completed signal and the minimum
OFF time for the ready signal.
•Be
sure to set enough time so that the Programmable Controller (PC) will be able to respond when the
positioning completed signal and the ready signal are received by the PC.
Set value y PC cycle time × 2 + PC input delay time + 1 ms
•When
the Increment and Decrement Keys are pressed, the set value is changed in units of 3.2 ms.
The
digit to be set cannot be specified by pressing the Shift Key.
Operation Chapter
3
3-23
3-5 Position Control Settings (PTP Parameters)
PTP
parameters are the parameters required for setting position data such as the
mini
-
mum setting unit, pulse rate, reference speed, and so on.
Some
of the user parameters go into ef
fect when
the power has been turned OFF and
then back ON again. Those user parameters are indicated in the tables in
3-5-2 PTP
Parameters (PP-01 to PP-26)
.
Go to the User Parameter Edit Mode. Mode Key.
. . . . . . .
Display the pertinent parameter number. Increment Key, Decrement Key,.
. . . .
Increment Key +Data Key, Decre-
ment Key + Data Key
Display the parameter contents (data). Increment Key.
. . . . . .
Enable the data change. Data Key + Shift Key.
. . . . . . . . . . . . . . . . . .
Change the data. Increment Key, Decrement Key,.
. . . . . . . . . . . . . . . . . . . . . . . .
Shift Key
Save the data in memory. Data Key.
. . . . . . . . . . . . . . . . .
3-5-1 Setting PTP Parameters (PP-01 to PP-26)
Use the following procedure to set the PTP parameters.
1. Press the Mode Key to go to the PTP Parameter Edit Mode (PP-01).
2. Use the Increment and Decrement Keys to display the parameter number (PP- ) desired.
3. Press the Increment Key to display the parameter data.
4. Press
the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will
flash.
5. Use
the Increment and Decrement Keys to change the data. The flashing numeral
can be changed.
To move to the next digit, press the Shift Key.
6. Press the Data Key to save the changed data in memory.
Operation Chapter
3
nnnny
u.uuur
E
mm ,
c
:n EFF-I :fi
Iu vu
(Note: “n" is the number of motor
cry ng
note 1.)
trol mode.
The software limit overflow in xhe
3-24
DPTP Parameter Display Example
Parameter number (PP-01) display
Data display (PP-01 contents)
Parameter number (PP-02) display
Data display (PP-02 contents)
Parameter number (PP-03) display
Data display (PP-03 contents)
Rightmost
digit flashes.
3-5-2 PTP Parameters (PP-01 to PP-26)
No.
PP- Name Min.
unit Setting
range Factory
setting Explanation Re-power
required?
01 Minimum setting
unit --- 0.0001
to 1 0.0001 Specifies basic unit for movement
and speed value setting and display. Yes
02 Pulse rate 1
(Rotation) 1 revo-
lution 1 to
32,767 1Specifies PP-02 to n and PP-03 to x
(Note: “n” is the number of motor Yes
03 Pulse rate 2
(Movement) 1 1 to
32,767 10
(Note:
n
is
the
number
of
motor
revolutions and “x” is machine axis
movement.) Yes
04 Minimum resolu-
tion (leftmost
digits)
--- --- 0.0 Used to display machine axis move-
ment per motor sensor pulse. This
factory-set value cannot be changed.
Yes
05 Minimum resolu-
tion (rightmost
digits)
--- --- 0042
yg
Yes
06 Origin com-
pensation (left-
most digits)
1 pulse –9,999
to
9,999
0Specifies number of motor sensor
pulses for movement between origin
search completion position and
hi i i i
No
07 Origin com-
pensation (right-
most digits)
0 to
9,999 0machine axis origin.
* The value can be obtained by ori-
gin teaching.
No
08 Compensation
(leftmost digits) (PP-01)
(See
note 1.)
0 to
9,999 0Specifies backlash compensation if
UP-01 is set to 11 or 13 in PTP con-
trol mode.
No
09 Compensation
(rightmost digits)
note
1.)
0 to
9,999 0
trol
mode.
Specifies slip compensation if UP-01
is set to 12 or 14 in feeder control
mode.
No
10 Forward soft-
ware limit (left-
most digits)
(PP-01)
(See
note 1.)
–9,999
to
9,999
9,999 Specifies software limit position in
the forward direction.
* The software limit overflow in the
No
11 Forward soft-
ware limit (right-
most digits)
)
0 to
9,999 9,999
The
software
limit
overflow
in
the
positive direction will not be
detected if the value is set to
9999,9999.
No
Operation Chapter
3
The software limit overflow in the
3-25
No.
PP- Re-power
required?
ExplanationFactory
setting
Setting
range
Min.
unit
Name
12 Reverse soft-
ware limit (left-
most digits)
(PP-01)
(See
note 1.)
–9,999
to
9,999
–9,999 Specifies software limit position in
the reverse direction.
* The software limit overflow in the
No
13 Reverse soft-
ware limit (right-
most digits)
)
0 to
9,999 9,999
The
software
limit
overflow
in
the
reverse direction will not be
detected if the value is set to
–9999,9999.
No
14 Reference
speed (leftmost
digits)
1/s 0 to
9,999 0Specifies machine axis reference
speed per second. No
15 Reference
speed (rightmost
digits)
0 to
9,999 500 No
16 JOG speed 1% 1 to
199 10 Specifies motor r/min in JOG opera-
tion as override value based on ref-
erence speed.
No
17 Origin search
high speed 1% 1 to
199 10 Specifies origin proximity search
speed in origin search operation as
override value based on reference
speed. This value is used as axis
speed for origin compensation as
well.
* Set an appropriate value so that
the origin proximity signal can be
detected accurately.
No
18 Origin search
low speed 1% 1 to
199 1 Specifies phase-Z search speed in
origin search operation as override
value based on reference speed.
* Set an appropriate value so that
the speed will be 500 r/min maxi-
mum.
No
19 Origin search
direction --- 0, 1 0 Specifies origin search direction.
0: Forward direction
1: Reverse direction
No
20 Acceleration
time 0 1 ms 0 to
9,999 0 Specifies time spent in reaching ref-
erence speed after system is in
operation.
* This value is used as acceleration
time for the Position Driver in origin
search operation, JOG operation,
point positioning operation, and
direct positioning operation.
No
21 Acceleration
time 1 1 ms 0 to
9,999 100 Specifies time spent in reaching ref-
erence speed after system is in
operation.
* This value will be valid if the Posi-
tion Driver is in point positioning
operation.
No
Operation Chapter
3
3-26
No.
PP- Re-power
required?
ExplanationFactory
setting
Setting
range
Min.
unit
Name
22 Deceleration
time 0 1 ms 0 to
9,999 0 Specifies time spent in decelerating
reference speed to a stop.
* This value is used as deceleration
time for the Position Driver in origin
search operation, JOG operation,
point positioning operation, and
direct positioning operation.
No
23 Deceleration
time 1 1 ms 0 to
9,999 100 Specifies time spent in decelerating
reference speed to a stop.
* This value will be valid if the Posi-
tion Driver is in point positioning
operation.
No
24 Deceleration
stop mode --- 0 to 2 1 Selects stop method with STOP sig-
nal OFF.
0: Free-running stop
1: Deceleration stop
2: Error counter reset stop
No
25 Alarm selection --- 00 to 11 11 Selects alarm processing method with
limit or soft limit detection.
Overrun
0: Servo-lock stop
1: Servo-free alarm
Soft limit
0: Servo-lock stop
1: Servo-lock alarm
No
26 Selection signal
output time (See
note 2.)
0.8 ms 0.8 to
800.0 20.0 Specifies time during which P.OUT0
to P.OUT4 signals are turned ON for
selecting position data and speed
data for direct positioning.
No
Note 1. The minimum setting value varies with the value set in PP-01. The setting unit is used for
machine axis movement and can be changed with the pulse rate setting.
Setting unit examples:
Linear movement: mm, cm, m, inch, yard
Rotating movement: degree, rad, revolution
Other movement: Pulse
Note 2. Be
sure to set enough time so that the Programmable
Controller (PC) will be able to respond
when the position and speed data selections are received by the PC.
Set value y PC cycle time × 2 + PC input delay time + 1 ms
With CompoBus/S-type Position Drivers, use the following formula for the Programmable
Controller’s input circuit delay time:
PC input circuit delay time = (Communications cycle time) x 2
Operation Chapter
3
3-27
3-5-3 PTP Parameter Details (PP-01 to PP-26)
PRM No. Parameter name Setting range Unit Factory setting
PP-01 Minimum setting unit 0.0001 to 1 Machine axis
movement 0.0001
•This parameter specifies the basic unit for movement and speed value setting and display.
•Any of the following five basic units can be be set: 0.0001, 0.001, 0.01, 0.1, 1.
•Set
this unit according to the minimum feeding amount. For example, if the minimum feeding amount
is 0.1 (mm), set a minimum setting unit of no more than 0.1.
Note 1. After
setting this parameter
, turn OFF the power and check to be sure that the displays have
turned
OFF before turning the power back ON again. (The new setting
will go into ef
fect when
the power is turned back ON.)
Note 2. If
parameter PP-01 is changed after the position and speed data have been set, the position
and
speed digits will change. After setting the parameters (PP-01 to
PP-03) that serve as ref
-
erences for the other parameter settings, turn the power OFF and then ON again to put these
reference parameter settings into effect before setting the rest of the parameters.
PRM No. Parameter name Setting range Unit Factory setting
PP-02 Pulse rate 1 1 to 32,767 Rotation 1
PRM No. Parameter name Setting range Unit Factory setting
PP-03 Pulse rate 2 1 to 32,767 Mechanical
axis move-
ment
10
•In order to set the amount of mechanical axis movement as positioning data, set the relationship
between the motor shaft rotation and the mechanical axis movement.
•For example, for a relationship of one motor rotation to 10 mm of mechanical axis movement, set
PP-02 to “1” and PP-03 to “10.”
Note After setting this parameter, turn OFF the power and check to be sure that the displays have
turned
OFF before
turning the power back ON again. (The new setting will go into ef
fect when the
power is turned back ON.)
PRM No. Parameter name Setting range Unit Factory setting
PP-04 Minimum resolution (left-
most digits) --- Mechanical
axis move-
ment
0.0
PRM No. Parameter name Setting range Unit Factory setting
PP-05 Minimum resolution (right-
most digits) --- Mechanical
axis move-
ment
0042
These
parameters are used to display the mechanical axis movement per encoder/resolver pulse. The
factory-set values cannot be changed.
Displayed value = pulse rate 2 / (pulse rate 1 x motor sensor resolution)
Operation Chapter
3
3-28
Motor sensor resolution:
OMNUC U Series 30 to 750 W with incremental encoder: 8,192 pulses/rotation
OMNUC U Series 30 to 750 W with absolute encoder: 4,096 pulses/rotation
OMNUC U Series 1 to 2 kW with incremental encoder: 16,384 pulses/rotation
OMNUC U Series 1 to 2 kW with absolute encoder: 32,768 pulses/rotation
OMNUC U Series with absolute encoder: 4,096 pulses/rotation
OMNUC U-UE Series with incremental encoder: 4,096 pulses/rotation
OMNUC H Series with incremental encoder: 8,000 pulses/rotation
OMNUC M Series with resolver: 24,000 pulses/rotation
Note The
displayed value will be changed after PP-01 to PP-03 have been set
and the power has been
turned OFF and back ON again.
PRM No. Parameter name Setting range Unit Factory setting
PP-06 Origin compensation (left-
most digits) –9,999 to
9,999 Pulse 0
PRM No. Parameter name Setting range Unit Factory setting
PP-07 Origin compensation (right-
most digits) 0 to 9,999 Pulse 0
•These parameters are used to set the mechanical origin to any position.
•Set
the number of motor sensor pulses for movement between the origin search completion position
and the mechanical origin.
•When
origin teaching
is executed, the data is automatically written to these parameters and the teach
-
ing position becomes the origin.
•After these parameters have been set, the mechanical origin can be moved by executing an origin
search.
PRM No. Parameter name Setting range Unit Factory setting
PP-08 Compensation (leftmost
digits) 0 to 9,999 Mechanical
axis move-
ment
0
PRM No. Parameter name Setting range Unit Factory setting
PP-09 Compensation (rightmost
digits) 0 to 9,999 Mechanical
axis move-
ment
0
•These
parameters specify the amount of mechanical axis movement for
compensation during posi
-
tioning operations.
•The decimal point location is set by PP-01 (minimum setting unit).
•For PTP control (UP-01: 11 or 13), this compensation becomes backlash compensation; for feeder
control (UP-01: 12 or 14), it becomes slip compensation.
Backlash Compensation
•Set the amount of play (backlash) for a mechanical system such as gears or chains.
•When
movement is in the reverse direction from that of the previous operation, stopping precision
can
be
improved by feeding an exact amount of compensation to absorb the backlash in the mechanical
system.
Operation Chapter
3
3-29
•The following diagram provides an example of backlash compensation during operation.
Backlash compensation
Slip Compensation
•Set slip compensation if slippage occurs in the mechanical system during feeding.
•Set
these parameters to compensate for the amount of slippage that occurs
when feeding for just the
amount
set for pulse rate 2.
For example, if 10 mm is fed with PP-01 (minimum setting unit) set to 0.001
and
PP-03 (pulse rate 2) to 10
(mm), and if the slippage amount is 0.1 mm, then set PP-08 to 0 and
PP-09 to 0.100.
•Compensating for just the amount of slippage that occurs during feeding absorbs the play from the
mechanical
system and improves the stopping precision. Also, in order to match the mechanical axis
speed to the command value, the motor is speeded up for just the amount of slippage (within the
motor’s maximum speed range).
•The following diagram provides an example of slip compensation during operation.
Speed Slip compensation
Motor rotation speed with slip compensation
Motor rotation speed without slip compensation
Time
PRM No. Parameter name Setting range Unit Factory setting
PP-10 Positive software limit
(leftmost digits) –9,999 to
9,999 Mechanical
axis move-
ment
9,999
PRM No. Parameter name Setting range Unit Factory setting
PP-11 Positive software limit
(rightmost digits) 0 to 9,999 Mechanical
axis move-
ment
9,999
PRM No. Parameter name Setting range Unit Factory setting
PP-12 Negative software limit
(leftmost digits) –9,999 to
9,999 Mechanical
axis move-
ment
–9,999
PRM No. Parameter name Setting range Unit Factory setting
PP-13 Negative software limit
(rightmost digits) 0 to 9,999 Mechanical
axis move-
ment
9,999
Operation Chapter
3
3-30
•These parameters set limits on mechanical system movement.
•The decimal point location is set by PP-01 (minimum setting unit).
•When a software limit is detected, the motor is placed in servo-lock and stopped. The alarm output
status at that time is determined by the PP-25 (alarm selection) setting.
•After
the motor has been stopped as a result of
a software limit having been detected, the motor will
only
be able to be driven in the direction which will release it from the software
limit. (If alarm A.L34 or
A.L35 has been generated, the alarm must be reset before the motor can be driven.)
•If
the maximum value is set for a given detection direction (e.g., 99,999,999 for the positive software
limit), then the software limit for that direction will be ignored and the
alarm
detection will not be acti
-
vated.
PRM No. Parameter name Setting range Unit Factory setting
PP-14 Reference speed (leftmost
digits) 0 to 9,999 Mechanical
axis move-
ment
0
PRM No. Parameter name Setting range Unit Factory setting
PP-15 Reference speed (right-
most digits) 0 to 9,999 Mechanical
axis move-
ment
500
•These parameters specify the motor’s speed during positioning, as the amount of mechanical axis
movement per second.
•The actual speed becomes the reference speed x the override. (The override value is set as PTP
speed data or by direct input.)
PRM No. Parameter name Setting range Unit Factory setting
PP-16 JOG speed 1 to 199 % 10
This
parameter s
pecifies
the motor r/min in JOG operation (+JOG, –JOG)
as an override value
based on the
reference speed as 100%.
Note Set the JOG speed at or below the motor’s maximum speed.
PRM No. Parameter name Setting range Unit Factory setting
PP-17 Origin search high speed 1 to 199 % 10
•This
parameter specifies origin proximity signal search speed in origin search operation as an over
-
ride value based on the reference speed as 100%.
•The origin search high speed is also used as the speed during origin compensation
Note Set an appropriate value so that the origin proximity signal can be detected accurately.
PRM No. Parameter name Setting range Unit Factory setting
PP-18 Origin search low speed 1 to 199 % 1
In
origin search operation, this parameter specifies the motor sensor
’
s Z-phase search speed after
ori
-
gin proximity signal detection as an override value based on the reference speed as 100%.
Note Set an appropriate value so that the speed will be 500 r/min maximum.
PRM No. Parameter name Setting range Unit Factory setting
PP-19 Origin search direction 0, 1 --- 0
Operation Chapter
3
3-31
This parameter specifies the direction for beginning an origin search operation.
Set value Description
0 Begins origin search in the positive direction (incrementing the present value).
1 Begins origin search in the negative direction (decrementing the present value).
PRM No. Parameter name Setting range Unit Factory setting
PP-20 Acceleration time 0 0 to 9,999 ms 0
PRM No. Parameter name Setting range Unit Factory setting
PP-21 Acceleration time 1 0 to 9,999 ms 100
•These parameters specify the time from a stop until the reference speed is reached.
•The actual acceleration time can be obtained from the following formula:
[(Target speed – present speed) / reference speed] x acceleration time
If S-curve acceleration time (UP-14) is set, the acceleration time will be lengthened.
•Acceleration
time 0 is used as the acceleration time for origin search, JOG operation, and positioning
by direct input.
•When
positioning with PTP data, acceleration time 0 or 1 can be selected
using the PTP data’
s accel
-
eration/deceleration selection (Pd A).
PRM No. Parameter name Setting range Unit Factory setting
PP-22 Deceleration time 0 0 to 9,999 ms 0
PRM No. Parameter name Setting range Unit Factory setting
PP-23 Deceleration time 1 0 to 9,999 ms 100
•These parameters specify the time from the reference speed until the positioning is stopped.
•The actual deceleration time can be obtained from the following formula:
[(Present speed – target speed) / reference speed] x deceleration time
•Deceleration
time 0 is used as the deceleration time for origin search, JOG
operation, and positioning
by direct input.
•When
positioning with PTP data, deceleration time 0 or 1 can be selected using the PTP data’
s accel
-
eration/deceleration selection (Pd A).
Acceleration/Deceleration Operation
Speed
Reference speed
(PP-14, PP-15)
Actual motor response (example)
Acceleration time Deceleration time
Time
Operation Chapter
3
3-32
PRM No. Parameter name Setting range Unit Factory setting
PP-24 Deceleration stop mode 0, 1, 2 --- 1
This parameter selects the stop method for when the deceleration stop (STOP) signal is OFF.
Set value Description
0 Free-running stop. (Servo OFF)
1 Stop in deceleration time specified by positioning data during operation. (Servo-lock after
stop)
2 Stop with error counter reset. (Servo-lock after stop)
Note With a free-running stop, after the STOP signal has turned ON operation can be re-started by
turning the RUN command from OFF to ON.
Deceleration Stop Operation
Speed Deceleration stop (STOP) OFF (1) Free-running stop
(2) Stop in deceleration time
(3) Error counter reset stop
(1)
(2)
(3)
Position
Note
After the deceleration stop (ST
OP) signal turns OFF
, there is a maximum delay of 1.6 ms before
the stop processing begins.
PRM No. Parameter name Setting range Unit Factory setting
PP-25 Alarm selection 00 to 11 --- 11
This parameter specifies the alarm processing method for when limit detection (overrun) or software
limit detection occurs.
Set value Description
0Servo-lock stop when software limit is detected.
1Alarm (A.L34, A.L35) and servo-lock stop when software limit is detected.
0 Servo-lock stop when limit is detected.
1 Alarm (A.L38) and servo-free stop when limit is detected.
PRM No. Parameter name Setting range Unit Factory setting
PP-26 Selection signal output
time 0.8 to 800.0 ms 20.0
•This
parameter specifies
the time during which P
.OUT0 to P
.OUT4 signals are turned ON for selecting
position data and speed data for positioning by direct input.
Operation Chapter
3
3-33
•Be
sure to set enough time
for the Programmable Controller (PC) to respond when the position and
speed data selections are received by the PC.
Set value y PC cycle time × 2 + PC input delay time + 1 ms
With
CompoBus/S-type Position Drivers, use the following formula for
the Programmable Controller
’s
input circuit delay time:
PC input circuit delay time = (Communications cycle time) x 2
•When
the Increment and Decrement Keys are pressed, the set value is changed in units of 0.8 ms.
The
digit to be set cannot be specified by pressing the Shift Key.
Operation Chapter
3
3-34
3-6 Setting Positioning Data (PTP Data, Direct Input)
Positioning
data includes the following data settings: position, speed, acceleration/de
-
celeration, and operation mode. (The acceleration/deceleration and operation mode
selection settings are not made for position control by direct input.)
Go to the User Parameter Edit Mode. Mode Key.
. . . . . . .
Display the pertinent parameter number. Increment Key, Decrement Key,.
. . . .
Increment Key +Data Key, Decre-
ment Key + Data Key
Display the parameter contents (data). Increment Key.
. . . . . .
Enable the data change. Data Key + Shift Key.
. . . . . . . . . . . . . . . . . .
Change the data. Increment Key, Decrement Key,.
. . . . . . . . . . . . . . . . . . . . . . . .
Shift Key
Save the data in memory. Data Key.
. . . . . . . . . . . . . . . . .
3-6-1 Setting PTP Data (When UP-01 is 11 or 12)
Use the following procedure to set the PTP data (Pd01 to Pd64).
1. Press the Mode Key to go to the PTP Data Edit Mode (Pd01H).
2. Use the Increment and Decrement Keys to display the parameter number (Pd ) desired.
3. Press the Increment Key to display the parameter data.
4. Press
the Data Key and Shift Key simultaneously to enable a data change. The rightmost digit will
flash.
5. Use
the Increment and Decrement Keys to change the data. The flashing numeral
can be changed.
To move to the next digit, press the Shift Key.
6. Press the Data Key to save the changed data in memory.
Operation Chapter
3
3-35
DPTP Data Display Example
Parameter number (Pd01H) display
Data display (Pd01H contents)
Parameter number (Pd01L) display
Data display (Pd01L contents)
Parameter number (Pd01F) display
Data display (Pd01F contents)
Rightmost digit flashes.
Parameter number (Pd01A) display
Data display (Pd01A contents)
Parameter number (Pd01r) display
Data display (Pd01r contents)
Indicates incremental
value designation.
When PP-01 (minimum setting unit)
is set to “0.0001,” zeroes following
the decimal point are not displayed.
3-6-2 Setting Direct Input (When UP-01 is 13 or 14)
•With
direct input, the control inputs (P
.IN0 to 7), position data (7 + 1/2 digits
BCD), sign bit, I (incremen
-
tal value) or A (absolute value) designation bit, and speed data (2 digits BCD) are taken in order.
•P.OUT0
to 4 (position selection 1 to 4, speed selection ) are output as timing signals for taking the data.
•Data
is taken on the falling edge of the P
.OUT signal. When setting
data from the Programmable Con
-
troller, output the data between the time that P.OUT turns ON and turns OFF. The time that P.OUT
stays ON for can be set by PP-26 (selection signal output time).
Operation Chapter
3
3-36
DDirect Input Positioning Data
Position data range: –39,999,999 to 39,999,999 (with incremental or absolute setting)
Speed data range: 0 to 99 (100%, 1 to 99%)
Input
signal Output
signal
Name
Position selection 1 Position selection 2 Position selection 3 Position selection 4 Speed selection
Position 7
2nd digit
(P iti )
Bit 3
4th digit
(P iti )
Bit 3
6th digit
(P iti )
Bit 3
Position I/A bit
2nd digit
(S d)
Bit 3
Position 6
ddg
(Position)
Bit 2
dg
(Position)
Bit 2
6dg
(Position)
Bit 2
Position sign bit
ddg
(Speed)
Bit 2
Position 5
Bit 1 Bit 1 Bit 1
8th digit
(P iti )
Bit 1 Bit 1
Position 4
Bit 0 Bit 0 Bit 0
8dg
(Position)
Bit 0 Bit 0
Position 3
1st digit
(P iti )
Bit 3
3rd digit
(P iti )
Bit 3
5th digit
(P iti )
Bit 3
7th digit
(P iti )
Bit 3
1st digit
(S d)
Bit 3
Position 2
sdg
(Position)
Bit 2
3ddg
(Position)
Bit 2
5dg
(Position)
Bit 2
dg
(Position)
Bit 2
sdg
(Speed)
Bit 2
Position 1
Bit 1 Bit 1 Bit 1 Bit 1 Bit 1
Position 0
Bit 0 Bit 0 Bit 0 Bit 0 Bit 0
Note 1. For
example, when position selection 1 (P
.OUT0) is ON, positions 0 to 7 (P
.IN0 to 7) are
taken
as
the position data’
s first and second digits. (They are taken at the falling edge of P
.OUT0.)
Note 2. The
position sign bit specifies the position as
“plus” when OFF (0), and “minus” when ON (1).
Note 3. The position data takes the value set by PP-01 (minimum setting unit).
Note 4. When
the position I/A bit is OFF (0), I (incremental value) is set; when it is ON (1), A (absolute
value) is set.
Note 5. Set
the speed data with the reference
speed (PP-14, PP-15) override value (%). If the speed
data is set to “0,” the override value will be 100%.
Note 6. With direct input, the acceleration/deceleration time is fixed at PP-20 (acceleration time 0)
and PP-22 (deceleration time 0).
DDirect Input Setting Example
In
this example, positioning is moved at 250 mm/s
to an absolute-value position of 1,000 mm, with the
mechanical
system set for 10 mm of movement per motor rotation, a minimum feed amount of 1
µ
m, and
a reference speed of 500 mm/s.
Parameter Settings
Minimum setting unit: PP-01 = 0.001 (minimum feed amount: 0.001 mm)
Pulse rate: PP-02 = 1; PP-03 = 10 (10 mm of movement per motor rotation)
Reference speed: PP-14 = 0; PP-15 = 500 (500 mm/s)
Operation Chapter
3
81000000
3-37
Direct Input Data (Signal) Settings
Position data: “A + 01000000” (x 0.001 mm) = 81000000
Speed data: 50 (%) Position selection 1
Position selection 2
Position selection 3
Position selection 4
Input
signal
Output signal
Name
Position selection 1 Position selection 2 Position selection 3 Position selection 4 Speed selection
Position 7
OFF 0OFF 0OFF 0ON A 8OFF 5
Position 6
OFF
0
OFF
0
OFF
0
OFF +
8
ON
5
Position 5
OFF OFF OFF OFF 0OFF
Position 4
OFF OFF OFF OFF
0
ON
Position 3
OFF 0OFF 0OFF 0OFF 1OFF 0
Position 2
OFF
0
OFF
0
OFF
0
OFF OFF
0
Position 1
OFF OFF OFF OFF OFF
Position 0
OFF OFF OFF ON OFF
3-6-3 PTP Data (Pd01 to Pd64)
No.
Pd Name Minimum
setting
unit
Setting
range Factory
setting Description
01H Point No. 1 posi-
tion data (leftmost
digits)
(PP-01) (I/A)
–3,999
to
3,999
(I) 0 Specifies point No. 1 position data.
A value between –39,999,999 and 39,999,999
can be set. Leftmost digit is used to specify “A”
(absolute) or “I” (incremental) value.
01L Point No. 1 posi-
tion data (right-
most digits)
(PP-01) 0 to
9,999 0
()( )
01F Point No. 1 speed
data 1% 1 to
199 1 Specifies override value based on reference
speed.
01A Point No. 1 accel-
eration/decelera-
tion selection
--- 00 to 11 00 Selects acceleration/deceleration time for posi-
tioning.
Acceleration
0: Acceleration time 0
1: Acceleration time 1
Deceleration
0 Deceleration time 0
1: Deceleration time 1
01r Point No. 1
operation mode
selection
--- 0 to 2 0 0: Independent operation mode
1: Automatic incremental mode
2: Continuous operation mode
Operation Chapter
3
. 123‘! u 133‘!
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+2234 +1234 +234 *234 *1234 ’72234
3-38
Pd02 to Pd63 are the same as Pd01 in data except for the point number.
64H Point No. 64 posi-
tion data (leftmost
digits)
(PP-01) (I/A)
–3,999
to
3,999
(I) 0 Same as point No. 1.
64L Point No. 64 posi-
tion data (right-
most digits)
(PP-01) 0 to
9,999 0
64F Point No. 64
speed data 1% 1 to
199 1
64A Point No. 64
acceleration/de-
celeration selec-
tion
--- 00 to 11 00
64r Point No. 64
operation mode
selection
--- 0 0 Available in independent operation mode only.
Note 1. The
position data (leftmost digits) display is as follows, according to whether the sign is plus or
minus and whether the values are incremental or absolute.
Sign I (Incremental value designation) A (Absolute value designation)
+I + 1234 A + 1234
–I – 1234 A – 1234
Note 2. When
the
value set for the position data’
s leftmost digits is negative, pressing the Decrement
Key
with
the fourth digit (i.e., the leftmost numeral) flashing will cause that digit to change as
follows:
Note 3. When
the value set for the
position data’
s leftmost digits is negative, pressing the Increment
Key
causes the flashing numeral to be decremented. (Since it is negative,
this actually incre
-
ments the overall number.)
Note 4. To
set the I/A designation, press the Increment Key or the Decrement Key while the fifth (left
-
most) digit is flashing to toggle between “I” and “A.”
3-6-4 PTP Data Details (Pd )
PRM No. Parameter name Setting range Unit Factory setting
Pd HPositioning data (leftmost
digits) (I/A), –3,999
to 3,999 Mechanical
axis move-
ment
(I) 0
PRM No. Parameter name Setting range Unit Factory setting
Pd LPositioning data (right-
most digits) 0 to 9,999 Mechanical
axis move-
ment
0
•The
above PTP data determines the mechanical movement distance (i.e., the amount of motor rota
-
tion), the sign, and the data attribute (i.e., I or A).
Operation Chapter
3
100 150
50
3-39
•The
decimal point location is determined by the PP-01 (minimum setting unit) setting. If, for example,
you want to move to a position (incremental value) of 1,000 mm from the present position, with the
mechanical system set for 10 mm of movement per motor rotation and a minimum feed amount of
1 µm, then make the following settings.
PTP Parameter Settings
Minimum setting unit: PP-01 = 0.001 (minimum feed amount: 0.001 mm)
Pulse rate: PP-02 = 1; PP-03 = 10 (10 mm of movement per motor rotation)
PTP Data Settings
Leftmost digits Pd H = “I + 100” 100
I
Rightmost digits Pd L = “0.000” 0.000
•Data Attribute (I/A Designation)
I (incremental value designation) is the method for designating the amount of movement from the
present point (the present value).
A (absolute value designation) is the method for designating the amount of movement from the
mechanical origin (the zero position).
Incremental and Absolute Movement Example (Position Data: 100)
I (incremental) movement distance
A (absolute) movement distance
Mechanical origin Present value
Position
Note 1. If
the data attribute “I” is set, the position moves to the one obtained from the present value
added to 100.
If
the data attribute “A” is set, the position moves to the position specified by the coordinate
value 100.
Note 2. With
feeder control
(UP-01: 12), the present value is cleared when the start signal turns ON,
and
then positioning is executed. Therefore, set the position data based on the position where
the start signal was turned ON as 0.
PRM No. Parameter name Setting range Unit Factory setting
Pd FSpeed data 1 to 199 % 1
•This data specifies the movement speed for positioning operations.
•Set
an override value
as a percentage with respect to the reference speed set in PP-14 and PP-15. For
example,
make the following settings for a
speed of 250 mm/s on condition that the reference speed is
500 mm/s.
PTP Parameter Setting
Reference speed PP-14 = 0, PP-15 = 500 (500 mm/s)
PTP Data Setting
Speed Data Pd F = 50 (%)
Operation Chapter
3
\ / \
X n+1
3-40
PRM No. Parameter name Setting range Unit Factory setting
Pd A Acceleration/deceleration
selection 00 to 11 --- 00
This data specifies the acceleration time and deceleration time for positioning.
Set value Description
0Selects deceleration time 0 (set in PP-22).
1Selects deceleration time 1 (set in PP-23).
0 Selects acceleration time 0 (set in PP-20).
1 Selects acceleration time 1 (set in PP-21).
Note If
the S-curve deceleration/acceleration time constant is set in UP-14, the S-curve acceleration/
deceleration filter will be enabled, in which case the acceleration and deceleration time will be
longer in proportion to the time constant.
PRM No. Parameter name Setting range Unit Factory setting
Pd rOperation mode selection 0 to 2 --- 0
This
data specifies the method for moving to the next positioning after a positioning operation has been
executed.
Set value Description
0 Independent operation mode
1 Automatic incremental mode
2 Continuous operation mode
Note Only the independent operation mode can be set in Pd64r for point number 64.
Independent Operation Mode
•Operation is stopped in servo-lock upon completion of positioning at the selected point number.
•The selected point number is output to point outputs 0 to 6 (P.OUT0 to P.OUT6).
•To execute the next positioning, turn ON the start signal after the point number is input.
Motor speed
Point output
Independent
operation mode
Point no. n
Automatic Incremental Mode
•Operation is stopped in servo-lock upon completion of positioning for the selected point number.
•After
operation
is stopped, the next point number is output to point outputs 0 to 6 ((P
.OUT0 to P
.OUT6).
•When
the start signal is input (i.e., turns ON),
positioning is executed for the next point number
. (When
positioning is executed in order of point numbers, there is no need to set the point number
every
time.)
Motor speed
Point output
Independent
operation mode
Point no. n
Operation Chapter
3
3-41
Continuous Operation Mode
•In this mode, the Position Driver stays in continuous operation without being stopped in servo-lock.
•Until
the continuous operation mode specification is canceled (i.e., until the mode changes into
inde
-
pendent
operation mode or automatic incremental mode), the Position Driver continues operating
and
refreshing the present point number.
•P.OUT0 to P.OUT6 are refreshed whenever the present point number changes.
Motor speed
Point output
Continuous
operation
mode
Continuous
operation
mode
Independent
operation
mode
Point no. n
n + 2n +1 n
DPrecautions when Using Continuous Operation Mode with Feeder Control
•With feeder control (UP-01: 12), positioning is executed with the present value at the time the start
signal turns ON taken as the reference (origin).
•If
the Position Driver is
in continuous operation mode, the present value will be set to 0 at the moment
the
start signal is turned ON after the point number is input. The present value cannot be cleared, how
-
ever,
if the next positioning is performed because the start signal is not input in that
case. Therefore, for
example, make the following settings for a high-speed feed distance of 900 mm followed by a low-
speed feed distance of 100 mm.
Setting Example 1
Point number 1 = “I + 900.000,” continuous operation mode
Point number 2 = “I + 100.000,” independent operation mode
Setting Example 2
Point number 1 = “I + 900.000,” continuous operation mode
Point number 2 = “A + 1,000.000,” independent operation mode
Note In these examples, PP-01 is set to 0.001 for the minimum setting unit.
Point
output
Continuous
operation
mode Independent
operation
mode
Point
no. 1
Point no. 2 Point no. 1
Note 1.
There is no dif
ference in operation between the data attributes “I” and “A”
at
point number 1.
Note 2. The operation at point number 2 varies according to the data attribute (I/A) setting.
Operation Chapter
3
3-42
3-7 Operational Sequence
3-7-1 Origin Search
Function
•When
a motor with an incremental encoder/resolver is used, an operation to establish the
mechanical
origin after the power has been turned ON is required. This operation is called “origin search.”
•The
origin search operation establishes the
mechanical origin by actually operating the motor and uti
-
lizing
the limit input signals (CCWL/CWL),
the origin proximity signal (ORG), and the motor sensor
’s
Z-phase signal.
•When
an absolute encoder is used, origin search is not required because the absolute-value data is
retained
by the battery even when the Driver
’
s power supply is turned OFF
. (Origin compensation and
origin teaching are enabled.)
•There
are three origin search patterns, according to the position from which the origin search is begun.
Pattern
1: When the origin search is executed between the limit
input signal input in the reverse of
the origin search direction and the origin proximity signal input.
Pattern 2: When the origin search is executed while the origin proximity signal is ON.
Pattern
3: When the origin search is executed between the origin proximity signal input and
the
limit input signal input in the origin search direction.
Note If the OFF position of the origin proximity signal (ORG) is close to the motor sensor’s Z-phase
position,
the origin position may deviate
due to inconsistency in the origin proximity OFF position
(one revolution for U/H-series motors, and 1/2 revolution for M-series motors). If that occurs,
remove
the motor from the mechanical system and adjust the Z-phase position. Then reinstall the
motor.
U Series: Z-phase
output is 1 pulse per revolution, so rotate motor shaft for 1/2 revolution.
H Series: Z-phase
output is 1 pulse per revolution, so rotate motor shaft for 1/2 revolution.
M Series: Z-phase
output is 2 pulses per revolution, so rotate motor shaft for 1/4
revolution.
Operation Chapter
3
second.
3-43
PTP Parameters
The
following PTP parameter settings are related to origin
search. Make the settings according to the
mechanical system.
No.
PP- Name Min.
unit Setting
range Factory
setting Explanation
14 Reference speed
(leftmost digits) 1/s 0 to
9,999 0Specifies machine axis reference speed per
second.
15 Reference speed
(rightmost digits) 0 to
9,999 500
second.
