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SMARTSTEP 2 SERIES
Omron SMARTSTEP 2 SERIES User Manual
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10
Precautions for Safe Use
îš„
Warning Label Position
Warning labels are located on the product as shown in the following illustration.
Be sure to follow the instructions given there.
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Warning Label Contents
îš„
Disposing of the Product

Dispose of the product as industrial waste.
W
ar
ning label
(Example of R7D-BP01H)
PWR
ALM
C
N
3
C
N
1
C
N
2
C
N
B
C
N
A
11
13
Table of Contents
Table of Contents
16
Limitations of Liability
4
Application Considerations
5
Dimensions and Weights
5
Performance Data
6
Safety Precautions
7
About this Manual
15
Table of Contents
16
Chapter 1 Features and System Configuration
20
Overview
20
Overview of the SMARTSTEP 2 Series
20
Features of the SMARTSTEP 2 Series
20
System Configuration
21
Names of Parts and Functions
22
Servo Drive Part Names
22
Servo Drive Functions
23
System Block Diagrams
24
Applicable Standards
25
EC Directives
25
Ul/Cul Standards
25
Chapter 2 Standard Models and Dimensions
27
Standard Models
28
Standard Models
29
Parameter Unit
29
Servo Drive-Servomotor Combinations
29
Servo Drives
29
Servomotors
29
Decelerators
31
Accessories and Cables
35
Power Supply Cables
36
Connector-Terminal Block Conversion Units
39
Din Rail Mounting Unit
39
External and Mounted Dimensions
40
Servo Drives
40
Servomotors
42
Parameter Unit Dimensions
45
Decelerator Dimensions
46
External Regeneration Resistor Dimensions
54
Reactor Dimensions
55
DIN Rail Mounting Unit Dimensions
56
Chapter 3 Specifications
57
Servo Drive Specifications
58
Specifications
58
General Specifications
58
Characteristics
59
Control Specifications
59
Main Circuit and Servomotor Connector Specifications (CNA and CNB)
60
Control I/O Connector Specifications (CN1)
61
Control Input Circuits
65
Control Input Details
66
Alarm Reset Input
66
Control Output Circuits
69
Control Output Details
70
Alarm Output
70
Warning Output
71
Feedback Output
71
Encoder Connector Specifications (CN2)
72
Servomotor Specifications
73
General Specifications
73
Motor Rotation Directions
73
Characteristics
74
Torque and Rotation Speed Characteristics
78
Applicable Load Inertia
82
Encoder Specifications
82
Decelerator Specifications
83
Standard Models and Specifications
83
Cable and Connector Specifications
87
Encoder Cable Specifications
87
Robot Cables for Encoders
88
Servomotor Power Cable Specifications
89
Standard Cables for Brakes
91
Robot Cables for Brakes
92
Power Cable Specifications
94
Communications Cable Specifications
97
Connector Specifications
98
Encoder Connectors
100
Control Cable Specifications
102
General-Purpose Control Cables
102
Connector-Terminal Block Conversion Unit
105
Servo Relay Units and Cable Specifications
110
Servo Relay Units Specifications
110
System Configuration Example
117
Servo Drive-Servo Relay Unit Cable Specifications
120
Position Control Unit-Servo Relay Unit Cable Specifications
123
Parameter Unit Specifications
135
External Regeneration Resistors Specifications
136
Reactor Specifications
137
Chapter 4 System Design
139
Installation Conditions
140
Servo Drives
140
Operating Environment
142
Servomotors
142
Other Precautions
144
Oil Seal
144
Decelerators
145
Wiring
149
Connecting Cables
149
Selecting Connecting Cables
150
Peripheral Device Connection Examples
153
Main Circuit Wiring
155
Wiring Conforming to EMC Directives
157
Wiring Method
157
Unit Details
158
Control Panel Structure
159
Selecting Connection Components
161
Leakage Breakers
162
Surge Absorbers
163
Surge Suppressors
167
Noise Filters for Servomotor Output
170
Regenerative Energy Absorption
172
Calculating the Regenerative Energy
172
Absorbing Regenerative Energy with an External Regeneration Resistor
174
Servo Drive Regenerative Energy Absorption Capacity
174
Chapter 5 Operating Functions
177
Position Control
178
High-Response Position Control Vs. Advanced Position Control
178
Parameters Requiring Settings
178
Parameter Block Diagram for Position Control Mode
180
Internally Set Speed Control
181
Parameters Requiring Settings
181
Related Parameters
181
Operation
182
Selecting the Internally Set Speeds
182
Parameter Block Diagram for Internally Set Speed Control Mode
183
Forward and Reverse Drive Prohibit
184
Parameters Requiring Settings
184
Operation
184
Encoder Dividing
185
Parameters Requiring Setting
185
Operation
185
Electronic Gear
186
Parameters Requiring Settings
186
Operation
186
Related Parameter
187
Brake Interlock
188
Parameters Requiring Setting
188
Operation
188
Gain Switching
190
Parameters Requiring Setting
190
Related Parameters
191
Torque Limit
192
Parameters Requiring Setting
192
Related Parameters
192
Overrun Limit
193
Parameters Requiring Settings
193
Operation
193
User Parameters
194
Setting and Checking Parameters
194
Parameter List
197
Parameter Details
209
Chapter 6 Operation
239
Operational Procedure
240
Preparing for Operation
240
Preparing for Operation
241
Items to Check before Turning on the Power
241
Turning on Power
241
Checking Displays
242
Using the Parameter Unit
243
Names of Parts and Functions
243
Display When Power Is Turned on
244
Changing the Mode
245
Monitor Mode
246
Parameter Setting Mode
254
Parameter Write Mode
255
Autotuning Mode
256
Auxiliary Function Mode
257
Jog Operation
258
Copy Mode
259
Trial Operation
262
Preparation for Trial Operation
262
Chapter 7 Adjustment Functions
265
Gain Adjustment
265
Gain Adjustment
266
Purpose of the Gain Adjustment
266
Gain Adjustment Methods
266
Gain Adjustment Procedure
267
Realtime Autotuning
267
Realtime Autotuning
268
Realtime Autotuning Setting Method
268
Operating Procedures
269
Adaptive Filter
270
Automatically Set Parameters
271
Autotuning
272
Autotuning
273
Autotuning Setting Method
273
Automatically Set Parameters
276
Disabling the Automatic Gain Adjustment Function
278
Disabling Realtime Autotuning
278
Disabling the Adaptive Filter
279
Manual Tuning
280
Function Differences in Control Modes
280
Basic Adjustment Procedures
281
Gain Switching Function
284
Machine Resonance Control
286
Damping Control
288
Chapter 8 Troubleshooting
291
Error Processing
292
Preliminary Checks When a Problem Occurs
292
Precautions When Troubleshooting
293
Replacing the Servomotor and Servo Drive
293
Alarm Table
294
Alarm Indicator on the Servo Drive
294
Alarm List
295
Troubleshooting
296
Points to Check
296
Error Diagnosis Using the Displayed Alarm Codes
297
Error Diagnosis Using the Operating Status
303
Overload Characteristics (Electronic Thermal Function)
307
Overload Characteristics Graphs
307
Periodic Maintenance
308
Servomotor Service Life
308
Servo Drive Service Life
309
Revision History
325
4
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Omron SMARTSTEP 2 SERIES Specifications
General
Brand
Omron
Model
SMARTSTEP 2 SERIES
Category
DC Drives
Language
English
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