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SMARTSTEP 2 R7D-BP04H
Omron SMARTSTEP 2 R7D-BP04H User Manual
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Table of Contents
SMARTSTEP2 Series User's Manual
1
Introduction
3
Precautions for Safe Use
6
Items to Check When Unpacking
12
About this Manual
14
CONTENTS
15
Chapter 1 Features and System Configuration
17
1-1 Overview
18
Overview of the SMARTSTEP 2 Series
18
Features of the SMARTSTEP 2 Series
18
1-2 System Configuration
19
1-3 Names of Parts and Functions
20
Servo Drive Part Names
20
Servo Drive Functions
21
1-4 System Block Diagrams
22
1-5 Applicable Standards
23
EC Directives
23
UL/CSA Standards
23
Korean Radio Regulations (KC)
23
Chapter 2 Standard Models and Dimensions
25
2-1 Standard Models
26
Servo Drives
26
Servomotors
26
Parameter Unit
27
Servo Drive-Servomotor Combinations
27
Decelerators
29
Accessories and Cables
35
2-2 External and Mounted Dimensions
40
Servo Drives
40
Servomotors
42
Parameter Unit Dimensions
45
Decelerator Dimensions
46
External Regeneration Resistor Dimensions
58
Reactor Dimensions
59
DIN Rail Mounting Unit Dimensions
60
Chapter 3 Specifications
61
3-1 Servo Drive Specifications
62
General Specifications
62
Characteristics
63
Main Circuit and Servomotor Connector Specifications (CNA and CNB)
64
Control I/O Connector Specifications (CN1)
65
Control Input Circuits
69
Control Input Details
70
Control Output Circuits
73
Control Output Details
74
Encoder Connector Specifications (CN2)
76
3-2 Servomotor Specifications
77
General Specifications
77
Characteristics
78
Encoder Specifications
86
3-3 Decelerator Specifications
87
Standard Models and Specifications
87
3-4 Cable and Connector Specifications
93
Encoder Cable Specifications
93
Servomotor Power Cable Specifications
95
Power Cable Specifications
100
Communications Cable Specifications
103
Connector Specifications
104
Control Cable Specifications
108
3-5 Servo Relay Units and Cable Specifications
116
Servo Relay Units Specifications
116
Servo Drive-Servo Relay Unit Cable Specifications
126
Position Control Unit-Servo Relay Unit Cable Specifications
129
3-6 Parameter Unit Specifications
141
R88A-PR02G Hand-held Parameter Unit
141
3-7 External Regeneration Resistors Specifications
142
3-8 Reactor Specifications
143
Chapter 4 System Design
145
4-1 Installation Conditions
146
Servo Drives
146
Servomotors
148
Decelerators
151
4-2 Wiring
157
Connecting Cables
157
Selecting Connecting Cables
158
Peripheral Device Connection Examples
161
Main Circuit Wiring
163
4-3 Wiring Conforming to EMC Directives
165
Wiring Method
165
Control Panel Structure
167
Selecting Connection Components
169
4-4 Regenerative Energy Absorption
180
Calculating the Regenerative Energy
180
Servo Drive Regenerative Energy Absorption Capacity
182
Absorbing Regenerative Energy with an External Regeneration Resistor
182
Chapter 5 Operating Functions
185
5-1 Position Control
186
High-Response Position Control vs. Advanced Position Control
186
Parameters Requiring Settings
186
Related Parameters
187
Parameter Block Diagram for Position Control Mode
188
5-2 Internally Set Speed Control
189
Parameters Requiring Settings
189
Related Parameters
189
Selecting the Internally Set Speeds
190
Operation
190
Parameter Block Diagram for Internally Set Speed Control Mode
191
5-3 Forward and Reverse Drive Prohibit
192
Parameters Requiring Settings
192
Operation
192
5-4 Encoder Dividing
193
Parameters Requiring Setting
193
Operation
193
5-5 Electronic Gear
194
Parameters Requiring Settings
194
Operation
194
Related Parameter
195
5-6 Brake Interlock
196
Parameters Requiring Setting
196
Operation
196
5-7 Gain Switching
198
Parameters Requiring Setting
198
Related Parameters
199
5-8 Torque Limit
200
Parameters Requiring Setting
200
Related Parameters
200
5-9 Overrun Limit
201
Parameters Requiring Settings
201
Operation
201
5-10 User Parameters
202
Setting and Checking Parameters
202
Parameter List
205
Parameter Details
217
Chapter 6 Operation
247
6-1 Operational Procedure
248
6-2 Preparing for Operation
249
Items to Check Before Turning ON the Power
249
Turning ON Power
249
Checking Displays
250
6-3 Using the Parameter Unit
251
Names of Parts and Functions
251
Display When Power Is Turned ON
252
Changing the Mode
253
Monitor Mode
254
Parameter Setting Mode
261
Parameter Write Mode
262
Autotuning Mode
263
Auxiliary Function Mode
264
Copy Mode
266
6-4 Trial Operation
269
Preparation for Trial Operation
269
Trial Operation
269
Chapter 7 Adjustment Functions
271
7-1 Gain Adjustment
272
Purpose of the Gain Adjustment
272
Gain Adjustment Methods
272
Gain Adjustment Procedure
273
7-2 Realtime Autotuning
274
Realtime Autotuning Setting Method
274
Operating Procedures
275
Adaptive Filter
276
Automatically Set Parameters
277
7-3 Autotuning
279
Autotuning Setting Method
279
Autotuning Operation Waveform
281
Automatically Set Parameters
282
7-4 Disabling the Automatic Gain Adjustment Function
284
Disabling Realtime Autotuning
284
Disabling the Adaptive Filter
285
7-5 Manual Tuning
286
Function Differences in Control Modes
286
Basic Adjustment Procedures
287
Gain Switching Function
290
Machine Resonance Control
292
Damping Control
294
Chapter 8 Troubleshooting
297
8-1 Error Processing
298
Preliminary Checks When a Problem Occurs
298
Precautions When Troubleshooting
299
Replacing the Servomotor and Servo Drive
299
8-2 Alarm Table
300
Alarm Indicator on the Servo Drive
300
Alarm List
301
8-3 Troubleshooting
302
Points to Check
302
Error Diagnosis Using the Displayed Alarm Codes
303
Error Diagnosis Using the Operating Status
309
8-4 Overload Characteristics (Electronic Thermal Function)
314
Overload Characteristics Graphs
314
8-5 Periodic Maintenance
315
Servomotor Service Life
315
Servo Drive Service Life
316
Appendix
317
Connection Examples
318
Index
328
Revision History
331
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Omron SMARTSTEP 2 R7D-BP04H Specifications
General
Brand
Omron
Model
SMARTSTEP 2 R7D-BP04H
Category
Servo Drives
Language
English
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