User manual OMRON ACCURAX G5 SERVO DRIVE DATASHEET

[. . . ] @-ML2, R88D-KT@ Accurax G5 servo drive · MECHATROLINK-II and Analog/ Pulse servo drive models · Safety conforming ISO13849-1 Performance Level D · High-response frequency of 2 kHz · High resolution serial encoder for greater accuracy provided by 20 bits encoder · External encoder input for full close loop · Real time auto-tuning · Advanced tuning algorithms (Anti-vibration function, torque feedforward, disturbance observer) AC Servo systems Accurate motion control in a compact size servo drive family. MECHATROLINK-II motion bus and safety built-in. Ratings · 230 VAC Single-phase 100 W to 1. 5 kW (8. 59 Nm) · 400 VAC three-phase 600 W to 5 kW (28. 7 Nm) System configuration MECHATROLINK-II control Personal computer software: CX-One TJ1-MC04/16 CJ1W-MCH72 CJ1W-NCF71 Accurax G5 ML-II Servo Drives Terminator MECHATROLINK-II R88D-KN -ML2 R88D-KN -ML2 Power cable Encoder cable Open Analog/pulse control Accurax G5 Analog/pulse Servo Drive Servo Motor 3000 rpm (50 W-5 kW) Motion control unit Personal computer: Software CX-One Power cable Servo Motor 2000 rpm (400 W-5 kW) General purpose cable Position control unit Encoder cable R88D-KT Servo Motor 1000 rpm (900 W-3 kW) Terminal block for Servo drive I/O general purpose signals Unit Accurax G5 servo drive 61 Servo motor supported Accurax G5 rotary servo motor Voltage Speed Rated torque Capacity Model 230 V 3000 min-1 0. 16 Nm 0. 32 Nm 0. 64 Nm 1. 3 Nm 2. 4 Nm 3. 18 Nm 4. 77 Nm 2. 39 Nm 3. 18 Nm 4. 77 Nm 6. 37 Nm 9. 55 Nm 12. 7 Nm 15. 9 Nm 2000 min-1 4. 77 Nm 7. 16 Nm 1. 91 Nm 2. 86 Nm 4. 77 Nm 7. 16 Nm 9. 55 Nm 14. 3 Nm 19. 1 Nm 23. 9 Nm 1000 min-1 8. 59 Nm 8. 59 Nm 19. 1 Nm 28. 7 Nm 50 W 100 W 200 W 400 W 750 W 1000 W 1500 W 750 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 1000 W 1500 W 400 W 600 W 1000 W 1500 W 2000 W 3000 W 4000 W 5000 W 900 W 900 W 2000 W 3000 W R88M-K05030(H/T)-@ R88M-K10030(H/T)-@ R88M-K20030(H/T)-@ R88M-K40030(H/T)-@ R88M-K75030(H/T)-@ R88M-K1K030(H/T)-@ R88M-K1K530(H/T)-@ R88M-K75030(F/C)-@ R88M-K1K030(F/C)-@ R88M-K1K530(F/C)-@ R88M-K2K030(F/C)-@ R88M-K3K030(F/C)-@ R88M-K4K030(F/C)-@ R88M-K5K030(F/C)-@ R88M-K1K020(H/T)-@ R88M-K1K520(H/T)-@ R88M-K40020(F/C)-@ R88M-K60020(F/C)-@ R88M-K1K020(F/C)-@ R88M-K1K520(F/C)-@ R88M-K2K020(F/C)-@ R88M-K3K020(F/C)-@ R88M-K4K020(F/C)-@ R88M-K5K020(F/C)-@ R88M-K90010(H/T)-@ R88M-K90010(F/C)-@ R88M-K2K010(F/C)-@ R88M-K3K010(F/C)-@ Accurax G5 servodrive MECHATROLINK-II model Analog/Pulse model 230V 400V 230V 400V R88D-KN01H-ML2 R88D-KT01H R88D-KN01H-ML2 R88D-KT01H R88D-KN02H-ML2 R88D-KT02H R88D-KN04H-ML2 R88D-KT04H R88D-KN08H-ML2 R88D-KT08H R88D-KN15H-ML2 R88D-KT15H R88D-KN15H-ML2 R88D-KT15H R88D-KN10F-ML2 R88D-KT10F R88D-KN15F-ML2 R88D-KT15F R88D-KN15F-ML2 R88D-KT15F R88D-KN20F-ML2 R88D-KT20F R88D-KN30F-ML2 R88D-KT30F R88D-KN50F-ML2 R88D-KT50F R88D-KN50F-ML2 R88D-KT50F R88D-KN10H-ML2 R88D-KT10H R88D-KN15H-ML2 R88D-KT15H R88D-KN06F-ML2 R88D-KT06F R88D-KN06F-ML2 R88D-KT06F R88D-KN10F-ML2 R88D-KT10F R88D-KN15F-ML2 R88D-KT15F R88D-KN20F-ML2 R88D-KT20F R88D-KN30F-ML2 R88D-KT30F