R88A-CPU001S Omron, R88A-CPU001S Datasheet
R88A-CPU001S
Specifications of R88A-CPU001S
Related parts for R88A-CPU001S
R88A-CPU001S Summary of contents
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Cat. No. I533-E1-04 SMARTSTEP A SERIES R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers) Servomotors/Servo Drivers USER’S MANUAL ...
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... Please read this manual thoroughly and handle and operate the product with care. Please keep this manual handy for reference after reading it ensure safe and proper use of the OMRON Inverters, please read this USER'S MANUAL (Cat. No. I533-E1) to gain sufficient knowledge of the devices, safety information, and precautions before actual use ...
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USER’S MANUAL SMARTSTEP A Servomotors/Servo Drivers MODELS R7M-A@ (Servomotors) R7D-AP@ (Servo Drivers) SERIES ...
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... OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice ...
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... Make sure that these protective covers are on the product before use. Consult your OMRON representative when using the product after a long period of storage. !WARNING Always connect the frame ground terminals of the Servo Driver and the Servomo- tor to a class-3 ground (to 100 Ω ...
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Do not store or install the product in the following places. Doing so may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight. • Locations subject to temperatures or humidity outside the ...
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Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction. !Caution Use crimp terminals for wiring. Do not connect ...
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Maintenance and Inspection Precautions !WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt may result in malfunction, fire, or electric shock. !Caution Resume operation only after transferring to the new Unit the contents ...
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Warning Labels Warning labels are pasted on the product as shown in the following illustration. Be sure to follow the instructions given there. Warning label Example from R7D-AP01L Example from R7D-AP01L ...
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... LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS ...
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... Application Considerations OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use ...
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... Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability. The information in this manual has been carefully checked and is believed to be accurate ...
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Chapter 1. Introduction 1-1 Features. ...
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Introduction 1-1 Features 1-2 System Configuration 1-3 Servo Driver Nomenclature 1-4 Applicable Standards 1-5 System Block Diagrams Chapter 1 ...
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Introduction 1-1 Features The SMARTSTEP A-series Servomotors and Servo Drivers have been developed as pulse string input-type Position Controllers to replace stepping motors in simple positioning systems. The SMARTSTEP A-series Servomotors and Servo Drivers combine the stepping motor’s ease of ...
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Introduction Note Using a Parameter Unit or personal computer enables operation with parameter settings. Cylinder-style and Flat-style Servomotors ■ The SMARTSTEP A Series offers Flanged Cylinder-style Servomotors, with a smaller mounting area, and Flat-style Servomotors, with a shorter overall length. ...
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Introduction 1-2 System Configuration SYSMAC + Position Control Unit with pulse string output Position Control Units SYSMAC CJ/CS/C/CV Programmable Controller CJ1W-NC113/213/413 CJ1W-NC133/233/433 CS1W-NC113/213/413 CS1W-NC133/233/433 C200HW-NC113/213/413 C500-NC113/211 SYSMAC Programmable Controllers with pulse outputs SYSMAC CPM2A PA203 POWER SYSMAC CQM1H Single-shaft Positioner ...
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Introduction 1-3 Servo Driver Nomenclature Main-circuit power supply indicator Main-circuit power supply input terminals DC reactor connection terminals Control-circuit power supply input terminals External regeneration resistance terminals Servomotor power terminals FG terminals for power supply and servomotor power Chapter 1 ...
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Introduction 1-4 Applicable Standards EC Directives ■ EC Directives Product Low Voltage AC Servo Drivers Directive AC Servomotors EMC Directives AC Servo Drivers and AC Servomotors Note Installation under the conditions stipulated in 3-2-5 EMC-compatible Wiring must be met to ...
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Introduction 1-5 System Block Diagrams 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L/-AP04L ■ AC Servo Driver 1 2 Fuse Relay drive Voltage detection L1C ∼ − DC/DC − ∼ conversion L2C Alarm code display CN4 Analog monitor ...
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Introduction 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H/-AP04H ■ AC Servo Driver Fuse − Relay drive Voltage detection L1C ∼ DC/DC − − ∼ conversion L2C Alarm code display CN4 Analog monitor ...
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Standard Models and Specifications 2-1 Standard Models 2-2 External and Mounted Dimensions 2-3 Servo Driver Specifications 2-4 Servomotor Specifications 2-5 Reduction Gear Specifications 2-6 Cable and Connector Specifications 2-7 Servo Relay Units and Cable Specifications 2-8 Parameter Unit Specifications 2-9 ...
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Standard Models and Specifications 2-1 Standard Models Servomotors ■ ● 3,000-r/min Cylinder-style Servomotors Specifications Without Straight shaft 30 W brake without key 50 W 100 W 200 W 400 W 750 W Straight shaft 30 W with key 50 W ...
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Standard Models and Specifications Reduction Gears (Straight Shaft with Key) ■ ● For Cylinder-style Servomotors (Backlash = 3′ Max.) Specifications Servomotor Reduction gears capacity (deceleration ratio 1/5 R7G-VRSFPB05B50 1/9 R7G-VRSFPB09B50 1/15 R7G-VRSFPB15B50 1/25 R7G-VRSFPB25B50 100 W 1/5 R7G-VRSFPB05B100 ...
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... Model 1 m XW2Z-100J-A26 0.5 m XW2Z-050J-A28 1 m XW2Z-100J-A28 0.5 m XW2Z-050J-A29 1 m XW2Z-100J-A29 0.5 m XW2Z-050J-A30 1 m XW2Z-100J-A30 0.5 m XW2Z-050J-A32 1 m XW2Z-100J-A32 Model 1 m R88A-CPU001S 2 m R88A-CPU002S R88A-CTU001N 2 m R88A-CTU002N XW2B-40F5-P Model 3 m R7A-CEA003S 5 m R7A-CEA005S 10 m R7A-CEA010S 15 m R7A-CEA015S 20 m R7A-CEA020S 3 m R7A-CEA003B 5 m ...
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... Standard Models and Specifications Peripheral Cable Connectors ■ Specifications Analog Monitor Cable (CN4 R88A-CMW001S Computer Monitor Cable (CN3) DOS 2 m R7A-CCA002P2 PC98 2 m R7A-CCA002P3 Control I/O Connector (CN1) Encoder Connector (CN2) Encoder Connector (Servomotor end) Communications Cable 1 m XW2Z-100J- XW2Z-200J-C1 Parameter Units ■ ...
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Standard Models and Specifications 2-2 External and Mounted Dimensions 2-2-1 Servo Drivers ■ Single-phase 100 V AC: R7D-APA3L/-APA5L/-AP01L/-AP02L ( 200 W) Single-phase 200 V AC: R7D-APA3H/-APA5H/-AP01H/-AP02H ( 200 W) ● Wall Mounting External dimensions 55 (75) ...