17 Origin search high
speed 1% 1 to
199 10 Specifies origin proximity search speed in
origin search operation as override value
based on reference speed. (This value is
used as axis speed for origin compensation
as well.) Set an appropriate value so that the
origin proximity signal can be detected
accurately.
18 Origin search low
speed 1% 1 to
199 1 Specifies phase-Z search speed in origin
search operation as override value based on
reference speed. Set an appropriate value so
that the speed will be 500 r/min maximum.
19 Origin search
direction 0, 1 0 Specifies origin search direction.
0: Begin in positive (+) direction
1: Begin in negative (–) direction
06 Origin compensation
(leftmost digits) 1 pulse –9,999
to
9,999
0Specifies number of motor sensor pulses for
movement between origin search completion
position and mechanical origin. The value can
07 Origin compensation
(rightmost digits) 0 to
9,999 0
g
be obtained by origin teaching.
Note 1. The
acceleration and deceleration times for origin search will be acceleration time 0 (PP-20)
and deceleration time 0 (PP-22).
Note 2. The direction of movement for origin search is determined by the origin search direction
(PP-19) and motor rotation direction (UP-26) settings. (The factory settings are for origin
search
to be executed with the motor rotating in the forward direction (CCW)
with a positive
(+) direction setting (i.e., present position incremented).
Note 3. When
origin compensation (PP-06, PP-07) is set, positioning moves for just the set amount
after the motor’s sensor Z-phase signal is detected.
Origin search high speed
(PP-17)
Motor operation (speed)
Origin search
operation
Z-phase signal
Origin compensation operation
Mechanical origin
Operation
•The operation sequences for the three origin search patterns are shown below.
•For these examples it is assumed that the factory settings are used for the origin search direction
(PP-19)
and the motor rotation direction (UP-26), and that origin compensation (PP-06, PP-07) is set
to “0.”
•Origin search operation will start when the origin search (SEARCH) signal is turned ON, with the
READY signal ON.
Operation Chapter
3
ON OFF
L... .............................................. _1E
OFF
ON OFF
ON on: ON
I . OFF ‘ on
I OFF ON
ON OFF ON
3-44
Origin Search Pattern 1: Starting Between CWL Signal and Origin Proximity Signal
1. Positioning begins in the origin search direction at the origin search high speed.
2. Positioning
changes to the origin
search low speed when the origin proximity signal turns ON (rising
edge).
3. The
origin is established by the first Z-phase signal that is received
after the origin proximity signal
turns OFF (falling edge).
RUN command (RUN)
Origin search (SEARCH)
CCW limit input (CCWL)
Origin proximity (ORG)
Z-phase
READY
Origin search completed
(S.COM)
Origin (ORGSTP)
Positioning completed
(INP)
Motor operation (speed)
First Z-phase signal
after ORG turns OFF
Origin search high
speed
Origin search
low speed
Note After
the RUN command (RUN) signal turns ON, there will be an interval of 1
10 ms max. before
the READY signal and the positioning completed (INP) signal turn ON.
Operation Chapter
3
I OFF
ON OFF
L. ....... . ...................................... 0"
I I 0N OFF I ON
I OFF ‘ ON
I OFF I ON
on OFF ‘ ON
3-45
Origin Search Pattern 2: Starting With Origin Proximity Input Signal ON
1. Positioning begins in the origin search direction at the origin search low speed.
2. The
origin is established by the first Z-phase signal that is received
after the origin proximity signal
turns OFF (falling edge).
RUN command
(RUN)
Origin search
(SEARCH)
CCW limit input
(CCWL)
Origin proximity
(ORG)
Z-phase
READY
Origin search
completed
(S.COM)
Origin (ORGSTP)
Positioning
completed
(INP)
Motor operation
(speed)
First Z-phase signal after
ORG turns OFF
Origin search low speed
Note After
the RUN command (RUN) signal turns ON, there will be an interval of 1
10 ms max. before
the READY signal and the positioning completed (INP) signal turn ON.
Operation Chapter
3
| E OFF ‘WI OFF
I 'ON OFF ION
\ OFF n OFF ON I OFF
ON OFF . IT
| OFF W
\ OFF N
ON OFF I—ON—
3-46
Origin Search Pattern 3: Starting Between Origin Proximity Signal and CCWL Signal
1. Positioning begins in the origin search direction at the origin search high speed.
2. The direction of movement is reversed when the CCWL signal turns OFF.
3. When
the origin proximity signal turns from ON to OFF
, the direction of movement is reversed again
and the speed is changed to the origin search low speed.
4. The
origin is established by the first Z-phase signal that is received
after the origin proximity signal
turns OFF.
RUN command
(RUN)
Origin search
(SEARCH)
CCW limit input
(CCWL)
Origin proximity
(ORG)
Z-phase
READY
Origin search
completed
(S.COM)
Origin (ORGSTP)
Positioning
completed
(INP)
Motor operation
(speed)
First Z-phase signal after
ORG turns OFF
Origin search low speed
Origin search
high speed
Origin search high speed
Note After
the RUN command (RUN) signal turns ON, there will be an interval of 1
10 ms max. before
the READY signal and the positioning completed (INP) signal turn ON.
Operation Chapter
3
3-47
Summary of Origin Search Operation
Origin search direction: + direction
Limit
input
Origin proximity
Z-phase
Origin search
pattern 1 Position
Origin search
pattern 2
Origin search
pattern 3
Speed
Speed
Speed
Position
Position
Operation Chapter
3
3-48
Origin Search Example Program (SYSMAC C200H-HX/HG/HE)
The
following ladder program example (for SYSMAC C200H-HX/HG/HE) is provided for
reference
jWord Allocation
In this program example, the I/O signals are allocated to the input and output words as follows:
Output Unit: Word 0
Bit number Position Driver signal name
0 RUN RUN command
1 START Start
2 RESET Alarm reset
3 SEARCH Origin search
4 +JOG +JOG operation
5 –JOG –JOG operation
6 TEACH Teach
7 STOP Deceleration stop
8 P.IN0 Point selection 0 / Position 0
9 P.IN1 Point selection 1 / Position 1
10 P.IN2 Point selection 2 / Position 2
11 P.IN3 Point selection 3 / Position 3
12 P.IN4 Point selection 4 / Position 4
13 P.IN5 Point selection 5 / Position 5
14 P.IN6 Point selection 6 / Position 6
15 P.IN7 Position 7
Input Unit: Word 8
Bit number Position Driver signal name
0 BO Brake output
1 READY Ready
2 S.COM Origin search completed
3 ORGSTP Origin stop
4 T.COM Teaching completed
5 RUNON Motor running
6 INP Positioning completed
7 ALM Alarm
8 P.OUT0 Point output 0 / Position selection 1
9 P.OUT1 Point output 1/ Position selection 2
10 P.OUT2 Point output 2 / Position selection 3
11 P.OUT3 Point output 3/ Position selection 4
12 P.OUT4 Point output 4/ Speed selection
13 P.OUT5 Point output 5
14 P.OUT6 Point output 6
15 (Not used.)
Operation Chapter
3
3-49
IR Area
Word 30 in the IR area is used.
jLadder Program
•For
this example program it is assumed that limit input signals (CCWL and CWL) and origin proximity
signals used for origin search operations are directly input from the sensors.
•There
are three types of
origin search, depending on the beginning position for the search, but for the
purposes of this ladder program example they are all the same. (So there is no need to change the
origin search pattern.)
•The program uses bits in IR 30.
0000
DIFU(013) 30000
RUN switch 0807
ORIGIN SEARCH switch
0003
3000 0801
3001
3002
3001
3002
RUN command signal output
Origin search signal output
An error is output if the origin
search signal is input while the
ready signal is OFF.
(READY)
Origin search error
Origin search
(RUN)
Origin search error check switch
0801
0007
3300 (DECELERATION STOP switch)
(STOP) (See note 2.)
3003
Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For
details regarding word allocations, refer to the Master Unit operation manual.
Note 2. Bit
allocation will be made for the deceleration
stop (ST
OP) signal when using a CompoBus/
S-type
Position Driver
. In this case, the deceleration stop (ST
OP) signal
must be turned ON in
the
ladder program. (If the deceleration stop signal for external control input (CN 4-4), or lad
-
der program input (OUT 7) is OFF, the motor will not run.)
3-7-2 Origin
T
eaching
Function
•The origin teaching operation sets any given position as the mechanical origin.
•If the motor sensor’s Z-phase position (the origin search completion position) is not at the desired
mechanical
origin after an origin search operation, it will be possible to move to any given position and
use the origin teaching operation to make that position the mechanical origin (present value 0).
Operation Chapter
3
VOF‘F‘ V r r W
ON
ON OFF
ON
OFF
OFF
ON
oFF
ON
ON
OFF
‘ [W
OFF
3-50
•The amount of movement at this time is taken by the PTP parameters (PP-06, PP-07) as the origin
compensation, and in subsequent origin search operations this value is used to move to the origin
teaching position (the mechanical origin) to complete the origin search.
Note Origin teaching cannot be executed if the origin is not established.
PTP Parameters
The following PTP parameters are set by the origin teaching operation.
No.
PP- Name Min.
unit Setting
range Factory
setting Explanation
06 Origin compensation
(leftmost digits) 1 pulse –9,999
to
9,999
0Specifies number of motor sensor pulses for
movement between origin search completion
position and mechanical origin. The value can
07 Origin compensation
(rightmost digits) 0 to
9,999 0
g
be obtained by origin teaching.
Operation
1. Complete the origin search operation.
2. Use the JOG operation or external force (with servo OFF) to move to the mechanical origin.
3. Turn OFF the RUN command (if the JOG operation has been used).
4. Turn ON the origin search (SEARCH) command, and then turn ON the teaching (TEACH) com-
mand. (When the origin teaching operation has been completed, the teaching completed signal
(T.COM) turns ON.
RUN command
(RUN)
Origin search
(SEARCH)
READY
Origin search
completed
(S.COM)
Origin (ORGSTP)
Positioning
completed (INP)
Motor operation
Teaching (TEACH)
RUN signal ON when JOG operation used for movement.
Movement by JOG operation
or external force
Teaching completed
(T.COM)
Operation Chapter
3
3-51
3-7-3 Teaching
Function
•The
teaching operation takes the motor
’
s present value as the position data in the specified PTP data.
•Teaching is only enabled when the control mode is set for point positioning (UP-01: 11 or 12).
•The
position data that is taken by the teaching
operation is all absolute-value (A) data. Also, the speed
data, acceleration/deceleration selection, and operation mode selection do not change. (Make the
settings after teaching is completed.)
•Teaching
can be executed with the RUN command either ON or OFF
, so it can be executed while the
mechanical system is being moved by either the JOG operation or external force.
Note Teaching cannot be executed if the origin is not established.
PTP Parameters
The following PTP parameters are set by the teaching operation.
No.
Pd- Name Min.
unit Setting
range Factory
setting Explanation
HPoint No.
position data
(leftmost digits)
(PP-01) (I/A)
–3,999
to
3,999
(I) 0 Specifies point no. position data.
A value between –39,999,999 and
39,999,999 can be set. Leftmost digit is used
to specify “A” (absolute) or “I” (incremental)
value.
Nt 1 tbf01
L Point No.
position data
(rightmost digits)
(PP-01) 0 to
9,999 0Note 1. represents a number from 01
to 64.
Note 2. With
teaching, the position data is A
(absolute value)
Operation (Example: Teaching With JOG)
1. Input to points 0 to 6 (P.IN0 to 6) the point numbers to be taught. (Make sure that they match the
numbers for point outputs 0 to 6 (P.OUT0 to 6).
2. Use the JOG operation (+JOG or –JOG) to rotate the motor.
3. Move to the position that is to be taught, and then turn ON the teaching (TEACH) input.
Operation Chapter
3
\oN
1 OFF ION—‘
OFF
I OFF ON OFF
y
[ on ON OFF ON
ON . OFF ON
I OFF W OFF
.
X
3-52
4. When the teaching completed signal (T.COM) turns ON, turn OFF the teaching (TEACH) input.
RUN command (RUN)
READY
Positioning completed
(INP)
Teaching (TEACH)
+JOG operation (+JOG)
Point selection
(P.INP0 to 6)
Teaching completed
(T.COM)
Point output
(P.OUT0 to 6)
Point No. n
Point No. n
Motor operation
3-7-4 Point Positioning (UP-01: 11 or 12)
Function
•Positioning is executed according to the PTP data of point numbers input to P.IN0 to P.IN6.
•Positioning is started when the start signal is turned ON while the ready signal is ON.
•The
ready signal is turned OFF at the moment positioning begins and turned ON again upon comple
-
tion of the positioning operation.
Note With
feeder control (UP-01: 12), the present value is cleared when the start signal is turned ON.
Operation
1. Input
the point numbers to P
.IN0 to P
.IN6. (Make sure that the P
.OUT0 to P
.OUT6 signals match the
point numbers input to P.IN0 to P.IN6.)
2. Make sure that the ready signal is ON. Then turn ON the start signal.
3. Positioning will begin and the ready signal will be turned OFF.
Operation Chapter
3
ON ON ON
I OFF I_I OFF [—I OFF I_I OFF
X X .
| ON H oFF on [— OFF ON OFF 0N
; ON
I 0N OFF VIDN _ OFF [— OFF 0N
. v i v
X l )5 +1 X n+2
.
3-53
4. The ready signal will be turned ON again upon completion of the positioning.
RUN command
(RUN)
Start (START)
Point selection
(P.IN0 to P.IN6)
READY
Positioning completion
(INP)
Point output
(P.OUT0 to P.OUT6)
Motor operation
Point no. m
Point no. n
Point no. m
Point no. n
Independent
operation mode
Automatic
incremental
mode
Continuous
operation
mode
Independent
operation
mode
Point Positioning Program Example (C200H-HX/HG/HE)
The
following point positioning ladder
program example (for SYSMAC C200H-HX/HG/
HE) is provided for reference
jWord Allocation
In this program example, the I/O signals are allocated to the input and output words as follows:
Output Unit: Word 0
Bit number Position Driver signal name
0 RUN RUN command
1 START Start
2 RESET Alarm reset
3 SEARCH Origin search
4 +JOG +JOG operation
5 –JOG –JOG operation
6 TEACH Teach
7 STOP Deceleration stop (See note 2.)
8 P.IN0 Point selection 0 / Position 0
9 P.IN1 Point selection 1 / Position 1
10 P.IN2 Point selection 2 / Position 2
Operation Chapter
3
3-54
Bit number Position Driver signal name
11 P.IN3 Point selection 3 / Position 3
12 P.IN4 Point selection 4 / Position 4
13 P.IN5 Point selection 5 / Position 5
14 P.IN6 Point selection 6 / Position 6
15 P.IN7 Position 7
Input Unit: Word 8
Bit number Position Driver signal name
0 BO Brake output
1 READY Ready
2 S.COM Origin search completed
3 ORGSTP Origin stop
4 T.COM Teaching completed
5 RUNON Motor running
6 INP Positioning completed
7 ALM Alarm
8 P.OUT0 Point output 0 / Position selection 1
9 P.OUT1 Point output 1/ Position selection 2
10 P.OUT2 Point output 2 / Position selection 3
11 P.OUT3 Point output 3/ Position selection 4
12 P.OUT4 Point output 4/ Speed selection
13 P.OUT5 Point output 5
14 P.OUT6 Point output 6
15 (Not used.)
DM Area
DM No. Data contents
00 Point number
01 Input signal
02 Output signal
IR Area
Word 30 in the IR area is used.
Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For
details regarding word allocations, refer to the Master Unit operation manual.
Note 2. Bit
allocation will be made for the deceleration
stop (ST
OP) signal when using a CompoBus/
S-type Position Driver.
Note 3. Point
numbers 0 to 64 (BCD) are
input to P
.IN0 to P
.IN6 and output from P
.OUT0 to P
.OUT6.
Input to the Position Driver
P.IN6 P.IN5 P.IN4 P.IN3 P.IN2 P.IN1 P.IN0
4 1012 1011 1018 1004 1002 1001 100
Output from the Position Driver
P.OUT6 P.OUT5 P.OUT4 P.OUT3 P.OUT2 P.OUT1 P.OUT0
4 1012 1011 1018 1004 1002 1001 100
Operation Chapter
3
Pmnl Nu senmg 5w
—x
3m
MovoIoazIImuou
any a
nu
W 3qu
255mm
am we
ll W
I I II
ms
-—II—
O
32m
I I I I
I I I I
32m 32m
I I II
I I II
32u2
3-5
3-55
jLadder Program
MOVD(083)D0000
#0210
00
0000
DIFU(013)3100
RUN switch 0807
Point No. setting switch
3101
3100
3101
3101
0801
3102
3103
3102
3103
ANDW(034)00
#7F00
D0001
ANDW(034)08
#7F00
D0002
CMP(020)D0001
D0002
3104
3103
(READY)
0801
25506(=)
3105
3104
3105
DIFU(013)3200
0001
3200
3201
3202
3203
3202
3201
3106
(Alarm
output)
(READY)
(Point number check switch)
(START error check switch)
START switch
(READY)
(RUN)
Outputs point number to
leftmost 8 bits of word 00.
Moves point number input
(control input) to DM 0001.
Moves point number output
(control output) to DM 0002.
Compares point number I/O.
Point number setting completed
START
START error
RUN command signal output
Point number setting
Point number setting check.
START signal output
An error is output if the START
signal is input while the ready
signal is OFF.
0801
0801
0007
3300 (DECELERATION STOP switch)
(STOP) (See note 3.)
3102
3104
Operation Chapter
3
3-56
Note 1. The
point number setting switch is a contact for taking the point number (DM 00) into the Posi
-
tion Driver.
Note 2. Turn ON the point number check switch (3106) and the START switch when “point number
setting completed” (3105) is output.
Note 3. When
using a CompoBus/S-type Position Driver
, the deceleration stop (ST
OP) signal must
be
turned ON in the ladder program.
(If the deceleration stop signal for external control input
(CN 4-4), or ladder program input (OUT 7) is OFF, the motor will not run.)
3-7-5 Direct Positioning (UP-01: 13 or 14)
Function
•Positioning
is executed
by taking in sequence the position and speed data entered for positions 0 to 7
(P.IN0
to 7), according to the timing output signals for position data selections 1 to 4 (P
.OUT0 to 3)
and
the speed data selection (P.OUT4).
•When the teach signal is turned ON, the Position Driver starts reading the data. Both the teaching
completed
(T
.COM) and ready signals are
turned ON when the Position Driver has finished reading
the data.
•Positioning is started when the start signal is turned ON while the ready signal is ON.
•The
ready signal is turned OFF during positioning and turned ON again upon completion of the posi
-
tioning operation.
Note With
feeder control (UP-01: 12), the present value is cleared when the start signal is turned ON.
Operation
1. The two rightmost digits of the position data are input to P.IN0 to P.IN7.
2. The
teach signal is turned ON. Position selection 1 (P
.OUT0) are turned ON and OFF and the posi
-
tion data is taken at the falling edge.
3. Next
position selection 2 (P
.OUT1 is turned ON. While P
.OUT1
is ON, positions 0 to 7 are taken into
the third and fourth digits.
4. The
remaining position data (i.e., the rest of the
digits, sign bit, and I/A bit) and speed data are taken
in the same way.
5. After all the data has been taken, both the teaching completed (T.COM) and ready signals are
turned ON. After it is confirmed that they have turned ON, the teach signal is turned OFF.
6. When the start signal is turned ON, positioning begins and the ready signal is turned OFF.
Operation Chapter
3
I OFF ON OFF
. ON
I OFF 3 _I OFF
X X X
. . fi .
I OFF ‘ ‘ 5 ON OFF
W‘ OFF ON I OFF —ON—
I ON V OFF [31——
I OFF ON OFF
I OFF IT‘ OFF 1
I OFF ON OFF
I OFF ON
I? .. .
I OFF ON OFF
3-57
7. The ready signal is turned ON again upon completion of the positioning operation.
RUN command
(RUN)
Teaching
(TEACH)
Start
(START)
Position data
(P.IN0 to P.IN7)
Teaching completed
(T.COM)
READY
(READY)
Positioning completed
(INP)
Position selection 1
(P.OUT0)
Position selection 2
(P.OUT1)
Position selection 3
(P.OUT2)
Position selection 4
(P.OUT3)
Speed selection
(P.OUT4)
Motor operation
Selection signal output time
can be set in PP-26.
Operation Chapter
3
3-58
Direct Positioning Program Example (C200H-HX/HG/HE)
The
following direct positioning ladder
program example (for SYSMAC C200H-HX/HG/
HE) is provided for reference.
jWord Allocation
In this program example, the I/O signals are allocated to the input and output words as follows:
Output Unit: Word 0
Bit number Position Driver signal name
0 RUN RUN command
1 START Start
2 RESET Alarm reset
3 SEARCH Origin search
4 +JOG +JOG operation
5 –JOG –JOG operation
6 TEACH Teach
7 STOP Deceleration stop (See note 2.)
8 P.IN0 Point selection 0 / Position 0
9 P.IN1 Point selection 1 / Position 1
10 P.IN2 Point selection 2 / Position 2
11 P.IN3 Point selection 3 / Position 3
12 P.IN4 Point selection 4 / Position 4
13 P.IN5 Point selection 5 / Position 5
14 P.IN6 Point selection 6 / Position 6
15 P.IN7 Position 7
Input Unit: Word 8
Bit number Position Driver signal name
0 BO Brake output
1 READY Ready
2 S.COM Origin search completed
3 ORGSTP Origin stop
4 T.COM Teaching completed
5 RUNON Motor running
6 INP Positioning completed
7 ALM Alarm
8 P.OUT0 Point output 0 / Position selection 1
9 P.OUT1 Point output 1/ Position selection 2
10 P.OUT2 Point output 2 / Position selection 3
11 P.OUT3 Point output 3/ Position selection 4
12 P.OUT4 Point output 4/ Speed selection
13 P.OUT5 Point output 5
14 P.OUT6 Point output 6
15 (Not used.)
Operation Chapter
3
3-59
DM Area
DM number Data contents
01 Input signal
02 Output signal
10 Positioning data (rightmost digits)
11 Positioning data (leftmost digits)
12 Speed data
20 Indirect table for positioning data
21 Digit transfer control data table
IR Area
Word 30 in the IR area is used.
Note 1. A CompoBus/S-type Position Driver can also be used by changing the word allocation. For
details regarding word allocations, refer to the Master Unit operation manual.
Note 2. Bit
allocation will be made for the deceleration
stop (ST
OP) signal when using a CompoBus/
S-type Position Driver.
Note 3. Input position data (BCD) and speed data (BCD) into P.IN 0 to 7 with P.OUT0 to 4.
P.IN7 P.IN6 P.IN5 P.IN4 P.IN3 P.IN2 P.IN1 P.IN0
8 10n+1 4 10n+1 2 10n+1 1 10n+1 8 10n4 10n2 10nn 1 10n
Position data: P.OUT0 ON; n=0, P.OUT1 ON; n=2, P.OUT2 ON; n=4, P.OUT3 ON; n=6
P.IN6; ±data 0: +, 1: –
P.IN7; INC/ABS data 0: INC, 1: ABS
Speed data: P.OUT4 ON; n=0
Operation Chapter
3
\ | | | O
. .
I I Q
on W
. ,,
II
H
ommPOUIzv
nampoum
omzwoum
3-60
3-60
jLadder Program
MOV(021)#0010
D0020
0000
DIFU(013)3100
RUN switch 0807
Data input switch
3101
3100
3101
0006
3101
0006
MOV(021)#0010
D0020
0808(P.OUT0)0808(P.OUT0)
MOV(021)#0210
D0021
MOV(021)#0212
D0021
MOV(021)#0011
D0020
0810(P.OUT2)
MOV(021)#0210
D0021
MOV(021)#0011
D0020
0811(P.OUT3)
MOV(021)#0212
D0021
MOV(021)#0012
D0020
0812(P.OUT4)
MOV(021)#0210
D0021
0809(P.OUT1)
0801
(Alarm
output)
(READY)
(RUN)
(TEACH)
RUN command signal output
Transfer information for right-
most digits of position data
Transfer information for left-
most digits of position data
Transfer information for
speed data
3102
0007
3300 (DECELERATION STOP switch)
(STOP) (See note 3.)
Operation Chapter
3
ANDWIumu
wquF
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Duuoz
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oRWImSIDuqu
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zzuz
-—II—
3-61
DIFU(013)3102
ANDW(034)00
#00FF
D0001
MOVD(083)*D0020
D0021
D0002
ANDW(034)D0002
#FF00
D0002
ORW(035)D0001
D0002
00
0811
08043101
3105
3102
3105
0810
DIFU(013)3200
START switch
0001
3201
3202
3201
3202
0801
3200 0801
0808
0809
Positioning data settings
Releases control
inputs to DM 01.
Transfers positioning
data in 8-bit units to
the leftmost 8 bits of
DM 02.
Clears rightmost
8 bits of DM 02.
Adds released control
inputs and positioning
data and outputs result to
word 00.
(Teaching completed)
(Position data intake check switch)
Position data intake completed
(READY)
(START error check switch)
START error
START
START signal output
An error is output if the
START signal is input
while the ready signal is
OFF.
0812
3106
3203
Note 1. The data input switch is a contact for taking the set position data into the Position Driver.
Note 2. Turn ON the position data intake switch (3106) and the START switch when “position data
intake completed” (3105) is output.
Note 3. When
using a CompoBus/S-type Position Driver
, the deceleration stop (ST
OP) signal must
be
turned ON in the ladder program.
(If the deceleration stop signal for external control input
(CN 4-4), or ladder program input (OUT 7) is OFF, the motor will not run.)
Operation Chapter
3
3-62
3-8 Trial Operation
After
the wiring is complete and the parameter settings have been made, conduct a trial
operation.
First,
in system check mode, check the motor
’
s rotation direction without con
-
necting a load (i.e., without connecting the mechanical system), and check to be sure
that
the I/O signals are correctly wired. Then, connect the mechanical system,
auto-tune
the system, and confirm that the correct operation pattern is performed. If an error
occurs during trial operation, refer to
Chapter 4 Application
and apply the appropriate
measures.
3-8-1 Trial Operation Procedure
Preparations
jTurning OFF the Power Supply
The
power supply must be turned OFF and back ON in order for some of the parameter settings to go
into effect, so always turn OFF the power supply before starting.
jLeaving the Motor With No Load Connected
Do not connect a load to the motor shaft during trial operation in case the motor runs out of control.
jPreparing to Stop the Motor
Make
sure that the power switch can be turned OFF or the RUN command can be used to stop the motor
immediately in case of trouble.
Actual Trial Operation
(1) Powering Up
•With the RUN command OFF, apply an AC voltage.
•After internal initialization, the mode will be the Monitor Mode.
r 0
Monitor display example:
•Set the speed loop proportional gain (AJ2.) to approximately 1.0. (Match the gain with no load.)
1. Confirm the initial display (Monitor Mode) shown above.
2. Press the Mode Key twice to enter the Adjustment Parameters Edit Mode.
3. Press the Increment Key to display the contents of AJ2. (speed loop proportional gain).
4. Press
the Shift Key and Data Key to enable the data to be changed. (The digit that
can be changed
will flash.)
5. Press the Shift Key, Increment Key, or Decrement Key as required to change the setting to 1.0.
6. Press the Data Key to end the data change operation.
Operation Chapter
3
3-63
Note 1. The factory setting for the speed loop proportional gain (AJ2.) is 1.0 (multiple).
Note 2. In the Adjustment Parameters Edit Mode, the set value is re-written at the point where the
number is changed by pressing the Increment Key and Decrement Key.
(2) Testing the Motor (Refer to
3-8-2 System Check Mode
.)
•Execute the motor test operation in System Check Mode and perform the following checks.
Is the motor’s rotation direction correct?
Are there any abnormal sounds or vibration?
Is anything abnormal occurring?
(3) Checking the I/O Signal Wiring
•Execute
the output signal test in System Check Mode and perform the following check. (Refer to
3-8-2
System Check Mode
.)
Are signals from the Position Driver being correctly read by the host controller?
•Check the following item with the Check Mode’s I/O signal display. (Refer to
4-2 Check Mode
.)
Are
signals and limit
inputs from the host controller
, origin proximity signals, deceleration stop input
signals, and so on, being correctly read by the Position Driver?
(4) Auto-tuning With a Load Connected (Refer to
3-9 Making Adjustments
.)
•Connect
the motor shaft to the load (mechanical system) securely
, being sure to tighten screws so that
they will not become loose.
•Execute auto-tuning in System Check Mode.
(5) Turning ON the RUN Command Input
•Turn ON the run command input.
•Check to be sure that the motor goes into servo-lock status.
(6) Operating at Low Speed
•Operate the motor at low speed.
The
meaning of
“low speed” can vary with the mechanical system. Here, “low speed” means approxi
-
mately 10% to 20% of the actual operating speed.
•Check the following items.
Is the emergency stop operating correctly?
Are the limit switches operating correctly?
Is the operating direction of the machinery correct?
Are the operating sequences correct?
Are there any abnormal sounds or vibration?
Is anything abnormal occurring?
(7) Operating Under Normal Load Conditions
•Operate the motor in a regular pattern and check the following items.
Is the speed correct? (Use the Monitor Mode’s motor speed display and the mechanical speed
display.)
Is
the load torque roughly equivalent to the measured value? (Use the Monitor Mode’
s motor cur
-
rent display and the effective load factor display.)
Are the positioning points correct?
When an operation is repeated, is there any discrepancy in positioning?
Are there any abnormal sounds or vibration?
Is either the motor or the Driver abnormally overheating?
Is anything abnormal occurring?
Operation Chapter
3
3-64
(8) Readjusting the Gain
•If
the gain
could not be adjusted completely using auto-tuning, perform the procedure in
3-9 Making
Adjustments
to adjust the gain manually.
3-8-2 System Check Mode
The
System Check Mode is used to conduct the motor test,
output signal test, and auto-tuning. T
o enter
this mode, use the following procedure:
1. Press the Mode Key to go into the Monitor Mode.
2. Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at least five
seconds to go into the System Check Mode.
To exit the System Check Mode, double-click the Mode Key.
Note The
motor test operation is a function for operating
the motor with only the Position Driver and the
motor. The limit inputs and deceleration stop input are disabled, so before conducting this test
check to make sure that there will be no adverse effect on the equipment.
Entering the System Check Mode
The System Check Mode can be entered from the Monitor Mode.
Monitor
Mode
Hold
down the Incre
-
ment Key
, Decrement
Key
, and Data Key
simultaneously for at
least five seconds.
Double-click the Mode Key.
System Check Mode
Motor test
Output signal test
Auto-tuning
AdS display
Functions in System Check Mode
jMotor Test Operation
•With
the motor test operation, the motor is operated in forward and reverse by means of key opera
-
tions with just the motor and Position Driver connected. (Connection to a host controller is not
required.)
•The motor speed can be set by UP-29 (motor test r/min). The factory setting is 50 r/min.
jOutput Signal Test
•With the output signal test, Position Driver output signals are turned ON and OFF.
•This test is used to check the connections with the host controller.
Operation Chapter
3
flu
FrEE
nu
FrEE
nu
3-65
jAuto-tuning
•With auto-tuning, the size and characteristics of the load (the mechanical system) can be checked,
and the gain can be automatically adjusted and set accordingly.
•There
are three kinds of
gain to be set: position loop gain (AJ.4), speed loop proportional gain (AJ.2),
and speed loop integral gain (AJ.3).
•There
are three parameters for auto-tuning: reciprocating rotation range (Auto1), target response fre
-
quency (Auto2), and maximum rotation speed (Auto3).
Note For details regarding auto-tuning, refer to
3-9 Making Adjustments
.
jAdS Display
This is a parameter for manufacturer adjustments. Do not change the setting.
Motor Test Operation Procedure
Display example Key operation
Press the Mode Key to enter Monitor Mode.
Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at
least five seconds to enter System Check Mode.
Press the Data Key to go to servo-ON status.
Press the Increment Key to test forward operation. (The motor should rotate in the
forward direction while the Increment Key is being held down.)
Press the Decrement Key to test reverse operation. (The motor should rotate in
the reverse direction while the Decrement Key is being held down.)
Press the Data Key to go to servo-OFF status.
Double-click the Mode Key to return to Monitor Mode.
jUser Parameter Settings
The motor speed can be set by UP-29 (motor test r/min).
No.
UP- Name Min.
unit Setting
range Factory
setting Explanation
29 Motor test r/min 1 r/min 1 to
8,000 50 Specifies the motor speed during the motor
test operation.
Note Be sure to set this parameter to no more than the motor’s rated speed.
Operation Chapter
3
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3-66
Output Signal Test Operating Procedure
Display example Key operation
Press the Mode Key to enter Monitor Mode.
Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at
least five seconds to enter System Check Mode.
Press the Shift Key to bring up the output signal test display.
Press the Data Key and Shift Key to enable the output signal test. (The output
signals will all be turned OFF.)
Use the Increment Key and the Decrement Key to select the signal. In this
example the origin signal (ORGSTP) is selected.
Press the Data Key to turn ON the output signal. (“1” indicates “ON.”)
Press the Data Key again to turn OFF the output signal. (“1” indicates “OFF.”)
Press the Mode Key to return to the output signal test display.
Double-click the Mode Key to return to Monitor Mode.
jOutput Signal Numbers, Symbols, and Names
Number Symbol Name
S00 READY READY
S01 S.COM Origin search completed
S02 ORGSTP Origin stop
S03 T.COM Teaching completed
S04 RUNON Motor running
S05 INP Positioning completed
S06 ALM Alarm
S07 P.OUT0 Point output 0 / Position selection 1
S08 P.OUT1 Point output 1 / Position selection 2
S09 P.OUT2 Point output 2 / Position selection 3
S10 P.OUT3 Point output 3 / Position selection 4
S11 P.OUT4 Point output 4 / Speed selection
S12 P.OUT5 Point output 5
S13 P.OUT6 Point output 6
S14 BO Brake output
Operation Chapter
3
C3
|E|+EI+E
3-67
3-9 Making Adjustments
3-9-1 Auto-tuning
Auto-tuning
is a function for automatically operating the motor to adjust the position loop
gain, speed loop proportional gain, and speed loop integral gain.
If
adjustments cannot be made by auto-tuning, refer to
3-9-2 Manually Adjusting Gain
.
When
using auto-tuning, the limit inputs and deceleration
stop input must be connected.
Basic Auto-tuning Procedure
•To
go into auto-tuning, first enter the System Check Mode from the Monitor Mode, and then press the
Shift Key to bring up the auto-tuning display.
•After setting the auto-tuning parameters, press the Data Key and Increment Key simultaneously to
begin the auto-tuning operation.
•When
the auto-tuning operation has been completed, double-click the
Mode Key to return to the Moni
-
tor Mode.
Monitor
Mode
Hold
down the Incre
-
ment Key
, Decrement
Key
, and Data Key
simultaneously for at
least five seconds.
Double-click the Mode Key.
System Check Mode
Motor test
Output signal test
Auto-tuning display
Auto-tuning
Executes auto-tuning operation.
Auto-tuning in progress.
(Display flashes and motor operates.)
Auto-tuning completed.
Auto-tuning Parameter Settings
Display Name Min.
unit Setting
range Factory
setting Explanation
Auto 1 Reciprocating
rotation width 1 rev. 1 to
300 1 Specifies the amount to move to one side
in reciprocating operation during
auto-tuning execution.
Auto 2 Destination cutoff
frequency 1 Hz 1 to
100 40 Specifies the position loop
responsiveness. (Normally set from 20 Hz
to 80 Hz.)
Auto 3 Maximum rotation
speed 1 r/min 1 to
4,000 1,000 Specifies the maximum motor speed
during auto-tuning execution.
Operation Chapter
3
A l
3-68
Note 1. The reciprocating operation is performed twice during auto-tuning. Check the mechanical
operating range and set the reciprocating rotation range accordingly.
Note 2. Set the maximum rotation speed to the maximum speed for actual operation.
Motor speed
Reciprocating
rotation width
Maximum rotation speed
Time
Operation Chapter
3
m
C
IT
0
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C)
J:
C3
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C3
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C3
:D
C
C3 C3 C3 t3 fr
C3 E3 E3 E) U
C3 C3 C3 C3 UJ
mm
Flute
In
C
W
D
In
t
rr
0
3-69
Operating Procedure Example
In
this auto-tuning example, it is assumed that
the reciprocating rotation range is set to 5 (revolutions),
the
target response frequency is set to 50 (Hz), and the maximum rotation speed is set
to 2,000 (r/min).
Display example Key operation
Press the Mode Key to enter Monitor Mode.
Hold down the Increment Key, Decrement Key, and Data Key simultaneously for at
least five seconds to enter System Check Mode.
Press the Shift Key twice to bring up the auto-tuning display (reciprocating rotation
range).
Press the Increment Key to display the reciprocating rotation range data.
Press the Data Key and Shift Key to enable the data to be changed. (The digit that
can be changed will flash.)
Use the Increment Key, the Decrement Key, and the Shift Key to change the
setting to “5.”
Press the Data Key to save the new setting.
Press the Increment Key to bring up the target response frequency display.
Press the Increment Key to display the target response frequency data.
Press the Data Key and Shift Key to enable the data to be changed. (The digit that
can be changed will flash.)
Use the Increment Key, the Decrement Key, and the Shift Key to change the
setting to “50.”
Press the Data Key to save the new setting.
Press the Increment Key to bring up the maximum rotation speed display.
Press the Increment Key to display the maximum rotation speed data.
Press the Data Key and Shift Key to enable the data to be changed. (The digit that
can be changed will flash.)
Use the Increment Key, the Decrement Key, and the Shift Key to change the
setting to “2000.”