R88D-KN50F-ML2 R88D-KT50F R88D-KN50F-ML2 R88D-KT50F R88D-KN15H-ML2 R88D-KT15H R88D-KN15F-ML2 R88D-KT15F R88D-KN30F-ML2 R88D-KT30F R88D-KN50F-ML2 R88D-KT50F 400 V 230 V 400 V 230 V 400 V Type designation Servo drive R88D-KN01H-ML2 Accurax G5 Series servo drive Drive Type T: Analog/pulse type N: Network type Model Blank: Analog/pulse type ML2: MECHATROLINK-II comms Capacity and Voltage Voltage Code 01H 02H 04H 230 V 08H 10H 15H 06F 10F 15F 400 V 20F 30F 50F Output 100 W 200 W 400 W 750 W 1 kW 1. 5 kW 600 W 1. 0 kW 1. 5 kW 2. 0 kW 3. 0 kW 5. 0 kW 62 AC servo systems Servo drive specifications Single-phase, 230 V Servo drive type Applicable servo motor R88D-K@ R88M-K@ 01H@ 02H@ 04H@ 08H@ 10H@ 05030(H/T)@ 20030(H/T)@ 40030(H/T)@ 75030(H/T)@ 1K020(H/T)@ 10030(H/T)@ 100 200 400 750 1000 1. 2 1. 6 2. 6 4. 1 5. 9 Single-phase/3-phase, 200 to 240 VAC + 10 to -15% (50/60 Hz) Single-phase, 200 to 240 VAC + 10 to -15% (50/60 Hz) IGBT-driven PWM method, sinusoidal drive Serial encoder (incremental/absolute value) 0 to +55°C / -20 to 65°C 90% RH or less (non-condensing) 1000m or less above sea level 5. 88 m/s2 10-60 Hz (Continuous operation at resonance point is not allowed) / 19. 6 m/s2 Base mounted 0. 8 1. 1 1. 6 1. 8 15H@ 1K030(H/T)@ 1K530(H/T)@ 1K520(H/T)@ 90010(H/T)@ 1500 9. 4 Max. applicable motor capacity W Continuous output current Arms Input power Main circuit Supply Control circuit Control method Feedback Usage/storage temperature Usage/storage humidity Altitude Vibration/shock resistance (max. ) Configuration Approx. weight Kg Conditions Three-phase, 400 V Servo drive type Applicable servo motor R88D-K@ R88M-K@ 15F-@ 20F-@ 30F-@ 1K030(F/C)-@ 2K030(F/C)-@ 3K030(F/C)-@ 1K530(F/C)-@ 2K020(F/C)-@ 3K020(F/C)-@ 1K520(F/C)-@ 2K010(F/C)-@ 90010(F/C)-@ 1. 5 2. 0 3. 0 2. 9 4. 7 6. 7 9. 4 3-phase, 380 to 480 VAC + 10 to -15% (50/60Hz) 24 VDC ±15% IGBT-driven PWM method, sinusoidal drive Serial encoder (incremental/absolute value) 0 to +55°C / -20 to +65°C 90% RH or less (non-condensing) 1000 m or less above sea level 5. 88 m/s2 10-60 Hz (Continuous operation at resonance point is not allowed) / 19. 6 m/s2 Base mounted 1. 9 2. 7 4. 7 06F-@ 40020(F/C)-@ 60020(F/C)-@ 0. 6 10F-@ 75030(F/C)-@ 1K020(F/C)-@ 1. 0 50F-@ 4K030(F/C)-@ 5K030(F/C)-@ 4K020(F/C)-@ 5K020(F/C)-@ 3K010(F/C)-@ 5. 0 16. 5 Basic specifications Max. [. . . ] Analog signal ground Control power supply input for sequence signals: users must provide the +24 V power supply (12 to 24 V). Vibration filter switching 1 Enables vibration filter according parameter setting. Gain switching Electronic gear switching 1 Internal speed selection 3 Error counter reset input. Internal speed selection 2 Alarm reset input. Control mode switching Enables gain value according parameter setting. Switches the numerator fro electronic gear ratio. Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL2 inputs. Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL1 and VSEL3 inputs. The error counter is reset when the alarm is reset. 