Omron 3G3M1-A4004-ECT

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7 Vector Control and Applied Functions

7-88

M1 Series EtherCAT Type User’s Manual (I670)

Main Page

Intended Readers3
Notice3
Manual Configuration4
Manual Structure5
Page Structure and Symbol Icons5
Special Information5
Sections in this Manual7
Table of Contents8
Terms and Conditions Agreement15
Warranty, Limitations of Liability15
Application Considerations16
Disclaimers16
Statement of Security Responsibilities for Assumed Use Cases and against Threats17
Safety Precautions18
Indications and Meanings of Safety Information18
Meanings of Signal Words18
Explanation of Symbols18
Precautions for Safe Use25
Installation and Storage25
Transportation, Installation, and Wiring25
Operation and Adjustment25
Maintenance and Inspection26
Precautions for Correct Use27
Maintenance and Parts Replacement27
Product Disposal27
Warning Label27
Warning Description28
Regulations and Standards29
Items to Check after Unpacking30
Checking the Nameplate30
Checking the Model31
Checking the Accessories31
Related Manuals32
Revision History33
Overview35
Overview of Functions36
Features of 3G3M1 Series Inverter36
Classes of 3G3M1 Series Inverter37
Compliance with International Standards39
Appearance and Part Names40
Specifications44
Standard Specifications44
Ethercat Communication Specifications50
External Dimensions51
Restrictions57
Installation60
Inverter Installation60
Installation Environment60
Removal of each Part65
Removing Covers65
Terminal Blocks66
Preparing Backing Plate66
Wiring68
Standard Connection Diagram68
Arrangement and Function of Main Circuit Terminal Block69
Arrangement and Function of Control Circuit Terminal Block70
Wiring for Main Circuit Terminals73
Wiring for Control Circuit Terminals117
Recommended Encoder and Its Wiring120
Safety Function123
Others125
Compliance with EU Directives and UKCA125
Ul/Cul Standards Cautions141
Ethercat Communications153
Display Area and Settings154
Node Address Setting154
Name of each Status Indicator154
Structure of the CAN Application Protocol over Ethercat156
Communications Status Transitions157
Process Data Objects (Pdos)158
PDO Mapping Settings158
Sync Manager PDO Assignment Settings158
Fixed PDO Mapping159
Variable PDO Mapping160
Sync Manager PDO Mapping Assignment Settings160
Service Data Objects (Sdos)162
Synchronization Mode and Communications Cycle163
Free-Run Mode163
Emergency Messages164
Sysmac Device Features165
Cable Redundancy Function168
Description of Operation168
Wiring168
Procedure of Checking Operation169
Slave Communications Statuses When Cable Redundancy Function Is Used170
Relation between the Network Configuration Information and the Actual Configuration171
Relation between the Network Configuration Information and the Ac- Tual Configuration171
Inverter Control176
Outline176
Function Object Selection176
Function Object Mapping177
Control with the Independent Profile179
Inverter Setting179
Profile Allocation179
Control with the Cia402 Profile181
Inverter Setting181
Profile Allocation181
Control with the PDO Free Format183
Inverter Setting183
Object Mapping183
Objects Allocation in Sysmac Studio183
Restrictions184
Operation and Test Run187
Part Names188
Part Names and Descriptions188
Connecting Sysmac Studio190
Flow of Test Run191
Operation Items for Test Run193
Basic Settings199
Data Initialization201
User Preference Dataset (Registration/Protection)204
Setting V/F Control206
Motor Control Method (V/F Characteristics)206
Load Mode Selection208
Slip Compensation212
Motor Parameter Settings215
Induction Motor Basic Settings215
Base Frequency and Maximum Frequency of Motor215
Motor Electronic Thermal Function216
RUN Command220
RUN Command Selection220
Frequency Reference222
Frequency Reference Selection222
Frequency Limit225
Pattern Operation Function Selection226
Acceleration/Deceleration Time Settings231
Acceleration/Deceleration Time Setting231
Acceleration/Deceleration Pattern232
Acceleration/Deceleration Stop Function234
2-Step Acceleration/Deceleration Function235
Stop Method Settings239
Stop Selection239
Reset241
Reset Function241
Multi-Function Input243
Multifunction Input Selection243
6-10 Multi-Function Output258
Multifunction Output Selection258
6-11 Torque Boost Function Settings263
Torque Boost263
6-12 Measures against Overvoltage265
Regenerative Braking Function265
Braking Resistor Electronic Thermal Function265
Details of Motor Control Methods269
Motor Control Methods269
Basic Motor Parameter Settings270
Motor Parameter Settings272
V/F Control with Speed Feedback277
Settings of V/F Control with Speed Feedback277
Protective Detection under V/F Control with Speed Feedback278
Adjustments for V/F Control with Speed Feedback280
Sensorless Vector Control282
Sensorless Vector Control Parameter Settings282
Motor Parameter Settings283
Adjustments for Sensorless Vector Control284
PM Motor286
PM Motor and PM Motor Control286
Switching to PM Motor Mode287
Offline Auto-Tuning for PM Motor Parameters288
Adjustment of PM Motor Mode Settings288
Speed Control292
Speed Control Settings292
Torque Control297
Torque Control Settings297
Torque Bias Function Settings299
Position Control302
Basic Operation302
Position Control Gain304
Electronic Gear305
Acceleration/Deceleration Time Selection306
Positioning Data308
Overtravel (OT)309
Software OT310
Basic Return-To-Origin Operation310
