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R88D-WT
Omron R88D-WT User Manual
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1-13
H
200 V AC: R88D-WT60H/-WT75H/-WT150H
AC Servo Driver
AC Servomotor
Current
detection
Relay
driver
Regeneration resistance (optional)
Voltage
detection
isolator
Fuse
DC/DC
conver-
sion
Thermistor
Voltage
detection
isolator
Serial port
Speed
control
Current
command
processing
Position
control
Command
pulse
processing
Divider
Encoder
signal
processing
Digital
current amp
PWM
generation
Battery Connector
(CN8)
Encoder output
Command pulse
input
Speed/torque
command input
Control I/O
CN5
Analog monitor output
CN3
Parameter Unit/computer
Display/Settings Area
Analog
voltage
conversion
Gate drive overcurrent
protection isolator
Gate drive
isolator
Introduction
Chapter 1
28
30
Table of Contents
Default Chapter
14
Table of Contents
14
Chapter 1. Introduction
17
Features
18
System Configuration
23
Servo Driver Nomenclature
25
Applicable Standards and Models
26
System Block Diagrams
27
Chapter 2. Standard Models and Specifications
30
Standard Models
31
Servo Driver and Servomotor Combinations
51
External and Mounted Dimensions
53
AC Servo Drivers
53
Parameter Units
61
AC Servomotors
62
AC Servomotors with Gears
78
Servo Driver Specifications
91
General Specifications
91
Performance Specifications
92
Terminal Block Specifications
96
Control I/O Specifications (CN1)
97
Encoder Input Specifications (CN2)
118
Parameter Unit Input Specifications (CN3)
119
Monitor Output Connector Specifications (CN5)
119
Battery Connector Specifications (CN8)
120
Servomotor Specifications
121
General Specifications
122
Performance Specifications
124
Specifications for Servomotors with Reduction Gears
143
Encoder Specifications
148
Cable and Connector Specifications
149
Control Cables
149
Motor Cable Specifications
160
Peripheral Cables and Connector Specifications
181
Servo Relay Units and Cable Specifications
185
Servo Relay Units
185
Cable for Servo Relay Units
188
Parameter Unit and Cable Specifications
206
Parameter Unit
206
Parameter Unit Cable (R88A-CCW002C)
207
External Regeneration Resistors/Resistance Units
209
Absolute Encoder Backup Battery Specifications
211
DC Reactors
213
Chapter 3. System Design and Installation
214
Installation Conditions
216
Servo Drivers
216
Servomotors
217
Wiring
222
Connecting Cable
222
Peripheral Device Connection Examples
228
Terminal Block Wiring
230
Wiring for Noise Resistance
234
Wiring for Conformity to EMC Directives
241
Regenerative Energy Absorption
251
Regenerative Energy Calculation
251
Servo Driver Regenerative Energy Absorption Capacity
253
Regenerative Energy Absorption by External Regeneration Resistance
254
Adjustments and Dynamic Braking When Load Inertia Is Large
259
Adjustments When Load Inertia Is Large
259
Dynamic Braking When Load Inertia Is Large
259
Chapter 4. Operation
261
Operational Procedure
263
Preparing for Operation
264
Turning Power on and Checking Indicators
264
Absolute Encoder Setup and Battery Changes
266
Trial Operation
268
Operation Details
268
Jog Operation
272
User Parameters
276
Setting and Checking Parameters
276
Parameter Tables
278
Position Control (Position)
285
Speed Control (Speed)
334
Torque Control (Torque)
336
Internally-Set Speed Control
337
Switching the Control Mode (Switching Control)
342
Forward and Reverse Drive Prohibit (All Operating Modes)
345
Encoder Dividing Function (All Operating Modes)
347
Brake Interlock (All Operating Modes)
348
Gain Reduction (Position, Speed, Internally-Set Speed Control)
350
Torque Limit Function (All Operating Modes)
351
Soft Start Function (Speed, Internally-Set Speed Control)
353
Electronic Gear Function (Position)
354
Position Command Filter Function (Position)
355
Position Lock Function (Speed, Internally-Set Speed Control)
357
Speed Limit Function (Torque)
358
Trial Operation Procedure
359
Making Adjustments
361
Online Auto-Tuning
361
Manual Tuning
364
Advanced Adjustment Functions
369
Bias Function (Position)
369
Feed-Forward Function (Position)
370
Torque Feed-Forward Function (Speed)
370
Speed Feed-Forward Function (Position)
372
Gain Switching (Position, Speed, Internally-Set Speed Control)
373
Automatic Gain Switching (Position Control)
374
Notch Filter (Position, Speed, Internally-Set Speed Control)
375
Speed Feedback Compensation (Position, Speed, Internally-Set Time Control)
377
Speed Feedback Filter (Position, Speed, Internally-Set Speed Control)
378
P Control Switching (Position, Speed, Internally-Set Speed Control)
378
Using Displays
380
Power Supply Indicator and Charge Indicator
381
Status Display Mode
381
Monitor Mode (Unjjj)
383
Using Monitor Output
387
System Check Mode
390
Alarm History
391
Online Auto-Tuning Functions
393
Servomotor Origin Search
395
User Parameter Initialization
397
Command Offset Adjustment
398
Analog Monitor Output Adjustment
402
Servomotor Current Detection Offset Adjustment
405
Password Setting
409
Checking Servomotor Parameters
410
Checking the Version
412
Changing Absolute Encoder Rotation Setting (ABS)
413
Clearing Option Unit Detection Results
414
Chapter 5. Troubleshooting
415
Measures When Trouble Occurs
416
Preventive Checks before Trouble Occurs
416
Precautions
417
Replacing the Servomotor and Servo Driver
417
Alarms
419
Troubleshooting
423
Error Diagnosis Using Alarm Display
423
Troubleshooting by Means of Operating Status
432
Overload Characteristics (Electron Thermal Characteristics)
434
Periodic Maintenance
435
Replacing the Absolute Encoder Battery (ABS)
437
Chapter 6. Appendix
438
Connection Examples
439
Encoder Dividing Rate for Servo Controllers
450
Single-Phase Power for 3,000-R/Min (750-W) Servomotors
451
Parameter Setting Tables
452
Alarms and Warnings When a JUSP-NS115 MECHATROLINK-II Option Unit Is Mounted
465
Revision History
473
4
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Omron R88D-WT Specifications
General
Brand
Omron
Model
R88D-WT
Category
Servo Drives
Language
English
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