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Standard Models and Specifications Single-phase 100 V AC: R7D-AP04L (400 W) ■ Single-phase 200 V AC: R7D-AP04H (400 W) ● Wall Mounting External dimensions 5 dia ● Front Panel Mounting (Using Mounting Brackets) External dimensions 5 dia. ...
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Standard Models and Specifications Single-phase/Three-phase 200 V AC: R7D-AP08H (750 W) ■ ● Wall Mounting External dimensions 5 dia. 90 ● Front Panel Mounting (Using Mounting Brackets) External dimensions 5 dia. 52 12.5 5 43.5 42 22.5 2-8 (75) 180 ...
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Standard Models and Specifications 2-2-2 Parameter Unit R7A-PR02A Hand-held Parameter Unit ■ 70 B.B B.B INP INP TGON TGON REF REF VCMP VCMP R7A–PR02A PARAMETER UNIT SCROLL MODE/SET RESET DATA RU N READ WRITE WRITE DRIVER DRIVER ...
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Standard Models and Specifications 2-2-3 Servomotors Cylinder-style Servomotors without a Brake ■ 30 W/50 W/100 W R7M-A03030(-S1)/-A05030(-S1)/-A10030(-S1) ● 300±30 6 dia. 7 dia. 19.5 20 300± Model LL R7M-A03030-@ 69.5 R7M-A05030-@ 77 R7M-A10030-@ 94.5 Cylinder-style Servomotors ...
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Standard Models and Specifications Cylinder-style Servomotors without a Brake ■ ● 200 W/400 W/750 W R7M-A20030(-S1)/-A40030(-S1)/-A75030(-S1) 300±30 6 dia. 7 dia 300± Model LL R7M-A20030-@ 96.5 R7M-A40030-@ 124.5 R7M-A75030-@ 145 Cylinder-style Servomotors with a Brake ■ ...
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Standard Models and Specifications Flat-style Servomotors without a Brake ■ ● 100 W/200 W/400 W/750 W R7M-AP10030(-S1)/-AP20030(-S1)/-AP40030(-S1)/AP75030(-S1) 300±30 13 300± Model Basic servomotor dimensions R7M-AP10030 R7M-AP20030 ...
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Standard Models and Specifications 2-2-4 Reduction Gears For Cylinder-style Servomotors (Backlash = 3 ■ Model 1/5 R7G-VRSFPB05B50 67.5 32 1/9 R7G-VRSFPB09B50 67.5 32 1/15 R7G-VRSFPB15B50 78 32 1/25 R7G-VRSFPB25B50 78 32 100 W 1/5 R7G-VRSFPB05B100 67.5 ...
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Standard Models and Specifications For Cylinder-style Servomotors (Backlash = 45 ■ Model 1/5 R7G-RGSF05B50 67.5 32 1/9 R7G-RGSF09B50 67.5 32 1/15 R7G-RGSF15B50 78 32 1/25 R7G-RGSF25B50 78 32 100 W 1/5 R7G-RGSF05B100 67.5 32 1/9 R7G-RGSF09B100 ...
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Standard Models and Specifications For Flat-style Servomotors (Backlash = 3 ■ Model LM 100 W 1/5 R7G-VRSFPB05B100P 72.5 32 1/9 R7G-VRSFPB09B100P 72.5 32 1/15 R7G-VRSFPB15B100P 83 1/25 R7G-VRSFPB25C100P 92 200 W 1/5 R7G-VRSFPB05B200P 72.5 32 1/9 R7G-VRSFPB09C400P 93.5 50 1/15 ...
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Standard Models and Specifications For Flat-style Servomotors (Backlash = 45 ■ Model LM LR 100 W 1/5 R7G-RGSF05B100P 72.5 32 1/9 R7G-RGSF09B100P 72.5 32 1/15 R7G-RGSF15B100P 78 32 1/25 R7G-RGSF25B100P 78 32 200 W 1/5 R7G-RGSF05B200P 72.5 32 1/9 R7G-RGSF09C400P ...
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Standard Models and Specifications 2-3 Servo Driver Specifications SMARTSTEP A-series R7D-AP@ Servo Drivers ■ 2-3-1 General Specifications Item Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Storage and operating atmo- sphere Vibration resistance Impact resistance Insulation ...
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Standard Models and Specifications 2-3-2 Performance Specifications Control Specifications ■ 100-V AC Input Type ● Item R7D-APA3L Continuous output cur- 0.42 A rent (rms) Momentary maximum out- 1.3 A put current (rms) Input power Main cir- Single-phase 100/115 V AC ...
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Standard Models and Specifications Item R7D- APA3H Speed feedback 2,000 pulses/revolution, incremental encoder Inverter method PWM method based on IGBT PWM frequency 11.7 kHz Maximum applicable 250 kpps frequency (command pulse application) Weight Approx. 0.8 kg Applicable Servomotor 30 W ...
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Standard Models and Specifications 2-3-4 Control I/O Specifications (CN1) Control I/O and External Signals for Position Control ■ 200 Ω +CW 1 Reverse pulse −CW 2 200 Ω +CCW 3 Forward pulse −CCW 4 Deviation 200 Ω +ECRST 5 counter ...
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Standard Models and Specifications Control I/O Signals ■ ● CN1 Control Inputs Pin Signal name Function No. 1 +PULS/CW/A Feed pulses, reverse pulses ° phase 2 –PULS/CW/A difference pulses (phase A) 3 +SIGN/CCW/B Direction signal, for- ward pulses, ...
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Standard Models and Specifications Interface for RS-422 ● Pin Signal name No. 20 RXD+ Reception data 21 RXD– 22 TXD+ Transmission data 23 TXD– Terminating resistance terminal 19 GND RS-422A ground CN1: Pin Arrangement ■ 1 /+CW/+A − ...
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Standard Models and Specifications Control Input Circuits ■ ● Position Command Pulse Inputs and Deviation Counter Reset Inputs Line Driver Input Controller + − Applicable line driver: AM26LS31A or equivalent Open Collector Input Using External Power Supply Controller Vcc R ...
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Standard Models and Specifications Control Output Circuits ■ ● Sequence and Alarm Outputs Servo Driver To other output circuits + − (See note.) Note Automatic-reset fuses are used for output protection. If overcurrent causes the fuse to operate, current will ...
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Standard Models and Specifications Control Input Details ■ ● Feed Pulse/Direction Signal, Reverse Pulse/Forward Pulse, +90° Phase Difference Signals (Phase A/Phase B) CN1 Pin Numbers CN1 pin 1: +Feed Pulse (+PULS), +Reverse Pulse (+CW), +90 ° Phase Difference Signals (Phase ...