Clearing of Position314
Position Preset315
Orientation315
Functions that Are Disabled in Position Control323
Position Monitor323
Restarting Positioning323
Brake Control During Position Control324
Position Store Selection at Power off327
Excessive Positional Deviation327
Touch Probe (Latch) Function328
Motor Tuning331
Motor Off-Line Auto-Tuning331
Online Tuning337
Brake Control Function338
Operation Sequence of Brake Control Function338
Brake Control Function Settings342
7-10 Peripheral Speed Constant Control344
Line Speed Control Settings344
7-11 Torque Limit Function348
Torque Limit Function Settings348
Torque Monitor350
7-12 Overtorque/Undertorque Function352
Overtorque/Undertorque Function Settings352
Status Monitors357
Operation Monitor357
I/O Check363
Maintenance Information365
Alarm Information370
Multifunction Input/Output Functions List377
Multifunction Input Selection377
Multifunction Output Selection382
Analog I/O Settings386
Analog Input (Function Selection)388
Analog Input Adjustment Function388
Analog Input Filter393
Analog Command Hold Function (AHD)393
Restart Functions395
Restart Settings395
Restart after Momentary Power Failure395
Trip Retry Operation404
Unattended Start Protection (USP Terminal)405
Free Run Restart406
DC Injection Braking Function409
DC Injection Braking (DB)409
Safety Function415
Overview of Safety Function415
Safety Function Settings416
STO Function by Safety Input Signal416
Functions Related to Operations420
Forced Terminal Block Function (F-TM)420
Password Function420
Start Check Function423
Functions Related to Protection, Warning and Various Output Signals425
Current Limit/Overload Prevention Control/Overload Warning425
Anti-Regenerative Control Function428
Instantaneous Overcurrent Limitation430
External Trip (EXT)430
Thermistor Trip Function431
Frequency Arrival Signal (FAR1 to 3, FDT1 to 4, FAR1FDT1)432
Power on Time Over/Run Time (ONT/RNT)435
Maintenance Monitor436
Logic Operation Output Signal (LOG1 to LOG3)437
Capacitor Life Warning Signal (WAC)439
Braking Transistor Broken (DBAL)441
Cooling FAN Control Method Selection442
Cooling Fan Life Warning Signal (WAF)442
Life Alarm (LIFE)442
Starting Contact Signal (FR)444
Cooling Fin Overheat Warning (OHF)444
Low Current Signal (LOC)444
Window Comparator/Disconnection Detection (Ai1Dc)445
2Nd Control Selection Signal (SETM/SWM1)446
Inverter Output Limiting (IOL, IOL2)447
Low DC Link Bus Voltage Detection (U-EDC)447
AX Terminal Function (AX)448
Minor Alarm Selection449
Input Phase Loss Protection / Output Phase Loss Protection452
Integrated Power Clear (KHC)452
Other Operation Functions453
Carrier Frequency453
Automatic Carrier Frequency Reduction454
Starting Frequency and Stop Frequency454
Zero Speed Control455
Frequency Jump Function456
RUN Direction Limit Selection457
Permission of RUN Command457
Frequency Calculation Function458
Frequency Addition Function458
UP/DOWN Control459
Avr460
Overexcitation Control During Deceleration461
PID Function462
Automatic Energy-Saving Operation Function479
Commercial Switch (CS)479
Output Current Fluctuation Damping483
Pulse Train Frequency Input483
LAD Cancel Function486
Servo Lock Function487
Droop Control488
Magnetic Flux Level at Light Load488
Pre-Excitation489
Forced Stop491
Overload Stop Function491
Battery Operation Enable Command (BATRY)493
Universal Terminal494
Protection/Maintenance Mode Selection Function495
Troubleshooting497
Alarm Display and Remedies498
Alarm Display498
Alarm Code List499
Minor Fault Code List521
Errors on a Communications Line522
Troubleshooting525
Maintenance and Inspection537
10-1 Maintenance and Inspection538
Daily Inspection538
Cleaning538
Periodic Inspection538
Daily/Periodic Inspection Items539
Megger Test542
Withstand Voltage Test543
I/O Voltage/Current/Electric Power Measurement Method543
Method for Ring Disconnection Maintenance and Inspection545
Appendices547
A-1 Cia 402 Drive Profile549
A-1-1 Controlling the State Machine of the Inverter549
A-1-2 Modes of Operation551
A-1-3 Velocity Mode Specifications552
A-2 Coe Objects553
A-2-1 Object Dictionary Area553
A-2-2 Data Type553
A-2-3 Object Description Format554
A-2-4 Communication Objects555
A-2-5 PDO Mapping Objects561
A-2-6 Sync Manager Communication Objects568
A-2-7 Manufacturer Specific Objects 1570
A-2-9 Safety Function Objects581
A-3 Object List585
Lists of Manufacturer Specific Objects 2 (Inverter Parameters593
W Group Parameter List (Monitor 2610
Group Parameter List (Alarm Information 2631
A-4-5 F Group Parameter List (Basic Functions655
A-4-6 E Group Parameter List (Terminal Functions660
A-4-7 C Group Parameter List (Frequency Reference and Analog Input Functions671
A-4-9 H Group Parameter List (High Level Functions679
A-4-10 a Group Parameter List (Motor 2 Parameters693
A-4-15 y Group Parameter List (Ethercat Communications Command Function Selection716
A-4-16 S Group Parameter List (Ethercat Communications Commands717
A-5 Sysmac Error Status Codes752
A-5-1 Error List752
A-5-2 Error Descriptions765
A-6 Communications Response Time832
A-7 Derating Table833
A-8 Smoothing Capacitor Life Curve837
A-9 Life Alarm Output840
A-10 Overview of Inverter Selection841
A-10-1 Motor Capacity Selection841
A-10-2 Inverter Capacity Selection844
A-10-3 Overview of Braking Resistor Selection845

Omron 3G3M1-A4004-ECT - Page 354

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