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Omron OMNUC G Series User Manual
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2-24
2-1 Standard Models
2
Standard Models and Dimensions
Mounting Brackets (L Br
ackets for Rack Mounting)
Specifications
Model
R
88
D-GNA5L-ML2/-GN01L-ML2
/-GN01H-ML2/-GN02
H-ML2
R
88
A-TK01G
R
88
D-GN02L-ML2/-GN04H-ML2
R
88
A-TK02G
R
88
D-GN04L-ML2/-GN0
8
H-ML2
R
88
A-TK03G
R
88
D-GN10H-ML2/-GN15H-ML2
R
88
A-TK04G
58
60
Table of Contents
OMNUC G SERIES AC SERVOMOTORS/SERVO DRIVES WITH BUILT-IN MECHATROLINK-II COMMUNICATIONS USER’S MANUAL
1
Introduction
3
Terms and Conditions Agreement
4
Precautions for Safe Use
6
Items to Check When Unpacking
13
About This Manual
19
Table of Contents
20
Chapter 1 Features and System Configuration
23
1-1 Overview
24
Overview
24
Features
24
1-2 System Configuration
25
1-3 Names of Parts and Functions
26
Servo Drive Part Names
26
Servo Drive Functions
27
Forward and Reverse Motor Rotation
27
1-4 System Block Diagrams
28
R88D-GNA5L-ML2/-GN01L-ML2/-GN02L-ML2/-GN01H-ML2/ -GN02H-ML2/-GN04H-ML2
28
R88D-GN04L-ML2/-GN08H-ML2/-GN10H-ML2/-GN15H-ML2
29
R88D-GN20H-ML2
30
R88D-GN30H-ML2/GN50H-ML2
31
R88D-GN75H-ML2
32
1-5 Applicable Standards
33
EC Directives
33
UL and CSA Standards
33
Korean Radio Regulations (KC)
34
SEMI F47
34
Chapter 2 Standard Models and Dimensions
35
2-1 Standard Models
36
Servo Drives
36
Servomotors
37
Servo Drive-Servomotor Combinations
40
Decelerators
42
Accessories and Cables
51
2-2 External and Mounting Hole Dimensions
60
Servo Drives
60
Servomotors
70
Parameter Unit Dimensions
80
Servomotor and Decelerator Combinations
81
Decelerator Dimensions
84
External Regeneration Resistor Dimensions
102
Reactor Dimensions
103
MECHATROLINK-II Repeater Dimensions
107
Chapter 3 Specifications
109
3-1 Servo Drive Specifications
110
General Specifications
110
Characteristics
111
Main Circuit and Servomotor Connector Specifications
116
Control I/O Connector Specifications (CN1)
119
Control Input Circuits
123
Control Output Circuits
123
Control Sequence Timing
124
Encoder Connector Specifications (CN2)
125
Parameter Unit Connector Specifications (CN3)
125
3-2 Servomotor Specifications
126
General Specifications
126
Characteristics
127
Encoder Specifications
140
3-3 Decelerator Specifications
141
Standard Models and Specifications
141
3-4 Cable and Connector Specifications
154
Encoder Cable Specifications
154
Absolute Encoder Battery Cable Specifications
160
Servomotor Power Cable Specifications
161
Communications Cable Specifications
181
Connector Specifications
182
MECHATROLINK-II Communications Cable Specifications
185
Control Cable Specifications
187
3-5 Parameter Unit Specifications
192
3-6 External Regeneration Resistor Specifications
193
External Regeneration Resistor Specifications
193
3-7 Reactor Specifications
195
3-8 MECHATROLINK-II Repeater Specifications
196
Chapter 4 System Design
199
4-1 Installation Conditions
200
Servo Drives
200
Servomotors
202
Decelerators
206
4-2 Wiring
212
Connecting Cables
212
Selecting Connecting Cables
213
Peripheral Device Connection Examples
217
Main Circuit and Servomotor Connector Specifications
221
4-3 Wiring Conforming to EMC Directives
227
Wiring Method
227
Selecting Connection Components
232
Conformity to IEC 61800-5-1
245
4-4 Regenerative Energy Absorption
247
Calculating the Regenerative Energy
247
Servo Drive Regenerative Energy Absorption Capacity
250
Absorbing Regenerative Energy with an External Regeneration Resistor
251
Connecting an External Regeneration Resistor
252
Chapter 5 Operating Functions
255
5-1 Position Control
256
Function
256
Parameters Requiring Settings
256
Related Functions
257
Parameter Block Diagram for Position Control Mode
258
5-2 Speed Control
259
Function
259
Parameters Requiring Settings
259
Related Functions
260
Parameter Block Diagram for Speed Control Mode
261
5-3 Torque Control
262
Function
262
Parameters Requiring Settings