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Standard Models and Specifications Logic Pn200.0 Command pulse setting mode 5 Feed pulse and direction signal 6 Reverse pulse and forward pulse 90 ° phase differ- 7 ence signals ( × ° phase differ- 8 ence signals ( ...
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Standard Models and Specifications Command Pulse Timing The following wave forms are for positive logic. Conditions are the same for negative logic. Command pulse mode Feed pulse and direc- tion signal Maximum input fre- quency: 250 kpps Direction signals Feed ...
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Standard Models and Specifications ● + Deviation Counter Reset (5: +ECRST) – Deviation Counter Reset (6: –ECRST) The content of the deviation counter will be reset when the deviation counter reset signal turns ON and the position loop will be ...
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Standard Models and Specifications ● Positioning Completed Output (8: INP) The INP signal turns ON when the number of accumulated pulses in the deviation counter is less than Pn500 (positioning completed range). Brake Interlock Output (7: BKIR) ● External brake ...
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Standard Models and Specifications 2-3-7 Monitor Output Connector Specifications (CN4) Pin No. Symbol Signal name 1 NM Speed monitor 2 AM Current monitor 3 GND Monitor ground 4 GND Monitor ground ● CN4 Connectors Used (4P) Servo Driver receptacle: DF11-4DP-2DSA ...
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Standard Models and Specifications 2-4 Servomotor Specifications SMARTSTEP A-series Servomotors (R7M-A@) ■ 2-4-1 General Specifications Item Ambient operating temperature ° C Ambient operating humidity Storage ambient temperature Ambient storage temperature Storage and operating atmo- sphere Vibration resistance ...
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Standard Models and Specifications 2-4-2 Performance Specifications 3,000-r/min Cylinder-style Servomotors ■ Item Unit A03030 Rated output ⋅ m Rated torque* 0.095 Rated rotation r/min 3,000 speed Momentary maxi- r/min 4,500 mum rotation speed N ⋅ m Momentary ...
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Standard Models and Specifications Item Unit A03030 Brake inertia kg ⋅ 8.5 × (GD / ± 10% Excitation volt- V age Power con sumption (at 20 ° C) Current con- A ...
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Standard Models and Specifications ● 3,000-r/min Cylinder-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers 200-V AC input for R7D-AP@H ...
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Standard Models and Specifications 3,000-r/min Flat-style Servomotors ■ Item Unit Rated output ⋅ m Rated torque* Rated rotation speed r/min Momentary maximum r/min rotation speed N ⋅ m Momentary maximum torque* Rated current* A (rms) Momentary maximum A ...
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Standard Models and Specifications Note 1. *The values for items marked by asterisks are the values at an armature winding tempera- ture of 100 ° C, combined with the Servo Driver. Other values are at normal conditions (20 ° C, ...
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Standard Models and Specifications 3,000-r/min Flat-style Servomotors: Torque and Rotation Speed Characteristics The following graphs show the characteristics with a 3-m standard cable, and a 100-V AC input for R7D-AP@L Servo Drivers 200-V AC input for R7D-AP@H Servo ...
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Standard Models and Specifications ● Servomotor and Mechanical System Temperature Characteristics • SMARTSTEP A-series Servomotors use rare earth magnets (neodymium-iron magnets). The tem- perature coefficient for these magnets is approximately –0.13%/ ° the temperature drops, the Servomotor’s momentary ...
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Standard Models and Specifications 2-5 Reduction Gear Specifications Reduction Gears for SMARTSTEP A-series Servomotors (R7G-@) ■ There are two kinds of reduction gears for SMARTSTEP A-series Servomotors: • Reduction gears for 3,000-r/min Cylinder-style Servomotors ′ (Backlash 3 max. and backlash ...
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Standard Models and Specifications ● Backlash = 45′ Max. Model Rated rotation speed r/min 50 W 1/5 R7G-RGSF05B50 600 1/9 R7G-RGSF09B50 333 1/15 R7G-RGSF15B50 200 1/25 R7G-RGSF25B50 120 100 W 1/5 R7G-RGSF05B100 600 1/9 R7G-RGSF09B100 333 1/15 R7G-RGSF15B100 200 1/25 ...
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Standard Models and Specifications Reduction Gears for Flat-style Servomotors ■ ● Backlash = 3′ Max. Model Rated rotation speed r/min 100 W 1/5 R7G-VRSFPB05B100P 600 1/9 R7G-VRSFPB09B100P 333 1/15 R7G-VRSFPB15B100P 200 1/25 R7G-VRSFPB25C100P 120 200 W 1/5 R7G-VRSFPB05B200P 600 1/9 ...
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Standard Models and Specifications Backlash = 45′ Max. ● Model Rated rotation speed r/min 100 W 1/5 R7G-RGSF05B100P 600 1/9 R7G-RGSF09B100P 333 1/15 R7G-RGSF15B100P 200 1/25 R7G-RGSF25B100P 120 200 W 1/5 R7G-RGSF05B200P 600 1/9 R7G-RGSF09C400P 333 1/15 R7G-RGSF15C400P 200 1/25 ...
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... Note There is one method for connecting to a Controller with no special cable provided, and another method for using connector Terminal Block cable and a connector Terminal Block. ● Cable Models Model Length (L) R88A-CPU001S 1 m R88A-CPU002S 2 m ● Connection Configuration and External Dimensions Controller Outer diameter of sheath 9 ...
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... Note Wires with the same wire color and the same number of marks form twisted pairs. For example, the orange wire with one red mark (–) is twisted together with the orange wire with one black mark (–). Connector Terminal Block Cables (R88A-CTU@@@N) ■ ...
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Standard Models and Specifications ● Wiring Terminal Block Connector No. No ...
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... Encoder Cables Model Minimum bending radius (R) R7A-CRA@@@ 003 to 020 2-46 Standard cable Power cable R88A-CAWA@@@S R88A-CAWA@@@SR Encoder cable R7A-CRA@@@C Power cable R88A-CAWA@@@B R88A-CAWA@@@BR Encoder cable R7A-CRA@@@C Minimum bending radius (R) @@@ @@@ Chapter 2 Separate cables Robot cable models models R7A-CRA@@@CR ...
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Standard Models and Specifications ● Bending Test Bending radius (R) 2-6-3 Specifications of Integrated Cables ■ Integrated Cables for Servomotors without Brakes (R7A-CEA@@@S) ● Cable Models Model R7A-CEA003S 3 m R7A-CEA005S 5 m R7A-CEA010S 10 m R7A-CEA015S 15 m R7A-CEA020S ...