Press the Data Key to save the new setting.
Press the Increment Key to bring up the auto-tuning display (reciprocating rotation
range).
Press the Data Key and the Increment Key to execute auto-tuning. (The display
will flash while the motor is operating.)
When the display stops flashing it indicates that the auto-tuning operation is
completed.
Double-click the Mode Key to return to Monitor Mode.
Operation Chapter
3
3-70
Notes on Auto-tuning Settings
•The reciprocating operation is performed twice during auto-tuning, so pay careful attention to the
mechanical operating range.
•The
amount of movement to one side in reciprocating operation during auto-tuning
is the value set in
the “Auto1” auto-tuning parameter (reciprocating operation width).
•The
motor speed during auto-tuning is the value set in the “Auto3” auto-tuning parameter (maximum
rotation speed).
•When auto-tuning is completed, the adjustment parameter settings for position loop gain (AJ4.),
speed
loop proportional gain
(AJ2.), and speed loop integral gain (AJ3.) will be changed automatically
.
(They will not be changed until the operation has been completed.)
•If
the response is not suf
ficient for the gain after the
auto-tuning adjustments, then refer to
3-9-2 Manu
-
ally Adjusting Gain
and adjust the gain manually.
Operation Chapter
3
3-71
3-9-2 Manually Adjusting Gain
Gain Adjustment Flowchart
Perform auto-tuning to match the rigid-
ity of the mechanical system.
The motor hunts when servo-locked.
(Accompanied by a hunting noise.)
Raise the Destination cutoff frequency
to the value just before hunting occurs
and perform auto-tuning.
Increase AJ2. (speed loop propor-
tional gain) to a value where hunting
doesn’t occur in servo-lock.
Decrease AJ3. (speed loop integral
gain) to a value where hunting doesn’t
occur in servo-lock.
Does hunting (vibration) occur
when the motor is operated?
Run the motor and monitor its opera-
tion.
Increase AJ4. (position loop gain) until
overshooting does not occur.
Decrease the target response fre-
quency so hunting doesn’t occur and
perform auto-tuning.
Decrease AJ2. (speed loop proportional
gain).
Increase AJ3. (speed loop integral
gain).
Decrease AJ9. (current reference filter).
End adjustment.
End adjustment.
Do characteristics such as positioning
time meet system specifications?
YES
NO
YES
YES
NO
NO
:
:When vibration can’t be eliminated despite
several adjustments or positioning is too slow:
WARNING
Do not make extreme adjustment or setting
changes as they cause unstable operation and
may result in injury.
Perform gain adjustment by changing the value
in small increments, while checking that the mo-
tor is operating normally.
!
Operation Chapter
3
3-72
3-9-3 Adjustment Parameter Details
PRM No. Parameter name Setting range Unit Factory setting
AJ2. Speed loop proportional
gain 0.0 to 100.0 Multiple 1.0
•This parameter adjusts the speed loop response.
•As
the gain is increased, the servo rigidity is strengthened. The greater the inertia rate, the higher this
is set. If the gain is set too high, oscillation will occur.
•Adjustment can be performed more quickly by first setting the load inertia ratio.
Response When Speed Loop Proportional Gain is Adjusted
Motor speed
When
speed loop proportional gain is high.
(Oscillates when gain is too high.)
When speed loop proportional
gain is low.
Time
PRM No. Parameter name Setting range Unit Factory setting
AJ3. Speed loop integral gain 0.1 to 20.0 Multiple 1.0
•This parameter sets the speed loop integral gain.
•As
the gain is decreased, the responsiveness is lowered and the resistance to external force is
weak
-
ened. If the gain is set too high, oscillation will occur.
Operation Chapter
3
3-73
Response When Speed Loop Integral Gain is Adjusted
Motor speed
Time
When speed loop integral gain is high
When
speed loop integral gain is low
PRM No. Parameter name Setting range Unit Factory setting
AJ4. Position loop gain 1 to 200 rad/s 30
•Adjust the position loop response to match the mechanical rigidity.
•The
servo system’
s responsiveness
is determined by the position loop gain. When the position loop
gain
is high, the servo system’
s responsiveness will be high and positioning can be executed quickly
.
In
order to increase the position loop gain, it is necessary to raise the mechanical rigidity and increase
the characteristic frequency. For normal construction machinery
, set the gain to
50 to 70 (rad/s); for
general
purpose machinery and assembly machinery
, 30 to 50 (rad/s); for industrial robots, 10 to 30
(rad/s).
•If
the system has low mechanical rigidity or low characteristic frequency
, increasing the position loop
gain will cause mechanical resonance and will generate an overload alarm.
•If the position loop gain is low, the positioning time can be shortened by using feed forward.
Response When Position Loop Gain is Adjusted
When position loop gain is high
When position loop gain is low
Motor speed
Time
Operation Chapter
3
M6,
AJ4‘
AJ2., AJS.
AJ9.
M7.
3-74
PRM No. Parameter name Setting range Unit Factory setting
AJ7. Interrupt gain suppression 0 to 10,000 --- 0
•If
any value other than “0” is set for this parameter
, the speed loop integral gain will be disabled when
stopped, and the speed loop proportional gain will be suppressed.
•As
the set value is increased, the amount of suppression is increased and the speed loop
proportion
gain is lowered.
•Adjust this parameter if the motor makes abnormal noises when stopping.
PRM No. Parameter name Setting range Unit Factory setting
AJ8. Feed-forward gain 0.0 to 2.0 Multiple 0.0
•This parameter is effective when the position loop gain is low (25 rad/s). It is not effective when the
position loop gain is high.
•Feed
forward adds to the speed loop directly without going through the error counter
, so responsive
-
ness
is increased without the error counter
’
s integral term being entered (when the load system oper
-
ates without reference delays).
•Before
the feed-forward gain can be adjusted, the position loop must be fully adjusted
and the speed
loop
must be operating with stability
. Check to make sure that these conditions are met before
attempt
-
ing to adjust the feed-forward gain.
•When the feed-forward amount is set too high, the speed reference becomes like a sawtooth wave
and the motor makes abnormal noises. Raise the value gradually, beginning with 0.0 (multiple).
•Make
the adjustment
so that the positioning completion output does not repeatedly turn ON and OFF
,
and so that there is no speed overshooting.
PRM No. Parameter name Setting range Unit Factory setting
AJ9. Current reference filter 400 to 20,000 rad/s 6,000
•This parameter specifies the current reference cut-off frequency.
•Gradually lower this value if vibration occurs due to a mechanical resonance frequency.
Position
data
creation area
Feed forward gain
Deviation
counter
Encoder/resolver
Position
loop
Speed loop
Current loop
Motor
Speed
detection
Operation Chapter
3
+N»
3-75
3-10 Regenerative Energy Absorption
Regenerative
energy produced at times such as Servomotor deceleration is absorbed
by the Position Driver
’
s internal capacitors, thereby preventing an increase in DC volt
-
age. If the regenerative energy from the Servomotor becomes too large, however, an
overvoltage error will occur. In such cases, it is necessary to connect a Regeneration
Resistor to increase the regeneration processing capacity.
3-10-1 Calculating Regenerative Energy
Regenerative energy is produced when the direction of Servomotor rotation or output torque is
reversed. The methods for calculating regenerative energy for the horizontal and vertical axes are
explained below.
Horizontal Axis
Motor
operation
Motor
output
torque
Note In
the output torque graph, acceleration in the positive direction is shown as
positive, and accel
-
eration in the negative direction is shown as negative.
The regenerative energy for each section can be found by means of the following formulas:
Eg1 = 1/2 N1 TD1 t1 1.027 × 10–2 [J]
Eg2 = 1/2 N2 TD2 t2 1.027 × 10–2 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [kgf cm]
t1, t2: Deceleration time [s]
Note There
is some loss due to winding resistance, so the actual regenerative energy will be approxi
-
mately 90% of the figure derived by the formula.
Operation Chapter
3
7N2
”7 TH
£1 [a
3-76
The
maximum regenerative energy (E
g
) occurring in any operational section can be found by means of
the following formula:
[Unit: J]
Eg is the larger of Eg1 and Eg2.
The
average regenerative power per cycle of operation can be found by means of
the following formula:
[Unit: W]
Pr = (Eg1 + Eg2)/T [W]
T: Operation cycle [s]
The
maximum regenerative energy (E
g
) and the average regenerative power (P
r
) must not exceed the
regeneration absorption capacity of the Driver. If the regeneration absorption capacity is insufficient,
connect a Regeneration Resistor.
Vertical Axis
Motor
operation
Falling
Rising
Motor
output
torque
Note
In the output torque graph, acceleration
in
the positive direction (rising) is shown as positive, and
acceleration in the negative direction (falling) is shown as negative.
The regenerative energy for each section can be found by means of the following formulas:
Eg1 = 1/2 N1 TD1 t1 1.027 × 10–2 [J]
Eg2 = N2 TL2 t2 1.027 × 10–2 [J]
Eg3 = 1/2 N2 TD2 t3 1.027 × 10–2 [J]
N1, N2: Rotation speed at beginning of deceleration [r/min]
TD1, TD2: Deceleration torque [kgf cm]
TL2: Torque when falling [kgf cm]
t1, t3: Deceleration time [s]
t2: Travel time equivalent to torque when falling [s]
Note There
is some loss due to winding resistance, so the actual regenerative energy will be approxi
-
mately 90% of the figure derived by the formula.
Operation Chapter
3
3-77
The
maximum regenerative energy (E
g
) occurring in any operational section can be found by means of
the following formula:
[Unit: J]
Eg is the largest of Eg1, Eg2, Eg3.
The
average regenerative power per cycle of operation can be found by means of
the following formula:
[Unit: W]
Pr = (Eg1+ Eg2+ Eg3)/T [W]
T: Operation cycle [s]
The
maximum regenerative energy (E
g
) and the average regenerative power (P
r
) must not exceed the
regeneration absorption capacity of the Driver. If the regeneration absorption capacity is insufficient,
connect a Regeneration Resistor.
3-10-2 Position Driver Absorbable Regenerative Energy
The Position Driver absorbs regenerative energy by means of an internal capacitor. If there is more
regenerative
energy than
can be absorbed by the capacitor
, an overvoltage error will be generated and
operation
cannot continue. The amounts of regenerative energy that can be absorbed by the various
Position
Drivers alone are shown in the tables below
. If regenerative energy exceeding these values is
produced, take the following measures.
•Connect a Regeneration Resistor.
•Lower the operating rotation speed. (The regenerative energy is proportional to the square of the
rotation speed.)
•Lengthen the deceleration time. (Reduce the amount of regenerative energy per unit time.)
200-VAC Input Type
Model Regeneration processing capacity
Average regenerative power (W) Regenerative energy (J)
FND-X06H-13 17
FND-X12H-24 17
FND-X25H-37 22
FND-X50H-160 38
Note The
input voltage is the value at 200 V
AC. As the input voltage is increased, the amount of regen
-
erative energy that can be absorbed is decreased.
100-VAC Input Type
Model Regeneration processing capacity
Average regenerative power (W) Regenerative energy (J)
FND-X06L-13 17
FND-X12L-17 17
Note The
input voltage is the value at 100 V
AC. As the input voltage is increased, the amount of regen
-
erative energy that can be absorbed is decreased.
Operation Chapter
3
!
!
3-78
3-10-3 Regenerative Energy Absorption by Regeneration
Resistor
If
the Position
Driver alone cannot absorb the regenerative energy
, connect a Regeneration Resistor
.
The Regeneration Resistor connects between the P and J terminals at the Position Driver’s terminal
block.
Caution Be careful when connecting the Regeneration Resistor. If done incorrectly it will
damage the Position Driver.
Caution The Regeneration Resistor heats up to 120°C, so be careful not to place it near
equipment
or wiring that may be af
fected by heat.
Also be sure to install a radiation
shield that satisfies the heat radiation conditions.
Selecting a Regeneration Resistor
jTypes of Regeneration Resistors
Type Model Resistance Nominal
capacity Regeneration
absorption at
120C
Heat radiation
conditions
A R88A-RR20030 30Ω200 W 100 W t3 × 350
(aluminum)
B R88A-RR40030 30Ω400 W 200 W t3 × 350
(aluminum)
jRegeneration Resistor Combinations
Regeneration absorption capacity
100 W 200 W 400 W 800 W
Combination
method A B A
A
A
AB
B
B
B
Note Select a combination with a capacity greater than the average regenerative power (Pr).
jDimensions (Unit: mm)
Model L1 L2 W H
R88A-RR20030 215 200 50 25
R88A-RR40030 265 250 60 30
Operation Chapter
3
RSPJNAB
88888m8
oo
3-79
Wiring the Regeneration Resistor
As
shown in the following diagram, connect the Regeneration Resistor
between the P and J terminals at
the Position Driver’s terminal block.
Position Driver terminal block
Regeneration
Resistor
2.0 mm2
Note With the FND-X50H-, connect a Regeneration Resistor between P and JP1. In this case,
remove the short bar between JP1 and JP2.
Operation Chapter
3
_ |||||||lliiiil
Chapter 4
Application
4-1 Monitor Mode
4-2 Check Mode
4-3 Monitor Output
4-4 Protection and Diagnosis
4-5 Troubleshooting
4-6 Periodic Maintenance
4
4-2
4-1 Monitor Mode
The
following ten items can
be monitored in Monitor Mode: motor speed, present value,
reference
value, position deviation, mechanical speed, motor current, ef
fective load fac
-
tor, electrothermal value, electrical angle, and regenerative absorption rate.
The
Monitor Mode is entered when the Position Driver
’
s power supply is turned ON.
The
various
items to be monitored can be displayed one at a time by pressing the Increment
Key and Decrement Key.
jOperation in Monitor Mode
Monitor
Mode
Motor speed
Present value
(leftmost digits)
Present value
(rightmost digits)
Check Mode
Other monitor items
Power ON
Application Chapter
4
movement
mechanicat axis based on feedback from the
movement
reierenced by the Position Driver.
the reference value with encoder/resolver
movement per second
the mechanical axis based on feedback Irom
4-3
jMonitor Details
Display Monitored item Unit Explanation
r Motor speed r/min Displays the actual rotation speed of the motor
shaft.
A’ Present value
(leftmost digits) Mechanical axis
movement Calculates and displays the present value of the
mechanical axis based on feedback from the
A Present value
(rightmost digits)
movement
mechanical
axis
based
on
feedback
from
the
motor sensor.
C’ Reference value
(leftmost digits) Mechanical axis
movement Displays the mechanical axis position
referenced by the Position Driver.
C Reference value
(rightmost digits)
movement
referenced
by
the
Position
Driver.
E’ Position deviation
(leftmost digits) Pulse Displays the deviation of the present value from
the reference value with encoder/resolver
E Position deviation
(rightmost digits)
the
reference
value
with
encoder/resolver
resolution.
P’ (Not used.) --- ---
P (Not used.)
F’ Mechanical speed
(leftmost digits) Mechanical axis
movement per second Calculates and displays the movement speed of
the mechanical axis based on feedback from
F Mechanical speed
(rightmost digits)
movement
er
second
the
mechanical
axis
based
on
feedback
from
the motor sensor.
cF (Not used.) --- ---
cc (Not used.) --- ---
LMotor current A0–P Displays the output current to the motor.
bL Effective load factor % Displays the effective load factor with respect to
the motor’s rated current value.
Effective load factor = (output current effective
value) / (motor’s rated current)
Effective values are calculated at the time
interval set for HP-33 (load factor time
constant).
oL Electrothermal value % Calculates the motor’s heat generation from the
output current and displays it as a percentage
of the heat generation in rated operation. (When
the power is turned ON, 90 [%] is displayed.) If
this value exceeds 110 [%], an A.L17 (motor
overload) alarm will be detected.
d Electrical angle deg Displays the motor’s electrical angle (0.0 to
360.0).
rL Regenerative
absorption rate % When a Regeneration Resistor is connected,
this monitor item displays the regenerative
absorption current as a percentage of the
motor’s rated current.
Note In
the motor speed, present value, position
deviation, mechanical speed, and motor current moni
-
toring
displays, the respective display will flash if the value is negative. (The numeric portion will
not flash.)
Application Chapter
4
ab 53
4-4
4-2 Check Mode
The following four items can be displayed in Check Mode: I/O signal status, alarm
details, alarm history, and software version
To
enter the Check Mode,
press the Mode Key while in Monitor Mode. Also, the Check
Mode’s alarm display is brought up automatically when an alarm is generated. The
Check
Mode’
s items can be displayed one at a
time by pressing the Increment Key and
Decrement Key.
jOperation in Check Mode
Monitor
Mode
Alarm generated
I/O signal
status
Alarm details
Alarm history
Software version
o.b display
H.P-L display
S.P-L display
Alarm history data
Most recent error
Second most recent
error
15th most recent
error
Check Mode
Application Chapter
4
III
'-
.D
.L-H
u0%30
ab 58
HP-L
SP-L
4-5
jCheck Mode Display Details
Display Contents Explanation
I/O signal status Displays the ON/OFF status of control I/O signals.
Alarm details Displays details regarding alarms that are generated.
(The example display at the left indicates that no alarm
has been generated. When an alarm occurs, the alarm
code is displayed here.)
This display is brought up automatically whenever an
alarm occurs during operation. The alarm can be
cleared by pressing the Data Key at that time. If multiple
errors occur simultaneously, however, it will be
necessary to press the Data Key for each error.
For details regarding alarms, refer to
4-4 Protection and
Diagnosis
.
Alarm history Displays the errors that have occurred in the past. (Up
to 15 errors are retained in memory.)
Software version Displays the software version.
o.b display (Not used.)
H.P-L display (Not used.)
S.P-L display (Not used.)
Application Chapter
4
® ® ® ® ®
1o@9 8&7 65.5 453 2&[1
201-119 Isl-In 151-115 141-113 121-111
(13) ® ® ® ®
4-6
4-2-1 I/O Signal Status
With
the I/O signal status display
, the ON/OFF status of control I/O signals is indicated by the turning ON
and OFF of 7-segment display LED bits.
jI/O Signal Bit Allocation
Indicates Check Mode.
The vertical LEDs show the ON/OFF status of
inputs (1 to 20) and the horizontal LEDs show the
ON (lit)/OFF (not lit) status of outputs ((1) to (15)).
jInput Signal Allocation
Bit No. Symbol Name DIO type CompoBus/S type
1 CCWL CCW limit input CN1-1 CN4-1
2 CWL CW limit input CN1-2 CN4-2
3 ORG Origin proximity CN1-3 CN4-3
4 RUN RUN command CN1-4 OUT0
5 START START CN1-5 OUT1
6 RESET Alarm reset CN1-6 OUT2
7 SEARCH Origin search CN1-7 OUT3
8 +JOG +JOG operation CN1-8 OUT4
9 –JOG –JOG operation CN1-9 OUT5
10 TEACH TEACH CN1-10 OUT6
11 P.IN0 Point selection 0/ Position 0 CN1-11 OUT8
12 P.IN1 Point selection 1/ Position 1 CN1-12 OUT9
13 P.IN2 Point selection 2/ Position 2 CN1-13 OUT10
14 P.IN3 Point selection 3/ Position 3 CN1-14 OUT11
15 P.IN4 Point selection 4/ Position 4 CN1-15 OUT12
16 P.IN5 Point selection 5/ Position 5 CN1-16 OUT13
17 P.IN6 Point selection 6/ Position 6 CN1-17 OUT14
18 P.IN7 Position 7 CN1-18 OUT15
19 --- (Not used.) --- ---
20 STOP Deceleration stop CN1-20 OUT7, CN4-4 (see
note)
Note When the deceleration stop signal for both OUT7 and CN4-4 is ON, bit No. 20 will be lit.
Application Chapter
4
4-7
jOutput Signal Allocation
Bit No. Symbol Name DIO type CompoBus/S type
(1) BO Brake output CN1-21 IN0, CN4-8
(2) READY Ready CN1-22 IN1
(3) S.COM Origin search completed CN1-23 IN2
(4) ORGSTP Origin stop CN1-24 IN3
(5) T.COM Teaching completed CN1-25 IN4
(6) RUNON Motor running CN1-26 IN5
(7) INP Positioning completed CN1-27 IN6
(8) ALM Alarm CN1-28 IN7
(9) P.OUT0 Point output 0/ Position
selection 1 CN1-29 IN8
(10) P.OUT1 Point output 1/ Position
selection 2 CN1-30 IN9
(11) P.OUT2 Point output 2/ Position
selection 3 CN1-31 IN10
(12) P.OUT3 Point output 3/ Position
selection 4 CN1-32 IN11
(13) P.OUT4 Point output 4/ Speed
selection CN1-33 IN12
(14) P.OUT5 Point output 5 CN1-32 IN13
(15) P.OUT6 Point output 6 CN1-35 IN14
Application Chapter
4
3309 2
470(JpF
GND
4-8
4-3 Monitor Output
The
Position Driver outputs (analog) a voltage proportional to the motor
’
s rotation speed
and
current. The monitor voltage is output from the monitor output terminal on the front
panel
of the Position Driver
. This analog output can be used to install a meter
in the con
-
trol panel or to provide more precise gain adjustments.
jMonitor Output Terminal on Driver’s Front Panel
Monitor
output
terminal
2 (Speed monitor / Current monitor)
1 (GND)
jMonitor Output Circuitry
Speed monitor / Current monitor
jMonitor Output Specifications
Speed monitor With 0 V as center, voltage output at rate of 3 V/(motor’s rated speed).
Forward rotation: (+) voltage; reverse rotation: (–) voltage output
Output accuracy: approx. ±10%
Current monitor With 0 V as center, voltage output at rate of 3 V/(motor’s maximum current).
Forward acceleration: (+) voltage; reverse acceleration: (–) voltage
Output accuracy: approx. ±10%
Application Chapter
4
4-9
jUser Parameter Setting
No.
UP- Name Min.
unit Setting
range Factory
setting Explanation
25 Monitor output
selection --- 000 to
011 010 Specifies the output terminal function.
0
Voltage polarity
0: Not reversed
1: Reversed
Speed/Current selection
0: Current
1: Speed
Application Chapter
4
sis
enO
4-10
4-4 Protection and Diagnosis
4-4-1 Alarms
The
Position Driver has the error detection functions shown below
. When an error is detected the output
signal ALM (CN1-28) turns OFF and the alarm is displayed.
The
following table
shows the alarm codes that are displayed on the Position Driver
’
s front panel, and it
provides explanations of each of their meanings.
Display Error detection
function Meaning of code and probable cause Motor current
A.L01 Overcurrent Overcurrent or overheating detected. Servo OFF
A.L02 Overvoltage Main circuit’s DC voltage exceeded
410 VDC. Servo OFF
A.L03 Voltage drop Main circuit’s DC voltage fell below
200 VDC. Servo OFF
A.L06 Resolver
disconnection The resolver is disconnected. Servo OFF
A.L07 Power status error The main circuit connections are different
from the settings. Servo OFF
A.L09 Regeneration
Resistor overheat The internal Regeneration Resistor has
overheated (only for FND-X50). Servo OFF
A.L10 Regeneration
operation error The regeneration transistor has been ON for
more than 50 ms (only for FND-X50). Servo OFF
A.L12 Clock stopped The Position Driver’s clock is stopped. Servo OFF
A.L15 Overcurrent (soft) The current exceeded the motor’s rated
current (120%). Servo OFF
A.L16 Speed amp
saturation The speed amp was saturated for more than
3 seconds. Servo OFF
A.L17 Motor overload The electrothermal value exceeded 110%. Servo OFF
A.L18 Short time
overload The current exceeded the motor’s rated
current (120%) for a sustained period of
time.
Servo OFF
A.L19 Resolver error There was an error in the resolver feedback. Servo OFF
A.L20 Speed over The motor speed exceeded 120% of the
maximum speed. Servo OFF
A.L21 Deviation counter
over The deviation counter’s accumulated pulses
exceeded ±221.Servo OFF
A.L26 Parameter setting
error The user parameter settings (UP-01, UP-02)
are not appropriate. Servo OFF
A.L32 Resolver error The resolver feedback was in error. Servo OFF
A.L34 + Software limit
over The reference value exceeded the software
limit in the positive direction (PP-10, PP-11). Servo-lock
A.L35 – Software limit
over The reference value exceeded the software
limit in the negative direction (PP-12,
PP-13).
Servo-lock
A.L37 Coordinate counter
over The present value exceeded ±231.
Teaching or origin teaching was executed
with the parameter setting exceeded.
Servo-lock
Application Chapter
4
4-11
Display Motor currentMeaning of code and probable causeError detection
function
A.L38 Overrun The limit input signal in the direction of
movement turned OFF. Servo OFF
A.L40 Encoder
disconnection An encoder disconnection or short-circuit
was detected. Servo OFF
A.L41 Encoder
communications
error
There was an error in the encoder’s
S-phase data (or A-phase when an absolute
encoder is connected).
Servo OFF
A.L42 Absolute encoder
backup error The absolute encoder’s backup voltage
dropped. Servo OFF
A.L43 Absolute encoder
checksum error There was an error in the absolute
encoder’s memory data check. Servo OFF
A.L44 Absolute encoder
battery error The absolute encoder’s backup battery
voltage dropped. Servo OFF
A.L45 Absolute encoder
absolute value
error
There was an error in the absolute
encoder’s sensor check. Servo OFF
A.L46 Absolute encoder
over speed The speed exceeded 400 r/min when
multiple rotation data was transmitted. Servo OFF
A.L47 Encoder data not
transmitted The encoder’s S-phase data was not
transmitted within the prescribed time. Servo OFF
A.L48 Encoder
initialization error The encoders reception circuitry
malfunctioned. Servo OFF
A.L50 BCD data error The input data for P.IN0 to 7 is not BCD. Servo-lock
A.L51 Present position
unknown START, TEACH, or ORIGIN TEACH was
executed when the origin was not
established.
Servo-lock
A.L52 PTP data not set A point number was selected for which the
PTP data was not set. Servo-lock
Application Chapter
4
rw
4-12
4-4-2 Countermeasures to Alarms
Alarm dis-
play Error content Condition when
error occurred Probable cause Countermeasures
A.L01 Overcurrent Occurred when
power was turned
ON.
Control board defective. Replace Driver.
Occurred when
Sd
Current feedback circuit error Replace Driver.
Servo was turned
ON. Main circuit transistor module
error
Servomotor power line is
short-circuited or grounded. •Correct the power line short-
circuiting or grounding.
•Measure the insulation
resistance at the Servomo-
tor itself. If there is short-cir-
cuiting, replace the Servo-
motor.
Overheating Occurred during
operation even
though power was
ON
The ambient temperature for
the Driver is higher than 55°C. Bring the ambient tempera-
ture for the Driver down to
55°C or lower.
ON.
If reset is executed
after waiting for a
time, operation
resumes.
The load torque is too high. •
Lighten the load.
•Lengthen the acceleration
time.
•Select another Servomotor.
A.L02 Overvoltage Occurred when
power was turned
ON.
The power supply voltage is
outside of the allowable
range.
•The supply voltage must be
170 to 264 VAC when
200 VAC is specified
•The supply voltage must be
85 to 127 VAC when
100 VAC is specified.
Occurred during
motor deceleration. The load inertia is too large. •Lengthen the deceleration
time.
•Calculate the regeneration
and select a Regeneration
Resistor.
The power supply voltage is
outside of the allowable
range.
•The supply voltage must be
170 to 264 VAC when
200 VAC is specified
•The supply voltage must be
85 to 127 VAC when
100 VAC is specified.
The external Regeneration
Resistor is damaged. Calculate the amount of
regeneration and replace the
Regeneration Resistor with
one of the appropriate capac-
ity.
Occurred while
lowering (vertical
shaft).
Gravity torque is too large. •Add a counterbalance to the
machine, and reduce the
gravity torque.
•Reduce the lowering speed.
•Connect an external Regen-
eration Resistor.
Application Chapter
4
mntnr‘< ratnd="" mnro="" than="" 3="">4-13
Alarm dis-
play CountermeasuresProbable causeCondition when
error occurred
Error content
A.L03 V
oltage drop
Occurred during
operation. The power supply voltage fell
below the prescribed value. •For 200-VAC input specifi-
cations, use a 170 to
264-VAC power supply.
•For 100-VAC input specifi-
cations, use an 85 to
127-VAC power supply.
Occurred during
motor acceleration The power supply capacity is
insufficient. Increase the power supply
capacity.
A.L06 Resolver discon-
nection Occurred when
power was turned
ON
The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
ON. The resolver’s wiring is dis-
connected or faulty. •Connect any places that are
disconnected.
•Correct the wiring.
Occurred after
slight movement at
the beginning.
There is poor contact at the
connectors. Make sure the connectors are
inserted firmly and locked into
place.
A.L07 Power status
error --- An error occurred in the main
circuit. Replace the Driver.
A.L09 Regeneration
Resistor over-
heat
Occurred during
operation. The regenerative absorption
exceeded the internal absorp-
tion.
Connect an external Regen-
eration Resistor.
The power supply voltage is
outside the allowable range. Use a 170 to 264-VAC power
supply.
A.L10 Regeneration
operation error Occurred during
operation. The Regeneration Resistor is
damaged. •Replace the external
Regeneration Resistor.
•If an external Regeneration
Resistor is not being used,
replace the Driver.
An external Regeneration
Resistor is not being used and
the short bar has been
removed from between JP1
and JP2 on the terminal block.
Mount a short bar between
JP1 and JP2.
The regeneration circuit is
damaged. Replace the Driver.
A.L12 Clock stop --- The Position Driver’s internal
clock has stopped. Replace the Driver.
A.L15 Overcurrent
(soft)
[Th t
Occurred during
operation. The mechanical system is
locked. Correct the places that are
locked.
()
[The current
exceeded the
motor
’
s rated
The power lines are wired
incorrectly. Correct the wiring.
mo
t
or
’
s ra
t
e
d
current (120%).] The power lines are shorted-
circuited or grounded. Correct the short-circuiting or
grounding.
The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
A.L16 Speed amp satu-
ration
[Th d
Occurred during
operation. The mechanical system is
locked. Correct the places that are
locked.
[The speed amp
was saturated for
more than 3
The power lines are wired
incorrectly. Correct the wiring.
more
th
an
3
seconds.] The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
Application Chapter
4
mntnr‘: ratnd
9.]
mmuum a...“
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maximx ‘m
[ ‘9"
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Mn : .JOG npm:
n9
4-14
Alarm dis-
play CountermeasuresProbable causeCondition when
error occurred
Error content
A.L17 Motor overload
[The electrother-
ll
Occurred during
operation. The mechanical system is
locked. Correct the places that are
locked.
[
mal value
exceeded 110%.] The power lines are wired
incorrectly. Correct the wiring.
The load is too large. •
Lighten the load.
•Lengthen the deceleration
time.
The gain adjustment is incor-
rect. Re-adjust the gain.
A.L18 Short time over-
load
[Th t
Occurred during
operation. The mechanical system is
locked. Correct the places that are
locked.
[The current
exceeded the
motor
’
s rated
The power lines are wired
incorrectly. Correct the wiring.
mo
t
or
’
s ra
t
e
d
current (120%)
for a sustained
period of time.]
The load is too large. •
Lighten the load.
•Lengthen the deceleration
time.
]
The gain adjustment is incor-
rect. Re-adjust the gain.
A.L19 Resolver error
[There was an
error in the
resolver feed
Occurred during
operation. The resolver cable is discon-
nected. •Connect any disconnected
places.
•Correct any faulty contacts.
resolver feed-
back.] Malfunctioning was caused by
noise. Wire the resolver cables sep-
arately from the power lines.
A.L20 Speed over
[The motor
ddd
The motor oper-
ated at high speed
tt
There was a resolver feed-
back error. Wire the resolver cables sep-
arately from the power lines.
[
speed exceeded
120% of the
maximum
g
upon startup. The encoder is wired incor-
rectly. Correct the wiring.
max
i
mum
speed.] Occurred during
operation. The gain adjustment is incor-
rect. Re-adjust the gain.
A.L21 Deviation counter
over
[The error count-
’ ltd
Motor did not oper-
ate even though
the START signal
tdON
The motor power lines or the
encoder lines are wired incor-
rectly.
Correct the wiring.
[
er’s accumulated
pulses exceeded
±2
21
]
g
was turned ON. The mechanical system is
locked. Correct the places that are
locked.
±221
.
]
Occurred at high-
speed rotation. The motor power lines or the
encoder lines are wired incor-
rectly.
Correct the wiring.
Occurred when
positioning with a
ltf
The gain adjustment is incor-
rect. Re-adjust the gain.
g
large amount of
movement or dur-
ing a JOG o
p
era
-
Acceleration was too sudden. Lengthen the acceleration
time.
i
ng a
JOG
opera-
tion. The load is too large. •
Lighten the load.
•Select another motor.
Occurred when
operating at the
itti
The reference speed is too
high. Correct the speed settings.
g
maximum rotation
speed. The slip compensation is too
large. Correct the slip compensa-
tion.
A.L26 Parameter set-
ting error Occurred when
power was turned
ON.
No data is set for UP-01 and
UP-02, or else the setting is
incorrect.
Correctly set the data for
UP-01 and UP-02. (After set-
ting the data, turn the power
off and back ON.)
Application Chapter
4
[T
mmmmom ".de
than ongm
.‘ ”.91
4-15
Alarm dis-
play CountermeasuresProbable causeCondition when
error occurred
Error content
A.L32 Resolver error Occurred when
power was turned
ON
The resolver cable is discon-
nected. Connect any disconnected
places.
ON. The resolver cable wiring is
incorrect. Correct the wiring.
The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
A.L34 + Software limit
over Occurred during
operation. The reference value set in
PP-10 and PP-11 was
exceeded.
•Reset the alarm and use
JOG or manual operation to
release from the software
limit.
•Correct the reference value.
•Correct the PP-10 and
PP-11 values.
A.L35 – Software limit
over Occurred during
operation. The reference value set in
PP-12 and PP-13 was
exceeded.
•Reset the alarm and use
JOG or manual operation to
release from the software
limit.
•Correct the reference value.
•Correct the PP-12 and
PP-13 values.
A.L37 Coordinate
counter over
[Th t
Occurred during
shaft movement. The reference value is too
large. Correct the reference value.
[The present
value exceeded
±231.]
Feedback control is being
employed in PTC control
mode.
Correctly set the control mode
(UP-01). (After setting the
data, turn the power OFF and
back ON.)
A.L38 Overrun
[
The limit input
Occurred during
shaft movement. The reference value is too
large. Correct the reference value.
[
signal in the
direction of
movement turned
The limit sensor’s position is
incorrect. Correct the limit sensor’s
position.
movement turne
d
OFF during an
operation other
than ori
g
in
Occurred when
beginning. The limit sensor’s polarity is
incorrect. Wire the sensor so that it
turns ON during normal
operation.
than
origin
search.] The limit sensor is broken. Replace the limit sensor.
A.L40 Encoder discon-
nection Occurred after
moving just a little
tthbii
The encoder’s lines are dis-
connected. Connect any disconnected
places.
gj
at the beginning.
There is poor contact at the
connectors. Make sure the connectors are
inserted firmly and locked into
place.
The encoder’s wiring is incor-
rect. Correct the wiring.
The encoder is damaged. Replace the motor.
The Driver is damaged. Replace the Driver.
Occurred when
power was turned
ON
The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
ON. The encoder cable is loose. Make sure the connectors are
inserted firmly and locked into
place.
A.L41 Encoder commu-
nications error
(t1)
Occurred when
power was turned
ON
The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
(see note 1) ON. The encoder S-phase wiring
is incorrect. Correct the wiring.
Application Chapter
4
4-16
Alarm dis-
play CountermeasuresProbable causeCondition when
error occurred
Error content
A.L42 Absolute encoder
backup error Occurred when
power was turned
ON.
The absolute encoder’s
backup voltage dropped (even
if the encoder was being used
for the first time).
Perform the absolute encoder
setup.
A.L43 Absolute encoder
checksum error Occurred when
power was turned
ON.
There was an error in the
absolute encoder’s memory
data check.
Perform the absolute encoder
setup.
A.L44 Absolute encoder
battery error Occurred when
power was turned
ON.
The absolute encoder’s
backup battery voltage
dropped (to 2.6 to 2.8 V
max.).
Replace the battery and then
perform the absolute encoder
setup.
A.L45 Absolute encoder
absolute value
error
Occurred when
power was turned
ON.
There was an error in the
absolute encoder’s sensor
check. (Internal encoder
error)
•Turn the power OFF and
then back ON.
•If the error persists, then
replace the motor.
A.L46 Absolute encoder
over speed Occurred when
power was turned
ON.
The speed exceeded
400 r/min when the power
was turned ON.
Turn ON the power while the
motor is stopped
A.L47 Encoder data not
transmitted Occurred when
power was turned
ON
The UP-02 (applicable motor)
setting is wrong. Set the motor model code cor-
rectly.
ON. The encoder S-phase wiring
is disconnected. Connect any disconnected
places.
A.L48 Encoder initial-
ization error Occurred when
power was turned
ON.
The Driver malfunctioned. •Turn the power OFF and
then back ON.
•If the error persists, then
replace the motor.
A.L50 BCD data error Occurred when
power was turned
ON
The data input for direct posi-
tioning was not BCD. Re-input the data and make
sure it is correct.
ON.
The point number input for
point positioning was not
BCD.
A.L51 Present position
unknown Occurred at startup
or when teaching. START, TEACH, or ORIGIN
TEACH was executed when
the origin was not established.
Execute an origin search to
establish the origin.
A.L52 PTP data not set Occurred when
power was turned
ON.
