User manual OMRON OMNUC G5

[. . . ] I571-E1-01 USER'S MANUAL OMNUC G5 SERIES R88M-K@ (AC Servomotors) R88D-KT (AC Servo Drives) AC SERVOMOTORS/SERVO DRIVES Trademarks and Copyrights · Product names and system names in this manual are trademarks or registered trademarks of their respective companies. © OMRON, 2009 All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. [. . . ] The EDM output signal is not a safety output. Do not use it for purposes other than the failure monitoring function. The dynamic brake and external brake release signal output are not safety-related parts. Make sure that the equipment does not become dangerous during system design even if the external brake release fails during the STO status. When using the STO function, connect an equipment that meets the safety standards. The PFH value is 2. 30 × 10-8. 7 Safety Function 7-1 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-1 Safe Torque OFF (STO) Function I/O Signal Specifications Safety Input Signal There are 2 types of safety input circuits to operate the STO function. CONTROL mode Signal name Pin Symbol number Description Position Speed Torque · The upper arm drive signal of the power transistor inside the driver is cut off. · The lower arm drive signal of the power transistor inside the driver is cut off. Full closing Safety input 1 SF+ SF- CN8-4 CN8-3 CN8-6 CN8-5 Safety input 2 SF2+ SF2- When the safety input is either 1 or 2, the STO function will start operating within 5 ms of the input, and the motor output torque will be turned OFF. Connect the equipment so that the safety input circuit is turned OFF when you operate the STO function. Use Stop Selection for Alarm Generation (Pn510) to set the operation when the safety input is turned OFF. 7 Safety Function Precautions for Correct Use L-pulse for self-diagnosis of safety equipment When you are connecting a safety equipment, such as a Safety Controller or a safety sensor, the safety output signal of the equipment may include L pulse for self-diagnosis. To avoid malfunction due to this L-pulse for self-diagnosis, a filter that can remove the L pulse for self-diagnosis is built in with the safety input circuit. If the OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as OFF. To make sure that OFF is recognized, maintain the OFF status of safety input signal for at least 5 ms. For self-diagnosis L pulse 5 ms or more Safety input signal Within 1 ms Servo amplifier operation Within 5 ms Normal operation STO status OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-2 7-1 Safe Torque OFF (STO) Function External Device Monitor (EDM) Output Signal This is a monitor output signal that is used to monitor the status of safety input signals using an external device. Connect a safety equipment, such as a Safety Controller or a safety sensor, to the external device monitoring terminal. CONTROL mode Signal name Symbol Pin number Description Position Speed Torque · Monitor signal is output to detect malfunctioning of the safety function. * This output signal is not a safety output. Full closing EDM output EDM+ CN8-8 EDM- CN8-7 Relationship Between Safety Input Signal and EDM Output Signal When safety inputs 1 and 2 are both OFF (where the STO function is operating for safety inputs for the 2 circuits), the EDM output circuit is turned ON. You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the following 4 signal statuses using an external device. 7 Safety Function Signal name Safety input 1 Safety input 2 EDM output Symbol SF1 SF2 EDM ON ON OFF Signal status ON OFF OFF OFF ON OFF OFF OFF ON The maximum delay time is 6 ms after the safety input signal is input and until the EDM output signal is output. 7-3 OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-2 Operation Example 7-2 Operation Example Operation Timings to a Safety Status Operation command (RUN) Servo ON Servo OFF Safety input 1 Safety input 2 *3 Motor power is supplied. Normal status max 5 ms Power supply STO status No power supply max 6 ms EDM output OFF ON 0. 5 to 5 ms Dynamic brake relay *2 DB released DB engaged Servo ready completed output (READY) READY Alarm output (ALM) Normal Alarm Pn438 set value 7 Safety Function Brake interlock output (BKIR) Brake released t1 *1 Pn439 set value Pn438 set value Brake held When the Pn438 set value is early Brake released t1*1 Pn439 set value Brake held When the timing of reaching the Pn439 set value or lower is early *1. t1 is the set value of the Brake Timing during Operation (Pn438), or the time needed for the motor rotation speed to drop to or below the Brake Release Speed Setting (Pn439), whichever occurs first. The dynamic brake is based on the Stop Selection for Alarm Generation (Pn510) setting. Safety inputs 1 and 2 transition to the STO status when either one of them is turned OFF. OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL 7-4 7-2 Operation Example Timings of Return from the Safety Status Operation command (RUN) *1 Safety input 1 Safety input 2 Motor power is supplied. Servo OFF command Servo ON Follow the normal servo ON/OFF operation timing diagram upon input of the operation command (RUN). For details, refer to "6-6 Brake Interlock. " STO status Normal status No power supply max 6 ms EDM output OFF ON Dynamic brake relay DB released/engaged *2 Alarm generation status DB released/engaged *3 Servo OFF READY Servo ready completed output (READY) Alarm reset input (RESET) *1 Reset 7 Safety Function Alarm output (ALM) Brake interlock output (BKIR) Alarm Normal Brake held *1. Make sure that servo ON input is turned OFF when you return the input signals of safety inputs 1 and 2 to ON. [. . . ] 4-15, 4-16 Terminal Block Wire Sizes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17 Terminal block wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20 Torque Command Direction Selection (Pn318). . . . . . 8-31 Torque Command Filter Time Constant (Pn104) . . . [. . . ]