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Standard Models and Specifications ● Wiring Servo Driver Symbol No. E0V 1 E0V 2 E0V 3 E5V 4 E5V 5 E5V 6 − S− A− B− 13 − Shell ...
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Standard Models and Specifications ● Connection Configuration and External Dimensions Servo Driver R7D-AP@ 39 t=12.7 80 Wiring ● Servo Driver Symbol No. E0V 1 E0V 2 E0V 3 E5V 4 E5V 5 E5V 6 − S− 9 ...
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... Standard Models and Specifications 2-6-4 Specifications of Separate Cables Specifications of Standard Power Cables (R88A-CAWA@@@@) ■ Select a Power Cable to match the Servomotor being used. The cable length (The maximum distance between the Servomotor and the Servo Driver is 20 m.) Power Cables for Servomotors without Brakes ...
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... Black Brown Cable: AWG20 x 6C, UL2464 M4 crimp terminal Specifications of Robot Power Cables (R88A-CAWA@@@R) ■ Use one of the following Robot Power Cables if the cable will be used in an environment that requires cable flexibility will be used with moving parts. Power Cables for Servomotors without Brakes ...
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Standard Models and Specifications ● Wiring Power Cables for Servomotors without Brakes Servo Driver Red White Blue Green/Yellow Cable: AWG21 x 4C, UL2464 M4 crimp terminal Power Cables for Servomotors with Brakes Servo Driver Red White Blue Green/Yellow Black Brown ...
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Standard Models and Specifications ● Connection Configuration and External Dimensions 39 Servo Driver R7D-AP@ t=12.7 ● Wiring Servo Driver No. Symbol E0V 1 E0V 2 E0V 3 E5V 4 E5V 5 E5V 6 − S− ...
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... Standard Models and Specifications 2-6-5 Peripheral Cables and Connector Specifications Analog Monitor Cable (R88A-CMW001S) ■ This is cable for connecting to the Servo Driver’s Monitor Output Connector (CN4 required for connecting monitor outputs to external devices such as measuring instruments. ● Cable Model Model ...
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Standard Models and Specifications Computer Monitor Cables (R7A-CCA002P@) ■ Computer Monitor Cable and Computer Monitoring Software (run on Windows, Cat. No. SBCE-011) for Servo Drivers are required to use a personal computer for monitoring and setting parameters for a Servo ...
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... Cable: AWG28 × 3C UL2464 Connector plug: 10114-3000VE (Sumitomo 3M) Connector case: 10314-52F0-008 (Sumitomo 3M) Control I/O Connector (R88A-CNU01C) ■ This is the connector for connecting to the Servo Driver’s Control I/O Connector (CN1). This connec- tor is used when the cable is prepared by the user. ● ...
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Standard Models and Specifications Encoder Connector (R7A-CNA0@R) ■ This is the connector for the Encoder Cable. This connector is used when the cable is prepared by the user soldered-type connector, and the applicable cable is as follows. ...
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... Servo Relay Units and Cable Specifications This section provides the specifications for the Servo Relay Units and cables used for connecting to OMRON Position Control Units. Select the models that match the Position Control Unit being used. For details, refer to 3-2-1 Connecting Cable. ...
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... The following crimp terminal is applicable: R1.25-3 (round with open end). This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are not supported. • CS1W-NC213/-NC233/-NC413/-NC433 • CJ1W-NC213/-NC233/-NC413/-NC433 • C200HW-NC213/-NC413 • ...
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... X-axis Com- Com- mon mon RESET mon (See note 1 This Servo Relay Unit connects to the following OMRON Pro- grammable Controllers. Communications are not supported. • CQM1-CPU43-V1 • CQM1H-PLB21 (Pulse I/O Board for CQM1H-CPU51/-CPU61) • CS1W-HCP22 Servo Driver connector 135 3 Chapter 2 ...
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Standard Models and Specifications ● Wiring 10 + CCW RUN INP CCW Com- Com ECRST mon mon X1 (See (See note 1.) note 1.) (See note 2 Note 1. If these ...
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... Standard Models and Specifications XW2B-40J6-4A ■ This Servo Relay Unit connects to the following OMRON Position Control Units. Communications are supported. • CS1W-NC213/-NC233/-NC413/-NC433 • CJ1W-NC213/-NC233/-NC413/-NC433 ● External Dimensions Position Control Unit connector 3 Two, 3.5 dia. Note Terminal Block pitch: 7.62 mm. ...
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... X1 CW limit CCW limit (See note 1.) (See note 1.) (CIO: 2960.06) (CIO: 2960.07 This Servo Relay Unit connects to the following OMRON Programmable Controllers. Communications are not sup- ported. • CJ1M-CPU21/-CPU22/-CPU23 Servo Driver connector 135 3.5 Two, 3.5 dia. Note Terminal pitch: 7.62 mm Note1 ...
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... XW2B-40J6-9A ■ External Dimensions ● CJ1M-CPU connector 3.5 7 2-64 This Servo Relay Unit connects to the following OMRON Programmable Controllers. Communications are not sup- ported. • CJ1M-CPU21/-CPU22/-CPU23 X-axis Servo Driver connector Y-axis Servo Driver connector 180 Note Terminal pitch: 7.62 mm Chapter 2 3 ...
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... (See note 2.) 24 Y-axis Y-axis V DC CCW limit CW limit (See note 1.) (See note 1.) (CIO 2960.08) (CIO 2960.09) This Servo Relay Unit connects to the following OMRON Programmable Controllers. • CS1W-HCP22-V1 • FQM1-MMP21 Chapter 2 Y-axis Y-axis 39 ALM BKIR Com- Y-axis Y-axis FG 19 ...
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Standard Models and Specifications ● External Dimensions Signal selectors Communications support connectors Controller general-purpose I/O Controller special I/O 2-66 Terminating resistance selector 160 Y-axis Servo Driver X-axis Servo Driver Chapter 2 4.5 dia. Servo B phase selectors ...
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Standard Models and Specifications ● Terminal Block Connection 1. RS-422 Connector Connect to an RS-422 line. 2. Screwless Clamp Terminal Blocks Use the screwless clamp terminal blocks to wire controller general-purpose I/O and Servo Driver control signals ...
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Standard Models and Specifications Lower Terminal Block Pin Arrangement No No Note 1. Used for the pulse output power supply for the FQM1-MMP21. Note ...
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Standard Models and Specifications 5. Servo Phase-B Selectors (Not Used) Leave these selectors set to INC mode. Servo #2 phase-B Servo #1 phase-B selector servo2 selector servo1 ABS_CW- ABS_CW- INC INC Wiring to Screwless Clamp Terminal Blocks ■ Screwless clamp ...