A point number was selected
for which the PTP data was
not set.
•Set the correct PTP data.
•Select a point number for
which PTP data has been
set.
Note 1. If
the motor has been incorrectly connected, or if the applicable motor (UP-02) has been incor
-
rectly set, the motor may perform some revolutions before an A.L41
error
is generated. Check
the
settings for the connected motor and the applicable motor before recommencing opera
-
tion.
Note 2. For details on replaceable batteries, refer to
2-2-7 Battery Wiring and Encoder Setup for
Absolute Encoder.
Application Chapter
4
4-17
4-4-3 CompoBus/S-type Position Driver Protective and
Diagnostic Functions
With
the CompoBus/S Master Unit (C200HW
-SRM21 is used here as an example) and
the CompoBus/S-type Position Driver (FND-X
-SR
T), the communications status can
be checked using the LED indicators.
jFND-X-SRT
DDiagnosis Using LED Indicator Status
Indicator status Probable cause of error Countermeasure
PWR COMM ERR
Not lit Not lit Not lit The Position Driver’s power is not
turned on. Turn on the power for the Position
Driver.
Lit Not lit Not lit The Slave’s node address is set in
the 8 to 15 range when the maxi-
mum number of Slaves connectible
to the Master is 16.
Set the node address from 0 to 7,
or set the maximum number of con-
nectible Slaves to 32.
Lit Not lit Lit A communications error occurred
during communications. Establish the cause of the error by
checking the LED indicator on the
Master and take appropriate coun-
termeasures.
The Master is a CQM1, and the
number of occupied points per
node is set to 4.
Change the setting to 8-point mode.
Lit Not lit --- The Master’s power is not turned
on. Turn on the power for the Master.
jCompoBus/S Master Unit (Example: C200HW-SRM21)
DDiagnosis Using LED Indicator Status
Indicator Status Meaning
RUN (green) Lit The Position Driver is operating normally.
(g )
Not lit Indicates one of the following conditions:
The power is OFF, there is an I/O setting error, the CPU Unit is in standby
status, or there is a unit number setting error.
SD (yellow) Lit Data is being transmitted.
(y )
Not lit Data is not being transmitted.
RD (yellow) Lit Data is being received.
(y )
Not lit Data is not being received.
ERC (red) Lit A Slave has been withdrawn from communications.
(Communications error)
Not lit The Slaves are communicating normally.
IN/OUT (red) Lit An error has occurred with an Output Slave.
()
Not lit An error has occurred with an Input Slave or all Slaves are operating nor-
mally.
8 4 2 1
(red) Lit/Not lit These indicators represent the four-digit binary slave number of the Slave
in which the error occurred.
Application Chapter
4
LET
1.0T
0.5T
100 1 0 200 2 0 300
4-18
4-4-4 Overload Characteristics
An
overload protection function (electrothermal) is built into the Position Driver to protect against Posi
-
tion Driver or Servomotor overload. If a motor overload (A.L17) or temporary overload (A.L18) does
occur,
first clear the cause of the error and then wait at least one minute for the Servomotor temperature
to
drop before turning ON the power again. If the power is turned ON again
too soon, the Servomotor coil
may be damaged.
jMotor Overload (A.L17) Detection
DDetection Method
•A
motor
overload is detected by first calculating the motor
’
s heat generation (the electrothermal value)
from the current flowing to the motor.
•If 110% of the electrothermal value is exceeded, a motor overload will be detected.
•The electrothermal value is displayed by the Monitor Mode’s electrothermal value display (oL).
DDetection Time
When a uniform load is added beginning with an electrothermal value of 0, the time until the Driver
detects a motor overload is as shown in the following diagram. (Reference value)
Note The
initial value for the electrothermal value when the Driver is powered up is
set at 90%. This is
because of the need to rapidly detect an overload in order to
prevent motor burnout. Therefore a
thermal
value of about 90%
will be displayed even when there is no overload to the motor when
the
power is turned ON. As long as there is no overload, however
,
the electrothermal value will be
gradually decreased, so there is no problem for operation.
Detection time (min)
Load ratio (%)
Note 1. The load ratio is calculated in relation to the motor’s rated current.
Load ratio (%) = Motor current
Motor rated current × 100
Note 2. The value for “T” is determined individually for each Servomotor model, and indicates the
motor’s burn time constant.
Application Chapter
4
4-19
•U-series (30 to 750 W) Servomotors
Motor model Wattage T (min)
R88M-U0303030 W 4
R88M-U0503050 W 4
R88M-U10030100 W 8
R88M-U20030200 W 8
R88M-U40030400 W 10
R88M-U75030750 W 18
•U-UE-series Servomotors
Motor model Wattage T (min)
R88M-UE10030100 W 8
R88M-UE20030200 W 8
R88M-UE40030400 W 10
R88M-UE75030750 W 18
•U-series (1 to 2 kW) Servomotors
Motor model Wattage T (min)
R88M-U1K0301 kW 30
R88M-U1K5301.5 kW 39
R88M-U2K0302 kW 45
•H-series Servomotors
Motor model Wattage T (min)
R88M-H05030 50 W 6
R88M-H10030 100 W 7
R88M-H20030 200 W 12
R88M-H30030 300 W 15
R88M-H50030 500 W 18
R88M-H75030 750 W 20
R88M-H1K130 1,100 W 22
•M-series Servomotors (1,200 r/min)
Motor model Wattage T (min)
R88M-M20012 200 W 19
R88M-M40012 400 W 24
R88M-M70012 700 W 41
R88M-M1K112 1,100 W 37
R88M-M1K412 1,400 W 58
R88M-M1K812 1,800 W 64
Application Chapter
4
1000
300
100
30
10
100
150
200
250
300
4-20
•M-series Servomotors (2,000 r/min)
Motor model Wattage T (min)
R88M-M20020 200 W 14
R88M-M40020 400 W 15
R88M-M70020 700 W 31
R88M-M1K120 1,100 W 38
R88M-M1K820 1,800 W 53
R88M-M2K220 2,200 W 54
•M-series Servomotors (4,000 r/min)
Motor model Wattage T (min)
R88M-M06040 60 W 7
R88M-M12040 120 W 11
R88M-M20040 200 W 7
R88M-M40040 400 W 17
R88M-M70040 700 W 34
R88M-M1K140 1,100 W 21
R88M-M1K040 2,000 W 36
jShort Time Overload (A.L18) Detection
DDetection Method
A temporary overload is detected when the motor’s current continually exceeds 120% of the motor’s
rated current for at least a fixed period of time.
DDetection Time
The
detection time is as shown in the following diagram. It is the same
for all Servomotor models. (Ref
-
erence value)
Detection time (s)
Load ratio (%)
Application Chapter
4
4-21
4-4-5 Alarm Output
This
chapter
describes the timing of alarm outputs when power is turned ON and when alarms occur
.
The method used to clear alarms is also described.
jTiming Chart
2 ms min.
2 ms max.
Approx. 40 ms
Approx. 2 s
Approx. 110 ms
Power input
(R, S)
RUN
command
(RUN)
Error
occurrence
Alarm reset
(RESET)
Alarm output
(ALM)
Power to
motor
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Error
jAlarm Output Circuitry (DIO Type)
Alarm
output
28
19 OGND
Output specifications: 24 VDC, 40 mA max.
Normal: Output transistor ON
Error (alarm): Output transistor OFF
jClearing Alarms
•Any of the following methods can be used to clear alarms:
Turn ON the alarm reset signal (RESET).
Turn the power supply OFF and then back ON.
Press the Data Key while the alarm is displayed.
Power status alarms (A.L07), however, cannot be cleared by turning the power OFF and then
back
ON.
•Operation will start as soon as the alarm is cleared if the alarm is cleared while the RUN command
(RUN)
is ON, possibly creating a dangerous situation. T
urn OFF the RUN command before clearing
alarms.
Application Chapter
4
4-22
4-5 Troubleshooting
4-5-1 Preliminary Inspection
This section describes the preliminary inspections and monitoring devices that are
required to locate and clear the cause of an error.
jPower Supply Voltage Check
•Check that the voltage at the AC power supply terminals is within the following range:
100-VAC-input type 85 to 127 VAC
200-VAC-input type 170 to 264 VAC
If the voltage is outside this range, faulty operation may occur. Provide the correct power supply.
•Check that the power supply voltages for external device interfaces are within the following range:
23 to 25 VDC
If the voltage is outside this range, faulty operation may occur. Provide the correct power supply.
jMonitoring Device Selection
DAlarm Check
If an alarm has been generated, check the alarm code and take countermeasures in accordance
with the meaning of that code.
If an alarm has not been generated, take countermeasures in accordance with the nature of the
error. (Refer to
4-5-4 Troubleshooting
.)
DMonitoring Device Type
The following types of monitoring device are available.
Position Driver Display Panel
Investigate
the error using the 7-segment LED display panel on the front side of the Position Driver
along with the operating keys. (When an alarm has been generated, it will automatically be dis-
played.) The investigation procedure for this device type is explained in this manual.
Teaching Box
Use
the following three items together
. (When an alarm has been generated, it will automatically be
displayed.)
CVM1-PRO01 Programming Console without ROM.
CVM1-MP702 Memory Cassette compatible with FND-X and MC/NC Units, or
CVM1-MP703 FND-X-dedicated Memory Cassette.
CV500-CN2A Connecting Cable to connect the Position Driver and the Teaching Box.
(The
in the model name
represents the length of the cable. Any of the lengths 2, 4, or 6 m can be
used.)
Application Chapter
4
4-23
For
details on the operating procedures for this device type, refer to the
T
eaching Box (For Position
Drivers) Operating Manual (W354)
.
4-5-2 Precautions
When
performing checks of the inputs and outputs following error generation, there is a
possibility
that the Position Driver will operate unexpectedly or suddenly stop. Be sure
to
take the following precautions. Do not perform any operations or procedures not
described in this manual.
jPrecautions
•When
checking for
breaks in cables be sure to disconnect the wiring first. With the wiring is connected,
there is still a possibility of continuity caused by a return circuit, even if a continuity check
is
performed.
•If
the encoder signal goes out, the Motor will run out of control, and an error will be generated. When
investigating the encoder signal, remove the Motor from the mechanical system first.
•When
measuring output from the encoder
,
take the measurement at E0V (0-V encoder power supply)
as
a basis. By
measuring the dif
ferential between CH1 and CH2 with an oscilloscope, the ef
fects of
noise can be offset.
•Before performing checks, ensure that nobody is inside the mechanical equipment, and that if the
Motor
runs out of control, no damage will be caused.
Also, in preparation for the unlikely event of the
Motor running out of control, before performing checks for errors, first check that an emergency stop
can be performed for the machinery.
4-5-3 Replacing the Position Driver and the Motor
Use the following procedure to replace the Position Driver or Motor.
jReplacing the FND-X Position Driver
1. Make a copy of the Position Driver parameters.
Using
the Position Driver operation keys, display all of the parameters and create a written record
of them. (Refer to
7-2 Parameter Settings Tables
.)
2. Replace the Position Driver.
With
the CompoBus/S-type, set the communications unit
number switch to the original FND-X set
-
ting.
3. Set the Position Driver parameters.
With Personal Computer Monitoring Software:
Using
the Personal Computer Monitoring Software, transfer all the parameters saved at the per
-
sonal computer to the Position Driver.
Without Personal Computer Monitoring Software:
Using
the Position Driver operation keys, recreate all the parameter settings recorded in step 1.
4. Perform origin teaching.
If
there is no origin compensation because,
for example, the backup copy of the parameters was
made at the design stage, it will be necessary to perform origin teaching.
Use the following procedure to perform origin teaching.
Application Chapter
4
4-24
Procedure for Origin Teaching
a) After replacement, perform origin search with the new Position Driver.
b) Move
to the original position of the origin by
moving the mechanical system by hand in a servo-
free state, or by moving the mechanical system using JOG operations.
c) Turn OFF the Position Driver run command (RUN), and after turning the origin search input
(SEARCH) ON, turn ON the teaching input (TEACH).
d) Check that the teaching completed output (T.COM) turns ON. An origin compensation that
makes
the present position of the system into the position of the origin, will be
registered in the
Position Driver.
jReplacing the Motor
1. Replace the Motor.
2. Perform origin teaching.
When
the Motor is replaced, the Motor
’
s own origin position (Z phase) will shift, making it neces
-
sary to perform origin teaching.
Procedure for Origin Teaching
a) After replacement, perform origin search.
b) Move
to the original position of the origin by
moving the mechanical system by hand in a servo-
free state, or by moving the mechanical system using JOG operations.
c) Turn OFF the Position Driver run command (RUN), and after turning the origin search input
(SEARCH) ON, turn ON the teaching input (TEACH).
d) Check that the teaching completed output (T.COM) turns ON. An origin compensation that
makes
the present position of the system into the position of the origin, will be
registered in the
Position Driver.
Application Chapter
4
[ha nwnr a ‘p.
4-25
4-5-4 Troubleshooting
When an error occurs, check the error contents by means of the operating status and
alarm display, investigate the cause and apply the appropriate countermeasures.
jError Diagnosis by Means of Operating Status (DIO, CompoBus/S)
Symptom Probable cause Items to check Countermeasures
The LED indi-
cator does not
light even when
the
p
ower su
p
-
Power supply lines are improp-
erly connected. Check the power supply volt-
age. Correct the power supply.
th
e power sup-
ply is turned
ON.
Check the power supply lines. Correct the wiring.
Application Chapter
4
”9
"9
4-26
Symptom CountermeasuresItems to checkProbable cause
The motor does
not operate
even when the
START
The RUN signal is OFF. Use the Check Mode to check
the RUN signal’s ON/OFF sta-
tus.
•Input the RUN signal.
•Correct the wiring.
START com-
mand is input. The correspondence between
the Driver and the Servomotor is
incorrect.
Check the models. Combine models that corre-
spond correctly.
The CWL/CCWL inputs are
OFF. Use the Check Mode to check
the inputs. Correct the wiring.
The software limit is being
detected. Use the Monitor Mode to check
the present value. Correctly set the software limits.
Check the software limits
(PP-10, 1
1, 12, 13).
Deceleration stop is OFF. Use the Check Mode to check
the input.
DIO type:
•Correct the wiring.
CompoBus/S type:
•Turn both the external control
input (CN4-4) and the Compo-
Bus/S input (OUT7) ON.
•Correct the wiring.
The point number input is 0. Use the Check Mode to check
the input.
Correctly set the point number
input.
One of the following signals is
being input: origin search,
teaching, JOG, or alarm reset.
Use the Check Mode to check
the inputs. Correct the wiring.
During direct positioning, the
position data is set for “I (incre-
mental) 0.”
Check the position data setting. Correctly set the position data.
The position data (Pd) to be
executed does not match the
present value.
Check the position data
(Pd). Correctly set the position data
(Pd).
The motor’s power lines are dis-
connected. Check the power lines. Correct the wiring.
The control mode is incorrect. Check the control mode
(UP-01). Correctly set the control mode.
The START signal is not being
input. Use the Check Mode to check
the input.
Correct the wiring.
During direct positioning, the
positioning data is not being
lid
Check the wiring for the position
and speed data selections. Correct the wiring.
gg
properly received. Check the setting of the signal
output time (PP-26). Check the signal reception tim-
ing and correctly set the pulse
width.
Reference speed (PP-14, 15) is
“0.” Check the reference speed
(PP-14, 15) setting. Correctly set the reference
speed (PP-14, 15).
The rotation
direction is The motor rotation direction
(UP-26) setting is incorrect. Check the motor rotation direc-
tion (UP-26) setting. Correctly set the motor rotation
direction (UP-26)
wrong. The position data (Pd) set-
ting is incorrect. Check the position data
(Pd) setting. Correctly set the position data
(Pd).
During direct positioning, the
position data’s polarity input is
incorrect.
Check the position data setting. Correctly set the position data.
The encoder/resolver wiring is
incorrect. Check the encoder/resolver wir-
ing. Correct the wiring.
Application Chapter
4
”9
”9
mg
4-27
Symptom CountermeasuresItems to checkProbable cause
The position is
slipping. The point number input is incor-
rect. Use the Check Mode to check
the point number input.
Correctly set the point number
input.
g
The position data (Pd) set-
ting is incorrect. Check the position data
(Pd) setting. Correctly set the position data
(Pd).
The minimum setting unit
(PP-01) or pulse rate (PP-02,
03) setting is incorrect.
Check the minimum setting unit
(PP-01) and pulse rate (PP-02,
03) settings.
Correctly set the minimum set-
ting unit and pulse rate settings.
The compensation (PP-08, 09)
setting is incorrect. Check the compensation
(PP-08, 09) setting. Correctly set the compensation
(PP-08, 09).
Dedicated lines are not being
used for the encoder/resolver. Check the encoder/resolver
lines. Replace the encoder/resolver
lines with dedicated lines.
The operation mode for the
point number being executed is
incorrect.
Check the operation mode
(Pdr) setting. Correctly set the operation
mode (Pdr).
The coupling connecting the
motor shaft to the mechanical
system is loose.
Check the mechanical system. Check and adjust the machin-
ery.
The belt is loose.
During an origin search, the
motor sensor’s Z-phase position
and the origin proximity OFF
position are too close.
Repeat the origin search and
check whether the search com-
pletion position is different.
Disconnect the motor from the
mechanical system and shift the
Z-phase position by the amount
shown below. Then reinstall the
motor.
U Series: 1/2 revolution
H Series: 1/2 revolution
M Series: 1/4 revolution
The motor
stops during
ti
The deceleration stop (STOP)
input turned OFF. Use the Check Mode to check
the input.
Correct the wiring.
g
operation. The alarm reset (RESET) input
turned ON. Use the Check Mode to check
the input.
Correct the wiring.
The CWL/CCWL input turned
OFF (when the alarm selection
(PP-25) is 0).
Use the Check Mode to check
the input.
•Correctly set the position data.
•Correct the wiring.
The software limit is being
detected (when the alarm selec-
ti (PP 25) i 0)
Use the Monitor Mode to check
the present position. Correctly set the position data.
(
tion (PP-25) is 0). Check the software limits
(PP-10, 1
1, 12, 13).
Correctly set the software limits.
The motor
operates
til
The applicable motor (UP-02)
setting is incorrect. Check the applicable motor
(UP-02) setting. Correctly set the applicable
motor (UP-02).
momentarily,
but then it stops
operating.
The motor’s power lines and the
encoder/resolver lines are wired
incorrectly.
Check the wiring of the motor’s
power lines and the encoder/re-
solver lines.
Correct the wiring.
Motor operation
is unstable. The motor’s power lines and the
encoder/resolver lines are wired
incorrectly.
Check the wiring of the motor’s
power lines and the encoder/re-
solver lines.
Correct the wiring.
The coupling connecting the
motor shaft to the mechanical
system is eccentric, and screws
may be loose.
Check the mechanical system.
Rotate the motor with no load
(disconnected from the mechan-
ical system).
Check and adjust the machin-
ery.
Gain is wrong. --- •Use auto-tuning.
•Adjust the gain manually.
Application Chapter
4
4-28
Symptom CountermeasuresItems to checkProbable cause
Motor is over-
heating. The ambient temperature is too
high. Check to be sure that the ambi-
ent temperature around the
motor is no higher than 40°C.
Lower the ambient temperature
to 40
°C or lower. (Use a cooler
or fan.)
The ventilation is obstructed. Check to see whether anything
is blocking ventilation. Ensure adequate ventilation.
There is an overload. Use the Monitor Mode to check
the electrothermal value. •
Lighten the load.
•Change to a larger capacity
motor.
There are
unusual noises. The machinery is vibrating. Inspect the machinery to see
whether there are any foreign
objects in the movable parts, or
whether there is any damage,
deformation, or looseness.
Fix any problems causing vibra-
tion.
The speed loop gain adjustment
is insufficient. --- •Use auto-tuning.
•Adjust the gain manually.
The parameters
cannot be
changed.
The parameters are write-pro-
tected. Check the computer’s
monitoring software. Using the computer’s monitoring
software, release the write
protection.
Output torque is
insufficient The motor has only made small
movements (approx. ±6 pulses
of encoder resolution) from the
power supply position.
--- After making the motor perform
rotations of over ±6 pulses,
re-attempt normal operation.
Application Chapter
4
4-29
jError Diagnosis by Means of Operating Status (CompoBus/S Only)
Symptom Probable cause Items to check Countermeasures
There is an error in the com-
munications data. The node address is over-
lapping another node
address.
Check the node address
settings of all the Slaves. Correctly set the node
addresses.
The Programmable Control-
ler’s load shutdown bit has
turned ON.
Check the status of the Pro-
grammable Controller’s load
shutdown bit.
Turn OFF the load shut-
down bit.
The communications cable
connection or the commu-
nications cable itself is
flt
Check the connections. (If a
flat cable is being used,
check the connector area.)
Connect the cable properly.
faulty. Check the connectors. Replace the connectors if
necessary.
Check the conductivity of
the communications cable. Replace the cable if neces-
sary.
There is no terminating
resistance connected, or it
is connected at some posi-
tion other than the farthest
Unit.
Check the location of the
terminating resistance. Connect the terminating
resistance at the last Unit.
The Master Unit is not con-
nected at the end of the
main line.
Check the location of the
Master Unit. Connect the Master Unit at
the end of the main line.
The length of the main line,
a branch line, or the total
length is greater than the
prescribed limit.
Check the lengths of the
main and branch lines, and
the total combined length.
Correct the wiring so that
the lengths of the main and
branch lines, and the total
combined length, are within
the prescribed limits.
VCTF cable is combined
with special flat cable. Check the cables that are
being used. Use either VCTF or flat
cable, but not both together.
Communications will not
start. The Master is for a CQM1
System, and the Program-
mable Controller occupies
either two or four words,
and a node address is set
which is not permitted for
nodes 0 to 7. (An “address
over” error is generated.)
Check the number of words
occupied by the Master
Unit’s Programmable Con-
troller
, and the number of
points occupied per node
address.
Change the number of
words occupied by the Pro-
grammable Controller and
the number of points occu-
pied per node address.
Note If a communications error occurs, refer to the operation manual for the Master Unit.
Application Chapter
4
!
!
4-30
4-6 Periodic Maintenance
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
required for operation. Not doing so may result in equipment damage.
Servomotors
and Position Drivers contain many components and will operate properly
only
when each of the individual components is operating properly
. Some of the electri
-
cal
and mechanical components require maintenance depending on application
condi
-
tions.
In order to ensure proper long-term operation of Servomotors and Position Driv
-
ers,
periodic inspection and part replacement is required according to the service life of
the components.
The
periodic maintenance cycle depends on the installation
environment and application conditions of
the
Servomotor or Position
Driver
. Recommended maintenance times are listed below for Servomotors
and Position Drivers. Use these as references in determining actual maintenance schedules.
jServomotors
•Recommended Periodic Maintenance
Oil Seal: 2,000 hours
Bearings: 20,000 hours (U Series); 30,000 hours (H Series, M Series)
Application Conditions: Ambient
motor operating temperature of
40
C, within allowable shaft load,
rated operation (rated torque and r/m), installed as described in operation
manual.
•The
radial loads during operation (rotation) on timing pulleys and other components contacting belts is
twice
the still load. Consult with
the belt and pulley manufacturers and adjust designs and system set
-
tings
so that the allowable shaft load is not exceeded even during operation. If a motor is used under a
shaft load exceeding the allowable limit, the motor shaft can break, the bearings can burn out, and
other problems can occur.
jPosition Drivers
•Recommended Periodic Maintenance
Aluminum analytical capacitors: 50,000 hours at ambient temperature of 35C
Fans: 55,000 hours at ambient temperature of 20C
(FND-X50H- only)
Application Conditions: Rated operation (rated torque) and installation as described in the User’s
Manual.
•The
life of aluminum analytical capacitors is greatly af
fected by the ambient operating temperature.
Generally
speaking, an increase of 10
C in the ambient operating temperature will reduce
capacitor
life by 50%. We recommend that ambient operating temperature be lowered and the power supply
time be reduced as much as possible to lengthen the maintenance times for Position Drivers.
•It
is recommended that the Position Driver be inspected at five-year intervals if they are used under
conditions
worse than the above or not
used over a long time of time. Contact your OMRON represen
-
tative for inspection and the necessity of any component replacement.
Application Chapter
4
4-31
jLithium Battery
•When
using a U-series Servomotor with absolute encoder
, periodic maintenance will be required for
the
lithium battery
. For details about battery lifetimes and replacement
methods, refer to
2-2-7
Battery
Wiring and Encoder Setup for Absolute Encoder
.
Application Chapter
4
||||||
mil
| «II»
"II"
Chapter 5
Specifications
5-1 Position Driver Specifications
5-2 Servomotor Specifications
5-3 Cable Specifications
5
5-2
5-1 Position Driver Specifications
5-1-1 General Specifications (Common to DIO, CompoBus/S)
Item Specifications
Power supply voltage Single-phase 200-VAC (FND-X06H/-X12H/-X25H-):
Single-phase 200/240 VAC, –15% to +10%, at 50/60 Hz
Three-phase 200-VAC (FND-X50H-):
Three-phase 200/240 VAC, –15% to +10%, at 50/60 Hz
Single-phase 100-VAC (FND-X06L/-X12L-):
Single-phase 100/115 VAC, –15% to +10%, at 50/60 Hz
Ambient operating temperature 0 to 55°C
Ambient operating humidity 35% to 90% RH (with no condensation)
Ambient storage temperature –10 to 70°C
Ambient storage humidity 35% to 90% RH (with no condensation)
Storage and operating atmo-
sphere No corrosive gasses.
Dielectric strength 1,500 VACRMS for 1 min at 50/60 Hz
Insulation resistance Between supply input terminals and case: 5 MΩ min. (at 500 VDC)
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.10-mm double amplitude;
acceleration: 9.8 m/s2 {1 G} max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times
each.
Protective structure Built into panel (IP00).
Low-voltage Directives applica-
ble class Overvoltage category II
Pollution degree II
Note 1. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 2. Absolutely
do not conduct a withstand voltage test or a megger test on the Position Driver
. If
such tests are conducted, internal elements may be damaged.
Note 3. Depending
on the operating conditions, some Position Driver parts will require maintenance.
Refer to
4-6 Periodic Maintenance
for details.
Note 4. The
service life of the Position Driver is 50,000 hours at an average ambient temperature of
35°C (at the rated torque and the rated rotation speed).
Specifications Chapter
5
m
m
5-3
5-1-2 Performance Specifications
jDIO Position Drivers
Item FND-X06L FND-X12L FND-X06H FND-X12H FND-X25H FND-X50H
Continuous output current
(0-P) 2.0 A 3.0 A 2.0 A 4.8 A 8.0 A 20 A
Momentary maximum output
current (0-P) 6.0 A 12 A 6.0 A 12 A 25 A 50 A
Input power
supply Main circuit Single-phase 100/115 VAC
(85 to 127 V) 50/60 Hz
(The main circuit and
control circuits use the
same terminals.)
Single-phase 200/240 VAC (170 to 264 V)
50/60 Hz
(The main circuit and control circuits use
the same terminals.)
Three-phase
200/240 VAC
(170 to
264 V)
50/60 Hz
Control
circuits
)
Single-phase
200/240 VAC
(170 to
264 V)
50/60 Hz
Position/
speed
fdbk
U Series
(INC) 30 to 750 W: Optical Incremental encoder, 2,048 pulses/revolution
1 to 2 kW: Optical Incremental encoder, 4,096 pulses/revolution
feedback U Series
(ABS) 30 to 750 W: Optical Absolute encoder, 1,024 pulses/revolution
1 to 2 kW: Optical Absolute encoder, 8,192 pulses/revolution
U-UE Series Optical Incremental encoder, 1,024 pulses/revolution
H Series Magnetic Incremental encoder, 2,000 pulses/revolution
M Series Resolver, absolute accuracy 0.18° max.; ambient temperature 25°
Applicable
load inertia
(See note 1.)
U Series
(INC) Maximum of 30 times
motor’s rotor inertia Maximum of 30 times
motor’s rotor inertia Maximum of
20 times
motor’s rotor
inertia
(10 times for
1-kW model)
Maximum of
10 times
motor’s rotor
inertia
U Series
(ABS) Maximum of 20 times
motor’s rotor inertia Maximum of 20 times
motor’s rotor inertia Maximum of
18 times
motor’s rotor
inertia
(10 times for
1-kW model)
Maximum of
10 times
motor’s rotor
inertia
U-UE Series Maximum of 30 times
motor’s rotor inertia Maximum of 30 times
motor’s rotor inertia Maximum of
20 times
motor’s rotor
inertia
---
H Series Maximum of 10 times motor’s rotor inertia
M Series Maximum of 10 times motor’s rotor inertia
Inverter method PWM method based on IGBT
PWM frequency 10 kHz
Weight Approx. 1.5 kg Approx. 1.5 kg Approx.
2.5 kg Approx.
4.5 kg
Frequency response (speed
control) 100 Hz (at a load inertia equivalent to motor’s rotor inertia)
Position loop gain 1 to 200 (rad/s)
Feed forward 0% to 200% of speed reference
Pulse rate
1/32,767
v (pulse rate 1 / pulse rate 2) v
32,767/1
Specifications Chapter
5
mg
5-4
Item FND-X50HFND-X25HFND-X12HFND-X06HFND-X12LFND-X06L
Positioning completion width 1 to 32,767 (pulses)
U Series (INC): 8,192 pulses/revolution; U Series (ABS): 4,096 pulses/revolution;
U-UE Series: 4,096 pulses/revolution; H Series: 8,000 pulses/revolution
M Series 24,000 pulses/revolution
Acceleration/Deceleration
time 0 to 9,999 (ms); acceleration and deceleration times set separately. Two times can be set
for each. S-curve acceleration/deceleration function available (filter time constant: 0.00 to
32.76 s).
Sequence input 19 pts. (limit inputs, origin proximity, RUN command, START, alarm reset, origin search,
JOG operation, teaching, point selection, position data, deceleration stop)
Photocoupler input: 24 VDC, 8 mA
External power supply: 24 VDC ±1 V, 150 mA min.
Sequence output 15 pts. (brake output, READY, origin search completion, origin, teaching, motor running,
positioning completion, alarm, point output, position selection, speed selection)
Open collector output: 24 VDC, 40 mA
Monitor
output (See
t2)
Speed
monitor 3 V/motor’s rated speed (output accuracy: approx. ±10%)
(
note 2.) Current
monitor 3 V/motor’s maximum current (output accuracy: approx. ±10%)
Heating
l
Main circuit 17 W 20 W 17 W 27 W 47 W 110 W
g
value Control
circuit 23 W 23 W 23 W 23 W 23 W 26 W
Regenerative absorption
capacity 13 W + 17 J 17 W + 17 J 13 W + 17 J 24 W + 17 J 37 W + 22 J 160 W + 38
J
Protective functions Overcurrent, overvoltage, resolver disconnection, power status error, clock stopped,
overcurrent (soft), speed amp saturation, motor overload, temporary overload, resolver
error, speed over, error counter over, parameter setting error, software limit over,
coordinate counter over, overrun, encoder disconnection, encoder communications error,
absolute encoder backup error, absolute encoder checksum error, absolute encoder
absolute error, absolute encoder over speed, encoder data not transmitted, BCD data
error, present value undetermined, PTP data not set, Regeneration Resistor overheat,
regeneration operation error
Note 1. The applicable load inertia is expressed as a factor of the motor’s rotary inertia.
Note 2. For
the monitor output, the monitor items and voltage polarity can be set by parameter UP-25
(monitor output selection).
jCompoBus/S Position Drivers
Item FND-X06L
-SRT FND-X12L
-SRT FND-X06H
-SRT FND-X12H
-SRT FND-X25H
-SRT FND-X50H
-SRT
Continuous
output
current (0-P) 2.0 A 3.0 A 2.0 A 4.8 A 8.0 A 20 A
Momentary maximum
output current (0-P) 6.0 A 12 A 6.0 A 12 A 25 A 50 A
Input power
supply Main
circuit Single-phase 100/115 VAC
(85 to 127 V) 50/60 Hz
(The main circuit and control
circuits use the same
terminals.)
Single-phase 200/240 VAC (170 to 264 V)
50/60 Hz
(The main circuit and control circuits use the
same terminals.)
Three-phase
200/240 VAC
(170 to
264 V)
50/60 Hz
Control
circuits
)
Single-phase
200/240 VAC
(170 to
264 V)
50/60 Hz
Specifications Chapter
5
5-5
Item FND-X50H
-SRT
FND-X25H
-SRT
FND-X12H
-SRT
FND-X06H
-SRT
FND-X12L
-SRT
FND-X06L
-SRT
Position/
speed
feed
-
bk
U Series
(INC) 30 to 750 W: Optical Incremental encoder, 2,048 pulses/revolution
1 to 2 kW: Optical Incremental encoder, 4,096 pulses/revolution
back U Series
(ABS) 30 to 750 W: Optical Absolute encoder, 1,024 pulses/revolution
1 to 2 kW: Optical Absolute encoder, 8,192 pulses/revolution
U-UE
Series Optical Incremental encoder, 1,024 pulses/revolution
H Series Magnetic incremental encoder, 2,000 pulses/revolution
M Series Resolver, absolute accuracy 0.18° max.; ambient temperature 25°
Applicable
load inertia
(See note 1.)
U Series
(INC) Maximum of 30 times
motor’s rotor inertia Maximum of 30 times
motor’s rotor inertia Maximum of
20 times
motor’s rotor
inertia
(10 times for
1-kW model)
Maximum of
10 times
motor’s rotor
inertia
U Series
(ABS) Maximum of 20 times
motor’s rotor inertia Maximum of 20 times
motor’s rotor inertia Maximum of
18 times
motor’s rotor
inertia
(10 times for
1-kW model)
Maximum of
10 times
motor’s rotor
inertia
U-UE
Series Maximum of 30 times
motor’s rotor inertia Maximum of 30 times
motor’s rotor inertia Maximum of
20 times
motor’s rotor
inertia
---
H Series Maximum of 10 times motor’s rotor inertia
M Series Maximum of 10 times motor’s rotor inertia
Inverter method PWM method based on IGBT
PWM frequency 10 kHz
Weight Approx. 1.5 kg Approx. 1.5 kg Approx.
2.5 kg Approx.
4.5 kg
Frequency response
(speed control) 100 Hz (at a load inertia equivalent to motor’s rotor inertia)
Position loop gain 1 to 200 (rad/s)
Feed forward 0% to 200% of speed reference
Pulse rate
1/32,767
v (pulse rate 1 / pulse rate 2) v
32,767/1
Positioning completion
width 1 to 32,767 (pulses)
U Series (INC): 8,192 pulses/revolution; U Series (ABS): 4,096 pulses/revolution; UE Series:
4,096 pulses/revolution; H Series: 8,000 pulses/revolution
M Series 24,000 pulses/revolution
Acceleration/Deceleratio
n time
0 to 9,999 (ms); acceleration and deceleration times set separately. Two times can be set for
each. S-curve acceleration/deceleration function available (filter time constant: 0.00 to 32.76
s).
CompoBus/S 16 input points (RUN command, start, alarm reset, origin search, JOG operation, inching,
point selection, position data, deceleration stop)
16 output points (brake output, ready, origin search completed, origin, teaching completed,
motor running, positioning completed, alarm, point output, position/speed data selection)
Sequence input 4 pts. (limit inputs, origin proximity, deceleration stop)
Photocoupler input: 24 VDC, 8 mA
External power supply: 24 VDC ±1 V, 40 mA min.
Sequence output 1 pt. (brake output)
Open collector output: 24 VDC, 40 mA
Monitor
output (See
t2)
Speed
monitor 3 V/motor’s rated speed (output accuracy: approx. ±10%)
(
note 2.) Current
monitor 3 V/motor’s maximum current (output accuracy: approx. ±10%)
Specifications Chapter
5
pmpaflh “MA :: M M
5-6
Item FND-X50H
-SRT
FND-X25H
-SRT
FND-X12H
-SRT
FND-X06H
-SRT
FND-X12L
-SRT
FND-X06L
-SRT
Heating
value Main
circuit 17 W 20 W 17 W 27 W 47 W 110 W
Control
circuit 23 W 23 W 23 W 23 W 23 W 26 W
Regenerative absorption
capacity 13 W + 17 J 17 W + 17 J 13 W + 17 J 24 W + 17 J 37 W + 22 J 160 W + 38 J
Protective functions Overcurrent, overvoltage, resolver disconnection, power status error, clock stopped,
overcurrent (soft), speed amp saturation, motor overload, temporary overload, resolver
error, speed over, error counter over, parameter setting error, software limit over, coordinate
counter over, overrun, encoder disconnection, encoder communications error, absolute
encoder backup error, absolute encoder checksum error, absolute encoder absolute error,
absolute encoder over speed, encoder data not transmitted, BCD data error, present value
undetermined, PTP data not set, CompoBus/S communications error, Regeneration
Resistor overheat, regeneration operation error
Note 1. The applicable load inertia is expressed as a factor of the motor’s rotary inertia.
Note 2. For
the monitor output, the monitor items and voltage polarity can be set by parameter UP-25
(monitor output selection).
5-1-3 I/O Specifications
jTerminal Blocks (FND-X06/-X12/-X25)
Signal Function Condition
R
SPower supply
input These are the application power supply input terminals for the main circuit
and control circuit. Pay attention to the power supply voltage, because it va-
ries according to the model.
FND-XH-: Single-phase 200/240 VAC (170 to 264 VAC) 50/60 Hz
FND-XL-: Single-phase 100/115 VAC (85 to 127 VAC) 50/60 Hz
P
JMain circuit DC
output
Regeneration Re-
sistor connection
terminal
These are the connection terminals for the Regeneration Resistor
(R88A-RR20030/-RR40030). Connect them when the regeneration energy is
high.