262
Related Functions
263
Parameter Block Diagram for Torque Control Mode
264
5-4 Forward and Reverse Drive Prohibit
265
Function
265
Parameters Requiring Settings
265
Operation
265
5-5 Brake Interlock
266
Function
266
Parameters Requiring Settings
266
Precautions on the holding brake
266
5-6 Torque Limit
271
Function
271
Parameters Requiring Settings
271
5-7 Soft Start
273
Function
273
Parameters Requiring Settings
273
5-8 Acceleration/Deceleration Time Settings
274
Function
274
Parameters Requiring Settings
274
5-9 Moving Average Time
275
Function
275
Parameters Requiring Settings
275
5-10 Electronic Gear
276
Function
276
Parameters Requiring Settings
276
5-11 Speed Limit
277
Function
277
Parameters Requiring Settings
277
5-12 Sequence Input Signals
278
Function
278
Parameters Requiring Settings
278
5-13 Sequence Output Signals
280
Function
280
Parameters Requiring Settings
280
5-14 Backlash Compensation
282
Function
282
Parameters Requiring Settings
282
5-15 Overrun Protection
284
Function
284
Parameters Requiring Settings
284
Operating Conditions
284
Operating Examples
285
5-16 Gain Switching
286
Function
286
Parameters Requiring Settings
287
5-17 Speed Feed-forward
293
Function
293
Parameters Requiring Settings
293
5-18 Torque Feed-forward
294
Function
294
Parameters Requiring Settings
294
5-19 Speed Feedback Filter Selection
295
Function
295
Parameters Requiring Settings
295
5-20 P Control Switching
296
Function
296
Parameters Requiring Settings
296
5-21 Torque Command Filter Time Constant
297
Function
297
Parameters Requiring Settings
297
5-22 Notch Filter
298
Function
298
Parameters Requiring Settings
298
5-23 Adaptive Filter
300
Function
300
Parameters Requiring Settings
300
Disabling the Adaptive Filter
302
5-24 Instantaneous Speed Observer
303
Function
303
Parameters Requiring Settings
303
Operating Procedure
304
5-25 Damping Control
305
Function
305
Parameters Requiring Settings
306
Operating Procedure
307
5-26 User Parameters
310
Setting and Checking Parameters
310
Parameter Tables
316
5-27 Details on Important Parameters
341
Chapter 6 Operation
353
6-1 Operational Procedure
354
6-2 Preparing for Operation
355
Items to Check Before Turning ON the Power
355
Turning ON Power
357
Checking the Displays
358
Absolute Encoder Setup
359
6-3 Using the Parameter Unit
361
Names of Parts and Functions
361
6-4 Setting the Mode
362
Changing the Mode
362
Monitor Mode
363
Parameter Setting Mode
370
Parameter Write Mode
376
Normal Mode Autotuning
377
Auxiliary Function Mode
378
Copy Mode
381
6-5 Trial Operation
384
Preparation for Trial Operation
384
Trial Operation with CX-Drive
384
Chapter 7 Adjustment Functions
385
7-1 Gain Adjustment
386
Purpose of the Gain Adjustment
386
Gain Adjustment Methods
386
Gain Adjustment Procedure
387
7-2 Realtime Autotuning
388
Realtime Autotuning Setting Method
389
Machine Rigidity Setting Method
389
Operating Procedure
391
7-3 Normal Mode Autotuning
394
Setting the Parameters
394
7-4 Manual Tuning
399
Basic Settings
399
Chapter 8 Troubleshooting
407
8-1 Error Processing
408
Preliminary Checks When a Problem Occurs
408
Precautions When Troubleshooting
409
Replacing the Servomotor and Servo Drive
409
8-2 Alarm Table
410
8-3 Troubleshooting
414
Error Diagnosis Using the Displayed Alarm Codes
414
Error Diagnosis Using the Displayed Warning Codes
422
Error Diagnosis Using the Operating Status
423
8-4 Overload Characteristics (Electronic Thermal Function)
428
Overload Characteristics Graphs
428
8-5 Periodic Maintenance
429
Servomotor Service Life
429
Servo Drive Service Life
430
Replacing the Absolute Encoder Battery
431
Chapter 9 Appendix
433
9-1 Parameter Tables
434
Index
454
Revision History
458
Contact
460
4
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Omron OMNUC G Series Specifications
General
Brand
Omron
Model
OMNUC G Series
Category
Servo Drives
Language
English
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