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Standard Models and Specifications The following screwdriver can be used to release wires. Recommended Screwdriver Model Manufacturer SZF1 Phoenix Contact Side view Front view 0.6 mm 3.5 mm Servo Relay Unit Wiring Example ■ I/O power is supplied from terminals ...
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Standard Models and Specifications Lower Terminal Block Pin Arrangement ...
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Standard Models and Specifications 2-7-2 Cables for Servo Relay Units Servo Driver Cables (XW2Z-@J-B5) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that does ...
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Standard Models and Specifications Servo Driver Cables (XW2Z-@J-B7) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. These Cables are used when connecting a Servo Relay Unit that supports communications (XW2B-40J6-4A). Cable Models ● Model ...
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Standard Models and Specifications Servo Driver Cables (XW2Z-@@@J-B12) ■ These Servo Driver Cables connect a Servo Driver and a Servo Relay Unit. Use these cables to con- nect to a Customizable Counter Unit (CSW-HCP22-V1) or Servo Relay Unit (XW2B-80J7-1A). ● ...
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Standard Models and Specifications ● Wiring Servo Relay Unit No ...
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Standard Models and Specifications ● Cable Models Model XW2Z-100J-B10 1 m XW2Z-200J-B10 2 m ● Connection Configuration and External Dimensions 6 Servo Relay Unit XW2B-80J7-1A ● Wiring Servo Relay Unit No ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A3) ■ These Position Control Unit Cables connect a CQM1-CPU43-V1 or CQM1H-PLB21 Programma- ble Controller and an XW2B-20J6-3B Servo Relay Unit. ● Cable Models Model XW2Z-050J- XW2Z-100J- ● ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A4) ■ These Position Control Unit Cables connect a C200H-NC112 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. ● Cable Models Model XW2Z-050J- XW2Z-100J- ● Connection ...
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Standard Models and Specifications Position Control Unit Cable (XW2Z-@J-A5) ■ These Position Control Unit Cables connect a C200H-NC211, C500-NC113, or C500-NC211 Posi- tion Control Unit and an XW2B-40J6-2B Servo Relay Unit. Cable Models ● Model XW2Z-050J- XW2Z-100J-A5 1 ...
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Standard Models and Specifications ● Wiring Position Control Unit No Cable: ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A8) ■ These Position Control Unit Cables connect a CS1W-NC113 or C200HW-NC113 Position Control Unit and an XW2B-20J6-1B Servo Relay Unit. Cable Models ● Model XW2Z-050J- XW2Z-100J- ● ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A9) ■ These Position Control Unit Cables connect a CS1W-NC213, CS1W-NC413, C200HW-NC213 or C200HW-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. ● Cable Models Model XW2Z-050J- ...
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Standard Models and Specifications ● Wiring Position Control Unit No. A1/B1 A2/ A10 A14 A24/B24 A19 A21 A12 A23 A22 A20/B20 B8 B6 B10 B14 B23 B22 B21 B19 B12 A15/B15 Cable: AWG28 × AWG28 ×17C ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A12) ■ These Position Control Unit Cables connect a CS1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. ● Cable Models Model XW2Z-050J-A12 50 cm XW2Z-100J-A12 1 m ● Connection ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A13) ■ These Position Control Unit Cables connect a CS1W-NC233 or CS1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. Cable Models ● Model XW2Z-050J-A13 50 cm XW2Z-100J-A13 1 ...
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Standard Models and Specifications ● Wiring Position Control Unit No. AWG20 Black A3/B3 AWG20 Red A4/B4 A1/B1 A2/ A10 A14 A24/B24 A19 A21 A12 A23 A22 A20/B20 B10 B14 B23 B22 B21 ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z@J-A16) ■ These Position Control Unit Cables connect a CJ1W-NC113 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. Cable Models ● Model XW2Z-050J-A16 50 cm XW2Z-100J-A16 1 m ● Connection ...
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Standard Models and Specifications ● Wiring Position Control Unit No A20 A11 A17 A19 A18 A15 A16 A13 A12 Cable: AWG28 × AWG28 × 9C Crimp terminal 2-88 Chapter 2 Servo Relay Unit ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z@J-A17) ■ These Position Control Unit Cables connect a CJ1W-NC213 or CJ1W-NC413 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. Cable Models ● Model XW2Z-050J-A17 50 cm XW2Z-100J-A17 1 ...
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Standard Models and Specifications ● Wiring Position Control Unit No. A1/B1 A2/ A12 A20/B20 A15 A17 A11 A19 A18 A16/B16 B12 B19 B18 B17 B15 B11 A13/B13 Cable: AWG28 × AWG28 × ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A20) ■ These Position Control Unit Cables connect a CJ1W-NC133 Position Control Unit and an XW2B- 20J6-1B Servo Relay Unit. Cable Models ● Model XW2Z-050J-A20 50 cm XW2Z-100J-A20 1 m ● Connection ...
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Standard Models and Specifications ● Wiring Position Control Unit No. AWG20 Black A3 AWG20 Red A20 A11 A17 A19 A18 A15 A16 A13 A12 Cable: AWG28 × AWG28 × 9C ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A21) ■ These Position Control Unit Cables connect a CJ1W-NC233 or CJ1W-NC433 Position Control Unit and an XW2B-40J6-2B or XW2B-40J6-4A Servo Relay Unit. Cable Models ● Model XW2Z-050J-A21 50 cm XW2Z-100J-A21 1 ...
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Standard Models and Specifications ● Wiring Position Control Unit No. AWG20 Black A3/B3 AWG20 Red A4/B4 A1/B1 A2/ A12 A20/B20 A15 A17 A11 A19 A18 A16 B12 B19 B18 B17 ...
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Standard Models and Specifications Position Control Unit Cable (XW2Z-@J-A22) ■ These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit. Cable Models ● Model XW2Z-050J-A22 50 cm XW2Z-100J-A22 1 m ● Connection ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A23) ■ These Position Control Unit Cables connect a CS1W-HCP22 Position Control Unit and an XW2B- 20J6-3B Servo Relay Unit. ● Cable Models Model XW2Z-050J-A23 50 cm XW2Z-100J-A23 1 m ● Connection ...
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Standard Models and Specifications ● Wiring Position Control Unit No. A19 A20 A18 A16 A17 A15 Cable: AWG28 × AWG28 × 4C B19 B20 B18 B16 B8 A7 B10 A9 B17 B15 Cable: AWG28 ...
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Standard Models and Specifications Position Control Unit Cables (XW2Z-@J-A25) ■ These Position Control Unit Cables connect a 3F88M-DRT141 Single-shaft Positioner (for DeviceNet) and an XW2B-20J6-1B Servo Relay Unit. ● Cable Models Model XW2Z-050J-A25 50 cm XW2Z-100J-A25 1 m ● Connection ...