N Main circuit DC
output This is the main circuit DC output terminal.
A Servomotor’s A-
phase and U-
phase output
Red These are the terminals for outputs to the Servomotor. Be careful to
wire them correctly. OMNUC Servomotors can be connected to
these terminals with R88A-CAU Cable (for U/U-UE-series Servo-
)CC(f S )OO
B Servomotor’s B-
phase and V-
phase output
White
(
motors) or R88A-CAH Cable (for H-series Servomotors). OMRON
does not provide a dedicated cable to connect these terminals to
OMNUC M-series Servomotors, so the user must provide an ap-
p
ro
p
riate cable if an M series Servomotor is used
C Servomotor’s C-
phase and W-
phase output
Blue
or
black
propriate cable if an M-series Servomotor is used.
Frame ground Green This is the connection terminal. Use at lease a class-3 ground
(100 Ω or less). This ground is used in common for Servomotor out-
put and power supply input.
Specifications Chapter
5
vom
5-7
jTerminal Blocks (FND-X50H-)
Signal Function Condition
R0
S0 Control power
supply input These are the power supply input terminals for the control circuit.
Single-phase 200/240 VAC (170 to 264 VAC) 50/60 Hz
R
S
T
Main circuit power
supply input These are the power supply input terminals for the main circuit.
Three-phase 200/240 VAC (170 to 264 VAC) 50/60 Hz
P
JP1
JP2
Main circuit DC
output
Regeneration Re-
sistor connection
terminal
These are the connection terminals for the Regeneration Resistor
(R88A-RR20030/-RR40030). Connect them when the regeneration energy is
high.
When connecting a Regeneration Resistor, remove the short bar from be-
tween JP1 and JP2.
N Main circuit DC
output This is the main circuit DC output terminal.
MC
COM
BO
BI1
BI2
Not used (Do not connect anything to these terminals. Do not remove the short bar
from between BI1 and BI2.)
A Servomotor’s A-
phase and U-
phase output
Red These are the terminals for outputs to the Servomotor. Be careful to
wire them correctly. OMNUC Servomotors can be connected to
these terminals with R88A-CAUB Cable (for U-series Servomo-
)O O
B Servomotor’s B-
phase and V-
phase output
White
(
tors). OMRON does not provide a dedicated cable to connect these
terminals to OMNUC M-series Servomotors, so the user must pro-
vide an appropriate cable if an M-series Servomotor is used.
C Servomotor’s C-
phase and W-
phase output
Blue
or
black
Frame ground Green This is the connection terminal. Use at a ground of 100 Ω or less.
This ground is used in common for Servomotor output and power
supply input.
Specifications Chapter
5
out ut:
5-8
jCN2 (M.SEN) Motor Sensor Connectors (DIO, CompoBus/S)
Pin No. Signal name Name I/O interface
1 E0V Encoder power supply ground Power supply output for encoder: 5 V,
120 mA
2 S1 SIN excitation winding Resolver excitation signal output
3 S3 SIN excitation winding Resolver excitation signal output
4 E5V Encoder power supply, +5 V Power supply outlet for encoder: 5 V, 120 mA
5 NC --- ---
6 S2 COS excitation winding Resolver excitation signal output
7 S4 COS excitation winding Resolver excitation signal output
8+ABS Absolute encoder signal +
input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
R1 Resolver signal input Resolver detection signal input
9–ABS Absolute encoder signal –
input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
R2 Resolver signal input Resolver detection signal input
10 NC --- ---
11 SG Resolver cable shield ground Resolver cable shield ground
12 +BAT Battery + Absolute encoder backup power supply
output:
13 –BAT Battery –
out ut:
3.6 V, 16 µA (for backup, rotation stopped)
2µA (when +5-V voltage is applied)
14 S+/Z+ Encoder + S/+ Z-phase input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
15 S–/Z– Encoder – S/– Z-phase input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
16 A+ Encoder + A-phase input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
17 A– Encoder – A-phase input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
18 B+ Encoder + B-phase input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
19 B– Encoder – B-phase input Line driver input (conforming to EIA-RS422A)
(Input impedance: 220 Ω)
20 FG Encoder cable shield ground Encoder cable shield ground
DConnectors Used
Receptacle at Position Driver 10220-52A2JL (Sumitomo 3M)
Soldered plug at cable side 10120-3000VE (Sumitomo 3M)
Case at cable side 10320-52A0-008 (Sumitomo 3M)
Specifications Chapter
5
RS 422)
ng
5-9
jCN2 (Motor Sensor Connector) Pin Arrangement
2S1
4 E5V
8
10 NC
1 E0V
3S3
7S4
9
12
14 S+/Z+
16 A+
11 SG
13
17 A–
15 S–/Z–
6S2
5NC
18 B+
20 FG
19 B–
SIN excitation
winding
Encoder
power
supply, +5V
Encoder
power
supply
ground
Encoder+S/
+Z-phase
input
Encoder
+A-phase
input
Encoder
cable shield
ground
+ABS
–ABS
+BAT
–BAT
Absolute en-
coder
signal +
Battery +
Resolver
cable
shield
ground
R1 Resolver
signal
input
R2
SIN excitation
winding
COS
excitation
winding
Absolute en-
coder
signal –
Resolver
signal input
Encoder–S/
–Z-phase
input
Encoder
+B-phase
input Encoder
–
B-phase
input
Encoder –
A-phase
input
Battery
–
COS
excitation
winding
jCN5 (RS-232C) Communications Connectors (DIO, CompoBus/S)
Pin No. Signal Name Interface
1 TXD Transmission data Transmission data (conforming to EIA
RS-232C)
2 DTR Transmission/reception-capable
output Transmission/reception-capable
output (conforming to EIA RS-232C)
3 NC --- ---
4RTS Reception-capable output Reception-capable output (conforming
to EIA RS-232C)
5 RXD+ Reception data + Reception data (conforming to EIA
RS 422)
6 RXD– Reception data –
RS
-
422)
Input impedance: 330 Ω
7 TXD+ Transmission data + Transmission data (conforming to EIA
RS )
8 TXD– Transmission data –
(g
RS-422)
9 RXD Reception data Reception data (conforming to EIA
RS-232C)
10 CTS Reception-capable input Reception-capable input (conforming
to EIA RS-232C)
11 +5V +5-V output External terminal power supply, 5 V,
300 mA
12 FG Shield ground Shield ground
13 FG
g
g
14 GND
0 V
Power supply ground for external
terminal
DConnectors Used
Receptacle at Position Driver 10214-52A2JL (Sumitomo 3M)
Soldered plug at cable side 10114-3000VE (Sumitomo 3M)
Case at cable side 10314-52A0-008 (Sumitomo 3M)
Specifications Chapter
5
5-10
jCN5 (Communications Connector) Pin Arrangement
2 DTR
4RTS
1 TXD
3NC
7 TXD+
9
11 +5V
13 FG
8 TXD–
10
14 GND
12 FG
6 RXD–
5 RXD+
Transmission/
reception-ca-
pable
output
Reception-
capable
output
Reception
data
–
Transmission
data
+5 output
Shield
ground
0 V
RXD
CTS
Reception
data +
Transmission
data +
Reception
data
Transmission
data –
Reception-
capable in-
put
Shield
ground
jMonitor Output Terminal (MON)
Pin No. Signal name Name I/O interface
1 GND Output ground Monitor ground
2 MON Monitor output Speed monitor: 3 V/motor’s rated speed, 1 mA
Current monitor: 3 V/motor’s maximum current, 1 mA
DConnectors Used
Connectors at Position Driver B2B-EH-A (J.S.T. Mfg. Co., Ltd.)
Cable housing EHR-2 (J.S.T. Mfg. Co., Ltd.)
Cable contacts BEH-001T-P0.6 (J.S.T. Mfg. Co., Ltd.)
jCN6 BAT Connectors
Pin No. Signal name Name I/O interface
1 FG Shield ground Shield ground
2 BAT Backup battery + input Absolute encoder backup battery
iil V
3 BATGND Backup battery – input
y
connection terminal, 2.8 to 4.5 V
DConnectors Used
Connectors at Position Driver B3PS-VH (J.S.T. Mfg. Co., Ltd.)
Cable housing VHR-3N (J.S.T. Mfg. Co., Ltd.)
Cable contacts BVH-21T-P1.1 (J.S.T. Mfg. Co., Ltd.)
Specifications Chapter
5
5-11
jCN1 (CONT) Control Signal Connectors (DIO Position Drivers Only)
DControl Inputs
Pin No. Symbol Name
1 CCWL CCW limit input
2 CWL CW limit input
3 ORG Origin proximity
4 RUN RUN command
5 START START
6 RESET Alarm reset
7 SEARCH Origin search
8 +JOG +JOG operation
9 –JOG –JOG operation
10 TEACH TEACH
11 P.IN0 Point selection 0 / Position 0
12 P.IN1 Point selection 1 / Position 1
13 P.IN2 Point selection 2 / Position 2
14 P.IN3 Point selection 3 / Position 3
15 P.IN4 Point selection 4 / Position 4
16 P.IN5 Point selection 5 / Position 5
17 P.IN6 Point selection 6 / Position 6
18 P.IN7 Position 7
20 STOP Deceleration stop
36 +24V +24-V power supply input for control
DControl Outputs
Pin No. Symbol Name
19 OGND Output ground
21 BO Brake output
22 READY Ready
23 S.COM Origin search completed
24 ORGSTP Origin stop
25 T.COM Teaching completed
26 RUNON Motor running
27 INP Positioning completed
28 ALM Alarm
29 P.OUT0 Point output 0 / Position selection 1
30 P.OUT1 Point output 1 / Position selection 2
31 P.OUT2 Point output 2 / Position selection 3
32 P.OUT3 Point output 3 / Position selection 4
33 P.OUT4 Point output 4 / Speed selection
34 P.OUT5 Point output 5
35 P.OUT6 Point output 6
Specifications Chapter
5
5-12
DConnectors Used
Receptacle at Position Driver 10236-6202JL (Sumitomo 3M)
Soldered plug at cable side 10136-3000VE (Sumitomo 3M)
Case at cable side 10336-52A0-008 (Sumitomo 3M)
Note 1. The control input interface is a photocoupler input of 24 VDC at 8 mA.
Note 2. For the external power supply, use 24 VDC ±1 V at 150 mA minimum.
Note 3. The control output interface is a photocoupler output of 24 VDC at 40 mA.
jCN1 (Control Signal Connector) Pin Arrangement
2 CWL
4 RUN
8
10 TEACH
1 CCWL
3 ORG
7 SEARCH
9
20
22 READY
24 ORGSTP
19 OGND
21
25 T.COM
23 S.COM
6 RESET
5START
26 RUNON
28 ALM
27 INP
CW
limit in
-
put
RUN
command
Alarm
reset
Origin
proximity
START
Origin
search
READY
Origin
stop
Motor
running
Alarm
Origin
search
completed
Teaching
completed
Positioning
completed
+JOG
–JOG
STOP
BO
+JOG op-
eration
Deceleration
stop Brake
output
12 P.IN1
14 P.IN3
18
16 P.IN5
Point
selection
1/
Position
1
P.IN7 Position 7
11 P.IN0
13 P.IN2
17 P.IN6
15 P.IN4
Teach
30
32 P.OUT3
34 P.OUT5
36 +24V
Point
output 5
+24-V
power
supply input
for control
P.OUT1
Output
ground
29 P.OUT0
31
35 P.OUT6
33 P.OUT4
P.OUT2
Point
output
0/ Position
selection
1
Point
selection
3/
Position
3
Point
selection
5/
Position
5
CCW limit
input
–JOG op-
eration
Point
selection
0/
Position
0
Point
selection
2/
Position
2
Point
selection
4/
Position
4
Point
selection
6/
Position
6
Point
output 1/
Position
selection 2
Point
output 3/
Position
selection 4
Point
output
2/ Position
selection
3
Point
output
4/ Speed
selection
Point
output 6
Specifications Chapter
5
hnmmnnihafinne habla Whnn wirinn "1am be “refill mm] Oh:
5-13
jCN1 (CONT) CompoBus/S Communications Terminals
Symbol Name Function
BD H CompoBus/S serial line (+) These are the terminals for connecting CompoBus/S
communications cable When wiring them be careful with the
BD L
CompoBus/S serial line (–) commun
i
cat
i
ons ca
bl
e.
Wh
en w
i
r
i
ng t
h
em,
b
e care
f
u
l
w
i
t
h
t
h
e
polarity.
DIN (16 Input Points)
I/O allocation Symbol Name
OUT0 RUN RUN command
OUT1 START Start
OUT2 RESET Alarm reset
OUT3 SEARCH Origin search
OUT4 +JOG +JOG operation
OUT5 –JOG –JOG operation
OUT6 TEACH Teach
OUT7 STOP Deceleration stop
OUT8 P.IN0 Point selection 0 / Position 0
OUT9 P.IN1 Point selection 1 / Position 1
OUT10 P.IN2 Point selection 2 / Position 2
OUT11 P.IN3 Point selection 3 / Position 3
OUT12 P.IN4 Point selection 4 / Position 4
OUT13 P.IN5 Point selection 5 / Position 5
OUT14 P.IN6 Point selection 6 / Position 6
OUT15 P.IN7 Position 7
DOUT (16 Output Points)
I/O allocation Symbol Name
IN0 BO Brake output
IN1 READY Ready
IN2 S.COM Origin search completed
IN3 ORGSTP Origin stop
IN4 T.COM Teaching completed
IN5 RUNON Motor running
IN6 INP Positioning completed
IN7 ALM Alarm
IN8 P.OUT0 Point output 0 / Position selection 1
IN9 P.OUT1 Point output 1 / Position selection 2
IN10 P.OUT2 Point output 2 / Position selection 3
IN11 P.OUT3 Point output 3 / Position selection 4
IN12 P.OUT4 Point output 4 / Speed selection
IN13 P.OUT5 Point output 5
IN14 P.OUT6 Point output 6
IN15 --- Not used
Note For I/O allocation, refer to the operation manual for the Master Unit.
Specifications Chapter
5
5-14
jCN4 (LIMIT) External Control Signal Connectors (CompoBus/S Only)
Pin No. Symbol Name
1 CCWL CCW limit input
2 CWL CW limit input
3 ORG Origin proximity
4 STOP Deceleration stop
5 NC
6 NC
7 +24V +24-V power supply input for control
8 BO Brake output
9 NC
10 NC
11 NC
12 NC
13 NC
14 0GND Ground
DConnectors Used
Receptacle at Position Driver 10214-6202JL (Sumitomo 3M)
Soldered plug at cable side 10114-3000VE (Sumitomo 3M)
Case at cable side 10314-52A0-008 (Sumitomo 3M)
Note 1. The control input interface is a photocoupler input of 24 VDC at 8 mA.
Note 2. For the external power supply, use 24 VDC ±1 V at 40 mA minimum.
Note 3. The control output interface is a photocoupler output of 24 VDC at 40 mA.
jCN4 Pin Arrangement
2 CWL
4STOP
1 CCWL
3 ORG
7
9
11
13
8BO
10
14 OGND
12
6
5
CW
limit in
-
put
Deceleration
stop
Origin
proximity
+24V
+24-V power
supply input
for control
Brake
output
CCW limit
input
Output
ground
Specifications Chapter
5
09
rq
5-15
5-2 Servomotor Specifications
5-2-1 U-series 30-W to 750-W Servomotors (INC/ABS)
jGeneral Specifications
Item Specifications
Ambient operating temperature 0 to 40°C
Ambient operating humidity 20% to 80% RH (with no condensation)
Ambient storage temperature –10 to 75°C
Ambient storage humidity 20% to 85% RH (with no condensation)
Storage and operating atmo-
sphere No corrosive gasses.
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude;
acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 10 MΩ min. (500-VDC megger)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA
max.) at 50/60 Hz (JEC 2121)
Run position All directions
Insulation grade Type B (JIS C4004)
(Type A according to UL standards)
Structure Totally-enclosed self-cooling
Protective structure Models conforming to UL/cUL standards:
IP-42 (JEM1030)
Models conforming to EC Directives:
IP-44 (IEC 34-5) (not including the shaft opening)
Cannot be used in environment with water-soluble cutting fluids.
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so do not exceed
19.6 m/s2 (2 G) over a long period of time.
Note 2. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 3. The Servomotor cannot be used in a misty atmosphere.
Note 4. The drip-proof specifications for models conforming to UL/cUL standards are covered by
IP-44. (Models with drip-proof specifications provide drip-proofing on Servomotors with oil
seals.)
jPerformance Specifications with an Incremental Encoder
Item Unit R88M
-U03030HA/
-U03030VA
R88M
-U05030HA/
-U05030VA
R88M
-U10030HA/
-U10030VA
R88M
-U20030HA/
-U20030VA
R88M
-U40030HA/
-U40030VA
R88M
-U75030HA/
-U75030VA
Rated
output
(See note.) W 30 50 100 200 400 750
Rated torque
(S )
Nm 0.095 0.159 0.318 0.637 1.27 2.39
q
(See note.) kgfcm 0.974 1.62 3.25 6.49 13.0 24.3
Specifications Chapter
5
mum [nrnun (San
\nwab\n rawa‘
\nwamA m" ‘5!
5-16
Item R88M
-U75030HA/
-U75030VA
R88M
-U40030HA/
-U40030VA
R88M
-U20030HA/
-U20030VA
R88M
-U10030HA/
-U10030VA
R88M
-U05030HA/
-U05030VA
R88M
-U03030HA/
-U03030VA
Unit
Rated
rotation
speed r/min 3,000
Momentary maxi-
mum rotation
speed
r/min 4,500
Momentary maxi-
mum torque (See
Nm 0.29 0.48 0.96 1.91 3.82 7.10
mum
t
orque
(S
ee
note.) kgfcm 2.92 4.87 9.75 19.5 39.0 72.9
Rated current
(See note.) A (rms) 0.42 0.60 0.87 2.0 2.6 4.4
Momentary maxi-
mum current
(See note.)
A (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Rotor inertia kgm2
(GD2/4)
0.21
×
10
–5
0.26
×
10
–5
0.40
×
10
–5
1.23
×
10
–5
1.91
×
10
–5
6.71
×
10
–5
kgfcms2
0.21
×10–4 0.27
×
10
–4
0.41
×
10
–4
1.26
×
10
–4
1.95
×
10
–4
6.85
×
10
–4
Torque constant
(S )
Nm/A 0.255 0.286 0.408 0.355 0.533 0.590
q
(See note.) kgfcm/A 2.60 2.92 4.16 3.62 5.44 6.01
Induced voltage
constant (See
note.)
mV/
(r/min) 8.89 9.98 14.0 12.4 18.6 20.6
Power rate (See
note.) kW/s 4.36 9.63 25.4 32.8 84.6 85.1
Mechanical time
constant ms 1.5 0.9 0.5 0.4 0.3 0.3
Winding resis-
tance Ω15.8 9.64 6.99 1.34 1.23 0.45
Winding imped
-
ance mH 23.1 16.9 13.2 7.2 7.9 5.7
Electrical time
constant ms 1.5 1.8 1.9 5.4 6.4 13
Momentary al-
lowable radial
N 186 490 735
l
owa
bl
e ra
di
a
l
load kgf 19 50 75
Momentary al-
lowable thrust
N 127 176 392
l
owa
bl
e
th
rus
t
load kgf 13 18 40
Allowable radial
ld
N 68 78 245 392
load kgf 7 8 25 40
Allowable thrust
ld
N 54 54 74 147
load kgf 5.5 5.5 7.5 15
Weight Without
brake kg Approx. 0.3 Approx. 0.4 Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4
With
brake kg Approx. 0.6 Approx. 0.7 Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3
Radiation shield
dimensions Material:
A1 t6 x 250
Applicable
Position Driver
(FND )
200-V in-
put X06H-X12H-X25H-
(FND-) 100-V in-
put X06L-X12L---- ---
Specifications Chapter
5
"an:
VI’iFti" "
5-17
Item R88M
-U75030HA/
-U75030VA
R88M
-U40030HA/
-U40030VA
R88M
-U20030HA/
-U20030VA
R88M
-U10030HA/
-U10030VA
R88M
-U05030HA/
-U05030VA
R88M
-U03030HA/
-U03030VA
Unit
Brake
speci-
fi
Brake
inertia kgm2
(GD2/4) 0.09 x 10–5 0.58 x 10–5 1.40 x 10–5
fica-
tions
kgfcms20.09 x 10–4 0.59 x 10–4 1.43 x 10–4
ti
ons Excita-
tion
voltage
V 24 VDC ±10% (No polarity)
Power
con-
sumption
W (at
20°C) 6.0 6.5 6.0
Current
con-
sump-
tion
A (at
20°C) 0.25 0.27 0.25
Static
friction
Nm
0.2 min. 0.34 min. 1.5 min. 2.5 min.
f
r
i
c
ti
on
torque kgfcm
2.0 min. 3.5 min. 15.0 min. 25.0 min.
Absorp-
tion
time
(See
note 3.)
ms 40 max. 60 max. 100 max. 200 max.
Release
time
(See
note 3.)
ms 20 max. 30 max. 40 max. 50 max.
Back-
lash (Reference
value) ±1°
Rating --- Continuous
Insula-
tion
grade
--- Type F
Note 1. The
values for torque and rotation speed characteristics, are the values at an armature wind
-
ing temperature of 100°C, combined with the Position Driver. Other values are at normal
conditions (20°C, 65%). The maximum momentary torque is a reference value.
Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by
Okaya Electric Industrial Co.) installed.
Note 4. The
allowable radial load indicates the value at a location 5 mm from the end of
the shaft. (See
the diagram below.)
Radial
load
Thrust load
5 mm
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service life of 20,000 hours at normal usage as the standard.
Specifications Chapter
5
mum [nrnun (San
\nwamA rad‘m
\nwamA m" ‘5!
5-18
jPerformance Specifications with an Absolute Encoder
Item Unit R88M
-U03030TA/
-U03030XA
R88M
-U05030TA/
-05030XA
R88M
-U10030TA/
-U10030XA
R88M
-U20030TA/
-U20030XA
R88M
-U40030TA/
-U40030XA
R88M
-U75030TA/
-U75030XA
Rated
output
(See note.) W 30 50 100 200 400 750
Rated torque
(S )
Nm 0.095 0.159 0.318 0.637 1.27 2.39
q
(See note.) kgfcm 0.974 1.62 3.25 6.49 13.0 24.3
Rated rotation
speed r/min 3,000
Momentary maxi-
mum rotation
speed
r/min 4,500
Momentary maxi-
mum torque (See
Nm 0.29 0.48 0.96 1.91 3.82 7.10
mum
t
orque
(S
ee
note.) kgfcm 2.92 4.87 9.75 19.5 39.0 72.9
Rated current
(See note.) A (rms) 0.42 0.60 0.87 2.0 2.6 4.4
Momentary maxi-
mum current
(See note.)
A (rms) 1.3 1.9 2.8 6.0 8.0 13.9
Rotor inertia kgm2
(GD2/4)
0.46
×
10
–5
0.51
×
10
–5
0.65
×
10
–5
1.48
×
10
–5
2.16
×
10
–5
6.96
×
10
–5
kgfcms2
0.47
×10–4 0.53
×
10
–4
0.67
×
10
–4
1.52
×
10
–4
2.21
×
10
–4 7.1
1
×
10
–4
Torque constant
(S )
Nm/A 0.255 0.286 0.408 0.355 0.533 0.590
q
(See note.) kgfcm/A 2.60 2.92 4.16 3.62 5.44 6.01
Induced voltage
constant (See
note.)
mV/
(r/min) 8.89 9.98 14.0 12.4 18.6 20.6
Power rate (See
note.) kW/s 4.36 9.63 25.4 32.8 84.6 85.1
Mechanical time
constant ms 1.5 0.9 0.5 0.4 0.3 0.3
Winding resis-
tance Ω15.8 9.64 6.99 1.34 1.23 0.45
Winding imped
-
ance mH 23.1 16.9 13.2 7.2 7.9 5.7
Electrical time
constant ms 1.5 1.8 1.9 5.4 6.4 13
Momentary al-
lowable radial
N 186 490 735
l
owa
bl
e ra
di
a
l
load kgf 19 50 75
Momentary al-
lowable thrust
N 127 176 392
l
owa
bl
e
th
rus
t
load kgf 13 18 40
Allowable radial
ld
N 68 78 245 392
load kgf 7 8 25 40
Allowable thrust
ld
N 54 49 68 147
load kgf 5.5 5 7 15
Weight Without
brake kg Approx.
0.45 Approx.
0.55 Approx.
0.65 Approx. 1.2 Approx. 1.8 Approx. 3.5
With
brake kg Approx.
0.75 Approx.
0.85 Approx.
0.95 Approx. 1.7 Approx. 2.3 Approx. 4.5
Specifications Chapter
5
harm
VI’iFti" "
5-19
Item R88M
-U75030TA/
-U75030XA
R88M
-U40030TA/
-U40030XA
R88M
-U20030TA/
-U20030XA
R88M
-U10030TA/
-U10030XA
R88M
-U05030TA/
-05030XA
R88M
-U03030TA/
-U03030XA
Unit
Radiation shield
dimensions Material:
A1 t6 x 250
Applicable
Position Driver
(FND )
200-V
input X06H-X12H-X25H-
(FND-) 100-V
input X06L-X12L---- ---
Brake
speci-
fi
Brake
inertia kgm2
(GD2/4) 0.09 x 10–5 0.58 x 10–5 1.40 x 10–5
fica-
tions
kgfcms20.09 x 10–4 0.59 x 10–4 1.43 x 10–4
ti
ons Excita-
tion
voltage
V 24 VDC ±10% (No polarity)
Power
con-
sump-
tion
W (at
20°C) 6.0 6.5 6.0
Current
con-
sump-
tion
A (at
20°C) 0.25 0.27 0.25
Static
friction
Nm
0.2 min. 0.34 min. 1.5 min. 2.5 min.
f
r
i
c
ti
on
torque kgfcm
2.0 min. 3.5 min. 15.0 min. 25.0 min.
Absorp-
tion
time
(See
note 3.)
ms 40 max. 60 max. 100 max. 200 max.
Release
time
(See
note 3.)
ms 20 max. 30 max. 40 max. 50 max.
Back-
lash (Reference
value) ±1°
Rating --- Continuous
Insula-
tion
grade
--- Type F
Note 1. The
values for torque and rotation speed characteristics, are the values at an armature wind
-
ing temperature of 100°C, combined with the Position Driver. Other values are at normal
conditions (20°C, 65%). The maximum momentary torque is a reference value.
Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by
Okaya Electric Industrial Co.) installed.
Specifications Chapter
5
(N~m)(ku"cmy m-mmnmm) (wmmrmu
(r. k n H 1 m_
a 045 A5— 07 7s-
0 2 o. 3. 0.5 5.
m I ”K m l5———\ 025 154i
0 ‘ ‘ x n v . ‘ ‘ ‘
woo m 3000 «mu/min) um 2000 m «mu/mm mm m; 3000 «mum-m
(N-mmrcm xN-mmrmy (N-mvw-cm»
w ‘ 40- 3 m-
I w w- w
| u» 2 a) w-
0 fl 1 m- 2 w
‘ o o u
moo 2000 m ummm woo won 300» allow/mm) mm mm 3000 «um-mm
5-20
Note 4. The
allowable radial load indicates the value at a location 5 mm from the end of
the shaft. (See
the diagram below.)
Radial
load
Thrust load
5 mm
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service life of 20,000 hours at normal usage as the standard.
jTorque and Rotation Speed Characteristics
(Standard Cable: 3 m; 200/100-VAC Input)
Repeated
used area
Continuous
op
-
eration area
R88M-U03030HA/TA
R88M-U03030VA/XA R88M-U05030HA/TA
R88M-U05030VA/XA R88M-U10030HA/TA
R88M-U10030VA/XA
R88M-U20030HA/TA
R88M-U20030VA/XA R88M-U40030HA/TA
R88M-U40030VA/XA R88M-U75030HA/TA
R88M-U75030VA/XA
Repeated
used area
Repeated
used area
Repeated
used area Repeated
used area Repeated
used area
Continuous
op
-
eration area
Continuous op
-
eration area
Continuous op
-
eration area
Continuous op
-
eration area
Continuous op
-
eration area
jServomotor and Mechanical System Temperature Characteristics
•U-series
AC Servomotors use rare earth magnets (neodymium–iron magnets). The temperature co
-
efficient
for these magnets is approximately
-0.13%/
°
C. As the temperature drops, the Servomotor
’s
momentary
maximum torque
increases, and as the temperature rises the Servomotor
’
s momentary
maximum torque decreases. When the
normal temperature of 20
°
C and -10
°
C are compared, the
momentary
maximum torque increases by approximately 4%. Conversely
, when the magnet warms
up to 80°C from the normal temperature of 20°C, the momentary maximum torque decreases by
approximately 8%.
Specifications Chapter
5
5-21
•Generally,
in a mechanical system, when the temperature drops the friction torque increases and the
load
torque becomes larger
. For that reason, overloading may occur at low temperatures. In
particu
-
lar,
in systems which use deceleration devices, the load torque at low temperatures may be nearly
twice
the load torque at
normal temperatures. Check with a current monitor to see whether overload
-
ing is occurring at low temperatures, and how much the load torque is. Likewise, check to see wheth
-
er there abnormal Servomotor overheating or alarms are occurring at high temperatures.
•An
increase in load friction torque visibly increases load inertia. Therefore,
even if the Position Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low temper
-
atures. Check to see whether there is optimal operation at low temperatures too.
jIncremental Encoder Specifications
Item Standards
Encoder method Optical incremental encoder
Number of output pulses A, B phase: 2,048 pulses/revolution, Z phase: 1 pulse/revolution
Power supply voltage
5 VDC
±5%
Power supply current DC, 350 mA (for load resistance of 220 Ω)
Pulse duty characteristics 50% ±10%
Phase characteristics 90° ±43.2°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared
to B phase.
Maximum rotation speed 4,500 r/min
Maximum response frequency 153.6 kHz
Output signals +A, –A, +B, –B, +S, –S
Output interface Conforming to EIA RS-422A.
Output based on AM26LS31CN or equivalent.
Serial communications data Z phase, poll sensor
, U, V
, W phase
Serial communications method Combination communications method based on A, B, and S phases.
Specifications Chapter
5
09
on
5-22
jAbsolute Encoder Specifications
Item Standards
Encoder method Optical absolute encoder
Number of output pulses A, B phase: 1,024 pulses/revolution, Z phase: 1 pulse/revolution
Maximum rotational amount ±99,999 revolution
Power supply voltage
5 VDC
±5%
Power supply current DC, 170 mA (for load resistance of 220 Ω)
Applicable battery voltage 3.6 VDC
Battery consumption current 16 µA during backup or when operation is stopped, 2 µA when 5 V is
supplied
Pulse duty characteristics 50% ±10%
Phase characteristics 90° ±36°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared
to B phase.
Maximum rotation speed 4,500 r/min
Maximum response frequency 76.8 kHz
Output signals +A, –A, +B, –B, +Z, –Z, +ABS, –ABS
Output interface Conforming to EIA RS-422A.
Output based on MC3487 or equivalent.
Absolute-value communications
data Rotation amount
Absolute position within rotation
5-2-2 U-UE-series Servomotors
jGeneral Specifications
Item Specifications
Ambient operating temperature 0°C to 40°C
Ambient operating humidity 20% to 80% RH (with no condensation)
Ambient storage temperature –10°C to 75°C
Ambient storage humidity 20% to 85% RH (with no condensation)
Storage and operating atmo-
sphere No corrosive gasses.
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude;
acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 10 MΩ min. (500-VDC megger)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA
max.) at 50/60 Hz (JEC 2121)
Run position All directions
Insulation grade Type B (JIS C4004)
Structure Totally-enclosed self-cooling
Protective structure Models not conforming to any standards:
IP-42 (JEM1030)
Models conforming to EC Directives:
IP-44 (IEC 34-5) (not including the shaft opening)
Cannot be used in environment with water-soluble cutting fluids.
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Specifications Chapter
5
5-23
Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so do not exceed
19.6 m/s2 (2 G) over a long period of time.
Note 2. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 3. The Servomotor cannot be used in a misty atmosphere.
jPerformance Specifications
Item Unit R88M
-UE10030H-S1/
-UE10030V-S1
R88M
-UE20030H-S1/
-UE20030V-S1
R88M
-UE40030H-S1/
-UE40030V-S1
R88M
-UE75030H-S1/
-UE75030V-S1
Rated
output
(See note.) W 100 200 400 750
Rated torque
(S )
Nm 0.318 0.637 1.27 2.39
q
(See note.) kgfcm 3.25 6.49 13.0 24.3
Rated rotation speed r/min 3,000
Momentary maximum
rotation speed r/min 4,500
Momentary maximum
(S )
Nm 0.96 1.91 3.82 7.10
y
torque (See note.) kgfcm 9.75 19.5 39.0 72.9
Rated current
(See note.) A (rms) 0.87 2.0 2.6 4.4
Momentary maximum
current (See note.) A (rms) 2.8 6.0 8.0 13.9
Rotor inertia kgm2 (GD2/4)
0.40
×
10
–5
1.23
×
10
–5
1.91
×
10
–5
6.71
×
10
–5
kgfcms2
0.41
×10–4 1.26
×
10
–4
1.95
×
10
–4
6.85
×
10
–4
Torque constant
(S )
Nm/A 0.408 0.355 0.533 0.590
q
(See note.) kgfcm/A 4.16 3.62 5.44 6.01
Induced voltage
constant (See note.) mV/ (r/min) 14.0 12.4 18.6 20.6
Power rate (See note.) kW/s 25.4 32.8 84.6 85.1
Mechanical time
constant ms 0.5 0.4 0.3 0.3
Winding resistance Ω6.99 1.34 1.23 0.45
Winding impedance mH 13.2 7.2 7.9 5.7
Electrical time constant ms 1.9 5.4 6.4 13
Momentary allowable
di l l d
N 186 490 735
y
radial load
kgf 19 50 75
Momentary allowable
hld
N 127 176 392
y
thrust load kgf 13 18 40
Allowable radial load
N 78 245 392
kgf 8 25 40
Allowable thrust load N 54 74 147
kgf 5.5 7.5 15
Weight Without
brake kg Approx. 0.5 Approx. 1.1 Approx. 1.7 Approx. 3.4
With brake kg Approx. 0.8 Approx. 1.6 Approx. 2.2 Approx. 4.3
Radiation shield dimen-
sions Material: A1 t6 x 250
Applicable
P i i D i (FND )
200-V input X06H-X12H-X25H-
Position Driver (FND-) 100-V input X06L-X12L---- ---
Specifications Chapter
5
5-24
Item R88M
-UE75030H-S1/
-UE75030V-S1
R88M
-UE40030H-S1/
-UE40030V-S1
R88M
-UE20030H-S1/
-UE20030V-S1
R88M
-UE10030H-S1/
-UE10030V-S1
Unit
Brake
ifi
Brake iner-
i
kgm2 (GD2/4) 0.09 x 10–5 0.58 x 10–5 1.40 x 10–5
specifica-
tions
tia kgfcms20.09 x 10–4 0.59 x 10–4 1.43 x 10–4
t
i
ons Excitation
voltage V 24 VDC ±10% (No polarity)
Power
con
-
sumption W (at 20°C) 6.0 6.5 6.0
Current
consump-
tion
A (at 20°C) 0.25 0.27 0.25
Static fric-
i
Nm
0.34 min. 1.5 min. 2.5 min.
tion torque
kgfcm
3.5 min. 15.0 min. 25.0 min.
Absorption
time (See
note 3.)
ms 60 max. 100 max. 200 max.
Release
time (See
note 3.)
ms 30 max. 40 max. 50 max.
Backlash (Reference
val
-
ue) ±1°
Rating --- Continuous
Insulation
grade --- Type F
Note 1. The
values for torque and rotation speed characteristics, are the values at an armature wind
-
ing temperature of 100°C, combined with the Position Driver. Other values are at normal
conditions (20°C, 65%). The maximum momentary torque is a reference value.
Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by
Okaya Electric Industrial Co.) installed.
Note 4. The
allowable radial load indicates the value at a location 5 mm from the end of
the shaft. (See
the diagram below.)
Radial
load
Thrust load
5 mm
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service life of 20,000 hours at normal usage as the standard.
Note 6. U-series
UE Servomotors can be used only with Position Driver software version 4.01
(Sep
-
tember 1997) or later.
Specifications Chapter
5
(N may um
r
1175*
0 57
n 2:.
m
7.5
2;
mm mm mun 4(Mm(r’mln)
04 mm \m)
m
aw
aw
mm mm mm mm (mum)
(N may ‘cm\
2t»
n
mm 2‘
m mu Mllll)(r’mm\
(N may m)
4 4n
1 u»
2 2w
1 m
4 n
um 2mm 3mm mum/mm
5-25
jTorque and Rotation Speed Characteristics
(Standard Cable: 3 m; 200/100-VAC Input)
R88M-UE10030H-S1
R88M-UE10030V-S1 R88M-UE20030H-S1
R88M-UE20030V-S1 R88M-UE40030H-S1
R88M-UE40030V-S1
R88M-UE75030H-S1
R88M-UE75030V-S1
Repeated
use area
Continuous opera
-
tion area
Repeated use area
Continuous opera
-
tion area
Repeated use area
Continuous opera
-
tion area
Repeated use area
Continuous opera
-
tion area
jServomotor and Mechanical System Temperature Characteristics
•U-UE-series AC Servomotors use rare earth magnets (neodymium–iron magnets). The tempera-
ture
coef
ficient for these magnets is approximately -0.13%/
°
C. As
the temperature drops, the Servo
-
motor’
s momentary maximum torque increases, and as the temperature rises the Servomotor
’
s mo
-
mentary maximum torque decreases. When the normal temperature of 20°C and -10°C are
compared,
the momentary maximum torque increases by approximately 4%. Conversely
, when the
magnet
warms up to 80
°
C from the normal temperature of 20
°
C, the momentary maximum torque
decreases by approximately 8%.
