Omron G5 Series

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Manual Structure

OMNUC G5-series (Pulse-train Input Type) AC Servomotors and Servo Drives User’s Manual

Main Page

Introduction5
Read and Understand this Manual6
Safety Precautions9
Items to Check after Unpacking17
Revision History18
Manual Configuration19
Manual Structure20
Contents23
Sections in this Manual23
- Features and System Configuration23
- Table of Contents24
Outline30
- Outline of OMNUC G5-Series Servo Drives (Pulse-Train Input Type)30
- Features of OMNUC G5-Series Servo Drives (Pulse-Train Input Type)30
System Configuration31
Names and Functions32
- Servo Drive Part Names32
- Servo Drive Functions33
System Block Diagram34
Applicable Standards38
- EC Directives38
- UL and Cul Standards38
- Semi F4738
  - Models and External Dimensions39
Section 2 Models and External Dimensions40
Servo System Configuration40
How to Read Model Numbers42
- Servo Drive42
- Servomotor43
- Decelerator (Backlash: 3 Arcminutes Max.)44
- Decelerator (Backlash: 15 Arcminutes Max.)45
Model Tables46
- Servo Drive Model Table46
- Servomotor Model Tables46
- Servo Drive and Servomotor Combination Tables49
- Decelerator Model Tables50
- Cable and Peripheral Device Model Tables54
External and Mounting Dimensions60
- Servo Drive Dimensions60
- Servomotor Dimensions69
- Combinations of Servomotors and Decelerators78
- Decelerator Dimensions80
- External Regeneration Resistor Dimensions94
- Reactor Dimensions95
- Mounting Bracket (L-Brackets for Rack Mounting) Dimensions99
  - Specifications101
Servo Drive Specifications102
- General Specifications102
- Characteristics103
- Main Circuit and Motor Connections106
- Control I/O Connector Specifications (CN1)109
- Control Input Circuits115
- Control Input Details117
- Control Output Circuits127
- Control Output Details128
- Encoder Connector Specifications (CN2)132
- Analog Monitor Connector Specifications (CN5)133
- USB Connector Specifications (CN7)134
Overload Characteristics (Electronic Thermal Function)3-35135
- Overload Characteristics Graphs135
- Overload Characteristics (Electronic Thermal Function)135
Servomotor Specifications136
- General Specifications136
- Characteristics137
- Encoder Specifications153
Decelerator Specifications154
- Models and Specifications154
Cable and Connector Specifications162
- Resistance to Bending of Global Flexible Cable162
- Encoder Cable Specifications164
- Motor Power Cable Specifications168
- Connector Specifications180
- Analog Monitor Cable Specifications183
- Control Cable Specifications184
Servo Relay Unit and Cable Specifications196
- Servo Relay Unit Specifications196
- Servo Drive Relay Unit Cable Specifications208
- Position Control Unit Relay Unit Cable Specifications211
External Regeneration Resistor Specifications222
Reactor Specifications224
- System Design225
Installation Conditions226
- Servo Drive Installation Conditions226
- Servomotor Installation Conditions227
- Decelerator Installation Conditions230
Wiring234
- Peripheral Equipment Connection Examples234
- Main Circuit and Motor Connections238
Wiring Conforming to EMC Directives244
- Wiring Method244
- Selecting Connection Components250
Regenerative Energy Absorption263
- Calculating the Regenerative Energy263
- Servo Drive Regeneration Absorption Capacity265
- Regenerative Energy Absorption with an External Regeneration Resistor266
- Connecting an External Regeneration Resistor267
Section 5 Basic Control Mode270
Position Control270
- Outline of the Function270
- Parameters Requiring Settings271
- Related Functions273
- Parameter Block Diagram for Position Control Mode274
Internally Set Speed Control275
- Outline of the Function275
- Parameters Requiring Settings275
- Related Functions279
- Parameter Block Diagram for Speed Control Mode280
Switching Control281
- Outline of the Function281
- Parameters Requiring Settings281
- Related Functions282
  - Applied Functions283
Section 6 Applied Functions285
Damping Control285
- Outline of the Function285
- Parameters Requiring Settings285
Adaptive Filter288
- Outline of the Function288
- Parameters Requiring Settings289
Notch Filters290
- Outline of the Function290
- Parameters Requiring Settings291
Electronic Gear Function293
- Outline of the Function293
- Parameters Requiring Settings293
- Operation Example295
Encoder Dividing Function297
- Outline of the Function297
- Parameters Requiring Settings297
Brake Interlock300
- Outline of the Function300
- Parameters Requiring Settings300
- Precautions for Correct Use of Holding Brake300
- Operation301
- Operation303
Gain Switching Function305
- Outline of the Function305
- Parameters Requiring Settings306
Torque Limit313
- Outline of the Function313
Sequence I/O Signals315
- Outline of the Function315
- Input Signals315
- Output Signals318
Forward and Reverse Drive Prohibition Functions320
- Outline of the Function320
- Parameters Requiring Settings320
Disturbance Observer Function323
- Outline of the Function323
- Parameters Requiring Settings324
- Operating Procedure324
Gain 3 Switching Function325
- Outline of the Function325
- Parameters Requiring Settings325
- Operation325
Friction Torque Compensation Function326
- Outline of the Function326
- Parameters Requiring Settings326
- Operation Example327
Inertia Ratio Switching Function328
- Outline of the Function328
- Parameters Requiring Settings328
- Operating Procedure328
Feed-Forward Function329
- Outline of the Function329
- Parameters Requiring Settings329
- Operating Procedure330
Instantaneous Speed Observer Function332
- Outline of the Function332
- Parameters Requiring Settings332
- Operating Procedure333
  - Parameter Details335
Basic Parameters336
Gain Parameters344
Vibration Suppression Parameters354
Analog Control Parameters360
Interface Monitor Setting Parameters366
Extended Parameters376
Special Parameters389
- Operation397
Operational Procedure398
Preparing for Operation399
- Items to Check before Turning on the Power Supply399
- Turning on the Power Supply400
- Checking the Display400
Using the Front Panel Display401
- Mode Setting402
- Trial Operation424
  - Preparations for Trial Operation424
  - Trial Operation in Position Control Mode425
    - Adjustment Functions427
Section 9 Adjustment Functions428
- Gain Adjustment428
- Realtime Autotuning430
  - Setting Realtime Autotuning431
  - Setting Machine Rigidity431
- Manual Tuning437
  - Basic Settings437
Troubleshooting and Maintenance445
- Actions for Problems446
- Warning List449
- Alarm List450
- Troubleshooting454
  - Error Diagnosis with Alarm Displays454
  - Error Diagnosis Using the Operation State461
- Periodic Maintenance465
  - Servomotor Life Expectancy465
  - Servo Drive Life Expectancy466
Appendices467
- A-1 Connection Examples467
- Parameter List477

Omron G5 Series - Page 22

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