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Standard Models and Specifications ● Wiring Position Control Unit No. A24 B24 B21 B22 A21 A22 A20 B20 A1 B10 A16/B16 A10 A11 B11 B19 Cable: AWG28 × AWG28 ×16C Crimp terminal (Round) Chapter ...
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Standard Models and Specifications CJ1M-CPU Unit Cables (XW2Z-100J-A26) ■ These CJ1M-CPU Unit Cables connect a CJ1M Unit with built-in pulse I/O (CJ1M-CPU21/-CPU22/- CPU23) and a Servo Relay Unit (XW2B-20J6-8A and XW2B-40J6-9A). ● Cable Models Model XW2Z-100J-A26 1 m ● Connection ...
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Standard Models and Specifications ● Wiring CJ1M-CPU Unit No Cable: AWG28 ...
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Standard Models and Specifications Customizable Counter Unit Cables for Special I/O ■ These Customizable Counter Unit Cables connect a Customizable Counter Unit (CS1W-HCP22-V1) and a Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model XW2Z-050J-A32 50 cm XW2Z-100J-A32 1 m ● ...
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Standard Models and Specifications ● Wiring Customizable Counter Unit No A19 A13 B6 A16 A18 A20 B11 A11 B19 B12 B14 B13 B16 B18 B20 Cable: AWG28 × ...
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Standard Models and Specifications Customizable Counter Unit Cables for General-purpose I/O ■ These Customizable Counter Unit Cables a Customizable Counter Unit (CS1W-HCP22-V1) and the general-purpose I Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model XW2Z-050J-A29 50 cm XW2Z-100J-A29 ...
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Standard Models and Specifications ● Wiring Customizable Counter Unit No B10 B8 B9 A11 A12 B11 B12 A10 Crimp terminals Cable: AWG28 × ...
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Standard Models and Specifications Motion Controller Cables for Special I/O ■ These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the special Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model XW2Z-050J-A30 50 cm XW2Z-100J-A30 ...
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Standard Models and Specifications ● Wiring Motion Control Module No ...
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Standard Models and Specifications Motion Controller Cable for General-purpose I/O ■ These Motion Controller Cables connect a Motion Control Module (FQM1-MMP21) and the general- purpose I Servo Relay Unit (XW2B-80J7-1A). ● Cable Models Model XW2Z-050J-A28 50 cm XW2Z-100J-A28 ...
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Standard Models and Specifications ● Wiring Motion Control Module No Crimp terminals Chapter 2 Servo ...
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... RDA 6 FG Shell Cable: AWG28×2P UL2464 Connector: XM2A-0901 (OMRON) Connector Hood: XM2S-0911 (OMRON) 2-110 Length (L) Outer diameter of sheath 10.0 dia t=15 No. Symbol 2 SDB 1 SDA 8 RDB 6 RDA Shell FG Connector: XM2A-0901 (OMRON) Connector Hood XM2S-0911 (OMRON) Chapter 2 Weight Approx. 0.1 kg Approx. 0.2 kg ...
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Standard Models and Specifications 2-8 Parameter Unit Specifications R7A-PR02A Hand-held Parameter Unit ■ A Parameter Unit is required for setting parameters to operate and control the Servo Driver, for copying Servo Driver parameters, and for other func- B.B B.B INP ...
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Standard Models and Specifications Function Specifications ■ Model Parameter setting Monitor display Function Mode Alarm displays Parameter copying 2-112 Standards Displaying and changing parameter settings Displaying all monitor data Executing functions Displaying alarms Reading and saving parameters from the Servo ...
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... External Regeneration Resistor between B1 and B2. Note 2. Refer to Surge Absorbers for External Regeneration Resistor selection details. R88A-RR22047S External Regeneration Resistor ■ Specifications ■ Model Resistance R88A-RR22047S 47 Ω ± 5% External Dimensions ■ All dimensions are in millimeters. ● R88A-RR22047S External Regeneration Resistor Thermal switch output 6 t1 ...
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... Connect a DC Reactor to the Servo Driver’s DC Reactor connection terminal as a harmonic current control measure. Select a model to match the Servo Driver being used. R88A-PX@ DC Reactors ■ Specifications ■ Servo Driver model 100 V R7D-APA3L/APA5L/AP01L R7D-AP02L R7D-AP04L 200 V R7D-APA3H/APA5H/AP01H R88A-PX5071 R7D-AP02H R7D-AP04H R7D-AP08H External Dimensions ■ Four, H dia Model A ...
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System Design and Installation 3-1 Installation Conditions 3-2 Wiring 3-3 Regenerative Energy Absorption Chapter 3 ...
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System Design and Installation 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 ...
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System Design and Installation 3-1 Installation Conditions 3-1-1 Servo Drivers Space around Drivers ■ • Install Servo Drivers according to the dimensions shown in the following illustration to ensure proper heat dispersion and convection inside the panel. Also install a ...
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System Design and Installation • The service life of a Servo Driver is largely determined by the temperature around the internal elec- trolytic capacitors. The service life of an electrolytic capacitor is affected by a drop in electrolytic vol- ume ...
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System Design and Installation Connecting to Mechanical Systems ■ • The axial loads for Servomotors are specified in 2- 4-2 Performance Specifications axial load greater than that specified is applied to a Servo- motor, it will reduce the ...
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System Design and Installation Other Precautions ■ • Do not apply commercial power directly to the Servomotor. The Servomotors run on synchronous AC and use permanent magnets. Applying commercial power directly will burn out the motor coils. • Take measures ...
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System Design and Installation Using Reduction Gears from Other Companies (Reference Information) ■ If the system configuration requires that a SMARTSTEP A-series Motor be used in combination with a reduction gear from another company, select the reduction gear so that ...
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System Design and Installation 3-2 Wiring 3-2-1 Connecting Cable This section shows the types of connecting cable used in a SMARTSTEP A-series system. The wide selection of cables provided for configuring a servo system using a Position Control Unit makes ...
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System Design and Installation Selecting Connecting Cables ■ 1. Servo Relay Unit Cables Select a Servo Relay Unit and Cable to match the Position Control Unit that used. ● Selecting Connecting Cables without Communications Support Position Control ...
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... XW2B-40F5-P R88A-CTU@@@N 3-10 Servo Relay Unit XW2B-40J6-4A XW2B-80J7-1A Cable The empty boxes in the model numbers are for cable length. The cables can meters long. (For example, R88A-CTU002N is 2 meters long.) Chapter 3 Servo Driver Cable XW2Z-@@@J-B7 XW2Z-@@@J-B12 XW2Z-@@@J-B10 Remarks ...