•Generally,
in a mechanical system, when the temperature drops the friction torque increases and the
load
torque becomes larger
. For that reason, overloading may occur at low temperatures. In
particu
-
lar,
in systems which use deceleration devices, the load torque at low temperatures may be nearly
twice
the load torque at
normal temperatures. Check with a current monitor to see whether overload
-
ing is occurring at low temperatures, and how much the load torque is. Likewise, check to see wheth
-
er there abnormal Servomotor overheating or alarms are occurring at high temperatures.
•An
increase in load friction torque visibly increases load inertia. Therefore,
even if the Position Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low temper
-
atures. Check to see whether there is optimal operation at low temperatures too.
Specifications Chapter
5
09
5-26
jEncoder Specifications
Item Standards
Encoder method Optical incremental encoder
Number of output pulses A, B phase: 1,024 pulses/revolution, Z phase: 1 pulse/revolution
Power supply voltage
5 VDC
±5%
Power supply current DC, 350 mA (for load resistance of 220 Ω)
Pulse duty characteristics 50% ±10%
Phase characteristics 90° ±43.2°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared
to B phase.
Maximum rotation speed 4,500 r/min
Maximum response frequency 76.8 kHz
Output signals +A, –A, +B, –B, +S, –S
Output interface Conforming to EIA RS-422A.
Output based on AM26LS31CN or equivalent.
Serial communications data Z phase, poll sensor
, U, V
, W phase
Serial communications method Combination communications method based on A, B, and S phases.
5-2-3 U-series 1-kW to 2-kW Servomotors (INC/ABS)
jGeneral Specifications
Item Specifications
Ambient operating temperature 0 to 40°C
Ambient operating humidity 20% to 80% RH (with no condensation)
Ambient storage temperature –20 to 60°C
Ambient storage humidity 20% to 80% RH (with no condensation)
Storage and operating atmo-
sphere No corrosive gasses.
Vibration resistance 10 to 150 Hz in X, Y, and Z directions with 0.2-mm double amplitude;
acceleration: 24.5 m/s2 {2.5 G} max.; time coefficient: 8 min; 4 sweeps
Impact resistance Acceleration 98 m/s2 {10 G} max., in X, Y, and Z directions, three times
Insulation resistance Between power line terminals and case: 10 MΩ min. (500-VDC megger)
Dielectric strength Between power line terminals and case: 1,500 VAC for 1 min (10 mA
max.) at 50/60 Hz (JEC 2121)
Run position All directions
Insulation grade Type F (JIS C4004)
Structure Totally-enclosed self-cooling
Protective structure Models not conforming to any standards:
IP-65 (IEC 34-5) (This standard does not apply to the shaft opening.
The connector used for the standard cable conforms to IP-30.)
Models conforming to EC Directives:
IP-55 (IEC 34-5) (This standard does not apply to the shaft opening.
The connector used for the standard cable conforms to IP-30.)
Cannot be used in environment with water-soluble cutting fluids.
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Specifications Chapter
5
5-27
Note 1. Vibration may be amplified due to sympathetic resonance of machinery, so do not exceed
19.6 m/s2 (2 G) over a long period of time.
Note 2. Use
water-resistance cables for the power cables and encoder cables in locations subject to
contact with water.
Note 3. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 4. The Servomotor cannot be used in a misty atmosphere.
jPerformance Specifications with an Incremental Encoder
Item Unit R88M
-U1K030H/
-U1K030V
R88M
-U1K530H/
-U1K530V
R88M
-U2K030H/
-U2K030V
Rated output (See note.) W 1,000 1,500 2,000
Rated torque (See note.) Nm 3.18 4.77 6.36
q( )
kgfcm 32.4 48.7 65.0
Rated rotation speed r/min 3,000
Momentary maximum rota-
tion speed r/min 4,500
Momentary maximum torque
(S )
Nm 9.54 14.3 16.1 (See note 7.)
yq
(See note.) kgfcm 97.2 146 164 (See note 7.)
Rated current (See note.) A (rms) 6.1 9.9 12.0
Momentary maximum cur-
rent (See note.) A (rms) 17 28 35.4
Rotor inertia kgm2 (GD2/4)
1.74
×
10
–4
2.47
×
10
–4
3.19
×
10
–4
kgfcms2
1.78
×10–3 2.52
×
10
–3
3.26
×
10
–3
Torque constant (See note.) Nm/A 0.59 0.54 0.52
q()
kgfcm/A 6.1 5.5 5.3
Induced voltage constant
(See note.) mV/ (r/min) 22.2 20.0 19.5
Power rate (See note.) kW/s 57.9 92.2 103
Mechanical time constant ms 0.9 0.7 0.6
Winding resistance Ω0.67 0.31 0.19
Winding impedance mH 4.75 2.40 1.57
Electrical time constant ms 7.1 7.7 8.3
Momentary allowable radial
ld
N 1,570
y
load kgf 160
Momentary allowable thrust
ld
N 590
y
load kgf 60
Allowable radial load
N 680
kgf 70
Allowable thrust load N 190
kgf 20
Weight Without brake kg Approx. 4.6 Approx. 5.8 Approx. 7.0
g
With brake kg Approx. 6.0 Approx. 7.5 Approx. 8.5
Radiation shield dimensions Material: A1 t20 x 400
Applicable
P i i D i (FND )
200-V input X25H-X50H-
Position Driver (FND-) 100-V input ---
Specifications Chapter
5
5-28
Item R88M
-U2K030H/
-U2K030V
R88M
-U1K530H/
-U1K530V
R88M
-U1K030H/
-U1K030V
Unit
Brake spec-
ifi i
Brake inertia kgm2 (GD2/4) 0.33 x 10–4
ifications kgfcms20.34 x 10–3
Excitation volt-
age V 24 VDC ±10% (No polarity)
Power
con
-
sumption W (at 20°C) 7
Current con-
sumption A (at 20°C) 0.29
Static friction Nm
80 min.
torque kgfcm
7.8 min.
Absorption
time (See note
3.)
ms 180 max.
Release time
(See note 3.) ms 100 max.
Backlash (Reference
value)
±0.5°
Rating --- Continuous
Insulation
grade --- Type F
Note 1. The
values for torque and rotation speed characteristics, are the values at an armature wind
-
ing temperature of 100°C, combined with the Position Driver. Other values are at normal
conditions (20°C, 65%). The maximum momentary torque is a reference value.
Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by
Okaya Electric Industrial Co.) installed.
Note 4. The
allowable radial load indicates the value at a location 5 mm from the end of
the shaft. (See
the diagram below.)
Radial
load
5 mm
Thrust load
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service life of 20,000 hours at normal usage as the standard.
Note 6. U-series
1-kW to 2-kW Servomotors can be used only with Position Driver software version
4.04 (April 1999) or later.
Note 7. The
momentary maximum torque for 2-kW Servomotors is approx. 16% less than when used
with a standard U-series Servodriver.
jPerformance Specifications with an Absolute Encoder
Item Unit R88M
-U1K030T/
-U1K030X
R88M
-U1K530T/
-U1K530X
R88M
-U2K030T/
-U2K030X
Rated output (See note.) W 1,000 1,500 2,000
Rated torque (See note.) Nm 3.18 4.77 6.36
q( )
kgfcm 32.4 48.7 65.0
Specifications Chapter
5
5-29
Item R88M
-U2K030T/
-U2K030X
R88M
-U1K530T/
-U1K530X
R88M
-U1K030T/
-U1K030X
Unit
Rated rotation speed r/min 3,000
Momentary maximum rota-
tion speed r/min 4,500
Momentary maximum torque
(S )
Nm 9.54 14.3 16.1 (See note 7.)
yq
(See note.) kgfcm 97.2 146 164 (See note 7.)
Rated current (See note.) A (rms) 6.1 9.9 12.0
Momentary maximum cur-
rent (See note.) A (rms) 17 28 35.4
Rotor inertia kgm2 (GD2/4)
1.74
×
10
–4
2.47
×
10
–4
3.19
×
10
–4
kgfcms2
1.78
×10–3 2.52
×
10
–3
3.26
×
10
–3
Torque constant (See note.) Nm/A 0.59 0.54 0.52
q()
kgfcm/A 6.1 5.5 5.3
Induced voltage constant
(See note.) mV/ (r/min) 22.2 20.0 19.5
Power rate (See note.) kW/s 57.9 92.2 103
Mechanical time constant ms 0.9 0.7 0.6
Winding resistance Ω0.67 0.31 0.19
Winding impedance mH 4.75 2.40 1.57
Electrical time constant ms 7.1 7.7 8.3
Momentary allowable radial
ld
N 1,570
y
load kgf 160
Momentary allowable thrust
ld
N 590
y
load kgf 60
Allowable radial load
N 680
kgf 70
Allowable thrust load N 190
kgf 20
Weight Without brake kg Approx. 5.0 Approx. 6.2 Approx. 7.4
g
With brake kg Approx. 6.5 Approx. 8.0 Approx. 9.0
Radiation shield dimensions Material: A1 t20 x 400
Applicable
P i i D i (FND )
200-V input X25H-X50H-
Position Driver (FND-) 100-V input ---
Specifications Chapter
5
t0"
1
5-30
Item R88M
-U2K030T/
-U2K030X
R88M
-U1K530T/
-U1K530X
R88M
-U1K030T/
-U1K030X
Unit
Brake spec-
ifi i
Brake inertia kgm2 (GD2/4) 0.33 x 10–4
ifications kgfcms20.34 x 10–3
Excitation volt-
age V 24 VDC ±10% (No polarity)
Power
con
-
sumption W (at 20°C) 7
Current con-
sumption A (at 20°C) 0.29
Static friction Nm
80 min.
torque kgfcm
7.8 min.
Absorption
time (See note
3.)
ms 180 max.
Release time
(See note 3.) ms 100 max.
Backlash (Reference
value)
±0.5°
Rating --- Continuous
Insulation
grade --- Type F
Note 1. The
values for torque and rotation speed characteristics, are the values at an armature wind
-
ing temperature of 100°C, combined with the Position Driver. Other values are at normal
conditions (20°C, 65%). The maximum momentary torque is a reference value.
Note 2. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 3. The operation time measurement is the measured value with a surge killer (CR50500, by
Okaya Electric Industrial Co.) installed.
Note 4. The
allowable radial load indicates the value at a location 5 mm from the end of
the shaft. (See
the diagram below.)
Radial
load
5 mm
Thrust load
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service life of 20,000 hours at normal usage as the standard.
Note 6. U-series
1-kW to 2-kW Servomotors can be used only with Position Driver software version
4.04 (April 1999) or later.
Note 7. The
momentary maximum torque for 2-kW Servomotors is approx. 16% less than when used
with a standard U-series Servodriver.
Specifications Chapter
5
m-mllkur-cm
1am moo sum «um/m...»
(N'mHkgl-cm)
mm zlm ml awn/mm
«w mmgl'cm)
Iso- ‘ ,
mun 1000 Jana mummy
5-31
jTorque and Rotation Speed Characteristics (Standard Cable: 3 m;
200-VAC Input)
Short-term
op
-
eration area
(within 1 s)
Continuous
op
-
eration area
R88M-U1K030H/T
R88M-U1K030V/X R88M-U1K530H/T
R88M-U1K530V/X R88M-U2K030H/T
R88M-U2K030V/X
Short-term
op
-
eration area
(within 1 s)
Short-term op-
eration area
(within 1 s)
Continuous
op
-
eration area
Continuous op
-
eration area
jServomotor and Mechanical System Temperature Characteristics
•U-series
AC Servomotors use rare earth magnets (neodymium–iron magnets). The temperature co
-
efficient
for these magnets is approximately
-0.13%/
°
C. As the temperature drops, the Servomotor
’s
momentary
maximum torque
increases, and as the temperature rises the Servomotor
’
s momentary
maximum torque decreases. When the
normal temperature of 20
°
C and -10
°
C are compared, the
momentary
maximum torque increases by approximately 4%. Conversely
, when the magnet warms
up to 80°C from the normal temperature of 20°C, the momentary maximum torque decreases by
approximately 8%.
•Generally,
in a mechanical system, when the temperature drops the friction torque increases and the
load
torque becomes larger
. For that reason, overloading may occur at low temperatures. In
particu
-
lar,
in systems which use deceleration devices, the load torque at low temperatures may be nearly
twice
the load torque at
normal temperatures. Check with a current monitor to see whether overload
-
ing is occurring at low temperatures, and how much the load torque is. Likewise, check to see wheth
-
er there abnormal Servomotor overheating or alarms are occurring at high temperatures.
•An
increase in load friction torque visibly increases load inertia. Therefore,
even if the Position Driver
parameters are adjusted at a normal temperature, there may not be optimal operation at low temper
-
atures. Check to see whether there is optimal operation at low temperatures too.
Specifications Chapter
5
!
5-32
Caution Do
not use a 2-kW Servomotor in the shaded range in the following graph. Heat gen
-
erated by the Motor may cause the Encoder to malfunction.
R88M-U2K030 (2 kW)
Effective torque (Nm)
Ambient temperature (C)
6.36
5.72
03040
jIncremental Encoder Specifications
Item Standards
Encoder method Optical incremental encoder
Number of output pulses A, B phase: 4,096 pulses/revolution, Z phase: 1 pulse/revolution
Power supply voltage
5 VDC
±5%
Power supply current DC, 350 mA (for load resistance of 220 Ω)
Pulse duty characteristics 50% ±10%
Phase characteristics 90° ±36°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared
to B phase.
Maximum rotation speed 4,500 r/min
Maximum response frequency 307.2 kHz
Output signals +A, –A, +B, –B, +S, –S
Output interface Conforming to EIA RS-422A.
Output based on MC3487 or equivalent.
Serial communications data Z phase, poll sensor
, U, V
, W phase
Serial communications method Combination communications method based on A, B, and S phases.
Specifications Chapter
5
5-33
jAbsolute Encoder Specifications
Item Standards
Encoder method Optical absolute encoder
Number of output pulses A, B phase: 8,192 pulses/revolution, Z phase: 1 pulse/revolution
Maximum rotational amount ±99,999 revolution
Power supply voltage
5 VDC
±5%
Power supply current DC, 400 mA (for load resistance of 220 Ω)
Applicable battery voltage 3.6 VDC
Battery consumption current 10 µA (At backup or rotation stop.)
Pulse duty characteristics 50% ±10%
Phase characteristics 90° ±36°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared
to B phase.
Maximum rotation speed 4,500 r/min
Maximum response frequency 614.4 kHz
Output signals +A, –A, +B, –B, +Z, –Z,
Output interface Conforming to EIA RS-422A.
Output based on SN75158 or equivalent.
Absolute-value communications
data Rotation amount
Absolute position within rotation (output only when power is supplied)
5-2-4 H-series Servomotors
jGeneral Specifications
Item Specifications
Ambient operating temperature 0 to 40°C
Ambient operating humidity 35% to 85% RH (with no condensation)
Ambient storage temperature –10 to 75°C
Ambient storage humidity 35% to 85% RH (with no condensation)
Storage and operating atmo-
sphere No corrosive gasses.
Run position All directions
Insulation grade Type B
Structure Totally-enclosed self-cooling
Protective structure IP-52
Cannot be used in environment with water-soluble cutting fluids.
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Note 1. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 2. The Servomotor cannot be used in a misty atmosphere.
Note 3. The
drip-proofing specifications are covered by IP-54. (Models with drip-proof specifications
provide drip-proofing on Servomotors with oil seals.)
Specifications Chapter
5
rq
maximum
hnn5[2n[ (San
\nwamA rad‘m
\nwab\n [rm ‘5!
"bh
Ihrusl
5-34
jPerformance Characteristics
Item Unit R88M
-H05030 R88M
-H10030 R88M
-H20030 R88M
-H30030 R88M
-H50030 R88M
-H75030 R88M
-H1K130
Rated
output
(See note.) W 50 100 200 300 500 750 1100
Rated torque
(S )
Nm 0.16 0.32 0.64 0.95 1.59 2.39 3.50
q
(See note.) kgfcm 1.62 3.25 6.50 9.74 16.2 24.4 35.7
Rated rotation
speed r/min 3,000
Momentary
maximum rota-
tion speed
r/min 4,000
Momentary
maximum Nm 0.48 0.95 1.91 2.86 4.76 7.17 8.62
maximum
torque (See
note.) kgfcm 4.86 9.74 19.5 29.2 48.6 73.2 88
Rotor inertia kgm2
(GD2/4)
0.14
×
10–4
0.22
×
10–4
0.44
×
10–4
0.65
×
10–4
2.5
×
10
–4
4.1
×
10
–4
5.7
×
10
–4
kgfcms
2
1.4
×10–4 2.2
×
10
–4
4.5
×
10
–4
6.6
×
10
–4
26
×
10
–4
42
×
10
–4
58
×
10
–4
Torque
constant (See
Nm/A 0.22 0.35 0.43 0.49 0.43 0.47 0.59
cons
t
an
t
(S
ee
note.) kgfcm/A 2.2 3.6 4.4 5.0 4.4 4.8 6.0
Induced volt-
age constant
(See note.)
mV/
(r/min) 23 37 45 52 45 50 62
Power rate
(See note.) kW/s 1.8 4.7 9.1 14 9.7 14 21
Mechanical
time constant ms 6.9 2.7 2.3 1.7 2.2 1.4 1.3
Winding resis-
tance Ω24 16 10 6.1 1.6 0.74 0.80
Winding im
-
pedance mH 51 43 38 28 10 6.6 6.9
Electrical time
constant ms 2.1 2.7 3.8 4.5 6.5 9.0 8.6
Momentary al-
lowable radial
N 147 343 637 834
l
owa
bl
e ra
di
a
l
load kgf 15 35 65 85
Momentary al-
lowable thrust
N 196 275 490 490
l
owa
bl
e
th
rus
t
load kgf 20 28 50 50
Allowable ra-
di l l d
N 103 113 186 196 353 373 441
dial load
kgf 10.5 11.5 19.0 20.0 36.0 38.0 45.0
Al-
l
AN 29 78 118 147
low-
able
kgf 3.0 8.0 12.0 15.0
a
bl
e
thrust BN 29 78 118 147
thrust
load kgf 3.0 7.5 11.0 13.0
Weig
ht With-
out
brake
kg Approx.
0.9 Approx.
1.1 Approx.
1.8 Approx.
2.2 Approx.
4.3 Approx.
5.6 Approx.
6.8
With
brake kg Approx.
1.4 Approx.
1.6 Approx.
2.6 Approx.
3.0 Approx.
6.5 Approx.
7.8 Approx.
9.0
Specifications Chapter
5
rrrrrrrr
5-35
Item R88M
-H1K130
R88M
-H75030
R88M
-H50030
R88M
-H30030
R88M
-H20030
R88M
-H10030
R88M
-H05030
Unit
Radiation
shield
dimen
-
sions
Material:
A1 t6 x 150 t6 x 250 t12 x 250
Applicable
Position Driver
(FND )
200-V
input X06H-X12H-X25H-
(FND-) 100-V
input X06L-X12L---- --- --- ---
Brake
spec-
ifi
Brake
inertia kgm2
(GD2/4) 0.02 x 10–4 0.05 x 10–4 0.5 x 10–4
ifica-
tions kgfcms
20.2 x 10–4 0.5 x 10–4 5 x 10–4
Excita-
tion
voltage
V 24 VDC ±10% (No polarity)
Power
con-
sump-
tion
W (at
20°C) 10 11 22
Static
friction
Nm
0.5 min. 1.5 min. 5.4 min.
f
r
i
c
ti
on
torque kgfcm
5 min. 15 min. 55 min.
Ab-
sorp-
tion
time
ms 50 max. (reference value)
Re-
lease
time
ms 30 max. (reference val-
ue) 50 max. (reference value)
Back-
lash (Refer-
ence
val
-
ue)
±1.2°±0.9°±0.7°
Rating --- Continuous
Insula-
tion
grade
--- Type F
Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 2. For motors with brakes, increase the size of the radiation shield by 100 mm (example: t6 x
250 → t6 x 350).
Note 3. The
allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output
shaft length). (See the diagram below.)
Radial
load
Thrust load B
A
Note 4. The allowable thrust load varies depending on the shaft direction.
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service life of 30,000 hours at normal usage as the standard.
Specifications Chapter
5
5-36
Note 6. H-series
Servomotors can be used only with Position Driver software version 4.01 (Septem
-
ber 1997) or later.
jTorque and Rotation Speed Characteristics
(Standard Cable: 3 m; 200/100-VAC Input)
Specifications Chapter
5
(N-m) «mm mm (mm) 1N~ml (kgvm)
m m In 20 50 50
AD #0—
30 30‘
05 5 l0 ,9
20 20-
!u m.
” . 0 . U . .
a 2.000 4 we a Loan moon 0 2,000 I we
(N-m) (km-m)
(N'm) (hum)
(Ira-m) (W'mfl
5“ 50 m m H10
:0 m
30 so
5 50 5 so
In 20
H) m
D 1 ° . 0 v v
n 2,000 a one 0 mm 4.000 a 7.000 a we
(N'mHkme)
ID mo
5 547
n
5-37
R88M-H05030 (50 W) R88M-H10030 (100 W) R88M-H20030 (200 W)
R88M-H30030 (300 W) R88M-H50030 (500 W) R88M-H75030 (750 W)
R88M-H1K130 (1100 W)
Short-term op-
eration area
(within 1 s)
Continuous
op
-
eration area
Short-term
op
-
eration area
(within 1 s)
Continuous
op
-
eration area
Short-term
opera
-
tion area (within 1 s)
Continuous
op
-
eration area
Short-term
operation area
(within 1 s)
Continuous op
-
eration area
Short-term
operation area
(within 1 s)
Continuous
op
-
eration area
Continuous op
-
eration area
Short-term
operation area
(within 1 s)
Short-term
operation area
(within 1 s)
Continuous op
-
eration area
(r/min) (r/min) (r/min)
(r/min) (r/min) (r/min)
(r/min)
Specifications Chapter
5
5-38
jEncoder Specifications
Item Standards
Encoder method A, B, Z phase: Magnetic incremental encoder with MR elements
Number of output pulses A, B phase: 2,000 pulses/revolution, Z phase: 1 pulse/revolution
Power supply voltage
5 VDC
±5%
Pulse duty characteristics 50% ±10%
Phase characteristics 90° ±40°
Phase relationship For rotation in the CW direction, A phase is advanced by 90° compared
to B phase.
Maximum rotation speed 4,000 r/min
Maximum response frequency 133.3 kHz
Output signals +A, –A, +B, –B, +S, –S
Output interface Conforming to EIA RS-422A.
Output based on AM26LS31CN or equivalent.
Serial communications data Z phase, poll sensor
, U, V
, W phase
Serial communications method Manchester code
5-2-5 M-series Servomotors
jGeneral Specifications
Item Specifications
Ambient operating temperature 0 to 40°C
Ambient operating humidity 35% to 85% RH (with no condensation)
Ambient storage temperature –10 to 75°C
Ambient storage humidity 35% to 85% RH (with no condensation)
Storage and operating atmo-
sphere No corrosive gasses.
Run position All directions
Insulation grade Type F (JIS C4004)
Structure Totally-enclosed self-cooling
Protective structure IP-42 (JEM1030)
Cannot be used in environment with water-soluble cutting fluids.
Vibration grade V-15 (JEC2121)
Mounting method Flange-mounting
Note 1. The above items reflect individual evaluation testing. The results may differ under com-
pounded conditions.
Note 2. The Servomotor cannot be used in a misty atmosphere.
Note 3. The
drip-proofing specifications are covered by IP-44. (Models with drip-proof specifications
provide drip-proofing on Servomotors with oil seals.)
Specifications Chapter
5
rq
mum [nrnun (San
rq
\nwamA rad‘m
\nwamA m" ‘5!
5-39
jPerformance Characteristics
D1,200 r/min
Item Unit R88M
-M20012 R88M
-M40012 R88M
-M70012 R88M
-M1K112 R88M
-M1K412 R88M
-M1K812
Rated
output
(See note.) W 200 400 700 1,100 1,400 1,800
Rated torque
(S )
Nm 1.59 3.18 5.57 8.75 11.1 14.3
q
(See note.) kgfcm 16.2 32.5 56.8 89.3 114 146
Rated rotation
speed r/min 1,200
Momentary maxi-
mum rotation
speed
r/min 1,300
Momentary maxi-
mum torque (See
Nm 4.3 7.4 17.6 16.7 30.4 44.1
mum
t
orque
(S
ee
note.) kgfcm 44.0 75.0 180 170 310 450
Rated current
(See note.) A (rms) 2.1 2.9 4.0 6.6 8.4 9.3
Momentary maxi-
mum current
(See note.)
A (rms) 7.1 7.1 14.2 14.2 28.3 35.4
Rotor inertia kgm2
(GD2/4)
6.3
×
10
–4
9.8
×
10
–4
1.6
×
10
–3
4.2
×
10
–3
4.9
×
10
–3
6.5
×
10
–3
kgfcms2
6.4
×10–3 1.0
×
10
–2
1.6
×
10
–2
4.3
×
10
–2
5.0
×
10
–2
6.6
×
10
–2
Torque constant
(S )
Nm/A 0.74 1.10 1.40 1.32 1.32 1.53
q
(See note.) kgfcm/A 7.6 11.2 14.3 13.5 13.5 15.6
Induced voltage
constant (See
note.)
mV/
(r/min) 53 72 88 82 83 92
Power rate (See
note.) kW/s 4.0 10 20 18 25 32
Mechanical time
constant ms 7.3 3.5 2.3 3.1 2.8 1.9
Winding resis-
tance Ω9.8 6.4 4.2 1.9 1.5 1.0
Winding imped
-
ance mH 70 65 50 20 40 27
Electrical time
constant ms 7.1 10.1 11.8 10 26 26
Momentary al-
lowable radial
N 880 940 1,000 2,040 2,100 2,190
l
owa
bl
e ra
di
a
l
load kgf 90 96 102 208 214 223
Momentary al-
lowable thrust
N 2,380 2,380 2,380 5,390 5,390 5,390
l
owa
bl
e
th
rus
t
load kgf 243 243 243 550 550 550
Allowable radial
load N 480 (560) 519 (600) 548 (640) 1,029
(1,190) 1,058
(1,230) 1,107
(1,270)
kgf 49 (57) 53 (61) 56 (65) 105 (121) 108 (125) 113 (130)
Allowable thrust
ld
N 68 (88) 58 (78) 58 (69) 156 (190) 147 (180) 127 (160)
load kgf 7 (9) 6 (8) 6 (7) 16 (19) 15 (18) 13 (16)
Weight Without
brake kg Approx. 6.5 Approx. 9.0 Approx. 14 Approx. 22 Approx. 26 Approx. 34
With
brake kg Approx. 7.1 Approx. 10 Approx. 15 Approx. 24 Approx. 28 Approx. 38
Specifications Chapter
5
harm
VI’iFti" "
5-40
Item R88M
-M1K812
R88M
-M1K412
R88M
-M1K112
R88M
-M70012
R88M
-M40012
R88M
-M20012
Unit
Radiation shield
dimensions Material:
FE (See
note 4.)
t15 x 250 t20 x 300 t20 x 400
Applicable Posi-
tion Driver
(FND )
200-V in-
put X12H-X25H-X50H-
(FND-) 100-V in-
put X12L----
Brake
speci-
fi
Brake
inertia kgm2
(GD2/4) 1.9 x 10–5 3.2 x 10–5 6.8 x 10–5 2.9 x 10–4 3.0 x 10–4
fica-
tions
kgfcms21.9 x 10–4 3.3 x 10–4 6.9 x 10–4 2.9 x 10–3 3.1 x 10–3
ti
ons Excita-
tion
voltage
V 24 VDC ±10% (No polarity)
Power
con-
sump-
tion
W (at
20°C) 9.8 15 18 22
Current
con-
sump-
tion
A (at
20°C) 0.41 0.63 0.76 0.92
Static
friction
Nm
2.0 min. 3.9 min. 7.8 min. 16 min. 29 min.
f
r
i
c
ti
on
torque kgfcm
20 min. 40 min. 80 min. 160 min. 300 min.
Absorp-
tion
time
(See
note 3.)
ms 25 max. 35 max. 40 max. 60 max. 90 max.
Release
time
(See
note 3.)
ms 15 max. 15 max. 20 max. 40 max. 35 max.
Back-
lash (Reference
value) ±0.36° ±0.32° ±0.27° ±0.24° ±0.21°
Rating --- Continuous
Insula-
tion
grade
--- Type B
Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 2. The operation time measurement is the measured value with a surge killer installed.
Note 3. For
Servomotors with brakes,
increase the dimensions of the radiation shield by 50 mm each.
(For example: t15 x 250 becomes t15 x 300.)
Note 4. The
allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output
shaft length). (See the diagram below.)
Radial
load
Thrust load
Output shaft center
Specifications Chapter
5
rq
mum [nrnun (San
rq
\nwamA rad‘m
\nwamA m" ‘5!
5-41
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service
life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in
parentheses).
Note 6. M-series 1,200-r/min, 1,100 to 1,800-W Servomotors can be used only with Position Driver
software version 4.04 (April 1999) or later.
D2,000 r/min
Item Unit R88M
-M20020 R88M
-M40020 R88M
-M70020 R88M
-M1K120 R88M
-M1K820 R88M
-M2K220
Rated
output
(See note.) W 200 400 700 1,100 1,800 2,200
Rated torque
(S )
Nm 0.955 1.91 3.34 5.25 8.58 10.5
q
(See note.) kgfcm 9.74 19.5 34.1 53.6 87.6 107
Rated rotation
speed r/min 2,000
Momentary maxi-
mum rotation
speed
r/min 2,200
Momentary maxi-
mum torque (See
Nm 3.3 3.9 9.6 12.9 21.6 26.5
mum
t
orque
(S
ee
note.) kgfcm 34.0 40.0 98.0 132 220 270
Rated current
(See note.) A (rms) 2.0 3.3 4.1 5.5 8.6 12.3
Momentary maxi-
mum current
(See note.)
A (rms) 7.1 7.1 14.2 14.2 35.4 35.4
Rotor inertia kgm2
(GD2/4)
1.6
×
10
–4
6.3
×
10
–4
9.8
×
10
–4
1.6
×
10
–3
4.2
×
10
–3
4.9
×
10
–3
kgfcms2
1.6
×10–3 6.4
×
10
–2
1.0
×
10
–2
1.6
×
10
–2
4.3
×
10
–2
5.0
×
10
–2
Torque constant
(S )
Nm/A 0.56 0.57 0.81 0.95 0.98 0.85
q
(See note.) kgfcm/A 5.7 5.8 8.3 9.7 10 8.7
Induced voltage
constant (See
note.)
mV/
(r/min) 35 40 50 62 50 53
Power rate (See
note.) kW/s 6.0 5.8 11 18 17 22
Mechanical time
constant ms 3.4 7.9 3.1 2.6 2.1 2.6
Winding resis-
tance Ω10 6.1 3.1 2.2 0.70 0.58
Winding imped
-
ance mH 46 32 25 21 17 14
Electrical time
constant ms 4.5 5.3 8.1 9.6 24 24
Momentary al-
lowable radial
N 420 880 940 1,000 2,,040 2,100
l
owa
bl
e ra
di
a
l
load kgf 43 90 96 102 208 214
Momentary al-
lowable thrust
N 1,180 2,380 2,380 2,380 5,390 5,390
l
owa
bl
e
th
rus
t
load kgf 120 243 243 243 550 550
Allowable radial
ld
N 205 (250) 401 (470) 431 (500) 460 (540) 862 (1,000) 891 (1,030)
load kgf 21 (25) 41 (48) 44 (51) 47 (55) 88 (102) 91 (105)
Allowable thrust
ld
N 19 (29) 68 (88) 58 (78) 58 (69) 156 (190) 147 (180)
Specifications Chapter
5
\oau
"an:
VI’iFti" "
5-42
Item R88M
-M2K220
R88M
-M1K820
R88M
-M1K120
R88M
-M70020
R88M
-M40020
R88M
-M20020
Unit
load kgf 2 (3) 7 (9) 6 (8) 6 (7) 16 (19) 15 (18)
Weight Without
brake kg Approx. 3.2 Approx. 6.5 Approx. 9.0 Approx. 14 Approx. 22 Approx. 26
With
brake kg Approx. 3.6 Approx. 7.1 Approx. 10 Approx. 15 Approx. 24 Approx. 28
Radiation shield
dimensions Material:
FE (See
note 4.)
t15 x 250 t20 x 300 t20 x 400
Applicable Posi-
tion Driver
(FND )
200-V in-
put X12H-X25H-X50H-
(FND-) 100-V in-
put X12L----
Brake
speci-
fi
Brake
inertia kgm2
(GD2/4) 6.7 x 10–4 1.9 x 10–5 3.2 x 10–5 6.8 x 10–5 2.8 x 10–4
fica-
tions
kgfcms26.8 x 10–5 1.9 x 10–4 3.3 x 10–4 6.9 x 10–3 2.9 x 10–3
ti
ons Excita-
tion
voltage
V 24 VDC ±10% (No polarity)
Power
con-
sump-
tion
W (at
20°C) 6.0 9.8 15 18
Current
con-
sump-
tion
A (at
20°C) 0.25 0.41 0.63 0.76
Static
friction
Nm
0.98 min. 2.0 min. 3.9 min. 7.8 min. 16 min.
f
r
i
c
ti
on
torque kgfcm
10 min. 20 min. 40 min. 80 min. 160 min.
Absorp-
tion
time
(See
note 3.)
ms 30 max. 25 max. 35 max. 40 max. 60 max. 90 max.
Release
time
(See
note 3.)
ms 10 max. 15 max. 15 max. 20 max. 40 max. 35 max.
Back-
lash (Reference
value) ±0.85° ±0.36° ±0.32° ±0.27° ±0.24° ±0.21°
Rating --- Continuous
Insula-
tion
grade
--- Type B
Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 2. The operation time measurement is the measured value with a surge killer installed.
Note 3. For
Servomotors with brakes,
increase the dimensions of the radiation shield by 50 mm each.
(For example: t15 x 250 becomes t15 x 300.)
Specifications Chapter
5
rq
max‘mum [nrnun
rq
5-43
Note 4. The
allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output
shaft length). (See the diagram below.)
Radial
load
Thrust load
Output shaft center
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service
life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in
parentheses).
Note 6. M-series 2,000-r/min 1,100 to 2,200-W Servomotors can be used only with Position Driver
software version 4.04 (April 1999) or later.
D4,000 r/min
Item Unit R88M
-M06040 R88M
-M12040 R88M
-M20040 R88M
-M40040 R88M
-M70040 R88M
-M1K140 R88M
-M2K040
Rated
output
(See note.) W 60 120 200 400 700 1,100 2,000
Rated torque
(S )
Nm 0.143 0.286 0.477 0.955 1.67 2.62 4.77
q
(See note.) kgfcm 1.46 2.92 4.87 9.74 17.0 26.8 48.7
Rated rotation
speed r/min 4,000
Momentary
maximum rota-
tion speed
r/min 4,400
Momentary
maximum torque
Nm 0.490 1.03 1.52 3.72 4.61 6.86 15.7
max
i
mum
t
orque
(See note.) kgfcm 5.00 10.5 15.5 38.0 47.0 70.0 160
Rated current
(See note.) A (rms) 1.5 1.8 2.1 3.4 4.6 5.0 10.5
Momentary
maximum cur-
rent (See note.)
A (rms) 4.9 7.1 7.1 14.2 14.2 14.2 35.4
Rotor inertia kgm2
(GD2/4)
2.9
×
10
–5
4.1
×
10
–5
8.9
×
10
–5
1.6
×
10
–4
6.3
×
10
–4
9.8
×
10
–4
1.6
×
10
–3
kgfcms2
3.0
×10–4 4.2
×
10
–4
9.1
×
10
–4
1.6
×
10
–3
6.4
×
10
–3
1.0
×
10
–2
1.6
×
10
–2
Torque constant
(S )
Nm/A 0.15 0.19 0.23 0.28 0.35 0.52 0.46
q
(See note.) kgfcm/A 1.5 1.9 2.3 2.9 3.6 5.3 4.7
Induced voltage
constant (See
note.)
mV/
(r/min) 8.0 11.3 16.3 20 23.3 31.7 30
Power rate (See
note.) kW/s 0.70 2.0 2.6 5.8 4.4 7.0 15
Mechanical time
constant ms 6.6 3.8 7.6 4.5 7.4 3.2 2.8
Winding resis-
tance Ω7.35 4.7 6.52 3.55 2.2 1.33 0.57
Winding imped
-
ance mH 13 12 25 15 12 11 5.5
Electrical time
constant ms 1.8 2.6 3.8 4.2 5.5 8.3 9.6
Specifications Chapter
5
\nwamA rad‘m
\nwamA m" ‘5!
harm
f'mmn
5-44
Item R88M
-M2K040
R88M
-M1K140
R88M
-M70040
R88M
-M40040
R88M
-M20040
R88M
-M12040
R88M
-M06040
Unit
Momentary
al
-
lowable radial
N 140 160 370 420 880 940 1,000
l
owa
bl
e ra
di
a
l
load kgf 14 16 38 43 90 96 102
Momentary al-
lowable thrust
N 440 440 1,180 1,180 2,380 2,380 2,380
l
owa
bl
e
th
rus
t
load kgf 45 45 120 120 243 243 243
Allowable radial
ld
N 58 (69) 58 (78) 147 (180) 166 (200) 323 (370) 343 (400) 362 (420)
load kgf 6 (7) 6 (8) 15 (18) 17 (20) 33 (38) 35 (41) 37 (43)
Allowable thrust
ld
N 5 (6.9) 4 (5.9) 19 (29) 19 (29) 58 (69) 49 (59) 39 (49)
load kgf 0.6 (0.7) 0.5 (0.6) 2 (3) 2 (3) 6 (7) 5 (6) 4 (5)
Weight Without
brake kg Approx.
