Omron G5 Series

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

3G3AX-DL2007

3G3AX-DL2015

Ground terminal (M4)

4-5.2 × 8

2-M4

105

Ground terminal (M4)

4-5.2 × 8

2-M4

115

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 96

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