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... Control I/O Connector (CN1). The empty boxes in the model numbers are for cable length. The cables can meters long. (For example, R88A-CPU001S is 1 meter long.) This is the connector for connecting to the Con- trol I/O Connector (CN1). (This item is a con- nector only ...
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... R7A-CRA003CR for a 3-m cable) Use a Robot Cable if cable flexibility is required. Model 2 m R7A-CCA002P2 2 m R7A-CCA002P3 Model R88A-CMW001S Only 1-meter cables are available. Chapter 3 Remarks Remarks Only 2-meter cables are available. Only 2-meter cables are available. Remarks ...
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... ALMCOM Note 1. Recommended product in 3-2-4 Wiring for Noise Resistance. 7 BKIR 2. Recommended relay: MY Relay (24 V), by OMRON. 3. For 400-W and 750-W Servo Drivers, an R88A-RR22047S 10 OGND External Regeneration Resistor may be connected. Connect if the regenerative energy exceeds the individual Servo Driver's regenerative capacity. Also, connect a thermal switch output so that the power supply will be turned OFF when open ...
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... ALMCOM Note 1. Recommended product in 3-2-4 Wiring for Noise Resistance. BKIR 2. Recommended relay: MY Relay (24 V), by OMRON R88A-RR22047S External Regeneration Resistor may be connected. OGND Connect if the regenerative energy exceeds the individual Servo Driver's regenerative capacity. Also, connect the thermal switch output so that the power supply will be turned OFF when open. ...
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System Design and Installation 3-2-3 Terminal Block Wiring When wiring a Terminal Block, pay attention to wire sizes, grounding systems, and anti- noise measures. Terminal Block Names and Functions ■ Terminal Name label L1 Main circuit R7D-AP@H: power supply Single-phase ...
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... Screw – size N ⋅ m Torque No-fuse breaker or fuse A (rms) capacity Note 1. Use the same wire sizes for Note 2. Connect an OMRON Servomotor Cable to the Servomotor connection terminals. 3-16 R7D-APA3L R7D-APA5L R7D-AP01L R7D-AP02L R7D-AP04L 0.2 0.25 0.4 1.64 2.2 4.0 1.25 1.25 1 ...
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... No-fuse breaker or fuse A (rms) capacity Note 1. Use the same wire sizes and tightening torques for Note 2. Connect an OMRON Servomotor Cable to the Servomotor connection terminals. Wire Sizes and Allowable Current ■ The following table shows the allowable current for when there are three wires. ...
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System Design and Installation Terminal Block Wiring Procedure ■ Connector-type Terminal Blocks are used for SMARTSTEP A-series Servo Drivers. The procedure for wiring these Terminal Blocks is explained below. Connector-type Terminal Block 1. Remove the Terminal Block from the Servo ...
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System Design and Installation 4. Insert the wire into the slot. With the slot held open, insert the end of the wire. Then let the slot close by releasing the pressure from the lever or the screwdriver. 5. Mount the ...
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System Design and Installation ● Three-phase Power Supply Input (R7D-AP08H) AC power NFB Surge absorber supply Fuse 2 3.5 mm Class D ground (Class 3 ground: 100 Ω or less) Ground plate Ground control box Controller power supply • Ground ...
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System Design and Installation Correct: Properly twisted • Separate power supply cables and signal cables when wiring. Selecting Components ■ This section explains the criteria for selecting the connection components required for improving noise resistance. These criteria include capacity performance, ...
Page 162
System Design and Installation Smart Power Servo Servo supply Driver Driver voltage model V (R7D-) Single- 200 APA3H phase 200 APA5H 200 AP01H 200 AP02H 200 AP04H 200 AP08H ● Surge Absorbers Use surge absorbers to absorb surges from power ...
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System Design and Installation Type Three-phase LF-315K LF-325K LF-335K ZCW2210-01 ZCW2220-01 ZCW2230-01 ZCW2240-01 Note 1. To attenuate noise at frequencies of 200 kHz or less, use an insulated transformer and a noise filter. Note 2. For high frequencies of 30 ...
Page 164
... When selecting contactors, take into consideration the circuit’s inrush current and the maximum momentary current. The Servo Driver inrush current is covered in the preceding explanation of no- fuse-breaker selection, and the maximum momentary current is approximately twice the rated cur- rent. The following table shows the recommended contactors. Maker Model OMRON LC1-D093A60 LC1D25106 LC1D40116 LC1D50116 LC1-D093A60 ...
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... Select the proper DC Reactor model according to the Servo Driver that used. Servo Driver 100 V R7D-APA3L/APA5L/AP01L R7D-AP02L R7D-AP04L 200 V R7D-APA3H/APA5H/AP01H R88A-PX5071 R7D-AP02H R7D-AP04H R7D-AP08H DC Reactor Connection Example Servo Driver DC Reactor ...
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System Design and Installation Improving Control I/O Signal Noise Resistance ■ Positioning can be affected and I/O signals can error if control I/O is influenced by noise. Follow the methods outlined below for the power supply and wiring. • Use ...
Page 167
System Design and Installation Wiring Method ■ ● Single-phase Power Supply Input Control panel Metal plate 2 m max. Metal AC duct or Surge power conduit absorber supply NFB 2 m max. Class D ground (Class 3 ground: 100 Ω ...
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System Design and Installation ● Three-phase Power Supply Input (R7D-AP08H) Control panel Metal plate 2 m max. Metal AC duct or Surge power conduit absorber supply NFB 2 m max. Class D ground (Class 3 ground: 100 Ω or less) ...
Page 169
System Design and Installation • Use twisted-pair cables for the power supply cables whenever possible, or bind the cables. Correct: Properly twisted • Separate power supply cables and signal cables when wiring. ■ Control Panel Structure Any gaps in the ...
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System Design and Installation • Be sure that no gaps are created when installing the cover, as gaps can be caused by distortion when tightening screws. Case Cover A B Control Panel Case (Inside) ■ Selecting Components This section explains ...
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System Design and Installation Servo Driver inrush current: With low-speed no-fuse breakers, an inrush current 10 times the rated current flows for 0.02 sec- onds. For a simultaneous inrush for multiple Servo Drivers, select a no-fuse-breaker with a 20-ms allowable ...
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System Design and Installation Dimensions (The dimensions given below are for noise filters with lead-wire terminals. For the dimensions of noise filters with different types of terminals, contact the manufacturer.) For single-phase input (FN2070-6/07, FN2070-10/07) 45.4 0.9 8.4 Model A ...
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System Design and Installation For three-phase input (FN258L-16/07) M5 ● Noise filter for brake power supply Use the following noise filter for the brake power supply. Model Rated current Rated voltage SUP-P5H-EPR 5 A Dimensions Noise filter for brake power ...