1.2 Approx.
1.6 Approx.
2.3 Approx.
3.2 Approx.
6.5 Approx.
9.0 Approx.
14
With
brake kg Approx.
1.4 Approx.
1.8 Approx.
2.7 Approx.
3.6 Approx.
7.1 Approx.
10 Approx.
15
Radiation shield
dimensions Material:
FE (See
note 4.)
t15 x 250 t20 x 300
Applicable Posi-
tion Driver
(FND )
200-V in-
put X12H-X25H-X50H-
(FND-) 100-V in-
put X12L----
Brake
speci-
fi
Brake
inertia kgm2
(GD2/4) 1.5 x 10–6 6.7 x 10–6 1.9 x 10–5 3.2 x 10–5 6.8 x 10–5
fica-
tions
kgfcms21.5 x 10–5 6.8 x 10–5 1.9 x 10–4 3.3 x 10–5 6.9 x 10–5
ti
ons Excita-
tion
voltage
V 24 VDC ±10% (No polarity)
Power
con-
sump-
tion
W (at
20°C) 5.0 6.0 9.8 15
Current
con-
sump-
tion
A (at
20°C) 0.21 0.25 0.41 0.63
Static
friction
Nm
0.59 min. 0.98 min. 2.0 min. 3.9 min. 7.8 min.
f
r
i
c
ti
on
torque kgfcm
6 min. 10 min. 20 min. 40 min. 80 min.
Absorp-
tion
time
(See
note 3.)
ms 25 max. 30 max. 25 max. 35 max. 40 max.
Re-
lease
time
(See
note 3.)
ms 10 max. 10 max. 15 max. 15 max. 20 max.
Back-
lash (Reference
value) ±1.2° ±0.85° ±0.36° ±0.32° ±0.27°
Rating --- Continuous
Insula-
tion
grade
--- Type B
Specifications Chapter
5
:l -—>
[N.m)1ln<.m\ ”mummy="" aurmmbm="" so="" m="" m="" .="" m="" a="" w="" a="" 3.,="" an="" n="" m="" 2="" m="" n="" u;="" .="" m="" 2="" 2)="" on="" an)="" wwuw="" on="" 54»="" mm="" mm="" sou="" mum="" mm.="" m="" \m-mhm-ul="" mmnmwr="" m="" d="" an="" m="" m="" an="" x="" m="" m="" w="" m.="" m="" m="" o="" a="" 9:1="" mm="" mumm="" o="" o="" sou="" mm="" mount")="" a="" u="" an="" lam="" vmmmln)="">5-45
Note 1. The brakes are the non-excitation type. (When excitation voltage is added, it is cleared.)
Note 2. The operation time measurement is the measured value with a surge killer installed.
Note 3. For
Servomotors with brakes,
increase the dimensions of the radiation shield by 50 mm each.
(For example: t15 x 250 becomes t15 x 300.)
Note 4. The
allowable radial load indicates the value at the center of the shaft (i.e., 1/2 of the output
shaft length). (See the diagram below.)
Radial
load
Thrust load
Output shaft center
Note 5. The
allowable radial load and the allowable thrust load are the values determined by taking a
service
life of 30,000 hours at normal usage as the standard (or 20,000 hours for the items in
parentheses).
Note 6. M-series 4,000 r/min 1,100 to 2,000 W Servomotors can be used only with Position Driver
software version 4.04 (April 1999) or later.
jTorque and Rotation Speed Characteristics (Standard Cable: 3 m;
200/100-VAC Input)
D1,200 r/min
R88M-M20012 R88M-M40012 R88M-M70012
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
(r/min) (r/min) (r/min)
R88M-M1K112 R88M-M1K412 R88M-M1K812
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
operation area
(within 1 s)
Continuous
operation
area
Short-term
operation area
(within 1 s)
Continuous
operation
area
Specifications Chapter
5
m.mlln»m
‘ m
I so
2 20
I m.
n n mm mama
m-mw-m
15 W
m ,w
5 50-
n n um um mow/mm!
leHlmafl
um
mm 2290
mm zzmfi/min)
‘N'TMW
s
a
(M-mmm-ww
m
m m
mu
yaw
20m um
um 22w1r/mm)
5-46
D2,000 r/min
R88M-M20020 R88M-M40020 R88M-M70020
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
(r/min) (r/min) (r/min)
R88M-M1K120 R88M-M1K820 R88M-M2K220
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
Specifications Chapter
5
‘N-m) mm
n4 .
D 3
o z
m I
n a
«mm-m1
mu w.)
w)
w Im
mm 4001: um
um won mm
2m 4m? 4‘17 (vlmln)
;N.".m.,.,.,“\
12 ,2
m m
on ,
as s
m .
oz 2
n n
Hymn]
so
‘ u;
I )0
2 20
. w
n a
20m
mo
um we
won me
«WWW
vs ,5
o a mm um um
wmwm
u n ma mnmannm)
8a
5::
5-47
D4,000 r/min
R88M-M06040 R88M-M12040 R88M-M20040
R88M-M40040 R88M-M70040
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
op
-
eration area
(within 1 s)
Continuous
operation
area
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
(r/min) (r/min) (r/min)
(r/min) (r/min)
R88M-M1K140
R88M-M2K040
Short-term
operation area
(within 1 s)
Continuous
operation area
Short-term
operation
area (with-
in 1 s)
Continuous
operation
area
jResolver Specifications
Item Standards
Accuracy Absolute accuracy: 0.18° max. (Ambient temperature: 25°C)
Origin signal 2 pulses/revolution
Specifications Chapter
5
5-48
5-3 Cable Specifications
5-3-1 General Control Cables (DIO Position Drivers Only)
DCable Models
Model Length (L) Outer diameter of sheath
FND-CCX001S 1 m 11.8 dia.
FND-CCS002S 2 m
DConnection Configuration
SYSMAC C-series Programmable Controller FND-X-series Position Driver
43.5
39
L
t=18
Specifications Chapter
5
5-49
DWiring
Pin
No. Insulation
color Dot
mark
Dot mark color Signal name
1 Light brown – Black CCWL
2 Light brown – Red CWL
3 Yellow – Black ORG
4 Yellow – Red RUN
5 Light green – Black START
6 Light green – Red RESET
7 Gray – Black SEARCH
8 Gray – Red +JOG
9 White – Black –JOG
10 White – Red TEACH
11 Light brown – – Black P.IN0
12 Light brown – – Red P.IN1
13 Yellow – – Black P.IN2
14 Yellow – – Red P.IN3
15 Light green – – Black P.IN4
16 Light green – – Red P.IN5
17 Gray – – Black P.IN6
18 Gray – – Red P.IN7
19 White – – Black OGND
20 White – – Red STOP
21 Light brown – – – Black BO
22 Light brown – – – Red READY
23 Yellow – – – Black S.COM
24 Yellow – – – Red ORGSTP
25 Light green – – – Black T.COM
26 Light green – – – Red RUNON
27 Gray – – – Black INP
28 Gray – – – Red ALM
29 White – – – Black P.OUT0
30 White – – – Red P.OUT1
31 Light brown – – – – Black P.OUT2
32 Light brown – – – – Red P.OUT3
33 Yellow – – – – Black P.OUT4
34 Yellow – – – – Red P.OUT5
35 Light green – – – – Black P.OUT6
36 Light green – – – – Red +24V
Cable: UL2464, AWG24X18P
Note Connect the shield to the shield plate under the connector cover.
Specifications Chapter
5
2
4
6
8
10
12
14
16
18
1
3
5
7
9
11
13
15
17
20
22
24
26
28
30
32
34
36
19
21
23
25
27
29
31
33
35
Connector Pin
Arrangement
Connector plug model:
10136-3000VE
(Sumitomo 3M)
Connector
case model:
10336-52A0-008
(Sumitomo 3M)
5-50
5-3-2 Connector
T
erminal Board Conversion Unit Cables (DIO
Position Drivers Only)
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CTU001N 1 m 9.9 dia.
R88A-CTU002N 2 m
DConnection Configuration
XW2B-40F5-P Connector Terminal Board FND-X-series Position Driver
Specifications Chapter
5
5-51
DWiring
Connector plug model: FCN-361J040-AU (Fujitsu)
Connector case model: FCN-36C040-B (Fujitsu)
Cable:
AWG24X18P, UL2464 Connector plug model: 10114-3000VE (Sumitomo 3M)
Connector case model: 10314-52A0-008 (Sumitomo 3M)
36 +24V
Shell
Specifications Chapter
5
5-52
5-3-3 External Control Signal Connecting Cables
(CompoBus/S Position Drivers Only)
jConnector-Terminal Block Conversion Unit Cable
DCable
Model Length (L) Outer diameter of sheath
FND-CTX002N 2 m 7.4 dia.
DConnection Configuration
XW2B-20G4 or XW2B-20G5 Connector–Terminal Block FND-X-series Position Driver
30
29.5
16.1 2,000 39
t=6.1 t=12.7
DWiring
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
No.
7
1
2
3
4
8
14
Terminal block Connector
Symbol
+24 V
CCWL
CWL
ORG
STOP
BO
OGND
Connector
model:
XG4M-2030-T (OMRON)
Contact plug model:
101
14-3000VE (Sumitomo 3M)
Contact case model:
10314-52A0-008 (Sumitomo 3M)
Specifications Chapter
5
5-53
5-3-4 Encoder Cables
jEncoder Cables for U-series 30-W to 750-W Servomotors Conforming
to UL/cUL Standards and U-UE-series Servomotors not Conforming to
Any Standards With Incremental Encoder
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CRU003C 3 m 8 dia.
R88A-CRU005C 5 m
R88A-CRU010C 10 m
R88A-CRU015C 15 m
R88A-CRU020C 20 m
Note Up to a maximum of 20 meters between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
U-series 30-W to 750-W AC Servomotor
conforming to UL/cUL standards
U-UE-series AC Servomotor not conforming
to any standards with incremental encoder
FND-X-series Position Driver
23.7 L
t=14
t=14
33.3
16
39
DWiring
A+
A–
B+
B–
S+
S–
E0V
E5V
FG
1
2
3
4
6
7
8
9
5
No.
A+
A–
B+
B–
S+
S–
E0V
E5V
FG
1
2
3
4
6
7
8
9
5
No.
AWG24 (blue)
AWG24 (white/blue)
AWG24 (yellow)
AWG24 (white/yellow)
AWG24 (green)
AWG24 (white/green)
AWG22 (black)
AWG22 (red)
AWG22 (green/yellow)
Symbol Symbol
Cable: AWG22
×
3C + A
WG24
×
3P
UL2589
Specifications Chapter
5
5-54
For
Cable
Connector housing model:
172161-1 (Nippon Amp)
Contact plug model: 10120-3000VE (Sumitomo 3M)
Connector socket contact model:
170365-1 (Nippon Amp)
Contact case model:
10320-52A0-008 (Sumitomo 3M)
Crimping tool:
724649-1
Pulling tool:
724668-2
For Motor
Contact plug model:
172169-1 (Nippon Amp)
Connector pin contact model:
170359-1 (Nippon Amp)
jEncoder Cables for U-series 30-W to 750-W Servomotors Conforming
to UL/cUL Standards with Absolute Encoder
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CSU003C 3 m 10.3 dia.
R88A-CSU005C 5 m
R88A-CSU010C 10 m
R88A-CSU015C 15 m
R88A-CSU020C 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
U-series 30-W to 750-W AC Ser-
vomotor conforming to UL/cUL
standards with absolute encoder FND-X-series Position Driver
23.7 L39
t=14
t=22.4
16
33.3
Specifications Chapter
5
5-55
DWiring
AWG22 Red
AWG24 White/Blue
AWG24 Blue
AWG24 White/Yellow
AWG24 Yellow
AWG24 Green
AWG22 Black
AWG24 White/Green
AWG24 Purple
AWG24 White/Purple
AWG24 White/Gray
AWG24 White/Orange
AWG22 Green/Yellow
AWG24 Orange
1
2
3
4
5
6
7
8
10
11
12
13
14
15
9
16
17
18
19
14
15
1
4
8
9
10
13
12
20
A+
A–
B+
B–
Z+
Z–
E0V
E5V
ABS+
ABS–
NC
Reset
BAT–
BAT+
FG
A+
A–
B+
B–
Z+
Z–
E0V
E5V
ABS+
ABS–
(Reset)
BAT–
BAT+
FG
Cable: AWG22
×
3C + A
WG24
×
6P
UL2589
No. No. SymbolSymbol
For
Cable
Connector housing model:
172163-1 (Nippon Amp)
Contact plug model: 10120-3000VE (Sumitomo 3M)
Connector socket contact model:
170365-1 (Nippon Amp)
Contact case model:
10320-52A0-008 (Sumitomo 3M)
Crimping tool:
724649-1
Pulling tool:
724668-2
For Motor
Contact plug model:
172171-1 (Nippon Amp)
Connector pin contact model:
170359-1 (Nippon Amp)
jEncoder Cables for U-series 30-W to 750-W Servomotors and
U-UE-series Servomotors Conforming to EC Directives with
Incremental Encoders
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CRUD003C 3 m 8.0 dia.
R88A-CRUD005C 5 m
R88A-CRUD010C 10 m
R88A-CRUD015C 15 m
R88A-CRUD020C 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
Specifications Chapter
5
5-56
DConnection Configuration
U-series 30-W to 750-W AC Servo-
motor conforming to EC Directives
U-UE-series AC Servomotor con-
forming to EC Directives with incre-
mental encoder
FND-X-series Position Driver
DWiring
AWG22 Red
AWG24 White/Blue
AWG24 Blue
AWG24 White/Yellow
AWG24 Yellow
AWG24 Green
AWG22 Black
AWG24 White/Green
AWG22 Green Yellow
1
2
3
4
5
6
7
8
9
16
17
18
19
14
15
1
4
20
Shell
A+
A–
B+
B–
S+
S–
E0V
E5V
FG
A+
A–
B+
B–
S+
S–
E0V
E5V
FG
Cable: AWG22
×
3C + A
WG24
×
3P
UL2589
No. No. SymbolSymbol
For
Cable
Connector model:
17JE13090-02D8A (Daiichi Electronic Industries)
Contact plug model: 10120-3000VE (Sumitomo 3M)
Stand model:
17L-002A1 (Daiichi Electronic Industries) Contact case model:
10320-52A0-008 (Sumitomo 3M)
For Motor
Connector model:
17JE23090-02D8A (Daiichi Electronic Industries)
jEncoder Cables for U-series 30-W to 750-W Servomotors Conforming
to EC Directives with Absolute Encoders
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CSUD003C 3 m 10.3 dia.
R88A-CSUD005C 5 m
R88A-CSUD010C 10 m
R88A-CSUD015C 15 m
R88A-CSUD020C 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
Specifications Chapter
5
5-57
DConnection Configuration
U-series 30-W to 750-W AC Ser-
vomotor conforming to EC Direc-
tives with absolute encoder FND-X-series Position Driver
DWiring
AWG22 Red
AWG24 White/Blue
AWG24 Blue
AWG24 White/Yellow
AWG24 Yellow
AWG24 Green
AWG22 Black
AWG24 White/Green
AWG24 Purple
AWG24 White/Purple
AWG24 White/Gray
AWG24 White/Orange
AWG22 Green/Yellow
AWG24 Orange
1
2
3
4
5
6
7
8
10
11
12
13
14
15
9
16
17
18
19
14
15
1
4
8
9
10
13
12
20
A+
A–
B+
B–
Z+
Z–
E0V
E5V
ABS+
ABS–
NC
Reset
BAT–
BAT+
FG
A+
A–
B+
B–
Z+
Z–
E0V
E5V
ABS+
ABS–
(Reset)
BAT–
BAT+
FG
Cable: AWG22 × 3C + AWG24 × 6P
No. No. SymbolSymbol
Shell
For
Cable
Connector model:
17JE13150-02D8A (Daiichi Electronic Industries)
Contact plug model: 10120-3000VE (Sumitomo 3M)
Stand model:
17L-002A1 (Daiichi Electronic Industries) Contact case model:
10320-52A0-008 (Sumitomo 3M)
For Motor
Connector model:
17JE23150-02D8A (Daiichi Electronic Industries)
Specifications Chapter
5
5-58
jEncoder Cables for U-series 1-kW to 2-kW Servomotors with
Incremental or Absolute Encoders
Note To
conform to EC Directives, use the recommended connectors (refer to
2-1-2 Installation
Condi
-
tions
).
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CRUB003C 3 m 10.3 dia.
R88A-CRUB005C 5 m
R88A-CRUB010C 10 m
R88A-CRUB015C 15 m
R88A-CRUB020C 20 m
Note The maximum between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
U-series 1-kW to 2-kW AC Ser-
vomotor FND-X-series Position Driver
37.3 dia.
Specifications Chapter
5
No
A
B
C
D
E
F
G
H
K
L
P
R
S
T
J
5-59
DWiring
Signal Signal
Not used.
Not used.
Reset
Not used.
Not used.
Reset
Cable: AWG22 × 3C + AWG24 × 6P
AWG24 Blue
AWG24 White/Blue
AWG24 Yellow
AWG24
White/Y
ellow
AWG24 Green
AWG24
White/Green
AWG22 Black
AWG22 Red
AWG22 Purple
AWG24 Orange
AWG22
Green/Y
ellow
A
WG24 White/Orange
AWG24 White/Gray
AWG24
White/Purple
Shell
For Cable
Connector plug model:
MS3106B20-29S
Connector plug model: 10120-3000VE (Sumitomo 3M)
Cable clamp model:
MS3057-12A
Contact case model:
10320-52A0-008 (Sumitomo 3M)
For Motor
Receptacle model:
MS3102A20-29P
jEncoder and Conversion Cables for H-series Servomotors
DEncoder Cable Models
Model Length (L) Outer diameter of sheath
R88A-CRH001C 1 m 8.0 dia.
R88A-CRH003C 3 m
R88A-CRH005C 5 m
R88A-CRH010C 10 m
R88A-CRH015C 15 m
R88A-CRH020C 20 m
R88A-CRH030C 30 m
Note Up to a maximum of 30 m between the Servomotor and the Position Driver is 20 m.
Specifications Chapter
5
o.
mmflmmmmw
$3
5-60
DConnection Configuration
OMNUC H-series AC Servomotor FND-X-series Position DriverEncoder Cable Conversion Cable
11.7 L 40.5 40.5 500 39
t=14
t=7.4 t=15
41
33.3
23
DWiring
Cable: AWG22 × 3P + 3C
UL2589
Symbol Symbol
Red
Black
Gray
Blue
Orange
Pink
Light blue
Yellow
Brown
Green
For
Cable
Plug housing model:
SMP-10V-NC (J.S.T
. Mfg. Co., Ltd.) Contact plug model:
XM2A-1501 (OMRON)
Contact socket model:
BHF-001GI-0.8BS (J.S.T
. Mfg. Co., Ltd.)
Contact case model:
XM2S-1511 (OMRON)
Crimping tool:
YC-12
Pulling tool:
SMJ-06
For Motor
Receptacle housing model:
SMR-10V-N (J.S.T
. Mfg. Co., Ltd.)
Contact pin model:
SYM-001G-0.6A (J.S.T
. Mfg. Co., Ltd.)
DConversion Cable for H-series Servomotors
Model Length (L) Outer diameter of sheath
R88A-CRH0R5T 0.5 m 7.5 dia.
Specifications Chapter
5
5-61
DWiring
A+
A–
B+
B–
S+
S–
E5V
E0V
RG
8
7
6
5
3
9
13
14
4
No.
A+
A–
B+
B–
S+
S–
E5V
E0V
FG
16
17
18
19
15
4
1
14
No.
SG 15 Cable: AWG22 × 4P
Symbol Symbol
20
Contact
cover model:
XM2S-1511 (OMRON)
Contact plug model: 10120-3000VE (Sumitomo 3M)
Contact socket model:
XM2D-1501 (OMRON)
Contact case model:
10320-52A0-008 (Sumitomo 3M)
Fixture model:
XM2Z-0001 (OMRON)
5-3-5 Resolver Cables
jResolver and Conversion Cables for M-series Servomotors
DCable Models
Model Length (L) Outer diameter of sheath
R88M-CRM003N 3 m 8.2 dia.
R88M-CRM005N 5 m
R88M-CRM010N 10 m
R88M-CRM015N 15 m
R88M-CRM020N 20 m
R88M-CRM030N 30 m
R88M-CRM040N 40 m
R88M-CRM050N 50 m
Note The maximum distance between the Servomotor and the Position Driver is 50 m.
DConnection Configuration
OMNUC M-series AC Servomotor FND-X-series Position Driver
Resolver Cable Conversion Cable
58 L35.8 35.8 500 39
t=14
t=18
27 dia.
39.3
33.3
Specifications Chapter
5
5-62
5-62
DWiring
Cable: AWG24 x 3P
Symbol Symbol
Shield
Shield
Shield
Red/White
Yellow/White
Red
Black
Yellow
Blue
Connector Model
For
Cable
Socket: JRC-16WPQ-7S (Hirose Electric)
Connector plug model:
MR-20F (Honda T
sushin Kogyo Co., Ltd.)
Plug: JRC-16WPQ-CP10 (Hirose Electric)
Connector case model:
MR-20L (Honda T
sushin Kogyo Co., Ltd.)
For Motor
Receptacle: JRC-16WRQ-7P (Hirose Electric)
DConversion Cable for M-series Servomotors
Model Length (L) Outer diameter of sheath
R88A-CRM0R5T 0.5 m 6.1 dia.
DWiring
R1 5
11
6
12
13
18
19
20
7
No.
8
9
2
3
7
11
6
No.
R2
S1
S3
S2
S4
SG1
SG2
SG3
R1
R2
S1
S3
S2
S4
SG
Cable: AWG24 x 3P
Symbol Symbol
Relay
case model:
MR-20LK2G (Honda Tsushin Kogyo Co., Ltd.)
Connector plug model: 10120-3000VE (Sumitomo 3M)
Connector model:
MR-20RM (Honda Tsushin Kogyo Co., Ltd.) Connector case model:
10320-52A0-008 (Sumitomo 3M)
Specifications Chapter
5
No. 24 No.
AWG R1
:; ><>< :="" r2="" w624="" si="" 2;="" 22m;=""><>< :="" 33="" awg="" 52="" t—ll="" sg="">5-63
jResolver Cables for M-series Servomotors
DCable Models
Model Length (L) Outer diameter of sheath
R88M-CRMA003N 3 m 8.2 dia.
R88M-CRMA005N 5 m
R88M-CRMA010N 10 m
R88M-CRMA015N 15 m
R88M-CRMA020N 20 m
R88M-CRMA030N 30 m
R88M-CRMA040N 40 m
R88M-CRMA050N 50 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
OMNUC M-series AC Servomotor FND-X-series Position Driver
58 L 39
t=14
27 dia.
33.3
DWiring
Red/White
Yellow/White
Red
Black
Yellow
Blue
Symbol Symbol
Cable: AWG24 x 3P
For
Cable
Socket: JRC-16WPQ-7S (Hirose Electric)
Connector plug model: 10120-3000VE (Sumitomo 3M)
Plug: JRC-16WPQ-CP10 (Hirose Electric)
Connector case model:
10320-52A0-008 (Sumitomo 3M)
For Motor
Receptacle: JRC-16WRQ-7P (Hirose Electric)
Specifications Chapter
5
5-64
5-3-6 Power Cables
jPower Cables for U-series 30-W to 750-W Servomotors Conforming to
UL/cUL Standards and U-UE-series Servomotors not Conforming to
Any Standards without Brake
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CAU003S 3 m 5.8 dia.
R88A-CAU005S 5 m
R88A-CAU010S 10 m
R88A-CAU015S 15 m
R88A-CAU020S 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
FND-X-series Position Driver
U-series 30-W to 750-W AC Servomotor
conforming to UL/cUL standards
UE-series AC Servomotor not conforming
to any standards without brake
DWiring
U-phase 1
V-phase 2
W-phase 3
GR 4
Red
White
Blue
Green
Symbol No.
Cable: AWG20 × 4C
UL2517
AWG20
AWG20
AWG20
AWG20
M4 Crimp terminals
For
Cable
Connector housing model:
172159-1 (Nippon Amp)
Connector socket contact model:
170366-1 (Nippon Amp)
Crimping tool:
724651-1
Pulling tool:
724668-2
For Motor
Contact plug model:
172167-1 (Nippon Amp)
Connector pin contact model:
170359-1 (Nippon Amp) 30 to 100 W
170360-1 (Nippon Amp) 200 to 750 W
Specifications Chapter
5
5-65
jPower Cables for U-series 30-W to 750-W Servomotors Conforming to
UL/cUL Standards and U-UE-series Servomotors not Conforming to
Any Standards With Brake
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CAU003B 3 m 6.8 dia.
R88A-CAU005B 5 m
R88A-CAU010B 10 m
R88A-CAU015B 15 m
R88A-CAU020B 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
FND-X-series Position Driver
U-series 30-W to 750-W AC Servomotor
conforming to UL/cUL standards
U-UE-series AC Servomotor not conform-
ing to any standards with brake
DWiring
U-phase 1
V-phase 2
W-phase 3
GR 4
Red
White
Blue
Green
Brake 5
Brake 6
Black
Black
Symbol No.
Cable: AWG20 × 6C
UL2517 M4 Crimp terminals
AWG20
AWG20
AWG20
AWG20
AWG20
AWG20
For
Cable
Connector housing model:
172160-1 (Nippon Amp)
Connector socket contact model:
170366-1 (Nippon Amp)
Crimping tool:
724651-1
Pulling tool:
724668-2
For Motor
Contact plug model:
172168-1 (Nippon Amp)
Connector pin contact model:
170359-1 (Nippon Amp) 30 to 100 W
170360-1 (Nippon Amp) 200 to 750 W
Specifications Chapter
5
5-66
jPower Cables for U-series 30-W to 750-W and U-UE-series
Servomotors
DCable Models
Model Length (L) Outer diameter of sheath Remarks
R88A-CAU001 1 m 5.8 dia. For models without brake
R88A-CAU01B 1 m 6.8 dia. For models with brake
Note 1. The
power cable comes in units of 1 m. Cut the cable as required to make
the specified length.
Note 2. The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
U-series 30-W to 750-W AC Servomotor
U-UE-series AC Servomotor FND-X-series Position Driver
DWiring
R88A-CAU001
AC Servomotor
U-phase
V-phase
W-phase
Red
White
Blue
Green
/Yellow
AWG20 Red
AWG20 White
AWG20 Blue
AWG20 Green
Position Driver
Cable: AWG20 × 4C
UL2517
Specifications Chapter
5
5-67
R88A-CAU01B
AC Servomotor
U-phase
V-phase
W-phase
Brake
Brake
Red
White
Blue
Green
/Yellow
Red
Black
AWG20 Red
AWG20 White
AWG20 Blue
AWG20 Green
AWG20 Black
AWG20 Black
24 VDC ±10% (no polarity)
Cable: AWG20 × 4C
UL2517
Position Driver
jPower Cables for U-series 1-kW to 2-kW Servomotors Without Brake
Note To
conform to EC Directives, use the recommended connectors (refer to
2-1-2 Installation
Condi
-
tions
).
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CAUB003S 3 m 14 dia.
R88A-CAUB005S 5 m
R88A-CAUB010S 10 m
R88A-CAUB015S 15 m
R88A-CAUB020S 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
U-series 1-kW to 2-kW AC Servomotor
without brake FND-X-series Position Driver
34.1 dia.
Specifications Chapter
5
69.1
5-68
DWiring
Signal
U-phase
V-phase
W-phase
Red
White
Black
Green
Cable: AWG12 × 4C V5.5-4 Crimp terminals
AWG12
AWG12
AWG12
AWG12
For
Cable
Connector plug model:
MS3106B18-10S
Cable clamp model:
MS3057-10A
For Motor
Receptacle MS3102A18-10P
jPower Cables for U-series 1-kW to 2-kW Servomotors With Brake
Note To
conform to EC Directives, use the recommended connectors (refer to
2-1-2 Installation
Condi
-
tions
).
DCable Models
Model Length (L) Outer diameter of sheath
R88A-CAUB003S 3 m 16.5 dia.
R88A-CAUB005S 5 m
R88A-CAUB010S 10 m
R88A-CAUB015S 15 m
R88A-CAUB020S 20 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
U-series 1-kW to 2-kW AC Servomotor
with brake FND-X-series Position Driver
37.3 dia.
Specifications Chapter
5
5-69
DWiring
Signal
U-phase
V-phase
W-phase
Brake
Brake
Red
White
Black
Green
Brown
Yellow
Cable: AWG12 × 6C V5.5-4 Crimp terminals
AWG12
AWG12
AWG12
AWG12
AWG12
AWG12
For
Cable
Connector plug model:
MS3106B20-15S
Cable clamp model:
MS3057-12A
For Motor
Receptacle model:
MS3102A20-15P
jPower Cables for H-series Servomotors Without Brake
DCable Models
Model Length (L) Wire size Outer diameter of sheath
R88A-CAH001S 1 m AWG18 5.8 dia.
R88A-CAH003S 3 m
R88A-CAH005S 5 m
R88A-CAH010S 10 m
R88A-CAH015S 15 m AWG16 11.3 dia.
R88A-CAH020S 20 m
R88A-CAH030S 30 m
Note The maximum distance between the Servomotor and the Position Driver is 30 m.
DConnection Configuration
FND-X-series Position Driver
OMNUC H-series AC Servomotor
(without brake)
L
Specifications Chapter
5
5-70
DWiring
A-phase 1
B-phase 2
C-phase 3
GR 4
Red
White
Blue
Green
Symbol No.
Cable: AWG18
×
4
AWG16 x
4
UL2517
M4 Crimp terminals
For
Cable
Plug housing model:
LP-04-1 (J.S.T
. Mfg. Co., Ltd.)
Contact socket model:
LLF-61T
-2.0 (J.S.T
. Mfg. Co., Ltd.)
Crimping tool:
YC-9
Pulling tool:
LEJ-20
Insertion tool
LIT-2013
For Motor
Receptacle housing model:
LR-04-1 (J.S.T
. Mfg. Co., Ltd.)
Contact pin model:
SLM-61T
-2.0 (J.S.T
. Mfg. Co., Ltd.)
jPower Cables for H-series Servomotors With Brake
DCable Models
Model Length (L) Wire size Outer diameter of sheath
R88A-CAH001B 1 m AWG18 8.3 dia.
R88A-CAH003B 3 m
R88A-CAH005B 5 m
R88A-CAH010B 10 m
R88A-CAH015B 15 m AWG16 11.3 dia.
R88A-CAH020B 20 m
R88A-CAH030B 30 m
Note The maximum distance between the Servomotor and the Position Driver is 20 m.
DConnection Configuration
FND-X-series Position Driver
OMNUC H-series AC Servomotor
(without brake)
L
Specifications Chapter
5
5-71
DWiring
A-phase 1
B-phase 2
C-phase 3
GR 4
Red
White
Blue
Green
Brake 5
Brake 6
Black
Black
Symbol No.
Cable: AWG18
×
6
AWG16
x 4 + A
WG20 x 2
UL2517
M4 Crimp terminals
For
Cable
Plug housing model:
LP-06-1 (J.S.T
. Mfg. Co., Ltd.)
Contact socket model:
LLF-61T
-2.0 (J.S.T
. Mfg. Co., Ltd.)
Crimping tool:
YC-9
Pulling tool:
LEJ-20
Insertion tool:
LIT-2013
For Motor
Receptacle housing model:
LR-06-1 (J.S.T
. Mfg. Co., Ltd.)
Contact pin model:
SLM-61T
-2.0 (J.S.T
. Mfg. Co., Ltd.) A, B, C, GR
SLM-01T
-2.0 (J.S.T
. Mfg. Co., Ltd.) Brake
Specifications Chapter
5
"II"
II“!
"II"
Chapter 6
CompoBus/S
Specifications
6-1 CompoBus/S Configuration Requirements
6-2 CompoBus/S Communications Specifications
6-3 Connecting a CompoBus/S System
6
6-2
6-1 CompoBus/S Configuration Requirements
The CompoBus/S is configured as shown in the following diagram.
Master
Special flat cable
Slave Slave
T
erminating
resistance
T: T-branch method
M: Multi-drop method
Main line
Branch line
Power supply cable
Communications
power supply Slave
Slave Slave Slave
Masters
The
Master controls the CompoBus/S and manages the external I/O for each of the Slaves. There is
only
one Master per CompoBus/S System. The Master must be connected at the end of the main
line as shown in the above diagram.
Slaves
Slaves process external I/O by communicating with the CompoBus/S and Master.
Main and Branch Lines
The main line is the cable that connects the furthest separated terminals. Branch lines are the
cables that branch out from the main line.
Cable
With the CompoBus/S, either special flat cable or VCTF cable can be used for communications.
When
flat cable is used, the communications power supply can be provided from the
CompoBus/S
cable.
The configuration example in the above diagram uses
flat cable. When VCTF cable is used,
the power supply must be provided to the Slaves through a separate cable. (A communications
power supply is not required for the FND-X.)
Connection Method
The
CompoBus/S has two methods for connecting Slaves: the T
-branch method and the multi-drop
method.
With the T
-branch method, Slaves are connected to branch lines that branch of
f from the
main line. With the multi-drop method, Slaves are connected directly to the main line.
Termination Resistance
In
order to stabilize communications, it is necessary to install
terminating resistance at the opposite
end
of the main line from the Master
. There are two types of terminating resistance: the connector
type with special flat cable, and the terminal block type.
CompoBus/S Specifications Chapter
6
6-3
jTypes of Connection-related Devices
Aside from Masters and Slaves, the following devices are used with a CompoBus/S System.
DCable Types
The following table shows the two cable types and their specifications.
Type Specifications
VCTF (commercially available) Vinyl cord, VCTF, JIS C 3306
Two-core nominal cross-sectional area: 0.75 mm2
(signal line x 2)
Conductor resistance (20°C): 25.1 Ω/km
SCA1-4F10 Special Flat Cable (length: 100 m) Nominal cross-sectional area: 0.75 mm2 x 4
(signal line x 2, power line x 2)
Ambient operating temperature: 60°C max.
Note Do not use any VCTF cable other than two-core cable.
DConnector and Terminal Block Types
The following table shows the types of connectors and terminal blocks that can be used.
Type Model Remarks
Pressure connector for
branching SCN1-TH4 This connector is used for branching from the main line to
branch lines. It can only be used with special flat cable.
Pressure connector for
extension SCN1-TH4E This connector is used for extending special flat cable.
Pressure connector with
terminating resistance SCN1-TH4T This is a connector with terminating resistance. It can only be
used with special flat cable.
Terminal block with
terminating resistance SRS1-T This is a terminal block with terminating resistance. It can be
used with either VCTF or special flat cable.
Note 1. Connect the terminating resistance (i.e., pressure connectors or terminal
blocks with termi
-
nating resistance) at the end of the main line farthest from the Master.
Note 2. Use commercially available terminal blocks for branching or extending VCTF cable.
Note 3. For details regarding connectors and terminal blocks, refer to the
CompoBus/S Operation
Manual (W266)
.
CompoBus/S Specifications Chapter
6
6-4
6-2 CompoBus/S Communications Specifications
This section provides details for CompoBus/S communications.
jCommunications Specifications
Item Specifications
Communications
method Special CompoBus/S protocol
Communications
baud rate 750,000 baud
Modulation method Baseband method
Coding method Manchester coding method
Error control checks Manchester code check, frame length check, parity check
Cable used Vinyl cord, VCTF, JIS C 3306:
Two-core nominal cross-sectional area: 0.75 mm2 (signal line x 2) (VCTF cable)
Special flat cable: 0.75 mm2 x 4 (signal line x 2, power line x 2)
Communications
di
VCTF Cable
distance Main line length Branch line length Total branch length
100 meters max. 3 meters max. 50 meters max.
Special Flat Cable
Main line length Branch line length Total branch length
30 meters max. 3 meters max. 30 meters max.
Even when special flat cable is used, if no more than 16 Slaves
are connected the main line length can be extended to a maxi-
mum of 100 meters, and the total branch line length extended
to a maximum of 50 meters.
