User manual OMRON SMARTSTEP SERVO DRIVE DATASHEET

[. . . ] (An external regeneration resistor cannot be connected to the 30 to 200 W models. ) Red These are the terminals for outputs to the servo motor. White Blue This is the ground terminal. 154 AC servo systems Control I/O (CN1) specifications Pin 1 2 3 4 5 6 Symbol +PULS/CW/A -PULS/CW/A +SIGN/CCW/B -SIGN/CCW/B +ECRST -ECRST BKIR INP OGND +24V RUN RESET GND RXD+ RXD- TXD+ TXD- RT Z ZCOM ALM ALMCOM FG Name Feed pulses, reverse pulses, or 90° phase difference pulses (A phase) Direction signal, forward pulses, or 90° phase difference pulses (B phase) Deviation counter reset Function Line-driver input: 7 mA at 3 V Open-collector input Input impedance: 200 Maximum response frequency: 250 kpps Position control is performed based on the pulses that have been input. Line-driver input: 7 mA at 3 V Open-collector input: 16 mA at 5 V Input impedance: 200 ON: resets deviation counter. [. . . ] Read or save parameters from the servo drive. Compare parameters in the servo drive with parameters in the parameter unit. RESET JOG JOG RUN RUN DATA READ DRIVER PR PR WRITE DRIVER R7A-PR02A Mode change specifications Power ON Parameter/monitor mode -PRM/MONBB Un000 = 3000r/min Un002 = 40% Un008 = 00100pulse Un00D = 10000000 -PRM/MONBB Pn000 = 0000 Un002 = 40% Un008 = 00100pulse Un00D = 10000000 MODE/SET MODE/SET Function mode MODE/SET BB Fn000 Fn001 Fn002 Fn003 -FUNCTION- BB Fn001 Fn002 Fn003 Fn005 -FUNCTION- Copy parameters mode BB 1: DRIVERPR 2: PRDRIVER 3: Verify 4: LIST -COPY- BB 1: DRIVERPR 2: PRDRIVER 3: Verify 4: LIST -COPY- Display alarms mode A. 70 1: A. 00 2: A. 02 3: A. 10 4: A. 71 -ALARM- A. 70 2: A. 02 3: A. 10 4: A. 71 5: A. 72 -ALARM- 156 AC servo systems Operation Components Unit number switch Gain adjustment switch DIP switch · Resolution setting · Command pulse input setting · Dynamic brake setting Autotuning switch Charge indicator Alarm indicator Power indicator Main-circuit power terminals Communications connector (CN3) Monitor output connector (CN4) DC reactor terminals Control-circuit power terminals External regeneration Resistor terminals Control I/O connector (CN1) Servo motor power terminals Encoder input connector (CN2) Ground terminals for power supply and servo motor power Switch operations Gain adjustment switch Adjusts the motor's responsiveness. When this switch is set to 0, the unit will operate according to the settings in the internal parameters (Pn100, Pn101, Pn102, and Pn401). When this switch is set to 1 through F, the unit will operate according to the rotary switch's setting. Setting 0 1 2 3 4 5 6 7 8 9 A B C D E F Position loop Speed loop gain gain Speed loop integral constant Torque command filter time constant F01 2 Decrease the switch setting to lower the motor's responsiveness (i. e. , so that it moves more smoothly). Increase the switch setting to raise the motor's responsiveness (i. e. , so that it moves faster). Enables parameter settings (including settings other than gain settings). 15 15 4, 000 20 20 3, 500 30 30 3, 000 40 40 2, 000 60 60 1, 500 85 85 1, 000 120 120 800 160 160 600 200 200 500 250 250 400 250 250 400 250 250 400 250 250 400 250 250 400 250 250 400 250 200 150 100 70 50 30 20 15 10 10 10 10 10 10 SmartStep servo drive 157 Enable switch/parameter setting Pin 6 of the DIP switch selects whether the servo drive operates according to the DIP switch settings or parameter settings. Command pulse input setting Pin 3 selects the command pulse mode. Select "Forward pulse/reverse pulse: positive logic" or "feed pulses/direction signal: positive logic. " ON OFF Function Enables the DIP switch settings. Enables the parameter settings. ON OFF 6 5 4 3 2 1 (Default setting) Pin 6 OFF ON 6 5 4 3 2 1 (Default setting) Pin 3 OFF ON Command pulse mode Forward pulse/reverse pulse: positive logic Feed pulses/direction signal: positive logic Online autotuning setting The autotuning switch selects whether the gain will be adjusted automatically during operation. Dynamic brake setting Pin 2 enables or disables dynamic brake operation. If the dynamic brake is enabled, the motor can be brought to an emergency stop when the RUN command goes OFF or an alarm occurs. ON OFF Perform online autotuning. 