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... When selecting contactors, take into consideration the circuit’s inrush current and the maximum momentary current. The Servo Driver inrush current is covered in the preceding explanation of no- fuse-breaker selection, and the maximum momentary current is approximately twice the rated cur- rent. The following table shows the recommended contactors. Maker Model OMRON LC1-D093A60 LC1D25106 LC1D40116 LC1D50116 LC1-D093A60 ...
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System Design and Installation The following table shows the Servomotor leakage current for each Servo Driver model. Driver R7D-APA3L to -AP04L 29 mA R7D-APA3H to -AP04H 14 mA R7D-AP08H 16 mA Note 1. The above leakage current is for cases ...
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System Design and Installation • If Servomotors with brakes are used, do not share the 24-V DC power supply for brakes with the 24-V DC power supply for control I/O. Additionally, do not connect ground wires. Connecting ground wires may ...
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System Design and Installation 3-3 Regenerative Energy Absorption The Servo Drivers have internal regenerative energy absorption circuitry for absorbing the regenerative energy produced during time such as Servomotor deceleration, and thus preventing the DC voltage from increasing. An overvoltage error ...
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System Design and Installation Note There is some loss due to winding resistance, so the actual regenerative energy will be approx- imately 90% of the values derived from these equations. • For Servo Driver models with internal capacitors for absorbing ...
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System Design and Installation 1 2π • E • • N • T • 2π • E • N • T • 2π • ...
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System Design and Installation Note External Regeneration Resistors cannot be connected to 30- to 200-W Servo Drivers. Servo Driver Regenerative energy (J) that can be absorbed by internal capacitor (See R7D-APA3L 57.1 R7D-APA5L 57.1 R7D-AP01L 57.1 R7D-AP02L 57.1 R7D-AP04L 57.1 ...
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System Design and Installation External Regeneration Resistors ■ ● Specifications Model Resistance 47 Ω ± 5% R88D-RR22047S External Regen- eration Resistor Note The following external regeneration resistors are recommended products from another manu- facturer, Iwaki Musen Kenkyujo. For details, refer ...
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... Note When using the R88A-RR22047S, connect the thermal switch output so that the power supply will be shut off when open. Note 1. The short-circuit wiring between B2 and B3 must be removed. 2. When using the R88A-RR22047S, connect the thermal switch output so that the power supply will be shut off when open. Chapter 3 ...
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Operation 4-1 Operational Procedure 4-2 Switch Settings 4-3 Preparing for Operation 4-4 Trial Operation 4-5 Gain Adjustments 4-6 User Parameters 4-7 Operating Functions Chapter 4 ...
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Operation Precautions !Caution Confirm that there will be no effect on the equipment, and then perform a test operation. Not doing so may result in equipment damage. !Caution Check the newly set parameters and switches with their switches for proper ...
Page 185
Operation 4-1 Operational Procedure After mounting, wiring, and connecting a power supply, check the operation of the Servomotor and Servo Driver. This section describes operating methods using the Servo Driver’s front panel switches only. Note For operating and adjustment methods ...
Page 186
Operation 4-2 Switch Settings With SMARTSTEP A-series Servo Drivers, operation settings can be performed simply by using the front panel switches. Set the switches appropriately according to the system configuration. 4-2-1 Switch Nomenclature and Functions Unit No. Rotary Switch: UNIT ...
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Operation Turning Function Switches ON and OFF ■ The default setting for all function switches is OFF. Use a thin-blade non-conductive ceramic screw- driver or equivalent to turn the switches ON and OFF. In the following diagrams, the left diagram ...
Page 188
Operation Dynamic Brake Setting (Switch 2) ■ Switch 2 sets dynamic brake operation. When dynamic braking is enabled, the Servomotor is stopped rapidly when the RUN command is turned OFF or when an alarm occurs. Switch 2 OFF Dynamic braking ...
Page 189
Operation 4-3 Preparing for Operation This section explains the procedure following installation, wiring, and switch setting of the Servomotor and Servo Driver, to prepare the mechanical system for trial operation. It explains what you need to check both before and ...
Page 190
Operation Turning ON Power ■ • First carry out the preliminary checks, and then turn ON the control-circuit power supply. It makes no difference whether or not the main-circuit power supply is also turned ON. • The ALM output will ...
Page 191
Operation 4-4 Trial Operation Once mounting, wiring, switch setting, and connecting a power supply have been finished and normal status has been confirmed, perform trial operation. The main purpose of trial operation is to confirm that the servo system is ...
Page 192
Operation 3. Loaded Low-speed Operation • Send a low-speed command from the Host Controller to rotate the Servomotor. (The definition of low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5 of the normal ...
Page 193
Operation 4-5 Gain Adjustments The SMARTSTEP A-series Servo Driver is equipped with an online autotuning function. Use this function to easily adjust the gain even if using a servo system for the first time. 4-5-1 Online Autotuning What Is Online ...
Page 194
Operation Online Autotuning Procedure ■ Start Turn OFF the power. Set the gain adjustment rotary switch. (Refer to the next page for setting the gain adjustment rotary switch.) Turn ON the online autotuning switch. Turn ON the power. Run the ...
Page 195
Operation Setting the Gain Adjustment Rotary Switch during Online Autotuning ■ • Setting the gain adjustment rotary switch during online autotuning sets the servo system’s target speed loop gain and position loop gain. • Select a switch setting from the ...
Page 196
Operation Manual Tuning Procedure ■ Start Turn OFF the power. Set the gain adjustment rotary switch. (Refer to the previous page for setting the gain adjustment rotary switch.) Turn OFF the online autotuning switch. Turn ON the power. Run the ...
Page 197
Operation 4-6 User Parameters This section describes the Servo Driver internal user parameters. Even if operating using the Servo Driver’s front panel switch settings, be sure to understand the kinds of functions that are set with the parameters. Note R7A-PR02A ...
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Operation Parameter Parameter name Description for parameters set with 5 digits No. Digit No. Pn110 Online autotuning 0 Online autotun- setting ing selection 1 Not used. 2 Adhesive friction compensation selection 3 Not used. Pn200 Position control 0 Command pulse ...
Page 199
Operation Parameter Parameter name Description for parameters set with 5 digits No. Digit No. Pn402 Forward torque Forward rotation output torque limit (rated torque ratio) limit Pn403 Reverse torque Reverse rotation output torque limit (rated torque ratio) limit Pn500 Positioning ...
Page 200
Operation Pn100 Speed loop gain Settings 1 to 2000 Unit • This gain adjusts the speed loop response. • Increase the setting (i.e., increase the gain) to increase servo rigidity. Generally, the greater the inertia ratio, the higher the setting. ...