15 16 18 17 7 29 26 27 28 30 31 32 Common RESET Position/ TVSEL Speed/Torque Position speed Position torque Torque speed Enables control mode switching 33 Position Speed Coomon IPG VSEL1 8 9 20 13 42 43 50 - 12 40 41 NOT POT SEN Position/ Speed/Torque SENGND Common BAT (+) BATGND (-) FG Frame ground TLSEL Torque limit switch DFSEL2 Vibration filter switching 2 GESEL2 Electronic gear switching 2 VZERO Zero speed VSIGN Speed command signal TSIGN Torque command signal E-STOP Emergency stop JSEL Inertia ratio switching Terminals not used. Digital input to inhibit the position reference pulse. Internal speed selection 1 Input to select the desired speed setting during internally speed operation. The speed selecton is combining this input with VSEL2 and VSEL3 inputs. Reverse run prohibited Overtravel prohibited: stops servomotor when movable part travels beyond the allowable range of motion. Initial data request signal when using an absolute encoder. Backup battery connection terminals when the absolute encoder power is interrupted. Do not connect when a absolute encoder battery cable for backup is used. The function of input signals allocated to pins 8, 9 and 26 to 33 can be changed with these options by parameters settings Accurax G5 servo drive 67 I/O signals (CN1) - output signals (for analog/pulse servo drives) Pin No. 21 22 48 49 23 24 19 25 11 10 35 34 37 36 39 39 38 Control mode Position/ Full close loop Signal name +A -A +B -B +Z -Z Z ZCOM BKIR BKIRCOM READY READYCOM /ALM ALMCOM TGON INP1 INP1COM INP2 P-CMD ZSP WARN1 WARN2 ALM-ATB VCMP V-CMD V-LIMIT T-LIMIT Function Encoder phase A+ Encoder phase AEncoder phase B+ Encoder phase BEncoder phase Z+ Encoder phase ZEncoder phase-Z output Encoder phase-Z common Brake release signal output Encoder signals (or external scale signals during full closing control) are output according Encoder Dividing Numerator parameter. This is the line-driver output (equivalent to R422). Phase Z is output for encoder signals (or external scale signals during full closing control). [. . . ] *4 The input function depends on control mode used (Position, speed or torque control). *5 Wiring diagram example using the G9SX safety unit. If a safety unit is not used, keep the factory safety bypass connector installed in the CN8. Note: The input function of pins 8, 9 and 26 to 33, and output function of pins 10, 11, 34, 35, 38 and 39, can be changed via parameter settings. 74 AC servo systems Three-phase, 400 VAC (for analog/pulse servo drives) Three-Phase 400 VAC *1 Thermal switch B1 B3 B2 Contactor CNB U V W Servo motor L1 Noise filter L2 L3 CNA Accurax G5 Analog/Pulse Servo drive CN2 Optical encoder Power supply 24 VDC +/-15% 24 V 0V +24 VCW 1 2. 2 k CN1 11 BKIR Brake release signal output 10 BKIRCOM 35 READY Servo ready output 34 READYCOM 37 /ALM Alarm output 36 ALMCOM 39 INP Positioning completed output 38 INPCOM 19 Z Phase-Z output (open-collector output) 25 ZCOM Reverse pulse 500 kpps max. +CW 3 -CW 4 220 +24 VCCW 2 2. 2 k External power supply 12 to 24 VDC Maximum service voltage: 30 VDC Maximum output current: 50 mADC Forward pulse Position reference *3 Reverse pulse 2 Mpps max. [. . . ]