CompoBus/S Specifications Chapter
6
of I/O Points, maxir
cycle time
6-5
Item Specifications
Maximum number
of I/O Points, maxi- When a C200HW-SRM21 or SRM1-C01/02 Master Unit is Used (for C200HX/HG/HE,
C200HS)
of
I/O
Points,
maxi
mum number of
connected Slaves,
communications
Max. number of I/O
points Maximum number
of Slaves Communications
cycle time
communications
cycle time
IN: 64; OUT: 64 IN:8; OUT: 8 0.5 ms
cycle
time
IN: 128; OUT: 128 IN: 16; OUT: 16 0.8 ms
When a CQM1 Master Unit is Used (For CQM1)
Max. I/O points Maximum number
of Slaves Communications
cycle time
IN: 64; OUT: 64 IN:8; OUT: 8
(in 8-pt. mode) 0.5 ms
IN: 16; OUT: 16
(in 4-pt. mode) Cannot be used.*
IN: 32; OUT: 32 IN:4; OUT: 4
(in 8-pt. mode) 0.5 ms
IN:8; OUT: 8
(in 4-pt. mode) Cannot be used.*
IN: 16; OUT: 16 IN:2; OUT: 2
(in 8-pt. mode) 0.5 ms
IN:4; OUT: 4
(in 4-pt. mode) Cannot be used.*
*The 4-point mode cannot be used when an FND-X Position Driver is connected.
Note Only the high-speed communications mode is available with the FND-X.
jMaximum Cable Length
The
“main line length” indicates the sum of the cable lengths between the Master Unit and the terminat
-
ing
resistance connected to the farthest terminal from the main line.
The “branch line length” indicates
the
length of any cable that branches of
f from the main line. The “total branch line
length” indicates the
sum of all the branch lines connected to the main line.
Main
line length
Master
Branch line length
Total branch line length = L1 + L2 + L3 + L4 + L5
Slave Slave
Slave Slave Slave Slave Slave
Slave
T
erminating
resistance
The main line length, branch line length, and total branch line length depend on the type of cable
used
and the number of Slaves connected, as shown in the following table.
Cable type Main line length Branch line length Total branch length
VCTF cable 100 m max. 3 m max. 50 m max.
Special flat cable 30 m max. (See note 1.) 3 m max. 30 m max. (See note 1.)
Note 1. If
no more than 16 Slaves are connected, the main line can be extended to a maximum of 100
meters
and the total branch line length to a maximum of 50 meters, just as with VCTF cable.
Note 2. Use either VCTF cable or special flat cable, and do not mix them.
CompoBus/S Specifications Chapter
6
6-6
6-3 Connecting a CompoBus/S System
This
manual only explains the CompoBus/S wiring related to FND-X-series Position
Drivers. For more
information
on connecting communications cables, wiring, Slaves, and so on, refer to the
CompoBus/S
Operation Manual (W266)
.
jPreparing Communications Cables
When
connecting CompoBus/S cable to the Position Driver
, follow the procedure shown below to pre
-
pare the cable.
1. Remove
5
to 7 mm of the insulation from the end of the communications cable (two wires), and se
-
curely twist the loose strands together for each of them.
5 to 7 mm
When
using commercially-available VCTF cable, determine in advance which signal wire
is to be
used for BD H (high) and which for BD L (low).
For special flat cable, the signal wires are as shown below.
Communications power supply positive side (BS+): Brown
Communications data “high” side (BD H): Black
Communications data “low” side (BD L): White
Communications power supply negative side (BS–): Blue
2. When using special flat cable, the two power supply signal wires must be insulated.
jConnecting Communications Cable
1. Use
a flat-head screwdriver
to loosen the Position Driver
’
s two CompoBus/S communications ter
-
minal screws, and remove the cable terminal block.
Cable terminal block
Screws
Note If
the communications cable can be connected by simply tightening the screws, the cable
terminal
block need not be removed.
2. Loosen
the screws that
fasten the signal wires to the cable terminal block, and carefully insert the
two signal wires into their respective holes in the terminal block.
BD H
BD L
CompoBus/S Specifications Chapter
6
6-7
Note Before
inserting the signal wires, make sure that the
screws have been loosened suf
ficiently
. If a
screw is too tight when a wire is inserted, the wire may go into the gap in the rear of the fitting
instead of going into the proper place. If this happens, the wire cannot be securely fastened.
Signal wire insertion hole
Signal wire
Fitting
3. Tighten
the cable terminal block screws to the proper torque of 0.5 N
m for each signal wire. Use a
small
flat-head screwdriver with of uniform thickness. A normal screwdriver which is thin only at
the
end will not fit all the way in.
Small flat-head screwdriver of uniform thickness
Note The XW4Z-00C Screwdriver is available from OMRON especially for this task.
Shape of screwdriver’s head
Side view
0.6 mm
Front view
3.5 mm
The
A1 Series by Phoenix Contact is recommended as a crimp-stye terminal for the cable. Phoenix
Contact also supplies the ZA3 as a special-purpose tool.
Crimp-style
terminal
Cable
Insert the cable and crimp it.
4. Be careful to match the directions of the cable terminal block and the Position Driver’s terminal
block, and insert the cable terminal block. Be sure to push it all the way in.
CompoBus/S Specifications Chapter
6
6-8
Note Connect
the cable with enough room so that it will not be pulled or bent. Also be sure not to place
heavy objects on the cable cord, or it may cause short circuiting.
5. Use
a flat-head screwdriver to fasten the two screws that were loosened in step 1
to a torque of 0.2
Nm.
CompoBus/S Specifications Chapter
6
Chapter 7
Appendices
7-1 Standard Models
7-2 Parameter Settings Tables
7
OQ
7-2
7-1 Standard Models
jPosition Drivers
Specifications Model
DIO Type 200-VAC input
6 A
FND-X06H
y
12 A FND-X12H
25 A FND-X25H
50 A FND-X50H
100-VAC input
6 A
FND-X06L
12 A FND-X12L
CompoBus/S Type 200-VAC input
6 A
FND-X06H-SRT
y
12 A FND-X12H-SRT
25 A FND-X25H-SRT
50 A FND-X50H-SRT
100-VAC input
6 A
FND-X06L-SRT
12 A FND-X12L-SRT
jTeaching Box
Specifications Model
Teaching
Box
CVM1-PRO01
ROM Cassette Common to FND-X, MC/NC Units CVM1-MP702
FND-X only CVM1-MP703
Connecting Cable 2 m CV500-CN22A
g
4 m CV500-CN42A
6 m CV500-CN62A
Note A ROM Cassette and Connecting Cable are required in order to use the Teaching Box.
jExternal Regenerative Resistors
Specification Model
Regeneration capacity: 100 W, 30ΩR88A-RR20030
Regeneration capacity: 200 W, 30ΩR88A-RR40030
jGeneral Control Cable (DIO Type)
Specifications Model
Control Cable for FND-X 1 m FND-CCX001S
(With connector on one end.) 2 m FND-CCX002S
jConnector-Terminal Board (DIO Type)
Specification Model
Connector for Control Cable R88A-CNU01C
Connector-Terminal Board XW2B-40F5-P
Connecting Cable for
CTilBd
1 m R88A-CTU001N
g
Connector-Terminal Board 2 m R88A-CTU002N
Appendices Chapter
7
7-3
jCable, Conversion Unit, Connector for External Control Signals
Specification Model
Connector-Terminal
Block
Conversion Unit Cable 2 m FND-CTX002N
Connector-Terminal Block
CiUi
M3 screws XW2B-20G4
Conversion Unit M3.5 screws XW2B-20G5
External Control Signal (CN4) Connector R88A-CNX01C
Note When
wiring the external control signal (C4) for the CompoBus/S type, either use the Unit in com
-
bination with a Connector-T
erminal Block Conversion Unit and Cable, or prepare a cable yourself
for the CN4 connector.
jU-series 30 to 750-W AC Servomotors Conforming to UL/cUL
Standards with U-series Incremental Encoder
Specifications Model
Straight shaft with
k
Standard (without
bk)
3,000 r/min 30 W R88M-U03030HA
g
no key
(
brake)
,
50 W R88M-U05030HA
100 W R88M-U10030HA
200 W R88M-U20030HA
400 W R88M-U40030HA
750 W R88M-U75030HA
With brake 3,000 r/min 30 W R88M-U03030HA-B
,
50 W R88M-U05030HA-B
100 W R88M-U10030HA-B
200 W R88M-U20030HA-B
400 W R88M-U40030HA-B
750 W R88M-U75030HA-B
Straight shafts with
k
Standard (without
bk)
3,000 r/min 30 W R88M-U03030HA-S1
g
keys
(
brake)
,
50 W R88M-U05030HA-S1
100 W R88M-U10030HA-S1
200 W R88M-U20030HA-S1
400 W R88M-U40030HA-S1
750 W R88M-U75030HA-S1
With brake 3,000 r/min 30 W R88M-U03030HA-BS1
,
50 W R88M-U05030HA-BS1
100 W R88M-U10030HA-BS1
200 W R88M-U20030HA-BS1
400 W R88M-U40030HA-BS1
750 W R88M-U75030HA-BS1
Appendices Chapter
7
7-4
jU-series 30 to 750-W AC Servomotors Conforming to UL/cUL
Standards with U-series Absolute Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 30 W R88M-U03030TA
g
no keys
(
brake)
,
50 W R88M-U05030TA
100 W R88M-U10030TA
200 W R88M-U20030TA
400 W R88M-U40030TA
750 W R88M-U75030TA
With brake 3,000 r/min 30 W R88M-U03030TA-B
,
50 W R88M-U05030TA-B
100 W R88M-U10030TA-B
200 W R88M-U20030TA-B
400 W R88M-U40030TA-B
750 W R88M-U75030TA-B
Straight shafts with
k
Standard (without
bk)
3,000 r/min 30 W R88M-U03030TA-S1
g
keys
(
brake)
,
50 W R88M-U05030TA-S1
100 W R88M-U10030TA-S1
200 W R88M-U20030TA-S1
400 W R88M-U40030TA-S1
750 W R88M-U75030TA-S1
With brake 3,000 r/min 30 W R88M-U03030TA-BS1
,
50 W R88M-U05030TA-BS1
100 W R88M-U10030TA-BS1
200 W R88M-U20030TA-BS1
400 W R88M-U40030TA-BS1
750 W R88M-U75030TA-BS1
jU-series 30 to 750-W AC Servomotors Conforming to EC Directives
with Incremental Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 30 W R88M-U03030VA-S1
g
keys
(
brake)
,
50 W R88M-U05030VA-S1
100 W R88M-U10030VA-S1
200 W R88M-U20030VA-S1
400 W R88M-U40030VA-S1
750 W R88M-U75030VA-S1
Standard (with
bk)
3,000 r/min 30 W R88M-U03030VA-BS1
(
brake)
,
50 W R88M-U05030VA-BS1
100 W R88M-U10030VA-BS1
200 W R88M-U20030VA-BS1
400 W R88M-U40030VA-BS1
750 W R88M-U75030VA-BS1
Appendices Chapter
7
7-5
jU-series 30 to 750-W AC Servomotors Conforming to EC Directives
with Absolute Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 30 W R88M-U03030XA-S1
g
no keys
(
brake)
,
50 W R88M-U05030XA-S1
100 W R88M-U10030XA-S1
200 W R88M-U20030XA-S1
400 W R88M-U40030XA-S1
750 W R88M-U75030XA-S1
Standard (with
bk)
3,000 r/min 30 W R88M-U03030XA-BS1
(
brake)
,
50 W R88M-U05030XA-BS1
100 W R88M-U10030XA-BS1
200 W R88M-U20030XA-BS1
400 W R88M-U40030XA-BS1
750 W R88M-U75030XA-BS1
jU-UE-series AC Servomotors Not Conforming to Any Standards with
Incremental Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 100 W R88M-UE10030H-S1
g
keys
(
brake)
,
200 W R88M-UE20030H-S1
400 W R88M-UE40030H-S1
750 W R88M-UE75030H-S1
With brake 3,000 r/min 100 W R88M-UE10030H-BS1
,
200 W R88M-UE20030H-BS1
400 W R88M-UE40030H-BS1
750 W R88M-UE75030H-BS1
jU-UE-series AC Servomotors Conforming to EC Directives with
Incremental Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 100 W R88M-UE10030V-S1
g
keys
(
brake)
,
200 W R88M-UE20030V-S1
400 W R88M-UE40030V-S1
750 W R88M-UE75030V-S1
With brake 3,000 r/min 100 W R88M-UE10030V-BS1
,
200 W R88M-UE20030V-BS1
400 W R88M-UE40030V-BS1
750 W R88M-UE75030V-BS1
Note When
selecting a
U-series or U-UE-series Servomotor
, the Servomotor must be a 200-V
AC type
(HA/TA/VA/XA or H/A) even when the U/U-UE Servomotor is combined with a 100-VAC-input
Position Driver. A 100-VAC-type Servomotor cannot be connected.
Appendices Chapter
7
7-6
jU-series 1 to 2-kW AC Servomotors Not Conforming to Any Standards
with Incremental Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 1 kW R88M-U1K030H
g
no keys
(
brake)
,
1.5 kW R88M-U1K530H
2 kW R88M-U2K030H
Standard (with
bk)
3,000 r/min 1 kW R88M-U1K030H-B
(
brake)
,
1.5 kW R88M-U1K530H-B
2 kW R88M-U2K030H-B
Straight shafts with
k
Standard (without
bk)
3,000 r/min 1 kW R88M-U1K030H-S1
g
keys
(
brake)
,
1.5 kW R88M-U1K530H-S1
2 kW R88M-U2K030H-S1
Standard (with
bk)
3,000 r/min 1 kW R88M-U1K030H-BS1
(
brake)
,
1.5 kW R88M-U1K530H-BS1
2 kW R88M-U2K030H-BS1
jU-series 1 to 2-kW AC Servomotors Not Conforming to Any Standards
with Absolute Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 1 kW R88M-U1K030T
g
no keys
(
brake)
,
1.5 kW R88M-U1K530T
2 kW R88M-U2K030T
Standard (with
bk)
3,000 r/min 1 kW R88M-U1K030T-B
(
brake)
,
1.5 kW R88M-U1K530T-B
2 kW R88M-U2K030T-B
jU-series 1 to 2-kW AC Servomotors Conforming to EC Directives with
Incremental Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 1 kW R88M-U1K030V-S1
g
keys
(
brake)
,
1.5 kW R88M-U1K530V-S1
2 kW R88M-U2K030V-S1
Standard (with
bk)
3,000 r/min 1 kW R88M-U1K030V-BS1
(
brake)
,
1.5 kW R88M-U1K530V-BS1
2 kW R88M-U2K030V-BS1
jU-series 1 to 2-kW AC Servomotors Conforming to EC Directives with
Absolute Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 1 kW R88M-U1K030X-S1
g
keys
(
brake)
,
1.5 kW R88M-U1K530X-S1
2 kW R88M-U2K030X-S1
Standard (with
bk)
3,000 r/min 1 kW R88M-U1K030X-BS1
(
brake)
,
1.5 kW R88M-U1K530X-BS1
2 kW R88M-U2K030X-BS1
Appendices Chapter
7
7-7
jH-series AC Servomotors with Incremental Encoder
Specifications Model
Straight shafts with
k
Standard (without
bk)
3,000 r/min 50 W R88M-H05030
g
keys
(
brake)
,
100 W R88M-H10030
200 W R88M-H20030
300 W R88M-H30030
500 W R88M-H50030
750 W R88M-H75030
1100 W R88M-H1K130
With brake 3,000 r/min 50 W R88M-H05030-B
,
100 W R88M-H10030-B
200 W R88M-H20030-B
300 W R88M-H30030-B
500 W R88M-H50030-B
750 W R88M-H75030-B
1100 W R88M-H1K130-B
Appendices Chapter
7
7-8
jM-series AC Servomotors with Resolver
Specifications Model
Straight shafts with
k
Standard (without
bk)
1,200 r/min 200 W R88M-M20012
g
keys
(
brake)
,
400 W R88M-M40012
700 W R88M-M70012
1100 W R88M-M1K112
1400 W R88M-M1K412
1800 W R88M-M1K812
2,000 r/min 200 W R88M-M20020
,
400 W R88M-M40020
700 W R88M-M70020
1100 W R88M-M1K120
1800 W R88M-M1K820
2200 W R88M-M2K220
4,000 r/min 60 W R88M-M06040
,
120 W R88M-M12040
200 W R88M-M20040
400 W R88M-M40040
700 W R88M-M70040
1100 W R88M-M1K140
2000 W R88M-M2K040
With brake 1,200 r/min 200 W R88M-M20012-B
,
400 W R88M-M40012-B
700 W R88M-M70012-B
1100 W R88M-M1K112-B
1400 W R88M-M1K412-B
1800 W R88M-M1K812-B
2,000 r/min 200 W R88M-M20020-B
,
400 W R88M-M40020-B
700 W R88M-M70020-B
1100 W R88M-M1K120-B
1800 W R88M-M1K820-B
2200 W R88M-M2K220-B
4,000 r/min 60 W R88M-M06040-B
,
120 W R88M-M12040-B
200 W R88M-M20040-B
400 W R88M-M40040-B
700 W R88M-M70040-B
1100 W R88M-M1K140-B
2000 W R88M-M2K040-B
Note The
60-W and 120-W motor output shafts for the 4,000-r/min type are “A cut” (i.e., the cross-sec
-
tion of the shaft is shaped like an “A ”).
Appendices Chapter
7
(With connectors on both sides.)
(With connectors on both sides.)
(With connectors on both sides.)
(With connectors on both sides.)
(With connectors on both sides.)
7-9
jEncoder Cable for U-series 30 to 750-W AC Servomotors Conforming
to UL/cUL Standards
Specifications Model
For Servomotors with incremental encoders. 3 m R88A-CRU003C
(With connectors on both sides.) 5 m R88A-CRU005C
(With
connectors
on
both
sides.)
10 m R88A-CRU010C
15 m R88A-CRU015C
20 m R88A-CRU020C
Cable only 1-m units R88A-CRU001
For Servomotors with absolute encoders. 3 m R88A-CSU003C
(With connectors on both sides.) 5 m R88A-CSU005C
(With
connectors
on
both
sides.)
10 m R88A-CSU010C
15 m R88A-CSU015C
20 m R88A-CSU020C
jEncoder Cable for U-series 30 to 750-W AC Servomotors Conforming
to EC Directives
Specifications Model
For Servomotors with incremental encoders. 3 m R88A-CRUD003C
(With connectors on both sides.) 5 m R88A-CRUD005C
(With
connectors
on
both
sides.)
10 m R88A-CRUD010C
15 m R88A-CRUD015C
20 m R88A-CRUD020C
Cable only 1-m units R88A-CRU001
For Servomotors with absolute encoders. 3 m R88A-CSUD003C
(With connectors on both sides.) 5 m R88A-CSUD005C
(With
connectors
on
both
sides.)
10 m R88A-CSUD010C
15 m R88A-CSUD015C
20 m R88A-CSUD020C
jEncoder Cable for U-UE-series AC Servomotors Not Conforming to
Any Standards
Specifications Model
For Servomotors with incremental encoders. 3 m R88A-CRU003C
(With connectors on both sides.) 5 m R88A-CRU005C
(With
connectors
on
both
sides.)
10 m R88A-CRU010C
15 m R88A-CRU015C
20 m R88A-CRU020C
Cable only 1-m units R88A-CRU001
Appendices Chapter
7
(With connectors on both sldes.)
(With connectors on both sldes.)
7-10
jEncoder Cable for U-UE-series AC Servomotors Conforming to EC
Directives
Specifications Model
For Servomotors with incremental encoders. 3 m R88A-CRUD003C
(With connectors on both sides.) 5 m R88A-CRUD005C
(With
connectors
on
both
sides.)
10 m R88A-CRUD010C
15 m R88A-CRUD015C
20 m R88A-CRUD020C
Cable only 1-m units R88A-CRU001
jEncoder Cable for U-series 1 to 2-kW AC Servomotors
Specifications Model
For Servomotors with incremental encoders. 3 m R88A-CRUB003N
(With connectors on both sides.) 5 m R88A-CRUB005N
(With
connectors
on
both
sides.)
10 m R88A-CRUB010N
15 m R88A-CRUB015N
20 m R88A-CRUB020N
jEncoder Cable for H-series AC Servomotors
Specifications Model
With connectors on both sides 1 m R88A-CRH001C
3 m R88A-CRH003C
5 m R88A-CRH005C
10 m R88A-CRH010C
15 m R88A-CRH015C
20 m R88A-CRH020C
30 m R88A-CRH030C
H-series Conversion Cable 50 cm R88A-CRH0R5T
jResolver Cable for M-series AC Servomotors
Specifications Model
With connectors on both sides 3 m R88A-CRM003N
5 m R88A-CRM005N
10 m R88A-CRM010N
15 m R88A-CRM015N
20 m R88A-CRM020N
30 m R88A-CRM030N
40 m R88A-CRM040N
50 m R88A-CRM050N
M-series Conversion Cable 50 cm R88A-CRM0R5T
Note Resolver Cables can be used in combination with M-series Conversion Cable.
Appendices Chapter
7
7-11
jPower Cable for U-series 30 to 750-W AC Servomotors Conforming to
UL/cUL Standards
Specifications Model
Cable with connector on both sides for Servomotor
ih b k
3 m R88A-CAU003S
without brake 5 m R88A-CAU005S
10 m R88A-CAU010S
15 m R88A-CAU015S
20 m R88A-CAU020S
Cable only 1-m units R88A-CAU001
Cable with connector on both sides for Servomotor
ihb k
3 m R88A-CAU003B
with brake 5 m R88A-CAU005B
10 m R88A-CAU010B
15 m R88A-CAU015B
20 m R88A-CAU020B
Cable only 1-m units R88A-CAU01B
jPower Cable for U-series 30 to 750-W AC Servomotors Conforming to
EC Directives
Specifications Model
For Servomotor without brake 1-m units R88A-CAU001
For Servomotor with brake 1-m units R88A-CAU01B
Note The above models are for the Cable only.
jPower Cable for U-UE-series AC Servomotors Not Conforming to Any
Standards
Specifications Model
Cable with connector on both sides for Servomotor
ih b k
3 m R88A-CAU003S
without brake 5 m R88A-CAU005S
10 m R88A-CAU010S
15 m R88A-CAU015S
20 m R88A-CAU020S
Cable only 1-m units R88A-CAU001
Cable with connector on both sides for Servomotor
ihb k
3 m R88A-CAU003B
with brake 5 m R88A-CAU005B
10 m R88A-CAU010B
15 m R88A-CAU015B
20 m R88A-CAU020B
Cable only 1-m units R88A-CAU01B
Appendices Chapter
7
7-12
jPower Cable for U-UE-series AC Servomotors Conforming to EC
Directives
Specifications Model
For Servomotor without brake 1-m units R88A-CAU001
For Servomotor with brake 1-m units R88A-CAU01B
Note The above models are for the Cable only.
jPower Cable for U-series 1 to 2-kW AC Servomotors
Specifications Model
Cable with connector on both sides for Servomotor
ih b k
3 m R88A-CAUB003S
without brake 5 m R88A-CAUB005S
10 m R88A-CAUB010S
15 m R88A-CAUB015S
20 m R88A-CAUB020S
Cable with connector on both sides for Servomotor
ihb k
3 m R88A-CAUB003B
with brake 5 m R88A-CAUB005B
10 m R88A-CAUB010B
15 m R88A-CAUB015B
20 m R88A-CAUB020B
jPower Cable for H-series AC Servomotors
Specifications Model
Cable with connector on one end
fS ih bk
1 m R88A-CAH001S
for Servomotor without brake 3 m R88A-CAH003S
5 m R88A-CAH005S
10 m R88A-CAH010S
15 m R88A-CAH015S
20 m R88A-CAH020S
30 m R88A-CAH030S
Cable with connector on one end
f S ihb k
1 m R88A-CAH001B
for Servomotor with brake 3 m R88A-CAH003B
5 m R88A-CAH005B
10 m R88A-CAH010B
15 m R88A-CAH015B
20 m R88A-CAH020B
30 m R88A-CAH030B
Appendices Chapter
7
7-13
7-2 Parameter Settings Tables
jUser Parameters (UP-01 to UP-29)
No.
UP- Name Min. unit Setting
range Factory
setting Explanation Re-power
required? Set
value
01 Control mode --- 00 to
FF 11 Specifies position control
mode:
11: Point positioning (PTP)
12: Point positioning (feeder)
13: Direct positioning (PTP)
14: Direct positioning (feeder)
Yes
02 Motor code --- 0000 to
FFFF 0000 Motor model code Yes
03 Resolver
cable length 1 m 1 to
120 5 Sets the resolver cable length
for when M-series motor is
used. (Valid only for M-series
motors.)
No
07 In-position
width 1 pulse 1 to
32,767 3 Outputs positioning completed
signal (INP) according to num-
ber of motor sensor pulses set
as positioning deviation.
OMNUC U Series with incre-
mental encoder:
8,192 pulses/rotation
OMNUC U Series with abso-
lute encoder: 4,096 pulses/
rotation
OMNUC U/U-UE Series with:
4,096 pulses/rotation
OMNUC H Series with abso-
lute encoder: 8,000 pulses/
rotation
OMNUC M Series: 24,000
pulses/rotation
No
11 Current limit 0.1% 0.0 to
100.0 100.0 Specifies rate based on maxi-
mum motor current as 100%. No
14 S-curve
acceleration/
deceleration
time
0.01 s 0.00 to
32.76 0.00 Sets the time until 90% of the
target speed is obtained.
“0.00“ sets trapezoidal
acceleration and deceleration.
No
16 Brake mode --- 0 to 3 0 0: Dynamic brake
1: On-hold brake (stops in
deceleration time)
2: On-hold brake (stops after
rotation according to error
counter’s accumulated
number of pulses)
3: On-hold brake (free-run-
ning stop)
Yes
Appendices Chapter
7
7-14
No.
UP- Set
value
Re-power
required?
ExplanationFactory
setting
Setting
range
Min. unitName
25 Monitor
output --- 000 to
011 010 Specifies monitor output func-
tion.
0 Positive voltage
0: Not reversed
1: Reversed
Speed/Current selection
0: Current
1: Speed
No
26 Motor
rotation
direction
--- 0, 1 0 Specifies motor rotation direc-
tion.
0: Forward rotation
1: Reverse direction
No
28 Brake ON
speed 0.1% 0.0 to
100.0 1.0 Specifies r/min to turn OFF
break output in on-hold brake
mode.
Specifies rate based on rated
motor r/min as 100%.
* The brake may be damaged
if the on-hold brake mode is
selected for motors rotating
at high speed.
No
29 Motor test
speed 1 r/min 1 to
8,000 50 Specifies r/min for motors for
testing.
* When testing a motor, make
sure that the set value is
less than the rated motor r/
min.
No
30 External
regeneration
resistance
value
0.1 Ω0.0 to
100.0 0.0 Specifies the regeneration
absorption value (Ω).
* Only valid for FND-X50H-.
* When using an OMRON-
made external Regeneration
Resistor, set to 30.0 (Ω).
Yes
31 External
regeneration
resistance
capacity
0.01 kW 0.00 to
327.67 0.00 Specifies the regeneration
absorption capacity (kW).
Only valid for FND-X50H-.
Yes
Appendices Chapter
7
7-15
jH Parameters (HP-33, HP-46)
No.
HP- Name Min.
unit Setting
range Factory
setting Explanation Re-power
required? Set
value
33 Load rate
time 1 s 1 to 60 30 Specifies interval for effective
load factor calculation to value
obtained from machine cycle
time multiplied by integer.
No
46 In-position
timer (See
note.)
3.2 ms 3.2 to
320.0 3.2 Specifies minimum positioning
completion ON time and
minimum READY signal OFF
time.
No
Note If
the positioning completed signal (READY) is input to the Programmable Controller (PC), make
sure that the set value is large enough so that the PC can respond.
Set value y PC cycle time × 2 + PC input delay time + 1 ms
For
the CompoBus/S type, make the PC’
s input delay time two times that
of the communications
cycle.
Appendices Chapter
7
numbar of mow rauo|utinnt
the ositive direction is not
the reverse direction is not
7-16
jPTP Parameters (PP-01 to PP-26)
No.
PP- Name Min.
unit Setting
range Factory
setting Explanation Re-power
required? Set
value
01 Minimum set-
ting unit --- 0.0001
to 1 0.0001 Specifies basic unit for move-
ment and speed value setting
and display.
Yes
02 Pulse rate 1
(Rotation) 1 revo-
lution 1 to
32,767 1Specifies PP-02 to n and
PP-03 to x (Note: “n” is the
number of motor revolutions
Yes
03 Pulse rate 2
(Movement) 1 1 to
32,767 10 num
b
er o
f
mo
t
or revo
l
u
ti
ons
and “x” is machine axis move-
ment.)
Yes
04 Minimum res-
olution (left-
most digits)
--- --- 0.0 Displays the movement of the
mechanical axis per 1 motor
sensor pulse. (Setting not pos-
)
Yes
05 Minimum res-
olution (right-
most digits)
--- --- 0042
(g
sible.) Yes
06 Origin com-
pensation
(leftmost dig-
its)
1 pulse –9,999
to
9,999
0Specifies number of motor sen-
sor pulses for movement be-
tween origin search completion
position and machine axis ori-
i
No
07 Origin com-
pensation
(rightmost
digits)
0 to
9,999 0gin.
* The value can be obtained by
origin teaching.
No
08 Compensa-
tion (leftmost
digits)
(PP-01)
(See
note 1.)
0 to
9,999 0Specifies backlash compensa-
tion if UP-01 is set to 11 or 13
in PTP control mode.
S
No
09 Compensa-
tion (rightmost
digits)
)
0 to
9,999 0Specifies slip compensation if
UP-01 is set to 12 or 14 in
feeder control mode.
No
10 Forward soft-
ware limit
(leftmost dig-
its)
(PP-01)
(See
note 1.)
–9,999
to
9,999
9,999 Specifies software limit position
in forward direction.
* The software limit overflow in
the
p
ositive direction is not
No
11 Forward soft-
ware limit
(rightmost
digits)
0 to
9,999 9,999
the
ositive
direction
is
not
detected if the value is set to
9999,9999. No
12 Reverse soft-
ware limit
(leftmost dig-
its)
(PP-01)
(See
note 1.)
–9,999
to
9,999
–9,999 Specifies software limit position
in reverse direction.
* The software limit overflow in
the reverse direction is not
No
13 Reverse soft-
ware limit
(rightmost
digits)
0 to
9,999 9,999
the
reverse
direction
is
not
detected if the value is set to
–9999,9999. No
14 Reference
speed (left-
most digits)
1/s 0 to
9,999 0Specifies machine axis refer-
ence speed per second. No
15 Reference
speed (right-
most digits)
0 to
9,999 500 No
Appendices Chapter
7
7-17
No.
PP- Set
value
Re-power
required?
ExplanationFactory
setting
Setting
range
Min.
unit
Name
16 JOG speed 1% 1 to
199 10 Specifies motor r/min in JOG
operation as override value
based on reference speed.
No
17 Origin search
high speed 1% 1 to
199 10 Specifies origin proximity
search speed in origin search
operation as override value
based on reference speed.
This value is used as axis
speed for origin compensation
as well.
* Set an appropriate value so
that the origin proximity signal
can be detected accurately.
No
18 Origin search
low speed 1% 1 to
199 1 Specifies phase-Z search
speed in origin search opera-
tion as override value based on
reference speed.
* Set an appropriate value so
that the speed will be 500
r/min maximum.
No
19 Origin search
direction --- 0, 1 0 Specifies origin search direc-
tion.
0: Forward direction
1: Reverse direction
No
20 Acceleration
time 0 1 ms 0 to
9,999 0 Specifies time spent in reach-
ing reference speed after sys-
tem is in operation.
* This value is used as accel-
eration time for the Position
Driver in origin search opera-
tion, JOG operation, point
positioning operation, and di-
rect positioning operation.
No
21 Acceleration
time 1 1 ms 0 to
9,999 100 Specifies time spent in reach-
ing reference speed after sys-
tem is in operation.
* This value is valid if the Posi-
tion Driver is in point position-
ing operation.
No
22 Deceleration
time 0 1 ms 0 to
9,999 0 Specifies time spent in deceler-
ating reference speed to a
stop.
* This value is used as decel-
eration time for the Position
Driver in origin search opera-
tion, JOG operation, point
positioning operation, and di-
rect positioning operation.
No
Appendices Chapter
7
7-18
No.
PP- Set
value
Re-power
required?
ExplanationFactory
setting
Setting
range
Min.
unit
Name
23 Deceleration
time 1 1 ms 0 to
9,999 100 Specifies time spent in deceler-
ating reference speed to a
stop.
* This value is valid if the Posi-
tion Driver is in point position-
ing operation.
No
24 Deceleration
stop mode --- 0 to 2 1 Selects stop method with
STOP signal OFF.
0: Free-running stop
1: Deceleration stop
2: Error counter reset stop
No
25 Alarm selec-
tion --- 00 to 11 11 Selects alarm processing meth-
od with limit or soft limit detec-
tion.
Overrun
0: Servo-lock stop
1: Servo-free alarm
Soft limit
0: Servo-lock stop
1: Servo-lock alarm
No
26 Selection sig-
nal output
time (See
note 2.)
0.8 ms 0.8 to
800.0 20.0 Specifies time during which
P.OUT0 to P.OUT4 signals are
turned ON for selecting position
data and speed data for direct
positioning.
No
Note 1. The
PP-01 parameter indicates the changes in the smallest value that can be used for setting.
The unit is movement of the mechanical axis (herein referred to as the “mechanical axis
movement unit”), and can be changed as required using the pulse rate setting.
Examples of mechanical axis movement units:
Linear units: mm, cm, m, inch, yard
Revolution units: degrees, radians, revolutions
Other units: pulses
Note 2. Be
sure to set enough time for the Programmable Controller (PC) to respond when the posi
-
tion and speed data selections are received by the PC.
Set value y PC cycle time × 2 + PC input delay time + 1 ms
For
the CompoBus/S type, make the PC’
s
input delay time two times that of the communica
-
tions cycle.
Appendices Chapter
7
. IE3“! mic-'3‘!
riESIH' nIE’BH
dueunraum Modn (r)
7-19
jPTP Data (Pd01 to Pd64)
DExplanation of Settings
No.
Pd Name Minimum
setting
unit
Setting
range Factory
setting Description
HPoint No.
position data
(leftmost digits)
(PP-01) (I/A)
–3,999
to
3,999
(I) 0 Specifies point No. position data.
A value between –39,999,999 and 39,999,999
can be set. Leftmost digit is used to specify “A”
(absolute) or “I” (incremental) value.
L Point No.
position data
(rightmost digits)
(PP-01) 0 to
9,999 0
()( )
F Point No.
speed data 1% 1 to
199 1 Specifies override value based on reference
speed.
A Point No.
acceleration/de-
celeration selec-
tion
--- 00 to
11 00 Selects acceleration/deceleration time for posi-
tioning.
Acceleration
0: Acceleration time 0
1: Acceleration time 1
Deceleration
0 Deceleration time 0
1: Deceleration time 1
r Point No.
operation mode
selection
--- 0 to 2 0 0: Independent operation mode
1: Automatic incremental mode
2: Continuous operation mode
Note The
position data (leftmost digits) display is as follows, according to whether the sign is plus or
minus and whether the values are incremental or absolute.
Sign I (Incremental value designation) A (Absolute value designation)
+I + 1234 A + 1234
–I – 1234 A – 1234
DTable for Entering Settings
No.
Pd-
Position data Speed data
(F)
Acceleration/
deceleration
Operation
mode (r)
Pd
-(I/A) Leftmost (H) Rightmost (L)
(F)
d
ece
l
era
ti
on
selection (A) mo
d
e
(
r
)
01
02
03
04
05
06
07
08
Appendices Chapter
7
7-20
No.
Pd- Operation
mode (r)
Acceleration/
deceleration
selection (A)
Speed data
(F)
Position dataNo.
Pd- Operation
mode (r)
Acceleration/
deceleration
selection (A)
Speed data
(F)
Rightmost (L)Leftmost (H)(I/A)
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
29
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Appendices Chapter
7
7-21
No.
Pd- Operation
mode (r)
Acceleration/
deceleration
selection (A)
Speed data
(F)
Position dataNo.
Pd- Operation
mode (r)
Acceleration/
deceleration
selection (A)
Speed data
(F)
Rightmost (L)Leftmost (H)(I/A)
51
52
53
54
55
56
57
58
59
60
61
62
63
64
jAdjustment Parameters (AJ2 to AJ9)
No. Parameter name Min. unit Setting
range Factory
setting Explanation Set val-
ue
AJ2 Speed loop proportion-
al gain 0.1x 0.0 to
100.0 1.0 Gain for adjusting position
loop response
AJ3 Speed loop integral
gain 0.1x 0.1 to 20.0 1.0 Speed loop integral gain
AJ4 Position loop gain 1 rad/s 1 to 200 30 Position loop gain
AJ7 Interrupt gain suppres-
sion 1 0 to
10,000 0 Speed loop proportional
gain suppression when
stopped
AJ8 Feed forward gain 0.1x 0.0 to 2.0 0.0 Feed forward gain
AJ9 Current reference filter 1 rad/s 400 to
20,000 6,000 Cutoff frequency for cur-
rent reference
Appendices Chapter
7
R-1
Revision History
A manual revision code appears as a suffix to the catalog number on the front cover of the manual.
Cat. No. I524-E1-2
Revision code
The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code Date Revised content
1 February 1998 Original production
2 April 1999 Major
changes, including information on new Position
Drivers, parameters, etc.,
have
been made.
mROD
Cat. No. I524-E1-2 Note: Specifications subject to change without notice.
Authorized Distributor:
OMRON Corporation
Systems Components Division
14F Nissei Bldg.
1-6-3, Osaki, Shinagawa-ku,
Tokyo 141-0032 Japan
Tel: (81)3-3779-9038/Fax: (81)3-3779-9041
Printed in Japan
Singapore