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OMNUC R88D-WT15HF
Omron OMNUC R88D-WT15HF User Manual
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2-25
H
Single-phase 100 V
: R88D-WT02HL (200 W)
Single-phase 200 V
: R88D-WT04H (400 W)
D
W
all Mounting
5 dia.
T
wo, M4
External dimensions
Mounted dimensions
D
Front Panel Mounting (Using Mounting Brackets)
5 dia.
T
wo, M4
External dimensions
Mounted dimensions
Standard Models and Specifications
Chapter 2
55
57
Table of Contents
default chapter
15
Table of Contents
15
Chapter 1. Introduction
18
Features
19
System Configuration
24
Servo Driver Nomenclature
26
Applicable Standards and Models
27
System Block Diagrams
28
Chapter 2. Standard Models and Specifications
32
Standard Models
33
Servo Driver and Servomotor Combinations
53
External and Mounted Dimensions
55
AC Servo Drivers
55
Parameter Units
63
AC Servomotors
64
AC Servomotors with Gears
80
Servo Driver Specifications
93
General Specifications
93
Performance Specifications
94
Terminal Block Specifications
98
Control I/O Specifications (CN1)
99
Encoder Input Specifications (CN2)
120
Parameter Unit Input Specifications (CN3)
121
Monitor Output Connector Specifications (CN5)
121
Battery Connector Specifications (CN8)
122
Servomotor Specifications
123
General Specifications
124
Performance Specifications
126
Specifications for Servomotors with Reduction Gears
145
Encoder Specifications
150
Cable and Connector Specifications
151
Control Cables
151
Motor Cable Specifications
162
Peripheral Cables and Connector Specifications
183
Servo Relay Units and Cable Specifications
187
Servo Relay Units
187
Cable for Servo Relay Units
190
Parameter Unit and Cable Specifications
208
Parameter Unit
208
Parameter Unit Cable (R88A-CCW002C)
209
External Regeneration Resistors/Resistance Units
211
Absolute Encoder Backup Battery Specifications
213
DC Reactors
215
Chapter 3. System Design and Installation
216
Installation Conditions
218
Servo Drivers
218
Servomotors
219
Wiring
224
Connecting Cable
224
Peripheral Device Connection Examples
230
Terminal Block Wiring
232
Wiring for Noise Resistance
236
Wiring for Conformity to EMC Directives
243
Regenerative Energy Absorption
253
Regenerative Energy Calculation
253
Servo Driver Regenerative Energy Absorption Capacity
255
Adjustments and Dynamic Braking When Load Inertia Is Large
261
Adjustments When Load Inertia Is Large
261
Dynamic Braking When Load Inertia Is Large
261
Chapter 4. Operation
264
Operational Procedure
266
Preparing for Operation
267
Turning Power on and Checking Indicators
267
Absolute Encoder Setup and Battery Changes
269
Trial Operation
271
Operation Details
271
Jog Operation
275
User Parameters
279
Setting and Checking Parameters
279
Parameter Tables
281
Position Control (Position)
288
Speed Control (Speed)
337
Torque Control (Torque)
339
Internally-Set Speed Control
340
Switching the Control Mode (Switching Control)
345
Forward and Reverse Drive Prohibit (All Operating Modes)
348
Encoder Dividing Function (All Operating Modes)
350
Brake Interlock (All Operating Modes)
351
Gain Reduction (Position, Speed, Internally-Set Speed Control)
353
Torque Limit Function (All Operating Modes)
354
Soft Start Function (Speed, Internally-Set Speed Control)
356
Electronic Gear Function (Position)
357
Position Command Filter Function (Position)
358
Position Lock Function (Speed, Internally-Set Speed Control)
360
Speed Limit Function (Torque)
361
Trial Operation Procedure
362
Making Adjustments
364
Online Auto-Tuning
364
Manual Tuning
367
Advanced Adjustment Functions
372
Bias Function (Position)
372
Feed-Forward Function (Position)
373
Torque Feed-Forward Function (Speed)
373
Speed Feed-Forward Function (Position)
375
Gain Switching (Position, Speed, Internally-Set Speed Control)
376
Automatic Gain Switching (Position Control)
377
Notch Filter (Position, Speed, Internally-Set Speed Control)
378
Speed Feedback Compensation (Position, Speed, Internally-Set Time Control)
380
Speed Feedback Filter (Position, Speed, Internally-Set Speed Control)
381
P Control Switching (Position, Speed, Internally-Set Speed Control)
381
Using Displays
383
Power Supply Indicator and Charge Indicator
384
Status Display Mode
384
Monitor Mode (Unjjj)
386
Using Monitor Output
390
System Check Mode
393
Alarm History
394
Online Auto-Tuning Functions
396
Servomotor Origin Search
398
User Parameter Initialization
400
Command Offset Adjustment
401
Analog Monitor Output Adjustment
405
Servomotor Current Detection Offset Adjustment
408
Password Setting
412
Checking Servomotor Parameters
413
Checking the Version
415
Changing Absolute Encoder Rotation Setting (ABS)
416
Clearing Option Unit Detection Results
417
Measures When Trouble Occurs
419
Preventive Checks before Trouble Occurs
419
Precautions
420
Replacing the Servomotor and Servo Driver
420
Alarms
422
Troubleshooting
426
Error Diagnosis Using Alarm Display
426
Troubleshooting by Means of Operating Status
435
Overload Characteristics (Electron Thermal Characteristics)
437
Periodic Maintenance
438
Replacing the Absolute Encoder Battery (ABS)
440
Chapter 6. Appendix
442
Connection Examples
443
Encoder Dividing Rate for Servo Controllers
454
Single-Phase Power for 3,000-R/Min (750-W) Servomotors
455
Parameter Setting Tables
456
Revision History
478
4
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Omron OMNUC R88D-WT15HF Specifications
General
Brand
Omron
Model
OMNUC R88D-WT15HF
Category
Servo Drives
Language
English
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