1 ON OFF Complete online autotuning. The result is stored in the inertia ratio parameter (Pn103) and the servo drive runs. ON OFF 1 Resolution setting Pins 4 and 5 select the positioning resolution. If the resolution is set to 1, 000 (the default setting), the motor makes one revolution for every 1, 000 pulses input. ON OFF Pins 5 OFF OFF ON ON Resolution 4 OFF ON OFF ON 1, 000 pulses/revolution (0. 36°/step) 10, 000 pulses/revolution (0. 036°/step) 500 pulses/revolution (0. 72°/step) 5, 000 pulses/revolution (0. 072°/step) 6 5 4 3 2 1 (Default setting) Pin 2 OFF ON Dynamic brake mode Dynamic brake disabled. Dynamic brake enabled. 6 5 4 3 2 1 (Default setting) Alarm Table Display A. 04* A. 10* A. 30 A. 32 A. 40 A. 51 A. 70 A. 73 A. 74 ALM output Error detection function Parameter setting error Overcurrent Regeneration error Regeneration overload Overvoltage/undervoltage Overspeed Overload Dynamic brake overload Inrush resistance overload Display A. 7A A. bF* A. C1 A. C2* A. C3* A. d0 CPF00 CPF01 A. 91 A. 92 ALM output Error detection function Overheat System error Runaway detected Phase not detected Encoder disconnect detected Deviation counter overflow Parameter unit transmission error 1 Parameter unit transmission error 2 Overload warning Regeneration overload warning OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF --------- Note: 1. These parameters are read when the power is turned 2. When using a regeneration resistor, set the resistor's ON. Parameter Pn110. 2 is valid when online. capacity when the temperature has risen to 120 °C. SN75174, MC3487 or equivalent Compatible Line Receivers Texas Inst. [. . . ] J6-4B) CQM1H-PLB21 and CQM1-CPU43-V1 C200H-NC112 C200H-NC211 and C500-NC113/211 CS1W-NC113 and C200HW-NC113 CS1W-NC213/413 and C200HW-NC213/413 CS1W-NC133 CS1W-NC233/433 CJ1W-NC113 CJ1W-NC213/413 CJ1W-NC133 CS1W-NC233/433 CJ1M-CPU22/23 For general-purpose controllers For general-purpose controllers Model XW2B-20J6-1B (1 axis) Available lengths --- XW2B-40J6-2B (2 axes) XW2B-20J6-3B (1 axis) XW2B-40J6-4A (2 axes) XW2B-20J6-8A (1 axis) XW2B-40J6-9A (2 axes) XW2Z-@N XW2B-40F5-P Cable to position control unit 1 m or 2 m (the cable length goes in the empty boxes. ) 0. 5 m or 1 m (the cable length goes in the empty boxes. ) G H Control cable Connector terminal block cable Connector terminal block 1 m or 2 m (the cable length goes in the empty boxes. ) --- Cable for CN3 Symbol Cable for CN4 Model R7A-CCA002P2 Symbol I Filters Symbol Name Computer monitor cable J Name Analog monitor cable Model R88A-CMW001S K Applicable servo drive R7D-APA3H, R7D-APA5H, R7D-AP01H, R7D-AP02H R7D-AP04H R7D-AP08H Filter model R88A-FIW104-E R88A-FIW107-E R88A-FIW115-E Rated current 4A 7A 15A Rated voltage 250 VAC single phase Connectors Specifications Control I/O connector (for CN1) SmartStep connectors kit. SmartStep encoder connector (for CN2) Hypertac power connector female Hypertac encoder connector female Hypertac power connector male (used in the motor) Hypertac encoder connector male (used in the motor) Model R88A-CNU01C R7A-CNA00K-DE Models included in kit R7A-CNA01R SPOC-06K-FSDN169 SPOC-17H-FRON169 SRUC-06J-MSCN236 SRUC-17G-MRWN087 External regeneration resistor Specification 220 W, 47 Model R88A-RR22047S Parameter unit & computer software Specifications Parameter copy unit (with cable) Configuration and monitoring software tool for servo drives and inverters. [. . . ]